diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS index b283c95c28a9b..e60173068f028 100644 --- a/.github/CODEOWNERS +++ b/.github/CODEOWNERS @@ -1,10 +1,9 @@ ### Automatically generated from package.xml ### common/autoware_ad_api_specs/** isamu.takagi@tier4.jp ryohsuke.mitsudome@tier4.jp common/autoware_auto_common/** opensource@apex.ai satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp -common/autoware_auto_geometry/** satoshi.ota@tier4.jp common/autoware_auto_perception_rviz_plugin/** opensource@apex.ai satoshi.tanaka@tier4.jp shunsuke.miura@tier4.jp taiki.tanaka@tier4.jp takeshi.miura@tier4.jp yoshi.ri@tier4.jp common/autoware_auto_tf2/** jit.ray.c@gmail.com satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp -common/autoware_overlay_rviz_plugin/autoware_overlay_msgs/** team-spatzenhirn@uni-ulm.de +common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/** ahmed.ebrahim@leodrive.ai common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/** khalil@leodrive.ai common/autoware_point_types/** taichi.higashide@tier4.jp common/autoware_testing/** adam.dabrowski@robotec.ai satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp @@ -21,7 +20,6 @@ common/goal_distance_calculator/** taiki.tanaka@tier4.jp common/grid_map_utils/** maxime.clement@tier4.jp common/interpolation/** fumiya.watanabe@tier4.jp takayuki.murooka@tier4.jp common/kalman_filter/** koji.minoda@tier4.jp takeshi.ishita@tier4.jp yukihiro.saito@tier4.jp -common/mission_planner_rviz_plugin/** isamu.takagi@tier4.jp common/motion_utils/** fumiya.watanabe@tier4.jp kosuke.takeuchi@tier4.jp mamoru.sobue@tier4.jp satoshi.ota@tier4.jp taiki.tanaka@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp common/object_recognition_utils/** satoshi.tanaka@tier4.jp shunsuke.miura@tier4.jp takayuki.murooka@tier4.jp yoshi.ri@tier4.jp common/osqp_interface/** fumiya.watanabe@tier4.jp maxime.clement@tier4.jp satoshi.ota@tier4.jp takayuki.murooka@tier4.jp @@ -29,34 +27,25 @@ common/path_distance_calculator/** isamu.takagi@tier4.jp common/perception_utils/** satoshi.tanaka@tier4.jp shunsuke.miura@tier4.jp yoshi.ri@tier4.jp common/polar_grid/** yukihiro.saito@tier4.jp common/qp_interface/** fumiya.watanabe@tier4.jp maxime.clement@tier4.jp satoshi.ota@tier4.jp takayuki.murooka@tier4.jp -common/rtc_manager_rviz_plugin/** taiki.tanaka@tier4.jp tomoya.kimura@tier4.jp common/signal_processing/** ali.boyali@tier4.jp fumiya.watanabe@tier4.jp kyoichi.sugahara@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp common/tensorrt_common/** dan.umeda@tier4.jp manato.hirabayashi@tier4.jp common/tier4_adapi_rviz_plugin/** hiroki.ota@tier4.jp isamu.takagi@tier4.jp kosuke.takeuchi@tier4.jp common/tier4_api_utils/** isamu.takagi@tier4.jp -common/tier4_automatic_goal_rviz_plugin/** dawid.moszynski@robotec.ai kyoichi.sugahara@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp common/tier4_autoware_utils/** mamoru.sobue@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp -common/tier4_calibration_rviz_plugin/** tomoya.kimura@tier4.jp common/tier4_camera_view_rviz_plugin/** makoto.ybauta@tier4.jp uken.ryu@tier4.jp -common/tier4_control_rviz_plugin/** taiki.tanaka@tier4.jp common/tier4_datetime_rviz_plugin/** isamu.takagi@tier4.jp -common/tier4_debug_rviz_plugin/** takayuki.murooka@tier4.jp common/tier4_localization_rviz_plugin/** isamu.takagi@tier4.jp takamasa.horibe@tier4.jp -common/tier4_logging_level_configure_rviz_plugin/** kosuke.takeuchi@tier4.jp satoshi.ota@tier4.jp takamasa.horibe@tier4.jp common/tier4_perception_rviz_plugin/** yukihiro.saito@tier4.jp common/tier4_planning_rviz_plugin/** takayuki.murooka@tier4.jp yukihiro.saito@tier4.jp -common/tier4_screen_capture_rviz_plugin/** taiki.tanaka@tier4.jp -common/tier4_simulated_clock_rviz_plugin/** maxime.clement@tier4.jp -common/tier4_state_rviz_plugin/** hiroki.ota@tier4.jp isamu.takagi@tier4.jp +common/tier4_state_rviz_plugin/** hiroki.ota@tier4.jp isamu.takagi@tier4.jp khalil@leodrive.ai common/tier4_system_rviz_plugin/** koji.minoda@tier4.jp -common/tier4_target_object_type_rviz_plugin/** takamasa.horibe@tier4.jp common/tier4_traffic_light_rviz_plugin/** satoshi.ota@tier4.jp common/tier4_vehicle_rviz_plugin/** yukihiro.saito@tier4.jp common/time_utils/** christopherj.ho@gmail.com shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp common/traffic_light_recognition_marker_publisher/** shumpei.wakabayashi@tier4.jp takeshi.miura@tier4.jp tomoya.kimura@tier4.jp common/traffic_light_utils/** kotaro.uetake@tier4.jp satoshi.ota@tier4.jp shunsuke.miura@tier4.jp common/tvm_utility/** ambroise.vincent@arm.com xinyu.wang@tier4.jp -control/autonomous_emergency_braking/** mamoru.sobue@tier4.jp takamasa.horibe@tier4.jp tomoya.kimura@tier4.jp +control/autonomous_emergency_braking/** daniel.sanchez@tier4.jp mamoru.sobue@tier4.jp takamasa.horibe@tier4.jp tomoya.kimura@tier4.jp control/control_performance_analysis/** berkay@leodrive.ai fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp control/control_validator/** kyoichi.sugahara@tier4.jp makoto.kurihara@tier4.jp mamoru.sobue@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp control/external_cmd_selector/** fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp @@ -69,15 +58,16 @@ control/pid_longitudinal_controller/** mamoru.sobue@tier4.jp takamasa.horibe@tie control/predicted_path_checker/** berkay@leodrive.ai control/pure_pursuit/** takamasa.horibe@tier4.jp control/shift_decider/** takamasa.horibe@tier4.jp +control/smart_mpc_trajectory_follower/** masayuki.aino@proxima-ai-tech.com control/trajectory_follower_base/** takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp control/trajectory_follower_node/** takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp control/vehicle_cmd_gate/** takamasa.horibe@tier4.jp tomoya.kimura@tier4.jp +evaluator/control_evaluator/** daniel.sanchez@tier4.jp takayuki.murooka@tier4.jp evaluator/diagnostic_converter/** kyoichi.sugahara@tier4.jp maxime.clement@tier4.jp takamasa.horibe@tier4.jp evaluator/kinematic_evaluator/** dominik.jargot@robotec.ai fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp evaluator/localization_evaluator/** dominik.jargot@robotec.ai koji.minoda@tier4.jp evaluator/perception_online_evaluator/** fumiya.watanabe@tier4.jp kosuke.takeuchi@tier4.jp kotaro.uetake@tier4.jp kyoichi.sugahara@tier4.jp shunsuke.miura@tier4.jp yoshi.ri@tier4.jp evaluator/planning_evaluator/** kyoichi.sugahara@tier4.jp maxime.clement@tier4.jp -evaluator/tier4_metrics_rviz_plugin/** fumiya.watanabe@tier4.jp kosuke.takeuchi@tier4.jp kyoichi.sugahara@tier4.jp maxime.clement@tier4.jp satoshi.ota@tier4.jp launch/tier4_autoware_api_launch/** isamu.takagi@tier4.jp ryohsuke.mitsudome@tier4.jp launch/tier4_control_launch/** takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp launch/tier4_localization_launch/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp koji.minoda@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp @@ -88,6 +78,7 @@ launch/tier4_sensing_launch/** yukihiro.saito@tier4.jp launch/tier4_simulator_launch/** keisuke.shima@tier4.jp taiki.tanaka@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp launch/tier4_system_launch/** fumihito.ito@tier4.jp tetsuhiro.kawaguchi@tier4.jp launch/tier4_vehicle_launch/** yukihiro.saito@tier4.jp +localization/autoware_pose_covariance_modifier/** melike@leodrive.ai localization/ekf_localizer/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp koji.minoda@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp takamasa.horibe@tier4.jp takeshi.ishita@tier4.jp yamato.ando@tier4.jp localization/geo_pose_projector/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp koji.minoda@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp localization/gyro_odometer/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp @@ -122,17 +113,17 @@ perception/detected_object_validation/** dai.nguyen@tier4.jp shintaro.tomie@tier perception/detection_by_tracker/** taekjin.lee@tier4.jp yoshi.ri@tier4.jp yukihiro.saito@tier4.jp perception/elevation_map_loader/** kosuke.takeuchi@tier4.jp shintaro.tomie@tier4.jp taichi.higashide@tier4.jp perception/euclidean_cluster/** dai.nguyen@tier4.jp yukihiro.saito@tier4.jp -perception/ground_segmentation/** abrahammonrroy@yahoo.com dai.nguyen@tier4.jp shunsuke.miura@tier4.jp yukihiro.saito@tier4.jp +perception/ground_segmentation/** abrahammonrroy@yahoo.com dai.nguyen@tier4.jp shunsuke.miura@tier4.jp yoshi.ri@tier4.jp yukihiro.saito@tier4.jp perception/image_projection_based_fusion/** dai.nguyen@tier4.jp koji.minoda@tier4.jp kotaro.uetake@tier4.jp shunsuke.miura@tier4.jp tao.zhong@tier4.jp yoshi.ri@tier4.jp yukihiro.saito@tier4.jp perception/lidar_apollo_instance_segmentation/** yukihiro.saito@tier4.jp perception/lidar_apollo_segmentation_tvm/** ambroise.vincent@arm.com xinyu.wang@tier4.jp perception/lidar_apollo_segmentation_tvm_nodes/** ambroise.vincent@arm.com xinyu.wang@tier4.jp perception/lidar_centerpoint/** kenzo.lobos@tier4.jp koji.minoda@tier4.jp perception/lidar_centerpoint_tvm/** carl.liu@autocore.ai xinyu.wang@tier4.jp -perception/map_based_prediction/** kotaro.uetake@tier4.jp kyoichi.sugahara@tier4.jp shunsuke.miura@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp yoshi.ri@tier4.jp +perception/map_based_prediction/** kotaro.uetake@tier4.jp kyoichi.sugahara@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp yoshi.ri@tier4.jp perception/multi_object_tracker/** taekjin.lee@tier4.jp yoshi.ri@tier4.jp yukihiro.saito@tier4.jp perception/object_merger/** taekjin.lee@tier4.jp yoshi.ri@tier4.jp yukihiro.saito@tier4.jp -perception/object_range_splitter/** yukihiro.saito@tier4.jp +perception/object_range_splitter/** yoshi.ri@tier4.jp yukihiro.saito@tier4.jp perception/object_velocity_splitter/** satoshi.tanaka@tier4.jp shunsuke.miura@tier4.jp yoshi.ri@tier4.jp perception/occupancy_grid_map_outlier_filter/** abrahammonrroy@yahoo.com yoshi.ri@tier4.jp yukihiro.saito@tier4.jp perception/probabilistic_occupancy_grid_map/** mamoru.sobue@tier4.jp yoshi.ri@tier4.jp yukihiro.saito@tier4.jp @@ -141,26 +132,31 @@ perception/radar_fusion_to_detected_object/** satoshi.tanaka@tier4.jp shunsuke.m perception/radar_object_clustering/** satoshi.tanaka@tier4.jp shunsuke.miura@tier4.jp taekjin.lee@tier4.jp yoshi.ri@tier4.jp perception/radar_object_tracker/** satoshi.tanaka@tier4.jp taekjin.lee@tier4.jp yoshi.ri@tier4.jp yukihiro.saito@tier4.jp perception/radar_tracks_msgs_converter/** satoshi.tanaka@tier4.jp shunsuke.miura@tier4.jp taekjin.lee@tier4.jp yoshi.ri@tier4.jp +perception/raindrop_cluster_filter/** dai.nguyen@tier4.jp yoshi.ri@tier4.jp yukihiro.saito@tier4.jp perception/shape_estimation/** yoshi.ri@tier4.jp yukihiro.saito@tier4.jp perception/simple_object_merger/** satoshi.tanaka@tier4.jp shunsuke.miura@tier4.jp yoshi.ri@tier4.jp perception/tensorrt_classifier/** kotaro.uetake@tier4.jp shunsuke.miura@tier4.jp perception/tensorrt_yolox/** dan.umeda@tier4.jp manato.hirabayashi@tier4.jp perception/tracking_object_merger/** taekjin.lee@tier4.jp yoshi.ri@tier4.jp yukihiro.saito@tier4.jp perception/traffic_light_arbiter/** kenzo.lobos@tier4.jp shunsuke.miura@tier4.jp -perception/traffic_light_classifier/** shunsuke.miura@tier4.jp yukihiro.saito@tier4.jp +perception/traffic_light_classifier/** shunsuke.miura@tier4.jp tao.zhong@tier4.jp yukihiro.saito@tier4.jp perception/traffic_light_fine_detector/** shintaro.tomie@tier4.jp shunsuke.miura@tier4.jp tao.zhong@tier4.jp -perception/traffic_light_map_based_detector/** shunsuke.miura@tier4.jp yukihiro.saito@tier4.jp +perception/traffic_light_map_based_detector/** shunsuke.miura@tier4.jp tao.zhong@tier4.jp yukihiro.saito@tier4.jp perception/traffic_light_multi_camera_fusion/** shunsuke.miura@tier4.jp tao.zhong@tier4.jp perception/traffic_light_occlusion_predictor/** shunsuke.miura@tier4.jp tao.zhong@tier4.jp -perception/traffic_light_visualization/** yukihiro.saito@tier4.jp +perception/traffic_light_visualization/** tao.zhong@tier4.jp yukihiro.saito@tier4.jp +planning/autoware_behavior_path_external_request_lane_change_module/** fumiya.watanabe@tier4.jp kosuke.takeuchi@tier4.jp shumpei.wakabayashi@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp zulfaqar.azmi@tier4.jp +planning/autoware_behavior_velocity_planner/** kosuke.takeuchi@tier4.jp kyoichi.sugahara@tier4.jp makoto.kurihara@tier4.jp mamoru.sobue@tier4.jp maxime.clement@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp takayuki.murooka@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp +planning/autoware_planning_test_manager/** kyoichi.sugahara@tier4.jp takamasa.horibe@tier4.jp +planning/autoware_remaining_distance_time_calculator/** ahmed.ebrahim@leodrive.ai +planning/autoware_static_centerline_generator/** kosuke.takeuchi@tier4.jp takayuki.murooka@tier4.jp planning/behavior_path_avoidance_by_lane_change_module/** fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp zulfaqar.azmi@tier4.jp -planning/behavior_path_avoidance_module/** fumiya.watanabe@tier4.jp kyoichi.sugahara@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp takamasa.horibe@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp zulfaqar.azmi@tier4.jp +planning/behavior_path_avoidance_module/** fumiya.watanabe@tier4.jp go.sakayori@tier4.jp kyoichi.sugahara@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp takamasa.horibe@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp zulfaqar.azmi@tier4.jp planning/behavior_path_dynamic_avoidance_module/** kosuke.takeuchi@tier4.jp satoshi.ota@tier4.jp takayuki.murooka@tier4.jp yuki.takagi@tier4.jp -planning/behavior_path_external_request_lane_change_module/** fumiya.watanabe@tier4.jp kosuke.takeuchi@tier4.jp shumpei.wakabayashi@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp zulfaqar.azmi@tier4.jp planning/behavior_path_goal_planner_module/** daniel.sanchez@tier4.jp kosuke.takeuchi@tier4.jp kyoichi.sugahara@tier4.jp mamoru.sobue@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp planning/behavior_path_lane_change_module/** fumiya.watanabe@tier4.jp kosuke.takeuchi@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp zulfaqar.azmi@tier4.jp -planning/behavior_path_planner/** fumiya.watanabe@tier4.jp kosuke.takeuchi@tier4.jp kyoichi.sugahara@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp zulfaqar.azmi@tier4.jp -planning/behavior_path_planner_common/** daniel.sanchez@tier4.jp fumiya.watanabe@tier4.jp kosuke.takeuchi@tier4.jp mamoru.sobue@tier4.jp maxime.clement@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp zulfaqar.azmi@tier4.jp +planning/behavior_path_planner/** fumiya.watanabe@tier4.jp go.sakayori@tier4.jp kosuke.takeuchi@tier4.jp kyoichi.sugahara@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp zulfaqar.azmi@tier4.jp +planning/behavior_path_planner_common/** daniel.sanchez@tier4.jp fumiya.watanabe@tier4.jp go.sakayori@tier4.jp kosuke.takeuchi@tier4.jp mamoru.sobue@tier4.jp maxime.clement@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp zulfaqar.azmi@tier4.jp planning/behavior_path_sampling_planner_module/** daniel.sanchez@tier4.jp maxime.clement@tier4.jp planning/behavior_path_side_shift_module/** fumiya.watanabe@tier4.jp kyoichi.sugahara@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp planning/behavior_path_start_planner_module/** daniel.sanchez@tier4.jp kosuke.takeuchi@tier4.jp kyoichi.sugahara@tier4.jp mamoru.sobue@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp @@ -173,13 +169,12 @@ planning/behavior_velocity_no_drivable_lane_module/** ahmed.ebrahim@leodrive.ai planning/behavior_velocity_no_stopping_area_module/** kosuke.takeuchi@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp planning/behavior_velocity_occlusion_spot_module/** shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp tomoya.kimura@tier4.jp planning/behavior_velocity_out_of_lane_module/** maxime.clement@tier4.jp shumpei.wakabayashi@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp -planning/behavior_velocity_planner/** kosuke.takeuchi@tier4.jp kyoichi.sugahara@tier4.jp makoto.kurihara@tier4.jp mamoru.sobue@tier4.jp maxime.clement@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp takayuki.murooka@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp planning/behavior_velocity_planner_common/** fumiya.watanabe@tier4.jp isamu.takagi@tier4.jp mamoru.sobue@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp planning/behavior_velocity_run_out_module/** kosuke.takeuchi@tier4.jp makoto.kurihara@tier4.jp shumpei.wakabayashi@tier4.jp takayuki.murooka@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp planning/behavior_velocity_speed_bump_module/** mdogru@leodrive.ai shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp planning/behavior_velocity_stop_line_module/** fumiya.watanabe@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp zhe.shen@tier4.jp planning/behavior_velocity_template_module/** daniel.sanchez@tier4.jp -planning/behavior_velocity_traffic_light_module/** satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp +planning/behavior_velocity_traffic_light_module/** mamoru.sobue@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp planning/behavior_velocity_virtual_traffic_light_module/** kosuke.takeuchi@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp planning/behavior_velocity_walkway_module/** satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp planning/costmap_generator/** kosuke.takeuchi@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp @@ -194,10 +189,10 @@ planning/obstacle_cruise_planner/** kosuke.takeuchi@tier4.jp satoshi.ota@tier4.j planning/obstacle_stop_planner/** berkay@leodrive.ai bnk@leodrive.ai satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp tomoya.kimura@tier4.jp planning/obstacle_velocity_limiter/** maxime.clement@tier4.jp planning/path_smoother/** maxime.clement@tier4.jp takayuki.murooka@tier4.jp -planning/planning_test_utils/** kyoichi.sugahara@tier4.jp takamasa.horibe@tier4.jp +planning/planning_test_utils/** kyoichi.sugahara@tier4.jp mamoru.sobue@tier4.jp takamasa.horibe@tier4.jp zulfaqar.azmi@tier4.jp planning/planning_topic_converter/** kosuke.takeuchi@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp planning/planning_validator/** kosuke.takeuchi@tier4.jp takamasa.horibe@tier4.jp -planning/route_handler/** fumiya.watanabe@tier4.jp kosuke.takeuchi@tier4.jp mamoru.sobue@tier4.jp takayuki.murooka@tier4.jp zulfaqar.azmi@tier4.jp +planning/route_handler/** fumiya.watanabe@tier4.jp go.sakayori@tier4.jp kosuke.takeuchi@tier4.jp mamoru.sobue@tier4.jp takayuki.murooka@tier4.jp zulfaqar.azmi@tier4.jp planning/rtc_interface/** fumiya.watanabe@tier4.jp kyoichi.sugahara@tier4.jp satoshi.ota@tier4.jp taiki.tanaka@tier4.jp planning/rtc_replayer/** fumiya.watanabe@tier4.jp taiki.tanaka@tier4.jp planning/sampling_based_planner/bezier_sampler/** maxime.clement@tier4.jp @@ -205,14 +200,13 @@ planning/sampling_based_planner/frenet_planner/** maxime.clement@tier4.jp planning/sampling_based_planner/path_sampler/** maxime.clement@tier4.jp planning/sampling_based_planner/sampler_common/** maxime.clement@tier4.jp planning/scenario_selector/** fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp -planning/static_centerline_generator/** kosuke.takeuchi@tier4.jp takayuki.murooka@tier4.jp planning/surround_obstacle_checker/** satoshi.ota@tier4.jp sensing/gnss_poser/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp koji.minoda@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp -sensing/image_diagnostics/** dai.nguyen@tier4.jp +sensing/image_diagnostics/** dai.nguyen@tier4.jp yoshi.ri@tier4.jp sensing/image_transport_decompressor/** kenzo.lobos@tier4.jp yukihiro.saito@tier4.jp sensing/imu_corrector/** koji.minoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp sensing/livox/livox_tag_filter/** kenzo.lobos@tier4.jp ryohsuke.mitsudome@tier4.jp -sensing/pointcloud_preprocessor/** abrahammonrroy@yahoo.com dai.nguyen@tier4.jp kenzo.lobos@tier4.jp kyoichi.sugahara@tier4.jp shunsuke.miura@tier4.jp yihsiang.fang@tier4.jp yukihiro.saito@tier4.jp +sensing/pointcloud_preprocessor/** abrahammonrroy@yahoo.com dai.nguyen@tier4.jp kenzo.lobos@tier4.jp kyoichi.sugahara@tier4.jp shunsuke.miura@tier4.jp yihsiang.fang@tier4.jp yoshi.ri@tier4.jp yukihiro.saito@tier4.jp sensing/radar_scan_to_pointcloud2/** satoshi.tanaka@tier4.jp shunsuke.miura@tier4.jp taekjin.lee@tier4.jp yoshi.ri@tier4.jp sensing/radar_static_pointcloud_filter/** satoshi.tanaka@tier4.jp shunsuke.miura@tier4.jp taekjin.lee@tier4.jp yoshi.ri@tier4.jp sensing/radar_threshold_filter/** satoshi.tanaka@tier4.jp shunsuke.miura@tier4.jp taekjin.lee@tier4.jp yoshi.ri@tier4.jp @@ -221,7 +215,8 @@ sensing/tier4_pcl_extensions/** david.wong@tier4.jp kenzo.lobos@tier4.jp ryu.yam sensing/vehicle_velocity_converter/** ryu.yamamoto@tier4.jp simulator/dummy_perception_publisher/** yukihiro.saito@tier4.jp simulator/fault_injection/** keisuke.shima@tier4.jp -simulator/simple_planning_simulator/** takamasa.horibe@tier4.jp tomoya.kimura@tier4.jp +simulator/learning_based_vehicle_model/** maxime.clement@tier4.jp nagy.tomas@tier4.jp +simulator/simple_planning_simulator/** mamoru.sobue@tier4.jp maxime.clement@tier4.jp takamasa.horibe@tier4.jp temkei.kem@tier4.jp tomoya.kimura@tier4.jp zulfaqar.azmi@tier4.jp simulator/vehicle_door_simulator/** isamu.takagi@tier4.jp system/autoware_auto_msgs_adapter/** isamu.takagi@tier4.jp mfc@leodrive.ai system/bluetooth_monitor/** fumihito.ito@tier4.jp @@ -231,6 +226,7 @@ system/default_ad_api_helpers/ad_api_adaptors/** isamu.takagi@tier4.jp ryohsuke. system/default_ad_api_helpers/ad_api_visualizers/** isamu.takagi@tier4.jp ryohsuke.mitsudome@tier4.jp yukihiro.saito@tier4.jp system/default_ad_api_helpers/automatic_pose_initializer/** isamu.takagi@tier4.jp ryohsuke.mitsudome@tier4.jp yukihiro.saito@tier4.jp system/diagnostic_graph_aggregator/** isamu.takagi@tier4.jp +system/diagnostic_graph_utils/** isamu.takagi@tier4.jp system/dummy_diag_publisher/** fumihito.ito@tier4.jp tetsuhiro.kawaguchi@tier4.jp system/dummy_infrastructure/** ryohsuke.mitsudome@tier4.jp system/duplicated_node_checker/** mamoru.sobue@tier4.jp shumpei.wakabayashi@tier4.jp uken.ryu@tier4.jp @@ -239,10 +235,12 @@ system/hazard_status_converter/** isamu.takagi@tier4.jp system/mrm_comfortable_stop_operator/** makoto.kurihara@tier4.jp tomohito.ando@tier4.jp system/mrm_emergency_stop_operator/** makoto.kurihara@tier4.jp tomohito.ando@tier4.jp system/mrm_handler/** makoto.kurihara@tier4.jp ryuta.kambe@tier4.jp tetsuhiro.kawaguchi@tier4.jp +system/system_diagnostic_monitor/** isamu.takagi@tier4.jp system/system_error_monitor/** fumihito.ito@tier4.jp system/system_monitor/** fumihito.ito@tier4.jp tetsuhiro.kawaguchi@tier4.jp system/topic_state_monitor/** ryohsuke.mitsudome@tier4.jp system/velodyne_monitor/** fumihito.ito@tier4.jp +tools/reaction_analyzer/** berkay@leodrive.ai vehicle/accel_brake_map_calibrator/** taiki.tanaka@tier4.jp takeshi.miura@tier4.jp tomoya.kimura@tier4.jp vehicle/external_cmd_converter/** takamasa.horibe@tier4.jp vehicle/raw_vehicle_cmd_converter/** makoto.kurihara@tier4.jp taiki.tanaka@tier4.jp takamasa.horibe@tier4.jp diff --git a/.github/PULL_REQUEST_TEMPLATE/small-change.md b/.github/PULL_REQUEST_TEMPLATE/small-change.md index 2ff933c43a349..e15fdd992d114 100644 --- a/.github/PULL_REQUEST_TEMPLATE/small-change.md +++ b/.github/PULL_REQUEST_TEMPLATE/small-change.md @@ -15,6 +15,10 @@ Not applicable. Not applicable. +## Interface changes + + + ## Pre-review checklist for the PR author The PR author **must** check the checkboxes below when creating the PR. diff --git a/.github/PULL_REQUEST_TEMPLATE/standard-change.md b/.github/PULL_REQUEST_TEMPLATE/standard-change.md index 7aedefd0a7bf1..391af629751e0 100644 --- a/.github/PULL_REQUEST_TEMPLATE/standard-change.md +++ b/.github/PULL_REQUEST_TEMPLATE/standard-change.md @@ -18,6 +18,19 @@ +### ROS Topic Changes + + + + + + +### ROS Parameter Changes + + + + + ## Effects on system behavior diff --git a/.github/workflows/build-and-test-arm64.yaml b/.github/workflows/build-and-test-arm64.yaml index a5e00496cc50a..c9a4b46874e18 100644 --- a/.github/workflows/build-and-test-arm64.yaml +++ b/.github/workflows/build-and-test-arm64.yaml @@ -19,7 +19,7 @@ jobs: - -cuda include: - rosdistro: humble - container: ghcr.io/autowarefoundation/autoware-openadk:latest-prebuilt + container: ghcr.io/autowarefoundation/autoware:latest-prebuilt build-depends-repos: build_depends.repos steps: - name: Check out repository diff --git a/.github/workflows/build-and-test-differential-arm64.yaml b/.github/workflows/build-and-test-differential-arm64.yaml index bd422af46bc4d..d6e49eaabc5bd 100644 --- a/.github/workflows/build-and-test-differential-arm64.yaml +++ b/.github/workflows/build-and-test-differential-arm64.yaml @@ -29,7 +29,7 @@ jobs: - -cuda include: - rosdistro: humble - container: ghcr.io/autowarefoundation/autoware-openadk:latest-prebuilt + container: ghcr.io/autowarefoundation/autoware:latest-prebuilt build-depends-repos: build_depends.repos steps: - name: Check out repository diff --git a/.github/workflows/build-and-test-differential.yaml b/.github/workflows/build-and-test-differential.yaml index 3ad7b6d434f33..fb98d321fde88 100644 --- a/.github/workflows/build-and-test-differential.yaml +++ b/.github/workflows/build-and-test-differential.yaml @@ -28,7 +28,7 @@ jobs: - -cuda include: - rosdistro: humble - container: ghcr.io/autowarefoundation/autoware-openadk:latest-prebuilt + container: ghcr.io/autowarefoundation/autoware:latest-prebuilt build-depends-repos: build_depends.repos steps: - name: Check out repository @@ -77,7 +77,7 @@ jobs: clang-tidy-differential: runs-on: ubuntu-latest - container: ghcr.io/autowarefoundation/autoware-openadk:latest-prebuilt-cuda + container: ghcr.io/autowarefoundation/autoware:latest-prebuilt-cuda steps: - name: Check out repository uses: actions/checkout@v4 diff --git a/.github/workflows/build-and-test.yaml b/.github/workflows/build-and-test.yaml index 520c2cb9983b0..a469e7a33d190 100644 --- a/.github/workflows/build-and-test.yaml +++ b/.github/workflows/build-and-test.yaml @@ -21,7 +21,7 @@ jobs: - -cuda include: - rosdistro: humble - container: ghcr.io/autowarefoundation/autoware-openadk:latest-prebuilt + container: ghcr.io/autowarefoundation/autoware:latest-prebuilt build-depends-repos: build_depends.repos steps: - name: Check out repository diff --git a/build_depends.repos b/build_depends.repos index f7b3f12484015..32854cc34e362 100644 --- a/build_depends.repos +++ b/build_depends.repos @@ -41,3 +41,7 @@ repositories: type: git url: https://github.com/MORAI-Autonomous/MORAI-ROS2_morai_msgs.git version: main + universe/external/glog: # TODO: to use isGoogleInitialized() API in v0.6.0. Remove when the rosdep glog version is updated to v0.6.0 (already updated in Ubuntu 24.04) + type: git + url: https://github.com/tier4/glog.git + version: v0.6.0_t4-ros diff --git a/common/.pages b/common/.pages new file mode 100644 index 0000000000000..5ce88e0561c34 --- /dev/null +++ b/common/.pages @@ -0,0 +1,58 @@ +nav: + - 'Introduction': common + - 'Testing Libraries': + - 'autoware_testing': common/autoware_testing/design/autoware_testing-design + - 'fake_test_node': common/fake_test_node/design/fake_test_node-design + - 'Common Libraries': + - 'autoware_auto_common': + - 'comparisons': common/autoware_auto_common/design/comparisons + - 'autoware_auto_tf2': common/autoware_auto_tf2/design/autoware-auto-tf2-design + - 'autoware_point_types': common/autoware_point_types + - 'Cuda Utils': common/cuda_utils + - 'Geography Utils': common/geography_utils + - 'Global Parameter Loader': common/global_parameter_loader/Readme + - 'Glog Component': common/glog_component + - 'grid_map_utils': common/grid_map_utils + - 'interpolation': common/interpolation + - 'Kalman Filter': common/kalman_filter + - 'Motion Utils': common/motion_utils + - 'Vehicle Utils': common/motion_utils/docs/vehicle/vehicle + - 'Object Recognition Utils': common/object_recognition_utils + - 'OSQP Interface': common/osqp_interface/design/osqp_interface-design + - 'Perception Utils': common/perception_utils + - 'QP Interface': common/qp_interface/design/qp_interface-design + - 'Signal Processing': + - 'Introduction': common/signal_processing + - 'Butterworth Filter': common/signal_processing/documentation/ButterworthFilter + - 'TensorRT Common': common/tensorrt_common + - 'tier4_autoware_utils': common/tier4_autoware_utils + - 'traffic_light_utils': common/traffic_light_utils + - 'TVM Utility': + - 'Introduction': common/tvm_utility + - 'YOLOv2 Tiny Example': common/tvm_utility/tvm-utility-yolo-v2-tiny-tests + - 'RVIZ2 Plugins': + - 'autoware_auto_perception_rviz_plugin': common/autoware_auto_perception_rviz_plugin + - 'autoware_overlay_rviz_plugin': common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin + - 'autoware_mission_details_overlay_rviz_plugin': common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin + - 'bag_time_manager_rviz_plugin': common/bag_time_manager_rviz_plugin + - 'polar_grid': common/polar_grid/Readme + - 'tier4_adapi_rviz_plugin': common/tier4_adapi_rviz_plugin + - 'tier4_api_utils': common/tier4_api_utils + - 'tier4_camera_view_rviz_plugin': common/tier4_camera_view_rviz_plugin + - 'tier4_datetime_rviz_plugin': common/tier4_datetime_rviz_plugin + - 'tier4_localization_rviz_plugin': common/tier4_localization_rviz_plugin + - 'tier4_perception_rviz_plugin': common/tier4_perception_rviz_plugin + - 'tier4_planning_rviz_plugin': common/tier4_planning_rviz_plugin + - 'tier4_state_rviz_plugin': common/tier4_state_rviz_plugin + - 'tier4_system_rviz_plugin': common/tier4_system_rviz_plugin + - 'tier4_traffic_light_rviz_plugin': common/tier4_traffic_light_rviz_plugin + - 'tier4_vehicle_rviz_plugin': common/tier4_vehicle_rviz_plugin + - 'traffic_light_recognition_marker_publisher': common/traffic_light_recognition_marker_publisher/Readme + - 'Node': + - 'Goal Distance Calculator': common/goal_distance_calculator/Readme + - 'Path Distance Calculator': common/path_distance_calculator/Readme + - 'Others': + - 'autoware_ad_api_specs': common/autoware_ad_api_specs + - 'component_interface_specs': common/component_interface_specs + - 'component_interface_tools': common/component_interface_tools + - 'component_interface_utils': common/component_interface_utils diff --git a/common/README.md b/common/README.md new file mode 100644 index 0000000000000..95b8973a66b2b --- /dev/null +++ b/common/README.md @@ -0,0 +1,16 @@ +# Common + +## Getting Started + +The Autoware.Universe Common folder consists of common and testing libraries that are used by other Autoware components, as well as useful plugins for visualization in RVIZ2. + +!!! note + + In addition to the ones listed in this folder, users can also have a look at some of the add-ons in the `autoware_tools/common` documentation [page](https://autowarefoundation.github.io/autoware_tools/main/common/mission_planner_rviz_plugin/). + +## Highlights + +Some of the commonly used libraries are: + +1. `tier4_autoware_utils` +2. `motion_utils` diff --git a/common/autoware_ad_api_specs/include/autoware_ad_api_specs/system.hpp b/common/autoware_ad_api_specs/include/autoware_ad_api_specs/system.hpp new file mode 100644 index 0000000000000..09144c1d8ff50 --- /dev/null +++ b/common/autoware_ad_api_specs/include/autoware_ad_api_specs/system.hpp @@ -0,0 +1,36 @@ +// Copyright 2024 The Autoware Contributors +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#ifndef AUTOWARE_AD_API_SPECS__SYSTEM_HPP_ +#define AUTOWARE_AD_API_SPECS__SYSTEM_HPP_ + +#include + +#include + +namespace autoware_ad_api::system +{ + +struct Heartbeat +{ + using Message = autoware_adapi_v1_msgs::msg::Heartbeat; + static constexpr char name[] = "/api/system/heartbeat"; + static constexpr size_t depth = 10; + static constexpr auto reliability = RMW_QOS_POLICY_RELIABILITY_BEST_EFFORT; + static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_VOLATILE; +}; + +} // namespace autoware_ad_api::system + +#endif // AUTOWARE_AD_API_SPECS__SYSTEM_HPP_ diff --git a/common/autoware_auto_common/include/autoware_auto_common/common/types.hpp b/common/autoware_auto_common/include/autoware_auto_common/common/types.hpp index 1c7dfe48c7ec8..83b8287ff60d4 100644 --- a/common/autoware_auto_common/include/autoware_auto_common/common/types.hpp +++ b/common/autoware_auto_common/include/autoware_auto_common/common/types.hpp @@ -37,7 +37,9 @@ namespace types // We don't currently require code to comply to MISRA, but we should try to where it is // easily possible. using bool8_t = bool; +#if __cplusplus < 201811L || !__cpp_char8_t using char8_t = char; +#endif using uchar8_t = unsigned char; // If we ever compile on a platform where this is not true, float32_t and float64_t definitions // need to be adjusted. diff --git a/common/autoware_auto_common/include/autoware_auto_common/helper_functions/message_adapters.hpp b/common/autoware_auto_common/include/autoware_auto_common/helper_functions/message_adapters.hpp index d3bda57b3374f..cc2fb0e41c372 100644 --- a/common/autoware_auto_common/include/autoware_auto_common/helper_functions/message_adapters.hpp +++ b/common/autoware_auto_common/include/autoware_auto_common/helper_functions/message_adapters.hpp @@ -36,7 +36,7 @@ using TimeStamp = builtin_interfaces::msg::Time; /// \brief Helper class to check existence of header file in compile time: /// https://stackoverflow.com/a/16000226/2325407 -template +template struct HasHeader : std::false_type { }; @@ -48,60 +48,60 @@ struct HasHeader : std::true_type /////////// Template declarations -/// Get frame id from message. nullptr_t is used to prevent template ambiguity on +/// Get frame id from message. std::nullptr_t is used to prevent template ambiguity on /// SFINAE specializations. Provide a default value on specializations for a friendly API. /// \tparam T Message type. /// \param msg Message. /// \return Frame id of the message. -template +template const std::string & get_frame_id(const T & msg) noexcept; -/// Get a reference to the frame id from message. nullptr_t is used to prevent +/// Get a reference to the frame id from message. std::nullptr_t is used to prevent /// template ambiguity on SFINAE specializations. Provide a default value on /// specializations for a friendly API. /// \tparam T Message type. /// \param msg Message. /// \return Frame id of the message. -template +template std::string & get_frame_id(T & msg) noexcept; -/// Get stamp from message. nullptr_t is used to prevent template ambiguity on +/// Get stamp from message. std::nullptr_t is used to prevent template ambiguity on /// SFINAE specializations. Provide a default value on specializations for a friendly API. /// \tparam T Message type. /// \param msg Message. /// \return Frame id of the message. -template +template const TimeStamp & get_stamp(const T & msg) noexcept; -/// Get a reference to the stamp from message. nullptr_t is used to prevent +/// Get a reference to the stamp from message. std::nullptr_t is used to prevent /// template ambiguity on SFINAE specializations. Provide a default value on /// specializations for a friendly API. /// \tparam T Message type. /// \param msg Message. /// \return Frame id of the message. -template +template TimeStamp & get_stamp(T & msg) noexcept; /////////////// Default specializations for message types that contain a header. -template ::value, nullptr_t>::type = nullptr> +template ::value, std::nullptr_t>::type = nullptr> const std::string & get_frame_id(const T & msg) noexcept { return msg.header.frame_id; } -template ::value, nullptr_t>::type = nullptr> +template ::value, std::nullptr_t>::type = nullptr> std::string & get_frame_id(T & msg) noexcept { return msg.header.frame_id; } -template ::value, nullptr_t>::type = nullptr> +template ::value, std::nullptr_t>::type = nullptr> TimeStamp & get_stamp(T & msg) noexcept { return msg.header.stamp; } -template ::value, nullptr_t>::type = nullptr> +template ::value, std::nullptr_t>::type = nullptr> TimeStamp get_stamp(const T & msg) noexcept { return msg.header.stamp; diff --git a/common/autoware_auto_geometry/CMakeLists.txt b/common/autoware_auto_geometry/CMakeLists.txt deleted file mode 100644 index ee819b7cd797c..0000000000000 --- a/common/autoware_auto_geometry/CMakeLists.txt +++ /dev/null @@ -1,39 +0,0 @@ -cmake_minimum_required(VERSION 3.14) -project(autoware_auto_geometry) - -find_package(autoware_cmake REQUIRED) -autoware_package() - -ament_auto_add_library(${PROJECT_NAME} SHARED - include/autoware_auto_geometry/spatial_hash.hpp - include/autoware_auto_geometry/intersection.hpp - include/autoware_auto_geometry/spatial_hash_config.hpp - src/spatial_hash.cpp - src/bounding_box.cpp -) - -if(BUILD_TESTING) - set(GEOMETRY_GTEST geometry_gtest) - set(GEOMETRY_SRC test/src/test_geometry.cpp - test/src/test_convex_hull.cpp - test/src/test_hull_pockets.cpp - test/src/test_interval.cpp - test/src/lookup_table.cpp - test/src/test_area.cpp - test/src/test_common_2d.cpp - test/src/test_intersection.cpp - ) - ament_add_ros_isolated_gtest(${GEOMETRY_GTEST} ${GEOMETRY_SRC}) - target_compile_options(${GEOMETRY_GTEST} PRIVATE -Wno-conversion -Wno-sign-conversion) - target_include_directories(${GEOMETRY_GTEST} PRIVATE "test/include" "include") - ament_target_dependencies(${GEOMETRY_GTEST} - "autoware_auto_common" - "autoware_auto_geometry_msgs" - "autoware_auto_planning_msgs" - "autoware_auto_vehicle_msgs" - "geometry_msgs" - "osrf_testing_tools_cpp") - target_link_libraries(${GEOMETRY_GTEST} ${PROJECT_NAME}) -endif() - -ament_auto_package() diff --git a/common/autoware_auto_geometry/design/interval.md b/common/autoware_auto_geometry/design/interval.md deleted file mode 100644 index 4fe65ff8e0310..0000000000000 --- a/common/autoware_auto_geometry/design/interval.md +++ /dev/null @@ -1,111 +0,0 @@ -# Interval - -The interval is a standard 1D real-valued interval. -The class implements a representation and operations on the interval type and guarantees interval validity on construction. -Basic operations and accessors are implemented, as well as other common operations. -See 'Example Usage' below. - -## Target use cases - -- Range or containment checks. - The interval class simplifies code that involves checking membership of a value to a range, or intersecting two ranges. - It also provides consistent behavior and consistent handling of edge cases. - -## Properties - -- **empty**: An empty interval is equivalent to an empty set. - It contains no elements. - It is a valid interval, but because it is empty, the notion of measure (length) is undefined; the measure of an empty interval is _not_ zero. - The implementation represents the measure of an empty interval with `NaN`. -- **zero measure**: An interval with zero measure is an interval whose bounds are exactly equal. - The measure is zero because the interval contains only a single point, and points have zero measure. - However, because it does contain a single element, the interval is _not_ empty. -- **valid**: A valid interval is either empty or has min/max bounds such that (min <= max). On construction, interval objects are guaranteed to be valid. - An attempt to construct an invalid interval results in a runtime_error exception being thrown. -- **pseudo-immutable**: Once constructed the only way to change the value of an interval is to overwrite it with a new one; an existing object cannot be modified. - -## Conventions - -- All operations on interval objects are defined as static class methods on the interval class. - This is a functional-style of programming that basically turns the class into a namespace that grants functions access to private member variables of the object they operate on. - -## Assumptions - -- The interval is only intended for floating point types. - This is enforced via static assertion. -- The constructor for non-empty intervals takes two arguments 'min' and 'max', and they must be ordered (i.e., min <= max). - If this assumption is violated, an exception is emitted and construction fails. - -## Example Usage - -```c++ -#include "autoware_auto_geometry/interval.hpp" - -#include - -// using-directive is just for illustration; don't do this in practice -using namespace autoware::common::geometry; - -// bounds for example interval -constexpr auto MIN = 0.0; -constexpr auto MAX = 1.0; - -// -// Try to construct an invalid interval. This will give the following error: -// 'Attempted to construct an invalid interval: {"min": 1.0, "max": 0.0}' -// - -try { - const auto i = Interval_d(MAX, MIN); -} catch (const std::runtime_error& e) { - std::cerr << e.what(); -} - -// -// Construct a double precision interval from 0 to 1 -// - -const auto i = Interval_d(MIN, MAX); - -// -// Test accessors and properties -// - -std::cout << Interval_d::min(i) << " " << Interval_d::max(i) << "\n"; -// Prints: 0.0 1.0 - -std::cout << Interval_d::empty(i) << " " << Interval_d::length(i) << "\n"; -// Prints: false 1.0 - -std::cout << Interval_d::contains(i, 0.3) << "\n"; -// Prints: true - -std::cout << Interval_d::is_subset_eq(Interval_d(0.2, 0.4), i) << "\n"; -// Prints: true - -// -// Test operations. -// - -std::cout << Interval_d::intersect(i, Interval(-1.0, 0.3)) << "\n"; -// Prints: {"min": 0.0, "max": 0.3} - -std::cout << Interval_d::project_to_interval(i, 0.5) << " " - << Interval_d::project_to_interval(i, -1.3) << "\n"; -// Prints: 0.5 0.0 - -// -// Distinguish empty/zero measure -// - -const auto i_empty = Interval(); -const auto i_zero_length = Interval(0.0, 0.0); - -std::cout << Interval_d::empty(i_empty) << " " - << Interval_d::empty(i_zero_length) << "\n"; -// Prints: true false - -std::cout << Interval_d::zero_measure(i_empty) << " " - << Interval_d::zero_measure(i_zero_length) << "\n"; -// Prints: false false -``` diff --git a/common/autoware_auto_geometry/design/polygon_intersection_2d-design.md b/common/autoware_auto_geometry/design/polygon_intersection_2d-design.md deleted file mode 100644 index f651c218bc80d..0000000000000 --- a/common/autoware_auto_geometry/design/polygon_intersection_2d-design.md +++ /dev/null @@ -1,51 +0,0 @@ -# 2D Convex Polygon Intersection - -Two convex polygon's intersection can be visualized on the image below as the blue area: - - - -## Purpose / Use cases - -Computing the intersection between two polygons can be useful in many applications of scene -understanding. It can be used to estimate collision detection, shape alignment, shape -association and in any application that deals with the objects around the perceiving agent. - -## Design - -[\(Livermore, Calif, 1977\)](https://doi.org/10.2172/7309916) mention the following -observations about convex polygon intersection: - -- Intersection of two convex polygons is a convex polygon -- A vertex from a polygon that is contained in the other polygon is a vertex of the intersection - shape. (Vertices A, C, D in the shape above) -- An edge from a polygon that is contained in the other polygon is an edge in the intersection - shape. (edge C-D in the shape above) -- Edge intersections between two polygons are vertices in the intersection shape. (Vertices B, - E in the shape above.) - -### Inner-workings / Algorithms - -With the observation mentioned above, the current algorithm operates in the following way: - -- Compute and find the vertices from each polygon that is contained in the other polygon - (Vertices A, C, D) -- Compute and find the intersection points between each polygon (Vertices B, E) -- Compute the convex hull shaped by these vertices by ordering them CCW. - -### Inputs / Outputs / API - -Inputs: - -- Two iterables that contain vertices of the convex polygons ordered in the CCW direction. - -Outputs: - -- A list of vertices of the intersection shape ordered in the CCW direction. - -## Future Work - -- #1230: Applying efficient algorithms. - -## Related issues - -- #983: Integrate vision detections in object tracker diff --git a/common/autoware_auto_geometry/design/spatial-hash-design.md b/common/autoware_auto_geometry/design/spatial-hash-design.md deleted file mode 100644 index 58eecf3ee841b..0000000000000 --- a/common/autoware_auto_geometry/design/spatial-hash-design.md +++ /dev/null @@ -1,99 +0,0 @@ -# Spatial Hash - -The spatial hash is a data structure designed for efficient fixed-radius near-neighbor queries in -low dimensions. - -The fixed-radius near-neighbors problem is defined as follows: - -`For point p, find all points p' s.t. d(p, p') < r` - -Where in this case `d(p, p')` is euclidean distance, and `r` is the fixed -radius. - -For `n` points with an average of `k` neighbors each, this data structure can -perform `m` near-neighbor queries (to generate lists of near-neighbors for `m` -different points) in `O(mk)` time. - -By contrast, using a k-d tree for successive nearest-neighbor queries results in -a running time of `O(m log n)`. - -The spatial hash works as follows: - -- Each point is assigned to a bin in the predefined bounding area defined by - `x_min/x_max` and `y_min/y_max` -- This can be done by converting x and y position into x and y index - respectively - - For example with the bin containing `x_min` and `y_min` as index `(0, 0)` - - The two (or more) indices can then be converted into a single index -- Once every point of interest has been inserted into the hash, near-neighbor - queries can begin: - - The bin of the reference point is first computed - - For each point in each adjacent bin, perform an explicit distance computation - between said point and the reference point. If the distance is below the given - radius, said point is considered to be a near-neighbor - -Under the hood, an `std::unordered_multimap` is used, where the key is a bin/voxel index. -The bin size was computed to be the same as the lookup distance. - - - -In addition, this data structure can support 2D or 3D queries. This is determined during -configuration, and baked into the data structure via the configuration class. The purpose of -this was to avoid if statements in tight loops. The configuration class specializations themselves -use CRTP (Curiously Recurring Template Patterns) to do "static polymorphism", and avoid -a dispatching call. - -## Performance characterization - -### Time - -Insertion is `O(n)` because lookup time for the underlying hashmap is `O(n)` for -hashmaps. In practice, lookup time for hashmaps and thus insertion time should -be `O(1)`. - -Removing a point is `O(1)` because the current API only supports removal via -direct reference to a node. - -Finding `k` near-neighbors is worst case `O(n)` in the case of an adversarial -example, but in practice `O(k)`. - -### Space - -The module consists of the following components: - -- The internal hashmap is `O(n + n + A * n)`, where `A` is an arbitrary - constant (load factor) -- The other components of the spatial hash are `O(n + n)` - -This results in `O(n)` space complexity. - -## States - -The spatial hash's state is dictated by the status of the underlying unordered_multimap. - -The data structure is wholly configured by a -[config](@ref autoware::common::geometry::spatial_hash::Config) class. The constructor -of the class determines in the data structure accepts strictly 2D or strictly 3D queries. - -## Inputs - -The primary method of introducing data into the data structure is via the -[insert](@ref autoware::common::geometry::spatial_hash::SpatialHashBase::insert) method. - -## Outputs - -The primary method of retrieving data from the data structure is via the -[near](@ref autoware::common::geometry::spatial_hash::SpatialHash::near)\(2D -configuration\) -or [near](@ref autoware::common::geometry::spatial_hash::SpatialHash::near) -\(3D configuration\) method. - -The whole data structure can also be traversed using standard constant iterators. - -## Future Work - -- Performance tuning and optimization - -## Related issues - -- #28: Port to autoware.Auto diff --git a/common/autoware_auto_geometry/include/autoware_auto_geometry/bounding_box/bounding_box_common.hpp b/common/autoware_auto_geometry/include/autoware_auto_geometry/bounding_box/bounding_box_common.hpp deleted file mode 100644 index 0f3a68e14d442..0000000000000 --- a/common/autoware_auto_geometry/include/autoware_auto_geometry/bounding_box/bounding_box_common.hpp +++ /dev/null @@ -1,188 +0,0 @@ -// Copyright 2017-2019 the Autoware Foundation -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. -// -// Co-developed by Tier IV, Inc. and Apex.AI, Inc. - -/// \file -/// \brief Common functionality for bounding box computation algorithms - -#ifndef AUTOWARE_AUTO_GEOMETRY__BOUNDING_BOX__BOUNDING_BOX_COMMON_HPP_ -#define AUTOWARE_AUTO_GEOMETRY__BOUNDING_BOX__BOUNDING_BOX_COMMON_HPP_ - -#include "autoware_auto_geometry/common_2d.hpp" -#include "autoware_auto_geometry/visibility_control.hpp" - -#include -#include -#include -#include - -#include -#include -#include - -namespace autoware -{ -namespace common -{ -namespace geometry -{ -/// \brief Functions and types for generating enclosing bounding boxes around a set of points -namespace bounding_box -{ -using BoundingBox = autoware_auto_perception_msgs::msg::BoundingBox; - -/// \brief Computes height of bounding box given a full list of points -/// \param[in] begin The start of the list of points -/// \param[in] end One past the end of the list of points -/// \param[out] box A box for which the z component of centroid, corners, and size gets filled -/// \tparam IT An iterator type, must dereference into a point type with float member z, or -/// appropriate point adapter defined -template -void compute_height(const IT begin, const IT end, BoundingBox & box) -{ - float32_t max_z = -std::numeric_limits::max(); - float32_t min_z = std::numeric_limits::max(); - for (auto it = begin; it != end; ++it) { - const float32_t z = point_adapter::z_(*it); - if (z <= min_z) { - min_z = z; - } - if (z >= max_z) { - max_z = z; - } - } - box.centroid.z = (max_z + min_z) * 0.5F; - for (auto & corner : box.corners) { - corner.z = box.centroid.z; - } - box.size.z = (max_z - min_z) * 0.5F; -} - -/// \brief Computes height of bounding box given a full list of points -/// \param[in] begin Iterator pointing to the start of the range of points -/// \param[in] end Iterator pointing the the end of the range of points -/// \param[out] shape A shape in which vertices z values and height field will be set -/// \tparam IT An iterator type, must dereference into a point type with float member z, or -/// appropriate point adapter defined -template -void compute_height(const IT begin, const IT end, autoware_auto_perception_msgs::msg::Shape & shape) -{ - float32_t max_z = -std::numeric_limits::max(); - float32_t min_z = std::numeric_limits::max(); - for (auto it = begin; it != end; ++it) { - const float32_t z = point_adapter::z_(*it); - if (z <= min_z) { - min_z = z; - } - if (z >= max_z) { - max_z = z; - } - } - for (auto & corner : shape.footprint.points) { - corner.z = min_z; - } - shape.dimensions.z = max_z - min_z; -} - -namespace details -{ -/// Templated alias for getting a type without CV or reference qualification -template -using base_type = typename std::remove_cv::type>::type; - -/// Templated alias for an array of 4 objects of type PointT -template -using Point4 = std::array; - -/// \brief Helper struct for compile time introspection of array size from -/// Ref: https://stackoverflow.com/questions/16866033 -template -struct array_size; -template -struct array_size> -{ - static std::size_t const size = N; -}; -static_assert( - array_size>::size == 4U, - "Bounding box does not have the right number of corners"); - -/// \brief Compute length, width, area of bounding box -/// \param[in] corners Corners of the current bounding box -/// \param[out] ret A point struct used to hold size of box defined by corners -void GEOMETRY_PUBLIC -size_2d(const decltype(BoundingBox::corners) & corners, geometry_msgs::msg::Point32 & ret); -/// \brief Computes centroid and orientation of a box given corners -/// \param[in] corners Array of final corners of bounding box -/// \param[out] box Message to have corners, orientation, and centroid updated -void GEOMETRY_PUBLIC -finalize_box(const decltype(BoundingBox::corners) & corners, BoundingBox & box); - -/// \brief given support points and two orthogonal directions, compute corners of bounding box -/// \tparam PointT Type of a point, must have float members x and y` -/// \tparam IT An iterator dereferenceable into PointT -/// \param[out] corners Gets filled with corner points of bounding box -/// \param[in] supports Iterators referring to support points of current bounding box -/// e.g. bounding box is touching these points -/// \param[in] directions Directions of each edge of the bounding box from each support point -template -void compute_corners( - decltype(BoundingBox::corners) & corners, const Point4 & supports, - const Point4 & directions) -{ - for (uint32_t idx = 0U; idx < corners.size(); ++idx) { - const uint32_t jdx = (idx != 3U) ? (idx + 1U) : 0U; - const auto pt = - intersection_2d(*supports[idx], directions[idx], *supports[jdx], directions[jdx]); - // TODO(c.ho) handle error - point_adapter::xr_(corners[idx]) = point_adapter::x_(pt); - point_adapter::yr_(corners[idx]) = point_adapter::y_(pt); - } -} -// TODO(c.ho) type trait enum base - -/// \brief Copy vertices of the given box into a Shape type -/// \param box Box to be converted -/// \return Shape type filled with box vertices -autoware_auto_perception_msgs::msg::Shape GEOMETRY_PUBLIC make_shape(const BoundingBox & box); - -/// \brief Copy centroid and orientation info of the box into Pose type -/// \param box BoundingBox to be converted -/// \return Pose type filled with centroid and orientation from box -geometry_msgs::msg::Pose GEOMETRY_PUBLIC make_pose(const BoundingBox & box); - -/// \brief Fill DetectedObject type with contents from a BoundingBox type -/// \param box BoundingBox to be converted -/// \return Filled DetectedObject type -autoware_auto_perception_msgs::msg::DetectedObject GEOMETRY_PUBLIC -make_detected_object(const BoundingBox & box); - -/// \brief Transform corners from object-local coordinates using the given centroid and orientation -/// \param shape_msg Msg containing corners in object-local coordinates -/// \param centroid Centroid of the polygon whose corners are defined in shape_msg -/// \param orientation Orientation of the polygon -/// \return corners transformed such that their centroid and orientation correspond to the -/// given inputs -std::vector GEOMETRY_PUBLIC get_transformed_corners( - const autoware_auto_perception_msgs::msg::Shape & shape_msg, - const geometry_msgs::msg::Point & centroid, const geometry_msgs::msg::Quaternion & orientation); - -} // namespace details -} // namespace bounding_box -} // namespace geometry -} // namespace common -} // namespace autoware - -#endif // AUTOWARE_AUTO_GEOMETRY__BOUNDING_BOX__BOUNDING_BOX_COMMON_HPP_ diff --git a/common/autoware_auto_geometry/include/autoware_auto_geometry/bounding_box/eigenbox_2d.hpp b/common/autoware_auto_geometry/include/autoware_auto_geometry/bounding_box/eigenbox_2d.hpp deleted file mode 100644 index e0f2e66e87ee5..0000000000000 --- a/common/autoware_auto_geometry/include/autoware_auto_geometry/bounding_box/eigenbox_2d.hpp +++ /dev/null @@ -1,247 +0,0 @@ -// Copyright 2017-2019 the Autoware Foundation -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. -// -// Co-developed by Tier IV, Inc. and Apex.AI, Inc. - -/// \file -/// \brief This file implements 2D pca on a linked list of points to estimate an oriented -/// bounding box - -// cspell: ignore eigenbox, EIGENBOX -#ifndef AUTOWARE_AUTO_GEOMETRY__BOUNDING_BOX__EIGENBOX_2D_HPP_ -#define AUTOWARE_AUTO_GEOMETRY__BOUNDING_BOX__EIGENBOX_2D_HPP_ - -#include "autoware_auto_geometry/bounding_box/bounding_box_common.hpp" - -#include -#include - -namespace autoware -{ -namespace common -{ -namespace geometry -{ -namespace bounding_box -{ -namespace details -{ - -/// \brief Simplified 2d covariance matrix -struct Covariance2d -{ - /// \brief Variance in the x direction - float32_t xx; - /// \brief Variance in the y direction - float32_t yy; - /// \brief x-y covariance - float32_t xy; - /// \brief Number of points - std::size_t num_points; -}; // struct Covariance2d - -// cspell: ignore Welford -/// \brief Compute 2d covariance matrix of a list of points using Welford's online algorithm -/// \param[in] begin An iterator pointing to the first point in a point list -/// \param[in] end An iterator pointing to one past the last point in the point list -/// \tparam IT An iterator type dereferenceable into a point with float members x and y -/// \return A 2d covariance matrix for all points in the list -template -Covariance2d covariance_2d(const IT begin, const IT end) -{ - Covariance2d ret{0.0F, 0.0F, 0.0F, 0U}; - float32_t ux = 0.0F; - float32_t uy = 0.0F; - float32_t num_points = 0.0F; - using point_adapter::x_; - using point_adapter::y_; - for (auto it = begin; it != end; ++it) { - ++ret.num_points; - num_points = static_cast(ret.num_points); - const auto & pt = *it; - // update mean x - const float32_t dx = x_(pt) - ux; - ux = ux + (dx / num_points); - // update cov - const float32_t dy = y_(pt) - uy; - ret.xy += (x_(pt) - ux) * (dy); - // update mean y - uy = uy + (dy / num_points); - // update M2 - ret.xx += dx * (x_(pt) - ux); - ret.yy += dy * (y_(pt) - uy); - } - // finalize sample (co-)variance - if (ret.num_points > 1U) { - num_points = num_points - 1.0F; - } - ret.xx /= num_points; - ret.yy /= num_points; - ret.xy /= num_points; - - return ret; -} - -/// \brief Compute eigenvectors and eigenvalues -/// \param[in] cov 2d Covariance matrix -/// \param[out] eig_vec1 First eigenvector -/// \param[out] eig_vec2 Second eigenvector -/// \tparam PointT Point type that has at least float members x and y -/// \return A pair of eigenvalues: The first is the larger eigenvalue -/// \throw std::runtime error if you would get degenerate covariance -template -std::pair eig_2d( - const Covariance2d & cov, PointT & eig_vec1, PointT & eig_vec2) -{ - const float32_t tr_2 = (cov.xx + cov.yy) * 0.5F; - const float32_t det = (cov.xx * cov.yy) - (cov.xy * cov.xy); - // Add a small fudge to alleviate floating point errors - float32_t disc = ((tr_2 * tr_2) - det) + std::numeric_limits::epsilon(); - if (disc < 0.0F) { - throw std::runtime_error( - "pca_2d: negative discriminant! Should never happen for well formed " - "covariance matrix"); - } - disc = sqrtf(disc); - // compute eigenvalues - const auto ret = std::make_pair(tr_2 + disc, tr_2 - disc); - // compute eigenvectors - using point_adapter::xr_; - using point_adapter::yr_; - // We compare squared value against floating epsilon to make sure that eigen vectors - // are persistent against further calculations. - // (e.g. taking cross product of two eigen vectors) - if (fabsf(cov.xy * cov.xy) > std::numeric_limits::epsilon()) { - xr_(eig_vec1) = cov.xy; - yr_(eig_vec1) = ret.first - cov.xx; - xr_(eig_vec2) = cov.xy; - yr_(eig_vec2) = ret.second - cov.xx; - } else { - if (cov.xx > cov.yy) { - xr_(eig_vec1) = 1.0F; - yr_(eig_vec1) = 0.0F; - xr_(eig_vec2) = 0.0F; - yr_(eig_vec2) = 1.0F; - } else { - xr_(eig_vec1) = 0.0F; - yr_(eig_vec1) = 1.0F; - xr_(eig_vec2) = 1.0F; - yr_(eig_vec2) = 0.0F; - } - } - return ret; -} - -/// \brief Given eigenvectors, compute support (furthest) point in each direction -/// \tparam IT An iterator type dereferenceable into a point with float members x and y -/// \tparam PointT type of a point with float members x and y -/// \param[in] begin An iterator pointing to the first point in a point list -/// \param[in] end An iterator pointing to one past the last point in the point list -/// \param[in] eig1 First principal component of cluster -/// \param[in] eig2 Second principal component of cluster -/// \param[out] support Array to get filled with extreme points in each of the principal -/// components -/// \return whether or not eig2 is ccw wrt eig1 -template -bool8_t compute_supports( - const IT begin, const IT end, const PointT & eig1, const PointT & eig2, Point4 & support) -{ - const bool8_t ret = cross_2d(eig1, eig2) >= 0.0F; - std::array metrics{ - {-std::numeric_limits::max(), -std::numeric_limits::max(), - std::numeric_limits::max(), std::numeric_limits::max()}}; - for (auto it = begin; it != end; ++it) { - const PointT & pt = *it; - float32_t val = dot_2d(ret ? eig1 : eig2, pt); - if (val > metrics[0U]) { - metrics[0U] = val; - support[0U] = it; - } - if (val < metrics[2U]) { - metrics[2U] = val; - support[2U] = it; - } - val = dot_2d(ret ? eig2 : eig1, pt); - if (val > metrics[1U]) { - metrics[1U] = val; - support[1U] = it; - } - if (val < metrics[3U]) { - metrics[3U] = val; - support[3U] = it; - } - } - return ret; -} - -/// \brief Compute bounding box given a pair of basis directions -/// \tparam IT An iterator type dereferenceable into a point with float members x and y -/// \tparam PointT Point type of the lists, must have float members x and y -/// \param[in] ax1 First basis direction, assumed to be normal to ax2 -/// \param[in] ax2 Second basis direction, assumed to be normal to ax1, assumed to be ccw wrt ax1 -/// \param[in] supports Array of iterators referring to points that are most extreme in each basis -/// direction. Should be result of compute_supports function -/// \return A bounding box based on the basis axes and the support points -template -BoundingBox compute_bounding_box( - const PointT & ax1, const PointT & ax2, const Point4 & supports) -{ - decltype(BoundingBox::corners) corners; - const Point4 directions{{ax1, ax2, minus_2d(ax1), minus_2d(ax2)}}; - compute_corners(corners, supports, directions); - - // build box - BoundingBox bbox; - finalize_box(corners, bbox); - size_2d(corners, bbox.size); - return bbox; -} -} // namespace details - -/// \brief Compute oriented bounding box using PCA. This uses all points in a list, and does not -/// modify the list. The resulting bounding box is not necessarily minimum in any way -/// \param[in] begin An iterator pointing to the first point in a point list -/// \param[in] end An iterator pointing to one past the last point in the point list -/// \tparam IT An iterator type dereferenceable into a point with float members x and y -/// \return An oriented bounding box in x-y. This bounding box has no height information -template -BoundingBox eigenbox_2d(const IT begin, const IT end) -{ - // compute covariance - const details::Covariance2d cov = details::covariance_2d(begin, end); - - // compute eigenvectors - using PointT = details::base_type; - PointT eig1; - PointT eig2; - const auto eig_v = details::eig_2d(cov, eig1, eig2); - - // find extreme points - details::Point4 supports; - const bool8_t is_ccw = details::compute_supports(begin, end, eig1, eig2, supports); - // build box - if (is_ccw) { - std::swap(eig1, eig2); - } - BoundingBox bbox = details::compute_bounding_box(eig1, eig2, supports); - bbox.value = eig_v.first; - - return bbox; -} -} // namespace bounding_box -} // namespace geometry -} // namespace common -} // namespace autoware - -#endif // AUTOWARE_AUTO_GEOMETRY__BOUNDING_BOX__EIGENBOX_2D_HPP_ diff --git a/common/autoware_auto_geometry/include/autoware_auto_geometry/bounding_box/lfit.hpp b/common/autoware_auto_geometry/include/autoware_auto_geometry/bounding_box/lfit.hpp deleted file mode 100644 index 07fd6c989cedc..0000000000000 --- a/common/autoware_auto_geometry/include/autoware_auto_geometry/bounding_box/lfit.hpp +++ /dev/null @@ -1,281 +0,0 @@ -// Copyright 2017-2019 the Autoware Foundation -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. -// -// Co-developed by Tier IV, Inc. and Apex.AI, Inc. - -/// \file -/// \brief This file implements 2D pca on a linked list of points to estimate an oriented -/// bounding box - -// cspell: ignore LFIT, lfit -// LFIT means "L-Shape Fitting" -#ifndef AUTOWARE_AUTO_GEOMETRY__BOUNDING_BOX__LFIT_HPP_ -#define AUTOWARE_AUTO_GEOMETRY__BOUNDING_BOX__LFIT_HPP_ - -#include "autoware_auto_geometry/bounding_box/eigenbox_2d.hpp" - -#include -#include - -namespace autoware -{ -namespace common -{ -namespace geometry -{ -namespace bounding_box -{ -namespace details -{ - -/// \brief A representation of the M matrix for the L-fit algorithm -struct LFitWs -{ - /// \brief Number of points in the first partition - std::size_t p; - /// \brief Number of points in the second partition - std::size_t q; - // assume matrix of form: [a b; c d] - /// \brief Sum of x values in first partition - float32_t m12a; - /// \brief Sum of y values in first partition - float32_t m12b; - /// \brief Sum of y values in second partition - float32_t m12c; - /// \brief Negative sum of x values in second partition - float32_t m12d; - // m22 is a symmetric matrix - /// \brief Sum_p x_2 + sum_q y_2 - float32_t m22a; - /// \brief Sum_p x*y - sum_q x*y - float32_t m22b; - /// \brief Sum_p y_2 + sum_x y_2 - float32_t m22d; -}; // struct LFitWs - -/// \brief Initialize M matrix for L-fit algorithm -/// \param[in] begin An iterator pointing to the first point in a point list -/// \param[in] end An iterator one past the last point in the point list -/// \param[in] size The number of points in the point list -/// \param[out] ws A representation of the M matrix to get initialized -/// \tparam IT The iterator type, should dereference to a point type with float members x and y -template -void init_lfit_ws(const IT begin, const IT end, const std::size_t size, LFitWs & ws) -{ - ws.p = 1UL; - ws.q = size - 1UL; - // init P terms (first partition) - using point_adapter::x_; - using point_adapter::y_; - const auto & pt = *begin; - const float32_t px = x_(pt); - const float32_t py = y_(pt); - // assume matrix of form: [a b; c d] - ws.m12a = px; - ws.m12b = py; - ws.m12c = 0.0F; - ws.m12d = 0.0F; - // m22 is a symmetric matrix - ws.m22a = px * px; - ws.m22b = px * py; - ws.m22d = py * py; - auto it = begin; - ++it; - for (; it != end; ++it) { - const auto & qt = *it; - const float32_t qx = x_(qt); - const float32_t qy = y_(qt); - ws.m12c += qy; - ws.m12d -= qx; - ws.m22a += qy * qy; - ws.m22b -= qx * qy; - ws.m22d += qx * qx; - } -} - -/// \brief Solves the L fit problem for a given M matrix -/// \tparam PointT The point type of the cluster being L-fitted -/// \param[in] ws A representation of the M Matrix -/// \param[out] dir The best fit direction for this partition/M matrix -/// \return The L2 residual for this fit (the score, lower is better) -template -float32_t solve_lfit(const LFitWs & ws, PointT & dir) -{ - const float32_t pi = 1.0F / static_cast(ws.p); - const float32_t qi = 1.0F / static_cast(ws.q); - const Covariance2d M{// matrix of form [x, z; z y] - ws.m22a - (((ws.m12a * ws.m12a) * pi) + ((ws.m12c * ws.m12c) * qi)), - ws.m22d - (((ws.m12b * ws.m12b) * pi) + ((ws.m12d * ws.m12d) * qi)), - ws.m22b - (((ws.m12a * ws.m12b) * pi) + ((ws.m12c * ws.m12d) * qi)), 0UL}; - PointT eig1; - const auto eig_v = eig_2d(M, eig1, dir); - return eig_v.second; -} - -/// \brief Increments L fit M matrix with information in the point -/// \tparam PointT The point type -/// \param[in] pt The point to increment the M matrix with -/// \param[inout] ws A representation of the M matrix -template -void increment_lfit_ws(const PointT & pt, LFitWs & ws) -{ - const float32_t px = point_adapter::x_(pt); - const float32_t py = point_adapter::y_(pt); - ws.m12a += px; - ws.m12b += py; - ws.m12c -= py; - ws.m12d += px; - ws.m22b += 2.0F * px * py; - const float32_t px2y2 = (px - py) * (px + py); - ws.m22a += px2y2; - ws.m22d -= px2y2; -} - -/// \tparam IT An iterator type that should dereference into a point type with float members x and y -template -class LFitCompare -{ -public: - /// \brief Constructor, initializes normal direction - /// \param[in] hint A 2d vector with the direction that will be used to order the - /// point list - explicit LFitCompare(const PointT & hint) - : m_nx(point_adapter::x_(hint)), m_ny(point_adapter::y_(hint)) - { - } - - /// \brief Comparator operation, returns true if the projection of a the tangent line - /// is smaller than the projection of b - /// \param[in] p The first point for comparison - /// \param[in] q The second point for comparison - /// \return True if a has a smaller projection than b on the tangent line - bool8_t operator()(const PointT & p, const PointT & q) const - { - using point_adapter::x_; - using point_adapter::y_; - return ((x_(p) * m_nx) + (y_(p) * m_ny)) < ((x_(q) * m_nx) + (y_(q) * m_ny)); - } - -private: - const float32_t m_nx; - const float32_t m_ny; -}; // class LFitCompare - -/// \brief The main implementation of L-fitting a bounding box to a list of points. -/// Assumes sufficiently valid, large enough, and appropriately ordered point list -/// \param[in] begin An iterator pointing to the first point in a point list -/// \param[in] end An iterator pointing to one past the last point in the point list -/// \param[in] size The number of points in the point list -/// \return A bounding box that minimizes the LFit residual -/// \tparam IT An iterator type dereferenceable into a point with float members x and y -template -BoundingBox lfit_bounding_box_2d_impl(const IT begin, const IT end, const std::size_t size) -{ - // initialize M - LFitWs ws{}; - init_lfit_ws(begin, end, size, ws); - // solve initial problem - details::base_type best_normal; - float32_t min_eig = solve_lfit(ws, best_normal); - // solve subsequent problems - auto it = begin; - ++it; - for (; it != end; ++it) { - // update M - ws.p += 1U; - ws.q -= 1U; - if (ws.q == 0U) { // checks for q = 0 case - break; - } - increment_lfit_ws(*it, ws); - // solve incremented problem - decltype(best_normal) dir; - const float32_t score = solve_lfit(ws, dir); - // update optima - if (score < min_eig) { - min_eig = score; - best_normal = dir; - } - } - // can recover best corner point, but don't care, need to cover all points - const auto inv_norm = 1.0F / norm_2d(best_normal); - if (!std::isnormal(inv_norm)) { - throw std::runtime_error{"LFit: Abnormal norm"}; - } - best_normal = times_2d(best_normal, inv_norm); - auto best_tangent = get_normal(best_normal); - // find extreme points - Point4 supports; - const bool8_t is_ccw = details::compute_supports(begin, end, best_normal, best_tangent, supports); - if (is_ccw) { - std::swap(best_normal, best_tangent); - } - BoundingBox bbox = details::compute_bounding_box(best_normal, best_tangent, supports); - bbox.value = min_eig; - - return bbox; -} -} // namespace details - -/// \brief Compute bounding box which best fits an L-shaped cluster. Uses the method proposed -/// in "Efficient L-shape fitting of laser scanner data for vehicle pose estimation" -/// \return An oriented bounding box in x-y. This bounding box has no height information -/// \param[in] begin An iterator pointing to the first point in a point list -/// \param[in] end An iterator pointing to one past the last point in the point list -/// \param[in] size The number of points in the point list -/// \param[in] hint An iterator pointing to the point whose normal will be used to sort the list -/// \return A pair where the first element is an iterator pointing to the nearest point, and the -/// second element is the size of the list -/// \tparam IT An iterator type dereferenceable into a point with float members x and y -/// \throw std::domain_error If the number of points is too few -template -BoundingBox lfit_bounding_box_2d( - const IT begin, const IT end, const PointT hint, const std::size_t size) -{ - if (size <= 1U) { - throw std::domain_error("LFit requires >= 2 points!"); - } - // NOTE: assumes points are in base_link/sensor frame! - // sort along tangent wrt sensor origin - // lint -e522 NOLINT Not a pure function: data structure iterators are pointing to is modified - std::partial_sort(begin, end, end, details::LFitCompare{hint}); - - return details::lfit_bounding_box_2d_impl(begin, end, size); -} - -/// \brief Compute bounding box which best fits an L-shaped cluster. Uses the method proposed -/// in "Efficient L-shape fitting of laser scanner data for vehicle pose estimation". -/// This implementation sorts the list using std::sort -/// \return An oriented bounding box in x-y. This bounding box has no height information -/// \param[in] begin An iterator pointing to the first point in a point list -/// \param[in] end An iterator pointing to one past the last point in the point list -/// \tparam IT An iterator type dereferenceable into a point with float members x and y -template -BoundingBox lfit_bounding_box_2d(const IT begin, const IT end) -{ - // use the principal component as the sorting direction - const auto cov = details::covariance_2d(begin, end); - using PointT = details::base_type; - PointT eig1; - PointT eig2; - (void)details::eig_2d(cov, eig1, eig2); - (void)eig2; - return lfit_bounding_box_2d(begin, end, eig1, cov.num_points); -} -} // namespace bounding_box -} // namespace geometry -} // namespace common -} // namespace autoware - -#endif // AUTOWARE_AUTO_GEOMETRY__BOUNDING_BOX__LFIT_HPP_ diff --git a/common/autoware_auto_geometry/include/autoware_auto_geometry/bounding_box/rotating_calipers.hpp b/common/autoware_auto_geometry/include/autoware_auto_geometry/bounding_box/rotating_calipers.hpp deleted file mode 100644 index fb75384eb07cb..0000000000000 --- a/common/autoware_auto_geometry/include/autoware_auto_geometry/bounding_box/rotating_calipers.hpp +++ /dev/null @@ -1,280 +0,0 @@ -// Copyright 2017-2019 the Autoware Foundation -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. -// -// Co-developed by Tier IV, Inc. and Apex.AI, Inc. - -/// \file -/// \brief This file implements the rotating calipers algorithm for minimum oriented bounding boxes - -#ifndef AUTOWARE_AUTO_GEOMETRY__BOUNDING_BOX__ROTATING_CALIPERS_HPP_ -#define AUTOWARE_AUTO_GEOMETRY__BOUNDING_BOX__ROTATING_CALIPERS_HPP_ -#include "autoware_auto_geometry/bounding_box/bounding_box_common.hpp" -#include "autoware_auto_geometry/common_2d.hpp" -#include "autoware_auto_geometry/convex_hull.hpp" - -#include -#include -#include -#include - -namespace autoware -{ -namespace common -{ -namespace geometry -{ -namespace bounding_box -{ -namespace details -{ -/// \brief Find which (next) edge has smallest angle delta to directions, rotate directions -/// \param[inout] edges Array of edges on polygon after each anchor point (in ccw order). -/// E.g. if anchor point = p_i, edge = P[i+1] - P[i] -/// \param[inout] directions Array of directions of current bounding box (in ccw order) -/// \tparam PointT Point type of the lists, must have float members x and y -/// \return index of array to advance, e.g. the one with the smallest angle between edge and dir -template -uint32_t update_angles(const Point4 & edges, Point4 & directions) -{ - // find smallest angle to next - float32_t best_cos_th = -std::numeric_limits::max(); - float32_t best_edge_dir_mag = 0.0F; - uint32_t advance_idx = 0U; - for (uint32_t idx = 0U; idx < edges.size(); ++idx) { - const float32_t edge_dir_mag = std::max( - norm_2d(edges[idx]) * norm_2d(directions[idx]), std::numeric_limits::epsilon()); - const float32_t cos_th = dot_2d(edges[idx], directions[idx]) / edge_dir_mag; - if (cos_th > best_cos_th) { - best_cos_th = cos_th; - best_edge_dir_mag = edge_dir_mag; - advance_idx = idx; - } - } - - // update directions by smallest angle - const float32_t sin_th = - cross_2d(directions[advance_idx], edges[advance_idx]) / best_edge_dir_mag; - for (uint32_t idx = 0U; idx < edges.size(); ++idx) { - rotate_2d(directions[idx], best_cos_th, sin_th); - } - - return advance_idx; -} - -/// \brief Given support points i, find direction of edge: e = P[i+1] - P[i] -/// \tparam PointT Point type of the lists, must have float members x and y -/// \tparam IT The iterator type, should dereference to a point type with float members x and y -/// \param[in] begin An iterator pointing to the first point in a point list -/// \param[in] end An iterator pointing to one past the last point in the point list -/// \param[in] support Array of points that are most extreme in 4 directions for current OBB -/// \param[out] edges An array to be filled with the polygon edges next from support points -template -void init_edges(const IT begin, const IT end, const Point4 & support, Point4 & edges) -{ - for (uint32_t idx = 0U; idx < support.size(); ++idx) { - auto tmp_it = support[idx]; - ++tmp_it; - const PointT & q = (tmp_it == end) ? *begin : *tmp_it; - edges[idx] = minus_2d(q, *support[idx]); - } -} - -/// \brief Scan through list to find support points for bounding box oriented in direction of -/// u = P[1] - P[0] -/// \tparam IT The iterator type, should dereference to a point type with float members x and y -/// \param[in] begin An iterator pointing to the first point in a point list -/// \param[in] end An iterator pointing to one past the last point in the point list -/// \param[out] support Array that gets filled with pointers to points that are most extreme in -/// each direction aligned with and orthogonal to the first polygon edge. -/// Most extreme = max/min wrt u = P[1]-P[0] (in the dot/cross product sense) -template -void init_bbox(const IT begin, const IT end, Point4 & support) -{ - // compute initial orientation using first two points - auto pt_it = begin; - ++pt_it; - const auto u = minus_2d(*pt_it, *begin); - support[0U] = begin; - std::array metric{ - {-std::numeric_limits::max(), -std::numeric_limits::max(), - std::numeric_limits::max()}}; - // track u * p, fabsf(u x p), and -u * p - for (pt_it = begin; pt_it != end; ++pt_it) { - // check points against orientation for run_ptr - const auto & pt = *pt_it; - // u * p - const float32_t up = dot_2d(u, pt); - if (up > metric[0U]) { - metric[0U] = up; - support[1U] = pt_it; - } - // -u * p - if (up < metric[2U]) { - metric[2U] = up; - support[3U] = pt_it; - } - // u x p - const float32_t uxp = cross_2d(u, pt); - if (uxp > metric[1U]) { - metric[1U] = uxp; - support[2U] = pt_it; - } - } -} -/// \brief Compute the minimum bounding box for a convex hull using the rotating calipers method. -/// This function may possibly also be used for computing the width of a convex hull, as it uses the -/// external supports of a single convex hull. -/// \param[in] begin An iterator to the first point on a convex hull -/// \param[in] end An iterator to one past the last point on a convex hull -/// \param[in] metric_fn A functor determining what measure the bounding box is minimum with respect -/// to -/// \tparam IT An iterator type dereferenceable into a point type with float members x and y -/// \tparam MetricF A functor that computes a float measure from the x and y size (width and length) -/// of a bounding box, assumed to be packed in a Point32 message. -/// \throw std::domain_error if the list of points is too small to reasonable generate a bounding -/// box -template -BoundingBox rotating_calipers_impl(const IT begin, const IT end, const MetricF metric_fn) -{ - using PointT = base_type; - // sanity check TODO(c.ho) more checks (up to n = 2?) - if (begin == end) { - throw std::domain_error("Malformed list, size = " + std::to_string(std::distance(begin, end))); - } - // initial scan to get anchor points - Point4 support; - init_bbox(begin, end, support); - // initialize directions accordingly - Point4 directions; - { // I just don't want the temporary variable floating around - auto tmp = support[0U]; - ++tmp; - directions[0U] = minus_2d(*tmp, *support[0U]); - directions[1U] = get_normal(directions[0U]); - directions[2U] = minus_2d(directions[0U]); - directions[3U] = minus_2d(directions[1U]); - } - // initialize edges - Point4 edges; - init_edges(begin, end, support, edges); - // size of initial guess - BoundingBox bbox; - decltype(BoundingBox::corners) best_corners; - compute_corners(best_corners, support, directions); - size_2d(best_corners, bbox.size); - bbox.value = metric_fn(bbox.size); - // rotating calipers step: incrementally advance, update angles, points, compute area - for (auto it = begin; it != end; ++it) { - // find smallest angle to next, update directions - const uint32_t advance_idx = update_angles(edges, directions); - // recompute area - decltype(BoundingBox::corners) corners; - compute_corners(corners, support, directions); - decltype(BoundingBox::size) tmp_size; - size_2d(corners, tmp_size); - const float32_t tmp_value = metric_fn(tmp_size); - // update best if necessary - if (tmp_value < bbox.value) { - // corners: memcpy is fine since I know corners and best_corners are distinct - (void)std::memcpy(&best_corners[0U], &corners[0U], sizeof(corners)); - // size - bbox.size = tmp_size; - bbox.value = tmp_value; - } - // Step to next iteration of calipers - { - // update smallest support - auto next_it = support[advance_idx]; - ++next_it; - const auto run_it = (end == next_it) ? begin : next_it; - support[advance_idx] = run_it; - // update edges - next_it = run_it; - ++next_it; - const PointT & next = (end == next_it) ? (*begin) : (*next_it); - edges[advance_idx] = minus_2d(next, *run_it); - } - } - - finalize_box(best_corners, bbox); - - // TODO(christopher.ho) check if one of the sizes is too small, fuzz corner 1 and 2 - // This doesn't cause any issues now, it shouldn't happen in practice, and even if it did, - // it would probably get smoothed out by prediction. But, this could cause issues with the - // collision detection algorithms (i.e GJK), but probably not. - - return bbox; -} -} // namespace details - -/// \brief Compute the minimum area bounding box given a convex hull of points. -/// This function is exposed in case a user might already have a convex hull via other methods. -/// \param[in] begin An iterator to the first point on a convex hull -/// \param[in] end An iterator to one past the last point on a convex hull -/// \return A minimum area bounding box, value field is the area -/// \tparam IT An iterator type dereferenceable into a point type with float members x and y -template -BoundingBox minimum_area_bounding_box(const IT begin, const IT end) -{ - const auto metric_fn = [](const decltype(BoundingBox::size) & pt) -> float32_t { - return pt.x * pt.y; - }; - return details::rotating_calipers_impl(begin, end, metric_fn); -} - -/// \brief Compute the minimum perimeter bounding box given a convex hull of points -/// This function is exposed in case a user might already have a convex hull via other methods. -/// \param[in] begin An iterator to the first point on a convex hull -/// \param[in] end An iterator to one past the last point on a convex hull -/// \return A minimum perimeter bounding box, value field is half the perimeter -/// \tparam IT An iterator type dereferenceable into a point type with float members x and y -template -BoundingBox minimum_perimeter_bounding_box(const IT begin, const IT end) -{ - const auto metric_fn = [](const decltype(BoundingBox::size) & pt) -> float32_t { - return pt.x + pt.y; - }; - return details::rotating_calipers_impl(begin, end, metric_fn); -} - -/// \brief Compute the minimum area bounding box given an unstructured list of points. -/// Only a list is supported as it enables the convex hull to be formed in O(n log n) time and -/// without memory allocation. -/// \param[inout] list A list of points to form a hull around, gets reordered -/// \return A minimum area bounding box, value field is the area -/// \tparam PointT Point type of the lists, must have float members x and y -template -BoundingBox minimum_area_bounding_box(std::list & list) -{ - const auto last = convex_hull(list); - return minimum_area_bounding_box(list.cbegin(), last); -} - -/// \brief Compute the minimum perimeter bounding box given an unstructured list of points -/// Only a list is supported as it enables the convex hull to be formed in O(n log n) time and -/// without memory allocation. -/// \param[inout] list A list of points to form a hull around, gets reordered -/// \return A minimum perimeter bounding box, value field is half the perimeter -/// \tparam PointT Point type of the lists, must have float members x and y -template -BoundingBox minimum_perimeter_bounding_box(std::list & list) -{ - const auto last = convex_hull(list); - return minimum_perimeter_bounding_box(list.cbegin(), last); -} -} // namespace bounding_box -} // namespace geometry -} // namespace common -} // namespace autoware -#endif // AUTOWARE_AUTO_GEOMETRY__BOUNDING_BOX__ROTATING_CALIPERS_HPP_ diff --git a/common/autoware_auto_geometry/include/autoware_auto_geometry/bounding_box_2d.hpp b/common/autoware_auto_geometry/include/autoware_auto_geometry/bounding_box_2d.hpp deleted file mode 100644 index c4c52928ac19a..0000000000000 --- a/common/autoware_auto_geometry/include/autoware_auto_geometry/bounding_box_2d.hpp +++ /dev/null @@ -1,34 +0,0 @@ -// Copyright 2017-2020 the Autoware Foundation -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. -// -// Co-developed by Tier IV, Inc. and Apex.AI, Inc. -/// \file -/// \brief Main header for user-facing bounding box algorithms: functions and types -#ifndef AUTOWARE_AUTO_GEOMETRY__BOUNDING_BOX_2D_HPP_ -#define AUTOWARE_AUTO_GEOMETRY__BOUNDING_BOX_2D_HPP_ - -#include "autoware_auto_geometry/bounding_box/eigenbox_2d.hpp" -#include "autoware_auto_geometry/bounding_box/lfit.hpp" -#include "autoware_auto_geometry/bounding_box/rotating_calipers.hpp" - -namespace autoware -{ -namespace common -{ -namespace geometry -{ -} // namespace geometry -} // namespace common -} // namespace autoware -#endif // AUTOWARE_AUTO_GEOMETRY__BOUNDING_BOX_2D_HPP_ diff --git a/common/autoware_auto_geometry/include/autoware_auto_geometry/common_2d.hpp b/common/autoware_auto_geometry/include/autoware_auto_geometry/common_2d.hpp deleted file mode 100644 index e3c2e58c9f80e..0000000000000 --- a/common/autoware_auto_geometry/include/autoware_auto_geometry/common_2d.hpp +++ /dev/null @@ -1,587 +0,0 @@ -// Copyright 2017-2021 the Autoware Foundation -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. -// -// Co-developed by Tier IV, Inc. and Apex.AI, Inc. -/// \file -/// \brief This file includes common functionality for 2D geometry, such as dot products - -#ifndef AUTOWARE_AUTO_GEOMETRY__COMMON_2D_HPP_ -#define AUTOWARE_AUTO_GEOMETRY__COMMON_2D_HPP_ - -#include "autoware_auto_geometry/interval.hpp" - -#include - -#include "autoware_auto_planning_msgs/msg/trajectory_point.hpp" - -#include -#include -#include - -using autoware::common::types::bool8_t; -using autoware::common::types::float32_t; - -namespace comparison = autoware::common::helper_functions::comparisons; - -namespace autoware -{ -namespace common -{ -namespace geometry -{ - -/// \brief Temporary namespace for point adapter methods, for use with nonstandard point types -namespace point_adapter -{ -/// \brief Gets the x value for a point -/// \return The x value of the point -/// \param[in] pt The point -/// \tparam PointT The point type -template -inline auto x_(const PointT & pt) -{ - return pt.x; -} -/// \brief Gets the x value for a TrajectoryPoint message -/// \return The x value of the point -/// \param[in] pt The point -inline auto x_(const autoware_auto_planning_msgs::msg::TrajectoryPoint & pt) -{ - return pt.pose.position.x; -} -/// \brief Gets the y value for a point -/// \return The y value of the point -/// \param[in] pt The point -/// \tparam PointT The point type -template -inline auto y_(const PointT & pt) -{ - return pt.y; -} -/// \brief Gets the y value for a TrajectoryPoint message -/// \return The y value of the point -/// \param[in] pt The point -inline auto y_(const autoware_auto_planning_msgs::msg::TrajectoryPoint & pt) -{ - return pt.pose.position.y; -} -/// \brief Gets the z value for a point -/// \return The z value of the point -/// \param[in] pt The point -/// \tparam PointT The point type -template -inline auto z_(const PointT & pt) -{ - return pt.z; -} -/// \brief Gets the z value for a TrajectoryPoint message -/// \return The z value of the point -/// \param[in] pt The point -inline auto z_(const autoware_auto_planning_msgs::msg::TrajectoryPoint & pt) -{ - return pt.pose.position.z; -} -/// \brief Gets a reference to the x value for a point -/// \return A reference to the x value of the point -/// \param[in] pt The point -/// \tparam PointT The point type -template -inline auto & xr_(PointT & pt) -{ - return pt.x; -} -/// \brief Gets a reference to the x value for a TrajectoryPoint -/// \return A reference to the x value of the TrajectoryPoint -/// \param[in] pt The TrajectoryPoint -inline auto & xr_(autoware_auto_planning_msgs::msg::TrajectoryPoint & pt) -{ - return pt.pose.position.x; -} -/// \brief Gets a reference to the y value for a point -/// \return A reference to The y value of the point -/// \param[in] pt The point -/// \tparam PointT The point type -template -inline auto & yr_(PointT & pt) -{ - return pt.y; -} -/// \brief Gets a reference to the y value for a TrajectoryPoint -/// \return A reference to the y value of the TrajectoryPoint -/// \param[in] pt The TrajectoryPoint -inline auto & yr_(autoware_auto_planning_msgs::msg::TrajectoryPoint & pt) -{ - return pt.pose.position.y; -} -/// \brief Gets a reference to the z value for a point -/// \return A reference to the z value of the point -/// \param[in] pt The point -/// \tparam PointT The point type -template -inline auto & zr_(PointT & pt) -{ - return pt.z; -} -/// \brief Gets a reference to the z value for a TrajectoryPoint -/// \return A reference to the z value of the TrajectoryPoint -/// \param[in] pt The TrajectoryPoint -inline auto & zr_(autoware_auto_planning_msgs::msg::TrajectoryPoint & pt) -{ - return pt.pose.position.z; -} -} // namespace point_adapter - -namespace details -{ -// Return the next iterator, cycling back to the beginning of the list if you hit the end -template -IT circular_next(const IT begin, const IT end, const IT current) noexcept -{ - auto next = std::next(current); - if (end == next) { - next = begin; - } - return next; -} - -} // namespace details - -/// \tparam T1, T2, T3 point type. Must have point adapters defined or have float members x and y -/// \brief compute whether line segment rp is counter clockwise relative to line segment qp -/// \param[in] pt shared point for both line segments -/// \param[in] r point to check if it forms a ccw angle -/// \param[in] q reference point -/// \return whether angle formed is ccw. Three collinear points is considered ccw -template -inline auto ccw(const T1 & pt, const T2 & q, const T3 & r) -{ - using point_adapter::x_; - using point_adapter::y_; - return (((x_(q) - x_(pt)) * (y_(r) - y_(pt))) - ((y_(q) - y_(pt)) * (x_(r) - x_(pt)))) <= 0.0F; -} - -/// \tparam T1, T2 point type. Must have point adapters defined or have float members x and y -/// \brief compute p x q = p1 * q2 - p2 * q1 -/// \param[in] pt first point -/// \param[in] q second point -/// \return 2d cross product -template -inline auto cross_2d(const T1 & pt, const T2 & q) -{ - using point_adapter::x_; - using point_adapter::y_; - return (x_(pt) * y_(q)) - (y_(pt) * x_(q)); -} - -/// \tparam T1, T2 point type. Must have point adapters defined or have float members x and y -/// \brief compute p * q = p1 * q1 + p2 * q2 -/// \param[in] pt first point -/// \param[in] q second point -/// \return 2d scalar dot product -template -inline auto dot_2d(const T1 & pt, const T2 & q) -{ - using point_adapter::x_; - using point_adapter::y_; - return (x_(pt) * x_(q)) + (y_(pt) * y_(q)); -} - -/// \tparam T point type. Must have point adapters defined or have float members x and y -/// \brief Compute the 2d difference between two points, p - q -/// \param[in] p The left hand side -/// \param[in] q The right hand side -/// \return A point with the difference in the x and y fields, all other fields are default -/// initialized -template -T minus_2d(const T & p, const T & q) -{ - T r; - using point_adapter::x_; - using point_adapter::y_; - point_adapter::xr_(r) = x_(p) - x_(q); - point_adapter::yr_(r) = y_(p) - y_(q); - return r; -} - -/// \tparam T point type. Must have point adapters defined or have float members x and y -/// \brief The unary minus or negation operator applied to a single point's 2d fields -/// \param[in] p The left hand side -/// \return A point with the negation in the x and y fields, all other fields are default -/// initialized -template -T minus_2d(const T & p) -{ - T r; - point_adapter::xr_(r) = -point_adapter::x_(p); - point_adapter::yr_(r) = -point_adapter::y_(p); - return r; -} -/// \tparam T point type. Must have point adapters defined or have float members x and y -/// \brief The 2d addition operation, p + q -/// \param[in] p The left hand side -/// \param[in] q The right hand side -/// \return A point with the sum in the x and y fields, all other fields are default -/// initialized -template -T plus_2d(const T & p, const T & q) -{ - T r; - using point_adapter::x_; - using point_adapter::y_; - point_adapter::xr_(r) = x_(p) + x_(q); - point_adapter::yr_(r) = y_(p) + y_(q); - return r; -} - -/// \tparam T point type. Must have point adapters defined or have float members x and y -/// \brief The scalar multiplication operation, p * a -/// \param[in] p The point value -/// \param[in] a The scalar value -/// \return A point with the scaled x and y fields, all other fields are default -/// initialized -template -T times_2d(const T & p, const float32_t a) -{ - T r; - point_adapter::xr_(r) = static_cast(point_adapter::x_(p)) * a; - point_adapter::yr_(r) = static_cast(point_adapter::y_(p)) * a; - return r; -} - -/// \tparam T point type. Must have point adapters defined or have float members x and y -/// \brief solve p + t * u = q + s * v -/// Ref: https://stackoverflow.com/questions/563198/ -/// \param[in] pt anchor point of first line -/// \param[in] u direction of first line -/// \param[in] q anchor point of second line -/// \param[in] v direction of second line -/// \return intersection point -/// \throw std::runtime_error if lines are (nearly) collinear or parallel -template -inline T intersection_2d(const T & pt, const T & u, const T & q, const T & v) -{ - const float32_t num = cross_2d(minus_2d(pt, q), u); - float32_t den = cross_2d(v, u); - // cspell: ignore FEPS - // FEPS means "Float EPSilon" - constexpr auto FEPS = std::numeric_limits::epsilon(); - if (fabsf(den) < FEPS) { - if (fabsf(num) < FEPS) { - // collinear case, anything is ok - den = 1.0F; - } else { - // parallel case, no valid output - throw std::runtime_error( - "intersection_2d: no unique solution (either collinear or parallel)"); - } - } - return plus_2d(q, times_2d(v, num / den)); -} - -/// \tparam T point type. Must have point adapters defined or have float members x and y -/// \brief rotate point given precomputed sin and cos -/// \param[inout] pt point to rotate -/// \param[in] cos_th precomputed cosine value -/// \param[in] sin_th precomputed sine value -template -inline void rotate_2d(T & pt, const float32_t cos_th, const float32_t sin_th) -{ - const float32_t x = point_adapter::x_(pt); - const float32_t y = point_adapter::y_(pt); - point_adapter::xr_(pt) = (cos_th * x) - (sin_th * y); - point_adapter::yr_(pt) = (sin_th * x) + (cos_th * y); -} - -/// \tparam T point type. Must have point adapters defined or have float members x and y -/// \brief rotate by radian angle th in z direction with ccw positive -/// \param[in] pt reference point to rotate -/// \param[in] th_rad angle by which to rotate point -/// \return rotated point -template -inline T rotate_2d(const T & pt, const float32_t th_rad) -{ - T q(pt); // It's reasonable to expect a copy constructor - const float32_t s = sinf(th_rad); - const float32_t c = cosf(th_rad); - rotate_2d(q, c, s); - return q; -} - -/// \tparam T point type. Must have point adapters defined or have float members x and y -/// \brief compute q s.t. p T q, or p * q = 0 -/// This is the equivalent of a 90 degree ccw rotation -/// \param[in] pt point to get normal point of -/// \return point normal to p (un-normalized) -template -inline T get_normal(const T & pt) -{ - T q(pt); - point_adapter::xr_(q) = -point_adapter::y_(pt); - point_adapter::yr_(q) = point_adapter::x_(pt); - return q; -} - -/// \tparam T point type. Must have point adapters defined or have float members x and y -/// \brief get magnitude of x and y components: -/// \param[in] pt point to get magnitude of -/// \return magnitude of x and y components together -template -inline auto norm_2d(const T & pt) -{ - return sqrtf(static_cast(dot_2d(pt, pt))); -} - -/// \tparam T point type. Must have point adapters defined or have float members x and y -/// \brief Compute the closest point on line segment p-q to point r -/// Based on equations from https://stackoverflow.com/a/1501725 and -/// http://paulbourke.net/geometry/pointlineplane/ -/// \param[in] p First point defining the line segment -/// \param[in] q Second point defining the line segment -/// \param[in] r Reference point to find the closest point to -/// \return Closest point on line segment p-q to point r -template -inline T closest_segment_point_2d(const T & p, const T & q, const T & r) -{ - const T qp = minus_2d(q, p); - const float32_t len2 = static_cast(dot_2d(qp, qp)); - T ret = p; - if (len2 > std::numeric_limits::epsilon()) { - const Interval_f unit_interval(0.0f, 1.0f); - const float32_t val = static_cast(dot_2d(minus_2d(r, p), qp)) / len2; - const float32_t t = Interval_f::clamp_to(unit_interval, val); - ret = plus_2d(p, times_2d(qp, t)); - } - return ret; -} -// -/// \tparam T point type. Must have point adapters defined or have float members x and y -/// \brief Compute the closest point on the line going through p-q to point r -// Obtained by simplifying closest_segment_point_2d. -/// \param[in] p First point defining the line -/// \param[in] q Second point defining the line -/// \param[in] r Reference point to find the closest point to -/// \return Closest point on line p-q to point r -/// \throw std::runtime_error if the two points coincide and hence don't uniquely -// define a line -template -inline T closest_line_point_2d(const T & p, const T & q, const T & r) -{ - const T qp = minus_2d(q, p); - const float32_t len2 = dot_2d(qp, qp); - T ret = p; - if (len2 > std::numeric_limits::epsilon()) { - const float32_t t = dot_2d(minus_2d(r, p), qp) / len2; - ret = plus_2d(p, times_2d(qp, t)); - } else { - throw std::runtime_error( - "closet_line_point_2d: line ill-defined because given points coincide"); - } - return ret; -} - -/// \tparam T point type. Must have point adapters defined or have float members x and y -/// \brief Compute the distance from line segment p-q to point r -/// \param[in] p First point defining the line segment -/// \param[in] q Second point defining the line segment -/// \param[in] r Reference point to find the distance from the line segment to -/// \return Distance from point r to line segment p-q -template -inline auto point_line_segment_distance_2d(const T & p, const T & q, const T & r) -{ - const T pq_r = minus_2d(closest_segment_point_2d(p, q, r), r); - return norm_2d(pq_r); -} - -/// \brief Make a 2D unit vector given an angle. -/// \tparam T Point type. Must have point adapters defined or have float members x and y -/// \param th Angle in radians -/// \return Unit vector in the direction of the given angle. -template -inline T make_unit_vector2d(float th) -{ - T r; - point_adapter::xr_(r) = std::cos(th); - point_adapter::yr_(r) = std::sin(th); - return r; -} - -/// \brief Compute squared euclidean distance between two points -/// \tparam OUT return type. Type of the returned distance. -/// \tparam T1 point type. Must have point adapters defined or have float members x and y -/// \tparam T2 point type. Must have point adapters defined or have float members x and y -/// \param a point 1 -/// \param b point 2 -/// \return squared euclidean distance -template -inline OUT squared_distance_2d(const T1 & a, const T2 & b) -{ - const auto x = static_cast(point_adapter::x_(a)) - static_cast(point_adapter::x_(b)); - const auto y = static_cast(point_adapter::y_(a)) - static_cast(point_adapter::y_(b)); - return (x * x) + (y * y); -} - -/// \brief Compute euclidean distance between two points -/// \tparam OUT return type. Type of the returned distance. -/// \tparam T1 point type. Must have point adapters defined or have float members x and y -/// \tparam T2 point type. Must have point adapters defined or have float members x and y -/// \param a point 1 -/// \param b point 2 -/// \return euclidean distance -template -inline OUT distance_2d(const T1 & a, const T2 & b) -{ - return std::sqrt(squared_distance_2d(a, b)); -} - -/// \brief Check the given point's position relative the infinite line passing -/// from p1 to p2. Logic based on http://geomalgorithms.com/a01-_area.html#isLeft() -/// \tparam T T point type. Must have point adapters defined or have float members x and y -/// \param p1 point 1 laying on the infinite line -/// \param p2 point 2 laying on the infinite line -/// \param q point to be checked against the line -/// \return > 0 for point q left of the line through p1 to p2 -/// = 0 for point q on the line through p1 to p2 -/// < 0 for point q right of the line through p1 to p2 -template -inline auto check_point_position_to_line_2d(const T & p1, const T & p2, const T & q) -{ - return cross_2d(minus_2d(p2, p1), minus_2d(q, p1)); -} - -/// Check if all points are ordered in x-y plane (in either clockwise or counter-clockwise -/// direction): This function does not check for convexity -/// \tparam IT Iterator type pointing to a point containing float x and float y -/// \param[in] begin Beginning of point sequence -/// \param[in] end One past the last of the point sequence -/// \return Whether or not all point triples p_i, p_{i+1}, p_{i+2} are in a particular order. -/// Returns true for collinear points as well -template -bool all_ordered(const IT begin, const IT end) noexcept -{ - // Short circuit: a line or point is always CCW or otherwise ill-defined - if (std::distance(begin, end) <= 2U) { - return true; - } - bool is_first_point_cw = false; - // Can't use std::all_of because that works directly on the values - for (auto line_start = begin; line_start != end; ++line_start) { - const auto line_end = details::circular_next(begin, end, line_start); - const auto query_point = details::circular_next(begin, end, line_end); - // Check if 3 points starting from current point are in clockwise direction - const bool is_cw = comparison::abs_lte( - check_point_position_to_line_2d(*line_start, *line_end, *query_point), 0.0F, 1e-3F); - if (is_cw) { - if (line_start == begin) { - is_first_point_cw = true; - } else { - if (!is_first_point_cw) { - return false; - } - } - } else if (is_first_point_cw) { - return false; - } - } - return true; -} - -/// Compute the area of a convex hull, points are assumed to be ordered (in either CW or CCW) -/// \tparam IT Iterator type pointing to a point containing float x and float y -/// \param[in] begin Iterator pointing to the beginning of the polygon points -/// \param[in] end Iterator pointing to one past the last of the polygon points -/// \return The area of the polygon, in squared of whatever units your points are in -template -auto area_2d(const IT begin, const IT end) noexcept -{ - using point_adapter::x_; - using point_adapter::y_; - using T = decltype(x_(*begin)); - auto area = T{}; // zero initialization - // use the approach of https://www.mathwords.com/a/area_convex_polygon.htm - for (auto it = begin; it != end; ++it) { - const auto next = details::circular_next(begin, end, it); - area += x_(*it) * y_(*next); - area -= x_(*next) * y_(*it); - } - return std::abs(T{0.5} * area); -} - -/// Compute area of convex hull, throw if points are not ordered (convexity check is not -/// implemented) -/// \throw std::domain_error if points are not ordered either CW or CCW -/// \tparam IT Iterator type pointing to a point containing float x and float y -/// \param[in] begin Iterator pointing to the beginning of the polygon points -/// \param[in] end Iterator pointing to one past the last of the polygon points -/// \return The area of the polygon, in squared of whatever units your points are in -template -auto area_checked_2d(const IT begin, const IT end) -{ - if (!all_ordered(begin, end)) { - throw std::domain_error{"Cannot compute area: points are not ordered"}; - } - return area_2d(begin, end); -} - -/// \brief Check if the given point is inside or on the edge of the given polygon -/// \tparam IteratorType iterator type. The value pointed to by this must have point adapters -/// defined or have float members x and y -/// \tparam PointType point type. Must have point adapters defined or have float members x and y -/// \param start_it iterator pointing to the first vertex of the polygon -/// \param end_it iterator pointing to the last vertex of the polygon. The vertices should be in -/// order. -/// \param p point to be searched -/// \return True if the point is inside or on the edge of the polygon. False otherwise -template -bool is_point_inside_polygon_2d( - const IteratorType & start_it, const IteratorType & end_it, const PointType & p) -{ - std::int32_t winding_num = 0; - - for (IteratorType it = start_it; it != end_it; ++it) { - auto next_it = std::next(it); - if (next_it == end_it) { - next_it = start_it; - } - if (point_adapter::y_(*it) <= point_adapter::y_(p)) { - // Upward crossing edge - if (point_adapter::y_(*next_it) >= point_adapter::y_(p)) { - if (comparison::abs_gt(check_point_position_to_line_2d(*it, *next_it, p), 0.0F, 1e-3F)) { - ++winding_num; - } else { - if (comparison::abs_eq_zero(check_point_position_to_line_2d(*it, *next_it, p), 1e-3F)) { - return true; - } - } - } - } else { - // Downward crossing edge - if (point_adapter::y_(*next_it) <= point_adapter::y_(p)) { - if (comparison::abs_lt(check_point_position_to_line_2d(*it, *next_it, p), 0.0F, 1e-3F)) { - --winding_num; - } else { - if (comparison::abs_eq_zero(check_point_position_to_line_2d(*it, *next_it, p), 1e-3F)) { - return true; - } - } - } - } - } - return winding_num != 0; -} - -} // namespace geometry -} // namespace common -} // namespace autoware - -#endif // AUTOWARE_AUTO_GEOMETRY__COMMON_2D_HPP_ diff --git a/common/autoware_auto_geometry/include/autoware_auto_geometry/common_3d.hpp b/common/autoware_auto_geometry/include/autoware_auto_geometry/common_3d.hpp deleted file mode 100644 index 74cd210dec586..0000000000000 --- a/common/autoware_auto_geometry/include/autoware_auto_geometry/common_3d.hpp +++ /dev/null @@ -1,77 +0,0 @@ -// Copyright 2017-2019 the Autoware Foundation -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. -// -// Co-developed by Tier IV, Inc. and Apex.AI, Inc. -/// \file -/// \brief This file includes common functionality for 3D geometry, such as dot products - -#ifndef AUTOWARE_AUTO_GEOMETRY__COMMON_3D_HPP_ -#define AUTOWARE_AUTO_GEOMETRY__COMMON_3D_HPP_ - -#include "autoware_auto_geometry/common_2d.hpp" - -namespace autoware -{ -namespace common -{ -namespace geometry -{ - -/// \tparam T1, T2 point type. Must have point adapters defined or have float members x, y and z -/// \brief compute p * q = p1 * q1 + p2 * q2 + p3 * 13 -/// \param[in] pt first point -/// \param[in] q second point -/// \return 3d scalar dot product -template -inline auto dot_3d(const T1 & pt, const T2 & q) -{ - using point_adapter::x_; - using point_adapter::y_; - using point_adapter::z_; - return (x_(pt) * x_(q)) + (y_(pt) * y_(q) + z_(pt) * z_(q)); -} - -/// \brief Compute 3D squared euclidean distance between two points -/// \tparam OUT return type. Type of the returned distance. -/// \tparam T1 point type. Must have point adapters defined or have float members x y and z -/// \tparam T2 point type. Must have point adapters defined or have float members x y and z -/// \param a point 1 -/// \param b point 2 -/// \return squared 3D euclidean distance -template -inline OUT squared_distance_3d(const T1 & a, const T2 & b) -{ - const auto x = static_cast(point_adapter::x_(a)) - static_cast(point_adapter::x_(b)); - const auto y = static_cast(point_adapter::y_(a)) - static_cast(point_adapter::y_(b)); - const auto z = static_cast(point_adapter::z_(a)) - static_cast(point_adapter::z_(b)); - return (x * x) + (y * y) + (z * z); -} - -/// \brief Compute 3D euclidean distance between two points -/// \tparam T1 point type. Must have point adapters defined or have float members x y and z -/// \tparam T2 point type. Must have point adapters defined or have float members x y and z -/// \param a point 1 -/// \param b point 2 -/// \return 3D euclidean distance -template -inline OUT distance_3d(const T1 & a, const T2 & b) -{ - return std::sqrt(squared_distance_3d(a, b)); -} - -} // namespace geometry -} // namespace common -} // namespace autoware - -#endif // AUTOWARE_AUTO_GEOMETRY__COMMON_3D_HPP_ diff --git a/common/autoware_auto_geometry/include/autoware_auto_geometry/convex_hull.hpp b/common/autoware_auto_geometry/include/autoware_auto_geometry/convex_hull.hpp deleted file mode 100644 index ae81c55ad6b55..0000000000000 --- a/common/autoware_auto_geometry/include/autoware_auto_geometry/convex_hull.hpp +++ /dev/null @@ -1,195 +0,0 @@ -// Copyright 2017-2019 the Autoware Foundation -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. -// -// Co-developed by Tier IV, Inc. and Apex.AI, Inc. - -/// \file -/// \brief This file implements the monotone chain algorithm to compute 2D convex hulls on linked -/// lists of points - -#ifndef AUTOWARE_AUTO_GEOMETRY__CONVEX_HULL_HPP_ -#define AUTOWARE_AUTO_GEOMETRY__CONVEX_HULL_HPP_ - -#include "autoware_auto_geometry/common_2d.hpp" - -#include - -// lint -e537 NOLINT pclint vs cpplint -#include -// lint -e537 NOLINT pclint vs cpplint -#include -#include -#include - -using autoware::common::types::float32_t; - -namespace autoware -{ -namespace common -{ -namespace geometry -{ -/// \brief Contains computation geometry functions not intended for the end user to directly use -namespace details -{ - -/// \brief Moves points comprising the lower convex hull from points to hull. -/// \param[inout] points A list of points, assumed to be sorted in lexical order -/// \param[inout] hull An empty list of points, assumed to have same allocator as points -/// (for splice) -/// \tparam PointT The point type for the points list -/// \tparam HullT the point type for the hull list -template -void form_lower_hull(std::list & points, std::list & hull) -{ - auto hull_it = hull.cbegin(); - auto point_it = points.cbegin(); - // This ensures that the points we splice to back to the end of list are not processed - const auto iters = points.size(); - for (auto idx = decltype(iters){0}; idx < iters; ++idx) { - // splice points from tail of hull to tail of list until point from head of list satisfies ccw - bool8_t is_ccw = true; - while ((hull.cbegin() != hull_it) && is_ccw) { - const auto current_hull_it = hull_it; - --hull_it; - is_ccw = ccw(*hull_it, *current_hull_it, *point_it); - if (!is_ccw) { - hull_it = current_hull_it; - break; - } - // return this node to list for consideration in upper hull - points.splice(points.end(), hull, current_hull_it); - } - const auto last_point_it = point_it; - ++point_it; - // Splice head of list to tail of (lower) hull - hull.splice(hull.end(), points, last_point_it); - // point_it has been advanced, hull_it has been advanced (to where point_it was previously) - hull_it = last_point_it; - } - // loop is guaranteed not to underflow because a node can be removed from points AT MOST once - // per loop iteration. The loop is upper bounded to the prior size of the point list -} -/// \brief Moves points comprising the lower convex hull from points to hull. -/// \param[inout] points A list of points, assumed to be sorted in lexical order, and to contain -/// the leftmost point -/// \param[inout] hull A list of points, assumed to have same allocator as points (for splice), -/// and to contain the lower hull (minus the left-most point) -/// \tparam PointT The point type for the points list -/// \tparam HullT the point type for the hull list -template -void form_upper_hull(std::list & points, std::list & hull) -{ - // TODO(c.ho) consider reverse iterators, not sure if they work with splice() - auto hull_it = hull.cend(); - --hull_it; - const auto lower_hull_end = hull_it; - auto point_it = points.cend(); - --point_it; - // This ensures that the points we splice to back to the head of list are not processed - const auto iters = points.size(); - for (auto idx = decltype(iters){0}; idx < iters; ++idx) { - // splice points from tail of hull to head of list until ccw is satisfied with tail of list - bool8_t is_ccw = true; - while ((lower_hull_end != hull_it) && is_ccw) { - const auto current_hull_it = hull_it; - --hull_it; - is_ccw = ccw(*hull_it, *current_hull_it, *point_it); - if (!is_ccw) { - hull_it = current_hull_it; - break; - } - points.splice(points.begin(), hull, current_hull_it); - } - const auto last_point_it = point_it; - --point_it; - // Splice points from tail of lexically ordered point list to tail of hull - hull.splice(hull.end(), points, last_point_it); - hull_it = last_point_it; - } - // loop is guaranteed not to underflow because a node can be removed from points AT MOST once - // per loop iteration. The loop is upper bounded to the prior size of the point list -} - -/// \brief A static memory implementation of convex hull computation. Shuffles points around the -/// deque such that the points of the convex hull of the deque of points are first in the -/// deque, with the internal points following in an unspecified order. -/// The head of the deque will be the point with the smallest x value, with the other -/// points following in a counter-clockwise manner (from a top down view/facing -z direction) -/// \param[inout] list A list of nodes that will be pruned down and reordered into a ccw convex hull -/// \return An iterator pointing to one after the last point contained in the hull -/// \tparam PointT Type of a point, must have x and y float members -template -typename std::list::const_iterator convex_hull_impl(std::list & list) -{ - // Functor that return whether a <= b in the lexical sense (a.x < b.x), sort by y if tied - const auto lexical_comparator = [](const PointT & a, const PointT & b) -> bool8_t { - using point_adapter::x_; - using point_adapter::y_; - // cspell: ignore FEPS - // FEPS means "Float EPSilon" - constexpr auto FEPS = std::numeric_limits::epsilon(); - return (fabsf(x_(a) - x_(b)) > FEPS) ? (x_(a) < x_(b)) : (y_(a) < y_(b)); - }; - list.sort(lexical_comparator); - - // Temporary list to store points - std::list tmp_hull_list{list.get_allocator()}; - - // Shuffle lower hull points over to tmp_hull_list - form_lower_hull(list, tmp_hull_list); - - // Resort list since we can't guarantee the order TODO(c.ho) is this true? - list.sort(lexical_comparator); - // splice first hull point to beginning of list to ensure upper hull is properly closed - // This is done after sorting because we know exactly where it should go, and keeping it out of - // sorting reduces complexity somewhat - list.splice(list.begin(), tmp_hull_list, tmp_hull_list.begin()); - - // build upper hull - form_upper_hull(list, tmp_hull_list); - // Move hull to beginning of list, return iterator pointing to one after the convex hull - const auto ret = list.begin(); - // first move left-most point to ensure it is first - auto tmp_it = tmp_hull_list.end(); - --tmp_it; - list.splice(list.begin(), tmp_hull_list, tmp_it); - // Then move remainder of hull points - list.splice(ret, tmp_hull_list); - return ret; -} -} // namespace details - -/// \brief A static memory implementation of convex hull computation. Shuffles points around the -/// deque such that the points of the convex hull of the deque of points are first in the -/// deque, with the internal points following in an unspecified order. -/// -/// The head of the deque will be the point with the smallest x value, with the other -/// points following in a counter-clockwise manner (from a top down view/facing -z -/// direction). If the point list is 3 or smaller, nothing is done (e.g. the ordering result -/// as previously stated does not hold). -/// \param[inout] list A list of nodes that will be reordered into a ccw convex hull -/// \return An iterator pointing to one after the last point contained in the hull -/// \tparam PointT Type of a point, must have x and y float members -template -typename std::list::const_iterator convex_hull(std::list & list) -{ - return (list.size() <= 3U) ? list.end() : details::convex_hull_impl(list); -} - -} // namespace geometry -} // namespace common -} // namespace autoware - -#endif // AUTOWARE_AUTO_GEOMETRY__CONVEX_HULL_HPP_ diff --git a/common/autoware_auto_geometry/include/autoware_auto_geometry/hull_pockets.hpp b/common/autoware_auto_geometry/include/autoware_auto_geometry/hull_pockets.hpp deleted file mode 100644 index cd9fd49f71635..0000000000000 --- a/common/autoware_auto_geometry/include/autoware_auto_geometry/hull_pockets.hpp +++ /dev/null @@ -1,111 +0,0 @@ -// Copyright 2020 Embotech AG, Zurich, Switzerland. All rights reserved. -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. -// -// Co-developed by Tier IV, Inc. and Apex.AI, Inc. - -/// \file -/// \brief This file implements an algorithm for getting a list of "pockets" in the convex -/// hull of a non-convex simple polygon. - -#ifndef AUTOWARE_AUTO_GEOMETRY__HULL_POCKETS_HPP_ -#define AUTOWARE_AUTO_GEOMETRY__HULL_POCKETS_HPP_ - -#include "autoware_auto_geometry/common_2d.hpp" - -#include - -#include -#include -#include -#include -#include - -using autoware::common::types::float32_t; - -namespace autoware -{ -namespace common -{ -namespace geometry -{ - -/// \brief Compute a list of "pockets" of a simple polygon -/// (https://en.wikipedia.org/wiki/Simple_polygon), that is, the areas that make -/// up the difference between the polygon and its convex hull. -/// This currently has a bug: -// * "Rollover" is not properly handled - if a pocket contains the segment from -// the last point in the list to the first point (which is still part of the -// polygon), that does not get added -/// -/// \param[in] polygon_start Start iterator for the simple polygon (has to be on convex hull) -/// \param[in] polygon_end End iterator for the simple polygon -/// \param[in] convex_hull_start Start iterator for the convex hull of the simple polygon -/// \param[in] convex_hull_end End iterator for the convex hull of the simple polygon -/// \return A vector of vectors of the iterator value type. Each inner vector contains the points -/// for one pocket. We return by value instead of as iterator pairs, because it is possible -/// that the edge connecting the final point in the list and the first point in the list is -/// part of a pocket as well, and this is awkward to represent using iterators into the -/// original collection. -/// -/// \tparam Iter1 Iterator to a point type -/// \tparam Iter2 Iterator to a point type (can be the same as Iter1, but does not need to be) -template -typename std::vector::value_type>> hull_pockets( - const Iter1 polygon_start, const Iter1 polygon_end, const Iter2 convex_hull_start, - const Iter2 convex_hull_end) -{ - auto pockets = std::vector::value_type>>{}; - if (std::distance(polygon_start, polygon_end) <= 3) { - return pockets; - } - - // Function to check whether a point is in the convex hull. - const auto in_convex_hull = [convex_hull_start, convex_hull_end](Iter1 p) { - return std::any_of(convex_hull_start, convex_hull_end, [p](auto hull_entry) { - return norm_2d(minus_2d(hull_entry, *p)) < std::numeric_limits::epsilon(); - }); - }; - - // We go through the points of the polygon only once, adding pockets to the list of pockets - // as we detect them. - std::vector::value_type> current_pocket{}; - for (auto it = polygon_start; it != polygon_end; it = std::next(it)) { - if (in_convex_hull(it)) { - if (current_pocket.size() > 1) { - current_pocket.emplace_back(*it); - pockets.push_back(current_pocket); - } - current_pocket.clear(); - current_pocket.emplace_back(*it); - } else { - current_pocket.emplace_back(*it); - } - } - - // At this point, we have reached the end of the polygon, but have not considered the connection - // of the final point back to the first. In case the first point is part of a pocket as well, we - // have some points left in current_pocket, and we add one final pocket that is made up by those - // points plus the first point in the collection. - if (current_pocket.size() > 1) { - current_pocket.push_back(*polygon_start); - pockets.push_back(current_pocket); - } - - return pockets; -} -} // namespace geometry -} // namespace common -} // namespace autoware - -#endif // AUTOWARE_AUTO_GEOMETRY__HULL_POCKETS_HPP_ diff --git a/common/autoware_auto_geometry/include/autoware_auto_geometry/intersection.hpp b/common/autoware_auto_geometry/include/autoware_auto_geometry/intersection.hpp deleted file mode 100644 index 08c70c3a5a6be..0000000000000 --- a/common/autoware_auto_geometry/include/autoware_auto_geometry/intersection.hpp +++ /dev/null @@ -1,312 +0,0 @@ -// Copyright 2020 Embotech AG, Zurich, Switzerland -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. -// -// Co-developed by Tier IV, Inc. and Apex.AI, Inc. - -#ifndef AUTOWARE_AUTO_GEOMETRY__INTERSECTION_HPP_ -#define AUTOWARE_AUTO_GEOMETRY__INTERSECTION_HPP_ - -#include "autoware_auto_geometry/common_2d.hpp" -#include "autoware_auto_geometry/convex_hull.hpp" - -#include -#include -#include - -#include -#include -#include -#include -#include -#include -#include - -namespace autoware -{ -namespace common -{ -namespace geometry -{ -using autoware::common::geometry::closest_line_point_2d; -using autoware::common::geometry::convex_hull; -using autoware::common::geometry::dot_2d; -using autoware::common::geometry::get_normal; -using autoware::common::geometry::minus_2d; -using autoware::common::geometry::norm_2d; -using autoware::common::geometry::times_2d; -using autoware_auto_perception_msgs::msg::BoundingBox; -using autoware_auto_planning_msgs::msg::TrajectoryPoint; - -using Point = geometry_msgs::msg::Point32; - -namespace details -{ - -/// Alias for a std::pair of two points -using Line = std::pair; - -/// \tparam Iter1 Iterator over point-types that must have point adapters -// defined or have float members x and y -/// \brief Compute a sorted list of faces of a polyhedron given a list of points -/// \param[in] start Start iterator of the list of points -/// \param[in] end End iterator of the list of points -/// \return The list of faces -template -std::vector get_sorted_face_list(const Iter start, const Iter end) -{ - // First get a sorted list of points - convex_hull does that by modifying its argument - auto corner_list = std::list(start, end); - const auto first_interior_point = convex_hull(corner_list); - - std::vector face_list{}; - auto itLast = corner_list.begin(); - auto itNext = std::next(itLast, 1); - do { - face_list.emplace_back(Line{*itLast, *itNext}); - itLast = itNext; - itNext = std::next(itNext, 1); - } while ((itNext != first_interior_point) && (itNext != corner_list.end())); - - face_list.emplace_back(Line{*itLast, corner_list.front()}); - - return face_list; -} - -/// \brief Append points of the polygon `internal` that are contained in the polygon `external`. -template < - template class Iterable1T, template class Iterable2T, typename PointT> -void append_contained_points( - const Iterable1T & external, const Iterable2T & internal, - std::list & result) -{ - std::copy_if( - internal.begin(), internal.end(), std::back_inserter(result), [&external](const auto & pt) { - return common::geometry::is_point_inside_polygon_2d(external.begin(), external.end(), pt); - }); -} - -/// \brief Append the intersecting points between two polygons into the output list. -template < - template class Iterable1T, template class Iterable2T, typename PointT> -void append_intersection_points( - const Iterable1T & polygon1, const Iterable2T & polygon2, - std::list & result) -{ - using FloatT = decltype(point_adapter::x_(std::declval())); - using Interval = common::geometry::Interval; - - auto get_edge = [](const auto & list, const auto & iterator) { - const auto next_it = std::next(iterator); - const auto & next_pt = (next_it != list.end()) ? *next_it : list.front(); - return std::make_pair(*iterator, next_pt); - }; - - // Get the max absolute value out of two intervals and a scalar. - auto compute_eps_scale = [](const auto & i1, const auto & i2, const auto val) { - auto get_abs_max = [](const auto & interval) { - return std::max(std::fabs(Interval::min(interval)), std::fabs(Interval::max(interval))); - }; - return std::max(std::fabs(val), std::max(get_abs_max(i1), get_abs_max(i2))); - }; - - // Compare each edge from polygon1 to each edge from polygon2 - for (auto corner1_it = polygon1.begin(); corner1_it != polygon1.end(); ++corner1_it) { - const auto & edge1 = get_edge(polygon1, corner1_it); - - Interval edge1_x_interval{ - std::min(point_adapter::x_(edge1.first), point_adapter::x_(edge1.second)), - std::max(point_adapter::x_(edge1.first), point_adapter::x_(edge1.second))}; - - Interval edge1_y_interval{ - std::min(point_adapter::y_(edge1.first), point_adapter::y_(edge1.second)), - std::max(point_adapter::y_(edge1.first), point_adapter::y_(edge1.second))}; - - for (auto corner2_it = polygon2.begin(); corner2_it != polygon2.end(); ++corner2_it) { - try { - const auto & edge2 = get_edge(polygon2, corner2_it); - const auto & intersection = common::geometry::intersection_2d( - edge1.first, minus_2d(edge1.second, edge1.first), edge2.first, - minus_2d(edge2.second, edge2.first)); - - Interval edge2_x_interval{ - std::min(point_adapter::x_(edge2.first), point_adapter::x_(edge2.second)), - std::max(point_adapter::x_(edge2.first), point_adapter::x_(edge2.second))}; - - Interval edge2_y_interval{ - std::min(point_adapter::y_(edge2.first), point_adapter::y_(edge2.second)), - std::max(point_adapter::y_(edge2.first), point_adapter::y_(edge2.second))}; - - // cspell: ignore feps - // feps means "Float EPSilon" - - // The accumulated floating point error depends on the magnitudes of each end of the - // intervals. Hence the upper bound of the absolute magnitude should be taken into account - // while computing the epsilon. - const auto max_feps_scale = std::max( - compute_eps_scale(edge1_x_interval, edge2_x_interval, point_adapter::x_(intersection)), - compute_eps_scale(edge1_y_interval, edge2_y_interval, point_adapter::y_(intersection))); - const auto feps = max_feps_scale * std::numeric_limits::epsilon(); - // Only accept intersections that lie on both of the line segments (edges) - if ( - Interval::contains(edge1_x_interval, point_adapter::x_(intersection), feps) && - Interval::contains(edge2_x_interval, point_adapter::x_(intersection), feps) && - Interval::contains(edge1_y_interval, point_adapter::y_(intersection), feps) && - Interval::contains(edge2_y_interval, point_adapter::y_(intersection), feps)) { - result.push_back(intersection); - } - } catch (const std::runtime_error &) { - // Parallel lines. TODO(yunus.caliskan): #1229 - continue; - } - } - } -} - -} // namespace details - -// TODO(s.me) implement GJK(+EPA) algorithm as well as per Chris Ho's suggestion -/// \tparam Iter Iterator over point-types that must have point adapters -// defined or have float members x and y -/// \brief Check if polyhedra defined by two given sets of points intersect -// This uses SAT for doing the actual checking -// (https://en.wikipedia.org/wiki/Hyperplane_separation_theorem#Use_in_collision_detection) -/// \param[in] begin1 Start iterator to first list of point types -/// \param[in] end1 End iterator to first list of point types -/// \param[in] begin2 Start iterator to first list of point types -/// \param[in] end2 End iterator to first list of point types -/// \return true if the boxes collide, false otherwise. -template -bool intersect(const Iter begin1, const Iter end1, const Iter begin2, const Iter end2) -{ - // Obtain sorted lists of faces of both boxes, merge them into one big list of faces - auto faces = details::get_sorted_face_list(begin1, end1); - const auto faces_2 = details::get_sorted_face_list(begin2, end2); - faces.reserve(faces.size() + faces_2.size()); - faces.insert(faces.end(), faces_2.begin(), faces_2.end()); - - // Also look at last line - for (const auto & face : faces) { - // Compute normal vector to the face and define a closure to get progress along it - const auto normal = get_normal(minus_2d(face.second, face.first)); - auto get_position_along_line = [&normal](auto point) { - return dot_2d(normal, minus_2d(point, Point{})); - }; - - // Define a function to get the minimum and maximum projected position of the corners - // of a given bounding box along the normal line of the face - auto get_projected_min_max = [&get_position_along_line, &normal](Iter begin, Iter end) { - const auto zero_point = Point{}; - auto min_corners = get_position_along_line(closest_line_point_2d(normal, zero_point, *begin)); - auto max_corners = min_corners; - - for (auto & point = begin; point != end; ++point) { - const auto point_projected = closest_line_point_2d(normal, zero_point, *point); - const auto position_along_line = get_position_along_line(point_projected); - min_corners = std::min(min_corners, position_along_line); - max_corners = std::max(max_corners, position_along_line); - } - return std::pair{min_corners, max_corners}; - }; - - // Perform the actual computations for the extent computation - auto minmax_1 = get_projected_min_max(begin1, end1); - auto minmax_2 = get_projected_min_max(begin2, end2); - - // Check for any intersections - const auto eps = std::numeric_limits::epsilon(); - if (minmax_1.first > minmax_2.second + eps || minmax_2.first > minmax_1.second + eps) { - // Found separating hyperplane, stop - return false; - } - } - - // No separating hyperplane found, boxes collide - return true; -} - -/// \brief Get the intersection between two polygons. The polygons should be provided in an -/// identical format to the output of `convex_hull` function as in the corners should be ordered -/// in a CCW fashion. -/// The computation is done by: -/// * Find the corners of each polygon that are contained by the other polygon. -/// * Find the intersection points between two polygons -/// * Combine these points and order CCW to get the final polygon. -/// The criteria for intersection is better explained in: -/// "Area of intersection of arbitrary polygons" (Livermore, Calif, 1977) -/// See https://www.osti.gov/servlets/purl/7309916/, chapter II - B -/// TODO(yunus.caliskan): This is a naive implementation. We should scan for a more efficient -/// algorithm: #1230 -/// \tparam Iterable1T A container class that has stl style iterators defined. -/// \tparam Iterable2T A container class that has stl style iterators defined. -/// \tparam PointT Point type that have the adapters for the x and y fields. -/// set to `Point1T` -/// \param polygon1 A convex polygon -/// \param polygon2 A convex polygon -/// \return The resulting conv -template < - template class Iterable1T, template class Iterable2T, typename PointT> -std::list convex_polygon_intersection2d( - const Iterable1T & polygon1, const Iterable2T & polygon2) -{ - std::list result; - details::append_contained_points(polygon1, polygon2, result); - details::append_contained_points(polygon2, polygon1, result); - details::append_intersection_points(polygon1, polygon2, result); - const auto end_it = common::geometry::convex_hull(result); - result.resize(static_cast(std::distance(result.cbegin(), end_it))); - return result; -} - -/// \brief Compute the intersection over union of two 2d convex polygons. If any of the polygons -/// span a zero area, the result is 0.0. -/// \tparam Iterable1T A container class that has stl style iterators defined. -/// \tparam Iterable2T A container class that has stl style iterators defined. -/// \tparam Point1T Point type that have the adapters for the x and y fields. -/// \tparam Point2T Point type that have the adapters for the x and y fields. -/// \param polygon1 A convex polygon -/// \param polygon2 A convex polygon -/// \return (Intersection / Union) between two given polygons. -/// \throws std::domain_error If there is any inconsistency on the underlying geometrical -/// computation. -template < - template class Iterable1T, template class Iterable2T, typename PointT> -common::types::float32_t convex_intersection_over_union_2d( - const Iterable1T & polygon1, const Iterable2T & polygon2) -{ - constexpr auto eps = std::numeric_limits::epsilon(); - const auto intersection = convex_polygon_intersection2d(polygon1, polygon2); - - const auto intersection_area = - common::geometry::area_2d(intersection.begin(), intersection.end()); - - if (intersection_area < eps) { - return 0.0F; // There's either no intersection or the points are collinear - } - - const auto polygon1_area = common::geometry::area_2d(polygon1.begin(), polygon1.end()); - const auto polygon2_area = common::geometry::area_2d(polygon2.begin(), polygon2.end()); - - const auto union_area = polygon1_area + polygon2_area - intersection_area; - if (union_area < eps) { - throw std::domain_error("IoU is undefined for polygons with a zero union area"); - } - - return intersection_area / union_area; -} - -} // namespace geometry -} // namespace common -} // namespace autoware - -#endif // AUTOWARE_AUTO_GEOMETRY__INTERSECTION_HPP_ diff --git a/common/autoware_auto_geometry/include/autoware_auto_geometry/interval.hpp b/common/autoware_auto_geometry/include/autoware_auto_geometry/interval.hpp deleted file mode 100644 index 54be2c32b1d05..0000000000000 --- a/common/autoware_auto_geometry/include/autoware_auto_geometry/interval.hpp +++ /dev/null @@ -1,358 +0,0 @@ -// Copyright 2020 Mapless AI, Inc. -// -// Permission is hereby granted, free of charge, to any person obtaining a copy -// of this software and associated documentation files (the "Software"), to -// deal in the Software without restriction, including without limitation the -// rights to use, copy, modify, merge, publish, distribute, sublicense, and/or -// sell copies of the Software, and to permit persons to whom the Software is -// furnished to do so, subject to the following conditions: -// -// The above copyright notice and this permission notice shall be included in -// all copies or substantial portions of the Software. -// -// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR -// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, -// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE -// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER -// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING -// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS -// IN THE SOFTWARE. - -#ifndef AUTOWARE_AUTO_GEOMETRY__INTERVAL_HPP_ -#define AUTOWARE_AUTO_GEOMETRY__INTERVAL_HPP_ - -#include -#include - -#include -#include -#include -#include -#include -#include -#include -#include -#include - -namespace autoware -{ -namespace common -{ -namespace geometry -{ - -/** - * @brief Data structure to contain scalar interval bounds. - * - * @post The interval is guaranteed to be valid upon successful construction. An - * interval [min, max] is "valid" if it is empty (min/max = NaN) or its bounds - * are ordered (min <= max). - */ -template -class Interval -{ - static_assert(std::is_floating_point::value, "Intervals only support floating point types."); - -public: - /** - * @brief Compute equality. - * - * Two intervals compare equal iff they are both valid and they are both - * either empty or have equal bounds. - * - * @note This is defined inline because the class is templated. - * - * @return True iff the intervals compare equal. - */ - friend bool operator==(const Interval & i1, const Interval & i2) - { - const auto min_eq = (Interval::min(i1) == Interval::min(i2)); - const auto max_eq = (Interval::max(i1) == Interval::max(i2)); - const auto bounds_equal = (min_eq && max_eq); - const auto both_empty = (Interval::empty(i1) && Interval::empty(i2)); - return both_empty || bounds_equal; - } - - /** - * @brief Compute inequality and the logical negation of equality. - * @note This is defined inline because the class is templated. - */ - friend bool operator!=(const Interval & i1, const Interval & i2) { return !(i1 == i2); } - - /** - * @brief Stream overload for Interval types. - * - * @note Output precision is fixed inside the function definition, and the - * serialization is JSON compatible. - * - * @note The serialization is lossy. It is used for debugging and for - * generating exception strings. - */ - friend std::ostream & operator<<(std::ostream & os, const Interval & i) - { - constexpr auto PRECISION = 5; - - // Internal helper to format the output. - const auto readable_extremum = [](const T & val) { - if (val == std::numeric_limits::lowest()) { - return std::string("REAL_MIN"); - } - if (val == std::numeric_limits::max()) { - return std::string("REAL_MAX"); - } - - std::stringstream ss; - ss.setf(std::ios::fixed, std::ios::floatfield); - ss.precision(PRECISION); - ss << val; - return ss.str(); - }; - - // Do stream output. - if (Interval::empty(i)) { - return os << "{}"; - } - return os << "{\"min\": " << readable_extremum(Interval::min(i)) - << ", \"max\": " << readable_extremum(Interval::max(i)) << "}"; - } - - /** - * @brief Test whether the two intervals have bounds within epsilon of each - * other. - * - * @note If both intervals are empty, this returns true. If only one is empty, - * this returns false. - */ - static bool abs_eq(const Interval & i1, const Interval & i2, const T & eps); - - /** @brief The minimum bound of the interval. */ - static T min(const Interval & i) { return i.min_; } - - /** @brief The maximum bound of the interval. */ - static T max(const Interval & i) { return i.max_; } - - /** - * @brief Return the measure (length) of the interval. - * - * @note For empty or invalid intervals, NaN is returned. See Interval::empty - * for note on distinction between measure zero and the emptiness property. - */ - static T measure(const Interval & i); - - /** - * @brief Utility for checking whether an interval has zero measure. - * - * @note For empty or invalid intervals, false is returned. See - * Interval::empty for note on distinction between measure zero and the - * emptiness property. - * - * @return True iff the interval has zero measure. - */ - static bool zero_measure(const Interval & i); - - /** - * @brief Whether the interval is empty or not. - * - * @note Emptiness refers to whether the interval contains any points and is - * thus a distinct property from measure: an interval is non-empty if contains - * only a single point even though its measure in that case is zero. - * - * @return True iff the interval is empty. - */ - static bool empty(const Interval & i); - - /** - * @brief Test for whether a given interval contains a given value within the given epsilon - * @return True iff 'interval' contains 'value'. - */ - static bool contains( - const Interval & i, const T & value, const T & eps = std::numeric_limits::epsilon()); - - /** - * @brief Test for whether 'i1' subseteq 'i2' - * @return True iff i1 subseteq i2. - */ - static bool is_subset_eq(const Interval & i1, const Interval & i2); - - /** - * @brief Compute the intersection of two intervals as a new interval. - */ - static Interval intersect(const Interval & i1, const Interval & i2); - - /** - * @brief Clamp a scalar 'val' onto 'interval'. - * @return If 'val' in 'interval', return 'val'; otherwise return the nearer - * interval bound. - */ - static T clamp_to(const Interval & i, T val); - - /** - * @brief Constructor: initialize an empty interval with members set to NaN. - */ - Interval(); - - /** - * @brief Constructor: specify exact interval bounds. - * - * @note An empty interval is specified by setting both bounds to NaN. - * @note An exception is thrown if the specified bounds are invalid. - * - * @post Construction is successful iff the interval is valid. - */ - Interval(const T & min, const T & max); - -private: - static constexpr T NaN = std::numeric_limits::quiet_NaN(); - - T min_; - T max_; - - /** - * @brief Verify that the bounds are valid in an interval. - * @note This method is private because it can only be used in the - * constructor. Once an interval has been constructed, its bounds are - * guaranteed to be valid. - */ - static bool bounds_valid(const Interval & i); -}; // class Interval - -//------------------------------------------------------------------------------ - -typedef Interval Interval_d; -typedef Interval Interval_f; - -//------------------------------------------------------------------------------ - -template -constexpr T Interval::NaN; - -//------------------------------------------------------------------------------ - -template -Interval::Interval() : min_(Interval::NaN), max_(Interval::NaN) -{ -} - -//------------------------------------------------------------------------------ - -template -Interval::Interval(const T & min, const T & max) : min_(min), max_(max) -{ - if (!Interval::bounds_valid(*this)) { - std::stringstream ss; - ss << "Attempted to construct an invalid interval: " << *this; - throw std::runtime_error(ss.str()); - } -} - -//------------------------------------------------------------------------------ - -template -bool Interval::abs_eq(const Interval & i1, const Interval & i2, const T & eps) -{ - namespace comp = helper_functions::comparisons; - - const auto both_empty = Interval::empty(i1) && Interval::empty(i2); - const auto both_non_empty = !Interval::empty(i1) && !Interval::empty(i2); - - const auto mins_equal = comp::abs_eq(Interval::min(i1), Interval::min(i2), eps); - const auto maxes_equal = comp::abs_eq(Interval::max(i1), Interval::max(i2), eps); - const auto both_non_empty_equal = both_non_empty && mins_equal && maxes_equal; - - return both_empty || both_non_empty_equal; -} - -//------------------------------------------------------------------------------ - -template -bool Interval::zero_measure(const Interval & i) -{ - // An empty interval will return false because (NaN == NaN) is false. - return Interval::min(i) == Interval::max(i); -} - -//------------------------------------------------------------------------------ - -template -bool Interval::empty(const Interval & i) -{ - return std::isnan(Interval::min(i)) && std::isnan(Interval::max(i)); -} - -//------------------------------------------------------------------------------ - -template -bool Interval::bounds_valid(const Interval & i) -{ - const auto is_ordered = (Interval::min(i) <= Interval::max(i)); - - // Check for emptiness explicitly because it requires both bounds to be NaN - return Interval::empty(i) || is_ordered; -} - -//------------------------------------------------------------------------------ - -template -bool Interval::is_subset_eq(const Interval & i1, const Interval & i2) -{ - const auto lower_contained = (Interval::min(i1) >= Interval::min(i2)); - const auto upper_contained = (Interval::max(i1) <= Interval::max(i2)); - return lower_contained && upper_contained; -} - -//------------------------------------------------------------------------------ - -template -bool Interval::contains(const Interval & i, const T & value, const T & eps) -{ - return common::helper_functions::comparisons::abs_gte(value, Interval::min(i), eps) && - common::helper_functions::comparisons::abs_lte(value, Interval::max(i), eps); -} - -//------------------------------------------------------------------------------ - -template -T Interval::measure(const Interval & i) -{ - return Interval::max(i) - Interval::min(i); -} - -//------------------------------------------------------------------------------ - -template -Interval Interval::intersect(const Interval & i1, const Interval & i2) -{ - // Construct intersection assuming an intersection exists. - try { - const auto either_empty = Interval::empty(i1) || Interval::empty(i2); - const auto min = std::max(Interval::min(i1), Interval::min(i2)); - const auto max = std::min(Interval::max(i1), Interval::max(i2)); - return either_empty ? Interval() : Interval(min, max); - } catch (...) { - } - - // Otherwise, the intersection is empty. - return Interval(); -} - -//------------------------------------------------------------------------------ - -template -T Interval::clamp_to(const Interval & i, T val) -{ - // clamp val to min - val = std::max(val, Interval::min(i)); - - // clamp val to max - val = std::min(val, Interval::max(i)); - - return Interval::empty(i) ? Interval::NaN : val; -} - -//------------------------------------------------------------------------------ - -} // namespace geometry -} // namespace common -} // namespace autoware - -#endif // AUTOWARE_AUTO_GEOMETRY__INTERVAL_HPP_ diff --git a/common/autoware_auto_geometry/include/autoware_auto_geometry/lookup_table.hpp b/common/autoware_auto_geometry/include/autoware_auto_geometry/lookup_table.hpp deleted file mode 100644 index 7b8867ca096ae..0000000000000 --- a/common/autoware_auto_geometry/include/autoware_auto_geometry/lookup_table.hpp +++ /dev/null @@ -1,179 +0,0 @@ -// Copyright 2017-2020 the Autoware Foundation -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. -// -// Co-developed by Tier IV, Inc. and Apex.AI, Inc. - -/// \file -/// \brief This file contains a 1D linear lookup table implementation - -#ifndef AUTOWARE_AUTO_GEOMETRY__LOOKUP_TABLE_HPP_ -#define AUTOWARE_AUTO_GEOMETRY__LOOKUP_TABLE_HPP_ - -#include "autoware_auto_geometry/interval.hpp" - -#include - -#include -#include -#include - -namespace autoware -{ -namespace common -{ -namespace helper_functions -{ - -namespace -{ - -/** - * @brief Compute a scaling between 'a' and 'b' - * @note scaling is clamped to be in the interval [0, 1] - */ -template -T interpolate(const T & a, const T & b, U scaling) -{ - static const geometry::Interval UNIT_INTERVAL(static_cast(0), static_cast(1)); - scaling = geometry::Interval::clamp_to(UNIT_INTERVAL, scaling); - - const auto m = (b - a); - const auto offset = static_cast(m) * scaling; - return a + static_cast(offset); -} - -// TODO(c.ho) support more forms of interpolation as template functor -// Actual lookup logic, assuming all invariants hold: -// Throw if value is not finite -template -T lookup_impl_1d(const std::vector & domain, const std::vector & range, const T value) -{ - if (!std::isfinite(value)) { - throw std::domain_error{"Query value is not finite (NAN or INF)"}; - } - if (value <= domain.front()) { - return range.front(); - } else if (value >= domain.back()) { - return range.back(); - } else { - // Fall through to normal case - } - - auto second_idx{0U}; - for (auto idx = 1U; idx < domain.size(); ++idx) { - if (value < domain[idx]) { - second_idx = idx; - break; - } - } - // T must be a floating point between 0 and 1 - const auto num = static_cast(value - domain[second_idx - 1U]); - const auto den = static_cast(domain[second_idx] - domain[second_idx - 1U]); - const auto t = num / den; - const auto val = interpolate(range[second_idx - 1U], range[second_idx], t); - return static_cast(val); -} - -// Check invariants for table lookup: -template -void check_table_lookup_invariants(const std::vector & domain, const std::vector & range) -{ - if (domain.size() != range.size()) { - throw std::domain_error{"Domain's size does not match range's"}; - } - if (domain.empty()) { - throw std::domain_error{"Empty domain or range"}; - } - // Check if sorted: Can start at 1 because not empty - for (auto idx = 1U; idx < domain.size(); ++idx) { - if (domain[idx] <= domain[idx - 1U]) { // This is safe because indexing starts at 1 - throw std::domain_error{"Domain is not sorted"}; - } - } -} -} // namespace - -/// Do a 1D table lookup: Does some semi-expensive O(N) error checking first. -/// If query value fall out of the domain, then the value at the corresponding edge of the domain is -/// returned. -/// \param[in] domain The domain, or set of x values -/// \param[in] range The range, or set of y values -/// \param[in] value The point in the domain to query, x -/// \return A linearly interpolated value y, corresponding to the query, x -/// \throw std::domain_error If domain or range is empty -/// \throw std::domain_error If range is not the same size as domain -/// \throw std::domain_error If domain is not sorted -/// \throw std::domain_error If value is not finite (NAN or INF) -/// \tparam T The type of the function, must be interpolatable -template -T lookup_1d(const std::vector & domain, const std::vector & range, const T value) -{ - check_table_lookup_invariants(domain, range); - - return lookup_impl_1d(domain, range, value); -} - -/// A class wrapping a 1D lookup table. Intended for more frequent lookups. Error checking is pushed -/// into the constructor and not done in the lookup function call -/// \tparam T The type of the function, must be interpolatable -template -class LookupTable1D -{ -public: - /// Constructor - /// \param[in] domain The domain, or set of x values - /// \param[in] range The range, or set of y values - /// \throw std::domain_error If domain or range is empty - /// \throw std::domain_error If range is not the same size as domain - /// \throw std::domain_error If domain is not sorted - LookupTable1D(const std::vector & domain, const std::vector & range) - : m_domain{domain}, m_range{range} - { - check_table_lookup_invariants(m_domain, m_range); - } - - /// Move constructor - /// \param[in] domain The domain, or set of x values - /// \param[in] range The range, or set of y values - /// \throw std::domain_error If domain or range is empty - /// \throw std::domain_error If range is not the same size as domain - /// \throw std::domain_error If domain is not sorted - LookupTable1D(std::vector && domain, std::vector && range) - : m_domain{domain}, m_range{range} - { - check_table_lookup_invariants(m_domain, m_range); - } - - /// Do a 1D table lookup - /// If query value fall out of the domain, then the value at the corresponding edge of the domain - /// is returned. - /// \param[in] value The point in the domain to query, x - /// \return A linearly interpolated value y, corresponding to the query, x - /// \throw std::domain_error If value is not finite - T lookup(const T value) const { return lookup_impl_1d(m_domain, m_range, value); } - /// Get the domain table - const std::vector & domain() const noexcept { return m_domain; } - /// Get the range table - const std::vector & range() const noexcept { return m_range; } - -private: - std::vector m_domain; - std::vector m_range; -}; // class LookupTable1D - -} // namespace helper_functions -} // namespace common -} // namespace autoware - -#endif // AUTOWARE_AUTO_GEOMETRY__LOOKUP_TABLE_HPP_ diff --git a/common/autoware_auto_geometry/include/autoware_auto_geometry/spatial_hash.hpp b/common/autoware_auto_geometry/include/autoware_auto_geometry/spatial_hash.hpp deleted file mode 100644 index 8936e2c17d779..0000000000000 --- a/common/autoware_auto_geometry/include/autoware_auto_geometry/spatial_hash.hpp +++ /dev/null @@ -1,332 +0,0 @@ -// Copyright 2019 the Autoware Foundation -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. -// -// Co-developed by Tier IV, Inc. and Apex.AI, Inc. -/// \file -/// \brief This file implements a spatial hash for efficient fixed-radius near neighbor queries in -/// 2D - -#ifndef AUTOWARE_AUTO_GEOMETRY__SPATIAL_HASH_HPP_ -#define AUTOWARE_AUTO_GEOMETRY__SPATIAL_HASH_HPP_ - -#include "autoware_auto_geometry/spatial_hash_config.hpp" -#include "autoware_auto_geometry/visibility_control.hpp" - -#include - -#include -#include -#include - -using autoware::common::types::bool8_t; -using autoware::common::types::float32_t; - -namespace autoware -{ -namespace common -{ -namespace geometry -{ -/// \brief All objects related to the spatial hash data structure for efficient near neighbor lookup -namespace spatial_hash -{ - -/// \brief An implementation of the spatial hash or integer lattice data structure for efficient -/// (O(1)) near neighbor queries. -/// \tparam PointT The point type stored in this data structure. Must have float members x, y, and z -/// -/// This implementation can support both 2D and 3D queries -/// (though only one type per data structure), and can support queries of varying radius. This data -/// structure cannot do near neighbor lookups for euclidean distance in arbitrary dimensions. -template -class GEOMETRY_PUBLIC SpatialHashBase -{ - using Index3 = details::Index3; - // lint -e{9131} NOLINT There's no other way to make this work in a static assert - static_assert( - std::is_same::value || std::is_same::value, - "SpatialHash only works with Config2d or Config3d"); - -public: - using Hash = std::unordered_multimap; - using IT = typename Hash::const_iterator; - /// \brief Wrapper around an iterator and a distance (from some query point) - class Output - { - public: - /// \brief Constructor - /// \param[in] iterator An iterator pointing to some point - /// \param[in] distance The euclidean distance (2d or 3d) to a reference point - Output(const IT iterator, const float32_t distance) : m_iterator(iterator), m_distance(distance) - { - } - /// \brief Get stored point - /// \return A const reference to the stored point - const PointT & get_point() const { return m_iterator->second; } - /// \brief Get underlying iterator - /// \return A copy of the underlying iterator - IT get_iterator() const { return m_iterator; } - /// \brief Convert to underlying point - /// \return A reference to the underlying point - operator const PointT &() const { return get_point(); } - /// \brief Convert to underlying iterator - /// \return A copy of the iterator - operator IT() const { return get_iterator(); } - /// \brief Get distance to reference point - /// \return The distance - float32_t get_distance() const { return m_distance; } - - private: - IT m_iterator; - float32_t m_distance; - }; // class Output - using OutputVector = typename std::vector; - - /// \brief Constructor - /// \param[in] cfg The configuration object for this class - explicit SpatialHashBase(const ConfigT & cfg) - : m_config{cfg}, - m_hash(), - m_neighbors{}, // TODO(c.ho) reserve, but there's no default constructor for output - m_bins_hit{}, // zero initialization (and below) - m_neighbors_found{} - { - } - - /// \brief Inserts point - /// \param[in] pt The Point to insert - /// \return Iterator pointing to the inserted point - /// \throw std::length_error If the data structure is at capacity - IT insert(const PointT & pt) - { - if (size() >= capacity()) { - throw std::length_error{"SpatialHash: Cannot insert past capacity"}; - } - return insert_impl(pt); - } - - /// \brief Inserts a range of points - /// \param[in] begin The start of the range of points to insert - /// \param[in] end The end of the range of points to insert - /// \tparam IteratorT The iterator type - /// \throw std::length_error If the range of points to insert exceeds the data structure's - /// capacity - template - void insert(IteratorT begin, IteratorT end) - { - // This check is here for strong exception safety - if ((size() + std::distance(begin, end)) > capacity()) { - throw std::length_error{"SpatialHash: Cannot multi-insert past capacity"}; - } - for (IteratorT it = begin; it != end; ++it) { - (void)insert_impl(*it); - } - } - - /// \brief Removes the specified element from the data structure - /// \param[in] point An iterator pointing to a point to be removed - /// \return An iterator pointing to the element after the erased element - /// \throw std::domain_error If pt is invalid or does not belong to this data structure - /// - /// \note There is no reliable way to check if an iterator is invalid. The checks here are - /// based on a heuristic and is not guaranteed to find all invalid iterators. This method - /// should be used with care and only on valid iterators - IT erase(const IT point) - { - if (end() == m_hash.find(point->first)) { - throw std::domain_error{"SpatialHash: Attempting to erase invalid iterator"}; - } - return m_hash.erase(point); - } - - /// \brief Reset the state of the data structure - void clear() { m_hash.clear(); } - /// \brief Get current number of element stored in this data structure - /// \return Number of stored elements - Index size() const { return m_hash.size(); } - /// \brief Get the maximum capacity of the data structure - /// \return The capacity of the data structure - Index capacity() const { return m_config.get_capacity(); } - /// \brief Whether the hash is empty - /// \return True if data structure is empty - bool8_t empty() const { return m_hash.empty(); } - /// \brief Get iterator to beginning of data structure - /// \return Iterator - IT begin() const { return m_hash.begin(); } - /// \brief Get iterator to end of data structure - /// \return Iterator - IT end() const { return m_hash.end(); } - /// \brief Get iterator to beginning of data structure - /// \return Iterator - IT cbegin() const { return begin(); } - /// \brief Get iterator to end of data structure - /// \return Iterator - IT cend() const { return end(); } - - /// \brief Get the number of bins touched during the lifetime of this object, for debugging and - /// size tuning - /// \return The total number of bins touched during near() queries - Index bins_hit() const { return m_bins_hit; } - - /// \brief Get number of near neighbors found during the lifetime of this object, for debugging - /// and size tuning - /// \return The total number of neighbors found during near() queries - Index neighbors_found() const { return m_neighbors_found; } - -protected: - /// \brief Finds all points within a fixed radius of a reference point - /// \param[in] x The x component of the reference point - /// \param[in] y The y component of the reference point - /// \param[in] z The z component of the reference point, respected only if the spatial hash is not - /// 2D. - /// \param[in] radius The radius within which to find all near points - /// \return A const reference to a vector containing iterators pointing to - /// all points within the radius, and the actual distance to the reference point - const OutputVector & near_impl( - const float32_t x, const float32_t y, const float32_t z, const float32_t radius) - { - // reset output - m_neighbors.clear(); - // Compute bin, bin range - const Index3 ref_idx = m_config.index3(x, y, z); - const float32_t radius2 = radius * radius; - const details::BinRange idx_range = m_config.bin_range(ref_idx, radius); - Index3 idx = idx_range.first; - // For bins in radius - do { // guaranteed to have at least the bin ref_idx is in - // update book-keeping - ++m_bins_hit; - // Iterating in a square/cube pattern is easier than constructing sphere pattern - if (m_config.is_candidate_bin(ref_idx, idx, radius2)) { - // For point in bin - const Index jdx = m_config.index(idx); - const auto range = m_hash.equal_range(jdx); - for (auto it = range.first; it != range.second; ++it) { - const auto & pt = it->second; - const float32_t dist2 = m_config.distance_squared(x, y, z, pt); - if (dist2 <= radius2) { - // Only compute true distance if necessary - m_neighbors.emplace_back(it, sqrtf(dist2)); - } - } - } - } while (m_config.next_bin(idx_range, idx)); - // update book-keeping - m_neighbors_found += m_neighbors.size(); - return m_neighbors; - } - -private: - /// \brief Internal insert method with no error checking - /// \param[in] pt The Point to insert - GEOMETRY_LOCAL IT insert_impl(const PointT & pt) - { - // Compute bin - const Index idx = - m_config.bin(point_adapter::x_(pt), point_adapter::y_(pt), point_adapter::z_(pt)); - // Insert into bin - return m_hash.insert(std::make_pair(idx, pt)); - } - - const ConfigT m_config; - Hash m_hash; - OutputVector m_neighbors; - Index m_bins_hit; - Index m_neighbors_found; -}; // class SpatialHashBase - -/// \brief The class to be used for specializing on -/// apex_app::common::geometry::spatial_hash::SpatialHashBase to provide different function -/// signatures on 2D and 3D configurations -/// \tparam PointT The point type stored in this data structure. Must have float members x, y and z -template -class GEOMETRY_PUBLIC SpatialHash; - -/// \brief Explicit specialization of SpatialHash for 2D configuration -/// \tparam PointT The point type stored in this data structure. -template -class GEOMETRY_PUBLIC SpatialHash : public SpatialHashBase -{ -public: - using OutputVector = typename SpatialHashBase::OutputVector; - - explicit SpatialHash(const Config2d & cfg) : SpatialHashBase(cfg) {} - - /// \brief Finds all points within a fixed radius of a reference point - /// \param[in] x The x component of the reference point - /// \param[in] y The y component of the reference point - /// \param[in] radius The radius within which to find all near points - /// \return A const reference to a vector containing iterators pointing to - /// all points within the radius, and the actual distance to the reference point - const OutputVector & near(const float32_t x, const float32_t y, const float32_t radius) - { - return this->near_impl(x, y, 0.0F, radius); - } - - /// \brief Finds all points within a fixed radius of a reference point - /// \param[in] pt The reference point. Only the x and y members are respected. - /// \param[in] radius The radius within which to find all near points - /// \return A const reference to a vector containing iterators pointing to - /// all points within the radius, and the actual distance to the reference point - const OutputVector & near(const PointT & pt, const float32_t radius) - { - return near(point_adapter::x_(pt), point_adapter::y_(pt), radius); - } -}; - -/// \brief Explicit specialization of SpatialHash for 3D configuration -/// \tparam PointT The point type stored in this data structure. Must have float members x, y and z -template -class GEOMETRY_PUBLIC SpatialHash : public SpatialHashBase -{ -public: - using OutputVector = typename SpatialHashBase::OutputVector; - - explicit SpatialHash(const Config3d & cfg) : SpatialHashBase(cfg) {} - - /// \brief Finds all points within a fixed radius of a reference point - /// \param[in] x The x component of the reference point - /// \param[in] y The y component of the reference point - /// \param[in] z The z component of the reference point, respected only if the spatial hash is not - /// 2D. - /// \param[in] radius The radius within which to find all near points - /// \return A const reference to a vector containing iterators pointing to - /// all points within the radius, and the actual distance to the reference point - const OutputVector & near( - const float32_t x, const float32_t y, const float32_t z, const float32_t radius) - { - return this->near_impl(x, y, z, radius); - } - - /// \brief Finds all points within a fixed radius of a reference point - /// \param[in] pt The reference point. - /// \param[in] radius The radius within which to find all near points - /// \return A const reference to a vector containing iterators pointing to - /// all points within the radius, and the actual distance to the reference point - const OutputVector & near(const PointT & pt, const float32_t radius) - { - return near(point_adapter::x_(pt), point_adapter::y_(pt), point_adapter::z_(pt), radius); - } -}; - -template -using SpatialHash2d = SpatialHash; -template -using SpatialHash3d = SpatialHash; -} // namespace spatial_hash -} // namespace geometry -} // namespace common -} // namespace autoware - -#endif // AUTOWARE_AUTO_GEOMETRY__SPATIAL_HASH_HPP_ diff --git a/common/autoware_auto_geometry/include/autoware_auto_geometry/spatial_hash_config.hpp b/common/autoware_auto_geometry/include/autoware_auto_geometry/spatial_hash_config.hpp deleted file mode 100644 index 24c4d6e879d4a..0000000000000 --- a/common/autoware_auto_geometry/include/autoware_auto_geometry/spatial_hash_config.hpp +++ /dev/null @@ -1,450 +0,0 @@ -// Copyright 2019 the Autoware Foundation -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. -// -// Co-developed by Tier IV, Inc. and Apex.AI, Inc. -/// \file -/// \brief This file implements a spatial hash for efficient fixed-radius near neighbor queries in -/// 2D - -#ifndef AUTOWARE_AUTO_GEOMETRY__SPATIAL_HASH_CONFIG_HPP_ -#define AUTOWARE_AUTO_GEOMETRY__SPATIAL_HASH_CONFIG_HPP_ - -#include "autoware_auto_geometry/common_2d.hpp" -#include "autoware_auto_geometry/visibility_control.hpp" - -#include -#include - -#include -#include -#include -#include -#include - -using autoware::common::types::bool8_t; -using autoware::common::types::float32_t; -using autoware::common::types::float64_t; - -namespace autoware -{ -namespace common -{ -namespace geometry -{ -/// \brief All objects related to the spatial hash data structure for efficient near neighbor lookup -namespace spatial_hash -{ -/// \brief Index type for identifying bins of the hash/lattice -using Index = std::size_t; -/// \brief Spatial hash functionality not intended to be used by an external user -namespace details -{ -/// \brief Internal struct for packing three indices together -/// -/// The use of this struct publicly is a violation of our coding standards, but I claim it's -/// fine because (a) it's details, (b) it is literally three unrelated members packaged together. -/// This type is needed for conceptual convenience so I don't have massive function parameter -/// lists -struct GEOMETRY_PUBLIC Index3 -{ - Index x; - Index y; - Index z; -}; // struct Index3 - -using BinRange = std::pair; -} // namespace details - -/// \brief The base class for the configuration object for the SpatialHash class -/// \tparam Derived The type of the derived class to support static polymorphism/CRTP -template -class GEOMETRY_PUBLIC Config : public autoware::common::helper_functions::crtp -{ -public: - /// \brief Constructor for spatial hash - /// \param[in] min_x The minimum x value for the spatial hash - /// \param[in] max_x The maximum x value for the spatial hash - /// \param[in] min_y The minimum y value for the spatial hash - /// \param[in] max_y The maximum y value for the spatial hash - /// \param[in] min_z The minimum z value for the spatial hash - /// \param[in] max_z The maximum z value for the spatial hash - /// \param[in] radius The look up radius - /// \param[in] capacity The maximum number of points the spatial hash can store - Config( - const float32_t min_x, const float32_t max_x, const float32_t min_y, const float32_t max_y, - const float32_t min_z, const float32_t max_z, const float32_t radius, const Index capacity) - : m_min_x{min_x}, - m_min_y{min_y}, - m_min_z{min_z}, - m_max_x{max_x}, - m_max_y{max_y}, - m_max_z{max_z}, - m_side_length{radius}, - m_side_length2{radius * radius}, - m_side_length_inv{1.0F / radius}, - m_capacity{capacity}, - m_max_x_idx{check_basis_direction(min_x, max_x)}, - m_max_y_idx{check_basis_direction(min_y, max_y)}, - m_max_z_idx{check_basis_direction(min_z, max_z)}, - m_y_stride{m_max_x_idx + 1U}, - m_z_stride{m_y_stride * (m_max_y_idx + 1U)} - { - if (radius <= 0.0F) { - throw std::domain_error("Error constructing SpatialHash: must have positive side length"); - } - - if ((m_max_y_idx + m_y_stride) > std::numeric_limits::max() / 2U) { - // TODO(c.ho) properly check for multiplication overflow - throw std::domain_error("SpatialHash::Config: voxel index may overflow!"); - } - // small fudging to prevent weird boundary effects - // (e.g (x=x_max, y) rolls index over to (x=0, y+1) - // cspell: ignore FEPS - // FEPS means "Float EPSilon" - constexpr auto FEPS = std::numeric_limits::epsilon(); - // lint -e{1938} read only access is fine NOLINT - m_max_x -= FEPS; - m_max_y -= FEPS; - m_max_z -= FEPS; - if ((m_z_stride + m_max_z_idx) > std::numeric_limits::max() / 2U) { - // TODO(c.ho) properly check for multiplication overflow - throw std::domain_error("SpatialHash::Config: voxel index may overflow!"); - } - // I don't know if this is even possible given other checks - if (std::numeric_limits::max() == m_max_z_idx) { - throw std::domain_error("SpatialHash::Config: max z index exceeds reasonable value"); - } - } - - /// \brief Given a reference index triple, compute the first and last bin - /// \param[in] ref The reference index triple - /// \param[in] radius The allowable radius for any point in the reference bin to any point in the - /// range - /// \return A pair where the first element is an index triple of the first bin, and the second - /// element is an index triple for the last bin - details::BinRange bin_range(const details::Index3 & ref, const float radius) const - { - // Compute distance in units of voxels - const Index i_radius = static_cast(std::ceil(radius / m_side_length)); - // Dumb ternary because potentially unsigned Index type - const Index x_min = (ref.x > i_radius) ? (ref.x - i_radius) : 0U; - const Index y_min = (ref.y > i_radius) ? (ref.y - i_radius) : 0U; - const Index z_min = (ref.z > i_radius) ? (ref.z - i_radius) : 0U; - // In 2D mode, m_max_z should be 0, same with ref.z - const Index x_max = std::min(ref.x + i_radius, m_max_x_idx); - const Index y_max = std::min(ref.y + i_radius, m_max_y_idx); - const Index z_max = std::min(ref.z + i_radius, m_max_z_idx); - // return bottom-left portion of cube and top-right portion of cube - return {{x_min, y_min, z_min}, {x_max, y_max, z_max}}; - } - - /// \brief Get next index within a given range - /// \return True if idx is valid and still in range - /// \param[in] range The max and min bin indices - /// \param[inout] idx The index to be incremented, updated even if a negative result occurs - bool8_t next_bin(const details::BinRange & range, details::Index3 & idx) const - { - // TODO(c.ho) is there any way to make this neater without triple nested if? - bool8_t ret = true; - ++idx.x; - if (idx.x > range.second.x) { - idx.x = range.first.x; - ++idx.y; - if (idx.y > range.second.y) { - idx.y = range.first.y; - ++idx.z; - if (idx.z > range.second.z) { - ret = false; - } - } - } - return ret; - } - /// \brief Get the maximum capacity of the spatial hash - /// \return The capacity - Index get_capacity() const { return m_capacity; } - - /// \brief Getter for the side length, equivalently the lookup radius - float32_t radius2() const { return m_side_length2; } - - //////////////////////////////////////////////////////////////////////////////////////////// - // "Polymorphic" API - /// \brief Compute the single index given a point - /// \param[in] x The x component of the point - /// \param[in] y The y component of the point - /// \param[in] z The z component of the point - /// \return The combined index of the bin for a given point - Index bin(const float32_t x, const float32_t y, const float32_t z) const - { - return this->impl().bin_(x, y, z); - } - /// \brief Compute whether the query bin and reference bin could possibly contain a pair of points - /// such that their distance is within a certain threshold - /// \param[in] ref The index triple of the bin containing the reference point - /// \param[in] query The index triple of the bin being queried - /// \param[in] ref_distance2 The squared threshold distance - /// \return True if query and ref could possibly hold points within reference distance to one - /// another - bool is_candidate_bin( - const details::Index3 & ref, const details::Index3 & query, const float ref_distance2) const - { - return this->impl().valid(ref, query, ref_distance2); - } - /// \brief Compute the decomposed index given a point - /// \param[in] x The x component of the point - /// \param[in] y The y component of the point - /// \param[in] z The z component of the point - /// \return The decomposed index triple of the bin for the given point - details::Index3 index3(const float32_t x, const float32_t y, const float32_t z) const - { - return this->impl().index3_(x, y, z); - } - /// \brief Compute the composed single index given a decomposed index - /// \param[in] idx A decomposed index triple for a bin - /// \return The composed bin index - Index index(const details::Index3 & idx) const { return this->impl().index_(idx); } - /// \brief Compute the squared distance between the two points - /// \tparam PointT A point type with float members x, y and z, or point adapters defined - /// \param[in] x The x component of the first point - /// \param[in] y The y component of the first point - /// \param[in] z The z component of the first point - /// \param[in] pt The other point being compared - /// \return The squared distance between the points (2d or 3d) - template - float32_t distance_squared( - const float32_t x, const float32_t y, const float32_t z, const PointT & pt) const - { - return this->impl().distance_squared_(x, y, z, pt); - } - -protected: - /// \brief Computes the index in the x basis direction - /// \param[in] x The x value of a point - /// \return The x offset of the index - Index x_index(const float32_t x) const - { - return static_cast( - std::floor((std::min(std::max(x, m_min_x), m_max_x) - m_min_x) * m_side_length_inv)); - } - /// \brief Computes the index in the y basis direction - /// \param[in] y The y value of a point - /// \return The x offset of the index - Index y_index(const float32_t y) const - { - return static_cast( - std::floor((std::min(std::max(y, m_min_y), m_max_y) - m_min_y) * m_side_length_inv)); - } - /// \brief Computes the index in the z basis direction - /// \param[in] z The z value of a point - /// \return The x offset of the index - Index z_index(const float32_t z) const - { - return static_cast( - std::floor((std::min(std::max(z, m_min_z), m_max_z) - m_min_z) * m_side_length_inv)); - } - /// \brief Compose the provided index offsets - Index bin_impl(const Index xdx, const Index ydx) const { return xdx + (ydx * m_y_stride); } - /// \brief Compose the provided index offsets - Index bin_impl(const Index xdx, const Index ydx, const Index zdx) const - { - return bin_impl(xdx, ydx) + (zdx * m_z_stride); - } - - /// \brief The index offset of a point given it's x and y values - /// \param[in] x The x value of a point - /// \param[in] y the y value of a point - /// \return The index of the point in the 2D case, or the offset within a z-slice of the hash - Index bin_impl(const float32_t x, const float32_t y) const - { - return bin_impl(x_index(x), y_index(y)); - } - /// \brief The index of a point given it's x, y and z values - /// \param[in] x The x value of a point - /// \param[in] y the y value of a point - /// \param[in] z the z value of a point - /// \return The index of the bin for the specified point - Index bin_impl(const float32_t x, const float32_t y, const float32_t z) const - { - return bin_impl(x, y) + (z_index(z) * m_z_stride); - } - /// \brief The distance between two indices as a float, where adjacent indices have zero - /// distance (e.g. dist(0, 1) = 0) - float32_t idx_distance(const Index ref_idx, const Index query_idx) const - { - /// Not using fabs because Index is (possibly) unsigned - const Index i_dist = (ref_idx >= query_idx) ? (ref_idx - query_idx) : (query_idx - ref_idx); - float32_t dist = static_cast(i_dist) - 1.0F; - return std::max(dist, 0.0F); - } - - /// \brief Get side length squared - float side_length2() const { return m_side_length2; } - -private: - /// \brief Sanity check a range in a basis direction - /// \return The number of voxels in the given basis direction - Index check_basis_direction(const float32_t min, const float32_t max) const - { - if (min >= max) { - throw std::domain_error("SpatialHash::Config: must have min < max"); - } - // This family of checks is to ensure that you don't get weird casting effects due to huge - // floating point values - const float64_t dmax = static_cast(max); - const float64_t dmin = static_cast(min); - const float64_t width = (dmax - dmin) * static_cast(m_side_length_inv); - constexpr float64_t flt_max = static_cast(std::numeric_limits::max()); - if (flt_max <= width) { - throw std::domain_error("SpatialHash::Config: voxel size approaching floating point limit"); - } - return static_cast(width); - } - float32_t m_min_x; - float32_t m_min_y; - float32_t m_min_z; - float32_t m_max_x; - float32_t m_max_y; - float32_t m_max_z; - float32_t m_side_length; - float32_t m_side_length2; - float32_t m_side_length_inv; - Index m_capacity; - Index m_max_x_idx; - Index m_max_y_idx; - Index m_max_z_idx; - Index m_y_stride; - Index m_z_stride; -}; // class Config - -/// \brief Configuration class for a 2d spatial hash -class GEOMETRY_PUBLIC Config2d : public Config -{ -public: - /// \brief Config constructor for 2D spatial hash - /// \param[in] min_x The minimum x value for the spatial hash - /// \param[in] max_x The maximum x value for the spatial hash - /// \param[in] min_y The minimum y value for the spatial hash - /// \param[in] max_y The maximum y value for the spatial hash - /// \param[in] radius The lookup distance - /// \param[in] capacity The maximum number of points the spatial hash can store - Config2d( - const float32_t min_x, const float32_t max_x, const float32_t min_y, const float32_t max_y, - const float32_t radius, const Index capacity); - /// \brief The index of a point given it's x, y and z values, 2d implementation - /// \param[in] x The x value of a point - /// \param[in] y the y value of a point - /// \param[in] z the z value of a point - /// \return The index of the bin for the specified point - Index bin_(const float32_t x, const float32_t y, const float32_t z) const; - /// \brief Determine if a bin could possibly hold a point within a distance to any point in a - /// reference bin for the 2D case - /// \param[in] ref The decomposed index triple of the reference bin - /// \param[in] query The decomposed index triple of the bin being queried - /// \param[in] ref_distance2 The squared threshold distance - /// \return True if the reference bin and query bin could possibly hold a point within the - /// reference distance - bool valid( - const details::Index3 & ref, const details::Index3 & query, const float ref_distance2) const; - /// \brief Compute the decomposed index given a point, 2d implementation - /// \param[in] x The x component of the point - /// \param[in] y The y component of the point - /// \param[in] z The z component of the point - /// \return The decomposed index triple of the bin for the given point - details::Index3 index3_(const float32_t x, const float32_t y, const float32_t z) const; - /// \brief Compute the composed single index given a decomposed index, 2d implementation - /// \param[in] idx A decomposed index triple for a bin - /// \return The composed bin index - Index index_(const details::Index3 & idx) const; - /// \brief Compute the squared distance between the two points, 2d implementation - /// \tparam PointT A point type with float members x, y and z, or point adapters defined - /// \param[in] x The x component of the first point - /// \param[in] y The y component of the first point - /// \param[in] z The z component of the first point - /// \param[in] pt The other point being compared - /// \return The squared distance between the points (2d) - template - float32_t distance_squared_( - const float32_t x, const float32_t y, const float32_t z, const PointT & pt) const - { - (void)z; - const float32_t dx = x - point_adapter::x_(pt); - const float32_t dy = y - point_adapter::y_(pt); - return (dx * dx) + (dy * dy); - } -}; // class Config2d - -/// \brief Configuration class for a 3d spatial hash -class GEOMETRY_PUBLIC Config3d : public Config -{ -public: - /// \brief Config constructor for a 3d spatial hash - /// \param[in] min_x The minimum x value for the spatial hash - /// \param[in] max_x The maximum x value for the spatial hash - /// \param[in] min_y The minimum y value for the spatial hash - /// \param[in] max_y The maximum y value for the spatial hash - /// \param[in] min_z The minimum z value for the spatial hash - /// \param[in] max_z The maximum z value for the spatial hash - /// \param[in] radius The lookup distance - /// \param[in] capacity The maximum number of points the spatial hash can store - Config3d( - const float32_t min_x, const float32_t max_x, const float32_t min_y, const float32_t max_y, - const float32_t min_z, const float32_t max_z, const float32_t radius, const Index capacity); - /// \brief The index of a point given it's x, y and z values, 3d implementation - /// \param[in] x The x value of a point - /// \param[in] y the y value of a point - /// \param[in] z the z value of a point - /// \return The index of the bin for the specified point - Index bin_(const float32_t x, const float32_t y, const float32_t z) const; - /// \brief Determine if a bin could possibly hold a point within a distance to any point in a - /// reference bin for the 3D case - /// \param[in] ref The decomposed index triple of the reference bin - /// \param[in] query The decomposed index triple of the bin being queried - /// \param[in] ref_distance2 The squared threshold distance - /// \return True if the reference bin and query bin could possibly hold a point within the - /// reference distance - bool valid( - const details::Index3 & ref, const details::Index3 & query, const float ref_distance2) const; - /// \brief Compute the decomposed index given a point, 3d implementation - /// \param[in] x The x component of the point - /// \param[in] y The y component of the point - /// \param[in] z The z component of the point - /// \return The decomposed index triple of the bin for the given point - details::Index3 index3_(const float32_t x, const float32_t y, const float32_t z) const; - /// \brief Compute the composed single index given a decomposed index, 3d implementation - /// \param[in] idx A decomposed index triple for a bin - /// \return The composed bin index - Index index_(const details::Index3 & idx) const; - /// \brief Compute the squared distance between the two points, 3d implementation - /// \tparam PointT A point type with float members x, y and z, or point adapters defined - /// \param[in] x The x component of the first point - /// \param[in] y The y component of the first point - /// \param[in] z The z component of the first point - /// \param[in] pt The other point being compared - /// \return The squared distance between the points (3d) - template - float32_t distance_squared_( - const float32_t x, const float32_t y, const float32_t z, const PointT & pt) const - { - const float32_t dx = x - point_adapter::x_(pt); - const float32_t dy = y - point_adapter::y_(pt); - const float32_t dz = z - point_adapter::z_(pt); - return (dx * dx) + (dy * dy) + (dz * dz); - } -}; // class Config3d -} // namespace spatial_hash -} // namespace geometry -} // namespace common -} // namespace autoware - -#endif // AUTOWARE_AUTO_GEOMETRY__SPATIAL_HASH_CONFIG_HPP_ diff --git a/common/autoware_auto_geometry/include/autoware_auto_geometry/visibility_control.hpp b/common/autoware_auto_geometry/include/autoware_auto_geometry/visibility_control.hpp deleted file mode 100644 index 8972246997997..0000000000000 --- a/common/autoware_auto_geometry/include/autoware_auto_geometry/visibility_control.hpp +++ /dev/null @@ -1,41 +0,0 @@ -// Copyright 2017-2019 the Autoware Foundation -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. -// -// Co-developed by Tier IV, Inc. and Apex.AI, Inc. - -#ifndef AUTOWARE_AUTO_GEOMETRY__VISIBILITY_CONTROL_HPP_ -#define AUTOWARE_AUTO_GEOMETRY__VISIBILITY_CONTROL_HPP_ - -//////////////////////////////////////////////////////////////////////////////// -#if defined(__WIN32) -#if defined(GEOMETRY_BUILDING_DLL) || defined(GEOMETRY_EXPORTS) -#define GEOMETRY_PUBLIC __declspec(dllexport) -#define GEOMETRY_LOCAL -#else // defined(GEOMETRY_BUILDING_DLL) || defined(GEOMETRY_EXPORTS) -#define GEOMETRY_PUBLIC __declspec(dllimport) -#define GEOMETRY_LOCAL -#endif // defined(GEOMETRY_BUILDING_DLL) || defined(GEOMETRY_EXPORTS) -#elif defined(__linux__) -#define GEOMETRY_PUBLIC __attribute__((visibility("default"))) -#define GEOMETRY_LOCAL __attribute__((visibility("hidden"))) -#elif defined(__APPLE__) -#define GEOMETRY_PUBLIC __attribute__((visibility("default"))) -#define GEOMETRY_LOCAL __attribute__((visibility("hidden"))) -#elif defined(QNX) -#define GEOMETRY_PUBLIC __attribute__((visibility("default"))) -#define GEOMETRY_LOCAL __attribute__((visibility("hidden"))) -#else // defined(__linux__) -#error "Unsupported Build Configuration" -#endif // defined(__WIN32) -#endif // AUTOWARE_AUTO_GEOMETRY__VISIBILITY_CONTROL_HPP_ diff --git a/common/autoware_auto_geometry/package.xml b/common/autoware_auto_geometry/package.xml deleted file mode 100644 index f53412298a485..0000000000000 --- a/common/autoware_auto_geometry/package.xml +++ /dev/null @@ -1,30 +0,0 @@ - - - - autoware_auto_geometry - 1.0.0 - Geometry related algorithms - Satoshi Ota - Apache License 2.0 - - Apex.AI, Inc. - - ament_cmake_auto - autoware_cmake - - autoware_auto_common - autoware_auto_geometry_msgs - autoware_auto_planning_msgs - autoware_auto_tf2 - autoware_auto_vehicle_msgs - geometry_msgs - - ament_cmake_ros - ament_lint_auto - autoware_lint_common - osrf_testing_tools_cpp - - - ament_cmake - - diff --git a/common/autoware_auto_geometry/src/bounding_box.cpp b/common/autoware_auto_geometry/src/bounding_box.cpp deleted file mode 100644 index 3a4ea96a151a2..0000000000000 --- a/common/autoware_auto_geometry/src/bounding_box.cpp +++ /dev/null @@ -1,157 +0,0 @@ -// Copyright 2017-2019 the Autoware Foundation -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. -// -// Co-developed by Tier IV, Inc. and Apex.AI, Inc. - -#include "autoware_auto_geometry/bounding_box/bounding_box_common.hpp" -#include "autoware_auto_geometry/bounding_box/eigenbox_2d.hpp" - -#include -// cspell: ignore eigenbox -#include "autoware_auto_geometry/bounding_box/lfit.hpp" -// cspell: ignore lfit -#include "autoware_auto_geometry/bounding_box/rotating_calipers.hpp" - -#include - -#include -#include -#include -#include -#include - -namespace autoware -{ -namespace common -{ -namespace geometry -{ -namespace bounding_box -{ -namespace details -{ -//////////////////////////////////////////////////////////////////////////////// -void size_2d(const decltype(BoundingBox::corners) & corners, geometry_msgs::msg::Point32 & ret) -{ - ret.x = std::max( - norm_2d(minus_2d(corners[1U], corners[0U])), std::numeric_limits::epsilon()); - ret.y = std::max( - norm_2d(minus_2d(corners[2U], corners[1U])), std::numeric_limits::epsilon()); -} -//////////////////////////////////////////////////////////////////////////////// -void finalize_box(const decltype(BoundingBox::corners) & corners, BoundingBox & box) -{ - (void)std::copy(&corners[0U], &corners[corners.size()], &box.corners[0U]); - // orientation: this is robust to lines - const float32_t yaw_rad_2 = - atan2f(box.corners[2U].y - box.corners[1U].y, box.corners[2U].x - box.corners[1U].x) * 0.5F; - box.orientation.w = cosf(yaw_rad_2); - box.orientation.z = sinf(yaw_rad_2); - // centroid - box.centroid = times_2d(plus_2d(corners[0U], corners[2U]), 0.5F); -} - -autoware_auto_perception_msgs::msg::Shape make_shape(const BoundingBox & box) -{ - autoware_auto_perception_msgs::msg::Shape retval; - // Polygon is 2D rectangle - geometry_msgs::msg::Polygon polygon; - auto & points = polygon.points; - points.resize(4); - - // Note that the x and y of size field in BoundingBox should be swapped when being used to - // compute corners. - // origin of reference system: centroid of bbox - points[0].x = -0.5F * box.size.y; - points[0].y = -0.5F * box.size.x; - points[0].z = -box.size.z; - - points[1] = points[0]; - points[1].y += box.size.x; - - points[2] = points[1]; - points[2].x += box.size.y; - - points[3] = points[2]; - points[3].y -= box.size.x; - - retval.footprint = polygon; - retval.dimensions.z = 2 * box.size.z; - - return retval; -} - -autoware_auto_perception_msgs::msg::DetectedObject make_detected_object(const BoundingBox & box) -{ - autoware_auto_perception_msgs::msg::DetectedObject ret; - - ret.kinematics.pose_with_covariance.pose.position.x = static_cast(box.centroid.x); - ret.kinematics.pose_with_covariance.pose.position.y = static_cast(box.centroid.y); - ret.kinematics.pose_with_covariance.pose.position.z = static_cast(box.centroid.z); - ret.kinematics.pose_with_covariance.pose.orientation.x = static_cast(box.orientation.x); - ret.kinematics.pose_with_covariance.pose.orientation.y = static_cast(box.orientation.y); - ret.kinematics.pose_with_covariance.pose.orientation.z = static_cast(box.orientation.z); - ret.kinematics.pose_with_covariance.pose.orientation.w = static_cast(box.orientation.w); - ret.kinematics.orientation_availability = - autoware_auto_perception_msgs::msg::DetectedObjectKinematics::SIGN_UNKNOWN; - - ret.shape = make_shape(box); - - ret.existence_probability = 1.0F; - - autoware_auto_perception_msgs::msg::ObjectClassification label; - label.label = autoware_auto_perception_msgs::msg::ObjectClassification::UNKNOWN; - label.probability = 1.0F; - ret.classification.emplace_back(std::move(label)); - - return ret; -} - -std::vector GEOMETRY_PUBLIC get_transformed_corners( - const autoware_auto_perception_msgs::msg::Shape & shape_msg, - const geometry_msgs::msg::Point & centroid, const geometry_msgs::msg::Quaternion & orientation) -{ - std::vector retval(shape_msg.footprint.points.size()); - geometry_msgs::msg::TransformStamped tf; - tf.transform.rotation = orientation; - tf.transform.translation.x = centroid.x; - tf.transform.translation.y = centroid.y; - tf.transform.translation.z = centroid.z; - - for (size_t i = 0U; i < shape_msg.footprint.points.size(); ++i) { - tf2::doTransform(shape_msg.footprint.points[i], retval[i], tf); - } - return retval; -} - -} // namespace details -/////////////////////////////////////////////////////////////////////////////// -// pre-compilation -using autoware::common::types::PointXYZIF; -template BoundingBox minimum_area_bounding_box(std::list & list); -template BoundingBox minimum_perimeter_bounding_box(std::list & list); -using PointXYZIFVIT = std::vector::iterator; -template BoundingBox eigenbox_2d(const PointXYZIFVIT begin, const PointXYZIFVIT end); -template BoundingBox lfit_bounding_box_2d( - const PointXYZIFVIT begin, const PointXYZIFVIT end); -using geometry_msgs::msg::Point32; -template BoundingBox minimum_area_bounding_box(std::list & list); -template BoundingBox minimum_perimeter_bounding_box(std::list & list); -using Point32VIT = std::vector::iterator; -template BoundingBox eigenbox_2d(const Point32VIT begin, const Point32VIT end); -template BoundingBox lfit_bounding_box_2d(const Point32VIT begin, const Point32VIT end); -} // namespace bounding_box -} // namespace geometry -} // namespace common -} // namespace autoware diff --git a/common/autoware_auto_geometry/src/spatial_hash.cpp b/common/autoware_auto_geometry/src/spatial_hash.cpp deleted file mode 100644 index ffd91aaa08b3a..0000000000000 --- a/common/autoware_auto_geometry/src/spatial_hash.cpp +++ /dev/null @@ -1,104 +0,0 @@ -// Copyright 2019 the Autoware Foundation -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. -// -// Co-developed by Tier IV, Inc. and Apex.AI, Inc. - -#include "autoware_auto_geometry/spatial_hash.hpp" - -#include -// lint -e537 NOLINT repeated include file due to cpplint rule -#include -// lint -e537 NOLINT repeated include file due to cpplint rule -#include - -namespace autoware -{ -namespace common -{ -namespace geometry -{ -namespace spatial_hash -{ -//////////////////////////////////////////////////////////////////////////////// -Config2d::Config2d( - const float32_t min_x, const float32_t max_x, const float32_t min_y, const float32_t max_y, - const float32_t radius, const Index capacity) -: Config(min_x, max_x, min_y, max_y, {}, std::numeric_limits::min(), radius, capacity) -{ -} -//////////////////////////////////////////////////////////////////////////////// -Index Config2d::bin_(const float32_t x, const float32_t y, const float32_t z) const -{ - (void)z; - return bin_impl(x, y); -} -//////////////////////////////////////////////////////////////////////////////// -bool Config2d::valid( - const details::Index3 & ref, const details::Index3 & query, const float ref_distance2) const -{ - const float dx = idx_distance(ref.x, query.x); - const float dy = idx_distance(ref.y, query.y); - // minor algebraic manipulation happening below - return (((dx * dx) + (dy * dy)) * side_length2()) <= ref_distance2; -} -//////////////////////////////////////////////////////////////////////////////// -details::Index3 Config2d::index3_(const float32_t x, const float32_t y, const float32_t z) const -{ - (void)z; - return {x_index(x), y_index(y), Index{}}; // zero initialization -} -//////////////////////////////////////////////////////////////////////////////// -Index Config2d::index_(const details::Index3 & idx) const -{ - return bin_impl(idx.x, idx.y); -} -//////////////////////////////////////////////////////////////////////////////// -Config3d::Config3d( - const float32_t min_x, const float32_t max_x, const float32_t min_y, const float32_t max_y, - const float32_t min_z, const float32_t max_z, const float32_t radius, const Index capacity) -: Config(min_x, max_x, min_y, max_y, min_z, max_z, radius, capacity) -{ -} -//////////////////////////////////////////////////////////////////////////////// -Index Config3d::bin_(const float32_t x, const float32_t y, const float32_t z) const -{ - return bin_impl(x, y, z); -} -//////////////////////////////////////////////////////////////////////////////// -bool Config3d::valid( - const details::Index3 & ref, const details::Index3 & query, const float ref_distance2) const -{ - const float dx = idx_distance(ref.x, query.x); - const float dy = idx_distance(ref.y, query.y); - const float dz = idx_distance(ref.z, query.z); - // minor algebraic manipulation happening below - return (((dx * dx) + (dy * dy) + (dz * dz)) * side_length2()) <= ref_distance2; -} -//////////////////////////////////////////////////////////////////////////////// -details::Index3 Config3d::index3_(const float32_t x, const float32_t y, const float32_t z) const -{ - return {x_index(x), y_index(y), z_index(z)}; // zero initialization -} -//////////////////////////////////////////////////////////////////////////////// -Index Config3d::index_(const details::Index3 & idx) const -{ - return bin_impl(idx.x, idx.y, idx.z); -} -//////////////////////////////////////////////////////////////////////////////// -template class SpatialHash; -template class SpatialHash; -} // namespace spatial_hash -} // namespace geometry -} // namespace common -} // namespace autoware diff --git a/common/autoware_auto_geometry/test/include/test_bounding_box.hpp b/common/autoware_auto_geometry/test/include/test_bounding_box.hpp deleted file mode 100644 index a179fbde5f151..0000000000000 --- a/common/autoware_auto_geometry/test/include/test_bounding_box.hpp +++ /dev/null @@ -1,550 +0,0 @@ -// Copyright 2017-2019 the Autoware Foundation -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. -// -// Co-developed by Tier IV, Inc. and Apex.AI, Inc. - -#ifndef TEST_BOUNDING_BOX_HPP_ -#define TEST_BOUNDING_BOX_HPP_ - -#include "autoware_auto_geometry/bounding_box/lfit.hpp" -// cspell: ignore lfit -#include "autoware_auto_geometry/bounding_box/rotating_calipers.hpp" - -#include - -#include -#include -#include - -using autoware::common::geometry::point_adapter::x_; -using autoware::common::geometry::point_adapter::xr_; -using autoware::common::geometry::point_adapter::y_; -using autoware::common::geometry::point_adapter::yr_; -using autoware_auto_perception_msgs::msg::BoundingBox; - -template -class BoxTest : public ::testing::Test -{ -protected: - std::list points; - BoundingBox box; - - void minimum_area_bounding_box() - { - // apex_test_tools::memory_test::start(); - box = autoware::common::geometry::bounding_box::minimum_area_bounding_box(points); - // apex_test_tools::memory_test::stop(); - } - - void minimum_perimeter_bounding_box() - { - // apex_test_tools::memory_test::start(); - box = autoware::common::geometry::bounding_box::minimum_perimeter_bounding_box(points); - // apex_test_tools::memory_test::stop(); - } - - // cspell: ignore eigenbox - template - void eigenbox(const IT begin, const IT end) - { - // apex_test_tools::memory_test::start(); - box = autoware::common::geometry::bounding_box::eigenbox_2d(begin, end); - // apex_test_tools::memory_test::stop(); - } - template - void lfit_bounding_box_2d(const IT begin, const IT end) - { - // apex_test_tools::memory_test::start(); - box = autoware::common::geometry::bounding_box::lfit_bounding_box_2d(begin, end); - // apex_test_tools::memory_test::stop(); - } - - PointT make(const float x, const float y) - { - PointT ret; - xr_(ret) = x; - yr_(ret) = y; - return ret; - } - - void check(const float cx, const float cy, const float sx, const float sy, const float val) const - { - constexpr float32_t TOL = 1.0E-4F; - ASSERT_LT(fabsf(box.size.x - sx), TOL); - ASSERT_LT(fabsf(box.size.y - sy), TOL); - ASSERT_LT(fabsf(box.value - val), TOL) << box.value; - - ASSERT_LT(fabsf(box.centroid.x - cx), TOL); - ASSERT_LT(fabsf(box.centroid.y - cy), TOL); - } - - void test_corners(const std::vector & expect, const float TOL = 1.0E-6F) const - { - for (uint32_t idx = 0U; idx < 4U; ++idx) { - bool found = false; - for (auto & p : expect) { - if (fabsf(x_(p) - box.corners[idx].x) < TOL && fabsf(y_(p) - box.corners[idx].y) < TOL) { - found = true; - break; - } - } - ASSERT_TRUE(found) << idx << ": " << box.corners[idx].x << ", " << box.corners[idx].y; - } - } - - /// \brief th_deg - phi_deg, normalized to +/- 180 deg - float32_t angle_distance_deg(const float th_deg, const float phi_deg) const - { - return fmodf((th_deg - phi_deg) + 540.0F, 360.0F) - 180.0F; - } - - /// \brief converts a radian value to a degree value - float32_t rad2deg(const float rad_val) const { return rad_val * 57.2958F; } - - void test_orientation(const float ref_angle_deg, const float TOL = 1.0E-4F) const - { - bool found = false; - const float angle_deg = rad2deg(2.0F * asinf(box.orientation.z)); - found |= fabsf(angle_distance_deg(angle_deg, ref_angle_deg)) < TOL; - found |= fabsf(angle_distance_deg(angle_deg, ref_angle_deg + 90.0F)) < TOL; - found |= fabsf(angle_distance_deg(angle_deg, ref_angle_deg + 180.0F)) < TOL; - found |= fabsf(angle_distance_deg(angle_deg, ref_angle_deg + 270.0F)) < TOL; - ASSERT_TRUE(found) << angle_deg; - } -}; // BoxTest - -// Instantiate tests for given types, add more types here as they are used -using PointTypesBoundingBox = - ::testing::Types; -// cppcheck-suppress syntaxError -TYPED_TEST_SUITE(BoxTest, PointTypesBoundingBox, ); -/// NOTE: This is the older version due to 1.8.0 of GTest. v1.8.1 uses TYPED_TEST_SUITE - -// TODO(c.ho) consider typed and parameterized tests: -// https://stackoverflow.com/questions/3258230/passing-a-typename-and-string-to-parameterized-test-using-google-test - -/////////////////////////////////////////// -TYPED_TEST(BoxTest, PointSegmentDistance) -{ - using autoware::common::geometry::closest_segment_point_2d; - using autoware::common::geometry::point_line_segment_distance_2d; - // normal case - TypeParam p = this->make(-1.0F, 0.0F); - TypeParam q = this->make(-1.0F, 2.0F); - TypeParam r = this->make(1.0F, 1.0F); - TypeParam t = closest_segment_point_2d(p, q, r); - ASSERT_FLOAT_EQ(x_(t), -1.0F); - ASSERT_FLOAT_EQ(y_(t), 1.0F); - ASSERT_FLOAT_EQ(point_line_segment_distance_2d(p, q, r), 2.0F); - // boundary case - p = this->make(1.0F, 0.0F); - q = this->make(-2.0F, 0.0F); - r = this->make(-5.0F, 0.0F); - t = closest_segment_point_2d(p, q, r); - ASSERT_FLOAT_EQ(x_(t), -2.0F); - ASSERT_NEAR(y_(t), 0.0F, std::numeric_limits::epsilon()); - ASSERT_FLOAT_EQ(point_line_segment_distance_2d(p, q, r), 3.0F); - // singular case - p = this->make(1.0F, 5.0F); - q = this->make(1.0F, 5.0F); - r = this->make(1.0F, 1.0F); - t = closest_segment_point_2d(p, q, r); - ASSERT_FLOAT_EQ(x_(t), 1.0F); - ASSERT_FLOAT_EQ(y_(t), 5.0F); - ASSERT_FLOAT_EQ(point_line_segment_distance_2d(p, q, r), 4.0F); -} - -TYPED_TEST(BoxTest, ClosestPointOnLine) -{ - using autoware::common::geometry::closest_line_point_2d; - // normal case - TypeParam p = this->make(-1.0F, 0.0F); - TypeParam q = this->make(-1.0F, 2.0F); - TypeParam r = this->make(1.0F, 1.0F); - TypeParam t = closest_line_point_2d(p, q, r); - ASSERT_FLOAT_EQ(x_(t), -1.0F); - ASSERT_FLOAT_EQ(y_(t), 1.0F); - // out-of-boundary case - p = this->make(1.0F, 0.0F); - q = this->make(-2.0F, 0.0F); - r = this->make(-5.0F, 0.0F); - t = closest_line_point_2d(p, q, r); - ASSERT_FLOAT_EQ(x_(t), -5.0F); - ASSERT_NEAR(y_(t), 0.0F, std::numeric_limits::epsilon()); - // singular case - p = this->make(1.0F, 5.0F); - q = this->make(1.0F, 5.0F); - r = this->make(1.0F, 1.0F); - EXPECT_THROW(t = closest_line_point_2d(p, q, r), std::runtime_error); -} - -TYPED_TEST(BoxTest, Basic) -{ - const std::vector data{ - {this->make(0, 0), this->make(1, 0), this->make(1, 1), this->make(0, 1)}}; - this->points.insert(this->points.begin(), data.begin(), data.end()); - - this->minimum_area_bounding_box(); - - this->check(0.5F, 0.5F, 1.0F, 1.0F, 1.0F); - this->test_corners(data); - this->test_orientation(0.0F); - - this->minimum_perimeter_bounding_box(); - - this->check(0.5F, 0.5F, 1.0F, 1.0F, 2.0F); - this->test_corners(data); - this->test_orientation(0.0F); -} - -// -TYPED_TEST(BoxTest, OrientedTriangle) -{ - this->points.insert(this->points.begin(), {this->make(5, 5), this->make(7, 7), this->make(5, 7)}); - - this->minimum_area_bounding_box(); - - this->check(5.5F, 6.5F, sqrtf(2.0F), 2.0F * sqrtf(2.0F), 4.0F); - this->test_corners({this->make(5, 5), this->make(7, 7), this->make(4, 6), this->make(6, 8)}); - this->test_orientation(45.0F); - - this->minimum_perimeter_bounding_box(); - - this->check(6.0F, 6.0F, 2.0F, 2.0F, 4.0F); - this->test_corners({this->make(5, 5), this->make(7, 7), this->make(5, 7), this->make(7, 5)}); - this->test_orientation(0.0F); -} -// -TYPED_TEST(BoxTest, Hull) -{ - const uint32_t FUZZ_SIZE = 1024U; - const float dx = 9.0F; - const float dy = 15.0F; - const float rx = 10.0F; - const float ry = 5.0F; - const float dth = 0.0F; - - ASSERT_EQ(FUZZ_SIZE % 4U, 0U); - - // fuzz part 1 - for (uint32_t idx = 0U; idx < FUZZ_SIZE; ++idx) { - const float th = ((idx * autoware::common::types::TAU) / FUZZ_SIZE) + dth; - this->points.push_back(this->make(rx * cosf(th) + dx, ry * sinf(th) + dy)); - } - - this->minimum_area_bounding_box(); - - // allow 10cm = 2% of size for tolerance - const float TOL_M = 0.1F; - ASSERT_LT(fabsf(this->box.centroid.x - dx), TOL_M); - ASSERT_LT(fabsf(this->box.centroid.y - dy), TOL_M); - - this->test_corners( - {this->make(dx + rx, dy + ry), this->make(dx - rx, dy + ry), this->make(dx - rx, dy - ry), - this->make(dx + rx, dy - ry)}, - TOL_M); - - this->test_orientation(this->rad2deg(dth), 1.0F); - // allow 1 degree of tolerance - - ASSERT_LT(fabsf(this->box.size.y - 2.0F * rx), TOL_M); - ASSERT_LT(fabsf(this->box.size.x - 2.0F * ry), TOL_M); - ASSERT_FLOAT_EQ(this->box.value, this->box.size.x * this->box.size.y); -} - -// -TYPED_TEST(BoxTest, Collinear) -{ - this->points.insert( - this->points.begin(), {this->make(-2, -2), this->make(-3, -2), this->make(-4, -2), - this->make(-2, -4), this->make(-3, -4), this->make(-4, -4), - this->make(-2, -3), this->make(-2, -3), this->make(-2, -4)}); - - this->minimum_area_bounding_box(); - - this->check(-3.0F, -3.0F, 2.0F, 2.0F, 4.0F); - this->test_corners( - {this->make(-2, -2), this->make(-2, -4), this->make(-4, -4), this->make(-4, -2)}); - this->test_orientation(0.0F); -} - -// -TYPED_TEST(BoxTest, Line1) -{ - this->points.insert( - this->points.begin(), {this->make(-4, 3), this->make(-8, 6), this->make(-12, 9), - this->make(-16, 12), this->make(-20, 15), this->make(-24, 18), - this->make(-28, 21), this->make(-32, 24), this->make(-36, 27)}); - - this->minimum_area_bounding_box(); - - this->check(-20.0F, 15.0F, 1.0E-6F, 40.0F, 4.0E-5F); - this->test_orientation(this->rad2deg(atan2f(3, -4))); - this->test_corners( - {this->make(-4, 3), this->make(-30, 27), this->make(-4, 3), this->make(-36, 27)}); - - this->minimum_perimeter_bounding_box(); - - this->check(-20.0F, 15.0F, 1.0E-6F, 40.0F, 40.00001F); - this->test_orientation(this->rad2deg(atan2f(3, -4))); - this->test_corners( - {this->make(-4, 3), this->make(-30, 27), this->make(-4, 3), this->make(-36, 27)}); -} - -// -TYPED_TEST(BoxTest, Line2) -{ - this->points.insert( - this->points.begin(), - {this->make(4, 0), this->make(8, 0), this->make(12, 0), this->make(16, 0), this->make(20, 0), - this->make(24, 0), this->make(28, 0), this->make(32, 0), this->make(36, 0)}); - - this->minimum_area_bounding_box(); - - this->check(20.0F, 0.0F, 1.0E-6F, 32.0F, 3.2E-5F); - this->test_orientation(0.0F); - this->test_corners({this->make(4, 0), this->make(36, 0), this->make(4, 0), this->make(36, 0)}); -} - -// -TYPED_TEST(BoxTest, Line3) -{ - this->points.insert( - this->points.begin(), - {this->make(4, 3), this->make(8, 6), this->make(12, 9), this->make(16, 12), this->make(20, 15), - this->make(24, 18), this->make(28, 21), this->make(32, 24), this->make(36, 27)}); - - this->minimum_area_bounding_box(); - - this->check(20.0F, 15.0F, 1.0E-6F, 40.0F, 4.0E-5F); - this->test_orientation(this->rad2deg(atan2f(3, 4))); - this->test_corners({this->make(4, 3), this->make(36, 27), this->make(4, 3), this->make(36, 27)}); -} - -/* _ - /_/ <-- first guess is suboptimal - -*/ -TYPED_TEST(BoxTest, SuboptimalInit) -{ - this->points.insert( - this->points.begin(), - {this->make(8, 15), this->make(17, 0), this->make(0, 0), this->make(25, 15)}); - - this->minimum_area_bounding_box(); - - this->check(12.5F, 7.5F, 15.0F, 25.0F, 375.0F); - this->test_orientation(this->rad2deg(atan2f(15, 8))); - // these are approximate. - this->test_corners( - {this->make(0, 0), this->make(25, 15), this->make(11.7647F, 22.0588F), - this->make(13.2353F, -7.05882F)}, - 0.1F); -} - -// -TYPED_TEST(BoxTest, Centered) -{ - this->points.insert( - this->points.begin(), - {this->make(-1, 0), this->make(1, 0), this->make(0, -1), this->make(0, 1)}); - - this->minimum_area_bounding_box(); - - this->check(0.0F, 0.0F, sqrtf(2.0F), sqrtf(2.0F), 2.0F); - this->test_orientation(45.0F); - this->test_corners({this->make(-1, 0), this->make(1, 0), this->make(0, 1), this->make(0, -1)}); -} - -// convex_hull is imperfect in this case, check if this can save the day -TYPED_TEST(BoxTest, OverlappingPoints) -{ - this->points.insert( - this->points.begin(), {this->make(0, 0), this->make(1, 0), this->make(1, 1), this->make(0, 1), - this->make(0, 0), this->make(1, 0), this->make(1, 1), this->make(0, 1)}); - - this->minimum_area_bounding_box(); - - this->check(0.5F, 0.5F, 1.0F, 1.0F, 1.0F); - this->test_orientation(0.0F); - this->test_corners({this->make(0, 0), this->make(1, 0), this->make(0, 1), this->make(1, 1)}); -} - -// check that minimum perimeter box is different from minimum area box -TYPED_TEST(BoxTest, Perimeter) -{ - this->points.insert( - this->points.begin(), {this->make(0, 0), this->make(0, 1), this->make(0, 2), this->make(0, 3), - this->make(0, 4), this->make(1, -0.1), // small fudge to force diagonal - this->make(2, 0), this->make(3, 0)}); - - this->minimum_area_bounding_box(); - - this->check(0.54F, 1.28F, 5.0F, 12.0F / 5.0F, 12.0F); - this->test_orientation(-53.13F, 0.001F); - this->test_corners( - {this->make(3, 0), this->make(0, 4), this->make(-1.92, 2.56), this->make(1.08, -1.44)}); - - // eigenbox should produce AABB TODO(c.ho) - // compute minimum perimeter box - this->minimum_perimeter_bounding_box(); - this->check(1.5F, 1.95F, 4.1F, 3.0F, 7.1F); - // perimeter for first box would be 14.8 - this->test_orientation(0.0F, 0.001F); - this->test_corners( - {this->make(3, -0.1), this->make(0, 4), this->make(3, 4), this->make(0, -0.1)}); -} - -// bounding box is diagonal on an L -TYPED_TEST(BoxTest, Eigenbox1) -{ - std::vector v{this->make(0, 0), this->make(0, 1), - this->make(-1, 2), // small fudge to force diagonal - this->make(0, 3), this->make(0, 4), - this->make(1, 0), this->make(2, -1), // small fudge to force diagonal - this->make(3, 0), this->make(4, 0)}; - this->points.insert(this->points.begin(), v.begin(), v.end()); - - // rotating calipers should produce a diagonal box - this->minimum_area_bounding_box(); - const float r = 4.0F; - - this->check(1.0F, 1.0F, r / sqrtf(2.0F), sqrtf(2.0F) * r, r * r); - const std::vector diag_corners{ - this->make(4, 0), this->make(0, 4), this->make(-2, 2), this->make(2, -2)}; - this->test_corners(diag_corners); - this->test_orientation(45.0F, 0.001F); - - //// perimeter should also produce diagonal //// - this->minimum_perimeter_bounding_box(); - this->check( - 1.0F, 1.0F, r / sqrtf(2.0F), sqrtf(2.0F) * r, r * (sqrtf(2.0F) + (1.0F / sqrtf(2.0F)))); - this->test_corners(diag_corners); - this->test_orientation(45.0F, 0.001F); - //// eigenbox should also produce aabb //// - this->eigenbox(v.begin(), v.end()); - // TODO(c.ho) don't care about value.. - this->check(1.0F, 1.0F, r * sqrtf(2.0F), r / sqrtf(2.0F), 4.375F); - this->test_corners(diag_corners); - this->test_orientation(45.0F, 0.001F); - //// Lfit should produce aabb //// - this->lfit_bounding_box_2d(v.begin(), v.end()); - - this->test_corners( - {this->make(4, -1), this->make(-1, 4), this->make(4, 4), this->make(-1, -1)}, 0.25F); - this->test_orientation(0.0F, 3.0F); -} - -// same as above test, just rotated -TYPED_TEST(BoxTest, Eigenbox2) -{ - std::vector v{this->make(0, 0), this->make(1, 1), - this->make(1, 2), // small fudge to force diagonal - this->make(3, 3), this->make(4, 4), - this->make(1, -1), this->make(1, -2), // small fudge to force diagonal - this->make(3, -3), this->make(4, -4)}; - this->points.insert(this->points.begin(), v.begin(), v.end()); - - const std::vector diag_corners{ - this->make(4, 4), this->make(0, 4), this->make(0, -4), this->make(4, -4)}; - // rotating calipers should produce a aabb - this->minimum_area_bounding_box(); - this->check(2.0F, 0.0F, 8, 4, 32); - this->test_corners(diag_corners); - this->test_orientation(0.0F, 0.001F); - - //// perimeter should also produce aabb //// - this->minimum_perimeter_bounding_box(); - this->check(2.0F, 0.0F, 8, 4, 12); - this->test_corners(diag_corners); - - //// eigenbox should also produce obb //// - this->eigenbox(v.begin(), v.end()); - this->test_orientation(0.0F, 0.001F); - this->test_corners(diag_corners); - //// Lfit should produce obb //// - this->lfit_bounding_box_2d(v.begin(), v.end()); - this->test_corners( - {this->make(3.5, 4.5), this->make(-1, 0), this->make(3.5, -4.5), this->make(8, 0)}, 0.2F); - this->test_orientation(45.0F, 2.0F); -} -// line case for eigenbox -TYPED_TEST(BoxTest, Eigenbox3) -{ - // horizontal line with some noise - std::vector v{this->make(0, 0.00), this->make(1, -0.01), this->make(3, 0.02), - this->make(3, 0.03), this->make(4, -0.04), this->make(-1, 0.01), - this->make(-2, -0.02), this->make(-3, -0.03), this->make(-4, 0.04)}; - this->lfit_bounding_box_2d(v.begin(), v.end()); - this->test_corners( - {this->make(-4, -0.04), this->make(-4, 0.04), this->make(4, -0.04), this->make(4, 0.04)}, 0.2F); - this->test_orientation(0.0F, 1.0F); -} - -// bad case: causes intersection2d to fail -// See https://gitlab.apex.ai/ApexAI/grand_central/issues/2862#note_156875 for more failure cases -TYPED_TEST(BoxTest, IntersectFail) -{ - std::vector vals{ - this->make(-13.9, 0.100006), this->make(-14.1, 0.100006), this->make(-13.9, 0.300003), - this->make(-14.1, 0.300003), this->make(-13.9, 0.5), this->make(-14.1, 0.5), - this->make(-13.9, 0.699997), this->make(-14.1, 0.699997), this->make(-14.3, 0.699997)}; - EXPECT_NO_THROW(this->lfit_bounding_box_2d(vals.begin(), vals.end())); - vals = {this->make(-2.1, 10.1), this->make(-1.89999, 10.1), this->make(-1.89999, 10.3), - this->make(-1.7, 10.3), this->make(-1.5, 10.3), this->make(-1.3, 10.3), - this->make(-0.5, 10.3), this->make(-0.300003, 10.3), this->make(-0.0999908, 10.3), - this->make(0.699997, 10.3), this->make(0.900009, 10.3), this->make(1.3, 10.3), - this->make(1.7, 10.3)}; - EXPECT_NO_THROW(this->lfit_bounding_box_2d(vals.begin(), vals.end())); - vals = {this->make(2.7, -5.5), this->make(2.7, -5.3), this->make(2.7, -5.1), - this->make(2.7, -4.9), this->make(2.7, -4.7), this->make(2.7, -4.5), - this->make(2.7, -4.3), this->make(2.7, -4.1), this->make(2.7, -3.9)}; - EXPECT_NO_THROW(this->lfit_bounding_box_2d(vals.begin(), vals.end())); -} -/// Handle slight floating point underflow case -// Note: raw discriminant checks are disabled because they don't work. I suspect this is due to -// tiny differences in floating point math when using our compile flags -TYPED_TEST(BoxTest, EigUnderflow) -{ - using autoware::common::geometry::bounding_box::details::Covariance2d; - // auto discriminant = [](const Covariance2d cov) -> float32_t { - // // duplicated raw math - // const float32_t tr_2 = (cov.xx + cov.yy) * 0.5F; - // const float32_t det = (cov.xx * cov.yy) - (cov.xy * cov.xy); - // return (tr_2 * tr_2) - det; - // }; - TypeParam u, v; - const Covariance2d c1{0.0300002, 0.0300002, 5.46677e-08, 0U}; - // EXPECT_LT(discriminant(c1), 0.0F); - EXPECT_NO_THROW(autoware::common::geometry::bounding_box::details::eig_2d(c1, u, v)); - const Covariance2d c2{0.034286, 0.0342847, 2.12874e-09, 0U}; - // EXPECT_LT(discriminant(c2), 0.0F); - EXPECT_NO_THROW(autoware::common::geometry::bounding_box::details::eig_2d(c2, u, v)); - const Covariance2d c3{0.0300002, 0.0300002, -2.84987e-08, 0U}; - // EXPECT_LT(discriminant(c3), 0.0F); - EXPECT_NO_THROW(autoware::common::geometry::bounding_box::details::eig_2d(c3, u, v)); - const Covariance2d c4{0.0300004, 0.0300002, 3.84156e-08, 0U}; - // EXPECT_LT(discriminant(c4), 0.0F); - EXPECT_NO_THROW(autoware::common::geometry::bounding_box::details::eig_2d(c4, u, v)); - const Covariance2d c5{0.0300014, 0.0300014, -7.45058e-09, 0U}; - // EXPECT_LT(discriminant(c5), 0.0F); - EXPECT_NO_THROW(autoware::common::geometry::bounding_box::details::eig_2d(c5, u, v)); - const Covariance2d c6{0.0400004, 0.0400002, 3.28503e-08, 0U}; - // EXPECT_LT(discriminant(c6), 0.0F); - EXPECT_NO_THROW(autoware::common::geometry::bounding_box::details::eig_2d(c6, u, v)); -} - -//////////////////////////////////////////////// - -#endif // TEST_BOUNDING_BOX_HPP_ diff --git a/common/autoware_auto_geometry/test/include/test_spatial_hash.hpp b/common/autoware_auto_geometry/test/include/test_spatial_hash.hpp deleted file mode 100644 index fc2d97c257b95..0000000000000 --- a/common/autoware_auto_geometry/test/include/test_spatial_hash.hpp +++ /dev/null @@ -1,260 +0,0 @@ -// Copyright 2019 the Autoware Foundation -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. -// -// Co-developed by Tier IV, Inc. and Apex.AI, Inc. - -#ifndef TEST_SPATIAL_HASH_HPP_ -#define TEST_SPATIAL_HASH_HPP_ - -#include "autoware_auto_geometry/spatial_hash.hpp" - -#include - -#include -#include - -using autoware::common::geometry::spatial_hash::Config2d; -using autoware::common::geometry::spatial_hash::Config3d; -using autoware::common::geometry::spatial_hash::SpatialHash; -using autoware::common::geometry::spatial_hash::SpatialHash2d; -using autoware::common::geometry::spatial_hash::SpatialHash3d; -using autoware::common::types::bool8_t; -using autoware::common::types::float32_t; -using autoware::common::types::float64_t; - -template -class TypedSpatialHashTest : public ::testing::Test -{ -public: - TypedSpatialHashTest() : ref(), EPS(0.001F) - { - ref.x = 0.0F; - ref.y = 0.0F; - ref.z = 0.0F; - } - -protected: - template - void add_points( - SpatialHash & hash, const uint32_t points_per_ring, const uint32_t num_rings, - const float32_t dr, const float32_t dx = 0.0F, const float32_t dy = 0.0F) - { - const float32_t dth = 2.0F * 3.14159F / points_per_ring; - - // insert - float32_t r = dr; - for (uint32_t rdx = 0U; rdx < num_rings; ++rdx) { - float32_t th = 0.0F; - for (uint32_t pdx = 0U; pdx < points_per_ring; ++pdx) { - PointT pt; - pt.x = r * cosf(th) + dx; - pt.y = r * sinf(th) + dy; - pt.z = 0.0F; - hash.insert(pt); - th += dth; - } - r += dr; - } - } - PointT ref; - const float32_t EPS; -}; // SpatialHash -// test struct - -// Instantiate tests for given types, add more types here as they are used -using PointTypesSpatialHash = ::testing::Types; -// cppcheck-suppress syntaxError -TYPED_TEST_SUITE(TypedSpatialHashTest, PointTypesSpatialHash, ); -/// NOTE: This is the older version due to 1.8.0 of GTest. v1.8.1 uses TYPED_TEST_SUITE - -/////////////////////////////////////////////////////////////// -// TODO(christopher.ho) helper functions to simplify this stuff -/// all points in one bin -TYPED_TEST(TypedSpatialHashTest, OneBin) -{ - using PointT = TypeParam; - const float32_t dr = 1.0F; - Config2d cfg{-10.0F, 10.0F, -10.0F, 10.0F, 3.0F, 1024U}; - SpatialHash2d hash{cfg}; - - // build concentric rings around origin - const uint32_t PTS_PER_RING = 10U; - const uint32_t NUM_RINGS = 1U; - this->add_points(hash, PTS_PER_RING, NUM_RINGS, dr); - - // loop through all points - float r = dr - this->EPS; - for (uint32_t rdx = 0U; rdx < NUM_RINGS + 1U; ++rdx) { - const uint32_t n_pts = rdx * PTS_PER_RING; - const auto & neighbors = hash.near(this->ref, r); - uint32_t points_seen = 0U; - for (const auto & itd : neighbors) { - const PointT & pt = itd; - const float dist = sqrtf((pt.x * pt.x) + (pt.y * pt.y)); - ASSERT_LT(dist, r); - ASSERT_FLOAT_EQ(dist, itd.get_distance()); - ++points_seen; - } - ASSERT_EQ(points_seen, n_pts); - r += dr; - // Make sure statistics are consistent - EXPECT_EQ(hash.bins_hit(), 9U * (1U + rdx)); - EXPECT_EQ(hash.neighbors_found(), rdx * PTS_PER_RING); - } - // check iterators etc. - uint32_t count = 0U; - for (auto iter = hash.cbegin(); iter != hash.cend(); ++iter) { - // TODO(c.ho) check uniqueness of stuff - ++count; - } - EXPECT_EQ(PTS_PER_RING, count); - hash.clear(); - EXPECT_EQ(hash.size(), 0U); - EXPECT_TRUE(hash.empty()); - count = 0U; - for (auto it : hash) { - // TODO(c.ho) check uniqueness of stuff - (void)it; - ++count; - } - EXPECT_EQ(count, 0U); -} -/// test out of bounds points -TYPED_TEST(TypedSpatialHashTest, Oob) -{ - using PointT = TypeParam; - const float32_t dr = 20.0F; - Config2d cfg{-2.0F, 2.0F, -2.0F, 2.0F, dr + this->EPS, 1024U}; - SpatialHash2d hash{cfg}; - - // build concentric rings around origin - const uint32_t PTS_PER_RING = 12U; - this->add_points(hash, PTS_PER_RING, 1U, dr); - - // loop through all points - float32_t r = dr + this->EPS; - const uint32_t n_pts = PTS_PER_RING; - const auto & neighbors = hash.near(this->ref, r); - uint32_t points_seen = 0U; - for (const auto itd : neighbors) { - const PointT & pt = itd; - const float32_t dist = sqrtf((pt.x * pt.x) + (pt.y * pt.y)); - ASSERT_LT(dist, r); - ASSERT_GT(dist, 10.0F * sqrtf(2.0F)); - ASSERT_FLOAT_EQ(dist, itd.get_distance()); - ++points_seen; - } - - ASSERT_EQ(points_seen, n_pts); -} -// 3d test case -TYPED_TEST(TypedSpatialHashTest, 3d) -{ - using PointT = TypeParam; - Config3d cfg{-30.0F, 30.0F, -30.0F, 30.0F, -30.0F, 30.0F, 30.0F, 1024U}; - SpatialHash3d hash{cfg}; - EXPECT_TRUE(hash.empty()); - - // build concentric rings around origin - const uint32_t points_per_ring = 32U; - const uint32_t num_rings = 5U; - const float32_t dth = 2.0F * 3.14159F / points_per_ring; - std::vector pts{}; - - // insert - const float32_t r = 10.0F; - float32_t phi = 0.0f; - for (uint32_t rdx = 0U; rdx < num_rings; ++rdx) { - float32_t th = 0.0F; - for (uint32_t pdx = 0U; pdx < points_per_ring; ++pdx) { - PointT pt; - pt.x = r * cosf(th) * cosf(phi); - pt.y = r * sinf(th) * cosf(phi); - pt.z = r * sinf(phi); - pts.push_back(pt); - th += dth; - } - hash.insert(pts.begin(), pts.end()); - pts.clear(); - phi += 1.0f; - } - EXPECT_FALSE(hash.empty()); - EXPECT_EQ(hash.size(), num_rings * points_per_ring); - - // loop through all points - const uint32_t n_pts = num_rings * points_per_ring; - const auto & neighbors = hash.near(this->ref, r + this->EPS); - uint32_t points_seen = 0U; - for (const auto & itd : neighbors) { - const PointT & pt = itd; - const float32_t dist = sqrtf((pt.x * pt.x) + (pt.y * pt.y) + (pt.z * pt.z)); - ASSERT_LT(dist, r + this->EPS); - ASSERT_FLOAT_EQ(dist, itd.get_distance()); - ++points_seen; - } - - ASSERT_EQ(points_seen, n_pts); - - // check iterators etc. - uint32_t count = 0U; - for (auto iter = hash.cbegin(); iter != hash.cend(); ++iter) { - // TODO(c.ho) check uniqueness of stuff - ++count; - } - EXPECT_EQ(n_pts, count); - hash.clear(); - EXPECT_EQ(hash.size(), 0U); - EXPECT_TRUE(hash.empty()); - count = 0U; - for (auto it : hash) { - // TODO(c.ho) check uniqueness of stuff - (void)it; - ++count; - } - EXPECT_EQ(count, 0U); -} - -/// edge cases -TEST(SpatialHashConfig, BadCases) -{ - // negative side length - EXPECT_THROW(Config2d({-30.0F, 30.0F, -30.0F, 30.0F, -1.0F, 1024U}), std::domain_error); - // min_x >= max_x - EXPECT_THROW(Config2d({31.0F, 30.0F, -30.0F, 30.0F, 1.0F, 1024U}), std::domain_error); - // min_y >= max_y - EXPECT_THROW(Config2d({-30.0F, 30.0F, 30.1F, 30.0F, 1.0F, 1024U}), std::domain_error); - // min_z >= max_z - EXPECT_THROW( - Config3d({-30.0F, 30.0F, -30.0F, 30.0F, 31.0F, 30.0F, 1.0F, 1024U}), std::domain_error); - // floating point limit - constexpr float32_t max_float = std::numeric_limits::max(); - EXPECT_THROW(Config2d({-max_float, max_float, -30.0F, 30.0F, 1.0F, 1024U}), std::domain_error); - EXPECT_THROW( - Config3d({-30.0F, 30.0F, -max_float, max_float, -30.0F, 30.0F, 1.0F, 1024U}), - std::domain_error); - EXPECT_THROW( - Config3d({-30.0F, 30.0F, -30.0F, 30.0F, -max_float, max_float, 1.0F, 1024U}), - std::domain_error); - // y would overflow - // constexpr float32_t big_float = - // static_cast(std::numeric_limits::max() / 4UL); - // EXPECT_THROW(Config({-big_float, big_float, -big_float, big_float, 0.001F, 1024U}), - // std::domain_error); - // z would overflow - // EXPECT_THROW( - // Config3d({-30.0F, 30.0F, -99999.0F, 99999.0F, -99999.0F, 99999.0F, 0.001F, 1024U}), - // std::domain_error); - // TODO(c.ho) re-enable test when we can actually check unsigned integer multiplication overflow -} -#endif // TEST_SPATIAL_HASH_HPP_ diff --git a/common/autoware_auto_geometry/test/src/lookup_table.cpp b/common/autoware_auto_geometry/test/src/lookup_table.cpp deleted file mode 100644 index 81865656c55b5..0000000000000 --- a/common/autoware_auto_geometry/test/src/lookup_table.cpp +++ /dev/null @@ -1,166 +0,0 @@ -// Copyright 2017-2020 the Autoware Foundation -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. -// -// Co-developed by Tier IV, Inc. and Apex.AI, Inc. - -#include "autoware_auto_geometry/lookup_table.hpp" - -#include - -#include - -#include -#include - -using autoware::common::helper_functions::interpolate; -using autoware::common::helper_functions::lookup_1d; -using autoware::common::helper_functions::LookupTable1D; -using autoware::common::types::float32_t; -using autoware::common::types::float64_t; - -template -class BadCase : public ::testing::Test -{ -}; - -using BadTypes = ::testing::Types; -// cppcheck-suppress syntaxError -TYPED_TEST_SUITE(BadCase, BadTypes, ); - -// Empty domain/range -TYPED_TEST(BadCase, Empty) -{ - using T = TypeParam; - EXPECT_THROW(lookup_1d({}, {}, T{}), std::domain_error); -} - -// Unequal domain/range -TYPED_TEST(BadCase, UnequalDomain) -{ - using T = TypeParam; - EXPECT_THROW(lookup_1d({T{1}, T{2}}, {T{1}}, T{}), std::domain_error); -} - -// Not sorted domain -TYPED_TEST(BadCase, DomainNotSorted) -{ - using T = TypeParam; - EXPECT_THROW(lookup_1d({T{2}, T{1}}, {T{1}, T{2}}, T{}), std::domain_error); -} - -//////////////////////////////////////////////////////////////////////////////// - -template -class SanityCheck : public ::testing::Test -{ -public: - using T = Type; - - void SetUp() override - { - domain_ = std::vector{T{1}, T{3}, T{5}}; - range_ = std::vector{T{2}, T{4}, T{0}}; - ASSERT_NO_THROW(table_ = std::make_unique>(domain_, range_)); - } - - bool not_in_domain(const T bad_value) const noexcept - { - return std::find(domain_.begin(), domain_.end(), bad_value) == domain_.end(); - } - - void check(const T expected, const T actual) const noexcept - { - if (std::is_floating_point::value) { - EXPECT_FLOAT_EQ(actual, expected); - } else { - EXPECT_EQ(actual, expected); - } - } - -protected: - std::vector domain_{}; - std::vector range_{}; - std::unique_ptr> table_{}; -}; - -using NormalTypes = ::testing::Types; -TYPED_TEST_SUITE(SanityCheck, NormalTypes, ); - -TYPED_TEST(SanityCheck, Exact) -{ - const auto x = this->domain_[1U]; - const auto result = this->table_->lookup(x); - ASSERT_FALSE(this->not_in_domain(x)); - this->check(result, this->range_[1U]); -} - -TYPED_TEST(SanityCheck, Interpolation) -{ - const auto x = TypeParam{2}; - // Assert x is not identically in domain_ - ASSERT_TRUE(this->not_in_domain(x)); - const auto result = this->table_->lookup(x); - this->check(result, TypeParam{3}); -} - -TYPED_TEST(SanityCheck, AboveRange) -{ - const auto x = TypeParam{999999}; - ASSERT_GT(x, this->domain_.back()); // domain is known to be sorted - const auto result = this->table_->lookup(x); - this->check(result, this->range_.back()); -} - -TYPED_TEST(SanityCheck, BelowRange) -{ - const auto x = TypeParam{0}; - ASSERT_LT(x, this->domain_.front()); // domain is known to be sorted - const auto result = this->table_->lookup(x); - this->check(result, this->range_.front()); -} - -TEST(LookupTableHelpers, Interpolate) -{ - { - const auto scaling = 0.0f; - EXPECT_EQ(interpolate(0.0f, 1.0f, scaling), 0.0f); - EXPECT_EQ(interpolate(2.0f, 3.5f, scaling), 2.0f); - } - - { - const auto scaling = 1.0f; - EXPECT_EQ(interpolate(0.0f, 1.0f, scaling), 1.0f); - EXPECT_EQ(interpolate(2.0f, 3.5f, scaling), 3.5f); - } - - { - const auto scaling = -1.0f; - EXPECT_EQ(interpolate(0.0f, 1.0f, scaling), 0.0f); - EXPECT_EQ(interpolate(2.0f, 3.5f, scaling), 2.0f); - } - - { - const auto scaling = 2.0f; - EXPECT_EQ(interpolate(0.0f, 1.0f, scaling), 1.0f); - EXPECT_EQ(interpolate(2.0f, 3.5f, scaling), 3.5f); - } - - { - const auto scaling = 0.75f; - EXPECT_EQ(interpolate(0.0f, 1.0f, scaling), 0.75f); - EXPECT_EQ(interpolate(2.0f, 3.5f, scaling), 3.125f); - } -} - -// TODO(c.ho) check with more interesting functions diff --git a/common/autoware_auto_geometry/test/src/test_area.cpp b/common/autoware_auto_geometry/test/src/test_area.cpp deleted file mode 100644 index bc9c28682ed44..0000000000000 --- a/common/autoware_auto_geometry/test/src/test_area.cpp +++ /dev/null @@ -1,132 +0,0 @@ -// Copyright 2021 Apex.AI, Inc. -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. -// -// Co-developed by Tier IV, Inc. and Apex.AI, Inc. - -#include "autoware_auto_geometry/common_2d.hpp" - -#include - -#include - -#include -#include -#include - -template -class AreaTest : public ::testing::Test -{ -protected: - DataStructure data_{}; - using Point = typename DataStructure::value_type; - using Real = decltype(autoware::common::geometry::point_adapter::x_(std::declval())); - - auto area() { return autoware::common::geometry::area_checked_2d(data_.begin(), data_.end()); } - - void add_point(Real x, Real y) - { - namespace pa = autoware::common::geometry::point_adapter; - Point p{}; - pa::xr_(p) = x; - pa::yr_(p) = y; - (void)data_.insert(data_.end(), p); - } -}; - -// Data structures to test... -template -using TestTypes_ = ::testing::Types..., std::list...>; -// ... and point types to test -using TestTypes = TestTypes_; -// cppcheck-suppress syntaxError -TYPED_TEST_SUITE(AreaTest, TestTypes, ); - -// The empty set has zero area -TYPED_TEST(AreaTest, DegenerateZero) -{ - EXPECT_FLOAT_EQ(0.0, this->area()); -} - -// An individual point has zero area -TYPED_TEST(AreaTest, DegenerateOne) -{ - this->add_point(0.0, 0.0); - EXPECT_FLOAT_EQ(0.0, this->area()); -} - -// An line segment has zero area -TYPED_TEST(AreaTest, DegenerateTwo) -{ - this->add_point(1.0, -1.0); - this->add_point(-3.0, 2.0); - EXPECT_FLOAT_EQ(0.0, this->area()); -} - -// Simple triangle -TYPED_TEST(AreaTest, Triangle) -{ - this->add_point(1.0, 0.0); - this->add_point(3.0, 0.0); // 2.0 wide - this->add_point(2.0, 2.0); // 2.0 tall - EXPECT_FLOAT_EQ(2.0, this->area()); // A = (1/2) * b * h -} - -// Rectangle is easy to do computational -TYPED_TEST(AreaTest, Rectangle) -{ - this->add_point(-5.0, -5.0); - this->add_point(-2.0, -5.0); // L = 3 - this->add_point(-2.0, -1.0); // H = 4 - this->add_point(-5.0, -1.0); - EXPECT_FLOAT_EQ(12.0, this->area()); // A = b * h -} - -// Parallelogram is slightly less trivial than a rectangle -TYPED_TEST(AreaTest, Parallelogram) -{ - this->add_point(-5.0, 1.0); - this->add_point(-2.0, 1.0); // L = 3 - this->add_point(-1.0, 3.0); // H = 2 - this->add_point(-4.0, 3.0); - EXPECT_FLOAT_EQ(6.0, this->area()); // A = b * h -} - -// Octagon is analytical and reasonably easy to build -TYPED_TEST(AreaTest, Octagon) -{ - const auto sq2 = std::sqrt(2.0); - const auto a = 1.0; - const auto a2 = a / 2.0; - const auto b = (a + sq2) / 2.0; - this->add_point(-a2, -b); - this->add_point(a2, -b); - this->add_point(b, -a2); - this->add_point(b, a2); - this->add_point(a2, b); - this->add_point(-a2, b); - this->add_point(-b, a2); - this->add_point(-b, -a2); - const auto expect = (2.0 * (1.0 + sq2)) * (a * a); - EXPECT_FLOAT_EQ(expect, this->area()); // A = b * h -} - -// Bad case -TYPED_TEST(AreaTest, NotCcw) -{ - this->add_point(0.0, 0.0); - this->add_point(1.0, 1.0); - this->add_point(1.0, 0.0); - this->add_point(2.0, 1.0); - EXPECT_THROW(this->area(), std::domain_error); -} diff --git a/common/autoware_auto_geometry/test/src/test_common_2d.cpp b/common/autoware_auto_geometry/test/src/test_common_2d.cpp deleted file mode 100644 index baf6967edd47e..0000000000000 --- a/common/autoware_auto_geometry/test/src/test_common_2d.cpp +++ /dev/null @@ -1,197 +0,0 @@ -// Copyright 2021 The Autoware Foundation -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. -// -// Co-developed by Tier IV, Inc. and Apex.AI, Inc. - -#include "autoware_auto_geometry/common_2d.hpp" - -#include -#include - -#include - -#include -#include - -using autoware::common::geometry::point_adapter::xr_; -using autoware::common::geometry::point_adapter::yr_; - -// Helper function for adding new points -template -T make_points(const float x, const float y) -{ - T ret; - xr_(ret) = x; - yr_(ret) = y; - return ret; -} - -// PointTypes to be tested -using PointTypes = - ::testing::Types; - -// Wrapper function for stubbing output of -// autoware::common::geometry::check_point_position_to_line_2d -template -int point_position_checker(const T & p1, const T & p2, const T & q) -{ - auto result = autoware::common::geometry::check_point_position_to_line_2d(p1, p2, q); - if (result > 0.0F) { - return 1; - } else if (result < 0.0F) { - return -1; - } - return result; -} - -// Templated struct defining the function parameters for -// autoware::common::geometry::check_point_position_to_line_2d and input_output vector for -// assertion of return values from the function -template -struct PointPositionToLine : public ::testing::Test -{ - struct Parameters - { - T p1; - T p2; - T q; - }; - static std::vector> input_output; -}; - -TYPED_TEST_SUITE_P(PointPositionToLine); - -template -std::vector::Parameters, int>> - PointPositionToLine::input_output{ - {{make_points(0.0F, 0.0F), make_points(-1.0F, 1.0F), make_points(1.0F, 5.0F)}, -1}, - {{make_points(0.0F, 0.0F), make_points(-1.0F, 1.0F), make_points(-1.0F, 0.5F)}, 1}, - // Check point on the line - {{make_points(0.0F, 0.0F), make_points(-1.0F, 1.0F), make_points(-2.0F, 2.0F)}, 0}, - }; - -TYPED_TEST_P(PointPositionToLine, PointPositionToLineTest) -{ - for (size_t i = 0; i < PointPositionToLine::input_output.size(); ++i) { - const auto & input = PointPositionToLine::input_output[i].first; - EXPECT_EQ( - point_position_checker(input.p1, input.p2, input.q), - PointPositionToLine::input_output[i].second) - << "Index " << i; - } -} - -REGISTER_TYPED_TEST_SUITE_P(PointPositionToLine, PointPositionToLineTest); -// cppcheck-suppress syntaxError -INSTANTIATE_TYPED_TEST_SUITE_P(Test, PointPositionToLine, PointTypes, ); - -///////////////////////////////////////////////////////////////////////////////////// - -// Templated struct defining the function parameters for -// autoware::common::geometry::is_point_inside_polygon_2d and input_output vector for -// assertion of return values from the function -template -struct InsidePolygon : public ::testing::Test -{ - struct Parameters - { - std::vector polygon; - T q; - }; - static std::vector> input_output; -}; - -TYPED_TEST_SUITE_P(InsidePolygon); - -template -std::vector::Parameters, bool>> InsidePolygon::input_output{ - // point inside the rectangle - {{{make_points(0.0F, 0.0F), make_points(1.0F, 1.0F), make_points(0.5F, 1.5F), - make_points(-0.5F, 0.5F)}, - make_points(0.F, 0.5F)}, - true}, - // point below the rectangle - {{{make_points(0.0F, 0.0F), make_points(1.0F, 1.0F), make_points(0.5F, 1.5F), - make_points(-0.5F, 0.5F)}, - make_points(0.5F, 0.F)}, - false}, - // point above the rectangle - {{{make_points(0.0F, 0.0F), make_points(1.0F, 1.0F), make_points(0.5F, 1.5F), - make_points(-0.5F, 0.5F)}, - make_points(0.5F, 1.75F)}, - false}, - // point on the rectangle - {{{make_points(0.0F, 0.0F), make_points(1.0F, 1.0F), make_points(0.5F, 1.5F), - make_points(-0.5F, 0.5F)}, - make_points(0.5F, 0.5F)}, - true}, -}; - -TYPED_TEST_P(InsidePolygon, InsidePolygonTest) -{ - for (size_t i = 0; i < InsidePolygon::input_output.size(); ++i) { - const auto & input = InsidePolygon::input_output[i].first; - EXPECT_EQ( - autoware::common::geometry::is_point_inside_polygon_2d( - input.polygon.begin(), input.polygon.end(), input.q), - InsidePolygon::input_output[i].second) - << "Index " << i; - } -} - -REGISTER_TYPED_TEST_SUITE_P(InsidePolygon, InsidePolygonTest); -// cppcheck-suppress syntaxError -INSTANTIATE_TYPED_TEST_SUITE_P(Test, InsidePolygon, PointTypes, ); - -TEST(ordered_check, basic) -{ - // CW - std::vector points_list = { - make_points(8.0, 4.0), - make_points(9.0, 1.0), - make_points(3.0, 2.0), - make_points(2.0, 5.0)}; - EXPECT_TRUE(autoware::common::geometry::all_ordered(points_list.begin(), points_list.end())); - - // CCW - points_list = { - make_points(2.0, 5.0), - make_points(3.0, 2.0), - make_points(9.0, 1.0), - make_points(8.0, 4.0)}; - EXPECT_TRUE(autoware::common::geometry::all_ordered(points_list.begin(), points_list.end())); - - // Unordered - points_list = { - make_points(2.0, 5.0), - make_points(3.0, 2.0), - make_points(8.0, 4.0), - make_points(9.0, 1.0)}; - EXPECT_FALSE(autoware::common::geometry::all_ordered(points_list.begin(), points_list.end())); - - // Unordered - points_list = { - make_points(0.0, 0.0), - make_points(1.0, 1.0), - make_points(1.0, 0.0), - make_points(2.0, 1.0)}; - EXPECT_FALSE(autoware::common::geometry::all_ordered(points_list.begin(), points_list.end())); - - // Collinearity - points_list = { - make_points(2.0, 2.0), - make_points(4.0, 4.0), - make_points(6.0, 6.0)}; - EXPECT_TRUE(autoware::common::geometry::all_ordered(points_list.begin(), points_list.end())); -} diff --git a/common/autoware_auto_geometry/test/src/test_convex_hull.cpp b/common/autoware_auto_geometry/test/src/test_convex_hull.cpp deleted file mode 100644 index 8b9bbce36c428..0000000000000 --- a/common/autoware_auto_geometry/test/src/test_convex_hull.cpp +++ /dev/null @@ -1,372 +0,0 @@ -// Copyright 2017-2019 the Autoware Foundation -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. -// -// Co-developed by Tier IV, Inc. and Apex.AI, Inc. - -#include "autoware_auto_geometry/convex_hull.hpp" - -#include - -#include - -#include -#include - -using autoware::common::types::bool8_t; -using autoware::common::types::float32_t; -using autoware::common::types::float64_t; - -template -class TypedConvexHullTest : public ::testing::Test -{ -protected: - std::list list; - - typename std::list::const_iterator convex_hull() - { - const auto ret = autoware::common::geometry::convex_hull(list); - return ret; - } - - void check_hull( - const typename std::list::const_iterator last, const std::vector & expect, - const bool8_t strict = true) - { - uint32_t items = 0U; - for (auto & pt : expect) { - bool8_t found = false; - auto it = list.begin(); - while (it != last) { - constexpr float32_t TOL = 1.0E-6F; - if ( - fabsf(pt.x - it->x) <= TOL && fabsf(pt.y - it->y) <= TOL && - (fabsf(pt.z - it->z) <= TOL || !strict)) // TODO(@estive): z if only strict - { - found = true; - break; - } - ++it; - } - ASSERT_TRUE(found) << items; - ++items; - } - if (strict) { - ASSERT_EQ(items, expect.size()); - } - } - - PointT make(const float32_t x, const float32_t y, const float32_t z) - { - PointT ret; - ret.x = x; - ret.y = y; - ret.z = z; - return ret; - } -}; // class convex_hull_test - -// Instantiate tests for given types, add more types here as they are used -using PointTypes = ::testing::Types; -// cppcheck-suppress syntaxError -TYPED_TEST_SUITE(TypedConvexHullTest, PointTypes, ); -/// NOTE: This is the older version due to 1.8.0 of GTest. v1.8.1 uses TYPED_TEST_SUITE - -////////////////////////////////////////// - -/* - 3 - 2 -1 -*/ -TYPED_TEST(TypedConvexHullTest, Triangle) -{ - std::vector expect({this->make(1, 0, 0), this->make(3, 1, 0), this->make(2, 2, 0)}); - this->list.insert(this->list.begin(), expect.begin(), expect.end()); - - const auto last = this->convex_hull(); - - this->check_hull(last, expect); - ASSERT_EQ(this->list.size(), 3U); - // check order - auto it = this->list.begin(); - ASSERT_FLOAT_EQ(it->x, 1); - ++it; // node 1 - ASSERT_FLOAT_EQ(it->x, 3); - ++it; // node 2 - ASSERT_FLOAT_EQ(it->x, 2); - ++it; // node 3 - ASSERT_EQ(it, last); -} -/* - 2 1 - -4 - 3 -*/ -// test that things get reordered to ccw -TYPED_TEST(TypedConvexHullTest, Quadrilateral) -{ - std::vector expect( - {this->make(-1, -1, 1), this->make(-5, -1, 2), this->make(-2, -6, 3), this->make(-6, -5, 4)}); - this->list.insert(this->list.begin(), expect.begin(), expect.end()); - const auto last = this->convex_hull(); - - this->check_hull(last, expect); - ASSERT_EQ(this->list.size(), 4U); - - // check for order - auto it = this->list.begin(); - ASSERT_FLOAT_EQ(it->x, -6); - ++it; // node 4 - ASSERT_FLOAT_EQ(it->x, -2); - ++it; // node 3 - ASSERT_FLOAT_EQ(it->x, -1); - ++it; // node 1 - ASSERT_FLOAT_EQ(it->x, -5); - ++it; // node 2 - ASSERT_EQ(it, last); -} - -// test that things get reordered to ccw -TYPED_TEST(TypedConvexHullTest, QuadHull) -{ - std::vector data( - {this->make(1, 1, 1), this->make(5, 1, 2), this->make(2, 6, 3), this->make(3, 3, 4), - this->make(6, 5, 5)}); - std::vector expect{{data[0], data[1], data[2], data[4]}}; - this->list.insert(this->list.begin(), data.begin(), data.end()); - - const auto last = this->convex_hull(); - - this->check_hull(last, expect); - ASSERT_EQ(std::distance(this->list.cbegin(), last), 4U); - - // check for order - auto it = this->list.begin(); - ASSERT_FLOAT_EQ(it->x, 1); - ++it; // node 1 - ASSERT_FLOAT_EQ(it->x, 5); - ++it; // node 2 - ASSERT_FLOAT_EQ(it->x, 6); - ++it; // node 4 - ASSERT_FLOAT_EQ(it->x, 2); - ++it; // node 3 - ASSERT_EQ(it, last); -} - -// a ring plus a bunch of random stuff in the middle -TYPED_TEST(TypedConvexHullTest, Hull) -{ - const uint32_t HULL_SIZE = 13U; - const uint32_t FUZZ_SIZE = 50U; - const float32_t dth = 1.133729384F; // some weird irrational(ish) number - const float32_t r_hull = 20.0F; - const float32_t r_fuzz = 10.0F; - ASSERT_LT(r_fuzz, r_hull); - - std::vector hull; - - uint32_t hull_pts = 0U; - float32_t th = 0.0F; - // hull part 1 - for (uint32_t idx = 0U; idx < HULL_SIZE / 3U; ++idx) { - const auto pt = this->make(r_hull * cosf(th), r_hull * sinf(th), th); - hull.push_back(pt); - this->list.push_back(pt); - th = fmodf(th + dth, 2.0F * 3.14159F); - ++hull_pts; - } - - // fuzz part 1 - uint32_t fuzz_pts = 0U; - for (uint32_t idx = 0U; idx < FUZZ_SIZE / 2U; ++idx) { - const auto pt = this->make(r_fuzz * cosf(th), r_fuzz * sinf(th), th); - this->list.push_back(pt); - th = fmodf(th + dth, 2.0F * 3.14159F); - ++fuzz_pts; - } - - // hull part 2 - for (uint32_t idx = 0U; idx < HULL_SIZE / 3U; ++idx) { - const auto pt = this->make(r_hull * cosf(th), r_hull * sinf(th), th); - hull.push_back(pt); - this->list.push_back(pt); - th = fmodf(th + dth, 2.0F * 3.14159F); - ++hull_pts; - } - - // fuzz part 2 - for (uint32_t idx = 0U; idx < FUZZ_SIZE - fuzz_pts; ++idx) { - const auto pt = this->make(r_fuzz * cosf(th), r_fuzz * sinf(th), th); - this->list.push_back(pt); - th = fmodf(th + dth, 2.0F * 3.14159F); - } - - // hull part 3 - for (uint32_t idx = 0U; idx < HULL_SIZE - hull_pts; ++idx) { - const auto pt = this->make(r_hull * cosf(th), r_hull * sinf(th), th); - hull.push_back(pt); - this->list.push_back(pt); - th = fmodf(th + dth, 2.0F * 3.14159F); - } - - const auto last = this->convex_hull(); - - this->check_hull(last, hull); - ASSERT_EQ(std::distance(this->list.cbegin(), last), HULL_SIZE); -} - -TYPED_TEST(TypedConvexHullTest, Collinear) -{ - std::vector data( - {this->make(0, 0, 1), this->make(1, 0, 2), this->make(2, 0, 3), this->make(0, 2, 4), - this->make(1, 2, 8), this->make(2, 2, 7), this->make(1, 0, 6), this->make(1, 2, 5), - this->make(1, 1, 0)}); - const std::vector expect{{data[0], data[2], data[3], data[5]}}; - this->list.insert(this->list.begin(), data.begin(), data.end()); - - const auto last = this->convex_hull(); - - this->check_hull(last, expect); - ASSERT_EQ(std::distance(this->list.cbegin(), last), 4U); - - // check for order - auto it = this->list.begin(); - ASSERT_FLOAT_EQ(it->z, 1); - ++it; // node 1 - ASSERT_FLOAT_EQ(it->z, 3); - ++it; // node 1 - ASSERT_FLOAT_EQ(it->z, 7); - ++it; // node 2 - ASSERT_FLOAT_EQ(it->z, 4); - ++it; // node 3 - ASSERT_EQ(it, last); -} - -// degenerate cases -TYPED_TEST(TypedConvexHullTest, OverlappingPoints) -{ - std::vector data( - {this->make(3, -1, 1), this->make(4, -2, 2), this->make(5, -7, 3), this->make(4, -2, 4), - this->make(5, -7, 8), this->make(3, -1, 7), this->make(5, -7, 6), this->make(4, -2, 5), - this->make(3, -1, 0)}); - const std::vector expect{{data[0], data[1], data[2]}}; - this->list.insert(this->list.begin(), data.begin(), data.end()); - - const auto last = this->convex_hull(); - - ASSERT_EQ(std::distance(this->list.cbegin(), last), 3U); - this->check_hull(last, expect, false); -} - -TYPED_TEST(TypedConvexHullTest, Line) -{ - std::vector data( - {this->make(-3, 3, 1), this->make(-2, 2, 2), this->make(-1, 1, 3), this->make(-8, 8, 4), - this->make(-6, 6, 8), this->make(-4, 4, 7), this->make(-10, 10, 6), this->make(-12, 12, 5), - this->make(-11, 11, 0)}); - const std::vector expect{{data[2], data[7]}}; - this->list.insert(this->list.begin(), data.begin(), data.end()); - - const auto last = this->convex_hull(); - - ASSERT_EQ(std::distance(this->list.cbegin(), last), 2U); - this->check_hull(last, expect, false); - - // check for order: this part is a little loose - auto it = this->list.begin(); - ASSERT_FLOAT_EQ(it->z, 5); - ++it; // node 8 - ASSERT_FLOAT_EQ(it->z, 3); - ++it; // node 3 - ASSERT_EQ(it, last); -} - -/* -1 - 4 - - 3 - 2 -*/ -TYPED_TEST(TypedConvexHullTest, LowerHull) -{ - const std::vector data({ - this->make(1, 3, 1), - this->make(2, -2, 2), - this->make(3, -1, 3), - this->make(4, 1, 4), - }); - this->list.insert(this->list.begin(), data.begin(), data.end()); - - const auto last = this->convex_hull(); - - ASSERT_EQ(std::distance(this->list.cbegin(), last), 4U); - this->check_hull(last, data); - - // check for order: this part is a little loose - auto it = this->list.begin(); - ASSERT_FLOAT_EQ(it->z, 1); - ++it; - ASSERT_FLOAT_EQ(it->z, 2); - ++it; - ASSERT_FLOAT_EQ(it->z, 3); - ++it; - ASSERT_FLOAT_EQ(it->z, 4); - ++it; - ASSERT_EQ(it, last); -} - -// Ensure the leftmost item is properly shuffled -/* - 5 -1 6 - 2 4 - 3 -*/ -TYPED_TEST(TypedConvexHullTest, Root) -{ - const std::vector data({ - this->make(0, 0, 1), - this->make(1, -1, 2), - this->make(3, -2, 3), - this->make(4, 0, 4), - this->make(3, 1, 5), - this->make(1, 0, 6), - }); - const std::vector expect{{data[0], data[1], data[2], data[3], data[4]}}; - this->list.insert(this->list.begin(), data.begin(), data.end()); - - const auto last = this->convex_hull(); - - ASSERT_EQ(std::distance(this->list.cbegin(), last), 5); - this->check_hull(last, expect); - - auto it = this->list.begin(); - ASSERT_FLOAT_EQ(it->z, 1); - ++it; - ASSERT_FLOAT_EQ(it->z, 2); - ++it; - ASSERT_FLOAT_EQ(it->z, 3); - ++it; - ASSERT_FLOAT_EQ(it->z, 4); - ++it; - ASSERT_FLOAT_EQ(it->z, 5); - ++it; - ASSERT_EQ(it, last); - EXPECT_NE(last, this->list.cend()); - EXPECT_EQ(last->z, 6); -} - -// TODO(c.ho) random input, fuzzing, stress tests diff --git a/common/autoware_auto_geometry/test/src/test_geometry.cpp b/common/autoware_auto_geometry/test/src/test_geometry.cpp deleted file mode 100644 index 0a7dd288d0d79..0000000000000 --- a/common/autoware_auto_geometry/test/src/test_geometry.cpp +++ /dev/null @@ -1,25 +0,0 @@ -// Copyright 2018 the Autoware Foundation -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. -// -// Co-developed by Tier IV, Inc. and Apex.AI, Inc. - -#include "gtest/gtest.h" -#include "test_bounding_box.hpp" -#include "test_spatial_hash.hpp" - -int32_t main(int32_t argc, char ** argv) -{ - ::testing::InitGoogleTest(&argc, argv); - return RUN_ALL_TESTS(); -} diff --git a/common/autoware_auto_geometry/test/src/test_hull_pockets.cpp b/common/autoware_auto_geometry/test/src/test_hull_pockets.cpp deleted file mode 100644 index 9477a83a488ed..0000000000000 --- a/common/autoware_auto_geometry/test/src/test_hull_pockets.cpp +++ /dev/null @@ -1,182 +0,0 @@ -// Copyright 2020 Embotech AG, Zurich, Switzerland. All rights reserved. -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. -// -// Co-developed by Tier IV, Inc. and Apex.AI, Inc. - -#include "autoware_auto_geometry/convex_hull.hpp" -#include "autoware_auto_geometry/hull_pockets.hpp" - -#include - -#include - -#include -#include -#include -#include - -using autoware::common::geometry::point_adapter::x_; -using autoware::common::geometry::point_adapter::y_; -using autoware::common::types::float32_t; -using autoware::common::types::float64_t; - -template -class TypedHullPocketsTest : public ::testing::Test -{ -protected: - PointT make(const float32_t x, const float32_t y, const float32_t z) - { - PointT ret; - ret.x = x; - ret.y = y; - ret.z = z; - return ret; - } -}; // class TypedHullPocketsTest - -using PointTypes = ::testing::Types; -// cppcheck-suppress syntaxError -TYPED_TEST_SUITE(TypedHullPocketsTest, PointTypes, ); -/// NOTE: This is the older version due to 1.8.0 of GTest. v1.8.1 uses TYPED_TEST_SUITE - -// Inner test function, shared among all the tests -template -typename std::vector::value_type>> -compute_hull_and_pockets(const Iter polygon_start, const Iter polygon_end) -{ - auto convex_hull_list = - std::list::value_type>{polygon_start, polygon_end}; - const auto cvx_hull_end = autoware::common::geometry::convex_hull(convex_hull_list); - - const typename decltype(convex_hull_list)::const_iterator list_beginning = - convex_hull_list.begin(); - const auto pockets = autoware::common::geometry::hull_pockets( - polygon_start, polygon_end, list_beginning, cvx_hull_end); - - return pockets; -} - -// Test for a triangle - any triangle should really not result in any pockets. -TYPED_TEST(TypedHullPocketsTest, Triangle) -{ - const auto polygon = std::vectormake(0, 0, 0))>{ - this->make(0, 0, 0), this->make(2, 0, 0), this->make(1, 1, 0)}; - - const auto pockets = compute_hull_and_pockets(polygon.begin(), polygon.end()); - ASSERT_EQ(pockets.size(), 0u); -} - -// Test for the use case: -// +--------------------+ -// | | -// | | -// | | -// | | -// | | -// | | -// +--------------------+ -// This should not result in any pockets. -TYPED_TEST(TypedHullPocketsTest, Box) -{ - const auto polygon = std::vectormake(0, 0, 0))>{ - this->make(0, 0, 0), this->make(2, 0, 0), this->make(2, 1, 0), this->make(0, 1, 0)}; - - const auto pockets = compute_hull_and_pockets(polygon.begin(), polygon.end()); - ASSERT_EQ(pockets.size(), 0u); -} - -// Test for the use case: -// +-----+ +-----+ -// / | | | -// / | | | -// + | | + -// | | | | -// | | | | -// | -------------- | -// | | -// | | -// | | -// | | -// +------------------------------+ -// This should come up with a single box on the top left. -TYPED_TEST(TypedHullPocketsTest, UShape) -{ - const auto polygon = std::vectormake(0, 0, 0))>{ - this->make(0, 0, 0), this->make(5, 0, 0), this->make(5, 4.5, 0), this->make(4, 5, 0), - this->make(4, 2, 0), this->make(2, 2, 0), this->make(2, 5, 0), this->make(0, 4.5, 0), - }; - - const auto pockets = compute_hull_and_pockets(polygon.begin(), polygon.end()); - - ASSERT_EQ(pockets.size(), 1u); - ASSERT_EQ(pockets[0].size(), 4u); - ASSERT_FLOAT_EQ(x_(pockets[0][0]), 4.0); - ASSERT_FLOAT_EQ(y_(pockets[0][0]), 5.0); - ASSERT_FLOAT_EQ(x_(pockets[0][1]), 4.0); - ASSERT_FLOAT_EQ(y_(pockets[0][1]), 2.0); -} - -// Test for the use case: -// +------+ -// | | -// | | -// | | -// +------------------+ +------+ -// | | -// | | -// | | -// +--------------------------------+ -// -// This should come up with two pockets, a triangle on the top left and one on the -// top right. -TYPED_TEST(TypedHullPocketsTest, TypicalGap) -{ - const auto polygon = std::vectormake(0, 0, 0))>{ - this->make(0, 0, 0), this->make(10, 0, 0), this->make(10, 2, 0), this->make(8, 2, 0), - this->make(8, 4, 0), this->make(6, 4, 0), this->make(6, 2, 0), this->make(0, 2, 0), - }; - - const auto pockets = compute_hull_and_pockets(polygon.begin(), polygon.end()); - - ASSERT_EQ(pockets.size(), 2u); - ASSERT_EQ(pockets[0].size(), 3u); - ASSERT_EQ(pockets[1].size(), 3u); - // TODO(s.me) check for correct pocket positioning -} - -// Test for the use case: -// -// +-----------------+ -// | | -// | | -// + | -// / | -// / | -// +-----------------+ -// -// This should come up with one pocket, in particular a pocket that contains -// the segment of the final to the first point. -TYPED_TEST(TypedHullPocketsTest, EndsInPocket) -{ - const auto polygon = std::vectormake(0, 0, 0))>{ - this->make(0, 0, 0), this->make(2, 0, 0), this->make(2, 2, 0), - this->make(0, 2, 0), this->make(0.1, 1, 0), - }; - - const auto pockets = compute_hull_and_pockets(polygon.begin(), polygon.end()); - - ASSERT_EQ(pockets.size(), 1u); - ASSERT_EQ(pockets[0].size(), 3u); - // TODO(s.me) check for correct pocket positioning -} diff --git a/common/autoware_auto_geometry/test/src/test_intersection.cpp b/common/autoware_auto_geometry/test/src/test_intersection.cpp deleted file mode 100644 index 1036c69573c49..0000000000000 --- a/common/autoware_auto_geometry/test/src/test_intersection.cpp +++ /dev/null @@ -1,155 +0,0 @@ -// Copyright 2021 Apex.AI, Inc. -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. - -// Co-developed by Tier IV, Inc. and Apex.AI, Inc. - -#include "autoware_auto_geometry/convex_hull.hpp" -#include "autoware_auto_geometry/intersection.hpp" - -#include - -#include - -struct TestPoint -{ - autoware::common::types::float32_t x; - autoware::common::types::float32_t y; -}; - -struct IntersectionTestParams -{ - std::list polygon1_pts; - std::list polygon2_pts; - std::list expected_intersection_pts; -}; - -void order_ccw(std::list & points) -{ - const auto end_it = autoware::common::geometry::convex_hull(points); - ASSERT_EQ(end_it, points.end()); // Points should have represent a shape -} - -class IntersectionTest : public ::testing::TestWithParam -{ -}; - -TEST_P(IntersectionTest, Basic) -{ - const auto get_ordered_polygon = [](auto polygon) { - order_ccw(polygon); - return polygon; - }; - - const auto polygon1 = get_ordered_polygon(GetParam().polygon1_pts); - const auto polygon2 = get_ordered_polygon(GetParam().polygon2_pts); - const auto expected_intersection = get_ordered_polygon(GetParam().expected_intersection_pts); - - const auto result = autoware::common::geometry::convex_polygon_intersection2d(polygon1, polygon2); - - ASSERT_EQ(result.size(), expected_intersection.size()); - auto expected_shape_it = expected_intersection.begin(); - for (auto result_it = result.begin(); result_it != result.end(); ++result_it) { - EXPECT_FLOAT_EQ(result_it->x, expected_shape_it->x); - EXPECT_FLOAT_EQ(result_it->y, expected_shape_it->y); - ++expected_shape_it; - } -} - -INSTANTIATE_TEST_SUITE_P( - Basic, IntersectionTest, - ::testing::Values( - IntersectionTestParams{{}, {}, {}}, - IntersectionTestParams{// Partial intersection - {{0.0F, 0.0F}, {10.0F, 0.0F}, {0.0F, 10.0F}, {10.0F, 10.0F}}, - {{5.0F, 5.0F}, {15.0F, 5.0F}, {5.0F, 15.0F}, {15.0F, 15.0F}}, - {{5.0F, 5.0F}, {10.0F, 5.0F}, {5.0F, 10.0F}, {10.0F, 10.0F}}}, - // Full intersection with overlapping edges - // TODO(yunus.caliskan): enable after #1231 - // IntersectionTestParams{ - // {{0.0F, 0.0F}, {10.0F, 0.0F}, {0.0F, 10.0F}, {10.0F, 10.0F}}, - // {{5.0F, 5.0F}, {10.0F, 5.0F}, {5.0F, 10.0F}, {10.0F, 10.0F}}, - // {{5.0F, 5.0F}, {10.0F, 5.0F}, {5.0F, 10.0F}, {10.0F, 10.0F}}, - // }, - IntersectionTestParams{ - // Fully contained - {{0.0F, 0.0F}, {10.0F, 0.0F}, {0.0F, 10.0F}, {10.0F, 10.0F}}, - {{5.0F, 5.0F}, {6.0F, 5.0F}, {5.0F, 7.0F}, {8.0F, 8.0F}}, - {{5.0F, 5.0F}, {6.0F, 5.0F}, {5.0F, 7.0F}, {8.0F, 8.0F}}, - }, - IntersectionTestParams{ - // Fully contained triangle - {{0.0F, 0.0F}, {10.0F, 0.0F}, {0.0F, 10.0F}, {10.0F, 10.0F}}, - {{5.0F, 5.0F}, {6.0F, 5.0F}, {5.0F, 7.0F}}, - {{5.0F, 5.0F}, {6.0F, 5.0F}, {5.0F, 7.0F}}, - }, - IntersectionTestParams{// Triangle rectangle intersection. - {{0.0F, 0.0F}, {10.0F, 0.0F}, {0.0F, 10.0F}, {10.0F, 10.0F}}, - {{5.0F, 1.0F}, {5.0F, 9.0F}, {15.0F, 5.0F}}, - {{5.0F, 1.0F}, {5.0F, 9.0F}, {10.0F, 3.0F}, {10.0F, 7.0F}}}, - IntersectionTestParams{// No intersection - {{0.0F, 0.0F}, {10.0F, 0.0F}, {0.0F, 10.0F}, {10.0F, 10.0F}}, - {{15.0F, 15.0F}, {20.0F, 15.0F}, {15.0F, 20.0F}, {20.0F, 20.0F}}, - {}} // cppcheck-suppress syntaxError - )); - -TEST(PolygonPointTest, Basic) -{ - GTEST_SKIP(); // TODO(yunus.caliskan): enable after #1231 - std::list polygon{{5.0F, 5.0F}, {10.0F, 5.0F}, {5.0F, 10.0F}, {10.0F, 10.0F}}; - order_ccw(polygon); - EXPECT_FALSE(autoware::common::geometry::is_point_inside_polygon_2d( - polygon.begin(), polygon.end(), TestPoint{0.0F, 10.0F})); -} - -// IoU of two intersecting shapes: a pentagon and a square. The test includes pen and paper -// computations for the intermediate steps as assertions. -TEST(IoUTest, PentagonRectangleIntersection) -{ - std::list polygon1{ - {0.0F, 3.0F}, {3.0F, 4.0F}, {6.0F, 3.0F}, {4.0F, 1.0F}, {2.0F, 1.0F}}; - std::list polygon2{{3.0F, 0.0F}, {3.0F, 2.0F}, {5.0F, 2.0F}, {5.0F, 0.0F}}; - - order_ccw(polygon1); - order_ccw(polygon2); - - const auto intersection = - autoware::common::geometry::convex_polygon_intersection2d(polygon1, polygon2); - const auto expected_intersection_area = - autoware::common::geometry::area_2d(intersection.begin(), intersection.end()); - ASSERT_FLOAT_EQ(expected_intersection_area, 1.5F); // Pen & paper proof. - - const auto expected_union_area = - autoware::common::geometry::area_2d(polygon1.begin(), polygon1.end()) + - autoware::common::geometry::area_2d(polygon2.begin(), polygon2.end()) - - expected_intersection_area; - ASSERT_FLOAT_EQ(expected_union_area, (11.0F + 4.0F - 1.5F)); // Pen & paper proof. - - const auto computed_iou = - autoware::common::geometry::convex_intersection_over_union_2d(polygon1, polygon2); - - EXPECT_FLOAT_EQ(computed_iou, expected_intersection_area / expected_union_area); -} - -// IoU of two non-intersecting rectangles. -TEST(IoUTest, NoIntersection) -{ - std::list polygon1{{0.0F, 0.0F}, {0.0F, 1.0F}, {1.0F, 1.0F}, {1.0F, 0.0F}}; - std::list polygon2{{3.0F, 0.0F}, {3.0F, 2.0F}, {5.0F, 2.0F}, {5.0F, 0.0F}}; - - order_ccw(polygon1); - order_ccw(polygon2); - - EXPECT_FLOAT_EQ( - autoware::common::geometry::convex_intersection_over_union_2d(polygon1, polygon2), 0.0F); -} diff --git a/common/autoware_auto_geometry/test/src/test_interval.cpp b/common/autoware_auto_geometry/test/src/test_interval.cpp deleted file mode 100644 index 266ab123f5203..0000000000000 --- a/common/autoware_auto_geometry/test/src/test_interval.cpp +++ /dev/null @@ -1,259 +0,0 @@ -// Copyright 2020 Mapless AI, Inc. -// -// Permission is hereby granted, free of charge, to any person obtaining a copy -// of this software and associated documentation files (the "Software"), to -// deal in the Software without restriction, including without limitation the -// rights to use, copy, modify, merge, publish, distribute, sublicense, and/or -// sell copies of the Software, and to permit persons to whom the Software is -// furnished to do so, subject to the following conditions: -// -// The above copyright notice and this permission notice shall be included in -// all copies or substantial portions of the Software. -// -// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR -// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, -// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE -// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER -// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING -// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS -// IN THE SOFTWARE. - -#include "autoware_auto_geometry/interval.hpp" - -#include - -#include -#include -#include - -using autoware::common::geometry::Interval; -using autoware::common::geometry::Interval_d; -using autoware::common::geometry::Interval_f; - -namespace -{ -const auto Inf = std::numeric_limits::infinity(); -const auto Min = std::numeric_limits::lowest(); -const auto Max = std::numeric_limits::max(); -const auto NaN = std::numeric_limits::quiet_NaN(); -const auto epsilon = 1e-5; -} // namespace - -//------------------------------------------------------------------------------ - -TEST(GeometryInterval, AbsEq) -{ - const auto i1 = Interval_d(-1.0, 1.0); - const auto i2 = Interval_d(-1.0 + 0.5 * epsilon, 1.0 + 0.5 * epsilon); - const auto shift = (2.0 * epsilon); - const auto i3 = Interval_d(-1.0 + shift, 1.0 + shift); - const auto i_empty = Interval_d(); - - EXPECT_TRUE(Interval_d::abs_eq(i1, i1, epsilon)); - EXPECT_TRUE(Interval_d::abs_eq(i1, i2, epsilon)); - EXPECT_TRUE(Interval_d::abs_eq(i2, i1, epsilon)); - EXPECT_FALSE(Interval_d::abs_eq(i1, i3, epsilon)); - EXPECT_FALSE(Interval_d::abs_eq(i3, i1, epsilon)); - EXPECT_FALSE(Interval_d::abs_eq(i1, i_empty, epsilon)); - EXPECT_FALSE(Interval_d::abs_eq(i_empty, i1, epsilon)); - EXPECT_TRUE(Interval_d::abs_eq(i_empty, i_empty, epsilon)); -} - -//------------------------------------------------------------------------------ - -TEST(GeometryInterval, IsSubsetEq) -{ - EXPECT_TRUE(Interval_d::is_subset_eq(Interval_d(-0.5, 0.5), Interval_d(-1.0, 1.0))); - EXPECT_TRUE(Interval_d::is_subset_eq(Interval_d(3.2, 4.2), Interval_d(3.2, 4.2))); - EXPECT_FALSE(Interval_d::is_subset_eq(Interval_d(-3.0, -1.0), Interval_d(1.0, 3.0))); - EXPECT_FALSE(Interval_d::is_subset_eq(Interval_d(1.0, 3.0), Interval_d(2.0, 4.0))); - EXPECT_FALSE(Interval_d::is_subset_eq(Interval_d(), Interval_d())); -} - -//------------------------------------------------------------------------------ - -TEST(GeometryInterval, ClampTo) -{ - const auto i = Interval_d(-1.0, 1.0); - { - const auto val = 0.0; - const auto p = Interval_d::clamp_to(i, val); - EXPECT_EQ(p, val); - } - - { - const auto val = -3.4; - const auto p = Interval_d::clamp_to(i, val); - EXPECT_EQ(p, Interval_d::min(i)); - } - - { - const auto val = 2.7; - const auto p = Interval_d::clamp_to(i, val); - EXPECT_EQ(p, Interval_d::max(i)); - } - - const auto val = 1.0; - const auto empty_interval = Interval_d(); - const auto projected = Interval_d::clamp_to(empty_interval, val); - EXPECT_TRUE(std::isnan(projected)); -} - -//------------------------------------------------------------------------------ - -TEST(GeometryInterval, Comparisons) -{ - { - const auto i1 = Interval_d(0.25, 1); - const auto i2 = Interval_d(0, 1); - EXPECT_FALSE((i1 == i2)); - EXPECT_TRUE((i1 != i2)); - } - - { - const auto i1 = Interval_d(-0.25, 0.5); - const auto i2 = Interval_d(0, 1); - EXPECT_FALSE((i1 == i2)); - EXPECT_TRUE((i1 != i2)); - } - - { - const auto i1 = Interval_d(0, 0.5); - const auto i2 = Interval_d(0, 1); - EXPECT_FALSE((i1 == i2)); - EXPECT_TRUE((i1 != i2)); - } - - { - const auto i1 = Interval_d(0, 1); - const auto i2 = Interval_d(0, 1); - EXPECT_TRUE((i1 == i2)); - EXPECT_FALSE((i1 != i2)); - } - - { - const auto i1 = Interval_d(0, 1); - const auto i2 = Interval_d(); - EXPECT_FALSE((i1 == i2)); - EXPECT_TRUE((i1 != i2)); - } - - { - const auto i1 = Interval_d(); - const auto i2 = Interval_d(); - EXPECT_TRUE((i1 == i2)); - EXPECT_FALSE((i1 != i2)); - } -} - -//------------------------------------------------------------------------------ - -TEST(GeometryInterval, Contains) -{ - { - const auto i = Interval_d(); - EXPECT_FALSE(Interval_d::contains(i, 0.0)); - } - - { - const auto i = Interval_d(-1.0, 1.0); - EXPECT_TRUE(Interval_d::contains(i, 0.0)); - EXPECT_FALSE(Interval_d::contains(i, 2.0)); - } -} - -//------------------------------------------------------------------------------ - -TEST(GeometryInterval, Empty) -{ - { - const auto i1 = Interval_d(); - const auto i2 = Interval_d(); - const auto i3 = Interval_d::intersect(i1, i2); - EXPECT_TRUE(Interval_d::empty(i3)); - } - - { - const auto i1 = Interval_d(); - const auto i2 = Interval_d(0.0, 1.0); - const auto i3 = Interval_d::intersect(i1, i2); - EXPECT_TRUE(Interval_d::empty(i3)); - } -} - -//------------------------------------------------------------------------------ - -TEST(GeometryInterval, ZeroMeasure) -{ - { - const auto i = Interval_d(0, 1); - EXPECT_FALSE(Interval_d::zero_measure(i)); - } - - { - const auto i = Interval_d(); - EXPECT_FALSE(Interval_d::zero_measure(i)); - } - - { - const auto i = Interval_d(2, 2); - EXPECT_TRUE(Interval_d::zero_measure(i)); - } -} - -//------------------------------------------------------------------------------ - -TEST(GeometryInterval, IntersectionMeasure) -{ - { - const auto i1 = Interval_d(-1.0, 1.0); - const auto i2 = Interval_d(-0.5, 1.5); - const auto i = Interval_d::intersect(i1, i2); - EXPECT_EQ(Interval_d::min(i), -0.5); - EXPECT_EQ(Interval_d::max(i), 1.0); - EXPECT_NEAR(Interval_d::measure(i), 1.5, epsilon); - } - - { - const auto i1 = Interval_d(-2.0, -1.0); - const auto i2 = Interval_d(1.0, 2.0); - const auto i = Interval_d::intersect(i1, i2); - EXPECT_TRUE(Interval_d::empty(i)); - EXPECT_TRUE(std::isnan(Interval_d::min(i))); - EXPECT_TRUE(std::isnan(Interval_d::max(i))); - EXPECT_TRUE(std::isnan(Interval_d::measure(i))); - } -} - -//------------------------------------------------------------------------------ - -TEST(GeometryInterval, ConstructionMeasure) -{ - { - const auto i = Interval_d(); - EXPECT_TRUE(std::isnan(Interval_d::min(i))); - EXPECT_TRUE(std::isnan(Interval_d::max(i))); - EXPECT_TRUE(std::isnan(Interval_d::measure(i))); - } - - { - const auto i = Interval_d(-1.0, 1.0); - EXPECT_EQ(Interval_d::min(i), -1.0); - EXPECT_EQ(Interval_d::max(i), 1.0); - EXPECT_NEAR(Interval_d::measure(i), 2.0, epsilon); - } - - { - const auto i = Interval_d(0.0, 0.0); - EXPECT_EQ(Interval_d::min(i), 0.0); - EXPECT_EQ(Interval_d::max(i), 0.0); - EXPECT_FALSE(Interval_d::empty(i)); - EXPECT_EQ(Interval_d::measure(i), 0.0); - } - - { - EXPECT_THROW({ Interval_d(1.0, -1.0); }, std::runtime_error); - } -} - -//------------------------------------------------------------------------------ diff --git a/common/autoware_auto_perception_rviz_plugin/include/autoware_auto_perception_rviz_plugin/object_detection/object_polygon_detail.hpp b/common/autoware_auto_perception_rviz_plugin/include/autoware_auto_perception_rviz_plugin/object_detection/object_polygon_detail.hpp index 8c6ade475217a..4f545d194b2c2 100644 --- a/common/autoware_auto_perception_rviz_plugin/include/autoware_auto_perception_rviz_plugin/object_detection/object_polygon_detail.hpp +++ b/common/autoware_auto_perception_rviz_plugin/include/autoware_auto_perception_rviz_plugin/object_detection/object_polygon_detail.hpp @@ -57,6 +57,9 @@ struct ObjectPropertyValues float alpha{0.999F}; }; +// Control object marker visualization +enum class ObjectFillType { Skeleton, Fill }; + // Map defining colors according to value of label field in ObjectClassification msg const std::map< autoware_auto_perception_msgs::msg::ObjectClassification::_label_type, ObjectPropertyValues> @@ -87,7 +90,8 @@ get_shape_marker_ptr( const autoware_auto_perception_msgs::msg::Shape & shape_msg, const geometry_msgs::msg::Point & centroid, const geometry_msgs::msg::Quaternion & orientation, const std_msgs::msg::ColorRGBA & color_rgba, const double & line_width, - const bool & is_orientation_available = true); + const bool & is_orientation_available = true, + const ObjectFillType fill_type = ObjectFillType::Skeleton); AUTOWARE_AUTO_PERCEPTION_RVIZ_PLUGIN_PUBLIC visualization_msgs::msg::Marker::SharedPtr get_2d_shape_marker_ptr( diff --git a/common/autoware_auto_perception_rviz_plugin/include/autoware_auto_perception_rviz_plugin/object_detection/object_polygon_display_base.hpp b/common/autoware_auto_perception_rviz_plugin/include/autoware_auto_perception_rviz_plugin/object_detection/object_polygon_display_base.hpp index 4290fdff49bb3..1093f6e4f2414 100644 --- a/common/autoware_auto_perception_rviz_plugin/include/autoware_auto_perception_rviz_plugin/object_detection/object_polygon_display_base.hpp +++ b/common/autoware_auto_perception_rviz_plugin/include/autoware_auto_perception_rviz_plugin/object_detection/object_polygon_display_base.hpp @@ -112,6 +112,12 @@ class AUTOWARE_AUTO_PERCEPTION_RVIZ_PLUGIN_PUBLIC ObjectPolygonDisplayBase m_confidence_interval_property->addOption("95%", 2); m_confidence_interval_property->addOption("99%", 3); + m_object_fill_type_property = new rviz_common::properties::EnumProperty( + "Object Fill Type", "skeleton", "Change object fill type in visualization", this); + m_object_fill_type_property->addOption( + "skeleton", static_cast(detail::ObjectFillType::Skeleton)); + m_object_fill_type_property->addOption("Fill", static_cast(detail::ObjectFillType::Fill)); + // iterate over default values to create and initialize the properties. for (const auto & map_property_it : detail::kDefaultObjectPropertyValues) { const auto & class_property_values = map_property_it.second; @@ -189,9 +195,13 @@ class AUTOWARE_AUTO_PERCEPTION_RVIZ_PLUGIN_PUBLIC ObjectPolygonDisplayBase const bool & is_orientation_available) const { const std_msgs::msg::ColorRGBA color_rgba = get_color_rgba(labels); + const auto fill_type = + static_cast(m_object_fill_type_property->getOptionInt()); + if (m_display_type_property->getOptionInt() == 0) { return detail::get_shape_marker_ptr( - shape_msg, centroid, orientation, color_rgba, line_width, is_orientation_available); + shape_msg, centroid, orientation, color_rgba, line_width, is_orientation_available, + fill_type); } else if (m_display_type_property->getOptionInt() == 1) { return detail::get_2d_shape_marker_ptr( shape_msg, centroid, orientation, color_rgba, line_width, is_orientation_available); @@ -526,6 +536,8 @@ class AUTOWARE_AUTO_PERCEPTION_RVIZ_PLUGIN_PUBLIC ObjectPolygonDisplayBase rviz_common::properties::EnumProperty * m_simple_visualize_mode_property; // Property to set confidence interval of state estimations rviz_common::properties::EnumProperty * m_confidence_interval_property; + // Property to set visualization type + rviz_common::properties::EnumProperty * m_object_fill_type_property; // Property to enable/disable label visualization rviz_common::properties::BoolProperty m_display_label_property; // Property to enable/disable uuid visualization diff --git a/common/autoware_auto_perception_rviz_plugin/src/object_detection/object_polygon_detail.cpp b/common/autoware_auto_perception_rviz_plugin/src/object_detection/object_polygon_detail.cpp index 8be9d1c01332e..7631acffafdf9 100644 --- a/common/autoware_auto_perception_rviz_plugin/src/object_detection/object_polygon_detail.cpp +++ b/common/autoware_auto_perception_rviz_plugin/src/object_detection/object_polygon_detail.cpp @@ -495,23 +495,37 @@ visualization_msgs::msg::Marker::SharedPtr get_shape_marker_ptr( const autoware_auto_perception_msgs::msg::Shape & shape_msg, const geometry_msgs::msg::Point & centroid, const geometry_msgs::msg::Quaternion & orientation, const std_msgs::msg::ColorRGBA & color_rgba, const double & line_width, - const bool & is_orientation_available) + const bool & is_orientation_available, const ObjectFillType fill_type) { auto marker_ptr = std::make_shared(); marker_ptr->ns = std::string("shape"); + marker_ptr->color = color_rgba; + marker_ptr->scale.x = line_width; using autoware_auto_perception_msgs::msg::Shape; if (shape_msg.type == Shape::BOUNDING_BOX) { - marker_ptr->type = visualization_msgs::msg::Marker::LINE_LIST; - calc_bounding_box_line_list(shape_msg, marker_ptr->points); + if (fill_type == ObjectFillType::Skeleton) { + marker_ptr->type = visualization_msgs::msg::Marker::LINE_LIST; + calc_bounding_box_line_list(shape_msg, marker_ptr->points); + } else if (fill_type == ObjectFillType::Fill) { + marker_ptr->type = visualization_msgs::msg::Marker::CUBE; + marker_ptr->scale = shape_msg.dimensions; + marker_ptr->color.a = 0.75f; + } if (is_orientation_available) { calc_bounding_box_direction_line_list(shape_msg, marker_ptr->points); } else { calc_bounding_box_orientation_line_list(shape_msg, marker_ptr->points); } } else if (shape_msg.type == Shape::CYLINDER) { - marker_ptr->type = visualization_msgs::msg::Marker::LINE_LIST; - calc_cylinder_line_list(shape_msg, marker_ptr->points); + if (fill_type == ObjectFillType::Skeleton) { + marker_ptr->type = visualization_msgs::msg::Marker::LINE_LIST; + calc_cylinder_line_list(shape_msg, marker_ptr->points); + } else if (fill_type == ObjectFillType::Fill) { + marker_ptr->type = visualization_msgs::msg::Marker::CYLINDER; + marker_ptr->scale = shape_msg.dimensions; + marker_ptr->color.a = 0.75f; + } } else if (shape_msg.type == Shape::POLYGON) { marker_ptr->type = visualization_msgs::msg::Marker::LINE_LIST; calc_polygon_line_list(shape_msg, marker_ptr->points); @@ -523,8 +537,6 @@ visualization_msgs::msg::Marker::SharedPtr get_shape_marker_ptr( marker_ptr->action = visualization_msgs::msg::Marker::MODIFY; marker_ptr->pose = to_pose(centroid, orientation); marker_ptr->lifetime = rclcpp::Duration::from_seconds(0.15); - marker_ptr->scale.x = line_width; - marker_ptr->color = color_rgba; return marker_ptr; } diff --git a/common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/CMakeLists.txt b/common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/CMakeLists.txt new file mode 100644 index 0000000000000..8692ea1bb152a --- /dev/null +++ b/common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/CMakeLists.txt @@ -0,0 +1,108 @@ +cmake_minimum_required(VERSION 3.8) +project(autoware_mission_details_overlay_rviz_plugin) + +find_package(ament_cmake_auto REQUIRED) +ament_auto_find_build_dependencies() + +set( + headers_to_moc + include/mission_details_display.hpp +) + +set( + headers_to_not_moc + include/remaining_distance_time_display.hpp +) + +foreach(header "${headers_to_moc}") + qt5_wrap_cpp(display_moc_files "${header}") +endforeach() + +set( + display_source_files + src/overlay_utils.cpp + src/mission_details_display.cpp + src/remaining_distance_time_display.cpp +) + +add_library( + ${PROJECT_NAME} SHARED + ${display_moc_files} + ${headers_to_not_moc} + ${display_source_files} +) + +set_property(TARGET ${PROJECT_NAME} PROPERTY CXX_STANDARD 17) +target_compile_options(${PROJECT_NAME} PRIVATE -Wall -Wextra -Wpedantic) + +target_include_directories( + ${PROJECT_NAME} PUBLIC + $ + $ + ${Qt5Widgets_INCLUDE_DIRS} + ${OpenCV_INCLUDE_DIRS} +) + +target_link_libraries( + ${PROJECT_NAME} PUBLIC + rviz_ogre_vendor::OgreMain + rviz_ogre_vendor::OgreOverlay +) + +target_compile_definitions(${PROJECT_NAME} PRIVATE "${PROJECT_NAME}_BUILDING_LIBRARY") + +# prevent pluginlib from using boost +target_compile_definitions(${PROJECT_NAME} PUBLIC "PLUGINLIB__DISABLE_BOOST_FUNCTIONS") + +pluginlib_export_plugin_description_file(rviz_common plugins_description.xml) + +ament_target_dependencies( + ${PROJECT_NAME} + PUBLIC + rviz_common + rviz_rendering + autoware_internal_msgs +) + +ament_export_include_directories(include) +ament_export_targets(${PROJECT_NAME} HAS_LIBRARY_TARGET) +ament_export_dependencies( + rviz_common + rviz_ogre_vendor +) + +if(BUILD_TESTING) + find_package(ament_lint_auto REQUIRED) + ament_lint_auto_find_test_dependencies() +endif() + +install( + TARGETS ${PROJECT_NAME} + EXPORT ${PROJECT_NAME} + ARCHIVE DESTINATION lib + LIBRARY DESTINATION lib + RUNTIME DESTINATION bin + INCLUDES DESTINATION include +) + +install( + DIRECTORY include/ + DESTINATION include +) + +install( + TARGETS + DESTINATION lib/${PROJECT_NAME} +) + +# Copy the assets directory to the installation directory +install( + DIRECTORY assets/ + DESTINATION share/${PROJECT_NAME}/assets +) + +add_definitions(-DQT_NO_KEYWORDS) + +ament_package( + CONFIG_EXTRAS "autoware_mission_details_overlay_rviz_plugin-extras.cmake" +) diff --git a/common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/LICENSE b/common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/LICENSE new file mode 100644 index 0000000000000..a2fe2d3d1c7ed --- /dev/null +++ b/common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/LICENSE @@ -0,0 +1,12 @@ +Copyright (c) 2022, Team Spatzenhirn +Copyright (c) 2014, JSK Lab + +Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met: + +1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer. + +2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution. + +3. Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission. + +THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. diff --git a/common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/README.md b/common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/README.md new file mode 100644 index 0000000000000..3a4040a7065d0 --- /dev/null +++ b/common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/README.md @@ -0,0 +1,35 @@ +# autoware_mission_details_overlay_rviz_plugin + +This RViz plugin displays the remaining distance and time for the current mission. + +## Inputs / Outputs + +### Input + +| Name | Type | Description | +| ------------------------------------------- | ----------------------------------------------------------- | ---------------------------------------------------- | +| `/planning/mission_remaining_distance_time` | `autoware_planning_msgs::msg::MissionRemainingDistanceTime` | The topic is for mission remaining distance and time | + +## Overlay Parameters + +| Name | Type | Default Value | Description | +| -------- | ---- | ------------- | --------------------------------- | +| `Width` | int | 170 | Width of the overlay [px] | +| `Height` | int | 100 | Height of the overlay [px] | +| `Right` | int | 10 | Margin from the right border [px] | +| `Top` | int | 10 | Margin from the top border [px] | + +The mission details display is aligned with top right corner of the screen. + +## Usage + +Similar to [autoware_overlay_rviz_plugin](../autoware_overlay_rviz_plugin/README.md) + +## Credits + +Based on the [jsk_visualization](https://github.com/jsk-ros-pkg/jsk_visualization) package. + +### Icons + +- +- diff --git a/common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/assets/av_timer.png b/common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/assets/av_timer.png new file mode 100644 index 0000000000000..f7f5db1249511 Binary files /dev/null and b/common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/assets/av_timer.png differ diff --git a/common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/assets/font/Quicksand/LICENSE b/common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/assets/font/Quicksand/LICENSE new file mode 100644 index 0000000000000..cc04d393573f0 --- /dev/null +++ b/common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/assets/font/Quicksand/LICENSE @@ -0,0 +1,93 @@ +Copyright 2011 The Quicksand Project Authors (https://github.com/andrew-paglinawan/QuicksandFamily), with Reserved Font Name “Quicksand”. + +This Font Software is licensed under the SIL Open Font License, Version 1.1. +This license is copied below, and is also available with a FAQ at: +http://scripts.sil.org/OFL + + +----------------------------------------------------------- +SIL OPEN FONT LICENSE Version 1.1 - 26 February 2007 +----------------------------------------------------------- + +PREAMBLE +The goals of the Open Font License (OFL) are to stimulate worldwide +development of collaborative font projects, to support the font creation +efforts of academic and linguistic communities, and to provide a free and +open framework in which fonts may be shared and improved in partnership +with others. + +The OFL allows the licensed fonts to be used, studied, modified and +redistributed freely as long as they are not sold by themselves. The +fonts, including any derivative works, can be bundled, embedded, +redistributed and/or sold with any software provided that any reserved +names are not used by derivative works. The fonts and derivatives, +however, cannot be released under any other type of license. The +requirement for fonts to remain under this license does not apply +to any document created using the fonts or their derivatives. + +DEFINITIONS +"Font Software" refers to the set of files released by the Copyright +Holder(s) under this license and clearly marked as such. This may +include source files, build scripts and documentation. + +"Reserved Font Name" refers to any names specified as such after the +copyright statement(s). + +"Original Version" refers to the collection of Font Software components as +distributed by the Copyright Holder(s). + +"Modified Version" refers to any derivative made by adding to, deleting, +or substituting -- in part or in whole -- any of the components of the +Original Version, by changing formats or by porting the Font Software to a +new environment. + +"Author" refers to any designer, engineer, programmer, technical +writer or other person who contributed to the Font Software. + +PERMISSION & CONDITIONS +Permission is hereby granted, free of charge, to any person obtaining +a copy of the Font Software, to use, study, copy, merge, embed, modify, +redistribute, and sell modified and unmodified copies of the Font +Software, subject to the following conditions: + +1) Neither the Font Software nor any of its individual components, +in Original or Modified Versions, may be sold by itself. + +2) Original or Modified Versions of the Font Software may be bundled, +redistributed and/or sold with any software, provided that each copy +contains the above copyright notice and this license. These can be +included either as stand-alone text files, human-readable headers or +in the appropriate machine-readable metadata fields within text or +binary files as long as those fields can be easily viewed by the user. + +3) No Modified Version of the Font Software may use the Reserved Font +Name(s) unless explicit written permission is granted by the corresponding +Copyright Holder. This restriction only applies to the primary font name as +presented to the users. + +4) The name(s) of the Copyright Holder(s) or the Author(s) of the Font +Software shall not be used to promote, endorse or advertise any +Modified Version, except to acknowledge the contribution(s) of the +Copyright Holder(s) and the Author(s) or with their explicit written +permission. + +5) The Font Software, modified or unmodified, in part or in whole, +must be distributed entirely under this license, and must not be +distributed under any other license. The requirement for fonts to +remain under this license does not apply to any document created +using the Font Software. + +TERMINATION +This license becomes null and void if any of the above conditions are +not met. + +DISCLAIMER +THE FONT SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, +EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO ANY WARRANTIES OF +MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT +OF COPYRIGHT, PATENT, TRADEMARK, OR OTHER RIGHT. IN NO EVENT SHALL THE +COPYRIGHT HOLDER BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, +INCLUDING ANY GENERAL, SPECIAL, INDIRECT, INCIDENTAL, OR CONSEQUENTIAL +DAMAGES, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING +FROM, OUT OF THE USE OR INABILITY TO USE THE FONT SOFTWARE OR FROM +OTHER DEALINGS IN THE FONT SOFTWARE. diff --git a/common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/assets/font/Quicksand/static/Quicksand-Bold.ttf b/common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/assets/font/Quicksand/static/Quicksand-Bold.ttf new file mode 100644 index 0000000000000..07d5127c04b17 Binary files /dev/null and b/common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/assets/font/Quicksand/static/Quicksand-Bold.ttf differ diff --git a/common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/assets/font/Quicksand/static/Quicksand-Regular.ttf b/common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/assets/font/Quicksand/static/Quicksand-Regular.ttf new file mode 100644 index 0000000000000..60323ed6abdf1 Binary files /dev/null and b/common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/assets/font/Quicksand/static/Quicksand-Regular.ttf differ diff --git a/common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/assets/path.png b/common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/assets/path.png new file mode 100644 index 0000000000000..62af338b8c053 Binary files /dev/null and b/common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/assets/path.png differ diff --git a/common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin-extras.cmake b/common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin-extras.cmake new file mode 100644 index 0000000000000..9d6f156555e57 --- /dev/null +++ b/common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin-extras.cmake @@ -0,0 +1,31 @@ +# Copyright (c) 2021, Open Source Robotics Foundation, Inc. All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions are met: +# +# * Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# +# * Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in the +# documentation and/or other materials provided with the distribution. +# +# * Neither the name of the copyright holder nor the names of its +# contributors may be used to endorse or promote products derived from +# this software without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE +# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. + +# find package Qt5 because otherwise using the rviz_default_plugins::rviz_default_plugins +# exported target will complain that the Qt5::Widgets target does not exist +find_package(Qt5 REQUIRED QUIET COMPONENTS Widgets) diff --git a/common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/include/mission_details_display.hpp b/common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/include/mission_details_display.hpp new file mode 100644 index 0000000000000..ab5abfe3c3d83 --- /dev/null +++ b/common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/include/mission_details_display.hpp @@ -0,0 +1,83 @@ +// Copyright 2024 The Autoware Contributors +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#ifndef MISSION_DETAILS_DISPLAY_HPP_ +#define MISSION_DETAILS_DISPLAY_HPP_ +#ifndef Q_MOC_RUN +#include "overlay_utils.hpp" +#include "remaining_distance_time_display.hpp" + +#include +#include +#include +#include +#include +#include +#include + +#include +#include +#include + +#include +#include +#endif + +namespace autoware::mission_details_overlay_rviz_plugin +{ +class MissionDetailsDisplay : public rviz_common::Display +{ + Q_OBJECT +public: + MissionDetailsDisplay(); + ~MissionDetailsDisplay() override; + +protected: + void onInitialize() override; + void update(float wall_dt, float ros_dt) override; + void reset() override; + void onEnable() override; + void onDisable() override; + +private Q_SLOTS: + void update_size(); + void topic_updated_remaining_distance_time(); + +private: + std::mutex mutex_; + autoware::mission_details_overlay_rviz_plugin::OverlayObject::SharedPtr overlay_; + rviz_common::properties::IntProperty * property_width_; + rviz_common::properties::IntProperty * property_height_; + rviz_common::properties::IntProperty * property_right_; + rviz_common::properties::IntProperty * property_top_; + std::unique_ptr + remaining_distance_time_topic_property_; + + void draw_rounded_rect(QPainter & painter, const QRectF & backgroundRect); + void setupRosSubscriptions(); + + std::unique_ptr remaining_distance_time_display_; + + rclcpp::Subscription::SharedPtr + remaining_distance_time_sub_; + + std::mutex property_mutex_; + + void cb_remaining_distance_time( + const autoware_internal_msgs::msg::MissionRemainingDistanceTime::ConstSharedPtr & msg); + void draw_widget(QImage & hud); +}; +} // namespace autoware::mission_details_overlay_rviz_plugin + +#endif // MISSION_DETAILS_DISPLAY_HPP_ diff --git a/common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/include/overlay_utils.hpp b/common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/include/overlay_utils.hpp new file mode 100644 index 0000000000000..a0344f872f524 --- /dev/null +++ b/common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/include/overlay_utils.hpp @@ -0,0 +1,131 @@ +// Copyright 2024 The Autoware Contributors +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +// -*- mode: c++ -*- +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2022, Team Spatzenhirn + * Copyright (c) 2014, JSK Lab + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/o2r other materials provided + * with the distribution. + * * Neither the name of the JSK Lab nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ + +#ifndef OVERLAY_UTILS_HPP_ +#define OVERLAY_UTILS_HPP_ + +#include +#include + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include +#include + +namespace autoware::mission_details_overlay_rviz_plugin +{ +class OverlayObject; + +class ScopedPixelBuffer +{ +public: + explicit ScopedPixelBuffer(Ogre::HardwarePixelBufferSharedPtr pixel_buffer); + virtual ~ScopedPixelBuffer(); + virtual Ogre::HardwarePixelBufferSharedPtr getPixelBuffer(); + virtual QImage getQImage(unsigned int width, unsigned int height); + virtual QImage getQImage(OverlayObject & overlay); + virtual QImage getQImage(unsigned int width, unsigned int height, QColor & bg_color); + virtual QImage getQImage(OverlayObject & overlay, QColor & bg_color); + +protected: + Ogre::HardwarePixelBufferSharedPtr pixel_buffer_; +}; + +enum class VerticalAlignment : uint8_t { CENTER, TOP, BOTTOM }; + +enum class HorizontalAlignment : uint8_t { LEFT, RIGHT, CENTER }; + +/** + * Helper class for realizing an overlay object on top of the rviz 3D panel. + * + * This class is supposed to be instantiated in the onInitialize method of the + * rviz_common::Display class. + */ +class OverlayObject +{ +public: + using SharedPtr = std::shared_ptr; + + explicit OverlayObject(const std::string & name); + virtual ~OverlayObject(); + + virtual std::string getName() const; + virtual void hide(); + virtual void show(); + virtual bool isTextureReady() const; + virtual void updateTextureSize(unsigned int width, unsigned int height); + virtual ScopedPixelBuffer getBuffer(); + virtual void setPosition( + double hor_dist, double ver_dist, HorizontalAlignment hor_alignment = HorizontalAlignment::LEFT, + VerticalAlignment ver_alignment = VerticalAlignment::TOP); + virtual void setDimensions(double width, double height); + virtual bool isVisible() const; + virtual unsigned int getTextureWidth() const; + virtual unsigned int getTextureHeight() const; + +protected: + const std::string name_; + Ogre::Overlay * overlay_; + Ogre::PanelOverlayElement * panel_; + Ogre::MaterialPtr panel_material_; + Ogre::TexturePtr texture_; +}; +} // namespace autoware::mission_details_overlay_rviz_plugin + +#endif // OVERLAY_UTILS_HPP_ diff --git a/common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/include/remaining_distance_time_display.hpp b/common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/include/remaining_distance_time_display.hpp new file mode 100644 index 0000000000000..843b75e352648 --- /dev/null +++ b/common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/include/remaining_distance_time_display.hpp @@ -0,0 +1,57 @@ +// Copyright 2024 The Autoware Contributors +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#ifndef REMAINING_DISTANCE_TIME_DISPLAY_HPP_ +#define REMAINING_DISTANCE_TIME_DISPLAY_HPP_ +#include "overlay_utils.hpp" + +#include +#include +#include +#include +#include +#include + +#include + +#include +#include +#include + +namespace autoware::mission_details_overlay_rviz_plugin +{ + +class RemainingDistanceTimeDisplay +{ +public: + RemainingDistanceTimeDisplay(); + void drawRemainingDistanceTimeDisplay(QPainter & painter, const QRectF & backgroundRect); + void updateRemainingDistanceTimeData( + const autoware_internal_msgs::msg::MissionRemainingDistanceTime::ConstSharedPtr & msg); + +private: + double remaining_distance_; // Internal variable to store remaining distance + double remaining_time_; // Internal variable to store remaining time + + QColor gray = QColor(194, 194, 194); + + QImage icon_dist_; + QImage icon_dist_scaled_; + QImage icon_time_; + QImage icon_time_scaled_; +}; + +} // namespace autoware::mission_details_overlay_rviz_plugin + +#endif // REMAINING_DISTANCE_TIME_DISPLAY_HPP_ diff --git a/common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/package.xml b/common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/package.xml new file mode 100644 index 0000000000000..1054ac4f516bd --- /dev/null +++ b/common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/package.xml @@ -0,0 +1,28 @@ + + + + autoware_mission_details_overlay_rviz_plugin + 0.0.1 + + RViz2 plugin for 2D overlays for mission details in the 3D view. Mainly a port of the JSK overlay plugin + (https://github.com/jsk-ros-pkg/jsk_visualization). + + Ahmed Ebrahim + + BSD-3-Clause + + autoware_internal_msgs + boost + rviz_common + rviz_ogre_vendor + rviz_rendering + + ament_lint_auto + autoware_lint_common + + ament_cmake_auto + + + ament_cmake + + diff --git a/common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/plugins_description.xml b/common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/plugins_description.xml new file mode 100644 index 0000000000000..5177b10859704 --- /dev/null +++ b/common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/plugins_description.xml @@ -0,0 +1,5 @@ + + + Mission Details overlay plugin for the 3D view. + + diff --git a/common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/src/mission_details_display.cpp b/common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/src/mission_details_display.cpp new file mode 100644 index 0000000000000..bafae1727b2f1 --- /dev/null +++ b/common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/src/mission_details_display.cpp @@ -0,0 +1,212 @@ +// Copyright 2024 The Autoware Contributors +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "mission_details_display.hpp" + +#include +#include +#include +#include +#include + +#include +#include +#include +#include +#include + +namespace autoware::mission_details_overlay_rviz_plugin +{ + +MissionDetailsDisplay::MissionDetailsDisplay() +{ + property_width_ = new rviz_common::properties::IntProperty( + "Width", 170, "Width of the overlay", this, SLOT(update_size())); + property_height_ = new rviz_common::properties::IntProperty( + "Height", 100, "Height of the overlay", this, SLOT(update_size())); + property_right_ = new rviz_common::properties::IntProperty( + "Right", 10, "Margin from the right border", this, SLOT(update_size())); + property_top_ = new rviz_common::properties::IntProperty( + "Top", 10, "Margin from the top border", this, SLOT(update_size())); + + // Initialize the component displays + remaining_distance_time_display_ = std::make_unique(); +} + +void MissionDetailsDisplay::onInitialize() +{ + std::lock_guard lock(property_mutex_); + + rviz_common::Display::onInitialize(); + rviz_rendering::RenderSystem::get()->prepareOverlays(scene_manager_); + static int count = 0; + std::stringstream ss; + ss << "MissionDetailsDisplay" << count++; + overlay_ = + std::make_shared(ss.str()); + overlay_->show(); + update_size(); + + auto rviz_ros_node = context_->getRosNodeAbstraction(); + + remaining_distance_time_topic_property_ = + std::make_unique( + "Remaining Distance and Time Topic", "/planning/mission_remaining_distance_time", + "autoware_internal_msgs/msg/MissionRemainingDistanceTime", + "Topic for Mission Remaining Distance and Time Data", this, + SLOT(topic_updated_remaining_distance_time())); + remaining_distance_time_topic_property_->initialize(rviz_ros_node); +} + +void MissionDetailsDisplay::setupRosSubscriptions() +{ + // Don't create a node, just use the one from the parent class + auto rviz_node_ = context_->getRosNodeAbstraction().lock()->get_raw_node(); + + remaining_distance_time_sub_ = + rviz_node_->create_subscription( + remaining_distance_time_topic_property_->getTopicStd(), + rclcpp::QoS(rclcpp::KeepLast(10)).durability_volatile().reliable(), + [this](const autoware_internal_msgs::msg::MissionRemainingDistanceTime::SharedPtr msg) { + cb_remaining_distance_time(msg); + }); +} + +MissionDetailsDisplay::~MissionDetailsDisplay() +{ + std::lock_guard lock(property_mutex_); + overlay_.reset(); + + remaining_distance_time_sub_.reset(); + remaining_distance_time_display_.reset(); + remaining_distance_time_topic_property_.reset(); +} + +// mark maybe unused +void MissionDetailsDisplay::update(float wall_dt, float ros_dt) +{ + (void)wall_dt; // Mark as unused + (void)ros_dt; // Mark as unused + + if (!overlay_) { + return; + } + autoware::mission_details_overlay_rviz_plugin::ScopedPixelBuffer buffer = overlay_->getBuffer(); + QImage hud = buffer.getQImage(*overlay_); + hud.fill(Qt::transparent); + draw_widget(hud); +} + +void MissionDetailsDisplay::onEnable() +{ + std::lock_guard lock(property_mutex_); + if (overlay_) { + overlay_->show(); + } + setupRosSubscriptions(); +} + +void MissionDetailsDisplay::onDisable() +{ + std::lock_guard lock(property_mutex_); + + remaining_distance_time_sub_.reset(); + + if (overlay_) { + overlay_->hide(); + } +} + +void MissionDetailsDisplay::cb_remaining_distance_time( + const autoware_internal_msgs::msg::MissionRemainingDistanceTime::ConstSharedPtr & msg) +{ + std::lock_guard lock(property_mutex_); + + if (remaining_distance_time_display_) { + remaining_distance_time_display_->updateRemainingDistanceTimeData(msg); + queueRender(); + } +} + +void MissionDetailsDisplay::draw_widget(QImage & hud) +{ + std::lock_guard lock(property_mutex_); + + if (!overlay_->isVisible()) { + return; + } + + QPainter painter(&hud); + painter.setRenderHint(QPainter::Antialiasing, true); + + QRectF backgroundRect(0, 0, qreal(property_width_->getInt()), qreal(property_height_->getInt())); + draw_rounded_rect(painter, backgroundRect); + + if (remaining_distance_time_display_) { + remaining_distance_time_display_->drawRemainingDistanceTimeDisplay(painter, backgroundRect); + } + + painter.end(); +} + +void MissionDetailsDisplay::draw_rounded_rect(QPainter & painter, const QRectF & backgroundRect) +{ + painter.setRenderHint(QPainter::Antialiasing, true); + QColor colorFromHSV; + colorFromHSV.setHsv(0, 0, 29); + colorFromHSV.setAlphaF(0.60); + + painter.setBrush(colorFromHSV); + + painter.setPen(Qt::NoPen); + painter.drawRoundedRect(backgroundRect, backgroundRect.height() / 2, backgroundRect.height() / 2); +} + +void MissionDetailsDisplay::reset() +{ + rviz_common::Display::reset(); + overlay_->hide(); +} + +void MissionDetailsDisplay::update_size() +{ + std::lock_guard lock(mutex_); + overlay_->updateTextureSize(property_width_->getInt(), property_height_->getInt()); + overlay_->setDimensions(overlay_->getTextureWidth(), overlay_->getTextureHeight()); + overlay_->setPosition( + property_right_->getInt(), property_top_->getInt(), HorizontalAlignment::RIGHT, + VerticalAlignment::TOP); + queueRender(); +} + +void MissionDetailsDisplay::topic_updated_remaining_distance_time() +{ + // resubscribe to the topic + remaining_distance_time_sub_.reset(); + auto rviz_ros_node = context_->getRosNodeAbstraction().lock(); + remaining_distance_time_sub_ = + rviz_ros_node->get_raw_node() + ->create_subscription( + remaining_distance_time_topic_property_->getTopicStd(), + rclcpp::QoS(rclcpp::KeepLast(10)).durability_volatile().reliable(), + [this](const autoware_internal_msgs::msg::MissionRemainingDistanceTime::SharedPtr msg) { + cb_remaining_distance_time(msg); + }); +} + +} // namespace autoware::mission_details_overlay_rviz_plugin + +#include +PLUGINLIB_EXPORT_CLASS( + autoware::mission_details_overlay_rviz_plugin::MissionDetailsDisplay, rviz_common::Display) diff --git a/common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/src/overlay_utils.cpp b/common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/src/overlay_utils.cpp new file mode 100644 index 0000000000000..68813a5f1140f --- /dev/null +++ b/common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/src/overlay_utils.cpp @@ -0,0 +1,267 @@ +// Copyright 2024 The Autoware Contributors +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +// -*- mode: c++ -*- +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2022, Team Spatzenhirn + * Copyright (c) 2014, JSK Lab + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/o2r other materials provided + * with the distribution. + * * Neither the name of the JSK Lab nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ + +#include "overlay_utils.hpp" + +#include + +namespace autoware::mission_details_overlay_rviz_plugin +{ +ScopedPixelBuffer::ScopedPixelBuffer(Ogre::HardwarePixelBufferSharedPtr pixel_buffer) +: pixel_buffer_(pixel_buffer) +{ + pixel_buffer_->lock(Ogre::HardwareBuffer::HBL_NORMAL); +} + +ScopedPixelBuffer::~ScopedPixelBuffer() +{ + pixel_buffer_->unlock(); +} + +Ogre::HardwarePixelBufferSharedPtr ScopedPixelBuffer::getPixelBuffer() +{ + return pixel_buffer_; +} + +QImage ScopedPixelBuffer::getQImage(unsigned int width, unsigned int height) +{ + const Ogre::PixelBox & pixelBox = pixel_buffer_->getCurrentLock(); + Ogre::uint8 * pDest = static_cast(pixelBox.data); + memset(pDest, 0, width * height); + return QImage(pDest, width, height, QImage::Format_ARGB32); +} + +QImage ScopedPixelBuffer::getQImage(unsigned int width, unsigned int height, QColor & bg_color) +{ + QImage Hud = getQImage(width, height); + for (unsigned int i = 0; i < width; i++) { + for (unsigned int j = 0; j < height; j++) { + Hud.setPixel(i, j, bg_color.rgba()); + } + } + return Hud; +} + +QImage ScopedPixelBuffer::getQImage(OverlayObject & overlay) +{ + return getQImage(overlay.getTextureWidth(), overlay.getTextureHeight()); +} + +QImage ScopedPixelBuffer::getQImage(OverlayObject & overlay, QColor & bg_color) +{ + return getQImage(overlay.getTextureWidth(), overlay.getTextureHeight(), bg_color); +} + +OverlayObject::OverlayObject(const std::string & name) : name_(name) +{ + std::string material_name = name_ + "Material"; + Ogre::OverlayManager * mOverlayMgr = Ogre::OverlayManager::getSingletonPtr(); + overlay_ = mOverlayMgr->create(name_); + panel_ = static_cast( + mOverlayMgr->createOverlayElement("Panel", name_ + "Panel")); + panel_->setMetricsMode(Ogre::GMM_PIXELS); + + panel_material_ = Ogre::MaterialManager::getSingleton().create( + material_name, Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME); + panel_->setMaterialName(panel_material_->getName()); + overlay_->add2D(panel_); +} + +OverlayObject::~OverlayObject() +{ + Ogre::OverlayManager * mOverlayMgr = Ogre::OverlayManager::getSingletonPtr(); + if (mOverlayMgr) { + mOverlayMgr->destroyOverlayElement(panel_); + mOverlayMgr->destroy(overlay_); + } + if (panel_material_) { + panel_material_->unload(); + Ogre::MaterialManager::getSingleton().remove(panel_material_->getName()); + } +} + +std::string OverlayObject::getName() const +{ + return name_; +} + +void OverlayObject::hide() +{ + if (overlay_->isVisible()) { + overlay_->hide(); + } +} + +void OverlayObject::show() +{ + if (!overlay_->isVisible()) { + overlay_->show(); + } +} + +bool OverlayObject::isTextureReady() const +{ + return texture_ != nullptr; +} + +void OverlayObject::updateTextureSize(unsigned int width, unsigned int height) +{ + const std::string texture_name = name_ + "Texture"; + if (width == 0) { + RVIZ_COMMON_LOG_WARNING_STREAM("[OverlayObject] width=0 is specified as texture size"); + width = 1; + } + + if (height == 0) { + RVIZ_COMMON_LOG_WARNING_STREAM("[OverlayObject] height=0 is specified as texture size"); + height = 1; + } + + if (!isTextureReady() || ((width != texture_->getWidth()) || (height != texture_->getHeight()))) { + if (isTextureReady()) { + Ogre::TextureManager::getSingleton().remove(texture_name); + panel_material_->getTechnique(0)->getPass(0)->removeAllTextureUnitStates(); + } + + texture_ = Ogre::TextureManager::getSingleton().createManual( + texture_name, // name + Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME, + Ogre::TEX_TYPE_2D, // type + width, height, // width & height of the render window + 0, // number of mipmaps + Ogre::PF_A8R8G8B8, // pixel format chosen to match a format Qt can use + Ogre::TU_DEFAULT // usage + ); + panel_material_->getTechnique(0)->getPass(0)->createTextureUnitState(texture_name); + + panel_material_->getTechnique(0)->getPass(0)->setSceneBlending(Ogre::SBT_TRANSPARENT_ALPHA); + } +} + +ScopedPixelBuffer OverlayObject::getBuffer() +{ + if (isTextureReady()) { + return ScopedPixelBuffer(texture_->getBuffer()); + } else { + return ScopedPixelBuffer(Ogre::HardwarePixelBufferSharedPtr()); + } +} + +void OverlayObject::setPosition( + double hor_dist, double ver_dist, HorizontalAlignment hor_alignment, + VerticalAlignment ver_alignment) +{ + // ogre position is always based on the top left corner of the panel, while our position input + // depends on the chosen alignment, i.e. if the horizontal alignment is right, increasing the + // horizontal dist moves the panel to the left (further away from the right border) + double left = 0; + double top = 0; + + switch (hor_alignment) { + case HorizontalAlignment::LEFT: + panel_->setHorizontalAlignment(Ogre::GuiHorizontalAlignment::GHA_LEFT); + left = hor_dist; + break; + case HorizontalAlignment::CENTER: + panel_->setHorizontalAlignment(Ogre::GuiHorizontalAlignment::GHA_CENTER); + left = hor_dist - panel_->getWidth() / 2; + break; + case HorizontalAlignment::RIGHT: + panel_->setHorizontalAlignment(Ogre::GuiHorizontalAlignment::GHA_RIGHT); + left = -hor_dist - panel_->getWidth(); + break; + } + + switch (ver_alignment) { + case VerticalAlignment::BOTTOM: + panel_->setVerticalAlignment(Ogre::GuiVerticalAlignment::GVA_BOTTOM); + top = -ver_dist - panel_->getHeight(); + break; + case VerticalAlignment::CENTER: + panel_->setVerticalAlignment(Ogre::GuiVerticalAlignment::GVA_CENTER); + top = ver_dist - panel_->getHeight() / 2; + break; + case VerticalAlignment::TOP: + panel_->setVerticalAlignment(Ogre::GuiVerticalAlignment::GVA_TOP); + top = ver_dist; + break; + } + + panel_->setPosition(left, top); +} + +void OverlayObject::setDimensions(double width, double height) +{ + panel_->setDimensions(width, height); +} + +bool OverlayObject::isVisible() const +{ + return overlay_->isVisible(); +} + +unsigned int OverlayObject::getTextureWidth() const +{ + if (isTextureReady()) { + return texture_->getWidth(); + } else { + return 0; + } +} + +unsigned int OverlayObject::getTextureHeight() const +{ + if (isTextureReady()) { + return texture_->getHeight(); + } else { + return 0; + } +} +} // namespace autoware::mission_details_overlay_rviz_plugin diff --git a/common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/src/remaining_distance_time_display.cpp b/common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/src/remaining_distance_time_display.cpp new file mode 100644 index 0000000000000..86395ef1918bc --- /dev/null +++ b/common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/src/remaining_distance_time_display.cpp @@ -0,0 +1,157 @@ +// Copyright 2024 The Autoware Contributors +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "remaining_distance_time_display.hpp" + +#include +#include +#include +#include + +#include + +#include +#include +#include +#include + +namespace autoware::mission_details_overlay_rviz_plugin +{ + +RemainingDistanceTimeDisplay::RemainingDistanceTimeDisplay() +: remaining_distance_(0.0), remaining_time_(0.0) +{ + std::string package_path = + ament_index_cpp::get_package_share_directory("autoware_mission_details_overlay_rviz_plugin"); + std::string font_path = package_path + "/assets/font/Quicksand/static/Quicksand-Regular.ttf"; + std::string font_path2 = package_path + "/assets/font/Quicksand/static/Quicksand-Bold.ttf"; + int fontId = QFontDatabase::addApplicationFont( + font_path.c_str()); // returns -1 on failure (see docs for more info) + int fontId2 = QFontDatabase::addApplicationFont( + font_path2.c_str()); // returns -1 on failure (see docs for more info) + if (fontId == -1 || fontId2 == -1) { + std::cout << "Failed to load the Quicksand font."; + } + + std::string dist_image = package_path + "/assets/path.png"; + std::string time_image = package_path + "/assets/av_timer.png"; + icon_dist_.load(dist_image.c_str()); + icon_time_.load(time_image.c_str()); + icon_dist_scaled_ = icon_dist_.scaled(28, 28, Qt::KeepAspectRatio, Qt::SmoothTransformation); + icon_time_scaled_ = icon_time_.scaled(28, 28, Qt::KeepAspectRatio, Qt::SmoothTransformation); +} + +void RemainingDistanceTimeDisplay::updateRemainingDistanceTimeData( + const autoware_internal_msgs::msg::MissionRemainingDistanceTime::ConstSharedPtr & msg) +{ + remaining_distance_ = msg->remaining_distance; + remaining_time_ = msg->remaining_time; +} + +void RemainingDistanceTimeDisplay::drawRemainingDistanceTimeDisplay( + QPainter & painter, const QRectF & backgroundRect) +{ + const QFont font("Quicksand", 15, QFont::Bold); + painter.setFont(font); + + // We'll display the distance and time in two rows + + auto calculate_inner_rect = [](const QRectF & outer_rect, double ratio_x, double ratio_y) { + QSizeF size_inner(outer_rect.width() * ratio_x, outer_rect.height() * ratio_y); + QPointF top_left_inner = QPointF( + outer_rect.center().x() - size_inner.width() / 2, + outer_rect.center().y() - size_inner.height() / 2); + return QRectF(top_left_inner, size_inner); + }; + + QRectF rect_inner = calculate_inner_rect(backgroundRect, 0.7, 0.7); + // Proportionally extend the rect to the right to account for visual icon distance to the left + rect_inner.setWidth(rect_inner.width() * 1.08); + + // Calculate distance row rectangle + const QSizeF distance_row_size(rect_inner.width(), rect_inner.height() / 2); + const QPointF distance_row_top_left(rect_inner.topLeft()); + const QRectF distance_row_rect_outer(distance_row_top_left, distance_row_size); + + // Calculate time row rectangle + const QSizeF time_row_size(rect_inner.width(), rect_inner.height() / 2); + const QPointF time_row_top_left( + rect_inner.topLeft().x(), rect_inner.topLeft().y() + rect_inner.height() / 2); + const QRectF time_row_rect_outer(time_row_top_left, time_row_size); + + const auto rect_time = calculate_inner_rect(time_row_rect_outer, 1.0, 0.9); + const auto rect_dist = calculate_inner_rect(distance_row_rect_outer, 1.0, 0.9); + + auto place_row = [&, this]( + const QRectF & rect, const QImage & icon, const QString & str_value, + const QString & str_unit) { + // order: icon, value, unit + + // place the icon + QPointF icon_top_left(rect.topLeft().x(), rect.center().y() - icon.height() / 2.0); + painter.drawImage(icon_top_left, icon); + + // place the unit text + const float unit_width = 40.0; + QRectF rect_text_unit( + rect.topRight().x() - unit_width, rect.topRight().y(), unit_width, rect.height()); + + painter.setPen(gray); + painter.drawText(rect_text_unit, Qt::AlignLeft | Qt::AlignVCenter, str_unit); + + // place the value text + const double margin_x = 5.0; // margin around the text + + const double used_width = icon.width() + rect_text_unit.width() + margin_x * 2.0; + + QRectF rect_text( + rect.topLeft().x() + icon.width() + margin_x, rect.topLeft().y(), rect.width() - used_width, + rect.height()); + + painter.drawText(rect_text, Qt::AlignRight | Qt::AlignVCenter, str_value); + }; + + // remaining_time_ is in seconds + if (remaining_time_ <= 60) { + place_row(rect_time, icon_time_scaled_, QString::number(remaining_time_, 'f', 0), "sec"); + } else if (remaining_time_ <= 600) { + place_row(rect_time, icon_time_scaled_, QString::number(remaining_time_ / 60.0, 'f', 1), "min"); + } else if (remaining_time_ <= 3600) { + place_row(rect_time, icon_time_scaled_, QString::number(remaining_time_ / 60.0, 'f', 0), "min"); + } else if (remaining_time_ <= 36000) { + place_row( + rect_time, icon_time_scaled_, QString::number(remaining_time_ / 3600.0, 'f', 1), "hrs"); + } else { + place_row( + rect_time, icon_time_scaled_, QString::number(remaining_time_ / 3600.0, 'f', 0), "hrs"); + } + + // remaining_distance_ is in meters + if (remaining_distance_ <= 10) { + place_row(rect_dist, icon_dist_scaled_, QString::number(remaining_distance_, 'f', 1), "m"); + } else if (remaining_distance_ <= 1000) { + place_row(rect_dist, icon_dist_scaled_, QString::number(remaining_distance_, 'f', 0), "m"); + } else if (remaining_distance_ <= 10000) { + place_row( + rect_dist, icon_dist_scaled_, QString::number(remaining_distance_ / 1000.0, 'f', 2), "km"); + } else if (remaining_distance_ <= 100000) { + place_row( + rect_dist, icon_dist_scaled_, QString::number(remaining_distance_ / 1000.0, 'f', 1), "km"); + } else { + place_row( + rect_dist, icon_dist_scaled_, QString::number(remaining_distance_ / 1000.0, 'f', 0), "km"); + } +} + +} // namespace autoware::mission_details_overlay_rviz_plugin diff --git a/common/autoware_overlay_rviz_plugin/autoware_overlay_msgs/CHANGELOG.rst b/common/autoware_overlay_rviz_plugin/autoware_overlay_msgs/CHANGELOG.rst deleted file mode 100644 index e7672ee001955..0000000000000 --- a/common/autoware_overlay_rviz_plugin/autoware_overlay_msgs/CHANGELOG.rst +++ /dev/null @@ -1,24 +0,0 @@ -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Changelog for package rviz_2d_overlay_msgs -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ - -1.3.0 (2023-05-18) ------------------- -* Removed old position message fields -* Contributors: Dominik, Jonas Otto - -1.2.1 (2022-09-30) ------------------- - -1.2.0 (2022-09-27) ------------------- -* Rename package from overlay_rviz_msgs to rviz_2d_overlay_msgs -* Contributors: Jonas Otto - -1.1.0 (2022-09-11) ------------------- - -1.0.0 (2022-08-30) ------------------- -* Create OverlayText message (currently same as jsk_rviz_plugins) -* Contributors: Jonas Otto, Dominik Authaler diff --git a/common/autoware_overlay_rviz_plugin/autoware_overlay_msgs/CMakeLists.txt b/common/autoware_overlay_rviz_plugin/autoware_overlay_msgs/CMakeLists.txt deleted file mode 100644 index e23a4e755cbc4..0000000000000 --- a/common/autoware_overlay_rviz_plugin/autoware_overlay_msgs/CMakeLists.txt +++ /dev/null @@ -1,19 +0,0 @@ -cmake_minimum_required(VERSION 3.5) -project(autoware_overlay_msgs) - -if (NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 17) -endif () - - -# find dependencies -find_package(ament_cmake REQUIRED) -find_package(rosidl_default_generators REQUIRED) -find_package(std_msgs REQUIRED) -rosidl_generate_interfaces(${PROJECT_NAME} - "msg/OverlayText.msg" - DEPENDENCIES - std_msgs -) - -ament_package() diff --git a/common/autoware_overlay_rviz_plugin/autoware_overlay_msgs/msg/OverlayText.msg b/common/autoware_overlay_rviz_plugin/autoware_overlay_msgs/msg/OverlayText.msg deleted file mode 100644 index db3cf628b895b..0000000000000 --- a/common/autoware_overlay_rviz_plugin/autoware_overlay_msgs/msg/OverlayText.msg +++ /dev/null @@ -1,31 +0,0 @@ -uint8 ADD = 0 -uint8 DELETE = 1 - -# constants for the horizontal and vertical alignment -uint8 LEFT = 0 -uint8 RIGHT = 1 -uint8 CENTER = 2 -uint8 TOP = 3 -uint8 BOTTOM = 4 - -uint8 action - -int32 width -int32 height -# Position: Positive values move the overlay towards the center of the window, -# for center alignment positive values move the overlay towards the bottom right -int32 horizontal_distance # Horizontal distance from left/right border or center, depending on alignment -int32 vertical_distance # Vertical distance between from top/bottom border or center, depending on alignment - -# Alignment of the overlay withing RVIZ -uint8 horizontal_alignment # one of LEFT, CENTER, RIGHT -uint8 vertical_alignment # one of TOP, CENTER, BOTTOM - -std_msgs/ColorRGBA bg_color - -int32 line_width -float32 text_size -string font -std_msgs/ColorRGBA fg_color - -string text diff --git a/common/autoware_overlay_rviz_plugin/autoware_overlay_msgs/package.xml b/common/autoware_overlay_rviz_plugin/autoware_overlay_msgs/package.xml deleted file mode 100644 index 4881b126ffffb..0000000000000 --- a/common/autoware_overlay_rviz_plugin/autoware_overlay_msgs/package.xml +++ /dev/null @@ -1,24 +0,0 @@ - - - - autoware_overlay_msgs - 1.3.0 - Messages describing 2D overlays for RVIZ, extracted/derived from the jsk_visualization package. - Team Spatzenhirn - BSD-3-Clause - - ament_cmake - rosidl_default_generators - - autoware_auto_vehicle_msgs - autoware_perception_msgs - std_msgs - unique_identifier_msgs - rosidl_default_runtime - - rosidl_interface_packages - - - ament_cmake - - diff --git a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/CMakeLists.txt b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/CMakeLists.txt index afb12bffeeaa7..aafc62fc90d25 100644 --- a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/CMakeLists.txt +++ b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/CMakeLists.txt @@ -3,28 +3,13 @@ project(autoware_overlay_rviz_plugin) # find dependencies find_package(ament_cmake_auto REQUIRED) -find_package(ament_cmake REQUIRED) -find_package(autoware_auto_vehicle_msgs REQUIRED) -find_package(tier4_planning_msgs REQUIRED) -find_package(autoware_perception_msgs REQUIRED) ament_auto_find_build_dependencies() -find_package(autoware_overlay_msgs REQUIRED) - -find_package(rviz_common REQUIRED) -find_package(rviz_rendering REQUIRED) -find_package(rviz_ogre_vendor REQUIRED) -find_package(std_msgs REQUIRED) - -set( - headers_to_moc - include/overlay_text_display.hpp - include/signal_display.hpp - +set(headers_to_moc + include/signal_display.hpp ) -set( - headers_to_not_moc +set(headers_to_not_moc include/steering_wheel_display.hpp include/gear_display.hpp include/speed_display.hpp @@ -34,47 +19,42 @@ set( ) - foreach(header "${headers_to_moc}") - qt5_wrap_cpp(display_moc_files "${header}") + qt5_wrap_cpp(display_moc_files "${header}") endforeach() -set( - display_source_files - src/overlay_text_display.cpp - src/overlay_utils.cpp - src/signal_display.cpp - src/steering_wheel_display.cpp - src/gear_display.cpp - src/speed_display.cpp - src/turn_signals_display.cpp - src/traffic_display.cpp - src/speed_limit_display.cpp - +set(display_source_files + src/overlay_utils.cpp + src/signal_display.cpp + src/steering_wheel_display.cpp + src/gear_display.cpp + src/speed_display.cpp + src/turn_signals_display.cpp + src/traffic_display.cpp + src/speed_limit_display.cpp ) -add_library( - ${PROJECT_NAME} SHARED - ${display_moc_files} - ${headers_to_not_moc} - ${display_source_files} +add_library(${PROJECT_NAME} SHARED + ${display_moc_files} + ${headers_to_not_moc} + ${display_source_files} ) set_property(TARGET ${PROJECT_NAME} PROPERTY CXX_STANDARD 17) target_compile_options(${PROJECT_NAME} PRIVATE -Wall -Wextra -Wpedantic) target_include_directories( - ${PROJECT_NAME} PUBLIC - $ - $ - ${Qt5Widgets_INCLUDE_DIRS} - ${OpenCV_INCLUDE_DIRS} + ${PROJECT_NAME} PUBLIC + $ + $ + ${Qt5Widgets_INCLUDE_DIRS} + ${OpenCV_INCLUDE_DIRS} ) target_link_libraries( - ${PROJECT_NAME} PUBLIC - rviz_ogre_vendor::OgreMain - rviz_ogre_vendor::OgreOverlay + ${PROJECT_NAME} PUBLIC + rviz_ogre_vendor::OgreMain + rviz_ogre_vendor::OgreOverlay ) @@ -85,22 +65,19 @@ target_compile_definitions(${PROJECT_NAME} PUBLIC "PLUGINLIB__DISABLE_BOOST_FUNC pluginlib_export_plugin_description_file(rviz_common plugins_description.xml) -ament_target_dependencies( - ${PROJECT_NAME} - PUBLIC - rviz_common - rviz_rendering - autoware_overlay_msgs - autoware_auto_vehicle_msgs - tier4_planning_msgs - autoware_perception_msgs +ament_target_dependencies(${PROJECT_NAME} PUBLIC + rviz_common + rviz_rendering + autoware_auto_vehicle_msgs + tier4_planning_msgs + autoware_perception_msgs ) ament_export_include_directories(include) ament_export_targets(${PROJECT_NAME} HAS_LIBRARY_TARGET) ament_export_dependencies( - rviz_common - rviz_ogre_vendor + rviz_common + rviz_ogre_vendor ) if(BUILD_TESTING) @@ -109,32 +86,32 @@ if(BUILD_TESTING) endif() install( - TARGETS ${PROJECT_NAME} - EXPORT ${PROJECT_NAME} - ARCHIVE DESTINATION lib - LIBRARY DESTINATION lib - RUNTIME DESTINATION bin - INCLUDES DESTINATION include + TARGETS ${PROJECT_NAME} + EXPORT ${PROJECT_NAME} + ARCHIVE DESTINATION lib + LIBRARY DESTINATION lib + RUNTIME DESTINATION bin + INCLUDES DESTINATION include ) install( - DIRECTORY include/ - DESTINATION include + DIRECTORY include/ + DESTINATION include ) install( - TARGETS - DESTINATION lib/${PROJECT_NAME} + TARGETS + DESTINATION lib/${PROJECT_NAME} ) # Copy the assets directory to the installation directory install( - DIRECTORY assets/ - DESTINATION share/${PROJECT_NAME}/assets + DIRECTORY assets/ + DESTINATION share/${PROJECT_NAME}/assets ) add_definitions(-DQT_NO_KEYWORDS) ament_package( - CONFIG_EXTRAS "autoware_overlay_rviz_plugin-extras.cmake" + CONFIG_EXTRAS "autoware_overlay_rviz_plugin-extras.cmake" ) diff --git a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/overlay_text_display.hpp b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/overlay_text_display.hpp deleted file mode 100644 index ccea51b9a5349..0000000000000 --- a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/overlay_text_display.hpp +++ /dev/null @@ -1,157 +0,0 @@ -// Copyright 2024 The Autoware Contributors -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. - -// -*- mode: c++; -*- -/********************************************************************* - * Software License Agreement (BSD License) - * - * Copyright (c) 2022, Team Spatzenhirn - * Copyright (c) 2014, JSK Lab - * All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * * Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * * Redistributions in binary form must reproduce the above - * copyright notice, this list of conditions and the following - * disclaimer in the documentation and/o2r other materials provided - * with the distribution. - * * Neither the name of the JSK Lab nor the names of its - * contributors may be used to endorse or promote products derived - * from this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; - * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER - * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - *********************************************************************/ -#ifndef OVERLAY_TEXT_DISPLAY_HPP_ -#define OVERLAY_TEXT_DISPLAY_HPP_ - -#include "autoware_overlay_msgs/msg/overlay_text.hpp" -#ifndef Q_MOC_RUN -#include "overlay_utils.hpp" - -#include -#include -#include -#include -#include -#include -#include - -#include -#include -#include - -#include -#endif - -namespace autoware_overlay_rviz_plugin -{ -class OverlayTextDisplay -: public rviz_common::RosTopicDisplay -{ - Q_OBJECT -public: - OverlayTextDisplay(); - virtual ~OverlayTextDisplay(); - -protected: - autoware_overlay_rviz_plugin::OverlayObject::SharedPtr overlay_; - - int texture_width_; - int texture_height_; - - bool overtake_fg_color_properties_; - bool overtake_bg_color_properties_; - bool overtake_position_properties_; - bool align_bottom_; - bool invert_shadow_; - QColor bg_color_; - QColor fg_color_; - int text_size_; - int line_width_; - std::string text_; - QStringList font_families_; - std::string font_; - int horizontal_dist_; - int vertical_dist_; - HorizontalAlignment horizontal_alignment_; - VerticalAlignment vertical_alignment_; - - void onInitialize() override; - void onEnable() override; - void onDisable() override; - void update(float wall_dt, float ros_dt) override; - void reset() override; - - bool require_update_texture_; - // properties are raw pointers since they are owned by Qt - rviz_common::properties::BoolProperty * overtake_position_properties_property_; - rviz_common::properties::BoolProperty * overtake_fg_color_properties_property_; - rviz_common::properties::BoolProperty * overtake_bg_color_properties_property_; - rviz_common::properties::BoolProperty * align_bottom_property_; - rviz_common::properties::BoolProperty * invert_shadow_property_; - rviz_common::properties::IntProperty * hor_dist_property_; - rviz_common::properties::IntProperty * ver_dist_property_; - rviz_common::properties::EnumProperty * hor_alignment_property_; - rviz_common::properties::EnumProperty * ver_alignment_property_; - rviz_common::properties::IntProperty * width_property_; - rviz_common::properties::IntProperty * height_property_; - rviz_common::properties::IntProperty * text_size_property_; - rviz_common::properties::IntProperty * line_width_property_; - rviz_common::properties::ColorProperty * bg_color_property_; - rviz_common::properties::FloatProperty * bg_alpha_property_; - rviz_common::properties::ColorProperty * fg_color_property_; - rviz_common::properties::FloatProperty * fg_alpha_property_; - rviz_common::properties::EnumProperty * font_property_; - -protected Q_SLOTS: - void updateOvertakePositionProperties(); - void updateOvertakeFGColorProperties(); - void updateOvertakeBGColorProperties(); - void updateAlignBottom(); - void updateInvertShadow(); - void updateHorizontalDistance(); - void updateVerticalDistance(); - void updateHorizontalAlignment(); - void updateVerticalAlignment(); - void updateWidth(); - void updateHeight(); - void updateTextSize(); - void updateFGColor(); - void updateFGAlpha(); - void updateBGColor(); - void updateBGAlpha(); - void updateFont(); - void updateLineWidth(); - -private: - void processMessage(autoware_overlay_msgs::msg::OverlayText::ConstSharedPtr msg) override; -}; -} // namespace autoware_overlay_rviz_plugin - -#endif // OVERLAY_TEXT_DISPLAY_HPP_ diff --git a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/overlay_utils.hpp b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/overlay_utils.hpp index 8581628ef0bce..b9c060899bace 100644 --- a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/overlay_utils.hpp +++ b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/overlay_utils.hpp @@ -54,8 +54,6 @@ #include #include -#include "autoware_overlay_msgs/msg/overlay_text.hpp" - #include #include #include @@ -89,17 +87,9 @@ class ScopedPixelBuffer Ogre::HardwarePixelBufferSharedPtr pixel_buffer_; }; -enum class VerticalAlignment : uint8_t { - CENTER = autoware_overlay_msgs::msg::OverlayText::CENTER, - TOP = autoware_overlay_msgs::msg::OverlayText::TOP, - BOTTOM = autoware_overlay_msgs::msg::OverlayText::BOTTOM, -}; +enum class VerticalAlignment : uint8_t { CENTER, TOP, BOTTOM }; -enum class HorizontalAlignment : uint8_t { - LEFT = autoware_overlay_msgs::msg::OverlayText::LEFT, - RIGHT = autoware_overlay_msgs::msg::OverlayText::RIGHT, - CENTER = autoware_overlay_msgs::msg::OverlayText::CENTER -}; +enum class HorizontalAlignment : uint8_t { LEFT, RIGHT, CENTER }; /** * Helper class for realizing an overlay object on top of the rviz 3D panel. diff --git a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/signal_display.hpp b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/signal_display.hpp index 4fa39f2c5a903..ec1acb9a5dc68 100644 --- a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/signal_display.hpp +++ b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/signal_display.hpp @@ -102,7 +102,7 @@ private Q_SLOTS: turn_signals_sub_; rclcpp::Subscription::SharedPtr hazard_lights_sub_; - rclcpp::Subscription::SharedPtr traffic_sub_; + rclcpp::Subscription::SharedPtr traffic_sub_; rclcpp::Subscription::SharedPtr speed_limit_sub_; std::mutex property_mutex_; @@ -117,7 +117,7 @@ private Q_SLOTS: const autoware_auto_vehicle_msgs::msg::HazardLightsReport::ConstSharedPtr & msg); void updateSpeedLimitData(const tier4_planning_msgs::msg::VelocityLimit::ConstSharedPtr msg); void updateTrafficLightData( - const autoware_perception_msgs::msg::TrafficSignalArray::ConstSharedPtr msg); + const autoware_perception_msgs::msg::TrafficSignal::ConstSharedPtr msg); void drawWidget(QImage & hud); }; } // namespace autoware_overlay_rviz_plugin diff --git a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/traffic_display.hpp b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/traffic_display.hpp index 20410a78edc44..efa30f37ccb3e 100644 --- a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/traffic_display.hpp +++ b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/traffic_display.hpp @@ -24,7 +24,6 @@ #include #include -#include #include #include @@ -40,8 +39,8 @@ class TrafficDisplay TrafficDisplay(); void drawTrafficLightIndicator(QPainter & painter, const QRectF & backgroundRect); void updateTrafficLightData( - const autoware_perception_msgs::msg::TrafficSignalArray::ConstSharedPtr & msg); - autoware_perception_msgs::msg::TrafficSignalArray current_traffic_; + const autoware_perception_msgs::msg::TrafficSignal::ConstSharedPtr & msg); + autoware_perception_msgs::msg::TrafficSignal current_traffic_; private: QImage traffic_light_image_; diff --git a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/turn_signals_display.hpp b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/turn_signals_display.hpp index 87f141353d5b2..ca10c92c06a3e 100644 --- a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/turn_signals_display.hpp +++ b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/turn_signals_display.hpp @@ -47,7 +47,7 @@ class TurnSignalsDisplay private: QImage arrowImage; - QColor gray = QColor(46, 46, 46); + QColor gray = QColor(79, 79, 79); int current_turn_signal_; // Internal variable to store turn signal state int current_hazard_lights_; // Internal variable to store hazard lights state diff --git a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/package.xml b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/package.xml index da075b2648937..4d2f53e1e27ed 100644 --- a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/package.xml +++ b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/package.xml @@ -12,7 +12,6 @@ BSD-3-Clause autoware_auto_vehicle_msgs - autoware_overlay_msgs autoware_perception_msgs boost rviz_common diff --git a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/gear_display.cpp b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/gear_display.cpp index 8f05ce6fdce1c..825c7c1620e2c 100644 --- a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/gear_display.cpp +++ b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/gear_display.cpp @@ -81,18 +81,19 @@ void GearDisplay::drawGearIndicator(QPainter & painter, const QRectF & backgroun break; } - QFont gearFont("Quicksand", 16, QFont::Bold); + QFont gearFont("Quicksand", 12, QFont::Bold); painter.setFont(gearFont); QPen borderPen(gray); - borderPen.setWidth(4); + borderPen.setWidth(1); painter.setPen(borderPen); - int gearBoxSize = 30; - int gearX = backgroundRect.left() + 30 + gearBoxSize; - int gearY = backgroundRect.height() - gearBoxSize - 20; + double gearBoxSize = 37.5; + double gearX = backgroundRect.left() + 54; + double gearY = backgroundRect.height() / 2 - gearBoxSize / 2; QRect gearRect(gearX, gearY, gearBoxSize, gearBoxSize); - painter.setBrush(QColor(0, 0, 0, 0)); + painter.setBrush(gray); painter.drawRoundedRect(gearRect, 10, 10); + painter.setPen(Qt::black); painter.drawText(gearRect, Qt::AlignCenter, QString::fromStdString(gearString)); } diff --git a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/overlay_text_display.cpp b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/overlay_text_display.cpp deleted file mode 100644 index b853e14a5858d..0000000000000 --- a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/overlay_text_display.cpp +++ /dev/null @@ -1,556 +0,0 @@ -// Copyright 2024 The Autoware Contributors -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. - -// -*- mode: c++; -*- -/********************************************************************* - * Software License Agreement (BSD License) - * - * Copyright (c) 2022, Team Spatzenhirn - * Copyright (c) 2014, JSK Lab - * All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * * Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * * Redistributions in binary form must reproduce the above - * copyright notice, this list of conditions and the following - * disclaimer in the documentation and/o2r other materials provided - * with the distribution. - * * Neither the name of the JSK Lab nor the names of its - * contributors may be used to endorse or promote products derived - * from this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; - * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER - * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - *********************************************************************/ - -#include "overlay_text_display.hpp" - -#include -#include -#include -#include -#include -#include - -#include -#include - -#include -#include -#include - -#include -#include - -namespace autoware_overlay_rviz_plugin -{ -OverlayTextDisplay::OverlayTextDisplay() -: texture_width_(0), - texture_height_(0), - bg_color_(0, 0, 0, 0), - fg_color_(255, 255, 255, 255.0), - text_size_(14), - line_width_(2), - text_(""), - font_(""), - require_update_texture_(false) -{ - overtake_position_properties_property_ = new rviz_common::properties::BoolProperty( - "Overtake Position Properties", false, - "overtake position properties specified by message such as left, top and font", this, - SLOT(updateOvertakePositionProperties())); - overtake_fg_color_properties_property_ = new rviz_common::properties::BoolProperty( - "Overtake FG Color Properties", false, - "overtake color properties specified by message such as foreground color and alpha", this, - SLOT(updateOvertakeFGColorProperties())); - overtake_bg_color_properties_property_ = new rviz_common::properties::BoolProperty( - "Overtake BG Color Properties", false, - "overtake color properties specified by message such as background color and alpha", this, - SLOT(updateOvertakeBGColorProperties())); - align_bottom_property_ = new rviz_common::properties::BoolProperty( - "Align Bottom", false, "align text with the bottom of the overlay region", this, - SLOT(updateAlignBottom())); - invert_shadow_property_ = new rviz_common::properties::BoolProperty( - "Invert Shadow", false, "make shadow lighter than original text", this, - SLOT(updateInvertShadow())); - hor_dist_property_ = new rviz_common::properties::IntProperty( - "hor_dist", 0, "horizontal distance to anchor", this, SLOT(updateHorizontalDistance())); - ver_dist_property_ = new rviz_common::properties::IntProperty( - "ver_dist", 0, "vertical distance to anchor", this, SLOT(updateVerticalDistance())); - hor_alignment_property_ = new rviz_common::properties::EnumProperty( - "hor_alignment", "left", "horizontal alignment of the overlay", this, - SLOT(updateHorizontalAlignment())); - hor_alignment_property_->addOption("left", autoware_overlay_msgs::msg::OverlayText::LEFT); - hor_alignment_property_->addOption("center", autoware_overlay_msgs::msg::OverlayText::CENTER); - hor_alignment_property_->addOption("right", autoware_overlay_msgs::msg::OverlayText::RIGHT); - ver_alignment_property_ = new rviz_common::properties::EnumProperty( - "ver_alignment", "top", "vertical alignment of the overlay", this, - SLOT(updateVerticalAlignment())); - ver_alignment_property_->addOption("top", autoware_overlay_msgs::msg::OverlayText::TOP); - ver_alignment_property_->addOption("center", autoware_overlay_msgs::msg::OverlayText::CENTER); - ver_alignment_property_->addOption("bottom", autoware_overlay_msgs::msg::OverlayText::BOTTOM); - width_property_ = new rviz_common::properties::IntProperty( - "width", 128, "width position", this, SLOT(updateWidth())); - width_property_->setMin(0); - height_property_ = new rviz_common::properties::IntProperty( - "height", 128, "height position", this, SLOT(updateHeight())); - height_property_->setMin(0); - text_size_property_ = new rviz_common::properties::IntProperty( - "text size", 12, "text size", this, SLOT(updateTextSize())); - text_size_property_->setMin(0); - line_width_property_ = new rviz_common::properties::IntProperty( - "line width", 2, "line width", this, SLOT(updateLineWidth())); - line_width_property_->setMin(0); - fg_color_property_ = new rviz_common::properties::ColorProperty( - "Foreground Color", QColor(25, 255, 240), "Foreground Color", this, SLOT(updateFGColor())); - fg_alpha_property_ = new rviz_common::properties::FloatProperty( - "Foreground Alpha", 0.8, "Foreground Alpha", this, SLOT(updateFGAlpha())); - fg_alpha_property_->setMin(0.0); - fg_alpha_property_->setMax(1.0); - bg_color_property_ = new rviz_common::properties::ColorProperty( - "Background Color", QColor(0, 0, 0), "Background Color", this, SLOT(updateBGColor())); - bg_alpha_property_ = new rviz_common::properties::FloatProperty( - "Background Alpha", 0.8, "Background Alpha", this, SLOT(updateBGAlpha())); - bg_alpha_property_->setMin(0.0); - bg_alpha_property_->setMax(1.0); - - QFontDatabase database; - font_families_ = database.families(); - font_property_ = new rviz_common::properties::EnumProperty( - "font", "DejaVu Sans Mono", "font", this, SLOT(updateFont())); - for (ssize_t i = 0; i < font_families_.size(); i++) { - font_property_->addOption(font_families_[i], static_cast(i)); - } -} - -OverlayTextDisplay::~OverlayTextDisplay() -{ - onDisable(); -} - -void OverlayTextDisplay::onEnable() -{ - if (overlay_) { - overlay_->show(); - } - subscribe(); -} - -void OverlayTextDisplay::onDisable() -{ - if (overlay_) { - overlay_->hide(); - } - unsubscribe(); -} - -// only the first time -void OverlayTextDisplay::onInitialize() -{ - RTDClass::onInitialize(); - rviz_rendering::RenderSystem::get()->prepareOverlays(scene_manager_); - - onEnable(); - updateTopic(); - updateOvertakePositionProperties(); - updateOvertakeFGColorProperties(); - updateOvertakeBGColorProperties(); - updateAlignBottom(); - updateInvertShadow(); - updateHorizontalDistance(); - updateVerticalDistance(); - updateHorizontalAlignment(); - updateVerticalAlignment(); - updateWidth(); - updateHeight(); - updateTextSize(); - updateFGColor(); - updateFGAlpha(); - updateBGColor(); - updateBGAlpha(); - updateFont(); - updateLineWidth(); - require_update_texture_ = true; -} - -void OverlayTextDisplay::update(float /*wall_dt*/, float /*ros_dt*/) -{ - if (!require_update_texture_) { - return; - } - if (!isEnabled()) { - return; - } - if (!overlay_) { - return; - } - - overlay_->updateTextureSize(texture_width_, texture_height_); - { - autoware_overlay_rviz_plugin::ScopedPixelBuffer buffer = overlay_->getBuffer(); - QImage Hud = buffer.getQImage(*overlay_, bg_color_); - QPainter painter(&Hud); - painter.setRenderHint(QPainter::Antialiasing, true); - painter.setPen(QPen(fg_color_, std::max(line_width_, 1), Qt::SolidLine)); - uint16_t w = overlay_->getTextureWidth(); - uint16_t h = overlay_->getTextureHeight(); - - // font - if (text_size_ != 0) { - // QFont font = painter.font(); - QFont font(font_.length() > 0 ? font_.c_str() : "Liberation Sans"); - font.setPointSize(text_size_); - font.setBold(true); - painter.setFont(font); - } - if (text_.length() > 0) { - QColor shadow_color; - if (invert_shadow_) - shadow_color = Qt::white; // fg_color_.lighter(); - else - shadow_color = Qt::black; // fg_color_.darker(); - shadow_color.setAlpha(fg_color_.alpha()); - - std::string color_wrapped_text = - (boost::format("%1%") % text_ % - fg_color_.red() % fg_color_.green() % fg_color_.blue() % fg_color_.alpha()) - .str(); - - // find a remove "color: XXX;" regex match to generate a proper shadow - std::regex color_tag_re("color:.+?;"); - std::string null_char(""); - std::string formatted_text_ = std::regex_replace(text_, color_tag_re, null_char); - std::string color_wrapped_shadow = - (boost::format("%1%") % - formatted_text_ % shadow_color.red() % shadow_color.green() % shadow_color.blue() % - shadow_color.alpha()) - .str(); - - QStaticText static_text( - boost::algorithm::replace_all_copy(color_wrapped_text, "\n", "
").c_str()); - static_text.setTextWidth(w); - - painter.setPen(QPen(shadow_color, std::max(line_width_, 1), Qt::SolidLine)); - QStaticText static_shadow( - boost::algorithm::replace_all_copy(color_wrapped_shadow, "\n", "
").c_str()); - static_shadow.setTextWidth(w); - - if (!align_bottom_) { - painter.drawStaticText(1, 1, static_shadow); - painter.drawStaticText(0, 0, static_text); - } else { - QStaticText only_wrapped_text(color_wrapped_text.c_str()); - QFontMetrics fm(painter.fontMetrics()); - QRect text_rect = fm.boundingRect( - 0, 0, w, h, Qt::TextWordWrap | Qt::AlignLeft | Qt::AlignTop, - only_wrapped_text.text().remove(QRegExp("<[^>]*>"))); - painter.drawStaticText(1, h - text_rect.height() + 1, static_shadow); - painter.drawStaticText(0, h - text_rect.height(), static_text); - } - } - painter.end(); - } - overlay_->setDimensions(overlay_->getTextureWidth(), overlay_->getTextureHeight()); - require_update_texture_ = false; -} - -void OverlayTextDisplay::reset() -{ - RTDClass::reset(); - - if (overlay_) { - overlay_->hide(); - } -} - -void OverlayTextDisplay::processMessage(autoware_overlay_msgs::msg::OverlayText::ConstSharedPtr msg) -{ - if (!isEnabled()) { - return; - } - if (!overlay_) { - static int count = 0; - std::stringstream ss; - ss << "OverlayTextDisplayObject" << count++; - overlay_.reset(new autoware_overlay_rviz_plugin::OverlayObject(ss.str())); - overlay_->show(); - } - if (overlay_) { - if (msg->action == autoware_overlay_msgs::msg::OverlayText::DELETE) { - overlay_->hide(); - } else if (msg->action == autoware_overlay_msgs::msg::OverlayText::ADD) { - overlay_->show(); - } - } - - // store message for update method - text_ = msg->text; - - if (!overtake_position_properties_) { - texture_width_ = msg->width; - texture_height_ = msg->height; - text_size_ = msg->text_size; - horizontal_dist_ = msg->horizontal_distance; - vertical_dist_ = msg->vertical_distance; - - horizontal_alignment_ = HorizontalAlignment{msg->horizontal_alignment}; - vertical_alignment_ = VerticalAlignment{msg->vertical_alignment}; - } - if (!overtake_bg_color_properties_) - bg_color_ = QColor( - msg->bg_color.r * 255.0, msg->bg_color.g * 255.0, msg->bg_color.b * 255.0, - msg->bg_color.a * 255.0); - if (!overtake_fg_color_properties_) { - fg_color_ = QColor( - msg->fg_color.r * 255.0, msg->fg_color.g * 255.0, msg->fg_color.b * 255.0, - msg->fg_color.a * 255.0); - font_ = msg->font; - line_width_ = msg->line_width; - } - if (overlay_) { - overlay_->setPosition( - horizontal_dist_, vertical_dist_, horizontal_alignment_, vertical_alignment_); - } - require_update_texture_ = true; -} - -void OverlayTextDisplay::updateOvertakePositionProperties() -{ - if (!overtake_position_properties_ && overtake_position_properties_property_->getBool()) { - updateVerticalDistance(); - updateHorizontalDistance(); - updateVerticalAlignment(); - updateHorizontalAlignment(); - updateWidth(); - updateHeight(); - updateTextSize(); - require_update_texture_ = true; - } - - overtake_position_properties_ = overtake_position_properties_property_->getBool(); - if (overtake_position_properties_) { - hor_dist_property_->show(); - ver_dist_property_->show(); - hor_alignment_property_->show(); - ver_alignment_property_->show(); - width_property_->show(); - height_property_->show(); - text_size_property_->show(); - } else { - hor_dist_property_->hide(); - ver_dist_property_->hide(); - hor_alignment_property_->hide(); - ver_alignment_property_->hide(); - width_property_->hide(); - height_property_->hide(); - text_size_property_->hide(); - } -} - -void OverlayTextDisplay::updateOvertakeFGColorProperties() -{ - if (!overtake_fg_color_properties_ && overtake_fg_color_properties_property_->getBool()) { - // read all the parameters from properties - updateFGColor(); - updateFGAlpha(); - updateFont(); - updateLineWidth(); - require_update_texture_ = true; - } - overtake_fg_color_properties_ = overtake_fg_color_properties_property_->getBool(); - if (overtake_fg_color_properties_) { - fg_color_property_->show(); - fg_alpha_property_->show(); - line_width_property_->show(); - font_property_->show(); - } else { - fg_color_property_->hide(); - fg_alpha_property_->hide(); - line_width_property_->hide(); - font_property_->hide(); - } -} - -void OverlayTextDisplay::updateOvertakeBGColorProperties() -{ - if (!overtake_bg_color_properties_ && overtake_bg_color_properties_property_->getBool()) { - // read all the parameters from properties - updateBGColor(); - updateBGAlpha(); - require_update_texture_ = true; - } - overtake_bg_color_properties_ = overtake_bg_color_properties_property_->getBool(); - if (overtake_bg_color_properties_) { - bg_color_property_->show(); - bg_alpha_property_->show(); - } else { - bg_color_property_->hide(); - bg_alpha_property_->hide(); - } -} - -void OverlayTextDisplay::updateAlignBottom() -{ - if (align_bottom_ != align_bottom_property_->getBool()) { - require_update_texture_ = true; - } - align_bottom_ = align_bottom_property_->getBool(); -} - -void OverlayTextDisplay::updateInvertShadow() -{ - if (invert_shadow_ != invert_shadow_property_->getBool()) { - require_update_texture_ = true; - } - invert_shadow_ = invert_shadow_property_->getBool(); -} - -void OverlayTextDisplay::updateVerticalDistance() -{ - vertical_dist_ = ver_dist_property_->getInt(); - if (overtake_position_properties_) { - require_update_texture_ = true; - } -} - -void OverlayTextDisplay::updateHorizontalDistance() -{ - horizontal_dist_ = hor_dist_property_->getInt(); - if (overtake_position_properties_) { - require_update_texture_ = true; - } -} - -void OverlayTextDisplay::updateVerticalAlignment() -{ - vertical_alignment_ = - VerticalAlignment{static_cast(ver_alignment_property_->getOptionInt())}; - - if (overtake_position_properties_) { - require_update_texture_ = true; - } -} - -void OverlayTextDisplay::updateHorizontalAlignment() -{ - horizontal_alignment_ = - HorizontalAlignment{static_cast(hor_alignment_property_->getOptionInt())}; - - if (overtake_position_properties_) { - require_update_texture_ = true; - } -} - -void OverlayTextDisplay::updateWidth() -{ - texture_width_ = width_property_->getInt(); - if (overtake_position_properties_) { - require_update_texture_ = true; - } -} - -void OverlayTextDisplay::updateHeight() -{ - texture_height_ = height_property_->getInt(); - if (overtake_position_properties_) { - require_update_texture_ = true; - } -} - -void OverlayTextDisplay::updateTextSize() -{ - text_size_ = text_size_property_->getInt(); - if (overtake_position_properties_) { - require_update_texture_ = true; - } -} - -void OverlayTextDisplay::updateBGColor() -{ - QColor c = bg_color_property_->getColor(); - bg_color_.setRed(c.red()); - bg_color_.setGreen(c.green()); - bg_color_.setBlue(c.blue()); - if (overtake_bg_color_properties_) { - require_update_texture_ = true; - } -} - -void OverlayTextDisplay::updateBGAlpha() -{ - bg_color_.setAlpha(bg_alpha_property_->getFloat() * 255.0); - if (overtake_bg_color_properties_) { - require_update_texture_ = true; - } -} - -void OverlayTextDisplay::updateFGColor() -{ - QColor c = fg_color_property_->getColor(); - fg_color_.setRed(c.red()); - fg_color_.setGreen(c.green()); - fg_color_.setBlue(c.blue()); - if (overtake_fg_color_properties_) { - require_update_texture_ = true; - } -} - -void OverlayTextDisplay::updateFGAlpha() -{ - fg_color_.setAlpha(fg_alpha_property_->getFloat() * 255.0); - if (overtake_fg_color_properties_) { - require_update_texture_ = true; - } -} - -void OverlayTextDisplay::updateFont() -{ - int font_index = font_property_->getOptionInt(); - if (font_index < font_families_.size()) { - font_ = font_families_[font_index].toStdString(); - } else { - RVIZ_COMMON_LOG_ERROR_STREAM("Unexpected error at selecting font index " << font_index); - return; - } - if (overtake_fg_color_properties_) { - require_update_texture_ = true; - } -} - -void OverlayTextDisplay::updateLineWidth() -{ - line_width_ = line_width_property_->getInt(); - if (overtake_fg_color_properties_) { - require_update_texture_ = true; - } -} - -} // namespace autoware_overlay_rviz_plugin - -#include -PLUGINLIB_EXPORT_CLASS(autoware_overlay_rviz_plugin::OverlayTextDisplay, rviz_common::Display) diff --git a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/signal_display.cpp b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/signal_display.cpp index b2995327eb472..9add6336ece46 100644 --- a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/signal_display.cpp +++ b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/signal_display.cpp @@ -39,11 +39,11 @@ namespace autoware_overlay_rviz_plugin SignalDisplay::SignalDisplay() { property_width_ = new rviz_common::properties::IntProperty( - "Width", 517, "Width of the overlay", this, SLOT(updateOverlaySize())); + "Width", 550, "Width of the overlay", this, SLOT(updateOverlaySize())); property_height_ = new rviz_common::properties::IntProperty( - "Height", 175, "Height of the overlay", this, SLOT(updateOverlaySize())); + "Height", 100, "Height of the overlay", this, SLOT(updateOverlaySize())); property_left_ = new rviz_common::properties::IntProperty( - "Left", 10, "Left position of the overlay", this, SLOT(updateOverlayPosition())); + "Left", 0, "Left position of the overlay", this, SLOT(updateOverlayPosition())); property_top_ = new rviz_common::properties::IntProperty( "Top", 10, "Top position of the overlay", this, SLOT(updateOverlayPosition())); property_signal_color_ = new rviz_common::properties::ColorProperty( @@ -111,67 +111,22 @@ void SignalDisplay::onInitialize() speed_limit_topic_property_->initialize(rviz_ros_node); traffic_topic_property_ = std::make_unique( - "Traffic Topic", "/perception/traffic_light_recognition/traffic_signals", - "autoware_perception/msgs/msg/TrafficSignalArray", "Topic for Traffic Light Data", this, + "Traffic Topic", + "/planning/scenario_planning/lane_driving/behavior_planning/debug/traffic_signal", + "autoware_perception/msgs/msg/TrafficSignal", "Topic for Traffic Light Data", this, SLOT(topic_updated_traffic())); traffic_topic_property_->initialize(rviz_ros_node); } void SignalDisplay::setupRosSubscriptions() { - // Don't create a node, just use the one from the parent class - auto rviz_node_ = context_->getRosNodeAbstraction().lock()->get_raw_node(); - - gear_sub_ = rviz_node_->create_subscription( - gear_topic_property_->getTopicStd(), - rclcpp::QoS(rclcpp::KeepLast(10)).durability_volatile().reliable(), - [this](const autoware_auto_vehicle_msgs::msg::GearReport::SharedPtr msg) { - updateGearData(msg); - }); - - steering_sub_ = rviz_node_->create_subscription( - steering_topic_property_->getTopicStd(), - rclcpp::QoS(rclcpp::KeepLast(10)).durability_volatile().reliable(), - [this](const autoware_auto_vehicle_msgs::msg::SteeringReport::SharedPtr msg) { - updateSteeringData(msg); - }); - - speed_sub_ = rviz_node_->create_subscription( - speed_topic_property_->getTopicStd(), - rclcpp::QoS(rclcpp::KeepLast(10)).durability_volatile().reliable(), - [this](const autoware_auto_vehicle_msgs::msg::VelocityReport::SharedPtr msg) { - updateSpeedData(msg); - }); - - turn_signals_sub_ = - rviz_node_->create_subscription( - turn_signals_topic_property_->getTopicStd(), - rclcpp::QoS(rclcpp::KeepLast(10)).durability_volatile().reliable(), - [this](const autoware_auto_vehicle_msgs::msg::TurnIndicatorsReport::SharedPtr msg) { - updateTurnSignalsData(msg); - }); - - hazard_lights_sub_ = - rviz_node_->create_subscription( - hazard_lights_topic_property_->getTopicStd(), - rclcpp::QoS(rclcpp::KeepLast(10)).durability_volatile().reliable(), - [this](const autoware_auto_vehicle_msgs::msg::HazardLightsReport::SharedPtr msg) { - updateHazardLightsData(msg); - }); - - traffic_sub_ = rviz_node_->create_subscription( - traffic_topic_property_->getTopicStd(), - rclcpp::QoS(rclcpp::KeepLast(10)).durability_volatile().reliable(), - [this](const autoware_perception_msgs::msg::TrafficSignalArray::SharedPtr msg) { - updateTrafficLightData(msg); - }); - - speed_limit_sub_ = rviz_node_->create_subscription( - speed_limit_topic_property_->getTopicStd(), - rclcpp::QoS(rclcpp::KeepLast(10)).durability_volatile().reliable(), - [this](const tier4_planning_msgs::msg::VelocityLimit::ConstSharedPtr msg) { - updateSpeedLimitData(msg); - }); + topic_updated_gear(); + topic_updated_steering(); + topic_updated_speed(); + topic_updated_speed_limit(); + topic_updated_turn_signals(); + topic_updated_hazard_lights(); + topic_updated_traffic(); } SignalDisplay::~SignalDisplay() @@ -237,7 +192,7 @@ void SignalDisplay::onDisable() } void SignalDisplay::updateTrafficLightData( - const autoware_perception_msgs::msg::TrafficSignalArray::ConstSharedPtr msg) + const autoware_perception_msgs::msg::TrafficSignal::ConstSharedPtr msg) { std::lock_guard lock(property_mutex_); @@ -324,16 +279,18 @@ void SignalDisplay::drawWidget(QImage & hud) QPainter painter(&hud); painter.setRenderHint(QPainter::Antialiasing, true); - QRectF backgroundRect(0, 0, 322, hud.height()); + QRectF backgroundRect(0, 0, 550, hud.height()); drawHorizontalRoundedRectangle(painter, backgroundRect); // Draw components - if (steering_wheel_display_) { - steering_wheel_display_->drawSteeringWheel(painter, backgroundRect); - } if (gear_display_) { gear_display_->drawGearIndicator(painter, backgroundRect); } + + if (steering_wheel_display_) { + steering_wheel_display_->drawSteeringWheel(painter, backgroundRect); + } + if (speed_display_) { speed_display_->drawSpeedDisplay(painter, backgroundRect); } @@ -341,18 +298,12 @@ void SignalDisplay::drawWidget(QImage & hud) turn_signals_display_->drawArrows(painter, backgroundRect, property_signal_color_->getColor()); } - // a 27px space between the two halves of the HUD - - QRectF smallerBackgroundRect(340, 0, 190.0 / 2, hud.height()); - - drawVerticalRoundedRectangle(painter, smallerBackgroundRect); - if (traffic_display_) { - traffic_display_->drawTrafficLightIndicator(painter, smallerBackgroundRect); + traffic_display_->drawTrafficLightIndicator(painter, backgroundRect); } if (speed_limit_display_) { - speed_limit_display_->drawSpeedLimitIndicator(painter, smallerBackgroundRect); + speed_limit_display_->drawSpeedLimitIndicator(painter, backgroundRect); } painter.end(); @@ -363,8 +314,8 @@ void SignalDisplay::drawHorizontalRoundedRectangle( { painter.setRenderHint(QPainter::Antialiasing, true); QColor colorFromHSV; - colorFromHSV.setHsv(0, 0, 0); // Hue, Saturation, Value - colorFromHSV.setAlphaF(0.65); // Transparency + colorFromHSV.setHsv(0, 0, 29); // Hue, Saturation, Value + colorFromHSV.setAlphaF(0.60); // Transparency painter.setBrush(colorFromHSV); @@ -403,7 +354,9 @@ void SignalDisplay::updateOverlaySize() void SignalDisplay::updateOverlayPosition() { std::lock_guard lock(mutex_); - overlay_->setPosition(property_left_->getInt(), property_top_->getInt()); + overlay_->setPosition( + property_left_->getInt(), property_top_->getInt(), HorizontalAlignment::CENTER, + VerticalAlignment::TOP); queueRender(); } @@ -420,8 +373,7 @@ void SignalDisplay::topic_updated_gear() auto rviz_ros_node = context_->getRosNodeAbstraction().lock(); gear_sub_ = rviz_ros_node->get_raw_node()->create_subscription( - gear_topic_property_->getTopicStd(), - rclcpp::QoS(rclcpp::KeepLast(10)).durability_volatile().reliable(), + gear_topic_property_->getTopicStd(), rclcpp::QoS(rclcpp::KeepLast(10)), [this](const autoware_auto_vehicle_msgs::msg::GearReport::SharedPtr msg) { updateGearData(msg); }); @@ -434,8 +386,7 @@ void SignalDisplay::topic_updated_steering() auto rviz_ros_node = context_->getRosNodeAbstraction().lock(); steering_sub_ = rviz_ros_node->get_raw_node() ->create_subscription( - steering_topic_property_->getTopicStd(), - rclcpp::QoS(rclcpp::KeepLast(10)).durability_volatile().reliable(), + steering_topic_property_->getTopicStd(), rclcpp::QoS(rclcpp::KeepLast(10)), [this](const autoware_auto_vehicle_msgs::msg::SteeringReport::SharedPtr msg) { updateSteeringData(msg); }); @@ -448,8 +399,7 @@ void SignalDisplay::topic_updated_speed() auto rviz_ros_node = context_->getRosNodeAbstraction().lock(); speed_sub_ = rviz_ros_node->get_raw_node() ->create_subscription( - speed_topic_property_->getTopicStd(), - rclcpp::QoS(rclcpp::KeepLast(10)).durability_volatile().reliable(), + speed_topic_property_->getTopicStd(), rclcpp::QoS(rclcpp::KeepLast(10)), [this](const autoware_auto_vehicle_msgs::msg::VelocityReport::SharedPtr msg) { updateSpeedData(msg); }); @@ -463,7 +413,7 @@ void SignalDisplay::topic_updated_speed_limit() speed_limit_sub_ = rviz_ros_node->get_raw_node()->create_subscription( speed_limit_topic_property_->getTopicStd(), - rclcpp::QoS(rclcpp::KeepLast(10)).durability_volatile().reliable(), + rclcpp::QoS(rclcpp::KeepLast(10)).transient_local(), [this](const tier4_planning_msgs::msg::VelocityLimit::ConstSharedPtr msg) { updateSpeedLimitData(msg); }); @@ -478,8 +428,7 @@ void SignalDisplay::topic_updated_turn_signals() turn_signals_sub_ = rviz_ros_node->get_raw_node() ->create_subscription( - turn_signals_topic_property_->getTopicStd(), - rclcpp::QoS(rclcpp::KeepLast(10)).durability_volatile().reliable(), + turn_signals_topic_property_->getTopicStd(), rclcpp::QoS(rclcpp::KeepLast(10)), [this](const autoware_auto_vehicle_msgs::msg::TurnIndicatorsReport::SharedPtr msg) { updateTurnSignalsData(msg); }); @@ -494,8 +443,7 @@ void SignalDisplay::topic_updated_hazard_lights() hazard_lights_sub_ = rviz_ros_node->get_raw_node() ->create_subscription( - hazard_lights_topic_property_->getTopicStd(), - rclcpp::QoS(rclcpp::KeepLast(10)).durability_volatile().reliable(), + hazard_lights_topic_property_->getTopicStd(), rclcpp::QoS(rclcpp::KeepLast(10)), [this](const autoware_auto_vehicle_msgs::msg::HazardLightsReport::SharedPtr msg) { updateHazardLightsData(msg); }); @@ -506,14 +454,12 @@ void SignalDisplay::topic_updated_traffic() // resubscribe to the topic traffic_sub_.reset(); auto rviz_ros_node = context_->getRosNodeAbstraction().lock(); - traffic_sub_ = - rviz_ros_node->get_raw_node() - ->create_subscription( - traffic_topic_property_->getTopicStd(), - rclcpp::QoS(rclcpp::KeepLast(10)).durability_volatile().reliable(), - [this](const autoware_perception_msgs::msg::TrafficSignalArray::SharedPtr msg) { - updateTrafficLightData(msg); - }); + traffic_sub_ = rviz_ros_node->get_raw_node() + ->create_subscription( + traffic_topic_property_->getTopicStd(), rclcpp::QoS(rclcpp::KeepLast(10)), + [this](const autoware_perception_msgs::msg::TrafficSignal::SharedPtr msg) { + updateTrafficLightData(msg); + }); } } // namespace autoware_overlay_rviz_plugin diff --git a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/speed_display.cpp b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/speed_display.cpp index b1df14956d16c..5c5342259005b 100644 --- a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/speed_display.cpp +++ b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/speed_display.cpp @@ -85,7 +85,7 @@ void SpeedDisplay::drawSpeedDisplay(QPainter & painter, const QRectF & backgroun backgroundRect.width() / 2 - referenceRect.width() / 2 - 5, backgroundRect.height() / 2); QString speedNumber = QString::number(current_speed_, 'f', 0); - int fontSize = 60; + int fontSize = 40; QFont speedFont("Quicksand", fontSize); painter.setFont(speedFont); @@ -94,16 +94,17 @@ void SpeedDisplay::drawSpeedDisplay(QPainter & painter, const QRectF & backgroun // Center the speed number in the backgroundRect QPointF speedPos( - backgroundRect.center().x() - speedNumberRect.width() / 2, backgroundRect.center().y()); + backgroundRect.center().x() - speedNumberRect.width() / 2, + backgroundRect.center().y() + speedNumberRect.bottom()); painter.setPen(gray); painter.drawText(speedPos, speedNumber); - QFont unitFont("Quicksand", 14); + QFont unitFont("Quicksand", 8, QFont::DemiBold); painter.setFont(unitFont); QString speedUnit = "km/h"; QRect unitRect = painter.fontMetrics().boundingRect(speedUnit); QPointF unitPos( - (backgroundRect.width() / 2 - unitRect.width() / 2), referencePos.y() + unitRect.height()); + (backgroundRect.width() / 2 - unitRect.width() / 2), referencePos.y() + unitRect.height() + 15); painter.drawText(unitPos, speedUnit); } diff --git a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/speed_limit_display.cpp b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/speed_limit_display.cpp index 6913ef6a48ecd..4c83b4a73c0c2 100644 --- a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/speed_limit_display.cpp +++ b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/speed_limit_display.cpp @@ -24,6 +24,7 @@ #include #include #include +#include #include #include @@ -99,10 +100,9 @@ void SpeedLimitDisplay::drawSpeedLimitIndicator(QPainter & painter, const QRectF } // Define the area for the outer circle - QRectF outerCircleRect = backgroundRect; - outerCircleRect.setWidth(backgroundRect.width() - 30); - outerCircleRect.setHeight(backgroundRect.width() - 30); - outerCircleRect.moveTopLeft(QPointF(backgroundRect.left() + 15, backgroundRect.top() + 10)); + QRectF outerCircleRect = QRectF(45, 45, 45, 45); + outerCircleRect.moveTopRight( + QPointF(backgroundRect.right() - 44, backgroundRect.top() + outerCircleRect.height() / 2 + 5)); // Now use borderColor for drawing painter.setPen(QPen(borderColor, 2, Qt::SolidLine, Qt::RoundCap, Qt::RoundJoin)); @@ -112,24 +112,30 @@ void SpeedLimitDisplay::drawSpeedLimitIndicator(QPainter & painter, const QRectF // Define the area for the inner circle QRectF innerCircleRect = outerCircleRect; - innerCircleRect.setWidth(outerCircleRect.width() / 1.25); - innerCircleRect.setHeight(outerCircleRect.height() / 1.25); + innerCircleRect.setWidth(outerCircleRect.width() / 1.09); + innerCircleRect.setHeight(outerCircleRect.height() / 1.09); innerCircleRect.moveCenter(outerCircleRect.center()); + QRectF innerCircleRect2 = innerCircleRect; + painter.setRenderHint(QPainter::Antialiasing, true); QColor colorFromHSV; - colorFromHSV.setHsv(0, 0, 0); // Hue, Saturation, Value - + colorFromHSV.setHsv(0, 0, 29); // Hue, Saturation, Value + colorFromHSV.setAlphaF(0.60); // Transparency painter.setBrush(colorFromHSV); painter.drawEllipse(innerCircleRect); + // Add a second inner circle as a mask to make the speed limit indicator look like a ring + // and follow the rest of the background color as close as possible + painter.drawEllipse(innerCircleRect2); + int current_limit_int = std::round(current_limit * 3.6); // Define the text to be drawn QString text = QString::number(current_limit_int); // Set the font and color for the text - QFont font = QFont("Quicksand", 24, QFont::Bold); + QFont font = QFont("Quicksand", 16, QFont::Bold); painter.setFont(font); // #C2C2C2 diff --git a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/steering_wheel_display.cpp b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/steering_wheel_display.cpp index 5882d7780dc92..45ebcde086165 100644 --- a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/steering_wheel_display.cpp +++ b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/steering_wheel_display.cpp @@ -82,8 +82,8 @@ void SteeringWheelDisplay::drawSteeringWheel(QPainter & painter, const QRectF & // Rotate the wheel float steeringAngle = steering_angle_; // No need to round here // Calculate the position - int wheelCenterX = backgroundRect.right() - wheel.width() - 17.5; - int wheelCenterY = backgroundRect.height() - wheel.height() + 15; + int wheelCenterX = backgroundRect.left() + wheel.width() + 54 + 54; + int wheelCenterY = backgroundRect.height() / 2; // Rotate the wheel image QTransform rotationTransform; diff --git a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/traffic_display.cpp b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/traffic_display.cpp index 4fea8f78b80da..f6d232709a333 100644 --- a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/traffic_display.cpp +++ b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/traffic_display.cpp @@ -48,7 +48,7 @@ TrafficDisplay::TrafficDisplay() } void TrafficDisplay::updateTrafficLightData( - const autoware_perception_msgs::msg::TrafficSignalArray::ConstSharedPtr & msg) + const autoware_perception_msgs::msg::TrafficSignal::ConstSharedPtr & msg) { current_traffic_ = *msg; } @@ -62,16 +62,14 @@ void TrafficDisplay::drawTrafficLightIndicator(QPainter & painter, const QRectF painter.setBrush(QBrush(tl_gray_, Qt::SolidPattern)); painter.setPen(Qt::NoPen); // Define the area for the circle (background) - QRectF circleRect = backgroundRect; - circleRect.setWidth(backgroundRect.width() - 30); - circleRect.setHeight(backgroundRect.width() - 30); + QRectF circleRect = QRectF(50, 50, 50, 50); circleRect.moveTopRight(QPointF( - backgroundRect.left() + circleRect.width() + 15, - backgroundRect.top() + circleRect.height() + 30)); + backgroundRect.right() - circleRect.width() - 75, + backgroundRect.top() + circleRect.height() / 2)); painter.drawEllipse(circleRect); - if (!current_traffic_.signals.empty()) { - switch (current_traffic_.signals[0].elements[0].color) { + if (!current_traffic_.elements.empty()) { + switch (current_traffic_.elements[0].color) { case 1: painter.setBrush(QBrush(tl_red_)); painter.drawEllipse(circleRect); @@ -96,7 +94,7 @@ void TrafficDisplay::drawTrafficLightIndicator(QPainter & painter, const QRectF } // Scaling factor (e.g., 1.5 for 150% size) - float scaleFactor = 1.00; + float scaleFactor = 0.75; // Calculate the scaled size QSize scaledSize = traffic_light_image_.size() * scaleFactor; diff --git a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/turn_signals_display.cpp b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/turn_signals_display.cpp index b6d37062bf08b..1aaa5871015a8 100644 --- a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/turn_signals_display.cpp +++ b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/turn_signals_display.cpp @@ -72,12 +72,12 @@ void TurnSignalsDisplay::updateHazardLightsData( void TurnSignalsDisplay::drawArrows( QPainter & painter, const QRectF & backgroundRect, const QColor & color) { - QImage scaledLeftArrow = arrowImage.scaled(64, 43, Qt::KeepAspectRatio, Qt::SmoothTransformation); + QImage scaledLeftArrow = arrowImage.scaled(50, 32, Qt::KeepAspectRatio, Qt::SmoothTransformation); scaledLeftArrow = coloredImage(scaledLeftArrow, gray); QImage scaledRightArrow = scaledLeftArrow.mirrored(true, false); - int arrowYPos = (backgroundRect.height() / 3 - scaledLeftArrow.height() / 2); - int leftArrowXPos = backgroundRect.width() / 4 - scaledLeftArrow.width(); // Adjust as needed - int rightArrowXPos = backgroundRect.width() * 3 / 4; // Adjust as needed + int arrowYPos = (backgroundRect.height() / 2 - scaledLeftArrow.height() / 2 - 4); + int leftArrowXPos = backgroundRect.left() + scaledLeftArrow.width() * 2 + 180; + int rightArrowXPos = backgroundRect.right() - scaledRightArrow.width() * 3 - 175; bool leftActive = (current_turn_signal_ == autoware_auto_vehicle_msgs::msg::TurnIndicatorsReport::ENABLE_LEFT || diff --git a/common/autoware_point_types/README.md b/common/autoware_point_types/README.md new file mode 100644 index 0000000000000..92f19d2bc353a --- /dev/null +++ b/common/autoware_point_types/README.md @@ -0,0 +1 @@ +# Autoware Point Types diff --git a/common/component_interface_specs/include/component_interface_specs/localization.hpp b/common/component_interface_specs/include/component_interface_specs/localization.hpp index 70c590c837927..e00d8cef1840d 100644 --- a/common/component_interface_specs/include/component_interface_specs/localization.hpp +++ b/common/component_interface_specs/include/component_interface_specs/localization.hpp @@ -18,16 +18,16 @@ #include #include -#include #include #include +#include namespace localization_interface { struct Initialize { - using Service = autoware_adapi_v1_msgs::srv::InitializeLocalization; + using Service = tier4_localization_msgs::srv::InitializeLocalization; static constexpr char name[] = "/localization/initialize"; }; diff --git a/common/component_interface_specs/package.xml b/common/component_interface_specs/package.xml index 1ad5f410a814a..13f135c925258 100644 --- a/common/component_interface_specs/package.xml +++ b/common/component_interface_specs/package.xml @@ -21,6 +21,7 @@ rclcpp rosidl_runtime_cpp tier4_control_msgs + tier4_localization_msgs tier4_map_msgs tier4_planning_msgs tier4_system_msgs diff --git a/common/component_interface_tools/CMakeLists.txt b/common/component_interface_tools/CMakeLists.txt index a5ebc29463bec..2b896a951b8ed 100644 --- a/common/component_interface_tools/CMakeLists.txt +++ b/common/component_interface_tools/CMakeLists.txt @@ -3,5 +3,14 @@ project(component_interface_tools) find_package(autoware_cmake REQUIRED) autoware_package() -ament_auto_add_executable(service_log_checker src/service_log_checker.cpp) + +ament_auto_add_library(${PROJECT_NAME} SHARED + src/service_log_checker.cpp +) + +rclcpp_components_register_node(${PROJECT_NAME} + PLUGIN "ServiceLogChecker" + EXECUTABLE service_log_checker_node +) + ament_auto_package(INSTALL_TO_SHARE launch) diff --git a/common/component_interface_tools/launch/service_log_checker.launch.xml b/common/component_interface_tools/launch/service_log_checker.launch.xml index f3099b3238096..c7845198955c1 100644 --- a/common/component_interface_tools/launch/service_log_checker.launch.xml +++ b/common/component_interface_tools/launch/service_log_checker.launch.xml @@ -1,3 +1,3 @@ - + diff --git a/common/component_interface_tools/package.xml b/common/component_interface_tools/package.xml index cff1829473e86..6df07af8729ff 100644 --- a/common/component_interface_tools/package.xml +++ b/common/component_interface_tools/package.xml @@ -13,6 +13,7 @@ diagnostic_updater fmt rclcpp + rclcpp_components tier4_system_msgs yaml_cpp_vendor diff --git a/common/component_interface_tools/src/service_log_checker.cpp b/common/component_interface_tools/src/service_log_checker.cpp index ce89573356412..18f90af5737d2 100644 --- a/common/component_interface_tools/src/service_log_checker.cpp +++ b/common/component_interface_tools/src/service_log_checker.cpp @@ -22,7 +22,8 @@ #define FMT_HEADER_ONLY #include -ServiceLogChecker::ServiceLogChecker() : Node("service_log_checker"), diagnostics_(this) +ServiceLogChecker::ServiceLogChecker(const rclcpp::NodeOptions & options) +: Node("service_log_checker", options), diagnostics_(this) { sub_ = create_subscription( "/service_log", 50, std::bind(&ServiceLogChecker::on_service_log, this, std::placeholders::_1)); @@ -98,13 +99,5 @@ void ServiceLogChecker::update_diagnostics(diagnostic_updater::DiagnosticStatusW } } -int main(int argc, char ** argv) -{ - rclcpp::init(argc, argv); - rclcpp::executors::SingleThreadedExecutor executor; - auto node = std::make_shared(); - executor.add_node(node); - executor.spin(); - executor.remove_node(node); - rclcpp::shutdown(); -} +#include +RCLCPP_COMPONENTS_REGISTER_NODE(ServiceLogChecker) diff --git a/common/component_interface_tools/src/service_log_checker.hpp b/common/component_interface_tools/src/service_log_checker.hpp index 32c7f02e757c6..9579753dfd900 100644 --- a/common/component_interface_tools/src/service_log_checker.hpp +++ b/common/component_interface_tools/src/service_log_checker.hpp @@ -26,7 +26,7 @@ class ServiceLogChecker : public rclcpp::Node { public: - ServiceLogChecker(); + explicit ServiceLogChecker(const rclcpp::NodeOptions & options); private: using ServiceLog = tier4_system_msgs::msg::ServiceLog; diff --git a/common/glog_component/CMakeLists.txt b/common/glog_component/CMakeLists.txt index c2a68d0130b37..a233914cc1524 100644 --- a/common/glog_component/CMakeLists.txt +++ b/common/glog_component/CMakeLists.txt @@ -8,7 +8,7 @@ autoware_package() ament_auto_add_library(glog_component SHARED src/glog_component.cpp ) -target_link_libraries(glog_component glog) +target_link_libraries(glog_component glog::glog) rclcpp_components_register_node(glog_component PLUGIN "GlogComponent" diff --git a/common/glog_component/package.xml b/common/glog_component/package.xml index 0d6e7daac1de3..6feedd090f2c6 100644 --- a/common/glog_component/package.xml +++ b/common/glog_component/package.xml @@ -13,7 +13,7 @@ ament_cmake_auto autoware_cmake - libgoogle-glog-dev + glog rclcpp rclcpp_components diff --git a/common/glog_component/src/glog_component.cpp b/common/glog_component/src/glog_component.cpp index 9e7e70da6c884..7fd9c923d23c9 100644 --- a/common/glog_component/src/glog_component.cpp +++ b/common/glog_component/src/glog_component.cpp @@ -17,8 +17,10 @@ GlogComponent::GlogComponent(const rclcpp::NodeOptions & node_options) : Node("glog_component", node_options) { - google::InitGoogleLogging("glog_component"); - google::InstallFailureSignalHandler(); + if (!google::IsGoogleLoggingInitialized()) { + google::InitGoogleLogging("glog_component"); + google::InstallFailureSignalHandler(); + } } #include diff --git a/common/mission_planner_rviz_plugin/CMakeLists.txt b/common/mission_planner_rviz_plugin/CMakeLists.txt deleted file mode 100644 index 2b06e6db3e70d..0000000000000 --- a/common/mission_planner_rviz_plugin/CMakeLists.txt +++ /dev/null @@ -1,23 +0,0 @@ -cmake_minimum_required(VERSION 3.14) -project(mission_planner_rviz_plugin) - -find_package(autoware_cmake REQUIRED) -autoware_package() - -find_package(Qt5 REQUIRED Core Widgets) -set(QT_LIBRARIES Qt5::Widgets) -set(CMAKE_AUTOMOC ON) -set(CMAKE_INCLUDE_CURRENT_DIR ON) - -ament_auto_add_library(${PROJECT_NAME} SHARED - src/mrm_goal.cpp - src/route_selector_panel.cpp -) - -target_link_libraries(${PROJECT_NAME} - ${QT_LIBRARIES} -) - -pluginlib_export_plugin_description_file(rviz_common plugins/plugin_description.xml) - -ament_auto_package() diff --git a/common/mission_planner_rviz_plugin/README.md b/common/mission_planner_rviz_plugin/README.md deleted file mode 100644 index 59d36a0a2f840..0000000000000 --- a/common/mission_planner_rviz_plugin/README.md +++ /dev/null @@ -1,18 +0,0 @@ -# mission_planner_rviz_plugin - -## MrmGoalTool - -This is a copy of `rviz_default_plugins::tools::GoalTool`. Used together with the RouteSelectorPanel to set the MRM route. -After adding the tool, change the topic name to `/rviz/route_selector/mrm/goal` from the topic property panel in rviz. - -## RouteSelectorPanel - -This panel shows the main and mrm route state in the route_selector and the route states in the mission_planner. -Additionally, it provides clear and set functions for each main route and mrm route. - -| Trigger | Action | -| -------------------------------------- | ------------------------------------------------------------------------ | -| main route clear button | call `/planning/mission_planning/route_selector/main/clear_route` | -| mrm route clear button | call `/planning/mission_planning/route_selector/mrm/clear_route` | -| `/rviz/route_selector/main/goal` topic | call `/planning/mission_planning/route_selector/main/set_waypoint_route` | -| `/rviz/route_selector/mrm/goal` topic | call `/planning/mission_planning/route_selector/mrm/set_waypoint_route` | diff --git a/common/mission_planner_rviz_plugin/package.xml b/common/mission_planner_rviz_plugin/package.xml deleted file mode 100644 index e45cf2739f260..0000000000000 --- a/common/mission_planner_rviz_plugin/package.xml +++ /dev/null @@ -1,29 +0,0 @@ - - - - mission_planner_rviz_plugin - 0.0.0 - The mission_planner_rviz_plugin package - Takagi, Isamu - Apache License 2.0 - - ament_cmake_auto - autoware_cmake - - geometry_msgs - libqt5-core - libqt5-gui - libqt5-widgets - rclcpp - rviz_common - rviz_default_plugins - tier4_planning_msgs - - ament_lint_auto - autoware_lint_common - - - ament_cmake - - - diff --git a/common/mission_planner_rviz_plugin/plugins/plugin_description.xml b/common/mission_planner_rviz_plugin/plugins/plugin_description.xml deleted file mode 100644 index c8285fcc604d7..0000000000000 --- a/common/mission_planner_rviz_plugin/plugins/plugin_description.xml +++ /dev/null @@ -1,8 +0,0 @@ - - - MrmGoalTool - - - RouteSelectorPanel - - diff --git a/common/mission_planner_rviz_plugin/src/route_selector_panel.cpp b/common/mission_planner_rviz_plugin/src/route_selector_panel.cpp deleted file mode 100644 index b4b376b1e76ec..0000000000000 --- a/common/mission_planner_rviz_plugin/src/route_selector_panel.cpp +++ /dev/null @@ -1,148 +0,0 @@ -// Copyright 2024 The Autoware Contributors -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. - -#include "route_selector_panel.hpp" - -#include -#include - -#include -#include - -namespace rviz_plugins -{ - -QString to_string_state(const RouteState & state) -{ - // clang-format off - switch (state.state) { - case RouteState::UNKNOWN: return "unknown"; - case RouteState::INITIALIZING: return "initializing"; - case RouteState::UNSET: return "unset"; - case RouteState::ROUTING: return "routing"; - case RouteState::SET: return "set"; - case RouteState::REROUTING: return "rerouting"; - case RouteState::ARRIVED: return "arrived"; - case RouteState::ABORTED: return "aborted"; - case RouteState::INTERRUPTED: return "interrupted"; - default: return "-----"; - } - // clang-format on -} - -RouteSelectorPanel::RouteSelectorPanel(QWidget * parent) : rviz_common::Panel(parent) -{ - main_state_ = new QLabel("unknown"); - main_clear_ = new QPushButton("clear"); - mrm_state_ = new QLabel("unknown"); - mrm_clear_ = new QPushButton("clear"); - planner_state_ = new QLabel("unknown"); - - connect(main_clear_, &QPushButton::clicked, this, &RouteSelectorPanel::onMainClear); - connect(mrm_clear_, &QPushButton::clicked, this, &RouteSelectorPanel::onMrmClear); - - const auto layout = new QGridLayout(); - setLayout(layout); - layout->addWidget(new QLabel("main"), 0, 0); - layout->addWidget(main_state_, 0, 1); - layout->addWidget(main_clear_, 0, 2); - layout->addWidget(new QLabel("mrm"), 1, 0); - layout->addWidget(mrm_state_, 1, 1); - layout->addWidget(mrm_clear_, 1, 2); - layout->addWidget(new QLabel("planner"), 2, 0); - layout->addWidget(planner_state_, 2, 1); -} - -void RouteSelectorPanel::onInitialize() -{ - auto lock = getDisplayContext()->getRosNodeAbstraction().lock(); - auto node = lock->get_raw_node(); - - const auto durable_qos = rclcpp::QoS(1).transient_local(); - - sub_main_goal_ = node->create_subscription( - "/rviz/route_selector/main/goal", rclcpp::QoS(1), - std::bind(&RouteSelectorPanel::onMainGoal, this, std::placeholders::_1)); - sub_mrm_goal_ = node->create_subscription( - "/rviz/route_selector/mrm/goal", rclcpp::QoS(1), - std::bind(&RouteSelectorPanel::onMrmGoal, this, std::placeholders::_1)); - sub_main_state_ = node->create_subscription( - "/planning/mission_planning/route_selector/main/state", durable_qos, - std::bind(&RouteSelectorPanel::onMainState, this, std::placeholders::_1)); - sub_mrm_state_ = node->create_subscription( - "/planning/mission_planning/route_selector/mrm/state", durable_qos, - std::bind(&RouteSelectorPanel::onMrmState, this, std::placeholders::_1)); - sub_planner_state_ = node->create_subscription( - "/planning/mission_planning/state", durable_qos, - std::bind(&RouteSelectorPanel::onPlannerState, this, std::placeholders::_1)); - - cli_main_clear_ = - node->create_client("/planning/mission_planning/route_selector/main/clear_route"); - cli_mrm_clear_ = - node->create_client("/planning/mission_planning/route_selector/mrm/clear_route"); - cli_main_set_waypoint_ = node->create_client( - "/planning/mission_planning/route_selector/main/set_waypoint_route"); - cli_mrm_set_waypoint_ = node->create_client( - "/planning/mission_planning/route_selector/mrm/set_waypoint_route"); -} - -void RouteSelectorPanel::onMainGoal(const PoseStamped::ConstSharedPtr msg) -{ - const auto req = std::make_shared(); - req->header = msg->header; - req->goal_pose = msg->pose; - req->allow_modification = true; - cli_main_set_waypoint_->async_send_request(req); -} - -void RouteSelectorPanel::onMrmGoal(const PoseStamped::ConstSharedPtr msg) -{ - const auto req = std::make_shared(); - req->header = msg->header; - req->goal_pose = msg->pose; - req->allow_modification = true; - cli_mrm_set_waypoint_->async_send_request(req); -} - -void RouteSelectorPanel::onMainState(RouteState::ConstSharedPtr msg) -{ - main_state_->setText(to_string_state(*msg)); -} - -void RouteSelectorPanel::onMrmState(RouteState::ConstSharedPtr msg) -{ - mrm_state_->setText(to_string_state(*msg)); -} - -void RouteSelectorPanel::onPlannerState(RouteState::ConstSharedPtr msg) -{ - planner_state_->setText(to_string_state(*msg)); -} - -void RouteSelectorPanel::onMainClear() -{ - const auto req = std::make_shared(); - cli_main_clear_->async_send_request(req); -} - -void RouteSelectorPanel::onMrmClear() -{ - const auto req = std::make_shared(); - cli_mrm_clear_->async_send_request(req); -} - -} // namespace rviz_plugins - -#include -PLUGINLIB_EXPORT_CLASS(rviz_plugins::RouteSelectorPanel, rviz_common::Panel) diff --git a/common/mission_planner_rviz_plugin/src/route_selector_panel.hpp b/common/mission_planner_rviz_plugin/src/route_selector_panel.hpp deleted file mode 100644 index 99101730661e0..0000000000000 --- a/common/mission_planner_rviz_plugin/src/route_selector_panel.hpp +++ /dev/null @@ -1,75 +0,0 @@ -// Copyright 2024 The Autoware Contributors -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. - -#ifndef ROUTE_SELECTOR_PANEL_HPP_ -#define ROUTE_SELECTOR_PANEL_HPP_ - -#include -#include -#include -#include - -#include -#include -#include -#include - -namespace rviz_plugins -{ - -using geometry_msgs::msg::PoseStamped; -using tier4_planning_msgs::msg::RouteState; -using tier4_planning_msgs::srv::ClearRoute; -using tier4_planning_msgs::srv::SetWaypointRoute; - -class RouteSelectorPanel : public rviz_common::Panel -{ - Q_OBJECT - -public: - explicit RouteSelectorPanel(QWidget * parent = nullptr); - void onInitialize() override; - -private: - QLabel * main_state_; - QLabel * mrm_state_; - QLabel * planner_state_; - QPushButton * main_clear_; - QPushButton * mrm_clear_; - - rclcpp::Subscription::SharedPtr sub_main_goal_; - rclcpp::Subscription::SharedPtr sub_mrm_goal_; - void onMainGoal(const PoseStamped::ConstSharedPtr msg); - void onMrmGoal(const PoseStamped::ConstSharedPtr msg); - - rclcpp::Subscription::SharedPtr sub_main_state_; - rclcpp::Subscription::SharedPtr sub_mrm_state_; - rclcpp::Subscription::SharedPtr sub_planner_state_; - void onMainState(RouteState::ConstSharedPtr msg); - void onMrmState(RouteState::ConstSharedPtr msg); - void onPlannerState(RouteState::ConstSharedPtr msg); - - rclcpp::Client::SharedPtr cli_main_clear_; - rclcpp::Client::SharedPtr cli_mrm_clear_; - rclcpp::Client::SharedPtr cli_main_set_waypoint_; - rclcpp::Client::SharedPtr cli_mrm_set_waypoint_; - -private Q_SLOTS: - void onMainClear(); - void onMrmClear(); -}; - -} // namespace rviz_plugins - -#endif // ROUTE_SELECTOR_PANEL_HPP_ diff --git a/common/motion_utils/CMakeLists.txt b/common/motion_utils/CMakeLists.txt index f42deaa7f8c41..cd81f16685d72 100644 --- a/common/motion_utils/CMakeLists.txt +++ b/common/motion_utils/CMakeLists.txt @@ -7,15 +7,7 @@ autoware_package() find_package(Boost REQUIRED) ament_auto_add_library(motion_utils SHARED - src/distance/distance.cpp - src/marker/marker_helper.cpp - src/marker/virtual_wall_marker_creator.cpp - src/resample/resample.cpp - src/trajectory/trajectory.cpp - src/trajectory/interpolation.cpp - src/trajectory/path_with_lane_id.cpp - src/trajectory/conversion.cpp - src/vehicle/vehicle_state_checker.cpp + DIRECTORY src ) if(BUILD_TESTING) diff --git a/planning/behavior_velocity_planner_common/include/behavior_velocity_planner_common/velocity_factor_interface.hpp b/common/motion_utils/include/motion_utils/factor/velocity_factor_interface.hpp similarity index 56% rename from planning/behavior_velocity_planner_common/include/behavior_velocity_planner_common/velocity_factor_interface.hpp rename to common/motion_utils/include/motion_utils/factor/velocity_factor_interface.hpp index eea45ec03807d..077c66f9dd6bc 100644 --- a/planning/behavior_velocity_planner_common/include/behavior_velocity_planner_common/velocity_factor_interface.hpp +++ b/common/motion_utils/include/motion_utils/factor/velocity_factor_interface.hpp @@ -1,5 +1,5 @@ -// Copyright 2022 TIER IV, Inc. +// Copyright 2022-2024 TIER IV, Inc. // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. @@ -13,47 +13,42 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef BEHAVIOR_VELOCITY_PLANNER_COMMON__VELOCITY_FACTOR_INTERFACE_HPP_ -#define BEHAVIOR_VELOCITY_PLANNER_COMMON__VELOCITY_FACTOR_INTERFACE_HPP_ +#ifndef MOTION_UTILS__FACTOR__VELOCITY_FACTOR_INTERFACE_HPP_ +#define MOTION_UTILS__FACTOR__VELOCITY_FACTOR_INTERFACE_HPP_ #include #include #include -#include #include #include #include -namespace behavior_velocity_planner +namespace motion_utils { - using autoware_adapi_v1_msgs::msg::PlanningBehavior; using autoware_adapi_v1_msgs::msg::VelocityFactor; -using autoware_adapi_v1_msgs::msg::VelocityFactorArray; -using geometry_msgs::msg::Pose; using VelocityFactorBehavior = VelocityFactor::_behavior_type; using VelocityFactorStatus = VelocityFactor::_status_type; +using geometry_msgs::msg::Pose; class VelocityFactorInterface { public: - VelocityFactorInterface() { behavior_ = VelocityFactor::UNKNOWN; } - - VelocityFactor get() const { return velocity_factor_; } - void init(const VelocityFactorBehavior behavior) { behavior_ = behavior; } + [[nodiscard]] VelocityFactor get() const { return velocity_factor_; } + void init(const VelocityFactorBehavior & behavior) { behavior_ = behavior; } void reset() { velocity_factor_.behavior = PlanningBehavior::UNKNOWN; } + template void set( - const std::vector & points, - const Pose & curr_pose, const Pose & stop_pose, const VelocityFactorStatus status, - const std::string detail = ""); + const std::vector & points, const Pose & curr_pose, const Pose & stop_pose, + const VelocityFactorStatus status, const std::string & detail = ""); private: - VelocityFactorBehavior behavior_; - VelocityFactor velocity_factor_; + VelocityFactorBehavior behavior_{VelocityFactor::UNKNOWN}; + VelocityFactor velocity_factor_{}; }; -} // namespace behavior_velocity_planner +} // namespace motion_utils -#endif // BEHAVIOR_VELOCITY_PLANNER_COMMON__VELOCITY_FACTOR_INTERFACE_HPP_ +#endif // MOTION_UTILS__FACTOR__VELOCITY_FACTOR_INTERFACE_HPP_ diff --git a/common/motion_utils/include/motion_utils/resample/resample_utils.hpp b/common/motion_utils/include/motion_utils/resample/resample_utils.hpp index 8bb5f13e3fb78..fb151ec56b085 100644 --- a/common/motion_utils/include/motion_utils/resample/resample_utils.hpp +++ b/common/motion_utils/include/motion_utils/resample/resample_utils.hpp @@ -27,7 +27,11 @@ namespace resample_utils { constexpr double close_s_threshold = 1e-6; -#define log_error(message) std::cerr << "\033[31m " << message << " \033[0m" << std::endl; +static inline rclcpp::Logger get_logger() +{ + constexpr const char * logger{"motion_utils.resample_utils"}; + return rclcpp::get_logger(logger); +} template bool validate_size(const T & points) @@ -62,27 +66,27 @@ bool validate_arguments(const T & input_points, const std::vector & resa { // Check size of the arguments if (!validate_size(input_points)) { - log_error("[resample_utils] invalid argument: The number of input points is less than 2"); + RCLCPP_DEBUG(get_logger(), "invalid argument: The number of input points is less than 2"); tier4_autoware_utils::print_backtrace(); return false; } if (!validate_size(resampling_intervals)) { - log_error( - "[resample_utils] invalid argument: The number of resampling intervals is less than 2"); + RCLCPP_DEBUG( + get_logger(), "invalid argument: The number of resampling intervals is less than 2"); tier4_autoware_utils::print_backtrace(); return false; } // Check resampling range if (!validate_resampling_range(input_points, resampling_intervals)) { - log_error("[resample_utils] invalid argument: resampling interval is longer than input points"); + RCLCPP_DEBUG(get_logger(), "invalid argument: resampling interval is longer than input points"); tier4_autoware_utils::print_backtrace(); return false; } // Check duplication if (!validate_points_duplication(input_points)) { - log_error("[resample_utils] invalid argument: input points has some duplicated points"); + RCLCPP_DEBUG(get_logger(), "invalid argument: input points has some duplicated points"); tier4_autoware_utils::print_backtrace(); return false; } @@ -95,23 +99,23 @@ bool validate_arguments(const T & input_points, const double resampling_interval { // Check size of the arguments if (!validate_size(input_points)) { - log_error("[resample_utils] invalid argument: The number of input points is less than 2"); + RCLCPP_DEBUG(get_logger(), "invalid argument: The number of input points is less than 2"); tier4_autoware_utils::print_backtrace(); return false; } // check resampling interval if (resampling_interval < motion_utils::overlap_threshold) { - log_error( - "[resample_utils] invalid argument: resampling interval is less than " + - std::to_string(motion_utils::overlap_threshold)); + RCLCPP_DEBUG( + get_logger(), "invalid argument: resampling interval is less than %f", + motion_utils::overlap_threshold); tier4_autoware_utils::print_backtrace(); return false; } // Check duplication if (!validate_points_duplication(input_points)) { - log_error("[resample_utils] invalid argument: input points has some duplicated points"); + RCLCPP_DEBUG(get_logger(), "invalid argument: input points has some duplicated points"); tier4_autoware_utils::print_backtrace(); return false; } diff --git a/common/motion_utils/include/motion_utils/trajectory/trajectory.hpp b/common/motion_utils/include/motion_utils/trajectory/trajectory.hpp index 7c9b5a5378ab6..7e2d92c9434fb 100644 --- a/common/motion_utils/include/motion_utils/trajectory/trajectory.hpp +++ b/common/motion_utils/include/motion_utils/trajectory/trajectory.hpp @@ -21,6 +21,7 @@ #include "tier4_autoware_utils/system/backtrace.hpp" #include +#include #include #include @@ -33,9 +34,14 @@ #include #include #include + namespace motion_utils { -#define log_error(message) std::cerr << "\033[31m " << message << " \033[0m" << std::endl; +static inline rclcpp::Logger get_logger() +{ + constexpr const char * logger{"motion_utils.trajectory"}; + return rclcpp::get_logger(logger); +} /** * @brief validate if points container is empty or not @@ -216,7 +222,7 @@ std::optional searchZeroVelocityIndex( try { validateNonEmpty(points_with_twist); } catch (const std::exception & e) { - log_error(e.what()); + RCLCPP_DEBUG(get_logger(), "%s", e.what()); return {}; } @@ -248,7 +254,7 @@ std::optional searchZeroVelocityIndex(const T & points_with_twist, const try { validateNonEmpty(points_with_twist); } catch (const std::exception & e) { - log_error(e.what()); + RCLCPP_DEBUG(get_logger(), "%s", e.what()); return {}; } @@ -338,7 +344,7 @@ std::optional findNearestIndex( try { validateNonEmpty(points); } catch (const std::exception & e) { - log_error(e.what()); + RCLCPP_DEBUG(get_logger(), "%s", e.what()); return {}; } @@ -411,9 +417,10 @@ double calcLongitudinalOffsetToSegment( if (throw_exception) { throw std::out_of_range(error_message); } - log_error( - error_message + - " Return NaN since no_throw option is enabled. The maintainer must check the code."); + RCLCPP_DEBUG( + get_logger(), + "%s Return NaN since no_throw option is enabled. The maintainer must check the code.", + error_message.c_str()); return std::nan(""); } @@ -425,7 +432,7 @@ double calcLongitudinalOffsetToSegment( try { validateNonEmpty(overlap_removed_points); } catch (const std::exception & e) { - log_error(e.what()); + RCLCPP_DEBUG(get_logger(), "%s", e.what()); return std::nan(""); } } @@ -438,9 +445,10 @@ double calcLongitudinalOffsetToSegment( if (throw_exception) { throw std::runtime_error(error_message); } - log_error( - error_message + - " Return NaN since no_throw option is enabled. The maintainer must check the code."); + RCLCPP_DEBUG( + get_logger(), + "%s Return NaN since no_throw option is enabled. The maintainer must check the code.", + error_message.c_str()); return std::nan(""); } @@ -586,9 +594,10 @@ double calcLateralOffset( try { validateNonEmpty(overlap_removed_points); } catch (const std::exception & e) { - log_error( - std::string(e.what()) + - " Return NaN since no_throw option is enabled. The maintainer must check the code."); + RCLCPP_DEBUG( + get_logger(), + "%s Return NaN since no_throw option is enabled. The maintainer must check the code.", + e.what()); return std::nan(""); } } @@ -601,9 +610,10 @@ double calcLateralOffset( if (throw_exception) { throw std::runtime_error(error_message); } - log_error( - error_message + - " Return NaN since no_throw option is enabled. The maintainer must check the code."); + RCLCPP_DEBUG( + get_logger(), + "%s Return NaN since no_throw option is enabled. The maintainer must check the code.", + error_message.c_str()); return std::nan(""); } @@ -658,9 +668,10 @@ double calcLateralOffset( try { validateNonEmpty(overlap_removed_points); } catch (const std::exception & e) { - log_error( - std::string(e.what()) + - " Return NaN since no_throw option is enabled. The maintainer must check the code."); + RCLCPP_DEBUG( + get_logger(), + "%s Return NaN since no_throw option is enabled. The maintainer must check the code.", + e.what()); return std::nan(""); } } @@ -673,9 +684,10 @@ double calcLateralOffset( if (throw_exception) { throw std::runtime_error(error_message); } - log_error( - error_message + - " Return NaN since no_throw option is enabled. The maintainer must check the code."); + RCLCPP_DEBUG( + get_logger(), + "%s Return NaN since no_throw option is enabled. The maintainer must check the code.", + error_message.c_str()); return std::nan(""); } @@ -711,7 +723,7 @@ double calcSignedArcLength(const T & points, const size_t src_idx, const size_t try { validateNonEmpty(points); } catch (const std::exception & e) { - log_error(e.what()); + RCLCPP_DEBUG(get_logger(), "%s", e.what()); return 0.0; } @@ -754,7 +766,7 @@ std::vector calcSignedArcLengthPartialSum( try { validateNonEmpty(points); } catch (const std::exception & e) { - log_error(e.what()); + RCLCPP_DEBUG(get_logger(), "%s", e.what()); return {}; } @@ -806,7 +818,7 @@ double calcSignedArcLength( try { validateNonEmpty(points); } catch (const std::exception & e) { - log_error(e.what()); + RCLCPP_DEBUG(get_logger(), "%s", e.what()); return 0.0; } @@ -849,7 +861,7 @@ double calcSignedArcLength( try { validateNonEmpty(points); } catch (const std::exception & e) { - log_error(e.what()); + RCLCPP_DEBUG(get_logger(), "%s", e.what()); return 0.0; } @@ -888,7 +900,7 @@ double calcSignedArcLength( try { validateNonEmpty(points); } catch (const std::exception & e) { - log_error(e.what()); + RCLCPP_DEBUG(get_logger(), "%s", e.what()); return 0.0; } @@ -928,7 +940,7 @@ double calcArcLength(const T & points) try { validateNonEmpty(points); } catch (const std::exception & e) { - log_error(e.what()); + RCLCPP_DEBUG(get_logger(), "%s", e.what()); return 0.0; } @@ -1037,7 +1049,7 @@ std::optional calcDistanceToForwardStopPoint( try { validateNonEmpty(points_with_twist); } catch (const std::exception & e) { - log_error(e.what()); + RCLCPP_DEBUG(get_logger(), "%s", e.what()); return {}; } @@ -1071,7 +1083,7 @@ std::optional calcLongitudinalOffsetPoint( try { validateNonEmpty(points); } catch (const std::exception & e) { - log_error(e.what()); + RCLCPP_DEBUG(get_logger(), "%s", e.what()); return {}; } @@ -1084,9 +1096,10 @@ std::optional calcLongitudinalOffsetPoint( if (throw_exception) { throw std::out_of_range(error_message); } - log_error( - error_message + - " Return NaN since no_throw option is enabled. The maintainer must check the code."); + RCLCPP_DEBUG( + get_logger(), + "%s Return NaN since no_throw option is enabled. The maintainer must check the code.", + error_message.c_str()); return {}; } @@ -1153,7 +1166,7 @@ std::optional calcLongitudinalOffsetPoint( try { validateNonEmpty(points); } catch (const std::exception & e) { - log_error("Failed to calculate longitudinal offset: " + std::string(e.what())); + RCLCPP_DEBUG(get_logger(), "Failed to calculate longitudinal offset: %s", e.what()); return {}; } @@ -1201,7 +1214,7 @@ std::optional calcLongitudinalOffsetPose( try { validateNonEmpty(points); } catch (const std::exception & e) { - log_error("Failed to calculate longitudinal offset: " + std::string(e.what())); + RCLCPP_DEBUG(get_logger(), "Failed to calculate longitudinal offset: %s", e.what()); return {}; } @@ -1214,12 +1227,12 @@ std::optional calcLongitudinalOffsetPose( if (throw_exception) { throw std::out_of_range(error_message); } - log_error(error_message); + RCLCPP_DEBUG(get_logger(), "%s", error_message.c_str()); return {}; } if (points.size() == 1) { - log_error("Failed to calculate longitudinal offset: points size is one."); + RCLCPP_DEBUG(get_logger(), "Failed to calculate longitudinal offset: points size is one."); return {}; } @@ -1304,7 +1317,7 @@ std::optional calcLongitudinalOffsetPose( try { validateNonEmpty(points); } catch (const std::exception & e) { - log_error(e.what()); + RCLCPP_DEBUG(get_logger(), "%s", e.what()); return {}; } @@ -1350,7 +1363,7 @@ std::optional insertTargetPoint( try { validateNonEmpty(points); } catch (const std::exception & e) { - log_error(e.what()); + RCLCPP_DEBUG(get_logger(), "%s", e.what()); return {}; } @@ -1365,7 +1378,7 @@ std::optional insertTargetPoint( try { validateNonSharpAngle(p_front, p_target, p_back); } catch (const std::exception & e) { - log_error(e.what()); + RCLCPP_DEBUG(get_logger(), "%s", e.what()); return {}; } @@ -1908,20 +1921,21 @@ insertOrientation * radians (default: M_PI_2) */ template -void removeInvalidOrientationPoints(T & points, const double max_yaw_diff = M_PI_2) +void removeFirstInvalidOrientationPoints(T & points, const double max_yaw_diff = M_PI_2) { - for (size_t i = 1; i < points.size();) { - const auto p1 = tier4_autoware_utils::getPose(points.at(i - 1)); - const auto p2 = tier4_autoware_utils::getPose(points.at(i)); + for (auto itr = points.begin(); std::next(itr) != points.end();) { + const auto p1 = tier4_autoware_utils::getPose(*itr); + const auto p2 = tier4_autoware_utils::getPose(*std::next(itr)); const double yaw1 = tf2::getYaw(p1.orientation); const double yaw2 = tf2::getYaw(p2.orientation); if ( max_yaw_diff < std::abs(tier4_autoware_utils::normalizeRadian(yaw1 - yaw2)) || !tier4_autoware_utils::isDrivingForward(p1, p2)) { - points.erase(points.begin() + i); + points.erase(std::next(itr)); + return; } else { - ++i; + itr++; } } } @@ -2231,7 +2245,7 @@ std::optional calcDistanceToForwardStopPoint( try { validateNonEmpty(points_with_twist); } catch (const std::exception & e) { - log_error("Failed to calculate stop distance" + std::string(e.what())); + RCLCPP_DEBUG(get_logger(), "Failed to calculate stop distance %s", e.what()); return {}; } @@ -2370,7 +2384,7 @@ T cropPoints( cropped_forward_points, target_pos, modified_target_seg_idx, backward_length); if (cropped_points.size() < 2) { - log_error("Return original points since cropped_points size is less than 2."); + RCLCPP_DEBUG(get_logger(), "Return original points since cropped_points size is less than 2."); return points; } @@ -2415,7 +2429,7 @@ double calcYawDeviation( try { validateNonEmpty(overlap_removed_points); } catch (const std::exception & e) { - log_error(e.what()); + RCLCPP_DEBUG(get_logger(), "%s", e.what()); return 0.0; } } @@ -2428,9 +2442,10 @@ double calcYawDeviation( if (throw_exception) { throw std::runtime_error(error_message); } - log_error( - error_message + - " Return 0 since no_throw option is enabled. The maintainer must check the code."); + RCLCPP_DEBUG( + get_logger(), + "%s Return 0 since no_throw option is enabled. The maintainer must check the code.", + error_message.c_str()); return 0.0; } diff --git a/common/motion_utils/package.xml b/common/motion_utils/package.xml index 5f630572c061c..dec5287b0a520 100644 --- a/common/motion_utils/package.xml +++ b/common/motion_utils/package.xml @@ -21,6 +21,7 @@ ament_cmake_auto autoware_cmake + autoware_adapi_v1_msgs autoware_auto_planning_msgs autoware_auto_vehicle_msgs builtin_interfaces diff --git a/common/motion_utils/src/factor/velocity_factor_interface.cpp b/common/motion_utils/src/factor/velocity_factor_interface.cpp new file mode 100644 index 0000000000000..20742af0b6c0c --- /dev/null +++ b/common/motion_utils/src/factor/velocity_factor_interface.cpp @@ -0,0 +1,49 @@ +// Copyright 2023-2024 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include +#include + +#include +#include +#include + +namespace motion_utils +{ +template +void VelocityFactorInterface::set( + const std::vector & points, const Pose & curr_pose, const Pose & stop_pose, + const VelocityFactorStatus status, const std::string & detail) +{ + const auto & curr_point = curr_pose.position; + const auto & stop_point = stop_pose.position; + velocity_factor_.behavior = behavior_; + velocity_factor_.pose = stop_pose; + velocity_factor_.distance = + static_cast(motion_utils::calcSignedArcLength(points, curr_point, stop_point)); + velocity_factor_.status = status; + velocity_factor_.detail = detail; +} + +template void VelocityFactorInterface::set( + const std::vector &, const Pose &, + const Pose &, const VelocityFactorStatus, const std::string &); +template void VelocityFactorInterface::set( + const std::vector &, const Pose &, const Pose &, + const VelocityFactorStatus, const std::string &); +template void VelocityFactorInterface::set( + const std::vector &, const Pose &, + const Pose &, const VelocityFactorStatus, const std::string &); + +} // namespace motion_utils diff --git a/common/motion_utils/test/src/trajectory/test_trajectory.cpp b/common/motion_utils/test/src/trajectory/test_trajectory.cpp index eb6a06041e65d..8e84b111b0688 100644 --- a/common/motion_utils/test/src/trajectory/test_trajectory.cpp +++ b/common/motion_utils/test/src/trajectory/test_trajectory.cpp @@ -1876,40 +1876,34 @@ TEST(trajectory, insertTargetPoint) // Invalid target point(In front of begin point) { - testing::internal::CaptureStderr(); auto traj_out = traj; const auto p_target = createPoint(-1.0, 0.0, 0.0); const size_t base_idx = findNearestSegmentIndex(traj.points, p_target); const auto insert_idx = insertTargetPoint(base_idx, p_target, traj_out.points); - EXPECT_NE(testing::internal::GetCapturedStderr().find("sharp angle"), std::string::npos); EXPECT_EQ(insert_idx, std::nullopt); } // Invalid target point(Behind of end point) { - testing::internal::CaptureStderr(); auto traj_out = traj; const auto p_target = createPoint(10.0, 0.0, 0.0); const size_t base_idx = findNearestSegmentIndex(traj.points, p_target); const auto insert_idx = insertTargetPoint(base_idx, p_target, traj_out.points); - EXPECT_NE(testing::internal::GetCapturedStderr().find("sharp angle"), std::string::npos); EXPECT_EQ(insert_idx, std::nullopt); } // Invalid target point(Huge lateral offset) { - testing::internal::CaptureStderr(); auto traj_out = traj; const auto p_target = createPoint(4.0, 10.0, 0.0); const size_t base_idx = findNearestSegmentIndex(traj.points, p_target); const auto insert_idx = insertTargetPoint(base_idx, p_target, traj_out.points); - EXPECT_NE(testing::internal::GetCapturedStderr().find("sharp angle"), std::string::npos); EXPECT_EQ(insert_idx, std::nullopt); } @@ -2304,13 +2298,11 @@ TEST(trajectory, insertTargetPoint_Length) // Invalid target point(Huge lateral offset) { - testing::internal::CaptureStderr(); auto traj_out = traj; const auto p_target = createPoint(4.0, 10.0, 0.0); const auto insert_idx = insertTargetPoint(4.0, p_target, traj_out.points); - EXPECT_NE(testing::internal::GetCapturedStderr().find("sharp angle."), std::string::npos); EXPECT_EQ(insert_idx, std::nullopt); } @@ -4310,40 +4302,34 @@ TEST(trajectory, insertStopPoint_with_pose_and_segment_index) // Invalid target point(In front of begin point) { - testing::internal::CaptureStderr(); auto traj_out = traj; const auto p_target = createPoint(-1.0, 0.0, 0.0); const size_t base_idx = findNearestSegmentIndex(traj.points, p_target); const auto insert_idx = insertStopPoint(base_idx, p_target, traj_out.points); - EXPECT_NE(testing::internal::GetCapturedStderr().find("sharp angle."), std::string::npos); EXPECT_EQ(insert_idx, std::nullopt); } // Invalid target point(Behind of end point) { - testing::internal::CaptureStderr(); auto traj_out = traj; const auto p_target = createPoint(10.0, 0.0, 0.0); const size_t base_idx = findNearestSegmentIndex(traj.points, p_target); const auto insert_idx = insertStopPoint(base_idx, p_target, traj_out.points); - EXPECT_NE(testing::internal::GetCapturedStderr().find("sharp angle."), std::string::npos); EXPECT_EQ(insert_idx, std::nullopt); } // Invalid target point(Huge lateral offset) { - testing::internal::CaptureStderr(); auto traj_out = traj; const auto p_target = createPoint(4.0, 10.0, 0.0); const size_t base_idx = findNearestSegmentIndex(traj.points, p_target); const auto insert_idx = insertStopPoint(base_idx, p_target, traj_out.points); - EXPECT_NE(testing::internal::GetCapturedStderr().find("sharp angle."), std::string::npos); EXPECT_EQ(insert_idx, std::nullopt); } @@ -5351,10 +5337,10 @@ TEST(trajectory, cropPoints) } } -TEST(Trajectory, removeInvalidOrientationPoints) +TEST(Trajectory, removeFirstInvalidOrientationPoints) { using motion_utils::insertOrientation; - using motion_utils::removeInvalidOrientationPoints; + using motion_utils::removeFirstInvalidOrientationPoints; const double max_yaw_diff = M_PI_2; @@ -5365,7 +5351,7 @@ TEST(Trajectory, removeInvalidOrientationPoints) auto modified_traj = traj; insertOrientation(modified_traj.points, true); modifyTrajectory(modified_traj); - removeInvalidOrientationPoints(modified_traj.points, max_yaw_diff); + removeFirstInvalidOrientationPoints(modified_traj.points, max_yaw_diff); EXPECT_EQ(modified_traj.points.size(), expected_size); for (size_t i = 0; i < modified_traj.points.size() - 1; ++i) { EXPECT_EQ(traj.points.at(i), modified_traj.points.at(i)); @@ -5388,7 +5374,7 @@ TEST(Trajectory, removeInvalidOrientationPoints) [&](Trajectory & t) { auto invalid_point = t.points.back(); invalid_point.pose.orientation = - tf2::toMsg(tf2::Quaternion(tf2::Vector3(0, 0, 1), 3 * M_PI_2)); + tf2::toMsg(tf2::Quaternion(tf2::Vector3(0, 0, 1), 3 * M_PI_4)); t.points.push_back(invalid_point); }, traj.points.size()); @@ -5399,21 +5385,10 @@ TEST(Trajectory, removeInvalidOrientationPoints) [&](Trajectory & t) { auto invalid_point = t.points[4]; invalid_point.pose.orientation = - tf2::toMsg(tf2::Quaternion(tf2::Vector3(0, 0, 1), 3 * M_PI_2)); + tf2::toMsg(tf2::Quaternion(tf2::Vector3(0, 0, 1), 3 * M_PI_4)); t.points.insert(t.points.begin() + 4, invalid_point); }, traj.points.size()); - - // invalid point at the beginning - testRemoveInvalidOrientationPoints( - traj, - [&](Trajectory & t) { - auto invalid_point = t.points.front(); - invalid_point.pose.orientation = - tf2::toMsg(tf2::Quaternion(tf2::Vector3(0, 0, 1), 3 * M_PI_2)); - t.points.insert(t.points.begin(), invalid_point); - }, - 1); // expected size is 1 since only the first point remains } TEST(trajectory, calcYawDeviation) diff --git a/common/rtc_manager_rviz_plugin/CMakeLists.txt b/common/rtc_manager_rviz_plugin/CMakeLists.txt deleted file mode 100644 index f2fad9e24665f..0000000000000 --- a/common/rtc_manager_rviz_plugin/CMakeLists.txt +++ /dev/null @@ -1,28 +0,0 @@ -cmake_minimum_required(VERSION 3.14) -project(rtc_manager_rviz_plugin) - -find_package(autoware_cmake REQUIRED) -autoware_package() - -find_package(Qt5 REQUIRED Core Widgets) -set(QT_LIBRARIES Qt5::Widgets) -set(CMAKE_AUTOMOC ON) -set(CMAKE_INCLUDE_CURRENT_DIR ON) -add_definitions(-DQT_NO_KEYWORDS) - -ament_auto_add_library(${PROJECT_NAME} SHARED - src/rtc_manager_panel.cpp -) - -target_link_libraries(${PROJECT_NAME} - ${QT_LIBRARIES} -) - -# Export the plugin to be imported by rviz2 -pluginlib_export_plugin_description_file(rviz_common plugins/plugin_description.xml) - -ament_auto_package( - INSTALL_TO_SHARE - icons - plugins -) diff --git a/common/rtc_manager_rviz_plugin/README.md b/common/rtc_manager_rviz_plugin/README.md deleted file mode 100644 index 7a15d56fe235a..0000000000000 --- a/common/rtc_manager_rviz_plugin/README.md +++ /dev/null @@ -1,36 +0,0 @@ -# rtc_manager_rviz_plugin - -## Purpose - -The purpose of this Rviz plugin is - -1. To display each content of RTC status. - -2. To switch each module of RTC auto mode. - -3. To change RTC cooperate commands by button. - -![rtc_manager_panel](./images/rtc_manager_panel.png) - -## Inputs / Outputs - -### Input - -| Name | Type | Description | -| ------------------------------ | ------------------------------------------- | --------------------------------------- | -| `/api/external/get/rtc_status` | `tier4_rtc_msgs::msg::CooperateStatusArray` | The statuses of each Cooperate Commands | - -### Output - -| Name | Type | Description | -| -------------------------------- | ---------------------------------------- | ---------------------------------------------------- | -| `/api/external/set/rtc_commands` | `tier4_rtc_msgs::src::CooperateCommands` | The Cooperate Commands for each planning | -| `/planning/enable_auto_mode/*` | `tier4_rtc_msgs::src::AutoMode` | The Cooperate Commands mode for each planning module | - -## HowToUse - -1. Start rviz and select panels/Add new panel. - ![select_panel](./images/select_panels.png) - -2. tier4_state_rviz_plugin/RTCManagerPanel and press OK. - ![select_rtc_panel](./images/rtc_selection.png) diff --git a/common/rtc_manager_rviz_plugin/icons/classes/RTCManagerPanel.png b/common/rtc_manager_rviz_plugin/icons/classes/RTCManagerPanel.png deleted file mode 100644 index 6a67573717ae1..0000000000000 Binary files a/common/rtc_manager_rviz_plugin/icons/classes/RTCManagerPanel.png and /dev/null differ diff --git a/common/rtc_manager_rviz_plugin/images/rtc_manager_panel.png b/common/rtc_manager_rviz_plugin/images/rtc_manager_panel.png deleted file mode 100644 index 36c1b4760308b..0000000000000 Binary files a/common/rtc_manager_rviz_plugin/images/rtc_manager_panel.png and /dev/null differ diff --git a/common/rtc_manager_rviz_plugin/images/rtc_selection.png b/common/rtc_manager_rviz_plugin/images/rtc_selection.png deleted file mode 100644 index f9c5d120bdd70..0000000000000 Binary files a/common/rtc_manager_rviz_plugin/images/rtc_selection.png and /dev/null differ diff --git a/common/rtc_manager_rviz_plugin/images/select_panels.png b/common/rtc_manager_rviz_plugin/images/select_panels.png deleted file mode 100644 index a691602c42c3c..0000000000000 Binary files a/common/rtc_manager_rviz_plugin/images/select_panels.png and /dev/null differ diff --git a/common/rtc_manager_rviz_plugin/package.xml b/common/rtc_manager_rviz_plugin/package.xml deleted file mode 100644 index 53f00386bdb4d..0000000000000 --- a/common/rtc_manager_rviz_plugin/package.xml +++ /dev/null @@ -1,33 +0,0 @@ - - - - rtc_manager_rviz_plugin - 0.0.0 - The rtc manager rviz plugin package - Taiki Tanaka - Tomoya Kimura - - Apache License 2.0 - - ament_cmake_auto - autoware_cmake - - libqt5-core - libqt5-gui - libqt5-widgets - qtbase5-dev - rclcpp - rviz_common - tier4_external_api_msgs - tier4_planning_msgs - tier4_rtc_msgs - unique_identifier_msgs - - ament_lint_auto - autoware_lint_common - - - ament_cmake - - - diff --git a/common/rtc_manager_rviz_plugin/plugins/plugin_description.xml b/common/rtc_manager_rviz_plugin/plugins/plugin_description.xml deleted file mode 100644 index 001ae153e6762..0000000000000 --- a/common/rtc_manager_rviz_plugin/plugins/plugin_description.xml +++ /dev/null @@ -1,9 +0,0 @@ - - - - RTCManagerPanel - - - diff --git a/common/rtc_manager_rviz_plugin/src/rtc_manager_panel.cpp b/common/rtc_manager_rviz_plugin/src/rtc_manager_panel.cpp deleted file mode 100644 index 058a5d5deb5d6..0000000000000 --- a/common/rtc_manager_rviz_plugin/src/rtc_manager_panel.cpp +++ /dev/null @@ -1,474 +0,0 @@ -// -// Copyright 2020 Tier IV, Inc. All rights reserved. -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. -// - -#include "rtc_manager_panel.hpp" - -#include -#include -#include -#include - -#include - -namespace rviz_plugins -{ -inline std::string Bool2String(const bool var) -{ - return var ? "True" : "False"; -} -inline bool uint2bool(uint8_t var) -{ - return var == static_cast(0) ? false : true; -} -using std::placeholders::_1; -using std::placeholders::_2; - -std::string getModuleName(const uint8_t module_type) -{ - switch (module_type) { - case Module::LANE_CHANGE_LEFT: { - return "lane_change_left"; - } - case Module::LANE_CHANGE_RIGHT: { - return "lane_change_right"; - } - case Module::EXT_REQUEST_LANE_CHANGE_LEFT: { - return "external_request_lane_change_left"; - } - case Module::EXT_REQUEST_LANE_CHANGE_RIGHT: { - return "external_request_lane_change_right"; - } - case Module::AVOIDANCE_BY_LC_LEFT: { - return "avoidance_by_lane_change_left"; - } - case Module::AVOIDANCE_BY_LC_RIGHT: { - return "avoidance_by_lane_change_right"; - } - case Module::AVOIDANCE_LEFT: { - return "avoidance_left"; - } - case Module::AVOIDANCE_RIGHT: { - return "avoidance_right"; - } - case Module::GOAL_PLANNER: { - return "goal_planner"; - } - case Module::START_PLANNER: { - return "start_planner"; - } - case Module::TRAFFIC_LIGHT: { - return "traffic_light"; - } - case Module::INTERSECTION: { - return "intersection"; - } - case Module::CROSSWALK: { - return "crosswalk"; - } - case Module::BLIND_SPOT: { - return "blind_spot"; - } - case Module::DETECTION_AREA: { - return "detection_area"; - } - case Module::NO_STOPPING_AREA: { - return "no_stopping_area"; - } - case Module::OCCLUSION_SPOT: { - return "occlusion_spot"; - } - case Module::INTERSECTION_OCCLUSION: { - return "intersection_occlusion"; - } - } - return "NONE"; -} - -bool isPathChangeModule(const uint8_t module_type) -{ - if ( - module_type == Module::LANE_CHANGE_LEFT || module_type == Module::LANE_CHANGE_RIGHT || - module_type == Module::EXT_REQUEST_LANE_CHANGE_LEFT || - module_type == Module::EXT_REQUEST_LANE_CHANGE_RIGHT || - module_type == Module::AVOIDANCE_BY_LC_LEFT || module_type == Module::AVOIDANCE_BY_LC_RIGHT || - module_type == Module::AVOIDANCE_LEFT || module_type == Module::AVOIDANCE_RIGHT || - module_type == Module::GOAL_PLANNER || module_type == Module::START_PLANNER) { - return true; - } - return false; -} - -RTCManagerPanel::RTCManagerPanel(QWidget * parent) : rviz_common::Panel(parent) -{ - // TODO(tanaka): replace this magic number to Module::SIZE - const size_t module_size = 19; - auto_modes_.reserve(module_size); - auto * v_layout = new QVBoxLayout; - auto vertical_header = new QHeaderView(Qt::Vertical); - vertical_header->hide(); - auto horizontal_header = new QHeaderView(Qt::Horizontal); - horizontal_header->setSectionResizeMode(QHeaderView::Stretch); - auto_mode_table_ = new QTableWidget(); - auto_mode_table_->setColumnCount(4); - auto_mode_table_->setHorizontalHeaderLabels( - {"Module", "ToAutoMode", "ToManualMode", "ApprovalMode"}); - auto_mode_table_->setVerticalHeader(vertical_header); - auto_mode_table_->setHorizontalHeader(horizontal_header); - const size_t num_modules = module_size; - auto_mode_table_->setRowCount(num_modules); - for (size_t i = 0; i < num_modules; i++) { - auto * rtc_auto_mode = new RTCAutoMode(); - rtc_auto_mode->setParent(this); - // module - { - const uint8_t module_type = static_cast(i); - rtc_auto_mode->module_name = getModuleName(module_type); - std::string module_name = rtc_auto_mode->module_name; - auto label = new QLabel(QString::fromStdString(module_name)); - label->setAlignment(Qt::AlignCenter); - label->setText(QString::fromStdString(module_name)); - if (isPathChangeModule(module_type)) - label->setStyleSheet(BG_PURPLE); - else - label->setStyleSheet(BG_ORANGE); - auto_mode_table_->setCellWidget(i, 0, label); - } - // mode button - { - // auto mode button - rtc_auto_mode->auto_module_button_ptr = new QPushButton("auto mode"); - rtc_auto_mode->auto_module_button_ptr->setCheckable(true); - connect( - rtc_auto_mode->auto_module_button_ptr, &QPushButton::clicked, rtc_auto_mode, - &RTCAutoMode::onChangeToAutoMode); - auto_mode_table_->setCellWidget(i, 1, rtc_auto_mode->auto_module_button_ptr); - // manual mode button - rtc_auto_mode->manual_module_button_ptr = new QPushButton("manual mode"); - rtc_auto_mode->manual_module_button_ptr->setCheckable(true); - connect( - rtc_auto_mode->manual_module_button_ptr, &QPushButton::clicked, rtc_auto_mode, - &RTCAutoMode::onChangeToManualMode); - auto_mode_table_->setCellWidget(i, 2, rtc_auto_mode->manual_module_button_ptr); - } - // current mode - { - QString mode = QString::fromStdString("INIT"); - rtc_auto_mode->auto_manual_mode_label = new QLabel(mode); - rtc_auto_mode->auto_manual_mode_label->setAlignment(Qt::AlignCenter); - rtc_auto_mode->auto_manual_mode_label->setText(mode); - auto_mode_table_->setCellWidget(i, 3, rtc_auto_mode->auto_manual_mode_label); - } - auto_modes_.emplace_back(rtc_auto_mode); - } - v_layout->addWidget(auto_mode_table_); - - num_rtc_status_ptr_ = new QLabel("Init"); - v_layout->addWidget(num_rtc_status_ptr_); - - // lateral execution - auto * exe_path_change_layout = new QHBoxLayout; - { - exec_path_change_button_ptr_ = new QPushButton("Execute Path Change"); - exec_path_change_button_ptr_->setCheckable(false); - exec_path_change_button_ptr_->setStyleSheet(BG_PURPLE); - connect( - exec_path_change_button_ptr_, &QPushButton::clicked, this, - &RTCManagerPanel::onClickExecutePathChange); - exe_path_change_layout->addWidget(exec_path_change_button_ptr_); - wait_path_change_button_ptr_ = new QPushButton("Wait Path Change"); - wait_path_change_button_ptr_->setCheckable(false); - wait_path_change_button_ptr_->setStyleSheet(BG_PURPLE); - connect( - wait_path_change_button_ptr_, &QPushButton::clicked, this, - &RTCManagerPanel::onClickWaitPathChange); - exe_path_change_layout->addWidget(wait_path_change_button_ptr_); - } - v_layout->addLayout(exe_path_change_layout); - - // longitudinal execution - auto * exe_vel_change_layout = new QHBoxLayout; - { - exec_vel_change_button_ptr_ = new QPushButton("Execute Velocity Change"); - exec_vel_change_button_ptr_->setCheckable(false); - exec_vel_change_button_ptr_->setStyleSheet(BG_ORANGE); - connect( - exec_vel_change_button_ptr_, &QPushButton::clicked, this, - &RTCManagerPanel::onClickExecuteVelChange); - exe_vel_change_layout->addWidget(exec_vel_change_button_ptr_); - wait_vel_change_button_ptr_ = new QPushButton("Wait Velocity Change"); - wait_vel_change_button_ptr_->setCheckable(false); - wait_vel_change_button_ptr_->setStyleSheet(BG_ORANGE); - connect( - wait_vel_change_button_ptr_, &QPushButton::clicked, this, - &RTCManagerPanel::onClickWaitVelChange); - exe_vel_change_layout->addWidget(wait_vel_change_button_ptr_); - } - v_layout->addLayout(exe_vel_change_layout); - - // execution - auto * rtc_exe_layout = new QHBoxLayout; - { - exec_button_ptr_ = new QPushButton("Execute All"); - exec_button_ptr_->setCheckable(false); - connect(exec_button_ptr_, &QPushButton::clicked, this, &RTCManagerPanel::onClickExecution); - rtc_exe_layout->addWidget(exec_button_ptr_); - wait_button_ptr_ = new QPushButton("Wait All"); - wait_button_ptr_->setCheckable(false); - connect(wait_button_ptr_, &QPushButton::clicked, this, &RTCManagerPanel::onClickWait); - rtc_exe_layout->addWidget(wait_button_ptr_); - } - v_layout->addLayout(rtc_exe_layout); - - // statuses - auto * rtc_table_layout = new QHBoxLayout; - { - auto vertical_header = new QHeaderView(Qt::Vertical); - vertical_header->hide(); - auto horizontal_header = new QHeaderView(Qt::Horizontal); - horizontal_header->setSectionResizeMode(QHeaderView::Stretch); - rtc_table_ = new QTableWidget(); - rtc_table_->setColumnCount(column_size_); - rtc_table_->setHorizontalHeaderLabels( - {"ID", "Module", "AW Safe", "Received Cmd", "AutoMode", "StartDistance", "FinishDistance"}); - rtc_table_->setVerticalHeader(vertical_header); - rtc_table_->setHorizontalHeader(horizontal_header); - rtc_table_layout->addWidget(rtc_table_); - v_layout->addLayout(rtc_table_layout); - } - setLayout(v_layout); -} - -void RTCManagerPanel::onInitialize() -{ - raw_node_ = this->getDisplayContext()->getRosNodeAbstraction().lock()->get_raw_node(); - - client_rtc_commands_ = - raw_node_->create_client("/api/external/set/rtc_commands"); - - for (size_t i = 0; i < auto_modes_.size(); i++) { - auto & a = auto_modes_.at(i); - // auto mode - a->enable_auto_mode_cli = - raw_node_->create_client(enable_auto_mode_namespace_ + "/" + a->module_name); - } - - sub_rtc_status_ = raw_node_->create_subscription( - "/api/external/get/rtc_status", 1, std::bind(&RTCManagerPanel::onRTCStatus, this, _1)); -} - -void RTCAutoMode::onChangeToAutoMode() -{ - AutoMode::Request::SharedPtr request = std::make_shared(); - request->enable = true; - enable_auto_mode_cli->async_send_request(request); - auto_manual_mode_label->setText("AutoMode"); - auto_manual_mode_label->setStyleSheet(BG_BLUE); - auto_module_button_ptr->setChecked(true); - manual_module_button_ptr->setChecked(false); -} - -void RTCAutoMode::onChangeToManualMode() -{ - AutoMode::Request::SharedPtr request = std::make_shared(); - request->enable = false; - enable_auto_mode_cli->async_send_request(request); - auto_manual_mode_label->setText("ManualMode"); - auto_manual_mode_label->setStyleSheet(BG_YELLOW); - manual_module_button_ptr->setChecked(true); - auto_module_button_ptr->setChecked(false); -} - -CooperateCommand setRTCCommandFromStatus(CooperateStatus & status) -{ - CooperateCommand cooperate_command; - cooperate_command.uuid = status.uuid; - cooperate_command.module = status.module; - cooperate_command.command = status.command_status; - return cooperate_command; -} - -void RTCManagerPanel::onClickChangeRequest(const bool is_path_change, const uint8_t command) -{ - if (!cooperate_statuses_ptr_) return; - if (cooperate_statuses_ptr_->statuses.empty()) return; - auto executable_cooperate_commands_request = std::make_shared(); - executable_cooperate_commands_request->stamp = cooperate_statuses_ptr_->stamp; - // send coop request - for (auto status : cooperate_statuses_ptr_->statuses) { - if (is_path_change ^ isPathChangeModule(status.module.type)) continue; - CooperateCommand cooperate_command = setRTCCommandFromStatus(status); - cooperate_command.command.type = command; - executable_cooperate_commands_request->commands.emplace_back(cooperate_command); - // To consider needs to change path step by step - if (is_path_change && !status.auto_mode && status.command_status.type ^ command) { - break; - } - } - client_rtc_commands_->async_send_request(executable_cooperate_commands_request); -} - -void RTCManagerPanel::onClickCommandRequest(const uint8_t command) -{ - if (!cooperate_statuses_ptr_) return; - if (cooperate_statuses_ptr_->statuses.empty()) return; - auto executable_cooperate_commands_request = std::make_shared(); - executable_cooperate_commands_request->stamp = cooperate_statuses_ptr_->stamp; - // send coop request - for (auto status : cooperate_statuses_ptr_->statuses) { - CooperateCommand cooperate_command = setRTCCommandFromStatus(status); - cooperate_command.command.type = command; - executable_cooperate_commands_request->commands.emplace_back(cooperate_command); - } - client_rtc_commands_->async_send_request(executable_cooperate_commands_request); -} - -void RTCManagerPanel::onClickExecuteVelChange() -{ - onClickChangeRequest(false, Command::ACTIVATE); -} -void RTCManagerPanel::onClickWaitVelChange() -{ - onClickChangeRequest(false, Command::DEACTIVATE); -} -void RTCManagerPanel::onClickExecutePathChange() -{ - onClickChangeRequest(true, Command::ACTIVATE); -} -void RTCManagerPanel::onClickWaitPathChange() -{ - onClickChangeRequest(true, Command::DEACTIVATE); -} -void RTCManagerPanel::onClickExecution() -{ - onClickCommandRequest(Command::ACTIVATE); -} -void RTCManagerPanel::onClickWait() -{ - onClickCommandRequest(Command::DEACTIVATE); -} - -void RTCManagerPanel::onRTCStatus(const CooperateStatusArray::ConstSharedPtr msg) -{ - cooperate_statuses_ptr_ = std::make_shared(*msg); - rtc_table_->clearContents(); - num_rtc_status_ptr_->setText( - QString::fromStdString("The Number of RTC Statuses: " + std::to_string(msg->statuses.size()))); - if (msg->statuses.empty()) { - rtc_table_->update(); - return; - } - // this is to stable rtc display not to occupy too much - size_t min_display_size{5}; - size_t max_display_size{10}; - // rtc messages are already sorted by distance - rtc_table_->setRowCount( - std::max(min_display_size, std::min(msg->statuses.size(), max_display_size))); - int cnt = 0; - - auto sorted_statuses = msg->statuses; - std::partition(sorted_statuses.begin(), sorted_statuses.end(), [](const auto & status) { - return !status.auto_mode && !uint2bool(status.command_status.type); - }); - - for (auto status : sorted_statuses) { - if (static_cast(cnt) >= max_display_size) { - rtc_table_->update(); - return; - } - // uuid - { - std::stringstream uuid; - uuid << std::setw(4) << std::setfill('0') << static_cast(status.uuid.uuid.at(0)); - auto label = new QLabel(QString::fromStdString(uuid.str())); - label->setAlignment(Qt::AlignCenter); - label->setText(QString::fromStdString(uuid.str())); - rtc_table_->setCellWidget(cnt, 0, label); - } - - // module name - { - std::string module_name = getModuleName(status.module.type); - auto label = new QLabel(QString::fromStdString(module_name)); - label->setAlignment(Qt::AlignCenter); - label->setText(QString::fromStdString(module_name)); - rtc_table_->setCellWidget(cnt, 1, label); - } - - // is aw safe - bool is_aw_safe = status.safe; - { - std::string is_safe = Bool2String(is_aw_safe); - auto label = new QLabel(QString::fromStdString(is_safe)); - label->setAlignment(Qt::AlignCenter); - label->setText(QString::fromStdString(is_safe)); - rtc_table_->setCellWidget(cnt, 2, label); - } - - // is operator safe - const bool is_execute = uint2bool(status.command_status.type); - { - std::string text = is_execute ? "EXECUTE" : "WAIT"; - if (status.auto_mode) text = "NONE"; - auto label = new QLabel(QString::fromStdString(text)); - label->setAlignment(Qt::AlignCenter); - label->setText(QString::fromStdString(text)); - rtc_table_->setCellWidget(cnt, 3, label); - } - - // is auto mode - const bool is_rtc_auto_mode = status.auto_mode; - { - std::string is_auto_mode = Bool2String(is_rtc_auto_mode); - auto label = new QLabel(QString::fromStdString(is_auto_mode)); - label->setAlignment(Qt::AlignCenter); - label->setText(QString::fromStdString(is_auto_mode)); - rtc_table_->setCellWidget(cnt, 4, label); - } - - // start distance - { - std::string start_distance = std::to_string(status.start_distance); - auto label = new QLabel(QString::fromStdString(start_distance)); - label->setAlignment(Qt::AlignCenter); - label->setText(QString::fromStdString(start_distance)); - rtc_table_->setCellWidget(cnt, 5, label); - } - - // finish distance - { - std::string finish_distance = std::to_string(status.finish_distance); - auto label = new QLabel(QString::fromStdString(finish_distance)); - label->setAlignment(Qt::AlignCenter); - label->setText(QString::fromStdString(finish_distance)); - rtc_table_->setCellWidget(cnt, 6, label); - } - - // add color for recognition - if (is_rtc_auto_mode || (is_aw_safe && is_execute)) { - rtc_table_->cellWidget(cnt, 1)->setStyleSheet(BG_GREEN); - } else if (is_aw_safe || is_execute) { - rtc_table_->cellWidget(cnt, 1)->setStyleSheet(BG_YELLOW); - } else { - rtc_table_->cellWidget(cnt, 1)->setStyleSheet(BG_RED); - } - cnt++; - } - rtc_table_->update(); -} -} // namespace rviz_plugins - -#include -PLUGINLIB_EXPORT_CLASS(rviz_plugins::RTCManagerPanel, rviz_common::Panel) diff --git a/common/rtc_manager_rviz_plugin/src/rtc_manager_panel.hpp b/common/rtc_manager_rviz_plugin/src/rtc_manager_panel.hpp deleted file mode 100644 index 8bdaef94b6254..0000000000000 --- a/common/rtc_manager_rviz_plugin/src/rtc_manager_panel.hpp +++ /dev/null @@ -1,132 +0,0 @@ -// -// Copyright 2020 Tier IV, Inc. All rights reserved. -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. -// - -#ifndef RTC_MANAGER_PANEL_HPP_ -#define RTC_MANAGER_PANEL_HPP_ - -#include -#include -#include -#include -#include - -#ifndef Q_MOC_RUN -// cpp -#include -#include -#include -#include -// ros -#include -#include - -#include -// autoware -#include -#include -#include -#include -#include -#include -#include -#include -#endif - -namespace rviz_plugins -{ -using tier4_rtc_msgs::msg::Command; -using tier4_rtc_msgs::msg::CooperateCommand; -using tier4_rtc_msgs::msg::CooperateResponse; -using tier4_rtc_msgs::msg::CooperateStatus; -using tier4_rtc_msgs::msg::CooperateStatusArray; -using tier4_rtc_msgs::msg::Module; -using tier4_rtc_msgs::srv::AutoMode; -using tier4_rtc_msgs::srv::CooperateCommands; -using unique_identifier_msgs::msg::UUID; - -static const QString BG_BLUE = "background-color: #3dffff;"; -static const QString BG_YELLOW = "background-color: #ffff3d;"; -static const QString BG_PURPLE = "background-color: #9e3dff;"; -static const QString BG_ORANGE = "background-color: #ff7f00;"; -static const QString BG_GREEN = "background-color: #3dff3d;"; -static const QString BG_RED = "background-color: #ff3d3d;"; - -struct RTCAutoMode : public QObject -{ - Q_OBJECT - -public Q_SLOTS: - void onChangeToAutoMode(); - void onChangeToManualMode(); - -public: - std::string module_name; - QPushButton * auto_module_button_ptr; - QPushButton * manual_module_button_ptr; - QLabel * auto_manual_mode_label; - rclcpp::Client::SharedPtr enable_auto_mode_cli; -}; - -class RTCManagerPanel : public rviz_common::Panel -{ - Q_OBJECT -public Q_SLOTS: - void onClickExecution(); - void onClickWait(); - void onClickVelocityChangeRequest(); - void onClickExecutePathChange(); - void onClickWaitPathChange(); - void onClickExecuteVelChange(); - void onClickWaitVelChange(); - -public: - explicit RTCManagerPanel(QWidget * parent = nullptr); - void onInitialize() override; - -protected: - void onRTCStatus(const CooperateStatusArray::ConstSharedPtr msg); - void onEnableService( - const AutoMode::Request::SharedPtr request, const AutoMode::Response::SharedPtr response) const; - void onClickCommandRequest(const uint8_t command); - void onClickChangeRequest(const bool is_path_change, const uint8_t command); - -private: - rclcpp::Node::SharedPtr raw_node_; - rclcpp::Subscription::SharedPtr sub_rtc_status_; - rclcpp::Client::SharedPtr client_rtc_commands_; - rclcpp::Client::SharedPtr enable_auto_mode_cli_; - std::vector auto_modes_; - - std::shared_ptr cooperate_statuses_ptr_; - QTableWidget * rtc_table_; - QTableWidget * auto_mode_table_; - QPushButton * path_change_button_ptr_ = {nullptr}; - QPushButton * velocity_change_button_ptr_ = {nullptr}; - QPushButton * exec_path_change_button_ptr_ = {nullptr}; - QPushButton * wait_path_change_button_ptr_ = {nullptr}; - QPushButton * exec_vel_change_button_ptr_ = {nullptr}; - QPushButton * wait_vel_change_button_ptr_ = {nullptr}; - QPushButton * exec_button_ptr_ = {nullptr}; - QPushButton * wait_button_ptr_ = {nullptr}; - QLabel * num_rtc_status_ptr_ = {nullptr}; - - size_t column_size_ = {7}; - std::string enable_auto_mode_namespace_ = "/planning/enable_auto_mode"; -}; - -} // namespace rviz_plugins - -#endif // RTC_MANAGER_PANEL_HPP_ diff --git a/common/tier4_automatic_goal_rviz_plugin/CMakeLists.txt b/common/tier4_automatic_goal_rviz_plugin/CMakeLists.txt deleted file mode 100644 index cdc57743a6cb1..0000000000000 --- a/common/tier4_automatic_goal_rviz_plugin/CMakeLists.txt +++ /dev/null @@ -1,36 +0,0 @@ -cmake_minimum_required(VERSION 3.14) -project(tier4_automatic_goal_rviz_plugin) - -find_package(autoware_cmake REQUIRED) -autoware_package() - -find_package(Qt5 REQUIRED Core Widgets) -set(QT_LIBRARIES Qt5::Widgets) -set(CMAKE_AUTOMOC ON) -set(CMAKE_INCLUDE_CURRENT_DIR ON) -add_definitions(-DQT_NO_KEYWORDS) - -ament_auto_add_library(${PROJECT_NAME} SHARED - src/automatic_checkpoint_append_tool.cpp - src/automatic_goal_sender.cpp - src/automatic_goal_append_tool.cpp - src/automatic_goal_panel.cpp -) - -ament_auto_add_executable(automatic_goal_sender - src/automatic_goal_sender.cpp -) - -target_link_libraries(${PROJECT_NAME} - ${QT_LIBRARIES} -) - -# Export the plugin to be imported by rviz2 -pluginlib_export_plugin_description_file(rviz_common plugins/plugin_description.xml) - -ament_auto_package( - INSTALL_TO_SHARE - launch - icons - plugins -) diff --git a/common/tier4_automatic_goal_rviz_plugin/README.md b/common/tier4_automatic_goal_rviz_plugin/README.md deleted file mode 100644 index 6fd626d5a7642..0000000000000 --- a/common/tier4_automatic_goal_rviz_plugin/README.md +++ /dev/null @@ -1,98 +0,0 @@ -# tier4_automatic_goal_rviz_plugin - -## Purpose - -1. Defining a `GoalsList` by adding goals using `RvizTool` (Pose on the map). - -2. Automatic execution of the created `GoalsList` from the selected goal - it can be stopped and restarted. - -3. Looping the current `GoalsList`. - -4. Saving achieved goals to a file. - -5. Plan the route to one (single) selected goal and starting that route - it can be stopped and restarted. - -6. Remove any goal from the list or clear the current route. - -7. Save the current `GoalsList` to a file and load the list from the file. - -8. The application enables/disables access to options depending on the current state. - -9. The saved `GoalsList` can be executed without using a plugin - using a node `automatic_goal_sender`. - -## Inputs / Outputs - -### Input - -| Name | Type | Description | -| ---------------------------- | ------------------------------------------------- | ------------------------------------------------ | -| `/api/operation_mode/state` | `autoware_adapi_v1_msgs::msg::OperationModeState` | The topic represents the state of operation mode | -| `/api/routing/state` | `autoware_adapi_v1_msgs::msg::RouteState` | The topic represents the state of route | -| `/rviz2/automatic_goal/goal` | `geometry_msgs::msgs::PoseStamped` | The topic for adding goals to GoalsList | - -### Output - -| Name | Type | Description | -| ------------------------------------------ | -------------------------------------------------- | -------------------------------------------------- | -| `/api/operation_mode/change_to_autonomous` | `autoware_adapi_v1_msgs::srv::ChangeOperationMode` | The service to change operation mode to autonomous | -| `/api/operation_mode/change_to_stop` | `autoware_adapi_v1_msgs::srv::ChangeOperationMode` | The service to change operation mode to stop | -| `/api/routing/set_route_points` | `autoware_adapi_v1_msgs::srv::SetRoutePoints` | The service to set route | -| `/api/routing/clear_route` | `autoware_adapi_v1_msgs::srv::ClearRoute` | The service to clear route state | -| `/rviz2/automatic_goal/markers` | `visualization_msgs::msg::MarkerArray` | The topic to visualize goals as rviz markers | - -## HowToUse - -1. Start rviz and select panels/Add new panel. - - ![select_panel](./images/select_panels.png) - -2. Select `tier4_automatic_goal_rviz_plugin/AutowareAutomaticGoalPanel` and press OK. - -3. Select Add a new tool. - - ![select_tool](./images/select_tool.png) - -4. Select `tier4_automatic_goal_rviz_plugin/AutowareAutomaticGoalTool` and press OK. - -5. Add goals visualization as markers to `Displays`. - - ![markers](./images/markers.png) - -6. Append goals to the `GoalsList` to be achieved using `2D Append Goal` - in such a way that routes can be planned. - -7. Start sequential planning and goal achievement by clicking `Send goals automatically` - - ![panel](./images/panel.png) - -8. You can save `GoalsList` by clicking `Save to file`. - -9. After saving, you can run the `GoalsList` without using a plugin also: - - example: `ros2 launch tier4_automatic_goal_rviz_plugin automatic_goal_sender.launch.xml goals_list_file_path:="/tmp/goals_list.yaml" goals_achieved_dir_path:="/tmp/"` - - `goals_list_file_path` - is the path to the saved `GoalsList` file to be loaded - - `goals_achieved_dir_path` - is the path to the directory where the file `goals_achieved.log` will be created and the achieved goals will be written to it - -### Hints - -If the application (Engagement) goes into `ERROR` mode (usually returns to `EDITING` later), it means that one of the services returned a calling error (`code!=0`). -In this situation, check the terminal output for more information. - -- Often it is enough to try again. -- Sometimes a clearing of the current route is required before retrying. - -## Material Design Icons - -This project uses [Material Design Icons](https://developers.google.com/fonts/docs/material_symbols) by Google. These icons are used under the terms of the Apache License, Version 2.0. - -Material Design Icons are a collection of symbols provided by Google that are used to enhance the user interface of applications, websites, and other digital products. - -### License - -The Material Design Icons are licensed under the Apache License, Version 2.0. You may obtain a copy of the License at: - - - -Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License. - -### Acknowledgments - -We would like to express our gratitude to Google for making these icons available to the community, helping developers and designers enhance the visual appeal and user experience of their projects. diff --git a/common/tier4_automatic_goal_rviz_plugin/icons/classes/AutowareAutomaticCheckpointTool.png b/common/tier4_automatic_goal_rviz_plugin/icons/classes/AutowareAutomaticCheckpointTool.png deleted file mode 100644 index 4f5b4961f2500..0000000000000 Binary files a/common/tier4_automatic_goal_rviz_plugin/icons/classes/AutowareAutomaticCheckpointTool.png and /dev/null differ diff --git a/common/tier4_automatic_goal_rviz_plugin/icons/classes/AutowareAutomaticGoalPanel.png b/common/tier4_automatic_goal_rviz_plugin/icons/classes/AutowareAutomaticGoalPanel.png deleted file mode 100644 index 6a67573717ae1..0000000000000 Binary files a/common/tier4_automatic_goal_rviz_plugin/icons/classes/AutowareAutomaticGoalPanel.png and /dev/null differ diff --git a/common/tier4_automatic_goal_rviz_plugin/icons/classes/AutowareAutomaticGoalTool.png b/common/tier4_automatic_goal_rviz_plugin/icons/classes/AutowareAutomaticGoalTool.png deleted file mode 100644 index 58d12f95ebfd6..0000000000000 Binary files a/common/tier4_automatic_goal_rviz_plugin/icons/classes/AutowareAutomaticGoalTool.png and /dev/null differ diff --git a/common/tier4_automatic_goal_rviz_plugin/images/markers.png b/common/tier4_automatic_goal_rviz_plugin/images/markers.png deleted file mode 100644 index 8dd4d9d02bef4..0000000000000 Binary files a/common/tier4_automatic_goal_rviz_plugin/images/markers.png and /dev/null differ diff --git a/common/tier4_automatic_goal_rviz_plugin/images/panel.png b/common/tier4_automatic_goal_rviz_plugin/images/panel.png deleted file mode 100644 index 1800202ea9f57..0000000000000 Binary files a/common/tier4_automatic_goal_rviz_plugin/images/panel.png and /dev/null differ diff --git a/common/tier4_automatic_goal_rviz_plugin/images/select_panels.png b/common/tier4_automatic_goal_rviz_plugin/images/select_panels.png deleted file mode 100644 index 61dd9e1d7a1b3..0000000000000 Binary files a/common/tier4_automatic_goal_rviz_plugin/images/select_panels.png and /dev/null differ diff --git a/common/tier4_automatic_goal_rviz_plugin/images/select_tool.png b/common/tier4_automatic_goal_rviz_plugin/images/select_tool.png deleted file mode 100644 index a6ddc6d24c575..0000000000000 Binary files a/common/tier4_automatic_goal_rviz_plugin/images/select_tool.png and /dev/null differ diff --git a/common/tier4_automatic_goal_rviz_plugin/launch/automatic_goal_sender.launch.xml b/common/tier4_automatic_goal_rviz_plugin/launch/automatic_goal_sender.launch.xml deleted file mode 100644 index a9af89c078348..0000000000000 --- a/common/tier4_automatic_goal_rviz_plugin/launch/automatic_goal_sender.launch.xml +++ /dev/null @@ -1,10 +0,0 @@ - - - - - - - - - - diff --git a/common/tier4_automatic_goal_rviz_plugin/package.xml b/common/tier4_automatic_goal_rviz_plugin/package.xml deleted file mode 100644 index fb5331379acb6..0000000000000 --- a/common/tier4_automatic_goal_rviz_plugin/package.xml +++ /dev/null @@ -1,38 +0,0 @@ - - - - tier4_automatic_goal_rviz_plugin - 0.0.0 - The autoware automatic goal rviz plugin package - Shumpei Wakabayashi - Dawid Moszyński - Kyoichi Sugahara - Satoshi Ota - Apache License 2.0 - Dawid Moszyński - - ament_cmake_auto - autoware_cmake - autoware_adapi_v1_msgs - geometry_msgs - libqt5-core - libqt5-gui - libqt5-widgets - qtbase5-dev - rclcpp - rviz_common - rviz_default_plugins - tf2 - tf2_geometry_msgs - tier4_autoware_utils - visualization_msgs - yaml-cpp - - ament_lint_auto - autoware_lint_common - - - ament_cmake - - - diff --git a/common/tier4_automatic_goal_rviz_plugin/plugins/plugin_description.xml b/common/tier4_automatic_goal_rviz_plugin/plugins/plugin_description.xml deleted file mode 100644 index e9d77491941ed..0000000000000 --- a/common/tier4_automatic_goal_rviz_plugin/plugins/plugin_description.xml +++ /dev/null @@ -1,17 +0,0 @@ - - - AutowareAutomaticGoalPanel - - - AutowareAutomaticGoalTool - - - AutowareAutomaticCheckpointTool - - diff --git a/common/tier4_automatic_goal_rviz_plugin/src/automatic_checkpoint_append_tool.cpp b/common/tier4_automatic_goal_rviz_plugin/src/automatic_checkpoint_append_tool.cpp deleted file mode 100644 index 4efa6fedbaabd..0000000000000 --- a/common/tier4_automatic_goal_rviz_plugin/src/automatic_checkpoint_append_tool.cpp +++ /dev/null @@ -1,122 +0,0 @@ -// Copyright 2024 TIER IV, Inc. -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. -/* - * Software License Agreement (BSD License) - * - * Copyright (c) 2012, Willow Garage, Inc. - * All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * * Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * * Redistributions in binary form must reproduce the above - * copyright notice, this list of conditions and the following - * disclaimer in the documentation and/or other materials provided - * with the distribution. - * * Neither the name of Willow Garage, Inc. nor the names of its - * contributors may be used to endorse or promote products derived - * from this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; - * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER - * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - */ - -#include "automatic_checkpoint_append_tool.hpp" - -#ifdef ROS_DISTRO_GALACTIC -#include -#else -#include -#endif -#include - -#include - -namespace rviz_plugins -{ -AutowareAutomaticCheckpointTool::AutowareAutomaticCheckpointTool() -{ - shortcut_key_ = 'c'; - - pose_topic_property_ = new rviz_common::properties::StringProperty( - "Pose Topic", "~/automatic_goal/checkpoint", "The topic on which to publish automatic_goal.", - getPropertyContainer(), SLOT(updateTopic()), this); - std_dev_x_ = new rviz_common::properties::FloatProperty( - "X std deviation", 0.5, "X standard deviation for checkpoint pose [m]", getPropertyContainer()); - std_dev_y_ = new rviz_common::properties::FloatProperty( - "Y std deviation", 0.5, "Y standard deviation for checkpoint pose [m]", getPropertyContainer()); - std_dev_theta_ = new rviz_common::properties::FloatProperty( - "Theta std deviation", M_PI / 12.0, "Theta standard deviation for checkpoint pose [rad]", - getPropertyContainer()); - position_z_ = new rviz_common::properties::FloatProperty( - "Z position", 0.0, "Z position for checkpoint pose [m]", getPropertyContainer()); - std_dev_x_->setMin(0); - std_dev_y_->setMin(0); - std_dev_theta_->setMin(0); - position_z_->setMin(0); -} - -void AutowareAutomaticCheckpointTool::onInitialize() -{ - PoseTool::onInitialize(); - setName("2D AppendCheckpoint"); - updateTopic(); -} - -void AutowareAutomaticCheckpointTool::updateTopic() -{ - rclcpp::Node::SharedPtr raw_node = context_->getRosNodeAbstraction().lock()->get_raw_node(); - pose_pub_ = raw_node->create_publisher( - pose_topic_property_->getStdString(), 1); - clock_ = raw_node->get_clock(); -} - -void AutowareAutomaticCheckpointTool::onPoseSet(double x, double y, double theta) -{ - // pose - std::string fixed_frame = context_->getFixedFrame().toStdString(); - geometry_msgs::msg::PoseStamped pose; - pose.header.frame_id = fixed_frame; - pose.header.stamp = clock_->now(); - pose.pose.position.x = x; - pose.pose.position.y = y; - pose.pose.position.z = position_z_->getFloat(); - - tf2::Quaternion quat; - quat.setRPY(0.0, 0.0, theta); - pose.pose.orientation = tf2::toMsg(quat); - RCLCPP_INFO( - rclcpp::get_logger("AutowareAutomaticCheckpointTool"), - "Setting pose: %.3f %.3f %.3f %.3f [frame=%s]", x, y, position_z_->getFloat(), theta, - fixed_frame.c_str()); - pose_pub_->publish(pose); -} - -} // end namespace rviz_plugins - -#include -PLUGINLIB_EXPORT_CLASS(rviz_plugins::AutowareAutomaticCheckpointTool, rviz_common::Tool) diff --git a/common/tier4_automatic_goal_rviz_plugin/src/automatic_checkpoint_append_tool.hpp b/common/tier4_automatic_goal_rviz_plugin/src/automatic_checkpoint_append_tool.hpp deleted file mode 100644 index 4ea3fa4bd009a..0000000000000 --- a/common/tier4_automatic_goal_rviz_plugin/src/automatic_checkpoint_append_tool.hpp +++ /dev/null @@ -1,91 +0,0 @@ -// Copyright 2024 TIER IV, Inc. -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. -/* - * Software License Agreement (BSD License) - * - * Copyright (c) 2012, Willow Garage, Inc. - * All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * * Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * * Redistributions in binary form must reproduce the above - * copyright notice, this list of conditions and the following - * disclaimer in the documentation and/or other materials provided - * with the distribution. - * * Neither the name of Willow Garage, Inc. nor the names of its - * contributors may be used to endorse or promote products derived - * from this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; - * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER - * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - */ - -#ifndef AUTOMATIC_CHECKPOINT_APPEND_TOOL_HPP_ -#define AUTOMATIC_CHECKPOINT_APPEND_TOOL_HPP_ - -#ifndef Q_MOC_RUN // See: https://bugreports.qt-project.org/browse/QTBUG-22829 -#include -#include -#include -#include -#include -#include -#endif - -#include - -namespace rviz_plugins -{ -class AutowareAutomaticCheckpointTool : public rviz_default_plugins::tools::PoseTool -{ - Q_OBJECT - -public: - AutowareAutomaticCheckpointTool(); - void onInitialize() override; - -protected: - void onPoseSet(double x, double y, double theta) override; - -private Q_SLOTS: - void updateTopic(); - -private: // NOLINT for Qt - rclcpp::Clock::SharedPtr clock_{nullptr}; - rclcpp::Publisher::SharedPtr pose_pub_{nullptr}; - - rviz_common::properties::StringProperty * pose_topic_property_{nullptr}; - rviz_common::properties::FloatProperty * std_dev_x_{nullptr}; - rviz_common::properties::FloatProperty * std_dev_y_{nullptr}; - rviz_common::properties::FloatProperty * std_dev_theta_{nullptr}; - rviz_common::properties::FloatProperty * position_z_{nullptr}; -}; - -} // namespace rviz_plugins - -#endif // AUTOMATIC_CHECKPOINT_APPEND_TOOL_HPP_ diff --git a/common/tier4_automatic_goal_rviz_plugin/src/automatic_goal_append_tool.cpp b/common/tier4_automatic_goal_rviz_plugin/src/automatic_goal_append_tool.cpp deleted file mode 100644 index 43fc0edcccf84..0000000000000 --- a/common/tier4_automatic_goal_rviz_plugin/src/automatic_goal_append_tool.cpp +++ /dev/null @@ -1,121 +0,0 @@ -// Copyright 2023 TIER IV, Inc. -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. -/* - * Software License Agreement (BSD License) - * - * Copyright (c) 2012, Willow Garage, Inc. - * All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * * Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * * Redistributions in binary form must reproduce the above - * copyright notice, this list of conditions and the following - * disclaimer in the documentation and/or other materials provided - * with the distribution. - * * Neither the name of Willow Garage, Inc. nor the names of its - * contributors may be used to endorse or promote products derived - * from this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; - * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER - * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - */ - -#include "automatic_goal_append_tool.hpp" - -#ifdef ROS_DISTRO_GALACTIC -#include -#else -#include -#endif -#include - -#include - -namespace rviz_plugins -{ -AutowareAutomaticGoalTool::AutowareAutomaticGoalTool() -{ - shortcut_key_ = 'c'; - - pose_topic_property_ = new rviz_common::properties::StringProperty( - "Pose Topic", "~/automatic_goal/goal", "The topic on which to publish automatic_goal.", - getPropertyContainer(), SLOT(updateTopic()), this); - std_dev_x_ = new rviz_common::properties::FloatProperty( - "X std deviation", 0.5, "X standard deviation for checkpoint pose [m]", getPropertyContainer()); - std_dev_y_ = new rviz_common::properties::FloatProperty( - "Y std deviation", 0.5, "Y standard deviation for checkpoint pose [m]", getPropertyContainer()); - std_dev_theta_ = new rviz_common::properties::FloatProperty( - "Theta std deviation", M_PI / 12.0, "Theta standard deviation for checkpoint pose [rad]", - getPropertyContainer()); - position_z_ = new rviz_common::properties::FloatProperty( - "Z position", 0.0, "Z position for checkpoint pose [m]", getPropertyContainer()); - std_dev_x_->setMin(0); - std_dev_y_->setMin(0); - std_dev_theta_->setMin(0); - position_z_->setMin(0); -} - -void AutowareAutomaticGoalTool::onInitialize() -{ - PoseTool::onInitialize(); - setName("2D AppendGoal"); - updateTopic(); -} - -void AutowareAutomaticGoalTool::updateTopic() -{ - rclcpp::Node::SharedPtr raw_node = context_->getRosNodeAbstraction().lock()->get_raw_node(); - pose_pub_ = raw_node->create_publisher( - pose_topic_property_->getStdString(), 1); - clock_ = raw_node->get_clock(); -} - -void AutowareAutomaticGoalTool::onPoseSet(double x, double y, double theta) -{ - // pose - std::string fixed_frame = context_->getFixedFrame().toStdString(); - geometry_msgs::msg::PoseStamped pose; - pose.header.frame_id = fixed_frame; - pose.header.stamp = clock_->now(); - pose.pose.position.x = x; - pose.pose.position.y = y; - pose.pose.position.z = position_z_->getFloat(); - - tf2::Quaternion quat; - quat.setRPY(0.0, 0.0, theta); - pose.pose.orientation = tf2::toMsg(quat); - RCLCPP_INFO( - rclcpp::get_logger("AutowareAutomaticGoalTool"), "Setting pose: %.3f %.3f %.3f %.3f [frame=%s]", - x, y, position_z_->getFloat(), theta, fixed_frame.c_str()); - pose_pub_->publish(pose); -} - -} // end namespace rviz_plugins - -#include -PLUGINLIB_EXPORT_CLASS(rviz_plugins::AutowareAutomaticGoalTool, rviz_common::Tool) diff --git a/common/tier4_automatic_goal_rviz_plugin/src/automatic_goal_append_tool.hpp b/common/tier4_automatic_goal_rviz_plugin/src/automatic_goal_append_tool.hpp deleted file mode 100644 index 6fc98cee9afa1..0000000000000 --- a/common/tier4_automatic_goal_rviz_plugin/src/automatic_goal_append_tool.hpp +++ /dev/null @@ -1,91 +0,0 @@ -// Copyright 2023 TIER IV, Inc. -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. -/* - * Software License Agreement (BSD License) - * - * Copyright (c) 2012, Willow Garage, Inc. - * All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * * Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * * Redistributions in binary form must reproduce the above - * copyright notice, this list of conditions and the following - * disclaimer in the documentation and/or other materials provided - * with the distribution. - * * Neither the name of Willow Garage, Inc. nor the names of its - * contributors may be used to endorse or promote products derived - * from this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; - * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER - * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - */ - -#ifndef AUTOMATIC_GOAL_APPEND_TOOL_HPP_ -#define AUTOMATIC_GOAL_APPEND_TOOL_HPP_ - -#ifndef Q_MOC_RUN // See: https://bugreports.qt-project.org/browse/QTBUG-22829 -#include -#include -#include -#include -#include -#include -#endif - -#include - -namespace rviz_plugins -{ -class AutowareAutomaticGoalTool : public rviz_default_plugins::tools::PoseTool -{ - Q_OBJECT - -public: - AutowareAutomaticGoalTool(); - void onInitialize() override; - -protected: - void onPoseSet(double x, double y, double theta) override; - -private Q_SLOTS: - void updateTopic(); - -private: // NOLINT for Qt - rclcpp::Clock::SharedPtr clock_{nullptr}; - rclcpp::Publisher::SharedPtr pose_pub_{nullptr}; - - rviz_common::properties::StringProperty * pose_topic_property_{nullptr}; - rviz_common::properties::FloatProperty * std_dev_x_{nullptr}; - rviz_common::properties::FloatProperty * std_dev_y_{nullptr}; - rviz_common::properties::FloatProperty * std_dev_theta_{nullptr}; - rviz_common::properties::FloatProperty * position_z_{nullptr}; -}; - -} // namespace rviz_plugins - -#endif // AUTOMATIC_GOAL_APPEND_TOOL_HPP_ diff --git a/common/tier4_automatic_goal_rviz_plugin/src/automatic_goal_panel.cpp b/common/tier4_automatic_goal_rviz_plugin/src/automatic_goal_panel.cpp deleted file mode 100644 index 6b8d7765a989a..0000000000000 --- a/common/tier4_automatic_goal_rviz_plugin/src/automatic_goal_panel.cpp +++ /dev/null @@ -1,532 +0,0 @@ -// -// Copyright 2023 TIER IV, Inc. All rights reserved. -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. -// - -#include "automatic_goal_panel.hpp" - -#include - -namespace rviz_plugins -{ -AutowareAutomaticGoalPanel::AutowareAutomaticGoalPanel(QWidget * parent) -: rviz_common::Panel(parent) -{ - qt_timer_ = new QTimer(this); - connect( - qt_timer_, &QTimer::timeout, this, &AutowareAutomaticGoalPanel::updateAutoExecutionTimerTick); - - auto * h_layout = new QHBoxLayout(this); - auto * v_layout = new QVBoxLayout(this); - h_layout->addWidget(makeGoalsListGroup()); - v_layout->addWidget(makeEngagementGroup()); - v_layout->addWidget(makeRoutingGroup()); - h_layout->addLayout(v_layout); - setLayout(h_layout); -} - -// Layouts -QGroupBox * AutowareAutomaticGoalPanel::makeGoalsListGroup() -{ - auto * group = new QGroupBox("GoalsList", this); - auto * grid = new QGridLayout(group); - - load_file_btn_ptr_ = new QPushButton("Load from file", group); - connect(load_file_btn_ptr_, SIGNAL(clicked()), SLOT(onClickLoadListFromFile())); - grid->addWidget(load_file_btn_ptr_, 0, 0); - - save_file_btn_ptr_ = new QPushButton("Save to file", group); - connect(save_file_btn_ptr_, SIGNAL(clicked()), SLOT(onClickSaveListToFile())); - grid->addWidget(save_file_btn_ptr_, 1, 0); - - goals_list_widget_ptr_ = new QListWidget(group); - goals_list_widget_ptr_->setStyleSheet("border:1px solid black;"); - grid->addWidget(goals_list_widget_ptr_, 2, 0); - - remove_selected_goal_btn_ptr_ = new QPushButton("Remove selected", group); - connect(remove_selected_goal_btn_ptr_, SIGNAL(clicked()), SLOT(onClickRemove())); - grid->addWidget(remove_selected_goal_btn_ptr_, 3, 0); - - loop_list_btn_ptr_ = new QPushButton("Loop list", group); - loop_list_btn_ptr_->setCheckable(true); - connect(loop_list_btn_ptr_, SIGNAL(toggled(bool)), SLOT(onToggleLoopList(bool))); - grid->addWidget(loop_list_btn_ptr_, 4, 0); - - goals_achieved_btn_ptr_ = new QPushButton("Saving achieved goals to file", group); - goals_achieved_btn_ptr_->setCheckable(true); - connect(goals_achieved_btn_ptr_, SIGNAL(toggled(bool)), SLOT(onToggleSaveGoalsAchievement(bool))); - grid->addWidget(goals_achieved_btn_ptr_, 5, 0); - - group->setLayout(grid); - return group; -} - -QGroupBox * AutowareAutomaticGoalPanel::makeRoutingGroup() -{ - auto * group = new QGroupBox("Routing", this); - auto * grid = new QGridLayout(group); - - routing_label_ptr_ = new QLabel("INIT", group); - routing_label_ptr_->setMinimumSize(100, 25); - routing_label_ptr_->setAlignment(Qt::AlignCenter); - routing_label_ptr_->setStyleSheet("border:1px solid black;"); - grid->addWidget(routing_label_ptr_, 0, 0); - - clear_route_btn_ptr_ = new QPushButton("Clear planned route", group); - connect(clear_route_btn_ptr_, &QPushButton::clicked, [this]() { onClickClearRoute(); }); - grid->addWidget(clear_route_btn_ptr_, 1, 0); - group->setLayout(grid); - - group->setLayout(grid); - return group; -} - -QGroupBox * AutowareAutomaticGoalPanel::makeEngagementGroup() -{ - auto * group = new QGroupBox("Engagement", this); - auto * grid = new QGridLayout(group); - - engagement_label_ptr_ = new QLabel("INITIALIZING", group); - engagement_label_ptr_->setMinimumSize(100, 25); - engagement_label_ptr_->setAlignment(Qt::AlignCenter); - engagement_label_ptr_->setStyleSheet("border:1px solid black;"); - grid->addWidget(engagement_label_ptr_, 0, 0); - - automatic_mode_btn_ptr_ = new QPushButton("Send goals automatically", group); - automatic_mode_btn_ptr_->setCheckable(true); - - connect(automatic_mode_btn_ptr_, SIGNAL(toggled(bool)), SLOT(onToggleAutoMode(bool))); - grid->addWidget(automatic_mode_btn_ptr_, 1, 0); - - plan_btn_ptr_ = new QPushButton("Plan to selected goal", group); - connect(plan_btn_ptr_, &QPushButton::clicked, [this] { onClickPlan(); }); - grid->addWidget(plan_btn_ptr_, 2, 0); - - start_btn_ptr_ = new QPushButton("Start current plan", group); - connect(start_btn_ptr_, &QPushButton::clicked, [this] { onClickStart(); }); - grid->addWidget(start_btn_ptr_, 3, 0); - - stop_btn_ptr_ = new QPushButton("Stop current plan", group); - connect(stop_btn_ptr_, SIGNAL(clicked()), SLOT(onClickStop())); - grid->addWidget(stop_btn_ptr_, 4, 0); - group->setLayout(grid); - - group->setLayout(grid); - return group; -} - -void AutowareAutomaticGoalPanel::showMessageBox(const QString & string) -{ - QMessageBox msg_box(this); - msg_box.setText(string); - msg_box.exec(); -} - -// Slots -void AutowareAutomaticGoalPanel::onInitialize() -{ - raw_node_ = this->getDisplayContext()->getRosNodeAbstraction().lock()->get_raw_node(); - pub_marker_ = raw_node_->create_publisher("~/automatic_goal/markers", 0); - sub_append_goal_ = raw_node_->create_subscription( - "~/automatic_goal/goal", 5, - std::bind(&AutowareAutomaticGoalPanel::onAppendGoal, this, std::placeholders::_1)); - sub_append_checkpoint_ = raw_node_->create_subscription( - "~/automatic_goal/checkpoint", 5, - std::bind(&AutowareAutomaticGoalPanel::onAppendCheckpoint, this, std::placeholders::_1)); - initCommunication(raw_node_.get()); -} - -void AutowareAutomaticGoalPanel::onToggleLoopList(bool checked) -{ - is_loop_list_on_ = checked; - updateGUI(); -} - -void AutowareAutomaticGoalPanel::onToggleSaveGoalsAchievement(bool checked) -{ - if (checked) { - QString file_name = QFileDialog::getSaveFileName( - this, tr("Save File with GoalsList"), "/tmp/goals_achieved.log", - tr("Achieved goals (*.log)")); - goals_achieved_file_path_ = file_name.toStdString(); - } else { - goals_achieved_file_path_ = ""; - } - updateGUI(); -} - -void AutowareAutomaticGoalPanel::onToggleAutoMode(bool checked) -{ - if (checked && goals_list_widget_ptr_->selectedItems().count() != 1) { - showMessageBox("Select the first goal in GoalsList"); - automatic_mode_btn_ptr_->setChecked(false); - } else { - if (checked) current_goal_ = goals_list_widget_ptr_->currentRow(); - is_automatic_mode_on_ = checked; - is_automatic_mode_on_ ? qt_timer_->start(1000) : qt_timer_->stop(); - onClickClearRoute(); // here will be set State::AUTO_NEXT or State::EDITING; - } -} - -void AutowareAutomaticGoalPanel::onClickPlan() -{ - if (goals_list_widget_ptr_->selectedItems().count() != 1) { - showMessageBox("Select a goal in GoalsList"); - return; - } - - if (callPlanToGoalIndex(cli_set_route_, goals_list_widget_ptr_->currentRow())) { - state_ = State::PLANNING; - updateGUI(); - } -} - -void AutowareAutomaticGoalPanel::onClickStart() -{ - if (callService(cli_change_to_autonomous_)) { - state_ = State::STARTING; - updateGUI(); - } -} - -void AutowareAutomaticGoalPanel::onClickStop() -{ - // if ERROR is set then the ego is already stopped - if (state_ == State::ERROR) { - state_ = State::STOPPED; - updateGUI(); - } else if (callService(cli_change_to_stop_)) { - state_ = State::STOPPING; - updateGUI(); - } -} - -void AutowareAutomaticGoalPanel::onClickClearRoute() -{ - if (callService(cli_clear_route_)) { - state_ = State::CLEARING; - updateGUI(); - } -} - -void AutowareAutomaticGoalPanel::onClickRemove() -{ - if (static_cast(goals_list_widget_ptr_->currentRow()) < goals_list_.size()) - goals_list_.erase(goals_list_.begin() + goals_list_widget_ptr_->currentRow()); - resetAchievedGoals(); - updateGUI(); - updateGoalsList(); -} - -void AutowareAutomaticGoalPanel::onClickLoadListFromFile() -{ - QString file_name = QFileDialog::getOpenFileName( - this, tr("Open File with GoalsList"), "/tmp", tr("Goal lists (*.yaml)")); - if (file_name.count() > 0) loadGoalsList(file_name.toStdString()); -} - -void AutowareAutomaticGoalPanel::onClickSaveListToFile() -{ - if (!goals_list_.empty()) { - QString file_name = QFileDialog::getSaveFileName( - this, tr("Save File with GoalsList"), "/tmp/goals_list.yaml", tr("Goal lists (*.yaml)")); - if (file_name.count() > 0) saveGoalsList(file_name.toStdString()); - } -} - -// Inputs -void AutowareAutomaticGoalPanel::onAppendGoal(const PoseStamped::ConstSharedPtr pose) -{ - if (state_ == State::EDITING) { - goals_list_.emplace_back(pose); - updateGoalsList(); - updateGUI(); - } -} - -void AutowareAutomaticGoalPanel::onAppendCheckpoint(const PoseStamped::ConstSharedPtr pose) -{ - if (goals_list_widget_ptr_->selectedItems().count() != 1) { - showMessageBox("Select a goal in GoalsList before set checkpoint"); - return; - } - - current_goal_ = goals_list_widget_ptr_->currentRow(); - if (current_goal_ >= goals_list_.size()) { - return; - } - - goals_list_.at(current_goal_).checkpoint_pose_ptrs.push_back(pose); - publishMarkers(); -} - -// Override -void AutowareAutomaticGoalPanel::onCallResult() -{ - updateGUI(); -} -void AutowareAutomaticGoalPanel::onGoalListUpdated() -{ - goals_list_widget_ptr_->clear(); - for (auto const & goal : goals_achieved_) { - auto * item = - new QListWidgetItem(QString::fromStdString(goal.second.first), goals_list_widget_ptr_); - goals_list_widget_ptr_->addItem(item); - updateGoalIcon(goals_list_widget_ptr_->count() - 1, QColor("lightGray")); - } - publishMarkers(); -} -void AutowareAutomaticGoalPanel::onOperationModeUpdated(const OperationModeState::ConstSharedPtr) -{ - updateGUI(); -} -void AutowareAutomaticGoalPanel::onRouteUpdated(const RouteState::ConstSharedPtr msg) -{ - std::pair style; - if (msg->state == RouteState::UNSET) - style = std::make_pair("UNSET", "background-color: #FFFF00;"); // yellow - else if (msg->state == RouteState::SET) - style = std::make_pair("SET", "background-color: #00FF00;"); // green - else if (msg->state == RouteState::ARRIVED) - style = std::make_pair("ARRIVED", "background-color: #FFA500;"); // orange - else if (msg->state == RouteState::CHANGING) - style = std::make_pair("CHANGING", "background-color: #FFFF00;"); // yellow - else - style = std::make_pair("UNKNOWN", "background-color: #FF0000;"); // red - - updateLabel(routing_label_ptr_, style.first, style.second); - updateGUI(); -} - -void AutowareAutomaticGoalPanel::updateAutoExecutionTimerTick() -{ - if (is_automatic_mode_on_) { - if (state_ == State::AUTO_NEXT) { - // end if loop is off - if (current_goal_ >= goals_list_.size() && !is_loop_list_on_) { - disableAutomaticMode(); - return; - } - // plan to next goal - current_goal_ = current_goal_ % goals_list_.size(); - if (callPlanToGoalIndex(cli_set_route_, current_goal_)) { - state_ = State::PLANNING; - updateGUI(); - } - } else if (state_ == State::PLANNED) { - updateGoalIcon(current_goal_, QColor("yellow")); - onClickStart(); - } else if (state_ == State::ARRIVED) { - goals_achieved_[current_goal_].second++; - updateAchievedGoalsFile(current_goal_); - updateGoalIcon(current_goal_++, QColor("green")); - onClickClearRoute(); // will be set AUTO_NEXT as next state_ - } else if (state_ == State::STOPPED || state_ == State::ERROR) { - disableAutomaticMode(); - } - } -} - -// Visual updates -void AutowareAutomaticGoalPanel::updateGUI() -{ - deactivateButton(automatic_mode_btn_ptr_); - deactivateButton(remove_selected_goal_btn_ptr_); - deactivateButton(clear_route_btn_ptr_); - deactivateButton(plan_btn_ptr_); - deactivateButton(start_btn_ptr_); - deactivateButton(stop_btn_ptr_); - deactivateButton(load_file_btn_ptr_); - deactivateButton(save_file_btn_ptr_); - deactivateButton(loop_list_btn_ptr_); - deactivateButton(goals_achieved_btn_ptr_); - - std::pair style; - switch (state_) { - case State::EDITING: - activateButton(load_file_btn_ptr_); - if (!goals_list_.empty()) { - activateButton(goals_achieved_btn_ptr_); - activateButton(plan_btn_ptr_); - activateButton(remove_selected_goal_btn_ptr_); - activateButton(automatic_mode_btn_ptr_); - activateButton(save_file_btn_ptr_); - activateButton(loop_list_btn_ptr_); - } - style = std::make_pair("EDITING", "background-color: #FFFF00;"); - break; - case State::PLANNED: - activateButton(start_btn_ptr_); - activateButton(clear_route_btn_ptr_); - activateButton(save_file_btn_ptr_); - style = std::make_pair("PLANNED", "background-color: #00FF00;"); - break; - case State::STARTED: - activateButton(stop_btn_ptr_); - activateButton(save_file_btn_ptr_); - style = std::make_pair("STARTED", "background-color: #00FF00;"); - break; - case State::STOPPED: - activateButton(start_btn_ptr_); - activateButton(automatic_mode_btn_ptr_); - activateButton(clear_route_btn_ptr_); - activateButton(save_file_btn_ptr_); - style = std::make_pair("STOPPED", "background-color: #00FF00;"); - break; - case State::ARRIVED: - if (!is_automatic_mode_on_) onClickClearRoute(); // will be set EDITING as next state_ - break; - case State::CLEARED: - is_automatic_mode_on_ ? state_ = State::AUTO_NEXT : state_ = State::EDITING; - updateGUI(); - break; - case State::ERROR: - activateButton(stop_btn_ptr_); - if (!goals_list_.empty()) activateButton(save_file_btn_ptr_); - style = std::make_pair("ERROR", "background-color: #FF0000;"); - break; - case State::PLANNING: - activateButton(clear_route_btn_ptr_); - style = std::make_pair("PLANNING", "background-color: #FFA500;"); - break; - case State::STARTING: - style = std::make_pair("STARTING", "background-color: #FFA500;"); - break; - case State::STOPPING: - style = std::make_pair("STOPPING", "background-color: #FFA500;"); - break; - case State::CLEARING: - style = std::make_pair("CLEARING", "background-color: #FFA500;"); - break; - default: - break; - } - - automatic_mode_btn_ptr_->setStyleSheet(""); - loop_list_btn_ptr_->setStyleSheet(""); - goals_achieved_btn_ptr_->setStyleSheet(""); - if (is_automatic_mode_on_) automatic_mode_btn_ptr_->setStyleSheet("background-color: green"); - if (is_loop_list_on_) loop_list_btn_ptr_->setStyleSheet("background-color: green"); - if (!goals_achieved_file_path_.empty()) - goals_achieved_btn_ptr_->setStyleSheet("background-color: green"); - - updateLabel(engagement_label_ptr_, style.first, style.second); -} - -void AutowareAutomaticGoalPanel::updateGoalIcon(const unsigned goal_index, const QColor & color) -{ - QPixmap pixmap(24, 24); - pixmap.fill(color); - QPainter painter(&pixmap); - painter.setPen(QColor("black")); - painter.setFont(QFont("fixed-width", 10)); - QString text = QString::number(goals_achieved_[goal_index].second); - painter.drawText(QRect(0, 0, 24, 24), Qt::AlignCenter, text); - QIcon icon(pixmap); - goals_list_widget_ptr_->item(static_cast(goal_index))->setIcon(icon); -} - -void AutowareAutomaticGoalPanel::publishMarkers() -{ - using tier4_autoware_utils::createDefaultMarker; - using tier4_autoware_utils::createMarkerColor; - using tier4_autoware_utils::createMarkerScale; - - MarkerArray text_array; - MarkerArray arrow_array; - // Clear existing - { - auto marker = createDefaultMarker( - "map", rclcpp::Clock{RCL_ROS_TIME}.now(), "names", 0L, Marker::CUBE, - createMarkerScale(1.0, 1.0, 1.0), createMarkerColor(1.0, 1.0, 1.0, 0.999)); - marker.action = visualization_msgs::msg::Marker::DELETEALL; - text_array.markers.push_back(marker); - pub_marker_->publish(text_array); - } - - { - auto marker = createDefaultMarker( - "map", rclcpp::Clock{RCL_ROS_TIME}.now(), "poses", 0L, Marker::CUBE, - createMarkerScale(1.0, 1.0, 1.0), createMarkerColor(1.0, 1.0, 1.0, 0.999)); - arrow_array.markers.push_back(marker); - pub_marker_->publish(arrow_array); - } - - text_array.markers.clear(); - arrow_array.markers.clear(); - - const auto push_arrow_marker = [&](const auto & pose, const auto & color, const size_t id) { - auto marker = createDefaultMarker( - "map", rclcpp::Clock{RCL_ROS_TIME}.now(), "poses", id, Marker::ARROW, - createMarkerScale(1.6, 0.5, 0.5), color); - marker.action = visualization_msgs::msg::Marker::ADD; - marker.pose = pose; - marker.lifetime = rclcpp::Duration(0, 0); - marker.frame_locked = false; - arrow_array.markers.push_back(marker); - }; - - const auto push_text_marker = [&](const auto & pose, const auto & text, const size_t id) { - auto marker = createDefaultMarker( - "map", rclcpp::Clock{RCL_ROS_TIME}.now(), "names", id, Marker::TEXT_VIEW_FACING, - createMarkerScale(1.6, 1.6, 1.6), createMarkerColor(1.0, 1.0, 1.0, 0.999)); - marker.action = visualization_msgs::msg::Marker::ADD; - marker.pose = pose; - marker.lifetime = rclcpp::Duration(0, 0); - marker.frame_locked = false; - marker.text = text; - text_array.markers.push_back(marker); - }; - - // Publish current - size_t id = 0; - for (size_t i = 0; i < goals_list_.size(); ++i) { - { - const auto pose = goals_list_.at(i).goal_pose_ptr->pose; - push_arrow_marker(pose, createMarkerColor(0.0, 1.0, 0.0, 0.999), id++); - push_text_marker(pose, "Goal:" + std::to_string(i), id++); - } - - for (size_t j = 0; j < goals_list_.at(i).checkpoint_pose_ptrs.size(); ++j) { - const auto pose = goals_list_.at(i).checkpoint_pose_ptrs.at(j)->pose; - push_arrow_marker(pose, createMarkerColor(1.0, 1.0, 0.0, 0.999), id++); - push_text_marker( - pose, "Checkpoint:" + std::to_string(i) + "[Goal:" + std::to_string(j) + "]", id++); - } - } - pub_marker_->publish(text_array); - pub_marker_->publish(arrow_array); -} - -// File -void AutowareAutomaticGoalPanel::saveGoalsList(const std::string & file_path) -{ - YAML::Node node; - for (unsigned i = 0; i < goals_list_.size(); ++i) { - node[i]["position_x"] = goals_list_[i].goal_pose_ptr->pose.position.x; - node[i]["position_y"] = goals_list_[i].goal_pose_ptr->pose.position.y; - node[i]["position_z"] = goals_list_[i].goal_pose_ptr->pose.position.z; - node[i]["orientation_x"] = goals_list_[i].goal_pose_ptr->pose.orientation.x; - node[i]["orientation_y"] = goals_list_[i].goal_pose_ptr->pose.orientation.y; - node[i]["orientation_z"] = goals_list_[i].goal_pose_ptr->pose.orientation.z; - node[i]["orientation_w"] = goals_list_[i].goal_pose_ptr->pose.orientation.w; - } - std::ofstream file_out(file_path); - file_out << node; - file_out.close(); -} - -} // namespace rviz_plugins -#include -PLUGINLIB_EXPORT_CLASS(rviz_plugins::AutowareAutomaticGoalPanel, rviz_common::Panel) diff --git a/common/tier4_automatic_goal_rviz_plugin/src/automatic_goal_panel.hpp b/common/tier4_automatic_goal_rviz_plugin/src/automatic_goal_panel.hpp deleted file mode 100644 index 72a5bd4fb80fe..0000000000000 --- a/common/tier4_automatic_goal_rviz_plugin/src/automatic_goal_panel.hpp +++ /dev/null @@ -1,151 +0,0 @@ -// -// Copyright 2023 TIER IV, Inc. All rights reserved. -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. -// - -#ifndef AUTOMATIC_GOAL_PANEL_HPP_ -#define AUTOMATIC_GOAL_PANEL_HPP_ - -#include "automatic_goal_sender.hpp" - -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include - -#include -#include -#include -#include -#include -#include -#include -#include -#include - -#include -#include - -#include -#include -#include -#include - -namespace rviz_plugins -{ -class AutowareAutomaticGoalPanel : public rviz_common::Panel, - public automatic_goal::AutowareAutomaticGoalSender -{ - using State = automatic_goal::AutomaticGoalState; - using Pose = geometry_msgs::msg::Pose; - using PoseStamped = geometry_msgs::msg::PoseStamped; - using Marker = visualization_msgs::msg::Marker; - using MarkerArray = visualization_msgs::msg::MarkerArray; - using OperationModeState = autoware_adapi_v1_msgs::msg::OperationModeState; - using ChangeOperationMode = autoware_adapi_v1_msgs::srv::ChangeOperationMode; - using RouteState = autoware_adapi_v1_msgs::msg::RouteState; - using SetRoutePoints = autoware_adapi_v1_msgs::srv::SetRoutePoints; - using ClearRoute = autoware_adapi_v1_msgs::srv::ClearRoute; - Q_OBJECT - -public: - explicit AutowareAutomaticGoalPanel(QWidget * parent = nullptr); - void onInitialize() override; - -public Q_SLOTS: // NOLINT for Qt - void onToggleLoopList(bool checked); - void onToggleAutoMode(bool checked); - void onToggleSaveGoalsAchievement(bool checked); - void onClickPlan(); - void onClickStart(); - void onClickStop(); - void onClickClearRoute(); - void onClickRemove(); - void onClickLoadListFromFile(); - void onClickSaveListToFile(); - -private: - // Override - void updateAutoExecutionTimerTick() override; - void onRouteUpdated(const RouteState::ConstSharedPtr msg) override; - void onOperationModeUpdated(const OperationModeState::ConstSharedPtr msg) override; - void onCallResult() override; - void onGoalListUpdated() override; - - // Inputs - void onAppendGoal(const PoseStamped::ConstSharedPtr pose); - void onAppendCheckpoint(const PoseStamped::ConstSharedPtr pose); - - // Visual updates - void updateGUI(); - void updateGoalIcon(const unsigned goal_index, const QColor & color); - void publishMarkers(); - void showMessageBox(const QString & string); - void disableAutomaticMode() { automatic_mode_btn_ptr_->setChecked(false); } - static void activateButton(QAbstractButton * btn) { btn->setEnabled(true); } - static void deactivateButton(QAbstractButton * btn) { btn->setEnabled(false); } - static void updateLabel(QLabel * label, const QString & text, const QString & style_sheet) - { - label->setText(text); - label->setStyleSheet(style_sheet); - } - // File - void saveGoalsList(const std::string & file); - - // Pub/Sub - rclcpp::Publisher::SharedPtr pub_marker_{nullptr}; - rclcpp::Subscription::SharedPtr sub_append_goal_{nullptr}; - rclcpp::Subscription::SharedPtr sub_append_checkpoint_{nullptr}; - - // Containers - rclcpp::Node::SharedPtr raw_node_{nullptr}; - bool is_automatic_mode_on_{false}; - bool is_loop_list_on_{false}; - - // QT Containers - QGroupBox * makeGoalsListGroup(); - QGroupBox * makeRoutingGroup(); - QGroupBox * makeEngagementGroup(); - QTimer * qt_timer_{nullptr}; - QListWidget * goals_list_widget_ptr_{nullptr}; - QLabel * routing_label_ptr_{nullptr}; - QLabel * operation_mode_label_ptr_{nullptr}; - QLabel * engagement_label_ptr_{nullptr}; - QPushButton * loop_list_btn_ptr_{nullptr}; - QPushButton * goals_achieved_btn_ptr_{nullptr}; - QPushButton * load_file_btn_ptr_{nullptr}; - QPushButton * save_file_btn_ptr_{nullptr}; - QPushButton * automatic_mode_btn_ptr_{nullptr}; - QPushButton * remove_selected_goal_btn_ptr_{nullptr}; - QPushButton * clear_route_btn_ptr_{nullptr}; - QPushButton * plan_btn_ptr_{nullptr}; - QPushButton * start_btn_ptr_{nullptr}; - QPushButton * stop_btn_ptr_{nullptr}; -}; -} // namespace rviz_plugins - -#endif // AUTOMATIC_GOAL_PANEL_HPP_ diff --git a/common/tier4_automatic_goal_rviz_plugin/src/automatic_goal_sender.cpp b/common/tier4_automatic_goal_rviz_plugin/src/automatic_goal_sender.cpp deleted file mode 100644 index 3ca368a3bd1a4..0000000000000 --- a/common/tier4_automatic_goal_rviz_plugin/src/automatic_goal_sender.cpp +++ /dev/null @@ -1,227 +0,0 @@ -// Copyright 2016 Open Source Robotics Foundation, Inc. -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. -#include "automatic_goal_sender.hpp" - -namespace automatic_goal -{ -AutowareAutomaticGoalSender::AutowareAutomaticGoalSender() : Node("automatic_goal_sender") -{ -} - -void AutowareAutomaticGoalSender::init() -{ - loadParams(this); - initCommunication(this); - loadGoalsList(goals_list_file_path_); - timer_ = this->create_wall_timer( - std::chrono::milliseconds(500), - std::bind(&AutowareAutomaticGoalSender::updateAutoExecutionTimerTick, this)); - - // Print info - RCLCPP_INFO_STREAM(get_logger(), "GoalsList has been loaded from: " << goals_list_file_path_); - for (auto const & goal : goals_achieved_) - RCLCPP_INFO_STREAM(get_logger(), "Loaded: " << goal.second.first); - RCLCPP_INFO_STREAM( - get_logger(), "Achieved goals will be saved in: " << goals_achieved_file_path_); -} - -void AutowareAutomaticGoalSender::loadParams(rclcpp::Node * node) -{ - namespace fs = std::filesystem; - node->declare_parameter("goals_list_file_path", ""); - node->declare_parameter("goals_achieved_dir_path", ""); - // goals_list - goals_list_file_path_ = node->get_parameter("goals_list_file_path").as_string(); - if (!fs::exists(goals_list_file_path_) || !fs::is_regular_file(goals_list_file_path_)) - throw std::invalid_argument( - "goals_list_file_path parameter - file path is invalid: " + goals_list_file_path_); - // goals_achieved - goals_achieved_file_path_ = node->get_parameter("goals_achieved_dir_path").as_string(); - if (!fs::exists(goals_achieved_file_path_) || fs::is_regular_file(goals_achieved_file_path_)) - throw std::invalid_argument( - "goals_achieved_dir_path - directory path is invalid: " + goals_achieved_file_path_); - goals_achieved_file_path_ += "goals_achieved.log"; -} - -void AutowareAutomaticGoalSender::initCommunication(rclcpp::Node * node) -{ - // Executing - sub_operation_mode_ = node->create_subscription( - "/api/operation_mode/state", rclcpp::QoS{1}.transient_local(), - std::bind(&AutowareAutomaticGoalSender::onOperationMode, this, std::placeholders::_1)); - - cli_change_to_autonomous_ = - node->create_client("/api/operation_mode/change_to_autonomous"); - - cli_change_to_stop_ = - node->create_client("/api/operation_mode/change_to_stop"); - - // Planning - sub_route_ = node->create_subscription( - "/api/routing/state", rclcpp::QoS{1}.transient_local(), - std::bind(&AutowareAutomaticGoalSender::onRoute, this, std::placeholders::_1)); - - cli_clear_route_ = node->create_client("/api/routing/clear_route"); - - cli_set_route_ = node->create_client("/api/routing/set_route_points"); -} - -// Sub -void AutowareAutomaticGoalSender::onRoute(const RouteState::ConstSharedPtr msg) -{ - if (msg->state == RouteState::UNSET && state_ == State::CLEARING) - state_ = State::CLEARED; - else if (msg->state == RouteState::SET && state_ == State::PLANNING) - state_ = State::PLANNED; - else if (msg->state == RouteState::ARRIVED && state_ == State::STARTED) - state_ = State::ARRIVED; - onRouteUpdated(msg); -} - -void AutowareAutomaticGoalSender::onOperationMode(const OperationModeState::ConstSharedPtr msg) -{ - if (msg->mode == OperationModeState::STOP && state_ == State::INITIALIZING) - state_ = State::EDITING; - else if (msg->mode == OperationModeState::STOP && state_ == State::STOPPING) - state_ = State::STOPPED; - else if (msg->mode == OperationModeState::AUTONOMOUS && state_ == State::STARTING) - state_ = State::STARTED; - onOperationModeUpdated(msg); -} - -// Update -void AutowareAutomaticGoalSender::updateGoalsList() -{ - unsigned i = 0; - for (const auto & goal : goals_list_) { - std::stringstream ss; - ss << std::fixed << std::setprecision(2); - tf2::Quaternion tf2_quat; - tf2::convert(goal.goal_pose_ptr->pose.orientation, tf2_quat); - ss << "G" << i << " (" << goal.goal_pose_ptr->pose.position.x << ", "; - ss << goal.goal_pose_ptr->pose.position.y << ", " << tf2::getYaw(tf2_quat) << ")"; - goals_achieved_.insert({i++, std::make_pair(ss.str(), 0)}); - } - onGoalListUpdated(); -} - -void AutowareAutomaticGoalSender::updateAutoExecutionTimerTick() -{ - auto goal = goals_achieved_[current_goal_].first; - - if (state_ == State::INITIALIZING) { - RCLCPP_INFO_THROTTLE( - get_logger(), *get_clock(), 3000, "Initializing... waiting for OperationModeState::STOP"); - - } else if (state_ == State::EDITING) { // skip the editing step by default - state_ = State::AUTO_NEXT; - - } else if (state_ == State::AUTO_NEXT) { // plan to next goal - RCLCPP_INFO_STREAM(get_logger(), goal << ": Goal set as the next. Planning in progress..."); - if (callPlanToGoalIndex(cli_set_route_, current_goal_)) state_ = State::PLANNING; - - } else if (state_ == State::PLANNED) { // start plan to next goal - RCLCPP_INFO_STREAM(get_logger(), goal << ": Route has been planned. Route starting..."); - if (callService(cli_change_to_autonomous_)) state_ = State::STARTING; - - } else if (state_ == State::STARTED) { - RCLCPP_INFO_STREAM_THROTTLE(get_logger(), *get_clock(), 5000, goal << ": Driving to the goal."); - - } else if (state_ == State::ARRIVED) { // clear plan after achieving next goal, goal++ - RCLCPP_INFO_STREAM( - get_logger(), goal << ": Goal has been ACHIEVED " << ++goals_achieved_[current_goal_].second - << " times. Route clearing..."); - updateAchievedGoalsFile(current_goal_); - if (callService(cli_clear_route_)) state_ = State::CLEARING; - - } else if (state_ == State::CLEARED) { - RCLCPP_INFO_STREAM(get_logger(), goal << ": Route has been cleared."); - current_goal_++; - current_goal_ = current_goal_ % goals_list_.size(); - state_ = State::AUTO_NEXT; - - } else if (state_ == State::STOPPED) { - RCLCPP_WARN_STREAM( - get_logger(), goal << ": The execution has been stopped unexpectedly! Restarting..."); - if (callService(cli_change_to_autonomous_)) state_ = State::STARTING; - - } else if (state_ == State::ERROR) { - timer_->cancel(); - throw std::runtime_error(goal + ": Error encountered during execution!"); - } -} - -// File -void AutowareAutomaticGoalSender::loadGoalsList(const std::string & file_path) -{ - YAML::Node node = YAML::LoadFile(file_path); - goals_list_.clear(); - for (auto && goal : node) { - std::shared_ptr pose = std::make_shared(); - pose->header.frame_id = "map"; - pose->header.stamp = rclcpp::Time(); - pose->pose.position.x = goal["position_x"].as(); - pose->pose.position.y = goal["position_y"].as(); - pose->pose.position.z = goal["position_z"].as(); - pose->pose.orientation.x = goal["orientation_x"].as(); - pose->pose.orientation.y = goal["orientation_y"].as(); - pose->pose.orientation.z = goal["orientation_z"].as(); - pose->pose.orientation.w = goal["orientation_w"].as(); - goals_list_.emplace_back(pose); - } - resetAchievedGoals(); - updateGoalsList(); -} - -void AutowareAutomaticGoalSender::updateAchievedGoalsFile(const unsigned goal_index) -{ - if (!goals_achieved_file_path_.empty()) { - std::ofstream out(goals_achieved_file_path_, std::fstream::app); - std::stringstream ss; - ss << "[" << getTimestamp() << "] Achieved: " << goals_achieved_[goal_index].first; - ss << ", Current number of achievements: " << goals_achieved_[goal_index].second << "\n"; - out << ss.str(); - out.close(); - } -} - -void AutowareAutomaticGoalSender::resetAchievedGoals() -{ - goals_achieved_.clear(); - if (!goals_achieved_file_path_.empty()) { - std::ofstream out(goals_achieved_file_path_, std::fstream::app); - out << "[" << getTimestamp() - << "] GoalsList was loaded from a file or a goal was removed - counters have been reset\n"; - out.close(); - } -} -} // namespace automatic_goal - -int main(int argc, char * argv[]) -{ - rclcpp::init(argc, argv); - - std::shared_ptr node{nullptr}; - try { - node = std::make_shared(); - node->init(); - } catch (const std::exception & e) { - fprintf(stderr, "%s Exiting...\n", e.what()); - return 1; - } - - rclcpp::spin(node); - rclcpp::shutdown(); - return 0; -} diff --git a/common/tier4_automatic_goal_rviz_plugin/src/automatic_goal_sender.hpp b/common/tier4_automatic_goal_rviz_plugin/src/automatic_goal_sender.hpp deleted file mode 100644 index 88b7b5e7dac20..0000000000000 --- a/common/tier4_automatic_goal_rviz_plugin/src/automatic_goal_sender.hpp +++ /dev/null @@ -1,184 +0,0 @@ -// Copyright 2016 Open Source Robotics Foundation, Inc. -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. - -#ifndef AUTOMATIC_GOAL_SENDER_HPP_ -#define AUTOMATIC_GOAL_SENDER_HPP_ -#include - -#include -#include -#include -#include -#include -#include -#include - -#include -#include - -#include -#include -#include -#include -#include -#include -#include -#include - -namespace automatic_goal -{ -enum class AutomaticGoalState { - INITIALIZING, - EDITING, - PLANNING, - PLANNED, - STARTING, - STARTED, - ARRIVED, - AUTO_NEXT, - STOPPING, - STOPPED, - CLEARING, - CLEARED, - ERROR, -}; - -class AutowareAutomaticGoalSender : public rclcpp::Node -{ - using State = AutomaticGoalState; - using PoseStamped = geometry_msgs::msg::PoseStamped; - using OperationModeState = autoware_adapi_v1_msgs::msg::OperationModeState; - using ChangeOperationMode = autoware_adapi_v1_msgs::srv::ChangeOperationMode; - using RouteState = autoware_adapi_v1_msgs::msg::RouteState; - using SetRoutePoints = autoware_adapi_v1_msgs::srv::SetRoutePoints; - using ClearRoute = autoware_adapi_v1_msgs::srv::ClearRoute; - -public: - AutowareAutomaticGoalSender(); - void init(); - -protected: - void initCommunication(rclcpp::Node * node); - // Calls - bool callPlanToGoalIndex( - const rclcpp::Client::SharedPtr client, const unsigned goal_index) - { - if (!client->service_is_ready()) { - RCLCPP_WARN(get_logger(), "SetRoutePoints client is unavailable"); - return false; - } - - auto req = std::make_shared(); - req->header = goals_list_.at(goal_index).goal_pose_ptr->header; - req->goal = goals_list_.at(goal_index).goal_pose_ptr->pose; - for (const auto & checkpoint : goals_list_.at(goal_index).checkpoint_pose_ptrs) { - req->waypoints.push_back(checkpoint->pose); - } - client->async_send_request( - req, [this](typename rclcpp::Client::SharedFuture result) { - if (result.get()->status.code != 0) state_ = State::ERROR; - printCallResult(result); - onCallResult(); - }); - return true; - } - template - bool callService(const typename rclcpp::Client::SharedPtr client) - { - if (!client->service_is_ready()) { - RCLCPP_WARN(get_logger(), "Client is unavailable"); - return false; - } - - auto req = std::make_shared(); - client->async_send_request(req, [this](typename rclcpp::Client::SharedFuture result) { - if (result.get()->status.code != 0) state_ = State::ERROR; - printCallResult(result); - onCallResult(); - }); - return true; - } - template - void printCallResult(typename rclcpp::Client::SharedFuture result) - { - if (result.get()->status.code != 0) { - RCLCPP_ERROR( - get_logger(), "Service type \"%s\" status: %d, %s", typeid(T).name(), - result.get()->status.code, result.get()->status.message.c_str()); - } else { - RCLCPP_DEBUG( - get_logger(), "Service type \"%s\" status: %d, %s", typeid(T).name(), - result.get()->status.code, result.get()->status.message.c_str()); - } - } - - struct Route - { - explicit Route(const PoseStamped::ConstSharedPtr & goal) : goal_pose_ptr{goal} {} - PoseStamped::ConstSharedPtr goal_pose_ptr{}; - std::vector checkpoint_pose_ptrs{}; - }; - - // Update - void updateGoalsList(); - virtual void updateAutoExecutionTimerTick(); - - // File - void loadGoalsList(const std::string & file_path); - void updateAchievedGoalsFile(const unsigned goal_index); - void resetAchievedGoals(); - static std::string getTimestamp() - { - char buffer[128]; - std::time_t now = std::chrono::system_clock::to_time_t(std::chrono::system_clock::now()); - std::strftime(&buffer[0], sizeof(buffer), "%Y-%m-%d %H:%M:%S", std::localtime(&now)); - return std::string{buffer}; - } - - // Sub - void onRoute(const RouteState::ConstSharedPtr msg); - void onOperationMode(const OperationModeState::ConstSharedPtr msg); - - // Interface - virtual void onRouteUpdated(const RouteState::ConstSharedPtr) {} - virtual void onOperationModeUpdated(const OperationModeState::ConstSharedPtr) {} - virtual void onCallResult() {} - virtual void onGoalListUpdated() {} - - // Cli - rclcpp::Client::SharedPtr cli_change_to_autonomous_{nullptr}; - rclcpp::Client::SharedPtr cli_change_to_stop_{nullptr}; - rclcpp::Client::SharedPtr cli_clear_route_{nullptr}; - rclcpp::Client::SharedPtr cli_set_route_{nullptr}; - - // Containers - unsigned current_goal_{0}; - State state_{State::INITIALIZING}; - std::vector goals_list_{}; - std::map> goals_achieved_{}; - std::string goals_achieved_file_path_{}; - -private: - void loadParams(rclcpp::Node * node); - - // Sub - rclcpp::Subscription::SharedPtr sub_route_{nullptr}; - rclcpp::Subscription::SharedPtr sub_operation_mode_{nullptr}; - - // Containers - std::string goals_list_file_path_{}; - rclcpp::TimerBase::SharedPtr timer_{nullptr}; -}; -} // namespace automatic_goal -#endif // AUTOMATIC_GOAL_SENDER_HPP_ diff --git a/common/tier4_autoware_utils/include/tier4_autoware_utils/math/trigonometry.hpp b/common/tier4_autoware_utils/include/tier4_autoware_utils/math/trigonometry.hpp index 0c53a9e3941dd..4901e28472acb 100644 --- a/common/tier4_autoware_utils/include/tier4_autoware_utils/math/trigonometry.hpp +++ b/common/tier4_autoware_utils/include/tier4_autoware_utils/math/trigonometry.hpp @@ -15,6 +15,8 @@ #ifndef TIER4_AUTOWARE_UTILS__MATH__TRIGONOMETRY_HPP_ #define TIER4_AUTOWARE_UTILS__MATH__TRIGONOMETRY_HPP_ +#include + namespace tier4_autoware_utils { @@ -22,6 +24,8 @@ float sin(float radian); float cos(float radian); +std::pair sin_and_cos(float radian); + } // namespace tier4_autoware_utils #endif // TIER4_AUTOWARE_UTILS__MATH__TRIGONOMETRY_HPP_ diff --git a/common/tier4_autoware_utils/include/tier4_autoware_utils/ros/polling_subscriber.hpp b/common/tier4_autoware_utils/include/tier4_autoware_utils/ros/polling_subscriber.hpp index f8d5baaf02777..b842261d56cfa 100644 --- a/common/tier4_autoware_utils/include/tier4_autoware_utils/ros/polling_subscriber.hpp +++ b/common/tier4_autoware_utils/include/tier4_autoware_utils/ros/polling_subscriber.hpp @@ -17,6 +17,8 @@ #include +#include +#include #include namespace tier4_autoware_utils @@ -27,10 +29,11 @@ class InterProcessPollingSubscriber { private: typename rclcpp::Subscription::SharedPtr subscriber_; - std::optional data_; + typename T::SharedPtr data_; public: - explicit InterProcessPollingSubscriber(rclcpp::Node * node, const std::string & topic_name) + explicit InterProcessPollingSubscriber( + rclcpp::Node * node, const std::string & topic_name, const rclcpp::QoS & qos = rclcpp::QoS{1}) { auto noexec_callback_group = node->create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive, false); @@ -38,26 +41,25 @@ class InterProcessPollingSubscriber noexec_subscription_options.callback_group = noexec_callback_group; subscriber_ = node->create_subscription( - topic_name, rclcpp::QoS{1}, + topic_name, qos, [node]([[maybe_unused]] const typename T::ConstSharedPtr msg) { assert(false); }, noexec_subscription_options); - }; - bool updateLatestData() - { - rclcpp::MessageInfo message_info; - T tmp; - // The queue size (QoS) must be 1 to get the last message data. - if (subscriber_->take(tmp, message_info)) { - data_ = tmp; + if (qos.get_rmw_qos_profile().depth > 1) { + throw std::invalid_argument( + "InterProcessPollingSubscriber will be used with depth > 1, which may cause inefficient " + "serialization while updateLatestData()"); } - return data_.has_value(); }; - const T & getData() const + typename T::ConstSharedPtr takeData() { - if (!data_.has_value()) { - throw std::runtime_error("Bad_optional_access in class InterProcessPollingSubscriber"); + auto new_data = std::make_shared(); + rclcpp::MessageInfo message_info; + const bool success = subscriber_->take(*new_data, message_info); + if (success) { + data_ = new_data; } - return data_.value(); + + return data_; }; }; diff --git a/common/tier4_autoware_utils/src/math/trigonometry.cpp b/common/tier4_autoware_utils/src/math/trigonometry.cpp index 15f5c71012722..0ce65c7aa5bc8 100644 --- a/common/tier4_autoware_utils/src/math/trigonometry.cpp +++ b/common/tier4_autoware_utils/src/math/trigonometry.cpp @@ -49,4 +49,27 @@ float cos(float radian) return sin(radian + static_cast(tier4_autoware_utils::pi) / 2.f); } +std::pair sin_and_cos(float radian) +{ + constexpr float tmp = + (180.f / static_cast(tier4_autoware_utils::pi)) * (discrete_arcs_num_360 / 360.f); + const float degree = radian * tmp; + size_t idx = + (static_cast(std::round(degree)) % discrete_arcs_num_360 + discrete_arcs_num_360) % + discrete_arcs_num_360; + + if (idx < discrete_arcs_num_90) { + return {g_sin_table[idx], g_sin_table[discrete_arcs_num_90 - idx]}; + } else if (discrete_arcs_num_90 <= idx && idx < 2 * discrete_arcs_num_90) { + idx = 2 * discrete_arcs_num_90 - idx; + return {g_sin_table[idx], -g_sin_table[discrete_arcs_num_90 - idx]}; + } else if (2 * discrete_arcs_num_90 <= idx && idx < 3 * discrete_arcs_num_90) { + idx = idx - 2 * discrete_arcs_num_90; + return {-g_sin_table[idx], -g_sin_table[discrete_arcs_num_90 - idx]}; + } else { // 3 * discrete_arcs_num_90 <= idx && idx < 4 * discrete_arcs_num_90 + idx = 4 * discrete_arcs_num_90 - idx; + return {-g_sin_table[idx], g_sin_table[discrete_arcs_num_90 - idx]}; + } +} + } // namespace tier4_autoware_utils diff --git a/common/tier4_autoware_utils/test/src/math/test_trigonometry.cpp b/common/tier4_autoware_utils/test/src/math/test_trigonometry.cpp index 379418539841c..d7106fd823682 100644 --- a/common/tier4_autoware_utils/test/src/math/test_trigonometry.cpp +++ b/common/tier4_autoware_utils/test/src/math/test_trigonometry.cpp @@ -40,3 +40,13 @@ TEST(trigonometry, cos) tier4_autoware_utils::cos(x * static_cast(i))) < 10e-5); } } + +TEST(trigonometry, sin_and_cos) +{ + float x = 4.f * tier4_autoware_utils::pi / 128.f; + for (int i = 0; i < 128; i++) { + const auto sin_and_cos = tier4_autoware_utils::sin_and_cos(x * static_cast(i)); + EXPECT_TRUE(std::abs(std::sin(x * static_cast(i)) - sin_and_cos.first) < 10e-7); + EXPECT_TRUE(std::abs(std::cos(x * static_cast(i)) - sin_and_cos.second) < 10e-7); + } +} diff --git a/common/tier4_calibration_rviz_plugin/CMakeLists.txt b/common/tier4_calibration_rviz_plugin/CMakeLists.txt deleted file mode 100644 index 6b03fe92da0ee..0000000000000 --- a/common/tier4_calibration_rviz_plugin/CMakeLists.txt +++ /dev/null @@ -1,27 +0,0 @@ -cmake_minimum_required(VERSION 3.14) -project(tier4_calibration_rviz_plugin) - -find_package(autoware_cmake REQUIRED) -autoware_package() - -find_package(Qt5 REQUIRED Core Widgets) -set(QT_LIBRARIES Qt5::Widgets) -set(CMAKE_AUTOMOC ON) -set(CMAKE_INCLUDE_CURRENT_DIR ON) -add_definitions(-DQT_NO_KEYWORDS) - -ament_auto_add_library(${PROJECT_NAME} SHARED - src/accel_brake_map_calibrator_button_panel.cpp -) - -target_link_libraries(${PROJECT_NAME} - ${QT_LIBRARIES} -) - -# Export the plugin to be imported by rviz2 -pluginlib_export_plugin_description_file(rviz_common plugins/plugin_description.xml) - -ament_auto_package( - INSTALL_TO_SHARE - plugins -) diff --git a/common/tier4_calibration_rviz_plugin/package.xml b/common/tier4_calibration_rviz_plugin/package.xml deleted file mode 100644 index f422847d8cb70..0000000000000 --- a/common/tier4_calibration_rviz_plugin/package.xml +++ /dev/null @@ -1,29 +0,0 @@ - - - - tier4_calibration_rviz_plugin - 0.1.0 - The accel_brake_map_calibrator_button_panel package - Tomoya Kimura - Apache License 2.0 - - Tomoya Kimura - - ament_cmake_auto - autoware_cmake - - libqt5-core - libqt5-widgets - qtbase5-dev - rviz_common - std_msgs - tier4_vehicle_msgs - - ament_lint_auto - autoware_lint_common - - - ament_cmake - - - diff --git a/common/tier4_calibration_rviz_plugin/plugins/plugin_description.xml b/common/tier4_calibration_rviz_plugin/plugins/plugin_description.xml deleted file mode 100644 index 82f35b934208c..0000000000000 --- a/common/tier4_calibration_rviz_plugin/plugins/plugin_description.xml +++ /dev/null @@ -1,9 +0,0 @@ - - - - execution button of accel brake map calibration. - - - diff --git a/common/tier4_calibration_rviz_plugin/src/accel_brake_map_calibrator_button_panel.cpp b/common/tier4_calibration_rviz_plugin/src/accel_brake_map_calibrator_button_panel.cpp deleted file mode 100644 index 5c1c98488b0f6..0000000000000 --- a/common/tier4_calibration_rviz_plugin/src/accel_brake_map_calibrator_button_panel.cpp +++ /dev/null @@ -1,151 +0,0 @@ -// -// Copyright 2020 Tier IV, Inc. All rights reserved. -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. -// - -#include "accel_brake_map_calibrator_button_panel.hpp" - -#include "QFileDialog" -#include "QHBoxLayout" -#include "QLineEdit" -#include "QPainter" -#include "QPushButton" -#include "pluginlib/class_list_macros.hpp" -#include "rviz_common/display_context.hpp" - -#include -#include -#include -#include - -namespace tier4_calibration_rviz_plugin -{ -AccelBrakeMapCalibratorButtonPanel::AccelBrakeMapCalibratorButtonPanel(QWidget * parent) -: rviz_common::Panel(parent) -{ - topic_label_ = new QLabel("Topic name of update suggest "); - topic_label_->setAlignment(Qt::AlignCenter); - - topic_edit_ = - new QLineEdit("/vehicle/calibration/accel_brake_map_calibrator/output/update_suggest"); - connect(topic_edit_, SIGNAL(textEdited(QString)), SLOT(editTopic())); - - calibration_button_ = new QPushButton("Wait for subscribe topic"); - calibration_button_->setEnabled(false); - connect(calibration_button_, SIGNAL(clicked(bool)), SLOT(pushCalibrationButton())); - - status_label_ = new QLabel("Not Ready"); - status_label_->setAlignment(Qt::AlignCenter); - status_label_->setStyleSheet("QLabel { background-color : darkgray;}"); - - QSizePolicy q_size_policy(QSizePolicy::Expanding, QSizePolicy::Expanding); - calibration_button_->setSizePolicy(q_size_policy); - - auto * topic_layout = new QHBoxLayout; - topic_layout->addWidget(topic_label_); - topic_layout->addWidget(topic_edit_); - - auto * v_layout = new QVBoxLayout; - v_layout->addLayout(topic_layout); - v_layout->addWidget(calibration_button_); - v_layout->addWidget(status_label_); - - setLayout(v_layout); -} - -void AccelBrakeMapCalibratorButtonPanel::onInitialize() -{ - rclcpp::Node::SharedPtr raw_node = - this->getDisplayContext()->getRosNodeAbstraction().lock()->get_raw_node(); - - update_suggest_sub_ = raw_node->create_subscription( - topic_edit_->text().toStdString(), 10, - std::bind( - &AccelBrakeMapCalibratorButtonPanel::callbackUpdateSuggest, this, std::placeholders::_1)); - - client_ = raw_node->create_client( - "/vehicle/calibration/accel_brake_map_calibrator/update_map_dir"); -} - -void AccelBrakeMapCalibratorButtonPanel::callbackUpdateSuggest( - const std_msgs::msg::Bool::ConstSharedPtr msg) -{ - if (after_calib_) { - return; - } - - if (msg->data) { - status_label_->setText("Ready"); - status_label_->setStyleSheet("QLabel { background-color : white;}"); - } else { - status_label_->setText("Ready (not recommended)"); - status_label_->setStyleSheet("QLabel { background-color : darkgray;}"); - } - calibration_button_->setText("push: start to accel/brake map calibration"); - calibration_button_->setEnabled(true); -} - -void AccelBrakeMapCalibratorButtonPanel::editTopic() -{ - update_suggest_sub_.reset(); - rclcpp::Node::SharedPtr raw_node = - this->getDisplayContext()->getRosNodeAbstraction().lock()->get_raw_node(); - update_suggest_sub_ = raw_node->create_subscription( - topic_edit_->text().toStdString(), 10, - std::bind( - &AccelBrakeMapCalibratorButtonPanel::callbackUpdateSuggest, this, std::placeholders::_1)); - calibration_button_->setText("Wait for subscribe topic"); - calibration_button_->setEnabled(false); -} - -void AccelBrakeMapCalibratorButtonPanel::pushCalibrationButton() -{ - // lock button - calibration_button_->setEnabled(false); - - status_label_->setStyleSheet("QLabel { background-color : blue;}"); - status_label_->setText("executing calibration..."); - - std::thread thread([this] { - if (!client_->wait_for_service(std::chrono::seconds(1))) { - status_label_->setStyleSheet("QLabel { background-color : red;}"); - status_label_->setText("service server not found"); - - } else { - auto req = std::make_shared(); - req->path = ""; - client_->async_send_request( - req, [this]([[maybe_unused]] rclcpp::Client< - tier4_vehicle_msgs::srv::UpdateAccelBrakeMap>::SharedFuture result) {}); - - status_label_->setStyleSheet("QLabel { background-color : lightgreen;}"); - status_label_->setText("OK!!!"); - } - - // wait 3 second - after_calib_ = true; - rclcpp::Rate(1.0 / 3.0).sleep(); - after_calib_ = false; - - // unlock button - calibration_button_->setEnabled(true); - }); - - thread.detach(); -} - -} // namespace tier4_calibration_rviz_plugin - -PLUGINLIB_EXPORT_CLASS( - tier4_calibration_rviz_plugin::AccelBrakeMapCalibratorButtonPanel, rviz_common::Panel) diff --git a/common/tier4_calibration_rviz_plugin/src/accel_brake_map_calibrator_button_panel.hpp b/common/tier4_calibration_rviz_plugin/src/accel_brake_map_calibrator_button_panel.hpp deleted file mode 100644 index e26789c9f120f..0000000000000 --- a/common/tier4_calibration_rviz_plugin/src/accel_brake_map_calibrator_button_panel.hpp +++ /dev/null @@ -1,65 +0,0 @@ -// -// Copyright 2020 Tier IV, Inc. All rights reserved. -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. -// - -#ifndef ACCEL_BRAKE_MAP_CALIBRATOR_BUTTON_PANEL_HPP_ -#define ACCEL_BRAKE_MAP_CALIBRATOR_BUTTON_PANEL_HPP_ - -#include "QLabel" -#include "QLineEdit" -#include "QPushButton" -#include "QSettings" - -#include -#ifndef Q_MOC_RUN - -#include "rclcpp/rclcpp.hpp" -#include "rviz_common/panel.hpp" -#include "rviz_common/properties/ros_topic_property.hpp" -#endif - -#include "std_msgs/msg/bool.hpp" -#include "tier4_vehicle_msgs/srv/update_accel_brake_map.hpp" - -namespace tier4_calibration_rviz_plugin -{ -class AccelBrakeMapCalibratorButtonPanel : public rviz_common::Panel -{ - Q_OBJECT - -public: - explicit AccelBrakeMapCalibratorButtonPanel(QWidget * parent = nullptr); - void onInitialize() override; - void callbackUpdateSuggest(const std_msgs::msg::Bool::ConstSharedPtr msg); - -public Q_SLOTS: // NOLINT for Qt - void editTopic(); - void pushCalibrationButton(); - -protected: - rclcpp::Subscription::SharedPtr update_suggest_sub_; - rclcpp::Client::SharedPtr client_; - - bool after_calib_ = false; - - QLabel * topic_label_; - QLineEdit * topic_edit_; - QPushButton * calibration_button_; - QLabel * status_label_; -}; - -} // end namespace tier4_calibration_rviz_plugin - -#endif // ACCEL_BRAKE_MAP_CALIBRATOR_BUTTON_PANEL_HPP_ diff --git a/common/tier4_control_rviz_plugin/CMakeLists.txt b/common/tier4_control_rviz_plugin/CMakeLists.txt deleted file mode 100644 index 95fff455991ba..0000000000000 --- a/common/tier4_control_rviz_plugin/CMakeLists.txt +++ /dev/null @@ -1,34 +0,0 @@ -cmake_minimum_required(VERSION 3.14) -project(tier4_control_rviz_plugin) - -find_package(autoware_cmake REQUIRED) -autoware_package() - -find_package(Qt5 REQUIRED Core Widgets) -set(QT_LIBRARIES Qt5::Widgets) - -set(CMAKE_AUTOMOC ON) -set(CMAKE_INCLUDE_CURRENT_DIR ON) -add_definitions(-DQT_NO_KEYWORDS) - -set(HEADERS - src/tools/manual_controller.hpp -) - -## Declare a C++ library -ament_auto_add_library(tier4_control_rviz_plugin SHARED - src/tools/manual_controller.cpp - ${HEADERS} -) - -target_link_libraries(tier4_control_rviz_plugin - ${QT_LIBRARIES} -) - -# Export the plugin to be imported by rviz2 -pluginlib_export_plugin_description_file(rviz_common plugins/plugin_description.xml) - -ament_auto_package( - INSTALL_TO_SHARE - plugins -) diff --git a/common/tier4_control_rviz_plugin/README.md b/common/tier4_control_rviz_plugin/README.md deleted file mode 100644 index 8bca77771eee2..0000000000000 --- a/common/tier4_control_rviz_plugin/README.md +++ /dev/null @@ -1,40 +0,0 @@ -# tier4_control_rviz_plugin - -This package is to mimic external control for simulation. - -## Inputs / Outputs - -### Input - -| Name | Type | Description | -| --------------------------------- | ------------------------------------------------- | ----------------------- | -| `/control/current_gate_mode` | `tier4_control_msgs::msg::GateMode` | Current GATE mode | -| `/vehicle/status/velocity_status` | `autoware_auto_vehicle_msgs::msg::VelocityReport` | Current velocity status | -| `/api/autoware/get/engage` | `tier4_external_api_msgs::srv::Engage` | Getting Engage | -| `/vehicle/status/gear_status` | `autoware_auto_vehicle_msgs::msg::GearReport` | The state of GEAR | - -### Output - -| Name | Type | Description | -| -------------------------------- | ---------------------------------------------------------- | ----------------------- | -| `/control/gate_mode_cmd` | `tier4_control_msgs::msg::GateMode` | GATE mode | -| `/external/selected/control_cmd` | `autoware_auto_control_msgs::msg::AckermannControlCommand` | AckermannControlCommand | -| `/external/selected/gear_cmd` | `autoware_auto_vehicle_msgs::msg::GearCommand` | GEAR | - -## Usage - -1. Start rviz and select Panels. - - ![select_panels](./images/select_panels.png) - -2. Select tier4_control_rviz_plugin/ManualController and press OK. - - ![select_manual_controller](./images/select_manual_controller.png) - -3. Enter velocity in "Set Cruise Velocity" and Press the button to confirm. You can notice that GEAR shows D (DRIVE). - - ![manual_controller_not_ready](./images/manual_controller_not_ready.png) - -4. Press "Enable Manual Control" and you can notice that "GATE" and "Engage" turn "Ready" and the vehicle starts! - - ![manual_controller_ready](./images/manual_controller_ready.png) diff --git a/common/tier4_control_rviz_plugin/images/manual_controller_not_ready.png b/common/tier4_control_rviz_plugin/images/manual_controller_not_ready.png deleted file mode 100644 index e4a8ddb0b9bb1..0000000000000 Binary files a/common/tier4_control_rviz_plugin/images/manual_controller_not_ready.png and /dev/null differ diff --git a/common/tier4_control_rviz_plugin/images/manual_controller_ready.png b/common/tier4_control_rviz_plugin/images/manual_controller_ready.png deleted file mode 100644 index d5da7f0644051..0000000000000 Binary files a/common/tier4_control_rviz_plugin/images/manual_controller_ready.png and /dev/null differ diff --git a/common/tier4_control_rviz_plugin/images/select_manual_controller.png b/common/tier4_control_rviz_plugin/images/select_manual_controller.png deleted file mode 100644 index 5027ec571339c..0000000000000 Binary files a/common/tier4_control_rviz_plugin/images/select_manual_controller.png and /dev/null differ diff --git a/common/tier4_control_rviz_plugin/images/select_panels.png b/common/tier4_control_rviz_plugin/images/select_panels.png deleted file mode 100644 index a691602c42c3c..0000000000000 Binary files a/common/tier4_control_rviz_plugin/images/select_panels.png and /dev/null differ diff --git a/common/tier4_control_rviz_plugin/package.xml b/common/tier4_control_rviz_plugin/package.xml deleted file mode 100644 index 73562a766ce0b..0000000000000 --- a/common/tier4_control_rviz_plugin/package.xml +++ /dev/null @@ -1,32 +0,0 @@ - - - - tier4_control_rviz_plugin - 0.1.0 - The tier4_vehicle_rviz_plugin package - Taiki Tanaka - Apache License 2.0 - - ament_cmake_auto - autoware_cmake - - autoware_auto_control_msgs - autoware_auto_vehicle_msgs - libqt5-core - libqt5-gui - libqt5-widgets - qtbase5-dev - rviz_common - rviz_default_plugins - rviz_ogre_vendor - tier4_autoware_utils - tier4_control_msgs - tier4_external_api_msgs - - ament_lint_auto - autoware_lint_common - - - ament_cmake - - diff --git a/common/tier4_control_rviz_plugin/plugins/plugin_description.xml b/common/tier4_control_rviz_plugin/plugins/plugin_description.xml deleted file mode 100644 index 068bbcd73f214..0000000000000 --- a/common/tier4_control_rviz_plugin/plugins/plugin_description.xml +++ /dev/null @@ -1,7 +0,0 @@ - - - ManualController - - diff --git a/common/tier4_control_rviz_plugin/src/tools/manual_controller.cpp b/common/tier4_control_rviz_plugin/src/tools/manual_controller.cpp deleted file mode 100644 index 8bbb096f728ec..0000000000000 --- a/common/tier4_control_rviz_plugin/src/tools/manual_controller.cpp +++ /dev/null @@ -1,261 +0,0 @@ -// -// Copyright 2022 Tier IV, Inc. All rights reserved. -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. -// - -#include "manual_controller.hpp" - -#include -#include -#include -#include -#include - -#include -#include - -using std::placeholders::_1; - -namespace rviz_plugins -{ - -ManualController::ManualController(QWidget * parent) : rviz_common::Panel(parent) -{ - auto * state_layout = new QHBoxLayout; - { - // Enable Button - enable_button_ptr_ = new QPushButton("Enable Manual Control"); - connect(enable_button_ptr_, SIGNAL(clicked()), SLOT(onClickEnableButton())); - state_layout->addWidget(enable_button_ptr_); - - // Gate Mode - auto * gate_prefix_label_ptr = new QLabel("GATE: "); - gate_prefix_label_ptr->setAlignment(Qt::AlignRight); - gate_mode_label_ptr_ = new QLabel("INIT"); - gate_mode_label_ptr_->setAlignment(Qt::AlignCenter); - state_layout->addWidget(gate_prefix_label_ptr); - state_layout->addWidget(gate_mode_label_ptr_); - - // Engage Status - auto * engage_prefix_label_ptr = new QLabel("Engage: "); - engage_prefix_label_ptr->setAlignment(Qt::AlignRight); - engage_status_label_ptr_ = new QLabel("INIT"); - engage_status_label_ptr_->setAlignment(Qt::AlignCenter); - state_layout->addWidget(engage_prefix_label_ptr); - state_layout->addWidget(engage_status_label_ptr_); - - // Gear - auto * gear_prefix_label_ptr = new QLabel("GEAR: "); - gear_prefix_label_ptr->setAlignment(Qt::AlignRight); - gear_label_ptr_ = new QLabel("INIT"); - gear_label_ptr_->setAlignment(Qt::AlignCenter); - state_layout->addWidget(gear_prefix_label_ptr); - state_layout->addWidget(gear_label_ptr_); - } - - auto * cruise_velocity_layout = new QHBoxLayout(); - // Velocity Limit - { - cruise_velocity_button_ptr_ = new QPushButton("Set Cruise Velocity"); - cruise_velocity_input_ = new QSpinBox(); - cruise_velocity_input_->setRange(-100.0, 100.0); - cruise_velocity_input_->setValue(0.0); - cruise_velocity_input_->setSingleStep(5.0); - connect(cruise_velocity_button_ptr_, SIGNAL(clicked()), this, SLOT(onClickCruiseVelocity())); - cruise_velocity_layout->addWidget(cruise_velocity_button_ptr_); - cruise_velocity_layout->addWidget(cruise_velocity_input_); - cruise_velocity_layout->addWidget(new QLabel(" [km/h]")); - } - - steering_slider_ptr_ = new QDial(); - steering_slider_ptr_->setRange(-90, 90); - steering_slider_ptr_->setValue(0.0); - connect(steering_slider_ptr_, SIGNAL(valueChanged(int)), this, SLOT(onManualSteering())); - steering_angle_ptr_ = new QLabel(); - cruise_velocity_layout->addWidget(new QLabel("steering ")); - cruise_velocity_layout->addWidget(steering_slider_ptr_); - cruise_velocity_layout->addWidget(steering_angle_ptr_); - cruise_velocity_layout->addWidget(new QLabel(" [deg]")); - - // Layout - auto * v_layout = new QVBoxLayout; - v_layout->addLayout(state_layout); - v_layout->addLayout(cruise_velocity_layout); - setLayout(v_layout); - - auto * timer = new QTimer(this); - connect(timer, &QTimer::timeout, this, &ManualController::update); - timer->start(30); -} - -void ManualController::update() -{ - if (!raw_node_) return; - AckermannControlCommand ackermann; - { - ackermann.stamp = raw_node_->get_clock()->now(); - ackermann.lateral.steering_tire_angle = steering_angle_; - ackermann.longitudinal.speed = cruise_velocity_; - /** - * @brief Calculate desired acceleration by simple BackSteppingControl - * V = 0.5*(v-v_des)^2 >= 0 - * D[V] = (D[v] - a_des)*(v-v_des) <=0 - * a_des = k_const *(v - v_des) + a (k < 0 ) - */ - const double k = -0.5; - const double v = current_velocity_; - const double v_des = cruise_velocity_; - const double a = current_acceleration_; - const double a_des = k * (v - v_des) + a; - ackermann.longitudinal.acceleration = std::clamp(a_des, -1.0, 1.0); - } - GearCommand gear_cmd; - { - const double eps = 0.001; - if (ackermann.longitudinal.speed > eps && current_velocity_ > -eps) { - gear_cmd.command = GearCommand::DRIVE; - } else if (ackermann.longitudinal.speed < -eps && current_velocity_ < eps) { - gear_cmd.command = GearCommand::REVERSE; - ackermann.longitudinal.acceleration *= -1.0; - } else { - gear_cmd.command = GearCommand::PARK; - } - } - pub_control_command_->publish(ackermann); - pub_gear_cmd_->publish(gear_cmd); -} - -void ManualController::onManualSteering() -{ - const double scale_factor = -0.25; - steering_angle_ = scale_factor * steering_slider_ptr_->sliderPosition() * M_PI / 180.0; - const QString steering_string = - QString::fromStdString(std::to_string(steering_angle_ * 180.0 / M_PI)); - steering_angle_ptr_->setText(steering_string); -} - -void ManualController::onClickCruiseVelocity() -{ - cruise_velocity_ = cruise_velocity_input_->value() / 3.6; -} - -void ManualController::onInitialize() -{ - raw_node_ = this->getDisplayContext()->getRosNodeAbstraction().lock()->get_raw_node(); - - sub_gate_mode_ = raw_node_->create_subscription( - "/control/current_gate_mode", 10, std::bind(&ManualController::onGateMode, this, _1)); - - sub_velocity_ = raw_node_->create_subscription( - "/vehicle/status/velocity_status", 1, std::bind(&ManualController::onVelocity, this, _1)); - - sub_engage_ = raw_node_->create_subscription( - "/api/autoware/get/engage", 10, std::bind(&ManualController::onEngageStatus, this, _1)); - - sub_gear_ = raw_node_->create_subscription( - "/vehicle/status/gear_status", 10, std::bind(&ManualController::onGear, this, _1)); - - client_engage_ = raw_node_->create_client("/api/autoware/set/engage"); - - pub_gate_mode_ = raw_node_->create_publisher("/control/gate_mode_cmd", rclcpp::QoS(1)); - - pub_control_command_ = raw_node_->create_publisher( - "/external/selected/control_cmd", rclcpp::QoS(1)); - - pub_gear_cmd_ = raw_node_->create_publisher("/external/selected/gear_cmd", 1); -} - -void ManualController::onGateMode(const tier4_control_msgs::msg::GateMode::ConstSharedPtr msg) -{ - switch (msg->data) { - case tier4_control_msgs::msg::GateMode::AUTO: - gate_mode_label_ptr_->setText("Not Ready"); - gate_mode_label_ptr_->setStyleSheet("background-color: #00FF00;"); - break; - - case tier4_control_msgs::msg::GateMode::EXTERNAL: - gate_mode_label_ptr_->setText("Ready"); - gate_mode_label_ptr_->setStyleSheet("background-color: #FFFF00;"); - break; - - default: - gate_mode_label_ptr_->setText("UNKNOWN"); - gate_mode_label_ptr_->setStyleSheet("background-color: #FF0000;"); - break; - } -} -void ManualController::onEngageStatus(const Engage::ConstSharedPtr msg) -{ - current_engage_ = msg->engage; - if (current_engage_) { - engage_status_label_ptr_->setText(QString::fromStdString("Ready")); - engage_status_label_ptr_->setStyleSheet("background-color: #FFFF00;"); - } else { - engage_status_label_ptr_->setText(QString::fromStdString("Not Ready")); - engage_status_label_ptr_->setStyleSheet("background-color: #00FF00;"); - } -} - -void ManualController::onVelocity(const VelocityReport::ConstSharedPtr msg) -{ - current_velocity_ = msg->longitudinal_velocity; -} - -void ManualController::onAcceleration(const AccelWithCovarianceStamped::ConstSharedPtr msg) -{ - current_acceleration_ = msg->accel.accel.linear.x; -} - -void ManualController::onGear(const GearReport::ConstSharedPtr msg) -{ - switch (msg->report) { - case GearReport::PARK: - gear_label_ptr_->setText("P"); - break; - case GearReport::REVERSE: - gear_label_ptr_->setText("R"); - break; - case GearReport::DRIVE: - gear_label_ptr_->setText("D"); - break; - case GearReport::LOW: - gear_label_ptr_->setText("L"); - break; - } -} - -void ManualController::onClickEnableButton() -{ - // gate mode - { - pub_gate_mode_->publish(tier4_control_msgs::build().data(GateMode::EXTERNAL)); - } - // engage - { - auto req = std::make_shared(); - req->engage = true; - RCLCPP_DEBUG(raw_node_->get_logger(), "client request"); - if (!client_engage_->service_is_ready()) { - RCLCPP_DEBUG(raw_node_->get_logger(), "client is unavailable"); - return; - } - client_engage_->async_send_request( - req, []([[maybe_unused]] rclcpp::Client::SharedFuture result) {}); - } -} - -} // namespace rviz_plugins - -#include -PLUGINLIB_EXPORT_CLASS(rviz_plugins::ManualController, rviz_common::Panel) diff --git a/common/tier4_control_rviz_plugin/src/tools/manual_controller.hpp b/common/tier4_control_rviz_plugin/src/tools/manual_controller.hpp deleted file mode 100644 index aaa625bff911e..0000000000000 --- a/common/tier4_control_rviz_plugin/src/tools/manual_controller.hpp +++ /dev/null @@ -1,104 +0,0 @@ -// -// Copyright 2022 Tier IV, Inc. All rights reserved. -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. -// - -#ifndef TOOLS__MANUAL_CONTROLLER_HPP_ -#define TOOLS__MANUAL_CONTROLLER_HPP_ - -#include -#include -#include -#include -#include -#include - -#include "autoware_auto_vehicle_msgs/msg/velocity_report.hpp" -#include "geometry_msgs/msg/accel_with_covariance_stamped.hpp" -#include "geometry_msgs/msg/twist.hpp" -#include -#include -#include -#include -#include -#include - -#include - -namespace rviz_plugins -{ -using autoware_auto_control_msgs::msg::AckermannControlCommand; -using autoware_auto_vehicle_msgs::msg::GearCommand; -using autoware_auto_vehicle_msgs::msg::VelocityReport; -using geometry_msgs::msg::AccelWithCovarianceStamped; -using geometry_msgs::msg::Twist; -using tier4_control_msgs::msg::GateMode; -using EngageSrv = tier4_external_api_msgs::srv::Engage; -using autoware_auto_vehicle_msgs::msg::Engage; -using autoware_auto_vehicle_msgs::msg::GearReport; - -class ManualController : public rviz_common::Panel -{ - Q_OBJECT - -public: - explicit ManualController(QWidget * parent = nullptr); - void onInitialize() override; - -public Q_SLOTS: // NOLINT for Qt - void onClickCruiseVelocity(); - void onClickEnableButton(); - void onManualSteering(); - void update(); - -protected: - // Timer - rclcpp::TimerBase::SharedPtr timer_; - void onTimer(); - void onPublishControlCommand(); - void onGateMode(const GateMode::ConstSharedPtr msg); - void onVelocity(const VelocityReport::ConstSharedPtr msg); - void onAcceleration(const AccelWithCovarianceStamped::ConstSharedPtr msg); - void onEngageStatus(const Engage::ConstSharedPtr msg); - void onGear(const GearReport::ConstSharedPtr msg); - rclcpp::Node::SharedPtr raw_node_; - rclcpp::Subscription::SharedPtr sub_gate_mode_; - rclcpp::Subscription::SharedPtr sub_velocity_; - rclcpp::Subscription::SharedPtr sub_engage_; - rclcpp::Publisher::SharedPtr pub_gate_mode_; - rclcpp::Publisher::SharedPtr pub_control_command_; - rclcpp::Publisher::SharedPtr pub_gear_cmd_; - rclcpp::Client::SharedPtr client_engage_; - rclcpp::Subscription::SharedPtr sub_gear_; - - double cruise_velocity_{0.0}; - double steering_angle_{0.0}; - double current_velocity_{0.0}; - double current_acceleration_{0.0}; - - QLabel * gate_mode_label_ptr_; - QLabel * gear_label_ptr_; - QLabel * engage_status_label_ptr_; - QPushButton * enable_button_ptr_; - QPushButton * cruise_velocity_button_ptr_; - QSpinBox * cruise_velocity_input_; - QDial * steering_slider_ptr_; - QLabel * steering_angle_ptr_; - - bool current_engage_{false}; -}; - -} // namespace rviz_plugins - -#endif // TOOLS__MANUAL_CONTROLLER_HPP_ diff --git a/common/tier4_debug_rviz_plugin/CMakeLists.txt b/common/tier4_debug_rviz_plugin/CMakeLists.txt deleted file mode 100644 index 02e65ad759ed6..0000000000000 --- a/common/tier4_debug_rviz_plugin/CMakeLists.txt +++ /dev/null @@ -1,32 +0,0 @@ -cmake_minimum_required(VERSION 3.14) -project(tier4_debug_rviz_plugin) - -find_package(autoware_cmake REQUIRED) -autoware_package() - -find_package(Qt5 REQUIRED Core Widgets) -set(QT_LIBRARIES Qt5::Widgets) -set(CMAKE_AUTOMOC ON) -add_definitions(-DQT_NO_KEYWORDS) - -ament_auto_add_library(tier4_debug_rviz_plugin SHARED - include/tier4_debug_rviz_plugin/float32_multi_array_stamped_pie_chart.hpp - include/tier4_debug_rviz_plugin/jsk_overlay_utils.hpp - include/tier4_debug_rviz_plugin/string_stamped.hpp - src/float32_multi_array_stamped_pie_chart.cpp - src/string_stamped.cpp - src/jsk_overlay_utils.cpp -) - -target_link_libraries(tier4_debug_rviz_plugin - ${QT_LIBRARIES} -) - -# Export the plugin to be imported by rviz2 -pluginlib_export_plugin_description_file(rviz_common plugins/plugin_description.xml) - -ament_auto_package( - INSTALL_TO_SHARE - icons - plugins -) diff --git a/common/tier4_debug_rviz_plugin/README.md b/common/tier4_debug_rviz_plugin/README.md deleted file mode 100644 index 9189816141632..0000000000000 --- a/common/tier4_debug_rviz_plugin/README.md +++ /dev/null @@ -1,12 +0,0 @@ -# tier4_debug_rviz_plugin - -This package is including jsk code. -Note that jsk_overlay_utils.cpp and jsk_overlay_utils.hpp are BSD license. - -## Plugins - -### Float32MultiArrayStampedPieChart - -Pie chart from `tier4_debug_msgs::msg::Float32MultiArrayStamped`. - -![float32_multi_array_stamped_pie_chart](./images/float32_multi_array_stamped_pie_chart.png) diff --git a/common/tier4_debug_rviz_plugin/icons/classes/Float32MultiArrayStampedPieChart.png b/common/tier4_debug_rviz_plugin/icons/classes/Float32MultiArrayStampedPieChart.png deleted file mode 100644 index 6a67573717ae1..0000000000000 Binary files a/common/tier4_debug_rviz_plugin/icons/classes/Float32MultiArrayStampedPieChart.png and /dev/null differ diff --git a/common/tier4_debug_rviz_plugin/icons/classes/StringStampedOverlayDisplay.png b/common/tier4_debug_rviz_plugin/icons/classes/StringStampedOverlayDisplay.png deleted file mode 100644 index 6a67573717ae1..0000000000000 Binary files a/common/tier4_debug_rviz_plugin/icons/classes/StringStampedOverlayDisplay.png and /dev/null differ diff --git a/common/tier4_debug_rviz_plugin/images/float32_multi_array_stamped_pie_chart.png b/common/tier4_debug_rviz_plugin/images/float32_multi_array_stamped_pie_chart.png deleted file mode 100644 index 7cd7ca753f386..0000000000000 Binary files a/common/tier4_debug_rviz_plugin/images/float32_multi_array_stamped_pie_chart.png and /dev/null differ diff --git a/common/tier4_debug_rviz_plugin/include/tier4_debug_rviz_plugin/float32_multi_array_stamped_pie_chart.hpp b/common/tier4_debug_rviz_plugin/include/tier4_debug_rviz_plugin/float32_multi_array_stamped_pie_chart.hpp deleted file mode 100644 index c8267c7051d9d..0000000000000 --- a/common/tier4_debug_rviz_plugin/include/tier4_debug_rviz_plugin/float32_multi_array_stamped_pie_chart.hpp +++ /dev/null @@ -1,172 +0,0 @@ -// Copyright 2022 Tier IV, Inc. -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. - -// Copyright (c) 2014, JSK Lab -// All rights reserved. -// -// Software License Agreement (BSD License) -// -// Redistribution and use in source and binary forms, with or without -// modification, are permitted provided that the following conditions -// are met: -// -// * Redistributions of source code must retain the above copyright -// notice, this list of conditions and the following disclaimer. -// * Redistributions in binary form must reproduce the above -// copyright notice, this list of conditions and the following -// disclaimer in the documentation and/or other materials provided -// with the distribution. -// * Neither the name of {copyright_holder} nor the names of its -// contributors may be used to endorse or promote products derived -// from this software without specific prior written permission. -// -// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS -// FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE -// COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, -// INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, -// BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; -// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER -// CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT -// LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN -// ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -// POSSIBILITY OF SUCH DAMAGE.S SOFTWARE, EVEN IF ADVISED OF THE -// POSSIBILITY OF SUCH DAMAGE. - -#ifndef TIER4_DEBUG_RVIZ_PLUGIN__FLOAT32_MULTI_ARRAY_STAMPED_PIE_CHART_HPP_ -#define TIER4_DEBUG_RVIZ_PLUGIN__FLOAT32_MULTI_ARRAY_STAMPED_PIE_CHART_HPP_ - -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include - -#include - -#include - -namespace rviz_plugins -{ -class Float32MultiArrayStampedPieChartDisplay : public rviz_common::Display -{ - Q_OBJECT -public: - Float32MultiArrayStampedPieChartDisplay(); - virtual ~Float32MultiArrayStampedPieChartDisplay(); - - // methods for OverlayPickerTool - virtual bool isInRegion(int x, int y); - virtual void movePosition(int x, int y); - virtual void setPosition(int x, int y); - virtual int getX() { return left_; } - virtual int getY() { return top_; } - -protected: - virtual void subscribe(); - virtual void unsubscribe(); - virtual void onEnable(); - virtual void onDisable(); - virtual void onInitialize(); - virtual void processMessage( - const tier4_debug_msgs::msg::Float32MultiArrayStamped::ConstSharedPtr msg); - virtual void drawPlot(double val); - virtual void update(float wall_dt, float ros_dt); - // properties - rviz_common::properties::StringProperty * update_topic_property_; - rviz_common::properties::IntProperty * data_index_property_; - rviz_common::properties::IntProperty * size_property_; - rviz_common::properties::IntProperty * left_property_; - rviz_common::properties::IntProperty * top_property_; - rviz_common::properties::ColorProperty * fg_color_property_; - rviz_common::properties::ColorProperty * bg_color_property_; - rviz_common::properties::ColorProperty * text_color_property_; - rviz_common::properties::FloatProperty * fg_alpha_property_; - rviz_common::properties::FloatProperty * fg_alpha2_property_; - rviz_common::properties::FloatProperty * bg_alpha_property_; - rviz_common::properties::FloatProperty * text_alpha_property_; - rviz_common::properties::IntProperty * text_size_property_; - rviz_common::properties::FloatProperty * max_value_property_; - rviz_common::properties::FloatProperty * min_value_property_; - rviz_common::properties::BoolProperty * show_caption_property_; - rviz_common::properties::BoolProperty * auto_color_change_property_; - rviz_common::properties::ColorProperty * max_color_property_; - rviz_common::properties::ColorProperty * med_color_property_; - rviz_common::properties::FloatProperty * max_color_threshold_property_; - rviz_common::properties::FloatProperty * med_color_threshold_property_; - rviz_common::properties::BoolProperty * clockwise_rotate_property_; - - rclcpp::Subscription::SharedPtr sub_; - int left_; - int top_; - uint16_t texture_size_; - QColor fg_color_; - QColor bg_color_; - QColor max_color_; - QColor med_color_; - int text_size_; - bool show_caption_; - bool auto_color_change_; - int caption_offset_; - double fg_alpha_; - double fg_alpha2_; - double bg_alpha_; - double max_value_; - double min_value_; - double max_color_threshold_; - double med_color_threshold_; - bool update_required_; - bool first_time_; - float data_; - int data_index_{0}; - jsk_rviz_plugins::OverlayObject::Ptr overlay_; - bool clockwise_rotate_; - - std::mutex mutex_; - -protected Q_SLOTS: - void updateTopic(); - void updateDataIndex(); - void updateSize(); - void updateTop(); - void updateLeft(); - void updateBGColor(); - void updateTextSize(); - void updateFGColor(); - void updateFGAlpha(); - void updateFGAlpha2(); - void updateBGAlpha(); - void updateMinValue(); - void updateMaxValue(); - void updateShowCaption(); - void updateAutoColorChange(); - void updateMaxColor(); - void updateMedColor(); - void updateMaxColorThreshold(); - void updateMedColorThreshold(); - void updateClockwiseRotate(); - -private: -}; - -} // namespace rviz_plugins - -#endif // TIER4_DEBUG_RVIZ_PLUGIN__FLOAT32_MULTI_ARRAY_STAMPED_PIE_CHART_HPP_ diff --git a/common/tier4_debug_rviz_plugin/include/tier4_debug_rviz_plugin/jsk_overlay_utils.hpp b/common/tier4_debug_rviz_plugin/include/tier4_debug_rviz_plugin/jsk_overlay_utils.hpp deleted file mode 100644 index 37bf743e35f6a..0000000000000 --- a/common/tier4_debug_rviz_plugin/include/tier4_debug_rviz_plugin/jsk_overlay_utils.hpp +++ /dev/null @@ -1,143 +0,0 @@ -// Copyright 2022 Tier IV, Inc. -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. - -// Copyright (c) 2014, JSK Lab -// All rights reserved. -// -// Software License Agreement (BSD License) -// -// Redistribution and use in source and binary forms, with or without -// modification, are permitted provided that the following conditions -// are met: -// -// * Redistributions of source code must retain the above copyright -// notice, this list of conditions and the following disclaimer. -// * Redistributions in binary form must reproduce the above -// copyright notice, this list of conditions and the following -// disclaimer in the documentation and/or other materials provided -// with the distribution. -// * Neither the name of {copyright_holder} nor the names of its -// contributors may be used to endorse or promote products derived -// from this software without specific prior written permission. -// -// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS -// FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE -// COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, -// INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, -// BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; -// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER -// CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT -// LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN -// ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -// POSSIBILITY OF SUCH DAMAGE.S SOFTWARE, EVEN IF ADVISED OF THE -// POSSIBILITY OF SUCH DAMAGE. - -#ifndef TIER4_DEBUG_RVIZ_PLUGIN__JSK_OVERLAY_UTILS_HPP_ -#define TIER4_DEBUG_RVIZ_PLUGIN__JSK_OVERLAY_UTILS_HPP_ - -#include -#include -#include -#include -#include -#include - -#include -#include -// see OGRE/OgrePrerequisites.h -// #define OGRE_VERSION -// ((OGRE_VERSION_MAJOR << 16) | (OGRE_VERSION_MINOR << 8) | OGRE_VERSION_PATCH) -#if OGRE_VERSION < ((1 << 16) | (9 << 8) | 0) -#include -#include -#include -#include -#else -#include -#include -#include -#include -#include -#endif - -#include -#include -#include -#include -#include -#include - -namespace jsk_rviz_plugins -{ -class OverlayObject; - -class ScopedPixelBuffer -{ -public: - explicit ScopedPixelBuffer(Ogre::HardwarePixelBufferSharedPtr pixel_buffer); - virtual ~ScopedPixelBuffer(); - virtual Ogre::HardwarePixelBufferSharedPtr getPixelBuffer(); - virtual QImage getQImage(unsigned int width, unsigned int height); - virtual QImage getQImage(OverlayObject & overlay); - virtual QImage getQImage(unsigned int width, unsigned int height, QColor & bg_color); - virtual QImage getQImage(OverlayObject & overlay, QColor & bg_color); - -protected: - Ogre::HardwarePixelBufferSharedPtr pixel_buffer_; - -private: -}; - -// this is a class for put overlay object on rviz 3D panel. -// This class suppose to be instantiated in onInitialize method -// of rviz::Display class. -class OverlayObject -{ -public: - typedef std::shared_ptr Ptr; - - OverlayObject(Ogre::SceneManager * manager, rclcpp::Logger logger, const std::string & name); - virtual ~OverlayObject(); - - virtual std::string getName(); - virtual void hide(); - virtual void show(); - virtual bool isTextureReady(); - virtual void updateTextureSize(unsigned int width, unsigned int height); - virtual ScopedPixelBuffer getBuffer(); - virtual void setPosition(double left, double top); - virtual void setDimensions(double width, double height); - virtual bool isVisible(); - virtual unsigned int getTextureWidth(); - virtual unsigned int getTextureHeight(); - -protected: - const std::string name_; - rclcpp::Logger logger_; - Ogre::Overlay * overlay_; - Ogre::PanelOverlayElement * panel_; - Ogre::MaterialPtr panel_material_; - Ogre::TexturePtr texture_; - -private: -}; - -// Ogre::Overlay* createOverlay(std::string name); -// Ogre::PanelOverlayElement* createOverlayPanel(Ogre::Overlay* overlay); -// Ogre::MaterialPtr createOverlayMaterial(Ogre::Overlay* overlay); -} // namespace jsk_rviz_plugins - -#endif // TIER4_DEBUG_RVIZ_PLUGIN__JSK_OVERLAY_UTILS_HPP_ diff --git a/common/tier4_debug_rviz_plugin/include/tier4_debug_rviz_plugin/string_stamped.hpp b/common/tier4_debug_rviz_plugin/include/tier4_debug_rviz_plugin/string_stamped.hpp deleted file mode 100644 index 0960875d7eee2..0000000000000 --- a/common/tier4_debug_rviz_plugin/include/tier4_debug_rviz_plugin/string_stamped.hpp +++ /dev/null @@ -1,107 +0,0 @@ -// Copyright 2023 TIER IV, Inc. -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. - -// Copyright (c) 2014, JSK Lab -// All rights reserved. -// -// Software License Agreement (BSD License) -// -// Redistribution and use in source and binary forms, with or without -// modification, are permitted provided that the following conditions -// are met: -// -// * Redistributions of source code must retain the above copyright -// notice, this list of conditions and the following disclaimer. -// * Redistributions in binary form must reproduce the above -// copyright notice, this list of conditions and the following -// disclaimer in the documentation and/or other materials provided -// with the distribution. -// * Neither the name of {copyright_holder} nor the names of its -// contributors may be used to endorse or promote products derived -// from this software without specific prior written permission. -// -// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS -// FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE -// COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, -// INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, -// BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; -// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER -// CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT -// LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN -// ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -// POSSIBILITY OF SUCH DAMAGE.S SOFTWARE, EVEN IF ADVISED OF THE -// POSSIBILITY OF SUCH DAMAGE. - -#ifndef TIER4_DEBUG_RVIZ_PLUGIN__STRING_STAMPED_HPP_ -#define TIER4_DEBUG_RVIZ_PLUGIN__STRING_STAMPED_HPP_ - -#include -#include - -#ifndef Q_MOC_RUN -#include "tier4_debug_rviz_plugin/jsk_overlay_utils.hpp" - -#include -#include -#include -#include - -#endif - -#include - -namespace rviz_plugins -{ -class StringStampedOverlayDisplay -: public rviz_common::RosTopicDisplay - -{ - Q_OBJECT - -public: - StringStampedOverlayDisplay(); - ~StringStampedOverlayDisplay() override; - - void onInitialize() override; - void onEnable() override; - void onDisable() override; - -private Q_SLOTS: - void updateVisualization(); - -protected: - void update(float wall_dt, float ros_dt) override; - void processMessage(const tier4_debug_msgs::msg::StringStamped::ConstSharedPtr msg_ptr) override; - jsk_rviz_plugins::OverlayObject::Ptr overlay_; - rviz_common::properties::ColorProperty * property_text_color_; - rviz_common::properties::IntProperty * property_left_; - rviz_common::properties::IntProperty * property_top_; - rviz_common::properties::IntProperty * property_value_height_offset_; - rviz_common::properties::FloatProperty * property_value_scale_; - rviz_common::properties::IntProperty * property_font_size_; - rviz_common::properties::IntProperty * property_max_letter_num_; - // QImage hud_; - -private: - static constexpr int line_width_ = 2; - static constexpr int hand_width_ = 4; - - std::mutex mutex_; - tier4_debug_msgs::msg::StringStamped::ConstSharedPtr last_msg_ptr_; -}; -} // namespace rviz_plugins - -#endif // TIER4_DEBUG_RVIZ_PLUGIN__STRING_STAMPED_HPP_ diff --git a/common/tier4_debug_rviz_plugin/package.xml b/common/tier4_debug_rviz_plugin/package.xml deleted file mode 100644 index 45b73d5b9815d..0000000000000 --- a/common/tier4_debug_rviz_plugin/package.xml +++ /dev/null @@ -1,30 +0,0 @@ - - - - tier4_debug_rviz_plugin - 0.1.0 - The tier4_debug_rviz_plugin package - Takayuki Murooka - Apache License 2.0 - - ament_cmake - autoware_cmake - - libqt5-core - libqt5-gui - libqt5-widgets - qtbase5-dev - rclcpp - rviz_common - rviz_default_plugins - rviz_rendering - tier4_debug_msgs - - ament_lint_auto - autoware_lint_common - - - ament_cmake - - - diff --git a/common/tier4_debug_rviz_plugin/plugins/plugin_description.xml b/common/tier4_debug_rviz_plugin/plugins/plugin_description.xml deleted file mode 100644 index e18900afc8d84..0000000000000 --- a/common/tier4_debug_rviz_plugin/plugins/plugin_description.xml +++ /dev/null @@ -1,12 +0,0 @@ - - - Display drivable area of tier4_debug_msgs::msg::Float32MultiArrayStamped - - - Display drivable area of tier4_debug_msgs::msg::StringStamped - - diff --git a/common/tier4_debug_rviz_plugin/src/float32_multi_array_stamped_pie_chart.cpp b/common/tier4_debug_rviz_plugin/src/float32_multi_array_stamped_pie_chart.cpp deleted file mode 100644 index 0187cc3e22de0..0000000000000 --- a/common/tier4_debug_rviz_plugin/src/float32_multi_array_stamped_pie_chart.cpp +++ /dev/null @@ -1,479 +0,0 @@ -// Copyright 2022 Tier IV, Inc. -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. - -// Copyright (c) 2014, JSK Lab -// All rights reserved. -// -// Software License Agreement (BSD License) -// -// Redistribution and use in source and binary forms, with or without -// modification, are permitted provided that the following conditions -// are met: -// -// * Redistributions of source code must retain the above copyright -// notice, this list of conditions and the following disclaimer. -// * Redistributions in binary form must reproduce the above -// copyright notice, this list of conditions and the following -// disclaimer in the documentation and/or other materials provided -// with the distribution. -// * Neither the name of {copyright_holder} nor the names of its -// contributors may be used to endorse or promote products derived -// from this software without specific prior written permission. -// -// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS -// FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE -// COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, -// INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, -// BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; -// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER -// CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT -// LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN -// ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -// POSSIBILITY OF SUCH DAMAGE.S SOFTWARE, EVEN IF ADVISED OF THE -// POSSIBILITY OF SUCH DAMAGE. - -#include -#include -#include -#include - -namespace rviz_plugins -{ - -Float32MultiArrayStampedPieChartDisplay::Float32MultiArrayStampedPieChartDisplay() -: rviz_common::Display(), update_required_(false), first_time_(true), data_(0.0) -{ - update_topic_property_ = new rviz_common::properties::StringProperty( - "Topic", "", "tier4_debug_msgs::msg::Float32MultiArrayStamped topic to subscribe to.", this, - SLOT(updateTopic()), this); - data_index_property_ = new rviz_common::properties::IntProperty( - "data index", 0, "data index in message to visualize", this, SLOT(updateDataIndex())); - size_property_ = new rviz_common::properties::IntProperty( - "size", 128, "size of the plotter window", this, SLOT(updateSize())); - left_property_ = new rviz_common::properties::IntProperty( - "left", 128, "left of the plotter window", this, SLOT(updateLeft())); - top_property_ = new rviz_common::properties::IntProperty( - "top", 128, "top of the plotter window", this, SLOT(updateTop())); - fg_color_property_ = new rviz_common::properties::ColorProperty( - "foreground color", QColor(25, 255, 240), "color to draw line", this, SLOT(updateFGColor())); - fg_alpha_property_ = new rviz_common::properties::FloatProperty( - "foreground alpha", 0.7, "alpha blending value for foreground", this, SLOT(updateFGAlpha())); - fg_alpha2_property_ = new rviz_common::properties::FloatProperty( - "foreground alpha 2", 0.4, "alpha blending value for foreground for indicator", this, - SLOT(updateFGAlpha2())); - bg_color_property_ = new rviz_common::properties::ColorProperty( - "background color", QColor(0, 0, 0), "background color", this, SLOT(updateBGColor())); - bg_alpha_property_ = new rviz_common::properties::FloatProperty( - "background alpha", 0.0, "alpha blending value for background", this, SLOT(updateBGAlpha())); - text_size_property_ = new rviz_common::properties::IntProperty( - "text size", 14, "text size", this, SLOT(updateTextSize())); - show_caption_property_ = new rviz_common::properties::BoolProperty( - "show caption", false, "show caption", this, SLOT(updateShowCaption())); - max_value_property_ = new rviz_common::properties::FloatProperty( - "max value", 1.0, "max value of pie chart", this, SLOT(updateMaxValue())); - min_value_property_ = new rviz_common::properties::FloatProperty( - "min value", 0.0, "min value of pie chart", this, SLOT(updateMinValue())); - auto_color_change_property_ = new rviz_common::properties::BoolProperty( - "auto color change", false, "change the color automatically", this, - SLOT(updateAutoColorChange())); - max_color_property_ = new rviz_common::properties::ColorProperty( - "max color", QColor(255, 0, 0), "only used if auto color change is set to True.", this, - SLOT(updateMaxColor())); - - med_color_property_ = new rviz_common::properties::ColorProperty( - "med color", QColor(255, 0, 0), "only used if auto color change is set to True.", this, - SLOT(updateMedColor())); - - max_color_threshold_property_ = new rviz_common::properties::FloatProperty( - "max color change threshold", 0, "change the max color at threshold", this, - SLOT(updateMaxColorThreshold())); - - med_color_threshold_property_ = new rviz_common::properties::FloatProperty( - "med color change threshold", 0, "change the med color at threshold ", this, - SLOT(updateMedColorThreshold())); - - clockwise_rotate_property_ = new rviz_common::properties::BoolProperty( - "clockwise rotate direction", false, "change the rotate direction", this, - SLOT(updateClockwiseRotate())); -} - -Float32MultiArrayStampedPieChartDisplay::~Float32MultiArrayStampedPieChartDisplay() -{ - if (overlay_->isVisible()) { - overlay_->hide(); - } - delete update_topic_property_; - delete fg_color_property_; - delete bg_color_property_; - delete fg_alpha_property_; - delete fg_alpha2_property_; - delete bg_alpha_property_; - delete top_property_; - delete left_property_; - delete size_property_; - delete min_value_property_; - delete max_value_property_; - delete max_color_property_; - delete med_color_property_; - delete text_size_property_; - delete show_caption_property_; -} - -void Float32MultiArrayStampedPieChartDisplay::onInitialize() -{ - static int count = 0; - rviz_common::UniformStringStream ss; - ss << "Float32MultiArrayStampedPieChart" << count++; - auto logger = context_->getRosNodeAbstraction().lock()->get_raw_node()->get_logger(); - overlay_.reset(new jsk_rviz_plugins::OverlayObject(scene_manager_, logger, ss.str())); - onEnable(); - updateSize(); - updateLeft(); - updateTop(); - updateFGColor(); - updateBGColor(); - updateFGAlpha(); - updateFGAlpha2(); - updateBGAlpha(); - updateMinValue(); - updateMaxValue(); - updateTextSize(); - updateShowCaption(); - updateAutoColorChange(); - updateMaxColor(); - updateMedColor(); - updateMaxColorThreshold(); - updateMedColorThreshold(); - updateClockwiseRotate(); - overlay_->updateTextureSize(texture_size_, texture_size_ + caption_offset_); - overlay_->hide(); -} - -void Float32MultiArrayStampedPieChartDisplay::update( - [[maybe_unused]] float wall_dt, [[maybe_unused]] float ros_dt) -{ - if (update_required_) { - update_required_ = false; - overlay_->updateTextureSize(texture_size_, texture_size_ + caption_offset_); - overlay_->setPosition(left_, top_); - overlay_->setDimensions(overlay_->getTextureWidth(), overlay_->getTextureHeight()); - drawPlot(data_); - } -} - -void Float32MultiArrayStampedPieChartDisplay::processMessage( - const tier4_debug_msgs::msg::Float32MultiArrayStamped::ConstSharedPtr msg) -{ - std::lock_guard lock(mutex_); - - if (!overlay_->isVisible()) { - return; - } - if (data_index_ < 0 || static_cast(msg->data.size()) <= data_index_) { - return; - } - - if (data_ != msg->data.at(data_index_) || first_time_) { - first_time_ = false; - data_ = msg->data.at(data_index_); - update_required_ = true; - } -} - -void Float32MultiArrayStampedPieChartDisplay::drawPlot(double val) -{ - QColor fg_color(fg_color_); - - if (auto_color_change_) { - double r = std::min(1.0, fabs((val - min_value_) / (max_value_ - min_value_))); - if (r > 0.6) { - double r2 = (r - 0.6) / 0.4; - fg_color.setRed((max_color_.red() - fg_color_.red()) * r2 + fg_color_.red()); - fg_color.setGreen((max_color_.green() - fg_color_.green()) * r2 + fg_color_.green()); - fg_color.setBlue((max_color_.blue() - fg_color_.blue()) * r2 + fg_color_.blue()); - } - if (max_color_threshold_ != 0) { - if (r > max_color_threshold_) { - fg_color.setRed(max_color_.red()); - fg_color.setGreen(max_color_.green()); - fg_color.setBlue(max_color_.blue()); - } - } - if (med_color_threshold_ != 0) { - if (max_color_threshold_ > r && r > med_color_threshold_) { - fg_color.setRed(med_color_.red()); - fg_color.setGreen(med_color_.green()); - fg_color.setBlue(med_color_.blue()); - } - } - } - - QColor fg_color2(fg_color); - QColor bg_color(bg_color_); - fg_color.setAlpha(fg_alpha_); - fg_color2.setAlpha(fg_alpha2_); - bg_color.setAlpha(bg_alpha_); - int width = overlay_->getTextureWidth(); - int height = overlay_->getTextureHeight(); - { - jsk_rviz_plugins::ScopedPixelBuffer buffer = overlay_->getBuffer(); - QImage Hud = buffer.getQImage(*overlay_, bg_color); - QPainter painter(&Hud); - painter.setRenderHint(QPainter::Antialiasing, true); - - const int outer_line_width = 5; - const int value_line_width = 10; - const int value_indicator_line_width = 2; - const int value_padding = 5; - - const int value_offset = outer_line_width + value_padding + value_line_width / 2; - - painter.setPen(QPen(fg_color, outer_line_width, Qt::SolidLine)); - - painter.drawEllipse( - outer_line_width / 2, outer_line_width / 2, width - outer_line_width, - height - outer_line_width - caption_offset_); - - painter.setPen(QPen(fg_color2, value_indicator_line_width, Qt::SolidLine)); - painter.drawEllipse( - value_offset, value_offset, width - value_offset * 2, - height - value_offset * 2 - caption_offset_); - - const double ratio = (val - min_value_) / (max_value_ - min_value_); - const double rotate_direction = clockwise_rotate_ ? -1.0 : 1.0; - const double ratio_angle = ratio * 360.0 * rotate_direction; - const double start_angle_offset = -90; - painter.setPen(QPen(fg_color, value_line_width, Qt::SolidLine)); - painter.drawArc( - QRectF( - value_offset, value_offset, width - value_offset * 2, - height - value_offset * 2 - caption_offset_), - start_angle_offset * 16, ratio_angle * 16); - QFont font = painter.font(); - font.setPointSize(text_size_); - font.setBold(true); - painter.setFont(font); - painter.setPen(QPen(fg_color, value_line_width, Qt::SolidLine)); - std::ostringstream s; - s << std::fixed << std::setprecision(2) << val; - painter.drawText( - 0, 0, width, height - caption_offset_, Qt::AlignCenter | Qt::AlignVCenter, s.str().c_str()); - - // caption - if (show_caption_) { - painter.drawText( - 0, height - caption_offset_, width, caption_offset_, Qt::AlignCenter | Qt::AlignVCenter, - getName()); - } - - // done - painter.end(); - // Unlock the pixel buffer - } -} - -void Float32MultiArrayStampedPieChartDisplay::subscribe() -{ - std::string topic_name = update_topic_property_->getStdString(); - - // NOTE: Remove all spaces since topic name filled with only spaces will crash - topic_name.erase(std::remove(topic_name.begin(), topic_name.end(), ' '), topic_name.end()); - - if (topic_name.length() > 0 && topic_name != "/") { - rclcpp::Node::SharedPtr raw_node = context_->getRosNodeAbstraction().lock()->get_raw_node(); - sub_ = raw_node->create_subscription( - topic_name, 1, - std::bind( - &Float32MultiArrayStampedPieChartDisplay::processMessage, this, std::placeholders::_1)); - } -} - -void Float32MultiArrayStampedPieChartDisplay::unsubscribe() -{ - sub_.reset(); -} - -void Float32MultiArrayStampedPieChartDisplay::onEnable() -{ - subscribe(); - overlay_->show(); - first_time_ = true; -} - -void Float32MultiArrayStampedPieChartDisplay::onDisable() -{ - unsubscribe(); - overlay_->hide(); -} - -void Float32MultiArrayStampedPieChartDisplay::updateSize() -{ - std::lock_guard lock(mutex_); - - texture_size_ = size_property_->getInt(); - update_required_ = true; -} - -void Float32MultiArrayStampedPieChartDisplay::updateTop() -{ - top_ = top_property_->getInt(); - update_required_ = true; -} - -void Float32MultiArrayStampedPieChartDisplay::updateLeft() -{ - left_ = left_property_->getInt(); - update_required_ = true; -} - -void Float32MultiArrayStampedPieChartDisplay::updateBGColor() -{ - bg_color_ = bg_color_property_->getColor(); - update_required_ = true; -} - -void Float32MultiArrayStampedPieChartDisplay::updateFGColor() -{ - fg_color_ = fg_color_property_->getColor(); - update_required_ = true; -} - -void Float32MultiArrayStampedPieChartDisplay::updateFGAlpha() -{ - fg_alpha_ = fg_alpha_property_->getFloat() * 255.0; - update_required_ = true; -} - -void Float32MultiArrayStampedPieChartDisplay::updateFGAlpha2() -{ - fg_alpha2_ = fg_alpha2_property_->getFloat() * 255.0; - update_required_ = true; -} - -void Float32MultiArrayStampedPieChartDisplay::updateBGAlpha() -{ - bg_alpha_ = bg_alpha_property_->getFloat() * 255.0; - update_required_ = true; -} - -void Float32MultiArrayStampedPieChartDisplay::updateMinValue() -{ - min_value_ = min_value_property_->getFloat(); - update_required_ = true; -} - -void Float32MultiArrayStampedPieChartDisplay::updateMaxValue() -{ - max_value_ = max_value_property_->getFloat(); - update_required_ = true; -} - -void Float32MultiArrayStampedPieChartDisplay::updateTextSize() -{ - std::lock_guard lock(mutex_); - - text_size_ = text_size_property_->getInt(); - QFont font; - font.setPointSize(text_size_); - caption_offset_ = QFontMetrics(font).height(); - update_required_ = true; -} - -void Float32MultiArrayStampedPieChartDisplay::updateShowCaption() -{ - show_caption_ = show_caption_property_->getBool(); - update_required_ = true; -} - -void Float32MultiArrayStampedPieChartDisplay::updateTopic() -{ - unsubscribe(); - subscribe(); -} - -void Float32MultiArrayStampedPieChartDisplay::updateDataIndex() -{ - data_index_ = data_index_property_->getInt(); - update_required_ = true; -} - -void Float32MultiArrayStampedPieChartDisplay::updateAutoColorChange() -{ - auto_color_change_ = auto_color_change_property_->getBool(); - if (auto_color_change_) { - max_color_property_->show(); - med_color_property_->show(); - max_color_threshold_property_->show(); - med_color_threshold_property_->show(); - } else { - max_color_property_->hide(); - med_color_property_->hide(); - max_color_threshold_property_->hide(); - med_color_threshold_property_->hide(); - } - update_required_ = true; -} - -void Float32MultiArrayStampedPieChartDisplay::updateMaxColor() -{ - max_color_ = max_color_property_->getColor(); - update_required_ = true; -} - -void Float32MultiArrayStampedPieChartDisplay::updateMedColor() -{ - med_color_ = med_color_property_->getColor(); - update_required_ = true; -} - -void Float32MultiArrayStampedPieChartDisplay::updateMaxColorThreshold() -{ - max_color_threshold_ = max_color_threshold_property_->getFloat(); - update_required_ = true; -} - -void Float32MultiArrayStampedPieChartDisplay::updateMedColorThreshold() -{ - med_color_threshold_ = med_color_threshold_property_->getFloat(); - update_required_ = true; -} - -void Float32MultiArrayStampedPieChartDisplay::updateClockwiseRotate() -{ - clockwise_rotate_ = clockwise_rotate_property_->getBool(); - update_required_ = true; -} - -bool Float32MultiArrayStampedPieChartDisplay::isInRegion(int x, int y) -{ - return (top_ < y && top_ + texture_size_ > y && left_ < x && left_ + texture_size_ > x); -} - -void Float32MultiArrayStampedPieChartDisplay::movePosition(int x, int y) -{ - top_ = y; - left_ = x; -} - -void Float32MultiArrayStampedPieChartDisplay::setPosition(int x, int y) -{ - top_property_->setValue(y); - left_property_->setValue(x); -} -} // namespace rviz_plugins - -#include -PLUGINLIB_EXPORT_CLASS(rviz_plugins::Float32MultiArrayStampedPieChartDisplay, rviz_common::Display) diff --git a/common/tier4_debug_rviz_plugin/src/jsk_overlay_utils.cpp b/common/tier4_debug_rviz_plugin/src/jsk_overlay_utils.cpp deleted file mode 100644 index b1933ebb3e157..0000000000000 --- a/common/tier4_debug_rviz_plugin/src/jsk_overlay_utils.cpp +++ /dev/null @@ -1,225 +0,0 @@ -// Copyright 2022 Tier IV, Inc. -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. - -// Copyright (c) 2014, JSK Lab -// All rights reserved. -// -// Software License Agreement (BSD License) -// -// Redistribution and use in source and binary forms, with or without -// modification, are permitted provided that the following conditions -// are met: -// -// * Redistributions of source code must retain the above copyright -// notice, this list of conditions and the following disclaimer. -// * Redistributions in binary form must reproduce the above -// copyright notice, this list of conditions and the following -// disclaimer in the documentation and/or other materials provided -// with the distribution. -// * Neither the name of {copyright_holder} nor the names of its -// contributors may be used to endorse or promote products derived -// from this software without specific prior written permission. -// -// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS -// FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE -// COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, -// INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, -// BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; -// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER -// CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT -// LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN -// ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -// POSSIBILITY OF SUCH DAMAGE.S SOFTWARE, EVEN IF ADVISED OF THE -// POSSIBILITY OF SUCH DAMAGE. - -#include - -#include - -namespace jsk_rviz_plugins -{ -ScopedPixelBuffer::ScopedPixelBuffer(Ogre::HardwarePixelBufferSharedPtr pixel_buffer) -: pixel_buffer_(pixel_buffer) -{ - pixel_buffer_->lock(Ogre::HardwareBuffer::HBL_NORMAL); -} - -ScopedPixelBuffer::~ScopedPixelBuffer() -{ - pixel_buffer_->unlock(); -} - -Ogre::HardwarePixelBufferSharedPtr ScopedPixelBuffer::getPixelBuffer() -{ - return pixel_buffer_; -} - -QImage ScopedPixelBuffer::getQImage(unsigned int width, unsigned int height) -{ - const Ogre::PixelBox & pixelBox = pixel_buffer_->getCurrentLock(); - Ogre::uint8 * pDest = static_cast(pixelBox.data); - memset(pDest, 0, width * height); - return QImage(pDest, width, height, QImage::Format_ARGB32); -} - -QImage ScopedPixelBuffer::getQImage(unsigned int width, unsigned int height, QColor & bg_color) -{ - QImage Hud = getQImage(width, height); - for (unsigned int i = 0; i < width; i++) { - for (unsigned int j = 0; j < height; j++) { - Hud.setPixel(i, j, bg_color.rgba()); - } - } - return Hud; -} - -QImage ScopedPixelBuffer::getQImage(OverlayObject & overlay) -{ - return getQImage(overlay.getTextureWidth(), overlay.getTextureHeight()); -} - -QImage ScopedPixelBuffer::getQImage(OverlayObject & overlay, QColor & bg_color) -{ - return getQImage(overlay.getTextureWidth(), overlay.getTextureHeight(), bg_color); -} - -OverlayObject::OverlayObject( - Ogre::SceneManager * manager, rclcpp::Logger logger, const std::string & name) -: name_(name), logger_(logger) -{ - rviz_rendering::RenderSystem::get()->prepareOverlays(manager); - std::string material_name = name_ + "Material"; - Ogre::OverlayManager * mOverlayMgr = Ogre::OverlayManager::getSingletonPtr(); - overlay_ = mOverlayMgr->create(name_); - panel_ = static_cast( - mOverlayMgr->createOverlayElement("Panel", name_ + "Panel")); - panel_->setMetricsMode(Ogre::GMM_PIXELS); - - panel_material_ = Ogre::MaterialManager::getSingleton().create( - material_name, Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME); - panel_->setMaterialName(panel_material_->getName()); - overlay_->add2D(panel_); -} - -OverlayObject::~OverlayObject() -{ - hide(); - panel_material_->unload(); - Ogre::MaterialManager::getSingleton().remove(panel_material_->getName()); - // Ogre::OverlayManager* mOverlayMgr = Ogre::OverlayManager::getSingletonPtr(); - // mOverlayMgr->destroyOverlayElement(panel_); - // delete panel_; - // delete overlay_; -} - -std::string OverlayObject::getName() -{ - return name_; -} - -void OverlayObject::hide() -{ - if (overlay_->isVisible()) { - overlay_->hide(); - } -} - -void OverlayObject::show() -{ - if (!overlay_->isVisible()) { - overlay_->show(); - } -} - -bool OverlayObject::isTextureReady() -{ - return static_cast(texture_); -} - -void OverlayObject::updateTextureSize(unsigned int width, unsigned int height) -{ - const std::string texture_name = name_ + "Texture"; - if (width == 0) { - RCLCPP_WARN(logger_, "width=0 is specified as texture size"); - width = 1; - } - if (height == 0) { - RCLCPP_WARN(logger_, "height=0 is specified as texture size"); - height = 1; - } - if (!isTextureReady() || ((width != texture_->getWidth()) || (height != texture_->getHeight()))) { - if (isTextureReady()) { - Ogre::TextureManager::getSingleton().remove(texture_name); - panel_material_->getTechnique(0)->getPass(0)->removeAllTextureUnitStates(); - } - texture_ = Ogre::TextureManager::getSingleton().createManual( - texture_name, // name - Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME, - Ogre::TEX_TYPE_2D, // type - width, height, // width & height of the render window - 0, // number of mipmaps - Ogre::PF_A8R8G8B8, // pixel format chosen to match a format Qt can use - Ogre::TU_DEFAULT // usage - ); - panel_material_->getTechnique(0)->getPass(0)->createTextureUnitState(texture_name); - - panel_material_->getTechnique(0)->getPass(0)->setSceneBlending(Ogre::SBT_TRANSPARENT_ALPHA); - } -} - -ScopedPixelBuffer OverlayObject::getBuffer() -{ - if (isTextureReady()) { - return ScopedPixelBuffer(texture_->getBuffer()); - } else { - return ScopedPixelBuffer(Ogre::HardwarePixelBufferSharedPtr()); - } -} - -void OverlayObject::setPosition(double left, double top) -{ - panel_->setPosition(left, top); -} - -void OverlayObject::setDimensions(double width, double height) -{ - panel_->setDimensions(width, height); -} - -bool OverlayObject::isVisible() -{ - return overlay_->isVisible(); -} - -unsigned int OverlayObject::getTextureWidth() -{ - if (isTextureReady()) { - return texture_->getWidth(); - } else { - return 0; - } -} - -unsigned int OverlayObject::getTextureHeight() -{ - if (isTextureReady()) { - return texture_->getHeight(); - } else { - return 0; - } -} - -} // namespace jsk_rviz_plugins diff --git a/common/tier4_debug_rviz_plugin/src/string_stamped.cpp b/common/tier4_debug_rviz_plugin/src/string_stamped.cpp deleted file mode 100644 index 538dc0cbe7069..0000000000000 --- a/common/tier4_debug_rviz_plugin/src/string_stamped.cpp +++ /dev/null @@ -1,198 +0,0 @@ -// Copyright 2023 TIER IV, Inc. -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. - -// Copyright (c) 2014, JSK Lab -// All rights reserved. -// -// Software License Agreement (BSD License) -// -// Redistribution and use in source and binary forms, with or without -// modification, are permitted provided that the following conditions -// are met: -// -// * Redistributions of source code must retain the above copyright -// notice, this list of conditions and the following disclaimer. -// * Redistributions in binary form must reproduce the above -// copyright notice, this list of conditions and the following -// disclaimer in the documentation and/or other materials provided -// with the distribution. -// * Neither the name of {copyright_holder} nor the names of its -// contributors may be used to endorse or promote products derived -// from this software without specific prior written permission. -// -// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS -// FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE -// COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, -// INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, -// BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; -// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER -// CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT -// LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN -// ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -// POSSIBILITY OF SUCH DAMAGE.S SOFTWARE, EVEN IF ADVISED OF THE -// POSSIBILITY OF SUCH DAMAGE. - -#include "tier4_debug_rviz_plugin/string_stamped.hpp" - -#include "tier4_debug_rviz_plugin/jsk_overlay_utils.hpp" - -#include -#include - -#include - -#include -#include -#include -#include - -namespace rviz_plugins -{ -StringStampedOverlayDisplay::StringStampedOverlayDisplay() -{ - const Screen * screen_info = DefaultScreenOfDisplay(XOpenDisplay(NULL)); - - constexpr float hight_4k = 2160.0; - const float scale = static_cast(screen_info->height) / hight_4k; - const auto left = static_cast(std::round(1024 * scale)); - const auto top = static_cast(std::round(128 * scale)); - - property_text_color_ = new rviz_common::properties::ColorProperty( - "Text Color", QColor(25, 255, 240), "text color", this, SLOT(updateVisualization()), this); - property_left_ = new rviz_common::properties::IntProperty( - "Left", left, "Left of the plotter window", this, SLOT(updateVisualization()), this); - property_left_->setMin(0); - property_top_ = new rviz_common::properties::IntProperty( - "Top", top, "Top of the plotter window", this, SLOT(updateVisualization())); - property_top_->setMin(0); - - property_value_height_offset_ = new rviz_common::properties::IntProperty( - "Value height offset", 0, "Height offset of the plotter window", this, - SLOT(updateVisualization())); - property_font_size_ = new rviz_common::properties::IntProperty( - "Font Size", 15, "Font Size", this, SLOT(updateVisualization()), this); - property_font_size_->setMin(1); - property_max_letter_num_ = new rviz_common::properties::IntProperty( - "Max Letter Num", 100, "Max Letter Num", this, SLOT(updateVisualization()), this); - property_max_letter_num_->setMin(10); -} - -StringStampedOverlayDisplay::~StringStampedOverlayDisplay() -{ - if (initialized()) { - overlay_->hide(); - } -} - -void StringStampedOverlayDisplay::onInitialize() -{ - RTDClass::onInitialize(); - - static int count = 0; - rviz_common::UniformStringStream ss; - ss << "StringOverlayDisplayObject" << count++; - auto logger = context_->getRosNodeAbstraction().lock()->get_raw_node()->get_logger(); - overlay_.reset(new jsk_rviz_plugins::OverlayObject(scene_manager_, logger, ss.str())); - - overlay_->show(); - - const int texture_size = property_font_size_->getInt() * property_max_letter_num_->getInt(); - overlay_->updateTextureSize(texture_size, texture_size); - overlay_->setPosition(property_left_->getInt(), property_top_->getInt()); - overlay_->setDimensions(overlay_->getTextureWidth(), overlay_->getTextureHeight()); -} - -void StringStampedOverlayDisplay::onEnable() -{ - subscribe(); - overlay_->show(); -} - -void StringStampedOverlayDisplay::onDisable() -{ - unsubscribe(); - reset(); - overlay_->hide(); -} - -void StringStampedOverlayDisplay::update(float wall_dt, float ros_dt) -{ - (void)wall_dt; - (void)ros_dt; - - std::lock_guard message_lock(mutex_); - if (!last_msg_ptr_) { - return; - } - - // Display - QColor background_color; - background_color.setAlpha(0); - jsk_rviz_plugins::ScopedPixelBuffer buffer = overlay_->getBuffer(); - QImage hud = buffer.getQImage(*overlay_); - hud.fill(background_color); - - QPainter painter(&hud); - painter.setRenderHint(QPainter::Antialiasing, true); - - const int w = overlay_->getTextureWidth() - line_width_; - const int h = overlay_->getTextureHeight() - line_width_; - - // text - QColor text_color(property_text_color_->getColor()); - text_color.setAlpha(255); - painter.setPen(QPen(text_color, static_cast(2), Qt::SolidLine)); - QFont font = painter.font(); - font.setPixelSize(property_font_size_->getInt()); - font.setBold(true); - painter.setFont(font); - - // same as above, but align on right side - painter.drawText( - 0, std::min(property_value_height_offset_->getInt(), h - 1), w, - std::max(h - property_value_height_offset_->getInt(), 1), Qt::AlignLeft | Qt::AlignTop, - last_msg_ptr_->data.c_str()); - painter.end(); - updateVisualization(); -} - -void StringStampedOverlayDisplay::processMessage( - const tier4_debug_msgs::msg::StringStamped::ConstSharedPtr msg_ptr) -{ - if (!isEnabled()) { - return; - } - - { - std::lock_guard message_lock(mutex_); - last_msg_ptr_ = msg_ptr; - } - - queueRender(); -} - -void StringStampedOverlayDisplay::updateVisualization() -{ - const int texture_size = property_font_size_->getInt() * property_max_letter_num_->getInt(); - overlay_->updateTextureSize(texture_size, texture_size); - overlay_->setPosition(property_left_->getInt(), property_top_->getInt()); - overlay_->setDimensions(overlay_->getTextureWidth(), overlay_->getTextureHeight()); -} - -} // namespace rviz_plugins - -#include -PLUGINLIB_EXPORT_CLASS(rviz_plugins::StringStampedOverlayDisplay, rviz_common::Display) diff --git a/common/tier4_logging_level_configure_rviz_plugin/CMakeLists.txt b/common/tier4_logging_level_configure_rviz_plugin/CMakeLists.txt deleted file mode 100644 index cc7da7e322d19..0000000000000 --- a/common/tier4_logging_level_configure_rviz_plugin/CMakeLists.txt +++ /dev/null @@ -1,28 +0,0 @@ -cmake_minimum_required(VERSION 3.14) -project(tier4_logging_level_configure_rviz_plugin) - -find_package(autoware_cmake REQUIRED) -autoware_package() - -find_package(Qt5 REQUIRED Core Widgets) -set(QT_LIBRARIES Qt5::Widgets) -set(CMAKE_AUTOMOC ON) -add_definitions(-DQT_NO_KEYWORDS) - -ament_auto_add_library(tier4_logging_level_configure_rviz_plugin SHARED - include/tier4_logging_level_configure_rviz_plugin/logging_level_configure.hpp - src/logging_level_configure.cpp -) - -target_link_libraries(tier4_logging_level_configure_rviz_plugin - ${QT_LIBRARIES} -) - -# Export the plugin to be imported by rviz2 -pluginlib_export_plugin_description_file(rviz_common plugins/plugin_description.xml) - -ament_auto_package( - INSTALL_TO_SHARE - plugins - config -) diff --git a/common/tier4_logging_level_configure_rviz_plugin/README.md b/common/tier4_logging_level_configure_rviz_plugin/README.md deleted file mode 100644 index ed400e521e6aa..0000000000000 --- a/common/tier4_logging_level_configure_rviz_plugin/README.md +++ /dev/null @@ -1,72 +0,0 @@ -# tier4_logging_level_configure_rviz_plugin - -This package provides an rviz_plugin that can easily change the logger level of each node. - -![tier4_logging_level_configure_rviz_plugin](tier4_logging_level_configure_rviz_plugin.png) - -This plugin dispatches services to the "logger name" associated with "nodes" specified in YAML, adjusting the logger level. - -!!! Warning - - It is highly recommended to use this plugin when you're attempting to print any debug information. Furthermore, it is strongly advised to avoid using the logging level INFO, as it might flood the terminal with your information, potentially causing other useful information to be missed. - -!!! note - - To add your logger to the list, simply include the `node_name` and `logger_name` in the [logger_config.yaml](https://github.com/autowarefoundation/autoware.universe/blob/main/common/tier4_logging_level_configure_rviz_plugin/config/logger_config.yaml) under the corresponding component or module. If the relevant component or module is not listed, you may add them yourself. - -!!! note - - As of November 2023, in ROS 2 Humble, users are required to initiate a service server in the node to use this feature. (This might be integrated into ROS standards in the future.) For easy service server generation, you can use the [LoggerLevelConfigure](https://github.com/autowarefoundation/autoware.universe/blob/main/common/tier4_autoware_utils/include/tier4_autoware_utils/ros/logger_level_configure.hpp) utility. - -## How to use the plugin - -In RVIZ2, go to Panels and add LoggingLevelConfigureRVizPlugin. Then, search for the node you're interested in and select the corresponding logging level to print the logs. - -## How to add or find your logger name - -Because there are no available ROS 2 CLI commands to list loggers, there isn't a straightforward way to check your logger name. Additionally, the following assumes that you already know which node you're working with. - -### For logger as a class member variable - -If your class doesn't have an `rclcpp::Logger` member variable, you can start by including one yourself: - -```c++ -mutable rclcpp::Logger logger_; -``` - -If your node already has a logger, it should, under normal circumstances, be similar to the node's name. - -For instance, if the node name is `/some_component/some_node/node_child`, the `logger_name` would be `some_component.some_node.node_child`. - -Should your log not print as expected, one approach is to initially set your logging level in the code to info, like so: - -```c++ -RCLCPP_INFO(logger_, "Print something here."); -``` - -This will result in something like the following being printed in the terminal: - -```shell -[component_container_mt-36] [INFO 1711949149.735437551] [logger_name]: Print something here. (func() at /path/to/code:line_number) -``` - -Afterward, you can simply copy the `logger_name`. - -!!! warning - - Remember to revert your code to the appropriate logging level after testing. - ```c++ - RCLCPP_DEBUG(logger_, "Print something here."); - ``` - -### For libraries - -When dealing with libraries, such as utility functions, you may need to add the logger manually. Here's an example: - -```c++ -RCLCPP_WARN( - rclcpp::get_logger("some_component").get_child("some_child").get_child("some_child2"), - "Print something here."); -``` - -In this scenario, the `logger_name` would be `some_component.some_child.some_child2`. diff --git a/common/tier4_logging_level_configure_rviz_plugin/config/logger_config.yaml b/common/tier4_logging_level_configure_rviz_plugin/config/logger_config.yaml deleted file mode 100644 index edea0ec5f17d3..0000000000000 --- a/common/tier4_logging_level_configure_rviz_plugin/config/logger_config.yaml +++ /dev/null @@ -1,126 +0,0 @@ -# logger_config.yaml - -# ============================================================ -# localization -# ============================================================ -Localization: - ndt_scan_matcher: - - node_name: /localization/pose_estimator/ndt_scan_matcher - logger_name: localization.pose_estimator.ndt_scan_matcher - - gyro_odometer: - - node_name: /localization/twist_estimator/gyro_odometer - logger_name: localization.twist_estimator.gyro_odometer - - pose_initializer: - - node_name: /localization/util/pose_initializer_node - logger_name: localization.util.pose_initializer_node - - ekf_localizer: - - node_name: /localization/pose_twist_fusion_filter/ekf_localizer - logger_name: localization.pose_twist_fusion_filter.ekf_localizer - - localization_error_monitor: - - node_name: /localization/localization_error_monitor - logger_name: localization.localization_error_monitor - -# ============================================================ -# planning -# ============================================================ -Planning: - behavior_path_planner: - - node_name: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner - logger_name: planning.scenario_planning.lane_driving.behavior_planning.behavior_path_planner - - node_name: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner - logger_name: tier4_autoware_utils - - behavior_path_planner_avoidance: - - node_name: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner - logger_name: planning.scenario_planning.lane_driving.behavior_planning.behavior_path_planner.avoidance - - node_name: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner - logger_name: planning.scenario_planning.lane_driving.behavior_planning.behavior_path_planner.avoidance.utils - - behavior_path_planner_goal_planner: - - node_name: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner - logger_name: planning.scenario_planning.lane_driving.behavior_planning.behavior_path_planner.goal_planner - - behavior_path_planner_start_planner: - - node_name: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner - logger_name: planning.scenario_planning.lane_driving.behavior_planning.behavior_path_planner.start_planner - - behavior_path_avoidance_by_lane_change: - - node_name: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner - logger_name: lane_change.AVOIDANCE_BY_LANE_CHANGE - - node_name: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner - logger_name: lane_change.utils - - behavior_path_lane_change: - - node_name: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner - logger_name: lane_change.NORMAL - - node_name: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner - logger_name: lane_change.utils - - behavior_velocity_planner: - - node_name: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner - logger_name: planning.scenario_planning.lane_driving.behavior_planning.behavior_velocity_planner - - node_name: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner - logger_name: tier4_autoware_utils - - behavior_velocity_planner_intersection: - - node_name: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner - logger_name: planning.scenario_planning.lane_driving.behavior_planning.behavior_velocity_planner.intersection - - motion_obstacle_avoidance: - - node_name: /planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner - logger_name: planning.scenario_planning.lane_driving.motion_planning.obstacle_avoidance_planner - - node_name: /planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner - logger_name: tier4_autoware_utils - - motion_velocity_smoother: - - node_name: /planning/scenario_planning/motion_velocity_smoother - logger_name: planning.scenario_planning.motion_velocity_smoother - - node_name: /planning/scenario_planning/motion_velocity_smoother - logger_name: tier4_autoware_utils - -# ============================================================ -# control -# ============================================================ -Control: - lateral_controller: - - node_name: /control/trajectory_follower/controller_node_exe - logger_name: control.trajectory_follower.controller_node_exe.lateral_controller - - node_name: /control/trajectory_follower/controller_node_exe - logger_name: tier4_autoware_utils - - longitudinal_controller: - - node_name: /control/trajectory_follower/controller_node_exe - logger_name: control.trajectory_follower.controller_node_exe.longitudinal_controller - - node_name: /control/trajectory_follower/controller_node_exe - logger_name: tier4_autoware_utils - - vehicle_cmd_gate: - - node_name: /control/vehicle_cmd_gate - logger_name: control.vehicle_cmd_gate - - node_name: /control/vehicle_cmd_gate - logger_name: tier4_autoware_utils - -# ============================================================ -# common -# ============================================================ - -Common: - tier4_autoware_utils: - - node_name: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner - logger_name: tier4_autoware_utils - - node_name: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner - logger_name: tier4_autoware_utils - - node_name: /planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner - logger_name: tier4_autoware_utils - - node_name: /planning/scenario_planning/lane_driving/motion_planning/path_smoother - logger_name: tier4_autoware_utils - - node_name: /planning/scenario_planning/motion_velocity_smoother - logger_name: tier4_autoware_utils - - node_name: /control/trajectory_follower/controller_node_exe - logger_name: tier4_autoware_utils - - node_name: /control/vehicle_cmd_gate - logger_name: tier4_autoware_utils diff --git a/common/tier4_logging_level_configure_rviz_plugin/include/tier4_logging_level_configure_rviz_plugin/logging_level_configure.hpp b/common/tier4_logging_level_configure_rviz_plugin/include/tier4_logging_level_configure_rviz_plugin/logging_level_configure.hpp deleted file mode 100644 index 37d70b494c74e..0000000000000 --- a/common/tier4_logging_level_configure_rviz_plugin/include/tier4_logging_level_configure_rviz_plugin/logging_level_configure.hpp +++ /dev/null @@ -1,90 +0,0 @@ -// Copyright 2023 TIER IV, Inc. -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. - -#ifndef TIER4_LOGGING_LEVEL_CONFIGURE_RVIZ_PLUGIN__LOGGING_LEVEL_CONFIGURE_HPP_ -#define TIER4_LOGGING_LEVEL_CONFIGURE_RVIZ_PLUGIN__LOGGING_LEVEL_CONFIGURE_HPP_ - -#include "logging_demo/srv/config_logger.hpp" - -#include -#include -#include -#include -#include -#include -#include -#include - -#include -#include -#include -#include -#include - -namespace rviz_plugin -{ -struct LoggerInfo -{ - QString node_name; - QString logger_name; -}; -struct ButtonInfo -{ - QString button_name; - std::vector logger_info_vec; -}; -struct LoggerNamespaceInfo -{ - QString ns; // group namespace - std::vector button_info_vec; -}; -class LoggingLevelConfigureRvizPlugin : public rviz_common::Panel -{ - Q_OBJECT // This macro is needed for Qt to handle slots and signals - - public : LoggingLevelConfigureRvizPlugin(QWidget * parent = nullptr); - void onInitialize() override; - void save(rviz_common::Config config) const override; - void load(const rviz_common::Config & config) override; - -private: - QMap buttonGroups_; - rclcpp::Node::SharedPtr raw_node_; - - std::vector display_info_vec_; - - // client_map_[node_name] = service_client - std::unordered_map::SharedPtr> - client_map_; - - // button_map_[button_name][logging_level] = Q_button_pointer - std::unordered_map> button_map_; - - QStringList getNodeList(); - int getMaxModuleNameWidth(QLabel * containerLabel); - void setLoggerNodeMap(); - - ButtonInfo getButtonInfoFromNamespace(const QString & ns); - std::vector getNodeLoggerNameFromButtonName(const QString button_name); - -private Q_SLOTS: - void onButtonClick(QPushButton * button, const QString & name, const QString & level); - void updateButtonColors( - const QString & target_module_name, QPushButton * active_button, const QString & level); - void changeLogLevel(const QString & container, const QString & level); -}; - -} // namespace rviz_plugin - -#endif // TIER4_LOGGING_LEVEL_CONFIGURE_RVIZ_PLUGIN__LOGGING_LEVEL_CONFIGURE_HPP_ diff --git a/common/tier4_logging_level_configure_rviz_plugin/package.xml b/common/tier4_logging_level_configure_rviz_plugin/package.xml deleted file mode 100644 index 7849e6049a077..0000000000000 --- a/common/tier4_logging_level_configure_rviz_plugin/package.xml +++ /dev/null @@ -1,33 +0,0 @@ - - - - tier4_logging_level_configure_rviz_plugin - 0.1.0 - The tier4_logging_level_configure_rviz_plugin package - Takamasa Horibe - Satoshi Ota - Kosuke Takeuchi - Apache License 2.0 - - ament_cmake - autoware_cmake - - libqt5-core - libqt5-gui - libqt5-widgets - logging_demo - qtbase5-dev - rclcpp - rviz_common - rviz_default_plugins - rviz_rendering - yaml-cpp - - ament_lint_auto - autoware_lint_common - - - ament_cmake - - - diff --git a/common/tier4_logging_level_configure_rviz_plugin/plugins/plugin_description.xml b/common/tier4_logging_level_configure_rviz_plugin/plugins/plugin_description.xml deleted file mode 100644 index ce5cbd13fc131..0000000000000 --- a/common/tier4_logging_level_configure_rviz_plugin/plugins/plugin_description.xml +++ /dev/null @@ -1,7 +0,0 @@ - - - tier4_logging_level_configure_rviz_plugin - - diff --git a/common/tier4_logging_level_configure_rviz_plugin/src/logging_level_configure.cpp b/common/tier4_logging_level_configure_rviz_plugin/src/logging_level_configure.cpp deleted file mode 100644 index 72ecf361c96d5..0000000000000 --- a/common/tier4_logging_level_configure_rviz_plugin/src/logging_level_configure.cpp +++ /dev/null @@ -1,258 +0,0 @@ -// Copyright 2023 TIER IV, Inc. -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. - -#include "yaml-cpp/yaml.h" - -#include -#include -#include -#include -#include -#include - -#include - -namespace rviz_plugin -{ - -LoggingLevelConfigureRvizPlugin::LoggingLevelConfigureRvizPlugin(QWidget * parent) -: rviz_common::Panel(parent) -{ -} - -void LoggingLevelConfigureRvizPlugin::onInitialize() -{ - raw_node_ = this->getDisplayContext()->getRosNodeAbstraction().lock()->get_raw_node(); - - setLoggerNodeMap(); - - QVBoxLayout * mainLayout = new QVBoxLayout; - - QStringList levels = {"DEBUG", "INFO", "WARN", "ERROR", "FATAL"}; - - constexpr int height = 20; - - // Iterate over the namespaces - for (const auto & ns_group_info : display_info_vec_) { - // Create a group box for each namespace - QGroupBox * groupBox = new QGroupBox(ns_group_info.ns); - QVBoxLayout * groupLayout = new QVBoxLayout; - - // Iterate over the node/logger pairs within this namespace - for (const auto & button_info : ns_group_info.button_info_vec) { - const auto & button_name = button_info.button_name; - - QHBoxLayout * hLayout = new QHBoxLayout; - - // Create a QLabel to display the node name - QLabel * label = new QLabel(button_name); - label->setFixedHeight(height); - label->setFixedWidth(getMaxModuleNameWidth(label)); - - hLayout->addWidget(label); - - // Create a button group for each node - QButtonGroup * buttonGroup = new QButtonGroup(this); - - // Create buttons for each logging level - for (const QString & level : levels) { - QPushButton * button = new QPushButton(level); - button->setFixedHeight(height); - hLayout->addWidget(button); - buttonGroup->addButton(button); - button_map_[button_name][level] = button; - connect(button, &QPushButton::clicked, this, [this, button, button_name, level]() { - this->onButtonClick(button, button_name, level); - }); - } - - // Set the "INFO" button as checked by default and change its color - updateButtonColors(button_name, button_map_[button_name]["INFO"], "INFO"); - - buttonGroups_[button_name] = buttonGroup; - groupLayout->addLayout(hLayout); // Add the horizontal layout to the group layout - } - - groupBox->setLayout(groupLayout); // Set the group layout to the group box - mainLayout->addWidget(groupBox); // Add the group box to the main layout - } - - // Create a QWidget to hold the main layout - QWidget * containerWidget = new QWidget; - containerWidget->setLayout(mainLayout); - - // Create a QScrollArea to make the layout scrollable - QScrollArea * scrollArea = new QScrollArea; - scrollArea->setWidget(containerWidget); - scrollArea->setWidgetResizable(true); - - // Set the QScrollArea as the layout of the main widget - QVBoxLayout * scrollLayout = new QVBoxLayout; - scrollLayout->addWidget(scrollArea); - setLayout(scrollLayout); - - // Setup service clients - const auto & nodes = getNodeList(); - for (const QString & node : nodes) { - const auto client = raw_node_->create_client( - node.toStdString() + "/config_logger"); - client_map_[node] = client; - } -} - -// Calculate the maximum width among all target_module_name. -int LoggingLevelConfigureRvizPlugin::getMaxModuleNameWidth(QLabel * label) -{ - int max_width = 0; - QFontMetrics metrics(label->font()); - for (const auto & ns_info : display_info_vec_) { - for (const auto & b : ns_info.button_info_vec) { - max_width = std::max(metrics.horizontalAdvance(b.button_name), max_width); - } - } - return max_width; -} - -// create node list in node_logger_map_ without -QStringList LoggingLevelConfigureRvizPlugin::getNodeList() -{ - QStringList nodes; - for (const auto & d : display_info_vec_) { - for (const auto & b : d.button_info_vec) { - for (const auto & info : b.logger_info_vec) { - if (!nodes.contains(info.node_name)) { - nodes.append(info.node_name); - } - } - } - } - return nodes; -} - -// Modify the signature of the onButtonClick function: -void LoggingLevelConfigureRvizPlugin::onButtonClick( - QPushButton * button, const QString & target_module_name, const QString & level) -{ - if (button) { - const auto callback = - [&](rclcpp::Client::SharedFuture future) { - std::cerr << "change logging level: " - << std::string(future.get()->success ? "success!" : "failed...") << std::endl; - }; - - const auto node_logger_vec = getNodeLoggerNameFromButtonName(target_module_name); - for (const auto & data : node_logger_vec) { - const auto req = std::make_shared(); - - req->logger_name = data.logger_name.toStdString(); - req->level = level.toStdString(); - std::cerr << "logger level of " << req->logger_name << " is set to " << req->level - << std::endl; - client_map_[data.node_name]->async_send_request(req, callback); - } - - updateButtonColors( - target_module_name, button, level); // Modify updateButtonColors to accept QPushButton only. - } -} - -void LoggingLevelConfigureRvizPlugin::updateButtonColors( - const QString & target_module_name, QPushButton * active_button, const QString & level) -{ - std::unordered_map colorMap = { - {"DEBUG", "rgb(181, 255, 20)"}, /* green */ - {"INFO", "rgb(200, 255, 255)"}, /* light blue */ - {"WARN", "rgb(255, 255, 0)"}, /* yellow */ - {"ERROR", "rgb(255, 0, 0)"}, /* red */ - {"FATAL", "rgb(139, 0, 0)"}, /* dark red */ - {"OFF", "rgb(211, 211, 211)"} /* gray */ - }; - - const QString LIGHT_GRAY_TEXT = "rgb(180, 180, 180)"; - - const QString color = colorMap.count(level) ? colorMap[level] : colorMap["OFF"]; - - for (const auto & button : button_map_[target_module_name]) { - if (button.second == active_button) { - button.second->setStyleSheet("background-color: " + color + "; color: black"); - } else { - button.second->setStyleSheet( - "background-color: " + colorMap["OFF"] + "; color: " + LIGHT_GRAY_TEXT); - } - } -} -void LoggingLevelConfigureRvizPlugin::save(rviz_common::Config config) const -{ - Panel::save(config); -} - -void LoggingLevelConfigureRvizPlugin::load(const rviz_common::Config & config) -{ - Panel::load(config); -} - -void LoggingLevelConfigureRvizPlugin::setLoggerNodeMap() -{ - const std::string package_share_directory = - ament_index_cpp::get_package_share_directory("tier4_logging_level_configure_rviz_plugin"); - const std::string default_config_path = package_share_directory + "/config/logger_config.yaml"; - - const auto filename = - raw_node_->declare_parameter("config_filename", default_config_path); - RCLCPP_INFO(raw_node_->get_logger(), "load config file: %s", filename.c_str()); - - YAML::Node config = YAML::LoadFile(filename); - - for (YAML::const_iterator it = config.begin(); it != config.end(); ++it) { - const auto ns = QString::fromStdString(it->first.as()); - const YAML::Node ns_config = it->second; - - LoggerNamespaceInfo display_data; - display_data.ns = ns; - - for (YAML::const_iterator ns_it = ns_config.begin(); ns_it != ns_config.end(); ++ns_it) { - const auto key = QString::fromStdString(ns_it->first.as()); - ButtonInfo button_data; - button_data.button_name = key; - const YAML::Node values = ns_it->second; - for (size_t i = 0; i < values.size(); i++) { - LoggerInfo data; - data.node_name = QString::fromStdString(values[i]["node_name"].as()); - data.logger_name = QString::fromStdString(values[i]["logger_name"].as()); - button_data.logger_info_vec.push_back(data); - } - display_data.button_info_vec.push_back(button_data); - } - display_info_vec_.push_back(display_data); - } -} - -std::vector LoggingLevelConfigureRvizPlugin::getNodeLoggerNameFromButtonName( - const QString button_name) -{ - for (const auto & ns_level : display_info_vec_) { - for (const auto & button : ns_level.button_info_vec) { - if (button.button_name == button_name) { - return button.logger_info_vec; - } - } - } - RCLCPP_ERROR( - raw_node_->get_logger(), "Failed to find target name: %s", button_name.toStdString().c_str()); - return {}; -} - -} // namespace rviz_plugin -#include -PLUGINLIB_EXPORT_CLASS(rviz_plugin::LoggingLevelConfigureRvizPlugin, rviz_common::Panel) diff --git a/common/tier4_logging_level_configure_rviz_plugin/tier4_logging_level_configure_rviz_plugin.png b/common/tier4_logging_level_configure_rviz_plugin/tier4_logging_level_configure_rviz_plugin.png deleted file mode 100644 index a93aff724bb19..0000000000000 Binary files a/common/tier4_logging_level_configure_rviz_plugin/tier4_logging_level_configure_rviz_plugin.png and /dev/null differ diff --git a/common/tier4_planning_rviz_plugin/include/tier4_planning_rviz_plugin/path/display_base.hpp b/common/tier4_planning_rviz_plugin/include/tier4_planning_rviz_plugin/path/display_base.hpp index 4a59006e3bb96..c915e38977012 100644 --- a/common/tier4_planning_rviz_plugin/include/tier4_planning_rviz_plugin/path/display_base.hpp +++ b/common/tier4_planning_rviz_plugin/include/tier4_planning_rviz_plugin/path/display_base.hpp @@ -316,6 +316,9 @@ class AutowarePathBaseDisplay : public rviz_common::MessageFilterDisplay node->detachAllObjects(); node->removeAndDestroyAllChildren(); this->scene_manager_->destroySceneNode(node); + + rviz_rendering::MovableText * text = velocity_texts_.at(i); + delete text; } velocity_texts_.resize(msg_ptr->points.size()); velocity_text_nodes_.resize(msg_ptr->points.size()); @@ -339,6 +342,9 @@ class AutowarePathBaseDisplay : public rviz_common::MessageFilterDisplay node->detachAllObjects(); node->removeAndDestroyAllChildren(); this->scene_manager_->destroySceneNode(node); + + rviz_rendering::MovableText * text = slope_texts_.at(i); + delete text; } slope_texts_.resize(msg_ptr->points.size()); slope_text_nodes_.resize(msg_ptr->points.size()); diff --git a/common/tier4_screen_capture_rviz_plugin/CMakeLists.txt b/common/tier4_screen_capture_rviz_plugin/CMakeLists.txt deleted file mode 100644 index 5b6e205bafed5..0000000000000 --- a/common/tier4_screen_capture_rviz_plugin/CMakeLists.txt +++ /dev/null @@ -1,29 +0,0 @@ -cmake_minimum_required(VERSION 3.14) -project(tier4_screen_capture_rviz_plugin) - -find_package(autoware_cmake REQUIRED) -autoware_package() -find_package(OpenCV REQUIRED) -find_package(Qt5 REQUIRED Core Widgets) -set(QT_LIBRARIES Qt5::Widgets) -set(CMAKE_AUTOMOC ON) -set(CMAKE_INCLUDE_CURRENT_DIR ON) - -include_directories( - ${OpenCV_INCLUDE_DIRS} -) - -ament_auto_add_library(${PROJECT_NAME} SHARED - src/screen_capture_panel.hpp - src/screen_capture_panel.cpp -) -target_link_libraries(${PROJECT_NAME} - ${QT_LIBRARIES} - ${OpenCV_LIBRARIES} -) -pluginlib_export_plugin_description_file(rviz_common plugins/plugin_description.xml) - -ament_auto_package( - INSTALL_TO_SHARE - plugins -) diff --git a/common/tier4_screen_capture_rviz_plugin/README.md b/common/tier4_screen_capture_rviz_plugin/README.md deleted file mode 100644 index d16c19c343017..0000000000000 --- a/common/tier4_screen_capture_rviz_plugin/README.md +++ /dev/null @@ -1,23 +0,0 @@ -# tier4_screen_capture_rviz_plugin - -## Purpose - -This plugin captures the screen of rviz. - -## Interface - -| Name | Type | Description | -| ---------------------------- | ------------------------ | ---------------------------------- | -| `/debug/capture/video` | `std_srvs::srv::Trigger` | Trigger to start screen capturing. | -| `/debug/capture/screen_shot` | `std_srvs::srv::Trigger` | Trigger to capture screen shot. | - -## Assumptions / Known limits - -This is only for debug or analyze. -The `capture screen` button is still beta version which can slow frame rate. -set lower frame rate according to PC spec. - -## Usage - -1. Start rviz and select panels/Add new panel. - ![select_panel](./images/select_panels.png) diff --git a/common/tier4_screen_capture_rviz_plugin/images/select_panels.png b/common/tier4_screen_capture_rviz_plugin/images/select_panels.png deleted file mode 100644 index a691602c42c3c..0000000000000 Binary files a/common/tier4_screen_capture_rviz_plugin/images/select_panels.png and /dev/null differ diff --git a/common/tier4_screen_capture_rviz_plugin/package.xml b/common/tier4_screen_capture_rviz_plugin/package.xml deleted file mode 100644 index 180bf9eedc9ca..0000000000000 --- a/common/tier4_screen_capture_rviz_plugin/package.xml +++ /dev/null @@ -1,31 +0,0 @@ - - - - tier4_screen_capture_rviz_plugin - 0.0.0 - The screen capture package - Taiki, Tanaka - Satoshi Ota - Kyoichi Sugahara - Apache License 2.0 - - ament_cmake_auto - autoware_cmake - - libopencv-dev - libqt5-core - libqt5-gui - libqt5-widgets - qtbase5-dev - rclcpp - rviz_common - rviz_rendering - std_srvs - ament_lint_auto - autoware_lint_common - - - ament_cmake - - - diff --git a/common/tier4_screen_capture_rviz_plugin/plugins/plugin_description.xml b/common/tier4_screen_capture_rviz_plugin/plugins/plugin_description.xml deleted file mode 100644 index fdf105d646497..0000000000000 --- a/common/tier4_screen_capture_rviz_plugin/plugins/plugin_description.xml +++ /dev/null @@ -1,9 +0,0 @@ - - - - AutowareScreenCapturePanel - - - diff --git a/common/tier4_screen_capture_rviz_plugin/src/screen_capture_panel.cpp b/common/tier4_screen_capture_rviz_plugin/src/screen_capture_panel.cpp deleted file mode 100644 index cad828903e0d3..0000000000000 --- a/common/tier4_screen_capture_rviz_plugin/src/screen_capture_panel.cpp +++ /dev/null @@ -1,220 +0,0 @@ -// Copyright 2021 Tier IV, Inc. -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. - -#include "screen_capture_panel.hpp" - -#include - -#include -#include -#include - -using std::placeholders::_1; -using std::placeholders::_2; - -void setFormatDate(QLabel * line, double time) -{ - char buffer[128]; - auto seconds = static_cast(time); - strftime(buffer, sizeof(buffer), "%Y-%m-%d-%H-%M-%S", localtime(&seconds)); - line->setText(QString("- ") + QString(buffer)); -} - -AutowareScreenCapturePanel::AutowareScreenCapturePanel(QWidget * parent) -: rviz_common::Panel(parent) -{ - std::filesystem::create_directory("capture"); - auto * v_layout = new QVBoxLayout; - // screen capture - auto * cap_layout = new QHBoxLayout; - { - ros_time_label_ = new QLabel; - screen_capture_button_ptr_ = new QPushButton("Capture Screen Shot"); - connect(screen_capture_button_ptr_, SIGNAL(clicked()), this, SLOT(onClickScreenCapture())); - file_name_prefix_ = new QLineEdit("cap"); - connect(file_name_prefix_, SIGNAL(valueChanged(std::string)), this, SLOT(onPrefixChanged())); - cap_layout->addWidget(screen_capture_button_ptr_); - cap_layout->addWidget(file_name_prefix_); - cap_layout->addWidget(ros_time_label_); - // initialize file name system clock is better for identification. - setFormatDate(ros_time_label_, rclcpp::Clock().now().seconds()); - } - - // video capture - auto * video_cap_layout = new QHBoxLayout; - { - capture_to_mp4_button_ptr_ = new QPushButton("Capture Screen"); - connect(capture_to_mp4_button_ptr_, SIGNAL(clicked()), this, SLOT(onClickVideoCapture())); - capture_hz_ = new QSpinBox(); - capture_hz_->setRange(1, 10); - capture_hz_->setValue(10); - capture_hz_->setSingleStep(1); - connect(capture_hz_, SIGNAL(valueChanged(int)), this, SLOT(onRateChanged())); - // video cap layout - video_cap_layout->addWidget(capture_to_mp4_button_ptr_); - video_cap_layout->addWidget(capture_hz_); - video_cap_layout->addWidget(new QLabel(" [Hz]")); - } - - // consider layout - { - v_layout->addLayout(cap_layout); - v_layout->addLayout(video_cap_layout); - setLayout(v_layout); - } - auto * timer = new QTimer(this); - connect(timer, &QTimer::timeout, this, &AutowareScreenCapturePanel::update); - timer->start(1000); - capture_timer_ = new QTimer(this); - connect(capture_timer_, &QTimer::timeout, this, &AutowareScreenCapturePanel::onTimer); - state_ = State::WAITING_FOR_CAPTURE; -} - -void AutowareScreenCapturePanel::onCaptureVideoTrigger( - [[maybe_unused]] const std_srvs::srv::Trigger::Request::SharedPtr req, - const std_srvs::srv::Trigger::Response::SharedPtr res) -{ - onClickVideoCapture(); - res->success = true; - res->message = stateToString(state_); -} - -void AutowareScreenCapturePanel::onCaptureScreenShotTrigger( - [[maybe_unused]] const std_srvs::srv::Trigger::Request::SharedPtr req, - const std_srvs::srv::Trigger::Response::SharedPtr res) -{ - onClickScreenCapture(); - res->success = true; - res->message = stateToString(state_); -} - -void AutowareScreenCapturePanel::onInitialize() -{ - raw_node_ = this->getDisplayContext()->getRosNodeAbstraction().lock()->get_raw_node(); - capture_video_srv_ = raw_node_->create_service( - "/debug/capture/video", - std::bind(&AutowareScreenCapturePanel::onCaptureVideoTrigger, this, _1, _2)); - capture_screen_shot_srv_ = raw_node_->create_service( - "/debug/capture/screen_shot", - std::bind(&AutowareScreenCapturePanel::onCaptureScreenShotTrigger, this, _1, _2)); -} - -void onPrefixChanged() -{ -} - -void AutowareScreenCapturePanel::onRateChanged() -{ -} - -void AutowareScreenCapturePanel::onClickScreenCapture() -{ - const std::string time_text = - "capture/" + file_name_prefix_->text().toStdString() + ros_time_label_->text().toStdString(); - getDisplayContext()->getViewManager()->getRenderPanel()->getRenderWindow()->captureScreenShot( - time_text + ".png"); -} - -void AutowareScreenCapturePanel::onClickVideoCapture() -{ - const int clock = static_cast(1e3 / capture_hz_->value()); - try { - const QWidgetList top_level_widgets = QApplication::topLevelWidgets(); - for (QWidget * widget : top_level_widgets) { - auto * main_window_candidate = qobject_cast(widget); - if (main_window_candidate) { - main_window_ = main_window_candidate; - } - } - } catch (...) { - return; - } - if (!main_window_) return; - switch (state_) { - case State::WAITING_FOR_CAPTURE: - // initialize setting - { - capture_file_name_ = ros_time_label_->text().toStdString(); - } - capture_to_mp4_button_ptr_->setText("capturing rviz screen"); - capture_to_mp4_button_ptr_->setStyleSheet("background-color: #FF0000;"); - { - int fourcc = cv::VideoWriter::fourcc('h', '2', '6', '4'); // mp4 - QScreen * screen = QGuiApplication::primaryScreen(); - const auto q_size = screen->grabWindow(main_window_->winId()) - .toImage() - .convertToFormat(QImage::Format_RGB888) - .rgbSwapped() - .size(); - current_movie_size_ = cv::Size(q_size.width(), q_size.height()); - writer_.open( - "capture/" + file_name_prefix_->text().toStdString() + capture_file_name_ + ".mp4", - fourcc, capture_hz_->value(), current_movie_size_); - } - capture_timer_->start(clock); - state_ = State::CAPTURING; - break; - case State::CAPTURING: - writer_.release(); - capture_timer_->stop(); - capture_to_mp4_button_ptr_->setText("waiting for capture"); - capture_to_mp4_button_ptr_->setStyleSheet("background-color: #00FF00;"); - state_ = State::WAITING_FOR_CAPTURE; - break; - } -} - -void AutowareScreenCapturePanel::onTimer() -{ - if (!main_window_) return; - // this is deprecated but only way to capture nicely - QScreen * screen = QGuiApplication::primaryScreen(); - QPixmap original_pixmap = screen->grabWindow(main_window_->winId()); - const auto q_image = - original_pixmap.toImage().convertToFormat(QImage::Format_RGB888).rgbSwapped(); - const int h = q_image.height(); - const int w = q_image.width(); - cv::Size size = cv::Size(w, h); - cv::Mat image( - size, CV_8UC3, const_cast(q_image.bits()), - static_cast(q_image.bytesPerLine())); - if (size != current_movie_size_) { - cv::Mat new_image; - cv::resize(image, new_image, current_movie_size_); - writer_.write(new_image); - } else { - writer_.write(image); - } - cv::waitKey(0); -} - -void AutowareScreenCapturePanel::update() -{ - setFormatDate(ros_time_label_, rclcpp::Clock().now().seconds()); -} - -void AutowareScreenCapturePanel::save(rviz_common::Config config) const -{ - Panel::save(config); -} - -void AutowareScreenCapturePanel::load(const rviz_common::Config & config) -{ - Panel::load(config); -} - -AutowareScreenCapturePanel::~AutowareScreenCapturePanel() = default; - -#include -PLUGINLIB_EXPORT_CLASS(AutowareScreenCapturePanel, rviz_common::Panel) diff --git a/common/tier4_screen_capture_rviz_plugin/src/screen_capture_panel.hpp b/common/tier4_screen_capture_rviz_plugin/src/screen_capture_panel.hpp deleted file mode 100644 index 5c4d16f57da82..0000000000000 --- a/common/tier4_screen_capture_rviz_plugin/src/screen_capture_panel.hpp +++ /dev/null @@ -1,109 +0,0 @@ -// Copyright 2021 Tier IV, Inc. -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. - -#ifndef SCREEN_CAPTURE_PANEL_HPP_ -#define SCREEN_CAPTURE_PANEL_HPP_ - -// Qt -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include - -// rviz -#include -#include -#include -#include -#include -#include -#include - -// ros -#include - -#include -#include -#include - -class QLineEdit; - -class AutowareScreenCapturePanel : public rviz_common::Panel -{ - Q_OBJECT - -public: - explicit AutowareScreenCapturePanel(QWidget * parent = nullptr); - ~AutowareScreenCapturePanel() override; - void update(); - void onInitialize() override; - void createWallTimer(); - void onTimer(); - void save(rviz_common::Config config) const override; - void load(const rviz_common::Config & config) override; - void onCaptureVideoTrigger( - const std_srvs::srv::Trigger::Request::SharedPtr req, - const std_srvs::srv::Trigger::Response::SharedPtr res); - void onCaptureScreenShotTrigger( - const std_srvs::srv::Trigger::Request::SharedPtr req, - const std_srvs::srv::Trigger::Response::SharedPtr res); - -public Q_SLOTS: - void onClickScreenCapture(); - void onClickVideoCapture(); - void onPrefixChanged(); - void onRateChanged(); - -private: - QLabel * ros_time_label_; - QPushButton * screen_capture_button_ptr_; - QPushButton * capture_to_mp4_button_ptr_; - QLineEdit * file_name_prefix_; - QSpinBox * capture_hz_; - QTimer * capture_timer_; - QMainWindow * main_window_{nullptr}; - enum class State { WAITING_FOR_CAPTURE, CAPTURING }; - State state_; - std::string capture_file_name_; - bool is_capture_{false}; - cv::VideoWriter writer_; - cv::Size current_movie_size_; - std::vector image_vec_; - - static std::string stateToString(const State & state) - { - if (state == State::WAITING_FOR_CAPTURE) { - return "waiting for capture"; - } - if (state == State::CAPTURING) { - return "capturing"; - } - return ""; - } - -protected: - rclcpp::Service::SharedPtr capture_video_srv_; - rclcpp::Service::SharedPtr capture_screen_shot_srv_; - rclcpp::Node::SharedPtr raw_node_; -}; - -#endif // SCREEN_CAPTURE_PANEL_HPP_ diff --git a/common/tier4_simulated_clock_rviz_plugin/CMakeLists.txt b/common/tier4_simulated_clock_rviz_plugin/CMakeLists.txt deleted file mode 100644 index 020766340016e..0000000000000 --- a/common/tier4_simulated_clock_rviz_plugin/CMakeLists.txt +++ /dev/null @@ -1,28 +0,0 @@ -cmake_minimum_required(VERSION 3.14) -project(tier4_simulated_clock_rviz_plugin) - -find_package(autoware_cmake REQUIRED) -autoware_package() - -find_package(Qt5 REQUIRED Core Widgets) -set(QT_LIBRARIES Qt5::Widgets) -set(CMAKE_AUTOMOC ON) -set(CMAKE_INCLUDE_CURRENT_DIR ON) -add_definitions(-DQT_NO_KEYWORDS) - -ament_auto_add_library(${PROJECT_NAME} SHARED - src/simulated_clock_panel.cpp -) - -target_link_libraries(${PROJECT_NAME} - ${QT_LIBRARIES} -) - -# Export the plugin to be imported by rviz2 -pluginlib_export_plugin_description_file(rviz_common plugins/plugin_description.xml) - -ament_auto_package( - INSTALL_TO_SHARE - icons - plugins -) diff --git a/common/tier4_simulated_clock_rviz_plugin/README.md b/common/tier4_simulated_clock_rviz_plugin/README.md deleted file mode 100644 index 73e53b69279ff..0000000000000 --- a/common/tier4_simulated_clock_rviz_plugin/README.md +++ /dev/null @@ -1,27 +0,0 @@ -# tier4_simulated_clock_rviz_plugin - -## Purpose - -This plugin allows publishing and controlling the simulated ROS time. - -## Output - -| Name | Type | Description | -| -------- | --------------------------- | -------------------------- | -| `/clock` | `rosgraph_msgs::msg::Clock` | the current simulated time | - -## HowToUse - -1. Start rviz and select panels/Add new panel. - ![select_panel](./images/select_panels.png) -2. Select tier4_clock_rviz_plugin/SimulatedClock and press OK. - ![select_clock_plugin](./images/select_clock_plugin.png) -3. Use the added panel to control how the simulated clock is published. - ![use_clock_plugin](./images/use_clock_plugin.png) - - - Pause button: pause/resume the clock. - - Speed: speed of the clock relative to the system clock. - - Rate: publishing rate of the clock. - - Step button: advance the clock by the specified time step. - - Time step: value used to advance the clock when pressing the step button d). - - Time unit: time unit associated with the value from e). diff --git a/common/tier4_simulated_clock_rviz_plugin/icons/classes/SimulatedClockPanel.png b/common/tier4_simulated_clock_rviz_plugin/icons/classes/SimulatedClockPanel.png deleted file mode 100644 index 9431c2d422363..0000000000000 Binary files a/common/tier4_simulated_clock_rviz_plugin/icons/classes/SimulatedClockPanel.png and /dev/null differ diff --git a/common/tier4_simulated_clock_rviz_plugin/images/select_clock_plugin.png b/common/tier4_simulated_clock_rviz_plugin/images/select_clock_plugin.png deleted file mode 100644 index 8bf5e3a903751..0000000000000 Binary files a/common/tier4_simulated_clock_rviz_plugin/images/select_clock_plugin.png and /dev/null differ diff --git a/common/tier4_simulated_clock_rviz_plugin/images/select_panels.png b/common/tier4_simulated_clock_rviz_plugin/images/select_panels.png deleted file mode 100644 index a691602c42c3c..0000000000000 Binary files a/common/tier4_simulated_clock_rviz_plugin/images/select_panels.png and /dev/null differ diff --git a/common/tier4_simulated_clock_rviz_plugin/images/use_clock_plugin.png b/common/tier4_simulated_clock_rviz_plugin/images/use_clock_plugin.png deleted file mode 100644 index 39c3669c2ea31..0000000000000 Binary files a/common/tier4_simulated_clock_rviz_plugin/images/use_clock_plugin.png and /dev/null differ diff --git a/common/tier4_simulated_clock_rviz_plugin/package.xml b/common/tier4_simulated_clock_rviz_plugin/package.xml deleted file mode 100644 index d80b18a5895b0..0000000000000 --- a/common/tier4_simulated_clock_rviz_plugin/package.xml +++ /dev/null @@ -1,28 +0,0 @@ - - - - tier4_simulated_clock_rviz_plugin - 0.0.1 - Rviz plugin to publish and control the /clock topic - Maxime CLEMENT - Apache License 2.0 - - ament_cmake_auto - autoware_cmake - - libqt5-core - libqt5-gui - libqt5-widgets - qtbase5-dev - rclcpp - rosgraph_msgs - rviz_common - - ament_lint_auto - autoware_lint_common - - - ament_cmake - - - diff --git a/common/tier4_simulated_clock_rviz_plugin/plugins/plugin_description.xml b/common/tier4_simulated_clock_rviz_plugin/plugins/plugin_description.xml deleted file mode 100644 index 00caf2e5d49e0..0000000000000 --- a/common/tier4_simulated_clock_rviz_plugin/plugins/plugin_description.xml +++ /dev/null @@ -1,9 +0,0 @@ - - - - Panel that publishes a simulated clock to the /clock topic and provides an interface to pause the clock and modify its speed. - - - diff --git a/common/tier4_simulated_clock_rviz_plugin/src/simulated_clock_panel.cpp b/common/tier4_simulated_clock_rviz_plugin/src/simulated_clock_panel.cpp deleted file mode 100644 index ad698d925fdff..0000000000000 --- a/common/tier4_simulated_clock_rviz_plugin/src/simulated_clock_panel.cpp +++ /dev/null @@ -1,153 +0,0 @@ -// -// Copyright 2022 Tier IV, Inc. All rights reserved. -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. -// - -#include "simulated_clock_panel.hpp" - -#include -#include -#include -#include -#include -#include - -#include -#include - -namespace rviz_plugins -{ -SimulatedClockPanel::SimulatedClockPanel(QWidget * parent) : rviz_common::Panel(parent) -{ - pause_button_ = new QPushButton("Pause"); - pause_button_->setToolTip("Freeze ROS time."); - pause_button_->setCheckable(true); - - publishing_rate_input_ = new QSpinBox(); - publishing_rate_input_->setRange(1, 1000); - publishing_rate_input_->setSingleStep(1); - publishing_rate_input_->setValue(100); - publishing_rate_input_->setSuffix("Hz"); - - clock_speed_input_ = new QDoubleSpinBox(); - clock_speed_input_->setRange(0.0, 10.0); - clock_speed_input_->setSingleStep(0.1); - clock_speed_input_->setValue(1.0); - clock_speed_input_->setSuffix(" X real time"); - - step_button_ = new QPushButton("Step"); - step_button_->setToolTip("Pause and steps the simulation clock"); - step_time_input_ = new QSpinBox(); - step_time_input_->setRange(1, 999); - step_time_input_->setValue(1); - step_unit_combo_ = new QComboBox(); - step_unit_combo_->addItems({"s", "ms", "µs", "ns"}); - - auto * layout = new QGridLayout(this); - auto * step_layout = new QHBoxLayout(); - auto * clock_layout = new QHBoxLayout(); - auto * clock_box = new QWidget(); - auto * step_box = new QWidget(); - clock_box->setLayout(clock_layout); - step_box->setLayout(step_layout); - layout->addWidget(pause_button_, 0, 0); - layout->addWidget(step_button_, 1, 0); - clock_layout->addWidget(new QLabel("Speed:")); - clock_layout->addWidget(clock_speed_input_); - clock_layout->addWidget(new QLabel("Rate:")); - clock_layout->addWidget(publishing_rate_input_); - step_layout->addWidget(step_time_input_); - step_layout->addWidget(step_unit_combo_); - layout->addWidget(clock_box, 0, 1, 1, 2); - layout->addWidget(step_box, 1, 1, 1, 2); - layout->setContentsMargins(0, 0, 20, 0); - prev_published_time_ = std::chrono::system_clock::now(); - - connect(publishing_rate_input_, SIGNAL(valueChanged(int)), this, SLOT(onRateChanged(int))); - connect(step_button_, SIGNAL(clicked()), this, SLOT(onStepClicked())); -} - -void SimulatedClockPanel::onInitialize() -{ - raw_node_ = this->getDisplayContext()->getRosNodeAbstraction().lock()->get_raw_node(); - - clock_pub_ = raw_node_->create_publisher("/clock", rclcpp::QoS(1)); - createWallTimer(); -} - -void SimulatedClockPanel::onRateChanged(int new_rate) -{ - (void)new_rate; - pub_timer_->cancel(); - createWallTimer(); -} - -void SimulatedClockPanel::onStepClicked() -{ - using std::chrono::duration_cast, std::chrono::seconds, std::chrono::milliseconds, - std::chrono::microseconds, std::chrono::nanoseconds; - pause_button_->setChecked(true); - const auto step_time = step_time_input_->value(); - const auto unit = step_unit_combo_->currentText(); - nanoseconds step_duration_ns{}; - if (unit == "s") { - step_duration_ns += duration_cast(seconds(step_time)); - } else if (unit == "ms") { - step_duration_ns += duration_cast(milliseconds(step_time)); - } else if (unit == "µs") { - step_duration_ns += duration_cast(microseconds(step_time)); - } else if (unit == "ns") { - step_duration_ns += duration_cast(nanoseconds(step_time)); - } - addTimeToClock(step_duration_ns); -} - -void SimulatedClockPanel::createWallTimer() -{ - // convert rate from Hz to milliseconds - const auto period = - std::chrono::milliseconds(static_cast(1e3 / publishing_rate_input_->value())); - pub_timer_ = raw_node_->create_wall_timer(period, [&]() { onTimer(); }); -} - -void SimulatedClockPanel::onTimer() -{ - if (!pause_button_->isChecked()) { - const auto duration_since_prev_clock = std::chrono::system_clock::now() - prev_published_time_; - const auto speed_adjusted_duration = duration_since_prev_clock * clock_speed_input_->value(); - addTimeToClock(std::chrono::duration_cast(speed_adjusted_duration)); - } - clock_pub_->publish(clock_msg_); - prev_published_time_ = std::chrono::system_clock::now(); -} - -void SimulatedClockPanel::addTimeToClock(std::chrono::nanoseconds time_to_add_ns) -{ - constexpr auto one_sec = std::chrono::seconds(1); - constexpr auto one_sec_ns = std::chrono::nanoseconds(one_sec); - while (time_to_add_ns >= one_sec) { - time_to_add_ns -= one_sec; - clock_msg_.clock.sec += 1; - } - clock_msg_.clock.nanosec += time_to_add_ns.count(); - if (clock_msg_.clock.nanosec >= one_sec_ns.count()) { - clock_msg_.clock.sec += 1; - clock_msg_.clock.nanosec = clock_msg_.clock.nanosec - one_sec_ns.count(); - } -} - -} // namespace rviz_plugins - -#include -PLUGINLIB_EXPORT_CLASS(rviz_plugins::SimulatedClockPanel, rviz_common::Panel) diff --git a/common/tier4_simulated_clock_rviz_plugin/src/simulated_clock_panel.hpp b/common/tier4_simulated_clock_rviz_plugin/src/simulated_clock_panel.hpp deleted file mode 100644 index b2ac332107202..0000000000000 --- a/common/tier4_simulated_clock_rviz_plugin/src/simulated_clock_panel.hpp +++ /dev/null @@ -1,76 +0,0 @@ -// -// Copyright 2022 Tier IV, Inc. All rights reserved. -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. -// - -#ifndef SIMULATED_CLOCK_PANEL_HPP_ -#define SIMULATED_CLOCK_PANEL_HPP_ - -#include -#include -#include -#include -#include -#include -#include - -#include - -#include - -namespace rviz_plugins -{ -class SimulatedClockPanel : public rviz_common::Panel -{ - Q_OBJECT - -public: - explicit SimulatedClockPanel(QWidget * parent = nullptr); - void onInitialize() override; - -protected Q_SLOTS: - /// @brief callback for when the publishing rate is changed - void onRateChanged(int new_rate); - /// @brief callback for when the step button is clicked - void onStepClicked(); - -protected: - /// @brief creates ROS wall timer to periodically call onTimer() - void createWallTimer(); - void onTimer(); - /// @brief add some time to the clock - /// @input ns time to add in nanoseconds - void addTimeToClock(std::chrono::nanoseconds ns); - - // ROS - rclcpp::Node::SharedPtr raw_node_; - rclcpp::Publisher::SharedPtr clock_pub_; - rclcpp::TimerBase::SharedPtr pub_timer_; - - // GUI - QPushButton * pause_button_; - QPushButton * step_button_; - QSpinBox * publishing_rate_input_; - QDoubleSpinBox * clock_speed_input_; - QSpinBox * step_time_input_; - QComboBox * step_unit_combo_; - - // Clocks - std::chrono::time_point prev_published_time_; - rosgraph_msgs::msg::Clock clock_msg_; -}; - -} // namespace rviz_plugins - -#endif // SIMULATED_CLOCK_PANEL_HPP_ diff --git a/common/tier4_state_rviz_plugin/CMakeLists.txt b/common/tier4_state_rviz_plugin/CMakeLists.txt index afe21f66291b2..6b569ddb6d162 100644 --- a/common/tier4_state_rviz_plugin/CMakeLists.txt +++ b/common/tier4_state_rviz_plugin/CMakeLists.txt @@ -13,8 +13,32 @@ add_definitions(-DQT_NO_KEYWORDS) ament_auto_add_library(${PROJECT_NAME} SHARED src/autoware_state_panel.cpp src/velocity_steering_factors_panel.cpp + src/custom_toggle_switch.cpp + src/custom_slider.cpp + src/custom_container.cpp + src/custom_button.cpp + src/custom_icon_label.cpp + src/custom_segmented_button.cpp + src/custom_segmented_button_item.cpp + src/custom_label.cpp + src/include/material_colors.hpp + src/include/autoware_state_panel.hpp + src/include/custom_button.hpp + src/include/custom_container.hpp + src/include/custom_icon_label.hpp + src/include/custom_label.hpp + src/include/custom_segmented_button_item.hpp + src/include/custom_segmented_button.hpp + src/include/custom_slider.hpp + src/include/custom_toggle_switch.hpp + src/include/velocity_steering_factors_panel.hpp ) +target_include_directories( + ${PROJECT_NAME} PUBLIC +) + + target_link_libraries(${PROJECT_NAME} ${QT_LIBRARIES} ) @@ -22,6 +46,9 @@ target_link_libraries(${PROJECT_NAME} # Export the plugin to be imported by rviz2 pluginlib_export_plugin_description_file(rviz_common plugins/plugin_description.xml) + + + ament_auto_package( INSTALL_TO_SHARE icons diff --git a/common/tier4_state_rviz_plugin/icons/assets/active.png b/common/tier4_state_rviz_plugin/icons/assets/active.png new file mode 100644 index 0000000000000..db9c81211abd5 Binary files /dev/null and b/common/tier4_state_rviz_plugin/icons/assets/active.png differ diff --git a/common/tier4_state_rviz_plugin/icons/assets/crash.png b/common/tier4_state_rviz_plugin/icons/assets/crash.png new file mode 100644 index 0000000000000..18175a823ae4a Binary files /dev/null and b/common/tier4_state_rviz_plugin/icons/assets/crash.png differ diff --git a/common/tier4_state_rviz_plugin/icons/assets/danger.png b/common/tier4_state_rviz_plugin/icons/assets/danger.png new file mode 100644 index 0000000000000..baed346deea2d Binary files /dev/null and b/common/tier4_state_rviz_plugin/icons/assets/danger.png differ diff --git a/common/tier4_state_rviz_plugin/icons/assets/none.png b/common/tier4_state_rviz_plugin/icons/assets/none.png new file mode 100644 index 0000000000000..c44f9f485dbf1 Binary files /dev/null and b/common/tier4_state_rviz_plugin/icons/assets/none.png differ diff --git a/common/tier4_state_rviz_plugin/icons/assets/pending.png b/common/tier4_state_rviz_plugin/icons/assets/pending.png new file mode 100644 index 0000000000000..3925162878fd5 Binary files /dev/null and b/common/tier4_state_rviz_plugin/icons/assets/pending.png differ diff --git a/common/tier4_state_rviz_plugin/package.xml b/common/tier4_state_rviz_plugin/package.xml index 06d57bd947af3..1db152e9632f8 100644 --- a/common/tier4_state_rviz_plugin/package.xml +++ b/common/tier4_state_rviz_plugin/package.xml @@ -6,6 +6,7 @@ The autoware state rviz plugin package Hiroki OTA Takagi, Isamu + Khalil Selyan Apache License 2.0 ament_cmake_auto diff --git a/common/tier4_state_rviz_plugin/src/autoware_state_panel.cpp b/common/tier4_state_rviz_plugin/src/autoware_state_panel.cpp index ba961b9ac5b00..f9fb7d3dd3958 100644 --- a/common/tier4_state_rviz_plugin/src/autoware_state_panel.cpp +++ b/common/tier4_state_rviz_plugin/src/autoware_state_panel.cpp @@ -14,15 +14,13 @@ // limitations under the License. // -#include "autoware_state_panel.hpp" +#include "include/autoware_state_panel.hpp" -#include -#include -#include -#include -#include #include +#include +#include + #include #include @@ -35,181 +33,59 @@ namespace rviz_plugins { AutowareStatePanel::AutowareStatePanel(QWidget * parent) : rviz_common::Panel(parent) { - // Gear - auto * gear_prefix_label_ptr = new QLabel("GEAR: "); - gear_prefix_label_ptr->setAlignment(Qt::AlignRight | Qt::AlignVCenter); - gear_label_ptr_ = new QLabel("INIT"); - gear_label_ptr_->setAlignment(Qt::AlignCenter); - auto * gear_layout = new QHBoxLayout; - gear_layout->addWidget(gear_prefix_label_ptr); - gear_layout->addWidget(gear_label_ptr_); - - // Velocity Limit - velocity_limit_button_ptr_ = new QPushButton("Send Velocity Limit"); - pub_velocity_limit_input_ = new QSpinBox(); - pub_velocity_limit_input_->setRange(-100.0, 100.0); - pub_velocity_limit_input_->setValue(0.0); - pub_velocity_limit_input_->setSingleStep(5.0); - connect(velocity_limit_button_ptr_, SIGNAL(clicked()), this, SLOT(onClickVelocityLimit())); - - // Emergency Button - emergency_button_ptr_ = new QPushButton("Set Emergency"); - connect(emergency_button_ptr_, SIGNAL(clicked()), this, SLOT(onClickEmergencyButton())); + // Panel Configuration + this->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Expanding); // Layout - auto * v_layout = new QVBoxLayout; - auto * velocity_limit_layout = new QHBoxLayout(); - v_layout->addWidget(makeOperationModeGroup()); - v_layout->addWidget(makeControlModeGroup()); - { - auto * h_layout = new QHBoxLayout(); - h_layout->addWidget(makeRoutingGroup()); - h_layout->addWidget(makeLocalizationGroup()); - h_layout->addWidget(makeMotionGroup()); - h_layout->addWidget(makeFailSafeGroup()); - v_layout->addLayout(h_layout); - } - - v_layout->addLayout(gear_layout); - velocity_limit_layout->addWidget(velocity_limit_button_ptr_); - velocity_limit_layout->addWidget(pub_velocity_limit_input_); - velocity_limit_layout->addWidget(new QLabel(" [km/h]")); - velocity_limit_layout->addWidget(emergency_button_ptr_); - v_layout->addLayout(velocity_limit_layout); - setLayout(v_layout); -} - -QGroupBox * AutowareStatePanel::makeOperationModeGroup() -{ - auto * group = new QGroupBox("OperationMode"); - auto * grid = new QGridLayout; - - operation_mode_label_ptr_ = new QLabel("INIT"); - operation_mode_label_ptr_->setAlignment(Qt::AlignCenter); - operation_mode_label_ptr_->setStyleSheet("border:1px solid black;"); - grid->addWidget(operation_mode_label_ptr_, 0, 0, 0, 1); - - auto_button_ptr_ = new QPushButton("AUTO"); - auto_button_ptr_->setCheckable(true); - connect(auto_button_ptr_, SIGNAL(clicked()), SLOT(onClickAutonomous())); - grid->addWidget(auto_button_ptr_, 0, 1); - - stop_button_ptr_ = new QPushButton("STOP"); - stop_button_ptr_->setCheckable(true); - connect(stop_button_ptr_, SIGNAL(clicked()), SLOT(onClickStop())); - grid->addWidget(stop_button_ptr_, 0, 2); - - local_button_ptr_ = new QPushButton("LOCAL"); - local_button_ptr_->setCheckable(true); - connect(local_button_ptr_, SIGNAL(clicked()), SLOT(onClickLocal())); - grid->addWidget(local_button_ptr_, 1, 1); - - remote_button_ptr_ = new QPushButton("REMOTE"); - remote_button_ptr_->setCheckable(true); - connect(remote_button_ptr_, SIGNAL(clicked()), SLOT(onClickRemote())); - grid->addWidget(remote_button_ptr_, 1, 2); - - group->setLayout(grid); - return group; -} - -QGroupBox * AutowareStatePanel::makeControlModeGroup() -{ - auto * group = new QGroupBox("AutowareControl"); - auto * grid = new QGridLayout; - - control_mode_label_ptr_ = new QLabel("INIT"); - control_mode_label_ptr_->setAlignment(Qt::AlignCenter); - control_mode_label_ptr_->setStyleSheet("border:1px solid black;"); - grid->addWidget(control_mode_label_ptr_, 0, 0); - - enable_button_ptr_ = new QPushButton("Enable"); - enable_button_ptr_->setCheckable(true); - connect(enable_button_ptr_, SIGNAL(clicked()), SLOT(onClickAutowareControl())); - grid->addWidget(enable_button_ptr_, 0, 1); - - disable_button_ptr_ = new QPushButton("Disable"); - disable_button_ptr_->setCheckable(true); - connect(disable_button_ptr_, SIGNAL(clicked()), SLOT(onClickDirectControl())); - grid->addWidget(disable_button_ptr_, 0, 2); - - group->setLayout(grid); - return group; -} - -QGroupBox * AutowareStatePanel::makeRoutingGroup() -{ - auto * group = new QGroupBox("Routing"); - auto * grid = new QGridLayout; - routing_label_ptr_ = new QLabel("INIT"); - routing_label_ptr_->setAlignment(Qt::AlignCenter); - routing_label_ptr_->setStyleSheet("border:1px solid black;"); - grid->addWidget(routing_label_ptr_, 0, 0); - - clear_route_button_ptr_ = new QPushButton("Clear Route"); - clear_route_button_ptr_->setCheckable(true); - connect(clear_route_button_ptr_, SIGNAL(clicked()), SLOT(onClickClearRoute())); - grid->addWidget(clear_route_button_ptr_, 1, 0); - - group->setLayout(grid); - return group; -} - -QGroupBox * AutowareStatePanel::makeLocalizationGroup() -{ - auto * group = new QGroupBox("Localization"); - auto * grid = new QGridLayout; - - localization_label_ptr_ = new QLabel("INIT"); - localization_label_ptr_->setAlignment(Qt::AlignCenter); - localization_label_ptr_->setStyleSheet("border:1px solid black;"); - grid->addWidget(localization_label_ptr_, 0, 0); - - init_by_gnss_button_ptr_ = new QPushButton("Init by GNSS"); - connect(init_by_gnss_button_ptr_, SIGNAL(clicked()), SLOT(onClickInitByGnss())); - grid->addWidget(init_by_gnss_button_ptr_, 1, 0); - - group->setLayout(grid); - return group; -} - -QGroupBox * AutowareStatePanel::makeMotionGroup() -{ - auto * group = new QGroupBox("Motion"); - auto * grid = new QGridLayout; - - motion_label_ptr_ = new QLabel("INIT"); - motion_label_ptr_->setAlignment(Qt::AlignCenter); - motion_label_ptr_->setStyleSheet("border:1px solid black;"); - grid->addWidget(motion_label_ptr_, 0, 0); - - accept_start_button_ptr_ = new QPushButton("Accept Start"); - accept_start_button_ptr_->setCheckable(true); - connect(accept_start_button_ptr_, SIGNAL(clicked()), SLOT(onClickAcceptStart())); - grid->addWidget(accept_start_button_ptr_, 1, 0); - - group->setLayout(grid); - return group; -} - -QGroupBox * AutowareStatePanel::makeFailSafeGroup() -{ - auto * group = new QGroupBox("FailSafe"); - auto * grid = new QGridLayout; - - mrm_state_label_ptr_ = new QLabel("INIT"); - mrm_state_label_ptr_->setAlignment(Qt::AlignCenter); - mrm_state_label_ptr_->setStyleSheet("border:1px solid black;"); - grid->addWidget(mrm_state_label_ptr_, 0, 0); - - mrm_behavior_label_ptr_ = new QLabel("INIT"); - mrm_behavior_label_ptr_->setAlignment(Qt::AlignCenter); - mrm_behavior_label_ptr_->setStyleSheet("border:1px solid black;"); - grid->addWidget(mrm_behavior_label_ptr_, 1, 0); - - group->setLayout(grid); - return group; + // Create a new container widget + QWidget * containerWidget = new QWidget(this); + containerWidget->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Expanding); + + containerWidget->setStyleSheet( + QString("QWidget { background-color: %1; color: %2; }") + .arg(autoware::state_rviz_plugin::colors::default_colors.background.c_str()) + .arg(autoware::state_rviz_plugin::colors::default_colors.on_surface.c_str())); + + auto * containerLayout = new QVBoxLayout(containerWidget); + // Set the alignment of the layout + containerLayout->setAlignment(Qt::AlignTop); + containerLayout->setSpacing(1); + + auto * operation_mode_group = makeOperationModeGroup(); + auto * diagnostic_v_layout = new QVBoxLayout; + auto * localization_group = makeLocalizationGroup(); + auto * motion_group = makeMotionGroup(); + auto * fail_safe_group = makeFailSafeGroup(); + auto * routing_group = makeRoutingGroup(); + auto * velocity_limit_group = makeVelocityLimitGroup(); + // auto * diagnostic_group = makeDiagnosticGroup(); + + diagnostic_v_layout->addLayout(routing_group); + // diagnostic_v_layout->addSpacing(5); + diagnostic_v_layout->addLayout(localization_group); + // diagnostic_v_layout->addSpacing(5); + diagnostic_v_layout->addLayout(motion_group); + // diagnostic_v_layout->addSpacing(5); + diagnostic_v_layout->addLayout(fail_safe_group); + + // containerLayout->addLayout(diagnostic_group); + + containerLayout->addLayout(operation_mode_group); + // containerLayout->addSpacing(5); + containerLayout->addLayout(diagnostic_v_layout); + // main_v_layout->addSpacing(5); + containerLayout->addLayout(velocity_limit_group); + + // Create a QScrollArea + QScrollArea * scrollArea = new QScrollArea(this); + scrollArea->setWidgetResizable(true); + scrollArea->setWidget(containerWidget); + + // Main layout for AutowareStatePanel + QVBoxLayout * mainLayout = new QVBoxLayout(this); + mainLayout->addWidget(scrollArea); + setLayout(mainLayout); } void AutowareStatePanel::onInitialize() @@ -268,9 +144,9 @@ void AutowareStatePanel::onInitialize() "/api/fail_safe/mrm_state", rclcpp::QoS{1}.transient_local(), std::bind(&AutowareStatePanel::onMRMState, this, _1)); - // Others - sub_gear_ = raw_node_->create_subscription( - "/vehicle/status/gear_status", 10, std::bind(&AutowareStatePanel::onShift, this, _1)); + // // Diagnostics + // sub_diag_ = raw_node_->create_subscription( + // "/diagnostics", 10, std::bind(&AutowareStatePanel::onDiagnostics, this, _1)); sub_emergency_ = raw_node_->create_subscription( "/api/autoware/get/emergency", 10, std::bind(&AutowareStatePanel::onEmergencyStatus, this, _1)); @@ -280,174 +156,498 @@ void AutowareStatePanel::onInitialize() pub_velocity_limit_ = raw_node_->create_publisher( "/planning/scenario_planning/max_velocity_default", rclcpp::QoS{1}.transient_local()); -} -void AutowareStatePanel::onOperationMode(const OperationModeState::ConstSharedPtr msg) -{ - auto changeButtonState = [this]( - QPushButton * button, const bool is_desired_mode_available, - const uint8_t current_mode = OperationModeState::UNKNOWN, - const uint8_t desired_mode = OperationModeState::STOP) { - if (is_desired_mode_available && current_mode != desired_mode) { - activateButton(button); + QObject::connect(segmented_button, &CustomSegmentedButton::buttonClicked, this, [this](int id) { + const QList buttons = segmented_button->getButtonGroup()->buttons(); + + // Check if the button ID is within valid range + if (id < 0 || id >= buttons.size()) { + return; + } + + // Ensure the button is not null + QAbstractButton * abstractButton = segmented_button->getButtonGroup()->button(id); + if (!abstractButton) { + return; + } + + QPushButton * button = qobject_cast(abstractButton); + if (button) { + // Call the corresponding function for each button + if (button == auto_button_ptr_) { + onClickAutonomous(); + } else if (button == local_button_ptr_) { + onClickLocal(); + } else if (button == remote_button_ptr_) { + onClickRemote(); + } else if (button == stop_button_ptr_) { + onClickStop(); + } } else { - deactivateButton(button); + // qDebug() << "Button not found with ID:" << id; } - }; + }); +} - QString text = ""; - QString style_sheet = ""; - // Operation Mode - switch (msg->mode) { - case OperationModeState::AUTONOMOUS: - text = "AUTONOMOUS"; - style_sheet = "background-color: #00FF00;"; // green - break; +QVBoxLayout * AutowareStatePanel::makeOperationModeGroup() +{ + control_mode_switch_ptr_ = new CustomToggleSwitch(this); + connect( + control_mode_switch_ptr_, &QCheckBox::stateChanged, this, + &AutowareStatePanel::onSwitchStateChanged); + + control_mode_label_ptr_ = new QLabel("Autoware Control"); + control_mode_label_ptr_->setStyleSheet( + QString("color: %1; font-weight: bold;") + .arg(autoware::state_rviz_plugin::colors::default_colors.on_secondary_container.c_str())); + + CustomContainer * group1 = new CustomContainer(this); + + auto * horizontal_layout = new QHBoxLayout; + horizontal_layout->setSpacing(10); + horizontal_layout->setContentsMargins(0, 0, 0, 0); + + horizontal_layout->addWidget(control_mode_switch_ptr_); + horizontal_layout->addWidget(control_mode_label_ptr_); + + // add switch and label to the container + group1->setContentsMargins(0, 0, 0, 10); + group1->getLayout()->addLayout(horizontal_layout, 0, 0, 1, 1, Qt::AlignLeft); + + // Create the CustomSegmentedButton + segmented_button = new CustomSegmentedButton(this); + auto_button_ptr_ = segmented_button->addButton("Auto"); + local_button_ptr_ = segmented_button->addButton("Local"); + remote_button_ptr_ = segmented_button->addButton("Remote"); + stop_button_ptr_ = segmented_button->addButton("Stop"); + + QVBoxLayout * groupLayout = new QVBoxLayout; + // set these widgets to show up at the left and not stretch more than needed + groupLayout->setAlignment(Qt::AlignCenter); + groupLayout->setContentsMargins(10, 0, 0, 0); + groupLayout->addWidget(group1); + // groupLayout->addSpacing(5); + groupLayout->addWidget(segmented_button, 0, Qt::AlignCenter); + return groupLayout; +} - case OperationModeState::LOCAL: - text = "LOCAL"; - style_sheet = "background-color: #FFFF00;"; // yellow - break; +QVBoxLayout * AutowareStatePanel::makeRoutingGroup() +{ + auto * group = new QVBoxLayout; - case OperationModeState::REMOTE: - text = "REMOTE"; - style_sheet = "background-color: #FFFF00;"; // yellow - break; + auto * custom_container = new CustomContainer(this); - case OperationModeState::STOP: - text = "STOP"; - style_sheet = "background-color: #FFA500;"; // orange - break; + routing_icon = new CustomIconLabel( + QColor(autoware::state_rviz_plugin::colors::default_colors.primary.c_str())); - default: - text = "UNKNOWN"; - style_sheet = "background-color: #FF0000;"; // red - break; - } + clear_route_button_ptr_ = new CustomElevatedButton("Clear Route"); + clear_route_button_ptr_->setCheckable(true); + clear_route_button_ptr_->setCursor(Qt::PointingHandCursor); + connect(clear_route_button_ptr_, SIGNAL(clicked()), SLOT(onClickClearRoute())); - if (msg->is_in_transition) { - text += "\n(TRANSITION)"; - } + routing_label_ptr_ = new QLabel("Routing | Unknown"); + routing_label_ptr_->setStyleSheet( + QString("color: %1; font-weight: bold;") + .arg(autoware::state_rviz_plugin::colors::default_colors.on_secondary_container.c_str())); - updateLabel(operation_mode_label_ptr_, text, style_sheet); + auto * horizontal_layout = new QHBoxLayout; + horizontal_layout->setSpacing(10); + horizontal_layout->setContentsMargins(0, 0, 0, 0); - // Control Mode - if (msg->is_autoware_control_enabled) { - updateLabel(control_mode_label_ptr_, "Enable", "background-color: #00FF00;"); // green - } else { - updateLabel(control_mode_label_ptr_, "Disable", "background-color: #FFFF00;"); // yellow - } + horizontal_layout->addWidget(routing_icon); + horizontal_layout->addWidget(routing_label_ptr_); + + custom_container->getLayout()->addLayout(horizontal_layout, 0, 0, 1, 1, Qt::AlignLeft); + custom_container->getLayout()->addWidget(clear_route_button_ptr_, 0, 2, 1, 4, Qt::AlignRight); + + custom_container->setContentsMargins(10, 0, 0, 0); + + group->addWidget(custom_container); + + return group; +} - // Button - changeButtonState( - auto_button_ptr_, msg->is_autonomous_mode_available, msg->mode, OperationModeState::AUTONOMOUS); - changeButtonState( - stop_button_ptr_, msg->is_stop_mode_available, msg->mode, OperationModeState::STOP); - changeButtonState( - local_button_ptr_, msg->is_local_mode_available, msg->mode, OperationModeState::LOCAL); - changeButtonState( - remote_button_ptr_, msg->is_remote_mode_available, msg->mode, OperationModeState::REMOTE); - - changeButtonState(enable_button_ptr_, !msg->is_autoware_control_enabled); - changeButtonState(disable_button_ptr_, msg->is_autoware_control_enabled); +QVBoxLayout * AutowareStatePanel::makeLocalizationGroup() +{ + auto * group = new QVBoxLayout; + auto * custom_container = new CustomContainer(this); + + init_by_gnss_button_ptr_ = new CustomElevatedButton("Initialize with GNSS"); + init_by_gnss_button_ptr_->setCursor(Qt::PointingHandCursor); + connect(init_by_gnss_button_ptr_, SIGNAL(clicked()), SLOT(onClickInitByGnss())); + + localization_icon = new CustomIconLabel( + QColor(autoware::state_rviz_plugin::colors::default_colors.primary.c_str())); + localization_label_ptr_ = new QLabel("Localization | Unknown"); + localization_label_ptr_->setStyleSheet( + QString("color: %1; font-weight: bold;") + .arg(autoware::state_rviz_plugin::colors::default_colors.on_secondary_container.c_str())); + + auto * horizontal_layout = new QHBoxLayout; + horizontal_layout->setSpacing(10); + horizontal_layout->setContentsMargins(0, 0, 0, 0); + + horizontal_layout->addWidget(localization_icon); + horizontal_layout->addWidget(localization_label_ptr_); + + custom_container->getLayout()->addLayout(horizontal_layout, 0, 0, 1, 1, Qt::AlignLeft); + custom_container->getLayout()->addWidget(init_by_gnss_button_ptr_, 0, 2, 1, 4, Qt::AlignRight); + + custom_container->setContentsMargins(10, 0, 0, 0); + + group->addWidget(custom_container); + return group; +} + +QVBoxLayout * AutowareStatePanel::makeMotionGroup() +{ + auto * group = new QVBoxLayout; + auto * custom_container = new CustomContainer(this); + + accept_start_button_ptr_ = new CustomElevatedButton("Accept Start"); + accept_start_button_ptr_->setCheckable(true); + accept_start_button_ptr_->setCursor(Qt::PointingHandCursor); + connect(accept_start_button_ptr_, SIGNAL(clicked()), SLOT(onClickAcceptStart())); + + motion_icon = new CustomIconLabel( + QColor(autoware::state_rviz_plugin::colors::default_colors.primary.c_str())); + motion_label_ptr_ = new QLabel("Motion | Unknown"); + motion_label_ptr_->setStyleSheet( + QString("color: %1; font-weight: bold;") + .arg(autoware::state_rviz_plugin::colors::default_colors.on_secondary_container.c_str())); + + auto * horizontal_layout = new QHBoxLayout; + horizontal_layout->setSpacing(10); + horizontal_layout->setContentsMargins(0, 0, 0, 0); + horizontal_layout->setAlignment(Qt::AlignLeft); + + horizontal_layout->addWidget(motion_icon); + horizontal_layout->addWidget(motion_label_ptr_); + + custom_container->getLayout()->addLayout(horizontal_layout, 0, 0, 1, 1, Qt::AlignLeft); + custom_container->getLayout()->addWidget(accept_start_button_ptr_, 0, 2, 1, 4, Qt::AlignRight); + + custom_container->setContentsMargins(10, 0, 0, 0); + + group->addWidget(custom_container); + + return group; +} + +QVBoxLayout * AutowareStatePanel::makeFailSafeGroup() +{ + auto * group = new QVBoxLayout; + auto * v_layout = new QVBoxLayout; + auto * custom_container1 = new CustomContainer(this); + auto * custom_container2 = new CustomContainer(this); + + mrm_state_icon = new CustomIconLabel( + QColor(autoware::state_rviz_plugin::colors::default_colors.primary.c_str())); + mrm_behavior_icon = new CustomIconLabel( + QColor(autoware::state_rviz_plugin::colors::default_colors.primary.c_str())); + + mrm_state_label_ptr_ = new QLabel("MRM State | Unknown"); + mrm_behavior_label_ptr_ = new QLabel("MRM Behavior | Unknown"); + + // change text color + mrm_state_label_ptr_->setStyleSheet( + QString("color: %1; font-weight: bold;") + .arg(autoware::state_rviz_plugin::colors::default_colors.on_secondary_container.c_str())); + mrm_behavior_label_ptr_->setStyleSheet( + QString("color: %1; font-weight: bold;") + .arg(autoware::state_rviz_plugin::colors::default_colors.on_secondary_container.c_str())); + + auto * horizontal_layout = new QHBoxLayout; + horizontal_layout->setSpacing(10); + horizontal_layout->setContentsMargins(0, 0, 0, 0); + + horizontal_layout->addWidget(mrm_state_icon); + horizontal_layout->addWidget(mrm_state_label_ptr_); + + custom_container1->getLayout()->addLayout(horizontal_layout, 0, 0, 1, 1, Qt::AlignLeft); + + auto * horizontal_layout2 = new QHBoxLayout; + horizontal_layout2->setSpacing(10); + horizontal_layout2->setContentsMargins(0, 0, 0, 0); + + horizontal_layout2->addWidget(mrm_behavior_icon); + horizontal_layout2->addWidget(mrm_behavior_label_ptr_); + + custom_container2->getLayout()->addLayout(horizontal_layout2, 0, 0, 1, 1, Qt::AlignLeft); + + v_layout->addWidget(custom_container1); + // v_layout->addSpacing(5); + v_layout->addWidget(custom_container2); + + group->setContentsMargins(10, 0, 0, 0); + + group->addLayout(v_layout); + return group; +} + +/* QVBoxLayout * AutowareStatePanel::makeDiagnosticGroup() +{ + auto * group = new QVBoxLayout; + + // Create the scroll area + QScrollArea * scrollArea = new QScrollArea; + scrollArea->setFixedHeight(66); // Adjust the height as needed + scrollArea->setWidgetResizable(true); + scrollArea->setHorizontalScrollBarPolicy(Qt::ScrollBarAsNeeded); + scrollArea->setVerticalScrollBarPolicy(Qt::ScrollBarAsNeeded); + + // Create a widget to contain the layout + QWidget * scrollAreaWidgetContents = new QWidget; + // use layout to contain the diagnostic label and the diagnostic level + diagnostic_layout_ = new QVBoxLayout(); + diagnostic_layout_->setSpacing(5); // Set space between items + diagnostic_layout_->setContentsMargins(5, 5, 5, 5); // Set margins within the layout + + // Add a QLabel to display the title of what this is + auto * tsm_label_title_ptr_ = new QLabel("Topic State Monitor: "); + // Set the layout on the widget + scrollAreaWidgetContents->setLayout(diagnostic_layout_); + + // Set the widget on the scroll area + scrollArea->setWidget(scrollAreaWidgetContents); + + group->addWidget(tsm_label_title_ptr_); + group->addWidget(scrollArea); + + return group; +} */ + +QVBoxLayout * AutowareStatePanel::makeVelocityLimitGroup() +{ + // Velocity Limit + velocity_limit_setter_ptr_ = new QLabel("Set Velocity Limit"); + // set its width to fit the text + velocity_limit_setter_ptr_->setFixedWidth( + velocity_limit_setter_ptr_->fontMetrics().horizontalAdvance("Set Velocity Limit")); + + velocity_limit_value_label_ = new QLabel("0"); + velocity_limit_value_label_->setMaximumWidth( + velocity_limit_value_label_->fontMetrics().horizontalAdvance("0")); + + CustomSlider * pub_velocity_limit_slider_ = new CustomSlider(Qt::Horizontal); + pub_velocity_limit_slider_->setRange(0, 100); + pub_velocity_limit_slider_->setValue(0); + pub_velocity_limit_slider_->setMaximumWidth(300); + + connect(pub_velocity_limit_slider_, &QSlider::sliderPressed, this, [this]() { + sliderIsDragging = true; // User starts dragging the handle + }); + + connect(pub_velocity_limit_slider_, &QSlider::sliderReleased, this, [this]() { + sliderIsDragging = false; // User finished dragging + onClickVelocityLimit(); // Call when handle is released after dragging + }); + + connect(pub_velocity_limit_slider_, &QSlider::valueChanged, this, [this](int value) { + this->velocity_limit_value_label_->setText(QString::number(value)); + velocity_limit_value_label_->setMaximumWidth( + velocity_limit_value_label_->fontMetrics().horizontalAdvance(QString::number(value))); + if (!sliderIsDragging) { // If the value changed without dragging, it's a click on the track + onClickVelocityLimit(); // Call the function immediately since it's not a drag operation + } + }); + + // Emergency Button + emergency_button_ptr_ = new CustomElevatedButton("Set Emergency"); + + emergency_button_ptr_->setCursor(Qt::PointingHandCursor); + // set fixed width to fit the text + connect(emergency_button_ptr_, SIGNAL(clicked()), this, SLOT(onClickEmergencyButton())); + auto * utility_layout = new QVBoxLayout; + auto * velocity_limit_layout = new QHBoxLayout; + QLabel * velocity_limit_label = new QLabel("km/h"); + + velocity_limit_layout->addWidget(pub_velocity_limit_slider_); + velocity_limit_layout->addSpacing(5); + velocity_limit_layout->addWidget(velocity_limit_value_label_); + velocity_limit_layout->addWidget(velocity_limit_label); + + // Velocity Limit layout + utility_layout->addSpacing(15); + utility_layout->addWidget(velocity_limit_setter_ptr_); + utility_layout->addSpacing(10); + utility_layout->addLayout(velocity_limit_layout); + utility_layout->addSpacing(25); + utility_layout->addWidget(emergency_button_ptr_); + + utility_layout->setContentsMargins(15, 0, 15, 0); + + return utility_layout; +} + +void AutowareStatePanel::onOperationMode(const OperationModeState::ConstSharedPtr msg) +{ + auto updateButtonState = []( + CustomSegmentedButtonItem * button, bool is_available, + uint8_t current_mode, uint8_t desired_mode, bool disable) { + bool is_checked = (current_mode == desired_mode); + button->setHovered(false); + + button->setActivated(is_checked); + button->setChecked(is_checked); + button->setDisabledButton(disable || !is_available); + button->setCheckableButton(!disable && is_available && !is_checked); + }; + + bool disable_buttons = msg->is_in_transition; + + updateButtonState( + auto_button_ptr_, msg->is_autonomous_mode_available, msg->mode, OperationModeState::AUTONOMOUS, + disable_buttons); + updateButtonState( + stop_button_ptr_, msg->is_stop_mode_available, msg->mode, OperationModeState::STOP, + disable_buttons); + updateButtonState( + local_button_ptr_, msg->is_local_mode_available, msg->mode, OperationModeState::LOCAL, + disable_buttons); + updateButtonState( + remote_button_ptr_, msg->is_remote_mode_available, msg->mode, OperationModeState::REMOTE, + disable_buttons); + + // toggle switch for control mode + auto changeToggleSwitchState = [](CustomToggleSwitch * toggle_switch, const bool is_enabled) { + // Flick the switch without triggering its function + bool old_state = toggle_switch->blockSignals(true); + toggle_switch->setCheckedState(!is_enabled); + toggle_switch->blockSignals(old_state); + }; + + if (!msg->is_in_transition) { + // would cause an on/off/on flicker if in transition + changeToggleSwitchState(control_mode_switch_ptr_, !msg->is_autoware_control_enabled); + } } void AutowareStatePanel::onRoute(const RouteState::ConstSharedPtr msg) { - QString text = ""; - QString style_sheet = ""; + IconState state; + QColor bgColor; + QString route_state = "Routing | Unknown"; + switch (msg->state) { case RouteState::UNSET: - text = "UNSET"; - style_sheet = "background-color: #FFFF00;"; // yellow + state = Pending; + bgColor = QColor(autoware::state_rviz_plugin::colors::default_colors.warning.c_str()); + route_state = "Routing | Unset"; break; case RouteState::SET: - text = "SET"; - style_sheet = "background-color: #00FF00;"; // green + state = Active; + bgColor = QColor(autoware::state_rviz_plugin::colors::default_colors.success.c_str()); + route_state = "Routing | Set"; break; case RouteState::ARRIVED: - text = "ARRIVED"; - style_sheet = "background-color: #FFA500;"; // orange + state = Danger; + bgColor = QColor(autoware::state_rviz_plugin::colors::default_colors.danger.c_str()); + route_state = "Routing | Arrived"; break; case RouteState::CHANGING: - text = "CHANGING"; - style_sheet = "background-color: #FFFF00;"; // yellow + bgColor = QColor(autoware::state_rviz_plugin::colors::default_colors.warning.c_str()); + state = Pending; + route_state = "Routing | Changing"; break; default: - text = "UNKNOWN"; - style_sheet = "background-color: #FF0000;"; // red + state = None; + bgColor = QColor(autoware::state_rviz_plugin::colors::default_colors.info.c_str()); break; } - updateLabel(routing_label_ptr_, text, style_sheet); + routing_icon->updateStyle(state, bgColor); + routing_label_ptr_->setText(route_state); if (msg->state == RouteState::SET) { activateButton(clear_route_button_ptr_); } else { + clear_route_button_ptr_->setStyleSheet( + QString("QPushButton {" + "background-color: %1;color: %2;" + "border: 2px solid %3;" + "font-weight: bold;" + "}") + .arg(autoware::state_rviz_plugin::colors::default_colors.surface_container_highest.c_str()) + .arg(autoware::state_rviz_plugin::colors::default_colors.outline.c_str()) + .arg( + autoware::state_rviz_plugin::colors::default_colors.surface_container_highest.c_str())); deactivateButton(clear_route_button_ptr_); } } void AutowareStatePanel::onLocalization(const LocalizationInitializationState::ConstSharedPtr msg) { - QString text = ""; - QString style_sheet = ""; + IconState state; + QColor bgColor; + QString localization_state = "Localization | Unknown"; + switch (msg->state) { case LocalizationInitializationState::UNINITIALIZED: - text = "UNINITIALIZED"; - style_sheet = "background-color: #FFFF00;"; // yellow + state = None; + bgColor = QColor(autoware::state_rviz_plugin::colors::default_colors.info.c_str()); + localization_state = "Localization | Uninitialized"; break; - case LocalizationInitializationState::INITIALIZING: - text = "INITIALIZING"; - style_sheet = "background-color: #FFA500;"; // orange + case LocalizationInitializationState::INITIALIZED: + state = Active; + bgColor = QColor(autoware::state_rviz_plugin::colors::default_colors.success.c_str()); + localization_state = "Localization | Initialized"; break; - case LocalizationInitializationState::INITIALIZED: - text = "INITIALIZED"; - style_sheet = "background-color: #00FF00;"; // green + case LocalizationInitializationState::INITIALIZING: + state = Pending; + bgColor = QColor(autoware::state_rviz_plugin::colors::default_colors.warning.c_str()); + localization_state = "Localization | Initializing"; break; default: - text = "UNKNOWN"; - style_sheet = "background-color: #FF0000;"; // red + state = None; + bgColor = QColor(autoware::state_rviz_plugin::colors::default_colors.info.c_str()); break; } - updateLabel(localization_label_ptr_, text, style_sheet); + localization_icon->updateStyle(state, bgColor); + localization_label_ptr_->setText(localization_state); } void AutowareStatePanel::onMotion(const MotionState::ConstSharedPtr msg) { - QString text = ""; - QString style_sheet = ""; + IconState state; + QColor bgColor; + QString motion_state = "Motion | Unknown"; + switch (msg->state) { case MotionState::STARTING: - text = "STARTING"; - style_sheet = "background-color: #FFFF00;"; // yellow + state = Pending; + bgColor = QColor(autoware::state_rviz_plugin::colors::default_colors.warning.c_str()); + motion_state = "Motion | Starting"; break; - case MotionState::STOPPED: - text = "STOPPED"; - style_sheet = "background-color: #FFA500;"; // orange + case MotionState::MOVING: + state = Active; + bgColor = QColor(autoware::state_rviz_plugin::colors::default_colors.success.c_str()); + motion_state = "Motion | Moving"; break; - case MotionState::MOVING: - text = "MOVING"; - style_sheet = "background-color: #00FF00;"; // green + case MotionState::STOPPED: + state = None; + bgColor = QColor(autoware::state_rviz_plugin::colors::default_colors.danger.c_str()); + motion_state = "Motion | Stopped"; break; default: - text = "UNKNOWN"; - style_sheet = "background-color: #FF0000;"; // red + state = Danger; + bgColor = QColor(autoware::state_rviz_plugin::colors::default_colors.info.c_str()); break; } - updateLabel(motion_label_ptr_, text, style_sheet); + motion_icon->updateStyle(state, bgColor); + motion_label_ptr_->setText(motion_state); if (msg->state == MotionState::STARTING) { activateButton(accept_start_button_ptr_); @@ -458,94 +658,85 @@ void AutowareStatePanel::onMotion(const MotionState::ConstSharedPtr msg) void AutowareStatePanel::onMRMState(const MRMState::ConstSharedPtr msg) { - // state - { - QString text = ""; - QString style_sheet = ""; - switch (msg->state) { - case MRMState::NONE: - text = "NONE"; - style_sheet = "background-color: #00FF00;"; // green - break; + IconState state; + QColor bgColor; + QString mrm_state = "MRM State | Unknown"; - case MRMState::MRM_OPERATING: - text = "MRM_OPERATING"; - style_sheet = "background-color: #FFA500;"; // orange - break; + switch (msg->state) { + case MRMState::NONE: + state = None; + bgColor = QColor(autoware::state_rviz_plugin::colors::default_colors.info.c_str()); + mrm_state = "MRM State | Inactive"; + break; - case MRMState::MRM_SUCCEEDED: - text = "MRM_SUCCEEDED"; - style_sheet = "background-color: #FFFF00;"; // yellow - break; + case MRMState::MRM_OPERATING: + state = Active; + bgColor = QColor(autoware::state_rviz_plugin::colors::default_colors.info.c_str()); + mrm_state = "MRM State | Operating"; + break; - case MRMState::MRM_FAILED: - text = "MRM_FAILED"; - style_sheet = "background-color: #FF0000;"; // red - break; + case MRMState::MRM_SUCCEEDED: + state = Active; + bgColor = QColor(autoware::state_rviz_plugin::colors::default_colors.success.c_str()); + mrm_state = "MRM State | Successful"; + break; - default: - text = "UNKNOWN"; - style_sheet = "background-color: #FF0000;"; // red - break; - } + case MRMState::MRM_FAILED: + state = Danger; + bgColor = QColor(autoware::state_rviz_plugin::colors::default_colors.danger.c_str()); + mrm_state = "MRM State | Failed"; + break; - updateLabel(mrm_state_label_ptr_, text, style_sheet); + default: + state = None; + bgColor = QColor(autoware::state_rviz_plugin::colors::default_colors.info.c_str()); + mrm_state = "MRM State | Unknown"; + break; } + mrm_state_icon->updateStyle(state, bgColor); + mrm_state_label_ptr_->setText(mrm_state); + // behavior { - QString text = ""; - QString style_sheet = ""; + IconState state; + QColor bgColor; + QString mrm_behavior = "MRM Behavior | Unknown"; + switch (msg->behavior) { case MRMState::NONE: - text = "NONE"; - style_sheet = "background-color: #00FF00;"; // green + state = Crash; + bgColor = QColor(autoware::state_rviz_plugin::colors::default_colors.info.c_str()); + mrm_behavior = "MRM Behavior | Inactive"; break; case MRMState::PULL_OVER: - text = "PULL_OVER"; - style_sheet = "background-color: #FFFF00;"; // yellow + state = Crash; + bgColor = QColor(autoware::state_rviz_plugin::colors::default_colors.success.c_str()); + mrm_behavior = "MRM Behavior | Pull Over"; break; case MRMState::COMFORTABLE_STOP: - text = "COMFORTABLE_STOP"; - style_sheet = "background-color: #FFFF00;"; // yellow + state = Crash; + bgColor = QColor(autoware::state_rviz_plugin::colors::default_colors.warning.c_str()); + mrm_behavior = "MRM Behavior | Comfortable Stop"; break; case MRMState::EMERGENCY_STOP: - text = "EMERGENCY_STOP"; - style_sheet = "background-color: #FFA500;"; // orange + state = Crash; + bgColor = QColor(autoware::state_rviz_plugin::colors::default_colors.danger.c_str()); + mrm_behavior = "MRM Behavior | Emergency Stop"; break; default: - text = "UNKNOWN"; - style_sheet = "background-color: #FF0000;"; // red + state = Crash; + bgColor = QColor(autoware::state_rviz_plugin::colors::default_colors.info.c_str()); + mrm_behavior = "MRM Behavior | Unknown"; break; } - updateLabel(mrm_behavior_label_ptr_, text, style_sheet); - } -} - -void AutowareStatePanel::onShift( - const autoware_auto_vehicle_msgs::msg::GearReport::ConstSharedPtr msg) -{ - switch (msg->report) { - case autoware_auto_vehicle_msgs::msg::GearReport::PARK: - gear_label_ptr_->setText("PARKING"); - break; - case autoware_auto_vehicle_msgs::msg::GearReport::REVERSE: - gear_label_ptr_->setText("REVERSE"); - break; - case autoware_auto_vehicle_msgs::msg::GearReport::DRIVE: - gear_label_ptr_->setText("DRIVE"); - break; - case autoware_auto_vehicle_msgs::msg::GearReport::NEUTRAL: - gear_label_ptr_->setText("NEUTRAL"); - break; - case autoware_auto_vehicle_msgs::msg::GearReport::LOW: - gear_label_ptr_->setText("LOW"); - break; + mrm_behavior_icon->updateStyle(state, bgColor); + mrm_behavior_label_ptr_->setText(mrm_behavior); } } @@ -554,18 +745,37 @@ void AutowareStatePanel::onEmergencyStatus( { current_emergency_ = msg->emergency; if (msg->emergency) { - emergency_button_ptr_->setText(QString::fromStdString("Clear Emergency")); - emergency_button_ptr_->setStyleSheet("background-color: #FF0000;"); + emergency_button_ptr_->updateStyle( + "Clear Emergency", + QColor(autoware::state_rviz_plugin::colors::default_colors.error_container.c_str()), + QColor(autoware::state_rviz_plugin::colors::default_colors.on_error_container.c_str()), + QColor(autoware::state_rviz_plugin::colors::default_colors.on_error.c_str()), + QColor(autoware::state_rviz_plugin::colors::default_colors.on_error_container.c_str()), + QColor(autoware::state_rviz_plugin::colors::default_colors.error_container.c_str())); } else { - emergency_button_ptr_->setText(QString::fromStdString("Set Emergency")); - emergency_button_ptr_->setStyleSheet("background-color: #00FF00;"); + emergency_button_ptr_->updateStyle( + "Set Emergency", QColor(autoware::state_rviz_plugin::colors::default_colors.primary.c_str()), + QColor(autoware::state_rviz_plugin::colors::default_colors.on_primary.c_str()), + QColor(autoware::state_rviz_plugin::colors::default_colors.on_primary_container.c_str()), + QColor(autoware::state_rviz_plugin::colors::default_colors.on_primary.c_str()), + QColor(autoware::state_rviz_plugin::colors::default_colors.surface_tint.c_str())); + } +} + +void AutowareStatePanel::onSwitchStateChanged(int state) +{ + if (state == 0) { + // call the control mode function + onClickDirectControl(); + } else if (state == 2) { + onClickAutowareControl(); } } void AutowareStatePanel::onClickVelocityLimit() { auto velocity_limit = std::make_shared(); - velocity_limit->max_velocity = pub_velocity_limit_input_->value() / 3.6; + velocity_limit->max_velocity = velocity_limit_value_label_->text().toDouble() / 3.6; pub_velocity_limit_->publish(*velocity_limit); } diff --git a/common/tier4_state_rviz_plugin/src/custom_button.cpp b/common/tier4_state_rviz_plugin/src/custom_button.cpp new file mode 100644 index 0000000000000..0ef2628577135 --- /dev/null +++ b/common/tier4_state_rviz_plugin/src/custom_button.cpp @@ -0,0 +1,129 @@ +// Copyright 2024 The Autoware Contributors +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. +#include "include/custom_button.hpp" + +#include "src/include/material_colors.hpp" + +CustomElevatedButton::CustomElevatedButton( + const QString & text, const QColor & bgColor, const QColor & textColor, const QColor & hoverColor, + const QColor & disabledBgColor, const QColor & disabledTextColor, QWidget * parent) +: QPushButton(text, parent), + backgroundColor(bgColor), + textColor(textColor), + hoverColor(hoverColor), + disabledBgColor(disabledBgColor), + disabledTextColor(disabledTextColor) +{ + setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Fixed); + setCursor(Qt::PointingHandCursor); + + // set font weight to bold and size to 12 + QFont font = this->font(); + font.setWeight(QFont::Bold); + font.setFamily("Roboto"); + setFont(font); + + // Set up drop shadow effect + QGraphicsDropShadowEffect * shadowEffect = new QGraphicsDropShadowEffect(this); + shadowEffect->setBlurRadius(15); + shadowEffect->setOffset(3, 3); + shadowEffect->setColor( + QColor(autoware::state_rviz_plugin::colors::default_colors.shadow.c_str())); + setGraphicsEffect(shadowEffect); +} + +QSize CustomElevatedButton::sizeHint() const +{ + QFontMetrics fm(font()); + int textWidth = fm.horizontalAdvance(text()); + int textHeight = fm.height(); + int width = textWidth + 45; // Adding padding + int height = textHeight + 25; // Adding padding + return QSize(width, height); +} + +QSize CustomElevatedButton::minimumSizeHint() const +{ + return sizeHint(); +} + +void CustomElevatedButton::updateStyle( + const QString & text, const QColor & bgColor, const QColor & textColor, const QColor & hoverColor, + const QColor & disabledBgColor, const QColor & disabledTextColor) +{ + setText(text); + backgroundColor = bgColor; + this->textColor = textColor; + this->hoverColor = hoverColor; + this->disabledBgColor = disabledBgColor; + this->disabledTextColor = disabledTextColor; + update(); // Force repaint +} + +void CustomElevatedButton::paintEvent(QPaintEvent *) +{ + QPainter painter(this); + painter.setRenderHint(QPainter::Antialiasing); + + QStyleOption opt; + opt.initFrom(this); + QRect r = rect(); + + QColor buttonColor; + QColor currentTextColor = textColor; + if (!isEnabled()) { + buttonColor = disabledBgColor; + currentTextColor = disabledTextColor; + } else if (isHovered) { + buttonColor = hoverColor; + } else { + buttonColor = backgroundColor; + } + + int cornerRadius = height() / 2; // Making the corner radius proportional to the height + + // Draw button background + QPainterPath backgroundPath; + backgroundPath.addRoundedRect(r, cornerRadius, cornerRadius); + if (!isEnabled()) { + painter.setBrush( + QColor(autoware::state_rviz_plugin::colors::default_colors.on_surface.c_str())); + painter.setOpacity(0.12); + } else { + painter.setBrush(buttonColor); + } + painter.setPen(Qt::NoPen); + painter.drawPath(backgroundPath); + + // Draw button text + if (!isEnabled()) { + painter.setOpacity(0.38); + } + painter.setPen(currentTextColor); + painter.drawText(r, Qt::AlignCenter, text()); +} + +void CustomElevatedButton::enterEvent(QEvent * event) +{ + isHovered = true; + update(); + QPushButton::enterEvent(event); +} + +void CustomElevatedButton::leaveEvent(QEvent * event) +{ + isHovered = false; + update(); + QPushButton::leaveEvent(event); +} diff --git a/common/tier4_state_rviz_plugin/src/custom_container.cpp b/common/tier4_state_rviz_plugin/src/custom_container.cpp new file mode 100644 index 0000000000000..0b0aa1ccd6ed5 --- /dev/null +++ b/common/tier4_state_rviz_plugin/src/custom_container.cpp @@ -0,0 +1,70 @@ +// Copyright 2024 The Autoware Contributors +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. +#include "include/custom_container.hpp" + +#include "src/include/material_colors.hpp" + +CustomContainer::CustomContainer(QWidget * parent) : QFrame(parent), cornerRadius(15) +{ + setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Preferred); + setContentsMargins(0, 0, 0, 0); + layout = new QGridLayout(this); + layout->setMargin(0); // Margin between the border and child widgets + layout->setSpacing(0); // Spacing between child widgets + layout->setContentsMargins(10, 0, 10, 0); // Margin between the border and the layout + setLayout(layout); +} + +void CustomContainer::setCornerRadius(int radius) +{ + cornerRadius = radius; + update(); +} + +int CustomContainer::getCornerRadius() const +{ + return cornerRadius; +} + +QGridLayout * CustomContainer::getLayout() const +{ + return layout; // Provide access to the layout +} + +QSize CustomContainer::sizeHint() const +{ + QSize size = layout->sizeHint(); + int width = size.width() + 20; // Adding padding + int height = size.height() + 20; // Adding padding + return QSize(width, height); +} + +QSize CustomContainer::minimumSizeHint() const +{ + return sizeHint(); +} + +void CustomContainer::paintEvent(QPaintEvent *) +{ + QPainter painter(this); + painter.setRenderHint(QPainter::Antialiasing); + + // Draw background + QPainterPath path; + path.addRoundedRect(rect(), height() / 2, height() / 2); // Use height for rounded corners + painter.setPen(Qt::NoPen); + painter.setBrush(QColor( + autoware::state_rviz_plugin::colors::default_colors.surface.c_str())); // Background color + painter.drawPath(path); +} diff --git a/common/tier4_state_rviz_plugin/src/custom_icon_label.cpp b/common/tier4_state_rviz_plugin/src/custom_icon_label.cpp new file mode 100644 index 0000000000000..6e4d32d40f7fb --- /dev/null +++ b/common/tier4_state_rviz_plugin/src/custom_icon_label.cpp @@ -0,0 +1,80 @@ +// Copyright 2024 The Autoware Contributors +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. +#include "include/custom_icon_label.hpp" + +#include + +CustomIconLabel::CustomIconLabel(const QColor & bgColor, QWidget * parent) +: QLabel(parent), backgroundColor(bgColor) +{ + loadIcons(); + setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Preferred); + setAlignment(Qt::AlignCenter); + setFixedSize(35, 35); +} + +void CustomIconLabel::loadIcons() +{ + std::string packagePath = ament_index_cpp::get_package_share_directory("tier4_state_rviz_plugin"); + + iconMap[Active] = QPixmap(QString::fromStdString(packagePath + "/icons/assets/active.png")); + iconMap[Pending] = QPixmap(QString::fromStdString(packagePath + "/icons/assets/pending.png")); + iconMap[Danger] = QPixmap(QString::fromStdString(packagePath + "/icons/assets/danger.png")); + iconMap[None] = QPixmap(QString::fromStdString(packagePath + "/icons/assets/none.png")); + iconMap[Crash] = QPixmap(QString::fromStdString(packagePath + "/icons/assets/crash.png")); + + icon = iconMap[None]; // Default icon +} + +void CustomIconLabel::updateStyle(IconState state, const QColor & bgColor) +{ + icon = iconMap[state]; + backgroundColor = bgColor; + update(); // Force repaint +} + +QSize CustomIconLabel::sizeHint() const +{ + int size = qMax(icon.width(), icon.height()) + 20; // Adding padding + return QSize(size, size); +} + +QSize CustomIconLabel::minimumSizeHint() const +{ + return sizeHint(); +} + +void CustomIconLabel::paintEvent(QPaintEvent *) +{ + QPainter painter(this); + painter.setRenderHint(QPainter::Antialiasing); + + int diameter = qMin(width(), height()); + int radius = diameter / 2; + + // Draw background circle + QPainterPath path; + path.addEllipse(width() / 2 - radius, height() / 2 - radius, diameter, diameter); + painter.setPen(Qt::NoPen); + painter.setBrush(backgroundColor); + painter.drawPath(path); + + // Draw icon in the center + if (!icon.isNull()) { + QSize iconSize = icon.size().scaled(diameter * 0.6, diameter * 0.6, Qt::KeepAspectRatio); + QPoint iconPos((width() - iconSize.width()) / 2, (height() - iconSize.height()) / 2); + painter.drawPixmap( + iconPos, icon.scaled(iconSize, Qt::KeepAspectRatio, Qt::SmoothTransformation)); + } +} diff --git a/common/tier4_state_rviz_plugin/src/custom_label.cpp b/common/tier4_state_rviz_plugin/src/custom_label.cpp new file mode 100644 index 0000000000000..1f96fc0d45095 --- /dev/null +++ b/common/tier4_state_rviz_plugin/src/custom_label.cpp @@ -0,0 +1,82 @@ +// Copyright 2024 The Autoware Contributors +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. +#include "include/custom_label.hpp" + +#include "src/include/material_colors.hpp" + +#include +#include +#include +#include +#include +#include + +CustomLabel::CustomLabel(const QString & text, QWidget * parent) : QLabel(text, parent) +{ + setFont(QFont("Roboto", 10, QFont::Bold)); // Set the font as needed + setAlignment(Qt::AlignCenter); + + // Add shadow effect + QGraphicsDropShadowEffect * shadowEffect = new QGraphicsDropShadowEffect(this); + shadowEffect->setBlurRadius(15); // Blur radius for a smoother shadow + shadowEffect->setOffset(3, 3); // Offset for the shadow + shadowEffect->setColor( + QColor(autoware::state_rviz_plugin::colors::default_colors.shadow.c_str())); // Shadow color + setGraphicsEffect(shadowEffect); +} + +QSize CustomLabel::sizeHint() const +{ + QFontMetrics fm(font()); + int textWidth = fm.horizontalAdvance(text()); + int textHeight = fm.height(); + int width = textWidth + 40; // Adding padding + int height = textHeight; // Adding padding + return QSize(width, height); +} + +QSize CustomLabel::minimumSizeHint() const +{ + return sizeHint(); +} + +void CustomLabel::paintEvent(QPaintEvent *) +{ + QPainter painter(this); + painter.setRenderHint(QPainter::Antialiasing); + + int cornerRadius = height() / 2; // Making the corner radius proportional to the height + + // Draw background + QPainterPath path; + path.addRoundedRect(rect().adjusted(1, 1, -1, -1), cornerRadius, cornerRadius); + + painter.setPen(Qt::NoPen); + painter.setBrush(backgroundColor); + + painter.drawPath(path); + + // Set text color and draw text + painter.setPen(textColor); + painter.drawText(rect(), Qt::AlignCenter, text()); +} + +void CustomLabel::updateStyle( + const QString & text, const QColor & bg_color, const QColor & text_color) +{ + setText(text); + backgroundColor = bg_color; + textColor = text_color; + update(); // Force repaint +} diff --git a/common/tier4_state_rviz_plugin/src/custom_segmented_button.cpp b/common/tier4_state_rviz_plugin/src/custom_segmented_button.cpp new file mode 100644 index 0000000000000..8063bdc0fbc28 --- /dev/null +++ b/common/tier4_state_rviz_plugin/src/custom_segmented_button.cpp @@ -0,0 +1,75 @@ +// Copyright 2024 The Autoware Contributors +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. +#include "include/custom_segmented_button.hpp" + +#include + +CustomSegmentedButton::CustomSegmentedButton(QWidget * parent) +: QWidget(parent), buttonGroup(new QButtonGroup(this)), layout(new QHBoxLayout(this)) +{ + setSizePolicy(QSizePolicy::Fixed, QSizePolicy::Fixed); + layout->setContentsMargins(0, 0, 0, 0); // Ensure no margins around the layout + layout->setSpacing(0); // Ensure no spacing between buttons + + setLayout(layout); + + buttonGroup->setExclusive(true); + + connect( + buttonGroup, QOverload::of(&QButtonGroup::idClicked), this, + &CustomSegmentedButton::buttonClicked); +} + +CustomSegmentedButtonItem * CustomSegmentedButton::addButton(const QString & text) +{ + CustomSegmentedButtonItem * button = new CustomSegmentedButtonItem(text); + layout->addWidget(button); + buttonGroup->addButton(button, layout->count() - 1); + + return button; +} + +QButtonGroup * CustomSegmentedButton::getButtonGroup() const +{ + return buttonGroup; +} + +QSize CustomSegmentedButton::sizeHint() const +{ + return QSize(400, 40); // Adjust the size hint as needed + + // return QSize( + // layout->count() * (layout->itemAt(0)->widget()->width()), + // layout->itemAt(0)->widget()->height() + 10); +} + +QSize CustomSegmentedButton::minimumSizeHint() const +{ + return sizeHint(); +} + +void CustomSegmentedButton::paintEvent(QPaintEvent *) +{ + QPainter painter(this); + painter.setRenderHint(QPainter::Antialiasing); + + // Draw background + QPainterPath path; + path.addRoundedRect(rect(), height() / 2, height() / 2); + + painter.setPen(Qt::NoPen); + painter.setBrush( + QColor(autoware::state_rviz_plugin::colors::default_colors.surface_container_low.c_str())); + painter.drawPath(path); +} diff --git a/common/tier4_state_rviz_plugin/src/custom_segmented_button_item.cpp b/common/tier4_state_rviz_plugin/src/custom_segmented_button_item.cpp new file mode 100644 index 0000000000000..f2d15260c4e41 --- /dev/null +++ b/common/tier4_state_rviz_plugin/src/custom_segmented_button_item.cpp @@ -0,0 +1,186 @@ +// Copyright 2024 The Autoware Contributors +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. +#include "include/custom_segmented_button_item.hpp" + +CustomSegmentedButtonItem::CustomSegmentedButtonItem(const QString & text, QWidget * parent) +: QPushButton(text, parent), + bgColor( + QColor(autoware::state_rviz_plugin::colors::default_colors.surface_container_low.c_str())), + checkedBgColor( + QColor(autoware::state_rviz_plugin::colors::default_colors.secondary_container.c_str())), + inactiveTextColor(QColor(autoware::state_rviz_plugin::colors::default_colors.on_surface.c_str())), + activeTextColor( + QColor(autoware::state_rviz_plugin::colors::default_colors.on_secondary_container.c_str())), + isHovered(false), + isActivated(false), + isDisabled(false) + +{ + setCheckable(true); + setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Preferred); + setCursor(Qt::PointingHandCursor); +} + +void CustomSegmentedButtonItem::setColors( + const QColor & bg, const QColor & checkedBg, const QColor & activeText, + const QColor & inactiveText) +{ + bgColor = bg; + checkedBgColor = checkedBg; + activeTextColor = activeText; + inactiveTextColor = inactiveText; + update(); +} + +// void CustomSegmentedButtonItem::updateSize() +// { +// QFontMetrics fm(font()); +// int width = fm.horizontalAdvance(text()) + 40; // Add padding +// int height = fm.height() + 20; // Add padding +// setFixedSize(width, height); +// } + +void CustomSegmentedButtonItem::setHovered(bool hovered) +{ + isHovered = hovered; + updateCheckableState(); +} + +void CustomSegmentedButtonItem::setCheckableButton(bool checkable) +{ + setCheckable(checkable); + updateCheckableState(); +} + +void CustomSegmentedButtonItem::updateCheckableState() +{ + setCursor( + isDisabled ? Qt::ForbiddenCursor + : (isCheckable() ? Qt::PointingHandCursor : Qt::ForbiddenCursor)); + update(); +} + +void CustomSegmentedButtonItem::setDisabledButton(bool disabled) +{ + isDisabled = disabled; + updateCheckableState(); +} + +void CustomSegmentedButtonItem::setActivated(bool activated) +{ + isActivated = activated; + update(); +} + +void CustomSegmentedButtonItem::paintEvent(QPaintEvent *) +{ + QPainter painter(this); + painter.setRenderHint(QPainter::Antialiasing); + + // Adjust opacity for disabled state + if (isDisabled) { + painter.setOpacity(0.3); + } else { + painter.setOpacity(1.0); + } + + // Determine the button's color based on its state + QColor buttonColor; + if (isDisabled) { + buttonColor = disabledBgColor; + } else if (isHovered && !isChecked() && isCheckable()) { + buttonColor = hoverColor; + } else if (isActivated) { + buttonColor = checkedBgColor; + } else { + buttonColor = isChecked() ? checkedBgColor : bgColor; + } + + // Determine if this is the first or last button + bool isFirstButton = false; + bool isLastButton = false; + + QHBoxLayout * parentLayout = qobject_cast(parentWidget()->layout()); + if (parentLayout) { + int index = parentLayout->indexOf(this); + isFirstButton = (index == 0); + isLastButton = (index == parentLayout->count() - 1); + } + + // Draw button background + + QRect buttonRect = rect().adjusted(0, 1, 0, -1); + + if (isFirstButton) { + buttonRect.setLeft(buttonRect.left() + 1); + } + if (isLastButton) { + buttonRect.setRight(buttonRect.right() - 1); + } + + QPainterPath path; + double radius = (height() - 2) / 2; + + path.setFillRule(Qt::WindingFill); + if (isFirstButton) { + path.addRoundedRect(buttonRect, radius, radius); + path.addRect(QRect( + (buttonRect.left() + buttonRect.width() - radius), + buttonRect.top() + buttonRect.height() - radius, radius, + radius)); // Bottom Right + path.addRect(QRect( + (buttonRect.left() + buttonRect.width() - radius), buttonRect.top(), radius, + radius)); // Top Right + } else if (isLastButton) { + path.addRoundedRect(buttonRect, radius, radius); + path.addRect(QRect( + (buttonRect.left()), buttonRect.top() + buttonRect.height() - radius, radius, + radius)); // Bottom left + path.addRect(QRect((buttonRect.left()), buttonRect.top(), radius, + radius)); // Top Left + } else { + path.addRect(buttonRect); + } + painter.fillPath(path, buttonColor); + + // Draw button border + QPen pen(QColor(autoware::state_rviz_plugin::colors::default_colors.outline.c_str()), 1); + pen.setJoinStyle(Qt::RoundJoin); + pen.setCapStyle(Qt::RoundCap); + painter.setPen(pen); + painter.drawPath(path.simplified()); + + // Draw button text + QColor textColor = (isChecked() ? activeTextColor : inactiveTextColor); + painter.setPen(textColor); + painter.drawText(rect(), Qt::AlignCenter, text()); +} + +void CustomSegmentedButtonItem::enterEvent(QEvent * event) +{ + if (isCheckable()) { + isHovered = true; + update(); + } + QPushButton::enterEvent(event); +} + +void CustomSegmentedButtonItem::leaveEvent(QEvent * event) +{ + if (isCheckable()) { + isHovered = false; + update(); + } + QPushButton::leaveEvent(event); +} diff --git a/common/tier4_state_rviz_plugin/src/custom_slider.cpp b/common/tier4_state_rviz_plugin/src/custom_slider.cpp new file mode 100644 index 0000000000000..cf3f7c3d4638f --- /dev/null +++ b/common/tier4_state_rviz_plugin/src/custom_slider.cpp @@ -0,0 +1,102 @@ +// Copyright 2024 The Autoware Contributors +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. +#include "include/custom_slider.hpp" + +CustomSlider::CustomSlider(Qt::Orientation orientation, QWidget * parent) +: QSlider(orientation, parent) +{ + setMinimumHeight(40); // Ensure there's enough space for the custom track +} + +void CustomSlider::paintEvent(QPaintEvent *) +{ + QPainter painter(this); + painter.setRenderHint(QPainter::Antialiasing); + painter.setPen(Qt::NoPen); + + // Initialize style option + QStyleOptionSlider opt; + initStyleOption(&opt); + + QRect grooveRect = + style()->subControlRect(QStyle::CC_Slider, &opt, QStyle::SC_SliderGroove, this); + int centerY = grooveRect.center().y(); + QRect handleRect = + style()->subControlRect(QStyle::CC_Slider, &opt, QStyle::SC_SliderHandle, this); + + int value = this->value(); + int minValue = this->minimum(); + int maxValue = this->maximum(); + + int trackThickness = 14; + int gap = 8; + + QRect beforeRect( + grooveRect.x(), centerY - trackThickness / 2, handleRect.center().x() - grooveRect.x() - gap, + trackThickness); + + QRect afterRect( + handleRect.center().x() + gap, centerY - trackThickness / 2, + grooveRect.right() - handleRect.center().x() - gap, trackThickness); + + QColor inactiveTrackColor( + autoware::state_rviz_plugin::colors::default_colors.primary_container.c_str()); + QColor activeTrackColor(autoware::state_rviz_plugin::colors::default_colors.primary.c_str()); + QColor handleColor(autoware::state_rviz_plugin::colors::default_colors.primary.c_str()); + + // only draw the active track if the value is more than the gap from the minimum + if (value > minValue + gap / 2) { + QPainterPath beforePath; + beforePath.moveTo(beforeRect.left(), centerY + trackThickness / 2); // Start from bottom-left + beforePath.quadTo( + beforeRect.left(), centerY - trackThickness / 2, beforeRect.left() + trackThickness * 0.5, + centerY - trackThickness / 2); + beforePath.lineTo(beforeRect.right() - trackThickness * 0.1, centerY - trackThickness / 2); + beforePath.quadTo( + beforeRect.right(), centerY - trackThickness / 2, beforeRect.right(), centerY); + beforePath.quadTo( + beforeRect.right(), centerY + trackThickness / 2, beforeRect.right() - trackThickness * 0.1, + centerY + trackThickness / 2); + beforePath.lineTo(beforeRect.left() + trackThickness * 0.5, centerY + trackThickness / 2); + beforePath.quadTo(beforeRect.left(), centerY + trackThickness / 2, beforeRect.left(), centerY); + painter.fillPath(beforePath, activeTrackColor); + } + + if (value < maxValue - gap / 2) { + QPainterPath afterPath; + afterPath.moveTo(afterRect.left(), centerY + trackThickness / 2); + afterPath.quadTo( + afterRect.left(), centerY - trackThickness / 2, afterRect.left() + trackThickness * 0.1, + centerY - trackThickness / 2); + afterPath.lineTo(afterRect.right() - trackThickness * 0.5, centerY - trackThickness / 2); + afterPath.quadTo(afterRect.right(), centerY - trackThickness / 2, afterRect.right(), centerY); + afterPath.quadTo( + afterRect.right(), centerY + trackThickness / 2, afterRect.right() - trackThickness * 0.5, + centerY + trackThickness / 2); + afterPath.lineTo(afterRect.left() + trackThickness * 0.1, centerY + trackThickness / 2); + afterPath.quadTo(afterRect.left(), centerY + trackThickness / 2, afterRect.left(), centerY); + painter.fillPath(afterPath, inactiveTrackColor); + } + + painter.setBrush(handleColor); + int handleLineHeight = 30; + int handleLineWidth = 4; + int handleLineRadius = 2; + QRect handleLineRect( + handleRect.center().x() - handleLineWidth / 2, centerY - handleLineHeight / 2, handleLineWidth, + handleLineHeight); + QPainterPath handlePath; + handlePath.addRoundedRect(handleLineRect, handleLineRadius, handleLineRadius); + painter.fillPath(handlePath, handleColor); +} diff --git a/common/tier4_state_rviz_plugin/src/custom_toggle_switch.cpp b/common/tier4_state_rviz_plugin/src/custom_toggle_switch.cpp new file mode 100644 index 0000000000000..3b58ded626439 --- /dev/null +++ b/common/tier4_state_rviz_plugin/src/custom_toggle_switch.cpp @@ -0,0 +1,87 @@ +// Copyright 2024 The Autoware Contributors +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. +#include "include/custom_toggle_switch.hpp" + +CustomToggleSwitch::CustomToggleSwitch(QWidget * parent) : QCheckBox(parent) +{ + setSizePolicy(QSizePolicy::Fixed, QSizePolicy::Fixed); + setCursor(Qt::PointingHandCursor); + + connect(this, &QCheckBox::stateChanged, this, [this]() { + if (!blockSignalsGuard) { + update(); // Force repaint + } + }); +} + +QSize CustomToggleSwitch::sizeHint() const +{ + return QSize(50, 30); // Preferred size of the toggle switch +} + +void CustomToggleSwitch::paintEvent(QPaintEvent *) +{ + QPainter p(this); + p.setRenderHint(QPainter::Antialiasing); + + int margin = 2; + int circleRadius = height() / 2 - margin * 2; + QRect r = rect().adjusted(margin, margin, -margin, -margin); + bool isChecked = this->isChecked(); + + QColor uncheckedIndicatorColor = + QColor(autoware::state_rviz_plugin::colors::default_colors.outline.c_str()); + QColor checkedIndicatorColor = + QColor(autoware::state_rviz_plugin::colors::default_colors.on_primary.c_str()); + QColor indicatorColor = isChecked ? checkedIndicatorColor : uncheckedIndicatorColor; + + QColor uncheckedBgColor = + QColor(autoware::state_rviz_plugin::colors::default_colors.surface_container_highest.c_str()); + QColor checkedBgColor = + QColor(autoware::state_rviz_plugin::colors::default_colors.primary.c_str()); + + QColor bgColor = isChecked ? checkedBgColor : uncheckedBgColor; + + QRect borderR = r.adjusted(-margin, -margin, margin, margin); + p.setBrush(bgColor); + p.setPen(Qt::NoPen); + p.drawRoundedRect(borderR, circleRadius + 4, circleRadius + 4); + + p.setBrush(bgColor); + p.setPen(Qt::NoPen); + p.drawRoundedRect(r, circleRadius + 4, circleRadius + 4); + + int minX = r.left() + margin * 2; + int maxX = r.right() - circleRadius * 2 - margin; + int circleX = isChecked ? maxX : minX; + QRect circleRect(circleX, r.top() + margin, circleRadius * 2, circleRadius * 2); + p.setBrush(indicatorColor); + p.drawEllipse(circleRect); +} + +void CustomToggleSwitch::mouseReleaseEvent(QMouseEvent * event) +{ + if (event->button() == Qt::LeftButton) { + setCheckedState(!isChecked()); + } + QCheckBox::mouseReleaseEvent(event); +} + +void CustomToggleSwitch::setCheckedState(bool state) +{ + blockSignalsGuard = true; + setChecked(state); + blockSignalsGuard = false; + update(); // Force repaint +} diff --git a/common/tier4_state_rviz_plugin/src/autoware_state_panel.hpp b/common/tier4_state_rviz_plugin/src/include/autoware_state_panel.hpp similarity index 72% rename from common/tier4_state_rviz_plugin/src/autoware_state_panel.hpp rename to common/tier4_state_rviz_plugin/src/include/autoware_state_panel.hpp index 8f67a90215bd1..9863cbbbf802b 100644 --- a/common/tier4_state_rviz_plugin/src/autoware_state_panel.hpp +++ b/common/tier4_state_rviz_plugin/src/include/autoware_state_panel.hpp @@ -17,12 +17,26 @@ #ifndef AUTOWARE_STATE_PANEL_HPP_ #define AUTOWARE_STATE_PANEL_HPP_ -#include +#include "custom_button.hpp" +#include "custom_container.hpp" +#include "custom_icon_label.hpp" +#include "custom_label.hpp" +#include "custom_segmented_button.hpp" +#include "custom_segmented_button_item.hpp" +#include "custom_slider.hpp" +#include "custom_toggle_switch.hpp" +#include "material_colors.hpp" + +#include +#include +#include #include -#include #include +#include #include -#include +#include +#include +#include #include #include @@ -36,11 +50,17 @@ #include #include #include +#include +#include #include #include #include +#include + #include +#include +#include namespace rviz_plugins { @@ -56,6 +76,8 @@ class AutowareStatePanel : public rviz_common::Panel using MotionState = autoware_adapi_v1_msgs::msg::MotionState; using AcceptStart = autoware_adapi_v1_msgs::srv::AcceptStart; using MRMState = autoware_adapi_v1_msgs::msg::MrmState; + using DiagnosticArray = diagnostic_msgs::msg::DiagnosticArray; + using DiagnosticStatus = diagnostic_msgs::msg::DiagnosticStatus; Q_OBJECT @@ -75,17 +97,19 @@ public Q_SLOTS: // NOLINT for Qt void onClickAcceptStart(); void onClickVelocityLimit(); void onClickEmergencyButton(); + void onSwitchStateChanged(int state); protected: // Layout - QGroupBox * makeOperationModeGroup(); - QGroupBox * makeControlModeGroup(); - QGroupBox * makeRoutingGroup(); - QGroupBox * makeLocalizationGroup(); - QGroupBox * makeMotionGroup(); - QGroupBox * makeFailSafeGroup(); - - void onShift(const autoware_auto_vehicle_msgs::msg::GearReport::ConstSharedPtr msg); + QVBoxLayout * makeVelocityLimitGroup(); + QVBoxLayout * makeOperationModeGroup(); + QVBoxLayout * makeRoutingGroup(); + QVBoxLayout * makeLocalizationGroup(); + QVBoxLayout * makeMotionGroup(); + QVBoxLayout * makeFailSafeGroup(); + // QVBoxLayout * makeDiagnosticGroup(); + + // void onShift(const autoware_auto_vehicle_msgs::msg::GearReport::ConstSharedPtr msg); void onEmergencyStatus(const tier4_external_api_msgs::msg::Emergency::ConstSharedPtr msg); rclcpp::Node::SharedPtr raw_node_; @@ -97,13 +121,15 @@ public Q_SLOTS: // NOLINT for Qt rclcpp::Publisher::SharedPtr pub_velocity_limit_; + QLabel * velocity_limit_value_label_{nullptr}; + bool sliderIsDragging = false; + // Operation Mode - //// Gate Mode QLabel * operation_mode_label_ptr_{nullptr}; - QPushButton * stop_button_ptr_{nullptr}; - QPushButton * auto_button_ptr_{nullptr}; - QPushButton * local_button_ptr_{nullptr}; - QPushButton * remote_button_ptr_{nullptr}; + CustomSegmentedButtonItem * stop_button_ptr_{nullptr}; + CustomSegmentedButtonItem * auto_button_ptr_{nullptr}; + CustomSegmentedButtonItem * local_button_ptr_{nullptr}; + CustomSegmentedButtonItem * remote_button_ptr_{nullptr}; rclcpp::Subscription::SharedPtr sub_operation_mode_; rclcpp::Client::SharedPtr client_change_to_autonomous_; @@ -112,6 +138,8 @@ public Q_SLOTS: // NOLINT for Qt rclcpp::Client::SharedPtr client_change_to_remote_; //// Control Mode + CustomSegmentedButton * segmented_button; + CustomToggleSwitch * control_mode_switch_ptr_{nullptr}; QLabel * control_mode_label_ptr_{nullptr}; QPushButton * enable_button_ptr_{nullptr}; QPushButton * disable_button_ptr_{nullptr}; @@ -123,8 +151,9 @@ public Q_SLOTS: // NOLINT for Qt void changeOperationMode(const rclcpp::Client::SharedPtr client); // Routing + CustomIconLabel * routing_icon{nullptr}; + CustomElevatedButton * clear_route_button_ptr_{nullptr}; QLabel * routing_label_ptr_{nullptr}; - QPushButton * clear_route_button_ptr_{nullptr}; rclcpp::Subscription::SharedPtr sub_route_; rclcpp::Client::SharedPtr client_clear_route_; @@ -132,8 +161,9 @@ public Q_SLOTS: // NOLINT for Qt void onRoute(const RouteState::ConstSharedPtr msg); // Localization + CustomIconLabel * localization_icon{nullptr}; + CustomElevatedButton * init_by_gnss_button_ptr_{nullptr}; QLabel * localization_label_ptr_{nullptr}; - QPushButton * init_by_gnss_button_ptr_{nullptr}; rclcpp::Subscription::SharedPtr sub_localization_; rclcpp::Client::SharedPtr client_init_by_gnss_; @@ -141,8 +171,9 @@ public Q_SLOTS: // NOLINT for Qt void onLocalization(const LocalizationInitializationState::ConstSharedPtr msg); // Motion + CustomIconLabel * motion_icon{nullptr}; + CustomElevatedButton * accept_start_button_ptr_{nullptr}; QLabel * motion_label_ptr_{nullptr}; - QPushButton * accept_start_button_ptr_{nullptr}; rclcpp::Subscription::SharedPtr sub_motion_; rclcpp::Client::SharedPtr client_accept_start_; @@ -150,7 +181,9 @@ public Q_SLOTS: // NOLINT for Qt void onMotion(const MotionState::ConstSharedPtr msg); // FailSafe + CustomIconLabel * mrm_state_icon{nullptr}; QLabel * mrm_state_label_ptr_{nullptr}; + CustomIconLabel * mrm_behavior_icon{nullptr}; QLabel * mrm_behavior_label_ptr_{nullptr}; rclcpp::Subscription::SharedPtr sub_mrm_; @@ -158,11 +191,11 @@ public Q_SLOTS: // NOLINT for Qt void onMRMState(const MRMState::ConstSharedPtr msg); // Others - QPushButton * velocity_limit_button_ptr_; + QLabel * velocity_limit_setter_ptr_; QLabel * gear_label_ptr_; QSpinBox * pub_velocity_limit_input_; - QPushButton * emergency_button_ptr_; + CustomElevatedButton * emergency_button_ptr_; bool current_emergency_{false}; @@ -190,6 +223,17 @@ public Q_SLOTS: // NOLINT for Qt label->setText(text); label->setStyleSheet(style_sheet); } + static void updateCustomLabel( + CustomLabel * label, QString text, QColor bg_color, QColor text_color) + { + label->updateStyle(text, bg_color, text_color); + } + + static void updateButton(QPushButton * button, QString text, QString style_sheet) + { + button->setText(text); + button->setStyleSheet(style_sheet); + } static void activateButton(QAbstractButton * button) { diff --git a/common/tier4_state_rviz_plugin/src/include/custom_button.hpp b/common/tier4_state_rviz_plugin/src/include/custom_button.hpp new file mode 100644 index 0000000000000..b10663ce09933 --- /dev/null +++ b/common/tier4_state_rviz_plugin/src/include/custom_button.hpp @@ -0,0 +1,69 @@ +// Copyright 2024 The Autoware Contributors +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. +#ifndef CUSTOM_BUTTON_HPP_ +#define CUSTOM_BUTTON_HPP_ + +#include "material_colors.hpp" + +#include +#include +#include +#include +#include +#include +#include + +class CustomElevatedButton : public QPushButton +{ + Q_OBJECT + +public: + explicit CustomElevatedButton( + const QString & text, + const QColor & bgColor = + QColor(autoware::state_rviz_plugin::colors::default_colors.surface_container_low.c_str()), + const QColor & textColor = + QColor(autoware::state_rviz_plugin::colors::default_colors.primary.c_str()), + const QColor & hoverColor = + QColor(autoware::state_rviz_plugin::colors::default_colors.surface_container_highest.c_str()), + const QColor & disabledBgColor = + QColor(autoware::state_rviz_plugin::colors::default_colors.surface_container_high.c_str()), + const QColor & disabledTextColor = + QColor(autoware::state_rviz_plugin::colors::default_colors.on_surface_variant.c_str()), + QWidget * parent = nullptr); + void updateStyle( + const QString & text, const QColor & bgColor, const QColor & textColor, + const QColor & hoverColor, const QColor & disabledBgColor, const QColor & disabledTextColor); + +protected: + void paintEvent(QPaintEvent * event) override; + void enterEvent(QEvent * event) override; + void leaveEvent(QEvent * event) override; + QSize sizeHint() const override; + QSize minimumSizeHint() const override; + +private: + QColor backgroundColor = + QColor(autoware::state_rviz_plugin::colors::default_colors.surface_container_low.c_str()); + QColor textColor = QColor(autoware::state_rviz_plugin::colors::default_colors.primary.c_str()); + QColor hoverColor = + QColor(autoware::state_rviz_plugin::colors::default_colors.surface_container_highest.c_str()); + QColor disabledBgColor = + QColor(autoware::state_rviz_plugin::colors::default_colors.disabled_elevated_button_bg.c_str()); + QColor disabledTextColor = + QColor(autoware::state_rviz_plugin::colors::default_colors.on_surface.c_str()); + bool isHovered = false; +}; + +#endif // CUSTOM_BUTTON_HPP_ diff --git a/common/tier4_state_rviz_plugin/src/include/custom_container.hpp b/common/tier4_state_rviz_plugin/src/include/custom_container.hpp new file mode 100644 index 0000000000000..5142b409ebc88 --- /dev/null +++ b/common/tier4_state_rviz_plugin/src/include/custom_container.hpp @@ -0,0 +1,52 @@ +// Copyright 2024 The Autoware Contributors +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. +#ifndef CUSTOM_CONTAINER_HPP_ +#define CUSTOM_CONTAINER_HPP_ + +#include "material_colors.hpp" + +#include +#include +#include +#include + +class CustomContainer : public QFrame +{ + Q_OBJECT + +public: + explicit CustomContainer(QWidget * parent = nullptr); + + // Methods to set dimensions and corner radius + void setContainerHeight(int height); + void setContainerWidth(int width); + void setCornerRadius(int radius); + + // Getters + int getContainerHeight() const; + int getContainerWidth() const; + int getCornerRadius() const; + QGridLayout * getLayout() const; // Add a method to access the layout + +protected: + void paintEvent(QPaintEvent * event) override; + QSize sizeHint() const override; + QSize minimumSizeHint() const override; + +private: + QGridLayout * layout; + int cornerRadius; +}; + +#endif // CUSTOM_CONTAINER_HPP_ diff --git a/common/tier4_state_rviz_plugin/src/include/custom_icon_label.hpp b/common/tier4_state_rviz_plugin/src/include/custom_icon_label.hpp new file mode 100644 index 0000000000000..1b3ab9c8e0c6c --- /dev/null +++ b/common/tier4_state_rviz_plugin/src/include/custom_icon_label.hpp @@ -0,0 +1,54 @@ +// Copyright 2024 The Autoware Contributors +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. +#ifndef CUSTOM_ICON_LABEL_HPP_ +#define CUSTOM_ICON_LABEL_HPP_ + +#include "material_colors.hpp" + +#include +#include +#include +#include +#include +#include +#include +#include + +enum IconState { Active, Pending, Danger, None, Crash }; + +class CustomIconLabel : public QLabel +{ + Q_OBJECT + +public: + explicit CustomIconLabel( + const QColor & bgColor = + QColor(autoware::state_rviz_plugin::colors::default_colors.surface_container_high.c_str()), + QWidget * parent = nullptr); + void updateStyle(IconState state, const QColor & bgColor); + +protected: + void paintEvent(QPaintEvent * event) override; + QSize sizeHint() const override; + QSize minimumSizeHint() const override; + +private: + void loadIcons(); + QPixmap icon; + QColor backgroundColor = + QColor(autoware::state_rviz_plugin::colors::default_colors.surface_container_high.c_str()); + QMap iconMap; +}; + +#endif // CUSTOM_ICON_LABEL_HPP_ diff --git a/common/tier4_state_rviz_plugin/src/include/custom_label.hpp b/common/tier4_state_rviz_plugin/src/include/custom_label.hpp new file mode 100644 index 0000000000000..a328c4de56e3d --- /dev/null +++ b/common/tier4_state_rviz_plugin/src/include/custom_label.hpp @@ -0,0 +1,46 @@ +// Copyright 2024 The Autoware Contributors +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. +#ifndef CUSTOM_LABEL_HPP_ +#define CUSTOM_LABEL_HPP_ + +#include "material_colors.hpp" + +#include +#include +#include +class CustomLabel : public QLabel +{ + Q_OBJECT + +public: + explicit CustomLabel(const QString & text, QWidget * parent = nullptr); + void updateStyle( + const QString & text, + const QColor & bgColor = + QColor(autoware::state_rviz_plugin::colors::default_colors.surface_container_low.c_str()), + const QColor & textColor = + QColor(autoware::state_rviz_plugin::colors::default_colors.on_surface.c_str())); + +protected: + void paintEvent(QPaintEvent * event) override; + QSize sizeHint() const override; + QSize minimumSizeHint() const override; + +private: + QColor backgroundColor = + QColor(autoware::state_rviz_plugin::colors::default_colors.surface_container_low.c_str()); + QColor textColor = QColor(autoware::state_rviz_plugin::colors::default_colors.on_surface.c_str()); +}; + +#endif // CUSTOM_LABEL_HPP_ diff --git a/common/tier4_state_rviz_plugin/src/include/custom_segmented_button.hpp b/common/tier4_state_rviz_plugin/src/include/custom_segmented_button.hpp new file mode 100644 index 0000000000000..c6c589d31b8d4 --- /dev/null +++ b/common/tier4_state_rviz_plugin/src/include/custom_segmented_button.hpp @@ -0,0 +1,53 @@ +// Copyright 2024 The Autoware Contributors +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. +#ifndef CUSTOM_SEGMENTED_BUTTON_HPP_ +#define CUSTOM_SEGMENTED_BUTTON_HPP_ + +#include "custom_segmented_button_item.hpp" +#include "material_colors.hpp" + +#include +#include +#include +#include +#include +#include +#include +#include + +class CustomSegmentedButton : public QWidget +{ + Q_OBJECT + +public: + explicit CustomSegmentedButton(QWidget * parent = nullptr); + + CustomSegmentedButtonItem * addButton(const QString & text); + QButtonGroup * getButtonGroup() const; + + QSize sizeHint() const override; + QSize minimumSizeHint() const override; + +Q_SIGNALS: + void buttonClicked(int id); + +protected: + void paintEvent(QPaintEvent * event) override; + +private: + QButtonGroup * buttonGroup; + QHBoxLayout * layout; +}; + +#endif // CUSTOM_SEGMENTED_BUTTON_HPP_ diff --git a/common/tier4_state_rviz_plugin/src/include/custom_segmented_button_item.hpp b/common/tier4_state_rviz_plugin/src/include/custom_segmented_button_item.hpp new file mode 100644 index 0000000000000..33eb9fe16aa31 --- /dev/null +++ b/common/tier4_state_rviz_plugin/src/include/custom_segmented_button_item.hpp @@ -0,0 +1,64 @@ +// Copyright 2024 The Autoware Contributors +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. +#ifndef CUSTOM_SEGMENTED_BUTTON_ITEM_HPP_ +#define CUSTOM_SEGMENTED_BUTTON_ITEM_HPP_ + +#include "material_colors.hpp" + +#include +#include +#include +#include +#include +#include + +class CustomSegmentedButtonItem : public QPushButton +{ + Q_OBJECT + +public: + explicit CustomSegmentedButtonItem(const QString & text, QWidget * parent = nullptr); + + void setColors( + const QColor & bg, const QColor & checkedBg, const QColor & activeText, + const QColor & inactiveText); + void setActivated(bool activated); + void setCheckableButton(bool checkable); + void setDisabledButton(bool disabled); + void setHovered(bool hovered); + +protected: + void paintEvent(QPaintEvent * event) override; + void enterEvent(QEvent * event) override; + void leaveEvent(QEvent * event) override; + +private: + void updateCheckableState(); + + QColor bgColor; + QColor checkedBgColor; + QColor hoverColor = + QColor(autoware::state_rviz_plugin::colors::default_colors.surface_container_highest.c_str()); + QColor inactiveTextColor; + QColor activeTextColor; + QColor disabledBgColor = + QColor(autoware::state_rviz_plugin::colors::default_colors.surface_dim.c_str()); + QColor disabledTextColor = + QColor(autoware::state_rviz_plugin::colors::default_colors.on_surface_variant.c_str()); + bool isHovered = false; + bool isActivated = false; + bool isDisabled = false; +}; + +#endif // CUSTOM_SEGMENTED_BUTTON_ITEM_HPP_ diff --git a/common/mission_planner_rviz_plugin/src/mrm_goal.hpp b/common/tier4_state_rviz_plugin/src/include/custom_slider.hpp similarity index 60% rename from common/mission_planner_rviz_plugin/src/mrm_goal.hpp rename to common/tier4_state_rviz_plugin/src/include/custom_slider.hpp index e16b0abf0bab3..f0dc9f12aedfe 100644 --- a/common/mission_planner_rviz_plugin/src/mrm_goal.hpp +++ b/common/tier4_state_rviz_plugin/src/include/custom_slider.hpp @@ -11,24 +11,25 @@ // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. // See the License for the specific language governing permissions and // limitations under the License. +#ifndef CUSTOM_SLIDER_HPP_ +#define CUSTOM_SLIDER_HPP_ +#include "material_colors.hpp" -#ifndef MRM_GOAL_HPP_ -#define MRM_GOAL_HPP_ +#include +#include +#include +#include +#include -#include - -namespace rviz_plugins -{ - -class MrmGoalTool : public rviz_default_plugins::tools::GoalTool +class CustomSlider : public QSlider { Q_OBJECT public: - MrmGoalTool(); - void onInitialize() override; -}; + explicit CustomSlider(Qt::Orientation orientation, QWidget * parent = nullptr); -} // namespace rviz_plugins +protected: + void paintEvent(QPaintEvent * event) override; +}; -#endif // MRM_GOAL_HPP_ +#endif // CUSTOM_SLIDER_HPP_ diff --git a/common/tier4_state_rviz_plugin/src/include/custom_toggle_switch.hpp b/common/tier4_state_rviz_plugin/src/include/custom_toggle_switch.hpp new file mode 100644 index 0000000000000..107d45af8c3f3 --- /dev/null +++ b/common/tier4_state_rviz_plugin/src/include/custom_toggle_switch.hpp @@ -0,0 +1,40 @@ +// Copyright 2024 The Autoware Contributors +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. +#ifndef CUSTOM_TOGGLE_SWITCH_HPP_ +#define CUSTOM_TOGGLE_SWITCH_HPP_ + +#include "material_colors.hpp" + +#include +#include +#include +#include +class CustomToggleSwitch : public QCheckBox +{ + Q_OBJECT + +public: + explicit CustomToggleSwitch(QWidget * parent = nullptr); + QSize sizeHint() const override; + void setCheckedState(bool state); + +protected: + void paintEvent(QPaintEvent * event) override; + void mouseReleaseEvent(QMouseEvent * event) override; + +private: + bool blockSignalsGuard = false; // Guard variable to block signals during updates +}; + +#endif // CUSTOM_TOGGLE_SWITCH_HPP_ diff --git a/common/tier4_state_rviz_plugin/src/include/material_colors.hpp b/common/tier4_state_rviz_plugin/src/include/material_colors.hpp new file mode 100644 index 0000000000000..d146b599ab600 --- /dev/null +++ b/common/tier4_state_rviz_plugin/src/include/material_colors.hpp @@ -0,0 +1,88 @@ +// Copyright 2024 The Autoware Contributors +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#ifndef MATERIAL_COLORS_HPP_ +#define MATERIAL_COLORS_HPP_ +#include + +namespace autoware +{ +namespace state_rviz_plugin +{ +namespace colors +{ +struct MaterialColors +{ + std::string primary = "#8BD0F0"; + std::string surface_tint = "#8BD0F0"; + std::string on_primary = "#003546"; + std::string primary_container = "#004D64"; + std::string on_primary_container = "#BEE9FF"; + std::string secondary = "#B4CAD6"; + std::string on_secondary = "#1F333C"; + std::string secondary_container = "#354A54"; + std::string on_secondary_container = "#D0E6F2"; + std::string tertiary = "#C6C2EA"; + std::string on_tertiary = "#2F2D4D"; + std::string tertiary_container = "#454364"; + std::string on_tertiary_container = "#E3DFFF"; + std::string error = "#FFB4AB"; + std::string on_error = "#690005"; + std::string error_container = "#93000A"; + std::string on_error_container = "#FFDAD6"; + std::string background = "#0F1417"; + std::string on_background = "#DFE3E7"; + std::string surface = "#0F1417"; + std::string on_surface = "#DFE3E7"; + std::string surface_variant = "#40484C"; + std::string on_surface_variant = "#C0C8CD"; + std::string outline = "#8A9297"; + std::string outline_variant = "#40484C"; + std::string shadow = "#000000"; + std::string scrim = "#000000"; + std::string inverse_surface = "#DFE3E7"; + std::string inverse_on_surface = "#2C3134"; + std::string inverse_primary = "#126682"; + std::string primary_fixed = "#BEE9FF"; + std::string on_primary_fixed = "#001F2A"; + std::string primary_fixed_dim = "#8BD0F0"; + std::string on_primary_fixed_variant = "#004D64"; + std::string secondary_fixed = "#D0E6F2"; + std::string on_secondary_fixed = "#081E27"; + std::string secondary_fixed_dim = "#B4CAD6"; + std::string on_secondary_fixed_variant = "#354A54"; + std::string tertiary_fixed = "#E3DFFF"; + std::string on_tertiary_fixed = "#1A1836"; + std::string tertiary_fixed_dim = "#C6C2EA"; + std::string on_tertiary_fixed_variant = "#454364"; + std::string surface_dim = "#0F1417"; + std::string surface_bright = "#353A3D"; + std::string surface_container_lowest = "#0A0F11"; + std::string surface_container_low = "#171C1F"; + std::string surface_container = "#1B2023"; + std::string surface_container_high = "#262B2E"; + std::string surface_container_highest = "#303538"; + std::string disabled_elevated_button_bg = "#292D30"; + std::string success = "#8DF08B"; + std::string warning = "#EEF08B"; + std::string info = "#8BD0F0"; + std::string danger = "#F08B8B"; +}; + +inline MaterialColors default_colors; +} // namespace colors +} // namespace state_rviz_plugin +} // namespace autoware + +#endif // MATERIAL_COLORS_HPP_ diff --git a/common/tier4_state_rviz_plugin/src/velocity_steering_factors_panel.hpp b/common/tier4_state_rviz_plugin/src/include/velocity_steering_factors_panel.hpp similarity index 100% rename from common/tier4_state_rviz_plugin/src/velocity_steering_factors_panel.hpp rename to common/tier4_state_rviz_plugin/src/include/velocity_steering_factors_panel.hpp diff --git a/common/tier4_state_rviz_plugin/src/velocity_steering_factors_panel.cpp b/common/tier4_state_rviz_plugin/src/velocity_steering_factors_panel.cpp index 6ea142ed66a1b..90ad18fe5af6c 100644 --- a/common/tier4_state_rviz_plugin/src/velocity_steering_factors_panel.cpp +++ b/common/tier4_state_rviz_plugin/src/velocity_steering_factors_panel.cpp @@ -14,7 +14,7 @@ // limitations under the License. // -#include "velocity_steering_factors_panel.hpp" +#include "include/velocity_steering_factors_panel.hpp" #include #include diff --git a/common/tier4_target_object_type_rviz_plugin/CMakeLists.txt b/common/tier4_target_object_type_rviz_plugin/CMakeLists.txt deleted file mode 100644 index ed458cf924e33..0000000000000 --- a/common/tier4_target_object_type_rviz_plugin/CMakeLists.txt +++ /dev/null @@ -1,25 +0,0 @@ -cmake_minimum_required(VERSION 3.14) -project(tier4_target_object_type_rviz_plugin) - -find_package(autoware_cmake REQUIRED) -autoware_package() -find_package(OpenCV REQUIRED) -find_package(Qt5 REQUIRED Core Widgets) -set(QT_LIBRARIES Qt5::Widgets) -set(CMAKE_AUTOMOC ON) -set(CMAKE_INCLUDE_CURRENT_DIR ON) - -ament_auto_add_library(${PROJECT_NAME} SHARED - src/target_object_type_panel.hpp - src/target_object_type_panel.cpp -) -target_link_libraries(${PROJECT_NAME} - ${QT_LIBRARIES} - ${OpenCV_LIBRARIES} -) -pluginlib_export_plugin_description_file(rviz_common plugins/plugin_description.xml) - -ament_auto_package( - INSTALL_TO_SHARE - plugins -) diff --git a/common/tier4_target_object_type_rviz_plugin/README.md b/common/tier4_target_object_type_rviz_plugin/README.md deleted file mode 100644 index 1296bd3442ab3..0000000000000 --- a/common/tier4_target_object_type_rviz_plugin/README.md +++ /dev/null @@ -1,9 +0,0 @@ -# tier4_target_object_type_rviz_plugin - -This plugin allows you to check which types of the dynamic object is being used by each planner. - -![window](./image/window.png) - -## Limitations - -Currently, which parameters of which module to check are hardcoded. In the future, this will be parameterized using YAML. diff --git a/common/tier4_target_object_type_rviz_plugin/image/window.png b/common/tier4_target_object_type_rviz_plugin/image/window.png deleted file mode 100644 index 33aa9a1e5a26e..0000000000000 Binary files a/common/tier4_target_object_type_rviz_plugin/image/window.png and /dev/null differ diff --git a/common/tier4_target_object_type_rviz_plugin/package.xml b/common/tier4_target_object_type_rviz_plugin/package.xml deleted file mode 100644 index 04d2f28d9ba3e..0000000000000 --- a/common/tier4_target_object_type_rviz_plugin/package.xml +++ /dev/null @@ -1,28 +0,0 @@ - - - - tier4_target_object_type_rviz_plugin - 0.0.1 - The tier4_target_object_type_rviz_plugin package - Takamasa Horibe - Apache License 2.0 - - ament_cmake_auto - autoware_cmake - - cv_bridge - libqt5-core - libqt5-gui - libqt5-widgets - qtbase5-dev - rclcpp - rviz_common - rviz_rendering - ament_lint_auto - autoware_lint_common - - - ament_cmake - - - diff --git a/common/tier4_target_object_type_rviz_plugin/plugins/plugin_description.xml b/common/tier4_target_object_type_rviz_plugin/plugins/plugin_description.xml deleted file mode 100644 index eb3350e4333bd..0000000000000 --- a/common/tier4_target_object_type_rviz_plugin/plugins/plugin_description.xml +++ /dev/null @@ -1,9 +0,0 @@ - - - - TargetObjectTypePanel - - - diff --git a/common/tier4_target_object_type_rviz_plugin/src/target_object_type_panel.cpp b/common/tier4_target_object_type_rviz_plugin/src/target_object_type_panel.cpp deleted file mode 100644 index e014307942bab..0000000000000 --- a/common/tier4_target_object_type_rviz_plugin/src/target_object_type_panel.cpp +++ /dev/null @@ -1,316 +0,0 @@ -// Copyright 2023 TIER IV, Inc. All rights reserved. -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. - -#include "target_object_type_panel.hpp" - -#include -#include -#include -#include -#include - -TargetObjectTypePanel::TargetObjectTypePanel(QWidget * parent) : rviz_common::Panel(parent) -{ - node_ = std::make_shared("matrix_display_node"); - - setParameters(); - - matrix_widget_ = new QTableWidget(modules_.size(), targets_.size(), this); - for (size_t i = 0; i < modules_.size(); i++) { - matrix_widget_->setVerticalHeaderItem( - i, new QTableWidgetItem(QString::fromStdString(modules_[i]))); - } - for (size_t j = 0; j < targets_.size(); j++) { - matrix_widget_->setHorizontalHeaderItem( - j, new QTableWidgetItem(QString::fromStdString(targets_[j]))); - } - - updateMatrix(); - - reload_button_ = new QPushButton("Reload", this); - connect( - reload_button_, &QPushButton::clicked, this, &TargetObjectTypePanel::onReloadButtonClicked); - - QVBoxLayout * layout = new QVBoxLayout; - layout->addWidget(matrix_widget_); - layout->addWidget(reload_button_); - setLayout(layout); -} - -void TargetObjectTypePanel::onReloadButtonClicked() -{ - RCLCPP_INFO(node_->get_logger(), "Reload button clicked. Update parameter data."); - updateMatrix(); -} - -void TargetObjectTypePanel::setParameters() -{ - // Parameter will be investigated for these modules: - modules_ = { - "avoidance", - "avoidance_by_lane_change", - "dynamic_avoidance", - "lane_change", - "start_planner", - "goal_planner", - "crosswalk", - "surround_obstacle_checker", - "obstacle_cruise (inside)", - "obstacle_cruise (outside)", - "obstacle_stop", - "obstacle_slowdown"}; - - // Parameter will be investigated for targets in each module - targets_ = {"car", "truck", "bus", "trailer", "unknown", "bicycle", "motorcycle", "pedestrian"}; - - // TODO(Horibe): If the param naming strategy is aligned, this should be done automatically based - // on the modules_ and targets_. - - // default - ParamNameEnableObject default_param_name; - default_param_name.name.emplace("car", "car"); - default_param_name.name.emplace("truck", "truck"); - default_param_name.name.emplace("bus", "bus"); - default_param_name.name.emplace("trailer", "trailer"); - default_param_name.name.emplace("unknown", "unknown"); - default_param_name.name.emplace("bicycle", "bicycle"); - default_param_name.name.emplace("motorcycle", "motorcycle"); - default_param_name.name.emplace("pedestrian", "pedestrian"); - - // avoidance - { - const auto module = "avoidance"; - ParamNameEnableObject param_name; - param_name.node = - "/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner"; - param_name.ns = "avoidance.target_filtering.target_type"; - param_name.name = default_param_name.name; - param_names_.emplace(module, param_name); - } - - // avoidance_by_lane_change - { - const auto module = "avoidance_by_lane_change"; - ParamNameEnableObject param_name; - param_name.node = - "/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner"; - param_name.ns = "avoidance_by_lane_change.target_filtering.target_type"; - param_name.name = default_param_name.name; - param_names_.emplace(module, param_name); - } - - // lane_change - { - const auto module = "lane_change"; - ParamNameEnableObject param_name; - param_name.node = - "/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner"; - param_name.ns = "lane_change.target_object"; - param_name.name = default_param_name.name; - param_names_.emplace(module, param_name); - } - - // start_planner - { - const auto module = "start_planner"; - ParamNameEnableObject param_name; - param_name.node = - "/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner"; - param_name.ns = "start_planner.path_safety_check.target_filtering.object_types_to_check"; - param_name.name.emplace("car", "check_car"); - param_name.name.emplace("truck", "check_truck"); - param_name.name.emplace("bus", "check_bus"); - param_name.name.emplace("trailer", "check_trailer"); - param_name.name.emplace("unknown", "check_unknown"); - param_name.name.emplace("bicycle", "check_bicycle"); - param_name.name.emplace("motorcycle", "check_motorcycle"); - param_name.name.emplace("pedestrian", "check_pedestrian"); - param_names_.emplace(module, param_name); - } - - // goal_planner - { - const auto module = "goal_planner"; - ParamNameEnableObject param_name; - param_name.node = - "/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner"; - param_name.ns = "goal_planner.path_safety_check.target_filtering.object_types_to_check"; - param_name.name.emplace("car", "check_car"); - param_name.name.emplace("truck", "check_truck"); - param_name.name.emplace("bus", "check_bus"); - param_name.name.emplace("trailer", "check_trailer"); - param_name.name.emplace("unknown", "check_unknown"); - param_name.name.emplace("bicycle", "check_bicycle"); - param_name.name.emplace("motorcycle", "check_motorcycle"); - param_name.name.emplace("pedestrian", "check_pedestrian"); - param_names_.emplace(module, param_name); - } - - // dynamic_avoidance - { - const auto module = "dynamic_avoidance"; - ParamNameEnableObject param_name; - param_name.node = - "/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner"; - param_name.ns = "dynamic_avoidance.target_object"; - param_name.name = default_param_name.name; - param_names_.emplace(module, param_name); - } - - // crosswalk - { - const auto module = "crosswalk"; - ParamNameEnableObject param_name; - param_name.node = - "/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner"; - param_name.ns = "crosswalk.object_filtering.target_object"; - param_name.name = default_param_name.name; - param_names_.emplace(module, param_name); - } - - // obstacle cruise (inside) - { - const auto module = "obstacle_cruise (inside)"; - ParamNameEnableObject param_name; - param_name.node = - "/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner"; - param_name.ns = "common.cruise_obstacle_type.inside"; - param_name.name = default_param_name.name; - param_names_.emplace(module, param_name); - } - - // obstacle cruise (outside) - { - const auto module = "obstacle_cruise (outside)"; - ParamNameEnableObject param_name; - param_name.node = - "/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner"; - param_name.ns = "common.cruise_obstacle_type.outside"; - param_name.name = default_param_name.name; - param_names_.emplace(module, param_name); - } - - // surround_obstacle_check - { - const auto module = "surround_obstacle_checker"; - ParamNameEnableObject param_name; - param_name.node = - "/planning/scenario_planning/lane_driving/motion_planning/surround_obstacle_checker"; - param_name.ns = ""; - param_name.name.emplace("car", "car.enable_check"); - param_name.name.emplace("truck", "truck.enable_check"); - param_name.name.emplace("bus", "bus.enable_check"); - param_name.name.emplace("trailer", "trailer.enable_check"); - param_name.name.emplace("unknown", "unknown.enable_check"); - param_name.name.emplace("bicycle", "bicycle.enable_check"); - param_name.name.emplace("motorcycle", "motorcycle.enable_check"); - param_name.name.emplace("pedestrian", "pedestrian.enable_check"); - param_names_.emplace(module, param_name); - } - - // obstacle stop - { - const auto module = "obstacle_stop"; - ParamNameEnableObject param_name; - param_name.node = - "/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner"; - param_name.ns = "common.stop_obstacle_type"; - param_name.name = default_param_name.name; - param_names_.emplace(module, param_name); - } - - // obstacle slowdown - { - const auto module = "obstacle_slowdown"; - ParamNameEnableObject param_name; - param_name.node = - "/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner"; - param_name.ns = "common.slow_down_obstacle_type"; - param_name.name = default_param_name.name; - param_names_.emplace(module, param_name); - } -} - -void TargetObjectTypePanel::updateMatrix() -{ - // blue base - // const QColor color_in_use("#6eb6cc"); - // const QColor color_no_use("#1d3e48"); - // const QColor color_undefined("#9e9e9e"); - - // green base - const QColor color_in_use("#afff70"); - const QColor color_no_use("#44642b"); - const QColor color_undefined("#9e9e9e"); - - const auto set_undefined = [&](const auto i, const auto j) { - QTableWidgetItem * item = new QTableWidgetItem("N/A"); - item->setForeground(QBrush(Qt::black)); // set the text color to black - item->setBackground(color_undefined); - matrix_widget_->setItem(i, j, item); - }; - - for (size_t i = 0; i < modules_.size(); i++) { - const auto & module = modules_[i]; - - // Check if module exists in param_names_ - if (param_names_.find(module) == param_names_.end()) { - RCLCPP_WARN_STREAM(node_->get_logger(), module << " is not in the param names"); - continue; - } - - const auto & module_params = param_names_.at(module); - auto parameters_client = - std::make_shared(node_, module_params.node); - if (!parameters_client->wait_for_service(std::chrono::microseconds(500))) { - RCLCPP_WARN_STREAM( - node_->get_logger(), "Failed to find parameter service for node: " << module_params.node); - for (size_t j = 0; j < targets_.size(); j++) { - set_undefined(i, j); - } - continue; - } - - for (size_t j = 0; j < targets_.size(); j++) { - const auto & target = targets_[j]; - - // Check if target exists in module's name map - if (module_params.name.find(target) == module_params.name.end()) { - RCLCPP_WARN_STREAM( - node_->get_logger(), target << " parameter is not set in the " << module); - continue; - } - - std::string param_name = - (module_params.ns.empty() ? "" : module_params.ns + ".") + module_params.name.at(target); - auto parameter_result = parameters_client->get_parameters({param_name}); - - if (!parameter_result.empty()) { - bool value = parameter_result[0].as_bool(); - QTableWidgetItem * item = new QTableWidgetItem(value ? "O" : "X"); - item->setForeground(QBrush(value ? Qt::black : Qt::black)); // set the text color to black - item->setBackground(QBrush(value ? color_in_use : color_no_use)); - matrix_widget_->setItem(i, j, item); - } else { - RCLCPP_WARN_STREAM( - node_->get_logger(), - "Failed to get parameter " << module_params.node << " " << param_name); - - set_undefined(i, j); - } - } - } -} - -PLUGINLIB_EXPORT_CLASS(TargetObjectTypePanel, rviz_common::Panel) diff --git a/common/tier4_target_object_type_rviz_plugin/src/target_object_type_panel.hpp b/common/tier4_target_object_type_rviz_plugin/src/target_object_type_panel.hpp deleted file mode 100644 index 1f3934369bfba..0000000000000 --- a/common/tier4_target_object_type_rviz_plugin/src/target_object_type_panel.hpp +++ /dev/null @@ -1,60 +0,0 @@ -// Copyright 2023 TIER IV, Inc. All rights reserved. -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. - -#ifndef TARGET_OBJECT_TYPE_PANEL_HPP_ -#define TARGET_OBJECT_TYPE_PANEL_HPP_ - -#include -#include -#include -#include -#include - -#include -#include -#include -#include - -class TargetObjectTypePanel : public rviz_common::Panel -{ - Q_OBJECT - -public: - explicit TargetObjectTypePanel(QWidget * parent = 0); - -protected: - QTableWidget * matrix_widget_; - std::shared_ptr node_; - std::vector modules_; - std::vector targets_; - - struct ParamNameEnableObject - { - std::string node; - std::string ns; - std::unordered_map name; - }; - std::unordered_map param_names_; - -private slots: - void onReloadButtonClicked(); - -private: - QPushButton * reload_button_; - - void updateMatrix(); - void setParameters(); -}; - -#endif // TARGET_OBJECT_TYPE_PANEL_HPP_ diff --git a/common/traffic_light_recognition_marker_publisher/Readme.md b/common/traffic_light_recognition_marker_publisher/Readme.md index 1cafc619ff6fb..6a51499c4e5da 100644 --- a/common/traffic_light_recognition_marker_publisher/Readme.md +++ b/common/traffic_light_recognition_marker_publisher/Readme.md @@ -1,4 +1,4 @@ -# path_distance_calculator +# Traffic Light Recognition Marker Publisher ## Purpose diff --git a/common/tvm_utility/example/yolo_v2_tiny/main.cpp b/common/tvm_utility/example/yolo_v2_tiny/main.cpp index 8a89436170894..8fd0cde3c306d 100644 --- a/common/tvm_utility/example/yolo_v2_tiny/main.cpp +++ b/common/tvm_utility/example/yolo_v2_tiny/main.cpp @@ -200,6 +200,8 @@ class PostProcessorYoloV2Tiny : public tvm_utility::pipeline::PostProcessor class_probabilities{}; float p_total = 0; diff --git a/control/autonomous_emergency_braking/README.md b/control/autonomous_emergency_braking/README.md index 28b7636ba82ac..23f4476d9659d 100644 --- a/control/autonomous_emergency_braking/README.md +++ b/control/autonomous_emergency_braking/README.md @@ -16,6 +16,24 @@ This module has following assumptions. ![aeb_range](./image/range.drawio.svg) +### IMU path generation: steering angle vs IMU's angular velocity + +Currently, the IMU-based path is generated using the angular velocity obtained by the IMU itself. It has been suggested that the steering angle could be used instead onf the angular velocity. + +The pros and cons of both approaches are: + +IMU angular velocity: + +- (+) Usually, it has high accuracy +- (-)Vehicle vibration might introduce noise. + +Steering angle: + +- (+) Not so noisy +- (-) May have a steering offset or a wrong gear ratio, and the steering angle of Autoware and the real steering may not be the same. + +For the moment, there are no plans to implement the steering angle on the path creation process of the AEB module. + ### Limitations - AEB might not be able to react with obstacles that are close to the ground. It depends on the performance of the pre-processing methods applied to the point cloud. @@ -86,20 +104,55 @@ where $v$ and $\omega$ are current longitudinal velocity and angular velocity re ### 3. Get target obstacles from the input point cloud -After generating the ego predicted path, we select target obstacles from the input point cloud. This obstacle filtering has two major steps, which are rough filtering and rigorous filtering. +After generating the ego predicted path, we select target obstacles from the input point cloud. This obstacle filtering has three major steps, which are rough filtering, noise filtering with clustering and rigorous filtering. #### Rough filtering -In rough filtering step, we select target obstacle with simple filter. Create a search area up to a certain distance (default 5[m]) away from the predicted path of the ego vehicle and ignore the point cloud (obstacles) that are not within it. The image of the rough filtering is illustrated below. +In rough filtering step, we select target obstacle with simple filter. Create a search area up to a certain distance (default is half of the ego vehicle width plus the `path_footprint_extra_margin` parameter) away from the predicted path of the ego vehicle and ignore the point cloud that are not within it. The image of the rough filtering is illustrated below. ![rough_filtering](./image/obstacle_filtering_1.drawio.svg) +#### Noise filtering with clustering and convex hulls + +To prevent the AEB from considering noisy points, euclidean clustering is performed on the filtered point cloud. The points in the point cloud that are not close enough to other points to form a cluster are discarded. The parameters `cluster_tolerance`, `minimum_cluster_size` and `maximum_cluster_size` can be used to tune the clustering and the size of objects to be ignored, for more information about the clustering method used by the AEB module, please check the official documentation on euclidean clustering of the PCL library: . + +Furthermore, a 2D convex hull is created around each detected cluster, the vertices of each hull represent the most extreme/outside points of the cluster. These vertices are then checked in the next step. + #### Rigorous filtering -After rough filtering, it performs a geometric collision check to determine whether the filtered obstacles actually have possibility to collide with the ego vehicle. In this check, the ego vehicle is represented as a rectangle, and the point cloud obstacles are represented as points. +After Noise filtering, it performs a geometric collision check to determine whether the filtered obstacles/hull vertices actually have possibility to collide with the ego vehicle. In this check, the ego vehicle is represented as a rectangle, and the point cloud obstacles are represented as points. Only the vertices with a possibility of collision are kept. ![rigorous_filtering](./image/obstacle_filtering_2.drawio.svg) +Finally, the vertex that is closest to the ego vehicle is chosen as the candidate for collision checking: Since rss distance is used to judge if a collision will happen or not, if the closest vertex to the ego is deemed to be safe, the rest of the vertices (and the points in the clusters) will also be safe. + +#### Obstacle velocity estimation + +Once the position of the closest obstacle/point is determined, the AEB modules uses the history of previously detected objects to estimate the closest object speed using the following equations: + +$$ +d_{t} = o_{time stamp} - prev_{time stamp} +$$ + +$$ +d_{pos} = norm(o_{pos} - prev_{pos}) +$$ + +$$ +v_{norm} = d_{pos} / d_{t} +$$ + +Where $o_{time stamp}$ and $prev_{time stamp}$ are the timestamps of the point clouds used to detect the current closest object and the closest object of the previous point cloud frame, and $o_{pos}$ and $prev_{pos}$ are the positions of those objects, respectively. + +Finally, the velocity vector is compared against the ego's predicted path to get the longitudinal velocity $v_{obj}$: + +$$ +v_{obj} = v_{norm} * Cos(yaw_{diff}) + v_{ego} +$$ + +where $yaw_{diff}$ is the difference in yaw between the ego path and the displacement vector $$v_{pos} = o_{pos} - prev_{pos} $$ and $v_{ego}$ is the ego's speed, which accounts for the movement of points caused by the ego moving and not the object. +All these equations are performed disregarding the z axis (in 2D). + ### 4. Collision check with target obstacles In the fourth step, it checks the collision with filtered obstacles using RSS distance. RSS is formulated as: diff --git a/control/autonomous_emergency_braking/config/autonomous_emergency_braking.param.yaml b/control/autonomous_emergency_braking/config/autonomous_emergency_braking.param.yaml index 82d5a4f12e002..68a42383feb1f 100644 --- a/control/autonomous_emergency_braking/config/autonomous_emergency_braking.param.yaml +++ b/control/autonomous_emergency_braking/config/autonomous_emergency_braking.param.yaml @@ -1,22 +1,38 @@ /**: ros__parameters: - publish_debug_pointcloud: false + # Ego path calculation use_predicted_trajectory: true - use_imu_path: true + use_imu_path: false + min_generated_path_length: 0.5 + imu_prediction_time_horizon: 1.5 + imu_prediction_time_interval: 0.1 + mpc_prediction_time_horizon: 1.5 + mpc_prediction_time_interval: 0.1 + + # Debug + publish_debug_pointcloud: false + + # Point cloud partitioning detection_range_min_height: 0.0 detection_range_max_height_margin: 0.0 voxel_grid_x: 0.05 voxel_grid_y: 0.05 voxel_grid_z: 100000.0 - min_generated_path_length: 0.5 + + # Point cloud cropping expand_width: 0.1 + path_footprint_extra_margin: 4.0 + + # Point cloud clustering + cluster_tolerance: 0.1 #[m] + minimum_cluster_size: 10 + maximum_cluster_size: 10000 + + # RSS distance collision check longitudinal_offset: 2.0 t_response: 1.0 a_ego_min: -3.0 a_obj_min: -1.0 - imu_prediction_time_horizon: 1.5 - imu_prediction_time_interval: 0.1 - mpc_prediction_time_horizon: 1.5 - mpc_prediction_time_interval: 0.1 - collision_keeping_sec: 0.0 + collision_keeping_sec: 2.0 + previous_obstacle_keep_time: 1.0 aeb_hz: 10.0 diff --git a/control/autonomous_emergency_braking/include/autonomous_emergency_braking/node.hpp b/control/autonomous_emergency_braking/include/autonomous_emergency_braking/node.hpp index b8aad1c80dfea..27f04603d6a31 100644 --- a/control/autonomous_emergency_braking/include/autonomous_emergency_braking/node.hpp +++ b/control/autonomous_emergency_braking/include/autonomous_emergency_braking/node.hpp @@ -16,8 +16,11 @@ #define AUTONOMOUS_EMERGENCY_BRAKING__NODE_HPP_ #include +#include #include #include +#include +#include #include #include @@ -39,12 +42,13 @@ #include #include +#include +#include #include -#include #include #include +#include #include - namespace autoware::motion::control::autonomous_emergency_braking { @@ -64,7 +68,6 @@ using visualization_msgs::msg::Marker; using visualization_msgs::msg::MarkerArray; using Path = std::vector; using Vector3 = geometry_msgs::msg::Vector3; - struct ObjectData { rclcpp::Time stamp; @@ -79,45 +82,171 @@ class CollisionDataKeeper public: explicit CollisionDataKeeper(rclcpp::Clock::SharedPtr clock) { clock_ = clock; } - void setTimeout(const double timeout_sec) { timeout_sec_ = timeout_sec; } + void setTimeout(const double collision_keep_time, const double previous_obstacle_keep_time) + { + collision_keep_time_ = collision_keep_time; + previous_obstacle_keep_time_ = previous_obstacle_keep_time; + } + + std::pair getTimeout() + { + return {collision_keep_time_, previous_obstacle_keep_time_}; + } - bool checkExpired() + bool checkObjectDataExpired(std::optional & data, const double timeout) { - if (data_ && (clock_->now() - data_->stamp).seconds() > timeout_sec_) { - data_.reset(); + if (!data.has_value()) return true; + const auto now = clock_->now(); + const auto & prev_obj = data.value(); + const auto & data_time_stamp = prev_obj.stamp; + if ((now - data_time_stamp).nanoseconds() * 1e-9 > timeout) { + data = std::nullopt; + return true; } - return (data_ == nullptr); + return false; + } + + bool checkCollisionExpired() + { + return this->checkObjectDataExpired(closest_object_, collision_keep_time_); + } + + bool checkPreviousObjectDataExpired() + { + return this->checkObjectDataExpired(prev_closest_object_, previous_obstacle_keep_time_); + } + + ObjectData get() const + { + return (closest_object_.has_value()) ? closest_object_.value() : ObjectData(); + } + + ObjectData getPreviousObjectData() const + { + return (prev_closest_object_.has_value()) ? prev_closest_object_.value() : ObjectData(); + } + + void setCollisionData(const ObjectData & data) + { + closest_object_ = std::make_optional(data); + } + + void setPreviousObjectData(const ObjectData & data) + { + prev_closest_object_ = std::make_optional(data); } - void update(const ObjectData & data) { data_.reset(new ObjectData(data)); } + void resetVelocityHistory() { obstacle_velocity_history_.clear(); } - ObjectData get() + void updateVelocityHistory( + const double current_object_velocity, const rclcpp::Time & current_object_velocity_time_stamp) { - if (data_) { - return *data_; - } else { - return ObjectData(); + // remove old msg from deque + const auto now = clock_->now(); + obstacle_velocity_history_.erase( + std::remove_if( + obstacle_velocity_history_.begin(), obstacle_velocity_history_.end(), + [&](const auto & velocity_time_pair) { + const auto & vel_time = velocity_time_pair.second; + return ((now - vel_time).nanoseconds() * 1e-9 > previous_obstacle_keep_time_); + }), + obstacle_velocity_history_.end()); + obstacle_velocity_history_.emplace_back( + std::make_pair(current_object_velocity, current_object_velocity_time_stamp)); + } + + std::optional getMedianObstacleVelocity() const + { + if (obstacle_velocity_history_.empty()) return std::nullopt; + std::vector raw_velocities; + for (const auto & vel_time_pair : obstacle_velocity_history_) { + raw_velocities.emplace_back(vel_time_pair.first); + } + + const size_t med1 = (raw_velocities.size() % 2 == 0) ? (raw_velocities.size()) / 2 - 1 + : (raw_velocities.size()) / 2.0; + const size_t med2 = (raw_velocities.size()) / 2.0; + std::nth_element(raw_velocities.begin(), raw_velocities.begin() + med1, raw_velocities.end()); + const double vel1 = raw_velocities.at(med1); + std::nth_element(raw_velocities.begin(), raw_velocities.begin() + med2, raw_velocities.end()); + const double vel2 = raw_velocities.at(med2); + return (vel1 + vel2) / 2.0; + } + + std::optional calcObjectSpeedFromHistory( + const ObjectData & closest_object, const Path & path, const double current_ego_speed) + { + if (this->checkPreviousObjectDataExpired()) { + this->setPreviousObjectData(closest_object); + this->resetVelocityHistory(); + return std::nullopt; + } + + const auto estimated_velocity_opt = std::invoke([&]() -> std::optional { + const auto & prev_object = this->getPreviousObjectData(); + const double p_dt = + (closest_object.stamp.nanoseconds() - prev_object.stamp.nanoseconds()) * 1e-9; + if (p_dt < std::numeric_limits::epsilon()) return std::nullopt; + const auto & nearest_collision_point = closest_object.position; + const auto & prev_collision_point = prev_object.position; + + const double p_dx = nearest_collision_point.x - prev_collision_point.x; + const double p_dy = nearest_collision_point.y - prev_collision_point.y; + const double p_dist = std::hypot(p_dx, p_dy); + const double p_yaw = std::atan2(p_dy, p_dx); + const double p_vel = p_dist / p_dt; + + const auto nearest_idx = motion_utils::findNearestIndex(path, nearest_collision_point); + const auto & nearest_path_pose = path.at(nearest_idx); + const auto & traj_yaw = tf2::getYaw(nearest_path_pose.orientation); + const auto estimated_velocity = p_vel * std::cos(p_yaw - traj_yaw) + current_ego_speed; + + // Current RSS distance calculation does not account for negative velocities + return (estimated_velocity > 0.0) ? estimated_velocity : 0.0; + }); + + if (!estimated_velocity_opt.has_value()) { + return std::nullopt; } + + const auto & estimated_velocity = estimated_velocity_opt.value(); + this->setPreviousObjectData(closest_object); + this->updateVelocityHistory(estimated_velocity, closest_object.stamp); + return this->getMedianObstacleVelocity(); } private: - std::unique_ptr data_; - double timeout_sec_{0.0}; + std::optional prev_closest_object_{std::nullopt}; + std::optional closest_object_{std::nullopt}; + double collision_keep_time_{0.0}; + double previous_obstacle_keep_time_{0.0}; + + std::deque> obstacle_velocity_history_; rclcpp::Clock::SharedPtr clock_; }; +static rclcpp::SensorDataQoS SingleDepthSensorQoS() +{ + rclcpp::SensorDataQoS qos; + qos.get_rmw_qos_profile().depth = 1; + return qos; +} + class AEB : public rclcpp::Node { public: explicit AEB(const rclcpp::NodeOptions & node_options); // subscriber - rclcpp::Subscription::SharedPtr sub_point_cloud_; - rclcpp::Subscription::SharedPtr sub_velocity_; - rclcpp::Subscription::SharedPtr sub_imu_; - rclcpp::Subscription::SharedPtr sub_predicted_traj_; - rclcpp::Subscription::SharedPtr sub_autoware_state_; - + tier4_autoware_utils::InterProcessPollingSubscriber sub_point_cloud_{ + this, "~/input/pointcloud", SingleDepthSensorQoS()}; + tier4_autoware_utils::InterProcessPollingSubscriber sub_velocity_{ + this, "~/input/velocity"}; + tier4_autoware_utils::InterProcessPollingSubscriber sub_imu_{this, "~/input/imu"}; + tier4_autoware_utils::InterProcessPollingSubscriber sub_predicted_traj_{ + this, "~/input/predicted_trajectory"}; + tier4_autoware_utils::InterProcessPollingSubscriber sub_autoware_state_{ + this, "/autoware/state"}; // publisher rclcpp::Publisher::SharedPtr pub_obstacle_pointcloud_; rclcpp::Publisher::SharedPtr debug_ego_path_publisher_; // debug @@ -127,35 +256,46 @@ class AEB : public rclcpp::Node // callback void onPointCloud(const PointCloud2::ConstSharedPtr input_msg); - void onVelocity(const VelocityReport::ConstSharedPtr input_msg); void onImu(const Imu::ConstSharedPtr input_msg); void onTimer(); - void onPredictedTrajectory(const Trajectory::ConstSharedPtr input_msg); - void onAutowareState(const AutowareState::ConstSharedPtr input_msg); + rcl_interfaces::msg::SetParametersResult onParameter( + const std::vector & parameters); - bool isDataReady(); + bool fetchLatestData(); // main function void onCheckCollision(DiagnosticStatusWrapper & stat); bool checkCollision(MarkerArray & debug_markers); - bool hasCollision( - const double current_v, const Path & ego_path, const std::vector & objects); + bool hasCollision(const double current_v, const ObjectData & closest_object); + + Path generateEgoPath(const double curr_v, const double curr_w); + std::optional generateEgoPath(const Trajectory & predicted_traj); + std::vector generatePathFootprint(const Path & path, const double extra_width_margin); + + void createObjectDataUsingPointCloudClusters( + const Path & ego_path, const std::vector & ego_polys, const rclcpp::Time & stamp, + std::vector & objects, + const pcl::PointCloud::Ptr obstacle_points_ptr); + + void cropPointCloudWithEgoFootprintPath( + const std::vector & ego_polys, pcl::PointCloud::Ptr filtered_objects); - Path generateEgoPath(const double curr_v, const double curr_w, std::vector & polygons); - std::optional generateEgoPath( - const Trajectory & predicted_traj, std::vector & polygons); - void createObjectData( + void createObjectDataUsingPointCloudClusters( const Path & ego_path, const std::vector & ego_polys, const rclcpp::Time & stamp, std::vector & objects); + void cropPointCloudWithEgoFootprintPath(const std::vector & ego_polys); void addMarker( const rclcpp::Time & current_time, const Path & path, const std::vector & polygons, - const std::vector & objects, const double color_r, const double color_g, - const double color_b, const double color_a, const std::string & ns, - MarkerArray & debug_markers); + const std::vector & objects, const std::optional & closest_object, + const double color_r, const double color_g, const double color_b, const double color_a, + const std::string & ns, MarkerArray & debug_markers); void addCollisionMarker(const ObjectData & data, MarkerArray & debug_markers); + std::optional calcObjectSpeedFromHistory( + const ObjectData & closest_object, const Path & path, const double current_ego_speed); + PointCloud2::SharedPtr obstacle_ros_pointcloud_ptr_{nullptr}; VelocityReport::ConstSharedPtr current_velocity_ptr_{nullptr}; Vector3::SharedPtr angular_velocity_ptr_{nullptr}; @@ -175,6 +315,7 @@ class AEB : public rclcpp::Node bool publish_debug_pointcloud_; bool use_predicted_trajectory_; bool use_imu_path_; + double path_footprint_extra_margin_; double detection_range_min_height_; double detection_range_max_height_margin_; double voxel_grid_x_; @@ -186,11 +327,16 @@ class AEB : public rclcpp::Node double t_response_; double a_ego_min_; double a_obj_min_; + double cluster_tolerance_; + int minimum_cluster_size_; + int maximum_cluster_size_; double imu_prediction_time_horizon_; double imu_prediction_time_interval_; double mpc_prediction_time_horizon_; double mpc_prediction_time_interval_; CollisionDataKeeper collision_data_keeper_; + // Parameter callback + OnSetParametersCallbackHandle::SharedPtr set_param_res_; }; } // namespace autoware::motion::control::autonomous_emergency_braking diff --git a/control/autonomous_emergency_braking/package.xml b/control/autonomous_emergency_braking/package.xml index 1ac255c21921b..68c070a86dd97 100644 --- a/control/autonomous_emergency_braking/package.xml +++ b/control/autonomous_emergency_braking/package.xml @@ -7,6 +7,7 @@ Takamasa Horibe Tomoya Kimura Mamoru Sobue + Daniel Sanchez Apache License 2.0 diff --git a/control/autonomous_emergency_braking/src/node.cpp b/control/autonomous_emergency_braking/src/node.cpp index 8c830812078b6..71eb92a4e95fb 100644 --- a/control/autonomous_emergency_braking/src/node.cpp +++ b/control/autonomous_emergency_braking/src/node.cpp @@ -14,17 +14,27 @@ #include "autonomous_emergency_braking/node.hpp" -#include +#include +#include #include #include #include +#include +#include +#include #include +#include +#include +#include #include #include +#include +#include +#include +#include #include - #ifdef ROS_DISTRO_GALACTIC #include #include @@ -34,8 +44,6 @@ #include #endif -#include -#include namespace autoware::motion::control::autonomous_emergency_braking { using diagnostic_msgs::msg::DiagnosticStatus; @@ -97,38 +105,22 @@ AEB::AEB(const rclcpp::NodeOptions & node_options) vehicle_info_(vehicle_info_util::VehicleInfoUtil(*this).getVehicleInfo()), collision_data_keeper_(this->get_clock()) { - // Subscribers - sub_point_cloud_ = this->create_subscription( - "~/input/pointcloud", rclcpp::SensorDataQoS(), - std::bind(&AEB::onPointCloud, this, std::placeholders::_1)); - - sub_velocity_ = this->create_subscription( - "~/input/velocity", rclcpp::QoS{1}, std::bind(&AEB::onVelocity, this, std::placeholders::_1)); - - sub_imu_ = this->create_subscription( - "~/input/imu", rclcpp::QoS{1}, std::bind(&AEB::onImu, this, std::placeholders::_1)); - - sub_predicted_traj_ = this->create_subscription( - "~/input/predicted_trajectory", rclcpp::QoS{1}, - std::bind(&AEB::onPredictedTrajectory, this, std::placeholders::_1)); - - sub_autoware_state_ = this->create_subscription( - "/autoware/state", rclcpp::QoS{1}, - std::bind(&AEB::onAutowareState, this, std::placeholders::_1)); - // Publisher - pub_obstacle_pointcloud_ = - this->create_publisher("~/debug/obstacle_pointcloud", 1); - debug_ego_path_publisher_ = this->create_publisher("~/debug/markers", 1); - + { + pub_obstacle_pointcloud_ = + this->create_publisher("~/debug/obstacle_pointcloud", 1); + debug_ego_path_publisher_ = this->create_publisher("~/debug/markers", 1); + } // Diagnostics - updater_.setHardwareID("autonomous_emergency_braking"); - updater_.add("aeb_emergency_stop", this, &AEB::onCheckCollision); - + { + updater_.setHardwareID("autonomous_emergency_braking"); + updater_.add("aeb_emergency_stop", this, &AEB::onCheckCollision); + } // parameter publish_debug_pointcloud_ = declare_parameter("publish_debug_pointcloud"); use_predicted_trajectory_ = declare_parameter("use_predicted_trajectory"); use_imu_path_ = declare_parameter("use_imu_path"); + path_footprint_extra_margin_ = declare_parameter("path_footprint_extra_margin"); detection_range_min_height_ = declare_parameter("detection_range_min_height"); detection_range_max_height_margin_ = declare_parameter("detection_range_max_height_margin"); @@ -141,28 +133,79 @@ AEB::AEB(const rclcpp::NodeOptions & node_options) t_response_ = declare_parameter("t_response"); a_ego_min_ = declare_parameter("a_ego_min"); a_obj_min_ = declare_parameter("a_obj_min"); + + cluster_tolerance_ = declare_parameter("cluster_tolerance"); + minimum_cluster_size_ = declare_parameter("minimum_cluster_size"); + maximum_cluster_size_ = declare_parameter("maximum_cluster_size"); + imu_prediction_time_horizon_ = declare_parameter("imu_prediction_time_horizon"); imu_prediction_time_interval_ = declare_parameter("imu_prediction_time_interval"); mpc_prediction_time_horizon_ = declare_parameter("mpc_prediction_time_horizon"); mpc_prediction_time_interval_ = declare_parameter("mpc_prediction_time_interval"); - const auto collision_keeping_sec = declare_parameter("collision_keeping_sec"); - collision_data_keeper_.setTimeout(collision_keeping_sec); + { // Object history data keeper setup + const auto previous_obstacle_keep_time = + declare_parameter("previous_obstacle_keep_time"); + const auto collision_keeping_sec = declare_parameter("collision_keeping_sec"); + collision_data_keeper_.setTimeout(collision_keeping_sec, previous_obstacle_keep_time); + } + + // Parameter Callback + set_param_res_ = + add_on_set_parameters_callback(std::bind(&AEB::onParameter, this, std::placeholders::_1)); // start time const double aeb_hz = declare_parameter("aeb_hz"); const auto period_ns = rclcpp::Rate(aeb_hz).period(); - timer_ = rclcpp::create_timer(this, get_clock(), period_ns, std::bind(&AEB::onTimer, this)); + timer_ = rclcpp::create_timer(this, this->get_clock(), period_ns, std::bind(&AEB::onTimer, this)); } -void AEB::onTimer() +rcl_interfaces::msg::SetParametersResult AEB::onParameter( + const std::vector & parameters) { - updater_.force_update(); + using tier4_autoware_utils::updateParam; + updateParam(parameters, "publish_debug_pointcloud", publish_debug_pointcloud_); + updateParam(parameters, "use_predicted_trajectory", use_predicted_trajectory_); + updateParam(parameters, "use_imu_path", use_imu_path_); + updateParam(parameters, "path_footprint_extra_margin", path_footprint_extra_margin_); + updateParam(parameters, "detection_range_min_height", detection_range_min_height_); + updateParam( + parameters, "detection_range_max_height_margin", detection_range_max_height_margin_); + updateParam(parameters, "voxel_grid_x", voxel_grid_x_); + updateParam(parameters, "voxel_grid_y", voxel_grid_y_); + updateParam(parameters, "voxel_grid_z", voxel_grid_z_); + updateParam(parameters, "min_generated_path_length", min_generated_path_length_); + updateParam(parameters, "expand_width", expand_width_); + updateParam(parameters, "longitudinal_offset", longitudinal_offset_); + updateParam(parameters, "t_response", t_response_); + updateParam(parameters, "a_ego_min", a_ego_min_); + updateParam(parameters, "a_obj_min", a_obj_min_); + + updateParam(parameters, "cluster_tolerance", cluster_tolerance_); + updateParam(parameters, "minimum_cluster_size", minimum_cluster_size_); + updateParam(parameters, "maximum_cluster_size", maximum_cluster_size_); + + updateParam(parameters, "imu_prediction_time_horizon", imu_prediction_time_horizon_); + updateParam(parameters, "imu_prediction_time_interval", imu_prediction_time_interval_); + updateParam(parameters, "mpc_prediction_time_horizon", mpc_prediction_time_horizon_); + updateParam(parameters, "mpc_prediction_time_interval", mpc_prediction_time_interval_); + + { // Object history data keeper setup + auto [previous_obstacle_keep_time, collision_keeping_sec] = collision_data_keeper_.getTimeout(); + updateParam(parameters, "previous_obstacle_keep_time", previous_obstacle_keep_time); + updateParam(parameters, "collision_keeping_sec", collision_keeping_sec); + collision_data_keeper_.setTimeout(collision_keeping_sec, previous_obstacle_keep_time); + } + + rcl_interfaces::msg::SetParametersResult result; + result.successful = true; + result.reason = "success"; + return result; } -void AEB::onVelocity(const VelocityReport::ConstSharedPtr input_msg) +void AEB::onTimer() { - current_velocity_ptr_ = input_msg; + updater_.force_update(); } void AEB::onImu(const Imu::ConstSharedPtr input_msg) @@ -184,17 +227,6 @@ void AEB::onImu(const Imu::ConstSharedPtr input_msg) tf2::doTransform(input_msg->angular_velocity, *angular_velocity_ptr_, transform_stamped); } -void AEB::onPredictedTrajectory( - const autoware_auto_planning_msgs::msg::Trajectory::ConstSharedPtr input_msg) -{ - predicted_traj_ptr_ = input_msg; -} - -void AEB::onAutowareState(const AutowareState::ConstSharedPtr input_msg) -{ - autoware_state_ = input_msg; -} - void AEB::onPointCloud(const PointCloud2::ConstSharedPtr input_msg) { PointCloud::Ptr pointcloud_ptr(new PointCloud); @@ -242,36 +274,50 @@ void AEB::onPointCloud(const PointCloud2::ConstSharedPtr input_msg) filter.filter(*no_height_filtered_pointcloud_ptr); obstacle_ros_pointcloud_ptr_ = std::make_shared(); + pcl::toROSMsg(*no_height_filtered_pointcloud_ptr, *obstacle_ros_pointcloud_ptr_); obstacle_ros_pointcloud_ptr_->header = input_msg->header; - if (publish_debug_pointcloud_) { - pub_obstacle_pointcloud_->publish(*obstacle_ros_pointcloud_ptr_); - } } -bool AEB::isDataReady() +bool AEB::fetchLatestData() { const auto missing = [this](const auto & name) { RCLCPP_INFO_SKIPFIRST_THROTTLE(get_logger(), *get_clock(), 5000, "[AEB] waiting for %s", name); return false; }; + current_velocity_ptr_ = sub_velocity_.takeData(); if (!current_velocity_ptr_) { return missing("ego velocity"); } + const auto pointcloud_ptr = sub_point_cloud_.takeData(); + if (!pointcloud_ptr) { + return missing("object pointcloud message"); + } + onPointCloud(pointcloud_ptr); if (!obstacle_ros_pointcloud_ptr_) { return missing("object pointcloud"); } + const auto imu_ptr = sub_imu_.takeData(); + if (use_imu_path_) { + if (!imu_ptr) { + return missing("imu message"); + } + // imu_ptr is valid + onImu(imu_ptr); + } if (use_imu_path_ && !angular_velocity_ptr_) { return missing("imu"); } + predicted_traj_ptr_ = sub_predicted_traj_.takeData(); if (use_predicted_trajectory_ && !predicted_traj_ptr_) { return missing("control predicted trajectory"); } + autoware_state_ = sub_autoware_state_.takeData(); if (!autoware_state_) { return missing("autoware_state"); } @@ -284,13 +330,14 @@ void AEB::onCheckCollision(DiagnosticStatusWrapper & stat) MarkerArray debug_markers; checkCollision(debug_markers); - if (!collision_data_keeper_.checkExpired()) { + if (!collision_data_keeper_.checkCollisionExpired()) { const std::string error_msg = "[AEB]: Emergency Brake"; const auto diag_level = DiagnosticStatus::ERROR; stat.summary(diag_level, error_msg); const auto & data = collision_data_keeper_.get(); stat.addf("RSS", "%.2f", data.rss); stat.addf("Distance", "%.2f", data.distance_to_object); + stat.addf("Object Speed", "%.2f", data.velocity); addCollisionMarker(data, debug_markers); } else { const std::string error_msg = "[AEB]: No Collision"; @@ -304,8 +351,10 @@ void AEB::onCheckCollision(DiagnosticStatusWrapper & stat) bool AEB::checkCollision(MarkerArray & debug_markers) { + using colorTuple = std::tuple; + // step1. check data - if (!isDataReady()) { + if (!fetchLatestData()) { return false; } @@ -320,86 +369,114 @@ bool AEB::checkCollision(MarkerArray & debug_markers) return false; } - // step3. create ego path based on sensor data - bool has_collision_ego = false; - if (use_imu_path_) { - std::vector ego_polys; - const double current_w = angular_velocity_ptr_->z; - constexpr double color_r = 0.0 / 256.0; - constexpr double color_g = 148.0 / 256.0; - constexpr double color_b = 205.0 / 256.0; - constexpr double color_a = 0.999; - const auto current_time = get_clock()->now(); - const auto ego_path = generateEgoPath(current_v, current_w, ego_polys); - std::vector objects; - createObjectData(ego_path, ego_polys, current_time, objects); - has_collision_ego = hasCollision(current_v, ego_path, objects); - - std::string ns = "ego"; - addMarker( - current_time, ego_path, ego_polys, objects, color_r, color_g, color_b, color_a, ns, - debug_markers); - } - - // step4. transform predicted trajectory from control module - bool has_collision_predicted = false; - if (use_predicted_trajectory_) { - std::vector predicted_polys; - const auto predicted_traj_ptr = predicted_traj_ptr_; - constexpr double color_r = 0.0; - constexpr double color_g = 100.0 / 256.0; - constexpr double color_b = 0.0; - constexpr double color_a = 0.999; - const auto current_time = predicted_traj_ptr->header.stamp; - const auto predicted_path_opt = generateEgoPath(*predicted_traj_ptr, predicted_polys); - if (predicted_path_opt) { - const auto & predicted_path = predicted_path_opt.value(); - std::vector objects; - createObjectData(predicted_path, predicted_polys, current_time, objects); - has_collision_predicted = hasCollision(current_v, predicted_path, objects); - - std::string ns = "predicted"; + auto check_collision = [&]( + const auto & path, const colorTuple & debug_colors, + const std::string & debug_ns, + pcl::PointCloud::Ptr filtered_objects) { + // Crop out Pointcloud using an extra wide ego path + const auto expanded_ego_polys = + generatePathFootprint(path, expand_width_ + path_footprint_extra_margin_); + cropPointCloudWithEgoFootprintPath(expanded_ego_polys, filtered_objects); + + // Check which points of the cropped point cloud are on the ego path, and get the closest one + std::vector objects_from_point_clusters; + const auto ego_polys = generatePathFootprint(path, expand_width_); + const auto current_time = obstacle_ros_pointcloud_ptr_->header.stamp; + createObjectDataUsingPointCloudClusters( + path, ego_polys, current_time, objects_from_point_clusters, filtered_objects); + + // Get only the closest object and calculate its speed + const auto closest_object_point = std::invoke([&]() -> std::optional { + const auto closest_object_point_itr = std::min_element( + objects_from_point_clusters.begin(), objects_from_point_clusters.end(), + [](const auto & o1, const auto & o2) { + return o1.distance_to_object < o2.distance_to_object; + }); + + if (closest_object_point_itr == objects_from_point_clusters.end()) { + return std::nullopt; + } + const auto closest_object_speed = collision_data_keeper_.calcObjectSpeedFromHistory( + *closest_object_point_itr, path, current_v); + if (!closest_object_speed.has_value()) { + return std::nullopt; + } + closest_object_point_itr->velocity = closest_object_speed.value(); + return std::make_optional(*closest_object_point_itr); + }); + + // Add debug markers + { + const auto [color_r, color_g, color_b, color_a] = debug_colors; addMarker( - current_time, predicted_path, predicted_polys, objects, color_r, color_g, color_b, color_a, - ns, debug_markers); + this->get_clock()->now(), path, ego_polys, objects_from_point_clusters, + closest_object_point, color_r, color_g, color_b, color_a, debug_ns, debug_markers); } - } + // check collision using rss distance + return (closest_object_point.has_value()) + ? hasCollision(current_v, closest_object_point.value()) + : false; + }; - return has_collision_ego || has_collision_predicted; + // step3. make function to check collision with ego path created with sensor data + const auto has_collision_ego = [&](pcl::PointCloud::Ptr filtered_objects) -> bool { + if (!use_imu_path_) return false; + const double current_w = angular_velocity_ptr_->z; + constexpr colorTuple debug_color = {0.0 / 256.0, 148.0 / 256.0, 205.0 / 256.0, 0.999}; + const std::string ns = "ego"; + const auto ego_path = generateEgoPath(current_v, current_w); + + return check_collision(ego_path, debug_color, ns, filtered_objects); + }; + + // step4. make function to check collision with predicted trajectory from control module + const auto has_collision_predicted = + [&](pcl::PointCloud::Ptr filtered_objects) -> bool { + if (!use_predicted_trajectory_ || !predicted_traj_ptr_) return false; + const auto predicted_traj_ptr = predicted_traj_ptr_; + const auto predicted_path_opt = generateEgoPath(*predicted_traj_ptr); + + if (!predicted_path_opt) return false; + constexpr colorTuple debug_color = {0.0 / 256.0, 100.0 / 256.0, 0.0 / 256.0, 0.999}; + const std::string ns = "predicted"; + const auto & predicted_path = predicted_path_opt.value(); + + return check_collision(predicted_path, debug_color, ns, filtered_objects); + }; + + // Data of filtered point cloud + pcl::PointCloud::Ptr filtered_objects(new PointCloud); + // evaluate if there is a collision for both paths + const bool has_collision = + has_collision_ego(filtered_objects) || has_collision_predicted(filtered_objects); + + // Debug print + if (!filtered_objects->empty() && publish_debug_pointcloud_) { + const auto filtered_objects_ros_pointcloud_ptr_ = std::make_shared(); + pcl::toROSMsg(*filtered_objects, *filtered_objects_ros_pointcloud_ptr_); + pub_obstacle_pointcloud_->publish(*filtered_objects_ros_pointcloud_ptr_); + } + return has_collision; } -bool AEB::hasCollision( - const double current_v, const Path & ego_path, const std::vector & objects) +bool AEB::hasCollision(const double current_v, const ObjectData & closest_object) { - // calculate RSS - const auto current_p = tier4_autoware_utils::createPoint( - ego_path[0].position.x, ego_path[0].position.y, ego_path[0].position.z); + const double & obj_v = closest_object.velocity; const double & t = t_response_; - for (const auto & obj : objects) { - const double & obj_v = obj.velocity; - const double rss_dist = current_v * t + (current_v * current_v) / (2 * std::fabs(a_ego_min_)) - - obj_v * obj_v / (2 * std::fabs(a_obj_min_)) + longitudinal_offset_; - - // check the object is front the ego or not - if ((obj.position.x - ego_path[0].position.x) > 0) { - const double dist_ego_to_object = - motion_utils::calcSignedArcLength(ego_path, current_p, obj.position) - - vehicle_info_.max_longitudinal_offset_m; - if (dist_ego_to_object < rss_dist) { - // collision happens - ObjectData collision_data = obj; - collision_data.rss = rss_dist; - collision_data.distance_to_object = dist_ego_to_object; - collision_data_keeper_.update(collision_data); - return true; - } - } + const double rss_dist = current_v * t + (current_v * current_v) / (2 * std::fabs(a_ego_min_)) - + obj_v * obj_v / (2 * std::fabs(a_obj_min_)) + longitudinal_offset_; + if (closest_object.distance_to_object < rss_dist) { + // collision happens + ObjectData collision_data = closest_object; + collision_data.rss = rss_dist; + collision_data.distance_to_object = closest_object.distance_to_object; + collision_data_keeper_.setCollisionData(collision_data); + return true; } return false; } -Path AEB::generateEgoPath( - const double curr_v, const double curr_w, std::vector & polygons) +Path AEB::generateEgoPath(const double curr_v, const double curr_w) { Path path; double curr_x = 0.0; @@ -444,17 +521,10 @@ Path AEB::generateEgoPath( } path.push_back(current_pose); } - - // generate ego polygons - polygons.resize(path.size() - 1); - for (size_t i = 0; i < path.size() - 1; ++i) { - polygons.at(i) = createPolygon(path.at(i), path.at(i + 1), vehicle_info_, expand_width_); - } return path; } -std::optional AEB::generateEgoPath( - const Trajectory & predicted_traj, std::vector & polygons) +std::optional AEB::generateEgoPath(const Trajectory & predicted_traj) { if (predicted_traj.points.empty()) { return std::nullopt; @@ -482,35 +552,82 @@ std::optional AEB::generateEgoPath( break; } } - // create polygon - polygons.resize(path.size()); + return path; +} + +std::vector AEB::generatePathFootprint( + const Path & path, const double extra_width_margin) +{ + std::vector polygons; for (size_t i = 0; i < path.size() - 1; ++i) { - polygons.at(i) = createPolygon(path.at(i), path.at(i + 1), vehicle_info_, expand_width_); + polygons.push_back( + createPolygon(path.at(i), path.at(i + 1), vehicle_info_, extra_width_margin)); } - return path; + return polygons; } -void AEB::createObjectData( - const Path & ego_path, const std::vector & ego_polys, - const rclcpp::Time & stamp, std::vector & objects) +void AEB::createObjectDataUsingPointCloudClusters( + const Path & ego_path, const std::vector & ego_polys, const rclcpp::Time & stamp, + std::vector & objects, const pcl::PointCloud::Ptr obstacle_points_ptr) { // check if the predicted path has valid number of points - if (ego_path.size() < 2 || ego_polys.empty()) { + if (ego_path.size() < 2 || ego_polys.empty() || obstacle_points_ptr->empty()) { return; } - PointCloud::Ptr obstacle_points_ptr(new PointCloud); - pcl::fromROSMsg(*obstacle_ros_pointcloud_ptr_, *obstacle_points_ptr); - for (const auto & point : obstacle_points_ptr->points) { + // eliminate noisy points by only considering points belonging to clusters of at least a certain + // size + const std::vector cluster_indices = std::invoke([&]() { + std::vector cluster_idx; + pcl::search::KdTree::Ptr tree(new pcl::search::KdTree); + tree->setInputCloud(obstacle_points_ptr); + pcl::EuclideanClusterExtraction ec; + ec.setClusterTolerance(cluster_tolerance_); + ec.setMinClusterSize(minimum_cluster_size_); + ec.setMaxClusterSize(maximum_cluster_size_); + ec.setSearchMethod(tree); + ec.setInputCloud(obstacle_points_ptr); + ec.extract(cluster_idx); + return cluster_idx; + }); + + PointCloud::Ptr points_belonging_to_cluster_hulls(new PointCloud); + for (const auto & indices : cluster_indices) { + PointCloud::Ptr cluster(new PointCloud); + for (const auto & index : indices.indices) { + cluster->push_back((*obstacle_points_ptr)[index]); + } + // Make a 2d convex hull for the objects + pcl::ConvexHull hull; + hull.setDimension(2); + hull.setInputCloud(cluster); + std::vector polygons; + PointCloud::Ptr surface_hull(new pcl::PointCloud); + hull.reconstruct(*surface_hull, polygons); + for (const auto & p : *surface_hull) { + points_belonging_to_cluster_hulls->push_back(p); + } + } + + // select points inside the ego footprint path + const auto current_p = tier4_autoware_utils::createPoint( + ego_path[0].position.x, ego_path[0].position.y, ego_path[0].position.z); + + for (const auto & p : *points_belonging_to_cluster_hulls) { + const auto obj_position = tier4_autoware_utils::createPoint(p.x, p.y, p.z); + const double dist_ego_to_object = + motion_utils::calcSignedArcLength(ego_path, current_p, obj_position) - + vehicle_info_.max_longitudinal_offset_m; + // objects behind ego are ignored + if (dist_ego_to_object < 0.0) continue; + ObjectData obj; obj.stamp = stamp; - obj.position = tier4_autoware_utils::createPoint(point.x, point.y, point.z); + obj.position = obj_position; obj.velocity = 0.0; - const Point2d obj_point(point.x, point.y); - const double lat_dist = motion_utils::calcLateralOffset(ego_path, obj.position); - if (lat_dist > 5.0) { - continue; - } + obj.distance_to_object = dist_ego_to_object; + + const Point2d obj_point(p.x, p.y); for (const auto & ego_poly : ego_polys) { if (bg::within(obj_point, ego_poly)) { objects.push_back(obj); @@ -520,10 +637,41 @@ void AEB::createObjectData( } } +void AEB::cropPointCloudWithEgoFootprintPath( + const std::vector & ego_polys, pcl::PointCloud::Ptr filtered_objects) +{ + PointCloud::Ptr full_points_ptr(new PointCloud); + pcl::fromROSMsg(*obstacle_ros_pointcloud_ptr_, *full_points_ptr); + // Create a Point cloud with the points of the ego footprint + PointCloud::Ptr path_polygon_points(new PointCloud); + std::for_each(ego_polys.begin(), ego_polys.end(), [&](const auto & poly) { + std::for_each(poly.outer().begin(), poly.outer().end(), [&](const auto & p) { + pcl::PointXYZ point(p.x(), p.y(), 0.0); + path_polygon_points->push_back(point); + }); + }); + // Make a surface hull with the ego footprint to filter out points + pcl::ConvexHull hull; + hull.setDimension(2); + hull.setInputCloud(path_polygon_points); + std::vector polygons; + pcl::PointCloud::Ptr surface_hull(new pcl::PointCloud); + hull.reconstruct(*surface_hull, polygons); + // Filter out points outside of the path's convex hull + pcl::CropHull path_polygon_hull_filter; + path_polygon_hull_filter.setDim(2); + path_polygon_hull_filter.setInputCloud(full_points_ptr); + path_polygon_hull_filter.setHullIndices(polygons); + path_polygon_hull_filter.setHullCloud(surface_hull); + path_polygon_hull_filter.filter(*filtered_objects); + filtered_objects->header.stamp = full_points_ptr->header.stamp; +} + void AEB::addMarker( const rclcpp::Time & current_time, const Path & path, const std::vector & polygons, - const std::vector & objects, const double color_r, const double color_g, - const double color_b, const double color_a, const std::string & ns, MarkerArray & debug_markers) + const std::vector & objects, const std::optional & closest_object, + const double color_r, const double color_g, const double color_b, const double color_a, + const std::string & ns, MarkerArray & debug_markers) { auto path_marker = tier4_autoware_utils::createDefaultMarker( "base_link", current_time, ns + "_path", 0L, Marker::LINE_STRIP, @@ -553,12 +701,29 @@ void AEB::addMarker( auto object_data_marker = tier4_autoware_utils::createDefaultMarker( "base_link", current_time, ns + "_objects", 0, Marker::SPHERE_LIST, - tier4_autoware_utils::createMarkerScale(0.05, 0.05, 0.05), + tier4_autoware_utils::createMarkerScale(0.5, 0.5, 0.5), tier4_autoware_utils::createMarkerColor(color_r, color_g, color_b, color_a)); for (const auto & e : objects) { object_data_marker.points.push_back(e.position); } debug_markers.markers.push_back(object_data_marker); + + // Visualize planner type text + if (closest_object.has_value()) { + const auto & obj = closest_object.value(); + const auto color = tier4_autoware_utils::createMarkerColor(0.95, 0.95, 0.95, 0.999); + auto closest_object_velocity_marker_array = tier4_autoware_utils::createDefaultMarker( + "base_link", obj.stamp, ns + "_closest_object_velocity", 0, + visualization_msgs::msg::Marker::TEXT_VIEW_FACING, + tier4_autoware_utils::createMarkerScale(0.0, 0.0, 0.7), color); + closest_object_velocity_marker_array.pose.position = obj.position; + const auto ego_velocity = current_velocity_ptr_->longitudinal_velocity; + closest_object_velocity_marker_array.text = + "Object velocity: " + std::to_string(obj.velocity) + " [m/s]\n"; + closest_object_velocity_marker_array.text += + "Object relative velocity to ego: " + std::to_string(obj.velocity - ego_velocity) + " [m/s]"; + debug_markers.markers.push_back(closest_object_velocity_marker_array); + } } void AEB::addCollisionMarker(const ObjectData & data, MarkerArray & debug_markers) diff --git a/control/control_performance_analysis/src/control_performance_analysis_core.cpp b/control/control_performance_analysis/src/control_performance_analysis_core.cpp index 1ceef81e10c56..f4ed125956bfa 100644 --- a/control/control_performance_analysis/src/control_performance_analysis_core.cpp +++ b/control/control_performance_analysis/src/control_performance_analysis_core.cpp @@ -401,7 +401,7 @@ std::pair ControlPerformanceAnalysisCore::calculateClosestPose() if ( !interpolated_pose_ptr_ || !interpolated_velocity_ptr_ || !interpolated_acceleration_ptr_ || !interpolated_steering_angle_ptr_) { - std::make_pair(false, interp_point.pose); + return std::make_pair(false, interp_point.pose); } return std::make_pair(true, interp_point.pose); diff --git a/control/lane_departure_checker/README.md b/control/lane_departure_checker/README.md index 67b770aefb3d2..4a6592a103f2f 100644 --- a/control/lane_departure_checker/README.md +++ b/control/lane_departure_checker/README.md @@ -93,6 +93,7 @@ This package includes the following features: | Name | Type | Description | Default value | | :------------------------- | :----- | :--------------------------------------------------------------------------------- | :------------ | | footprint_margin_scale | double | Coefficient for expanding footprint margin. Multiplied by 1 standard deviation. | 1.0 | +| footprint_extra_margin | double | Coefficient for expanding footprint margin. When checking for lane departure | 0.0 | | resample_interval | double | Minimum Euclidean distance between points when resample trajectory.[m] | 0.3 | | max_deceleration | double | Maximum deceleration when calculating braking distance. | 2.8 | | delay_time | double | Delay time which took to actuate brake when calculating braking distance. [second] | 1.3 | diff --git a/control/lane_departure_checker/config/lane_departure_checker.param.yaml b/control/lane_departure_checker/config/lane_departure_checker.param.yaml index f0a8df21c425b..2724c28e2536a 100644 --- a/control/lane_departure_checker/config/lane_departure_checker.param.yaml +++ b/control/lane_departure_checker/config/lane_departure_checker.param.yaml @@ -17,6 +17,7 @@ # Core footprint_margin_scale: 1.0 + footprint_extra_margin: 0.0 resample_interval: 0.3 max_deceleration: 2.8 delay_time: 1.3 diff --git a/control/lane_departure_checker/include/lane_departure_checker/lane_departure_checker.hpp b/control/lane_departure_checker/include/lane_departure_checker/lane_departure_checker.hpp index c658cf4497973..b95c0a4b26e5c 100644 --- a/control/lane_departure_checker/include/lane_departure_checker/lane_departure_checker.hpp +++ b/control/lane_departure_checker/include/lane_departure_checker/lane_departure_checker.hpp @@ -60,6 +60,7 @@ typedef boost::geometry::index::rtree LaneDepartureChecker::createVehicleFootprints( const PathWithLaneId & path) const { // Create vehicle footprint in base_link coordinate - const auto local_vehicle_footprint = vehicle_info_ptr_->createFootprint(); + const auto local_vehicle_footprint = + vehicle_info_ptr_->createFootprint(param_.footprint_extra_margin); // Create vehicle footprint on each Path point std::vector vehicle_footprints; diff --git a/control/lane_departure_checker/src/lane_departure_checker_node/lane_departure_checker_node.cpp b/control/lane_departure_checker/src/lane_departure_checker_node/lane_departure_checker_node.cpp index 06d11133920f4..4d6c86990c399 100644 --- a/control/lane_departure_checker/src/lane_departure_checker_node/lane_departure_checker_node.cpp +++ b/control/lane_departure_checker/src/lane_departure_checker_node/lane_departure_checker_node.cpp @@ -150,6 +150,7 @@ LaneDepartureCheckerNode::LaneDepartureCheckerNode(const rclcpp::NodeOptions & o // Core Parameter param_.footprint_margin_scale = declare_parameter("footprint_margin_scale"); + param_.footprint_extra_margin = declare_parameter("footprint_extra_margin"); param_.resample_interval = declare_parameter("resample_interval"); param_.max_deceleration = declare_parameter("max_deceleration"); param_.delay_time = declare_parameter("delay_time"); @@ -403,6 +404,7 @@ rcl_interfaces::msg::SetParametersResult LaneDepartureCheckerNode::onParameter( // Core update_param(parameters, "footprint_margin_scale", param_.footprint_margin_scale); + update_param(parameters, "footprint_extra_margin", param_.footprint_extra_margin); update_param(parameters, "resample_interval", param_.resample_interval); update_param(parameters, "max_deceleration", param_.max_deceleration); update_param(parameters, "delay_time", param_.delay_time); diff --git a/control/smart_mpc_trajectory_follower/.gitignore b/control/smart_mpc_trajectory_follower/.gitignore new file mode 100644 index 0000000000000..d914a0aa99e5a --- /dev/null +++ b/control/smart_mpc_trajectory_follower/.gitignore @@ -0,0 +1,3 @@ +# Files generated when installing smart_mpc_trajectory_follower +build/ +*.egg-info/ diff --git a/control/smart_mpc_trajectory_follower/CMakeLists.txt b/control/smart_mpc_trajectory_follower/CMakeLists.txt new file mode 100644 index 0000000000000..7aecab2597dcd --- /dev/null +++ b/control/smart_mpc_trajectory_follower/CMakeLists.txt @@ -0,0 +1,13 @@ +cmake_minimum_required(VERSION 3.14) +project(smart_mpc_trajectory_follower) + +find_package(autoware_cmake REQUIRED) +autoware_package() + +install(PROGRAMS + smart_mpc_trajectory_follower/scripts/pympc_trajectory_follower.py + DESTINATION lib/${PROJECT_NAME} +) +ament_auto_package( + INSTALL_TO_SHARE +) diff --git a/control/smart_mpc_trajectory_follower/README.md b/control/smart_mpc_trajectory_follower/README.md new file mode 100644 index 0000000000000..8fcc13142d68b --- /dev/null +++ b/control/smart_mpc_trajectory_follower/README.md @@ -0,0 +1,338 @@ +

+ + + +

+ + +# Smart MPC Trajectory Follower + +Smart MPC (Model Predictive Control) is a control algorithm that combines model predictive control and machine learning. While inheriting the advantages of model predictive control, it solves its disadvantage of modeling difficulty with a data-driven method using machine learning. + +This technology makes it relatively easy to operate model predictive control, which is expensive to implement, as long as an environment for collecting data can be prepared. + +

+ + + +

+ +## Setup + +After building autoware, move to `control/smart_mpc_trajectory_follower` and run the following command: + +```bash +pip3 install . +``` + +If you have already installed and want to update the package, run the following command instead: + +```bash +pip3 install -U . +``` + +## Provided features + +This package provides smart MPC logic for path-following control as well as mechanisms for learning and evaluation. These features are described below. + +### Trajectory following control based on iLQR/MPPI + +The control mode can be selected from "ilqr", "mppi", or "mppi_ilqr", and can be set as `mpc_parameter:system:mode` in [mpc_param.yaml](./smart_mpc_trajectory_follower/param/mpc_param.yaml). +In "mppi_ilqr" mode, the initial value of iLQR is given by the MPPI solution. + +> [!NOTE] +> With the default settings, the performance of "mppi" mode is limited due to an insufficient number of samples. This issue is being addressed with ongoing work to introduce GPU support. + +To perform a simulation, run the following command: + +```bash +ros2 launch autoware_launch planning_simulator.launch.xml map_path:=$HOME/autoware_map/sample-map-planning vehicle_model:=sample_vehicle sensor_model:=sample_sensor_kit trajectory_follower_mode:=smart_mpc_trajectory_follower +``` + +> [!NOTE] +> When running with the nominal model set in [nominal_param.yaml](./smart_mpc_trajectory_follower/param/nominal_param.yaml), set `trained_model_parameter:control_application:use_trained_model` to `false` in [trained_model_param.yaml](./smart_mpc_trajectory_follower/param/trained_model_param.yaml). To run using the trained model, set `trained_model_parameter:control_application:use_trained_model` to `true`, but the trained model must have been generated according to the following procedure. + +### Training of model and reflection in control + +To obtain training data, start autoware, perform a drive, and record rosbag data with the following commands. + +```bash +ros2 bag record /localization/kinematic_state /localization/acceleration /vehicle/status/steering_status /control/command/control_cmd /control/trajectory_follower/control_cmd /control/trajectory_follower/lane_departure_checker_node/debug/deviation/lateral /control/trajectory_follower/lane_departure_checker_node/debug/deviation/yaw /system/operation_mode/state /vehicle/status/control_mode /sensing/imu/imu_data /debug_mpc_x_des /debug_mpc_y_des /debug_mpc_v_des /debug_mpc_yaw_des /debug_mpc_acc_des /debug_mpc_steer_des /debug_mpc_X_des_converted /debug_mpc_x_current /debug_mpc_error_prediction /debug_mpc_max_trajectory_err /debug_mpc_emergency_stop_mode /debug_mpc_goal_stop_mode /debug_mpc_total_ctrl_time /debug_mpc_calc_u_opt_time +``` + +Move [rosbag2.bash](./smart_mpc_trajectory_follower/training_and_data_check/rosbag2.bash) to the rosbag directory recorded above and execute the following command on the directory + +```bash +bash rosbag2.bash +``` + +This converts rosbag data into CSV format for training models. + +> [!NOTE] +> Note that a large number of terminals are automatically opened at runtime, but they are automatically closed after rosbag data conversion is completed. +> From the time you begin this process until all terminals are closed, autoware should not be running. + +Instead, the same result can be obtained by executing the following command in a python environment: + +```python +from smart_mpc_trajectory_follower.training_and_data_check import train_drive_NN_model +model_trainer = train_drive_NN_model.train_drive_NN_model() +model_trainer.transform_rosbag_to_csv(rosbag_dir) +``` + +Here, `rosbag_dir` represents the rosbag directory. +At this time, all CSV files in `rosbag_dir` are automatically deleted first. + +The paths of the rosbag directories used for training, `dir_0`, `dir_1`, `dir_2`,... and the directory `save_dir` where you save the models, the model can be saved in the python environment as follows: + +```python +from smart_mpc_trajectory_follower.training_and_data_check import train_drive_NN_model +model_trainer = train_drive_NN_model.train_drive_NN_model() +model_trainer.add_data_from_csv(dir_0) +model_trainer.add_data_from_csv(dir_1) +model_trainer.add_data_from_csv(dir_2) +... +model_trainer.get_trained_model() +model_trainer.save_models(save_dir) +``` + +After performing the polynomial regression, the NN can be trained on the residuals as follows: + +```python +model_trainer.get_trained_model(use_polynomial_reg=True) +``` + +> [!NOTE] +> In the default setting, regression is performed by several preselected polynomials. +> When `use_selected_polynomial=False` is set as the argument of get_trained_model, the `deg` argument allows setting the maximum degree of the polynomial to be used. + +If only polynomial regression is performed and no NN model is used, run the following command: + +```python +model_trainer.get_trained_model(use_polynomial_reg=True,force_NN_model_to_zero=True) +``` + +Move `model_for_test_drive.pth` and `polynomial_reg_info.npz` saved in `save_dir` to the home directory and set `trained_model_parameter:control_application:use_trained_model` in [trained_model_param.yaml](./smart_mpc_trajectory_follower/param/trained_model_param.yaml) to `true` to reflect the trained model in the control. + +### Performance evaluation + +Here, as an example, we describe the verification of the adaptive performance when the wheel base of the sample_vehicle is 2.79 m, but an incorrect value of 2.0 m is given to the controller side. +To give the controller 2.0 m as the wheel base, set the value of `nominal_parameter:vehicle_info:wheel_base` in [nominal_param.yaml](./smart_mpc_trajectory_follower/param/nominal_param.yaml) to 2.0, and run the following command: + +```bash +python3 -m smart_mpc_trajectory_follower.clear_pycache +``` + +#### Test on autoware + +To perform a control test on autoware with the nominal model before training, make sure that `trained_model_parameter:control_application:use_trained_model` in [trained_model_param.yaml](./smart_mpc_trajectory_follower/param/trained_model_param.yaml) is `false` and launch autoware in the manner described in "Trajectory following control based on iLQR/MPPI". This time, the following route will be used for the test: + +

+ +Record rosbag and train the model in the manner described in "Training of model and reflection in control", and move the generated files `model_for_test_drive.pth` and `polynomial_reg_info.npz` to the home directory. + +> [!NOTE] +> Although the data used for training is small, for the sake of simplicity, we will see how much performance can be improved with this amount of data. + +To control using the trained model obtained here, set `trained_model_parameter:control_application:use_trained_model` to `true`, start autoware in the same way, and drive the same route recording rosbag. +After the driving is complete, convert the rosbag file to CSV format using the method described in "Training of model and reflection in control". +A plot of the lateral deviation is obtained by running the `lateral_error_visualize` function in `control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/training_and_data_check/data_checker.ipynb` for the nominal and training model rosbag files `rosbag_nominal` and `rosbag_trained`, respectively, as follows: + +```python +lateral_error_visualize(dir_name=rosbag_nominal,ylim=[-1.2,1.2]) +lateral_error_visualize(dir_name=rosbag_trained,ylim=[-1.2,1.2]) +``` + +The following results were obtained. + +
+ + +
+ +#### Test on python simulator + +First, to give wheel base 2.79 m in the python simulator, create the following file and save it in `control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/python_simulator` with the name `sim_setting.json`: + +```json +{ "wheel_base": 2.79 } +``` + +Next, run the following commands to test the slalom driving on the python simulator with the nominal model: + +```python +import python_simulator +from smart_mpc_trajectory_follower.training_and_data_check import train_drive_NN_model +initial_error = [0.0, 0.03, 0.01, -0.01, 0.0, 0.0] +save_dir = "test_python_sim" +python_simulator.slalom_drive(save_dir=save_dir,use_trained_model=False,initial_error=initial_error) +``` + +Here, `initial_error` is the initial error from the target trajectory, in the order of x-coordinate, y-coordinate, longitudinal velocity, yaw angle, longitudinal acceleration, and steer angle, +and `save_dir` is the directory where the driving test results are saved. + +> [!NOTE] +> The value of `use_trained_model` given as the argument of `python_simulator.slalom_drive` takes precedence over the value of `trained_model_parameter:control_application:use_trained_model` in [trained_model_param.yaml](./smart_mpc_trajectory_follower/param/trained_model_param.yaml). + +Run the following commands to perform training using driving data of the nominal model. + +```python +model_trainer = train_drive_NN_model.train_drive_NN_model() +model_trainer.add_data_from_csv(save_dir) +model_trainer.save_train_data(save_dir) +model_trainer.get_trained_model(use_polynomial_reg=True) +model_trainer.save_models(save_dir=save_dir) +``` + +This way, files `model_for_test_drive.pth` and `polynomial_reg_info.npz` are saved in `save_dir`. +The following results were obtained. + +

+ +

+ +The center of the upper row represents the lateral deviation. + +Finally, to drive with the training model, run the following commands: + +```python +load_dir = save_dir +save_dir = "test_python_trained_sim" +python_simulator.slalom_drive(save_dir=save_dir,load_dir=load_dir,use_trained_model=True,initial_error=initial_error) +``` + +The following results were obtained. + +

+ +

+ +It can be seen that the lateral deviation has improved significantly. + +Here we have described wheel base, but the parameters that can be passed to the python simulator are as follows. + +| Parameter | Type | Description | +| ------------------------ | ----------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| steer_bias | float | steer bias [rad] | +| steer_rate_lim | float | steer rate limit [rad/s] | +| vel_rate_lim | float | acceleration limit [m/s^2] | +| wheel_base | float | wheel base [m] | +| steer_dead_band | float | steer dead band [rad] | +| adaptive_gear_ratio_coef | list[float] | List of floats of length 6 specifying information on speed-dependent gear ratios from tire angle to steering wheel angle. | +| acc_time_delay | float | acceleration time delay [s] | +| steer_time_delay | float | steer time delay [s] | +| acc_time_constant | float | acceleration time constant [s] | +| steer_time_constant | float | steer time constant [s] | +| accel_map_scale | float | Parameter that magnifies the corresponding distortion from acceleration input values to actual acceleration realizations.
Correspondence information is kept in `control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/python_simulator/accel_map.csv`. | +| acc_scaling | float | acceleration scaling | +| steer_scaling | float | steer scaling | + +For example, to give the simulation side 0.01 [rad] of steer bias and 0.001 [rad] of steer dead band, edit the `sim_setting.json` as follows. + +```json +{ "steer_bias": 0.01, "steer_dead_band": 0.001 } +``` + +#### Auto test on python simulator + +Here, we describe a method for testing adaptive performance by giving the simulation side a predefined range of model parameters while the control side is given constant model parameters. + +First, to restore nominal model settings to default values, set the value of `nominal_parameter:vehicle_info:wheel_base` in [nominal_param.yaml](./smart_mpc_trajectory_follower/param/nominal_param.yaml) to 2.79, and run the following command: + +```bash +python3 -m smart_mpc_trajectory_follower.clear_pycache +``` + +To run a driving experiment within the parameter change range set in [run_sim.py](./smart_mpc_trajectory_follower/python_simulator/run_sim.py), for example, move to `control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/python_simulator` and run the following command: + +```bash +python3 run_sim.py --param_name steer_bias +``` + +Here we described the experimental procedure for steer bias, and the same method can be used for other parameters. + +If you want to do it for all parameters at once, run the following command: + +```bash +yes | python3 run_sim.py +``` + +In `run_sim.py`, the following parameters can be set: + +| Parameter | Type | Description | +| ------------------------- | ---- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| USE_TRAINED_MODEL_DIFF | bool | Whether the derivative of the trained model is reflected in the control | +| DATA_COLLECTION_MODE | str | Which method will be used to collect the training data　
"ff": Straight line driving with feed-forward input
"pp": Figure eight driving with pure pursuit control
"mpc": Slalom driving with mpc | +| USE_POLYNOMIAL_REGRESSION | bool | Whether to perform polynomial regression before NN | +| USE_SELECTED_POLYNOMIAL | bool | When USE_POLYNOMIAL_REGRESSION is True, perform polynomial regression using only some preselected polynomials.
The choice of polynomials is intended to be able to absorb the contribution of some parameter shifts based on the nominal model of the vehicle. | +| FORCE_NN_MODEL_TO_ZERO | bool | Whether to force the NN model to zero (i.e., erase the contribution of the NN model).
When USE_POLYNOMIAL_REGRESSION is True, setting FORCE_MODEL_TO_ZERO to True allows the control to reflect the results of polynomial regression only, without using NN models. | +| FIT_INTERCEPT | bool | Whether to include bias in polynomial regression.
If it is False, perform the regression with a polynomial of the first degree or higher. | +| USE_INTERCEPT | bool | When a polynomial regression including bias is performed, whether to use or discard the resulting bias information.
It is meaningful only if FIT_INTERCEPT is True.
If it is False, discard the bias in the polynomial regression in the hope that the NN model can remove the bias term, even if the polynomial regression is performed with the bias included. | + +> [!NOTE] +> When `run_sim.py` is run, the `use_trained_model_diff` set in `run_sim.py` takes precedence over the `trained_model_parameter:control_application:use_trained_model_diff` set in [trained_model_param.yaml](./smart_mpc_trajectory_follower/param/trained_model_param.yaml). + +## Change of nominal parameters and their reloading + +The nominal parameters of vehicle model can be changed by editing the file [nominal_param.yaml](./smart_mpc_trajectory_follower/param/nominal_param.yaml). +After changing the nominal parameters, the cache must be deleted by running the following command: + +```bash +python3 -m smart_mpc_trajectory_follower.clear_pycache +``` + +The nominal parameters include the following: + +| Parameter | Type | Description | +| ------------------------------------------------ | ----- | ------------------------------ | +| nominal_parameter:vehicle_info:wheel_base | float | wheel base [m] | +| nominal_parameter:acceleration:acc_time_delay | float | acceleration time delay [s] | +| nominal_parameter:acceleration:acc_time_constant | float | acceleration time constant [s] | +| nominal_parameter:steering:steer_time_delay | float | steer time delay [s] | +| nominal_parameter:steering:steer_time_constant | float | steer time constant [s] | + +## Change of control parameters and their reloading + +The control parameters can be changed by editing files [mpc_param.yaml](./smart_mpc_trajectory_follower/param/mpc_param.yaml) and [trained_model_param.yaml](./smart_mpc_trajectory_follower/param/trained_model_param.yaml). +Although it is possible to reflect parameter changes by restarting autoware, the following command allows us to do so without leaving autoware running: + +```bash +ros2 topic pub /pympc_reload_mpc_param_trigger std_msgs/msg/String "data: ''" --once +``` + +The main parameters among the control parameters are as follows. + +### `mpc_param.yaml` + +| Parameter | Type | Description | +| ------------------------------------ | ----------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| mpc_parameter:system:mode | str | control mode
"ilqr": iLQR mode
"mppi": MPPI mode
"mppi_ilqr": the initial value of iLQR is given by the MPPI solution. | +| mpc_parameter:cost_parameters:Q | list[float] | Stage cost for states.
List of length 8, in order: straight deviation, lateral deviation, velocity deviation, yaw angle deviation, acceleration deviation, steer deviation, acceleration input deviation, steer input deviation cost weights. | +| mpc_parameter:cost_parameters:Q_c | list[float] | Cost in the horizon corresponding to the following timing_Q_c for the states.
The correspondence of the components of the list is the same as for Q. | +| mpc_parameter:cost_parameters:Q_f | list[float] | Termination cost for the states.
The correspondence of the components of the list is the same as for Q. | +| mpc_parameter:cost_parameters:R | list[float] | A list of length 2 where R[0] is weight of cost for the change rate of acceleration input value and R[1] is weight of cost for the change rate of steer input value. | +| mpc_parameter:mpc_setting:timing_Q_c | list[int] | Horizon numbers such that the stage cost for the states is set to Q_c. | + +### `trained_model_param.yaml` + +| Parameter | Type | Description | +| ------------------------------------------------------------------ | ---- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| trained_model_parameter:control_application:use_trained_model | bool | Whether the trained model is reflected in the control or not. | +| trained_model_parameter:control_application:use_trained_model_diff | bool | Whether the derivative of the trained model is reflected on the control or not.
It is meaningful only when use_trained_model is True, and if False, the nominal model is used for the derivative of the dynamics, and trained model is used only for prediction. | + +## Request to release the slow stop mode + +If the predicted trajectory deviates too far from the target trajectory, the system enters a slow stop mode and the vehicle stops moving. +To cancel the slow stop mode and make the vehicle ready to run again, run the following command: + +```bash +ros2 topic pub /pympc_stop_mode_reset_request std_msgs/msg/String "data: ''" --once +``` + +## Limitation + +- May not be able to start when initial position/posture is far from the target. + +- It may take some time until the end of the planning to compile numba functions at the start of the first control. + +- In the stopping action near the goal our control switches to another simple control law. As a result, the stopping action may not work except near the goal. Stopping is also difficult if the acceleration map is significantly shifted. diff --git a/control/smart_mpc_trajectory_follower/images/autoware_smart_mpc.png b/control/smart_mpc_trajectory_follower/images/autoware_smart_mpc.png new file mode 100644 index 0000000000000..0349948cf80dd Binary files /dev/null and b/control/smart_mpc_trajectory_follower/images/autoware_smart_mpc.png differ diff --git a/control/smart_mpc_trajectory_follower/images/lateral_error_nominal_model.png b/control/smart_mpc_trajectory_follower/images/lateral_error_nominal_model.png new file mode 100644 index 0000000000000..3a96faa8dcba1 Binary files /dev/null and b/control/smart_mpc_trajectory_follower/images/lateral_error_nominal_model.png differ diff --git a/control/smart_mpc_trajectory_follower/images/lateral_error_trained_model.png b/control/smart_mpc_trajectory_follower/images/lateral_error_trained_model.png new file mode 100644 index 0000000000000..3396b9e7dd444 Binary files /dev/null and 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Binary files /dev/null and b/control/smart_mpc_trajectory_follower/images/python_sim_lateral_error_trained_model.png differ diff --git a/control/smart_mpc_trajectory_follower/images/test_route.png b/control/smart_mpc_trajectory_follower/images/test_route.png new file mode 100644 index 0000000000000..1387776e1a046 Binary files /dev/null and b/control/smart_mpc_trajectory_follower/images/test_route.png differ diff --git a/control/smart_mpc_trajectory_follower/package.xml b/control/smart_mpc_trajectory_follower/package.xml new file mode 100644 index 0000000000000..70bd15f97d609 --- /dev/null +++ b/control/smart_mpc_trajectory_follower/package.xml @@ -0,0 +1,43 @@ + + + + smart_mpc_trajectory_follower + 1.0.0 + Nodes to follow a trajectory by generating control commands using smart mpc + + + Masayuki Aino + + Apache License 2.0 + + Masayuki Aino + + ament_cmake_auto + ament_cmake_python + autoware_cmake + + autoware_adapi_v1_msgs + autoware_auto_control_msgs + autoware_auto_planning_msgs + autoware_auto_system_msgs + autoware_auto_vehicle_msgs + motion_utils + pybind11_vendor + python3-scipy + rclcpp + rclcpp_components + tier4_autoware_utils + + ros2launch + + ament_cmake_ros + ament_index_python + ament_lint_auto + autoware_lint_common + autoware_testing + ros_testing + + + ament_cmake + + diff --git a/control/smart_mpc_trajectory_follower/setup.py b/control/smart_mpc_trajectory_follower/setup.py new file mode 100644 index 0000000000000..4dca4d72929a8 --- /dev/null +++ b/control/smart_mpc_trajectory_follower/setup.py @@ -0,0 +1,37 @@ +# cspell: ignore numba +import glob +import json +import os +from pathlib import Path + +from setuptools import find_packages +from setuptools import setup + +os.system("pip3 install numba==0.58.1 --force-reinstall") +os.system("pip3 install pybind11") +os.system("pip3 install GPy") +os.system("pip3 install torch") +package_path = {} +package_path["path"] = str(Path(__file__).parent) +with open("smart_mpc_trajectory_follower/package_path.json", "w") as f: + json.dump(package_path, f) +build_cpp_command = "g++ -Ofast -Wall -shared -std=c++11 -fPIC $(python3 -m pybind11 --includes) " +build_cpp_command += "smart_mpc_trajectory_follower/scripts/proxima_calc.cpp " +build_cpp_command += ( + "-o smart_mpc_trajectory_follower/scripts/proxima_calc$(python3-config --extension-suffix) " +) +build_cpp_command += "-lrt -I/usr/include/eigen3" +os.system(build_cpp_command) + +so_path = ( + "scripts/" + + glob.glob("smart_mpc_trajectory_follower/scripts/proxima_calc.*.so")[0].split("/")[-1] +) +setup( + name="smart_mpc_trajectory_follower", + version="1.0.0", + packages=find_packages(), + package_data={ + "smart_mpc_trajectory_follower": ["package_path.json", so_path], + }, +) diff --git a/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/.gitignore b/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/.gitignore new file mode 100644 index 0000000000000..2d04606a236d6 --- /dev/null +++ b/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/.gitignore @@ -0,0 +1,2 @@ +__pycache__/ +*.json diff --git a/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/__init__.py b/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/__init__.py new file mode 100644 index 0000000000000..e69de29bb2d1d diff --git a/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/clear_pycache.py b/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/clear_pycache.py new file mode 100644 index 0000000000000..fafcb5bdecf05 --- /dev/null +++ b/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/clear_pycache.py @@ -0,0 +1,31 @@ +# Copyright 2024 Proxima Technology Inc, TIER IV +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +import os +from pathlib import Path +import shutil + +import smart_mpc_trajectory_follower + +if __name__ == "__main__": + package_dir = str(Path(smart_mpc_trajectory_follower.__file__).parent) + + remove_dirs = [ + package_dir + "/__pycache__", + package_dir + "/scripts/__pycache__", + package_dir + "/training_and_data_check/__pycache__", + ] + for i in range(len(remove_dirs)): + if os.path.isdir(remove_dirs[i]): + shutil.rmtree(remove_dirs[i]) diff --git a/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/param/mpc_param.yaml b/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/param/mpc_param.yaml new file mode 100644 index 0000000000000..710d1cc992949 --- /dev/null +++ b/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/param/mpc_param.yaml @@ -0,0 +1,56 @@ +mpc_parameter: + system: + mode: mppi_ilqr # option: ilqr, mppi, mppi_ilqr + mpc_setting: + ctrl_time_step: 0.03333 + mpc_freq: 3 + N: 50 + steer_ctrl_queue_size: 50 + steer_ctrl_queue_size_core: 15 + acc_ctrl_queue_size: 12 + nx_0: 6 + nu_0: 2 + timing_Q_c: [25] + cost_parameters: + Q: [0.0, 10.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] + Q_c: [1e+2, 1e+8, 1e+6, 1e+3, 1.0, 1.0, 1.0, 1.0] + Q_f: [1e+2, 1e+8, 1e+2, 1e+8, 1.0, 1.0, 1.0, 1.0] + R: [10.0, 1000.0] + acc_lim_weight: 100.0 + steer_lim_weight: 100.0 + acc_rate_lim_weight: 10000.0 + steer_rate_lim_weight: 10000.0 + min_steer_rate_transform_for_start: 0.01 + power_steer_rate_transform_for_start: 5 + coef_steer_rate_transform_for_start: 3.0 + min_loose_lateral_cost: 0.00001 + power_loose_lateral_cost: 10 + threshold_loose_lateral_cost: 0.2 + min_loose_yaw_cost: 0.00001 + power_loose_yaw_cost: 1 + threshold_loose_yaw_cost: 0.1 + ilqr: + ls_step: 0.9 + max_iter_ls: 10 + max_iter_ilqr: 1 + ilqr_tol: 0.01 + mppi: + lam: 1.0 + Sigma: [1e-15, 1e-2] + max_iter_mppi: 2 + sample_num: 100 + mppi_tol: 0.5 + mppi_step: 20 + preprocessing: + reference_horizon: 50 + cap_pred_error: [0.5, 2.0] + use_sg_for_nominal_inputs: true + sg_deg_for_nominal_inputs: 0 + sg_window_size_for_nominal_inputs: 10 + to_be_deprecated: + tighten_horizon: 20 + min_tighten_steer_rate: 1.0 + power_tighten_steer_rate_by_lateral_error: 1 + threshold_tighten_steer_rate_by_lateral_error: 0.05 + power_tighten_steer_rate_by_yaw_error: 1 + threshold_tighten_steer_rate_by_yaw_error: 0.05 diff --git a/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/param/nominal_param.yaml b/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/param/nominal_param.yaml new file mode 100644 index 0000000000000..aa61a25e9a0ac --- /dev/null +++ b/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/param/nominal_param.yaml @@ -0,0 +1,10 @@ +# default parameter is set for sample_vehicle of AWF: https://github.com/autowarefoundation/sample_vehicle_launch/tree/main/sample_vehicle_description +nominal_parameter: + vehicle_info: + wheel_base: 2.79 + acceleration: + acc_time_delay: 0.1 + acc_time_constant: 0.1 + steering: + steer_time_delay: 0.27 + steer_time_constant: 0.24 diff --git a/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/param/trained_model_param.yaml b/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/param/trained_model_param.yaml new file mode 100644 index 0000000000000..6d1973586a5eb --- /dev/null +++ b/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/param/trained_model_param.yaml @@ -0,0 +1,30 @@ +trained_model_parameter: + control_application: + use_trained_model: false + update_trained_model: false + max_train_data_size: 10000 + error_decay: [0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5] + use_trained_model_diff: true + use_sg_for_trained_model_diff: true + sg_deg_for_trained_model_diff: 0 + sg_window_size_for_trained_model_diff: 25 + use_sg_for_noise: true + sg_deg_for_noise: 0 + sg_window_size_for_noise: 15 + use_x_noise: false + use_y_noise: false + use_v_noise: false + use_theta_noise: false + use_acc_noise: false + use_steer_noise: false + smoothing: + acc_sigma_for_learning: 5.0 + steer_sigma_for_learning: 5.0 + acc_des_sigma_for_learning: 5.0 + steer_des_sigma_for_learning: 5.0 + x_out_sigma_for_learning: 30.0 + y_out_sigma_for_learning: 30.0 + v_out_sigma_for_learning: 30.0 + theta_out_sigma_for_learning: 10.0 + acc_out_sigma_for_learning: 5.0 + steer_out_sigma_for_learning: 5.0 diff --git a/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/python_simulator/.gitignore b/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/python_simulator/.gitignore new file mode 100644 index 0000000000000..9f6b19213255b --- /dev/null +++ b/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/python_simulator/.gitignore @@ -0,0 +1,13 @@ +# Byte-compiled / optimized / DLL files +__pycache__/ +*.py[cod] +*$py.class + +# workspace specific settings +train_drive_*.png +test_feedforward_*/ +test_pure_pursuit_*/ +test_python_*/ +python_sim_log_*/ +sim_setting.json +auto_test_result_*.csv diff --git a/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/python_simulator/accel_map.csv b/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/python_simulator/accel_map.csv new file mode 100644 index 0000000000000..83fa1f2612704 --- /dev/null +++ b/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/python_simulator/accel_map.csv @@ -0,0 +1,20 @@ +default, 0.00, 1.39, 2.78, 4.17, 5.56, 6.94, 8.33, 9.72, 11.11, 12.50, 13.89, 15.28, 16.67 +-4.0, -4.40, -4.36, -4.38, -4.12, -4.20, -3.94, -3.98, -3.80, -3.77, -3.76, -3.59, -3.50, -3.40 +-3.5, -4.00, -3.91, -3.85, -3.64, -3.68, -3.55, -3.42, -3.24, -3.25, -3.00, -3.04, -2.93, -2.80 +-3.0, -3.40, -3.37, -3.33, -3.00, -3.00, -2.90, -2.88, -2.65, -2.43, -2.44, -2.43, -2.39, -2.30 +-2.5, -2.80, -2.72, -2.72, -2.62, -2.41, -2.43, -2.26, -2.18, -2.11, -2.03, -1.96, -1.91, -1.85 +-2.0, -2.30, -2.24, -2.12, -2.02, -1.92, -1.81, -1.67, -1.58, -1.51, -1.49, -1.40, -1.35, -1.30 +-1.5, -1.70, -1.61, -1.47, -1.46, -1.40, -1.37, -1.29, -1.24, -1.10, -0.99, -0.83, -0.80, -0.78 +-1.0, -1.30, -1.28, -1.10, -1.09, -1.04, -1.02, -0.98, -0.89, -0.82, -0.61, -0.52, -0.54, -0.56 +-0.8, -0.96, -0.90, -0.82, -0.74, -0.70, -0.65, -0.63, -0.59, -0.55, -0.44, -0.39, -0.39, -0.35 +-0.6, -0.77, -0.71, -0.67, -0.65, -0.58, -0.52, -0.51, -0.50, -0.40, -0.33, -0.30, -0.31, -0.30 +-0.4, -0.45, -0.40, -0.45, -0.44, -0.38, -0.35, -0.31, -0.30, -0.26, -0.30, -0.29, -0.31, -0.25 +-0.2, -0.24, -0.24, -0.25, -0.22, -0.23, -0.25, -0.27, -0.29, -0.24, -0.22, -0.17, -0.18, -0.12 + 0.0, 0.00, 0.00, -0.05, -0.05, -0.05, -0.05, -0.08, -0.08, -0.08, -0.08, -0.10, -0.10, -0.10 + 0.2, 0.16, 0.12, 0.02, 0.02, 0.00, 0.00, -0.05, -0.05, -0.05, -0.05, -0.08, -0.08, -0.08 + 0.4, 0.38, 0.30, 0.22, 0.25, 0.24, 0.23, 0.20, 0.16, 0.16, 0.14, 0.10, 0.05, 0.05 + 0.6, 0.52, 0.52, 0.51, 0.49, 0.43, 0.40, 0.35, 0.33, 0.33, 0.33, 0.32, 0.34, 0.34 + 0.8, 0.82, 0.81, 0.78, 0.68, 0.63, 0.56, 0.53, 0.48, 0.43, 0.41, 0.37, 0.38, 0.40 + 1.0, 1.00, 1.08, 1.01, 0.88, 0.76, 0.69, 0.66, 0.58, 0.54, 0.49, 0.45, 0.40, 0.40 + 1.5, 1.52, 1.50, 1.38, 1.26, 1.14, 1.03, 0.91, 0.82, 0.67, 0.61, 0.51, 0.41, 0.41 + 2.0, 1.80, 1.80, 1.64, 1.43, 1.25, 1.11, 0.96, 0.81, 0.70, 0.59, 0.51, 0.42, 0.42 diff --git a/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/python_simulator/plot_auto_test_result.ipynb b/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/python_simulator/plot_auto_test_result.ipynb new file mode 100644 index 0000000000000..dd4dc9ae25cb2 --- /dev/null +++ b/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/python_simulator/plot_auto_test_result.ipynb @@ -0,0 +1,180 @@ +{ + "cells": [ + { + "cell_type": "code", + "execution_count": null, + "id": "e78db57e-3218-4515-9ae5-4458ea071a1c", + "metadata": {}, + "outputs": [], + "source": [ + "# cspell: ignore kernelspec ipykernel codemirror ipython nbconvert pygments nbformat \n", + "\n", + "import numpy as np\n", + "import matplotlib.pyplot as plt\n", + "import pandas as pd" + ] + }, + { + "cell_type": "code", + "execution_count": null, + "id": "dacb0655-e173-483f-86ac-0f39520c66f7", + "metadata": {}, + "outputs": [], + "source": [ + "import python_simulator" + ] + }, + { + "cell_type": "code", + "execution_count": null, + "id": "03850f4f-99c4-4f1c-8673-8bbabddea001", + "metadata": {}, + "outputs": [], + "source": [ + "# header of auto_test_result_*.csv\n", + "header = [\n", + " \"param_name\", # 0\n", + " \"param_val\", # 1\n", + " \"max_abs_lateral_error\", # 2\n", + " \"max_abs_vel_error\", # 3\n", + " # \"max_abs_yaw_error\", # 4\n", + " # \"max_abs_acc_error\", # 5\n", + " # \"max_abs_steer_error\" # 6\n", + "]\n", + "\n", + "\n", + "plot_param_list = [\n", + " # [label, header_index, unit_for_plot, nominal_value]\n", + " [\"steer_bias\", 2, \"[deg]\", 0.0] ,\n", + " [\"steer_rate_lim\", 2, \"[rad/s]\", python_simulator.steer_rate_lim],\n", + " [\"vel_rate_lim\", 3, \"[m/ss]\", python_simulator.vel_rate_lim],\n", + " [\"steer_dead_band\", 2, \"[rad]\", python_simulator.steer_dead_band],\n", + " [\"wheel_base\",2, \"[m]\", python_simulator.L],\n", + " # [\"adaptive_gear_ratio_coef\", 2,\"[-]\", None],\n", + " [\"acc_time_delay\",3, \"[s]\", python_simulator.acc_time_delay],\n", + " [\"steer_time_delay\",2, \"[s]\", python_simulator.steer_time_delay],\n", + " [\"acc_time_constant\",3, \"[s]\", python_simulator.acc_time_constant],\n", + " [\"steer_time_constant\",2, \"[s]\", python_simulator.steer_time_constant],\n", + " [\"accel_map_scale\",3, \"[-]\", None],\n", + " [\"acc_scaling\",3, \"[-]\", 1],\n", + " [\"steer_scaling\",2, \"[-]\", 1],\n", + "]\n", + "print(plot_param_list)\n", + "print(\"len(plot_param_list)\",len(plot_param_list))\n" + ] + }, + { + "cell_type": "code", + "execution_count": null, + "id": "4e8af4e4-db9f-4ee9-b41e-690b74ae5cf7", + "metadata": { + "scrolled": true + }, + "outputs": [], + "source": [ + "fig = plt.figure(figsize=(30, 18), tight_layout=True)\n", + "\n", + "ax_list = []\n", + "for i in range(len(plot_param_list)):\n", + " ax_list.append(plt.subplot(4, 3, i+1))\n", + "\n", + "# ff_data_result_csv = \"auto_test_result_final_model_control_trained_with_data_collected_by_ff_control.csv\"\n", + "nominal_data_result_csv = \"auto_test_result_final_model_control_trained_with_data_collected_by_nominal_control.csv\"\n", + "\n", + "df_info_list = [ \n", + " {\"file_name\": \"nominal/auto_test_result_nominal_model_control.csv\", \n", + " \"label_name\": \"nominal\"},\n", + "\n", + " # {\"file_name\": \"poly(selected) (data using FF)/\"+ff_data_result_csv, \n", + " # \"label_name\" : \"poly(selected) (data using FF)\"}, \n", + " # # {\"file_name\": \"poly(full) (data using FF)/\"+ff_data_result_csv, \n", + " # # \"label_name\" : \"poly(full) (data using FF)\"}, \n", + " # {\"file_name\": \"poly(selected)+NN (data using FF)/\"+ff_data_result_csv, \n", + " # \"label_name\" : \"poly(selected)+NN (data using FF)\"}, \n", + " # # {\"file_name\": \"poly(full)+NN (data using FF)/\"ff_data_result_csv, \n", + " # # \"label_name\" : \"poly(full)+NN (data using FF)\"},\n", + " # {\"file_name\": \"NN (data using FF)/\"+ff_data_result_csv, \n", + " # \"label_name\" : \"NN (data using FF)\"},\n", + " \n", + " {\"file_name\": \"poly(selected) (nominal control data)/\"+nominal_data_result_csv, \n", + " \"label_name\" : \"poly(selected) (nominal control data)\"}, \n", + " # {\"file_name\": \"poly(full) (nominal control data)/\"+nominal_data_result_csv, \n", + " # \"label_name\" : \"poly(full) (nominal control data)\"},\n", + " {\"file_name\": \"poly(selected)+NN (nominal control data)/\"+nominal_data_result_csv, \n", + " \"label_name\" : \"poly(selected)+NN (nominal control data)\"}, \n", + " # {\"file_name\": \"poly(full)+NN (nominal control data)/\"+nominal_data_result_csv, \n", + " # \"label_name\" : \"poly(full)+NN (nominal control data)\"},\n", + " {\"file_name\": \"NN (nominal control data)/\"+nominal_data_result_csv, \n", + " \"label_name\" : \"NN (nominal control data)\"}, \n", + "]\n", + "\n", + "cmap = plt.get_cmap(\"tab10\") \n", + "for l in range(len(df_info_list)):\n", + " df = pd.read_csv(df_info_list[l][\"file_name\"], header=None,sep=\",\")\n", + " for i in range(len(plot_param_list)):\n", + " index_bool = df[0].values==plot_param_list[i][0]\n", + " if any(index_bool):\n", + " x = df[1].values[index_bool]\n", + " \n", + " if plot_param_list[i][0]==\"adaptive_gear_ratio_coef\":\n", + " x = np.array(range(len(x)))\n", + " x = np.array([float(x[j]) for j in range(len(x))])\n", + " if plot_param_list[i][0]==\"steer_bias\":\n", + " x *= 180.0/np.pi\n", + " \n", + " \n", + " y = df[plot_param_list[i][1]].values[index_bool]\n", + " ax_list[i].plot(x,y,\"o-\",label=df_info_list[l][\"label_name\"],color=cmap(l))\n", + " else:\n", + " pass\n", + " if i==0:\n", + " ax_list[i].plot([0],[0],\"o-\",label=df_info_list[l][\"label_name\"],color=cmap(l))\n", + "\n", + "\n", + "for i in range(len(plot_param_list)): \n", + " #ax_list[i].set_title(header[plot_param_list[i][1]]+\" / \"+plot_param_list[i][0], fontsize=16)\n", + " ax_list[i].set_xlabel(plot_param_list[i][0] + \" \" + plot_param_list[i][2],fontsize=20)\n", + " ax_list[i].set_ylabel(header[plot_param_list[i][1]],fontsize=20)\n", + " ax_list[i].grid()\n", + "\n", + " if plot_param_list[i][3] is not None:\n", + " ax_list[i].plot([plot_param_list[i][3],plot_param_list[i][3]],[-0.1,2],\"k--\")\n", + " \n", + " # lateral_error\n", + " if 2==plot_param_list[i][1]:\n", + " ax_list[i].set_ylim([-0.01,1.0])\n", + " # vel_error\n", + " if 3==plot_param_list[i][1]:\n", + " ax_list[i].set_ylim([-0.01,1.0])\n", + "\n", + " # if(y.max()>2.0):\n", + " # ax_list[i].set_ylim([-0.1,2.0])\n", + " if i==0:\n", + " ax_list[i].legend(fontsize=13)\n", + "plt.savefig(\"auto_test_result.png\")\n", + "plt.show()" + ] + } + ], + "metadata": { + "kernelspec": { + "display_name": "Python 3 (ipykernel)", + "language": "python", + "name": "python3" + }, + "language_info": { + "codemirror_mode": { + "name": "ipython", + "version": 3 + }, + "file_extension": ".py", + "mimetype": "text/x-python", + "name": "python", + "nbconvert_exporter": "python", + "pygments_lexer": "ipython3", + "version": "3.10.12" + } + }, + "nbformat": 4, + "nbformat_minor": 5 +} diff --git a/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/python_simulator/python_simulator.py b/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/python_simulator/python_simulator.py new file mode 100644 index 0000000000000..d706c342f04ec --- /dev/null +++ b/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/python_simulator/python_simulator.py @@ -0,0 +1,1593 @@ +# Copyright 2024 Proxima Technology Inc, TIER IV +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +# cspell: ignore numba njit simplejson fastmath interp suptitle fftfreq basefmt markerfmt + +import csv +import datetime +import os + +import matplotlib.pyplot as plt +from numba import njit +import numpy as np +import pandas as pd +import scipy.interpolate +import simplejson as json +from smart_mpc_trajectory_follower.scripts import drive_controller +from smart_mpc_trajectory_follower.scripts import drive_functions + +print("\n\n### import python_simulator.py ###") + +ctrl_time_step = drive_functions.ctrl_time_step + +sim_dt = 0.003333 # Simulation time step +ctrl_freq = 10 # int, controlled once in 10 simulations. +acc_time_delay = drive_functions.acc_time_delay +steer_time_delay = drive_functions.steer_time_delay +acc_delay_step_sim = round(acc_time_delay / sim_dt) +steer_delay_step_sim = round(steer_time_delay / sim_dt) +acc_time_constant = drive_functions.acc_time_constant +steer_time_constant = drive_functions.steer_time_constant +steer_dead_band = 0.0012 +steer_scaling = 1.0 +acc_scaling = 1.0 +measurement_steer_bias = 0.00 +L = drive_functions.L +N = drive_functions.N + +steer_rate_lim = 0.35 +vel_rate_lim = 7.0 + +mpc_freq = drive_functions.mpc_freq + + +use_accel_map = False + +vgr_coef_a1 = 15.713 +vgr_coef_b1 = 0.053 +vgr_coef_c1 = 0.042 +vgr_coef_a2 = 15.713 +vgr_coef_b2 = 0.053 +vgr_coef_c2 = 0.042 + + +perturbed_sim_flag = False +if os.path.isfile("sim_setting.json"): + with open("sim_setting.json", "r") as file: + sim_setting_dict = json.load(file) + print("load sim_setting.json") + print("sim_setting_dict", sim_setting_dict) + perturbed_sim_flag = True +else: + print("sim_setting.json not found") + +# Rewriting for para-search +nominal_setting_dict_display = {} +if perturbed_sim_flag: + if "steer_bias" in sim_setting_dict.keys(): + nominal_setting_dict_display["steer_bias"] = 1 * measurement_steer_bias + measurement_steer_bias = sim_setting_dict["steer_bias"] + print("nominal steer_bias", nominal_setting_dict_display["steer_bias"]) + print("perturbed steer_bias", measurement_steer_bias) + print("perturbed steer_bias_deg", measurement_steer_bias * 180 / np.pi) + + if "steer_rate_lim" in sim_setting_dict.keys(): + nominal_setting_dict_display["steer_rate_lim"] = 1 * steer_rate_lim + steer_rate_lim = sim_setting_dict["steer_rate_lim"] + print("nominal steer_rate_lim", nominal_setting_dict_display["steer_rate_lim"]) + print("perturbed steer_rate_lim", steer_rate_lim) + + if "vel_rate_lim" in sim_setting_dict.keys(): + nominal_setting_dict_display["vel_rate_lim"] = 1 * vel_rate_lim + vel_rate_lim = sim_setting_dict["vel_rate_lim"] + print("nominal vel_rate_lim", nominal_setting_dict_display["vel_rate_lim"]) + print("perturbed vel_rate_lim", vel_rate_lim) + + if "wheel_base" in sim_setting_dict.keys(): + nominal_setting_dict_display["wheel_base"] = 1 * L + L = sim_setting_dict["wheel_base"] + print("nominal wheel_base", nominal_setting_dict_display["wheel_base"]) + print("perturbed wheel_base", L) + + if "steer_dead_band" in sim_setting_dict.keys(): + nominal_setting_dict_display["steer_dead_band"] = 1 * steer_dead_band + steer_dead_band = sim_setting_dict["steer_dead_band"] + print("nominal steer_dead_band", nominal_setting_dict_display["steer_dead_band"]) + print("perturbed steer_dead_band", steer_dead_band) + + if "adaptive_gear_ratio_coef" in sim_setting_dict.keys(): + nominal_setting_dict_display["adaptive_gear_ratio_coef"] = [ + 1 * vgr_coef_a1, + 1 * vgr_coef_b1, + 1 * vgr_coef_c1, + 1 * vgr_coef_a2, + 1 * vgr_coef_b2, + 1 * vgr_coef_c2, + ] + vgr_coef_a1 = sim_setting_dict["adaptive_gear_ratio_coef"][0] + vgr_coef_b1 = sim_setting_dict["adaptive_gear_ratio_coef"][1] + vgr_coef_c1 = sim_setting_dict["adaptive_gear_ratio_coef"][2] + vgr_coef_a2 = sim_setting_dict["adaptive_gear_ratio_coef"][3] + vgr_coef_b2 = sim_setting_dict["adaptive_gear_ratio_coef"][4] + vgr_coef_c2 = sim_setting_dict["adaptive_gear_ratio_coef"][5] + print( + "nominal adaptive_gear_ratio_coef", + nominal_setting_dict_display["adaptive_gear_ratio_coef"], + ) + print( + "perturbed: vgr_coef_a1", + vgr_coef_a1, + "vgr_coef_b1", + vgr_coef_b1, + "vgr_coef_c1", + vgr_coef_c1, + ) + print( + "perturbed: vgr_coef_a2", + vgr_coef_a2, + "vgr_coef_b2", + vgr_coef_b2, + "vgr_coef_c2", + vgr_coef_c2, + ) + + if "acc_time_delay" in sim_setting_dict.keys(): + nominal_setting_dict_display["acc_time_delay"] = sim_dt * acc_delay_step_sim + print("nominal acc_time_delay", nominal_setting_dict_display["acc_time_delay"]) + print("nominal acc_delay_step_sim", acc_delay_step_sim) + acc_delay_step_sim = round(sim_setting_dict["acc_time_delay"] / sim_dt) + print("perturbed acc_time_delay", sim_setting_dict["acc_time_delay"]) + print("perturbed acc_delay_step_sim", acc_delay_step_sim) + + if "steer_time_delay" in sim_setting_dict.keys(): + nominal_setting_dict_display["steer_time_delay"] = sim_dt * steer_delay_step_sim + print("nominal steer_time_delay", nominal_setting_dict_display["steer_time_delay"]) + print("nominal steer_delay_step_sim", steer_delay_step_sim) + steer_delay_step_sim = round(sim_setting_dict["steer_time_delay"] / sim_dt) + print("perturbed steer_time_delay", sim_setting_dict["steer_time_delay"]) + print("perturbed steer_delay_step_sim", steer_delay_step_sim) + + if "acc_time_constant" in sim_setting_dict.keys(): + nominal_setting_dict_display["acc_time_constant"] = 1 * acc_time_constant + acc_time_constant = sim_setting_dict["acc_time_constant"] + print("nominal acc_time_constant", nominal_setting_dict_display["acc_time_constant"]) + print("perturbed acc_time_constant", acc_time_constant) + + if "steer_time_constant" in sim_setting_dict.keys(): + nominal_setting_dict_display["steer_time_constant"] = 1 * steer_time_constant + steer_time_constant = sim_setting_dict["steer_time_constant"] + print("nominal steer_time_constant", nominal_setting_dict_display["steer_time_constant"]) + print("perturbed steer_time_constant", steer_time_constant) + + if "accel_map_scale" in sim_setting_dict.keys(): + nominal_setting_dict_display["accel_map_scale"] = None + use_accel_map = True + accel_map_scale = sim_setting_dict["accel_map_scale"] + df = pd.read_csv("accel_map.csv", header=None) + current_vel_axis = np.array( + [float(df.loc[0].values[1 + i]) for i in range(len(df.loc[0].values[1:]))] + ) + accel_cmd_axis = np.array( + [float(df[0].values[1 + i]) for i in range(len(df[0].values[1:]))] + ) + accel_map_data = np.zeros((len(accel_cmd_axis), len(current_vel_axis))) + for i in range(len(current_vel_axis)): + for j in range(len(accel_cmd_axis)): + accel_map_data[j, i] = float(df[1 + i].values[1 + j]) * ( + accel_map_scale ** (i * 1.0 / (len(current_vel_axis) - 1)) + ) + X1, X2 = np.meshgrid(current_vel_axis, accel_cmd_axis) + xy = [(x, y) for x in current_vel_axis for y in accel_cmd_axis] + z = [ + accel_map_data[j, i] + for i in range(len(current_vel_axis)) + for j in range(len(accel_cmd_axis)) + ] + accel_map_f_ = scipy.interpolate.LinearNDInterpolator(xy, z) + + def accel_map_f(x, y): + res = accel_map_f_( + [np.clip(x, a_min=current_vel_axis.min(), a_max=current_vel_axis.max())], + [np.clip(y, a_min=accel_cmd_axis.min(), a_max=accel_cmd_axis.max())], + ) + return [res] + + print("current_vel_axis", current_vel_axis) + print("accel_cmd_axis", accel_cmd_axis) + print( + "accel_map_f(current_vel_axis[-1],accel_cmd_axis[-1])", + accel_map_f(current_vel_axis[-1], accel_cmd_axis[-1]), + "accel_map_data[-1,-1]", + accel_map_data[-1, -1], + ) + print( + "accel_map_f(current_vel_axis[-1],accel_cmd_axis[-2])", + accel_map_f(current_vel_axis[-1], accel_cmd_axis[-2]), + "accel_map_data[-2,-1]", + accel_map_data[-2, -1], + ) + print("perturbed use_accel_map", use_accel_map) + + if "steer_scaling" in sim_setting_dict.keys(): + nominal_setting_dict_display["steer_scaling"] = 1 * steer_scaling + steer_scaling = sim_setting_dict["steer_scaling"] + print("nominal steer_scaling", nominal_setting_dict_display["steer_scaling"]) + print("perturbed steer_scaling", steer_scaling) + + if "acc_scaling" in sim_setting_dict.keys(): + nominal_setting_dict_display["acc_scaling"] = 1 * acc_scaling + acc_scaling = sim_setting_dict["acc_scaling"] + print("nominal acc_scaling", nominal_setting_dict_display["acc_scaling"]) + print("perturbed acc_scaling", acc_scaling) + + if "vehicle_type" in sim_setting_dict.keys(): + nominal_setting_dict_display["steer_rate_lim"] = 1 * steer_rate_lim + nominal_setting_dict_display["vel_rate_lim"] = 1 * vel_rate_lim + nominal_setting_dict_display["wheel_base"] = 1 * L + nominal_setting_dict_display["acc_time_delay"] = sim_dt * acc_delay_step_sim + nominal_setting_dict_display["steer_time_delay"] = sim_dt * steer_delay_step_sim + nominal_setting_dict_display["acc_time_constant"] = 1 * acc_time_constant + nominal_setting_dict_display["steer_time_constant"] = 1 * steer_time_constant + nominal_setting_dict_display["acc_scaling"] = 1 * acc_scaling + if sim_setting_dict["vehicle_type"] == 0: + pass + elif sim_setting_dict["vehicle_type"] == 1: + # heavy-weight bus + steer_rate_lim = 5.0 + vel_rate_lim = 7.0 + L = 4.76 + acc_delay_step_sim = round(1.0 / sim_dt) + steer_delay_step_sim = round(1.0 / sim_dt) + acc_time_constant = 1.0 + steer_time_constant = 1.0 + acc_scaling = 0.2 + elif sim_setting_dict["vehicle_type"] == 2: + # light-weight bus + steer_rate_lim = 5.0 + vel_rate_lim = 7.0 + L = 4.76 + acc_delay_step_sim = round(0.5 / sim_dt) + steer_delay_step_sim = round(0.5 / sim_dt) + acc_time_constant = 0.5 + steer_time_constant = 0.5 + acc_scaling = 0.5 + elif sim_setting_dict["vehicle_type"] == 3: + # small vehicle + steer_rate_lim = 5.0 + vel_rate_lim = 7.0 + L = 1.335 + acc_delay_step_sim = round(0.3 / sim_dt) + steer_delay_step_sim = round(0.3 / sim_dt) + acc_time_constant = 0.3 + steer_time_constant = 0.3 + acc_scaling = 1.5 + elif sim_setting_dict["vehicle_type"] == 4: + # small robot + steer_rate_lim = 60.0 * (np.pi / 180.0) + vel_rate_lim = 3.0 + L = 0.395 + acc_delay_step_sim = round(0.2 / sim_dt) + steer_delay_step_sim = round(0.2 / sim_dt) + acc_time_constant = 0.2 + steer_time_constant = 0.2 + acc_scaling = 3.0 + + print("steer_rate_lim", nominal_setting_dict_display["steer_rate_lim"], steer_rate_lim) + print("vel_rate_lim", nominal_setting_dict_display["vel_rate_lim"], vel_rate_lim) + print("wheel_base", nominal_setting_dict_display["wheel_base"], L) + print( + "acc_time_delay", + nominal_setting_dict_display["acc_time_delay"], + sim_dt * acc_delay_step_sim, + ) + print( + "steer_time_delay", + nominal_setting_dict_display["steer_time_delay"], + sim_dt * steer_delay_step_sim, + ) + print( + "acc_time_constant", + nominal_setting_dict_display["acc_time_constant"], + acc_time_constant, + ) + print( + "steer_time_constant", + nominal_setting_dict_display["steer_time_constant"], + steer_time_constant, + ) + print("acc_scaling", nominal_setting_dict_display["acc_scaling"], acc_scaling) + + +# dynamics +# @njit(cache=False, fastmath=True) # Commented out because we want to use scipy.interpolate2d +def f_sim( + states, + inputs, + L=L, + acc_time_constant=acc_time_constant, + steer_time_constant=steer_time_constant, + steer_dead_band=steer_dead_band, + steer_scaling=steer_scaling, + acc_scaling=acc_scaling, + measurement_steer_bias=measurement_steer_bias, +): + """Time derivative of sim model dynamics.""" + v = states[2] + theta = states[3] + alpha = states[4] + delta = states[5] + + delta_diff = steer_scaling * inputs[1] - delta + if delta_diff >= steer_dead_band: + delta_diff = delta_diff - steer_dead_band + elif delta_diff <= -steer_dead_band: + delta_diff = delta_diff + steer_dead_band + else: + delta_diff = 0.0 + + actual_alpha = alpha + actual_delta = delta - measurement_steer_bias + + # Acceleration input value -> Actual acceleration input value distortion applied + if use_accel_map: + if actual_alpha > 0: + actual_alpha = accel_map_f(v, actual_alpha)[0] # vel, acc_cmd + + # Tire angle input value -> Actual tire angle input value distortion application + steer_tire_angle_cmd = 1 * delta + coeff_from_tire_to_wheel = ( + 20.0 # Assuming a fixed gear ratio of 20 (moving in a range of roughly 15-30) + ) + steer_wheel = coeff_from_tire_to_wheel * steer_tire_angle_cmd + adaptive_gear_ratio1 = vgr_coef_a1 + vgr_coef_b1 * v * v - vgr_coef_c1 * abs(steer_wheel) + adaptive_gear_ratio2 = vgr_coef_a2 + vgr_coef_b2 * v * v - vgr_coef_c2 * abs(steer_wheel) + actual_delta = ( + steer_tire_angle_cmd * (adaptive_gear_ratio1 / adaptive_gear_ratio2) + - measurement_steer_bias + ) + + states_dot = np.zeros(6) + states_dot[0] = v * np.cos(theta) + states_dot[1] = v * np.sin(theta) + states_dot[2] = actual_alpha + states_dot[3] = v * np.tan(actual_delta) / L + states_dot[4] = (acc_scaling * inputs[0] - alpha) / acc_time_constant + states_dot[5] = delta_diff / steer_time_constant + return states_dot + + +def F_sim( + states, + inputs, + L=L, + acc_time_constant=acc_time_constant, + steer_time_constant=steer_time_constant, + steer_dead_band=steer_dead_band, +): + """Sim model dynamics based on the Euler method.""" + states_next = ( + states + + f_sim(states, inputs, L, acc_time_constant, steer_time_constant, steer_dead_band) * sim_dt + ) + return states_next + + +@njit(cache=False, fastmath=True) +def d_inputs_to_inputs(u_old, d_inputs): + """Compute the sequence of input values from the sequence of input change rates.""" + inputs = np.zeros((d_inputs.shape[0] * ctrl_freq * mpc_freq, 2)) + for j in range(mpc_freq): + inputs[ctrl_freq * j : ctrl_freq * (j + 1)] += ( + u_old + (j + 1) * d_inputs[0] * ctrl_time_step + ) + for i in range(1, d_inputs.shape[0]): + for j in range(mpc_freq): + inputs[ctrl_freq * (mpc_freq * i + j) : ctrl_freq * (mpc_freq * i + j + 1)] += ( + inputs[ctrl_freq * mpc_freq * i - 1] + (j + 1) * d_inputs[i] * ctrl_time_step + ) + return inputs + + +def F_true_predict( + x_current, + u_old, + d_inputs, + acc_des_queue, + steer_des_queue, + L=L, + acc_time_constant=acc_time_constant, + steer_time_constant=steer_time_constant, + steer_dead_band=steer_dead_band, +): + """Compute the true predicted trajectory based on simulator dynamics from the input values.""" + inputs = d_inputs_to_inputs(u_old, d_inputs) + predicted_traj = np.zeros((d_inputs.shape[0] + 1, x_current.shape[0])) + predicted_traj[0] += x_current + acc_queue = np.concatenate((np.array(acc_des_queue), inputs[:, 0])) + steer_queue = np.concatenate((np.array(steer_des_queue), inputs[:, 1])) + for i in range(d_inputs.shape[0]): + x_tmp = predicted_traj[i].copy() + for j in range(ctrl_freq * mpc_freq): + x_tmp = F_sim( + x_tmp, + np.array( + [ + acc_queue[ctrl_freq * mpc_freq * i + j], + steer_queue[ctrl_freq * mpc_freq * i + j], + ] + ), + L, + acc_time_constant, + steer_time_constant, + steer_dead_band, + ) + predicted_traj[i + 1] = x_tmp.copy() + return predicted_traj, inputs[:: ctrl_freq * mpc_freq] + + +def get_mpc_trajectory(x_current, trajectory_data, trajectory_interpolator_list): + """Calculate the target trajectory to be used in MPC from the given data.""" + nearest_index = np.argmin( + ((trajectory_data[:, 1:3] - x_current[:2].reshape(1, 2)) ** 2).sum(axis=1) + ) + timestamp_mpc_trajectory = ( + np.arange(N + 1) * mpc_freq * ctrl_freq * sim_dt + trajectory_data[nearest_index, 0] + ) + break_flag = False + if timestamp_mpc_trajectory[-1] >= trajectory_data[-1, 0]: + timestamp_mpc_trajectory -= timestamp_mpc_trajectory[-1] - trajectory_data[-1, 0] - 1e-16 + break_flag = True + + mpc_trajectory = np.array( + [ + trajectory_interpolator_list[i](timestamp_mpc_trajectory) + for i in range(trajectory_data.shape[1] - 1) + ] + ).T + mpc_trajectory = np.hstack( + [ + timestamp_mpc_trajectory.reshape(-1, 1) - trajectory_data[nearest_index, 0], + mpc_trajectory, + ] + ) + + X_des = np.zeros((N + 1, 8)) + X_des[:, :6] = mpc_trajectory[:, 1:7] + X_des[:, [6, 7]] = mpc_trajectory[:, [5, 6]] + U_des = np.zeros((N, 2)) + return X_des, U_des, x_current[:6] - trajectory_data[nearest_index, 1:7], break_flag + + +def get_feedforward_nominal_input(t, trajectory_data): + """Calculate the nominal input for feed-forward driving.""" + total_time = trajectory_data[-1, 0] + t_current = t - (t // total_time) * total_time + nearest_index = np.argmin(np.abs(trajectory_data[:, 0] - t_current)) + return trajectory_data[nearest_index, [5, 6]] + + +def create_additional_sine_data( + seed, + t_range, + acc_width_range, + acc_period_range, + steer_width_range, + steer_period_range, + large_steer_width_range, + large_steer_period_range, + start_large_steer_time, +): + """Create sine wave data to be added randomly to feed-forward runs.""" + np.random.seed(seed=seed) + t_acc = 0.0 + t_steer = 0.0 + t_large_steer = 0.0 + t_acc_list = [] + t_steer_list = [] + t_large_steer_list = [] + t_acc_list.append(t_acc) + t_steer_list.append(t_steer) + t_large_steer_list.append(t_large_steer) + t_large_steer += start_large_steer_time + t_large_steer_list.append(t_large_steer) + width_acc_list = [] + width_steer_list = [] + width_large_steer_list = [] + width_large_steer_list.append(0) + while True: + if max(t_acc, t_large_steer) >= t_steer: + period = ( + steer_period_range[1] - steer_period_range[0] + ) * np.random.uniform() + steer_period_range[0] + t_steer += period + t_steer_list.append(t_steer) + width_steer_list.append(steer_width_range * np.random.uniform()) + elif t_large_steer >= t_acc: + period = ( + acc_period_range[1] - acc_period_range[0] + ) * np.random.uniform() + acc_period_range[0] + t_acc += period + t_acc_list.append(t_acc) + width_acc_list.append(acc_width_range * np.random.uniform()) + else: + period = ( + large_steer_period_range[1] - large_steer_period_range[0] + ) * np.random.uniform() + large_steer_period_range[0] + t_large_steer += period + t_large_steer_list.append(t_large_steer) + width_large_steer_list.append(large_steer_width_range * np.random.uniform()) + if t_acc >= t_range[1] and t_steer >= t_range[1] and t_large_steer >= t_range[1]: + break + return ( + np.array(t_acc_list), + np.array(width_acc_list), + np.array(t_steer_list), + np.array(width_steer_list), + np.array(t_large_steer_list), + np.array(width_large_steer_list), + ) + + +@njit(cache=False, fastmath=True) +def get_current_additional_sine( + t, + t_acc_array, + width_acc_array, + t_steer_array, + width_steer_array, + t_large_steer_array, + width_large_steer_array, +): + """Calculate current values from already created sine wave data.""" + acc_index = 0 + steer_index = 0 + large_steer_index = 0 + for i in range(t_acc_array.shape[0] - 1): + if t < t_acc_array[i + 1]: + break + acc_index += 1 + for i in range(t_steer_array.shape[0] - 1): + if t < t_steer_array[i + 1]: + break + steer_index += 1 + for i in range(t_large_steer_array.shape[0] - 1): + if t < t_large_steer_array[i + 1]: + break + large_steer_index += 1 + acc = width_acc_array[acc_index] * np.sin( + 2 + * np.pi + * (t - t_acc_array[acc_index]) + / (t_acc_array[acc_index + 1] - t_acc_array[acc_index]) + ) + steer = width_steer_array[steer_index] * np.sin( + 2 + * np.pi + * (t - t_steer_array[steer_index]) + / (t_steer_array[steer_index + 1] - t_steer_array[steer_index]) + ) + steer += width_large_steer_array[large_steer_index] * np.sin( + 2 + * np.pi + * (t - t_large_steer_array[large_steer_index]) + / (t_large_steer_array[large_steer_index + 1] - t_large_steer_array[large_steer_index]) + ) + return np.array([acc, steer]) + + +def create_vel_sine_data(seed, t_range, vel_width_range, vel_period_range): + """Create sine wave data for target velocity.""" + np.random.seed(seed=seed) + t_vel = 0.0 + t_vel_list = [] + t_vel_list.append(t_vel) + width_vel_list = [] + while True: + period = ( + vel_period_range[1] - vel_period_range[0] + ) * np.random.uniform() + vel_period_range[0] + t_vel += period + t_vel_list.append(t_vel) + width_vel_list.append(vel_width_range * np.random.uniform()) + if t_vel >= t_range[1]: + break + return ( + np.array(t_vel_list), + np.array(width_vel_list), + ) + + +@njit(cache=False, fastmath=True) +def get_current_vel_sine(t, t_vel_array, width_vel_array, v_mid): + """Calculate current target velocity values from already created sine wave data.""" + vel_index = 0 + for i in range(t_vel_array.shape[0] - 1): + if t < t_vel_array[i + 1]: + break + vel_index += 1 + vel = v_mid + width_vel_array[vel_index] * np.sin( + 2 + * np.pi + * (t - t_vel_array[vel_index]) + / (t_vel_array[vel_index + 1] - t_vel_array[vel_index]) + ) + return vel + + +def get_figure_eight_point(t, circle_radius): + """ + Get the position and yaw angle in world coordinates of the figure eight given the circle radius. + + Here t is a 1-dimensional array of numpy and each t[i] represents the distance traveled. + The return value is a 2-dimensional array of positions and a 1-dimensional array of yaw angles corresponding to t. + """ + sign = -2 * (np.floor(t / (2 * np.pi * circle_radius)) % 2).astype(int) + 1 + x = circle_radius * np.sin(t / circle_radius) + y = sign * circle_radius * (1 - np.cos(t / circle_radius)) + yaw = ( + sign * ((t / circle_radius) % (2 * np.pi) - np.pi) + np.pi + ) # if sign == 1, then yaw = (t/circle_radius)%(2*np.pi). Else, yaw = 2*np.pi - (t/circle_radius)%(2*np.pi). + return np.array([x, y]).T, yaw + + +def pure_pursuit( + x_current, + target_position, + target_vel, + target_yaw, + acc_lim=7.0, + steer_lim=1.0, + wheel_base=drive_functions.L, + lookahead_time=3.0, + min_lookahead=3.0, + acc_kp=0.5, +): + """Calculate acceleration and steer angle input values based on pure pursuit.""" + present_position = x_current[:2] + present_longitudinal_velocity = x_current[2] + present_point_yaw = x_current[3] + longitudinal_vel_err = present_longitudinal_velocity - target_vel + acc_kp = 0.5 + acc_cmd = np.clip(-acc_kp * longitudinal_vel_err, -acc_lim, acc_lim) + + # compute steer cmd + cos_yaw = np.cos(target_yaw) + sin_yaw = np.sin(target_yaw) + diff_position = present_position - target_position + lat_err = -sin_yaw * diff_position[0] + cos_yaw * diff_position[1] + yaw_err = present_point_yaw - target_yaw + while True: + if yaw_err > np.pi: + yaw_err -= 2.0 * np.pi + if yaw_err < (-np.pi): + yaw_err += 2.0 * np.pi + if np.abs(yaw_err) < np.pi: + break + + lookahead = min_lookahead + lookahead_time * np.abs(present_longitudinal_velocity) + steer_kp = 2.0 * wheel_base / (lookahead * lookahead) + steer_kd = 2.0 * wheel_base / lookahead + steer_cmd = np.clip(-steer_kp * lat_err - steer_kd * yaw_err, -steer_lim, steer_lim) + return np.array([acc_cmd, steer_cmd]) + + +def get_pure_pursuit_info(x_current, trajectory_position_data, trajectory_yaw_data, previous_index): + """Calculate the target position and yaw angle required for pure pursuit.""" + search_range = ( + np.arange( + previous_index - trajectory_position_data.shape[0] // 4, + previous_index + trajectory_position_data.shape[0] // 4, + ) + % trajectory_position_data.shape[0] + ) + nearest_index = np.argmin( + ((trajectory_position_data[search_range] - x_current[:2].reshape(1, 2)) ** 2).sum(axis=1) + ) + return ( + trajectory_position_data[search_range[nearest_index]], + trajectory_yaw_data[search_range[nearest_index]], + search_range[nearest_index], + ) + + +class driving_log_updater: + """Class for updating logs when driving on the Python simulator.""" + + def __init__(self): + self.X_history = [] + self.U_history = [] + self.control_cmd_time_stamp_list = [] + self.control_cmd_steer_list = [] + self.control_cmd_acc_list = [] + self.kinematic_state_list = [] + self.acceleration_list = [] + self.steering_status_list = [] + self.control_cmd_orig_list = [] + self.operation_mode_list = [] + + def update(self, t_current, x_current, u_current): + """Update logs.""" + self.X_history.append(x_current) + self.U_history.append(u_current) + self.control_cmd_time_stamp_list.append(t_current) + self.control_cmd_steer_list.append(u_current[1]) + self.control_cmd_acc_list.append(u_current[0]) + if self.control_cmd_time_stamp_list[-1] - self.control_cmd_time_stamp_list[0] > 3.0: + self.control_cmd_time_stamp_list.pop(0) + self.control_cmd_steer_list.pop(0) + self.control_cmd_acc_list.pop(0) + t_sec = int(t_current) + t_n_sec = int(1e9 * (t_current - t_sec)) + kinematic_state = np.zeros(7) + acceleration = np.zeros(4) + steering_status = np.zeros(3) + control_cmd_orig = np.zeros(10) + operation_mode = np.zeros(3) + kinematic_state[0] = t_sec + kinematic_state[1] = t_n_sec + kinematic_state[2] = x_current[0] + kinematic_state[3] = x_current[1] + kinematic_state[4] = np.sin(0.5 * x_current[3]) + kinematic_state[5] = np.cos(0.5 * x_current[3]) + kinematic_state[6] = x_current[2] + self.kinematic_state_list.append(kinematic_state) + acceleration[0] = t_sec + acceleration[1] = t_n_sec + acceleration[3] = x_current[4] + self.acceleration_list.append(acceleration) + steering_status[0] = t_sec + steering_status[1] = t_n_sec + steering_status[2] = x_current[5] + self.steering_status_list.append(steering_status) + control_cmd_orig[0] = t_sec + control_cmd_orig[1] = t_n_sec + control_cmd_orig[4] = u_current[1] + control_cmd_orig[9] = u_current[0] + self.control_cmd_orig_list.append(control_cmd_orig) + operation_mode[0] = t_sec + operation_mode[1] = t_n_sec + operation_mode[2] = 2.0 + self.operation_mode_list.append(operation_mode) + + def save(self, save_dir): + """Save logs in csv format.""" + kinematic_states = np.zeros((len(self.kinematic_state_list), 48)) + kinematic_states[:, [0, 1, 4, 5, 9, 10, 47]] = np.array(self.kinematic_state_list) + np.savetxt(save_dir + "/kinematic_state.csv", kinematic_states, delimiter=",") + np.savetxt(save_dir + "/acceleration.csv", np.array(self.acceleration_list), delimiter=",") + np.savetxt( + save_dir + "/steering_status.csv", + np.array(self.steering_status_list), + delimiter=",", + ) + np.savetxt( + save_dir + "/control_cmd_orig.csv", + np.array(self.control_cmd_orig_list), + delimiter=",", + ) + np.savetxt( + save_dir + "/system_operation_mode_state.csv", + np.array(self.operation_mode_list), + delimiter=",", + ) + with open(save_dir + "/system_operation_mode_state.csv", "w") as f: + writer = csv.writer(f) + for i in range(len(self.operation_mode_list)): + operation_mode_plus_true = self.operation_mode_list[i].tolist() + operation_mode_plus_true.append("True") + writer.writerow(operation_mode_plus_true) + + +def slalom_drive( + save_file=True, + save_dir=None, + load_dir=drive_functions.load_dir, + visualize=True, + use_trained_model=False, + use_trained_model_diff=None, + control_type="mpc", # feedforward_test=False, + straight_line_test=False, + initial_error=np.zeros(6), + t_range=[0, 100], + seed=1, + acc_width_range=0.005, + acc_period_range=[5.0, 20.0], + steer_width_range=0.005, + steer_period_range=[5.0, 20.0], + large_steer_width_range=0.00, + large_steer_period_range=[5.0, 20.0], + start_large_steer_time=40.0, + vel_width_range=5.0, + vel_period_range=[5.0, 20.0], + v_mid=6.0, + circle_radius=30.0, +): + """Perform a slalom driving simulation.""" + if control_type == "pp": + print("\n[run figure_eight_drive]\n") + elif control_type == "ff": + print("\n[run feedforward_drive]\n") + else: + if not straight_line_test: + print("\n[run slalom_drive]\n") + else: + print("\n[straight_line_test]\n") + if save_file: + if save_dir is None: + save_dir_ = "python_sim_log_" + str(datetime.datetime.now()) + else: + save_dir_ = save_dir + if not os.path.isdir(save_dir_): + os.mkdir(save_dir_) + controller = drive_controller.drive_controller( + model_file_name=(load_dir + "/model_for_test_drive.pth"), + load_GP_dir=load_dir, + load_polynomial_reg_dir=load_dir, + use_trained_model=use_trained_model, + use_trained_model_diff=use_trained_model_diff, + load_train_data_dir=load_dir, + ) + mode = controller.mode + if control_type == "mpc": + print("mode:", mode) + + plt.rcParams["figure.figsize"] = (8, 8) + t_eval = np.arange(*t_range, sim_dt) + if not straight_line_test: + trajectory_data = np.loadtxt("slalom_course_data.csv", delimiter=",") + else: + # Test by straight_line. To run, the following create_straight_line_test_csv() must be executed + trajectory_data = np.loadtxt("straight_line.csv", delimiter=",") + trajectory_interpolator_list = [ + scipy.interpolate.interp1d(trajectory_data[:, 0], trajectory_data[:, 1 + i]) + for i in range(trajectory_data.shape[1] - 1) + ] + x_init = trajectory_data[0, 1:7] + initial_error + + x_current = x_init.copy() + + acc_des_queue = [0] * acc_delay_step_sim + steer_des_queue = [0] * steer_delay_step_sim + + calculated = 0 + break_flag = False + + tracking_error_list = [] + + total_abs_max_lateral_deviation = -1 + straight_line_abs_max_lateral_deviation = -1 + total_abs_max_velocity_error = -1 + total_abs_max_yaw_error = -1 + total_abs_max_acc_error = -1 + total_abs_max_steer_error = -1 + prev_u_actual_input = np.zeros(2) + log_updater = driving_log_updater() + + previous_pp_index = 0 + + if control_type != "mpc": # feedforward_test: + ( + t_acc_array, + width_acc_array, + t_steer_array, + width_steer_array, + t_large_steer_array, + width_large_steer_array, + ) = create_additional_sine_data( + seed, + t_range, + acc_width_range, + acc_period_range, + steer_width_range, + steer_period_range, + large_steer_width_range, + large_steer_period_range, + start_large_steer_time, + ) + if control_type == "pp": + t_figure_eight = np.arange(*[0, 4 * np.pi * circle_radius], 0.01) + trajectory_position_data, trajectory_yaw_data = get_figure_eight_point( + t_figure_eight, circle_radius + ) + # plt.plot(trajectory_position_data[:,0],trajectory_position_data[:,1]) + # plt.show() + t_vel_array, width_vel_array = create_vel_sine_data( + seed, t_range, vel_width_range, vel_period_range + ) + + for i in range(t_eval.size): + if i % ctrl_freq == 0: # update u_opt + if control_type == "mpc": # not feedforward_test: + X_des, U_des, tracking_error, break_flag = get_mpc_trajectory( + x_current, trajectory_data, trajectory_interpolator_list + ) + tracking_error_list.append(tracking_error.copy()) + + u_opt = controller.update_input_queue_and_get_optimal_control( + log_updater.control_cmd_time_stamp_list, + log_updater.control_cmd_acc_list, + log_updater.control_cmd_steer_list, + x_current, + X_des, + U_des, + ) + elif control_type == "ff": + u_opt = get_current_additional_sine( + t_eval[i], + t_acc_array, + width_acc_array, + t_steer_array, + width_steer_array, + t_large_steer_array, + width_large_steer_array, + ) + u_opt[0] += get_feedforward_nominal_input(t_eval[i], trajectory_data)[0] + elif control_type == "pp": + target_position, target_yaw, previous_pp_index = get_pure_pursuit_info( + x_current, trajectory_position_data, trajectory_yaw_data, previous_pp_index + ) + target_vel = get_current_vel_sine(t_eval[i], t_vel_array, width_vel_array, v_mid) + u_opt = pure_pursuit(x_current, target_position, target_vel, target_yaw) + u_opt += get_current_additional_sine( + t_eval[i], + t_acc_array, + width_acc_array, + t_steer_array, + width_steer_array, + t_large_steer_array, + width_large_steer_array, + ) + calculated += 1 + log_updater.update(t_eval[i], x_current, u_opt) + if ( + visualize and (control_type in ["ff", "pp"]) and (i == t_eval.size - 1 or break_flag) + ): # feedforward_test and (i == t_eval.size - 1 or break_flag): + X = np.array(log_updater.X_history) + U = np.array(log_updater.U_history) + + if not use_trained_model: + title_str = "control_using_nominal_model: " + else: + title_str = "control_using_trained_model: " + if perturbed_sim_flag: + title_str += ( + "perturbed_sim: " + + str(sim_setting_dict) + + ", nominal_model: " + + str(nominal_setting_dict_display) + ) + fig = plt.figure(figsize=(18, 12), tight_layout=True) + fig.suptitle(title_str) + plt.subplot(231) + + ax1 = plt.subplot(2, 3, 1) + ax1.plot(X[:, 0], X[:, 1], label="trajectory") + ax1.legend() + ax1.set_xlabel("x_position [m]") + ax1.set_ylabel("y_position [m]") + + time_normalize_1 = ctrl_freq * sim_dt + f_s = int(1.0 / time_normalize_1) + + ax2 = plt.subplot(2, 3, 2) + X_acc = np.fft.fft(U[:, 0]) / len(U[:, 0]) # Fourier transform of waveforms + freqs = np.fft.fftfreq(len(U[:, 0])) * f_s + ax2.stem( + freqs, + np.abs(X_acc), + use_line_collection=True, + basefmt="k-", + markerfmt="cx", + label="acc input", + ) + ax2.legend() + ax2.set_xlim([-1.0, 1.0]) + ax2.set_xlabel("freq") + ax2.set_ylabel("amplitude") + + ax3 = plt.subplot(2, 3, 3) + X_steer = np.fft.fft(U[:, 1]) / len(U[:, 1]) # Fourier transform of waveforms + freqs = np.fft.fftfreq(len(U[:, 1])) * f_s + ax3.stem( + freqs, + np.abs(X_steer), + use_line_collection=True, + basefmt="k-", + markerfmt="cx", + label="steer input", + ) + ax3.legend() + ax3.set_xlim([-1.0, 1.0]) + ax3.set_xlabel("freq") + ax3.set_ylabel("amplitude") + + ax5 = plt.subplot(2, 3, 5) + ax5.plot(time_normalize_1 * np.arange(U.shape[0]), U[:, 0], label="acc input") + ax5.legend() + + ax6 = plt.subplot(2, 3, 6) + ax6.plot(time_normalize_1 * np.arange(U.shape[0]), U[:, 1], label="steer input") + ax6.legend() + + if save_file: + png_save_dir = save_dir_ + else: + png_save_dir = "." + if control_type == "ff": + plt.savefig(png_save_dir + "/python_simulator_feedforward_drive.png") + elif control_type == "pp": + plt.savefig(png_save_dir + "/python_simulator_pure_pursuit_drive.png") + plt.close() + + if ( + visualize + and (control_type == "mpc") + and (i % 1000 * ctrl_freq == 999 * ctrl_freq or i == t_eval.size - 1 or break_flag) + ): + fig = plt.figure(figsize=(24, 15), tight_layout=True) + if not use_trained_model: + title_str = "control_using_nominal_model: " + else: + title_str = "control_using_trained_model: " + if perturbed_sim_flag: + title_str += ( + "perturbed_sim: " + + str(sim_setting_dict) + + ", nominal_model: " + + str(nominal_setting_dict_display) + ) + fig.suptitle(title_str) + + plt.subplot(331) + + ax1 = plt.subplot(3, 3, 1) + X = np.array(log_updater.X_history) + U = np.array(log_updater.U_history) + X_des_hist = np.array(controller.X_des_history) + time_normalize_1 = ctrl_freq * sim_dt + time_normalize_2 = ctrl_freq * mpc_freq * sim_dt + ax1.scatter( + trajectory_data[:, 1], + trajectory_data[:, 2], + s=4, + c="orange", + label="reference_trajectory", + ) + ax1.plot(X[:, 0], X[:, 1], label="trajectory") + if mode != "mppi": + ax1.scatter( + controller.nominal_traj_ilqr[:, 0], + controller.nominal_traj_ilqr[:, 1], + s=4, + c="red", + label="pred_trajectory_ilqr", + ) + true_prediction, nominal_inputs = F_true_predict( + x_current, + controller.u_old, + controller.nominal_inputs_ilqr, + acc_des_queue, + steer_des_queue, + ) + ax1.scatter( + true_prediction[:, 0], + true_prediction[:, 1], + s=4, + c="green", + label="true_prediction", + ) + if mode != "ilqr": + ax1.scatter( + controller.nominal_traj_mppi[:, 0], + controller.nominal_traj_mppi[:, 1], + s=4, + c="pink", + label="pred_trajectory_mppi", + ) + + ax1.legend() + ax1.set_xlabel("x_position [m]") + ax1.set_ylabel("y_position [m]") + + ax2 = plt.subplot(3, 3, 2) + tracking_error_array = np.array(tracking_error_list) + lateral_deviation = ( + -np.sin(X_des_hist[:, 3]) * tracking_error_array[:, 0] + + np.cos(X_des_hist[:, 3]) * tracking_error_array[:, 1] + ) + + ax2.plot( + time_normalize_1 * np.arange(tracking_error_array.shape[0]), + lateral_deviation, + label="lateral_deviation", + ) + ax2.plot( + time_normalize_1 * np.arange(tracking_error_array.shape[0]), + np.zeros(tracking_error_array.shape[0]), + linestyle="dashed", + ) + ax2.plot( + time_normalize_1 * np.arange(tracking_error_array.shape[0]), + 0.05 * np.ones(tracking_error_array.shape[0]), + linestyle="dashed", + ) + ax2.plot( + time_normalize_1 * np.arange(tracking_error_array.shape[0]), + -0.05 * np.ones(tracking_error_array.shape[0]), + linestyle="dashed", + ) + ax2.plot( + time_normalize_1 * np.arange(tracking_error_array.shape[0]), + 0.1 * np.ones(tracking_error_array.shape[0]), + linestyle="dashed", + ) + ax2.plot( + time_normalize_1 * np.arange(tracking_error_array.shape[0]), + -0.1 * np.ones(tracking_error_array.shape[0]), + linestyle="dashed", + ) + ax2.plot( + time_normalize_1 * np.arange(tracking_error_array.shape[0]), + 0.15 * np.ones(tracking_error_array.shape[0]), + linestyle="dashed", + ) + ax2.plot( + time_normalize_1 * np.arange(tracking_error_array.shape[0]), + -0.15 * np.ones(tracking_error_array.shape[0]), + linestyle="dashed", + ) + ax2.plot( + time_normalize_1 * np.arange(tracking_error_array.shape[0]), + 0.2 * np.ones(tracking_error_array.shape[0]), + linestyle="dashed", + ) + ax2.plot( + time_normalize_1 * np.arange(tracking_error_array.shape[0]), + -0.2 * np.ones(tracking_error_array.shape[0]), + linestyle="dashed", + ) + ax2.set_xlabel("Time [s]") + ax2.set_ylabel("Lateral deviation [m]") + ax2.legend() + + straight_line_index = np.where(X_des_hist[:, 0] < 250.0)[ + 0 + ].max() # Before 250 [m] is considered to be a straight run. + total_abs_max_lateral_deviation = np.abs(lateral_deviation).max() + total_abs_mean_lateral_deviation = np.abs(lateral_deviation).mean() + straight_line_abs_max_lateral_deviation = np.abs( + lateral_deviation[: straight_line_index + 1] + ).max() + ax2.set_title( + "abs_max(lateral_dev) = " + + str(total_abs_max_lateral_deviation) + + "\nabs_max(lateral_dev[straight_line]) = " + + str(straight_line_abs_max_lateral_deviation) + ) + + ax3 = plt.subplot(3, 3, 4) + ax3.plot(time_normalize_1 * np.arange(X.shape[0]), X[:, 2], label="velocity") + ax3.plot( + time_normalize_1 * np.arange(X.shape[0]), X_des_hist[:, 2], label="velocity_target" + ) + ax3.plot( + time_normalize_1 * np.arange(tracking_error_array.shape[0]), + -tracking_error_array[:, 2], + label="velocity_error", + ) + if mode != "mppi": + ax3.scatter( + time_normalize_1 * (X.shape[0] - 1) + + time_normalize_2 * np.arange(true_prediction.shape[0]), + true_prediction[:, 2], + s=4, + label="velocity_true_prediction", + ) + ax3.scatter( + time_normalize_1 * (X.shape[0] - 1) + + time_normalize_2 * np.arange(controller.nominal_traj_ilqr.shape[0]), + controller.nominal_traj_ilqr[:, 2], + s=4, + label="velocity_prediction_ilqr", + ) + ax3.plot( + time_normalize_1 * np.arange(tracking_error_array.shape[0]), + np.zeros(tracking_error_array.shape[0]), + linestyle="dashed", + ) + ax3.set_xlabel("Time [s]") + ax3.set_ylabel("velocity [m/s]") + ax3.legend() + total_abs_max_velocity_error = np.abs(tracking_error_array[:, 2]).max() + total_abs_mean_velocity_error = np.abs(tracking_error_array[:, 2]).mean() + straight_line_abs_max_velocity_error = np.abs( + tracking_error_array[: straight_line_index + 1, 2] + ).max() + ax3.set_title( + "abs_max(velocity_error) = " + + str(total_abs_max_velocity_error) + + "\nabs_max(velocity_error[straight_line]) = " + + str(straight_line_abs_max_velocity_error) + ) + + ax4 = plt.subplot(3, 3, 5) + ax4.plot(time_normalize_1 * np.arange(X.shape[0]), X[:, 3], label="yaw") + ax4.plot(time_normalize_1 * np.arange(X.shape[0]), X_des_hist[:, 3], label="yaw_target") + ax4.plot( + time_normalize_1 * np.arange(tracking_error_array.shape[0]), + -tracking_error_array[:, 3], + label="yaw_error", + ) + if mode != "mppi": + ax4.scatter( + time_normalize_1 * (X.shape[0] - 1) + + time_normalize_2 * np.arange(true_prediction.shape[0]), + true_prediction[:, 3], + s=4, + label="yaw_true_prediction", + ) + ax4.scatter( + time_normalize_1 * (X.shape[0] - 1) + + time_normalize_2 * np.arange(controller.nominal_traj_ilqr.shape[0]), + controller.nominal_traj_ilqr[:, 3], + s=4, + label="yaw_prediction_ilqr", + ) + ax4.plot( + time_normalize_1 * np.arange(tracking_error_array.shape[0]), + np.zeros(tracking_error_array.shape[0]), + linestyle="dashed", + ) + ax4.set_xlabel("Time [s]") + ax4.set_ylabel("yaw [rad]") + ax4.legend() + total_abs_max_yaw_error = np.abs(tracking_error_array[:, 3]).max() + total_abs_mean_yaw_error = np.abs(tracking_error_array[:, 3]).mean() + straight_line_abs_max_yaw_error = np.abs( + tracking_error_array[: straight_line_index + 1, 3] + ).max() + ax4.set_title( + "abs_max(yaw_error) = " + + str(total_abs_max_yaw_error) + + "\nabs_max(yaw_error[straight_line]) = " + + str(straight_line_abs_max_yaw_error) + ) + + ax5 = plt.subplot(3, 3, 7) + ax5.plot(time_normalize_1 * np.arange(X.shape[0]), X[:, 4], label="acc") + ax5.plot(time_normalize_1 * np.arange(X.shape[0]), U[:, 0], label="acc_input") + ax5.plot(time_normalize_1 * np.arange(X.shape[0]), X_des_hist[:, 4], label="acc_target") + ax5.plot( + time_normalize_1 * np.arange(tracking_error_array.shape[0]), + -tracking_error_array[:, 4], + label="acc_error", + ) + if mode != "mppi": + ax5.scatter( + time_normalize_1 * (X.shape[0] - 1) + + time_normalize_2 * np.arange(true_prediction.shape[0]), + true_prediction[:, 4], + s=4, + label="acc_true_prediction", + ) + ax5.scatter( + time_normalize_1 * (X.shape[0] - 1) + + time_normalize_2 * np.arange(controller.nominal_traj_ilqr.shape[0]), + controller.nominal_traj_ilqr[:, 4], + s=4, + label="acc_prediction_ilqr", + ) + ax5.scatter( + time_normalize_1 * (X.shape[0] - 1) + + time_normalize_2 * np.arange(nominal_inputs.shape[0]), + nominal_inputs[:, 0], + s=4, + label="acc_input_schedule", + ) + ax5.plot( + time_normalize_1 * np.arange(tracking_error_array.shape[0]), + np.zeros(tracking_error_array.shape[0]), + linestyle="dashed", + ) + ax5.set_xlabel("Time [s]") + ax5.set_ylabel("acc [m/s^2]") + ax5.legend() + total_abs_max_acc_error = np.abs(tracking_error_array[:, 4]).max() + total_abs_mean_acc_error = np.abs(tracking_error_array[:, 4]).mean() + straight_line_abs_max_acc_error = np.abs( + tracking_error_array[: straight_line_index + 1, 4] + ).max() + ax5.set_title( + "abs_max(acc_error) = " + + str(total_abs_max_acc_error) + + "\nabs_max(acc_error[straight_line]) = " + + str(straight_line_abs_max_acc_error) + ) + + ax6 = plt.subplot(3, 3, 8) + ax6.plot(time_normalize_1 * np.arange(X.shape[0]), X[:, 5], label="steer") + ax6.plot(time_normalize_1 * np.arange(X.shape[0]), U[:, 1], label="steer_input") + ax6.plot( + time_normalize_1 * np.arange(X.shape[0]), X_des_hist[:, 7], label="steer_mpc_target" + ) + ax6.plot( + time_normalize_1 * np.arange(tracking_error_array.shape[0]), + -tracking_error_array[:, 5], + label="steer_error", + ) + if mode != "mppi": + ax6.scatter( + time_normalize_1 * (X.shape[0] - 1) + + time_normalize_2 * np.arange(true_prediction.shape[0]), + true_prediction[:, 5], + s=4, + label="steer_true_prediction", + ) + ax6.scatter( + time_normalize_1 * (X.shape[0] - 1) + + time_normalize_2 * np.arange(controller.nominal_traj_ilqr.shape[0]), + controller.nominal_traj_ilqr[:, 5], + s=4, + label="steer_prediction_ilqr", + ) + ax6.scatter( + time_normalize_1 * (X.shape[0] - 1) + + time_normalize_2 * np.arange(nominal_inputs.shape[0]), + nominal_inputs[:, 1], + s=4, + label="steer_input_schedule", + ) + ax6.plot( + time_normalize_1 * np.arange(tracking_error_array.shape[0]), + np.zeros(tracking_error_array.shape[0]), + linestyle="dashed", + ) + ax6.set_xlabel("Time [s]") + ax6.set_ylabel("steer [rad]") + ax6.legend() + total_abs_max_steer_error = np.abs(tracking_error_array[:, 5]).max() + total_abs_mean_steer_error = np.abs(tracking_error_array[:, 5]).mean() + straight_line_abs_max_steer_error = np.abs( + tracking_error_array[: straight_line_index + 1, 5] + ).max() + ax6.set_title( + "abs_max(steer_error) = " + + str(total_abs_max_steer_error) + + "\nabs_max(steer_error[straight_line]) = " + + str(straight_line_abs_max_steer_error) + ) + + ax7 = plt.subplot(3, 3, 3) + f_s = int(1.0 / time_normalize_1) + + steer_state = X[:, 5] + X_steer = np.fft.fft(steer_state) # Fourier transform of waveforms + freqs = np.fft.fftfreq(len(steer_state)) * f_s + ax7.stem( + freqs, + np.abs(X_steer) / len(steer_state), + use_line_collection=True, + basefmt="k-", + markerfmt="rx", + label="steer_state", + ) + + lateral_acc = X[:, 2] * X[:, 2] * np.tan(X[:, 5]) / L + steer_dot = np.zeros(X.shape[0]) + steer_dot[0] = (X[1, 5] - X[0, 5]) / time_normalize_1 + steer_dot[-1] = (X[-1, 5] - X[-2, 5]) / time_normalize_1 + steer_dot[1:-1] = 0.5 * (X[2:, 5] - X[:-2, 5]) / time_normalize_1 + lateral_jerk = 2 * X[:, 2] * np.tan(X[:, 5]) * X[:, 4] / L + X[:, 2] * X[ + :, 2 + ] * steer_dot / (L * np.cos(X[:, 5]) * np.cos(X[:, 5])) + + X_lateral_acc = np.fft.fft(lateral_acc) # Fourier transform of waveforms + freqs = np.fft.fftfreq(len(lateral_acc)) * f_s + ax7.stem( + freqs, + np.abs(X_lateral_acc) / len(lateral_acc), + use_line_collection=True, + basefmt="k-", + markerfmt="gx", + label="lateral_acc", + ) + + X_lateral_jerk = np.fft.fft(lateral_jerk) # Fourier transform of waveforms + freqs = np.fft.fftfreq(len(lateral_jerk)) * f_s + ax7.stem( + freqs, + np.abs(X_lateral_jerk) / len(lateral_jerk), + use_line_collection=True, + basefmt="k-", + markerfmt="bx", + label="lateral_jerk", + ) + + ax7.set_xlabel("Frequency in Hertz[Hz]") + ax7.set_ylabel("Amplitude (normalized dividing by data length)") + ax7.set_xlim(-1, 1) + ax7.legend() + + if use_accel_map: + ax9 = plt.subplot(3, 3, 9, projection="3d") + X1, X2 = np.meshgrid(current_vel_axis, accel_cmd_axis) + ax9.plot_surface(X1, X2, accel_map_data) + + if save_file: + png_save_dir = save_dir_ + else: + png_save_dir = "." + if not use_trained_model: + plt.savefig(png_save_dir + "/python_simulator_nominal_model_fig_" + str(i) + ".png") + else: + plt.savefig(png_save_dir + "/python_simulator_trained_model_fig_" + str(i) + ".png") + plt.close() + + np.savetxt( + save_dir_ + "/lateral_deviation.csv", + np.hstack( + [time_normalize_1 * np.arange(tracking_error_array.shape[0]), lateral_deviation] + ), + delimiter=",", + ) + + np.savetxt( + save_dir_ + "/steer_state.csv", + np.hstack( + [time_normalize_1 * np.arange(tracking_error_array.shape[0]), steer_state] + ), + delimiter=",", + ) + + acc_des_queue.append(u_opt[0]) + steer_des_queue.append(u_opt[1]) + u_actual_input = np.array([acc_des_queue.pop(0), steer_des_queue.pop(0)]) + + # Logic-level restrictions on control inputs + delta_steer_max = steer_rate_lim * sim_dt + u_actual_input[0] = np.clip(u_actual_input[0], -vel_rate_lim, vel_rate_lim) + u_actual_input[1] = np.clip( + u_actual_input[1], + prev_u_actual_input[1] - delta_steer_max, + prev_u_actual_input[1] + delta_steer_max, + ) + + x_next = F_sim(x_current, u_actual_input) + x_current = x_next.copy() + prev_u_actual_input = u_actual_input.copy() + if break_flag: + controller.send_initialize_input_queue() + controller.stop_model_update() + break + if save_file: + log_updater.save(save_dir_) + + if control_type == "mpc" and perturbed_sim_flag: + auto_test_performance_result_dict = { + "total_abs_max_lateral_deviation": total_abs_max_lateral_deviation, + "straight_line_abs_max_lateral_deviation": straight_line_abs_max_lateral_deviation, + "total_abs_max_velocity_error": total_abs_max_velocity_error, + "total_abs_max_yaw_error": total_abs_max_yaw_error, + "total_abs_max_acc_error": total_abs_max_acc_error, + "total_abs_max_steer_error": total_abs_max_steer_error, + "use_trained_model": use_trained_model, + "sim_setting_dict": sim_setting_dict, + "nominal_setting_dict_display": nominal_setting_dict_display, + } + auto_test_performance_result_list = [ + total_abs_max_lateral_deviation, + total_abs_max_velocity_error, + total_abs_max_yaw_error, + total_abs_max_acc_error, + total_abs_max_steer_error, + total_abs_mean_lateral_deviation, + total_abs_mean_velocity_error, + total_abs_mean_yaw_error, + total_abs_mean_acc_error, + total_abs_mean_steer_error, + straight_line_abs_max_lateral_deviation, + ] + + if save_file: + with open(save_dir_ + "/auto_test_performance_result.json", "w") as json_f: + json.dump(auto_test_performance_result_dict, json_f) + print("how_many_time_controlled", calculated) + + return auto_test_performance_result_list + + +def create_straight_line_test_csv( + jerk=0.3, starting_vel=5.0, interval_1=2.0, interval_2=3.0, interval_3=10.0 +): + """Generate data for a straight line driving test.""" + t_1 = 10.0 + t_2 = t_1 + interval_1 # Increasing acceleration. + t_3 = t_2 + interval_2 # Constant acceleration + t_4 = t_3 + interval_1 # Decreasing acceleration. + t_5 = t_4 + interval_3 # acceleration = 0 + t_6 = t_5 + interval_1 # Decreasing acceleration. + t_7 = t_6 + interval_2 # Constant acceleration + t_8 = t_7 + interval_1 # Decreasing acceleration. + vel_t1 = starting_vel + x_t1 = starting_vel * t_1 + vel_t2 = vel_t1 + 0.5 * jerk * interval_1 * interval_1 + x_t2 = x_t1 + vel_t1 * interval_1 + 0.5 * jerk * interval_1 * interval_1 * interval_1 / 3 + vel_t3 = vel_t2 + jerk * interval_1 * interval_2 + x_t3 = x_t2 + vel_t2 * interval_2 + 0.5 * jerk * interval_1 * interval_2 * interval_2 + vel_t4 = vel_t3 + 0.5 * jerk * interval_1 * interval_1 + x_t4 = x_t3 + vel_t4 * interval_1 - 0.5 * jerk * interval_1 * interval_1 * interval_1 / 3 + vel_t5 = vel_t4 + x_t5 = x_t4 + vel_t4 * interval_3 + vel_t6 = vel_t5 - 0.5 * jerk * interval_1 * interval_1 + x_t6 = x_t5 + vel_t5 * interval_1 - 0.5 * jerk * interval_1 * interval_1 * interval_1 / 3 + vel_t7 = vel_t6 - jerk * interval_1 * interval_2 + x_t7 = x_t6 + vel_t6 * interval_2 - 0.5 * jerk * interval_1 * interval_2 * interval_2 + vel_t8 = vel_t7 - 0.5 * jerk * interval_1 * interval_1 + x_t8 = x_t7 + vel_t8 * interval_1 + 0.5 * jerk * interval_1 * interval_1 * interval_1 / 3 + + def calc_longitudinal_state(t): + if t < t_1: + return starting_vel * t, starting_vel, 0.0 + elif t < t_2: + return ( + x_t1 + vel_t1 * (t - t_1) + 0.5 * jerk * (t - t_1) * (t - t_1) * (t - t_1) / 3, + vel_t1 + 0.5 * jerk * (t - t_1) * (t - t_1), + jerk * (t - t_1), + ) + elif t < t_3: + return ( + x_t2 + vel_t2 * (t - t_2) + 0.5 * jerk * (t_2 - t_1) * (t - t_2) * (t - t_2), + vel_t2 + jerk * (t_2 - t_1) * (t - t_2), + jerk * (t_2 - t_1), + ) + elif t < t_4: + return ( + x_t4 - vel_t4 * (t_4 - t) + 0.5 * jerk * (t_4 - t) * (t_4 - t) * (t_4 - t) / 3, + vel_t4 - 0.5 * jerk * (t_4 - t) * (t_4 - t), + jerk * (t_4 - t), + ) + elif t < t_5: + return x_t4 + vel_t4 * (t - t_4), vel_t4, 0.0 + elif t < t_6: + return ( + x_t5 + vel_t5 * (t - t_5) - 0.5 * jerk * (t - t_5) * (t - t_5) * (t - t_5) / 3, + vel_t5 - 0.5 * jerk * (t - t_5) * (t - t_5), + -jerk * (t - t_5), + ) + elif t < t_7: + return ( + x_t6 + vel_t6 * (t - t_6) - 0.5 * jerk * (t_6 - t_5) * (t - t_6) * (t - t_6), + vel_t6 - jerk * (t_6 - t_5) * (t - t_6), + -jerk * (t_6 - t_5), + ) + elif t < t_8: + return ( + x_t8 - vel_t8 * (t_8 - t) - 0.5 * jerk * (t_8 - t) * (t_8 - t) * (t_8 - t) / 3, + vel_t8 + 0.5 * jerk * (t_8 - t) * (t_8 - t), + -jerk * (t_8 - t), + ) + else: + return x_t8 + vel_t8 * (t - t_8), vel_t8, 0.0 + + t_range = [0, 100] + time_stamps = np.arange(*t_range, 0.001) + trajectory_data = np.zeros((time_stamps.shape[0], 9)) + trajectory_data[:, 0] = time_stamps + for i in range(time_stamps.shape[0]): + ( + trajectory_data[i, 1], + trajectory_data[i, 3], + trajectory_data[i, 5], + ) = calc_longitudinal_state(time_stamps[i]) + np.savetxt("straight_line.csv", trajectory_data, delimiter=",") diff --git a/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/python_simulator/run_python_simulator.py b/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/python_simulator/run_python_simulator.py new file mode 100644 index 0000000000000..6b477bb804ac9 --- /dev/null +++ b/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/python_simulator/run_python_simulator.py @@ -0,0 +1,36 @@ +# Copyright 2024 Proxima Technology Inc, TIER IV +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +import numpy as np +import python_simulator +from smart_mpc_trajectory_follower.training_and_data_check import train_drive_NN_model + +initial_error = np.array( + [0.001, 0.03, 0.01, -0.001, 0, 2 * python_simulator.measurement_steer_bias] +) + +save_dir = "test_python_sim" +python_simulator.slalom_drive(save_dir=save_dir, initial_error=initial_error) + +model_trainer = train_drive_NN_model.train_drive_NN_model() +model_trainer.add_data_from_csv(save_dir) +model_trainer.save_train_data(save_dir) +model_trainer.get_trained_model() +model_trainer.save_models(save_dir=save_dir) + +save_dir = "test_python_trained_sim" +load_dir = "test_python_sim" +python_simulator.slalom_drive( + save_dir=save_dir, load_dir=load_dir, use_trained_model=True, initial_error=initial_error +) diff --git a/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/python_simulator/run_sim.py b/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/python_simulator/run_sim.py new file mode 100644 index 0000000000000..3125719556559 --- /dev/null +++ b/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/python_simulator/run_sim.py @@ -0,0 +1,392 @@ +# Copyright 2024 Proxima Technology Inc, TIER IV +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +# cspell: ignore oneline + +import argparse +from enum import Enum +from importlib import reload as ir +import json +import os +import time +import traceback +from typing import Dict + +import numpy as np +import python_simulator +from smart_mpc_trajectory_follower.training_and_data_check import train_drive_NN_model + +parser = argparse.ArgumentParser() +parser.add_argument("--param_name", default=None) +args = parser.parse_args() + +P1 = 0.8 +P2 = 1.2 + +USE_TRAINED_MODEL_DIFF = True +DATA_COLLECTION_MODE = "pp" # option: "pp": pure_pursuit, "ff": feed_forward, "mpc": smart_mpc +USE_POLYNOMIAL_REGRESSION = True +USE_SELECTED_POLYNOMIAL = True +FORCE_NN_MODEL_TO_ZERO = False + + +FIT_INTERCEPT = True # Should be True if FORCE_NN_MODEL_TO_ZERO is True +USE_INTERCEPT = False # Should be True if FORCE_NN_MODEL_TO_ZERO is True + + +class ChangeParam(Enum): + """Parameters to be changed when running the simulation.""" + + steer_bias = [ + -1.0 * np.pi / 180.0, + -0.8 * np.pi / 180.0, + -0.6 * np.pi / 180.0, + -0.4 * np.pi / 180.0, + -0.2 * np.pi / 180.0, + 0.0, + 0.2 * np.pi / 180.0, + 0.4 * np.pi / 180.0, + 0.6 * np.pi / 180.0, + 0.8 * np.pi / 180.0, + 1.0 * np.pi / 180.0, + ] + """steer midpoint (soft + hard)""" + + steer_rate_lim = [0.020, 0.050, 0.100, 0.150, 0.200, 0.300, 0.400, 0.500] + """Maximum steer angular velocity""" + + vel_rate_lim = [0.5, 1.0, 3.0, 5.0, 7.0, 9.0] + """Maximum acceleration/deceleration""" + + wheel_base = [0.5, 1.0, 1.5, 2.0, 3.0, 5.0, 7.0] + """wheel base""" + + steer_dead_band = [0.0000, 0.0012, 0.0025, 0.0050, 0.01] + """steer dead band""" + + adaptive_gear_ratio_coef = [ + [15.713, 0.053, 0.042, 15.713, 0.053, 0.042], + [15.713, 0.053, 0.042, P1 * 15.713, 0.053, 0.042], + [15.713, 0.053, 0.042, P2 * 15.713, 0.053, 0.042], + [15.713, 0.053, 0.042, 15.713, P1 * 0.053, 0.042], + [15.713, 0.053, 0.042, P1 * 15.713, P1 * 0.053, 0.042], + [15.713, 0.053, 0.042, P2 * 15.713, P1 * 0.053, 0.042], + [15.713, 0.053, 0.042, 15.713, P2 * 0.053, 0.042], + [15.713, 0.053, 0.042, P1 * 15.713, P2 * 0.053, 0.042], + [15.713, 0.053, 0.042, P2 * 15.713, P2 * 0.053, 0.042], + [15.713, 0.053, 0.042, 15.713, 0.053, P1 * 0.042], + [15.713, 0.053, 0.042, P1 * 15.713, 0.053, P1 * 0.042], + [15.713, 0.053, 0.042, P2 * 15.713, 0.053, P1 * 0.042], + [15.713, 0.053, 0.042, 15.713, P1 * 0.053, P1 * 0.042], + [15.713, 0.053, 0.042, P1 * 15.713, P1 * 0.053, P1 * 0.042], + [15.713, 0.053, 0.042, P2 * 15.713, P1 * 0.053, P1 * 0.042], + [15.713, 0.053, 0.042, 15.713, P2 * 0.053, P1 * 0.042], + [15.713, 0.053, 0.042, P1 * 15.713, P2 * 0.053, P1 * 0.042], + [15.713, 0.053, 0.042, P2 * 15.713, P2 * 0.053, P1 * 0.042], + [15.713, 0.053, 0.042, 15.713, 0.053, P2 * 0.042], + [15.713, 0.053, 0.042, P1 * 15.713, 0.053, P2 * 0.042], + [15.713, 0.053, 0.042, P2 * 15.713, 0.053, P2 * 0.042], + [15.713, 0.053, 0.042, 15.713, P1 * 0.053, P2 * 0.042], + [15.713, 0.053, 0.042, P1 * 15.713, P1 * 0.053, P2 * 0.042], + [15.713, 0.053, 0.042, P2 * 15.713, P1 * 0.053, P2 * 0.042], + [15.713, 0.053, 0.042, 15.713, P2 * 0.053, P2 * 0.042], + [15.713, 0.053, 0.042, P1 * 15.713, P2 * 0.053, P2 * 0.042], + [15.713, 0.053, 0.042, P2 * 15.713, P2 * 0.053, P2 * 0.042], + ] + """velocity-dependent gear ratio""" + + acc_time_delay = [0.00, 0.1, 0.27, 0.40, 0.60, 0.80, 1.01] + """acc time delay""" + + steer_time_delay = [0.00, 0.1, 0.27, 0.40, 0.60, 0.80, 1.02] + """steer time delay""" + + acc_time_constant = [0.01, 0.1, 0.20, 0.24, 0.40, 0.60, 0.80, 1.01] + """time constant""" + + steer_time_constant = [0.01, 0.1, 0.20, 0.24, 0.40, 0.60, 0.80, 1.02] + """time constant""" + + accel_map_scale = [0.2, 0.5, 1.0, 2.0, 3.0, 4.0, 5.0] + """pedal - real acceleration correspondence""" + + acc_scaling = [0.2, 0.5, 1.0, 2.0, 3.0, 4.0, 5.01] + """Acceleration scaling coefficient""" + + steer_scaling = [0.2, 0.5, 1.0, 2.0, 3.0, 4.0, 5.02] + """Steer scaling coefficient""" + + vehicle_type = [1, 2, 3, 4] + """change to other vehicle parameters""" + + +def run_simulator(change_param: ChangeParam): + """Run the simulator.""" + # initialize parameters + print("reset sim_setting_json") + data: Dict[str, float] = {} + with open("sim_setting.json", "w") as f: + json.dump(data, f) + + param_val_list = change_param.value + start_time = time.time() + + for j in range(len(param_val_list)): + i = j + 0 + with open("sim_setting.json", "r") as f: + data = json.load(f) + + data[change_param.name] = param_val_list[j] + with open("sim_setting.json", "w") as f: + json.dump(data, f) + ir(python_simulator) + + try: + initial_error = np.array( + [0.001, 0.03, 0.01, -0.001, 0, 2 * python_simulator.measurement_steer_bias] + ) + if DATA_COLLECTION_MODE in ["ff", "pp"]: + if DATA_COLLECTION_MODE == "ff": + save_dir = "test_feedforward_sim" + change_param.name + str(i) + else: + save_dir = "test_pure_pursuit_sim" + change_param.name + str(i) + python_simulator.slalom_drive( + save_dir=save_dir, + control_type=DATA_COLLECTION_MODE, + t_range=[0, 200.0], + acc_width_range=0.005, + acc_period_range=[5.0, 20.0], + steer_width_range=0.005, + steer_period_range=[5.0, 20.0], + large_steer_width_range=0.05, + large_steer_period_range=[10.0, 20.0], + start_large_steer_time=150.0, + ) + if FORCE_NN_MODEL_TO_ZERO: + model_trainer = train_drive_NN_model.train_drive_NN_model() + else: + model_trainer = train_drive_NN_model.train_drive_NN_model( + alpha_1_for_polynomial_regression=0.1**5, + alpha_2_for_polynomial_regression=0.1**5, + ) + + model_trainer.add_data_from_csv(save_dir) + start_time_learning = time.time() + model_trainer.get_trained_model( + use_polynomial_reg=USE_POLYNOMIAL_REGRESSION, + use_selected_polynomial=USE_SELECTED_POLYNOMIAL, + force_NN_model_to_zero=FORCE_NN_MODEL_TO_ZERO, + fit_intercept=FIT_INTERCEPT, + use_intercept=USE_INTERCEPT, + ) + learning_computation_time = time.time() - start_time_learning + model_trainer.plot_trained_result(save_dir=save_dir) + model_trainer.save_models(save_dir=save_dir) + load_dir = save_dir + if DATA_COLLECTION_MODE == "ff": + save_dir = "test_python_ff_aided_sim_" + change_param.name + str(i) + elif DATA_COLLECTION_MODE == "pp": + save_dir = "test_python_pp_aided_sim_" + change_param.name + str(i) + auto_test_performance_result_list = python_simulator.slalom_drive( + load_dir=load_dir, + save_dir=save_dir, + use_trained_model=True, + use_trained_model_diff=USE_TRAINED_MODEL_DIFF, + initial_error=initial_error, + ) + + print("learning_computation_time:", learning_computation_time) + if DATA_COLLECTION_MODE == "ff": + f = open(save_dir + "/computational_time_learning_from_ff_data.txt", "w") + f.write(str(learning_computation_time)) + f.close() + f = open( + "auto_test_result_intermediate_model_control_trained_with_data_collected_by_ff_control.csv", + mode="a", + ) + elif DATA_COLLECTION_MODE == "pp": + f = open(save_dir + "/computational_time_learning_from_pp_data.txt", "w") + f.write(str(learning_computation_time)) + f.close() + f = open( + "auto_test_result_intermediate_model_control_trained_with_data_collected_by_pp_control.csv", + mode="a", + ) + else: + save_dir = "test_python_sim_" + change_param.name + str(i) + auto_test_performance_result_list = python_simulator.slalom_drive( + save_dir=save_dir, + initial_error=initial_error, + ) + f = open("auto_test_result_nominal_model_control.csv", mode="a") + + print( + change_param.name, + str(param_val_list[j]).replace(",", "_"), + *auto_test_performance_result_list, + sep=",", + file=f + ) + f.close() + + print(i, "auto_test_performance_result_list", auto_test_performance_result_list) + + skip_learning_for_developing_testcase = False + if not skip_learning_for_developing_testcase: + ir(train_drive_NN_model) + model_trainer = train_drive_NN_model.train_drive_NN_model() + learning_computation_time = None + if DATA_COLLECTION_MODE in ["ff", "pp"]: + model_trainer.add_data_from_csv(load_dir) + model_trainer.add_data_from_csv(save_dir) + start_time_learning = time.time() + model_trainer.update_saved_trained_model( + path=load_dir + "/model_for_test_drive.pth", + use_polynomial_reg=USE_POLYNOMIAL_REGRESSION, + use_selected_polynomial=USE_SELECTED_POLYNOMIAL, + force_NN_model_to_zero=FORCE_NN_MODEL_TO_ZERO, + fit_intercept=FIT_INTERCEPT, + use_intercept=USE_INTERCEPT, + ) + learning_computation_time = time.time() - start_time_learning + model_trainer.plot_trained_result(save_dir=save_dir) + model_trainer.save_models(save_dir=save_dir) + if DATA_COLLECTION_MODE == "ff": + load_dir = "test_python_ff_aided_sim_" + change_param.name + str(i) + save_dir = "test_python_ff_aided_sim_trained_" + change_param.name + str(i) + elif DATA_COLLECTION_MODE == "pp": + load_dir = "test_python_pp_aided_sim_" + change_param.name + str(i) + save_dir = "test_python_pp_aided_sim_trained_" + change_param.name + str(i) + else: + model_trainer.add_data_from_csv(save_dir) + start_time_learning = time.time() + model_trainer.get_trained_model( + use_polynomial_reg=USE_POLYNOMIAL_REGRESSION, + use_selected_polynomial=USE_SELECTED_POLYNOMIAL, + force_NN_model_to_zero=FORCE_NN_MODEL_TO_ZERO, + fit_intercept=FIT_INTERCEPT, + use_intercept=USE_INTERCEPT, + ) + learning_computation_time = time.time() - start_time_learning + model_trainer.plot_trained_result(save_dir=save_dir) + model_trainer.save_models(save_dir=save_dir) + + load_dir = "test_python_sim_" + change_param.name + str(i) + save_dir = "test_python_sim_trained_" + change_param.name + str(i) + auto_test_performance_result_list = python_simulator.slalom_drive( + load_dir=load_dir, + use_trained_model=True, + use_trained_model_diff=USE_TRAINED_MODEL_DIFF, + save_dir=save_dir, + initial_error=initial_error, + ) + print("learning_computation_time: ", learning_computation_time) + f = open(save_dir + "/test_info.txt", "w") + f.write("commit id: " + str(os.popen("git log --oneline -1").read()) + "\n") + f.write( + "computational_time_learning_from_total_data: " + + str(learning_computation_time) + + "\n" + ) + f.write("USE_TRAINED_MODEL_DIFF: " + str(USE_TRAINED_MODEL_DIFF) + "\n") + f.write("USE_POLYNOMIAL_REGRESSION: " + str(USE_POLYNOMIAL_REGRESSION) + "\n") + f.write("USE_SELECTED_POLYNOMIAL: " + str(USE_SELECTED_POLYNOMIAL) + "\n") + f.write("FORCE_NN_MODEL_TO_ZERO: " + str(FORCE_NN_MODEL_TO_ZERO) + "\n") + f.write("FIT_INTERCEPT: " + str(FIT_INTERCEPT) + "\n") + f.write("USE_INTERCEPT: " + str(USE_INTERCEPT) + "\n") + f.close() + + if DATA_COLLECTION_MODE == "ff": + f = open( + "auto_test_result_final_model_control_trained_with_data_collected_by_ff_control.csv", + mode="a", + ) + elif DATA_COLLECTION_MODE == "pp": + f = open( + "auto_test_result_final_model_control_trained_with_data_collected_by_pp_control.csv", + mode="a", + ) + else: + f = open( + "auto_test_result_final_model_control_trained_with_data_collected_by_nominal_control.csv", + mode="a", + ) + print( + change_param.name, + str(param_val_list[j]).replace(",", "_"), + *auto_test_performance_result_list, + sep=",", + file=f + ) + f.close() + print("experiment success") + except Exception: + print("# Catch Exception #") + print(traceback.print_exc()) + auto_test_performance_result_list = [1e16] * 11 + if DATA_COLLECTION_MODE == "ff": + f = open( + "auto_test_result_final_model_control_trained_with_data_collected_by_ff_control.csv", + mode="a", + ) + elif DATA_COLLECTION_MODE == "pp": + f = open( + "auto_test_result_final_model_control_trained_with_data_collected_by_pp_control.csv", + mode="a", + ) + else: + f = open( + "auto_test_result_final_model_control_trained_with_data_collected_by_nominal_control.csv", + mode="a", + ) + print( + change_param.name, + str(param_val_list[j]).replace(",", "_"), + *auto_test_performance_result_list, + sep=",", + file=f + ) + f.close() + print("experiment failure") + print("data:", data) + + print("total_time: ", time.time() - start_time) + + +def yes_no_input(): + """Let the user enter yes or no. Default is no.""" + choice = input("Please respond with 'yes' or 'no' [y/N]: ").lower() + if choice in ["y", "ye", "yes"]: + return True + return False + + +if __name__ == "__main__": + if args.param_name is None: + print("Do you want to run the simulation for all parameters at once?") + if yes_no_input(): + for _, change_param in ChangeParam.__members__.items(): + run_simulator(change_param) + else: + print("Enter the name of the parameter for which the simulation is to be run.") + input_string = input() + for name, change_param in ChangeParam.__members__.items(): + if name == input_string: + run_simulator(change_param) + break + else: + for name, change_param in ChangeParam.__members__.items(): + if name == args.param_name: + run_simulator(change_param) + break diff --git a/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/python_simulator/slalom_course_data.csv 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b/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/scripts/.gitignore @@ -0,0 +1,7 @@ +# Byte-compiled / optimized / DLL files +__pycache__/ +*.py[cod] +*$py.class + +# C extensions +*.so diff --git a/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/scripts/__init__.py b/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/scripts/__init__.py new file mode 100644 index 0000000000000..e69de29bb2d1d diff --git a/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/scripts/drive_GP.py b/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/scripts/drive_GP.py new file mode 100644 index 0000000000000..e75eedcb4bf65 --- /dev/null +++ b/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/scripts/drive_GP.py @@ -0,0 +1,110 @@ +# Copyright 2024 Proxima Technology Inc, TIER IV +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +# cspell: ignore numba njit fastmath + +from functools import partial + +from numba import njit +import numpy as np +from smart_mpc_trajectory_follower.scripts import drive_functions + +sqrt_mpc_time_step = np.sqrt(drive_functions.mpc_time_step) + + +@njit(cache=True, fastmath=True) +def get_pred(x_input, theta_1, theta_2, Z, mean_mtr, cov_mtr): + """Calculate the prediction and its derivative, the deviation and its derivative based on the Gaussian process.""" + Z_norm = (Z - x_input) * theta_2 + k_ast = theta_1 * np.exp(-0.5 * ((Z - x_input) * Z_norm).sum(axis=1)) + k_ = cov_mtr @ k_ast + Z_k = Z_norm.T * k_ast + deviation = np.sqrt(theta_1 - np.dot(k_ast, k_)) + return np.dot(mean_mtr, k_ast), deviation, Z_k @ mean_mtr, -Z_k @ k_ / deviation + + +@njit(cache=True, fastmath=True) +def get_pred_deviation(x_input, theta_1, theta_2, Z, cov_mtr): + """Calculate the deviation of the prediction and its derivative based on the Gaussian process.""" + coef = np.abs(x_input[0]) + coef = coef * coef * coef * coef * coef * coef * coef + if coef > 1.0: + coef = 1.0 + Z_norm = (Z - x_input) * theta_2 + k_ast = theta_1 * np.exp(-0.5 * ((Z - x_input) * Z_norm).sum(axis=1)) + k_ = cov_mtr @ k_ast + Z_k = Z_norm.T * k_ast + deviation = np.sqrt(theta_1 - np.dot(k_ast, k_)) + return coef * deviation, -coef * Z_k @ k_ / deviation + + +@njit(cache=True, fastmath=True) +def get_pred_deviations(x_inputs, theta_1, theta_2, Z, cov_mtr, indices): + """Calculate the deviation of the predictions and their derivatives for multiple inputs based on the Gaussian process.""" + deviation = np.zeros(x_inputs.shape[0]) + deviation_dot = np.zeros((x_inputs.shape[0], x_inputs.shape[1] + 3)) + for i in range(x_inputs.shape[0]): + deviation[i], deviation_dot[i, indices] = get_pred_deviation( + x_inputs[i], theta_1, theta_2, Z, cov_mtr + ) + return sqrt_mpc_time_step * deviation, sqrt_mpc_time_step * deviation_dot + + +class transform_GP_to_numba: + """Class for fast computation of necessary calculations based on Gaussian processes with numba.""" + + def __init__(self, i, dir_name="."): + indices = np.concatenate( + ( + np.array([2, 4, 5]), + np.arange( + drive_functions.acc_ctrl_queue_size + drive_functions.steer_ctrl_queue_size + ) + + 6, + ) + ) + file_names = [ + "/GP_x_info.npz", + "/GP_y_info.npz", + "/GP_v_info.npz", + "/GP_theta_info.npz", + "/GP_acc_info.npz", + "/GP_steer_info.npz", + ] + file_name = file_names[i] + GP_info = np.load(dir_name + file_name) + theta_1 = 1 * GP_info["theta_1"] + theta_2 = GP_info["theta_2"] + Z = GP_info["Z"] + mean_mtr = GP_info["mean_mtr"] + cov_mtr = GP_info["cov_mtr"] + self.get_pred = partial( + get_pred, + theta_1=theta_1, + theta_2=theta_2, + Z=Z, + mean_mtr=mean_mtr, + cov_mtr=cov_mtr, + ) + self.pred_deviation = partial( + get_pred_deviation, theta_1=theta_1, theta_2=theta_2, Z=Z, cov_mtr=cov_mtr + ) + self.pred_deviations = partial( + get_pred_deviations, + theta_1=theta_1, + theta_2=theta_2, + Z=Z, + cov_mtr=cov_mtr, + indices=indices, + ) diff --git a/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/scripts/drive_NN.py b/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/scripts/drive_NN.py new file mode 100644 index 0000000000000..f35789ee39fd3 --- /dev/null +++ b/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/scripts/drive_NN.py @@ -0,0 +1,247 @@ +# Copyright 2024 Proxima Technology Inc, TIER IV +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + + +import numpy as np +from smart_mpc_trajectory_follower.scripts import drive_functions +from smart_mpc_trajectory_follower.scripts import proxima_calc +import torch +from torch import nn + +dim_steer_layer_1_head = 32 +dim_steer_layer_1_tail = 16 +dim_steer_layer_2 = 8 +dim_acc_layer_1 = 16 +dim_acc_layer_2 = 16 + + +def nominal_model_input(Var, lam, step): + """Calculate prediction with nominal model that takes into account time constants for the first order and time delays related to the input.""" + nominal_pred = Var[:, 0] + nominal_pred = ( + nominal_pred + (Var[:, step] - nominal_pred) * drive_functions.ctrl_time_step / lam + ) + nominal_pred = ( + nominal_pred + (Var[:, step - 1] - nominal_pred) * drive_functions.ctrl_time_step / lam + ) + nominal_pred = ( + nominal_pred + (Var[:, step - 2] - nominal_pred) * drive_functions.ctrl_time_step / lam + ) + return nominal_pred + + +def loss_fn_plus_tanh(loss_fn, pred, Y, tanh_gain, tanh_weight): + """Compute the loss function to be used in the training.""" + loss = loss_fn(pred, Y) + loss += tanh_weight * loss_fn( + torch.tanh(tanh_gain * (pred[:, -1] - Y[:, -1])), torch.zeros(Y.shape[0]) + ) + return loss + + +# example usage: `model = DriveNeuralNetwork(params...).to("cpu")` +class DriveNeuralNetwork(nn.Module): + """Define the neural net model to be used in vehicle control.""" + + def __init__( + self, + hidden_layer_sizes=(32, 16), + randomize=0.01, + acc_drop_out=0.0, + steer_drop_out=0.0, + acc_delay_step=drive_functions.acc_delay_step, + steer_delay_step=drive_functions.steer_delay_step, + acc_time_constant_ctrl=drive_functions.acc_time_constant, + steer_time_constant_ctrl=drive_functions.steer_time_constant, + acc_queue_size=drive_functions.acc_ctrl_queue_size, + steer_queue_size=drive_functions.steer_ctrl_queue_size, + steer_queue_size_core=drive_functions.steer_ctrl_queue_size_core, + ): + super().__init__() + self.acc_time_constant_ctrl = acc_time_constant_ctrl + self.acc_delay_step = acc_delay_step + self.steer_time_constant_ctrl = steer_time_constant_ctrl + self.steer_delay_step = steer_delay_step + + lb = -randomize + ub = randomize + self.acc_input_index = np.concatenate(([1], np.arange(acc_queue_size) + 3)) + self.steer_input_index = np.concatenate( + ([2], np.arange(steer_queue_size_core) + acc_queue_size + 3) + ) + self.acc_input_index_ = np.arange(acc_queue_size) + 3 + self.steer_input_index_ = np.arange(steer_queue_size_core) + acc_queue_size + 3 + self.steer_input_index_full = np.arange(steer_queue_size) + acc_queue_size + 3 + self.acc_layer_1 = nn.Sequential( + nn.Linear(self.acc_input_index.shape[0], dim_acc_layer_1), + nn.ReLU(), + ) + nn.init.uniform_(self.acc_layer_1[0].weight, a=lb, b=ub) + nn.init.uniform_(self.acc_layer_1[0].bias, a=lb, b=ub) + self.steer_layer_1_head = nn.Sequential( + nn.Linear(self.steer_input_index.shape[0], dim_steer_layer_1_head), + nn.ReLU(), + ) + nn.init.uniform_(self.steer_layer_1_head[0].weight, a=lb, b=ub) + nn.init.uniform_(self.steer_layer_1_head[0].bias, a=lb, b=ub) + + self.steer_layer_1_tail = nn.Sequential( + nn.Linear(self.steer_input_index_full.shape[0], dim_steer_layer_1_tail), nn.ReLU() + ) + nn.init.uniform_(self.steer_layer_1_tail[0].weight, a=lb, b=ub) + nn.init.uniform_(self.steer_layer_1_tail[0].bias, a=lb, b=ub) + + self.acc_layer_2 = nn.Sequential(nn.Linear(dim_acc_layer_1, dim_acc_layer_2), nn.Tanh()) + nn.init.uniform_(self.acc_layer_2[0].weight, a=lb, b=ub) + nn.init.uniform_(self.acc_layer_2[0].bias, a=lb, b=ub) + + self.steer_layer_2 = nn.Sequential( + nn.Linear(dim_steer_layer_1_head + dim_steer_layer_1_tail, dim_steer_layer_2), nn.Tanh() + ) + nn.init.uniform_(self.steer_layer_2[0].weight, a=lb, b=ub) + nn.init.uniform_(self.steer_layer_2[0].bias, a=lb, b=ub) + + self.linear_relu_stack = nn.Sequential( + nn.Linear(1 + dim_acc_layer_2 + dim_steer_layer_2, hidden_layer_sizes[0]), + nn.ReLU(), + nn.Linear(hidden_layer_sizes[0], hidden_layer_sizes[1]), + nn.ReLU(), + ) + nn.init.uniform_(self.linear_relu_stack[0].weight, a=lb, b=ub) + nn.init.uniform_(self.linear_relu_stack[0].bias, a=lb, b=ub) + nn.init.uniform_(self.linear_relu_stack[2].weight, a=lb, b=ub) + nn.init.uniform_(self.linear_relu_stack[2].bias, a=lb, b=ub) + + self.finalize = nn.Linear(hidden_layer_sizes[1] + dim_acc_layer_2 + dim_steer_layer_2, 6) + + nn.init.uniform_(self.finalize.weight, a=lb, b=ub) + nn.init.uniform_(self.finalize.bias, a=lb, b=ub) + + self.acc_dropout = nn.Dropout(acc_drop_out) + self.steer_dropout = nn.Dropout(steer_drop_out) + + def forward(self, x): + acc_layer_1 = self.acc_layer_1(x[:, self.acc_input_index]) + steer_layer_1 = torch.cat( + ( + self.steer_layer_1_head(x[:, self.steer_input_index]), + self.steer_layer_1_tail(x[:, self.steer_input_index_full]), + ), + dim=1, + ) + acc_layer_2 = self.acc_layer_2(self.acc_dropout(acc_layer_1)) + steer_layer_2 = self.steer_layer_2(self.steer_dropout(steer_layer_1)) + + pre_pred = self.linear_relu_stack(torch.cat((x[:, [0]], acc_layer_2, steer_layer_2), dim=1)) + pred = self.finalize(torch.cat((pre_pred, acc_layer_2, steer_layer_2), dim=1)) + return pred + + +class EarlyStopping: + """Class for early stopping in NN training.""" + + def __init__(self, initial_loss, tol=0.01, patience=30): + self.epoch = 0 # Initialise the counter for the number of epochs being monitored. + self.best_loss = float("inf") # Initialise loss of comparison with infinity 'inf'. + self.patience = patience # Initialise the number of epochs to be monitored with a parameter + self.initial_loss = initial_loss.detach().item() + self.tol = tol + + def __call__(self, current_loss): + current_loss_num = current_loss.detach().item() + if current_loss_num + self.tol * self.initial_loss > self.best_loss: + self.epoch += 1 + else: + self.epoch = 0 + if current_loss_num < self.best_loss: + self.best_loss = current_loss_num + if self.epoch >= self.patience: + return True + return False + + +class transform_model_to_c: + """Pass the necessary information to the C++ program to call the trained model at high speed.""" + + def __init__( + self, + model, + A_for_linear_reg, + b_for_linear_reg, + deg, + acc_time_constant, + acc_delay_step, + steer_time_constant, + steer_delay_step, + acc_queue_size, + steer_queue_size, + steer_queue_size_core, + ): + transformer = proxima_calc.transform_model_to_eigen() + + numpy_weight_list = [] + numpy_bias_list = [] + for i, w in enumerate(model.parameters()): + if i % 2 == 0: + numpy_weight_list.append(w.detach().numpy().astype(np.float64)) + else: + numpy_bias_list.append(w.detach().numpy().astype(np.float64)) + array_weight_list_0 = numpy_weight_list[0] + array_bias_list_0 = numpy_bias_list[0] + array_weight_list_1 = numpy_weight_list[1] + array_bias_list_1 = numpy_bias_list[1] + array_weight_list_2 = numpy_weight_list[2] + array_bias_list_2 = numpy_bias_list[2] + array_weight_list_3 = numpy_weight_list[3] + array_bias_list_3 = numpy_bias_list[3] + array_weight_list_4 = numpy_weight_list[4] + array_bias_list_4 = numpy_bias_list[4] + array_weight_list_5 = numpy_weight_list[5] + array_bias_list_5 = numpy_bias_list[5] + array_weight_list_6 = numpy_weight_list[6] + array_bias_list_6 = numpy_bias_list[6] + array_weight_list_7 = numpy_weight_list[7] + array_bias_list_7 = numpy_bias_list[7] + + transformer.set_params( + array_weight_list_0, + array_weight_list_1, + array_weight_list_2, + array_weight_list_3, + array_weight_list_4, + array_weight_list_5, + array_weight_list_6, + array_weight_list_7, + array_bias_list_0, + array_bias_list_1, + array_bias_list_2, + array_bias_list_3, + array_bias_list_4, + array_bias_list_5, + array_bias_list_6, + array_bias_list_7, + A_for_linear_reg, + b_for_linear_reg, + deg, + acc_time_constant, + acc_delay_step, + steer_time_constant, + steer_delay_step, + acc_queue_size, + steer_queue_size, + steer_queue_size_core, + ) + self.pred = transformer.rot_and_d_rot_error_prediction + self.pred_with_diff = transformer.rot_and_d_rot_error_prediction_with_diff + self.Pred = transformer.Rotated_error_prediction diff --git a/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/scripts/drive_controller.py b/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/scripts/drive_controller.py new file mode 100644 index 0000000000000..b21fcf72da931 --- /dev/null +++ b/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/scripts/drive_controller.py @@ -0,0 +1,943 @@ +# Copyright 2024 Proxima Technology Inc, TIER IV +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +# cspell: ignore optim numba interp + + +"""Define a drive_controller class that calculates the final input of the Proxima-side MPC.""" +from functools import partial +from importlib import reload as ir +import threading +import time + +import numpy as np +import scipy.interpolate # type: ignore +from sklearn.preprocessing import PolynomialFeatures +from smart_mpc_trajectory_follower.scripts import drive_GP +from smart_mpc_trajectory_follower.scripts import drive_NN +from smart_mpc_trajectory_follower.scripts import drive_functions +from smart_mpc_trajectory_follower.scripts import drive_iLQR +from smart_mpc_trajectory_follower.scripts import drive_mppi +import torch + +ctrl_index_for_polynomial_reg = np.concatenate( + ( + np.arange(3), + [3 + drive_functions.acc_delay_step], + [3 + drive_functions.acc_ctrl_queue_size + drive_functions.steer_delay_step], + ) +) + + +class drive_controller: + """Calculate the final input of the Proxima-side MPC. + + Fields that can take None follow these specifications unless otherwise noted. + * If None, read from drive_functions.py + * If Bool, the input value is used + """ + + use_trained_model: bool | None + """Whether to use trained models """ + + use_trained_model_diff: bool | None + """Assuming a trained model is used, whether or not to use even its derivatives.""" + + update_trained_model: bool | None + """Whether to update the model online with the data under control.""" + + mode: str | None + """which algorithm to use, "mppi", "ilqr", or "mppi_ilqr" """ + + use_x_noise: bool | None + """Whether to reflect the uncertainty of the straight-line position when performing iLQG""" + + use_y_noise: bool | None + """Whether to reflect the uncertainty of the lateral position when performing iLQG""" + + use_v_noise: bool | None + """ Whether to reflect the uncertainty of the straight-line velocity when performing iLQG""" + + use_theta_noise: bool | None + """ Whether to reflect the uncertainty of the yaw angle when performing iLQG""" + + use_acc_noise: bool | None + """ Whether to reflect the uncertainty of the straight-line acceleration when performing iLQG""" + + use_steer_noise: bool | None + """ Whether to reflect the uncertainty of the steer when performing iLQG""" + + tanh_gain: float + """ Gain of the tanh term in the loss function in learning. """ + + lam: float + """ Weight fir the tanh term in the loss function in learning.""" + + alpha_1: float + """ Coefficients of the L¹ regularization term in online learning.""" + + alpha_2: float + """ Coefficients of the L² regularization term in online learning.""" + + drive_batch_size: int + """ Online learning batch sizes """ + + drive_learning_rate: float + """ Learning rate for online learning """ + + model_file_name: str + """ file name of the trained model to be loaded """ + + load_train_data_dir: str + """ directory for training data to be loaded during online learning """ + + load_GP_dir: str | None + """ directory to load the GP (Gaussian process regression) models for iLQG. """ + + def __init__( + self, + use_trained_model: bool | None = None, + use_trained_model_diff=None, + update_trained_model=None, + mode=None, + use_x_noise=None, + use_y_noise=None, + use_v_noise=None, + use_theta_noise=None, + use_acc_noise=None, + use_steer_noise=None, + tanh_gain=10.0, + lam=0.1, + alpha_1=1e-7, + alpha_2=0.0, + drive_batch_size=200, + drive_learning_rate=1e-6, + model_file_name="model_for_test_drive.pth", + load_train_data_dir=".", + load_GP_dir=None, + load_polynomial_reg_dir=None, + ): + """Initialize. + + Some arguments have a default value of None in order to reload drive_functions and update the parameters. + """ + # reload drive_functions + ir(drive_functions) + ir(drive_NN) + ir(drive_iLQR) + ir(drive_mppi) + + if use_trained_model is None: + self.use_trained_model = drive_functions.use_trained_model + else: + self.use_trained_model = use_trained_model + if not self.use_trained_model: + self.use_trained_model_diff = False + self.update_trained_model = False + else: + if use_trained_model_diff is None: + self.use_trained_model_diff = drive_functions.use_trained_model_diff + else: + self.use_trained_model_diff = use_trained_model_diff + if update_trained_model is None: + self.update_trained_model = drive_functions.update_trained_model + else: + self.update_trained_model = update_trained_model + if mode is None: + self.mode = drive_functions.mode + else: + self.mode = mode + + self.acc_delay_step = drive_functions.acc_delay_step + self.steer_delay_step = drive_functions.steer_delay_step + self.acc_time_constant_ctrl = drive_functions.acc_time_constant + self.steer_time_constant_ctrl = drive_functions.steer_time_constant + + # Term to consider noise in iLQG + if use_x_noise is None: + self.use_x_noise = drive_functions.use_x_noise + else: + self.use_x_noise = use_x_noise + if use_y_noise is None: + self.use_y_noise = drive_functions.use_y_noise + else: + self.use_y_noise = use_y_noise + if use_v_noise is None: + self.use_v_noise = drive_functions.use_v_noise + else: + self.use_v_noise = use_v_noise + if use_theta_noise is None: + self.use_theta_noise = drive_functions.use_theta_noise + else: + self.use_theta_noise = use_theta_noise + if use_acc_noise is None: + self.use_acc_noise = drive_functions.use_acc_noise + else: + self.use_acc_noise = use_acc_noise + if use_steer_noise is None: + self.use_steer_noise = drive_functions.use_steer_noise + else: + self.use_steer_noise = use_steer_noise + if not self.use_trained_model: + self.use_x_noise = False + self.use_y_noise = False + self.use_v_noise = False + self.use_theta_noise = False + self.use_acc_noise = False + self.use_steer_noise = False + + if load_GP_dir is None: + self.load_GP_dir = drive_functions.load_dir + else: + self.load_GP_dir = load_GP_dir + if load_polynomial_reg_dir is None: + self.load_polynomial_reg_dir = drive_functions.load_dir + else: + self.load_polynomial_reg_dir = load_polynomial_reg_dir + + self.drive_batch_size = drive_batch_size + self.alpha_1 = alpha_1 + self.alpha_2 = alpha_2 + self.tanh_gain = tanh_gain + self.lam = lam + + self.init = True + self.initialize_input_queue = True + self.mppi = drive_mppi.drive_mppi( + drive_functions.lam, + drive_functions.Sigma, + drive_functions.max_iter_mppi, + drive_functions.sample_num, + drive_functions.mppi_tol, + drive_functions.mppi_step, + ) + self.ilqr = drive_iLQR.drive_iLQR( + drive_functions.ls_step, + drive_functions.max_iter_ls, + drive_functions.max_iter_ilqr, + drive_functions.ilqr_tol, + self.use_trained_model_diff, + ) + self.err = 0 + if self.use_trained_model: + self.model = torch.load(model_file_name) + polynomial_reg_info = np.load(self.load_polynomial_reg_dir + "/polynomial_reg_info.npz") + self.A_for_polynomial_reg = polynomial_reg_info["A"] + self.b_for_polynomial_reg = polynomial_reg_info["b"] + self.deg = int(polynomial_reg_info["deg"]) + self.polynomial_features = PolynomialFeatures(degree=self.deg, include_bias=False) + transform_model = drive_NN.transform_model_to_c( + self.model, + self.A_for_polynomial_reg, + self.b_for_polynomial_reg, + self.deg, + self.acc_time_constant_ctrl, + self.acc_delay_step, + self.steer_time_constant_ctrl, + self.steer_delay_step, + drive_functions.acc_ctrl_queue_size, + drive_functions.steer_ctrl_queue_size, + drive_functions.steer_ctrl_queue_size_core, + ) + pred = transform_model.pred + Pred = transform_model.Pred + self.pred = pred + self.pred_with_diff = transform_model.pred_with_diff + self.loss_fn = torch.nn.L1Loss() + self.drive_optimizer = torch.optim.Adam( + params=self.model.parameters(), lr=drive_learning_rate + ) + self.F_N_initial_diff = partial( + drive_functions.F_with_model_initial_diff, + pred=pred, + i=self.acc_delay_step, + j=self.steer_delay_step, + acc_time_constant_ctrl=self.acc_time_constant_ctrl, + steer_time_constant_ctrl=self.steer_time_constant_ctrl, + ) + + self.F_N_diff = partial( + drive_functions.F_with_model_diff, + pred=self.pred_with_diff, + i=self.acc_delay_step, + j=self.steer_delay_step, + acc_time_constant_ctrl=self.acc_time_constant_ctrl, + steer_time_constant_ctrl=self.steer_time_constant_ctrl, + ) + self.F_N_for_candidates = partial( + drive_functions.F_with_model_for_candidates, + Pred=Pred, + i=self.acc_delay_step, + j=self.steer_delay_step, + acc_time_constant_ctrl=self.acc_time_constant_ctrl, + steer_time_constant_ctrl=self.steer_time_constant_ctrl, + ) + else: + self.F_N_diff = partial( + drive_functions.F_with_history_and_diff, + i=self.acc_delay_step, + j=self.steer_delay_step, + acc_time_constant_ctrl=self.acc_time_constant_ctrl, + steer_time_constant_ctrl=self.steer_time_constant_ctrl, + ) + self.F_N_initial_diff = self.F_N_diff + self.F_N_for_candidates = partial( + drive_functions.F_with_history_for_candidates, + i=self.acc_delay_step, + j=self.steer_delay_step, + acc_time_constant_ctrl=self.acc_time_constant_ctrl, + steer_time_constant_ctrl=self.steer_time_constant_ctrl, + ) + + if self.use_x_noise: + self.x_noise = drive_GP.transform_GP_to_numba( + 0, dir_name=self.load_GP_dir + ).pred_deviations + else: + self.x_noise = None + if self.use_y_noise: + self.y_noise = drive_GP.transform_GP_to_numba( + 1, dir_name=self.load_GP_dir + ).pred_deviations + else: + self.y_noise = None + if self.use_v_noise: + self.v_noise = drive_GP.transform_GP_to_numba( + 2, dir_name=self.load_GP_dir + ).pred_deviations + else: + self.v_noise = None + if self.use_theta_noise: + self.theta_noise = drive_GP.transform_GP_to_numba( + 3, dir_name=self.load_GP_dir + ).pred_deviations + else: + self.theta_noise = None + if self.use_acc_noise: + self.acc_noise = drive_GP.transform_GP_to_numba( + 4, dir_name=self.load_GP_dir + ).pred_deviations + else: + self.acc_noise = None + if self.use_steer_noise: + self.steer_noise = drive_GP.transform_GP_to_numba( + 5, dir_name=self.load_GP_dir + ).pred_deviations + else: + self.steer_noise = None + + self.X_des_history: list[np.ndarray] = [] + + self.X_input_list = [] + self.Y_output_list = [] + # Initial data during online training + + self.emergency = False + + self.counter = 0 + self.model_update_flag = True + if self.update_trained_model: + train_data = np.load(load_train_data_dir + "/train_data.npz") + self.X_input_list = train_data["X_input"][ + -drive_functions.max_train_data_size : + ].tolist() + self.Y_output_list = ( + train_data["Y_output"][-drive_functions.max_train_data_size :] + - self.polynomial_features.fit_transform( + train_data["X_input"][ + -drive_functions.max_train_data_size :, ctrl_index_for_polynomial_reg + ] + ) + @ (self.A_for_polynomial_reg).T + - self.b_for_polynomial_reg + ).tolist() + self.model_updater = threading.Thread(target=self.update_model) + self.model_updater.start() + + self.x_old = np.empty(6) + + def __del__(self): + print("control finished") + + def get_optimal_control( + self, + x_current_: np.ndarray, + X_des_: np.ndarray, + U_des: np.ndarray = np.zeros((drive_functions.N, drive_functions.nu_0)), + ) -> np.ndarray: + """Calculate the optimal control input from the current state, target trajectory, and target input trajectory. + + The return value is an np.ndarray of the form `(drive_functions.nu_0, )`. + """ + if self.initialize_input_queue: + x_current = x_current_.copy() + X_des, diff_delta = drive_functions.transform_yaw_for_X_des( + x_current, + X_des_, + ) + self.u_opt = X_des[0, drive_functions.nx_0 + np.arange(drive_functions.nu_0)] + self.u_old = self.u_opt.copy() + self.u_old2 = self.u_opt.copy() + self.acc_input_queue = self.u_opt[0] * np.ones(drive_functions.acc_ctrl_queue_size) + self.steer_input_queue = self.u_opt[1] * np.ones(drive_functions.steer_ctrl_queue_size) + self.nominal_inputs = drive_functions.U_des_from_X_des(self.u_old, X_des, diff_delta) + self.previous_error = np.zeros(8) + + self.X_queue_for_learning: list[np.ndarray] = [] + self.acc_input_queue_for_learning: list[np.ndarray] = [] + self.steer_input_queue_for_learning: list[np.ndarray] = [] + self.time_stamp_queue_for_learning: list[float] = [] + self.X_smoothed_queue: list[np.ndarray] = [] + + self.pre_X_input_list: list[np.ndarray] = [] + self.pre_Y_output_list: list[np.ndarray] = [] + + self.initialize_X_smoothing_time_stamp = True + else: + x_current = drive_functions.transform_yaw_for_x_current(self.x_old, x_current_) + X_des, diff_delta = drive_functions.transform_yaw_for_X_des( + x_current, + X_des_, + ) + self.u_old2 = self.u_old.copy() + self.u_old = self.u_opt.copy() + + if self.init: + self.X_current_queue = [] + self.init = False + self.X_des = X_des + + self.X_current = np.concatenate( + (x_current, self.acc_input_queue[::-1], self.steer_input_queue[::-1]) + ) + + self.X_current_queue.append(self.X_current.copy()) + if len(self.X_current_queue) > drive_functions.mpc_freq: + self.X_current_queue.pop(0) + if self.mode == "mppi": # Avoid duplicate filtering for "mppi_ilqr" mode + self.nominal_inputs = drive_functions.sg_filter_for_nominal_inputs(self.nominal_inputs) + if self.mode == "mppi" or self.mode == "mppi_ilqr": # Run mppi + self.start_mppi = time.time() + self.mppi.receive_model(self.F_N_for_candidates) + self.nominal_inputs, self.u_opt_dot, nominal_traj = (self.mppi).compute_optimal_control( + self.X_current, + self.nominal_inputs, + X_des, + U_des, + self.previous_error[:6], + ) + self.nominal_traj_mppi = nominal_traj.copy() + self.end_mppi = time.time() + if self.mode != "mppi": + self.start_ilqr = time.time() + proceed = True + for k in range(drive_functions.max_iter_ilqr): + if not proceed: + break + self.nominal_inputs = drive_functions.sg_filter_for_nominal_inputs( + self.nominal_inputs + ) + self.ilqr.receive_model( + self.F_N_initial_diff, self.F_N_diff, self.F_N_for_candidates + ) + self.nominal_inputs, self.u_opt_dot, nominal_traj, proceed = ( + self.ilqr + ).compute_optimal_control( + self.X_current, + self.nominal_inputs, + X_des, + U_des, + self.previous_error, + self.x_noise, + self.y_noise, + self.v_noise, + self.theta_noise, + self.acc_noise, + self.steer_noise, + ) + self.nominal_traj_ilqr = nominal_traj.copy() + self.nominal_inputs_ilqr = self.nominal_inputs.copy() + err = drive_functions.calc_maximum_trajectory_error(self.nominal_traj_ilqr, X_des) + if err > drive_functions.cap_pred_error[0]: + if err < drive_functions.cap_pred_error[1]: + mix_ratio = (drive_functions.cap_pred_error[1] - err) / ( + drive_functions.cap_pred_error[1] - drive_functions.cap_pred_error[0] + ) + else: + mix_ratio = 0.0 + self.nominal_inputs = mix_ratio * self.nominal_inputs + ( + 1 - mix_ratio + ) * drive_functions.U_des_from_X_des(self.u_old, X_des, diff_delta) + self.err = err + if err > 1.0: + self.emergency = True + + self.time_1 = self.ilqr.time_1 + self.time_2 = self.ilqr.time_2 + self.time_3 = self.ilqr.time_3 + self.time_4 = self.ilqr.time_4 + self.time_5 = self.ilqr.time_5 + self.end_ilqr = time.time() + + if self.use_trained_model: + self.previous_error = drive_functions.error_decay * self.previous_error + ( + 1 - drive_functions.error_decay + ) * self.pred(self.X_current) + + self.nominal_traj = nominal_traj + + self.u_opt = self.u_old + self.u_opt_dot * drive_functions.ctrl_time_step + ( + steer_lim, + steer_rate_lim_lb, + steer_rate_lim_ub, + acc_lim, + acc_rate_lim, + ) = drive_functions.calc_limits(x_current[2], x_current[4], x_current[5]) + + self.u_opt = drive_functions.u_cut_off( + self.u_opt, + self.u_old, + steer_lim, + steer_rate_lim_lb, + steer_rate_lim_ub, + acc_lim, + acc_rate_lim, + ) + + self.initialize_input_queue = False + self.X_des_history.append(X_des[0]) + self.initial_guess_for_debug = (self.nominal_inputs).copy() + + self.x_old = x_current + return self.u_opt + + def update_input_queue( + self, + time_stamp: list[float], + acc_history: list[float], + steer_history: list[float], + x_current_: np.ndarray, + ) -> None: + """Receives the history of the acceleration and steer inputs and their time stamps. + + And interpolates them to be the history of the time steps used by the controller. + The return value can be passed to get_optimal_control. + """ + if not self.initialize_input_queue: + if len(time_stamp) == 1: + self.acc_input_queue[-1] = acc_history[0] + self.steer_input_queue[-1] = steer_history[0] + elif len(time_stamp) > 1: + ctrl_num = int((time_stamp[-1] - time_stamp[0]) / drive_functions.ctrl_time_step) + acc_num = min(drive_functions.acc_ctrl_queue_size, ctrl_num) + steer_num = min(drive_functions.steer_ctrl_queue_size, ctrl_num) + time_stamp_acc = ( + drive_functions.ctrl_time_step * np.arange(acc_num) + - (acc_num - 1) * drive_functions.ctrl_time_step + + time_stamp[-1] + ) + time_stamp_steer = ( + drive_functions.ctrl_time_step * np.arange(steer_num) + - (steer_num - 1) * drive_functions.ctrl_time_step + + time_stamp[-1] + ) + acc_interpolate = scipy.interpolate.interp1d( + np.array(time_stamp), np.array(acc_history) + ) + steer_interpolate = scipy.interpolate.interp1d( + np.array(time_stamp), np.array(steer_history) + ) + + self.acc_input_queue[ + drive_functions.acc_ctrl_queue_size - acc_num : + ] = acc_interpolate(time_stamp_acc) + self.steer_input_queue[ + drive_functions.steer_ctrl_queue_size - steer_num : + ] = steer_interpolate(time_stamp_steer) + + if ( + acc_num == drive_functions.acc_ctrl_queue_size + and steer_num == drive_functions.steer_ctrl_queue_size + ): + self.X_queue_for_learning.append(x_current_) + self.acc_input_queue_for_learning.append(np.array(self.acc_input_queue)[::-1]) + self.steer_input_queue_for_learning.append( + np.array(self.steer_input_queue)[::-1] + ) + self.time_stamp_queue_for_learning.append(time_stamp[-1]) + if ( + self.initialize_X_smoothing_time_stamp + and self.time_stamp_queue_for_learning[-1] + - self.time_stamp_queue_for_learning[0] + > drive_functions.ctrl_time_step + * drive_functions.max_input_queue_size_for_learning + ): + self.initialize_X_smoothing_time_stamp = False + self.X_smoothing_time_stamp = ( + time_stamp[-1] - drive_functions.ctrl_time_step + ) + + if not self.initialize_X_smoothing_time_stamp: + while ( + self.time_stamp_queue_for_learning[-1] + > drive_functions.ctrl_time_step + self.X_smoothing_time_stamp + ): + self.X_smoothing_time_stamp += drive_functions.ctrl_time_step + time_stamp_smoothing = ( + drive_functions.ctrl_time_step + * np.arange(drive_functions.max_input_queue_size_for_learning) + - (drive_functions.max_input_queue_size_for_learning - 1) + * drive_functions.ctrl_time_step + + self.X_smoothing_time_stamp + ) + x_queue = scipy.interpolate.interp1d( + np.array(self.time_stamp_queue_for_learning), + np.array(self.X_queue_for_learning).T, + )(time_stamp_smoothing).T + acc_input_queue = scipy.interpolate.interp1d( + np.array(self.time_stamp_queue_for_learning), + np.array(self.acc_input_queue_for_learning).T, + )(time_stamp_smoothing).T + steer_input_queue = scipy.interpolate.interp1d( + np.array(self.time_stamp_queue_for_learning), + np.array(self.steer_input_queue_for_learning).T, + )(time_stamp_smoothing).T + X_smoothed = np.zeros( + drive_functions.nx_0 + + drive_functions.acc_ctrl_queue_size + + drive_functions.steer_ctrl_queue_size + ) + X_smoothed[0:4] = x_queue[ + drive_functions.max_input_queue_size_for_learning // 2, 0:4 + ] + X_smoothed[4] = np.dot( + x_queue[ + drive_functions.max_input_queue_size_for_learning // 2 + - drive_functions.kernel_acc_for_learning.shape[0] + // 2 : drive_functions.max_input_queue_size_for_learning + // 2 + + drive_functions.kernel_acc_for_learning.shape[0] // 2 + + 1, + 4, + ], + drive_functions.kernel_acc_for_learning, + ) + X_smoothed[5] = np.dot( + x_queue[ + drive_functions.max_input_queue_size_for_learning // 2 + - drive_functions.kernel_steer_for_learning.shape[0] + // 2 : drive_functions.max_input_queue_size_for_learning + // 2 + + drive_functions.kernel_steer_for_learning.shape[0] // 2 + + 1, + 5, + ], + drive_functions.kernel_steer_for_learning, + ) + X_smoothed[ + drive_functions.nx_0 : drive_functions.nx_0 + + drive_functions.acc_ctrl_queue_size + ] = ( + acc_input_queue[ + drive_functions.max_input_queue_size_for_learning // 2 + - drive_functions.kernel_acc_des_for_learning.shape[0] + // 2 : drive_functions.max_input_queue_size_for_learning + // 2 + + drive_functions.kernel_acc_des_for_learning.shape[0] // 2 + + 1 + ].T + * drive_functions.kernel_acc_des_for_learning + ).sum( + axis=1 + ) + X_smoothed[ + drive_functions.nx_0 + + drive_functions.acc_ctrl_queue_size : drive_functions.nx_0 + + drive_functions.acc_ctrl_queue_size + + drive_functions.steer_ctrl_queue_size + ] = ( + steer_input_queue[ + drive_functions.max_input_queue_size_for_learning // 2 + - drive_functions.kernel_steer_des_for_learning.shape[0] + // 2 : drive_functions.max_input_queue_size_for_learning + // 2 + + drive_functions.kernel_steer_des_for_learning.shape[0] // 2 + + 1 + ].T + * drive_functions.kernel_steer_des_for_learning + ).sum( + axis=1 + ) + self.X_smoothed_queue.append(X_smoothed) + if len(self.X_smoothed_queue) > drive_functions.mpc_freq + 1: + self.X_smoothed_queue.pop() + if len(self.X_smoothed_queue) == drive_functions.mpc_freq + 1: + acc_start = ( + drive_functions.acc_ctrl_queue_size + - drive_functions.acc_delay_step + ) + acc_end = ( + drive_functions.acc_ctrl_queue_size + - drive_functions.acc_delay_step + + drive_functions.mpc_freq + ) + steer_start = ( + drive_functions.steer_ctrl_queue_size + - drive_functions.steer_delay_step + ) + steer_end = ( + drive_functions.steer_ctrl_queue_size + - drive_functions.steer_delay_step + + drive_functions.mpc_freq + ) + + u_for_predict_x_current = np.zeros((drive_functions.mpc_freq, 2)) + u_for_predict_x_current[:, 0] = self.X_smoothed_queue[0][ + 6 : 6 + drive_functions.acc_ctrl_queue_size + ][::-1][acc_start:acc_end] + u_for_predict_x_current[:, 1] = self.X_smoothed_queue[0][ + 6 + drive_functions.acc_ctrl_queue_size : + ][::-1][steer_start:steer_end] + var_dot = self.X_smoothed_queue[-1][ + :6 + ] - drive_functions.F_multiple( + self.X_smoothed_queue[0][:6], + u_for_predict_x_current, + drive_functions.acc_time_constant, + drive_functions.steer_time_constant, + ) + var_dot /= drive_functions.mpc_time_step + + self.pre_X_input_list.append( + np.concatenate( + ( + self.X_smoothed_queue[0][[2, 4, 5]], + self.X_smoothed_queue[0][6:], + ) + ) + ) + self.pre_Y_output_list.append( + drive_functions.rotate_data( + self.X_smoothed_queue[0][:6], var_dot + ) + ) + if ( + len(self.pre_X_input_list) + > drive_functions.max_output_queue_size_for_learning + ): + self.pre_X_input_list.pop() + self.pre_Y_output_list.pop() + if ( + len(self.pre_X_input_list) + == drive_functions.max_output_queue_size_for_learning + and self.update_trained_model + ): + X_input = self.pre_X_input_list[ + drive_functions.max_output_queue_size_for_learning // 2 + ] + self.X_input_list.append(X_input) + pre_Y_output = np.array(np.array(self.pre_Y_output_list)) + Y_output = np.zeros(self.pre_Y_output_list[0].shape) + Y_output[0] = np.dot( + pre_Y_output[ + drive_functions.max_output_queue_size_for_learning // 2 + - drive_functions.kernel_x_out_for_learning.shape[0] + // 2 : drive_functions.max_output_queue_size_for_learning + // 2 + + drive_functions.kernel_x_out_for_learning.shape[0] + // 2 + + 1, + 0, + ], + drive_functions.kernel_x_out_for_learning, + ) + Y_output[1] = np.dot( + pre_Y_output[ + drive_functions.max_output_queue_size_for_learning // 2 + - drive_functions.kernel_y_out_for_learning.shape[0] + // 2 : drive_functions.max_output_queue_size_for_learning + // 2 + + drive_functions.kernel_y_out_for_learning.shape[0] + // 2 + + 1, + 1, + ], + drive_functions.kernel_y_out_for_learning, + ) + Y_output[2] = np.dot( + pre_Y_output[ + drive_functions.max_output_queue_size_for_learning // 2 + - drive_functions.kernel_v_out_for_learning.shape[0] + // 2 : drive_functions.max_output_queue_size_for_learning + // 2 + + drive_functions.kernel_v_out_for_learning.shape[0] + // 2 + + 1, + 2, + ], + drive_functions.kernel_v_out_for_learning, + ) + Y_output[3] = np.dot( + pre_Y_output[ + drive_functions.max_output_queue_size_for_learning // 2 + - drive_functions.kernel_theta_out_for_learning.shape[0] + // 2 : drive_functions.max_output_queue_size_for_learning + // 2 + + drive_functions.kernel_theta_out_for_learning.shape[0] + // 2 + + 1, + 3, + ], + drive_functions.kernel_theta_out_for_learning, + ) + Y_output[4] = np.dot( + pre_Y_output[ + drive_functions.max_output_queue_size_for_learning // 2 + - drive_functions.kernel_acc_out_for_learning.shape[0] + // 2 : drive_functions.max_output_queue_size_for_learning + // 2 + + drive_functions.kernel_acc_out_for_learning.shape[0] + // 2 + + 1, + 4, + ], + drive_functions.kernel_acc_out_for_learning, + ) + Y_output[5] = np.dot( + pre_Y_output[ + drive_functions.max_output_queue_size_for_learning // 2 + - drive_functions.kernel_steer_out_for_learning.shape[0] + // 2 : drive_functions.max_output_queue_size_for_learning + // 2 + + drive_functions.kernel_steer_out_for_learning.shape[0] + // 2 + + 1, + 5, + ], + drive_functions.kernel_steer_out_for_learning, + ) + self.Y_output_list.append( + Y_output + - self.A_for_polynomial_reg + @ self.polynomial_features.fit_transform( + X_input[ctrl_index_for_polynomial_reg].reshape(1, -1) + )[0] + - self.b_for_polynomial_reg + ) + if len(self.X_input_list) > drive_functions.max_train_data_size: + self.X_input_list.pop(0) + self.Y_output_list.pop(0) + while ( + self.X_smoothing_time_stamp - self.time_stamp_queue_for_learning[1] + > drive_functions.ctrl_time_step + * drive_functions.max_input_queue_size_for_learning + ): + self.X_queue_for_learning.pop(0) + self.acc_input_queue_for_learning.pop(0) + self.steer_input_queue_for_learning.pop(0) + self.time_stamp_queue_for_learning.pop(0) + + def update_input_queue_and_get_optimal_control( + self, + time_stamp, + acc_history, + steer_history, + x_current_, + X_des_, + U_des=np.zeros((drive_functions.N, drive_functions.nu_0)), + ): + """Run update_input_queue and get_optimal_control all at once.""" + self.update_input_queue(time_stamp, acc_history, steer_history, x_current_) + u_opt = self.get_optimal_control(x_current_, X_des_, U_des) + return u_opt + + def update_model(self): + """Update the learning model online.""" + while True: + if not self.model_update_flag: + break + if not self.initialize_input_queue and len(self.X_input_list) > self.drive_batch_size: + X_input = np.array(self.X_input_list) + Y_output = np.array(self.Y_output_list) + batch_index = np.random.choice( + X_input.shape[0], self.drive_batch_size, replace=False + ) + X_batch = torch.tensor(X_input[batch_index].astype(np.float32)).clone() + Y_batch = torch.tensor(Y_output[batch_index].astype(np.float32)).clone() + Y_pred = self.model(X_batch) + loss = drive_NN.loss_fn_plus_tanh( + self.loss_fn, Y_pred, Y_batch, self.tanh_gain, self.lam + ) + for w in self.model.parameters(): + loss = ( + loss + self.alpha_1 * torch.norm(w, p=1) + self.alpha_2 * torch.norm(w) ** 2 + ) + self.drive_optimizer.zero_grad() + loss.backward() + self.drive_optimizer.step() + + transform_model = drive_NN.transform_model_to_c( + self.model, + self.A_for_polynomial_reg, + self.b_for_polynomial_reg, + self.deg, + self.acc_time_constant_ctrl, + self.acc_delay_step, + self.steer_time_constant_ctrl, + self.steer_delay_step, + drive_functions.acc_ctrl_queue_size, + drive_functions.steer_ctrl_queue_size, + drive_functions.steer_ctrl_queue_size_core, + ) + self.pred = transform_model.pred + self.Pred = transform_model.Pred + self.pred_with_diff = transform_model.pred_with_diff + self.F_N_initial_diff = partial( + drive_functions.F_with_model_initial_diff, + pred=self.pred, + i=self.acc_delay_step, + j=self.steer_delay_step, + acc_time_constant_ctrl=self.acc_time_constant_ctrl, + steer_time_constant_ctrl=self.steer_time_constant_ctrl, + ) + self.F_N_diff = partial( + drive_functions.F_with_model_diff, + pred=self.pred_with_diff, + i=self.acc_delay_step, + j=self.steer_delay_step, + acc_time_constant_ctrl=self.acc_time_constant_ctrl, + steer_time_constant_ctrl=self.steer_time_constant_ctrl, + ) + self.F_N_for_candidates = partial( + drive_functions.F_with_model_for_candidates, + Pred=self.Pred, + i=self.acc_delay_step, + j=self.steer_delay_step, + acc_time_constant_ctrl=self.acc_time_constant_ctrl, + steer_time_constant_ctrl=self.steer_time_constant_ctrl, + ) + + print("updated!!!!!!!!!!!") + time.sleep(0.1) + + def send_initialize_input_queue(self): + """Flag initialization of the history of inputs passed to the control side.""" + self.initialize_input_queue = True + + def stop_model_update(self): + """Terminate the model update.""" + self.model_update_flag = False + if self.update_trained_model: + self.model_updater.join() diff --git a/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/scripts/drive_functions.py b/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/scripts/drive_functions.py new file mode 100644 index 0000000000000..c11b5c886b49a --- /dev/null +++ b/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/scripts/drive_functions.py @@ -0,0 +1,1540 @@ +# Copyright 2024 Proxima Technology Inc, TIER IV +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +# cspell: ignore numba njit fastmath ndim + + +"""Define primary parameters and functions to be used elsewhere.""" +from functools import partial +import json +import os +from pathlib import Path +import sys +from typing import Callable + +from numba import njit +import numpy as np +import yaml + +package_path_json = str(Path(__file__).parent.parent) + "/package_path.json" +with open(package_path_json, "r") as file: + package_path = json.load(file) + +mpc_param_path = package_path["path"] + "/smart_mpc_trajectory_follower/param/mpc_param.yaml" +with open(mpc_param_path, "r") as yml: + mpc_param = yaml.safe_load(yml) + +mpc_freq = int( + mpc_param["mpc_parameter"]["mpc_setting"]["mpc_freq"] +) # Int, mpc horizon interval/control interval + +# information on MPC +ctrl_time_step = float( + mpc_param["mpc_parameter"]["mpc_setting"]["ctrl_time_step"] +) # Time interval of control. +mpc_time_step = mpc_freq * ctrl_time_step # MPC Horizon interval. +N = int(mpc_param["mpc_parameter"]["mpc_setting"]["N"]) # Length of MPC Horizon. +steer_ctrl_queue_size = int( + mpc_param["mpc_parameter"]["mpc_setting"]["steer_ctrl_queue_size"] +) # Queue for training and control +steer_ctrl_queue_size_core = int( + mpc_param["mpc_parameter"]["mpc_setting"]["steer_ctrl_queue_size_core"] +) +acc_ctrl_queue_size = int(mpc_param["mpc_parameter"]["mpc_setting"]["acc_ctrl_queue_size"]) +nx_0 = int(mpc_param["mpc_parameter"]["mpc_setting"]["nx_0"]) # dimension of the state +nu_0 = int(mpc_param["mpc_parameter"]["mpc_setting"]["nu_0"]) # dimension of the input + +################################################################# + +# Control parameters that may be changed in the experiment## + +################################################################# +mode = str(mpc_param["mpc_parameter"]["system"]["mode"]) +# cost function weights +Q = np.diag(np.array(mpc_param["mpc_parameter"]["cost_parameters"]["Q"], dtype=float)) # stage cost +Q_c = np.diag( + np.array(mpc_param["mpc_parameter"]["cost_parameters"]["Q_c"], dtype=float) +) # Stage costs in MPC `timing_Q_c`th horizon. +Q_f = np.diag( + np.array(mpc_param["mpc_parameter"]["cost_parameters"]["Q_f"], dtype=float) +) # terminal cost +R = np.diag( + np.array(mpc_param["mpc_parameter"]["cost_parameters"]["R"], dtype=float) +) # Cost for control inputs. Here acceleration rate of change and steer rate of change. +timing_Q_c = np.array( + mpc_param["mpc_parameter"]["mpc_setting"]["timing_Q_c"], dtype=int +) # Horizon numbers to change stage costs. +reference_horizon = int(mpc_param["mpc_parameter"]["preprocessing"]["reference_horizon"]) # 50 + +acc_lim_weight = float(mpc_param["mpc_parameter"]["cost_parameters"]["acc_lim_weight"]) +steer_lim_weight = float(mpc_param["mpc_parameter"]["cost_parameters"]["steer_lim_weight"]) +acc_rate_lim_weight = float(mpc_param["mpc_parameter"]["cost_parameters"]["acc_rate_lim_weight"]) +steer_rate_lim_weight = float( + mpc_param["mpc_parameter"]["cost_parameters"]["steer_rate_lim_weight"] +) + +# iLQR parameters +ls_step = float(mpc_param["mpc_parameter"]["ilqr"]["ls_step"]) # 0.9 +max_iter_ls = int(mpc_param["mpc_parameter"]["ilqr"]["max_iter_ls"]) # 10 +max_iter_ilqr = int(mpc_param["mpc_parameter"]["ilqr"]["max_iter_ilqr"]) # 1 +ilqr_tol = float(mpc_param["mpc_parameter"]["ilqr"]["ilqr_tol"]) # 0.01 + +# MPPI parameters +lam = float(mpc_param["mpc_parameter"]["mppi"]["lam"]) # 0.1 +Sigma = np.array(mpc_param["mpc_parameter"]["mppi"]["Sigma"], dtype=float) +max_iter_mppi = int(mpc_param["mpc_parameter"]["mppi"]["max_iter_mppi"]) +sample_num = int(mpc_param["mpc_parameter"]["mppi"]["sample_num"]) +mppi_tol = float(mpc_param["mpc_parameter"]["mppi"]["mppi_tol"]) +mppi_step = int(mpc_param["mpc_parameter"]["mppi"]["mppi_step"]) + +cap_pred_error = np.array(mpc_param["mpc_parameter"]["preprocessing"]["cap_pred_error"]) + +nominal_param_path = ( + package_path["path"] + "/smart_mpc_trajectory_follower/param/nominal_param.yaml" +) +with open(nominal_param_path, "r") as yml: + nominal_param = yaml.safe_load(yml) +# Vehicle body information given by default. +L = float(nominal_param["nominal_parameter"]["vehicle_info"]["wheel_base"]) # Length of vehicle [m] +steer_dead_band_for_ctrl = 0.00 # Size of the steering dead band zone given to the control side. + +acc_time_delay = float(nominal_param["nominal_parameter"]["acceleration"]["acc_time_delay"]) +acc_delay_step = min(round(acc_time_delay / ctrl_time_step), acc_ctrl_queue_size - mpc_freq) +acc_time_constant = float(nominal_param["nominal_parameter"]["acceleration"]["acc_time_constant"]) + +steer_time_delay = float(nominal_param["nominal_parameter"]["steering"]["steer_time_delay"]) +steer_delay_step = min( + round(steer_time_delay / ctrl_time_step), steer_ctrl_queue_size_core - mpc_freq +) +steer_time_constant = float(nominal_param["nominal_parameter"]["steering"]["steer_time_constant"]) + +min_steer_rate_transform_for_start = float( + mpc_param["mpc_parameter"]["cost_parameters"]["min_steer_rate_transform_for_start"] +) +power_steer_rate_transform_for_start = int( + mpc_param["mpc_parameter"]["cost_parameters"]["power_steer_rate_transform_for_start"] +) +coef_steer_rate_transform_for_start = float( + mpc_param["mpc_parameter"]["cost_parameters"]["coef_steer_rate_transform_for_start"] +) + +min_tighten_steer_rate = float( + mpc_param["mpc_parameter"]["to_be_deprecated"]["min_tighten_steer_rate"] +) +power_tighten_steer_rate_by_lateral_error = int( + mpc_param["mpc_parameter"]["to_be_deprecated"]["power_tighten_steer_rate_by_lateral_error"] +) +threshold_tighten_steer_rate_by_lateral_error = float( + mpc_param["mpc_parameter"]["to_be_deprecated"]["threshold_tighten_steer_rate_by_lateral_error"] +) +power_tighten_steer_rate_by_yaw_error = int( + mpc_param["mpc_parameter"]["to_be_deprecated"]["power_tighten_steer_rate_by_yaw_error"] +) +threshold_tighten_steer_rate_by_yaw_error = float( + mpc_param["mpc_parameter"]["to_be_deprecated"]["threshold_tighten_steer_rate_by_yaw_error"] +) +tighten_horizon = int(mpc_param["mpc_parameter"]["to_be_deprecated"]["tighten_horizon"]) + +min_loose_lateral_cost = float( + mpc_param["mpc_parameter"]["cost_parameters"]["min_loose_lateral_cost"] +) +power_loose_lateral_cost = int( + mpc_param["mpc_parameter"]["cost_parameters"]["power_loose_lateral_cost"] +) +threshold_loose_lateral_cost = float( + mpc_param["mpc_parameter"]["cost_parameters"]["threshold_loose_lateral_cost"] +) + +min_loose_yaw_cost = float(mpc_param["mpc_parameter"]["cost_parameters"]["min_loose_yaw_cost"]) +power_loose_yaw_cost = int(mpc_param["mpc_parameter"]["cost_parameters"]["power_loose_yaw_cost"]) +threshold_loose_yaw_cost = float( + mpc_param["mpc_parameter"]["cost_parameters"]["threshold_loose_yaw_cost"] +) + +use_sg_for_nominal_inputs = bool( + mpc_param["mpc_parameter"]["preprocessing"]["use_sg_for_nominal_inputs"] +) +sg_deg_for_nominal_inputs = int( + mpc_param["mpc_parameter"]["preprocessing"]["sg_deg_for_nominal_inputs"] +) +sg_window_size_for_nominal_inputs = int( + mpc_param["mpc_parameter"]["preprocessing"]["sg_window_size_for_nominal_inputs"] +) +trained_model_param_path = ( + package_path["path"] + "/smart_mpc_trajectory_follower/param/trained_model_param.yaml" +) +with open(trained_model_param_path, "r") as yml: + trained_model_param = yaml.safe_load(yml) +use_trained_model_diff = bool( + trained_model_param["trained_model_parameter"]["control_application"]["use_trained_model_diff"] +) +use_sg_for_trained_model_diff = bool( + trained_model_param["trained_model_parameter"]["control_application"][ + "use_sg_for_trained_model_diff" + ] +) +sg_deg_for_trained_model_diff = int( + trained_model_param["trained_model_parameter"]["control_application"][ + "sg_deg_for_trained_model_diff" + ] +) +sg_window_size_for_trained_model_diff = int( + trained_model_param["trained_model_parameter"]["control_application"][ + "sg_window_size_for_trained_model_diff" + ] +) + +use_sg_for_noise = bool( + trained_model_param["trained_model_parameter"]["control_application"]["use_sg_for_noise"] +) +sg_deg_for_noise = int( + trained_model_param["trained_model_parameter"]["control_application"]["sg_deg_for_noise"] +) +sg_window_size_for_noise = int( + trained_model_param["trained_model_parameter"]["control_application"][ + "sg_window_size_for_noise" + ] +) + + +load_dir = os.environ["HOME"] +save_dir = os.environ["HOME"] # +"/autoware" +use_trained_model = bool( + trained_model_param["trained_model_parameter"]["control_application"]["use_trained_model"] +) +update_trained_model = bool( + trained_model_param["trained_model_parameter"]["control_application"]["update_trained_model"] +) +max_train_data_size = int( + trained_model_param["trained_model_parameter"]["control_application"]["max_train_data_size"] +) + +error_decay = np.array( + trained_model_param["trained_model_parameter"]["control_application"]["error_decay"], + dtype=float, +) + +Error_decay = error_decay[:6] + +use_x_noise = bool( + trained_model_param["trained_model_parameter"]["control_application"]["use_x_noise"] +) +use_y_noise = bool( + trained_model_param["trained_model_parameter"]["control_application"]["use_y_noise"] +) +use_v_noise = bool( + trained_model_param["trained_model_parameter"]["control_application"]["use_v_noise"] +) +use_theta_noise = bool( + trained_model_param["trained_model_parameter"]["control_application"]["use_theta_noise"] +) +use_acc_noise = bool( + trained_model_param["trained_model_parameter"]["control_application"]["use_acc_noise"] +) +use_steer_noise = bool( + trained_model_param["trained_model_parameter"]["control_application"]["use_steer_noise"] +) + +# smoothing parameter in training +acc_sigma_for_learning = float( + trained_model_param["trained_model_parameter"]["smoothing"]["acc_sigma_for_learning"] +) +steer_sigma_for_learning = float( + trained_model_param["trained_model_parameter"]["smoothing"]["steer_sigma_for_learning"] +) +acc_des_sigma_for_learning = float( + trained_model_param["trained_model_parameter"]["smoothing"]["acc_des_sigma_for_learning"] +) +steer_des_sigma_for_learning = float( + trained_model_param["trained_model_parameter"]["smoothing"]["steer_des_sigma_for_learning"] +) + +x_out_sigma_for_learning = float( + trained_model_param["trained_model_parameter"]["smoothing"]["x_out_sigma_for_learning"] +) +y_out_sigma_for_learning = float( + trained_model_param["trained_model_parameter"]["smoothing"]["y_out_sigma_for_learning"] +) +v_out_sigma_for_learning = float( + trained_model_param["trained_model_parameter"]["smoothing"]["v_out_sigma_for_learning"] +) +theta_out_sigma_for_learning = float( + trained_model_param["trained_model_parameter"]["smoothing"]["theta_out_sigma_for_learning"] +) +acc_out_sigma_for_learning = float( + trained_model_param["trained_model_parameter"]["smoothing"]["acc_out_sigma_for_learning"] +) +steer_out_sigma_for_learning = float( + trained_model_param["trained_model_parameter"]["smoothing"]["steer_out_sigma_for_learning"] +) + + +# upper limit of input + + +package_path_split = str(package_path["path"]).split("/") +control_dir_path = "" +for i in range(len(package_path_split)): + control_dir_path += package_path_split[i] + if package_path_split[i] == "control": + break + control_dir_path += "/" + +limit_yaml_path = None +for curDir, dirs, files in os.walk(control_dir_path): + for name in files: + if name == "vehicle_cmd_gate.param.yaml": + if curDir.split("/")[-2] == "vehicle_cmd_gate": + limit_yaml_path = curDir + "/" + name + break + +limit_params = None +if limit_yaml_path is not None: + with open(limit_yaml_path, "r") as yml: + limit_params = yaml.safe_load(yml) +else: + print("Error: limit_yaml_path is None") + +if limit_params is not None: + reference_speed_points = np.array( + limit_params["/**"]["ros__parameters"]["nominal"]["reference_speed_points"] + ) + steer_lim_points = np.array(limit_params["/**"]["ros__parameters"]["nominal"]["steer_lim"]) + steer_rate_lim_points = np.array( + limit_params["/**"]["ros__parameters"]["nominal"]["steer_rate_lim"] + ) + acc_lim_points = np.array(limit_params["/**"]["ros__parameters"]["nominal"]["lon_acc_lim"]) + acc_rate_lim_points = np.array( + limit_params["/**"]["ros__parameters"]["nominal"]["lon_jerk_lim"] + ) + lat_acc_lim_points = np.array(limit_params["/**"]["ros__parameters"]["nominal"]["lat_acc_lim"]) + lat_jerk_lim_points = np.array( + limit_params["/**"]["ros__parameters"]["nominal"]["lat_jerk_lim"] + ) +else: + print("Error: limit_params is None") + sys.exit(1) + + +@njit(cache=True, fastmath=True) +def calc_limits( + vel: float, + acc: float, + steer: float, + reference_speed_points=reference_speed_points, + steer_lim_points=steer_lim_points, + steer_rate_lim_points=steer_rate_lim_points, + acc_lim_points=acc_lim_points, + lat_acc_lim_points=lat_acc_lim_points, + lat_jerk_lim_points=lat_jerk_lim_points, +) -> tuple[float, float, float, float, float]: + """Calculate the constraints according to the current velocity, acceleration and steer. + + Returns: + float: upper and lower limit of steer + float: upper limit of steer change rate + float: lower limit of steer change rate + float: upper and lower limit of acceleration + float: upper and lower limit of acceleration change rate + + However, we write the upper limit of the "upper and lower limits". lower limit is equal to `(-1) * upper limit`. + """ + interval_index = 0 + for i in range(reference_speed_points.shape[0]): + if np.abs(vel) > reference_speed_points[i]: + interval_index += 1 + else: + break + if interval_index == 0: + steer_lim = steer_lim_points[0] + steer_rate_lim = steer_rate_lim_points[0] + acc_lim = acc_lim_points[0] + acc_rate_lim = acc_rate_lim_points[0] + lat_acc_lim = lat_acc_lim_points[0] + lat_jerk_lim = lat_jerk_lim_points[0] + elif interval_index == reference_speed_points.shape[0]: + steer_lim = steer_lim_points[-1] + steer_rate_lim = steer_rate_lim_points[-1] + acc_lim = acc_lim_points[-1] + acc_rate_lim = acc_rate_lim_points[-1] + lat_acc_lim = lat_acc_lim_points[-1] + lat_jerk_lim = lat_jerk_lim_points[-1] + else: + r = (np.abs(vel) - reference_speed_points[interval_index - 1]) / ( + reference_speed_points[interval_index] - reference_speed_points[interval_index - 1] + ) + steer_lim = (1 - r) * steer_lim_points[interval_index - 1] + r * steer_lim_points[ + interval_index + ] + steer_rate_lim = (1 - r) * steer_rate_lim_points[ + interval_index - 1 + ] + r * steer_rate_lim_points[interval_index] + acc_lim = (1 - r) * acc_lim_points[interval_index - 1] + r * acc_lim_points[interval_index] + acc_rate_lim = (1 - r) * acc_rate_lim_points[interval_index - 1] + r * acc_rate_lim_points[ + interval_index + ] + lat_acc_lim = (1 - r) * lat_acc_lim_points[interval_index - 1] + r * lat_acc_lim_points[ + interval_index + ] + lat_jerk_lim = (1 - r) * lat_jerk_lim_points[interval_index - 1] + r * lat_jerk_lim_points[ + interval_index + ] + lat_jerk_lim_coef = L * np.cos(steer) * np.cos(steer) / (vel * vel + 1e-16) + lat_jerk_lim_const = vel * acc * np.sin(2 * steer) / (vel * vel + 1e-16) + steer_rate_lat_jerk_lim_lb = np.array( + [-lat_jerk_lim_coef * lat_jerk_lim - lat_jerk_lim_const, -0.01] + ).min() + steer_rate_lat_jerk_lim_ub = np.array( + [lat_jerk_lim_coef * lat_jerk_lim - lat_jerk_lim_const, 0.01] + ).max() + + steer_rate_lb = np.array([-steer_rate_lim, steer_rate_lat_jerk_lim_lb]).max() + steer_rate_ub = np.array([steer_rate_lim, steer_rate_lat_jerk_lim_ub]).min() + + return ( + np.array([steer_lim, np.arctan(lat_acc_lim * L / (vel * vel + 1e-16))]).min(), + steer_rate_lb, + steer_rate_ub, + acc_lim, + acc_rate_lim, + ) + + +@njit(cache=True, fastmath=True) +def transform_yaw(yaw_old: float, yaw_current_: float) -> float: + """Transform the yaw angle so that the difference in yaw angle is less than or equal to π.""" + rotate_num = (yaw_current_ - yaw_old) // (2 * np.pi) + if yaw_current_ - yaw_old - 2 * rotate_num * np.pi < np.pi: + return yaw_current_ - 2 * rotate_num * np.pi + else: + return yaw_current_ - 2 * (rotate_num + 1) * np.pi + + +@njit(cache=True, fastmath=True) +def transform_yaw_for_x_current(x_old: np.ndarray, x_current_: np.ndarray) -> np.ndarray: + """Apply `transform_yaw` to x_current_ and return the result.""" + x_current = x_current_.copy() + x_current[3] = transform_yaw(x_old[3], x_current_[3]) + return x_current + + +def transform_yaw_for_X_des(x_current: np.ndarray, X_des_: np.ndarray) -> np.ndarray: + """Transform the yaw angle with respect to the target trajectory. + + X_des[0] is set to the current state. + """ + X_des = X_des_.copy() + + initial_error = X_des[0, :3] - x_current[:3] + + len_journey = max(mpc_time_step * X_des[:, 2].sum(), 5.0) + theta_des = X_des[0, 3] + diff_position = -initial_error[:2] + signed_lat_err = -np.sin(theta_des) * diff_position[0] + np.cos(theta_des) * diff_position[1] + + X_des[: reference_horizon + 1, :3] -= ( + np.arange(reference_horizon + 1)[::-1].reshape(-1, 1) + @ initial_error.reshape(1, -1) + / reference_horizon + ) + X_des[0, 3] = transform_yaw(x_current[3], X_des[0, 3]) + yaw_initial_error = X_des[0, 3] - x_current[3] + X_des[0, 3] -= yaw_initial_error + + diff_theta = -yaw_initial_error + np.arctan(signed_lat_err / len_journey) + diff_delta = L * diff_theta / len_journey + + for i in range(X_des.shape[0] - 1): + if i < reference_horizon: + X_des[i + 1, 3] = ( + transform_yaw(X_des[i, 3], X_des[i + 1, 3]) + - yaw_initial_error * (reference_horizon - i - 1) / reference_horizon + ) + else: + X_des[i + 1, 3] = transform_yaw(X_des[i, 3], X_des[i + 1, 3]) + + return X_des, diff_delta + + +@njit(cache=True, fastmath=True) +def U_des_from_X_des(u_opt: np.ndarray, X_des: np.ndarray, diff_delta: float) -> np.ndarray: + """Calculate the initial value of the MPC from the target trajectory. + + This is used for the first control or when the error calculated by calc_maximum_trajectory_error is large. + """ + U_des = np.zeros((X_des.shape[0] - 1, nu_0)) + for i in range(U_des.shape[0]): + U_des[i] = (X_des[i + 1, 6:8] - X_des[i, 6:8]) / mpc_time_step + init_error = X_des[0, 6:8] - u_opt + U_des = U_des + init_error / ((X_des.shape[0] - 1) * mpc_time_step) - diff_delta + return U_des + + +@njit(cache=True, fastmath=True) +def calc_maximum_trajectory_error(traj: np.ndarray, X_des: np.ndarray) -> float: + """Calculate the maximum trajectory error. + + It calculates + * predicted trajectory produced by the MPC, + * the lateral error of the target trajectory + * the maximum value of the yaw error. + """ + err = 0.0 + for i in range(traj.shape[0]): + theta_des = X_des[i, 3] + diff_position = traj[i, 0:2] - X_des[i, 0:2] + lat_err = np.abs( + -np.sin(theta_des) * diff_position[0] + np.cos(theta_des) * diff_position[1] + ) + err = max(err, lat_err) + err = max(err, np.abs(theta_des - traj[i, 3])) + return err + + +@njit(cache=False, fastmath=True) +def transform_Q_R( + X_des: np.ndarray, U_des: np.ndarray, nominal_traj: np.ndarray, nominal_input: np.ndarray +) -> tuple: + """Calculate the MPC cost weight matrix from the current predicted trajectory and target trajectory. + + This calculates the information to add the constraints to the MPC cost. + """ + Q_total = np.zeros((X_des.shape[0], Q.shape[0], Q.shape[1])) + R_total = np.zeros((U_des.shape[0], R.shape[0], R.shape[1])) + acc_lim_weights = np.zeros(X_des.shape[0]) + acc_lim_center = np.zeros(X_des.shape[0]) + steer_lim_weights = np.zeros(X_des.shape[0]) + steer_lim_center = np.zeros(X_des.shape[0]) + acc_rate_lim_weights = np.zeros(U_des.shape[0]) + acc_rate_lim_center = np.zeros(U_des.shape[0]) + steer_rate_lim_weights = np.zeros(U_des.shape[0]) + steer_rate_lim_center = np.zeros(U_des.shape[0]) + for i in range(X_des.shape[0]): + if i == X_des.shape[0] - 1: + Q_ = Q_f.copy() + elif i in timing_Q_c: + Q_ = Q_c.copy() + else: + Q_ = Q.copy() + x_current = nominal_traj[i] + v = x_current[2] + acc = X_des[i, 4] + theta = X_des[i, 3] + + cos = np.cos(theta) + sin = np.sin(theta) + Rot = np.array([[cos, -sin], [sin, cos]]) + + lateral_error = np.abs((Rot.T @ (X_des[i, :2] - x_current[:2]))[1]) + yaw_error = np.abs(X_des[i, 3] - x_current[3]) + cost_tr_steer_rate_by_error = max( + min_tighten_steer_rate, + max( + (lateral_error / threshold_tighten_steer_rate_by_lateral_error) + ** power_tighten_steer_rate_by_lateral_error, + (yaw_error / threshold_tighten_steer_rate_by_yaw_error) + ** power_tighten_steer_rate_by_yaw_error, + ), + ) + cost_tr_steer_rate = 1 / ( + min( + max( + min_steer_rate_transform_for_start, + (coef_steer_rate_transform_for_start * np.abs(v)) + ** power_steer_rate_transform_for_start, + ), + 1.0, + ) + ) + if i >= tighten_horizon: + cost_tr_steer_rate = max(cost_tr_steer_rate, 1 / cost_tr_steer_rate_by_error) + if i in timing_Q_c or i == X_des.shape[0] - 1: + lateral_cost_coef = min( + max( + min_loose_lateral_cost, + (lateral_error / threshold_loose_lateral_cost) ** power_loose_lateral_cost, + ), + 1.0, + ) + Q_[1, 1] = lateral_cost_coef * Q_[1, 1] + yaw_cost_coef = min( + max( + min_loose_yaw_cost, + (yaw_error / threshold_loose_yaw_cost) ** power_loose_yaw_cost, + ), + 1.0, + ) + Q_[3, 3] = yaw_cost_coef * Q_[3, 3] + + Q_[:2, :2] = Rot @ Q_[:2, :2] @ Rot.T + Q_total[i] = Q_ + + steer_lim, steer_rate_lim_lb, steer_rate_lim_ub, acc_lim, acc_rate_lim = calc_limits( + v, x_current[4], x_current[5] + ) + + if x_current[2] <= 0.0 and x_current[nx_0] <= 0.0: + acc_lim_weights[i] = acc_lim_weight + acc_lim_center[i] = 0.0 + else: + if x_current[nx_0] > acc_lim: # acc inputs + acc_lim_weights[i] = acc_lim_weight + acc_lim_center[i] = acc_lim + elif x_current[nx_0] < -acc_lim: + acc_lim_weights[i] = acc_lim_weight + acc_lim_center[i] = -acc_lim + + if x_current[nx_0 + acc_ctrl_queue_size] > steer_lim: # steer inputs + steer_lim_weights[i] = steer_lim_weight + steer_lim_center[i] = steer_lim + elif x_current[nx_0 + acc_ctrl_queue_size] < -steer_lim: + steer_lim_weights[i] = steer_lim_weight + steer_lim_center[i] = -steer_lim + if i != X_des.shape[0] - 1: + R_ = R.copy() + if acc >= 0: + R_[1, 1] = cost_tr_steer_rate * R_[1, 1] + R_total[i] = R_ + + if nominal_input[i, 0] > acc_rate_lim: + acc_rate_lim_weights[i] = acc_rate_lim_weight + acc_rate_lim_center[i] = acc_rate_lim + elif nominal_input[i, 0] < -acc_rate_lim: + acc_rate_lim_weights[i] = acc_rate_lim_weight + acc_rate_lim_center[i] = -acc_rate_lim + + if nominal_input[i, 1] > steer_rate_lim_ub: + steer_rate_lim_weights[i] = steer_rate_lim_weight + steer_rate_lim_center[i] = steer_rate_lim_ub + elif nominal_input[i, 1] < steer_rate_lim_lb: + steer_rate_lim_weights[i] = steer_rate_lim_weight + steer_rate_lim_center[i] = steer_rate_lim_lb + + return ( + Q_total, + R_total, + acc_lim_weights, + acc_lim_center, + steer_lim_weights, + steer_lim_center, + acc_rate_lim_weights, + acc_rate_lim_center, + steer_rate_lim_weights, + steer_rate_lim_center, + ) + + +@njit(cache=False, fastmath=True) +def calc_cost( + X_des: np.ndarray, U_des: np.ndarray, Traj: np.ndarray, Inputs: np.ndarray, n: int +) -> np.ndarray: + """Calculate the MPC cost of the nth horizon from several candidate predicted trajectories and target trajectories.""" + Cost = np.zeros(Traj.shape[0]) + if n == N: + Q_ = Q_f.copy() + elif n in timing_Q_c: + Q_ = Q_c.copy() + else: + Q_ = Q.copy() + acc = X_des[4] + theta = X_des[3] + cos = np.cos(theta) + sin = np.sin(theta) + Rot = np.array([[cos, -sin], [sin, cos]]) + for i in range(Traj.shape[0]): + x_current = Traj[i] + v = x_current[2] + + Qi = Q_.copy() + lateral_error = np.abs((Rot.T @ (X_des[:2] - x_current[:2]))[1]) + yaw_error = np.abs(X_des[3] - x_current[3]) + cost_tr_steer_rate_by_error = max( + min_tighten_steer_rate, + max( + (lateral_error / threshold_tighten_steer_rate_by_lateral_error) + ** power_tighten_steer_rate_by_lateral_error, + (yaw_error / threshold_tighten_steer_rate_by_yaw_error) + ** power_tighten_steer_rate_by_yaw_error, + ), + ) + cost_tr_steer_rate = 1 / ( + min( + max( + min_steer_rate_transform_for_start, + (coef_steer_rate_transform_for_start * np.abs(v)) + ** power_steer_rate_transform_for_start, + ), + 1.0, + ) + ) + if n >= tighten_horizon: + cost_tr_steer_rate = max(cost_tr_steer_rate, 1 / cost_tr_steer_rate_by_error) + if n in timing_Q_c or n == N: + lateral_cost_coef = min( + max( + min_loose_lateral_cost, + (lateral_error / threshold_loose_lateral_cost) ** power_loose_lateral_cost, + ), + 1.0, + ) + Qi[1, 1] = lateral_cost_coef * Qi[1, 1] + yaw_cost_coef = min( + max( + min_loose_yaw_cost, + (yaw_error / threshold_loose_yaw_cost) ** power_loose_yaw_cost, + ), + 1.0, + ) + Qi[3, 3] = yaw_cost_coef * Qi[3, 3] + Qi[:2, :2] = Rot @ Qi[:2, :2] @ Rot.T + Cost[i] += 0.5 * np.dot(Qi @ (x_current - X_des), x_current - X_des) + + steer_lim, steer_rate_lim_lb, steer_rate_lim_ub, acc_lim, acc_rate_lim = calc_limits( + v, x_current[4], x_current[5] + ) + if x_current[2] <= 0.0 and x_current[nx_0] <= 0.0: + Cost[i] += 0.5 * acc_lim_weight * (x_current[nx_0] - 0.0) * (x_current[nx_0] - 0.0) + + else: + if x_current[nx_0] > acc_lim: + Cost[i] += ( + 0.5 * acc_lim_weight * (x_current[nx_0] - acc_lim) * (x_current[nx_0] - acc_lim) + ) + elif x_current[nx_0] < -acc_lim: + Cost[i] += ( + 0.5 * acc_lim_weight * (x_current[nx_0] + acc_lim) * (x_current[nx_0] + acc_lim) + ) + + if x_current[nx_0 + 1] > steer_lim: + Cost[i] += ( + 0.5 + * steer_lim_weight + * (x_current[nx_0 + 1] - steer_lim) + * (x_current[nx_0 + 1] - steer_lim) + ) + + elif x_current[nx_0 + 1] < -steer_lim: + Cost[i] += ( + 0.5 + * steer_lim_weight + * (x_current[nx_0 + 1] + steer_lim) + * (x_current[nx_0 + 1] + steer_lim) + ) + + if n != N: + R_ = R.copy() + if acc >= 0: + R_[1, 1] = cost_tr_steer_rate * R_[1, 1] + + Cost[i] += 0.5 * np.dot(R_ @ (Inputs[i] - U_des), Inputs[i] - U_des) + + if Inputs[i, 0] > acc_rate_lim: + Cost[i] += ( + 0.5 + * acc_rate_lim_weight + * (Inputs[i, 0] - acc_rate_lim) + * (Inputs[i, 0] - acc_rate_lim) + ) + elif Inputs[i, 0] < -acc_rate_lim: + Cost[i] += ( + 0.5 + * acc_rate_lim_weight + * (Inputs[i, 0] + acc_rate_lim) + * (Inputs[i, 0] + acc_rate_lim) + ) + + if Inputs[i, 1] > steer_rate_lim_ub: + Cost[i] += ( + 0.5 + * steer_rate_lim_weight + * (Inputs[i, 1] - steer_rate_lim_ub) + * (Inputs[i, 1] - steer_rate_lim_ub) + ) + elif Inputs[i, 1] < steer_rate_lim_lb: + Cost[i] += ( + 0.5 + * steer_rate_lim_weight + * (Inputs[i, 1] - steer_rate_lim_lb) + * (Inputs[i, 1] - steer_rate_lim_lb) + ) + + return Cost + + +@njit(cache=False, fastmath=True) +def calc_cost_only_for_states(X_des: np.ndarray, Traj: np.ndarray, n: int) -> np.ndarray: + """Calculate the MPC cost for states of the nth horizon from several candidate predicted trajectories and target trajectories.""" + Cost = np.zeros(Traj.shape[0]) + if n == N: + Q_ = Q_f.copy() + elif n in timing_Q_c: + Q_ = Q_c.copy() + else: + Q_ = Q.copy() + theta = X_des[3] + cos = np.cos(theta) + sin = np.sin(theta) + Rot = np.array([[cos, -sin], [sin, cos]]) + for i in range(Traj.shape[0]): + x_current = Traj[i] + v = x_current[2] + + Qi = Q_.copy() + if n in timing_Q_c or n == N: + lateral_error = np.abs((Rot.T @ (X_des[:2] - x_current[:2]))[1]) + lateral_cost_coef = min( + max( + min_loose_lateral_cost, + (lateral_error / threshold_loose_lateral_cost) ** power_loose_lateral_cost, + ), + 1.0, + ) + Qi[1, 1] = lateral_cost_coef * Qi[1, 1] + yaw_error = np.abs(X_des[3] - x_current[3]) + yaw_cost_coef = min( + max( + min_loose_yaw_cost, + (yaw_error / threshold_loose_yaw_cost) ** power_loose_yaw_cost, + ), + 1.0, + ) + Qi[3, 3] = yaw_cost_coef * Qi[3, 3] + Qi[:2, :2] = Rot @ Qi[:2, :2] @ Rot.T + Cost[i] += 0.5 * np.dot(Qi @ (x_current - X_des), x_current - X_des) + + steer_lim, _, _, acc_lim, _ = calc_limits(v, x_current[4], x_current[5]) + if x_current[2] <= 0.0 and x_current[nx_0] <= 0.0: + Cost[i] += 0.5 * acc_lim_weight * (x_current[nx_0] - 0.0) * (x_current[nx_0] - 0.0) + + else: + if x_current[nx_0] > acc_lim: + Cost[i] += ( + 0.5 * acc_lim_weight * (x_current[nx_0] - acc_lim) * (x_current[nx_0] - acc_lim) + ) + elif x_current[nx_0] < -acc_lim: + Cost[i] += ( + 0.5 * acc_lim_weight * (x_current[nx_0] + acc_lim) * (x_current[nx_0] + acc_lim) + ) + + if x_current[nx_0 + 1] > steer_lim: + Cost[i] += ( + 0.5 + * steer_lim_weight + * (x_current[nx_0 + 1] - steer_lim) + * (x_current[nx_0 + 1] - steer_lim) + ) + + elif x_current[nx_0 + 1] < -steer_lim: + Cost[i] += ( + 0.5 + * steer_lim_weight + * (x_current[nx_0 + 1] + steer_lim) + * (x_current[nx_0 + 1] + steer_lim) + ) + + return Cost + + +def rotate_data(x_old: np.ndarray, var_dot: np.ndarray) -> np.ndarray: + """Apply a rotation that converts the x, y velocity relative to the world to the x, y velocity relative to the vehicle body.""" + theta_old = x_old[3] + cos = np.cos(theta_old) + sin = np.sin(theta_old) + + var_dot_ = var_dot.copy() + var_dot_[:2] = np.array([[cos, sin], [-sin, cos]]) @ var_dot[:2] + + return var_dot_ + + +@njit(cache=True, fastmath=True) +def f_init( + states: np.ndarray, + inputs: np.ndarray, + acc_time_constant_ctrl: float = acc_time_constant, + steer_time_constant_ctrl: float = steer_time_constant, + steer_dead_band_for_ctrl=steer_dead_band_for_ctrl, +) -> np.ndarray: + """Time derivative of nominal model dynamics.""" + v = states[2] + theta = states[3] + alpha = states[4] + delta = states[5] + + delta_diff = inputs[1] - delta + if delta_diff >= steer_dead_band_for_ctrl: + delta_diff = delta_diff - steer_dead_band_for_ctrl + elif delta_diff <= -steer_dead_band_for_ctrl: + delta_diff = delta_diff + steer_dead_band_for_ctrl + else: + delta_diff = 0.0 + + states_dot = np.zeros(nx_0) + states_dot[0] = v * np.cos(theta) + states_dot[1] = v * np.sin(theta) + states_dot[2] = alpha + states_dot[3] = v * np.tan(delta) / L + states_dot[4] = (inputs[0] - alpha) / acc_time_constant_ctrl + states_dot[5] = delta_diff / steer_time_constant_ctrl + return states_dot + + +@njit(cache=True, fastmath=True) +def F_init( + states: np.ndarray, + inputs: np.ndarray, + acc_time_constant_ctrl: float = acc_time_constant, + steer_time_constant_ctrl: float = steer_time_constant, + steer_dead_band_for_ctrl=steer_dead_band_for_ctrl, +) -> np.ndarray: + """Nominal model dynamics.""" + states_next = ( + states + + f_init( + states, + inputs, + acc_time_constant_ctrl, + steer_time_constant_ctrl, + steer_dead_band_for_ctrl, + ) + * ctrl_time_step + ) + return states_next + + +@njit(cache=True, fastmath=True) +def F_multiple( + states: np.ndarray, + inputs: np.ndarray, + acc_time_constant_ctrl: float = acc_time_constant, + steer_time_constant_ctrl: float = steer_time_constant, + steer_dead_band_for_ctrl=steer_dead_band_for_ctrl, +) -> np.ndarray: + """Discretize and integrate up to the MPC time width according to the nominal model dynamics.""" + states_next = states + for i in range(mpc_freq): + states_next = F_init( + states_next, + inputs[i], + acc_time_constant_ctrl, + steer_time_constant_ctrl, + steer_dead_band_for_ctrl, + ) + return states_next + + +@njit(cache=True, fastmath=True) +def F_init_with_diff( + states: np.ndarray, + inputs: np.ndarray, + acc_time_constant_ctrl: float = acc_time_constant, + steer_time_constant_ctrl: float = steer_time_constant, + steer_dead_band_for_ctrl=steer_dead_band_for_ctrl, +) -> tuple[np.ndarray, np.ndarray, np.ndarray]: + """Compute the dynamics of the nominal model while computing derivatives.""" + states_next = ( + states + + f_init( + states, + inputs, + acc_time_constant_ctrl, + steer_time_constant_ctrl, + steer_dead_band_for_ctrl, + ) + * ctrl_time_step + ) + dF_dx = np.eye(nx_0) + dF_du = np.zeros((nx_0, nu_0)) + v = states[2] + theta = states[3] + delta = states[5] + + dF_dx[0, 2] += np.cos(theta) * ctrl_time_step + dF_dx[0, 3] -= v * np.sin(theta) * ctrl_time_step + dF_dx[1, 2] += np.sin(theta) * ctrl_time_step + dF_dx[1, 3] += v * np.cos(theta) * ctrl_time_step + dF_dx[2, 4] += ctrl_time_step + dF_dx[3, 2] += np.tan(delta) * ctrl_time_step / L + dF_dx[3, 5] += v * ctrl_time_step / (L * np.cos(delta) * np.cos(delta)) + dF_dx[4, 4] -= ctrl_time_step / acc_time_constant_ctrl + + dF_du[4, 0] = ctrl_time_step / acc_time_constant_ctrl + if abs(inputs[1] - delta) >= steer_dead_band_for_ctrl: + dF_dx[5, 5] -= ctrl_time_step / steer_time_constant_ctrl + dF_du[5, 1] = ctrl_time_step / steer_time_constant_ctrl + return states_next, dF_dx, dF_du + + +@njit(cache=True, fastmath=True) +def F_multiple_with_diff( + states: np.ndarray, + inputs: np.ndarray, + acc_time_constant_ctrl: float = ctrl_time_step, + steer_time_constant_ctrl: float = ctrl_time_step, + steer_dead_band_for_ctrl=steer_dead_band_for_ctrl, +) -> tuple[np.ndarray, np.ndarray, np.ndarray]: + """Integrate up to the MPC time width according to the nominal model while calculating the derivative.""" + F_0, dFx_0, dFu_0 = F_init_with_diff( + states, + inputs[0], + acc_time_constant_ctrl=acc_time_constant_ctrl, + steer_time_constant_ctrl=steer_time_constant_ctrl, + steer_dead_band_for_ctrl=steer_dead_band_for_ctrl, + ) + F_1, dFx_1, dFu_1 = F_init_with_diff( + F_0, + inputs[1], + acc_time_constant_ctrl=acc_time_constant_ctrl, + steer_time_constant_ctrl=steer_time_constant_ctrl, + steer_dead_band_for_ctrl=steer_dead_band_for_ctrl, + ) + F_2, dFx_2, dFu_2 = F_init_with_diff( + F_1, + inputs[2], + acc_time_constant_ctrl=acc_time_constant_ctrl, + steer_time_constant_ctrl=steer_time_constant_ctrl, + steer_dead_band_for_ctrl=steer_dead_band_for_ctrl, + ) + dF_dx = dFx_2 @ dFx_1 @ dFx_0 + + dF_du = np.zeros((nx_0, 3 * nu_0)) + dF_du[:, :nu_0] = dFx_2 @ dFx_1 @ dFu_0 + dF_du[:, nu_0 : 2 * nu_0] = dFx_2 @ dFu_1 + dF_du[:, 2 * nu_0 : 3 * nu_0] = dFu_2 + return F_2, dF_dx, dF_du + + +@njit(cache=True, fastmath=True) +def f_init_for_candidates( + States: np.ndarray, + Inputs: np.ndarray, + acc_time_constant_ctrl: float = acc_time_constant, + steer_time_constant_ctrl: float = steer_time_constant, + steer_dead_band_for_ctrl=steer_dead_band_for_ctrl, +) -> np.ndarray: + """Time derivative of nominal model dynamics for multiple candidates.""" + v = States[:, 2] + theta = States[:, 3] + alpha = States[:, 4] + delta = States[:, 5] + smaller_than_band = Inputs[:, 1] - delta < steer_dead_band_for_ctrl + larger_than_band = Inputs[:, 1] - delta > -steer_dead_band_for_ctrl + + delta_diff = (1 - smaller_than_band * larger_than_band) * ( + (Inputs[:, 1] - delta) + - (1 * larger_than_band - 1 * smaller_than_band) * steer_dead_band_for_ctrl + ) + States_dot = np.zeros(States.shape) + States_dot[:, 0] = v * np.cos(theta) + States_dot[:, 1] = v * np.sin(theta) + States_dot[:, 2] = alpha + States_dot[:, 3] = v * np.tan(delta) / L + States_dot[:, 4] = (Inputs[:, 0] - alpha) / acc_time_constant_ctrl + States_dot[:, 5] = delta_diff / steer_time_constant_ctrl + return States_dot + + +@njit(cache=True, fastmath=True) +def F_multiple_for_candidates( + States: np.ndarray, + Inputs: np.ndarray, + acc_time_constant_ctrl: float = acc_time_constant, + steer_time_constant_ctrl: float = steer_time_constant, + steer_dead_band_for_ctrl=steer_dead_band_for_ctrl, +) -> np.ndarray: + """Discretize and integrate up to the MPC time width according to the nominal model dynamics for several candidates.""" + # Euler method + States_next = States.copy() + for i in range(mpc_freq): + States_next = ( + States_next + + f_init_for_candidates( + States_next, + Inputs[:, i, :], + acc_time_constant_ctrl, + steer_time_constant_ctrl, + steer_dead_band_for_ctrl, + ) + * ctrl_time_step + ) + return States_next + + +@njit(cache=True, fastmath=True) +def F_with_history( + states: np.ndarray, + inputs: np.ndarray, + i: int = acc_delay_step, + j: int = steer_delay_step, + acc_time_constant_ctrl: float = acc_time_constant, + steer_time_constant_ctrl: float = steer_time_constant, + steer_dead_band_for_ctrl=steer_dead_band_for_ctrl, +) -> np.ndarray: + """Integrate up to the MPC time width according to the nominal model. + + This includes the history of the input to the state. + """ + # Function from extended state + states_next = np.zeros(states.shape) + states_next[nx_0 + mpc_freq : nx_0 + acc_ctrl_queue_size] = states[ + nx_0 : nx_0 + acc_ctrl_queue_size - mpc_freq + ].copy() + states_next[ + nx_0 + acc_ctrl_queue_size + mpc_freq : nx_0 + acc_ctrl_queue_size + steer_ctrl_queue_size + ] = states[ + nx_0 + acc_ctrl_queue_size : nx_0 + acc_ctrl_queue_size + steer_ctrl_queue_size - mpc_freq + ].copy() + for k in range(mpc_freq): + states_next[nx_0 + mpc_freq - k - 1] = ( + states_next[nx_0 + mpc_freq - k] + ctrl_time_step * inputs[0] + ) + states_next[nx_0 + acc_ctrl_queue_size + mpc_freq - k - 1] = ( + states_next[nx_0 + acc_ctrl_queue_size + mpc_freq - k] + ctrl_time_step * inputs[1] + ) + + actual_inputs = np.zeros((mpc_freq, inputs.shape[0])) + actual_inputs[:, 0] = states_next[nx_0 + i + np.arange(mpc_freq)[::-1]] + actual_inputs[:, 1] = states_next[nx_0 + acc_ctrl_queue_size + j + np.arange(mpc_freq)[::-1]] + + states_next[:nx_0] = F_multiple( + states[:nx_0], + actual_inputs, + acc_time_constant_ctrl, + steer_time_constant_ctrl, + steer_dead_band_for_ctrl, + ) + + return states_next + + +def F_with_history_and_diff( + states: np.ndarray, + inputs: np.ndarray, + previous_error: None = None, + init: None = None, + i: int = acc_delay_step, + j: int = steer_delay_step, + acc_time_constant_ctrl: float = acc_time_constant, + steer_time_constant_ctrl: float = steer_time_constant, +) -> tuple[np.ndarray, np.ndarray, np.ndarray, None]: + """While computing the derivative, integrate up to the MPC time width according to the nominal model. + + This includes the history of the input to the state. + """ + nx = states.shape[0] + states_next = np.zeros(nx) + dF_dx = np.zeros((nx, nx)) + dF_du = np.zeros((nx, nu_0)) + + states_next[nx_0 + mpc_freq : nx_0 + acc_ctrl_queue_size] = states[ + nx_0 : nx_0 + acc_ctrl_queue_size - mpc_freq + ].copy() + states_next[ + nx_0 + acc_ctrl_queue_size + mpc_freq : nx_0 + acc_ctrl_queue_size + steer_ctrl_queue_size + ] = states[ + nx_0 + acc_ctrl_queue_size : nx_0 + acc_ctrl_queue_size + steer_ctrl_queue_size - mpc_freq + ].copy() + + dF_dx[ + nx_0 + mpc_freq : nx_0 + acc_ctrl_queue_size, nx_0 : nx_0 + acc_ctrl_queue_size - mpc_freq + ] = np.eye(acc_ctrl_queue_size - mpc_freq) + dF_dx[ + nx_0 + acc_ctrl_queue_size + mpc_freq : nx_0 + acc_ctrl_queue_size + steer_ctrl_queue_size, + nx_0 + acc_ctrl_queue_size : nx_0 + acc_ctrl_queue_size + steer_ctrl_queue_size - mpc_freq, + ] = np.eye(steer_ctrl_queue_size - mpc_freq) + + for k in range(mpc_freq): + states_next[nx_0 + mpc_freq - k - 1] = ( + states_next[nx_0 + mpc_freq - k] + ctrl_time_step * inputs[0] + ) + states_next[nx_0 + acc_ctrl_queue_size + mpc_freq - k - 1] = ( + states_next[nx_0 + acc_ctrl_queue_size + mpc_freq - k] + ctrl_time_step * inputs[1] + ) + dF_dx[nx_0 + mpc_freq - k - 1, nx_0] = 1 + dF_dx[nx_0 + acc_ctrl_queue_size + mpc_freq - k - 1, nx_0 + acc_ctrl_queue_size] = 1 + + dF_du[nx_0 + mpc_freq - k - 1, 0] = (k + 1) * ctrl_time_step + dF_du[nx_0 + acc_ctrl_queue_size + mpc_freq - k - 1, 1] = (k + 1) * ctrl_time_step + + actual_inputs = np.zeros((mpc_freq, inputs.shape[0])) + actual_inputs[:, 0] = states_next[nx_0 + i + np.arange(mpc_freq)[::-1]].copy() + + actual_inputs[:, 1] = states_next[ + nx_0 + acc_ctrl_queue_size + j + np.arange(mpc_freq)[::-1] + ].copy() + control_index = np.vstack( + ( + nx_0 + max(i - mpc_freq, 0) + np.arange(mpc_freq)[::-1], + nx_0 + acc_ctrl_queue_size + max(j - mpc_freq, 0) + np.arange(mpc_freq)[::-1], + ) + ).T.flatten() + states_next[:nx_0], dF_dx[:nx_0, :nx_0], dF_dx[:nx_0, control_index] = F_multiple_with_diff( + states[:nx_0], actual_inputs, acc_time_constant_ctrl, steer_time_constant_ctrl + ) + + return states_next, dF_dx, dF_du, None + + +@njit(cache=True, fastmath=True) +def F_with_history_for_candidates( + States: np.ndarray, + Inputs: np.ndarray, + Previous_error=None, + init=None, + i: int = acc_delay_step, + j: int = steer_delay_step, + acc_time_constant_ctrl: float = acc_time_constant, + steer_time_constant_ctrl: float = steer_time_constant, +) -> tuple[np.ndarray, None]: + """For several candidates, discretize and integrate up to the MPC time-width according to the nominal model dynamics. + + This includes the history of the input to the state. + """ + States_next = np.zeros(States.shape) + + States_next[:, nx_0 + mpc_freq : nx_0 + acc_ctrl_queue_size] = States[ + :, nx_0 : nx_0 + acc_ctrl_queue_size - mpc_freq + ].copy() + States_next[ + :, + nx_0 + acc_ctrl_queue_size + mpc_freq : nx_0 + acc_ctrl_queue_size + steer_ctrl_queue_size, + ] = States[ + :, + nx_0 + acc_ctrl_queue_size : nx_0 + acc_ctrl_queue_size + steer_ctrl_queue_size - mpc_freq, + ].copy() + for k in range(mpc_freq): + States_next[:, nx_0 + mpc_freq - k - 1] = ( + States_next[:, nx_0 + mpc_freq - k] + ctrl_time_step * Inputs[:, 0] + ) + States_next[:, nx_0 + acc_ctrl_queue_size + mpc_freq - k - 1] = ( + States_next[:, nx_0 + acc_ctrl_queue_size + mpc_freq - k] + + ctrl_time_step * Inputs[:, 1] + ) + actual_Inputs = np.zeros((Inputs.shape[0], mpc_freq, nu_0)) + + actual_Inputs[:, :, 0] = States_next[:, nx_0 + i + np.arange(mpc_freq)[::-1]].copy() + actual_Inputs[:, :, 1] = States_next[ + :, nx_0 + acc_ctrl_queue_size + j + np.arange(mpc_freq)[::-1] + ].copy() + States_next[:, :nx_0] = F_multiple_for_candidates( + States[:, :nx_0], actual_Inputs, acc_time_constant_ctrl, steer_time_constant_ctrl + ) + return States_next, None + + +def F_with_model_initial_diff( + states: np.ndarray, + inputs: np.ndarray, + previous_error: np.ndarray, + k: int, + pred: Callable, + i: int = acc_delay_step, + j: int = steer_delay_step, + acc_time_constant_ctrl: float = acc_time_constant, + steer_time_constant_ctrl: float = steer_time_constant, +) -> tuple[np.ndarray, np.ndarray, np.ndarray, np.ndarray]: + """While computing the derivative, integrate up to the MPC time width according to the trained model. + + This includes the history of the input to the state. + The derivative follows the nominal model. + This verifies whether the learning is working on the predictions or on the derivatives. + """ + if k == 0: + error = error_decay * previous_error + (1 - error_decay) * pred(states) + else: + error = error_decay * error_decay * error_decay * previous_error + ( + 1 - error_decay * error_decay * error_decay + ) * pred(states) + previous_error_ = error + + rot_error, d_rot_error = np.split(error, [nx_0]) + states_next, dF_dx, dF_du, _ = F_with_history_and_diff( + states, + inputs, + i=i, + j=j, + acc_time_constant_ctrl=acc_time_constant_ctrl, + steer_time_constant_ctrl=steer_time_constant_ctrl, + ) + + dF_dx[:2, 3] += d_rot_error * mpc_time_step + states_next[:nx_0] += rot_error * mpc_time_step + + return states_next, dF_dx, dF_du, previous_error_ + + +def F_with_model_diff( + states: np.ndarray, + inputs: np.ndarray, + previous_error: np.ndarray, + k: int, + pred: Callable, + i: int = acc_delay_step, + j: int = steer_delay_step, + acc_time_constant_ctrl: float = acc_time_constant, + steer_time_constant_ctrl: float = steer_time_constant, +) -> tuple[np.ndarray, np.ndarray, np.ndarray, np.ndarray, np.ndarray]: + """While computing the derivative, it integrates up to the MPC time width according to the trained model. + + This includes the history of the input to the state. + The derivatives also follow a trained model. + """ + pred_with_diff = pred(states) + + if k == 0: + rot_error = ( + error_decay[:nx_0] * previous_error[:nx_0] + + (1 - error_decay[:nx_0]) * pred_with_diff[:, 0] + ) + d_rot_error = ( + error_decay[nx_0:] * previous_error[nx_0:] + + (1 - error_decay[nx_0:]) * pred_with_diff[:2, 1] + ) + else: + rot_error = ( + error_decay[:nx_0] * error_decay[:nx_0] * error_decay[:nx_0] * previous_error[:nx_0] + + (1 - error_decay[:nx_0] * error_decay[:nx_0] * error_decay[:nx_0]) + * pred_with_diff[:, 0] + ) + d_rot_error = ( + error_decay[nx_0:] * error_decay[nx_0:] * error_decay[nx_0:] * previous_error[nx_0:] + + (1 - error_decay[nx_0:] * error_decay[nx_0:] * error_decay[nx_0:]) + * pred_with_diff[:2, 1] + ) + pred_error_ = np.concatenate((rot_error, d_rot_error)) + states_next, dF_dx, dF_du, _ = F_with_history_and_diff( + states, + inputs, + i=i, + j=j, + acc_time_constant_ctrl=acc_time_constant_ctrl, + steer_time_constant_ctrl=steer_time_constant_ctrl, + ) + + dF_dx[:2, 3] += d_rot_error * mpc_time_step + states_next[:nx_0] += rot_error * mpc_time_step + return states_next, dF_dx, dF_du, pred_with_diff[:, 2:] * mpc_time_step, pred_error_ + + +def F_with_model_for_candidates( + States: np.ndarray, + Inputs: np.ndarray, + Previous_error: np.ndarray, + k: int, + Pred: Callable, + i: int = acc_delay_step, + j: int = steer_delay_step, + acc_time_constant_ctrl: float = acc_time_constant, + steer_time_constant_ctrl: float = steer_time_constant, +) -> tuple[np.ndarray, np.ndarray]: + """For several candidates, integrate up to the MPC time width according to the trained model. + + This includes the history of the input to the state. + """ + if k == 0: + Error = Error_decay * Previous_error + (1 - Error_decay) * Pred(States.T).T + else: + Error = ( + Error_decay * Error_decay * Error_decay * Previous_error + + (1 - Error_decay * Error_decay * Error_decay) * Pred(States.T).T + ) + Previous_error_ = Error + + States_next, _ = F_with_history_for_candidates( + States, + Inputs, + i=i, + j=j, + acc_time_constant_ctrl=acc_time_constant_ctrl, + steer_time_constant_ctrl=steer_time_constant_ctrl, + ) + States_next[:, :nx_0] += Error * mpc_time_step + + return States_next, Previous_error_ + + +def sg_filter( + inputs: np.ndarray, + use_sg: bool, + sg_window_size: int, + sg_vector_left_edge: list[np.ndarray], + sg_vector_right_edge: list[np.ndarray], + sg_vector: np.ndarray, +) -> np.ndarray: + """SG Filter. Used for smoothing.""" + if use_sg: + input_len = inputs.shape[0] + filtered_inputs = np.zeros(inputs.shape) + for i in range(input_len): + if i < sg_window_size: + filtered_inputs[i] = ( + (inputs[: sg_window_size + i + 1].T * sg_vector_left_edge[i]) + .sum(axis=inputs.ndim - 1) + .T + ) + elif i > input_len - sg_window_size - 1: + filtered_inputs[i] = ( + (inputs[i - sg_window_size :].T * sg_vector_right_edge[input_len - i - 1]) + .sum(axis=inputs.ndim - 1) + .T + ) + else: + filtered_inputs[i] = ( + (inputs[i - sg_window_size : i + sg_window_size + 1].T * sg_vector) + .sum(axis=inputs.ndim - 1) + .T + ) + return filtered_inputs + else: + return inputs + + +def calc_sg_filter_weight(sg_deg, sg_window_size): + """Calculate weighted average weights from SG filter degree and window size.""" + sg_vector_left_edge = [] + sg_vector_right_edge = [] + e_0 = np.zeros(sg_deg + 1) + e_0[0] = 1.0 + for i in range(sg_window_size): + reg_times = (np.arange(sg_window_size + i + 1) - i) * mpc_time_step + T = np.ones((sg_window_size + i + 1, sg_deg + 1)) + W = np.eye(T.shape[0]) + for j in range(sg_deg): + T[:, j + 1] = T[:, j] * reg_times + sg_vector_left_edge.append(W @ T @ np.linalg.inv(T.T @ W @ T) @ e_0) + reg_times = (np.arange(sg_window_size + i + 1) - sg_window_size) * mpc_time_step + T = np.ones((sg_window_size + i + 1, sg_deg + 1)) + W = np.eye(T.shape[0]) + for j in range(sg_deg): + T[:, j + 1] = T[:, j] * reg_times + sg_vector_right_edge.append(W @ T @ np.linalg.inv(T.T @ W @ T) @ e_0) + reg_times = (np.arange(2 * sg_window_size + 1) - sg_window_size) * mpc_time_step + T = np.ones((2 * sg_window_size + 1, sg_deg + 1)) + for j in range(sg_deg): + T[:, j + 1] = T[:, j] * reg_times + sg_vector = T @ np.linalg.inv(T.T @ T) @ e_0 + return sg_vector, sg_vector_left_edge, sg_vector_right_edge + + +( + sg_vector_for_nominal_inputs, + sg_vector_left_edge_for_nominal_inputs, + sg_vector_right_edge_for_nominal_inputs, +) = calc_sg_filter_weight(sg_deg_for_nominal_inputs, sg_window_size_for_nominal_inputs) +( + sg_vector_for_trained_model_diff, + sg_vector_left_edge_for_trained_model_diff, + sg_vector_right_edge_for_trained_model_diff, +) = calc_sg_filter_weight(sg_deg_for_trained_model_diff, sg_window_size_for_trained_model_diff) +( + sg_vector_for_noise, + sg_vector_left_edge_for_noise, + sg_vector_right_edge_for_noise, +) = calc_sg_filter_weight(sg_deg_for_noise, sg_window_size_for_noise) + +sg_filter_for_nominal_inputs = partial( + sg_filter, + use_sg=use_sg_for_nominal_inputs, + sg_window_size=sg_window_size_for_nominal_inputs, + sg_vector_left_edge=sg_vector_left_edge_for_nominal_inputs, + sg_vector_right_edge=sg_vector_right_edge_for_nominal_inputs, + sg_vector=sg_vector_for_nominal_inputs, +) + +sg_filter_for_trained_model_diff = partial( + sg_filter, + use_sg=use_sg_for_trained_model_diff, + sg_window_size=sg_window_size_for_trained_model_diff, + sg_vector_left_edge=sg_vector_left_edge_for_trained_model_diff, + sg_vector_right_edge=sg_vector_right_edge_for_trained_model_diff, + sg_vector=sg_vector_for_trained_model_diff, +) + +sg_filter_for_noise = partial( + sg_filter, + use_sg=use_sg_for_noise, + sg_window_size=sg_window_size_for_noise, + sg_vector_left_edge=sg_vector_left_edge_for_noise, + sg_vector_right_edge=sg_vector_right_edge_for_noise, + sg_vector=sg_vector_for_noise, +) + + +def calc_gf_kernel(sigma): + """Calculate the kernel of the Gaussian filter from the variance.""" + kernel = np.zeros(int(round(4 * sigma)) * 2 + 1) + for i in range(kernel.shape[0]): + kernel[i] = np.exp(-((i - round(4 * sigma)) ** 2) / (2 * sigma**2)) + + kernel = kernel / kernel.sum() + return kernel + + +kernel_acc_for_learning = calc_gf_kernel(acc_sigma_for_learning) +kernel_steer_for_learning = calc_gf_kernel(steer_sigma_for_learning) +kernel_acc_des_for_learning = calc_gf_kernel(acc_des_sigma_for_learning) +kernel_steer_des_for_learning = calc_gf_kernel(steer_des_sigma_for_learning) + +max_input_queue_size_for_learning = max( + [ + kernel_acc_for_learning.shape[0], + kernel_steer_for_learning.shape[0], + kernel_acc_des_for_learning.shape[0], + kernel_steer_des_for_learning.shape[0], + ] +) + +kernel_x_out_for_learning = calc_gf_kernel(x_out_sigma_for_learning) +kernel_y_out_for_learning = calc_gf_kernel(y_out_sigma_for_learning) +kernel_v_out_for_learning = calc_gf_kernel(v_out_sigma_for_learning) +kernel_theta_out_for_learning = calc_gf_kernel(theta_out_sigma_for_learning) +kernel_acc_out_for_learning = calc_gf_kernel(acc_out_sigma_for_learning) +kernel_steer_out_for_learning = calc_gf_kernel(steer_out_sigma_for_learning) + +max_output_queue_size_for_learning = max( + [ + kernel_x_out_for_learning.shape[0], + kernel_y_out_for_learning.shape[0], + kernel_v_out_for_learning.shape[0], + kernel_theta_out_for_learning.shape[0], + kernel_acc_out_for_learning.shape[0], + kernel_steer_out_for_learning.shape[0], + ] +) + + +def u_cut_off( + u_input: np.ndarray, + u_old: np.ndarray, + steer_lim: float, + steer_rate_lim_lb: float, + steer_rate_lim_ub: float, + acc_lim: float, + acc_rate_lim: float, +) -> np.ndarray: + """Process input values to satisfy constraints.""" + u_input_ = u_input.copy() + lb_0 = max(-acc_lim, u_old[0] - acc_rate_lim * ctrl_time_step) + ub_0 = min(acc_lim, u_old[0] + acc_rate_lim * ctrl_time_step) + lb_1 = max(-steer_lim, u_old[1] + steer_rate_lim_lb * ctrl_time_step) + ub_1 = min(steer_lim, u_old[1] + steer_rate_lim_ub * ctrl_time_step) + if u_input[0] >= ub_0: + u_input_[0] = ub_0 + elif u_input[0] < lb_0: + u_input_[0] = lb_0 + if u_input[1] >= ub_1: + u_input_[1] = ub_1 + elif u_input[1] < lb_1: + u_input_[1] = lb_1 + return u_input_ diff --git a/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/scripts/drive_iLQR.py b/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/scripts/drive_iLQR.py new file mode 100644 index 0000000000000..261a72e680778 --- /dev/null +++ b/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/scripts/drive_iLQR.py @@ -0,0 +1,644 @@ +# Copyright 2024 Proxima Technology Inc, TIER IV +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +# cspell: ignore numba njit fastmath Riccati Jacobians + +"""Optimize input based on iLQR.""" + + +from importlib import reload as ir +import time +from typing import Callable + +from numba import njit +import numpy as np +from smart_mpc_trajectory_follower.scripts import drive_functions + +index_cost = np.concatenate( + ( + np.arange(drive_functions.nx_0 + 1), + np.array([drive_functions.nx_0 + drive_functions.acc_ctrl_queue_size]), + ) +) +acc_index = drive_functions.nx_0 +steer_index = drive_functions.nx_0 + drive_functions.acc_ctrl_queue_size +actual_control_index = np.arange( + drive_functions.nx_0 + + drive_functions.acc_ctrl_queue_size + + drive_functions.steer_ctrl_queue_size_core +) +actual_state_dim = drive_functions.nx_0 +input_dim = drive_functions.nu_0 +mpc_freq = drive_functions.mpc_freq +acc_delay_step = drive_functions.acc_delay_step +steer_delay_step = drive_functions.steer_delay_step +acc_ctrl_queue_size = drive_functions.acc_ctrl_queue_size +steer_ctrl_queue_size = drive_functions.steer_ctrl_queue_size +ctrl_time_step = drive_functions.ctrl_time_step + + +@njit(cache=True, fastmath=True) +def sparse_right_action_for_state_diff( + Mat: np.ndarray, + A: np.ndarray, + actual_control_index=actual_control_index, + actual_state_dim=actual_state_dim, + acc_ctrl_queue_size=acc_ctrl_queue_size, + steer_ctrl_queue_size=steer_ctrl_queue_size, +) -> np.ndarray: + """Receives the sparse matrix `A₀` and computes `Mat @ A₀`. + + The argument A is part of A₀ . + The remaining A₀ components are known a priori. + """ + result = np.zeros( + (Mat.shape[0], actual_state_dim + acc_ctrl_queue_size + steer_ctrl_queue_size) + ) + result[:, actual_control_index] += Mat[:, :actual_state_dim] @ A + + result[:, actual_state_dim : actual_state_dim + acc_ctrl_queue_size - mpc_freq] += Mat[ + :, actual_state_dim + mpc_freq : actual_state_dim + acc_ctrl_queue_size + ] + result[ + :, + actual_state_dim + + acc_ctrl_queue_size : actual_state_dim + + acc_ctrl_queue_size + + steer_ctrl_queue_size + - mpc_freq, + ] += Mat[ + :, + actual_state_dim + + acc_ctrl_queue_size + + mpc_freq : actual_state_dim + + acc_ctrl_queue_size + + steer_ctrl_queue_size, + ] + for i in range(mpc_freq): + result[:, actual_state_dim] += Mat[:, actual_state_dim + i] + result[:, actual_state_dim + acc_ctrl_queue_size] += Mat[ + :, actual_state_dim + acc_ctrl_queue_size + i + ] + return result + + +@njit(cache=True, fastmath=True) +def sparse_left_action_for_state_diff( + A: np.ndarray, + Mat: np.ndarray, + actual_control_index=actual_control_index, + actual_state_dim=actual_state_dim, + acc_ctrl_queue_size=acc_ctrl_queue_size, + steer_ctrl_queue_size=steer_ctrl_queue_size, +) -> np.ndarray: + """Receives the sparse matrix A₀ and computes A₀.T @ Mat . + + The argument A is part of A₀ . + The remaining A₀ components are known a priori. + """ + result = np.zeros( + (actual_state_dim + acc_ctrl_queue_size + steer_ctrl_queue_size, Mat.shape[1]) + ) + result[actual_control_index] += A.T @ Mat[:actual_state_dim] + + result[actual_state_dim : actual_state_dim + acc_ctrl_queue_size - mpc_freq] += Mat[ + actual_state_dim + mpc_freq : actual_state_dim + acc_ctrl_queue_size + ] + result[ + actual_state_dim + + acc_ctrl_queue_size : actual_state_dim + + acc_ctrl_queue_size + + steer_ctrl_queue_size + - mpc_freq + ] += Mat[ + actual_state_dim + + acc_ctrl_queue_size + + mpc_freq : actual_state_dim + + acc_ctrl_queue_size + + steer_ctrl_queue_size + ] + for i in range(mpc_freq): + result[actual_state_dim] += Mat[actual_state_dim + i] + result[actual_state_dim + acc_ctrl_queue_size] += Mat[ + actual_state_dim + acc_ctrl_queue_size + i + ] + return result + + +@njit(cache=True, fastmath=True) +def vector_sparse_left_action_for_state_diff( + A: np.ndarray, + vec: np.ndarray, + actual_control_index=actual_control_index, + actual_state_dim=actual_state_dim, + acc_ctrl_queue_size=acc_ctrl_queue_size, + steer_ctrl_queue_size=steer_ctrl_queue_size, +) -> np.ndarray: + """Receives the sparse matrix A₀ and computes A₀.T @ vec. + + The argument A is part of A₀ . + The remaining A₀ components are known a priori. + """ + result = np.zeros(actual_state_dim + acc_ctrl_queue_size + steer_ctrl_queue_size) + result[actual_control_index] += A.T @ vec[:actual_state_dim] + + result[actual_state_dim : actual_state_dim + acc_ctrl_queue_size - mpc_freq] += vec[ + actual_state_dim + mpc_freq : actual_state_dim + acc_ctrl_queue_size + ] + result[ + actual_state_dim + + acc_ctrl_queue_size : actual_state_dim + + acc_ctrl_queue_size + + steer_ctrl_queue_size + - mpc_freq + ] += vec[ + actual_state_dim + + acc_ctrl_queue_size + + mpc_freq : actual_state_dim + + acc_ctrl_queue_size + + steer_ctrl_queue_size + ] + for i in range(mpc_freq): + result[actual_state_dim] += vec[actual_state_dim + i] + result[actual_state_dim + acc_ctrl_queue_size] += vec[ + actual_state_dim + acc_ctrl_queue_size + i + ] + return result + + +@njit(cache=True, fastmath=True) +def sparse_right_action_for_input_diff( + Mat: np.ndarray, + input_dim=input_dim, + actual_state_dim=actual_state_dim, + acc_ctrl_queue_size=acc_ctrl_queue_size, +) -> np.ndarray: + """Compute Mat @ B for some sparse matrix B known a priori.""" + result = np.zeros((Mat.shape[0], input_dim)) + for i in range(mpc_freq): + result[:, 0] += (mpc_freq - i) * ctrl_time_step * Mat[:, actual_state_dim + i] + result[:, 1] += ( + (mpc_freq - i) * ctrl_time_step * Mat[:, actual_state_dim + acc_ctrl_queue_size + i] + ) + return result + + +@njit(cache=True, fastmath=True) +def sparse_left_action_for_input_diff( + Mat: np.ndarray, + input_dim=input_dim, + actual_state_dim=actual_state_dim, + acc_ctrl_queue_size=acc_ctrl_queue_size, +) -> np.ndarray: + """Compute B.T @ Mat for some sparse matrix B known a priori.""" + result = np.zeros((input_dim, Mat.shape[1])) + for i in range(mpc_freq): + result[0] += (mpc_freq - i) * ctrl_time_step * Mat[actual_state_dim + i] + result[1] += ( + (mpc_freq - i) * ctrl_time_step * Mat[actual_state_dim + acc_ctrl_queue_size + i] + ) + return result + + +@njit(cache=True, fastmath=True) +def vector_sparse_left_action_for_input_diff( + vec: np.ndarray, + input_dim=input_dim, + actual_state_dim=actual_state_dim, + acc_ctrl_queue_size=acc_ctrl_queue_size, +) -> np.ndarray: + """Compute B.T @ vec for some sparse matrix B known a priori.""" + result = np.zeros(input_dim) + for i in range(mpc_freq): + result[0] += (mpc_freq - i) * ctrl_time_step * vec[actual_state_dim + i] + result[1] += ( + (mpc_freq - i) * ctrl_time_step * vec[actual_state_dim + acc_ctrl_queue_size + i] + ) + return result + + +@njit(cache=False, fastmath=True) +def compute_iLQR_coef( + traj, + inputs, + A, + B, + Q_total, + R_total, + acc_lim_weights, + acc_lim_center, + steer_lim_weights, + steer_lim_center, + acc_rate_lim_weights, + acc_rate_lim_center, + steer_rate_lim_weights, + steer_rate_lim_center, + N, + nx, + nu, + X_des, + U_des, + Sigma_x=None, + dSigma_x=None, + Sigma_y=None, + dSigma_y=None, + Sigma_v=None, + dSigma_v=None, + Sigma_theta=None, + dSigma_theta=None, + Sigma_acc=None, + dSigma_acc=None, + Sigma_steer=None, + dSigma_steer=None, + index_cost=index_cost, + acc_index=acc_index, + steer_index=steer_index, + actual_control_index=actual_control_index, + actual_state_dim=actual_state_dim, +): + """Perform the main part of iLQR. + + Performs a Riccati recursion and returns the coefficients needed for the final output. + """ + P = np.zeros((N + 1, nx, nx)) + w = np.zeros((N + 1, nx)) + H_inv_G = np.zeros((N, nu, nx)) + H_inv_g = np.zeros((N, nu)) + P[N][:7, :7] = Q_total[-1][:7, :7] + P[N][steer_index, steer_index] = Q_total[-1][7, 7] + + P[N][acc_index, acc_index] += acc_lim_weights[N] + P[N][steer_index, steer_index] += steer_lim_weights[N] + + w[N][index_cost] = Q_total[-1] @ (traj[N] - X_des[N]) + w[N, acc_index] += acc_lim_weights[N] * (traj[N, acc_index] - acc_lim_center[N]) + w[N, steer_index] += steer_lim_weights[N] * (traj[N, acc_index + 1] - steer_lim_center[N]) + + for i in range(N): + j = N - i - 1 + Qj = Q_total[j] + Rj = R_total[j] + Aj = A[j] + Pj1Aj = sparse_right_action_for_state_diff( + P[j + 1], Aj[:actual_state_dim, actual_control_index] + ) + G = sparse_left_action_for_input_diff(Pj1Aj) + + H = sparse_left_action_for_input_diff(sparse_right_action_for_input_diff(P[j + 1])) + Rj + H[0, 0] += acc_rate_lim_weights[j] + H[1, 1] += steer_rate_lim_weights[j] + + g_ = vector_sparse_left_action_for_input_diff(w[j + 1]) + Rj @ (inputs[j] - U_des[j]) + g_[0] += acc_rate_lim_weights[j] * (inputs[j, 0] - acc_rate_lim_center[j]) + g_[1] += steer_rate_lim_weights[j] * (inputs[j, 1] - steer_rate_lim_center[j]) + + one_over_det = 1 / (H[0, 0] * H[1, 1] - H[1, 0] * H[1, 0]) + + H_inv = one_over_det * np.array([[H[1, 1], -H[1, 0]], [-H[1, 0], H[0, 0]]]) + + H_inv_G[j] = H_inv @ G + H_inv_g[j] = H_inv @ g_ + + P[j] = ( + sparse_left_action_for_state_diff(Aj[:actual_state_dim, actual_control_index], Pj1Aj) + - G.T @ H_inv_G[j] + ) + P[j][:7, :7] += Qj[:7, :7] + P[j][steer_index, steer_index] += Qj[7, 7] + + P[j][acc_index, acc_index] += acc_lim_weights[j] + P[j][steer_index, steer_index] += steer_lim_weights[j] + + w[j] = ( + vector_sparse_left_action_for_state_diff( + Aj[:actual_state_dim, actual_control_index], w[j + 1] + ) + - H_inv_G[j].T @ g_ + ) + + w[j, index_cost] += Qj @ (traj[j] - X_des[j]) + w[j, acc_index] += acc_lim_weights[j] * (traj[j, acc_index] - acc_lim_center[j]) + w[j, steer_index] += steer_lim_weights[j] * (traj[j, acc_index + 1] - steer_lim_center[j]) + P_noise = np.zeros((nx, nx)) + w_noise = np.zeros(nx) + if Sigma_x is not None: + sigma_x = Sigma_x[j] + d_sigma_x = dSigma_x[j] + vec_part = P[j][0, 0] * d_sigma_x + P_noise += d_sigma_x.reshape(-1, 1) @ vec_part.reshape(1, -1) + w_noise += sigma_x * vec_part + if Sigma_y is not None: + sigma_y = Sigma_y[j] + d_sigma_y = dSigma_y[j] + vec_part = P[j][1, 1] * d_sigma_y + P_noise += d_sigma_y.reshape(-1, 1) @ vec_part.reshape(1, -1) + w_noise += sigma_y * vec_part + if Sigma_v is not None: + sigma_v = Sigma_v[j] + d_sigma_v = dSigma_v[j] + vec_part = P[j][2, 2] * d_sigma_v + P_noise += d_sigma_v.reshape(-1, 1) @ vec_part.reshape(1, -1) + w_noise += sigma_v * vec_part + if Sigma_theta is not None: + sigma_theta = Sigma_theta[j] + d_sigma_theta = dSigma_theta[j] + vec_part = P[j][3, 3] * d_sigma_theta + P_noise += d_sigma_theta.reshape(-1, 1) @ vec_part.reshape(1, -1) + w_noise += sigma_theta * vec_part + if Sigma_acc is not None: + sigma_acc = Sigma_acc[j] + d_sigma_acc = dSigma_acc[j] + vec_part = P[j][4, 4] * d_sigma_acc + P_noise += d_sigma_acc.reshape(-1, 1) @ vec_part.reshape(1, -1) + w_noise += sigma_acc * vec_part + if Sigma_steer is not None: + sigma_steer = Sigma_steer[j] + d_sigma_steer = dSigma_steer[j] + vec_part = P[j][5, 5] * d_sigma_steer + P_noise += d_sigma_steer.reshape(-1, 1) @ vec_part.reshape(1, -1) + w_noise += sigma_steer * vec_part + + P[j] += P_noise + w[j] += w_noise + return P, w, H_inv_G, H_inv_g + + +@njit(cache=True, fastmath=True) +def calc_line_search_candidates(A, B, H_inv_g, H_inv_G, inputs, ls): + """Compute the candidate input columns for the line search in the final stage of iLQR.""" + ls_num = ls.shape[0] + nx = A.shape[2] + nu = B.shape[2] + N = A.shape[0] + + Inputs = np.zeros((ls_num, N, nu)) + delta_x_k = np.zeros((ls_num, nx)) + for k in range(N): + delta_u_k = -ls.reshape(-1, 1) @ H_inv_g[k].reshape(1, -1) - delta_x_k @ H_inv_G[k].T + Inputs[:, k, :] = inputs[k] + delta_u_k + delta_x_k = delta_x_k @ A[k].T + delta_u_k @ B[k].T + return Inputs + + +class drive_iLQR: + """Class that runs iLQR to compute optimal input values.""" + + ls_step: float + """ Line search step width """ + + max_iter_ls: int + """ Number of candidates for line search. """ + + max_iter_ilqr: int + """ Maximum number of iLQR iterations """ + + ilqr_tol: float + """ Tolerance to terminate iLQR iterations """ + + use_trained_model_diff: bool + """ Whether to use the derivative of the trained model """ + + def __init__( + self, + ls_step, + max_iter_ls, + max_iter_ilqr, + ilqr_tol, + use_trained_model_diff, + ): + ir(drive_functions) + self.ls_step = ls_step + self.max_iter_ls = max_iter_ls + self.max_iter_ilqr = max_iter_ilqr + self.ilqr_tol = ilqr_tol + self.use_trained_model_diff = use_trained_model_diff + + ls = np.ones(max_iter_ls + 1) + for i in range(max_iter_ls - 1): + ls[i + 1] = ls_step * ls[i] + ls[-1] = 0.0 + self.ls = ls + + def calc_forward_trajectories_with_cost( + self, + x_current: np.ndarray, + Inputs: np.ndarray, + X_des: np.ndarray, + U_des: np.ndarray, + previous_error: np.ndarray, + ) -> tuple[np.ndarray, np.ndarray]: + """Calculate the predicted trajectory and cost. + + Given the current state and the candidate input columns in the line search. + """ + N = Inputs.shape[1] + samples = Inputs.shape[0] + Traj = np.zeros((samples, N + 1, x_current.shape[0])) + Traj[:, 0, :] += x_current + Cost = np.zeros(samples) + + Previous_error = np.tile(previous_error[:6], (samples, 1)) + for k in range(N): + Cost += drive_functions.calc_cost( + X_des[k], + U_des[k], + Traj[:, k, index_cost], + Inputs[:, k, :], + k, + ) + Traj[:, k + 1], Previous_error = self.F_for_candidates( + Traj[:, k], Inputs[:, k], Previous_error, k + ) + Cost += drive_functions.calc_cost( + X_des[N], + U_des[N - 1], + Traj[:, N, index_cost], + Inputs[:, N - 1, :], + N, + ) + return Traj, Cost + + def calc_forward_trajectory_with_diff( + self, x_current: np.ndarray, inputs: np.ndarray, previous_error: np.ndarray + ) -> tuple[np.ndarray, np.ndarray, np.ndarray]: + """Calculate the derivatives (Jacobians) of the predicted trajectory t with diff. + + This also calculates "the function that returns the predicted trajectory from the current state and the input sequence", + given the current state and the input sequence. + """ + N = inputs.shape[0] + nx = x_current.shape[0] + nu = inputs.shape[1] + traj = np.zeros((N + 1, nx)) + traj[0] = x_current + A = np.zeros((N, nx, nx)) + B = np.zeros((N, nx, nu)) + C = np.zeros((N, 6, nx)) + previous_error_ = previous_error.copy() + for k in range(N): + if self.use_trained_model_diff: + traj[k + 1], A[k], B[k], C[k], previous_error_ = self.F_with_diff( + traj[k], inputs[k], previous_error_, k + ) + else: + traj[k + 1], A[k], B[k], previous_error_ = self.F_with_initial_diff( + traj[k], inputs[k], previous_error_, k + ) + if self.use_trained_model_diff: + A[:, :6] += drive_functions.sg_filter_for_trained_model_diff(C) + return traj, A, B + + def compute_optimal_control( + self, + x_current: np.ndarray, + inputs: np.ndarray, + X_des: np.ndarray, + U_des: np.ndarray, + previous_error: np.ndarray, + x_noise: Callable | None, + y_noise: Callable | None, + v_noise: Callable | None, + theta_noise: Callable | None, + acc_noise: Callable | None, + steer_noise: Callable | None, + ) -> tuple[np.ndarray, np.ndarray, np.ndarray, bool]: + """Calculate the optimal predictive trajectory and the input sequence at that time. + + It also determines whether the tolerance has been reached and returns whether the optimization should continue or not. + Performs one iteration of iLQR. + """ + nx = x_current.shape[0] + nu = inputs.shape[1] + N = inputs.shape[0] + self.time_1 = time.time() + traj, A, B = self.calc_forward_trajectory_with_diff(x_current, inputs, previous_error) + ( + Q_total, + R_total, + acc_lim_weights, + acc_lim_center, + steer_lim_weights, + steer_lim_center, + acc_rate_lim_weights, + acc_rate_lim_center, + steer_rate_lim_weights, + steer_rate_lim_center, + ) = drive_functions.transform_Q_R(X_des, U_des, traj, inputs) + self.time_2 = time.time() + if x_noise is None: + Sigma_x = None + dSigma_x = None + else: + Sigma_x, dSigma_x = x_noise(np.hstack((traj[:-1, [2, 3, 5]], traj[:-1, 6:]))) + Sigma_x = drive_functions.sg_filter_for_noise(Sigma_x) + dSigma_x = drive_functions.sg_filter_for_noise(dSigma_x) + if y_noise is None: + Sigma_y = None + dSigma_y = None + else: + Sigma_y, dSigma_y = y_noise(np.hstack((traj[:-1, [2, 3, 5]], traj[:-1, 6:]))) + Sigma_y = drive_functions.sg_filter_for_noise(Sigma_y) + dSigma_y = drive_functions.sg_filter_for_noise(dSigma_y) + if v_noise is None: + Sigma_v = None + dSigma_v = None + else: + Sigma_v, dSigma_v = v_noise(np.hstack((traj[:-1, [2, 3, 5]], traj[:-1, 6:]))) + Sigma_v = drive_functions.sg_filter_for_noise(Sigma_v) + dSigma_v = drive_functions.sg_filter_for_noise(dSigma_v) + if theta_noise is None: + Sigma_theta = None + dSigma_theta = None + else: + Sigma_theta, dSigma_theta = theta_noise( + np.hstack((traj[:-1, [2, 3, 5]], traj[:-1, 6:])) + ) + Sigma_theta = drive_functions.sg_filter_for_noise(Sigma_theta) + dSigma_theta = drive_functions.sg_filter_for_noise(dSigma_theta) + if acc_noise is None: + Sigma_acc = None + dSigma_acc = None + else: + Sigma_acc, dSigma_acc = acc_noise(np.hstack((traj[:-1, [2, 3, 5]], traj[:-1, 6:]))) + Sigma_acc = drive_functions.sg_filter_for_noise(Sigma_acc) + dSigma_acc = drive_functions.sg_filter_for_noise(dSigma_acc) + + if steer_noise is None: + Sigma_steer = None + dSigma_steer = None + else: + Sigma_steer, dSigma_steer = steer_noise( + np.hstack((traj[:-1, [2, 3, 5]], traj[:-1, 6:])) + ) + Sigma_steer = drive_functions.sg_filter_for_noise(Sigma_steer) + dSigma_steer = drive_functions.sg_filter_for_noise(dSigma_steer) + P, w, H_inv_G, H_inv_g = compute_iLQR_coef( + traj[:, index_cost], + inputs, + A, + B, + Q_total, + R_total, + acc_lim_weights, + acc_lim_center, + steer_lim_weights, + steer_lim_center, + acc_rate_lim_weights, + acc_rate_lim_center, + steer_rate_lim_weights, + steer_rate_lim_center, + N, + nx, + nu, + X_des, + U_des, + Sigma_x, + dSigma_x, + Sigma_y, + dSigma_y, + Sigma_v, + dSigma_v, + Sigma_theta, + dSigma_theta, + Sigma_acc, + dSigma_acc, + Sigma_steer, + dSigma_steer, + ) + self.time_3 = time.time() + # start line search + Inputs = calc_line_search_candidates(A, B, H_inv_g, H_inv_G, inputs, self.ls) + self.time_4 = time.time() + Traj, Cost = self.calc_forward_trajectories_with_cost( + x_current, Inputs, X_des, U_des, previous_error + ) + best_index = Cost.argmin() + self.time_5 = time.time() + + if Cost[best_index] < (1 - self.ilqr_tol) * Cost[-1]: + proceed = True + else: + proceed = False + + best_traj = Traj[best_index] + best_inputs = Inputs[best_index] + return best_inputs, best_inputs[0], best_traj, proceed + + def receive_model( + self, F_with_initial_diff: Callable, F_with_diff: Callable, F_for_candidates: Callable + ): + """Receive vehicle model for control.""" + self.F_with_initial_diff = F_with_initial_diff + self.F_with_diff = F_with_diff + self.F_for_candidates = F_for_candidates diff --git a/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/scripts/drive_mppi.py b/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/scripts/drive_mppi.py new file mode 100644 index 0000000000000..ca6e6f15f42ef --- /dev/null +++ b/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/scripts/drive_mppi.py @@ -0,0 +1,170 @@ +# Copyright 2024 Proxima Technology Inc, TIER IV +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +# cspell: ignore numba njit fastmath + +from typing import Callable + +from numba import njit +import numpy as np +from smart_mpc_trajectory_follower.scripts import drive_functions + +index_cost = np.concatenate( + ( + np.arange(drive_functions.nx_0 + 1), + [drive_functions.nx_0 + drive_functions.acc_ctrl_queue_size], + ) +) + + +@njit(cache=False, fastmath=True) +def generate_input_perturbation(N, sample_num, step, Sigma_0, Sigma_1): + """Generate random perturbations of the input in MPPI.""" + change_input_index = np.concatenate((np.arange(N, step=step), np.array([N]))) + acc_perturbation = np.random.normal( + loc=0, scale=Sigma_0, size=(sample_num - 1, change_input_index.shape[0] - 1) + ) + steer_perturbation = np.random.normal( + loc=0, scale=Sigma_1, size=(sample_num - 1, change_input_index.shape[0] - 1) + ) + Input_perturbation = np.zeros((sample_num - 1, N, 2)) + + for i in range(change_input_index.shape[0] - 1): + Input_perturbation[ + :, change_input_index[i] : change_input_index[i + 1], 0 + ] += acc_perturbation[:, np.array([i])] + Input_perturbation[ + :, change_input_index[i] : change_input_index[i + 1], 1 + ] += steer_perturbation[:, np.array([i])] + + return Input_perturbation + + +class drive_mppi: + """Class that runs MPPI to compute optimal input values.""" + + def __init__( + self, + lam, + Sigma, + max_iter_mppi, + sample_num, + mppi_tol, + mppi_step, + ): + self.lam = lam + self.Sigma = Sigma + + self.max_iter_mppi = max_iter_mppi + self.sample_num = sample_num + self.mppi_tol = mppi_tol + self.mppi_step = mppi_step + + def generate_sample_inputs(self, inputs): + """Generate input samples in MPPI.""" + N = inputs.shape[0] + nu = inputs.shape[1] + Inputs = np.zeros((self.sample_num, N, nu)) + + Inputs += inputs + Inputs[1:] += generate_input_perturbation( + N, self.sample_num, self.mppi_step, self.Sigma[0], self.Sigma[1] + ) + return Inputs + + def calc_forward_trajectories_with_cost(self, x_current, Inputs, X_des, U_des, Previous_error): + """Calculate the predicted trajectory and cost. + + Given the current state and the candidate input columns in the line search. + """ + N = Inputs.shape[1] + samples = Inputs.shape[0] + Traj = np.zeros((samples, N + 1, x_current.shape[0])) + Traj[:, 0, :] += x_current + Cost = np.zeros(samples) + for k in range(N): + Cost += drive_functions.calc_cost_only_for_states( + X_des[k], Traj[:, k, index_cost], k + ) + self.lam * (Inputs[:, k, :] - Inputs[0, k, :]) @ ( + (1 / self.Sigma) * (Inputs[0, k, :] - U_des[k]) + ) + Traj[:, k + 1], Previous_error = self.F_for_candidates( + Traj[:, k], Inputs[:, k], Previous_error, k + ) + Cost += drive_functions.calc_cost_only_for_states(X_des[N], Traj[:, N, index_cost], N) + return Traj, Cost + + def proceed_mppi_step(self, x_current, inputs, X_des, U_des, previous_error): + """Proceed with MPPI iteration one time.""" + N = inputs.shape[0] + + previous_error_ = previous_error.reshape(1, -1).copy() + nominal_traj = np.zeros((N + 1, x_current.shape[0])) + nominal_traj[0] = x_current.copy() + for k in range(N): + if k == 0: + Traj_, previous_error_ = self.F_for_candidates( + nominal_traj[k].reshape(1, -1), inputs[k].reshape(1, -1), previous_error_, True + ) + nominal_traj[k + 1] = Traj_[0] + else: + Traj_, previous_error_ = self.F_for_candidates( + nominal_traj[k].reshape(1, -1), inputs[k].reshape(1, -1), previous_error_, False + ) + nominal_traj[k + 1] = Traj_[0] + + Inputs = self.generate_sample_inputs(inputs) + + Previous_error = np.tile(previous_error, (self.sample_num, 1)) + _, Cost = self.calc_forward_trajectories_with_cost( + x_current, Inputs, X_des, U_des, Previous_error + ) + original_cost = Cost[0] + best_cost = Cost.min() + Exps = np.exp(-(Cost - best_cost) / self.lam) + Exps = Exps / Exps.sum() + new_inputs = (Inputs.T @ Exps).T + previous_error_ = previous_error.reshape(1, -1).copy() + new_traj = np.zeros((N + 1, x_current.shape[0])) + new_traj[0] = x_current.copy() + for k in range(N): + if k == 0: + Traj_, previous_error_ = self.F_for_candidates( + new_traj[k].reshape(1, -1), new_inputs[k].reshape(1, -1), previous_error_, True + ) + new_traj[k + 1] = Traj_[0] + else: + Traj_, previous_error_ = self.F_for_candidates( + new_traj[k].reshape(1, -1), new_inputs[k].reshape(1, -1), previous_error_, False + ) + new_traj[k + 1] = Traj_[0] + if np.dot(Exps, Cost) < (1 - self.mppi_tol) * original_cost: + proceed = True + else: + proceed = False + return new_traj, new_inputs, proceed + + def compute_optimal_control(self, x_current, inputs, X_des, U_des, previous_error): + """Calculate the optimal input based on MPPI.""" + for i in range(self.max_iter_mppi): + new_traj, new_inputs, proceed = self.proceed_mppi_step( + x_current, inputs, X_des, U_des, previous_error + ) + if not proceed: + break + return new_inputs, new_inputs[0], new_traj + + def receive_model(self, F_for_candidates: Callable): + """Receive vehicle model for control.""" + self.F_for_candidates = F_for_candidates diff --git a/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/scripts/proxima_calc.cpp b/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/scripts/proxima_calc.cpp new file mode 100644 index 0000000000000..de65184ec9f8e --- /dev/null +++ b/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/scripts/proxima_calc.cpp @@ -0,0 +1,487 @@ +// Copyright 2024 Proxima Technology Inc, TIER IV +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include + +#include +#include + +#include +namespace py = pybind11; + +double nominal_model_input(Eigen::VectorXd var, double lam, int step) +{ + double nominal_pred = var[0]; + nominal_pred += (var[step] - nominal_pred) * 0.03333 / lam; + nominal_pred += (var[step - 1] - nominal_pred) * 0.03333 / lam; + nominal_pred += (var[step - 2] - nominal_pred) * 0.03333 / lam; + return nominal_pred; +} +Eigen::RowVectorXd Nominal_model_input(Eigen::MatrixXd Var, double lam, int step) +{ + Eigen::RowVectorXd nominal_pred = Var.row(0); + nominal_pred += (Var.row(step) - nominal_pred) * 0.03333 / lam; + nominal_pred += (Var.row(step - 1) - nominal_pred) * 0.03333 / lam; + nominal_pred += (Var.row(step - 2) - nominal_pred) * 0.03333 / lam; + return nominal_pred; +} + +Eigen::VectorXd d_tanh(Eigen::VectorXd v) +{ + Eigen::VectorXd result = 1 / (v.array().cosh() * v.array().cosh()); + return result; +} +Eigen::VectorXd relu(Eigen::VectorXd x) +{ + Eigen::VectorXd x_ = x; + for (int i = 0; i < x.size(); i++) { + if (x[i] < 0) { + x_[i] = 0; + } + } + return x_; +} +Eigen::VectorXd d_relu(Eigen::VectorXd x) +{ + Eigen::VectorXd result = Eigen::VectorXd::Ones(x.size()); + for (int i = 0; i < x.size(); i++) { + if (x[i] < 0) { + result[i] = 0; + } + } + return result; +} + +Eigen::MatrixXd d_relu_product(Eigen::MatrixXd m, Eigen::VectorXd x) +{ + Eigen::MatrixXd result = Eigen::MatrixXd::Zero(m.rows(), m.cols()); + for (int i = 0; i < m.cols(); i++) { + if (x[i] >= 0) { + result.col(i) = m.col(i); + } + } + return result; +} +Eigen::MatrixXd d_tanh_product(Eigen::MatrixXd m, Eigen::VectorXd x) +{ + Eigen::MatrixXd result = Eigen::MatrixXd(m.rows(), m.cols()); + for (int i = 0; i < m.cols(); i++) { + result.col(i) = m.col(i) / (std::cosh(x[i]) * std::cosh(x[i])); + } + return result; +} +Eigen::MatrixXd test_product(Eigen::VectorXd v, Eigen::MatrixXd m) +{ + return v.asDiagonal() * m; +} +Eigen::VectorXd get_polynomial_features(Eigen::VectorXd x, int deg, int dim) +{ + int n_features = x.size(); + Eigen::VectorXd result = Eigen::VectorXd(dim); + result.head(n_features) = x; + if (deg >= 2) { + std::vector index = {}; + for (int feature_idx = 0; feature_idx < n_features + 1; feature_idx++) { + index.push_back(feature_idx); + } + int current_idx = n_features; + for (int i = 0; i < deg - 1; i++) { + std::vector new_index = {}; + int end = index[index.size() - 1]; + for (int feature_idx = 0; feature_idx < n_features; feature_idx++) { + int start = index[feature_idx]; + new_index.push_back(current_idx); + int next_idx = current_idx + end - start; + result.segment(current_idx, end - start) = + x[feature_idx] * result.segment(start, end - start); + current_idx = next_idx; + } + new_index.push_back(current_idx); + index = new_index; + } + } + return result; +} +Eigen::MatrixXd get_polynomial_features_with_diff(Eigen::VectorXd x, int deg, int dim) +{ + int n_features = x.size(); + Eigen::MatrixXd result = Eigen::MatrixXd::Zero(dim, n_features + 1); + result.block(0, 0, n_features, 1) = x; + result.block(0, 1, n_features, n_features) = Eigen::MatrixXd::Identity(n_features, n_features); + if (deg >= 2) { + std::vector index = {}; + for (int feature_idx = 0; feature_idx < n_features + 1; feature_idx++) { + index.push_back(feature_idx); + } + int current_idx = n_features; + for (int i = 0; i < deg - 1; i++) { + std::vector new_index = {}; + int end = index[index.size() - 1]; + for (int feature_idx = 0; feature_idx < n_features; feature_idx++) { + int start = index[feature_idx]; + new_index.push_back(current_idx); + int next_idx = current_idx + end - start; + result.block(current_idx, 0, end - start, n_features + 1) = + x[feature_idx] * result.block(start, 0, end - start, n_features + 1); + result.block(current_idx, feature_idx + 1, end - start, 1) += + result.block(start, 0, end - start, 1); + current_idx = next_idx; + } + new_index.push_back(current_idx); + index = new_index; + } + } + return result; +} +class transform_model_to_eigen +{ +private: + Eigen::MatrixXd weight_0; + Eigen::MatrixXd weight_1; + Eigen::MatrixXd weight_2; + Eigen::MatrixXd weight_3; + Eigen::MatrixXd weight_4; + Eigen::MatrixXd weight_5; + Eigen::MatrixXd weight_6; + Eigen::MatrixXd weight_7; + Eigen::VectorXd bias_0; + Eigen::VectorXd bias_1; + Eigen::VectorXd bias_2; + Eigen::VectorXd bias_3; + Eigen::VectorXd bias_4; + Eigen::VectorXd bias_5; + Eigen::VectorXd bias_6; + Eigen::VectorXd bias_7; + Eigen::MatrixXd A_linear_reg; + Eigen::VectorXd b_linear_reg; + int deg; + double acc_time_constant; + int acc_delay_step; + double steer_time_constant; + int steer_delay_step; + int acc_ctrl_queue_size; + int steer_ctrl_queue_size; + int steer_ctrl_queue_size_core; + double max_acc_error = 20.0; + double max_steer_error = 20.0; + +public: + transform_model_to_eigen() {} + void set_params( + Eigen::MatrixXd weight_0_, Eigen::MatrixXd weight_1_, Eigen::MatrixXd weight_2_, + Eigen::MatrixXd weight_3_, Eigen::MatrixXd weight_4_, Eigen::MatrixXd weight_5_, + Eigen::MatrixXd weight_6_, Eigen::MatrixXd weight_7_, Eigen::VectorXd bias_0_, + Eigen::VectorXd bias_1_, Eigen::VectorXd bias_2_, Eigen::VectorXd bias_3_, + Eigen::VectorXd bias_4_, Eigen::VectorXd bias_5_, Eigen::VectorXd bias_6_, + Eigen::VectorXd bias_7_, Eigen::MatrixXd A_linear_reg_, Eigen::VectorXd b_linear_reg_, int deg_, + double acc_time_constant_, int acc_delay_step_, double steer_time_constant_, + int steer_delay_step_, int acc_ctrl_queue_size_, int steer_ctrl_queue_size_, + int steer_ctrl_queue_size_core_) + { + weight_0 = weight_0_; + weight_1 = weight_1_; + weight_2 = weight_2_; + weight_3 = weight_3_; + weight_4 = weight_4_; + weight_5 = weight_5_; + weight_6 = weight_6_; + weight_7 = weight_7_; + bias_0 = bias_0_; + bias_1 = bias_1_; + bias_2 = bias_2_; + bias_3 = bias_3_; + bias_4 = bias_4_; + bias_5 = bias_5_; + bias_6 = bias_6_; + bias_7 = bias_7_; + A_linear_reg = A_linear_reg_; + b_linear_reg = b_linear_reg_; + deg = deg_; + acc_time_constant = acc_time_constant_; + acc_delay_step = acc_delay_step_; + steer_time_constant = steer_time_constant_; + steer_delay_step = steer_delay_step_; + acc_ctrl_queue_size = acc_ctrl_queue_size_; + steer_ctrl_queue_size = steer_ctrl_queue_size_; + steer_ctrl_queue_size_core = steer_ctrl_queue_size_core_; + } + Eigen::VectorXd error_prediction(Eigen::VectorXd x) + { + Eigen::VectorXd acc_sub(acc_ctrl_queue_size + 1); + acc_sub[0] = x[1]; + acc_sub.tail(acc_ctrl_queue_size) = x.segment(3, acc_ctrl_queue_size); + + Eigen::VectorXd steer_sub(steer_ctrl_queue_size_core + 1); + steer_sub[0] = x[2]; + steer_sub.tail(steer_ctrl_queue_size_core) = + x.segment(3 + acc_ctrl_queue_size, steer_ctrl_queue_size_core); + Eigen::VectorXd acc_layer_1 = relu(weight_0 * acc_sub + bias_0); + + Eigen::VectorXd steer_layer_1(bias_1.size() + bias_2.size()); + steer_layer_1.head(bias_1.size()) = relu(weight_1 * steer_sub + bias_1); + + Eigen::VectorXd steer_input_full = x.segment(3 + acc_ctrl_queue_size, steer_ctrl_queue_size); + steer_layer_1.tail(bias_2.size()) = relu(weight_2 * steer_input_full + bias_2); + + Eigen::VectorXd acc_layer_2 = (weight_3 * acc_layer_1 + bias_3).array().tanh(); + + Eigen::VectorXd steer_layer_2 = (weight_4 * steer_layer_1 + bias_4).array().tanh(); + + Eigen::VectorXd h1(1 + acc_layer_2.size() + steer_layer_2.size()); + h1[0] = x[0]; + h1.segment(1, acc_layer_2.size()) = acc_layer_2; + h1.tail(steer_layer_2.size()) = steer_layer_2; + Eigen::VectorXd h2 = relu(weight_5 * h1 + bias_5); + Eigen::VectorXd h3 = relu(weight_6 * h2 + bias_6); + Eigen::VectorXd h4(h3.size() + acc_layer_2.size() + steer_layer_2.size()); + h4.head(h3.size()) = h3; + h4.segment(h3.size(), acc_layer_2.size()) = acc_layer_2; + h4.tail(steer_layer_2.size()) = steer_layer_2; + Eigen::VectorXd x_for_polynomial_reg(5); + x_for_polynomial_reg.head(3) = x.head(3); + x_for_polynomial_reg[3] = x[3 + acc_delay_step]; + x_for_polynomial_reg[4] = x[3 + acc_ctrl_queue_size + steer_delay_step]; + Eigen::VectorXd y = + weight_7 * h4 + bias_7 + + A_linear_reg * get_polynomial_features(x_for_polynomial_reg, deg, A_linear_reg.cols()) + + b_linear_reg; + y[4] = std::min(std::max(y[4], -max_acc_error), max_acc_error); + y[5] = std::min(std::max(y[5], -max_steer_error), max_steer_error); + return y; + } + Eigen::VectorXd rot_and_d_rot_error_prediction(Eigen::VectorXd x) + { + int x_dim = x.size(); + double theta = x[3]; + double v = x[2]; + double coef = 2.0 * std::abs(v); + coef = coef * coef * coef * coef * coef * coef * coef; + if (coef > 1.0) { + coef = 1.0; + } + /* + In previous implementations, the training model was unreliable in the low speed range + because data in the low speed range was excluded from the training data + in order to exclude data not under control from them. + However, now the topic /system/operation_mode/state is used to identify + whether the data is under control or not. + Therefore, it may be safe to always set coef = 1, and this variable may be eliminated + once it is confirmed safe to do so. + */ + double cos = std::cos(theta); + double sin = std::sin(theta); + Eigen::Matrix2d Rot; + Rot << cos, -sin, sin, cos; + + Eigen::Matrix2d dRot; + dRot << -sin, -cos, cos, -sin; + Eigen::VectorXd vars(x_dim - 3); + vars[0] = x[2]; + vars[1] = x[4]; + vars[2] = x[5]; + vars.tail(x_dim - 6) = x.tail(x_dim - 6); + Eigen::VectorXd pred = error_prediction(vars); + Eigen::VectorXd rot_and_d_rot_pred(8); + rot_and_d_rot_pred.head(2) = Rot * pred.head(2); + rot_and_d_rot_pred.segment(2, 4) = pred.segment(2, 4); + rot_and_d_rot_pred.tail(2) = dRot * pred.head(2); + + return coef * rot_and_d_rot_pred; + } + Eigen::MatrixXd error_prediction_with_diff(Eigen::VectorXd x) + { + Eigen::VectorXd acc_sub(acc_ctrl_queue_size + 1); + acc_sub[0] = x[1]; + acc_sub.tail(acc_ctrl_queue_size) = x.segment(3, acc_ctrl_queue_size); + + Eigen::VectorXd steer_sub(steer_ctrl_queue_size_core + 1); + steer_sub[0] = x[2]; + steer_sub.tail(steer_ctrl_queue_size_core) = + x.segment(3 + acc_ctrl_queue_size, steer_ctrl_queue_size_core); + Eigen::VectorXd steer_input_full = x.segment(3 + acc_ctrl_queue_size, steer_ctrl_queue_size); + + Eigen::VectorXd u_acc_layer_1 = weight_0 * acc_sub + bias_0; + Eigen::VectorXd acc_layer_1 = relu(u_acc_layer_1); + + Eigen::VectorXd u_steer_layer_1(bias_1.size() + bias_2.size()); + u_steer_layer_1.head(bias_1.size()) = weight_1 * steer_sub + bias_1; + u_steer_layer_1.tail(bias_2.size()) = weight_2 * steer_input_full + bias_2; + Eigen::VectorXd steer_layer_1 = relu(u_steer_layer_1); + + Eigen::VectorXd u_acc_layer_2 = weight_3 * acc_layer_1 + bias_3; + Eigen::VectorXd acc_layer_2 = u_acc_layer_2.array().tanh(); + + Eigen::VectorXd u_steer_layer_2 = weight_4 * steer_layer_1 + bias_4; + Eigen::VectorXd steer_layer_2 = u_steer_layer_2.array().tanh(); + + Eigen::VectorXd h1(1 + acc_layer_2.size() + steer_layer_2.size()); + h1[0] = x[0]; + h1.segment(1, acc_layer_2.size()) = acc_layer_2; + h1.tail(steer_layer_2.size()) = steer_layer_2; + Eigen::VectorXd u2 = weight_5 * h1 + bias_5; + Eigen::VectorXd h2 = relu(u2); + Eigen::VectorXd u3 = weight_6 * h2 + bias_6; + Eigen::VectorXd h3 = relu(u3); + Eigen::VectorXd h4(h3.size() + acc_layer_2.size() + steer_layer_2.size()); + h4.head(h3.size()) = h3; + h4.segment(h3.size(), acc_layer_2.size()) = acc_layer_2; + h4.tail(steer_layer_2.size()) = steer_layer_2; + Eigen::VectorXd x_for_polynomial_reg(5); + x_for_polynomial_reg.head(3) = x.head(3); + x_for_polynomial_reg[3] = x[3 + acc_delay_step]; + x_for_polynomial_reg[4] = x[3 + acc_ctrl_queue_size + steer_delay_step]; + Eigen::MatrixXd polynomial_features_with_diff = + get_polynomial_features_with_diff(x_for_polynomial_reg, deg, A_linear_reg.cols()); + + Eigen::VectorXd y = + weight_7 * h4 + bias_7 + + A_linear_reg * polynomial_features_with_diff.block(0, 0, A_linear_reg.cols(), 1) + + b_linear_reg; + y[4] = std::min(std::max(y[4], -max_acc_error), max_acc_error); + y[5] = std::min(std::max(y[5], -max_steer_error), max_steer_error); + // Eigen::MatrixXd dy_dh4 = weight_7; + + Eigen::MatrixXd dy_dh3 = weight_7.block(0, 0, y.size(), h3.size()); + Eigen::MatrixXd dy_dh2 = d_relu_product(dy_dh3, u3) * weight_6; + Eigen::MatrixXd dy_dh1 = d_relu_product(dy_dh2, u2) * weight_5; + + Eigen::MatrixXd dy_da2 = dy_dh1.block(0, 1, y.size(), acc_layer_2.size()) + + weight_7.block(0, h3.size(), y.size(), acc_layer_2.size()); + Eigen::MatrixXd dy_ds2 = + dy_dh1.block(0, 1 + acc_layer_2.size(), y.size(), steer_layer_2.size()) + + weight_7.block(0, h3.size() + acc_layer_2.size(), y.size(), steer_layer_2.size()); + Eigen::MatrixXd dy_da1 = d_tanh_product(dy_da2, u_acc_layer_2) * weight_3; + Eigen::MatrixXd dy_ds1 = d_tanh_product(dy_ds2, u_steer_layer_2) * weight_4; + + Eigen::MatrixXd dy_d_acc = d_relu_product(dy_da1, u_acc_layer_1) * weight_0; + Eigen::MatrixXd dy_d_steer = Eigen::MatrixXd::Zero(y.size(), steer_input_full.size() + 1); + dy_d_steer.block(0, 1, y.size(), steer_input_full.size()) += + d_relu_product( + dy_ds1.block(0, bias_1.size(), y.size(), bias_2.size()), + u_steer_layer_1.tail(bias_2.size())) * + weight_2; + dy_d_steer.block(0, 0, y.size(), steer_sub.size()) += + d_relu_product( + dy_ds1.block(0, 0, y.size(), bias_1.size()), u_steer_layer_1.head(bias_1.size())) * + weight_1; + + Eigen::MatrixXd result = Eigen::MatrixXd::Zero(y.size(), x.size() + 1); + + result.col(0) = y; + + result.col(1) = dy_dh1.col(0); + result.col(2) = dy_d_acc.col(0); + result.col(3) = dy_d_steer.col(0); + result.block(0, 4, y.size(), acc_ctrl_queue_size) = + dy_d_acc.block(0, 1, y.size(), acc_ctrl_queue_size); + result.block(0, 4 + acc_ctrl_queue_size, y.size(), steer_ctrl_queue_size) = + dy_d_steer.block(0, 1, y.size(), steer_ctrl_queue_size); + + Eigen::MatrixXd polynomial_reg_diff = + A_linear_reg * + polynomial_features_with_diff.block(0, 1, A_linear_reg.cols(), x_for_polynomial_reg.size()); + result.block(0, 1, y.size(), 3) += polynomial_reg_diff.block(0, 0, y.size(), 3); + result.block(0, 4 + acc_delay_step, y.size(), 1) += + polynomial_reg_diff.block(0, 3, y.size(), 1); + result.block(0, 4 + acc_ctrl_queue_size + steer_delay_step, y.size(), 1) += + polynomial_reg_diff.block(0, 4, y.size(), 1); + return result; + } + Eigen::MatrixXd rot_and_d_rot_error_prediction_with_diff(Eigen::VectorXd x) + { + int x_dim = x.size(); + double theta = x[3]; + double v = x[2]; + double coef = 2.0 * std::abs(v); + coef = coef * coef * coef * coef * coef * coef * coef; + if (coef > 1.0) { + coef = 1.0; + } + double cos = std::cos(theta); + double sin = std::sin(theta); + Eigen::Matrix2d Rot; + Rot << cos, -sin, sin, cos; + + Eigen::Matrix2d dRot; + dRot << -sin, -cos, cos, -sin; + Eigen::VectorXd vars(x_dim - 3); + vars[0] = x[2]; + vars[1] = x[4]; + vars[2] = x[5]; + vars.tail(x_dim - 6) = x.tail(x_dim - 6); + + Eigen::MatrixXd pred_d_pred = error_prediction_with_diff(vars); + Eigen::VectorXd pred = pred_d_pred.col(0); + Eigen::MatrixXd d_pred = pred_d_pred.block(0, 1, 6, x_dim - 3); + Eigen::MatrixXd rot_and_d_rot_pred_with_diff = Eigen::MatrixXd::Zero(6, x_dim + 2); + Eigen::MatrixXd rot_pred_with_diff(6, x_dim - 3); + rot_pred_with_diff.block(0, 0, 2, x_dim - 3) = Rot * d_pred.block(0, 0, 2, x_dim - 3); + rot_pred_with_diff.block(2, 0, 4, x_dim - 3) = d_pred.block(2, 0, 4, x_dim - 3); + + rot_and_d_rot_pred_with_diff.block(0, 0, 2, 1) = Rot * pred.head(2); + rot_and_d_rot_pred_with_diff.block(2, 0, 4, 1) = pred.segment(2, 4); + rot_and_d_rot_pred_with_diff.block(0, 1, 2, 1) = dRot * pred.head(2); + rot_and_d_rot_pred_with_diff.col(2 + 2) = rot_pred_with_diff.col(0); + rot_and_d_rot_pred_with_diff.col(2 + 4) = rot_pred_with_diff.col(1); + rot_and_d_rot_pred_with_diff.col(2 + 5) = rot_pred_with_diff.col(2); + rot_and_d_rot_pred_with_diff.block(0, 2 + 6, 6, x_dim - 6) = + rot_pred_with_diff.block(0, 3, 6, x_dim - 6); + return coef * rot_and_d_rot_pred_with_diff; + } + Eigen::MatrixXd Rotated_error_prediction(Eigen::MatrixXd X) + { + int X_cols = X.cols(); + int x_dim = X.rows(); + Eigen::MatrixXd Pred(6, X_cols); + for (int i = 0; i < X_cols; i++) { + Eigen::VectorXd x = X.col(i); + double theta = x[3]; + double v = x[2]; + double coef = 2.0 * std::abs(v); + coef = coef * coef * coef * coef * coef * coef * coef; + if (coef > 1.0) { + coef = 1.0; + } + double cos = std::cos(theta); + double sin = std::sin(theta); + Eigen::Matrix2d Rot; + Rot << cos, -sin, sin, cos; + Eigen::VectorXd vars(x_dim - 3); + + vars[0] = x[2]; + + vars[1] = x[4]; + vars[2] = x[5]; + vars.tail(x_dim - 6) = x.tail(x_dim - 6); + Eigen::VectorXd pred = error_prediction(vars); + Pred.block(0, i, 2, 1) = coef * Rot * pred.head(2); + Pred.block(2, i, 4, 1) = coef * pred.tail(4); + } + return Pred; + } +}; + +PYBIND11_MODULE(proxima_calc, m) +{ + py::class_(m, "transform_model_to_eigen") + .def(py::init()) + .def("set_params", &transform_model_to_eigen::set_params) + .def( + "rot_and_d_rot_error_prediction", &transform_model_to_eigen::rot_and_d_rot_error_prediction) + .def("error_prediction_with_diff", &transform_model_to_eigen::error_prediction_with_diff) + .def( + "rot_and_d_rot_error_prediction_with_diff", + &transform_model_to_eigen::rot_and_d_rot_error_prediction_with_diff) + .def("Rotated_error_prediction", &transform_model_to_eigen::Rotated_error_prediction); +} diff --git a/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/scripts/pympc_trajectory_follower.py b/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/scripts/pympc_trajectory_follower.py new file mode 100755 index 0000000000000..409b6bf594c9e --- /dev/null +++ b/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/scripts/pympc_trajectory_follower.py @@ -0,0 +1,859 @@ +#!/usr/bin/env python3 + +# Copyright 2024 Proxima Technology Inc, TIER IV +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +# cspell: ignore interp + +import time + +from autoware_adapi_v1_msgs.msg import OperationModeState +from autoware_auto_control_msgs.msg import AckermannControlCommand +from autoware_auto_planning_msgs.msg import Trajectory +from autoware_auto_planning_msgs.msg import TrajectoryPoint +from autoware_auto_vehicle_msgs.msg import SteeringReport +from builtin_interfaces.msg import Duration +from geometry_msgs.msg import AccelWithCovarianceStamped +from geometry_msgs.msg import PoseStamped +from nav_msgs.msg import Odometry +import numpy as np +import rclpy +from rclpy.node import Node +import scipy +import scipy.interpolate +from scipy.spatial.transform import Rotation as R +from scipy.spatial.transform import Slerp +from smart_mpc_trajectory_follower.scripts import drive_controller +from smart_mpc_trajectory_follower.scripts import drive_functions +from std_msgs.msg import String +from tier4_debug_msgs.msg import BoolStamped +from tier4_debug_msgs.msg import Float32MultiArrayStamped +from tier4_debug_msgs.msg import Float32Stamped + + +def getYaw(orientation_xyzw): + return R.from_quat(orientation_xyzw.reshape(-1, 4)).as_euler("xyz")[:, 2] + + +class PyMPCTrajectoryFollower(Node): + def __init__(self): + # MPC logic + self.controller = drive_controller.drive_controller( + model_file_name=(drive_functions.load_dir + "/model_for_test_drive.pth"), + ) + + # ROS 2 + super().__init__("pympc_trajectory_follower") + self.sub_trajectory_ = self.create_subscription( + Trajectory, + "/planning/scenario_planning/trajectory", + self.onTrajectory, + 1, + ) + self.sub_trajectory_ # prevent unused variable warning + + self.sub_odometry_ = self.create_subscription( + Odometry, + "/localization/kinematic_state", + self.onOdometry, + 1, + ) + self.sub_odometry_ + + self.sub_accel_ = self.create_subscription( + AccelWithCovarianceStamped, + "/localization/acceleration", + self.onAccel, + 1, + ) + self.sub_accel_ + + self.sub_steering_ = self.create_subscription( + SteeringReport, + "/vehicle/status/steering_status", + self.onSteering, + 1, + ) + self.sub_steering_ + + self.sub_operation_mode_ = self.create_subscription( + OperationModeState, + "/system/operation_mode/state", + self.onOperationMode, + 1, + ) + self.sub_operation_mode_ + + self.sub_stop_mode_reset_request_ = self.create_subscription( + String, + "/pympc_stop_mode_reset_request", + self.onStopModeResetRequest, + 1, + ) + self.sub_stop_mode_reset_request_ + + self.sub_goal_pose_ = self.create_subscription( + PoseStamped, + "/planning/mission_planning/echo_back_goal_pose", + self.onGoalPose, + 1, + ) + self.sub_goal_pose_ + + self.sub_step_response_trigger_ = self.create_subscription( + String, + "/pympc_step_response_trigger", + self.onStepResponseTrigger, + 1, + ) + self.sub_step_response_trigger_ + + self.sub_reload_mpc_param_trigger_ = self.create_subscription( + String, + "/pympc_reload_mpc_param_trigger", + self.onReloadMpcParamTrigger, + 1, + ) + self.sub_reload_mpc_param_trigger_ + + self.sub_control_command_control_cmd_ = self.create_subscription( + AckermannControlCommand, + "/control/command/control_cmd", + self.onControlCommandControlCmd, + 3, + ) + self.sub_control_command_control_cmd_ + + self.control_cmd_pub_ = self.create_publisher( + AckermannControlCommand, + "/control/trajectory_follower/control_cmd", + 1, + ) + + self.predicted_trajectory_pub_ = self.create_publisher( + Trajectory, + "/control/trajectory_follower/lateral/predicted_trajectory", + 1, + ) + + self.timer_period_callback = 0.03 # 30ms + + self.timer = self.create_timer(self.timer_period_callback, self.timer_callback) + + self.debug_mpc_x_current_pub_ = self.create_publisher( + Float32MultiArrayStamped, + "/debug_mpc_x_current", + 1, + ) + self.debug_mpc_x_des_pub_ = self.create_publisher( + Float32MultiArrayStamped, + "/debug_mpc_x_des", + 1, + ) + self.debug_mpc_y_des_pub_ = self.create_publisher( + Float32MultiArrayStamped, + "/debug_mpc_y_des", + 1, + ) + self.debug_mpc_v_des_pub_ = self.create_publisher( + Float32MultiArrayStamped, + "/debug_mpc_v_des", + 1, + ) + self.debug_mpc_yaw_des_pub_ = self.create_publisher( + Float32MultiArrayStamped, + "/debug_mpc_yaw_des", + 1, + ) + self.debug_mpc_acc_des_pub_ = self.create_publisher( + Float32MultiArrayStamped, + "/debug_mpc_acc_des", + 1, + ) + self.debug_mpc_steer_des_pub_ = self.create_publisher( + Float32MultiArrayStamped, + "/debug_mpc_steer_des", + 1, + ) + + self.debug_mpc_X_des_converted_pub_ = self.create_publisher( + Float32MultiArrayStamped, + "/debug_mpc_X_des_converted", + 1, + ) + + self.debug_mpc_nominal_traj_pub_ = self.create_publisher( + Float32MultiArrayStamped, + "/debug_mpc_nominal_traj", + 1, + ) + + self.debug_mpc_nominal_inputs_pub_ = self.create_publisher( + Float32MultiArrayStamped, + "/debug_mpc_nominal_inputs", + 1, + ) + + self.debug_mpc_X_input_list_pub_ = self.create_publisher( + Float32MultiArrayStamped, + "/debug_mpc_X_input_list", + 1, + ) + + self.debug_mpc_Y_output_list_pub_ = self.create_publisher( + Float32MultiArrayStamped, + "/debug_mpc_Y_output_list", + 1, + ) + + self.debug_mpc_error_prediction_pub_ = self.create_publisher( + Float32MultiArrayStamped, + "/debug_mpc_error_prediction", + 1, + ) + + self.debug_mpc_emergency_stop_mode_pub_ = self.create_publisher( + BoolStamped, + "/debug_mpc_emergency_stop_mode", + 1, + ) + + self.debug_mpc_goal_stop_mode_pub_ = self.create_publisher( + BoolStamped, + "/debug_mpc_goal_stop_mode", + 1, + ) + + self.debug_mpc_max_trajectory_err_pub_ = self.create_publisher( + Float32Stamped, + "/debug_mpc_max_trajectory_err", + 1, + ) + + self.debug_mpc_calc_u_opt_time_pub_ = self.create_publisher( + Float32Stamped, + "/debug_mpc_calc_u_opt_time", + 1, + ) + + self.debug_mpc_total_ctrl_time_pub_ = self.create_publisher( + Float32Stamped, + "/debug_mpc_total_ctrl_time", + 1, + ) + + self._present_trajectory = None + self._present_kinematic_state = None + self._present_acceleration = None + self._present_steering_status = None + self._present_operation_mode = None + self._goal_pose = None + self.control_cmd_time_stamp_list = [] + self.control_cmd_steer_list = [] + self.control_cmd_acc_list = [] + + self.emergency_stop_mode_flag = False + self.stop_mode_reset_request = False + self.step_response_flag = False + self.step_response_trigger = False + self.step_response_time_step = 0 + self.last_acc_cmd = 0.0 + self.last_steer_cmd = 0.0 + self.past_control_trajectory_mode = 1 + + def onTrajectory(self, msg): + self._present_trajectory = msg + + def onOdometry(self, msg): + self._present_kinematic_state = msg + + def onAccel(self, msg): + self._present_acceleration = msg + + def onSteering(self, msg): + self._present_steering_status = msg + + def onOperationMode(self, msg): + self._present_operation_mode = msg + + def onStopModeResetRequest(self, msg): + self.stop_mode_reset_request = True + self.step_response_flag = False + self.get_logger().info("receive stop mode reset request") + + def onGoalPose(self, msg): + self._goal_pose = msg + + def onStepResponseTrigger(self, msg): + self.step_response_trigger = True + self.get_logger().info("receive step response trigger") + + def onReloadMpcParamTrigger(self, msg): + self.get_logger().info("receive reload mpc param trigger") + + # Re-starting the controller + # Reloading parameters etc. internally. + self.controller = drive_controller.drive_controller( + model_file_name=(drive_functions.load_dir + "/model_for_test_drive.pth"), + ) + + def onControlCommandControlCmd(self, msg): + present_cmd_msg = msg + if self.past_control_trajectory_mode == 0: + self.control_cmd_time_stamp_list.append( + present_cmd_msg.stamp.sec + 1e-9 * present_cmd_msg.stamp.nanosec + ) + self.control_cmd_steer_list.append(present_cmd_msg.lateral.steering_tire_angle) + self.control_cmd_acc_list.append(present_cmd_msg.longitudinal.acceleration) + if self.control_cmd_time_stamp_list[-1] - self.control_cmd_time_stamp_list[0] > 3.0: + self.control_cmd_time_stamp_list.pop(0) + self.control_cmd_steer_list.pop(0) + self.control_cmd_acc_list.pop(0) + + def timer_callback(self): + if (self._present_trajectory is not None) and (self._present_kinematic_state is not None): + self.control() + + def control(self): + start_ctrl_time = time.time() + + # [1] Processing of information received from topics. + trajectory_position = [] + trajectory_orientation = [] + trajectory_longitudinal_velocity = [] + trajectory_lateral_velocity = [] + trajectory_acceleration = [] + trajectory_heading_rate = [] + points = self._present_trajectory.points + for i in range(len(points)): + trajectory_position.append( + [points[i].pose.position.x, points[i].pose.position.y, points[i].pose.position.z] + ) + trajectory_orientation.append( + [ + points[i].pose.orientation.x, + points[i].pose.orientation.y, + points[i].pose.orientation.z, + points[i].pose.orientation.w, + ] + ) + trajectory_longitudinal_velocity.append(points[i].longitudinal_velocity_mps) + trajectory_lateral_velocity.append(points[i].lateral_velocity_mps) + trajectory_acceleration.append(points[i].acceleration_mps2) + trajectory_heading_rate.append(points[i].heading_rate_rps) + trajectory_position = np.array(trajectory_position) + trajectory_orientation = np.array(trajectory_orientation) + trajectory_longitudinal_velocity = np.array(trajectory_longitudinal_velocity) + trajectory_lateral_velocity = np.array(trajectory_lateral_velocity) + trajectory_acceleration = np.array(trajectory_acceleration) + trajectory_heading_rate = np.array(trajectory_heading_rate) + + present_position = np.array( + [ + self._present_kinematic_state.pose.pose.position.x, + self._present_kinematic_state.pose.pose.position.y, + self._present_kinematic_state.pose.pose.position.z, + ] + ) + present_orientation = np.array( + [ + self._present_kinematic_state.pose.pose.orientation.x, + self._present_kinematic_state.pose.pose.orientation.y, + self._present_kinematic_state.pose.pose.orientation.z, + self._present_kinematic_state.pose.pose.orientation.w, + ] + ) + present_linear_velocity = np.array( + [ + self._present_kinematic_state.twist.twist.linear.x, + self._present_kinematic_state.twist.twist.linear.y, + self._present_kinematic_state.twist.twist.linear.z, + ] + ) + present_linear_acceleration = np.array( + [ + self._present_acceleration.accel.accel.linear.x, + self._present_acceleration.accel.accel.linear.y, + self._present_acceleration.accel.accel.linear.z, + ] + ) + + present_steering_tire_angle = np.array([self._present_steering_status.steering_tire_angle])[ + 0 + ] + + nearestIndex = ((trajectory_position - present_position) ** 2).sum(axis=1).argmin() + + is_applying_control = False + if self._present_operation_mode is not None: + if ( + self._present_operation_mode.mode == 2 + and self._present_operation_mode.is_autoware_control_enabled + ): + is_applying_control = True + + # [2] deviation check + position_deviation = np.sqrt( + ((trajectory_position[nearestIndex] - present_position) ** 2).sum() + ) + orientation_deviation = getYaw(present_orientation) - getYaw( + trajectory_orientation[nearestIndex] + ) + while True: + if orientation_deviation > np.pi: + orientation_deviation -= 2.0 * np.pi + if orientation_deviation < (-np.pi): + orientation_deviation += 2.0 * np.pi + if np.abs(orientation_deviation) < np.pi: + break + position_deviation_threshold = 2.0 + orientation_deviation_threshold = 60 * np.pi / 180.0 + + # The moment the threshold is exceeded, it enters emergency stop mode. + if is_applying_control: + if ( + position_deviation > position_deviation_threshold + or orientation_deviation > orientation_deviation_threshold + ): + self.emergency_stop_mode_flag = True + + # Normal return from emergency stop mode when within the threshold value and a request to cancel the stop mode has been received. + if ( + not ( + position_deviation > position_deviation_threshold + or orientation_deviation > orientation_deviation_threshold + ) + and self.stop_mode_reset_request + ): + self.emergency_stop_mode_flag = False + + # Processes to ensure that requests do not continue to remain after the stop mode is cancelled. + if not self.emergency_stop_mode_flag: + self.stop_mode_reset_request = False + + # [3] Control logic calculation + # [3-1] pure pursuit + # [3-1-1] compute pure pursuit acc cmd + longitudinal_vel_err = ( + present_linear_velocity - trajectory_longitudinal_velocity[nearestIndex] + ) + acc_kp = 0.5 + acc_lim = 2.0 + pure_pursuit_acc_cmd = np.clip(-acc_kp * longitudinal_vel_err, -acc_lim, acc_lim)[0] + + # [3-1-2] compute pure pursuit steer cmd + nearest_trajectory_point_yaw = getYaw(trajectory_orientation[nearestIndex]) + cos_yaw = np.cos(nearest_trajectory_point_yaw) + sin_yaw = np.sin(nearest_trajectory_point_yaw) + diff_position = present_position - trajectory_position[nearestIndex] + lat_err = -sin_yaw * diff_position[0] + cos_yaw * diff_position[1] + yaw_err = getYaw(present_orientation) - nearest_trajectory_point_yaw + while True: + if yaw_err > np.pi: + yaw_err -= 2.0 * np.pi + if yaw_err < (-np.pi): + yaw_err += 2.0 * np.pi + if np.abs(yaw_err) < np.pi: + break + wheel_base = drive_functions.L # 4.0 + lookahead_time = 3.0 + min_lookahead = 3.0 + lookahead = min_lookahead + lookahead_time * np.abs(present_linear_velocity[0]) + steer_kp = 2.0 * wheel_base / (lookahead * lookahead) + steer_kd = 2.0 * wheel_base / lookahead + steer_lim = 0.6 + pure_pursuit_steer_cmd = np.clip( + -steer_kp * lat_err - steer_kd * yaw_err, -steer_lim, steer_lim + )[0] + + # [3-2] MPC control logic calculation + # [3-2-1] State variables in the MPC + present_mpc_x = np.array( + [ + present_position[0], + present_position[1], + present_linear_velocity[0], + getYaw(present_orientation)[0], + present_linear_acceleration[0], + present_steering_tire_angle, + ] + ) + + # [3-2-2] resampling trajectory by time (except steer angle). + X_des = np.zeros((drive_functions.N + 1, 8)) + dist = np.sqrt(((trajectory_position[1:] - trajectory_position[:-1]) ** 2).sum(axis=1)) + timestamp_from_start = [0.0] + tmp_t = 0.0 + for i in range(len(dist)): + tmp_t += dist[i] / max(np.abs(trajectory_longitudinal_velocity[i]), 0.1) + timestamp_from_start.append(1 * tmp_t) + timestamp_from_start = np.array(timestamp_from_start) + + mpc_trajectory_time_step = 0.1 + timestamp_mpc = ( + np.arange(drive_functions.N + 1) * mpc_trajectory_time_step + + timestamp_from_start[nearestIndex] + ) + for i in range(drive_functions.N + 1): + if timestamp_mpc[drive_functions.N - i] > timestamp_from_start[-1]: + timestamp_mpc[drive_functions.N - i] = timestamp_from_start[-1] + else: + break + pos_x_interpolate = scipy.interpolate.interp1d( + timestamp_from_start, trajectory_position[:, 0] + ) + pos_y_interpolate = scipy.interpolate.interp1d( + timestamp_from_start, trajectory_position[:, 1] + ) + longitudinal_velocity_interpolate = scipy.interpolate.interp1d( + timestamp_from_start, trajectory_longitudinal_velocity + ) + key_rots = R.from_quat(trajectory_orientation.reshape(-1, 4)) + orientation_interpolate = Slerp(timestamp_from_start, key_rots) + acceleration_interpolate = scipy.interpolate.interp1d( + timestamp_from_start, trajectory_acceleration + ) + + X_des[:, 0] = pos_x_interpolate(timestamp_mpc) + X_des[:, 1] = pos_y_interpolate(timestamp_mpc) + X_des[:, 2] = longitudinal_velocity_interpolate(timestamp_mpc) + X_des[:, 3] = orientation_interpolate(timestamp_mpc).as_euler("xyz")[:, 2] + X_des[:, 4] = acceleration_interpolate(timestamp_mpc) + X_des[:, 6] = 1 * X_des[:, 4] + + # [3-2-3] resampling trajectory by time (steer angle) + previous_des_steer = 0.0 + steer_trajectory2 = np.zeros(len(timestamp_mpc)) + downsampling = 5 + for ii in range(2 + (int(len(timestamp_mpc) // downsampling))): + i = ii * downsampling + if i >= len(timestamp_mpc): + i = len(timestamp_mpc) - 1 + if (i % downsampling) == 0: + continue + + tmp_des_pos = 1 * X_des[i, :2] + distance_squared = ((trajectory_position[:, :2] - tmp_des_pos[:2]) ** 2).sum(axis=1) + tmp_nearest_index = distance_squared.argmin() + curvature_calculation_distance = 3.0 + nearestIndex_in_front = ( + np.abs( + distance_squared[tmp_nearest_index:] + - curvature_calculation_distance * curvature_calculation_distance + ) + ).argmin() + tmp_nearest_index + distance_in_front = np.sqrt(distance_squared[nearestIndex_in_front]) + if distance_in_front < curvature_calculation_distance: + curvature_calculation_distance = distance_in_front + if tmp_nearest_index > 0: + nearestIndex_behind = ( + np.abs( + distance_squared[:tmp_nearest_index] + - curvature_calculation_distance * curvature_calculation_distance + ) + ).argmin() + curvature_calculation_distance_threshold = 0.5 + if distance_in_front < curvature_calculation_distance_threshold: + # If there is no point in front, fill in with the value before it. + tmp_des_steer = 1 * previous_des_steer + else: + # Normal line passing through a point 3 m behind.：b1*x + b2*y + b3 = 0 + b1 = tmp_des_pos[0] - trajectory_position[nearestIndex_behind][0] + b2 = tmp_des_pos[1] - trajectory_position[nearestIndex_behind][1] + b3 = ( + -b1 * trajectory_position[nearestIndex_behind][0] + - b2 * trajectory_position[nearestIndex_behind][1] + ) + # Normal line through a point 3 m in front：f1*x + f2*y + f3 = 0 + f1 = tmp_des_pos[0] - trajectory_position[nearestIndex_in_front][0] + f2 = tmp_des_pos[1] - trajectory_position[nearestIndex_in_front][1] + f3 = ( + -f1 * trajectory_position[nearestIndex_in_front][0] + - f2 * trajectory_position[nearestIndex_in_front][1] + ) + det = b1 * f2 - b2 * f1 + if np.abs(det) < 1e-6: + # The two normals have the same slope, so steer is 0 + tmp_des_steer = 0.0 + else: + # solve Ax+b=0 + invA = np.array([[f2, -b2], [-f1, b1]]) / det + sol = -invA @ np.array([b3, f3]) # center of the circle + curvature = np.sqrt( + ((sol - trajectory_position[nearestIndex_behind][:2]) ** 2).sum() + ) + tmp_des_steer = np.arctan(drive_functions.L / curvature) + + tmp_vec_behind = sol - trajectory_position[nearestIndex_behind][:2] + # Line segment connecting backward point - centre of circle + cross_product = b1 * tmp_vec_behind[1] - b2 * tmp_vec_behind[0] + if cross_product < 0.0: + tmp_des_steer = -tmp_des_steer + + steer_trajectory2[i] = 1.0 * tmp_des_steer + previous_des_steer = 1.0 * tmp_des_steer + else: + steer_trajectory2[i] = 0.0 + previous_des_steer = 0.0 + + for i in range(len(timestamp_mpc) - 1): + reminder = i % downsampling + i0 = i - reminder + i1 = i0 + downsampling + if reminder == 0: + continue + if i1 >= len(timestamp_mpc): + i1 = len(timestamp_mpc) - 1 + w = (1.0 * reminder) / (i1 - i0) + steer_trajectory2[i] = (1 - w) * steer_trajectory2[i0] + w * steer_trajectory2[i1] + + X_des[:, 5] = steer_trajectory2 + X_des[:, 7] = 1 * X_des[:, 5] + + # [3-2-4] mpc computation + U_des = np.zeros((drive_functions.N, 2)) + start_calc_u_opt = time.time() + u_opt = self.controller.update_input_queue_and_get_optimal_control( + self.control_cmd_time_stamp_list, + self.control_cmd_acc_list, + self.control_cmd_steer_list, + present_mpc_x, + X_des, + U_des, + ) + end_calc_u_opt = time.time() + mpc_acc_cmd = u_opt[0] + mpc_steer_cmd = u_opt[1] + + # [3-3] Enter goal stop mode (override command value) to maintain stop at goal + self.goal_stop_mode_flag = False + if self._goal_pose is not None: + goal_position = np.array( + [ + self._goal_pose.pose.position.x, + self._goal_pose.pose.position.y, + self._goal_pose.pose.position.z, + ] + ) + + distance_from_goal = np.sqrt(((goal_position[:2] - present_position[:2]) ** 2).sum()) + goal_distance_threshold = 0.8 + if distance_from_goal < goal_distance_threshold: + self.goal_stop_mode_flag = True + + # [3-4] Override when doing step response + if self.step_response_trigger: + self.step_response_time_step = 0 + self.step_response_flag = True + self.step_response_trigger = False + + if self.step_response_flag: + step_response_elapsed_time = self.step_response_time_step * self.timer_period_callback + mpc_acc_cmd = 1.0 * self.last_acc_cmd + if step_response_elapsed_time < 3.0: + mpc_steer_cmd = 0.0 + else: + mpc_steer_cmd = -0.005 + self.get_logger().info( + "step_response_elapsed_time: " + + str(step_response_elapsed_time) + + ", mpc_steer_cmd: " + + str(mpc_steer_cmd) + ) + self.step_response_time_step += 1 + + # [3-5] Determine the control logic to be finally applied and publish it + acc_cmd = 0.0 + steer_cmd = 0.0 + if (not self.emergency_stop_mode_flag) and (not self.goal_stop_mode_flag): + # in normal mode + acc_cmd = mpc_acc_cmd + steer_cmd = mpc_steer_cmd + + overwrite_cmd_by_pure_pursuit_flag = False + if overwrite_cmd_by_pure_pursuit_flag: + steer_cmd = pure_pursuit_steer_cmd + acc_cmd = pure_pursuit_acc_cmd + else: + # in stop mode + acc_cmd_decrease_limit = 5.0 * self.timer_period_callback # lon_jerk_lim + steer_cmd_decrease_limit = 0.5 * self.timer_period_callback # steer_rate_lim + acc_cmd = max( + self.last_acc_cmd - acc_cmd_decrease_limit, -drive_functions.acc_lim_points[0] + ) # lon_acc_lim + if self.last_steer_cmd > (steer_cmd_decrease_limit + 1e-6): + steer_cmd = self.last_steer_cmd - steer_cmd_decrease_limit + elif self.last_steer_cmd < -(steer_cmd_decrease_limit + 1e-6): + steer_cmd = self.last_steer_cmd + steer_cmd_decrease_limit + else: + steer_cmd = 0.0 + + cmd_msg = AckermannControlCommand() + cmd_msg.stamp = cmd_msg.lateral.stamp = cmd_msg.longitudinal.stamp = ( + self.get_clock().now().to_msg() + ) + cmd_msg.longitudinal.speed = trajectory_longitudinal_velocity[nearestIndex] + cmd_msg.longitudinal.acceleration = acc_cmd + cmd_msg.lateral.steering_tire_angle = steer_cmd + + self.control_cmd_pub_.publish(cmd_msg) + self.last_acc_cmd = 1 * acc_cmd + self.last_steer_cmd = 1 * steer_cmd + + if self.past_control_trajectory_mode == 1: + self.control_cmd_time_stamp_list.append( + cmd_msg.stamp.sec + 1e-9 * cmd_msg.stamp.nanosec + ) + self.control_cmd_steer_list.append(steer_cmd) + self.control_cmd_acc_list.append(acc_cmd) + if self.control_cmd_time_stamp_list[-1] - self.control_cmd_time_stamp_list[0] > 3.0: + self.control_cmd_time_stamp_list.pop(0) + self.control_cmd_steer_list.pop(0) + self.control_cmd_acc_list.pop(0) + + # [4] Update MPC internal variables + if not is_applying_control: + self.controller.send_initialize_input_queue() + self.controller.stop_model_update() + self.control_cmd_time_stamp_list.clear() + self.control_cmd_steer_list.clear() + self.control_cmd_acc_list.clear() + + # [5] MPC prediction trajectory publish + traj_msg = Trajectory() + traj_msg.header.stamp = cmd_msg.stamp + traj_msg.header.frame_id = "map" + downsampling = 3 + for ii in range(int(self.controller.nominal_traj.shape[0] // downsampling)): + i = ii * downsampling + traj_msg.points += [TrajectoryPoint()] + int_sec = int(i * mpc_trajectory_time_step) + traj_msg.points[ii].time_from_start = Duration() + traj_msg.points[ii].time_from_start.sec = int_sec + traj_msg.points[ii].time_from_start.nanosec = int( + (i * mpc_trajectory_time_step - int_sec) * 1e9 + ) + traj_msg.points[ii].pose.position.x = self.controller.nominal_traj[i, 0] + traj_msg.points[ii].pose.position.y = self.controller.nominal_traj[i, 1] + traj_msg.points[ii].pose.position.z = present_position[2] + tmp_orientation_xyzw = R.from_euler("z", self.controller.nominal_traj[i, 3]).as_quat() + traj_msg.points[ii].pose.orientation.x = tmp_orientation_xyzw[0] + traj_msg.points[ii].pose.orientation.y = tmp_orientation_xyzw[1] + traj_msg.points[ii].pose.orientation.z = tmp_orientation_xyzw[2] + traj_msg.points[ii].pose.orientation.w = tmp_orientation_xyzw[3] + traj_msg.points[ii].longitudinal_velocity_mps = self.controller.nominal_traj[i, 2] + traj_msg.points[ii].acceleration_mps2 = self.controller.nominal_traj[i, 4] + + self.predicted_trajectory_pub_.publish(traj_msg) + + # [-1] Publish internal information for debugging + enable_debug_pub = True + if enable_debug_pub: + self.debug_mpc_emergency_stop_mode_pub_.publish( + BoolStamped(stamp=cmd_msg.stamp, data=self.emergency_stop_mode_flag) + ) + self.debug_mpc_goal_stop_mode_pub_.publish( + BoolStamped(stamp=cmd_msg.stamp, data=self.goal_stop_mode_flag) + ) + self.debug_mpc_x_des_pub_.publish( + Float32MultiArrayStamped(stamp=cmd_msg.stamp, data=X_des[:, 0]) + ) + self.debug_mpc_y_des_pub_.publish( + Float32MultiArrayStamped(stamp=cmd_msg.stamp, data=X_des[:, 1]) + ) + self.debug_mpc_v_des_pub_.publish( + Float32MultiArrayStamped(stamp=cmd_msg.stamp, data=X_des[:, 2]) + ) + self.debug_mpc_yaw_des_pub_.publish( + Float32MultiArrayStamped(stamp=cmd_msg.stamp, data=X_des[:, 3]) + ) + self.debug_mpc_acc_des_pub_.publish( + Float32MultiArrayStamped(stamp=cmd_msg.stamp, data=X_des[:, 4]) + ) + self.debug_mpc_steer_des_pub_.publish( + Float32MultiArrayStamped(stamp=cmd_msg.stamp, data=X_des[:, 5]) + ) + self.debug_mpc_x_current_pub_.publish( + Float32MultiArrayStamped(stamp=cmd_msg.stamp, data=present_mpc_x.tolist()) + ) + self.debug_mpc_X_des_converted_pub_.publish( + Float32MultiArrayStamped( + stamp=cmd_msg.stamp, data=self.controller.X_des.flatten().tolist() + ) + ) + self.debug_mpc_nominal_traj_pub_.publish( + Float32MultiArrayStamped( + stamp=cmd_msg.stamp, data=self.controller.nominal_traj.flatten().tolist() + ) + ) + self.debug_mpc_nominal_inputs_pub_.publish( + Float32MultiArrayStamped( + stamp=cmd_msg.stamp, data=self.controller.nominal_inputs.flatten().tolist() + ) + ) + self.debug_mpc_X_input_list_pub_.publish( + Float32MultiArrayStamped( + stamp=cmd_msg.stamp, + data=np.array(self.controller.X_input_list[-1:]).flatten().tolist(), + ) + ) + self.debug_mpc_Y_output_list_pub_.publish( + Float32MultiArrayStamped( + stamp=cmd_msg.stamp, + data=np.array(self.controller.Y_output_list[-1:]).flatten().tolist(), + ) + ) + self.debug_mpc_max_trajectory_err_pub_.publish( + Float32Stamped( + stamp=cmd_msg.stamp, + data=self.controller.err, + ) + ) + if self.controller.use_trained_model: + self.debug_mpc_error_prediction_pub_.publish( + Float32MultiArrayStamped( + stamp=cmd_msg.stamp, data=self.controller.previous_error[:6] + ) + ) + + end_ctrl_time = time.time() + + self.debug_mpc_calc_u_opt_time_pub_.publish( + Float32Stamped( + stamp=cmd_msg.stamp, + data=(end_calc_u_opt - start_calc_u_opt), + ) + ) + + self.debug_mpc_total_ctrl_time_pub_.publish( + Float32Stamped( + stamp=cmd_msg.stamp, + data=(end_ctrl_time - start_ctrl_time), + ) + ) + + +def main(args=None): + rclpy.init(args=args) + + pympc_trajectory_follower = PyMPCTrajectoryFollower() + + rclpy.spin(pympc_trajectory_follower) + + pympc_trajectory_follower.destroy_node() + rclpy.shutdown() + + +if __name__ == "__main__": + main() diff --git a/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/training_and_data_check/.gitignore b/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/training_and_data_check/.gitignore new file mode 100644 index 0000000000000..749ccdafd4f66 --- /dev/null +++ b/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/training_and_data_check/.gitignore @@ -0,0 +1,4 @@ +# Byte-compiled / optimized / DLL files +__pycache__/ +*.py[cod] +*$py.class diff --git a/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/training_and_data_check/__init__.py b/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/training_and_data_check/__init__.py new file mode 100644 index 0000000000000..e69de29bb2d1d diff --git a/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/training_and_data_check/add_training_data_from_csv.py b/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/training_and_data_check/add_training_data_from_csv.py new file mode 100644 index 0000000000000..3f6ef7a9f78d1 --- /dev/null +++ b/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/training_and_data_check/add_training_data_from_csv.py @@ -0,0 +1,293 @@ +# Copyright 2024 Proxima Technology Inc, TIER IV +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +# cspell: ignore ndimage usecols ndim interp savez + + +"""Class for preprocessing CSV data to obtain training data for training.""" + +import csv +import glob +import json +import os +from pathlib import Path + +import numpy as np +import scipy.interpolate +from scipy.ndimage import gaussian_filter +from scipy.spatial.transform import Rotation +from smart_mpc_trajectory_follower.scripts import drive_functions + + +def data_smoothing(data: np.ndarray, sigma: float) -> np.ndarray: + """Apply a Gaussian filter to the data.""" + data_ = gaussian_filter(data, sigma) + return data_ + + +def yaw_transform(raw_yaw: np.ndarray) -> np.ndarray: + """Adjust and transform within a period of 2π so that the yaw angle is continuous.""" + transformed_yaw = np.zeros(raw_yaw.shape) + transformed_yaw[0] = raw_yaw[0] + for i in range(raw_yaw.shape[0] - 1): + rotate_num = (raw_yaw[i + 1] - transformed_yaw[i]) // (2 * np.pi) + if raw_yaw[i + 1] - transformed_yaw[i] - 2 * rotate_num * np.pi < np.pi: + transformed_yaw[i + 1] = raw_yaw[i + 1] - 2 * rotate_num * np.pi + else: + transformed_yaw[i + 1] = raw_yaw[i + 1] - 2 * (rotate_num + 1) * np.pi + return transformed_yaw + + +class add_data_from_csv: + """Class for loading csv files containing driving data, converting them into teacher data for the NN training, and storing them in lists.""" + + X_input_list: list[np.ndarray] + """Input side of NN teacher data""" + + Y_output_list: list[np.ndarray] + """Output side of NN teacher data""" + + def __init__(self): + self.X_input_list = [] + self.Y_output_list = [] + + def clear_data(self): + """Clear the teacher data for the training.""" + self.X_input_list.clear() + self.Y_output_list.clear() + + def transform_rosbag_to_csv(self, dir_name: str, delete_csv_first: bool = True) -> None: + """Convert rosbag file to CSV format.""" + package_path_json = str(Path(__file__).parent.parent) + "/package_path.json" + with open(package_path_json, "r") as file: + package_path = json.load(file) + dir_exe = os.getcwd() + os.system( + "cp " + + package_path["path"] + + "/smart_mpc_trajectory_follower/training_and_data_check/rosbag2.bash " + + dir_name + ) + os.chdir(dir_name) + if len(glob.glob("*.csv")) > 0 and delete_csv_first: + os.system("rm *.csv") + os.system("bash rosbag2.bash") + os.chdir(dir_exe) + + def add_data_from_csv(self, dir_name: str) -> None: + """Adding teacher data for training from a CSV file.""" + acc_ctrl_queue_size = drive_functions.acc_ctrl_queue_size + steer_ctrl_queue_size = drive_functions.steer_ctrl_queue_size + ctrl_time_step = drive_functions.ctrl_time_step + mpc_time_step = drive_functions.mpc_time_step + mpc_freq = drive_functions.mpc_freq + acc_delay_step_ctrl = drive_functions.acc_delay_step + steer_delay_step_ctrl = drive_functions.steer_delay_step + acc_time_constant_ctrl = drive_functions.acc_time_constant + steer_time_constant_ctrl = drive_functions.steer_time_constant + + kinematic = np.loadtxt( + dir_name + "/kinematic_state.csv", delimiter=",", usecols=[0, 1, 4, 5, 7, 8, 9, 10, 47] + ) + pose_position_x = kinematic[:, 2] + pose_position_y = kinematic[:, 3] + vel = kinematic[:, 8] + raw_yaw = Rotation.from_quat(kinematic[:, 4:8]).as_euler("xyz")[:, 2] + yaw = yaw_transform(raw_yaw) + + loc_acc = np.loadtxt(dir_name + "/acceleration.csv", delimiter=",", usecols=[0, 1, 3]) + acc = loc_acc[:, 2] + + acc_sm = data_smoothing(acc, drive_functions.acc_sigma_for_learning) + + vehicle_steer = np.loadtxt( + dir_name + "/steering_status.csv", delimiter=",", usecols=[0, 1, 2] + ) + steer = vehicle_steer[:, 2] + steer_sm = steer.copy() + steer_sm = data_smoothing(steer, drive_functions.steer_sigma_for_learning) + + control_cmd = np.loadtxt( + dir_name + "/control_cmd_orig.csv", delimiter=",", usecols=[0, 1, 4, 9] + ) + acc_des = control_cmd[:, 3] + acc_des_sm = data_smoothing(acc_des, drive_functions.acc_des_sigma_for_learning) + + steer_des = control_cmd[:, 2] + steer_des_sm = steer_des.copy() + steer_des_sm = data_smoothing(steer_des, drive_functions.steer_des_sigma_for_learning) + + operation_mode = np.loadtxt( + dir_name + "/system_operation_mode_state.csv", delimiter=",", usecols=[0, 1, 2] + ) + if operation_mode.ndim == 1: + operation_mode = operation_mode.reshape(1, -1) + with open(dir_name + "/system_operation_mode_state.csv") as f: + reader = csv.reader(f, delimiter=",") + autoware_control_enabled_str = np.array([row[3] for row in reader]) + + proxima_control_enabled = np.zeros(operation_mode.shape[0]) + for i in range(operation_mode.shape[0]): + if operation_mode[i, 2] > 1.5 and autoware_control_enabled_str[i] == "True": + proxima_control_enabled[i] = 1.0 + for i in range(operation_mode.shape[0] - 1): + if proxima_control_enabled[i] < 0.5 and proxima_control_enabled[i + 1] > 0.5: + operation_start_time = operation_mode[i + 1, 0] + 1e-9 * operation_mode[i + 1, 1] + elif proxima_control_enabled[i] > 0.5 and proxima_control_enabled[i + 1] < 0.5: + operation_end_time = operation_mode[i + 1, 0] + 1e-9 * operation_mode[i + 1, 1] + break + operation_end_time = kinematic[-1, 0] + 1e-9 * kinematic[-1, 1] + if operation_mode.shape[0] == 1: + operation_end_time = kinematic[-1, 0] + 1e-9 * kinematic[-1, 1] + if proxima_control_enabled[0] > 0.5: + operation_start_time = operation_mode[0, 0] + 1e-9 * operation_mode[0, 1] + print("operation_start_time", operation_start_time) + print("operation_end_time", operation_end_time) + min_time_stamp = max( + [ + operation_start_time, + kinematic[0, 0] + 1e-9 * kinematic[0, 1], + loc_acc[0, 0] + 1e-9 * loc_acc[0, 1], + vehicle_steer[0, 0] + 1e-9 * vehicle_steer[0, 1], + control_cmd[0, 0] + 1e-9 * control_cmd[0, 1], + ] + ) + max_time_stamp = min( + [ + operation_end_time, + kinematic[-1, 0] + 1e-9 * kinematic[-1, 1], + loc_acc[-1, 0] + 1e-9 * loc_acc[-1, 1], + vehicle_steer[-1, 0] + 1e-9 * vehicle_steer[-1, 1], + control_cmd[-1, 0] + 1e-9 * control_cmd[-1, 1], + ] + ) + + trajectory_interpolator_list = [] + trajectory_interpolator_list.append( + scipy.interpolate.interp1d(kinematic[:, 0] + 1e-9 * kinematic[:, 1], pose_position_x) + ) + trajectory_interpolator_list.append( + scipy.interpolate.interp1d(kinematic[:, 0] + 1e-9 * kinematic[:, 1], pose_position_y) + ) + trajectory_interpolator_list.append( + scipy.interpolate.interp1d(kinematic[:, 0] + 1e-9 * kinematic[:, 1], vel) + ) + trajectory_interpolator_list.append( + scipy.interpolate.interp1d(kinematic[:, 0] + 1e-9 * kinematic[:, 1], yaw) + ) + trajectory_interpolator_list.append( + scipy.interpolate.interp1d(loc_acc[:, 0] + 1e-9 * loc_acc[:, 1], acc_sm) + ) + trajectory_interpolator_list.append( + scipy.interpolate.interp1d(vehicle_steer[:, 0] + 1e-9 * vehicle_steer[:, 1], steer_sm) + ) + trajectory_interpolator_list.append( + scipy.interpolate.interp1d(control_cmd[:, 0] + 1e-9 * control_cmd[:, 1], acc_des_sm) + ) + trajectory_interpolator_list.append( + scipy.interpolate.interp1d(control_cmd[:, 0] + 1e-9 * control_cmd[:, 1], steer_des_sm) + ) + + def get_interpolated_state(s): + x_current = np.zeros(6) + for i in range(6): + x_current[i] = trajectory_interpolator_list[i](s) + return x_current + + def get_interpolated_input(s): + u_input = np.zeros(2) + for i in range(2): + u_input[i] = trajectory_interpolator_list[6 + i](s) + return u_input + + s = min_time_stamp + X = [] + U = [] + + Timestamp = [] + while True: + if s > max_time_stamp: + break + X.append(get_interpolated_state(s)) + + U.append(get_interpolated_input(s)) + + Timestamp.append(s) + s += ctrl_time_step + + X_array = np.array(X) + U_array = np.array(U) + X_input_list = [] + Y_output_list = [] + Timestamp_learn = [] + for i in range( + max(acc_ctrl_queue_size, steer_ctrl_queue_size) + 1, X_array.shape[0] - mpc_freq - 1 + ): + acc_input_queue = U_array[i - acc_ctrl_queue_size : i, 0].copy() + steer_input_queue = U_array[i - steer_ctrl_queue_size : i, 1].copy() + x_current = X_array[i + 3] + x_old = X_array[i] + + Timestamp_learn.append(Timestamp[i]) + X_input_list.append( + np.concatenate((x_old[[2, 4, 5]], acc_input_queue[::-1], steer_input_queue[::-1])) + ) + acc_start = acc_ctrl_queue_size - acc_delay_step_ctrl + acc_end = acc_ctrl_queue_size - acc_delay_step_ctrl + mpc_freq + steer_start = steer_ctrl_queue_size - steer_delay_step_ctrl + steer_end = steer_ctrl_queue_size - steer_delay_step_ctrl + mpc_freq + + u_for_predict_x_current = np.zeros((mpc_freq, 2)) + u_for_predict_x_current[:, 0] = acc_input_queue[acc_start:acc_end] + u_for_predict_x_current[:, 1] = steer_input_queue[steer_start:steer_end] + var_dot = x_current - drive_functions.F_multiple( + x_old, u_for_predict_x_current, acc_time_constant_ctrl, steer_time_constant_ctrl + ) + var_dot /= mpc_time_step + if var_dot[3] > 1: + print(i) + Y_output_list.append(drive_functions.rotate_data(x_old, var_dot)) + + Y_output_list_array = np.array(Y_output_list) + Y_smooth = Y_output_list_array.copy() + Y_smooth[:, 0] = data_smoothing( + Y_output_list_array[:, 0], drive_functions.x_out_sigma_for_learning + ) + Y_smooth[:, 1] = data_smoothing( + Y_output_list_array[:, 1], drive_functions.y_out_sigma_for_learning + ) + Y_smooth[:, 2] = data_smoothing( + Y_output_list_array[:, 2], drive_functions.v_out_sigma_for_learning + ) + Y_smooth[:, 3] = data_smoothing( + Y_output_list_array[:, 3], drive_functions.theta_out_sigma_for_learning + ) + Y_smooth[:, 4] = data_smoothing( + Y_output_list_array[:, 4], drive_functions.acc_out_sigma_for_learning + ) + Y_smooth[:, 5] = data_smoothing( + Y_output_list_array[:, 5], drive_functions.steer_out_sigma_for_learning + ) + + for i in range(len(X_input_list)): + self.X_input_list.append(X_input_list[i]) + self.Y_output_list.append(Y_smooth[i]) + + def save_train_data(self, save_dir=".") -> None: + """Save neural net teacher data.""" + np.savez( + save_dir + "/train_data", + X_input=np.array(self.X_input_list), + Y_output=np.array(self.Y_output_list), + ) diff --git a/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/training_and_data_check/data_checker.ipynb b/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/training_and_data_check/data_checker.ipynb new file mode 100644 index 0000000000000..9ddd5fb6fad2a --- /dev/null +++ b/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/training_and_data_check/data_checker.ipynb @@ -0,0 +1,252 @@ +{ + "cells": [ + { + "cell_type": "code", + "execution_count": null, + "id": "85844bd8-91fa-4238-9bcf-cf45c9ef8c33", + "metadata": {}, + "outputs": [], + "source": [ + "# cspell: ignore ndimage usecols kernelspec ipykernel codemirror ipython nbconvert pygments nbformat \n", + "import numpy as np\n", + "from scipy.spatial.transform import Rotation\n", + "import scipy.interpolate\n", + "from scipy.ndimage import gaussian_filter\n", + "import os\n", + "import matplotlib.pyplot as plt\n", + "import csv\n", + "def yaw_transform(raw_yaw):\n", + " transformed_yaw = np.zeros(raw_yaw.shape)\n", + " transformed_yaw[0] = raw_yaw[0]\n", + " for i in range(raw_yaw.shape[0]-1):\n", + " rotate_num = (raw_yaw[i+1]-transformed_yaw[i])//(2*np.pi)\n", + " if raw_yaw[i+1]-transformed_yaw[i] - 2*rotate_num*np.pi < np.pi:\n", + " transformed_yaw[i+1] = raw_yaw[i+1] - 2*rotate_num*np.pi\n", + " else:\n", + " transformed_yaw[i+1] = raw_yaw[i+1] - 2*(rotate_num+1)*np.pi\n", + " return transformed_yaw\n", + "def steer_visualize(skip_time = 0,total_time = None,dir_name = \".\",ylim = [-0.025,0.025] ):\n", + " kinematic=np.loadtxt(dir_name+\"/kinematic_state.csv\",delimiter=',',usecols=[0,1,4,5,7,8,9,10,47])\n", + " start_time= kinematic[0,0]+1e-9*kinematic[0,1]\n", + " total_time_default=kinematic[-1,0]+1e-9*kinematic[-1,1]-start_time\n", + " vehicle_steer = np.loadtxt(dir_name+\"/steering_status.csv\",delimiter=',',usecols=[0,1,2])\n", + " steer = vehicle_steer[:,2]\n", + " control_cmd = np.loadtxt(dir_name+\"/control_cmd_orig.csv\",delimiter=',',usecols=[0,1,4,9])\n", + " steer_des = control_cmd[:,2]\n", + " plt.plot(control_cmd[:,0] + 1e-9*control_cmd[:,1],steer_des,label=\"proxima_input\")\n", + " plt.plot(vehicle_steer[:,0] + 1e-9*vehicle_steer[:,1],steer,label=\"observed\")\n", + " \"\"\"\n", + " operation_mode = np.loadtxt(dir_name + \"/system_operation_mode_state.csv\", delimiter=\",\", usecols=[0, 1, 2])\n", + " operation_mode_time = np.zeros(2*operation_mode.shape[0])\n", + " operation_mode_time[::2] = operation_mode[:,0] + 1e-9*operation_mode[:,1]\n", + " operation_mode_time[1::2][:-1] = operation_mode_time[2::2]-1e-16\n", + " operation_mode_time[-1] = start_time+total_time_default\n", + " with open(dir_name+\"/system_operation_mode_state.csv\") as f:\n", + " reader=csv.reader(f,delimiter=',')\n", + " autoware_control_enabled_str=np.array([row[3] for row in reader])\n", + " with open(dir_name+\"/system_operation_mode_state.csv\") as f:\n", + " reader=csv.reader(f,delimiter=',')\n", + " autonomous_mode_available_str=np.array([row[6] for row in reader])\n", + " autoware_control_enabled = np.zeros(2*operation_mode.shape[0])\n", + " autonomous_mode_available = np.zeros(2*operation_mode.shape[0])\n", + " operation_mode_ = np.ones(2*operation_mode.shape[0])\n", + " for i in range(operation_mode.shape[0]):\n", + " if autoware_control_enabled_str[i] == \"True\":\n", + " autoware_control_enabled[2*i] = 1\n", + " autoware_control_enabled[2*i+1] = 1\n", + "\n", + " if operation_mode[i,2] > 1.5:\n", + " operation_mode_[2*i] = 2.0\n", + " operation_mode_[2*i+1] = 2.0\n", + " \"\"\"\n", + " # plt.plot(operation_mode_time,0.01*operation_mode_,label=\"operation_mode\")\n", + " # plt.plot(operation_mode_time,0.01*autoware_control_enabled,label=\"autoware_control_enabled\")\n", + "\n", + "\n", + " if total_time is None:\n", + " plt.xlim([start_time+skip_time,start_time+total_time_default])\n", + " else:\n", + " plt.xlim([start_time+skip_time,start_time+skip_time+total_time])\n", + " plt.ylabel(\"steer [rad]\")\n", + " plt.xlabel(\"Time [s]\")\n", + "\n", + " plt.ylim(ylim)\n", + " plt.legend()\n", + " plt.show()\n", + "def acc_visualize(skip_time = 0,total_time = None,dir_name = \".\",ylim = [-0.005,0.02] ):\n", + " kinematic=np.loadtxt(dir_name+\"/kinematic_state.csv\",delimiter=',',usecols=[0,1,4,5,7,8,9,10,47])\n", + " start_time= kinematic[0,0]+1e-9*kinematic[0,1]\n", + " total_time_default=kinematic[-1,0]+1e-9*kinematic[-1,1]-start_time\n", + " loc_acc = np.loadtxt(dir_name + \"/acceleration.csv\", delimiter=\",\", usecols=[0, 1, 3])\n", + " acc = loc_acc[:,2]\n", + " control_cmd = np.loadtxt(dir_name+\"/control_cmd_orig.csv\",delimiter=',',usecols=[0,1,4,9])\n", + " acc_des = control_cmd[:,3]\n", + " plt.plot(control_cmd[:,0] + 1e-9*control_cmd[:,1],acc_des,label=\"proxima_input\")\n", + " plt.plot(loc_acc[:,0] + 1e-9*loc_acc[:,1],acc,label=\"observed\")\n", + " \"\"\"\n", + " goal_stop_mode = np.loadtxt(dir_name + \"/debug_mpc_goal_stop_mode.csv\", delimiter=\",\",usecols=[0,1])\n", + "\n", + " with open(dir_name+\"/debug_mpc_goal_stop_mode.csv\") as f:\n", + " reader=csv.reader(f,delimiter=',')\n", + " stop_mode_str=np.array([row[2] for row in reader])\n", + "\n", + " stop_mode = np.zeros(goal_stop_mode.shape[0])\n", + " for i in range(goal_stop_mode.shape[0]):\n", + " if stop_mode_str[i] == \"True\":\n", + " stop_mode[i] = 1\n", + " plt.plot(goal_stop_mode[:,0] + 1e-9*goal_stop_mode[:,1],stop_mode,label=\"stop_mode\")\n", + " operation_mode = np.loadtxt(dir_name + \"/system_operation_mode_state.csv\", delimiter=\",\", usecols=[0, 1, 2])\n", + " operation_mode_time = np.zeros(2*operation_mode.shape[0])\n", + " operation_mode_time[::2] = operation_mode[:,0] + 1e-9*operation_mode[:,1]\n", + " operation_mode_time[1::2][:-1] = operation_mode_time[2::2]-1e-16\n", + " operation_mode_time[-1] = start_time+total_time_default\n", + " with open(dir_name+\"/system_operation_mode_state.csv\") as f:\n", + " reader=csv.reader(f,delimiter=',')\n", + " autoware_control_enabled_str=np.array([row[3] for row in reader])\n", + " with open(dir_name+\"/system_operation_mode_state.csv\") as f:\n", + " reader=csv.reader(f,delimiter=',')\n", + " autonomous_mode_available_str=np.array([row[6] for row in reader])\n", + " autoware_control_enabled = np.zeros(2*operation_mode.shape[0])\n", + " operation_mode_ = np.ones(2*operation_mode.shape[0])\n", + " for i in range(operation_mode.shape[0]):\n", + " if autoware_control_enabled_str[i] == \"True\":\n", + " autoware_control_enabled[2*i] = 1\n", + " autoware_control_enabled[2*i+1] = 1\n", + "\n", + " if operation_mode[i,2] > 1.5:\n", + " operation_mode_[2*i] = 2.0\n", + " operation_mode_[2*i+1] = 2.0\n", + " \"\"\"\n", + " # plt.plot(operation_mode_time,operation_mode_,label=\"operation_mode\")\n", + " # plt.plot(operation_mode_time,autoware_control_enabled,label=\"autoware_control_enabled\")\n", + "\n", + " if total_time is None:\n", + " plt.xlim([start_time+skip_time,start_time+total_time_default])\n", + " else:\n", + " plt.xlim([start_time+skip_time,start_time+skip_time+total_time])\n", + " plt.ylabel(\"acc [m/s^2]\")\n", + " plt.xlabel(\"Time [s]\")\n", + " plt.ylim(ylim)\n", + " plt.legend()\n", + " plt.show()\n", + "def yaw_visualize(skip_time = 0,total_time = None,dir_name = \".\",ylim = [-0.15,0.0]):\n", + " kinematic=np.loadtxt(dir_name+\"/kinematic_state.csv\",delimiter=',',usecols=[0,1,4,5,7,8,9,10,47])\n", + " raw_yaw = Rotation.from_quat(kinematic[:,4:8]).as_euler(\"xyz\")[:,2]\n", + " yaw = yaw_transform(raw_yaw)\n", + " start_time= kinematic[0,0]+1e-9*kinematic[0,1]\n", + " total_time_default=kinematic[-1,0]+1e-9*kinematic[-1,1]-start_time\n", + " plt.plot(kinematic[:,0] + 1e-9*kinematic[:,1],yaw,label=\"observed\")\n", + " if total_time is None:\n", + " plt.xlim([start_time+skip_time,start_time+total_time_default])\n", + " else:\n", + " plt.xlim([start_time+skip_time,start_time+skip_time+total_time])\n", + " plt.ylabel(\"yaw [rad]\")\n", + " plt.xlabel(\"Time [s]\")\n", + "\n", + " plt.ylim(ylim)\n", + " plt.legend()\n", + " plt.show()\n", + "def vel_visualize(skip_time = 0,total_time = None,dir_name = \".\",ylim = [-0.1,12.0]):\n", + " kinematic=np.loadtxt(dir_name+\"/kinematic_state.csv\",delimiter=',',usecols=[0,1,4,5,7,8,9,10,47])\n", + " vel = kinematic[:,8]\n", + " mpc_v_des=np.loadtxt(dir_name+\"/debug_mpc_v_des.csv\",delimiter=',',usecols=[0,1,3])\n", + " vel_des = mpc_v_des[:,2]\n", + " start_time= kinematic[0,0]+1e-9*kinematic[0,1]\n", + " total_time_default=kinematic[-1,0]+1e-9*kinematic[-1,1]-start_time\n", + " plt.plot(kinematic[:,0] + 1e-9*kinematic[:,1],vel,label=\"observed\")\n", + " plt.plot(mpc_v_des[:,0] + 1e-9*mpc_v_des[:,1],vel_des,label=\"des\")\n", + "\n", + " if total_time is None:\n", + " plt.xlim([start_time+skip_time,start_time+total_time_default])\n", + " else:\n", + " plt.xlim([start_time+skip_time,start_time+skip_time+total_time])\n", + " plt.ylabel(\"vel [m/s]\")\n", + " plt.xlabel(\"Time [s]\")\n", + "\n", + " plt.ylim(ylim)\n", + " plt.legend()\n", + " plt.show()\n", + "def lateral_error_visualize(skip_time = 0,total_time = None,dir_name = \".\",ylim = [-0.25,0.25],title=None):\n", + " lateral_error = np.loadtxt(dir_name+\"/lateral_error.csv\",delimiter=',')\n", + " start_time= lateral_error[0,0]+1e-9*lateral_error[0,1]\n", + " total_time_default=lateral_error[-1,0]+1e-9*lateral_error[-1,1]-start_time\n", + " plt.plot(lateral_error[:,0] + 1e-9*lateral_error[:,1],lateral_error[:,2],label=\"lateral_error\")\n", + " if total_time is None:\n", + " plt.xlim([start_time+skip_time,start_time+total_time_default])\n", + " else:\n", + " plt.xlim([start_time+skip_time,start_time+skip_time+total_time])\n", + " plt.legend()\n", + " plt.ylim(ylim)\n", + " plt.ylabel(\"lateral_error [m]\")\n", + " plt.xlabel(\"Time [s]\")\n", + " if title is not None:\n", + " plt.title(title)\n", + " plt.savefig(\"lateral_error_\"+title+\".png\")\n", + " plt.show()\n", + "def computation_time_visualize(skip_time = 0,total_time = None,dir_name = \".\",ylim = [-0.05,0.5]):\n", + " control_cmd = np.loadtxt(dir_name+\"/control_cmd_orig.csv\",delimiter=',',usecols=[0,1])\n", + " cmd_time_stamp = control_cmd[:,0]+1e-9*control_cmd[:,1]\n", + " cmd_time_stamp_diff = cmd_time_stamp[1:] - cmd_time_stamp[:-1]\n", + " calc_u_opt_time = np.loadtxt(dir_name+\"/debug_mpc_calc_u_opt_time.csv\",delimiter=',')\n", + " total_ctrl_time = np.loadtxt(dir_name+\"/debug_mpc_total_ctrl_time.csv\",delimiter=',')\n", + " start_time= control_cmd[0,0]+1e-9*control_cmd[0,1]\n", + " total_time_default=control_cmd[-1,0]+1e-9*control_cmd[-1,1]-start_time\n", + "\n", + " plt.plot(cmd_time_stamp[1:],cmd_time_stamp_diff,label=\"/control/trajectory_follower/control_cmd publish_interval\")\n", + " plt.plot(total_ctrl_time[:,0] + 1e-9*total_ctrl_time[:,1],total_ctrl_time[:,2],label=\"total_ctrl_time\")\n", + " plt.plot(calc_u_opt_time[:,0] + 1e-9*calc_u_opt_time[:,1],calc_u_opt_time[:,2],label=\"calc_u_opt_time\")\n", + " plt.legend()\n", + " plt.ylim(ylim)\n", + " if total_time is None:\n", + " plt.xlim([start_time+skip_time,start_time+total_time_default])\n", + " else:\n", + " plt.xlim([start_time+skip_time,start_time+skip_time+total_time])\n", + " plt.xlabel(\"Time [s]\")\n", + " plt.ylabel(\"Processing Time [s]\")\n", + " plt.show()" + ] + }, + { + "cell_type": "code", + "execution_count": null, + "id": "b07ed62c-a5b0-4c5f-b52d-633b0c61271b", + "metadata": {}, + "outputs": [], + "source": [ + "dirname = #specify rosbag dir\n", + "steer_visualize(20,20,dirname,ylim=[-0.05,0.05])\n", + "lateral_error_visualize(0,None,dirname,ylim=[-0.6,0.6])\n", + "vel_visualize(20,20,dirname,ylim=[-0.6,12.0])" + ] + }, + { + "cell_type": "code", + "execution_count": null, + "id": "f7012be5-0259-4618-a380-8ec7a29f59af", + "metadata": {}, + "outputs": [], + "source": [] + } + ], + "metadata": { + "kernelspec": { + "display_name": "Python 3 (ipykernel)", + "language": "python", + "name": "python3" + }, + "language_info": { + "codemirror_mode": { + "name": "ipython", + "version": 3 + }, + "file_extension": ".py", + "mimetype": "text/x-python", + "name": "python", + "nbconvert_exporter": "python", + "pygments_lexer": "ipython3", + "version": "3.10.12" + } + }, + "nbformat": 4, + "nbformat_minor": 5 +} diff --git a/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/training_and_data_check/execute_train_drive_NN_model.ipynb b/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/training_and_data_check/execute_train_drive_NN_model.ipynb new file mode 100644 index 0000000000000..c2955883d5699 --- /dev/null +++ b/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/training_and_data_check/execute_train_drive_NN_model.ipynb @@ -0,0 +1,77 @@ +{ + "cells": [ + { + "cell_type": "code", + "execution_count": null, + "id": "c445f7e1-6d75-405d-be86-1b9c8f9eaae3", + "metadata": {}, + "outputs": [], + "source": [ + "# cspell: ignore kernelspec ipykernel codemirror ipython nbconvert pygments nbformat \n", + "import train_drive_NN_model" + ] + }, + { + "cell_type": "code", + "execution_count": 2, + "id": "dc7aa5b8-15fa-4ad0-a776-664748a747ac", + "metadata": {}, + "outputs": [], + "source": [ + "model_trainer = train_drive_NN_model.train_drive_NN_model()" + ] + }, + { + "cell_type": "code", + "execution_count": null, + "id": "6559bc06-d55d-4230-a640-e1730e333df3", + "metadata": {}, + "outputs": [], + "source": [ + "load_dir = #specify rosbag dir\n", + "model_trainer.add_data_from_csv(load_dir)" + ] + }, + { + "cell_type": "code", + "execution_count": null, + "id": "bdcd80a2-6484-4957-a34c-3ed193cc10e2", + "metadata": {}, + "outputs": [], + "source": [ + "model_trainer.get_trained_model(use_polynomial_reg=False)" + ] + }, + { + "cell_type": "code", + "execution_count": null, + "id": "dc4c2c45-60b1-4ff7-996b-4f1f60305f97", + "metadata": {}, + "outputs": [], + "source": [ + "model_trainer.save_models()" + ] + } + ], + "metadata": { + "kernelspec": { + "display_name": "Python 3 (ipykernel)", + "language": "python", + "name": "python3" + }, + "language_info": { + "codemirror_mode": { + "name": "ipython", + "version": 3 + }, + "file_extension": ".py", + "mimetype": "text/x-python", + "name": "python", + "nbconvert_exporter": "python", + "pygments_lexer": "ipython3", + "version": "3.10.12" + } + }, + "nbformat": 4, + "nbformat_minor": 5 +} diff --git a/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/training_and_data_check/rosbag2.bash b/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/training_and_data_check/rosbag2.bash new file mode 100644 index 0000000000000..524dfe5a169df --- /dev/null +++ b/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/training_and_data_check/rosbag2.bash @@ -0,0 +1,40 @@ +#!/bin/bash + +gnome-terminal -- bash -c 'ros2 topic echo /localization/kinematic_state nav_msgs/msg/Odometry --csv --qos-history keep_all --qos-reliability reliable > kinematic_state.csv' +gnome-terminal -- bash -c 'ros2 topic echo /localization/acceleration geometry_msgs/msg/AccelWithCovarianceStamped --csv --qos-history keep_all --qos-reliability reliable > acceleration.csv' +gnome-terminal -- bash -c 'ros2 topic echo /vehicle/status/steering_status autoware_auto_vehicle_msgs/msg/SteeringReport --csv --qos-history keep_all --qos-reliability reliable > steering_status.csv' + +gnome-terminal -- bash -c 'ros2 topic echo /control/command/control_cmd autoware_auto_control_msgs/msg/AckermannControlCommand --csv --qos-history keep_all --qos-reliability reliable > control_cmd.csv' +gnome-terminal -- bash -c 'ros2 topic echo /control/trajectory_follower/control_cmd autoware_auto_control_msgs/msg/AckermannControlCommand --csv --qos-history keep_all --qos-reliability reliable > control_cmd_orig.csv' + +gnome-terminal -- bash -c 'ros2 topic echo /control/trajectory_follower/lane_departure_checker_node/debug/deviation/lateral tier4_debug_msgs/msg/Float64Stamped --csv --qos-history keep_all --qos-reliability reliable > lateral_error.csv' +gnome-terminal -- bash -c 'ros2 topic echo /control/trajectory_follower/lane_departure_checker_node/debug/deviation/yaw tier4_debug_msgs/msg/Float64Stamped --csv --qos-history keep_all --qos-reliability reliable > yaw_error.csv' + +gnome-terminal -- bash -c 'ros2 topic echo /system/operation_mode/state autoware_adapi_v1_msgs/msg/OperationModeState --csv --qos-history keep_all --qos-reliability reliable > system_operation_mode_state.csv' +gnome-terminal -- bash -c 'ros2 topic echo /vehicle/status/control_mode autoware_auto_vehicle_msgs/msg/ControlModeReport --csv --qos-history keep_all --qos-reliability reliable > vehicle_status_control_mode.csv' +gnome-terminal -- bash -c 'ros2 topic echo /sensing/imu/imu_data sensor_msgs/msg/Imu --csv --qos-history keep_all --qos-reliability reliable > imu.csv' + +gnome-terminal -- bash -c 'ros2 topic echo /debug_mpc_x_des tier4_debug_msgs/msg/Float32MultiArrayStamped --csv --qos-history keep_all --qos-reliability reliable > debug_mpc_x_des.csv' +gnome-terminal -- bash -c 'ros2 topic echo /debug_mpc_y_des tier4_debug_msgs/msg/Float32MultiArrayStamped --csv --qos-history keep_all --qos-reliability reliable > debug_mpc_y_des.csv' +gnome-terminal -- bash -c 'ros2 topic echo /debug_mpc_v_des tier4_debug_msgs/msg/Float32MultiArrayStamped --csv --qos-history keep_all --qos-reliability reliable > debug_mpc_v_des.csv' +gnome-terminal -- bash -c 'ros2 topic echo /debug_mpc_yaw_des tier4_debug_msgs/msg/Float32MultiArrayStamped --csv --qos-history keep_all --qos-reliability reliable > debug_mpc_yaw_des.csv' +gnome-terminal -- bash -c 'ros2 topic echo /debug_mpc_acc_des tier4_debug_msgs/msg/Float32MultiArrayStamped --csv --qos-history keep_all --qos-reliability reliable > debug_mpc_acc_des.csv' +gnome-terminal -- bash -c 'ros2 topic echo /debug_mpc_steer_des tier4_debug_msgs/msg/Float32MultiArrayStamped --csv --qos-history keep_all --qos-reliability reliable > debug_mpc_steer_des.csv' +gnome-terminal -- bash -c 'ros2 topic echo /debug_mpc_X_des_converted tier4_debug_msgs/msg/Float32MultiArrayStamped --csv --qos-history keep_all --qos-reliability reliable > debug_mpc_X_des_converted.csv' +gnome-terminal -- bash -c 'ros2 topic echo /debug_mpc_x_current tier4_debug_msgs/msg/Float32MultiArrayStamped --csv --qos-history keep_all --qos-reliability reliable > debug_mpc_x_current.csv' +gnome-terminal -- bash -c 'ros2 topic echo /debug_mpc_error_prediction tier4_debug_msgs/msg/Float32MultiArrayStamped --csv --qos-history keep_all --qos-reliability reliable > debug_mpc_error_prediction.csv' +gnome-terminal -- bash -c 'ros2 topic echo /debug_mpc_max_trajectory_err tier4_debug_msgs/msg/Float32Stamped --csv --qos-history keep_all --qos-reliability reliable > debug_mpc_max_trajectory_err.csv' +gnome-terminal -- bash -c 'ros2 topic echo /debug_mpc_emergency_stop_mode tier4_debug_msgs/msg/BoolStamped --csv --qos-history keep_all --qos-reliability reliable > debug_mpc_emergency_stop_mode.csv' +gnome-terminal -- bash -c 'ros2 topic echo /debug_mpc_goal_stop_mode tier4_debug_msgs/msg/BoolStamped --csv --qos-history keep_all --qos-reliability reliable > debug_mpc_goal_stop_mode.csv' +gnome-terminal -- bash -c 'ros2 topic echo /debug_mpc_total_ctrl_time tier4_debug_msgs/msg/Float32Stamped --csv --qos-history keep_all --qos-reliability reliable > debug_mpc_total_ctrl_time.csv' +gnome-terminal -- bash -c 'ros2 topic echo /debug_mpc_calc_u_opt_time tier4_debug_msgs/msg/Float32Stamped --csv --qos-history keep_all --qos-reliability reliable > debug_mpc_calc_u_opt_time.csv' + +# wait a moment to open new terminals converting rosbag2 to csv +sleep 8 + +ros2 bag play rosbag2_*.db3 -r 10 + +sleep 3 + +# kill terminals converting rosbag2 to csv +pgrep -f "\ --csv\ --qos-history\ keep_all\ --qos-reliability\ reliable" | xargs kill -9 diff --git a/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/training_and_data_check/train_drive_GP_model.py b/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/training_and_data_check/train_drive_GP_model.py new file mode 100644 index 0000000000000..914ed7b53c6ec --- /dev/null +++ b/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/training_and_data_check/train_drive_GP_model.py @@ -0,0 +1,88 @@ +# Copyright 2024 Proxima Technology Inc, TIER IV +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +# cspell: ignore lengthscale savez + +import GPy +import numpy as np +from smart_mpc_trajectory_follower.training_and_data_check import add_training_data_from_csv + + +class train_drive_GP_model(add_training_data_from_csv.add_data_from_csv): + """Class for training the Gaussian process from driving data.""" + + def __init__(self): + super(train_drive_GP_model, self).__init__() + + def get_optimized_GP(self, i, save_name, inducting_num=100): + """Train Gaussian processes and save the information needed for vehicle control.""" + X_input = np.array(self.X_input_list) + Y_output = np.array(self.Y_output_list) + induction_index = np.random.choice(X_input.shape[0], inducting_num, replace=False) + kernel = GPy.kern.RBF(input_dim=X_input.shape[1], ARD=True) + m = GPy.models.SparseGPRegression( + X_input, Y_output[:, [i]], kernel, Z=X_input[induction_index] + ) + m.optimize() + theta_1 = kernel.variance[0] + theta_2 = 1 / np.array(np.array(kernel.lengthscale) ** 2) + Z_post = np.array(m.inducing_inputs) + + K_MM = kernel.K(Z_post, Z_post) + K_MN = kernel.K(Z_post, X_input) + K_MM_inv = np.linalg.inv(K_MM) + Lam_with_noise_inv = np.zeros(K_MN.shape[1]) + for n in range(K_MN.shape[1]): + Lam_with_noise_inv[n] = 1 / ( + kernel.variance + - np.dot(K_MM_inv @ K_MN[:, n], K_MN[:, n]) + + m.Gaussian_noise.variance + ) + Q_MM = K_MM + K_MN @ np.diag(Lam_with_noise_inv) @ K_MN.T + Q_MM_inv = np.linalg.inv(Q_MM) + U = K_MM @ Q_MM_inv @ K_MN @ (np.diag(Lam_with_noise_inv) @ Y_output[:, 4]) + K_MM_invUT = (K_MM_inv @ U).T + + np.savez( + save_name, + theta_1=theta_1, + theta_2=theta_2, + Z=Z_post, + mean_mtr=K_MM_invUT, + cov_mtr=K_MM_inv - Q_MM_inv, + ) + + def get_optimized_GP_x(self, dir_name=".", inducting_num=100): + """Save the information of the Gaussian process about the prediction error of the longitudinal position.""" + self.get_optimized_GP(0, dir_name + "/GP_x_info", inducting_num) + + def get_optimized_GP_y(self, dir_name=".", inducting_num=100): + """Save the information of the Gaussian process about the prediction error of the lateral position.""" + self.get_optimized_GP(1, dir_name + "/GP_y_info", inducting_num) + + def get_optimized_GP_v(self, dir_name=".", inducting_num=100): + """Save the information of the Gaussian process about the prediction error of the velocity.""" + self.get_optimized_GP(2, dir_name + "/GP_v_info", inducting_num) + + def get_optimized_GP_theta(self, dir_name=".", inducting_num=100): + """Save the information of the Gaussian process about the prediction error of the yaw angle.""" + self.get_optimized_GP(3, dir_name + "/GP_theta_info", inducting_num) + + def get_optimized_GP_acc(self, dir_name=".", inducting_num=100): + """Save the information of the Gaussian process about the prediction error of the acceleration.""" + self.get_optimized_GP(4, dir_name + "/GP_acc_info", inducting_num) + + def get_optimized_GP_steer(self, dir_name=".", inducting_num=100): + """Save the information of the Gaussian process about the prediction error of the steering angle.""" + self.get_optimized_GP(5, dir_name + "/GP_steer_info", inducting_num) diff --git a/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/training_and_data_check/train_drive_NN_model.py b/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/training_and_data_check/train_drive_NN_model.py new file mode 100644 index 0000000000000..269b577f83c25 --- /dev/null +++ b/control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/training_and_data_check/train_drive_NN_model.py @@ -0,0 +1,716 @@ +# Copyright 2024 Proxima Technology Inc, TIER IV +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +# cspell: ignore optim savez suptitle + +"""Class for training neural nets from driving data.""" +import matplotlib.pyplot as plt +import numpy as np +from sklearn import linear_model +from sklearn.preprocessing import PolynomialFeatures +from smart_mpc_trajectory_follower.scripts import drive_NN +from smart_mpc_trajectory_follower.scripts import drive_functions +from smart_mpc_trajectory_follower.training_and_data_check import add_training_data_from_csv +import torch +from torch import nn +from torch.utils.data import DataLoader +from torch.utils.data import TensorDataset + +ctrl_index_for_polynomial_reg = np.concatenate( + ( + np.arange(3), + [3 + drive_functions.acc_delay_step], + [3 + drive_functions.acc_ctrl_queue_size + drive_functions.steer_delay_step], + ) +) + + +def nominal_model_acc(v: float, alpha_0: float, alpha: float) -> np.ndarray: + """Predicted acceleration value according to the nominal model.""" + nominal_pred = alpha_0 + nominal_v = v + nominal_pred * drive_functions.ctrl_time_step + nominal_pred = ( + nominal_pred + + (alpha - nominal_pred) + * drive_functions.ctrl_time_step + / drive_functions.acc_time_constant + ) + nominal_v = v + nominal_pred * drive_functions.ctrl_time_step + nominal_pred = ( + nominal_pred + + (alpha - nominal_pred) + * drive_functions.ctrl_time_step + / drive_functions.acc_time_constant + ) + nominal_v = v + nominal_pred * drive_functions.ctrl_time_step + nominal_pred = ( + nominal_pred + + (alpha - nominal_pred) + * drive_functions.ctrl_time_step + / drive_functions.acc_time_constant + ) + return np.array([nominal_v, nominal_pred]) + + +def nominal_model_steer(delta_0: float, delta: float) -> float: + """Predicted steer angle according to the nominal model.""" + nominal_pred = delta_0 + nominal_pred = ( + nominal_pred + + (delta - nominal_pred) + * drive_functions.ctrl_time_step + / drive_functions.steer_time_constant + ) + nominal_pred = ( + nominal_pred + + (delta - nominal_pred) + * drive_functions.ctrl_time_step + / drive_functions.steer_time_constant + ) + nominal_pred = ( + nominal_pred + + (delta - nominal_pred) + * drive_functions.ctrl_time_step + / drive_functions.steer_time_constant + ) + return nominal_pred + + +class train_drive_NN_model(add_training_data_from_csv.add_data_from_csv): + """Class for training neural nets from driving data.""" + + tanh_gain: float + """Gain of tanh in the NN cost function""" + + lam: float + """Weights of the tanh term in the NN cost function.""" + + tol: float + """Tolerances for terminating training iterations.""" + + alpha_1: float + """L¹ regularization weights in the NN cost function""" + + alpha_2: float + """L² regularization weights in the NN cost function.""" + + alpha_1_for_polynomial_regression: float + """L¹ regularization weights for polynomial regression""" + + alpha_2_for_polynomial_regression: float + """L² regularization weights for polynomial regression""" + + x_loss: list[float] + """List of values for the loss function of the x component in the NN training.""" + + y_loss: list[float] + """List of values for the loss function of the y component in the NN training.""" + + v_loss: list[float] + """List of values for the loss function of the velocity component in the NN training.""" + + theta_loss: list[float] + """List of values for the loss function of the yaw angle component in the NN training.""" + + acc_loss: list[float] + """List of values for the loss function of the acceleration component in the NN training.""" + + steer_loss: list[float] + """List of values for the loss function of the steer angle component in the NN training.""" + + steer_loss_plus_tanh: list[float] + """List of values of the loss function for the steer angle component with tanh term in the NN training.""" + + total_loss: list[float] + """In NN training x_loss, ... , acc_loss, steer_loss_plus_tanh summed list of values""" + + model: drive_NN.DriveNeuralNetwork + """trained neural network model""" + + A: np.ndarray + """Coefficient matrix of polynomial regression model.""" + + b: np.ndarray + """Constant terms in polynomial regression models (bias)""" + + def __init__( + self, + tanh_gain=10, + lam=0.1, + tol=0.00001, + alpha_1=0.1**7, + alpha_2=0.1**7, + alpha_1_for_polynomial_regression=0.1**5, + alpha_2_for_polynomial_regression=0.1**5, + ): + super(train_drive_NN_model, self).__init__() + self.tanh_gain = tanh_gain + self.lam = lam + self.tol = tol + self.alpha_1 = alpha_1 + self.alpha_2 = alpha_2 + self.alpha_1_for_polynomial_regression = alpha_1_for_polynomial_regression + self.alpha_2_for_polynomial_regression = alpha_2_for_polynomial_regression + self.x_loss = [] + self.y_loss = [] + self.v_loss = [] + self.theta_loss = [] + self.acc_loss = [] + self.steer_loss = [] + self.steer_loss_plus_tanh = [] + self.total_loss = [] + + def train_model( + self, + model: drive_NN.DriveNeuralNetwork, + X_input: np.ndarray, + Y_output: np.ndarray, + learning_rates: list[float], + patience: int = 10, + batch_size: int | None = 50, + max_iter: int = 100000, + ) -> None: + """Train the model.""" + if batch_size is None: + batch_size = X_input.shape[0] // 50 + self.x_loss.clear() + self.y_loss.clear() + self.v_loss.clear() + self.theta_loss.clear() + self.acc_loss.clear() + self.steer_loss.clear() + self.steer_loss_plus_tanh.clear() + self.total_loss.clear() + sample_size = X_input.shape[0] + num_train = int(3 * sample_size / 4) + id_all = np.random.choice(sample_size, sample_size, replace=False) + id_train = id_all[:num_train] + id_val = id_all[num_train:] + X_tensor = torch.tensor(X_input.astype(np.float32)).clone() + Y_tensor = torch.tensor(Y_output.astype(np.float32)).clone() + X_train = X_tensor[id_train] + Y_train = Y_tensor[id_train] + X_val = X_tensor[id_val] + Y_val = Y_tensor[id_val] + + print("sample_size: ", X_input.shape[0]) + print("patience:", patience) + loss_fn = torch.nn.L1Loss() + learning_rate = learning_rates[0] + optimizer = torch.optim.Adam(params=model.parameters(), lr=learning_rate) + + drive_data = DataLoader( + TensorDataset(X_train, Y_train), batch_size=batch_size, shuffle=True + ) + initial_loss = drive_NN.loss_fn_plus_tanh( + loss_fn, + torch.tensor(np.zeros(Y_val.shape), dtype=torch.float32), + Y_val, + self.tanh_gain, + self.lam, + ) + print("initial_loss:", initial_loss.detach().item()) + early_stopping = drive_NN.EarlyStopping( + initial_loss=initial_loss, tol=self.tol, patience=patience + ) + k = 0 + print("learning_rate:", learning_rates[0]) + for i in range(max_iter): + model.train() + for X_batch, y_batch in drive_data: + y_pred = model(X_batch) + loss = drive_NN.loss_fn_plus_tanh( + loss_fn, y_pred, y_batch, self.tanh_gain, self.lam + ) + for w in model.parameters(): + loss = ( + loss + self.alpha_1 * torch.norm(w, p=1) + self.alpha_2 * torch.norm(w) ** 2 + ) + optimizer.zero_grad() + loss.backward() + optimizer.step() + + model.eval() + pred = model(X_val) + self.total_loss.append( + drive_NN.loss_fn_plus_tanh(loss_fn, pred, Y_val, self.tanh_gain, self.lam) + .detach() + .item() + ) + self.x_loss.append(loss_fn(pred[:, [0]], Y_val[:, [0]]).detach().item()) + self.y_loss.append(loss_fn(pred[:, [1]], Y_val[:, [1]]).detach().item()) + self.v_loss.append(loss_fn(pred[:, [2]], Y_val[:, [2]]).detach().item()) + self.theta_loss.append(loss_fn(pred[:, [3]], Y_val[:, [3]]).detach().item()) + self.acc_loss.append(loss_fn(pred[:, [4]], Y_val[:, [4]]).detach().item()) + self.steer_loss.append(loss_fn(pred[:, [5]], Y_val[:, [5]]).detach().item()) + self.steer_loss_plus_tanh.append( + loss_fn(pred[:, [5]], Y_val[:, [5]]).detach().item() + + self.lam + * loss_fn( + torch.tanh(self.tanh_gain * (pred[:, -1] - Y_val[:, -1])), + torch.zeros(Y_val.shape[0]), + ) + .detach() + .item() + ) + if i % 10 == 1: + current_loss = drive_NN.loss_fn_plus_tanh( + loss_fn, model(X_val), Y_val, self.tanh_gain, self.lam + ) + print(current_loss.detach().item(), i) + if early_stopping(current_loss): + k += 1 + if k == len(learning_rates): + break + else: + learning_rate = learning_rates[k] + print("update learning_rate to ", learning_rates[k]) + optimizer = torch.optim.Adam(params=model.parameters(), lr=learning_rate) + early_stopping = drive_NN.EarlyStopping( + initial_loss=initial_loss, tol=self.tol, patience=patience + ) + + def get_polynomial_regression_result( + self, + X_input_list: list[np.ndarray], + Y_output_list: list[np.ndarray], + use_polynomial_reg: bool, + use_selected_polynomial: bool, + deg: int, + fit_intercept: bool, + use_intercept: bool, + ) -> tuple[np.ndarray, np.ndarray]: + """Get the results of a polynomial regression.""" + X_input = np.array(X_input_list) + X_input_core = X_input[ + :, + : 3 + drive_functions.acc_ctrl_queue_size + drive_functions.steer_ctrl_queue_size_core, + ].copy() + Y_output = np.array(Y_output_list) + if use_selected_polynomial: + self.deg = 2 + else: + self.deg = deg + self.A, self.b, Y_output_minus = polynomial_regression( + X_input_core, + Y_output, + self.alpha_1_for_polynomial_regression, + self.alpha_2_for_polynomial_regression, + use_polynomial_reg, + use_selected_polynomial, + self.deg, + fit_intercept, + use_intercept, + ) + return X_input, Y_output_minus + + def plot_trained_result( + self, show_flag=False, save_dir=".", plot_range=np.arange(500, 1200) + ) -> None: + """Plot the results of the training.""" + polynomial_features = PolynomialFeatures(degree=self.deg, include_bias=False) + + X_input = np.array(self.X_input_list) + Y_output = np.array(self.Y_output_list) + X_tensor = torch.tensor(X_input.astype(np.float32)).clone() + acc_ctrl_queue_size = drive_functions.acc_ctrl_queue_size + steer_ctrl_queue_size = drive_functions.steer_ctrl_queue_size + ctrl_time_step = drive_functions.ctrl_time_step + Y_pred = ( + self.model(X_tensor).detach().numpy() + + polynomial_features.fit_transform(X_input[:, ctrl_index_for_polynomial_reg]) + @ (self.A).T + + self.b + ) + x = max(acc_ctrl_queue_size, steer_ctrl_queue_size) * ctrl_time_step + y_labels = [ + "x_error [m]", + "y_error [m]", + "vel_error [m/s]", + "yaw_error [rad]", + "acc_error [m/s^2]", + "steer_error [rad]", + ] + + plt.figure(figsize=(24, 15), tight_layout=True) + plt.subplot(231) + ax = [] + for i in range(6): + ax.append(plt.subplot(2, 3, i + 1)) + ax[-1].plot( + drive_functions.ctrl_time_step * plot_range + x, + Y_output[plot_range, i] * drive_functions.mpc_time_step, + label="nominal_error", + ) + ax[-1].plot( + drive_functions.ctrl_time_step * plot_range + x, + Y_pred[plot_range, i] * drive_functions.mpc_time_step, + label="pred_error", + ) + ax[-1].set_xlabel("sec") + ax[-1].set_ylabel(y_labels[i]) + ax[-1].legend() + if show_flag: + plt.show() + else: + plt.savefig(save_dir + "/train_drive_NN_model_fig.png") + plt.close() + + def plot_loss(self, show_flag=False, save_dir=".") -> None: + """Plot the progression of values of the loss function of the training.""" + plt.figure(figsize=(24, 15), tight_layout=True) + + y_loss_labels = [ + "total_loss", + "x_loss", + "y_loss", + "vel_loss", + "yaw_loss", + "acc_loss", + "steer_loss", + "steer_plus_tanh_loss", + ] + plt.subplot(241) + ax_2 = [] + loss_list = [ + np.array(self.total_loss), + np.array(self.x_loss), + np.array(self.y_loss), + np.array(self.v_loss), + np.array(self.theta_loss), + np.array(self.acc_loss), + np.array(self.steer_loss), + np.array(self.steer_loss_plus_tanh), + ] + for i in range(8): + ax_2.append(plt.subplot(2, 4, i + 1)) + ax_2[-1].plot( + np.arange(loss_list[i].shape[0]), + loss_list[i], + label="loss", + ) + ax_2[-1].set_xlabel("iteration") + ax_2[-1].set_ylabel(y_loss_labels[i]) + ax_2[-1].legend() + if show_flag: + plt.show() + else: + plt.savefig(save_dir + "/loss.png") + plt.close() + + def get_trained_model( + self, + learning_rates: list[float] = [1e-3, 1e-4, 1e-5, 1e-6], + randomize=0.01, + acc_drop_out=0.0, + steer_drop_out=0.0, + patience: int = 10, + batch_size: int | None = 50, + max_iter=100000, + use_polynomial_reg=False, + use_selected_polynomial=True, + force_NN_model_to_zero=False, + fit_intercept=True, + use_intercept=None, + deg: int = 2, + ): + """Train on a model for which initial values are randomly given in a suitable range.""" + if use_intercept is None: + if force_NN_model_to_zero: + use_intercept = True + else: + use_intercept = False + X_input, Y_output_minus = self.get_polynomial_regression_result( + self.X_input_list, + self.Y_output_list, + use_polynomial_reg, + use_selected_polynomial, + deg, + fit_intercept, + use_intercept, + ) + self.model = drive_NN.DriveNeuralNetwork( + randomize=randomize, + acc_drop_out=acc_drop_out, + steer_drop_out=steer_drop_out, + acc_queue_size=drive_functions.acc_ctrl_queue_size, + steer_queue_size=drive_functions.steer_ctrl_queue_size, + ) + if force_NN_model_to_zero: + for w in self.model.parameters(): + w.data = nn.Parameter(torch.zeros(w.shape)) + else: + self.train_model( + self.model, X_input, Y_output_minus, learning_rates, patience, batch_size, max_iter + ) + + def update_trained_model( + self, + learning_rates=[1e-4, 1e-5, 1e-6], + patience=5, + batch_size=50, + max_iter=100000, + use_polynomial_reg=False, + use_selected_polynomial=True, + force_NN_model_to_zero=False, + fit_intercept=True, + use_intercept=None, + deg: int = 2, + ): + """Update `self.model` with additional learning.""" + if use_intercept is None: + if force_NN_model_to_zero: + use_intercept = True + else: + use_intercept = False + X_input, Y_output_minus = self.get_polynomial_regression_result( + self.X_input_list, + self.Y_output_list, + use_polynomial_reg, + use_selected_polynomial, + deg, + fit_intercept, + use_intercept, + ) + if force_NN_model_to_zero: + for w in self.model.parameters(): + w.data = nn.Parameter(torch.zeros(w.shape)) + else: + self.train_model( + self.model, X_input, Y_output_minus, learning_rates, patience, batch_size, max_iter + ) + + def update_saved_trained_model( + self, + path="model_for_test_drive.pth", + learning_rates: list[float] = [1e-4, 1e-5, 1e-6], + patience=5, + batch_size: int | None = 50, + max_iter=100000, + use_polynomial_reg=False, + use_selected_polynomial=True, + force_NN_model_to_zero=False, + fit_intercept=True, + use_intercept=None, + deg: int = 2, + ) -> None: + """Load the saved model and update the model with additional training.""" + if use_intercept is None: + if force_NN_model_to_zero: + use_intercept = True + else: + use_intercept = False + X_input, Y_output_minus = self.get_polynomial_regression_result( + self.X_input_list, + self.Y_output_list, + use_polynomial_reg, + use_selected_polynomial, + deg, + fit_intercept, + use_intercept, + ) + self.model = torch.load(path) + if force_NN_model_to_zero: + for w in self.model.parameters(): + w.data = nn.Parameter(torch.zeros(w.shape)) + else: + self.train_model( + self.model, X_input, Y_output_minus, learning_rates, patience, batch_size, max_iter + ) + + def save_model(self, save_dir=".", path="model_for_test_drive.pth") -> None: + """Save trained NN models.""" + torch.save(self.model, save_dir + "/" + path) + + def save_polynomial_reg_info(self, save_dir=".", path="polynomial_reg_info") -> None: + """Save the coefficients and degree of the resulting polynomial regression.""" + np.savez(save_dir + "/" + path, A=self.A, b=self.b, deg=self.deg) + + def save_models( + self, + save_dir=".", + model_name="model_for_test_drive.pth", + polynomial_reg_info_name="polynomial_reg_info", + ) -> None: + """Run save_model and save_polynomial_reg_info.""" + self.save_model(save_dir, model_name) + self.save_polynomial_reg_info(save_dir, polynomial_reg_info_name) + + def predict_error( + self, v: float, alpha_0: float, delta_0: float, alpha: float, delta: float + ) -> np.ndarray: + """Predicts the prediction error when following a nominal model.""" + polynomial_features = PolynomialFeatures(degree=self.deg, include_bias=False) + x_input = np.zeros( + 3 + drive_functions.acc_ctrl_queue_size + drive_functions.steer_ctrl_queue_size + ) + x_input[0] = v + x_input[1] = alpha_0 + x_input[2] = delta_0 + x_input[3 : 3 + drive_functions.acc_ctrl_queue_size] += alpha + x_input[3 + drive_functions.acc_ctrl_queue_size :] += delta + x_input_tensor = torch.tensor(x_input.reshape(1, -1).astype(np.float32)) + return ( + self.model(x_input_tensor)[0].detach().numpy() + + self.A + @ polynomial_features.fit_transform( + x_input[ctrl_index_for_polynomial_reg].reshape(1, -1) + )[0] + + self.b + ) + + def sim( + self, v: float, alpha_0: float, alpha: float, delta_0: float, delta: float, iter_times: int + ) -> tuple[float, float, float]: + """Simulate velocity, acceleration and steer changes according to a trained model.""" + v_pred = v + alpha_pred = alpha_0 + delta_pred = delta_0 + for i in range(iter_times): + pred = ( + np.concatenate( + ( + nominal_model_acc(v_pred, alpha_pred, alpha), + np.array([nominal_model_steer(delta_pred, delta)]), + ) + ) + + self.predict_error(v_pred, alpha_pred, delta_pred, alpha, delta)[[2, 4, 5]] + * drive_functions.mpc_time_step + ) + v_pred = pred[0] + alpha_pred = pred[1] + steer_pred = pred[2] + return v_pred, alpha_pred, steer_pred + + def plot_acc_map(self, iter_times: int, starting_steer=0.0, target_steer=0.0) -> None: + """Run `sim` `iter_times` times. The simulation time is approximately 0.1*iter_times. + + Draw the resulting acceleration map. + """ + acc = np.arange(-1, 1, 0.05) + v_tests = np.arange(0, 12, 0.3) + acc_result = np.zeros((acc.shape[0], v_tests.shape[0])) + v_result = np.zeros((acc.shape[0], v_tests.shape[0])) + steer_result = np.zeros((acc.shape[0], v_tests.shape[0])) + for i in range(acc.shape[0]): + v_tests_tmp = v_tests - 0.1 * iter_times * acc[i] + for j in range(v_tests.shape[0]): + v_result[i, j], acc_result[i, j], steer_result[i, j] = self.sim( + v_tests_tmp[j], acc[i], acc[i], starting_steer, target_steer, iter_times + ) + fig = plt.figure() + ax = fig.add_subplot(111, projection="3d") + ax.plot_surface(np.tile(acc, (v_tests.shape[0], 1)).T, v_result, acc_result) + ax.set_xlabel("acc_input [m/s^2]") + ax.set_ylabel("vel [m/s]") + ax.set_zlabel("acc_sim [m/s^2]") + fig.suptitle(str(iter_times * drive_functions.mpc_time_step) + " sec simulation") + plt.show() + + def plot_steer_map(self, iter_times: int, starting_acc=0.0, target_acc=0.0) -> None: + """Run `sim` `iter_times` times. The simulation time is approximately 0.1*iter_times. + + Draw the resulting steer map. + """ + steer = np.arange(-1, 1, 0.05) + v_tests = np.arange(0, 12, 0.3) + acc_result = np.zeros((steer.shape[0], v_tests.shape[0])) + v_result = np.zeros((steer.shape[0], v_tests.shape[0])) + steer_result = np.zeros((steer.shape[0], v_tests.shape[0])) + for i in range(steer.shape[0]): + for j in range(v_tests.shape[0]): + v_result[i, j], acc_result[i, j], steer_result[i, j] = self.sim( + v_tests[j], starting_acc, target_acc, steer[i], steer[i], iter_times + ) + fig = plt.figure() + ax = fig.add_subplot(111, projection="3d") + ax.plot_surface(np.tile(steer, (v_tests.shape[0], 1)).T, v_result, steer_result) + ax.set_xlabel("steer_input [rad]") + ax.set_ylabel("vel [m/s]") + ax.set_zlabel("steer_sim [rad]") + fig.suptitle(str(iter_times * drive_functions.mpc_time_step) + " sec simulation") + plt.show() + + +def polynomial_regression( + X, + Y, + alpha_1, + alpha_2, + use_polynomial_reg, + use_selected_polynomial, + deg, + fit_intercept, + use_intercept, +): + polynomial_features = PolynomialFeatures(degree=deg, include_bias=False) + alpha = alpha_1 + alpha_2 + if use_polynomial_reg: + if use_selected_polynomial: + clf_1 = linear_model.ElasticNet( + fit_intercept=fit_intercept, alpha=alpha, l1_ratio=alpha_1 / alpha, max_iter=100000 + ) + clf_2 = linear_model.ElasticNet( + fit_intercept=fit_intercept, alpha=alpha, l1_ratio=alpha_1 / alpha, max_iter=100000 + ) + clf_3 = linear_model.ElasticNet( + fit_intercept=fit_intercept, alpha=alpha, l1_ratio=alpha_1 / alpha, max_iter=100000 + ) + X_poly = polynomial_features.fit_transform(X[:, ctrl_index_for_polynomial_reg]) + Y_error = Y.copy() + A = np.zeros((Y.shape[1], X_poly.shape[1])) + b = np.zeros(Y.shape[1]) + clf_1.fit(X_poly[:, [0, 7]], Y[:, [3]]) + clf_2.fit(X_poly[:, [1, 3]], Y[:, [4]]) + clf_3.fit(X_poly[:, [2, 4]], Y[:, [5]]) + A[3, [0, 7]] = clf_1.coef_ + A[4, [1, 3]] = clf_2.coef_ + A[5, [2, 4]] = clf_3.coef_ + if fit_intercept: + b[3] = clf_1.intercept_ + b[4] = clf_2.intercept_ + b[5] = clf_3.intercept_ + Y_error[:, 3] -= clf_1.predict(X_poly[:, [0, 7]]) + Y_error[:, 4] -= clf_2.predict(X_poly[:, [1, 3]]) + Y_error[:, 5] -= clf_3.predict(X_poly[:, [2, 4]]) + if not use_intercept: + Y_error += b + b = 0 * b + return A, b, Y_error + else: + clf = linear_model.ElasticNet( + fit_intercept=fit_intercept, alpha=alpha, l1_ratio=alpha_1 / alpha, max_iter=100000 + ) + X_poly = polynomial_features.fit_transform(X[:, ctrl_index_for_polynomial_reg]) + clf.fit(X_poly, Y) + if fit_intercept: + if use_intercept: + return ( + clf.coef_, + clf.intercept_, + Y - clf.predict(X_poly), + ) + else: + return ( + clf.coef_, + 0 * clf.intercept_, + Y - clf.predict(X_poly) + clf.intercept_, + ) + else: + return clf.coef_, np.zeros(Y.shape[1]), Y - clf.predict(X_poly) + else: + poly_dim = polynomial_features.fit_transform( + X[0, ctrl_index_for_polynomial_reg].reshape(1, -1) + ).shape[1] + return np.zeros((Y.shape[1], poly_dim)), np.zeros(Y.shape[1]), Y diff --git a/control/trajectory_follower_node/config/plot_juggler_trajectory_follower.xml b/control/trajectory_follower_node/config/plot_juggler_trajectory_follower.xml index 6956db84aff56..ab127c2d47b97 100644 --- a/control/trajectory_follower_node/config/plot_juggler_trajectory_follower.xml +++ b/control/trajectory_follower_node/config/plot_juggler_trajectory_follower.xml @@ -1,5 +1,5 @@ - + @@ -9,37 +9,37 @@ - + - + - + - + - + - + - + @@ -50,12 +50,12 @@ - + - + @@ -66,12 +66,12 @@ - + - + @@ -84,22 +84,22 @@ - + - + - + - + @@ -110,12 +110,12 @@ - + - + @@ -141,52 +141,52 @@ - + - + - + - + - + - + - + - + - + - + @@ -197,7 +197,7 @@ - + @@ -209,22 +209,22 @@ - + - + - + - + @@ -241,33 +241,42 @@ - + - + + - + + + + - + + - - - - - - + + + + - - + + + + + + + + - + diff --git a/control/vehicle_cmd_gate/src/vehicle_cmd_filter.cpp b/control/vehicle_cmd_gate/src/vehicle_cmd_filter.cpp index 4431534a76a5e..b289365b46b3b 100644 --- a/control/vehicle_cmd_gate/src/vehicle_cmd_filter.cpp +++ b/control/vehicle_cmd_gate/src/vehicle_cmd_filter.cpp @@ -90,6 +90,11 @@ void VehicleCmdFilter::setParam(const VehicleCmdFilterParam & p) } } +VehicleCmdFilterParam VehicleCmdFilter::getParam() const +{ + return param_; +} + void VehicleCmdFilter::limitLongitudinalWithVel(AckermannControlCommand & input) const { input.longitudinal.speed = std::max( diff --git a/control/vehicle_cmd_gate/src/vehicle_cmd_filter.hpp b/control/vehicle_cmd_gate/src/vehicle_cmd_filter.hpp index cf7a1f627a68a..e71fb405beda1 100644 --- a/control/vehicle_cmd_gate/src/vehicle_cmd_filter.hpp +++ b/control/vehicle_cmd_gate/src/vehicle_cmd_filter.hpp @@ -58,6 +58,7 @@ class VehicleCmdFilter void setActualSteerDiffLim(LimitArray v); void setCurrentSpeed(double v) { current_speed_ = v; } void setParam(const VehicleCmdFilterParam & p); + VehicleCmdFilterParam getParam() const; void setPrevCmd(const AckermannControlCommand & v) { prev_cmd_ = v; } void limitLongitudinalWithVel(AckermannControlCommand & input) const; diff --git a/control/vehicle_cmd_gate/src/vehicle_cmd_gate.cpp b/control/vehicle_cmd_gate/src/vehicle_cmd_gate.cpp index 27592b9405fc5..ffd452db0337c 100644 --- a/control/vehicle_cmd_gate/src/vehicle_cmd_gate.cpp +++ b/control/vehicle_cmd_gate/src/vehicle_cmd_gate.cpp @@ -15,6 +15,7 @@ #include "vehicle_cmd_gate.hpp" #include "marker_helper.hpp" +#include "tier4_autoware_utils/ros/update_param.hpp" #include #include @@ -244,6 +245,76 @@ VehicleCmdGate::VehicleCmdGate(const rclcpp::NodeOptions & node_options) logger_configure_ = std::make_unique(this); published_time_publisher_ = std::make_unique(this); + + // Parameter Callback + set_param_res_ = + this->add_on_set_parameters_callback(std::bind(&VehicleCmdGate::onParameter, this, _1)); +} + +rcl_interfaces::msg::SetParametersResult VehicleCmdGate::onParameter( + const std::vector & parameters) +{ + using tier4_autoware_utils::updateParam; + // Parameter + updateParam(parameters, "use_emergency_handling", use_emergency_handling_); + updateParam( + parameters, "check_external_emergency_heartbeat", check_external_emergency_heartbeat_); + updateParam( + parameters, "system_emergency_heartbeat_timeout", system_emergency_heartbeat_timeout_); + updateParam( + parameters, "external_emergency_stop_heartbeat_timeout", + external_emergency_stop_heartbeat_timeout_); + updateParam(parameters, "stop_hold_acceleration", stop_hold_acceleration_); + updateParam(parameters, "emergency_acceleration", emergency_acceleration_); + updateParam( + parameters, "moderate_stop_service_acceleration", moderate_stop_service_acceleration_); + updateParam(parameters, "stop_check_duration", stop_check_duration_); + updateParam(parameters, "enable_cmd_limit_filter", enable_cmd_limit_filter_); + updateParam( + parameters, "filter_activated_count_threshold", filter_activated_count_threshold_); + updateParam( + parameters, "filter_activated_velocity_threshold", filter_activated_velocity_threshold_); + + // Vehicle Parameter + const auto vehicle_info = vehicle_info_util::VehicleInfoUtil(*this).getVehicleInfo(); + { + VehicleCmdFilterParam p = filter_.getParam(); + p.wheel_base = vehicle_info.wheel_base_m; + updateParam(parameters, "nominal.vel_lim", p.vel_lim); + updateParam>( + parameters, "nominal.reference_speed_points", p.reference_speed_points); + updateParam>(parameters, "nominal.steer_lim", p.steer_lim); + updateParam>(parameters, "nominal.steer_rate_lim", p.steer_rate_lim); + updateParam>(parameters, "nominal.lon_acc_lim", p.lon_acc_lim); + updateParam>(parameters, "nominal.lon_jerk_lim", p.lon_jerk_lim); + updateParam>(parameters, "nominal.lat_acc_lim", p.lat_acc_lim); + updateParam>(parameters, "nominal.lat_jerk_lim", p.lat_jerk_lim); + updateParam>( + parameters, "nominal.actual_steer_diff_lim", p.actual_steer_diff_lim); + filter_.setParam(p); + } + + { + VehicleCmdFilterParam p = filter_on_transition_.getParam(); + p.wheel_base = vehicle_info.wheel_base_m; + updateParam(parameters, "on_transition.vel_lim", p.vel_lim); + updateParam>( + parameters, "on_transition.reference_speed_points", p.reference_speed_points); + updateParam>(parameters, "on_transition.steer_lim", p.steer_lim); + updateParam>(parameters, "on_transition.steer_rate_lim", p.steer_rate_lim); + updateParam>(parameters, "on_transition.lon_acc_lim", p.lon_acc_lim); + updateParam>(parameters, "on_transition.lon_jerk_lim", p.lon_jerk_lim); + updateParam>(parameters, "on_transition.lat_acc_lim", p.lat_acc_lim); + updateParam>(parameters, "on_transition.lat_jerk_lim", p.lat_jerk_lim); + updateParam>( + parameters, "on_transition.actual_steer_diff_lim", p.actual_steer_diff_lim); + filter_on_transition_.setParam(p); + } + + rcl_interfaces::msg::SetParametersResult result; + result.successful = true; + result.reason = "success"; + return result; } bool VehicleCmdGate::isHeartbeatTimeout( diff --git a/control/vehicle_cmd_gate/src/vehicle_cmd_gate.hpp b/control/vehicle_cmd_gate/src/vehicle_cmd_gate.hpp index 1907cf123632f..85bc183361b94 100644 --- a/control/vehicle_cmd_gate/src/vehicle_cmd_gate.hpp +++ b/control/vehicle_cmd_gate/src/vehicle_cmd_gate.hpp @@ -49,6 +49,7 @@ #include #include +#include namespace vehicle_cmd_gate { @@ -111,7 +112,10 @@ class VehicleCmdGate : public rclcpp::Node rclcpp::Publisher::SharedPtr filter_activated_marker_pub_; rclcpp::Publisher::SharedPtr filter_activated_marker_raw_pub_; rclcpp::Publisher::SharedPtr filter_activated_flag_pub_; - + // Parameter callback + OnSetParametersCallbackHandle::SharedPtr set_param_res_; + rcl_interfaces::msg::SetParametersResult onParameter( + const std::vector & parameters); // Subscription rclcpp::Subscription::SharedPtr external_emergency_stop_heartbeat_sub_; rclcpp::Subscription::SharedPtr gate_mode_sub_; diff --git a/evaluator/control_evaluator/CMakeLists.txt b/evaluator/control_evaluator/CMakeLists.txt new file mode 100644 index 0000000000000..b97a14e29cdcd --- /dev/null +++ b/evaluator/control_evaluator/CMakeLists.txt @@ -0,0 +1,23 @@ +cmake_minimum_required(VERSION 3.14) +project(control_evaluator) + +find_package(autoware_cmake REQUIRED) +autoware_package() + +find_package(pluginlib REQUIRED) + +ament_auto_add_library(${PROJECT_NAME}_node SHARED + src/${PROJECT_NAME}_node.cpp +) + +rclcpp_components_register_node(${PROJECT_NAME}_node + PLUGIN "control_diagnostics::controlEvaluatorNode" + EXECUTABLE ${PROJECT_NAME} +) + + +ament_auto_package( + INSTALL_TO_SHARE + param + launch +) diff --git a/evaluator/control_evaluator/README.md b/evaluator/control_evaluator/README.md new file mode 100644 index 0000000000000..71bd5c0142570 --- /dev/null +++ b/evaluator/control_evaluator/README.md @@ -0,0 +1,5 @@ +# Planning Evaluator + +## Purpose + +This package provides nodes that generate metrics to evaluate the quality of control. diff --git a/evaluator/control_evaluator/include/control_evaluator/control_evaluator_node.hpp b/evaluator/control_evaluator/include/control_evaluator/control_evaluator_node.hpp new file mode 100644 index 0000000000000..3a3ba47d88e03 --- /dev/null +++ b/evaluator/control_evaluator/include/control_evaluator/control_evaluator_node.hpp @@ -0,0 +1,61 @@ +// Copyright 2024 Tier IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#ifndef CONTROL_EVALUATOR__CONTROL_EVALUATOR_NODE_HPP_ +#define CONTROL_EVALUATOR__CONTROL_EVALUATOR_NODE_HPP_ + +#include "rclcpp/rclcpp.hpp" + +#include "diagnostic_msgs/msg/diagnostic_array.hpp" + +#include +#include +#include +#include +#include + +namespace control_diagnostics +{ + +using diagnostic_msgs::msg::DiagnosticArray; +using diagnostic_msgs::msg::DiagnosticStatus; + +/** + * @brief Node for control evaluation + */ +class controlEvaluatorNode : public rclcpp::Node +{ +public: + explicit controlEvaluatorNode(const rclcpp::NodeOptions & node_options); + + /** + * @brief publish the given metric statistic + */ + DiagnosticStatus generateDiagnosticStatus(const bool is_emergency_brake) const; + void onDiagnostics(const DiagnosticArray::ConstSharedPtr diag_msg); + void onTimer(); + +private: + rclcpp::Subscription::SharedPtr control_diag_sub_; + rclcpp::Publisher::SharedPtr metrics_pub_; + + // Calculator + // Metrics + std::deque stamps_; + DiagnosticArray metrics_msg_; + rclcpp::TimerBase::SharedPtr timer_; +}; +} // namespace control_diagnostics + +#endif // CONTROL_EVALUATOR__CONTROL_EVALUATOR_NODE_HPP_ diff --git a/evaluator/control_evaluator/launch/control_evaluator.launch.xml b/evaluator/control_evaluator/launch/control_evaluator.launch.xml new file mode 100644 index 0000000000000..75012791888a6 --- /dev/null +++ b/evaluator/control_evaluator/launch/control_evaluator.launch.xml @@ -0,0 +1,12 @@ + + + + + + + + + + + + diff --git a/evaluator/control_evaluator/package.xml b/evaluator/control_evaluator/package.xml new file mode 100644 index 0000000000000..10686e9b73761 --- /dev/null +++ b/evaluator/control_evaluator/package.xml @@ -0,0 +1,29 @@ + + + + control_evaluator + 0.1.0 + ROS 2 node for evaluating control + Daniel SANCHEZ + takayuki MUROOKA + Apache License 2.0 + + Daniel SANCHEZ + takayuki MUROOKA + + ament_cmake_auto + autoware_cmake + + diagnostic_msgs + pluginlib + rclcpp + rclcpp_components + + ament_cmake_ros + ament_lint_auto + autoware_lint_common + + + ament_cmake + + diff --git a/evaluator/control_evaluator/param/control_evaluator.defaults.yaml b/evaluator/control_evaluator/param/control_evaluator.defaults.yaml new file mode 100644 index 0000000000000..a20dbd7ffd3d9 --- /dev/null +++ b/evaluator/control_evaluator/param/control_evaluator.defaults.yaml @@ -0,0 +1,2 @@ +/**: + ros__parameters: diff --git a/evaluator/control_evaluator/src/control_evaluator_node.cpp b/evaluator/control_evaluator/src/control_evaluator_node.cpp new file mode 100644 index 0000000000000..d575a35a2389f --- /dev/null +++ b/evaluator/control_evaluator/src/control_evaluator_node.cpp @@ -0,0 +1,86 @@ +// Copyright 2024 Tier IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "control_evaluator/control_evaluator_node.hpp" + +#include +#include +#include +#include +#include +#include +#include + +namespace control_diagnostics +{ +controlEvaluatorNode::controlEvaluatorNode(const rclcpp::NodeOptions & node_options) +: Node("control_evaluator", node_options) +{ + using std::placeholders::_1; + + control_diag_sub_ = create_subscription( + "~/input/diagnostics", 1, std::bind(&controlEvaluatorNode::onDiagnostics, this, _1)); + + // Publisher + metrics_pub_ = create_publisher("~/metrics", 1); + + // Timer callback to publish evaluator diagnostics + using namespace std::literals::chrono_literals; + timer_ = + rclcpp::create_timer(this, get_clock(), 100ms, std::bind(&controlEvaluatorNode::onTimer, this)); +} + +DiagnosticStatus controlEvaluatorNode::generateDiagnosticStatus(const bool is_emergency_brake) const +{ + DiagnosticStatus status; + status.level = status.OK; + status.name = "autonomous_emergency_braking"; + diagnostic_msgs::msg::KeyValue key_value; + key_value.key = "decision"; + key_value.value = (is_emergency_brake) ? "stop" : "none"; + status.values.push_back(key_value); + return status; +} + +void controlEvaluatorNode::onTimer() +{ + if (!metrics_msg_.status.empty()) { + metrics_pub_->publish(metrics_msg_); + metrics_msg_.status.clear(); + } +} + +void controlEvaluatorNode::onDiagnostics(const DiagnosticArray::ConstSharedPtr diag_msg) +{ + const auto start = now(); + const auto aeb_status = + std::find_if(diag_msg->status.begin(), diag_msg->status.end(), [](const auto & status) { + const bool aeb_found = status.name.find("autonomous_emergency_braking") != std::string::npos; + return aeb_found; + }); + + if (aeb_status == diag_msg->status.end()) return; + + const bool is_emergency_brake = (aeb_status->level == DiagnosticStatus::ERROR); + metrics_msg_.header.stamp = now(); + metrics_msg_.status.emplace_back(generateDiagnosticStatus(is_emergency_brake)); + + const auto runtime = (now() - start).seconds(); + RCLCPP_DEBUG(get_logger(), "control evaluation calculation time: %2.2f ms", runtime * 1e3); +} + +} // namespace control_diagnostics + +#include "rclcpp_components/register_node_macro.hpp" +RCLCPP_COMPONENTS_REGISTER_NODE(control_diagnostics::controlEvaluatorNode) diff --git a/evaluator/perception_online_evaluator/CMakeLists.txt b/evaluator/perception_online_evaluator/CMakeLists.txt index 3d967ea6d86ce..b323d07a882e8 100644 --- a/evaluator/perception_online_evaluator/CMakeLists.txt +++ b/evaluator/perception_online_evaluator/CMakeLists.txt @@ -6,8 +6,6 @@ autoware_package() find_package(pluginlib REQUIRED) -find_package(glog REQUIRED) - ament_auto_add_library(${PROJECT_NAME}_node SHARED src/metrics_calculator.cpp src/${PROJECT_NAME}_node.cpp diff --git a/evaluator/perception_online_evaluator/package.xml b/evaluator/perception_online_evaluator/package.xml index 18dde41c99566..3f855e2f1f887 100644 --- a/evaluator/perception_online_evaluator/package.xml +++ b/evaluator/perception_online_evaluator/package.xml @@ -21,8 +21,8 @@ diagnostic_msgs eigen geometry_msgs + glog lanelet2_extension - libgoogle-glog-dev motion_utils nav_msgs object_recognition_utils diff --git a/evaluator/perception_online_evaluator/param/perception_online_evaluator.defaults.yaml b/evaluator/perception_online_evaluator/param/perception_online_evaluator.defaults.yaml index 807f247807d98..16d4b6fe458cd 100644 --- a/evaluator/perception_online_evaluator/param/perception_online_evaluator.defaults.yaml +++ b/evaluator/perception_online_evaluator/param/perception_online_evaluator.defaults.yaml @@ -13,7 +13,7 @@ prediction_time_horizons: [1.0, 2.0, 3.0, 5.0] stopped_velocity_threshold: 1.0 - detection_radius_list: [50.0, 100.0, 150.0, 200.0] + detection_radius_list: [20.0, 40.0, 60.0, 80.0, 100.0, 120.0, 140.0, 160.0, 180.0, 200.0] detection_height_list: [10.0] detection_count_purge_seconds: 36000.0 objects_count_window_seconds: 1.0 diff --git a/evaluator/perception_online_evaluator/src/metrics/detection_count.cpp b/evaluator/perception_online_evaluator/src/metrics/detection_count.cpp index eed3206d48890..047d278334eb1 100644 --- a/evaluator/perception_online_evaluator/src/metrics/detection_count.cpp +++ b/evaluator/perception_online_evaluator/src/metrics/detection_count.cpp @@ -68,7 +68,7 @@ void DetectionCounter::addObjects( } const auto timestamp = objects.header.stamp; - unique_timestamps_.insert(timestamp).second; + unique_timestamps_.insert(timestamp); for (const auto & object : objects.objects) { const auto uuid = toHexString(object.object_id); @@ -119,7 +119,7 @@ void DetectionCounter::updateDetectionMap( const std::string uuid, const std::uint8_t classification, const std::string & range, const rclcpp::Time & timestamp) { - seen_uuids_[classification][range].insert(uuid).second; + seen_uuids_[classification][range].insert(uuid); // Record the detection time for averaging time_series_counts_[classification][range].push_back(timestamp); diff --git a/evaluator/perception_online_evaluator/src/perception_online_evaluator_node.cpp b/evaluator/perception_online_evaluator/src/perception_online_evaluator_node.cpp index f97ec68b75126..0fcdd77f4d515 100644 --- a/evaluator/perception_online_evaluator/src/perception_online_evaluator_node.cpp +++ b/evaluator/perception_online_evaluator/src/perception_online_evaluator_node.cpp @@ -43,8 +43,10 @@ PerceptionOnlineEvaluatorNode::PerceptionOnlineEvaluatorNode( { using std::placeholders::_1; - google::InitGoogleLogging("perception_online_evaluator_node"); - google::InstallFailureSignalHandler(); + if (!google::IsGoogleLoggingInitialized()) { + google::InitGoogleLogging("perception_online_evaluator_node"); + google::InstallFailureSignalHandler(); + } objects_sub_ = create_subscription( "~/input/objects", 1, std::bind(&PerceptionOnlineEvaluatorNode::onObjects, this, _1)); diff --git a/evaluator/tier4_metrics_rviz_plugin/CMakeLists.txt b/evaluator/tier4_metrics_rviz_plugin/CMakeLists.txt deleted file mode 100644 index 8475b596e6d6b..0000000000000 --- a/evaluator/tier4_metrics_rviz_plugin/CMakeLists.txt +++ /dev/null @@ -1,31 +0,0 @@ -cmake_minimum_required(VERSION 3.14) -project(tier4_metrics_rviz_plugin) - -find_package(autoware_cmake REQUIRED) -autoware_package() - -find_package(Qt5 REQUIRED Core Widgets Charts) -set(QT_WIDGETS_LIB Qt5::Widgets) -set(QT_CHARTS_LIB Qt5::Charts) -set(CMAKE_AUTOMOC ON) -add_definitions(-DQT_NO_KEYWORDS) - -ament_auto_add_library(${PROJECT_NAME} SHARED - src/metrics_visualize_panel.cpp - include/metrics_visualize_panel.hpp -) - -target_link_libraries(${PROJECT_NAME} - ${QT_WIDGETS_LIB} - ${QT_CHARTS_LIB} -) - -target_compile_options(${PROJECT_NAME} PUBLIC -Wno-error=deprecated-copy -Wno-error=pedantic) -# Export the plugin to be imported by rviz2 -pluginlib_export_plugin_description_file(rviz_common plugins/plugin_description.xml) - -ament_auto_package( - INSTALL_TO_SHARE - icons - plugins -) diff --git a/evaluator/tier4_metrics_rviz_plugin/README.md b/evaluator/tier4_metrics_rviz_plugin/README.md deleted file mode 100644 index be94141254030..0000000000000 --- a/evaluator/tier4_metrics_rviz_plugin/README.md +++ /dev/null @@ -1,16 +0,0 @@ -# tier4_metrics_rviz_plugin - -## Purpose - -This plugin panel to visualize `planning_evaluator` output. - -## Inputs / Outputs - -| Name | Type | Description | -| ---------------------------------------- | --------------------------------------- | ------------------------------------- | -| `/diagnostic/planning_evaluator/metrics` | `diagnostic_msgs::msg::DiagnosticArray` | Subscribe `planning_evaluator` output | - -## HowToUse - -1. Start rviz and select panels/Add new panel. -2. Select MetricsVisualizePanel and press OK. diff --git a/evaluator/tier4_metrics_rviz_plugin/icons/classes/MetricsVisualizePanel.png b/evaluator/tier4_metrics_rviz_plugin/icons/classes/MetricsVisualizePanel.png deleted file mode 100644 index 6a67573717ae1..0000000000000 Binary files a/evaluator/tier4_metrics_rviz_plugin/icons/classes/MetricsVisualizePanel.png and /dev/null differ diff --git a/evaluator/tier4_metrics_rviz_plugin/include/metrics_visualize_panel.hpp b/evaluator/tier4_metrics_rviz_plugin/include/metrics_visualize_panel.hpp deleted file mode 100644 index 3d66099988d8b..0000000000000 --- a/evaluator/tier4_metrics_rviz_plugin/include/metrics_visualize_panel.hpp +++ /dev/null @@ -1,254 +0,0 @@ -// Copyright 2024 TIER IV, Inc. All rights reserved. -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. -// - -#ifndef METRICS_VISUALIZE_PANEL_HPP_ -#define METRICS_VISUALIZE_PANEL_HPP_ - -#ifndef Q_MOC_RUN -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#endif - -#include -#include - -#include - -#include -#include -#include -#include -#include -#include - -namespace rviz_plugins -{ - -using diagnostic_msgs::msg::DiagnosticArray; -using diagnostic_msgs::msg::DiagnosticStatus; -using diagnostic_msgs::msg::KeyValue; -using QtCharts::QChart; -using QtCharts::QChartView; -using QtCharts::QLineSeries; - -struct Metric -{ -public: - explicit Metric(const DiagnosticStatus & status) : chart(new QChartView), table(new QTableWidget) - { - init(status); - } - - void init(const DiagnosticStatus & status) - { - QStringList header{}; - - { - auto label = new QLabel; - label->setAlignment(Qt::AlignCenter); - label->setText(QString::fromStdString(status.name)); - labels.emplace("metric_name", label); - - header.push_back("metric_name"); - } - - for (const auto & [key, value] : status.values) { - auto label = new QLabel; - label->setAlignment(Qt::AlignCenter); - labels.emplace(key, label); - - auto plot = new QLineSeries; - plot->setName(QString::fromStdString(key)); - plots.emplace(key, plot); - chart->chart()->addSeries(plot); - chart->chart()->createDefaultAxes(); - - header.push_back(QString::fromStdString(key)); - } - - { - chart->chart()->setTitle(QString::fromStdString(status.name)); - chart->chart()->legend()->setVisible(true); - chart->chart()->legend()->detachFromChart(); - chart->setRenderHint(QPainter::Antialiasing); - } - - { - table->setColumnCount(status.values.size() + 1); - table->setHorizontalHeaderLabels(header); - table->verticalHeader()->hide(); - table->horizontalHeader()->setSectionResizeMode(QHeaderView::Stretch); - table->setRowCount(1); - table->setSizeAdjustPolicy(QAbstractScrollArea::AdjustToContents); - } - } - - void updateData(const double time, const DiagnosticStatus & status) - { - for (const auto & [key, value] : status.values) { - const double data = std::stod(value); - labels.at(key)->setText(QString::fromStdString(toString(data))); - plots.at(key)->append(time, data); - updateMinMax(data); - } - - { - const auto area = chart->chart()->plotArea(); - const auto rect = chart->chart()->legend()->rect(); - chart->chart()->legend()->setGeometry( - QRectF(area.x(), area.y(), area.width(), rect.height())); - chart->chart()->axes(Qt::Horizontal).front()->setRange(time - 100.0, time); - } - - { - table->setCellWidget(0, 0, labels.at("metric_name")); - } - - for (size_t i = 0; i < status.values.size(); ++i) { - table->setCellWidget(0, i + 1, labels.at(status.values.at(i).key)); - } - } - - void updateMinMax(double data) - { - if (data < y_range_min) { - y_range_min = data > 0.0 ? 0.9 * data : 1.1 * data; - chart->chart()->axes(Qt::Vertical).front()->setMin(y_range_min); - } - - if (data > y_range_max) { - y_range_max = data > 0.0 ? 1.1 * data : 0.9 * data; - chart->chart()->axes(Qt::Vertical).front()->setMax(y_range_max); - } - } - - void updateTable() { table->update(); } - - void updateGraph() { chart->update(); } - - QChartView * getChartView() const { return chart; } - - QTableWidget * getTable() const { return table; } - - std::unordered_map getLabels() const { return labels; } - -private: - static std::optional getValue(const DiagnosticStatus & status, std::string && key) - { - const auto itr = std::find_if( - status.values.begin(), status.values.end(), - [&](const auto & value) { return value.key == key; }); - - if (itr == status.values.end()) { - return std::nullopt; - } - - return itr->value; - } - - static std::string toString(const double & value) - { - std::stringstream ss; - ss << std::scientific << std::setprecision(2) << value; - return ss.str(); - } - - QChartView * chart; - QTableWidget * table; - - std::unordered_map labels; - std::unordered_map plots; - - double y_range_min{std::numeric_limits::max()}; - double y_range_max{std::numeric_limits::lowest()}; -}; - -class MetricsVisualizePanel : public rviz_common::Panel -{ - Q_OBJECT - -public: - explicit MetricsVisualizePanel(QWidget * parent = nullptr); - void onInitialize() override; - -private Q_SLOTS: - // Slot functions triggered by UI events - void onTopicChanged(); - void onSpecificMetricChanged(); - void onClearButtonClicked(); - void onTabChanged(); - -private: - // ROS 2 node and subscriptions for handling metrics data - rclcpp::Node::SharedPtr raw_node_; - rclcpp::TimerBase::SharedPtr timer_; - std::unordered_map::SharedPtr> subscriptions_; - - // Topics from which metrics are collected - std::vector topics_ = { - "/diagnostic/planning_evaluator/metrics", "/diagnostic/perception_online_evaluator/metrics"}; - - // Timer and metrics message callback - void onTimer(); - void onMetrics(const DiagnosticArray::ConstSharedPtr & msg, const std::string & topic_name); - - // Functions to update UI based on selected metrics - void updateViews(); - void updateSelectedMetric(const std::string & metric_name); - - // UI components - QGridLayout * grid_; - QComboBox * topic_selector_; - QTabWidget * tab_widget_; - - // "Specific Metrics" tab components - QComboBox * specific_metric_selector_; - QChartView * specific_metric_chart_view_; - QTableWidget * specific_metric_table_; - - // Selected metrics data - std::optional> selected_metrics_; - - // Cache for received messages by topics - std::unordered_map current_msg_map_; - - // Mapping from topics to metrics widgets (tables and charts) - std::unordered_map< - std::string, std::unordered_map>> - topic_widgets_map_; - - // Synchronization - std::mutex mutex_; - - // Stored metrics data - std::unordered_map metrics_; - - // Utility functions for managing widget visibility based on topics - void updateWidgetVisibility(const std::string & target_topic, const bool show); - void showCurrentTopicWidgets(); - void hideInactiveTopicWidgets(); -}; -} // namespace rviz_plugins - -#endif // METRICS_VISUALIZE_PANEL_HPP_ diff --git a/evaluator/tier4_metrics_rviz_plugin/package.xml b/evaluator/tier4_metrics_rviz_plugin/package.xml deleted file mode 100644 index d06382bc8c539..0000000000000 --- a/evaluator/tier4_metrics_rviz_plugin/package.xml +++ /dev/null @@ -1,33 +0,0 @@ - - - - tier4_metrics_rviz_plugin - 0.0.0 - The tier4_metrics_rviz_plugin package - Satoshi OTA - Kyoichi Sugahara - Maxime CLEMENT - Kosuke Takeuchi - Fumiya Watanabe - Apache License 2.0 - - ament_cmake_auto - autoware_cmake - - diagnostic_msgs - libqt5-charts-dev - libqt5-core - libqt5-gui - libqt5-widgets - qtbase5-dev - rclcpp - rviz_common - - ament_lint_auto - autoware_lint_common - - - ament_cmake - - - diff --git a/evaluator/tier4_metrics_rviz_plugin/plugins/plugin_description.xml b/evaluator/tier4_metrics_rviz_plugin/plugins/plugin_description.xml deleted file mode 100644 index 5aca5bd7faa54..0000000000000 --- a/evaluator/tier4_metrics_rviz_plugin/plugins/plugin_description.xml +++ /dev/null @@ -1,5 +0,0 @@ - - - MetricsVisualizePanel - - diff --git a/evaluator/tier4_metrics_rviz_plugin/src/metrics_visualize_panel.cpp b/evaluator/tier4_metrics_rviz_plugin/src/metrics_visualize_panel.cpp deleted file mode 100644 index b92a9a7ace53d..0000000000000 --- a/evaluator/tier4_metrics_rviz_plugin/src/metrics_visualize_panel.cpp +++ /dev/null @@ -1,262 +0,0 @@ -// Copyright 2024 TIER IV, Inc. All rights reserved. -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. -// - -#include "metrics_visualize_panel.hpp" - -#include - -#include - -#include -#include -#include -#include - -namespace rviz_plugins -{ -MetricsVisualizePanel::MetricsVisualizePanel(QWidget * parent) -: rviz_common::Panel(parent), grid_(new QGridLayout()) -{ - // Initialize the main tab widget - tab_widget_ = new QTabWidget(); - - // Create and configure the "All Metrics" tab - QWidget * all_metrics_widget = new QWidget(); - grid_ = new QGridLayout(all_metrics_widget); // Apply grid layout to the widget directly - all_metrics_widget->setLayout(grid_); - - // Add topic selector combobox - topic_selector_ = new QComboBox(); - for (const auto & topic : topics_) { - topic_selector_->addItem(QString::fromStdString(topic)); - } - grid_->addWidget(topic_selector_, 0, 0, 1, -1); // Add topic selector to the grid layout - connect(topic_selector_, SIGNAL(currentIndexChanged(int)), this, SLOT(onTopicChanged())); - - tab_widget_->addTab( - all_metrics_widget, "All Metrics"); // Add "All Metrics" tab to the tab widget - - // Create and configure the "Specific Metrics" tab - QWidget * specific_metrics_widget = new QWidget(); - QVBoxLayout * specific_metrics_layout = new QVBoxLayout(); - specific_metrics_widget->setLayout(specific_metrics_layout); - - // Add specific metric selector combobox - specific_metric_selector_ = new QComboBox(); - specific_metrics_layout->addWidget(specific_metric_selector_); - connect( - specific_metric_selector_, SIGNAL(currentIndexChanged(int)), this, - SLOT(onSpecificMetricChanged())); - - // Add clear button - QPushButton * clear_button = new QPushButton("Clear"); - specific_metrics_layout->addWidget(clear_button); - connect(clear_button, &QPushButton::clicked, this, &MetricsVisualizePanel::onClearButtonClicked); - - // Add chart view for specific metrics - specific_metric_chart_view_ = new QChartView(); - specific_metrics_layout->addWidget(specific_metric_chart_view_); - - tab_widget_->addTab( - specific_metrics_widget, "Specific Metrics"); // Add "Specific Metrics" tab to the tab widget - - // Set the main layout of the panel - QVBoxLayout * main_layout = new QVBoxLayout(); - main_layout->addWidget(tab_widget_); - setLayout(main_layout); -} - -void MetricsVisualizePanel::onInitialize() -{ - using std::placeholders::_1; - - raw_node_ = this->getDisplayContext()->getRosNodeAbstraction().lock()->get_raw_node(); - - for (const auto & topic_name : topics_) { - const auto callback = [this, topic_name](const DiagnosticArray::ConstSharedPtr msg) { - this->onMetrics(msg, topic_name); - }; - const auto subscription = - raw_node_->create_subscription(topic_name, rclcpp::QoS{1}, callback); - subscriptions_[topic_name] = subscription; - } - - const auto period = std::chrono::milliseconds(static_cast(1e3 / 10)); - timer_ = raw_node_->create_wall_timer(period, [&]() { onTimer(); }); -} - -void MetricsVisualizePanel::updateWidgetVisibility( - const std::string & target_topic, const bool show) -{ - for (const auto & [topic_name, metric_widgets_pair] : topic_widgets_map_) { - const bool is_target_topic = (topic_name == target_topic); - if ((!is_target_topic && show) || (is_target_topic && !show)) { - continue; - } - for (const auto & [metric, widgets] : metric_widgets_pair) { - widgets.first->setVisible(show); - widgets.second->setVisible(show); - } - } -} - -void MetricsVisualizePanel::showCurrentTopicWidgets() -{ - const std::string current_topic = topic_selector_->currentText().toStdString(); - updateWidgetVisibility(current_topic, true); -} - -void MetricsVisualizePanel::hideInactiveTopicWidgets() -{ - const std::string current_topic = topic_selector_->currentText().toStdString(); - updateWidgetVisibility(current_topic, false); -} - -void MetricsVisualizePanel::onTopicChanged() -{ - std::lock_guard message_lock(mutex_); - hideInactiveTopicWidgets(); - showCurrentTopicWidgets(); -} - -void MetricsVisualizePanel::updateSelectedMetric(const std::string & metric_name) -{ - std::lock_guard message_lock(mutex_); - - for (const auto & [topic, msg] : current_msg_map_) { - const auto time = msg->header.stamp.sec + msg->header.stamp.nanosec * 1e-9; - for (const auto & status : msg->status) { - if (metric_name == status.name) { - selected_metrics_ = {metric_name, Metric(status)}; - selected_metrics_->second.updateData(time, status); - return; - } - } - } -} - -void MetricsVisualizePanel::updateViews() -{ - if (!selected_metrics_) { - return; - } - - Metric & metric = selected_metrics_->second; - specific_metric_chart_view_->setChart(metric.getChartView()->chart()); - auto * specific_metrics_widget = dynamic_cast(tab_widget_->widget(1)); - auto * specific_metrics_layout = dynamic_cast(specific_metrics_widget->layout()); - specific_metrics_layout->removeWidget(specific_metric_table_); - specific_metric_table_ = metric.getTable(); - QSizePolicy sizePolicy(QSizePolicy::Preferred, QSizePolicy::Fixed); - sizePolicy.setHeightForWidth(specific_metric_table_->sizePolicy().hasHeightForWidth()); - specific_metric_table_->setSizePolicy(sizePolicy); - specific_metrics_layout->insertWidget(1, specific_metric_table_); -} - -void MetricsVisualizePanel::onSpecificMetricChanged() -{ - const auto selected_metrics_str = specific_metric_selector_->currentText().toStdString(); - updateSelectedMetric(selected_metrics_str); - updateViews(); -} - -void MetricsVisualizePanel::onClearButtonClicked() -{ - if (!selected_metrics_) { - return; - } - updateSelectedMetric(selected_metrics_->first); - updateViews(); -} - -void MetricsVisualizePanel::onTimer() -{ - std::lock_guard message_lock(mutex_); - - for (auto & [name, metric] : metrics_) { - metric.updateGraph(); - metric.updateTable(); - } - - if (selected_metrics_) { - selected_metrics_->second.updateGraph(); - selected_metrics_->second.updateTable(); - } -} - -void MetricsVisualizePanel::onMetrics( - const DiagnosticArray::ConstSharedPtr & msg, const std::string & topic_name) -{ - std::lock_guard message_lock(mutex_); - - const auto time = msg->header.stamp.sec + msg->header.stamp.nanosec * 1e-9; - constexpr size_t GRAPH_COL_SIZE = 5; - - for (const auto & status : msg->status) { - const size_t num_current_metrics = topic_widgets_map_[topic_name].size(); - if (metrics_.count(status.name) == 0) { - const auto metric = Metric(status); - metrics_.emplace(status.name, metric); - - // Calculate grid position - const size_t row = num_current_metrics / GRAPH_COL_SIZE * 2 + - 2; // start from 2 to leave space for the topic selector and tab widget - const size_t col = num_current_metrics % GRAPH_COL_SIZE; - - // Get the widgets from the metric - const auto tableWidget = metric.getTable(); - const auto chartViewWidget = metric.getChartView(); - - // Get the layout for the "All Metrics" tab - auto all_metrics_widget = dynamic_cast(tab_widget_->widget(0)); - QGridLayout * all_metrics_layout = dynamic_cast(all_metrics_widget->layout()); - - // Add the widgets to the "All Metrics" tab layout - all_metrics_layout->addWidget(tableWidget, row, col); - all_metrics_layout->setRowStretch(row, false); - all_metrics_layout->addWidget(chartViewWidget, row + 1, col); - all_metrics_layout->setRowStretch(row + 1, true); - all_metrics_layout->setColumnStretch(col, true); - - // Also add the widgets to the topic_widgets_map_ for easy management - topic_widgets_map_[topic_name][status.name] = std::make_pair(tableWidget, chartViewWidget); - } - metrics_.at(status.name).updateData(time, status); - - // update selected metrics - const auto selected_metrics_str = specific_metric_selector_->currentText().toStdString(); - if (selected_metrics_str == status.name) { - if (selected_metrics_) { - selected_metrics_->second.updateData(time, status); - } - } - } - - // Update the specific metric selector - QSignalBlocker blocker(specific_metric_selector_); - for (const auto & status : msg->status) { - if (specific_metric_selector_->findText(QString::fromStdString(status.name)) == -1) { - specific_metric_selector_->addItem(QString::fromStdString(status.name)); - } - } - - // save the message for metrics selector - current_msg_map_[topic_name] = msg; -} - -} // namespace rviz_plugins - -#include -PLUGINLIB_EXPORT_CLASS(rviz_plugins::MetricsVisualizePanel, rviz_common::Panel) diff --git a/launch/tier4_control_launch/launch/control.launch.py b/launch/tier4_control_launch/launch/control.launch.py index a63e7f547fef1..77140b0e0f630 100644 --- a/launch/tier4_control_launch/launch/control.launch.py +++ b/launch/tier4_control_launch/launch/control.launch.py @@ -24,6 +24,7 @@ from launch.substitutions import LaunchConfiguration from launch_ros.actions import ComposableNodeContainer from launch_ros.actions import LoadComposableNodes +from launch_ros.actions import Node from launch_ros.actions import PushRosNamespace from launch_ros.descriptions import ComposableNode from launch_ros.substitutions import FindPackageShare @@ -65,6 +66,7 @@ def launch_setup(context, *args, **kwargs): aeb_param = yaml.safe_load(f)["/**"]["ros__parameters"] with open(LaunchConfiguration("predicted_path_checker_param_path").perform(context), "r") as f: predicted_path_checker_param = yaml.safe_load(f)["/**"]["ros__parameters"] + trajectory_follower_mode = LaunchConfiguration("trajectory_follower_mode").perform(context) controller_component = ComposableNode( package="trajectory_follower_node", @@ -328,21 +330,57 @@ def launch_setup(context, *args, **kwargs): ) # set container to run all required components in the same process - container = ComposableNodeContainer( - name="control_container", - namespace="", - package="rclcpp_components", - executable=LaunchConfiguration("container_executable"), - composable_node_descriptions=[ - controller_component, - lane_departure_component, - shift_decider_component, - vehicle_cmd_gate_component, - operation_mode_transition_manager_component, - glog_component, + if trajectory_follower_mode == "trajectory_follower_node": + container = ComposableNodeContainer( + name="control_container", + namespace="", + package="rclcpp_components", + executable=LaunchConfiguration("container_executable"), + composable_node_descriptions=[ + controller_component, + lane_departure_component, + shift_decider_component, + vehicle_cmd_gate_component, + operation_mode_transition_manager_component, + glog_component, + ], + ) + + elif trajectory_follower_mode == "smart_mpc_trajectory_follower": + container = ComposableNodeContainer( + name="control_container", + namespace="", + package="rclcpp_components", + executable=LaunchConfiguration("container_executable"), + composable_node_descriptions=[ + lane_departure_component, + shift_decider_component, + vehicle_cmd_gate_component, + operation_mode_transition_manager_component, + glog_component, + ], + ) + else: + raise Exception( + f"The argument trajectory_follower_mode must be either trajectory_follower_node or smart_mpc_trajectory_follower, but {trajectory_follower_mode} was given." + ) + + # control evaluator + control_evaluator_component = ComposableNode( + package="control_evaluator", + plugin="control_diagnostics::controlEvaluatorNode", + name="control_evaluator", + remappings=[ + ("~/input/diagnostics", "/diagnostics"), + ("~/output/metrics", "~/metrics"), ], ) + control_evaluator_loader = LoadComposableNodes( + composable_node_descriptions=[control_evaluator_component], + target_container="/control/control_container", + ) + # control validator checker control_validator_component = ComposableNode( package="control_validator", @@ -369,6 +407,7 @@ def launch_setup(context, *args, **kwargs): obstacle_collision_checker_loader, autonomous_emergency_braking_loader, predicted_path_checker_loader, + control_evaluator_loader, ] ) @@ -391,7 +430,16 @@ def launch_setup(context, *args, **kwargs): ), ] ) - return [group, control_validator_group] + + smart_mpc_trajectory_follower = Node( + package="smart_mpc_trajectory_follower", + executable="pympc_trajectory_follower.py", + name="pympc_trajectory_follower", + ) + if trajectory_follower_mode == "trajectory_follower_node": + return [group, control_validator_group] + elif trajectory_follower_mode == "smart_mpc_trajectory_follower": + return [group, control_validator_group, smart_mpc_trajectory_follower] def generate_launch_description(): @@ -430,11 +478,17 @@ def add_launch_arg(name: str, default_value=None, description=None): # component add_launch_arg("use_intra_process", "false", "use ROS 2 component container communication") add_launch_arg("use_multithread", "true", "use multithread") + add_launch_arg( + "trajectory_follower_mode", + "trajectory_follower_node", + "Options for which trajectory_follower to use. Options: `trajectory_follower_node`, `smart_mpc_trajectory_follower`", + ) set_container_executable = SetLaunchConfiguration( "container_executable", "component_container", condition=UnlessCondition(LaunchConfiguration("use_multithread")), ) + set_container_mt_executable = SetLaunchConfiguration( "container_executable", "component_container_mt", diff --git a/launch/tier4_control_launch/package.xml b/launch/tier4_control_launch/package.xml index 4bfefa4d93747..801fa274dd086 100644 --- a/launch/tier4_control_launch/package.xml +++ b/launch/tier4_control_launch/package.xml @@ -11,6 +11,7 @@ ament_cmake_auto autoware_cmake + control_evaluator external_cmd_converter external_cmd_selector lane_departure_checker diff --git a/launch/tier4_localization_launch/launch/pose_twist_estimator/ndt_scan_matcher.launch.xml b/launch/tier4_localization_launch/launch/pose_twist_estimator/ndt_scan_matcher.launch.xml index 686e6d6cf12bc..ef3522b215227 100644 --- a/launch/tier4_localization_launch/launch/pose_twist_estimator/ndt_scan_matcher.launch.xml +++ b/launch/tier4_localization_launch/launch/pose_twist_estimator/ndt_scan_matcher.launch.xml @@ -1,5 +1,6 @@ + @@ -8,7 +9,7 @@ - + diff --git a/launch/tier4_localization_launch/launch/pose_twist_estimator/pose_twist_estimator.launch.xml b/launch/tier4_localization_launch/launch/pose_twist_estimator/pose_twist_estimator.launch.xml index c09443be8cab6..fa6bce0e38e55 100644 --- a/launch/tier4_localization_launch/launch/pose_twist_estimator/pose_twist_estimator.launch.xml +++ b/launch/tier4_localization_launch/launch/pose_twist_estimator/pose_twist_estimator.launch.xml @@ -1,5 +1,6 @@ + @@ -29,7 +30,20 @@ - + + + + + + + + + + diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml index ddcbbbaeae107..6294df64279a5 100644 --- a/launch/tier4_perception_launch/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml +++ b/launch/tier4_perception_launch/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml @@ -8,6 +8,7 @@ + @@ -82,8 +83,9 @@ - - + + + @@ -207,9 +209,19 @@ + - + + + + + + + + + + diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/detector/lidar_dnn_detector.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/detector/lidar_dnn_detector.launch.xml index bc501f9b22aad..274b39be681b8 100644 --- a/launch/tier4_perception_launch/launch/object_recognition/detection/detector/lidar_dnn_detector.launch.xml +++ b/launch/tier4_perception_launch/launch/object_recognition/detection/detector/lidar_dnn_detector.launch.xml @@ -44,7 +44,8 @@ - + + diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/pointcloud_map_filter.launch.py b/launch/tier4_perception_launch/launch/object_recognition/detection/pointcloud_map_filter.launch.py index a5af24595c593..5fa71cd1aa0e9 100644 --- a/launch/tier4_perception_launch/launch/object_recognition/detection/pointcloud_map_filter.launch.py +++ b/launch/tier4_perception_launch/launch/object_recognition/detection/pointcloud_map_filter.launch.py @@ -85,7 +85,7 @@ def create_compare_map_pipeline(self): components.append( ComposableNode( package="pointcloud_preprocessor", - plugin="pointcloud_preprocessor::ApproximateDownsampleFilterComponent", + plugin="pointcloud_preprocessor::VoxelGridDownsampleFilterComponent", name="voxel_grid_downsample_filter", remappings=[ ("input", LaunchConfiguration("input_topic")), diff --git a/launch/tier4_perception_launch/launch/object_recognition/tracking/tracking.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/tracking/tracking.launch.xml index fed268084792a..cf11c65ac805c 100644 --- a/launch/tier4_perception_launch/launch/object_recognition/tracking/tracking.launch.xml +++ b/launch/tier4_perception_launch/launch/object_recognition/tracking/tracking.launch.xml @@ -17,6 +17,7 @@ + @@ -26,6 +27,7 @@ + diff --git a/launch/tier4_perception_launch/launch/perception.launch.xml b/launch/tier4_perception_launch/launch/perception.launch.xml index f5df9cc4214c5..3ce78e3b29f29 100644 --- a/launch/tier4_perception_launch/launch/perception.launch.xml +++ b/launch/tier4_perception_launch/launch/perception.launch.xml @@ -22,6 +22,7 @@ + @@ -77,6 +78,7 @@ + + + + + + + + + + + + + + + + + + + + + + + + @@ -132,7 +157,7 @@ - + @@ -141,7 +166,7 @@ - + @@ -161,7 +186,7 @@ - + diff --git a/launch/tier4_planning_launch/launch/planning.launch.xml b/launch/tier4_planning_launch/launch/planning.launch.xml index 710fb20631a45..0e693943a4d03 100644 --- a/launch/tier4_planning_launch/launch/planning.launch.xml +++ b/launch/tier4_planning_launch/launch/planning.launch.xml @@ -43,5 +43,10 @@ + + + + + diff --git a/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml b/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml index aa649710836da..51f0a32284626 100644 --- a/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml +++ b/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml @@ -7,9 +7,9 @@ - + - + @@ -42,13 +42,13 @@ - + - + @@ -220,7 +220,7 @@ - + diff --git a/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.xml b/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.xml index 18de04fd9e317..f8deccb188b71 100644 --- a/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.xml +++ b/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.xml @@ -2,6 +2,24 @@ + + + + + + + + + + @@ -91,12 +109,44 @@ - + - + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/launch/tier4_planning_launch/package.xml b/launch/tier4_planning_launch/package.xml index 950ef67865a85..9d39c397f9417 100644 --- a/launch/tier4_planning_launch/package.xml +++ b/launch/tier4_planning_launch/package.xml @@ -57,8 +57,9 @@ ament_cmake_auto autoware_cmake + autoware_behavior_velocity_planner + autoware_remaining_distance_time_calculator behavior_path_planner - behavior_velocity_planner costmap_generator external_cmd_selector external_velocity_limit_selector diff --git a/launch/tier4_system_launch/launch/system.launch.xml b/launch/tier4_system_launch/launch/system.launch.xml index a1bbfc883de7c..6253dce864ddf 100644 --- a/launch/tier4_system_launch/launch/system.launch.xml +++ b/launch/tier4_system_launch/launch/system.launch.xml @@ -25,11 +25,11 @@ - - - - - + + + + + @@ -57,6 +57,13 @@ + + + + + + + @@ -70,8 +77,20 @@ + + + + + + + + + + + + - + @@ -85,52 +104,31 @@ - + + - - + + + - - - - - - - - - - + + + - + - - - - - - - - - - - - - - - - diff --git a/localization/autoware_pose_covariance_modifier/CMakeLists.txt b/localization/autoware_pose_covariance_modifier/CMakeLists.txt new file mode 100644 index 0000000000000..192434cc588d5 --- /dev/null +++ b/localization/autoware_pose_covariance_modifier/CMakeLists.txt @@ -0,0 +1,19 @@ +cmake_minimum_required(VERSION 3.14) +project(autoware_pose_covariance_modifier) + +find_package(autoware_cmake REQUIRED) +autoware_package() + +ament_auto_add_library(${PROJECT_NAME} SHARED + src/pose_covariance_modifier.cpp +) + +rclcpp_components_register_node(${PROJECT_NAME} + PLUGIN "autoware::pose_covariance_modifier::PoseCovarianceModifierNode" + EXECUTABLE ${PROJECT_NAME}_node +) + +ament_auto_package(INSTALL_TO_SHARE + config + launch +) diff --git a/localization/autoware_pose_covariance_modifier/README.md b/localization/autoware_pose_covariance_modifier/README.md new file mode 100644 index 0000000000000..392df9caca6eb --- /dev/null +++ b/localization/autoware_pose_covariance_modifier/README.md @@ -0,0 +1,213 @@ +# Autoware Pose Covariance Modifier Node + +## Purpose + +This package makes it possible to use GNSS and NDT poses together in real time localization. + +## Function + +This package takes in GNSS (Global Navigation Satellite System) +and NDT (Normal Distribution Transform) poses with covariances. + +It outputs a single pose with covariance: + +- Directly the GNSS pose and its covariance. +- Directly the NDT pose and its covariance. +- Both GNSS and NDT poses with modified covariances. + +> - This package doesn't modify the pose information it receives. +> - It only modifies NDT covariance values under certain conditions. + +## Assumptions + +- The NDT matcher provides a pose with a fixed covariance. +- The NDT matcher is unable to provide a dynamic, reliable covariance value. + +## Requirements + +- The GNSS/INS module must provide standard deviation values (its error / RMSE) for the position and orientation. +- It probably needs RTK support to provide accurate position and orientation information. +- You need to have a geo-referenced map. +- GNSS/INS module and the base_link frame must be calibrated well enough. +- In an environment where GNSS/INS and NDT systems work well, the `base_link` poses from both systems should be close to + each other. + +## Description + +GNSS and NDT nodes provide the pose with covariance data utilized in an Extended Kalman Filter (EKF). + +Accurate covariance values are crucial for the effectiveness of the EKF in estimating the state. + +The GNSS system generates reliable standard deviation values, which can be transformed into covariance measures. + +But we currently don't have a reliable way to determine the covariance values for the NDT poses. +And the NDT matching system in Autoware outputs poses with preset covariance values. + +For this reason, this package is designed to manage the selection of the pose source, +based on the standard deviation values provided by the GNSS system. + +It also tunes the covariance values of the NDT poses, based on the GNSS standard deviation values. + +## Flowcharts + +### Without this package + +Only NDT pose is used in localization. GNSS pose is only used for initialization. + +```mermaid +graph TD + ndt_scan_matcher["ndt_scan_matcher"] --> |"/localization/pose_estimator/pose_with_covariance"| ekf_localizer["ekf_localizer"] + +classDef cl_node fill:#FFF2CC,stroke-width:3px,stroke:#D6B656; + +class ndt_scan_matcher cl_node; +class ekf_localizer cl_node; +``` + +### With this package + +Both NDT and GNSS poses are used in localization, depending on the standard deviation values coming from the GNSS +system. + +Here is a flowchart depicting the process and the predefined thresholds: + +```mermaid +graph TD + gnss_poser["gnss_poser"] --> |"/sensing/gnss/\npose_with_covariance"| pose_covariance_modifier_node + ndt_scan_matcher["ndt_scan_matcher"] --> |"/localization/pose_estimator/ndt_scan_matcher/\npose_with_covariance"| pose_covariance_modifier_node + + subgraph pose_covariance_modifier_node ["Pose Covariance Modifier Node"] + pc1{{"gnss_pose_yaw\nstddev"}} + pc1 -->|"<= 0.3 rad"| pc2{{"gnss_pose_z\nstddev"}} + pc2 -->|"<= 0.1 m"| pc3{{"gnss_pose_xy\nstddev"}} + pc2 -->|"> 0.1 m"| ndt_pose("NDT Pose") + pc3 -->|"<= 0.1 m"| gnss_pose("GNSS Pose") + pc3 -->|"0.1 m < x <= 0.2 m"| gnss_ndt_pose("`Both GNSS and NDT Pose + (_with modified covariance_)`") + pc3 -->|"> 0.2 m"| ndt_pose + pc1 -->|"> 0.3 rad"| ndt_pose + end + + pose_covariance_modifier_node -->|"/localization/pose_estimator/pose_with_covariance"| ekf_localizer["ekf_localizer"] + +classDef cl_node fill:#FFF2CC,stroke-width:3px,stroke:#D6B656; +classDef cl_conditional fill:#FFE6CC,stroke-width:3px,stroke:#D79B00; +classDef cl_output fill:#D5E8D4,stroke-width:3px,stroke:#82B366; + +class gnss_poser cl_node; +class ndt_scan_matcher cl_node; +class ekf_localizer cl_node; +class pose_covariance_modifier_node cl_node; + +class pc1 cl_conditional; +class pc2 cl_conditional; +class pc3 cl_conditional; + +class ndt_pose cl_output; +class gnss_pose cl_output; +class gnss_ndt_pose cl_output; +``` + +## How to use this package + +> **This package is disabled by default in Autoware, you need to manually enable it.** + +To enable this package, you need to change the `use_autoware_pose_covariance_modifier` parameter to `true` within +the [pose_twist_estimator.launch.xml](../../launch/tier4_localization_launch/launch/pose_twist_estimator/pose_twist_estimator.launch.xml#L3). + +### Without this condition (default) + +- The output of the [ndt_scan_matcher](../../localization/ndt_scan_matcher) is directly sent + to [ekf_localizer](../../localization/ekf_localizer). + - It has a preset covariance value. + - **topic name:** `/localization/pose_estimator/pose_with_covariance` +- The GNSS pose does not enter the ekf_localizer. +- This node does not launch. + +### With this condition + +- The output of the [ndt_scan_matcher](../../localization/ndt_scan_matcher) is renamed + - **from:** `/localization/pose_estimator/pose_with_covariance`. + - **to:** `/localization/pose_estimator/ndt_scan_matcher/pose_with_covariance`. +- The `ndt_scan_matcher` output enters the `autoware_pose_covariance_modifier`. +- The output of this package goes to [ekf_localizer](../../localization/ekf_localizer) with: + - **topic name:** `/localization/pose_estimator/pose_with_covariance`. + +## Node + +### Subscribed topics + +| Name | Type | Description | +| -------------------------------- | ----------------------------------------------- | ---------------------- | +| `input_gnss_pose_with_cov_topic` | `geometry_msgs::msg::PoseWithCovarianceStamped` | Input GNSS pose topic. | +| `input_ndt_pose_with_cov_topic` | `geometry_msgs::msg::PoseWithCovarianceStamped` | Input NDT pose topic. | + +### Published topics + +| Name | Type | Description | +| ----------------------------------- | ----------------------------------------------- | ---------------------------------------------------------------------------------------------------------------------- | +| `output_pose_with_covariance_topic` | `geometry_msgs::msg::PoseWithCovarianceStamped` | Output pose topic. This topic is used by the ekf_localizer package. | +| `selected_pose_type` | `std_msgs::msg::String` | Declares which pose sources are used in the output of this package | +| `output/ndt_position_stddev` | `std_msgs::msg::Float64` | Output pose ndt average standard deviation in position xy. It is published only when the enable_debug_topics is true. | +| `output/gnss_position_stddev` | `std_msgs::msg::Float64` | Output pose gnss average standard deviation in position xy. It is published only when the enable_debug_topics is true. | + +### Parameters + +The parameters are set +in [config/pose_covariance_modifier.param.yaml](config/pose_covariance_modifier.param.yaml) . + +{{ json_to_markdown(" +localization/autoware_pose_covariance_modifier/schema/pose_covariance_modifier.schema.json") }} + +## FAQ + +### How are varying frequency rates handled? + +The GNSS and NDT pose topics may have different frequencies. +The GNSS pose topic may have a higher frequency than the NDT. + +Let's assume that the inputs have the following frequencies: + +| Source | Frequency | +| ------ | --------- | +| GNSS | 200 Hz | +| NDT | 10 Hz | + +This package publishes the output poses as they come in, depending on the mode. + +End result: + +| Mode | Output Freq | +| ---------- | ----------- | +| GNSS Only | 200 Hz | +| GNSS + NDT | 210 Hz | +| NDT Only | 10 Hz | + +### How and when are the NDT covariance values overwritten? + +| Mode | Outputs, Covariance | +| ---------- | ------------------------------------------- | +| GNSS Only | GNSS, Unmodified | +| GNSS + NDT | **GNSS:** Unmodified, **NDT:** Interpolated | +| NDT Only | NDT, Unmodified | + +NDT covariance values overwritten only for the `GNSS + NDT` mode. + +This enables a smooth transition between `GNSS Only` and `NDT Only` modes. + +In this mode, both NDT and GNSS poses are published from this node. + +#### NDT covariance calculation + +As the `gnss_std_dev` increases within its bounds, `ndt_std_dev` should proportionally decrease within its own bounds. + +To achieve this, we first linearly interpolate: + +- Base value: `gnss_std_dev` +- Base range: [`threshold_gnss_stddev_xy_bound_lower`, `threshold_gnss_stddev_xy_bound_upper`] +- Target range: [`ndt_std_dev_bound_lower`, `ndt_std_dev_bound_upper`] +- Target value: `ndt_std_dev_target` + +- Final value = `ndt_std_dev_bound_lower` + `ndt_std_dev_bound_upper` - `ndt_std_dev_target` (to get the inverse) + +range to range lerp animation diff --git a/localization/autoware_pose_covariance_modifier/config/pose_covariance_modifier.param.yaml b/localization/autoware_pose_covariance_modifier/config/pose_covariance_modifier.param.yaml new file mode 100644 index 0000000000000..7d63b3b6de4cb --- /dev/null +++ b/localization/autoware_pose_covariance_modifier/config/pose_covariance_modifier.param.yaml @@ -0,0 +1,24 @@ +/**: + ros__parameters: + # If GNSS yaw standard deviation values are larger than this, trust only NDT + threshold_gnss_stddev_yaw_deg_max: 0.3 + + # If GNSS position Z standard deviation values are larger than this, trust only NDT + threshold_gnss_stddev_z_max: 0.1 + + # If GNSS position XY standard deviation values are lower than this, trust only GNSS + threshold_gnss_stddev_xy_bound_lower: 0.1 + + # If GNSS position XY standard deviation values are higher than this, trust only NDT + threshold_gnss_stddev_xy_bound_upper: 0.25 + + # Lower bound value for standard deviation of NDT positions (x, y, z) when used with GNSS + ndt_std_dev_bound_lower: 0.14 + + # Upper bound value for standard deviation of NDT positions (x, y, z) when used with GNSS + ndt_std_dev_bound_upper: 0.30 + + # If GNSS data is not received for this duration, trust only NDT + gnss_pose_timeout_sec: 1.0 + + enable_debug_topics: true diff --git a/localization/autoware_pose_covariance_modifier/doc/range_lerp.svg b/localization/autoware_pose_covariance_modifier/doc/range_lerp.svg new file mode 100644 index 0000000000000..747777b14de58 --- /dev/null +++ b/localization/autoware_pose_covariance_modifier/doc/range_lerp.svg @@ -0,0 +1,36 @@ + + + + + + + + + + + + +Base + + + + +Target + + + + diff --git a/localization/autoware_pose_covariance_modifier/launch/pose_covariance_modifier.launch.xml b/localization/autoware_pose_covariance_modifier/launch/pose_covariance_modifier.launch.xml new file mode 100755 index 0000000000000..0395496ae0b78 --- /dev/null +++ b/localization/autoware_pose_covariance_modifier/launch/pose_covariance_modifier.launch.xml @@ -0,0 +1,14 @@ + + + + + + + + + + + + + + diff --git a/localization/autoware_pose_covariance_modifier/package.xml b/localization/autoware_pose_covariance_modifier/package.xml new file mode 100644 index 0000000000000..c6c5a49f991dd --- /dev/null +++ b/localization/autoware_pose_covariance_modifier/package.xml @@ -0,0 +1,24 @@ + + + + autoware_pose_covariance_modifier + 1.0.0 + Add a description. + + Melike Tanrikulu + + Apache License 2.0 + + ament_cmake_auto + autoware_cmake + + geometry_msgs + interpolation + rclcpp + rclcpp_components + std_msgs + + + ament_cmake + + diff --git a/localization/autoware_pose_covariance_modifier/schema/pose_covariance_modifier.schema.json b/localization/autoware_pose_covariance_modifier/schema/pose_covariance_modifier.schema.json new file mode 100644 index 0000000000000..02cf301d731b1 --- /dev/null +++ b/localization/autoware_pose_covariance_modifier/schema/pose_covariance_modifier.schema.json @@ -0,0 +1,73 @@ +{ + "$schema": "http://json-schema.org/draft-07/schema#", + "title": "Pose Covariance Modifier Node Parameters", + "type": "object", + "actual_parameters": { + "type": "object", + "properties": { + "threshold_gnss_stddev_yaw_deg_max": { + "type": "number", + "default": 0.3, + "description": "If GNSS yaw standard deviation values are larger than this, trust only NDT" + }, + "threshold_gnss_stddev_z_max": { + "type": "number", + "default": 0.1, + "description": "If GNSS position Z standard deviation values are larger than this, trust only NDT" + }, + "threshold_gnss_stddev_xy_bound_lower": { + "type": "number", + "default": 0.1, + "description": "If GNSS position XY standard deviation values are lower than this, trust only GNSS" + }, + "threshold_gnss_stddev_xy_bound_upper": { + "type": "number", + "default": 0.25, + "description": "If GNSS position XY standard deviation values are higher than this, trust only NDT" + }, + "ndt_std_dev_bound_lower": { + "type": "number", + "default": 0.15, + "description": "Lower bound value for standard deviation of NDT positions (x, y, z) when used with GNSS" + }, + "ndt_std_dev_bound_upper": { + "type": "number", + "default": 0.3, + "description": "Upper bound value for standard deviation of NDT positions (x, y, z) when used with GNSS" + }, + "gnss_pose_timeout_sec": { + "type": "number", + "default": 1.0, + "description": "If GNSS data is not received for this duration, trust only NDT" + }, + "enable_debug_topics": { + "type": "boolean", + "default": true, + "description": "Publish additional debug topics" + } + }, + "required": [ + "threshold_gnss_stddev_yaw_deg_max", + "threshold_gnss_stddev_z_max", + "threshold_gnss_stddev_xy_bound_lower", + "threshold_gnss_stddev_xy_bound_upper", + "gnss_pose_timeout_sec", + "enable_debug_topics" + ], + "additionalProperties": false + }, + "properties": { + "/**": { + "type": "object", + "properties": { + "ros__parameters": { + "$ref": "#/actual_parameters" + } + }, + "required": ["ros__parameters"], + "additionalProperties": false + } + }, + "required": ["/**"], + "additionalProperties": false +} diff --git a/localization/autoware_pose_covariance_modifier/src/include/pose_covariance_modifier.hpp b/localization/autoware_pose_covariance_modifier/src/include/pose_covariance_modifier.hpp new file mode 100644 index 0000000000000..ffafe41269468 --- /dev/null +++ b/localization/autoware_pose_covariance_modifier/src/include/pose_covariance_modifier.hpp @@ -0,0 +1,86 @@ +// Copyright 2024 The Autoware Foundation +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. +#ifndef POSE_COVARIANCE_MODIFIER_HPP_ +#define POSE_COVARIANCE_MODIFIER_HPP_ + +#include + +#include +#include +#include + +namespace autoware::pose_covariance_modifier +{ +class PoseCovarianceModifierNode : public rclcpp::Node +{ +public: + explicit PoseCovarianceModifierNode(const rclcpp::NodeOptions & node_options); + + enum class PoseSource { + GNSS = 0, + GNSS_NDT = 1, + NDT = 2, + }; + +private: + // covariance matrix indexes + const int X_POS_IDX_ = 0; + const int Y_POS_IDX_ = 7; + const int Z_POS_IDX_ = 14; + const int YAW_POS_IDX_ = 35; + + // parameters + double threshold_gnss_stddev_yaw_deg_max_; + double threshold_gnss_stddev_z_max_; + double threshold_gnss_stddev_xy_bound_lower_; + double threshold_gnss_stddev_xy_bound_upper_; + double ndt_std_dev_bound_lower_; + double ndt_std_dev_bound_upper_; + double gnss_pose_timeout_sec_; + bool debug_mode_; + + rclcpp::Time gnss_pose_received_time_last_; + geometry_msgs::msg::PoseWithCovarianceStamped::ConstSharedPtr gnss_pose_with_cov_last_; + PoseSource pose_source_; + + rclcpp::Subscription::SharedPtr + sub_gnss_pose_with_cov_; + rclcpp::Subscription::SharedPtr + sub_ndt_pose_with_cov_; + rclcpp::Publisher::SharedPtr + pub_pose_with_covariance_stamped_; + rclcpp::Publisher::SharedPtr pub_str_pose_source_; + rclcpp::Publisher::SharedPtr pub_double_ndt_position_stddev_; + rclcpp::Publisher::SharedPtr pub_double_gnss_position_stddev_; + + void callback_gnss_pose_with_cov( + const geometry_msgs::msg::PoseWithCovarianceStamped::ConstSharedPtr & msg); + + void callback_ndt_pose_with_cov( + const geometry_msgs::msg::PoseWithCovarianceStamped::ConstSharedPtr & msg_pose_with_cov_in); + + bool gnss_pose_has_timed_out(const rclcpp::Time & gnss_pose_received_time_last); + + PoseSource pose_source_from_gnss_stddev( + double gnss_pose_yaw_stddev_deg, double gnss_pose_stddev_z, double gnss_pose_stddev_xy) const; + + std::array update_ndt_covariances_from_gnss( + const std::array & ndt_covariance_in); + + void publish_pose_type(const PoseSource & pose_source); +}; + +} // namespace autoware::pose_covariance_modifier + +#endif // POSE_COVARIANCE_MODIFIER_HPP_ diff --git a/localization/autoware_pose_covariance_modifier/src/pose_covariance_modifier.cpp b/localization/autoware_pose_covariance_modifier/src/pose_covariance_modifier.cpp new file mode 100644 index 0000000000000..bb811c55d585d --- /dev/null +++ b/localization/autoware_pose_covariance_modifier/src/pose_covariance_modifier.cpp @@ -0,0 +1,246 @@ +// Copyright 2024 The Autoware Foundation +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "include/pose_covariance_modifier.hpp" + +#include +#include + +#include +#include +#include + +namespace autoware::pose_covariance_modifier +{ +using PoseSource = PoseCovarianceModifierNode::PoseSource; + +PoseCovarianceModifierNode::PoseCovarianceModifierNode(const rclcpp::NodeOptions & node_options) +: Node("PoseCovarianceModifierNode", node_options), + gnss_pose_received_time_last_(this->now()), + pose_source_(PoseSource::NDT) +{ + // parameters + threshold_gnss_stddev_yaw_deg_max_ = + this->declare_parameter("threshold_gnss_stddev_yaw_deg_max"); + threshold_gnss_stddev_z_max_ = this->declare_parameter("threshold_gnss_stddev_z_max"); + threshold_gnss_stddev_xy_bound_lower_ = + this->declare_parameter("threshold_gnss_stddev_xy_bound_lower"); + threshold_gnss_stddev_xy_bound_upper_ = + this->declare_parameter("threshold_gnss_stddev_xy_bound_upper"); + ndt_std_dev_bound_lower_ = this->declare_parameter("ndt_std_dev_bound_lower"); + ndt_std_dev_bound_upper_ = this->declare_parameter("ndt_std_dev_bound_upper"); + gnss_pose_timeout_sec_ = this->declare_parameter("gnss_pose_timeout_sec"); + debug_mode_ = this->declare_parameter("enable_debug_topics"); + + // subscribers + sub_gnss_pose_with_cov_ = + this->create_subscription( + "input_gnss_pose_with_cov_topic", 10, + std::bind( + &PoseCovarianceModifierNode::callback_gnss_pose_with_cov, this, std::placeholders::_1)); + + sub_ndt_pose_with_cov_ = this->create_subscription( + "input_ndt_pose_with_cov_topic", 10, + std::bind( + &PoseCovarianceModifierNode::callback_ndt_pose_with_cov, this, std::placeholders::_1)); + + // publishers + pub_pose_with_covariance_stamped_ = + this->create_publisher( + "output_pose_with_covariance_topic", 10); + + pub_str_pose_source_ = this->create_publisher("~/selected_pose_type", 10); + + if (debug_mode_) { + pub_double_ndt_position_stddev_ = + this->create_publisher("~/debug/ndt_position_stddev", 10); + pub_double_gnss_position_stddev_ = + this->create_publisher("~/debug/gnss_position_stddev", 10); + } +} + +void PoseCovarianceModifierNode::callback_gnss_pose_with_cov( + const geometry_msgs::msg::PoseWithCovarianceStamped::ConstSharedPtr & msg_pose_with_cov_in) +{ + // will be used to check if GNSS pose has timed out in the NDT pose callback + gnss_pose_received_time_last_ = this->now(); + + // if the pose source is not GNSS, it will be used to calculate the NDT covariance in the NDT pose + // callback + gnss_pose_with_cov_last_ = msg_pose_with_cov_in; + + const double gnss_pose_yaw_stddev_deg = + std::sqrt(msg_pose_with_cov_in->pose.covariance[YAW_POS_IDX_]) * 180 / M_PI; + + const double gnss_pose_stddev_z = std::sqrt(msg_pose_with_cov_in->pose.covariance[Z_POS_IDX_]); + + const double gnss_pose_stddev_xy = + (std::sqrt(msg_pose_with_cov_in->pose.covariance[X_POS_IDX_]) + + std::sqrt(msg_pose_with_cov_in->pose.covariance[Y_POS_IDX_])) / + 2; + + pose_source_ = + pose_source_from_gnss_stddev(gnss_pose_yaw_stddev_deg, gnss_pose_stddev_z, gnss_pose_stddev_xy); + publish_pose_type(pose_source_); + + if (pose_source_ == PoseSource::NDT) { + // if the pose source is only NDT, don't publish GNSS poses + return; + } + + pub_pose_with_covariance_stamped_->publish(*msg_pose_with_cov_in); + + if (debug_mode_) { + std_msgs::msg::Float64 msg_double; + msg_double.data = gnss_pose_stddev_xy; + pub_double_gnss_position_stddev_->publish(msg_double); + } +} + +void PoseCovarianceModifierNode::callback_ndt_pose_with_cov( + const geometry_msgs::msg::PoseWithCovarianceStamped::ConstSharedPtr & msg_pose_with_cov_in) +{ + if (pose_source_ == PoseSource::GNSS) { + // if the pose source is only gnss, GNSS pose will be used in the GNSS pose callback + return; + } + geometry_msgs::msg::PoseWithCovarianceStamped msg_pose_with_cov_out; + + // pose_source_ was determined in the GNSS callback + if (gnss_pose_has_timed_out(gnss_pose_received_time_last_) || pose_source_ == PoseSource::NDT) { + msg_pose_with_cov_out = *msg_pose_with_cov_in; + } else if (pose_source_ == PoseSource::GNSS_NDT) { + auto ndt_pose_with_cov_updated = *msg_pose_with_cov_in; + ndt_pose_with_cov_updated.pose.covariance = + update_ndt_covariances_from_gnss(msg_pose_with_cov_in->pose.covariance); + msg_pose_with_cov_out = ndt_pose_with_cov_updated; + } + + pub_pose_with_covariance_stamped_->publish(msg_pose_with_cov_out); + + if (debug_mode_) { + std_msgs::msg::Float64 msg_double; + msg_double.data = (std::sqrt(msg_pose_with_cov_out.pose.covariance[X_POS_IDX_]) + + std::sqrt(msg_pose_with_cov_out.pose.covariance[Y_POS_IDX_])) / + 2.0; + pub_double_ndt_position_stddev_->publish(msg_double); + } +} + +bool PoseCovarianceModifierNode::gnss_pose_has_timed_out( + const rclcpp::Time & gnss_pose_received_time_last) +{ + auto duration = this->now() - gnss_pose_received_time_last; + if (duration.seconds() > gnss_pose_timeout_sec_) { + RCLCPP_WARN(this->get_logger(), "GNSS pose has timed out"); + return true; + } + return false; +} + +PoseSource PoseCovarianceModifierNode::pose_source_from_gnss_stddev( + const double gnss_pose_yaw_stddev_deg, const double gnss_pose_stddev_z, + const double gnss_pose_stddev_xy) const +{ + // If the GNSS pose z or yaw has a high standard deviation, use NDT pose + if ( + gnss_pose_yaw_stddev_deg > threshold_gnss_stddev_yaw_deg_max_ || + gnss_pose_stddev_z > threshold_gnss_stddev_z_max_) { + return PoseSource::NDT; + } + if (gnss_pose_stddev_xy <= threshold_gnss_stddev_xy_bound_lower_) { + return PoseSource::GNSS; + } + if (gnss_pose_stddev_xy <= threshold_gnss_stddev_xy_bound_upper_) { + return PoseSource::GNSS_NDT; + } + // If the gnss xy standard deviation is above the upper bound, use NDT pose + return PoseSource::NDT; +} + +std::array PoseCovarianceModifierNode::update_ndt_covariances_from_gnss( + const std::array & ndt_covariance_in) +{ + // See the ../README.md#NDT-covariance-calculation for detailed explanation + + auto lerp_range_to_range = [](double x, double x_min, double x_max, double y_min, double y_max) { + // Normalize input value to range [0, 1] + const double input_normalized = (x - x_min) / (x_max - x_min); + + // Interpolate to the output range + return interpolation::lerp(y_min, y_max, input_normalized); + }; + + auto ndt_variance_from_gnss_variance = [&](double ndt_variance, double gnss_variance) { + // Check NDT stddev bound values. + double ndt_stddev = std::sqrt(ndt_variance); + if (ndt_stddev > ndt_std_dev_bound_upper_ || ndt_stddev < ndt_std_dev_bound_lower_) { + RCLCPP_ERROR( + get_logger(), + "Input variance of NDT exceeds bound values. Variance values of NDT were not modified. " + "Check your bound values for NDT stddev."); + return ndt_variance; + } + // calculate NDT covariance value based on gnss covariance + const double gnss_std_dev = std::sqrt(gnss_variance); + + // interpolate the gnss_std_dev from gnss ranges to ndt ranges + const double interpolated_std_dev = lerp_range_to_range( + gnss_std_dev, threshold_gnss_stddev_xy_bound_lower_, threshold_gnss_stddev_xy_bound_upper_, + ndt_std_dev_bound_lower_, ndt_std_dev_bound_upper_); + + // As the gnss error increases, the ndt error should decrease + const double reversed_std_dev = + ndt_std_dev_bound_lower_ + ndt_std_dev_bound_upper_ - interpolated_std_dev; + + const double interpolated_variance = std::pow(reversed_std_dev, 2); + + // Make sure the ndt covariance is not below the lower bounds of ndt covariance value and return + return (std::max(interpolated_variance, std::pow(ndt_std_dev_bound_lower_, 2))); + }; + + std::array ndt_covariance = ndt_covariance_in; + std::array indices = {X_POS_IDX_, Y_POS_IDX_, Z_POS_IDX_}; + for (int idx : indices) { + ndt_covariance[idx] = ndt_variance_from_gnss_variance( + ndt_covariance_in[idx], gnss_pose_with_cov_last_->pose.covariance[idx]); + } + + return ndt_covariance; +} + +void PoseCovarianceModifierNode::publish_pose_type(const PoseSource & pose_source) +{ + std_msgs::msg::String selected_pose_type; + switch (pose_source) { + case PoseSource::GNSS: + selected_pose_type.data = "GNSS"; + break; + case PoseSource::GNSS_NDT: + selected_pose_type.data = "GNSS_NDT"; + break; + case PoseSource::NDT: + selected_pose_type.data = "NDT"; + break; + default: + selected_pose_type.data = "NOT_DEFINED"; + break; + } + pub_str_pose_source_->publish(selected_pose_type); +} + +} // namespace autoware::pose_covariance_modifier + +#include +RCLCPP_COMPONENTS_REGISTER_NODE(autoware::pose_covariance_modifier::PoseCovarianceModifierNode) diff --git a/localization/ekf_localizer/CMakeLists.txt b/localization/ekf_localizer/CMakeLists.txt index 9944cbb84d97c..13e63ddf3c170 100644 --- a/localization/ekf_localizer/CMakeLists.txt +++ b/localization/ekf_localizer/CMakeLists.txt @@ -13,7 +13,7 @@ include_directories( ament_auto_find_build_dependencies() -ament_auto_add_library(ekf_localizer_lib SHARED +ament_auto_add_library(${PROJECT_NAME} SHARED src/ekf_localizer.cpp src/covariance.cpp src/diagnostics.cpp @@ -24,21 +24,20 @@ ament_auto_add_library(ekf_localizer_lib SHARED src/ekf_module.cpp ) -target_link_libraries(ekf_localizer_lib Eigen3::Eigen) - -ament_auto_add_executable(ekf_localizer src/ekf_localizer_node.cpp) - -target_compile_options(ekf_localizer PUBLIC -g -Wall -Wextra -Wpedantic -Werror) +rclcpp_components_register_node(${PROJECT_NAME} + PLUGIN "EKFLocalizer" + EXECUTABLE ${PROJECT_NAME}_node + EXECUTOR SingleThreadedExecutor +) -target_link_libraries(ekf_localizer ekf_localizer_lib) -target_include_directories(ekf_localizer PUBLIC include) +target_link_libraries(${PROJECT_NAME} Eigen3::Eigen) function(add_testcase filepath) get_filename_component(filename ${filepath} NAME) string(REGEX REPLACE ".cpp" "" test_name ${filename}) ament_add_gtest(${test_name} ${filepath}) - target_link_libraries("${test_name}" ekf_localizer_lib) + target_link_libraries("${test_name}" ${PROJECT_NAME}) ament_target_dependencies(${test_name} ${${PROJECT_NAME}_FOUND_BUILD_DEPENDS}) endfunction() diff --git a/localization/ekf_localizer/README.md b/localization/ekf_localizer/README.md index 1b09420f5047d..b91282015732e 100644 --- a/localization/ekf_localizer/README.md +++ b/localization/ekf_localizer/README.md @@ -130,6 +130,26 @@ Increasing the number will improve the smoothness of the estimation, but may hav - `proc_stddev_yaw_c` : This parameter describes the correlation between the yaw and yaw rate. A large value means the change in yaw does not correlate to the estimated yaw rate. If this is set to 0, it means the change in estimated yaw is equal to yaw rate. Usually, this should be set to 0. - `proc_stddev_yaw_bias_c` : This parameter is the standard deviation for the rate of change in yaw bias. In most cases, yaw bias is constant, so it can be very small, but must be non-zero. +### 3. Tune gate parameters + +EKF performs gating using Mahalanobis distance before updating by observation. The gate size is determined by the `pose_gate_dist` parameter and the `twist_gate_dist`. If the Mahalanobis distance is larger than this value, the observation is ignored. + +This gating process is based on a statistical test using the chi-square distribution. As modeled, we assume that the Mahalanobis distance follows a chi-square distribution with 3 degrees of freedom for pose and 2 degrees of freedom for twist. + +Currently, the accuracy of covariance estimation itself is not very good, so it is recommended to set the significance level to a very small value to reduce rejection due to false positives. + +| Significance level | Threshold for 2 dof | Threshold for 3 dof | +| ------------------ | ------------------- | ------------------- | +| $10 ^ {-2}$ | 9.21 | 11.3 | +| $10 ^ {-3}$ | 13.8 | 16.3 | +| $10 ^ {-4}$ | 18.4 | 21.1 | +| $10 ^ {-5}$ | 23.0 | 25.9 | +| $10 ^ {-6}$ | 27.6 | 30.7 | +| $10 ^ {-7}$ | 32.2 | 35.4 | +| $10 ^ {-8}$ | 36.8 | 40.1 | +| $10 ^ {-9}$ | 41.4 | 44.8 | +| $10 ^ {-10}$ | 46.1 | 49.5 | + ## Kalman Filter Model ### kinematics model in update function diff --git a/localization/ekf_localizer/config/ekf_localizer.param.yaml b/localization/ekf_localizer/config/ekf_localizer.param.yaml index 4cc71e0904ca8..19bfd2d498b68 100644 --- a/localization/ekf_localizer/config/ekf_localizer.param.yaml +++ b/localization/ekf_localizer/config/ekf_localizer.param.yaml @@ -13,13 +13,13 @@ pose_additional_delay: 0.0 pose_measure_uncertainty_time: 0.01 pose_smoothing_steps: 5 - pose_gate_dist: 10000.0 + pose_gate_dist: 49.5 # corresponds to significance level = 10^-10 twist_measurement: # for twist measurement twist_additional_delay: 0.0 twist_smoothing_steps: 2 - twist_gate_dist: 10000.0 + twist_gate_dist: 46.1 # corresponds to significance level = 10^-10 process_noise: # for process model diff --git a/localization/ekf_localizer/include/ekf_localizer/ekf_localizer.hpp b/localization/ekf_localizer/include/ekf_localizer/ekf_localizer.hpp index 6925e8b63c66b..8ed925c1bc228 100644 --- a/localization/ekf_localizer/include/ekf_localizer/ekf_localizer.hpp +++ b/localization/ekf_localizer/include/ekf_localizer/ekf_localizer.hpp @@ -102,7 +102,7 @@ class Simple1DFilter class EKFLocalizer : public rclcpp::Node { public: - EKFLocalizer(const std::string & node_name, const rclcpp::NodeOptions & options); + explicit EKFLocalizer(const rclcpp::NodeOptions & options); private: const std::shared_ptr warning_; diff --git a/localization/ekf_localizer/launch/ekf_localizer.launch.xml b/localization/ekf_localizer/launch/ekf_localizer.launch.xml index b6a1bd06185c2..3c66fabe34650 100644 --- a/localization/ekf_localizer/launch/ekf_localizer.launch.xml +++ b/localization/ekf_localizer/launch/ekf_localizer.launch.xml @@ -17,7 +17,7 @@ - + diff --git a/localization/ekf_localizer/media/ekf_diagnostics.png b/localization/ekf_localizer/media/ekf_diagnostics.png index 2580d6d973290..16de42ac2d85a 100644 Binary files a/localization/ekf_localizer/media/ekf_diagnostics.png and b/localization/ekf_localizer/media/ekf_diagnostics.png differ diff --git a/localization/ekf_localizer/package.xml b/localization/ekf_localizer/package.xml index e9d756e547f26..dad1b0e730711 100644 --- a/localization/ekf_localizer/package.xml +++ b/localization/ekf_localizer/package.xml @@ -29,6 +29,7 @@ kalman_filter nav_msgs rclcpp + rclcpp_components std_srvs tf2 tf2_ros diff --git a/localization/ekf_localizer/schema/sub/pose_measurement.sub_schema.json b/localization/ekf_localizer/schema/sub/pose_measurement.sub_schema.json index 8b931d5f68d12..d2bc313d4dc75 100644 --- a/localization/ekf_localizer/schema/sub/pose_measurement.sub_schema.json +++ b/localization/ekf_localizer/schema/sub/pose_measurement.sub_schema.json @@ -23,7 +23,7 @@ "pose_gate_dist": { "type": "number", "description": "Limit of Mahalanobis distance used for outliers detection", - "default": 10000.0 + "default": 49.5 } }, "required": [ diff --git a/localization/ekf_localizer/schema/sub/twist_measurement.sub_schema.json b/localization/ekf_localizer/schema/sub/twist_measurement.sub_schema.json index 727830a90a288..7b80133cb38aa 100644 --- a/localization/ekf_localizer/schema/sub/twist_measurement.sub_schema.json +++ b/localization/ekf_localizer/schema/sub/twist_measurement.sub_schema.json @@ -18,7 +18,7 @@ "twist_gate_dist": { "type": "number", "description": "Limit of Mahalanobis distance used for outliers detection", - "default": 10000.0 + "default": 46.1 } }, "required": ["twist_additional_delay", "twist_smoothing_steps", "twist_gate_dist"], diff --git a/localization/ekf_localizer/src/ekf_localizer.cpp b/localization/ekf_localizer/src/ekf_localizer.cpp index f77481d45a534..687e812679574 100644 --- a/localization/ekf_localizer/src/ekf_localizer.cpp +++ b/localization/ekf_localizer/src/ekf_localizer.cpp @@ -40,8 +40,8 @@ using std::placeholders::_1; -EKFLocalizer::EKFLocalizer(const std::string & node_name, const rclcpp::NodeOptions & node_options) -: rclcpp::Node(node_name, node_options), +EKFLocalizer::EKFLocalizer(const rclcpp::NodeOptions & node_options) +: rclcpp::Node("ekf_localizer", node_options), warning_(std::make_shared(this)), params_(this), ekf_dt_(params_.ekf_dt), @@ -479,3 +479,6 @@ void EKFLocalizer::serviceTriggerNode( res->success = true; return; } + +#include +RCLCPP_COMPONENTS_REGISTER_NODE(EKFLocalizer) diff --git a/localization/ekf_localizer/src/ekf_localizer_node.cpp b/localization/ekf_localizer/src/ekf_localizer_node.cpp deleted file mode 100644 index 0f75f19c5d50b..0000000000000 --- a/localization/ekf_localizer/src/ekf_localizer_node.cpp +++ /dev/null @@ -1,28 +0,0 @@ -// Copyright 2018-2019 Autoware Foundation -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. - -#include "ekf_localizer/ekf_localizer.hpp" - -#include - -int main(int argc, char ** argv) -{ - rclcpp::init(argc, argv); - rclcpp::NodeOptions node_options; - auto node = std::make_shared("ekf_localizer", node_options); - - rclcpp::spin(node); - - return 0; -} diff --git a/localization/geo_pose_projector/CMakeLists.txt b/localization/geo_pose_projector/CMakeLists.txt index 6e2cdf32fb6c5..f274e7d23dbab 100644 --- a/localization/geo_pose_projector/CMakeLists.txt +++ b/localization/geo_pose_projector/CMakeLists.txt @@ -4,11 +4,15 @@ project(geo_pose_projector) find_package(autoware_cmake REQUIRED) autoware_package() -ament_auto_add_executable(geo_pose_projector - src/geo_pose_projector_node.cpp +ament_auto_add_library(${PROJECT_NAME} SHARED src/geo_pose_projector.cpp ) -ament_target_dependencies(geo_pose_projector) + +rclcpp_components_register_node(${PROJECT_NAME} + PLUGIN "GeoPoseProjector" + EXECUTABLE ${PROJECT_NAME}_node + EXECUTOR SingleThreadedExecutor +) ament_auto_package( INSTALL_TO_SHARE diff --git a/localization/geo_pose_projector/launch/geo_pose_projector.launch.xml b/localization/geo_pose_projector/launch/geo_pose_projector.launch.xml index d840add1ed1c7..de6785a016858 100644 --- a/localization/geo_pose_projector/launch/geo_pose_projector.launch.xml +++ b/localization/geo_pose_projector/launch/geo_pose_projector.launch.xml @@ -4,7 +4,7 @@ - + diff --git a/localization/geo_pose_projector/package.xml b/localization/geo_pose_projector/package.xml index c0e2db59deb64..36b2aec8384ac 100644 --- a/localization/geo_pose_projector/package.xml +++ b/localization/geo_pose_projector/package.xml @@ -24,6 +24,7 @@ geography_utils geometry_msgs rclcpp + rclcpp_components tf2_geometry_msgs tf2_ros diff --git a/localization/geo_pose_projector/src/geo_pose_projector.cpp b/localization/geo_pose_projector/src/geo_pose_projector.cpp index d147888bb743b..80bb407958de2 100644 --- a/localization/geo_pose_projector/src/geo_pose_projector.cpp +++ b/localization/geo_pose_projector/src/geo_pose_projector.cpp @@ -25,8 +25,8 @@ #include -GeoPoseProjector::GeoPoseProjector() -: Node("geo_pose_projector"), publish_tf_(declare_parameter("publish_tf")) +GeoPoseProjector::GeoPoseProjector(const rclcpp::NodeOptions & options) +: rclcpp::Node("geo_pose_projector", options), publish_tf_(declare_parameter("publish_tf")) { // Subscribe to map_projector_info topic const auto adaptor = component_interface_utils::NodeAdaptor(this); @@ -102,3 +102,6 @@ void GeoPoseProjector::on_geo_pose(const GeoPoseWithCovariance::ConstSharedPtr m tf_broadcaster_->sendTransform(transform_stamped); } } + +#include +RCLCPP_COMPONENTS_REGISTER_NODE(GeoPoseProjector) diff --git a/localization/geo_pose_projector/src/geo_pose_projector.hpp b/localization/geo_pose_projector/src/geo_pose_projector.hpp index b0611fec36984..738e805ef8101 100644 --- a/localization/geo_pose_projector/src/geo_pose_projector.hpp +++ b/localization/geo_pose_projector/src/geo_pose_projector.hpp @@ -36,7 +36,7 @@ class GeoPoseProjector : public rclcpp::Node using MapProjectorInfo = map_interface::MapProjectorInfo; public: - GeoPoseProjector(); + explicit GeoPoseProjector(const rclcpp::NodeOptions & options); private: void on_geo_pose(const GeoPoseWithCovariance::ConstSharedPtr msg); diff --git a/localization/geo_pose_projector/src/geo_pose_projector_node.cpp b/localization/geo_pose_projector/src/geo_pose_projector_node.cpp deleted file mode 100644 index 97367d6b9f774..0000000000000 --- a/localization/geo_pose_projector/src/geo_pose_projector_node.cpp +++ /dev/null @@ -1,29 +0,0 @@ -// Copyright 2023 Autoware Foundation -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. - -#include "geo_pose_projector.hpp" - -#include - -#include - -int main(int argc, char ** argv) -{ - rclcpp::init(argc, argv); - - rclcpp::spin(std::make_shared()); - rclcpp::shutdown(); - - return 0; -} diff --git a/localization/gyro_odometer/CMakeLists.txt b/localization/gyro_odometer/CMakeLists.txt index 57589837dd529..a832383ff4761 100644 --- a/localization/gyro_odometer/CMakeLists.txt +++ b/localization/gyro_odometer/CMakeLists.txt @@ -4,17 +4,12 @@ project(gyro_odometer) find_package(autoware_cmake REQUIRED) autoware_package() -ament_auto_add_executable(${PROJECT_NAME} - src/gyro_odometer_node.cpp +ament_auto_add_library(${PROJECT_NAME} SHARED src/gyro_odometer_core.cpp ) target_link_libraries(${PROJECT_NAME} fmt) -ament_auto_add_library(gyro_odometer_node SHARED - src/gyro_odometer_core.cpp -) - if(BUILD_TESTING) ament_add_ros_isolated_gtest(test_gyro_odometer test/test_main.cpp @@ -25,10 +20,15 @@ if(BUILD_TESTING) rclcpp ) target_link_libraries(test_gyro_odometer - gyro_odometer_node + ${PROJECT_NAME} ) endif() +rclcpp_components_register_node(${PROJECT_NAME} + PLUGIN "autoware::gyro_odometer::GyroOdometerNode" + EXECUTABLE ${PROJECT_NAME}_node + EXECUTOR SingleThreadedExecutor +) ament_auto_package(INSTALL_TO_SHARE launch diff --git a/localization/gyro_odometer/include/gyro_odometer/gyro_odometer_core.hpp b/localization/gyro_odometer/include/gyro_odometer/gyro_odometer_core.hpp index 3a6358e62c21a..2926589bd2da9 100644 --- a/localization/gyro_odometer/include/gyro_odometer/gyro_odometer_core.hpp +++ b/localization/gyro_odometer/include/gyro_odometer/gyro_odometer_core.hpp @@ -36,14 +36,17 @@ #include #include -class GyroOdometer : public rclcpp::Node +namespace autoware::gyro_odometer +{ + +class GyroOdometerNode : public rclcpp::Node { private: using COV_IDX = tier4_autoware_utils::xyz_covariance_index::XYZ_COV_IDX; public: - explicit GyroOdometer(const rclcpp::NodeOptions & options); - ~GyroOdometer(); + explicit GyroOdometerNode(const rclcpp::NodeOptions & node_options); + ~GyroOdometerNode(); private: void callbackVehicleTwist( @@ -75,4 +78,6 @@ class GyroOdometer : public rclcpp::Node std::deque gyro_queue_; }; +} // namespace autoware::gyro_odometer + #endif // GYRO_ODOMETER__GYRO_ODOMETER_CORE_HPP_ diff --git a/localization/gyro_odometer/launch/gyro_odometer.launch.xml b/localization/gyro_odometer/launch/gyro_odometer.launch.xml index 21aff3e10d26c..aed6050858fe1 100644 --- a/localization/gyro_odometer/launch/gyro_odometer.launch.xml +++ b/localization/gyro_odometer/launch/gyro_odometer.launch.xml @@ -11,7 +11,7 @@ - + diff --git a/localization/gyro_odometer/package.xml b/localization/gyro_odometer/package.xml index a0a982ddedc16..3c979eb69ac8a 100644 --- a/localization/gyro_odometer/package.xml +++ b/localization/gyro_odometer/package.xml @@ -19,14 +19,13 @@ fmt geometry_msgs + rclcpp + rclcpp_components sensor_msgs tf2 tf2_geometry_msgs tier4_autoware_utils - rclcpp - rclcpp_components - ament_cmake_ros ament_lint_auto autoware_lint_common diff --git a/localization/gyro_odometer/src/gyro_odometer_core.cpp b/localization/gyro_odometer/src/gyro_odometer_core.cpp index 5de0ecd7cdc0a..bda7af74b8489 100644 --- a/localization/gyro_odometer/src/gyro_odometer_core.cpp +++ b/localization/gyro_odometer/src/gyro_odometer_core.cpp @@ -14,6 +14,8 @@ #include "gyro_odometer/gyro_odometer_core.hpp" +#include + #ifdef ROS_DISTRO_GALACTIC #include #else @@ -25,6 +27,42 @@ #include #include +namespace autoware::gyro_odometer +{ + +GyroOdometerNode::GyroOdometerNode(const rclcpp::NodeOptions & node_options) +: Node("gyro_odometer", node_options), + output_frame_(declare_parameter("output_frame")), + message_timeout_sec_(declare_parameter("message_timeout_sec")), + vehicle_twist_arrived_(false), + imu_arrived_(false) +{ + transform_listener_ = std::make_shared(this); + logger_configure_ = std::make_unique(this); + + vehicle_twist_sub_ = create_subscription( + "vehicle/twist_with_covariance", rclcpp::QoS{100}, + std::bind(&GyroOdometerNode::callbackVehicleTwist, this, std::placeholders::_1)); + + imu_sub_ = create_subscription( + "imu", rclcpp::QoS{100}, + std::bind(&GyroOdometerNode::callbackImu, this, std::placeholders::_1)); + + twist_raw_pub_ = create_publisher("twist_raw", rclcpp::QoS{10}); + twist_with_covariance_raw_pub_ = create_publisher( + "twist_with_covariance_raw", rclcpp::QoS{10}); + + twist_pub_ = create_publisher("twist", rclcpp::QoS{10}); + twist_with_covariance_pub_ = create_publisher( + "twist_with_covariance", rclcpp::QoS{10}); + + // TODO(YamatoAndo) createTimer +} + +GyroOdometerNode::~GyroOdometerNode() +{ +} + std::array transformCovariance(const std::array & cov) { using COV_IDX = tier4_autoware_utils::xyz_covariance_index::XYZ_COV_IDX; @@ -100,39 +138,7 @@ geometry_msgs::msg::TwistWithCovarianceStamped concatGyroAndOdometer( return twist_with_cov; } -GyroOdometer::GyroOdometer(const rclcpp::NodeOptions & options) -: Node("gyro_odometer", options), - output_frame_(declare_parameter("output_frame")), - message_timeout_sec_(declare_parameter("message_timeout_sec")), - vehicle_twist_arrived_(false), - imu_arrived_(false) -{ - transform_listener_ = std::make_shared(this); - logger_configure_ = std::make_unique(this); - - vehicle_twist_sub_ = create_subscription( - "vehicle/twist_with_covariance", rclcpp::QoS{100}, - std::bind(&GyroOdometer::callbackVehicleTwist, this, std::placeholders::_1)); - - imu_sub_ = create_subscription( - "imu", rclcpp::QoS{100}, std::bind(&GyroOdometer::callbackImu, this, std::placeholders::_1)); - - twist_raw_pub_ = create_publisher("twist_raw", rclcpp::QoS{10}); - twist_with_covariance_raw_pub_ = create_publisher( - "twist_with_covariance_raw", rclcpp::QoS{10}); - - twist_pub_ = create_publisher("twist", rclcpp::QoS{10}); - twist_with_covariance_pub_ = create_publisher( - "twist_with_covariance", rclcpp::QoS{10}); - - // TODO(YamatoAndo) createTimer -} - -GyroOdometer::~GyroOdometer() -{ -} - -void GyroOdometer::callbackVehicleTwist( +void GyroOdometerNode::callbackVehicleTwist( const geometry_msgs::msg::TwistWithCovarianceStamped::ConstSharedPtr vehicle_twist_ptr) { vehicle_twist_arrived_ = true; @@ -173,7 +179,7 @@ void GyroOdometer::callbackVehicleTwist( gyro_queue_.clear(); } -void GyroOdometer::callbackImu(const sensor_msgs::msg::Imu::ConstSharedPtr imu_msg_ptr) +void GyroOdometerNode::callbackImu(const sensor_msgs::msg::Imu::ConstSharedPtr imu_msg_ptr) { imu_arrived_ = true; if (!vehicle_twist_arrived_) { @@ -241,7 +247,7 @@ void GyroOdometer::callbackImu(const sensor_msgs::msg::Imu::ConstSharedPtr imu_m gyro_queue_.clear(); } -void GyroOdometer::publishData( +void GyroOdometerNode::publishData( const geometry_msgs::msg::TwistWithCovarianceStamped & twist_with_cov_raw) { geometry_msgs::msg::TwistStamped twist_raw; @@ -269,3 +275,8 @@ void GyroOdometer::publishData( twist_pub_->publish(twist); twist_with_covariance_pub_->publish(twist_with_covariance); } + +} // namespace autoware::gyro_odometer + +#include +RCLCPP_COMPONENTS_REGISTER_NODE(autoware::gyro_odometer::GyroOdometerNode) diff --git a/localization/gyro_odometer/src/gyro_odometer_node.cpp b/localization/gyro_odometer/src/gyro_odometer_node.cpp deleted file mode 100644 index 5bb6241506fbe..0000000000000 --- a/localization/gyro_odometer/src/gyro_odometer_node.cpp +++ /dev/null @@ -1,30 +0,0 @@ -// Copyright 2015-2019 Autoware Foundation -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. - -#include "gyro_odometer/gyro_odometer_core.hpp" - -#include - -#include - -int main(int argc, char ** argv) -{ - rclcpp::init(argc, argv); - rclcpp::NodeOptions options; - auto node = std::make_shared(options); - rclcpp::spin(node); - rclcpp::shutdown(); - - return 0; -} diff --git a/localization/gyro_odometer/test/test_gyro_odometer_pubsub.cpp b/localization/gyro_odometer/test/test_gyro_odometer_pubsub.cpp index 7f6416fbdda16..b7849ef03bfc5 100644 --- a/localization/gyro_odometer/test/test_gyro_odometer_pubsub.cpp +++ b/localization/gyro_odometer/test/test_gyro_odometer_pubsub.cpp @@ -108,7 +108,8 @@ TEST(GyroOdometer, TestGyroOdometerWithImuAndVelocity) expected_output_twist.twist.twist.angular.y = input_imu.angular_velocity.y; expected_output_twist.twist.twist.angular.z = input_imu.angular_velocity.z; - auto gyro_odometer_node = std::make_shared(getNodeOptionsWithDefaultParams()); + auto gyro_odometer_node = + std::make_shared(getNodeOptionsWithDefaultParams()); auto imu_generator = std::make_shared(); auto velocity_generator = std::make_shared(); auto gyro_odometer_validator_node = std::make_shared(); @@ -135,7 +136,8 @@ TEST(GyroOdometer, TestGyroOdometerImuOnly) { Imu input_imu = generateSampleImu(); - auto gyro_odometer_node = std::make_shared(getNodeOptionsWithDefaultParams()); + auto gyro_odometer_node = + std::make_shared(getNodeOptionsWithDefaultParams()); auto imu_generator = std::make_shared(); auto gyro_odometer_validator_node = std::make_shared(); diff --git a/localization/landmark_based_localizer/ar_tag_based_localizer/CMakeLists.txt b/localization/landmark_based_localizer/ar_tag_based_localizer/CMakeLists.txt index d625064b8f6cb..a8435fa056847 100644 --- a/localization/landmark_based_localizer/ar_tag_based_localizer/CMakeLists.txt +++ b/localization/landmark_based_localizer/ar_tag_based_localizer/CMakeLists.txt @@ -14,27 +14,33 @@ ament_auto_find_build_dependencies() find_package(OpenCV REQUIRED) -ament_auto_add_executable(ar_tag_based_localizer - src/main.cpp +ament_auto_add_library(${PROJECT_NAME} SHARED src/ar_tag_based_localizer.cpp ) -target_include_directories(ar_tag_based_localizer + +target_include_directories(${PROJECT_NAME} SYSTEM PUBLIC ${OpenCV_INCLUDE_DIRS} ) -target_link_libraries(ar_tag_based_localizer ${OpenCV_LIBRARIES}) +target_link_libraries(${PROJECT_NAME} ${OpenCV_LIBRARIES}) + +rclcpp_components_register_node(${PROJECT_NAME} + PLUGIN "ArTagBasedLocalizer" + EXECUTABLE ${PROJECT_NAME}_node + EXECUTOR SingleThreadedExecutor +) if(BUILD_TESTING) find_package(ament_cmake_gtest REQUIRED) - ament_auto_add_gtest(test_ar_tag_based_localizer + ament_auto_add_gtest(test_${PROJECT_NAME} test/test.cpp src/ar_tag_based_localizer.cpp ) - target_include_directories(test_ar_tag_based_localizer + target_include_directories(test_${PROJECT_NAME} SYSTEM PUBLIC ${OpenCV_INCLUDE_DIRS} ) - target_link_libraries(test_ar_tag_based_localizer ${OpenCV_LIBRARIES}) + target_link_libraries(test_${PROJECT_NAME} ${OpenCV_LIBRARIES}) endif() ament_auto_package( diff --git a/localization/landmark_based_localizer/ar_tag_based_localizer/launch/ar_tag_based_localizer.launch.xml b/localization/landmark_based_localizer/ar_tag_based_localizer/launch/ar_tag_based_localizer.launch.xml index 272338905c3f0..34602ca70daf4 100644 --- a/localization/landmark_based_localizer/ar_tag_based_localizer/launch/ar_tag_based_localizer.launch.xml +++ b/localization/landmark_based_localizer/ar_tag_based_localizer/launch/ar_tag_based_localizer.launch.xml @@ -14,7 +14,7 @@ - + diff --git a/localization/landmark_based_localizer/ar_tag_based_localizer/package.xml b/localization/landmark_based_localizer/ar_tag_based_localizer/package.xml index 072479cc7aaf5..90fdd2fee31f4 100644 --- a/localization/landmark_based_localizer/ar_tag_based_localizer/package.xml +++ b/localization/landmark_based_localizer/ar_tag_based_localizer/package.xml @@ -24,6 +24,7 @@ lanelet2_extension localization_util rclcpp + rclcpp_components tf2_eigen tf2_geometry_msgs tf2_ros diff --git a/localization/landmark_based_localizer/ar_tag_based_localizer/src/ar_tag_based_localizer.cpp b/localization/landmark_based_localizer/ar_tag_based_localizer/src/ar_tag_based_localizer.cpp index 43ac1e1098453..9a6823e330acd 100644 --- a/localization/landmark_based_localizer/ar_tag_based_localizer/src/ar_tag_based_localizer.cpp +++ b/localization/landmark_based_localizer/ar_tag_based_localizer/src/ar_tag_based_localizer.cpp @@ -65,7 +65,7 @@ #include ArTagBasedLocalizer::ArTagBasedLocalizer(const rclcpp::NodeOptions & options) -: Node("ar_tag_based_localizer", options), cam_info_received_(false) +: rclcpp::Node("ar_tag_based_localizer", options), cam_info_received_(false) { /* Declare node parameters @@ -346,3 +346,6 @@ std::vector ArTagBasedLocalizer::detect_landmarks( return landmarks; } + +#include +RCLCPP_COMPONENTS_REGISTER_NODE(ArTagBasedLocalizer) diff --git a/localization/landmark_based_localizer/ar_tag_based_localizer/src/main.cpp b/localization/landmark_based_localizer/ar_tag_based_localizer/src/main.cpp deleted file mode 100644 index 8ef1dd6195580..0000000000000 --- a/localization/landmark_based_localizer/ar_tag_based_localizer/src/main.cpp +++ /dev/null @@ -1,53 +0,0 @@ -// Copyright 2023 Autoware Foundation -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. - -// This source code is derived from the https://github.com/pal-robotics/aruco_ros. -// Here is the license statement. -/***************************** - Copyright 2011 Rafael Muñoz Salinas. All rights reserved. - - Redistribution and use in source and binary forms, with or without modification, are - permitted provided that the following conditions are met: - - 1. Redistributions of source code must retain the above copyright notice, this list of - conditions and the following disclaimer. - - 2. Redistributions in binary form must reproduce the above copyright notice, this list - of conditions and the following disclaimer in the documentation and/or other materials - provided with the distribution. - - THIS SOFTWARE IS PROVIDED BY Rafael Muñoz Salinas ''AS IS'' AND ANY EXPRESS OR IMPLIED - WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND - FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL Rafael Muñoz Salinas OR - CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR - CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR - SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON - ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING - NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF - ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - - The views and conclusions contained in the software and documentation are those of the - authors and should not be interpreted as representing official policies, either expressed - or implied, of Rafael Muñoz Salinas. - ********************************/ - -#include "ar_tag_based_localizer.hpp" - -int main(int argc, char ** argv) -{ - rclcpp::init(argc, argv); - std::shared_ptr ptr = std::make_shared(); - rclcpp::spin(ptr); - rclcpp::shutdown(); -} diff --git a/localization/landmark_based_localizer/landmark_manager/src/landmark_manager.cpp b/localization/landmark_based_localizer/landmark_manager/src/landmark_manager.cpp index 57bfcde461af6..e977dbf6cf74a 100644 --- a/localization/landmark_based_localizer/landmark_manager/src/landmark_manager.cpp +++ b/localization/landmark_based_localizer/landmark_manager/src/landmark_manager.cpp @@ -50,7 +50,7 @@ void LandmarkManager::parse_landmarks( const auto & v2 = vertices[2]; const auto & v3 = vertices[3]; const double volume = (v1 - v0).cross(v2 - v0).dot(v3 - v0) / 6.0; - const double volume_threshold = 1e-5; + const double volume_threshold = 1e-3; if (volume > volume_threshold) { continue; } diff --git a/localization/localization_error_monitor/CMakeLists.txt b/localization/localization_error_monitor/CMakeLists.txt index 3528367486350..c27e51e6e0359 100644 --- a/localization/localization_error_monitor/CMakeLists.txt +++ b/localization/localization_error_monitor/CMakeLists.txt @@ -4,15 +4,16 @@ project(localization_error_monitor) find_package(autoware_cmake REQUIRED) autoware_package() -ament_auto_add_library(localization_error_monitor_module SHARED +ament_auto_add_library(${PROJECT_NAME} SHARED src/diagnostics.cpp + src/localization_error_monitor.cpp ) -ament_auto_add_executable(localization_error_monitor - src/main.cpp - src/node.cpp +rclcpp_components_register_node(${PROJECT_NAME} + PLUGIN "LocalizationErrorMonitor" + EXECUTABLE ${PROJECT_NAME}_node + EXECUTOR SingleThreadedExecutor ) -target_link_libraries(localization_error_monitor localization_error_monitor_module) if(BUILD_TESTING) function(add_testcase filepath) @@ -20,17 +21,17 @@ if(BUILD_TESTING) string(REGEX REPLACE ".cpp" "" test_name ${filename}) ament_add_gtest(${test_name} ${filepath}) target_include_directories(${test_name} PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}/include) - target_link_libraries(${test_name} localization_error_monitor_module) + target_link_libraries(${test_name} ${PROJECT_NAME}) ament_target_dependencies(${test_name} ${${PROJECT_NAME}_FOUND_BUILD_DEPENDS}) endfunction() - find_package(ament_lint_auto REQUIRED) ament_lint_auto_find_test_dependencies() add_testcase(test/test_diagnostics.cpp) endif() -ament_auto_package(INSTALL_TO_SHARE +ament_auto_package( + INSTALL_TO_SHARE config launch ) diff --git a/localization/localization_error_monitor/include/localization_error_monitor/node.hpp b/localization/localization_error_monitor/include/localization_error_monitor/localization_error_monitor.hpp similarity index 87% rename from localization/localization_error_monitor/include/localization_error_monitor/node.hpp rename to localization/localization_error_monitor/include/localization_error_monitor/localization_error_monitor.hpp index 296b278004333..6016677d88136 100644 --- a/localization/localization_error_monitor/include/localization_error_monitor/node.hpp +++ b/localization/localization_error_monitor/include/localization_error_monitor/localization_error_monitor.hpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef LOCALIZATION_ERROR_MONITOR__NODE_HPP_ -#define LOCALIZATION_ERROR_MONITOR__NODE_HPP_ +#ifndef LOCALIZATION_ERROR_MONITOR__LOCALIZATION_ERROR_MONITOR_HPP_ +#define LOCALIZATION_ERROR_MONITOR__LOCALIZATION_ERROR_MONITOR_HPP_ #include #include @@ -58,7 +58,7 @@ class LocalizationErrorMonitor : public rclcpp::Node double measureSizeEllipseAlongBodyFrame(const Eigen::Matrix2d & Pinv, double theta); public: - LocalizationErrorMonitor(); + explicit LocalizationErrorMonitor(const rclcpp::NodeOptions & options); ~LocalizationErrorMonitor() = default; }; -#endif // LOCALIZATION_ERROR_MONITOR__NODE_HPP_ +#endif // LOCALIZATION_ERROR_MONITOR__LOCALIZATION_ERROR_MONITOR_HPP_ diff --git a/localization/localization_error_monitor/launch/localization_error_monitor.launch.xml b/localization/localization_error_monitor/launch/localization_error_monitor.launch.xml index eb2b5741b00fc..ad3e8beff92ab 100644 --- a/localization/localization_error_monitor/launch/localization_error_monitor.launch.xml +++ b/localization/localization_error_monitor/launch/localization_error_monitor.launch.xml @@ -2,7 +2,7 @@ - + diff --git a/localization/localization_error_monitor/package.xml b/localization/localization_error_monitor/package.xml index a1b352d911a0d..0138451b069e4 100644 --- a/localization/localization_error_monitor/package.xml +++ b/localization/localization_error_monitor/package.xml @@ -23,6 +23,7 @@ diagnostic_msgs diagnostic_updater nav_msgs + rclcpp_components tf2 tf2_geometry_msgs tier4_autoware_utils diff --git a/localization/localization_error_monitor/src/node.cpp b/localization/localization_error_monitor/src/localization_error_monitor.cpp similarity index 93% rename from localization/localization_error_monitor/src/node.cpp rename to localization/localization_error_monitor/src/localization_error_monitor.cpp index f47372a0158b2..7a1cd0b213c39 100644 --- a/localization/localization_error_monitor/src/node.cpp +++ b/localization/localization_error_monitor/src/localization_error_monitor.cpp @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "localization_error_monitor/node.hpp" +#include "localization_error_monitor/localization_error_monitor.hpp" #include "localization_error_monitor/diagnostics.hpp" @@ -32,7 +32,8 @@ #include #include -LocalizationErrorMonitor::LocalizationErrorMonitor() : Node("localization_error_monitor") +LocalizationErrorMonitor::LocalizationErrorMonitor(const rclcpp::NodeOptions & options) +: Node("localization_error_monitor", options) { scale_ = this->declare_parameter("scale"); error_ellipse_size_ = this->declare_parameter("error_ellipse_size"); @@ -128,7 +129,7 @@ void LocalizationErrorMonitor::onOdom(nav_msgs::msg::Odometry::ConstSharedPtr in diag_merged_status.hardware_id = this->get_name(); diagnostic_msgs::msg::DiagnosticArray diag_msg; - diag_msg.header.stamp = this->now(); + diag_msg.header.stamp = input_msg->header.stamp; diag_msg.status.push_back(diag_merged_status); diag_pub_->publish(diag_msg); } @@ -143,3 +144,6 @@ double LocalizationErrorMonitor::measureSizeEllipseAlongBodyFrame( double d = std::sqrt((e.transpose() * Pinv * e)(0, 0) / Pinv.determinant()); return d; } + +#include +RCLCPP_COMPONENTS_REGISTER_NODE(LocalizationErrorMonitor) diff --git a/localization/localization_error_monitor/src/main.cpp b/localization/localization_error_monitor/src/main.cpp deleted file mode 100644 index f4fa5ab664005..0000000000000 --- a/localization/localization_error_monitor/src/main.cpp +++ /dev/null @@ -1,28 +0,0 @@ -// Copyright 2020 Tier IV, Inc. -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. - -#include "localization_error_monitor/node.hpp" - -#include - -#include - -int main(int argc, char ** argv) -{ - rclcpp::init(argc, argv); - auto node = std::make_shared(); - rclcpp::spin(node); - rclcpp::shutdown(); - return 0; -} diff --git a/localization/ndt_scan_matcher/CMakeLists.txt b/localization/ndt_scan_matcher/CMakeLists.txt index 4806838cf0103..5e4db9571c404 100644 --- a/localization/ndt_scan_matcher/CMakeLists.txt +++ b/localization/ndt_scan_matcher/CMakeLists.txt @@ -22,19 +22,24 @@ else() endif() endif() -find_package(glog REQUIRED) find_package(PCL REQUIRED COMPONENTS common io registration) include_directories(${PCL_INCLUDE_DIRS}) -ament_auto_add_executable(ndt_scan_matcher - src/particle.cpp - src/ndt_scan_matcher_node.cpp - src/ndt_scan_matcher_core.cpp +ament_auto_add_library(${PROJECT_NAME} SHARED + src/diagnostics_module.cpp src/map_update_module.cpp + src/ndt_scan_matcher_core.cpp + src/particle.cpp ) link_directories(${PCL_LIBRARY_DIRS}) -target_link_libraries(ndt_scan_matcher ${PCL_LIBRARIES} glog::glog) +target_link_libraries(ndt_scan_matcher ${PCL_LIBRARIES}) + +rclcpp_components_register_node(${PROJECT_NAME} + PLUGIN "NDTScanMatcher" + EXECUTABLE ${PROJECT_NAME}_node + EXECUTOR MultiThreadedExecutor +) if(BUILD_TESTING) add_launch_test( @@ -45,15 +50,9 @@ if(BUILD_TESTING) find_package(ament_cmake_gtest REQUIRED) ament_auto_add_gtest(standard_sequence_for_initial_pose_estimation test/test_cases/standard_sequence_for_initial_pose_estimation.cpp - src/particle.cpp - src/ndt_scan_matcher_core.cpp - src/map_update_module.cpp ) ament_auto_add_gtest(once_initialize_at_out_of_map_then_initialize_correctly test/test_cases/once_initialize_at_out_of_map_then_initialize_correctly.cpp - src/particle.cpp - src/ndt_scan_matcher_core.cpp - src/map_update_module.cpp ) endif() diff --git a/localization/ndt_scan_matcher/README.md b/localization/ndt_scan_matcher/README.md index 424a7051de883..a44db7bbaa4bf 100644 --- a/localization/ndt_scan_matcher/README.md +++ b/localization/ndt_scan_matcher/README.md @@ -255,3 +255,103 @@ initial_pose_offset_model is rotated around (x,y) = (0,0) in the direction of th initial_pose_offset_model_x & initial_pose_offset_model_y must have the same number of elements. {{ json_to_markdown("localization/ndt_scan_matcher/schema/sub/covariance_covariance_estimation.json") }} + +## Diagnostics + +### scan_matching_status + +drawing + +| Name | Description | Transition condition to Warning | Transition condition to Error | Whether to reject the estimation result (affects `skipping_publish_num`) | +| ----------------------------------------- | -------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | ----------------------------- | --------------------------------------------------------------------------------------------------- | +| `topic_time_stamp` | the time stamp of input topic | none | none | no | +| `sensor_points_size` | the size of sensor points | the size is 0 | none | yes | +| `sensor_points_delay_time_sec` | the delay time of sensor points | the time is **longer** than `validation.lidar_topic_timeout_sec` | none | yes | +| `is_succeed_transform_sensor_points` | whether transform sensor points is succeed or not | none | failed | yes | +| `sensor_points_max_distance` | the max distance of sensor points | the max distance is **shorter** than `sensor_points.required_distance` | none | yes | +| `is_activated` | whether the node is in the "activate" state or not | not "activate" state | none | if `is_activated` is false, then estimation is not executed and `skipping_publish_num` is set to 0. | +| `is_succeed_interpolate_initial_pose` | whether the interpolate of initial pose is succeed or not | failed.
(1) the size of `initial_pose_buffer_` is **smaller** than 2.
(2) the timestamp difference between initial_pose and sensor pointcloud is **longer** than `validation.initial_pose_timeout_sec`.
(3) distance difference between two initial poses used for linear interpolation is **longer** than `validation.initial_pose_distance_tolerance_m` | none | yes | +| `is_set_map_points` | whether the map points is set or not | not set | none | yes | +| `iteration_num` | the number of times calculate alignment | the number of times is **larger** than `ndt.max_iterations` | none | yes | +| `local_optimal_solution_oscillation_num` | the number of times the solution is judged to be oscillating | the number of times is **larger** than 10 | none | yes | +| `transform_probability` | the score of how well the map aligns with the sensor points | the score is **smaller** than`score_estimation.converged_param_transform_probability` (only in the case of `score_estimation.converged_param_type` is 0=TRANSFORM_PROBABILITY) | none | yes | +| `nearest_voxel_transformation_likelihood` | the score of how well the map aligns with the sensor points | the score is **smaller** than `score_estimation.converged_param_nearest_voxel_transformation_likelihood` (only in the case of `score_estimation.converged_param_type` is 1=NEAREST_VOXEL_TRANSFORMATION_LIKELIHOOD) | none | yes | +| `distance_initial_to_result` | the distance between the position before convergence processing and the position after | the distance is **longer** than 3 | none | no | +| `execution_time` | the time for convergence processing | the time is **longer** than `validation.critical_upper_bound_exe_time_ms` | none | no | +| `skipping_publish_num` | the number of times rejected estimation results consecutively | the number of times is 5 or more | none | - | + +※The `sensor_points_callback` shares the same callback group as the `trigger_node_service` and `ndt_align_service`. Consequently, if the initial pose estimation takes too long, this diagnostic may become stale. + +### initial_pose_subscriber_status + +drawing + +| Name | Description | Transition condition to Warning | Transition condition to Error | +| ---------------------- | ------------------------------------------------------------------ | ------------------------------- | ----------------------------- | +| `topic_time_stamp` | the time stamp of input topic | none | none | +| `is_activated` | whether the node is in the "activate" state or not | not "activate" state | none | +| `is_expected_frame_id` | whether the input frame_id is the same as `frame.map_frame` or not | none | not the same | + +### regularization_pose_subscriber_status + +drawing + +| Name | Description | Transition condition to Warning | Transition condition to Error | +| ------------------ | ----------------------------- | ------------------------------- | ----------------------------- | +| `topic_time_stamp` | the time stamp of input topic | none | none | + +### trigger_node_service_status + +drawing + +| Name | Description | Transition condition to Warning | Transition condition to Error | +| ------------------------- | -------------------------------------------------- | ------------------------------- | ----------------------------- | +| `service_call_time_stamp` | the time stamp of service calling | none | none | +| `is_activated` | whether the node is in the "activate" state or not | none | none | +| `is_succeed_service` | whether the process of service is succeed or not | none | none | + +※ +This diagnostic is only published when the service is called, so it becomes stale after the initial pose estimation is completed. + +### ndt_align_service_status + +drawing + +| Name | Description | Transition condition to Warning | Transition condition to Error | +| ----------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------- | ----------------------------------------------------------- | +| `service_call_time_stamp` | the time stamp of service calling | none | none | +| `is_succeed_transform_initial_pose` | whether transform initial pose is succeed or not | none | failed | +| `is_need_rebuild` | whether it need to rebuild the map. If the map has not been loaded yet or if `distance_last_update_position_to_current_position encounters` is an Error state, it is considered necessary to reconstruct the map, and `is_need_rebuild` becomes `True`. | none | none | +| `maps_size_before` | the number of maps before update map | none | none | +| `is_succeed_call_pcd_loader` | whether call pcd_loader service is succeed or not | failed | none | +| `maps_to_add_size` | the number of maps to be added | none | none | +| `maps_to_remove_size` | the number of maps to be removed | none | none | +| `map_update_execution_time` | the time for map updating | none | none | +| `maps_size_after` | the number of maps after update map | none | none | +| `is_updated_map` | whether map is updated. If the map update couldn't be performed or there was no need to update the map, it becomes `False` | none | `is_updated_map` is `False` but `is_need_rebuild` is `True` | +| `is_set_map_points` | whether the map points is set or not | not set | none | +| `is_set_sensor_points` | whether the sensor points is set or not | not set | none | +| `best_particle_score` | the best score of particle | none | none | +| `is_succeed_service` | whether the process of service is succeed or not | failed | none | + +※ +This diagnostic is only published when the service is called, so it becomes stale after the initial pose estimation is completed. + +### map_update_status + +drawing + +| Name | Description | Transition condition to Warning | Transition condition to Error | +| --------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------- | ------------------------------------------------------------------------------------------------------- | +| `timer_callback_time_stamp` | the time stamp of timer_callback calling | none | none | +| `is_activated` | whether the node is in the "activate" state or not | not "activate" state | none | +| `is_set_last_update_position` | whether the `last_update_position` is set or not | not set | none | +| `distance_last_update_position_to_current_position` | the distance of `last_update_position` to current position | none | (the distance + `dynamic_map_loading.lidar_radius`) is **larger** than `dynamic_map_loading.map_radius` | +| `is_need_rebuild` | whether it need to rebuild the map. If the map has not been loaded yet or if `distance_last_update_position_to_current_position encounters` is an Error state, it is considered necessary to reconstruct the map, and `is_need_rebuild` becomes `True`. | none | none | +| `maps_size_before` | the number of maps before update map | none | none | +| `is_succeed_call_pcd_loader` | whether call pcd_loader service is succeed or not | failed | none | +| `maps_to_add_size` | the number of maps to be added | none | none | +| `maps_to_remove_size` | the number of maps to be removed | none | none | +| `map_update_execution_time` | the time for map updating | none | none | +| `maps_size_after` | the number of maps after update map | none | none | +| `is_updated_map` | whether map is updated. If the map update couldn't be performed or there was no need to update the map, it becomes `False` | none | `is_updated_map` is `False` but `is_need_rebuild` is `True` | diff --git a/localization/ndt_scan_matcher/config/ndt_scan_matcher.param.yaml b/localization/ndt_scan_matcher/config/ndt_scan_matcher.param.yaml index 241892e67b66c..ec80a0ef79c69 100644 --- a/localization/ndt_scan_matcher/config/ndt_scan_matcher.param.yaml +++ b/localization/ndt_scan_matcher/config/ndt_scan_matcher.param.yaml @@ -48,7 +48,7 @@ # The number of initial random trials in the TPE (Tree-Structured Parzen Estimator). # This value should be equal to or less than 'initial_estimate_particles_num' and more than 0. # If it is equal to 'initial_estimate_particles_num', the search will be the same as a full random search. - n_startup_trials: 20 + n_startup_trials: 100 validation: diff --git a/localization/ndt_scan_matcher/include/ndt_scan_matcher/diagnostics_module.hpp b/localization/ndt_scan_matcher/include/ndt_scan_matcher/diagnostics_module.hpp new file mode 100644 index 0000000000000..4f7b5eff6521b --- /dev/null +++ b/localization/ndt_scan_matcher/include/ndt_scan_matcher/diagnostics_module.hpp @@ -0,0 +1,60 @@ +// Copyright 2023 Autoware Foundation +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#ifndef NDT_SCAN_MATCHER__DIAGNOSTICS_MODULE_HPP_ +#define NDT_SCAN_MATCHER__DIAGNOSTICS_MODULE_HPP_ + +#include + +#include + +#include +#include + +class DiagnosticsModule +{ +public: + DiagnosticsModule(rclcpp::Node * node, const std::string & diagnostic_name); + void clear(); + void addKeyValue(const diagnostic_msgs::msg::KeyValue & key_value_msg); + template + void addKeyValue(const std::string & key, const T & value); + void updateLevelAndMessage(const int8_t level, const std::string & message); + void publish(const rclcpp::Time & publish_time_stamp); + +private: + diagnostic_msgs::msg::DiagnosticArray createDiagnosticsArray( + const rclcpp::Time & publish_time_stamp) const; + + rclcpp::Clock::SharedPtr clock_; + rclcpp::Publisher::SharedPtr diagnostics_pub_; + + diagnostic_msgs::msg::DiagnosticStatus diagnostics_status_msg_; +}; + +template +void DiagnosticsModule::addKeyValue(const std::string & key, const T & value) +{ + diagnostic_msgs::msg::KeyValue key_value; + key_value.key = key; + key_value.value = std::to_string(value); + addKeyValue(key_value); +} + +template <> +void DiagnosticsModule::addKeyValue(const std::string & key, const std::string & value); +template <> +void DiagnosticsModule::addKeyValue(const std::string & key, const bool & value); + +#endif // NDT_SCAN_MATCHER__DIAGNOSTICS_MODULE_HPP_ diff --git a/localization/ndt_scan_matcher/include/ndt_scan_matcher/hyper_parameters.hpp b/localization/ndt_scan_matcher/include/ndt_scan_matcher/hyper_parameters.hpp index ee1e2369c79bd..bc7bf1fe40d36 100644 --- a/localization/ndt_scan_matcher/include/ndt_scan_matcher/hyper_parameters.hpp +++ b/localization/ndt_scan_matcher/include/ndt_scan_matcher/hyper_parameters.hpp @@ -20,6 +20,7 @@ #include #include +#include #include #include @@ -162,10 +163,11 @@ struct HyperParameters initial_pose_offset_model_y[i]; } } else { - RCLCPP_WARN( - node->get_logger(), - "Invalid initial pose offset model parameters. Disable covariance estimation."); - covariance.covariance_estimation.enable = false; + std::stringstream message; + message << "Invalid initial pose offset model parameters." + << "Please make sure that the number of elements in " + << "initial_pose_offset_model_x and initial_pose_offset_model_y are the same."; + throw std::runtime_error(message.str()); } } diff --git a/localization/ndt_scan_matcher/include/ndt_scan_matcher/map_update_module.hpp b/localization/ndt_scan_matcher/include/ndt_scan_matcher/map_update_module.hpp index 04c762ae950a4..2bcb6f4cf6fb8 100644 --- a/localization/ndt_scan_matcher/include/ndt_scan_matcher/map_update_module.hpp +++ b/localization/ndt_scan_matcher/include/ndt_scan_matcher/map_update_module.hpp @@ -16,6 +16,7 @@ #define NDT_SCAN_MATCHER__MAP_UPDATE_MODULE_HPP_ #include "localization_util/util_func.hpp" +#include "ndt_scan_matcher/diagnostics_module.hpp" #include "ndt_scan_matcher/hyper_parameters.hpp" #include "ndt_scan_matcher/particle.hpp" @@ -54,10 +55,20 @@ class MapUpdateModule private: friend class NDTScanMatcher; + void callback_timer( + const bool is_activated, const std::optional & position, + std::unique_ptr & diagnostics_ptr); + + [[nodiscard]] bool should_update_map( + const geometry_msgs::msg::Point & position, + std::unique_ptr & diagnostics_ptr); + void update_map( + const geometry_msgs::msg::Point & position, + std::unique_ptr & diagnostics_ptr); // Update the specified NDT - bool update_ndt(const geometry_msgs::msg::Point & position, NdtType & ndt); - void update_map(const geometry_msgs::msg::Point & position); - [[nodiscard]] bool should_update_map(const geometry_msgs::msg::Point & position); + bool update_ndt( + const geometry_msgs::msg::Point & position, NdtType & ndt, + std::unique_ptr & diagnostics_ptr); void publish_partial_pcd_map(); rclcpp::Publisher::SharedPtr loaded_pcd_pub_; diff --git a/localization/ndt_scan_matcher/include/ndt_scan_matcher/ndt_scan_matcher_core.hpp b/localization/ndt_scan_matcher/include/ndt_scan_matcher/ndt_scan_matcher_core.hpp index 26c96ce7e3248..4f8042d106c75 100644 --- a/localization/ndt_scan_matcher/include/ndt_scan_matcher/ndt_scan_matcher_core.hpp +++ b/localization/ndt_scan_matcher/include/ndt_scan_matcher/ndt_scan_matcher_core.hpp @@ -18,6 +18,7 @@ #define FMT_HEADER_ONLY #include "localization_util/smart_pose_buffer.hpp" +#include "ndt_scan_matcher/diagnostics_module.hpp" #include "ndt_scan_matcher/hyper_parameters.hpp" #include "ndt_scan_matcher/map_update_module.hpp" @@ -62,6 +63,7 @@ #include #include #include +#include #include #include #include @@ -77,21 +79,32 @@ class NDTScanMatcher : public rclcpp::Node explicit NDTScanMatcher(const rclcpp::NodeOptions & options = rclcpp::NodeOptions()); private: - void service_ndt_align( - const tier4_localization_msgs::srv::PoseWithCovarianceStamped::Request::SharedPtr req, - tier4_localization_msgs::srv::PoseWithCovarianceStamped::Response::SharedPtr res); - void service_trigger_node( - const std_srvs::srv::SetBool::Request::SharedPtr req, - std_srvs::srv::SetBool::Response::SharedPtr res); - void callback_timer(); - void callback_sensor_points( - sensor_msgs::msg::PointCloud2::ConstSharedPtr sensor_points_msg_in_sensor_frame); + void callback_initial_pose( geometry_msgs::msg::PoseWithCovarianceStamped::ConstSharedPtr initial_pose_msg_ptr); + void callback_initial_pose_main( + const geometry_msgs::msg::PoseWithCovarianceStamped::ConstSharedPtr initial_pose_msg_ptr); + void callback_regularization_pose( geometry_msgs::msg::PoseWithCovarianceStamped::ConstSharedPtr pose_conv_msg_ptr); + void callback_sensor_points( + sensor_msgs::msg::PointCloud2::ConstSharedPtr sensor_points_msg_in_sensor_frame); + bool callback_sensor_points_main( + sensor_msgs::msg::PointCloud2::ConstSharedPtr sensor_points_msg_in_sensor_frame); + + void service_trigger_node( + const std_srvs::srv::SetBool::Request::SharedPtr req, + std_srvs::srv::SetBool::Response::SharedPtr res); + + void service_ndt_align( + const tier4_localization_msgs::srv::PoseWithCovarianceStamped::Request::SharedPtr req, + tier4_localization_msgs::srv::PoseWithCovarianceStamped::Response::SharedPtr res); + void service_ndt_align_main( + const tier4_localization_msgs::srv::PoseWithCovarianceStamped::Request::SharedPtr req, + tier4_localization_msgs::srv::PoseWithCovarianceStamped::Response::SharedPtr res); + geometry_msgs::msg::PoseWithCovarianceStamped align_pose( const geometry_msgs::msg::PoseWithCovarianceStamped & initial_pose_with_cov); @@ -116,11 +129,6 @@ class NDTScanMatcher : public rclcpp::Node const geometry_msgs::msg::PoseWithCovarianceStamped & initial_pose_old_msg, const geometry_msgs::msg::PoseWithCovarianceStamped & initial_pose_new_msg); - bool validate_num_iteration(const int iter_num, const int max_iter_num); - bool validate_score( - const double score, const double score_threshold, const std::string & score_name); - bool validate_converged_param( - const double & transform_probability, const double & nearest_voxel_transformation_likelihood); static int count_oscillation(const std::vector & result_pose_msg_array); std::array rotate_covariance( @@ -131,8 +139,6 @@ class NDTScanMatcher : public rclcpp::Node void add_regularization_pose(const rclcpp::Time & sensor_ros_time); - void publish_diagnostic(); - rclcpp::TimerBase::SharedPtr map_update_timer_; rclcpp::Subscription::SharedPtr initial_pose_sub_; rclcpp::Subscription::SharedPtr sensor_points_sub_; @@ -168,7 +174,6 @@ class NDTScanMatcher : public rclcpp::Node rclcpp::Publisher::SharedPtr ndt_marker_pub_; rclcpp::Publisher::SharedPtr ndt_monte_carlo_initial_pose_marker_pub_; - rclcpp::Publisher::SharedPtr diagnostics_pub_; rclcpp::Service::SharedPtr service_; rclcpp::Service::SharedPtr service_trigger_node_; @@ -180,7 +185,6 @@ class NDTScanMatcher : public rclcpp::Node rclcpp::CallbackGroup::SharedPtr timer_callback_group_; std::shared_ptr ndt_ptr_; - std::shared_ptr> state_ptr_; Eigen::Matrix4f base_to_sensor_matrix_; @@ -194,6 +198,12 @@ class NDTScanMatcher : public rclcpp::Node std::unique_ptr regularization_pose_buffer_; std::atomic is_activated_; + std::unique_ptr diagnostics_scan_points_; + std::unique_ptr diagnostics_initial_pose_; + std::unique_ptr diagnostics_regularization_pose_; + std::unique_ptr diagnostics_map_update_; + std::unique_ptr diagnostics_ndt_align_; + std::unique_ptr diagnostics_trigger_node_; std::unique_ptr map_update_module_; std::unique_ptr logger_configure_; diff --git a/localization/ndt_scan_matcher/launch/ndt_scan_matcher.launch.xml b/localization/ndt_scan_matcher/launch/ndt_scan_matcher.launch.xml index cbcb0a9f74bc4..671e2ace56cad 100644 --- a/localization/ndt_scan_matcher/launch/ndt_scan_matcher.launch.xml +++ b/localization/ndt_scan_matcher/launch/ndt_scan_matcher.launch.xml @@ -14,7 +14,7 @@ - + diff --git a/localization/ndt_scan_matcher/media/diagnostic_initial_pose_subscriber_status.png b/localization/ndt_scan_matcher/media/diagnostic_initial_pose_subscriber_status.png new file mode 100644 index 0000000000000..766888359ed8e Binary files /dev/null and b/localization/ndt_scan_matcher/media/diagnostic_initial_pose_subscriber_status.png differ diff --git a/localization/ndt_scan_matcher/media/diagnostic_map_update_status.png b/localization/ndt_scan_matcher/media/diagnostic_map_update_status.png new file mode 100644 index 0000000000000..0fe7016fe7e3c Binary files /dev/null and b/localization/ndt_scan_matcher/media/diagnostic_map_update_status.png differ diff --git a/localization/ndt_scan_matcher/media/diagnostic_ndt_align_service_status.png b/localization/ndt_scan_matcher/media/diagnostic_ndt_align_service_status.png new file mode 100644 index 0000000000000..e1da17966080f Binary files /dev/null and b/localization/ndt_scan_matcher/media/diagnostic_ndt_align_service_status.png differ diff --git a/localization/ndt_scan_matcher/media/diagnostic_regularization_pose_subscriber_status.png b/localization/ndt_scan_matcher/media/diagnostic_regularization_pose_subscriber_status.png new file mode 100644 index 0000000000000..6d777ff360481 Binary files /dev/null and b/localization/ndt_scan_matcher/media/diagnostic_regularization_pose_subscriber_status.png differ diff --git a/localization/ndt_scan_matcher/media/diagnostic_scan_matching_status.png b/localization/ndt_scan_matcher/media/diagnostic_scan_matching_status.png new file mode 100644 index 0000000000000..2687db23d4714 Binary files /dev/null and b/localization/ndt_scan_matcher/media/diagnostic_scan_matching_status.png differ diff --git a/localization/ndt_scan_matcher/media/diagnostic_trigger_node_service_status.png b/localization/ndt_scan_matcher/media/diagnostic_trigger_node_service_status.png new file mode 100644 index 0000000000000..178e2a8bf361f Binary files /dev/null and b/localization/ndt_scan_matcher/media/diagnostic_trigger_node_service_status.png differ diff --git a/localization/ndt_scan_matcher/package.xml b/localization/ndt_scan_matcher/package.xml index 0913ee04174f5..b62e810926331 100644 --- a/localization/ndt_scan_matcher/package.xml +++ b/localization/ndt_scan_matcher/package.xml @@ -22,13 +22,13 @@ diagnostic_msgs fmt geometry_msgs - libgoogle-glog-dev libpcl-all-dev localization_util nav_msgs ndt_omp pcl_conversions rclcpp + rclcpp_components sensor_msgs std_msgs std_srvs diff --git a/localization/ndt_scan_matcher/schema/sub/initial_pose_estimation.json b/localization/ndt_scan_matcher/schema/sub/initial_pose_estimation.json index 9817f3145bbd3..20250d05782f9 100644 --- a/localization/ndt_scan_matcher/schema/sub/initial_pose_estimation.json +++ b/localization/ndt_scan_matcher/schema/sub/initial_pose_estimation.json @@ -14,7 +14,7 @@ "n_startup_trials": { "type": "number", "description": "The number of initial random trials in the TPE (Tree-Structured Parzen Estimator). This value should be equal to or less than 'initial_estimate_particles_num' and more than 0. If it is equal to 'initial_estimate_particles_num', the search will be the same as a full random search.", - "default": 20, + "default": 100, "minimum": 1 } }, diff --git a/localization/ndt_scan_matcher/src/diagnostics_module.cpp b/localization/ndt_scan_matcher/src/diagnostics_module.cpp new file mode 100644 index 0000000000000..1e08ebb89f51e --- /dev/null +++ b/localization/ndt_scan_matcher/src/diagnostics_module.cpp @@ -0,0 +1,105 @@ +// Copyright 2023 Autoware Foundation +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "ndt_scan_matcher/diagnostics_module.hpp" + +#include + +#include + +#include +#include + +DiagnosticsModule::DiagnosticsModule(rclcpp::Node * node, const std::string & diagnostic_name) +: clock_(node->get_clock()) +{ + diagnostics_pub_ = + node->create_publisher("/diagnostics", 10); + + diagnostics_status_msg_.name = + std::string(node->get_name()) + std::string(": ") + diagnostic_name; + diagnostics_status_msg_.hardware_id = node->get_name(); +} + +void DiagnosticsModule::clear() +{ + diagnostics_status_msg_.values.clear(); + diagnostics_status_msg_.values.shrink_to_fit(); + + diagnostics_status_msg_.level = diagnostic_msgs::msg::DiagnosticStatus::OK; + diagnostics_status_msg_.message = ""; +} + +void DiagnosticsModule::addKeyValue(const diagnostic_msgs::msg::KeyValue & key_value_msg) +{ + auto it = std::find_if( + std::begin(diagnostics_status_msg_.values), std::end(diagnostics_status_msg_.values), + [key_value_msg](const auto & arg) { return arg.key == key_value_msg.key; }); + + if (it != std::cend(diagnostics_status_msg_.values)) { + it->value = key_value_msg.value; + } else { + diagnostics_status_msg_.values.push_back(key_value_msg); + } +} + +template <> +void DiagnosticsModule::addKeyValue(const std::string & key, const std::string & value) +{ + diagnostic_msgs::msg::KeyValue key_value; + key_value.key = key; + key_value.value = value; + addKeyValue(key_value); +} + +template <> +void DiagnosticsModule::addKeyValue(const std::string & key, const bool & value) +{ + diagnostic_msgs::msg::KeyValue key_value; + key_value.key = key; + key_value.value = value ? "True" : "False"; + addKeyValue(key_value); +} + +void DiagnosticsModule::updateLevelAndMessage(const int8_t level, const std::string & message) +{ + if ((level > diagnostic_msgs::msg::DiagnosticStatus::OK)) { + if (!diagnostics_status_msg_.message.empty()) { + diagnostics_status_msg_.message += "; "; + } + diagnostics_status_msg_.message += message; + } + if (level > diagnostics_status_msg_.level) { + diagnostics_status_msg_.level = level; + } +} + +void DiagnosticsModule::publish(const rclcpp::Time & publish_time_stamp) +{ + diagnostics_pub_->publish(createDiagnosticsArray(publish_time_stamp)); +} + +diagnostic_msgs::msg::DiagnosticArray DiagnosticsModule::createDiagnosticsArray( + const rclcpp::Time & publish_time_stamp) const +{ + diagnostic_msgs::msg::DiagnosticArray diagnostics_msg; + diagnostics_msg.header.stamp = publish_time_stamp; + diagnostics_msg.status.push_back(diagnostics_status_msg_); + + if (diagnostics_msg.status.at(0).level == diagnostic_msgs::msg::DiagnosticStatus::OK) { + diagnostics_msg.status.at(0).message = "OK"; + } + + return diagnostics_msg; +} diff --git a/localization/ndt_scan_matcher/src/map_update_module.cpp b/localization/ndt_scan_matcher/src/map_update_module.cpp index ca56a93cec859..40f0b1f4465fa 100644 --- a/localization/ndt_scan_matcher/src/map_update_module.cpp +++ b/localization/ndt_scan_matcher/src/map_update_module.cpp @@ -34,7 +34,10 @@ MapUpdateModule::MapUpdateModule( if (ndt_ptr_) { *secondary_ndt_ptr_ = *ndt_ptr_; } else { - RCLCPP_ERROR_STREAM_THROTTLE(logger_, *clock_, 1000, "Attempt to update a null NDT pointer."); + std::stringstream message; + message << "Error at MapUpdateModule::MapUpdateModule." + << "`ndt_ptr_` is a null NDT pointer."; + throw std::runtime_error(message.str()); } // Initially, a direct map update on ndt_ptr_ is needed. @@ -45,7 +48,39 @@ MapUpdateModule::MapUpdateModule( need_rebuild_ = true; } -bool MapUpdateModule::should_update_map(const geometry_msgs::msg::Point & position) +void MapUpdateModule::callback_timer( + const bool is_activated, const std::optional & position, + std::unique_ptr & diagnostics_ptr) +{ + // check is_activated + diagnostics_ptr->addKeyValue("is_activated", is_activated); + if (!is_activated) { + std::stringstream message; + message << "Node is not activated."; + diagnostics_ptr->updateLevelAndMessage( + diagnostic_msgs::msg::DiagnosticStatus::WARN, message.str()); + return; + } + + // check is_set_last_update_position + const bool is_set_last_update_position = (position != std::nullopt); + diagnostics_ptr->addKeyValue("is_set_last_update_position", is_set_last_update_position); + if (!is_set_last_update_position) { + std::stringstream message; + message << "Cannot find the reference position for map update." + << "Please check if the EKF odometry is provided to NDT."; + diagnostics_ptr->updateLevelAndMessage( + diagnostic_msgs::msg::DiagnosticStatus::WARN, message.str()); + return; + } + + if (should_update_map(position.value(), diagnostics_ptr)) { + update_map(position.value(), diagnostics_ptr); + } +} + +bool MapUpdateModule::should_update_map( + const geometry_msgs::msg::Point & position, std::unique_ptr & diagnostics_ptr) { if (last_update_position_ == std::nullopt) { need_rebuild_ = true; @@ -55,8 +90,15 @@ bool MapUpdateModule::should_update_map(const geometry_msgs::msg::Point & positi const double dx = position.x - last_update_position_.value().x; const double dy = position.y - last_update_position_.value().y; const double distance = std::hypot(dx, dy); + + // check distance_last_update_position_to_current_position + diagnostics_ptr->addKeyValue("distance_last_update_position_to_current_position", distance); if (distance + param_.lidar_radius > param_.map_radius) { - RCLCPP_ERROR_STREAM_THROTTLE(logger_, *clock_, 1000, "Dynamic map loading is not keeping up."); + std::stringstream message; + message << "Dynamic map loading is not keeping up."; + diagnostics_ptr->updateLevelAndMessage( + diagnostic_msgs::msg::DiagnosticStatus::ERROR, message.str()); + // If the map does not keep up with the current position, // lock ndt_ptr_ entirely until it is fully rebuilt. need_rebuild_ = true; @@ -65,8 +107,11 @@ bool MapUpdateModule::should_update_map(const geometry_msgs::msg::Point & positi return distance > param_.update_distance; } -void MapUpdateModule::update_map(const geometry_msgs::msg::Point & position) +void MapUpdateModule::update_map( + const geometry_msgs::msg::Point & position, std::unique_ptr & diagnostics_ptr) { + diagnostics_ptr->addKeyValue("is_need_rebuild", need_rebuild_); + // If the current position is super far from the previous loading position, // lock and rebuild ndt_ptr_ if (need_rebuild_) { @@ -82,25 +127,37 @@ void MapUpdateModule::update_map(const geometry_msgs::msg::Point & position) ndt_ptr_->setInputSource(input_source); } - const bool updated = update_ndt(position, *ndt_ptr_); + const bool updated = update_ndt(position, *ndt_ptr_, diagnostics_ptr); + + // check is_updated_map + diagnostics_ptr->addKeyValue("is_updated_map", updated); if (!updated) { - RCLCPP_ERROR_STREAM_THROTTLE( - logger_, *clock_, 1000, - "update_ndt failed. If this happens with initial position estimation, make sure that" - "(1) the initial position matches the pcd map and (2) the map_loader is working properly."); + std::stringstream message; + message + << "update_ndt failed. If this happens with initial position estimation, make sure that" + << "(1) the initial position matches the pcd map and (2) the map_loader is working " + "properly."; + diagnostics_ptr->updateLevelAndMessage( + diagnostic_msgs::msg::DiagnosticStatus::ERROR, message.str()); + RCLCPP_ERROR_STREAM_THROTTLE(logger_, *clock_, 1000, message.str()); last_update_position_ = position; ndt_ptr_mutex_->unlock(); return; } + ndt_ptr_mutex_->unlock(); need_rebuild_ = false; + } else { // Load map to the secondary_ndt_ptr, which does not require a mutex lock // Since the update of the secondary ndt ptr and the NDT align (done on // the main ndt_ptr_) overlap, the latency of updating/alignment reduces partly. // If the updating is done the main ndt_ptr_, either the update or the NDT // align will be blocked by the other. - const bool updated = update_ndt(position, *secondary_ndt_ptr_); + const bool updated = update_ndt(position, *secondary_ndt_ptr_, diagnostics_ptr); + + // check is_updated_map + diagnostics_ptr->addKeyValue("is_updated_map", updated); if (!updated) { last_update_position_ = position; return; @@ -128,8 +185,12 @@ void MapUpdateModule::update_map(const geometry_msgs::msg::Point & position) publish_partial_pcd_map(); } -bool MapUpdateModule::update_ndt(const geometry_msgs::msg::Point & position, NdtType & ndt) +bool MapUpdateModule::update_ndt( + const geometry_msgs::msg::Point & position, NdtType & ndt, + std::unique_ptr & diagnostics_ptr) { + diagnostics_ptr->addKeyValue("maps_size_before", ndt.getCurrentMapIDs().size()); + auto request = std::make_shared(); request->area.center_x = static_cast(position.x); @@ -138,7 +199,13 @@ bool MapUpdateModule::update_ndt(const geometry_msgs::msg::Point & position, Ndt request->cached_ids = ndt.getCurrentMapIDs(); while (!pcd_loader_client_->wait_for_service(std::chrono::seconds(1)) && rclcpp::ok()) { - RCLCPP_INFO(logger_, "Waiting for pcd loader service. Check the pointcloud_map_loader."); + diagnostics_ptr->addKeyValue("is_succeed_call_pcd_loader", false); + + std::stringstream message; + message << "Waiting for pcd loader service. Check the pointcloud_map_loader."; + diagnostics_ptr->updateLevelAndMessage( + diagnostic_msgs::msg::DiagnosticStatus::WARN, message.str()); + return false; } // send a request to map_loader @@ -148,20 +215,27 @@ bool MapUpdateModule::update_ndt(const geometry_msgs::msg::Point & position, Ndt std::future_status status = result.wait_for(std::chrono::seconds(0)); while (status != std::future_status::ready) { - RCLCPP_INFO(logger_, "waiting response"); + // check is_succeed_call_pcd_loader if (!rclcpp::ok()) { + diagnostics_ptr->addKeyValue("is_succeed_call_pcd_loader", false); + + std::stringstream message; + message << "pcd_loader service is not working."; + diagnostics_ptr->updateLevelAndMessage( + diagnostic_msgs::msg::DiagnosticStatus::WARN, message.str()); return false; // No update } status = result.wait_for(std::chrono::seconds(1)); } + diagnostics_ptr->addKeyValue("is_succeed_call_pcd_loader", true); auto & maps_to_add = result.get()->new_pointcloud_with_ids; auto & map_ids_to_remove = result.get()->ids_to_remove; - RCLCPP_INFO( - logger_, "Update map (Add: %lu, Remove: %lu)", maps_to_add.size(), map_ids_to_remove.size()); + diagnostics_ptr->addKeyValue("maps_to_add_size", maps_to_add.size()); + diagnostics_ptr->addKeyValue("maps_to_remove_size", map_ids_to_remove.size()); + if (maps_to_add.empty() && map_ids_to_remove.empty()) { - RCLCPP_INFO(logger_, "Skip map update"); return false; // No update } @@ -187,7 +261,9 @@ bool MapUpdateModule::update_ndt(const geometry_msgs::msg::Point & position, Ndt const auto duration_micro_sec = std::chrono::duration_cast(exe_end_time - exe_start_time).count(); const auto exe_time = static_cast(duration_micro_sec) / 1000.0; - RCLCPP_DEBUG(logger_, "Time duration for creating new ndt_ptr: %lf [ms]", exe_time); + diagnostics_ptr->addKeyValue("map_update_execution_time", exe_time); + diagnostics_ptr->addKeyValue("maps_size_after", ndt.getCurrentMapIDs().size()); + diagnostics_ptr->addKeyValue("is_succeed_call_pcd_loader", true); return true; // Updated } diff --git a/localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp b/localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp index ba4190d9f66fb..8acfe3bd5c1ca 100644 --- a/localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp +++ b/localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp @@ -22,8 +22,6 @@ #include #include -#include - #include #ifdef ROS_DISTRO_GALACTIC @@ -70,12 +68,9 @@ NDTScanMatcher::NDTScanMatcher(const rclcpp::NodeOptions & options) tf2_buffer_(this->get_clock()), tf2_listener_(tf2_buffer_), ndt_ptr_(new NormalDistributionsTransform), - state_ptr_(new std::map), is_activated_(false), param_(this) { - (*state_ptr_)["state"] = "Initializing"; - timer_callback_group_ = this->create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive); rclcpp::CallbackGroup::SharedPtr initial_pose_callback_group = this->create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive); @@ -117,6 +112,9 @@ NDTScanMatcher::NDTScanMatcher(const rclcpp::NodeOptions & options) const double value_as_unlimited = 1000.0; regularization_pose_buffer_ = std::make_unique(this->get_logger(), value_as_unlimited, value_as_unlimited); + + diagnostics_regularization_pose_ = + std::make_unique(this, "regularization_pose_subscriber_status"); } sensor_aligned_pose_pub_ = @@ -158,8 +156,6 @@ NDTScanMatcher::NDTScanMatcher(const rclcpp::NodeOptions & options) this->create_publisher( "initial_to_result_distance_new", 10); ndt_marker_pub_ = this->create_publisher("ndt_marker", 10); - diagnostics_pub_ = - this->create_publisher("/diagnostics", 10); ndt_monte_carlo_initial_pose_marker_pub_ = this->create_publisher( "monte_carlo_initial_pose_marker", 10); @@ -184,112 +180,73 @@ NDTScanMatcher::NDTScanMatcher(const rclcpp::NodeOptions & options) map_update_module_ = std::make_unique(this, &ndt_ptr_mtx_, ndt_ptr_, param_.dynamic_map_loading); + diagnostics_scan_points_ = std::make_unique(this, "scan_matching_status"); + diagnostics_initial_pose_ = + std::make_unique(this, "initial_pose_subscriber_status"); + diagnostics_map_update_ = std::make_unique(this, "map_update_status"); + diagnostics_ndt_align_ = std::make_unique(this, "ndt_align_service_status"); + diagnostics_trigger_node_ = + std::make_unique(this, "trigger_node_service_status"); + logger_configure_ = std::make_unique(this); } -void NDTScanMatcher::publish_diagnostic() +void NDTScanMatcher::callback_timer() { - diagnostic_msgs::msg::DiagnosticStatus diag_status_msg; - diag_status_msg.name = "ndt_scan_matcher"; - diag_status_msg.hardware_id = ""; - - for (const auto & key_value : (*state_ptr_)) { - diagnostic_msgs::msg::KeyValue key_value_msg; - key_value_msg.key = key_value.first; - key_value_msg.value = key_value.second; - diag_status_msg.values.push_back(key_value_msg); - } - - diag_status_msg.level = diagnostic_msgs::msg::DiagnosticStatus::OK; - diag_status_msg.message = ""; - if (state_ptr_->count("state") && (*state_ptr_)["state"] == "Initializing") { - diag_status_msg.level = diagnostic_msgs::msg::DiagnosticStatus::WARN; - diag_status_msg.message += "Initializing State. "; - } - if ( - state_ptr_->count("lidar_topic_delay_time_sec") && - std::stod((*state_ptr_)["lidar_topic_delay_time_sec"]) > - param_.validation.lidar_topic_timeout_sec) { - diag_status_msg.level = diagnostic_msgs::msg::DiagnosticStatus::WARN; - diag_status_msg.message += "lidar_topic_delay_time_sec exceed limit. "; - } - if ( - state_ptr_->count("skipping_publish_num") && - std::stoi((*state_ptr_)["skipping_publish_num"]) > 1 && - std::stoi((*state_ptr_)["skipping_publish_num"]) < 5) { - diag_status_msg.level = diagnostic_msgs::msg::DiagnosticStatus::WARN; - diag_status_msg.message += "skipping_publish_num > 1. "; - } - if ( - state_ptr_->count("skipping_publish_num") && - std::stoi((*state_ptr_)["skipping_publish_num"]) >= 5) { - diag_status_msg.level = diagnostic_msgs::msg::DiagnosticStatus::ERROR; - diag_status_msg.message += "skipping_publish_num exceed limit. "; - } - if ( - state_ptr_->count("nearest_voxel_transformation_likelihood") && - std::stod((*state_ptr_)["nearest_voxel_transformation_likelihood"]) < - param_.score_estimation.converged_param_nearest_voxel_transformation_likelihood) { - diag_status_msg.level = diagnostic_msgs::msg::DiagnosticStatus::WARN; - diag_status_msg.message += "NDT score is unreliably low. "; - } - if ( - state_ptr_->count("execution_time") && std::stod((*state_ptr_)["execution_time"]) >= - param_.validation.critical_upper_bound_exe_time_ms) { - diag_status_msg.level = diagnostic_msgs::msg::DiagnosticStatus::WARN; - diag_status_msg.message += - "NDT exe time is too long. (took " + (*state_ptr_)["execution_time"] + " [ms])"; - } - // Ignore local optimal solution - if ( - state_ptr_->count("is_local_optimal_solution_oscillation") && - std::stoi((*state_ptr_)["is_local_optimal_solution_oscillation"])) { - diag_status_msg.level = diagnostic_msgs::msg::DiagnosticStatus::OK; - diag_status_msg.message = "local optimal solution oscillation occurred"; - } - - diagnostic_msgs::msg::DiagnosticArray diag_msg; - diag_msg.header.stamp = this->now(); - diag_msg.status.push_back(diag_status_msg); - - diagnostics_pub_->publish(diag_msg); + const rclcpp::Time ros_time_now = this->now(); + + diagnostics_map_update_->clear(); + + diagnostics_map_update_->addKeyValue("timer_callback_time_stamp", ros_time_now.nanoseconds()); + + map_update_module_->callback_timer(is_activated_, latest_ekf_position_, diagnostics_map_update_); + + diagnostics_map_update_->publish(ros_time_now); } -void NDTScanMatcher::callback_timer() +void NDTScanMatcher::callback_initial_pose( + const geometry_msgs::msg::PoseWithCovarianceStamped::ConstSharedPtr initial_pose_msg_ptr) { - if (!is_activated_) { - return; - } - std::lock_guard lock(latest_ekf_position_mtx_); - if (latest_ekf_position_ == std::nullopt) { - RCLCPP_ERROR_STREAM_THROTTLE( - this->get_logger(), *this->get_clock(), 1000, - "Cannot find the reference position for map update. Please check if the EKF odometry is " - "provided to NDT."); - return; - } - // continue only if we should update the map - if (map_update_module_->should_update_map(latest_ekf_position_.value())) { - RCLCPP_INFO(this->get_logger(), "Start updating NDT map (timer_callback)"); - map_update_module_->update_map(latest_ekf_position_.value()); - } + diagnostics_initial_pose_->clear(); + + callback_initial_pose_main(initial_pose_msg_ptr); + + diagnostics_initial_pose_->publish(initial_pose_msg_ptr->header.stamp); } -void NDTScanMatcher::callback_initial_pose( +void NDTScanMatcher::callback_initial_pose_main( const geometry_msgs::msg::PoseWithCovarianceStamped::ConstSharedPtr initial_pose_msg_ptr) { - if (!is_activated_) return; + diagnostics_initial_pose_->addKeyValue( + "topic_time_stamp", + static_cast(initial_pose_msg_ptr->header.stamp).nanoseconds()); - if (initial_pose_msg_ptr->header.frame_id == param_.frame.map_frame) { - initial_pose_buffer_->push_back(initial_pose_msg_ptr); - } else { - RCLCPP_ERROR_STREAM_THROTTLE( - get_logger(), *this->get_clock(), 1000, - "Received initial pose message with frame_id " - << initial_pose_msg_ptr->header.frame_id << ", but expected " << param_.frame.map_frame - << ". Please check the frame_id in the input topic and ensure it is correct."); + // check is_activated + diagnostics_initial_pose_->addKeyValue("is_activated", static_cast(is_activated_)); + if (!is_activated_) { + std::stringstream message; + message << "Node is not activated."; + diagnostics_initial_pose_->updateLevelAndMessage( + diagnostic_msgs::msg::DiagnosticStatus::WARN, message.str()); + return; } + // check is_expected_frame_id + const bool is_expected_frame_id = + (initial_pose_msg_ptr->header.frame_id == param_.frame.map_frame); + diagnostics_initial_pose_->addKeyValue("is_expected_frame_id", is_expected_frame_id); + if (!is_expected_frame_id) { + std::stringstream message; + message << "Received initial pose message with frame_id " + << initial_pose_msg_ptr->header.frame_id << ", but expected " << param_.frame.map_frame + << ". Please check the frame_id in the input topic and ensure it is correct."; + diagnostics_initial_pose_->updateLevelAndMessage( + diagnostic_msgs::msg::DiagnosticStatus::ERROR, message.str()); + return; + } + + initial_pose_buffer_->push_back(initial_pose_msg_ptr); + { // latest_ekf_position_ is also used by callback_timer, so it is necessary to acquire the lock std::lock_guard lock(latest_ekf_position_mtx_); @@ -300,41 +257,83 @@ void NDTScanMatcher::callback_initial_pose( void NDTScanMatcher::callback_regularization_pose( geometry_msgs::msg::PoseWithCovarianceStamped::ConstSharedPtr pose_conv_msg_ptr) { + diagnostics_regularization_pose_->clear(); + + diagnostics_regularization_pose_->addKeyValue( + "topic_time_stamp", static_cast(pose_conv_msg_ptr->header.stamp).nanoseconds()); + regularization_pose_buffer_->push_back(pose_conv_msg_ptr); + + diagnostics_regularization_pose_->publish(pose_conv_msg_ptr->header.stamp); } void NDTScanMatcher::callback_sensor_points( sensor_msgs::msg::PointCloud2::ConstSharedPtr sensor_points_msg_in_sensor_frame) { - if (sensor_points_msg_in_sensor_frame->data.empty()) { - RCLCPP_WARN_STREAM_THROTTLE(this->get_logger(), *this->get_clock(), 1, "Empty sensor points!"); - return; + // clear diagnostics + diagnostics_scan_points_->clear(); + + // scan matching + const bool is_succeed_scan_matching = + callback_sensor_points_main(sensor_points_msg_in_sensor_frame); + + // check skipping_publish_num + static size_t skipping_publish_num = 0; + const size_t error_skipping_publish_num = 5; + skipping_publish_num = + ((is_succeed_scan_matching || !is_activated_) ? 0 : (skipping_publish_num + 1)); + diagnostics_scan_points_->addKeyValue("skipping_publish_num", skipping_publish_num); + if (skipping_publish_num >= error_skipping_publish_num) { + std::stringstream message; + message << "skipping_publish_num exceed limit (" << skipping_publish_num << " times)."; + diagnostics_scan_points_->updateLevelAndMessage( + diagnostic_msgs::msg::DiagnosticStatus::WARN, message.str()); } + diagnostics_scan_points_->publish(sensor_points_msg_in_sensor_frame->header.stamp); +} + +bool NDTScanMatcher::callback_sensor_points_main( + sensor_msgs::msg::PointCloud2::ConstSharedPtr sensor_points_msg_in_sensor_frame) +{ + const auto exe_start_time = std::chrono::system_clock::now(); + + // check topic_time_stamp const rclcpp::Time sensor_ros_time = sensor_points_msg_in_sensor_frame->header.stamp; - const double lidar_topic_delay_time_sec = (this->now() - sensor_ros_time).seconds(); - (*state_ptr_)["lidar_topic_delay_time_sec"] = std::to_string(lidar_topic_delay_time_sec); + diagnostics_scan_points_->addKeyValue("topic_time_stamp", sensor_ros_time.nanoseconds()); + + // check sensor_points_size + const size_t sensor_points_size = sensor_points_msg_in_sensor_frame->width; + diagnostics_scan_points_->addKeyValue("sensor_points_size", sensor_points_size); + if (sensor_points_size == 0) { + std::stringstream message; + message << "Sensor points is empty."; + diagnostics_scan_points_->updateLevelAndMessage( + diagnostic_msgs::msg::DiagnosticStatus::WARN, message.str()); + return false; + } - if (lidar_topic_delay_time_sec > param_.validation.lidar_topic_timeout_sec) { - RCLCPP_WARN( - this->get_logger(), - "The LiDAR topic is experiencing latency. The delay time is %lf[sec] (the tolerance is " - "%lf[sec])", - lidar_topic_delay_time_sec, param_.validation.lidar_topic_timeout_sec); + // check sensor_points_delay_time_sec + const double sensor_points_delay_time_sec = + (this->now() - sensor_points_msg_in_sensor_frame->header.stamp).seconds(); + diagnostics_scan_points_->addKeyValue( + "sensor_points_delay_time_sec", sensor_points_delay_time_sec); + if (sensor_points_delay_time_sec > param_.validation.lidar_topic_timeout_sec) { + std::stringstream message; + message << "sensor points is experiencing latency." + << "The delay time is " << sensor_points_delay_time_sec << "[sec] " + << "(the tolerance is " << param_.validation.lidar_topic_timeout_sec << "[sec])."; + diagnostics_scan_points_->updateLevelAndMessage( + diagnostic_msgs::msg::DiagnosticStatus::WARN, message.str()); // If the delay time of the LiDAR topic exceeds the delay compensation time of ekf_localizer, // even if further processing continues, the estimated result will be rejected by ekf_localizer. // Therefore, it would be acceptable to exit the function here. // However, for now, we will continue the processing as it is. - // return; + // return false; } - // mutex ndt_ptr_ - std::lock_guard lock(ndt_ptr_mtx_); - - const auto exe_start_time = std::chrono::system_clock::now(); - // preprocess input pointcloud pcl::shared_ptr> sensor_points_in_sensor_frame( new pcl::PointCloud); @@ -343,34 +342,73 @@ void NDTScanMatcher::callback_sensor_points( const std::string & sensor_frame = sensor_points_msg_in_sensor_frame->header.frame_id; pcl::fromROSMsg(*sensor_points_msg_in_sensor_frame, *sensor_points_in_sensor_frame); - transform_sensor_measurement( - sensor_frame, param_.frame.base_frame, sensor_points_in_sensor_frame, - sensor_points_in_baselink_frame); - // check max distance of sensor points + // transform sensor points from sensor-frame to base_link + try { + transform_sensor_measurement( + sensor_frame, param_.frame.base_frame, sensor_points_in_sensor_frame, + sensor_points_in_baselink_frame); + } catch (const std::exception & ex) { + std::stringstream message; + message << ex.what() << ". Please publish TF " << sensor_frame << " to " + << param_.frame.base_frame; + diagnostics_scan_points_->updateLevelAndMessage( + diagnostic_msgs::msg::DiagnosticStatus::ERROR, message.str()); + RCLCPP_ERROR_STREAM_THROTTLE(this->get_logger(), *this->get_clock(), 1000, message.str()); + diagnostics_scan_points_->addKeyValue("is_succeed_transform_sensor_points", false); + return false; + } + diagnostics_scan_points_->addKeyValue("is_succeed_transform_sensor_points", true); + + // check sensor_points_max_distance double max_distance = 0.0; for (const auto & point : sensor_points_in_baselink_frame->points) { const double distance = std::hypot(point.x, point.y, point.z); max_distance = std::max(max_distance, distance); } + + diagnostics_scan_points_->addKeyValue("sensor_points_max_distance", max_distance); if (max_distance < param_.sensor_points.required_distance) { - RCLCPP_WARN_STREAM( - this->get_logger(), "Max distance of sensor points = " - << std::fixed << std::setprecision(3) << max_distance << " [m] < " - << param_.sensor_points.required_distance << " [m]"); - return; + std::stringstream message; + message << "Max distance of sensor points = " << std::fixed << std::setprecision(3) + << max_distance << " [m] < " << param_.sensor_points.required_distance << " [m]"; + diagnostics_scan_points_->updateLevelAndMessage( + diagnostic_msgs::msg::DiagnosticStatus::WARN, message.str()); + return false; } + // lock mutex + std::lock_guard lock(ndt_ptr_mtx_); + + // set sensor points to ndt class ndt_ptr_->setInputSource(sensor_points_in_baselink_frame); - if (!is_activated_) return; + + // check is_activated + diagnostics_scan_points_->addKeyValue("is_activated", static_cast(is_activated_)); + if (!is_activated_) { + std::stringstream message; + message << "Node is not activated."; + diagnostics_scan_points_->updateLevelAndMessage( + diagnostic_msgs::msg::DiagnosticStatus::WARN, message.str()); + return false; + } // calculate initial pose std::optional interpolation_result_opt = initial_pose_buffer_->interpolate(sensor_ros_time); - if (!interpolation_result_opt) { - RCLCPP_WARN_STREAM_THROTTLE(this->get_logger(), *this->get_clock(), 1, "No interpolated pose!"); - return; + + // check is_succeed_interpolate_initial_pose + const bool is_succeed_interpolate_initial_pose = (interpolation_result_opt != std::nullopt); + diagnostics_scan_points_->addKeyValue( + "is_succeed_interpolate_initial_pose", is_succeed_interpolate_initial_pose); + if (!is_succeed_interpolate_initial_pose) { + std::stringstream message; + message << "Couldn't interpolate pose. Please check the initial pose topic"; + diagnostics_scan_points_->updateLevelAndMessage( + diagnostic_msgs::msg::DiagnosticStatus::WARN, message.str()); + return false; } + initial_pose_buffer_->pop_old(sensor_ros_time); const SmartPoseBuffer::InterpolateResult & interpolation_result = interpolation_result_opt.value(); @@ -380,9 +418,15 @@ void NDTScanMatcher::callback_sensor_points( add_regularization_pose(sensor_ros_time); } - if (ndt_ptr_->getInputTarget() == nullptr) { - RCLCPP_WARN_STREAM_THROTTLE(this->get_logger(), *this->get_clock(), 1, "No MAP!"); - return; + // check is_set_map_points + const bool is_set_map_points = (ndt_ptr_->getInputTarget() != nullptr); + diagnostics_scan_points_->addKeyValue("is_set_map_points", is_set_map_points); + if (!is_set_map_points) { + std::stringstream message; + message << "Map points is not set."; + diagnostics_scan_points_->updateLevelAndMessage( + diagnostic_msgs::msg::DiagnosticStatus::WARN, message.str()); + return false; } // perform ndt scan matching @@ -399,26 +443,65 @@ void NDTScanMatcher::callback_sensor_points( transformation_msg_array.push_back(pose_ros); } - // perform several validations - bool is_ok_iteration_num = - validate_num_iteration(ndt_result.iteration_num, ndt_ptr_->getMaximumIterations()); - const int oscillation_num = count_oscillation(transformation_msg_array); - bool is_local_optimal_solution_oscillation = false; + // check iteration_num + diagnostics_scan_points_->addKeyValue("iteration_num", ndt_result.iteration_num); + const bool is_ok_iteration_num = (ndt_result.iteration_num < ndt_ptr_->getMaximumIterations()); if (!is_ok_iteration_num) { - constexpr int oscillation_threshold = 10; - is_local_optimal_solution_oscillation = (oscillation_num > oscillation_threshold); + std::stringstream message; + message << "The number of iterations has reached its upper limit. The number of iterations: " + << ndt_result.iteration_num << ", Limit: " << ndt_ptr_->getMaximumIterations() << "."; + diagnostics_scan_points_->updateLevelAndMessage( + diagnostic_msgs::msg::DiagnosticStatus::WARN, message.str()); } - bool is_ok_converged_param = validate_converged_param( - ndt_result.transform_probability, ndt_result.nearest_voxel_transformation_likelihood); - bool is_converged = is_ok_iteration_num && is_ok_converged_param; - static size_t skipping_publish_num = 0; - if (is_converged) { - skipping_publish_num = 0; + + // check local_optimal_solution_oscillation_num + constexpr int oscillation_num_threshold = 10; + const int oscillation_num = count_oscillation(transformation_msg_array); + diagnostics_scan_points_->addKeyValue("local_optimal_solution_oscillation_num", oscillation_num); + const bool is_local_optimal_solution_oscillation = (oscillation_num > oscillation_num_threshold); + if (is_local_optimal_solution_oscillation) { + std::stringstream message; + message << "There is a possibility of oscillation in a local minimum"; + diagnostics_scan_points_->updateLevelAndMessage( + diagnostic_msgs::msg::DiagnosticStatus::WARN, message.str()); + } + + // check score + diagnostics_scan_points_->addKeyValue("transform_probability", ndt_result.transform_probability); + diagnostics_scan_points_->addKeyValue( + "nearest_voxel_transformation_likelihood", ndt_result.nearest_voxel_transformation_likelihood); + double score = 0.0; + double score_threshold = 0.0; + if (param_.score_estimation.converged_param_type == ConvergedParamType::TRANSFORM_PROBABILITY) { + score = ndt_result.transform_probability; + score_threshold = param_.score_estimation.converged_param_transform_probability; + } else if ( + param_.score_estimation.converged_param_type == + ConvergedParamType::NEAREST_VOXEL_TRANSFORMATION_LIKELIHOOD) { + score = ndt_result.nearest_voxel_transformation_likelihood; + score_threshold = + param_.score_estimation.converged_param_nearest_voxel_transformation_likelihood; } else { - ++skipping_publish_num; - RCLCPP_WARN(get_logger(), "Not Converged"); + std::stringstream message; + message << "Unknown converged param type. Please check `score_estimation.converged_param_type`"; + diagnostics_scan_points_->updateLevelAndMessage( + diagnostic_msgs::msg::DiagnosticStatus::ERROR, message.str()); + return false; } + bool is_ok_score = (score > score_threshold); + if (!is_ok_score) { + std::stringstream message; + message << "Score is below the threshold. Score: " << score + << ", Threshold: " << score_threshold; + diagnostics_scan_points_->updateLevelAndMessage( + diagnostic_msgs::msg::DiagnosticStatus::WARN, message.str()); + RCLCPP_WARN_STREAM(this->get_logger(), message.str()); + } + + // check is_converged + bool is_converged = (is_ok_iteration_num || is_local_optimal_solution_oscillation) && is_ok_score; + // covariance estimation const Eigen::Quaterniond map_to_base_link_quat = Eigen::Quaterniond( result_pose_msg.orientation.w, result_pose_msg.orientation.x, result_pose_msg.orientation.y, @@ -435,10 +518,31 @@ void NDTScanMatcher::callback_sensor_points( ndt_covariance = estimated_covariance; } + // check distance_initial_to_result + const auto distance_initial_to_result = static_cast( + norm(interpolation_result.interpolated_pose.pose.pose.position, result_pose_msg.position)); + diagnostics_scan_points_->addKeyValue("distance_initial_to_result", distance_initial_to_result); + const double warn_distance_initial_to_result = 3.0; + if (distance_initial_to_result > warn_distance_initial_to_result) { + std::stringstream message; + message << "distance_initial_to_result is too large (" << distance_initial_to_result + << " [m])."; + diagnostics_scan_points_->updateLevelAndMessage( + diagnostic_msgs::msg::DiagnosticStatus::WARN, message.str()); + } + + // check execution_time const auto exe_end_time = std::chrono::system_clock::now(); const auto duration_micro_sec = std::chrono::duration_cast(exe_end_time - exe_start_time).count(); const auto exe_time = static_cast(duration_micro_sec) / 1000.0f; + diagnostics_scan_points_->addKeyValue("execution_time", exe_time); + if (exe_time > param_.validation.critical_upper_bound_exe_time_ms) { + std::stringstream message; + message << "NDT exe time is too long (took " << exe_time << " [ms])."; + diagnostics_scan_points_->updateLevelAndMessage( + diagnostic_msgs::msg::DiagnosticStatus::WARN, message.str()); + } // publish initial_pose_with_covariance_pub_->publish(interpolation_result.interpolated_pose); @@ -492,18 +596,7 @@ void NDTScanMatcher::callback_sensor_points( make_float32_stamped(sensor_ros_time, no_ground_nearest_voxel_transformation_likelihood)); } - (*state_ptr_)["state"] = "Aligned"; - (*state_ptr_)["transform_probability"] = std::to_string(ndt_result.transform_probability); - (*state_ptr_)["nearest_voxel_transformation_likelihood"] = - std::to_string(ndt_result.nearest_voxel_transformation_likelihood); - (*state_ptr_)["iteration_num"] = std::to_string(ndt_result.iteration_num); - (*state_ptr_)["skipping_publish_num"] = std::to_string(skipping_publish_num); - (*state_ptr_)["oscillation_count"] = std::to_string(oscillation_num); - (*state_ptr_)["is_local_optimal_solution_oscillation"] = - std::to_string(is_local_optimal_solution_oscillation); - (*state_ptr_)["execution_time"] = std::to_string(exe_time); - - publish_diagnostic(); + return is_converged; } void NDTScanMatcher::transform_sensor_measurement( @@ -520,12 +613,7 @@ void NDTScanMatcher::transform_sensor_measurement( try { transform = tf2_buffer_.lookupTransform(target_frame, source_frame, tf2::TimePointZero); } catch (tf2::TransformException & ex) { - RCLCPP_WARN(this->get_logger(), "%s", ex.what()); - RCLCPP_WARN( - this->get_logger(), "Please publish TF %s to %s", target_frame.c_str(), source_frame.c_str()); - // Since there is no clear error handling policy, temporarily return as is. - sensor_points_output_ptr = sensor_points_input_ptr; - return; + throw; } const geometry_msgs::msg::PoseStamped target_to_source_pose_stamped = @@ -638,54 +726,6 @@ void NDTScanMatcher::publish_initial_to_result( make_float32_stamped(sensor_ros_time, initial_to_result_distance_new)); } -bool NDTScanMatcher::validate_num_iteration(const int iter_num, const int max_iter_num) -{ - bool is_ok_iter_num = iter_num < max_iter_num; - if (!is_ok_iter_num) { - RCLCPP_WARN( - get_logger(), - "The number of iterations has reached its upper limit. The number of iterations: %d, Limit: " - "%d", - iter_num, max_iter_num); - } - return is_ok_iter_num; -} - -bool NDTScanMatcher::validate_score( - const double score, const double score_threshold, const std::string & score_name) -{ - bool is_ok_score = score > score_threshold; - if (!is_ok_score) { - RCLCPP_WARN( - get_logger(), "%s is below the threshold. Score: %lf, Threshold: %lf", score_name.c_str(), - score, score_threshold); - } - return is_ok_score; -} - -bool NDTScanMatcher::validate_converged_param( - const double & transform_probability, const double & nearest_voxel_transformation_likelihood) -{ - bool is_ok_converged_param = false; - if (param_.score_estimation.converged_param_type == ConvergedParamType::TRANSFORM_PROBABILITY) { - is_ok_converged_param = validate_score( - transform_probability, param_.score_estimation.converged_param_transform_probability, - "Transform Probability"); - } else if ( - param_.score_estimation.converged_param_type == - ConvergedParamType::NEAREST_VOXEL_TRANSFORMATION_LIKELIHOOD) { - is_ok_converged_param = validate_score( - nearest_voxel_transformation_likelihood, - param_.score_estimation.converged_param_nearest_voxel_transformation_likelihood, - "Nearest Voxel Transformation Likelihood"); - } else { - is_ok_converged_param = false; - RCLCPP_ERROR_STREAM_THROTTLE( - this->get_logger(), *this->get_clock(), 1, "Unknown converged param type."); - } - return is_ok_converged_param; -} - int NDTScanMatcher::count_oscillation( const std::vector & result_pose_msg_array) { @@ -744,7 +784,10 @@ std::array NDTScanMatcher::estimate_covariance( rot = find_rotation_matrix_aligning_covariance_to_principal_axes( ndt_result.hessian.inverse().block(0, 0, 2, 2)); } catch (const std::exception & e) { - RCLCPP_WARN(get_logger(), "Error in Eigen solver: %s", e.what()); + std::stringstream message; + message << "Error in Eigen solver: " << e.what(); + RCLCPP_WARN_STREAM_THROTTLE(this->get_logger(), *this->get_clock(), 1000, message.str()); + return param_.covariance.output_pose_covariance; } @@ -822,23 +865,56 @@ void NDTScanMatcher::add_regularization_pose(const rclcpp::Time & sensor_ros_tim interpolation_result_opt.value(); const Eigen::Matrix4f pose = pose_to_matrix4f(interpolation_result.interpolated_pose.pose.pose); ndt_ptr_->setRegularizationPose(pose); - RCLCPP_DEBUG_STREAM(get_logger(), "Regularization pose is set to NDT"); } void NDTScanMatcher::service_trigger_node( const std_srvs::srv::SetBool::Request::SharedPtr req, std_srvs::srv::SetBool::Response::SharedPtr res) { + const rclcpp::Time ros_time_now = this->now(); + + diagnostics_trigger_node_->clear(); + diagnostics_trigger_node_->addKeyValue("service_call_time_stamp", ros_time_now.nanoseconds()); + is_activated_ = req->data; if (is_activated_) { initial_pose_buffer_->clear(); } res->success = true; + + diagnostics_trigger_node_->addKeyValue("is_activated", static_cast(is_activated_)); + diagnostics_trigger_node_->addKeyValue("is_succeed_service", res->success); + diagnostics_trigger_node_->publish(ros_time_now); } void NDTScanMatcher::service_ndt_align( const tier4_localization_msgs::srv::PoseWithCovarianceStamped::Request::SharedPtr req, tier4_localization_msgs::srv::PoseWithCovarianceStamped::Response::SharedPtr res) +{ + const rclcpp::Time ros_time_now = this->now(); + + diagnostics_ndt_align_->clear(); + + diagnostics_ndt_align_->addKeyValue("service_call_time_stamp", ros_time_now.nanoseconds()); + + service_ndt_align_main(req, res); + + // check is_succeed_service + bool is_succeed_service = res->success; + diagnostics_ndt_align_->addKeyValue("is_succeed_service", is_succeed_service); + if (!is_succeed_service) { + std::stringstream message; + message << "ndt_align_service is failed."; + diagnostics_ndt_align_->updateLevelAndMessage( + diagnostic_msgs::msg::DiagnosticStatus::WARN, message.str()); + } + + diagnostics_ndt_align_->publish(ros_time_now); +} + +void NDTScanMatcher::service_ndt_align_main( + const tier4_localization_msgs::srv::PoseWithCovarianceStamped::Request::SharedPtr req, + tier4_localization_msgs::srv::PoseWithCovarianceStamped::Response::SharedPtr res) { // get TF from pose_frame to map_frame const std::string & target_frame = param_.frame.map_frame; @@ -851,32 +927,50 @@ void NDTScanMatcher::service_ndt_align( // Note: Up to AWSIMv1.1.0, there is a known bug where the GNSS frame_id is incorrectly set to // "gnss_link" instead of "map". The ndt_align is designed to return identity when this issue // occurs. However, in the future, converting to a non-existent frame_id should be prohibited. - RCLCPP_WARN(this->get_logger(), "%s", ex.what()); - RCLCPP_WARN( - this->get_logger(), "Please publish TF %s to %s", target_frame.c_str(), source_frame.c_str()); - transform_s2t.header.stamp = get_clock()->now(); - transform_s2t.header.frame_id = target_frame; - transform_s2t.child_frame_id = source_frame; - transform_s2t.transform = tf2::toMsg(tf2::Transform::getIdentity()); + + diagnostics_ndt_align_->addKeyValue("is_succeed_transform_initial_pose", false); + + std::stringstream message; + message << "Please publish TF " << target_frame.c_str() << " to " << source_frame.c_str(); + diagnostics_ndt_align_->updateLevelAndMessage( + diagnostic_msgs::msg::DiagnosticStatus::ERROR, message.str()); + RCLCPP_ERROR_STREAM_THROTTLE(this->get_logger(), *this->get_clock(), 1000, message.str()); + res->success = false; + return; } + diagnostics_ndt_align_->addKeyValue("is_succeed_transform_initial_pose", true); // transform pose_frame to map_frame const auto initial_pose_msg_in_map_frame = transform(req->pose_with_covariance, transform_s2t); - map_update_module_->update_map(initial_pose_msg_in_map_frame.pose.pose.position); + map_update_module_->update_map( + initial_pose_msg_in_map_frame.pose.pose.position, diagnostics_ndt_align_); // mutex Map std::lock_guard lock(ndt_ptr_mtx_); - if (ndt_ptr_->getInputTarget() == nullptr) { + // check is_set_map_points + bool is_set_map_points = (ndt_ptr_->getInputTarget() != nullptr); + diagnostics_ndt_align_->addKeyValue("is_set_map_points", is_set_map_points); + if (!is_set_map_points) { + std::stringstream message; + message << "No InputTarget. Please check the map file and the map_loader service"; + diagnostics_ndt_align_->updateLevelAndMessage( + diagnostic_msgs::msg::DiagnosticStatus::WARN, message.str()); + RCLCPP_WARN_STREAM_THROTTLE(this->get_logger(), *this->get_clock(), 1000, message.str()); res->success = false; - RCLCPP_WARN( - get_logger(), "No InputTarget. Please check the map file and the map_loader service"); return; } - if (ndt_ptr_->getInputSource() == nullptr) { + // check is_set_sensor_points + bool is_set_sensor_points = (ndt_ptr_->getInputSource() != nullptr); + diagnostics_ndt_align_->addKeyValue("is_set_sensor_points", is_set_sensor_points); + if (!is_set_sensor_points) { + std::stringstream message; + message << "No InputSource. Please check the input lidar topic"; + diagnostics_ndt_align_->updateLevelAndMessage( + diagnostic_msgs::msg::DiagnosticStatus::WARN, message.str()); + RCLCPP_WARN_STREAM_THROTTLE(this->get_logger(), *this->get_clock(), 1000, message.str()); res->success = false; - RCLCPP_WARN(get_logger(), "No InputSource. Please check the input lidar topic"); return; } @@ -899,34 +993,20 @@ geometry_msgs::msg::PoseWithCovarianceStamped NDTScanMatcher::align_pose( const double stddev_roll = std::sqrt(covariance(3, 3)); const double stddev_pitch = std::sqrt(covariance(4, 4)); - // Let phi be the cumulative distribution function of the standard normal distribution. - // It has the following relationship with the error function (erf). - // phi(x) = 1/2 (1 + erf(x / sqrt(2))) - // so, 2 * phi(x) - 1 = erf(x / sqrt(2)). - // The range taken by 2 * phi(x) - 1 is [-1, 1], so it can be used as a uniform distribution in - // TPE. Let u = 2 * phi(x) - 1, then x = sqrt(2) * erf_inv(u). Computationally, it is not a good - // to give erf_inv -1 and 1, so it is rounded off at (-1 + eps, 1 - eps). - const double sqrt2 = std::sqrt(2); - auto uniform_to_normal = [&sqrt2](const double uniform) { - assert(-1.0 <= uniform && uniform <= 1.0); - constexpr double epsilon = 1.0e-6; - const double clamped = std::clamp(uniform, -1.0 + epsilon, 1.0 - epsilon); - return boost::math::erf_inv(clamped) * sqrt2; - }; - - auto normal_to_uniform = [&sqrt2](const double normal) { - return boost::math::erf(normal / sqrt2); + // Since only yaw is uniformly sampled, we define the mean and standard deviation for the others. + const std::vector sample_mean{ + initial_pose_with_cov.pose.pose.position.x, // trans_x + initial_pose_with_cov.pose.pose.position.y, // trans_y + initial_pose_with_cov.pose.pose.position.z, // trans_z + base_rpy.x, // angle_x + base_rpy.y // angle_y }; + const std::vector sample_stddev{stddev_x, stddev_y, stddev_z, stddev_roll, stddev_pitch}; // Optimizing (x, y, z, roll, pitch, yaw) 6 dimensions. - // The last dimension (yaw) is a loop variable. - // Although roll and pitch are also angles, they are considered non-looping variables that follow - // a normal distribution with a small standard deviation. This assumes that the initial pose of - // the ego vehicle is aligned with the ground to some extent about roll and pitch. - const std::vector is_loop_variable = {false, false, false, false, false, true}; TreeStructuredParzenEstimator tpe( TreeStructuredParzenEstimator::Direction::MAXIMIZE, - param_.initial_pose_estimation.n_startup_trials, is_loop_variable); + param_.initial_pose_estimation.n_startup_trials, sample_mean, sample_stddev); std::vector particle_array; auto output_cloud = std::make_shared>(); @@ -940,16 +1020,13 @@ geometry_msgs::msg::PoseWithCovarianceStamped NDTScanMatcher::align_pose( const TreeStructuredParzenEstimator::Input input = tpe.get_next_input(); geometry_msgs::msg::Pose initial_pose; - initial_pose.position.x = - initial_pose_with_cov.pose.pose.position.x + uniform_to_normal(input[0]) * stddev_x; - initial_pose.position.y = - initial_pose_with_cov.pose.pose.position.y + uniform_to_normal(input[1]) * stddev_y; - initial_pose.position.z = - initial_pose_with_cov.pose.pose.position.z + uniform_to_normal(input[2]) * stddev_z; + initial_pose.position.x = input[0]; + initial_pose.position.y = input[1]; + initial_pose.position.z = input[2]; geometry_msgs::msg::Vector3 init_rpy; - init_rpy.x = base_rpy.x + uniform_to_normal(input[3]) * stddev_roll; - init_rpy.y = base_rpy.y + uniform_to_normal(input[4]) * stddev_pitch; - init_rpy.z = base_rpy.z + input[5] * M_PI; + init_rpy.x = input[3]; + init_rpy.y = input[4]; + init_rpy.z = input[5]; tf2::Quaternion tf_quaternion; tf_quaternion.setRPY(init_rpy.x, init_rpy.y, init_rpy.z); initial_pose.orientation = tf2::toMsg(tf_quaternion); @@ -972,22 +1049,13 @@ geometry_msgs::msg::PoseWithCovarianceStamped NDTScanMatcher::align_pose( const geometry_msgs::msg::Pose pose = matrix4f_to_pose(ndt_result.pose); const geometry_msgs::msg::Vector3 rpy = get_rpy(pose); - const double diff_x = pose.position.x - initial_pose_with_cov.pose.pose.position.x; - const double diff_y = pose.position.y - initial_pose_with_cov.pose.pose.position.y; - const double diff_z = pose.position.z - initial_pose_with_cov.pose.pose.position.z; - const double diff_roll = rpy.x - base_rpy.x; - const double diff_pitch = rpy.y - base_rpy.y; - const double diff_yaw = rpy.z - base_rpy.z; - - // Only yaw is a loop_variable, so only simple normalization is performed. - // All other variables are converted from normal distribution to uniform distribution. - TreeStructuredParzenEstimator::Input result(is_loop_variable.size()); - result[0] = normal_to_uniform(diff_x / stddev_x); - result[1] = normal_to_uniform(diff_y / stddev_y); - result[2] = normal_to_uniform(diff_z / stddev_z); - result[3] = normal_to_uniform(diff_roll / stddev_roll); - result[4] = normal_to_uniform(diff_pitch / stddev_pitch); - result[5] = diff_yaw / M_PI; + TreeStructuredParzenEstimator::Input result(6); + result[0] = pose.position.x; + result[1] = pose.position.y; + result[2] = pose.position.z; + result[3] = rpy.x; + result[4] = rpy.y; + result[5] = rpy.z; tpe.add_trial(TreeStructuredParzenEstimator::Trial{result, ndt_result.transform_probability}); auto sensor_points_in_map_ptr = std::make_shared>(); @@ -1007,7 +1075,10 @@ geometry_msgs::msg::PoseWithCovarianceStamped NDTScanMatcher::align_pose( result_pose_with_cov_msg.pose.pose = best_particle_ptr->result_pose; output_pose_with_cov_to_log(get_logger(), "align_pose_output", result_pose_with_cov_msg); - RCLCPP_DEBUG_STREAM(get_logger(), "best_score," << best_particle_ptr->score); + diagnostics_ndt_align_->addKeyValue("best_particle_score", best_particle_ptr->score); return result_pose_with_cov_msg; } + +#include +RCLCPP_COMPONENTS_REGISTER_NODE(NDTScanMatcher) diff --git a/localization/ndt_scan_matcher/src/ndt_scan_matcher_node.cpp b/localization/ndt_scan_matcher/src/ndt_scan_matcher_node.cpp deleted file mode 100644 index 6e2ed022f531e..0000000000000 --- a/localization/ndt_scan_matcher/src/ndt_scan_matcher_node.cpp +++ /dev/null @@ -1,33 +0,0 @@ -// Copyright 2015-2019 Autoware Foundation -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. - -#include "ndt_scan_matcher/ndt_scan_matcher_core.hpp" - -#include - -#include - -int main(int argc, char ** argv) -{ - google::InitGoogleLogging(argv[0]); // NOLINT - google::InstallFailureSignalHandler(); - - rclcpp::init(argc, argv); - auto ndt_scan_matcher = std::make_shared(); - rclcpp::executors::MultiThreadedExecutor exec; - exec.add_node(ndt_scan_matcher); - exec.spin(); - rclcpp::shutdown(); - return 0; -} diff --git a/localization/pose2twist/CMakeLists.txt b/localization/pose2twist/CMakeLists.txt index a2fbbddf7d120..2a586aa9cd049 100644 --- a/localization/pose2twist/CMakeLists.txt +++ b/localization/pose2twist/CMakeLists.txt @@ -4,11 +4,16 @@ project(pose2twist) find_package(autoware_cmake REQUIRED) autoware_package() -ament_auto_add_executable(pose2twist - src/pose2twist_node.cpp +ament_auto_add_library(${PROJECT_NAME} SHARED src/pose2twist_core.cpp ) +rclcpp_components_register_node(${PROJECT_NAME} + PLUGIN "Pose2Twist" + EXECUTABLE ${PROJECT_NAME}_node + EXECUTOR SingleThreadedExecutor +) + ament_auto_package( INSTALL_TO_SHARE launch diff --git a/localization/pose2twist/include/pose2twist/pose2twist_core.hpp b/localization/pose2twist/include/pose2twist/pose2twist_core.hpp index c2a39f7e2ed3d..459a62ea5cd13 100644 --- a/localization/pose2twist/include/pose2twist/pose2twist_core.hpp +++ b/localization/pose2twist/include/pose2twist/pose2twist_core.hpp @@ -24,7 +24,7 @@ class Pose2Twist : public rclcpp::Node { public: - Pose2Twist(); + explicit Pose2Twist(const rclcpp::NodeOptions & options); ~Pose2Twist() = default; private: diff --git a/localization/pose2twist/launch/pose2twist.launch.xml b/localization/pose2twist/launch/pose2twist.launch.xml index a0fae57a163e6..57a41dbfcf017 100644 --- a/localization/pose2twist/launch/pose2twist.launch.xml +++ b/localization/pose2twist/launch/pose2twist.launch.xml @@ -2,7 +2,7 @@ - + diff --git a/localization/pose2twist/package.xml b/localization/pose2twist/package.xml index 16c49bb51c218..07e445c72978c 100644 --- a/localization/pose2twist/package.xml +++ b/localization/pose2twist/package.xml @@ -19,6 +19,7 @@ geometry_msgs rclcpp + rclcpp_components tf2_geometry_msgs tier4_debug_msgs diff --git a/localization/pose2twist/src/pose2twist_core.cpp b/localization/pose2twist/src/pose2twist_core.cpp index a321a06122816..4b98ec6c81ad4 100644 --- a/localization/pose2twist/src/pose2twist_core.cpp +++ b/localization/pose2twist/src/pose2twist_core.cpp @@ -24,7 +24,7 @@ #include #include -Pose2Twist::Pose2Twist() : Node("pose2twist_core") +Pose2Twist::Pose2Twist(const rclcpp::NodeOptions & options) : rclcpp::Node("pose2twist", options) { using std::placeholders::_1; @@ -129,3 +129,6 @@ void Pose2Twist::callbackPose(geometry_msgs::msg::PoseStamped::SharedPtr pose_ms angular_z_msg.data = twist_msg.twist.angular.z; angular_z_pub_->publish(angular_z_msg); } + +#include +RCLCPP_COMPONENTS_REGISTER_NODE(Pose2Twist) diff --git a/localization/pose2twist/src/pose2twist_node.cpp b/localization/pose2twist/src/pose2twist_node.cpp deleted file mode 100644 index 81f98461ecffd..0000000000000 --- a/localization/pose2twist/src/pose2twist_node.cpp +++ /dev/null @@ -1,29 +0,0 @@ -// Copyright 2015-2019 Autoware Foundation -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. - -#include "pose2twist/pose2twist_core.hpp" - -#include - -#include - -int main(int argc, char ** argv) -{ - rclcpp::init(argc, argv); - - rclcpp::spin(std::make_shared()); - rclcpp::shutdown(); - - return 0; -} diff --git a/localization/pose_estimator_arbiter/CMakeLists.txt b/localization/pose_estimator_arbiter/CMakeLists.txt index 9a47b654a6ab4..eefb7fc9a6879 100644 --- a/localization/pose_estimator_arbiter/CMakeLists.txt +++ b/localization/pose_estimator_arbiter/CMakeLists.txt @@ -4,29 +4,23 @@ project(pose_estimator_arbiter) find_package(autoware_cmake REQUIRED) autoware_package() -find_package(glog REQUIRED) - find_package(PCL REQUIRED COMPONENTS common) include_directories(SYSTEM ${PCL_INCLUDE_DIRS}) -# ============================== -# switch rule library -ament_auto_add_library(switch_rule - SHARED - src/pose_estimator_arbiter/switch_rule/enable_all_rule.cpp -) -target_include_directories(switch_rule PUBLIC src) - # ============================== # pose estimator arbiter node -ament_auto_add_executable(${PROJECT_NAME} +ament_auto_add_library(${PROJECT_NAME} SHARED src/pose_estimator_arbiter/pose_estimator_arbiter_core.cpp - src/pose_estimator_arbiter/pose_estimator_arbiter_node.cpp + src/pose_estimator_arbiter/switch_rule/enable_all_rule.cpp ) target_include_directories(${PROJECT_NAME} PUBLIC src) -target_link_libraries(${PROJECT_NAME} switch_rule glog::glog) -# ============================== +rclcpp_components_register_node(${PROJECT_NAME} + PLUGIN "pose_estimator_arbiter::PoseEstimatorArbiter" + EXECUTABLE ${PROJECT_NAME}_node + EXECUTOR MultiThreadedExecutor +) + if(BUILD_TESTING) find_package(ament_cmake_gtest REQUIRED) @@ -53,6 +47,7 @@ endif() add_subdirectory(example_rule) # ============================== -ament_auto_package(INSTALL_TO_SHARE +ament_auto_package( + INSTALL_TO_SHARE launch ) diff --git a/localization/pose_estimator_arbiter/example_rule/CMakeLists.txt b/localization/pose_estimator_arbiter/example_rule/CMakeLists.txt index 333f92842b860..b2b5a828e42e7 100644 --- a/localization/pose_estimator_arbiter/example_rule/CMakeLists.txt +++ b/localization/pose_estimator_arbiter/example_rule/CMakeLists.txt @@ -7,7 +7,7 @@ ament_auto_add_library(example_rule src/pose_estimator_arbiter/rule_helper/pose_estimator_area.cpp ) target_include_directories(example_rule PUBLIC src example_rule/src) -target_link_libraries(example_rule switch_rule) +target_link_libraries(example_rule pose_estimator_arbiter) # ============================== # define test definition macro @@ -16,7 +16,7 @@ function(add_testcase filepath) string(REGEX REPLACE ".cpp" "" test_name ${filename}) ament_add_gtest(${test_name} ${filepath}) - target_link_libraries("${test_name}" switch_rule example_rule) + target_link_libraries("${test_name}" pose_estimator_arbiter example_rule) target_include_directories(${test_name} PUBLIC src) ament_target_dependencies(${test_name} ${${PROJECT_NAME}_FOUND_BUILD_DEPENDS}) endfunction() diff --git a/localization/pose_estimator_arbiter/launch/pose_estimator_arbiter.launch.xml b/localization/pose_estimator_arbiter/launch/pose_estimator_arbiter.launch.xml index 0a708e3f48988..b5be96fc3ce44 100644 --- a/localization/pose_estimator_arbiter/launch/pose_estimator_arbiter.launch.xml +++ b/localization/pose_estimator_arbiter/launch/pose_estimator_arbiter.launch.xml @@ -3,7 +3,7 @@ - + diff --git a/localization/pose_estimator_arbiter/package.xml b/localization/pose_estimator_arbiter/package.xml index b416d42c8617f..d164086ada87e 100644 --- a/localization/pose_estimator_arbiter/package.xml +++ b/localization/pose_estimator_arbiter/package.xml @@ -16,11 +16,11 @@ diagnostic_msgs geometry_msgs lanelet2_extension - libgoogle-glog-dev magic_enum pcl_conversions pcl_ros pluginlib + rclcpp_components sensor_msgs std_msgs std_srvs @@ -29,9 +29,6 @@ visualization_msgs yabloc_particle_filter - rclcpp - rclcpp_components - ament_cmake_ros ament_lint_auto autoware_lint_common diff --git a/localization/pose_estimator_arbiter/src/pose_estimator_arbiter/pose_estimator_arbiter.hpp b/localization/pose_estimator_arbiter/src/pose_estimator_arbiter/pose_estimator_arbiter.hpp index 9e67dfc063964..54dac6ac254c1 100644 --- a/localization/pose_estimator_arbiter/src/pose_estimator_arbiter/pose_estimator_arbiter.hpp +++ b/localization/pose_estimator_arbiter/src/pose_estimator_arbiter/pose_estimator_arbiter.hpp @@ -47,7 +47,7 @@ class PoseEstimatorArbiter : public rclcpp::Node using DiagnosticArray = diagnostic_msgs::msg::DiagnosticArray; public: - PoseEstimatorArbiter(); + explicit PoseEstimatorArbiter(const rclcpp::NodeOptions & options); private: // Set of running pose estimators specified by ros param `pose_sources` diff --git a/localization/pose_estimator_arbiter/src/pose_estimator_arbiter/pose_estimator_arbiter_core.cpp b/localization/pose_estimator_arbiter/src/pose_estimator_arbiter/pose_estimator_arbiter_core.cpp index 4fc3fd9b914a6..67c555227976d 100644 --- a/localization/pose_estimator_arbiter/src/pose_estimator_arbiter/pose_estimator_arbiter_core.cpp +++ b/localization/pose_estimator_arbiter/src/pose_estimator_arbiter/pose_estimator_arbiter_core.cpp @@ -42,8 +42,8 @@ static std::unordered_set parse_estimator_name_args( return running_estimator_list; } -PoseEstimatorArbiter::PoseEstimatorArbiter() -: Node("pose_estimator_arbiter"), +PoseEstimatorArbiter::PoseEstimatorArbiter(const rclcpp::NodeOptions & options) +: rclcpp::Node("pose_estimator_arbiter", options), running_estimator_list_(parse_estimator_name_args( declare_parameter>("pose_sources"), get_logger())), logger_configure_(std::make_unique(this)) @@ -211,3 +211,6 @@ void PoseEstimatorArbiter::on_timer() } } // namespace pose_estimator_arbiter + +#include +RCLCPP_COMPONENTS_REGISTER_NODE(pose_estimator_arbiter::PoseEstimatorArbiter) diff --git a/localization/pose_estimator_arbiter/src/pose_estimator_arbiter/pose_estimator_arbiter_node.cpp b/localization/pose_estimator_arbiter/src/pose_estimator_arbiter/pose_estimator_arbiter_node.cpp deleted file mode 100644 index e48507948520b..0000000000000 --- a/localization/pose_estimator_arbiter/src/pose_estimator_arbiter/pose_estimator_arbiter_node.cpp +++ /dev/null @@ -1,31 +0,0 @@ -// Copyright 2023 Autoware Foundation -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. - -#include "pose_estimator_arbiter/pose_estimator_arbiter.hpp" - -#include - -int main(int argc, char * argv[]) -{ - google::InitGoogleLogging(argv[0]); - google::InstallFailureSignalHandler(); - - rclcpp::init(argc, argv); - auto node = std::make_shared(); - rclcpp::executors::MultiThreadedExecutor executor; - executor.add_node(node); - executor.spin(); - rclcpp::shutdown(); - return 0; -} diff --git a/localization/pose_initializer/CMakeLists.txt b/localization/pose_initializer/CMakeLists.txt index 81a60a1d6b717..08d5bb47fca09 100644 --- a/localization/pose_initializer/CMakeLists.txt +++ b/localization/pose_initializer/CMakeLists.txt @@ -4,8 +4,7 @@ project(pose_initializer) find_package(autoware_cmake REQUIRED) autoware_package() -ament_auto_add_executable(pose_initializer_node - src/pose_initializer/pose_initializer_node.cpp +ament_auto_add_library(${PROJECT_NAME} SHARED src/pose_initializer/pose_initializer_core.cpp src/pose_initializer/gnss_module.cpp src/pose_initializer/ndt_module.cpp @@ -15,6 +14,12 @@ ament_auto_add_executable(pose_initializer_node src/pose_initializer/ndt_localization_trigger_module.cpp ) +rclcpp_components_register_node(${PROJECT_NAME} + PLUGIN "PoseInitializer" + EXECUTABLE ${PROJECT_NAME}_node + EXECUTOR MultiThreadedExecutor +) + if(BUILD_TESTING) function(add_testcase filepath) get_filename_component(filename ${filepath} NAME) @@ -30,7 +35,8 @@ if(BUILD_TESTING) add_testcase(test/test_copy_vector_to_array.cpp) endif() -ament_auto_package(INSTALL_TO_SHARE +ament_auto_package( + INSTALL_TO_SHARE launch config ) diff --git a/localization/pose_initializer/README.md b/localization/pose_initializer/README.md index 7006becf00c2f..36cc92e1d235b 100644 --- a/localization/pose_initializer/README.md +++ b/localization/pose_initializer/README.md @@ -17,9 +17,9 @@ This node depends on the map height fitter library. ### Services -| Name | Type | Description | -| -------------------------- | --------------------------------------------------- | --------------------- | -| `/localization/initialize` | autoware_adapi_v1_msgs::srv::InitializeLocalization | initial pose from api | +| Name | Type | Description | +| -------------------------- | ---------------------------------------------------- | --------------------- | +| `/localization/initialize` | tier4_localization_msgs::srv::InitializeLocalization | initial pose from api | ### Clients @@ -46,3 +46,86 @@ This node depends on the map height fitter library. This `pose_initializer` is used via default AD API. For detailed description of the API description, please refer to [the description of `default_ad_api`](https://github.com/autowarefoundation/autoware.universe/blob/main/system/default_ad_api/document/localization.md). drawing + +## Initialize pose via CLI + +### Using the GNSS estimated position + +```bash +ros2 service call /localization/initialize tier4_localization_msgs/srv/InitializeLocalization +``` + +The GNSS estimated position is used as the initial guess, and the localization algorithm automatically estimates a more accurate position. + +### Using the input position + +```bash +ros2 service call /localization/initialize tier4_localization_msgs/srv/InitializeLocalization " +pose_with_covariance: + - header: + frame_id: map + pose: + pose: + position: + x: 89571.1640625 + y: 42301.1875 + z: -3.1565165519714355 + orientation: + x: 0.0 + y: 0.0 + z: 0.28072773940524687 + w: 0.9597874433062874 + covariance: [0.25, 0, 0, 0, 0, 0, 0, 0.25, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.06853891909122467] +method: 0 +" +``` + +The input position is used as the initial guess, and the localization algorithm automatically estimates a more accurate position. + +### Direct initial position set + +```bash +ros2 service call /localization/initialize tier4_localization_msgs/srv/InitializeLocalization " +pose_with_covariance: + - header: + frame_id: map + pose: + pose: + position: + x: 89571.1640625 + y: 42301.1875 + z: -3.1565165519714355 + orientation: + x: 0.0 + y: 0.0 + z: 0.28072773940524687 + w: 0.9597874433062874 + covariance: [0.25, 0, 0, 0, 0, 0, 0, 0.25, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.06853891909122467] +method: 1 +" +``` + +The initial position is set directly by the input position without going through localization algorithm. + +### Via ros2 topic pub + +```bash +ros2 topic pub --once /initialpose geometry_msgs/msg/PoseWithCovarianceStamped " +header: + frame_id: map +pose: + pose: + position: + x: 89571.1640625 + y: 42301.1875 + z: 0.0 + orientation: + x: 0.0 + y: 0.0 + z: 0.28072773940524687 + w: 0.9597874433062874 +" +``` + +It behaves the same as "initialpose (from rviz)". +The position.z and the covariance will be overwritten by [ad_api_adaptors](https://github.com/autowarefoundation/autoware.universe/tree/main/system/default_ad_api_helpers/ad_api_adaptors), so there is no need to input them. diff --git a/localization/pose_initializer/launch/pose_initializer.launch.xml b/localization/pose_initializer/launch/pose_initializer.launch.xml index 3e4911e2c2936..2ffdebf39c474 100644 --- a/localization/pose_initializer/launch/pose_initializer.launch.xml +++ b/localization/pose_initializer/launch/pose_initializer.launch.xml @@ -9,7 +9,7 @@ - + diff --git a/localization/pose_initializer/package.xml b/localization/pose_initializer/package.xml index 85c9c26bd6c8c..58968828bc2fa 100644 --- a/localization/pose_initializer/package.xml +++ b/localization/pose_initializer/package.xml @@ -25,6 +25,7 @@ map_height_fitter motion_utils rclcpp + rclcpp_components std_srvs tier4_autoware_utils tier4_localization_msgs diff --git a/localization/pose_initializer/src/pose_initializer/pose_initializer_core.cpp b/localization/pose_initializer/src/pose_initializer/pose_initializer_core.cpp index bc86b5476dcca..2fc7d61890837 100644 --- a/localization/pose_initializer/src/pose_initializer/pose_initializer_core.cpp +++ b/localization/pose_initializer/src/pose_initializer/pose_initializer_core.cpp @@ -23,9 +23,11 @@ #include "yabloc_module.hpp" #include +#include #include -PoseInitializer::PoseInitializer() : Node("pose_initializer") +PoseInitializer::PoseInitializer(const rclcpp::NodeOptions & options) +: rclcpp::Node("pose_initializer", options) { const auto node = component_interface_utils::NodeAdaptor(this); group_srv_ = create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive); @@ -79,7 +81,7 @@ PoseInitializer::PoseInitializer() : Node("pose_initializer") initial_pose.orientation.z = initial_pose_array[5]; initial_pose.orientation.w = initial_pose_array[6]; - set_user_defined_initial_pose(initial_pose); + set_user_defined_initial_pose(initial_pose, true); } } } @@ -114,11 +116,12 @@ void PoseInitializer::change_node_trigger(bool flag, bool need_spin) } } -void PoseInitializer::set_user_defined_initial_pose(const geometry_msgs::msg::Pose initial_pose) +void PoseInitializer::set_user_defined_initial_pose( + const geometry_msgs::msg::Pose initial_pose, bool need_spin) { try { change_state(State::Message::INITIALIZING); - change_node_trigger(false, true); + change_node_trigger(false, need_spin); PoseWithCovarianceStamped pose; pose.header.frame_id = "map"; @@ -127,7 +130,7 @@ void PoseInitializer::set_user_defined_initial_pose(const geometry_msgs::msg::Po pose.pose.covariance = output_pose_covariance_; pub_reset_->publish(pose); - change_node_trigger(true, true); + change_node_trigger(true, need_spin); change_state(State::Message::INITIALIZED); RCLCPP_INFO(get_logger(), "Set user defined initial pose"); @@ -147,25 +150,52 @@ void PoseInitializer::on_initialize( Initialize::Service::Response::ERROR_UNSAFE, "The vehicle is not stopped."); } try { - change_state(State::Message::INITIALIZING); - change_node_trigger(false, false); - - auto pose = req->pose.empty() ? get_gnss_pose() : req->pose.front(); - if (ndt_) { - pose = ndt_->align_pose(pose); - } else if (yabloc_) { - // If both the NDT and YabLoc initializer are enabled, prioritize NDT as it offers more - // accuracy pose. - pose = yabloc_->align_pose(pose); - } - pose.pose.covariance = output_pose_covariance_; - pub_reset_->publish(pose); + if (req->method == Initialize::Service::Request::AUTO) { + change_state(State::Message::INITIALIZING); + change_node_trigger(false, false); + + auto pose = + req->pose_with_covariance.empty() ? get_gnss_pose() : req->pose_with_covariance.front(); + if (ndt_) { + pose = ndt_->align_pose(pose); + } else if (yabloc_) { + // If both the NDT and YabLoc initializer are enabled, prioritize NDT as it offers more + // accuracy pose. + pose = yabloc_->align_pose(pose); + } + pose.pose.covariance = output_pose_covariance_; + pub_reset_->publish(pose); + + change_node_trigger(true, false); + res->status.success = true; + change_state(State::Message::INITIALIZED); + + } else if (req->method == Initialize::Service::Request::DIRECT) { + if (req->pose_with_covariance.empty()) { + std::stringstream message; + message << "No input pose_with_covariance. If you want to use DIRECT method, please input " + "pose_with_covariance."; + RCLCPP_ERROR(get_logger(), message.str().c_str()); + throw ServiceException( + autoware_common_msgs::msg::ResponseStatus::PARAMETER_ERROR, message.str()); + } + auto pose = req->pose_with_covariance.front().pose.pose; + set_user_defined_initial_pose(pose, false); + res->status.success = true; - change_node_trigger(true, false); - res->status.success = true; - change_state(State::Message::INITIALIZED); + } else { + std::stringstream message; + message << "Unknown method type (=" << std::to_string(req->method) << ")"; + RCLCPP_ERROR(get_logger(), message.str().c_str()); + throw ServiceException( + autoware_common_msgs::msg::ResponseStatus::PARAMETER_ERROR, message.str()); + } } catch (const ServiceException & error) { - res->status = error.status(); + autoware_adapi_v1_msgs::msg::ResponseStatus respose_status; + respose_status = error.status(); + res->status.success = respose_status.success; + res->status.code = respose_status.code; + res->status.message = respose_status.message; change_state(State::Message::UNINITIALIZED); } } @@ -180,3 +210,6 @@ geometry_msgs::msg::PoseWithCovarianceStamped PoseInitializer::get_gnss_pose() throw ServiceException( Initialize::Service::Response::ERROR_GNSS_SUPPORT, "GNSS is not supported."); } + +#include +RCLCPP_COMPONENTS_REGISTER_NODE(PoseInitializer) diff --git a/localization/pose_initializer/src/pose_initializer/pose_initializer_core.hpp b/localization/pose_initializer/src/pose_initializer/pose_initializer_core.hpp index 623cfe50307f5..eeba71b90129b 100644 --- a/localization/pose_initializer/src/pose_initializer/pose_initializer_core.hpp +++ b/localization/pose_initializer/src/pose_initializer/pose_initializer_core.hpp @@ -34,7 +34,7 @@ class NdtLocalizationTriggerModule; class PoseInitializer : public rclcpp::Node { public: - PoseInitializer(); + explicit PoseInitializer(const rclcpp::NodeOptions & options); ~PoseInitializer(); private: @@ -60,7 +60,8 @@ class PoseInitializer : public rclcpp::Node double stop_check_duration_; void change_node_trigger(bool flag, bool need_spin = false); - void set_user_defined_initial_pose(const geometry_msgs::msg::Pose initial_pose); + void set_user_defined_initial_pose( + const geometry_msgs::msg::Pose initial_pose, bool need_spin = false); void change_state(State::Message::_state_type state); void on_initialize( const Initialize::Service::Request::SharedPtr req, diff --git a/localization/pose_initializer/src/pose_initializer/pose_initializer_node.cpp b/localization/pose_initializer/src/pose_initializer/pose_initializer_node.cpp deleted file mode 100644 index c5b31c4e37ccd..0000000000000 --- a/localization/pose_initializer/src/pose_initializer/pose_initializer_node.cpp +++ /dev/null @@ -1,29 +0,0 @@ -// Copyright 2020 Autoware Foundation -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. - -#include "pose_initializer_core.hpp" - -#include - -int main(int argc, char ** argv) -{ - rclcpp::init(argc, argv); - rclcpp::executors::MultiThreadedExecutor executor; - auto node = std::make_shared(); - executor.add_node(node); - executor.spin(); - executor.remove_node(node); - rclcpp::shutdown(); - return 0; -} diff --git a/localization/pose_instability_detector/CMakeLists.txt b/localization/pose_instability_detector/CMakeLists.txt index 5270df636d791..c6f94ab7df16e 100644 --- a/localization/pose_instability_detector/CMakeLists.txt +++ b/localization/pose_instability_detector/CMakeLists.txt @@ -4,14 +4,19 @@ project(pose_instability_detector) find_package(autoware_cmake REQUIRED) autoware_package() -ament_auto_add_executable(pose_instability_detector - src/main.cpp +ament_auto_add_library(${PROJECT_NAME} SHARED src/pose_instability_detector.cpp ) +rclcpp_components_register_node(${PROJECT_NAME} + PLUGIN "PoseInstabilityDetector" + EXECUTABLE ${PROJECT_NAME}_node + EXECUTOR SingleThreadedExecutor +) + if(BUILD_TESTING) find_package(ament_cmake_gtest REQUIRED) - ament_auto_add_gtest(test_pose_instability_detector + ament_auto_add_gtest(test_${PROJECT_NAME} test/test.cpp src/pose_instability_detector.cpp ) @@ -19,6 +24,6 @@ endif() ament_auto_package( INSTALL_TO_SHARE - launch - config + launch + config ) diff --git a/localization/pose_instability_detector/launch/pose_instability_detector.launch.xml b/localization/pose_instability_detector/launch/pose_instability_detector.launch.xml index 4a390ee2854d7..5ebe7d7e429e0 100644 --- a/localization/pose_instability_detector/launch/pose_instability_detector.launch.xml +++ b/localization/pose_instability_detector/launch/pose_instability_detector.launch.xml @@ -6,7 +6,7 @@ - + diff --git a/localization/pose_instability_detector/package.xml b/localization/pose_instability_detector/package.xml index bf57e5589b747..d658d1c2d437f 100644 --- a/localization/pose_instability_detector/package.xml +++ b/localization/pose_instability_detector/package.xml @@ -22,6 +22,7 @@ geometry_msgs nav_msgs rclcpp + rclcpp_components tf2 tf2_geometry_msgs tier4_autoware_utils diff --git a/localization/pose_instability_detector/src/main.cpp b/localization/pose_instability_detector/src/main.cpp deleted file mode 100644 index 34e679e86730f..0000000000000 --- a/localization/pose_instability_detector/src/main.cpp +++ /dev/null @@ -1,26 +0,0 @@ -// Copyright 2023- Autoware Foundation -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. - -#include "pose_instability_detector.hpp" - -#include - -int main(int argc, char ** argv) -{ - rclcpp::init(argc, argv); - auto pose_instability_detector = std::make_shared(); - rclcpp::spin(pose_instability_detector); - rclcpp::shutdown(); - return 0; -} diff --git a/localization/pose_instability_detector/src/pose_instability_detector.cpp b/localization/pose_instability_detector/src/pose_instability_detector.cpp index afb7d6e007db2..c2bce6a3db288 100644 --- a/localization/pose_instability_detector/src/pose_instability_detector.cpp +++ b/localization/pose_instability_detector/src/pose_instability_detector.cpp @@ -23,7 +23,7 @@ #include PoseInstabilityDetector::PoseInstabilityDetector(const rclcpp::NodeOptions & options) -: Node("pose_instability_detector", options), +: rclcpp::Node("pose_instability_detector", options), threshold_diff_position_x_(this->declare_parameter("threshold_diff_position_x")), threshold_diff_position_y_(this->declare_parameter("threshold_diff_position_y")), threshold_diff_position_z_(this->declare_parameter("threshold_diff_position_z")), @@ -174,3 +174,6 @@ void PoseInstabilityDetector::callback_timer() prev_odometry_ = latest_odometry_; twist_buffer_.clear(); } + +#include +RCLCPP_COMPONENTS_REGISTER_NODE(PoseInstabilityDetector) diff --git a/localization/stop_filter/CMakeLists.txt b/localization/stop_filter/CMakeLists.txt index 97a0443195ae5..4776a1f4967b2 100644 --- a/localization/stop_filter/CMakeLists.txt +++ b/localization/stop_filter/CMakeLists.txt @@ -4,11 +4,15 @@ project(stop_filter) find_package(autoware_cmake REQUIRED) autoware_package() -ament_auto_add_executable(stop_filter - src/stop_filter_node.cpp +ament_auto_add_library(${PROJECT_NAME} SHARED src/stop_filter.cpp ) -ament_target_dependencies(stop_filter) + +rclcpp_components_register_node(${PROJECT_NAME} + PLUGIN "StopFilter" + EXECUTABLE ${PROJECT_NAME}_node + EXECUTOR SingleThreadedExecutor +) ament_auto_package( INSTALL_TO_SHARE diff --git a/localization/stop_filter/include/stop_filter/stop_filter.hpp b/localization/stop_filter/include/stop_filter/stop_filter.hpp index 3c2b91590234f..24145a7920d91 100644 --- a/localization/stop_filter/include/stop_filter/stop_filter.hpp +++ b/localization/stop_filter/include/stop_filter/stop_filter.hpp @@ -37,7 +37,7 @@ class StopFilter : public rclcpp::Node { public: - StopFilter(const std::string & node_name, const rclcpp::NodeOptions & options); + explicit StopFilter(const rclcpp::NodeOptions & options); private: rclcpp::Publisher::SharedPtr pub_odom_; //!< @brief odom publisher diff --git a/localization/stop_filter/launch/stop_filter.launch.xml b/localization/stop_filter/launch/stop_filter.launch.xml index 0ea92d26c9677..c53b37efc9954 100644 --- a/localization/stop_filter/launch/stop_filter.launch.xml +++ b/localization/stop_filter/launch/stop_filter.launch.xml @@ -3,7 +3,7 @@ - + diff --git a/localization/stop_filter/package.xml b/localization/stop_filter/package.xml index 83eaf1b9fa821..2e6d5c4f8bbe1 100644 --- a/localization/stop_filter/package.xml +++ b/localization/stop_filter/package.xml @@ -21,6 +21,7 @@ geometry_msgs nav_msgs rclcpp + rclcpp_components tf2 tier4_debug_msgs diff --git a/localization/stop_filter/src/stop_filter.cpp b/localization/stop_filter/src/stop_filter.cpp index ac0960b8cb67b..4d6b2c6240867 100644 --- a/localization/stop_filter/src/stop_filter.cpp +++ b/localization/stop_filter/src/stop_filter.cpp @@ -24,8 +24,8 @@ using std::placeholders::_1; -StopFilter::StopFilter(const std::string & node_name, const rclcpp::NodeOptions & node_options) -: rclcpp::Node(node_name, node_options) +StopFilter::StopFilter(const rclcpp::NodeOptions & node_options) +: rclcpp::Node("stop_filter", node_options) { vx_threshold_ = declare_parameter("vx_threshold"); wz_threshold_ = declare_parameter("wz_threshold"); @@ -57,3 +57,6 @@ void StopFilter::callbackOdometry(const nav_msgs::msg::Odometry::SharedPtr msg) pub_stop_flag_->publish(stop_flag_msg); pub_odom_->publish(odom_msg); } + +#include +RCLCPP_COMPONENTS_REGISTER_NODE(StopFilter) diff --git a/localization/stop_filter/src/stop_filter_node.cpp b/localization/stop_filter/src/stop_filter_node.cpp deleted file mode 100644 index 9748214828de2..0000000000000 --- a/localization/stop_filter/src/stop_filter_node.cpp +++ /dev/null @@ -1,28 +0,0 @@ -// Copyright 2021 TierIV -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. - -#include "stop_filter/stop_filter.hpp" - -#include - -int main(int argc, char ** argv) -{ - rclcpp::init(argc, argv); - rclcpp::NodeOptions node_options; - auto node = std::make_shared("stop_filter", node_options); - - rclcpp::spin(node); - - return 0; -} diff --git a/localization/tree_structured_parzen_estimator/include/tree_structured_parzen_estimator/tree_structured_parzen_estimator.hpp b/localization/tree_structured_parzen_estimator/include/tree_structured_parzen_estimator/tree_structured_parzen_estimator.hpp index b7b522b4e6b76..30d36e7150113 100644 --- a/localization/tree_structured_parzen_estimator/include/tree_structured_parzen_estimator/tree_structured_parzen_estimator.hpp +++ b/localization/tree_structured_parzen_estimator/include/tree_structured_parzen_estimator/tree_structured_parzen_estimator.hpp @@ -44,37 +44,40 @@ class TreeStructuredParzenEstimator MAXIMIZE = 1, }; + enum Index { + TRANS_X = 0, + TRANS_Y = 1, + TRANS_Z = 2, + ANGLE_X = 3, + ANGLE_Y = 4, + ANGLE_Z = 5, + INDEX_NUM = 6, + }; + TreeStructuredParzenEstimator() = delete; TreeStructuredParzenEstimator( - const Direction direction, const int64_t n_startup_trials, std::vector is_loop_variable); + const Direction direction, const int64_t n_startup_trials, + const std::vector & sample_mean, const std::vector & sample_stddev); void add_trial(const Trial & trial); Input get_next_input() const; private: - static constexpr double BASE_STDDEV_COEFF = 0.2; static constexpr double MAX_GOOD_RATE = 0.10; - static constexpr double MAX_VALUE = 1.0; - static constexpr double MIN_VALUE = -1.0; - static constexpr double VALUE_WIDTH = MAX_VALUE - MIN_VALUE; static constexpr int64_t N_EI_CANDIDATES = 100; - static constexpr double PRIOR_WEIGHT = 0.0; static std::mt19937_64 engine; - static std::uniform_real_distribution dist_uniform; - static std::normal_distribution dist_normal; double compute_log_likelihood_ratio(const Input & input) const; double log_gaussian_pdf(const Input & input, const Input & mu, const Input & sigma) const; - static std::vector get_weights(const int64_t n); - static double normalize_loop_variable(const double value); std::vector trials_; int64_t above_num_; const Direction direction_; const int64_t n_startup_trials_; const int64_t input_dimension_; - const std::vector is_loop_variable_; - const Input base_stddev_; + const std::vector sample_mean_; + const std::vector sample_stddev_; + Input base_stddev_; }; #endif // TREE_STRUCTURED_PARZEN_ESTIMATOR__TREE_STRUCTURED_PARZEN_ESTIMATOR_HPP_ diff --git a/localization/tree_structured_parzen_estimator/src/tree_structured_parzen_estimator.cpp b/localization/tree_structured_parzen_estimator/src/tree_structured_parzen_estimator.cpp index 99c70a844f331..c81962c14f61c 100644 --- a/localization/tree_structured_parzen_estimator/src/tree_structured_parzen_estimator.cpp +++ b/localization/tree_structured_parzen_estimator/src/tree_structured_parzen_estimator.cpp @@ -21,19 +21,33 @@ // random number generator std::mt19937_64 TreeStructuredParzenEstimator::engine(std::random_device{}()); -std::uniform_real_distribution TreeStructuredParzenEstimator::dist_uniform( - TreeStructuredParzenEstimator::MIN_VALUE, TreeStructuredParzenEstimator::MAX_VALUE); -std::normal_distribution TreeStructuredParzenEstimator::dist_normal(0.0, 1.0); TreeStructuredParzenEstimator::TreeStructuredParzenEstimator( - const Direction direction, const int64_t n_startup_trials, std::vector is_loop_variable) + const Direction direction, const int64_t n_startup_trials, + const std::vector & sample_mean, const std::vector & sample_stddev) : above_num_(0), direction_(direction), n_startup_trials_(n_startup_trials), - input_dimension_(is_loop_variable.size()), - is_loop_variable_(is_loop_variable), - base_stddev_(input_dimension_, VALUE_WIDTH) + input_dimension_(INDEX_NUM), + sample_mean_(sample_mean), + sample_stddev_(sample_stddev) { + if (sample_mean_.size() != ANGLE_Z) { + std::cerr << "sample_mean size is invalid" << std::endl; + throw std::runtime_error("sample_mean size is invalid"); + } + if (sample_stddev_.size() != ANGLE_Z) { + std::cerr << "sample_stddev size is invalid" << std::endl; + throw std::runtime_error("sample_stddev size is invalid"); + } + // base_stddev_ is defined as the stable convergence range of ndt_scan_matcher. + base_stddev_.resize(input_dimension_); + base_stddev_[TRANS_X] = 0.25; // [m] + base_stddev_[TRANS_Y] = 0.25; // [m] + base_stddev_[TRANS_Z] = 0.25; // [m] + base_stddev_[ANGLE_X] = 1.0 / 180.0 * M_PI; // [rad] + base_stddev_[ANGLE_Y] = 1.0 / 180.0 * M_PI; // [rad] + base_stddev_[ANGLE_Z] = 2.5 / 180.0 * M_PI; // [rad] } void TreeStructuredParzenEstimator::add_trial(const Trial & trial) @@ -43,47 +57,45 @@ void TreeStructuredParzenEstimator::add_trial(const Trial & trial) return (direction_ == Direction::MAXIMIZE ? lhs.score > rhs.score : lhs.score < rhs.score); }); above_num_ = - std::min(static_cast(25), static_cast(trials_.size() * MAX_GOOD_RATE)); + std::min({static_cast(10), static_cast(trials_.size() * MAX_GOOD_RATE)}); } TreeStructuredParzenEstimator::Input TreeStructuredParzenEstimator::get_next_input() const { + std::normal_distribution dist_normal_trans_x( + sample_mean_[TRANS_X], sample_stddev_[TRANS_X]); + std::normal_distribution dist_normal_trans_y( + sample_mean_[TRANS_Y], sample_stddev_[TRANS_Y]); + std::normal_distribution dist_normal_trans_z( + sample_mean_[TRANS_Z], sample_stddev_[TRANS_Z]); + std::normal_distribution dist_normal_angle_x( + sample_mean_[ANGLE_X], sample_stddev_[ANGLE_X]); + std::normal_distribution dist_normal_angle_y( + sample_mean_[ANGLE_Y], sample_stddev_[ANGLE_Y]); + std::uniform_real_distribution dist_uniform_angle_z(-M_PI, M_PI); + if (static_cast(trials_.size()) < n_startup_trials_ || above_num_ == 0) { // Random sampling based on prior until the number of trials reaches `n_startup_trials_`. Input input(input_dimension_); - for (int64_t j = 0; j < input_dimension_; j++) { - input[j] = dist_uniform(engine); - } + input[TRANS_X] = dist_normal_trans_x(engine); + input[TRANS_Y] = dist_normal_trans_y(engine); + input[TRANS_Z] = dist_normal_trans_z(engine); + input[ANGLE_X] = dist_normal_angle_x(engine); + input[ANGLE_Y] = dist_normal_angle_y(engine); + input[ANGLE_Z] = dist_uniform_angle_z(engine); return input; } Input best_input; double best_log_likelihood_ratio = std::numeric_limits::lowest(); - const double coeff = BASE_STDDEV_COEFF * std::pow(above_num_, -1.0 / (4 + input_dimension_)); - std::vector weights = get_weights(above_num_); - weights.push_back(PRIOR_WEIGHT); - std::discrete_distribution dist(weights.begin(), weights.end()); for (int64_t i = 0; i < N_EI_CANDIDATES; i++) { - Input mu, sigma; - const int64_t index = dist(engine); - if (index == above_num_) { - mu = Input(input_dimension_, 0.0); - sigma = base_stddev_; - } else { - mu = trials_[index].input; - sigma = base_stddev_; - for (int64_t j = 0; j < input_dimension_; j++) { - sigma[j] *= coeff; - } - } - // sample from the normal distribution Input input(input_dimension_); - for (int64_t j = 0; j < input_dimension_; j++) { - input[j] = mu[j] + dist_normal(engine) * sigma[j]; - input[j] = - (is_loop_variable_[j] ? normalize_loop_variable(input[j]) - : std::clamp(input[j], MIN_VALUE, MAX_VALUE)); - } + input[TRANS_X] = dist_normal_trans_x(engine); + input[TRANS_Y] = dist_normal_trans_y(engine); + input[TRANS_Z] = dist_normal_trans_z(engine); + input[ANGLE_X] = dist_normal_angle_x(engine); + input[ANGLE_Y] = dist_normal_angle_y(engine); + input[ANGLE_Z] = dist_uniform_angle_z(engine); const double log_likelihood_ratio = compute_log_likelihood_ratio(input); if (log_likelihood_ratio > best_log_likelihood_ratio) { best_log_likelihood_ratio = log_likelihood_ratio; @@ -102,50 +114,19 @@ double TreeStructuredParzenEstimator::compute_log_likelihood_ratio(const Input & std::vector above_logs; std::vector below_logs; - // Scott's rule - const double coeff_above = - BASE_STDDEV_COEFF * std::pow(above_num_, -1.0 / (4 + input_dimension_)); - const double coeff_below = - BASE_STDDEV_COEFF * std::pow(n - above_num_, -1.0 / (4 + input_dimension_)); - Input sigma_above = base_stddev_; - Input sigma_below = base_stddev_; - for (int64_t j = 0; j < input_dimension_; j++) { - sigma_above[j] *= coeff_above; - sigma_below[j] *= coeff_below; - } - - std::vector above_weights = get_weights(above_num_); - std::vector below_weights = get_weights(n - above_num_); - std::reverse(below_weights.begin(), below_weights.end()); // below_weights is ascending order - - // calculate the sum of weights to normalize - double above_sum = std::accumulate(above_weights.begin(), above_weights.end(), 0.0); - double below_sum = std::accumulate(below_weights.begin(), below_weights.end(), 0.0); - - // above includes prior - above_sum += PRIOR_WEIGHT; - for (int64_t i = 0; i < n; i++) { + const double log_p = log_gaussian_pdf(input, trials_[i].input, base_stddev_); if (i < above_num_) { - const double log_p = log_gaussian_pdf(input, trials_[i].input, sigma_above); - const double w = above_weights[i] / above_sum; + const double w = 1.0 / above_num_; const double log_w = std::log(w); above_logs.push_back(log_p + log_w); } else { - const double log_p = log_gaussian_pdf(input, trials_[i].input, sigma_below); - const double w = below_weights[i - above_num_] / below_sum; + const double w = 1.0 / (n - above_num_); const double log_w = std::log(w); below_logs.push_back(log_p + log_w); } } - // prior - if (PRIOR_WEIGHT > 0.0) { - const double log_p = log_gaussian_pdf(input, Input(input_dimension_, 0.0), base_stddev_); - const double log_w = std::log(PRIOR_WEIGHT / above_sum); - above_logs.push_back(log_p + log_w); - } - auto log_sum_exp = [](const std::vector & log_vec) { const double max = *std::max_element(log_vec.begin(), log_vec.end()); double sum = 0.0; @@ -157,7 +138,11 @@ double TreeStructuredParzenEstimator::compute_log_likelihood_ratio(const Input & const double above = log_sum_exp(above_logs); const double below = log_sum_exp(below_logs); - const double r = above - below; + + // Multiply by a constant so that the score near the "below sample" becomes lower. + // cspell:disable-line TODO(Shintaro Sakoda): It's theoretically incorrect, consider it again + // later. + const double r = above - below * 5.0; return r; } @@ -174,44 +159,21 @@ double TreeStructuredParzenEstimator::log_gaussian_pdf( double result = 0.0; for (int64_t i = 0; i < n; i++) { double diff = input[i] - mu[i]; - if (is_loop_variable_[i]) { - diff = normalize_loop_variable(diff); + if (i == ANGLE_Z) { + // Normalize the loop variable to [-pi, pi) + while (diff >= M_PI) { + diff -= 2 * M_PI; + } + while (diff < -M_PI) { + diff += 2 * M_PI; + } } - result += log_gaussian_pdf_1d(diff, sigma[i]); - } - return result; -} - -std::vector TreeStructuredParzenEstimator::get_weights(const int64_t n) -{ - // See optuna - // https://github.com/optuna/optuna/blob/4bfab78e98bf786f6a2ce6e593a26e3f8403e08d/optuna/samplers/_tpe/sampler.py#L50-L58 - std::vector weights; - constexpr int64_t WEIGHT_ALPHA = 25; - if (n == 0) { - return weights; - } else if (n < WEIGHT_ALPHA) { - weights.resize(n, 1.0); - } else { - weights.resize(n); - const double unit = (1.0 - 1.0 / n) / (n - WEIGHT_ALPHA); - for (int64_t i = 0; i < n; i++) { - weights[i] = (i < WEIGHT_ALPHA ? 1.0 : 1.0 - unit * (i - WEIGHT_ALPHA)); + // Experimentally, it is better to consider only trans_xy and yaw, so ignore trans_z, angle_x, + // angle_y. + if (i == TRANS_Z || i == ANGLE_X || i == ANGLE_Y) { + continue; } - } - - return weights; -} - -double TreeStructuredParzenEstimator::normalize_loop_variable(const double value) -{ - // Normalize the loop variable to [-1, 1) - double result = value; - while (result >= MAX_VALUE) { - result -= VALUE_WIDTH; - } - while (result < MIN_VALUE) { - result += VALUE_WIDTH; + result += log_gaussian_pdf_1d(diff, sigma[i]); } return result; } diff --git a/localization/tree_structured_parzen_estimator/test/test_tpe.cpp b/localization/tree_structured_parzen_estimator/test/test_tpe.cpp index 32eb66e70fb16..f8a697878d6a3 100644 --- a/localization/tree_structured_parzen_estimator/test/test_tpe.cpp +++ b/localization/tree_structured_parzen_estimator/test/test_tpe.cpp @@ -28,19 +28,25 @@ TEST(TreeStructuredParzenEstimatorTest, TPE_is_better_than_random_search_on_sphe return value; }; - constexpr int64_t kOuterTrialsNum = 10; - constexpr int64_t kInnerTrialsNum = 100; + constexpr int64_t kOuterTrialsNum = 20; + constexpr int64_t kInnerTrialsNum = 200; std::cout << std::fixed; std::vector mean_scores; - for (const int64_t n_startup_trials : {kInnerTrialsNum, kInnerTrialsNum / 10}) { + const int64_t n_startup_trials = kInnerTrialsNum / 10; + const std::string method = ((n_startup_trials == kInnerTrialsNum) ? "Random" : "TPE"); + + const std::vector sample_mean(5, 0.0); + const std::vector sample_stddev{1.0, 1.0, 0.1, 0.1, 0.1}; + + for (const int64_t n_startup_trials : {kInnerTrialsNum, kInnerTrialsNum / 2}) { const std::string method = ((n_startup_trials == kInnerTrialsNum) ? "Random" : "TPE"); std::vector scores; for (int64_t i = 0; i < kOuterTrialsNum; i++) { double best_score = std::numeric_limits::lowest(); - const std::vector is_loop_variable(6, false); TreeStructuredParzenEstimator estimator( - TreeStructuredParzenEstimator::Direction::MAXIMIZE, n_startup_trials, is_loop_variable); + TreeStructuredParzenEstimator::Direction::MAXIMIZE, n_startup_trials, sample_mean, + sample_stddev); for (int64_t trial = 0; trial < kInnerTrialsNum; trial++) { const TreeStructuredParzenEstimator::Input input = estimator.get_next_input(); const double score = -sphere_function(input); diff --git a/localization/twist2accel/CMakeLists.txt b/localization/twist2accel/CMakeLists.txt index 59f23eacb2fb3..9178bf02288a8 100644 --- a/localization/twist2accel/CMakeLists.txt +++ b/localization/twist2accel/CMakeLists.txt @@ -4,11 +4,15 @@ project(twist2accel) find_package(autoware_cmake REQUIRED) autoware_package() -ament_auto_add_executable(twist2accel - src/twist2accel_node.cpp +ament_auto_add_library(${PROJECT_NAME} SHARED src/twist2accel.cpp ) -ament_target_dependencies(twist2accel) + +rclcpp_components_register_node(${PROJECT_NAME} + PLUGIN "Twist2Accel" + EXECUTABLE ${PROJECT_NAME}_node + EXECUTOR SingleThreadedExecutor +) ament_auto_package( INSTALL_TO_SHARE diff --git a/localization/twist2accel/include/twist2accel/twist2accel.hpp b/localization/twist2accel/include/twist2accel/twist2accel.hpp index da5f2b4a3b228..0db69890fbfe8 100644 --- a/localization/twist2accel/include/twist2accel/twist2accel.hpp +++ b/localization/twist2accel/include/twist2accel/twist2accel.hpp @@ -40,7 +40,7 @@ class Twist2Accel : public rclcpp::Node { public: - Twist2Accel(const std::string & node_name, const rclcpp::NodeOptions & options); + explicit Twist2Accel(const rclcpp::NodeOptions & options); private: rclcpp::Publisher::SharedPtr diff --git a/localization/twist2accel/launch/twist2accel.launch.xml b/localization/twist2accel/launch/twist2accel.launch.xml index c4c9a3ed50bfc..c534a288aac3e 100644 --- a/localization/twist2accel/launch/twist2accel.launch.xml +++ b/localization/twist2accel/launch/twist2accel.launch.xml @@ -4,7 +4,7 @@ - + diff --git a/localization/twist2accel/package.xml b/localization/twist2accel/package.xml index 08dacf9185769..0dbce08f309ac 100644 --- a/localization/twist2accel/package.xml +++ b/localization/twist2accel/package.xml @@ -21,6 +21,7 @@ geometry_msgs nav_msgs rclcpp + rclcpp_components signal_processing tf2 tier4_debug_msgs diff --git a/localization/twist2accel/src/twist2accel.cpp b/localization/twist2accel/src/twist2accel.cpp index 68019f27e95fe..0af29445bbeb8 100644 --- a/localization/twist2accel/src/twist2accel.cpp +++ b/localization/twist2accel/src/twist2accel.cpp @@ -24,8 +24,8 @@ using std::placeholders::_1; -Twist2Accel::Twist2Accel(const std::string & node_name, const rclcpp::NodeOptions & node_options) -: rclcpp::Node(node_name, node_options) +Twist2Accel::Twist2Accel(const rclcpp::NodeOptions & node_options) +: rclcpp::Node("twist2accel", node_options) { sub_odom_ = create_subscription( "input/odom", 1, std::bind(&Twist2Accel::callbackOdometry, this, _1)); @@ -103,3 +103,6 @@ void Twist2Accel::estimateAccel(const geometry_msgs::msg::TwistStamped::SharedPt pub_accel_->publish(accel_msg); prev_twist_ptr_ = msg; } + +#include +RCLCPP_COMPONENTS_REGISTER_NODE(Twist2Accel) diff --git a/localization/twist2accel/src/twist2accel_node.cpp b/localization/twist2accel/src/twist2accel_node.cpp deleted file mode 100644 index ce8ed31db5c32..0000000000000 --- a/localization/twist2accel/src/twist2accel_node.cpp +++ /dev/null @@ -1,28 +0,0 @@ -// Copyright 2022 TIER IV -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. - -#include "twist2accel/twist2accel.hpp" - -#include - -int main(int argc, char ** argv) -{ - rclcpp::init(argc, argv); - rclcpp::NodeOptions node_options; - auto node = std::make_shared("twist2accel", node_options); - - rclcpp::spin(node); - - return 0; -} diff --git a/localization/yabloc/yabloc_common/CMakeLists.txt b/localization/yabloc/yabloc_common/CMakeLists.txt index c8474a85ad963..ca2f28bae7cda 100644 --- a/localization/yabloc/yabloc_common/CMakeLists.txt +++ b/localization/yabloc/yabloc_common/CMakeLists.txt @@ -23,9 +23,6 @@ find_package(Sophus REQUIRED) # because it rewrite CMAKE_NO_SYSTEM_FROM_IMPORTED to TRUE. set(CMAKE_NO_SYSTEM_FROM_IMPORTED FALSE) -# glog -find_package(glog REQUIRED) - # =================================================== # GeographicLib find_package(PkgConfig) @@ -45,7 +42,10 @@ ament_auto_add_library(${PROJECT_NAME} SHARED src/static_tf_subscriber.cpp src/extract_line_segments.cpp src/transform_line_segments.cpp - src/color.cpp) + src/color.cpp + src/ground_server/ground_server_core.cpp + src/ground_server/polygon_operation.cpp + src/ll2_decomposer/ll2_decomposer_core.cpp) target_include_directories( ${PROJECT_NAME} PUBLIC include ) @@ -63,23 +63,18 @@ target_link_libraries(${PROJECT_NAME} Geographic ${PCL_LIBRARIES} Sophus::Sophus # =================================================== # Executables # ground_server -set(TARGET ground_server_node) -ament_auto_add_executable(${TARGET} - src/ground_server/ground_server_core.cpp - src/ground_server/ground_server_node.cpp - src/ground_server/polygon_operation.cpp) -target_include_directories(${TARGET} PUBLIC include) -target_include_directories(${TARGET} SYSTEM PRIVATE ${EIGEN3_INCLUDE_DIRS} ${PCL_INCLUDE_DIRS}) -target_link_libraries(${TARGET} ${PCL_LIBRARIES} Sophus::Sophus glog::glog) +rclcpp_components_register_node(${PROJECT_NAME} + PLUGIN "yabloc::ground_server::GroundServer" + EXECUTABLE yabloc_ground_server_node + EXECUTOR SingleThreadedExecutor +) # ll2_decomposer -set(TARGET ll2_decomposer_node) -ament_auto_add_executable(${TARGET} - src/ll2_decomposer/ll2_decomposer_core.cpp - src/ll2_decomposer/ll2_decomposer_node.cpp) -target_include_directories(${TARGET} PUBLIC include) -target_include_directories(${TARGET} SYSTEM PRIVATE ${EIGEN3_INCLUDE_DIRS} ${PCL_INCLUDE_DIRS}) -target_link_libraries(${TARGET} ${PCL_LIBRARIES}) +rclcpp_components_register_node(${PROJECT_NAME} + PLUGIN "yabloc::ll2_decomposer::Ll2Decomposer" + EXECUTABLE yabloc_ll2_decomposer_node + EXECUTOR SingleThreadedExecutor +) # =================================================== ament_export_dependencies(PCL Sophus) diff --git a/localization/yabloc/yabloc_common/include/yabloc_common/ground_server/ground_server.hpp b/localization/yabloc/yabloc_common/include/yabloc_common/ground_server/ground_server.hpp index 154507f8195d9..4cc4128ad5a70 100644 --- a/localization/yabloc/yabloc_common/include/yabloc_common/ground_server/ground_server.hpp +++ b/localization/yabloc/yabloc_common/include/yabloc_common/ground_server/ground_server.hpp @@ -57,7 +57,7 @@ class GroundServer : public rclcpp::Node using String = std_msgs::msg::String; using PointCloud2 = sensor_msgs::msg::PointCloud2; using Point = geometry_msgs::msg::Point; - GroundServer(); + explicit GroundServer(const rclcpp::NodeOptions & options = rclcpp::NodeOptions()); private: const bool force_zero_tilt_; diff --git a/localization/yabloc/yabloc_common/include/yabloc_common/ll2_decomposer/ll2_decomposer.hpp b/localization/yabloc/yabloc_common/include/yabloc_common/ll2_decomposer/ll2_decomposer.hpp index f6e6de6b38fdd..784b3997faffd 100644 --- a/localization/yabloc/yabloc_common/include/yabloc_common/ll2_decomposer/ll2_decomposer.hpp +++ b/localization/yabloc/yabloc_common/include/yabloc_common/ll2_decomposer/ll2_decomposer.hpp @@ -39,7 +39,7 @@ class Ll2Decomposer : public rclcpp::Node using Marker = visualization_msgs::msg::Marker; using MarkerArray = visualization_msgs::msg::MarkerArray; - Ll2Decomposer(); + explicit Ll2Decomposer(const rclcpp::NodeOptions & options = rclcpp::NodeOptions()); private: rclcpp::Publisher::SharedPtr pub_road_marking_; diff --git a/localization/yabloc/yabloc_common/launch/yabloc_common.launch.xml b/localization/yabloc/yabloc_common/launch/yabloc_common.launch.xml index 48299e880cc9c..29d3da71bce7f 100644 --- a/localization/yabloc/yabloc_common/launch/yabloc_common.launch.xml +++ b/localization/yabloc/yabloc_common/launch/yabloc_common.launch.xml @@ -1,5 +1,7 @@ + + @@ -7,7 +9,7 @@ - + @@ -25,7 +27,7 @@ - + diff --git a/localization/yabloc/yabloc_common/package.xml b/localization/yabloc/yabloc_common/package.xml index 710ec0aeb75f8..caf044660257e 100644 --- a/localization/yabloc/yabloc_common/package.xml +++ b/localization/yabloc/yabloc_common/package.xml @@ -21,9 +21,9 @@ geometry_msgs lanelet2_core lanelet2_extension - libgoogle-glog-dev pcl_conversions rclcpp + rclcpp_components sensor_msgs signal_processing sophus diff --git a/localization/yabloc/yabloc_common/src/extract_line_segments.cpp b/localization/yabloc/yabloc_common/src/extract_line_segments.cpp index 9987c4fbb5e72..9940dca1fd62b 100644 --- a/localization/yabloc/yabloc_common/src/extract_line_segments.cpp +++ b/localization/yabloc/yabloc_common/src/extract_line_segments.cpp @@ -20,12 +20,13 @@ pcl::PointCloud extract_near_line_segments( const pcl::PointCloud & line_segments, const Sophus::SE3f & transform, const float max_range) { - constexpr double sqrt_two = std::sqrt(2); + constexpr double sqrt_two = 1.41421356237309504880; const Eigen::Vector3f pose_vector = transform.translation(); // All line segments contained in a square with max_range on one side must be taken out, // so pick up those that are closer than the **diagonals** of the square. - auto check_intersection = [max_range, pose_vector](const pcl::PointNormal & pn) -> bool { + auto check_intersection = [sqrt_two, max_range, + pose_vector](const pcl::PointNormal & pn) -> bool { const Eigen::Vector3f from = pn.getVector3fMap() - pose_vector; const Eigen::Vector3f to = pn.getNormalVector3fMap() - pose_vector; diff --git a/localization/yabloc/yabloc_common/src/ground_server/ground_server_core.cpp b/localization/yabloc/yabloc_common/src/ground_server/ground_server_core.cpp index 749aa39318923..75d5f8e1f9cbc 100644 --- a/localization/yabloc/yabloc_common/src/ground_server/ground_server_core.cpp +++ b/localization/yabloc/yabloc_common/src/ground_server/ground_server_core.cpp @@ -30,8 +30,8 @@ namespace yabloc::ground_server { -GroundServer::GroundServer() -: Node("ground_server"), +GroundServer::GroundServer(const rclcpp::NodeOptions & options) +: Node("ground_server", options), force_zero_tilt_(declare_parameter("force_zero_tilt")), R(declare_parameter("R")), K(declare_parameter("K")) @@ -248,3 +248,6 @@ GroundServer::GroundPlane GroundServer::estimate_ground(const Point & point) } } // namespace yabloc::ground_server + +#include +RCLCPP_COMPONENTS_REGISTER_NODE(yabloc::ground_server::GroundServer) diff --git a/localization/yabloc/yabloc_common/src/ground_server/ground_server_node.cpp b/localization/yabloc/yabloc_common/src/ground_server/ground_server_node.cpp deleted file mode 100644 index ff50eeee0421d..0000000000000 --- a/localization/yabloc/yabloc_common/src/ground_server/ground_server_node.cpp +++ /dev/null @@ -1,27 +0,0 @@ -// Copyright 2023 TIER IV, Inc. -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. - -#include "yabloc_common/ground_server/ground_server.hpp" - -#include - -int main(int argc, char ** argv) -{ - google::InitGoogleLogging(argv[0]); - google::InstallFailureSignalHandler(); - - rclcpp::init(argc, argv); - rclcpp::spin(std::make_shared()); - rclcpp::shutdown(); -} diff --git a/localization/yabloc/yabloc_common/src/ll2_decomposer/ll2_decomposer_core.cpp b/localization/yabloc/yabloc_common/src/ll2_decomposer/ll2_decomposer_core.cpp index 5cf3e905e447d..df56f43b9287c 100644 --- a/localization/yabloc/yabloc_common/src/ll2_decomposer/ll2_decomposer_core.cpp +++ b/localization/yabloc/yabloc_common/src/ll2_decomposer/ll2_decomposer_core.cpp @@ -24,7 +24,7 @@ namespace yabloc::ll2_decomposer { -Ll2Decomposer::Ll2Decomposer() : Node("ll2_to_image") +Ll2Decomposer::Ll2Decomposer(const rclcpp::NodeOptions & options) : Node("ll2_to_image", options) { using std::placeholders::_1; const rclcpp::QoS latch_qos = rclcpp::QoS(10).transient_local(); @@ -263,3 +263,6 @@ void Ll2Decomposer::publish_additional_marker(const lanelet::LaneletMapPtr & lan } } // namespace yabloc::ll2_decomposer + +#include +RCLCPP_COMPONENTS_REGISTER_NODE(yabloc::ll2_decomposer::Ll2Decomposer) diff --git a/localization/yabloc/yabloc_particle_filter/package.xml b/localization/yabloc/yabloc_particle_filter/package.xml index 5db4aa0c29e88..66c0d8af8865c 100644 --- a/localization/yabloc/yabloc_particle_filter/package.xml +++ b/localization/yabloc/yabloc_particle_filter/package.xml @@ -18,6 +18,7 @@ rosidl_default_generators geometry_msgs + glog rclcpp sensor_msgs sophus diff --git a/localization/yabloc/yabloc_particle_filter/src/camera_corrector/camera_particle_corrector_node.cpp b/localization/yabloc/yabloc_particle_filter/src/camera_corrector/camera_particle_corrector_node.cpp index 4def604030c95..01378f05a0ac8 100644 --- a/localization/yabloc/yabloc_particle_filter/src/camera_corrector/camera_particle_corrector_node.cpp +++ b/localization/yabloc/yabloc_particle_filter/src/camera_corrector/camera_particle_corrector_node.cpp @@ -18,8 +18,10 @@ int main(int argc, char * argv[]) { - google::InitGoogleLogging(argv[0]); - google::InstallFailureSignalHandler(); + if (!google::IsGoogleLoggingInitialized()) { + google::InitGoogleLogging(argv[0]); + google::InstallFailureSignalHandler(); + } namespace mpf = yabloc::modularized_particle_filter; rclcpp::init(argc, argv); diff --git a/localization/yabloc/yabloc_pose_initializer/src/camera/projector_module.cpp b/localization/yabloc/yabloc_pose_initializer/src/camera/projector_module.cpp index 86a403f68a957..baa199d5548a1 100644 --- a/localization/yabloc/yabloc_pose_initializer/src/camera/projector_module.cpp +++ b/localization/yabloc/yabloc_pose_initializer/src/camera/projector_module.cpp @@ -50,9 +50,9 @@ cv::Mat ProjectorModule::project_image(const cv::Mat & mask_image) cv::findContours(masks[i], contours, cv::RETR_LIST, cv::CHAIN_APPROX_NONE); std::vector > projected_contours; - for (auto contour : contours) { + for (const auto & contour : contours) { std::vector projected; - for (auto c : contour) { + for (const auto & c : contour) { auto opt = project_func_(c); if (!opt.has_value()) continue; diff --git a/map/map_height_fitter/CMakeLists.txt b/map/map_height_fitter/CMakeLists.txt index 8821158c54757..0dec2f6a1663a 100644 --- a/map/map_height_fitter/CMakeLists.txt +++ b/map/map_height_fitter/CMakeLists.txt @@ -5,8 +5,9 @@ find_package(autoware_cmake REQUIRED) find_package(PCL REQUIRED COMPONENTS common) autoware_package() -ament_auto_add_library(map_height_fitter SHARED +ament_auto_add_library(${PROJECT_NAME} SHARED src/map_height_fitter.cpp + src/map_height_fitter_node.cpp ) target_link_libraries(map_height_fitter ${PCL_LIBRARIES}) @@ -14,11 +15,14 @@ target_link_libraries(map_height_fitter ${PCL_LIBRARIES}) # These are treated as errors in compile, so pedantic warnings are disabled for this package. target_compile_options(map_height_fitter PRIVATE -Wno-pedantic) -ament_auto_add_executable(node - src/node.cpp +rclcpp_components_register_node(${PROJECT_NAME} + PLUGIN "MapHeightFitterNode" + EXECUTABLE ${PROJECT_NAME}_node + EXECUTOR MultiThreadedExecutor ) ament_auto_package( INSTALL_TO_SHARE launch - config) + config +) diff --git a/map/map_height_fitter/launch/map_height_fitter.launch.xml b/map/map_height_fitter/launch/map_height_fitter.launch.xml index 353f2151ee172..3e01a35a8e519 100644 --- a/map/map_height_fitter/launch/map_height_fitter.launch.xml +++ b/map/map_height_fitter/launch/map_height_fitter.launch.xml @@ -3,7 +3,7 @@ - + diff --git a/map/map_height_fitter/package.xml b/map/map_height_fitter/package.xml index 7f384aa43ec7b..568c77f2509c6 100644 --- a/map/map_height_fitter/package.xml +++ b/map/map_height_fitter/package.xml @@ -25,6 +25,7 @@ libpcl-common pcl_conversions rclcpp + rclcpp_components sensor_msgs tf2_geometry_msgs tf2_ros diff --git a/map/map_height_fitter/src/map_height_fitter.cpp b/map/map_height_fitter/src/map_height_fitter.cpp index 095574125d9a0..0c99d33772aea 100644 --- a/map/map_height_fitter/src/map_height_fitter.cpp +++ b/map/map_height_fitter/src/map_height_fitter.cpp @@ -200,20 +200,12 @@ double MapHeightFitter::Impl::get_ground_height(const Point & point) const } } } else if (fit_target_ == "vector_map") { - lanelet::ConstLanelets all_lanelets = lanelet::utils::query::laneletLayer(vector_map_); - - geometry_msgs::msg::Pose pose; - pose.position.x = x; - pose.position.y = y; - pose.position.z = 0.0; - lanelet::ConstLanelet closest_lanelet; - const bool result = - lanelet::utils::query::getClosestLanelet(all_lanelets, pose, &closest_lanelet); - if (!result) { + const auto closest_points = vector_map_->pointLayer.nearest(lanelet::BasicPoint2d{x, y}, 1); + if (closest_points.empty()) { RCLCPP_WARN_STREAM(logger, "failed to get closest lanelet"); return point.z; } - height = closest_lanelet.centerline().back().z(); + height = closest_points.front().z(); } return std::isfinite(height) ? height : point.z; diff --git a/map/map_height_fitter/src/node.cpp b/map/map_height_fitter/src/map_height_fitter_node.cpp similarity index 83% rename from map/map_height_fitter/src/node.cpp rename to map/map_height_fitter/src/map_height_fitter_node.cpp index 55702dc08450d..fdc7604b68855 100644 --- a/map/map_height_fitter/src/node.cpp +++ b/map/map_height_fitter/src/map_height_fitter_node.cpp @@ -23,7 +23,8 @@ using tier4_localization_msgs::srv::PoseWithCovarianceStamped; class MapHeightFitterNode : public rclcpp::Node { public: - MapHeightFitterNode() : Node("map_height_fitter"), fitter_(this) + explicit MapHeightFitterNode(const rclcpp::NodeOptions & options) + : rclcpp::Node("map_height_fitter", options), fitter_(this) { const auto on_service = [this]( const PoseWithCovarianceStamped::Request::SharedPtr req, @@ -46,13 +47,5 @@ class MapHeightFitterNode : public rclcpp::Node rclcpp::Service::SharedPtr srv_; }; -int main(int argc, char ** argv) -{ - rclcpp::init(argc, argv); - rclcpp::executors::MultiThreadedExecutor executor; - auto node = std::make_shared(); - executor.add_node(node); - executor.spin(); - executor.remove_node(node); - rclcpp::shutdown(); -} +#include +RCLCPP_COMPONENTS_REGISTER_NODE(MapHeightFitterNode) diff --git a/map/map_projection_loader/CMakeLists.txt b/map/map_projection_loader/CMakeLists.txt index f6102a1efa795..87f519ab22572 100644 --- a/map/map_projection_loader/CMakeLists.txt +++ b/map/map_projection_loader/CMakeLists.txt @@ -6,25 +6,24 @@ autoware_package() ament_auto_find_build_dependencies() -ament_auto_add_library(map_projection_loader_lib SHARED +ament_auto_add_library(${PROJECT_NAME} SHARED src/map_projection_loader.cpp src/load_info_from_lanelet2_map.cpp ) -target_link_libraries(map_projection_loader_lib yaml-cpp) - -ament_auto_add_executable(map_projection_loader src/map_projection_loader_node.cpp) - -target_compile_options(map_projection_loader PUBLIC -g -Wall -Wextra -Wpedantic -Werror) +rclcpp_components_register_node(${PROJECT_NAME} + PLUGIN "MapProjectionLoader" + EXECUTABLE ${PROJECT_NAME}_node + EXECUTOR SingleThreadedExecutor +) -target_link_libraries(map_projection_loader map_projection_loader_lib) -target_include_directories(map_projection_loader PUBLIC include) +target_link_libraries(${PROJECT_NAME} yaml-cpp) function(add_testcase filepath) get_filename_component(filename ${filepath} NAME) string(REGEX REPLACE ".cpp" "" test_name ${filename}) ament_add_gmock(${test_name} ${filepath}) - target_link_libraries("${test_name}" map_projection_loader_lib) + target_link_libraries("${test_name}" ${PROJECT_NAME}) ament_target_dependencies(${test_name} ${${PROJECT_NAME}_FOUND_BUILD_DEPENDS}) endfunction() @@ -57,7 +56,8 @@ if(BUILD_TESTING) add_testcase(test/test_load_info_from_lanelet2_map.cpp) endif() -ament_auto_package(INSTALL_TO_SHARE +ament_auto_package( + INSTALL_TO_SHARE launch config ) diff --git a/map/map_projection_loader/README.md b/map/map_projection_loader/README.md index 848fcfba95f14..aa620256d977b 100644 --- a/map/map_projection_loader/README.md +++ b/map/map_projection_loader/README.md @@ -21,6 +21,10 @@ sample-map-rosbag └── pointcloud_map_metadata.yaml ``` +There are three types of transformations from latitude and longitude to XYZ coordinate system as shown in the figure below. Please refer to the following details for the necessary parameters for each projector type. + +![node_diagram](docs/map_projector_type.svg) + ### Using local coordinate ```yaml diff --git a/map/map_projection_loader/docs/map_projector_type.svg b/map/map_projection_loader/docs/map_projector_type.svg new file mode 100644 index 0000000000000..e1c8c2ac68987 --- /dev/null +++ b/map/map_projection_loader/docs/map_projector_type.svg @@ -0,0 +1,3010 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + MGRS + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + MGRS + + + X(east) + + + O + + + Y(north) + + + + Strict Boundary. + + Outside of the mgrs grid is + projected to undefined xy + + + mgrs_grid=54SUE + + + 54SUE + + + 54S(UTM grid) + + + meridian + + + LocalCartesianUTM + + + TransverseMercator + + + + + map_origin.latitude=35.6 + map_origin.longitude=139.5 + + + 3+6*floor(map_origin.longitude/6)[deg] + + + 3+6n[deg] + + + + + + + + + + + + + + + + + + + + + + + + + + + + + X(east) + + + O + + + Y(north) + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + map_origin.latitude=35.6 + map_origin.longitude=139.5 + + + map_origin.longitude[deg] + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + X(east) + + + O + + + Y(north) + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + No boundary, + but farther away from the meridian, + the greater the projection error becomes + + + + No boundary, + but farther away from the meridian, + the greater the projection error becomes + + + diff --git a/map/map_projection_loader/include/map_projection_loader/map_projection_loader.hpp b/map/map_projection_loader/include/map_projection_loader/map_projection_loader.hpp index 54e794e2742bf..05bc6e64e1675 100644 --- a/map/map_projection_loader/include/map_projection_loader/map_projection_loader.hpp +++ b/map/map_projection_loader/include/map_projection_loader/map_projection_loader.hpp @@ -29,7 +29,7 @@ tier4_map_msgs::msg::MapProjectorInfo load_map_projector_info( class MapProjectionLoader : public rclcpp::Node { public: - MapProjectionLoader(); + explicit MapProjectionLoader(const rclcpp::NodeOptions & options); private: using MapProjectorInfo = map_interface::MapProjectorInfo; diff --git a/map/map_projection_loader/launch/map_projection_loader.launch.xml b/map/map_projection_loader/launch/map_projection_loader.launch.xml index a6570b69d3498..13418a7e97423 100644 --- a/map/map_projection_loader/launch/map_projection_loader.launch.xml +++ b/map/map_projection_loader/launch/map_projection_loader.launch.xml @@ -4,7 +4,7 @@ - + diff --git a/map/map_projection_loader/package.xml b/map/map_projection_loader/package.xml index 475881577bd58..7a930085cd7b1 100644 --- a/map/map_projection_loader/package.xml +++ b/map/map_projection_loader/package.xml @@ -21,6 +21,7 @@ component_interface_utils lanelet2_extension rclcpp + rclcpp_components tier4_map_msgs yaml-cpp diff --git a/map/map_projection_loader/src/map_projection_loader.cpp b/map/map_projection_loader/src/map_projection_loader.cpp index 5966baaed8383..383051e8f67a5 100644 --- a/map/map_projection_loader/src/map_projection_loader.cpp +++ b/map/map_projection_loader/src/map_projection_loader.cpp @@ -82,7 +82,8 @@ tier4_map_msgs::msg::MapProjectorInfo load_map_projector_info( return msg; } -MapProjectionLoader::MapProjectionLoader() : Node("map_projection_loader") +MapProjectionLoader::MapProjectionLoader(const rclcpp::NodeOptions & options) +: rclcpp::Node("map_projection_loader", options) { const std::string yaml_filename = this->declare_parameter("map_projector_info_path"); const std::string lanelet2_map_filename = @@ -96,3 +97,6 @@ MapProjectionLoader::MapProjectionLoader() : Node("map_projection_loader") adaptor.init_pub(publisher_); publisher_->publish(msg); } + +#include +RCLCPP_COMPONENTS_REGISTER_NODE(MapProjectionLoader) diff --git a/map/map_projection_loader/test/test_node_load_local_cartesian_utm_from_yaml.test.py b/map/map_projection_loader/test/test_node_load_local_cartesian_utm_from_yaml.test.py index b8540550ce9da..0d0b5cb31afba 100644 --- a/map/map_projection_loader/test/test_node_load_local_cartesian_utm_from_yaml.test.py +++ b/map/map_projection_loader/test/test_node_load_local_cartesian_utm_from_yaml.test.py @@ -44,7 +44,7 @@ def generate_test_description(): map_projection_loader_node = Node( package="map_projection_loader", - executable="map_projection_loader", + executable="map_projection_loader_node", output="screen", parameters=[ { diff --git a/map/map_projection_loader/test/test_node_load_local_from_yaml.test.py b/map/map_projection_loader/test/test_node_load_local_from_yaml.test.py index c7697038cc253..6a17ff340b19f 100644 --- a/map/map_projection_loader/test/test_node_load_local_from_yaml.test.py +++ b/map/map_projection_loader/test/test_node_load_local_from_yaml.test.py @@ -44,7 +44,7 @@ def generate_test_description(): map_projection_loader_node = Node( package="map_projection_loader", - executable="map_projection_loader", + executable="map_projection_loader_node", output="screen", parameters=[ { diff --git a/map/map_projection_loader/test/test_node_load_mgrs_from_yaml.test.py b/map/map_projection_loader/test/test_node_load_mgrs_from_yaml.test.py index f75beddc6827c..37cfd9936bf20 100644 --- a/map/map_projection_loader/test/test_node_load_mgrs_from_yaml.test.py +++ b/map/map_projection_loader/test/test_node_load_mgrs_from_yaml.test.py @@ -44,7 +44,7 @@ def generate_test_description(): map_projection_loader_node = Node( package="map_projection_loader", - executable="map_projection_loader", + executable="map_projection_loader_node", output="screen", parameters=[ { diff --git a/map/map_projection_loader/test/test_node_load_transverse_mercator_from_yaml.test.py b/map/map_projection_loader/test/test_node_load_transverse_mercator_from_yaml.test.py index 765f3cde04679..7bccdc7875454 100644 --- a/map/map_projection_loader/test/test_node_load_transverse_mercator_from_yaml.test.py +++ b/map/map_projection_loader/test/test_node_load_transverse_mercator_from_yaml.test.py @@ -44,7 +44,7 @@ def generate_test_description(): map_projection_loader_node = Node( package="map_projection_loader", - executable="map_projection_loader", + executable="map_projection_loader_node", output="screen", parameters=[ { diff --git a/map/map_tf_generator/launch/map_tf_generator.launch.xml b/map/map_tf_generator/launch/map_tf_generator.launch.xml index 43d487c2bc982..197085f31d9c4 100644 --- a/map/map_tf_generator/launch/map_tf_generator.launch.xml +++ b/map/map_tf_generator/launch/map_tf_generator.launch.xml @@ -3,7 +3,7 @@ - + diff --git a/map/util/lanelet2_map_preprocessor/src/fix_lane_change_tags.cpp b/map/util/lanelet2_map_preprocessor/src/fix_lane_change_tags.cpp index 8900381060472..a406e5381357d 100644 --- a/map/util/lanelet2_map_preprocessor/src/fix_lane_change_tags.cpp +++ b/map/util/lanelet2_map_preprocessor/src/fix_lane_change_tags.cpp @@ -48,11 +48,6 @@ bool loadLaneletMap( return true; } -bool exists(std::unordered_set & set, lanelet::Id element) -{ - return std::find(set.begin(), set.end(), element) != set.end(); -} - lanelet::Lanelets convertToVector(lanelet::LaneletMapPtr & lanelet_map_ptr) { lanelet::Lanelets lanelets; diff --git a/map/util/lanelet2_map_preprocessor/src/fix_z_value_by_pcd.cpp b/map/util/lanelet2_map_preprocessor/src/fix_z_value_by_pcd.cpp index b0eca472ee1f3..758fee3addc06 100644 --- a/map/util/lanelet2_map_preprocessor/src/fix_z_value_by_pcd.cpp +++ b/map/util/lanelet2_map_preprocessor/src/fix_z_value_by_pcd.cpp @@ -91,11 +91,6 @@ double getMinHeightAroundPoint( return min_height; } -bool exists(std::unordered_set & set, lanelet::Id element) -{ - return std::find(set.begin(), set.end(), element) != set.end(); -} - void adjustHeight( const pcl::PointCloud::Ptr & pcd_map_ptr, lanelet::LaneletMapPtr & lanelet_map_ptr) { @@ -108,7 +103,7 @@ void adjustHeight( for (lanelet::Lanelet & llt : lanelet_map_ptr->laneletLayer) { for (lanelet::Point3d & pt : llt.leftBound()) { - if (exists(done, pt.id())) { + if (done.find(pt.id()) != done.end()) { continue; } pcl::PointXYZ pcl_pt; @@ -122,7 +117,7 @@ void adjustHeight( done.insert(pt.id()); } for (lanelet::Point3d & pt : llt.rightBound()) { - if (exists(done, pt.id())) { + if (done.find(pt.id()) != done.end()) { continue; } pcl::PointXYZ pcl_pt; diff --git a/map/util/lanelet2_map_preprocessor/src/merge_close_lines.cpp b/map/util/lanelet2_map_preprocessor/src/merge_close_lines.cpp index a9e45b3b31785..d001bdc54a680 100644 --- a/map/util/lanelet2_map_preprocessor/src/merge_close_lines.cpp +++ b/map/util/lanelet2_map_preprocessor/src/merge_close_lines.cpp @@ -49,7 +49,7 @@ bool loadLaneletMap( bool exists(std::unordered_set & set, lanelet::Id element) { - return std::find(set.begin(), set.end(), element) != set.end(); + return set.find(element) != set.end(); } lanelet::LineStrings3d convertLineLayerToLineStrings(lanelet::LaneletMapPtr & lanelet_map_ptr) diff --git a/map/util/lanelet2_map_preprocessor/src/merge_close_points.cpp b/map/util/lanelet2_map_preprocessor/src/merge_close_points.cpp index ab77b18493120..beb736e809275 100644 --- a/map/util/lanelet2_map_preprocessor/src/merge_close_points.cpp +++ b/map/util/lanelet2_map_preprocessor/src/merge_close_points.cpp @@ -45,7 +45,7 @@ bool loadLaneletMap( bool exists(std::unordered_set & set, lanelet::Id element) { - return std::find(set.begin(), set.end(), element) != set.end(); + return set.find(element) != set.end(); } lanelet::Points3d convertPointsLayerToPoints(lanelet::LaneletMapPtr & lanelet_map_ptr) diff --git a/map/util/lanelet2_map_preprocessor/src/remove_unreferenced_geometry.cpp b/map/util/lanelet2_map_preprocessor/src/remove_unreferenced_geometry.cpp index ca488b3acb790..e6c4feb4cee9a 100644 --- a/map/util/lanelet2_map_preprocessor/src/remove_unreferenced_geometry.cpp +++ b/map/util/lanelet2_map_preprocessor/src/remove_unreferenced_geometry.cpp @@ -43,11 +43,6 @@ bool loadLaneletMap( return true; } -bool exists(std::unordered_set & set, lanelet::Id element) -{ - return std::find(set.begin(), set.end(), element) != set.end(); -} - lanelet::Points3d convertPointsLayerToPoints(lanelet::LaneletMapPtr & lanelet_map_ptr) { lanelet::Points3d points; diff --git a/perception/detected_object_validation/CMakeLists.txt b/perception/detected_object_validation/CMakeLists.txt index f882c6dd165fe..d023c6c9df328 100644 --- a/perception/detected_object_validation/CMakeLists.txt +++ b/perception/detected_object_validation/CMakeLists.txt @@ -85,6 +85,12 @@ rclcpp_components_register_node(occupancy_grid_based_validator EXECUTABLE occupancy_grid_based_validator_node ) +if(BUILD_TESTING) + ament_auto_add_gtest(detection_object_validation_tests + test/test_utils.cpp + ) +endif() + ament_auto_package(INSTALL_TO_SHARE launch config diff --git a/perception/detected_object_validation/config/object_lanelet_filter.param.yaml b/perception/detected_object_validation/config/object_lanelet_filter.param.yaml index dfdee95642fed..99050d9738ae6 100644 --- a/perception/detected_object_validation/config/object_lanelet_filter.param.yaml +++ b/perception/detected_object_validation/config/object_lanelet_filter.param.yaml @@ -9,3 +9,13 @@ MOTORCYCLE : false BICYCLE : false PEDESTRIAN : false + + filter_settings: + # polygon overlap based filter + polygon_overlap_filter: + enabled: true + # velocity direction based filter + lanelet_direction_filter: + enabled: false + velocity_yaw_threshold: 0.785398 # [rad] (45 deg) + object_speed_threshold: 3.0 # [m/s] diff --git a/perception/detected_object_validation/include/detected_object_validation/detected_object_filter/object_lanelet_filter.hpp b/perception/detected_object_validation/include/detected_object_validation/detected_object_filter/object_lanelet_filter.hpp index f3871aaf98117..6c652d0ad093e 100644 --- a/perception/detected_object_validation/include/detected_object_validation/detected_object_filter/object_lanelet_filter.hpp +++ b/perception/detected_object_validation/include/detected_object_validation/detected_object_filter/object_lanelet_filter.hpp @@ -17,6 +17,7 @@ #include "detected_object_validation/utils/utils.hpp" +#include #include #include #include @@ -62,11 +63,30 @@ class ObjectLaneletFilterNode : public rclcpp::Node tf2_ros::TransformListener tf_listener_; utils::FilterTargetLabel filter_target_; - + struct FilterSettings + { + bool polygon_overlap_filter; + bool lanelet_direction_filter; + double lanelet_direction_filter_velocity_yaw_threshold; + double lanelet_direction_filter_object_speed_threshold; + } filter_settings_; + + bool filterObject( + const autoware_auto_perception_msgs::msg::DetectedObject & transformed_object, + const autoware_auto_perception_msgs::msg::DetectedObject & input_object, + const lanelet::ConstLanelets & intersected_road_lanelets, + const lanelet::ConstLanelets & intersected_shoulder_lanelets, + autoware_auto_perception_msgs::msg::DetectedObjects & output_object_msg); LinearRing2d getConvexHull(const autoware_auto_perception_msgs::msg::DetectedObjects &); lanelet::ConstLanelets getIntersectedLanelets( const LinearRing2d &, const lanelet::ConstLanelets &); + bool isObjectOverlapLanelets( + const autoware_auto_perception_msgs::msg::DetectedObject & object, + const lanelet::ConstLanelets & intersected_lanelets); bool isPolygonOverlapLanelets(const Polygon2d &, const lanelet::ConstLanelets &); + bool isSameDirectionWithLanelets( + const lanelet::ConstLanelets & lanelets, + const autoware_auto_perception_msgs::msg::DetectedObject & object); geometry_msgs::msg::Polygon setFootprint( const autoware_auto_perception_msgs::msg::DetectedObject &); diff --git a/perception/detected_object_validation/include/detected_object_validation/utils/utils.hpp b/perception/detected_object_validation/include/detected_object_validation/utils/utils.hpp index 2c46e1b9dd110..853733dc0ee5f 100644 --- a/perception/detected_object_validation/include/detected_object_validation/utils/utils.hpp +++ b/perception/detected_object_validation/include/detected_object_validation/utils/utils.hpp @@ -15,8 +15,9 @@ #ifndef DETECTED_OBJECT_VALIDATION__UTILS__UTILS_HPP_ #define DETECTED_OBJECT_VALIDATION__UTILS__UTILS_HPP_ -#include +#include +#include namespace utils { struct FilterTargetLabel @@ -31,6 +32,21 @@ struct FilterTargetLabel bool PEDESTRIAN; bool isTarget(const uint8_t label) const; }; // struct FilterTargetLabel + +inline bool hasBoundingBox(const autoware_auto_perception_msgs::msg::DetectedObject & object) +{ + if (object.shape.type == autoware_auto_perception_msgs::msg::Shape::BOUNDING_BOX) { + return true; + } else if (object.shape.type == autoware_auto_perception_msgs::msg::Shape::CYLINDER) { + return true; + } else if (object.shape.type == autoware_auto_perception_msgs::msg::Shape::POLYGON) { + return false; + } else { + // unknown shape type. + return false; + } +} + } // namespace utils #endif // DETECTED_OBJECT_VALIDATION__UTILS__UTILS_HPP_ diff --git a/perception/detected_object_validation/src/object_lanelet_filter.cpp b/perception/detected_object_validation/src/object_lanelet_filter.cpp index 50a81e95d5a9b..80a2ce4b6563f 100644 --- a/perception/detected_object_validation/src/object_lanelet_filter.cpp +++ b/perception/detected_object_validation/src/object_lanelet_filter.cpp @@ -43,6 +43,15 @@ ObjectLaneletFilterNode::ObjectLaneletFilterNode(const rclcpp::NodeOptions & nod filter_target_.MOTORCYCLE = declare_parameter("filter_target_label.MOTORCYCLE", false); filter_target_.BICYCLE = declare_parameter("filter_target_label.BICYCLE", false); filter_target_.PEDESTRIAN = declare_parameter("filter_target_label.PEDESTRIAN", false); + // Set filter settings + filter_settings_.polygon_overlap_filter = + declare_parameter("filter_settings.polygon_overlap_filter.enabled"); + filter_settings_.lanelet_direction_filter = + declare_parameter("filter_settings.lanelet_direction_filter.enabled"); + filter_settings_.lanelet_direction_filter_velocity_yaw_threshold = + declare_parameter("filter_settings.lanelet_direction_filter.velocity_yaw_threshold"); + filter_settings_.lanelet_direction_filter_object_speed_threshold = + declare_parameter("filter_settings.lanelet_direction_filter.object_speed_threshold"); // Set publisher/subscriber map_sub_ = this->create_subscription( @@ -97,27 +106,13 @@ void ObjectLaneletFilterNode::objectCallback( lanelet::ConstLanelets intersected_shoulder_lanelets = getIntersectedLanelets(convex_hull, shoulder_lanelets_); - int index = 0; - for (const auto & object : transformed_objects.objects) { - const auto footprint = setFootprint(object); - const auto & label = object.classification.front().label; - if (filter_target_.isTarget(label)) { - Polygon2d polygon; - for (const auto & point : footprint.points) { - const geometry_msgs::msg::Point32 point_transformed = - tier4_autoware_utils::transformPoint(point, object.kinematics.pose_with_covariance.pose); - polygon.outer().emplace_back(point_transformed.x, point_transformed.y); - } - polygon.outer().push_back(polygon.outer().front()); - if (isPolygonOverlapLanelets(polygon, intersected_road_lanelets)) { - output_object_msg.objects.emplace_back(input_msg->objects.at(index)); - } else if (isPolygonOverlapLanelets(polygon, intersected_shoulder_lanelets)) { - output_object_msg.objects.emplace_back(input_msg->objects.at(index)); - } - } else { - output_object_msg.objects.emplace_back(input_msg->objects.at(index)); - } - ++index; + // filtering process + for (size_t index = 0; index < transformed_objects.objects.size(); ++index) { + const auto & transformed_object = transformed_objects.objects.at(index); + const auto & input_object = input_msg->objects.at(index); + filterObject( + transformed_object, input_object, intersected_road_lanelets, intersected_shoulder_lanelets, + output_object_msg); } object_pub_->publish(output_object_msg); published_time_publisher_->publish_if_subscribed(object_pub_, output_object_msg.header.stamp); @@ -132,6 +127,47 @@ void ObjectLaneletFilterNode::objectCallback( "debug/pipeline_latency_ms", pipeline_latency); } +bool ObjectLaneletFilterNode::filterObject( + const autoware_auto_perception_msgs::msg::DetectedObject & transformed_object, + const autoware_auto_perception_msgs::msg::DetectedObject & input_object, + const lanelet::ConstLanelets & intersected_road_lanelets, + const lanelet::ConstLanelets & intersected_shoulder_lanelets, + autoware_auto_perception_msgs::msg::DetectedObjects & output_object_msg) +{ + const auto & label = transformed_object.classification.front().label; + if (filter_target_.isTarget(label)) { + bool filter_pass = true; + // 1. is polygon overlap with road lanelets or shoulder lanelets + if (filter_settings_.polygon_overlap_filter) { + const bool is_polygon_overlap = + isObjectOverlapLanelets(transformed_object, intersected_road_lanelets) || + isObjectOverlapLanelets(transformed_object, intersected_shoulder_lanelets); + filter_pass = filter_pass && is_polygon_overlap; + } + + // 2. check if objects velocity is the same with the lanelet direction + const bool orientation_not_available = + transformed_object.kinematics.orientation_availability == + autoware_auto_perception_msgs::msg::TrackedObjectKinematics::UNAVAILABLE; + if (filter_settings_.lanelet_direction_filter && !orientation_not_available) { + const bool is_same_direction = + isSameDirectionWithLanelets(intersected_road_lanelets, transformed_object) || + isSameDirectionWithLanelets(intersected_shoulder_lanelets, transformed_object); + filter_pass = filter_pass && is_same_direction; + } + + // push back to output object + if (filter_pass) { + output_object_msg.objects.emplace_back(input_object); + return true; + } + } else { + output_object_msg.objects.emplace_back(input_object); + return true; + } + return false; +} + geometry_msgs::msg::Polygon ObjectLaneletFilterNode::setFootprint( const autoware_auto_perception_msgs::msg::DetectedObject & detected_object) { @@ -190,6 +226,39 @@ lanelet::ConstLanelets ObjectLaneletFilterNode::getIntersectedLanelets( return intersected_lanelets; } +bool ObjectLaneletFilterNode::isObjectOverlapLanelets( + const autoware_auto_perception_msgs::msg::DetectedObject & object, + const lanelet::ConstLanelets & intersected_lanelets) +{ + // if has bounding box, use polygon overlap + if (utils::hasBoundingBox(object)) { + Polygon2d polygon; + const auto footprint = setFootprint(object); + for (const auto & point : footprint.points) { + const geometry_msgs::msg::Point32 point_transformed = + tier4_autoware_utils::transformPoint(point, object.kinematics.pose_with_covariance.pose); + polygon.outer().emplace_back(point_transformed.x, point_transformed.y); + } + polygon.outer().push_back(polygon.outer().front()); + return isPolygonOverlapLanelets(polygon, intersected_lanelets); + } else { + // if object do not have bounding box, check each footprint is inside polygon + for (const auto & point : object.shape.footprint.points) { + const geometry_msgs::msg::Point32 point_transformed = + tier4_autoware_utils::transformPoint(point, object.kinematics.pose_with_covariance.pose); + geometry_msgs::msg::Pose point2d; + point2d.position.x = point_transformed.x; + point2d.position.y = point_transformed.y; + for (const auto & lanelet : intersected_lanelets) { + if (lanelet::utils::isInLanelet(point2d, lanelet, 0.0)) { + return true; + } + } + } + return false; + } +} + bool ObjectLaneletFilterNode::isPolygonOverlapLanelets( const Polygon2d & polygon, const lanelet::ConstLanelets & intersected_lanelets) { @@ -201,6 +270,42 @@ bool ObjectLaneletFilterNode::isPolygonOverlapLanelets( return false; } +bool ObjectLaneletFilterNode::isSameDirectionWithLanelets( + const lanelet::ConstLanelets & lanelets, + const autoware_auto_perception_msgs::msg::DetectedObject & object) +{ + const double object_yaw = tf2::getYaw(object.kinematics.pose_with_covariance.pose.orientation); + const double object_velocity_norm = std::hypot( + object.kinematics.twist_with_covariance.twist.linear.x, + object.kinematics.twist_with_covariance.twist.linear.y); + const double object_velocity_yaw = std::atan2( + object.kinematics.twist_with_covariance.twist.linear.y, + object.kinematics.twist_with_covariance.twist.linear.x) + + object_yaw; + + if (object_velocity_norm < filter_settings_.lanelet_direction_filter_object_speed_threshold) { + return true; + } + for (const auto & lanelet : lanelets) { + const bool is_in_lanelet = + lanelet::utils::isInLanelet(object.kinematics.pose_with_covariance.pose, lanelet, 0.0); + if (!is_in_lanelet) { + continue; + } + const double lane_yaw = lanelet::utils::getLaneletAngle( + lanelet, object.kinematics.pose_with_covariance.pose.position); + const double delta_yaw = object_velocity_yaw - lane_yaw; + const double normalized_delta_yaw = tier4_autoware_utils::normalizeRadian(delta_yaw); + const double abs_norm_delta_yaw = std::fabs(normalized_delta_yaw); + + if (abs_norm_delta_yaw < filter_settings_.lanelet_direction_filter_velocity_yaw_threshold) { + return true; + } + } + + return false; +} + } // namespace object_lanelet_filter #include diff --git a/perception/detected_object_validation/test/test_utils.cpp b/perception/detected_object_validation/test/test_utils.cpp new file mode 100644 index 0000000000000..ace4dd10a191f --- /dev/null +++ b/perception/detected_object_validation/test/test_utils.cpp @@ -0,0 +1,67 @@ +// Copyright 2024 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "detected_object_validation/utils/utils.hpp" + +#include + +#include + +using AutowareLabel = autoware_auto_perception_msgs::msg::ObjectClassification; + +utils::FilterTargetLabel createFilterTargetAll() +{ + utils::FilterTargetLabel filter; + filter.UNKNOWN = true; + filter.CAR = true; + filter.TRUCK = true; + filter.BUS = true; + filter.TRAILER = true; + filter.MOTORCYCLE = true; + filter.BICYCLE = true; + filter.PEDESTRIAN = true; + return filter; +} + +utils::FilterTargetLabel createFilterTargetVehicle() +{ + utils::FilterTargetLabel filter; + filter.UNKNOWN = false; + filter.CAR = true; + filter.TRUCK = true; + filter.BUS = true; + filter.TRAILER = true; + filter.MOTORCYCLE = false; + filter.BICYCLE = false; + filter.PEDESTRIAN = false; + return filter; +} + +TEST(IsTargetTest, AllTarget) +{ + auto filter = createFilterTargetAll(); + auto label = AutowareLabel::CAR; + EXPECT_TRUE(filter.isTarget(label)); +} + +TEST(IsTargetTest, VehicleTarget) +{ + auto filter = createFilterTargetVehicle(); + + auto car_label = AutowareLabel::CAR; + EXPECT_TRUE(filter.isTarget(car_label)); + + auto unknown_label = AutowareLabel::UNKNOWN; + EXPECT_FALSE(filter.isTarget(unknown_label)); +} diff --git a/perception/euclidean_cluster/include/euclidean_cluster/euclidean_cluster.hpp b/perception/euclidean_cluster/include/euclidean_cluster/euclidean_cluster.hpp index f1e275a919a8a..aec3f56936828 100644 --- a/perception/euclidean_cluster/include/euclidean_cluster/euclidean_cluster.hpp +++ b/perception/euclidean_cluster/include/euclidean_cluster/euclidean_cluster.hpp @@ -32,6 +32,10 @@ class EuclideanCluster : public EuclideanClusterInterface bool cluster( const pcl::PointCloud::ConstPtr & pointcloud, std::vector> & clusters) override; + + bool cluster( + const sensor_msgs::msg::PointCloud2::ConstSharedPtr & pointcloud, + tier4_perception_msgs::msg::DetectedObjectsWithFeature & clusters) override; void setTolerance(float tolerance) { tolerance_ = tolerance; } private: diff --git a/perception/euclidean_cluster/include/euclidean_cluster/euclidean_cluster_interface.hpp b/perception/euclidean_cluster/include/euclidean_cluster/euclidean_cluster_interface.hpp index 70c21daabcd66..65b907f747666 100644 --- a/perception/euclidean_cluster/include/euclidean_cluster/euclidean_cluster_interface.hpp +++ b/perception/euclidean_cluster/include/euclidean_cluster/euclidean_cluster_interface.hpp @@ -16,6 +16,9 @@ #include +#include +#include + #include #include @@ -41,6 +44,10 @@ class EuclideanClusterInterface const pcl::PointCloud::ConstPtr & pointcloud, std::vector> & clusters) = 0; + virtual bool cluster( + const sensor_msgs::msg::PointCloud2::ConstSharedPtr & input_msg, + tier4_perception_msgs::msg::DetectedObjectsWithFeature & output_clusters) = 0; + protected: bool use_height_ = true; int min_cluster_size_; diff --git a/perception/euclidean_cluster/include/euclidean_cluster/utils.hpp b/perception/euclidean_cluster/include/euclidean_cluster/utils.hpp index 2ac77aebdea0c..50d2306d48f72 100644 --- a/perception/euclidean_cluster/include/euclidean_cluster/utils.hpp +++ b/perception/euclidean_cluster/include/euclidean_cluster/utils.hpp @@ -31,6 +31,9 @@ void convertPointCloudClusters2Msg( const std_msgs::msg::Header & header, const std::vector> & clusters, tier4_perception_msgs::msg::DetectedObjectsWithFeature & msg); +void convertPointCloudClusters2Msg( + const std_msgs::msg::Header & header, const std::vector & clusters, + tier4_perception_msgs::msg::DetectedObjectsWithFeature & msg); void convertObjectMsg2SensorMsg( const tier4_perception_msgs::msg::DetectedObjectsWithFeature & input, sensor_msgs::msg::PointCloud2 & output); diff --git a/perception/euclidean_cluster/include/euclidean_cluster/voxel_grid_based_euclidean_cluster.hpp b/perception/euclidean_cluster/include/euclidean_cluster/voxel_grid_based_euclidean_cluster.hpp index d6a07503c5ca5..375cc2d19a01f 100644 --- a/perception/euclidean_cluster/include/euclidean_cluster/voxel_grid_based_euclidean_cluster.hpp +++ b/perception/euclidean_cluster/include/euclidean_cluster/voxel_grid_based_euclidean_cluster.hpp @@ -35,6 +35,9 @@ class VoxelGridBasedEuclideanCluster : public EuclideanClusterInterface bool cluster( const pcl::PointCloud::ConstPtr & pointcloud, std::vector> & clusters) override; + bool cluster( + const sensor_msgs::msg::PointCloud2::ConstSharedPtr & pointcloud, + tier4_perception_msgs::msg::DetectedObjectsWithFeature & clusters) override; void setVoxelLeafSize(float voxel_leaf_size) { voxel_leaf_size_ = voxel_leaf_size; } void setTolerance(float tolerance) { tolerance_ = tolerance; } void setMinPointsNumberPerVoxel(int min_points_number_per_voxel) diff --git a/perception/euclidean_cluster/lib/euclidean_cluster.cpp b/perception/euclidean_cluster/lib/euclidean_cluster.cpp index bd8270bd6b881..5ba1b99403280 100644 --- a/perception/euclidean_cluster/lib/euclidean_cluster.cpp +++ b/perception/euclidean_cluster/lib/euclidean_cluster.cpp @@ -33,6 +33,15 @@ EuclideanCluster::EuclideanCluster( : EuclideanClusterInterface(use_height, min_cluster_size, max_cluster_size), tolerance_(tolerance) { } +// TODO(badai-nguyen): implement input field copy for euclidean_cluster.cpp +bool EuclideanCluster::cluster( + const sensor_msgs::msg::PointCloud2::ConstSharedPtr & pointcloud_msg, + tier4_perception_msgs::msg::DetectedObjectsWithFeature & clusters) +{ + (void)pointcloud_msg; + (void)clusters; + return false; +} bool EuclideanCluster::cluster( const pcl::PointCloud::ConstPtr & pointcloud, diff --git a/perception/euclidean_cluster/lib/utils.cpp b/perception/euclidean_cluster/lib/utils.cpp index 6ff563c157d00..3a906575e2c1e 100644 --- a/perception/euclidean_cluster/lib/utils.cpp +++ b/perception/euclidean_cluster/lib/utils.cpp @@ -62,6 +62,25 @@ void convertPointCloudClusters2Msg( msg.feature_objects.push_back(feature_object); } } + +void convertPointCloudClusters2Msg( + const std_msgs::msg::Header & header, const std::vector & clusters, + tier4_perception_msgs::msg::DetectedObjectsWithFeature & msg) +{ + msg.header = header; + for (const auto & ros_pointcloud : clusters) { + tier4_perception_msgs::msg::DetectedObjectWithFeature feature_object; + feature_object.feature.cluster = ros_pointcloud; + feature_object.object.kinematics.pose_with_covariance.pose.position = + getCentroid(ros_pointcloud); + autoware_auto_perception_msgs::msg::ObjectClassification classification; + classification.label = autoware_auto_perception_msgs::msg::ObjectClassification::UNKNOWN; + classification.probability = 1.0f; + feature_object.object.classification.emplace_back(classification); + msg.feature_objects.push_back(feature_object); + } +} + void convertObjectMsg2SensorMsg( const tier4_perception_msgs::msg::DetectedObjectsWithFeature & input, sensor_msgs::msg::PointCloud2 & output) diff --git a/perception/euclidean_cluster/lib/voxel_grid_based_euclidean_cluster.cpp b/perception/euclidean_cluster/lib/voxel_grid_based_euclidean_cluster.cpp index b8276296dde5f..d82ec021a5396 100644 --- a/perception/euclidean_cluster/lib/voxel_grid_based_euclidean_cluster.cpp +++ b/perception/euclidean_cluster/lib/voxel_grid_based_euclidean_cluster.cpp @@ -40,14 +40,27 @@ VoxelGridBasedEuclideanCluster::VoxelGridBasedEuclideanCluster( min_points_number_per_voxel_(min_points_number_per_voxel) { } - +// TODO(badai-nguyen): remove this function when field copying also implemented for +// euclidean_cluster.cpp bool VoxelGridBasedEuclideanCluster::cluster( const pcl::PointCloud::ConstPtr & pointcloud, std::vector> & clusters) +{ + (void)pointcloud; + (void)clusters; + return false; +} + +bool VoxelGridBasedEuclideanCluster::cluster( + const sensor_msgs::msg::PointCloud2::ConstSharedPtr & pointcloud_msg, + tier4_perception_msgs::msg::DetectedObjectsWithFeature & objects) { // TODO(Saito) implement use_height is false version // create voxel + pcl::PointCloud::Ptr pointcloud(new pcl::PointCloud); + int point_step = pointcloud_msg->point_step; + pcl::fromROSMsg(*pointcloud_msg, *pointcloud); pcl::PointCloud::Ptr voxel_map_ptr(new pcl::PointCloud); voxel_grid_.setLeafSize(voxel_leaf_size_, voxel_leaf_size_, 100000.0); voxel_grid_.setMinimumPointsNumberPerVoxel(min_points_number_per_voxel_); @@ -81,36 +94,69 @@ bool VoxelGridBasedEuclideanCluster::cluster( // create map to search cluster index from voxel grid index std::unordered_map map; + std::vector temporary_clusters; // no check about cluster size + std::vector clusters_data_size; + temporary_clusters.resize(cluster_indices.size()); for (size_t cluster_idx = 0; cluster_idx < cluster_indices.size(); ++cluster_idx) { const auto & cluster = cluster_indices.at(cluster_idx); + auto & temporary_cluster = temporary_clusters.at(cluster_idx); for (const auto & point_idx : cluster.indices) { map[point_idx] = cluster_idx; } + temporary_cluster.height = pointcloud_msg->height; + temporary_cluster.fields = pointcloud_msg->fields; + temporary_cluster.point_step = point_step; + temporary_cluster.data.resize(max_cluster_size_ * point_step); + clusters_data_size.push_back(0); } // create vector of point cloud cluster. vector index is voxel grid index. - std::vector> temporary_clusters; // no check about cluster size - temporary_clusters.resize(cluster_indices.size()); - for (const auto & point : pointcloud->points) { + for (size_t i = 0; i < pointcloud->points.size(); ++i) { + const auto & point = pointcloud->points.at(i); const int index = voxel_grid_.getCentroidIndexAt(voxel_grid_.getGridCoordinates(point.x, point.y, point.z)); if (map.find(index) != map.end()) { - temporary_clusters.at(map[index]).points.push_back(point); + auto & cluster_data_size = clusters_data_size.at(map[index]); + if (cluster_data_size + point_step > std::size_t(max_cluster_size_ * point_step)) { + continue; + } + std::memcpy( + &temporary_clusters.at(map[index]).data[cluster_data_size], + &pointcloud_msg->data[i * point_step], point_step); + cluster_data_size += point_step; } } // build output and check cluster size { - for (const auto & cluster : temporary_clusters) { - if (!(min_cluster_size_ <= static_cast(cluster.points.size()) && - static_cast(cluster.points.size()) <= max_cluster_size_)) { + for (size_t i = 0; i < temporary_clusters.size(); ++i) { + auto & i_cluster_data_size = clusters_data_size.at(i); + if (!(min_cluster_size_ <= static_cast(i_cluster_data_size / point_step) && + static_cast(i_cluster_data_size / point_step) <= max_cluster_size_)) { continue; } - clusters.push_back(cluster); - clusters.back().width = cluster.points.size(); - clusters.back().height = 1; - clusters.back().is_dense = false; + const auto & cluster = temporary_clusters.at(i); + tier4_perception_msgs::msg::DetectedObjectWithFeature feature_object; + feature_object.feature.cluster = cluster; + feature_object.feature.cluster.data.resize(i_cluster_data_size); + feature_object.feature.cluster.header = pointcloud_msg->header; + feature_object.feature.cluster.is_bigendian = pointcloud_msg->is_bigendian; + feature_object.feature.cluster.is_dense = pointcloud_msg->is_dense; + feature_object.feature.cluster.point_step = point_step; + feature_object.feature.cluster.row_step = i_cluster_data_size / pointcloud_msg->height; + feature_object.feature.cluster.width = + i_cluster_data_size / point_step / pointcloud_msg->height; + + feature_object.object.kinematics.pose_with_covariance.pose.position = + getCentroid(feature_object.feature.cluster); + autoware_auto_perception_msgs::msg::ObjectClassification classification; + classification.label = autoware_auto_perception_msgs::msg::ObjectClassification::UNKNOWN; + classification.probability = 1.0f; + feature_object.object.classification.emplace_back(classification); + + objects.feature_objects.push_back(feature_object); } + objects.header = pointcloud_msg->header; } return true; diff --git a/perception/euclidean_cluster/src/voxel_grid_based_euclidean_cluster_node.cpp b/perception/euclidean_cluster/src/voxel_grid_based_euclidean_cluster_node.cpp index f58d9ac6dcc48..7e6a456561900 100644 --- a/perception/euclidean_cluster/src/voxel_grid_based_euclidean_cluster_node.cpp +++ b/perception/euclidean_cluster/src/voxel_grid_based_euclidean_cluster_node.cpp @@ -55,24 +55,15 @@ void VoxelGridBasedEuclideanClusterNode::onPointCloud( stop_watch_ptr_->toc("processing_time", true); // convert ros to pcl - pcl::PointCloud::Ptr raw_pointcloud_ptr(new pcl::PointCloud); if (input_msg->data.empty()) { // NOTE: prevent pcl log spam RCLCPP_WARN_STREAM_THROTTLE( this->get_logger(), *this->get_clock(), 1000, "Empty sensor points!"); - } else { - pcl::fromROSMsg(*input_msg, *raw_pointcloud_ptr); } - - // clustering - std::vector> clusters; - if (!raw_pointcloud_ptr->empty()) { - cluster_->cluster(raw_pointcloud_ptr, clusters); - } - - // build output msg + // cluster and build output msg tier4_perception_msgs::msg::DetectedObjectsWithFeature output; - convertPointCloudClusters2Msg(input_msg->header, clusters, output); + + cluster_->cluster(input_msg, output); cluster_pub_->publish(output); // build debug msg diff --git a/perception/ground_segmentation/include/ground_segmentation/ray_ground_filter_nodelet.hpp b/perception/ground_segmentation/include/ground_segmentation/ray_ground_filter_nodelet.hpp index 069c6ea27b1fa..6e2638e8566d8 100644 --- a/perception/ground_segmentation/include/ground_segmentation/ray_ground_filter_nodelet.hpp +++ b/perception/ground_segmentation/include/ground_segmentation/ray_ground_filter_nodelet.hpp @@ -186,15 +186,16 @@ class RayGroundFilterComponent : public pointcloud_preprocessor::Filter * @param out_removed_indices_cloud_ptr Resulting PointCloud with the indices removed */ void ExtractPointsIndices( - const pcl::PointCloud::Ptr in_cloud_ptr, const pcl::PointIndices & in_indices, - pcl::PointCloud::Ptr out_only_indices_cloud_ptr, - pcl::PointCloud::Ptr out_removed_indices_cloud_ptr); + const PointCloud2::ConstSharedPtr in_cloud_ptr, pcl::PointIndices & in_indices, + PointCloud2::SharedPtr out_only_indices_cloud_ptr, + PointCloud2::SharedPtr out_removed_indices_cloud_ptr); boost::optional calcPointVehicleIntersection(const Point & point); void setVehicleFootprint( const double min_x, const double max_x, const double min_y, const double max_y); - + void initializePointCloud2( + const PointCloud2::ConstSharedPtr & in_cloud_ptr, PointCloud2::SharedPtr & out_cloud_msg_ptr); /** \brief Parameter service callback result : needed to be hold */ OnSetParametersCallbackHandle::SharedPtr set_param_res_; diff --git a/perception/ground_segmentation/package.xml b/perception/ground_segmentation/package.xml index 1734487dcc6b3..05d5d18baf29e 100644 --- a/perception/ground_segmentation/package.xml +++ b/perception/ground_segmentation/package.xml @@ -8,6 +8,7 @@ Yukihiro Saito Shunsuke Miura Dai Nguyen + Yoshi Ri Apache License 2.0 diff --git a/perception/ground_segmentation/src/ransac_ground_filter_nodelet.cpp b/perception/ground_segmentation/src/ransac_ground_filter_nodelet.cpp index ed5fb6abe7fe7..d7fa777dc58c9 100644 --- a/perception/ground_segmentation/src/ransac_ground_filter_nodelet.cpp +++ b/perception/ground_segmentation/src/ransac_ground_filter_nodelet.cpp @@ -102,9 +102,7 @@ RANSACGroundFilterComponent::RANSACGroundFilterComponent(const rclcpp::NodeOptio unit_vec_ = Eigen::Vector3d::UnitX(); } else if (unit_axis_ == "y") { unit_vec_ = Eigen::Vector3d::UnitY(); - } else if (unit_axis_ == "z") { - unit_vec_ = Eigen::Vector3d::UnitZ(); - } else { + } else { // including (unit_axis_ == "z") unit_vec_ = Eigen::Vector3d::UnitZ(); } @@ -284,19 +282,36 @@ void RANSACGroundFilterComponent::filter( const Eigen::Affine3d plane_affine = getPlaneAffine(*segment_ground_cloud_ptr, plane_normal); pcl::PointCloud::Ptr no_ground_cloud_ptr(new pcl::PointCloud); + int x_offset = input->fields[pcl::getFieldIndex(*input, "x")].offset; + int y_offset = input->fields[pcl::getFieldIndex(*input, "y")].offset; + int z_offset = input->fields[pcl::getFieldIndex(*input, "z")].offset; + int point_step = input->point_step; + + sensor_msgs::msg::PointCloud2::SharedPtr no_ground_cloud_msg_ptr( + new sensor_msgs::msg::PointCloud2); + no_ground_cloud_msg_ptr->header = input->header; + no_ground_cloud_msg_ptr->fields = input->fields; + no_ground_cloud_msg_ptr->point_step = point_step; + size_t output_size = 0; // use not downsampled pointcloud for extract pointcloud that higher than height threshold - for (const auto & p : current_sensor_cloud_ptr->points) { - const Eigen::Vector3d transformed_point = - plane_affine.inverse() * Eigen::Vector3d(p.x, p.y, p.z); + for (size_t global_size = 0; global_size < input->data.size(); global_size += point_step) { + float x = *reinterpret_cast(input->data[global_size + x_offset]); + float y = *reinterpret_cast(input->data[global_size + y_offset]); + float z = *reinterpret_cast(input->data[global_size + z_offset]); + const Eigen::Vector3d transformed_point = plane_affine.inverse() * Eigen::Vector3d(x, y, z); if (std::abs(transformed_point.z()) > height_threshold_) { - no_ground_cloud_ptr->points.push_back(p); + std::memcpy( + &no_ground_cloud_msg_ptr->data[output_size], &input->data[global_size], point_step); + output_size += point_step; } } + no_ground_cloud_msg_ptr->data.resize(output_size); + no_ground_cloud_msg_ptr->height = input->height; + no_ground_cloud_msg_ptr->width = output_size / point_step / input->height; + no_ground_cloud_msg_ptr->row_step = output_size / input->height; + no_ground_cloud_msg_ptr->is_dense = input->is_dense; + no_ground_cloud_msg_ptr->is_bigendian = input->is_bigendian; - sensor_msgs::msg::PointCloud2::SharedPtr no_ground_cloud_msg_ptr( - new sensor_msgs::msg::PointCloud2); - pcl::toROSMsg(*no_ground_cloud_ptr, *no_ground_cloud_msg_ptr); - no_ground_cloud_msg_ptr->header = input->header; sensor_msgs::msg::PointCloud2::SharedPtr no_ground_cloud_transformed_msg_ptr( new sensor_msgs::msg::PointCloud2); if (!transformPointCloud( @@ -367,9 +382,7 @@ rcl_interfaces::msg::SetParametersResult RANSACGroundFilterComponent::paramCallb unit_vec_ = Eigen::Vector3d::UnitX(); } else if (unit_axis_ == "y") { unit_vec_ = Eigen::Vector3d::UnitY(); - } else if (unit_axis_ == "z") { - unit_vec_ = Eigen::Vector3d::UnitZ(); - } else { + } else { // including (unit_axis_ == "z") unit_vec_ = Eigen::Vector3d::UnitZ(); } RCLCPP_DEBUG(get_logger(), "Setting unit_axis to: %s.", unit_axis_.c_str()); diff --git a/perception/ground_segmentation/src/ray_ground_filter_nodelet.cpp b/perception/ground_segmentation/src/ray_ground_filter_nodelet.cpp index 7bcae47fd9f1f..c58f1c0e507e5 100644 --- a/perception/ground_segmentation/src/ray_ground_filter_nodelet.cpp +++ b/perception/ground_segmentation/src/ray_ground_filter_nodelet.cpp @@ -257,20 +257,53 @@ void RayGroundFilterComponent::ClassifyPointCloud( // return (true); // } -void RayGroundFilterComponent::ExtractPointsIndices( - const pcl::PointCloud::Ptr in_cloud_ptr, const pcl::PointIndices & in_indices, - pcl::PointCloud::Ptr out_only_indices_cloud_ptr, - pcl::PointCloud::Ptr out_removed_indices_cloud_ptr) +void RayGroundFilterComponent::initializePointCloud2( + const PointCloud2::ConstSharedPtr & in_cloud_ptr, PointCloud2::SharedPtr & out_cloud_msg_ptr) { - pcl::ExtractIndices extract_ground; - extract_ground.setInputCloud(in_cloud_ptr); - extract_ground.setIndices(pcl::make_shared(in_indices)); - - extract_ground.setNegative(false); // true removes the indices, false leaves only the indices - extract_ground.filter(*out_only_indices_cloud_ptr); + out_cloud_msg_ptr->header = in_cloud_ptr->header; + out_cloud_msg_ptr->height = in_cloud_ptr->height; + out_cloud_msg_ptr->fields = in_cloud_ptr->fields; + out_cloud_msg_ptr->is_bigendian = in_cloud_ptr->is_bigendian; + out_cloud_msg_ptr->point_step = in_cloud_ptr->point_step; + out_cloud_msg_ptr->is_dense = in_cloud_ptr->is_dense; + out_cloud_msg_ptr->data.resize(in_cloud_ptr->data.size()); +} - extract_ground.setNegative(true); // true removes the indices, false leaves only the indices - extract_ground.filter(*out_removed_indices_cloud_ptr); +void RayGroundFilterComponent::ExtractPointsIndices( + const PointCloud2::ConstSharedPtr in_cloud_ptr, pcl::PointIndices & in_indices, + PointCloud2::SharedPtr ground_cloud_msg_ptr, PointCloud2::SharedPtr no_ground_cloud_msg_ptr) +{ + initializePointCloud2(in_cloud_ptr, ground_cloud_msg_ptr); + initializePointCloud2(in_cloud_ptr, no_ground_cloud_msg_ptr); + int point_step = in_cloud_ptr->point_step; + size_t ground_count = 0; + size_t no_ground_count = 0; + std::vector is_ground_idx(in_cloud_ptr->width, false); + for (const auto & idx : in_indices.indices) { + if (std::size_t(idx) >= is_ground_idx.size()) { + continue; + } + is_ground_idx[idx] = true; + } + for (size_t i = 0; i < is_ground_idx.size(); ++i) { + if (is_ground_idx[i]) { + std::memcpy( + &ground_cloud_msg_ptr->data[ground_count * point_step], &in_cloud_ptr->data[i * point_step], + point_step); + ground_count++; + } else { + std::memcpy( + &no_ground_cloud_msg_ptr->data[no_ground_count * point_step], + &in_cloud_ptr->data[i * point_step], point_step); + no_ground_count++; + } + } + ground_cloud_msg_ptr->data.resize(ground_count * point_step); + no_ground_cloud_msg_ptr->data.resize(no_ground_count * point_step); + ground_cloud_msg_ptr->width = ground_count; + no_ground_cloud_msg_ptr->width = no_ground_count; + ground_cloud_msg_ptr->row_step = ground_count * point_step; + no_ground_cloud_msg_ptr->row_step = no_ground_count * point_step; } void RayGroundFilterComponent::filter( @@ -299,14 +332,11 @@ void RayGroundFilterComponent::filter( pcl::PointCloud::Ptr no_ground_cloud_ptr(new pcl::PointCloud); pcl::PointCloud::Ptr radials_cloud_ptr(new pcl::PointCloud); - ExtractPointsIndices( - current_sensor_cloud_ptr, ground_indices, ground_cloud_ptr, no_ground_cloud_ptr); - sensor_msgs::msg::PointCloud2::SharedPtr no_ground_cloud_msg_ptr( new sensor_msgs::msg::PointCloud2); - pcl::toROSMsg(*no_ground_cloud_ptr, *no_ground_cloud_msg_ptr); - no_ground_cloud_msg_ptr->header = input->header; + sensor_msgs::msg::PointCloud2::SharedPtr ground_cloud_msg_ptr(new sensor_msgs::msg::PointCloud2); + ExtractPointsIndices(input, ground_indices, ground_cloud_msg_ptr, no_ground_cloud_msg_ptr); output = *no_ground_cloud_msg_ptr; } diff --git a/perception/ground_segmentation/src/scan_ground_filter_nodelet.cpp b/perception/ground_segmentation/src/scan_ground_filter_nodelet.cpp index 34573b564fa36..a63d218df62de 100644 --- a/perception/ground_segmentation/src/scan_ground_filter_nodelet.cpp +++ b/perception/ground_segmentation/src/scan_ground_filter_nodelet.cpp @@ -349,13 +349,12 @@ void ScanGroundFilterComponent::classifyPointCloudGridScan( // check the first point in ray auto * p = &in_radial_ordered_clouds[i][0]; - auto * prev_p = &in_radial_ordered_clouds[i][0]; // for checking the distance to prev point bool initialized_first_gnd_grid = false; bool prev_list_init = false; pcl::PointXYZ p_orig_point, prev_p_orig_point; for (auto & point : in_radial_ordered_clouds[i]) { - prev_p = p; + auto * prev_p = p; // for checking the distance to prev point prev_p_orig_point = p_orig_point; p = &point; get_point_from_global_offset(in_cloud, p_orig_point, in_cloud->point_step * p->orig_index); @@ -388,19 +387,13 @@ void ScanGroundFilterComponent::classifyPointCloudGridScan( } // initialize lists of previous gnd grids - if (prev_list_init == false && initialized_first_gnd_grid == true) { + if (!prev_list_init) { float h = ground_cluster.getAverageHeight(); float r = ground_cluster.getAverageRadius(); initializeFirstGndGrids(h, r, p->grid_id, gnd_grids); prev_list_init = true; } - if (prev_list_init == false && initialized_first_gnd_grid == false) { - // assume first gnd grid is zero - initializeFirstGndGrids(0.0f, p->radius, p->grid_id, gnd_grids); - prev_list_init = true; - } - // move to new grid if (p->grid_id > prev_p->grid_id && ground_cluster.getAverageRadius() > 0.0) { // check if the prev grid have ground point cloud @@ -475,7 +468,6 @@ void ScanGroundFilterComponent::classifyPointCloud( float prev_gnd_slope = 0.0f; float points_distance = 0.0f; PointsCentroid ground_cluster, non_ground_cluster; - float local_slope = 0.0f; PointLabel prev_point_label = PointLabel::INIT; pcl::PointXYZ prev_gnd_point(0, 0, 0), p_orig_point, prev_p_orig_point; // loop through each point in the radial div @@ -530,7 +522,7 @@ void ScanGroundFilterComponent::classifyPointCloud( } if (calculate_slope) { // far from the previous point - local_slope = std::atan2(height_from_gnd, radius_distance_from_gnd); + auto local_slope = std::atan2(height_from_gnd, radius_distance_from_gnd); if (local_slope - prev_gnd_slope > local_slope_max_angle) { // the point is outside of the local slope threshold p->point_state = PointLabel::NON_GROUND; @@ -581,8 +573,6 @@ void ScanGroundFilterComponent::extractObjectPoints( std::memcpy( &out_object_cloud.data[output_data_size], &in_cloud_ptr->data[i * in_cloud_ptr->point_step], in_cloud_ptr->point_step * sizeof(uint8_t)); - *reinterpret_cast(&out_object_cloud.data[output_data_size + intensity_offset_]) = - 1; // set intensity to 1 output_data_size += in_cloud_ptr->point_step; } } @@ -612,7 +602,7 @@ void ScanGroundFilterComponent::faster_filter( output.row_step = no_ground_indices.indices.size() * input->point_step; output.data.resize(output.row_step); output.width = no_ground_indices.indices.size(); - output.fields.assign(input->fields.begin(), input->fields.begin() + 3); + output.fields = input->fields; output.is_dense = true; output.height = input->height; output.is_bigendian = input->is_bigendian; diff --git a/perception/image_projection_based_fusion/CMakeLists.txt b/perception/image_projection_based_fusion/CMakeLists.txt index b13f68b07181e..0f4cb7112f74a 100644 --- a/perception/image_projection_based_fusion/CMakeLists.txt +++ b/perception/image_projection_based_fusion/CMakeLists.txt @@ -160,6 +160,19 @@ else() message("Skipping build of some nodes due to missing dependencies") endif() +if(BUILD_TESTING) + find_package(ament_cmake_gtest REQUIRED) + ament_auto_add_gtest(test_calc_iou_functions + test/test_calc_iou_functions.cpp + ) + ament_auto_add_gtest(test_utils + test/test_utils.cpp + ) + ament_auto_add_gtest(test_geometry + test/test_geometry.cpp + ) +endif() + ament_auto_package(INSTALL_TO_SHARE launch config diff --git a/perception/image_projection_based_fusion/config/roi_sync.param.yaml b/perception/image_projection_based_fusion/config/fusion_common.param.yaml similarity index 100% rename from perception/image_projection_based_fusion/config/roi_sync.param.yaml rename to perception/image_projection_based_fusion/config/fusion_common.param.yaml diff --git a/perception/image_projection_based_fusion/config/pointpainting.param.yaml b/perception/image_projection_based_fusion/config/pointpainting.param.yaml old mode 100755 new mode 100644 index 53ac6f4cafc28..30136bc8f47d0 --- a/perception/image_projection_based_fusion/config/pointpainting.param.yaml +++ b/perception/image_projection_based_fusion/config/pointpainting.param.yaml @@ -1,26 +1,10 @@ /**: ros__parameters: - trt_precision: fp16 encoder_onnx_path: "$(var model_path)/pts_voxel_encoder_$(var model_name).onnx" encoder_engine_path: "$(var model_path)/pts_voxel_encoder_$(var model_name).engine" head_onnx_path: "$(var model_path)/pts_backbone_neck_head_$(var model_name).onnx" head_engine_path: "$(var model_path)/pts_backbone_neck_head_$(var model_name).engine" - - model_params: - class_names: ["CAR", "TRUCK", "BUS", "BICYCLE", "PEDESTRIAN"] - paint_class_names: ["CAR", "BICYCLE", "PEDESTRIAN"] - point_feature_size: 7 # x, y, z, time-lag and car, pedestrian, bicycle - max_voxel_size: 40000 - point_cloud_range: [-121.6, -76.8, -3.0, 121.6, 76.8, 5.0] - voxel_size: [0.32, 0.32, 8.0] - downsample_factor: 1 - encoder_in_feature_size: 12 - yaw_norm_thresholds: [0.3, 0.3, 0.3, 0.3, 0.0] - has_variance: false - has_twist: false - densification_params: - world_frame_id: "map" - num_past_frames: 0 + trt_precision: fp16 post_process_params: # post-process params circle_nms_dist_threshold: 0.3 @@ -28,6 +12,10 @@ iou_nms_search_distance_2d: 10.0 iou_nms_threshold: 0.1 score_threshold: 0.35 + yaw_norm_thresholds: [0.3, 0.3, 0.3, 0.3, 0.0] + densification_params: + world_frame_id: "map" + num_past_frames: 1 omp_params: # omp params num_threads: 1 diff --git a/perception/image_projection_based_fusion/config/pointpainting_ml_package.param.yaml b/perception/image_projection_based_fusion/config/pointpainting_ml_package.param.yaml new file mode 100755 index 0000000000000..ca76a8ecf2dac --- /dev/null +++ b/perception/image_projection_based_fusion/config/pointpainting_ml_package.param.yaml @@ -0,0 +1,13 @@ +/**: + ros__parameters: + model_params: + class_names: ["CAR", "TRUCK", "BUS", "BICYCLE", "PEDESTRIAN"] + paint_class_names: ["CAR", "BICYCLE", "PEDESTRIAN"] + point_feature_size: 7 # x, y, z, time-lag and car, pedestrian, bicycle + max_voxel_size: 40000 + point_cloud_range: [-121.6, -76.8, -3.0, 121.6, 76.8, 5.0] + voxel_size: [0.32, 0.32, 8.0] + downsample_factor: 1 + encoder_in_feature_size: 12 + has_twist: false + has_variance: false diff --git a/perception/image_projection_based_fusion/config/segmentation_pointcloud_fusion.param.yaml b/perception/image_projection_based_fusion/config/segmentation_pointcloud_fusion.param.yaml index 79a8b860ebdd3..2120a909cd672 100644 --- a/perception/image_projection_based_fusion/config/segmentation_pointcloud_fusion.param.yaml +++ b/perception/image_projection_based_fusion/config/segmentation_pointcloud_fusion.param.yaml @@ -31,10 +31,9 @@ # debug debug_mode: false - filter_scope_min_x: -100 - filter_scope_max_x: 100 - filter_scope_min_y: -100 - filter_scope_max_y: 100 - filter_scope_min_z: -100 - filter_scope_max_z: 100 - image_buffer_size: 15 + filter_scope_min_x: -100.0 + filter_scope_max_x: 100.0 + filter_scope_min_y: -100.0 + filter_scope_max_y: 100.0 + filter_scope_min_z: -100.0 + filter_scope_max_z: 100.0 diff --git a/perception/image_projection_based_fusion/docs/pointpainting-fusion.md b/perception/image_projection_based_fusion/docs/pointpainting-fusion.md index d50a3f97390ca..85e740d95ebd0 100644 --- a/perception/image_projection_based_fusion/docs/pointpainting-fusion.md +++ b/perception/image_projection_based_fusion/docs/pointpainting-fusion.md @@ -33,17 +33,22 @@ The lidar points are projected onto the output of an image-only 2d object detect ### Core Parameters -| Name | Type | Default Value | Description | -| ------------------------------- | ------ | ------------- | ----------------------------------------------------------- | -| `score_threshold` | float | `0.4` | detected objects with score less than threshold are ignored | -| `densification_world_frame_id` | string | `map` | the world frame id to fuse multi-frame pointcloud | -| `densification_num_past_frames` | int | `0` | the number of past frames to fuse with the current frame | -| `trt_precision` | string | `fp16` | TensorRT inference precision: `fp32` or `fp16` | -| `encoder_onnx_path` | string | `""` | path to VoxelFeatureEncoder ONNX file | -| `encoder_engine_path` | string | `""` | path to VoxelFeatureEncoder TensorRT Engine file | -| `head_onnx_path` | string | `""` | path to DetectionHead ONNX file | -| `head_engine_path` | string | `""` | path to DetectionHead TensorRT Engine file | -| `build_only` | bool | `false` | shutdown the node after TensorRT engine file is built | +| Name | Type | Default Value | Description | +| ------------------------------------------------ | ------------ | ------------------------- | ----------------------------------------------------------- | +| `encoder_onnx_path` | string | `""` | path to VoxelFeatureEncoder ONNX file | +| `encoder_engine_path` | string | `""` | path to VoxelFeatureEncoder TensorRT Engine file | +| `head_onnx_path` | string | `""` | path to DetectionHead ONNX file | +| `head_engine_path` | string | `""` | path to DetectionHead TensorRT Engine file | +| `build_only` | bool | `false` | shutdown the node after TensorRT engine file is built | +| `trt_precision` | string | `fp16` | TensorRT inference precision: `fp32` or `fp16` | +| `post_process_params.score_threshold` | double | `0.4` | detected objects with score less than threshold are ignored | +| `post_process_params.yaw_norm_thresholds` | list[double] | [0.3, 0.3, 0.3, 0.3, 0.0] | An array of distance threshold values of norm of yaw [rad]. | +| `post_process_params.iou_nms_target_class_names` | list[string] | ["CAR"] | An array of class names to be target in NMS. | +| `post_process_params.iou_nms_search_distance_2d` | double | 10.0 | A maximum distance value to search the nearest objects. | +| `post_process_params.iou_nms_threshold` | double | 0.1 | A threshold value of NMS using IoU score. | +| `post_process_params.has_twist` | boolean | false | Indicates whether the model outputs twist value. | +| `densification_params.world_frame_id` | string | `map` | the world frame id to fuse multi-frame pointcloud | +| `densification_params.num_past_frames` | int | `1` | the number of past frames to fuse with the current frame | ## Assumptions / Known limits diff --git a/perception/image_projection_based_fusion/launch/pointpainting_fusion.launch.xml b/perception/image_projection_based_fusion/launch/pointpainting_fusion.launch.xml index 9236d7d789ed1..d2f803f13d376 100644 --- a/perception/image_projection_based_fusion/launch/pointpainting_fusion.launch.xml +++ b/perception/image_projection_based_fusion/launch/pointpainting_fusion.launch.xml @@ -21,9 +21,10 @@ - - - + + + + @@ -48,6 +49,7 @@ + @@ -89,6 +91,7 @@ + diff --git a/perception/image_projection_based_fusion/launch/roi_cluster_fusion.launch.xml b/perception/image_projection_based_fusion/launch/roi_cluster_fusion.launch.xml index 8df1a374b00b6..f624b099fccb3 100644 --- a/perception/image_projection_based_fusion/launch/roi_cluster_fusion.launch.xml +++ b/perception/image_projection_based_fusion/launch/roi_cluster_fusion.launch.xml @@ -19,7 +19,7 @@ - + diff --git a/perception/image_projection_based_fusion/launch/roi_detected_object_fusion.launch.xml b/perception/image_projection_based_fusion/launch/roi_detected_object_fusion.launch.xml index c9da81af9ddb0..f11280b7f7c67 100644 --- a/perception/image_projection_based_fusion/launch/roi_detected_object_fusion.launch.xml +++ b/perception/image_projection_based_fusion/launch/roi_detected_object_fusion.launch.xml @@ -19,7 +19,7 @@ - + diff --git a/perception/image_projection_based_fusion/launch/roi_pointcloud_fusion.launch.xml b/perception/image_projection_based_fusion/launch/roi_pointcloud_fusion.launch.xml index 046d88d06e2a1..cde06744aca58 100644 --- a/perception/image_projection_based_fusion/launch/roi_pointcloud_fusion.launch.xml +++ b/perception/image_projection_based_fusion/launch/roi_pointcloud_fusion.launch.xml @@ -21,7 +21,7 @@ - + diff --git a/perception/image_projection_based_fusion/launch/segmentation_pointcloud_fusion.launch.xml b/perception/image_projection_based_fusion/launch/segmentation_pointcloud_fusion.launch.xml index 1db2bb20793ac..cf4d104b9e05a 100644 --- a/perception/image_projection_based_fusion/launch/segmentation_pointcloud_fusion.launch.xml +++ b/perception/image_projection_based_fusion/launch/segmentation_pointcloud_fusion.launch.xml @@ -18,7 +18,7 @@ - + diff --git a/perception/image_projection_based_fusion/package.xml b/perception/image_projection_based_fusion/package.xml index a5b41a30be166..57fe994aedf5a 100644 --- a/perception/image_projection_based_fusion/package.xml +++ b/perception/image_projection_based_fusion/package.xml @@ -36,6 +36,7 @@ tier4_autoware_utils tier4_perception_msgs + ament_cmake_gtest ament_lint_auto autoware_lint_common diff --git a/perception/image_projection_based_fusion/schema/roi_sync.schema.json b/perception/image_projection_based_fusion/schema/fusion_common.schema.json similarity index 97% rename from perception/image_projection_based_fusion/schema/roi_sync.schema.json rename to perception/image_projection_based_fusion/schema/fusion_common.schema.json index 411fb678a49a7..73ee1661adaea 100644 --- a/perception/image_projection_based_fusion/schema/roi_sync.schema.json +++ b/perception/image_projection_based_fusion/schema/fusion_common.schema.json @@ -3,7 +3,7 @@ "title": "Parameters for Synchronization of RoI Fusion Nodes", "type": "object", "definitions": { - "roi_sync": { + "fusion_common": { "type": "object", "properties": { "input_offset_ms": { @@ -74,7 +74,7 @@ "type": "object", "properties": { "ros__parameters": { - "$ref": "#/definitions/roi_sync" + "$ref": "#/definitions/fusion_common" } }, "required": ["ros__parameters"] diff --git a/perception/image_projection_based_fusion/schema/pointpainting.schema.json b/perception/image_projection_based_fusion/schema/pointpainting.schema.json index bc8f0512263b6..57d8bc500f3c6 100644 --- a/perception/image_projection_based_fusion/schema/pointpainting.schema.json +++ b/perception/image_projection_based_fusion/schema/pointpainting.schema.json @@ -6,71 +6,11 @@ "pointpainting": { "type": "object", "properties": { - "model_params": { - "type": "object", - "description": "Parameters for model configuration.", - "properties": { - "class_names": { - "type": "array", - "description": "An array of class names will be predicted.", - "default": ["CAR", "TRUCK", "BUS", "BICYCLE", "PEDESTRIAN"], - "uniqueItems": true - }, - "paint_class_names": { - "type": "array", - "description": "An array of class names will be painted by PointPainting", - "default": ["CAR", "BICYCLE", "PEDESTRIAN"], - "uniqueItems": true - }, - "point_feature_size": { - "type": "integer", - "description": "A number of channels of point feature layer.", - "default": 7 - }, - "max_voxel_size": { - "type": "integer", - "description": "A maximum size of voxel grid.", - "default": 40000 - }, - "point_cloud_range": { - "type": "array", - "description": "An array of distance ranges of each class, this must have same length with `class_names`.", - "default": [-121.6, -76.8, -3.0, 121.6, 76.8, 5.0] - }, - "voxel_size": { - "type": "array", - "description": "An array of voxel grid sizes for PointPainting, this must have same length with `paint_class_names`.", - "default": [0.32, 0.32, 8.0] - }, - "down_sample_factor": { - "type": "integer", - "description": "A scale factor of downsampling points", - "default": 1, - "minimum": 1 - }, - "encoder_in_feature_size": { - "type": "integer", - "description": "A size of encoder input feature channels.", - "default": 12 - }, - "yaw_norm_thresholds": { - "type": "array", - "description": "An array of distance threshold values of norm of yaw [rad].", - "default": [0.3, 0.3, 0.3, 0.3, 0.0], - "minimum": 0.0, - "maximum": 1.0 - }, - "has_variance": { - "type": "boolean", - "description": "Indicates whether the model outputs variance value.", - "default": false - }, - "has_twist": { - "type": "boolean", - "description": "Indicates whether the model outputs twist value.", - "default": false - } - } + "trt_precision": { + "type": "string", + "description": "TensorRT inference precision.", + "default": "fp16", + "enum": ["fp32", "fp16"] }, "densification_params": { "type": "object", @@ -112,7 +52,7 @@ "default": ["CAR"], "uniqueItems": true }, - "iou_search_distance_2d": { + "iou_nms_search_distance_2d": { "type": "number", "description": "A maximum distance value to search the nearest objects.", "default": 10.0, @@ -124,6 +64,23 @@ "default": 0.1, "minimum": 0.0, "maximum": 1.0 + }, + "yaw_norm_thresholds": { + "type": "array", + "description": "An array of distance threshold values of norm of yaw [rad].", + "default": [0.3, 0.3, 0.3, 0.3, 0.0], + "minimum": 0.0, + "maximum": 1.0 + }, + "has_variance": { + "type": "boolean", + "description": "Indicates whether the model outputs variance value.", + "default": false + }, + "has_twist": { + "type": "boolean", + "description": "Indicates whether the model outputs twist value.", + "default": false } } }, @@ -139,7 +96,7 @@ } } }, - "required": ["model_params", "densification_params", "post_process_params", "omp_params"] + "required": [] } }, "properties": { diff --git a/perception/image_projection_based_fusion/schema/pointpainting_ml_package.schema.json b/perception/image_projection_based_fusion/schema/pointpainting_ml_package.schema.json new file mode 100644 index 0000000000000..0f89d050c1828 --- /dev/null +++ b/perception/image_projection_based_fusion/schema/pointpainting_ml_package.schema.json @@ -0,0 +1,74 @@ +{ + "$schema": "http://json-schema.org/draft-07/schema#", + "title": "Parameters for Point Painting ML model", + "type": "object", + "definitions": { + "pointpainting_ml_package": { + "type": "object", + "properties": { + "model_params": { + "type": "object", + "description": "Parameters for model configuration.", + "properties": { + "class_names": { + "type": "array", + "description": "An array of class names will be predicted.", + "default": ["CAR", "TRUCK", "BUS", "BICYCLE", "PEDESTRIAN"], + "uniqueItems": true + }, + "paint_class_names": { + "type": "array", + "description": "An array of class names will be painted by PointPainting", + "default": ["CAR", "BICYCLE", "PEDESTRIAN"], + "uniqueItems": true + }, + "point_feature_size": { + "type": "integer", + "description": "A number of channels of point feature layer.", + "default": 7 + }, + "max_voxel_size": { + "type": "integer", + "description": "A maximum size of voxel grid.", + "default": 40000 + }, + "point_cloud_range": { + "type": "array", + "description": "An array of distance ranges of each class, this must have same length with `class_names`.", + "default": [-121.6, -76.8, -3.0, 121.6, 76.8, 5.0] + }, + "voxel_size": { + "type": "array", + "description": "An array of voxel grid sizes for PointPainting, this must have same length with `paint_class_names`.", + "default": [0.32, 0.32, 8.0] + }, + "down_sample_factor": { + "type": "integer", + "description": "A scale factor of downsampling points", + "default": 1, + "minimum": 1 + }, + "encoder_in_feature_size": { + "type": "integer", + "description": "A size of encoder input feature channels.", + "default": 12 + } + } + } + }, + "required": [] + } + }, + "properties": { + "/**": { + "type": "object", + "properties": { + "ros__parameters": { + "$ref": "#/definitions/pointpainting_ml_package" + } + }, + "required": ["ros__parameters"] + } + }, + "required": ["/**"] +} diff --git a/perception/image_projection_based_fusion/src/pointpainting_fusion/node.cpp b/perception/image_projection_based_fusion/src/pointpainting_fusion/node.cpp index c4c5941be5fec..2c33df0b65afc 100644 --- a/perception/image_projection_based_fusion/src/pointpainting_fusion/node.cpp +++ b/perception/image_projection_based_fusion/src/pointpainting_fusion/node.cpp @@ -102,7 +102,7 @@ PointPaintingFusionNode::PointPaintingFusionNode(const rclcpp::NodeOptions & opt const float circle_nms_dist_threshold = static_cast( this->declare_parameter("post_process_params.circle_nms_dist_threshold")); const auto yaw_norm_thresholds = - this->declare_parameter>("model_params.yaw_norm_thresholds"); + this->declare_parameter>("post_process_params.yaw_norm_thresholds"); // densification param const std::string densification_world_frame_id = this->declare_parameter("densification_params.world_frame_id"); @@ -140,8 +140,8 @@ PointPaintingFusionNode::PointPaintingFusionNode(const rclcpp::NodeOptions & opt isClassTable_.erase(cls); } } - has_variance_ = this->declare_parameter("has_variance"); has_twist_ = this->declare_parameter("model_params.has_twist"); + has_variance_ = this->declare_parameter("model_params.has_variance"); const std::size_t point_feature_size = static_cast( this->declare_parameter("model_params.point_feature_size")); const std::size_t max_voxel_size = diff --git a/perception/image_projection_based_fusion/test/test_calc_iou_functions.cpp b/perception/image_projection_based_fusion/test/test_calc_iou_functions.cpp new file mode 100644 index 0000000000000..1cddef44c0bac --- /dev/null +++ b/perception/image_projection_based_fusion/test/test_calc_iou_functions.cpp @@ -0,0 +1,122 @@ +// Copyright 2024 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "image_projection_based_fusion/utils/geometry.hpp" + +#include + +using image_projection_based_fusion::calcIoU; +using image_projection_based_fusion::calcIoUX; +using image_projection_based_fusion::calcIoUY; + +TEST(GeometryTest, CalcIoU) +{ + sensor_msgs::msg::RegionOfInterest roi1, roi2; + + // Overlapping ROIs + roi1.x_offset = 0; + roi1.y_offset = 0; + roi1.width = 4; + roi1.height = 4; + + roi2.x_offset = 2; + roi2.y_offset = 2; + roi2.width = 4; + roi2.height = 4; + + double iou = calcIoU(roi1, roi2); + EXPECT_NEAR(iou, 1.0 / 7.0, 1e-6); + + // Non-overlapping ROIs + roi2.x_offset = 5; + roi2.y_offset = 5; + + iou = calcIoU(roi1, roi2); + EXPECT_EQ(iou, 0.0); + + // Zero area ROI + roi1.width = 0; + roi1.height = 0; + + iou = calcIoU(roi1, roi2); + EXPECT_EQ(iou, 0.0); +} + +TEST(GeometryTest, CalcIoUX) +{ + sensor_msgs::msg::RegionOfInterest roi1, roi2; + + // Overlapping ROIs on x-axis + roi1.x_offset = 0; + roi1.y_offset = 0; + roi1.width = 4; + roi1.height = 4; + + roi2.x_offset = 2; + roi2.y_offset = 0; + roi2.width = 4; + roi2.height = 4; + + double iou_x = calcIoUX(roi1, roi2); + EXPECT_NEAR(iou_x, 2.0 / 6.0, 1e-6); + + // Non-overlapping ROIs on x-axis + roi2.x_offset = 5; + + iou_x = calcIoUX(roi1, roi2); + EXPECT_EQ(iou_x, 0.0); + + // Zero width ROI + roi1.width = 0; + + iou_x = calcIoUX(roi1, roi2); + EXPECT_EQ(iou_x, 0.0); +} + +TEST(GeometryTest, CalcIoUY) +{ + sensor_msgs::msg::RegionOfInterest roi1, roi2; + + // Overlapping ROIs on y-axis + roi1.x_offset = 0; + roi1.y_offset = 0; + roi1.width = 4; + roi1.height = 4; + + roi2.x_offset = 0; + roi2.y_offset = 2; + roi2.width = 4; + roi2.height = 4; + + double iou_y = calcIoUY(roi1, roi2); + EXPECT_NEAR(iou_y, 2.0 / 6.0, 1e-6); + + // Non-overlapping ROIs on y-axis + roi2.y_offset = 5; + + iou_y = calcIoUY(roi1, roi2); + EXPECT_EQ(iou_y, 0.0); + + // Zero height ROI + roi1.height = 0; + + iou_y = calcIoUY(roi1, roi2); + EXPECT_EQ(iou_y, 0.0); +} + +int main(int argc, char ** argv) +{ + testing::InitGoogleTest(&argc, argv); + return RUN_ALL_TESTS(); +} diff --git a/perception/image_projection_based_fusion/test/test_geometry.cpp b/perception/image_projection_based_fusion/test/test_geometry.cpp new file mode 100644 index 0000000000000..ac8160fe89124 --- /dev/null +++ b/perception/image_projection_based_fusion/test/test_geometry.cpp @@ -0,0 +1,206 @@ +// Copyright 2024 TIER IV, inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "image_projection_based_fusion/utils/geometry.hpp" + +#include + +TEST(objectToVertices, test_objectToVertices) +{ + // Test `boundingBoxToVertices()` and `cylinderToVertices()` simultaneously + // Test at Shape::BOUNDING_BOX + geometry_msgs::msg::Pose pose; + pose.position.x = 1.0; + pose.position.y = 2.0; + pose.position.z = 3.0; + const double angle = M_PI / 12; + pose.orientation.x = 0.0; + pose.orientation.y = 0.0; + pose.orientation.z = std::sin(angle); + pose.orientation.w = std::cos(angle); + { + autoware_auto_perception_msgs::msg::Shape shape; + shape.type = 0; + shape.dimensions.x = 4.0; + shape.dimensions.y = 6.0; + shape.dimensions.z = 8.0; + std::vector vertices; + + image_projection_based_fusion::objectToVertices(pose, shape, vertices); + + EXPECT_FALSE(vertices.empty()); + EXPECT_NEAR(vertices.at(0).x(), 1.2320508075688772935274, 1e-6); + EXPECT_NEAR(vertices.at(0).y(), 5.598076211353315940291, 1e-6); + EXPECT_NEAR(vertices.at(0).z(), -1.0, 1e-6); + EXPECT_NEAR(vertices.at(7).x(), -2.232050807568877293527, 1e-6); + EXPECT_NEAR(vertices.at(7).y(), 3.598076211353315940291, 1e-6); + EXPECT_NEAR(vertices.at(7).z(), 7.0, 1e-6); + } + + { + // Test at Shape::CYLINDER + autoware_auto_perception_msgs::msg::Shape shape; + shape.type = 1; + shape.dimensions.x = 4.0; + shape.dimensions.y = 6.0; + shape.dimensions.z = 8.0; + std::vector vertices; + + image_projection_based_fusion::objectToVertices(pose, shape, vertices); + + EXPECT_FALSE(vertices.empty()); + EXPECT_NEAR(vertices.at(0).x(), 2.732050807568877293528, 1e-6); + EXPECT_NEAR(vertices.at(0).y(), 3.0, 1e-6); + EXPECT_NEAR(vertices.at(0).z(), 7.0, 1e-6); + EXPECT_NEAR(vertices.at(11).x(), 2.732050807568877293528, 1e-6); + EXPECT_NEAR(vertices.at(11).y(), 1.0, 1e-6); + EXPECT_NEAR(vertices.at(11).z(), -1.0, 1e-6); + } + + { + // Test at Shape::POLYGON (Nothing to do) + autoware_auto_perception_msgs::msg::Shape shape; + shape.type = 2; + std::vector vertices; + + image_projection_based_fusion::objectToVertices(pose, shape, vertices); + + EXPECT_TRUE(vertices.empty()); + } +} + +TEST(transformPoints, test_transformPoints) +{ + std::vector input_points; + Eigen::Vector3d point(0.0, 0.0, 0.0); + input_points.push_back(point); + Eigen::Translation translation(1.0, 1.0, 1.0); + Eigen::Matrix3d rotation = (Eigen::AngleAxisd(M_PI / 4, Eigen::Vector3d::UnitX()) * + Eigen::AngleAxisd(M_PI / 4, Eigen::Vector3d::UnitY()) * + Eigen::AngleAxisd(M_PI / 4, Eigen::Vector3d::UnitZ())) + .toRotationMatrix(); + Eigen::Affine3d affine_transform = rotation * translation; + std::vector output_points; + + image_projection_based_fusion::transformPoints(input_points, affine_transform, output_points); + + EXPECT_FALSE(output_points.empty()); + EXPECT_NEAR(output_points.at(0).x(), 0.7071067811865475244008, 1e-6); + EXPECT_NEAR(output_points.at(0).y(), 0.5, 1e-6); + EXPECT_NEAR(output_points.at(0).z(), 1.5, 1e-6); +} + +TEST(is_inside, test_is_inside) +{ + // Test default pattern + sensor_msgs::msg::RegionOfInterest outer; + outer.x_offset = 30; + outer.y_offset = 40; + outer.height = 400; + outer.width = 300; + const double outer_offset_scale = 1.0; + { + sensor_msgs::msg::RegionOfInterest inner; + inner.x_offset = 31; + inner.y_offset = 41; + inner.height = 399; + inner.width = 299; + + const bool inside_flag = + image_projection_based_fusion::is_inside(outer, inner, outer_offset_scale); + + EXPECT_TRUE(inside_flag); + } + + { + // Test left-top outside pattern + sensor_msgs::msg::RegionOfInterest inner; + inner.x_offset = 29; + inner.y_offset = 39; + + const bool inside_flag = + image_projection_based_fusion::is_inside(outer, inner, outer_offset_scale); + + EXPECT_FALSE(inside_flag); + } + + { + // Test right-bottom outside pattern + sensor_msgs::msg::RegionOfInterest inner; + inner.x_offset = 31; + inner.y_offset = 41; + inner.height = 401; + inner.width = 301; + + const bool inside_flag = + image_projection_based_fusion::is_inside(outer, inner, outer_offset_scale); + + EXPECT_FALSE(inside_flag); + } +} + +TEST(sanitizeROI, test_sanitizeROI) +{ + { + // Test default pattern + sensor_msgs::msg::RegionOfInterest roi; + roi.x_offset = 10; + roi.y_offset = 20; + roi.height = 200; + roi.width = 100; + int height = 400; // image height + int width = 300; // image width + + image_projection_based_fusion::sanitizeROI(roi, width, height); + + EXPECT_EQ(roi.height, 200); + EXPECT_EQ(roi.width, 100); + } + + { + // Test pattern that x_offset or y_offset is not in image + sensor_msgs::msg::RegionOfInterest roi; + roi.x_offset = 100; + roi.y_offset = 200; + int height = 100; + int width = 50; + + image_projection_based_fusion::sanitizeROI(roi, width, height); + + EXPECT_EQ(roi.height, 0); + EXPECT_EQ(roi.width, 0); + } + + { + // Test patten that roi does not fit within image + sensor_msgs::msg::RegionOfInterest roi; + roi.x_offset = 10; + roi.y_offset = 20; + roi.height = 500; + roi.width = 400; + int height = 100; + int width = 50; + + image_projection_based_fusion::sanitizeROI(roi, width, height); + + EXPECT_EQ(roi.height, 80); + EXPECT_EQ(roi.width, 40); + } +} + +int main(int argc, char * argv[]) +{ + testing::InitGoogleTest(&argc, argv); + return RUN_ALL_TESTS(); +} diff --git a/perception/image_projection_based_fusion/test/test_utils.cpp b/perception/image_projection_based_fusion/test/test_utils.cpp new file mode 100644 index 0000000000000..e578ce1987cc3 --- /dev/null +++ b/perception/image_projection_based_fusion/test/test_utils.cpp @@ -0,0 +1,170 @@ +// Copyright 2024 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include +#include + +#include + +using autoware_point_types::PointXYZI; + +void setPointCloud2Fields(sensor_msgs::msg::PointCloud2 & pointcloud) +{ + pointcloud.fields.resize(4); + pointcloud.fields[0].name = "x"; + pointcloud.fields[1].name = "y"; + pointcloud.fields[2].name = "z"; + pointcloud.fields[3].name = "intensity"; + pointcloud.fields[0].offset = 0; + pointcloud.fields[1].offset = 4; + pointcloud.fields[2].offset = 8; + pointcloud.fields[3].offset = 12; + pointcloud.fields[0].datatype = sensor_msgs::msg::PointField::FLOAT32; + pointcloud.fields[1].datatype = sensor_msgs::msg::PointField::FLOAT32; + pointcloud.fields[2].datatype = sensor_msgs::msg::PointField::FLOAT32; + pointcloud.fields[3].datatype = sensor_msgs::msg::PointField::FLOAT32; + pointcloud.fields[0].count = 1; + pointcloud.fields[1].count = 1; + pointcloud.fields[2].count = 1; + pointcloud.fields[3].count = 1; + pointcloud.height = 1; + pointcloud.point_step = 16; + pointcloud.is_bigendian = false; + pointcloud.is_dense = true; + pointcloud.header.frame_id = "dummy_frame_id"; + pointcloud.header.stamp.sec = 0; + pointcloud.header.stamp.nanosec = 0; +} + +// Test case 1: Test case when the input pointcloud is empty +TEST(UtilsTest, closest_cluster_empty_cluster_test_case1) +{ + sensor_msgs::msg::PointCloud2 pointcloud; + setPointCloud2Fields(pointcloud); + pointcloud.data.resize(0); + pointcloud.width = 0; + pointcloud.row_step = 0; + + pcl::PointXYZ center; + center.x = 0.0; + center.y = 0.0; + center.z = 0.0; + + // testing closest_cluster function + double cluster_2d_tolerance = 0.5; + int min_cluster_size = 3; + sensor_msgs::msg::PointCloud2 output_cluster; + image_projection_based_fusion::closest_cluster( + pointcloud, cluster_2d_tolerance, min_cluster_size, center, output_cluster); + EXPECT_EQ(output_cluster.data.size(), std::size_t(0)); +} + +// Test case 2: Test case when the input pointcloud as one cluster +TEST(UtilsTest, closest_cluster_test_case2) +{ + sensor_msgs::msg::PointCloud2 pointcloud; + setPointCloud2Fields(pointcloud); + std::vector dummy_x = {0.0, 0.1, 0.2}; + pointcloud.data.resize(dummy_x.size() * pointcloud.point_step); + size_t global_offset = 0; + for (auto x : dummy_x) { + PointXYZI point; + point.x = x; + point.y = 0.0; + point.z = 0.0; + point.intensity = 0.0; + memcpy(&pointcloud.data[global_offset], &point, pointcloud.point_step); + global_offset += pointcloud.point_step; + } + pcl::PointXYZ center; + center.x = 0.0; + center.y = 0.0; + center.z = 0.0; + + // testing closest_cluster function + double cluster_2d_tolerance = 0.5; + int min_cluster_size = 3; + sensor_msgs::msg::PointCloud2 output_cluster; + image_projection_based_fusion::closest_cluster( + pointcloud, cluster_2d_tolerance, min_cluster_size, center, output_cluster); + EXPECT_EQ(output_cluster.data.size(), dummy_x.size() * pointcloud.point_step); +} + +// Test case 3: Test case when the input pointcloud as two clusters +TEST(UtilsTest, closest_cluster_test_case3) +{ + sensor_msgs::msg::PointCloud2 pointcloud; + setPointCloud2Fields(pointcloud); + std::vector dummy_x = {0.0, 0.1, 0.2, 1.0, 1.1, 1.2, 1.21, 1.22}; + pointcloud.data.resize(dummy_x.size() * pointcloud.point_step); + size_t global_offset = 0; + for (auto x : dummy_x) { + PointXYZI point; + point.x = x; + point.y = 0.0; + point.z = 0.0; + point.intensity = 0.0; + memcpy(&pointcloud.data[global_offset], &point, pointcloud.point_step); + global_offset += pointcloud.point_step; + } + pcl::PointXYZ center; + center.x = 0.0; + center.y = 0.0; + center.z = 0.0; + + // testing closest_cluster function + double cluster_2d_tolerance = 0.5; + int min_cluster_size = 3; + sensor_msgs::msg::PointCloud2 output_cluster; + image_projection_based_fusion::closest_cluster( + pointcloud, cluster_2d_tolerance, min_cluster_size, center, output_cluster); + EXPECT_EQ(output_cluster.data.size(), 3 * pointcloud.point_step); +} + +// Test case 4: Test case when the input pointcloud as two clusters +TEST(UtilsTest, closest_cluster_test_case4) +{ + sensor_msgs::msg::PointCloud2 pointcloud; + setPointCloud2Fields(pointcloud); + std::vector dummy_x = {0.0, 0.1, 1.0, 1.01, 1.1, 1.2, 1.21, 1.22}; + pointcloud.data.resize(dummy_x.size() * pointcloud.point_step); + size_t global_offset = 0; + for (auto x : dummy_x) { + PointXYZI point; + point.x = x; + point.y = 0.0; + point.z = 0.0; + point.intensity = 0.0; + memcpy(&pointcloud.data[global_offset], &point, pointcloud.point_step); + global_offset += pointcloud.point_step; + } + pcl::PointXYZ center; + center.x = 0.0; + center.y = 0.0; + center.z = 0.0; + + // testing closest_cluster function + double cluster_2d_tolerance = 0.5; + int min_cluster_size = 3; + sensor_msgs::msg::PointCloud2 output_cluster; + image_projection_based_fusion::closest_cluster( + pointcloud, cluster_2d_tolerance, min_cluster_size, center, output_cluster); + EXPECT_EQ(output_cluster.data.size(), 6 * pointcloud.point_step); +} + +int main(int argc, char ** argv) +{ + testing::InitGoogleTest(&argc, argv); + return RUN_ALL_TESTS(); +} diff --git a/perception/lidar_centerpoint/CMakeLists.txt b/perception/lidar_centerpoint/CMakeLists.txt index 8fab65ef6b4d7..8a7f4c6107c67 100644 --- a/perception/lidar_centerpoint/CMakeLists.txt +++ b/perception/lidar_centerpoint/CMakeLists.txt @@ -147,6 +147,64 @@ if(TRT_AVAIL AND CUDA_AVAIL AND CUDNN_AVAIL) TARGETS centerpoint_cuda_lib DESTINATION lib ) + + if(BUILD_TESTING) + find_package(ament_cmake_gtest REQUIRED) + ament_auto_add_gtest(test_detection_class_remapper + test/test_detection_class_remapper.cpp + ) + ament_auto_add_gtest(test_ros_utils + test/test_ros_utils.cpp + ) + ament_auto_add_gtest(test_nms + test/test_nms.cpp + ) + ament_auto_add_gtest(test_voxel_generator + test/test_voxel_generator.cpp + ) + + add_executable(test_preprocess_kernel + test/test_preprocess_kernel.cpp + lib/utils.cpp + ) + + target_include_directories(test_preprocess_kernel PUBLIC + ${test_preprocess_kernel_SOURCE_DIR} + ) + + target_link_libraries(test_preprocess_kernel + centerpoint_cuda_lib + gtest + gtest_main + ) + + ament_add_test(test_preprocess_kernel + GENERATE_RESULT_FOR_RETURN_CODE_ZERO + COMMAND "$" + ) + + add_executable(test_postprocess_kernel + test/test_postprocess_kernel.cpp + lib/utils.cpp + ) + + target_include_directories(test_postprocess_kernel PUBLIC + ${test_postprocess_kernel_SOURCE_DIR} + ) + + target_link_libraries(test_postprocess_kernel + centerpoint_cuda_lib + gtest + gtest_main + ) + + ament_add_test(test_postprocess_kernel + GENERATE_RESULT_FOR_RETURN_CODE_ZERO + COMMAND "$" + ) + + endif() + else() find_package(ament_cmake_auto REQUIRED) ament_auto_find_build_dependencies() diff --git a/perception/lidar_centerpoint/README.md b/perception/lidar_centerpoint/README.md index ed71349d5bd7f..09cee5266760c 100644 --- a/perception/lidar_centerpoint/README.md +++ b/perception/lidar_centerpoint/README.md @@ -30,20 +30,22 @@ We trained the models using . ### Core Parameters -| Name | Type | Default Value | Description | -| ------------------------------- | ------------ | ------------- | ------------------------------------------------------------- | -| `score_threshold` | float | `0.4` | detected objects with score less than threshold are ignored | -| `densification_world_frame_id` | string | `map` | the world frame id to fuse multi-frame pointcloud | -| `densification_num_past_frames` | int | `1` | the number of past frames to fuse with the current frame | -| `trt_precision` | string | `fp16` | TensorRT inference precision: `fp32` or `fp16` | -| `encoder_onnx_path` | string | `""` | path to VoxelFeatureEncoder ONNX file | -| `encoder_engine_path` | string | `""` | path to VoxelFeatureEncoder TensorRT Engine file | -| `head_onnx_path` | string | `""` | path to DetectionHead ONNX file | -| `head_engine_path` | string | `""` | path to DetectionHead TensorRT Engine file | -| `nms_iou_target_class_names` | list[string] | - | target classes for IoU-based Non Maximum Suppression | -| `nms_iou_search_distance_2d` | double | - | If two objects are farther than the value, NMS isn't applied. | -| `nms_iou_threshold` | double | - | IoU threshold for the IoU-based Non Maximum Suppression | -| `build_only` | bool | `false` | shutdown the node after TensorRT engine file is built | +| Name | Type | Default Value | Description | +| ------------------------------------------------ | ------------ | ------------------------- | ------------------------------------------------------------- | +| `encoder_onnx_path` | string | `""` | path to VoxelFeatureEncoder ONNX file | +| `encoder_engine_path` | string | `""` | path to VoxelFeatureEncoder TensorRT Engine file | +| `head_onnx_path` | string | `""` | path to DetectionHead ONNX file | +| `head_engine_path` | string | `""` | path to DetectionHead TensorRT Engine file | +| `build_only` | bool | `false` | shutdown the node after TensorRT engine file is built | +| `trt_precision` | string | `fp16` | TensorRT inference precision: `fp32` or `fp16` | +| `post_process_params.score_threshold` | double | `0.4` | detected objects with score less than threshold are ignored | +| `post_process_params.yaw_norm_thresholds` | list[double] | [0.3, 0.3, 0.3, 0.3, 0.0] | An array of distance threshold values of norm of yaw [rad]. | +| `post_process_params.iou_nms_target_class_names` | list[string] | - | target classes for IoU-based Non Maximum Suppression | +| `post_process_params.iou_nms_search_distance_2d` | double | - | If two objects are farther than the value, NMS isn't applied. | +| `post_process_params.iou_nms_threshold` | double | - | IoU threshold for the IoU-based Non Maximum Suppression | +| `post_process_params.has_twist` | boolean | false | Indicates whether the model outputs twist value. | +| `densification_params.world_frame_id` | string | `map` | the world frame id to fuse multi-frame pointcloud | +| `densification_params.num_past_frames` | int | `1` | the number of past frames to fuse with the current frame | ### The `build_only` option diff --git a/perception/lidar_centerpoint/config/centerpoint.param.yaml b/perception/lidar_centerpoint/config/centerpoint.param.yaml index 38c57285e552d..17ed9a447cdb8 100644 --- a/perception/lidar_centerpoint/config/centerpoint.param.yaml +++ b/perception/lidar_centerpoint/config/centerpoint.param.yaml @@ -1,27 +1,19 @@ /**: ros__parameters: - class_names: ["CAR", "TRUCK", "BUS", "BICYCLE", "PEDESTRIAN"] - point_feature_size: 4 - max_voxel_size: 40000 - point_cloud_range: [-76.8, -76.8, -4.0, 76.8, 76.8, 6.0] - voxel_size: [0.32, 0.32, 10.0] - downsample_factor: 1 - encoder_in_feature_size: 9 - # post-process params - circle_nms_dist_threshold: 0.5 - iou_nms_target_class_names: ["CAR"] - iou_nms_search_distance_2d: 10.0 - iou_nms_threshold: 0.1 - yaw_norm_thresholds: [0.3, 0.3, 0.3, 0.3, 0.0] - score_threshold: 0.35 - has_variance: false - has_twist: false - trt_precision: fp16 - densification_num_past_frames: 1 - densification_world_frame_id: map - # weight files encoder_onnx_path: "$(var model_path)/pts_voxel_encoder_$(var model_name).onnx" encoder_engine_path: "$(var model_path)/pts_voxel_encoder_$(var model_name).engine" head_onnx_path: "$(var model_path)/pts_backbone_neck_head_$(var model_name).onnx" head_engine_path: "$(var model_path)/pts_backbone_neck_head_$(var model_name).engine" + trt_precision: fp16 + post_process_params: + # post-process params + circle_nms_dist_threshold: 0.5 + iou_nms_target_class_names: ["CAR"] + iou_nms_search_distance_2d: 10.0 + iou_nms_threshold: 0.1 + score_threshold: 0.35 + yaw_norm_thresholds: [0.3, 0.3, 0.3, 0.3, 0.0] + densification_params: + world_frame_id: map + num_past_frames: 1 diff --git a/perception/lidar_centerpoint/config/centerpoint_ml_package.param.yaml b/perception/lidar_centerpoint/config/centerpoint_ml_package.param.yaml new file mode 100644 index 0000000000000..c8d17890e33be --- /dev/null +++ b/perception/lidar_centerpoint/config/centerpoint_ml_package.param.yaml @@ -0,0 +1,12 @@ +/**: + ros__parameters: + model_params: + class_names: ["CAR", "TRUCK", "BUS", "BICYCLE", "PEDESTRIAN"] + point_feature_size: 4 + max_voxel_size: 40000 + point_cloud_range: [-76.8, -76.8, -4.0, 76.8, 76.8, 6.0] + voxel_size: [0.32, 0.32, 10.0] + downsample_factor: 1 + encoder_in_feature_size: 9 + has_variance: false + has_twist: false diff --git a/perception/lidar_centerpoint/config/centerpoint_sigma.param.yaml b/perception/lidar_centerpoint/config/centerpoint_sigma.param.yaml deleted file mode 100644 index c217f6321381a..0000000000000 --- a/perception/lidar_centerpoint/config/centerpoint_sigma.param.yaml +++ /dev/null @@ -1,27 +0,0 @@ -/**: - ros__parameters: - class_names: ["CAR", "TRUCK", "BUS", "BICYCLE", "PEDESTRIAN"] - point_feature_size: 4 - max_voxel_size: 40000 - point_cloud_range: [-76.8, -76.8, -4.0, 76.8, 76.8, 6.0] - voxel_size: [0.32, 0.32, 10.0] - downsample_factor: 1 - encoder_in_feature_size: 9 - # post-process params - circle_nms_dist_threshold: 0.5 - iou_nms_target_class_names: ["CAR"] - iou_nms_search_distance_2d: 10.0 - iou_nms_threshold: 0.1 - yaw_norm_thresholds: [0.3, 0.3, 0.3, 0.3, 0.0] - score_threshold: 0.35 - has_variance: true - has_twist: true - trt_precision: fp16 - densification_num_past_frames: 1 - densification_world_frame_id: map - - # weight files - encoder_onnx_path: "$(var model_path)/pts_voxel_encoder_$(var model_name).onnx" - encoder_engine_path: "$(var model_path)/pts_voxel_encoder_$(var model_name).engine" - head_onnx_path: "$(var model_path)/pts_backbone_neck_head_$(var model_name).onnx" - head_engine_path: "$(var model_path)/pts_backbone_neck_head_$(var model_name).engine" diff --git a/perception/lidar_centerpoint/config/centerpoint_sigma_ml_package.param.yaml b/perception/lidar_centerpoint/config/centerpoint_sigma_ml_package.param.yaml new file mode 100644 index 0000000000000..c8d17890e33be --- /dev/null +++ b/perception/lidar_centerpoint/config/centerpoint_sigma_ml_package.param.yaml @@ -0,0 +1,12 @@ +/**: + ros__parameters: + model_params: + class_names: ["CAR", "TRUCK", "BUS", "BICYCLE", "PEDESTRIAN"] + point_feature_size: 4 + max_voxel_size: 40000 + point_cloud_range: [-76.8, -76.8, -4.0, 76.8, 76.8, 6.0] + voxel_size: [0.32, 0.32, 10.0] + downsample_factor: 1 + encoder_in_feature_size: 9 + has_variance: false + has_twist: false diff --git a/perception/lidar_centerpoint/config/centerpoint_tiny.param.yaml b/perception/lidar_centerpoint/config/centerpoint_tiny.param.yaml index 35e11e61e9634..17ed9a447cdb8 100644 --- a/perception/lidar_centerpoint/config/centerpoint_tiny.param.yaml +++ b/perception/lidar_centerpoint/config/centerpoint_tiny.param.yaml @@ -1,27 +1,19 @@ /**: ros__parameters: - class_names: ["CAR", "TRUCK", "BUS", "BICYCLE", "PEDESTRIAN"] - point_feature_size: 4 - max_voxel_size: 40000 - point_cloud_range: [-76.8, -76.8, -4.0, 76.8, 76.8, 6.0] - voxel_size: [0.32, 0.32, 10.0] - downsample_factor: 2 - encoder_in_feature_size: 9 - # post-process params - circle_nms_dist_threshold: 0.5 - iou_nms_target_class_names: ["CAR"] - iou_nms_search_distance_2d: 10.0 - iou_nms_threshold: 0.1 - yaw_norm_thresholds: [0.3, 0.3, 0.3, 0.3, 0.0] - score_threshold: 0.35 - has_variance: false - has_twist: false - trt_precision: fp16 - densification_num_past_frames: 1 - densification_world_frame_id: map - # weight files encoder_onnx_path: "$(var model_path)/pts_voxel_encoder_$(var model_name).onnx" encoder_engine_path: "$(var model_path)/pts_voxel_encoder_$(var model_name).engine" head_onnx_path: "$(var model_path)/pts_backbone_neck_head_$(var model_name).onnx" head_engine_path: "$(var model_path)/pts_backbone_neck_head_$(var model_name).engine" + trt_precision: fp16 + post_process_params: + # post-process params + circle_nms_dist_threshold: 0.5 + iou_nms_target_class_names: ["CAR"] + iou_nms_search_distance_2d: 10.0 + iou_nms_threshold: 0.1 + score_threshold: 0.35 + yaw_norm_thresholds: [0.3, 0.3, 0.3, 0.3, 0.0] + densification_params: + world_frame_id: map + num_past_frames: 1 diff --git a/perception/lidar_centerpoint/config/centerpoint_tiny_ml_package.param.yaml b/perception/lidar_centerpoint/config/centerpoint_tiny_ml_package.param.yaml new file mode 100644 index 0000000000000..2a3f9c8e75290 --- /dev/null +++ b/perception/lidar_centerpoint/config/centerpoint_tiny_ml_package.param.yaml @@ -0,0 +1,12 @@ +/**: + ros__parameters: + model_params: + class_names: ["CAR", "TRUCK", "BUS", "BICYCLE", "PEDESTRIAN"] + point_feature_size: 4 + max_voxel_size: 40000 + point_cloud_range: [-76.8, -76.8, -4.0, 76.8, 76.8, 6.0] + voxel_size: [0.32, 0.32, 10.0] + downsample_factor: 2 + encoder_in_feature_size: 9 + has_variance: false + has_twist: false diff --git a/perception/lidar_centerpoint/launch/lidar_centerpoint.launch.xml b/perception/lidar_centerpoint/launch/lidar_centerpoint.launch.xml index 5489af2c8fb60..950dfa7f5b290 100644 --- a/perception/lidar_centerpoint/launch/lidar_centerpoint.launch.xml +++ b/perception/lidar_centerpoint/launch/lidar_centerpoint.launch.xml @@ -6,7 +6,8 @@ - + + @@ -18,6 +19,7 @@ + @@ -30,6 +32,7 @@ + diff --git a/perception/lidar_centerpoint/lib/preprocess/preprocess_kernel.cu b/perception/lidar_centerpoint/lib/preprocess/preprocess_kernel.cu index 118e31f892d72..218aaee125c02 100644 --- a/perception/lidar_centerpoint/lib/preprocess/preprocess_kernel.cu +++ b/perception/lidar_centerpoint/lib/preprocess/preprocess_kernel.cu @@ -78,6 +78,11 @@ cudaError_t generateVoxels_random_launch( { dim3 blocks((points_size + 256 - 1) / 256); dim3 threads(256); + + if (blocks.x == 0) { + return cudaGetLastError(); + } + generateVoxels_random_kernel<<>>( points, points_size, min_x_range, max_x_range, min_y_range, max_y_range, min_z_range, max_z_range, pillar_x_size, pillar_y_size, pillar_z_size, grid_y_size, grid_x_size, mask, diff --git a/perception/lidar_centerpoint/schema/centerpoint.schemal.json b/perception/lidar_centerpoint/schema/centerpoint.schemal.json new file mode 100644 index 0000000000000..b11c115cc2466 --- /dev/null +++ b/perception/lidar_centerpoint/schema/centerpoint.schemal.json @@ -0,0 +1,98 @@ +{ + "$schema": "http://json-schema.org/draft-07/schema#", + "title": "Parameters for Lidar Centerpoint Node", + "type": "object", + "definitions": { + "centerpoint": { + "type": "object", + "properties": { + "trt_precision": { + "type": "string", + "description": "TensorRT inference precision.", + "default": "fp16", + "enum": ["fp32", "fp16"] + }, + "post_process_params": { + "type": "object", + "properties": { + "score_threshold": { + "type": "number", + "description": "A threshold value of existence probability score, all of objects with score less than this threshold are ignored.", + "default": 0.35, + "minimum": 0.0, + "maximum": 1.0 + }, + "yaw_norm_thresholds": { + "type": "array", + "description": "An array of distance threshold values of norm of yaw [rad].", + "default": [0.3, 0.3, 0.3, 0.3, 0.0], + "minimum": 0.0, + "maximum": 1.0 + }, + "circle_nms_dist_threshold": { + "type": "number", + "description": "", + "default": 0.5, + "minimum": 0.0, + "maximum": 1.0 + }, + "iou_nms_target_class_names": { + "type": "array", + "description": "An array of class names to be target in NMS.", + "default": ["CAR"], + "uniqueItems": true + }, + "iou_nms_search_distance_2d": { + "type": "number", + "description": "A maximum distance value to search the nearest objects.", + "default": 10.0, + "minimum": 0.0 + }, + "iou_nms_threshold": { + "type": "number", + "description": "A threshold value of NMS using IoU score.", + "default": 0.1, + "minimum": 0.0, + "maximum": 1.0 + }, + "has_twist": { + "type": "boolean", + "description": "Indicates whether the model outputs twist value.", + "default": false + } + } + }, + "densification_params": { + "type": "object", + "description": "Parameters for pointcloud densification.", + "properties": { + "world_frame_id": { + "type": "string", + "description": "A name of frame id where world coordinates system is defined with respect to.", + "default": "map" + }, + "num_past_frames": { + "type": "integer", + "description": "A number of past frames to be considered as same input frame.", + "default": 1, + "minimum": 0 + } + } + } + }, + "required": ["post_process_params", "densification_params"] + } + }, + "properties": { + "/**": { + "type": "object", + "properties": { + "ros__parameters": { + "$ref": "#/definitions/centerpoint" + } + }, + "required": ["ros__parameters"] + } + }, + "required": ["/**"] +} diff --git a/perception/lidar_centerpoint/schema/centerpoint_ml_package.schema.json b/perception/lidar_centerpoint/schema/centerpoint_ml_package.schema.json new file mode 100644 index 0000000000000..2c5655c6201ed --- /dev/null +++ b/perception/lidar_centerpoint/schema/centerpoint_ml_package.schema.json @@ -0,0 +1,68 @@ +{ + "$schema": "http://json-schema.org/draft-07/schema#", + "title": "Parameters for Centerpoint ML model", + "type": "object", + "definitions": { + "centerpoint_ml_package": { + "type": "object", + "properties": { + "model_params": { + "type": "object", + "description": "Parameters for model configuration.", + "properties": { + "class_names": { + "type": "array", + "description": "An array of class names will be predicted.", + "default": ["CAR", "TRUCK", "BUS", "BICYCLE", "PEDESTRIAN"], + "uniqueItems": true + }, + "point_feature_size": { + "type": "integer", + "description": "A number of channels of point feature layer.", + "default": 4 + }, + "max_voxel_size": { + "type": "integer", + "description": "A maximum size of voxel grid.", + "default": 40000 + }, + "point_cloud_range": { + "type": "array", + "description": "An array of distance ranges of each class, this must have same length with `class_names`.", + "default": [-76.8, -76.8, -4.0, 76.8, 76.8, 6.0] + }, + "voxel_size": { + "type": "array", + "description": "An array of voxel grid sizes for PointPainting, this must have same length with `paint_class_names`.", + "default": [0.32, 0.32, 10.0] + }, + "down_sample_factor": { + "type": "integer", + "description": "A scale factor of downsampling points", + "default": 1, + "minimum": 1 + }, + "encoder_in_feature_size": { + "type": "integer", + "description": "A size of encoder input feature channels.", + "default": 9 + } + } + } + }, + "required": ["model_params"] + } + }, + "properties": { + "/**": { + "type": "object", + "properties": { + "ros__parameters": { + "$ref": "#/definitions/centerpoint_ml_package" + } + }, + "required": ["ros__parameters"] + } + }, + "required": ["/**"] +} diff --git a/perception/lidar_centerpoint/schema/centerpoint_tiny_ml_package.schema.json b/perception/lidar_centerpoint/schema/centerpoint_tiny_ml_package.schema.json new file mode 100644 index 0000000000000..55329e21ea8ab --- /dev/null +++ b/perception/lidar_centerpoint/schema/centerpoint_tiny_ml_package.schema.json @@ -0,0 +1,68 @@ +{ + "$schema": "http://json-schema.org/draft-07/schema#", + "title": "Parameters for Centerpoint Tiny ML model", + "type": "object", + "definitions": { + "centerpoint_tiny_ml_package": { + "type": "object", + "properties": { + "model_params": { + "type": "object", + "description": "Parameters for model configuration.", + "properties": { + "class_names": { + "type": "array", + "description": "An array of class names will be predicted.", + "default": ["CAR", "TRUCK", "BUS", "BICYCLE", "PEDESTRIAN"], + "uniqueItems": true + }, + "point_feature_size": { + "type": "integer", + "description": "A number of channels of point feature layer.", + "default": 4 + }, + "max_voxel_size": { + "type": "integer", + "description": "A maximum size of voxel grid.", + "default": 40000 + }, + "point_cloud_range": { + "type": "array", + "description": "An array of distance ranges of each class, this must have same length with `class_names`.", + "default": [-76.8, -76.8, -4.0, 76.8, 76.8, 6.0] + }, + "voxel_size": { + "type": "array", + "description": "An array of voxel grid sizes for PointPainting, this must have same length with `paint_class_names`.", + "default": [0.32, 0.32, 10.0] + }, + "down_sample_factor": { + "type": "integer", + "description": "A scale factor of downsampling points", + "default": 2, + "minimum": 1 + }, + "encoder_in_feature_size": { + "type": "integer", + "description": "A size of encoder input feature channels.", + "default": 9 + } + } + } + }, + "required": ["model_params"] + } + }, + "properties": { + "/**": { + "type": "object", + "properties": { + "ros__parameters": { + "$ref": "#/definitions/centerpoint_tiny_ml_package" + } + }, + "required": ["ros__parameters"] + } + }, + "required": ["/**"] +} diff --git a/perception/lidar_centerpoint/src/node.cpp b/perception/lidar_centerpoint/src/node.cpp index 0606a2ec55c9e..d0abf72d888d3 100644 --- a/perception/lidar_centerpoint/src/node.cpp +++ b/perception/lidar_centerpoint/src/node.cpp @@ -39,34 +39,35 @@ LidarCenterPointNode::LidarCenterPointNode(const rclcpp::NodeOptions & node_opti : Node("lidar_center_point", node_options), tf_buffer_(this->get_clock()) { const float score_threshold = - static_cast(this->declare_parameter("score_threshold", 0.35)); - const float circle_nms_dist_threshold = - static_cast(this->declare_parameter("circle_nms_dist_threshold")); + static_cast(this->declare_parameter("post_process_params.score_threshold")); + const float circle_nms_dist_threshold = static_cast( + this->declare_parameter("post_process_params.circle_nms_dist_threshold")); const auto yaw_norm_thresholds = - this->declare_parameter>("yaw_norm_thresholds"); + this->declare_parameter>("post_process_params.yaw_norm_thresholds"); const std::string densification_world_frame_id = - this->declare_parameter("densification_world_frame_id", "map"); + this->declare_parameter("densification_params.world_frame_id"); const int densification_num_past_frames = - this->declare_parameter("densification_num_past_frames", 1); - const std::string trt_precision = this->declare_parameter("trt_precision", "fp16"); + this->declare_parameter("densification_params.num_past_frames"); + const std::string trt_precision = this->declare_parameter("trt_precision"); const std::string encoder_onnx_path = this->declare_parameter("encoder_onnx_path"); const std::string encoder_engine_path = this->declare_parameter("encoder_engine_path"); const std::string head_onnx_path = this->declare_parameter("head_onnx_path"); const std::string head_engine_path = this->declare_parameter("head_engine_path"); - class_names_ = this->declare_parameter>("class_names"); - has_variance_ = this->declare_parameter("has_variance"); - has_twist_ = this->declare_parameter("has_twist"); - const std::size_t point_feature_size = - static_cast(this->declare_parameter("point_feature_size")); + class_names_ = this->declare_parameter>("model_params.class_names"); + has_twist_ = this->declare_parameter("model_params.has_twist"); + const std::size_t point_feature_size = static_cast( + this->declare_parameter("model_params.point_feature_size")); + has_variance_ = this->declare_parameter("model_params.has_variance"); const std::size_t max_voxel_size = - static_cast(this->declare_parameter("max_voxel_size")); - const auto point_cloud_range = this->declare_parameter>("point_cloud_range"); - const auto voxel_size = this->declare_parameter>("voxel_size"); - const std::size_t downsample_factor = - static_cast(this->declare_parameter("downsample_factor")); - const std::size_t encoder_in_feature_size = - static_cast(this->declare_parameter("encoder_in_feature_size")); + static_cast(this->declare_parameter("model_params.max_voxel_size")); + const auto point_cloud_range = + this->declare_parameter>("model_params.point_cloud_range"); + const auto voxel_size = this->declare_parameter>("model_params.voxel_size"); + const std::size_t downsample_factor = static_cast( + this->declare_parameter("model_params.downsample_factor")); + const std::size_t encoder_in_feature_size = static_cast( + this->declare_parameter("model_params.encoder_in_feature_size")); const auto allow_remapping_by_area_matrix = this->declare_parameter>("allow_remapping_by_area_matrix"); const auto min_area_matrix = this->declare_parameter>("min_area_matrix"); @@ -78,10 +79,11 @@ LidarCenterPointNode::LidarCenterPointNode(const rclcpp::NodeOptions & node_opti { NMSParams p; p.nms_type_ = NMS_TYPE::IoU_BEV; - p.target_class_names_ = - this->declare_parameter>("iou_nms_target_class_names"); - p.search_distance_2d_ = this->declare_parameter("iou_nms_search_distance_2d"); - p.iou_threshold_ = this->declare_parameter("iou_nms_threshold"); + p.target_class_names_ = this->declare_parameter>( + "post_process_params.iou_nms_target_class_names"); + p.search_distance_2d_ = + this->declare_parameter("post_process_params.iou_nms_search_distance_2d"); + p.iou_threshold_ = this->declare_parameter("post_process_params.iou_nms_threshold"); iou_bev_nms_.setParameters(p); } diff --git a/perception/lidar_centerpoint/test/test_detection_class_remapper.cpp b/perception/lidar_centerpoint/test/test_detection_class_remapper.cpp new file mode 100644 index 0000000000000..6559736ede198 --- /dev/null +++ b/perception/lidar_centerpoint/test/test_detection_class_remapper.cpp @@ -0,0 +1,92 @@ +// Copyright 2024 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include + +#include + +TEST(DetectionClassRemapperTest, MapClasses) +{ + centerpoint::DetectionClassRemapper remapper; + + // Set up the parameters for the remapper + // Labels: CAR, TRUCK, TRAILER + std::vector allow_remapping_by_area_matrix = { + 0, 0, 0, // CAR cannot be remapped + 0, 0, 1, // TRUCK can be remapped to TRAILER + 0, 1, 0 // TRAILER can be remapped to TRUCK + }; + std::vector min_area_matrix = {0.0, 0.0, 0.0, 0.0, 0.0, 10.0, 0.0, 0.0, 0.0}; + std::vector max_area_matrix = {0.0, 0.0, 0.0, 0.0, 0.0, 999.0, 0.0, 10.0, 0.0}; + + remapper.setParameters(allow_remapping_by_area_matrix, min_area_matrix, max_area_matrix); + + // Create a DetectedObjects message with some objects + autoware_auto_perception_msgs::msg::DetectedObjects msg; + + // CAR with area 4.0, which is out of the range for remapping + autoware_auto_perception_msgs::msg::DetectedObject obj1; + autoware_auto_perception_msgs::msg::ObjectClassification obj1_classification; + obj1.shape.dimensions.x = 2.0; + obj1.shape.dimensions.y = 2.0; + obj1_classification.label = 0; + obj1_classification.probability = 1.0; + obj1.classification = {obj1_classification}; + msg.objects.push_back(obj1); + + // TRUCK with area 16.0, which is in the range for remapping to TRAILER + autoware_auto_perception_msgs::msg::DetectedObject obj2; + autoware_auto_perception_msgs::msg::ObjectClassification obj2_classification; + obj2.shape.dimensions.x = 8.0; + obj2.shape.dimensions.y = 2.0; + obj2_classification.label = 1; + obj2_classification.probability = 1.0; + obj2.classification = {obj2_classification}; + msg.objects.push_back(obj2); + + // TRAILER with area 9.0, which is in the range for remapping to TRUCK + autoware_auto_perception_msgs::msg::DetectedObject obj3; + autoware_auto_perception_msgs::msg::ObjectClassification obj3_classification; + obj3.shape.dimensions.x = 3.0; + obj3.shape.dimensions.y = 3.0; + obj3_classification.label = 2; + obj3_classification.probability = 1.0; + obj3.classification = {obj3_classification}; + msg.objects.push_back(obj3); + + // TRAILER with area 12.0, which is out of the range for remapping + autoware_auto_perception_msgs::msg::DetectedObject obj4; + autoware_auto_perception_msgs::msg::ObjectClassification obj4_classification; + obj4.shape.dimensions.x = 4.0; + obj4.shape.dimensions.y = 3.0; + obj4_classification.label = 2; + obj4_classification.probability = 1.0; + obj4.classification = {obj4_classification}; + msg.objects.push_back(obj4); + + // Call the mapClasses function + remapper.mapClasses(msg); + + // Check the remapped labels + EXPECT_EQ(msg.objects[0].classification[0].label, 0); + EXPECT_EQ(msg.objects[1].classification[0].label, 2); + EXPECT_EQ(msg.objects[2].classification[0].label, 1); + EXPECT_EQ(msg.objects[3].classification[0].label, 2); +} + +int main(int argc, char ** argv) +{ + testing::InitGoogleTest(&argc, argv); + return RUN_ALL_TESTS(); +} diff --git a/perception/lidar_centerpoint/test/test_nms.cpp b/perception/lidar_centerpoint/test/test_nms.cpp new file mode 100644 index 0000000000000..bf443d8d3ad0f --- /dev/null +++ b/perception/lidar_centerpoint/test/test_nms.cpp @@ -0,0 +1,121 @@ +// Copyright 2024 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "lidar_centerpoint/postprocess/non_maximum_suppression.hpp" + +#include + +TEST(NonMaximumSuppressionTest, Apply) +{ + centerpoint::NonMaximumSuppression nms; + centerpoint::NMSParams params; + params.search_distance_2d_ = 1.0; + params.iou_threshold_ = 0.2; + params.nms_type_ = centerpoint::NMS_TYPE::IoU_BEV; + params.target_class_names_ = {"CAR"}; + nms.setParameters(params); + + std::vector input_objects(4); + + // Object 1 + autoware_auto_perception_msgs::msg::ObjectClassification obj1_classification; + obj1_classification.label = 0; // Assuming "car" has label 0 + obj1_classification.probability = 1.0; + input_objects[0].classification = {obj1_classification}; // Assuming "car" has label 0 + input_objects[0].kinematics.pose_with_covariance.pose.position.x = 0.0; + input_objects[0].kinematics.pose_with_covariance.pose.position.y = 0.0; + input_objects[0].kinematics.pose_with_covariance.pose.orientation.x = 0.0; + input_objects[0].kinematics.pose_with_covariance.pose.orientation.y = 0.0; + input_objects[0].kinematics.pose_with_covariance.pose.orientation.z = 0.0; + input_objects[0].kinematics.pose_with_covariance.pose.orientation.w = 1.0; + input_objects[0].shape.type = autoware_auto_perception_msgs::msg::Shape::BOUNDING_BOX; + input_objects[0].shape.dimensions.x = 4.0; + input_objects[0].shape.dimensions.y = 2.0; + + // Object 2 (overlaps with Object 1) + autoware_auto_perception_msgs::msg::ObjectClassification obj2_classification; + obj2_classification.label = 0; // Assuming "car" has label 0 + obj2_classification.probability = 1.0; + input_objects[1].classification = {obj2_classification}; // Assuming "car" has label 0 + input_objects[1].kinematics.pose_with_covariance.pose.position.x = 0.5; + input_objects[1].kinematics.pose_with_covariance.pose.position.y = 0.5; + input_objects[1].kinematics.pose_with_covariance.pose.orientation.x = 0.0; + input_objects[1].kinematics.pose_with_covariance.pose.orientation.y = 0.0; + input_objects[1].kinematics.pose_with_covariance.pose.orientation.z = 0.0; + input_objects[1].kinematics.pose_with_covariance.pose.orientation.w = 1.0; + input_objects[1].shape.type = autoware_auto_perception_msgs::msg::Shape::BOUNDING_BOX; + input_objects[1].shape.dimensions.x = 4.0; + input_objects[1].shape.dimensions.y = 2.0; + + // Object 3 + autoware_auto_perception_msgs::msg::ObjectClassification obj3_classification; + obj3_classification.label = 0; // Assuming "car" has label 0 + obj3_classification.probability = 1.0; + input_objects[2].classification = {obj3_classification}; // Assuming "car" has label 0 + input_objects[2].kinematics.pose_with_covariance.pose.position.x = 5.0; + input_objects[2].kinematics.pose_with_covariance.pose.position.y = 5.0; + input_objects[2].kinematics.pose_with_covariance.pose.orientation.x = 0.0; + input_objects[2].kinematics.pose_with_covariance.pose.orientation.y = 0.0; + input_objects[2].kinematics.pose_with_covariance.pose.orientation.z = 0.0; + input_objects[2].kinematics.pose_with_covariance.pose.orientation.w = 1.0; + input_objects[2].shape.type = autoware_auto_perception_msgs::msg::Shape::BOUNDING_BOX; + input_objects[2].shape.dimensions.x = 4.0; + input_objects[2].shape.dimensions.y = 2.0; + + // Object 4 (different class) + autoware_auto_perception_msgs::msg::ObjectClassification obj4_classification; + obj4_classification.label = 1; // Assuming "pedestrian" has label 1 + obj4_classification.probability = 1.0; + input_objects[3].classification = {obj4_classification}; // Assuming "pedestrian" has label 1 + input_objects[3].kinematics.pose_with_covariance.pose.position.x = 0.0; + input_objects[3].kinematics.pose_with_covariance.pose.position.y = 0.0; + input_objects[3].kinematics.pose_with_covariance.pose.orientation.x = 0.0; + input_objects[3].kinematics.pose_with_covariance.pose.orientation.y = 0.0; + input_objects[3].kinematics.pose_with_covariance.pose.orientation.z = 0.0; + input_objects[3].kinematics.pose_with_covariance.pose.orientation.w = 1.0; + input_objects[3].shape.type = autoware_auto_perception_msgs::msg::Shape::BOUNDING_BOX; + input_objects[3].shape.dimensions.x = 0.5; + input_objects[3].shape.dimensions.y = 0.5; + + std::vector output_objects = nms.apply(input_objects); + + // Assert the expected number of output objects + EXPECT_EQ(output_objects.size(), 3); + + // Assert that input_objects[2] is included in the output_objects + bool is_input_object_2_included = false; + for (const auto & output_object : output_objects) { + if (output_object == input_objects[2]) { + is_input_object_2_included = true; + break; + } + } + EXPECT_TRUE(is_input_object_2_included); + + // Assert that input_objects[3] is included in the output_objects + bool is_input_object_3_included = false; + for (const auto & output_object : output_objects) { + if (output_object == input_objects[3]) { + is_input_object_3_included = true; + break; + } + } + EXPECT_TRUE(is_input_object_3_included); +} + +int main(int argc, char ** argv) +{ + testing::InitGoogleTest(&argc, argv); + return RUN_ALL_TESTS(); +} diff --git a/perception/lidar_centerpoint/test/test_postprocess_kernel.cpp b/perception/lidar_centerpoint/test/test_postprocess_kernel.cpp new file mode 100644 index 0000000000000..fde4fcbee3d6c --- /dev/null +++ b/perception/lidar_centerpoint/test/test_postprocess_kernel.cpp @@ -0,0 +1,367 @@ +// Copyright 2024 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "test_postprocess_kernel.hpp" + +#include + +#include +#include +#include + +namespace centerpoint +{ + +void PostprocessKernelTest::SetUp() +{ + cudaStreamCreate(&stream_); + + constexpr std::size_t class_size{5}; + constexpr std::size_t point_feature_size{4}; + constexpr std::size_t max_voxel_size{100000000}; + const std::vector point_cloud_range{-76.8, -76.8, -4.0, 76.8, 76.8, 6.0}; + const std::vector voxel_size{0.32, 0.32, 10.0}; + constexpr std::size_t downsample_factor{1}; + constexpr std::size_t encoder_in_feature_size{9}; + constexpr float score_threshold{0.35f}; + constexpr float circle_nms_dist_threshold{0.5f}; + const std::vector yaw_norm_thresholds{0.5, 0.5, 0.5}; + constexpr bool has_variance{false}; + + config_ptr_ = std::make_unique( + class_size, point_feature_size, max_voxel_size, point_cloud_range, voxel_size, + downsample_factor, encoder_in_feature_size, score_threshold, circle_nms_dist_threshold, + yaw_norm_thresholds, has_variance); + + postprocess_cuda_ptr_ = std::make_unique(*config_ptr_); + + const auto grid_xy_size = config_ptr_->down_grid_size_x_ * config_ptr_->down_grid_size_y_; + + head_out_heatmap_d_ = cuda::make_unique(grid_xy_size * config_ptr_->class_size_); + head_out_offset_d_ = + cuda::make_unique(grid_xy_size * config_ptr_->head_out_offset_size_); + head_out_z_d_ = cuda::make_unique(grid_xy_size * config_ptr_->head_out_z_size_); + head_out_dim_d_ = cuda::make_unique(grid_xy_size * config_ptr_->head_out_dim_size_); + head_out_rot_d_ = cuda::make_unique(grid_xy_size * config_ptr_->head_out_rot_size_); + head_out_vel_d_ = cuda::make_unique(grid_xy_size * config_ptr_->head_out_vel_size_); + + std::vector heatmap_host_vector(grid_xy_size * config_ptr_->class_size_, 0.f); + std::fill(heatmap_host_vector.begin(), heatmap_host_vector.end(), -1e6); + cudaMemcpy( + head_out_heatmap_d_.get(), heatmap_host_vector.data(), + grid_xy_size * config_ptr_->head_out_offset_size_ * sizeof(float), cudaMemcpyHostToDevice); + cudaMemset( + head_out_offset_d_.get(), 0, grid_xy_size * config_ptr_->head_out_offset_size_ * sizeof(float)); + cudaMemset(head_out_z_d_.get(), 0, grid_xy_size * config_ptr_->head_out_z_size_ * sizeof(float)); + cudaMemset( + head_out_dim_d_.get(), 0, grid_xy_size * config_ptr_->head_out_dim_size_ * sizeof(float)); + cudaMemset( + head_out_rot_d_.get(), 0, grid_xy_size * config_ptr_->head_out_rot_size_ * sizeof(float)); + cudaMemset( + head_out_vel_d_.get(), 0, grid_xy_size * config_ptr_->head_out_vel_size_ * sizeof(float)); +} + +void PostprocessKernelTest::TearDown() +{ +} + +TEST_F(PostprocessKernelTest, EmptyTensorTest) +{ + std::vector det_boxes3d; + + postprocess_cuda_ptr_->generateDetectedBoxes3D_launch( + head_out_heatmap_d_.get(), head_out_offset_d_.get(), head_out_z_d_.get(), head_out_dim_d_.get(), + head_out_rot_d_.get(), head_out_vel_d_.get(), det_boxes3d, stream_); + + ASSERT_EQ(0, det_boxes3d.size()); +} + +TEST_F(PostprocessKernelTest, SingleDetectionTest) +{ + std::vector det_boxes3d; + + constexpr float detection_x = 70.f; + constexpr float detection_y = -38.4f; + constexpr float detection_z = 1.0; + constexpr float detection_log_w = std::log(7.0); + constexpr float detection_log_l = std::log(1.0); + constexpr float detection_log_h = std::log(2.0); + constexpr float detection_yaw = M_PI_4; + constexpr float detection_yaw_sin = std::sin(detection_yaw); + constexpr float detection_yaw_cos = std::sin(detection_yaw); + constexpr float detection_vel_x = 5.0; + constexpr float detection_vel_y = -5.0; + + const float idx = + ((detection_x - config_ptr_->range_min_x_) / + (config_ptr_->voxel_size_x_ * config_ptr_->downsample_factor_)); + const float idy = + ((detection_y - config_ptr_->range_min_y_) / + (config_ptr_->voxel_size_y_ * config_ptr_->downsample_factor_)); + const std::size_t index = config_ptr_->down_grid_size_x_ * std::floor(idy) + std::floor(idx); + const float detection_x_offset = idx - std::floor(idx); + const float detection_y_offset = idy - std::floor(idy); + + // Set the values in the cuda tensor + const auto grid_xy_size = config_ptr_->down_grid_size_x_ * config_ptr_->down_grid_size_y_; + float score = 1.f; + cudaMemcpy( + &head_out_heatmap_d_[2 * grid_xy_size + index], &score, 1 * sizeof(float), + cudaMemcpyHostToDevice); + + cudaMemcpy( + &head_out_offset_d_[0 * grid_xy_size + index], &detection_x_offset, 1 * sizeof(float), + cudaMemcpyHostToDevice); + cudaMemcpy( + &head_out_offset_d_[1 * grid_xy_size + index], &detection_y_offset, 1 * sizeof(float), + cudaMemcpyHostToDevice); + cudaMemcpy( + &head_out_z_d_[0 * grid_xy_size + index], &detection_z, 1 * sizeof(float), + cudaMemcpyHostToDevice); + + cudaMemcpy( + &head_out_dim_d_[0 * grid_xy_size + index], &detection_log_w, 1 * sizeof(float), + cudaMemcpyHostToDevice); + cudaMemcpy( + &head_out_dim_d_[1 * grid_xy_size + index], &detection_log_l, 1 * sizeof(float), + cudaMemcpyHostToDevice); + cudaMemcpy( + &head_out_dim_d_[2 * grid_xy_size + index], &detection_log_h, 1 * sizeof(float), + cudaMemcpyHostToDevice); + + cudaMemcpy( + &head_out_rot_d_[0 * grid_xy_size + index], &detection_yaw_cos, 1 * sizeof(float), + cudaMemcpyHostToDevice); + cudaMemcpy( + &head_out_rot_d_[1 * grid_xy_size + index], &detection_yaw_sin, 1 * sizeof(float), + cudaMemcpyHostToDevice); + + cudaMemcpy( + &head_out_vel_d_[0 * grid_xy_size + index], &detection_vel_x, 1 * sizeof(float), + cudaMemcpyHostToDevice); + cudaMemcpy( + &head_out_vel_d_[1 * grid_xy_size + index], &detection_vel_y, 1 * sizeof(float), + cudaMemcpyHostToDevice); + + auto code = cudaGetLastError(); + ASSERT_EQ(cudaSuccess, code); + + // Extract the boxes + code = postprocess_cuda_ptr_->generateDetectedBoxes3D_launch( + head_out_heatmap_d_.get(), head_out_offset_d_.get(), head_out_z_d_.get(), head_out_dim_d_.get(), + head_out_rot_d_.get(), head_out_vel_d_.get(), det_boxes3d, stream_); + + ASSERT_EQ(cudaSuccess, code); + ASSERT_EQ(1, det_boxes3d.size()); + + const auto det_box3d = det_boxes3d[0]; + EXPECT_EQ(detection_x, det_box3d.x); + EXPECT_EQ(detection_y, det_box3d.y); + EXPECT_EQ(detection_z, det_box3d.z); + EXPECT_NEAR(std::exp(detection_log_w), det_box3d.width, 1e-6); + EXPECT_NEAR(std::exp(detection_log_l), det_box3d.length, 1e-6); + EXPECT_NEAR(std::exp(detection_log_h), det_box3d.height, 1e-6); + EXPECT_EQ(detection_yaw, det_box3d.yaw); + EXPECT_EQ(detection_vel_x, det_box3d.vel_x); + EXPECT_EQ(detection_vel_y, det_box3d.vel_y); +} + +TEST_F(PostprocessKernelTest, InvalidYawTest) +{ + std::vector det_boxes3d; + + constexpr float detection_x = 70.f; + constexpr float detection_y = -38.4f; + constexpr float detection_z = 1.0; + constexpr float detection_yaw_sin = 0.0; + constexpr float detection_yaw_cos = 0.2; + + const float idx = + ((detection_x - config_ptr_->range_min_x_) / + (config_ptr_->voxel_size_x_ * config_ptr_->downsample_factor_)); + const float idy = + ((detection_y - config_ptr_->range_min_y_) / + (config_ptr_->voxel_size_y_ * config_ptr_->downsample_factor_)); + const std::size_t index = config_ptr_->down_grid_size_x_ * std::floor(idy) + std::floor(idx); + const float detection_x_offset = idx - std::floor(idx); + const float detection_y_offset = idy - std::floor(idy); + + // Set the values in the cuda tensor + const auto grid_xy_size = config_ptr_->down_grid_size_x_ * config_ptr_->down_grid_size_y_; + float score = 1.f; + cudaMemcpy( + &head_out_heatmap_d_[2 * grid_xy_size + index], &score, 1 * sizeof(float), + cudaMemcpyHostToDevice); + + cudaMemcpy( + &head_out_offset_d_[0 * grid_xy_size + index], &detection_x_offset, 1 * sizeof(float), + cudaMemcpyHostToDevice); + cudaMemcpy( + &head_out_offset_d_[1 * grid_xy_size + index], &detection_y_offset, 1 * sizeof(float), + cudaMemcpyHostToDevice); + cudaMemcpy( + &head_out_z_d_[0 * grid_xy_size + index], &detection_z, 1 * sizeof(float), + cudaMemcpyHostToDevice); + + cudaMemcpy( + &head_out_rot_d_[0 * grid_xy_size + index], &detection_yaw_cos, 1 * sizeof(float), + cudaMemcpyHostToDevice); + cudaMemcpy( + &head_out_rot_d_[1 * grid_xy_size + index], &detection_yaw_sin, 1 * sizeof(float), + cudaMemcpyHostToDevice); + + auto code = cudaGetLastError(); + ASSERT_EQ(cudaSuccess, code); + + // Extract the boxes + code = postprocess_cuda_ptr_->generateDetectedBoxes3D_launch( + head_out_heatmap_d_.get(), head_out_offset_d_.get(), head_out_z_d_.get(), head_out_dim_d_.get(), + head_out_rot_d_.get(), head_out_vel_d_.get(), det_boxes3d, stream_); + + ASSERT_EQ(cudaSuccess, code); + ASSERT_EQ(0, det_boxes3d.size()); +} + +TEST_F(PostprocessKernelTest, CircleNMSTest) +{ + std::vector det_boxes3d; + + constexpr float detection_x = 70.f; + constexpr float detection_y = -38.4f; + constexpr float detection_z = 1.0; + constexpr float detection_log_w = std::log(7.0); + constexpr float detection_log_l = std::log(1.0); + constexpr float detection_log_h = std::log(2.0); + constexpr float detection_yaw1_sin = 0.0; + constexpr float detection_yaw1_cos = 1.0; + constexpr float detection_yaw2_sin = 1.0; + constexpr float detection_yaw2_cos = 0.0; + constexpr float detection_vel_x = 5.0; + constexpr float detection_vel_y = -5.0; + + const float idx1 = + ((detection_x - config_ptr_->range_min_x_) / + (config_ptr_->voxel_size_x_ * config_ptr_->downsample_factor_)); + const float idy1 = + ((detection_y - config_ptr_->range_min_y_) / + (config_ptr_->voxel_size_y_ * config_ptr_->downsample_factor_)); + const std::size_t index1 = config_ptr_->down_grid_size_x_ * std::floor(idy1) + std::floor(idx1); + const float detection_x_offset1 = idx1 - std::floor(idx1); + const float detection_y_offset1 = idy1 - std::floor(idy1); + + const float idx2 = idx1 + 1.0; + const float idy2 = idy1 + 1.0; + const std::size_t index2 = config_ptr_->down_grid_size_x_ * std::floor(idy2) + std::floor(idx2); + const float detection_x_offset2 = detection_x_offset1 - 1.0; + const float detection_y_offset2 = detection_y_offset1 - 1.0; + + // Set the values in the cuda tensor + const auto grid_xy_size = config_ptr_->down_grid_size_x_ * config_ptr_->down_grid_size_y_; + float score = 1.f; + + cudaMemcpy( + &head_out_heatmap_d_[2 * grid_xy_size + index1], &score, 1 * sizeof(float), + cudaMemcpyHostToDevice); + + cudaMemcpy( + &head_out_offset_d_[0 * grid_xy_size + index1], &detection_x_offset1, 1 * sizeof(float), + cudaMemcpyHostToDevice); + cudaMemcpy( + &head_out_offset_d_[1 * grid_xy_size + index1], &detection_y_offset1, 1 * sizeof(float), + cudaMemcpyHostToDevice); + cudaMemcpy( + &head_out_z_d_[0 * grid_xy_size + index1], &detection_z, 1 * sizeof(float), + cudaMemcpyHostToDevice); + + cudaMemcpy( + &head_out_dim_d_[0 * grid_xy_size + index1], &detection_log_w, 1 * sizeof(float), + cudaMemcpyHostToDevice); + cudaMemcpy( + &head_out_dim_d_[1 * grid_xy_size + index1], &detection_log_l, 1 * sizeof(float), + cudaMemcpyHostToDevice); + cudaMemcpy( + &head_out_dim_d_[2 * grid_xy_size + index1], &detection_log_h, 1 * sizeof(float), + cudaMemcpyHostToDevice); + + cudaMemcpy( + &head_out_rot_d_[0 * grid_xy_size + index1], &detection_yaw1_cos, 1 * sizeof(float), + cudaMemcpyHostToDevice); + cudaMemcpy( + &head_out_rot_d_[1 * grid_xy_size + index1], &detection_yaw1_sin, 1 * sizeof(float), + cudaMemcpyHostToDevice); + + cudaMemcpy( + &head_out_vel_d_[0 * grid_xy_size + index1], &detection_vel_x, 1 * sizeof(float), + cudaMemcpyHostToDevice); + cudaMemcpy( + &head_out_vel_d_[1 * grid_xy_size + index1], &detection_vel_y, 1 * sizeof(float), + cudaMemcpyHostToDevice); + + cudaMemcpy( + &head_out_heatmap_d_[2 * grid_xy_size + index2], &score, 1 * sizeof(float), + cudaMemcpyHostToDevice); + + cudaMemcpy( + &head_out_offset_d_[0 * grid_xy_size + index2], &detection_x_offset2, 1 * sizeof(float), + cudaMemcpyHostToDevice); + cudaMemcpy( + &head_out_offset_d_[1 * grid_xy_size + index2], &detection_y_offset2, 1 * sizeof(float), + cudaMemcpyHostToDevice); + cudaMemcpy( + &head_out_z_d_[0 * grid_xy_size + index2], &detection_z, 1 * sizeof(float), + cudaMemcpyHostToDevice); + + cudaMemcpy( + &head_out_dim_d_[0 * grid_xy_size + index2], &detection_log_w, 1 * sizeof(float), + cudaMemcpyHostToDevice); + cudaMemcpy( + &head_out_dim_d_[1 * grid_xy_size + index2], &detection_log_l, 1 * sizeof(float), + cudaMemcpyHostToDevice); + cudaMemcpy( + &head_out_dim_d_[2 * grid_xy_size + index2], &detection_log_h, 1 * sizeof(float), + cudaMemcpyHostToDevice); + + cudaMemcpy( + &head_out_rot_d_[0 * grid_xy_size + index2], &detection_yaw2_cos, 1 * sizeof(float), + cudaMemcpyHostToDevice); + cudaMemcpy( + &head_out_rot_d_[1 * grid_xy_size + index2], &detection_yaw2_sin, 1 * sizeof(float), + cudaMemcpyHostToDevice); + + cudaMemcpy( + &head_out_vel_d_[0 * grid_xy_size + index2], &detection_vel_x, 1 * sizeof(float), + cudaMemcpyHostToDevice); + cudaMemcpy( + &head_out_vel_d_[1 * grid_xy_size + index2], &detection_vel_y, 1 * sizeof(float), + cudaMemcpyHostToDevice); + + auto code = cudaGetLastError(); + ASSERT_EQ(cudaSuccess, code); + + // Extract the boxes + code = postprocess_cuda_ptr_->generateDetectedBoxes3D_launch( + head_out_heatmap_d_.get(), head_out_offset_d_.get(), head_out_z_d_.get(), head_out_dim_d_.get(), + head_out_rot_d_.get(), head_out_vel_d_.get(), det_boxes3d, stream_); + + ASSERT_EQ(cudaSuccess, code); + ASSERT_EQ(1, det_boxes3d.size()); +} + +} // namespace centerpoint + +int main(int argc, char ** argv) +{ + testing::InitGoogleTest(&argc, argv); + return RUN_ALL_TESTS(); +} diff --git a/perception/lidar_centerpoint/test/test_postprocess_kernel.hpp b/perception/lidar_centerpoint/test/test_postprocess_kernel.hpp new file mode 100644 index 0000000000000..d0c9123da9e77 --- /dev/null +++ b/perception/lidar_centerpoint/test/test_postprocess_kernel.hpp @@ -0,0 +1,49 @@ +// Copyright 2024 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#ifndef TEST_POSTPROCESS_KERNEL_HPP_ +#define TEST_POSTPROCESS_KERNEL_HPP_ + +#include +#include + +#include + +#include + +namespace centerpoint +{ + +class PostprocessKernelTest : public testing::Test +{ +public: + void SetUp() override; + void TearDown() override; + + cudaStream_t stream_{nullptr}; + + std::unique_ptr postprocess_cuda_ptr_; + std::unique_ptr config_ptr_; + + cuda::unique_ptr head_out_heatmap_d_; + cuda::unique_ptr head_out_offset_d_; + cuda::unique_ptr head_out_z_d_; + cuda::unique_ptr head_out_dim_d_; + cuda::unique_ptr head_out_rot_d_; + cuda::unique_ptr head_out_vel_d_; +}; + +} // namespace centerpoint + +#endif // TEST_POSTPROCESS_KERNEL_HPP_ diff --git a/perception/lidar_centerpoint/test/test_preprocess_kernel.cpp b/perception/lidar_centerpoint/test/test_preprocess_kernel.cpp new file mode 100644 index 0000000000000..db75328f9d5c5 --- /dev/null +++ b/perception/lidar_centerpoint/test/test_preprocess_kernel.cpp @@ -0,0 +1,403 @@ +// Copyright 2024 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "test_preprocess_kernel.hpp" + +#include + +#include +#include +#include + +#include +#include +#include + +namespace centerpoint +{ + +void PreprocessKernelTest::SetUp() +{ + cudaStreamCreate(&stream_); + + max_voxel_size_ = 40000; + max_point_in_voxel_size_ = + 32; // this value is actually hardcoded in the kernel so it can not be changed + point_feature_size_ = 4; + point_dim_size_ = 3; + config_encoder_in_feature_size_ = 9; + encoder_out_feature_size_ = 32; + capacity_ = 1000000; + + range_min_x_ = -76.8f; + range_min_y_ = -76.8f; + range_min_z_ = -4.0f; + range_max_x_ = 76.8f; + range_max_y_ = 76.8f; + range_max_z_ = 6.0f; + voxel_size_x_ = 0.32f; + voxel_size_y_ = 0.32f; + voxel_size_z_ = 10.0f; + + grid_size_x_ = static_cast((range_max_x_ - range_min_x_) / voxel_size_x_); + grid_size_y_ = static_cast((range_max_y_ - range_min_y_) / voxel_size_y_); + grid_size_z_ = static_cast((range_max_z_ - range_min_z_) / voxel_size_z_); + + voxels_size_ = max_voxel_size_ * max_point_in_voxel_size_ * point_feature_size_; + coordinates_size_ = max_voxel_size_ * point_dim_size_; + encoder_in_feature_size_ = + max_voxel_size_ * max_point_in_voxel_size_ * config_encoder_in_feature_size_; + pillar_features_size_ = max_voxel_size_ * encoder_out_feature_size_; + spatial_features_size_ = grid_size_x_ * grid_size_y_ * encoder_out_feature_size_; + grid_xy_size_ = grid_size_x_ * grid_size_y_; + + voxels_buffer_size_ = + grid_size_x_ * grid_size_y_ * max_point_in_voxel_size_ * point_feature_size_; + mask_size_ = grid_size_x_ * grid_size_y_; + + voxels_d_ = cuda::make_unique(voxels_size_); + coordinates_d_ = cuda::make_unique(coordinates_size_); + num_points_per_voxel_d_ = cuda::make_unique(max_voxel_size_); + encoder_in_features_d_ = cuda::make_unique(encoder_in_feature_size_); + pillar_features_d_ = cuda::make_unique(pillar_features_size_); + spatial_features_d_ = cuda::make_unique(spatial_features_size_); + points_d_ = cuda::make_unique(capacity_ * point_feature_size_); + voxels_buffer_d_ = cuda::make_unique(voxels_buffer_size_); + mask_d_ = cuda::make_unique(mask_size_); + num_voxels_d_ = cuda::make_unique(1); + + CHECK_CUDA_ERROR(cudaMemsetAsync(num_voxels_d_.get(), 0, sizeof(unsigned int), stream_)); + CHECK_CUDA_ERROR( + cudaMemsetAsync(voxels_buffer_d_.get(), 0, voxels_buffer_size_ * sizeof(float), stream_)); + CHECK_CUDA_ERROR(cudaMemsetAsync(mask_d_.get(), 0, mask_size_ * sizeof(int), stream_)); + CHECK_CUDA_ERROR(cudaMemsetAsync(voxels_d_.get(), 0, voxels_size_ * sizeof(float), stream_)); + CHECK_CUDA_ERROR( + cudaMemsetAsync(coordinates_d_.get(), 0, coordinates_size_ * sizeof(int), stream_)); + CHECK_CUDA_ERROR( + cudaMemsetAsync(num_points_per_voxel_d_.get(), 0, max_voxel_size_ * sizeof(float), stream_)); +} + +void PreprocessKernelTest::TearDown() +{ +} + +TEST_F(PreprocessKernelTest, EmptyVoxelTest) +{ + std::vector points{}; + std::size_t points_num = 0; + + CHECK_CUDA_ERROR(cudaMemcpy( + points_d_.get(), points.data(), points_num * point_feature_size_ * sizeof(float), + cudaMemcpyHostToDevice)); + + cudaError_t code = centerpoint::generateVoxels_random_launch( + points_d_.get(), points_num, range_min_x_, range_max_x_, range_min_y_, range_max_y_, + range_min_z_, range_max_z_, voxel_size_x_, voxel_size_y_, voxel_size_z_, grid_size_y_, + grid_size_x_, mask_d_.get(), voxels_buffer_d_.get(), stream_); + + ASSERT_EQ(cudaSuccess, code); + + // Compute the total amount of voxels filled + thrust::host_vector mask_h(mask_size_); + + CHECK_CUDA_ERROR(cudaMemcpy( + mask_h.data(), mask_d_.get(), mask_size_ * sizeof(unsigned int), cudaMemcpyDeviceToHost)); + + int sum = thrust::reduce(mask_h.begin(), mask_h.end(), 0); + EXPECT_EQ(0, sum); +} + +TEST_F(PreprocessKernelTest, BasicTest) +{ + std::vector points{25.f, -61.1f, 1.8f, 0.1f}; + std::size_t points_num = 1; + + CHECK_CUDA_ERROR(cudaMemcpy( + points_d_.get(), points.data(), points_num * point_feature_size_ * sizeof(float), + cudaMemcpyHostToDevice)); + + cudaError_t code = centerpoint::generateVoxels_random_launch( + points_d_.get(), points_num, range_min_x_, range_max_x_, range_min_y_, range_max_y_, + range_min_z_, range_max_z_, voxel_size_x_, voxel_size_y_, voxel_size_z_, grid_size_y_, + grid_size_x_, mask_d_.get(), voxels_buffer_d_.get(), stream_); + + ASSERT_EQ(cudaSuccess, code); + + // Compute the total amount of voxels filled + thrust::host_vector mask_h(mask_size_); + + CHECK_CUDA_ERROR(cudaMemcpy( + mask_h.data(), mask_d_.get(), mask_size_ * sizeof(unsigned int), cudaMemcpyDeviceToHost)); + + int sum = thrust::reduce(mask_h.begin(), mask_h.end(), 0); + EXPECT_EQ(1, sum); + + // Check that the voxel was filled + int voxel_idx = std::floor((points[0] - range_min_x_) / voxel_size_x_); + int voxel_idy = std::floor((points[1] - range_min_y_) / voxel_size_y_); + unsigned int voxel_index = voxel_idy * grid_size_x_ + voxel_idx; + + unsigned voxel_count; + std::array voxel_data{0.f, 0.f, 0.f, 0.f}; + + CHECK_CUDA_ERROR(cudaMemcpy( + &voxel_count, mask_d_.get() + voxel_index, 1 * sizeof(unsigned int), cudaMemcpyDeviceToHost)); + + EXPECT_EQ(1, voxel_count); + + CHECK_CUDA_ERROR(cudaMemcpy( + voxel_data.data(), + voxels_buffer_d_.get() + voxel_index * max_point_in_voxel_size_ * point_feature_size_, + point_feature_size_ * sizeof(unsigned int), cudaMemcpyDeviceToHost)); + + EXPECT_EQ(points[0], voxel_data[0]); + EXPECT_EQ(points[1], voxel_data[1]); + EXPECT_EQ(points[2], voxel_data[2]); + EXPECT_EQ(points[3], voxel_data[3]); + + code = generateBaseFeatures_launch( + mask_d_.get(), voxels_buffer_d_.get(), grid_size_y_, grid_size_x_, max_voxel_size_, + num_voxels_d_.get(), voxels_d_.get(), num_points_per_voxel_d_.get(), coordinates_d_.get(), + stream_); + + ASSERT_EQ(cudaSuccess, code); + + unsigned int num_pillars{}; + std::vector voxel_features(point_feature_size_, 0.f); + float num_voxels{}; + std::vector voxel_coordinates(3, 0); + + CHECK_CUDA_ERROR(cudaMemcpy( + &num_pillars, num_voxels_d_.get(), 1 * sizeof(unsigned int), cudaMemcpyDeviceToHost)); + + CHECK_CUDA_ERROR(cudaMemcpy( + voxel_features.data(), voxels_d_.get(), point_feature_size_ * sizeof(unsigned int), + cudaMemcpyDeviceToHost)); + + CHECK_CUDA_ERROR(cudaMemcpy( + &num_voxels, num_points_per_voxel_d_.get(), 1 * sizeof(float), cudaMemcpyDeviceToHost)); + + CHECK_CUDA_ERROR(cudaMemcpy( + voxel_coordinates.data(), coordinates_d_.get(), 3 * sizeof(int), cudaMemcpyDeviceToHost)); + + EXPECT_EQ(1, num_pillars); + EXPECT_EQ(1.0, num_voxels); + EXPECT_EQ(0, voxel_coordinates[0]); + EXPECT_EQ(voxel_idy, voxel_coordinates[1]); + EXPECT_EQ(voxel_idx, voxel_coordinates[2]); + EXPECT_EQ(points[0], voxel_features[0]); + EXPECT_EQ(points[1], voxel_features[1]); + EXPECT_EQ(points[2], voxel_features[2]); + EXPECT_EQ(points[3], voxel_features[3]); + + code = generateFeatures_launch( + voxels_d_.get(), num_points_per_voxel_d_.get(), coordinates_d_.get(), num_voxels_d_.get(), + max_voxel_size_, voxel_size_x_, voxel_size_y_, voxel_size_z_, range_min_x_, range_min_y_, + range_min_z_, encoder_in_features_d_.get(), stream_); + + ASSERT_EQ(cudaSuccess, code); + + std::vector encoder_features(config_encoder_in_feature_size_, 0.f); + + CHECK_CUDA_ERROR(cudaMemcpy( + encoder_features.data(), encoder_in_features_d_.get(), + config_encoder_in_feature_size_ * sizeof(float), cudaMemcpyDeviceToHost)); + + // The first four values are just the point features + EXPECT_EQ(points[0], encoder_features[0]); + EXPECT_EQ(points[1], encoder_features[1]); + EXPECT_EQ(points[2], encoder_features[2]); + EXPECT_EQ(points[3], encoder_features[3]); + + // The next three values are the relative coordinates with respect to the voxel average + EXPECT_EQ(0.0, encoder_features[4]); + EXPECT_EQ(0.0, encoder_features[5]); + EXPECT_EQ(0.0, encoder_features[6]); + + // The last two values are the relative coordinates with respect to the voxel center + float voxel_x_offset = voxel_size_x_ / 2 + voxel_idx * voxel_size_x_ + range_min_x_; + float voxel_y_offset = voxel_size_y_ / 2 + voxel_idy * voxel_size_y_ + range_min_y_; + + EXPECT_EQ(points[0] - voxel_x_offset, encoder_features[7]); + EXPECT_EQ(points[1] - voxel_y_offset, encoder_features[8]); +} + +TEST_F(PreprocessKernelTest, OutOfRangeTest) +{ + std::vector points{25.f, -61.1f, 100.f, 0.1f}; // 100.f is out of range + std::size_t points_num = 1; + + CHECK_CUDA_ERROR(cudaMemcpy( + points_d_.get(), points.data(), points_num * point_feature_size_ * sizeof(float), + cudaMemcpyHostToDevice)); + + cudaError_t code = centerpoint::generateVoxels_random_launch( + points_d_.get(), points_num, range_min_x_, range_max_x_, range_min_y_, range_max_y_, + range_min_z_, range_max_z_, voxel_size_x_, voxel_size_y_, voxel_size_z_, grid_size_y_, + grid_size_x_, mask_d_.get(), voxels_buffer_d_.get(), stream_); + + ASSERT_EQ(cudaSuccess, code); + + // Compute the total amount of voxels filled + thrust::host_vector mask_h(mask_size_); + + CHECK_CUDA_ERROR(cudaMemcpy( + mask_h.data(), mask_d_.get(), mask_size_ * sizeof(unsigned int), cudaMemcpyDeviceToHost)); + + int sum = thrust::reduce(mask_h.begin(), mask_h.end(), 0); + EXPECT_EQ(0, sum); +} + +TEST_F(PreprocessKernelTest, VoxelOverflowTest) +{ + std::array point{25.f, -61.1f, 1.8f, 0.1f}; + std::size_t points_num = 64; + std::vector points{}; + + for (std::size_t i = 0; i < points_num; ++i) { + points.insert(points.end(), point.begin(), point.end()); + } + + CHECK_CUDA_ERROR(cudaMemcpy( + points_d_.get(), points.data(), points_num * point_feature_size_ * sizeof(float), + cudaMemcpyHostToDevice)); + + // Note: due to atomic operations in the kernel, generateVoxels does not handle overflows in the + // counter, and instead is done in the following kernel + cudaError_t code = centerpoint::generateVoxels_random_launch( + points_d_.get(), points_num, range_min_x_, range_max_x_, range_min_y_, range_max_y_, + range_min_z_, range_max_z_, voxel_size_x_, voxel_size_y_, voxel_size_z_, grid_size_y_, + grid_size_x_, mask_d_.get(), voxels_buffer_d_.get(), stream_); + + ASSERT_EQ(cudaSuccess, code); + + // Check that the voxel was filled + int voxel_idx = std::floor((points[0] - range_min_x_) / voxel_size_x_); + int voxel_idy = std::floor((points[1] - range_min_y_) / voxel_size_y_); + unsigned int voxel_index = voxel_idy * grid_size_x_ + voxel_idx; + + std::vector voxel_data{}; + voxel_data.resize((max_point_in_voxel_size_ + 1) * point_feature_size_); + + CHECK_CUDA_ERROR(cudaMemcpy( + voxel_data.data(), + voxels_buffer_d_.get() + voxel_index * max_point_in_voxel_size_ * point_feature_size_, + (max_point_in_voxel_size_ + 1) * point_feature_size_ * sizeof(unsigned int), + cudaMemcpyDeviceToHost)); + + for (std::size_t i = 0; i < max_point_in_voxel_size_; ++i) { + EXPECT_EQ(points[0], voxel_data[i * point_feature_size_ + 0]); + EXPECT_EQ(points[1], voxel_data[i * point_feature_size_ + 1]); + EXPECT_EQ(points[2], voxel_data[i * point_feature_size_ + 2]); + EXPECT_EQ(points[3], voxel_data[i * point_feature_size_ + 3]); + } + + EXPECT_EQ(0.0, voxel_data[max_point_in_voxel_size_ * point_feature_size_ + 0]); + EXPECT_EQ(0.0, voxel_data[max_point_in_voxel_size_ * point_feature_size_ + 1]); + EXPECT_EQ(0.0, voxel_data[max_point_in_voxel_size_ * point_feature_size_ + 2]); + EXPECT_EQ(0.0, voxel_data[max_point_in_voxel_size_ * point_feature_size_ + 3]); + + code = generateBaseFeatures_launch( + mask_d_.get(), voxels_buffer_d_.get(), grid_size_y_, grid_size_x_, max_voxel_size_, + num_voxels_d_.get(), voxels_d_.get(), num_points_per_voxel_d_.get(), coordinates_d_.get(), + stream_); + + ASSERT_EQ(cudaSuccess, code); + + unsigned int num_pillars{}; + std::vector voxel_features(max_point_in_voxel_size_ * point_feature_size_, 0.f); + float num_voxels{}; + std::vector voxel_coordinates(3, 0); + + CHECK_CUDA_ERROR(cudaMemcpy( + &num_pillars, num_voxels_d_.get(), 1 * sizeof(unsigned int), cudaMemcpyDeviceToHost)); + + CHECK_CUDA_ERROR(cudaMemcpy( + voxel_features.data(), voxels_d_.get(), + max_point_in_voxel_size_ * point_feature_size_ * sizeof(unsigned int), cudaMemcpyDeviceToHost)); + + CHECK_CUDA_ERROR(cudaMemcpy( + &num_voxels, num_points_per_voxel_d_.get(), 1 * sizeof(float), cudaMemcpyDeviceToHost)); + + CHECK_CUDA_ERROR(cudaMemcpy( + voxel_coordinates.data(), coordinates_d_.get(), 3 * sizeof(int), cudaMemcpyDeviceToHost)); + + EXPECT_EQ(1, num_pillars); + EXPECT_EQ(static_cast(max_point_in_voxel_size_), num_voxels); + EXPECT_EQ(0, voxel_coordinates[0]); + EXPECT_EQ(voxel_idy, voxel_coordinates[1]); + EXPECT_EQ(voxel_idx, voxel_coordinates[2]); + + for (std::size_t point_index = 0; point_index < max_point_in_voxel_size_; ++point_index) { + EXPECT_EQ(points[0], voxel_features[point_index * point_feature_size_ + 0]); + EXPECT_EQ(points[1], voxel_features[point_index * point_feature_size_ + 1]); + EXPECT_EQ(points[2], voxel_features[point_index * point_feature_size_ + 2]); + EXPECT_EQ(points[3], voxel_features[point_index * point_feature_size_ + 3]); + } + + code = generateFeatures_launch( + voxels_d_.get(), num_points_per_voxel_d_.get(), coordinates_d_.get(), num_voxels_d_.get(), + max_voxel_size_, voxel_size_x_, voxel_size_y_, voxel_size_z_, range_min_x_, range_min_y_, + range_min_z_, encoder_in_features_d_.get(), stream_); + + ASSERT_EQ(cudaSuccess, code); + + std::vector encoder_features( + max_point_in_voxel_size_ * config_encoder_in_feature_size_, 0.f); + + CHECK_CUDA_ERROR(cudaMemcpy( + encoder_features.data(), encoder_in_features_d_.get(), + max_point_in_voxel_size_ * config_encoder_in_feature_size_ * sizeof(float), + cudaMemcpyDeviceToHost)); + + float voxel_x_offset = voxel_size_x_ / 2 + voxel_idx * voxel_size_x_ + range_min_x_; + float voxel_y_offset = voxel_size_y_ / 2 + voxel_idy * voxel_size_y_ + range_min_y_; + + for (std::size_t point_index = 0; point_index < max_point_in_voxel_size_; ++point_index) { + // The first four values are just the point features + EXPECT_EQ( + points[point_index * point_feature_size_ + 0], + encoder_features[point_index * config_encoder_in_feature_size_ + 0]); + EXPECT_EQ( + points[point_index * point_feature_size_ + 1], + encoder_features[point_index * config_encoder_in_feature_size_ + 1]); + EXPECT_EQ( + points[point_index * point_feature_size_ + 2], + encoder_features[point_index * config_encoder_in_feature_size_ + 2]); + EXPECT_EQ( + points[point_index * point_feature_size_ + 3], + encoder_features[point_index * config_encoder_in_feature_size_ + 3]); + + // The next three values are the relative coordinates with respect to the voxel average + EXPECT_NEAR(0.0, encoder_features[point_index * config_encoder_in_feature_size_ + 4], 1e-4); + EXPECT_NEAR(0.0, encoder_features[point_index * config_encoder_in_feature_size_ + 5], 1e-4); + EXPECT_NEAR(0.0, encoder_features[point_index * config_encoder_in_feature_size_ + 6], 1e-4); + + // The last two values are the relative coordinates with respect to the voxel center + EXPECT_EQ( + points[point_index * point_feature_size_ + 0] - voxel_x_offset, + encoder_features[point_index * config_encoder_in_feature_size_ + 7]); + EXPECT_EQ( + points[point_index * point_feature_size_ + 1] - voxel_y_offset, + encoder_features[point_index * config_encoder_in_feature_size_ + 8]); + } +} + +} // namespace centerpoint + +int main(int argc, char ** argv) +{ + testing::InitGoogleTest(&argc, argv); + return RUN_ALL_TESTS(); +} diff --git a/perception/lidar_centerpoint/test/test_preprocess_kernel.hpp b/perception/lidar_centerpoint/test/test_preprocess_kernel.hpp new file mode 100644 index 0000000000000..57ff51966a417 --- /dev/null +++ b/perception/lidar_centerpoint/test/test_preprocess_kernel.hpp @@ -0,0 +1,79 @@ +// Copyright 2024 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#ifndef TEST_PREPROCESS_KERNEL_HPP_ +#define TEST_PREPROCESS_KERNEL_HPP_ + +#include + +#include + +namespace centerpoint +{ + +class PreprocessKernelTest : public testing::Test +{ +public: + void SetUp() override; + void TearDown() override; + + cudaStream_t stream_{nullptr}; + + std::size_t max_voxel_size_{}; + std::size_t max_point_in_voxel_size_{}; + std::size_t point_feature_size_{}; + std::size_t point_dim_size_{}; + std::size_t config_encoder_in_feature_size_{}; + std::size_t encoder_out_feature_size_{}; + std::size_t capacity_{}; + + float range_min_x_{}; + float range_min_y_{}; + float range_min_z_{}; + float range_max_x_{}; + float range_max_y_{}; + float range_max_z_{}; + float voxel_size_x_{}; + float voxel_size_y_{}; + float voxel_size_z_{}; + + std::size_t grid_size_x_{}; + std::size_t grid_size_y_{}; + std::size_t grid_size_z_{}; + + std::size_t voxels_size_{}; + std::size_t coordinates_size_{}; + std::size_t encoder_in_feature_size_{}; + std::size_t pillar_features_size_{}; + std::size_t spatial_features_size_{}; + std::size_t grid_xy_size_{}; + + std::size_t voxels_buffer_size_{}; + std::size_t mask_size_{}; + + cuda::unique_ptr voxels_d_{}; + cuda::unique_ptr coordinates_d_{}; + cuda::unique_ptr num_points_per_voxel_d_{}; + cuda::unique_ptr encoder_in_features_d_{}; + cuda::unique_ptr pillar_features_d_{}; + cuda::unique_ptr spatial_features_d_{}; + cuda::unique_ptr points_d_{}; + cuda::unique_ptr voxels_buffer_d_{}; + cuda::unique_ptr mask_d_{}; + cuda::unique_ptr num_voxels_d_{}; +}; + +} // namespace centerpoint + +#endif // TEST_PREPROCESS_KERNEL_HPP_ diff --git a/perception/lidar_centerpoint/test/test_ros_utils.cpp b/perception/lidar_centerpoint/test/test_ros_utils.cpp new file mode 100644 index 0000000000000..8d943bac61123 --- /dev/null +++ b/perception/lidar_centerpoint/test/test_ros_utils.cpp @@ -0,0 +1,141 @@ +// Copyright 2024 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "lidar_centerpoint/ros_utils.hpp" + +#include + +TEST(TestSuite, box3DToDetectedObject) +{ + std::vector class_names = {"CAR", "TRUCK", "BUS", "TRAILER", + "BICYCLE", "MOTORBIKE", "PEDESTRIAN"}; + + // Test case 1: Test with valid label, has_twist=true, has_variance=true + { + centerpoint::Box3D box3d; + box3d.score = 0.8f; + box3d.label = 0; // CAR + box3d.x = 1.0; + box3d.y = 2.0; + box3d.z = 3.0; + box3d.yaw = 0.5; + box3d.length = 4.0; + box3d.width = 2.0; + box3d.height = 1.5; + box3d.vel_x = 1.0; + box3d.vel_y = 0.5; + box3d.x_variance = 0.1; + box3d.y_variance = 0.2; + box3d.z_variance = 0.3; + box3d.yaw_variance = 0.4; + box3d.vel_x_variance = 0.5; + box3d.vel_y_variance = 0.6; + + autoware_auto_perception_msgs::msg::DetectedObject obj; + centerpoint::box3DToDetectedObject(box3d, class_names, true, true, obj); + + EXPECT_FLOAT_EQ(obj.existence_probability, 0.8f); + EXPECT_EQ( + obj.classification[0].label, autoware_auto_perception_msgs::msg::ObjectClassification::CAR); + EXPECT_FLOAT_EQ(obj.kinematics.pose_with_covariance.pose.position.x, 1.0); + EXPECT_FLOAT_EQ(obj.kinematics.pose_with_covariance.pose.position.y, 2.0); + EXPECT_FLOAT_EQ(obj.kinematics.pose_with_covariance.pose.position.z, 3.0); + EXPECT_FLOAT_EQ(obj.shape.dimensions.x, 4.0); + EXPECT_FLOAT_EQ(obj.shape.dimensions.y, 2.0); + EXPECT_FLOAT_EQ(obj.shape.dimensions.z, 1.5); + EXPECT_TRUE(obj.kinematics.has_position_covariance); + EXPECT_TRUE(obj.kinematics.has_twist); + EXPECT_TRUE(obj.kinematics.has_twist_covariance); + } + + // Test case 2: Test with invalid label, has_twist=false, has_variance=false + { + centerpoint::Box3D box3d; + box3d.score = 0.5f; + box3d.label = 10; // Invalid + + autoware_auto_perception_msgs::msg::DetectedObject obj; + centerpoint::box3DToDetectedObject(box3d, class_names, false, false, obj); + + EXPECT_FLOAT_EQ(obj.existence_probability, 0.5f); + EXPECT_EQ( + obj.classification[0].label, + autoware_auto_perception_msgs::msg::ObjectClassification::UNKNOWN); + EXPECT_FALSE(obj.kinematics.has_position_covariance); + EXPECT_FALSE(obj.kinematics.has_twist); + EXPECT_FALSE(obj.kinematics.has_twist_covariance); + } +} + +TEST(TestSuite, getSemanticType) +{ + EXPECT_EQ( + centerpoint::getSemanticType("CAR"), + autoware_auto_perception_msgs::msg::ObjectClassification::CAR); + EXPECT_EQ( + centerpoint::getSemanticType("TRUCK"), + autoware_auto_perception_msgs::msg::ObjectClassification::TRUCK); + EXPECT_EQ( + centerpoint::getSemanticType("BUS"), + autoware_auto_perception_msgs::msg::ObjectClassification::BUS); + EXPECT_EQ( + centerpoint::getSemanticType("TRAILER"), + autoware_auto_perception_msgs::msg::ObjectClassification::TRAILER); + EXPECT_EQ( + centerpoint::getSemanticType("BICYCLE"), + autoware_auto_perception_msgs::msg::ObjectClassification::BICYCLE); + EXPECT_EQ( + centerpoint::getSemanticType("MOTORBIKE"), + autoware_auto_perception_msgs::msg::ObjectClassification::MOTORCYCLE); + EXPECT_EQ( + centerpoint::getSemanticType("PEDESTRIAN"), + autoware_auto_perception_msgs::msg::ObjectClassification::PEDESTRIAN); + EXPECT_EQ( + centerpoint::getSemanticType("UNKNOWN"), + autoware_auto_perception_msgs::msg::ObjectClassification::UNKNOWN); +} + +TEST(TestSuite, convertPoseCovarianceMatrix) +{ + centerpoint::Box3D box3d; + box3d.x_variance = 0.1; + box3d.y_variance = 0.2; + box3d.z_variance = 0.3; + box3d.yaw_variance = 0.4; + + std::array pose_covariance = centerpoint::convertPoseCovarianceMatrix(box3d); + + EXPECT_FLOAT_EQ(pose_covariance[0], 0.1); + EXPECT_FLOAT_EQ(pose_covariance[7], 0.2); + EXPECT_FLOAT_EQ(pose_covariance[14], 0.3); + EXPECT_FLOAT_EQ(pose_covariance[35], 0.4); +} + +TEST(TestSuite, convertTwistCovarianceMatrix) +{ + centerpoint::Box3D box3d; + box3d.vel_x_variance = 0.1; + box3d.vel_y_variance = 0.2; + + std::array twist_covariance = centerpoint::convertTwistCovarianceMatrix(box3d); + + EXPECT_FLOAT_EQ(twist_covariance[0], 0.1); + EXPECT_FLOAT_EQ(twist_covariance[7], 0.2); +} + +int main(int argc, char ** argv) +{ + testing::InitGoogleTest(&argc, argv); + return RUN_ALL_TESTS(); +} diff --git a/perception/lidar_centerpoint/test/test_voxel_generator.cpp b/perception/lidar_centerpoint/test/test_voxel_generator.cpp new file mode 100644 index 0000000000000..5b0b3cd112e6c --- /dev/null +++ b/perception/lidar_centerpoint/test/test_voxel_generator.cpp @@ -0,0 +1,230 @@ +// Copyright 2024 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "test_voxel_generator.hpp" + +#include + +#include + +void VoxelGeneratorTest::SetUp() +{ + // Setup things that should occur before every test instance should go here + node_ = std::make_shared("voxel_generator_test_node"); + + world_frame_ = "map"; + lidar_frame_ = "lidar"; + points_per_pointcloud_ = 10; + capacity_ = 100; + delta_pointcloud_x_ = 1.0; + + class_size_ = 5; + point_feature_size_ = 4; + max_voxel_size_ = 100000000; + point_cloud_range_ = std::vector{-76.8, -76.8, -4.0, 76.8, 76.8, 6.0}; + voxel_size_ = std::vector{0.32, 0.32, 10.0}; + downsample_factor_ = 1; + encoder_in_feature_size_ = 9; + score_threshold_ = 0.35f; + circle_nms_dist_threshold_ = 0.5f; + yaw_norm_thresholds_ = std::vector{0.5, 0.5, 0.5}; + has_variance_ = false; + + cloud1_ = std::make_unique(); + cloud2_ = std::make_unique(); + + cloud1_->header.frame_id = lidar_frame_; + + // Set up the fields for x, y, and z coordinates + cloud1_->fields.resize(3); + sensor_msgs::PointCloud2Modifier modifier(*cloud1_); + modifier.setPointCloud2FieldsByString(1, "xyz"); + + // Resize the cloud to hold points_per_pointcloud_ points + modifier.resize(points_per_pointcloud_); + + // Create an iterator for the x, y, z fields + sensor_msgs::PointCloud2Iterator iter_x(*cloud1_, "x"); + sensor_msgs::PointCloud2Iterator iter_y(*cloud1_, "y"); + sensor_msgs::PointCloud2Iterator iter_z(*cloud1_, "z"); + + // Populate the point cloud + for (size_t i = 0; i < modifier.size(); ++i, ++iter_x, ++iter_y, ++iter_z) { + *iter_x = static_cast(i); + *iter_y = static_cast(i); + *iter_z = static_cast(i); + } + + *cloud2_ = *cloud1_; + + // Set the stamps for the point clouds. They usually come every 100ms + cloud1_->header.stamp.sec = 1; + cloud1_->header.stamp.nanosec = 100'000'000; + cloud2_->header.stamp.sec = 1; + cloud2_->header.stamp.nanosec = 200'000'000; + + tf2_buffer_ = std::make_unique(node_->get_clock()); + tf2_buffer_->setUsingDedicatedThread(true); + + // The vehicle moves 1m/s in the x direction + const double world_origin_x = 6'371'000.0; + const double world_origin_y = 1'371'000.0; + + transform1_.header.stamp = cloud1_->header.stamp; + transform1_.header.frame_id = world_frame_; + transform1_.child_frame_id = lidar_frame_; + transform1_.transform.translation.x = world_origin_x; + transform1_.transform.translation.y = world_origin_y; + transform1_.transform.translation.z = 1.8; + transform1_.transform.rotation.x = 0.0; + transform1_.transform.rotation.y = 0.0; + transform1_.transform.rotation.z = 0.0; + transform1_.transform.rotation.w = 1.0; + + transform2_ = transform1_; + transform2_.header.stamp = cloud2_->header.stamp; + transform2_.transform.translation.x = world_origin_x + delta_pointcloud_x_; +} + +void VoxelGeneratorTest::TearDown() +{ +} + +TEST_F(VoxelGeneratorTest, SingleFrame) +{ + const unsigned int num_past_frames = 0; // only current frame + + centerpoint::DensificationParam param(world_frame_, num_past_frames); + + centerpoint::CenterPointConfig config( + class_size_, point_feature_size_, max_voxel_size_, point_cloud_range_, voxel_size_, + downsample_factor_, encoder_in_feature_size_, score_threshold_, circle_nms_dist_threshold_, + yaw_norm_thresholds_, has_variance_); + + centerpoint::VoxelGenerator voxel_generator(param, config); + std::vector points; + points.resize(capacity_ * config.point_feature_size_); + std::fill(points.begin(), points.end(), std::nan("")); + + bool status1 = voxel_generator.enqueuePointCloud(*cloud1_, *tf2_buffer_); + std::size_t generated_points_num = voxel_generator.generateSweepPoints(points); + + EXPECT_TRUE(status1); + EXPECT_EQ(points_per_pointcloud_, generated_points_num); + + // Check valid points + for (std::size_t i = 0; i < points_per_pointcloud_; ++i) { + // There are no tf conversions + EXPECT_EQ(static_cast(i), points[i * config.point_feature_size_ + 0]); + EXPECT_EQ(static_cast(i), points[i * config.point_feature_size_ + 1]); + EXPECT_EQ(static_cast(i), points[i * config.point_feature_size_ + 2]); + EXPECT_EQ(static_cast(0), points[i * config.point_feature_size_ + 3]); + } + + // Check invalid points + for (std::size_t i = points_per_pointcloud_ * config.point_feature_size_; + i < capacity_ * config.point_feature_size_; ++i) { + EXPECT_TRUE(std::isnan(points[i])); + } +} + +TEST_F(VoxelGeneratorTest, TwoFramesNoTf) +{ + const unsigned int num_past_frames = 1; + + centerpoint::DensificationParam param(world_frame_, num_past_frames); + + centerpoint::CenterPointConfig config( + class_size_, point_feature_size_, max_voxel_size_, point_cloud_range_, voxel_size_, + downsample_factor_, encoder_in_feature_size_, score_threshold_, circle_nms_dist_threshold_, + yaw_norm_thresholds_, has_variance_); + + centerpoint::VoxelGenerator voxel_generator(param, config); + std::vector points; + points.resize(capacity_ * config.point_feature_size_); + std::fill(points.begin(), points.end(), std::nan("")); + + bool status1 = voxel_generator.enqueuePointCloud(*cloud1_, *tf2_buffer_); + bool status2 = voxel_generator.enqueuePointCloud(*cloud2_, *tf2_buffer_); + std::size_t generated_points_num = voxel_generator.generateSweepPoints(points); + + EXPECT_FALSE(status1); + EXPECT_FALSE(status2); + EXPECT_EQ(0, generated_points_num); +} + +TEST_F(VoxelGeneratorTest, TwoFrames) +{ + const unsigned int num_past_frames = 1; + + centerpoint::DensificationParam param(world_frame_, num_past_frames); + + centerpoint::CenterPointConfig config( + class_size_, point_feature_size_, max_voxel_size_, point_cloud_range_, voxel_size_, + downsample_factor_, encoder_in_feature_size_, score_threshold_, circle_nms_dist_threshold_, + yaw_norm_thresholds_, has_variance_); + + centerpoint::VoxelGenerator voxel_generator(param, config); + std::vector points; + points.resize(capacity_ * config.point_feature_size_); + std::fill(points.begin(), points.end(), std::nan("")); + + tf2_buffer_->setTransform(transform1_, "authority1"); + tf2_buffer_->setTransform(transform2_, "authority1"); + + bool status1 = voxel_generator.enqueuePointCloud(*cloud1_, *tf2_buffer_); + bool status2 = voxel_generator.enqueuePointCloud(*cloud2_, *tf2_buffer_); + std::size_t generated_points_num = voxel_generator.generateSweepPoints(points); + + EXPECT_TRUE(status1); + EXPECT_TRUE(status2); + EXPECT_EQ(2 * points_per_pointcloud_, generated_points_num); + + // Check valid points for the latest pointcloud + for (std::size_t i = 0; i < points_per_pointcloud_; ++i) { + // There are no tf conversions + EXPECT_EQ(static_cast(i), points[i * config.point_feature_size_ + 0]); + EXPECT_EQ(static_cast(i), points[i * config.point_feature_size_ + 1]); + EXPECT_EQ(static_cast(i), points[i * config.point_feature_size_ + 2]); + EXPECT_EQ(static_cast(0), points[i * config.point_feature_size_ + 3]); + } + + // Check valid points for the oldest pointcloud + for (std::size_t i = 0; i < points_per_pointcloud_; ++i) { + // There are tf conversions, so results are not numerically the same + EXPECT_NEAR( + static_cast(i) - delta_pointcloud_x_, + points[(points_per_pointcloud_ + i) * config.point_feature_size_ + 0], 1e-6); + EXPECT_NEAR( + static_cast(i), points[(points_per_pointcloud_ + i) * config.point_feature_size_ + 1], + 1e-6); + EXPECT_NEAR( + static_cast(i), points[(points_per_pointcloud_ + i) * config.point_feature_size_ + 2], + 1e-6); + EXPECT_NEAR(0.1, points[(points_per_pointcloud_ + i) * config.point_feature_size_ + 3], 1e-6); + } + + // Check invalid points + for (std::size_t i = 2 * points_per_pointcloud_ * config.point_feature_size_; + i < capacity_ * config.point_feature_size_; ++i) { + EXPECT_TRUE(std::isnan(points[i])); + } +} + +int main(int argc, char ** argv) +{ + testing::InitGoogleTest(&argc, argv); + rclcpp::init(argc, argv); + return RUN_ALL_TESTS(); +} diff --git a/perception/lidar_centerpoint/test/test_voxel_generator.hpp b/perception/lidar_centerpoint/test/test_voxel_generator.hpp new file mode 100644 index 0000000000000..8fb7d8dffa44d --- /dev/null +++ b/perception/lidar_centerpoint/test/test_voxel_generator.hpp @@ -0,0 +1,66 @@ +// Copyright 2024 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#ifndef TEST_VOXEL_GENERATOR_HPP_ +#define TEST_VOXEL_GENERATOR_HPP_ + +#include +#include + +#include + +#include + +#include +#include +#include + +class VoxelGeneratorTest : public testing::Test +{ +public: + void SetUp() override; + void TearDown() override; + + // These need to be public so that they can be accessed in the test cases + rclcpp::Node::SharedPtr node_; + + std::unique_ptr cloud1_, cloud2_; + geometry_msgs::msg::TransformStamped transform1_, transform2_; + + std::unique_ptr densification_param_ptr_; + std::unique_ptr config_ptr_; + + std::unique_ptr tf2_buffer_; + + std::string world_frame_; + std::string lidar_frame_; + std::size_t points_per_pointcloud_; + std::size_t capacity_; + double delta_pointcloud_x_; + + std::size_t class_size_; + float point_feature_size_; + std::size_t max_voxel_size_; + + std::vector point_cloud_range_; + std::vector voxel_size_; + std::size_t downsample_factor_; + std::size_t encoder_in_feature_size_; + float score_threshold_; + float circle_nms_dist_threshold_; + std::vector yaw_norm_thresholds_; + bool has_variance_; +}; + +#endif // TEST_VOXEL_GENERATOR_HPP_ diff --git a/perception/map_based_prediction/CMakeLists.txt b/perception/map_based_prediction/CMakeLists.txt index 9378e09f099cc..786446457143f 100644 --- a/perception/map_based_prediction/CMakeLists.txt +++ b/perception/map_based_prediction/CMakeLists.txt @@ -26,6 +26,22 @@ rclcpp_components_register_node(map_based_prediction_node EXECUTABLE map_based_prediction ) +## Tests +if(BUILD_TESTING) + find_package(ament_cmake_ros REQUIRED) + list(APPEND AMENT_LINT_AUTO_EXCLUDE ament_cmake_uncrustify) + + find_package(ament_lint_auto REQUIRED) + ament_lint_auto_find_test_dependencies() + + file(GLOB_RECURSE test_files test/**/*.cpp) + ament_add_ros_isolated_gtest(test_map_based_prediction ${test_files}) + + target_link_libraries(test_map_based_prediction + map_based_prediction_node + ) +endif() + ament_auto_package( INSTALL_TO_SHARE config diff --git a/perception/map_based_prediction/config/map_based_prediction.param.yaml b/perception/map_based_prediction/config/map_based_prediction.param.yaml index f8ad371ab92a6..a5b7b0ad6be01 100644 --- a/perception/map_based_prediction/config/map_based_prediction.param.yaml +++ b/perception/map_based_prediction/config/map_based_prediction.param.yaml @@ -1,7 +1,10 @@ /**: ros__parameters: enable_delay_compensation: true - prediction_time_horizon: 10.0 #[s] + prediction_time_horizon: + vehicle: 15.0 #[s] + pedestrian: 10.0 #[s] + unknown: 10.0 #[s] lateral_control_time_horizon: 5.0 #[s] prediction_sampling_delta_time: 0.5 #[s] min_velocity_for_map_based_prediction: 1.39 #[m/s] @@ -27,6 +30,9 @@ timeout_set_for_no_intention_to_walk: [1.0, 0.0] # [s] values of map # parameter for shoulder lane prediction prediction_time_horizon_rate_for_validate_shoulder_lane_length: 0.8 + use_crosswalk_user_history: + match_lost_and_appeared_users: false + remember_lost_users: false # parameters for lc prediction lane_change_detection: diff --git a/perception/map_based_prediction/include/map_based_prediction/map_based_prediction_node.hpp b/perception/map_based_prediction/include/map_based_prediction/map_based_prediction_node.hpp index 829c4d6e4a114..93cdb24f91321 100644 --- a/perception/map_based_prediction/include/map_based_prediction/map_based_prediction_node.hpp +++ b/perception/map_based_prediction/include/map_based_prediction/map_based_prediction_node.hpp @@ -48,6 +48,7 @@ #include #include #include +#include #include #include @@ -85,6 +86,12 @@ struct ObjectData Maneuver::UNINITIALIZED}; // output maneuver considering previous one shot maneuvers }; +struct CrosswalkUserData +{ + std_msgs::msg::Header header; + autoware_auto_perception_msgs::msg::TrackedObject tracked_object; +}; + struct LaneletData { lanelet::Lanelet lanelet; @@ -99,6 +106,14 @@ struct PredictedRefPath Maneuver maneuver; }; +struct PredictionTimeHorizon +{ + // NOTE(Mamoru Sobue): motorcycle belongs to "vehicle" and bicycle to "pedestrian" + double vehicle; + double pedestrian; + double unknown; +}; + using LaneletsData = std::vector; using ManeuverProbability = std::unordered_map; using autoware_auto_mapping_msgs::msg::HADMapBin; @@ -135,8 +150,10 @@ class MapBasedPredictionNode : public rclcpp::Node std::unique_ptr processing_time_publisher_; // Object History - std::unordered_map> objects_history_; + std::unordered_map> road_users_history; std::map, rclcpp::Time> stopped_times_against_green_; + std::unordered_map> crosswalk_users_history_; + std::unordered_map known_matches_; // Lanelet Map Pointers std::shared_ptr lanelet_map_ptr_; @@ -161,7 +178,7 @@ class MapBasedPredictionNode : public rclcpp::Node // Parameters bool enable_delay_compensation_; - double prediction_time_horizon_; + PredictionTimeHorizon prediction_time_horizon_; double lateral_control_time_horizon_; double prediction_time_horizon_rate_for_validate_lane_length_; double prediction_sampling_time_interval_; @@ -200,6 +217,9 @@ class MapBasedPredictionNode : public rclcpp::Node std::vector distance_set_for_no_intention_to_walk_; std::vector timeout_set_for_no_intention_to_walk_; + bool match_lost_and_appeared_crosswalk_users_; + bool remember_lost_crosswalk_users_; + std::unique_ptr published_time_publisher_; // Member Functions @@ -222,8 +242,7 @@ class MapBasedPredictionNode : public rclcpp::Node PredictedObject getPredictedObjectAsCrosswalkUser(const TrackedObject & object); - void removeOldObjectsHistory( - const double current_time, const TrackedObjects::ConstSharedPtr in_objects); + void removeStaleTrafficLightInfo(const TrackedObjects::ConstSharedPtr in_objects); LaneletsData getCurrentLanelets(const TrackedObject & object); bool checkCloseLaneletCondition( @@ -232,13 +251,17 @@ class MapBasedPredictionNode : public rclcpp::Node const lanelet::Lanelet & current_lanelet, const TrackedObject & object) const; void updateObjectData(TrackedObject & object); - void updateObjectsHistory( + void updateRoadUsersHistory( const std_msgs::msg::Header & header, const TrackedObject & object, const LaneletsData & current_lanelets_data); - + void updateCrosswalkUserHistory( + const std_msgs::msg::Header & header, const TrackedObject & object, + const std::string & object_id); + std::string tryMatchNewObjectToDisappeared( + const std::string & object_id, std::unordered_map & current_users); std::vector getPredictedReferencePath( const TrackedObject & object, const LaneletsData & current_lanelets_data, - const double object_detected_time); + const double object_detected_time, const double time_horizon); Maneuver predictObjectManeuver( const TrackedObject & object, const LaneletData & current_lanelet_data, const double object_detected_time); diff --git a/perception/map_based_prediction/include/map_based_prediction/path_generator.hpp b/perception/map_based_prediction/include/map_based_prediction/path_generator.hpp index 6dfc4a8db9e20..3c1a5432d3b08 100644 --- a/perception/map_based_prediction/include/map_based_prediction/path_generator.hpp +++ b/perception/map_based_prediction/include/map_based_prediction/path_generator.hpp @@ -80,21 +80,24 @@ using PosePath = std::vector; class PathGenerator { public: - PathGenerator( - const double time_horizon, const double lateral_time_horizon, - const double sampling_time_interval, const double min_crosswalk_user_velocity); + PathGenerator(const double sampling_time_interval, const double min_crosswalk_user_velocity); - PredictedPath generatePathForNonVehicleObject(const TrackedObject & object); + PredictedPath generatePathForNonVehicleObject( + const TrackedObject & object, const double duration) const; - PredictedPath generatePathForLowSpeedVehicle(const TrackedObject & object) const; + PredictedPath generatePathForLowSpeedVehicle( + const TrackedObject & object, const double duration) const; - PredictedPath generatePathForOffLaneVehicle(const TrackedObject & object); + PredictedPath generatePathForOffLaneVehicle( + const TrackedObject & object, const double duration) const; PredictedPath generatePathForOnLaneVehicle( - const TrackedObject & object, const PosePath & ref_paths, const double speed_limit = 0.0); + const TrackedObject & object, const PosePath & ref_paths, const double duration, + const double lateral_duration, const double speed_limit = 0.0) const; PredictedPath generatePathForCrosswalkUser( - const TrackedObject & object, const CrosswalkEdgePoints & reachable_crosswalk) const; + const TrackedObject & object, const CrosswalkEdgePoints & reachable_crosswalk, + const double duration) const; PredictedPath generatePathToTargetPoint( const TrackedObject & object, const Eigen::Vector2d & point) const; @@ -111,35 +114,36 @@ class PathGenerator private: // Parameters - double time_horizon_; - double lateral_time_horizon_; double sampling_time_interval_; double min_crosswalk_user_velocity_; bool use_vehicle_acceleration_; double acceleration_exponential_half_life_; // Member functions - PredictedPath generateStraightPath(const TrackedObject & object) const; + PredictedPath generateStraightPath(const TrackedObject & object, const double duration) const; PredictedPath generatePolynomialPath( - const TrackedObject & object, const PosePath & ref_path, const double speed_limit = 0.0); + const TrackedObject & object, const PosePath & ref_path, const double duration, + const double lateral_duration, const double speed_limit = 0.0) const; FrenetPath generateFrenetPath( - const FrenetPoint & current_point, const FrenetPoint & target_point, const double max_length); + const FrenetPoint & current_point, const FrenetPoint & target_point, const double max_length, + const double duration, const double lateral_duration) const; Eigen::Vector3d calcLatCoefficients( - const FrenetPoint & current_point, const FrenetPoint & target_point, const double T); + const FrenetPoint & current_point, const FrenetPoint & target_point, const double T) const; Eigen::Vector2d calcLonCoefficients( - const FrenetPoint & current_point, const FrenetPoint & target_point, const double T); + const FrenetPoint & current_point, const FrenetPoint & target_point, const double T) const; PosePath interpolateReferencePath( - const PosePath & base_path, const FrenetPath & frenet_predicted_path); + const PosePath & base_path, const FrenetPath & frenet_predicted_path) const; PredictedPath convertToPredictedPath( const TrackedObject & object, const FrenetPath & frenet_predicted_path, - const PosePath & ref_path); + const PosePath & ref_path) const; FrenetPoint getFrenetPoint( - const TrackedObject & object, const PosePath & ref_path, const double speed_limit = 0.0); + const TrackedObject & object, const PosePath & ref_path, const double duration, + const double speed_limit = 0.0) const; }; } // namespace map_based_prediction diff --git a/perception/map_based_prediction/package.xml b/perception/map_based_prediction/package.xml index 8efea9efa1844..ba127ee39d5dd 100644 --- a/perception/map_based_prediction/package.xml +++ b/perception/map_based_prediction/package.xml @@ -5,7 +5,6 @@ 0.1.0 This package implements a map_based_prediction Tomoya Kimura - Shunsuke Miura Yoshi Ri Takayuki Murooka Kyoichi Sugahara @@ -17,9 +16,9 @@ autoware_auto_perception_msgs autoware_perception_msgs + glog interpolation lanelet2_extension - libgoogle-glog-dev motion_utils rclcpp rclcpp_components diff --git a/perception/map_based_prediction/schema/map_based_prediction.schema.json b/perception/map_based_prediction/schema/map_based_prediction.schema.json index 8ddb122ebb56e..8e5ef9e542f54 100644 --- a/perception/map_based_prediction/schema/map_based_prediction.schema.json +++ b/perception/map_based_prediction/schema/map_based_prediction.schema.json @@ -12,9 +12,23 @@ "description": "flag to enable the time delay compensation for the position of the object" }, "prediction_time_horizon": { - "type": "number", - "default": "10.0", - "description": "predict time duration for predicted path" + "properties": { + "vehicle": { + "type": "number", + "default": "15.0", + "description": "predict time duration for predicted path of vehicle" + }, + "pedestrian": { + "type": "number", + "default": "10.0", + "description": "predict time duration for predicted path of pedestrian" + }, + "unknown": { + "type": "number", + "default": "10.0", + "description": "predict time duration for predicted path of unknown" + } + } }, "lateral_control_time_horizon": { "type": "number", diff --git a/perception/map_based_prediction/src/map_based_prediction_node.cpp b/perception/map_based_prediction/src/map_based_prediction_node.cpp index 56dc1c2293583..9b527fafb30e9 100644 --- a/perception/map_based_prediction/src/map_based_prediction_node.cpp +++ b/perception/map_based_prediction/src/map_based_prediction_node.cpp @@ -585,6 +585,52 @@ bool hasPotentialToReach( return false; } +template +std::unordered_set removeOldObjectsHistory( + const double current_time, const double buffer_time, + std::unordered_map> & target_objects) +{ + std::unordered_set invalid_object_id; + for (auto iter = target_objects.begin(); iter != target_objects.end(); ++iter) { + const std::string object_id = iter->first; + std::deque & object_data = iter->second; + + // If object data is empty, we are going to delete the buffer for the obstacle + if (object_data.empty()) { + invalid_object_id.insert(object_id); + continue; + } + + const double latest_object_time = rclcpp::Time(object_data.back().header.stamp).seconds(); + + // Delete Old Objects + if (current_time - latest_object_time > buffer_time) { + invalid_object_id.insert(object_id); + continue; + } + + // Delete old information + while (!object_data.empty()) { + const double post_object_time = rclcpp::Time(object_data.front().header.stamp).seconds(); + if (current_time - post_object_time <= buffer_time) { + break; + } + object_data.pop_front(); + } + + if (object_data.empty()) { + invalid_object_id.insert(object_id); + continue; + } + } + + for (const auto & key : invalid_object_id) { + target_objects.erase(key); + } + + return invalid_object_id; +} + /** * @brief change label for prediction * @@ -715,10 +761,15 @@ void replaceObjectYawWithLaneletsYaw( MapBasedPredictionNode::MapBasedPredictionNode(const rclcpp::NodeOptions & node_options) : Node("map_based_prediction", node_options), debug_accumulated_time_(0.0) { - google::InitGoogleLogging("map_based_prediction_node"); - google::InstallFailureSignalHandler(); + if (!google::IsGoogleLoggingInitialized()) { + google::InitGoogleLogging("map_based_prediction_node"); + google::InstallFailureSignalHandler(); + } enable_delay_compensation_ = declare_parameter("enable_delay_compensation"); - prediction_time_horizon_ = declare_parameter("prediction_time_horizon"); + prediction_time_horizon_.vehicle = declare_parameter("prediction_time_horizon.vehicle"); + prediction_time_horizon_.pedestrian = + declare_parameter("prediction_time_horizon.pedestrian"); + prediction_time_horizon_.unknown = declare_parameter("prediction_time_horizon.unknown"); lateral_control_time_horizon_ = declare_parameter("lateral_control_time_horizon"); // [s] for lateral control point prediction_sampling_time_interval_ = declare_parameter("prediction_sampling_delta_time"); @@ -774,7 +825,10 @@ MapBasedPredictionNode::MapBasedPredictionNode(const rclcpp::NodeOptions & node_ * parameter control the estimated path length = vx * th * (rate) */ prediction_time_horizon_rate_for_validate_lane_length_ = declare_parameter("prediction_time_horizon_rate_for_validate_shoulder_lane_length"); - + match_lost_and_appeared_crosswalk_users_ = + declare_parameter("use_crosswalk_user_history.match_lost_and_appeared_users"); + remember_lost_crosswalk_users_ = + declare_parameter("use_crosswalk_user_history.remember_lost_users"); use_vehicle_acceleration_ = declare_parameter("use_vehicle_acceleration"); speed_limit_multiplier_ = declare_parameter("speed_limit_multiplier"); acceleration_exponential_half_life_ = @@ -789,8 +843,7 @@ MapBasedPredictionNode::MapBasedPredictionNode(const rclcpp::NodeOptions & node_ "crosswalk_with_signal.timeout_set_for_no_intention_to_walk"); path_generator_ = std::make_shared( - prediction_time_horizon_, lateral_control_time_horizon_, prediction_sampling_time_interval_, - min_crosswalk_user_velocity_); + prediction_sampling_time_interval_, min_crosswalk_user_velocity_); path_generator_->setUseVehicleAcceleration(use_vehicle_acceleration_); path_generator_->setAccelerationHalfLife(acceleration_exponential_half_life_); @@ -916,7 +969,19 @@ void MapBasedPredictionNode::objectsCallback(const TrackedObjects::ConstSharedPt // Remove old objects information in object history const double objects_detected_time = rclcpp::Time(in_objects->header.stamp).seconds(); - removeOldObjectsHistory(objects_detected_time, in_objects); + removeOldObjectsHistory(objects_detected_time, object_buffer_time_length_, road_users_history); + removeStaleTrafficLightInfo(in_objects); + + auto invalidated_crosswalk_users = removeOldObjectsHistory( + objects_detected_time, object_buffer_time_length_, crosswalk_users_history_); + // delete matches that point to invalid object + for (auto it = known_matches_.begin(); it != known_matches_.end();) { + if (invalidated_crosswalk_users.count(it->second)) { + it = known_matches_.erase(it); + } else { + ++it; + } + } // result output PredictedObjects output; @@ -926,6 +991,20 @@ void MapBasedPredictionNode::objectsCallback(const TrackedObjects::ConstSharedPt // result debug visualization_msgs::msg::MarkerArray debug_markers; + // get current crosswalk users for later prediction + std::unordered_map current_crosswalk_users; + for (const auto & object : in_objects->objects) { + const auto label_for_prediction = + changeLabelForPrediction(object.classification.front().label, object, lanelet_map_ptr_); + if ( + label_for_prediction == ObjectClassification::PEDESTRIAN || + label_for_prediction == ObjectClassification::BICYCLE) { + const std::string object_id = tier4_autoware_utils::toHexString(object.object_id); + current_crosswalk_users.emplace(object_id, object); + } + } + std::unordered_set predicted_crosswalk_users_ids; + for (const auto & object : in_objects->objects) { std::string object_id = tier4_autoware_utils::toHexString(object.object_id); TrackedObject transformed_object = object; @@ -946,6 +1025,12 @@ void MapBasedPredictionNode::objectsCallback(const TrackedObjects::ConstSharedPt switch (label) { case ObjectClassification::PEDESTRIAN: case ObjectClassification::BICYCLE: { + std::string object_id = tier4_autoware_utils::toHexString(object.object_id); + if (match_lost_and_appeared_crosswalk_users_) { + object_id = tryMatchNewObjectToDisappeared(object_id, current_crosswalk_users); + } + predicted_crosswalk_users_ids.insert(object_id); + updateCrosswalkUserHistory(output.header, transformed_object, object_id); const auto predicted_object_crosswalk = getPredictedObjectAsCrosswalkUser(transformed_object); output.objects.push_back(predicted_object_crosswalk); @@ -963,12 +1048,12 @@ void MapBasedPredictionNode::objectsCallback(const TrackedObjects::ConstSharedPt const auto current_lanelets = getCurrentLanelets(transformed_object); // Update Objects History - updateObjectsHistory(output.header, transformed_object, current_lanelets); + updateRoadUsersHistory(output.header, transformed_object, current_lanelets); // For off lane obstacles if (current_lanelets.empty()) { - PredictedPath predicted_path = - path_generator_->generatePathForOffLaneVehicle(transformed_object); + PredictedPath predicted_path = path_generator_->generatePathForOffLaneVehicle( + transformed_object, prediction_time_horizon_.vehicle); predicted_path.confidence = 1.0; if (predicted_path.path.empty()) break; @@ -983,8 +1068,8 @@ void MapBasedPredictionNode::objectsCallback(const TrackedObjects::ConstSharedPt transformed_object.kinematics.twist_with_covariance.twist.linear.x, transformed_object.kinematics.twist_with_covariance.twist.linear.y); if (std::fabs(abs_obj_speed) < min_velocity_for_map_based_prediction_) { - PredictedPath predicted_path = - path_generator_->generatePathForLowSpeedVehicle(transformed_object); + PredictedPath predicted_path = path_generator_->generatePathForLowSpeedVehicle( + transformed_object, prediction_time_horizon_.vehicle); predicted_path.confidence = 1.0; if (predicted_path.path.empty()) break; @@ -996,13 +1081,14 @@ void MapBasedPredictionNode::objectsCallback(const TrackedObjects::ConstSharedPt // Get Predicted Reference Path for Each Maneuver and current lanelets // return: - const auto ref_paths = - getPredictedReferencePath(transformed_object, current_lanelets, objects_detected_time); + const auto ref_paths = getPredictedReferencePath( + transformed_object, current_lanelets, objects_detected_time, + prediction_time_horizon_.vehicle); // If predicted reference path is empty, assume this object is out of the lane if (ref_paths.empty()) { - PredictedPath predicted_path = - path_generator_->generatePathForLowSpeedVehicle(transformed_object); + PredictedPath predicted_path = path_generator_->generatePathForLowSpeedVehicle( + transformed_object, prediction_time_horizon_.vehicle); predicted_path.confidence = 1.0; if (predicted_path.path.empty()) break; @@ -1037,7 +1123,8 @@ void MapBasedPredictionNode::objectsCallback(const TrackedObjects::ConstSharedPt for (const auto & ref_path : ref_paths) { PredictedPath predicted_path = path_generator_->generatePathForOnLaneVehicle( - yaw_fixed_transformed_object, ref_path.path, ref_path.speed_limit); + yaw_fixed_transformed_object, ref_path.path, prediction_time_horizon_.vehicle, + lateral_control_time_horizon_, ref_path.speed_limit); if (predicted_path.path.empty()) continue; if (!check_lateral_acceleration_constraints_) { @@ -1100,8 +1187,8 @@ void MapBasedPredictionNode::objectsCallback(const TrackedObjects::ConstSharedPt } default: { auto predicted_unknown_object = convertToPredictedObject(transformed_object); - PredictedPath predicted_path = - path_generator_->generatePathForNonVehicleObject(transformed_object); + PredictedPath predicted_path = path_generator_->generatePathForNonVehicleObject( + transformed_object, prediction_time_horizon_.unknown); predicted_path.confidence = 1.0; predicted_unknown_object.kinematics.predicted_paths.push_back(predicted_path); @@ -1111,6 +1198,19 @@ void MapBasedPredictionNode::objectsCallback(const TrackedObjects::ConstSharedPt } } + // process lost crosswalk users to tackle unstable detection + if (remember_lost_crosswalk_users_) { + for (const auto & [id, crosswalk_user] : crosswalk_users_history_) { + // get a predicted path for crosswalk users in history who didn't get path yet using latest + // message + if (predicted_crosswalk_users_ids.count(id) == 0) { + const auto predicted_object = + getPredictedObjectAsCrosswalkUser(crosswalk_user.back().tracked_object); + output.objects.push_back(predicted_object); + } + } + } + // Publish Results pub_objects_->publish(output); published_time_publisher_->publish_if_subscribed(pub_objects_, output.header.stamp); @@ -1123,6 +1223,79 @@ void MapBasedPredictionNode::objectsCallback(const TrackedObjects::ConstSharedPt "debug/processing_time_ms", processing_time_ms); } +void MapBasedPredictionNode::updateCrosswalkUserHistory( + const std_msgs::msg::Header & header, const TrackedObject & object, const std::string & object_id) +{ + CrosswalkUserData crosswalk_user_data; + crosswalk_user_data.header = header; + crosswalk_user_data.tracked_object = object; + + if (crosswalk_users_history_.count(object_id) == 0) { + crosswalk_users_history_.emplace(object_id, std::deque{crosswalk_user_data}); + return; + } + + crosswalk_users_history_.at(object_id).push_back(crosswalk_user_data); +} + +std::string MapBasedPredictionNode::tryMatchNewObjectToDisappeared( + const std::string & object_id, std::unordered_map & current_users) +{ + const auto known_match_opt = [&]() -> std::optional { + if (!known_matches_.count(object_id)) { + return std::nullopt; + } + + std::string match_id = known_matches_[object_id]; + // object in the history is already matched to something (possibly itself) + if (crosswalk_users_history_.count(match_id)) { + // avoid matching two appeared users to one user in history + current_users[match_id] = crosswalk_users_history_[match_id].back().tracked_object; + return match_id; + } else { + RCLCPP_WARN_STREAM( + get_logger(), "Crosswalk user was " + << object_id << "was matched to " << match_id + << " but history for the crosswalk user was deleted. Rematching"); + } + return std::nullopt; + }(); + // early return if the match is already known + if (known_match_opt.has_value()) { + return known_match_opt.value(); + } + + std::string match_id = object_id; + double best_score = std::numeric_limits::max(); + const auto object_pos = current_users[object_id].kinematics.pose_with_covariance.pose.position; + for (const auto & [user_id, user_history] : crosswalk_users_history_) { + // user present in current_users and will be matched to itself + if (current_users.count(user_id)) { + continue; + } + // TODO(dkoldaev): implement more sophisticated scoring, for now simply dst to last position in + // history + const auto match_candidate_pos = + user_history.back().tracked_object.kinematics.pose_with_covariance.pose.position; + const double score = + std::hypot(match_candidate_pos.x - object_pos.x, match_candidate_pos.y - object_pos.y); + if (score < best_score) { + best_score = score; + match_id = user_id; + } + } + + if (object_id != match_id) { + RCLCPP_INFO_STREAM( + get_logger(), "[Map Based Prediction]: Matched " << object_id << " to " << match_id); + // avoid matching two appeared users to one user in history + current_users[match_id] = crosswalk_users_history_[match_id].back().tracked_object; + } + + known_matches_[object_id] = match_id; + return match_id; +} + bool MapBasedPredictionNode::doesPathCrossAnyFence(const PredictedPath & predicted_path) { const lanelet::ConstLineStrings3d & all_fences = @@ -1139,7 +1312,7 @@ bool MapBasedPredictionNode::doesPathCrossFence( const PredictedPath & predicted_path, const lanelet::ConstLineString3d & fence_line) { // check whether the predicted path cross with fence - for (size_t i = 0; i < predicted_path.path.size(); ++i) { + for (size_t i = 0; i < predicted_path.path.size() - 1; ++i) { for (size_t j = 0; j < fence_line.size() - 1; ++j) { if (isIntersecting( predicted_path.path[i].position, predicted_path.path[i + 1].position, fence_line[j], @@ -1168,7 +1341,8 @@ PredictedObject MapBasedPredictionNode::getPredictedObjectAsCrosswalkUser( { auto predicted_object = convertToPredictedObject(object); { - PredictedPath predicted_path = path_generator_->generatePathForNonVehicleObject(object); + PredictedPath predicted_path = + path_generator_->generatePathForNonVehicleObject(object, prediction_time_horizon_.pedestrian); predicted_path.confidence = 1.0; predicted_object.kinematics.predicted_paths.push_back(predicted_path); @@ -1219,7 +1393,7 @@ PredictedObject MapBasedPredictionNode::getPredictedObjectAsCrosswalkUser( if (hasPotentialToReach( object, edge_points.front_center_point, edge_points.front_right_point, - edge_points.front_left_point, prediction_time_horizon_ * 2.0, + edge_points.front_left_point, prediction_time_horizon_.pedestrian * 2.0, min_crosswalk_user_velocity_, max_crosswalk_user_delta_yaw_threshold_for_lanelet_)) { PredictedPath predicted_path = path_generator_->generatePathToTargetPoint(object, edge_points.front_center_point); @@ -1229,7 +1403,7 @@ PredictedObject MapBasedPredictionNode::getPredictedObjectAsCrosswalkUser( if (hasPotentialToReach( object, edge_points.back_center_point, edge_points.back_right_point, - edge_points.back_left_point, prediction_time_horizon_ * 2.0, + edge_points.back_left_point, prediction_time_horizon_.pedestrian * 2.0, min_crosswalk_user_velocity_, max_crosswalk_user_delta_yaw_threshold_for_lanelet_)) { PredictedPath predicted_path = path_generator_->generatePathToTargetPoint(object, edge_points.back_center_point); @@ -1253,27 +1427,27 @@ PredictedObject MapBasedPredictionNode::getPredictedObjectAsCrosswalkUser( const auto reachable_first = hasPotentialToReach( object, edge_points.front_center_point, edge_points.front_right_point, - edge_points.front_left_point, prediction_time_horizon_, min_crosswalk_user_velocity_, - max_crosswalk_user_delta_yaw_threshold_for_lanelet_); + edge_points.front_left_point, prediction_time_horizon_.pedestrian, + min_crosswalk_user_velocity_, max_crosswalk_user_delta_yaw_threshold_for_lanelet_); const auto reachable_second = hasPotentialToReach( object, edge_points.back_center_point, edge_points.back_right_point, - edge_points.back_left_point, prediction_time_horizon_, min_crosswalk_user_velocity_, - max_crosswalk_user_delta_yaw_threshold_for_lanelet_); + edge_points.back_left_point, prediction_time_horizon_.pedestrian, + min_crosswalk_user_velocity_, max_crosswalk_user_delta_yaw_threshold_for_lanelet_); if (!reachable_first && !reachable_second) { continue; } const auto reachable_crosswalk = isReachableCrosswalkEdgePoints( - object, crosswalk, edge_points, lanelet_map_ptr_, prediction_time_horizon_, + object, crosswalk, edge_points, lanelet_map_ptr_, prediction_time_horizon_.pedestrian, min_crosswalk_user_velocity_); if (!reachable_crosswalk) { continue; } - PredictedPath predicted_path = - path_generator_->generatePathForCrosswalkUser(object, reachable_crosswalk.get()); + PredictedPath predicted_path = path_generator_->generatePathForCrosswalkUser( + object, reachable_crosswalk.get(), prediction_time_horizon_.pedestrian); predicted_path.confidence = 1.0; if (predicted_path.path.empty()) { @@ -1343,49 +1517,9 @@ void MapBasedPredictionNode::updateObjectData(TrackedObject & object) return; } -void MapBasedPredictionNode::removeOldObjectsHistory( - const double current_time, const TrackedObjects::ConstSharedPtr in_objects) +void MapBasedPredictionNode::removeStaleTrafficLightInfo( + const TrackedObjects::ConstSharedPtr in_objects) { - std::vector invalid_object_id; - for (auto iter = objects_history_.begin(); iter != objects_history_.end(); ++iter) { - const std::string object_id = iter->first; - std::deque & object_data = iter->second; - - // If object data is empty, we are going to delete the buffer for the obstacle - if (object_data.empty()) { - invalid_object_id.push_back(object_id); - continue; - } - - const double latest_object_time = rclcpp::Time(object_data.back().header.stamp).seconds(); - - // Delete Old Objects - if (current_time - latest_object_time > object_buffer_time_length_) { - invalid_object_id.push_back(object_id); - continue; - } - - // Delete old information - while (!object_data.empty()) { - const double post_object_time = rclcpp::Time(object_data.front().header.stamp).seconds(); - if (current_time - post_object_time > object_buffer_time_length_) { - // Delete Old Position - object_data.pop_front(); - } else { - break; - } - } - - if (object_data.empty()) { - invalid_object_id.push_back(object_id); - continue; - } - } - - for (const auto & key : invalid_object_id) { - objects_history_.erase(key); - } - for (auto it = stopped_times_against_green_.begin(); it != stopped_times_against_green_.end();) { const bool isDisappeared = std::none_of( in_objects->objects.begin(), in_objects->objects.end(), @@ -1500,9 +1634,9 @@ bool MapBasedPredictionNode::checkCloseLaneletCondition( // If the object is in the objects history, we check if the target lanelet is // inside the current lanelets id or following lanelets const std::string object_id = tier4_autoware_utils::toHexString(object.object_id); - if (objects_history_.count(object_id) != 0) { + if (road_users_history.count(object_id) != 0) { const std::vector & possible_lanelet = - objects_history_.at(object_id).back().future_possible_lanelets; + road_users_history.at(object_id).back().future_possible_lanelets; bool not_in_possible_lanelet = std::find(possible_lanelet.begin(), possible_lanelet.end(), lanelet.second) == @@ -1569,7 +1703,7 @@ float MapBasedPredictionNode::calculateLocalLikelihood( return static_cast(1.0 / dist); } -void MapBasedPredictionNode::updateObjectsHistory( +void MapBasedPredictionNode::updateRoadUsersHistory( const std_msgs::msg::Header & header, const TrackedObject & object, const LaneletsData & current_lanelets_data) { @@ -1593,13 +1727,13 @@ void MapBasedPredictionNode::updateObjectsHistory( single_object_data.lateral_kinematics_set[current_lane] = lateral_kinematics; } - if (objects_history_.count(object_id) == 0) { + if (road_users_history.count(object_id) == 0) { // New Object(Create a new object in object histories) std::deque object_data = {single_object_data}; - objects_history_.emplace(object_id, object_data); + road_users_history.emplace(object_id, object_data); } else { // Object that is already in the object buffer - std::deque & object_data = objects_history_.at(object_id); + std::deque & object_data = road_users_history.at(object_id); // get previous object data and update const auto prev_object_data = object_data.back(); updateLateralKinematicsVector( @@ -1611,7 +1745,7 @@ void MapBasedPredictionNode::updateObjectsHistory( std::vector MapBasedPredictionNode::getPredictedReferencePath( const TrackedObject & object, const LaneletsData & current_lanelets_data, - const double object_detected_time) + const double object_detected_time, const double time_horizon) { const double obj_vel = std::hypot( object.kinematics.twist_with_covariance.twist.linear.x, @@ -1623,7 +1757,7 @@ std::vector MapBasedPredictionNode::getPredictedReferencePath( object.kinematics.acceleration_with_covariance.accel.linear.x, object.kinematics.acceleration_with_covariance.accel.linear.y) : 0.0; - const double t_h = prediction_time_horizon_; + const double t_h = time_horizon; const double λ = std::log(2) / acceleration_exponential_half_life_; auto get_search_distance_with_decaying_acc = [&]() -> double { @@ -1787,10 +1921,10 @@ Maneuver MapBasedPredictionNode::predictObjectManeuver( }(); const std::string object_id = tier4_autoware_utils::toHexString(object.object_id); - if (objects_history_.count(object_id) == 0) { + if (road_users_history.count(object_id) == 0) { return current_maneuver; } - auto & object_info = objects_history_.at(object_id); + auto & object_info = road_users_history.at(object_id); // update maneuver in object history if (!object_info.empty()) { @@ -1826,11 +1960,11 @@ Maneuver MapBasedPredictionNode::predictObjectManeuverByTimeToLaneChange( { // Step1. Check if we have the object in the buffer const std::string object_id = tier4_autoware_utils::toHexString(object.object_id); - if (objects_history_.count(object_id) == 0) { + if (road_users_history.count(object_id) == 0) { return Maneuver::LANE_FOLLOW; } - const std::deque & object_info = objects_history_.at(object_id); + const std::deque & object_info = road_users_history.at(object_id); // Step2. Check if object history length longer than history_time_length const int latest_id = static_cast(object_info.size()) - 1; @@ -1897,11 +2031,11 @@ Maneuver MapBasedPredictionNode::predictObjectManeuverByLatDiffDistance( { // Step1. Check if we have the object in the buffer const std::string object_id = tier4_autoware_utils::toHexString(object.object_id); - if (objects_history_.count(object_id) == 0) { + if (road_users_history.count(object_id) == 0) { return Maneuver::LANE_FOLLOW; } - const std::deque & object_info = objects_history_.at(object_id); + const std::deque & object_info = road_users_history.at(object_id); const double current_time = (this->get_clock()->now()).seconds(); // Step2. Get the previous id @@ -2058,12 +2192,12 @@ void MapBasedPredictionNode::updateFuturePossibleLanelets( const TrackedObject & object, const lanelet::routing::LaneletPaths & paths) { std::string object_id = tier4_autoware_utils::toHexString(object.object_id); - if (objects_history_.count(object_id) == 0) { + if (road_users_history.count(object_id) == 0) { return; } std::vector & possible_lanelets = - objects_history_.at(object_id).back().future_possible_lanelets; + road_users_history.at(object_id).back().future_possible_lanelets; for (const auto & path : paths) { for (const auto & lanelet : path) { bool not_in_buffer = std::find(possible_lanelets.begin(), possible_lanelets.end(), lanelet) == diff --git a/perception/map_based_prediction/src/path_generator.cpp b/perception/map_based_prediction/src/path_generator.cpp index 413a0e233186b..838d7b1c8e316 100644 --- a/perception/map_based_prediction/src/path_generator.cpp +++ b/perception/map_based_prediction/src/path_generator.cpp @@ -23,18 +23,16 @@ namespace map_based_prediction { PathGenerator::PathGenerator( - const double time_horizon, const double lateral_time_horizon, const double sampling_time_interval, - const double min_crosswalk_user_velocity) -: time_horizon_(time_horizon), - lateral_time_horizon_(lateral_time_horizon), - sampling_time_interval_(sampling_time_interval), + const double sampling_time_interval, const double min_crosswalk_user_velocity) +: sampling_time_interval_(sampling_time_interval), min_crosswalk_user_velocity_(min_crosswalk_user_velocity) { } -PredictedPath PathGenerator::generatePathForNonVehicleObject(const TrackedObject & object) +PredictedPath PathGenerator::generatePathForNonVehicleObject( + const TrackedObject & object, const double duration) const { - return generateStraightPath(object); + return generateStraightPath(object, duration); } PredictedPath PathGenerator::generatePathToTargetPoint( @@ -50,14 +48,18 @@ PredictedPath PathGenerator::generatePathToTargetPoint( const auto velocity = std::max(std::hypot(obj_vel.x, obj_vel.y), min_crosswalk_user_velocity_); const auto arrival_time = pedestrian_to_entry_point.norm() / velocity; + const auto pedestrian_to_entry_point_normalized = pedestrian_to_entry_point.normalized(); + const auto pedestrian_to_entry_point_orientation = tier4_autoware_utils::createQuaternionFromYaw( + std::atan2(pedestrian_to_entry_point_normalized.y(), pedestrian_to_entry_point_normalized.x())); + for (double dt = 0.0; dt < arrival_time + ep; dt += sampling_time_interval_) { geometry_msgs::msg::Pose world_frame_pose; world_frame_pose.position.x = - obj_pos.x + velocity * pedestrian_to_entry_point.normalized().x() * dt; + obj_pos.x + velocity * pedestrian_to_entry_point_normalized.x() * dt; world_frame_pose.position.y = - obj_pos.y + velocity * pedestrian_to_entry_point.normalized().y() * dt; + obj_pos.y + velocity * pedestrian_to_entry_point_normalized.y() * dt; world_frame_pose.position.z = obj_pos.z; - world_frame_pose.orientation = object.kinematics.pose_with_covariance.pose.orientation; + world_frame_pose.orientation = pedestrian_to_entry_point_orientation; predicted_path.path.push_back(world_frame_pose); if (predicted_path.path.size() >= predicted_path.path.max_size()) { break; @@ -71,7 +73,8 @@ PredictedPath PathGenerator::generatePathToTargetPoint( } PredictedPath PathGenerator::generatePathForCrosswalkUser( - const TrackedObject & object, const CrosswalkEdgePoints & reachable_crosswalk) const + const TrackedObject & object, const CrosswalkEdgePoints & reachable_crosswalk, + const double duration) const { PredictedPath predicted_path{}; const double ep = 0.001; @@ -88,25 +91,32 @@ PredictedPath PathGenerator::generatePathForCrosswalkUser( const auto velocity = std::max(std::hypot(obj_vel.x, obj_vel.y), min_crosswalk_user_velocity_); const auto arrival_time = pedestrian_to_entry_point.norm() / velocity; - for (double dt = 0.0; dt < time_horizon_ + ep; dt += sampling_time_interval_) { + const auto pedestrian_to_entry_point_normalized = pedestrian_to_entry_point.normalized(); + const auto pedestrian_to_entry_point_orientation = tier4_autoware_utils::createQuaternionFromYaw( + std::atan2(pedestrian_to_entry_point_normalized.y(), pedestrian_to_entry_point_normalized.x())); + const auto entry_to_exit_point_normalized = entry_to_exit_point.normalized(); + const auto entry_to_exit_point_orientation = tier4_autoware_utils::createQuaternionFromYaw( + std::atan2(entry_to_exit_point_normalized.y(), entry_to_exit_point_normalized.x())); + + for (double dt = 0.0; dt < duration + ep; dt += sampling_time_interval_) { geometry_msgs::msg::Pose world_frame_pose; if (dt < arrival_time) { world_frame_pose.position.x = - obj_pos.x + velocity * pedestrian_to_entry_point.normalized().x() * dt; + obj_pos.x + velocity * pedestrian_to_entry_point_normalized.x() * dt; world_frame_pose.position.y = - obj_pos.y + velocity * pedestrian_to_entry_point.normalized().y() * dt; + obj_pos.y + velocity * pedestrian_to_entry_point_normalized.y() * dt; world_frame_pose.position.z = obj_pos.z; - world_frame_pose.orientation = object.kinematics.pose_with_covariance.pose.orientation; + world_frame_pose.orientation = pedestrian_to_entry_point_orientation; predicted_path.path.push_back(world_frame_pose); } else { world_frame_pose.position.x = reachable_crosswalk.front_center_point.x() + - velocity * entry_to_exit_point.normalized().x() * (dt - arrival_time); + velocity * entry_to_exit_point_normalized.x() * (dt - arrival_time); world_frame_pose.position.y = reachable_crosswalk.front_center_point.y() + - velocity * entry_to_exit_point.normalized().y() * (dt - arrival_time); + velocity * entry_to_exit_point_normalized.y() * (dt - arrival_time); world_frame_pose.position.z = obj_pos.z; - world_frame_pose.orientation = object.kinematics.pose_with_covariance.pose.orientation; + world_frame_pose.orientation = entry_to_exit_point_orientation; predicted_path.path.push_back(world_frame_pose); } if (predicted_path.path.size() >= predicted_path.path.max_size()) { @@ -114,56 +124,49 @@ PredictedPath PathGenerator::generatePathForCrosswalkUser( } } - // calculate orientation of each point - if (predicted_path.path.size() >= 2) { - for (size_t i = 0; i < predicted_path.path.size() - 1; i++) { - const auto yaw = tier4_autoware_utils::calcAzimuthAngle( - predicted_path.path.at(i).position, predicted_path.path.at(i + 1).position); - predicted_path.path.at(i).orientation = tier4_autoware_utils::createQuaternionFromYaw(yaw); - } - predicted_path.path.back().orientation = - predicted_path.path.at(predicted_path.path.size() - 2).orientation; - } - predicted_path.confidence = 1.0; predicted_path.time_step = rclcpp::Duration::from_seconds(sampling_time_interval_); return predicted_path; } -PredictedPath PathGenerator::generatePathForLowSpeedVehicle(const TrackedObject & object) const +PredictedPath PathGenerator::generatePathForLowSpeedVehicle( + const TrackedObject & object, const double duration) const { PredictedPath path; path.time_step = rclcpp::Duration::from_seconds(sampling_time_interval_); const double ep = 0.001; - for (double dt = 0.0; dt < time_horizon_ + ep; dt += sampling_time_interval_) { + for (double dt = 0.0; dt < duration + ep; dt += sampling_time_interval_) { path.path.push_back(object.kinematics.pose_with_covariance.pose); } return path; } -PredictedPath PathGenerator::generatePathForOffLaneVehicle(const TrackedObject & object) +PredictedPath PathGenerator::generatePathForOffLaneVehicle( + const TrackedObject & object, const double duration) const { - return generateStraightPath(object); + return generateStraightPath(object, duration); } PredictedPath PathGenerator::generatePathForOnLaneVehicle( - const TrackedObject & object, const PosePath & ref_paths, const double speed_limit) + const TrackedObject & object, const PosePath & ref_paths, const double duration, + const double lateral_duration, const double speed_limit) const { if (ref_paths.size() < 2) { - return generateStraightPath(object); + return generateStraightPath(object, duration); } - return generatePolynomialPath(object, ref_paths, speed_limit); + return generatePolynomialPath(object, ref_paths, speed_limit, duration, lateral_duration); } -PredictedPath PathGenerator::generateStraightPath(const TrackedObject & object) const +PredictedPath PathGenerator::generateStraightPath( + const TrackedObject & object, const double longitudinal_duration) const { const auto & object_pose = object.kinematics.pose_with_covariance.pose; const auto & object_twist = object.kinematics.twist_with_covariance.twist; constexpr double ep = 0.001; - const double duration = time_horizon_ + ep; + const double duration = longitudinal_duration + ep; PredictedPath path; path.time_step = rclcpp::Duration::from_seconds(sampling_time_interval_); @@ -178,11 +181,12 @@ PredictedPath PathGenerator::generateStraightPath(const TrackedObject & object) } PredictedPath PathGenerator::generatePolynomialPath( - const TrackedObject & object, const PosePath & ref_path, const double speed_limit) + const TrackedObject & object, const PosePath & ref_path, const double duration, + const double lateral_duration, const double speed_limit) const { // Get current Frenet Point const double ref_path_len = motion_utils::calcArcLength(ref_path); - const auto current_point = getFrenetPoint(object, ref_path, speed_limit); + const auto current_point = getFrenetPoint(object, ref_path, speed_limit, duration); // Step1. Set Target Frenet Point // Note that we do not set position s, @@ -196,13 +200,13 @@ PredictedPath PathGenerator::generatePolynomialPath( // Step2. Generate Predicted Path on a Frenet coordinate const auto frenet_predicted_path = - generateFrenetPath(current_point, terminal_point, ref_path_len); + generateFrenetPath(current_point, terminal_point, ref_path_len, duration, lateral_duration); // Step3. Interpolate Reference Path for converting predicted path coordinate const auto interpolated_ref_path = interpolateReferencePath(ref_path, frenet_predicted_path); if (frenet_predicted_path.size() < 2 || interpolated_ref_path.size() < 2) { - return generateStraightPath(object); + return generateStraightPath(object, duration); } // Step4. Convert predicted trajectory from Frenet to Cartesian coordinate @@ -210,11 +214,10 @@ PredictedPath PathGenerator::generatePolynomialPath( } FrenetPath PathGenerator::generateFrenetPath( - const FrenetPoint & current_point, const FrenetPoint & target_point, const double max_length) + const FrenetPoint & current_point, const FrenetPoint & target_point, const double max_length, + const double duration, const double lateral_duration) const { FrenetPath path; - const double duration = time_horizon_; - const double lateral_duration = lateral_time_horizon_; // Compute Lateral and Longitudinal Coefficients to generate the trajectory const Eigen::Vector3d lat_coeff = @@ -252,7 +255,7 @@ FrenetPath PathGenerator::generateFrenetPath( } Eigen::Vector3d PathGenerator::calcLatCoefficients( - const FrenetPoint & current_point, const FrenetPoint & target_point, const double T) + const FrenetPoint & current_point, const FrenetPoint & target_point, const double T) const { // Lateral Path Calculation // Quintic polynomial for d @@ -278,7 +281,7 @@ Eigen::Vector3d PathGenerator::calcLatCoefficients( } Eigen::Vector2d PathGenerator::calcLonCoefficients( - const FrenetPoint & current_point, const FrenetPoint & target_point, const double T) + const FrenetPoint & current_point, const FrenetPoint & target_point, const double T) const { // Longitudinal Path Calculation // Quadric polynomial @@ -296,7 +299,7 @@ Eigen::Vector2d PathGenerator::calcLonCoefficients( } PosePath PathGenerator::interpolateReferencePath( - const PosePath & base_path, const FrenetPath & frenet_predicted_path) + const PosePath & base_path, const FrenetPath & frenet_predicted_path) const { PosePath interpolated_path; const size_t interpolate_num = frenet_predicted_path.size(); @@ -356,7 +359,8 @@ PosePath PathGenerator::interpolateReferencePath( } PredictedPath PathGenerator::convertToPredictedPath( - const TrackedObject & object, const FrenetPath & frenet_predicted_path, const PosePath & ref_path) + const TrackedObject & object, const FrenetPath & frenet_predicted_path, + const PosePath & ref_path) const { PredictedPath predicted_path; predicted_path.time_step = rclcpp::Duration::from_seconds(sampling_time_interval_); @@ -385,7 +389,8 @@ PredictedPath PathGenerator::convertToPredictedPath( } FrenetPoint PathGenerator::getFrenetPoint( - const TrackedObject & object, const PosePath & ref_path, const double speed_limit) + const TrackedObject & object, const PosePath & ref_path, const double duration, + const double speed_limit) const { FrenetPoint frenet_point; const auto obj_point = object.kinematics.pose_with_covariance.pose.position; @@ -411,7 +416,7 @@ FrenetPoint PathGenerator::getFrenetPoint( : 0.0; // Using a decaying acceleration model. Consult the README for more information about the model. - const double t_h = time_horizon_; + const double t_h = duration; const float λ = std::log(2) / acceleration_exponential_half_life_; auto have_same_sign = [](double a, double b) -> bool { diff --git a/perception/map_based_prediction/test/map_based_prediction/test_path_generator.cpp b/perception/map_based_prediction/test/map_based_prediction/test_path_generator.cpp new file mode 100644 index 0000000000000..6134f0c6a25d7 --- /dev/null +++ b/perception/map_based_prediction/test/map_based_prediction/test_path_generator.cpp @@ -0,0 +1,207 @@ +// Copyright 2024 TIER IV, inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "map_based_prediction/path_generator.hpp" + +#include +#include + +using autoware_auto_perception_msgs::msg::ObjectClassification; +using autoware_auto_perception_msgs::msg::PredictedObject; +using autoware_auto_perception_msgs::msg::PredictedObjectKinematics; +using autoware_auto_perception_msgs::msg::PredictedObjects; +using autoware_auto_perception_msgs::msg::PredictedPath; +using autoware_auto_perception_msgs::msg::TrackedObject; +using autoware_auto_perception_msgs::msg::TrackedObjectKinematics; +using autoware_auto_perception_msgs::msg::TrackedObjects; + +TrackedObject generate_static_object(const int label) +{ + ObjectClassification classification; + classification.probability = 1.0; + classification.label = label; + + TrackedObjectKinematics kinematics; + kinematics.pose_with_covariance = geometry_msgs::msg::PoseWithCovariance(); // At origin + kinematics.twist_with_covariance = geometry_msgs::msg::TwistWithCovariance(); // Not moving + kinematics.acceleration_with_covariance = + geometry_msgs::msg::AccelWithCovariance(); // Not accelerating + kinematics.orientation_availability = TrackedObjectKinematics::UNAVAILABLE; + + TrackedObject tracked_object; + tracked_object.object_id = unique_identifier_msgs::msg::UUID(); + tracked_object.existence_probability = 1.0; + tracked_object.classification.push_back(classification); + tracked_object.kinematics = kinematics; + + return tracked_object; +} + +TEST(PathGenerator, test_generatePathForNonVehicleObject) +{ + // Generate Path generator + const double prediction_time_horizon = 10.0; + const double prediction_sampling_time_interval = 0.5; + const double min_crosswalk_user_velocity = 0.1; + const map_based_prediction::PathGenerator path_generator = map_based_prediction::PathGenerator( + prediction_sampling_time_interval, min_crosswalk_user_velocity); + + // Generate pedestrian object + TrackedObject tracked_object = generate_static_object(ObjectClassification::PEDESTRIAN); + + // Generate predicted path + const PredictedPath predicted_path = + path_generator.generatePathForNonVehicleObject(tracked_object, prediction_time_horizon); + + // Check + EXPECT_FALSE(predicted_path.path.empty()); + EXPECT_EQ(predicted_path.path[0].position.x, 0.0); + EXPECT_EQ(predicted_path.path[0].position.y, 0.0); + EXPECT_EQ(predicted_path.path[0].position.z, 0.0); +} + +TEST(PathGenerator, test_generatePathForLowSpeedVehicle) +{ + // Generate Path generator + const double prediction_time_horizon = 10.0; + const double prediction_sampling_time_interval = 0.5; + const double min_crosswalk_user_velocity = 0.1; + const map_based_prediction::PathGenerator path_generator = map_based_prediction::PathGenerator( + prediction_sampling_time_interval, min_crosswalk_user_velocity); + + // Generate dummy object + TrackedObject tracked_object = generate_static_object(ObjectClassification::CAR); + + // Generate predicted path + const PredictedPath predicted_path = + path_generator.generatePathForLowSpeedVehicle(tracked_object, prediction_time_horizon); + + // Check + EXPECT_FALSE(predicted_path.path.empty()); + EXPECT_EQ(predicted_path.path[0].position.x, 0.0); + EXPECT_EQ(predicted_path.path[0].position.y, 0.0); + EXPECT_EQ(predicted_path.path[0].position.z, 0.0); +} + +TEST(PathGenerator, test_generatePathForOffLaneVehicle) +{ + // Generate Path generator + const double prediction_time_horizon = 10.0; + const double prediction_sampling_time_interval = 0.5; + const double min_crosswalk_user_velocity = 0.1; + const map_based_prediction::PathGenerator path_generator = map_based_prediction::PathGenerator( + prediction_sampling_time_interval, min_crosswalk_user_velocity); + + // Generate dummy object + TrackedObject tracked_object = generate_static_object(ObjectClassification::CAR); + + const PredictedPath predicted_path = + path_generator.generatePathForOffLaneVehicle(tracked_object, prediction_time_horizon); + + // Check + EXPECT_FALSE(predicted_path.path.empty()); + EXPECT_EQ(predicted_path.path[0].position.x, 0.0); + EXPECT_EQ(predicted_path.path[0].position.y, 0.0); + EXPECT_EQ(predicted_path.path[0].position.z, 0.0); +} + +TEST(PathGenerator, test_generatePathForOnLaneVehicle) +{ + // Generate Path generator + const double prediction_time_horizon = 10.0; + const double lateral_control_time_horizon = 5.0; + const double prediction_sampling_time_interval = 0.5; + const double min_crosswalk_user_velocity = 0.1; + const map_based_prediction::PathGenerator path_generator = map_based_prediction::PathGenerator( + prediction_sampling_time_interval, min_crosswalk_user_velocity); + + // Generate dummy object + TrackedObject tracked_object = generate_static_object(ObjectClassification::CAR); + + // Generate reference path + map_based_prediction::PosePath ref_paths; + geometry_msgs::msg::Pose pose; + pose.position.x = 0.0; + pose.position.y = 0.0; + pose.position.z = 0.0; + ref_paths.push_back(pose); + + // Generate predicted path + const PredictedPath predicted_path = path_generator.generatePathForOnLaneVehicle( + tracked_object, ref_paths, prediction_time_horizon, lateral_control_time_horizon); + + // Check + EXPECT_FALSE(predicted_path.path.empty()); + EXPECT_EQ(predicted_path.path[0].position.x, 0.0); + EXPECT_EQ(predicted_path.path[0].position.y, 0.0); + EXPECT_EQ(predicted_path.path[0].position.z, 0.0); +} + +TEST(PathGenerator, test_generatePathForCrosswalkUser) +{ + // Generate Path generator + const double prediction_time_horizon = 10.0; + const double prediction_sampling_time_interval = 0.5; + const double min_crosswalk_user_velocity = 0.1; + const map_based_prediction::PathGenerator path_generator = map_based_prediction::PathGenerator( + prediction_sampling_time_interval, min_crosswalk_user_velocity); + + // Generate dummy object + TrackedObject tracked_object = generate_static_object(ObjectClassification::PEDESTRIAN); + + // Generate dummy crosswalk + map_based_prediction::CrosswalkEdgePoints reachable_crosswalk; + reachable_crosswalk.front_center_point << 0.0, 0.0; + reachable_crosswalk.front_right_point << 1.0, 0.0; + reachable_crosswalk.front_left_point << -1.0, 0.0; + reachable_crosswalk.back_center_point << 0.0, 1.0; + reachable_crosswalk.back_right_point << 1.0, 1.0; + reachable_crosswalk.back_left_point << -1.0, 1.0; + + // Generate predicted path + const PredictedPath predicted_path = path_generator.generatePathForCrosswalkUser( + tracked_object, reachable_crosswalk, prediction_time_horizon); + + // Check + EXPECT_FALSE(predicted_path.path.empty()); + EXPECT_EQ(predicted_path.path[0].position.x, 0.0); + EXPECT_EQ(predicted_path.path[0].position.y, 0.0); + EXPECT_EQ(predicted_path.path[0].position.z, 0.0); +} + +TEST(PathGenerator, test_generatePathToTargetPoint) +{ + // Generate Path generator + const double prediction_sampling_time_interval = 0.5; + const double min_crosswalk_user_velocity = 0.1; + const map_based_prediction::PathGenerator path_generator = map_based_prediction::PathGenerator( + prediction_sampling_time_interval, min_crosswalk_user_velocity); + + // Generate dummy object + TrackedObject tracked_object = generate_static_object(ObjectClassification::CAR); + + // Generate target point + Eigen::Vector2d target_point; + target_point << 0.0, 0.0; + + // Generate predicted path + const PredictedPath predicted_path = + path_generator.generatePathToTargetPoint(tracked_object, target_point); + + // Check + EXPECT_FALSE(predicted_path.path.empty()); + EXPECT_EQ(predicted_path.path[0].position.x, 0.0); + EXPECT_EQ(predicted_path.path[0].position.y, 0.0); + EXPECT_EQ(predicted_path.path[0].position.z, 0.0); +} diff --git a/map/map_projection_loader/src/map_projection_loader_node.cpp b/perception/map_based_prediction/test/test_map_based_prediction.cpp similarity index 78% rename from map/map_projection_loader/src/map_projection_loader_node.cpp rename to perception/map_based_prediction/test/test_map_based_prediction.cpp index 1d9336be0d9dd..4c8ad7dd25916 100644 --- a/map/map_projection_loader/src/map_projection_loader_node.cpp +++ b/perception/map_based_prediction/test/test_map_based_prediction.cpp @@ -1,4 +1,4 @@ -// Copyright 2023 TIER IV, Inc. +// Copyright 2024 TIER IV, inc. // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. @@ -12,12 +12,15 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "map_projection_loader/map_projection_loader.hpp" +#include + +#include int main(int argc, char * argv[]) { + testing::InitGoogleTest(&argc, argv); rclcpp::init(argc, argv); - rclcpp::spin(std::make_shared()); + bool result = RUN_ALL_TESTS(); rclcpp::shutdown(); - return 0; + return result; } diff --git a/perception/multi_object_tracker/CMakeLists.txt b/perception/multi_object_tracker/CMakeLists.txt index 41d150ef0ba1b..4f9268583dd34 100644 --- a/perception/multi_object_tracker/CMakeLists.txt +++ b/perception/multi_object_tracker/CMakeLists.txt @@ -22,8 +22,10 @@ include_directories( # Generate exe file set(MULTI_OBJECT_TRACKER_SRC src/multi_object_tracker_core.cpp - src/debugger.cpp + src/debugger/debugger.cpp + src/debugger/debug_object.cpp src/processor/processor.cpp + src/processor/input_manager.cpp src/data_association/data_association.cpp src/data_association/mu_successive_shortest_path/mu_successive_shortest_path_wrapper.cpp src/tracker/motion_model/motion_model_base.cpp @@ -42,20 +44,18 @@ set(MULTI_OBJECT_TRACKER_SRC src/tracker/model/pass_through_tracker.cpp ) -ament_auto_add_library(multi_object_tracker_node SHARED +ament_auto_add_library(${PROJECT_NAME} SHARED ${MULTI_OBJECT_TRACKER_SRC} ) -target_link_libraries(multi_object_tracker_node +target_link_libraries(${PROJECT_NAME} Eigen3::Eigen + glog::glog ) -ament_auto_add_executable(${PROJECT_NAME} - src/multi_object_tracker_node.cpp -) - -target_link_libraries(${PROJECT_NAME} - multi_object_tracker_node glog +rclcpp_components_register_node(${PROJECT_NAME} + PLUGIN "multi_object_tracker::MultiObjectTracker" + EXECUTABLE ${PROJECT_NAME}_node ) ament_auto_package(INSTALL_TO_SHARE diff --git a/perception/multi_object_tracker/README.md b/perception/multi_object_tracker/README.md index 311fe7b6da716..ad9e43355aebf 100644 --- a/perception/multi_object_tracker/README.md +++ b/perception/multi_object_tracker/README.md @@ -46,31 +46,38 @@ Example: ### Input -| Name | Type | Description | -| --------- | ----------------------------------------------------- | ----------- | -| `~/input` | `autoware_auto_perception_msgs::msg::DetectedObjects` | obstacles | +Multiple inputs are pre-defined in the input channel parameters (described below) and the inputs can be configured + +| Name | Type | Description | +| ------------------------- | -------------------------- | ---------------------- | +| `selected_input_channels` | `std::vector` | array of channel names | + +- default value: `selected_input_channels:="['detected_objects']"`, merged DetectedObject message +- multi-input example: `selected_input_channels:="['lidar_centerpoint','camera_lidar_fusion','detection_by_tracker','radar_far']"` ### Output -| Name | Type | Description | -| ---------- | ---------------------------------------------------- | ------------------ | -| `~/output` | `autoware_auto_perception_msgs::msg::TrackedObjects` | modified obstacles | +| Name | Type | Description | +| ---------- | ---------------------------------------------------- | --------------- | +| `~/output` | `autoware_auto_perception_msgs::msg::TrackedObjects` | tracked objects | ## Parameters - +| Name | Type | Description | +| --------------------------------- | ----------------------------------------------------- | ------------------------------------- | +| `` | | the name of channel | +| `.topic` | `autoware_auto_perception_msgs::msg::DetectedObjects` | detected objects | +| `.can_spawn_new_tracker` | `bool` | a switch allow to spawn a new tracker | +| `.optional.name` | `std::string` | channel name for analysis | +| `.optional.short_name` | `std::string` | short name for visualization | ### Core Parameters -Node parameters are defined in [multi_object_tracker.param.yaml](config/multi_object_tracker.param.yaml) and association parameters are defined in [data_association.param.yaml](config/data_association.param.yaml). +Node parameters are defined in [multi_object_tracker_node.param.yaml](config/multi_object_tracker_node.param.yaml) and association parameters are defined in [data_association_matrix.param.yaml](config/data_association_matrix.param.yaml). #### Node parameters @@ -80,6 +87,9 @@ Node parameters are defined in [multi_object_tracker.param.yaml](config/multi_ob | `world_frame_id` | double | object kinematics definition frame | | `enable_delay_compensation` | bool | if True, tracker use timers to schedule publishers and use prediction step to extrapolate object state at desired timestamp | | `publish_rate` | double | Timer frequency to output with delay compensation | +| `publish_processing_time` | bool | enable to publish debug message of process time information | +| `publish_tentative_objects` | bool | enable to publish tentative tracked objects, which have lower confidence | +| `publish_debug_markers` | bool | enable to publish debug markers, which indicates association of multi-inputs, existence probability of each detection | #### Association parameters @@ -93,13 +103,6 @@ Node parameters are defined in [multi_object_tracker.param.yaml](config/multi_ob ## Assumptions / Known limits - - See the [model explanations](models.md). ## (Optional) Error detection and handling diff --git a/perception/multi_object_tracker/config/input_channels.param.yaml b/perception/multi_object_tracker/config/input_channels.param.yaml new file mode 100644 index 0000000000000..b57f37675d4f1 --- /dev/null +++ b/perception/multi_object_tracker/config/input_channels.param.yaml @@ -0,0 +1,82 @@ +/**: + ros__parameters: + input_channels: + detected_objects: + topic: "/perception/object_recognition/detection/objects" + can_spawn_new_tracker: true + optional: + name: "detected_objects" + short_name: "all" + # LIDAR - rule-based + lidar_clustering: + topic: "/perception/object_recognition/detection/clustering/objects" + can_spawn_new_tracker: true + optional: + name: "clustering" + short_name: "Lcl" + # LIDAR - DNN + lidar_centerpoint: + topic: "/perception/object_recognition/detection/centerpoint/objects" + can_spawn_new_tracker: true + optional: + name: "centerpoint" + short_name: "Lcp" + lidar_centerpoint_validated: + topic: "/perception/object_recognition/detection/centerpoint/validation/objects" + can_spawn_new_tracker: true + optional: + name: "centerpoint" + short_name: "Lcp" + lidar_apollo: + topic: "/perception/object_recognition/detection/apollo/objects" + can_spawn_new_tracker: true + optional: + name: "apollo" + short_name: "Lap" + lidar_apollo_validated: + topic: "/perception/object_recognition/detection/apollo/validation/objects" + can_spawn_new_tracker: true + optional: + name: "apollo" + short_name: "Lap" + # LIDAR-CAMERA - DNN + # cspell:ignore lidar_pointpainitng pointpainting + lidar_pointpainitng: + topic: "/perception/object_recognition/detection/pointpainting/objects" + can_spawn_new_tracker: true + optional: + name: "pointpainting" + short_name: "Lpp" + lidar_pointpainting_validated: + topic: "/perception/object_recognition/detection/pointpainting/validation/objects" + can_spawn_new_tracker: true + optional: + name: "pointpainting" + short_name: "Lpp" + # CAMERA-LIDAR + camera_lidar_fusion: + topic: "/perception/object_recognition/detection/clustering/camera_lidar_fusion/objects" + can_spawn_new_tracker: true + optional: + name: "camera_lidar_fusion" + short_name: "CLf" + # CAMERA-LIDAR+TRACKER + detection_by_tracker: + topic: "/perception/object_recognition/detection/detection_by_tracker/objects" + can_spawn_new_tracker: false + optional: + name: "detection_by_tracker" + short_name: "dbT" + # RADAR + radar: + topic: "/sensing/radar/detected_objects" + can_spawn_new_tracker: true + optional: + name: "radar" + short_name: "R" + radar_far: + topic: "/perception/object_recognition/detection/radar/far_objects" + can_spawn_new_tracker: true + optional: + name: "radar_far" + short_name: "Rf" diff --git a/perception/multi_object_tracker/config/multi_object_tracker_node.param.yaml b/perception/multi_object_tracker/config/multi_object_tracker_node.param.yaml index ca320c7f58442..09621a40c499f 100644 --- a/perception/multi_object_tracker/config/multi_object_tracker_node.param.yaml +++ b/perception/multi_object_tracker/config/multi_object_tracker_node.param.yaml @@ -17,5 +17,6 @@ # debug parameters publish_processing_time: false publish_tentative_objects: false + publish_debug_markers: false diagnostics_warn_delay: 0.5 # [sec] diagnostics_error_delay: 1.0 # [sec] diff --git a/perception/multi_object_tracker/include/multi_object_tracker/debugger/debug_object.hpp b/perception/multi_object_tracker/include/multi_object_tracker/debugger/debug_object.hpp new file mode 100644 index 0000000000000..6caa69181dd9d --- /dev/null +++ b/perception/multi_object_tracker/include/multi_object_tracker/debugger/debug_object.hpp @@ -0,0 +1,102 @@ +// Copyright 2024 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#ifndef MULTI_OBJECT_TRACKER__DEBUGGER__DEBUG_OBJECT_HPP_ +#define MULTI_OBJECT_TRACKER__DEBUGGER__DEBUG_OBJECT_HPP_ + +#include "multi_object_tracker/tracker/model/tracker_base.hpp" + +#include +#include + +#include "unique_identifier_msgs/msg/uuid.hpp" +#include +#include +#include +#include + +#include +#include +#include + +#include +#include +#include +#include +#include +#include + +struct ObjectData +{ + rclcpp::Time time; + + // object uuid + boost::uuids::uuid uuid; + int uuid_int; + std::string uuid_str; + + // association link, pair of coordinates + // tracker to detection + geometry_msgs::msg::Point tracker_point; + geometry_msgs::msg::Point detection_point; + bool is_associated{false}; + + // existence probabilities + std::vector existence_vector; + + // detection channel id + uint channel_id; +}; + +class TrackerObjectDebugger +{ +public: + explicit TrackerObjectDebugger(std::string frame_id); + +private: + bool is_initialized_{false}; + std::string frame_id_; + visualization_msgs::msg::MarkerArray markers_; + std::unordered_set current_ids_; + std::unordered_set previous_ids_; + rclcpp::Time message_time_; + + std::vector object_data_list_; + std::list unused_marker_ids_; + int32_t marker_id_ = 0; + std::vector> object_data_groups_; + + std::vector channel_names_; + +public: + void setChannelNames(const std::vector & channel_names) + { + channel_names_ = channel_names; + } + void collect( + const rclcpp::Time & message_time, const std::list> & list_tracker, + const uint & channel_index, + const autoware_auto_perception_msgs::msg::DetectedObjects & detected_objects, + const std::unordered_map & direct_assignment, + const std::unordered_map & reverse_assignment); + + void reset(); + void draw( + const std::vector> object_data_groups, + visualization_msgs::msg::MarkerArray & marker_array) const; + void process(); + void getMessage(visualization_msgs::msg::MarkerArray & marker_array) const; +}; + +#endif // MULTI_OBJECT_TRACKER__DEBUGGER__DEBUG_OBJECT_HPP_ diff --git a/perception/multi_object_tracker/include/multi_object_tracker/debugger.hpp b/perception/multi_object_tracker/include/multi_object_tracker/debugger/debugger.hpp similarity index 66% rename from perception/multi_object_tracker/include/multi_object_tracker/debugger.hpp rename to perception/multi_object_tracker/include/multi_object_tracker/debugger/debugger.hpp index 90291ae6fec18..1c632f5bebba0 100644 --- a/perception/multi_object_tracker/include/multi_object_tracker/debugger.hpp +++ b/perception/multi_object_tracker/include/multi_object_tracker/debugger/debugger.hpp @@ -1,4 +1,4 @@ -// Copyright 2024 Tier IV, Inc. +// Copyright 2024 TIER IV, Inc. // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. @@ -11,11 +11,11 @@ // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. // See the License for the specific language governing permissions and // limitations under the License. -// -// -#ifndef MULTI_OBJECT_TRACKER__DEBUGGER_HPP_ -#define MULTI_OBJECT_TRACKER__DEBUGGER_HPP_ +#ifndef MULTI_OBJECT_TRACKER__DEBUGGER__DEBUGGER_HPP_ +#define MULTI_OBJECT_TRACKER__DEBUGGER__DEBUGGER_HPP_ + +#include "multi_object_tracker/debugger/debug_object.hpp" #include #include @@ -27,7 +27,11 @@ #include #include +#include #include +#include +#include +#include /** * @brief Debugger class for multi object tracker @@ -36,40 +40,68 @@ class TrackerDebugger { public: - explicit TrackerDebugger(rclcpp::Node & node); - void publishTentativeObjects( - const autoware_auto_perception_msgs::msg::TrackedObjects & tentative_objects) const; - void startMeasurementTime( - const rclcpp::Time & now, const rclcpp::Time & measurement_header_stamp); - void endMeasurementTime(const rclcpp::Time & now); - void startPublishTime(const rclcpp::Time & now); - void endPublishTime(const rclcpp::Time & now, const rclcpp::Time & object_time); + explicit TrackerDebugger(rclcpp::Node & node, const std::string & frame_id); - void setupDiagnostics(); - void checkDelay(diagnostic_updater::DiagnosticStatusWrapper & stat); +private: struct DEBUG_SETTINGS { bool publish_processing_time; bool publish_tentative_objects; + bool publish_debug_markers; double diagnostics_warn_delay; double diagnostics_error_delay; } debug_settings_; - double pipeline_latency_ms_ = 0.0; - diagnostic_updater::Updater diagnostic_updater_; - bool shouldPublishTentativeObjects() const { return debug_settings_.publish_tentative_objects; } -private: - void loadParameters(); - bool is_initialized_ = false; + // ROS node, publishers rclcpp::Node & node_; rclcpp::Publisher::SharedPtr debug_tentative_objects_pub_; std::unique_ptr processing_time_publisher_; + rclcpp::Publisher::SharedPtr debug_objects_markers_pub_; + + diagnostic_updater::Updater diagnostic_updater_; + // Object debugger + TrackerObjectDebugger object_debugger_; + + // Time measurement + bool is_initialized_ = false; + double pipeline_latency_ms_ = 0.0; rclcpp::Time last_input_stamp_; rclcpp::Time stamp_process_start_; rclcpp::Time stamp_process_end_; rclcpp::Time stamp_publish_start_; rclcpp::Time stamp_publish_output_; + + // Configuration + void setupDiagnostics(); + void loadParameters(); + +public: + // Object publishing + bool shouldPublishTentativeObjects() const { return debug_settings_.publish_tentative_objects; } + void publishTentativeObjects( + const autoware_auto_perception_msgs::msg::TrackedObjects & tentative_objects) const; + + // Time measurement + void startMeasurementTime( + const rclcpp::Time & now, const rclcpp::Time & measurement_header_stamp); + void endMeasurementTime(const rclcpp::Time & now); + void startPublishTime(const rclcpp::Time & now); + void endPublishTime(const rclcpp::Time & now, const rclcpp::Time & object_time); + void checkDelay(diagnostic_updater::DiagnosticStatusWrapper & stat); + + // Debug object + void setObjectChannels(const std::vector & channels) + { + object_debugger_.setChannelNames(channels); + } + void collectObjectInfo( + const rclcpp::Time & message_time, const std::list> & list_tracker, + const uint & channel_index, + const autoware_auto_perception_msgs::msg::DetectedObjects & detected_objects, + const std::unordered_map & direct_assignment, + const std::unordered_map & reverse_assignment); + void publishObjectsMarkers(); }; -#endif // MULTI_OBJECT_TRACKER__DEBUGGER_HPP_ +#endif // MULTI_OBJECT_TRACKER__DEBUGGER__DEBUGGER_HPP_ diff --git a/perception/multi_object_tracker/include/multi_object_tracker/multi_object_tracker_core.hpp b/perception/multi_object_tracker/include/multi_object_tracker/multi_object_tracker_core.hpp index f788dd3895216..3daeaa2a46322 100644 --- a/perception/multi_object_tracker/include/multi_object_tracker/multi_object_tracker_core.hpp +++ b/perception/multi_object_tracker/include/multi_object_tracker/multi_object_tracker_core.hpp @@ -20,7 +20,8 @@ #define MULTI_OBJECT_TRACKER__MULTI_OBJECT_TRACKER_CORE_HPP_ #include "multi_object_tracker/data_association/data_association.hpp" -#include "multi_object_tracker/debugger.hpp" +#include "multi_object_tracker/debugger/debugger.hpp" +#include "multi_object_tracker/processor/input_manager.hpp" #include "multi_object_tracker/processor/processor.hpp" #include "multi_object_tracker/tracker/model/tracker_base.hpp" @@ -48,8 +49,16 @@ #include #include #include +#include #include +namespace multi_object_tracker +{ + +using DetectedObject = autoware_auto_perception_msgs::msg::DetectedObject; +using DetectedObjects = autoware_auto_perception_msgs::msg::DetectedObjects; +using TrackedObjects = autoware_auto_perception_msgs::msg::TrackedObjects; + class MultiObjectTracker : public rclcpp::Node { public: @@ -57,10 +66,8 @@ class MultiObjectTracker : public rclcpp::Node private: // ROS interface - rclcpp::Publisher::SharedPtr - tracked_objects_pub_; - rclcpp::Subscription::SharedPtr - detected_object_sub_; + rclcpp::Publisher::SharedPtr tracked_objects_pub_; + rclcpp::Subscription::SharedPtr detected_object_sub_; tf2_ros::Buffer tf_buffer_; tf2_ros::TransformListener tf_listener_; @@ -78,15 +85,24 @@ class MultiObjectTracker : public rclcpp::Node std::unique_ptr data_association_; std::unique_ptr processor_; + // input manager + std::unique_ptr input_manager_; + + std::vector input_channels_{}; + size_t input_channel_size_{}; + // callback functions - void onMeasurement( - const autoware_auto_perception_msgs::msg::DetectedObjects::ConstSharedPtr input_objects_msg); void onTimer(); + void onTrigger(); + void onMessage(const ObjectsList & objects_list); // publish processes + void runProcess(const DetectedObjects & input_objects_msg, const uint & channel_index); void checkAndPublish(const rclcpp::Time & time); void publish(const rclcpp::Time & time) const; inline bool shouldTrackerPublish(const std::shared_ptr tracker) const; }; +} // namespace multi_object_tracker + #endif // MULTI_OBJECT_TRACKER__MULTI_OBJECT_TRACKER_CORE_HPP_ diff --git a/perception/multi_object_tracker/include/multi_object_tracker/processor/input_manager.hpp b/perception/multi_object_tracker/include/multi_object_tracker/processor/input_manager.hpp new file mode 100644 index 0000000000000..f46c088c6d508 --- /dev/null +++ b/perception/multi_object_tracker/include/multi_object_tracker/processor/input_manager.hpp @@ -0,0 +1,160 @@ +// Copyright 2024 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#ifndef MULTI_OBJECT_TRACKER__PROCESSOR__INPUT_MANAGER_HPP_ +#define MULTI_OBJECT_TRACKER__PROCESSOR__INPUT_MANAGER_HPP_ + +#include "rclcpp/rclcpp.hpp" + +#include "autoware_auto_perception_msgs/msg/detected_objects.hpp" + +#include +#include +#include +#include +#include +#include + +namespace multi_object_tracker +{ +using DetectedObjects = autoware_auto_perception_msgs::msg::DetectedObjects; +using ObjectsList = std::vector>; + +struct InputChannel +{ + std::string input_topic; // topic name of the detection, e.g. "/detection/lidar" + std::string long_name = "Detected Object"; // full name of the detection + std::string short_name = "DET"; // abbreviation of the name + bool is_spawn_enabled = true; // enable spawn of the object +}; + +class InputStream +{ +public: + explicit InputStream(rclcpp::Node & node, uint & index); + + void init(const InputChannel & input_channel); + + void setQueueSize(size_t que_size) { que_size_ = que_size; } + void setTriggerFunction(std::function func_trigger) + { + func_trigger_ = func_trigger; + } + + void onMessage(const autoware_auto_perception_msgs::msg::DetectedObjects::ConstSharedPtr msg); + void updateTimingStatus(const rclcpp::Time & now, const rclcpp::Time & objects_time); + + bool isTimeInitialized() const { return initial_count_ > 0; } + uint getIndex() const { return index_; } + void getObjectsOlderThan( + const rclcpp::Time & object_latest_time, const rclcpp::Time & object_oldest_time, + ObjectsList & objects_list); + void getNames(std::string & long_name, std::string & short_name) + { + long_name = long_name_; + short_name = short_name_; + } + bool isSpawnEnabled() const { return is_spawn_enabled_; } + + std::string getLongName() const { return long_name_; } + size_t getObjectsCount() const { return objects_que_.size(); } + void getTimeStatistics( + double & latency_mean, double & latency_var, double & interval_mean, + double & interval_var) const + { + latency_mean = latency_mean_; + latency_var = latency_var_; + interval_mean = interval_mean_; + interval_var = interval_var_; + } + void getLatencyStatistics(double & latency_mean, double & latency_var) const + { + latency_mean = latency_mean_; + latency_var = latency_var_; + } + bool getTimestamps( + rclcpp::Time & latest_measurement_time, rclcpp::Time & latest_message_time) const; + rclcpp::Time getLatestMeasurementTime() const { return latest_measurement_time_; } + +private: + rclcpp::Node & node_; + uint index_; + + std::string input_topic_; + std::string long_name_; + std::string short_name_; + bool is_spawn_enabled_; + + size_t que_size_{30}; + std::deque objects_que_; + + std::function func_trigger_; + + // bool is_time_initialized_{false}; + int initial_count_{0}; + double expected_interval_; + double latency_mean_; + double latency_var_; + double interval_mean_; + double interval_var_; + + rclcpp::Time latest_measurement_time_; + rclcpp::Time latest_message_time_; +}; + +class InputManager +{ +public: + explicit InputManager(rclcpp::Node & node); + void init(const std::vector & input_channels); + + void setTriggerFunction(std::function func_trigger) { func_trigger_ = func_trigger; } + void onTrigger(const uint & index) const; + + bool getObjects(const rclcpp::Time & now, ObjectsList & objects_list); + + bool isChannelSpawnEnabled(const uint & index) const + { + return input_streams_[index]->isSpawnEnabled(); + } + +private: + rclcpp::Node & node_; + std::vector::SharedPtr> sub_objects_array_{}; + + bool is_initialized_{false}; + rclcpp::Time latest_exported_object_time_; + + size_t input_size_; + std::vector> input_streams_; + + std::function func_trigger_; + uint target_stream_idx_{0}; + double target_stream_latency_{0.2}; // [s] + double target_stream_latency_std_{0.04}; // [s] + double target_stream_interval_{0.1}; // [s] + double target_stream_interval_std_{0.02}; // [s] + double target_latency_{0.2}; // [s] + double target_latency_band_{1.0}; // [s] + +private: + void getObjectTimeInterval( + const rclcpp::Time & now, rclcpp::Time & object_latest_time, + rclcpp::Time & object_oldest_time) const; + void optimizeTimings(); +}; + +} // namespace multi_object_tracker + +#endif // MULTI_OBJECT_TRACKER__PROCESSOR__INPUT_MANAGER_HPP_ diff --git a/perception/multi_object_tracker/include/multi_object_tracker/processor/processor.hpp b/perception/multi_object_tracker/include/multi_object_tracker/processor/processor.hpp index 6d6e364d83a41..310871dfcb07a 100644 --- a/perception/multi_object_tracker/include/multi_object_tracker/processor/processor.hpp +++ b/perception/multi_object_tracker/include/multi_object_tracker/processor/processor.hpp @@ -1,4 +1,4 @@ -// Copyright 2024 Tier IV, Inc. +// Copyright 2024 TIER IV, Inc. // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. @@ -11,8 +11,6 @@ // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. // See the License for the specific language governing permissions and // limitations under the License. -// -// #ifndef MULTI_OBJECT_TRACKER__PROCESSOR__PROCESSOR_HPP_ #define MULTI_OBJECT_TRACKER__PROCESSOR__PROCESSOR_HPP_ @@ -34,7 +32,8 @@ class TrackerProcessor { public: - explicit TrackerProcessor(const std::map & tracker_map); + explicit TrackerProcessor( + const std::map & tracker_map, const size_t & channel_size); const std::list> & getListTracker() const { return list_tracker_; } // tracker processes @@ -42,11 +41,11 @@ class TrackerProcessor void update( const autoware_auto_perception_msgs::msg::DetectedObjects & transformed_objects, const geometry_msgs::msg::Transform & self_transform, - const std::unordered_map & direct_assignment); + const std::unordered_map & direct_assignment, const uint & channel_index); void spawn( const autoware_auto_perception_msgs::msg::DetectedObjects & detected_objects, const geometry_msgs::msg::Transform & self_transform, - const std::unordered_map & reverse_assignment); + const std::unordered_map & reverse_assignment, const uint & channel_index); void prune(const rclcpp::Time & time); // output @@ -58,9 +57,12 @@ class TrackerProcessor const rclcpp::Time & time, autoware_auto_perception_msgs::msg::TrackedObjects & tentative_objects) const; + void getExistenceProbabilities(std::vector> & existence_vectors) const; + private: std::map tracker_map_; std::list> list_tracker_; + const size_t channel_size_; // parameters float max_elapsed_time_; // [s] @@ -73,7 +75,7 @@ class TrackerProcessor void removeOverlappedTracker(const rclcpp::Time & time); std::shared_ptr createNewTracker( const autoware_auto_perception_msgs::msg::DetectedObject & object, const rclcpp::Time & time, - const geometry_msgs::msg::Transform & self_transform) const; + const geometry_msgs::msg::Transform & self_transform, const uint & channel_index) const; }; #endif // MULTI_OBJECT_TRACKER__PROCESSOR__PROCESSOR_HPP_ diff --git a/perception/multi_object_tracker/include/multi_object_tracker/tracker/model/bicycle_tracker.hpp b/perception/multi_object_tracker/include/multi_object_tracker/tracker/model/bicycle_tracker.hpp index 2d69334a2f43f..ead0d8dbf0e5a 100644 --- a/perception/multi_object_tracker/include/multi_object_tracker/tracker/model/bicycle_tracker.hpp +++ b/perception/multi_object_tracker/include/multi_object_tracker/tracker/model/bicycle_tracker.hpp @@ -56,7 +56,8 @@ class BicycleTracker : public Tracker public: BicycleTracker( const rclcpp::Time & time, const autoware_auto_perception_msgs::msg::DetectedObject & object, - const geometry_msgs::msg::Transform & self_transform); + const geometry_msgs::msg::Transform & self_transform, const size_t channel_size, + const uint & channel_index); bool predict(const rclcpp::Time & time) override; bool measure( diff --git a/perception/multi_object_tracker/include/multi_object_tracker/tracker/model/big_vehicle_tracker.hpp b/perception/multi_object_tracker/include/multi_object_tracker/tracker/model/big_vehicle_tracker.hpp index 8d49138b94a24..3b509a3cb47d8 100644 --- a/perception/multi_object_tracker/include/multi_object_tracker/tracker/model/big_vehicle_tracker.hpp +++ b/perception/multi_object_tracker/include/multi_object_tracker/tracker/model/big_vehicle_tracker.hpp @@ -61,7 +61,8 @@ class BigVehicleTracker : public Tracker public: BigVehicleTracker( const rclcpp::Time & time, const autoware_auto_perception_msgs::msg::DetectedObject & object, - const geometry_msgs::msg::Transform & self_transform); + const geometry_msgs::msg::Transform & self_transform, const size_t channel_size, + const uint & channel_index); bool predict(const rclcpp::Time & time) override; bool measure( diff --git a/perception/multi_object_tracker/include/multi_object_tracker/tracker/model/multiple_vehicle_tracker.hpp b/perception/multi_object_tracker/include/multi_object_tracker/tracker/model/multiple_vehicle_tracker.hpp index 5722566b4a633..fef8caaf20d8a 100644 --- a/perception/multi_object_tracker/include/multi_object_tracker/tracker/model/multiple_vehicle_tracker.hpp +++ b/perception/multi_object_tracker/include/multi_object_tracker/tracker/model/multiple_vehicle_tracker.hpp @@ -35,7 +35,8 @@ class MultipleVehicleTracker : public Tracker public: MultipleVehicleTracker( const rclcpp::Time & time, const autoware_auto_perception_msgs::msg::DetectedObject & object, - const geometry_msgs::msg::Transform & self_transform); + const geometry_msgs::msg::Transform & self_transform, const size_t channel_size, + const uint & channel_index); bool predict(const rclcpp::Time & time) override; bool measure( diff --git a/perception/multi_object_tracker/include/multi_object_tracker/tracker/model/normal_vehicle_tracker.hpp b/perception/multi_object_tracker/include/multi_object_tracker/tracker/model/normal_vehicle_tracker.hpp index 6ab7e63bce167..b7810d2471416 100644 --- a/perception/multi_object_tracker/include/multi_object_tracker/tracker/model/normal_vehicle_tracker.hpp +++ b/perception/multi_object_tracker/include/multi_object_tracker/tracker/model/normal_vehicle_tracker.hpp @@ -61,7 +61,8 @@ class NormalVehicleTracker : public Tracker public: NormalVehicleTracker( const rclcpp::Time & time, const autoware_auto_perception_msgs::msg::DetectedObject & object, - const geometry_msgs::msg::Transform & self_transform); + const geometry_msgs::msg::Transform & self_transform, const size_t channel_size, + const uint & channel_index); bool predict(const rclcpp::Time & time) override; bool measure( diff --git a/perception/multi_object_tracker/include/multi_object_tracker/tracker/model/pass_through_tracker.hpp b/perception/multi_object_tracker/include/multi_object_tracker/tracker/model/pass_through_tracker.hpp index 48a8702d182a0..0f892098a373a 100644 --- a/perception/multi_object_tracker/include/multi_object_tracker/tracker/model/pass_through_tracker.hpp +++ b/perception/multi_object_tracker/include/multi_object_tracker/tracker/model/pass_through_tracker.hpp @@ -34,7 +34,8 @@ class PassThroughTracker : public Tracker public: PassThroughTracker( const rclcpp::Time & time, const autoware_auto_perception_msgs::msg::DetectedObject & object, - const geometry_msgs::msg::Transform & self_transform); + const geometry_msgs::msg::Transform & self_transform, const size_t channel_size, + const uint & channel_index); bool predict(const rclcpp::Time & time) override; bool measure( const autoware_auto_perception_msgs::msg::DetectedObject & object, const rclcpp::Time & time, diff --git a/perception/multi_object_tracker/include/multi_object_tracker/tracker/model/pedestrian_and_bicycle_tracker.hpp b/perception/multi_object_tracker/include/multi_object_tracker/tracker/model/pedestrian_and_bicycle_tracker.hpp index cf6a82088c7b6..490f6d93c6f6a 100644 --- a/perception/multi_object_tracker/include/multi_object_tracker/tracker/model/pedestrian_and_bicycle_tracker.hpp +++ b/perception/multi_object_tracker/include/multi_object_tracker/tracker/model/pedestrian_and_bicycle_tracker.hpp @@ -34,7 +34,8 @@ class PedestrianAndBicycleTracker : public Tracker public: PedestrianAndBicycleTracker( const rclcpp::Time & time, const autoware_auto_perception_msgs::msg::DetectedObject & object, - const geometry_msgs::msg::Transform & self_transform); + const geometry_msgs::msg::Transform & self_transform, const size_t channel_size, + const uint & channel_index); bool predict(const rclcpp::Time & time) override; bool measure( diff --git a/perception/multi_object_tracker/include/multi_object_tracker/tracker/model/pedestrian_tracker.hpp b/perception/multi_object_tracker/include/multi_object_tracker/tracker/model/pedestrian_tracker.hpp index a56250390e34f..72f5a5a002f0f 100644 --- a/perception/multi_object_tracker/include/multi_object_tracker/tracker/model/pedestrian_tracker.hpp +++ b/perception/multi_object_tracker/include/multi_object_tracker/tracker/model/pedestrian_tracker.hpp @@ -64,7 +64,8 @@ class PedestrianTracker : public Tracker public: PedestrianTracker( const rclcpp::Time & time, const autoware_auto_perception_msgs::msg::DetectedObject & object, - const geometry_msgs::msg::Transform & self_transform); + const geometry_msgs::msg::Transform & self_transform, const size_t channel_size, + const uint & channel_index); bool predict(const rclcpp::Time & time) override; bool measure( diff --git a/perception/multi_object_tracker/include/multi_object_tracker/tracker/model/tracker_base.hpp b/perception/multi_object_tracker/include/multi_object_tracker/tracker/model/tracker_base.hpp index ab6a747288d4a..348ba1f5d7383 100644 --- a/perception/multi_object_tracker/include/multi_object_tracker/tracker/model/tracker_base.hpp +++ b/perception/multi_object_tracker/include/multi_object_tracker/tracker/model/tracker_base.hpp @@ -35,33 +35,41 @@ class Tracker { -protected: - unique_identifier_msgs::msg::UUID getUUID() const { return uuid_; } - void setClassification( - const std::vector & classification) - { - classification_ = classification; - } - void updateClassification( - const std::vector & classification); - private: unique_identifier_msgs::msg::UUID uuid_; + + // classification std::vector classification_; + + // existence states int no_measurement_count_; int total_no_measurement_count_; int total_measurement_count_; rclcpp::Time last_update_with_measurement_time_; + std::vector existence_probabilities_; + float total_existence_probability_; public: Tracker( const rclcpp::Time & time, - const std::vector & classification); + const std::vector & classification, + const size_t & channel_size); virtual ~Tracker() {} + + void initializeExistenceProbabilities( + const uint & channel_index, const float & existence_probability); + bool getExistenceProbabilityVector(std::vector & existence_vector) const + { + existence_vector = existence_probabilities_; + return existence_vector.size() > 0; + } bool updateWithMeasurement( const autoware_auto_perception_msgs::msg::DetectedObject & object, - const rclcpp::Time & measurement_time, const geometry_msgs::msg::Transform & self_transform); - bool updateWithoutMeasurement(); + const rclcpp::Time & measurement_time, const geometry_msgs::msg::Transform & self_transform, + const uint & channel_index); + bool updateWithoutMeasurement(const rclcpp::Time & now); + + // classification std::vector getClassification() const { return classification_; @@ -70,6 +78,8 @@ class Tracker { return object_recognition_utils::getHighestProbLabel(classification_); } + + // existence states int getNoMeasurementCount() const { return no_measurement_count_; } int getTotalNoMeasurementCount() const { return total_no_measurement_count_; } int getTotalMeasurementCount() const { return total_measurement_count_; } @@ -77,13 +87,22 @@ class Tracker { return (current_time - last_update_with_measurement_time_).seconds(); } + +protected: + unique_identifier_msgs::msg::UUID getUUID() const { return uuid_; } + void setClassification( + const std::vector & classification) + { + classification_ = classification; + } + void updateClassification( + const std::vector & classification); + + // virtual functions +public: virtual geometry_msgs::msg::PoseWithCovariance getPoseWithCovariance( const rclcpp::Time & time) const; - /* - * Pure virtual function - */ - protected: virtual bool measure( const autoware_auto_perception_msgs::msg::DetectedObject & object, const rclcpp::Time & time, diff --git a/perception/multi_object_tracker/include/multi_object_tracker/tracker/model/unknown_tracker.hpp b/perception/multi_object_tracker/include/multi_object_tracker/tracker/model/unknown_tracker.hpp index 73bf7849e13d8..3ef58773b408f 100644 --- a/perception/multi_object_tracker/include/multi_object_tracker/tracker/model/unknown_tracker.hpp +++ b/perception/multi_object_tracker/include/multi_object_tracker/tracker/model/unknown_tracker.hpp @@ -49,7 +49,8 @@ class UnknownTracker : public Tracker public: UnknownTracker( const rclcpp::Time & time, const autoware_auto_perception_msgs::msg::DetectedObject & object, - const geometry_msgs::msg::Transform & self_transform); + const geometry_msgs::msg::Transform & self_transform, const size_t channel_size, + const uint & channel_index); bool predict(const rclcpp::Time & time) override; bool measure( diff --git a/perception/multi_object_tracker/include/multi_object_tracker/utils/utils.hpp b/perception/multi_object_tracker/include/multi_object_tracker/utils/utils.hpp index b19b0ba7ee10c..5842246bc1313 100644 --- a/perception/multi_object_tracker/include/multi_object_tracker/utils/utils.hpp +++ b/perception/multi_object_tracker/include/multi_object_tracker/utils/utils.hpp @@ -295,40 +295,43 @@ inline void calcAnchorPointOffset( * @param input_object: input convex hull objects * @param output_object: output bounding box objects */ -inline void convertConvexHullToBoundingBox( +inline bool convertConvexHullToBoundingBox( const autoware_auto_perception_msgs::msg::DetectedObject & input_object, autoware_auto_perception_msgs::msg::DetectedObject & output_object) { - const Eigen::Vector2d center{ - input_object.kinematics.pose_with_covariance.pose.position.x, - input_object.kinematics.pose_with_covariance.pose.position.y}; - const auto yaw = tf2::getYaw(input_object.kinematics.pose_with_covariance.pose.orientation); - const Eigen::Matrix2d R_inv = Eigen::Rotation2Dd(-yaw).toRotationMatrix(); + // check footprint size + if (input_object.shape.footprint.points.size() < 3) { + return false; + } + // look for bounding box boundary double max_x = 0; double max_y = 0; double min_x = 0; double min_y = 0; double max_z = 0; - - // look for bounding box boundary for (size_t i = 0; i < input_object.shape.footprint.points.size(); ++i) { - Eigen::Vector2d vertex{ - input_object.shape.footprint.points.at(i).x, input_object.shape.footprint.points.at(i).y}; - - const Eigen::Vector2d local_vertex = R_inv * (vertex - center); - max_x = std::max(max_x, local_vertex.x()); - max_y = std::max(max_y, local_vertex.y()); - min_x = std::min(min_x, local_vertex.x()); - min_y = std::min(min_y, local_vertex.y()); - - max_z = std::max(max_z, static_cast(input_object.shape.footprint.points.at(i).z)); + const double foot_x = input_object.shape.footprint.points.at(i).x; + const double foot_y = input_object.shape.footprint.points.at(i).y; + const double foot_z = input_object.shape.footprint.points.at(i).z; + max_x = std::max(max_x, foot_x); + max_y = std::max(max_y, foot_y); + min_x = std::min(min_x, foot_x); + min_y = std::min(min_y, foot_y); + max_z = std::max(max_z, foot_z); } // calc bounding box state const double length = max_x - min_x; const double width = max_y - min_y; const double height = max_z; + + // calc new center + const Eigen::Vector2d center{ + input_object.kinematics.pose_with_covariance.pose.position.x, + input_object.kinematics.pose_with_covariance.pose.position.y}; + const auto yaw = tf2::getYaw(input_object.kinematics.pose_with_covariance.pose.orientation); + const Eigen::Matrix2d R_inv = Eigen::Rotation2Dd(-yaw).toRotationMatrix(); const Eigen::Vector2d new_local_center{(max_x + min_x) / 2.0, (max_y + min_y) / 2.0}; const Eigen::Vector2d new_center = center + R_inv.transpose() * new_local_center; @@ -341,6 +344,8 @@ inline void convertConvexHullToBoundingBox( output_object.shape.dimensions.x = length; output_object.shape.dimensions.y = width; output_object.shape.dimensions.z = height; + + return true; } inline bool getMeasurementYaw( diff --git a/perception/multi_object_tracker/launch/multi_object_tracker.launch.xml b/perception/multi_object_tracker/launch/multi_object_tracker.launch.xml index dcd080b851c20..b00ccd8fa623e 100644 --- a/perception/multi_object_tracker/launch/multi_object_tracker.launch.xml +++ b/perception/multi_object_tracker/launch/multi_object_tracker.launch.xml @@ -1,14 +1,16 @@ - + + - - + + + diff --git a/perception/multi_object_tracker/package.xml b/perception/multi_object_tracker/package.xml index 4033f85eafb8a..1e4a90d8cc08c 100644 --- a/perception/multi_object_tracker/package.xml +++ b/perception/multi_object_tracker/package.xml @@ -16,8 +16,8 @@ autoware_auto_perception_msgs diagnostic_updater eigen + glog kalman_filter - libgoogle-glog-dev mussp object_recognition_utils rclcpp diff --git a/perception/multi_object_tracker/src/debugger/debug_object.cpp b/perception/multi_object_tracker/src/debugger/debug_object.cpp new file mode 100644 index 0000000000000..ebbeab43a155b --- /dev/null +++ b/perception/multi_object_tracker/src/debugger/debug_object.cpp @@ -0,0 +1,389 @@ +// Copyright 2024 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "multi_object_tracker/debugger/debug_object.hpp" + +#include "autoware_auto_perception_msgs/msg/tracked_object.hpp" + +#include + +#include +#include +#include +#include + +namespace +{ +std::string uuidToString(const unique_identifier_msgs::msg::UUID & uuid_msg) +{ + std::stringstream ss; + for (auto i = 0; i < 16; ++i) { + ss << std::hex << std::setfill('0') << std::setw(2) << +uuid_msg.uuid[i]; + } + return ss.str(); +} + +boost::uuids::uuid uuidToBoostUuid(const unique_identifier_msgs::msg::UUID & uuid_msg) +{ + const std::string uuid_str = uuidToString(uuid_msg); + boost::uuids::string_generator gen; + boost::uuids::uuid uuid = gen(uuid_str); + return uuid; +} + +int32_t uuidToInt(const boost::uuids::uuid & uuid) +{ + return boost::uuids::hash_value(uuid); +} +} // namespace + +TrackerObjectDebugger::TrackerObjectDebugger(std::string frame_id) +{ + // set frame id + frame_id_ = frame_id; + + // initialize markers + markers_.markers.clear(); + current_ids_.clear(); + previous_ids_.clear(); + message_time_ = rclcpp::Time(0, 0); +} + +void TrackerObjectDebugger::reset() +{ + // maintain previous ids + previous_ids_.clear(); + previous_ids_ = current_ids_; + current_ids_.clear(); + + // clear markers, object data list + object_data_list_.clear(); + markers_.markers.clear(); +} + +void TrackerObjectDebugger::collect( + const rclcpp::Time & message_time, const std::list> & list_tracker, + const uint & channel_index, + const autoware_auto_perception_msgs::msg::DetectedObjects & detected_objects, + const std::unordered_map & direct_assignment, + const std::unordered_map & /*reverse_assignment*/) +{ + if (!is_initialized_) is_initialized_ = true; + + message_time_ = message_time; + + int tracker_idx = 0; + for (auto tracker_itr = list_tracker.begin(); tracker_itr != list_tracker.end(); + ++tracker_itr, ++tracker_idx) { + ObjectData object_data; + object_data.time = message_time; + object_data.channel_id = channel_index; + + autoware_auto_perception_msgs::msg::TrackedObject tracked_object; + (*(tracker_itr))->getTrackedObject(message_time, tracked_object); + object_data.uuid = uuidToBoostUuid(tracked_object.object_id); + object_data.uuid_int = uuidToInt(object_data.uuid); + object_data.uuid_str = uuidToString(tracked_object.object_id); + + // tracker + bool is_associated = false; + geometry_msgs::msg::Point tracker_point, detection_point; + tracker_point.x = tracked_object.kinematics.pose_with_covariance.pose.position.x; + tracker_point.y = tracked_object.kinematics.pose_with_covariance.pose.position.y; + tracker_point.z = tracked_object.kinematics.pose_with_covariance.pose.position.z; + + // detection + if (direct_assignment.find(tracker_idx) != direct_assignment.end()) { + const auto & associated_object = + detected_objects.objects.at(direct_assignment.find(tracker_idx)->second); + detection_point.x = associated_object.kinematics.pose_with_covariance.pose.position.x; + detection_point.y = associated_object.kinematics.pose_with_covariance.pose.position.y; + detection_point.z = associated_object.kinematics.pose_with_covariance.pose.position.z; + is_associated = true; + } else { + detection_point.x = tracker_point.x; + detection_point.y = tracker_point.y; + detection_point.z = tracker_point.z; + } + + object_data.tracker_point = tracker_point; + object_data.detection_point = detection_point; + object_data.is_associated = is_associated; + + // existence probabilities + std::vector existence_vector; + (*(tracker_itr))->getExistenceProbabilityVector(existence_vector); + object_data.existence_vector = existence_vector; + + object_data_list_.push_back(object_data); + } +} + +void TrackerObjectDebugger::process() +{ + if (!is_initialized_) return; + + // update uuid_int + for (auto & object_data : object_data_list_) { + current_ids_.insert(object_data.uuid_int); + } + + // sort by uuid, collect the same uuid object_data as a group, and loop for the groups + object_data_groups_.clear(); + { + // sort by uuid + std::sort( + object_data_list_.begin(), object_data_list_.end(), + [](const ObjectData & a, const ObjectData & b) { return a.uuid < b.uuid; }); + + // collect the same uuid object_data as a group + std::vector object_data_group; + boost::uuids::uuid previous_uuid = object_data_list_.front().uuid; + for (const auto & object_data : object_data_list_) { + // if the uuid is different, push the group and clear the group + if (object_data.uuid != previous_uuid) { + // push the group + object_data_groups_.push_back(object_data_group); + object_data_group.clear(); + previous_uuid = object_data.uuid; + } + // push the object_data to the group + object_data_group.push_back(object_data); + } + // push the last group + object_data_groups_.push_back(object_data_group); + } +} + +void TrackerObjectDebugger::draw( + const std::vector> object_data_groups, + visualization_msgs::msg::MarkerArray & marker_array) const +{ + // initialize markers + marker_array.markers.clear(); + + constexpr int PALETTE_SIZE = 16; + constexpr std::array, PALETTE_SIZE> color_array = {{ + {{0.0, 0.0, 1.0}}, // Blue + {{0.0, 1.0, 0.0}}, // Green + {{1.0, 1.0, 0.0}}, // Yellow + {{1.0, 0.0, 0.0}}, // Red + {{0.0, 1.0, 1.0}}, // Cyan + {{1.0, 0.0, 1.0}}, // Magenta + {{1.0, 0.64, 0.0}}, // Orange + {{0.75, 1.0, 0.0}}, // Lime + {{0.0, 0.5, 0.5}}, // Teal + {{0.5, 0.0, 0.5}}, // Purple + {{1.0, 0.75, 0.8}}, // Pink + {{0.65, 0.17, 0.17}}, // Brown + {{0.5, 0.0, 0.0}}, // Maroon + {{0.5, 0.5, 0.0}}, // Olive + {{0.0, 0.0, 0.5}}, // Navy + {{0.5, 0.5, 0.5}} // Grey + }}; + + for (const auto & object_data_group : object_data_groups) { + if (object_data_group.empty()) continue; + const auto object_data_front = object_data_group.front(); + const auto object_data_back = object_data_group.back(); + + // set a reference marker + visualization_msgs::msg::Marker marker; + marker.header.frame_id = frame_id_; + marker.header.stamp = object_data_front.time; + marker.id = object_data_front.uuid_int; + marker.pose.position.x = 0; + marker.pose.position.y = 0; + marker.pose.position.z = 0; + marker.color.a = 1.0; + marker.color.r = 1.0; + marker.color.g = 1.0; + marker.color.b = 1.0; // white + marker.lifetime = rclcpp::Duration::from_seconds(0); + + // get marker - existence_probability + visualization_msgs::msg::Marker text_marker; + text_marker = marker; + text_marker.ns = "existence_probability"; + text_marker.type = visualization_msgs::msg::Marker::TEXT_VIEW_FACING; + text_marker.action = visualization_msgs::msg::Marker::ADD; + text_marker.pose.position.z += 1.8; + text_marker.scale.z = 0.5; + text_marker.pose.position.x = object_data_front.tracker_point.x; + text_marker.pose.position.y = object_data_front.tracker_point.y; + text_marker.pose.position.z = object_data_front.tracker_point.z + 2.5; + + // show the last existence probability + // print existence probability with channel name + // probability to text, two digits of percentage + std::string existence_probability_text = ""; + for (size_t i = 0; i < object_data_front.existence_vector.size(); ++i) { + std::stringstream stream; + stream << std::fixed << std::setprecision(0) << object_data_front.existence_vector[i] * 100; + existence_probability_text += channel_names_[i] + stream.str() + ":"; + } + existence_probability_text = + existence_probability_text.substr(0, existence_probability_text.size() - 1); + existence_probability_text += "\n" + object_data_front.uuid_str.substr(0, 6); + + text_marker.text = existence_probability_text; + marker_array.markers.push_back(text_marker); + + // loop for each object_data in the group + // boxed to tracker positions + // and link lines to the detected positions + const double marker_height_offset = 1.0; + const double assign_height_offset = 0.6; + + visualization_msgs::msg::Marker marker_track_boxes; + marker_track_boxes = marker; + marker_track_boxes.ns = "track_boxes"; + marker_track_boxes.type = visualization_msgs::msg::Marker::CUBE_LIST; + marker_track_boxes.action = visualization_msgs::msg::Marker::ADD; + marker_track_boxes.scale.x = 0.4; + marker_track_boxes.scale.y = 0.4; + marker_track_boxes.scale.z = 0.4; + + // make detected object markers per channel + std::vector marker_detect_boxes_per_channel; + std::vector marker_detect_lines_per_channel; + + for (size_t idx = 0; idx < channel_names_.size(); idx++) { + // get color - by channel index + std_msgs::msg::ColorRGBA color; + color.a = 1.0; + color.r = color_array[idx % PALETTE_SIZE][0]; + color.g = color_array[idx % PALETTE_SIZE][1]; + color.b = color_array[idx % PALETTE_SIZE][2]; + + visualization_msgs::msg::Marker marker_detect_boxes; + marker_detect_boxes = marker; + marker_detect_boxes.ns = "detect_boxes_" + channel_names_[idx]; + marker_detect_boxes.type = visualization_msgs::msg::Marker::CUBE_LIST; + marker_detect_boxes.action = visualization_msgs::msg::Marker::ADD; + marker_detect_boxes.scale.x = 0.2; + marker_detect_boxes.scale.y = 0.2; + marker_detect_boxes.scale.z = 0.2; + marker_detect_boxes.color = color; + marker_detect_boxes_per_channel.push_back(marker_detect_boxes); + + visualization_msgs::msg::Marker marker_lines; + marker_lines = marker; + marker_lines.ns = "association_lines_" + channel_names_[idx]; + marker_lines.type = visualization_msgs::msg::Marker::LINE_LIST; + marker_lines.action = visualization_msgs::msg::Marker::ADD; + marker_lines.scale.x = 0.15; + marker_lines.points.clear(); + marker_lines.color = color; + marker_detect_lines_per_channel.push_back(marker_lines); + } + + bool is_any_associated = false; + + for (const auto & object_data : object_data_group) { + int channel_id = object_data.channel_id; + + // set box + geometry_msgs::msg::Point box_point; + box_point.x = object_data.tracker_point.x; + box_point.y = object_data.tracker_point.y; + box_point.z = object_data.tracker_point.z + marker_height_offset; + marker_track_boxes.points.push_back(box_point); + + // set association marker, if exists + if (!object_data.is_associated) continue; + is_any_associated = true; + + // associated object box + visualization_msgs::msg::Marker & marker_detect_boxes = + marker_detect_boxes_per_channel.at(channel_id); + box_point.x = object_data.detection_point.x; + box_point.y = object_data.detection_point.y; + box_point.z = object_data.detection_point.z + marker_height_offset + assign_height_offset; + marker_detect_boxes.points.push_back(box_point); + + // association line + visualization_msgs::msg::Marker & marker_lines = + marker_detect_lines_per_channel.at(channel_id); + geometry_msgs::msg::Point line_point; + line_point.x = object_data.tracker_point.x; + line_point.y = object_data.tracker_point.y; + line_point.z = object_data.tracker_point.z + marker_height_offset; + marker_lines.points.push_back(line_point); + line_point.x = object_data.detection_point.x; + line_point.y = object_data.detection_point.y; + line_point.z = object_data.detection_point.z + marker_height_offset + assign_height_offset; + marker_lines.points.push_back(line_point); + } + + // add markers + marker_array.markers.push_back(marker_track_boxes); + if (is_any_associated) { + for (size_t i = 0; i < channel_names_.size(); i++) { + if (marker_detect_boxes_per_channel.at(i).points.empty()) continue; + marker_array.markers.push_back(marker_detect_boxes_per_channel.at(i)); + } + for (size_t i = 0; i < channel_names_.size(); i++) { + if (marker_detect_lines_per_channel.at(i).points.empty()) continue; + marker_array.markers.push_back(marker_detect_lines_per_channel.at(i)); + } + } else { + for (size_t i = 0; i < channel_names_.size(); i++) { + marker_detect_boxes_per_channel.at(i).action = visualization_msgs::msg::Marker::DELETE; + marker_array.markers.push_back(marker_detect_boxes_per_channel.at(i)); + } + for (size_t i = 0; i < channel_names_.size(); i++) { + marker_detect_lines_per_channel.at(i).action = visualization_msgs::msg::Marker::DELETE; + marker_array.markers.push_back(marker_detect_lines_per_channel.at(i)); + } + } + } + + return; +} + +void TrackerObjectDebugger::getMessage(visualization_msgs::msg::MarkerArray & marker_array) const +{ + if (!is_initialized_) return; + + // draw markers + draw(object_data_groups_, marker_array); + + // remove old markers + for (const auto & previous_id : previous_ids_) { + if (current_ids_.find(previous_id) != current_ids_.end()) { + continue; + } + + visualization_msgs::msg::Marker delete_marker; + delete_marker.header.frame_id = frame_id_; + delete_marker.header.stamp = message_time_; + delete_marker.ns = "existence_probability"; + delete_marker.id = previous_id; + delete_marker.action = visualization_msgs::msg::Marker::DELETE; + marker_array.markers.push_back(delete_marker); + + delete_marker.ns = "track_boxes"; + marker_array.markers.push_back(delete_marker); + + for (size_t idx = 0; idx < channel_names_.size(); idx++) { + delete_marker.ns = "detect_boxes_" + channel_names_[idx]; + marker_array.markers.push_back(delete_marker); + delete_marker.ns = "association_lines_" + channel_names_[idx]; + marker_array.markers.push_back(delete_marker); + } + } + + return; +} diff --git a/perception/multi_object_tracker/src/debugger.cpp b/perception/multi_object_tracker/src/debugger/debugger.cpp similarity index 79% rename from perception/multi_object_tracker/src/debugger.cpp rename to perception/multi_object_tracker/src/debugger/debugger.cpp index b5632a13e78fc..afb0ecdc22996 100644 --- a/perception/multi_object_tracker/src/debugger.cpp +++ b/perception/multi_object_tracker/src/debugger/debugger.cpp @@ -1,4 +1,4 @@ -// Copyright 2024 Tier IV, Inc. +// Copyright 2024 TIER IV, Inc. // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. @@ -11,14 +11,13 @@ // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. // See the License for the specific language governing permissions and // limitations under the License. -// -// -#include "multi_object_tracker/debugger.hpp" +#include "multi_object_tracker/debugger/debugger.hpp" #include -TrackerDebugger::TrackerDebugger(rclcpp::Node & node) : diagnostic_updater_(&node), node_(node) +TrackerDebugger::TrackerDebugger(rclcpp::Node & node, const std::string & frame_id) +: node_(node), diagnostic_updater_(&node), object_debugger_(frame_id) { // declare debug parameters to decide whether to publish debug topics loadParameters(); @@ -31,7 +30,12 @@ TrackerDebugger::TrackerDebugger(rclcpp::Node & node) : diagnostic_updater_(&nod if (debug_settings_.publish_tentative_objects) { debug_tentative_objects_pub_ = node_.create_publisher( - "debug/tentative_objects", rclcpp::QoS{1}); + "~/debug/tentative_objects", rclcpp::QoS{1}); + } + + if (debug_settings_.publish_debug_markers) { + debug_objects_markers_pub_ = node_.create_publisher( + "~/debug/objects_markers", rclcpp::QoS{1}); } // initialize timestamps @@ -46,14 +50,6 @@ TrackerDebugger::TrackerDebugger(rclcpp::Node & node) : diagnostic_updater_(&nod setupDiagnostics(); } -void TrackerDebugger::setupDiagnostics() -{ - diagnostic_updater_.setHardwareID(node_.get_name()); - diagnostic_updater_.add( - "Perception delay check from original header stamp", this, &TrackerDebugger::checkDelay); - diagnostic_updater_.setPeriod(0.1); -} - void TrackerDebugger::loadParameters() { try { @@ -61,6 +57,7 @@ void TrackerDebugger::loadParameters() node_.declare_parameter("publish_processing_time"); debug_settings_.publish_tentative_objects = node_.declare_parameter("publish_tentative_objects"); + debug_settings_.publish_debug_markers = node_.declare_parameter("publish_debug_markers"); debug_settings_.diagnostics_warn_delay = node_.declare_parameter("diagnostics_warn_delay"); debug_settings_.diagnostics_error_delay = @@ -69,11 +66,32 @@ void TrackerDebugger::loadParameters() RCLCPP_WARN(node_.get_logger(), "Failed to declare parameter: %s", e.what()); debug_settings_.publish_processing_time = false; debug_settings_.publish_tentative_objects = false; + debug_settings_.publish_debug_markers = false; debug_settings_.diagnostics_warn_delay = 0.5; debug_settings_.diagnostics_error_delay = 1.0; } } +void TrackerDebugger::setupDiagnostics() +{ + diagnostic_updater_.setHardwareID(node_.get_name()); + diagnostic_updater_.add( + "Perception delay check from original header stamp", this, &TrackerDebugger::checkDelay); + diagnostic_updater_.setPeriod(0.1); +} + +// Object publishing functions + +void TrackerDebugger::publishTentativeObjects( + const autoware_auto_perception_msgs::msg::TrackedObjects & tentative_objects) const +{ + if (debug_settings_.publish_tentative_objects) { + debug_tentative_objects_pub_->publish(tentative_objects); + } +} + +// Time measurement functions + void TrackerDebugger::checkDelay(diagnostic_updater::DiagnosticStatusWrapper & stat) { if (!is_initialized_) { @@ -97,14 +115,6 @@ void TrackerDebugger::checkDelay(diagnostic_updater::DiagnosticStatusWrapper & s stat.add("Detection delay", delay); } -void TrackerDebugger::publishTentativeObjects( - const autoware_auto_perception_msgs::msg::TrackedObjects & tentative_objects) const -{ - if (debug_settings_.publish_tentative_objects) { - debug_tentative_objects_pub_->publish(tentative_objects); - } -} - void TrackerDebugger::startMeasurementTime( const rclcpp::Time & now, const rclcpp::Time & measurement_header_stamp) { @@ -167,3 +177,33 @@ void TrackerDebugger::endPublishTime(const rclcpp::Time & now, const rclcpp::Tim } stamp_publish_output_ = now; } + +void TrackerDebugger::collectObjectInfo( + const rclcpp::Time & message_time, const std::list> & list_tracker, + const uint & channel_index, + const autoware_auto_perception_msgs::msg::DetectedObjects & detected_objects, + const std::unordered_map & direct_assignment, + const std::unordered_map & reverse_assignment) +{ + if (!debug_settings_.publish_debug_markers) return; + object_debugger_.collect( + message_time, list_tracker, channel_index, detected_objects, direct_assignment, + reverse_assignment); +} + +// ObjectDebugger +void TrackerDebugger::publishObjectsMarkers() +{ + if (!debug_settings_.publish_debug_markers) return; + + visualization_msgs::msg::MarkerArray marker_message; + // process data + object_debugger_.process(); + + // publish markers + object_debugger_.getMessage(marker_message); + debug_objects_markers_pub_->publish(marker_message); + + // reset object data + object_debugger_.reset(); +} diff --git a/perception/multi_object_tracker/src/multi_object_tracker_core.cpp b/perception/multi_object_tracker/src/multi_object_tracker_core.cpp index d80a21813b28b..54c23d39f5357 100644 --- a/perception/multi_object_tracker/src/multi_object_tracker_core.cpp +++ b/perception/multi_object_tracker/src/multi_object_tracker_core.cpp @@ -36,8 +36,6 @@ #include #include -using Label = autoware_auto_perception_msgs::msg::ObjectClassification; - namespace { // Function to get the transform between two frames @@ -67,24 +65,85 @@ boost::optional getTransformAnonymous( } // namespace +namespace multi_object_tracker +{ +using Label = autoware_auto_perception_msgs::msg::ObjectClassification; + MultiObjectTracker::MultiObjectTracker(const rclcpp::NodeOptions & node_options) : rclcpp::Node("multi_object_tracker", node_options), tf_buffer_(this->get_clock()), tf_listener_(tf_buffer_), last_published_time_(this->now()) { - // Create publishers and subscribers - detected_object_sub_ = create_subscription( - "input", rclcpp::QoS{1}, - std::bind(&MultiObjectTracker::onMeasurement, this, std::placeholders::_1)); - tracked_objects_pub_ = - create_publisher("output", rclcpp::QoS{1}); + // glog for debug + if (!google::IsGoogleLoggingInitialized()) { + google::InitGoogleLogging("multi_object_tracker"); + google::InstallFailureSignalHandler(); + } // Get parameters double publish_rate = declare_parameter("publish_rate"); // [hz] world_frame_id_ = declare_parameter("world_frame_id"); bool enable_delay_compensation{declare_parameter("enable_delay_compensation")}; + declare_parameter("selected_input_channels", std::vector()); + std::vector selected_input_channels = + get_parameter("selected_input_channels").as_string_array(); + + // ROS interface - Publisher + tracked_objects_pub_ = create_publisher("output", rclcpp::QoS{1}); + + // ROS interface - Input channels + // Get input channels + std::vector input_topic_names; + std::vector input_names_long; + std::vector input_names_short; + std::vector input_is_spawn_enabled; + + if (selected_input_channels.empty()) { + RCLCPP_ERROR(this->get_logger(), "No input topics are specified."); + return; + } + + for (const auto & selected_input_channel : selected_input_channels) { + // required parameters, no default value + const std::string input_topic_name = + declare_parameter("input_channels." + selected_input_channel + ".topic"); + input_topic_names.push_back(input_topic_name); + + // required parameter, but can set a default value + const bool spawn_enabled = declare_parameter( + "input_channels." + selected_input_channel + ".can_spawn_new_tracker", true); + input_is_spawn_enabled.push_back(spawn_enabled); + + // optional parameters + const std::string default_name = selected_input_channel; + const std::string name_long = declare_parameter( + "input_channels." + selected_input_channel + ".optional.name", default_name); + input_names_long.push_back(name_long); + + const std::string default_name_short = selected_input_channel.substr(0, 3); + const std::string name_short = declare_parameter( + "input_channels." + selected_input_channel + ".optional.short_name", default_name_short); + input_names_short.push_back(name_short); + } + + input_channel_size_ = input_topic_names.size(); + input_channels_.resize(input_channel_size_); + + for (size_t i = 0; i < input_channel_size_; i++) { + input_channels_[i].input_topic = input_topic_names[i]; + input_channels_[i].long_name = input_names_long[i]; + input_channels_[i].short_name = input_names_short[i]; + input_channels_[i].is_spawn_enabled = input_is_spawn_enabled[i]; + } + + // Initialize input manager + input_manager_ = std::make_unique(*this); + input_manager_->init(input_channels_); // Initialize input manager, set subscriptions + input_manager_->setTriggerFunction( + std::bind(&MultiObjectTracker::onTrigger, this)); // Set trigger function + // Create tf timer auto cti = std::make_shared( this->get_node_base_interface(), this->get_node_timers_interface()); @@ -119,7 +178,7 @@ MultiObjectTracker::MultiObjectTracker(const rclcpp::NodeOptions & node_options) tracker_map.insert(std::make_pair( Label::MOTORCYCLE, this->declare_parameter("motorcycle_tracker"))); - processor_ = std::make_unique(tracker_map); + processor_ = std::make_unique(tracker_map, input_channel_size_); } // Data association initialization @@ -138,35 +197,96 @@ MultiObjectTracker::MultiObjectTracker(const rclcpp::NodeOptions & node_options) } // Debugger - debugger_ = std::make_unique(*this); + debugger_ = std::make_unique(*this, world_frame_id_); + debugger_->setObjectChannels(input_names_short); published_time_publisher_ = std::make_unique(this); } -void MultiObjectTracker::onMeasurement( - const autoware_auto_perception_msgs::msg::DetectedObjects::ConstSharedPtr input_objects_msg) +void MultiObjectTracker::onTrigger() +{ + const rclcpp::Time current_time = this->now(); + // get objects from the input manager and run process + std::vector> objects_list; + const bool is_objects_ready = input_manager_->getObjects(current_time, objects_list); + if (!is_objects_ready) return; + + onMessage(objects_list); + const rclcpp::Time latest_time(objects_list.back().second.header.stamp); + + // Publish objects if the timer is not enabled + if (publish_timer_ == nullptr) { + // if the delay compensation is disabled, publish the objects in the latest time + publish(latest_time); + } else { + // Publish if the next publish time is close + const double minimum_publish_interval = publisher_period_ * 0.70; // 70% of the period + if ((current_time - last_published_time_).seconds() > minimum_publish_interval) { + checkAndPublish(current_time); + } + } +} + +void MultiObjectTracker::onTimer() +{ + const rclcpp::Time current_time = this->now(); + + // Check the publish period + const auto elapsed_time = (current_time - last_published_time_).seconds(); + // If the elapsed time is over the period, publish objects with prediction + constexpr double maximum_latency_ratio = 1.11; // 11% margin + const double maximum_publish_latency = publisher_period_ * maximum_latency_ratio; + if (elapsed_time < maximum_publish_latency) return; + + // get objects from the input manager and run process + ObjectsList objects_list; + const bool is_objects_ready = input_manager_->getObjects(current_time, objects_list); + if (is_objects_ready) { + onMessage(objects_list); + } + + // Publish + checkAndPublish(current_time); +} + +void MultiObjectTracker::onMessage(const ObjectsList & objects_list) +{ + const rclcpp::Time current_time = this->now(); + const rclcpp::Time oldest_time(objects_list.front().second.header.stamp); + + // process start + debugger_->startMeasurementTime(this->now(), oldest_time); + // run process for each DetectedObjects + for (const auto & objects_data : objects_list) { + runProcess(objects_data.second, objects_data.first); + } + // process end + debugger_->endMeasurementTime(this->now()); +} + +void MultiObjectTracker::runProcess( + const DetectedObjects & input_objects_msg, const uint & channel_index) { // Get the time of the measurement const rclcpp::Time measurement_time = - rclcpp::Time(input_objects_msg->header.stamp, this->now().get_clock_type()); + rclcpp::Time(input_objects_msg.header.stamp, this->now().get_clock_type()); - /* keep the latest input stamp and check transform*/ - debugger_->startMeasurementTime(this->now(), measurement_time); + // Get the transform of the self frame const auto self_transform = getTransformAnonymous(tf_buffer_, "base_link", world_frame_id_, measurement_time); if (!self_transform) { return; } - /* transform to world coordinate */ - autoware_auto_perception_msgs::msg::DetectedObjects transformed_objects; + + // Transform the objects to the world frame + DetectedObjects transformed_objects; if (!object_recognition_utils::transformObjects( - *input_objects_msg, world_frame_id_, tf_buffer_, transformed_objects)) { + input_objects_msg, world_frame_id_, tf_buffer_, transformed_objects)) { return; } - ////// Tracker Process - //// Associate and update /* prediction */ processor_->predict(measurement_time); + /* object association */ std::unordered_map direct_assignment, reverse_assignment; { @@ -176,40 +296,22 @@ void MultiObjectTracker::onMeasurement( Eigen::MatrixXd score_matrix = data_association_->calcScoreMatrix( detected_objects, list_tracker); // row : tracker, col : measurement data_association_->assign(score_matrix, direct_assignment, reverse_assignment); + + // Collect debug information - tracker list, existence probabilities, association results + debugger_->collectObjectInfo( + measurement_time, processor_->getListTracker(), channel_index, transformed_objects, + direct_assignment, reverse_assignment); } + /* tracker update */ - processor_->update(transformed_objects, *self_transform, direct_assignment); + processor_->update(transformed_objects, *self_transform, direct_assignment, channel_index); + /* tracker pruning */ processor_->prune(measurement_time); - /* spawn new tracker */ - processor_->spawn(transformed_objects, *self_transform, reverse_assignment); - - // debugger time - debugger_->endMeasurementTime(this->now()); - - // Publish objects if the timer is not enabled - if (publish_timer_ == nullptr) { - // Publish if the delay compensation is disabled - publish(measurement_time); - } else { - // Publish if the next publish time is close - const double minimum_publish_interval = publisher_period_ * 0.70; // 70% of the period - if ((this->now() - last_published_time_).seconds() > minimum_publish_interval) { - checkAndPublish(this->now()); - } - } -} -void MultiObjectTracker::onTimer() -{ - const rclcpp::Time current_time = this->now(); - // Check the publish period - const auto elapsed_time = (current_time - last_published_time_).seconds(); - // If the elapsed time is over the period, publish objects with prediction - constexpr double maximum_latency_ratio = 1.11; // 11% margin - const double maximum_publish_latency = publisher_period_ * maximum_latency_ratio; - if (elapsed_time > maximum_publish_latency) { - checkAndPublish(current_time); + /* spawn new tracker */ + if (input_manager_->isChannelSpawnEnabled(channel_index)) { + processor_->spawn(transformed_objects, *self_transform, reverse_assignment, channel_index); } } @@ -234,7 +336,7 @@ void MultiObjectTracker::publish(const rclcpp::Time & time) const return; } // Create output msg - autoware_auto_perception_msgs::msg::TrackedObjects output_msg, tentative_objects_msg; + TrackedObjects output_msg, tentative_objects_msg; output_msg.header.frame_id = world_frame_id_; processor_->getTrackedObjects(time, output_msg); @@ -246,11 +348,14 @@ void MultiObjectTracker::publish(const rclcpp::Time & time) const debugger_->endPublishTime(this->now(), time); if (debugger_->shouldPublishTentativeObjects()) { - autoware_auto_perception_msgs::msg::TrackedObjects tentative_objects_msg; + TrackedObjects tentative_objects_msg; tentative_objects_msg.header.frame_id = world_frame_id_; processor_->getTentativeObjects(time, tentative_objects_msg); debugger_->publishTentativeObjects(tentative_objects_msg); } + debugger_->publishObjectsMarkers(); } -RCLCPP_COMPONENTS_REGISTER_NODE(MultiObjectTracker) +} // namespace multi_object_tracker + +RCLCPP_COMPONENTS_REGISTER_NODE(multi_object_tracker::MultiObjectTracker) diff --git a/perception/multi_object_tracker/src/multi_object_tracker_node.cpp b/perception/multi_object_tracker/src/multi_object_tracker_node.cpp deleted file mode 100644 index f20aedf16efef..0000000000000 --- a/perception/multi_object_tracker/src/multi_object_tracker_node.cpp +++ /dev/null @@ -1,34 +0,0 @@ -// Copyright 2024 TIER IV, inc. -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. - -#include "multi_object_tracker/multi_object_tracker_core.hpp" - -#include - -#include - -int main(int argc, char ** argv) -{ - google::InitGoogleLogging(argv[0]); // NOLINT - google::InstallFailureSignalHandler(); - - rclcpp::init(argc, argv); - rclcpp::NodeOptions options; - auto multi_object_tracker = std::make_shared(options); - rclcpp::executors::SingleThreadedExecutor exec; - exec.add_node(multi_object_tracker); - exec.spin(); - rclcpp::shutdown(); - return 0; -} diff --git a/perception/multi_object_tracker/src/processor/input_manager.cpp b/perception/multi_object_tracker/src/processor/input_manager.cpp new file mode 100644 index 0000000000000..44bdf09046ccd --- /dev/null +++ b/perception/multi_object_tracker/src/processor/input_manager.cpp @@ -0,0 +1,371 @@ +// Copyright 2024 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "multi_object_tracker/processor/input_manager.hpp" + +#include + +namespace multi_object_tracker +{ +/////////////////////////// +/////// InputStream /////// +/////////////////////////// +InputStream::InputStream(rclcpp::Node & node, uint & index) : node_(node), index_(index) +{ +} + +void InputStream::init(const InputChannel & input_channel) +{ + // Initialize parameters + input_topic_ = input_channel.input_topic; + long_name_ = input_channel.long_name; + short_name_ = input_channel.short_name; + is_spawn_enabled_ = input_channel.is_spawn_enabled; + + // Initialize queue + objects_que_.clear(); + + // Initialize latency statistics + latency_mean_ = 0.2; // [s] (initial value) + latency_var_ = 0.0; + interval_mean_ = 0.0; // [s] (initial value) + interval_var_ = 0.0; + + latest_measurement_time_ = node_.now(); + latest_message_time_ = node_.now(); +} + +bool InputStream::getTimestamps( + rclcpp::Time & latest_measurement_time, rclcpp::Time & latest_message_time) const +{ + if (!isTimeInitialized()) { + return false; + } + latest_measurement_time = latest_measurement_time_; + latest_message_time = latest_message_time_; + return true; +} + +void InputStream::onMessage( + const autoware_auto_perception_msgs::msg::DetectedObjects::ConstSharedPtr msg) +{ + const DetectedObjects objects = *msg; + objects_que_.push_back(objects); + if (objects_que_.size() > que_size_) { + objects_que_.pop_front(); + } + + // update the timing statistics + rclcpp::Time now = node_.now(); + rclcpp::Time objects_time(objects.header.stamp); + updateTimingStatus(now, objects_time); + + // trigger the function if it is set + if (func_trigger_) { + func_trigger_(index_); + } +} + +void InputStream::updateTimingStatus(const rclcpp::Time & now, const rclcpp::Time & objects_time) +{ + // Define constants + constexpr int SKIP_COUNT = 4; // Skip the initial messages + constexpr int INITIALIZATION_COUNT = 16; // Initialization process count + + // Update latency statistics + // skip initial messages for the latency statistics + if (initial_count_ > SKIP_COUNT) { + const double latency = (now - objects_time).seconds(); + if (initial_count_ < INITIALIZATION_COUNT) { + // set higher gain for the initial messages + constexpr double initial_gain = 0.5; + latency_mean_ = (1.0 - initial_gain) * latency_mean_ + initial_gain * latency; + } else { + constexpr double gain = 0.05; + latency_mean_ = (1.0 - gain) * latency_mean_ + gain * latency; + const double latency_delta = latency - latency_mean_; + latency_var_ = (1.0 - gain) * latency_var_ + gain * latency_delta * latency_delta; + } + } + + // Calculate interval, Update interval statistics + if (initial_count_ > SKIP_COUNT) { + const double interval = (now - latest_message_time_).seconds(); + if (interval < 0.0) { + RCLCPP_WARN( + node_.get_logger(), + "InputManager::updateTimingStatus %s: Negative interval detected, now: %f, " + "latest_message_time_: %f", + long_name_.c_str(), now.seconds(), latest_message_time_.seconds()); + } else if (initial_count_ < INITIALIZATION_COUNT) { + // Initialization + constexpr double initial_gain = 0.5; + interval_mean_ = (1.0 - initial_gain) * interval_mean_ + initial_gain * interval; + } else { + // The interval is considered regular if it is within 0.5 and 1.5 times the mean interval + bool update_statistics = interval > 0.5 * interval_mean_ && interval < 1.5 * interval_mean_; + if (update_statistics) { + constexpr double gain = 0.05; + interval_mean_ = (1.0 - gain) * interval_mean_ + gain * interval; + const double interval_delta = interval - interval_mean_; + interval_var_ = (1.0 - gain) * interval_var_ + gain * interval_delta * interval_delta; + } + } + } + + // Update time + latest_message_time_ = now; + constexpr double delay_threshold = 3.0; // [s] + if (objects_time < latest_measurement_time_ - rclcpp::Duration::from_seconds(delay_threshold)) { + // If the given object time is older than the latest measurement time by more than the + // threshold, the system time may have been reset. Reset the latest measurement time + latest_measurement_time_ = objects_time; + RCLCPP_WARN( + node_.get_logger(), + "InputManager::updateTimingStatus %s: Resetting the latest measurement time to %f", + long_name_.c_str(), objects_time.seconds()); + } else { + // Update only if the object time is newer than the latest measurement time + latest_measurement_time_ = + latest_measurement_time_ < objects_time ? objects_time : latest_measurement_time_; + } + + // Update the initial count + if (initial_count_ < INITIALIZATION_COUNT) { + initial_count_++; + } +} + +void InputStream::getObjectsOlderThan( + const rclcpp::Time & object_latest_time, const rclcpp::Time & object_oldest_time, + ObjectsList & objects_list) +{ + if (object_latest_time < object_oldest_time) { + RCLCPP_WARN( + node_.get_logger(), + "InputManager::getObjectsOlderThan %s: Invalid object time interval, object_latest_time: %f, " + "object_oldest_time: %f", + long_name_.c_str(), object_latest_time.seconds(), object_oldest_time.seconds()); + return; + } + + for (const auto & object : objects_que_) { + const rclcpp::Time object_time = rclcpp::Time(object.header.stamp); + + // remove objects older than the specified duration + if (object_time < object_oldest_time) { + objects_que_.pop_front(); + continue; + } + + // Add the object if the object is older than the specified latest time + if (object_latest_time >= object_time) { + std::pair object_pair(index_, object); + objects_list.push_back(object_pair); + // remove the object from the queue + objects_que_.pop_front(); + } + } +} + +//////////////////////////// +/////// InputManager /////// +//////////////////////////// +InputManager::InputManager(rclcpp::Node & node) : node_(node) +{ + latest_exported_object_time_ = node_.now() - rclcpp::Duration::from_seconds(3.0); +} + +void InputManager::init(const std::vector & input_channels) +{ + // Check input sizes + input_size_ = input_channels.size(); + if (input_size_ == 0) { + RCLCPP_ERROR(node_.get_logger(), "InputManager::init No input streams"); + return; + } + + // Initialize input streams + sub_objects_array_.resize(input_size_); + bool is_any_spawn_enabled = false; + for (size_t i = 0; i < input_size_; i++) { + uint index(i); + InputStream input_stream(node_, index); + input_stream.init(input_channels[i]); + input_stream.setTriggerFunction( + std::bind(&InputManager::onTrigger, this, std::placeholders::_1)); + input_streams_.push_back(std::make_shared(input_stream)); + is_any_spawn_enabled |= input_streams_.at(i)->isSpawnEnabled(); + + // Set subscription + RCLCPP_INFO( + node_.get_logger(), "InputManager::init Initializing %s input stream from %s", + input_channels[i].long_name.c_str(), input_channels[i].input_topic.c_str()); + std::function func = + std::bind(&InputStream::onMessage, input_streams_.at(i), std::placeholders::_1); + sub_objects_array_.at(i) = node_.create_subscription( + input_channels[i].input_topic, rclcpp::QoS{1}, func); + } + + // Check if any spawn enabled input streams + if (!is_any_spawn_enabled) { + RCLCPP_ERROR(node_.get_logger(), "InputManager::init No spawn enabled input streams"); + return; + } + is_initialized_ = true; +} + +void InputManager::onTrigger(const uint & index) const +{ + // when the target stream triggers, call the trigger function + if (index == target_stream_idx_ && func_trigger_) { + func_trigger_(); + } +} + +void InputManager::getObjectTimeInterval( + const rclcpp::Time & now, rclcpp::Time & object_latest_time, + rclcpp::Time & object_oldest_time) const +{ + // Set the object time interval + + // 1. object_latest_time + // The object_latest_time is the current time minus the target stream latency + object_latest_time = + now - rclcpp::Duration::from_seconds(target_stream_latency_ - 0.1 * target_stream_latency_std_); + + // check the target stream can be included in the object time interval + if (input_streams_.at(target_stream_idx_)->isTimeInitialized()) { + const rclcpp::Time latest_measurement_time = + input_streams_.at(target_stream_idx_)->getLatestMeasurementTime(); + // if the object_latest_time is older than the latest measurement time, set it to the latest + // object time + object_latest_time = + object_latest_time < latest_measurement_time ? latest_measurement_time : object_latest_time; + } + + // 2. object_oldest_time + // The default object_oldest_time is to have a 1-second time interval + const rclcpp::Time object_oldest_time_default = + object_latest_time - rclcpp::Duration::from_seconds(1.0); + if (latest_exported_object_time_ < object_oldest_time_default) { + // if the latest exported object time is too old, set to the default + object_oldest_time = object_oldest_time_default; + } else if (latest_exported_object_time_ > object_latest_time) { + // if the latest exported object time is newer than the object_latest_time, set to the default + object_oldest_time = object_oldest_time_default; + } else { + // The object_oldest_time is the latest exported object time + object_oldest_time = latest_exported_object_time_; + } +} + +void InputManager::optimizeTimings() +{ + double max_latency_mean = 0.0; + uint selected_stream_idx = 0; + double selected_stream_latency_std = 0.1; + double selected_stream_interval = 0.1; + double selected_stream_interval_std = 0.01; + + { + // ANALYSIS: Get the streams statistics + // select the stream that has the maximum latency + double latency_mean, latency_var, interval_mean, interval_var; + for (const auto & input_stream : input_streams_) { + if (!input_stream->isTimeInitialized()) continue; + input_stream->getTimeStatistics(latency_mean, latency_var, interval_mean, interval_var); + if (latency_mean > max_latency_mean) { + max_latency_mean = latency_mean; + selected_stream_idx = input_stream->getIndex(); + selected_stream_latency_std = std::sqrt(latency_var); + selected_stream_interval = interval_mean; + selected_stream_interval_std = std::sqrt(interval_var); + } + } + } + + // Set the target stream index, which has the maximum latency + // trigger will be called next time + // if no stream is initialized, the target stream index will be 0 and wait for the initialization + target_stream_idx_ = selected_stream_idx; + target_stream_latency_ = max_latency_mean; + target_stream_latency_std_ = selected_stream_latency_std; + target_stream_interval_ = selected_stream_interval; + target_stream_interval_std_ = selected_stream_interval_std; +} + +bool InputManager::getObjects(const rclcpp::Time & now, ObjectsList & objects_list) +{ + if (!is_initialized_) { + RCLCPP_INFO(node_.get_logger(), "InputManager::getObjects Input manager is not initialized"); + return false; + } + + // Clear the objects + objects_list.clear(); + + // Get the time interval for the objects + rclcpp::Time object_latest_time; + rclcpp::Time object_oldest_time; + getObjectTimeInterval(now, object_latest_time, object_oldest_time); + + // Optimize the target stream, latency, and its band + // The result will be used for the next time, so the optimization is after getting the time + // interval + optimizeTimings(); + + // Get objects from all input streams + // adds up to the objects vector for efficient processing + for (const auto & input_stream : input_streams_) { + input_stream->getObjectsOlderThan(object_latest_time, object_oldest_time, objects_list); + } + + // Sort objects by timestamp + std::sort( + objects_list.begin(), objects_list.end(), + [](const std::pair & a, const std::pair & b) { + return (rclcpp::Time(a.second.header.stamp) - rclcpp::Time(b.second.header.stamp)).seconds() < + 0; + }); + + // Update the latest exported object time + bool is_any_object = !objects_list.empty(); + if (is_any_object) { + latest_exported_object_time_ = rclcpp::Time(objects_list.back().second.header.stamp); + } else { + // check time jump back + if (now < latest_exported_object_time_) { + RCLCPP_WARN( + node_.get_logger(), + "InputManager::getObjects Detected jump back in time, now: %f, " + "latest_exported_object_time_: %f", + now.seconds(), latest_exported_object_time_.seconds()); + // reset the latest exported object time to 3 seconds ago, + const rclcpp::Time latest_exported_object_time_default = + now - rclcpp::Duration::from_seconds(3.0); + latest_exported_object_time_ = latest_exported_object_time_default; + } else { + // No objects in the object list, no update for the latest exported object time + RCLCPP_DEBUG( + node_.get_logger(), + "InputManager::getObjects No objects in the object list, object time band from %f to %f", + (now - object_oldest_time).seconds(), (now - object_latest_time).seconds()); + } + } + + return is_any_object; +} + +} // namespace multi_object_tracker diff --git a/perception/multi_object_tracker/src/processor/processor.cpp b/perception/multi_object_tracker/src/processor/processor.cpp index 0d56e16b431e9..08df50fa66993 100644 --- a/perception/multi_object_tracker/src/processor/processor.cpp +++ b/perception/multi_object_tracker/src/processor/processor.cpp @@ -1,4 +1,4 @@ -// Copyright 2024 Tier IV, Inc. +// Copyright 2024 TIER IV, Inc. // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. @@ -11,8 +11,6 @@ // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. // See the License for the specific language governing permissions and // limitations under the License. -// -// #include "multi_object_tracker/processor/processor.hpp" @@ -25,8 +23,9 @@ using Label = autoware_auto_perception_msgs::msg::ObjectClassification; -TrackerProcessor::TrackerProcessor(const std::map & tracker_map) -: tracker_map_(tracker_map) +TrackerProcessor::TrackerProcessor( + const std::map & tracker_map, const size_t & channel_size) +: tracker_map_(tracker_map), channel_size_(channel_size) { // Set tracker lifetime parameters max_elapsed_time_ = 1.0; // [s] @@ -50,7 +49,7 @@ void TrackerProcessor::predict(const rclcpp::Time & time) void TrackerProcessor::update( const autoware_auto_perception_msgs::msg::DetectedObjects & detected_objects, const geometry_msgs::msg::Transform & self_transform, - const std::unordered_map & direct_assignment) + const std::unordered_map & direct_assignment, const uint & channel_index) { int tracker_idx = 0; const auto & time = detected_objects.header.stamp; @@ -59,9 +58,10 @@ void TrackerProcessor::update( if (direct_assignment.find(tracker_idx) != direct_assignment.end()) { // found const auto & associated_object = detected_objects.objects.at(direct_assignment.find(tracker_idx)->second); - (*(tracker_itr))->updateWithMeasurement(associated_object, time, self_transform); + (*(tracker_itr)) + ->updateWithMeasurement(associated_object, time, self_transform, channel_index); } else { // not found - (*(tracker_itr))->updateWithoutMeasurement(); + (*(tracker_itr))->updateWithoutMeasurement(time); } } } @@ -69,7 +69,7 @@ void TrackerProcessor::update( void TrackerProcessor::spawn( const autoware_auto_perception_msgs::msg::DetectedObjects & detected_objects, const geometry_msgs::msg::Transform & self_transform, - const std::unordered_map & reverse_assignment) + const std::unordered_map & reverse_assignment, const uint & channel_index) { const auto & time = detected_objects.header.stamp; for (size_t i = 0; i < detected_objects.objects.size(); ++i) { @@ -77,34 +77,43 @@ void TrackerProcessor::spawn( continue; } const auto & new_object = detected_objects.objects.at(i); - std::shared_ptr tracker = createNewTracker(new_object, time, self_transform); + std::shared_ptr tracker = + createNewTracker(new_object, time, self_transform, channel_index); if (tracker) list_tracker_.push_back(tracker); } } std::shared_ptr TrackerProcessor::createNewTracker( const autoware_auto_perception_msgs::msg::DetectedObject & object, const rclcpp::Time & time, - const geometry_msgs::msg::Transform & self_transform) const + const geometry_msgs::msg::Transform & self_transform, const uint & channel_index) const { const std::uint8_t label = object_recognition_utils::getHighestProbLabel(object.classification); if (tracker_map_.count(label) != 0) { const auto tracker = tracker_map_.at(label); if (tracker == "bicycle_tracker") - return std::make_shared(time, object, self_transform); + return std::make_shared( + time, object, self_transform, channel_size_, channel_index); if (tracker == "big_vehicle_tracker") - return std::make_shared(time, object, self_transform); + return std::make_shared( + time, object, self_transform, channel_size_, channel_index); if (tracker == "multi_vehicle_tracker") - return std::make_shared(time, object, self_transform); + return std::make_shared( + time, object, self_transform, channel_size_, channel_index); if (tracker == "normal_vehicle_tracker") - return std::make_shared(time, object, self_transform); + return std::make_shared( + time, object, self_transform, channel_size_, channel_index); if (tracker == "pass_through_tracker") - return std::make_shared(time, object, self_transform); + return std::make_shared( + time, object, self_transform, channel_size_, channel_index); if (tracker == "pedestrian_and_bicycle_tracker") - return std::make_shared(time, object, self_transform); + return std::make_shared( + time, object, self_transform, channel_size_, channel_index); if (tracker == "pedestrian_tracker") - return std::make_shared(time, object, self_transform); + return std::make_shared( + time, object, self_transform, channel_size_, channel_index); } - return std::make_shared(time, object, self_transform); + return std::make_shared( + time, object, self_transform, channel_size_, channel_index); } void TrackerProcessor::prune(const rclcpp::Time & time) diff --git a/perception/multi_object_tracker/src/tracker/model/bicycle_tracker.cpp b/perception/multi_object_tracker/src/tracker/model/bicycle_tracker.cpp index 12c340516c6c1..fdc93419b326a 100644 --- a/perception/multi_object_tracker/src/tracker/model/bicycle_tracker.cpp +++ b/perception/multi_object_tracker/src/tracker/model/bicycle_tracker.cpp @@ -44,13 +44,17 @@ using Label = autoware_auto_perception_msgs::msg::ObjectClassification; BicycleTracker::BicycleTracker( const rclcpp::Time & time, const autoware_auto_perception_msgs::msg::DetectedObject & object, - const geometry_msgs::msg::Transform & /*self_transform*/) -: Tracker(time, object.classification), + const geometry_msgs::msg::Transform & /*self_transform*/, const size_t channel_size, + const uint & channel_index) +: Tracker(time, object.classification, channel_size), logger_(rclcpp::get_logger("BicycleTracker")), z_(object.kinematics.pose_with_covariance.pose.position.z) { object_ = object; + // initialize existence probability + initializeExistenceProbabilities(channel_index, object.existence_probability); + // Initialize parameters // measurement noise covariance: detector uncertainty + ego vehicle motion uncertainty double r_stddev_x = 0.5; // in vehicle coordinate [m] @@ -67,10 +71,12 @@ BicycleTracker::BicycleTracker( } else { bounding_box_ = {1.0, 0.5, 1.7}; } - // set minimum size - bounding_box_.length = std::max(bounding_box_.length, 0.3); - bounding_box_.width = std::max(bounding_box_.width, 0.3); - bounding_box_.height = std::max(bounding_box_.height, 0.3); + // set maximum and minimum size + constexpr double max_size = 5.0; + constexpr double min_size = 0.3; + bounding_box_.length = std::min(std::max(bounding_box_.length, min_size), max_size); + bounding_box_.width = std::min(std::max(bounding_box_.width, min_size), max_size); + bounding_box_.height = std::min(std::max(bounding_box_.height, min_size), max_size); // Set motion model parameters { @@ -121,9 +127,9 @@ BicycleTracker::BicycleTracker( constexpr double p0_stddev_y = 0.5; // in object coordinate [m] constexpr double p0_stddev_yaw = tier4_autoware_utils::deg2rad(25); // in map coordinate [rad] - constexpr double p0_cov_x = std::pow(p0_stddev_x, 2.0); - constexpr double p0_cov_y = std::pow(p0_stddev_y, 2.0); - constexpr double p0_cov_yaw = std::pow(p0_stddev_yaw, 2.0); + constexpr double p0_cov_x = p0_stddev_x * p0_stddev_x; + constexpr double p0_cov_y = p0_stddev_y * p0_stddev_y; + constexpr double p0_cov_yaw = p0_stddev_yaw * p0_stddev_yaw; const double cos_yaw = std::cos(yaw); const double sin_yaw = std::sin(yaw); @@ -168,7 +174,9 @@ autoware_auto_perception_msgs::msg::DetectedObject BicycleTracker::getUpdatingOb // OBJECT SHAPE MODEL // convert to bounding box if input is convex shape if (object.shape.type != autoware_auto_perception_msgs::msg::Shape::BOUNDING_BOX) { - utils::convertConvexHullToBoundingBox(object, updating_object); + if (!utils::convertConvexHullToBoundingBox(object, updating_object)) { + updating_object = object; + } } else { updating_object = object; } @@ -222,22 +230,38 @@ bool BicycleTracker::measureWithPose( bool BicycleTracker::measureWithShape( const autoware_auto_perception_msgs::msg::DetectedObject & object) { + autoware_auto_perception_msgs::msg::DetectedObject bbox_object; if (!object.shape.type == autoware_auto_perception_msgs::msg::Shape::BOUNDING_BOX) { // do not update shape if the input is not a bounding box - return true; + return false; } - constexpr double gain = 0.1; - constexpr double gain_inv = 1.0 - gain; + // check bound box size abnormality + constexpr double size_max = 30.0; // [m] + constexpr double size_min = 0.1; // [m] + if ( + bbox_object.shape.dimensions.x > size_max || bbox_object.shape.dimensions.y > size_max || + bbox_object.shape.dimensions.z > size_max) { + return false; + } else if ( + bbox_object.shape.dimensions.x < size_min || bbox_object.shape.dimensions.y < size_min || + bbox_object.shape.dimensions.z < size_min) { + return false; + } // update object size - bounding_box_.length = gain_inv * bounding_box_.length + gain * object.shape.dimensions.x; - bounding_box_.width = gain_inv * bounding_box_.width + gain * object.shape.dimensions.y; - bounding_box_.height = gain_inv * bounding_box_.height + gain * object.shape.dimensions.z; - // set minimum size - bounding_box_.length = std::max(bounding_box_.length, 0.3); - bounding_box_.width = std::max(bounding_box_.width, 0.3); - bounding_box_.height = std::max(bounding_box_.height, 0.3); + constexpr double gain = 0.1; + constexpr double gain_inv = 1.0 - gain; + bounding_box_.length = gain_inv * bounding_box_.length + gain * bbox_object.shape.dimensions.x; + bounding_box_.width = gain_inv * bounding_box_.width + gain * bbox_object.shape.dimensions.y; + bounding_box_.height = gain_inv * bounding_box_.height + gain * bbox_object.shape.dimensions.z; + + // set maximum and minimum size + constexpr double max_size = 5.0; + constexpr double min_size = 0.3; + bounding_box_.length = std::min(std::max(bounding_box_.length, min_size), max_size); + bounding_box_.width = std::min(std::max(bounding_box_.width, min_size), max_size); + bounding_box_.height = std::min(std::max(bounding_box_.height, min_size), max_size); // update motion model motion_model_.updateExtendedState(bounding_box_.length); diff --git a/perception/multi_object_tracker/src/tracker/model/big_vehicle_tracker.cpp b/perception/multi_object_tracker/src/tracker/model/big_vehicle_tracker.cpp index 3c73b9f19cfbb..5e3ba8d614e7e 100644 --- a/perception/multi_object_tracker/src/tracker/model/big_vehicle_tracker.cpp +++ b/perception/multi_object_tracker/src/tracker/model/big_vehicle_tracker.cpp @@ -44,14 +44,18 @@ using Label = autoware_auto_perception_msgs::msg::ObjectClassification; BigVehicleTracker::BigVehicleTracker( const rclcpp::Time & time, const autoware_auto_perception_msgs::msg::DetectedObject & object, - const geometry_msgs::msg::Transform & self_transform) -: Tracker(time, object.classification), + const geometry_msgs::msg::Transform & self_transform, const size_t channel_size, + const uint & channel_index) +: Tracker(time, object.classification, channel_size), logger_(rclcpp::get_logger("BigVehicleTracker")), z_(object.kinematics.pose_with_covariance.pose.position.z), tracking_offset_(Eigen::Vector2d::Zero()) { object_ = object; + // initialize existence probability + initializeExistenceProbabilities(channel_index, object.existence_probability); + // Initialize parameters // measurement noise covariance: detector uncertainty + ego vehicle motion uncertainty float r_stddev_x = 0.5; // in vehicle coordinate [m] @@ -75,16 +79,24 @@ BigVehicleTracker::BigVehicleTracker( last_input_bounding_box_ = bounding_box_; } else { autoware_auto_perception_msgs::msg::DetectedObject bbox_object; - utils::convertConvexHullToBoundingBox(object, bbox_object); - bounding_box_ = { - bbox_object.shape.dimensions.x, bbox_object.shape.dimensions.y, - bbox_object.shape.dimensions.z}; + if (!utils::convertConvexHullToBoundingBox(object, bbox_object)) { + RCLCPP_WARN( + logger_, + "BigVehicleTracker::BigVehicleTracker: Failed to convert convex hull to bounding box."); + bounding_box_ = {6.0, 2.0, 2.0}; // default value + } else { + bounding_box_ = { + bbox_object.shape.dimensions.x, bbox_object.shape.dimensions.y, + bbox_object.shape.dimensions.z}; + } last_input_bounding_box_ = bounding_box_; } - // set minimum size - bounding_box_.length = std::max(bounding_box_.length, 0.3); - bounding_box_.width = std::max(bounding_box_.width, 0.3); - bounding_box_.height = std::max(bounding_box_.height, 0.3); + // set maximum and minimum size + constexpr double max_size = 30.0; + constexpr double min_size = 1.0; + bounding_box_.length = std::min(std::max(bounding_box_.length, min_size), max_size); + bounding_box_.width = std::min(std::max(bounding_box_.width, min_size), max_size); + bounding_box_.height = std::min(std::max(bounding_box_.height, min_size), max_size); // Set motion model parameters { @@ -135,9 +147,9 @@ BigVehicleTracker::BigVehicleTracker( constexpr double p0_stddev_y = 0.5; // in object coordinate [m] constexpr double p0_stddev_yaw = tier4_autoware_utils::deg2rad(25); // in map coordinate [rad] - constexpr double p0_cov_x = std::pow(p0_stddev_x, 2.0); - constexpr double p0_cov_y = std::pow(p0_stddev_y, 2.0); - constexpr double p0_cov_yaw = std::pow(p0_stddev_yaw, 2.0); + constexpr double p0_cov_x = p0_stddev_x * p0_stddev_x; + constexpr double p0_cov_y = p0_stddev_y * p0_stddev_y; + constexpr double p0_cov_yaw = p0_stddev_yaw * p0_stddev_yaw; const double cos_yaw = std::cos(yaw); const double sin_yaw = std::sin(yaw); @@ -191,7 +203,12 @@ autoware_auto_perception_msgs::msg::DetectedObject BigVehicleTracker::getUpdatin // convert to bounding box if input is convex shape autoware_auto_perception_msgs::msg::DetectedObject bbox_object; if (object.shape.type != autoware_auto_perception_msgs::msg::Shape::BOUNDING_BOX) { - utils::convertConvexHullToBoundingBox(object, bbox_object); + if (!utils::convertConvexHullToBoundingBox(object, bbox_object)) { + RCLCPP_WARN( + logger_, + "BigVehicleTracker::getUpdatingObject: Failed to convert convex hull to bounding box."); + bbox_object = object; + } } else { bbox_object = object; } @@ -302,6 +319,20 @@ bool BigVehicleTracker::measureWithPose( bool BigVehicleTracker::measureWithShape( const autoware_auto_perception_msgs::msg::DetectedObject & object) { + if (!object.shape.type == autoware_auto_perception_msgs::msg::Shape::BOUNDING_BOX) { + // do not update shape if the input is not a bounding box + return false; + } + + // check object size abnormality + constexpr double size_max = 40.0; // [m] + constexpr double size_min = 1.0; // [m] + if (object.shape.dimensions.x > size_max || object.shape.dimensions.y > size_max) { + return false; + } else if (object.shape.dimensions.x < size_min || object.shape.dimensions.y < size_min) { + return false; + } + constexpr double gain = 0.1; constexpr double gain_inv = 1.0 - gain; @@ -311,10 +342,13 @@ bool BigVehicleTracker::measureWithShape( bounding_box_.height = gain_inv * bounding_box_.height + gain * object.shape.dimensions.z; last_input_bounding_box_ = { object.shape.dimensions.x, object.shape.dimensions.y, object.shape.dimensions.z}; - // set minimum size - bounding_box_.length = std::max(bounding_box_.length, 0.3); - bounding_box_.width = std::max(bounding_box_.width, 0.3); - bounding_box_.height = std::max(bounding_box_.height, 0.3); + + // set maximum and minimum size + constexpr double max_size = 30.0; + constexpr double min_size = 1.0; + bounding_box_.length = std::min(std::max(bounding_box_.length, min_size), max_size); + bounding_box_.width = std::min(std::max(bounding_box_.width, min_size), max_size); + bounding_box_.height = std::min(std::max(bounding_box_.height, min_size), max_size); // update motion model motion_model_.updateExtendedState(bounding_box_.length); diff --git a/perception/multi_object_tracker/src/tracker/model/multiple_vehicle_tracker.cpp b/perception/multi_object_tracker/src/tracker/model/multiple_vehicle_tracker.cpp index 4f0fb4d7871f2..c925976f65e7e 100644 --- a/perception/multi_object_tracker/src/tracker/model/multiple_vehicle_tracker.cpp +++ b/perception/multi_object_tracker/src/tracker/model/multiple_vehicle_tracker.cpp @@ -22,11 +22,14 @@ using Label = autoware_auto_perception_msgs::msg::ObjectClassification; MultipleVehicleTracker::MultipleVehicleTracker( const rclcpp::Time & time, const autoware_auto_perception_msgs::msg::DetectedObject & object, - const geometry_msgs::msg::Transform & self_transform) -: Tracker(time, object.classification), - normal_vehicle_tracker_(time, object, self_transform), - big_vehicle_tracker_(time, object, self_transform) + const geometry_msgs::msg::Transform & self_transform, const size_t channel_size, + const uint & channel_index) +: Tracker(time, object.classification, channel_size), + normal_vehicle_tracker_(time, object, self_transform, channel_size, channel_index), + big_vehicle_tracker_(time, object, self_transform, channel_size, channel_index) { + // initialize existence probability + initializeExistenceProbabilities(channel_index, object.existence_probability); } bool MultipleVehicleTracker::predict(const rclcpp::Time & time) diff --git a/perception/multi_object_tracker/src/tracker/model/normal_vehicle_tracker.cpp b/perception/multi_object_tracker/src/tracker/model/normal_vehicle_tracker.cpp index 19fc5a2f71122..9907da2105825 100644 --- a/perception/multi_object_tracker/src/tracker/model/normal_vehicle_tracker.cpp +++ b/perception/multi_object_tracker/src/tracker/model/normal_vehicle_tracker.cpp @@ -44,14 +44,18 @@ using Label = autoware_auto_perception_msgs::msg::ObjectClassification; NormalVehicleTracker::NormalVehicleTracker( const rclcpp::Time & time, const autoware_auto_perception_msgs::msg::DetectedObject & object, - const geometry_msgs::msg::Transform & self_transform) -: Tracker(time, object.classification), + const geometry_msgs::msg::Transform & self_transform, const size_t channel_size, + const uint & channel_index) +: Tracker(time, object.classification, channel_size), logger_(rclcpp::get_logger("NormalVehicleTracker")), z_(object.kinematics.pose_with_covariance.pose.position.z), tracking_offset_(Eigen::Vector2d::Zero()) { object_ = object; + // initialize existence probability + initializeExistenceProbabilities(channel_index, object.existence_probability); + // Initialize parameters // measurement noise covariance: detector uncertainty + ego vehicle motion uncertainty float r_stddev_x = 0.5; // in vehicle coordinate [m] @@ -75,16 +79,25 @@ NormalVehicleTracker::NormalVehicleTracker( last_input_bounding_box_ = bounding_box_; } else { autoware_auto_perception_msgs::msg::DetectedObject bbox_object; - utils::convertConvexHullToBoundingBox(object, bbox_object); - bounding_box_ = { - bbox_object.shape.dimensions.x, bbox_object.shape.dimensions.y, - bbox_object.shape.dimensions.z}; + if (!utils::convertConvexHullToBoundingBox(object, bbox_object)) { + RCLCPP_WARN( + logger_, + "NormalVehicleTracker::NormalVehicleTracker: Failed to convert convex hull to bounding " + "box."); + bounding_box_ = {3.0, 2.0, 1.8}; // default value + } else { + bounding_box_ = { + bbox_object.shape.dimensions.x, bbox_object.shape.dimensions.y, + bbox_object.shape.dimensions.z}; + } last_input_bounding_box_ = bounding_box_; } - // set minimum size - bounding_box_.length = std::max(bounding_box_.length, 0.3); - bounding_box_.width = std::max(bounding_box_.width, 0.3); - bounding_box_.height = std::max(bounding_box_.height, 0.3); + // set maximum and minimum size + constexpr double max_size = 20.0; + constexpr double min_size = 1.0; + bounding_box_.length = std::min(std::max(bounding_box_.length, min_size), max_size); + bounding_box_.width = std::min(std::max(bounding_box_.width, min_size), max_size); + bounding_box_.height = std::min(std::max(bounding_box_.height, min_size), max_size); // Set motion model parameters { @@ -135,9 +148,9 @@ NormalVehicleTracker::NormalVehicleTracker( constexpr double p0_stddev_y = 0.3; // in object coordinate [m] constexpr double p0_stddev_yaw = tier4_autoware_utils::deg2rad(25); // in map coordinate [rad] - constexpr double p0_cov_x = std::pow(p0_stddev_x, 2.0); - constexpr double p0_cov_y = std::pow(p0_stddev_y, 2.0); - constexpr double p0_cov_yaw = std::pow(p0_stddev_yaw, 2.0); + constexpr double p0_cov_x = p0_stddev_x * p0_stddev_x; + constexpr double p0_cov_y = p0_stddev_y * p0_stddev_y; + constexpr double p0_cov_yaw = p0_stddev_yaw * p0_stddev_yaw; const double cos_yaw = std::cos(yaw); const double sin_yaw = std::sin(yaw); @@ -191,7 +204,13 @@ autoware_auto_perception_msgs::msg::DetectedObject NormalVehicleTracker::getUpda // convert to bounding box if input is convex shape autoware_auto_perception_msgs::msg::DetectedObject bbox_object; if (object.shape.type != autoware_auto_perception_msgs::msg::Shape::BOUNDING_BOX) { - utils::convertConvexHullToBoundingBox(object, bbox_object); + if (!utils::convertConvexHullToBoundingBox(object, bbox_object)) { + RCLCPP_WARN( + logger_, + "NormalVehicleTracker::getUpdatingObject: Failed to convert convex hull to bounding box."); + bbox_object = object; + } + } else { bbox_object = object; } @@ -302,6 +321,20 @@ bool NormalVehicleTracker::measureWithPose( bool NormalVehicleTracker::measureWithShape( const autoware_auto_perception_msgs::msg::DetectedObject & object) { + if (!object.shape.type == autoware_auto_perception_msgs::msg::Shape::BOUNDING_BOX) { + // do not update shape if the input is not a bounding box + return false; + } + + // check object size abnormality + constexpr double size_max = 30.0; // [m] + constexpr double size_min = 1.0; // [m] + if (object.shape.dimensions.x > size_max || object.shape.dimensions.y > size_max) { + return false; + } else if (object.shape.dimensions.x < size_min || object.shape.dimensions.y < size_min) { + return false; + } + constexpr double gain = 0.1; constexpr double gain_inv = 1.0 - gain; @@ -311,10 +344,13 @@ bool NormalVehicleTracker::measureWithShape( bounding_box_.height = gain_inv * bounding_box_.height + gain * object.shape.dimensions.z; last_input_bounding_box_ = { object.shape.dimensions.x, object.shape.dimensions.y, object.shape.dimensions.z}; - // set minimum size - bounding_box_.length = std::max(bounding_box_.length, 0.3); - bounding_box_.width = std::max(bounding_box_.width, 0.3); - bounding_box_.height = std::max(bounding_box_.height, 0.3); + + // set maximum and minimum size + constexpr double max_size = 20.0; + constexpr double min_size = 1.0; + bounding_box_.length = std::min(std::max(bounding_box_.length, min_size), max_size); + bounding_box_.width = std::min(std::max(bounding_box_.width, min_size), max_size); + bounding_box_.height = std::min(std::max(bounding_box_.height, min_size), max_size); // update motion model motion_model_.updateExtendedState(bounding_box_.length); diff --git a/perception/multi_object_tracker/src/tracker/model/pass_through_tracker.cpp b/perception/multi_object_tracker/src/tracker/model/pass_through_tracker.cpp index 2084ac28e70f0..e1f4383cf11a3 100644 --- a/perception/multi_object_tracker/src/tracker/model/pass_through_tracker.cpp +++ b/perception/multi_object_tracker/src/tracker/model/pass_through_tracker.cpp @@ -37,13 +37,17 @@ PassThroughTracker::PassThroughTracker( const rclcpp::Time & time, const autoware_auto_perception_msgs::msg::DetectedObject & object, - const geometry_msgs::msg::Transform & /*self_transform*/) -: Tracker(time, object.classification), + const geometry_msgs::msg::Transform & /*self_transform*/, const size_t channel_size, + const uint & channel_index) +: Tracker(time, object.classification, channel_size), logger_(rclcpp::get_logger("PassThroughTracker")), last_update_time_(time) { object_ = object; prev_observed_object_ = object; + + // initialize existence probability + initializeExistenceProbabilities(channel_index, object.existence_probability); } bool PassThroughTracker::predict(const rclcpp::Time & time) diff --git a/perception/multi_object_tracker/src/tracker/model/pedestrian_and_bicycle_tracker.cpp b/perception/multi_object_tracker/src/tracker/model/pedestrian_and_bicycle_tracker.cpp index d61a9a02ccd80..e399dade880fa 100644 --- a/perception/multi_object_tracker/src/tracker/model/pedestrian_and_bicycle_tracker.cpp +++ b/perception/multi_object_tracker/src/tracker/model/pedestrian_and_bicycle_tracker.cpp @@ -22,11 +22,14 @@ using Label = autoware_auto_perception_msgs::msg::ObjectClassification; PedestrianAndBicycleTracker::PedestrianAndBicycleTracker( const rclcpp::Time & time, const autoware_auto_perception_msgs::msg::DetectedObject & object, - const geometry_msgs::msg::Transform & self_transform) -: Tracker(time, object.classification), - pedestrian_tracker_(time, object, self_transform), - bicycle_tracker_(time, object, self_transform) + const geometry_msgs::msg::Transform & self_transform, const size_t channel_size, + const uint & channel_index) +: Tracker(time, object.classification, channel_size), + pedestrian_tracker_(time, object, self_transform, channel_size, channel_index), + bicycle_tracker_(time, object, self_transform, channel_size, channel_index) { + // initialize existence probability + initializeExistenceProbabilities(channel_index, object.existence_probability); } bool PedestrianAndBicycleTracker::predict(const rclcpp::Time & time) diff --git a/perception/multi_object_tracker/src/tracker/model/pedestrian_tracker.cpp b/perception/multi_object_tracker/src/tracker/model/pedestrian_tracker.cpp index e1c07388836f6..6891bf6f63500 100644 --- a/perception/multi_object_tracker/src/tracker/model/pedestrian_tracker.cpp +++ b/perception/multi_object_tracker/src/tracker/model/pedestrian_tracker.cpp @@ -44,13 +44,17 @@ using Label = autoware_auto_perception_msgs::msg::ObjectClassification; PedestrianTracker::PedestrianTracker( const rclcpp::Time & time, const autoware_auto_perception_msgs::msg::DetectedObject & object, - const geometry_msgs::msg::Transform & /*self_transform*/) -: Tracker(time, object.classification), + const geometry_msgs::msg::Transform & /*self_transform*/, const size_t channel_size, + const uint & channel_index) +: Tracker(time, object.classification, channel_size), logger_(rclcpp::get_logger("PedestrianTracker")), z_(object.kinematics.pose_with_covariance.pose.position.z) { object_ = object; + // initialize existence probability + initializeExistenceProbabilities(channel_index, object.existence_probability); + // Initialize parameters // measurement noise covariance float r_stddev_x = 0.4; // [m] @@ -62,19 +66,23 @@ PedestrianTracker::PedestrianTracker( // OBJECT SHAPE MODEL bounding_box_ = {0.5, 0.5, 1.7}; - cylinder_ = {0.3, 1.7}; + cylinder_ = {0.5, 1.7}; if (object.shape.type == autoware_auto_perception_msgs::msg::Shape::BOUNDING_BOX) { bounding_box_ = { object.shape.dimensions.x, object.shape.dimensions.y, object.shape.dimensions.z}; } else if (object.shape.type == autoware_auto_perception_msgs::msg::Shape::CYLINDER) { cylinder_ = {object.shape.dimensions.x, object.shape.dimensions.z}; + } else if (object.shape.type == autoware_auto_perception_msgs::msg::Shape::POLYGON) { + // do not update polygon shape } - // set minimum size - bounding_box_.length = std::max(bounding_box_.length, 0.3); - bounding_box_.width = std::max(bounding_box_.width, 0.3); - bounding_box_.height = std::max(bounding_box_.height, 0.3); - cylinder_.width = std::max(cylinder_.width, 0.3); - cylinder_.height = std::max(cylinder_.height, 0.3); + // set maximum and minimum size + constexpr double max_size = 5.0; + constexpr double min_size = 0.3; + bounding_box_.length = std::min(std::max(bounding_box_.length, min_size), max_size); + bounding_box_.width = std::min(std::max(bounding_box_.width, min_size), max_size); + bounding_box_.height = std::min(std::max(bounding_box_.height, min_size), max_size); + cylinder_.width = std::min(std::max(cylinder_.width, min_size), max_size); + cylinder_.height = std::min(std::max(cylinder_.height, min_size), max_size); // Set motion model parameters { @@ -114,9 +122,9 @@ PedestrianTracker::PedestrianTracker( constexpr double p0_stddev_y = 2.0; // in object coordinate [m] constexpr double p0_stddev_yaw = tier4_autoware_utils::deg2rad(1000); // in map coordinate [rad] - constexpr double p0_cov_x = std::pow(p0_stddev_x, 2.0); - constexpr double p0_cov_y = std::pow(p0_stddev_y, 2.0); - constexpr double p0_cov_yaw = std::pow(p0_stddev_yaw, 2.0); + constexpr double p0_cov_x = p0_stddev_x * p0_stddev_x; + constexpr double p0_cov_y = p0_stddev_y * p0_stddev_y; + constexpr double p0_cov_yaw = p0_stddev_yaw * p0_stddev_yaw; const double cos_yaw = std::cos(yaw); const double sin_yaw = std::sin(yaw); @@ -205,22 +213,46 @@ bool PedestrianTracker::measureWithShape( constexpr double gain_inv = 1.0 - gain; if (object.shape.type == autoware_auto_perception_msgs::msg::Shape::BOUNDING_BOX) { + // check bound box size abnormality + constexpr double size_max = 30.0; // [m] + constexpr double size_min = 0.1; // [m] + if ( + object.shape.dimensions.x > size_max || object.shape.dimensions.y > size_max || + object.shape.dimensions.z > size_max) { + return false; + } else if ( + object.shape.dimensions.x < size_min || object.shape.dimensions.y < size_min || + object.shape.dimensions.z < size_min) { + return false; + } + // update bounding box size bounding_box_.length = gain_inv * bounding_box_.length + gain * object.shape.dimensions.x; bounding_box_.width = gain_inv * bounding_box_.width + gain * object.shape.dimensions.y; bounding_box_.height = gain_inv * bounding_box_.height + gain * object.shape.dimensions.z; } else if (object.shape.type == autoware_auto_perception_msgs::msg::Shape::CYLINDER) { + // check cylinder size abnormality + constexpr double size_max = 30.0; // [m] + constexpr double size_min = 0.1; // [m] + if (object.shape.dimensions.x > size_max || object.shape.dimensions.z > size_max) { + return false; + } else if (object.shape.dimensions.x < size_min || object.shape.dimensions.z < size_min) { + return false; + } cylinder_.width = gain_inv * cylinder_.width + gain * object.shape.dimensions.x; cylinder_.height = gain_inv * cylinder_.height + gain * object.shape.dimensions.z; } else { + // do not update polygon shape return false; } - // set minimum size - bounding_box_.length = std::max(bounding_box_.length, 0.3); - bounding_box_.width = std::max(bounding_box_.width, 0.3); - bounding_box_.height = std::max(bounding_box_.height, 0.3); - cylinder_.width = std::max(cylinder_.width, 0.3); - cylinder_.height = std::max(cylinder_.height, 0.3); + // set maximum and minimum size + constexpr double max_size = 5.0; + constexpr double min_size = 0.3; + bounding_box_.length = std::min(std::max(bounding_box_.length, min_size), max_size); + bounding_box_.width = std::min(std::max(bounding_box_.width, min_size), max_size); + bounding_box_.height = std::min(std::max(bounding_box_.height, min_size), max_size); + cylinder_.width = std::min(std::max(cylinder_.width, min_size), max_size); + cylinder_.height = std::min(std::max(cylinder_.height, min_size), max_size); return true; } diff --git a/perception/multi_object_tracker/src/tracker/model/tracker_base.cpp b/perception/multi_object_tracker/src/tracker/model/tracker_base.cpp index a3320ff54afcb..4318da0569721 100644 --- a/perception/multi_object_tracker/src/tracker/model/tracker_base.cpp +++ b/perception/multi_object_tracker/src/tracker/model/tracker_base.cpp @@ -21,9 +21,18 @@ #include #include +namespace +{ +float updateProbability(float prior, float true_positive, float false_positive) +{ + return (prior * true_positive) / (prior * true_positive + (1 - prior) * false_positive); +} +} // namespace + Tracker::Tracker( const rclcpp::Time & time, - const std::vector & classification) + const std::vector & classification, + const size_t & channel_size) : classification_(classification), no_measurement_count_(0), total_no_measurement_count_(0), @@ -34,23 +43,81 @@ Tracker::Tracker( std::mt19937 gen(std::random_device{}()); std::independent_bits_engine bit_eng(gen); std::generate(uuid_.uuid.begin(), uuid_.uuid.end(), bit_eng); + + // Initialize existence probabilities + existence_probabilities_.resize(channel_size, 0.0); +} + +void Tracker::initializeExistenceProbabilities( + const uint & channel_index, const float & existence_probability) +{ + // The initial existence probability is modeled + // since the incoming object's existence probability is not reliable + // existence probability on each channel + constexpr float initial_existence_probability = 0.1; + existence_probabilities_[channel_index] = initial_existence_probability; + + // total existence probability + total_existence_probability_ = existence_probability; } bool Tracker::updateWithMeasurement( const autoware_auto_perception_msgs::msg::DetectedObject & object, - const rclcpp::Time & measurement_time, const geometry_msgs::msg::Transform & self_transform) + const rclcpp::Time & measurement_time, const geometry_msgs::msg::Transform & self_transform, + const uint & channel_index) { - no_measurement_count_ = 0; - ++total_measurement_count_; + // Update existence probability + { + no_measurement_count_ = 0; + ++total_measurement_count_; + + // existence probability on each channel + const double delta_time = (measurement_time - last_update_with_measurement_time_).seconds(); + const double decay_rate = -log(0.5) / 0.3; // 50% decay in 0.3s + constexpr float probability_true_detection = 0.9; + constexpr float probability_false_detection = 0.2; + + // update measured channel probability + existence_probabilities_[channel_index] = updateProbability( + existence_probabilities_[channel_index], probability_true_detection, + probability_false_detection); + // decay other channel probabilities + for (size_t i = 0; i < existence_probabilities_.size(); ++i) { + if (i == channel_index) { + continue; + } + existence_probabilities_[i] *= std::exp(decay_rate * delta_time); + } + + // update total existence probability + const float & existence_probability_from_object = object.existence_probability; + total_existence_probability_ = updateProbability( + total_existence_probability_, existence_probability_from_object, probability_false_detection); + } + last_update_with_measurement_time_ = measurement_time; + + // Update object measure(object, measurement_time, self_transform); + return true; } -bool Tracker::updateWithoutMeasurement() +bool Tracker::updateWithoutMeasurement(const rclcpp::Time & now) { + // Update existence probability ++no_measurement_count_; ++total_no_measurement_count_; + { + // decay existence probability + double const delta_time = (now - last_update_with_measurement_time_).seconds(); + const double decay_rate = -log(0.5) / 0.3; // 50% decay in 0.3s + for (size_t i = 0; i < existence_probabilities_.size(); ++i) { + existence_probabilities_[i] *= std::exp(-decay_rate * delta_time); + } + total_existence_probability_ *= std::exp(-decay_rate * delta_time); + } + return true; } diff --git a/perception/multi_object_tracker/src/tracker/model/unknown_tracker.cpp b/perception/multi_object_tracker/src/tracker/model/unknown_tracker.cpp index 450bb2d94abb6..04638267f7ad8 100644 --- a/perception/multi_object_tracker/src/tracker/model/unknown_tracker.cpp +++ b/perception/multi_object_tracker/src/tracker/model/unknown_tracker.cpp @@ -38,13 +38,17 @@ UnknownTracker::UnknownTracker( const rclcpp::Time & time, const autoware_auto_perception_msgs::msg::DetectedObject & object, - const geometry_msgs::msg::Transform & /*self_transform*/) -: Tracker(time, object.classification), + const geometry_msgs::msg::Transform & /*self_transform*/, const size_t channel_size, + const uint & channel_index) +: Tracker(time, object.classification, channel_size), logger_(rclcpp::get_logger("UnknownTracker")), z_(object.kinematics.pose_with_covariance.pose.position.z) { object_ = object; + // initialize existence probability + initializeExistenceProbabilities(channel_index, object.existence_probability); + // initialize params // measurement noise covariance constexpr double r_stddev_x = 1.0; // [m] diff --git a/perception/object_range_splitter/package.xml b/perception/object_range_splitter/package.xml index d2bb2b401fb2b..1705162ff7faf 100644 --- a/perception/object_range_splitter/package.xml +++ b/perception/object_range_splitter/package.xml @@ -5,6 +5,7 @@ 0.1.0 The object_range_splitter package Yukihiro Saito + Yoshi Ri Apache License 2.0 ament_cmake_auto diff --git a/perception/occupancy_grid_map_outlier_filter/include/occupancy_grid_map_outlier_filter/occupancy_grid_map_outlier_filter_nodelet.hpp b/perception/occupancy_grid_map_outlier_filter/include/occupancy_grid_map_outlier_filter/occupancy_grid_map_outlier_filter_nodelet.hpp index 1d7d01bfbab55..0faa40255a1ca 100644 --- a/perception/occupancy_grid_map_outlier_filter/include/occupancy_grid_map_outlier_filter/occupancy_grid_map_outlier_filter_nodelet.hpp +++ b/perception/occupancy_grid_map_outlier_filter/include/occupancy_grid_map_outlier_filter/occupancy_grid_map_outlier_filter_nodelet.hpp @@ -46,18 +46,16 @@ using geometry_msgs::msg::Pose; using nav_msgs::msg::OccupancyGrid; using sensor_msgs::msg::PointCloud2; using std_msgs::msg::Header; -using PclPointCloud = pcl::PointCloud; class RadiusSearch2dFilter { public: explicit RadiusSearch2dFilter(rclcpp::Node & node); void filter( - const PclPointCloud & input, const Pose & pose, PclPointCloud & output, - PclPointCloud & outlier); + const PointCloud2 & input, const Pose & pose, PointCloud2 & output, PointCloud2 & outlier); void filter( - const PclPointCloud & high_conf_input, const PclPointCloud & low_conf_input, const Pose & pose, - PclPointCloud & output, PclPointCloud & outlier); + const PointCloud2 & high_conf_input, const PointCloud2 & low_conf_input, const Pose & pose, + PointCloud2 & output, PointCloud2 & outlier); private: float search_radius_; @@ -79,22 +77,25 @@ class OccupancyGridMapOutlierFilterComponent : public rclcpp::Node const PointCloud2::ConstSharedPtr & input_pointcloud); void filterByOccupancyGridMap( const OccupancyGrid & occupancy_grid_map, const PointCloud2 & pointcloud, - PclPointCloud & high_confidence, PclPointCloud & low_confidence, PclPointCloud & out_ogm); + PointCloud2 & high_confidence, PointCloud2 & low_confidence, PointCloud2 & out_ogm); void splitPointCloudFrontBack( const PointCloud2::ConstSharedPtr & input_pc, PointCloud2 & front_pc, PointCloud2 & behind_pc); + void initializerPointCloud2(const PointCloud2 & input, PointCloud2 & output); + void finalizePointCloud2(const PointCloud2 & input, PointCloud2 & output); + void concatPointCloud2(PointCloud2 & output, const PointCloud2 & input); private: class Debugger { public: explicit Debugger(OccupancyGridMapOutlierFilterComponent & node); - void publishOutlier(const PclPointCloud & input, const Header & header); - void publishHighConfidence(const PclPointCloud & input, const Header & header); - void publishLowConfidence(const PclPointCloud & input, const Header & header); + void publishOutlier(const PointCloud2 & input, const Header & header); + void publishHighConfidence(const PointCloud2 & input, const Header & header); + void publishLowConfidence(const PointCloud2 & input, const Header & header); private: void transformToBaseLink( - const PclPointCloud & input, const Header & header, PointCloud2 & output); + const PointCloud2 & input, const Header & header, PointCloud2 & output); rclcpp::Publisher::SharedPtr outlier_pointcloud_pub_; rclcpp::Publisher::SharedPtr low_confidence_pointcloud_pub_; rclcpp::Publisher::SharedPtr high_confidence_pointcloud_pub_; diff --git a/perception/occupancy_grid_map_outlier_filter/src/occupancy_grid_map_outlier_filter_nodelet.cpp b/perception/occupancy_grid_map_outlier_filter/src/occupancy_grid_map_outlier_filter_nodelet.cpp index 65eb336269fe4..bbd138030d76f 100644 --- a/perception/occupancy_grid_map_outlier_filter/src/occupancy_grid_map_outlier_filter_nodelet.cpp +++ b/perception/occupancy_grid_map_outlier_filter/src/occupancy_grid_map_outlier_filter_nodelet.cpp @@ -116,19 +116,23 @@ RadiusSearch2dFilter::RadiusSearch2dFilter(rclcpp::Node & node) } void RadiusSearch2dFilter::filter( - const PclPointCloud & input, const Pose & pose, PclPointCloud & output, PclPointCloud & outlier) + const PointCloud2 & input, const Pose & pose, PointCloud2 & output, PointCloud2 & outlier) { - const auto & xyz_cloud = input; pcl::PointCloud::Ptr xy_cloud(new pcl::PointCloud); - xy_cloud->points.resize(xyz_cloud.points.size()); - for (size_t i = 0; i < xyz_cloud.points.size(); ++i) { - xy_cloud->points[i].x = xyz_cloud.points[i].x; - xy_cloud->points[i].y = xyz_cloud.points[i].y; + int point_step = input.point_step; + int x_offset = input.fields[pcl::getFieldIndex(input, "x")].offset; + int y_offset = input.fields[pcl::getFieldIndex(input, "y")].offset; + xy_cloud->points.resize(input.data.size() / point_step); + for (size_t i = 0; i < input.data.size() / point_step; ++i) { + std::memcpy(&xy_cloud->points[i].x, &input.data[i * point_step + x_offset], sizeof(float)); + std::memcpy(&xy_cloud->points[i].y, &input.data[i * point_step + y_offset], sizeof(float)); } std::vector k_indices(xy_cloud->points.size()); std::vector k_distances(xy_cloud->points.size()); kd_tree_->setInputCloud(xy_cloud); + size_t output_size = 0; + size_t outlier_size = 0; for (size_t i = 0; i < xy_cloud->points.size(); ++i) { const float distance = std::hypot(xy_cloud->points[i].x - pose.position.x, xy_cloud->points[i].y - pose.position.y); @@ -139,42 +143,57 @@ void RadiusSearch2dFilter::filter( kd_tree_->radiusSearch(i, search_radius_, k_indices, k_distances, min_points_threshold); if (min_points_threshold <= points_num) { - output.points.push_back(xyz_cloud.points.at(i)); + std::memcpy(&output.data[output_size], &input.data[i * point_step], point_step); + output_size += point_step; } else { - outlier.points.push_back(xyz_cloud.points.at(i)); + std::memcpy(&outlier.data[outlier_size], &input.data[i * point_step], point_step); + outlier_size += point_step; } } + output.data.resize(output_size); + outlier.data.resize(outlier_size); } void RadiusSearch2dFilter::filter( - const PclPointCloud & high_conf_input, const PclPointCloud & low_conf_input, const Pose & pose, - PclPointCloud & output, PclPointCloud & outlier) + const PointCloud2 & high_conf_xyz_cloud, const PointCloud2 & low_conf_xyz_cloud, + const Pose & pose, PointCloud2 & output, PointCloud2 & outlier) { - const auto & high_conf_xyz_cloud = high_conf_input; - const auto & low_conf_xyz_cloud = low_conf_input; // check the limit points number - if (low_conf_xyz_cloud.points.size() > max_filter_points_nb_) { + if (low_conf_xyz_cloud.width > max_filter_points_nb_) { RCLCPP_WARN( rclcpp::get_logger("OccupancyGridMapOutlierFilterComponent"), "Skip outlier filter since too much low_confidence pointcloud!"); return; } - + int x_offset = low_conf_xyz_cloud.fields[pcl::getFieldIndex(low_conf_xyz_cloud, "x")].offset; + int y_offset = low_conf_xyz_cloud.fields[pcl::getFieldIndex(low_conf_xyz_cloud, "y")].offset; + int point_step = low_conf_xyz_cloud.point_step; pcl::PointCloud::Ptr xy_cloud(new pcl::PointCloud); - xy_cloud->points.resize(low_conf_xyz_cloud.points.size() + high_conf_xyz_cloud.points.size()); - for (size_t i = 0; i < low_conf_xyz_cloud.points.size(); ++i) { - xy_cloud->points[i].x = low_conf_xyz_cloud.points[i].x; - xy_cloud->points[i].y = low_conf_xyz_cloud.points[i].y; + xy_cloud->points.resize(low_conf_xyz_cloud.width + high_conf_xyz_cloud.width); + for (size_t i = 0; i < low_conf_xyz_cloud.width; ++i) { + std::memcpy( + &xy_cloud->points[i].x, &low_conf_xyz_cloud.data[i * point_step + x_offset], sizeof(float)); + std::memcpy( + &xy_cloud->points[i].y, &low_conf_xyz_cloud.data[i * point_step + y_offset], sizeof(float)); } - for (size_t i = low_conf_xyz_cloud.points.size(); i < xy_cloud->points.size(); ++i) { - xy_cloud->points[i].x = high_conf_xyz_cloud.points[i - low_conf_xyz_cloud.points.size()].x; - xy_cloud->points[i].y = high_conf_xyz_cloud.points[i - low_conf_xyz_cloud.points.size()].y; + + for (size_t i = low_conf_xyz_cloud.width; i < xy_cloud->points.size(); ++i) { + size_t high_conf_xyz_cloud_index = i - low_conf_xyz_cloud.width; + std::memcpy( + &xy_cloud->points[i].x, + &high_conf_xyz_cloud.data[high_conf_xyz_cloud_index * point_step + x_offset], sizeof(float)); + std::memcpy( + &xy_cloud->points[i].y, + &high_conf_xyz_cloud.data[high_conf_xyz_cloud_index * point_step + y_offset], sizeof(float)); } std::vector k_indices(xy_cloud->points.size()); std::vector k_distances(xy_cloud->points.size()); kd_tree_->setInputCloud(xy_cloud); - for (size_t i = 0; i < low_conf_xyz_cloud.points.size(); ++i) { + + size_t output_size = 0; + size_t outlier_size = 0; + for (size_t i = 0; i < low_conf_xyz_cloud.data.size() / low_conf_xyz_cloud.point_step; ++i) { const float distance = std::hypot(xy_cloud->points[i].x - pose.position.x, xy_cloud->points[i].y - pose.position.y); const int min_points_threshold = std::min( @@ -184,11 +203,20 @@ void RadiusSearch2dFilter::filter( kd_tree_->radiusSearch(i, search_radius_, k_indices, k_distances, min_points_threshold); if (min_points_threshold <= points_num) { - output.points.push_back(low_conf_xyz_cloud.points.at(i)); + std::memcpy( + &output.data[output_size], &low_conf_xyz_cloud.data[i * low_conf_xyz_cloud.point_step], + low_conf_xyz_cloud.point_step); + output_size += low_conf_xyz_cloud.point_step; } else { - outlier.points.push_back(low_conf_xyz_cloud.points.at(i)); + std::memcpy( + &outlier.data[outlier_size], &low_conf_xyz_cloud.data[i * low_conf_xyz_cloud.point_step], + low_conf_xyz_cloud.point_step); + outlier_size += low_conf_xyz_cloud.point_step; } } + + output.data.resize(output_size); + outlier.data.resize(outlier_size); } OccupancyGridMapOutlierFilterComponent::OccupancyGridMapOutlierFilterComponent( @@ -234,61 +262,52 @@ OccupancyGridMapOutlierFilterComponent::OccupancyGridMapOutlierFilterComponent( if (enable_debugger) { debugger_ptr_ = std::make_shared(*this); } - published_time_publisher_ = std::make_unique(this); } void OccupancyGridMapOutlierFilterComponent::splitPointCloudFrontBack( const PointCloud2::ConstSharedPtr & input_pc, PointCloud2 & front_pc, PointCloud2 & behind_pc) { + int x_offset = input_pc->fields[pcl::getFieldIndex(*input_pc, "x")].offset; + int point_step = input_pc->point_step; size_t front_count = 0; size_t behind_count = 0; - for (sensor_msgs::PointCloud2ConstIterator x(*input_pc, "x"); x != x.end(); ++x) { - if (*x < 0.0) { + for (size_t global_offset = 0; global_offset < input_pc->data.size(); + global_offset += point_step) { + float x; + std::memcpy(&x, &input_pc->data[global_offset + x_offset], sizeof(float)); + if (x < 0.0) { + std::memcpy( + &behind_pc.data[behind_count * point_step], &input_pc->data[global_offset], + input_pc->point_step); behind_count++; } else { + std::memcpy( + &front_pc.data[front_count * point_step], &input_pc->data[global_offset], + input_pc->point_step); front_count++; } } - - sensor_msgs::PointCloud2Modifier front_pc_modifier(front_pc); - sensor_msgs::PointCloud2Modifier behind_pc_modifier(behind_pc); - front_pc_modifier.setPointCloud2FieldsByString(1, "xyz"); - behind_pc_modifier.setPointCloud2FieldsByString(1, "xyz"); - front_pc_modifier.resize(front_count); - behind_pc_modifier.resize(behind_count); - - sensor_msgs::PointCloud2Iterator fr_iter(front_pc, "x"); - sensor_msgs::PointCloud2Iterator be_iter(behind_pc, "x"); - - for (sensor_msgs::PointCloud2ConstIterator in_iter(*input_pc, "x"); - in_iter != in_iter.end(); ++in_iter) { - if (*in_iter < 0.0) { - *be_iter = in_iter[0]; - be_iter[1] = in_iter[1]; - be_iter[2] = in_iter[2]; - ++be_iter; - } else { - *fr_iter = in_iter[0]; - fr_iter[1] = in_iter[1]; - fr_iter[2] = in_iter[2]; - ++fr_iter; - } - } - - front_pc.header = input_pc->header; - behind_pc.header = input_pc->header; + front_pc.data.resize(front_count * point_step); + behind_pc.data.resize(behind_count * point_step); } void OccupancyGridMapOutlierFilterComponent::onOccupancyGridMapAndPointCloud2( const OccupancyGrid::ConstSharedPtr & input_ogm, const PointCloud2::ConstSharedPtr & input_pc) { stop_watch_ptr_->toc("processing_time", true); // Transform to occupancy grid map frame - PointCloud2 ogm_frame_pc{}; - PointCloud2 input_front_pc{}; + PointCloud2 input_behind_pc{}; - PointCloud2 ogm_frame_input_behind_pc{}; + PointCloud2 input_front_pc{}; + initializerPointCloud2(*input_pc, input_front_pc); + initializerPointCloud2(*input_pc, input_behind_pc); + // Split pointcloud into front and behind of the vehicle to reduce the calculation cost splitPointCloudFrontBack(input_pc, input_front_pc, input_behind_pc); + finalizePointCloud2(*input_pc, input_front_pc); + finalizePointCloud2(*input_pc, input_behind_pc); + + PointCloud2 ogm_frame_pc{}; + PointCloud2 ogm_frame_input_behind_pc{}; if ( !transformPointcloud(input_front_pc, *tf2_, input_ogm->header.frame_id, ogm_frame_pc) || !transformPointcloud( @@ -296,16 +315,22 @@ void OccupancyGridMapOutlierFilterComponent::onOccupancyGridMapAndPointCloud2( return; } // Occupancy grid map based filter - PclPointCloud high_confidence_pc{}; - PclPointCloud low_confidence_pc{}; - PclPointCloud out_ogm_pc{}; - PclPointCloud ogm_frame_behind_pc; - pcl::fromROSMsg(ogm_frame_input_behind_pc, ogm_frame_behind_pc); + PointCloud2 high_confidence_pc{}; + PointCloud2 low_confidence_pc{}; + PointCloud2 out_ogm_pc{}; + initializerPointCloud2(ogm_frame_pc, high_confidence_pc); + initializerPointCloud2(ogm_frame_pc, low_confidence_pc); + initializerPointCloud2(ogm_frame_pc, out_ogm_pc); + // split front pointcloud into high and low confidence and out of map pointcloud filterByOccupancyGridMap( *input_ogm, ogm_frame_pc, high_confidence_pc, low_confidence_pc, out_ogm_pc); // Apply Radius search 2d filter for low confidence pointcloud - PclPointCloud filtered_low_confidence_pc{}; - PclPointCloud outlier_pc{}; + PointCloud2 filtered_low_confidence_pc{}; + PointCloud2 outlier_pc{}; + initializerPointCloud2(low_confidence_pc, outlier_pc); + initializerPointCloud2(low_confidence_pc, filtered_low_confidence_pc); + initializerPointCloud2(low_confidence_pc, outlier_pc); + if (radius_search_2d_filter_ptr_) { auto pc_frame_pose_stamped = getPoseStamped( *tf2_, input_ogm->header.frame_id, input_pc->header.frame_id, input_ogm->header.stamp); @@ -313,26 +338,29 @@ void OccupancyGridMapOutlierFilterComponent::onOccupancyGridMapAndPointCloud2( high_confidence_pc, low_confidence_pc, pc_frame_pose_stamped.pose, filtered_low_confidence_pc, outlier_pc); } else { - outlier_pc = low_confidence_pc; + std::memcpy(&outlier_pc.data[0], &low_confidence_pc.data[0], low_confidence_pc.data.size()); + outlier_pc.data.resize(low_confidence_pc.data.size()); } // Concatenate high confidence pointcloud from occupancy grid map and non-outlier pointcloud - PclPointCloud concat_pc = - high_confidence_pc + filtered_low_confidence_pc + out_ogm_pc + ogm_frame_behind_pc; - // Convert to ros msg + PointCloud2 ogm_frame_filtered_pc{}; + concatPointCloud2(ogm_frame_filtered_pc, high_confidence_pc); + concatPointCloud2(ogm_frame_filtered_pc, filtered_low_confidence_pc); + concatPointCloud2(ogm_frame_filtered_pc, out_ogm_pc); + concatPointCloud2(ogm_frame_filtered_pc, ogm_frame_input_behind_pc); + finalizePointCloud2(ogm_frame_pc, ogm_frame_filtered_pc); { - PointCloud2 ogm_frame_filtered_pc{}; auto base_link_frame_filtered_pc_ptr = std::make_unique(); - pcl::toROSMsg(concat_pc, ogm_frame_filtered_pc); ogm_frame_filtered_pc.header = ogm_frame_pc.header; if (!transformPointcloud( ogm_frame_filtered_pc, *tf2_, base_link_frame_, *base_link_frame_filtered_pc_ptr)) { return; } pointcloud_pub_->publish(std::move(base_link_frame_filtered_pc_ptr)); - published_time_publisher_->publish_if_subscribed( - pointcloud_pub_, ogm_frame_filtered_pc.header.stamp); } if (debugger_ptr_) { + finalizePointCloud2(ogm_frame_pc, high_confidence_pc); + finalizePointCloud2(ogm_frame_pc, filtered_low_confidence_pc); + finalizePointCloud2(ogm_frame_pc, outlier_pc); debugger_ptr_->publishHighConfidence(high_confidence_pc, ogm_frame_pc.header); debugger_ptr_->publishLowConfidence(filtered_low_confidence_pc, ogm_frame_pc.header); debugger_ptr_->publishOutlier(outlier_pc, ogm_frame_pc.header); @@ -349,24 +377,75 @@ void OccupancyGridMapOutlierFilterComponent::onOccupancyGridMapAndPointCloud2( } } +void OccupancyGridMapOutlierFilterComponent::initializerPointCloud2( + const PointCloud2 & input, PointCloud2 & output) +{ + output.point_step = input.point_step; + output.data.resize(input.data.size()); +} + +void OccupancyGridMapOutlierFilterComponent::finalizePointCloud2( + const PointCloud2 & input, PointCloud2 & output) +{ + output.header = input.header; + output.point_step = input.point_step; + output.fields = input.fields; + output.height = input.height; + output.is_bigendian = input.is_bigendian; + output.is_dense = input.is_dense; + output.width = output.data.size() / output.point_step / output.height; + output.row_step = output.data.size() / output.height; +} + +void OccupancyGridMapOutlierFilterComponent::concatPointCloud2( + PointCloud2 & output, const PointCloud2 & input) +{ + size_t output_size = output.data.size(); + output.data.resize(output.data.size() + input.data.size()); + std::memcpy(&output.data[output_size], &input.data[0], input.data.size()); +} void OccupancyGridMapOutlierFilterComponent::filterByOccupancyGridMap( const OccupancyGrid & occupancy_grid_map, const PointCloud2 & pointcloud, - PclPointCloud & high_confidence, PclPointCloud & low_confidence, PclPointCloud & out_ogm) + PointCloud2 & high_confidence, PointCloud2 & low_confidence, PointCloud2 & out_ogm) { - for (sensor_msgs::PointCloud2ConstIterator x(pointcloud, "x"), y(pointcloud, "y"), - z(pointcloud, "z"); - x != x.end(); ++x, ++y, ++z) { - const auto cost = getCost(occupancy_grid_map, *x, *y); + int x_offset = pointcloud.fields[pcl::getFieldIndex(pointcloud, "x")].offset; + int y_offset = pointcloud.fields[pcl::getFieldIndex(pointcloud, "y")].offset; + size_t high_confidence_size = 0; + size_t low_confidence_size = 0; + size_t out_ogm_size = 0; + + for (size_t global_offset = 0; global_offset < pointcloud.data.size(); + global_offset += pointcloud.point_step) { + float x; + float y; + std::memcpy(&x, &pointcloud.data[global_offset + x_offset], sizeof(float)); + std::memcpy(&y, &pointcloud.data[global_offset + y_offset], sizeof(float)); + + const auto cost = getCost(occupancy_grid_map, x, y); if (cost) { if (cost_threshold_ < *cost) { - high_confidence.push_back(pcl::PointXYZ(*x, *y, *z)); + std::memcpy( + &high_confidence.data[high_confidence_size], &pointcloud.data[global_offset], + pointcloud.point_step); + high_confidence_size += pointcloud.point_step; } else { - low_confidence.push_back(pcl::PointXYZ(*x, *y, *z)); + std::memcpy( + &low_confidence.data[low_confidence_size], &pointcloud.data[global_offset], + pointcloud.point_step); + low_confidence_size += pointcloud.point_step; } } else { - out_ogm.push_back(pcl::PointXYZ(*x, *y, *z)); + std::memcpy( + &out_ogm.data[out_ogm_size], &pointcloud.data[global_offset], pointcloud.point_step); + out_ogm_size += pointcloud.point_step; } } + high_confidence.data.resize(high_confidence_size); + low_confidence.data.resize(low_confidence_size); + out_ogm.data.resize(out_ogm_size); + finalizePointCloud2(pointcloud, high_confidence); + finalizePointCloud2(pointcloud, low_confidence); + finalizePointCloud2(pointcloud, out_ogm); } OccupancyGridMapOutlierFilterComponent::Debugger::Debugger( @@ -382,14 +461,14 @@ OccupancyGridMapOutlierFilterComponent::Debugger::Debugger( } void OccupancyGridMapOutlierFilterComponent::Debugger::publishOutlier( - const PclPointCloud & input, const Header & header) + const PointCloud2 & input, const Header & header) { auto output_ptr = std::make_unique(); transformToBaseLink(input, header, *output_ptr); outlier_pointcloud_pub_->publish(std::move(output_ptr)); } void OccupancyGridMapOutlierFilterComponent::Debugger::publishHighConfidence( - const PclPointCloud & input, const Header & header) + const PointCloud2 & input, const Header & header) { auto output_ptr = std::make_unique(); transformToBaseLink(input, header, *output_ptr); @@ -397,7 +476,7 @@ void OccupancyGridMapOutlierFilterComponent::Debugger::publishHighConfidence( } void OccupancyGridMapOutlierFilterComponent::Debugger::publishLowConfidence( - const PclPointCloud & input, const Header & header) + const PointCloud2 & input, const Header & header) { auto output_ptr = std::make_unique(); transformToBaseLink(input, header, *output_ptr); @@ -405,11 +484,8 @@ void OccupancyGridMapOutlierFilterComponent::Debugger::publishLowConfidence( } void OccupancyGridMapOutlierFilterComponent::Debugger::transformToBaseLink( - const PclPointCloud & pcl_input, const Header & header, PointCloud2 & output) + const PointCloud2 & ros_input, [[maybe_unused]] const Header & header, PointCloud2 & output) { - PointCloud2 ros_input{}; - pcl::toROSMsg(pcl_input, ros_input); - ros_input.header = header; transformPointcloud(ros_input, *(node_.tf2_), node_.base_link_frame_, output); } diff --git a/perception/probabilistic_occupancy_grid_map/README.md b/perception/probabilistic_occupancy_grid_map/README.md index 084c55d80d629..97d66bf9f648c 100644 --- a/perception/probabilistic_occupancy_grid_map/README.md +++ b/perception/probabilistic_occupancy_grid_map/README.md @@ -72,6 +72,26 @@ Additional argument is shown below: | `input_obstacle_pointcloud` | `false` | only for laserscan based method. If true, the node subscribe obstacle pointcloud | | `input_obstacle_and_raw_pointcloud` | `true` | only for laserscan based method. If true, the node subscribe both obstacle and raw pointcloud | +### Downsample input pointcloud(Optional) + +If you set `downsample_input_pointcloud` to `true`, the input pointcloud will be downsampled and following topics are also used. This feature is currently only for the pointcloud based occupancy grid map. + +- pointcloud_based_occupancy_grid_map method + +```yaml +# downsampled raw and obstacle pointcloud +/perception/occupancy_grid_map/obstacle/downsample/pointcloud +/perception/occupancy_grid_map/raw/downsample/pointcloud +``` + +- multi_lidar_pointcloud_based_point_cloud + +```yaml +# downsampled raw and obstacle pointcloud +/perception/occupancy_grid_map/obstacle/downsample/pointcloud +/perception/occupancy_grid_map//raw/downsample/pointcloud +``` + ### Test This package provides unit tests using `gtest`. diff --git a/perception/probabilistic_occupancy_grid_map/config/multi_lidar_pointcloud_based_occupancy_grid_map.param.yaml b/perception/probabilistic_occupancy_grid_map/config/multi_lidar_pointcloud_based_occupancy_grid_map.param.yaml index f9a1c4f930001..878bea4cd8ced 100644 --- a/perception/probabilistic_occupancy_grid_map/config/multi_lidar_pointcloud_based_occupancy_grid_map.param.yaml +++ b/perception/probabilistic_occupancy_grid_map/config/multi_lidar_pointcloud_based_occupancy_grid_map.param.yaml @@ -12,6 +12,10 @@ map_length_x: 150.0 # [m] map_length_y: 150.0 # [m] + # downsample input pointcloud + downsample_input_pointcloud: true + downsample_voxel_size: 0.25 # [m] + # each grid map parameters ogm_creation_config: height_filter: @@ -20,7 +24,7 @@ max_height: 2.0 enable_single_frame_mode: true # use sensor pointcloud to filter obstacle pointcloud - filter_obstacle_pointcloud_by_raw_pointcloud: true + filter_obstacle_pointcloud_by_raw_pointcloud: false grid_map_type: "OccupancyGridMapFixedBlindSpot" OccupancyGridMapFixedBlindSpot: diff --git a/perception/probabilistic_occupancy_grid_map/config/pointcloud_based_occupancy_grid_map.param.yaml b/perception/probabilistic_occupancy_grid_map/config/pointcloud_based_occupancy_grid_map.param.yaml index 8077bdec5008e..922d4be6d519f 100644 --- a/perception/probabilistic_occupancy_grid_map/config/pointcloud_based_occupancy_grid_map.param.yaml +++ b/perception/probabilistic_occupancy_grid_map/config/pointcloud_based_occupancy_grid_map.param.yaml @@ -8,6 +8,10 @@ min_height: -1.0 max_height: 2.0 + # downsample input pointcloud + downsample_input_pointcloud: true + downsample_voxel_size: 0.25 # [m] + enable_single_frame_mode: false # use sensor pointcloud to filter obstacle pointcloud filter_obstacle_pointcloud_by_raw_pointcloud: false diff --git a/perception/probabilistic_occupancy_grid_map/launch/multi_lidar_pointcloud_based_occupancy_grid_map.launch.py b/perception/probabilistic_occupancy_grid_map/launch/multi_lidar_pointcloud_based_occupancy_grid_map.launch.py index dccddfbe54196..b112dd0a84b83 100644 --- a/perception/probabilistic_occupancy_grid_map/launch/multi_lidar_pointcloud_based_occupancy_grid_map.launch.py +++ b/perception/probabilistic_occupancy_grid_map/launch/multi_lidar_pointcloud_based_occupancy_grid_map.launch.py @@ -92,6 +92,57 @@ def get_ogm_creation_config(total_config: dict, list_iter: int) -> dict: return ogm_creation_config +# generate downsample node +def get_downsample_filter_node(setting: dict) -> ComposableNode: + plugin_str = setting["plugin"] + voxel_size = setting["voxel_size"] + node_name = setting["node_name"] + return ComposableNode( + package="pointcloud_preprocessor", + plugin=plugin_str, + name=node_name, + remappings=[ + ("input", setting["input_topic"]), + ("output", setting["output_topic"]), + ], + parameters=[ + { + "voxel_size_x": voxel_size, + "voxel_size_y": voxel_size, + "voxel_size_z": voxel_size, + } + ], + extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}], + ) + + +def get_downsample_preprocess_nodes(voxel_size: float, raw_pointcloud_topics: list) -> list: + nodes = [] + for i in range(len(raw_pointcloud_topics)): + raw_pointcloud_topic: str = raw_pointcloud_topics[i] + frame_name: str = raw_pointcloud_topic.split("/")[ + -2 + ] # `/sensing/lidar/top/pointcloud` -> `top + processed_pointcloud_topic: str = frame_name + "/raw/downsample/pointcloud" + raw_settings = { + "plugin": "pointcloud_preprocessor::PickupBasedVoxelGridDownsampleFilterComponent", + "node_name": "raw_pc_downsample_filter_" + frame_name, + "input_topic": raw_pointcloud_topic, + "output_topic": processed_pointcloud_topic, + "voxel_size": voxel_size, + } + nodes.append(get_downsample_filter_node(raw_settings)) + obstacle_settings = { + "plugin": "pointcloud_preprocessor::PickupBasedVoxelGridDownsampleFilterComponent", + "node_name": "obstacle_pc_downsample_filter", + "input_topic": LaunchConfiguration("input/obstacle_pointcloud"), + "output_topic": "/perception/occupancy_grid_map/obstacle/downsample/pointcloud", + "voxel_size": voxel_size, + } + nodes.append(get_downsample_filter_node(obstacle_settings)) + return nodes + + def launch_setup(context, *args, **kwargs): """Launch fusion based occupancy grid map creation nodes. @@ -118,20 +169,39 @@ def launch_setup(context, *args, **kwargs): LaunchConfiguration("pointcloud_container_name").perform(context), ) + # Down sample settings + downsample_input_pointcloud: bool = total_config["downsample_input_pointcloud"] + downsample_voxel_size: float = total_config["downsample_voxel_size"] + + # get obstacle pointcloud + obstacle_pointcloud_topic: str = ( + "/perception/occupancy_grid_map/obstacle/downsample/pointcloud" + if downsample_input_pointcloud + else LaunchConfiguration("input/obstacle_pointcloud").perform(context) + ) + for i in range(number_of_nodes): # load parameter file ogm_creation_config = get_ogm_creation_config(total_config, i) ogm_creation_config["updater_type"] = LaunchConfiguration("updater_type").perform(context) ogm_creation_config.update(updater_config) + raw_pointcloud_topic: str = fusion_config["raw_pointcloud_topics"][i] + frame_name: str = raw_pointcloud_topic.split("/")[ + -2 + ] # assume `/sensing/lidar/top/pointcloud` -> `top + if downsample_input_pointcloud: + raw_pointcloud_topic = "raw/downsample/pointcloud" + # generate composable node node = ComposableNode( package="probabilistic_occupancy_grid_map", plugin="occupancy_grid_map::PointcloudBasedOccupancyGridMapNode", - name="occupancy_grid_map_node_in_" + str(i), + name="occupancy_grid_map_node", + namespace=frame_name, remappings=[ - ("~/input/obstacle_pointcloud", LaunchConfiguration("input/obstacle_pointcloud")), - ("~/input/raw_pointcloud", fusion_config["raw_pointcloud_topics"][i]), + ("~/input/obstacle_pointcloud", obstacle_pointcloud_topic), + ("~/input/raw_pointcloud", raw_pointcloud_topic), ("~/output/occupancy_grid_map", fusion_config["fusion_input_ogm_topics"][i]), ], parameters=[ogm_creation_config], @@ -139,6 +209,12 @@ def launch_setup(context, *args, **kwargs): ) gridmap_generation_composable_nodes.append(node) + if downsample_input_pointcloud: + downsample_nodes = get_downsample_preprocess_nodes( + downsample_voxel_size, fusion_config["raw_pointcloud_topics"] + ) + gridmap_generation_composable_nodes.extend(downsample_nodes) + # 2. launch occupancy grid map fusion node gridmap_fusion_node = [ ComposableNode( diff --git a/perception/probabilistic_occupancy_grid_map/launch/pointcloud_based_occupancy_grid_map.launch.py b/perception/probabilistic_occupancy_grid_map/launch/pointcloud_based_occupancy_grid_map.launch.py index 29435c4ea8e24..c58e747f84af2 100644 --- a/perception/probabilistic_occupancy_grid_map/launch/pointcloud_based_occupancy_grid_map.launch.py +++ b/perception/probabilistic_occupancy_grid_map/launch/pointcloud_based_occupancy_grid_map.launch.py @@ -26,6 +26,47 @@ import yaml +def get_downsample_filter_node(setting: dict) -> ComposableNode: + plugin_str = setting["plugin"] + voxel_size = setting["voxel_size"] + node_name = setting["node_name"] + return ComposableNode( + package="pointcloud_preprocessor", + plugin=plugin_str, + name=node_name, + remappings=[ + ("input", setting["input_topic"]), + ("output", setting["output_topic"]), + ], + parameters=[ + { + "voxel_size_x": voxel_size, + "voxel_size_y": voxel_size, + "voxel_size_z": voxel_size, + } + ], + extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}], + ) + + +def get_downsample_preprocess_nodes(voxel_size: float) -> list: + raw_settings = { + "plugin": "pointcloud_preprocessor::PickupBasedVoxelGridDownsampleFilterComponent", + "node_name": "raw_pc_downsample_filter", + "input_topic": LaunchConfiguration("input/raw_pointcloud"), + "output_topic": "raw/downsample/pointcloud", + "voxel_size": voxel_size, + } + obstacle_settings = { + "plugin": "pointcloud_preprocessor::PickupBasedVoxelGridDownsampleFilterComponent", + "node_name": "obstacle_pc_downsample_filter", + "input_topic": LaunchConfiguration("input/obstacle_pointcloud"), + "output_topic": "obstacle/downsample/pointcloud", + "voxel_size": voxel_size, + } + return [get_downsample_filter_node(raw_settings), get_downsample_filter_node(obstacle_settings)] + + def launch_setup(context, *args, **kwargs): # load parameter files param_file = LaunchConfiguration("param_file").perform(context) @@ -38,7 +79,21 @@ def launch_setup(context, *args, **kwargs): with open(updater_param_file, "r") as f: occupancy_grid_map_updater_params = yaml.safe_load(f)["/**"]["ros__parameters"] - composable_nodes = [ + # composable nodes + composable_nodes = [] + + # add downsample process + downsample_input_pointcloud: bool = pointcloud_based_occupancy_grid_map_node_params[ + "downsample_input_pointcloud" + ] + if downsample_input_pointcloud: + voxel_grid_size: float = pointcloud_based_occupancy_grid_map_node_params[ + "downsample_voxel_size" + ] + downsample_preprocess_nodes = get_downsample_preprocess_nodes(voxel_grid_size) + composable_nodes.extend(downsample_preprocess_nodes) + + composable_nodes.append( ComposableNode( package="probabilistic_occupancy_grid_map", plugin="occupancy_grid_map::PointcloudBasedOccupancyGridMapNode", @@ -46,11 +101,15 @@ def launch_setup(context, *args, **kwargs): remappings=[ ( "~/input/obstacle_pointcloud", - LaunchConfiguration("input/obstacle_pointcloud"), + LaunchConfiguration("input/obstacle_pointcloud") + if not downsample_input_pointcloud + else "obstacle/downsample/pointcloud", ), ( "~/input/raw_pointcloud", - LaunchConfiguration("input/raw_pointcloud"), + LaunchConfiguration("input/raw_pointcloud") + if not downsample_input_pointcloud + else "raw/downsample/pointcloud", ), ("~/output/occupancy_grid_map", LaunchConfiguration("output")), ], @@ -60,8 +119,8 @@ def launch_setup(context, *args, **kwargs): {"updater_type": LaunchConfiguration("updater_type")}, ], extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}], - ), - ] + ) + ) occupancy_grid_map_container = ComposableNodeContainer( name=LaunchConfiguration("individual_container_name"), diff --git a/perception/probabilistic_occupancy_grid_map/package.xml b/perception/probabilistic_occupancy_grid_map/package.xml index a90ae78b03597..3efed07535504 100644 --- a/perception/probabilistic_occupancy_grid_map/package.xml +++ b/perception/probabilistic_occupancy_grid_map/package.xml @@ -34,6 +34,7 @@ tier4_autoware_utils visualization_msgs + pointcloud_preprocessor pointcloud_to_laserscan ament_cmake_gtest @@ -44,6 +45,7 @@ launch_testing launch_testing_ament_cmake launch_testing_ros + pointcloud_preprocessor ament_cmake diff --git a/perception/probabilistic_occupancy_grid_map/pointcloud-based-occupancy-grid-map.md b/perception/probabilistic_occupancy_grid_map/pointcloud-based-occupancy-grid-map.md index 7d2efb3468f3a..d8d69ed7866b6 100644 --- a/perception/probabilistic_occupancy_grid_map/pointcloud-based-occupancy-grid-map.md +++ b/perception/probabilistic_occupancy_grid_map/pointcloud-based-occupancy-grid-map.md @@ -77,18 +77,34 @@ $$ | ----------------------------- | ------------------------- | ------------------ | | `~/output/occupancy_grid_map` | `nav_msgs::OccupancyGrid` | occupancy grid map | +### Related topics + +If you set `downsample_input_pointcloud` to `true`, the input pointcloud will be downsampled and following topics are also used. + +- pointcloud_based_occupancy_grid_map method + +```yaml +# downsampled raw and obstacle pointcloud +/perception/occupancy_grid_map/obstacle/downsample/pointcloud +/perception/occupancy_grid_map/raw/downsample/pointcloud +``` + ## Parameters ### Node Parameters -| Name | Type | Description | -| ------------------- | ------ | -------------------------------------------------------------------------------------------------------------------------------- | -| `map_frame` | string | map frame | -| `base_link_frame` | string | base_link frame | -| `use_height_filter` | bool | whether to height filter for `~/input/obstacle_pointcloud` and `~/input/raw_pointcloud`? By default, the height is set to -1~2m. | -| `map_length` | double | The length of the map. -100 if it is 50~50[m] | -| `map_resolution` | double | The map cell resolution [m] | -| `grid_map_type` | string | The type of grid map for estimating `UNKNOWN` region behind obstacle point clouds | +| Name | Type | Description | +| ----------------------------- | ------ | -------------------------------------------------------------------------------------------------------------------------------- | +| `map_frame` | string | map frame | +| `base_link_frame` | string | base_link frame | +| `use_height_filter` | bool | whether to height filter for `~/input/obstacle_pointcloud` and `~/input/raw_pointcloud`? By default, the height is set to -1~2m. | +| `map_length` | double | The length of the map. -100 if it is 50~50[m] | +| `map_resolution` | double | The map cell resolution [m] | +| `grid_map_type` | string | The type of grid map for estimating `UNKNOWN` region behind obstacle point clouds | +| `scan_origin` | string | The origin of the scan. It should be a sensor frame. | +| `pub_debug_grid` | bool | Whether to publish debug grid maps | +| `downsample_input_pointcloud` | bool | Whether to downsample the input pointclouds. The downsampled pointclouds are used for the ray tracing. | +| `downsample_voxel_size` | double | The voxel size for the downsampled pointclouds. | ## Assumptions / Known limits diff --git a/perception/radar_object_tracker/CMakeLists.txt b/perception/radar_object_tracker/CMakeLists.txt index 7c1b98c10d14b..ade45847f8a9f 100644 --- a/perception/radar_object_tracker/CMakeLists.txt +++ b/perception/radar_object_tracker/CMakeLists.txt @@ -13,18 +13,23 @@ find_package(eigen3_cmake_module REQUIRED) find_package(Eigen3 REQUIRED) find_package(nlohmann_json REQUIRED) # for debug find_package(glog REQUIRED) +find_package(ament_cmake_gtest REQUIRED) include_directories( SYSTEM ${EIGEN3_INCLUDE_DIR} ) +ament_auto_add_library(radar_object_tracker_utils SHARED + src/utils/utils.cpp + src/utils/radar_object_tracker_utils.cpp +) + ament_auto_add_library(radar_object_tracker_node SHARED src/radar_object_tracker_node/radar_object_tracker_node.cpp src/tracker/model/tracker_base.cpp src/tracker/model/linear_motion_tracker.cpp src/tracker/model/constant_turn_rate_motion_tracker.cpp - src/utils/utils.cpp src/data_association/data_association.cpp src/data_association/mu_successive_shortest_path/mu_successive_shortest_path_wrapper.cpp ) @@ -34,6 +39,7 @@ target_link_libraries(radar_object_tracker_node yaml-cpp nlohmann_json::nlohmann_json # for debug glog::glog + radar_object_tracker_utils ) rclcpp_components_register_node(radar_object_tracker_node @@ -42,7 +48,21 @@ rclcpp_components_register_node(radar_object_tracker_node ) # testing -# todo +if(BUILD_TESTING) + find_package(ament_lint_auto REQUIRED) + ament_lint_auto_find_test_dependencies() + + ament_add_gtest(test_radar_object_tracker_utils + test/test_radar_object_tracker_utils.cpp + src/utils/radar_object_tracker_utils.cpp + ) + target_include_directories(test_radar_object_tracker_utils PRIVATE + ${CMAKE_CURRENT_SOURCE_DIR}/include + ) + target_link_libraries(test_radar_object_tracker_utils + radar_object_tracker_utils + ) +endif() # Package ament_auto_package( diff --git a/perception/radar_object_tracker/include/radar_object_tracker/utils/radar_object_tracker_utils.hpp b/perception/radar_object_tracker/include/radar_object_tracker/utils/radar_object_tracker_utils.hpp new file mode 100644 index 0000000000000..48f40f62e3963 --- /dev/null +++ b/perception/radar_object_tracker/include/radar_object_tracker/utils/radar_object_tracker_utils.hpp @@ -0,0 +1,77 @@ +// Copyright 2024 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#ifndef RADAR_OBJECT_TRACKER__UTILS__RADAR_OBJECT_TRACKER_UTILS_HPP_ +#define RADAR_OBJECT_TRACKER__UTILS__RADAR_OBJECT_TRACKER_UTILS_HPP_ + +#include +#include + +#include + +#include + +#include +#include +#include +#include +#include + +#ifdef ROS_DISTRO_GALACTIC +#include +#else +#include +#endif + +#include +#include +#include + +#include + +#include +#include +#include +#include + +#include +#include +namespace radar_object_tracker_utils +{ + +boost::optional getTransformAnonymous( + const tf2_ros::Buffer & tf_buffer, const std::string & source_frame_id, + const std::string & target_frame_id, const rclcpp::Time & time); + +bool isDuplicated( + const std::pair & target_lanelet, + const lanelet::ConstLanelets & lanelets); + +bool checkCloseLaneletCondition( + const std::pair & lanelet, + const autoware_auto_perception_msgs::msg::TrackedObject & object, + const double max_distance_from_lane, const double max_angle_diff_from_lane); + +lanelet::ConstLanelets getClosestValidLanelets( + const autoware_auto_perception_msgs::msg::TrackedObject & object, + const lanelet::LaneletMapPtr & lanelet_map_ptr, const double max_distance_from_lane, + const double max_angle_diff_from_lane); + +bool hasValidVelocityDirectionToLanelet( + const autoware_auto_perception_msgs::msg::TrackedObject & object, + const lanelet::ConstLanelets & lanelets, const double max_lateral_velocity); + +} // namespace radar_object_tracker_utils + +#endif // RADAR_OBJECT_TRACKER__UTILS__RADAR_OBJECT_TRACKER_UTILS_HPP_ diff --git a/perception/radar_object_tracker/package.xml b/perception/radar_object_tracker/package.xml index a371d9054966a..5be2ccef1e6cc 100644 --- a/perception/radar_object_tracker/package.xml +++ b/perception/radar_object_tracker/package.xml @@ -16,9 +16,9 @@ autoware_auto_perception_msgs eigen + glog kalman_filter lanelet2_extension - libgoogle-glog-dev mussp nlohmann-json-dev object_recognition_utils @@ -33,6 +33,7 @@ ament_lint_auto autoware_lint_common + gtest ament_cmake diff --git a/perception/radar_object_tracker/src/radar_object_tracker_node/radar_object_tracker_node.cpp b/perception/radar_object_tracker/src/radar_object_tracker_node/radar_object_tracker_node.cpp index e4b394256101d..dc87a180451d8 100644 --- a/perception/radar_object_tracker/src/radar_object_tracker_node/radar_object_tracker_node.cpp +++ b/perception/radar_object_tracker/src/radar_object_tracker_node/radar_object_tracker_node.cpp @@ -14,6 +14,7 @@ #include "radar_object_tracker/radar_object_tracker_node/radar_object_tracker_node.hpp" +#include "radar_object_tracker/utils/radar_object_tracker_utils.hpp" #include "radar_object_tracker/utils/utils.hpp" #include @@ -36,158 +37,6 @@ #include #define EIGEN_MPL2_ONLY -namespace -{ -boost::optional getTransformAnonymous( - const tf2_ros::Buffer & tf_buffer, const std::string & source_frame_id, - const std::string & target_frame_id, const rclcpp::Time & time) -{ - try { - // check if the frames are ready - std::string errstr; // This argument prevents error msg from being displayed in the terminal. - if (!tf_buffer.canTransform( - target_frame_id, source_frame_id, tf2::TimePointZero, tf2::Duration::zero(), &errstr)) { - return boost::none; - } - - geometry_msgs::msg::TransformStamped self_transform_stamped; - self_transform_stamped = tf_buffer.lookupTransform( - /*target*/ target_frame_id, /*src*/ source_frame_id, time, - rclcpp::Duration::from_seconds(0.5)); - return self_transform_stamped.transform; - } catch (tf2::TransformException & ex) { - RCLCPP_WARN_STREAM(rclcpp::get_logger("radar_object_tracker"), ex.what()); - return boost::none; - } -} - -// check if lanelet is close enough to the target lanelet -bool isDuplicated( - const std::pair & target_lanelet, - const lanelet::ConstLanelets & lanelets) -{ - const double CLOSE_LANELET_THRESHOLD = 0.1; - for (const auto & lanelet : lanelets) { - const auto target_lanelet_end_p = target_lanelet.second.centerline2d().back(); - const auto lanelet_end_p = lanelet.centerline2d().back(); - const double dist = std::hypot( - target_lanelet_end_p.x() - lanelet_end_p.x(), target_lanelet_end_p.y() - lanelet_end_p.y()); - if (dist < CLOSE_LANELET_THRESHOLD) { - return true; - } - } - - return false; -} - -// check if the lanelet is valid for object tracking -bool checkCloseLaneletCondition( - const std::pair & lanelet, const TrackedObject & object, - const double max_distance_from_lane, const double max_angle_diff_from_lane) -{ - // Step1. If we only have one point in the centerline, we will ignore the lanelet - if (lanelet.second.centerline().size() <= 1) { - return false; - } - - // Step2. Check if the obstacle is inside or close enough to the lanelet - lanelet::BasicPoint2d search_point( - object.kinematics.pose_with_covariance.pose.position.x, - object.kinematics.pose_with_covariance.pose.position.y); - if (!lanelet::geometry::inside(lanelet.second, search_point)) { - const auto distance = lanelet.first; - if (distance > max_distance_from_lane) { - return false; - } - } - - // Step3. Calculate the angle difference between the lane angle and obstacle angle - const double object_yaw = tf2::getYaw(object.kinematics.pose_with_covariance.pose.orientation); - const double lane_yaw = lanelet::utils::getLaneletAngle( - lanelet.second, object.kinematics.pose_with_covariance.pose.position); - const double delta_yaw = object_yaw - lane_yaw; - const double normalized_delta_yaw = tier4_autoware_utils::normalizeRadian(delta_yaw); - const double abs_norm_delta = std::fabs(normalized_delta_yaw); - - // Step4. Check if the closest lanelet is valid, and add all - // of the lanelets that are below max_dist and max_delta_yaw - const double object_vel = object.kinematics.twist_with_covariance.twist.linear.x; - const bool is_yaw_reversed = M_PI - max_angle_diff_from_lane < abs_norm_delta && object_vel < 0.0; - if (is_yaw_reversed || abs_norm_delta < max_angle_diff_from_lane) { - return true; - } - - return false; -} - -lanelet::ConstLanelets getClosestValidLanelets( - const TrackedObject & object, const lanelet::LaneletMapPtr & lanelet_map_ptr, - const double max_distance_from_lane, const double max_angle_diff_from_lane) -{ - // obstacle point - lanelet::BasicPoint2d search_point( - object.kinematics.pose_with_covariance.pose.position.x, - object.kinematics.pose_with_covariance.pose.position.y); - - // nearest lanelet - std::vector> surrounding_lanelets = - lanelet::geometry::findNearest(lanelet_map_ptr->laneletLayer, search_point, 10); - - // No Closest Lanelets - if (surrounding_lanelets.empty()) { - return {}; - } - - lanelet::ConstLanelets closest_lanelets; - for (const auto & lanelet : surrounding_lanelets) { - // Check if the close lanelets meet the necessary condition for start lanelets and - // Check if similar lanelet is inside the closest lanelet - if ( - !checkCloseLaneletCondition( - lanelet, object, max_distance_from_lane, max_angle_diff_from_lane) || - isDuplicated(lanelet, closest_lanelets)) { - continue; - } - - closest_lanelets.push_back(lanelet.second); - } - - return closest_lanelets; -} - -bool hasValidVelocityDirectionToLanelet( - const TrackedObject & object, const lanelet::ConstLanelets & lanelets, - const double max_lateral_velocity) -{ - // get object velocity direction - const double object_yaw = tf2::getYaw(object.kinematics.pose_with_covariance.pose.orientation); - const double object_vel_x = object.kinematics.twist_with_covariance.twist.linear.x; - const double object_vel_y = object.kinematics.twist_with_covariance.twist.linear.y; - const double object_vel_yaw = std::atan2(object_vel_y, object_vel_x); // local frame - const double object_vel_yaw_global = - tier4_autoware_utils::normalizeRadian(object_yaw + object_vel_yaw); - const double object_vel = std::hypot(object_vel_x, object_vel_y); - - for (const auto & lanelet : lanelets) { - // get lanelet angle - const double lane_yaw = lanelet::utils::getLaneletAngle( - lanelet, object.kinematics.pose_with_covariance.pose.position); - const double delta_yaw = object_vel_yaw_global - lane_yaw; - const double normalized_delta_yaw = tier4_autoware_utils::normalizeRadian(delta_yaw); - - // get lateral velocity - const double lane_vel = object_vel * std::sin(normalized_delta_yaw); - // std::cout << "lane_vel: " << lane_vel << " , delta yaw:" << normalized_delta_yaw << " , - // object_vel " << object_vel <( @@ -289,7 +140,7 @@ void RadarObjectTrackerNode::onMap(const HADMapBin::ConstSharedPtr msg) void RadarObjectTrackerNode::onMeasurement( const autoware_auto_perception_msgs::msg::DetectedObjects::ConstSharedPtr input_objects_msg) { - const auto self_transform = getTransformAnonymous( + const auto self_transform = radar_object_tracker_utils::getTransformAnonymous( tf_buffer_, "base_link", world_frame_id_, input_objects_msg->header.stamp); if (!self_transform) { return; @@ -385,8 +236,8 @@ std::shared_ptr RadarObjectTrackerNode::createNewTracker( void RadarObjectTrackerNode::onTimer() { rclcpp::Time current_time = this->now(); - const auto self_transform = - getTransformAnonymous(tf_buffer_, world_frame_id_, "base_link", current_time); + const auto self_transform = radar_object_tracker_utils::getTransformAnonymous( + tf_buffer_, world_frame_id_, "base_link", current_time); if (!self_transform) { return; } @@ -432,14 +283,15 @@ void RadarObjectTrackerNode::mapBasedNoiseFilter( for (auto itr = list_tracker.begin(); itr != list_tracker.end(); ++itr) { autoware_auto_perception_msgs::msg::TrackedObject object; (*itr)->getTrackedObject(time, object); - const auto closest_lanelets = getClosestValidLanelets( + const auto closest_lanelets = radar_object_tracker_utils::getClosestValidLanelets( object, lanelet_map_ptr_, max_distance_from_lane_, max_angle_diff_from_lane_); // 1. If the object is not close to any lanelet, delete the tracker const bool no_closest_lanelet = closest_lanelets.empty(); // 2. If the object velocity direction is not close to the lanelet direction, delete the tracker const bool is_velocity_direction_close_to_lanelet = - hasValidVelocityDirectionToLanelet(object, closest_lanelets, max_lateral_velocity_); + radar_object_tracker_utils::hasValidVelocityDirectionToLanelet( + object, closest_lanelets, max_lateral_velocity_); if (no_closest_lanelet || !is_velocity_direction_close_to_lanelet) { // std::cout << "object removed due to map based noise filter" << " no close lanelet: " << // no_closest_lanelet << " velocity direction flag:" << is_velocity_direction_close_to_lanelet diff --git a/perception/radar_object_tracker/src/utils/radar_object_tracker_utils.cpp b/perception/radar_object_tracker/src/utils/radar_object_tracker_utils.cpp new file mode 100644 index 0000000000000..870e77cc20d41 --- /dev/null +++ b/perception/radar_object_tracker/src/utils/radar_object_tracker_utils.cpp @@ -0,0 +1,154 @@ +// Copyright 2024 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "radar_object_tracker/utils/radar_object_tracker_utils.hpp" + +namespace radar_object_tracker_utils +{ + +boost::optional getTransformAnonymous( + const tf2_ros::Buffer & tf_buffer, const std::string & source_frame_id, + const std::string & target_frame_id, const rclcpp::Time & time) +{ + try { + std::string errstr; + if (!tf_buffer.canTransform( + target_frame_id, source_frame_id, tf2::TimePointZero, tf2::Duration::zero(), &errstr)) { + return boost::none; + } + + geometry_msgs::msg::TransformStamped self_transform_stamped; + self_transform_stamped = tf_buffer.lookupTransform( + target_frame_id, source_frame_id, time, rclcpp::Duration::from_seconds(0.5)); + return self_transform_stamped.transform; + } catch (tf2::TransformException & ex) { + RCLCPP_WARN_STREAM(rclcpp::get_logger("radar_object_tracker"), ex.what()); + return boost::none; + } +} + +bool isDuplicated( + const std::pair & target_lanelet, + const lanelet::ConstLanelets & lanelets) +{ + const double CLOSE_LANELET_THRESHOLD = 0.1; + for (const auto & lanelet : lanelets) { + const auto target_lanelet_end_p = target_lanelet.second.centerline2d().back(); + const auto lanelet_end_p = lanelet.centerline2d().back(); + const double dist = std::hypot( + target_lanelet_end_p.x() - lanelet_end_p.x(), target_lanelet_end_p.y() - lanelet_end_p.y()); + if (dist < CLOSE_LANELET_THRESHOLD) { + return true; + } + } + + return false; +} + +bool checkCloseLaneletCondition( + const std::pair & lanelet, + const autoware_auto_perception_msgs::msg::TrackedObject & object, + const double max_distance_from_lane, const double max_angle_diff_from_lane) +{ + if (lanelet.second.centerline().size() <= 1) { + return false; + } + + lanelet::BasicPoint2d search_point( + object.kinematics.pose_with_covariance.pose.position.x, + object.kinematics.pose_with_covariance.pose.position.y); + if (!lanelet::geometry::inside(lanelet.second, search_point)) { + const auto distance = lanelet.first; + if (distance > max_distance_from_lane) { + return false; + } + } + + const double object_yaw = tf2::getYaw(object.kinematics.pose_with_covariance.pose.orientation); + const double lane_yaw = lanelet::utils::getLaneletAngle( + lanelet.second, object.kinematics.pose_with_covariance.pose.position); + double object_motion_yaw = object_yaw; + bool velocity_is_reverted = object.kinematics.twist_with_covariance.twist.linear.x < 0.0; + if (velocity_is_reverted) { + object_motion_yaw = tier4_autoware_utils::normalizeRadian(object_yaw + M_PI); + } + const double delta_yaw = object_motion_yaw - lane_yaw; + const double normalized_delta_yaw = tier4_autoware_utils::normalizeRadian(delta_yaw); + const double abs_norm_delta_yaw = std::fabs(normalized_delta_yaw); + + if (abs_norm_delta_yaw > max_angle_diff_from_lane) { + return false; + } + + return true; +} + +lanelet::ConstLanelets getClosestValidLanelets( + const autoware_auto_perception_msgs::msg::TrackedObject & object, + const lanelet::LaneletMapPtr & lanelet_map_ptr, const double max_distance_from_lane, + const double max_angle_diff_from_lane) +{ + lanelet::BasicPoint2d search_point( + object.kinematics.pose_with_covariance.pose.position.x, + object.kinematics.pose_with_covariance.pose.position.y); + + std::vector> surrounding_lanelets = + lanelet::geometry::findNearest(lanelet_map_ptr->laneletLayer, search_point, 10); + + if (surrounding_lanelets.empty()) { + return {}; + } + + lanelet::ConstLanelets closest_lanelets; + for (const auto & lanelet : surrounding_lanelets) { + if ( + !checkCloseLaneletCondition( + lanelet, object, max_distance_from_lane, max_angle_diff_from_lane) || + isDuplicated(lanelet, closest_lanelets)) { + continue; + } + + closest_lanelets.push_back(lanelet.second); + } + + return closest_lanelets; +} + +bool hasValidVelocityDirectionToLanelet( + const autoware_auto_perception_msgs::msg::TrackedObject & object, + const lanelet::ConstLanelets & lanelets, const double max_lateral_velocity) +{ + const double object_yaw = tf2::getYaw(object.kinematics.pose_with_covariance.pose.orientation); + const double object_vel_x = object.kinematics.twist_with_covariance.twist.linear.x; + const double object_vel_y = object.kinematics.twist_with_covariance.twist.linear.y; + const double object_vel_yaw = std::atan2(object_vel_y, object_vel_x); + const double object_vel_yaw_global = + tier4_autoware_utils::normalizeRadian(object_yaw + object_vel_yaw); + const double object_vel = std::hypot(object_vel_x, object_vel_y); + + for (const auto & lanelet : lanelets) { + const double lane_yaw = lanelet::utils::getLaneletAngle( + lanelet, object.kinematics.pose_with_covariance.pose.position); + const double delta_yaw = object_vel_yaw_global - lane_yaw; + const double normalized_delta_yaw = tier4_autoware_utils::normalizeRadian(delta_yaw); + + const double lane_vel = object_vel * std::sin(normalized_delta_yaw); + if (std::fabs(lane_vel) < max_lateral_velocity) { + return true; + } + } + return false; +} + +} // namespace radar_object_tracker_utils diff --git a/perception/radar_object_tracker/test/test_radar_object_tracker_utils.cpp b/perception/radar_object_tracker/test/test_radar_object_tracker_utils.cpp new file mode 100644 index 0000000000000..50b1de7132f6f --- /dev/null +++ b/perception/radar_object_tracker/test/test_radar_object_tracker_utils.cpp @@ -0,0 +1,121 @@ +// Copyright 2024 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "radar_object_tracker/utils/radar_object_tracker_utils.hpp" + +#include + +using autoware_auto_perception_msgs::msg::TrackedObject; +using radar_object_tracker_utils::checkCloseLaneletCondition; + +// helper function to create a dummy straight lanelet +lanelet::Lanelet createDummyStraightLanelet(double length, double width) +{ + lanelet::LineString3d left_line( + lanelet::utils::getId(), {lanelet::Point3d(lanelet::utils::getId(), 0, 0, 0), + lanelet::Point3d(lanelet::utils::getId(), length, 0, 0)}); + lanelet::LineString3d right_line( + lanelet::utils::getId(), {lanelet::Point3d(lanelet::utils::getId(), 0, width, 0), + lanelet::Point3d(lanelet::utils::getId(), length, width, 0)}); + lanelet::LineString3d center_line( + lanelet::utils::getId(), {lanelet::Point3d(lanelet::utils::getId(), 0, width / 2, 0), + lanelet::Point3d(lanelet::utils::getId(), length, width / 2, 0)}); + + // Correct constructor call + return lanelet::Lanelet( + lanelet::utils::getId(), left_line, right_line, lanelet::AttributeMap(), + lanelet::RegulatoryElementPtrs()); +} + +// helper function to create a dummy tracked object +TrackedObject createDummyTrackedObject(double x, double y, double yaw, double velocity) +{ + TrackedObject obj; + obj.kinematics.pose_with_covariance.pose.position.x = x; + obj.kinematics.pose_with_covariance.pose.position.y = y; + tf2::Quaternion q; + q.setRPY(0, 0, yaw); + obj.kinematics.pose_with_covariance.pose.orientation = tf2::toMsg(q); + obj.kinematics.twist_with_covariance.twist.linear.x = velocity; + return obj; +} + +// 1. Test checkCloseLaneletCondition +// 1. Inside lanelet +TEST(CheckCloseLaneletConditionTest, InsideLanelet) +{ + auto lanelet = createDummyStraightLanelet(100.0, 3.0); + TrackedObject obj = createDummyTrackedObject(50.0, 1.5, 0.0, 10.0); + + bool result = checkCloseLaneletCondition({0.0, lanelet}, obj, 5.0, M_PI / 4); + EXPECT_TRUE(result); +} + +// 2. Outside lanelet but close +TEST(CheckCloseLaneletConditionTest, OutsideLaneletButClose) +{ + auto lanelet = createDummyStraightLanelet(100.0, 3.0); + TrackedObject obj = createDummyTrackedObject(5.0, 50.0, 0.0, 10.0); + + bool result = checkCloseLaneletCondition({3.0, lanelet}, obj, 5.0, M_PI / 4); + EXPECT_TRUE(result); +} + +// 3. Outside lanelet and far +TEST(CheckCloseLaneletConditionTest, OutsideLaneletAndFar) +{ + auto lanelet = createDummyStraightLanelet(100.0, 3.0); + TrackedObject obj = createDummyTrackedObject(10.0, 50.0, 0.0, 10.0); + + bool result = checkCloseLaneletCondition({10.0, lanelet}, obj, 5.0, M_PI / 4); + EXPECT_FALSE(result); +} + +// 4. Inside but has multiple angle difference and velocity conditions +TEST(CheckCloseLaneletConditionTest, AngleDifferenceTooLarge) +{ + auto lanelet = createDummyStraightLanelet(100.0, 3.0); + constexpr double eps = 1e-6; + // 1. forward velocity and angle difference is 0 + const TrackedObject obj1_1 = createDummyTrackedObject(50.0, 1.5, 0.0, 10.0); + const TrackedObject obj1_2 = createDummyTrackedObject(50.0, 1.5, eps, 10.0); + const TrackedObject obj1_3 = createDummyTrackedObject(50.0, 1.5, -eps, 10.0); + // 2. forward velocity and angle difference is Inverse + const TrackedObject obj2_1 = createDummyTrackedObject(50.0, 1.5, M_PI, 10.0); + const TrackedObject obj2_2 = createDummyTrackedObject(50.0, 1.5, M_PI + eps, 10.0); + const TrackedObject obj2_3 = createDummyTrackedObject(50.0, 1.5, M_PI - eps, 10.0); + // 3. backward velocity and angle difference is 0 + const TrackedObject obj3_1 = createDummyTrackedObject(50.0, 1.5, M_PI, -10.0); + const TrackedObject obj3_2 = createDummyTrackedObject(50.0, 1.5, M_PI + eps, -10.0); + const TrackedObject obj3_3 = createDummyTrackedObject(50.0, 1.5, M_PI - eps, -10.0); + // 4. backward velocity and angle difference is Inverse + const TrackedObject obj4_1 = createDummyTrackedObject(50.0, 1.5, 0.0, -10.0); + const TrackedObject obj4_2 = createDummyTrackedObject(50.0, 1.5, eps, -10.0); + const TrackedObject obj4_3 = createDummyTrackedObject(50.0, 1.5, -eps, -10.0); + + // 1 and 3 should be true, 2 and 4 should be false + EXPECT_TRUE(checkCloseLaneletCondition({0.0, lanelet}, obj1_1, 5.0, M_PI / 4)); + EXPECT_TRUE(checkCloseLaneletCondition({0.0, lanelet}, obj1_2, 5.0, M_PI / 4)); + EXPECT_TRUE(checkCloseLaneletCondition({0.0, lanelet}, obj1_3, 5.0, M_PI / 4)); + EXPECT_TRUE(checkCloseLaneletCondition({0.0, lanelet}, obj3_1, 5.0, M_PI / 4)); + EXPECT_TRUE(checkCloseLaneletCondition({0.0, lanelet}, obj3_2, 5.0, M_PI / 4)); + EXPECT_TRUE(checkCloseLaneletCondition({0.0, lanelet}, obj3_3, 5.0, M_PI / 4)); + + EXPECT_FALSE(checkCloseLaneletCondition({0.0, lanelet}, obj2_1, 5.0, M_PI / 4)); + EXPECT_FALSE(checkCloseLaneletCondition({0.0, lanelet}, obj2_2, 5.0, M_PI / 4)); + EXPECT_FALSE(checkCloseLaneletCondition({0.0, lanelet}, obj2_3, 5.0, M_PI / 4)); + EXPECT_FALSE(checkCloseLaneletCondition({0.0, lanelet}, obj4_1, 5.0, M_PI / 4)); + EXPECT_FALSE(checkCloseLaneletCondition({0.0, lanelet}, obj4_2, 5.0, M_PI / 4)); + EXPECT_FALSE(checkCloseLaneletCondition({0.0, lanelet}, obj4_3, 5.0, M_PI / 4)); +} diff --git a/perception/radar_tracks_msgs_converter/src/radar_tracks_msgs_converter_node/radar_tracks_msgs_converter_node.cpp b/perception/radar_tracks_msgs_converter/src/radar_tracks_msgs_converter_node/radar_tracks_msgs_converter_node.cpp index c7f2bb5bdc60d..084e939ff40a9 100644 --- a/perception/radar_tracks_msgs_converter/src/radar_tracks_msgs_converter_node/radar_tracks_msgs_converter_node.cpp +++ b/perception/radar_tracks_msgs_converter/src/radar_tracks_msgs_converter_node/radar_tracks_msgs_converter_node.cpp @@ -87,7 +87,7 @@ RadarTracksMsgsConverterNode::RadarTracksMsgsConverterNode(const rclcpp::NodeOpt // Subscriber sub_radar_ = create_subscription( - "~/input/radar_objects", rclcpp::QoS{1}, + "~/input/radar_objects", rclcpp::QoS{1}.best_effort(), std::bind(&RadarTracksMsgsConverterNode::onRadarTracks, this, _1)); sub_odometry_ = create_subscription( "~/input/odometry", rclcpp::QoS{1}, diff --git a/perception/raindrop_cluster_filter/CMakeLists.txt b/perception/raindrop_cluster_filter/CMakeLists.txt new file mode 100644 index 0000000000000..a867bc740317b --- /dev/null +++ b/perception/raindrop_cluster_filter/CMakeLists.txt @@ -0,0 +1,31 @@ +cmake_minimum_required(VERSION 3.8) +project(raindrop_cluster_filter) + +if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") + add_compile_options(-Wall -Wextra -Wpedantic) +endif() +# find dependencies +find_package(autoware_cmake REQUIRED) +autoware_package() + +# Targets +ament_auto_add_library(low_intensity_cluster_filter SHARED + src/low_intensity_cluster_filter.cpp +) + +rclcpp_components_register_node(low_intensity_cluster_filter + PLUGIN "low_intensity_cluster_filter::LowIntensityClusterFilter" + EXECUTABLE low_intensity_cluster_filter_node) + + +if(BUILD_TESTING) + list(APPEND AMENT_LINT_AUTO_EXCLUDE ament_cmake_uncrustify) + find_package(ament_lint_auto REQUIRED) + ament_lint_auto_find_test_dependencies() +endif() + +ament_auto_package( + INSTALL_TO_SHARE + launch + config +) diff --git a/perception/raindrop_cluster_filter/config/low_intensity_cluster_filter.param.yaml b/perception/raindrop_cluster_filter/config/low_intensity_cluster_filter.param.yaml new file mode 100644 index 0000000000000..5c0892aa34721 --- /dev/null +++ b/perception/raindrop_cluster_filter/config/low_intensity_cluster_filter.param.yaml @@ -0,0 +1,17 @@ +/**: + ros__parameters: + intensity_threshold: 1.0 + existence_probability_threshold: 0.2 + max_x: 60.0 + min_x: -20.0 + max_y: 20.0 + min_y: -20.0 + filter_target_label: + UNKNOWN: true + CAR: false + TRUCK: false + BUS: false + TRAILER: false + MOTORCYCLE: false + BICYCLE: false + PEDESTRIAN: false diff --git a/perception/raindrop_cluster_filter/include/raindrop_cluster_filter/low_intensity_cluster_filter/low_intensity_cluster_filter.hpp b/perception/raindrop_cluster_filter/include/raindrop_cluster_filter/low_intensity_cluster_filter/low_intensity_cluster_filter.hpp new file mode 100644 index 0000000000000..86a790e208012 --- /dev/null +++ b/perception/raindrop_cluster_filter/include/raindrop_cluster_filter/low_intensity_cluster_filter/low_intensity_cluster_filter.hpp @@ -0,0 +1,78 @@ +// Copyright 2024 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#ifndef RAINDROP_CLUSTER_FILTER__LOW_INTENSITY_CLUSTER_FILTER__LOW_INTENSITY_CLUSTER_FILTER_HPP_ +#define RAINDROP_CLUSTER_FILTER__LOW_INTENSITY_CLUSTER_FILTER__LOW_INTENSITY_CLUSTER_FILTER_HPP_ + +#include "detected_object_validation/utils/utils.hpp" + +#include +#include +#include + +#include + +#include +#include +// #include +#include + +#include +#include + +namespace low_intensity_cluster_filter +{ + +class LowIntensityClusterFilter : public rclcpp::Node +{ +public: + explicit LowIntensityClusterFilter(const rclcpp::NodeOptions & node_options); + +private: + void objectCallback( + const tier4_perception_msgs::msg::DetectedObjectsWithFeature::ConstSharedPtr input_msg); + bool isValidatedCluster(const sensor_msgs::msg::PointCloud2 & cluster); + + rclcpp::Publisher::SharedPtr object_pub_; + rclcpp::Subscription::SharedPtr + object_sub_; + + tf2_ros::Buffer tf_buffer_; + tf2_ros::TransformListener tf_listener_; + double intensity_threshold_; + double existence_probability_threshold_; + double max_x_; + double min_x_; + double max_y_; + double min_y_; + + double max_x_transformed_; + double min_x_transformed_; + double max_y_transformed_; + double min_y_transformed_; + // Eigen::Vector4f min_boundary_transformed_; + // Eigen::Vector4f max_boundary_transformed_; + bool is_validation_range_transformed_ = false; + const std::string base_link_frame_id_ = "base_link"; + utils::FilterTargetLabel filter_target_; + + // debugger + std::unique_ptr> stop_watch_ptr_{ + nullptr}; + std::unique_ptr debug_publisher_ptr_{nullptr}; +}; + +} // namespace low_intensity_cluster_filter + +#endif // RAINDROP_CLUSTER_FILTER__LOW_INTENSITY_CLUSTER_FILTER__LOW_INTENSITY_CLUSTER_FILTER_HPP_ diff --git a/perception/raindrop_cluster_filter/launch/low_intensity_cluster_filter.launch.xml b/perception/raindrop_cluster_filter/launch/low_intensity_cluster_filter.launch.xml new file mode 100644 index 0000000000000..9af4ad47055f9 --- /dev/null +++ b/perception/raindrop_cluster_filter/launch/low_intensity_cluster_filter.launch.xml @@ -0,0 +1,14 @@ + + + + + + + + + + + + + + diff --git a/perception/raindrop_cluster_filter/package.xml b/perception/raindrop_cluster_filter/package.xml new file mode 100644 index 0000000000000..492b789239d54 --- /dev/null +++ b/perception/raindrop_cluster_filter/package.xml @@ -0,0 +1,36 @@ + + + + raindrop_cluster_filter + 0.1.0 + The ROS 2 filter cluster package + Yukihiro Saito + Dai Nguyen + Yoshi Ri + Apache License 2.0 + Dai Nguyen + + ament_cmake + autoware_cmake + detected_object_validation + lanelet2_extension + message_filters + nav_msgs + pcl_conversions + pcl_ros + rclcpp + rclcpp_components + sensor_msgs + tf2 + tf2_eigen + tf2_ros + tier4_autoware_utils + tier4_perception_msgs + + ament_lint_auto + ament_lint_common + + + ament_cmake + + diff --git a/perception/raindrop_cluster_filter/raindrop_cluster_filter.md b/perception/raindrop_cluster_filter/raindrop_cluster_filter.md new file mode 100644 index 0000000000000..175bbd00a93ea --- /dev/null +++ b/perception/raindrop_cluster_filter/raindrop_cluster_filter.md @@ -0,0 +1,54 @@ +# low_intensity_cluster_filter + +## Purpose + +The `low_intensity_cluster_filter` is a node that filters clusters based on the intensity of their pointcloud. + +Mainly this focuses on filtering out unknown objects with very low intensity pointcloud, such as fail detection of unknown objects caused by raindrop or water splash from ego or other fast moving vehicles. + +## Inner-workings / Algorithms + +## Inputs / Outputs + +### Input + +| Name | Type | Description | +| -------------- | -------------------------------------------------------- | ---------------------- | +| `input/object` | `tier4_perception_msgs::msg::DetectedObjectsWithFeature` | input detected objects | + +### Output + +| Name | Type | Description | +| --------------- | -------------------------------------------------------- | ------------------------- | +| `output/object` | `tier4_perception_msgs::msg::DetectedObjectsWithFeature` | filtered detected objects | + +## Parameters + +### Core Parameters + +| Name | Type | Default Value | Description | +| --------------------------------- | ----- | ------------------------------------------------------- | --------------------------------------------- | +| `filter_target_label.UNKNOWN` | bool | false | If true, unknown objects are filtered. | +| `filter_target_label.CAR` | bool | false | If true, car objects are filtered. | +| `filter_target_label.TRUCK` | bool | false | If true, truck objects are filtered. | +| `filter_target_label.BUS` | bool | false | If true, bus objects are filtered. | +| `filter_target_label.TRAILER` | bool | false | If true, trailer objects are filtered. | +| `filter_target_label.MOTORCYCLE` | bool | false | If true, motorcycle objects are filtered. | +| `filter_target_label.BICYCLE` | bool | false | If true, bicycle objects are filtered. | +| `filter_target_label.PEDESTRIAN` | bool | false | If true, pedestrian objects are filtered. | +| `max_x` | float | 60.00 | Maximum of x of the filter effective range | +| `min_x` | float | -20.00 | Minimum of x of the filter effective range | +| `max_y` | float | 20.00 | Maximum of y of the filter effective range | +| `min_y` | float | -20.00 | Minium of y of the filter effective range | +| `intensity_threshold` | float | 1.0 | The threshold of average intensity for filter | +| `existence_probability_threshold` | float | The existence probability threshold to apply the filter | + +## Assumptions / Known limits + +## (Optional) Error detection and handling + +## (Optional) Performance characterization + +## (Optional) References/External links + +## (Optional) Future extensions / Unimplemented parts diff --git a/perception/raindrop_cluster_filter/src/low_intensity_cluster_filter.cpp b/perception/raindrop_cluster_filter/src/low_intensity_cluster_filter.cpp new file mode 100644 index 0000000000000..5c47b61eaa0a3 --- /dev/null +++ b/perception/raindrop_cluster_filter/src/low_intensity_cluster_filter.cpp @@ -0,0 +1,141 @@ +// Copyright 2024 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "raindrop_cluster_filter/low_intensity_cluster_filter/low_intensity_cluster_filter.hpp" + +#include +#include + +#include + +#include +namespace low_intensity_cluster_filter +{ +LowIntensityClusterFilter::LowIntensityClusterFilter(const rclcpp::NodeOptions & node_options) +: Node("low_intensity_cluster_filter_node", node_options), + tf_buffer_(this->get_clock()), + tf_listener_(tf_buffer_) +{ + intensity_threshold_ = declare_parameter("intensity_threshold"); + existence_probability_threshold_ = declare_parameter("existence_probability_threshold"); + max_x_ = declare_parameter("max_x"); + min_x_ = declare_parameter("min_x"); + max_y_ = declare_parameter("max_y"); + min_y_ = declare_parameter("min_y"); + + filter_target_.UNKNOWN = declare_parameter("filter_target_label.UNKNOWN"); + filter_target_.CAR = declare_parameter("filter_target_label.CAR"); + filter_target_.TRUCK = declare_parameter("filter_target_label.TRUCK"); + filter_target_.BUS = declare_parameter("filter_target_label.BUS"); + filter_target_.TRAILER = declare_parameter("filter_target_label.TRAILER"); + filter_target_.MOTORCYCLE = declare_parameter("filter_target_label.MOTORCYCLE"); + filter_target_.BICYCLE = declare_parameter("filter_target_label.BICYCLE"); + filter_target_.PEDESTRIAN = declare_parameter("filter_target_label.PEDESTRIAN"); + + using std::placeholders::_1; + // Set publisher/subscriber + object_sub_ = this->create_subscription( + "input/objects", rclcpp::QoS{1}, + std::bind(&LowIntensityClusterFilter::objectCallback, this, _1)); + object_pub_ = this->create_publisher( + "output/objects", rclcpp::QoS{1}); + // initialize debug tool + { + using tier4_autoware_utils::DebugPublisher; + using tier4_autoware_utils::StopWatch; + stop_watch_ptr_ = std::make_unique>(); + debug_publisher_ptr_ = + std::make_unique(this, "low_intensity_cluster_filter_node"); + stop_watch_ptr_->tic("cyclic_time"); + stop_watch_ptr_->tic("processing_time"); + } +} + +void LowIntensityClusterFilter::objectCallback( + const tier4_perception_msgs::msg::DetectedObjectsWithFeature::ConstSharedPtr input_msg) +{ + // Guard + stop_watch_ptr_->toc("processing_time", true); + if (object_pub_->get_subscription_count() < 1) return; + + tier4_perception_msgs::msg::DetectedObjectsWithFeature output_object_msg; + output_object_msg.header = input_msg->header; + geometry_msgs::msg::TransformStamped transform_stamp; + try { + transform_stamp = tf_buffer_.lookupTransform( + input_msg->header.frame_id, base_link_frame_id_, tf2_ros::fromMsg(input_msg->header.stamp)); + } catch (tf2::TransformException & ex) { + RCLCPP_ERROR(get_logger(), "Failed to lookup transform: %s", ex.what()); + return; + } + geometry_msgs::msg::Pose min_range; + min_range.position.x = min_x_; + min_range.position.y = min_y_; + geometry_msgs::msg::Pose max_pose; + max_pose.position.x = max_x_; + max_pose.position.y = max_y_; + auto min_ranged_transformed = tier4_autoware_utils::transformPose(min_range, transform_stamp); + auto max_range_transformed = tier4_autoware_utils::transformPose(max_pose, transform_stamp); + for (const auto & feature_object : input_msg->feature_objects) { + const auto & object = feature_object.object; + const auto & label = object.classification.front().label; + const auto & feature = feature_object.feature; + const auto & cluster = feature.cluster; + const auto existence_probability = object.existence_probability; + const auto & position = object.kinematics.pose_with_covariance.pose.position; + bool is_inside_validation_range = min_ranged_transformed.position.x < position.x && + position.x < max_range_transformed.position.x && + min_ranged_transformed.position.y < position.x && + position.y < max_range_transformed.position.y; + int intensity_index = pcl::getFieldIndex(cluster, "intensity"); + if ( + intensity_index != -1 && filter_target_.isTarget(label) && is_inside_validation_range && + !isValidatedCluster(cluster) && existence_probability < existence_probability_threshold_) { + continue; + } + output_object_msg.feature_objects.emplace_back(feature_object); + } + object_pub_->publish(output_object_msg); + if (debug_publisher_ptr_ && stop_watch_ptr_) { + const double cyclic_time_ms = stop_watch_ptr_->toc("cyclic_time", true); + const double processing_time_ms = stop_watch_ptr_->toc("processing_time", true); + debug_publisher_ptr_->publish( + "debug/cyclic_time_ms", cyclic_time_ms); + debug_publisher_ptr_->publish( + "debug/processing_time_ms", processing_time_ms); + } +} +bool LowIntensityClusterFilter::isValidatedCluster(const sensor_msgs::msg::PointCloud2 & cluster) +{ + double mean_intensity = 0.0; + if (cluster.point_step < 16) { + RCLCPP_WARN(get_logger(), "Invalid point cloud data. point_step is less than 16."); + return true; + } + for (sensor_msgs::PointCloud2ConstIterator iter(cluster, "intensity"); iter != iter.end(); + ++iter) { + mean_intensity += *iter; + } + const size_t num_points = cluster.width * cluster.height; + mean_intensity /= static_cast(num_points); + if (mean_intensity > intensity_threshold_) { + return true; + } + return false; +} + +} // namespace low_intensity_cluster_filter + +#include +RCLCPP_COMPONENTS_REGISTER_NODE(low_intensity_cluster_filter::LowIntensityClusterFilter) diff --git a/perception/shape_estimation/CMakeLists.txt b/perception/shape_estimation/CMakeLists.txt index 8eb7a15b5a885..527c565b91e05 100644 --- a/perception/shape_estimation/CMakeLists.txt +++ b/perception/shape_estimation/CMakeLists.txt @@ -66,3 +66,19 @@ ament_auto_package(INSTALL_TO_SHARE launch config ) + +## Tests +if(BUILD_TESTING) + find_package(ament_cmake_ros REQUIRED) + list(APPEND AMENT_LINT_AUTO_EXCLUDE ament_cmake_uncrustify) + + find_package(ament_lint_auto REQUIRED) + ament_lint_auto_find_test_dependencies() + + file(GLOB_RECURSE test_files test/**/*.cpp) + ament_add_ros_isolated_gtest(test_shape_estimation ${test_files}) + + target_link_libraries(test_shape_estimation + shape_estimation_node + ) +endif() diff --git a/perception/shape_estimation/package.xml b/perception/shape_estimation/package.xml index 334b6cc2af123..137d925de6d54 100644 --- a/perception/shape_estimation/package.xml +++ b/perception/shape_estimation/package.xml @@ -12,7 +12,6 @@ autoware_cmake autoware_auto_perception_msgs - builtin_interfaces eigen libopencv-dev libpcl-all-dev @@ -25,6 +24,7 @@ tier4_autoware_utils tier4_perception_msgs + ament_cmake_gtest ament_lint_auto autoware_lint_common diff --git a/perception/shape_estimation/src/node.cpp b/perception/shape_estimation/src/node.cpp index 9d7e8b4d4729d..04a96391ca165 100644 --- a/perception/shape_estimation/src/node.cpp +++ b/perception/shape_estimation/src/node.cpp @@ -61,6 +61,22 @@ ShapeEstimationNode::ShapeEstimationNode(const rclcpp::NodeOptions & node_option published_time_publisher_ = std::make_unique(this); } +static autoware_auto_perception_msgs::msg::ObjectClassification::_label_type get_label( + const autoware_auto_perception_msgs::msg::DetectedObject::_classification_type & classification) +{ + if (classification.empty()) { + return Label::UNKNOWN; + } + return classification.front().label; +} + +static bool label_is_vehicle( + const autoware_auto_perception_msgs::msg::ObjectClassification::_label_type & label) +{ + return Label::CAR == label || Label::TRUCK == label || Label::BUS == label || + Label::TRAILER == label; +} + void ShapeEstimationNode::callback(const DetectedObjectsWithFeature::ConstSharedPtr input_msg) { stop_watch_ptr_->toc("processing_time", true); @@ -76,11 +92,9 @@ void ShapeEstimationNode::callback(const DetectedObjectsWithFeature::ConstShared // Estimate shape for each object and pack msg for (const auto & feature_object : input_msg->feature_objects) { const auto & object = feature_object.object; - const auto & label = object.classification.front().label; + const auto label = get_label(object.classification); + const auto is_vehicle = label_is_vehicle(label); const auto & feature = feature_object.feature; - const bool is_vehicle = Label::CAR == label || Label::TRUCK == label || Label::BUS == label || - Label::TRAILER == label; - // convert ros to pcl pcl::PointCloud::Ptr cluster(new pcl::PointCloud); pcl::fromROSMsg(feature.cluster, *cluster); diff --git a/perception/shape_estimation/test/shape_estimation/test_shape_estimator.cpp b/perception/shape_estimation/test/shape_estimation/test_shape_estimator.cpp new file mode 100644 index 0000000000000..d59cfd11b69df --- /dev/null +++ b/perception/shape_estimation/test/shape_estimation/test_shape_estimator.cpp @@ -0,0 +1,236 @@ + +// Copyright 2024 TIER IV, inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "shape_estimation/corrector/corrector.hpp" +#include "shape_estimation/filter/filter.hpp" +#include "shape_estimation/model/model.hpp" +#include "shape_estimation/shape_estimator.hpp" + +#include +#include + +namespace +{ +double yawFromQuaternion(const geometry_msgs::msg::Quaternion & q) +{ + return atan2(2.0 * (q.w * q.z + q.x * q.y), 1.0 - 2.0 * (q.y * q.y + q.z * q.z)); +} + +double deg2rad(const double deg) +{ + return deg / 180.0 * M_PI; +} + +pcl::PointCloud createLShapeCluster( + const double length, const double width, const double height, const double yaw, + const double offset_x, const double offset_y) +{ + pcl::PointCloud cluster; + for (double x = -length / 2; x < length / 2; x += 0.4) { + cluster.push_back(pcl::PointXYZ(x, width / 2, 0.0)); + } + for (double y = -width / 2; y < width / 2; y += 0.2) { + cluster.push_back(pcl::PointXYZ(-length / 2, y, 0.0)); + } + cluster.push_back(pcl::PointXYZ(length / 2, -width / 2, 0.0)); + cluster.push_back(pcl::PointXYZ(length / 2, width / 2, 0.0)); + cluster.push_back(pcl::PointXYZ(-length / 2, -width / 2, 0.0)); + cluster.push_back(pcl::PointXYZ(-length / 2, width / 2, 0.0)); + cluster.push_back(pcl::PointXYZ(0.0, 0.0, height)); + + for (auto & point : cluster) { + const double x = point.x; + const double y = point.y; + // rotate + point.x = x * cos(yaw) - y * sin(yaw); + point.y = x * sin(yaw) + y * cos(yaw); + // offset + point.x += offset_x; + point.y += offset_y; + } + + return cluster; +} +} // namespace + +// test BoundingBoxShapeModel +// 1. base case +TEST(BoundingBoxShapeModel, test_estimateShape) +{ + // Generate BoundingBoxShapeModel + BoundingBoxShapeModel bbox_shape_model = BoundingBoxShapeModel(); + + // Generate cluster + const double length = 4.0; + const double width = 2.0; + const double height = 1.0; + + pcl::PointCloud cluster = + createLShapeCluster(length, width, height, 0.0, 0.0, 0.0); + + // Generate shape and pose output + autoware_auto_perception_msgs::msg::Shape shape_output; + geometry_msgs::msg::Pose pose_output; + + // Test estimateShape + const bool result = bbox_shape_model.estimate(cluster, shape_output, pose_output); + EXPECT_TRUE(result); + + // Check shape_output + EXPECT_EQ(shape_output.type, autoware_auto_perception_msgs::msg::Shape::BOUNDING_BOX); + EXPECT_NEAR(shape_output.dimensions.x, length, length * 0.1); + EXPECT_NEAR(shape_output.dimensions.y, width, width * 0.1); + EXPECT_NEAR(shape_output.dimensions.z, height, height * 0.1); + + // Check pose_output + EXPECT_NEAR(pose_output.position.x, 0.0, 1e-2); + EXPECT_NEAR(pose_output.position.y, 0.0, 1e-2); + EXPECT_NEAR(pose_output.position.z, height / 2, 1e-2); + + // transform quaternion to yaw + const double pose_output_yaw = yawFromQuaternion(pose_output.orientation); + EXPECT_NEAR(pose_output_yaw, 0, 1e-3); +} + +// 2. rotated case +TEST(BoundingBoxShapeModel, test_estimateShape_rotated) +{ + // Generate cluster + const double length = 4.0; + const double width = 2.0; + const double height = 1.0; + const double yaw = deg2rad(30.0); + const double offset_x = 10.0; + const double offset_y = 1.0; + pcl::PointCloud cluster = + createLShapeCluster(length, width, height, yaw, offset_x, offset_y); + + const auto ref_yaw_info = + ReferenceYawInfo{static_cast(yaw), static_cast(deg2rad(10.0))}; + const bool use_boost_bbox_optimizer = true; + // Generate BoundingBoxShapeModel + BoundingBoxShapeModel bbox_shape_model = + BoundingBoxShapeModel(ref_yaw_info, use_boost_bbox_optimizer); + + // Generate shape and pose output + autoware_auto_perception_msgs::msg::Shape shape_output; + geometry_msgs::msg::Pose pose_output; + + // Test estimateShape + const bool result = bbox_shape_model.estimate(cluster, shape_output, pose_output); + EXPECT_TRUE(result); + + // Check shape_output + EXPECT_EQ(shape_output.type, autoware_auto_perception_msgs::msg::Shape::BOUNDING_BOX); + EXPECT_NEAR(shape_output.dimensions.x, length, length * 0.1); + EXPECT_NEAR(shape_output.dimensions.y, width, width * 0.1); + EXPECT_NEAR(shape_output.dimensions.z, height, height * 0.1); + + // Check pose_output + EXPECT_NEAR(pose_output.position.x, offset_x, 1.0); + EXPECT_NEAR(pose_output.position.y, offset_y, 1.0); + EXPECT_NEAR(pose_output.position.z, height / 2, 1.0); + + // transform quaternion to yaw + const double pose_output_yaw = yawFromQuaternion(pose_output.orientation); + EXPECT_NEAR(pose_output_yaw, yaw, deg2rad(15.0)); +} + +// test CylinderShapeModel +TEST(CylinderShapeModel, test_estimateShape) +{ + // Generate CylinderShapeModel + CylinderShapeModel cylinder_shape_model = CylinderShapeModel(); + + // Generate cluster + pcl::PointCloud cluster = createLShapeCluster(4.0, 2.0, 1.0, 0.0, 0.0, 0.0); + // Generate shape and pose output + autoware_auto_perception_msgs::msg::Shape shape_output; + geometry_msgs::msg::Pose pose_output; + + // Test estimateShape + const bool result = cylinder_shape_model.estimate(cluster, shape_output, pose_output); + EXPECT_TRUE(result); +} + +// test ConvexHullShapeModel +TEST(ConvexHullShapeModel, test_estimateShape) +{ + // Generate ConvexHullShapeModel + ConvexHullShapeModel convex_hull_shape_model = ConvexHullShapeModel(); + + // Generate cluster + pcl::PointCloud cluster = createLShapeCluster(2.0, 1.0, 1.0, 0.0, 0.0, 0.0); + + // Generate shape and pose output + autoware_auto_perception_msgs::msg::Shape shape_output; + geometry_msgs::msg::Pose pose_output; + + // Test estimateShape + const bool result = convex_hull_shape_model.estimate(cluster, shape_output, pose_output); + EXPECT_TRUE(result); +} + +// test ShapeEstimator +TEST(ShapeEstimator, test_estimateShapeAndPose) +{ + // Generate cluster + double length = 4.0; + double width = 2.0; + double height = 1.0; + const double yaw = deg2rad(60.0); + const double offset_x = 6.0; + const double offset_y = -2.0; + pcl::PointCloud cluster = + createLShapeCluster(length, width, height, yaw, offset_x, offset_y); + + // Generate ShapeEstimator + const bool use_corrector = true; + const bool use_filter = true; + const bool use_boost_bbox_optimizer = true; + ShapeEstimator shape_estimator = + ShapeEstimator(use_corrector, use_filter, use_boost_bbox_optimizer); + + // Generate ref_yaw_info + boost::optional ref_yaw_info = boost::none; + boost::optional ref_shape_size_info = boost::none; + + ref_yaw_info = ReferenceYawInfo{static_cast(yaw), static_cast(deg2rad(10.0))}; + const auto label = autoware_auto_perception_msgs::msg::ObjectClassification::CAR; + + // Generate shape and pose output + autoware_auto_perception_msgs::msg::Shape shape_output; + geometry_msgs::msg::Pose pose_output; + + // Test estimateShapeAndPose + const bool result = shape_estimator.estimateShapeAndPose( + label, cluster, ref_yaw_info, ref_shape_size_info, shape_output, pose_output); + EXPECT_TRUE(result); + + // Check shape_output + EXPECT_EQ(shape_output.type, autoware_auto_perception_msgs::msg::Shape::BOUNDING_BOX); + EXPECT_NEAR(shape_output.dimensions.x, length, length * 0.1); + EXPECT_NEAR(shape_output.dimensions.y, width, width * 0.1); + EXPECT_NEAR(shape_output.dimensions.z, height, height * 0.1); + + // Check pose_output + EXPECT_NEAR(pose_output.position.x, offset_x, 1.0); + EXPECT_NEAR(pose_output.position.y, offset_y, 1.0); + EXPECT_NEAR(pose_output.position.z, height / 2, 1.0); + + // transform quaternion to yaw + const double pose_output_yaw = yawFromQuaternion(pose_output.orientation); + EXPECT_NEAR(pose_output_yaw, yaw, deg2rad(15.0)); +} diff --git a/localization/yabloc/yabloc_common/src/ll2_decomposer/ll2_decomposer_node.cpp b/perception/shape_estimation/test/test_shape_estimation.cpp similarity index 78% rename from localization/yabloc/yabloc_common/src/ll2_decomposer/ll2_decomposer_node.cpp rename to perception/shape_estimation/test/test_shape_estimation.cpp index 692f6a5da0913..4c8ad7dd25916 100644 --- a/localization/yabloc/yabloc_common/src/ll2_decomposer/ll2_decomposer_node.cpp +++ b/perception/shape_estimation/test/test_shape_estimation.cpp @@ -1,4 +1,4 @@ -// Copyright 2023 TIER IV, Inc. +// Copyright 2024 TIER IV, inc. // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. @@ -12,12 +12,15 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "yabloc_common/ll2_decomposer/ll2_decomposer.hpp" +#include + +#include int main(int argc, char * argv[]) { + testing::InitGoogleTest(&argc, argv); rclcpp::init(argc, argv); - rclcpp::spin(std::make_shared()); + bool result = RUN_ALL_TESTS(); rclcpp::shutdown(); - return 0; + return result; } diff --git a/perception/tensorrt_yolox/include/tensorrt_yolox/tensorrt_yolox_node.hpp b/perception/tensorrt_yolox/include/tensorrt_yolox/tensorrt_yolox_node.hpp index 9b440f1dbdfec..fc396ae4b3473 100644 --- a/perception/tensorrt_yolox/include/tensorrt_yolox/tensorrt_yolox_node.hpp +++ b/perception/tensorrt_yolox/include/tensorrt_yolox/tensorrt_yolox_node.hpp @@ -19,6 +19,8 @@ #include #include #include +#include +#include #include #include @@ -61,6 +63,8 @@ class TrtYoloXNode : public rclcpp::Node LabelMap label_map_; std::unique_ptr trt_yolox_; + std::unique_ptr> stop_watch_ptr_; + std::unique_ptr debug_publisher_; }; } // namespace tensorrt_yolox diff --git a/perception/tensorrt_yolox/src/tensorrt_yolox_node.cpp b/perception/tensorrt_yolox/src/tensorrt_yolox_node.cpp index af435ce6efe83..93380b95680c2 100644 --- a/perception/tensorrt_yolox/src/tensorrt_yolox_node.cpp +++ b/perception/tensorrt_yolox/src/tensorrt_yolox_node.cpp @@ -29,6 +29,14 @@ namespace tensorrt_yolox TrtYoloXNode::TrtYoloXNode(const rclcpp::NodeOptions & node_options) : Node("tensorrt_yolox", node_options) { + { + stop_watch_ptr_ = + std::make_unique>(); + debug_publisher_ = + std::make_unique(this, "tensorrt_yolox"); + stop_watch_ptr_->tic("cyclic_time"); + stop_watch_ptr_->tic("processing_time"); + } using std::placeholders::_1; using std::chrono_literals::operator""ms; @@ -132,6 +140,7 @@ void TrtYoloXNode::onConnect() void TrtYoloXNode::onImage(const sensor_msgs::msg::Image::ConstSharedPtr msg) { + stop_watch_ptr_->toc("processing_time", true); tier4_perception_msgs::msg::DetectedObjectsWithFeature out_objects; cv_bridge::CvImagePtr in_image_ptr; @@ -173,6 +182,22 @@ void TrtYoloXNode::onImage(const sensor_msgs::msg::Image::ConstSharedPtr msg) out_objects.header = msg->header; objects_pub_->publish(out_objects); + + if (debug_publisher_) { + const double processing_time_ms = stop_watch_ptr_->toc("processing_time", true); + const double cyclic_time_ms = stop_watch_ptr_->toc("cyclic_time", true); + const double pipeline_latency_ms = + std::chrono::duration( + std::chrono::nanoseconds( + (this->get_clock()->now() - out_objects.header.stamp).nanoseconds())) + .count(); + debug_publisher_->publish( + "debug/cyclic_time_ms", cyclic_time_ms); + debug_publisher_->publish( + "debug/processing_time_ms", processing_time_ms); + debug_publisher_->publish( + "debug/pipeline_latency_ms", pipeline_latency_ms); + } } bool TrtYoloXNode::readLabelFile(const std::string & label_path) diff --git a/perception/tracking_object_merger/package.xml b/perception/tracking_object_merger/package.xml index 027a7bf26d2c4..5912675c819fc 100644 --- a/perception/tracking_object_merger/package.xml +++ b/perception/tracking_object_merger/package.xml @@ -15,7 +15,7 @@ autoware_auto_perception_msgs eigen - libgoogle-glog-dev + glog mussp object_recognition_utils rclcpp diff --git a/perception/tracking_object_merger/src/data_association/data_association.cpp b/perception/tracking_object_merger/src/data_association/data_association.cpp index e7ab6077250f8..7cd7d532d07f5 100644 --- a/perception/tracking_object_merger/src/data_association/data_association.cpp +++ b/perception/tracking_object_merger/src/data_association/data_association.cpp @@ -180,13 +180,6 @@ double DataAssociation::calcScoreBetweenObjects( const std::uint8_t object0_label = object_recognition_utils::getHighestProbLabel(object0.classification); - std::vector tracker_pose = { - object1.kinematics.pose_with_covariance.pose.position.x, - object1.kinematics.pose_with_covariance.pose.position.y}; - std::vector measurement_pose = { - object0.kinematics.pose_with_covariance.pose.position.x, - object0.kinematics.pose_with_covariance.pose.position.y}; - double score = 0.0; if (can_assign_matrix_(object1_label, object0_label)) { const double max_dist = max_dist_matrix_(object1_label, object0_label); diff --git a/perception/tracking_object_merger/src/decorative_tracker_merger.cpp b/perception/tracking_object_merger/src/decorative_tracker_merger.cpp index 2273ad6504e2a..5ff016379dd18 100644 --- a/perception/tracking_object_merger/src/decorative_tracker_merger.cpp +++ b/perception/tracking_object_merger/src/decorative_tracker_merger.cpp @@ -88,8 +88,10 @@ DecorativeTrackerMergerNode::DecorativeTrackerMergerNode(const rclcpp::NodeOptio tf_listener_(tf_buffer_) { // glog for debug - google::InitGoogleLogging("decorative_object_merger_node"); - google::InstallFailureSignalHandler(); + if (!google::IsGoogleLoggingInitialized()) { + google::InitGoogleLogging("decorative_object_merger_node"); + google::InstallFailureSignalHandler(); + } // Subscriber sub_main_objects_ = create_subscription( diff --git a/perception/traffic_light_classifier/package.xml b/perception/traffic_light_classifier/package.xml index ef04aae7ee3cb..9e460e8ad1a1d 100644 --- a/perception/traffic_light_classifier/package.xml +++ b/perception/traffic_light_classifier/package.xml @@ -6,6 +6,7 @@ The traffic_light_classifier package Yukihiro Saito Shunsuke Miura + Tao Zhong Apache License 2.0 ament_cmake_auto diff --git a/perception/traffic_light_classifier/src/cnn_classifier.cpp b/perception/traffic_light_classifier/src/cnn_classifier.cpp index cd266ac25b822..d6ba81041c6f8 100644 --- a/perception/traffic_light_classifier/src/cnn_classifier.cpp +++ b/perception/traffic_light_classifier/src/cnn_classifier.cpp @@ -108,7 +108,7 @@ bool CNNClassifier::getTrafficSignals( void CNNClassifier::outputDebugImage( cv::Mat & debug_image, const tier4_perception_msgs::msg::TrafficLight & traffic_signal) { - float probability; + float probability = 0.0f; std::string label; for (std::size_t i = 0; i < traffic_signal.elements.size(); i++) { auto light = traffic_signal.elements.at(i); diff --git a/perception/traffic_light_map_based_detector/package.xml b/perception/traffic_light_map_based_detector/package.xml index 4631935fe42fa..6f1befb79b98c 100644 --- a/perception/traffic_light_map_based_detector/package.xml +++ b/perception/traffic_light_map_based_detector/package.xml @@ -6,6 +6,7 @@ The traffic_light_map_based_detector package Yukihiro Saito Shunsuke Miura + Tao Zhong Apache License 2.0 ament_cmake_auto diff --git a/perception/traffic_light_occlusion_predictor/package.xml b/perception/traffic_light_occlusion_predictor/package.xml index 49a67d68057d9..daf14ba4147c2 100644 --- a/perception/traffic_light_occlusion_predictor/package.xml +++ b/perception/traffic_light_occlusion_predictor/package.xml @@ -12,7 +12,6 @@ autoware_cmake - autoware_auto_geometry autoware_auto_mapping_msgs geometry_msgs image_geometry diff --git a/perception/traffic_light_visualization/package.xml b/perception/traffic_light_visualization/package.xml index 276f04762cdea..3d3683a8be6cc 100644 --- a/perception/traffic_light_visualization/package.xml +++ b/perception/traffic_light_visualization/package.xml @@ -5,6 +5,7 @@ 0.1.0 The traffic_light_visualization package Yukihiro Saito + Tao Zhong Apache License 2.0 ament_cmake_auto diff --git a/planning/.pages b/planning/.pages index 942a5a0b32158..4514894605bbc 100644 --- a/planning/.pages +++ b/planning/.pages @@ -18,7 +18,7 @@ nav: - 'Side Shift': planning/behavior_path_side_shift_module - 'Start Planner': planning/behavior_path_start_planner_module - 'Behavior Velocity Planner': - - 'About Behavior Velocity': planning/behavior_velocity_planner + - 'About Behavior Velocity': planning/autoware_behavior_velocity_planner - 'Template for Custom Module': planning/behavior_velocity_template_module - 'Available Module': - 'Blind Spot': planning/behavior_velocity_blind_spot_module @@ -63,11 +63,15 @@ nav: - 'Surround Obstacle Checker': - 'About Surround Obstacle Checker': planning/surround_obstacle_checker - 'About Surround Obstacle Checker (Japanese)': planning/surround_obstacle_checker/surround_obstacle_checker-design.ja + - 'Motion Velocity Planner': + - 'About Motion Velocity Planner': planning/autoware_motion_velocity_planner_node/ + - 'Available Modules': + - 'Out of Lane': planning/autoware_motion_velocity_planner_out_of_lane_module/ - 'Motion Velocity Smoother': - 'About Motion Velocity Smoother': planning/motion_velocity_smoother - 'About Motion Velocity Smoother (Japanese)': planning/motion_velocity_smoother/README.ja - 'Scenario Selector': planning/scenario_selector - - 'Static Centerline Generator': planning/static_centerline_generator + - 'Static Centerline Generator': planning/autoware_static_centerline_generator - 'API and Library': - 'Costmap Generator': planning/costmap_generator - 'External Velocity Limit Selector': planning/external_velocity_limit_selector @@ -80,5 +84,6 @@ nav: - 'About Planning Debug Tools': https://github.com/autowarefoundation/autoware_tools/tree/main/planning/planning_debug_tools - 'Stop Reason Visualizer': https://github.com/autowarefoundation/autoware_tools/blob/main/planning/planning_debug_tools/doc-stop-reason-visualizer.md - 'Planning Test Utils': planning/planning_test_utils + - 'Planning Test Manager': planning/autoware_planning_test_manager - 'Planning Topic Converter': planning/planning_topic_converter - 'Planning Validator': planning/planning_validator diff --git a/planning/behavior_path_dynamic_avoidance_module/CMakeLists.txt b/planning/autoware_behavior_path_dynamic_obstacle_avoidance_module/CMakeLists.txt similarity index 89% rename from planning/behavior_path_dynamic_avoidance_module/CMakeLists.txt rename to planning/autoware_behavior_path_dynamic_obstacle_avoidance_module/CMakeLists.txt index 98874b8923324..e7df28307e754 100644 --- a/planning/behavior_path_dynamic_avoidance_module/CMakeLists.txt +++ b/planning/autoware_behavior_path_dynamic_obstacle_avoidance_module/CMakeLists.txt @@ -1,5 +1,5 @@ cmake_minimum_required(VERSION 3.14) -project(behavior_path_dynamic_avoidance_module) +project(autoware_behavior_path_dynamic_obstacle_avoidance_module) find_package(autoware_cmake REQUIRED) autoware_package() diff --git a/planning/behavior_path_dynamic_avoidance_module/README.md b/planning/autoware_behavior_path_dynamic_obstacle_avoidance_module/README.md similarity index 99% rename from planning/behavior_path_dynamic_avoidance_module/README.md rename to planning/autoware_behavior_path_dynamic_obstacle_avoidance_module/README.md index b8af767afd9a5..e0fec11d166a6 100644 --- a/planning/behavior_path_dynamic_avoidance_module/README.md +++ b/planning/autoware_behavior_path_dynamic_obstacle_avoidance_module/README.md @@ -1,4 +1,4 @@ -# Dynamic avoidance design +# Avoidance module for dynamic objects This module is under development. diff --git a/planning/behavior_path_dynamic_avoidance_module/config/dynamic_avoidance.param.yaml b/planning/autoware_behavior_path_dynamic_obstacle_avoidance_module/config/dynamic_obstacle_avoidance.param.yaml similarity index 100% rename from planning/behavior_path_dynamic_avoidance_module/config/dynamic_avoidance.param.yaml rename to planning/autoware_behavior_path_dynamic_obstacle_avoidance_module/config/dynamic_obstacle_avoidance.param.yaml diff --git a/planning/behavior_path_dynamic_avoidance_module/image/2024-04-18_15-13-01.png b/planning/autoware_behavior_path_dynamic_obstacle_avoidance_module/image/2024-04-18_15-13-01.png similarity index 100% rename from planning/behavior_path_dynamic_avoidance_module/image/2024-04-18_15-13-01.png rename to planning/autoware_behavior_path_dynamic_obstacle_avoidance_module/image/2024-04-18_15-13-01.png diff --git a/planning/behavior_path_dynamic_avoidance_module/image/2024-04-18_15-32-03.png b/planning/autoware_behavior_path_dynamic_obstacle_avoidance_module/image/2024-04-18_15-32-03.png similarity index 100% rename from planning/behavior_path_dynamic_avoidance_module/image/2024-04-18_15-32-03.png rename to planning/autoware_behavior_path_dynamic_obstacle_avoidance_module/image/2024-04-18_15-32-03.png diff --git a/planning/behavior_path_dynamic_avoidance_module/image/drivable_area_extraction_width.drawio.svg b/planning/autoware_behavior_path_dynamic_obstacle_avoidance_module/image/drivable_area_extraction_width.drawio.svg similarity index 100% rename from planning/behavior_path_dynamic_avoidance_module/image/drivable_area_extraction_width.drawio.svg rename to planning/autoware_behavior_path_dynamic_obstacle_avoidance_module/image/drivable_area_extraction_width.drawio.svg diff --git a/planning/behavior_path_dynamic_avoidance_module/image/image-20230807-151945.png b/planning/autoware_behavior_path_dynamic_obstacle_avoidance_module/image/image-20230807-151945.png similarity index 100% rename from planning/behavior_path_dynamic_avoidance_module/image/image-20230807-151945.png rename to planning/autoware_behavior_path_dynamic_obstacle_avoidance_module/image/image-20230807-151945.png diff --git a/planning/behavior_path_dynamic_avoidance_module/image/image-20230807-152835.png b/planning/autoware_behavior_path_dynamic_obstacle_avoidance_module/image/image-20230807-152835.png similarity index 100% rename from planning/behavior_path_dynamic_avoidance_module/image/image-20230807-152835.png rename to planning/autoware_behavior_path_dynamic_obstacle_avoidance_module/image/image-20230807-152835.png diff --git a/planning/behavior_path_dynamic_avoidance_module/image/image-20230808-095936.png b/planning/autoware_behavior_path_dynamic_obstacle_avoidance_module/image/image-20230808-095936.png similarity index 100% rename from planning/behavior_path_dynamic_avoidance_module/image/image-20230808-095936.png rename to planning/autoware_behavior_path_dynamic_obstacle_avoidance_module/image/image-20230808-095936.png diff --git a/planning/behavior_path_dynamic_avoidance_module/image/image-20230808-152853.png b/planning/autoware_behavior_path_dynamic_obstacle_avoidance_module/image/image-20230808-152853.png similarity index 100% rename from planning/behavior_path_dynamic_avoidance_module/image/image-20230808-152853.png rename to planning/autoware_behavior_path_dynamic_obstacle_avoidance_module/image/image-20230808-152853.png diff --git a/planning/behavior_path_dynamic_avoidance_module/image/opposite_directional_object.svg b/planning/autoware_behavior_path_dynamic_obstacle_avoidance_module/image/opposite_directional_object.svg similarity index 100% rename from planning/behavior_path_dynamic_avoidance_module/image/opposite_directional_object.svg rename to planning/autoware_behavior_path_dynamic_obstacle_avoidance_module/image/opposite_directional_object.svg diff --git a/planning/behavior_path_dynamic_avoidance_module/image/same_directional_object.svg b/planning/autoware_behavior_path_dynamic_obstacle_avoidance_module/image/same_directional_object.svg similarity index 100% rename from planning/behavior_path_dynamic_avoidance_module/image/same_directional_object.svg rename to planning/autoware_behavior_path_dynamic_obstacle_avoidance_module/image/same_directional_object.svg diff --git a/planning/behavior_path_dynamic_avoidance_module/include/behavior_path_dynamic_avoidance_module/manager.hpp b/planning/autoware_behavior_path_dynamic_obstacle_avoidance_module/include/autoware_behavior_path_dynamic_obstacle_avoidance_module/manager.hpp similarity index 69% rename from planning/behavior_path_dynamic_avoidance_module/include/behavior_path_dynamic_avoidance_module/manager.hpp rename to planning/autoware_behavior_path_dynamic_obstacle_avoidance_module/include/autoware_behavior_path_dynamic_obstacle_avoidance_module/manager.hpp index c2c17c4e55c1e..caf0544b0852e 100644 --- a/planning/behavior_path_dynamic_avoidance_module/include/behavior_path_dynamic_avoidance_module/manager.hpp +++ b/planning/autoware_behavior_path_dynamic_obstacle_avoidance_module/include/autoware_behavior_path_dynamic_obstacle_avoidance_module/manager.hpp @@ -12,10 +12,10 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef BEHAVIOR_PATH_DYNAMIC_AVOIDANCE_MODULE__MANAGER_HPP_ -#define BEHAVIOR_PATH_DYNAMIC_AVOIDANCE_MODULE__MANAGER_HPP_ +#ifndef AUTOWARE_BEHAVIOR_PATH_DYNAMIC_OBSTACLE_AVOIDANCE_MODULE__MANAGER_HPP_ +#define AUTOWARE_BEHAVIOR_PATH_DYNAMIC_OBSTACLE_AVOIDANCE_MODULE__MANAGER_HPP_ -#include "behavior_path_dynamic_avoidance_module/scene.hpp" +#include "autoware_behavior_path_dynamic_obstacle_avoidance_module/scene.hpp" #include "behavior_path_planner_common/interface/scene_module_manager_interface.hpp" #include @@ -28,16 +28,19 @@ namespace behavior_path_planner { -class DynamicAvoidanceModuleManager : public SceneModuleManagerInterface +class DynamicObstacleAvoidanceModuleManager : public SceneModuleManagerInterface { public: - DynamicAvoidanceModuleManager() : SceneModuleManagerInterface{"dynamic_avoidance"} {} + DynamicObstacleAvoidanceModuleManager() + : SceneModuleManagerInterface{"dynamic_obstacle_avoidance"} + { + } void init(rclcpp::Node * node) override; std::unique_ptr createNewSceneModuleInstance() override { - return std::make_unique( + return std::make_unique( name_, *node_, parameters_, rtc_interface_ptr_map_, objects_of_interest_marker_interface_ptr_map_); } @@ -52,4 +55,4 @@ class DynamicAvoidanceModuleManager : public SceneModuleManagerInterface } // namespace behavior_path_planner -#endif // BEHAVIOR_PATH_DYNAMIC_AVOIDANCE_MODULE__MANAGER_HPP_ +#endif // AUTOWARE_BEHAVIOR_PATH_DYNAMIC_OBSTACLE_AVOIDANCE_MODULE__MANAGER_HPP_ diff --git a/planning/behavior_path_dynamic_avoidance_module/include/behavior_path_dynamic_avoidance_module/scene.hpp b/planning/autoware_behavior_path_dynamic_obstacle_avoidance_module/include/autoware_behavior_path_dynamic_obstacle_avoidance_module/scene.hpp similarity index 97% rename from planning/behavior_path_dynamic_avoidance_module/include/behavior_path_dynamic_avoidance_module/scene.hpp rename to planning/autoware_behavior_path_dynamic_obstacle_avoidance_module/include/autoware_behavior_path_dynamic_obstacle_avoidance_module/scene.hpp index 353a5fab92032..22152911b46b2 100644 --- a/planning/behavior_path_dynamic_avoidance_module/include/behavior_path_dynamic_avoidance_module/scene.hpp +++ b/planning/autoware_behavior_path_dynamic_obstacle_avoidance_module/include/autoware_behavior_path_dynamic_obstacle_avoidance_module/scene.hpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef BEHAVIOR_PATH_DYNAMIC_AVOIDANCE_MODULE__SCENE_HPP_ -#define BEHAVIOR_PATH_DYNAMIC_AVOIDANCE_MODULE__SCENE_HPP_ +#ifndef AUTOWARE_BEHAVIOR_PATH_DYNAMIC_OBSTACLE_AVOIDANCE_MODULE__SCENE_HPP_ +#define AUTOWARE_BEHAVIOR_PATH_DYNAMIC_OBSTACLE_AVOIDANCE_MODULE__SCENE_HPP_ #include "behavior_path_planner_common/interface/scene_module_interface.hpp" #include "tier4_autoware_utils/system/stop_watch.hpp" @@ -164,7 +164,7 @@ struct LatFeasiblePaths std::vector left_path; std::vector right_path; }; -class DynamicAvoidanceModule : public SceneModuleInterface +class DynamicObstacleAvoidanceModule : public SceneModuleInterface { public: struct DynamicAvoidanceObject @@ -336,7 +336,7 @@ class DynamicAvoidanceModule : public SceneModuleInterface std::string reason{""}; }; - DynamicAvoidanceModule( + DynamicObstacleAvoidanceModule( const std::string & name, rclcpp::Node & node, std::shared_ptr parameters, const std::unordered_map> & rtc_interface_ptr_map, @@ -444,8 +444,8 @@ class DynamicAvoidanceModule : public SceneModuleInterface getLogger(), parameters_->enable_debug_info, reason_text.c_str(), obj_uuid.c_str()); } - std::vector target_objects_; - // std::vector prev_target_objects_; + std::vector target_objects_; + // std::vector prev_target_objects_; std::optional> prev_input_ref_path_points_{std::nullopt}; std::optional> ref_path_before_lane_change_{std::nullopt}; std::shared_ptr parameters_; @@ -458,4 +458,4 @@ class DynamicAvoidanceModule : public SceneModuleInterface }; } // namespace behavior_path_planner -#endif // BEHAVIOR_PATH_DYNAMIC_AVOIDANCE_MODULE__SCENE_HPP_ +#endif // AUTOWARE_BEHAVIOR_PATH_DYNAMIC_OBSTACLE_AVOIDANCE_MODULE__SCENE_HPP_ diff --git a/planning/behavior_path_dynamic_avoidance_module/package.xml b/planning/autoware_behavior_path_dynamic_obstacle_avoidance_module/package.xml similarity index 89% rename from planning/behavior_path_dynamic_avoidance_module/package.xml rename to planning/autoware_behavior_path_dynamic_obstacle_avoidance_module/package.xml index 11792a15b2cd2..9b64069eddafd 100644 --- a/planning/behavior_path_dynamic_avoidance_module/package.xml +++ b/planning/autoware_behavior_path_dynamic_obstacle_avoidance_module/package.xml @@ -1,9 +1,9 @@ - behavior_path_dynamic_avoidance_module + autoware_behavior_path_dynamic_obstacle_avoidance_module 0.1.0 - The behavior_path_dynamic_avoidance_module package + The autoware_behavior_path_dynamic_obstacle_avoidance_module package Takayuki Murooka Yuki Takagi diff --git a/planning/autoware_behavior_path_dynamic_obstacle_avoidance_module/plugins.xml b/planning/autoware_behavior_path_dynamic_obstacle_avoidance_module/plugins.xml new file mode 100644 index 0000000000000..3827012b12e22 --- /dev/null +++ b/planning/autoware_behavior_path_dynamic_obstacle_avoidance_module/plugins.xml @@ -0,0 +1,3 @@ + + + diff --git a/planning/behavior_path_dynamic_avoidance_module/src/manager.cpp b/planning/autoware_behavior_path_dynamic_obstacle_avoidance_module/src/manager.cpp similarity index 97% rename from planning/behavior_path_dynamic_avoidance_module/src/manager.cpp rename to planning/autoware_behavior_path_dynamic_obstacle_avoidance_module/src/manager.cpp index baa1c631df8da..de524a3b63de9 100644 --- a/planning/behavior_path_dynamic_avoidance_module/src/manager.cpp +++ b/planning/autoware_behavior_path_dynamic_obstacle_avoidance_module/src/manager.cpp @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "behavior_path_dynamic_avoidance_module/manager.hpp" +#include "autoware_behavior_path_dynamic_obstacle_avoidance_module/manager.hpp" #include "tier4_autoware_utils/ros/update_param.hpp" @@ -37,7 +37,7 @@ PolygonGenerationMethod convertToPolygonGenerationMethod(const std::string & str } } // namespace -void DynamicAvoidanceModuleManager::init(rclcpp::Node * node) +void DynamicObstacleAvoidanceModuleManager::init(rclcpp::Node * node) { // init manager interface initInterface(node, {""}); @@ -149,7 +149,7 @@ void DynamicAvoidanceModuleManager::init(rclcpp::Node * node) parameters_ = std::make_shared(p); } -void DynamicAvoidanceModuleManager::updateModuleParams( +void DynamicObstacleAvoidanceModuleManager::updateModuleParams( [[maybe_unused]] const std::vector & parameters) { using tier4_autoware_utils::updateParam; @@ -287,7 +287,7 @@ void DynamicAvoidanceModuleManager::updateModuleParams( }); } -bool DynamicAvoidanceModuleManager::isAlwaysExecutableModule() const +bool DynamicObstacleAvoidanceModuleManager::isAlwaysExecutableModule() const { return true; } @@ -295,5 +295,5 @@ bool DynamicAvoidanceModuleManager::isAlwaysExecutableModule() const #include PLUGINLIB_EXPORT_CLASS( - behavior_path_planner::DynamicAvoidanceModuleManager, + behavior_path_planner::DynamicObstacleAvoidanceModuleManager, behavior_path_planner::SceneModuleManagerInterface) diff --git a/planning/behavior_path_dynamic_avoidance_module/src/scene.cpp b/planning/autoware_behavior_path_dynamic_obstacle_avoidance_module/src/scene.cpp similarity index 96% rename from planning/behavior_path_dynamic_avoidance_module/src/scene.cpp rename to planning/autoware_behavior_path_dynamic_obstacle_avoidance_module/src/scene.cpp index 84871ed756e81..efc56c4d61f5f 100644 --- a/planning/behavior_path_dynamic_avoidance_module/src/scene.cpp +++ b/planning/autoware_behavior_path_dynamic_obstacle_avoidance_module/src/scene.cpp @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "behavior_path_dynamic_avoidance_module/scene.hpp" +#include "autoware_behavior_path_dynamic_obstacle_avoidance_module/scene.hpp" #include "behavior_path_planner_common/utils/drivable_area_expansion/static_drivable_area.hpp" #include "behavior_path_planner_common/utils/utils.hpp" @@ -301,7 +301,7 @@ std::vector convertToPoints( } } // namespace -DynamicAvoidanceModule::DynamicAvoidanceModule( +DynamicObstacleAvoidanceModule::DynamicObstacleAvoidanceModule( const std::string & name, rclcpp::Node & node, std::shared_ptr parameters, const std::unordered_map> & rtc_interface_ptr_map, @@ -315,7 +315,7 @@ DynamicAvoidanceModule::DynamicAvoidanceModule( { } -bool DynamicAvoidanceModule::isExecutionRequested() const +bool DynamicObstacleAvoidanceModule::isExecutionRequested() const { RCLCPP_DEBUG(getLogger(), "DYNAMIC AVOIDANCE isExecutionRequested."); @@ -339,13 +339,13 @@ bool DynamicAvoidanceModule::isExecutionRequested() const return !target_objects_.empty(); } -bool DynamicAvoidanceModule::isExecutionReady() const +bool DynamicObstacleAvoidanceModule::isExecutionReady() const { RCLCPP_DEBUG(getLogger(), "DYNAMIC AVOIDANCE isExecutionReady."); return true; } -void DynamicAvoidanceModule::updateData() +void DynamicObstacleAvoidanceModule::updateData() { // stop_watch_.tic(std::string(__func__)); @@ -380,12 +380,12 @@ void DynamicAvoidanceModule::updateData() // [ms]"); } -bool DynamicAvoidanceModule::canTransitSuccessState() +bool DynamicObstacleAvoidanceModule::canTransitSuccessState() { return target_objects_.empty(); } -BehaviorModuleOutput DynamicAvoidanceModule::plan() +BehaviorModuleOutput DynamicObstacleAvoidanceModule::plan() { // stop_watch_.tic(std::string(__func__)); @@ -444,19 +444,19 @@ BehaviorModuleOutput DynamicAvoidanceModule::plan() return output; } -CandidateOutput DynamicAvoidanceModule::planCandidate() const +CandidateOutput DynamicObstacleAvoidanceModule::planCandidate() const { auto candidate_path = utils::generateCenterLinePath(planner_data_); return CandidateOutput(*candidate_path); } -BehaviorModuleOutput DynamicAvoidanceModule::planWaitingApproval() +BehaviorModuleOutput DynamicObstacleAvoidanceModule::planWaitingApproval() { BehaviorModuleOutput out = plan(); return out; } -ObjectType DynamicAvoidanceModule::getObjectType(const uint8_t label) const +ObjectType DynamicObstacleAvoidanceModule::getObjectType(const uint8_t label) const { using autoware_auto_perception_msgs::msg::ObjectClassification; @@ -487,7 +487,7 @@ ObjectType DynamicAvoidanceModule::getObjectType(const uint8_t label) const return ObjectType::OUT_OF_SCOPE; } -void DynamicAvoidanceModule::registerRegulatedObjects( +void DynamicObstacleAvoidanceModule::registerRegulatedObjects( const std::vector & prev_objects) { const auto input_path = getPreviousModuleOutput().path; @@ -575,7 +575,7 @@ void DynamicAvoidanceModule::registerRegulatedObjects( } } -void DynamicAvoidanceModule::registerUnregulatedObjects( +void DynamicObstacleAvoidanceModule::registerUnregulatedObjects( const std::vector & prev_objects) { const auto input_path = getPreviousModuleOutput().path; @@ -649,7 +649,7 @@ void DynamicAvoidanceModule::registerUnregulatedObjects( } } -void DynamicAvoidanceModule::determineWhetherToAvoidAgainstRegulatedObjects( +void DynamicObstacleAvoidanceModule::determineWhetherToAvoidAgainstRegulatedObjects( const std::vector & prev_objects) { const auto & input_path = getPreviousModuleOutput().path; @@ -809,7 +809,7 @@ void DynamicAvoidanceModule::determineWhetherToAvoidAgainstRegulatedObjects( // prev_input_ref_path_points_ = input_ref_path_points; } -void DynamicAvoidanceModule::determineWhetherToAvoidAgainstUnregulatedObjects( +void DynamicObstacleAvoidanceModule::determineWhetherToAvoidAgainstUnregulatedObjects( const std::vector & prev_objects) { const auto & input_path = getPreviousModuleOutput().path; @@ -870,7 +870,7 @@ void DynamicAvoidanceModule::determineWhetherToAvoidAgainstUnregulatedObjects( } } -LatFeasiblePaths DynamicAvoidanceModule::generateLateralFeasiblePaths( +LatFeasiblePaths DynamicObstacleAvoidanceModule::generateLateralFeasiblePaths( const geometry_msgs::msg::Pose & ego_pose, const double ego_vel) const { const double lat_acc = parameters_->max_ego_lat_acc; @@ -907,7 +907,7 @@ LatFeasiblePaths DynamicAvoidanceModule::generateLateralFeasiblePaths( return ego_lat_feasible_paths; } -[[maybe_unused]] void DynamicAvoidanceModule::updateRefPathBeforeLaneChange( +[[maybe_unused]] void DynamicObstacleAvoidanceModule::updateRefPathBeforeLaneChange( const std::vector & ego_ref_path_points) { if (ref_path_before_lane_change_) { @@ -934,7 +934,7 @@ LatFeasiblePaths DynamicAvoidanceModule::generateLateralFeasiblePaths( } [[maybe_unused]] std::optional> -DynamicAvoidanceModule::calcCollisionSection( +DynamicObstacleAvoidanceModule::calcCollisionSection( const std::vector & ego_path, const PredictedPath & obj_path) const { const size_t ego_idx = planner_data_->findEgoIndex(ego_path); @@ -971,7 +971,7 @@ DynamicAvoidanceModule::calcCollisionSection( return std::make_pair(*collision_start_idx, ego_path.size() - 1); } -TimeWhileCollision DynamicAvoidanceModule::calcTimeWhileCollision( +TimeWhileCollision DynamicObstacleAvoidanceModule::calcTimeWhileCollision( const std::vector & ego_path, const double obj_tangent_vel, const LatLonOffset & lat_lon_offset) const { @@ -1027,7 +1027,7 @@ TimeWhileCollision DynamicAvoidanceModule::calcTimeWhileCollision( return TimeWhileCollision{time_to_start_collision, time_to_end_collision}; } -bool DynamicAvoidanceModule::isObjectFarFromPath( +bool DynamicObstacleAvoidanceModule::isObjectFarFromPath( const PredictedObject & predicted_object, const double obj_dist_to_path) const { const double obj_max_length = calcObstacleMaxLength(predicted_object.shape); @@ -1037,7 +1037,7 @@ bool DynamicAvoidanceModule::isObjectFarFromPath( return parameters_->max_obj_lat_offset_to_ego_path < min_obj_dist_to_path; } -bool DynamicAvoidanceModule::willObjectCutIn( +bool DynamicObstacleAvoidanceModule::willObjectCutIn( const std::vector & ego_path, const PredictedPath & predicted_path, const double obj_tangent_vel, const LatLonOffset & lat_lon_offset) const { @@ -1079,7 +1079,7 @@ bool DynamicAvoidanceModule::willObjectCutIn( return true; } -DynamicAvoidanceModule::DecisionWithReason DynamicAvoidanceModule::willObjectCutOut( +DynamicObstacleAvoidanceModule::DecisionWithReason DynamicObstacleAvoidanceModule::willObjectCutOut( const double obj_tangent_vel, const double obj_normal_vel, const bool is_object_left, const std::optional & prev_object) const { @@ -1120,7 +1120,7 @@ DynamicAvoidanceModule::DecisionWithReason DynamicAvoidanceModule::willObjectCut return DecisionWithReason{false}; } -[[maybe_unused]] bool DynamicAvoidanceModule::willObjectBeOutsideEgoChangingPath( +[[maybe_unused]] bool DynamicObstacleAvoidanceModule::willObjectBeOutsideEgoChangingPath( const geometry_msgs::msg::Pose & obj_pose, const autoware_auto_perception_msgs::msg::Shape & obj_shape, const double obj_vel) const { @@ -1139,7 +1139,8 @@ DynamicAvoidanceModule::DecisionWithReason DynamicAvoidanceModule::willObjectCut return true; } -std::pair DynamicAvoidanceModule::getAdjacentLanes( +std::pair +DynamicObstacleAvoidanceModule::getAdjacentLanes( const double forward_distance, const double backward_distance) const { const auto & rh = planner_data_->route_handler; @@ -1179,7 +1180,8 @@ std::pair DynamicAvoidanceModule return std::make_pair(right_lanes, left_lanes); } -DynamicAvoidanceModule::LatLonOffset DynamicAvoidanceModule::getLateralLongitudinalOffset( +DynamicObstacleAvoidanceModule::LatLonOffset +DynamicObstacleAvoidanceModule::getLateralLongitudinalOffset( const std::vector & ego_path, const geometry_msgs::msg::Pose & obj_pose, const autoware_auto_perception_msgs::msg::Shape & obj_shape) const { @@ -1213,7 +1215,7 @@ DynamicAvoidanceModule::LatLonOffset DynamicAvoidanceModule::getLateralLongitudi obj_lon_min_max_offset.max_value, obj_lon_min_max_offset.min_value}; } -MinMaxValue DynamicAvoidanceModule::calcMinMaxLongitudinalOffsetToAvoid( +MinMaxValue DynamicObstacleAvoidanceModule::calcMinMaxLongitudinalOffsetToAvoid( const std::vector & ref_path_points_for_obj_poly, const geometry_msgs::msg::Pose & obj_pose, const Polygon2d & obj_points, const double obj_vel, const PredictedPath & obj_path, const autoware_auto_perception_msgs::msg::Shape & obj_shape, @@ -1286,7 +1288,7 @@ MinMaxValue DynamicAvoidanceModule::calcMinMaxLongitudinalOffsetToAvoid( obj_lon_offset.max_value + end_length_to_avoid}; } -double DynamicAvoidanceModule::calcValidLengthToAvoid( +double DynamicObstacleAvoidanceModule::calcValidLengthToAvoid( const PredictedPath & obj_path, const geometry_msgs::msg::Pose & obj_pose, const autoware_auto_perception_msgs::msg::Shape & obj_shape, const bool is_object_same_direction) const @@ -1379,7 +1381,8 @@ double DynamicAvoidanceModule::calcValidLengthToAvoid( } // min value denotes near side, max value denotes far side -std::optional DynamicAvoidanceModule::calcMinMaxLateralOffsetToAvoidRegulatedObject( +std::optional +DynamicObstacleAvoidanceModule::calcMinMaxLateralOffsetToAvoidRegulatedObject( const std::vector & ref_path_points_for_obj_poly, const Polygon2d & obj_points, const geometry_msgs::msg::Point & obj_pos, const double obj_vel, const bool is_collision_left, const double obj_normal_vel, @@ -1473,7 +1476,8 @@ std::optional DynamicAvoidanceModule::calcMinMaxLateralOffsetToAvoi } // min value denotes near side, max value denotes far side -std::optional DynamicAvoidanceModule::calcMinMaxLateralOffsetToAvoidUnregulatedObject( +std::optional +DynamicObstacleAvoidanceModule::calcMinMaxLateralOffsetToAvoidUnregulatedObject( const std::vector & ref_path_points_for_obj_poly, const std::optional & prev_object, const DynamicAvoidanceObject & object) const @@ -1557,7 +1561,7 @@ std::optional DynamicAvoidanceModule::calcMinMaxLateralOffsetToAvoi // NOTE: object does not have const only to update min_bound_lat_offset. std::optional -DynamicAvoidanceModule::calcEgoPathBasedDynamicObstaclePolygon( +DynamicObstacleAvoidanceModule::calcEgoPathBasedDynamicObstaclePolygon( const DynamicAvoidanceObject & object) const { if (!object.lon_offset_to_avoid || !object.lat_offset_to_avoid) { @@ -1663,7 +1667,7 @@ DynamicAvoidanceModule::calcEgoPathBasedDynamicObstaclePolygon( // should be replace by the function calcPredictedPathBasedDynamicObstaclePolygon() (takagi) std::optional -DynamicAvoidanceModule::calcObjectPathBasedDynamicObstaclePolygon( +DynamicObstacleAvoidanceModule::calcObjectPathBasedDynamicObstaclePolygon( const DynamicAvoidanceObject & object) const { const auto obj_path = *std::max_element( @@ -1722,7 +1726,7 @@ DynamicAvoidanceModule::calcObjectPathBasedDynamicObstaclePolygon( // except for the area required for ego safety. // input: an object, the minimum area required for ego safety, and some global params std::optional -DynamicAvoidanceModule::calcPredictedPathBasedDynamicObstaclePolygon( +DynamicObstacleAvoidanceModule::calcPredictedPathBasedDynamicObstaclePolygon( const DynamicAvoidanceObject & object, const EgoPathReservePoly & ego_path_poly) const { std::vector obj_poses; @@ -1783,8 +1787,8 @@ DynamicAvoidanceModule::calcPredictedPathBasedDynamicObstaclePolygon( // Calculate the driving area required to ensure the safety of the own vehicle. // It is assumed that this area will not be clipped. // input: ego's reference path, ego's pose, ego's speed, and some global params -DynamicAvoidanceModule::EgoPathReservePoly DynamicAvoidanceModule::calcEgoPathReservePoly( - const PathWithLaneId & ego_path) const +DynamicObstacleAvoidanceModule::EgoPathReservePoly +DynamicObstacleAvoidanceModule::calcEgoPathReservePoly(const PathWithLaneId & ego_path) const { // This function require almost 0.5 ms. Should be refactored in the future // double calculation_time; @@ -1799,11 +1803,11 @@ DynamicAvoidanceModule::EgoPathReservePoly DynamicAvoidanceModule::calcEgoPathRe ego_path_lines.push_back(tier4_autoware_utils::fromMsg(path_point.point.pose.position).to_2d()); } - auto calcReservePoly = - [&ego_path_lines]( - strategy::distance_asymmetric path_expand_strategy, - strategy::distance_asymmetric steer_expand_strategy, - std::vector outer_body_path) -> tier4_autoware_utils::Polygon2d { + auto calcReservePoly = [&ego_path_lines]( + const strategy::distance_asymmetric path_expand_strategy, + const strategy::distance_asymmetric steer_expand_strategy, + const std::vector & outer_body_path) + -> tier4_autoware_utils::Polygon2d { // reserve area based on the reference path tier4_autoware_utils::MultiPolygon2d path_poly; boost::geometry::buffer( diff --git a/planning/behavior_path_avoidance_module/test/test_behavior_path_planner_node_interface.cpp b/planning/autoware_behavior_path_dynamic_obstacle_avoidance_module/test/test_behavior_path_planner_node_interface.cpp similarity index 92% rename from planning/behavior_path_avoidance_module/test/test_behavior_path_planner_node_interface.cpp rename to planning/autoware_behavior_path_dynamic_obstacle_avoidance_module/test/test_behavior_path_planner_node_interface.cpp index 8cf85554e2b2c..bd9e6fd483c7c 100644 --- a/planning/behavior_path_avoidance_module/test/test_behavior_path_planner_node_interface.cpp +++ b/planning/autoware_behavior_path_dynamic_obstacle_avoidance_module/test/test_behavior_path_planner_node_interface.cpp @@ -15,8 +15,8 @@ #include "behavior_path_planner/behavior_path_planner_node.hpp" #include -#include -#include +#include +#include #include @@ -47,7 +47,7 @@ std::shared_ptr generateNode() ament_index_cpp::get_package_share_directory("behavior_path_planner"); std::vector module_names; - module_names.emplace_back("behavior_path_planner::AvoidanceModuleManager"); + module_names.emplace_back("behavior_path_planner::DynamicAvoidanceModuleManager"); std::vector params; params.emplace_back("launch_modules", module_names); @@ -60,8 +60,9 @@ std::shared_ptr generateNode() behavior_path_planner_dir + "/config/behavior_path_planner.param.yaml", behavior_path_planner_dir + "/config/drivable_area_expansion.param.yaml", behavior_path_planner_dir + "/config/scene_module_manager.param.yaml", - ament_index_cpp::get_package_share_directory("behavior_path_avoidance_module") + - "/config/avoidance.param.yaml"}); + ament_index_cpp::get_package_share_directory( + "autoware_behavior_path_dynamic_obstacle_avoidance_module") + + "/config/dynamic_obstacle_avoidance.param.yaml"}); return std::make_shared(node_options); } diff --git a/planning/behavior_path_external_request_lane_change_module/CMakeLists.txt b/planning/autoware_behavior_path_external_request_lane_change_module/CMakeLists.txt similarity index 88% rename from planning/behavior_path_external_request_lane_change_module/CMakeLists.txt rename to planning/autoware_behavior_path_external_request_lane_change_module/CMakeLists.txt index 86dc0ccb61330..662d36618e766 100644 --- a/planning/behavior_path_external_request_lane_change_module/CMakeLists.txt +++ b/planning/autoware_behavior_path_external_request_lane_change_module/CMakeLists.txt @@ -1,5 +1,5 @@ cmake_minimum_required(VERSION 3.14) -project(behavior_path_external_request_lane_change_module) +project(autoware_behavior_path_external_request_lane_change_module) find_package(autoware_cmake REQUIRED) autoware_package() diff --git a/planning/behavior_path_external_request_lane_change_module/package.xml b/planning/autoware_behavior_path_external_request_lane_change_module/package.xml similarity index 89% rename from planning/behavior_path_external_request_lane_change_module/package.xml rename to planning/autoware_behavior_path_external_request_lane_change_module/package.xml index 16216aa1f71e9..c08eb20a2b589 100644 --- a/planning/behavior_path_external_request_lane_change_module/package.xml +++ b/planning/autoware_behavior_path_external_request_lane_change_module/package.xml @@ -1,9 +1,9 @@ - behavior_path_external_request_lane_change_module + autoware_behavior_path_external_request_lane_change_module 0.1.0 - The behavior_path_external_request_lane_change_module package + The autoware_behavior_path_external_request_lane_change_module package Fumiya Watanabe Zulfaqar Azmi diff --git a/planning/autoware_behavior_path_external_request_lane_change_module/plugins.xml b/planning/autoware_behavior_path_external_request_lane_change_module/plugins.xml new file mode 100644 index 0000000000000..d13dff53e0836 --- /dev/null +++ b/planning/autoware_behavior_path_external_request_lane_change_module/plugins.xml @@ -0,0 +1,4 @@ + + + + diff --git a/planning/behavior_path_external_request_lane_change_module/src/manager.cpp b/planning/autoware_behavior_path_external_request_lane_change_module/src/manager.cpp similarity index 75% rename from planning/behavior_path_external_request_lane_change_module/src/manager.cpp rename to planning/autoware_behavior_path_external_request_lane_change_module/src/manager.cpp index 3cfe7aa51f0f1..130cbff29bcf3 100644 --- a/planning/behavior_path_external_request_lane_change_module/src/manager.cpp +++ b/planning/autoware_behavior_path_external_request_lane_change_module/src/manager.cpp @@ -12,13 +12,14 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "behavior_path_external_request_lane_change_module/manager.hpp" +#include "manager.hpp" -#include "behavior_path_external_request_lane_change_module/scene.hpp" #include "behavior_path_lane_change_module/interface.hpp" +#include "scene.hpp" -namespace behavior_path_planner +namespace autoware::behavior_path_planner { +using ::behavior_path_planner::LaneChangeInterface; std::unique_ptr ExternalRequestLaneChangeRightModuleManager::createNewSceneModuleInstance() @@ -38,12 +39,12 @@ ExternalRequestLaneChangeLeftModuleManager::createNewSceneModuleInstance() std::make_unique(parameters_, direction_)); } -} // namespace behavior_path_planner +} // namespace autoware::behavior_path_planner #include PLUGINLIB_EXPORT_CLASS( - behavior_path_planner::ExternalRequestLaneChangeRightModuleManager, - behavior_path_planner::SceneModuleManagerInterface) + autoware::behavior_path_planner::ExternalRequestLaneChangeRightModuleManager, + ::behavior_path_planner::SceneModuleManagerInterface) PLUGINLIB_EXPORT_CLASS( - behavior_path_planner::ExternalRequestLaneChangeLeftModuleManager, - behavior_path_planner::SceneModuleManagerInterface) + autoware::behavior_path_planner::ExternalRequestLaneChangeLeftModuleManager, + ::behavior_path_planner::SceneModuleManagerInterface) diff --git a/planning/behavior_path_external_request_lane_change_module/include/behavior_path_external_request_lane_change_module/manager.hpp b/planning/autoware_behavior_path_external_request_lane_change_module/src/manager.hpp similarity index 82% rename from planning/behavior_path_external_request_lane_change_module/include/behavior_path_external_request_lane_change_module/manager.hpp rename to planning/autoware_behavior_path_external_request_lane_change_module/src/manager.hpp index dfcc4f61d8241..a4f3dce188c73 100644 --- a/planning/behavior_path_external_request_lane_change_module/include/behavior_path_external_request_lane_change_module/manager.hpp +++ b/planning/autoware_behavior_path_external_request_lane_change_module/src/manager.hpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef BEHAVIOR_PATH_EXTERNAL_REQUEST_LANE_CHANGE_MODULE__MANAGER_HPP_ -#define BEHAVIOR_PATH_EXTERNAL_REQUEST_LANE_CHANGE_MODULE__MANAGER_HPP_ +#ifndef MANAGER_HPP_ +#define MANAGER_HPP_ #include "behavior_path_lane_change_module/manager.hpp" #include "route_handler/route_handler.hpp" @@ -23,8 +23,12 @@ #include #include -namespace behavior_path_planner +namespace autoware::behavior_path_planner { +using ::behavior_path_planner::LaneChangeModuleManager; +using ::behavior_path_planner::LaneChangeModuleType; +using ::behavior_path_planner::SceneModuleInterface; + class ExternalRequestLaneChangeRightModuleManager : public LaneChangeModuleManager { public: @@ -49,6 +53,6 @@ class ExternalRequestLaneChangeLeftModuleManager : public LaneChangeModuleManage } std::unique_ptr createNewSceneModuleInstance() override; }; -} // namespace behavior_path_planner +} // namespace autoware::behavior_path_planner -#endif // BEHAVIOR_PATH_EXTERNAL_REQUEST_LANE_CHANGE_MODULE__MANAGER_HPP_ +#endif // MANAGER_HPP_ diff --git a/planning/behavior_path_external_request_lane_change_module/src/scene.cpp b/planning/autoware_behavior_path_external_request_lane_change_module/src/scene.cpp similarity index 84% rename from planning/behavior_path_external_request_lane_change_module/src/scene.cpp rename to planning/autoware_behavior_path_external_request_lane_change_module/src/scene.cpp index 913266bf79fa3..2ba5a5aea34d4 100644 --- a/planning/behavior_path_external_request_lane_change_module/src/scene.cpp +++ b/planning/autoware_behavior_path_external_request_lane_change_module/src/scene.cpp @@ -12,17 +12,19 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "behavior_path_external_request_lane_change_module/scene.hpp" +#include "scene.hpp" #include #include -namespace behavior_path_planner +namespace autoware::behavior_path_planner { +using ::behavior_path_planner::LaneChangeModuleType; + ExternalRequestLaneChange::ExternalRequestLaneChange( const std::shared_ptr & parameters, Direction direction) : NormalLaneChange(parameters, LaneChangeModuleType::EXTERNAL_REQUEST, direction) { } -} // namespace behavior_path_planner +} // namespace autoware::behavior_path_planner diff --git a/planning/behavior_path_external_request_lane_change_module/include/behavior_path_external_request_lane_change_module/scene.hpp b/planning/autoware_behavior_path_external_request_lane_change_module/src/scene.hpp similarity index 80% rename from planning/behavior_path_external_request_lane_change_module/include/behavior_path_external_request_lane_change_module/scene.hpp rename to planning/autoware_behavior_path_external_request_lane_change_module/src/scene.hpp index c23d6f2f3996c..d2eb20b048a5d 100644 --- a/planning/behavior_path_external_request_lane_change_module/include/behavior_path_external_request_lane_change_module/scene.hpp +++ b/planning/autoware_behavior_path_external_request_lane_change_module/src/scene.hpp @@ -12,15 +12,19 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef BEHAVIOR_PATH_EXTERNAL_REQUEST_LANE_CHANGE_MODULE__SCENE_HPP_ -#define BEHAVIOR_PATH_EXTERNAL_REQUEST_LANE_CHANGE_MODULE__SCENE_HPP_ +#ifndef SCENE_HPP_ +#define SCENE_HPP_ #include "behavior_path_lane_change_module/scene.hpp" #include -namespace behavior_path_planner +namespace autoware::behavior_path_planner { +using ::behavior_path_planner::Direction; +using ::behavior_path_planner::LaneChangeParameters; +using ::behavior_path_planner::NormalLaneChange; + class ExternalRequestLaneChange : public NormalLaneChange { public: @@ -33,6 +37,6 @@ class ExternalRequestLaneChange : public NormalLaneChange ExternalRequestLaneChange & operator=(ExternalRequestLaneChange &&) = delete; ~ExternalRequestLaneChange() override = default; }; -} // namespace behavior_path_planner +} // namespace autoware::behavior_path_planner -#endif // BEHAVIOR_PATH_EXTERNAL_REQUEST_LANE_CHANGE_MODULE__SCENE_HPP_ +#endif // SCENE_HPP_ diff --git a/planning/behavior_path_external_request_lane_change_module/test/test_behavior_path_planner_node_interface.cpp b/planning/autoware_behavior_path_external_request_lane_change_module/test/test_behavior_path_planner_node_interface.cpp similarity index 92% rename from planning/behavior_path_external_request_lane_change_module/test/test_behavior_path_planner_node_interface.cpp rename to planning/autoware_behavior_path_external_request_lane_change_module/test/test_behavior_path_planner_node_interface.cpp index 434988cc3ab08..201d01e9b7fa0 100644 --- a/planning/behavior_path_external_request_lane_change_module/test/test_behavior_path_planner_node_interface.cpp +++ b/planning/autoware_behavior_path_external_request_lane_change_module/test/test_behavior_path_planner_node_interface.cpp @@ -13,16 +13,16 @@ // limitations under the License. #include "ament_index_cpp/get_package_share_directory.hpp" +#include "autoware_planning_test_manager/autoware_planning_test_manager.hpp" #include "behavior_path_planner/behavior_path_planner_node.hpp" -#include "planning_test_utils/planning_interface_test_manager.hpp" -#include "planning_test_utils/planning_interface_test_manager_utils.hpp" +#include "planning_test_utils/planning_test_utils.hpp" #include #include #include -using behavior_path_planner::BehaviorPathPlannerNode; +using ::behavior_path_planner::BehaviorPathPlannerNode; using planning_test_utils::PlanningInterfaceTestManager; std::shared_ptr generateTestManager() @@ -51,8 +51,10 @@ std::shared_ptr generateNode() ament_index_cpp::get_package_share_directory("behavior_path_lane_change_module"); std::vector module_names; - module_names.emplace_back("behavior_path_planner::ExternalRequestLaneChangeRightModuleManager"); - module_names.emplace_back("behavior_path_planner::ExternalRequestLaneChangeLeftModuleManager"); + module_names.emplace_back( + "autoware::behavior_path_planner::ExternalRequestLaneChangeRightModuleManager"); + module_names.emplace_back( + "autoware::behavior_path_planner::ExternalRequestLaneChangeLeftModuleManager"); std::vector params; params.emplace_back("launch_modules", module_names); diff --git a/planning/behavior_path_avoidance_module/CMakeLists.txt b/planning/autoware_behavior_path_static_obstacle_avoidance_module/CMakeLists.txt similarity index 91% rename from planning/behavior_path_avoidance_module/CMakeLists.txt rename to planning/autoware_behavior_path_static_obstacle_avoidance_module/CMakeLists.txt index c94591f9bbd30..e646ad29ed42a 100644 --- a/planning/behavior_path_avoidance_module/CMakeLists.txt +++ b/planning/autoware_behavior_path_static_obstacle_avoidance_module/CMakeLists.txt @@ -1,5 +1,5 @@ cmake_minimum_required(VERSION 3.14) -project(behavior_path_avoidance_module) +project(autoware_behavior_path_static_obstacle_avoidance_module) find_package(autoware_cmake REQUIRED) autoware_package() diff --git a/planning/behavior_path_avoidance_module/README.md b/planning/autoware_behavior_path_static_obstacle_avoidance_module/README.md similarity index 98% rename from planning/behavior_path_avoidance_module/README.md rename to planning/autoware_behavior_path_static_obstacle_avoidance_module/README.md index aa7a3a42efdb4..93b57ac3a4831 100644 --- a/planning/behavior_path_avoidance_module/README.md +++ b/planning/autoware_behavior_path_static_obstacle_avoidance_module/README.md @@ -758,9 +758,9 @@ WIP ## Parameters -The avoidance specific parameter configuration file can be located at `src/autoware/launcher/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml`. +The avoidance specific parameter configuration file can be located at `src/autoware/launcher/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/static_obstacle_avoidance.param.yaml`. -{{ json_to_markdown("planning/behavior_path_avoidance_module/schema/avoidance.schema.json") }} +{{ json_to_markdown("planning/autoware_behavior_path_static_obstacle_avoidance_module/schema/static_obstacle_avoidance.schema.json") }} ## Future extensions / Unimplemented parts @@ -797,7 +797,7 @@ Developers can see what is going on in each process by visualizing all the avoid ![fig1](./images/avoidance-debug-marker.png) -To enable the debug marker, execute `ros2 param set /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner avoidance.publish_debug_marker true` (no restart is needed) or simply set the `publish_debug_marker` to `true` in the `avoidance.param.yaml` for permanent effect (restart is needed). Then add the marker `/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/avoidance` in `rviz2`. +To enable the debug marker, execute `ros2 param set /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner avoidance.publish_debug_marker true` (no restart is needed) or simply set the `publish_debug_marker` to `true` in the `static_obstacle_avoidance.param.yaml` for permanent effect (restart is needed). Then add the marker `/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/avoidance` in `rviz2`. ### Echoing debug message to find out why the objects were ignored diff --git a/planning/behavior_path_avoidance_module/config/avoidance.param.yaml b/planning/autoware_behavior_path_static_obstacle_avoidance_module/config/static_obstacle_avoidance.param.yaml similarity index 96% rename from planning/behavior_path_avoidance_module/config/avoidance.param.yaml rename to planning/autoware_behavior_path_static_obstacle_avoidance_module/config/static_obstacle_avoidance.param.yaml index c85fdd5a2351a..884812d0db716 100644 --- a/planning/behavior_path_avoidance_module/config/avoidance.param.yaml +++ b/planning/autoware_behavior_path_static_obstacle_avoidance_module/config/static_obstacle_avoidance.param.yaml @@ -132,6 +132,10 @@ th_shiftable_ratio: 0.8 # [-] min_road_shoulder_width: 0.5 # [m] FOR DEVELOPER + # for merging/deviating vehicle + merging_vehicle: + th_overhang_distance: 0.0 # [m] + # params for avoidance of vehicle type objects that are ambiguous as to whether they are parked. avoidance_for_ambiguous_vehicle: enable: true # [-] @@ -289,4 +293,11 @@ # for debug debug: - marker: false + enable_other_objects_marker: false + enable_other_objects_info: false + enable_detection_area_marker: false + enable_drivable_bound_marker: false + enable_safety_check_marker: false + enable_shift_line_marker: false + enable_lane_marker: false + enable_misc_marker: false diff --git a/planning/behavior_path_avoidance_module/images/avoidance-debug-marker.png b/planning/autoware_behavior_path_static_obstacle_avoidance_module/images/avoidance-debug-marker.png similarity index 100% rename from planning/behavior_path_avoidance_module/images/avoidance-debug-marker.png rename to planning/autoware_behavior_path_static_obstacle_avoidance_module/images/avoidance-debug-marker.png diff --git 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b/planning/autoware_behavior_path_static_obstacle_avoidance_module/images/use_opposite_lane.svg similarity index 100% rename from planning/behavior_path_avoidance_module/images/use_opposite_lane.svg rename to planning/autoware_behavior_path_static_obstacle_avoidance_module/images/use_opposite_lane.svg diff --git a/planning/behavior_path_avoidance_module/images/yield_limitation.svg b/planning/autoware_behavior_path_static_obstacle_avoidance_module/images/yield_limitation.svg similarity index 100% rename from planning/behavior_path_avoidance_module/images/yield_limitation.svg rename to planning/autoware_behavior_path_static_obstacle_avoidance_module/images/yield_limitation.svg diff --git a/planning/behavior_path_avoidance_module/images/yield_maneuver.svg b/planning/autoware_behavior_path_static_obstacle_avoidance_module/images/yield_maneuver.svg similarity index 100% rename from planning/behavior_path_avoidance_module/images/yield_maneuver.svg rename to planning/autoware_behavior_path_static_obstacle_avoidance_module/images/yield_maneuver.svg diff --git a/planning/behavior_path_avoidance_module/images/yield_maneuver_flowchart.svg b/planning/autoware_behavior_path_static_obstacle_avoidance_module/images/yield_maneuver_flowchart.svg similarity index 100% rename from planning/behavior_path_avoidance_module/images/yield_maneuver_flowchart.svg rename to planning/autoware_behavior_path_static_obstacle_avoidance_module/images/yield_maneuver_flowchart.svg diff --git a/planning/behavior_path_avoidance_module/include/behavior_path_avoidance_module/data_structs.hpp b/planning/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware_behavior_path_static_obstacle_avoidance_module/data_structs.hpp similarity index 92% rename from planning/behavior_path_avoidance_module/include/behavior_path_avoidance_module/data_structs.hpp rename to planning/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware_behavior_path_static_obstacle_avoidance_module/data_structs.hpp index 8516cc61f860b..a63c283704001 100644 --- a/planning/behavior_path_avoidance_module/include/behavior_path_avoidance_module/data_structs.hpp +++ b/planning/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware_behavior_path_static_obstacle_avoidance_module/data_structs.hpp @@ -12,19 +12,15 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef BEHAVIOR_PATH_AVOIDANCE_MODULE__DATA_STRUCTS_HPP_ -#define BEHAVIOR_PATH_AVOIDANCE_MODULE__DATA_STRUCTS_HPP_ +#ifndef AUTOWARE_BEHAVIOR_PATH_STATIC_OBSTACLE_AVOIDANCE_MODULE__DATA_STRUCTS_HPP_ +#define AUTOWARE_BEHAVIOR_PATH_STATIC_OBSTACLE_AVOIDANCE_MODULE__DATA_STRUCTS_HPP_ +#include "autoware_behavior_path_static_obstacle_avoidance_module/type_alias.hpp" #include "behavior_path_planner_common/data_manager.hpp" #include "behavior_path_planner_common/utils/path_safety_checker/path_safety_checker_parameters.hpp" #include "behavior_path_planner_common/utils/path_shifter/path_shifter.hpp" #include -#include - -#include -#include -#include #include #include @@ -38,21 +34,38 @@ namespace behavior_path_planner { -using autoware_auto_perception_msgs::msg::PredictedObject; -using autoware_auto_perception_msgs::msg::PredictedPath; -using autoware_auto_planning_msgs::msg::PathWithLaneId; - -using tier4_autoware_utils::Point2d; -using tier4_autoware_utils::Polygon2d; -using tier4_planning_msgs::msg::AvoidanceDebugMsgArray; - -using geometry_msgs::msg::Point; -using geometry_msgs::msg::Pose; using behavior_path_planner::utils::path_safety_checker::CollisionCheckDebug; - using route_handler::Direction; +enum class ObjectInfo { + NONE = 0, + // ignore reasons + OUT_OF_TARGET_AREA, + FURTHER_THAN_THRESHOLD, + FURTHER_THAN_GOAL, + IS_NOT_TARGET_OBJECT, + IS_NOT_PARKING_OBJECT, + TOO_NEAR_TO_CENTERLINE, + TOO_NEAR_TO_GOAL, + MOVING_OBJECT, + UNSTABLE_OBJECT, + CROSSWALK_USER, + ENOUGH_LATERAL_DISTANCE, + LESS_THAN_EXECUTION_THRESHOLD, + PARALLEL_TO_EGO_LANE, + MERGING_TO_EGO_LANE, + DEVIATING_FROM_EGO_LANE, + // unavoidable reasons + NEED_DECELERATION, + SAME_DIRECTION_SHIFT, + INSUFFICIENT_DRIVABLE_SPACE, + INSUFFICIENT_LONGITUDINAL_DISTANCE, + INVALID_SHIFT_LINE, + // others + AMBIGUOUS_STOPPED_VEHICLE, +}; + struct ObjectParameter { bool is_avoidance_target{false}; @@ -189,6 +202,9 @@ struct AvoidanceParameters double time_threshold_for_ambiguous_vehicle{0.0}; double distance_threshold_for_ambiguous_vehicle{0.0}; + // for merging/deviating vehicle + double th_overhang_distance{0.0}; + // parameters for safety check area bool enable_safety_check{false}; bool check_current_lane{false}; @@ -321,7 +337,14 @@ struct AvoidanceParameters bool enable_bound_clipping{false}; // debug - bool publish_debug_marker = false; + bool enable_other_objects_marker{false}; + bool enable_other_objects_info{false}; + bool enable_detection_area_marker{false}; + bool enable_drivable_bound_marker{false}; + bool enable_safety_check_marker{false}; + bool enable_shift_line_marker{false}; + bool enable_lane_marker{false}; + bool enable_misc_marker{false}; }; struct ObjectData // avoidance target @@ -420,8 +443,8 @@ struct ObjectData // avoidance target // overhang points (sort by distance) std::vector> overhang_points{}; - // unavoidable reason - std::string reason{}; + // object detail info + ObjectInfo info{ObjectInfo::NONE}; // lateral avoid margin std::optional avoid_margin{std::nullopt}; @@ -478,11 +501,9 @@ using AvoidOutlines = std::vector; * avoidance state */ enum class AvoidanceState { - NOT_AVOID = 0, - AVOID_EXECUTE, - YIELD, - AVOID_PATH_READY, - AVOID_PATH_NOT_READY, + RUNNING = 0, + CANCEL, + SUCCEEDED, }; /* @@ -491,7 +512,7 @@ enum class AvoidanceState { struct AvoidancePlanningData { // ego final state - AvoidanceState state{AvoidanceState::NOT_AVOID}; + AvoidanceState state{AvoidanceState::RUNNING}; // un-shifted pose (for current lane detection) Pose reference_pose; @@ -543,8 +564,6 @@ struct AvoidancePlanningData bool ready{false}; - bool success{false}; - bool comfortable{false}; bool avoid_required{false}; @@ -651,4 +670,4 @@ struct DebugData } // namespace behavior_path_planner -#endif // BEHAVIOR_PATH_AVOIDANCE_MODULE__DATA_STRUCTS_HPP_ +#endif // AUTOWARE_BEHAVIOR_PATH_STATIC_OBSTACLE_AVOIDANCE_MODULE__DATA_STRUCTS_HPP_ diff --git a/planning/behavior_path_avoidance_module/include/behavior_path_avoidance_module/debug.hpp b/planning/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware_behavior_path_static_obstacle_avoidance_module/debug.hpp similarity index 67% rename from planning/behavior_path_avoidance_module/include/behavior_path_avoidance_module/debug.hpp rename to planning/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware_behavior_path_static_obstacle_avoidance_module/debug.hpp index f49f457ddd066..85b0e1aad0ae3 100644 --- a/planning/behavior_path_avoidance_module/include/behavior_path_avoidance_module/debug.hpp +++ b/planning/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware_behavior_path_static_obstacle_avoidance_module/debug.hpp @@ -12,29 +12,26 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef BEHAVIOR_PATH_AVOIDANCE_MODULE__DEBUG_HPP_ -#define BEHAVIOR_PATH_AVOIDANCE_MODULE__DEBUG_HPP_ +#ifndef AUTOWARE_BEHAVIOR_PATH_STATIC_OBSTACLE_AVOIDANCE_MODULE__DEBUG_HPP_ +#define AUTOWARE_BEHAVIOR_PATH_STATIC_OBSTACLE_AVOIDANCE_MODULE__DEBUG_HPP_ -#include "behavior_path_avoidance_module/data_structs.hpp" - -#include - -#include -#include +#include "autoware_behavior_path_static_obstacle_avoidance_module/data_structs.hpp" +#include "autoware_behavior_path_static_obstacle_avoidance_module/type_alias.hpp" +#include #include -namespace marker_utils::avoidance_marker +namespace behavior_path_planner::utils::static_obstacle_avoidance { -using autoware_auto_planning_msgs::msg::PathWithLaneId; + +using behavior_path_planner::AvoidanceParameters; using behavior_path_planner::AvoidancePlanningData; using behavior_path_planner::AvoidLineArray; using behavior_path_planner::DebugData; using behavior_path_planner::ObjectDataArray; +using behavior_path_planner::ObjectInfo; using behavior_path_planner::PathShifter; using behavior_path_planner::ShiftLineArray; -using geometry_msgs::msg::Pose; -using visualization_msgs::msg::MarkerArray; MarkerArray createEgoStatusMarkerArray( const AvoidancePlanningData & data, const Pose & p_ego, std::string && ns); @@ -47,11 +44,13 @@ MarkerArray createPredictedVehiclePositions(const PathWithLaneId & path, std::st MarkerArray createTargetObjectsMarkerArray(const ObjectDataArray & objects, const std::string & ns); -MarkerArray createOtherObjectsMarkerArray(const ObjectDataArray & objects, const std::string & ns); +MarkerArray createOtherObjectsMarkerArray( + const ObjectDataArray & objects, const ObjectInfo & info, const bool verbose); MarkerArray createDebugMarkerArray( - const AvoidancePlanningData & data, const PathShifter & shifter, const DebugData & debug); -} // namespace marker_utils::avoidance_marker + const AvoidancePlanningData & data, const PathShifter & shifter, const DebugData & debug, + const std::shared_ptr & parameters); +} // namespace behavior_path_planner::utils::static_obstacle_avoidance std::string toStrInfo(const behavior_path_planner::ShiftLineArray & sl_arr); @@ -61,4 +60,4 @@ std::string toStrInfo(const behavior_path_planner::ShiftLine & sl); std::string toStrInfo(const behavior_path_planner::AvoidLine & ap); -#endif // BEHAVIOR_PATH_AVOIDANCE_MODULE__DEBUG_HPP_ +#endif // AUTOWARE_BEHAVIOR_PATH_STATIC_OBSTACLE_AVOIDANCE_MODULE__DEBUG_HPP_ diff --git a/planning/behavior_path_avoidance_module/include/behavior_path_avoidance_module/helper.hpp b/planning/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware_behavior_path_static_obstacle_avoidance_module/helper.hpp similarity index 86% rename from planning/behavior_path_avoidance_module/include/behavior_path_avoidance_module/helper.hpp rename to planning/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware_behavior_path_static_obstacle_avoidance_module/helper.hpp index 8d95e724045ba..5da56a320ad3b 100644 --- a/planning/behavior_path_avoidance_module/include/behavior_path_avoidance_module/helper.hpp +++ b/planning/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware_behavior_path_static_obstacle_avoidance_module/helper.hpp @@ -12,31 +12,25 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef BEHAVIOR_PATH_AVOIDANCE_MODULE__HELPER_HPP_ -#define BEHAVIOR_PATH_AVOIDANCE_MODULE__HELPER_HPP_ +#ifndef AUTOWARE_BEHAVIOR_PATH_STATIC_OBSTACLE_AVOIDANCE_MODULE__HELPER_HPP_ +#define AUTOWARE_BEHAVIOR_PATH_STATIC_OBSTACLE_AVOIDANCE_MODULE__HELPER_HPP_ -#include "behavior_path_avoidance_module/data_structs.hpp" -#include "behavior_path_avoidance_module/utils.hpp" +#include "autoware_behavior_path_static_obstacle_avoidance_module/data_structs.hpp" +#include "autoware_behavior_path_static_obstacle_avoidance_module/type_alias.hpp" +#include "autoware_behavior_path_static_obstacle_avoidance_module/utils.hpp" #include "behavior_path_planner_common/utils/utils.hpp" -#include - #include #include #include #include #include -namespace behavior_path_planner::helper::avoidance +namespace behavior_path_planner::helper::static_obstacle_avoidance { using behavior_path_planner::PathShifter; using behavior_path_planner::PlannerData; -using motion_utils::calcDecelDistWithJerkAndAccConstraints; -using motion_utils::calcLongitudinalOffsetPose; -using motion_utils::calcSignedArcLength; -using motion_utils::findNearestIndex; -using tier4_autoware_utils::getPose; class AvoidanceHelper { @@ -103,16 +97,18 @@ class AvoidanceHelper return std::max(getEgoSpeed(), values.at(idx)); } - double getMinimumPrepareDistance() const + double getNominalPrepareDistance(const double velocity) const { const auto & p = parameters_; - return std::max(getEgoSpeed() * p->min_prepare_time, p->min_prepare_distance); + const auto & values = p->velocity_map; + const auto idx = getConstraintsMapIndex(velocity, values); + return std::max(values.at(idx) * p->max_prepare_time, p->min_prepare_distance); } double getNominalPrepareDistance() const { const auto & p = parameters_; - return std::max(getEgoSpeed() * p->max_prepare_time, p->min_prepare_distance); + return std::max(getAvoidanceEgoSpeed() * p->max_prepare_time, p->min_prepare_distance); } double getNominalAvoidanceDistance(const double shift_length) const @@ -181,14 +177,14 @@ class AvoidanceHelper double getShift(const Point & p) const { validate(); - const auto idx = findNearestIndex(prev_reference_path_.points, p); + const auto idx = motion_utils::findNearestIndex(prev_reference_path_.points, p); return prev_spline_shift_path_.shift_length.at(idx); } double getLinearShift(const Point & p) const { validate(); - const auto idx = findNearestIndex(prev_reference_path_.points, p); + const auto idx = motion_utils::findNearestIndex(prev_reference_path_.points, p); return prev_linear_shift_path_.shift_length.at(idx); } @@ -204,7 +200,7 @@ class AvoidanceHelper double getShiftLength( const ObjectData & object, const bool & is_on_right, const double & margin) const { - using utils::avoidance::calcShiftLength; + using utils::static_obstacle_avoidance::calcShiftLength; const auto shift_length = calcShiftLength(is_on_right, object.overhang_points.front().first, margin); @@ -282,8 +278,8 @@ class AvoidanceHelper } const auto start_idx = data_->findEgoIndex(path.points); - const auto distance = - calcSignedArcLength(path.points, start_idx, max_v_point_.value().first.position); + const auto distance = motion_utils::calcSignedArcLength( + path.points, start_idx, max_v_point_.value().first.position); return std::make_pair(distance, max_v_point_.value().second); } @@ -294,7 +290,7 @@ class AvoidanceHelper const auto & a_now = data_->self_acceleration->accel.accel.linear.x; const auto & a_lim = use_hard_constraints ? p->max_deceleration : p->nominal_deceleration; const auto & j_lim = use_hard_constraints ? p->max_jerk : p->nominal_jerk; - const auto ret = calcDecelDistWithJerkAndAccConstraints( + const auto ret = motion_utils::calcDecelDistWithJerkAndAccConstraints( getEgoSpeed(), target_velocity, a_now, a_lim, j_lim, -1.0 * j_lim); if (!!ret) { @@ -304,6 +300,13 @@ class AvoidanceHelper return std::numeric_limits::max(); } + bool isEnoughPrepareDistance(const double prepare_distance) const + { + const auto & p = parameters_; + return prepare_distance > + std::max(getEgoSpeed() * p->min_prepare_distance, p->min_prepare_distance); + } + bool isComfortable(const AvoidLineArray & shift_lines) const { const auto JERK_BUFFER = 0.1; // [m/sss] @@ -330,11 +333,11 @@ class AvoidanceHelper return true; } - const auto is_object_on_right = utils::avoidance::isOnRight(object); + const auto is_object_on_right = utils::static_obstacle_avoidance::isOnRight(object); const auto desire_shift_length = getShiftLength(object, is_object_on_right, object.avoid_margin.value()); - const auto prepare_distance = getMinimumPrepareDistance(); + const auto prepare_distance = getNominalPrepareDistance(0.0); const auto constant_distance = getFrontConstantDistance(object); const auto avoidance_distance = getMinAvoidanceDistance(desire_shift_length); @@ -343,6 +346,20 @@ class AvoidanceHelper parameters_->closest_distance_to_wait_and_see_for_ambiguous_vehicle; } + static bool isAbsolutelyNotAvoidable(const ObjectData & object) + { + if (object.is_avoidable) { + return false; + } + + // can avoid it after deceleration. + if (object.info == ObjectInfo::NEED_DECELERATION) { + return false; + } + + return true; + } + bool isReady(const AvoidLineArray & new_shift_lines, const double current_shift_length) const { if (std::abs(current_shift_length) < 1e-3) { @@ -427,14 +444,15 @@ class AvoidanceHelper const auto x_max_accel = v_neg_jerk * t_max_accel + p->max_acceleration * std::pow(t_max_accel, 2.0) / 2.0; - const auto point = - calcLongitudinalOffsetPose(path.points, getEgoPosition(), x_neg_jerk + x_max_accel); + const auto point = motion_utils::calcLongitudinalOffsetPose( + path.points, getEgoPosition(), x_neg_jerk + x_max_accel); if (point.has_value()) { max_v_point_ = std::make_pair(point.value(), v_max); return; } - const auto x_end = calcSignedArcLength(path.points, getEgoPosition(), path.points.size() - 1); + const auto x_end = + motion_utils::calcSignedArcLength(path.points, getEgoPosition(), path.points.size() - 1); const auto t_end = (std::sqrt(v0 * v0 + 2.0 * p->max_acceleration * x_end) - v0) / p->max_acceleration; const auto v_end = v0 + p->max_acceleration * t_end; @@ -495,6 +513,6 @@ class AvoidanceHelper std::optional> max_v_point_; }; -} // namespace behavior_path_planner::helper::avoidance +} // namespace behavior_path_planner::helper::static_obstacle_avoidance -#endif // BEHAVIOR_PATH_AVOIDANCE_MODULE__HELPER_HPP_ +#endif // AUTOWARE_BEHAVIOR_PATH_STATIC_OBSTACLE_AVOIDANCE_MODULE__HELPER_HPP_ diff --git a/planning/behavior_path_avoidance_module/include/behavior_path_avoidance_module/manager.hpp b/planning/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware_behavior_path_static_obstacle_avoidance_module/manager.hpp similarity index 66% rename from planning/behavior_path_avoidance_module/include/behavior_path_avoidance_module/manager.hpp rename to planning/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware_behavior_path_static_obstacle_avoidance_module/manager.hpp index e23a8a96ee7da..1616339840ba4 100644 --- a/planning/behavior_path_avoidance_module/include/behavior_path_avoidance_module/manager.hpp +++ b/planning/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware_behavior_path_static_obstacle_avoidance_module/manager.hpp @@ -12,11 +12,11 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef BEHAVIOR_PATH_AVOIDANCE_MODULE__MANAGER_HPP_ -#define BEHAVIOR_PATH_AVOIDANCE_MODULE__MANAGER_HPP_ +#ifndef AUTOWARE_BEHAVIOR_PATH_STATIC_OBSTACLE_AVOIDANCE_MODULE__MANAGER_HPP_ +#define AUTOWARE_BEHAVIOR_PATH_STATIC_OBSTACLE_AVOIDANCE_MODULE__MANAGER_HPP_ -#include "behavior_path_avoidance_module/data_structs.hpp" -#include "behavior_path_avoidance_module/scene.hpp" +#include "autoware_behavior_path_static_obstacle_avoidance_module/data_structs.hpp" +#include "autoware_behavior_path_static_obstacle_avoidance_module/scene.hpp" #include "behavior_path_planner_common/interface/scene_module_manager_interface.hpp" #include @@ -28,16 +28,18 @@ namespace behavior_path_planner { -class AvoidanceModuleManager : public SceneModuleManagerInterface +class StaticObstacleAvoidanceModuleManager : public SceneModuleManagerInterface { public: - AvoidanceModuleManager() : SceneModuleManagerInterface{"avoidance"} {} + StaticObstacleAvoidanceModuleManager() : SceneModuleManagerInterface{"static_obstacle_avoidance"} + { + } void init(rclcpp::Node * node) override; std::unique_ptr createNewSceneModuleInstance() override { - return std::make_unique( + return std::make_unique( name_, *node_, parameters_, rtc_interface_ptr_map_, objects_of_interest_marker_interface_ptr_map_); } @@ -50,4 +52,4 @@ class AvoidanceModuleManager : public SceneModuleManagerInterface } // namespace behavior_path_planner -#endif // BEHAVIOR_PATH_AVOIDANCE_MODULE__MANAGER_HPP_ +#endif // AUTOWARE_BEHAVIOR_PATH_STATIC_OBSTACLE_AVOIDANCE_MODULE__MANAGER_HPP_ diff --git a/planning/behavior_path_avoidance_module/include/behavior_path_avoidance_module/parameter_helper.hpp b/planning/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware_behavior_path_static_obstacle_avoidance_module/parameter_helper.hpp similarity index 93% rename from planning/behavior_path_avoidance_module/include/behavior_path_avoidance_module/parameter_helper.hpp rename to planning/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware_behavior_path_static_obstacle_avoidance_module/parameter_helper.hpp index e115e676b1dbf..56b9bad535e7d 100644 --- a/planning/behavior_path_avoidance_module/include/behavior_path_avoidance_module/parameter_helper.hpp +++ b/planning/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware_behavior_path_static_obstacle_avoidance_module/parameter_helper.hpp @@ -11,12 +11,12 @@ // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. // See the License for the specific language governing permissions and // limitations under the License. -#ifndef BEHAVIOR_PATH_AVOIDANCE_MODULE__PARAMETER_HELPER_HPP_ -#define BEHAVIOR_PATH_AVOIDANCE_MODULE__PARAMETER_HELPER_HPP_ +#ifndef AUTOWARE_BEHAVIOR_PATH_STATIC_OBSTACLE_AVOIDANCE_MODULE__PARAMETER_HELPER_HPP_ +#define AUTOWARE_BEHAVIOR_PATH_STATIC_OBSTACLE_AVOIDANCE_MODULE__PARAMETER_HELPER_HPP_ #include "tier4_autoware_utils/ros/parameter.hpp" -#include +#include #include #include @@ -131,6 +131,11 @@ AvoidanceParameters getParameter(rclcpp::Node * node) getOrDeclareParameter(*node, ns + "min_road_shoulder_width"); } + { + const std::string ns = "avoidance.target_filtering.merging_vehicle."; + p.th_overhang_distance = getOrDeclareParameter(*node, ns + "th_overhang_distance"); + } + { const std::string ns = "avoidance.target_filtering.avoidance_for_ambiguous_vehicle."; p.enable_avoidance_for_ambiguous_vehicle = getOrDeclareParameter(*node, ns + "enable"); @@ -378,11 +383,24 @@ AvoidanceParameters getParameter(rclcpp::Node * node) // debug { const std::string ns = "avoidance.debug."; - p.publish_debug_marker = getOrDeclareParameter(*node, ns + "marker"); + p.enable_other_objects_marker = + getOrDeclareParameter(*node, ns + "enable_other_objects_marker"); + p.enable_other_objects_info = + getOrDeclareParameter(*node, ns + "enable_other_objects_info"); + p.enable_detection_area_marker = + getOrDeclareParameter(*node, ns + "enable_detection_area_marker"); + p.enable_drivable_bound_marker = + getOrDeclareParameter(*node, ns + "enable_drivable_bound_marker"); + p.enable_safety_check_marker = + getOrDeclareParameter(*node, ns + "enable_safety_check_marker"); + p.enable_shift_line_marker = + getOrDeclareParameter(*node, ns + "enable_shift_line_marker"); + p.enable_lane_marker = getOrDeclareParameter(*node, ns + "enable_lane_marker"); + p.enable_misc_marker = getOrDeclareParameter(*node, ns + "enable_misc_marker"); } return p; } } // namespace behavior_path_planner -#endif // BEHAVIOR_PATH_AVOIDANCE_MODULE__PARAMETER_HELPER_HPP_ +#endif // AUTOWARE_BEHAVIOR_PATH_STATIC_OBSTACLE_AVOIDANCE_MODULE__PARAMETER_HELPER_HPP_ diff --git a/planning/behavior_path_avoidance_module/include/behavior_path_avoidance_module/scene.hpp b/planning/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware_behavior_path_static_obstacle_avoidance_module/scene.hpp similarity index 78% rename from planning/behavior_path_avoidance_module/include/behavior_path_avoidance_module/scene.hpp rename to planning/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware_behavior_path_static_obstacle_avoidance_module/scene.hpp index 899ec99cb0d3b..57090e9f551cf 100644 --- a/planning/behavior_path_avoidance_module/include/behavior_path_avoidance_module/scene.hpp +++ b/planning/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware_behavior_path_static_obstacle_avoidance_module/scene.hpp @@ -12,12 +12,13 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef BEHAVIOR_PATH_AVOIDANCE_MODULE__SCENE_HPP_ -#define BEHAVIOR_PATH_AVOIDANCE_MODULE__SCENE_HPP_ +#ifndef AUTOWARE_BEHAVIOR_PATH_STATIC_OBSTACLE_AVOIDANCE_MODULE__SCENE_HPP_ +#define AUTOWARE_BEHAVIOR_PATH_STATIC_OBSTACLE_AVOIDANCE_MODULE__SCENE_HPP_ -#include "behavior_path_avoidance_module/data_structs.hpp" -#include "behavior_path_avoidance_module/helper.hpp" -#include "behavior_path_avoidance_module/shift_line_generator.hpp" +#include "autoware_behavior_path_static_obstacle_avoidance_module/data_structs.hpp" +#include "autoware_behavior_path_static_obstacle_avoidance_module/helper.hpp" +#include "autoware_behavior_path_static_obstacle_avoidance_module/shift_line_generator.hpp" +#include "autoware_behavior_path_static_obstacle_avoidance_module/type_alias.hpp" #include "behavior_path_planner_common/interface/scene_module_interface.hpp" #include "behavior_path_planner_common/interface/scene_module_visitor.hpp" @@ -25,31 +26,23 @@ #include #include -#include -#include -#include -#include -#include - +#include #include #include #include +#include #include namespace behavior_path_planner { -using motion_utils::calcSignedArcLength; -using motion_utils::findNearestIndex; - +using helper::static_obstacle_avoidance::AvoidanceHelper; using tier4_planning_msgs::msg::AvoidanceDebugMsg; -using helper::avoidance::AvoidanceHelper; - -class AvoidanceModule : public SceneModuleInterface +class StaticObstacleAvoidanceModule : public SceneModuleInterface { public: - AvoidanceModule( + StaticObstacleAvoidanceModule( const std::string & name, rclcpp::Node & node, std::shared_ptr parameters, const std::unordered_map> & rtc_interface_ptr_map, std::unordered_map> & @@ -72,7 +65,14 @@ class AvoidanceModule : public SceneModuleInterface std::shared_ptr get_debug_msg_array() const; private: - bool isSatisfiedSuccessCondition(const AvoidancePlanningData & data) const; + /** + * @brief return the result whether the module can stop path generation process. + * @param avoidance data. + * @return it will return AvoidanceState::RUNNING when there are obstacles ego should avoid. + * it will return AvoidanceState::CANCEL when all obstacles have gone. + * it will return AvoidanceState::SUCCEEDED when the ego avoid all obstacles. + */ + AvoidanceState getCurrentModuleState(const AvoidancePlanningData & data) const; bool canTransitSuccessState() override; @@ -86,15 +86,17 @@ class AvoidanceModule : public SceneModuleInterface { if (candidate.lateral_shift > 0.0) { rtc_interface_ptr_map_.at("left")->updateCooperateStatus( - uuid_map_.at("left"), isExecutionReady(), candidate.start_distance_to_path_change, - candidate.finish_distance_to_path_change, clock_->now()); + uuid_map_.at("left"), isExecutionReady(), State::WAITING_FOR_EXECUTION, + candidate.start_distance_to_path_change, candidate.finish_distance_to_path_change, + clock_->now()); candidate_uuid_ = uuid_map_.at("left"); return; } if (candidate.lateral_shift < 0.0) { rtc_interface_ptr_map_.at("right")->updateCooperateStatus( - uuid_map_.at("right"), isExecutionReady(), candidate.start_distance_to_path_change, - candidate.finish_distance_to_path_change, clock_->now()); + uuid_map_.at("right"), isExecutionReady(), State::WAITING_FOR_EXECUTION, + candidate.start_distance_to_path_change, candidate.finish_distance_to_path_change, + clock_->now()); candidate_uuid_ = uuid_map_.at("right"); return; } @@ -114,10 +116,10 @@ class AvoidanceModule : public SceneModuleInterface for (const auto & left_shift : left_shift_array_) { const double start_distance = - calcSignedArcLength(path.points, ego_idx, left_shift.start_pose.position); + motion_utils::calcSignedArcLength(path.points, ego_idx, left_shift.start_pose.position); const double finish_distance = start_distance + left_shift.relative_longitudinal; rtc_interface_ptr_map_.at("left")->updateCooperateStatus( - left_shift.uuid, true, start_distance, finish_distance, clock_->now()); + left_shift.uuid, true, State::RUNNING, start_distance, finish_distance, clock_->now()); if (finish_distance > -1.0e-03) { steering_factor_interface_ptr_->updateSteeringFactor( {left_shift.start_pose, left_shift.finish_pose}, {start_distance, finish_distance}, @@ -127,10 +129,10 @@ class AvoidanceModule : public SceneModuleInterface for (const auto & right_shift : right_shift_array_) { const double start_distance = - calcSignedArcLength(path.points, ego_idx, right_shift.start_pose.position); + motion_utils::calcSignedArcLength(path.points, ego_idx, right_shift.start_pose.position); const double finish_distance = start_distance + right_shift.relative_longitudinal; rtc_interface_ptr_map_.at("right")->updateCooperateStatus( - right_shift.uuid, true, start_distance, finish_distance, clock_->now()); + right_shift.uuid, true, State::RUNNING, start_distance, finish_distance, clock_->now()); if (finish_distance > -1.0e-03) { steering_factor_interface_ptr_->updateSteeringFactor( {right_shift.start_pose, right_shift.finish_pose}, {start_distance, finish_distance}, @@ -145,9 +147,15 @@ class AvoidanceModule : public SceneModuleInterface void removeCandidateRTCStatus() { if (rtc_interface_ptr_map_.at("left")->isRegistered(candidate_uuid_)) { - rtc_interface_ptr_map_.at("left")->removeCooperateStatus(candidate_uuid_); - } else if (rtc_interface_ptr_map_.at("right")->isRegistered(candidate_uuid_)) { - rtc_interface_ptr_map_.at("right")->removeCooperateStatus(candidate_uuid_); + rtc_interface_ptr_map_.at("left")->updateCooperateStatus( + candidate_uuid_, true, State::FAILED, std::numeric_limits::lowest(), + std::numeric_limits::lowest(), clock_->now()); + } + + if (rtc_interface_ptr_map_.at("right")->isRegistered(candidate_uuid_)) { + rtc_interface_ptr_map_.at("right")->updateCooperateStatus( + candidate_uuid_, true, State::FAILED, std::numeric_limits::lowest(), + std::numeric_limits::lowest(), clock_->now()); } } @@ -188,14 +196,6 @@ class AvoidanceModule : public SceneModuleInterface */ void updateRTCData(); - // ego state check - - /** - * @brief update ego status based on avoidance path and surround condition. - * @param ego status. (NOT_AVOID, AVOID, YIELD, AVOID_EXECUTE, AVOID_PATH_NOT_READY) - */ - AvoidanceState updateEgoState(const AvoidancePlanningData & data) const; - // ego behavior update /** @@ -359,7 +359,7 @@ class AvoidanceModule : public SceneModuleInterface * @brief reset registered shift lines. * @details reset only when the base offset is zero. Otherwise, sudden steering will be caused; */ - void removeRegisteredShiftLines() + void removeRegisteredShiftLines(const uint8_t state) { constexpr double threshold = 0.1; if (std::abs(path_shifter_.getBaseOffset()) > threshold) { @@ -369,10 +369,25 @@ class AvoidanceModule : public SceneModuleInterface unlockNewModuleLaunch(); + for (const auto & left_shift : left_shift_array_) { + if (rtc_interface_ptr_map_.at("left")->isRegistered(left_shift.uuid)) { + rtc_interface_ptr_map_.at("left")->updateCooperateStatus( + left_shift.uuid, true, state, std::numeric_limits::lowest(), + std::numeric_limits::lowest(), clock_->now()); + } + } + + for (const auto & right_shift : right_shift_array_) { + if (rtc_interface_ptr_map_.at("right")->isRegistered(right_shift.uuid)) { + rtc_interface_ptr_map_.at("right")->updateCooperateStatus( + right_shift.uuid, true, state, std::numeric_limits::lowest(), + std::numeric_limits::lowest(), clock_->now()); + } + } + if (!path_shifter_.getShiftLines().empty()) { left_shift_array_.clear(); right_shift_array_.clear(); - removeRTCStatus(); } generator_.reset(); @@ -409,7 +424,7 @@ class AvoidanceModule : public SceneModuleInterface std::shared_ptr parameters_; - utils::avoidance::ShiftLineGenerator generator_; + utils::static_obstacle_avoidance::ShiftLineGenerator generator_; AvoidancePlanningData avoid_data_; @@ -424,9 +439,6 @@ class AvoidanceModule : public SceneModuleInterface // TODO(Satoshi OTA) create detected object manager. ObjectDataArray registered_objects_; - // TODO(Satoshi OTA) remove mutable. - mutable ObjectDataArray detected_objects_; - // TODO(Satoshi OTA) remove this variable. mutable ObjectDataArray ego_stopped_objects_; @@ -446,4 +458,4 @@ class AvoidanceModule : public SceneModuleInterface } // namespace behavior_path_planner -#endif // BEHAVIOR_PATH_AVOIDANCE_MODULE__SCENE_HPP_ +#endif // AUTOWARE_BEHAVIOR_PATH_STATIC_OBSTACLE_AVOIDANCE_MODULE__SCENE_HPP_ diff --git a/planning/behavior_path_avoidance_module/include/behavior_path_avoidance_module/shift_line_generator.hpp b/planning/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware_behavior_path_static_obstacle_avoidance_module/shift_line_generator.hpp similarity index 91% rename from planning/behavior_path_avoidance_module/include/behavior_path_avoidance_module/shift_line_generator.hpp rename to planning/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware_behavior_path_static_obstacle_avoidance_module/shift_line_generator.hpp index efdda622a664c..21eaef884b5e6 100644 --- a/planning/behavior_path_avoidance_module/include/behavior_path_avoidance_module/shift_line_generator.hpp +++ b/planning/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware_behavior_path_static_obstacle_avoidance_module/shift_line_generator.hpp @@ -12,20 +12,21 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef BEHAVIOR_PATH_AVOIDANCE_MODULE__SHIFT_LINE_GENERATOR_HPP_ -#define BEHAVIOR_PATH_AVOIDANCE_MODULE__SHIFT_LINE_GENERATOR_HPP_ +#ifndef AUTOWARE_BEHAVIOR_PATH_STATIC_OBSTACLE_AVOIDANCE_MODULE__SHIFT_LINE_GENERATOR_HPP_ +#define AUTOWARE_BEHAVIOR_PATH_STATIC_OBSTACLE_AVOIDANCE_MODULE__SHIFT_LINE_GENERATOR_HPP_ -#include "behavior_path_avoidance_module/data_structs.hpp" -#include "behavior_path_avoidance_module/helper.hpp" +#include "autoware_behavior_path_static_obstacle_avoidance_module/data_structs.hpp" +#include "autoware_behavior_path_static_obstacle_avoidance_module/helper.hpp" +#include "autoware_behavior_path_static_obstacle_avoidance_module/type_alias.hpp" #include "behavior_path_planner_common/utils/path_shifter/path_shifter.hpp" #include -namespace behavior_path_planner::utils::avoidance +namespace behavior_path_planner::utils::static_obstacle_avoidance { using behavior_path_planner::PathShifter; -using behavior_path_planner::helper::avoidance::AvoidanceHelper; +using behavior_path_planner::helper::static_obstacle_avoidance::AvoidanceHelper; class ShiftLineGenerator { @@ -241,6 +242,6 @@ class ShiftLineGenerator double base_offset_{0.0}; }; -} // namespace behavior_path_planner::utils::avoidance +} // namespace behavior_path_planner::utils::static_obstacle_avoidance -#endif // BEHAVIOR_PATH_AVOIDANCE_MODULE__SHIFT_LINE_GENERATOR_HPP_ +#endif // AUTOWARE_BEHAVIOR_PATH_STATIC_OBSTACLE_AVOIDANCE_MODULE__SHIFT_LINE_GENERATOR_HPP_ diff --git a/planning/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware_behavior_path_static_obstacle_avoidance_module/type_alias.hpp b/planning/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware_behavior_path_static_obstacle_avoidance_module/type_alias.hpp new file mode 100644 index 0000000000000..afdfba30ce267 --- /dev/null +++ b/planning/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware_behavior_path_static_obstacle_avoidance_module/type_alias.hpp @@ -0,0 +1,74 @@ +// Copyright 2024 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#ifndef AUTOWARE_BEHAVIOR_PATH_STATIC_OBSTACLE_AVOIDANCE_MODULE__TYPE_ALIAS_HPP_ +#define AUTOWARE_BEHAVIOR_PATH_STATIC_OBSTACLE_AVOIDANCE_MODULE__TYPE_ALIAS_HPP_ + +#include +#include +#include +#include +#include +#include +#include + +#include +#include +#include +#include +#include +#include +#include + +namespace behavior_path_planner +{ +// auto msgs +using autoware_auto_perception_msgs::msg::PredictedObject; +using autoware_auto_perception_msgs::msg::PredictedPath; +using autoware_auto_planning_msgs::msg::PathWithLaneId; + +// ROS 2 general msgs +using geometry_msgs::msg::Point; +using geometry_msgs::msg::Pose; +using geometry_msgs::msg::TransformStamped; +using geometry_msgs::msg::Vector3; +using std_msgs::msg::ColorRGBA; +using visualization_msgs::msg::Marker; +using visualization_msgs::msg::MarkerArray; + +// tier4 msgs +using tier4_planning_msgs::msg::AvoidanceDebugMsg; +using tier4_planning_msgs::msg::AvoidanceDebugMsgArray; +using tier4_rtc_msgs::msg::State; + +// tier4 utils functions +using tier4_autoware_utils::appendMarkerArray; +using tier4_autoware_utils::calcDistance2d; +using tier4_autoware_utils::calcLateralDeviation; +using tier4_autoware_utils::calcOffsetPose; +using tier4_autoware_utils::calcYawDeviation; +using tier4_autoware_utils::createDefaultMarker; +using tier4_autoware_utils::createMarkerColor; +using tier4_autoware_utils::createMarkerScale; +using tier4_autoware_utils::createPoint; +using tier4_autoware_utils::createQuaternionFromRPY; +using tier4_autoware_utils::getPoint; +using tier4_autoware_utils::getPose; +using tier4_autoware_utils::Point2d; +using tier4_autoware_utils::Polygon2d; +using tier4_autoware_utils::pose2transform; +using tier4_autoware_utils::toHexString; +} // namespace behavior_path_planner + +#endif // AUTOWARE_BEHAVIOR_PATH_STATIC_OBSTACLE_AVOIDANCE_MODULE__TYPE_ALIAS_HPP_ diff --git a/planning/behavior_path_avoidance_module/include/behavior_path_avoidance_module/utils.hpp b/planning/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware_behavior_path_static_obstacle_avoidance_module/utils.hpp similarity index 94% rename from planning/behavior_path_avoidance_module/include/behavior_path_avoidance_module/utils.hpp rename to planning/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware_behavior_path_static_obstacle_avoidance_module/utils.hpp index 92e9da61c4ada..420edd17ca372 100644 --- a/planning/behavior_path_avoidance_module/include/behavior_path_avoidance_module/utils.hpp +++ b/planning/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware_behavior_path_static_obstacle_avoidance_module/utils.hpp @@ -12,10 +12,10 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef BEHAVIOR_PATH_AVOIDANCE_MODULE__UTILS_HPP_ -#define BEHAVIOR_PATH_AVOIDANCE_MODULE__UTILS_HPP_ +#ifndef AUTOWARE_BEHAVIOR_PATH_STATIC_OBSTACLE_AVOIDANCE_MODULE__UTILS_HPP_ +#define AUTOWARE_BEHAVIOR_PATH_STATIC_OBSTACLE_AVOIDANCE_MODULE__UTILS_HPP_ -#include "behavior_path_avoidance_module/data_structs.hpp" +#include "autoware_behavior_path_static_obstacle_avoidance_module/data_structs.hpp" #include "behavior_path_planner_common/data_manager.hpp" #include "behavior_path_planner_common/utils/path_safety_checker/path_safety_checker_parameters.hpp" @@ -23,8 +23,9 @@ #include #include -namespace behavior_path_planner::utils::avoidance +namespace behavior_path_planner::utils::static_obstacle_avoidance { + using behavior_path_planner::PlannerData; using behavior_path_planner::utils::path_safety_checker::ExtendedPredictedObject; using behavior_path_planner::utils::path_safety_checker::PoseWithVelocityAndPolygonStamped; @@ -115,8 +116,6 @@ void fillObjectStoppableJudge( ObjectData & object_data, const ObjectDataArray & registered_objects, const double feasible_stop_distance, const std::shared_ptr & parameters); -void fillInitialPose(ObjectData & object_data, ObjectDataArray & detected_objects); - void updateRegisteredObject( ObjectDataArray & registered_objects, const ObjectDataArray & now_objects, const std::shared_ptr & parameters); @@ -175,6 +174,6 @@ double calcDistanceToAvoidStartLine( const std::shared_ptr & planner_data, const std::shared_ptr & parameters); -} // namespace behavior_path_planner::utils::avoidance +} // namespace behavior_path_planner::utils::static_obstacle_avoidance -#endif // BEHAVIOR_PATH_AVOIDANCE_MODULE__UTILS_HPP_ +#endif // AUTOWARE_BEHAVIOR_PATH_STATIC_OBSTACLE_AVOIDANCE_MODULE__UTILS_HPP_ diff --git a/planning/behavior_path_avoidance_module/package.xml b/planning/autoware_behavior_path_static_obstacle_avoidance_module/package.xml similarity index 90% rename from planning/behavior_path_avoidance_module/package.xml rename to planning/autoware_behavior_path_static_obstacle_avoidance_module/package.xml index fc34172bb2ce9..3643257d243b4 100644 --- a/planning/behavior_path_avoidance_module/package.xml +++ b/planning/autoware_behavior_path_static_obstacle_avoidance_module/package.xml @@ -1,9 +1,9 @@ - behavior_path_avoidance_module + autoware_behavior_path_static_obstacle_avoidance_module 0.1.0 - The behavior_path_avoidance_module package + The autoware_behavior_path_static_obstacle_avoidance_module package Takamasa Horibe Zulfaqar Azmi @@ -13,6 +13,7 @@ Tomoya Kimura Shumpei Wakabayashi Tomohito Ando + Go Sakayori Apache License 2.0 diff --git a/planning/autoware_behavior_path_static_obstacle_avoidance_module/plugins.xml b/planning/autoware_behavior_path_static_obstacle_avoidance_module/plugins.xml new file mode 100644 index 0000000000000..a4e1da9d5dccb --- /dev/null +++ b/planning/autoware_behavior_path_static_obstacle_avoidance_module/plugins.xml @@ -0,0 +1,3 @@ + + + diff --git a/planning/behavior_path_avoidance_module/schema/avoidance.schema.json b/planning/autoware_behavior_path_static_obstacle_avoidance_module/schema/static_obstacle_avoidance.schema.json similarity index 95% rename from planning/behavior_path_avoidance_module/schema/avoidance.schema.json rename to planning/autoware_behavior_path_static_obstacle_avoidance_module/schema/static_obstacle_avoidance.schema.json index eee34edbc0e0c..e0f1156172932 100644 --- a/planning/behavior_path_avoidance_module/schema/avoidance.schema.json +++ b/planning/autoware_behavior_path_static_obstacle_avoidance_module/schema/static_obstacle_avoidance.schema.json @@ -681,6 +681,18 @@ ], "additionalProperties": false }, + "merging_vehicle": { + "type": "object", + "properties": { + "th_overhang_distance": { + "type": "number", + "description": "Distance threshold to ignore merging/deviating vehicle to/from ego driving lane. The distance represents how the object polygon overlaps ego lane, and it's calculated from polygon overhang point and lane centerline. If the distance is more than this param, the module never avoid the object. (Basically, the ego stops behind of it.)", + "default": 0.5 + } + }, + "required": ["th_overhang_distance"], + "additionalProperties": false + }, "parked_vehicle": { "type": "object", "properties": { @@ -803,6 +815,7 @@ "object_check_return_pose_distance", "max_compensation_time", "detection_area", + "merging_vehicle", "parked_vehicle", "avoidance_for_ambiguous_vehicle", "intersection" @@ -1375,13 +1388,57 @@ "debug": { "type": "object", "properties": { - "marker": { + "enable_other_objects_marker": { "type": "boolean", - "description": "Publish debug marker.", + "description": "Publish other objects marker.", + "default": "false" + }, + "enable_other_objects_info": { + "type": "boolean", + "description": "Publish other objects detail information.", + "default": "false" + }, + "enable_detection_area_marker": { + "type": "boolean", + "description": "Publish detection area.", + "default": "false" + }, + "enable_drivable_bound_marker": { + "type": "boolean", + "description": "Publish drivable area boundary.", + "default": "false" + }, + "enable_safety_check_marker": { + "type": "boolean", + "description": "Publish safety check information.", + "default": "false" + }, + "enable_shift_line_marker": { + "type": "boolean", + "description": "Publish shift line information.", + "default": "false" + }, + "enable_lane_marker": { + "type": "boolean", + "description": "Publish lane information.", + "default": "false" + }, + "enable_misc_marker": { + "type": "boolean", + "description": "Publish misc markers.", "default": "false" } }, - "required": ["marker"], + "required": [ + "enable_other_objects_marker", + "enable_other_objects_info", + "enable_detection_area_marker", + "enable_drivable_bound_marker", + "enable_safety_check_marker", + "enable_shift_line_marker", + "enable_lane_marker", + "enable_misc_marker" + ], "additionalProperties": false } }, diff --git a/planning/behavior_path_avoidance_module/src/debug.cpp b/planning/autoware_behavior_path_static_obstacle_avoidance_module/src/debug.cpp similarity index 85% rename from planning/behavior_path_avoidance_module/src/debug.cpp rename to planning/autoware_behavior_path_static_obstacle_avoidance_module/src/debug.cpp index 7d029277fcbc4..b8e6bb99fbebb 100644 --- a/planning/behavior_path_avoidance_module/src/debug.cpp +++ b/planning/autoware_behavior_path_static_obstacle_avoidance_module/src/debug.cpp @@ -12,33 +12,19 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "behavior_path_avoidance_module/debug.hpp" +#include "autoware_behavior_path_static_obstacle_avoidance_module/debug.hpp" #include "behavior_path_planner_common/marker_utils/utils.hpp" #include "behavior_path_planner_common/utils/utils.hpp" #include #include -#include - -#include #include #include -namespace marker_utils::avoidance_marker +namespace behavior_path_planner::utils::static_obstacle_avoidance { - -using tier4_autoware_utils::appendMarkerArray; -using tier4_autoware_utils::calcDistance2d; -using tier4_autoware_utils::calcOffsetPose; -using tier4_autoware_utils::createDefaultMarker; -using tier4_autoware_utils::createMarkerColor; -using tier4_autoware_utils::createMarkerScale; -using tier4_autoware_utils::createPoint; -using tier4_autoware_utils::getPose; -using visualization_msgs::msg::Marker; - namespace { @@ -144,7 +130,8 @@ MarkerArray createToDrivableBoundDistance(const ObjectDataArray & objects, std:: return msg; } -MarkerArray createObjectInfoMarkerArray(const ObjectDataArray & objects, std::string && ns) +MarkerArray createObjectInfoMarkerArray( + const ObjectDataArray & objects, std::string && ns, const bool verbose) { MarkerArray msg; @@ -153,7 +140,7 @@ MarkerArray createObjectInfoMarkerArray(const ObjectDataArray & objects, std::st createMarkerScale(0.5, 0.5, 0.5), createMarkerColor(1.0, 1.0, 0.0, 1.0)); for (const auto & object : objects) { - { + if (verbose) { marker.id = uuidToInt32(object.object.object_id); marker.pose = object.object.kinematics.initial_pose_with_covariance.pose; std::ostringstream string_stream; @@ -174,9 +161,11 @@ MarkerArray createObjectInfoMarkerArray(const ObjectDataArray & objects, std::st { marker.id = uuidToInt32(object.object.object_id); + marker.pose = object.object.kinematics.initial_pose_with_covariance.pose; marker.pose.position.z += 2.0; std::ostringstream string_stream; - string_stream << object.reason << (object.is_parked ? "(PARKED)" : ""); + string_stream << magic_enum::enum_name(object.info) << (object.is_parked ? "(PARKED)" : ""); + string_stream << (object.is_ambiguous ? "(WAIT AND SEE)" : ""); marker.text = string_stream.str(); marker.color = createMarkerColor(1.0, 1.0, 1.0, 0.999); marker.scale = createMarkerScale(0.6, 0.6, 0.6); @@ -214,7 +203,7 @@ MarkerArray avoidableObjectsMarkerArray(const ObjectDataArray & objects, std::st createMarkerColor(1.0, 1.0, 0.0, 0.8)), &msg); - appendMarkerArray(createObjectInfoMarkerArray(objects, ns + "_info"), &msg); + appendMarkerArray(createObjectInfoMarkerArray(objects, ns + "_info", true), &msg); appendMarkerArray(createObjectPolygonMarkerArray(objects, ns + "_envelope_polygon"), &msg); appendMarkerArray(createToDrivableBoundDistance(objects, ns + "_to_drivable_bound"), &msg); appendMarkerArray(createOverhangLaneletMarkerArray(objects, ns + "_overhang_lanelet"), &msg); @@ -233,7 +222,7 @@ MarkerArray unAvoidableObjectsMarkerArray(const ObjectDataArray & objects, std:: createMarkerColor(1.0, 0.0, 0.0, 0.8)), &msg); - appendMarkerArray(createObjectInfoMarkerArray(objects, ns + "_info"), &msg); + appendMarkerArray(createObjectInfoMarkerArray(objects, ns + "_info", true), &msg); appendMarkerArray(createObjectPolygonMarkerArray(objects, ns + "_envelope_polygon"), &msg); appendMarkerArray(createToDrivableBoundDistance(objects, ns + "_to_drivable_bound"), &msg); appendMarkerArray(createOverhangLaneletMarkerArray(objects, ns + "_overhang_lanelet"), &msg); @@ -441,14 +430,13 @@ MarkerArray createTargetObjectsMarkerArray(const ObjectDataArray & objects, cons return msg; } -MarkerArray createOtherObjectsMarkerArray(const ObjectDataArray & objects, const std::string & ns) +MarkerArray createOtherObjectsMarkerArray( + const ObjectDataArray & objects, const ObjectInfo & info, const bool verbose) { - using behavior_path_planner::utils::convertToSnakeCase; - - const auto filtered_objects = [&objects, &ns]() { + const auto filtered_objects = [&objects, &info]() { ObjectDataArray ret{}; for (const auto & o : objects) { - if (o.reason != ns) { + if (o.info != info) { continue; } ret.push_back(o); @@ -460,18 +448,21 @@ MarkerArray createOtherObjectsMarkerArray(const ObjectDataArray & objects, const MarkerArray msg; msg.markers.reserve(filtered_objects.size() * 2); + std::ostringstream string_stream; + string_stream << magic_enum::enum_name(info); + + std::string ns = string_stream.str(); + transform(ns.begin(), ns.end(), ns.begin(), tolower); + appendMarkerArray( createObjectsCubeMarkerArray( - filtered_objects, "others_" + convertToSnakeCase(ns) + "_cube", - createMarkerScale(3.0, 1.5, 1.5), createMarkerColor(0.0, 1.0, 0.0, 0.8)), + filtered_objects, "others_" + ns + "_cube", createMarkerScale(3.0, 1.5, 1.5), + createMarkerColor(0.0, 1.0, 0.0, 0.8)), &msg); appendMarkerArray( - createObjectInfoMarkerArray(filtered_objects, "others_" + convertToSnakeCase(ns) + "_info"), - &msg); + createObjectInfoMarkerArray(filtered_objects, "others_" + ns + "_info", verbose), &msg); appendMarkerArray( - createOverhangLaneletMarkerArray( - filtered_objects, "others_" + convertToSnakeCase(ns) + "_overhang_lanelet"), - &msg); + createOverhangLaneletMarkerArray(filtered_objects, "others_" + ns + "_overhang_lanelet"), &msg); return msg; } @@ -513,7 +504,8 @@ MarkerArray createDrivableBounds( } MarkerArray createDebugMarkerArray( - const AvoidancePlanningData & data, const PathShifter & shifter, const DebugData & debug) + const AvoidancePlanningData & data, const PathShifter & shifter, const DebugData & debug, + const std::shared_ptr & parameters) { using behavior_path_planner::utils::transformToLanelets; using lanelet::visualization::laneletsAsTriangleMarkerArray; @@ -528,7 +520,6 @@ MarkerArray createDebugMarkerArray( using marker_utils::showPolygon; using marker_utils::showPredictedPath; using marker_utils::showSafetyCheckInfo; - using tier4_planning_msgs::msg::AvoidanceDebugFactor; const auto current_time = rclcpp::Clock{RCL_ROS_TIME}.now(); MarkerArray msg; @@ -548,7 +539,7 @@ MarkerArray createDebugMarkerArray( }; const auto addObjects = [&](const ObjectDataArray & objects, const auto & ns) { - add(createOtherObjectsMarkerArray(objects, ns)); + add(createOtherObjectsMarkerArray(objects, ns, parameters->enable_other_objects_info)); }; const auto addShiftLength = @@ -563,28 +554,27 @@ MarkerArray createDebugMarkerArray( }; // ignore objects - { - addObjects(data.other_objects, AvoidanceDebugFactor::OBJECT_IS_BEHIND_THRESHOLD); - addObjects(data.other_objects, AvoidanceDebugFactor::OBJECT_IS_IN_FRONT_THRESHOLD); - addObjects(data.other_objects, AvoidanceDebugFactor::OBJECT_IS_NOT_TYPE); - addObjects(data.other_objects, AvoidanceDebugFactor::OBJECT_BEHIND_PATH_GOAL); - addObjects(data.other_objects, AvoidanceDebugFactor::TOO_NEAR_TO_CENTERLINE); - addObjects(data.other_objects, AvoidanceDebugFactor::NOT_PARKING_OBJECT); - addObjects(data.other_objects, std::string("MovingObject")); - addObjects(data.other_objects, std::string("CrosswalkUser")); - addObjects(data.other_objects, std::string("OutOfTargetArea")); - addObjects(data.other_objects, std::string("NotNeedAvoidance")); - addObjects(data.other_objects, std::string("LessThanExecutionThreshold")); - addObjects(data.other_objects, std::string("TooNearToGoal")); - addObjects(data.other_objects, std::string("ParallelToEgoLane")); - addObjects(data.other_objects, std::string("MergingToEgoLane")); - addObjects(data.other_objects, std::string("UnstableObject")); - addObjects(data.other_objects, std::string("AmbiguousStoppedVehicle")); - addObjects(data.other_objects, std::string("AmbiguousStoppedVehicle(wait-and-see)")); + if (parameters->enable_other_objects_marker) { + addObjects(data.other_objects, ObjectInfo::FURTHER_THAN_THRESHOLD); + addObjects(data.other_objects, ObjectInfo::IS_NOT_TARGET_OBJECT); + addObjects(data.other_objects, ObjectInfo::FURTHER_THAN_GOAL); + addObjects(data.other_objects, ObjectInfo::TOO_NEAR_TO_CENTERLINE); + addObjects(data.other_objects, ObjectInfo::IS_NOT_PARKING_OBJECT); + addObjects(data.other_objects, ObjectInfo::MOVING_OBJECT); + addObjects(data.other_objects, ObjectInfo::CROSSWALK_USER); + addObjects(data.other_objects, ObjectInfo::OUT_OF_TARGET_AREA); + addObjects(data.other_objects, ObjectInfo::ENOUGH_LATERAL_DISTANCE); + addObjects(data.other_objects, ObjectInfo::LESS_THAN_EXECUTION_THRESHOLD); + addObjects(data.other_objects, ObjectInfo::TOO_NEAR_TO_GOAL); + addObjects(data.other_objects, ObjectInfo::PARALLEL_TO_EGO_LANE); + addObjects(data.other_objects, ObjectInfo::MERGING_TO_EGO_LANE); + addObjects(data.other_objects, ObjectInfo::DEVIATING_FROM_EGO_LANE); + addObjects(data.other_objects, ObjectInfo::UNSTABLE_OBJECT); + addObjects(data.other_objects, ObjectInfo::AMBIGUOUS_STOPPED_VEHICLE); } // shift line pre-process - { + if (parameters->enable_shift_line_marker) { addAvoidLine(debug.step1_registered_shift_line, "step1_registered_shift_line", 0.2, 0.2, 1.0); addAvoidLine(debug.step1_current_shift_line, "step1_current_shift_line", 0.2, 0.4, 0.8, 0.3); addAvoidLine(debug.step1_merged_shift_line, "step1_merged_shift_line", 0.2, 0.6, 0.6, 0.3); @@ -593,39 +583,39 @@ MarkerArray createDebugMarkerArray( } // merge process - { + if (parameters->enable_shift_line_marker) { addAvoidLine(debug.step2_merged_shift_line, "step2_merged_shift_line", 0.2, 1.0, 0.0, 0.3); } // trimming process - { + if (parameters->enable_shift_line_marker) { addAvoidLine(debug.step3_grad_filtered_1st, "step3_grad_filtered_1st", 0.2, 0.8, 0.0, 0.3); addAvoidLine(debug.step3_grad_filtered_2nd, "step3_grad_filtered_2nd", 0.4, 0.6, 0.0, 0.3); addAvoidLine(debug.step3_grad_filtered_3rd, "step3_grad_filtered_3rd", 0.6, 0.4, 0.0, 0.3); } // registering process - { + if (parameters->enable_shift_line_marker) { addShiftLine(shifter.getShiftLines(), "step4_old_shift_line", 1.0, 1.0, 0.0, 0.3); addAvoidLine(data.new_shift_line, "step4_new_shift_line", 1.0, 0.0, 0.0, 0.3); } // safety check - { + if (parameters->enable_safety_check_marker) { add(showSafetyCheckInfo(debug.collision_check, "object_debug_info")); add(showPredictedPath(debug.collision_check, "ego_predicted_path")); add(showPolygon(debug.collision_check, "ego_and_target_polygon_relation")); } // shift length - { + if (parameters->enable_shift_line_marker) { addShiftLength(debug.pos_shift, "merged_length_pos", 0.0, 0.7, 0.5); addShiftLength(debug.neg_shift, "merged_length_neg", 0.0, 0.5, 0.7); addShiftLength(debug.total_shift, "merged_length_total", 0.99, 0.4, 0.2); } // shift grad - { + if (parameters->enable_shift_line_marker) { addShiftGrad(debug.pos_shift_grad, debug.pos_shift, "merged_grad_pos", 0.0, 0.7, 0.5); addShiftGrad(debug.neg_shift_grad, debug.neg_shift, "merged_grad_neg", 0.0, 0.5, 0.7); addShiftGrad(debug.total_forward_grad, debug.total_shift, "grad_forward", 0.99, 0.4, 0.2); @@ -633,15 +623,20 @@ MarkerArray createDebugMarkerArray( } // detection area - size_t i = 0; - for (const auto & detection_area : debug.detection_areas) { - add(createPolygonMarkerArray(detection_area, "detection_area", i++, 0.16, 1.0, 0.69, 0.1)); + if (parameters->enable_detection_area_marker) { + size_t i = 0; + for (const auto & detection_area : debug.detection_areas) { + add(createPolygonMarkerArray(detection_area, "detection_area", i++, 0.16, 1.0, 0.69, 0.1)); + } } - // misc - { - add(createPathMarkerArray(path, "centerline_resampled", 0, 0.0, 0.9, 0.5)); + // drivable bound + if (parameters->enable_drivable_bound_marker) { add(createDrivableBounds(data, "drivable_bound", 1.0, 0.0, 0.42)); + } + + // lane + if (parameters->enable_lane_marker) { add(laneletsAsTriangleMarkerArray( "drivable_lanes", transformToLanelets(data.drivable_lanes), createMarkerColor(0.16, 1.0, 0.69, 0.2))); @@ -651,9 +646,14 @@ MarkerArray createDebugMarkerArray( "safety_check_lanes", debug.safety_check_lanes, createMarkerColor(1.0, 0.0, 0.42, 0.2))); } + // misc + if (parameters->enable_misc_marker) { + add(createPathMarkerArray(path, "centerline_resampled", 0, 0.0, 0.9, 0.5)); + } + return msg; } -} // namespace marker_utils::avoidance_marker +} // namespace behavior_path_planner::utils::static_obstacle_avoidance std::string toStrInfo(const behavior_path_planner::ShiftLineArray & sl_arr) { diff --git a/planning/behavior_path_avoidance_module/src/manager.cpp b/planning/autoware_behavior_path_static_obstacle_avoidance_module/src/manager.cpp similarity index 88% rename from planning/behavior_path_avoidance_module/src/manager.cpp rename to planning/autoware_behavior_path_static_obstacle_avoidance_module/src/manager.cpp index dbff6f60365f3..bfc95e0730cd6 100644 --- a/planning/behavior_path_avoidance_module/src/manager.cpp +++ b/planning/autoware_behavior_path_static_obstacle_avoidance_module/src/manager.cpp @@ -12,9 +12,9 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "behavior_path_avoidance_module/manager.hpp" +#include "autoware_behavior_path_static_obstacle_avoidance_module/manager.hpp" -#include "behavior_path_avoidance_module/parameter_helper.hpp" +#include "autoware_behavior_path_static_obstacle_avoidance_module/parameter_helper.hpp" #include "tier4_autoware_utils/ros/parameter.hpp" #include "tier4_autoware_utils/ros/update_param.hpp" @@ -26,7 +26,7 @@ namespace behavior_path_planner { -void AvoidanceModuleManager::init(rclcpp::Node * node) +void StaticObstacleAvoidanceModuleManager::init(rclcpp::Node * node) { using autoware_auto_perception_msgs::msg::ObjectClassification; using tier4_autoware_utils::getOrDeclareParameter; @@ -39,7 +39,8 @@ void AvoidanceModuleManager::init(rclcpp::Node * node) parameters_ = std::make_shared(p); } -void AvoidanceModuleManager::updateModuleParams(const std::vector & parameters) +void StaticObstacleAvoidanceModuleManager::updateModuleParams( + const std::vector & parameters) { using autoware_auto_perception_msgs::msg::ObjectClassification; using tier4_autoware_utils::updateParam; @@ -124,6 +125,11 @@ void AvoidanceModuleManager::updateModuleParams(const std::vector(parameters, ns + "backward_distance", p->object_check_backward_distance); } + { + const std::string ns = "avoidance.target_filtering.merging_vehicle."; + updateParam(parameters, ns + "th_overhang_distance", p->th_overhang_distance); + } + { const std::string ns = "avoidance.avoidance.lateral.avoidance_for_ambiguous_vehicle."; updateParam(parameters, ns + "enable", p->enable_avoidance_for_ambiguous_vehicle); @@ -256,7 +262,17 @@ void AvoidanceModuleManager::updateModuleParams(const std::vector(parameters, ns + "marker", p->publish_debug_marker); + updateParam( + parameters, ns + "enable_other_objects_marker", p->enable_other_objects_marker); + updateParam(parameters, ns + "enable_other_objects_info", p->enable_other_objects_info); + updateParam( + parameters, ns + "enable_detection_area_marker", p->enable_detection_area_marker); + updateParam( + parameters, ns + "enable_drivable_bound_marker", p->enable_drivable_bound_marker); + updateParam(parameters, ns + "enable_safety_check_marker", p->enable_safety_check_marker); + updateParam(parameters, ns + "enable_shift_line_marker", p->enable_shift_line_marker); + updateParam(parameters, ns + "enable_lane_marker", p->enable_lane_marker); + updateParam(parameters, ns + "enable_misc_marker", p->enable_misc_marker); } std::for_each(observers_.begin(), observers_.end(), [&p](const auto & observer) { @@ -267,4 +283,5 @@ void AvoidanceModuleManager::updateModuleParams(const std::vector PLUGINLIB_EXPORT_CLASS( - behavior_path_planner::AvoidanceModuleManager, behavior_path_planner::SceneModuleManagerInterface) + behavior_path_planner::StaticObstacleAvoidanceModuleManager, + behavior_path_planner::SceneModuleManagerInterface) diff --git a/planning/behavior_path_avoidance_module/src/scene.cpp b/planning/autoware_behavior_path_static_obstacle_avoidance_module/src/scene.cpp similarity index 85% rename from planning/behavior_path_avoidance_module/src/scene.cpp rename to planning/autoware_behavior_path_static_obstacle_avoidance_module/src/scene.cpp index 1d46e4e1f9d5d..0a6d490f7fbf1 100644 --- a/planning/behavior_path_avoidance_module/src/scene.cpp +++ b/planning/autoware_behavior_path_static_obstacle_avoidance_module/src/scene.cpp @@ -12,10 +12,10 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "behavior_path_avoidance_module/scene.hpp" +#include "autoware_behavior_path_static_obstacle_avoidance_module/scene.hpp" -#include "behavior_path_avoidance_module/debug.hpp" -#include "behavior_path_avoidance_module/utils.hpp" +#include "autoware_behavior_path_static_obstacle_avoidance_module/debug.hpp" +#include "autoware_behavior_path_static_obstacle_avoidance_module/utils.hpp" #include "behavior_path_planner_common/interface/scene_module_visitor.hpp" #include "behavior_path_planner_common/utils/drivable_area_expansion/static_drivable_area.hpp" #include "behavior_path_planner_common/utils/path_safety_checker/objects_filtering.hpp" @@ -26,12 +26,6 @@ #include #include -#include -#include -#include - -#include "tier4_planning_msgs/msg/detail/avoidance_debug_msg_array__struct.hpp" -#include #include #include @@ -42,18 +36,6 @@ namespace behavior_path_planner { - -using motion_utils::calcLongitudinalOffsetPose; -using motion_utils::calcSignedArcLength; -using motion_utils::findNearestIndex; -using tier4_autoware_utils::appendMarkerArray; -using tier4_autoware_utils::calcDistance2d; -using tier4_autoware_utils::calcLateralDeviation; -using tier4_autoware_utils::getPoint; -using tier4_autoware_utils::getPose; -using tier4_autoware_utils::toHexString; -using tier4_planning_msgs::msg::AvoidanceDebugFactor; - namespace { bool isDrivingSameLane( @@ -89,7 +71,7 @@ lanelet::BasicLineString3d toLineString3d(const std::vector & bound) } } // namespace -AvoidanceModule::AvoidanceModule( +StaticObstacleAvoidanceModule::StaticObstacleAvoidanceModule( const std::string & name, rclcpp::Node & node, std::shared_ptr parameters, const std::unordered_map> & rtc_interface_ptr_map, std::unordered_map> & @@ -101,7 +83,7 @@ AvoidanceModule::AvoidanceModule( { } -bool AvoidanceModule::isExecutionRequested() const +bool StaticObstacleAvoidanceModule::isExecutionRequested() const { RCLCPP_DEBUG(getLogger(), "AVOIDANCE isExecutionRequested"); @@ -119,12 +101,11 @@ bool AvoidanceModule::isExecutionRequested() const } return std::any_of( - avoid_data_.target_objects.begin(), avoid_data_.target_objects.end(), [](const auto & o) { - return o.is_avoidable || o.reason == AvoidanceDebugFactor::TOO_LARGE_JERK; - }); + avoid_data_.target_objects.begin(), avoid_data_.target_objects.end(), + [this](const auto & o) { return !helper_->isAbsolutelyNotAvoidable(o); }); } -bool AvoidanceModule::isExecutionReady() const +bool StaticObstacleAvoidanceModule::isExecutionReady() const { RCLCPP_DEBUG_STREAM(getLogger(), "---Avoidance GO/NO-GO status---"); RCLCPP_DEBUG_STREAM(getLogger(), std::boolalpha << "SAFE:" << avoid_data_.safe); @@ -134,15 +115,15 @@ bool AvoidanceModule::isExecutionReady() const return avoid_data_.safe && avoid_data_.comfortable && avoid_data_.valid && avoid_data_.ready; } -bool AvoidanceModule::isSatisfiedSuccessCondition(const AvoidancePlanningData & data) const +AvoidanceState StaticObstacleAvoidanceModule::getCurrentModuleState( + const AvoidancePlanningData & data) const { - const bool has_avoidance_target = - std::any_of(data.target_objects.begin(), data.target_objects.end(), [](const auto & o) { - return o.is_avoidable || o.reason == AvoidanceDebugFactor::TOO_LARGE_JERK; - }); + const bool has_avoidance_target = std::any_of( + data.target_objects.begin(), data.target_objects.end(), + [this](const auto & o) { return !helper_->isAbsolutelyNotAvoidable(o); }); if (has_avoidance_target) { - return false; + return AvoidanceState::RUNNING; } // If the ego is on the shift line, keep RUNNING. @@ -153,7 +134,7 @@ bool AvoidanceModule::isSatisfiedSuccessCondition(const AvoidancePlanningData & }; for (const auto & shift_line : path_shifter_.getShiftLines()) { if (within(shift_line, idx)) { - return false; + return AvoidanceState::RUNNING; } } } @@ -162,20 +143,24 @@ bool AvoidanceModule::isSatisfiedSuccessCondition(const AvoidancePlanningData & const bool has_base_offset = std::abs(path_shifter_.getBaseOffset()) > parameters_->lateral_execution_threshold; + if (has_base_offset) { + return AvoidanceState::RUNNING; + } + // Nothing to do. -> EXIT. - if (!has_shift_point && !has_base_offset) { - return true; + if (!has_shift_point) { + return AvoidanceState::SUCCEEDED; } // Be able to canceling avoidance path. -> EXIT. if (!helper_->isShifted() && parameters_->enable_cancel_maneuver) { - return true; + return AvoidanceState::CANCEL; } - return false; + return AvoidanceState::RUNNING; } -bool AvoidanceModule::canTransitSuccessState() +bool StaticObstacleAvoidanceModule::canTransitSuccessState() { const auto & data = avoid_data_; @@ -203,25 +188,26 @@ bool AvoidanceModule::canTransitSuccessState() } } - return data.success; + return data.state == AvoidanceState::CANCEL || data.state == AvoidanceState::SUCCEEDED; } -void AvoidanceModule::fillFundamentalData(AvoidancePlanningData & data, DebugData & debug) +void StaticObstacleAvoidanceModule::fillFundamentalData( + AvoidancePlanningData & data, DebugData & debug) { // reference pose data.reference_pose = utils::getUnshiftedEgoPose(getEgoPose(), helper_->getPreviousSplineShiftPath()); // lanelet info - data.current_lanelets = utils::avoidance::getCurrentLanesFromPath( + data.current_lanelets = utils::static_obstacle_avoidance::getCurrentLanesFromPath( getPreviousModuleOutput().reference_path, planner_data_); - data.extend_lanelets = - utils::avoidance::getExtendLanes(data.current_lanelets, getEgoPose(), planner_data_); + data.extend_lanelets = utils::static_obstacle_avoidance::getExtendLanes( + data.current_lanelets, getEgoPose(), planner_data_); // expand drivable lanes const auto is_within_current_lane = - utils::avoidance::isWithinLanes(data.current_lanelets, planner_data_); + utils::static_obstacle_avoidance::isWithinLanes(data.current_lanelets, planner_data_); const auto red_signal_lane_itr = std::find_if( data.current_lanelets.begin(), data.current_lanelets.end(), [&](const auto & lanelet) { const auto next_lanes = planner_data_->route_handler->getNextLanelets(lanelet); @@ -234,12 +220,15 @@ void AvoidanceModule::fillFundamentalData(AvoidancePlanningData & data, DebugDat data.current_lanelets.begin(), data.current_lanelets.end(), [&](const auto & lanelet) { if (!not_use_adjacent_lane) { data.drivable_lanes.push_back( - utils::avoidance::generateExpandedDrivableLanes(lanelet, planner_data_, parameters_)); + utils::static_obstacle_avoidance::generateExpandedDrivableLanes( + lanelet, planner_data_, parameters_)); } else if (red_signal_lane_itr->id() != lanelet.id()) { data.drivable_lanes.push_back( - utils::avoidance::generateExpandedDrivableLanes(lanelet, planner_data_, parameters_)); + utils::static_obstacle_avoidance::generateExpandedDrivableLanes( + lanelet, planner_data_, parameters_)); } else { - data.drivable_lanes.push_back(utils::avoidance::generateNotExpandedDrivableLanes(lanelet)); + data.drivable_lanes.push_back( + utils::static_obstacle_avoidance::generateNotExpandedDrivableLanes(lanelet)); } }); @@ -285,20 +274,21 @@ void AvoidanceModule::fillFundamentalData(AvoidancePlanningData & data, DebugDat // arclength from ego pose (used in many functions) data.arclength_from_ego = utils::calcPathArcLengthArray( data.reference_path, 0, data.reference_path.points.size(), - calcSignedArcLength(data.reference_path.points, getEgoPosition(), 0)); + motion_utils::calcSignedArcLength(data.reference_path.points, getEgoPosition(), 0)); - data.to_return_point = utils::avoidance::calcDistanceToReturnDeadLine( + data.to_return_point = utils::static_obstacle_avoidance::calcDistanceToReturnDeadLine( data.current_lanelets, data.reference_path_rough, planner_data_, parameters_); - data.to_start_point = utils::avoidance::calcDistanceToAvoidStartLine( + data.to_start_point = utils::static_obstacle_avoidance::calcDistanceToAvoidStartLine( data.current_lanelets, data.reference_path_rough, planner_data_, parameters_); // target objects for avoidance fillAvoidanceTargetObjects(data, debug); // lost object compensation - utils::avoidance::updateRegisteredObject(registered_objects_, data.target_objects, parameters_); - utils::avoidance::compensateDetectionLost( + utils::static_obstacle_avoidance::updateRegisteredObject( + registered_objects_, data.target_objects, parameters_); + utils::static_obstacle_avoidance::compensateDetectionLost( registered_objects_, data.target_objects, data.other_objects); // sort object order by longitudinal distance @@ -310,14 +300,14 @@ void AvoidanceModule::fillFundamentalData(AvoidancePlanningData & data, DebugDat path_shifter_.setPath(data.reference_path); } -void AvoidanceModule::fillAvoidanceTargetObjects( +void StaticObstacleAvoidanceModule::fillAvoidanceTargetObjects( AvoidancePlanningData & data, DebugData & debug) const { - using utils::avoidance::fillAvoidanceNecessity; - using utils::avoidance::fillObjectStoppableJudge; - using utils::avoidance::filterTargetObjects; - using utils::avoidance::separateObjectsByPath; - using utils::avoidance::updateRoadShoulderDistance; + using utils::static_obstacle_avoidance::fillAvoidanceNecessity; + using utils::static_obstacle_avoidance::fillObjectStoppableJudge; + using utils::static_obstacle_avoidance::filterTargetObjects; + using utils::static_obstacle_avoidance::separateObjectsByPath; + using utils::static_obstacle_avoidance::updateRoadShoulderDistance; using utils::traffic_light::calcDistanceToRedTrafficLight; // Separate dynamic objects based on whether they are inside or outside of the expanded lanelets. @@ -337,7 +327,7 @@ void AvoidanceModule::fillAvoidanceTargetObjects( for (const auto & object : object_outside_target_lane.objects) { ObjectData other_object = createObjectData(data, object); - other_object.reason = "OutOfTargetArea"; + other_object.info = ObjectInfo::OUT_OF_TARGET_AREA; data.other_objects.push_back(other_object); } @@ -367,8 +357,6 @@ void AvoidanceModule::fillAvoidanceTargetObjects( debug_info.object_id = toHexString(o.object.object_id); debug_info.longitudinal_distance = o.longitudinal; debug_info.lateral_distance_from_centerline = o.to_centerline; - debug_info.allow_avoidance = o.reason == ""; - debug_info.failed_reason = o.reason; debug_info_array.push_back(debug_info); }; @@ -378,14 +366,15 @@ void AvoidanceModule::fillAvoidanceTargetObjects( } } -ObjectData AvoidanceModule::createObjectData( +ObjectData StaticObstacleAvoidanceModule::createObjectData( const AvoidancePlanningData & data, const PredictedObject & object) const { using boost::geometry::return_centroid; const auto & path_points = data.reference_path.points; const auto & object_pose = object.kinematics.initial_pose_with_covariance.pose; - const auto object_closest_index = findNearestIndex(path_points, object_pose.position); + const auto object_closest_index = + motion_utils::findNearestIndex(path_points, object_pose.position); const auto object_closest_pose = path_points.at(object_closest_index).point.pose; const auto object_type = utils::getHighestProbLabel(object.classification); const auto object_parameter = parameters_->object_parameters.at(object_type); @@ -401,17 +390,15 @@ ObjectData AvoidanceModule::createObjectData( object_data.distance_factor = object_parameter.max_expand_ratio * clamp + 1.0; // Calc envelop polygon. - utils::avoidance::fillObjectEnvelopePolygon( + utils::static_obstacle_avoidance::fillObjectEnvelopePolygon( object_data, registered_objects_, object_closest_pose, parameters_); // calc object centroid. object_data.centroid = return_centroid(object_data.envelope_poly); // Calc moving time. - utils::avoidance::fillObjectMovingTime(object_data, stopped_objects_, parameters_); - - // Fill init pose. - utils::avoidance::fillInitialPose(object_data, detected_objects_); + utils::static_obstacle_avoidance::fillObjectMovingTime( + object_data, stopped_objects_, parameters_); // Calc lateral deviation from path to target object. object_data.direction = calcLateralDeviation(object_closest_pose, object_pose.position) > 0.0 @@ -421,7 +408,7 @@ ObjectData AvoidanceModule::createObjectData( return object_data; } -bool AvoidanceModule::canYieldManeuver(const AvoidancePlanningData & data) const +bool StaticObstacleAvoidanceModule::canYieldManeuver(const AvoidancePlanningData & data) const { // transit yield maneuver only when the avoidance maneuver is not initiated. if (helper_->isShifted()) { @@ -433,9 +420,9 @@ bool AvoidanceModule::canYieldManeuver(const AvoidancePlanningData & data) const const auto registered_lines = path_shifter_.getShiftLines(); if (!registered_lines.empty()) { const size_t idx = planner_data_->findEgoIndex(path_shifter_.getReferencePath().points); - const auto to_shift_start_point = calcSignedArcLength( + const auto prepare_distance = motion_utils::calcSignedArcLength( path_shifter_.getReferencePath().points, idx, registered_lines.front().start_idx); - if (to_shift_start_point < helper_->getMinimumPrepareDistance()) { + if (!helper_->isEnoughPrepareDistance(prepare_distance)) { RCLCPP_DEBUG( getLogger(), "Distance to shift start point is less than minimum prepare distance. The distance is not " @@ -473,7 +460,8 @@ bool AvoidanceModule::canYieldManeuver(const AvoidancePlanningData & data) const return true; } -void AvoidanceModule::fillShiftLine(AvoidancePlanningData & data, DebugData & debug) const +void StaticObstacleAvoidanceModule::fillShiftLine( + AvoidancePlanningData & data, DebugData & debug) const { auto path_shifter = path_shifter_; @@ -505,12 +493,13 @@ void AvoidanceModule::fillShiftLine(AvoidancePlanningData & data, DebugData & de /** * STEP4: Generate avoidance path. */ - ShiftedPath spline_shift_path = utils::avoidance::toShiftedPath(data.reference_path); + ShiftedPath spline_shift_path = + utils::static_obstacle_avoidance::toShiftedPath(data.reference_path); const auto success_spline_path_generation = path_shifter.generate(&spline_shift_path, true, SHIFT_TYPE::SPLINE); data.candidate_path = success_spline_path_generation ? spline_shift_path - : utils::avoidance::toShiftedPath(data.reference_path); + : utils::static_obstacle_avoidance::toShiftedPath(data.reference_path); /** * STEP5: Check avoidance path safety. @@ -523,22 +512,21 @@ void AvoidanceModule::fillShiftLine(AvoidancePlanningData & data, DebugData & de helper_->isReady(data.target_objects); } -void AvoidanceModule::fillEgoStatus( +void StaticObstacleAvoidanceModule::fillEgoStatus( AvoidancePlanningData & data, [[maybe_unused]] DebugData & debug) const { - data.success = isSatisfiedSuccessCondition(data); + data.state = getCurrentModuleState(data); /** * Find the nearest object that should be avoid. When the ego follows reference path, * if the both of following two conditions are satisfied, the module surely avoid the object. * Condition1: there is risk to collide with object without avoidance. * Condition2: there is enough space to avoid. - * In TOO_LARGE_JERK condition, it is possible to avoid object by deceleration even if the flag + * In NEED_DECELERATION condition, it is possible to avoid object by deceleration even if the flag * is_avoidable is FALSE. So, the module inserts stop point for such a object. */ for (const auto & o : data.target_objects) { - const auto enough_space = o.is_avoidable || o.reason == AvoidanceDebugFactor::TOO_LARGE_JERK; - if (o.avoid_required && enough_space) { + if (o.avoid_required && !helper_->isAbsolutelyNotAvoidable(o)) { data.avoid_required = true; data.stop_target_object = o; data.to_stop_line = o.to_stop_line; @@ -618,7 +606,7 @@ void AvoidanceModule::fillEgoStatus( } } -void AvoidanceModule::fillDebugData( +void StaticObstacleAvoidanceModule::fillDebugData( const AvoidancePlanningData & data, [[maybe_unused]] DebugData & debug) const { if (!data.stop_target_object) { @@ -645,12 +633,12 @@ void AvoidanceModule::fillDebugData( const auto max_avoid_margin = lateral_hard_margin * o_front.distance_factor + object_parameter.lateral_soft_margin + 0.5 * vehicle_width; - const auto avoidance_distance = helper_->getSharpAvoidanceDistance( - helper_->getShiftLength(o_front, utils::avoidance::isOnRight(o_front), max_avoid_margin)); + const auto avoidance_distance = helper_->getSharpAvoidanceDistance(helper_->getShiftLength( + o_front, utils::static_obstacle_avoidance::isOnRight(o_front), max_avoid_margin)); const auto prepare_distance = helper_->getNominalPrepareDistance(); const auto total_avoid_distance = prepare_distance + avoidance_distance + constant_distance; - dead_pose_ = calcLongitudinalOffsetPose( + dead_pose_ = motion_utils::calcLongitudinalOffsetPose( data.reference_path.points, getEgoPosition(), o_front.longitudinal - total_avoid_distance); if (!dead_pose_) { @@ -658,28 +646,8 @@ void AvoidanceModule::fillDebugData( } } -AvoidanceState AvoidanceModule::updateEgoState(const AvoidancePlanningData & data) const -{ - if (data.yield_required) { - return AvoidanceState::YIELD; - } - - if (!data.avoid_required) { - return AvoidanceState::NOT_AVOID; - } - - if (!data.found_avoidance_path) { - return AvoidanceState::AVOID_PATH_NOT_READY; - } - - if (isWaitingApproval() && path_shifter_.getShiftLines().empty()) { - return AvoidanceState::AVOID_PATH_READY; - } - - return AvoidanceState::AVOID_EXECUTE; -} - -void AvoidanceModule::updateEgoBehavior(const AvoidancePlanningData & data, ShiftedPath & path) +void StaticObstacleAvoidanceModule::updateEgoBehavior( + const AvoidancePlanningData & data, ShiftedPath & path) { if (parameters_->disable_path_update) { return; @@ -688,36 +656,37 @@ void AvoidanceModule::updateEgoBehavior(const AvoidancePlanningData & data, Shif insertPrepareVelocity(path); insertAvoidanceVelocity(path); - switch (data.state) { - case AvoidanceState::NOT_AVOID: { - break; - } - case AvoidanceState::YIELD: { + const auto insert_velocity = [this, &data, &path]() { + if (data.yield_required) { insertWaitPoint(isBestEffort(parameters_->policy_deceleration), path); - break; + return; } - case AvoidanceState::AVOID_PATH_NOT_READY: { - insertWaitPoint(isBestEffort(parameters_->policy_deceleration), path); - break; + + if (!data.avoid_required) { + return; } - case AvoidanceState::AVOID_PATH_READY: { + + if (!data.found_avoidance_path) { insertWaitPoint(isBestEffort(parameters_->policy_deceleration), path); - break; + return; } - case AvoidanceState::AVOID_EXECUTE: { - insertStopPoint(isBestEffort(parameters_->policy_deceleration), path); - break; + + if (isWaitingApproval() && path_shifter_.getShiftLines().empty()) { + insertWaitPoint(isBestEffort(parameters_->policy_deceleration), path); + return; } - default: - throw std::domain_error("invalid behavior"); - } + + insertStopPoint(isBestEffort(parameters_->policy_deceleration), path); + }; + + insert_velocity(); insertReturnDeadLine(isBestEffort(parameters_->policy_deceleration), path); setStopReason(StopReason::AVOIDANCE, path.path); } -bool AvoidanceModule::isSafePath( +bool StaticObstacleAvoidanceModule::isSafePath( ShiftedPath & shifted_path, [[maybe_unused]] DebugData & debug) const { const auto & p = planner_data_->parameters; @@ -758,8 +727,9 @@ bool AvoidanceModule::isSafePath( const auto hysteresis_factor = safe_ ? 1.0 : parameters_->hysteresis_factor_expand_rate; - const auto safety_check_target_objects = utils::avoidance::getSafetyCheckTargetObjects( - avoid_data_, planner_data_, parameters_, has_left_shift, has_right_shift, debug); + const auto safety_check_target_objects = + utils::static_obstacle_avoidance::getSafetyCheckTargetObjects( + avoid_data_, planner_data_, parameters_, has_left_shift, has_right_shift, debug); if (safety_check_target_objects.empty()) { return true; @@ -823,7 +793,8 @@ bool AvoidanceModule::isSafePath( return safe_ || safe_count_ > parameters_->hysteresis_factor_safe_count; } -PathWithLaneId AvoidanceModule::extendBackwardLength(const PathWithLaneId & original_path) const +PathWithLaneId StaticObstacleAvoidanceModule::extendBackwardLength( + const PathWithLaneId & original_path) const { const auto previous_path = helper_->getPreviousReferencePath(); @@ -837,8 +808,8 @@ PathWithLaneId AvoidanceModule::extendBackwardLength(const PathWithLaneId & orig return a.start_idx < b.start_idx; }); return std::max( - max_dist, - calcSignedArcLength(previous_path.points, lines.front().start.position, getEgoPosition())); + max_dist, motion_utils::calcSignedArcLength( + previous_path.points, lines.front().start.position, getEgoPosition())); }(); const auto extra_margin = 10.0; // Since distance does not consider arclength, but just line. @@ -855,7 +826,9 @@ PathWithLaneId AvoidanceModule::extendBackwardLength(const PathWithLaneId & orig size_t clip_idx = 0; for (size_t i = 0; i < prev_ego_idx; ++i) { - if (backward_length > calcSignedArcLength(previous_path.points, clip_idx, *prev_ego_idx)) { + if ( + backward_length > + motion_utils::calcSignedArcLength(previous_path.points, clip_idx, *prev_ego_idx)) { break; } clip_idx = i; @@ -883,7 +856,7 @@ PathWithLaneId AvoidanceModule::extendBackwardLength(const PathWithLaneId & orig return extended_path; } -BehaviorModuleOutput AvoidanceModule::plan() +BehaviorModuleOutput StaticObstacleAvoidanceModule::plan() { const auto & data = avoid_data_; @@ -892,17 +865,23 @@ BehaviorModuleOutput AvoidanceModule::plan() updatePathShifter(data.safe_shift_line); - if (data.success) { - removeRegisteredShiftLines(); + if (data.state == AvoidanceState::SUCCEEDED) { + removeRegisteredShiftLines(State::SUCCEEDED); + } + + if (data.state == AvoidanceState::CANCEL) { + removeRegisteredShiftLines(State::FAILED); } if (data.yield_required) { - removeRegisteredShiftLines(); + removeRegisteredShiftLines(State::FAILED); } // generate path with shift points that have been inserted. - ShiftedPath linear_shift_path = utils::avoidance::toShiftedPath(data.reference_path); - ShiftedPath spline_shift_path = utils::avoidance::toShiftedPath(data.reference_path); + ShiftedPath linear_shift_path = + utils::static_obstacle_avoidance::toShiftedPath(data.reference_path); + ShiftedPath spline_shift_path = + utils::static_obstacle_avoidance::toShiftedPath(data.reference_path); const auto success_spline_path_generation = path_shifter_.generate(&spline_shift_path, true, SHIFT_TYPE::SPLINE); const auto success_linear_path_generation = @@ -964,8 +943,6 @@ BehaviorModuleOutput AvoidanceModule::plan() spline_shift_path.path, parameters_->resample_interval_for_output); } - avoid_data_.state = updateEgoState(data); - // update output data { updateEgoBehavior(data, spline_shift_path); @@ -993,7 +970,8 @@ BehaviorModuleOutput AvoidanceModule::plan() std::for_each( data.current_lanelets.begin(), data.current_lanelets.end(), [&](const auto & lanelet) { current_drivable_area_info.drivable_lanes.push_back( - utils::avoidance::generateExpandedDrivableLanes(lanelet, planner_data_, parameters_)); + utils::static_obstacle_avoidance::generateExpandedDrivableLanes( + lanelet, planner_data_, parameters_)); }); // expand hatched road markings current_drivable_area_info.enable_expanding_hatched_road_markings = @@ -1013,7 +991,7 @@ BehaviorModuleOutput AvoidanceModule::plan() if (!object.is_avoidable) clip_objects.push_back(object); }); current_drivable_area_info.obstacles = - utils::avoidance::generateObstaclePolygonsForDrivableArea( + utils::static_obstacle_avoidance::generateObstaclePolygonsForDrivableArea( clip_objects, parameters_, planner_data_->parameters.vehicle_width / 2.0); } else { current_drivable_area_info.obstacles.clear(); @@ -1028,7 +1006,7 @@ BehaviorModuleOutput AvoidanceModule::plan() return output; } -CandidateOutput AvoidanceModule::planCandidate() const +CandidateOutput StaticObstacleAvoidanceModule::planCandidate() const { const auto & data = avoid_data_; @@ -1067,7 +1045,7 @@ CandidateOutput AvoidanceModule::planCandidate() const return output; } -BehaviorModuleOutput AvoidanceModule::planWaitingApproval() +BehaviorModuleOutput StaticObstacleAvoidanceModule::planWaitingApproval() { BehaviorModuleOutput out = plan(); @@ -1081,7 +1059,7 @@ BehaviorModuleOutput AvoidanceModule::planWaitingApproval() return out; } -void AvoidanceModule::updatePathShifter(const AvoidLineArray & shift_lines) +void StaticObstacleAvoidanceModule::updatePathShifter(const AvoidLineArray & shift_lines) { if (parameters_->disable_path_update) { return; @@ -1122,10 +1100,10 @@ void AvoidanceModule::updatePathShifter(const AvoidLineArray & shift_lines) /** * set new shift points. remove old shift points if it has a conflict. */ -void AvoidanceModule::addNewShiftLines( +void StaticObstacleAvoidanceModule::addNewShiftLines( PathShifter & path_shifter, const AvoidLineArray & new_shift_lines) const { - ShiftLineArray future = utils::avoidance::toShiftLineArray(new_shift_lines); + ShiftLineArray future = utils::static_obstacle_avoidance::toShiftLineArray(new_shift_lines); size_t min_start_idx = std::numeric_limits::max(); for (const auto & sl : new_shift_lines) { @@ -1188,7 +1166,7 @@ void AvoidanceModule::addNewShiftLines( path_shifter.setLateralAccelerationLimit(helper_->getLateralMaxAccelLimit()); } -bool AvoidanceModule::isValidShiftLine( +bool StaticObstacleAvoidanceModule::isValidShiftLine( const AvoidLineArray & shift_lines, const PathShifter & shifter) const { if (shift_lines.empty()) { @@ -1251,9 +1229,9 @@ bool AvoidanceModule::isValidShiftLine( return true; // valid shift line. } -void AvoidanceModule::updateData() +void StaticObstacleAvoidanceModule::updateData() { - using utils::avoidance::toShiftedPath; + using utils::static_obstacle_avoidance::toShiftedPath; helper_->setData(planner_data_); @@ -1261,7 +1239,7 @@ void AvoidanceModule::updateData() helper_->setPreviousSplineShiftPath(toShiftedPath(getPreviousModuleOutput().path)); helper_->setPreviousLinearShiftPath(toShiftedPath(getPreviousModuleOutput().path)); helper_->setPreviousReferencePath(getPreviousModuleOutput().path); - helper_->setPreviousDrivingLanes(utils::avoidance::getCurrentLanesFromPath( + helper_->setPreviousDrivingLanes(utils::static_obstacle_avoidance::getCurrentLanesFromPath( getPreviousModuleOutput().reference_path, planner_data_)); } @@ -1303,19 +1281,18 @@ void AvoidanceModule::updateData() safe_ = avoid_data_.safe; } -void AvoidanceModule::processOnEntry() +void StaticObstacleAvoidanceModule::processOnEntry() { initVariables(); - removeRTCStatus(); } -void AvoidanceModule::processOnExit() +void StaticObstacleAvoidanceModule::processOnExit() { initVariables(); initRTCStatus(); } -void AvoidanceModule::initVariables() +void StaticObstacleAvoidanceModule::initVariables() { helper_->reset(); generator_.reset(); @@ -1327,7 +1304,7 @@ void AvoidanceModule::initVariables() arrived_path_end_ = false; } -void AvoidanceModule::initRTCStatus() +void StaticObstacleAvoidanceModule::initRTCStatus() { left_shift_array_.clear(); right_shift_array_.clear(); @@ -1336,7 +1313,7 @@ void AvoidanceModule::initRTCStatus() candidate_uuid_ = generateUUID(); } -void AvoidanceModule::updateRTCData() +void StaticObstacleAvoidanceModule::updateRTCData() { const auto & data = avoid_data_; @@ -1371,28 +1348,24 @@ void AvoidanceModule::updateRTCData() updateCandidateRTCStatus(output); } -void AvoidanceModule::updateInfoMarker(const AvoidancePlanningData & data) const +void StaticObstacleAvoidanceModule::updateInfoMarker(const AvoidancePlanningData & data) const { - using marker_utils::avoidance_marker::createTargetObjectsMarkerArray; + using utils::static_obstacle_avoidance::createTargetObjectsMarkerArray; info_marker_.markers.clear(); appendMarkerArray( createTargetObjectsMarkerArray(data.target_objects, "target_objects"), &info_marker_); } -void AvoidanceModule::updateDebugMarker( +void StaticObstacleAvoidanceModule::updateDebugMarker( const AvoidancePlanningData & data, const PathShifter & shifter, const DebugData & debug) const { debug_marker_.markers.clear(); - - if (!parameters_->publish_debug_marker) { - return; - } - - debug_marker_ = marker_utils::avoidance_marker::createDebugMarkerArray(data, shifter, debug); + debug_marker_ = + utils::static_obstacle_avoidance::createDebugMarkerArray(data, shifter, debug, parameters_); } -void AvoidanceModule::updateAvoidanceDebugData( +void StaticObstacleAvoidanceModule::updateAvoidanceDebugData( std::vector & avoidance_debug_msg_array) const { debug_data_.avoidance_debug_msg_array.avoidance_info.clear(); @@ -1409,7 +1382,7 @@ void AvoidanceModule::updateAvoidanceDebugData( } } -double AvoidanceModule::calcDistanceToStopLine(const ObjectData & object) const +double StaticObstacleAvoidanceModule::calcDistanceToStopLine(const ObjectData & object) const { const auto & p = parameters_; const auto & vehicle_width = planner_data_->parameters.vehicle_width; @@ -1438,17 +1411,18 @@ double AvoidanceModule::calcDistanceToStopLine(const ObjectData & object) const : object_parameter.lateral_hard_margin; const auto avoid_margin = lateral_hard_margin * object.distance_factor + object_parameter.lateral_soft_margin + 0.5 * vehicle_width; - const auto avoidance_distance = helper_->getMinAvoidanceDistance( - helper_->getShiftLength(object, utils::avoidance::isOnRight(object), avoid_margin)); + const auto avoidance_distance = helper_->getMinAvoidanceDistance(helper_->getShiftLength( + object, utils::static_obstacle_avoidance::isOnRight(object), avoid_margin)); const auto constant_distance = helper_->getFrontConstantDistance(object); + const auto prepare_distance = helper_->getNominalPrepareDistance(0.0); return object.longitudinal - std::min( - avoidance_distance + constant_distance + p->min_prepare_distance + p->stop_buffer, + avoidance_distance + constant_distance + prepare_distance + p->stop_buffer, p->stop_max_distance); } -void AvoidanceModule::insertReturnDeadLine( +void StaticObstacleAvoidanceModule::insertReturnDeadLine( const bool use_constraints_for_decel, ShiftedPath & shifted_path) const { const auto & data = avoid_data_; @@ -1468,18 +1442,18 @@ void AvoidanceModule::insertReturnDeadLine( // Consider the difference in path length between the shifted path and original path (the path // that is shifted inward has a shorter distance to the end of the path than the other one.) const auto & to_reference_path_end = data.arclength_from_ego.back(); - const auto to_shifted_path_end = calcSignedArcLength( + const auto to_shifted_path_end = motion_utils::calcSignedArcLength( shifted_path.path.points, getEgoPosition(), shifted_path.path.points.size() - 1); const auto buffer = std::max(0.0, to_shifted_path_end - to_reference_path_end); const auto min_return_distance = - helper_->getMinAvoidanceDistance(shift_length) + helper_->getMinimumPrepareDistance(); + helper_->getMinAvoidanceDistance(shift_length) + helper_->getNominalPrepareDistance(0.0); const auto to_stop_line = data.to_return_point - min_return_distance - buffer; // If we don't need to consider deceleration constraints, insert a deceleration point // and return immediately if (!use_constraints_for_decel) { - utils::avoidance::insertDecelPoint( + utils::static_obstacle_avoidance::insertDecelPoint( getEgoPosition(), to_stop_line - parameters_->stop_buffer, 0.0, shifted_path.path, stop_pose_); return; @@ -1492,7 +1466,7 @@ void AvoidanceModule::insertReturnDeadLine( return; } - utils::avoidance::insertDecelPoint( + utils::static_obstacle_avoidance::insertDecelPoint( getEgoPosition(), to_stop_line - parameters_->stop_buffer, 0.0, shifted_path.path, stop_pose_); // insert slow down speed. @@ -1505,7 +1479,8 @@ void AvoidanceModule::insertReturnDeadLine( const auto start_idx = planner_data_->findEgoIndex(shifted_path.path.points); for (size_t i = start_idx; i < shifted_path.path.points.size(); ++i) { - const auto distance_from_ego = calcSignedArcLength(shifted_path.path.points, start_idx, i); + const auto distance_from_ego = + motion_utils::calcSignedArcLength(shifted_path.path.points, start_idx, i); // slow down speed is inserted only in front of the object. const auto shift_longitudinal_distance = to_stop_line - distance_from_ego; @@ -1524,7 +1499,7 @@ void AvoidanceModule::insertReturnDeadLine( } } -void AvoidanceModule::insertWaitPoint( +void StaticObstacleAvoidanceModule::insertWaitPoint( const bool use_constraints_for_decel, ShiftedPath & shifted_path) const { const auto & data = avoid_data_; @@ -1545,7 +1520,7 @@ void AvoidanceModule::insertWaitPoint( // If we don't need to consider deceleration constraints, insert a deceleration point // and return immediately if (!use_constraints_for_decel) { - utils::avoidance::insertDecelPoint( + utils::static_obstacle_avoidance::insertDecelPoint( getEgoPosition(), data.to_stop_line, 0.0, shifted_path.path, stop_pose_); return; } @@ -1560,7 +1535,7 @@ void AvoidanceModule::insertWaitPoint( // If target object can be stopped for, insert a deceleration point and return if (data.stop_target_object.value().is_stoppable) { - utils::avoidance::insertDecelPoint( + utils::static_obstacle_avoidance::insertDecelPoint( getEgoPosition(), data.to_stop_line, 0.0, shifted_path.path, stop_pose_); return; } @@ -1568,11 +1543,11 @@ void AvoidanceModule::insertWaitPoint( // If the object cannot be stopped for, calculate a "mild" deceleration distance // and insert a deceleration point at that distance const auto stop_distance = helper_->getFeasibleDecelDistance(0.0, false); - utils::avoidance::insertDecelPoint( + utils::static_obstacle_avoidance::insertDecelPoint( getEgoPosition(), stop_distance, 0.0, shifted_path.path, stop_pose_); } -void AvoidanceModule::insertStopPoint( +void StaticObstacleAvoidanceModule::insertStopPoint( const bool use_constraints_for_decel, ShiftedPath & shifted_path) const { const auto & data = avoid_data_; @@ -1599,12 +1574,12 @@ void AvoidanceModule::insertStopPoint( }(); const auto stop_distance = - calcSignedArcLength(shifted_path.path.points, getEgoPosition(), stop_idx); + motion_utils::calcSignedArcLength(shifted_path.path.points, getEgoPosition(), stop_idx); // If we don't need to consider deceleration constraints, insert a deceleration point // and return immediately if (!use_constraints_for_decel) { - utils::avoidance::insertDecelPoint( + utils::static_obstacle_avoidance::insertDecelPoint( getEgoPosition(), stop_distance, 0.0, shifted_path.path, stop_pose_); return; } @@ -1616,11 +1591,11 @@ void AvoidanceModule::insertStopPoint( } constexpr double MARGIN = 1.0; - utils::avoidance::insertDecelPoint( + utils::static_obstacle_avoidance::insertDecelPoint( getEgoPosition(), stop_distance - MARGIN, 0.0, shifted_path.path, stop_pose_); } -void AvoidanceModule::insertPrepareVelocity(ShiftedPath & shifted_path) const +void StaticObstacleAvoidanceModule::insertPrepareVelocity(ShiftedPath & shifted_path) const { const auto & data = avoid_data_; @@ -1670,9 +1645,7 @@ void AvoidanceModule::insertPrepareVelocity(ShiftedPath & shifted_path) const return; } - const auto enough_space = - object.value().is_avoidable || object.value().reason == AvoidanceDebugFactor::TOO_LARGE_JERK; - if (!enough_space) { + if (helper_->isAbsolutelyNotAvoidable(object.value())) { return; } @@ -1686,7 +1659,7 @@ void AvoidanceModule::insertPrepareVelocity(ShiftedPath & shifted_path) const const auto avoid_margin = lateral_hard_margin * object.value().distance_factor + object_parameter.lateral_soft_margin + 0.5 * vehicle_width; const auto shift_length = helper_->getShiftLength( - object.value(), utils::avoidance::isOnRight(object.value()), avoid_margin); + object.value(), utils::static_obstacle_avoidance::isOnRight(object.value()), avoid_margin); // check slow down feasibility const auto min_avoid_distance = helper_->getMinAvoidanceDistance(shift_length); @@ -1704,7 +1677,7 @@ void AvoidanceModule::insertPrepareVelocity(ShiftedPath & shifted_path) const const double current_target_velocity = PathShifter::calcFeasibleVelocityFromJerk( shift_length, helper_->getLateralMinJerkLimit(), distance_to_object); if (current_target_velocity < getEgoSpeed() + parameters_->buf_slow_down_speed) { - utils::avoidance::insertDecelPoint( + utils::static_obstacle_avoidance::insertDecelPoint( getEgoPosition(), decel_distance, parameters_->velocity_map.front(), shifted_path.path, slow_pose_); return; @@ -1712,7 +1685,8 @@ void AvoidanceModule::insertPrepareVelocity(ShiftedPath & shifted_path) const const auto start_idx = planner_data_->findEgoIndex(shifted_path.path.points); for (size_t i = start_idx; i < shifted_path.path.points.size(); ++i) { - const auto distance_from_ego = calcSignedArcLength(shifted_path.path.points, start_idx, i); + const auto distance_from_ego = + motion_utils::calcSignedArcLength(shifted_path.path.points, start_idx, i); // slow down speed is inserted only in front of the object. const auto shift_longitudinal_distance = distance_to_object - distance_from_ego; @@ -1733,7 +1707,7 @@ void AvoidanceModule::insertPrepareVelocity(ShiftedPath & shifted_path) const shifted_path.path.points, start_idx, distance_to_object); } -void AvoidanceModule::insertAvoidanceVelocity(ShiftedPath & shifted_path) const +void StaticObstacleAvoidanceModule::insertAvoidanceVelocity(ShiftedPath & shifted_path) const { const auto & data = avoid_data_; @@ -1755,7 +1729,8 @@ void AvoidanceModule::insertAvoidanceVelocity(ShiftedPath & shifted_path) const const auto start_idx = planner_data_->findEgoIndex(shifted_path.path.points); for (size_t i = start_idx; i < shifted_path.path.points.size(); ++i) { - const auto distance_from_ego = calcSignedArcLength(shifted_path.path.points, start_idx, i); + const auto distance_from_ego = + motion_utils::calcSignedArcLength(shifted_path.path.points, start_idx, i); // slow down speed is inserted only in front of the object. const auto accel_distance = distance_to_accel_end_point - distance_from_ego; @@ -1779,20 +1754,21 @@ void AvoidanceModule::insertAvoidanceVelocity(ShiftedPath & shifted_path) const shifted_path.path.points, start_idx, distance_to_accel_end_point); } -std::shared_ptr AvoidanceModule::get_debug_msg_array() const +std::shared_ptr StaticObstacleAvoidanceModule::get_debug_msg_array() const { debug_data_.avoidance_debug_msg_array.header.stamp = clock_->now(); return std::make_shared(debug_data_.avoidance_debug_msg_array); } -void AvoidanceModule::acceptVisitor(const std::shared_ptr & visitor) const +void StaticObstacleAvoidanceModule::acceptVisitor( + const std::shared_ptr & visitor) const { if (visitor) { visitor->visitAvoidanceModule(this); } } -void SceneModuleVisitor::visitAvoidanceModule(const AvoidanceModule * module) const +void SceneModuleVisitor::visitAvoidanceModule(const StaticObstacleAvoidanceModule * module) const { avoidance_visitor_ = module->get_debug_msg_array(); } diff --git a/planning/behavior_path_avoidance_module/src/shift_line_generator.cpp b/planning/autoware_behavior_path_static_obstacle_avoidance_module/src/shift_line_generator.cpp similarity index 92% rename from planning/behavior_path_avoidance_module/src/shift_line_generator.cpp rename to planning/autoware_behavior_path_static_obstacle_avoidance_module/src/shift_line_generator.cpp index 9137048945fa1..f9e35ebd4c1b2 100644 --- a/planning/behavior_path_avoidance_module/src/shift_line_generator.cpp +++ b/planning/autoware_behavior_path_static_obstacle_avoidance_module/src/shift_line_generator.cpp @@ -12,22 +12,14 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "behavior_path_avoidance_module/shift_line_generator.hpp" +#include "autoware_behavior_path_static_obstacle_avoidance_module/shift_line_generator.hpp" -#include "behavior_path_avoidance_module/utils.hpp" +#include "autoware_behavior_path_static_obstacle_avoidance_module/utils.hpp" #include "behavior_path_planner_common/utils/utils.hpp" -#include - -#include - -namespace behavior_path_planner::utils::avoidance +namespace behavior_path_planner::utils::static_obstacle_avoidance { -using tier4_autoware_utils::generateUUID; -using tier4_autoware_utils::getPoint; -using tier4_planning_msgs::msg::AvoidanceDebugFactor; - namespace { bool isBestEffort(const std::string & policy) @@ -131,7 +123,7 @@ AvoidOutlines ShiftLineGenerator::generateAvoidOutline( // use each object param const auto object_type = utils::getHighestProbLabel(object.object.classification); const auto object_parameter = parameters_->object_parameters.at(object_type); - const auto is_object_on_right = utils::avoidance::isOnRight(object); + const auto is_object_on_right = utils::static_obstacle_avoidance::isOnRight(object); // use absolute dist for return-to-center, relative dist from current for avoiding. const auto avoiding_shift = desire_shift_length - current_ego_shift; @@ -182,7 +174,7 @@ AvoidOutlines ShiftLineGenerator::generateAvoidOutline( // prepare distance is not enough. unavoidable. if (avoidance_distance < 1e-3) { - object.reason = AvoidanceDebugFactor::REMAINING_DISTANCE_LESS_THAN_ZERO; + object.info = ObjectInfo::INSUFFICIENT_LONGITUDINAL_DISTANCE; return std::nullopt; } @@ -200,10 +192,10 @@ AvoidOutlines ShiftLineGenerator::generateAvoidOutline( // avoidance distance is not enough. unavoidable. if (!isBestEffort(parameters_->policy_deceleration)) { if (avoidance_distance < helper_->getMinAvoidanceDistance(avoiding_shift) + LON_DIST_BUFFER) { - object.reason = AvoidanceDebugFactor::REMAINING_DISTANCE_LESS_THAN_ZERO; + object.info = ObjectInfo::INSUFFICIENT_LONGITUDINAL_DISTANCE; return std::nullopt; } else { - object.reason = AvoidanceDebugFactor::TOO_LARGE_JERK; + object.info = ObjectInfo::NEED_DECELERATION; return std::nullopt; } } @@ -213,7 +205,7 @@ AvoidOutlines ShiftLineGenerator::generateAvoidOutline( avoidance_distance, helper_->getLateralMaxJerkLimit(), helper_->getAvoidanceEgoSpeed()); if (std::abs(feasible_relative_shift_length) < parameters_->lateral_execution_threshold) { - object.reason = "LessThanExecutionThreshold"; + object.info = ObjectInfo::LESS_THAN_EXECUTION_THRESHOLD; return std::nullopt; } @@ -224,7 +216,7 @@ AvoidOutlines ShiftLineGenerator::generateAvoidOutline( if ( avoidance_distance < helper_->getMinAvoidanceDistance(feasible_shift_length) + LON_DIST_BUFFER) { - object.reason = AvoidanceDebugFactor::REMAINING_DISTANCE_LESS_THAN_ZERO; + object.info = ObjectInfo::INSUFFICIENT_LONGITUDINAL_DISTANCE; return std::nullopt; } @@ -238,7 +230,7 @@ AvoidOutlines ShiftLineGenerator::generateAvoidOutline( 0.5 * data_->parameters.vehicle_width + lateral_hard_margin; if (infeasible) { RCLCPP_DEBUG(rclcpp::get_logger(""), "feasible shift length is not enough to avoid. "); - object.reason = AvoidanceDebugFactor::TOO_LARGE_JERK; + object.info = ObjectInfo::NEED_DECELERATION; return std::nullopt; } @@ -254,7 +246,7 @@ AvoidOutlines ShiftLineGenerator::generateAvoidOutline( AvoidOutlines outlines; for (auto & o : data.target_objects) { if (!o.avoid_margin.has_value()) { - o.reason = AvoidanceDebugFactor::INSUFFICIENT_LATERAL_MARGIN; + o.info = ObjectInfo::INSUFFICIENT_DRIVABLE_SPACE; if (o.avoid_required && is_forward_object(o)) { break; } else { @@ -262,11 +254,12 @@ AvoidOutlines ShiftLineGenerator::generateAvoidOutline( } } - const auto is_object_on_right = utils::avoidance::isOnRight(o); + const auto is_object_on_right = utils::static_obstacle_avoidance::isOnRight(o); const auto desire_shift_length = helper_->getShiftLength(o, is_object_on_right, o.avoid_margin.value()); - if (utils::avoidance::isSameDirectionShift(is_object_on_right, desire_shift_length)) { - o.reason = AvoidanceDebugFactor::SAME_DIRECTION_SHIFT; + if (utils::static_obstacle_avoidance::isSameDirectionShift( + is_object_on_right, desire_shift_length)) { + o.info = ObjectInfo::SAME_DIRECTION_SHIFT; if (o.avoid_required && is_forward_object(o)) { break; } else { @@ -310,7 +303,7 @@ AvoidOutlines ShiftLineGenerator::generateAvoidOutline( return std::clamp(data.to_start_point, nearest_avoid_distance, furthest_avoid_distance); }(); - al_avoid.start_idx = utils::avoidance::findPathIndexFromArclength( + al_avoid.start_idx = utils::static_obstacle_avoidance::findPathIndexFromArclength( data.arclength_from_ego, al_avoid.start_longitudinal + path_front_to_ego); al_avoid.start = data.reference_path.points.at(al_avoid.start_idx).point.pose; al_avoid.start_shift_length = helper_->getLinearShift(al_avoid.start.position); @@ -322,7 +315,7 @@ AvoidOutlines ShiftLineGenerator::generateAvoidOutline( // misc al_avoid.id = generateUUID(); al_avoid.object = o; - al_avoid.object_on_right = utils::avoidance::isOnRight(o); + al_avoid.object_on_right = utils::static_obstacle_avoidance::isOnRight(o); } AvoidLine al_return; @@ -348,7 +341,7 @@ AvoidOutlines ShiftLineGenerator::generateAvoidOutline( // misc al_return.id = generateUUID(); al_return.object = o; - al_return.object_on_right = utils::avoidance::isOnRight(o); + al_return.object_on_right = utils::static_obstacle_avoidance::isOnRight(o); } const bool skip_return_shift = [&]() { @@ -377,14 +370,14 @@ AvoidOutlines ShiftLineGenerator::generateAvoidOutline( } else if (is_valid_shift_line(al_avoid) && is_valid_shift_line(al_return)) { outlines.emplace_back(al_avoid, al_return); } else { - o.reason = "InvalidShiftLine"; + o.info = ObjectInfo::INVALID_SHIFT_LINE; continue; } o.is_avoidable = true; } - utils::avoidance::fillAdditionalInfoFromLongitudinal(data, outlines); + utils::static_obstacle_avoidance::fillAdditionalInfoFromLongitudinal(data, outlines); debug.step1_current_shift_line = toArray(outlines); @@ -487,7 +480,7 @@ void ShiftLineGenerator::generateTotalShiftLine( const auto & al = avoid_lines.at(j); for (size_t i = 0; i < N; ++i) { // calc current interpolated shift - const auto i_shift = utils::avoidance::lerpShiftLengthOnArc(arcs.at(i), al); + const auto i_shift = utils::static_obstacle_avoidance::lerpShiftLengthOnArc(arcs.at(i), al); // update maximum shift for positive direction if (i_shift > sl.pos_shift_line.at(i)) { @@ -556,8 +549,8 @@ void ShiftLineGenerator::generateTotalShiftLine( AvoidLineArray ShiftLineGenerator::extractShiftLinesFromLine( const AvoidancePlanningData & data, ShiftLineData & shift_line_data) const { - using utils::avoidance::setEndData; - using utils::avoidance::setStartData; + using utils::static_obstacle_avoidance::setEndData; + using utils::static_obstacle_avoidance::setStartData; const auto & path = data.reference_path; const auto & arcs = data.arclength_from_ego; @@ -714,8 +707,9 @@ AvoidOutlines ShiftLineGenerator::applyMergeProcess( } } - utils::avoidance::fillAdditionalInfoFromLongitudinal(data, ret); - utils::avoidance::fillAdditionalInfoFromLongitudinal(data, debug.step1_merged_shift_line); + utils::static_obstacle_avoidance::fillAdditionalInfoFromLongitudinal(data, ret); + utils::static_obstacle_avoidance::fillAdditionalInfoFromLongitudinal( + data, debug.step1_merged_shift_line); return ret; } @@ -757,8 +751,9 @@ AvoidOutlines ShiftLineGenerator::applyFillGapProcess( helper_->alignShiftLinesOrder(outline.middle_lines, false); } - utils::avoidance::fillAdditionalInfoFromLongitudinal(data, ret); - utils::avoidance::fillAdditionalInfoFromLongitudinal(data, debug.step1_filled_shift_line); + utils::static_obstacle_avoidance::fillAdditionalInfoFromLongitudinal(data, ret); + utils::static_obstacle_avoidance::fillAdditionalInfoFromLongitudinal( + data, debug.step1_filled_shift_line); return ret; } @@ -779,7 +774,7 @@ AvoidLineArray ShiftLineGenerator::applyFillGapProcess( // fill gap between ego and nearest shift line. if (sorted.front().start_longitudinal > 0.0) { AvoidLine ego_line{}; - utils::avoidance::setEndData( + utils::static_obstacle_avoidance::setEndData( ego_line, helper_->getEgoLinearShift(), data.reference_pose, data.ego_closest_path_index, 0.0); @@ -803,8 +798,9 @@ AvoidLineArray ShiftLineGenerator::applyFillGapProcess( helper_->alignShiftLinesOrder(ret, false); - utils::avoidance::fillAdditionalInfoFromLongitudinal(data, ret); - utils::avoidance::fillAdditionalInfoFromLongitudinal(data, debug.step1_front_shift_line); + utils::static_obstacle_avoidance::fillAdditionalInfoFromLongitudinal(data, ret); + utils::static_obstacle_avoidance::fillAdditionalInfoFromLongitudinal( + data, debug.step1_front_shift_line); return ret; } @@ -814,7 +810,8 @@ AvoidLineArray ShiftLineGenerator::applyCombineProcess( DebugData & debug) const { debug.step1_registered_shift_line = registered_lines; - return utils::avoidance::combineRawShiftLinesWithUniqueCheck(registered_lines, shift_lines); + return utils::static_obstacle_avoidance::combineRawShiftLinesWithUniqueCheck( + registered_lines, shift_lines); } AvoidLineArray ShiftLineGenerator::applyMergeProcess( @@ -829,7 +826,7 @@ AvoidLineArray ShiftLineGenerator::applyMergeProcess( // set parent id for (auto & al : merged_shift_lines) { - al.parent_ids = utils::avoidance::calcParentIds(shift_lines, al); + al.parent_ids = utils::static_obstacle_avoidance::calcParentIds(shift_lines, al); } // sort by distance from ego. @@ -937,7 +934,7 @@ void ShiftLineGenerator::applySmallShiftFilter( continue; } - if (s.start_longitudinal + 1e-3 < helper_->getMinimumPrepareDistance()) { + if (!helper_->isEnoughPrepareDistance(s.start_longitudinal)) { continue; } @@ -971,15 +968,15 @@ void ShiftLineGenerator::applySimilarGradFilter( for (size_t i = 1; i < input.size(); ++i) { AvoidLine combine{}; - utils::avoidance::setStartData( + utils::static_obstacle_avoidance::setStartData( combine, base_line.start_shift_length, base_line.start, base_line.start_idx, base_line.start_longitudinal); - utils::avoidance::setEndData( + utils::static_obstacle_avoidance::setEndData( combine, input.at(i).end_shift_length, input.at(i).end, input.at(i).end_idx, input.at(i).end_longitudinal); - combine.parent_ids = - utils::avoidance::concatParentIds(base_line.parent_ids, input.at(i).parent_ids); + combine.parent_ids = utils::static_obstacle_avoidance::concatParentIds( + base_line.parent_ids, input.at(i).parent_ids); combine_buffer.push_back(input.at(i)); @@ -1068,14 +1065,16 @@ AvoidLineArray ShiftLineGenerator::addReturnShiftLine( // avoidance points: No, shift points: Yes -> select last shift point. if (!has_candidate_point && has_registered_point) { - last_sl = utils::avoidance::fillAdditionalInfo(data, AvoidLine{last_.value()}); + last_sl = + utils::static_obstacle_avoidance::fillAdditionalInfo(data, AvoidLine{last_.value()}); } // avoidance points: Yes, shift points: Yes -> select the last one from both. if (has_candidate_point && has_registered_point) { helper_->alignShiftLinesOrder(ret, false); const auto & al = ret.back(); - const auto & sl = utils::avoidance::fillAdditionalInfo(data, AvoidLine{last_.value()}); + const auto & sl = + utils::static_obstacle_avoidance::fillAdditionalInfo(data, AvoidLine{last_.value()}); last_sl = (sl.end_longitudinal > al.end_longitudinal) ? sl : al; } @@ -1181,13 +1180,13 @@ AvoidLineArray ShiftLineGenerator::addReturnShiftLine( std::max(nominal_prepare_distance - last_sl_distance, 0.0); double prepare_distance_scaled = std::max( - helper_->getMinimumPrepareDistance(), std::max(nominal_prepare_distance, last_sl_distance)); + helper_->getNominalPrepareDistance(), std::max(nominal_prepare_distance, last_sl_distance)); double avoid_distance_scaled = nominal_avoid_distance; if (remaining_distance < prepare_distance_scaled + avoid_distance_scaled) { const auto scale = (remaining_distance - last_sl_distance) / std::max(nominal_avoid_distance + variable_prepare_distance, 0.1); prepare_distance_scaled = std::max( - helper_->getMinimumPrepareDistance(), last_sl_distance + scale * nominal_prepare_distance); + helper_->getNominalPrepareDistance(), last_sl_distance + scale * nominal_prepare_distance); avoid_distance_scaled *= scale; } @@ -1198,8 +1197,8 @@ AvoidLineArray ShiftLineGenerator::addReturnShiftLine( al.start_idx = last_sl.end_idx; al.start = last_sl.end; al.start_longitudinal = arclength_from_ego.at(al.start_idx); - al.end_idx = - utils::avoidance::findPathIndexFromArclength(arclength_from_ego, prepare_distance_scaled); + al.end_idx = utils::static_obstacle_avoidance::findPathIndexFromArclength( + arclength_from_ego, prepare_distance_scaled); al.end = data.reference_path.points.at(al.end_idx).point.pose; al.end_longitudinal = prepare_distance_scaled; al.end_shift_length = last_sl.end_shift_length; @@ -1212,11 +1211,11 @@ AvoidLineArray ShiftLineGenerator::addReturnShiftLine( { AvoidLine al; al.id = generateUUID(); - al.start_idx = - utils::avoidance::findPathIndexFromArclength(arclength_from_ego, prepare_distance_scaled); + al.start_idx = utils::static_obstacle_avoidance::findPathIndexFromArclength( + arclength_from_ego, prepare_distance_scaled); al.start = data.reference_path.points.at(al.start_idx).point.pose; al.start_longitudinal = prepare_distance_scaled; - al.end_idx = utils::avoidance::findPathIndexFromArclength( + al.end_idx = utils::static_obstacle_avoidance::findPathIndexFromArclength( arclength_from_ego, prepare_distance_scaled + avoid_distance_scaled); al.end = data.reference_path.points.at(al.end_idx).point.pose; al.end_longitudinal = arclength_from_ego.at(al.end_idx); @@ -1300,7 +1299,7 @@ AvoidLineArray ShiftLineGenerator::findNewShiftLine( const auto & candidate = shift_lines.at(i); // prevent sudden steering. - if (candidate.start_longitudinal + 1e-3 < helper_->getMinimumPrepareDistance()) { + if (!helper_->isEnoughPrepareDistance(candidate.start_longitudinal)) { break; } @@ -1323,7 +1322,7 @@ AvoidLineArray ShiftLineGenerator::findNewShiftLine( void ShiftLineGenerator::updateRegisteredRawShiftLines(const AvoidancePlanningData & data) { - utils::avoidance::fillAdditionalInfoFromPoint(data, raw_registered_); + utils::static_obstacle_avoidance::fillAdditionalInfoFromPoint(data, raw_registered_); AvoidLineArray avoid_lines; @@ -1372,7 +1371,7 @@ void ShiftLineGenerator::setRawRegisteredShiftLine( } auto future_with_info = shift_lines; - utils::avoidance::fillAdditionalInfoFromPoint(data, future_with_info); + utils::static_obstacle_avoidance::fillAdditionalInfoFromPoint(data, future_with_info); // sort by longitudinal std::sort(future_with_info.begin(), future_with_info.end(), [](auto a, auto b) { @@ -1413,4 +1412,4 @@ void ShiftLineGenerator::setRawRegisteredShiftLine( } } } -} // namespace behavior_path_planner::utils::avoidance +} // namespace behavior_path_planner::utils::static_obstacle_avoidance diff --git a/planning/behavior_path_avoidance_module/src/utils.cpp b/planning/autoware_behavior_path_static_obstacle_avoidance_module/src/utils.cpp similarity index 86% rename from planning/behavior_path_avoidance_module/src/utils.cpp rename to planning/autoware_behavior_path_static_obstacle_avoidance_module/src/utils.cpp index 33718ae16a038..660b8d228b6f2 100644 --- a/planning/behavior_path_avoidance_module/src/utils.cpp +++ b/planning/autoware_behavior_path_static_obstacle_avoidance_module/src/utils.cpp @@ -14,20 +14,14 @@ #include "behavior_path_planner_common/utils/utils.hpp" -#include "behavior_path_avoidance_module/data_structs.hpp" -#include "behavior_path_avoidance_module/utils.hpp" +#include "autoware_behavior_path_static_obstacle_avoidance_module/data_structs.hpp" +#include "autoware_behavior_path_static_obstacle_avoidance_module/utils.hpp" #include "behavior_path_planner_common/utils/drivable_area_expansion/static_drivable_area.hpp" #include "behavior_path_planner_common/utils/path_safety_checker/objects_filtering.hpp" #include "behavior_path_planner_common/utils/path_utils.hpp" #include "behavior_path_planner_common/utils/traffic_light_utils.hpp" -#include "tier4_autoware_utils/geometry/boost_polygon_utils.hpp" #include -#include -#include - -#include -#include #include #include @@ -43,27 +37,12 @@ #include #include -namespace behavior_path_planner::utils::avoidance +namespace behavior_path_planner::utils::static_obstacle_avoidance { using autoware_perception_msgs::msg::TrafficSignalElement; using behavior_path_planner::utils::traffic_light::calcDistanceToRedTrafficLight; using behavior_path_planner::utils::traffic_light::getDistanceToNextTrafficLight; -using geometry_msgs::msg::TransformStamped; -using motion_utils::calcLongitudinalOffsetPoint; -using motion_utils::calcSignedArcLength; -using motion_utils::findNearestIndex; -using motion_utils::findNearestSegmentIndex; -using motion_utils::insertTargetPoint; -using tier4_autoware_utils::calcDistance2d; -using tier4_autoware_utils::calcLateralDeviation; -using tier4_autoware_utils::calcOffsetPose; -using tier4_autoware_utils::calcYawDeviation; -using tier4_autoware_utils::createQuaternionFromRPY; -using tier4_autoware_utils::getPose; -using tier4_autoware_utils::pose2transform; -using tier4_planning_msgs::msg::AvoidanceDebugFactor; -using tier4_planning_msgs::msg::AvoidanceDebugMsg; namespace { @@ -339,25 +318,55 @@ bool isWithinCrosswalk( bool isWithinIntersection( const ObjectData & object, const std::shared_ptr & route_handler) { - const std::string id = object.overhang_lanelet.attributeOr("intersection_area", "else"); - if (id == "else") { + const std::string area_id = object.overhang_lanelet.attributeOr("intersection_area", "else"); + if (area_id == "else") { + return false; + } + + const std::string location = object.overhang_lanelet.attributeOr("location", "else"); + if (location == "private") { return false; } const auto object_polygon = tier4_autoware_utils::toPolygon2d(object.object); - const auto polygon = route_handler->getLaneletMapPtr()->polygonLayer.get(std::atoi(id.c_str())); + const auto polygon = + route_handler->getLaneletMapPtr()->polygonLayer.get(std::atoi(area_id.c_str())); return boost::geometry::within( object_polygon, utils::toPolygon2d(lanelet::utils::to2D(polygon.basicPolygon()))); } -bool isOnEgoLane(const ObjectData & object) +bool isOnEgoLane(const ObjectData & object, const std::shared_ptr & route_handler) { const auto & object_pos = object.object.kinematics.initial_pose_with_covariance.pose.position; - return boost::geometry::within( - lanelet::utils::to2D(lanelet::utils::conversion::toLaneletPoint(object_pos)).basicPoint(), - object.overhang_lanelet.polygon2d().basicPolygon()); + if (boost::geometry::within( + lanelet::utils::to2D(lanelet::utils::conversion::toLaneletPoint(object_pos)).basicPoint(), + object.overhang_lanelet.polygon2d().basicPolygon())) { + return true; + } + + // push previous lanelet + lanelet::ConstLanelets prev_lanelet; + if (route_handler->getPreviousLaneletsWithinRoute(object.overhang_lanelet, &prev_lanelet)) { + if (boost::geometry::within( + lanelet::utils::to2D(lanelet::utils::conversion::toLaneletPoint(object_pos)).basicPoint(), + prev_lanelet.front().polygon2d().basicPolygon())) { + return true; + } + } + + // push next lanelet + lanelet::ConstLanelet next_lanelet; + if (route_handler->getNextLaneletWithinRoute(object.overhang_lanelet, &next_lanelet)) { + if (boost::geometry::within( + lanelet::utils::to2D(lanelet::utils::conversion::toLaneletPoint(object_pos)).basicPoint(), + next_lanelet.polygon2d().basicPolygon())) { + return true; + } + } + + return false; } bool isParallelToEgoLane(const ObjectData & object, const double threshold) @@ -418,33 +427,41 @@ bool isParkedVehicle( bool is_left_side_parked_vehicle = false; if (!isOnRight(object)) { - auto [object_shiftable_distance, sub_type] = [&]() { - const auto most_left_road_lanelet = - route_handler->getMostLeftLanelet(object.overhang_lanelet); - const auto most_left_lanelet_candidates = - route_handler->getLaneletMapPtr()->laneletLayer.findUsages( - most_left_road_lanelet.leftBound()); - - lanelet::ConstLanelet most_left_lanelet = most_left_road_lanelet; - const lanelet::Attribute sub_type = - most_left_lanelet.attribute(lanelet::AttributeName::Subtype); - - for (const auto & ll : most_left_lanelet_candidates) { - const lanelet::Attribute sub_type = ll.attribute(lanelet::AttributeName::Subtype); - if (sub_type.value() == "road_shoulder") { - most_left_lanelet = ll; - } + const auto most_left_lanelet = [&]() { + auto same_direction_lane = + route_handler->getMostLeftLanelet(object.overhang_lanelet, true, true); + const lanelet::Attribute & sub_type = + same_direction_lane.attribute(lanelet::AttributeName::Subtype); + if (sub_type == "road_shoulder") { + return same_direction_lane; } - const auto center_to_left_boundary = distance2d( - to2D(most_left_lanelet.leftBound().basicLineString()), - to2D(toLaneletPoint(centerline_pos)).basicPoint()); + const auto opposite_lanes = route_handler->getLeftOppositeLanelets(same_direction_lane); + if (opposite_lanes.empty()) { + return same_direction_lane; + } - return std::make_pair( - center_to_left_boundary - 0.5 * object.object.shape.dimensions.y, sub_type); + return static_cast(opposite_lanes.front().invert()); }(); - if (sub_type.value() != "road_shoulder") { + const auto center_to_left_boundary = distance2d( + to2D(most_left_lanelet.leftBound().basicLineString()), + to2D(toLaneletPoint(centerline_pos)).basicPoint()); + + double object_shiftable_distance = + center_to_left_boundary - 0.5 * object.object.shape.dimensions.y; + + const lanelet::Attribute & sub_type = + most_left_lanelet.attribute(lanelet::AttributeName::Subtype); + if (sub_type == "road_shoulder") { + // assuming it's parked vehicle if its CoG is within road shoulder lanelet. + if (boost::geometry::within( + to2D(toLaneletPoint(object_pos)).basicPoint(), + most_left_lanelet.polygon2d().basicPolygon())) { + return true; + } + } else { + // assuming there is 0.5m road shoulder even if it's not defined explicitly in HDMap. object_shiftable_distance += parameters->object_check_min_road_shoulder_width; } @@ -458,33 +475,41 @@ bool isParkedVehicle( bool is_right_side_parked_vehicle = false; if (isOnRight(object)) { - auto [object_shiftable_distance, sub_type] = [&]() { - const auto most_right_road_lanelet = - route_handler->getMostRightLanelet(object.overhang_lanelet); - const auto most_right_lanelet_candidates = - route_handler->getLaneletMapPtr()->laneletLayer.findUsages( - most_right_road_lanelet.rightBound()); - - lanelet::ConstLanelet most_right_lanelet = most_right_road_lanelet; - const lanelet::Attribute sub_type = - most_right_lanelet.attribute(lanelet::AttributeName::Subtype); - - for (const auto & ll : most_right_lanelet_candidates) { - const lanelet::Attribute sub_type = ll.attribute(lanelet::AttributeName::Subtype); - if (sub_type.value() == "road_shoulder") { - most_right_lanelet = ll; - } + const auto most_right_lanelet = [&]() { + auto same_direction_lane = + route_handler->getMostRightLanelet(object.overhang_lanelet, true, true); + const lanelet::Attribute & sub_type = + same_direction_lane.attribute(lanelet::AttributeName::Subtype); + if (sub_type == "road_shoulder") { + return same_direction_lane; } - const auto center_to_right_boundary = distance2d( - to2D(most_right_lanelet.rightBound().basicLineString()), - to2D(toLaneletPoint(centerline_pos)).basicPoint()); + const auto opposite_lanes = route_handler->getRightOppositeLanelets(same_direction_lane); + if (opposite_lanes.empty()) { + return same_direction_lane; + } - return std::make_pair( - center_to_right_boundary - 0.5 * object.object.shape.dimensions.y, sub_type); + return static_cast(opposite_lanes.front().invert()); }(); - if (sub_type.value() != "road_shoulder") { + const auto center_to_right_boundary = distance2d( + to2D(most_right_lanelet.rightBound().basicLineString()), + to2D(toLaneletPoint(centerline_pos)).basicPoint()); + + double object_shiftable_distance = + center_to_right_boundary - 0.5 * object.object.shape.dimensions.y; + + const lanelet::Attribute & sub_type = + most_right_lanelet.attribute(lanelet::AttributeName::Subtype); + if (sub_type == "road_shoulder") { + // assuming it's parked vehicle if its CoG is within road shoulder lanelet. + if (boost::geometry::within( + to2D(toLaneletPoint(object_pos)).basicPoint(), + most_right_lanelet.polygon2d().basicPolygon())) { + return true; + } + } else { + // assuming there is 0.5m road shoulder even if it's not defined explicitly in HDMap. object_shiftable_distance += parameters->object_check_min_road_shoulder_width; } @@ -551,47 +576,113 @@ bool isNeverAvoidanceTarget( const std::shared_ptr & planner_data, const std::shared_ptr & parameters) { - const auto & object_pose = object.object.kinematics.initial_pose_with_covariance.pose; - const auto is_moving_distance_longer_than_threshold = - tier4_autoware_utils::calcDistance2d(object.init_pose, object_pose) > - parameters->distance_threshold_for_ambiguous_vehicle; - if (is_moving_distance_longer_than_threshold) { - object.reason = AvoidanceDebugFactor::MOVING_OBJECT; - return true; - } - if (object.is_within_intersection) { if (object.behavior == ObjectData::Behavior::NONE) { - object.reason = "ParallelToEgoLane"; + object.info = ObjectInfo::PARALLEL_TO_EGO_LANE; RCLCPP_DEBUG( rclcpp::get_logger(logger_namespace), "object belongs to ego lane. never avoid it."); return true; } if (object.behavior == ObjectData::Behavior::MERGING) { - object.reason = "MergingToEgoLane"; + object.info = ObjectInfo::MERGING_TO_EGO_LANE; RCLCPP_DEBUG( rclcpp::get_logger(logger_namespace), "object belongs to ego lane. never avoid it."); return true; } } + if (object.behavior == ObjectData::Behavior::MERGING) { + object.info = ObjectInfo::MERGING_TO_EGO_LANE; + if ( + isOnRight(object) && !object.is_parked && + object.overhang_points.front().first > parameters->th_overhang_distance) { + RCLCPP_DEBUG( + rclcpp::get_logger(logger_namespace), + "merging vehicle. but overhang distance is larger than threshold."); + return true; + } + if ( + !isOnRight(object) && !object.is_parked && + object.overhang_points.front().first < -1.0 * parameters->th_overhang_distance) { + RCLCPP_DEBUG( + rclcpp::get_logger(logger_namespace), + "merging vehicle. but overhang distance is larger than threshold."); + return true; + } + } + + if (object.behavior == ObjectData::Behavior::DEVIATING) { + object.info = ObjectInfo::DEVIATING_FROM_EGO_LANE; + if ( + isOnRight(object) && !object.is_parked && + object.overhang_points.front().first > parameters->th_overhang_distance) { + RCLCPP_DEBUG( + rclcpp::get_logger(logger_namespace), + "deviating vehicle. but overhang distance is larger than threshold."); + return true; + } + if ( + !isOnRight(object) && !object.is_parked && + object.overhang_points.front().first < -1.0 * parameters->th_overhang_distance) { + RCLCPP_DEBUG( + rclcpp::get_logger(logger_namespace), + "deviating vehicle. but overhang distance is larger than threshold."); + return true; + } + } + if (object.is_on_ego_lane) { const auto right_lane = - planner_data->route_handler->getRightLanelet(object.overhang_lanelet, true, false); + planner_data->route_handler->getRightLanelet(object.overhang_lanelet, true, true); + if (right_lane.has_value() && isOnRight(object)) { + const lanelet::Attribute & right_lane_sub_type = + right_lane.value().attribute(lanelet::AttributeName::Subtype); + if (right_lane_sub_type != "road_shoulder") { + object.info = ObjectInfo::IS_NOT_PARKING_OBJECT; + RCLCPP_DEBUG( + rclcpp::get_logger(logger_namespace), "object isn't on the edge lane. never avoid it."); + return true; + } + + const auto object_polygon = tier4_autoware_utils::toPolygon2d(object.object); + const auto is_disjoint_right_lane = + boost::geometry::disjoint(object_polygon, right_lane.value().polygon2d().basicPolygon()); + if (is_disjoint_right_lane) { + object.info = ObjectInfo::IS_NOT_PARKING_OBJECT; + RCLCPP_DEBUG( + rclcpp::get_logger(logger_namespace), "object isn't on the edge lane. never avoid it."); + return true; + } + } + const auto left_lane = - planner_data->route_handler->getLeftLanelet(object.overhang_lanelet, true, false); - if (right_lane.has_value() && left_lane.has_value()) { - object.reason = AvoidanceDebugFactor::NOT_PARKING_OBJECT; - RCLCPP_DEBUG( - rclcpp::get_logger(logger_namespace), "object isn't on the edge lane. never avoid it."); - return true; + planner_data->route_handler->getLeftLanelet(object.overhang_lanelet, true, true); + if (left_lane.has_value() && !isOnRight(object)) { + const lanelet::Attribute & left_lane_sub_type = + left_lane.value().attribute(lanelet::AttributeName::Subtype); + if (left_lane_sub_type != "road_shoulder") { + object.info = ObjectInfo::IS_NOT_PARKING_OBJECT; + RCLCPP_DEBUG( + rclcpp::get_logger(logger_namespace), "object isn't on the edge lane. never avoid it."); + return true; + } + + const auto object_polygon = tier4_autoware_utils::toPolygon2d(object.object); + const auto is_disjoint_left_lane = + boost::geometry::disjoint(object_polygon, left_lane.value().polygon2d().basicPolygon()); + if (is_disjoint_left_lane) { + object.info = ObjectInfo::IS_NOT_PARKING_OBJECT; + RCLCPP_DEBUG( + rclcpp::get_logger(logger_namespace), "object isn't on the edge lane. never avoid it."); + return true; + } } } if (isCloseToStopFactor(object, data, planner_data, parameters)) { if (object.is_on_ego_lane && !object.is_parked) { - object.reason = AvoidanceDebugFactor::NOT_PARKING_OBJECT; + object.info = ObjectInfo::IS_NOT_PARKING_OBJECT; RCLCPP_DEBUG( rclcpp::get_logger(logger_namespace), "object is close to stop factor. never avoid it."); return true; @@ -619,11 +710,11 @@ bool isObviousAvoidanceTarget( } if (!object.is_parked) { - object.reason = AvoidanceDebugFactor::NOT_PARKING_OBJECT; + object.info = ObjectInfo::IS_NOT_PARKING_OBJECT; } if (object.behavior == ObjectData::Behavior::MERGING) { - object.reason = "MergingToEgoLane"; + object.info = ObjectInfo::MERGING_TO_EGO_LANE; } return false; @@ -636,13 +727,13 @@ bool isSatisfiedWithCommonCondition( { // Step1. filtered by target object type. if (!isAvoidanceTargetObjectType(object.object, parameters)) { - object.reason = AvoidanceDebugFactor::OBJECT_IS_NOT_TYPE; + object.info = ObjectInfo::IS_NOT_TARGET_OBJECT; return false; } // Step2. filtered stopped objects. if (filtering_utils::isMovingObject(object, parameters)) { - object.reason = AvoidanceDebugFactor::MOVING_OBJECT; + object.info = ObjectInfo::MOVING_OBJECT; return false; } @@ -651,12 +742,12 @@ bool isSatisfiedWithCommonCondition( fillLongitudinalAndLengthByClosestEnvelopeFootprint(data.reference_path_rough, ego_pos, object); if (object.longitudinal < -parameters->object_check_backward_distance) { - object.reason = AvoidanceDebugFactor::OBJECT_IS_BEHIND_THRESHOLD; + object.info = ObjectInfo::FURTHER_THAN_THRESHOLD; return false; } if (object.longitudinal > forward_detection_range) { - object.reason = AvoidanceDebugFactor::OBJECT_IS_IN_FRONT_THRESHOLD; + object.info = ObjectInfo::FURTHER_THAN_THRESHOLD; return false; } @@ -667,12 +758,12 @@ bool isSatisfiedWithCommonCondition( const auto ego_idx = planner_data->findEgoIndex(data.reference_path_rough.points); const auto to_goal_distance = rh->isInGoalRouteSection(data.current_lanelets.back()) - ? calcSignedArcLength( + ? motion_utils::calcSignedArcLength( data.reference_path_rough.points, ego_idx, data.reference_path_rough.points.size() - 1) : std::numeric_limits::max(); if (object.longitudinal > to_goal_distance) { - object.reason = AvoidanceDebugFactor::OBJECT_BEHIND_PATH_GOAL; + object.info = ObjectInfo::FURTHER_THAN_GOAL; return false; } @@ -680,7 +771,7 @@ bool isSatisfiedWithCommonCondition( if ( object.longitudinal + object.length / 2 + parameters->object_check_goal_distance > to_goal_distance) { - object.reason = "TooNearToGoal"; + object.info = ObjectInfo::TOO_NEAR_TO_GOAL; return false; } } @@ -695,7 +786,7 @@ bool isSatisfiedWithNonVehicleCondition( { // avoidance module ignore pedestrian and bicycle around crosswalk if (isWithinCrosswalk(object, planner_data->route_handler->getOverallGraphPtr())) { - object.reason = "CrosswalkUser"; + object.info = ObjectInfo::CROSSWALK_USER; return false; } @@ -704,7 +795,7 @@ bool isSatisfiedWithNonVehicleCondition( object.to_centerline = lanelet::utils::getArcCoordinates(data.current_lanelets, object_pose).distance; if (std::abs(object.to_centerline) < parameters->threshold_distance_object_is_on_center) { - object.reason = AvoidanceDebugFactor::TOO_NEAR_TO_CENTERLINE; + object.info = ObjectInfo::TOO_NEAR_TO_CENTERLINE; return false; } @@ -728,7 +819,7 @@ bool isSatisfiedWithVehicleCondition( const std::shared_ptr & parameters) { object.behavior = getObjectBehavior(object, parameters); - object.is_on_ego_lane = isOnEgoLane(object); + object.is_on_ego_lane = isOnEgoLane(object, planner_data->route_handler); if (isNeverAvoidanceTarget(object, data, planner_data, parameters)) { return false; @@ -741,32 +832,41 @@ bool isSatisfiedWithVehicleCondition( // from here, filtering for ambiguous vehicle. if (!parameters->enable_avoidance_for_ambiguous_vehicle) { - object.reason = "AmbiguousStoppedVehicle"; + object.info = ObjectInfo::AMBIGUOUS_STOPPED_VEHICLE; return false; } const auto stop_time_longer_than_threshold = object.stop_time > parameters->time_threshold_for_ambiguous_vehicle; if (!stop_time_longer_than_threshold) { - object.reason = "AmbiguousStoppedVehicle(wait-and-see)"; + object.info = ObjectInfo::AMBIGUOUS_STOPPED_VEHICLE; + return false; + } + + const auto & current_pose = object.object.kinematics.initial_pose_with_covariance.pose; + const auto is_moving_distance_longer_than_threshold = + calcDistance2d(object.init_pose, current_pose) > + parameters->distance_threshold_for_ambiguous_vehicle; + if (is_moving_distance_longer_than_threshold) { + object.info = ObjectInfo::AMBIGUOUS_STOPPED_VEHICLE; return false; } if (object.is_within_intersection) { if (object.behavior == ObjectData::Behavior::DEVIATING) { - object.reason = "AmbiguousStoppedVehicle(wait-and-see)"; + object.info = ObjectInfo::AMBIGUOUS_STOPPED_VEHICLE; object.is_ambiguous = true; return true; } } else { if (object.behavior == ObjectData::Behavior::MERGING) { - object.reason = "AmbiguousStoppedVehicle(wait-and-see)"; + object.info = ObjectInfo::AMBIGUOUS_STOPPED_VEHICLE; object.is_ambiguous = true; return true; } if (object.behavior == ObjectData::Behavior::DEVIATING) { - object.reason = "AmbiguousStoppedVehicle(wait-and-see)"; + object.info = ObjectInfo::AMBIGUOUS_STOPPED_VEHICLE; object.is_ambiguous = true; return true; } @@ -777,7 +877,7 @@ bool isSatisfiedWithVehicleCondition( } } - object.reason = AvoidanceDebugFactor::NOT_PARKING_OBJECT; + object.info = ObjectInfo::IS_NOT_PARKING_OBJECT; return false; } @@ -791,12 +891,12 @@ bool isNoNeedAvoidanceBehavior( const auto shift_length = calcShiftLength( isOnRight(object), object.overhang_points.front().first, object.avoid_margin.value()); if (!isShiftNecessary(isOnRight(object), shift_length)) { - object.reason = "NotNeedAvoidance"; + object.info = ObjectInfo::ENOUGH_LATERAL_DISTANCE; return true; } if (std::abs(shift_length) < parameters->lateral_execution_threshold) { - object.reason = "LessThanExecutionThreshold"; + object.info = ObjectInfo::LESS_THAN_EXECUTION_THRESHOLD; return true; } @@ -845,7 +945,7 @@ double getRoadShoulderDistance( const auto & object_pose = object.object.kinematics.initial_pose_with_covariance.pose; const auto object_closest_index = - findNearestIndex(data.reference_path.points, object_pose.position); + motion_utils::findNearestIndex(data.reference_path.points, object_pose.position); const auto object_closest_pose = data.reference_path.points.at(object_closest_index).point.pose; const auto rh = planner_data->route_handler; @@ -877,8 +977,14 @@ double getRoadShoulderDistance( } } + const auto envelope_polygon_width = + boost::geometry::area(object.envelope_poly) / + std::max(object.length, 1e-3); // prevent division by zero + { - const auto p2 = calcOffsetPose(p_tmp, 0.0, (isOnRight(object) ? -1.0 : 1.0), 0.0).position; + const auto p2 = + calcOffsetPose(p_tmp, 0.0, (isOnRight(object) ? -0.5 : 0.5) * envelope_polygon_width, 0.0) + .position; const auto opt_intersect = tier4_autoware_utils::intersect(p1.second, p2, bound.at(i - 1), bound.at(i)); @@ -1088,7 +1194,7 @@ void fillLongitudinalAndLengthByClosestEnvelopeFootprint( for (const auto & p : obj.envelope_poly.outer()) { const auto point = tier4_autoware_utils::createPoint(p.x(), p.y(), 0.0); // TODO(someone): search around first position where the ego should avoid the object. - const double arc_length = calcSignedArcLength(path.points, ego_pos, point); + const double arc_length = motion_utils::calcSignedArcLength(path.points, ego_pos, point); min_distance = std::min(min_distance, arc_length); max_distance = std::max(max_distance, arc_length); } @@ -1105,7 +1211,7 @@ std::vector> calcEnvelopeOverhangDistance( for (const auto & p : object_data.envelope_poly.outer()) { const auto point = tier4_autoware_utils::createPoint(p.x(), p.y(), 0.0); // TODO(someone): search around first position where the ego should avoid the object. - const auto idx = findNearestIndex(path.points, point); + const auto idx = motion_utils::findNearestIndex(path.points, point); const auto lateral = calcLateralDeviation(getPose(path.points.at(idx)), point); overhang_points.emplace_back(lateral, point); } @@ -1276,15 +1382,16 @@ void insertDecelPoint( const Point & p_src, const double offset, const double velocity, PathWithLaneId & path, std::optional & p_out) { - const auto decel_point = calcLongitudinalOffsetPoint(path.points, p_src, offset); + const auto decel_point = motion_utils::calcLongitudinalOffsetPoint(path.points, p_src, offset); if (!decel_point) { // TODO(Satoshi OTA) Think later the process in the case of no decel point found. return; } - const auto seg_idx = findNearestSegmentIndex(path.points, decel_point.value()); - const auto insert_idx = insertTargetPoint(seg_idx, decel_point.value(), path.points); + const auto seg_idx = motion_utils::findNearestSegmentIndex(path.points, decel_point.value()); + const auto insert_idx = + motion_utils::insertTargetPoint(seg_idx, decel_point.value(), path.points); if (!insert_idx) { // TODO(Satoshi OTA) Think later the process in the case of no decel point found. @@ -1384,6 +1491,7 @@ void fillObjectMovingTime( object_data.last_stop = now; object_data.move_time = 0.0; if (is_new_object) { + object_data.init_pose = object_data.object.kinematics.initial_pose_with_covariance.pose; object_data.stop_time = 0.0; object_data.last_move = now; stopped_objects.push_back(object_data); @@ -1392,11 +1500,13 @@ void fillObjectMovingTime( same_id_obj->last_stop = now; same_id_obj->move_time = 0.0; object_data.stop_time = same_id_obj->stop_time; + object_data.init_pose = same_id_obj->init_pose; } return; } if (is_new_object) { + object_data.init_pose = object_data.object.kinematics.initial_pose_with_covariance.pose; object_data.move_time = std::numeric_limits::infinity(); object_data.stop_time = 0.0; object_data.last_move = now; @@ -1406,6 +1516,7 @@ void fillObjectMovingTime( object_data.last_stop = same_id_obj->last_stop; object_data.move_time = (now - same_id_obj->last_stop).seconds(); object_data.stop_time = 0.0; + object_data.init_pose = object_data.object.kinematics.initial_pose_with_covariance.pose; if (object_data.move_time > object_parameter.moving_time_threshold) { stopped_objects.erase(same_id_obj); @@ -1452,22 +1563,6 @@ void fillAvoidanceNecessity( object_data.avoid_required = check_necessity(parameters->hysteresis_factor_expand_rate); } -void fillInitialPose(ObjectData & object_data, ObjectDataArray & detected_objects) -{ - const auto id = object_data.object.object_id; - const auto same_id_obj = std::find_if( - detected_objects.begin(), detected_objects.end(), - [&id](const auto & o) { return o.object.object_id == id; }); - - if (same_id_obj != detected_objects.end()) { - object_data.init_pose = same_id_obj->init_pose; - return; - } - - object_data.init_pose = object_data.object.kinematics.initial_pose_with_covariance.pose; - detected_objects.push_back(object_data); -} - void fillObjectStoppableJudge( ObjectData & object_data, const ObjectDataArray & registered_objects, const double feasible_stop_distance, const std::shared_ptr & parameters) @@ -1651,14 +1746,15 @@ void filterTargetObjects( } // Find the footprint point closest to the path, set to object_data.overhang_distance. - o.overhang_points = utils::avoidance::calcEnvelopeOverhangDistance(o, data.reference_path); + o.overhang_points = + utils::static_obstacle_avoidance::calcEnvelopeOverhangDistance(o, data.reference_path); o.to_road_shoulder_distance = filtering_utils::getRoadShoulderDistance(o, data, planner_data); // TODO(Satoshi Ota) parametrize stop time threshold if need. constexpr double STOP_TIME_THRESHOLD = 3.0; // [s] if (filtering_utils::isUnknownTypeObject(o)) { if (o.stop_time < STOP_TIME_THRESHOLD) { - o.reason = "UnstableObject"; + o.info = ObjectInfo::UNSTABLE_OBJECT; data.other_objects.push_back(o); continue; } @@ -1717,9 +1813,9 @@ void fillAdditionalInfoFromPoint(const AvoidancePlanningData & data, AvoidLineAr // calc longitudinal for (auto & sl : lines) { - sl.start_idx = findNearestIndex(path.points, sl.start.position); + sl.start_idx = motion_utils::findNearestIndex(path.points, sl.start.position); sl.start_longitudinal = arc.at(sl.start_idx); - sl.end_idx = findNearestIndex(path.points, sl.end.position); + sl.end_idx = motion_utils::findNearestIndex(path.points, sl.end.position); sl.end_longitudinal = arc.at(sl.end_idx); } } @@ -1886,7 +1982,7 @@ std::vector getSafetyCheckTargetObjects( std::for_each(objects.begin(), objects.end(), [&p, &ret, ¶meters](const auto & object) { if (filtering_utils::isSafetyCheckTargetObjectType(object.object, parameters)) { // check only moving objects - if (filtering_utils::isMovingObject(object, parameters)) { + if (filtering_utils::isMovingObject(object, parameters) || !object.is_parked) { ret.objects.push_back(object.object); } } @@ -2016,7 +2112,8 @@ std::pair separateObjectsByPath( Pose p_spline_ego_front = spline_path.points.front().point.pose; double next_longitudinal_distance = parameters->resample_interval_for_output; for (size_t i = 0; i < points_size; ++i) { - const auto distance_from_ego = calcSignedArcLength(reference_path.points, ego_idx, i); + const auto distance_from_ego = + motion_utils::calcSignedArcLength(reference_path.points, ego_idx, i); if (distance_from_ego > object_check_forward_distance) { break; } @@ -2190,7 +2287,7 @@ DrivableLanes generateExpandedDrivableLanes( break; } if (i == max_recursive_search_num - 1) { - RCLCPP_ERROR( + RCLCPP_DEBUG( rclcpp::get_logger(logger_namespace), "Drivable area expansion reaches max iteration."); } } @@ -2264,7 +2361,7 @@ double calcDistanceToReturnDeadLine( if (planner_data->route_handler->isInGoalRouteSection(lanelets.back())) { const auto & ego_pos = planner_data->self_odometry->pose.pose.position; const auto to_goal_distance = - calcSignedArcLength(path.points, ego_pos, path.points.size() - 1); + motion_utils::calcSignedArcLength(path.points, ego_pos, path.points.size() - 1); distance_to_return_dead_line = std::min( distance_to_return_dead_line, to_goal_distance - parameters->dead_line_buffer_for_goal); } @@ -2272,4 +2369,4 @@ double calcDistanceToReturnDeadLine( return distance_to_return_dead_line; } -} // namespace behavior_path_planner::utils::avoidance +} // namespace behavior_path_planner::utils::static_obstacle_avoidance diff --git a/planning/behavior_path_dynamic_avoidance_module/test/test_behavior_path_planner_node_interface.cpp b/planning/autoware_behavior_path_static_obstacle_avoidance_module/test/test_behavior_path_planner_node_interface.cpp similarity index 81% rename from planning/behavior_path_dynamic_avoidance_module/test/test_behavior_path_planner_node_interface.cpp rename to planning/autoware_behavior_path_static_obstacle_avoidance_module/test/test_behavior_path_planner_node_interface.cpp index 16b4ffbc688ae..c70b78265a17b 100644 --- a/planning/behavior_path_dynamic_avoidance_module/test/test_behavior_path_planner_node_interface.cpp +++ b/planning/autoware_behavior_path_static_obstacle_avoidance_module/test/test_behavior_path_planner_node_interface.cpp @@ -15,8 +15,8 @@ #include "behavior_path_planner/behavior_path_planner_node.hpp" #include -#include -#include +#include +#include #include @@ -47,22 +47,22 @@ std::shared_ptr generateNode() ament_index_cpp::get_package_share_directory("behavior_path_planner"); std::vector module_names; - module_names.emplace_back("behavior_path_planner::DynamicAvoidanceModuleManager"); + module_names.emplace_back("behavior_path_planner::StaticObstacleAvoidanceModuleManager"); std::vector params; params.emplace_back("launch_modules", module_names); node_options.parameter_overrides(params); test_utils::updateNodeOptions( - node_options, - {planning_test_utils_dir + "/config/test_common.param.yaml", - planning_test_utils_dir + "/config/test_nearest_search.param.yaml", - planning_test_utils_dir + "/config/test_vehicle_info.param.yaml", - behavior_path_planner_dir + "/config/behavior_path_planner.param.yaml", - behavior_path_planner_dir + "/config/drivable_area_expansion.param.yaml", - behavior_path_planner_dir + "/config/scene_module_manager.param.yaml", - ament_index_cpp::get_package_share_directory("behavior_path_dynamic_avoidance_module") + - "/config/dynamic_avoidance.param.yaml"}); + node_options, {planning_test_utils_dir + "/config/test_common.param.yaml", + planning_test_utils_dir + "/config/test_nearest_search.param.yaml", + planning_test_utils_dir + "/config/test_vehicle_info.param.yaml", + behavior_path_planner_dir + "/config/behavior_path_planner.param.yaml", + behavior_path_planner_dir + "/config/drivable_area_expansion.param.yaml", + behavior_path_planner_dir + "/config/scene_module_manager.param.yaml", + ament_index_cpp::get_package_share_directory( + "autoware_behavior_path_static_obstacle_avoidance_module") + + "/config/static_obstacle_avoidance.param.yaml"}); return std::make_shared(node_options); } diff --git a/planning/behavior_path_avoidance_module/test/test_utils.cpp b/planning/autoware_behavior_path_static_obstacle_avoidance_module/test/test_utils.cpp similarity index 56% rename from planning/behavior_path_avoidance_module/test/test_utils.cpp rename to planning/autoware_behavior_path_static_obstacle_avoidance_module/test/test_utils.cpp index 95488daa69cf8..da681e72533b0 100644 --- a/planning/behavior_path_avoidance_module/test/test_utils.cpp +++ b/planning/autoware_behavior_path_static_obstacle_avoidance_module/test/test_utils.cpp @@ -12,15 +12,16 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "behavior_path_avoidance_module/data_structs.hpp" -#include "behavior_path_avoidance_module/utils.hpp" +#include "autoware_behavior_path_static_obstacle_avoidance_module/data_structs.hpp" +#include "autoware_behavior_path_static_obstacle_avoidance_module/utils.hpp" #include #include using behavior_path_planner::ObjectData; -using behavior_path_planner::utils::avoidance::isOnRight; -using behavior_path_planner::utils::avoidance::isSameDirectionShift; +using behavior_path_planner::utils::static_obstacle_avoidance::isOnRight; +using behavior_path_planner::utils::static_obstacle_avoidance::isSameDirectionShift; +using behavior_path_planner::utils::static_obstacle_avoidance::isShiftNecessary; TEST(BehaviorPathPlanningAvoidanceUtilsTest, shiftLengthDirectionTest) { @@ -37,3 +38,19 @@ TEST(BehaviorPathPlanningAvoidanceUtilsTest, shiftLengthDirectionTest) ASSERT_TRUE(isSameDirectionShift(isOnRight(left_obj), positive_shift_length)); ASSERT_FALSE(isSameDirectionShift(isOnRight(left_obj), negative_shift_length)); } + +TEST(BehaviorPathPlanningAvoidanceUtilsTest, shiftNecessaryTest) +{ + ObjectData right_obj; + right_obj.direction = route_handler::Direction::RIGHT; + const double negative_shift_length = -1.0; + const double positive_shift_length = 1.0; + + ASSERT_TRUE(isShiftNecessary(isOnRight(right_obj), positive_shift_length)); + ASSERT_FALSE(isShiftNecessary(isOnRight(right_obj), negative_shift_length)); + + ObjectData left_obj; + left_obj.direction = route_handler::Direction::LEFT; + ASSERT_TRUE(isShiftNecessary(isOnRight(left_obj), negative_shift_length)); + ASSERT_FALSE(isShiftNecessary(isOnRight(left_obj), positive_shift_length)); +} diff --git a/planning/behavior_velocity_planner/CMakeLists.txt b/planning/autoware_behavior_velocity_planner/CMakeLists.txt similarity index 90% rename from planning/behavior_velocity_planner/CMakeLists.txt rename to planning/autoware_behavior_velocity_planner/CMakeLists.txt index ee7dd7c07a77a..37a02b844dfe9 100644 --- a/planning/behavior_velocity_planner/CMakeLists.txt +++ b/planning/autoware_behavior_velocity_planner/CMakeLists.txt @@ -1,5 +1,5 @@ cmake_minimum_required(VERSION 3.14) -project(behavior_velocity_planner) +project(autoware_behavior_velocity_planner) find_package(autoware_cmake REQUIRED) find_package(rosidl_default_generators REQUIRED) @@ -19,7 +19,7 @@ ament_auto_add_library(${PROJECT_NAME}_lib SHARED ) rclcpp_components_register_node(${PROJECT_NAME}_lib - PLUGIN "behavior_velocity_planner::BehaviorVelocityPlannerNode" + PLUGIN "autoware::behavior_velocity_planner::BehaviorVelocityPlannerNode" EXECUTABLE ${PROJECT_NAME}_node ) diff --git a/planning/behavior_velocity_planner/README.md b/planning/autoware_behavior_velocity_planner/README.md similarity index 62% rename from planning/behavior_velocity_planner/README.md rename to planning/autoware_behavior_velocity_planner/README.md index 519e68764b450..a68705e3f73a2 100644 --- a/planning/behavior_velocity_planner/README.md +++ b/planning/autoware_behavior_velocity_planner/README.md @@ -56,3 +56,15 @@ So for example, in order to stop at a stop line with the vehicles' front on the | `max_accel` | double | (to be a global parameter) max acceleration of the vehicle | | `system_delay` | double | (to be a global parameter) delay time until output control command | | `delay_response_time` | double | (to be a global parameter) delay time of the vehicle's response to control commands | + +## Traffic Light Handling in sim/real + +The handling of traffic light information varies depending on the usage. In the below table, the traffic signal topic element for the corresponding lane is denoted as `info`, and if `info` is not available, it is denoted as `null`. + +| module \\ case | `info` is `null` | `info` is not `null` | +| :--------------------------------------------------------------------------------------------------------- | ------------------------ | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | +| intersection_occlusion(`is_simulation = *`)
  • `info` is the latest non-`null` information
| GO(occlusion is ignored) | intersection_occlusion uses the latest non UNKNOWN observation in the queue up to present.
  • If `info` is `GREEN or UNKNOWN`, occlusion is cared
  • If `info` is `RED or YELLOW`, occlusion is ignored(GO)
  • NOTE: Currently timeout is not considered
| +| traffic_light(sim, `is_simulation = true`)
  • `info` is current information
| GO | traffic_light uses the perceived traffic light information at present directly.
  • If `info` is timeout, STOP whatever the color is
  • If `info` is not timeout, then act according to the color. If `info` is `UNKNOWN`, STOP
{: rowspan=2} | +| traffic_light(real, `is_simulation = false`)
  • `info` is current information
| STOP | ⁠ {: style="padding:0"} | +| crosswalk with Traffic Light(`is_simulation = *`)
  • `info` is current information
| default |
  • If `disable_yield_for_new_stopped_object` is true, each sub scene_module ignore newly detected pedestrians after module instantiation.
  • If `ignore_with_traffic_light` is true, occlusion detection is skipped.
| +| map_based_prediction(`is_simulation = *`)
  • `info` is current information
| default | If a pedestrian traffic light is
  • RED, surrounding pedestrians are not predicted.
  • GREEN, stopped pedestrians are not predicted.
| diff --git a/planning/behavior_velocity_planner/config/behavior_velocity_planner.param.yaml b/planning/autoware_behavior_velocity_planner/config/behavior_velocity_planner.param.yaml similarity index 100% rename from planning/behavior_velocity_planner/config/behavior_velocity_planner.param.yaml rename to planning/autoware_behavior_velocity_planner/config/behavior_velocity_planner.param.yaml diff --git a/planning/behavior_velocity_planner/docs/BehaviorVelocityPlanner-Architecture.drawio.svg b/planning/autoware_behavior_velocity_planner/docs/BehaviorVelocityPlanner-Architecture.drawio.svg similarity index 100% rename from planning/behavior_velocity_planner/docs/BehaviorVelocityPlanner-Architecture.drawio.svg rename to planning/autoware_behavior_velocity_planner/docs/BehaviorVelocityPlanner-Architecture.drawio.svg diff --git a/planning/behavior_velocity_planner/docs/set_stop_velocity.drawio.svg b/planning/autoware_behavior_velocity_planner/docs/set_stop_velocity.drawio.svg similarity index 100% rename from planning/behavior_velocity_planner/docs/set_stop_velocity.drawio.svg rename to planning/autoware_behavior_velocity_planner/docs/set_stop_velocity.drawio.svg diff --git a/planning/behavior_velocity_planner/launch/behavior_velocity_planner.launch.xml b/planning/autoware_behavior_velocity_planner/launch/behavior_velocity_planner.launch.xml similarity index 97% rename from planning/behavior_velocity_planner/launch/behavior_velocity_planner.launch.xml rename to planning/autoware_behavior_velocity_planner/launch/behavior_velocity_planner.launch.xml index c1631fdb739de..d4478f87f0610 100644 --- a/planning/behavior_velocity_planner/launch/behavior_velocity_planner.launch.xml +++ b/planning/autoware_behavior_velocity_planner/launch/behavior_velocity_planner.launch.xml @@ -30,7 +30,7 @@ - + diff --git a/planning/behavior_velocity_planner/package.xml b/planning/autoware_behavior_velocity_planner/package.xml similarity index 96% rename from planning/behavior_velocity_planner/package.xml rename to planning/autoware_behavior_velocity_planner/package.xml index 1357b555f0ba4..573d862f1725b 100644 --- a/planning/behavior_velocity_planner/package.xml +++ b/planning/autoware_behavior_velocity_planner/package.xml @@ -1,9 +1,9 @@ - behavior_velocity_planner + autoware_behavior_velocity_planner 0.1.0 - The behavior_velocity_planner package + The autoware_behavior_velocity_planner package Mamoru Sobue Takayuki Murooka diff --git a/planning/behavior_velocity_planner/schema/behavior_velocity_planner.schema.json b/planning/autoware_behavior_velocity_planner/schema/behavior_velocity_planner.schema.json similarity index 100% rename from planning/behavior_velocity_planner/schema/behavior_velocity_planner.schema.json rename to planning/autoware_behavior_velocity_planner/schema/behavior_velocity_planner.schema.json diff --git a/planning/behavior_velocity_planner/src/node.cpp b/planning/autoware_behavior_velocity_planner/src/node.cpp similarity index 95% rename from planning/behavior_velocity_planner/src/node.cpp rename to planning/autoware_behavior_velocity_planner/src/node.cpp index aa9613a35dd7c..d4ae3897bca65 100644 --- a/planning/behavior_velocity_planner/src/node.cpp +++ b/planning/autoware_behavior_velocity_planner/src/node.cpp @@ -52,7 +52,7 @@ rclcpp::SubscriptionOptions createSubscriptionOptions(rclcpp::Node * node_ptr) } } // namespace -namespace behavior_velocity_planner +namespace autoware::behavior_velocity_planner { namespace { @@ -311,6 +311,7 @@ void BehaviorVelocityPlannerNode::onParam() // lock(mutex_); planner_data_.velocity_smoother_ = std::make_unique(*this); + planner_data_.velocity_smoother_->setWheelBase(planner_data_.vehicle_info_.wheel_base_m); } void BehaviorVelocityPlannerNode::onLaneletMap( @@ -352,6 +353,7 @@ void BehaviorVelocityPlannerNode::onTrafficSignals( planner_data_.traffic_light_id_map_last_observed_[signal.traffic_signal_id].stamp = msg->stamp; } else { + // if (1)the observation is not UNKNOWN or (2)the very first observation is UNKNOWN planner_data_.traffic_light_id_map_last_observed_[signal.traffic_signal_id] = traffic_signal; } } @@ -434,14 +436,15 @@ autoware_auto_planning_msgs::msg::Path BehaviorVelocityPlannerNode::generatePath std::make_shared(planner_data), *input_path_msg); // screening - const auto filtered_path = filterLitterPathPoint(to_path(velocity_planned_path)); + const auto filtered_path = + ::behavior_velocity_planner::filterLitterPathPoint(to_path(velocity_planned_path)); // interpolation - const auto interpolated_path_msg = - interpolatePath(filtered_path, forward_path_length_, behavior_output_path_interval_); + const auto interpolated_path_msg = ::behavior_velocity_planner::interpolatePath( + filtered_path, forward_path_length_, behavior_output_path_interval_); // check stop point - output_path_msg = filterStopPathPoint(interpolated_path_msg); + output_path_msg = ::behavior_velocity_planner::filterStopPathPoint(interpolated_path_msg); output_path_msg.header.frame_id = "map"; output_path_msg.header.stamp = this->now(); @@ -475,7 +478,7 @@ void BehaviorVelocityPlannerNode::publishDebugMarker( } debug_viz_pub_->publish(output_msg); } -} // namespace behavior_velocity_planner +} // namespace autoware::behavior_velocity_planner #include -RCLCPP_COMPONENTS_REGISTER_NODE(behavior_velocity_planner::BehaviorVelocityPlannerNode) +RCLCPP_COMPONENTS_REGISTER_NODE(autoware::behavior_velocity_planner::BehaviorVelocityPlannerNode) diff --git a/planning/behavior_velocity_planner/src/node.hpp b/planning/autoware_behavior_velocity_planner/src/node.hpp similarity index 93% rename from planning/behavior_velocity_planner/src/node.hpp rename to planning/autoware_behavior_velocity_planner/src/node.hpp index dd6edf6ae0bc0..6e74203460542 100644 --- a/planning/behavior_velocity_planner/src/node.hpp +++ b/planning/autoware_behavior_velocity_planner/src/node.hpp @@ -18,8 +18,8 @@ #include "planner_manager.hpp" #include "tier4_autoware_utils/ros/logger_level_configure.hpp" -#include -#include +#include +#include #include #include #include @@ -44,11 +44,12 @@ #include #include -namespace behavior_velocity_planner +namespace autoware::behavior_velocity_planner { using autoware_auto_mapping_msgs::msg::HADMapBin; -using behavior_velocity_planner::srv::LoadPlugin; -using behavior_velocity_planner::srv::UnloadPlugin; +using autoware_behavior_velocity_planner::srv::LoadPlugin; +using autoware_behavior_velocity_planner::srv::UnloadPlugin; +using ::behavior_velocity_planner::TrafficSignalStamped; using tier4_planning_msgs::msg::VelocityLimit; class BehaviorVelocityPlannerNode : public rclcpp::Node @@ -134,6 +135,6 @@ class BehaviorVelocityPlannerNode : public rclcpp::Node std::unique_ptr published_time_publisher_; }; -} // namespace behavior_velocity_planner +} // namespace autoware::behavior_velocity_planner #endif // NODE_HPP_ diff --git a/planning/behavior_velocity_planner/src/planner_manager.cpp b/planning/autoware_behavior_velocity_planner/src/planner_manager.cpp similarity index 95% rename from planning/behavior_velocity_planner/src/planner_manager.cpp rename to planning/autoware_behavior_velocity_planner/src/planner_manager.cpp index cb491920c87d4..f939f67a06f9e 100644 --- a/planning/behavior_velocity_planner/src/planner_manager.cpp +++ b/planning/autoware_behavior_velocity_planner/src/planner_manager.cpp @@ -19,7 +19,7 @@ #include #include -namespace behavior_velocity_planner +namespace autoware::behavior_velocity_planner { namespace { @@ -50,7 +50,7 @@ diagnostic_msgs::msg::DiagnosticStatus makeStopReasonDiag( } // namespace BehaviorVelocityPlannerManager::BehaviorVelocityPlannerManager() -: plugin_loader_("behavior_velocity_planner", "behavior_velocity_planner::PluginInterface") +: plugin_loader_("autoware_behavior_velocity_planner", "behavior_velocity_planner::PluginInterface") { } @@ -128,4 +128,4 @@ diagnostic_msgs::msg::DiagnosticStatus BehaviorVelocityPlannerManager::getStopRe { return stop_reason_diag_; } -} // namespace behavior_velocity_planner +} // namespace autoware::behavior_velocity_planner diff --git a/planning/behavior_velocity_planner/src/planner_manager.hpp b/planning/autoware_behavior_velocity_planner/src/planner_manager.hpp similarity index 91% rename from planning/behavior_velocity_planner/src/planner_manager.hpp rename to planning/autoware_behavior_velocity_planner/src/planner_manager.hpp index 7485e5faba8bf..f9c1d0253de62 100644 --- a/planning/behavior_velocity_planner/src/planner_manager.hpp +++ b/planning/autoware_behavior_velocity_planner/src/planner_manager.hpp @@ -36,8 +36,11 @@ #include #include -namespace behavior_velocity_planner +namespace autoware::behavior_velocity_planner { +using ::behavior_velocity_planner::PlannerData; +using ::behavior_velocity_planner::PluginInterface; + class BehaviorVelocityPlannerManager { public: @@ -56,6 +59,6 @@ class BehaviorVelocityPlannerManager pluginlib::ClassLoader plugin_loader_; std::vector> scene_manager_plugins_; }; -} // namespace behavior_velocity_planner +} // namespace autoware::behavior_velocity_planner #endif // PLANNER_MANAGER_HPP_ diff --git a/planning/behavior_velocity_planner/srv/LoadPlugin.srv b/planning/autoware_behavior_velocity_planner/srv/LoadPlugin.srv similarity index 100% rename from planning/behavior_velocity_planner/srv/LoadPlugin.srv rename to planning/autoware_behavior_velocity_planner/srv/LoadPlugin.srv diff --git a/planning/behavior_velocity_planner/srv/UnloadPlugin.srv b/planning/autoware_behavior_velocity_planner/srv/UnloadPlugin.srv similarity index 100% rename from planning/behavior_velocity_planner/srv/UnloadPlugin.srv rename to planning/autoware_behavior_velocity_planner/srv/UnloadPlugin.srv diff --git a/planning/behavior_velocity_planner/test/src/test_node_interface.cpp b/planning/autoware_behavior_velocity_planner/test/src/test_node_interface.cpp similarity index 96% rename from planning/behavior_velocity_planner/test/src/test_node_interface.cpp rename to planning/autoware_behavior_velocity_planner/test/src/test_node_interface.cpp index 935530b52e175..06c1bc48cf529 100644 --- a/planning/behavior_velocity_planner/test/src/test_node_interface.cpp +++ b/planning/autoware_behavior_velocity_planner/test/src/test_node_interface.cpp @@ -15,15 +15,15 @@ #include "node.hpp" #include -#include -#include +#include +#include #include #include #include -using behavior_velocity_planner::BehaviorVelocityPlannerNode; +using autoware::behavior_velocity_planner::BehaviorVelocityPlannerNode; using planning_test_utils::PlanningInterfaceTestManager; std::shared_ptr generateTestManager() @@ -50,7 +50,7 @@ std::shared_ptr generateNode() const auto planning_test_utils_dir = ament_index_cpp::get_package_share_directory("planning_test_utils"); const auto behavior_velocity_planner_dir = - ament_index_cpp::get_package_share_directory("behavior_velocity_planner"); + ament_index_cpp::get_package_share_directory("autoware_behavior_velocity_planner"); const auto motion_velocity_smoother_dir = ament_index_cpp::get_package_share_directory("motion_velocity_smoother"); diff --git a/planning/autoware_planning_test_manager/CMakeLists.txt b/planning/autoware_planning_test_manager/CMakeLists.txt new file mode 100644 index 0000000000000..1f0a62aae0026 --- /dev/null +++ b/planning/autoware_planning_test_manager/CMakeLists.txt @@ -0,0 +1,11 @@ +cmake_minimum_required(VERSION 3.14) +project(autoware_planning_test_manager) + +find_package(autoware_cmake REQUIRED) +autoware_package() + +ament_auto_add_library(autoware_planning_test_manager SHARED + src/autoware_planning_test_manager.cpp +) + +ament_auto_package() diff --git a/planning/autoware_planning_test_manager/README.md b/planning/autoware_planning_test_manager/README.md new file mode 100644 index 0000000000000..b72625be999dd --- /dev/null +++ b/planning/autoware_planning_test_manager/README.md @@ -0,0 +1,92 @@ +# Autoware Planning Test Manager + +## Background + +In each node of the planning module, when exceptional input, such as unusual routes or significantly deviated ego-position, is given, the node may not be prepared for such input and could crash. As a result, debugging node crashes can be time-consuming. For example, if an empty trajectory is given as input and it was not anticipated during implementation, the node might crash due to the unaddressed exceptional input when changes are merged, during scenario testing or while the system is running on an actual vehicle. + +## Purpose + +The purpose is to provide a utility for implementing tests to ensure that node operates correctly when receiving exceptional input. By utilizing this utility and implementing tests for exceptional input, the purpose is to reduce bugs that are only discovered when actually running the system, by requiring measures for exceptional input before merging PRs. + +## Features + +### Confirmation of normal operation + +For the test target node, confirm that the node operates correctly and publishes the required messages for subsequent nodes. To do this, test_node publish the necessary messages and confirm that the node's output is being published. + +### Robustness confirmation for special inputs + +After confirming normal operation, ensure that the test target node does not crash when given exceptional input. To do this, provide exceptional input from the test_node and confirm that the node does not crash. + +(WIP) + +## Usage + +```cpp + +TEST(PlanningModuleInterfaceTest, NodeTestWithExceptionTrajectory) +{ + rclcpp::init(0, nullptr); + + // instantiate test_manager with PlanningInterfaceTestManager type + auto test_manager = std::make_shared(); + + // get package directories for necessary configuration files + const auto planning_test_utils_dir = + ament_index_cpp::get_package_share_directory("planning_test_utils"); + const auto target_node_dir = + ament_index_cpp::get_package_share_directory("target_node"); + + // set arguments to get the config file + node_options.arguments( + {"--ros-args", "--params-file", + planning_test_utils_dir + "/config/test_vehicle_info.param.yaml", "--params-file", + planning_validator_dir + "/config/planning_validator.param.yaml"}); + + // instantiate the TargetNode with node_options + auto test_target_node = std::make_shared(node_options); + + // publish the necessary topics from test_manager second argument is topic name + test_manager->publishOdometry(test_target_node, "/localization/kinematic_state"); + test_manager->publishMaxVelocity( + test_target_node, "motion_velocity_smoother/input/external_velocity_limit_mps"); + + // set scenario_selector's input topic name(this topic is changed to test node) + test_manager->setTrajectoryInputTopicName("input/parking/trajectory"); + + // test with normal trajectory + ASSERT_NO_THROW(test_manager->testWithNominalTrajectory(test_target_node)); + + // make sure target_node is running + EXPECT_GE(test_manager->getReceivedTopicNum(), 1); + + // test with trajectory input with empty/one point/overlapping point + ASSERT_NO_THROW(test_manager->testWithAbnormalTrajectory(test_target_node)); + + // shutdown ROS context + rclcpp::shutdown(); +} +``` + +## Implemented tests + +| Node | Test name | exceptional input | output | Exceptional input pattern | +| -------------------------- | ----------------------------------------------------------------------------------------- | ----------------- | -------------- | ------------------------------------------------------------------------------------- | +| planning_validator | NodeTestWithExceptionTrajectory | trajectory | trajectory | Empty, single point, path with duplicate points | +| motion_velocity_smoother | NodeTestWithExceptionTrajectory | trajectory | trajectory | Empty, single point, path with duplicate points | +| obstacle_cruise_planner | NodeTestWithExceptionTrajectory | trajectory | trajectory | Empty, single point, path with duplicate points | +| obstacle_stop_planner | NodeTestWithExceptionTrajectory | trajectory | trajectory | Empty, single point, path with duplicate points | +| obstacle_velocity_limiter | NodeTestWithExceptionTrajectory | trajectory | trajectory | Empty, single point, path with duplicate points | +| obstacle_avoidance_planner | NodeTestWithExceptionTrajectory | trajectory | trajectory | Empty, single point, path with duplicate points | +| scenario_selector | NodeTestWithExceptionTrajectoryLaneDrivingMode NodeTestWithExceptionTrajectoryParkingMode | trajectory | scenario | Empty, single point, path with duplicate points for scenarios:LANEDRIVING and PARKING | +| freespace_planner | NodeTestWithExceptionRoute | route | trajectory | Empty route | +| behavior_path_planner | NodeTestWithExceptionRoute NodeTestWithOffTrackEgoPose | route | route odometry | Empty route Off-lane ego-position | +| behavior_velocity_planner | NodeTestWithExceptionPathWithLaneID | path_with_lane_id | path | Empty path | + +## Important Notes + +During test execution, when launching a node, parameters are loaded from the parameter file within each package. Therefore, when adding parameters, it is necessary to add the required parameters to the parameter file in the target node package. This is to prevent the node from being unable to launch if there are missing parameters when retrieving them from the parameter file during node launch. + +## Future extensions / Unimplemented parts + +(WIP) diff --git a/planning/planning_test_utils/include/planning_test_utils/planning_interface_test_manager.hpp b/planning/autoware_planning_test_manager/include/autoware_planning_test_manager/autoware_planning_test_manager.hpp similarity index 98% rename from planning/planning_test_utils/include/planning_test_utils/planning_interface_test_manager.hpp rename to planning/autoware_planning_test_manager/include/autoware_planning_test_manager/autoware_planning_test_manager.hpp index a63b0d02152f0..82636af20579d 100644 --- a/planning/planning_test_utils/include/planning_test_utils/planning_interface_test_manager.hpp +++ b/planning/autoware_planning_test_manager/include/autoware_planning_test_manager/autoware_planning_test_manager.hpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef PLANNING_TEST_UTILS__PLANNING_INTERFACE_TEST_MANAGER_HPP_ -#define PLANNING_TEST_UTILS__PLANNING_INTERFACE_TEST_MANAGER_HPP_ +#ifndef AUTOWARE_PLANNING_TEST_MANAGER__AUTOWARE_PLANNING_TEST_MANAGER_HPP_ +#define AUTOWARE_PLANNING_TEST_MANAGER__AUTOWARE_PLANNING_TEST_MANAGER_HPP_ // since ASSERT_NO_THROW in gtest masks the exception message, redefine it. #define ASSERT_NO_THROW_WITH_ERROR_MSG(statement) \ @@ -266,4 +266,4 @@ class PlanningInterfaceTestManager } // namespace planning_test_utils -#endif // PLANNING_TEST_UTILS__PLANNING_INTERFACE_TEST_MANAGER_HPP_ +#endif // AUTOWARE_PLANNING_TEST_MANAGER__AUTOWARE_PLANNING_TEST_MANAGER_HPP_ diff --git a/planning/autoware_planning_test_manager/include/autoware_planning_test_manager/autoware_planning_test_manager_utils.hpp b/planning/autoware_planning_test_manager/include/autoware_planning_test_manager/autoware_planning_test_manager_utils.hpp new file mode 100644 index 0000000000000..63474c5e458cd --- /dev/null +++ b/planning/autoware_planning_test_manager/include/autoware_planning_test_manager/autoware_planning_test_manager_utils.hpp @@ -0,0 +1,124 @@ +// Copyright 2024 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#ifndef AUTOWARE_PLANNING_TEST_MANAGER__AUTOWARE_PLANNING_TEST_MANAGER_UTILS_HPP_ +#define AUTOWARE_PLANNING_TEST_MANAGER__AUTOWARE_PLANNING_TEST_MANAGER_UTILS_HPP_ +#include +#include + +#include +#include +#include + +#include +#include + +namespace autoware_planning_test_manager::utils +{ +using autoware_planning_msgs::msg::LaneletRoute; +using geometry_msgs::msg::Pose; +using nav_msgs::msg::Odometry; +using route_handler::RouteHandler; +using RouteSections = std::vector; + +Pose createPoseFromLaneID(const lanelet::Id & lane_id) +{ + auto map_bin_msg = test_utils::makeMapBinMsg(); + // create route_handler + auto route_handler = std::make_shared(); + route_handler->setMap(map_bin_msg); + + // get middle idx of the lanelet + const auto lanelet = route_handler->getLaneletsFromId(lane_id); + const auto center_line = lanelet.centerline(); + const size_t middle_point_idx = std::floor(center_line.size() / 2.0); + + // get middle position of the lanelet + geometry_msgs::msg::Point middle_pos; + middle_pos.x = center_line[middle_point_idx].x(); + middle_pos.y = center_line[middle_point_idx].y(); + + // get next middle position of the lanelet + geometry_msgs::msg::Point next_middle_pos; + next_middle_pos.x = center_line[middle_point_idx + 1].x(); + next_middle_pos.y = center_line[middle_point_idx + 1].y(); + + // calculate middle pose + geometry_msgs::msg::Pose middle_pose; + middle_pose.position = middle_pos; + const double yaw = tier4_autoware_utils::calcAzimuthAngle(middle_pos, next_middle_pos); + middle_pose.orientation = tier4_autoware_utils::createQuaternionFromYaw(yaw); + + return middle_pose; +} + +// Function to create a route from given start and goal lanelet ids +// start pose and goal pose are set to the middle of the lanelet +LaneletRoute makeBehaviorRouteFromLaneId(const int & start_lane_id, const int & goal_lane_id) +{ + LaneletRoute route; + route.header.frame_id = "map"; + auto start_pose = createPoseFromLaneID(start_lane_id); + auto goal_pose = createPoseFromLaneID(goal_lane_id); + route.start_pose = start_pose; + route.goal_pose = goal_pose; + + auto map_bin_msg = test_utils::makeMapBinMsg(); + // create route_handler + auto route_handler = std::make_shared(); + route_handler->setMap(map_bin_msg); + + LaneletRoute route_msg; + RouteSections route_sections; + lanelet::ConstLanelets all_route_lanelets; + + // Plan the path between checkpoints (start and goal poses) + lanelet::ConstLanelets path_lanelets; + if (!route_handler->planPathLaneletsBetweenCheckpoints(start_pose, goal_pose, &path_lanelets)) { + return route_msg; + } + + // Add all path_lanelets to all_route_lanelets + for (const auto & lane : path_lanelets) { + all_route_lanelets.push_back(lane); + } + // create local route sections + route_handler->setRouteLanelets(path_lanelets); + const auto local_route_sections = route_handler->createMapSegments(path_lanelets); + route_sections = + test_utils::combineConsecutiveRouteSections(route_sections, local_route_sections); + for (const auto & route_section : route_sections) { + for (const auto & primitive : route_section.primitives) { + std::cerr << "primitive: " << primitive.id << std::endl; + } + std::cerr << "preferred_primitive id : " << route_section.preferred_primitive.id << std::endl; + } + route_handler->setRouteLanelets(all_route_lanelets); + route.segments = route_sections; + + route.allow_modification = false; + return route; +} + +Odometry makeInitialPoseFromLaneId(const lanelet::Id & lane_id) +{ + Odometry current_odometry; + current_odometry.pose.pose = createPoseFromLaneID(lane_id); + current_odometry.header.frame_id = "map"; + + return current_odometry; +} + +} // namespace autoware_planning_test_manager::utils +#endif // AUTOWARE_PLANNING_TEST_MANAGER__AUTOWARE_PLANNING_TEST_MANAGER_UTILS_HPP_ diff --git a/planning/autoware_planning_test_manager/package.xml b/planning/autoware_planning_test_manager/package.xml new file mode 100644 index 0000000000000..e2c00756c2ba4 --- /dev/null +++ b/planning/autoware_planning_test_manager/package.xml @@ -0,0 +1,47 @@ + + + + autoware_planning_test_manager + 0.1.0 + ROS 2 node for testing interface of the nodes in planning module + Kyoichi Sugahara + Takamasa Horibe + Apache License 2.0 + + Kyoichi Sugahara + + ament_cmake_auto + autoware_cmake + + autoware_auto_control_msgs + autoware_auto_mapping_msgs + autoware_auto_planning_msgs + autoware_auto_vehicle_msgs + autoware_perception_msgs + autoware_planning_msgs + component_interface_specs + component_interface_utils + lanelet2_extension + lanelet2_io + motion_utils + nav_msgs + planning_test_utils + rclcpp + route_handler + tf2_msgs + tf2_ros + tier4_api_msgs + tier4_autoware_utils + tier4_planning_msgs + tier4_v2x_msgs + unique_identifier_msgs + yaml_cpp_vendor + + ament_cmake_ros + ament_lint_auto + autoware_lint_common + + + ament_cmake + + diff --git a/planning/planning_test_utils/src/planning_interface_test_manager.cpp b/planning/autoware_planning_test_manager/src/autoware_planning_test_manager.cpp similarity index 97% rename from planning/planning_test_utils/src/planning_interface_test_manager.cpp rename to planning/autoware_planning_test_manager/src/autoware_planning_test_manager.cpp index 0a6b4246348eb..9ee162ec02d1f 100644 --- a/planning/planning_test_utils/src/planning_interface_test_manager.cpp +++ b/planning/autoware_planning_test_manager/src/autoware_planning_test_manager.cpp @@ -14,8 +14,10 @@ #include "motion_utils/trajectory/conversion.hpp" -#include -#include +#include +#include +#include +#include namespace planning_test_utils { @@ -115,7 +117,7 @@ void PlanningInterfaceTestManager::publishInitialPose( if (module_name == ModuleName::START_PLANNER) { test_utils::publishToTargetNode( test_node_, target_node, topic_name, initial_pose_pub_, - test_utils::makeInitialPoseFromLaneId(10291)); + autoware_planning_test_manager::utils::makeInitialPoseFromLaneId(10291)); } else { test_utils::publishToTargetNode( test_node_, target_node, topic_name, initial_pose_pub_, test_utils::makeInitialPose(shift)); @@ -256,7 +258,7 @@ void PlanningInterfaceTestManager::publishBehaviorNominalRoute( if (module_name == ModuleName::START_PLANNER) { test_utils::publishToTargetNode( test_node_, target_node, topic_name, behavior_normal_route_pub_, - test_utils::makeBehaviorRouteFromLaneId(10291, 10333), 5); + autoware_planning_test_manager::utils::makeBehaviorRouteFromLaneId(10291, 10333), 5); } else { test_utils::publishToTargetNode( test_node_, target_node, topic_name, behavior_normal_route_pub_, diff --git a/planning/autoware_remaining_distance_time_calculator/CMakeLists.txt b/planning/autoware_remaining_distance_time_calculator/CMakeLists.txt new file mode 100644 index 0000000000000..d29a153a0ce5d --- /dev/null +++ b/planning/autoware_remaining_distance_time_calculator/CMakeLists.txt @@ -0,0 +1,21 @@ +cmake_minimum_required(VERSION 3.14) +project(autoware_remaining_distance_time_calculator) + +find_package(autoware_cmake REQUIRED) +autoware_package() + +ament_auto_add_library(${PROJECT_NAME} SHARED + src/remaining_distance_time_calculator_node.cpp +) + +rclcpp_components_register_node(${PROJECT_NAME} + PLUGIN "autoware::remaining_distance_time_calculator::RemainingDistanceTimeCalculatorNode" + EXECUTABLE ${PROJECT_NAME}_node +) + + +ament_auto_package( + INSTALL_TO_SHARE + config + launch +) diff --git a/planning/autoware_remaining_distance_time_calculator/README.md b/planning/autoware_remaining_distance_time_calculator/README.md new file mode 100644 index 0000000000000..694c6764de91c --- /dev/null +++ b/planning/autoware_remaining_distance_time_calculator/README.md @@ -0,0 +1,39 @@ +## Remaining Distance and Time Calculator + +### Role + +This package aims to provide mission remaining distance and remaining time calculations. + +### Activation and Timing + +- The calculations are activated once we have a route planned for a mission in Autoware. +- The calculations are triggered timely based on the `update_rate` parameter. + +### Module Parameters + +| Name | Type | Default Value | Explanation | +| ------------- | ------ | ------------- | --------------------------- | +| `update_rate` | double | 10.0 | Timer callback period. [Hz] | + +### Inner-workings + +#### Remaining Distance Calculation + +- The remaining distance calculation is based on getting the remaining shortest path between the current vehicle pose and goal pose using `lanelet2` routing APIs. +- The remaining distance is calculated by summing the 2D length of remaining shortest path, with exception to current lanelet and goal lanelet. + - For the current lanelet, the distance is calculated from the current vehicle position to the end of that lanelet. + - For the goal lanelet, the distance is calculated from the start of the lanelet to the goal pose in this lanelet. +- When there is only one lanelet remaining, the distance is calculated by getting the 2D distance between the current vehicle pose and goal pose. +- Checks are added to handle cases when current lanelet, goal lanelet, or routing graph are not valid to prevent node process die. + - In such cases when, last valid remaining distance and time are maintained. + +#### Remaining Time Calculation + +- The remaining time currently depends on a simple equation of motion by getting the maximum velocity limit. +- The remaining distance is calculated by dividing the remaining distance by the maximum velocity limit. +- A check is added to the remaining time calculation to make sure that maximum velocity limit is greater than zero. This prevents division by zero or getting negative time value. + +### Future Work + +- Find a more efficient way for remaining distance calculation instead of regularly searching the graph for finding the remaining shortest path. +- Engage more sophisticated motion models for more accurate remaining time calculations. diff --git a/planning/autoware_remaining_distance_time_calculator/config/remaining_distance_time_calculator.param.yaml b/planning/autoware_remaining_distance_time_calculator/config/remaining_distance_time_calculator.param.yaml new file mode 100644 index 0000000000000..5b8c019de5a20 --- /dev/null +++ b/planning/autoware_remaining_distance_time_calculator/config/remaining_distance_time_calculator.param.yaml @@ -0,0 +1,3 @@ +/**: + ros__parameters: + update_rate: 10.0 diff --git a/planning/autoware_remaining_distance_time_calculator/launch/remaining_distance_time_calculator.launch.xml b/planning/autoware_remaining_distance_time_calculator/launch/remaining_distance_time_calculator.launch.xml new file mode 100644 index 0000000000000..cfb456c57ca41 --- /dev/null +++ b/planning/autoware_remaining_distance_time_calculator/launch/remaining_distance_time_calculator.launch.xml @@ -0,0 +1,20 @@ + + + + + + + + + + + + + + + + + + + + diff --git a/planning/autoware_remaining_distance_time_calculator/package.xml b/planning/autoware_remaining_distance_time_calculator/package.xml new file mode 100644 index 0000000000000..4f0324b23f299 --- /dev/null +++ b/planning/autoware_remaining_distance_time_calculator/package.xml @@ -0,0 +1,35 @@ + + + autoware_remaining_distance_time_calculator + 0.1.0 + Calculates and publishes remaining distance and time of the mission. + + Ahmed Ebrahim + + Apache License 2.0 + + ament_cmake_auto + autoware_cmake + + autoware_internal_msgs + autoware_planning_msgs + geometry_msgs + lanelet2_extension + motion_utils + nav_msgs + planning_test_utils + rclcpp + rclcpp_components + route_handler + std_msgs + tier4_autoware_utils + tier4_planning_msgs + + ament_cmake_ros + ament_lint_auto + autoware_lint_common + + + ament_cmake + + diff --git a/planning/autoware_remaining_distance_time_calculator/schema/remaining_distance_time_calculator.schema.json b/planning/autoware_remaining_distance_time_calculator/schema/remaining_distance_time_calculator.schema.json new file mode 100644 index 0000000000000..4b3bc15432d0d --- /dev/null +++ b/planning/autoware_remaining_distance_time_calculator/schema/remaining_distance_time_calculator.schema.json @@ -0,0 +1,31 @@ +{ + "$schema": "http://json-schema.org/draft-07/schema#", + "title": "Remaining Distance Time Calculator Parameters", + "type": "object", + "actual_parameters": { + "type": "object", + "properties": { + "update_rate": { + "type": "number", + "default": 10.0, + "description": "Recalculate remaining distance and time at this rate, Hz" + } + }, + "required": ["update_rate"], + "additionalProperties": false + }, + "properties": { + "/**": { + "type": "object", + "properties": { + "ros__parameters": { + "$ref": "#/actual_parameters" + } + }, + "required": ["ros__parameters"], + "additionalProperties": false + } + }, + "required": ["/**"], + "additionalProperties": false +} diff --git a/planning/autoware_remaining_distance_time_calculator/src/remaining_distance_time_calculator_node.cpp b/planning/autoware_remaining_distance_time_calculator/src/remaining_distance_time_calculator_node.cpp new file mode 100644 index 0000000000000..327bd0ff3b582 --- /dev/null +++ b/planning/autoware_remaining_distance_time_calculator/src/remaining_distance_time_calculator_node.cpp @@ -0,0 +1,188 @@ +// Copyright 2022 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "remaining_distance_time_calculator_node.hpp" + +#include +#include +#include +#include +#include +#include + +#include + +#include +#include +#include +#include +#include + +namespace autoware::remaining_distance_time_calculator +{ + +RemainingDistanceTimeCalculatorNode::RemainingDistanceTimeCalculatorNode( + const rclcpp::NodeOptions & options) +: Node("remaining_distance_time_calculator", options), + is_graph_ready_{false}, + has_received_route_{false}, + velocity_limit_{99.99}, + remaining_distance_{0.0}, + remaining_time_{0.0} +{ + using std::placeholders::_1; + + sub_odometry_ = create_subscription( + "~/input/odometry", 1, std::bind(&RemainingDistanceTimeCalculatorNode::on_odometry, this, _1)); + + const auto qos_transient_local = rclcpp::QoS{1}.transient_local(); + + sub_map_ = create_subscription( + "~/input/map", qos_transient_local, + std::bind(&RemainingDistanceTimeCalculatorNode::on_map, this, _1)); + sub_route_ = create_subscription( + "~/input/route", qos_transient_local, + std::bind(&RemainingDistanceTimeCalculatorNode::on_route, this, _1)); + sub_planning_velocity_ = create_subscription( + "/planning/scenario_planning/current_max_velocity", qos_transient_local, + std::bind(&RemainingDistanceTimeCalculatorNode::on_velocity_limit, this, _1)); + + pub_mission_remaining_distance_time_ = create_publisher( + "~/output/mission_remaining_distance_time", + rclcpp::QoS(rclcpp::KeepLast(10)).durability_volatile().reliable()); + + node_param_.update_rate = declare_parameter("update_rate"); + + const auto period_ns = rclcpp::Rate(node_param_.update_rate).period(); + timer_ = rclcpp::create_timer( + this, get_clock(), period_ns, std::bind(&RemainingDistanceTimeCalculatorNode::on_timer, this)); +} + +void RemainingDistanceTimeCalculatorNode::on_map(const HADMapBin::ConstSharedPtr & msg) +{ + route_handler_.setMap(*msg); + lanelet_map_ptr_ = std::make_shared(); + lanelet::utils::conversion::fromBinMsg( + *msg, lanelet_map_ptr_, &traffic_rules_ptr_, &routing_graph_ptr_); + lanelet::ConstLanelets all_lanelets = lanelet::utils::query::laneletLayer(lanelet_map_ptr_); + road_lanelets_ = lanelet::utils::query::roadLanelets(all_lanelets); + is_graph_ready_ = true; +} + +void RemainingDistanceTimeCalculatorNode::on_odometry(const Odometry::ConstSharedPtr & msg) +{ + current_vehicle_pose_ = msg->pose.pose; + current_vehicle_velocity_ = msg->twist.twist.linear; +} + +void RemainingDistanceTimeCalculatorNode::on_route(const LaneletRoute::ConstSharedPtr & msg) +{ + goal_pose_ = msg->goal_pose; + has_received_route_ = true; +} + +void RemainingDistanceTimeCalculatorNode::on_velocity_limit( + const VelocityLimit::ConstSharedPtr & msg) +{ + if (msg->max_velocity > 1e-5) { + velocity_limit_ = msg->max_velocity; + } +} + +void RemainingDistanceTimeCalculatorNode::on_timer() +{ + if (is_graph_ready_ && has_received_route_) { + calculate_remaining_distance(); + calculate_remaining_time(); + publish_mission_remaining_distance_time(); + } +} + +void RemainingDistanceTimeCalculatorNode::calculate_remaining_distance() +{ + size_t index = 0; + + lanelet::ConstLanelet current_lanelet; + if (!lanelet::utils::query::getClosestLanelet( + road_lanelets_, current_vehicle_pose_, ¤t_lanelet)) { + RCLCPP_WARN_STREAM(this->get_logger(), "Failed to find current lanelet."); + + return; + } + + lanelet::ConstLanelet goal_lanelet; + if (!lanelet::utils::query::getClosestLanelet(road_lanelets_, goal_pose_, &goal_lanelet)) { + RCLCPP_WARN_STREAM(this->get_logger(), "Failed to find goal lanelet."); + + return; + } + + const lanelet::Optional optional_route = + routing_graph_ptr_->getRoute(current_lanelet, goal_lanelet, 0); + if (!optional_route) { + RCLCPP_WARN_STREAM(this->get_logger(), "Failed to find proper route."); + + return; + } + + lanelet::routing::LaneletPath remaining_shortest_path; + remaining_shortest_path = optional_route->shortestPath(); + + remaining_distance_ = 0.0; + + for (auto & llt : remaining_shortest_path) { + if (remaining_shortest_path.size() == 1) { + remaining_distance_ += + tier4_autoware_utils::calcDistance2d(current_vehicle_pose_.position, goal_pose_.position); + break; + } + + if (index == 0) { + lanelet::ArcCoordinates arc_coord = + lanelet::utils::getArcCoordinates({llt}, current_vehicle_pose_); + double this_lanelet_length = lanelet::utils::getLaneletLength2d(llt); + + remaining_distance_ += this_lanelet_length - arc_coord.length; + } else if (index == (remaining_shortest_path.size() - 1)) { + lanelet::ArcCoordinates arc_coord = lanelet::utils::getArcCoordinates({llt}, goal_pose_); + remaining_distance_ += arc_coord.length; + } else { + remaining_distance_ += lanelet::utils::getLaneletLength2d(llt); + } + + index++; + } +} + +void RemainingDistanceTimeCalculatorNode::calculate_remaining_time() +{ + if (velocity_limit_ > 0.0) { + remaining_time_ = remaining_distance_ / velocity_limit_; + } +} + +void RemainingDistanceTimeCalculatorNode::publish_mission_remaining_distance_time() +{ + MissionRemainingDistanceTime mission_remaining_distance_time; + + mission_remaining_distance_time.remaining_distance = remaining_distance_; + mission_remaining_distance_time.remaining_time = remaining_time_; + pub_mission_remaining_distance_time_->publish(mission_remaining_distance_time); +} + +} // namespace autoware::remaining_distance_time_calculator + +#include +RCLCPP_COMPONENTS_REGISTER_NODE( + autoware::remaining_distance_time_calculator::RemainingDistanceTimeCalculatorNode) diff --git a/planning/autoware_remaining_distance_time_calculator/src/remaining_distance_time_calculator_node.hpp b/planning/autoware_remaining_distance_time_calculator/src/remaining_distance_time_calculator_node.hpp new file mode 100644 index 0000000000000..2a88cdb57abf4 --- /dev/null +++ b/planning/autoware_remaining_distance_time_calculator/src/remaining_distance_time_calculator_node.hpp @@ -0,0 +1,110 @@ +// Copyright 2022 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#ifndef REMAINING_DISTANCE_TIME_CALCULATOR_NODE_HPP_ +#define REMAINING_DISTANCE_TIME_CALCULATOR_NODE_HPP_ + +#include +#include + +#include +#include +#include +#include +#include +#include +#include + +#include +#include +#include +#include +#include +#include + +#include + +namespace autoware::remaining_distance_time_calculator +{ + +struct NodeParam +{ + double update_rate{0.0}; +}; + +class RemainingDistanceTimeCalculatorNode : public rclcpp::Node +{ +public: + explicit RemainingDistanceTimeCalculatorNode(const rclcpp::NodeOptions & options); + +private: + using LaneletRoute = autoware_planning_msgs::msg::LaneletRoute; + using HADMapBin = autoware_auto_mapping_msgs::msg::HADMapBin; + using Odometry = nav_msgs::msg::Odometry; + using VelocityLimit = tier4_planning_msgs::msg::VelocityLimit; + using MissionRemainingDistanceTime = autoware_internal_msgs::msg::MissionRemainingDistanceTime; + + rclcpp::Subscription::SharedPtr sub_route_; + rclcpp::Subscription::SharedPtr sub_map_; + rclcpp::Subscription::SharedPtr sub_odometry_; + rclcpp::Subscription::SharedPtr sub_planning_velocity_; + + rclcpp::Publisher::SharedPtr pub_mission_remaining_distance_time_; + + rclcpp::TimerBase::SharedPtr timer_; + + route_handler::RouteHandler route_handler_; + lanelet::LaneletMapPtr lanelet_map_ptr_; + lanelet::routing::RoutingGraphPtr routing_graph_ptr_; + lanelet::traffic_rules::TrafficRulesPtr traffic_rules_ptr_; + lanelet::ConstLanelets road_lanelets_; + bool is_graph_ready_; + + // Data Buffer + geometry_msgs::msg::Pose current_vehicle_pose_; + geometry_msgs::msg::Vector3 current_vehicle_velocity_; + geometry_msgs::msg::Pose goal_pose_; + bool has_received_route_; + double velocity_limit_; + + double remaining_distance_; + double remaining_time_; + + // Parameter + NodeParam node_param_; + + // Callbacks + void on_timer(); + void on_odometry(const Odometry::ConstSharedPtr & msg); + void on_route(const LaneletRoute::ConstSharedPtr & msg); + void on_map(const HADMapBin::ConstSharedPtr & msg); + void on_velocity_limit(const VelocityLimit::ConstSharedPtr & msg); + + /** + * @brief calculate mission remaining distance + */ + void calculate_remaining_distance(); + + /** + * @brief calculate mission remaining time + */ + void calculate_remaining_time(); + + /** + * @brief publish mission remaining distance and time + */ + void publish_mission_remaining_distance_time(); +}; +} // namespace autoware::remaining_distance_time_calculator +#endif // REMAINING_DISTANCE_TIME_CALCULATOR_NODE_HPP_ diff --git a/planning/static_centerline_generator/CMakeLists.txt b/planning/autoware_static_centerline_generator/CMakeLists.txt similarity index 78% rename from planning/static_centerline_generator/CMakeLists.txt rename to planning/autoware_static_centerline_generator/CMakeLists.txt index 991d12097cc08..08a97c9010008 100644 --- a/planning/static_centerline_generator/CMakeLists.txt +++ b/planning/autoware_static_centerline_generator/CMakeLists.txt @@ -1,5 +1,5 @@ cmake_minimum_required(VERSION 3.14) -project(static_centerline_generator) +project(autoware_static_centerline_generator) find_package(autoware_cmake REQUIRED) @@ -9,7 +9,7 @@ find_package(rosidl_default_generators REQUIRED) find_package(std_msgs REQUIRED) rosidl_generate_interfaces( - static_centerline_generator + autoware_static_centerline_generator "srv/LoadMap.srv" "srv/PlanRoute.srv" "srv/PlanPath.srv" @@ -29,10 +29,10 @@ ament_auto_add_executable(main if(${rosidl_cmake_VERSION} VERSION_LESS 2.5.0) rosidl_target_interfaces(main - static_centerline_generator "rosidl_typesupport_cpp") + autoware_static_centerline_generator "rosidl_typesupport_cpp") else() rosidl_get_typesupport_target( - cpp_typesupport_target static_centerline_generator "rosidl_typesupport_cpp") + cpp_typesupport_target autoware_static_centerline_generator "rosidl_typesupport_cpp") target_link_libraries(main "${cpp_typesupport_target}") endif() @@ -43,6 +43,10 @@ ament_auto_package( rviz ) +target_include_directories(main PRIVATE + ${CMAKE_CURRENT_SOURCE_DIR}/src +) + if(BUILD_TESTING) add_launch_test( test/test_static_centerline_generator.test.py diff --git a/planning/static_centerline_generator/README.md b/planning/autoware_static_centerline_generator/README.md similarity index 88% rename from planning/static_centerline_generator/README.md rename to planning/autoware_static_centerline_generator/README.md index 00572b754645c..844d0af15f2a5 100644 --- a/planning/static_centerline_generator/README.md +++ b/planning/autoware_static_centerline_generator/README.md @@ -34,7 +34,7 @@ We can run with the following command by designating `` ```sh -ros2 launch static_centerline_generator run_planning_server.launch.xml vehicle_model:= +ros2 launch autoware_static_centerline_generator run_planning_server.launch.xml vehicle_model:= ``` FYI, port ID of the http server is 4010 by default. @@ -50,7 +50,7 @@ The optimized centerline can be generated from the command line interface by des - `` ```sh -ros2 launch static_centerline_generator static_centerline_generator.launch.xml run_backgrond:=false lanelet2_input_file_path:= lanelet2_output_file_path:= start_lanelet_id:= end_lanelet_id:= vehicle_model:= +ros2 launch autoware_static_centerline_generator static_centerline_generator.launch.xml run_backgrond:=false lanelet2_input_file_path:= lanelet2_output_file_path:= start_lanelet_id:= end_lanelet_id:= vehicle_model:= ``` The default output map path containing the optimized centerline locates `/tmp/lanelet2_map.osm`. diff --git a/planning/static_centerline_generator/config/common.param.yaml b/planning/autoware_static_centerline_generator/config/common.param.yaml similarity index 100% rename from planning/static_centerline_generator/config/common.param.yaml rename to planning/autoware_static_centerline_generator/config/common.param.yaml diff --git a/planning/static_centerline_generator/config/nearest_search.param.yaml b/planning/autoware_static_centerline_generator/config/nearest_search.param.yaml similarity index 100% rename from planning/static_centerline_generator/config/nearest_search.param.yaml rename to planning/autoware_static_centerline_generator/config/nearest_search.param.yaml diff --git a/planning/static_centerline_generator/config/static_centerline_generator.param.yaml b/planning/autoware_static_centerline_generator/config/static_centerline_generator.param.yaml similarity index 100% rename from planning/static_centerline_generator/config/static_centerline_generator.param.yaml rename to planning/autoware_static_centerline_generator/config/static_centerline_generator.param.yaml diff --git a/planning/static_centerline_generator/config/vehicle_info.param.yaml b/planning/autoware_static_centerline_generator/config/vehicle_info.param.yaml similarity index 100% rename from planning/static_centerline_generator/config/vehicle_info.param.yaml rename to planning/autoware_static_centerline_generator/config/vehicle_info.param.yaml diff --git a/planning/static_centerline_generator/launch/run_planning_server.launch.xml b/planning/autoware_static_centerline_generator/launch/run_planning_server.launch.xml similarity index 53% rename from planning/static_centerline_generator/launch/run_planning_server.launch.xml rename to planning/autoware_static_centerline_generator/launch/run_planning_server.launch.xml index 1493078317458..cb368ca336316 100644 --- a/planning/static_centerline_generator/launch/run_planning_server.launch.xml +++ b/planning/autoware_static_centerline_generator/launch/run_planning_server.launch.xml @@ -2,11 +2,11 @@ - + - + diff --git a/planning/static_centerline_generator/launch/static_centerline_generator.launch.xml b/planning/autoware_static_centerline_generator/launch/static_centerline_generator.launch.xml similarity index 90% rename from planning/static_centerline_generator/launch/static_centerline_generator.launch.xml rename to planning/autoware_static_centerline_generator/launch/static_centerline_generator.launch.xml index ae71b0ae6e925..8e016e2b63391 100644 --- a/planning/static_centerline_generator/launch/static_centerline_generator.launch.xml +++ b/planning/autoware_static_centerline_generator/launch/static_centerline_generator.launch.xml @@ -10,7 +10,7 @@ - + @@ -55,7 +55,7 @@ - + @@ -79,11 +79,11 @@ - + - + diff --git a/planning/static_centerline_generator/media/rviz.png b/planning/autoware_static_centerline_generator/media/rviz.png similarity index 100% rename from planning/static_centerline_generator/media/rviz.png rename to planning/autoware_static_centerline_generator/media/rviz.png diff --git a/planning/static_centerline_generator/media/unsafe_footprints.png b/planning/autoware_static_centerline_generator/media/unsafe_footprints.png similarity index 100% rename from planning/static_centerline_generator/media/unsafe_footprints.png rename to planning/autoware_static_centerline_generator/media/unsafe_footprints.png diff --git a/planning/static_centerline_generator/msg/PointsWithLaneId.msg b/planning/autoware_static_centerline_generator/msg/PointsWithLaneId.msg similarity index 100% rename from planning/static_centerline_generator/msg/PointsWithLaneId.msg rename to planning/autoware_static_centerline_generator/msg/PointsWithLaneId.msg diff --git a/planning/static_centerline_generator/package.xml b/planning/autoware_static_centerline_generator/package.xml similarity index 90% rename from planning/static_centerline_generator/package.xml rename to planning/autoware_static_centerline_generator/package.xml index 6573f6e439c43..56d30a715c006 100644 --- a/planning/static_centerline_generator/package.xml +++ b/planning/autoware_static_centerline_generator/package.xml @@ -1,9 +1,9 @@ - static_centerline_generator + autoware_static_centerline_generator 0.1.0 - The static_centerline_generator package + The autoware_static_centerline_generator package Takayuki Murooka Kosuke Takeuchi Apache License 2.0 @@ -43,9 +43,9 @@ ament_cmake_gmock ament_lint_auto + autoware_behavior_velocity_planner autoware_lint_common behavior_path_planner - behavior_velocity_planner ros_testing rosidl_interface_packages diff --git a/planning/static_centerline_generator/rviz/static_centerline_generator.rviz b/planning/autoware_static_centerline_generator/rviz/static_centerline_generator.rviz similarity index 100% rename from planning/static_centerline_generator/rviz/static_centerline_generator.rviz rename to planning/autoware_static_centerline_generator/rviz/static_centerline_generator.rviz diff --git a/planning/static_centerline_generator/scripts/app.py b/planning/autoware_static_centerline_generator/scripts/app.py similarity index 96% rename from planning/static_centerline_generator/scripts/app.py rename to planning/autoware_static_centerline_generator/scripts/app.py index c1cb0473da040..08bff8b80dcb7 100755 --- a/planning/static_centerline_generator/scripts/app.py +++ b/planning/autoware_static_centerline_generator/scripts/app.py @@ -17,15 +17,15 @@ import json import uuid +from autoware_static_centerline_generator.srv import LoadMap +from autoware_static_centerline_generator.srv import PlanPath +from autoware_static_centerline_generator.srv import PlanRoute from flask import Flask from flask import jsonify from flask import request from flask_cors import CORS import rclpy from rclpy.node import Node -from static_centerline_generator.srv import LoadMap -from static_centerline_generator.srv import PlanPath -from static_centerline_generator.srv import PlanRoute rclpy.init() node = Node("static_centerline_generator_http_server") diff --git a/planning/static_centerline_generator/scripts/centerline_updater_helper.py b/planning/autoware_static_centerline_generator/scripts/centerline_updater_helper.py similarity index 100% rename from planning/static_centerline_generator/scripts/centerline_updater_helper.py rename to planning/autoware_static_centerline_generator/scripts/centerline_updater_helper.py diff --git a/planning/static_centerline_generator/scripts/show_lanelet2_map_diff.py b/planning/autoware_static_centerline_generator/scripts/show_lanelet2_map_diff.py similarity index 94% rename from planning/static_centerline_generator/scripts/show_lanelet2_map_diff.py rename to planning/autoware_static_centerline_generator/scripts/show_lanelet2_map_diff.py index 912226511f1d9..00d06ca2213d1 100755 --- a/planning/static_centerline_generator/scripts/show_lanelet2_map_diff.py +++ b/planning/autoware_static_centerline_generator/scripts/show_lanelet2_map_diff.py @@ -98,8 +98,8 @@ def remove_diff_to_ignore(osm_root): ) args = parser.parse_args() - original_osm_file_name = "/tmp/static_centerline_generator/input/lanelet2_map.osm" - modified_osm_file_name = "/tmp/static_centerline_generator/output/lanelet2_map.osm" + original_osm_file_name = "/tmp/autoware_static_centerline_generator/input/lanelet2_map.osm" + modified_osm_file_name = "/tmp/autoware_static_centerline_generator/output/lanelet2_map.osm" # load LL2 maps original_osm_tree = ET.parse(original_osm_file_name) @@ -118,7 +118,7 @@ def remove_diff_to_ignore(osm_root): remove_diff_to_ignore(modified_osm_root) # write LL2 maps - output_dir_path = "/tmp/static_centerline_generator/show_lanelet2_map_diff/" + output_dir_path = "/tmp/autoware_static_centerline_generator/show_lanelet2_map_diff/" os.makedirs(output_dir_path + "original/", exist_ok=True) os.makedirs(output_dir_path + "modified/", exist_ok=True) diff --git a/planning/autoware_static_centerline_generator/scripts/tmp/bag_ego_trajectory_based_centerline.sh b/planning/autoware_static_centerline_generator/scripts/tmp/bag_ego_trajectory_based_centerline.sh new file mode 100755 index 0000000000000..e7f86062a9d20 --- /dev/null +++ b/planning/autoware_static_centerline_generator/scripts/tmp/bag_ego_trajectory_based_centerline.sh @@ -0,0 +1,3 @@ +#!/bin/bash + +ros2 launch autoware_static_centerline_generator static_centerline_generator.launch.xml centerline_source:="bag_ego_trajectory_base" run_background:=false lanelet2_input_file_path:="$HOME/autoware_map/sample_map/lanelet2_map.osm" bag_filename:="$(ros2 pkg prefix autoware_static_centerline_generator --share)/test/data/bag_ego_trajectory.db3" vehicle_model:=lexus diff --git a/planning/autoware_static_centerline_generator/scripts/tmp/optimization_trajectory_based_centerline.sh b/planning/autoware_static_centerline_generator/scripts/tmp/optimization_trajectory_based_centerline.sh new file mode 100755 index 0000000000000..488091989d1fa --- /dev/null +++ b/planning/autoware_static_centerline_generator/scripts/tmp/optimization_trajectory_based_centerline.sh @@ -0,0 +1,3 @@ +#!/bin/bash + +ros2 launch autoware_static_centerline_generator static_centerline_generator.launch.xml centerline_source:="optimization_trajectory_base" run_background:=false lanelet2_input_file_path:="$HOME/autoware_map/sample_map/lanelet2_map.osm" start_lanelet_id:=125 end_lanelet_id:=132 vehicle_model:=lexus diff --git a/planning/static_centerline_generator/src/centerline_source/bag_ego_trajectory_based_centerline.cpp b/planning/autoware_static_centerline_generator/src/centerline_source/bag_ego_trajectory_based_centerline.cpp similarity index 91% rename from planning/static_centerline_generator/src/centerline_source/bag_ego_trajectory_based_centerline.cpp rename to planning/autoware_static_centerline_generator/src/centerline_source/bag_ego_trajectory_based_centerline.cpp index 4e541b1aff527..447773d7a6535 100644 --- a/planning/static_centerline_generator/src/centerline_source/bag_ego_trajectory_based_centerline.cpp +++ b/planning/autoware_static_centerline_generator/src/centerline_source/bag_ego_trajectory_based_centerline.cpp @@ -12,15 +12,18 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "static_centerline_generator/centerline_source/bag_ego_trajectory_based_centerline.hpp" +#include "centerline_source/bag_ego_trajectory_based_centerline.hpp" #include "rclcpp/serialization.hpp" #include "rosbag2_cpp/reader.hpp" -#include "static_centerline_generator/static_centerline_generator_node.hpp" +#include "static_centerline_generator_node.hpp" #include -namespace static_centerline_generator +#include +#include + +namespace autoware::static_centerline_generator { std::vector generate_centerline_with_bag(rclcpp::Node & node) { @@ -79,4 +82,4 @@ std::vector generate_centerline_with_bag(rclcpp::Node & node) return centerline_traj_points; } -} // namespace static_centerline_generator +} // namespace autoware::static_centerline_generator diff --git a/planning/static_centerline_generator/include/static_centerline_generator/centerline_source/bag_ego_trajectory_based_centerline.hpp b/planning/autoware_static_centerline_generator/src/centerline_source/bag_ego_trajectory_based_centerline.hpp similarity index 62% rename from planning/static_centerline_generator/include/static_centerline_generator/centerline_source/bag_ego_trajectory_based_centerline.hpp rename to planning/autoware_static_centerline_generator/src/centerline_source/bag_ego_trajectory_based_centerline.hpp index 30b2e55c36bba..2275f88184c6f 100644 --- a/planning/static_centerline_generator/include/static_centerline_generator/centerline_source/bag_ego_trajectory_based_centerline.hpp +++ b/planning/autoware_static_centerline_generator/src/centerline_source/bag_ego_trajectory_based_centerline.hpp @@ -12,16 +12,16 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef STATIC_CENTERLINE_GENERATOR__CENTERLINE_SOURCE__BAG_EGO_TRAJECTORY_BASED_CENTERLINE_HPP_ -#define STATIC_CENTERLINE_GENERATOR__CENTERLINE_SOURCE__BAG_EGO_TRAJECTORY_BASED_CENTERLINE_HPP_ +#ifndef CENTERLINE_SOURCE__BAG_EGO_TRAJECTORY_BASED_CENTERLINE_HPP_ +#define CENTERLINE_SOURCE__BAG_EGO_TRAJECTORY_BASED_CENTERLINE_HPP_ #include "rclcpp/rclcpp.hpp" -#include "static_centerline_generator/type_alias.hpp" +#include "type_alias.hpp" #include -namespace static_centerline_generator +namespace autoware::static_centerline_generator { std::vector generate_centerline_with_bag(rclcpp::Node & node); -} // namespace static_centerline_generator -#endif // STATIC_CENTERLINE_GENERATOR__CENTERLINE_SOURCE__BAG_EGO_TRAJECTORY_BASED_CENTERLINE_HPP_ +} // namespace autoware::static_centerline_generator +#endif // CENTERLINE_SOURCE__BAG_EGO_TRAJECTORY_BASED_CENTERLINE_HPP_ diff --git a/planning/static_centerline_generator/src/centerline_source/optimization_trajectory_based_centerline.cpp b/planning/autoware_static_centerline_generator/src/centerline_source/optimization_trajectory_based_centerline.cpp similarity index 95% rename from planning/static_centerline_generator/src/centerline_source/optimization_trajectory_based_centerline.cpp rename to planning/autoware_static_centerline_generator/src/centerline_source/optimization_trajectory_based_centerline.cpp index 7980ae4e8d2d7..2825381937674 100644 --- a/planning/static_centerline_generator/src/centerline_source/optimization_trajectory_based_centerline.cpp +++ b/planning/autoware_static_centerline_generator/src/centerline_source/optimization_trajectory_based_centerline.cpp @@ -12,17 +12,19 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "static_centerline_generator/centerline_source/optimization_trajectory_based_centerline.hpp" +#include "centerline_source/optimization_trajectory_based_centerline.hpp" #include "motion_utils/resample/resample.hpp" #include "motion_utils/trajectory/conversion.hpp" #include "obstacle_avoidance_planner/node.hpp" #include "path_smoother/elastic_band_smoother.hpp" -#include "static_centerline_generator/static_centerline_generator_node.hpp" -#include "static_centerline_generator/utils.hpp" +#include "static_centerline_generator_node.hpp" #include "tier4_autoware_utils/ros/parameter.hpp" +#include "utils.hpp" -namespace static_centerline_generator +#include + +namespace autoware::static_centerline_generator { namespace { @@ -180,4 +182,4 @@ std::vector OptimizationTrajectoryBasedCenterline::optimize_tra return whole_optimized_traj_points; } -} // namespace static_centerline_generator +} // namespace autoware::static_centerline_generator diff --git a/planning/static_centerline_generator/include/static_centerline_generator/centerline_source/optimization_trajectory_based_centerline.hpp b/planning/autoware_static_centerline_generator/src/centerline_source/optimization_trajectory_based_centerline.hpp similarity index 72% rename from planning/static_centerline_generator/include/static_centerline_generator/centerline_source/optimization_trajectory_based_centerline.hpp rename to planning/autoware_static_centerline_generator/src/centerline_source/optimization_trajectory_based_centerline.hpp index 7e7cdea31e9f1..88def6fa7bd4c 100644 --- a/planning/static_centerline_generator/include/static_centerline_generator/centerline_source/optimization_trajectory_based_centerline.hpp +++ b/planning/autoware_static_centerline_generator/src/centerline_source/optimization_trajectory_based_centerline.hpp @@ -12,15 +12,15 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef STATIC_CENTERLINE_GENERATOR__CENTERLINE_SOURCE__OPTIMIZATION_TRAJECTORY_BASED_CENTERLINE_HPP_ // NOLINT -#define STATIC_CENTERLINE_GENERATOR__CENTERLINE_SOURCE__OPTIMIZATION_TRAJECTORY_BASED_CENTERLINE_HPP_ // NOLINT +#ifndef CENTERLINE_SOURCE__OPTIMIZATION_TRAJECTORY_BASED_CENTERLINE_HPP_ // NOLINT +#define CENTERLINE_SOURCE__OPTIMIZATION_TRAJECTORY_BASED_CENTERLINE_HPP_ // NOLINT #include "rclcpp/rclcpp.hpp" -#include "static_centerline_generator/type_alias.hpp" +#include "type_alias.hpp" #include -namespace static_centerline_generator +namespace autoware::static_centerline_generator { class OptimizationTrajectoryBasedCenterline { @@ -37,7 +37,7 @@ class OptimizationTrajectoryBasedCenterline rclcpp::Publisher::SharedPtr pub_raw_path_with_lane_id_{nullptr}; rclcpp::Publisher::SharedPtr pub_raw_path_{nullptr}; }; -} // namespace static_centerline_generator +} // namespace autoware::static_centerline_generator // clang-format off -#endif // STATIC_CENTERLINE_GENERATOR__CENTERLINE_SOURCE__OPTIMIZATION_TRAJECTORY_BASED_CENTERLINE_HPP_ // NOLINT +#endif // CENTERLINE_SOURCE__OPTIMIZATION_TRAJECTORY_BASED_CENTERLINE_HPP_ // NOLINT // clang-format on diff --git a/planning/static_centerline_generator/src/main.cpp b/planning/autoware_static_centerline_generator/src/main.cpp similarity index 85% rename from planning/static_centerline_generator/src/main.cpp rename to planning/autoware_static_centerline_generator/src/main.cpp index 981cf54fc9274..9f52f271cd5e5 100644 --- a/planning/static_centerline_generator/src/main.cpp +++ b/planning/autoware_static_centerline_generator/src/main.cpp @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "static_centerline_generator/static_centerline_generator_node.hpp" +#include "static_centerline_generator_node.hpp" int main(int argc, char * argv[]) { @@ -21,7 +21,8 @@ int main(int argc, char * argv[]) // initialize node rclcpp::NodeOptions node_options; auto node = - std::make_shared(node_options); + std::make_shared( + node_options); // get ros parameter const bool run_background = node->declare_parameter("run_background"); diff --git a/planning/static_centerline_generator/src/static_centerline_generator_node.cpp b/planning/autoware_static_centerline_generator/src/static_centerline_generator_node.cpp similarity index 89% rename from planning/static_centerline_generator/src/static_centerline_generator_node.cpp rename to planning/autoware_static_centerline_generator/src/static_centerline_generator_node.cpp index 750b2e68b16b0..74002916bb23c 100644 --- a/planning/static_centerline_generator/src/static_centerline_generator_node.cpp +++ b/planning/autoware_static_centerline_generator/src/static_centerline_generator_node.cpp @@ -12,21 +12,22 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "static_centerline_generator/static_centerline_generator_node.hpp" +#include "static_centerline_generator_node.hpp" +#include "autoware_static_centerline_generator/msg/points_with_lane_id.hpp" +#include "centerline_source/bag_ego_trajectory_based_centerline.hpp" #include "lanelet2_extension/utility/message_conversion.hpp" #include "lanelet2_extension/utility/query.hpp" #include "lanelet2_extension/utility/utilities.hpp" #include "map_loader/lanelet2_map_loader_node.hpp" #include "map_projection_loader/load_info_from_lanelet2_map.hpp" +#include "map_projection_loader/map_projection_loader.hpp" #include "motion_utils/resample/resample.hpp" #include "motion_utils/trajectory/conversion.hpp" -#include "static_centerline_generator/centerline_source/bag_ego_trajectory_based_centerline.hpp" -#include "static_centerline_generator/msg/points_with_lane_id.hpp" -#include "static_centerline_generator/type_alias.hpp" -#include "static_centerline_generator/utils.hpp" #include "tier4_autoware_utils/geometry/geometry.hpp" #include "tier4_autoware_utils/ros/parameter.hpp" +#include "type_alias.hpp" +#include "utils.hpp" #include #include @@ -36,7 +37,6 @@ #include "std_msgs/msg/bool.hpp" #include "std_msgs/msg/float32.hpp" #include "std_msgs/msg/int32.hpp" -#include #include #include @@ -46,6 +46,7 @@ #include #include +#include #include #include #include @@ -54,7 +55,7 @@ #include #include -namespace static_centerline_generator +namespace autoware::static_centerline_generator { namespace { @@ -203,8 +204,10 @@ StaticCenterlineGeneratorNode::StaticCenterlineGeneratorNode( const auto selected_centerline = std::vector( c.centerline.begin() + traj_range_indices_.first, c.centerline.begin() + traj_range_indices_.second + 1); + const auto selected_route_lane_ids = get_route_lane_ids_from_points(selected_centerline); save_map( - lanelet2_output_file_path, CenterlineWithRoute{selected_centerline, c.route_lane_ids}); + lanelet2_output_file_path, + CenterlineWithRoute{selected_centerline, selected_route_lane_ids}); } }); sub_traj_resample_interval_ = create_subscription( @@ -246,7 +249,7 @@ StaticCenterlineGeneratorNode::StaticCenterlineGeneratorNode( return CenterlineSource::BagEgoTrajectoryBase; } throw std::logic_error( - "The centerline source is not supported in static_centerline_generator."); + "The centerline source is not supported in autoware_static_centerline_generator."); }(); } @@ -279,6 +282,8 @@ void StaticCenterlineGeneratorNode::run() load_map(lanelet2_input_file_path); const auto centerline_with_route = generate_centerline_with_route(); traj_range_indices_ = std::make_pair(0, centerline_with_route.centerline.size() - 1); + + evaluate(centerline_with_route.route_lane_ids, centerline_with_route.centerline); save_map(lanelet2_output_file_path, centerline_with_route); centerline_with_route_ = centerline_with_route; @@ -303,22 +308,11 @@ CenterlineWithRoute StaticCenterlineGeneratorNode::generate_centerline_with_rout return CenterlineWithRoute{optimized_centerline, route_lane_ids}; } else if (centerline_source_ == CenterlineSource::BagEgoTrajectoryBase) { const auto bag_centerline = generate_centerline_with_bag(*this); - const auto start_lanelets = - route_handler_ptr_->getClosestLanelets(bag_centerline.front().pose); - const auto end_lanelets = route_handler_ptr_->getClosestLanelets(bag_centerline.back().pose); - if (start_lanelets.empty() || end_lanelets.empty()) { - RCLCPP_ERROR(get_logger(), "Nearest lanelets to the bag's centerline are not found."); - return CenterlineWithRoute{}; - } - - const lanelet::Id start_lanelet_id = start_lanelets.front().id(); - const lanelet::Id end_lanelet_id = end_lanelets.front().id(); - const auto route_lane_ids = plan_route(start_lanelet_id, end_lanelet_id); - + const auto route_lane_ids = get_route_lane_ids_from_points(bag_centerline); return CenterlineWithRoute{bag_centerline, route_lane_ids}; } throw std::logic_error( - "The centerline source is not supported in static_centerline_generator."); + "The centerline source is not supported in autoware_static_centerline_generator."); }(); // resample @@ -335,10 +329,28 @@ CenterlineWithRoute StaticCenterlineGeneratorNode::generate_centerline_with_rout return centerline_with_route; } +std::vector StaticCenterlineGeneratorNode::get_route_lane_ids_from_points( + const std::vector & points) +{ + const auto start_lanelets = route_handler_ptr_->getRoadLaneletsAtPose(points.front().pose); + const auto end_lanelets = route_handler_ptr_->getRoadLaneletsAtPose(points.back().pose); + if (start_lanelets.empty() || end_lanelets.empty()) { + RCLCPP_ERROR(get_logger(), "Nearest lanelets to the bag's points are not found."); + return std::vector{}; + } + + const lanelet::Id start_lanelet_id = start_lanelets.front().id(); + const lanelet::Id end_lanelet_id = end_lanelets.front().id(); + if (start_lanelet_id == end_lanelet_id) { + return std::vector{start_lanelet_id}; + } + return plan_route(start_lanelet_id, end_lanelet_id); +} + void StaticCenterlineGeneratorNode::load_map(const std::string & lanelet2_input_file_path) { // copy the input LL2 map to the temporary file for debugging - const std::string debug_input_file_dir{"/tmp/static_centerline_generator/input/"}; + const std::string debug_input_file_dir{"/tmp/autoware_static_centerline_generator/input/"}; std::filesystem::create_directories(debug_input_file_dir); std::filesystem::copy( lanelet2_input_file_path, debug_input_file_dir + "lanelet2_map.osm", @@ -347,21 +359,18 @@ void StaticCenterlineGeneratorNode::load_map(const std::string & lanelet2_input_ // load map by the map_loader package map_bin_ptr_ = [&]() -> HADMapBin::ConstSharedPtr { // load map - const auto map_projector_info = load_info_from_lanelet2_map(lanelet2_input_file_path); + map_projector_info_ = + std::make_unique(load_info_from_lanelet2_map(lanelet2_input_file_path)); const auto map_ptr = - Lanelet2MapLoaderNode::load_map(lanelet2_input_file_path, map_projector_info); + Lanelet2MapLoaderNode::load_map(lanelet2_input_file_path, *map_projector_info_); if (!map_ptr) { return nullptr; } - // NOTE: generate map projector for lanelet::write(). - // Without this, lat/lon of the generated LL2 map will be wrong. - map_projector_ = geography_utils::get_lanelet2_projector(map_projector_info); - - // NOTE: The original map is stored here since the various ids in the lanelet map will change - // after lanelet::utils::overwriteLaneletCenterline, and saving map will fail. + // NOTE: The original map is stored here since the centerline will be added to all the + // lanelet when lanelet::utils::overwriteLaneletCenterline is called. original_map_ptr_ = - Lanelet2MapLoaderNode::load_map(lanelet2_input_file_path, map_projector_info); + Lanelet2MapLoaderNode::load_map(lanelet2_input_file_path, *map_projector_info_); // overwrite more dense centerline lanelet::utils::overwriteLaneletsCenterline(map_ptr, 5.0, false); @@ -541,7 +550,7 @@ void StaticCenterlineGeneratorNode::on_plan_path( if (!current_lanelet_points.empty()) { // register points with lane_id - static_centerline_generator::msg::PointsWithLaneId points_with_lane_id; + autoware_static_centerline_generator::msg::PointsWithLaneId points_with_lane_id; points_with_lane_id.lane_id = lanelet.id(); points_with_lane_id.points = current_lanelet_points; response->points_with_lane_ids.push_back(points_with_lane_id); @@ -637,18 +646,20 @@ void StaticCenterlineGeneratorNode::save_map( const auto route_lanelets = utils::get_lanelets_from_ids(*route_handler_ptr_, c.route_lane_ids); // update centerline in map - utils::update_centerline(*route_handler_ptr_, route_lanelets, c.centerline); + utils::update_centerline(original_map_ptr_, route_lanelets, c.centerline); RCLCPP_INFO(get_logger(), "Updated centerline in map."); // save map with modified center line - lanelet::write(lanelet2_output_file_path, *original_map_ptr_, *map_projector_); + std::filesystem::create_directory("/tmp/static_centerline_generator"); // TODO(murooka) + const auto map_projector = geography_utils::get_lanelet2_projector(*map_projector_info_); + lanelet::write(lanelet2_output_file_path, *original_map_ptr_, *map_projector); RCLCPP_INFO(get_logger(), "Saved map."); // copy the output LL2 map to the temporary file for debugging - const std::string debug_output_file_dir{"/tmp/static_centerline_generator/output/"}; + const std::string debug_output_file_dir{"/tmp/autoware_static_centerline_generator/output/"}; std::filesystem::create_directories(debug_output_file_dir); std::filesystem::copy( lanelet2_output_file_path, debug_output_file_dir + "lanelet2_map.osm", std::filesystem::copy_options::overwrite_existing); } -} // namespace static_centerline_generator +} // namespace autoware::static_centerline_generator diff --git a/planning/static_centerline_generator/include/static_centerline_generator/static_centerline_generator_node.hpp b/planning/autoware_static_centerline_generator/src/static_centerline_generator_node.hpp similarity index 78% rename from planning/static_centerline_generator/include/static_centerline_generator/static_centerline_generator_node.hpp rename to planning/autoware_static_centerline_generator/src/static_centerline_generator_node.hpp index c1d92c06a8e05..dfe5af68c270b 100644 --- a/planning/static_centerline_generator/include/static_centerline_generator/static_centerline_generator_node.hpp +++ b/planning/autoware_static_centerline_generator/src/static_centerline_generator_node.hpp @@ -12,33 +12,33 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef STATIC_CENTERLINE_GENERATOR__STATIC_CENTERLINE_GENERATOR_NODE_HPP_ -#define STATIC_CENTERLINE_GENERATOR__STATIC_CENTERLINE_GENERATOR_NODE_HPP_ +#ifndef STATIC_CENTERLINE_GENERATOR_NODE_HPP_ +#define STATIC_CENTERLINE_GENERATOR_NODE_HPP_ +#include "autoware_static_centerline_generator/srv/load_map.hpp" +#include "autoware_static_centerline_generator/srv/plan_path.hpp" +#include "autoware_static_centerline_generator/srv/plan_route.hpp" +#include "centerline_source/optimization_trajectory_based_centerline.hpp" #include "rclcpp/rclcpp.hpp" -#include "static_centerline_generator/centerline_source/optimization_trajectory_based_centerline.hpp" -#include "static_centerline_generator/srv/load_map.hpp" -#include "static_centerline_generator/srv/plan_path.hpp" -#include "static_centerline_generator/srv/plan_route.hpp" -#include "static_centerline_generator/type_alias.hpp" +#include "type_alias.hpp" #include "vehicle_info_util/vehicle_info_util.hpp" -#include - #include "std_msgs/msg/bool.hpp" #include "std_msgs/msg/float32.hpp" #include "std_msgs/msg/int32.hpp" +#include "tier4_map_msgs/msg/map_projector_info.hpp" #include #include #include #include -namespace static_centerline_generator +namespace autoware::static_centerline_generator { -using static_centerline_generator::srv::LoadMap; -using static_centerline_generator::srv::PlanPath; -using static_centerline_generator::srv::PlanRoute; +using autoware_static_centerline_generator::srv::LoadMap; +using autoware_static_centerline_generator::srv::PlanPath; +using autoware_static_centerline_generator::srv::PlanRoute; +using tier4_map_msgs::msg::MapProjectorInfo; struct CenterlineWithRoute { @@ -66,6 +66,8 @@ class StaticCenterlineGeneratorNode : public rclcpp::Node // plan centerline CenterlineWithRoute generate_centerline_with_route(); + std::vector get_route_lane_ids_from_points( + const std::vector & points); void on_plan_path( const PlanPath::Request::SharedPtr request, const PlanPath::Response::SharedPtr response); @@ -80,7 +82,7 @@ class StaticCenterlineGeneratorNode : public rclcpp::Node lanelet::LaneletMapPtr original_map_ptr_{nullptr}; HADMapBin::ConstSharedPtr map_bin_ptr_{nullptr}; std::shared_ptr route_handler_ptr_{nullptr}; - std::unique_ptr map_projector_{nullptr}; + std::unique_ptr map_projector_info_{nullptr}; std::pair traj_range_indices_{0, 0}; std::optional centerline_with_route_{std::nullopt}; @@ -115,5 +117,5 @@ class StaticCenterlineGeneratorNode : public rclcpp::Node // vehicle info vehicle_info_util::VehicleInfo vehicle_info_; }; -} // namespace static_centerline_generator -#endif // STATIC_CENTERLINE_GENERATOR__STATIC_CENTERLINE_GENERATOR_NODE_HPP_ +} // namespace autoware::static_centerline_generator +#endif // STATIC_CENTERLINE_GENERATOR_NODE_HPP_ diff --git a/planning/static_centerline_generator/include/static_centerline_generator/type_alias.hpp b/planning/autoware_static_centerline_generator/src/type_alias.hpp similarity index 87% rename from planning/static_centerline_generator/include/static_centerline_generator/type_alias.hpp rename to planning/autoware_static_centerline_generator/src/type_alias.hpp index 2dcb9cbbd099f..fb54804db105d 100644 --- a/planning/static_centerline_generator/include/static_centerline_generator/type_alias.hpp +++ b/planning/autoware_static_centerline_generator/src/type_alias.hpp @@ -11,8 +11,8 @@ // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. // See the License for the specific language governing permissions and // limitations under the License. -#ifndef STATIC_CENTERLINE_GENERATOR__TYPE_ALIAS_HPP_ -#define STATIC_CENTERLINE_GENERATOR__TYPE_ALIAS_HPP_ +#ifndef TYPE_ALIAS_HPP_ +#define TYPE_ALIAS_HPP_ #include "route_handler/route_handler.hpp" #include "tier4_autoware_utils/geometry/geometry.hpp" @@ -26,7 +26,7 @@ #include "autoware_planning_msgs/msg/lanelet_route.hpp" #include "visualization_msgs/msg/marker_array.hpp" -namespace static_centerline_generator +namespace autoware::static_centerline_generator { using autoware_auto_mapping_msgs::msg::HADMapBin; using autoware_auto_perception_msgs::msg::PredictedObjects; @@ -41,6 +41,6 @@ using tier4_autoware_utils::LinearRing2d; using tier4_autoware_utils::LineString2d; using tier4_autoware_utils::Point2d; using visualization_msgs::msg::MarkerArray; -} // namespace static_centerline_generator +} // namespace autoware::static_centerline_generator -#endif // STATIC_CENTERLINE_GENERATOR__TYPE_ALIAS_HPP_ +#endif // TYPE_ALIAS_HPP_ diff --git a/planning/static_centerline_generator/src/utils.cpp b/planning/autoware_static_centerline_generator/src/utils.cpp similarity index 91% rename from planning/static_centerline_generator/src/utils.cpp rename to planning/autoware_static_centerline_generator/src/utils.cpp index ddfd3e11036ce..2dbd82772f7ef 100644 --- a/planning/static_centerline_generator/src/utils.cpp +++ b/planning/autoware_static_centerline_generator/src/utils.cpp @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "static_centerline_generator/utils.hpp" +#include "utils.hpp" #include "behavior_path_planner_common/data_manager.hpp" #include "behavior_path_planner_common/utils/drivable_area_expansion/static_drivable_area.hpp" @@ -21,7 +21,10 @@ #include #include -namespace static_centerline_generator + +#include + +namespace autoware::static_centerline_generator { namespace { @@ -32,12 +35,19 @@ nav_msgs::msg::Odometry::ConstSharedPtr convert_to_odometry(const geometry_msgs: return odometry_ptr; } -lanelet::Point3d createPoint3d(const double x, const double y, const double z = 19.0) +lanelet::Point3d createPoint3d(const double x, const double y, const double z) { lanelet::Point3d point(lanelet::utils::getId()); + + // position + point.x() = x; + point.y() = y; + point.z() = z; + + // attributes point.setAttribute("local_x", x); point.setAttribute("local_y", y); - point.setAttribute("ele", z); + // NOTE: It seems that the attribute "ele" is assigned automatically. return point; } @@ -73,11 +83,13 @@ geometry_msgs::msg::Pose get_center_pose( geometry_msgs::msg::Point middle_pos; middle_pos.x = center_line[middle_point_idx].x(); middle_pos.y = center_line[middle_point_idx].y(); + middle_pos.z = center_line[middle_point_idx].z(); // get next middle position of the lanelet geometry_msgs::msg::Point next_middle_pos; next_middle_pos.x = center_line[middle_point_idx + 1].x(); next_middle_pos.y = center_line[middle_point_idx + 1].y(); + next_middle_pos.z = center_line[middle_point_idx + 1].z(); // calculate middle pose geometry_msgs::msg::Pose middle_pose; @@ -116,13 +128,13 @@ PathWithLaneId get_path_with_lane_id( } void update_centerline( - RouteHandler & route_handler, const lanelet::ConstLanelets & lanelets, + lanelet::LaneletMapPtr lanelet_map_ptr, const lanelet::ConstLanelets & lanelets, const std::vector & new_centerline) { // get lanelet as reference to update centerline lanelet::Lanelets lanelets_ref; for (const auto & lanelet : lanelets) { - for (auto & lanelet_ref : route_handler.getLaneletMapPtr()->laneletLayer) { + for (auto & lanelet_ref : lanelet_map_ptr->laneletLayer) { if (lanelet_ref.id() == lanelet.id()) { lanelets_ref.push_back(lanelet_ref); } @@ -145,13 +157,13 @@ void update_centerline( // set center point centerline.push_back(center_point); - route_handler.getLaneletMapPtr()->add(center_point); + lanelet_map_ptr->add(center_point); break; } if (!centerline.empty()) { // set centerline - route_handler.getLaneletMapPtr()->add(centerline); + lanelet_map_ptr->add(centerline); lanelet_ref.setCenterline(centerline); // prepare new centerline @@ -163,7 +175,7 @@ void update_centerline( auto & lanelet_ref = lanelets_ref.at(lanelet_idx); // set centerline - route_handler.getLaneletMapPtr()->add(centerline); + lanelet_map_ptr->add(centerline); lanelet_ref.setCenterline(centerline); } } @@ -228,4 +240,4 @@ MarkerArray create_distance_text_marker( return marker_array; } } // namespace utils -} // namespace static_centerline_generator +} // namespace autoware::static_centerline_generator diff --git a/planning/static_centerline_generator/include/static_centerline_generator/utils.hpp b/planning/autoware_static_centerline_generator/src/utils.hpp similarity index 82% rename from planning/static_centerline_generator/include/static_centerline_generator/utils.hpp rename to planning/autoware_static_centerline_generator/src/utils.hpp index c8cf8f8b90590..1d7eb1f18cc44 100644 --- a/planning/static_centerline_generator/include/static_centerline_generator/utils.hpp +++ b/planning/autoware_static_centerline_generator/src/utils.hpp @@ -12,11 +12,11 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef STATIC_CENTERLINE_GENERATOR__UTILS_HPP_ -#define STATIC_CENTERLINE_GENERATOR__UTILS_HPP_ +#ifndef UTILS_HPP_ +#define UTILS_HPP_ #include "route_handler/route_handler.hpp" -#include "static_centerline_generator/type_alias.hpp" +#include "type_alias.hpp" #include @@ -24,7 +24,7 @@ #include #include -namespace static_centerline_generator +namespace autoware::static_centerline_generator { namespace utils { @@ -42,7 +42,7 @@ PathWithLaneId get_path_with_lane_id( const double nearest_ego_yaw_threshold); void update_centerline( - RouteHandler & route_handler, const lanelet::ConstLanelets & lanelets, + lanelet::LaneletMapPtr lanelet_map_ptr, const lanelet::ConstLanelets & lanelets, const std::vector & new_centerline); MarkerArray create_footprint_marker( @@ -53,6 +53,6 @@ MarkerArray create_distance_text_marker( const geometry_msgs::msg::Pose & pose, const double dist, const std::array & marker_color, const rclcpp::Time & now, const size_t idx); } // namespace utils -} // namespace static_centerline_generator +} // namespace autoware::static_centerline_generator -#endif // STATIC_CENTERLINE_GENERATOR__UTILS_HPP_ +#endif // UTILS_HPP_ diff --git a/planning/static_centerline_generator/srv/LoadMap.srv b/planning/autoware_static_centerline_generator/srv/LoadMap.srv similarity index 100% rename from planning/static_centerline_generator/srv/LoadMap.srv rename to planning/autoware_static_centerline_generator/srv/LoadMap.srv diff --git a/planning/autoware_static_centerline_generator/srv/PlanPath.srv b/planning/autoware_static_centerline_generator/srv/PlanPath.srv new file mode 100644 index 0000000000000..3a8d0321ffb9a --- /dev/null +++ b/planning/autoware_static_centerline_generator/srv/PlanPath.srv @@ -0,0 +1,6 @@ +uint32 map_id +int64[] route +--- +autoware_static_centerline_generator/PointsWithLaneId[] points_with_lane_ids +string message +int64[] unconnected_lane_ids diff --git a/planning/static_centerline_generator/srv/PlanRoute.srv b/planning/autoware_static_centerline_generator/srv/PlanRoute.srv similarity index 100% rename from planning/static_centerline_generator/srv/PlanRoute.srv rename to planning/autoware_static_centerline_generator/srv/PlanRoute.srv diff --git a/planning/static_centerline_generator/test/data/bag_ego_trajectory.db3 b/planning/autoware_static_centerline_generator/test/data/bag_ego_trajectory.db3 similarity index 100% rename from planning/static_centerline_generator/test/data/bag_ego_trajectory.db3 rename to planning/autoware_static_centerline_generator/test/data/bag_ego_trajectory.db3 diff --git a/planning/static_centerline_generator/test/data/lanelet2_map.osm b/planning/autoware_static_centerline_generator/test/data/lanelet2_map.osm similarity index 100% rename from planning/static_centerline_generator/test/data/lanelet2_map.osm rename to planning/autoware_static_centerline_generator/test/data/lanelet2_map.osm diff --git a/planning/static_centerline_generator/test/test_static_centerline_generator.test.py b/planning/autoware_static_centerline_generator/test/test_static_centerline_generator.test.py similarity index 82% rename from planning/static_centerline_generator/test/test_static_centerline_generator.test.py rename to planning/autoware_static_centerline_generator/test/test_static_centerline_generator.test.py index 29ee49a11e3b3..dc3c26798b12d 100644 --- a/planning/static_centerline_generator/test/test_static_centerline_generator.test.py +++ b/planning/autoware_static_centerline_generator/test/test_static_centerline_generator.test.py @@ -28,11 +28,12 @@ @pytest.mark.launch_test def generate_test_description(): lanelet2_map_path = os.path.join( - get_package_share_directory("static_centerline_generator"), "test/data/lanelet2_map.osm" + get_package_share_directory("autoware_static_centerline_generator"), + "test/data/lanelet2_map.osm", ) static_centerline_generator_node = Node( - package="static_centerline_generator", + package="autoware_static_centerline_generator", executable="main", output="screen", parameters=[ @@ -50,7 +51,7 @@ def generate_test_description(): "mission_planner.param.yaml", ), os.path.join( - get_package_share_directory("static_centerline_generator"), + get_package_share_directory("autoware_static_centerline_generator"), "config/static_centerline_generator.param.yaml", ), os.path.join( @@ -58,7 +59,7 @@ def generate_test_description(): "config/behavior_path_planner.param.yaml", ), os.path.join( - get_package_share_directory("behavior_velocity_planner"), + get_package_share_directory("autoware_behavior_velocity_planner"), "config/behavior_velocity_planner.param.yaml", ), os.path.join( @@ -74,15 +75,15 @@ def generate_test_description(): "config/lanelet2_map_loader.param.yaml", ), os.path.join( - get_package_share_directory("static_centerline_generator"), + get_package_share_directory("autoware_static_centerline_generator"), "config/common.param.yaml", ), os.path.join( - get_package_share_directory("static_centerline_generator"), + get_package_share_directory("autoware_static_centerline_generator"), "config/nearest_search.param.yaml", ), os.path.join( - get_package_share_directory("static_centerline_generator"), + get_package_share_directory("autoware_static_centerline_generator"), "config/vehicle_info.param.yaml", ), ], @@ -94,7 +95,7 @@ def generate_test_description(): LaunchDescription( [ static_centerline_generator_node, - # Start test after 1s - gives time for the static_centerline_generator to finish initialization + # Start test after 1s - gives time for the autoware_static_centerline_generator to finish initialization launch.actions.TimerAction( period=1.0, actions=[launch_testing.actions.ReadyToTest()] ), diff --git a/planning/behavior_path_avoidance_by_lane_change_module/include/behavior_path_avoidance_by_lane_change_module/data_structs.hpp b/planning/behavior_path_avoidance_by_lane_change_module/include/behavior_path_avoidance_by_lane_change_module/data_structs.hpp index 8e7d1f67d3157..d7fd8b82bd71e 100644 --- a/planning/behavior_path_avoidance_by_lane_change_module/include/behavior_path_avoidance_by_lane_change_module/data_structs.hpp +++ b/planning/behavior_path_avoidance_by_lane_change_module/include/behavior_path_avoidance_by_lane_change_module/data_structs.hpp @@ -14,7 +14,7 @@ #ifndef BEHAVIOR_PATH_AVOIDANCE_BY_LANE_CHANGE_MODULE__DATA_STRUCTS_HPP_ #define BEHAVIOR_PATH_AVOIDANCE_BY_LANE_CHANGE_MODULE__DATA_STRUCTS_HPP_ -#include "behavior_path_avoidance_module/data_structs.hpp" +#include "autoware_behavior_path_static_obstacle_avoidance_module/data_structs.hpp" namespace behavior_path_planner { diff --git a/planning/behavior_path_avoidance_by_lane_change_module/include/behavior_path_avoidance_by_lane_change_module/scene.hpp b/planning/behavior_path_avoidance_by_lane_change_module/include/behavior_path_avoidance_by_lane_change_module/scene.hpp index 54a4a0c70486d..4ef4c0673c0c5 100644 --- a/planning/behavior_path_avoidance_by_lane_change_module/include/behavior_path_avoidance_by_lane_change_module/scene.hpp +++ b/planning/behavior_path_avoidance_by_lane_change_module/include/behavior_path_avoidance_by_lane_change_module/scene.hpp @@ -15,8 +15,8 @@ #ifndef BEHAVIOR_PATH_AVOIDANCE_BY_LANE_CHANGE_MODULE__SCENE_HPP_ #define BEHAVIOR_PATH_AVOIDANCE_BY_LANE_CHANGE_MODULE__SCENE_HPP_ +#include "autoware_behavior_path_static_obstacle_avoidance_module/helper.hpp" #include "behavior_path_avoidance_by_lane_change_module/data_structs.hpp" -#include "behavior_path_avoidance_module/helper.hpp" #include "behavior_path_lane_change_module/scene.hpp" #include @@ -24,7 +24,7 @@ namespace behavior_path_planner { using AvoidanceDebugData = DebugData; -using helper::avoidance::AvoidanceHelper; +using helper::static_obstacle_avoidance::AvoidanceHelper; class AvoidanceByLaneChange : public NormalLaneChange { diff --git a/planning/behavior_path_avoidance_by_lane_change_module/package.xml b/planning/behavior_path_avoidance_by_lane_change_module/package.xml index 0f9f3f6dc9d42..84540618e152d 100644 --- a/planning/behavior_path_avoidance_by_lane_change_module/package.xml +++ b/planning/behavior_path_avoidance_by_lane_change_module/package.xml @@ -18,7 +18,7 @@ autoware_cmake eigen3_cmake_module - behavior_path_avoidance_module + autoware_behavior_path_static_obstacle_avoidance_module behavior_path_lane_change_module behavior_path_planner behavior_path_planner_common diff --git a/planning/behavior_path_avoidance_by_lane_change_module/src/interface.cpp b/planning/behavior_path_avoidance_by_lane_change_module/src/interface.cpp index 3a7c22c84b3e8..a2e26557d9726 100644 --- a/planning/behavior_path_avoidance_by_lane_change_module/src/interface.cpp +++ b/planning/behavior_path_avoidance_by_lane_change_module/src/interface.cpp @@ -57,7 +57,10 @@ void AvoidanceByLaneChangeInterface::updateRTCStatus( return (dir == Direction::LEFT) ? "left" : "right"; }); + const auto state = isWaitingApproval() ? State::WAITING_FOR_EXECUTION : State::RUNNING; + rtc_interface_ptr_map_.at(direction)->updateCooperateStatus( - uuid_map_.at(direction), isExecutionReady(), start_distance, finish_distance, clock_->now()); + uuid_map_.at(direction), isExecutionReady(), state, start_distance, finish_distance, + clock_->now()); } } // namespace behavior_path_planner diff --git a/planning/behavior_path_avoidance_by_lane_change_module/src/manager.cpp b/planning/behavior_path_avoidance_by_lane_change_module/src/manager.cpp index a3b28b4d63d06..c7c00d38956c1 100644 --- a/planning/behavior_path_avoidance_by_lane_change_module/src/manager.cpp +++ b/planning/behavior_path_avoidance_by_lane_change_module/src/manager.cpp @@ -14,8 +14,8 @@ #include "behavior_path_avoidance_by_lane_change_module/manager.hpp" +#include "autoware_behavior_path_static_obstacle_avoidance_module/parameter_helper.hpp" #include "behavior_path_avoidance_by_lane_change_module/data_structs.hpp" -#include "behavior_path_avoidance_module/parameter_helper.hpp" #include "tier4_autoware_utils/ros/parameter.hpp" #include "tier4_autoware_utils/ros/update_param.hpp" diff --git a/planning/behavior_path_avoidance_by_lane_change_module/src/scene.cpp b/planning/behavior_path_avoidance_by_lane_change_module/src/scene.cpp index 6a41eccc22ba3..80ae361ee3ea1 100644 --- a/planning/behavior_path_avoidance_by_lane_change_module/src/scene.cpp +++ b/planning/behavior_path_avoidance_by_lane_change_module/src/scene.cpp @@ -14,13 +14,13 @@ #include "behavior_path_avoidance_by_lane_change_module/scene.hpp" -#include "behavior_path_avoidance_module/utils.hpp" +#include "autoware_behavior_path_static_obstacle_avoidance_module/utils.hpp" #include "behavior_path_planner_common/utils/drivable_area_expansion/static_drivable_area.hpp" #include "behavior_path_planner_common/utils/path_safety_checker/objects_filtering.hpp" #include "behavior_path_planner_common/utils/path_utils.hpp" #include "behavior_path_planner_common/utils/utils.hpp" -#include +#include #include #include #include @@ -103,13 +103,14 @@ void AvoidanceByLaneChange::updateSpecialData() if (avoidance_data_.target_objects.empty()) { direction_ = Direction::NONE; } else { - direction_ = utils::avoidance::isOnRight(avoidance_data_.target_objects.front()) + direction_ = utils::static_obstacle_avoidance::isOnRight(avoidance_data_.target_objects.front()) ? Direction::LEFT : Direction::RIGHT; } - utils::avoidance::updateRegisteredObject(registered_objects_, avoidance_data_.target_objects, p); - utils::avoidance::compensateDetectionLost( + utils::static_obstacle_avoidance::updateRegisteredObject( + registered_objects_, avoidance_data_.target_objects, p); + utils::static_obstacle_avoidance::compensateDetectionLost( registered_objects_, avoidance_data_.target_objects, avoidance_data_.other_objects); std::sort( @@ -145,7 +146,9 @@ void AvoidanceByLaneChange::fillAvoidanceTargetObjects( const auto [object_within_target_lane, object_outside_target_lane] = utils::path_safety_checker::separateObjectsByLanelets( *planner_data_->dynamic_object, data.current_lanelets, - utils::path_safety_checker::isPolygonOverlapLanelet); + [](const auto & obj, const auto & lane) { + return utils::path_safety_checker::isPolygonOverlapLanelet(obj, lane); + }); // Assume that the maximum allocation for data.other object is the sum of // objects_within_target_lane and object_outside_target_lane. The maximum allocation for @@ -164,7 +167,7 @@ void AvoidanceByLaneChange::fillAvoidanceTargetObjects( [](const auto & object) { ObjectData other_object; other_object.object = object; - other_object.reason = "OutOfTargetArea"; + other_object.info = ObjectInfo::OUT_OF_TARGET_AREA; return other_object; }); } @@ -220,28 +223,29 @@ std::optional AvoidanceByLaneChange::createObjectData( object_data.distance_factor = object_parameter.max_expand_ratio * clamp + 1.0; // Calc envelop polygon. - utils::avoidance::fillObjectEnvelopePolygon( + utils::static_obstacle_avoidance::fillObjectEnvelopePolygon( object_data, registered_objects_, object_closest_pose, p); // calc object centroid. object_data.centroid = return_centroid(object_data.envelope_poly); // Calc moving time. - utils::avoidance::fillObjectMovingTime(object_data, stopped_objects_, p); + utils::static_obstacle_avoidance::fillObjectMovingTime(object_data, stopped_objects_, p); object_data.direction = calcLateralDeviation(object_closest_pose, object_pose.position) > 0.0 ? Direction::LEFT : Direction::RIGHT; // Find the footprint point closest to the path, set to object_data.overhang_distance. - object_data.overhang_points = - utils::avoidance::calcEnvelopeOverhangDistance(object_data, data.reference_path); + object_data.overhang_points = utils::static_obstacle_avoidance::calcEnvelopeOverhangDistance( + object_data, data.reference_path); // Check whether the the ego should avoid the object. const auto & vehicle_width = planner_data_->parameters.vehicle_width; - utils::avoidance::fillAvoidanceNecessity(object_data, registered_objects_, vehicle_width, p); + utils::static_obstacle_avoidance::fillAvoidanceNecessity( + object_data, registered_objects_, vehicle_width, p); - utils::avoidance::fillLongitudinalAndLengthByClosestEnvelopeFootprint( + utils::static_obstacle_avoidance::fillLongitudinalAndLengthByClosestEnvelopeFootprint( data.reference_path_rough, getEgoPosition(), object_data); return object_data; } @@ -260,7 +264,7 @@ double AvoidanceByLaneChange::calcMinAvoidanceLength(const ObjectData & nearest_ avoidance_helper_->setData(planner_data_); const auto shift_length = avoidance_helper_->getShiftLength( - nearest_object, utils::avoidance::isOnRight(nearest_object), avoid_margin); + nearest_object, utils::static_obstacle_avoidance::isOnRight(nearest_object), avoid_margin); return avoidance_helper_->getMinAvoidanceDistance(shift_length); } diff --git a/planning/behavior_path_avoidance_by_lane_change_module/test/test_behavior_path_planner_node_interface.cpp b/planning/behavior_path_avoidance_by_lane_change_module/test/test_behavior_path_planner_node_interface.cpp index 1167fa4414752..69ce87aabc7b4 100644 --- a/planning/behavior_path_avoidance_by_lane_change_module/test/test_behavior_path_planner_node_interface.cpp +++ b/planning/behavior_path_avoidance_by_lane_change_module/test/test_behavior_path_planner_node_interface.cpp @@ -15,8 +15,8 @@ #include "behavior_path_planner/behavior_path_planner_node.hpp" #include -#include -#include +#include +#include #include @@ -67,8 +67,9 @@ std::shared_ptr generateNode() behavior_path_planner_dir + "/config/drivable_area_expansion.param.yaml", behavior_path_planner_dir + "/config/scene_module_manager.param.yaml", behavior_path_lane_change_module_dir + "/config/lane_change.param.yaml", - ament_index_cpp::get_package_share_directory("behavior_path_avoidance_module") + - "/config/avoidance.param.yaml", + ament_index_cpp::get_package_share_directory( + "autoware_behavior_path_static_obstacle_avoidance_module") + + "/config/static_obstacle_avoidance.param.yaml", ament_index_cpp::get_package_share_directory("behavior_path_avoidance_by_lane_change_module") + "/config/avoidance_by_lane_change.param.yaml"}); diff --git a/planning/behavior_path_avoidance_module/plugins.xml b/planning/behavior_path_avoidance_module/plugins.xml deleted file mode 100644 index f25677dad1e9a..0000000000000 --- a/planning/behavior_path_avoidance_module/plugins.xml +++ /dev/null @@ -1,3 +0,0 @@ - - - diff --git a/planning/behavior_path_dynamic_avoidance_module/plugins.xml b/planning/behavior_path_dynamic_avoidance_module/plugins.xml deleted file mode 100644 index fd2e1bc4137b7..0000000000000 --- a/planning/behavior_path_dynamic_avoidance_module/plugins.xml +++ /dev/null @@ -1,3 +0,0 @@ - - - diff --git a/planning/behavior_path_external_request_lane_change_module/plugins.xml b/planning/behavior_path_external_request_lane_change_module/plugins.xml deleted file mode 100644 index f3cc686837c38..0000000000000 --- a/planning/behavior_path_external_request_lane_change_module/plugins.xml +++ /dev/null @@ -1,4 +0,0 @@ - - - - diff --git a/planning/behavior_path_goal_planner_module/include/behavior_path_goal_planner_module/geometric_pull_over.hpp b/planning/behavior_path_goal_planner_module/include/behavior_path_goal_planner_module/geometric_pull_over.hpp index 6de1a726d4d4e..e67d458874d17 100644 --- a/planning/behavior_path_goal_planner_module/include/behavior_path_goal_planner_module/geometric_pull_over.hpp +++ b/planning/behavior_path_goal_planner_module/include/behavior_path_goal_planner_module/geometric_pull_over.hpp @@ -16,7 +16,6 @@ #define BEHAVIOR_PATH_GOAL_PLANNER_MODULE__GEOMETRIC_PULL_OVER_HPP_ #include "behavior_path_goal_planner_module/pull_over_planner_base.hpp" -#include "behavior_path_planner_common/utils/occupancy_grid_based_collision_detector/occupancy_grid_based_collision_detector.hpp" #include "behavior_path_planner_common/utils/parking_departure/geometric_parallel_parking.hpp" #include @@ -34,9 +33,7 @@ class GeometricPullOver : public PullOverPlannerBase public: GeometricPullOver( rclcpp::Node & node, const GoalPlannerParameters & parameters, - const LaneDepartureChecker & lane_departure_checker, - const std::shared_ptr occupancy_grid_map, - const bool is_forward); + const LaneDepartureChecker & lane_departure_checker, const bool is_forward); PullOverPlannerType getPlannerType() const override { @@ -61,7 +58,6 @@ class GeometricPullOver : public PullOverPlannerBase protected: ParallelParkingParameters parallel_parking_parameters_; LaneDepartureChecker lane_departure_checker_{}; - std::shared_ptr occupancy_grid_map_; bool is_forward_{true}; bool left_side_parking_{true}; diff --git a/planning/behavior_path_goal_planner_module/include/behavior_path_goal_planner_module/goal_planner_module.hpp b/planning/behavior_path_goal_planner_module/include/behavior_path_goal_planner_module/goal_planner_module.hpp index 21ea06531c2f4..8f456a57e4c78 100644 --- a/planning/behavior_path_goal_planner_module/include/behavior_path_goal_planner_module/goal_planner_module.hpp +++ b/planning/behavior_path_goal_planner_module/include/behavior_path_goal_planner_module/goal_planner_module.hpp @@ -91,6 +91,33 @@ public: \ DEFINE_SETTER_WITH_MUTEX(TYPE, NAME) \ DEFINE_GETTER_WITH_MUTEX(TYPE, NAME) +enum class DecidingPathStatus { + NOT_DECIDED, + DECIDING, + DECIDED, +}; +using DecidingPathStatusWithStamp = std::pair; + +struct PreviousPullOverData +{ + struct SafetyStatus + { + std::optional safe_start_time{}; + bool is_safe{false}; + }; + + void reset() + { + found_path = false; + safety_status = SafetyStatus{}; + deciding_path_status = DecidingPathStatusWithStamp{}; + } + + bool found_path{false}; + SafetyStatus safety_status{}; + DecidingPathStatusWithStamp deciding_path_status{}; +}; + class ThreadSafeData { public: @@ -145,6 +172,9 @@ class ThreadSafeData void set(const std::shared_ptr & arg) { set_pull_over_path(arg); } void set(const PullOverPath & arg) { set_pull_over_path(arg); } void set(const GoalCandidate & arg) { set_modified_goal_pose(arg); } + void set(const BehaviorModuleOutput & arg) { set_last_previous_module_output(arg); } + void set(const PreviousPullOverData & arg) { set_prev_data(arg); } + void set(const CollisionCheckDebugMap & arg) { set_collision_check(arg); } void clearPullOverPath() { @@ -182,6 +212,8 @@ class ThreadSafeData last_path_update_time_ = std::nullopt; last_path_idx_increment_time_ = std::nullopt; closest_start_pose_ = std::nullopt; + last_previous_module_output_ = std::nullopt; + prev_data_.reset(); } DEFINE_GETTER_WITH_MUTEX(std::shared_ptr, pull_over_path) @@ -193,6 +225,9 @@ class ThreadSafeData DEFINE_SETTER_GETTER_WITH_MUTEX(GoalCandidates, goal_candidates) DEFINE_SETTER_GETTER_WITH_MUTEX(std::optional, modified_goal_pose) DEFINE_SETTER_GETTER_WITH_MUTEX(std::optional, closest_start_pose) + DEFINE_SETTER_GETTER_WITH_MUTEX(std::optional, last_previous_module_output) + DEFINE_SETTER_GETTER_WITH_MUTEX(PreviousPullOverData, prev_data) + DEFINE_SETTER_GETTER_WITH_MUTEX(CollisionCheckDebugMap, collision_check) private: std::shared_ptr pull_over_path_{nullptr}; @@ -203,6 +238,9 @@ class ThreadSafeData std::optional last_path_update_time_; std::optional last_path_idx_increment_time_; std::optional closest_start_pose_{}; + std::optional last_previous_module_output_{}; + PreviousPullOverData prev_data_{}; + CollisionCheckDebugMap collision_check_{}; std::recursive_mutex & mutex_; rclcpp::Clock::SharedPtr clock_; @@ -234,33 +272,6 @@ struct LastApprovalData Pose pose{}; }; -enum class DecidingPathStatus { - NOT_DECIDED, - DECIDING, - DECIDED, -}; -using DecidingPathStatusWithStamp = std::pair; - -struct PreviousPullOverData -{ - struct SafetyStatus - { - std::optional safe_start_time{}; - bool is_safe{false}; - }; - - void reset() - { - found_path = false; - safety_status = SafetyStatus{}; - deciding_path_status = DecidingPathStatusWithStamp{}; - } - - bool found_path{false}; - SafetyStatus safety_status{}; - DecidingPathStatusWithStamp deciding_path_status{}; -}; - // store stop_pose_ pointer with reason string struct PoseWithString { @@ -363,6 +374,50 @@ class GoalPlannerModule : public SceneModuleInterface CandidateOutput planCandidate() const override { return CandidateOutput{}; } private: + /** + * @brief shared data for onTimer(onTimer/onFreespaceParkingTimer just read this) + */ + struct GoalPlannerData + { + GoalPlannerData(const PlannerData & planner_data, const GoalPlannerParameters & parameters) + { + initializeOccupancyGridMap(planner_data, parameters); + }; + GoalPlannerParameters parameters; + std::shared_ptr ego_predicted_path_params; + std::shared_ptr objects_filtering_params; + std::shared_ptr safety_check_params; + tier4_autoware_utils::LinearRing2d vehicle_footprint; + + PlannerData planner_data; + ModuleStatus current_status; + BehaviorModuleOutput previous_module_output; + // collision detector + // need to be shared_ptr to be used in planner and goal searcher + std::shared_ptr occupancy_grid_map; + std::shared_ptr goal_searcher; + + const BehaviorModuleOutput & getPreviousModuleOutput() const { return previous_module_output; } + const ModuleStatus & getCurrentStatus() const { return current_status; } + void updateOccupancyGrid(); + GoalPlannerData clone() const; + void update( + const GoalPlannerParameters & parameters, + const std::shared_ptr & ego_predicted_path_params_, + const std::shared_ptr & objects_filtering_params_, + const std::shared_ptr & safety_check_params_, + const PlannerData & planner_data, const ModuleStatus & current_status, + const BehaviorModuleOutput & previous_module_output, + const std::shared_ptr goal_searcher_, + const tier4_autoware_utils::LinearRing2d & vehicle_footprint); + + private: + void initializeOccupancyGridMap( + const PlannerData & planner_data, const GoalPlannerParameters & parameters); + }; + std::optional gp_planner_data_{std::nullopt}; + std::mutex gp_planner_data_mutex_; + // Flag class for managing whether a certain callback is running in multi-threading class ScopedFlag { @@ -420,9 +475,10 @@ class GoalPlannerModule : public SceneModuleInterface // goal searcher std::shared_ptr goal_searcher_; - // collision detector - // need to be shared_ptr to be used in planner and goal searcher - std::shared_ptr occupancy_grid_map_; + // NOTE: this is latest occupancy_grid_map pointer which the local planner_data on + // onFreespaceParkingTimer thread storage may point to while calculation. + // onTimer/onFreespaceParkingTimer and their callees MUST NOT use this + std::shared_ptr occupancy_grid_map_{nullptr}; // check stopped and stuck state std::deque odometry_buffer_stopped_; @@ -431,10 +487,10 @@ class GoalPlannerModule : public SceneModuleInterface tier4_autoware_utils::LinearRing2d vehicle_footprint_; std::recursive_mutex mutex_; - ThreadSafeData thread_safe_data_; + // TODO(Mamoru Sobue): isSafePath() modifies ThreadSafeData::check_collision, avoid this mutable + mutable ThreadSafeData thread_safe_data_; std::unique_ptr last_approval_data_{nullptr}; - PreviousPullOverData prev_data_{}; // approximate distance from the start point to the end point of pull_over. // this is used as an assumed value to decelerate, etc., before generating the actual path. @@ -460,11 +516,12 @@ class GoalPlannerModule : public SceneModuleInterface mutable PoseWithString debug_stop_pose_with_info_; // collision check - void initializeOccupancyGridMap(); - void updateOccupancyGrid(); - bool checkOccupancyGridCollision(const PathWithLaneId & path) const; + bool checkOccupancyGridCollision( + const PathWithLaneId & path, + const std::shared_ptr occupancy_grid_map) const; bool checkObjectsCollision( - const PathWithLaneId & path, const double collision_check_margin, + const PathWithLaneId & path, const std::shared_ptr planner_data, + const GoalPlannerParameters & parameters, const double collision_check_margin, const bool extract_static_objects, const bool update_debug_data = false) const; // goal seach @@ -487,19 +544,46 @@ class GoalPlannerModule : public SceneModuleInterface bool isStopped( std::deque & odometry_buffer, const double time); bool hasFinishedCurrentPath(); - bool isOnModifiedGoal() const; + bool isOnModifiedGoal(const Pose & current_pose, const GoalPlannerParameters & parameters) const; double calcModuleRequestLength() const; - bool needPathUpdate(const double path_update_duration) const; - bool isStuck(); - bool hasDecidedPath() const; - bool hasNotDecidedPath() const; - DecidingPathStatusWithStamp checkDecidingPathStatus() const; + bool needPathUpdate( + const Pose & current_pose, const double path_update_duration, + const GoalPlannerParameters & parameters) const; + bool isStuck( + const std::shared_ptr planner_data, + const std::shared_ptr occupancy_grid_map, + const GoalPlannerParameters & parameters); + bool hasDecidedPath( + const std::shared_ptr planner_data, + const std::shared_ptr occupancy_grid_map, + const GoalPlannerParameters & parameters, + const std::shared_ptr & ego_predicted_path_params, + const std::shared_ptr & objects_filtering_params, + const std::shared_ptr & safety_check_params, + const std::shared_ptr goal_searcher) const; + bool hasNotDecidedPath( + const std::shared_ptr planner_data, + const std::shared_ptr occupancy_grid_map, + const GoalPlannerParameters & parameters, + const std::shared_ptr & ego_predicted_path_params, + const std::shared_ptr & objects_filtering_params, + const std::shared_ptr & safety_check_params, + const std::shared_ptr goal_searcher) const; + DecidingPathStatusWithStamp checkDecidingPathStatus( + const std::shared_ptr planner_data, + const std::shared_ptr occupancy_grid_map, + const GoalPlannerParameters & parameters, + const std::shared_ptr & ego_predicted_path_params, + const std::shared_ptr & objects_filtering_params, + const std::shared_ptr & safety_check_params, + const std::shared_ptr goal_searcher) const; void decideVelocity(); bool foundPullOverPath() const; void updateStatus(const BehaviorModuleOutput & output); // validation - bool hasEnoughDistance(const PullOverPath & pull_over_path) const; + bool hasEnoughDistance( + const PullOverPath & pull_over_path, const PathWithLaneId & long_tail_reference_path) const; bool isCrossingPossible( const lanelet::ConstLanelet & start_lane, const lanelet::ConstLanelet & end_lane) const; bool isCrossingPossible( @@ -508,7 +592,10 @@ class GoalPlannerModule : public SceneModuleInterface bool hasEnoughTimePassedSincePathUpdate(const double duration) const; // freespace parking - bool planFreespacePath(); + bool planFreespacePath( + std::shared_ptr planner_data, + const std::shared_ptr goal_searcher, + const std::shared_ptr occupancy_grid_map); bool canReturnToLaneParking(); // plan pull over path @@ -537,10 +624,12 @@ class GoalPlannerModule : public SceneModuleInterface TurnSignalInfo calcTurnSignalInfo(); std::optional ignore_signal_{std::nullopt}; - std::optional last_previous_module_output_{}; - bool hasPreviousModulePathShapeChanged() const; - bool hasDeviatedFromLastPreviousModulePath() const; - bool hasDeviatedFromCurrentPreviousModulePath() const; + bool hasPreviousModulePathShapeChanged(const BehaviorModuleOutput & previous_module_output) const; + bool hasDeviatedFromLastPreviousModulePath( + const std::shared_ptr planner_data) const; + bool hasDeviatedFromCurrentPreviousModulePath( + const std::shared_ptr planner_data, + const BehaviorModuleOutput & previous_module_output) const; // timer for generating pull over path candidates in a separate thread void onTimer(); @@ -556,16 +645,22 @@ class GoalPlannerModule : public SceneModuleInterface // safety check void initializeSafetyCheckParameters(); SafetyCheckParams createSafetyCheckParams() const; + /* void updateSafetyCheckTargetObjectsData( const PredictedObjects & filtered_objects, const TargetObjectsOnLane & target_objects_on_lane, const std::vector & ego_predicted_path) const; + */ /** * @brief Checks if the current path is safe. * @return std::pair * first: If the path is safe for a certain period of time, true. * second: If the path is safe in the current state, true. */ - std::pair isSafePath() const; + std::pair isSafePath( + const std::shared_ptr planner_data, const GoalPlannerParameters & parameters, + const std::shared_ptr & ego_predicted_path_params, + const std::shared_ptr & objects_filtering_params, + const std::shared_ptr & safety_check_params) const; // debug void setDebugData(); diff --git a/planning/behavior_path_goal_planner_module/include/behavior_path_goal_planner_module/goal_searcher.hpp b/planning/behavior_path_goal_planner_module/include/behavior_path_goal_planner_module/goal_searcher.hpp index f228ecc378c28..89f4086874183 100644 --- a/planning/behavior_path_goal_planner_module/include/behavior_path_goal_planner_module/goal_searcher.hpp +++ b/planning/behavior_path_goal_planner_module/include/behavior_path_goal_planner_module/goal_searcher.hpp @@ -29,33 +29,45 @@ using BasicPolygons2d = std::vector; class GoalSearcher : public GoalSearcherBase { public: - GoalSearcher( - const GoalPlannerParameters & parameters, const LinearRing2d & vehicle_footprint, - const std::shared_ptr & occupancy_grid_map); + GoalSearcher(const GoalPlannerParameters & parameters, const LinearRing2d & vehicle_footprint); - GoalCandidates search() override; - void update(GoalCandidates & goal_candidates) const override; + GoalCandidates search( + const std::shared_ptr occupancy_grid_map, + const std::shared_ptr & planner_data) override; + void update( + GoalCandidates & goal_candidates, + const std::shared_ptr occupancy_grid_map, + const std::shared_ptr & planner_data) const override; // todo(kosuke55): Functions for this specific use should not be in the interface, // so it is better to consider interface design when we implement other goal searchers. GoalCandidate getClosetGoalCandidateAlongLanes( - const GoalCandidates & goal_candidates) const override; + const GoalCandidates & goal_candidates, + const std::shared_ptr & planner_data) const override; bool isSafeGoalWithMarginScaleFactor( - const GoalCandidate & goal_candidate, const double margin_scale_factor) const override; + const GoalCandidate & goal_candidate, const double margin_scale_factor, + const std::shared_ptr occupancy_grid_map, + const std::shared_ptr & planner_data) const override; private: void countObjectsToAvoid( - GoalCandidates & goal_candidates, const PredictedObjects & objects) const; - void createAreaPolygons(std::vector original_search_poses); - bool checkCollision(const Pose & pose, const PredictedObjects & objects) const; + GoalCandidates & goal_candidates, const PredictedObjects & objects, + const std::shared_ptr & planner_data) const; + void createAreaPolygons( + std::vector original_search_poses, + const std::shared_ptr & planner_data); + bool checkCollision( + const Pose & pose, const PredictedObjects & objects, + const std::shared_ptr occupancy_grid_map) const; bool checkCollisionWithLongitudinalDistance( - const Pose & ego_pose, const PredictedObjects & objects) const; + const Pose & ego_pose, const PredictedObjects & objects, + const std::shared_ptr occupancy_grid_map, + const std::shared_ptr & planner_data) const; BasicPolygons2d getNoParkingAreaPolygons(const lanelet::ConstLanelets & lanes) const; BasicPolygons2d getNoStoppingAreaPolygons(const lanelet::ConstLanelets & lanes) const; bool isInAreas(const LinearRing2d & footprint, const BasicPolygons2d & areas) const; LinearRing2d vehicle_footprint_{}; - std::shared_ptr occupancy_grid_map_{}; bool left_side_parking_{true}; }; } // namespace behavior_path_planner diff --git a/planning/behavior_path_goal_planner_module/include/behavior_path_goal_planner_module/goal_searcher_base.hpp b/planning/behavior_path_goal_planner_module/include/behavior_path_goal_planner_module/goal_searcher_base.hpp index 2ddacc0aac46d..f5d879358cd38 100644 --- a/planning/behavior_path_goal_planner_module/include/behavior_path_goal_planner_module/goal_searcher_base.hpp +++ b/planning/behavior_path_goal_planner_module/include/behavior_path_goal_planner_module/goal_searcher_base.hpp @@ -17,6 +17,7 @@ #include "behavior_path_goal_planner_module/goal_planner_parameters.hpp" #include "behavior_path_planner_common/data_manager.hpp" +#include "behavior_path_planner_common/utils/occupancy_grid_based_collision_detector/occupancy_grid_based_collision_detector.hpp" #include @@ -49,23 +50,29 @@ class GoalSearcherBase { reference_goal_pose_ = reference_goal_pose; } + const Pose & getReferenceGoal() const { return reference_goal_pose_; } - void setPlannerData(const std::shared_ptr & planner_data) + MultiPolygon2d getAreaPolygons() const { return area_polygons_; } + virtual GoalCandidates search( + const std::shared_ptr occupancy_grid_map, + const std::shared_ptr & planner_data) = 0; + virtual void update( + [[maybe_unused]] GoalCandidates & goal_candidates, + [[maybe_unused]] const std::shared_ptr occupancy_grid_map, + [[maybe_unused]] const std::shared_ptr & planner_data) const { - planner_data_ = planner_data; + return; } - - MultiPolygon2d getAreaPolygons() { return area_polygons_; } - virtual GoalCandidates search() = 0; - virtual void update([[maybe_unused]] GoalCandidates & goal_candidates) const { return; } virtual GoalCandidate getClosetGoalCandidateAlongLanes( - const GoalCandidates & goal_candidates) const = 0; + const GoalCandidates & goal_candidates, + const std::shared_ptr & planner_data) const = 0; virtual bool isSafeGoalWithMarginScaleFactor( - const GoalCandidate & goal_candidate, const double margin_scale_factor) const = 0; + const GoalCandidate & goal_candidate, const double margin_scale_factor, + const std::shared_ptr occupancy_grid_map, + const std::shared_ptr & planner_data) const = 0; protected: GoalPlannerParameters parameters_{}; - std::shared_ptr planner_data_{nullptr}; Pose reference_goal_pose_{}; MultiPolygon2d area_polygons_{}; }; diff --git a/planning/behavior_path_goal_planner_module/include/behavior_path_goal_planner_module/shift_pull_over.hpp b/planning/behavior_path_goal_planner_module/include/behavior_path_goal_planner_module/shift_pull_over.hpp index 892ef7d5dd303..d0b0aee83e20c 100644 --- a/planning/behavior_path_goal_planner_module/include/behavior_path_goal_planner_module/shift_pull_over.hpp +++ b/planning/behavior_path_goal_planner_module/include/behavior_path_goal_planner_module/shift_pull_over.hpp @@ -16,7 +16,6 @@ #define BEHAVIOR_PATH_GOAL_PLANNER_MODULE__SHIFT_PULL_OVER_HPP_ #include "behavior_path_goal_planner_module/pull_over_planner_base.hpp" -#include "behavior_path_planner_common/utils/occupancy_grid_based_collision_detector/occupancy_grid_based_collision_detector.hpp" #include @@ -34,9 +33,7 @@ class ShiftPullOver : public PullOverPlannerBase public: ShiftPullOver( rclcpp::Node & node, const GoalPlannerParameters & parameters, - const LaneDepartureChecker & lane_departure_checker, - const std::shared_ptr & occupancy_grid_map); - + const LaneDepartureChecker & lane_departure_checker); PullOverPlannerType getPlannerType() const override { return PullOverPlannerType::SHIFT; }; std::optional plan(const Pose & goal_pose) override; @@ -57,7 +54,6 @@ class ShiftPullOver : public PullOverPlannerBase const Pose & start_pose, const Pose & end_pose, const double resample_interval); LaneDepartureChecker lane_departure_checker_{}; - std::shared_ptr occupancy_grid_map_{}; bool left_side_parking_{true}; }; diff --git a/planning/behavior_path_goal_planner_module/include/behavior_path_goal_planner_module/util.hpp b/planning/behavior_path_goal_planner_module/include/behavior_path_goal_planner_module/util.hpp index b6f671cfc94f8..be3dd9ba96e38 100644 --- a/planning/behavior_path_goal_planner_module/include/behavior_path_goal_planner_module/util.hpp +++ b/planning/behavior_path_goal_planner_module/include/behavior_path_goal_planner_module/util.hpp @@ -16,6 +16,7 @@ #define BEHAVIOR_PATH_GOAL_PLANNER_MODULE__UTIL_HPP_ #include "behavior_path_goal_planner_module/goal_searcher_base.hpp" +#include "tier4_autoware_utils/geometry/boost_polygon_utils.hpp" #include @@ -41,6 +42,7 @@ using geometry_msgs::msg::Pose; using geometry_msgs::msg::Twist; using visualization_msgs::msg::Marker; using visualization_msgs::msg::MarkerArray; +using Polygon2d = tier4_autoware_utils::Polygon2d; lanelet::ConstLanelets getPullOverLanes( const RouteHandler & route_handler, const bool left_side, const double backward_distance, @@ -85,6 +87,10 @@ PathWithLaneId extendPath( const PathWithLaneId & prev_module_path, const PathWithLaneId & reference_path, const Pose & extend_pose); +std::vector createPathFootPrints( + const PathWithLaneId & path, const double base_to_front, const double base_to_rear, + const double width); + // debug MarkerArray createPullOverAreaMarkerArray( const tier4_autoware_utils::MultiPolygon2d area_polygons, const std_msgs::msg::Header & header, diff --git a/planning/behavior_path_goal_planner_module/src/geometric_pull_over.cpp b/planning/behavior_path_goal_planner_module/src/geometric_pull_over.cpp index b7d1c240d032a..0779002690f8f 100644 --- a/planning/behavior_path_goal_planner_module/src/geometric_pull_over.cpp +++ b/planning/behavior_path_goal_planner_module/src/geometric_pull_over.cpp @@ -27,13 +27,10 @@ namespace behavior_path_planner { GeometricPullOver::GeometricPullOver( rclcpp::Node & node, const GoalPlannerParameters & parameters, - const LaneDepartureChecker & lane_departure_checker, - const std::shared_ptr occupancy_grid_map, - const bool is_forward) + const LaneDepartureChecker & lane_departure_checker, const bool is_forward) : PullOverPlannerBase{node, parameters}, parallel_parking_parameters_{parameters.parallel_parking_parameters}, lane_departure_checker_{lane_departure_checker}, - occupancy_grid_map_{occupancy_grid_map}, is_forward_{is_forward}, left_side_parking_{parameters.parking_policy == ParkingPolicy::LEFT_SIDE} { diff --git a/planning/behavior_path_goal_planner_module/src/goal_planner_module.cpp b/planning/behavior_path_goal_planner_module/src/goal_planner_module.cpp index a890cfc21ed13..9bfef90668e8e 100644 --- a/planning/behavior_path_goal_planner_module/src/goal_planner_module.cpp +++ b/planning/behavior_path_goal_planner_module/src/goal_planner_module.cpp @@ -78,14 +78,14 @@ GoalPlannerModule::GoalPlannerModule( for (const std::string & planner_type : parameters_->efficient_path_order) { if (planner_type == "SHIFT" && parameters_->enable_shift_parking) { - pull_over_planners_.push_back(std::make_shared( - node, *parameters, lane_departure_checker, occupancy_grid_map_)); + pull_over_planners_.push_back( + std::make_shared(node, *parameters, lane_departure_checker)); } else if (planner_type == "ARC_FORWARD" && parameters_->enable_arc_forward_parking) { pull_over_planners_.push_back(std::make_shared( - node, *parameters, lane_departure_checker, occupancy_grid_map_, /*is_forward*/ true)); + node, *parameters, lane_departure_checker, /*is_forward*/ true)); } else if (planner_type == "ARC_BACKWARD" && parameters_->enable_arc_backward_parking) { pull_over_planners_.push_back(std::make_shared( - node, *parameters, lane_departure_checker, occupancy_grid_map_, /*is_forward*/ false)); + node, *parameters, lane_departure_checker, /*is_forward*/ false)); } } @@ -97,8 +97,7 @@ GoalPlannerModule::GoalPlannerModule( // currently there is only one goal_searcher_type const auto vehicle_info = vehicle_info_util::VehicleInfoUtil(node).getVehicleInfo(); vehicle_footprint_ = vehicle_info.createFootprint(); - goal_searcher_ = - std::make_shared(*parameters, vehicle_footprint_, occupancy_grid_map_); + goal_searcher_ = std::make_shared(*parameters, vehicle_footprint_); // timer callback for generating lane parking candidate paths const auto lane_parking_period_ns = rclcpp::Rate(1.0).period(); @@ -123,51 +122,44 @@ GoalPlannerModule::GoalPlannerModule( // Initialize safety checker if (parameters_->safety_check_params.enable_safety_check) { initializeSafetyCheckParameters(); - utils::parking_departure::initializeCollisionCheckDebugMap(goal_planner_data_.collision_check); } - - prev_data_.reset(); -} - -// This function is needed for waiting for planner_data_ -void GoalPlannerModule::updateOccupancyGrid() -{ - if (!planner_data_->occupancy_grid) { - RCLCPP_WARN_THROTTLE(getLogger(), *clock_, 5000, "occupancy_grid is not ready"); - return; - } - occupancy_grid_map_->setMap(*(planner_data_->occupancy_grid)); } -bool GoalPlannerModule::hasPreviousModulePathShapeChanged() const +bool GoalPlannerModule::hasPreviousModulePathShapeChanged( + const BehaviorModuleOutput & previous_module_output) const { - if (!last_previous_module_output_) { + const auto last_previous_module_output = thread_safe_data_.get_last_previous_module_output(); + if (!last_previous_module_output) { return true; } - const auto current_path = getPreviousModuleOutput().path; + const auto current_path = previous_module_output.path; // the terminal distance is far return calcDistance2d( - last_previous_module_output_->path.points.back().point, + last_previous_module_output->path.points.back().point, current_path.points.back().point) > 0.3; } -bool GoalPlannerModule::hasDeviatedFromLastPreviousModulePath() const +bool GoalPlannerModule::hasDeviatedFromLastPreviousModulePath( + const std::shared_ptr planner_data) const { - if (!last_previous_module_output_) { + const auto last_previous_module_output = thread_safe_data_.get_last_previous_module_output(); + if (!last_previous_module_output) { return true; } return std::abs(motion_utils::calcLateralOffset( - last_previous_module_output_->path.points, - planner_data_->self_odometry->pose.pose.position)) > 0.3; + last_previous_module_output->path.points, + planner_data->self_odometry->pose.pose.position)) > 0.3; } -bool GoalPlannerModule::hasDeviatedFromCurrentPreviousModulePath() const +bool GoalPlannerModule::hasDeviatedFromCurrentPreviousModulePath( + const std::shared_ptr planner_data, + const BehaviorModuleOutput & previous_module_output) const { return std::abs(motion_utils::calcLateralOffset( - getPreviousModuleOutput().path.points, - planner_data_->self_odometry->pose.pose.position)) > 0.3; + previous_module_output.path.points, planner_data->self_odometry->pose.pose.position)) > + 0.3; } // generate pull over candidate paths @@ -175,7 +167,50 @@ void GoalPlannerModule::onTimer() { const ScopedFlag flag(is_lane_parking_cb_running_); - if (getCurrentStatus() == ModuleStatus::IDLE) { + std::shared_ptr local_planner_data{nullptr}; + std::optional current_status_opt{std::nullopt}; + std::optional previous_module_output_opt{std::nullopt}; + std::shared_ptr occupancy_grid_map{nullptr}; + std::optional parameters_opt{std::nullopt}; + std::shared_ptr ego_predicted_path_params{nullptr}; + std::shared_ptr objects_filtering_params{nullptr}; + std::shared_ptr safety_check_params{nullptr}; + std::shared_ptr goal_searcher{nullptr}; + + // begin of critical section + { + std::lock_guard guard(gp_planner_data_mutex_); + if (gp_planner_data_) { + const auto & gp_planner_data = gp_planner_data_.value(); + local_planner_data = std::make_shared(gp_planner_data.planner_data); + current_status_opt = gp_planner_data.current_status; + previous_module_output_opt = gp_planner_data.previous_module_output; + occupancy_grid_map = gp_planner_data.occupancy_grid_map; + parameters_opt = gp_planner_data.parameters; + ego_predicted_path_params = gp_planner_data.ego_predicted_path_params; + objects_filtering_params = gp_planner_data.objects_filtering_params; + safety_check_params = gp_planner_data.safety_check_params; + goal_searcher = gp_planner_data.goal_searcher; + } + } + // end of critical section + if ( + !local_planner_data || !current_status_opt || !previous_module_output_opt || + !occupancy_grid_map || !parameters_opt || !ego_predicted_path_params || + !objects_filtering_params || !safety_check_params || !goal_searcher) { + RCLCPP_ERROR( + getLogger(), + "failed to get valid " + "local_planner_data/current_status/previous_module_output/occupancy_grid_map/parameters_opt/" + "ego_predicted_path_params/objects_filtering_params/safety_check_params/goal_searcher in " + "onTimer"); + return; + } + const auto & current_status = current_status_opt.value(); + const auto & previous_module_output = previous_module_output_opt.value(); + const auto & parameters = parameters_opt.value(); + + if (current_status == ModuleStatus::IDLE) { return; } @@ -184,27 +219,31 @@ void GoalPlannerModule::onTimer() return; } - if (!planner_data_ || !utils::isAllowedGoalModification(planner_data_->route_handler)) { + if (!utils::isAllowedGoalModification(local_planner_data->route_handler)) { return; } // check if new pull over path candidates are needed to be generated const bool need_update = std::invoke([&]() { - if (isOnModifiedGoal()) { + if (isOnModifiedGoal(local_planner_data->self_odometry->pose.pose, parameters)) { return false; } - if (hasDeviatedFromCurrentPreviousModulePath()) { + if (hasDeviatedFromCurrentPreviousModulePath(local_planner_data, previous_module_output)) { RCLCPP_DEBUG(getLogger(), "has deviated from current previous module path"); return false; } if (thread_safe_data_.get_pull_over_path_candidates().empty()) { return true; } - if (hasPreviousModulePathShapeChanged()) { + if (hasPreviousModulePathShapeChanged(previous_module_output)) { RCLCPP_DEBUG(getLogger(), "has previous module path shape changed"); return true; } - if (hasDeviatedFromLastPreviousModulePath() && !hasDecidedPath()) { + if ( + hasDeviatedFromLastPreviousModulePath(local_planner_data) && + !hasDecidedPath( + local_planner_data, occupancy_grid_map, parameters, ego_predicted_path_params, + objects_filtering_params, safety_check_params, goal_searcher)) { RCLCPP_DEBUG(getLogger(), "has deviated from last previous module path"); return true; } @@ -214,13 +253,12 @@ void GoalPlannerModule::onTimer() return; } - const auto previous_module_output = getPreviousModuleOutput(); const auto goal_candidates = thread_safe_data_.get_goal_candidates(); // generate valid pull over path candidates and calculate closest start pose const auto current_lanes = utils::getExtendedCurrentLanes( - planner_data_, parameters_->backward_goal_search_length, - parameters_->forward_goal_search_length, + local_planner_data, parameters.backward_goal_search_length, + parameters.forward_goal_search_length, /*forward_only_in_route*/ false); std::vector path_candidates{}; std::optional closest_start_pose{}; @@ -228,7 +266,7 @@ void GoalPlannerModule::onTimer() const auto planCandidatePaths = [&]( const std::shared_ptr & planner, const GoalCandidate & goal_candidate) { - planner->setPlannerData(planner_data_); + planner->setPlannerData(local_planner_data); planner->setPreviousModuleOutput(previous_module_output); auto pull_over_path = planner->plan(goal_candidate.goal_pose); if (pull_over_path) { @@ -254,7 +292,7 @@ void GoalPlannerModule::onTimer() is_center_line_input_path); // plan candidate paths and set them to the member variable - if (parameters_->path_priority == "efficient_path") { + if (parameters.path_priority == "efficient_path") { for (const auto & planner : pull_over_planners_) { // todo: temporary skip NON SHIFT planner when input path is not center line if (!is_center_line_input_path && planner->getPlannerType() != PullOverPlannerType::SHIFT) { @@ -264,7 +302,7 @@ void GoalPlannerModule::onTimer() planCandidatePaths(planner, goal_candidate); } } - } else if (parameters_->path_priority == "close_goal") { + } else if (parameters.path_priority == "close_goal") { for (const auto & goal_candidate : goal_candidates) { for (const auto & planner : pull_over_planners_) { // todo: temporary skip NON SHIFT planner when input path is not center line @@ -277,49 +315,76 @@ void GoalPlannerModule::onTimer() } else { RCLCPP_ERROR( getLogger(), "path_priority should be efficient_path or close_goal, but %s is given.", - parameters_->path_priority.c_str()); + parameters.path_priority.c_str()); throw std::domain_error("[pull_over] invalid path_priority"); } // set member variables - { - const std::lock_guard lock(mutex_); - thread_safe_data_.set_pull_over_path_candidates(path_candidates); - thread_safe_data_.set_closest_start_pose(closest_start_pose); - RCLCPP_INFO(getLogger(), "generated %lu pull over path candidates", path_candidates.size()); - } + thread_safe_data_.set_pull_over_path_candidates(path_candidates); + thread_safe_data_.set_closest_start_pose(closest_start_pose); + RCLCPP_INFO(getLogger(), "generated %lu pull over path candidates", path_candidates.size()); - last_previous_module_output_ = previous_module_output; + thread_safe_data_.set_last_previous_module_output(previous_module_output); } void GoalPlannerModule::onFreespaceParkingTimer() { const ScopedFlag flag(is_freespace_parking_cb_running_); - if (getCurrentStatus() == ModuleStatus::IDLE) { + std::shared_ptr local_planner_data{nullptr}; + std::optional current_status_opt{std::nullopt}; + std::shared_ptr occupancy_grid_map{nullptr}; + std::optional parameters_opt{std::nullopt}; + std::shared_ptr goal_searcher{nullptr}; + + // begin of critical section + { + std::lock_guard guard(gp_planner_data_mutex_); + if (gp_planner_data_) { + const auto & gp_planner_data = gp_planner_data_.value(); + local_planner_data = std::make_shared(gp_planner_data.planner_data); + current_status_opt = gp_planner_data.current_status; + occupancy_grid_map = gp_planner_data.occupancy_grid_map; + parameters_opt = gp_planner_data.parameters; + goal_searcher = gp_planner_data.goal_searcher; + } + } + // end of critical section + if (!local_planner_data || !current_status_opt || !parameters_opt || !goal_searcher) { + RCLCPP_ERROR( + getLogger(), + "failed to get valid planner_data/current_status/parameters/goal_searcher in " + "onFreespaceParkingTimer"); return; } - if (!planner_data_) { + const auto & current_status = current_status_opt.value(); + const auto & parameters = parameters_opt.value(); + + if (current_status == ModuleStatus::IDLE) { return; } - if (!planner_data_->costmap) { + + if (!local_planner_data->costmap) { return; } // fixed goal planner do not use freespace planner - if (!utils::isAllowedGoalModification(planner_data_->route_handler)) { + if (!utils::isAllowedGoalModification(local_planner_data->route_handler)) { return; } - if (isOnModifiedGoal()) { + if (isOnModifiedGoal(local_planner_data->self_odometry->pose.pose, parameters)) { return; } const bool is_new_costmap = - (clock_->now() - planner_data_->costmap->header.stamp).seconds() < 1.0; + (clock_->now() - local_planner_data->costmap->header.stamp).seconds() < 1.0; constexpr double path_update_duration = 1.0; - if (isStuck() && is_new_costmap && needPathUpdate(path_update_duration)) { - planFreespacePath(); + if ( + isStuck(local_planner_data, occupancy_grid_map, parameters) && is_new_costmap && + needPathUpdate( + local_planner_data->self_odometry->pose.pose, path_update_duration, parameters)) { + planFreespacePath(local_planner_data, goal_searcher, occupancy_grid_map); } } @@ -349,28 +414,64 @@ void GoalPlannerModule::updateObjectsFilteringParams( void GoalPlannerModule::updateData() { + // In PlannerManager::run(), it calls SceneModuleInterface::setData and + // SceneModuleInterface::setPreviousModuleOutput before module_ptr->run(). + // Then module_ptr->run() invokes GoalPlannerModule::updateData and then + // planWaitingApproval()/plan(), so we can copy latest current_status/previous_module_output to + // gp_planner_data_ here + + // NOTE: onTimer/onFreespaceParkingTimer copies gp_planner_data_ to their local clone, so we need + // to lock gp_planner_data_ here to avoid data race. But the following clone process is + // lightweight because most of the member variables of PlannerData/RouteHandler is + // shared_ptrs/bool + // begin of critical section + { + std::lock_guard guard(gp_planner_data_mutex_); + if (!gp_planner_data_) { + gp_planner_data_ = GoalPlannerData(*planner_data_, *parameters_); + } + auto & gp_planner_data = gp_planner_data_.value(); + // NOTE: for the above reasons, PlannerManager/behavior_path_planner_node ensure that + // planner_data_ is not nullptr, so it is OK to copy as value + // By copying PlannerData as value, the internal shared member variables are also copied + // (reference count is incremented), so `gp_planner_data_.foo` is now thread-safe from the + // **re-pointing** by `planner_data_->foo = msg` in behavior_path_planner::onCallbackFor(msg) + // and if these two coincided, only the reference count is affected + gp_planner_data.update( + *parameters_, ego_predicted_path_params_, objects_filtering_params_, safety_check_params_, + *planner_data_, getCurrentStatus(), getPreviousModuleOutput(), goal_searcher_, + vehicle_footprint_); + // NOTE: RouteHandler holds several shared pointers in it, so just copying PlannerData as + // value does not adds the reference counts of RouteHandler.lanelet_map_ptr_ and others. Since + // behavior_path_planner::run() updates + // planner_data_->route_handler->lanelet_map_ptr_/routing_graph_ptr_ especially, we also have + // to copy route_handler as value to use lanelet_map_ptr_/routing_graph_ptr_ thread-safely in + // onTimer/onFreespaceParkingTimer + // TODO(Mamoru Sobue): If the copy of RouteHandler.road_lanelets/shoulder_lanelets is not + // lightweight, we should update gp_planner_data_.route_handler only when + // `planner_data_.is_route_handler_updated` variable is set true by behavior_path_planner + // (although this flag is not implemented yet). In that case, gp_planner_data members except + // for route_handler should be copied from planner_data_ + + // GoalPlannerModule::occupancy_grid_map_ and gp_planner_data.occupancy_grid_map share the + // ownership, and gp_planner_data.occupancy_grid_map maybe also shared by the local + // planner_data on onFreespaceParkingTimer thread local memory space. So following operation + // is thread-safe because gp_planner_data.occupancy_grid_map is only re-pointed here and its + // prior resource is still owned by the onFreespaceParkingTimer thread locally. + occupancy_grid_map_ = gp_planner_data.occupancy_grid_map; + } + // end of critical section + if (getCurrentStatus() == ModuleStatus::IDLE && !isExecutionRequested()) { return; } - // Initialize Occupancy Grid Map - // This operation requires waiting for `planner_data_`, hence it is executed here instead of in - // the constructor. Ideally, this operation should only need to be performed once. - if ( - parameters_->use_occupancy_grid_for_goal_search || - parameters_->use_occupancy_grid_for_path_collision_check) { - initializeOccupancyGridMap(); - } - resetPathCandidate(); resetPathReference(); path_reference_ = std::make_shared(getPreviousModuleOutput().reference_path); - updateOccupancyGrid(); - // update goal searcher and generate goal candidates if (thread_safe_data_.get_goal_candidates().empty()) { - goal_searcher_->setPlannerData(planner_data_); goal_searcher_->setReferenceGoal( calcRefinedGoal(planner_data_->route_handler->getOriginalGoalPose())); thread_safe_data_.set_goal_candidates(generateGoalCandidates()); @@ -391,21 +492,6 @@ void GoalPlannerModule::updateData() } } -void GoalPlannerModule::initializeOccupancyGridMap() -{ - OccupancyGridMapParam occupancy_grid_map_param{}; - const double margin = parameters_->occupancy_grid_collision_check_margin; - occupancy_grid_map_param.vehicle_shape.length = - planner_data_->parameters.vehicle_length + 2 * margin; - occupancy_grid_map_param.vehicle_shape.width = - planner_data_->parameters.vehicle_width + 2 * margin; - occupancy_grid_map_param.vehicle_shape.base2back = - planner_data_->parameters.base_link2rear + margin; - occupancy_grid_map_param.theta_size = parameters_->theta_size; - occupancy_grid_map_param.obstacle_threshold = parameters_->obstacle_threshold; - occupancy_grid_map_->setParam(occupancy_grid_map_param); -} - void GoalPlannerModule::initializeSafetyCheckParameters() { updateEgoPredictedPathParams(ego_predicted_path_params_, parameters_); @@ -418,7 +504,7 @@ void GoalPlannerModule::processOnExit() resetPathCandidate(); resetPathReference(); debug_marker_.markers.clear(); - prev_data_.reset(); + thread_safe_data_.reset(); last_approval_data_.reset(); } @@ -447,12 +533,10 @@ bool GoalPlannerModule::isExecutionRequested() const // check that goal is in current neighbor shoulder lane const bool goal_is_in_current_shoulder_lanes = std::invoke([&]() { - lanelet::ConstLanelet neighbor_shoulder_lane{}; for (const auto & lane : current_lanes) { - const bool has_shoulder_lane = - left_side_parking_ ? route_handler->getLeftShoulderLanelet(lane, &neighbor_shoulder_lane) - : route_handler->getRightShoulderLanelet(lane, &neighbor_shoulder_lane); - if (has_shoulder_lane && lanelet::utils::isInLanelet(goal_pose, neighbor_shoulder_lane)) { + const auto shoulder_lane = left_side_parking_ ? route_handler->getLeftShoulderLanelet(lane) + : route_handler->getRightShoulderLanelet(lane); + if (shoulder_lane && lanelet::utils::isInLanelet(goal_pose, *shoulder_lane)) { return true; } } @@ -501,7 +585,10 @@ bool GoalPlannerModule::isExecutionRequested() const bool GoalPlannerModule::isExecutionReady() const { if (parameters_->safety_check_params.enable_safety_check && isWaitingApproval()) { - if (!isSafePath().first) { + if (!isSafePath( + planner_data_, *parameters_, ego_predicted_path_params_, objects_filtering_params_, + safety_check_params_) + .first) { RCLCPP_ERROR_THROTTLE(getLogger(), *clock_, 5000, "Path is not safe against dynamic objects"); return false; } @@ -584,18 +671,17 @@ Pose GoalPlannerModule::calcRefinedGoal(const Pose & goal_pose) const return refined_goal_pose; } -bool GoalPlannerModule::planFreespacePath() +bool GoalPlannerModule::planFreespacePath( + std::shared_ptr planner_data, + const std::shared_ptr goal_searcher, + const std::shared_ptr occupancy_grid_map) { GoalCandidates goal_candidates{}; - { - const std::lock_guard lock(mutex_); - goal_searcher_->setPlannerData(planner_data_); - goal_candidates = thread_safe_data_.get_goal_candidates(); - goal_searcher_->update(goal_candidates); - thread_safe_data_.set_goal_candidates(goal_candidates); - debug_data_.freespace_planner.num_goal_candidates = goal_candidates.size(); - debug_data_.freespace_planner.is_planning = true; - } + goal_candidates = thread_safe_data_.get_goal_candidates(); + goal_searcher->update(goal_candidates, occupancy_grid_map, planner_data); + thread_safe_data_.set_goal_candidates(goal_candidates); + debug_data_.freespace_planner.num_goal_candidates = goal_candidates.size(); + debug_data_.freespace_planner.is_planning = true; for (size_t i = 0; i < goal_candidates.size(); i++) { const auto goal_candidate = goal_candidates.at(i); @@ -607,7 +693,7 @@ bool GoalPlannerModule::planFreespacePath() if (!goal_candidate.is_safe) { continue; } - freespace_planner_->setPlannerData(planner_data_); + freespace_planner_->setPlannerData(planner_data); auto freespace_path = freespace_planner_->plan(goal_candidate.goal_pose); freespace_path->goal_id = goal_candidate.id; if (!freespace_path) { @@ -645,13 +731,15 @@ bool GoalPlannerModule::canReturnToLaneParking() if ( parameters_->use_object_recognition && checkObjectsCollision( - path, parameters_->object_recognition_collision_check_hard_margins.back(), + path, planner_data_, *parameters_, + parameters_->object_recognition_collision_check_hard_margins.back(), /*extract_static_objects=*/false)) { return false; } if ( - parameters_->use_occupancy_grid_for_path_collision_check && checkOccupancyGridCollision(path)) { + parameters_->use_occupancy_grid_for_path_collision_check && + checkOccupancyGridCollision(path, occupancy_grid_map_)) { return false; } @@ -671,7 +759,7 @@ GoalCandidates GoalPlannerModule::generateGoalCandidates() const // calculate goal candidates const auto & route_handler = planner_data_->route_handler; if (utils::isAllowedGoalModification(route_handler)) { - return goal_searcher_->search(); + return goal_searcher_->search(occupancy_grid_map_, planner_data_); } // NOTE: @@ -778,7 +866,7 @@ std::vector GoalPlannerModule::sortPullOverPathCandidatesByGoalPri utils::resamplePathWithSpline(pull_over_path.getParkingPath(), 0.5); for (const auto & margin : margins) { if (!checkObjectsCollision( - resampled_path, margin, + resampled_path, planner_data_, *parameters_, margin, /*extract_static_objects=*/true)) { return margin; } @@ -848,6 +936,26 @@ std::optional> GoalPlannerModule::selectP const std::vector & pull_over_path_candidates, const GoalCandidates & goal_candidates, const double collision_check_margin) const { + const auto & goal_pose = planner_data_->route_handler->getOriginalGoalPose(); + const double backward_length = + parameters_->backward_goal_search_length + parameters_->decide_path_distance; + const auto & prev_module_output_path = getPreviousModuleOutput().path; + const double prev_path_front_to_goal_dist = calcSignedArcLength( + prev_module_output_path.points, prev_module_output_path.points.front().point.pose.position, + goal_pose.position); + const auto & long_tail_reference_path = [&]() { + if (prev_path_front_to_goal_dist > backward_length) { + return prev_module_output_path; + } + // get road lanes which is at least backward_length[m] behind the goal + const auto road_lanes = utils::getExtendedCurrentLanesFromPath( + prev_module_output_path, planner_data_, backward_length, 0.0, + /*forward_only_in_route*/ false); + const auto goal_pose_length = lanelet::utils::getArcCoordinates(road_lanes, goal_pose).length; + return planner_data_->route_handler->getCenterLinePath( + road_lanes, std::max(0.0, goal_pose_length - backward_length), + goal_pose_length + parameters_->forward_goal_search_length); + }(); for (const auto & pull_over_path : pull_over_path_candidates) { // check if goal is safe const auto goal_candidate_it = std::find_if( @@ -859,22 +967,23 @@ std::optional> GoalPlannerModule::selectP continue; } - if (!hasEnoughDistance(pull_over_path)) { + if (!hasEnoughDistance(pull_over_path, long_tail_reference_path)) { continue; } const auto resampled_path = utils::resamplePathWithSpline(pull_over_path.getParkingPath(), 0.5); if ( - parameters_->use_object_recognition && checkObjectsCollision( - resampled_path, collision_check_margin, - /*extract_static_objects=*/true, - /*update_debug_data=*/true)) { + parameters_->use_object_recognition && + checkObjectsCollision( + resampled_path, planner_data_, *parameters_, collision_check_margin, + /*extract_static_objects=*/true, + /*update_debug_data=*/true)) { continue; } if ( parameters_->use_occupancy_grid_for_path_collision_check && - checkOccupancyGridCollision(resampled_path)) { + checkOccupancyGridCollision(resampled_path, occupancy_grid_map_)) { continue; } @@ -910,7 +1019,12 @@ void GoalPlannerModule::setOutput(BehaviorModuleOutput & output) } if ( - parameters_->safety_check_params.enable_safety_check && !isSafePath().first && isActivated()) { + parameters_->safety_check_params.enable_safety_check && + !isSafePath( + planner_data_, *parameters_, ego_predicted_path_params_, objects_filtering_params_, + safety_check_params_) + .first && + isActivated()) { // situation : not safe against dynamic objects after approval // insert stop point in current path if ego is able to stop with acceleration and jerk // constraints @@ -933,7 +1047,11 @@ void GoalPlannerModule::setOutput(BehaviorModuleOutput & output) setDrivableAreaInfo(output); // set hazard and turn signal - if (hasDecidedPath() && isActivated()) { + if ( + hasDecidedPath( + planner_data_, occupancy_grid_map_, *parameters_, ego_predicted_path_params_, + objects_filtering_params_, safety_check_params_, goal_searcher_) && + isActivated()) { setTurnSignalInfo(output); } } @@ -997,20 +1115,47 @@ void GoalPlannerModule::updateSteeringFactor( pose, distance, PlanningBehavior::GOAL_PLANNER, steering_factor_direction, type, ""); } -bool GoalPlannerModule::hasDecidedPath() const -{ - return checkDecidingPathStatus().first == DecidingPathStatus::DECIDED; -} - -bool GoalPlannerModule::hasNotDecidedPath() const -{ - return checkDecidingPathStatus().first == DecidingPathStatus::NOT_DECIDED; -} - -DecidingPathStatusWithStamp GoalPlannerModule::checkDecidingPathStatus() const -{ - const auto & prev_status = prev_data_.deciding_path_status; - const bool enable_safety_check = parameters_->safety_check_params.enable_safety_check; +bool GoalPlannerModule::hasDecidedPath( + const std::shared_ptr planner_data, + const std::shared_ptr occupancy_grid_map, + const GoalPlannerParameters & parameters, + const std::shared_ptr & ego_predicted_path_params, + const std::shared_ptr & objects_filtering_params, + const std::shared_ptr & safety_check_params, + const std::shared_ptr goal_searcher) const +{ + return checkDecidingPathStatus( + planner_data, occupancy_grid_map, parameters, ego_predicted_path_params, + objects_filtering_params, safety_check_params, goal_searcher) + .first == DecidingPathStatus::DECIDED; +} + +bool GoalPlannerModule::hasNotDecidedPath( + const std::shared_ptr planner_data, + const std::shared_ptr occupancy_grid_map, + const GoalPlannerParameters & parameters, + const std::shared_ptr & ego_predicted_path_params, + const std::shared_ptr & objects_filtering_params, + const std::shared_ptr & safety_check_params, + const std::shared_ptr goal_searcher) const +{ + return checkDecidingPathStatus( + planner_data, occupancy_grid_map, parameters, ego_predicted_path_params, + objects_filtering_params, safety_check_params, goal_searcher) + .first == DecidingPathStatus::NOT_DECIDED; +} + +DecidingPathStatusWithStamp GoalPlannerModule::checkDecidingPathStatus( + const std::shared_ptr planner_data, + const std::shared_ptr occupancy_grid_map, + const GoalPlannerParameters & parameters, + const std::shared_ptr & ego_predicted_path_params, + const std::shared_ptr & objects_filtering_params, + const std::shared_ptr & safety_check_params, + const std::shared_ptr goal_searcher) const +{ + const auto & prev_status = thread_safe_data_.get_prev_data().deciding_path_status; + const bool enable_safety_check = parameters.safety_check_params.enable_safety_check; // Once this function returns true, it will continue to return true thereafter if (prev_status.first == DecidingPathStatus::DECIDED) { @@ -1024,7 +1169,13 @@ DecidingPathStatusWithStamp GoalPlannerModule::checkDecidingPathStatus() const // If it is dangerous against dynamic objects before approval, do not determine the path. // This eliminates a unsafe path to be approved - if (enable_safety_check && !isSafePath().first && !isActivated()) { + if ( + enable_safety_check && + !isSafePath( + planner_data, parameters, ego_predicted_path_params, objects_filtering_params, + safety_check_params) + .first && + !isActivated()) { RCLCPP_DEBUG( getLogger(), "[DecidingPathStatus]: NOT_DECIDED. path is not safe against dynamic objects before " @@ -1040,11 +1191,11 @@ DecidingPathStatusWithStamp GoalPlannerModule::checkDecidingPathStatus() const const double hysteresis_factor = 0.9; // check goal pose collision - goal_searcher_->setPlannerData(planner_data_); const auto modified_goal_opt = thread_safe_data_.get_modified_goal_pose(); if ( - modified_goal_opt && !goal_searcher_->isSafeGoalWithMarginScaleFactor( - modified_goal_opt.value(), hysteresis_factor)) { + modified_goal_opt && + !goal_searcher->isSafeGoalWithMarginScaleFactor( + modified_goal_opt.value(), hysteresis_factor, occupancy_grid_map, planner_data)) { RCLCPP_DEBUG(getLogger(), "[DecidingPathStatus]: DECIDING->NOT_DECIDED. goal is not safe"); return {DecidingPathStatus::NOT_DECIDED, clock_->now()}; } @@ -1052,15 +1203,20 @@ DecidingPathStatusWithStamp GoalPlannerModule::checkDecidingPathStatus() const // check current parking path collision const auto parking_path = utils::resamplePathWithSpline(pull_over_path->getParkingPath(), 0.5); const double margin = - parameters_->object_recognition_collision_check_hard_margins.back() * hysteresis_factor; - if (checkObjectsCollision(parking_path, margin, /*extract_static_objects=*/false)) { + parameters.object_recognition_collision_check_hard_margins.back() * hysteresis_factor; + if (checkObjectsCollision( + parking_path, planner_data, parameters, margin, /*extract_static_objects=*/false)) { RCLCPP_DEBUG( getLogger(), "[DecidingPathStatus]: DECIDING->NOT_DECIDED. path has collision with objects"); return {DecidingPathStatus::NOT_DECIDED, clock_->now()}; } - if (enable_safety_check && !isSafePath().first) { + if ( + enable_safety_check && !isSafePath( + planner_data, parameters, ego_predicted_path_params, + objects_filtering_params, safety_check_params) + .first) { RCLCPP_DEBUG( getLogger(), "[DecidingPathStatus]: DECIDING->NOT_DECIDED. path is not safe against dynamic objects"); @@ -1084,7 +1240,7 @@ DecidingPathStatusWithStamp GoalPlannerModule::checkDecidingPathStatus() const } // if ego is sufficiently close to the start of the nearest candidate path, the path is decided - const auto & current_pose = planner_data_->self_odometry->pose.pose; + const auto & current_pose = planner_data->self_odometry->pose.pose; const size_t ego_segment_idx = motion_utils::findNearestSegmentIndex(current_path.points, current_pose.position); @@ -1093,13 +1249,13 @@ DecidingPathStatusWithStamp GoalPlannerModule::checkDecidingPathStatus() const const double dist_to_parking_start_pose = calcSignedArcLength( current_path.points, current_pose.position, ego_segment_idx, pull_over_path->start_pose.position, start_pose_segment_idx); - if (dist_to_parking_start_pose > parameters_->decide_path_distance) { + if (dist_to_parking_start_pose > parameters.decide_path_distance) { return {DecidingPathStatus::NOT_DECIDED, clock_->now()}; } // if object recognition for path collision check is enabled, transition to DECIDING to check // collision for a certain period of time. Otherwise, transition to DECIDED directly. - if (parameters_->use_object_recognition) { + if (parameters.use_object_recognition) { RCLCPP_DEBUG( getLogger(), "[DecidingPathStatus]: NOT_DECIDED->DECIDING. start checking collision for certain " @@ -1124,7 +1280,9 @@ void GoalPlannerModule::decideVelocity() BehaviorModuleOutput GoalPlannerModule::planPullOver() { - if (!hasDecidedPath()) { + if (!hasDecidedPath( + planner_data_, occupancy_grid_map_, *parameters_, ego_predicted_path_params_, + objects_filtering_params_, safety_check_params_, goal_searcher_)) { return planPullOverAsCandidate(); } @@ -1168,7 +1326,12 @@ BehaviorModuleOutput GoalPlannerModule::planPullOverAsOutput() return getPreviousModuleOutput(); } - if (hasNotDecidedPath() && needPathUpdate(1.0 /*path_update_duration*/)) { + if ( + hasNotDecidedPath( + planner_data_, occupancy_grid_map_, *parameters_, ego_predicted_path_params_, + objects_filtering_params_, safety_check_params_, goal_searcher_) && + needPathUpdate( + planner_data_->self_odometry->pose.pose, 1.0 /*path_update_duration*/, *parameters_)) { // if the final path is not decided and enough time has passed since last path update, // select safe path from lane parking pull over path candidates // and set it to thread_safe_data_ @@ -1177,9 +1340,8 @@ BehaviorModuleOutput GoalPlannerModule::planPullOverAsOutput() thread_safe_data_.clearPullOverPath(); // update goal candidates - goal_searcher_->setPlannerData(planner_data_); auto goal_candidates = thread_safe_data_.get_goal_candidates(); - goal_searcher_->update(goal_candidates); + goal_searcher_->update(goal_candidates, occupancy_grid_map_, planner_data_); // update pull over path candidates const auto pull_over_path_candidates = sortPullOverPathCandidatesByGoalPriority( @@ -1240,9 +1402,14 @@ void GoalPlannerModule::postProcess() return; } - const bool has_decided_path = hasDecidedPath(); const auto distance_to_path_change = calcDistanceToPathChange(); + // TODO(Mamoru Sobue): repetitive call to checkDecidingPathStatus() in the main thread is a + // waste of time because it gives same result throughout the main thread. + const bool has_decided_path = hasDecidedPath( + planner_data_, occupancy_grid_map_, *parameters_, ego_predicted_path_params_, + objects_filtering_params_, safety_check_params_, goal_searcher_); + if (has_decided_path) { updateRTCStatus(distance_to_path_change.first, distance_to_path_change.second); } @@ -1260,27 +1427,35 @@ void GoalPlannerModule::updatePreviousData() { // for the next loop setOutput(). // this is used to determine whether to generate a new stop path or keep the current stop path. - prev_data_.found_path = thread_safe_data_.foundPullOverPath(); + // TODO(Mamoru Sobue): put prev_data_ out of ThreadSafeData + auto prev_data = thread_safe_data_.get_prev_data(); + prev_data.found_path = thread_safe_data_.foundPullOverPath(); - prev_data_.deciding_path_status = checkDecidingPathStatus(); + prev_data.deciding_path_status = checkDecidingPathStatus( + planner_data_, occupancy_grid_map_, *parameters_, ego_predicted_path_params_, + objects_filtering_params_, safety_check_params_, goal_searcher_); // This is related to safety check, so if it is disabled, return here. if (!parameters_->safety_check_params.enable_safety_check) { - prev_data_.safety_status.is_safe = true; - return; - } - - // Even if the current path is safe, it will not be safe unless it stands for a certain period of - // time. Record the time when the current path has become safe - const auto [is_safe, current_is_safe] = isSafePath(); - if (current_is_safe) { - if (!prev_data_.safety_status.safe_start_time) { - prev_data_.safety_status.safe_start_time = clock_->now(); - } + prev_data.safety_status.is_safe = true; } else { - prev_data_.safety_status.safe_start_time = std::nullopt; + // Even if the current path is safe, it will not be safe unless it stands for a certain period + // of time. Record the time when the current path has become safe + const auto [is_safe, current_is_safe] = isSafePath( + planner_data_, *parameters_, ego_predicted_path_params_, objects_filtering_params_, + safety_check_params_); + if (current_is_safe) { + if (!prev_data.safety_status.safe_start_time) { + prev_data.safety_status.safe_start_time = clock_->now(); + } + } else { + prev_data.safety_status.safe_start_time = std::nullopt; + } + prev_data.safety_status.is_safe = is_safe; } - prev_data_.safety_status.is_safe = is_safe; + + // commit the change + thread_safe_data_.set_prev_data(prev_data); } BehaviorModuleOutput GoalPlannerModule::planWaitingApproval() @@ -1357,8 +1532,8 @@ PathWithLaneId GoalPlannerModule::generateStopPath() const // calculate search start offset pose from the closest goal candidate pose with // approximate_pull_over_distance_ ego vehicle decelerates to this position. or if no feasible // stop point is found, stop at this position. - const auto closest_goal_candidate = - goal_searcher_->getClosetGoalCandidateAlongLanes(thread_safe_data_.get_goal_candidates()); + const auto closest_goal_candidate = goal_searcher_->getClosetGoalCandidateAlongLanes( + thread_safe_data_.get_goal_candidates(), planner_data_); const auto decel_pose = calcLongitudinalOffsetPose( extended_prev_path.points, closest_goal_candidate.goal_pose.position, -approximate_pull_over_distance_); @@ -1486,10 +1661,13 @@ bool GoalPlannerModule::isStopped() return isStopped(odometry_buffer_stopped_, parameters_->th_stopped_time); } -bool GoalPlannerModule::isStuck() +bool GoalPlannerModule::isStuck( + const std::shared_ptr planner_data, + const std::shared_ptr occupancy_grid_map, + const GoalPlannerParameters & parameters) { const std::lock_guard lock(mutex_); - if (isOnModifiedGoal()) { + if (isOnModifiedGoal(planner_data->self_odometry->pose.pose, parameters)) { return false; } @@ -1509,17 +1687,18 @@ bool GoalPlannerModule::isStuck() } if ( - parameters_->use_object_recognition && + parameters.use_object_recognition && checkObjectsCollision( - thread_safe_data_.get_pull_over_path()->getCurrentPath(), + thread_safe_data_.get_pull_over_path()->getCurrentPath(), planner_data, parameters, /*extract_static_objects=*/false, - parameters_->object_recognition_collision_check_hard_margins.back())) { + parameters.object_recognition_collision_check_hard_margins.back())) { return true; } if ( - parameters_->use_occupancy_grid_for_path_collision_check && - checkOccupancyGridCollision(thread_safe_data_.get_pull_over_path()->getCurrentPath())) { + parameters.use_occupancy_grid_for_path_collision_check && + checkOccupancyGridCollision( + thread_safe_data_.get_pull_over_path()->getCurrentPath(), occupancy_grid_map)) { return true; } @@ -1565,15 +1744,15 @@ bool GoalPlannerModule::hasFinishedCurrentPath() parameters_->th_arrived_distance; } -bool GoalPlannerModule::isOnModifiedGoal() const +bool GoalPlannerModule::isOnModifiedGoal( + const Pose & current_pose, const GoalPlannerParameters & parameters) const { if (!thread_safe_data_.get_modified_goal_pose()) { return false; } - const Pose current_pose = planner_data_->self_odometry->pose.pose; return calcDistance2d(current_pose, thread_safe_data_.get_modified_goal_pose()->goal_pose) < - parameters_->th_arrived_distance; + parameters.th_arrived_distance; } TurnSignalInfo GoalPlannerModule::calcTurnSignalInfo() @@ -1642,31 +1821,34 @@ TurnSignalInfo GoalPlannerModule::calcTurnSignalInfo() return new_signal; } -bool GoalPlannerModule::checkOccupancyGridCollision(const PathWithLaneId & path) const +bool GoalPlannerModule::checkOccupancyGridCollision( + const PathWithLaneId & path, + const std::shared_ptr occupancy_grid_map) const { - if (!occupancy_grid_map_) { + if (!occupancy_grid_map) { return false; } const bool check_out_of_range = false; - return occupancy_grid_map_->hasObstacleOnPath(path, check_out_of_range); + return occupancy_grid_map->hasObstacleOnPath(path, check_out_of_range); } bool GoalPlannerModule::checkObjectsCollision( - const PathWithLaneId & path, const double collision_check_margin, + const PathWithLaneId & path, const std::shared_ptr planner_data, + const GoalPlannerParameters & parameters, const double collision_check_margin, const bool extract_static_objects, const bool update_debug_data) const { const auto target_objects = std::invoke([&]() { - const auto & p = parameters_; - const auto & rh = *(planner_data_->route_handler); - const auto objects = *(planner_data_->dynamic_object); + const auto & p = parameters; + const auto & rh = *(planner_data->route_handler); + const auto objects = *(planner_data->dynamic_object); if (extract_static_objects) { return goal_planner_utils::extractStaticObjectsInExpandedPullOverLanes( - rh, left_side_parking_, p->backward_goal_search_length, p->forward_goal_search_length, - p->detection_bound_offset, objects, p->th_moving_object_velocity); + rh, left_side_parking_, p.backward_goal_search_length, p.forward_goal_search_length, + p.detection_bound_offset, objects, p.th_moving_object_velocity); } return goal_planner_utils::extractObjectsInExpandedPullOverLanes( - rh, left_side_parking_, p->backward_goal_search_length, p->forward_goal_search_length, - p->detection_bound_offset, objects); + rh, left_side_parking_, p.backward_goal_search_length, p.forward_goal_search_length, + p.detection_bound_offset, objects); }); std::vector obj_polygons; @@ -1685,8 +1867,8 @@ bool GoalPlannerModule::checkObjectsCollision( const auto p = path.points.at(i); const double extra_stopping_margin = std::min( - std::pow(p.point.longitudinal_velocity_mps, 2) * 0.5 / parameters_->maximum_deceleration, - parameters_->object_recognition_collision_check_max_extra_stopping_margin); + std::pow(p.point.longitudinal_velocity_mps, 2) * 0.5 / parameters.maximum_deceleration, + parameters.object_recognition_collision_check_max_extra_stopping_margin); // The square is meant to imply centrifugal force, but it is not a very well-founded formula. // TODO(kosuke55): It is needed to consider better way because there is an inherently different @@ -1697,9 +1879,9 @@ bool GoalPlannerModule::checkObjectsCollision( const auto ego_polygon = tier4_autoware_utils::toFootprint( p.point.pose, - planner_data_->parameters.base_link2front + collision_check_margin + extra_stopping_margin, - planner_data_->parameters.base_link2rear + collision_check_margin, - planner_data_->parameters.vehicle_width + collision_check_margin * 2.0 + + planner_data->parameters.base_link2front + collision_check_margin + extra_stopping_margin, + planner_data->parameters.base_link2rear + collision_check_margin, + planner_data->parameters.vehicle_width + collision_check_margin * 2.0 + extra_lateral_margin * 2.0); ego_polygons_expanded.push_back(ego_polygon); } @@ -1711,7 +1893,8 @@ bool GoalPlannerModule::checkObjectsCollision( return utils::path_safety_checker::checkPolygonsIntersects(ego_polygons_expanded, obj_polygons); } -bool GoalPlannerModule::hasEnoughDistance(const PullOverPath & pull_over_path) const +bool GoalPlannerModule::hasEnoughDistance( + const PullOverPath & pull_over_path, const PathWithLaneId & long_tail_reference_path) const { const Pose & current_pose = planner_data_->self_odometry->pose.pose; const double current_vel = planner_data_->self_odometry->twist.twist.linear.x; @@ -1723,7 +1906,7 @@ bool GoalPlannerModule::hasEnoughDistance(const PullOverPath & pull_over_path) c // otherwise, the goal would change immediately after departure. const bool is_separated_path = pull_over_path.partial_paths.size() > 1; const double distance_to_start = calcSignedArcLength( - pull_over_path.getFullPath().points, current_pose.position, pull_over_path.start_pose.position); + long_tail_reference_path.points, current_pose.position, pull_over_path.start_pose.position); const double distance_to_restart = parameters_->decide_path_distance / 2; const double eps_vel = 0.01; const bool is_stopped = std::abs(current_vel) < eps_vel; @@ -1782,8 +1965,8 @@ double GoalPlannerModule::calcSignedArcLengthFromEgo( void GoalPlannerModule::deceleratePath(PullOverPath & pull_over_path) const { // decelerate before the search area start - const auto closest_goal_candidate = - goal_searcher_->getClosetGoalCandidateAlongLanes(thread_safe_data_.get_goal_candidates()); + const auto closest_goal_candidate = goal_searcher_->getClosetGoalCandidateAlongLanes( + thread_safe_data_.get_goal_candidates(), planner_data_); const auto decel_pose = calcLongitudinalOffsetPose( pull_over_path.getFullPath().points, closest_goal_candidate.goal_pose.position, -approximate_pull_over_distance_); @@ -1897,20 +2080,11 @@ bool GoalPlannerModule::isCrossingPossible( // Lambda function to get the neighboring lanelet based on left_side_parking_ auto getNeighboringLane = [&](const lanelet::ConstLanelet & lane) -> std::optional { - lanelet::ConstLanelet neighboring_lane{}; - if (left_side_parking_) { - if (route_handler->getLeftShoulderLanelet(lane, &neighboring_lane)) { - return neighboring_lane; - } else { - return route_handler->getLeftLanelet(lane); - } - } else { - if (route_handler->getRightShoulderLanelet(lane, &neighboring_lane)) { - return neighboring_lane; - } else { - return route_handler->getRightLanelet(lane); - } - } + const auto neighboring_lane = left_side_parking_ ? route_handler->getLeftShoulderLanelet(lane) + : route_handler->getRightShoulderLanelet(lane); + if (neighboring_lane) return neighboring_lane; + return left_side_parking_ ? route_handler->getLeftLanelet(lane) + : route_handler->getRightLanelet(lane); }; // Iterate through start_lane_sequence to find a path to end_lane_sequence @@ -1964,6 +2138,7 @@ bool GoalPlannerModule::isCrossingPossible(const PullOverPath & pull_over_path) return isCrossingPossible(start_pose, end_pose, lanes); } +/* void GoalPlannerModule::updateSafetyCheckTargetObjectsData( const PredictedObjects & filtered_objects, const TargetObjectsOnLane & target_objects_on_lane, const std::vector & ego_predicted_path) const @@ -1972,6 +2147,7 @@ void GoalPlannerModule::updateSafetyCheckTargetObjectsData( goal_planner_data_.target_objects_on_lane = target_objects_on_lane; goal_planner_data_.ego_predicted_path = ego_predicted_path; } +*/ static std::vector filterObjectsByWithinPolicy( const std::shared_ptr & objects, @@ -2017,26 +2193,29 @@ static std::vector filterOb return refined_filtered_objects; } -std::pair GoalPlannerModule::isSafePath() const +std::pair GoalPlannerModule::isSafePath( + const std::shared_ptr planner_data, const GoalPlannerParameters & parameters, + const std::shared_ptr & ego_predicted_path_params, + const std::shared_ptr & objects_filtering_params, + const std::shared_ptr & safety_check_params) const { if (!thread_safe_data_.get_pull_over_path()) { return {false, false}; } const auto pull_over_path = thread_safe_data_.get_pull_over_path()->getCurrentPath(); - const auto & current_pose = planner_data_->self_odometry->pose.pose; + const auto & current_pose = planner_data->self_odometry->pose.pose; const double current_velocity = std::hypot( - planner_data_->self_odometry->twist.twist.linear.x, - planner_data_->self_odometry->twist.twist.linear.y); - const auto & dynamic_object = planner_data_->dynamic_object; - const auto & route_handler = planner_data_->route_handler; + planner_data->self_odometry->twist.twist.linear.x, + planner_data->self_odometry->twist.twist.linear.y); + const auto & dynamic_object = planner_data->dynamic_object; + const auto & route_handler = planner_data->route_handler; const lanelet::ConstLanelets current_lanes = utils::getExtendedCurrentLanes( - planner_data_, parameters_->backward_goal_search_length, - parameters_->forward_goal_search_length, + planner_data, parameters.backward_goal_search_length, parameters.forward_goal_search_length, /*forward_only_in_route*/ false); const auto pull_over_lanes = goal_planner_utils::getPullOverLanes( - *route_handler, left_side_parking_, parameters_->backward_goal_search_length, - parameters_->forward_goal_search_length); - const size_t ego_seg_idx = planner_data_->findEgoSegmentIndex(pull_over_path.points); + *route_handler, left_side_parking_, parameters.backward_goal_search_length, + parameters.forward_goal_search_length); + const size_t ego_seg_idx = planner_data->findEgoSegmentIndex(pull_over_path.points); const std::pair terminal_velocity_and_accel = utils::parking_departure::getPairsTerminalVelocityAndAccel( thread_safe_data_.get_pull_over_path()->pairs_terminal_velocity_and_accel, @@ -2044,15 +2223,15 @@ std::pair GoalPlannerModule::isSafePath() const RCLCPP_DEBUG( getLogger(), "pairs_terminal_velocity_and_accel for goal_planner: %f, %f", terminal_velocity_and_accel.first, terminal_velocity_and_accel.second); - utils::parking_departure::updatePathProperty( - ego_predicted_path_params_, terminal_velocity_and_accel); + auto temp_param = std::make_shared(*ego_predicted_path_params); + utils::parking_departure::updatePathProperty(temp_param, terminal_velocity_and_accel); // TODO(Sugahara): shoule judge is_object_front properly const bool is_object_front = true; const bool limit_to_max_velocity = true; const auto ego_predicted_path = behavior_path_planner::utils::path_safety_checker::createPredictedPath( - ego_predicted_path_params_, pull_over_path.points, current_pose, current_velocity, - ego_seg_idx, is_object_front, limit_to_max_velocity); + ego_predicted_path_params, pull_over_path.points, current_pose, current_velocity, ego_seg_idx, + is_object_front, limit_to_max_velocity); // ========================================================================================== // if ego is before the entry of pull_over_lanes, the beginning of the safety check area @@ -2094,36 +2273,38 @@ std::pair GoalPlannerModule::isSafePath() const const auto expanded_pull_over_lanes_between_ego = goal_planner_utils::generateBetweenEgoAndExpandedPullOverLanes( pull_over_lanes, left_side_parking_, ego_pose_for_expand, - planner_data_->parameters.vehicle_info, parameters_->outer_road_detection_offset, - parameters_->inner_road_detection_offset); + planner_data->parameters.vehicle_info, parameters.outer_road_detection_offset, + parameters.inner_road_detection_offset); const auto merged_expanded_pull_over_lanes = lanelet::utils::combineLaneletsShape(expanded_pull_over_lanes_between_ego); debug_data_.expanded_pull_over_lane_between_ego = merged_expanded_pull_over_lanes; const auto filtered_objects = filterObjectsByWithinPolicy( - dynamic_object, {merged_expanded_pull_over_lanes}, objects_filtering_params_); + dynamic_object, {merged_expanded_pull_over_lanes}, objects_filtering_params); + const auto prev_data = thread_safe_data_.get_prev_data(); const double hysteresis_factor = - prev_data_.safety_status.is_safe ? 1.0 : parameters_->hysteresis_factor_expand_rate; + prev_data.safety_status.is_safe ? 1.0 : parameters.hysteresis_factor_expand_rate; + CollisionCheckDebugMap collision_check{}; const bool current_is_safe = std::invoke([&]() { - if (parameters_->safety_check_params.method == "RSS") { + if (parameters.safety_check_params.method == "RSS") { return behavior_path_planner::utils::path_safety_checker::checkSafetyWithRSS( - pull_over_path, ego_predicted_path, filtered_objects, goal_planner_data_.collision_check, - planner_data_->parameters, safety_check_params_->rss_params, - objects_filtering_params_->use_all_predicted_path, hysteresis_factor); - } else if (parameters_->safety_check_params.method == "integral_predicted_polygon") { + pull_over_path, ego_predicted_path, filtered_objects, collision_check, + planner_data->parameters, safety_check_params->rss_params, + objects_filtering_params->use_all_predicted_path, hysteresis_factor); + } else if (parameters.safety_check_params.method == "integral_predicted_polygon") { return utils::path_safety_checker::checkSafetyWithIntegralPredictedPolygon( ego_predicted_path, vehicle_info_, filtered_objects, - objects_filtering_params_->check_all_predicted_path, - parameters_->safety_check_params.integral_predicted_polygon_params, - goal_planner_data_.collision_check); + objects_filtering_params->check_all_predicted_path, + parameters.safety_check_params.integral_predicted_polygon_params, collision_check); } RCLCPP_ERROR( getLogger(), " [pull_over] invalid safety check method: %s", - parameters_->safety_check_params.method.c_str()); + parameters.safety_check_params.method.c_str()); throw std::domain_error("[pull_over] invalid safety check method"); }); + thread_safe_data_.set_collision_check(collision_check); /* * ==== is_safe @@ -2140,9 +2321,9 @@ std::pair GoalPlannerModule::isSafePath() const */ if (current_is_safe) { if ( - prev_data_.safety_status.safe_start_time && - (clock_->now() - prev_data_.safety_status.safe_start_time.value()).seconds() > - parameters_->safety_check_params.keep_unsafe_time) { + prev_data.safety_status.safe_start_time && + (clock_->now() - prev_data.safety_status.safe_start_time.value()).seconds() > + parameters.safety_check_params.keep_unsafe_time) { return {true /*is_safe*/, true /*current_is_safe*/}; } } @@ -2176,8 +2357,12 @@ void GoalPlannerModule::setDebugData() }; if (utils::isAllowedGoalModification(planner_data_->route_handler)) { // Visualize pull over areas - const auto color = hasDecidedPath() ? createMarkerColor(1.0, 1.0, 0.0, 0.999) // yellow - : createMarkerColor(0.0, 1.0, 0.0, 0.999); // green + const auto color = + hasDecidedPath( + planner_data_, occupancy_grid_map_, *parameters_, ego_predicted_path_params_, + objects_filtering_params_, safety_check_params_, goal_searcher_) + ? createMarkerColor(1.0, 1.0, 0.0, 0.999) // yellow + : createMarkerColor(0.0, 1.0, 0.0, 0.999); // green const double z = planner_data_->route_handler->getGoalPose().position.z; add(goal_planner_utils::createPullOverAreaMarkerArray( goal_searcher_->getAreaPolygons(), header, color, z)); @@ -2190,9 +2375,11 @@ void GoalPlannerModule::setDebugData() // Visualize previous module output add(createPathMarkerArray( getPreviousModuleOutput().path, "previous_module_path", 0, 1.0, 0.0, 0.0)); - if (last_previous_module_output_.has_value()) { + + const auto last_previous_module_output = thread_safe_data_.get_last_previous_module_output(); + if (last_previous_module_output.has_value()) { add(createPathMarkerArray( - last_previous_module_output_.value().path, "last_previous_module_path", 0, 0.0, 1.0, 1.0)); + last_previous_module_output.value().path, "last_previous_module_path", 0, 0.0, 1.0, 1.0)); } // Visualize path and related pose @@ -2249,6 +2436,7 @@ void GoalPlannerModule::setDebugData() } } + auto collision_check = thread_safe_data_.get_collision_check(); // safety check if (parameters_->safety_check_params.enable_safety_check) { if (goal_planner_data_.ego_predicted_path.size() > 0) { @@ -2263,33 +2451,35 @@ void GoalPlannerModule::setDebugData() } if (parameters_->safety_check_params.method == "RSS") { - add(showSafetyCheckInfo(goal_planner_data_.collision_check, "object_debug_info")); + add(showSafetyCheckInfo(collision_check, "object_debug_info")); } - add(showPredictedPath(goal_planner_data_.collision_check, "ego_predicted_path")); - add(showPolygon(goal_planner_data_.collision_check, "ego_and_target_polygon_relation")); + add(showPredictedPath(collision_check, "ego_predicted_path")); + add(showPolygon(collision_check, "ego_and_target_polygon_relation")); // set objects of interest - for (const auto & [uuid, data] : goal_planner_data_.collision_check) { + for (const auto & [uuid, data] : collision_check) { const auto color = data.is_safe ? ColorName::GREEN : ColorName::RED; setObjectsOfInterestData(data.current_obj_pose, data.obj_shape, color); } - utils::parking_departure::initializeCollisionCheckDebugMap(goal_planner_data_.collision_check); + // TODO(Mamoru Sobue): it is not clear where ThreadSafeData::collision_check should be cleared + utils::parking_departure::initializeCollisionCheckDebugMap(collision_check); // visualize safety status maker { + const auto prev_data = thread_safe_data_.get_prev_data(); visualization_msgs::msg::MarkerArray marker_array{}; - const auto color = prev_data_.safety_status.is_safe ? createMarkerColor(1.0, 1.0, 1.0, 0.99) - : createMarkerColor(1.0, 0.0, 0.0, 0.99); + const auto color = prev_data.safety_status.is_safe ? createMarkerColor(1.0, 1.0, 1.0, 0.99) + : createMarkerColor(1.0, 0.0, 0.0, 0.99); auto marker = createDefaultMarker( header.frame_id, header.stamp, "safety_status", 0, visualization_msgs::msg::Marker::TEXT_VIEW_FACING, createMarkerScale(0.0, 0.0, 1.0), color); marker.pose = planner_data_->self_odometry->pose.pose; - marker.text += "is_safe: " + std::to_string(prev_data_.safety_status.is_safe) + "\n"; - if (prev_data_.safety_status.safe_start_time) { + marker.text += "is_safe: " + std::to_string(prev_data.safety_status.is_safe) + "\n"; + if (prev_data.safety_status.safe_start_time) { const double elapsed_time_from_safe_start = - (clock_->now() - prev_data_.safety_status.safe_start_time.value()).seconds(); + (clock_->now() - prev_data.safety_status.safe_start_time.value()).seconds(); marker.text += "elapsed_time_from_safe_start: " + std::to_string(elapsed_time_from_safe_start) + "\n"; } @@ -2317,7 +2507,7 @@ void GoalPlannerModule::setDebugData() std::to_string(thread_safe_data_.get_pull_over_path()->partial_paths.size() - 1); } - if (isStuck()) { + if (isStuck(planner_data_, occupancy_grid_map_, *parameters_)) { marker.text += " stuck"; } else if (isStopped()) { marker.text += " stopped"; @@ -2367,9 +2557,12 @@ void GoalPlannerModule::printParkingPositionError() const distance_from_real_shoulder); } -bool GoalPlannerModule::needPathUpdate(const double path_update_duration) const +bool GoalPlannerModule::needPathUpdate( + const Pose & current_pose, const double path_update_duration, + const GoalPlannerParameters & parameters) const { - return !isOnModifiedGoal() && hasEnoughTimePassedSincePathUpdate(path_update_duration); + return !isOnModifiedGoal(current_pose, parameters) && + hasEnoughTimePassedSincePathUpdate(path_update_duration); } bool GoalPlannerModule::hasEnoughTimePassedSincePathUpdate(const double duration) const @@ -2380,4 +2573,58 @@ bool GoalPlannerModule::hasEnoughTimePassedSincePathUpdate(const double duration return (clock_->now() - *thread_safe_data_.get_last_path_update_time()).seconds() > duration; } + +void GoalPlannerModule::GoalPlannerData::initializeOccupancyGridMap( + const PlannerData & planner_data, const GoalPlannerParameters & parameters) +{ + OccupancyGridMapParam occupancy_grid_map_param{}; + const double margin = parameters.occupancy_grid_collision_check_margin; + occupancy_grid_map_param.vehicle_shape.length = + planner_data.parameters.vehicle_length + 2 * margin; + occupancy_grid_map_param.vehicle_shape.width = planner_data.parameters.vehicle_width + 2 * margin; + occupancy_grid_map_param.vehicle_shape.base2back = + planner_data.parameters.base_link2rear + margin; + occupancy_grid_map_param.theta_size = parameters.theta_size; + occupancy_grid_map_param.obstacle_threshold = parameters.obstacle_threshold; + occupancy_grid_map = std::make_shared(); + occupancy_grid_map->setParam(occupancy_grid_map_param); +} + +GoalPlannerModule::GoalPlannerData GoalPlannerModule::GoalPlannerData::clone() const +{ + GoalPlannerModule::GoalPlannerData gp_planner_data(planner_data, parameters); + gp_planner_data.update( + parameters, ego_predicted_path_params, objects_filtering_params, safety_check_params, + planner_data, current_status, previous_module_output, goal_searcher, vehicle_footprint); + return gp_planner_data; +} + +void GoalPlannerModule::GoalPlannerData::update( + const GoalPlannerParameters & parameters_, + const std::shared_ptr & ego_predicted_path_params_, + const std::shared_ptr & objects_filtering_params_, + const std::shared_ptr & safety_check_params_, + const PlannerData & planner_data_, const ModuleStatus & current_status_, + const BehaviorModuleOutput & previous_module_output_, + const std::shared_ptr goal_searcher_, + const tier4_autoware_utils::LinearRing2d & vehicle_footprint_) +{ + parameters = parameters_; + ego_predicted_path_params = ego_predicted_path_params_; + objects_filtering_params = objects_filtering_params_; + safety_check_params = safety_check_params_; + vehicle_footprint = vehicle_footprint_; + + planner_data = planner_data_; + planner_data.route_handler = std::make_shared(*(planner_data_.route_handler)); + current_status = current_status_; + previous_module_output = previous_module_output_; + occupancy_grid_map->setMap(*(planner_data.occupancy_grid)); + // to create a deepcopy of GoalPlanner(not GoalPlannerBase), goal_searcher_ is not enough, so + // recreate it here + goal_searcher = std::make_shared(parameters, vehicle_footprint); + // and then copy the reference goal + goal_searcher->setReferenceGoal(goal_searcher_->getReferenceGoal()); +} + } // namespace behavior_path_planner diff --git a/planning/behavior_path_goal_planner_module/src/goal_searcher.cpp b/planning/behavior_path_goal_planner_module/src/goal_searcher.cpp index bd19871c482fc..df91687622349 100644 --- a/planning/behavior_path_goal_planner_module/src/goal_searcher.cpp +++ b/planning/behavior_path_goal_planner_module/src/goal_searcher.cpp @@ -90,35 +90,35 @@ struct SortByWeightedDistance }; GoalSearcher::GoalSearcher( - const GoalPlannerParameters & parameters, const LinearRing2d & vehicle_footprint, - const std::shared_ptr & occupancy_grid_map) + const GoalPlannerParameters & parameters, const LinearRing2d & vehicle_footprint) : GoalSearcherBase{parameters}, vehicle_footprint_{vehicle_footprint}, - occupancy_grid_map_{occupancy_grid_map}, left_side_parking_{parameters.parking_policy == ParkingPolicy::LEFT_SIDE} { } -GoalCandidates GoalSearcher::search() +GoalCandidates GoalSearcher::search( + const std::shared_ptr occupancy_grid_map, + const std::shared_ptr & planner_data) { GoalCandidates goal_candidates{}; - const auto & route_handler = planner_data_->route_handler; + const auto & route_handler = planner_data->route_handler; const double forward_length = parameters_.forward_goal_search_length; const double backward_length = parameters_.backward_goal_search_length; const double margin_from_boundary = parameters_.margin_from_boundary; const double lateral_offset_interval = parameters_.lateral_offset_interval; const double max_lateral_offset = parameters_.max_lateral_offset; const double ignore_distance_from_lane_start = parameters_.ignore_distance_from_lane_start; - const double vehicle_width = planner_data_->parameters.vehicle_width; - const double base_link2front = planner_data_->parameters.base_link2front; - const double base_link2rear = planner_data_->parameters.base_link2rear; + const double vehicle_width = planner_data->parameters.vehicle_width; + const double base_link2front = planner_data->parameters.base_link2front; + const double base_link2rear = planner_data->parameters.base_link2rear; const auto pull_over_lanes = goal_planner_utils::getPullOverLanes( *route_handler, left_side_parking_, parameters_.backward_goal_search_length, parameters_.forward_goal_search_length); auto lanes = utils::getExtendedCurrentLanes( - planner_data_, backward_length, forward_length, + planner_data, backward_length, forward_length, /*forward_only_in_route*/ false); lanes.insert(lanes.end(), pull_over_lanes.begin(), pull_over_lanes.end()); @@ -193,17 +193,18 @@ GoalCandidates GoalSearcher::search() goal_candidates.push_back(goal_candidate); } } - createAreaPolygons(original_search_poses); + createAreaPolygons(original_search_poses, planner_data); - update(goal_candidates); + update(goal_candidates, occupancy_grid_map, planner_data); return goal_candidates; } void GoalSearcher::countObjectsToAvoid( - GoalCandidates & goal_candidates, const PredictedObjects & objects) const + GoalCandidates & goal_candidates, const PredictedObjects & objects, + const std::shared_ptr & planner_data) const { - const auto & route_handler = planner_data_->route_handler; + const auto & route_handler = planner_data->route_handler; const double forward_length = parameters_.forward_goal_search_length; const double backward_length = parameters_.backward_goal_search_length; @@ -225,7 +226,7 @@ void GoalSearcher::countObjectsToAvoid( // generate current lane center line path to check collision with objects const auto current_lanes = utils::getExtendedCurrentLanes( - planner_data_, parameters_.backward_goal_search_length, parameters_.forward_goal_search_length, + planner_data, parameters_.backward_goal_search_length, parameters_.forward_goal_search_length, /*forward_only_in_route*/ false); const auto current_center_line_path = std::invoke([&]() -> PathWithLaneId { const double s_start = @@ -264,16 +265,19 @@ void GoalSearcher::countObjectsToAvoid( } } -void GoalSearcher::update(GoalCandidates & goal_candidates) const +void GoalSearcher::update( + GoalCandidates & goal_candidates, + const std::shared_ptr occupancy_grid_map, + const std::shared_ptr & planner_data) const { const auto pull_over_lane_stop_objects = goal_planner_utils::extractStaticObjectsInExpandedPullOverLanes( - *(planner_data_->route_handler), left_side_parking_, parameters_.backward_goal_search_length, + *(planner_data->route_handler), left_side_parking_, parameters_.backward_goal_search_length, parameters_.forward_goal_search_length, parameters_.detection_bound_offset, - *(planner_data_->dynamic_object), parameters_.th_moving_object_velocity); + *(planner_data->dynamic_object), parameters_.th_moving_object_velocity); if (parameters_.prioritize_goals_before_objects) { - countObjectsToAvoid(goal_candidates, pull_over_lane_stop_objects); + countObjectsToAvoid(goal_candidates, pull_over_lane_stop_objects, planner_data); } if (parameters_.goal_priority == "minimum_weighted_distance") { @@ -293,7 +297,7 @@ void GoalSearcher::update(GoalCandidates & goal_candidates) const const Pose goal_pose = goal_candidate.goal_pose; // check collision with footprint - if (checkCollision(goal_pose, pull_over_lane_stop_objects)) { + if (checkCollision(goal_pose, pull_over_lane_stop_objects, occupancy_grid_map)) { goal_candidate.is_safe = false; continue; } @@ -301,9 +305,10 @@ void GoalSearcher::update(GoalCandidates & goal_candidates) const // check longitudinal margin with pull over lane objects constexpr bool filter_inside = true; const auto target_objects = goal_planner_utils::filterObjectsByLateralDistance( - goal_pose, planner_data_->parameters.vehicle_width, pull_over_lane_stop_objects, + goal_pose, planner_data->parameters.vehicle_width, pull_over_lane_stop_objects, parameters_.object_recognition_collision_check_hard_margins.back(), filter_inside); - if (checkCollisionWithLongitudinalDistance(goal_pose, target_objects)) { + if (checkCollisionWithLongitudinalDistance( + goal_pose, target_objects, occupancy_grid_map, planner_data)) { goal_candidate.is_safe = false; continue; } @@ -316,7 +321,9 @@ void GoalSearcher::update(GoalCandidates & goal_candidates) const // current planner_data_ and margin scale factor. // And is_safe is not updated in this function. bool GoalSearcher::isSafeGoalWithMarginScaleFactor( - const GoalCandidate & goal_candidate, const double margin_scale_factor) const + const GoalCandidate & goal_candidate, const double margin_scale_factor, + const std::shared_ptr occupancy_grid_map, + const std::shared_ptr & planner_data) const { if (!parameters_.use_object_recognition) { return true; @@ -326,9 +333,9 @@ bool GoalSearcher::isSafeGoalWithMarginScaleFactor( const auto pull_over_lane_stop_objects = goal_planner_utils::extractStaticObjectsInExpandedPullOverLanes( - *(planner_data_->route_handler), left_side_parking_, parameters_.backward_goal_search_length, + *(planner_data->route_handler), left_side_parking_, parameters_.backward_goal_search_length, parameters_.forward_goal_search_length, parameters_.detection_bound_offset, - *(planner_data_->dynamic_object), parameters_.th_moving_object_velocity); + *(planner_data->dynamic_object), parameters_.th_moving_object_velocity); const double margin = parameters_.object_recognition_collision_check_hard_margins.back() * margin_scale_factor; @@ -341,23 +348,26 @@ bool GoalSearcher::isSafeGoalWithMarginScaleFactor( // check longitudinal margin with pull over lane objects constexpr bool filter_inside = true; const auto target_objects = goal_planner_utils::filterObjectsByLateralDistance( - goal_pose, planner_data_->parameters.vehicle_width, pull_over_lane_stop_objects, margin, + goal_pose, planner_data->parameters.vehicle_width, pull_over_lane_stop_objects, margin, filter_inside); - if (checkCollisionWithLongitudinalDistance(goal_pose, target_objects)) { + if (checkCollisionWithLongitudinalDistance( + goal_pose, target_objects, occupancy_grid_map, planner_data)) { return false; } return true; } -bool GoalSearcher::checkCollision(const Pose & pose, const PredictedObjects & objects) const +bool GoalSearcher::checkCollision( + const Pose & pose, const PredictedObjects & objects, + const std::shared_ptr occupancy_grid_map) const { if (parameters_.use_occupancy_grid_for_goal_search) { - const Pose pose_grid_coords = global2local(occupancy_grid_map_->getMap(), pose); + const Pose pose_grid_coords = global2local(occupancy_grid_map->getMap(), pose); const auto idx = pose2index( - occupancy_grid_map_->getMap(), pose_grid_coords, occupancy_grid_map_->getParam().theta_size); + occupancy_grid_map->getMap(), pose_grid_coords, occupancy_grid_map->getParam().theta_size); const bool check_out_of_range = false; - if (occupancy_grid_map_->detectCollision(idx, check_out_of_range)) { + if (occupancy_grid_map->detectCollision(idx, check_out_of_range)) { return true; } } @@ -373,7 +383,9 @@ bool GoalSearcher::checkCollision(const Pose & pose, const PredictedObjects & ob } bool GoalSearcher::checkCollisionWithLongitudinalDistance( - const Pose & ego_pose, const PredictedObjects & objects) const + const Pose & ego_pose, const PredictedObjects & objects, + const std::shared_ptr occupancy_grid_map, + const std::shared_ptr & planner_data) const { if ( parameters_.use_occupancy_grid_for_goal_search && @@ -385,22 +397,22 @@ bool GoalSearcher::checkCollisionWithLongitudinalDistance( // check forward collision const Pose ego_pose_moved_forward = calcOffsetPose(ego_pose, offset, 0, 0); const Pose forward_pose_grid_coords = - global2local(occupancy_grid_map_->getMap(), ego_pose_moved_forward); + global2local(occupancy_grid_map->getMap(), ego_pose_moved_forward); const auto forward_idx = pose2index( - occupancy_grid_map_->getMap(), forward_pose_grid_coords, - occupancy_grid_map_->getParam().theta_size); - if (occupancy_grid_map_->detectCollision(forward_idx, check_out_of_range)) { + occupancy_grid_map->getMap(), forward_pose_grid_coords, + occupancy_grid_map->getParam().theta_size); + if (occupancy_grid_map->detectCollision(forward_idx, check_out_of_range)) { return true; } // check backward collision const Pose ego_pose_moved_backward = calcOffsetPose(ego_pose, -offset, 0, 0); const Pose backward_pose_grid_coords = - global2local(occupancy_grid_map_->getMap(), ego_pose_moved_backward); + global2local(occupancy_grid_map->getMap(), ego_pose_moved_backward); const auto backward_idx = pose2index( - occupancy_grid_map_->getMap(), backward_pose_grid_coords, - occupancy_grid_map_->getParam().theta_size); - if (occupancy_grid_map_->detectCollision(backward_idx, check_out_of_range)) { + occupancy_grid_map->getMap(), backward_pose_grid_coords, + occupancy_grid_map->getParam().theta_size); + if (occupancy_grid_map->detectCollision(backward_idx, check_out_of_range)) { return true; } } @@ -408,23 +420,24 @@ bool GoalSearcher::checkCollisionWithLongitudinalDistance( if (parameters_.use_object_recognition) { if ( utils::calcLongitudinalDistanceFromEgoToObjects( - ego_pose, planner_data_->parameters.base_link2front, - planner_data_->parameters.base_link2rear, objects) < parameters_.longitudinal_margin) { + ego_pose, planner_data->parameters.base_link2front, planner_data->parameters.base_link2rear, + objects) < parameters_.longitudinal_margin) { return true; } } return false; } -void GoalSearcher::createAreaPolygons(std::vector original_search_poses) +void GoalSearcher::createAreaPolygons( + std::vector original_search_poses, const std::shared_ptr & planner_data) { using tier4_autoware_utils::MultiPolygon2d; using tier4_autoware_utils::Point2d; using tier4_autoware_utils::Polygon2d; - const double vehicle_width = planner_data_->parameters.vehicle_width; - const double base_link2front = planner_data_->parameters.base_link2front; - const double base_link2rear = planner_data_->parameters.base_link2rear; + const double vehicle_width = planner_data->parameters.vehicle_width; + const double base_link2front = planner_data->parameters.base_link2front; + const double base_link2rear = planner_data->parameters.base_link2rear; const double max_lateral_offset = parameters_.max_lateral_offset; const auto appendPointToPolygon = @@ -506,10 +519,11 @@ bool GoalSearcher::isInAreas(const LinearRing2d & footprint, const BasicPolygons } GoalCandidate GoalSearcher::getClosetGoalCandidateAlongLanes( - const GoalCandidates & goal_candidates) const + const GoalCandidates & goal_candidates, + const std::shared_ptr & planner_data) const { const auto current_lanes = utils::getExtendedCurrentLanes( - planner_data_, parameters_.backward_goal_search_length, parameters_.forward_goal_search_length, + planner_data, parameters_.backward_goal_search_length, parameters_.forward_goal_search_length, /*forward_only_in_route*/ false); // Define a lambda function to compute the arc length for a given goal candidate. diff --git a/planning/behavior_path_goal_planner_module/src/shift_pull_over.cpp b/planning/behavior_path_goal_planner_module/src/shift_pull_over.cpp index b168da61e6239..376adb178708a 100644 --- a/planning/behavior_path_goal_planner_module/src/shift_pull_over.cpp +++ b/planning/behavior_path_goal_planner_module/src/shift_pull_over.cpp @@ -28,11 +28,9 @@ namespace behavior_path_planner { ShiftPullOver::ShiftPullOver( rclcpp::Node & node, const GoalPlannerParameters & parameters, - const LaneDepartureChecker & lane_departure_checker, - const std::shared_ptr & occupancy_grid_map) + const LaneDepartureChecker & lane_departure_checker) : PullOverPlannerBase{node, parameters}, lane_departure_checker_{lane_departure_checker}, - occupancy_grid_map_{occupancy_grid_map}, left_side_parking_{parameters.parking_policy == ParkingPolicy::LEFT_SIDE} { } @@ -220,11 +218,6 @@ std::optional ShiftPullOver::generatePullOverPath( shifted_path.path.points.push_back(p); } - // set the same z as the goal - for (auto & p : shifted_path.path.points) { - p.point.pose.position.z = goal_pose.position.z; - } - // set lane_id and velocity to shifted_path for (size_t i = path_shifter.getShiftLines().front().start_idx; i < shifted_path.path.points.size() - 1; ++i) { @@ -265,17 +258,39 @@ std::optional ShiftPullOver::generatePullOverPath( road_lane_reference_path_to_shift_end.points.back().point.pose); pull_over_path.debug_poses.push_back(prev_module_path_terminal_pose); - // check if the parking path will leave lanes - const auto drivable_lanes = - utils::generateDrivableLanesWithShoulderLanes(road_lanes, shoulder_lanes); - const auto & dp = planner_data_->drivable_area_expansion_parameters; - const auto expanded_lanes = utils::expandLanelets( - drivable_lanes, dp.drivable_area_left_bound_offset, dp.drivable_area_right_bound_offset, - dp.drivable_area_types_to_skip); - const auto combined_drivable = utils::combineDrivableLanes( - expanded_lanes, previous_module_output_.drivable_area_info.drivable_lanes); - if (lane_departure_checker_.checkPathWillLeaveLane( - utils::transformToLanelets(combined_drivable), pull_over_path.getParkingPath())) { + // check if the parking path will leave drivable area and lanes + const bool is_in_parking_lots = std::invoke([&]() -> bool { + const auto & p = planner_data_->parameters; + const auto parking_lot_polygons = + lanelet::utils::query::getAllParkingLots(planner_data_->route_handler->getLaneletMapPtr()); + const auto path_footprints = goal_planner_utils::createPathFootPrints( + pull_over_path.getParkingPath(), p.base_link2front, p.base_link2rear, p.vehicle_width); + const auto is_footprint_in_any_polygon = [&parking_lot_polygons](const auto & footprint) { + return std::any_of( + parking_lot_polygons.begin(), parking_lot_polygons.end(), + [&footprint](const auto & polygon) { + return lanelet::geometry::within(footprint, lanelet::utils::to2D(polygon).basicPolygon()); + }); + }; + return std::all_of( + path_footprints.begin(), path_footprints.end(), + [&is_footprint_in_any_polygon](const auto & footprint) { + return is_footprint_in_any_polygon(footprint); + }); + }); + const bool is_in_lanes = std::invoke([&]() -> bool { + const auto drivable_lanes = + utils::generateDrivableLanesWithShoulderLanes(road_lanes, shoulder_lanes); + const auto & dp = planner_data_->drivable_area_expansion_parameters; + const auto expanded_lanes = utils::expandLanelets( + drivable_lanes, dp.drivable_area_left_bound_offset, dp.drivable_area_right_bound_offset, + dp.drivable_area_types_to_skip); + const auto combined_drivable = utils::combineDrivableLanes( + expanded_lanes, previous_module_output_.drivable_area_info.drivable_lanes); + return !lane_departure_checker_.checkPathWillLeaveLane( + utils::transformToLanelets(combined_drivable), pull_over_path.getParkingPath()); + }); + if (!is_in_parking_lots && !is_in_lanes) { return {}; } diff --git a/planning/behavior_path_goal_planner_module/src/util.cpp b/planning/behavior_path_goal_planner_module/src/util.cpp index a43592deb3c4e..e94ab74a3bbed 100644 --- a/planning/behavior_path_goal_planner_module/src/util.cpp +++ b/planning/behavior_path_goal_planner_module/src/util.cpp @@ -55,12 +55,11 @@ lanelet::ConstLanelets getPullOverLanes( // todo(kosuek55): automatically calculates this distance. const double backward_distance_with_buffer = backward_distance + 100; - lanelet::ConstLanelet target_shoulder_lane{}; - if (route_handler::RouteHandler::getPullOverTarget( - route_handler.getShoulderLanelets(), goal_pose, &target_shoulder_lane)) { + const auto target_shoulder_lane = route_handler.getPullOverTarget(goal_pose); + if (target_shoulder_lane) { // pull over on shoulder lane return route_handler.getShoulderLaneletSequence( - target_shoulder_lane, goal_pose, backward_distance_with_buffer, forward_distance); + *target_shoulder_lane, goal_pose, backward_distance_with_buffer, forward_distance); } lanelet::ConstLanelet closest_lane{}; @@ -145,7 +144,9 @@ PredictedObjects extractObjectsInExpandedPullOverLanes( route_handler, left_side, backward_distance, forward_distance, bound_offset); const auto [objects_in_lanes, others] = utils::path_safety_checker::separateObjectsByLanelets( - objects, lanes, utils::path_safety_checker::isPolygonOverlapLanelet); + objects, lanes, [](const auto & obj, const auto & lanelet) { + return utils::path_safety_checker::isPolygonOverlapLanelet(obj, lanelet); + }); return objects_in_lanes; } @@ -432,4 +433,17 @@ PathWithLaneId extendPath( return extendPath(target_path, reference_path, extend_distance); } +std::vector createPathFootPrints( + const PathWithLaneId & path, const double base_to_front, const double base_to_rear, + const double width) +{ + std::vector footprints; + for (const auto & point : path.points) { + const auto & pose = point.point.pose; + footprints.push_back( + tier4_autoware_utils::toFootprint(pose, base_to_front, base_to_rear, width)); + } + return footprints; +} + } // namespace behavior_path_planner::goal_planner_utils diff --git a/planning/behavior_path_lane_change_module/README.md b/planning/behavior_path_lane_change_module/README.md index 62f35a053958a..9cbd864be9dbb 100644 --- a/planning/behavior_path_lane_change_module/README.md +++ b/planning/behavior_path_lane_change_module/README.md @@ -319,6 +319,171 @@ The detection area for the target lane can be expanded beyond its original bound +##### Object filtering + +```plantuml +@startuml +skinparam defaultTextAlignment center +skinparam backgroundColor #WHITE + +title NormalLaneChange::filterObjects Method Execution Flow + +start + +group "Filter Objects by Class" { +:Iterate through each object in objects list; +while (has not finished iterating through object list) is (TRUE) + if (current object type != param.object_types_to_check?) then (TRUE) + #LightPink:Remove current object; +else (FALSE) + :Keep current object; +endif +end while +end group + +if (object list is empty?) then (TRUE) + :Return empty result; + stop +else (FALSE) +endif + +group "Filter Oncoming Objects" #PowderBlue { +:Iterate through each object in target lane objects list; +while (has not finished iterating through object list?) is (TRUE) +:check object's yaw with reference to ego's yaw.; +if (yaw difference < 90 degree?) then (TRUE) + :Keep current object; +else (FALSE) +if (object is stopping?) then (TRUE) + :Keep current object; +else (FALSE) + #LightPink:Remove current object; +endif +endif +endwhile +end group + +if (object list is empty?) then (TRUE) + :Return empty result; + stop +else (FALSE) +endif + +group "Filter Objects Ahead Terminal" #Beige { +:Calculate lateral distance from ego to current lanes center; + +:Iterate through each object in objects list; +while (has not finished iterating through object list) is (TRUE) + :Get current object's polygon; + :Initialize distance to terminal from object to max; + while (has not finished iterating through object polygon's vertices) is (TRUE) + :Calculate object's lateral distance to end of lane; + :Update minimum distance to terminal from object; + end while + if (Is object's distance to terminal exceeds minimum lane change length?) then (TRUE) + #LightPink:Remove current object; + else (FALSE) + endif +end while +end group + +if (object list is empty?) then (TRUE) + :Return empty result; + stop +else (FALSE) +endif + +group "Filter Objects By Lanelets" #LightGreen { + +:Iterate through each object in objects list; +while (has not finished iterating through object list) is (TRUE) + :lateral distance diff = difference between object's lateral distance and ego's lateral distance to the current lanes' centerline.; + if (Object in target lane polygon, and lateral distance diff is more than half of ego's width?) then (TRUE) + :Add to target_lane_objects; + else (FALSE) + if (Object overlaps with backward target lanes?) then (TRUE) + :Add to target_lane_objects; + else (FALSE) + if (Object in current lane polygon?) then (TRUE) + :Add to current_lane_objects; + else (FALSE) + :Add to other_lane_objects; + endif + endif + endif +end while + +:Return target lanes object, current lanes object and other lanes object; +end group + +:Generate path from current lanes; + +if (path empty?) then (TRUE) + :Return empty result; + stop +else (FALSE) +endif + +group "Filter Target Lanes' objects" #LightCyan { + +:Iterate through each object in target lane objects list; +while (has not finished iterating through object list) is (TRUE) + :check object's velocity; + if(velocity is within threshold?) then (TRUE) + :Keep current object; + else (FALSE) + :check whether object is ahead of ego; + if(object is ahead of ego?) then (TRUE) + :keep current object; + else (FALSE) + #LightPink:remove current object; + endif + endif +endwhile +end group + +group "Filter Current Lanes' objects" #LightYellow { + +:Iterate through each object in current lane objects list; +while (has not finished iterating through object list) is (TRUE) + :check object's velocity; + if(velocity is within threshold?) then (TRUE) + :check whether object is ahead of ego; + if(object is ahead of ego?) then (TRUE) + :keep current object; + else (FALSE) + #LightPink:remove current object; + endif + else (FALSE) + #LightPink:remove current object; + endif +endwhile +end group + +group "Filter Other Lanes' objects" #Lavender { + +:Iterate through each object in other lane objects list; +while (has not finished iterating through object list) is (TRUE) + :check object's velocity; + if(velocity is within threshold?) then (TRUE) + :check whether object is ahead of ego; + if(object is ahead of ego?) then (TRUE) + :keep current object; + else (FALSE) + #LightPink:remove current object; + endif + else (FALSE) + #LightPink:remove current object; + endif +endwhile +end group + +:Trasform the objects into extended predicted object and return them as lane_change_target_objects; +stop + +@enduml +``` + ##### Collision check in prepare phase The ego vehicle may need to secure ample inter-vehicle distance ahead of the target vehicle before attempting a lane change. The flag `enable_collision_check_at_prepare_phase` can be enabled to gain this behavior. The following image illustrates the differences between the `false` and `true` cases. diff --git a/planning/behavior_path_lane_change_module/include/behavior_path_lane_change_module/interface.hpp b/planning/behavior_path_lane_change_module/include/behavior_path_lane_change_module/interface.hpp index 4e886c33f832b..4c3d129ac687e 100644 --- a/planning/behavior_path_lane_change_module/include/behavior_path_lane_change_module/interface.hpp +++ b/planning/behavior_path_lane_change_module/include/behavior_path_lane_change_module/interface.hpp @@ -93,9 +93,6 @@ class LaneChangeInterface : public SceneModuleInterface MarkerArray getModuleVirtualWall() override; - TurnSignalInfo getCurrentTurnSignalInfo( - const PathWithLaneId & path, const TurnSignalInfo & original_turn_signal_info); - // TODO(someone): remove this, and use base class function [[deprecated]] BehaviorModuleOutput run() override { @@ -128,6 +125,18 @@ class LaneChangeInterface : public SceneModuleInterface ModuleStatus setInitState() const override { return ModuleStatus::WAITING_APPROVAL; }; + void updateRTCStatus( + const double start_distance, const double finish_distance, const bool safe, + const uint8_t & state) + { + for (const auto & [module_name, ptr] : rtc_interface_ptr_map_) { + if (ptr) { + ptr->updateCooperateStatus( + uuid_map_.at(module_name), safe, state, start_distance, finish_distance, clock_->now()); + } + } + } + void updateDebugMarker() const; void updateSteeringFactorPtr(const BehaviorModuleOutput & output); diff --git a/planning/behavior_path_lane_change_module/include/behavior_path_lane_change_module/scene.hpp b/planning/behavior_path_lane_change_module/include/behavior_path_lane_change_module/scene.hpp index 7a76daff4bc55..76181f2195a84 100644 --- a/planning/behavior_path_lane_change_module/include/behavior_path_lane_change_module/scene.hpp +++ b/planning/behavior_path_lane_change_module/include/behavior_path_lane_change_module/scene.hpp @@ -30,10 +30,12 @@ using behavior_path_planner::utils::path_safety_checker::ExtendedPredictedObject using behavior_path_planner::utils::path_safety_checker::PoseWithVelocityAndPolygonStamped; using behavior_path_planner::utils::path_safety_checker::PoseWithVelocityStamped; using behavior_path_planner::utils::path_safety_checker::PredictedPathWithPolygon; +using data::lane_change::LanesPolygon; using geometry_msgs::msg::Point; using geometry_msgs::msg::Pose; using geometry_msgs::msg::Twist; using route_handler::Direction; +using utils::path_safety_checker::ExtendedPredictedObjects; class NormalLaneChange : public LaneChangeBase { @@ -99,6 +101,8 @@ class NormalLaneChange : public LaneChangeBase bool isStoppedAtRedTrafficLight() const override; + TurnSignalInfo get_current_turn_signal_info() override; + protected: lanelet::ConstLanelets getCurrentLanes() const override; @@ -115,10 +119,26 @@ class NormalLaneChange : public LaneChangeBase const lanelet::ConstLanelets & current_lanes, const lanelet::ConstLanelets & target_lanes) const; - LaneChangeTargetObjects getTargetObjects( + ExtendedPredictedObjects getTargetObjects( + const LaneChangeLanesFilteredObjects & predicted_objects, + const lanelet::ConstLanelets & current_lanes) const; + + LaneChangeLanesFilteredObjects filterObjects( const lanelet::ConstLanelets & current_lanes, const lanelet::ConstLanelets & target_lanes) const; + void filterOncomingObjects(PredictedObjects & objects) const; + + void filterAheadTerminalObjects( + PredictedObjects & objects, const lanelet::ConstLanelets & current_lanes) const; + + void filterObjectsByLanelets( + const PredictedObjects & objects, const lanelet::ConstLanelets & current_lanes, + const lanelet::ConstLanelets & target_lanes, + std::vector & current_lane_objects, + std::vector & target_lane_objects, + std::vector & other_lane_objects) const; + PathWithLaneId getPrepareSegment( const lanelet::ConstLanelets & current_lanes, const double backward_path_length, const double prepare_length) const override; @@ -154,18 +174,11 @@ class NormalLaneChange : public LaneChangeBase bool isValidPath(const PathWithLaneId & path) const override; PathSafetyStatus isLaneChangePathSafe( - const LaneChangePath & lane_change_path, const LaneChangeTargetObjects & target_objects, - const utils::path_safety_checker::RSSparams & rss_params, const bool is_stuck, + const LaneChangePath & lane_change_path, + const ExtendedPredictedObjects & collision_check_objects, + const utils::path_safety_checker::RSSparams & rss_params, CollisionCheckDebugMap & debug_data) const; - LaneChangeTargetObjectIndices filterObject( - const PredictedObjects & objects, const lanelet::ConstLanelets & current_lanes, - const lanelet::ConstLanelets & target_lanes, - const lanelet::ConstLanelets & target_backward_lanes) const; - - std::vector filterObjectsInTargetLane( - const LaneChangeTargetObjects & objects, const lanelet::ConstLanelets & target_lanes) const; - //! @brief Check if the ego vehicle is in stuck by a stationary obstacle. //! @param obstacle_check_distance Distance to check ahead for any objects that might be //! obstructing ego path. It makes sense to use values like the maximum lane change distance. diff --git a/planning/behavior_path_lane_change_module/include/behavior_path_lane_change_module/utils/base_class.hpp b/planning/behavior_path_lane_change_module/include/behavior_path_lane_change_module/utils/base_class.hpp index e1d7725f93259..792e8924e5df6 100644 --- a/planning/behavior_path_lane_change_module/include/behavior_path_lane_change_module/utils/base_class.hpp +++ b/planning/behavior_path_lane_change_module/include/behavior_path_lane_change_module/utils/base_class.hpp @@ -187,6 +187,8 @@ class LaneChangeBase void resetStopPose() { lane_change_stop_pose_ = std::nullopt; } + virtual TurnSignalInfo get_current_turn_signal_info() = 0; + protected: virtual lanelet::ConstLanelets getCurrentLanes() const = 0; diff --git a/planning/behavior_path_lane_change_module/include/behavior_path_lane_change_module/utils/data_structs.hpp b/planning/behavior_path_lane_change_module/include/behavior_path_lane_change_module/utils/data_structs.hpp index fdaa15ff9bef9..0947f0e5aff94 100644 --- a/planning/behavior_path_lane_change_module/include/behavior_path_lane_change_module/utils/data_structs.hpp +++ b/planning/behavior_path_lane_change_module/include/behavior_path_lane_change_module/utils/data_structs.hpp @@ -20,6 +20,7 @@ #include #include +#include #include #include @@ -195,11 +196,11 @@ struct LaneChangeTargetObjectIndices std::vector other_lane{}; }; -struct LaneChangeTargetObjects +struct LaneChangeLanesFilteredObjects { - std::vector current_lane{}; - std::vector target_lane{}; - std::vector other_lane{}; + utils::path_safety_checker::ExtendedPredictedObjects current_lane{}; + utils::path_safety_checker::ExtendedPredictedObjects target_lane{}; + utils::path_safety_checker::ExtendedPredictedObjects other_lane{}; }; enum class LaneChangeModuleType { @@ -216,6 +217,13 @@ struct PathSafetyStatus bool is_safe{true}; bool is_object_coming_from_rear{false}; }; + +struct LanesPolygon +{ + std::optional current; + std::optional target; + std::vector target_backward; +}; } // namespace behavior_path_planner::data::lane_change #endif // BEHAVIOR_PATH_LANE_CHANGE_MODULE__UTILS__DATA_STRUCTS_HPP_ diff --git a/planning/behavior_path_lane_change_module/include/behavior_path_lane_change_module/utils/debug_structs.hpp b/planning/behavior_path_lane_change_module/include/behavior_path_lane_change_module/utils/debug_structs.hpp index 37d436f9949a2..fbdd742a8457b 100644 --- a/planning/behavior_path_lane_change_module/include/behavior_path_lane_change_module/utils/debug_structs.hpp +++ b/planning/behavior_path_lane_change_module/include/behavior_path_lane_change_module/utils/debug_structs.hpp @@ -35,7 +35,7 @@ struct Debug LaneChangePaths valid_paths; CollisionCheckDebugMap collision_check_objects; CollisionCheckDebugMap collision_check_objects_after_approval; - LaneChangeTargetObjects filtered_objects; + LaneChangeLanesFilteredObjects filtered_objects; geometry_msgs::msg::Polygon execution_area; geometry_msgs::msg::Pose ego_pose; lanelet::ConstLanelets current_lanes; diff --git a/planning/behavior_path_lane_change_module/include/behavior_path_lane_change_module/utils/utils.hpp b/planning/behavior_path_lane_change_module/include/behavior_path_lane_change_module/utils/utils.hpp index cd4f55599d964..2d427213141b4 100644 --- a/planning/behavior_path_lane_change_module/include/behavior_path_lane_change_module/utils/utils.hpp +++ b/planning/behavior_path_lane_change_module/include/behavior_path_lane_change_module/utils/utils.hpp @@ -46,6 +46,7 @@ using behavior_path_planner::utils::path_safety_checker::ExtendedPredictedObject using behavior_path_planner::utils::path_safety_checker::PoseWithVelocityAndPolygonStamped; using behavior_path_planner::utils::path_safety_checker::PoseWithVelocityStamped; using behavior_path_planner::utils::path_safety_checker::PredictedPathWithPolygon; +using data::lane_change::LanesPolygon; using data::lane_change::PathSafetyStatus; using geometry_msgs::msg::Point; using geometry_msgs::msg::Pose; @@ -292,6 +293,10 @@ bool isWithinTurnDirectionLanes(const lanelet::ConstLanelet & lanelet, const Pol double calcPhaseLength( const double velocity, const double maximum_velocity, const double acceleration, const double time); + +LanesPolygon createLanesPolygon( + const lanelet::ConstLanelets & current_lanes, const lanelet::ConstLanelets & target_lanes, + const std::vector & target_backward_lanes); } // namespace behavior_path_planner::utils::lane_change namespace behavior_path_planner::utils::lane_change::debug diff --git a/planning/behavior_path_lane_change_module/plugins.xml b/planning/behavior_path_lane_change_module/plugins.xml index a598bc8176938..7df36919d8d54 100644 --- a/planning/behavior_path_lane_change_module/plugins.xml +++ b/planning/behavior_path_lane_change_module/plugins.xml @@ -1,6 +1,6 @@ - - + + diff --git a/planning/behavior_path_lane_change_module/src/interface.cpp b/planning/behavior_path_lane_change_module/src/interface.cpp index d3ad4fb284f77..1669842117f9f 100644 --- a/planning/behavior_path_lane_change_module/src/interface.cpp +++ b/planning/behavior_path_lane_change_module/src/interface.cpp @@ -117,13 +117,18 @@ BehaviorModuleOutput LaneChangeInterface::plan() updateSteeringFactorPtr(output); if (module_type_->isAbortState()) { waitApproval(); - removeRTCStatus(); const auto candidate = planCandidate(); path_candidate_ = std::make_shared(candidate.path_candidate); updateRTCStatus( - candidate.start_distance_to_path_change, candidate.finish_distance_to_path_change); + std::numeric_limits::lowest(), std::numeric_limits::lowest(), true, + State::ABORTING); } else { clearWaitingApproval(); + const auto path = + assignToCandidate(module_type_->getLaneChangePath(), module_type_->getEgoPosition()); + updateRTCStatus( + path.start_distance_to_path_change, path.finish_distance_to_path_change, true, + State::RUNNING); } return output; @@ -135,8 +140,7 @@ BehaviorModuleOutput LaneChangeInterface::planWaitingApproval() BehaviorModuleOutput out = getPreviousModuleOutput(); module_type_->insertStopPoint(module_type_->getLaneChangeStatus().current_lanes, out.path); - out.turn_signal_info = - getCurrentTurnSignalInfo(out.path, getPreviousModuleOutput().turn_signal_info); + out.turn_signal_info = module_type_->get_current_turn_signal_info(); const auto & lane_change_debug = module_type_->getDebugData(); for (const auto & [uuid, data] : lane_change_debug.collision_check_objects) { @@ -148,7 +152,9 @@ BehaviorModuleOutput LaneChangeInterface::planWaitingApproval() stop_pose_ = module_type_->getStopPose(); if (!module_type_->isValidPath()) { - removeRTCStatus(); + updateRTCStatus( + std::numeric_limits::lowest(), std::numeric_limits::lowest(), true, + State::FAILED); path_candidate_ = std::make_shared(); return out; } @@ -157,7 +163,8 @@ BehaviorModuleOutput LaneChangeInterface::planWaitingApproval() path_candidate_ = std::make_shared(candidate.path_candidate); updateRTCStatus( - candidate.start_distance_to_path_change, candidate.finish_distance_to_path_change); + candidate.start_distance_to_path_change, candidate.finish_distance_to_path_change, + isExecutionReady(), State::WAITING_FOR_EXECUTION); is_abort_path_approved_ = false; return out; @@ -240,6 +247,9 @@ bool LaneChangeInterface::canTransitFailureState() if (module_type_->isStoppedAtRedTrafficLight()) { log_debug_throttled("Stopping at traffic light while in prepare phase. Cancel lane change"); module_type_->toCancelState(); + updateRTCStatus( + std::numeric_limits::lowest(), std::numeric_limits::lowest(), true, + State::FAILED); return true; } @@ -250,6 +260,9 @@ bool LaneChangeInterface::canTransitFailureState() if (module_type_->isAbleToReturnCurrentLane()) { log_debug_throttled("It's possible to return to current lane. Cancel lane change."); + updateRTCStatus( + std::numeric_limits::lowest(), std::numeric_limits::lowest(), true, + State::FAILED); return true; } } @@ -367,81 +380,4 @@ void LaneChangeInterface::updateSteeringFactorPtr( {output.start_distance_to_path_change, output.finish_distance_to_path_change}, PlanningBehavior::LANE_CHANGE, steering_factor_direction, SteeringFactor::APPROACHING, ""); } - -TurnSignalInfo LaneChangeInterface::getCurrentTurnSignalInfo( - const PathWithLaneId & path, const TurnSignalInfo & original_turn_signal_info) -{ - const auto & current_lanes = module_type_->getLaneChangeStatus().current_lanes; - const auto & is_valid = module_type_->getLaneChangeStatus().is_valid_path; - const auto & lane_change_path = module_type_->getLaneChangeStatus().lane_change_path; - const auto & lane_change_param = module_type_->getLaneChangeParam(); - - if ( - module_type_->getModuleType() != LaneChangeModuleType::NORMAL || current_lanes.empty() || - !is_valid) { - return original_turn_signal_info; - } - - // check direction - TurnSignalInfo current_turn_signal_info; - const auto & current_pose = module_type_->getEgoPose(); - const auto direction = module_type_->getDirection(); - if (direction == Direction::LEFT) { - current_turn_signal_info.turn_signal.command = TurnIndicatorsCommand::ENABLE_LEFT; - } else if (direction == Direction::RIGHT) { - current_turn_signal_info.turn_signal.command = TurnIndicatorsCommand::ENABLE_RIGHT; - } - - if (path.points.empty()) { - current_turn_signal_info.desired_start_point = current_pose; - current_turn_signal_info.required_start_point = current_pose; - current_turn_signal_info.desired_end_point = lane_change_path.info.lane_changing_end; - current_turn_signal_info.required_end_point = lane_change_path.info.lane_changing_end; - return current_turn_signal_info; - } - - const auto & min_length_for_turn_signal_activation = - lane_change_param.min_length_for_turn_signal_activation; - const auto & route_handler = module_type_->getRouteHandler(); - const auto & common_parameter = module_type_->getCommonParam(); - const auto shift_intervals = - route_handler->getLateralIntervalsToPreferredLane(current_lanes.back()); - const double next_lane_change_buffer = - utils::lane_change::calcMinimumLaneChangeLength(lane_change_param, shift_intervals); - const double & nearest_dist_threshold = common_parameter.ego_nearest_dist_threshold; - const double & nearest_yaw_threshold = common_parameter.ego_nearest_yaw_threshold; - const double & base_to_front = common_parameter.base_link2front; - - const double buffer = - next_lane_change_buffer + min_length_for_turn_signal_activation + base_to_front; - const double path_length = motion_utils::calcArcLength(path.points); - const size_t & current_nearest_seg_idx = - motion_utils::findFirstNearestSegmentIndexWithSoftConstraints( - path.points, current_pose, nearest_dist_threshold, nearest_yaw_threshold); - const double dist_to_terminal = utils::getDistanceToEndOfLane(current_pose, current_lanes); - const auto start_pose = - motion_utils::calcLongitudinalOffsetPose(path.points, 0, std::max(path_length - buffer, 0.0)); - if (dist_to_terminal - base_to_front < buffer && start_pose) { - // modify turn signal - current_turn_signal_info.desired_start_point = *start_pose; - current_turn_signal_info.desired_end_point = lane_change_path.info.lane_changing_end; - current_turn_signal_info.required_start_point = current_turn_signal_info.desired_start_point; - current_turn_signal_info.required_end_point = current_turn_signal_info.desired_end_point; - - const auto & original_command = original_turn_signal_info.turn_signal.command; - if ( - original_command == TurnIndicatorsCommand::DISABLE || - original_command == TurnIndicatorsCommand::NO_COMMAND) { - return current_turn_signal_info; - } - - // check the priority of turn signals - return module_type_->getTurnSignalDecider().use_prior_turn_signal( - path, current_pose, current_nearest_seg_idx, original_turn_signal_info, - current_turn_signal_info, nearest_dist_threshold, nearest_yaw_threshold); - } - - // not in the vicinity of the end of the path. return original - return original_turn_signal_info; -} } // namespace behavior_path_planner diff --git a/planning/behavior_path_lane_change_module/src/scene.cpp b/planning/behavior_path_lane_change_module/src/scene.cpp index 1e84fd41b3215..2d88a820e0fae 100644 --- a/planning/behavior_path_lane_change_module/src/scene.cpp +++ b/planning/behavior_path_lane_change_module/src/scene.cpp @@ -39,6 +39,8 @@ namespace behavior_path_planner { using motion_utils::calcSignedArcLength; using utils::lane_change::calcMinimumLaneChangeLength; +using utils::lane_change::createLanesPolygon; +using utils::path_safety_checker::isPolygonOverlapLanelet; using utils::traffic_light::getDistanceToNextTrafficLight; NormalLaneChange::NormalLaneChange( @@ -134,6 +136,83 @@ bool NormalLaneChange::isStoppedAtRedTrafficLight() const status_.lane_change_path.info.length.sum()); } +TurnSignalInfo NormalLaneChange::get_current_turn_signal_info() +{ + const auto original_turn_signal_info = prev_module_output_.turn_signal_info; + + const auto & current_lanes = getLaneChangeStatus().current_lanes; + const auto is_valid = getLaneChangeStatus().is_valid_path; + const auto & lane_change_path = getLaneChangeStatus().lane_change_path; + const auto & lane_change_param = getLaneChangeParam(); + + if (getModuleType() != LaneChangeModuleType::NORMAL || current_lanes.empty() || !is_valid) { + return original_turn_signal_info; + } + + // check direction + TurnSignalInfo current_turn_signal_info; + const auto & current_pose = getEgoPose(); + const auto direction = getDirection(); + if (direction == Direction::LEFT) { + current_turn_signal_info.turn_signal.command = TurnIndicatorsCommand::ENABLE_LEFT; + } else if (direction == Direction::RIGHT) { + current_turn_signal_info.turn_signal.command = TurnIndicatorsCommand::ENABLE_RIGHT; + } + + const auto & path = prev_module_output_.path; + if (path.points.empty()) { + current_turn_signal_info.desired_start_point = current_pose; + current_turn_signal_info.required_start_point = current_pose; + current_turn_signal_info.desired_end_point = lane_change_path.info.lane_changing_end; + current_turn_signal_info.required_end_point = lane_change_path.info.lane_changing_end; + return current_turn_signal_info; + } + + const auto min_length_for_turn_signal_activation = + lane_change_param.min_length_for_turn_signal_activation; + const auto & route_handler = getRouteHandler(); + const auto & common_parameter = getCommonParam(); + const auto shift_intervals = + route_handler->getLateralIntervalsToPreferredLane(current_lanes.back()); + const double next_lane_change_buffer = + utils::lane_change::calcMinimumLaneChangeLength(lane_change_param, shift_intervals); + const double nearest_dist_threshold = common_parameter.ego_nearest_dist_threshold; + const double nearest_yaw_threshold = common_parameter.ego_nearest_yaw_threshold; + const double base_to_front = common_parameter.base_link2front; + + const double buffer = + next_lane_change_buffer + min_length_for_turn_signal_activation + base_to_front; + const double path_length = motion_utils::calcArcLength(path.points); + const size_t current_nearest_seg_idx = + motion_utils::findFirstNearestSegmentIndexWithSoftConstraints( + path.points, current_pose, nearest_dist_threshold, nearest_yaw_threshold); + const double dist_to_terminal = utils::getDistanceToEndOfLane(current_pose, current_lanes); + const auto start_pose = + motion_utils::calcLongitudinalOffsetPose(path.points, 0, std::max(path_length - buffer, 0.0)); + if (dist_to_terminal - base_to_front < buffer && start_pose) { + // modify turn signal + current_turn_signal_info.desired_start_point = *start_pose; + current_turn_signal_info.desired_end_point = lane_change_path.info.lane_changing_end; + current_turn_signal_info.required_start_point = current_turn_signal_info.desired_start_point; + current_turn_signal_info.required_end_point = current_turn_signal_info.desired_end_point; + + const auto & original_command = original_turn_signal_info.turn_signal.command; + if ( + original_command == TurnIndicatorsCommand::DISABLE || + original_command == TurnIndicatorsCommand::NO_COMMAND) { + return current_turn_signal_info; + } + + // check the priority of turn signals + return getTurnSignalDecider().use_prior_turn_signal( + path, current_pose, current_nearest_seg_idx, original_turn_signal_info, + current_turn_signal_info, nearest_dist_threshold, nearest_yaw_threshold); + } + + // not in the vicinity of the end of the path. return original + return original_turn_signal_info; +} + LaneChangePath NormalLaneChange::getLaneChangePath() const { return status_.lane_change_path; @@ -276,7 +355,7 @@ void NormalLaneChange::insertStopPoint( } const double stop_point_buffer = lane_change_parameters_->backward_length_buffer_for_end_of_lane; - const auto target_objects = getTargetObjects(status_.current_lanes, status_.target_lanes); + const auto target_objects = filterObjects(status_.current_lanes, status_.target_lanes); double stopping_distance = distance_to_terminal - lane_change_buffer - stop_point_buffer; const auto is_valid_start_point = std::invoke([&]() -> bool { @@ -842,226 +921,270 @@ PathWithLaneId NormalLaneChange::getPrepareSegment( return prepare_segment; } -LaneChangeTargetObjects NormalLaneChange::getTargetObjects( +ExtendedPredictedObjects NormalLaneChange::getTargetObjects( + const LaneChangeLanesFilteredObjects & filtered_objects, + const lanelet::ConstLanelets & current_lanes) const +{ + ExtendedPredictedObjects target_objects = filtered_objects.target_lane; + const auto is_stuck = isVehicleStuck(current_lanes); + const auto chk_obj_in_curr_lanes = lane_change_parameters_->check_objects_on_current_lanes; + if (chk_obj_in_curr_lanes || is_stuck) { + target_objects.insert( + target_objects.end(), filtered_objects.current_lane.begin(), + filtered_objects.current_lane.end()); + } + + const auto chk_obj_in_other_lanes = lane_change_parameters_->check_objects_on_other_lanes; + if (chk_obj_in_other_lanes) { + target_objects.insert( + target_objects.end(), filtered_objects.other_lane.begin(), filtered_objects.other_lane.end()); + } + + return target_objects; +} + +LaneChangeLanesFilteredObjects NormalLaneChange::filterObjects( const lanelet::ConstLanelets & current_lanes, const lanelet::ConstLanelets & target_lanes) const { - const auto current_pose = getEgoPose(); - const auto & route_handler = *getRouteHandler(); + const auto & current_pose = getEgoPose(); + const auto & route_handler = getRouteHandler(); const auto & common_parameters = planner_data_->parameters; auto objects = *planner_data_->dynamic_object; utils::path_safety_checker::filterObjectsByClass( objects, lane_change_parameters_->object_types_to_check); - // get backward lanes - const auto backward_length = lane_change_parameters_->backward_lane_length; - const auto target_backward_lanes = behavior_path_planner::utils::getBackwardLanelets( - route_handler, target_lanes, current_pose, backward_length); + if (objects.objects.empty()) { + return {}; + } - lane_change_debug_.current_lanes = current_lanes; - lane_change_debug_.target_lanes = target_lanes; - lane_change_debug_.target_backward_lanes = target_backward_lanes; + filterOncomingObjects(objects); - // filter objects to get target object index - const auto target_obj_index = - filterObject(objects, current_lanes, target_lanes, target_backward_lanes); + if (objects.objects.empty()) { + return {}; + } - LaneChangeTargetObjects target_objects; - target_objects.current_lane.reserve(target_obj_index.current_lane.size()); - target_objects.target_lane.reserve(target_obj_index.target_lane.size()); - target_objects.other_lane.reserve(target_obj_index.other_lane.size()); + filterAheadTerminalObjects(objects, current_lanes); - // objects in current lane - const auto is_check_prepare_phase = check_prepare_phase(); - for (const auto & obj_idx : target_obj_index.current_lane) { - const auto extended_object = utils::lane_change::transform( - objects.objects.at(obj_idx), common_parameters, *lane_change_parameters_, - is_check_prepare_phase); - target_objects.current_lane.push_back(extended_object); + if (objects.objects.empty()) { + return {}; } - // objects in target lane - for (const auto & obj_idx : target_obj_index.target_lane) { - const auto extended_object = utils::lane_change::transform( - objects.objects.at(obj_idx), common_parameters, *lane_change_parameters_, - is_check_prepare_phase); - target_objects.target_lane.push_back(extended_object); - } + std::vector target_lane_objects; + std::vector current_lane_objects; + std::vector other_lane_objects; + + filterObjectsByLanelets( + objects, current_lanes, target_lanes, current_lane_objects, target_lane_objects, + other_lane_objects); + + const auto is_within_vel_th = [](const auto & object) -> bool { + constexpr double min_vel_th = 1.0; + constexpr double max_vel_th = std::numeric_limits::max(); + return utils::path_safety_checker::filter::velocity_filter(object, min_vel_th, max_vel_th); + }; - // objects in other lane - for (const auto & obj_idx : target_obj_index.other_lane) { - const auto extended_object = utils::lane_change::transform( - objects.objects.at(obj_idx), common_parameters, *lane_change_parameters_, - is_check_prepare_phase); - target_objects.other_lane.push_back(extended_object); + const auto path = + route_handler->getCenterLinePath(current_lanes, 0.0, std::numeric_limits::max()); + + if (path.points.empty()) { + return {}; } - return target_objects; + const auto is_ahead_of_ego = [&path, ¤t_pose](const auto & object) { + const auto obj_polygon = tier4_autoware_utils::toPolygon2d(object).outer(); + + double max_dist_ego_to_obj = std::numeric_limits::lowest(); + for (const auto & polygon_p : obj_polygon) { + const auto obj_p = tier4_autoware_utils::createPoint(polygon_p.x(), polygon_p.y(), 0.0); + const auto dist_ego_to_obj = calcSignedArcLength(path.points, current_pose.position, obj_p); + max_dist_ego_to_obj = std::max(dist_ego_to_obj, max_dist_ego_to_obj); + } + return max_dist_ego_to_obj >= 0.0; + }; + + utils::path_safety_checker::filterObjects( + target_lane_objects, [&](const PredictedObject & object) { + return (is_within_vel_th(object) || is_ahead_of_ego(object)); + }); + + utils::path_safety_checker::filterObjects( + other_lane_objects, [&](const PredictedObject & object) { + return is_within_vel_th(object) && is_ahead_of_ego(object); + }); + + utils::path_safety_checker::filterObjects( + current_lane_objects, [&](const PredictedObject & object) { + return is_within_vel_th(object) && is_ahead_of_ego(object); + }); + + LaneChangeLanesFilteredObjects lane_change_target_objects; + + const auto is_check_prepare_phase = check_prepare_phase(); + std::for_each(target_lane_objects.begin(), target_lane_objects.end(), [&](const auto & object) { + auto extended_predicted_object = utils::lane_change::transform( + object, common_parameters, *lane_change_parameters_, is_check_prepare_phase); + lane_change_target_objects.target_lane.push_back(extended_predicted_object); + }); + + std::for_each(current_lane_objects.begin(), current_lane_objects.end(), [&](const auto & object) { + auto extended_predicted_object = utils::lane_change::transform( + object, common_parameters, *lane_change_parameters_, is_check_prepare_phase); + lane_change_target_objects.current_lane.push_back(extended_predicted_object); + }); + + std::for_each(other_lane_objects.begin(), other_lane_objects.end(), [&](const auto & object) { + auto extended_predicted_object = utils::lane_change::transform( + object, common_parameters, *lane_change_parameters_, is_check_prepare_phase); + lane_change_target_objects.other_lane.push_back(extended_predicted_object); + }); + + lane_change_debug_.filtered_objects = lane_change_target_objects; + + return lane_change_target_objects; +} + +void NormalLaneChange::filterOncomingObjects(PredictedObjects & objects) const +{ + const auto & current_pose = getEgoPose(); + + const auto is_same_direction = [&](const PredictedObject & object) { + const auto & object_pose = object.kinematics.initial_pose_with_covariance.pose; + return !utils::path_safety_checker::isTargetObjectOncoming(current_pose, object_pose); + }; + + // Perception noise could make stationary objects seem opposite the ego vehicle; check the + // velocity to prevent this. + const auto is_stopped_object = [](const auto & object) -> bool { + constexpr double min_vel_th = -0.5; + constexpr double max_vel_th = 0.5; + return utils::path_safety_checker::filter::velocity_filter(object, min_vel_th, max_vel_th); + }; + + utils::path_safety_checker::filterObjects(objects, [&](const PredictedObject & object) { + const auto same_direction = is_same_direction(object); + if (same_direction) { + return true; + } + + return is_stopped_object(object); + }); +} + +void NormalLaneChange::filterAheadTerminalObjects( + PredictedObjects & objects, const lanelet::ConstLanelets & current_lanes) const +{ + const auto & current_pose = getEgoPose(); + const auto & route_handler = getRouteHandler(); + const auto minimum_lane_change_length = utils::lane_change::calcMinimumLaneChangeLength( + route_handler, current_lanes.back(), *lane_change_parameters_, direction_); + + const auto dist_ego_to_current_lanes_center = + lanelet::utils::getLateralDistanceToClosestLanelet(current_lanes, current_pose); + + // ignore object that are ahead of terminal lane change start + utils::path_safety_checker::filterObjects(objects, [&](const PredictedObject & object) { + const auto obj_polygon = tier4_autoware_utils::toPolygon2d(object).outer(); + // ignore object that are ahead of terminal lane change start + auto distance_to_terminal_from_object = std::numeric_limits::max(); + for (const auto & polygon_p : obj_polygon) { + const auto obj_p = tier4_autoware_utils::createPoint(polygon_p.x(), polygon_p.y(), 0.0); + Pose polygon_pose; + polygon_pose.position = obj_p; + polygon_pose.orientation = object.kinematics.initial_pose_with_covariance.pose.orientation; + const auto dist = utils::getDistanceToEndOfLane(polygon_pose, current_lanes); + distance_to_terminal_from_object = std::min(dist_ego_to_current_lanes_center, dist); + } + + return (minimum_lane_change_length > distance_to_terminal_from_object); + }); } -LaneChangeTargetObjectIndices NormalLaneChange::filterObject( +void NormalLaneChange::filterObjectsByLanelets( const PredictedObjects & objects, const lanelet::ConstLanelets & current_lanes, - const lanelet::ConstLanelets & target_lanes, - const lanelet::ConstLanelets & target_backward_lanes) const + const lanelet::ConstLanelets & target_lanes, std::vector & current_lane_objects, + std::vector & target_lane_objects, + std::vector & other_lane_objects) const { - const auto current_pose = getEgoPose(); + const auto & current_pose = getEgoPose(); const auto & route_handler = getRouteHandler(); const auto & common_parameters = planner_data_->parameters; - const auto minimum_lane_change_length = calcMinimumLaneChangeLength( - route_handler, current_lanes.back(), *lane_change_parameters_, direction_); + const auto check_optional_polygon = [](const auto & object, const auto & polygon) { + return polygon && isPolygonOverlapLanelet(object, *polygon); + }; - // Guard - if (objects.objects.empty()) { - return {}; - } + // get backward lanes + const auto backward_length = lane_change_parameters_->backward_lane_length; + const auto target_backward_lanes = + utils::getPrecedingLanelets(*route_handler, target_lanes, current_pose, backward_length); - // Get path - const auto path = - route_handler->getCenterLinePath(current_lanes, 0.0, std::numeric_limits::max()); - const auto target_path = - route_handler->getCenterLinePath(target_lanes, 0.0, std::numeric_limits::max()); + { + lane_change_debug_.current_lanes = current_lanes; + lane_change_debug_.target_lanes = target_lanes; + + // TODO(Azu) change the type to std::vector + lane_change_debug_.target_backward_lanes.clear(); + std::for_each( + target_backward_lanes.begin(), target_backward_lanes.end(), + [&](const lanelet::ConstLanelets & target_backward_lane) { + lane_change_debug_.target_backward_lanes.insert( + lane_change_debug_.target_backward_lanes.end(), target_backward_lane.begin(), + target_backward_lane.end()); + }); + } - const auto current_polygon = - utils::lane_change::createPolygon(current_lanes, 0.0, std::numeric_limits::max()); const auto expanded_target_lanes = utils::lane_change::generateExpandedLanelets( target_lanes, direction_, lane_change_parameters_->lane_expansion_left_offset, lane_change_parameters_->lane_expansion_right_offset); - const auto target_polygon = utils::lane_change::createPolygon( - expanded_target_lanes, 0.0, std::numeric_limits::max()); + + const auto lanes_polygon = + createLanesPolygon(current_lanes, expanded_target_lanes, target_backward_lanes); const auto dist_ego_to_current_lanes_center = lanelet::utils::getLateralDistanceToClosestLanelet(current_lanes, current_pose); - std::vector> target_backward_polygons; - for (const auto & target_backward_lane : target_backward_lanes) { - // Check to see is target_backward_lane is in current_lanes - // Without this check, current lane object might be treated as target lane object - const auto is_current_lane = [&](const lanelet::ConstLanelet & current_lane) { - return current_lane.id() == target_backward_lane.id(); - }; - - if (std::any_of(current_lanes.begin(), current_lanes.end(), is_current_lane)) { - continue; - } - lanelet::ConstLanelets lanelet{target_backward_lane}; - auto lane_polygon = - utils::lane_change::createPolygon(lanelet, 0.0, std::numeric_limits::max()); - target_backward_polygons.push_back(lane_polygon); + { + const auto reserve_size = objects.objects.size(); + current_lane_objects.reserve(reserve_size); + target_lane_objects.reserve(reserve_size); + other_lane_objects.reserve(reserve_size); } - LaneChangeTargetObjectIndices filtered_obj_indices; - for (size_t i = 0; i < objects.objects.size(); ++i) { - const auto & object = objects.objects.at(i); - const auto obj_velocity_norm = std::hypot( - object.kinematics.initial_twist_with_covariance.twist.linear.x, - object.kinematics.initial_twist_with_covariance.twist.linear.y); - const auto extended_object = utils::lane_change::transform( - object, common_parameters, *lane_change_parameters_, check_prepare_phase()); - - const auto obj_polygon = tier4_autoware_utils::toPolygon2d(object); - - // calc distance from the current ego position - double max_dist_ego_to_obj = std::numeric_limits::lowest(); - double min_dist_ego_to_obj = std::numeric_limits::max(); - const auto obj_polygon_outer = obj_polygon.outer(); - for (const auto & polygon_p : obj_polygon_outer) { - const auto obj_p = tier4_autoware_utils::createPoint(polygon_p.x(), polygon_p.y(), 0.0); - const double dist_ego_to_obj = calcSignedArcLength(path.points, current_pose.position, obj_p); - max_dist_ego_to_obj = std::max(dist_ego_to_obj, max_dist_ego_to_obj); - min_dist_ego_to_obj = std::min(dist_ego_to_obj, min_dist_ego_to_obj); - } - - const auto is_lateral_far = [&]() { + for (const auto & object : objects.objects) { + const auto is_lateral_far = std::invoke([&]() -> bool { const auto dist_object_to_current_lanes_center = lanelet::utils::getLateralDistanceToClosestLanelet( current_lanes, object.kinematics.initial_pose_with_covariance.pose); const auto lateral = dist_object_to_current_lanes_center - dist_ego_to_current_lanes_center; return std::abs(lateral) > (common_parameters.vehicle_width / 2); - }; - - // ignore object that are ahead of terminal lane change start - { - double distance_to_terminal_from_object = std::numeric_limits::max(); - for (const auto & polygon_p : obj_polygon_outer) { - const auto obj_p = tier4_autoware_utils::createPoint(polygon_p.x(), polygon_p.y(), 0.0); - Pose polygon_pose; - polygon_pose.position = obj_p; - polygon_pose.orientation = object.kinematics.initial_pose_with_covariance.pose.orientation; - const double dist = utils::getDistanceToEndOfLane(polygon_pose, current_lanes); - if (dist < distance_to_terminal_from_object) { - distance_to_terminal_from_object = dist; - } - } - if (minimum_lane_change_length > distance_to_terminal_from_object) { - continue; - } - } + }); - // ignore static object that are behind the ego vehicle - if (obj_velocity_norm < 1.0 && max_dist_ego_to_obj < 0.0) { + if (check_optional_polygon(object, lanes_polygon.target) && is_lateral_far) { + target_lane_objects.push_back(object); continue; } - // check if the object intersects with target lanes - if (target_polygon && boost::geometry::intersects(target_polygon.value(), obj_polygon)) { - // TODO(watanabe): ignore static parked object that are in front of the ego vehicle in target - // lanes - - if (max_dist_ego_to_obj >= 0 || is_lateral_far()) { - filtered_obj_indices.target_lane.push_back(i); - continue; - } - } - - const auto check_backward_polygon = [&obj_polygon](const auto & target_backward_polygon) { - return target_backward_polygon && - boost::geometry::intersects(target_backward_polygon.value(), obj_polygon); - }; + const auto is_overlap_target_backward = std::invoke([&]() -> bool { + const auto check_backward_polygon = [&object](const auto & target_backward_polygon) { + return isPolygonOverlapLanelet(object, target_backward_polygon); + }; + return std::any_of( + lanes_polygon.target_backward.begin(), lanes_polygon.target_backward.end(), + check_backward_polygon); + }); // check if the object intersects with target backward lanes - if ( - !target_backward_polygons.empty() && - std::any_of( - target_backward_polygons.begin(), target_backward_polygons.end(), check_backward_polygon)) { - filtered_obj_indices.target_lane.push_back(i); + if (is_overlap_target_backward) { + target_lane_objects.push_back(object); continue; } - // check if the object intersects with current lanes - if ( - current_polygon && boost::geometry::intersects(current_polygon.value(), obj_polygon) && - max_dist_ego_to_obj >= 0.0) { + if (check_optional_polygon(object, lanes_polygon.current)) { // check only the objects that are in front of the ego vehicle - filtered_obj_indices.current_lane.push_back(i); + current_lane_objects.push_back(object); continue; } - // ignore all objects that are behind the ego vehicle and not on the current and target - // lanes - if (max_dist_ego_to_obj < 0.0) { - continue; - } - - filtered_obj_indices.other_lane.push_back(i); - } - - return filtered_obj_indices; -} - -std::vector NormalLaneChange::filterObjectsInTargetLane( - const LaneChangeTargetObjects & objects, const lanelet::ConstLanelets & target_lanes) const -{ - const auto target_polygon = - utils::lane_change::createPolygon(target_lanes, 0.0, std::numeric_limits::max()); - std::vector filtered_objects{}; - if (target_polygon) { - for (auto & obj : objects.target_lane) { - const auto obj_polygon = tier4_autoware_utils::toPolygon2d(obj.initial_pose.pose, obj.shape); - if (boost::geometry::intersects(target_polygon.value(), obj_polygon)) { - filtered_objects.push_back(obj); - } - } + other_lane_objects.push_back(object); } - - return filtered_objects; } PathWithLaneId NormalLaneChange::getTargetSegment( @@ -1241,8 +1364,8 @@ bool NormalLaneChange::getLaneChangePaths( return false; } - const auto target_objects = getTargetObjects(current_lanes, target_lanes); - lane_change_debug_.filtered_objects = target_objects; + const auto filtered_objects = filterObjects(current_lanes, target_lanes); + const auto target_objects = getTargetObjects(filtered_objects, current_lanes); const auto prepare_durations = calcPrepareDuration(current_lanes, target_lanes); @@ -1466,13 +1589,11 @@ bool NormalLaneChange::getLaneChangePaths( } candidate_paths->push_back(*candidate_path); - std::vector filtered_objects = - filterObjectsInTargetLane(target_objects, target_lanes); if ( - !is_stuck && - utils::lane_change::passParkedObject( - route_handler, *candidate_path, filtered_objects, lane_change_buffer, is_goal_in_route, - *lane_change_parameters_, lane_change_debug_.collision_check_objects)) { + !is_stuck && utils::lane_change::passParkedObject( + route_handler, *candidate_path, filtered_objects.target_lane, + lane_change_buffer, is_goal_in_route, *lane_change_parameters_, + lane_change_debug_.collision_check_objects)) { debug_print( "Reject: parking vehicle exists in the target lane, and the ego is not in stuck. Skip " "lane change."); @@ -1485,8 +1606,7 @@ bool NormalLaneChange::getLaneChangePaths( } const auto [is_safe, is_object_coming_from_rear] = isLaneChangePathSafe( - *candidate_path, target_objects, rss_params, is_stuck, - lane_change_debug_.collision_check_objects); + *candidate_path, target_objects, rss_params, lane_change_debug_.collision_check_objects); if (is_safe) { debug_print("ACCEPT!!!: it is valid and safe!"); @@ -1653,13 +1773,12 @@ PathSafetyStatus NormalLaneChange::isApprovedPathSafe() const const auto & current_lanes = status_.current_lanes; const auto & target_lanes = status_.target_lanes; - const auto target_objects = getTargetObjects(current_lanes, target_lanes); - lane_change_debug_.filtered_objects = target_objects; + const auto filtered_objects = filterObjects(current_lanes, target_lanes); + const auto target_objects = getTargetObjects(filtered_objects, current_lanes); CollisionCheckDebugMap debug_data; - const bool is_stuck = isVehicleStuck(current_lanes); const auto safety_status = isLaneChangePathSafe( - path, target_objects, lane_change_parameters_->rss_params_for_abort, is_stuck, debug_data); + path, target_objects, lane_change_parameters_->rss_params_for_abort, debug_data); { // only for debug purpose lane_change_debug_.collision_check_objects.clear(); @@ -1855,11 +1974,11 @@ bool NormalLaneChange::calcAbortPath() auto reference_lane_segment = prev_module_output_.path; { - const auto terminal_path = - calcTerminalLaneChangePath(reference_lanelets, selected_path.info.target_lanes); - if (terminal_path) { - reference_lane_segment = terminal_path->path; - } + // const auto terminal_path = + // calcTerminalLaneChangePath(reference_lanelets, selected_path.info.target_lanes); + // if (terminal_path) { + // reference_lane_segment = terminal_path->path; + // } const auto return_pose = shifted_path.path.points.at(abort_return_idx).point.pose; const auto seg_idx = motion_utils::findFirstNearestSegmentIndexWithSoftConstraints( reference_lane_segment.points, return_pose, common_param.ego_nearest_dist_threshold, @@ -1891,12 +2010,17 @@ bool NormalLaneChange::calcAbortPath() } PathSafetyStatus NormalLaneChange::isLaneChangePathSafe( - const LaneChangePath & lane_change_path, const LaneChangeTargetObjects & target_objects, - const utils::path_safety_checker::RSSparams & rss_params, const bool is_stuck, + const LaneChangePath & lane_change_path, const ExtendedPredictedObjects & collision_check_objects, + const utils::path_safety_checker::RSSparams & rss_params, CollisionCheckDebugMap & debug_data) const { PathSafetyStatus path_safety_status; + if (collision_check_objects.empty()) { + RCLCPP_DEBUG(logger_, "There is nothing to check."); + return path_safety_status; + } + const auto & path = lane_change_path.path; const auto & common_parameters = planner_data_->parameters; const auto current_pose = getEgoPose(); @@ -1915,21 +2039,8 @@ PathSafetyStatus NormalLaneChange::isLaneChangePathSafe( const auto debug_predicted_path = utils::path_safety_checker::convertToPredictedPath(ego_predicted_path, time_resolution); - auto collision_check_objects = target_objects.target_lane; const auto current_lanes = getCurrentLanes(); - if (lane_change_parameters_->check_objects_on_current_lanes || is_stuck) { - collision_check_objects.insert( - collision_check_objects.end(), target_objects.current_lane.begin(), - target_objects.current_lane.end()); - } - - if (lane_change_parameters_->check_objects_on_other_lanes) { - collision_check_objects.insert( - collision_check_objects.end(), target_objects.other_lane.begin(), - target_objects.other_lane.end()); - } - const auto expanded_target_lanes = utils::lane_change::generateExpandedLanelets( lane_change_path.info.target_lanes, direction_, lane_change_parameters_->lane_expansion_left_offset, diff --git a/planning/behavior_path_lane_change_module/src/utils/utils.cpp b/planning/behavior_path_lane_change_module/src/utils/utils.cpp index bf08d97dcfe5a..4eccd00d78c09 100644 --- a/planning/behavior_path_lane_change_module/src/utils/utils.cpp +++ b/planning/behavior_path_lane_change_module/src/utils/utils.cpp @@ -646,8 +646,14 @@ std::vector generateDrivableLanes( double getLateralShift(const LaneChangePath & path) { - const auto start_idx = path.info.shift_line.start_idx; - const auto end_idx = path.info.shift_line.end_idx; + if (path.shifted_path.shift_length.empty()) { + return 0.0; + } + + const auto start_idx = + std::min(path.info.shift_line.start_idx, path.shifted_path.shift_length.size() - 1); + const auto end_idx = + std::min(path.info.shift_line.end_idx, path.shifted_path.shift_length.size() - 1); return path.shifted_path.shift_length.at(end_idx) - path.shifted_path.shift_length.at(start_idx); } @@ -1198,6 +1204,28 @@ double calcPhaseLength( const auto length_with_max_velocity = maximum_velocity * duration; return std::min(length_with_acceleration, length_with_max_velocity); } + +LanesPolygon createLanesPolygon( + const lanelet::ConstLanelets & current_lanes, const lanelet::ConstLanelets & target_lanes, + const std::vector & target_backward_lanes) +{ + LanesPolygon lanes_polygon; + + lanes_polygon.current = + utils::lane_change::createPolygon(current_lanes, 0.0, std::numeric_limits::max()); + lanes_polygon.target = + utils::lane_change::createPolygon(target_lanes, 0.0, std::numeric_limits::max()); + + for (const auto & target_backward_lane : target_backward_lanes) { + auto lane_polygon = utils::lane_change::createPolygon( + target_backward_lane, 0.0, std::numeric_limits::max()); + + if (lane_polygon) { + lanes_polygon.target_backward.push_back(*lane_polygon); + } + } + return lanes_polygon; +} } // namespace behavior_path_planner::utils::lane_change namespace behavior_path_planner::utils::lane_change::debug diff --git a/planning/behavior_path_lane_change_module/test/test_behavior_path_planner_node_interface.cpp b/planning/behavior_path_lane_change_module/test/test_behavior_path_planner_node_interface.cpp index 82f721411d5a4..7b36bf475646b 100644 --- a/planning/behavior_path_lane_change_module/test/test_behavior_path_planner_node_interface.cpp +++ b/planning/behavior_path_lane_change_module/test/test_behavior_path_planner_node_interface.cpp @@ -13,9 +13,9 @@ // limitations under the License. #include "ament_index_cpp/get_package_share_directory.hpp" +#include "autoware_planning_test_manager/autoware_planning_test_manager.hpp" #include "behavior_path_planner/behavior_path_planner_node.hpp" -#include "planning_test_utils/planning_interface_test_manager.hpp" -#include "planning_test_utils/planning_interface_test_manager_utils.hpp" +#include "planning_test_utils/planning_test_utils.hpp" #include diff --git a/planning/behavior_path_planner/README.md b/planning/behavior_path_planner/README.md index 03f8c8d2a5696..a799fad0a1c36 100644 --- a/planning/behavior_path_planner/README.md +++ b/planning/behavior_path_planner/README.md @@ -24,17 +24,17 @@ Essentially, the module has three primary responsibilities: Behavior Path Planner has following scene modules -| Name | Description | Details | -| :----------------------- | :------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | :----------------------------------------------------------------- | -| Lane Following | this module generates reference path from lanelet centerline. | LINK | -| Avoidance | this module generates avoidance path when there is objects that should be avoid. | [LINK](../behavior_path_avoidance_module/README.md) | -| Dynamic Avoidance | WIP | [LINK](../behavior_path_dynamic_avoidance_module/README.md) | -| Avoidance By Lane Change | this module generates lane change path when there is objects that should be avoid. | [LINK](../behavior_path_avoidance_by_lane_change_module/README.md) | -| Lane Change | this module is performed when it is necessary and a collision check with other vehicles is cleared. | [LINK](../behavior_path_lane_change_module/README.md) | -| External Lane Change | WIP | LINK | -| Start Planner | this module is performed when ego-vehicle is in the road lane and goal is in the shoulder lane. ego-vehicle will stop at the goal. | [LINK](../behavior_path_goal_planner_module/README.md) | -| Goal Planner | this module is performed when ego-vehicle is stationary and footprint of ego-vehicle is included in shoulder lane. This module ends when ego-vehicle merges into the road. | [LINK](../behavior_path_start_planner_module/README.md) | -| Side Shift | (for remote control) shift the path to left or right according to an external instruction. | [LINK](../behavior_path_side_shift_module/README.md) | +| Name | Description | Details | +| :------------------------- | :------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | :---------------------------------------------------------------------------- | +| Lane Following | this module generates reference path from lanelet centerline. | LINK | +| Static Obstacle Avoidance | this module generates avoidance path when there is objects that should be avoid. | [LINK](../autoware_behavior_path_static_obstacle_avoidance_module/README.md) | +| Dynamic Obstacle Avoidance | WIP | [LINK](../autoware_behavior_path_dynamic_obstacle_avoidance_module/README.md) | +| Avoidance By Lane Change | this module generates lane change path when there is objects that should be avoid. | [LINK](../behavior_path_avoidance_by_lane_change_module/README.md) | +| Lane Change | this module is performed when it is necessary and a collision check with other vehicles is cleared. | [LINK](../behavior_path_lane_change_module/README.md) | +| External Lane Change | WIP | LINK | +| Goal Planner | this module is performed when ego-vehicle is in the road lane and goal is in the shoulder lane. ego-vehicle will stop at the goal. | [LINK](../behavior_path_goal_planner_module/README.md) | +| Start Planner | this module is performed when ego-vehicle is stationary and footprint of ego-vehicle is included in shoulder lane. This module ends when ego-vehicle merges into the road. | [LINK](../behavior_path_start_planner_module/README.md) | +| Side Shift | (for remote control) shift the path to left or right according to an external instruction. | [LINK](../behavior_path_side_shift_module/README.md) | !!! Note @@ -138,19 +138,19 @@ Enabling and disabling the modules in the behavior path planner is primarily man The `default_preset.yaml` file acts as a configuration file for enabling or disabling specific modules within the planner. It contains a series of arguments which represent the behavior path planner's modules or features. For example: -- `launch_avoidance_module`: Set to `true` to enable the avoidance module, or `false` to disable it. +- `launch_static_obstacle_avoidance_module`: Set to `true` to enable the avoidance module, or `false` to disable it. !!! note Click [here](https://github.com/autowarefoundation/autoware_launch/blob/main/autoware_launch/config/planning/preset/default_preset.yaml) to view the `default_preset.yaml`. -The `behavior_path_planner.launch.xml` file references the settings defined in `default_preset.yaml` to apply the configurations when the behavior path planner's node is running. For instance, the parameter `avoidance.enable_module` in +The `behavior_path_planner.launch.xml` file references the settings defined in `default_preset.yaml` to apply the configurations when the behavior path planner's node is running. For instance, the parameter `static_obstacle_avoidance.enable_module` in ```xml - + ``` -corresponds to launch_avoidance_module from `default_preset.yaml`. +corresponds to launch_static_obstacle_avoidance_module from `default_preset.yaml`. Therefore, to enable or disable a module, simply set the corresponding module in `default_preset.yaml` to `true` or `false`. These changes will be applied upon the next launch of Autoware. @@ -245,12 +245,12 @@ behavior_path_planner ├── behavior_path_planner.param.yaml ├── drivable_area_expansion.param.yaml ├── scene_module_manager.param.yaml -├── avoidance -│ └── avoidance.param.yaml +├── static_obstacle_avoidance +│ └── static_obstacle_avoidance.param.yaml ├── avoidance_by_lc │ └── avoidance_by_lc.param.yaml -├── dynamic_avoidance -│ └── dynamic_avoidance.param.yaml +├── dynamic_obstacle_avoidance +│ └── dynamic_obstacle_avoidance.param.yaml ├── goal_planner │ └── goal_planner.param.yaml ├── lane_change diff --git a/planning/behavior_path_planner/config/behavior_path_planner.param.yaml b/planning/behavior_path_planner/config/behavior_path_planner.param.yaml index 2c181489ba4c2..e5c3a76fd1c45 100644 --- a/planning/behavior_path_planner/config/behavior_path_planner.param.yaml +++ b/planning/behavior_path_planner/config/behavior_path_planner.param.yaml @@ -17,6 +17,7 @@ turn_signal_minimum_search_distance: 10.0 turn_signal_search_time: 3.0 turn_signal_shift_length_threshold: 0.3 + turn_signal_remaining_shift_length_threshold: 0.1 turn_signal_on_swerving: true enable_akima_spline_first: false diff --git a/planning/behavior_path_planner/config/scene_module_manager.param.yaml b/planning/behavior_path_planner/config/scene_module_manager.param.yaml index c2b6babc402a2..6cf8719b2ef83 100644 --- a/planning/behavior_path_planner/config/scene_module_manager.param.yaml +++ b/planning/behavior_path_planner/config/scene_module_manager.param.yaml @@ -59,7 +59,7 @@ priority: 1 max_module_size: 1 - avoidance: + static_obstacle_avoidance: enable_rtc: false enable_simultaneous_execution_as_approved_module: true enable_simultaneous_execution_as_candidate_module: false @@ -75,7 +75,7 @@ priority: 3 max_module_size: 1 - dynamic_avoidance: + dynamic_obstacle_avoidance: enable_rtc: false enable_simultaneous_execution_as_approved_module: true enable_simultaneous_execution_as_candidate_module: true diff --git a/planning/behavior_path_planner/include/behavior_path_planner/planner_manager.hpp b/planning/behavior_path_planner/include/behavior_path_planner/planner_manager.hpp index 51a4cddabb941..877a8c62cbb63 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/planner_manager.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/planner_manager.hpp @@ -290,8 +290,6 @@ class PlannerManager module_ptr->updateCurrentState(); - module_ptr->publishRTCStatus(); - module_ptr->publishSteeringFactor(); module_ptr->publishObjectsOfInterestMarker(); @@ -323,7 +321,6 @@ class PlannerManager void deleteExpiredModules(SceneModulePtr & module_ptr) const { module_ptr->onExit(); - module_ptr->publishRTCStatus(); module_ptr->publishObjectsOfInterestMarker(); module_ptr.reset(); } diff --git a/planning/behavior_path_planner/package.xml b/planning/behavior_path_planner/package.xml index 7f50c61a8343a..14220c09880de 100644 --- a/planning/behavior_path_planner/package.xml +++ b/planning/behavior_path_planner/package.xml @@ -20,6 +20,7 @@ Kosuke Takeuchi Kyoichi Sugahara Takayuki Murooka + Go Sakayori Apache License 2.0 @@ -41,6 +42,7 @@ autoware_auto_tf2 autoware_auto_vehicle_msgs autoware_perception_msgs + autoware_planning_test_manager behavior_path_planner_common freespace_planning_algorithms frenet_planner @@ -54,7 +56,6 @@ motion_utils object_recognition_utils path_sampler - planning_test_utils pluginlib rclcpp rclcpp_components diff --git a/planning/behavior_path_planner/src/behavior_path_planner_node.cpp b/planning/behavior_path_planner/src/behavior_path_planner_node.cpp index b56d1a207f76d..f7d204d2bff87 100644 --- a/planning/behavior_path_planner/src/behavior_path_planner_node.cpp +++ b/planning/behavior_path_planner/src/behavior_path_planner_node.cpp @@ -260,6 +260,8 @@ BehaviorPathPlannerParameters BehaviorPathPlannerNode::getCommonParam() p.turn_signal_search_time = declare_parameter("turn_signal_search_time"); p.turn_signal_shift_length_threshold = declare_parameter("turn_signal_shift_length_threshold"); + p.turn_signal_remaining_shift_length_threshold = + declare_parameter("turn_signal_remaining_shift_length_threshold"); p.turn_signal_on_swerving = declare_parameter("turn_signal_on_swerving"); p.enable_akima_spline_first = declare_parameter("enable_akima_spline_first"); diff --git a/planning/behavior_path_planner/src/planner_manager.cpp b/planning/behavior_path_planner/src/planner_manager.cpp index 418a70cb269d6..6cb2fccb31117 100644 --- a/planning/behavior_path_planner/src/planner_manager.cpp +++ b/planning/behavior_path_planner/src/planner_manager.cpp @@ -191,8 +191,10 @@ BehaviorModuleOutput PlannerManager::run(const std::shared_ptr & da return BehaviorModuleOutput{}; // something wrong. }(); - std::for_each( - manager_ptrs_.begin(), manager_ptrs_.end(), [](const auto & m) { m->updateObserver(); }); + std::for_each(manager_ptrs_.begin(), manager_ptrs_.end(), [](const auto & m) { + m->updateObserver(); + m->publishRTCStatus(); + }); generateCombinedDrivableArea(result_output, data); diff --git a/planning/behavior_path_planner/test/test_behavior_path_planner_node_interface.cpp b/planning/behavior_path_planner/test/test_behavior_path_planner_node_interface.cpp index 7ba934e873a8d..f8630a0c61973 100644 --- a/planning/behavior_path_planner/test/test_behavior_path_planner_node_interface.cpp +++ b/planning/behavior_path_planner/test/test_behavior_path_planner_node_interface.cpp @@ -15,8 +15,8 @@ #include "behavior_path_planner/behavior_path_planner_node.hpp" #include -#include -#include +#include +#include #include diff --git a/planning/behavior_path_planner_common/docs/behavior_path_planner_turn_signal_design.md b/planning/behavior_path_planner_common/docs/behavior_path_planner_turn_signal_design.md index bfc22bacc8ede..4302b74dcf2c6 100644 --- a/planning/behavior_path_planner_common/docs/behavior_path_planner_turn_signal_design.md +++ b/planning/behavior_path_planner_common/docs/behavior_path_planner_turn_signal_design.md @@ -20,14 +20,15 @@ Currently, this algorithm can sometimes give unnatural (not wrong) blinkers in c ## Parameters for turn signal decider -| Name | Unit | Type | Description | Default value | -| :---------------------------------------------- | :--- | :----- | :--------------------------------------------------------------------------- | :------------ | -| turn_signal_intersection_search_distance | [m] | double | constant search distance to decide activation of blinkers at intersections | 30 | -| turn_signal_intersection_angle_threshold_degree | deg | double | angle threshold to determined the end point of intersection required section | 15 | -| turn_signal_minimum_search_distance | [m] | double | minimum search distance for avoidance and lane change | 10 | -| turn_signal_search_time | [s] | double | search time for to decide activation of blinkers | 3.0 | -| turn_signal_shift_length_threshold | [m] | double | shift length threshold to decide activation of blinkers | 0.3 | -| turn_signal_on_swerving | [-] | bool | flag to activate blinkers when swerving | true | +| Name | Unit | Type | Description | Default value | +| :---------------------------------------------- | :--- | :----- | :------------------------------------------------------------------------------------------------------------------------------ | :------------ | +| turn_signal_intersection_search_distance | [m] | double | constant search distance to decide activation of blinkers at intersections | 30 | +| turn_signal_intersection_angle_threshold_degree | deg | double | angle threshold to determined the end point of intersection required section | 15 | +| turn_signal_minimum_search_distance | [m] | double | minimum search distance for avoidance and lane change | 10 | +| turn_signal_search_time | [s] | double | search time for to decide activation of blinkers | 3.0 | +| turn_signal_shift_length_threshold | [m] | double | shift length threshold to decide activation of blinkers | 0.3 | +| turn_signal_remaining_shift_length_threshold | [m] | double | When the ego's current shift length minus its end shift length is less than this threshold, the turn signal will be turned off. | 0.1 | +| turn_signal_on_swerving | [-] | bool | flag to activate blinkers when swerving | true | Note that the default values for `turn_signal_intersection_search_distance` and `turn_signal_search_time` is strictly followed by [Japanese Road Traffic Laws](https://www.japaneselawtranslation.go.jp/ja/laws/view/2962). So if your country does not allow to use these default values, you should change these values in configuration files. diff --git a/planning/behavior_path_planner_common/include/behavior_path_planner_common/interface/scene_module_interface.hpp b/planning/behavior_path_planner_common/include/behavior_path_planner_common/interface/scene_module_interface.hpp index 4947a1b544302..b6dc2997c11e8 100644 --- a/planning/behavior_path_planner_common/include/behavior_path_planner_common/interface/scene_module_interface.hpp +++ b/planning/behavior_path_planner_common/include/behavior_path_planner_common/interface/scene_module_interface.hpp @@ -41,11 +41,13 @@ #include #include #include +#include #include #include #include #include +#include #include #include #include @@ -67,6 +69,7 @@ using tier4_planning_msgs::msg::AvoidanceDebugMsgArray; using tier4_planning_msgs::msg::StopFactor; using tier4_planning_msgs::msg::StopReason; using tier4_planning_msgs::msg::StopReasonArray; +using tier4_rtc_msgs::msg::State; using unique_identifier_msgs::msg::UUID; using visualization_msgs::msg::MarkerArray; using PlanResult = PathWithLaneId::SharedPtr; @@ -184,9 +187,11 @@ class SceneModuleInterface { RCLCPP_DEBUG(getLogger(), "%s %s", name_.c_str(), __func__); + if (getCurrentStatus() == ModuleStatus::SUCCESS) { + updateRTCStatusForSuccess(); + } + clearWaitingApproval(); - removeRTCStatus(); - publishRTCStatus(); unlockNewModuleLaunch(); unlockOutputPath(); steering_factor_interface_ptr_->clearSteeringFactors(); @@ -196,18 +201,6 @@ class SceneModuleInterface processOnExit(); } - /** - * @brief Publish status if the module is requested to run - */ - void publishRTCStatus() - { - for (const auto & [module_name, ptr] : rtc_interface_ptr_map_) { - if (ptr) { - ptr->publishCooperateStatus(clock_->now()); - } - } - } - void publishObjectsOfInterestMarker() { for (const auto & [module_name, ptr] : objects_of_interest_marker_interface_ptr_map_) { @@ -503,13 +496,28 @@ class SceneModuleInterface { for (const auto & [module_name, ptr] : rtc_interface_ptr_map_) { if (ptr) { + const auto state = isWaitingApproval() ? State::WAITING_FOR_EXECUTION : State::RUNNING; ptr->updateCooperateStatus( - uuid_map_.at(module_name), isExecutionReady(), start_distance, finish_distance, + uuid_map_.at(module_name), isExecutionReady(), state, start_distance, finish_distance, clock_->now()); } } } + void updateRTCStatusForSuccess() + { + for (const auto & [module_name, ptr] : rtc_interface_ptr_map_) { + if (ptr) { + if (ptr->isRegistered(uuid_map_.at(module_name))) { + ptr->updateCooperateStatus( + uuid_map_.at(module_name), true, State::SUCCEEDED, + std::numeric_limits::lowest(), std::numeric_limits::lowest(), + clock_->now()); + } + } + } + } + void setObjectsOfInterestData( const geometry_msgs::msg::Pose & obj_pose, const autoware_auto_perception_msgs::msg::Shape & obj_shape, const ColorName & color_name) diff --git a/planning/behavior_path_planner_common/include/behavior_path_planner_common/interface/scene_module_manager_interface.hpp b/planning/behavior_path_planner_common/include/behavior_path_planner_common/interface/scene_module_manager_interface.hpp index e8a28ee684ce6..2eb56104ec831 100644 --- a/planning/behavior_path_planner_common/include/behavior_path_planner_common/interface/scene_module_manager_interface.hpp +++ b/planning/behavior_path_planner_common/include/behavior_path_planner_common/interface/scene_module_manager_interface.hpp @@ -99,6 +99,16 @@ class SceneModuleManagerInterface observers_.erase(itr, observers_.end()); } + void publishRTCStatus() + { + for (const auto & [module_name, ptr] : rtc_interface_ptr_map_) { + if (ptr) { + ptr->removeExpiredCooperateStatus(); + ptr->publishCooperateStatus(rclcpp::Clock(RCL_ROS_TIME).now()); + } + } + } + void publishVirtualWall() const { using tier4_autoware_utils::appendMarkerArray; @@ -235,7 +245,6 @@ class SceneModuleManagerInterface std::for_each(observers_.begin(), observers_.end(), [](const auto & observer) { if (!observer.expired()) { observer.lock()->onExit(); - observer.lock()->publishRTCStatus(); } }); @@ -243,7 +252,6 @@ class SceneModuleManagerInterface if (idle_module_ptr_ != nullptr) { idle_module_ptr_->onExit(); - idle_module_ptr_->publishRTCStatus(); idle_module_ptr_.reset(); } diff --git a/planning/behavior_path_planner_common/include/behavior_path_planner_common/interface/scene_module_visitor.hpp b/planning/behavior_path_planner_common/include/behavior_path_planner_common/interface/scene_module_visitor.hpp index ffc5daa7aa2ff..1bce30b18edd7 100644 --- a/planning/behavior_path_planner_common/include/behavior_path_planner_common/interface/scene_module_visitor.hpp +++ b/planning/behavior_path_planner_common/include/behavior_path_planner_common/interface/scene_module_visitor.hpp @@ -21,7 +21,7 @@ namespace behavior_path_planner { // Forward Declaration -class AvoidanceModule; +class StaticObstacleAvoidanceModule; class AvoidanceByLCModule; class ExternalRequestLaneChangeModule; class LaneChangeInterface; @@ -35,7 +35,7 @@ using tier4_planning_msgs::msg::AvoidanceDebugMsgArray; class SceneModuleVisitor { public: - void visitAvoidanceModule(const AvoidanceModule * module) const; + void visitAvoidanceModule(const StaticObstacleAvoidanceModule * module) const; std::shared_ptr getAvoidanceModuleDebugMsg() const; diff --git a/planning/behavior_path_planner_common/include/behavior_path_planner_common/parameters.hpp b/planning/behavior_path_planner_common/include/behavior_path_planner_common/parameters.hpp index 1241f98daa747..dbe27d856bc40 100644 --- a/planning/behavior_path_planner_common/include/behavior_path_planner_common/parameters.hpp +++ b/planning/behavior_path_planner_common/include/behavior_path_planner_common/parameters.hpp @@ -54,6 +54,7 @@ struct BehaviorPathPlannerParameters double turn_signal_search_time; double turn_signal_minimum_search_distance; double turn_signal_shift_length_threshold; + double turn_signal_remaining_shift_length_threshold; bool turn_signal_on_swerving; bool enable_akima_spline_first; diff --git a/planning/behavior_path_planner_common/include/behavior_path_planner_common/turn_signal_decider.hpp b/planning/behavior_path_planner_common/include/behavior_path_planner_common/turn_signal_decider.hpp index fe187567cd893..29fe05775739e 100644 --- a/planning/behavior_path_planner_common/include/behavior_path_planner_common/turn_signal_decider.hpp +++ b/planning/behavior_path_planner_common/include/behavior_path_planner_common/turn_signal_decider.hpp @@ -228,23 +228,23 @@ class TurnSignalDecider using tier4_autoware_utils::transformVector; const auto footprint = vehicle_info.createFootprint(); - - for (const auto & lane : lanes) { - for (size_t i = shift_line.start_idx; i < shift_line.end_idx; ++i) { - const auto transform = pose2transform(path.path.points.at(i).point.pose); - const auto shifted_vehicle_footprint = transformVector(footprint, transform); - - if (intersects(lane.leftBound2d().basicLineString(), shifted_vehicle_footprint)) { - return true; - } - - if (intersects(lane.rightBound2d().basicLineString(), shifted_vehicle_footprint)) { - return true; - } - } - } - - return false; + const auto start_itr = std::next(path.path.points.begin(), shift_line.start_idx); + const auto end_itr = std::next(path.path.points.begin(), shift_line.end_idx); + + return std::any_of(start_itr, end_itr, [&footprint, &lanes](const auto & point) { + const auto transform = pose2transform(point.point.pose); + const auto shifted_vehicle_footprint = transformVector(footprint, transform); + + auto check_for_vehicle_and_bound_intersection = + [&shifted_vehicle_footprint](const auto & lane) { + const auto & left_bound = lane.leftBound2d().basicLineString(); + const auto & right_bound = lane.rightBound2d().basicLineString(); + return intersects(left_bound, shifted_vehicle_footprint) || + intersects(right_bound, shifted_vehicle_footprint); + }; + + return std::any_of(lanes.begin(), lanes.end(), check_for_vehicle_and_bound_intersection); + }); }; inline bool isNearEndOfShift( diff --git a/planning/behavior_path_planner_common/include/behavior_path_planner_common/utils/path_safety_checker/objects_filtering.hpp b/planning/behavior_path_planner_common/include/behavior_path_planner_common/utils/path_safety_checker/objects_filtering.hpp index e33c2596ab04d..a0b2d0afa0fa8 100644 --- a/planning/behavior_path_planner_common/include/behavior_path_planner_common/utils/path_safety_checker/objects_filtering.hpp +++ b/planning/behavior_path_planner_common/include/behavior_path_planner_common/utils/path_safety_checker/objects_filtering.hpp @@ -69,6 +69,12 @@ bool isCentroidWithinLanelet(const PredictedObject & object, const lanelet::Cons */ bool isPolygonOverlapLanelet(const PredictedObject & object, const lanelet::ConstLanelet & lanelet); +bool isPolygonOverlapLanelet( + const PredictedObject & object, const tier4_autoware_utils::Polygon2d & lanelet_polygon); + +bool isPolygonOverlapLanelet( + const PredictedObject & object, const lanelet::BasicPolygon2d & lanelet_polygon); + /** * @brief Filters objects based on various criteria. * @@ -279,6 +285,15 @@ void filterObjects(PredictedObjects & selected, PredictedObjects & removed, Func selected.objects.erase(partitioned, selected.objects.end()); } +template +void filterObjects( + std::vector & selected, std::vector & removed, Func filter) +{ + auto partitioned = std::partition(selected.begin(), selected.end(), filter); + removed.insert(removed.end(), partitioned, selected.end()); + selected.erase(partitioned, selected.end()); +} + /** * @brief Filters objects in the 'objects' container based on the provided filter function. * @@ -296,6 +311,13 @@ void filterObjects(PredictedObjects & objects, Func filter) [[maybe_unused]] PredictedObjects removed_objects{}; filterObjects(objects, removed_objects, filter); } + +template +void filterObjects(std::vector & objects, Func filter) +{ + [[maybe_unused]] std::vector removed_objects{}; + filterObjects(objects, removed_objects, filter); +} } // namespace behavior_path_planner::utils::path_safety_checker #endif // BEHAVIOR_PATH_PLANNER_COMMON__UTILS__PATH_SAFETY_CHECKER__OBJECTS_FILTERING_HPP_ diff --git a/planning/behavior_path_planner_common/include/behavior_path_planner_common/utils/path_safety_checker/safety_check.hpp b/planning/behavior_path_planner_common/include/behavior_path_planner_common/utils/path_safety_checker/safety_check.hpp index 53c4706e49c10..c4cfed01450b7 100644 --- a/planning/behavior_path_planner_common/include/behavior_path_planner_common/utils/path_safety_checker/safety_check.hpp +++ b/planning/behavior_path_planner_common/include/behavior_path_planner_common/utils/path_safety_checker/safety_check.hpp @@ -43,7 +43,8 @@ using tier4_autoware_utils::Polygon2d; using vehicle_info_util::VehicleInfo; bool isTargetObjectOncoming( - const geometry_msgs::msg::Pose & vehicle_pose, const geometry_msgs::msg::Pose & object_pose); + const geometry_msgs::msg::Pose & vehicle_pose, const geometry_msgs::msg::Pose & object_pose, + const double angle_threshold = M_PI_2); bool isTargetObjectFront( const geometry_msgs::msg::Pose & ego_pose, const Polygon2d & obj_polygon, @@ -54,11 +55,11 @@ bool isTargetObjectFront( Polygon2d createExtendedPolygon( const Pose & base_link_pose, const vehicle_info_util::VehicleInfo & vehicle_info, - const double lon_length, const double lat_margin, const double is_stopped_obj, + const double lon_length, const double lat_margin, const bool is_stopped_obj, CollisionCheckDebug & debug); Polygon2d createExtendedPolygon( const Pose & obj_pose, const Shape & shape, const double lon_length, const double lat_margin, - const double is_stopped_obj, CollisionCheckDebug & debug); + const bool is_stopped_obj, CollisionCheckDebug & debug); PredictedPath convertToPredictedPath( const std::vector & path, const double time_resolution); diff --git a/planning/behavior_path_planner_common/include/behavior_path_planner_common/utils/path_shifter/path_shifter.hpp b/planning/behavior_path_planner_common/include/behavior_path_planner_common/utils/path_shifter/path_shifter.hpp index 67f581123057e..880e55b64d170 100644 --- a/planning/behavior_path_planner_common/include/behavior_path_planner_common/utils/path_shifter/path_shifter.hpp +++ b/planning/behavior_path_planner_common/include/behavior_path_planner_common/utils/path_shifter/path_shifter.hpp @@ -94,9 +94,9 @@ class PathShifter void setLongitudinalAcceleration(const double longitudinal_acc); /** - * @brief Add shift point. You don't have to care about the start/end_idx. + * @brief Add shift line. You don't have to care about the start/end_idx. */ - void addShiftLine(const ShiftLine & point); + void addShiftLine(const ShiftLine & line); /** * @brief Set new shift point. You don't have to care about the start/end_idx. @@ -143,7 +143,7 @@ class PathShifter //////////////////////////////////////// static double calcFeasibleVelocityFromJerk( - const double lateral, const double jerk, const double distance); + const double lateral, const double jerk, const double longitudinal_distance); static double calcLateralDistFromJerk( const double longitudinal, const double jerk, const double velocity); @@ -196,12 +196,12 @@ class PathShifter std::pair, std::vector> calcBaseLengths( const double arclength, const double shift_length, const bool offset_back) const; - std::pair, std::vector> getBaseLengthsWithoutAccelLimit( - const double arclength, const double shift_length, const bool offset_back) const; + static std::pair, std::vector> getBaseLengthsWithoutAccelLimit( + const double arclength, const double shift_length, const bool offset_back); - std::pair, std::vector> getBaseLengthsWithoutAccelLimit( + static std::pair, std::vector> getBaseLengthsWithoutAccelLimit( const double arclength, const double shift_length, const double velocity, - const double longitudinal_acc, const double total_time, const bool offset_back) const; + const double longitudinal_acc, const double total_time, const bool offset_back); /** * @brief Calculate path index for shift_lines and set is_index_aligned_ to true. @@ -235,9 +235,9 @@ class PathShifter */ bool checkShiftLinesAlignment(const ShiftLineArray & shift_lines) const; - void addLateralOffsetOnIndexPoint(ShiftedPath * path, double offset, size_t index) const; + static void addLateralOffsetOnIndexPoint(ShiftedPath * path, double offset, size_t index); - void shiftBaseLength(ShiftedPath * path, double offset) const; + static void shiftBaseLength(ShiftedPath * path, double offset); void setBaseOffset(const double val) { diff --git a/planning/behavior_path_planner_common/include/behavior_path_planner_common/utils/utils.hpp b/planning/behavior_path_planner_common/include/behavior_path_planner_common/utils/utils.hpp index b25238a49333c..b61ef0579cab0 100644 --- a/planning/behavior_path_planner_common/include/behavior_path_planner_common/utils/utils.hpp +++ b/planning/behavior_path_planner_common/include/behavior_path_planner_common/utils/utils.hpp @@ -299,6 +299,10 @@ lanelet::ConstLanelets extendPrevLane( lanelet::ConstLanelets extendLanes( const std::shared_ptr route_handler, const lanelet::ConstLanelets & lanes); +std::vector getPrecedingLanelets( + const RouteHandler & route_handler, const lanelet::ConstLanelets & target_lanes, + const Pose & current_pose, const double backward_length); + lanelet::ConstLanelets getBackwardLanelets( const RouteHandler & route_handler, const lanelet::ConstLanelets & target_lanes, const Pose & current_pose, const double backward_length); diff --git a/planning/behavior_path_planner_common/package.xml b/planning/behavior_path_planner_common/package.xml index 2dd4d12c05487..7bc40974b9a62 100644 --- a/planning/behavior_path_planner_common/package.xml +++ b/planning/behavior_path_planner_common/package.xml @@ -25,6 +25,7 @@ Fumiya Watanabe Takamasa Horibe Zulfaqar Azmi + Go Sakayori Apache License 2.0 diff --git a/planning/behavior_path_planner_common/src/turn_signal_decider.cpp b/planning/behavior_path_planner_common/src/turn_signal_decider.cpp index 320cc96577187..fb15391550980 100644 --- a/planning/behavior_path_planner_common/src/turn_signal_decider.cpp +++ b/planning/behavior_path_planner_common/src/turn_signal_decider.cpp @@ -615,7 +615,6 @@ std::pair TurnSignalDecider::getBehaviorTurnSignalInfo( const double current_shift_length, const bool is_driving_forward, const bool egos_lane_is_shifted, const bool override_ego_stopped_check, const bool is_pull_out) const { - constexpr double THRESHOLD = 0.1; const auto & p = parameters; const auto & rh = route_handler; const auto & ego_pose = self_odometry->pose.pose; @@ -674,7 +673,9 @@ std::pair TurnSignalDecider::getBehaviorTurnSignalInfo( } // If the vehicle does not shift anymore, we turn off the blinker - if (std::fabs(end_shift_length - current_shift_length) < THRESHOLD) { + if ( + std::fabs(end_shift_length - current_shift_length) < + p.turn_signal_remaining_shift_length_threshold) { return std::make_pair(TurnSignalInfo{}, true); } @@ -731,10 +732,13 @@ std::pair TurnSignalDecider::getBehaviorTurnSignalInfo( return std::make_pair(TurnSignalInfo{}, true); } - if (!straddleRoadBound(path, shift_line, current_lanelets, p.vehicle_info)) { + // Check if the ego will cross lane bounds. + // Note that pull out requires blinkers, even if the ego does not cross lane bounds + if (!is_pull_out && !straddleRoadBound(path, shift_line, current_lanelets, p.vehicle_info)) { return std::make_pair(TurnSignalInfo{}, true); } + // If the ego has stopped and its close to completing its shift, turn off the blinkers constexpr double STOPPED_THRESHOLD = 0.1; // [m/s] if (ego_speed < STOPPED_THRESHOLD && !override_ego_stopped_check) { if (isNearEndOfShift( diff --git a/planning/behavior_path_planner_common/src/utils/occupancy_grid_based_collision_detector/occupancy_grid_based_collision_detector.cpp b/planning/behavior_path_planner_common/src/utils/occupancy_grid_based_collision_detector/occupancy_grid_based_collision_detector.cpp index 1aab58ac2ff6e..df48b48d51241 100644 --- a/planning/behavior_path_planner_common/src/utils/occupancy_grid_based_collision_detector/occupancy_grid_based_collision_detector.cpp +++ b/planning/behavior_path_planner_common/src/utils/occupancy_grid_based_collision_detector/occupancy_grid_based_collision_detector.cpp @@ -110,6 +110,14 @@ void OccupancyGridBasedCollisionDetector::setMap(const nav_msgs::msg::OccupancyG } } +static IndexXY position2index( + const nav_msgs::msg::OccupancyGrid & costmap, const geometry_msgs::msg::Point & position_local) +{ + const int index_x = position_local.x / costmap.info.resolution; + const int index_y = position_local.y / costmap.info.resolution; + return {index_x, index_y}; +} + void OccupancyGridBasedCollisionDetector::computeCollisionIndexes( int theta_index, std::vector & indexes_2d) { @@ -131,12 +139,11 @@ void OccupancyGridBasedCollisionDetector::computeCollisionIndexes( const double offset_x = std::cos(base_theta) * x - std::sin(base_theta) * y; const double offset_y = std::sin(base_theta) * x + std::cos(base_theta) * y; - geometry_msgs::msg::Pose pose_local; - pose_local.position.x = base_pose.position.x + offset_x; - pose_local.position.y = base_pose.position.y + offset_y; + geometry_msgs::msg::Point position_local; + position_local.x = base_pose.position.x + offset_x; + position_local.y = base_pose.position.y + offset_y; - const auto index = pose2index(costmap_, pose_local, param_.theta_size); - const auto index_2d = IndexXY{index.x, index.y}; + const auto index_2d = position2index(costmap_, position_local); indexes_2d.push_back(index_2d); }; diff --git a/planning/behavior_path_planner_common/src/utils/path_safety_checker/objects_filtering.cpp b/planning/behavior_path_planner_common/src/utils/path_safety_checker/objects_filtering.cpp index b8014deee9500..cdb4b778d3ab3 100644 --- a/planning/behavior_path_planner_common/src/utils/path_safety_checker/objects_filtering.cpp +++ b/planning/behavior_path_planner_common/src/utils/path_safety_checker/objects_filtering.cpp @@ -66,8 +66,21 @@ bool isCentroidWithinLanelet(const PredictedObject & object, const lanelet::Cons bool isPolygonOverlapLanelet(const PredictedObject & object, const lanelet::ConstLanelet & lanelet) { - const auto object_polygon = tier4_autoware_utils::toPolygon2d(object); const auto lanelet_polygon = utils::toPolygon2d(lanelet); + return isPolygonOverlapLanelet(object, lanelet_polygon); +} + +bool isPolygonOverlapLanelet( + const PredictedObject & object, const tier4_autoware_utils::Polygon2d & lanelet_polygon) +{ + const auto object_polygon = tier4_autoware_utils::toPolygon2d(object); + return !boost::geometry::disjoint(lanelet_polygon, object_polygon); +} + +bool isPolygonOverlapLanelet( + const PredictedObject & object, const lanelet::BasicPolygon2d & lanelet_polygon) +{ + const auto object_polygon = tier4_autoware_utils::toPolygon2d(object); return !boost::geometry::disjoint(lanelet_polygon, object_polygon); } @@ -341,11 +354,9 @@ TargetObjectsOnLane createTargetObjectsOnLane( }; const auto update_left_shoulder_lanelet = [&](const lanelet::ConstLanelet & target_lane) { - lanelet::ConstLanelet neighbor_shoulder_lane{}; - const bool shoulder_lane_is_found = - route_handler->getLeftShoulderLanelet(target_lane, &neighbor_shoulder_lane); - if (shoulder_lane_is_found) { - all_left_shoulder_lanelets.insert(all_left_shoulder_lanelets.end(), neighbor_shoulder_lane); + const auto neighbor_shoulder_lane = route_handler->getLeftShoulderLanelet(target_lane); + if (neighbor_shoulder_lane) { + all_left_shoulder_lanelets.insert(all_left_shoulder_lanelets.end(), *neighbor_shoulder_lane); } }; diff --git a/planning/behavior_path_planner_common/src/utils/path_safety_checker/safety_check.cpp b/planning/behavior_path_planner_common/src/utils/path_safety_checker/safety_check.cpp index 6390c45376b37..e1884e57f7221 100644 --- a/planning/behavior_path_planner_common/src/utils/path_safety_checker/safety_check.cpp +++ b/planning/behavior_path_planner_common/src/utils/path_safety_checker/safety_check.cpp @@ -43,9 +43,10 @@ void appendPointToPolygon(Polygon2d & polygon, const geometry_msgs::msg::Point & } bool isTargetObjectOncoming( - const geometry_msgs::msg::Pose & vehicle_pose, const geometry_msgs::msg::Pose & object_pose) + const geometry_msgs::msg::Pose & vehicle_pose, const geometry_msgs::msg::Pose & object_pose, + const double angle_threshold) { - return std::abs(calcYawDeviation(vehicle_pose, object_pose)) > M_PI_2; + return std::abs(calcYawDeviation(vehicle_pose, object_pose)) > angle_threshold; } bool isTargetObjectFront( @@ -90,7 +91,7 @@ bool isTargetObjectFront( Polygon2d createExtendedPolygon( const Pose & base_link_pose, const vehicle_info_util::VehicleInfo & vehicle_info, - const double lon_length, const double lat_margin, const double is_stopped_obj, + const double lon_length, const double lat_margin, const bool is_stopped_obj, CollisionCheckDebug & debug) { const double & base_to_front = vehicle_info.max_longitudinal_offset_m; @@ -131,7 +132,7 @@ Polygon2d createExtendedPolygon( Polygon2d createExtendedPolygon( const Pose & obj_pose, const Shape & shape, const double lon_length, const double lat_margin, - const double is_stopped_obj, CollisionCheckDebug & debug) + const bool is_stopped_obj, CollisionCheckDebug & debug) { const auto obj_polygon = tier4_autoware_utils::toPolygon2d(obj_pose, shape); if (obj_polygon.outer().empty()) { @@ -189,7 +190,7 @@ Polygon2d createExtendedPolygon( Polygon2d createExtendedPolygonAlongPath( const PathWithLaneId & planned_path, const Pose & base_link_pose, const vehicle_info_util::VehicleInfo & vehicle_info, const double lon_length, - const double lat_margin, const double is_stopped_obj, CollisionCheckDebug & debug) + const double lat_margin, const bool is_stopped_obj, CollisionCheckDebug & debug) { const double & base_to_front = vehicle_info.max_longitudinal_offset_m; const double & width = vehicle_info.vehicle_width_m; diff --git a/planning/behavior_path_planner_common/src/utils/path_shifter/path_shifter.cpp b/planning/behavior_path_planner_common/src/utils/path_shifter/path_shifter.cpp index 7a74ca598de8f..1ea555f4675ef 100644 --- a/planning/behavior_path_planner_common/src/utils/path_shifter/path_shifter.cpp +++ b/planning/behavior_path_planner_common/src/utils/path_shifter/path_shifter.cpp @@ -53,7 +53,7 @@ namespace behavior_path_planner using motion_utils::findNearestIndex; using motion_utils::insertOrientation; -using motion_utils::removeInvalidOrientationPoints; +using motion_utils::removeFirstInvalidOrientationPoints; using motion_utils::removeOverlapPoints; void PathShifter::setPath(const PathWithLaneId & path) @@ -116,7 +116,13 @@ bool PathShifter::generate( } for (const auto & shift_line : shift_lines_) { - int idx_gap = shift_line.end_idx - shift_line.start_idx; + if (shift_line.end_idx < shift_line.start_idx) { + RCLCPP_WARN_STREAM_THROTTLE( + logger_, clock_, 3000, "Invalid indices: end_idx is less than start_idx"); + return false; + } + + const auto idx_gap = shift_line.end_idx - shift_line.start_idx; if (idx_gap <= 1) { RCLCPP_WARN_STREAM_THROTTLE( logger_, clock_, 3000, @@ -149,14 +155,14 @@ bool PathShifter::generate( shifted_path->path.points = removeOverlapPoints(shifted_path->path.points); // Use orientation before shift to remove points in reverse order // before setting wrong azimuth orientation - removeInvalidOrientationPoints(shifted_path->path.points); + removeFirstInvalidOrientationPoints(shifted_path->path.points); size_t previous_size{shifted_path->path.points.size()}; do { previous_size = shifted_path->path.points.size(); // Set the azimuth orientation to the next point at each point insertOrientation(shifted_path->path.points, true); // Use azimuth orientation to remove points in reverse order - removeInvalidOrientationPoints(shifted_path->path.points); + removeFirstInvalidOrientationPoints(shifted_path->path.points); } while (previous_size != shifted_path->path.points.size()); // DEBUG @@ -185,7 +191,7 @@ void PathShifter::applyLinearShifter(ShiftedPath * shifted_path) const // For all path.points, for (size_t i = 0; i < shifted_path->path.points.size(); ++i) { // Set shift length. - double ith_shift_length; + double ith_shift_length = 0.0; if (i < shift_line.start_idx) { ith_shift_length = 0.0; } else if (shift_line.start_idx <= i && i <= shift_line.end_idx) { @@ -235,7 +241,8 @@ void PathShifter::applySplineShifter(ShiftedPath * shifted_path, const bool offs logger_, "base_distance = %s, base_length = %s", toStr(base_distance).c_str(), toStr(base_length).c_str()); - std::vector query_distance, query_length; + std::vector query_distance; + std::vector query_length; // For all path.points, // Note: start_idx is not included since shift = 0, @@ -257,7 +264,7 @@ void PathShifter::applySplineShifter(ShiftedPath * shifted_path, const bool offs } } - if (offset_back == true) { + if (offset_back) { // Apply shifting after shift for (size_t i = shift_line.end_idx; i < shifted_path->path.points.size(); ++i) { addLateralOffsetOnIndexPoint(shifted_path, delta_shift, i); @@ -272,7 +279,7 @@ void PathShifter::applySplineShifter(ShiftedPath * shifted_path, const bool offs } std::pair, std::vector> PathShifter::getBaseLengthsWithoutAccelLimit( - const double arclength, const double shift_length, const bool offset_back) const + const double arclength, const double shift_length, const bool offset_back) { const auto s = arclength; const auto l = shift_length; @@ -286,14 +293,13 @@ std::pair, std::vector> PathShifter::getBaseLengthsW std::pair, std::vector> PathShifter::getBaseLengthsWithoutAccelLimit( const double arclength, const double shift_length, const double velocity, - const double longitudinal_acc, const double total_time, const bool offset_back) const + const double longitudinal_acc, const double total_time, const bool offset_back) { - const auto & s = arclength; - const auto & l = shift_length; - const auto & v0 = velocity; - const auto & a = longitudinal_acc; - const auto & T = total_time; - const double t = T / 4; + const auto s = arclength; + const auto l = shift_length; + const auto v0 = velocity; + const auto a = longitudinal_acc; + const auto t = total_time / 4; const double s1 = std::min(v0 * t + 0.5 * a * t * t, s); const double v1 = v0 + a * t; @@ -322,7 +328,7 @@ std::pair, std::vector> PathShifter::calcBaseLengths return getBaseLengthsWithoutAccelLimit(arclength, shift_length, offset_back); } - const auto & S = arclength; + const auto S = arclength; const auto L = std::abs(shift_length); const auto T = a > acc_threshold ? (-v0 + std::sqrt(v0 * v0 + 2 * a * S)) / a : S / v0; const auto lateral_a_max = 8.0 * L / (T * T); @@ -512,8 +518,7 @@ void PathShifter::removeBehindShiftLineAndSetBaseOffset(const size_t nearest_idx setBaseOffset(new_base_offset); } -void PathShifter::addLateralOffsetOnIndexPoint( - ShiftedPath * path, double offset, size_t index) const +void PathShifter::addLateralOffsetOnIndexPoint(ShiftedPath * path, double offset, size_t index) { if (fabs(offset) < 1.0e-8) { return; @@ -527,10 +532,10 @@ void PathShifter::addLateralOffsetOnIndexPoint( path->shift_length.at(index) += offset; } -void PathShifter::shiftBaseLength(ShiftedPath * path, double offset) const +void PathShifter::shiftBaseLength(ShiftedPath * path, double offset) { - constexpr double BASE_OFFSET_THR = 1.0e-4; - if (std::abs(offset) > BASE_OFFSET_THR) { + constexpr double base_offset_thr = 1.0e-4; + if (std::abs(offset) > base_offset_thr) { for (size_t i = 0; i < path->path.points.size(); ++i) { addLateralOffsetOnIndexPoint(path, offset, i); } @@ -563,11 +568,11 @@ double PathShifter::calcShiftTimeFromJerk(const double lateral, const double jer } double PathShifter::calcFeasibleVelocityFromJerk( - const double lateral, const double jerk, const double longitudinal) + const double lateral, const double jerk, const double longitudinal_distance) { const double j = std::abs(jerk); const double l = std::abs(lateral); - const double d = std::abs(longitudinal); + const double d = std::abs(longitudinal_distance); if (j < 1.0e-8) { return 1.0e10; // TODO(Horibe) maybe invalid arg? } diff --git a/planning/behavior_path_planner_common/src/utils/path_utils.cpp b/planning/behavior_path_planner_common/src/utils/path_utils.cpp index 1d51426793de8..d11bc5a68e9b5 100644 --- a/planning/behavior_path_planner_common/src/utils/path_utils.cpp +++ b/planning/behavior_path_planner_common/src/utils/path_utils.cpp @@ -447,6 +447,8 @@ std::vector splineTwoPoints( std::vector base_s, std::vector base_x, const double begin_diff, const double end_diff, std::vector new_s) { + assert(base_s.size() == 2 && base_x.size() == 2); + const double h = base_s.at(1) - base_s.at(0); const double c = begin_diff; @@ -643,15 +645,12 @@ BehaviorModuleOutput createGoalAroundPath(const std::shared_ptrprev_modified_goal; const Pose goal_pose = modified_goal ? modified_goal->pose : route_handler->getGoalPose(); - const auto shoulder_lanes = route_handler->getShoulderLanelets(); lanelet::ConstLanelet goal_lane; - const bool is_failed_getting_lanelet = std::invoke([&]() { - if (isInLanelets(goal_pose, shoulder_lanes)) { - return !lanelet::utils::query::getClosestLanelet(shoulder_lanes, goal_pose, &goal_lane); - } - return !route_handler->getGoalLanelet(&goal_lane); - }); + const auto shoulder_goal_lanes = route_handler->getShoulderLaneletsAtPose(goal_pose); + if (!shoulder_goal_lanes.empty()) goal_lane = shoulder_goal_lanes.front(); + const auto is_failed_getting_lanelet = + shoulder_goal_lanes.empty() && !route_handler->getGoalLanelet(&goal_lane); if (is_failed_getting_lanelet) { return output; } diff --git a/planning/behavior_path_planner_common/src/utils/utils.cpp b/planning/behavior_path_planner_common/src/utils/utils.cpp index e2a0db1c3f75f..d674f7770ac67 100644 --- a/planning/behavior_path_planner_common/src/utils/utils.cpp +++ b/planning/behavior_path_planner_common/src/utils/utils.cpp @@ -496,15 +496,12 @@ bool isEgoOutOfRoute( const Pose & goal_pose = (modified_goal && modified_goal->uuid == route_handler->getRouteUuid()) ? modified_goal->pose : route_handler->getGoalPose(); - const auto shoulder_lanes = route_handler->getShoulderLanelets(); lanelet::ConstLanelet goal_lane; - const bool is_failed_getting_lanelet = std::invoke([&]() { - if (utils::isInLanelets(goal_pose, shoulder_lanes)) { - return !lanelet::utils::query::getClosestLanelet(shoulder_lanes, goal_pose, &goal_lane); - } - return !route_handler->getGoalLanelet(&goal_lane); - }); + const auto shoulder_goal_lanes = route_handler->getShoulderLaneletsAtPose(goal_pose); + if (!shoulder_goal_lanes.empty()) goal_lane = shoulder_goal_lanes.front(); + const auto is_failed_getting_lanelet = + shoulder_goal_lanes.empty() && !route_handler->getGoalLanelet(&goal_lane); if (is_failed_getting_lanelet) { RCLCPP_WARN_STREAM( rclcpp::get_logger("behavior_path_planner").get_child("util"), "cannot find goal lanelet"); @@ -527,14 +524,7 @@ bool isEgoOutOfRoute( // If ego vehicle is out of the closest lanelet, return true // Check if ego vehicle is in shoulder lane - const bool is_in_shoulder_lane = std::invoke([&]() { - lanelet::Lanelet closest_shoulder_lanelet; - if (!lanelet::utils::query::getClosestLanelet( - shoulder_lanes, self_pose, &closest_shoulder_lanelet)) { - return false; - } - return lanelet::utils::isInLanelet(self_pose, closest_shoulder_lanelet); - }); + const bool is_in_shoulder_lane = !route_handler->getShoulderLaneletsAtPose(self_pose).empty(); // Check if ego vehicle is in road lane const bool is_in_road_lane = std::invoke([&]() { lanelet::ConstLanelet closest_road_lane; @@ -1513,8 +1503,7 @@ lanelet::ConstLanelets getExtendedCurrentLanesFromPath( return lanes; } -// TODO(Azu): In the future, get back lanelet within `to_back_dist` [m] from queried lane -lanelet::ConstLanelets getBackwardLanelets( +std::vector getPrecedingLanelets( const RouteHandler & route_handler, const lanelet::ConstLanelets & target_lanes, const Pose & current_pose, const double backward_length) { @@ -1529,18 +1518,21 @@ lanelet::ConstLanelets getBackwardLanelets( } const auto & front_lane = target_lanes.front(); - const auto preceding_lanes = route_handler.getPrecedingLaneletSequence( + return route_handler.getPrecedingLaneletSequence( front_lane, std::abs(backward_length - arc_length.length), {front_lane}); +} - lanelet::ConstLanelets backward_lanes{}; - const auto num_of_lanes = std::invoke([&preceding_lanes]() { - size_t sum{0}; - for (const auto & lanes : preceding_lanes) { - sum += lanes.size(); - } - return sum; - }); +lanelet::ConstLanelets getBackwardLanelets( + const RouteHandler & route_handler, const lanelet::ConstLanelets & target_lanes, + const Pose & current_pose, const double backward_length) +{ + const auto preceding_lanes = + getPrecedingLanelets(route_handler, target_lanes, current_pose, backward_length); + const auto calc_sum = [](size_t sum, const auto & lanes) { return sum + lanes.size(); }; + const auto num_of_lanes = + std::accumulate(preceding_lanes.begin(), preceding_lanes.end(), 0u, calc_sum); + lanelet::ConstLanelets backward_lanes{}; backward_lanes.reserve(num_of_lanes); for (const auto & lanes : preceding_lanes) { @@ -1660,13 +1652,6 @@ bool isAllowedGoalModification(const std::shared_ptr & route_handl bool checkOriginalGoalIsInShoulder(const std::shared_ptr & route_handler) { const Pose & goal_pose = route_handler->getOriginalGoalPose(); - const auto shoulder_lanes = route_handler->getShoulderLanelets(); - - lanelet::ConstLanelet closest_shoulder_lane{}; - if (lanelet::utils::query::getClosestLanelet(shoulder_lanes, goal_pose, &closest_shoulder_lane)) { - return lanelet::utils::isInLanelet(goal_pose, closest_shoulder_lane, 0.1); - } - - return false; + return !route_handler->getShoulderLaneletsAtPose(goal_pose).empty(); } } // namespace behavior_path_planner::utils diff --git a/planning/behavior_path_sampling_planner_module/package.xml b/planning/behavior_path_sampling_planner_module/package.xml index cfac87b3c557f..f016cb6de1e7c 100644 --- a/planning/behavior_path_sampling_planner_module/package.xml +++ b/planning/behavior_path_sampling_planner_module/package.xml @@ -18,6 +18,7 @@ autoware_auto_tf2 autoware_auto_vehicle_msgs autoware_perception_msgs + autoware_planning_test_manager behavior_path_planner_common bezier_sampler frenet_planner @@ -26,7 +27,6 @@ lanelet2_extension motion_utils path_sampler - planning_test_utils pluginlib rclcpp rclcpp_components diff --git a/planning/behavior_path_sampling_planner_module/src/sampling_planner_module.cpp b/planning/behavior_path_sampling_planner_module/src/sampling_planner_module.cpp index 73a726d8cdf7c..4b0ecdcd24e14 100644 --- a/planning/behavior_path_sampling_planner_module/src/sampling_planner_module.cpp +++ b/planning/behavior_path_sampling_planner_module/src/sampling_planner_module.cpp @@ -54,19 +54,19 @@ SamplingPlannerModule::SamplingPlannerModule( sampler_common::Path & path, const sampler_common::Constraints & constraints, const MultiPoint2d & footprint) -> bool { if (!footprint.empty()) { - path.constraint_results.drivable_area = + path.constraint_results.inside_drivable_area = bg::within(footprint, constraints.drivable_polygons); } for (const auto & f : footprint) { const auto collision_index = constraints.rtree.qbegin(bgi::intersects(f)); if (collision_index != constraints.rtree.qend()) { - path.constraint_results.collision = false; + path.constraint_results.collision_free = false; break; } } - return path.constraint_results.collision && path.constraint_results.drivable_area; + return path.constraint_results.collision_free && path.constraint_results.inside_drivable_area; }); hard_constraints_.emplace_back( @@ -74,14 +74,14 @@ SamplingPlannerModule::SamplingPlannerModule( sampler_common::Path & path, const sampler_common::Constraints & constraints, [[maybe_unused]] const MultiPoint2d & footprint) -> bool { if (path.curvatures.empty()) { - path.constraint_results.curvature = false; + path.constraint_results.valid_curvature = false; return false; } const bool curvatures_satisfied = std::all_of(path.curvatures.begin(), path.curvatures.end(), [&](const auto & v) -> bool { return (v > constraints.hard.min_curvature) && (v < constraints.hard.max_curvature); }); - path.constraint_results.curvature = curvatures_satisfied; + path.constraint_results.valid_curvature = curvatures_satisfied; return curvatures_satisfied; }); @@ -267,9 +267,9 @@ bool SamplingPlannerModule::isReferencePathSafe() const []( sampler_common::Path & path, const sampler_common::Constraints & constraints, const MultiPoint2d & footprint) -> bool { - path.constraint_results.collision = + path.constraint_results.collision_free = !sampler_common::constraints::has_collision(footprint, constraints.obstacle_polygons); - return path.constraint_results.collision; + return path.constraint_results.collision_free; }); evaluateHardConstraints( reference_path, internal_params_->constraints, footprint, hard_constraints_reference_path); @@ -591,7 +591,7 @@ BehaviorModuleOutput SamplingPlannerModule::plan() sampler_common::constraints::buildFootprintPoints(path, internal_params_->constraints); std::vector hard_constraints_results = evaluateHardConstraints(path, internal_params_->constraints, footprint, hard_constraints_); - path.constraint_results.curvature = true; + path.constraint_results.valid_curvature = true; debug_data_.footprints.push_back(footprint); std::vector soft_constraints_results = evaluateSoftConstraints( path, internal_params_->constraints, soft_constraints_, soft_constraints_input); diff --git a/planning/behavior_path_side_shift_module/include/behavior_path_side_shift_module/scene.hpp b/planning/behavior_path_side_shift_module/include/behavior_path_side_shift_module/scene.hpp index 1748f57a61bec..08c2345df5814 100644 --- a/planning/behavior_path_side_shift_module/include/behavior_path_side_shift_module/scene.hpp +++ b/planning/behavior_path_side_shift_module/include/behavior_path_side_shift_module/scene.hpp @@ -92,7 +92,6 @@ class SideShiftModule : public SceneModuleInterface // member PathWithLaneId refined_path_{}; PathWithLaneId reference_path_{}; - PathWithLaneId prev_reference_{}; lanelet::ConstLanelets current_lanelets_; std::shared_ptr parameters_; diff --git a/planning/behavior_path_side_shift_module/src/scene.cpp b/planning/behavior_path_side_shift_module/src/scene.cpp index 6df8c1ec629c9..36321050da1ad 100644 --- a/planning/behavior_path_side_shift_module/src/scene.cpp +++ b/planning/behavior_path_side_shift_module/src/scene.cpp @@ -202,9 +202,6 @@ void SideShiftModule::updateData() const auto reference_pose = prev_output_.shift_length.empty() ? planner_data_->self_odometry->pose.pose : utils::getUnshiftedEgoPose(getEgoPose(), prev_output_); - if (prev_reference_.points.empty()) { - prev_reference_ = getPreviousModuleOutput().path; - } if (getPreviousModuleOutput().reference_path.points.empty()) { return; } @@ -433,13 +430,14 @@ PathWithLaneId SideShiftModule::extendBackwardLength(const PathWithLaneId & orig const auto backward_length = std::max( planner_data_->parameters.backward_path_length, longest_dist_to_shift_point + extra_margin); + const auto & prev_reference = getPreviousModuleOutput().path; const size_t orig_ego_idx = findNearestIndex(original_path.points, getEgoPose().position); - const size_t prev_ego_idx = findNearestSegmentIndex( - prev_reference_.points, getPoint(original_path.points.at(orig_ego_idx))); + const size_t prev_ego_idx = + findNearestSegmentIndex(prev_reference.points, getPoint(original_path.points.at(orig_ego_idx))); size_t clip_idx = 0; for (size_t i = 0; i < prev_ego_idx; ++i) { - if (backward_length > calcSignedArcLength(prev_reference_.points, clip_idx, prev_ego_idx)) { + if (backward_length > calcSignedArcLength(prev_reference.points, clip_idx, prev_ego_idx)) { break; } clip_idx = i; @@ -448,8 +446,8 @@ PathWithLaneId SideShiftModule::extendBackwardLength(const PathWithLaneId & orig PathWithLaneId extended_path{}; { extended_path.points.insert( - extended_path.points.end(), prev_reference_.points.begin() + clip_idx, - prev_reference_.points.begin() + prev_ego_idx); + extended_path.points.end(), prev_reference.points.begin() + clip_idx, + prev_reference.points.begin() + prev_ego_idx); } { diff --git a/planning/behavior_path_side_shift_module/test/test_behavior_path_planner_node_interface.cpp b/planning/behavior_path_side_shift_module/test/test_behavior_path_planner_node_interface.cpp index eb7d1afe27549..db1f5ee3560b1 100644 --- a/planning/behavior_path_side_shift_module/test/test_behavior_path_planner_node_interface.cpp +++ b/planning/behavior_path_side_shift_module/test/test_behavior_path_planner_node_interface.cpp @@ -15,8 +15,8 @@ #include "behavior_path_planner/behavior_path_planner_node.hpp" #include -#include -#include +#include +#include #include diff --git a/planning/behavior_path_start_planner_module/README.md b/planning/behavior_path_start_planner_module/README.md index ff0550e4d4867..ab2f0460b3fcb 100644 --- a/planning/behavior_path_start_planner_module/README.md +++ b/planning/behavior_path_start_planner_module/README.md @@ -91,36 +91,66 @@ The `StartPlannerModule` is designed to initiate its execution based on specific ### **End Conditions** -The `StartPlannerModule` terminates if the pull out / freespace maneuver has been completed. The `canTransitSuccessState` function assesses these conditions to decide if the module should terminate its execution. +The `StartPlannerModule` terminates when specific conditions are met, depending on the type of planner being used. The `canTransitSuccessState` function determines whether the module should transition to the success state based on the following criteria: -```plantuml -@startuml -start -:Start hasFinishedPullOut(); +#### When the Freespace Planner is active -if (status_.driving_forward && status_.found_pull_out_path) then (yes) +- If the end point of the freespace path is reached, the module transitions to the success state. - if (status_.planner_type == FREESPACE) then (yes) - :Calculate distance\nto pull_out_path.end_pose; - if (distance < th_arrived_distance) then (yes) - :return true;\n(Terminate module); - else (no) - :return false;\n(Continue running); - endif - else (no) - :Calculate arclength for\ncurrent_pose and pull_out_path.end_pose; - if (arclength_current - arclength_pull_out_end > offset) then (yes) - :return true;\n(Terminate module); - else (no) - :return false;\n(Continue running); - endif - endif +#### When any other type of planner is active + +The transition to the success state is determined by the following conditions: + +- If a reverse path is being generated or the search for a pull out path fails: + - The module does not transition to the success state. +- If the end point of the pull out path's shift section is reached: + - The module transitions to the success state. + +The flowchart below illustrates the decision-making process in the `canTransitSuccessState` function: +```plantuml +@startuml +@startuml +skinparam ActivityBackgroundColor #white +skinparam ActivityBorderColor #black +skinparam ActivityBorderThickness 1 +skinparam ActivityArrowColor #black +skinparam ActivityArrowThickness 1 +skinparam ActivityStartColor #black +skinparam ActivityEndColor #black +skinparam ActivityDiamondBackgroundColor #white +skinparam ActivityDiamondBorderColor #black +skinparam ActivityDiamondFontColor #black +partition canTransitSuccessState() { +start +if (planner type is FREESPACE?) then (yes) +if (Has reached freespace end?) then (yes) +#FF006C:true; +stop else (no) - :return false;\n(Continue running); +:false; +stop endif - +else (no) +if (driving is forward?) then (yes) +if (pull out path is found?) then (yes) +if (Has reached pull out end?) then (yes) +#FF006C:true; stop +else (no) +:false; +stop +endif +else (no) +:false; +stop +endif +else (no) +:false; +stop +endif +endif +} @enduml ``` @@ -464,14 +494,15 @@ See also [[1]](https://www.sciencedirect.com/science/article/pii/S14746670153474 #### parameters for geometric pull out -| Name | Unit | Type | Description | Default value | -| :-------------------------- | :---- | :----- | :-------------------------------------------------------------------------------------------------------------------------------------------------------- | :------------ | -| enable_geometric_pull_out | [-] | bool | flag whether to enable geometric pull out | true | -| divide_pull_out_path | [-] | bool | flag whether to divide arc paths. The path is assumed to be divided because the curvature is not continuous. But it requires a stop during the departure. | false | -| geometric_pull_out_velocity | [m/s] | double | velocity of geometric pull out | 1.0 | -| arc_path_interval | [m] | double | path points interval of arc paths of geometric pull out | 1.0 | -| lane_departure_margin | [m] | double | margin of deviation to lane right | 0.2 | -| pull_out_max_steer_angle | [rad] | double | maximum steer angle for path generation | 0.26 | +| Name | Unit | Type | Description | Default value | +| :------------------------------------ | :---- | :----- | :-------------------------------------------------------------------------------------------------------------------------------------------------------- | :------------ | +| enable_geometric_pull_out | [-] | bool | flag whether to enable geometric pull out | true | +| divide_pull_out_path | [-] | bool | flag whether to divide arc paths. The path is assumed to be divided because the curvature is not continuous. But it requires a stop during the departure. | false | +| geometric_pull_out_velocity | [m/s] | double | velocity of geometric pull out | 1.0 | +| arc_path_interval | [m] | double | path points interval of arc paths of geometric pull out | 1.0 | +| lane_departure_margin | [m] | double | margin of deviation to lane right | 0.2 | +| lane_departure_check_expansion_margin | [m] | double | margin to expand the ego vehicle footprint when doing lane departure checks | 0.0 | +| pull_out_max_steer_angle | [rad] | double | maximum steer angle for path generation | 0.26 | ## **backward pull out start point search** diff --git a/planning/behavior_path_start_planner_module/config/start_planner.param.yaml b/planning/behavior_path_start_planner_module/config/start_planner.param.yaml index 46469de68149e..7de76c28cef5c 100644 --- a/planning/behavior_path_start_planner_module/config/start_planner.param.yaml +++ b/planning/behavior_path_start_planner_module/config/start_planner.param.yaml @@ -40,6 +40,7 @@ geometric_pull_out_velocity: 1.0 arc_path_interval: 1.0 lane_departure_margin: 0.2 + lane_departure_check_expansion_margin: 0.0 backward_velocity: -1.0 pull_out_max_steer_angle: 0.26 # 15deg # search start pose backward diff --git a/planning/behavior_path_start_planner_module/include/behavior_path_start_planner_module/data_structs.hpp b/planning/behavior_path_start_planner_module/include/behavior_path_start_planner_module/data_structs.hpp index 0e85c1d0e76b3..04248ee7bd5fb 100644 --- a/planning/behavior_path_start_planner_module/include/behavior_path_start_planner_module/data_structs.hpp +++ b/planning/behavior_path_start_planner_module/include/behavior_path_start_planner_module/data_structs.hpp @@ -71,6 +71,7 @@ struct StartPlannerParameters behavior_path_planner::utils::path_safety_checker::ObjectTypesToCheck object_types_to_check_for_path_generation{}; double center_line_path_interval{0.0}; + double lane_departure_check_expansion_margin{0.0}; // shift pull out bool enable_shift_pull_out{false}; diff --git a/planning/behavior_path_start_planner_module/include/behavior_path_start_planner_module/pull_out_planner_base.hpp b/planning/behavior_path_start_planner_module/include/behavior_path_start_planner_module/pull_out_planner_base.hpp index 3089134a16500..9a2749759d03e 100644 --- a/planning/behavior_path_start_planner_module/include/behavior_path_start_planner_module/pull_out_planner_base.hpp +++ b/planning/behavior_path_start_planner_module/include/behavior_path_start_planner_module/pull_out_planner_base.hpp @@ -79,7 +79,9 @@ class PullOutPlannerBase *dynamic_objects, parameters_.th_moving_object_velocity); auto [pull_out_lane_stop_objects, others] = utils::path_safety_checker::separateObjectsByLanelets( - stop_objects, pull_out_lanes, utils::path_safety_checker::isPolygonOverlapLanelet); + stop_objects, pull_out_lanes, [](const auto & obj, const auto & lane) { + return utils::path_safety_checker::isPolygonOverlapLanelet(obj, lane); + }); utils::path_safety_checker::filterObjectsByClass( pull_out_lane_stop_objects, parameters_.object_types_to_check_for_path_generation); diff --git a/planning/behavior_path_start_planner_module/include/behavior_path_start_planner_module/start_planner_module.hpp b/planning/behavior_path_start_planner_module/include/behavior_path_start_planner_module/start_planner_module.hpp index c05b7a8f94716..ea5afb133d57f 100644 --- a/planning/behavior_path_start_planner_module/include/behavior_path_start_planner_module/start_planner_module.hpp +++ b/planning/behavior_path_start_planner_module/include/behavior_path_start_planner_module/start_planner_module.hpp @@ -74,6 +74,8 @@ struct PullOutStatus //! record the first time when ego started forward-driving (maybe after backward driving //! completion) in AUTONOMOUS operation mode std::optional first_engaged_and_driving_forward_time{std::nullopt}; + // record if the ego has departed from the start point + bool has_departed{false}; PullOutStatus() {} }; @@ -304,7 +306,8 @@ class StartPlannerModule : public SceneModuleInterface const double velocity_threshold, const double object_check_backward_distance, const double object_check_forward_distance) const; bool needToPrepareBlinkerBeforeStartDrivingForward() const; - bool hasFinishedPullOut() const; + bool hasReachedFreespaceEnd() const; + bool hasReachedPullOutEnd() const; bool hasFinishedBackwardDriving() const; bool hasCollisionWithDynamicObjects() const; bool isStopped(); diff --git a/planning/behavior_path_start_planner_module/src/manager.cpp b/planning/behavior_path_start_planner_module/src/manager.cpp index 794577d7cc7aa..d5731f54224b6 100644 --- a/planning/behavior_path_start_planner_module/src/manager.cpp +++ b/planning/behavior_path_start_planner_module/src/manager.cpp @@ -101,6 +101,8 @@ void StartPlannerModuleManager::init(rclcpp::Node * node) node->declare_parameter(ns + "arc_path_interval"); p.parallel_parking_parameters.pull_out_lane_departure_margin = node->declare_parameter(ns + "lane_departure_margin"); + p.lane_departure_check_expansion_margin = + node->declare_parameter(ns + "lane_departure_check_expansion_margin"); p.parallel_parking_parameters.pull_out_max_steer_angle = node->declare_parameter(ns + "pull_out_max_steer_angle"); // 15deg p.parallel_parking_parameters.center_line_path_interval = @@ -435,6 +437,9 @@ void StartPlannerModuleManager::updateModuleParams( updateParam( parameters, ns + "lane_departure_margin", p->parallel_parking_parameters.pull_out_lane_departure_margin); + updateParam( + parameters, ns + "lane_departure_check_expansion_margin", + p->lane_departure_check_expansion_margin); updateParam( parameters, ns + "pull_out_max_steer_angle", p->parallel_parking_parameters.pull_out_max_steer_angle); diff --git a/planning/behavior_path_start_planner_module/src/start_planner_module.cpp b/planning/behavior_path_start_planner_module/src/start_planner_module.cpp index be6b6acef64bd..7e1f38f30c378 100644 --- a/planning/behavior_path_start_planner_module/src/start_planner_module.cpp +++ b/planning/behavior_path_start_planner_module/src/start_planner_module.cpp @@ -65,6 +65,11 @@ StartPlannerModule::StartPlannerModule( { lane_departure_checker_ = std::make_shared(); lane_departure_checker_->setVehicleInfo(vehicle_info_); + lane_departure_checker::Param lane_departure_checker_params; + lane_departure_checker_params.footprint_extra_margin = + parameters->lane_departure_check_expansion_margin; + + lane_departure_checker_->setParam(lane_departure_checker_params); // set enabled planner if (parameters_->enable_shift_pull_out) { @@ -247,6 +252,13 @@ void StartPlannerModule::updateData() status_.first_engaged_and_driving_forward_time = clock_->now(); } + constexpr double moving_velocity_threshold = 0.1; + const double & ego_velocity = planner_data_->self_odometry->twist.twist.linear.x; + if (status_.first_engaged_and_driving_forward_time && ego_velocity > moving_velocity_threshold) { + // Ego is engaged, and has moved + status_.has_departed = true; + } + status_.backward_driving_complete = hasFinishedBackwardDriving(); if (status_.backward_driving_complete) { updateStatusAfterBackwardDriving(); @@ -398,11 +410,13 @@ bool StartPlannerModule::isPreventingRearVehicleFromPassingThrough() const auto get_gap_between_ego_and_lane_border = [&]( geometry_msgs::msg::Pose & ego_overhang_point_as_pose, - const bool ego_is_merging_from_the_left) -> std::optional { + const bool ego_is_merging_from_the_left) -> std::optional> { const auto local_vehicle_footprint = vehicle_info_.createFootprint(); const auto vehicle_footprint = transformVector(local_vehicle_footprint, tier4_autoware_utils::pose2transform(current_pose)); double smallest_lateral_gap_between_ego_and_border = std::numeric_limits::max(); + double corresponding_lateral_gap_with_other_lane_bound = std::numeric_limits::max(); + for (const auto & point : vehicle_footprint) { geometry_msgs::msg::Pose point_pose; point_pose.position.x = point.x(); @@ -413,9 +427,12 @@ bool StartPlannerModule::isPreventingRearVehicleFromPassingThrough() const lanelet::utils::query::getClosestLanelet(target_lanes, point_pose, &closest_lanelet); lanelet::ConstLanelet closest_lanelet_const(closest_lanelet.constData()); - const lanelet::ConstLineString2d current_lane_bound = (ego_is_merging_from_the_left) - ? closest_lanelet_const.rightBound2d() - : closest_lanelet_const.leftBound2d(); + const auto [current_lane_bound, other_side_lane_bound] = + (ego_is_merging_from_the_left) + ? std::make_pair( + closest_lanelet_const.rightBound2d(), closest_lanelet_const.leftBound2d()) + : std::make_pair( + closest_lanelet_const.leftBound2d(), closest_lanelet_const.rightBound2d()); const double current_point_lateral_gap = calc_absolute_lateral_offset(current_lane_bound, point_pose); if (current_point_lateral_gap < smallest_lateral_gap_between_ego_and_border) { @@ -423,19 +440,35 @@ bool StartPlannerModule::isPreventingRearVehicleFromPassingThrough() const ego_overhang_point_as_pose.position.x = point.x(); ego_overhang_point_as_pose.position.y = point.y(); ego_overhang_point_as_pose.position.z = 0.0; + corresponding_lateral_gap_with_other_lane_bound = + calc_absolute_lateral_offset(other_side_lane_bound, point_pose); } } + if (smallest_lateral_gap_between_ego_and_border == std::numeric_limits::max()) { return std::nullopt; } - return smallest_lateral_gap_between_ego_and_border; + return std::make_pair( + (smallest_lateral_gap_between_ego_and_border), + (corresponding_lateral_gap_with_other_lane_bound)); }; geometry_msgs::msg::Pose ego_overhang_point_as_pose; - const auto gap_between_ego_and_lane_border = + const auto gaps_with_lane_borders_pair = get_gap_between_ego_and_lane_border(ego_overhang_point_as_pose, ego_is_merging_from_the_left); - if (!gap_between_ego_and_lane_border) return false; + if (!gaps_with_lane_borders_pair.has_value()) { + return false; + } + + const auto & gap_between_ego_and_lane_border = gaps_with_lane_borders_pair.value().first; + const auto & corresponding_lateral_gap_with_other_lane_bound = + gaps_with_lane_borders_pair.value().second; + + // middle of the lane is crossed, no need to check for collisions anymore + if (gap_between_ego_and_lane_border < corresponding_lateral_gap_with_other_lane_bound) { + return true; + } // Get the lanelets that will be queried for target objects const auto relevant_lanelets = std::invoke([&]() -> std::optional { lanelet::Lanelet closest_lanelet; @@ -485,7 +518,7 @@ bool StartPlannerModule::isPreventingRearVehicleFromPassingThrough() const if (!closest_object_width) return false; // Decide if the closest object does not fit in the gap left by the ego vehicle. return closest_object_width.value() + parameters_->extra_width_margin_for_rear_obstacle > - gap_between_ego_and_lane_border.value(); + gap_between_ego_and_lane_border; } bool StartPlannerModule::isCloseToOriginalStartPose() const @@ -551,7 +584,35 @@ bool StartPlannerModule::isExecutionReady() const bool StartPlannerModule::canTransitSuccessState() { - return hasFinishedPullOut(); + // Freespace Planner: + // - Can transit to success if the goal position is reached. + // - Cannot transit to success if the goal position is not reached. + if (status_.planner_type == PlannerType::FREESPACE) { + if (hasReachedFreespaceEnd()) { + RCLCPP_DEBUG( + getLogger(), "Transit to success: Freespace planner reached the end point of the path."); + return true; + } + return false; + } + + // Other Planners: + // - Cannot transit to success if the vehicle is driving in reverse. + // - Cannot transit to success if a safe path cannot be found due to: + // - Insufficient margin against static objects. + // - No path found that stays within the lane. + // In such cases, a stop point needs to be embedded and keep running start_planner. + // - Can transit to success if the end point of the pullout path is reached. + if (!status_.driving_forward || !status_.found_pull_out_path) { + return false; + } + + if (hasReachedPullOutEnd()) { + RCLCPP_DEBUG(getLogger(), "Transit to success: Reached the end point of the pullout path."); + return true; + } + + return false; } BehaviorModuleOutput StartPlannerModule::plan() @@ -1135,7 +1196,9 @@ PredictedObjects StartPlannerModule::filterStopObjectsInPullOutLanes( // filter for objects located in pull out lanes and moving at a speed below the threshold auto [stop_objects_in_pull_out_lanes, others] = utils::path_safety_checker::separateObjectsByLanelets( - stop_objects, pull_out_lanes, utils::path_safety_checker::isPolygonOverlapLanelet); + stop_objects, pull_out_lanes, [](const auto & obj, const auto & lane) { + return utils::path_safety_checker::isPolygonOverlapLanelet(obj, lane); + }); const auto path = planner_data_->route_handler->getCenterLinePath( pull_out_lanes, object_check_backward_distance, object_check_forward_distance); @@ -1150,17 +1213,16 @@ PredictedObjects StartPlannerModule::filterStopObjectsInPullOutLanes( return stop_objects_in_pull_out_lanes; } -bool StartPlannerModule::hasFinishedPullOut() const +bool StartPlannerModule::hasReachedFreespaceEnd() const { - if (!status_.driving_forward || !status_.found_pull_out_path) { - return false; - } + const auto & current_pose = planner_data_->self_odometry->pose.pose; + return tier4_autoware_utils::calcDistance2d(current_pose, status_.pull_out_path.end_pose) < + parameters_->th_arrived_distance; +} +bool StartPlannerModule::hasReachedPullOutEnd() const +{ const auto current_pose = planner_data_->self_odometry->pose.pose; - if (status_.planner_type == PlannerType::FREESPACE) { - return tier4_autoware_utils::calcDistance2d(current_pose, status_.pull_out_path.end_pose) < - parameters_->th_arrived_distance; - } // check that ego has passed pull out end point const double backward_path_length = @@ -1175,9 +1237,8 @@ bool StartPlannerModule::hasFinishedPullOut() const // offset to not finish the module before engage constexpr double offset = 0.1; - const bool has_finished = arclength_current.length - arclength_pull_out_end.length > offset; - return has_finished; + return arclength_current.length - arclength_pull_out_end.length > offset; } bool StartPlannerModule::needToPrepareBlinkerBeforeStartDrivingForward() const @@ -1242,8 +1303,10 @@ TurnSignalInfo StartPlannerModule::calcTurnSignalInfo() // In Geometric pull out, the ego stops once and then steers the wheels to the opposite direction. // This sometimes causes the getBehaviorTurnSignalInfo method to detect the ego as stopped and // close to complete its shift, so it wrongly turns off the blinkers, this override helps avoid - // this issue. - const bool override_ego_stopped_check = std::invoke([&]() { + // this issue. Also, if the ego is not engaged (so it is stopped), the blinkers should still be + // activated. + + const bool geometric_planner_has_not_finished_first_path = std::invoke([&]() { if (status_.planner_type != PlannerType::GEOMETRIC) { return false; } @@ -1254,6 +1317,9 @@ TurnSignalInfo StartPlannerModule::calcTurnSignalInfo() return distance_from_ego_to_stop_point < distance_threshold; }); + const bool override_ego_stopped_check = + !status_.has_departed || geometric_planner_has_not_finished_first_path; + const auto [new_signal, is_ignore] = planner_data_->getBehaviorTurnSignalInfo( path, shift_start_idx, shift_end_idx, current_lanes, current_shift_length, status_.driving_forward, egos_lane_is_shifted, override_ego_stopped_check, is_pull_out); diff --git a/planning/behavior_path_start_planner_module/src/util.cpp b/planning/behavior_path_start_planner_module/src/util.cpp index 82e9d1a08e816..4ed499826dbd1 100644 --- a/planning/behavior_path_start_planner_module/src/util.cpp +++ b/planning/behavior_path_start_planner_module/src/util.cpp @@ -90,11 +90,10 @@ lanelet::ConstLanelets getPullOutLanes( const auto & route_handler = planner_data->route_handler; const auto start_pose = planner_data->route_handler->getOriginalStartPose(); - lanelet::ConstLanelet current_shoulder_lane; - if (route_handler->getPullOutStartLane( - route_handler->getShoulderLanelets(), start_pose, vehicle_width, ¤t_shoulder_lane)) { + const auto current_shoulder_lane = route_handler->getPullOutStartLane(start_pose, vehicle_width); + if (current_shoulder_lane) { // pull out from shoulder lane - return route_handler->getShoulderLaneletSequence(current_shoulder_lane, start_pose); + return route_handler->getShoulderLaneletSequence(*current_shoulder_lane, start_pose); } // pull out from road lane diff --git a/planning/behavior_velocity_blind_spot_module/CMakeLists.txt b/planning/behavior_velocity_blind_spot_module/CMakeLists.txt index 682da3ae58d7e..7ff2419eed919 100644 --- a/planning/behavior_velocity_blind_spot_module/CMakeLists.txt +++ b/planning/behavior_velocity_blind_spot_module/CMakeLists.txt @@ -3,12 +3,13 @@ project(behavior_velocity_blind_spot_module) find_package(autoware_cmake REQUIRED) autoware_package() -pluginlib_export_plugin_description_file(behavior_velocity_planner plugins.xml) +pluginlib_export_plugin_description_file(autoware_behavior_velocity_planner plugins.xml) ament_auto_add_library(${PROJECT_NAME} SHARED src/debug.cpp src/manager.cpp src/scene.cpp + src/decisions.cpp ) ament_auto_package(INSTALL_TO_SHARE config) diff --git a/planning/behavior_velocity_blind_spot_module/config/blind_spot.param.yaml b/planning/behavior_velocity_blind_spot_module/config/blind_spot.param.yaml index 3c22d1fe65db5..d7131d8c19245 100644 --- a/planning/behavior_velocity_blind_spot_module/config/blind_spot.param.yaml +++ b/planning/behavior_velocity_blind_spot_module/config/blind_spot.param.yaml @@ -3,10 +3,12 @@ blind_spot: use_pass_judge_line: true stop_line_margin: 1.0 # [m] - backward_length: 50.0 # [m] + backward_detection_length: 100.0 # [m] ignore_width_from_center_line: 0.7 # [m] - max_future_movement_time: 10.0 # [second] - threshold_yaw_diff: 0.523 # [rad] adjacent_extend_width: 1.5 # [m] opposite_adjacent_extend_width: 1.5 # [m] + max_future_movement_time: 10.0 # [second] + ttc_min: -5.0 # [s] + ttc_max: 5.0 # [s] + ttc_ego_minimal_velocity: 5.0 # [m/s] enable_rtc: false # If set to true, the scene modules require approval from the rtc (request to cooperate) function. If set to false, the modules can be executed without requiring rtc approval diff --git a/planning/behavior_velocity_blind_spot_module/src/debug.cpp b/planning/behavior_velocity_blind_spot_module/src/debug.cpp index 5cc90afb0043d..a30836ab9f6a9 100644 --- a/planning/behavior_velocity_blind_spot_module/src/debug.cpp +++ b/planning/behavior_velocity_blind_spot_module/src/debug.cpp @@ -71,55 +71,16 @@ visualization_msgs::msg::MarkerArray createLaneletPolygonsMarkerArray( return msg; } -visualization_msgs::msg::MarkerArray createPoseMarkerArray( - const geometry_msgs::msg::Pose & pose, const StateMachine::State & state, const std::string & ns, - const int64_t id, const double r, const double g, const double b) -{ - visualization_msgs::msg::MarkerArray msg; - - if (state == StateMachine::State::STOP) { - visualization_msgs::msg::Marker marker_line{}; - marker_line.header.frame_id = "map"; - marker_line.ns = ns + "_line"; - marker_line.id = id; - marker_line.lifetime = rclcpp::Duration::from_seconds(0.3); - marker_line.type = visualization_msgs::msg::Marker::LINE_STRIP; - marker_line.action = visualization_msgs::msg::Marker::ADD; - marker_line.pose.orientation = createMarkerOrientation(0, 0, 0, 1.0); - marker_line.scale = createMarkerScale(0.1, 0.0, 0.0); - marker_line.color = createMarkerColor(r, g, b, 0.999); - - const double yaw = tf2::getYaw(pose.orientation); - - const double a = 3.0; - geometry_msgs::msg::Point p0; - p0.x = pose.position.x - a * std::sin(yaw); - p0.y = pose.position.y + a * std::cos(yaw); - p0.z = pose.position.z; - marker_line.points.push_back(p0); - - geometry_msgs::msg::Point p1; - p1.x = pose.position.x + a * std::sin(yaw); - p1.y = pose.position.y - a * std::cos(yaw); - p1.z = pose.position.z; - marker_line.points.push_back(p1); - - msg.markers.push_back(marker_line); - } - - return msg; -} - } // namespace motion_utils::VirtualWalls BlindSpotModule::createVirtualWalls() { motion_utils::VirtualWalls virtual_walls; - if (!isActivated() && !is_over_pass_judge_line_) { + if (debug_data_.virtual_wall_pose) { motion_utils::VirtualWall wall; wall.text = "blind_spot"; - wall.pose = debug_data_.virtual_wall_pose; + wall.pose = debug_data_.virtual_wall_pose.value(); wall.ns = std::to_string(module_id_) + "_"; virtual_walls.push_back(wall); } @@ -130,28 +91,14 @@ visualization_msgs::msg::MarkerArray BlindSpotModule::createDebugMarkerArray() { visualization_msgs::msg::MarkerArray debug_marker_array; - const auto state = state_machine_.getState(); const auto now = this->clock_->now(); - appendMarkerArray( - createPoseMarkerArray( - debug_data_.stop_point_pose, state, "stop_point_pose", module_id_, 1.0, 0.0, 0.0), - &debug_marker_array, now); - - appendMarkerArray( - createPoseMarkerArray( - debug_data_.judge_point_pose, state, "judge_point_pose", module_id_, 1.0, 1.0, 0.5), - &debug_marker_array, now); - - appendMarkerArray( - createLaneletPolygonsMarkerArray( - debug_data_.conflict_areas, "conflict_area", module_id_, 0.0, 0.5, 0.5), - &debug_marker_array, now); - - appendMarkerArray( - createLaneletPolygonsMarkerArray( - debug_data_.detection_areas, "detection_area", module_id_, 0.5, 0.0, 0.0), - &debug_marker_array, now); + if (debug_data_.detection_area) { + appendMarkerArray( + createLaneletPolygonsMarkerArray( + {debug_data_.detection_area.value()}, "detection_area", module_id_, 0.5, 0.0, 0.0), + &debug_marker_array, now); + } appendMarkerArray( debug::createObjectsMarkerArray( diff --git a/planning/behavior_velocity_blind_spot_module/src/decisions.cpp b/planning/behavior_velocity_blind_spot_module/src/decisions.cpp new file mode 100644 index 0000000000000..d3e439b3663f8 --- /dev/null +++ b/planning/behavior_velocity_blind_spot_module/src/decisions.cpp @@ -0,0 +1,154 @@ +// Copyright 2024 Tier IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "scene.hpp" + +#include + +namespace behavior_velocity_planner +{ + +/* + * for default + */ +template +void BlindSpotModule::setRTCStatusByDecision( + const T &, const autoware_auto_planning_msgs::msg::PathWithLaneId & path) +{ + static_assert("Unsupported type passed to setRTCStatus"); + return; +} + +template +void BlindSpotModule::reactRTCApprovalByDecision( + [[maybe_unused]] const T & decision, + [[maybe_unused]] autoware_auto_planning_msgs::msg::PathWithLaneId * path, + [[maybe_unused]] StopReason * stop_reason) +{ + static_assert("Unsupported type passed to reactRTCApprovalByDecision"); +} + +/* + * for InternalError + */ +template <> +void BlindSpotModule::setRTCStatusByDecision( + [[maybe_unused]] const InternalError & decision, + [[maybe_unused]] const autoware_auto_planning_msgs::msg::PathWithLaneId & path) +{ + return; +} + +template <> +void BlindSpotModule::reactRTCApprovalByDecision( + [[maybe_unused]] const InternalError & decision, + [[maybe_unused]] autoware_auto_planning_msgs::msg::PathWithLaneId * path, + [[maybe_unused]] StopReason * stop_reason) +{ + return; +} + +/* + * For OverPassJudge + */ +template <> +void BlindSpotModule::setRTCStatusByDecision( + [[maybe_unused]] const OverPassJudge & decision, + [[maybe_unused]] const autoware_auto_planning_msgs::msg::PathWithLaneId & path) +{ + return; +} + +template <> +void BlindSpotModule::reactRTCApprovalByDecision( + [[maybe_unused]] const OverPassJudge & decision, + [[maybe_unused]] autoware_auto_planning_msgs::msg::PathWithLaneId * path, + [[maybe_unused]] StopReason * stop_reason) +{ + return; +} + +/* + * for Unsafe + */ +template <> +void BlindSpotModule::setRTCStatusByDecision( + const Unsafe & decision, const autoware_auto_planning_msgs::msg::PathWithLaneId & path) +{ + setSafe(false); + const auto & current_pose = planner_data_->current_odometry->pose; + setDistance( + motion_utils::calcSignedArcLength(path.points, current_pose.position, decision.stop_line_idx)); + return; +} + +template <> +void BlindSpotModule::reactRTCApprovalByDecision( + const Unsafe & decision, autoware_auto_planning_msgs::msg::PathWithLaneId * path, + StopReason * stop_reason) +{ + if (!isActivated()) { + constexpr double stop_vel = 0.0; + planning_utils::setVelocityFromIndex(decision.stop_line_idx, stop_vel, path); + debug_data_.virtual_wall_pose = planning_utils::getAheadPose( + decision.stop_line_idx, planner_data_->vehicle_info_.max_longitudinal_offset_m, *path); + + tier4_planning_msgs::msg::StopFactor stop_factor; + const auto stop_pose = path->points.at(decision.stop_line_idx).point.pose; + stop_factor.stop_pose = stop_pose; + stop_factor.stop_factor_points = planning_utils::toRosPoints(debug_data_.conflicting_targets); + planning_utils::appendStopReason(stop_factor, stop_reason); + velocity_factor_.set( + path->points, planner_data_->current_odometry->pose, stop_pose, VelocityFactor::UNKNOWN); + } + return; +} + +/* + * for Safe + */ +template <> +void BlindSpotModule::setRTCStatusByDecision( + const Safe & decision, const autoware_auto_planning_msgs::msg::PathWithLaneId & path) +{ + setSafe(true); + const auto & current_pose = planner_data_->current_odometry->pose; + setDistance( + motion_utils::calcSignedArcLength(path.points, current_pose.position, decision.stop_line_idx)); + return; +} + +template <> +void BlindSpotModule::reactRTCApprovalByDecision( + const Safe & decision, autoware_auto_planning_msgs::msg::PathWithLaneId * path, + StopReason * stop_reason) +{ + if (!isActivated()) { + constexpr double stop_vel = 0.0; + planning_utils::setVelocityFromIndex(decision.stop_line_idx, stop_vel, path); + debug_data_.virtual_wall_pose = planning_utils::getAheadPose( + decision.stop_line_idx, planner_data_->vehicle_info_.max_longitudinal_offset_m, *path); + + tier4_planning_msgs::msg::StopFactor stop_factor; + const auto stop_pose = path->points.at(decision.stop_line_idx).point.pose; + stop_factor.stop_pose = stop_pose; + stop_factor.stop_factor_points = planning_utils::toRosPoints(debug_data_.conflicting_targets); + planning_utils::appendStopReason(stop_factor, stop_reason); + velocity_factor_.set( + path->points, planner_data_->current_odometry->pose, stop_pose, VelocityFactor::UNKNOWN); + } + return; +} + +} // namespace behavior_velocity_planner diff --git a/planning/behavior_velocity_blind_spot_module/src/manager.cpp b/planning/behavior_velocity_blind_spot_module/src/manager.cpp index d114ab0c65da9..07742a1217ab3 100644 --- a/planning/behavior_velocity_blind_spot_module/src/manager.cpp +++ b/planning/behavior_velocity_blind_spot_module/src/manager.cpp @@ -36,17 +36,20 @@ BlindSpotModuleManager::BlindSpotModuleManager(rclcpp::Node & node) planner_param_.use_pass_judge_line = getOrDeclareParameter(node, ns + ".use_pass_judge_line"); planner_param_.stop_line_margin = getOrDeclareParameter(node, ns + ".stop_line_margin"); - planner_param_.backward_length = getOrDeclareParameter(node, ns + ".backward_length"); + planner_param_.backward_detection_length = + getOrDeclareParameter(node, ns + ".backward_detection_length"); planner_param_.ignore_width_from_center_line = getOrDeclareParameter(node, ns + ".ignore_width_from_center_line"); - planner_param_.max_future_movement_time = - getOrDeclareParameter(node, ns + ".max_future_movement_time"); - planner_param_.threshold_yaw_diff = - getOrDeclareParameter(node, ns + ".threshold_yaw_diff"); planner_param_.adjacent_extend_width = getOrDeclareParameter(node, ns + ".adjacent_extend_width"); planner_param_.opposite_adjacent_extend_width = getOrDeclareParameter(node, ns + ".opposite_adjacent_extend_width"); + planner_param_.max_future_movement_time = + getOrDeclareParameter(node, ns + ".max_future_movement_time"); + planner_param_.ttc_min = getOrDeclareParameter(node, ns + ".ttc_min"); + planner_param_.ttc_max = getOrDeclareParameter(node, ns + ".ttc_max"); + planner_param_.ttc_ego_minimal_velocity = + getOrDeclareParameter(node, ns + ".ttc_ego_minimal_velocity"); } void BlindSpotModuleManager::launchNewModules( @@ -63,17 +66,21 @@ void BlindSpotModuleManager::launchNewModules( } // Is turning lane? - const std::string turn_direction = ll.attributeOr("turn_direction", "else"); - if (turn_direction != "left" && turn_direction != "right") { + const std::string turn_direction_str = ll.attributeOr("turn_direction", "else"); + if (turn_direction_str != "left" && turn_direction_str != "right") { continue; } + const auto turn_direction = turn_direction_str == "left" + ? BlindSpotModule::TurnDirection::LEFT + : BlindSpotModule::TurnDirection::RIGHT; registerModule(std::make_shared( - module_id, lane_id, planner_data_, planner_param_, logger_.get_child("blind_spot_module"), - clock_)); + module_id, lane_id, turn_direction, planner_data_, planner_param_, + logger_.get_child("blind_spot_module"), clock_)); generateUUID(module_id); updateRTCStatus( - getUUID(module_id), true, std::numeric_limits::lowest(), path.header.stamp); + getUUID(module_id), true, State::WAITING_FOR_EXECUTION, std::numeric_limits::lowest(), + path.header.stamp); } } diff --git a/planning/behavior_velocity_blind_spot_module/src/scene.cpp b/planning/behavior_velocity_blind_spot_module/src/scene.cpp index 7a3ea3160cb24..6c7c12b556581 100644 --- a/planning/behavior_velocity_blind_spot_module/src/scene.cpp +++ b/planning/behavior_velocity_blind_spot_module/src/scene.cpp @@ -44,165 +44,143 @@ namespace behavior_velocity_planner { namespace bg = boost::geometry; -namespace -{ -[[maybe_unused]] geometry_msgs::msg::Polygon toGeomPoly(const lanelet::CompoundPolygon3d & poly) -{ - geometry_msgs::msg::Polygon geom_poly; - - for (const auto & p : poly) { - geometry_msgs::msg::Point32 geom_point; - geom_point.x = p.x(); - geom_point.y = p.y(); - geom_point.z = p.z(); - geom_poly.points.push_back(geom_point); - } - - return geom_poly; -} -} // namespace - BlindSpotModule::BlindSpotModule( - const int64_t module_id, const int64_t lane_id, std::shared_ptr planner_data, - const PlannerParam & planner_param, const rclcpp::Logger logger, - const rclcpp::Clock::SharedPtr clock) + const int64_t module_id, const int64_t lane_id, const TurnDirection turn_direction, + const std::shared_ptr planner_data, const PlannerParam & planner_param, + const rclcpp::Logger logger, const rclcpp::Clock::SharedPtr clock) : SceneModuleInterface(module_id, logger, clock), lane_id_(lane_id), planner_param_{planner_param}, - turn_direction_(TurnDirection::INVALID), + turn_direction_(turn_direction), is_over_pass_judge_line_(false) { velocity_factor_.init(PlanningBehavior::REAR_CHECK); - - const auto & assigned_lanelet = - planner_data->route_handler_->getLaneletMapPtr()->laneletLayer.get(lane_id); - const std::string turn_direction = assigned_lanelet.attributeOr("turn_direction", "else"); - if (!turn_direction.compare("left")) { - turn_direction_ = TurnDirection::LEFT; - } else if (!turn_direction.compare("right")) { - turn_direction_ = TurnDirection::RIGHT; - } + sibling_straight_lanelet_ = getSiblingStraightLanelet(planner_data); } -bool BlindSpotModule::modifyPathVelocity(PathWithLaneId * path, StopReason * stop_reason) +void BlindSpotModule::initializeRTCStatus() { - debug_data_ = DebugData(); - *stop_reason = planning_utils::initializeStopReason(StopReason::BLIND_SPOT); - - const auto input_path = *path; - - const auto current_state = state_machine_.getState(); - RCLCPP_DEBUG( - logger_, "lane_id = %ld, state = %s", lane_id_, StateMachine::toString(current_state).c_str()); - - /* get current pose */ - const auto & current_pose = planner_data_->current_odometry->pose; + setSafe(true); + setDistance(std::numeric_limits::lowest()); +} - /* get lanelet map */ - const auto lanelet_map_ptr = planner_data_->route_handler_->getLaneletMapPtr(); - const auto routing_graph_ptr = planner_data_->route_handler_->getRoutingGraphPtr(); +BlindSpotDecision BlindSpotModule::modifyPathVelocityDetail( + PathWithLaneId * path, [[maybe_unused]] StopReason * stop_reason) +{ + if (planner_param_.use_pass_judge_line && is_over_pass_judge_line_) { + return OverPassJudge{"already over the pass judge line. no plan needed."}; + } + const auto & input_path = *path; /* set stop-line and stop-judgement-line for base_link */ const auto interpolated_path_info_opt = generateInterpolatedPathInfo(input_path); if (!interpolated_path_info_opt) { - RCLCPP_DEBUG(logger_, "[BlindSpotModule::run] failed to interpolate path"); - return false; + return InternalError{"Failed to interpolate path"}; } const auto & interpolated_path_info = interpolated_path_info_opt.value(); - if (!sibling_straight_lanelet_) { - sibling_straight_lanelet_ = getSiblingStraightLanelet(); - } - const auto stoplines_idx_opt = generateStopLine(interpolated_path_info, path); if (!stoplines_idx_opt) { - RCLCPP_DEBUG(logger_, "[BlindSpotModule::run] setStopLineIdx fail"); - return false; + return InternalError{"generateStopLine fail"}; } const auto [default_stopline_idx, critical_stopline_idx] = stoplines_idx_opt.value(); - - if (default_stopline_idx <= 0) { - RCLCPP_DEBUG( - logger_, "[Blind Spot] stop line or pass judge line is at path[0], ignore planning."); - *path = input_path; // reset path - setSafe(true); - setDistance(std::numeric_limits::lowest()); - return true; + if (default_stopline_idx == 0) { + return InternalError{"stop line or pass judge line is at path[0], ignore planning."}; } /* calc closest index */ + const auto & current_pose = planner_data_->current_odometry->pose; const auto closest_idx = motion_utils::findFirstNearestIndexWithSoftConstraints( input_path.points, current_pose, planner_data_->ego_nearest_dist_threshold, planner_data_->ego_nearest_yaw_threshold); const auto stop_line_idx = closest_idx > default_stopline_idx ? critical_stopline_idx : default_stopline_idx; - - /* set judge line dist */ - const double current_vel = planner_data_->current_velocity->twist.linear.x; - const double max_acc = planner_data_->max_stop_acceleration_threshold; - const double delay_response_time = planner_data_->delay_response_time; - const double pass_judge_line_dist = - planning_utils::calcJudgeLineDistWithAccLimit(current_vel, max_acc, delay_response_time); - const auto stop_point_pose = path->points.at(stop_line_idx).point.pose; - const auto ego_segment_idx = motion_utils::findFirstNearestSegmentIndexWithSoftConstraints( - input_path.points, current_pose, planner_data_->ego_nearest_dist_threshold, - planner_data_->ego_nearest_yaw_threshold); - const size_t stop_point_segment_idx = - motion_utils::findNearestSegmentIndex(input_path.points, stop_point_pose.position); - const auto distance_until_stop = motion_utils::calcSignedArcLength( - input_path.points, current_pose.position, ego_segment_idx, stop_point_pose.position, - stop_point_segment_idx); - - /* get debug info */ const auto stop_line_pose = planning_utils::getAheadPose( - stop_line_idx, planner_data_->vehicle_info_.max_longitudinal_offset_m, *path); - debug_data_.virtual_wall_pose = stop_line_pose; - const auto stop_pose = path->points.at(stop_line_idx).point.pose; - debug_data_.stop_point_pose = stop_pose; + stop_line_idx, planner_data_->vehicle_info_.max_longitudinal_offset_m, input_path); - /* if current_state = GO, and current_pose is over judge_line, ignore planning. */ - if (planner_param_.use_pass_judge_line) { - const double eps = 1e-1; // to prevent hunting - if ( - current_state == StateMachine::State::GO && - distance_until_stop + eps < pass_judge_line_dist) { - RCLCPP_DEBUG(logger_, "over the pass judge line. no plan needed."); - *path = input_path; // reset path - setSafe(true); - setDistance(std::numeric_limits::lowest()); - return true; // no plan needed. + const auto is_over_pass_judge = isOverPassJudge(input_path, stop_line_pose); + if (is_over_pass_judge) { + is_over_pass_judge_line_ = true; + return is_over_pass_judge.value(); + } + + if (!blind_spot_lanelets_) { + const auto blind_spot_lanelets = generateBlindSpotLanelets(input_path); + if (!blind_spot_lanelets.empty()) { + blind_spot_lanelets_ = blind_spot_lanelets; } } + if (!blind_spot_lanelets_) { + return InternalError{"There are not blind_spot_lanelets"}; + } + const auto & blind_spot_lanelets = blind_spot_lanelets_.value(); - /* get dynamic object */ - const auto objects_ptr = planner_data_->predicted_objects; + const auto detection_area_opt = generateBlindSpotPolygons( + input_path, closest_idx, blind_spot_lanelets, + path->points.at(critical_stopline_idx).point.pose); + if (!detection_area_opt) { + return InternalError{"Failed to generate BlindSpotPolygons"}; + } + const auto & detection_area = detection_area_opt.value(); + debug_data_.detection_area = detection_area; + const auto ego_time_to_reach_stop_line = computeTimeToPassStopLine( + blind_spot_lanelets, path->points.at(critical_stopline_idx).point.pose); /* calculate dynamic collision around detection area */ - bool has_obstacle = checkObstacleInBlindSpot( - lanelet_map_ptr, routing_graph_ptr, *path, objects_ptr, closest_idx, stop_line_pose); + const auto collision_obstacle = isCollisionDetected( + blind_spot_lanelets, path->points.at(critical_stopline_idx).point.pose, detection_area, + ego_time_to_reach_stop_line); state_machine_.setStateWithMarginTime( - has_obstacle ? StateMachine::State::STOP : StateMachine::State::GO, + collision_obstacle.has_value() ? StateMachine::State::STOP : StateMachine::State::GO, logger_.get_child("state_machine"), *clock_); - /* set stop speed */ - setSafe(state_machine_.getState() != StateMachine::State::STOP); - setDistance(motion_utils::calcSignedArcLength( - path->points, current_pose.position, path->points.at(stop_line_idx).point.pose.position)); - if (!isActivated()) { - constexpr double stop_vel = 0.0; - planning_utils::setVelocityFromIndex(stop_line_idx, stop_vel, path); - - /* get stop point and stop factor */ - tier4_planning_msgs::msg::StopFactor stop_factor; - stop_factor.stop_pose = debug_data_.stop_point_pose; - stop_factor.stop_factor_points = planning_utils::toRosPoints(debug_data_.conflicting_targets); - planning_utils::appendStopReason(stop_factor, stop_reason); - velocity_factor_.set( - path->points, planner_data_->current_odometry->pose, stop_pose, VelocityFactor::UNKNOWN); - } else { - *path = input_path; // reset path + if (state_machine_.getState() == StateMachine::State::STOP) { + return Unsafe{stop_line_idx, collision_obstacle}; } + + return Safe{stop_line_idx}; +} + +// template-specification based visitor pattern +// https://en.cppreference.com/w/cpp/utility/variant/visit +template +struct VisitorSwitch : Ts... +{ + using Ts::operator()...; +}; +template +VisitorSwitch(Ts...) -> VisitorSwitch; + +void BlindSpotModule::setRTCStatus( + const BlindSpotDecision & decision, const autoware_auto_planning_msgs::msg::PathWithLaneId & path) +{ + std::visit( + VisitorSwitch{[&](const auto & sub_decision) { setRTCStatusByDecision(sub_decision, path); }}, + decision); +} + +void BlindSpotModule::reactRTCApproval( + const BlindSpotDecision & decision, PathWithLaneId * path, StopReason * stop_reason) +{ + std::visit( + VisitorSwitch{[&](const auto & sub_decision) { + reactRTCApprovalByDecision(sub_decision, path, stop_reason); + }}, + decision); +} + +bool BlindSpotModule::modifyPathVelocity(PathWithLaneId * path, StopReason * stop_reason) +{ + debug_data_ = DebugData(); + *stop_reason = planning_utils::initializeStopReason(StopReason::BLIND_SPOT); + + initializeRTCStatus(); + const auto decision = modifyPathVelocityDetail(path, stop_reason); + const auto & input_path = *path; + setRTCStatus(decision, input_path); + reactRTCApproval(decision, path, stop_reason); + return true; } @@ -259,10 +237,11 @@ std::optional BlindSpotModule::generateInterpolatedPathInf return interpolated_path_info; } -std::optional BlindSpotModule::getSiblingStraightLanelet() const +std::optional BlindSpotModule::getSiblingStraightLanelet( + const std::shared_ptr planner_data) const { - const auto lanelet_map_ptr = planner_data_->route_handler_->getLaneletMapPtr(); - const auto routing_graph_ptr = planner_data_->route_handler_->getRoutingGraphPtr(); + const auto lanelet_map_ptr = planner_data->route_handler_->getLaneletMapPtr(); + const auto routing_graph_ptr = planner_data->route_handler_->getRoutingGraphPtr(); const auto assigned_lane = lanelet_map_ptr->laneletLayer.get(lane_id_); for (const auto & prev : routing_graph_ptr->previous(assigned_lane)) { @@ -326,7 +305,7 @@ static std::optional insertPointIndex( inout_path->points, in_pose, ego_nearest_dist_threshold, ego_nearest_yaw_threshold); // vector.insert(i) inserts element on the left side of v[i] // the velocity need to be zero order hold(from prior point) - int insert_idx = closest_idx; + size_t insert_idx = closest_idx; autoware_auto_planning_msgs::msg::PathPointWithLaneId inserted_point = inout_path->points.at(closest_idx); if (planning_utils::isAheadOf(in_pose, inout_path->points.at(closest_idx).point.pose)) { @@ -349,6 +328,7 @@ std::optional> BlindSpotModule::generateStopLine( const InterpolatedPathInfo & interpolated_path_info, autoware_auto_planning_msgs::msg::PathWithLaneId * path) const { + // NOTE: this is optionally int for later subtraction const int margin_idx_dist = std::ceil(planner_param_.stop_line_margin / interpolated_path_info.ds); @@ -368,7 +348,9 @@ std::optional> BlindSpotModule::generateStopLine( if (!first_conflict_idx_ip_opt) { return std::nullopt; } - const int first_conflict_idx_ip = static_cast(first_conflict_idx_ip_opt.value()); + + // NOTE: this is optionally int for later subtraction + const auto first_conflict_idx_ip = static_cast(first_conflict_idx_ip_opt.value()); stop_idx_default_ip = static_cast(std::max(first_conflict_idx_ip - margin_idx_dist, 0)); stop_idx_critical_ip = static_cast(first_conflict_idx_ip); @@ -406,128 +388,114 @@ std::optional> BlindSpotModule::generateStopLine( return std::make_pair(stopline_idx_default_opt.value(), stopline_idx_critical_opt.value()); } -void BlindSpotModule::cutPredictPathWithDuration( - autoware_auto_perception_msgs::msg::PredictedObjects * objects_ptr, const double time_thr) const +autoware_auto_perception_msgs::msg::PredictedObject BlindSpotModule::cutPredictPathWithDuration( + const std_msgs::msg::Header & header, + const autoware_auto_perception_msgs::msg::PredictedObject & object_original, + const double time_thr) const { + auto object = object_original; const rclcpp::Time current_time = clock_->now(); - for (auto & object : objects_ptr->objects) { // each objects - for (auto & predicted_path : object.kinematics.predicted_paths) { // each predicted paths - const auto origin_path = predicted_path; - predicted_path.path.clear(); - - for (size_t k = 0; k < origin_path.path.size(); ++k) { // each path points - const auto & predicted_pose = origin_path.path.at(k); - const auto predicted_time = - rclcpp::Time(objects_ptr->header.stamp) + - rclcpp::Duration(origin_path.time_step) * static_cast(k); - if ((predicted_time - current_time).seconds() < time_thr) { - predicted_path.path.push_back(predicted_pose); - } + for (auto & predicted_path : object.kinematics.predicted_paths) { // each predicted paths + const auto origin_path = predicted_path; + predicted_path.path.clear(); + + for (size_t k = 0; k < origin_path.path.size(); ++k) { // each path points + const auto & predicted_pose = origin_path.path.at(k); + const auto predicted_time = rclcpp::Time(header.stamp) + + rclcpp::Duration(origin_path.time_step) * static_cast(k); + if ((predicted_time - current_time).seconds() < time_thr) { + predicted_path.path.push_back(predicted_pose); } } } + return object; } -bool BlindSpotModule::checkObstacleInBlindSpot( - lanelet::LaneletMapConstPtr lanelet_map_ptr, lanelet::routing::RoutingGraphPtr routing_graph_ptr, - const autoware_auto_planning_msgs::msg::PathWithLaneId & path, - const autoware_auto_perception_msgs::msg::PredictedObjects::ConstSharedPtr objects_ptr, - const int closest_idx, const geometry_msgs::msg::Pose & stop_line_pose) +std::optional BlindSpotModule::isOverPassJudge( + const autoware_auto_planning_msgs::msg::PathWithLaneId & input_path, + const geometry_msgs::msg::Pose & stop_point_pose) const { - /* get detection area */ - if (turn_direction_ == TurnDirection::INVALID) { - RCLCPP_WARN(logger_, "blind spot detector is running, turn_direction_ = not right or left."); - return false; - } - - const auto areas_opt = generateBlindSpotPolygons( - lanelet_map_ptr, routing_graph_ptr, path, closest_idx, stop_line_pose); - if (areas_opt) { - const auto & detection_areas = areas_opt.value().detection_areas; - const auto & conflict_areas = areas_opt.value().conflict_areas; - const auto & opposite_detection_areas = areas_opt.value().opposite_detection_areas; - const auto & opposite_conflict_areas = areas_opt.value().opposite_conflict_areas; - debug_data_.detection_areas = detection_areas; - debug_data_.conflict_areas = conflict_areas; - debug_data_.detection_areas.insert( - debug_data_.detection_areas.end(), opposite_detection_areas.begin(), - opposite_detection_areas.end()); - debug_data_.conflict_areas.insert( - debug_data_.conflict_areas.end(), opposite_conflict_areas.begin(), - opposite_conflict_areas.end()); - - autoware_auto_perception_msgs::msg::PredictedObjects objects = *objects_ptr; - cutPredictPathWithDuration(&objects, planner_param_.max_future_movement_time); - - // check objects in blind spot areas - for (const auto & object : objects.objects) { - if (!isTargetObjectType(object)) { - continue; - } + const auto & current_pose = planner_data_->current_odometry->pose; - // right direction - const bool exist_in_right_detection_area = - std::any_of(detection_areas.begin(), detection_areas.end(), [&object](const auto & area) { - return bg::within( - to_bg2d(object.kinematics.initial_pose_with_covariance.pose.position), - lanelet::utils::to2D(area)); - }); - // opposite direction - const bool exist_in_opposite_detection_area = std::any_of( - opposite_detection_areas.begin(), opposite_detection_areas.end(), - [&object](const auto & area) { - return bg::within( - to_bg2d(object.kinematics.initial_pose_with_covariance.pose.position), - lanelet::utils::to2D(area)); - }); - const bool exist_in_detection_area = - exist_in_right_detection_area || exist_in_opposite_detection_area; - if (!exist_in_detection_area) { - continue; - } - const bool exist_in_right_conflict_area = - isPredictedPathInArea(object, conflict_areas, planner_data_->current_odometry->pose); - const bool exist_in_opposite_conflict_area = isPredictedPathInArea( - object, opposite_conflict_areas, planner_data_->current_odometry->pose); - const bool exist_in_conflict_area = - exist_in_right_conflict_area || exist_in_opposite_conflict_area; - if (exist_in_detection_area && exist_in_conflict_area) { - debug_data_.conflicting_targets.objects.push_back(object); - setObjectsOfInterestData( - object.kinematics.initial_pose_with_covariance.pose, object.shape, ColorName::RED); - return true; - } + /* set judge line dist */ + const double pass_judge_line_dist = planning_utils::calcJudgeLineDistWithAccLimit( + planner_data_->current_velocity->twist.linear.x, planner_data_->max_stop_acceleration_threshold, + planner_data_->delay_response_time); + const auto ego_segment_idx = motion_utils::findFirstNearestSegmentIndexWithSoftConstraints( + input_path.points, current_pose, planner_data_->ego_nearest_dist_threshold, + planner_data_->ego_nearest_yaw_threshold); + const size_t stop_point_segment_idx = + motion_utils::findNearestSegmentIndex(input_path.points, stop_point_pose.position); + const auto distance_until_stop = motion_utils::calcSignedArcLength( + input_path.points, current_pose.position, ego_segment_idx, stop_point_pose.position, + stop_point_segment_idx); + + /* if current_state = GO, and current_pose is over judge_line, ignore planning. */ + if (planner_param_.use_pass_judge_line) { + const double eps = 1e-1; // to prevent hunting + if (const auto current_state = state_machine_.getState(); + current_state == StateMachine::State::GO && + distance_until_stop + eps < pass_judge_line_dist) { + return OverPassJudge{"over the pass judge line. no plan needed."}; } - return false; - } else { - return false; } + return std::nullopt; } -bool BlindSpotModule::isPredictedPathInArea( - const autoware_auto_perception_msgs::msg::PredictedObject & object, - const std::vector & areas, geometry_msgs::msg::Pose ego_pose) const +double BlindSpotModule::computeTimeToPassStopLine( + const lanelet::ConstLanelets & blind_spot_lanelets, + const geometry_msgs::msg::Pose & stop_line_pose) const { - const auto ego_yaw = tf2::getYaw(ego_pose.orientation); - const auto threshold_yaw_diff = planner_param_.threshold_yaw_diff; - // NOTE: iterating all paths including those of low confidence - return std::any_of( - areas.begin(), areas.end(), [&object, &ego_yaw, &threshold_yaw_diff](const auto & area) { - const auto area_2d = lanelet::utils::to2D(area); - return std::any_of( - object.kinematics.predicted_paths.begin(), object.kinematics.predicted_paths.end(), - [&area_2d, &ego_yaw, &threshold_yaw_diff](const auto & path) { - return std::any_of( - path.path.begin(), path.path.end(), - [&area_2d, &ego_yaw, &threshold_yaw_diff](const auto & point) { - const auto is_in_area = bg::within(to_bg2d(point.position), area_2d); - const auto match_yaw = - std::fabs(ego_yaw - tf2::getYaw(point.orientation)) < threshold_yaw_diff; - return is_in_area && match_yaw; - }); - }); - }); + // egoが停止している時にそのまま速度を使うと衝突しなくなってしまうのでegoについては最低速度を使う + const auto & current_pose = planner_data_->current_odometry->pose; + const auto current_arc_ego = + lanelet::utils::getArcCoordinates(blind_spot_lanelets, current_pose).length; + const auto stopline_arc_ego = + lanelet::utils::getArcCoordinates(blind_spot_lanelets, stop_line_pose).length; + const auto remaining_distance = stopline_arc_ego - current_arc_ego; + return remaining_distance / std::max( + planner_param_.ttc_ego_minimal_velocity, + planner_data_->current_velocity->twist.linear.x); +} + +std::optional +BlindSpotModule::isCollisionDetected( + const lanelet::ConstLanelets & blind_spot_lanelets, + const geometry_msgs::msg::Pose & stop_line_pose, const lanelet::CompoundPolygon3d & area, + const double ego_time_to_reach_stop_line) +{ + // check objects in blind spot areas + const auto stop_line_arc_ego = + lanelet::utils::getArcCoordinates(blind_spot_lanelets, stop_line_pose).length; + for (const auto & original_object : planner_data_->predicted_objects->objects) { + if (!isTargetObjectType(original_object)) { + continue; + } + const auto object = cutPredictPathWithDuration( + planner_data_->predicted_objects->header, original_object, + planner_param_.max_future_movement_time); + // right direction + const bool exist_in_detection_area = bg::within( + to_bg2d(object.kinematics.initial_pose_with_covariance.pose.position), + lanelet::utils::to2D(area)); + if (!exist_in_detection_area) { + continue; + } + const auto object_arc_length = + lanelet::utils::getArcCoordinates( + blind_spot_lanelets, object.kinematics.initial_pose_with_covariance.pose) + .length; + const auto object_time_to_reach_stop_line = + (object_arc_length - stop_line_arc_ego) / + (object.kinematics.initial_twist_with_covariance.twist.linear.x); + const auto ttc = ego_time_to_reach_stop_line - object_time_to_reach_stop_line; + RCLCPP_INFO(logger_, "object ttc is %f", ttc); + if (planner_param_.ttc_min < ttc && ttc < planner_param_.ttc_max) { + return object; + } + } + return std::nullopt; } lanelet::ConstLanelet BlindSpotModule::generateHalfLanelet( @@ -554,8 +522,6 @@ lanelet::ConstLanelet BlindSpotModule::generateHalfLanelet( const auto left_bound = lanelet::LineString3d(lanelet::InvalId, std::move(lefts)); const auto right_bound = lanelet::LineString3d(lanelet::InvalId, std::move(rights)); auto half_lanelet = lanelet::Lanelet(lanelet::InvalId, left_bound, right_bound); - const auto centerline = lanelet::utils::generateFineCenterline(half_lanelet, 5.0); - half_lanelet.setCenterline(centerline); return half_lanelet; } @@ -620,15 +586,23 @@ lanelet::ConstLanelet BlindSpotModule::generateExtendedOppositeAdjacentLanelet( return new_lanelet; } -std::optional BlindSpotModule::generateBlindSpotPolygons( - lanelet::LaneletMapConstPtr lanelet_map_ptr, - [[maybe_unused]] lanelet::routing::RoutingGraphPtr routing_graph_ptr, - const autoware_auto_planning_msgs::msg::PathWithLaneId & path, const int closest_idx, - const geometry_msgs::msg::Pose & stop_line_pose) const +static lanelet::LineString3d removeConst(lanelet::ConstLineString3d line) { + lanelet::Points3d pts; + for (const auto & pt : line) { + pts.push_back(lanelet::Point3d(pt)); + } + return lanelet::LineString3d(lanelet::InvalId, pts); +} + +lanelet::ConstLanelets BlindSpotModule::generateBlindSpotLanelets( + const autoware_auto_planning_msgs::msg::PathWithLaneId & path) const +{ + /* get lanelet map */ + const auto lanelet_map_ptr = planner_data_->route_handler_->getLaneletMapPtr(); + const auto routing_graph_ptr = planner_data_->route_handler_->getRoutingGraphPtr(); + std::vector lane_ids; - lanelet::ConstLanelets blind_spot_lanelets; - lanelet::ConstLanelets blind_spot_opposite_lanelets; /* get lane ids until intersection */ for (const auto & point : path.points) { bool found_intersection_lane = false; @@ -646,17 +620,10 @@ std::optional BlindSpotModule::generateBlindSpotPolygons( if (found_intersection_lane) break; } - for (size_t i = 0; i < lane_ids.size(); ++i) { - const auto half_lanelet = - generateHalfLanelet(lanelet_map_ptr->laneletLayer.get(lane_ids.at(i))); - blind_spot_lanelets.push_back(half_lanelet); - } - - // additional detection area on left/right side - lanelet::ConstLanelets adjacent_lanelets; - lanelet::ConstLanelets opposite_adjacent_lanelets; + lanelet::ConstLanelets blind_spot_lanelets; for (const auto i : lane_ids) { const auto lane = lanelet_map_ptr->laneletLayer.get(i); + const auto ego_half_lanelet = generateHalfLanelet(lane); const auto adj = turn_direction_ == TurnDirection::LEFT ? (routing_graph_ptr->adjacentLeft(lane)) @@ -688,66 +655,42 @@ std::optional BlindSpotModule::generateBlindSpotPolygons( return std::nullopt; } }(); - if (adj) { - const auto half_lanelet = generateExtendedAdjacentLanelet(adj.value(), turn_direction_); - adjacent_lanelets.push_back(half_lanelet); - } - if (opposite_adj) { - const auto half_lanelet = + + if (!adj && !opposite_adj) { + blind_spot_lanelets.push_back(ego_half_lanelet); + } else if (!!adj) { + const auto adj_half_lanelet = generateExtendedAdjacentLanelet(adj.value(), turn_direction_); + const auto lefts = (turn_direction_ == TurnDirection::LEFT) ? adj_half_lanelet.leftBound() + : ego_half_lanelet.leftBound(); + const auto rights = (turn_direction_ == TurnDirection::RIGHT) ? adj_half_lanelet.rightBound() + : ego_half_lanelet.rightBound(); + blind_spot_lanelets.push_back( + lanelet::ConstLanelet(lanelet::InvalId, removeConst(lefts), removeConst(rights))); + } else if (opposite_adj) { + const auto adj_half_lanelet = generateExtendedOppositeAdjacentLanelet(opposite_adj.value(), turn_direction_); - opposite_adjacent_lanelets.push_back(half_lanelet); + const auto lefts = (turn_direction_ == TurnDirection::LEFT) ? adj_half_lanelet.leftBound() + : ego_half_lanelet.leftBound(); + const auto rights = (turn_direction_ == TurnDirection::LEFT) ? ego_half_lanelet.rightBound() + : adj_half_lanelet.rightBound(); + blind_spot_lanelets.push_back( + lanelet::ConstLanelet(lanelet::InvalId, removeConst(lefts), removeConst(rights))); } } + return blind_spot_lanelets; +} - const auto current_arc_ego = - lanelet::utils::getArcCoordinates(blind_spot_lanelets, path.points[closest_idx].point.pose) - .length; +std::optional BlindSpotModule::generateBlindSpotPolygons( + [[maybe_unused]] const autoware_auto_planning_msgs::msg::PathWithLaneId & path, + [[maybe_unused]] const size_t closest_idx, const lanelet::ConstLanelets & blind_spot_lanelets, + const geometry_msgs::msg::Pose & stop_line_pose) const +{ const auto stop_line_arc_ego = lanelet::utils::getArcCoordinates(blind_spot_lanelets, stop_line_pose).length; - const auto detection_area_start_length_ego = stop_line_arc_ego - planner_param_.backward_length; - if (detection_area_start_length_ego < current_arc_ego && current_arc_ego < stop_line_arc_ego) { - BlindSpotPolygons blind_spot_polygons; - auto conflict_area_ego = lanelet::utils::getPolygonFromArcLength( - blind_spot_lanelets, current_arc_ego, stop_line_arc_ego); - auto detection_area_ego = lanelet::utils::getPolygonFromArcLength( - blind_spot_lanelets, detection_area_start_length_ego, stop_line_arc_ego); - blind_spot_polygons.conflict_areas.emplace_back(std::move(conflict_area_ego)); - blind_spot_polygons.detection_areas.emplace_back(std::move(detection_area_ego)); - // additional detection area on left/right side - if (!adjacent_lanelets.empty()) { - const auto stop_line_arc_adj = lanelet::utils::getLaneletLength3d(adjacent_lanelets); - const auto current_arc_adj = stop_line_arc_adj - (stop_line_arc_ego - current_arc_ego); - const auto detection_area_start_length_adj = - stop_line_arc_adj - planner_param_.backward_length; - auto conflicting_area_adj = lanelet::utils::getPolygonFromArcLength( - adjacent_lanelets, current_arc_adj, stop_line_arc_adj); - auto detection_area_adj = lanelet::utils::getPolygonFromArcLength( - adjacent_lanelets, detection_area_start_length_adj, stop_line_arc_adj); - blind_spot_polygons.conflict_areas.emplace_back(std::move(conflicting_area_adj)); - blind_spot_polygons.detection_areas.emplace_back(std::move(detection_area_adj)); - } - // additional detection area on left/right opposite lane side - if (!opposite_adjacent_lanelets.empty()) { - const auto stop_line_arc_opposite_adj = - lanelet::utils::getLaneletLength3d(opposite_adjacent_lanelets); - const auto current_arc_opposite_adj = - stop_line_arc_opposite_adj - (stop_line_arc_ego - current_arc_ego); - const auto detection_area_start_length_opposite_adj = - stop_line_arc_opposite_adj - planner_param_.backward_length; - auto conflicting_area_opposite_adj = lanelet::utils::getPolygonFromArcLength( - opposite_adjacent_lanelets, current_arc_opposite_adj, stop_line_arc_opposite_adj); - auto detection_area_opposite_adj = lanelet::utils::getPolygonFromArcLength( - opposite_adjacent_lanelets, detection_area_start_length_opposite_adj, - stop_line_arc_opposite_adj); - blind_spot_polygons.opposite_conflict_areas.emplace_back( - std::move(conflicting_area_opposite_adj)); - blind_spot_polygons.opposite_detection_areas.emplace_back( - std::move(detection_area_opposite_adj)); - } - return blind_spot_polygons; - } else { - return std::nullopt; - } + const auto detection_area_start_length_ego = + std::max(stop_line_arc_ego - planner_param_.backward_detection_length, 0.0); + return lanelet::utils::getPolygonFromArcLength( + blind_spot_lanelets, detection_area_start_length_ego, stop_line_arc_ego); } bool BlindSpotModule::isTargetObjectType( diff --git a/planning/behavior_velocity_blind_spot_module/src/scene.hpp b/planning/behavior_velocity_blind_spot_module/src/scene.hpp index fd93661b33d6b..709942794ec1e 100644 --- a/planning/behavior_velocity_blind_spot_module/src/scene.hpp +++ b/planning/behavior_velocity_blind_spot_module/src/scene.hpp @@ -31,18 +31,11 @@ #include #include #include +#include #include namespace behavior_velocity_planner { -struct BlindSpotPolygons -{ - std::vector conflict_areas; - std::vector detection_areas; - std::vector opposite_conflict_areas; - std::vector opposite_detection_areas; -}; - /** * @brief wrapper class of interpolated path with lane id */ @@ -58,42 +51,63 @@ struct InterpolatedPathInfo std::optional> lane_id_interval{std::nullopt}; }; +/** + * @brief represent action + */ +struct InternalError +{ + const std::string error; +}; + +struct OverPassJudge +{ + const std::string report; +}; + +struct Unsafe +{ + const size_t stop_line_idx; + const std::optional collision_obstacle; +}; + +struct Safe +{ + const size_t stop_line_idx; +}; + +using BlindSpotDecision = std::variant; + class BlindSpotModule : public SceneModuleInterface { public: - enum class TurnDirection { LEFT = 0, RIGHT, INVALID }; + enum class TurnDirection { LEFT, RIGHT }; struct DebugData { - geometry_msgs::msg::Pose virtual_wall_pose; - geometry_msgs::msg::Pose stop_point_pose; - geometry_msgs::msg::Pose judge_point_pose; - std::vector conflict_areas; - std::vector detection_areas; - std::vector opposite_conflict_areas; - std::vector opposite_detection_areas; + std::optional virtual_wall_pose{std::nullopt}; + std::optional detection_area; autoware_auto_perception_msgs::msg::PredictedObjects conflicting_targets; }; public: struct PlannerParam { - bool use_pass_judge_line; //! distance which ego can stop with max brake - double stop_line_margin; //! distance from auto-generated stopline to detection_area boundary - double backward_length; //! distance[m] from closest path point to the edge of beginning point - double ignore_width_from_center_line; //! ignore width from center line from detection_area - double - max_future_movement_time; //! maximum time[second] for considering future movement of object - double threshold_yaw_diff; //! threshold of yaw difference between ego and target object - double - adjacent_extend_width; //! the width of extended detection/conflict area on adjacent lane + bool use_pass_judge_line; + double stop_line_margin; + double backward_detection_length; + double ignore_width_from_center_line; + double adjacent_extend_width; double opposite_adjacent_extend_width; + double max_future_movement_time; + double ttc_min; + double ttc_max; + double ttc_ego_minimal_velocity; }; BlindSpotModule( - const int64_t module_id, const int64_t lane_id, std::shared_ptr planner_data, - const PlannerParam & planner_param, const rclcpp::Logger logger, - const rclcpp::Clock::SharedPtr clock); + const int64_t module_id, const int64_t lane_id, const TurnDirection turn_direction, + const std::shared_ptr planner_data, const PlannerParam & planner_param, + const rclcpp::Logger logger, const rclcpp::Clock::SharedPtr clock); /** * @brief plan go-stop velocity at traffic crossing with collision check between reference path @@ -105,18 +119,40 @@ class BlindSpotModule : public SceneModuleInterface std::vector createVirtualWalls() override; private: + // (semi) const variables const int64_t lane_id_; const PlannerParam planner_param_; - TurnDirection turn_direction_{TurnDirection::INVALID}; - bool is_over_pass_judge_line_{false}; + const TurnDirection turn_direction_; std::optional sibling_straight_lanelet_{std::nullopt}; + std::optional blind_spot_lanelets_{std::nullopt}; + + // state variables + bool is_over_pass_judge_line_{false}; // Parameter + void initializeRTCStatus(); + BlindSpotDecision modifyPathVelocityDetail(PathWithLaneId * path, StopReason * stop_reason); + // setSafe(), setDistance() + void setRTCStatus( + const BlindSpotDecision & decision, + const autoware_auto_planning_msgs::msg::PathWithLaneId & path); + template + void setRTCStatusByDecision( + const Decision & decision, const autoware_auto_planning_msgs::msg::PathWithLaneId & path); + // stop/GO + void reactRTCApproval( + const BlindSpotDecision & decision, PathWithLaneId * path, StopReason * stop_reason); + template + void reactRTCApprovalByDecision( + const Decision & decision, autoware_auto_planning_msgs::msg::PathWithLaneId * path, + StopReason * stop_reason); + std::optional generateInterpolatedPathInfo( const autoware_auto_planning_msgs::msg::PathWithLaneId & input_path) const; - std::optional getSiblingStraightLanelet() const; + std::optional getSiblingStraightLanelet( + const std::shared_ptr planner_data) const; /** * @brief Generate a stop line and insert it into the path. @@ -131,6 +167,14 @@ class BlindSpotModule : public SceneModuleInterface const InterpolatedPathInfo & interpolated_path_info, autoware_auto_planning_msgs::msg::PathWithLaneId * path) const; + std::optional isOverPassJudge( + const autoware_auto_planning_msgs::msg::PathWithLaneId & path, + const geometry_msgs::msg::Pose & stop_point_pose) const; + + double computeTimeToPassStopLine( + const lanelet::ConstLanelets & blind_spot_lanelets, + const geometry_msgs::msg::Pose & stop_line_pose) const; + /** * @brief Check obstacle is in blind spot areas. * Condition1: Object's position is in broad blind spot area. @@ -141,12 +185,10 @@ class BlindSpotModule : public SceneModuleInterface * @param closest_idx closest path point index from ego car in path points * @return true when an object is detected in blind spot */ - bool checkObstacleInBlindSpot( - lanelet::LaneletMapConstPtr lanelet_map_ptr, - lanelet::routing::RoutingGraphPtr routing_graph_ptr, - const autoware_auto_planning_msgs::msg::PathWithLaneId & path, - const autoware_auto_perception_msgs::msg::PredictedObjects::ConstSharedPtr objects_ptr, - const int closest_idx, const geometry_msgs::msg::Pose & stop_line_pose); + std::optional isCollisionDetected( + const lanelet::ConstLanelets & blind_spot_lanelets, + const geometry_msgs::msg::Pose & stop_line_pose, const lanelet::CompoundPolygon3d & area, + const double ego_time_to_reach_stop_line); /** * @brief Create half lanelet @@ -160,6 +202,9 @@ class BlindSpotModule : public SceneModuleInterface lanelet::ConstLanelet generateExtendedOppositeAdjacentLanelet( const lanelet::ConstLanelet lanelet, const TurnDirection direction) const; + lanelet::ConstLanelets generateBlindSpotLanelets( + const autoware_auto_planning_msgs::msg::PathWithLaneId & path) const; + /** * @brief Make blind spot areas. Narrow area is made from closest path point to stop line index. * Broad area is made from backward expanded point to stop line point @@ -167,10 +212,9 @@ class BlindSpotModule : public SceneModuleInterface * @param closest_idx closest path point index from ego car in path points * @return Blind spot polygons */ - std::optional generateBlindSpotPolygons( - lanelet::LaneletMapConstPtr lanelet_map_ptr, - lanelet::routing::RoutingGraphPtr routing_graph_ptr, - const autoware_auto_planning_msgs::msg::PathWithLaneId & path, const int closest_idx, + std::optional generateBlindSpotPolygons( + const autoware_auto_planning_msgs::msg::PathWithLaneId & path, const size_t closest_idx, + const lanelet::ConstLanelets & blind_spot_lanelets, const geometry_msgs::msg::Pose & pose) const; /** @@ -180,23 +224,14 @@ class BlindSpotModule : public SceneModuleInterface */ bool isTargetObjectType(const autoware_auto_perception_msgs::msg::PredictedObject & object) const; - /** - * @brief Check if at least one of object's predicted position is in area - * @param object Dynamic object - * @param area Area defined by polygon - * @return True when at least one of object's predicted position is in area - */ - bool isPredictedPathInArea( - const autoware_auto_perception_msgs::msg::PredictedObject & object, - const std::vector & areas, geometry_msgs::msg::Pose ego_pose) const; - /** * @brief Modify objects predicted path. remove path point if the time exceeds timer_thr. * @param objects_ptr target objects * @param time_thr time threshold to cut path */ - void cutPredictPathWithDuration( - autoware_auto_perception_msgs::msg::PredictedObjects * objects_ptr, + autoware_auto_perception_msgs::msg::PredictedObject cutPredictPathWithDuration( + const std_msgs::msg::Header & header, + const autoware_auto_perception_msgs::msg::PredictedObject & object, const double time_thr) const; StateMachine state_machine_; //! for state diff --git a/planning/behavior_velocity_crosswalk_module/CMakeLists.txt b/planning/behavior_velocity_crosswalk_module/CMakeLists.txt index 69dd1ced695ec..f21d5ab786cad 100644 --- a/planning/behavior_velocity_crosswalk_module/CMakeLists.txt +++ b/planning/behavior_velocity_crosswalk_module/CMakeLists.txt @@ -3,7 +3,7 @@ project(behavior_velocity_crosswalk_module) find_package(autoware_cmake REQUIRED) autoware_package() -pluginlib_export_plugin_description_file(behavior_velocity_planner plugins.xml) +pluginlib_export_plugin_description_file(autoware_behavior_velocity_planner plugins.xml) ament_auto_add_library(${PROJECT_NAME} SHARED DIRECTORY diff --git a/planning/behavior_velocity_crosswalk_module/config/crosswalk.param.yaml b/planning/behavior_velocity_crosswalk_module/config/crosswalk.param.yaml index f8b9e5dbf1327..67b923a8d4cd8 100644 --- a/planning/behavior_velocity_crosswalk_module/config/crosswalk.param.yaml +++ b/planning/behavior_velocity_crosswalk_module/config/crosswalk.param.yaml @@ -43,6 +43,7 @@ ego_pass_later_margin_x: [0.0] # [[s]] time to vehicle margin vector for object pass first situation (the module judges that ego don't have to stop at TTV + MARGIN < TTC condition) ego_pass_later_margin_y: [13.0] # [[s]] time to collision margin vector for object pass first situation (the module judges that ego don't have to stop at TTV + MARGIN < TTC condition) ego_pass_later_additional_margin: 0.5 # [s] additional time margin for object pass first situation to suppress chattering + ego_min_assumed_speed: 2.0 # [m/s] assumed speed to calculate the time to collision point no_stop_decision: # parameters to determine if it is safe to attempt stopping before the crosswalk max_offset_to_crosswalk_for_yield: 0.0 # [m] maximum offset from ego's front to crosswalk for yield. Positive value means in front of the crosswalk. diff --git a/planning/behavior_velocity_crosswalk_module/src/manager.cpp b/planning/behavior_velocity_crosswalk_module/src/manager.cpp index aeff5e27cea7b..5110ff9993a62 100644 --- a/planning/behavior_velocity_crosswalk_module/src/manager.cpp +++ b/planning/behavior_velocity_crosswalk_module/src/manager.cpp @@ -90,6 +90,8 @@ CrosswalkModuleManager::CrosswalkModuleManager(rclcpp::Node & node) getOrDeclareParameter>(node, ns + ".pass_judge.ego_pass_later_margin_y"); cp.ego_pass_later_additional_margin = getOrDeclareParameter(node, ns + ".pass_judge.ego_pass_later_additional_margin"); + cp.ego_min_assumed_speed = + getOrDeclareParameter(node, ns + ".pass_judge.ego_min_assumed_speed"); cp.max_offset_to_crosswalk_for_yield = getOrDeclareParameter( node, ns + ".pass_judge.no_stop_decision.max_offset_to_crosswalk_for_yield"); cp.min_acc_for_no_stop_decision = @@ -188,8 +190,8 @@ void CrosswalkModuleManager::launchNewModules(const PathWithLaneId & path) clock_)); generateUUID(crosswalk_lanelet_id); updateRTCStatus( - getUUID(crosswalk_lanelet_id), true, std::numeric_limits::lowest(), - path.header.stamp); + getUUID(crosswalk_lanelet_id), true, State::WAITING_FOR_EXECUTION, + std::numeric_limits::lowest(), path.header.stamp); }; const auto crosswalk_reg_elem_map = planning_utils::getRegElemMapOnPath( diff --git a/planning/behavior_velocity_crosswalk_module/src/scene_crosswalk.cpp b/planning/behavior_velocity_crosswalk_module/src/scene_crosswalk.cpp index 86038c721604d..0f9c753523f13 100644 --- a/planning/behavior_velocity_crosswalk_module/src/scene_crosswalk.cpp +++ b/planning/behavior_velocity_crosswalk_module/src/scene_crosswalk.cpp @@ -810,8 +810,6 @@ CollisionPoint CrosswalkModule::createCollisionPoint( const geometry_msgs::msg::Vector3 & obj_vel, const std::optional object_crosswalk_passage_direction) const { - constexpr double min_ego_velocity = 1.38; // [m/s] - const auto estimated_velocity = std::hypot(obj_vel.x, obj_vel.y); const auto velocity = std::max(planner_param_.min_object_velocity, estimated_velocity); @@ -824,7 +822,7 @@ CollisionPoint CrosswalkModule::createCollisionPoint( // Hence, here, we use the length that would be appropriate for the ego_pass_first judge. collision_point.time_to_collision = std::max(0.0, dist_ego2cp - planner_data_->vehicle_info_.min_longitudinal_offset_m) / - std::max(ego_vel.x, min_ego_velocity); + std::max(ego_vel.x, planner_param_.ego_min_assumed_speed); collision_point.time_to_vehicle = std::max(0.0, dist_obj2cp) / velocity; return collision_point; diff --git a/planning/behavior_velocity_crosswalk_module/src/scene_crosswalk.hpp b/planning/behavior_velocity_crosswalk_module/src/scene_crosswalk.hpp index bc89936fe883a..faba8730aa6d9 100644 --- a/planning/behavior_velocity_crosswalk_module/src/scene_crosswalk.hpp +++ b/planning/behavior_velocity_crosswalk_module/src/scene_crosswalk.hpp @@ -135,6 +135,7 @@ class CrosswalkModule : public SceneModuleInterface std::vector ego_pass_later_margin_x; std::vector ego_pass_later_margin_y; double ego_pass_later_additional_margin; + double ego_min_assumed_speed; double max_offset_to_crosswalk_for_yield; double min_acc_for_no_stop_decision; double max_jerk_for_no_stop_decision; @@ -181,7 +182,7 @@ class CrosswalkModule : public SceneModuleInterface const rclcpp::Time & now, const geometry_msgs::msg::Point & position, const double vel, const bool is_ego_yielding, const std::optional & collision_point, const PlannerParam & planner_param, const lanelet::BasicPolygon2d & crosswalk_polygon, - const bool is_object_on_ego_path) + const bool is_object_away_from_path) { const bool is_stopped = vel < planner_param.stop_object_velocity; @@ -201,7 +202,7 @@ class CrosswalkModule : public SceneModuleInterface planner_param.timeout_set_for_no_intention_to_walk, distance_to_crosswalk); const bool intent_to_cross = (now - *time_to_start_stopped).seconds() < timeout_no_intention_to_walk; - if (is_ego_yielding && !intent_to_cross && !is_object_on_ego_path) { + if (is_ego_yielding && !intent_to_cross && is_object_away_from_path) { collision_state = CollisionState::IGNORE; return; } @@ -260,15 +261,16 @@ class CrosswalkModule : public SceneModuleInterface // update current uuids current_uuids_.push_back(uuid); - const bool is_object_on_ego_path = - boost::geometry::distance(tier4_autoware_utils::fromMsg(position).to_2d(), attention_area) < - 0.5; + const bool is_object_away_from_path = + !attention_area.outer().empty() && + boost::geometry::distance(tier4_autoware_utils::fromMsg(position).to_2d(), attention_area) > + 0.5; // add new object if (objects.count(uuid) == 0) { if ( has_traffic_light && planner_param.disable_yield_for_new_stopped_object && - !is_object_on_ego_path) { + is_object_away_from_path) { objects.emplace(uuid, ObjectInfo{CollisionState::IGNORE}); } else { objects.emplace(uuid, ObjectInfo{CollisionState::YIELD}); @@ -278,7 +280,7 @@ class CrosswalkModule : public SceneModuleInterface // update object state objects.at(uuid).transitState( now, position, vel, is_ego_yielding, collision_point, planner_param, crosswalk_polygon, - is_object_on_ego_path); + is_object_away_from_path); objects.at(uuid).collision_point = collision_point; objects.at(uuid).position = position; objects.at(uuid).classification = classification; diff --git a/planning/behavior_velocity_detection_area_module/CMakeLists.txt b/planning/behavior_velocity_detection_area_module/CMakeLists.txt index 2a16ed95ba655..e6990d2d28642 100644 --- a/planning/behavior_velocity_detection_area_module/CMakeLists.txt +++ b/planning/behavior_velocity_detection_area_module/CMakeLists.txt @@ -3,7 +3,7 @@ project(behavior_velocity_detection_area_module) find_package(autoware_cmake REQUIRED) autoware_package() -pluginlib_export_plugin_description_file(behavior_velocity_planner plugins.xml) +pluginlib_export_plugin_description_file(autoware_behavior_velocity_planner plugins.xml) ament_auto_add_library(${PROJECT_NAME} SHARED src/debug.cpp diff --git a/planning/behavior_velocity_detection_area_module/src/manager.cpp b/planning/behavior_velocity_detection_area_module/src/manager.cpp index 834ffc03e5dde..8e9a6b6a58a96 100644 --- a/planning/behavior_velocity_detection_area_module/src/manager.cpp +++ b/planning/behavior_velocity_detection_area_module/src/manager.cpp @@ -66,7 +66,8 @@ void DetectionAreaModuleManager::launchNewModules( logger_.get_child("detection_area_module"), clock_)); generateUUID(module_id); updateRTCStatus( - getUUID(module_id), true, std::numeric_limits::lowest(), path.header.stamp); + getUUID(module_id), true, State::WAITING_FOR_EXECUTION, + std::numeric_limits::lowest(), path.header.stamp); } } } diff --git a/planning/behavior_velocity_dynamic_obstacle_stop_module/CMakeLists.txt b/planning/behavior_velocity_dynamic_obstacle_stop_module/CMakeLists.txt index 20f4b3aa8f4d3..481ac245cb432 100644 --- a/planning/behavior_velocity_dynamic_obstacle_stop_module/CMakeLists.txt +++ b/planning/behavior_velocity_dynamic_obstacle_stop_module/CMakeLists.txt @@ -3,7 +3,7 @@ project(behavior_velocity_dynamic_obstacle_stop_module) find_package(autoware_cmake REQUIRED) autoware_package() -pluginlib_export_plugin_description_file(behavior_velocity_planner plugins.xml) +pluginlib_export_plugin_description_file(autoware_behavior_velocity_planner plugins.xml) ament_auto_add_library(${PROJECT_NAME} SHARED DIRECTORY src diff --git a/planning/behavior_velocity_intersection_module/CMakeLists.txt b/planning/behavior_velocity_intersection_module/CMakeLists.txt index 07847a08c1209..c02b5a3852722 100644 --- a/planning/behavior_velocity_intersection_module/CMakeLists.txt +++ b/planning/behavior_velocity_intersection_module/CMakeLists.txt @@ -3,7 +3,7 @@ project(behavior_velocity_intersection_module) find_package(autoware_cmake REQUIRED) autoware_package() -pluginlib_export_plugin_description_file(behavior_velocity_planner plugins.xml) +pluginlib_export_plugin_description_file(autoware_behavior_velocity_planner plugins.xml) find_package(OpenCV REQUIRED) diff --git a/planning/behavior_velocity_intersection_module/src/manager.cpp b/planning/behavior_velocity_intersection_module/src/manager.cpp index 3941362d96242..424fb6841eca9 100644 --- a/planning/behavior_velocity_intersection_module/src/manager.cpp +++ b/planning/behavior_velocity_intersection_module/src/manager.cpp @@ -345,10 +345,10 @@ void IntersectionModuleManager::launchNewModules( const UUID uuid = getUUID(new_module->getModuleId()); const auto occlusion_uuid = new_module->getOcclusionUUID(); rtc_interface_.updateCooperateStatus( - uuid, true, std::numeric_limits::lowest(), std::numeric_limits::lowest(), - clock_->now()); + uuid, true, State::RUNNING, std::numeric_limits::lowest(), + std::numeric_limits::lowest(), clock_->now()); occlusion_rtc_interface_.updateCooperateStatus( - occlusion_uuid, true, std::numeric_limits::lowest(), + occlusion_uuid, true, State::RUNNING, std::numeric_limits::lowest(), std::numeric_limits::lowest(), clock_->now()); registerModule(std::move(new_module)); } @@ -404,12 +404,13 @@ void IntersectionModuleManager::sendRTC(const Time & stamp) const UUID uuid = getUUID(scene_module->getModuleId()); const bool safety = scene_module->isSafe() && (!intersection_module->isOcclusionFirstStopRequired()); - updateRTCStatus(uuid, safety, scene_module->getDistance(), stamp); + updateRTCStatus(uuid, safety, State::RUNNING, scene_module->getDistance(), stamp); const auto occlusion_uuid = intersection_module->getOcclusionUUID(); const auto occlusion_distance = intersection_module->getOcclusionDistance(); const auto occlusion_safety = intersection_module->getOcclusionSafety(); occlusion_rtc_interface_.updateCooperateStatus( - occlusion_uuid, occlusion_safety, occlusion_distance, occlusion_distance, stamp); + occlusion_uuid, occlusion_safety, State::RUNNING, occlusion_distance, occlusion_distance, + stamp); // ========================================================================================== // module debug data diff --git a/planning/behavior_velocity_intersection_module/src/scene_intersection.cpp b/planning/behavior_velocity_intersection_module/src/scene_intersection.cpp index 9d0c0c8e1defb..08e2d38a5905f 100644 --- a/planning/behavior_velocity_intersection_module/src/scene_intersection.cpp +++ b/planning/behavior_velocity_intersection_module/src/scene_intersection.cpp @@ -20,6 +20,7 @@ #include #include #include +#include #include #include // for toPolygon2d #include @@ -44,6 +45,7 @@ namespace bg = boost::geometry; using intersection::make_err; using intersection::make_ok; using intersection::Result; +using motion_utils::VelocityFactorInterface; IntersectionModule::IntersectionModule( const int64_t module_id, const int64_t lane_id, diff --git a/planning/behavior_velocity_no_drivable_lane_module/CMakeLists.txt b/planning/behavior_velocity_no_drivable_lane_module/CMakeLists.txt index ef3073df56c22..265b5b637e7ce 100644 --- a/planning/behavior_velocity_no_drivable_lane_module/CMakeLists.txt +++ b/planning/behavior_velocity_no_drivable_lane_module/CMakeLists.txt @@ -3,7 +3,7 @@ project(behavior_velocity_no_drivable_lane_module) find_package(autoware_cmake REQUIRED) autoware_package() -pluginlib_export_plugin_description_file(behavior_velocity_planner plugins.xml) +pluginlib_export_plugin_description_file(autoware_behavior_velocity_planner plugins.xml) ament_auto_add_library(${PROJECT_NAME} SHARED src/debug.cpp diff --git a/planning/behavior_velocity_no_stopping_area_module/CMakeLists.txt b/planning/behavior_velocity_no_stopping_area_module/CMakeLists.txt index 4d14228c4685c..ba3fd0e4f71dd 100644 --- a/planning/behavior_velocity_no_stopping_area_module/CMakeLists.txt +++ b/planning/behavior_velocity_no_stopping_area_module/CMakeLists.txt @@ -3,7 +3,7 @@ project(behavior_velocity_no_stopping_area_module) find_package(autoware_cmake REQUIRED) autoware_package() -pluginlib_export_plugin_description_file(behavior_velocity_planner plugins.xml) +pluginlib_export_plugin_description_file(autoware_behavior_velocity_planner plugins.xml) ament_auto_add_library(${PROJECT_NAME} SHARED src/debug.cpp diff --git a/planning/behavior_velocity_no_stopping_area_module/src/manager.cpp b/planning/behavior_velocity_no_stopping_area_module/src/manager.cpp index c4192750af1d5..46cc224ea0f6b 100644 --- a/planning/behavior_velocity_no_stopping_area_module/src/manager.cpp +++ b/planning/behavior_velocity_no_stopping_area_module/src/manager.cpp @@ -68,7 +68,8 @@ void NoStoppingAreaModuleManager::launchNewModules( clock_)); generateUUID(module_id); updateRTCStatus( - getUUID(module_id), true, std::numeric_limits::lowest(), path.header.stamp); + getUUID(module_id), true, State::WAITING_FOR_EXECUTION, + std::numeric_limits::lowest(), path.header.stamp); } } } diff --git a/planning/behavior_velocity_no_stopping_area_module/src/scene_no_stopping_area.cpp b/planning/behavior_velocity_no_stopping_area_module/src/scene_no_stopping_area.cpp index 92afd25026a70..7b886fea09b34 100644 --- a/planning/behavior_velocity_no_stopping_area_module/src/scene_no_stopping_area.cpp +++ b/planning/behavior_velocity_no_stopping_area_module/src/scene_no_stopping_area.cpp @@ -87,12 +87,8 @@ boost::optional NoStoppingAreaModule::getStopLineGeometry2d( const LineString2d line{{p0.x, p0.y}, {p1.x, p1.y}}; std::vector collision_points; bg::intersection(area_poly, line, collision_points); - if (collision_points.empty()) { - continue; - } - const double yaw = tier4_autoware_utils::calcAzimuthAngle(p0, p1); if (!collision_points.empty()) { - geometry_msgs::msg::Point left_point; + const double yaw = tier4_autoware_utils::calcAzimuthAngle(p0, p1); const double w = planner_data_->vehicle_info_.vehicle_width_m; const double l = stop_line_margin; stop_line.emplace_back( @@ -306,7 +302,6 @@ Polygon2d NoStoppingAreaModule::generateEgoNoStoppingAreaLanePolygon( const int num_ignore_nearest = 1; // Do not consider nearest lane polygon size_t ego_area_start_idx = closest_idx + num_ignore_nearest; - size_t ego_area_end_idx = ego_area_start_idx; // return if area size is not intentional if (no_stopping_area_reg_elem_.noStoppingAreas().size() != 1) { return ego_area; @@ -330,7 +325,7 @@ Polygon2d NoStoppingAreaModule::generateEgoNoStoppingAreaLanePolygon( } double dist_from_area_sum = 0.0; // decide end idx with extract distance - ego_area_end_idx = ego_area_start_idx; + size_t ego_area_end_idx = ego_area_start_idx; for (size_t i = ego_area_start_idx; i < pp.size() - 1; ++i) { dist_from_start_sum += tier4_autoware_utils::calcDistance2d(pp.at(i), pp.at(i - 1)); const auto & p = pp.at(i).point.pose.position; diff --git a/planning/behavior_velocity_occlusion_spot_module/CMakeLists.txt b/planning/behavior_velocity_occlusion_spot_module/CMakeLists.txt index 7a062ee854421..8b327291a60f1 100644 --- a/planning/behavior_velocity_occlusion_spot_module/CMakeLists.txt +++ b/planning/behavior_velocity_occlusion_spot_module/CMakeLists.txt @@ -3,7 +3,7 @@ project(behavior_velocity_occlusion_spot_module) find_package(autoware_cmake REQUIRED) autoware_package() -pluginlib_export_plugin_description_file(behavior_velocity_planner plugins.xml) +pluginlib_export_plugin_description_file(autoware_behavior_velocity_planner plugins.xml) ament_auto_add_library(${PROJECT_NAME} SHARED src/debug.cpp diff --git a/planning/behavior_velocity_occlusion_spot_module/src/debug.cpp b/planning/behavior_velocity_occlusion_spot_module/src/debug.cpp index a6e13d0dfdcdc..1170afc490a75 100644 --- a/planning/behavior_velocity_occlusion_spot_module/src/debug.cpp +++ b/planning/behavior_velocity_occlusion_spot_module/src/debug.cpp @@ -33,7 +33,6 @@ using BasicPolygons = std::vector; using occlusion_spot_utils::PossibleCollisionInfo; using tier4_autoware_utils::appendMarkerArray; using tier4_autoware_utils::calcOffsetPose; -using tier4_autoware_utils::createDefaultMarker; using tier4_autoware_utils::createMarkerColor; using tier4_autoware_utils::createMarkerOrientation; using tier4_autoware_utils::createMarkerPosition; @@ -118,7 +117,7 @@ MarkerArray makeDebugInfoMarkers(T & debug_data) { // add slow down markers for occlusion spot MarkerArray debug_markers; - auto & possible_collisions = debug_data.possible_collisions; + const auto & possible_collisions = debug_data.possible_collisions; size_t id = 0; // draw obstacle collision for (const auto & pc : possible_collisions) { diff --git a/planning/behavior_velocity_occlusion_spot_module/src/grid_utils.cpp b/planning/behavior_velocity_occlusion_spot_module/src/grid_utils.cpp index 9f580149be7ae..c8adb324b9055 100644 --- a/planning/behavior_velocity_occlusion_spot_module/src/grid_utils.cpp +++ b/planning/behavior_velocity_occlusion_spot_module/src/grid_utils.cpp @@ -43,23 +43,6 @@ Polygon2d pointsToPoly(const Point2d p0, const Point2d p1, const double radius) return line_poly; } -std::vector> pointsToRays( - const grid_map::Position p0, const grid_map::Position p1, const double radius) -{ - using grid_map::Position; - std::vector> lines; - const double angle = atan2(p0.y() - p1.y(), p0.x() - p1.x()); - const double r = radius; - lines.emplace_back(std::make_pair(p0, p1)); - lines.emplace_back(std::make_pair( - Position(p0.x() + r * sin(angle), p0.y() - r * cos(angle)), - Position(p1.x() + r * sin(angle), p1.y() - r * cos(angle)))); - lines.emplace_back(std::make_pair( - Position(p1.x() - r * sin(angle), p1.y() + r * cos(angle)), - Position(p0.x() - r * sin(angle), p0.y() + r * cos(angle)))); - return lines; -} - void findOcclusionSpots( std::vector & occlusion_spot_positions, const grid_map::GridMap & grid, const Polygon2d & polygon, [[maybe_unused]] double min_size) @@ -86,36 +69,21 @@ bool isCollisionFree( const double radius) { const grid_map::Matrix & grid_data = grid["layer"]; - bool polys = true; try { - if (polys) { - Point2d occlusion_p = {p1.x(), p1.y()}; - Point2d collision_p = {p2.x(), p2.y()}; - Polygon2d polygon = pointsToPoly(occlusion_p, collision_p, radius); - grid_map::Polygon grid_polygon; - for (const auto & point : polygon.outer()) { - grid_polygon.addVertex({point.x(), point.y()}); - } - for (grid_map_utils::PolygonIterator iterator(grid, grid_polygon); !iterator.isPastEnd(); - ++iterator) { - const grid_map::Index & index = *iterator; - if (grid_data(index.x(), index.y()) == grid_utils::occlusion_cost_value::OCCUPIED) { - return false; - } - } - } else { - std::vector> lines = - pointsToRays(p1, p2, radius); - for (const auto & p : lines) { - for (grid_map::LineIterator iterator(grid, p.first, p.second); !iterator.isPastEnd(); - ++iterator) { - const grid_map::Index & index = *iterator; - if (grid_data(index.x(), index.y()) == grid_utils::occlusion_cost_value::OCCUPIED) { - return false; - } - } + Point2d occlusion_p = {p1.x(), p1.y()}; + Point2d collision_p = {p2.x(), p2.y()}; + Polygon2d polygon = pointsToPoly(occlusion_p, collision_p, radius); + grid_map::Polygon grid_polygon; + for (const auto & point : polygon.outer()) { + grid_polygon.addVertex({point.x(), point.y()}); + } + for (grid_map_utils::PolygonIterator iterator(grid, grid_polygon); !iterator.isPastEnd(); + ++iterator) { + const grid_map::Index & index = *iterator; + if (grid_data(index.x(), index.y()) == grid_utils::occlusion_cost_value::OCCUPIED) { + return false; } - } // polys or not + } } catch (const std::invalid_argument & e) { std::cerr << e.what() << std::endl; return false; @@ -324,7 +292,7 @@ void imageToOccupancyGrid(const cv::Mat & cv_image, nav_msgs::msg::OccupancyGrid const int idx = (height - 1 - y) + (width - 1 - x) * height; unsigned char intensity = cv_image.at(y, x); if (intensity == grid_utils::occlusion_cost_value::FREE_SPACE) { - intensity = grid_utils::occlusion_cost_value::FREE_SPACE; + // do nothing } else if (intensity == grid_utils::occlusion_cost_value::UNKNOWN_IMAGE) { intensity = grid_utils::occlusion_cost_value::UNKNOWN; } else if (intensity == grid_utils::occlusion_cost_value::OCCUPIED_IMAGE) { @@ -348,14 +316,12 @@ void toQuantizedImage( unsigned char intensity = occupancy_grid.data.at(idx); if (intensity <= param.free_space_max) { continue; - } else if (param.free_space_max < intensity && intensity < param.occupied_min) { + } else if (intensity < param.occupied_min) { intensity = grid_utils::occlusion_cost_value::UNKNOWN_IMAGE; occlusion_image->at(y, x) = intensity; - } else if (param.occupied_min <= intensity) { + } else { intensity = grid_utils::occlusion_cost_value::OCCUPIED_IMAGE; border_image->at(y, x) = intensity; - } else { - throw std::logic_error("behavior_velocity[occlusion_spot_grid]: invalid if clause"); } } } diff --git a/planning/behavior_velocity_occlusion_spot_module/src/occlusion_spot_utils.cpp b/planning/behavior_velocity_occlusion_spot_module/src/occlusion_spot_utils.cpp index f38768ce26da4..f22cedbe67c8f 100644 --- a/planning/behavior_velocity_occlusion_spot_module/src/occlusion_spot_utils.cpp +++ b/planning/behavior_velocity_occlusion_spot_module/src/occlusion_spot_utils.cpp @@ -117,6 +117,9 @@ void calcSlowDownPointsForPossibleCollision( size_t collision_index = 0; double dist_along_path_point = offset; double dist_along_next_path_point = dist_along_path_point; + if (path.points.size() == 0) { + return; + } for (size_t idx = closest_idx; idx < path.points.size() - 1; idx++) { auto p_prev = path.points.at(idx).point; auto p_next = path.points.at(idx + 1).point; @@ -242,7 +245,8 @@ void categorizeVehicles( return; } -ArcCoordinates getOcclusionPoint(const PredictedObject & obj, const ConstLineString2d & ll_string) +lanelet::ArcCoordinates getOcclusionPoint( + const PredictedObject & obj, const lanelet::ConstLineString2d & ll_string) { const auto poly = tier4_autoware_utils::toPolygon2d(obj); std::deque arcs; @@ -257,16 +261,18 @@ ArcCoordinates getOcclusionPoint(const PredictedObject & obj, const ConstLineStr * Ego===============> path **/ // sort by arc length - std::sort(arcs.begin(), arcs.end(), [](ArcCoordinates arc1, ArcCoordinates arc2) { - return arc1.length < arc2.length; - }); + std::sort( + arcs.begin(), arcs.end(), [](lanelet::ArcCoordinates arc1, lanelet::ArcCoordinates arc2) { + return arc1.length < arc2.length; + }); // remove closest 2 polygon point arcs.pop_front(); arcs.pop_front(); // sort by arc distance - std::sort(arcs.begin(), arcs.end(), [](ArcCoordinates arc1, ArcCoordinates arc2) { - return std::abs(arc1.distance) < std::abs(arc2.distance); - }); + std::sort( + arcs.begin(), arcs.end(), [](lanelet::ArcCoordinates arc1, lanelet::ArcCoordinates arc2) { + return std::abs(arc1.distance) < std::abs(arc2.distance); + }); // return closest to path point which is choosen by farthest 2 points. return arcs.at(0); } @@ -286,18 +292,19 @@ double calcSignedLateralDistanceWithOffset( } PossibleCollisionInfo calculateCollisionPathPointFromOcclusionSpot( - const ArcCoordinates & arc_coord_occlusion, - const ArcCoordinates & arc_coord_occlusion_with_offset, + const lanelet::ArcCoordinates & arc_coord_occlusion, + const lanelet::ArcCoordinates & arc_coord_occlusion_with_offset, const lanelet::ConstLanelet & path_lanelet, const PlannerParam & param) { - auto calcPosition = [](const ConstLineString2d & ll, const ArcCoordinates & arc) { - BasicPoint2d bp = fromArcCoordinates(ll, arc); - Point position; - position.x = bp[0]; - position.y = bp[1]; - position.z = 0.0; - return position; - }; + auto calcPosition = + [](const lanelet::ConstLineString2d & ll, const lanelet::ArcCoordinates & arc) { + BasicPoint2d bp = lanelet::geometry::fromArcCoordinates(ll, arc); + Point position; + position.x = bp[0]; + position.y = bp[1]; + position.z = 0.0; + return position; + }; /** * @brief calculate obstacle collision intersection from arc coordinate info. * ^ @@ -338,8 +345,8 @@ bool generatePossibleCollisionsFromObjects( lanelet::ConstLanelet path_lanelet = toPathLanelet(path); auto ll = path_lanelet.centerline2d(); for (const auto & dyn : dyn_objects) { - ArcCoordinates arc_coord_occlusion = getOcclusionPoint(dyn, ll); - ArcCoordinates arc_coord_occlusion_with_offset = { + lanelet::ArcCoordinates arc_coord_occlusion = getOcclusionPoint(dyn, ll); + lanelet::ArcCoordinates arc_coord_occlusion_with_offset = { arc_coord_occlusion.length - param.baselink_to_front, calcSignedLateralDistanceWithOffset( arc_coord_occlusion.distance, param.right_overhang, param.left_overhang, @@ -426,7 +433,8 @@ bool isBlockedByPartition(const LineString2d & direction, const BasicPolygons2d std::optional generateOneNotableCollisionFromOcclusionSpot( const grid_map::GridMap & grid, const std::vector & occlusion_spot_positions, const double offset_from_start_to_ego, const Point2d base_point, - const lanelet::ConstLanelet & path_lanelet, const PlannerParam & param, DebugData & debug_data) + const lanelet::ConstLanelet & path_lanelet, const PlannerParam & param, + const DebugData & debug_data) { const double baselink_to_front = param.baselink_to_front; const double right_overhang = param.right_overhang; @@ -451,7 +459,7 @@ std::optional generateOneNotableCollisionFromOcclusionSpo if (length_to_col < offset_from_start_to_ego) { continue; } - ArcCoordinates arc_coord_collision_point = { + lanelet::ArcCoordinates arc_coord_collision_point = { length_to_col, calcSignedLateralDistanceWithOffset( arc_coord_occlusion_point.distance, right_overhang, left_overhang, wheel_tread)}; diff --git a/planning/behavior_velocity_occlusion_spot_module/src/occlusion_spot_utils.hpp b/planning/behavior_velocity_occlusion_spot_module/src/occlusion_spot_utils.hpp index ec58e38dec45a..7f495f042d7f8 100644 --- a/planning/behavior_velocity_occlusion_spot_module/src/occlusion_spot_utils.hpp +++ b/planning/behavior_velocity_occlusion_spot_module/src/occlusion_spot_utils.hpp @@ -57,14 +57,10 @@ using autoware_auto_planning_msgs::msg::PathPointWithLaneId; using autoware_auto_planning_msgs::msg::PathWithLaneId; using geometry_msgs::msg::Point; using geometry_msgs::msg::Pose; -using lanelet::ArcCoordinates; using lanelet::BasicLineString2d; using lanelet::BasicPoint2d; using lanelet::BasicPolygon2d; -using lanelet::ConstLineString2d; using lanelet::LaneletMapPtr; -using lanelet::geometry::fromArcCoordinates; -using lanelet::geometry::toArcCoordinates; using DetectionAreaIdx = std::optional>; using BasicPolygons2d = std::vector; @@ -241,7 +237,8 @@ void calcSlowDownPointsForPossibleCollision( std::optional generateOneNotableCollisionFromOcclusionSpot( const grid_map::GridMap & grid, const std::vector & occlusion_spot_positions, const double offset_from_start_to_ego, const Point2d base_point, - const lanelet::ConstLanelet & path_lanelet, const PlannerParam & param, DebugData & debug_data); + const lanelet::ConstLanelet & path_lanelet, const PlannerParam & param, + const DebugData & debug_data); //!< @brief generate possible collisions coming from occlusion spots on the side of the path bool generatePossibleCollisionsFromGridMap( std::vector & possible_collisions, const grid_map::GridMap & grid, diff --git a/planning/behavior_velocity_out_of_lane_module/CMakeLists.txt b/planning/behavior_velocity_out_of_lane_module/CMakeLists.txt index 8ce1a334c4b35..e8191f9b632d5 100644 --- a/planning/behavior_velocity_out_of_lane_module/CMakeLists.txt +++ b/planning/behavior_velocity_out_of_lane_module/CMakeLists.txt @@ -3,7 +3,7 @@ project(behavior_velocity_out_of_lane_module) find_package(autoware_cmake REQUIRED) autoware_package() -pluginlib_export_plugin_description_file(behavior_velocity_planner plugins.xml) +pluginlib_export_plugin_description_file(autoware_behavior_velocity_planner plugins.xml) ament_auto_add_library(${PROJECT_NAME} SHARED DIRECTORY src diff --git a/planning/behavior_velocity_out_of_lane_module/config/out_of_lane.param.yaml b/planning/behavior_velocity_out_of_lane_module/config/out_of_lane.param.yaml index 1b483b95510ed..e4d08367ee4f7 100644 --- a/planning/behavior_velocity_out_of_lane_module/config/out_of_lane.param.yaml +++ b/planning/behavior_velocity_out_of_lane_module/config/out_of_lane.param.yaml @@ -3,6 +3,7 @@ out_of_lane: # module to stop or slowdown before overlapping another lane with other objects mode: ttc # mode used to consider a conflict with an object. "threshold", "intervals", or "ttc" skip_if_already_overlapping: true # do not run this module when ego already overlaps another lane + ignore_overlaps_over_lane_changeable_lanelets: true # if true, overlaps on lane changeable lanelets are ignored threshold: time_threshold: 5.0 # [s] consider objects that will reach an overlap within this time diff --git a/planning/behavior_velocity_out_of_lane_module/src/lanelets_selection.cpp b/planning/behavior_velocity_out_of_lane_module/src/lanelets_selection.cpp index 738ea22106b29..67d8a79a63f03 100644 --- a/planning/behavior_velocity_out_of_lane_module/src/lanelets_selection.cpp +++ b/planning/behavior_velocity_out_of_lane_module/src/lanelets_selection.cpp @@ -78,6 +78,15 @@ lanelet::ConstLanelets calculate_path_lanelets( return path_lanelets; } +void add_lane_changeable_lanelets( + lanelet::ConstLanelets & lanelets_to_ignore, const lanelet::ConstLanelets & path_lanelets, + const route_handler::RouteHandler & route_handler) +{ + for (const auto & path_lanelet : path_lanelets) + for (const auto & ll : route_handler.getLaneChangeableNeighbors(path_lanelet)) + if (!contains_lanelet(lanelets_to_ignore, ll.id())) lanelets_to_ignore.push_back(ll); +} + lanelet::ConstLanelets calculate_ignored_lanelets( const EgoData & ego_data, const lanelet::ConstLanelets & path_lanelets, const route_handler::RouteHandler & route_handler, const PlannerParam & params) @@ -93,6 +102,8 @@ lanelet::ConstLanelets calculate_ignored_lanelets( const auto is_path_lanelet = contains_lanelet(path_lanelets, l.second.id()); if (!is_path_lanelet) ignored_lanelets.push_back(l.second); } + if (params.ignore_overlaps_over_lane_changeable_lanelets) + add_lane_changeable_lanelets(ignored_lanelets, path_lanelets, route_handler); return ignored_lanelets; } diff --git a/planning/behavior_velocity_out_of_lane_module/src/manager.cpp b/planning/behavior_velocity_out_of_lane_module/src/manager.cpp index 8055f5c9106ef..7d764722405af 100644 --- a/planning/behavior_velocity_out_of_lane_module/src/manager.cpp +++ b/planning/behavior_velocity_out_of_lane_module/src/manager.cpp @@ -38,6 +38,8 @@ OutOfLaneModuleManager::OutOfLaneModuleManager(rclcpp::Node & node) pp.mode = getOrDeclareParameter(node, ns + ".mode"); pp.skip_if_already_overlapping = getOrDeclareParameter(node, ns + ".skip_if_already_overlapping"); + pp.ignore_overlaps_over_lane_changeable_lanelets = + getOrDeclareParameter(node, ns + ".ignore_overlaps_over_lane_changeable_lanelets"); pp.time_threshold = getOrDeclareParameter(node, ns + ".threshold.time_threshold"); pp.intervals_ego_buffer = getOrDeclareParameter(node, ns + ".intervals.ego_time_buffer"); diff --git a/planning/behavior_velocity_out_of_lane_module/src/types.hpp b/planning/behavior_velocity_out_of_lane_module/src/types.hpp index d482870e5ce18..ff690699ee638 100644 --- a/planning/behavior_velocity_out_of_lane_module/src/types.hpp +++ b/planning/behavior_velocity_out_of_lane_module/src/types.hpp @@ -39,6 +39,8 @@ struct PlannerParam std::string mode; // mode used to consider a conflict with an object bool skip_if_already_overlapping; // if true, do not run the module when ego already overlaps // another lane + bool ignore_overlaps_over_lane_changeable_lanelets; // if true, overlaps on lane changeable + // lanelets are ignored double time_threshold; // [s](mode="threshold") objects time threshold double intervals_ego_buffer; // [s](mode="intervals") buffer to extend the ego time range diff --git a/planning/behavior_velocity_planner_common/CMakeLists.txt b/planning/behavior_velocity_planner_common/CMakeLists.txt index e958df74afe2d..c8847164851e8 100644 --- a/planning/behavior_velocity_planner_common/CMakeLists.txt +++ b/planning/behavior_velocity_planner_common/CMakeLists.txt @@ -6,7 +6,6 @@ autoware_package() ament_auto_add_library(${PROJECT_NAME} SHARED src/scene_module_interface.cpp - src/velocity_factor_interface.cpp src/utilization/path_utilization.cpp src/utilization/trajectory_utils.cpp src/utilization/arc_lane_util.cpp diff --git a/planning/behavior_velocity_planner_common/include/behavior_velocity_planner_common/scene_module_interface.hpp b/planning/behavior_velocity_planner_common/include/behavior_velocity_planner_common/scene_module_interface.hpp index d8b042ec880e4..3a2b474e3d730 100644 --- a/planning/behavior_velocity_planner_common/include/behavior_velocity_planner_common/scene_module_interface.hpp +++ b/planning/behavior_velocity_planner_common/include/behavior_velocity_planner_common/scene_module_interface.hpp @@ -16,8 +16,8 @@ #define BEHAVIOR_VELOCITY_PLANNER_COMMON__SCENE_MODULE_INTERFACE_HPP_ #include -#include #include +#include #include #include #include @@ -31,6 +31,7 @@ #include #include #include +#include #include #include @@ -49,6 +50,8 @@ namespace behavior_velocity_planner using autoware_auto_planning_msgs::msg::PathWithLaneId; using builtin_interfaces::msg::Time; +using motion_utils::PlanningBehavior; +using motion_utils::VelocityFactor; using objects_of_interest_marker_interface::ColorName; using objects_of_interest_marker_interface::ObjectsOfInterestMarkerInterface; using rtc_interface::RTCInterface; @@ -58,6 +61,7 @@ using tier4_debug_msgs::msg::Float64Stamped; using tier4_planning_msgs::msg::StopFactor; using tier4_planning_msgs::msg::StopReason; using tier4_rtc_msgs::msg::Module; +using tier4_rtc_msgs::msg::State; using unique_identifier_msgs::msg::UUID; struct ObjectOfInterest @@ -126,7 +130,7 @@ class SceneModuleInterface std::shared_ptr planner_data_; std::optional infrastructure_command_; std::optional first_stop_path_point_index_; - VelocityFactorInterface velocity_factor_; + motion_utils::VelocityFactorInterface velocity_factor_; std::vector objects_of_interest_; void setSafe(const bool safe) @@ -235,14 +239,19 @@ class SceneModuleManagerInterfaceWithRTC : public SceneModuleManagerInterface virtual void setActivation(); void updateRTCStatus( - const UUID & uuid, const bool safe, const double distance, const Time & stamp) + const UUID & uuid, const bool safe, const uint8_t state, const double distance, + const Time & stamp) { - rtc_interface_.updateCooperateStatus(uuid, safe, distance, distance, stamp); + rtc_interface_.updateCooperateStatus(uuid, safe, state, distance, distance, stamp); } void removeRTCStatus(const UUID & uuid) { rtc_interface_.removeCooperateStatus(uuid); } - void publishRTCStatus(const Time & stamp) { rtc_interface_.publishCooperateStatus(stamp); } + void publishRTCStatus(const Time & stamp) + { + rtc_interface_.removeExpiredCooperateStatus(); + rtc_interface_.publishCooperateStatus(stamp); + } UUID getUUID(const int64_t & module_id) const; diff --git a/planning/behavior_velocity_planner_common/src/scene_module_interface.cpp b/planning/behavior_velocity_planner_common/src/scene_module_interface.cpp index 362493005eb17..eb43e45d55711 100644 --- a/planning/behavior_velocity_planner_common/src/scene_module_interface.cpp +++ b/planning/behavior_velocity_planner_common/src/scene_module_interface.cpp @@ -211,7 +211,8 @@ void SceneModuleManagerInterfaceWithRTC::sendRTC(const Time & stamp) { for (const auto & scene_module : scene_modules_) { const UUID uuid = getUUID(scene_module->getModuleId()); - updateRTCStatus(uuid, scene_module->isSafe(), scene_module->getDistance(), stamp); + const auto state = scene_module->isActivated() ? State::RUNNING : State::WAITING_FOR_EXECUTION; + updateRTCStatus(uuid, scene_module->isSafe(), state, scene_module->getDistance(), stamp); } publishRTCStatus(stamp); } @@ -271,7 +272,10 @@ void SceneModuleManagerInterfaceWithRTC::deleteExpiredModules( for (const auto & scene_module : copied_scene_modules) { if (isModuleExpired(scene_module)) { - removeRTCStatus(getUUID(scene_module->getModuleId())); + const UUID uuid = getUUID(scene_module->getModuleId()); + updateRTCStatus( + uuid, scene_module->isSafe(), State::SUCCEEDED, std::numeric_limits::lowest(), + clock_->now()); removeUUID(scene_module->getModuleId()); unregisterModule(scene_module); } diff --git a/planning/behavior_velocity_planner_common/src/velocity_factor_interface.cpp b/planning/behavior_velocity_planner_common/src/velocity_factor_interface.cpp deleted file mode 100644 index 7bc46846afb83..0000000000000 --- a/planning/behavior_velocity_planner_common/src/velocity_factor_interface.cpp +++ /dev/null @@ -1,34 +0,0 @@ -// Copyright 2023 TIER IV, Inc. -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. - -#include -#include - -namespace behavior_velocity_planner -{ -void VelocityFactorInterface::set( - const std::vector & points, - const Pose & curr_pose, const Pose & stop_pose, const VelocityFactorStatus status, - const std::string detail) -{ - const auto & curr_point = curr_pose.position; - const auto & stop_point = stop_pose.position; - velocity_factor_.behavior = behavior_; - velocity_factor_.pose = stop_pose; - velocity_factor_.distance = motion_utils::calcSignedArcLength(points, curr_point, stop_point); - velocity_factor_.status = status; - velocity_factor_.detail = detail; -} - -} // namespace behavior_velocity_planner diff --git a/planning/behavior_velocity_run_out_module/CMakeLists.txt b/planning/behavior_velocity_run_out_module/CMakeLists.txt index 21758c4d0198c..3ee589ba69740 100644 --- a/planning/behavior_velocity_run_out_module/CMakeLists.txt +++ b/planning/behavior_velocity_run_out_module/CMakeLists.txt @@ -3,7 +3,7 @@ project(behavior_velocity_run_out_module) find_package(autoware_cmake REQUIRED) autoware_package() -pluginlib_export_plugin_description_file(behavior_velocity_planner plugins.xml) +pluginlib_export_plugin_description_file(autoware_behavior_velocity_planner plugins.xml) ament_auto_add_library(${PROJECT_NAME} SHARED src/debug.cpp diff --git a/planning/behavior_velocity_run_out_module/src/debug.cpp b/planning/behavior_velocity_run_out_module/src/debug.cpp index 23764bc73fbff..3f6935365c1a4 100644 --- a/planning/behavior_velocity_run_out_module/src/debug.cpp +++ b/planning/behavior_velocity_run_out_module/src/debug.cpp @@ -73,6 +73,8 @@ visualization_msgs::msg::MarkerArray createPolygonMarkerArray( RunOutDebug::RunOutDebug(rclcpp::Node & node) : node_(node) { + accel_reason_ = AccelReason::UNKNOWN; + pub_debug_values_ = node.create_publisher("~/debug/run_out/debug_values", 1); pub_accel_reason_ = node.create_publisher("~/debug/run_out/accel_reason", 1); diff --git a/planning/behavior_velocity_run_out_module/src/debug.hpp b/planning/behavior_velocity_run_out_module/src/debug.hpp index e9b269ee437f0..fbf682279e363 100644 --- a/planning/behavior_velocity_run_out_module/src/debug.hpp +++ b/planning/behavior_velocity_run_out_module/src/debug.hpp @@ -86,6 +86,7 @@ class RunOutDebug NO_OBSTACLE = 1, PASS = 2, LOW_JERK = 3, + UNKNOWN = 4, }; struct TextWithPosition diff --git a/planning/behavior_velocity_speed_bump_module/CMakeLists.txt b/planning/behavior_velocity_speed_bump_module/CMakeLists.txt index a96eb3398e5c0..f5d3a7078be9c 100644 --- a/planning/behavior_velocity_speed_bump_module/CMakeLists.txt +++ b/planning/behavior_velocity_speed_bump_module/CMakeLists.txt @@ -3,7 +3,7 @@ project(behavior_velocity_speed_bump_module) find_package(autoware_cmake REQUIRED) autoware_package() -pluginlib_export_plugin_description_file(behavior_velocity_planner plugins.xml) +pluginlib_export_plugin_description_file(autoware_behavior_velocity_planner plugins.xml) ament_auto_add_library(${PROJECT_NAME} SHARED src/debug.cpp diff --git a/planning/behavior_velocity_stop_line_module/CMakeLists.txt b/planning/behavior_velocity_stop_line_module/CMakeLists.txt index 3c8cc6a4f9626..bef98aafe6f75 100644 --- a/planning/behavior_velocity_stop_line_module/CMakeLists.txt +++ b/planning/behavior_velocity_stop_line_module/CMakeLists.txt @@ -3,7 +3,7 @@ project(behavior_velocity_stop_line_module) find_package(autoware_cmake REQUIRED) autoware_package() -pluginlib_export_plugin_description_file(behavior_velocity_planner plugins.xml) +pluginlib_export_plugin_description_file(autoware_behavior_velocity_planner plugins.xml) ament_auto_add_library(${PROJECT_NAME} SHARED src/debug.cpp diff --git a/planning/behavior_velocity_template_module/CMakeLists.txt b/planning/behavior_velocity_template_module/CMakeLists.txt index e0beb42daf50d..103a3d0a4ceb3 100644 --- a/planning/behavior_velocity_template_module/CMakeLists.txt +++ b/planning/behavior_velocity_template_module/CMakeLists.txt @@ -3,7 +3,7 @@ project(behavior_velocity_template_module) find_package(autoware_cmake REQUIRED) autoware_package() -pluginlib_export_plugin_description_file(behavior_velocity_planner plugins.xml) +pluginlib_export_plugin_description_file(autoware_behavior_velocity_planner plugins.xml) ament_auto_add_library(${PROJECT_NAME} SHARED src/manager.cpp diff --git a/planning/behavior_velocity_traffic_light_module/CMakeLists.txt b/planning/behavior_velocity_traffic_light_module/CMakeLists.txt index cf9392fa0568f..5737802408996 100644 --- a/planning/behavior_velocity_traffic_light_module/CMakeLists.txt +++ b/planning/behavior_velocity_traffic_light_module/CMakeLists.txt @@ -3,7 +3,7 @@ project(behavior_velocity_traffic_light_module) find_package(autoware_cmake REQUIRED) autoware_package() -pluginlib_export_plugin_description_file(behavior_velocity_planner plugins.xml) +pluginlib_export_plugin_description_file(autoware_behavior_velocity_planner plugins.xml) ament_auto_add_library(${PROJECT_NAME} SHARED src/debug.cpp diff --git a/planning/behavior_velocity_traffic_light_module/package.xml b/planning/behavior_velocity_traffic_light_module/package.xml index 33bb471e5920c..544e14f130a7e 100644 --- a/planning/behavior_velocity_traffic_light_module/package.xml +++ b/planning/behavior_velocity_traffic_light_module/package.xml @@ -8,6 +8,7 @@ Satoshi Ota Tomoya Kimura Shumpei Wakabayashi + Mamoru Sobue Apache License 2.0 diff --git a/planning/behavior_velocity_traffic_light_module/src/manager.cpp b/planning/behavior_velocity_traffic_light_module/src/manager.cpp index 89817f3342dbd..edddef5cef4d8 100644 --- a/planning/behavior_velocity_traffic_light_module/src/manager.cpp +++ b/planning/behavior_velocity_traffic_light_module/src/manager.cpp @@ -62,7 +62,7 @@ void TrafficLightModuleManager::modifyPathVelocity( stop_reason_array.header.stamp = path->header.stamp; first_stop_path_point_index_ = static_cast(path->points.size() - 1); - first_ref_stop_path_point_index_ = static_cast(path->points.size() - 1); + nearest_ref_stop_path_point_index_ = static_cast(path->points.size() - 1); for (const auto & scene_module : scene_modules_) { tier4_planning_msgs::msg::StopReason stop_reason; std::shared_ptr traffic_light_scene_module( @@ -85,8 +85,8 @@ void TrafficLightModuleManager::modifyPathVelocity( } if ( traffic_light_scene_module->getFirstRefStopPathPointIndex() < - first_ref_stop_path_point_index_) { - first_ref_stop_path_point_index_ = + nearest_ref_stop_path_point_index_) { + nearest_ref_stop_path_point_index_ = traffic_light_scene_module->getFirstRefStopPathPointIndex(); if ( traffic_light_scene_module->getTrafficLightModuleState() != @@ -126,14 +126,14 @@ void TrafficLightModuleManager::launchNewModules( // Use lanelet_id to unregister module when the route is changed const auto lane_id = traffic_light_reg_elem.second.id(); - const auto module_id = lane_id; - if (!isModuleRegisteredFromExistingAssociatedModule(module_id)) { + if (!isModuleRegisteredFromExistingAssociatedModule(lane_id)) { registerModule(std::make_shared( - module_id, lane_id, *(traffic_light_reg_elem.first), traffic_light_reg_elem.second, - planner_param_, logger_.get_child("traffic_light_module"), clock_)); - generateUUID(module_id); + lane_id, *(traffic_light_reg_elem.first), traffic_light_reg_elem.second, planner_param_, + logger_.get_child("traffic_light_module"), clock_)); + generateUUID(lane_id); updateRTCStatus( - getUUID(module_id), true, std::numeric_limits::lowest(), path.header.stamp); + getUUID(lane_id), true, State::WAITING_FOR_EXECUTION, std::numeric_limits::lowest(), + path.header.stamp); } } } @@ -145,9 +145,10 @@ TrafficLightModuleManager::getModuleExpiredFunction( const auto lanelet_id_set = planning_utils::getLaneletIdSetOnPath( path, planner_data_->route_handler_->getLaneletMapPtr(), planner_data_->current_odometry->pose); - return [this, lanelet_id_set](const std::shared_ptr & scene_module) { + return [this, lanelet_id_set]( + [[maybe_unused]] const std::shared_ptr & scene_module) { for (const auto & id : lanelet_id_set) { - if (isModuleRegisteredFromRegElement(id, scene_module->getModuleId())) { + if (isModuleRegisteredFromExistingAssociatedModule(id)) { return false; } } @@ -155,23 +156,6 @@ TrafficLightModuleManager::getModuleExpiredFunction( }; } -bool TrafficLightModuleManager::isModuleRegisteredFromRegElement( - const lanelet::Id & id, const size_t module_id) const -{ - const auto lane = planner_data_->route_handler_->getLaneletMapPtr()->laneletLayer.get(id); - - const auto registered_lane = - planner_data_->route_handler_->getLaneletMapPtr()->laneletLayer.get(module_id); - for (const auto & registered_element : registered_lane.regulatoryElementsAs()) { - for (const auto & element : lane.regulatoryElementsAs()) { - if (hasSameTrafficLight(element, registered_element)) { - return true; - } - } - } - return false; -} - bool TrafficLightModuleManager::isModuleRegisteredFromExistingAssociatedModule( const lanelet::Id & id) const { diff --git a/planning/behavior_velocity_traffic_light_module/src/manager.hpp b/planning/behavior_velocity_traffic_light_module/src/manager.hpp index 87213d8a5ed3f..959ef2f91d36c 100644 --- a/planning/behavior_velocity_traffic_light_module/src/manager.hpp +++ b/planning/behavior_velocity_traffic_light_module/src/manager.hpp @@ -58,7 +58,7 @@ class TrafficLightModuleManager : public SceneModuleManagerInterfaceWithRTC // Debug rclcpp::Publisher::SharedPtr pub_tl_state_; - std::optional first_ref_stop_path_point_index_; + std::optional nearest_ref_stop_path_point_index_; }; class TrafficLightModulePlugin : public PluginWrapper diff --git a/planning/behavior_velocity_traffic_light_module/src/scene.cpp b/planning/behavior_velocity_traffic_light_module/src/scene.cpp index 413ce78beacee..0158251bb42b4 100644 --- a/planning/behavior_velocity_traffic_light_module/src/scene.cpp +++ b/planning/behavior_velocity_traffic_light_module/src/scene.cpp @@ -162,11 +162,10 @@ bool calcStopPointAndInsertIndex( } // namespace TrafficLightModule::TrafficLightModule( - const int64_t module_id, const int64_t lane_id, - const lanelet::TrafficLight & traffic_light_reg_elem, lanelet::ConstLanelet lane, - const PlannerParam & planner_param, const rclcpp::Logger logger, + const int64_t lane_id, const lanelet::TrafficLight & traffic_light_reg_elem, + lanelet::ConstLanelet lane, const PlannerParam & planner_param, const rclcpp::Logger logger, const rclcpp::Clock::SharedPtr clock) -: SceneModuleInterface(module_id, logger, clock), +: SceneModuleInterface(lane_id, logger, clock), lane_id_(lane_id), traffic_light_reg_elem_(traffic_light_reg_elem), lane_(lane), @@ -365,7 +364,7 @@ bool TrafficLightModule::findValidTrafficSignal(TrafficSignalStamped & valid_tra { // get traffic signal associated with the regulatory element id const auto traffic_signal_stamped_opt = planner_data_->getTrafficSignal( - traffic_light_reg_elem_.id(), true /* traffic light module keeps last observation */); + traffic_light_reg_elem_.id(), false /* traffic light module does not keep last observation */); if (!traffic_signal_stamped_opt) { RCLCPP_WARN_STREAM_ONCE( logger_, "the traffic signal data associated with regulatory element id " diff --git a/planning/behavior_velocity_traffic_light_module/src/scene.hpp b/planning/behavior_velocity_traffic_light_module/src/scene.hpp index 102ddbe2e9fa8..d6a409ca7034a 100644 --- a/planning/behavior_velocity_traffic_light_module/src/scene.hpp +++ b/planning/behavior_velocity_traffic_light_module/src/scene.hpp @@ -66,9 +66,8 @@ class TrafficLightModule : public SceneModuleInterface public: TrafficLightModule( - const int64_t module_id, const int64_t lane_id, - const lanelet::TrafficLight & traffic_light_reg_elem, lanelet::ConstLanelet lane, - const PlannerParam & planner_param, const rclcpp::Logger logger, + const int64_t lane_id, const lanelet::TrafficLight & traffic_light_reg_elem, + lanelet::ConstLanelet lane, const PlannerParam & planner_param, const rclcpp::Logger logger, const rclcpp::Clock::SharedPtr clock); bool modifyPathVelocity(PathWithLaneId * path, StopReason * stop_reason) override; diff --git a/planning/behavior_velocity_virtual_traffic_light_module/CMakeLists.txt b/planning/behavior_velocity_virtual_traffic_light_module/CMakeLists.txt index 48ffa35cbae5e..a1c00cf49db29 100644 --- a/planning/behavior_velocity_virtual_traffic_light_module/CMakeLists.txt +++ b/planning/behavior_velocity_virtual_traffic_light_module/CMakeLists.txt @@ -3,7 +3,7 @@ project(behavior_velocity_virtual_traffic_light_module) find_package(autoware_cmake REQUIRED) autoware_package() -pluginlib_export_plugin_description_file(behavior_velocity_planner plugins.xml) +pluginlib_export_plugin_description_file(autoware_behavior_velocity_planner plugins.xml) ament_auto_add_library(${PROJECT_NAME} SHARED src/debug.cpp diff --git a/planning/behavior_velocity_walkway_module/CMakeLists.txt b/planning/behavior_velocity_walkway_module/CMakeLists.txt index cd41dec991bc6..351a240743402 100644 --- a/planning/behavior_velocity_walkway_module/CMakeLists.txt +++ b/planning/behavior_velocity_walkway_module/CMakeLists.txt @@ -3,7 +3,7 @@ project(behavior_velocity_walkway_module) find_package(autoware_cmake REQUIRED) autoware_package() -pluginlib_export_plugin_description_file(behavior_velocity_planner plugins.xml) +pluginlib_export_plugin_description_file(autoware_behavior_velocity_planner plugins.xml) ament_auto_add_library(${PROJECT_NAME} SHARED src/debug.cpp diff --git a/planning/freespace_planner/include/freespace_planner/freespace_planner_node.hpp b/planning/freespace_planner/include/freespace_planner/freespace_planner_node.hpp index 9c13f14d180d0..2c10b1b491ace 100644 --- a/planning/freespace_planner/include/freespace_planner/freespace_planner_node.hpp +++ b/planning/freespace_planner/include/freespace_planner/freespace_planner_node.hpp @@ -133,6 +133,8 @@ class FreespacePlannerNode : public rclcpp::Node size_t prev_target_index_; size_t target_index_; bool is_completed_ = false; + bool reset_in_progress_ = false; + bool is_new_parking_cycle_ = true; LaneletRoute::ConstSharedPtr route_; OccupancyGrid::ConstSharedPtr occupancy_grid_; diff --git a/planning/freespace_planner/package.xml b/planning/freespace_planner/package.xml index 22557f8a0bbb3..8ebb22fdb5c2f 100644 --- a/planning/freespace_planner/package.xml +++ b/planning/freespace_planner/package.xml @@ -16,11 +16,11 @@ autoware_cmake autoware_auto_planning_msgs + autoware_planning_test_manager freespace_planning_algorithms geometry_msgs motion_utils nav_msgs - planning_test_utils rclcpp rclcpp_components route_handler diff --git a/planning/freespace_planner/src/freespace_planner/freespace_planner_node.cpp b/planning/freespace_planner/src/freespace_planner/freespace_planner_node.cpp index bd8045e653a16..1c2b4513e9c45 100644 --- a/planning/freespace_planner/src/freespace_planner/freespace_planner_node.cpp +++ b/planning/freespace_planner/src/freespace_planner/freespace_planner_node.cpp @@ -321,6 +321,8 @@ void FreespacePlannerNode::onRoute(const LaneletRoute::ConstSharedPtr msg) goal_pose_.header = msg->header; goal_pose_.pose = msg->goal_pose; + is_new_parking_cycle_ = true; + reset(); } @@ -444,23 +446,42 @@ void FreespacePlannerNode::onTimer() return; } - if (isPlanRequired()) { - // Stop before planning new trajectory - const auto stop_trajectory = partial_trajectory_.points.empty() - ? createStopTrajectory(current_pose_) - : createStopTrajectory(partial_trajectory_); - trajectory_pub_->publish(stop_trajectory); - debug_pose_array_pub_->publish(trajectory2PoseArray(stop_trajectory)); - debug_partial_pose_array_pub_->publish(trajectory2PoseArray(stop_trajectory)); + // Must stop before replanning any new trajectory + const bool is_reset_required = !reset_in_progress_ && isPlanRequired(); + if (is_reset_required) { + // Stop before planning new trajectory, except in a new parking cycle as the vehicle already + // stops. + if (!is_new_parking_cycle_) { + const auto stop_trajectory = partial_trajectory_.points.empty() + ? createStopTrajectory(current_pose_) + : createStopTrajectory(partial_trajectory_); + trajectory_pub_->publish(stop_trajectory); + debug_pose_array_pub_->publish(trajectory2PoseArray(stop_trajectory)); + debug_partial_pose_array_pub_->publish(trajectory2PoseArray(stop_trajectory)); + } reset(); - // Plan new trajectory - planTrajectory(); + reset_in_progress_ = true; + } + + if (reset_in_progress_) { + const auto is_stopped = isStopped(odom_buffer_, node_param_.th_stopped_velocity_mps); + if (is_stopped) { + // Plan new trajectory + planTrajectory(); + reset_in_progress_ = false; + } else { + // Will keep current stop trajectory + RCLCPP_WARN_THROTTLE( + get_logger(), *get_clock(), 1000, + "Waiting for the vehicle to stop before generating a new trajectory."); + } } // StopTrajectory if (trajectory_.points.size() <= 1) { + is_new_parking_cycle_ = false; return; } @@ -472,6 +493,8 @@ void FreespacePlannerNode::onTimer() trajectory_pub_->publish(partial_trajectory_); debug_pose_array_pub_->publish(trajectory2PoseArray(trajectory_)); debug_partial_pose_array_pub_->publish(trajectory2PoseArray(partial_trajectory_)); + + is_new_parking_cycle_ = false; } void FreespacePlannerNode::planTrajectory() diff --git a/planning/freespace_planner/test/test_freespace_planner_node_interface.cpp b/planning/freespace_planner/test/test_freespace_planner_node_interface.cpp index 013eb3c33cbad..881ce269a7895 100644 --- a/planning/freespace_planner/test/test_freespace_planner_node_interface.cpp +++ b/planning/freespace_planner/test/test_freespace_planner_node_interface.cpp @@ -15,8 +15,8 @@ #include "freespace_planner/freespace_planner_node.hpp" #include -#include -#include +#include +#include #include diff --git a/planning/freespace_planning_algorithms/package.xml b/planning/freespace_planning_algorithms/package.xml index 2fb3e066f0bdd..9b19d8a81bb51 100644 --- a/planning/freespace_planning_algorithms/package.xml +++ b/planning/freespace_planning_algorithms/package.xml @@ -19,6 +19,7 @@ geometry_msgs nav_msgs nlohmann-json-dev + pybind11_vendor rosbag2_cpp std_msgs tf2 diff --git a/planning/mission_planner/src/lanelet2_plugins/default_planner.cpp b/planning/mission_planner/src/lanelet2_plugins/default_planner.cpp index 4bc0f21dd947b..d4f12316052d9 100644 --- a/planning/mission_planner/src/lanelet2_plugins/default_planner.cpp +++ b/planning/mission_planner/src/lanelet2_plugins/default_planner.cpp @@ -1,4 +1,4 @@ -// Copyright 2019 Autoware Foundation +// Copyright 2019-2024 Autoware Foundation // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. @@ -98,7 +98,7 @@ bool is_in_parking_lot( } double project_goal_to_map( - const lanelet::Lanelet & lanelet_component, const lanelet::ConstPoint3d & goal_point) + const lanelet::ConstLanelet & lanelet_component, const lanelet::ConstPoint3d & goal_point) { const lanelet::ConstLineString3d center_line = lanelet::utils::generateFineCenterline(lanelet_component); @@ -182,12 +182,6 @@ bool DefaultPlanner::ready() const void DefaultPlanner::map_callback(const HADMapBin::ConstSharedPtr msg) { route_handler_.setMap(*msg); - lanelet_map_ptr_ = std::make_shared(); - lanelet::utils::conversion::fromBinMsg( - *msg, lanelet_map_ptr_, &traffic_rules_ptr_, &routing_graph_ptr_); - lanelet::ConstLanelets all_lanelets = lanelet::utils::query::laneletLayer(lanelet_map_ptr_); - road_lanelets_ = lanelet::utils::query::roadLanelets(all_lanelets); - shoulder_lanelets_ = lanelet::utils::query::shoulderLanelets(all_lanelets); is_graph_ready_ = true; } @@ -199,7 +193,7 @@ PlannerPlugin::MarkerArray DefaultPlanner::visualize(const LaneletRoute & route) for (const auto & route_section : route.segments) { for (const auto & lane_id : route_section.primitives) { - auto lanelet = lanelet_map_ptr_->laneletLayer.get(lane_id.id); + auto lanelet = route_handler_.getLaneletsFromId(lane_id.id); route_lanelets.push_back(lanelet); if (route_section.preferred_primitive.id == lane_id.id) { goal_lanelets.push_back(lanelet); @@ -274,15 +268,15 @@ bool DefaultPlanner::check_goal_footprint_inside_lanes( if (boost::geometry::within(goal_footprint, combined_prev_lanelet.polygon2d().basicPolygon())) { return true; } - + const auto following = route_handler_.getNextLanelets(current_lanelet); // check if goal footprint is in between many lanelets in depth-first search manner - for (const auto & next_lane : routing_graph_ptr_->following(current_lanelet)) { + for (const auto & next_lane : following) { next_lane_length += lanelet::utils::getLaneletLength2d(next_lane); lanelet::ConstLanelets lanelets; lanelets.push_back(combined_prev_lanelet); lanelets.push_back(next_lane); lanelet::ConstLanelet combined_lanelets = - combine_lanelets_with_shoulder(lanelets, shoulder_lanelets_); + combine_lanelets_with_shoulder(lanelets, route_handler_); // if next lanelet length is longer than vehicle longitudinal offset if (vehicle_info_.max_longitudinal_offset_m + search_margin < next_lane_length) { @@ -317,23 +311,38 @@ bool DefaultPlanner::is_goal_valid( // check if goal is in shoulder lanelet lanelet::Lanelet closest_shoulder_lanelet; + const auto shoulder_lanelets = route_handler_.getShoulderLaneletsAtPose(goal); if (lanelet::utils::query::getClosestLanelet( - shoulder_lanelets_, goal, &closest_shoulder_lanelet)) { - if (is_in_lane(closest_shoulder_lanelet, goal_lanelet_pt)) { - const auto lane_yaw = - lanelet::utils::getLaneletAngle(closest_shoulder_lanelet, goal.position); - const auto goal_yaw = tf2::getYaw(goal.orientation); - const auto angle_diff = tier4_autoware_utils::normalizeRadian(lane_yaw - goal_yaw); - const double th_angle = tier4_autoware_utils::deg2rad(param_.goal_angle_threshold_deg); - if (std::abs(angle_diff) < th_angle) { - return true; - } + shoulder_lanelets, goal, &closest_shoulder_lanelet)) { + const auto lane_yaw = lanelet::utils::getLaneletAngle(closest_shoulder_lanelet, goal.position); + const auto goal_yaw = tf2::getYaw(goal.orientation); + const auto angle_diff = tier4_autoware_utils::normalizeRadian(lane_yaw - goal_yaw); + const double th_angle = tier4_autoware_utils::deg2rad(param_.goal_angle_threshold_deg); + if (std::abs(angle_diff) < th_angle) { + return true; } } - - lanelet::Lanelet closest_lanelet; - if (!lanelet::utils::query::getClosestLanelet(road_lanelets_, goal, &closest_lanelet)) { - return false; + lanelet::ConstLanelet closest_lanelet; + const auto road_lanelets_at_goal = route_handler_.getRoadLaneletsAtPose(goal); + if (!lanelet::utils::query::getClosestLanelet(road_lanelets_at_goal, goal, &closest_lanelet)) { + // if no road lanelets directly at the goal, find the closest one + const lanelet::BasicPoint2d goal_point{goal.position.x, goal.position.y}; + auto closest_dist = std::numeric_limits::max(); + const auto closest_road_lanelet_found = + route_handler_.getLaneletMapPtr()->laneletLayer.nearestUntil( + goal_point, [&](const auto & bbox, const auto & ll) { + // this search is done by increasing distance between the bounding box and the goal + // we stop the search when the bounding box is further than the closest dist found + if (lanelet::geometry::distance2d(bbox, goal_point) > closest_dist) + return true; // stop the search + const auto dist = lanelet::geometry::distance2d(goal_point, ll.polygon2d()); + if (route_handler_.isRoadLanelet(ll) && dist < closest_dist) { + closest_dist = dist; + closest_lanelet = ll; + } + return false; // continue the search + }); + if (!closest_road_lanelet_found) return false; } const auto local_vehicle_footprint = vehicle_info_.createFootprint(); @@ -345,7 +354,7 @@ bool DefaultPlanner::is_goal_valid( double next_lane_length = 0.0; // combine calculated route lanelets const lanelet::ConstLanelet combined_prev_lanelet = - combine_lanelets_with_shoulder(path_lanelets, shoulder_lanelets_); + combine_lanelets_with_shoulder(path_lanelets, route_handler_); // check if goal footprint exceeds lane when the goal isn't in parking_lot if ( @@ -353,7 +362,7 @@ bool DefaultPlanner::is_goal_valid( !check_goal_footprint_inside_lanes( closest_lanelet, combined_prev_lanelet, polygon_footprint, next_lane_length) && !is_in_parking_lot( - lanelet::utils::query::getAllParkingLots(lanelet_map_ptr_), + lanelet::utils::query::getAllParkingLots(route_handler_.getLaneletMapPtr()), lanelet::utils::conversion::toLaneletPoint(goal.position))) { RCLCPP_WARN(logger, "Goal's footprint exceeds lane!"); return false; @@ -371,13 +380,15 @@ bool DefaultPlanner::is_goal_valid( } // check if goal is in parking space - const auto parking_spaces = lanelet::utils::query::getAllParkingSpaces(lanelet_map_ptr_); + const auto parking_spaces = + lanelet::utils::query::getAllParkingSpaces(route_handler_.getLaneletMapPtr()); if (is_in_parking_space(parking_spaces, goal_lanelet_pt)) { return true; } // check if goal is in parking lot - const auto parking_lots = lanelet::utils::query::getAllParkingLots(lanelet_map_ptr_); + const auto parking_lots = + lanelet::utils::query::getAllParkingLots(route_handler_.getLaneletMapPtr()); if (is_in_parking_lot(parking_lots, goal_lanelet_pt)) { return true; } @@ -424,7 +435,8 @@ PlannerPlugin::LaneletRoute DefaultPlanner::plan(const RoutePoints & points) auto goal_pose = points.back(); if (param_.enable_correct_goal_pose) { goal_pose = get_closest_centerline_pose( - lanelet::utils::query::laneletLayer(lanelet_map_ptr_), goal_pose, vehicle_info_); + lanelet::utils::query::laneletLayer(route_handler_.getLaneletMapPtr()), goal_pose, + vehicle_info_); } if (!is_goal_valid(goal_pose, all_route_lanelets)) { @@ -451,7 +463,7 @@ geometry_msgs::msg::Pose DefaultPlanner::refine_goal_height( const Pose & goal, const RouteSections & route_sections) { const auto goal_lane_id = route_sections.back().preferred_primitive.id; - lanelet::Lanelet goal_lanelet = lanelet_map_ptr_->laneletLayer.get(goal_lane_id); + const auto goal_lanelet = route_handler_.getLaneletsFromId(goal_lane_id); const auto goal_lanelet_pt = lanelet::utils::conversion::toLaneletPoint(goal.position); const auto goal_height = project_goal_to_map(goal_lanelet, goal_lanelet_pt); diff --git a/planning/mission_planner/src/lanelet2_plugins/default_planner.hpp b/planning/mission_planner/src/lanelet2_plugins/default_planner.hpp index 9f1a9d206e376..8c0fbf3b33955 100644 --- a/planning/mission_planner/src/lanelet2_plugins/default_planner.hpp +++ b/planning/mission_planner/src/lanelet2_plugins/default_planner.hpp @@ -48,6 +48,8 @@ class DefaultPlanner : public mission_planner::PlannerPlugin void initialize(rclcpp::Node * node, const HADMapBin::ConstSharedPtr msg) override; bool ready() const override; LaneletRoute plan(const RoutePoints & points) override; + void updateRoute(const PlannerPlugin::LaneletRoute & route) override; + void clearRoute() override; MarkerArray visualize(const LaneletRoute & route) const override; MarkerArray visualize_debug_footprint(tier4_autoware_utils::LinearRing2d goal_footprint_) const; vehicle_info_util::VehicleInfo vehicle_info_; @@ -56,11 +58,6 @@ class DefaultPlanner : public mission_planner::PlannerPlugin using RouteSections = std::vector; using Pose = geometry_msgs::msg::Pose; bool is_graph_ready_; - lanelet::LaneletMapPtr lanelet_map_ptr_; - lanelet::routing::RoutingGraphPtr routing_graph_ptr_; - lanelet::traffic_rules::TrafficRulesPtr traffic_rules_ptr_; - lanelet::ConstLanelets road_lanelets_; - lanelet::ConstLanelets shoulder_lanelets_; route_handler::RouteHandler route_handler_; DefaultPlannerParameters param_; @@ -102,9 +99,6 @@ class DefaultPlanner : public mission_planner::PlannerPlugin * route_sections) and return the z-aligned goal position */ Pose refine_goal_height(const Pose & goal, const RouteSections & route_sections); - - void updateRoute(const PlannerPlugin::LaneletRoute & route); - void clearRoute(); }; } // namespace mission_planner::lanelet2 diff --git a/planning/mission_planner/src/lanelet2_plugins/utility_functions.cpp b/planning/mission_planner/src/lanelet2_plugins/utility_functions.cpp index 4ef4bd6f20ed0..e7797946aa619 100644 --- a/planning/mission_planner/src/lanelet2_plugins/utility_functions.cpp +++ b/planning/mission_planner/src/lanelet2_plugins/utility_functions.cpp @@ -1,4 +1,4 @@ -// Copyright 2019 Autoware Foundation +// Copyright 2019-2024 Autoware Foundation // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. @@ -42,7 +42,7 @@ void insert_marker_array( } lanelet::ConstLanelet combine_lanelets_with_shoulder( - const lanelet::ConstLanelets & lanelets, const lanelet::ConstLanelets & shoulder_lanelets) + const lanelet::ConstLanelets & lanelets, const route_handler::RouteHandler & route_handler) { lanelet::Points3d lefts; lanelet::Points3d rights; @@ -57,30 +57,18 @@ lanelet::ConstLanelet combine_lanelets_with_shoulder( } } + // lambda to add bound to target_bound + const auto add_bound = [](const auto & bound, auto & target_bound) { + std::transform( + bound.begin(), bound.end(), std::back_inserter(target_bound), + [](const auto & pt) { return lanelet::Point3d(pt); }); + }; for (const auto & llt : lanelets) { - // lambda to check if shoulder lane which share left bound with lanelets exist - const auto find_bound_shared_shoulder = - [&shoulder_lanelets](const auto & lanelet_bound, const auto & get_shoulder_bound) { - return std::find_if( - shoulder_lanelets.begin(), shoulder_lanelets.end(), - [&lanelet_bound, &get_shoulder_bound](const auto & shoulder_llt) { - return lanelet_bound.id() == get_shoulder_bound(shoulder_llt).id(); - }); - }; - - // lambda to add bound to target_bound - const auto add_bound = [](const auto & bound, auto & target_bound) { - std::transform( - bound.begin(), bound.end(), std::back_inserter(target_bound), - [](const auto & pt) { return lanelet::Point3d(pt); }); - }; - // check if shoulder lanelets which has RIGHT bound same to LEFT bound of lanelet exist - const auto left_shared_shoulder_it = find_bound_shared_shoulder( - llt.leftBound(), [](const auto & shoulder_llt) { return shoulder_llt.rightBound(); }); - if (left_shared_shoulder_it != shoulder_lanelets.end()) { + const auto left_shared_shoulder = route_handler.getLeftShoulderLanelet(llt); + if (left_shared_shoulder) { // if exist, add left bound of SHOULDER lanelet to lefts - add_bound(left_shared_shoulder_it->leftBound(), lefts); + add_bound(left_shared_shoulder->leftBound(), lefts); } else if ( // if not exist, add left bound of lanelet to lefts // if the **left** of this lanelet does not match any of the **right** bounds of `lanelets`, @@ -90,11 +78,10 @@ lanelet::ConstLanelet combine_lanelets_with_shoulder( } // check if shoulder lanelets which has LEFT bound same to RIGHT bound of lanelet exist - const auto right_shared_shoulder_it = find_bound_shared_shoulder( - llt.rightBound(), [](const auto & shoulder_llt) { return shoulder_llt.leftBound(); }); - if (right_shared_shoulder_it != shoulder_lanelets.end()) { + const auto right_shared_shoulder = route_handler.getRightShoulderLanelet(llt); + if (right_shared_shoulder) { // if exist, add right bound of SHOULDER lanelet to rights - add_bound(right_shared_shoulder_it->rightBound(), rights); + add_bound(right_shared_shoulder->rightBound(), rights); } else if ( // if not exist, add right bound of lanelet to rights // if the **right** of this lanelet does not match any of the **left** bounds of `lanelets`, diff --git a/planning/mission_planner/src/lanelet2_plugins/utility_functions.hpp b/planning/mission_planner/src/lanelet2_plugins/utility_functions.hpp index 3eb38638e17b7..428cd979a2526 100644 --- a/planning/mission_planner/src/lanelet2_plugins/utility_functions.hpp +++ b/planning/mission_planner/src/lanelet2_plugins/utility_functions.hpp @@ -1,4 +1,4 @@ -// Copyright 2019 Autoware Foundation +// Copyright 2019-2024 Autoware Foundation // // Licensed under the Apache License, Version 2.0 (the "License"); // you may not use this file except in compliance with the License. @@ -16,6 +16,7 @@ #define LANELET2_PLUGINS__UTILITY_FUNCTIONS_HPP_ #include +#include #include #include @@ -50,10 +51,10 @@ void insert_marker_array( * @brief create a single merged lanelet whose left/right bounds consist of the leftmost/rightmost * bound of the original lanelets or the left/right bound of its adjacent road_shoulder respectively * @param lanelets topologically sorted sequence of lanelets - * @param shoulder_lanelets list of possible road_shoulder lanelets to combine with lanelets + * @param route_handler route handler to query the lanelet map */ lanelet::ConstLanelet combine_lanelets_with_shoulder( - const lanelet::ConstLanelets & lanelets, const lanelet::ConstLanelets & shoulder_lanelets); + const lanelet::ConstLanelets & lanelets, const route_handler::RouteHandler & route_handler); std::vector convertCenterlineToPoints(const lanelet::Lanelet & lanelet); geometry_msgs::msg::Pose convertBasicPoint3dToPose( diff --git a/planning/mission_planner/src/mission_planner/mission_planner.cpp b/planning/mission_planner/src/mission_planner/mission_planner.cpp index e9a0108cdaa24..af363bcf23da7 100644 --- a/planning/mission_planner/src/mission_planner/mission_planner.cpp +++ b/planning/mission_planner/src/mission_planner/mission_planner.cpp @@ -87,6 +87,17 @@ MissionPlanner::MissionPlanner(const rclcpp::NodeOptions & options) logger_configure_ = std::make_unique(this); } +void MissionPlanner::publish_pose_log(const Pose & pose, const std::string & pose_type) +{ + const auto & p = pose.position; + RCLCPP_INFO( + this->get_logger(), "%s pose - x: %f, y: %f, z: %f", pose_type.c_str(), p.x, p.y, p.z); + const auto & quaternion = pose.orientation; + RCLCPP_INFO( + this->get_logger(), "%s orientation - qx: %f, qy: %f, qz: %f, qw: %f", pose_type.c_str(), + quaternion.x, quaternion.y, quaternion.z, quaternion.w); +} + void MissionPlanner::check_initialization() { auto logger = get_logger(); @@ -239,7 +250,7 @@ void MissionPlanner::on_set_lanelet_route( if (is_reroute && !check_reroute_safety(*current_route_, route)) { cancel_route(); - change_state(is_reroute ? RouteState::SET : RouteState::UNSET); + change_state(RouteState::SET); throw service_utils::ServiceException( ResponseCode::ERROR_REROUTE_FAILED, "New route is not safe. Reroute failed."); } @@ -247,6 +258,9 @@ void MissionPlanner::on_set_lanelet_route( change_route(route); change_state(RouteState::SET); res->status.success = true; + + publish_pose_log(odometry_->pose.pose, "initial"); + publish_pose_log(req->goal_pose, "goal"); } void MissionPlanner::on_set_waypoint_route( @@ -284,7 +298,7 @@ void MissionPlanner::on_set_waypoint_route( if (is_reroute && !check_reroute_safety(*current_route_, route)) { cancel_route(); - change_state(is_reroute ? RouteState::SET : RouteState::UNSET); + change_state(RouteState::SET); throw service_utils::ServiceException( ResponseCode::ERROR_REROUTE_FAILED, "New route is not safe. Reroute failed."); } @@ -292,6 +306,9 @@ void MissionPlanner::on_set_waypoint_route( change_route(route); change_state(RouteState::SET); res->status.success = true; + + publish_pose_log(odometry_->pose.pose, "initial"); + publish_pose_log(req->goal_pose, "goal"); } void MissionPlanner::change_route() diff --git a/planning/mission_planner/src/mission_planner/mission_planner.hpp b/planning/mission_planner/src/mission_planner/mission_planner.hpp index 8016851d5a7d3..6752ceb4eaa8b 100644 --- a/planning/mission_planner/src/mission_planner/mission_planner.hpp +++ b/planning/mission_planner/src/mission_planner/mission_planner.hpp @@ -122,6 +122,8 @@ class MissionPlanner : public rclcpp::Node const Header & header, const std::vector & waypoints, const Pose & goal_pose, const UUID & uuid, const bool allow_goal_modification); + void publish_pose_log(const Pose & pose, const std::string & pose_type); + rclcpp::TimerBase::SharedPtr data_check_timer_; void check_initialization(); diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/CMakeLists.txt b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/CMakeLists.txt new file mode 100644 index 0000000000000..b96ca3017a031 --- /dev/null +++ b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/CMakeLists.txt @@ -0,0 +1,23 @@ +cmake_minimum_required(VERSION 3.14) +project(autoware_motion_velocity_out_of_lane_module) + +find_package(autoware_cmake REQUIRED) +autoware_package() +pluginlib_export_plugin_description_file(autoware_motion_velocity_planner_node plugins.xml) + +ament_auto_add_library(${PROJECT_NAME} SHARED + DIRECTORY src +) + +if(BUILD_TESTING) + find_package(ament_lint_auto REQUIRED) + ament_lint_auto_find_test_dependencies() + ament_add_ros_isolated_gtest(test_${PROJECT_NAME} + test/test_filter_predicted_objects.cpp + ) + target_link_libraries(test_${PROJECT_NAME} + ${PROJECT_NAME} + ) +endif() + +ament_auto_package(INSTALL_TO_SHARE config) diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/README.md b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/README.md new file mode 100644 index 0000000000000..99396eb0edf22 --- /dev/null +++ b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/README.md @@ -0,0 +1,165 @@ +## Out of Lane + +### Role + +`out_of_lane` is the module that decelerates and stops to prevent the ego vehicle from entering another lane with incoming dynamic objects. + +### Activation Timing + +This module is activated if `launch_out_of_lane` is set to true. + +### Inner-workings / Algorithms + +The algorithm is made of the following steps. + +1. Calculate the ego path footprints (red). +2. Calculate the other lanes (magenta). +3. Calculate the overlapping ranges between the ego path footprints and the other lanes (green). +4. For each overlapping range, decide if a stop or slow down action must be taken. +5. For each action, insert the corresponding stop or slow down point in the path. + +![overview](./docs/out_of_lane-footprints_other_lanes_overlaps_ranges.png) + +#### 1. Ego Path Footprints + +In this first step, the ego footprint is projected at each path point and are eventually inflated based on the `extra_..._offset` parameters. + +#### 2. Other lanes + +In the second step, the set of lanes to consider for overlaps is generated. +This set is built by selecting all lanelets within some distance from the ego vehicle, and then removing non-relevant lanelets. +The selection distance is chosen as the maximum between the `slowdown.distance_threshold` and the `stop.distance_threshold`. + +A lanelet is deemed non-relevant if it meets one of the following conditions. + +- It is part of the lanelets followed by the ego path. +- It contains the rear point of the ego footprint. +- It follows one of the ego path lanelets. + +#### 3. Overlapping ranges + +In the third step, overlaps between the ego path footprints and the other lanes are calculated. +For each pair of other lane $l$ and ego path footprint $f$, we calculate the overlapping polygons using `boost::geometry::intersection`. +For each overlapping polygon found, if the distance inside the other lane $l$ is above the `overlap.minimum_distance` threshold, then the overlap is ignored. +Otherwise, the arc length range (relative to the ego path) and corresponding points of the overlapping polygons are stored. +Ultimately, for each other lane $l$, overlapping ranges of successive overlaps are built with the following information: + +- overlapped other lane $l$. +- start and end ego path indexes. +- start and end ego path arc lengths. +- start and end overlap points. + +#### 4. Decisions + +In the fourth step, a decision to either slow down or stop before each overlapping range is taken based on the dynamic objects. +The conditions for the decision depend on the value of the `mode` parameter. + +Whether it is decided to slow down or stop is determined by the distance between the ego vehicle and the start of the overlapping range (in arc length along the ego path). +If this distance is bellow the `actions.slowdown.threshold`, a velocity of `actions.slowdown.velocity` will be used. +If the distance is bellow the `actions.stop.threshold`, a velocity of `0`m/s will be used. + + + + + + +
+ + + +
+ +##### Threshold + +With the `mode` set to `"threshold"`, +a decision to stop or slow down before a range is made if +an incoming dynamic object is estimated to reach the overlap within `threshold.time_threshold`. + +##### TTC (time to collision) + +With the `mode` set to `"ttc"`, +estimates for the times when ego and the dynamic objects reach the start and end of the overlapping range are calculated. +This is then used to calculate the time to collision over the period where ego crosses the overlap. +If the time to collision is predicted to go bellow the `ttc.threshold`, the decision to stop or slow down is made. + +##### Intervals + +With the `mode` set to `"intervals"`, +the estimated times when ego and the dynamic objects reach the start and end points of +the overlapping range are used to create time intervals. +These intervals can be made shorter or longer using the +`intervals.ego_time_buffer` and `intervals.objects_time_buffer` parameters. +If the time interval of ego overlaps with the time interval of an object, the decision to stop or slow down is made. + +##### Time estimates + +###### Ego + +To estimate the times when ego will reach an overlap, it is assumed that ego travels along its path +at its current velocity or at half the velocity of the path points, whichever is higher. + +###### Dynamic objects + +Two methods are used to estimate the time when a dynamic objects with reach some point. +If `objects.use_predicted_paths` is set to `true`, the predicted paths of the dynamic object are used if their confidence value is higher than the value set by the `objects.predicted_path_min_confidence` parameter. +Otherwise, the lanelet map is used to estimate the distance between the object and the point and the time is calculated assuming the object keeps its current velocity. + +#### 5. Path update + +Finally, for each decision to stop or slow down before an overlapping range, +a point is inserted in the path. +For a decision taken for an overlapping range with a lane $l$ starting at ego path point index $i$, +a point is inserted in the path between index $i$ and $i-1$ such that the ego footprint projected at the inserted point does not overlap $l$. +Such point with no overlap must exist since, by definition of the overlapping range, +we know that there is no overlap at $i-1$. + +If the point would cause a higher deceleration than allowed by the `max_accel` parameter (node parameter), +it is skipped. + +Moreover, parameter `action.distance_buffer` adds an extra distance between the ego footprint and the overlap when possible. + +### Module Parameters + +| Parameter | Type | Description | +| ----------------------------- | ------ | --------------------------------------------------------------------------------- | +| `mode` | string | [-] mode used to consider a dynamic object. Candidates: threshold, intervals, ttc | +| `skip_if_already_overlapping` | bool | [-] if true, do not run this module when ego already overlaps another lane | + +| Parameter /threshold | Type | Description | +| -------------------- | ------ | ---------------------------------------------------------------- | +| `time_threshold` | double | [s] consider objects that will reach an overlap within this time | + +| Parameter /intervals | Type | Description | +| --------------------- | ------ | ------------------------------------------------------- | +| `ego_time_buffer` | double | [s] extend the ego time interval by this buffer | +| `objects_time_buffer` | double | [s] extend the time intervals of objects by this buffer | + +| Parameter /ttc | Type | Description | +| -------------- | ------ | ------------------------------------------------------------------------------------------------------ | +| `threshold` | double | [s] consider objects with an estimated time to collision bellow this value while ego is on the overlap | + +| Parameter /objects | Type | Description | +| ------------------------------- | ------ | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| `minimum_velocity` | double | [m/s] ignore objects with a velocity lower than this value | +| `predicted_path_min_confidence` | double | [-] minimum confidence required for a predicted path to be considered | +| `use_predicted_paths` | bool | [-] if true, use the predicted paths to estimate future positions; if false, assume the object moves at constant velocity along _all_ lanelets it currently is located in | + +| Parameter /overlap | Type | Description | +| ------------------ | ------ | ---------------------------------------------------------------------------------------------------- | +| `minimum_distance` | double | [m] minimum distance inside a lanelet for an overlap to be considered | +| `extra_length` | double | [m] extra arc length to add to the front and back of an overlap (used to calculate enter/exit times) | + +| Parameter /action | Type | Description | +| ----------------------------- | ------ | ---------------------------------------------------------------------------------------------- | +| `skip_if_over_max_decel` | bool | [-] if true, do not take an action that would cause more deceleration than the maximum allowed | +| `distance_buffer` | double | [m] buffer distance to try to keep between the ego footprint and lane | +| `slowdown.distance_threshold` | double | [m] insert a slow down when closer than this distance from an overlap | +| `slowdown.velocity` | double | [m] slow down velocity | +| `stop.distance_threshold` | double | [m] insert a stop when closer than this distance from an overlap | + +| Parameter /ego | Type | Description | +| -------------------- | ------ | ---------------------------------------------------- | +| `extra_front_offset` | double | [m] extra front distance to add to the ego footprint | +| `extra_rear_offset` | double | [m] extra rear distance to add to the ego footprint | +| `extra_left_offset` | double | [m] extra left distance to add to the ego footprint | +| `extra_right_offset` | double | [m] extra right distance to add to the ego footprint | diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/config/out_of_lane.param.yaml b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/config/out_of_lane.param.yaml new file mode 100644 index 0000000000000..e57b5a45d8be6 --- /dev/null +++ b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/config/out_of_lane.param.yaml @@ -0,0 +1,43 @@ +/**: + ros__parameters: + out_of_lane: # module to stop or slowdown before overlapping another lane with other objects + mode: ttc # mode used to consider a conflict with an object. "threshold", "intervals", or "ttc" + skip_if_already_overlapping: true # do not run this module when ego already overlaps another lane + + threshold: + time_threshold: 5.0 # [s] consider objects that will reach an overlap within this time + intervals: # consider objects if their estimated time interval spent on the overlap intersect the estimated time interval of ego + ego_time_buffer: 0.5 # [s] extend the ego time interval by this buffer + objects_time_buffer: 0.5 # [s] extend the time intervals of objects by this buffer + ttc: + threshold: 3.0 # [s] consider objects with an estimated time to collision bellow this value while on the overlap + + objects: + minimum_velocity: 0.5 # [m/s] objects lower than this velocity will be ignored + use_predicted_paths: true # if true, use the predicted paths to estimate future positions. + # if false, assume the object moves at constant velocity along *all* lanelets it currently is located in. + predicted_path_min_confidence : 0.1 # when using predicted paths, ignore the ones whose confidence is lower than this value. + distance_buffer: 1.0 # [m] distance buffer used to determine if a collision will occur in the other lane + cut_predicted_paths_beyond_red_lights: true # if true, predicted paths are cut beyond the stop line of red traffic lights + + overlap: + minimum_distance: 0.0 # [m] minimum distance inside a lanelet for an overlap to be considered + extra_length: 0.0 # [m] extra arc length to add to the front and back of an overlap (used to calculate enter/exit times) + + action: # action to insert in the trajectory if an object causes a conflict at an overlap + skip_if_over_max_decel: true # if true, do not take an action that would cause more deceleration than the maximum allowed + precision: 0.1 # [m] precision when inserting a stop pose in the trajectory + distance_buffer: 1.5 # [m] buffer distance to try to keep between the ego footprint and lane + min_duration: 1.0 # [s] minimum duration needed before a decision can be canceled + slowdown: + distance_threshold: 30.0 # [m] insert a slowdown when closer than this distance from an overlap + velocity: 2.0 # [m/s] slowdown velocity + stop: + distance_threshold: 15.0 # [m] insert a stop when closer than this distance from an overlap + + ego: + min_assumed_velocity: 2.0 # [m/s] minimum velocity used to calculate the enter and exit times of ego + extra_front_offset: 0.0 # [m] extra front distance + extra_rear_offset: 0.0 # [m] extra rear distance + extra_right_offset: 0.0 # [m] extra right distance + extra_left_offset: 0.0 # [m] extra left distance diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/docs/out_of_lane-footprints_other_lanes_overlaps_ranges.png b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/docs/out_of_lane-footprints_other_lanes_overlaps_ranges.png new file mode 100644 index 0000000000000..f095467b3b0ac Binary files /dev/null and b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/docs/out_of_lane-footprints_other_lanes_overlaps_ranges.png differ diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/docs/out_of_lane_slow.png b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/docs/out_of_lane_slow.png new file mode 100644 index 0000000000000..2f358975b9491 Binary files /dev/null and b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/docs/out_of_lane_slow.png differ diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/docs/out_of_lane_stop.png b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/docs/out_of_lane_stop.png new file mode 100644 index 0000000000000..fdb75ac0c6eb8 Binary files /dev/null and b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/docs/out_of_lane_stop.png differ diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/package.xml b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/package.xml new file mode 100644 index 0000000000000..5ba740773d5a5 --- /dev/null +++ b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/package.xml @@ -0,0 +1,41 @@ + + + + autoware_motion_velocity_out_of_lane_module + 0.1.0 + The motion_velocity_out_of_lane_module package + + Maxime Clement + Tomoya Kimura + Shumpei Wakabayashi + Takayuki Murooka + + Apache License 2.0 + + autoware_cmake + + autoware_auto_perception_msgs + autoware_auto_planning_msgs + autoware_motion_velocity_planner_common + geometry_msgs + lanelet2_extension + libboost-dev + motion_utils + pluginlib + rclcpp + route_handler + tf2 + tier4_autoware_utils + tier4_planning_msgs + traffic_light_utils + vehicle_info_util + visualization_msgs + + ament_cmake_ros + ament_lint_auto + autoware_lint_common + + + ament_cmake + + diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/plugins.xml b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/plugins.xml new file mode 100644 index 0000000000000..0a05163e8f1d0 --- /dev/null +++ b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/plugins.xml @@ -0,0 +1,3 @@ + + + diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/calculate_slowdown_points.cpp b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/calculate_slowdown_points.cpp new file mode 100644 index 0000000000000..157d545dcac0d --- /dev/null +++ b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/calculate_slowdown_points.cpp @@ -0,0 +1,85 @@ +// Copyright 2024 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "calculate_slowdown_points.hpp" + +#include "footprint.hpp" + +#include +#include + +#include + +#include + +namespace autoware::motion_velocity_planner::out_of_lane +{ + +bool can_decelerate( + const EgoData & ego_data, const TrajectoryPoint & point, const double target_vel) +{ + // TODO(Maxime): use the library function + const auto dist_ahead_of_ego = motion_utils::calcSignedArcLength( + ego_data.trajectory_points, ego_data.pose.position, point.pose.position); + const auto acc_to_target_vel = + (ego_data.velocity * ego_data.velocity - target_vel * target_vel) / (2 * dist_ahead_of_ego); + return acc_to_target_vel < std::abs(ego_data.max_decel); +} + +std::optional calculate_last_in_lane_pose( + const EgoData & ego_data, const Slowdown & decision, + const tier4_autoware_utils::Polygon2d & footprint, + const std::optional & prev_slowdown_point, const PlannerParam & params) +{ + const auto from_arc_length = + motion_utils::calcSignedArcLength(ego_data.trajectory_points, 0, ego_data.first_trajectory_idx); + const auto to_arc_length = motion_utils::calcSignedArcLength( + ego_data.trajectory_points, 0, decision.target_trajectory_idx); + TrajectoryPoint interpolated_point; + for (auto l = to_arc_length - params.precision; l > from_arc_length; l -= params.precision) { + // TODO(Maxime): binary search + interpolated_point.pose = motion_utils::calcInterpolatedPose(ego_data.trajectory_points, l); + const auto respect_decel_limit = + !params.skip_if_over_max_decel || prev_slowdown_point || + can_decelerate(ego_data, interpolated_point, decision.velocity); + const auto interpolated_footprint = project_to_pose(footprint, interpolated_point.pose); + const auto is_overlap_lane = boost::geometry::overlaps( + interpolated_footprint, decision.lane_to_avoid.polygon2d().basicPolygon()); + const auto is_overlap_extra_lane = + prev_slowdown_point && + boost::geometry::overlaps( + interpolated_footprint, + prev_slowdown_point->slowdown.lane_to_avoid.polygon2d().basicPolygon()); + if (respect_decel_limit && !is_overlap_lane && !is_overlap_extra_lane) + return interpolated_point; + } + return std::nullopt; +} + +std::optional calculate_slowdown_point( + const EgoData & ego_data, const std::vector & decisions, + const std::optional prev_slowdown_point, PlannerParam params) +{ + params.extra_front_offset += params.dist_buffer; + const auto base_footprint = make_base_footprint(params); + + // search for the first slowdown decision for which a stop point can be inserted + for (const auto & decision : decisions) { + const auto last_in_lane_pose = + calculate_last_in_lane_pose(ego_data, decision, base_footprint, prev_slowdown_point, params); + if (last_in_lane_pose) return SlowdownToInsert{decision, *last_in_lane_pose}; + } + return std::nullopt; +} +} // namespace autoware::motion_velocity_planner::out_of_lane diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/calculate_slowdown_points.hpp b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/calculate_slowdown_points.hpp new file mode 100644 index 0000000000000..19ed066548d0f --- /dev/null +++ b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/calculate_slowdown_points.hpp @@ -0,0 +1,58 @@ +// Copyright 2024 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#ifndef CALCULATE_SLOWDOWN_POINTS_HPP_ +#define CALCULATE_SLOWDOWN_POINTS_HPP_ + +#include "types.hpp" + +#include + +#include +#include + +namespace autoware::motion_velocity_planner::out_of_lane +{ + +/// @brief estimate whether ego can decelerate without breaking the deceleration limit +/// @details assume ego wants to reach the target point at the target velocity +/// @param [in] ego_data ego data +/// @param [in] point target point +/// @param [in] target_vel target_velocity +bool can_decelerate( + const EgoData & ego_data, const TrajectoryPoint & point, const double target_vel); + +/// @brief calculate the last pose along the trajectory where ego does not overlap the lane to avoid +/// @param [in] ego_data ego data +/// @param [in] decision the input decision (i.e., which lane to avoid and at what speed) +/// @param [in] footprint the ego footprint +/// @param [in] prev_slowdown_point previous slowdown point. If set, ignore deceleration limits +/// @param [in] params parameters +/// @return the last pose that is not out of lane (if found) +std::optional calculate_last_in_lane_pose( + const EgoData & ego_data, const Slowdown & decision, + const tier4_autoware_utils::Polygon2d & footprint, + const std::optional & prev_slowdown_point, const PlannerParam & params); + +/// @brief calculate the slowdown point to insert in the trajectory +/// @param ego_data ego data (trajectory, velocity, etc) +/// @param decisions decision (before which point to stop, what lane to avoid entering, etc) +/// @param prev_slowdown_point previously calculated slowdown point +/// @param params parameters +/// @return optional slowdown point to insert in the trajectory +std::optional calculate_slowdown_point( + const EgoData & ego_data, const std::vector & decisions, + const std::optional prev_slowdown_point, PlannerParam params); +} // namespace autoware::motion_velocity_planner::out_of_lane +#endif // CALCULATE_SLOWDOWN_POINTS_HPP_ diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/debug.cpp b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/debug.cpp new file mode 100644 index 0000000000000..585f4760290ef --- /dev/null +++ b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/debug.cpp @@ -0,0 +1,242 @@ +// Copyright 2024 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "debug.hpp" + +#include "types.hpp" + +#include + +#include + +#include +#include + +namespace autoware::motion_velocity_planner::out_of_lane::debug +{ +namespace +{ + +visualization_msgs::msg::Marker get_base_marker() +{ + visualization_msgs::msg::Marker base_marker; + base_marker.header.frame_id = "map"; + base_marker.header.stamp = rclcpp::Time(0); + base_marker.id = 0; + base_marker.type = visualization_msgs::msg::Marker::LINE_STRIP; + base_marker.action = visualization_msgs::msg::Marker::ADD; + base_marker.pose.position = tier4_autoware_utils::createMarkerPosition(0.0, 0.0, 0); + base_marker.pose.orientation = tier4_autoware_utils::createMarkerOrientation(0, 0, 0, 1.0); + base_marker.scale = tier4_autoware_utils::createMarkerScale(0.1, 0.1, 0.1); + base_marker.color = tier4_autoware_utils::createMarkerColor(1.0, 0.1, 0.1, 0.5); + return base_marker; +} +void add_footprint_markers( + visualization_msgs::msg::MarkerArray & debug_marker_array, + const lanelet::BasicPolygons2d & footprints, const double z, const size_t prev_nb) +{ + auto debug_marker = get_base_marker(); + debug_marker.ns = "footprints"; + for (const auto & f : footprints) { + debug_marker.points.clear(); + for (const auto & p : f) + debug_marker.points.push_back( + tier4_autoware_utils::createMarkerPosition(p.x(), p.y(), z + 0.5)); + debug_marker.points.push_back(debug_marker.points.front()); + debug_marker_array.markers.push_back(debug_marker); + debug_marker.id++; + debug_marker.points.clear(); + } + for (; debug_marker.id < static_cast(prev_nb); ++debug_marker.id) + debug_marker_array.markers.push_back(debug_marker); +} + +void add_current_overlap_marker( + visualization_msgs::msg::MarkerArray & debug_marker_array, + const lanelet::BasicPolygon2d & current_footprint, + const lanelet::ConstLanelets & current_overlapped_lanelets, const double z, const size_t prev_nb) +{ + auto debug_marker = get_base_marker(); + debug_marker.ns = "current_overlap"; + debug_marker.points.clear(); + for (const auto & p : current_footprint) + debug_marker.points.push_back(tier4_autoware_utils::createMarkerPosition(p.x(), p.y(), z)); + if (!debug_marker.points.empty()) debug_marker.points.push_back(debug_marker.points.front()); + if (current_overlapped_lanelets.empty()) + debug_marker.color = tier4_autoware_utils::createMarkerColor(0.1, 1.0, 0.1, 0.5); + else + debug_marker.color = tier4_autoware_utils::createMarkerColor(1.0, 0.1, 0.1, 0.5); + debug_marker_array.markers.push_back(debug_marker); + debug_marker.id++; + for (const auto & ll : current_overlapped_lanelets) { + debug_marker.points.clear(); + for (const auto & p : ll.polygon3d()) + debug_marker.points.push_back( + tier4_autoware_utils::createMarkerPosition(p.x(), p.y(), p.z() + 0.5)); + debug_marker.points.push_back(debug_marker.points.front()); + debug_marker_array.markers.push_back(debug_marker); + debug_marker.id++; + } + for (; debug_marker.id < static_cast(prev_nb); ++debug_marker.id) + debug_marker_array.markers.push_back(debug_marker); +} + +void add_lanelet_markers( + visualization_msgs::msg::MarkerArray & debug_marker_array, + const lanelet::ConstLanelets & lanelets, const std::string & ns, + const std_msgs::msg::ColorRGBA & color, const size_t prev_nb) +{ + auto debug_marker = get_base_marker(); + debug_marker.ns = ns; + debug_marker.color = color; + for (const auto & ll : lanelets) { + debug_marker.points.clear(); + + // add a small z offset to draw above the lanelet map + for (const auto & p : ll.polygon3d()) + debug_marker.points.push_back( + tier4_autoware_utils::createMarkerPosition(p.x(), p.y(), p.z() + 0.1)); + debug_marker.points.push_back(debug_marker.points.front()); + debug_marker_array.markers.push_back(debug_marker); + debug_marker.id++; + } + debug_marker.action = debug_marker.DELETE; + for (; debug_marker.id < static_cast(prev_nb); ++debug_marker.id) + debug_marker_array.markers.push_back(debug_marker); +} + +void add_range_markers( + visualization_msgs::msg::MarkerArray & debug_marker_array, const OverlapRanges & ranges, + const std::vector & trajectory_points, + const size_t first_ego_idx, const double z, const size_t prev_nb) +{ + auto debug_marker = get_base_marker(); + debug_marker.ns = "ranges"; + debug_marker.color = tier4_autoware_utils::createMarkerColor(0.2, 0.9, 0.1, 0.5); + for (const auto & range : ranges) { + debug_marker.points.clear(); + debug_marker.points.push_back( + trajectory_points[first_ego_idx + range.entering_trajectory_idx].pose.position); + debug_marker.points.push_back(tier4_autoware_utils::createMarkerPosition( + range.entering_point.x(), range.entering_point.y(), z)); + for (const auto & overlap : range.debug.overlaps) { + debug_marker.points.push_back(tier4_autoware_utils::createMarkerPosition( + overlap.min_overlap_point.x(), overlap.min_overlap_point.y(), z)); + debug_marker.points.push_back(tier4_autoware_utils::createMarkerPosition( + overlap.max_overlap_point.x(), overlap.max_overlap_point.y(), z)); + } + debug_marker.points.push_back(tier4_autoware_utils::createMarkerPosition( + range.exiting_point.x(), range.exiting_point.y(), z)); + debug_marker.points.push_back( + trajectory_points[first_ego_idx + range.exiting_trajectory_idx].pose.position); + debug_marker_array.markers.push_back(debug_marker); + debug_marker.id++; + } + debug_marker.action = debug_marker.DELETE; + for (; debug_marker.id < static_cast(prev_nb); ++debug_marker.id) + debug_marker_array.markers.push_back(debug_marker); +} + +void add_decision_markers( + visualization_msgs::msg::MarkerArray & debug_marker_array, const OverlapRanges & ranges, + const double z, const size_t prev_nb) +{ + auto debug_marker = get_base_marker(); + debug_marker.action = debug_marker.ADD; + debug_marker.id = 0; + debug_marker.ns = "decisions"; + debug_marker.color = tier4_autoware_utils::createMarkerColor(0.9, 0.1, 0.1, 1.0); + debug_marker.points.clear(); + for (const auto & range : ranges) { + debug_marker.type = debug_marker.LINE_STRIP; + if (range.debug.decision) { + debug_marker.points.push_back(tier4_autoware_utils::createMarkerPosition( + range.entering_point.x(), range.entering_point.y(), z)); + debug_marker.points.push_back( + range.debug.object->kinematics.initial_pose_with_covariance.pose.position); + } + debug_marker_array.markers.push_back(debug_marker); + debug_marker.points.clear(); + debug_marker.id++; + + debug_marker.type = debug_marker.TEXT_VIEW_FACING; + debug_marker.pose.position.x = range.entering_point.x(); + debug_marker.pose.position.y = range.entering_point.y(); + debug_marker.pose.position.z = z; + std::stringstream ss; + ss << "Ego: " << range.debug.times.ego.enter_time << " - " << range.debug.times.ego.exit_time + << "\n"; + if (range.debug.object) { + debug_marker.pose.position.x += + range.debug.object->kinematics.initial_pose_with_covariance.pose.position.x; + debug_marker.pose.position.y += + range.debug.object->kinematics.initial_pose_with_covariance.pose.position.y; + debug_marker.pose.position.x /= 2; + debug_marker.pose.position.y /= 2; + ss << "Obj: " << range.debug.times.object.enter_time << " - " + << range.debug.times.object.exit_time << "\n"; + } + debug_marker.scale.z = 1.0; + debug_marker.text = ss.str(); + debug_marker_array.markers.push_back(debug_marker); + debug_marker.id++; + } + debug_marker.action = debug_marker.DELETE; + for (; debug_marker.id < static_cast(prev_nb); ++debug_marker.id) { + debug_marker_array.markers.push_back(debug_marker); + } +} +} // namespace +visualization_msgs::msg::MarkerArray create_debug_marker_array(const DebugData & debug_data) +{ + constexpr auto z = 0.0; + visualization_msgs::msg::MarkerArray debug_marker_array; + + debug::add_footprint_markers( + debug_marker_array, debug_data.footprints, z, debug_data.prev_footprints); + debug::add_current_overlap_marker( + debug_marker_array, debug_data.current_footprint, debug_data.current_overlapped_lanelets, z, + debug_data.prev_current_overlapped_lanelets); + debug::add_lanelet_markers( + debug_marker_array, debug_data.trajectory_lanelets, "trajectory_lanelets", + tier4_autoware_utils::createMarkerColor(0.1, 0.1, 1.0, 0.5), + debug_data.prev_trajectory_lanelets); + debug::add_lanelet_markers( + debug_marker_array, debug_data.ignored_lanelets, "ignored_lanelets", + tier4_autoware_utils::createMarkerColor(0.7, 0.7, 0.2, 0.5), debug_data.prev_ignored_lanelets); + debug::add_lanelet_markers( + debug_marker_array, debug_data.other_lanelets, "other_lanelets", + tier4_autoware_utils::createMarkerColor(0.4, 0.4, 0.7, 0.5), debug_data.prev_other_lanelets); + debug::add_range_markers( + debug_marker_array, debug_data.ranges, debug_data.trajectory_points, + debug_data.first_trajectory_idx, z, debug_data.prev_ranges); + debug::add_decision_markers(debug_marker_array, debug_data.ranges, z, debug_data.prev_ranges); + return debug_marker_array; +} + +motion_utils::VirtualWalls create_virtual_walls( + const DebugData & debug_data, const PlannerParam & params) +{ + motion_utils::VirtualWalls virtual_walls; + motion_utils::VirtualWall wall; + wall.text = "out_of_lane"; + wall.longitudinal_offset = params.front_offset; + wall.style = motion_utils::VirtualWallType::slowdown; + for (const auto & slowdown : debug_data.slowdowns) { + wall.pose = slowdown.point.pose; + virtual_walls.push_back(wall); + } + return virtual_walls; +} +} // namespace autoware::motion_velocity_planner::out_of_lane::debug diff --git a/system/mrm_handler/src/mrm_handler/mrm_handler_node.cpp b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/debug.hpp similarity index 52% rename from system/mrm_handler/src/mrm_handler/mrm_handler_node.cpp rename to planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/debug.hpp index 4aaab3296f64b..4a5be9dfb07ac 100644 --- a/system/mrm_handler/src/mrm_handler/mrm_handler_node.cpp +++ b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/debug.hpp @@ -12,21 +12,20 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "mrm_handler/mrm_handler_core.hpp" +#ifndef DEBUG_HPP_ +#define DEBUG_HPP_ -#include +#include "types.hpp" -#include +#include -int main(int argc, char ** argv) +#include + +namespace autoware::motion_velocity_planner::out_of_lane::debug { - rclcpp::init(argc, argv); - rclcpp::executors::MultiThreadedExecutor executor; - auto node = std::make_shared(); - executor.add_node(node); - executor.spin(); - executor.remove_node(node); - rclcpp::shutdown(); +visualization_msgs::msg::MarkerArray create_debug_marker_array(const DebugData & debug_data); +motion_utils::VirtualWalls create_virtual_walls( + const DebugData & debug_data, const PlannerParam & params); +} // namespace autoware::motion_velocity_planner::out_of_lane::debug - return 0; -} +#endif // DEBUG_HPP_ diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/decisions.cpp b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/decisions.cpp new file mode 100644 index 0000000000000..56047e459bf51 --- /dev/null +++ b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/decisions.cpp @@ -0,0 +1,388 @@ +// Copyright 2024 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "decisions.hpp" + +#include +#include +#include +#include + +#include + +#include +#include +#include + +#include +#include +#include +#include +namespace autoware::motion_velocity_planner::out_of_lane +{ +double distance_along_trajectory(const EgoData & ego_data, const size_t target_idx) +{ + return motion_utils::calcSignedArcLength( + ego_data.trajectory_points, ego_data.pose.position, ego_data.first_trajectory_idx + target_idx); +} + +double time_along_trajectory( + const EgoData & ego_data, const size_t target_idx, const double min_velocity) +{ + const auto dist = distance_along_trajectory(ego_data, target_idx); + const auto v = std::max( + std::max(ego_data.velocity, min_velocity), + ego_data.trajectory_points[ego_data.first_trajectory_idx + target_idx] + .longitudinal_velocity_mps * + 0.5); + return dist / v; +} + +bool object_is_incoming( + const lanelet::BasicPoint2d & object_position, + const std::shared_ptr route_handler, + const lanelet::ConstLanelet & lane) +{ + const auto lanelets = route_handler->getPrecedingLaneletSequence(lane, 50.0); + if (boost::geometry::within(object_position, lane.polygon2d().basicPolygon())) return true; + for (const auto & lls : lanelets) + for (const auto & ll : lls) + if (boost::geometry::within(object_position, ll.polygon2d().basicPolygon())) return true; + return false; +} + +std::optional> object_time_to_range( + const autoware_auto_perception_msgs::msg::PredictedObject & object, const OverlapRange & range, + const std::shared_ptr route_handler, const double dist_buffer, + const rclcpp::Logger & logger) +{ + // skip the dynamic object if it is not in a lane preceding the overlapped lane + // lane changes are intentionally not considered + const auto object_point = lanelet::BasicPoint2d( + object.kinematics.initial_pose_with_covariance.pose.position.x, + object.kinematics.initial_pose_with_covariance.pose.position.y); + if (!object_is_incoming(object_point, route_handler, range.lane)) return {}; + + const auto max_deviation = object.shape.dimensions.y + range.inside_distance + dist_buffer; + const auto max_lon_deviation = object.shape.dimensions.x / 2.0; + auto worst_enter_time = std::optional(); + auto worst_exit_time = std::optional(); + + for (const auto & predicted_path : object.kinematics.predicted_paths) { + const auto unique_path_points = motion_utils::removeOverlapPoints(predicted_path.path); + if (unique_path_points.size() < 2) continue; + const auto time_step = rclcpp::Duration(predicted_path.time_step).seconds(); + const auto enter_point = + geometry_msgs::msg::Point().set__x(range.entering_point.x()).set__y(range.entering_point.y()); + const auto enter_segment_idx = + motion_utils::findNearestSegmentIndex(unique_path_points, enter_point); + const auto enter_offset = motion_utils::calcLongitudinalOffsetToSegment( + unique_path_points, enter_segment_idx, enter_point); + const auto enter_lat_dist = + std::abs(motion_utils::calcLateralOffset(unique_path_points, enter_point, enter_segment_idx)); + const auto enter_segment_length = tier4_autoware_utils::calcDistance2d( + unique_path_points[enter_segment_idx], unique_path_points[enter_segment_idx + 1]); + const auto enter_offset_ratio = enter_offset / enter_segment_length; + const auto enter_time = + static_cast(enter_segment_idx) * time_step + enter_offset_ratio * time_step; + + const auto exit_point = + geometry_msgs::msg::Point().set__x(range.exiting_point.x()).set__y(range.exiting_point.y()); + const auto exit_segment_idx = + motion_utils::findNearestSegmentIndex(unique_path_points, exit_point); + const auto exit_offset = motion_utils::calcLongitudinalOffsetToSegment( + unique_path_points, exit_segment_idx, exit_point); + const auto exit_lat_dist = + std::abs(motion_utils::calcLateralOffset(unique_path_points, exit_point, exit_segment_idx)); + const auto exit_segment_length = tier4_autoware_utils::calcDistance2d( + unique_path_points[exit_segment_idx], unique_path_points[exit_segment_idx + 1]); + const auto exit_offset_ratio = exit_offset / static_cast(exit_segment_length); + const auto exit_time = + static_cast(exit_segment_idx) * time_step + exit_offset_ratio * time_step; + + RCLCPP_DEBUG( + logger, "\t\t\tPredicted path (time step = %2.2fs): enter @ %2.2fs, exit @ %2.2fs", time_step, + enter_time, exit_time); + // predicted path is too far from the overlapping range to be relevant + const auto is_far_from_entering_point = enter_lat_dist > max_deviation; + const auto is_far_from_exiting_point = exit_lat_dist > max_deviation; + if (is_far_from_entering_point && is_far_from_exiting_point) { + RCLCPP_DEBUG( + logger, + " * far_from_enter (%d) = %2.2fm | far_from_exit (%d) = %2.2fm | max_dev = %2.2fm\n", + is_far_from_entering_point, enter_lat_dist, is_far_from_exiting_point, exit_lat_dist, + max_deviation); + continue; + } + const auto is_last_predicted_path_point = + (exit_segment_idx + 2 == unique_path_points.size() || + enter_segment_idx + 2 == unique_path_points.size()); + const auto does_not_reach_overlap = + is_last_predicted_path_point && (std::min(exit_offset, enter_offset) > max_lon_deviation); + if (does_not_reach_overlap) { + RCLCPP_DEBUG( + logger, " * does not reach the overlap = %2.2fm | max_dev = %2.2fm\n", + std::min(exit_offset, enter_offset), max_lon_deviation); + continue; + } + + const auto same_driving_direction_as_ego = enter_time < exit_time; + if (same_driving_direction_as_ego) { + worst_enter_time = worst_enter_time ? std::min(*worst_enter_time, enter_time) : enter_time; + worst_exit_time = worst_exit_time ? std::max(*worst_exit_time, exit_time) : exit_time; + } else { + worst_enter_time = worst_enter_time ? std::max(*worst_enter_time, enter_time) : enter_time; + worst_exit_time = worst_exit_time ? std::min(*worst_exit_time, exit_time) : exit_time; + } + } + if (worst_enter_time && worst_exit_time) { + RCLCPP_DEBUG( + logger, "\t\t\t * found enter/exit time [%2.2f, %2.2f]\n", *worst_enter_time, + *worst_exit_time); + return std::make_pair(*worst_enter_time, *worst_exit_time); + } + RCLCPP_DEBUG(logger, "\t\t\t * enter/exit time not found\n"); + return {}; +} + +std::optional> object_time_to_range( + const autoware_auto_perception_msgs::msg::PredictedObject & object, const OverlapRange & range, + const DecisionInputs & inputs, const rclcpp::Logger & logger) +{ + const auto & p = object.kinematics.initial_pose_with_covariance.pose.position; + const auto object_point = lanelet::BasicPoint2d(p.x, p.y); + const auto half_size = object.shape.dimensions.x / 2.0; + lanelet::ConstLanelets object_lanelets; + for (const auto & ll : inputs.lanelets) + if (boost::geometry::within(object_point, ll.polygon2d().basicPolygon())) + object_lanelets.push_back(ll); + + geometry_msgs::msg::Pose pose; + pose.position.set__x(range.entering_point.x()).set__y(range.entering_point.y()); + const auto range_enter_length = lanelet::utils::getArcCoordinates({range.lane}, pose).length; + pose.position.set__x(range.exiting_point.x()).set__y(range.exiting_point.y()); + const auto range_exit_length = lanelet::utils::getArcCoordinates({range.lane}, pose).length; + const auto range_size = std::abs(range_enter_length - range_exit_length); + auto worst_enter_dist = std::optional(); + auto worst_exit_dist = std::optional(); + for (const auto & lane : object_lanelets) { + const auto path = inputs.route_handler->getRoutingGraphPtr()->shortestPath(lane, range.lane); + RCLCPP_DEBUG( + logger, "\t\t\tPath ? %d [from %ld to %ld]\n", path.has_value(), lane.id(), range.lane.id()); + if (path) { + lanelet::ConstLanelets lls; + for (const auto & ll : *path) lls.push_back(ll); + pose.position.set__x(object_point.x()).set__y(object_point.y()); + const auto object_curr_length = lanelet::utils::getArcCoordinates(lls, pose).length; + pose.position.set__x(range.entering_point.x()).set__y(range.entering_point.y()); + const auto enter_dist = + lanelet::utils::getArcCoordinates(lls, pose).length - object_curr_length; + pose.position.set__x(range.exiting_point.x()).set__y(range.exiting_point.y()); + const auto exit_dist = + lanelet::utils::getArcCoordinates(lls, pose).length - object_curr_length; + RCLCPP_DEBUG( + logger, "\t\t\t%2.2f -> [%2.2f(%2.2f, %2.2f) - %2.2f(%2.2f, %2.2f)]\n", object_curr_length, + enter_dist, range.entering_point.x(), range.entering_point.y(), exit_dist, + range.exiting_point.x(), range.exiting_point.y()); + const auto already_entered_range = std::abs(enter_dist - exit_dist) > range_size * 2.0; + if (already_entered_range) continue; + // multiple paths to the overlap -> be conservative and use the "worst" case + // "worst" = min/max arc length depending on if the lane is running opposite to the ego + // trajectory + const auto is_opposite = enter_dist > exit_dist; + if (!worst_enter_dist) + worst_enter_dist = enter_dist; + else if (is_opposite) + worst_enter_dist = std::max(*worst_enter_dist, enter_dist); + else + worst_enter_dist = std::min(*worst_enter_dist, enter_dist); + if (!worst_exit_dist) + worst_exit_dist = exit_dist; + else if (is_opposite) + worst_exit_dist = std::max(*worst_exit_dist, exit_dist); + else + worst_exit_dist = std::min(*worst_exit_dist, exit_dist); + } + } + if (worst_enter_dist && worst_exit_dist) { + const auto v = object.kinematics.initial_twist_with_covariance.twist.linear.x; + return std::make_pair((*worst_enter_dist - half_size) / v, (*worst_exit_dist + half_size) / v); + } + return {}; +} + +bool threshold_condition(const RangeTimes & range_times, const PlannerParam & params) +{ + const auto enter_within_threshold = + range_times.object.enter_time > 0.0 && range_times.object.enter_time < params.time_threshold; + const auto exit_within_threshold = + range_times.object.exit_time > 0.0 && range_times.object.exit_time < params.time_threshold; + return enter_within_threshold || exit_within_threshold; +} + +bool intervals_condition( + const RangeTimes & range_times, const PlannerParam & params, const rclcpp::Logger & logger) +{ + const auto opposite_way_condition = [&]() -> bool { + const auto ego_exits_before_object_enters = + range_times.ego.exit_time + params.intervals_ego_buffer < + range_times.object.enter_time + params.intervals_obj_buffer; + RCLCPP_DEBUG( + logger, + "\t\t\t[Intervals] (opposite way) ego exit %2.2fs < obj enter %2.2fs ? -> should not " + "enter = %d\n", + range_times.ego.exit_time + params.intervals_ego_buffer, + range_times.object.enter_time + params.intervals_obj_buffer, ego_exits_before_object_enters); + return ego_exits_before_object_enters; + }; + const auto same_way_condition = [&]() -> bool { + const auto object_enters_during_overlap = + range_times.ego.enter_time - params.intervals_ego_buffer < + range_times.object.enter_time + params.intervals_obj_buffer && + range_times.object.enter_time - params.intervals_obj_buffer - range_times.ego.exit_time < + range_times.ego.exit_time + params.intervals_ego_buffer; + const auto object_exits_during_overlap = + range_times.ego.enter_time - params.intervals_ego_buffer < + range_times.object.exit_time + params.intervals_obj_buffer && + range_times.object.exit_time - params.intervals_obj_buffer - range_times.ego.exit_time < + range_times.ego.exit_time + params.intervals_ego_buffer; + RCLCPP_DEBUG( + logger, + "\t\t\t[Intervals] obj enters during overlap ? %d OR obj exits during overlap %d ? -> should " + "not " + "enter = %d\n", + object_enters_during_overlap, object_exits_during_overlap, + object_enters_during_overlap || object_exits_during_overlap); + return object_enters_during_overlap || object_exits_during_overlap; + }; + + const auto object_is_going_same_way = + range_times.object.enter_time < range_times.object.exit_time; + return (object_is_going_same_way && same_way_condition()) || + (!object_is_going_same_way && opposite_way_condition()); +} + +bool ttc_condition( + const RangeTimes & range_times, const PlannerParam & params, const rclcpp::Logger & logger) +{ + const auto ttc_at_enter = range_times.ego.enter_time - range_times.object.enter_time; + const auto ttc_at_exit = range_times.ego.exit_time - range_times.object.exit_time; + const auto collision_during_overlap = (ttc_at_enter < 0.0) != (ttc_at_exit < 0.0); + const auto ttc_is_bellow_threshold = + std::min(std::abs(ttc_at_enter), std::abs(ttc_at_exit)) <= params.ttc_threshold; + RCLCPP_DEBUG( + logger, "\t\t\t[TTC] (%2.2fs - %2.2fs) -> %d\n", ttc_at_enter, ttc_at_exit, + (collision_during_overlap || ttc_is_bellow_threshold)); + return collision_during_overlap || ttc_is_bellow_threshold; +} + +bool will_collide_on_range( + const RangeTimes & range_times, const PlannerParam & params, const rclcpp::Logger & logger) +{ + RCLCPP_DEBUG( + logger, " enter at %2.2fs, exits at %2.2fs\n", range_times.object.enter_time, + range_times.object.exit_time); + return (params.mode == "threshold" && threshold_condition(range_times, params)) || + (params.mode == "intervals" && intervals_condition(range_times, params, logger)) || + (params.mode == "ttc" && ttc_condition(range_times, params, logger)); +} + +bool should_not_enter( + const OverlapRange & range, const DecisionInputs & inputs, const PlannerParam & params, + const rclcpp::Logger & logger) +{ + RangeTimes range_times{}; + range_times.ego.enter_time = + time_along_trajectory(inputs.ego_data, range.entering_trajectory_idx, params.ego_min_velocity); + range_times.ego.exit_time = + time_along_trajectory(inputs.ego_data, range.exiting_trajectory_idx, params.ego_min_velocity); + RCLCPP_DEBUG( + logger, "\t[%lu -> %lu] %ld | ego enters at %2.2f, exits at %2.2f\n", + range.entering_trajectory_idx, range.exiting_trajectory_idx, range.lane.id(), + range_times.ego.enter_time, range_times.ego.exit_time); + for (const auto & object : inputs.objects.objects) { + RCLCPP_DEBUG( + logger, "\t\t[%s] going at %2.2fm/s", + tier4_autoware_utils::toHexString(object.object_id).c_str(), + object.kinematics.initial_twist_with_covariance.twist.linear.x); + if (object.kinematics.initial_twist_with_covariance.twist.linear.x < params.objects_min_vel) { + RCLCPP_DEBUG(logger, " SKIP (velocity bellow threshold %2.2fm/s)\n", params.objects_min_vel); + continue; // skip objects with velocity bellow a threshold + } + // skip objects that are already on the interval + const auto enter_exit_time = + params.objects_use_predicted_paths + ? object_time_to_range( + object, range, inputs.route_handler, params.objects_dist_buffer, logger) + : object_time_to_range(object, range, inputs, logger); + if (!enter_exit_time) { + RCLCPP_DEBUG(logger, " SKIP (no enter/exit times found)\n"); + continue; // skip objects that are not driving towards the overlapping range + } + + range_times.object.enter_time = enter_exit_time->first; + range_times.object.exit_time = enter_exit_time->second; + if (will_collide_on_range(range_times, params, logger)) { + range.debug.times = range_times; + range.debug.object = object; + return true; + } + } + range.debug.times = range_times; + return false; +} + +void set_decision_velocity( + std::optional & decision, const double distance, const PlannerParam & params) +{ + if (distance < params.stop_dist_threshold) { + decision->velocity = 0.0; + } else if (distance < params.slow_dist_threshold) { + decision->velocity = params.slow_velocity; + } else { + decision.reset(); + } +} + +std::optional calculate_decision( + const OverlapRange & range, const DecisionInputs & inputs, const PlannerParam & params, + const rclcpp::Logger & logger) +{ + std::optional decision; + if (should_not_enter(range, inputs, params, logger)) { + decision.emplace(); + decision->target_trajectory_idx = inputs.ego_data.first_trajectory_idx + + range.entering_trajectory_idx; // add offset from curr pose + decision->lane_to_avoid = range.lane; + const auto ego_dist_to_range = + distance_along_trajectory(inputs.ego_data, range.entering_trajectory_idx); + set_decision_velocity(decision, ego_dist_to_range, params); + } + return decision; +} + +std::vector calculate_decisions( + const DecisionInputs & inputs, const PlannerParam & params, const rclcpp::Logger & logger) +{ + std::vector decisions; + for (const auto & range : inputs.ranges) { + if (range.entering_trajectory_idx == 0UL) continue; // skip if we already entered the range + const auto optional_decision = calculate_decision(range, inputs, params, logger); + range.debug.decision = optional_decision; + if (optional_decision) decisions.push_back(*optional_decision); + } + return decisions; +} + +} // namespace autoware::motion_velocity_planner::out_of_lane diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/decisions.hpp b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/decisions.hpp new file mode 100644 index 0000000000000..2aa3a8b490bf6 --- /dev/null +++ b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/decisions.hpp @@ -0,0 +1,116 @@ +// Copyright 2024 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#ifndef DECISIONS_HPP_ +#define DECISIONS_HPP_ + +#include "types.hpp" + +#include +#include + +#include + +#include + +#include +#include +#include +#include + +namespace autoware::motion_velocity_planner::out_of_lane +{ +/// @brief calculate the distance along the ego trajectory between ego and some target trajectory +/// index +/// @param [in] ego_data data related to the ego vehicle +/// @param [in] target_idx target ego trajectory index +/// @return distance between ego and the target [m] +double distance_along_trajectory(const EgoData & ego_data, const size_t target_idx); +/// @brief estimate the time when ego will reach some target trajectory index +/// @param [in] ego_data data related to the ego vehicle +/// @param [in] target_idx target ego trajectory index +/// @param [in] min_velocity minimum ego velocity used to estimate the time +/// @return time taken by ego to reach the target [s] +double time_along_trajectory(const EgoData & ego_data, const size_t target_idx); +/// @brief use an object's predicted paths to estimate the times it will reach the enter and exit +/// points of an overlapping range +/// @details times when the predicted paths of the object enters/exits the range are calculated +/// but may not exist (e.g,, predicted path ends before reaching the end of the range) +/// @param [in] object dynamic object +/// @param [in] range overlapping range +/// @param [in] route_handler route handler used to estimate the path of the dynamic object +/// @param [in] logger ros logger +/// @return an optional pair (time at enter [s], time at exit [s]). If the dynamic object drives in +/// the opposite direction, time at enter > time at exit +std::optional> object_time_to_range( + const autoware_auto_perception_msgs::msg::PredictedObject & object, const OverlapRange & range, + const std::shared_ptr route_handler, const double dist_buffer, + const rclcpp::Logger & logger); +/// @brief use the lanelet map to estimate the times when an object will reach the enter and exit +/// points of an overlapping range +/// @param [in] object dynamic object +/// @param [in] range overlapping range +/// @param [in] inputs information used to take decisions (ranges, ego and objects data, route +/// handler, lanelets) +/// @param [in] dist_buffer extra distance used to estimate if a collision will occur on the range +/// @param [in] logger ros logger +/// @return an optional pair (time at enter [s], time at exit [s]). If the dynamic object drives in +/// the opposite direction, time at enter > time at exit. +std::optional> object_time_to_range( + const autoware_auto_perception_msgs::msg::PredictedObject & object, const OverlapRange & range, + const DecisionInputs & inputs, const rclcpp::Logger & logger); +/// @brief decide whether an object is coming in the range at the same time as ego +/// @details the condition depends on the mode (threshold, intervals, ttc) +/// @param [in] range_times times when ego and the object enter/exit the range +/// @param [in] params parameters +/// @param [in] logger ros logger +bool will_collide_on_range( + const RangeTimes & range_times, const PlannerParam & params, const rclcpp::Logger & logger); +/// @brief check whether we should avoid entering the given range +/// @param [in] range the range to check +/// @param [in] inputs information used to take decisions (ranges, ego and objects data, route +/// handler, lanelets) +/// @param [in] params parameters +/// @param [in] logger ros logger +/// @return return true if we should avoid entering the range +bool should_not_enter( + const OverlapRange & range, const DecisionInputs & inputs, const PlannerParam & params, + const rclcpp::Logger & logger); +/// @brief set the velocity of a decision (or unset it) based on the distance away from the range +/// @param [out] decision decision to update (either set its velocity or unset the decision) +/// @param [in] distance distance between ego and the range corresponding to the decision +/// @param [in] params parameters +void set_decision_velocity( + std::optional & decision, const double distance, const PlannerParam & params); +/// @brief calculate the decision to slowdown or stop before an overlapping range +/// @param [in] range the range to check +/// @param [in] inputs information used to take decisions (ranges, ego and objects data, route +/// handler, lanelets) +/// @param [in] params parameters +/// @param [in] logger ros logger +/// @return return an optional decision to slowdown or stop +std::optional calculate_decision( + const OverlapRange & range, const DecisionInputs & inputs, const PlannerParam & params, + const rclcpp::Logger & logger); +/// @brief calculate decisions to slowdown or stop before some overlapping ranges +/// @param [in] inputs information used to take decisions (ranges, ego and objects data, route +/// handler, lanelets) +/// @param [in] params parameters +/// @param [in] logger ros logger +/// @return return the calculated decisions to slowdown or stop +std::vector calculate_decisions( + const DecisionInputs & inputs, const PlannerParam & params, const rclcpp::Logger & logger); +} // namespace autoware::motion_velocity_planner::out_of_lane + +#endif // DECISIONS_HPP_ diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/filter_predicted_objects.cpp b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/filter_predicted_objects.cpp new file mode 100644 index 0000000000000..31631fb577b09 --- /dev/null +++ b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/filter_predicted_objects.cpp @@ -0,0 +1,150 @@ +// Copyright 2024 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "filter_predicted_objects.hpp" + +#include +#include + +#include + +#include +#include + +#include + +namespace autoware::motion_velocity_planner::out_of_lane +{ +void cut_predicted_path_beyond_line( + autoware_auto_perception_msgs::msg::PredictedPath & predicted_path, + const lanelet::BasicLineString2d & stop_line, const double object_front_overhang) +{ + if (predicted_path.path.empty() || stop_line.size() < 2) return; + + auto stop_line_idx = 0UL; + bool found = false; + lanelet::BasicSegment2d path_segment; + path_segment.first.x() = predicted_path.path.front().position.x; + path_segment.first.y() = predicted_path.path.front().position.y; + for (stop_line_idx = 1; stop_line_idx < predicted_path.path.size(); ++stop_line_idx) { + path_segment.second.x() = predicted_path.path[stop_line_idx].position.x; + path_segment.second.y() = predicted_path.path[stop_line_idx].position.y; + if (boost::geometry::intersects(stop_line, path_segment)) { + found = true; + break; + } + path_segment.first = path_segment.second; + } + if (found) { + auto cut_idx = stop_line_idx; + double arc_length = 0; + while (cut_idx > 0 && arc_length < object_front_overhang) { + arc_length += tier4_autoware_utils::calcDistance2d( + predicted_path.path[cut_idx], predicted_path.path[cut_idx - 1]); + --cut_idx; + } + predicted_path.path.resize(cut_idx); + } +} + +std::optional find_next_stop_line( + const autoware_auto_perception_msgs::msg::PredictedPath & path, + const std::shared_ptr planner_data) +{ + lanelet::ConstLanelets lanelets; + lanelet::BasicLineString2d query_line; + for (const auto & p : path.path) query_line.emplace_back(p.position.x, p.position.y); + const auto query_results = lanelet::geometry::findWithin2d( + planner_data->route_handler->getLaneletMapPtr()->laneletLayer, query_line); + for (const auto & r : query_results) lanelets.push_back(r.second); + for (const auto & ll : lanelets) { + for (const auto & element : ll.regulatoryElementsAs()) { + const auto traffic_signal_stamped = planner_data->get_traffic_signal(element->id()); + if ( + traffic_signal_stamped.has_value() && element->stopLine().has_value() && + traffic_light_utils::isTrafficSignalStop(ll, traffic_signal_stamped.value().signal)) { + lanelet::BasicLineString2d stop_line; + for (const auto & p : *(element->stopLine())) stop_line.emplace_back(p.x(), p.y()); + return stop_line; + } + } + } + return std::nullopt; +} + +void cut_predicted_path_beyond_red_lights( + autoware_auto_perception_msgs::msg::PredictedPath & predicted_path, + const std::shared_ptr planner_data, const double object_front_overhang) +{ + const auto stop_line = find_next_stop_line(predicted_path, planner_data); + if (stop_line) { + // we use a longer stop line to also cut predicted paths that slightly go around the stop line + auto longer_stop_line = *stop_line; + const auto diff = stop_line->back() - stop_line->front(); + longer_stop_line.front() -= diff * 0.5; + longer_stop_line.back() += diff * 0.5; + cut_predicted_path_beyond_line(predicted_path, longer_stop_line, object_front_overhang); + } +} + +autoware_auto_perception_msgs::msg::PredictedObjects filter_predicted_objects( + const std::shared_ptr planner_data, const EgoData & ego_data, + const PlannerParam & params) +{ + autoware_auto_perception_msgs::msg::PredictedObjects filtered_objects; + filtered_objects.header = planner_data->predicted_objects->header; + for (const auto & object : planner_data->predicted_objects->objects) { + const auto is_pedestrian = + std::find_if(object.classification.begin(), object.classification.end(), [](const auto & c) { + return c.label == autoware_auto_perception_msgs::msg::ObjectClassification::PEDESTRIAN; + }) != object.classification.end(); + if (is_pedestrian) continue; + + auto filtered_object = object; + const auto is_invalid_predicted_path = [&](const auto & predicted_path) { + const auto is_low_confidence = predicted_path.confidence < params.objects_min_confidence; + const auto no_overlap_path = motion_utils::removeOverlapPoints(predicted_path.path); + if (no_overlap_path.size() <= 1) return true; + const auto lat_offset_to_current_ego = + std::abs(motion_utils::calcLateralOffset(no_overlap_path, ego_data.pose.position)); + const auto is_crossing_ego = + lat_offset_to_current_ego <= + object.shape.dimensions.y / 2.0 + std::max( + params.left_offset + params.extra_left_offset, + params.right_offset + params.extra_right_offset); + return is_low_confidence || is_crossing_ego; + }; + if (params.objects_use_predicted_paths) { + auto & predicted_paths = filtered_object.kinematics.predicted_paths; + const auto new_end = + std::remove_if(predicted_paths.begin(), predicted_paths.end(), is_invalid_predicted_path); + predicted_paths.erase(new_end, predicted_paths.end()); + if (params.objects_cut_predicted_paths_beyond_red_lights) + for (auto & predicted_path : predicted_paths) + cut_predicted_path_beyond_red_lights( + predicted_path, planner_data, filtered_object.shape.dimensions.x); + predicted_paths.erase( + std::remove_if( + predicted_paths.begin(), predicted_paths.end(), + [](const auto & p) { return p.path.empty(); }), + predicted_paths.end()); + } + + if (!params.objects_use_predicted_paths || !filtered_object.kinematics.predicted_paths.empty()) + filtered_objects.objects.push_back(filtered_object); + } + return filtered_objects; +} + +} // namespace autoware::motion_velocity_planner::out_of_lane diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/filter_predicted_objects.hpp b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/filter_predicted_objects.hpp new file mode 100644 index 0000000000000..0770fbc0dcff1 --- /dev/null +++ b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/filter_predicted_objects.hpp @@ -0,0 +1,60 @@ +// Copyright 2024-2024 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#ifndef FILTER_PREDICTED_OBJECTS_HPP_ +#define FILTER_PREDICTED_OBJECTS_HPP_ + +#include "types.hpp" + +#include + +#include +#include + +namespace autoware::motion_velocity_planner::out_of_lane +{ +/// @brief cut a predicted path beyond the given stop line +/// @param [inout] predicted_path predicted path to cut +/// @param [in] stop_line stop line used for cutting +/// @param [in] object_front_overhang extra distance to cut ahead of the stop line +void cut_predicted_path_beyond_line( + autoware_auto_perception_msgs::msg::PredictedPath & predicted_path, + const lanelet::BasicLineString2d & stop_line, const double object_front_overhang); + +/// @brief find the next red light stop line along the given path +/// @param [in] path predicted path to check for a stop line +/// @param [in] planner_data planner data with stop line information +/// @return the first red light stop line found along the path (if any) +std::optional find_next_stop_line( + const autoware_auto_perception_msgs::msg::PredictedPath & path, + const std::shared_ptr planner_data); + +/// @brief cut predicted path beyond stop lines of red lights +/// @param [inout] predicted_path predicted path to cut +/// @param [in] planner_data planner data to get the map and traffic light information +void cut_predicted_path_beyond_red_lights( + autoware_auto_perception_msgs::msg::PredictedPath & predicted_path, + const std::shared_ptr planner_data, const double object_front_overhang); + +/// @brief filter predicted objects and their predicted paths +/// @param [in] planner_data planner data +/// @param [in] ego_data ego data +/// @param [in] params parameters +/// @return filtered predicted objects +autoware_auto_perception_msgs::msg::PredictedObjects filter_predicted_objects( + const std::shared_ptr planner_data, const EgoData & ego_data, + const PlannerParam & params); +} // namespace autoware::motion_velocity_planner::out_of_lane + +#endif // FILTER_PREDICTED_OBJECTS_HPP_ diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/footprint.cpp b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/footprint.cpp new file mode 100644 index 0000000000000..824a847b17414 --- /dev/null +++ b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/footprint.cpp @@ -0,0 +1,93 @@ +// Copyright 2024 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "footprint.hpp" + +#include + +#include + +#include +#include + +#include +#include + +namespace autoware::motion_velocity_planner::out_of_lane +{ +tier4_autoware_utils::Polygon2d make_base_footprint( + const PlannerParam & p, const bool ignore_offset) +{ + tier4_autoware_utils::Polygon2d base_footprint; + const auto front_offset = ignore_offset ? 0.0 : p.extra_front_offset; + const auto rear_offset = ignore_offset ? 0.0 : p.extra_rear_offset; + const auto right_offset = ignore_offset ? 0.0 : p.extra_right_offset; + const auto left_offset = ignore_offset ? 0.0 : p.extra_left_offset; + base_footprint.outer() = { + {p.front_offset + front_offset, p.left_offset + left_offset}, + {p.front_offset + front_offset, p.right_offset - right_offset}, + {p.rear_offset - rear_offset, p.right_offset - right_offset}, + {p.rear_offset - rear_offset, p.left_offset + left_offset}}; + return base_footprint; +} + +lanelet::BasicPolygon2d project_to_pose( + const tier4_autoware_utils::Polygon2d & base_footprint, const geometry_msgs::msg::Pose & pose) +{ + const auto angle = tf2::getYaw(pose.orientation); + const auto rotated_footprint = tier4_autoware_utils::rotatePolygon(base_footprint, angle); + lanelet::BasicPolygon2d footprint; + for (const auto & p : rotated_footprint.outer()) + footprint.emplace_back(p.x() + pose.position.x, p.y() + pose.position.y); + return footprint; +} + +std::vector calculate_trajectory_footprints( + const EgoData & ego_data, const PlannerParam & params) +{ + const auto base_footprint = make_base_footprint(params); + std::vector trajectory_footprints; + trajectory_footprints.reserve(ego_data.trajectory_points.size()); + double length = 0.0; + const auto range = std::max(params.slow_dist_threshold, params.stop_dist_threshold) + + params.front_offset + params.extra_front_offset; + for (auto i = ego_data.first_trajectory_idx; + i < ego_data.trajectory_points.size() && length < range; ++i) { + const auto & trajectory_pose = ego_data.trajectory_points[i].pose; + const auto angle = tf2::getYaw(trajectory_pose.orientation); + const auto rotated_footprint = tier4_autoware_utils::rotatePolygon(base_footprint, angle); + lanelet::BasicPolygon2d footprint; + for (const auto & p : rotated_footprint.outer()) + footprint.emplace_back( + p.x() + trajectory_pose.position.x, p.y() + trajectory_pose.position.y); + trajectory_footprints.push_back(footprint); + if (i + 1 < ego_data.trajectory_points.size()) + length += tier4_autoware_utils::calcDistance2d( + trajectory_pose, ego_data.trajectory_points[i + 1].pose); + } + return trajectory_footprints; +} + +lanelet::BasicPolygon2d calculate_current_ego_footprint( + const EgoData & ego_data, const PlannerParam & params, const bool ignore_offset) +{ + const auto base_footprint = make_base_footprint(params, ignore_offset); + const auto angle = tf2::getYaw(ego_data.pose.orientation); + const auto rotated_footprint = tier4_autoware_utils::rotatePolygon(base_footprint, angle); + lanelet::BasicPolygon2d footprint; + for (const auto & p : rotated_footprint.outer()) + footprint.emplace_back(p.x() + ego_data.pose.position.x, p.y() + ego_data.pose.position.y); + return footprint; +} +} // namespace autoware::motion_velocity_planner::out_of_lane diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/footprint.hpp b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/footprint.hpp new file mode 100644 index 0000000000000..7b80dd9618bb7 --- /dev/null +++ b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/footprint.hpp @@ -0,0 +1,59 @@ +// Copyright 2024 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#ifndef FOOTPRINT_HPP_ +#define FOOTPRINT_HPP_ + +#include "types.hpp" + +#include + +#include + +namespace autoware::motion_velocity_planner +{ +namespace out_of_lane +{ +/// @brief create the base footprint of ego +/// @param [in] p parameters used to create the footprint +/// @param [in] ignore_offset optional parameter, if true, ignore the "extra offsets" to build the +/// footprint +/// @return base ego footprint +tier4_autoware_utils::Polygon2d make_base_footprint( + const PlannerParam & p, const bool ignore_offset = false); +/// @brief project a footprint to the given pose +/// @param [in] base_footprint footprint to project +/// @param [in] pose projection pose +/// @return footprint projected to the given pose +lanelet::BasicPolygon2d project_to_pose( + const tier4_autoware_utils::Polygon2d & base_footprint, const geometry_msgs::msg::Pose & pose); +/// @brief calculate the trajectory footprints +/// @details the resulting polygon follows the format used by the lanelet library: clockwise order +/// and implicit closing edge +/// @param [in] ego_data data related to the ego vehicle (includes its trajectory) +/// @param [in] params parameters +/// @return polygon footprints for each trajectory point starting from ego's current position +std::vector calculate_trajectory_footprints( + const EgoData & ego_data, const PlannerParam & params); +/// @brief calculate the current ego footprint +/// @param [in] ego_data data related to the ego vehicle +/// @param [in] params parameters +/// @param [in] ignore_offset optional parameter, if true, ignore the "extra offsets" to build the +/// footprint +lanelet::BasicPolygon2d calculate_current_ego_footprint( + const EgoData & ego_data, const PlannerParam & params, const bool ignore_offset = false); +} // namespace out_of_lane +} // namespace autoware::motion_velocity_planner + +#endif // FOOTPRINT_HPP_ diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/lanelets_selection.cpp b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/lanelets_selection.cpp new file mode 100644 index 0000000000000..23dbf77f08151 --- /dev/null +++ b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/lanelets_selection.cpp @@ -0,0 +1,126 @@ +// Copyright 2024 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "lanelets_selection.hpp" + +#include + +#include +#include + +#include +#include + +namespace autoware::motion_velocity_planner::out_of_lane +{ + +lanelet::ConstLanelets consecutive_lanelets( + const std::shared_ptr route_handler, + const lanelet::ConstLanelet & lanelet) +{ + lanelet::ConstLanelets consecutives = route_handler->getRoutingGraphPtr()->following(lanelet); + const auto previous = route_handler->getRoutingGraphPtr()->previous(lanelet); + consecutives.insert(consecutives.end(), previous.begin(), previous.end()); + return consecutives; +} + +lanelet::ConstLanelets get_missing_lane_change_lanelets( + lanelet::ConstLanelets & trajectory_lanelets, + const std::shared_ptr route_handler) +{ + lanelet::ConstLanelets missing_lane_change_lanelets; + const auto & routing_graph = *route_handler->getRoutingGraphPtr(); + lanelet::ConstLanelets adjacents; + lanelet::ConstLanelets consecutives; + for (const auto & ll : trajectory_lanelets) { + const auto consecutives_of_ll = consecutive_lanelets(route_handler, ll); + std::copy_if( + consecutives_of_ll.begin(), consecutives_of_ll.end(), std::back_inserter(consecutives), + [&](const auto & l) { return !contains_lanelet(consecutives, l.id()); }); + const auto adjacents_of_ll = routing_graph.besides(ll); + std::copy_if( + adjacents_of_ll.begin(), adjacents_of_ll.end(), std::back_inserter(adjacents), + [&](const auto & l) { return !contains_lanelet(adjacents, l.id()); }); + } + std::copy_if( + adjacents.begin(), adjacents.end(), std::back_inserter(missing_lane_change_lanelets), + [&](const auto & l) { + return !contains_lanelet(missing_lane_change_lanelets, l.id()) && + !contains_lanelet(trajectory_lanelets, l.id()) && + contains_lanelet(consecutives, l.id()); + }); + return missing_lane_change_lanelets; +} + +lanelet::ConstLanelets calculate_trajectory_lanelets( + const EgoData & ego_data, const std::shared_ptr route_handler) +{ + const auto lanelet_map_ptr = route_handler->getLaneletMapPtr(); + lanelet::ConstLanelets trajectory_lanelets; + lanelet::BasicLineString2d trajectory_ls; + for (const auto & p : ego_data.trajectory_points) + trajectory_ls.emplace_back(p.pose.position.x, p.pose.position.y); + for (const auto & dist_lanelet : + lanelet::geometry::findWithin2d(lanelet_map_ptr->laneletLayer, trajectory_ls)) { + if (!contains_lanelet(trajectory_lanelets, dist_lanelet.second.id())) + trajectory_lanelets.push_back(dist_lanelet.second); + } + const auto missing_lanelets = + get_missing_lane_change_lanelets(trajectory_lanelets, route_handler); + trajectory_lanelets.insert( + trajectory_lanelets.end(), missing_lanelets.begin(), missing_lanelets.end()); + return trajectory_lanelets; +} + +lanelet::ConstLanelets calculate_ignored_lanelets( + const EgoData & ego_data, const lanelet::ConstLanelets & trajectory_lanelets, + const std::shared_ptr route_handler, + const PlannerParam & params) +{ + lanelet::ConstLanelets ignored_lanelets; + // ignore lanelets directly behind ego + const auto behind = + tier4_autoware_utils::calcOffsetPose(ego_data.pose, params.rear_offset, 0.0, 0.0); + const lanelet::BasicPoint2d behind_point(behind.position.x, behind.position.y); + const auto behind_lanelets = lanelet::geometry::findWithin2d( + route_handler->getLaneletMapPtr()->laneletLayer, behind_point, 0.0); + for (const auto & l : behind_lanelets) { + const auto is_trajectory_lanelet = contains_lanelet(trajectory_lanelets, l.second.id()); + if (!is_trajectory_lanelet) ignored_lanelets.push_back(l.second); + } + return ignored_lanelets; +} + +lanelet::ConstLanelets calculate_other_lanelets( + const EgoData & ego_data, const lanelet::ConstLanelets & trajectory_lanelets, + const lanelet::ConstLanelets & ignored_lanelets, + const std::shared_ptr route_handler, + const PlannerParam & params) +{ + lanelet::ConstLanelets other_lanelets; + const lanelet::BasicPoint2d ego_point(ego_data.pose.position.x, ego_data.pose.position.y); + const auto lanelets_within_range = lanelet::geometry::findWithin2d( + route_handler->getLaneletMapPtr()->laneletLayer, ego_point, + std::max(params.slow_dist_threshold, params.stop_dist_threshold) + params.front_offset + + params.extra_front_offset); + for (const auto & ll : lanelets_within_range) { + if (std::string(ll.second.attributeOr(lanelet::AttributeName::Subtype, "none")) != "road") + continue; + const auto is_trajectory_lanelet = contains_lanelet(trajectory_lanelets, ll.second.id()); + const auto is_ignored_lanelet = contains_lanelet(ignored_lanelets, ll.second.id()); + if (!is_trajectory_lanelet && !is_ignored_lanelet) other_lanelets.push_back(ll.second); + } + return other_lanelets; +} +} // namespace autoware::motion_velocity_planner::out_of_lane diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/lanelets_selection.hpp b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/lanelets_selection.hpp new file mode 100644 index 0000000000000..c7351f0a98e89 --- /dev/null +++ b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/lanelets_selection.hpp @@ -0,0 +1,80 @@ +// Copyright 2024 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#ifndef LANELETS_SELECTION_HPP_ +#define LANELETS_SELECTION_HPP_ + +#include "types.hpp" + +#include + +#include + +#include + +namespace autoware::motion_velocity_planner::out_of_lane +{ +/// @brief checks if a lanelet is already contained in a vector of lanelets +/// @param [in] lanelets vector to check +/// @param [in] id lanelet id to check +/// @return true if the given vector contains a lanelet of the given id +inline bool contains_lanelet(const lanelet::ConstLanelets & lanelets, const lanelet::Id id) +{ + return std::find_if(lanelets.begin(), lanelets.end(), [&](const auto & l) { + return l.id() == id; + }) != lanelets.end(); +}; + +/// @brief calculate lanelets crossed by the ego trajectory +/// @details calculated from the ids of the trajectory msg, the lanelets containing trajectory +/// points +/// @param [in] ego_data data about the ego vehicle +/// @param [in] route_handler route handler +/// @return lanelets crossed by the ego vehicle +lanelet::ConstLanelets calculate_trajectory_lanelets( + const EgoData & ego_data, const std::shared_ptr route_handler); +/// @brief calculate lanelets that may not be crossed by the trajectory but may be overlapped during +/// a lane change +/// @param [in] trajectory_lanelets lanelets driven by the ego vehicle +/// @param [in] route_handler route handler +/// @return lanelets that may be overlapped by a lane change (and are not already in +/// trajectory_lanelets) +lanelet::ConstLanelets get_missing_lane_change_lanelets( + lanelet::ConstLanelets & trajectory_lanelets, + const std::shared_ptr route_handler); +/// @brief calculate lanelets that should be ignored +/// @param [in] ego_data data about the ego vehicle +/// @param [in] trajectory_lanelets lanelets driven by the ego vehicle +/// @param [in] route_handler route handler +/// @param [in] params parameters +/// @return lanelets to ignore +lanelet::ConstLanelets calculate_ignored_lanelets( + const EgoData & ego_data, const lanelet::ConstLanelets & trajectory_lanelets, + const std::shared_ptr route_handler, + const PlannerParam & params); +/// @brief calculate lanelets that should be checked by the module +/// @param [in] ego_data data about the ego vehicle +/// @param [in] trajectory_lanelets lanelets driven by the ego vehicle +/// @param [in] ignored_lanelets lanelets to ignore +/// @param [in] route_handler route handler +/// @param [in] params parameters +/// @return lanelets to check for overlaps +lanelet::ConstLanelets calculate_other_lanelets( + const EgoData & ego_data, const lanelet::ConstLanelets & trajectory_lanelets, + const lanelet::ConstLanelets & ignored_lanelets, + const std::shared_ptr route_handler, + const PlannerParam & params); +} // namespace autoware::motion_velocity_planner::out_of_lane + +#endif // LANELETS_SELECTION_HPP_ diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/out_of_lane_module.cpp b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/out_of_lane_module.cpp new file mode 100644 index 0000000000000..b662186049342 --- /dev/null +++ b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/out_of_lane_module.cpp @@ -0,0 +1,305 @@ +// Copyright 2024 TIER IV, Inc. All rights reserved. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "out_of_lane_module.hpp" + +#include "calculate_slowdown_points.hpp" +#include "debug.hpp" +#include "decisions.hpp" +#include "filter_predicted_objects.hpp" +#include "footprint.hpp" +#include "lanelets_selection.hpp" +#include "overlapping_range.hpp" +#include "types.hpp" + +#include +#include +#include +#include +#include + +#include + +#include + +#include +#include +#include +#include + +namespace autoware::motion_velocity_planner +{ + +using visualization_msgs::msg::Marker; +using visualization_msgs::msg::MarkerArray; + +void OutOfLaneModule::init(rclcpp::Node & node, const std::string & module_name) +{ + module_name_ = module_name; + logger_ = node.get_logger(); + clock_ = node.get_clock(); + init_parameters(node); + velocity_factor_interface_.init(motion_utils::PlanningBehavior::ROUTE_OBSTACLE); + + debug_publisher_ = + node.create_publisher("~/" + ns_ + "/debug_markers", 1); + virtual_wall_publisher_ = + node.create_publisher("~/" + ns_ + "/virtual_walls", 1); +} +void OutOfLaneModule::init_parameters(rclcpp::Node & node) +{ + using tier4_autoware_utils::getOrDeclareParameter; + auto & pp = params_; + + pp.mode = getOrDeclareParameter(node, ns_ + ".mode"); + pp.skip_if_already_overlapping = + getOrDeclareParameter(node, ns_ + ".skip_if_already_overlapping"); + + pp.time_threshold = getOrDeclareParameter(node, ns_ + ".threshold.time_threshold"); + pp.intervals_ego_buffer = getOrDeclareParameter(node, ns_ + ".intervals.ego_time_buffer"); + pp.intervals_obj_buffer = + getOrDeclareParameter(node, ns_ + ".intervals.objects_time_buffer"); + pp.ttc_threshold = getOrDeclareParameter(node, ns_ + ".ttc.threshold"); + + pp.objects_min_vel = getOrDeclareParameter(node, ns_ + ".objects.minimum_velocity"); + pp.objects_use_predicted_paths = + getOrDeclareParameter(node, ns_ + ".objects.use_predicted_paths"); + pp.objects_min_confidence = + getOrDeclareParameter(node, ns_ + ".objects.predicted_path_min_confidence"); + pp.objects_dist_buffer = getOrDeclareParameter(node, ns_ + ".objects.distance_buffer"); + pp.objects_cut_predicted_paths_beyond_red_lights = + getOrDeclareParameter(node, ns_ + ".objects.cut_predicted_paths_beyond_red_lights"); + + pp.overlap_min_dist = getOrDeclareParameter(node, ns_ + ".overlap.minimum_distance"); + pp.overlap_extra_length = getOrDeclareParameter(node, ns_ + ".overlap.extra_length"); + + pp.skip_if_over_max_decel = + getOrDeclareParameter(node, ns_ + ".action.skip_if_over_max_decel"); + pp.precision = getOrDeclareParameter(node, ns_ + ".action.precision"); + pp.min_decision_duration = getOrDeclareParameter(node, ns_ + ".action.min_duration"); + pp.dist_buffer = getOrDeclareParameter(node, ns_ + ".action.distance_buffer"); + pp.slow_velocity = getOrDeclareParameter(node, ns_ + ".action.slowdown.velocity"); + pp.slow_dist_threshold = + getOrDeclareParameter(node, ns_ + ".action.slowdown.distance_threshold"); + pp.stop_dist_threshold = + getOrDeclareParameter(node, ns_ + ".action.stop.distance_threshold"); + + pp.ego_min_velocity = getOrDeclareParameter(node, ns_ + ".ego.min_assumed_velocity"); + pp.extra_front_offset = getOrDeclareParameter(node, ns_ + ".ego.extra_front_offset"); + pp.extra_rear_offset = getOrDeclareParameter(node, ns_ + ".ego.extra_rear_offset"); + pp.extra_left_offset = getOrDeclareParameter(node, ns_ + ".ego.extra_left_offset"); + pp.extra_right_offset = getOrDeclareParameter(node, ns_ + ".ego.extra_right_offset"); + const auto vehicle_info = vehicle_info_util::VehicleInfoUtil(node).getVehicleInfo(); + pp.front_offset = vehicle_info.max_longitudinal_offset_m; + pp.rear_offset = vehicle_info.min_longitudinal_offset_m; + pp.left_offset = vehicle_info.max_lateral_offset_m; + pp.right_offset = vehicle_info.min_lateral_offset_m; +} + +void OutOfLaneModule::update_parameters(const std::vector & parameters) +{ + using tier4_autoware_utils::updateParam; + auto & pp = params_; + updateParam(parameters, ns_ + ".mode", pp.mode); + updateParam(parameters, ns_ + ".skip_if_already_overlapping", pp.skip_if_already_overlapping); + + updateParam(parameters, ns_ + ".threshold.time_threshold", pp.time_threshold); + updateParam(parameters, ns_ + ".intervals.ego_time_buffer", pp.intervals_ego_buffer); + updateParam(parameters, ns_ + ".intervals.objects_time_buffer", pp.intervals_obj_buffer); + updateParam(parameters, ns_ + ".ttc.threshold", pp.ttc_threshold); + + updateParam(parameters, ns_ + ".objects.minimum_velocity", pp.objects_min_vel); + updateParam(parameters, ns_ + ".objects.use_predicted_paths", pp.objects_use_predicted_paths); + updateParam( + parameters, ns_ + ".objects.predicted_path_min_confidence", pp.objects_min_confidence); + updateParam(parameters, ns_ + ".objects.distance_buffer", pp.objects_dist_buffer); + updateParam( + parameters, ns_ + ".objects.cut_predicted_paths_beyond_red_lights", + pp.objects_cut_predicted_paths_beyond_red_lights); + + updateParam(parameters, ns_ + ".overlap.minimum_distance", pp.overlap_min_dist); + updateParam(parameters, ns_ + ".overlap.extra_length", pp.overlap_extra_length); + + updateParam(parameters, ns_ + ".action.skip_if_over_max_decel", pp.skip_if_over_max_decel); + updateParam(parameters, ns_ + ".action.precision", pp.precision); + updateParam(parameters, ns_ + ".action.min_duration", pp.min_decision_duration); + updateParam(parameters, ns_ + ".action.distance_buffer", pp.dist_buffer); + updateParam(parameters, ns_ + ".action.slowdown.velocity", pp.slow_velocity); + updateParam(parameters, ns_ + ".action.slowdown.distance_threshold", pp.slow_dist_threshold); + updateParam(parameters, ns_ + ".action.stop.distance_threshold", pp.stop_dist_threshold); + + updateParam(parameters, ns_ + ".ego.min_assumed_velocity", pp.ego_min_velocity); + updateParam(parameters, ns_ + ".ego.extra_front_offset", pp.extra_front_offset); + updateParam(parameters, ns_ + ".ego.extra_rear_offset", pp.extra_rear_offset); + updateParam(parameters, ns_ + ".ego.extra_left_offset", pp.extra_left_offset); + updateParam(parameters, ns_ + ".ego.extra_right_offset", pp.extra_right_offset); +} + +VelocityPlanningResult OutOfLaneModule::plan( + const std::vector & ego_trajectory_points, + const std::shared_ptr planner_data) +{ + VelocityPlanningResult result; + tier4_autoware_utils::StopWatch stopwatch; + stopwatch.tic(); + out_of_lane::EgoData ego_data; + ego_data.pose = planner_data->current_odometry->pose; + ego_data.trajectory_points = ego_trajectory_points; + ego_data.first_trajectory_idx = + motion_utils::findNearestSegmentIndex(ego_trajectory_points, ego_data.pose.position); + ego_data.velocity = planner_data->current_velocity->twist.linear.x; + ego_data.max_decel = planner_data->velocity_smoother_->getMinDecel(); + stopwatch.tic("calculate_trajectory_footprints"); + const auto current_ego_footprint = + out_of_lane::calculate_current_ego_footprint(ego_data, params_, true); + const auto trajectory_footprints = + out_of_lane::calculate_trajectory_footprints(ego_data, params_); + const auto calculate_trajectory_footprints_us = stopwatch.toc("calculate_trajectory_footprints"); + // Calculate lanelets to ignore and consider + stopwatch.tic("calculate_lanelets"); + const auto trajectory_lanelets = + out_of_lane::calculate_trajectory_lanelets(ego_data, planner_data->route_handler); + const auto ignored_lanelets = out_of_lane::calculate_ignored_lanelets( + ego_data, trajectory_lanelets, planner_data->route_handler, params_); + const auto other_lanelets = out_of_lane::calculate_other_lanelets( + ego_data, trajectory_lanelets, ignored_lanelets, planner_data->route_handler, params_); + const auto calculate_lanelets_us = stopwatch.toc("calculate_lanelets"); + + debug_data_.reset_data(); + debug_data_.trajectory_points = ego_trajectory_points; + debug_data_.footprints = trajectory_footprints; + debug_data_.trajectory_lanelets = trajectory_lanelets; + debug_data_.ignored_lanelets = ignored_lanelets; + debug_data_.other_lanelets = other_lanelets; + debug_data_.first_trajectory_idx = ego_data.first_trajectory_idx; + + if (params_.skip_if_already_overlapping) { + debug_data_.current_footprint = current_ego_footprint; + const auto overlapped_lanelet_it = + std::find_if(other_lanelets.begin(), other_lanelets.end(), [&](const auto & ll) { + return boost::geometry::intersects(ll.polygon2d().basicPolygon(), current_ego_footprint); + }); + if (overlapped_lanelet_it != other_lanelets.end()) { + debug_data_.current_overlapped_lanelets.push_back(*overlapped_lanelet_it); + RCLCPP_DEBUG(logger_, "Ego is already overlapping a lane, skipping the module\n"); + return result; + } + } + // Calculate overlapping ranges + stopwatch.tic("calculate_overlapping_ranges"); + const auto ranges = out_of_lane::calculate_overlapping_ranges( + trajectory_footprints, trajectory_lanelets, other_lanelets, params_); + const auto calculate_overlapping_ranges_us = stopwatch.toc("calculate_overlapping_ranges"); + // Calculate stop and slowdown points + out_of_lane::DecisionInputs inputs; + inputs.ranges = ranges; + inputs.ego_data = ego_data; + stopwatch.tic("filter_predicted_objects"); + inputs.objects = out_of_lane::filter_predicted_objects(planner_data, ego_data, params_); + const auto filter_predicted_objects_ms = stopwatch.toc("filter_predicted_objects"); + inputs.route_handler = planner_data->route_handler; + inputs.lanelets = other_lanelets; + stopwatch.tic("calculate_decisions"); + const auto decisions = out_of_lane::calculate_decisions(inputs, params_, logger_); + const auto calculate_decisions_us = stopwatch.toc("calculate_decisions"); + stopwatch.tic("calc_slowdown_points"); + if ( // reset the previous inserted point if the timer expired + prev_inserted_point_ && + (clock_->now() - prev_inserted_point_time_).seconds() > params_.min_decision_duration) + prev_inserted_point_.reset(); + auto point_to_insert = + out_of_lane::calculate_slowdown_point(ego_data, decisions, prev_inserted_point_, params_); + const auto calc_slowdown_points_us = stopwatch.toc("calc_slowdown_points"); + stopwatch.tic("insert_slowdown_points"); + debug_data_.slowdowns.clear(); + if ( // reset the timer if there is no previous inserted point or if we avoid the same lane + point_to_insert && + (!prev_inserted_point_ || prev_inserted_point_->slowdown.lane_to_avoid.id() == + point_to_insert->slowdown.lane_to_avoid.id())) + prev_inserted_point_time_ = clock_->now(); + // reuse previous stop point if there is no new one or if its velocity is not higher than the new + // one and its arc length is lower + const auto should_use_prev_inserted_point = [&]() { + if ( + point_to_insert && prev_inserted_point_ && + prev_inserted_point_->slowdown.velocity <= point_to_insert->slowdown.velocity) { + const auto arc_length = motion_utils::calcSignedArcLength( + ego_trajectory_points, 0LU, point_to_insert->point.pose.position); + const auto prev_arc_length = motion_utils::calcSignedArcLength( + ego_trajectory_points, 0LU, prev_inserted_point_->point.pose.position); + return prev_arc_length < arc_length; + } + return !point_to_insert && prev_inserted_point_; + }(); + if (should_use_prev_inserted_point) { + // if the trajectory changed the prev point is no longer on the trajectory so we project it + const auto insert_arc_length = motion_utils::calcSignedArcLength( + ego_trajectory_points, 0LU, prev_inserted_point_->point.pose.position); + prev_inserted_point_->point.pose = + motion_utils::calcInterpolatedPose(ego_trajectory_points, insert_arc_length); + point_to_insert = prev_inserted_point_; + } + if (point_to_insert) { + prev_inserted_point_ = point_to_insert; + RCLCPP_DEBUG(logger_, "Avoiding lane %lu", point_to_insert->slowdown.lane_to_avoid.id()); + debug_data_.slowdowns = {*point_to_insert}; + if (point_to_insert->slowdown.velocity == 0.0) + result.stop_points.push_back(point_to_insert->point.pose.position); + else + result.slowdown_intervals.emplace_back( + point_to_insert->point.pose.position, point_to_insert->point.pose.position, + point_to_insert->slowdown.velocity); + + const auto is_approaching = motion_utils::calcSignedArcLength( + ego_trajectory_points, ego_data.pose.position, + point_to_insert->point.pose.position) > 0.1 && + ego_data.velocity > 0.1; + const auto status = is_approaching ? motion_utils::VelocityFactor::APPROACHING + : motion_utils::VelocityFactor::STOPPED; + velocity_factor_interface_.set( + ego_trajectory_points, ego_data.pose, point_to_insert->point.pose, status, "out_of_lane"); + result.velocity_factor = velocity_factor_interface_.get(); + } else if (!decisions.empty()) { + RCLCPP_WARN(logger_, "Could not insert stop point (would violate max deceleration limits)"); + } + const auto insert_slowdown_points_us = stopwatch.toc("insert_slowdown_points"); + debug_data_.ranges = inputs.ranges; + + const auto total_time_us = stopwatch.toc(); + RCLCPP_DEBUG( + logger_, + "Total time = %2.2fus\n" + "\tcalculate_lanelets = %2.0fus\n" + "\tcalculate_trajectory_footprints = %2.0fus\n" + "\tcalculate_overlapping_ranges = %2.0fus\n" + "\tfilter_pred_objects = %2.0fus\n" + "\tcalculate_decisions = %2.0fus\n" + "\tcalc_slowdown_points = %2.0fus\n" + "\tinsert_slowdown_points = %2.0fus\n", + total_time_us, calculate_lanelets_us, calculate_trajectory_footprints_us, + calculate_overlapping_ranges_us, filter_predicted_objects_ms, calculate_decisions_us, + calc_slowdown_points_us, insert_slowdown_points_us); + debug_publisher_->publish(out_of_lane::debug::create_debug_marker_array(debug_data_)); + virtual_wall_marker_creator.add_virtual_walls( + out_of_lane::debug::create_virtual_walls(debug_data_, params_)); + virtual_wall_publisher_->publish(virtual_wall_marker_creator.create_markers(clock_->now())); + return result; +} + +} // namespace autoware::motion_velocity_planner + +#include +PLUGINLIB_EXPORT_CLASS( + autoware::motion_velocity_planner::OutOfLaneModule, + autoware::motion_velocity_planner::PluginModuleInterface) diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/out_of_lane_module.hpp b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/out_of_lane_module.hpp new file mode 100644 index 0000000000000..8a20d5c850a09 --- /dev/null +++ b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/out_of_lane_module.hpp @@ -0,0 +1,63 @@ +// Copyright 2024 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#ifndef OUT_OF_LANE_MODULE_HPP_ +#define OUT_OF_LANE_MODULE_HPP_ + +#include "types.hpp" + +#include +#include +#include +#include + +#include +#include +#include + +#include + +#include +#include +#include + +namespace autoware::motion_velocity_planner +{ +class OutOfLaneModule : public PluginModuleInterface +{ +public: + void init(rclcpp::Node & node, const std::string & module_name) override; + void update_parameters(const std::vector & parameters) override; + VelocityPlanningResult plan( + const std::vector & ego_trajectory_points, + const std::shared_ptr planner_data) override; + std::string get_module_name() const override { return module_name_; } + +private: + void init_parameters(rclcpp::Node & node); + out_of_lane::PlannerParam params_; + + inline static const std::string ns_ = "out_of_lane"; + std::string module_name_; + std::optional prev_inserted_point_{}; + rclcpp::Clock::SharedPtr clock_{}; + rclcpp::Time prev_inserted_point_time_{}; + +protected: + // Debug + mutable out_of_lane::DebugData debug_data_; +}; +} // namespace autoware::motion_velocity_planner + +#endif // OUT_OF_LANE_MODULE_HPP_ diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/overlapping_range.cpp b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/overlapping_range.cpp new file mode 100644 index 0000000000000..f89c620b75fb6 --- /dev/null +++ b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/overlapping_range.cpp @@ -0,0 +1,127 @@ +// Copyright 2024 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "overlapping_range.hpp" + +#include +#include + +#include + +#include +#include + +#include + +namespace autoware::motion_velocity_planner::out_of_lane +{ + +Overlap calculate_overlap( + const lanelet::BasicPolygon2d & trajectory_footprint, + const lanelet::ConstLanelets & trajectory_lanelets, const lanelet::ConstLanelet & lanelet) +{ + Overlap overlap; + const auto & left_bound = lanelet.leftBound2d().basicLineString(); + const auto & right_bound = lanelet.rightBound2d().basicLineString(); + // TODO(Maxime): these intersects (for each trajectory footprint, for each lanelet) are too + // expensive + const auto overlap_left = boost::geometry::intersects(trajectory_footprint, left_bound); + const auto overlap_right = boost::geometry::intersects(trajectory_footprint, right_bound); + + lanelet::BasicPolygons2d overlapping_polygons; + if (overlap_left || overlap_right) + boost::geometry::intersection( + trajectory_footprint, lanelet.polygon2d().basicPolygon(), overlapping_polygons); + for (const auto & overlapping_polygon : overlapping_polygons) { + for (const auto & point : overlapping_polygon) { + if (overlap_left && overlap_right) + overlap.inside_distance = boost::geometry::distance(left_bound, right_bound); + else if (overlap_left) + overlap.inside_distance = + std::max(overlap.inside_distance, boost::geometry::distance(point, left_bound)); + else if (overlap_right) + overlap.inside_distance = + std::max(overlap.inside_distance, boost::geometry::distance(point, right_bound)); + geometry_msgs::msg::Pose p; + p.position.x = point.x(); + p.position.y = point.y(); + const auto length = lanelet::utils::getArcCoordinates(trajectory_lanelets, p).length; + if (length > overlap.max_arc_length) { + overlap.max_arc_length = length; + overlap.max_overlap_point = point; + } + if (length < overlap.min_arc_length) { + overlap.min_arc_length = length; + overlap.min_overlap_point = point; + } + } + } + return overlap; +} + +OverlapRanges calculate_overlapping_ranges( + const std::vector & trajectory_footprints, + const lanelet::ConstLanelets & trajectory_lanelets, const lanelet::ConstLanelet & lanelet, + const PlannerParam & params) +{ + OverlapRanges ranges; + OtherLane other_lane(lanelet); + std::vector overlaps; + for (auto i = 0UL; i < trajectory_footprints.size(); ++i) { + const auto overlap = calculate_overlap(trajectory_footprints[i], trajectory_lanelets, lanelet); + const auto has_overlap = overlap.inside_distance > params.overlap_min_dist; + if (has_overlap) { // open/update the range + overlaps.push_back(overlap); + if (!other_lane.range_is_open) { + other_lane.first_range_bound.index = i; + other_lane.first_range_bound.point = overlap.min_overlap_point; + other_lane.first_range_bound.arc_length = + overlap.min_arc_length - params.overlap_extra_length; + other_lane.first_range_bound.inside_distance = overlap.inside_distance; + other_lane.range_is_open = true; + } + other_lane.last_range_bound.index = i; + other_lane.last_range_bound.point = overlap.max_overlap_point; + other_lane.last_range_bound.arc_length = overlap.max_arc_length + params.overlap_extra_length; + other_lane.last_range_bound.inside_distance = overlap.inside_distance; + } else if (other_lane.range_is_open) { // !has_overlap: close the range if it is open + ranges.push_back(other_lane.close_range()); + ranges.back().debug.overlaps = overlaps; + overlaps.clear(); + } + } + // close the range if it is still open + if (other_lane.range_is_open) { + ranges.push_back(other_lane.close_range()); + ranges.back().debug.overlaps = overlaps; + overlaps.clear(); + } + return ranges; +} + +OverlapRanges calculate_overlapping_ranges( + const std::vector & trajectory_footprints, + const lanelet::ConstLanelets & trajectory_lanelets, const lanelet::ConstLanelets & lanelets, + const PlannerParam & params) +{ + OverlapRanges ranges; + for (auto & lanelet : lanelets) { + const auto lanelet_ranges = + calculate_overlapping_ranges(trajectory_footprints, trajectory_lanelets, lanelet, params); + ranges.insert(ranges.end(), lanelet_ranges.begin(), lanelet_ranges.end()); + } + return ranges; +} + +} // namespace autoware::motion_velocity_planner::out_of_lane diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/overlapping_range.hpp b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/overlapping_range.hpp new file mode 100644 index 0000000000000..07c8663ea21bc --- /dev/null +++ b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/overlapping_range.hpp @@ -0,0 +1,63 @@ +// Copyright 2024 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#ifndef OVERLAPPING_RANGE_HPP_ +#define OVERLAPPING_RANGE_HPP_ + +#include "types.hpp" + +#include + +#include + +#include + +namespace autoware::motion_velocity_planner::out_of_lane +{ + +/// @brief calculate the overlap between the given footprint and lanelet +/// @param [in] path_footprint footprint used to calculate the overlap +/// @param [in] trajectory_lanelets trajectory lanelets used to calculate arc length along the ego +/// trajectory +/// @param [in] lanelet lanelet used to calculate the overlap +/// @return the found overlap between the footprint and the lanelet +Overlap calculate_overlap( + const lanelet::BasicPolygon2d & trajectory_footprint, + const lanelet::ConstLanelets & trajectory_lanelets, const lanelet::ConstLanelet & lanelet); +/// @brief calculate the overlapping ranges between the trajectory footprints and a lanelet +/// @param [in] trajectory_footprints footprints used to calculate the overlaps +/// @param [in] trajectory_lanelets trajectory lanelets used to calculate arc length along the ego +/// trajectory +/// @param [in] lanelet lanelet used to calculate the overlaps +/// @param [in] params parameters +/// @return the overlapping ranges found between the footprints and the lanelet +OverlapRanges calculate_overlapping_ranges( + const std::vector & trajectory_footprints, + const lanelet::ConstLanelets & trajectory_lanelets, const lanelet::ConstLanelet & lanelet, + const PlannerParam & params); +/// @brief calculate the overlapping ranges between the trajectory footprints and some lanelets +/// @param [in] trajectory_footprints footprints used to calculate the overlaps +/// @param [in] trajectory_lanelets trajectory lanelets used to calculate arc length along the ego +/// trajectory +/// @param [in] lanelets lanelets used to calculate the overlaps +/// @param [in] params parameters +/// @return the overlapping ranges found between the footprints and the lanelets, sorted by +/// increasing arc length along the trajectory +OverlapRanges calculate_overlapping_ranges( + const std::vector & trajectory_footprints, + const lanelet::ConstLanelets & trajectory_lanelets, const lanelet::ConstLanelets & lanelets, + const PlannerParam & params); +} // namespace autoware::motion_velocity_planner::out_of_lane + +#endif // OVERLAPPING_RANGE_HPP_ diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/types.hpp b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/types.hpp new file mode 100644 index 0000000000000..04f9f1ccac4c2 --- /dev/null +++ b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/types.hpp @@ -0,0 +1,236 @@ +// Copyright 2024 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#ifndef TYPES_HPP_ +#define TYPES_HPP_ + +#include + +#include +#include +#include +#include + +#include + +#include +#include +#include +#include +#include +#include +#include + +namespace autoware::motion_velocity_planner::out_of_lane +{ +using autoware_auto_planning_msgs::msg::TrajectoryPoint; + +/// @brief parameters for the "out of lane" module +struct PlannerParam +{ + std::string mode; // mode used to consider a conflict with an object + bool skip_if_already_overlapping; // if true, do not run the module when ego already overlaps + // another lane + + double time_threshold; // [s](mode="threshold") objects time threshold + double intervals_ego_buffer; // [s](mode="intervals") buffer to extend the ego time range + double intervals_obj_buffer; // [s](mode="intervals") buffer to extend the objects time range + double ttc_threshold; // [s](mode="ttc") threshold on time to collision between ego and an object + double ego_min_velocity; // [m/s] minimum velocity of ego used to calculate its ttc or time range + + bool objects_use_predicted_paths; // whether to use the objects' predicted paths + bool objects_cut_predicted_paths_beyond_red_lights; // whether to cut predicted paths beyond red + // lights' stop lines + double objects_min_vel; // [m/s] objects lower than this velocity will be ignored + double objects_min_confidence; // minimum confidence to consider a predicted path + double objects_dist_buffer; // [m] distance buffer used to determine if a collision will occur in + // the other lane + + double overlap_extra_length; // [m] extra length to add around an overlap range + double overlap_min_dist; // [m] min distance inside another lane to consider an overlap + // action to insert in the trajectory if an object causes a conflict at an overlap + bool skip_if_over_max_decel; // if true, skip the action if it causes more than the max decel + double dist_buffer; + double slow_velocity; + double slow_dist_threshold; + double stop_dist_threshold; + double precision; // [m] precision when inserting a stop pose in the trajectory + double min_decision_duration; // [s] minimum duration needed a decision can be canceled + // ego dimensions used to create its polygon footprint + double front_offset; // [m] front offset (from vehicle info) + double rear_offset; // [m] rear offset (from vehicle info) + double right_offset; // [m] right offset (from vehicle info) + double left_offset; // [m] left offset (from vehicle info) + double extra_front_offset; // [m] extra front distance + double extra_rear_offset; // [m] extra rear distance + double extra_right_offset; // [m] extra right distance + double extra_left_offset; // [m] extra left distance +}; + +struct EnterExitTimes +{ + double enter_time{}; + double exit_time{}; +}; +struct RangeTimes +{ + EnterExitTimes ego{}; + EnterExitTimes object{}; +}; + +/// @brief action taken by the "out of lane" module +struct Slowdown +{ + size_t target_trajectory_idx{}; // we want to slowdown before this trajectory index + double velocity{}; // desired slow down velocity + lanelet::ConstLanelet lane_to_avoid{}; // we want to slowdown before entering this lane +}; +/// @brief slowdown to insert in a trajectory +struct SlowdownToInsert +{ + Slowdown slowdown{}; + autoware_auto_planning_msgs::msg::TrajectoryPoint point{}; +}; + +/// @brief bound of an overlap range (either the first, or last bound) +struct RangeBound +{ + size_t index{}; + lanelet::BasicPoint2d point{}; + double arc_length{}; + double inside_distance{}; +}; + +/// @brief representation of an overlap between the ego footprint and some other lane +struct Overlap +{ + double inside_distance = 0.0; ///!< distance inside the overlap + double min_arc_length = std::numeric_limits::infinity(); + double max_arc_length = 0.0; + lanelet::BasicPoint2d min_overlap_point{}; ///!< point with min arc length + lanelet::BasicPoint2d max_overlap_point{}; ///!< point with max arc length +}; + +/// @brief range along the trajectory where ego overlaps another lane +struct OverlapRange +{ + lanelet::ConstLanelet lane{}; + size_t entering_trajectory_idx{}; + size_t exiting_trajectory_idx{}; + lanelet::BasicPoint2d entering_point{}; // pose of the overlapping point closest along the lane + lanelet::BasicPoint2d exiting_point{}; // pose of the overlapping point furthest along the lane + double inside_distance{}; // [m] how much ego footprint enters the lane + mutable struct + { + std::vector overlaps{}; + std::optional decision{}; + RangeTimes times{}; + std::optional object{}; + } debug; +}; +using OverlapRanges = std::vector; +/// @brief representation of a lane and its current overlap range +struct OtherLane +{ + bool range_is_open = false; + RangeBound first_range_bound{}; + RangeBound last_range_bound{}; + lanelet::ConstLanelet lanelet{}; + lanelet::BasicPolygon2d polygon{}; + + explicit OtherLane(lanelet::ConstLanelet ll) : lanelet(std::move(ll)) + { + polygon = lanelet.polygon2d().basicPolygon(); + } + + [[nodiscard]] OverlapRange close_range() + { + OverlapRange range; + range.lane = lanelet; + range.entering_trajectory_idx = first_range_bound.index; + range.entering_point = first_range_bound.point; + range.exiting_trajectory_idx = last_range_bound.index; + range.exiting_point = last_range_bound.point; + range.inside_distance = + std::max(first_range_bound.inside_distance, last_range_bound.inside_distance); + range_is_open = false; + last_range_bound = {}; + return range; + } +}; + +/// @brief data related to the ego vehicle +struct EgoData +{ + std::vector trajectory_points{}; + size_t first_trajectory_idx{}; + double velocity{}; // [m/s] + double max_decel{}; // [m/s²] + geometry_msgs::msg::Pose pose{}; +}; + +/// @brief data needed to make decisions +struct DecisionInputs +{ + OverlapRanges ranges{}; + EgoData ego_data{}; + autoware_auto_perception_msgs::msg::PredictedObjects objects{}; + std::shared_ptr route_handler{}; + lanelet::ConstLanelets lanelets{}; +}; + +/// @brief debug data +struct DebugData +{ + std::vector footprints; + std::vector slowdowns; + geometry_msgs::msg::Pose ego_pose; + OverlapRanges ranges; + lanelet::BasicPolygon2d current_footprint; + lanelet::ConstLanelets current_overlapped_lanelets; + lanelet::ConstLanelets trajectory_lanelets; + lanelet::ConstLanelets ignored_lanelets; + lanelet::ConstLanelets other_lanelets; + std::vector trajectory_points; + size_t first_trajectory_idx; + + size_t prev_footprints = 0; + size_t prev_slowdowns = 0; + size_t prev_ranges = 0; + size_t prev_current_overlapped_lanelets = 0; + size_t prev_ignored_lanelets = 0; + size_t prev_trajectory_lanelets = 0; + size_t prev_other_lanelets = 0; + void reset_data() + { + prev_footprints = footprints.size(); + footprints.clear(); + prev_slowdowns = slowdowns.size(); + slowdowns.clear(); + prev_ranges = ranges.size(); + ranges.clear(); + prev_current_overlapped_lanelets = current_overlapped_lanelets.size(); + current_overlapped_lanelets.clear(); + prev_ignored_lanelets = ignored_lanelets.size(); + ignored_lanelets.clear(); + prev_trajectory_lanelets = trajectory_lanelets.size(); + trajectory_lanelets.clear(); + prev_other_lanelets = other_lanelets.size(); + other_lanelets.clear(); + } +}; + +} // namespace autoware::motion_velocity_planner::out_of_lane + +#endif // TYPES_HPP_ diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/test/test_filter_predicted_objects.cpp b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/test/test_filter_predicted_objects.cpp new file mode 100644 index 0000000000000..4961cd064efaf --- /dev/null +++ b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/test/test_filter_predicted_objects.cpp @@ -0,0 +1,58 @@ +// Copyright 2024 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "../src/filter_predicted_objects.hpp" + +#include +#include +#include + +#include +#include + +TEST(TestCollisionDistance, CutPredictedPathBeyondLine) +{ + using autoware::motion_velocity_planner::out_of_lane::cut_predicted_path_beyond_line; + autoware_auto_perception_msgs::msg::PredictedPath predicted_path; + lanelet::BasicLineString2d stop_line; + double object_front_overhang = 0.0; + const auto eps = 1e-9; + + EXPECT_NO_THROW(cut_predicted_path_beyond_line(predicted_path, stop_line, object_front_overhang)); + + geometry_msgs::msg::Pose pose; + pose.position.x = 0.0; + pose.position.y = 0.0; + predicted_path.path.push_back(pose); + pose.position.y = 1.0; + predicted_path.path.push_back(pose); + pose.position.y = 2.0; + predicted_path.path.push_back(pose); + pose.position.y = 3.0; + predicted_path.path.push_back(pose); + + cut_predicted_path_beyond_line(predicted_path, stop_line, object_front_overhang); + EXPECT_EQ(predicted_path.path.size(), 4UL); + for (auto i = 0UL; i < predicted_path.path.size(); ++i) { + EXPECT_EQ(predicted_path.path[i].position.x, 0.0); + EXPECT_NEAR(predicted_path.path[i].position.y, static_cast(i), eps); + } + stop_line = {{-1.0, 2.0}, {1.0, 2.0}}; + cut_predicted_path_beyond_line(predicted_path, stop_line, object_front_overhang); + EXPECT_EQ(predicted_path.path.size(), 2UL); + for (auto i = 0UL; i < predicted_path.path.size(); ++i) { + EXPECT_EQ(predicted_path.path[i].position.x, 0.0); + EXPECT_NEAR(predicted_path.path[i].position.y, static_cast(i), eps); + } +} diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_planner_common/CMakeLists.txt b/planning/motion_velocity_planner/autoware_motion_velocity_planner_common/CMakeLists.txt new file mode 100644 index 0000000000000..f1eb7ff047fdc --- /dev/null +++ b/planning/motion_velocity_planner/autoware_motion_velocity_planner_common/CMakeLists.txt @@ -0,0 +1,14 @@ +cmake_minimum_required(VERSION 3.14) +project(autoware_motion_velocity_planner_common) + +find_package(autoware_cmake REQUIRED) + +autoware_package() + +# ament_auto_add_library(${PROJECT_NAME}_lib SHARED +# DIRECTORY src +# ) + +ament_auto_package(INSTALL_TO_SHARE + include +) diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_planner_common/include/autoware_motion_velocity_planner_common/planner_data.hpp b/planning/motion_velocity_planner/autoware_motion_velocity_planner_common/include/autoware_motion_velocity_planner_common/planner_data.hpp new file mode 100644 index 0000000000000..84591f9429a66 --- /dev/null +++ b/planning/motion_velocity_planner/autoware_motion_velocity_planner_common/include/autoware_motion_velocity_planner_common/planner_data.hpp @@ -0,0 +1,106 @@ +// Copyright 2024 Autoware Foundation +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#ifndef AUTOWARE_MOTION_VELOCITY_PLANNER_COMMON__PLANNER_DATA_HPP_ +#define AUTOWARE_MOTION_VELOCITY_PLANNER_COMMON__PLANNER_DATA_HPP_ + +#include +#include +#include + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include +#include +#include + +#include +#include +#include +#include +#include +#include + +namespace autoware::motion_velocity_planner +{ +struct TrafficSignalStamped +{ + builtin_interfaces::msg::Time stamp; + autoware_perception_msgs::msg::TrafficSignal signal; +}; +struct PlannerData +{ + explicit PlannerData(rclcpp::Node & node) + : vehicle_info_(vehicle_info_util::VehicleInfoUtil(node).getVehicleInfo()) + { + } + + // msgs from callbacks that are used for data-ready + geometry_msgs::msg::PoseStamped::ConstSharedPtr current_odometry; + geometry_msgs::msg::TwistStamped::ConstSharedPtr current_velocity; + geometry_msgs::msg::AccelWithCovarianceStamped::ConstSharedPtr current_acceleration; + autoware_auto_perception_msgs::msg::PredictedObjects::ConstSharedPtr predicted_objects; + pcl::PointCloud::ConstPtr no_ground_pointcloud; + nav_msgs::msg::OccupancyGrid::ConstSharedPtr occupancy_grid; + std::shared_ptr route_handler; + + // nearest search + double ego_nearest_dist_threshold; + double ego_nearest_yaw_threshold; + + // other internal data + // traffic_light_id_map_raw is the raw observation, while traffic_light_id_map_keep_last keeps the + // last observed infomation for UNKNOWN + std::map traffic_light_id_map_raw_; + std::map traffic_light_id_map_last_observed_; + std::optional external_velocity_limit; + tier4_v2x_msgs::msg::VirtualTrafficLightStateArray::ConstSharedPtr virtual_traffic_light_states; + + // velocity smoother + std::shared_ptr velocity_smoother_{}; + // parameters + vehicle_info_util::VehicleInfo vehicle_info_; + + /** + *@fn + *@brief queries the traffic signal information of given Id. if keep_last_observation = true, + *recent UNKNOWN observation is overwritten as the last non-UNKNOWN observation + */ + std::optional get_traffic_signal( + const lanelet::Id id, const bool keep_last_observation = false) const + { + const auto & traffic_light_id_map = + keep_last_observation ? traffic_light_id_map_last_observed_ : traffic_light_id_map_raw_; + if (traffic_light_id_map.count(id) == 0) { + return std::nullopt; + } + return std::make_optional(traffic_light_id_map.at(id)); + } +}; +} // namespace autoware::motion_velocity_planner + +#endif // AUTOWARE_MOTION_VELOCITY_PLANNER_COMMON__PLANNER_DATA_HPP_ diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_planner_common/include/autoware_motion_velocity_planner_common/plugin_module_interface.hpp b/planning/motion_velocity_planner/autoware_motion_velocity_planner_common/include/autoware_motion_velocity_planner_common/plugin_module_interface.hpp new file mode 100644 index 0000000000000..9011d3fb7e079 --- /dev/null +++ b/planning/motion_velocity_planner/autoware_motion_velocity_planner_common/include/autoware_motion_velocity_planner_common/plugin_module_interface.hpp @@ -0,0 +1,52 @@ +// Copyright 2024 The Autoware Contributors +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#ifndef AUTOWARE_MOTION_VELOCITY_PLANNER_COMMON__PLUGIN_MODULE_INTERFACE_HPP_ +#define AUTOWARE_MOTION_VELOCITY_PLANNER_COMMON__PLUGIN_MODULE_INTERFACE_HPP_ + +#include "planner_data.hpp" +#include "velocity_planning_result.hpp" + +#include +#include + +#include + +#include +#include +#include + +namespace autoware::motion_velocity_planner +{ + +class PluginModuleInterface +{ +public: + virtual ~PluginModuleInterface() = default; + virtual void init(rclcpp::Node & node, const std::string & module_name) = 0; + virtual void update_parameters(const std::vector & parameters) = 0; + virtual VelocityPlanningResult plan( + const std::vector & ego_trajectory_points, + const std::shared_ptr planner_data) = 0; + virtual std::string get_module_name() const = 0; + motion_utils::VelocityFactorInterface velocity_factor_interface_; + rclcpp::Logger logger_ = rclcpp::get_logger(""); + rclcpp::Publisher::SharedPtr debug_publisher_; + rclcpp::Publisher::SharedPtr virtual_wall_publisher_; + motion_utils::VirtualWallMarkerCreator virtual_wall_marker_creator{}; +}; + +} // namespace autoware::motion_velocity_planner + +#endif // AUTOWARE_MOTION_VELOCITY_PLANNER_COMMON__PLUGIN_MODULE_INTERFACE_HPP_ diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_planner_common/include/autoware_motion_velocity_planner_common/velocity_planning_result.hpp b/planning/motion_velocity_planner/autoware_motion_velocity_planner_common/include/autoware_motion_velocity_planner_common/velocity_planning_result.hpp new file mode 100644 index 0000000000000..9b011b74503f2 --- /dev/null +++ b/planning/motion_velocity_planner/autoware_motion_velocity_planner_common/include/autoware_motion_velocity_planner_common/velocity_planning_result.hpp @@ -0,0 +1,50 @@ +// Copyright 2024 Autoware Foundation +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#ifndef AUTOWARE_MOTION_VELOCITY_PLANNER_COMMON__VELOCITY_PLANNING_RESULT_HPP_ +#define AUTOWARE_MOTION_VELOCITY_PLANNER_COMMON__VELOCITY_PLANNING_RESULT_HPP_ + +#include + +#include +#include +#include + +#include +#include +#include + +namespace autoware::motion_velocity_planner +{ +struct SlowdownInterval +{ + SlowdownInterval( + const geometry_msgs::msg::Point & from_, const geometry_msgs::msg::Point & to_, + const double vel) + : from{from_}, to{to_}, velocity{vel} + { + } + geometry_msgs::msg::Point from{}; + geometry_msgs::msg::Point to{}; + double velocity{}; +}; +struct VelocityPlanningResult +{ + std::vector stop_points{}; + std::vector slowdown_intervals{}; + std::optional velocity_factor{}; +}; +} // namespace autoware::motion_velocity_planner + +#endif // AUTOWARE_MOTION_VELOCITY_PLANNER_COMMON__VELOCITY_PLANNING_RESULT_HPP_ diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_planner_common/package.xml b/planning/motion_velocity_planner/autoware_motion_velocity_planner_common/package.xml new file mode 100644 index 0000000000000..ad791d247ee11 --- /dev/null +++ b/planning/motion_velocity_planner/autoware_motion_velocity_planner_common/package.xml @@ -0,0 +1,40 @@ + + + + autoware_motion_velocity_planner_common + 0.1.0 + Common functions and interfaces for motion_velocity_planner modules + + Maxime Clement + + Apache License 2.0 + + Maxime Clement + + ament_cmake_auto + autoware_cmake + eigen3_cmake_module + + autoware_auto_perception_msgs + autoware_auto_planning_msgs + behavior_velocity_planner_common + eigen + geometry_msgs + lanelet2_extension + libboost-dev + motion_utils + motion_velocity_smoother + rclcpp + route_handler + tier4_autoware_utils + tier4_planning_msgs + visualization_msgs + + ament_cmake_ros + ament_lint_auto + autoware_lint_common + + + ament_cmake + + diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/CMakeLists.txt b/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/CMakeLists.txt new file mode 100644 index 0000000000000..0af4da6fd4426 --- /dev/null +++ b/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/CMakeLists.txt @@ -0,0 +1,48 @@ +cmake_minimum_required(VERSION 3.14) +project(autoware_motion_velocity_planner_node) + +find_package(autoware_cmake REQUIRED) +find_package(rosidl_default_generators REQUIRED) + +rosidl_generate_interfaces( + ${PROJECT_NAME} + "srv/LoadPlugin.srv" + "srv/UnloadPlugin.srv" + DEPENDENCIES +) + +autoware_package() + +ament_auto_add_library(${PROJECT_NAME}_lib SHARED + DIRECTORY src +) + +rclcpp_components_register_node(${PROJECT_NAME}_lib + PLUGIN "autoware::motion_velocity_planner::MotionVelocityPlannerNode" + EXECUTABLE ${PROJECT_NAME}_exe +) + +if(${rosidl_cmake_VERSION} VERSION_LESS 2.5.0) + rosidl_target_interfaces(${PROJECT_NAME}_lib + ${PROJECT_NAME} "rosidl_typesupport_cpp") +else() + rosidl_get_typesupport_target( + cpp_typesupport_target ${PROJECT_NAME} "rosidl_typesupport_cpp") + target_link_libraries(${PROJECT_NAME}_lib "${cpp_typesupport_target}") +endif() + +if(BUILD_TESTING) + ament_add_ros_isolated_gtest(test_${PROJECT_NAME} + test/src/test_node_interface.cpp + ) + target_link_libraries(test_${PROJECT_NAME} + gtest_main + ${PROJECT_NAME}_lib + ) + target_include_directories(test_${PROJECT_NAME} PRIVATE src) +endif() + +ament_auto_package(INSTALL_TO_SHARE + launch + config +) diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/README.md b/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/README.md new file mode 100644 index 0000000000000..f8c5eb172abd2 --- /dev/null +++ b/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/README.md @@ -0,0 +1,58 @@ +# Motion Velocity Planner + +## Overview + +`motion_velocity_planner` is a planner to adjust the trajectory velocity based on the obstacles around the vehicle. +It loads modules as plugins. Please refer to the links listed below for detail on each module. + +![Architecture](./docs/MotionVelocityPlanner-InternalInterface.drawio.svg) + +- [Out of Lane](../autoware_motion_velocity_out_of_lane_module/README.md) + +Each module calculates stop and slow down points to be inserted in the ego trajectory. +These points are assumed to correspond to the `base_link` frame of the ego vehicle as it follows the trajectory. +This means that to stop before a wall, a stop point is inserted in the trajectory at a distance ahead of the wall equal to the vehicle front offset (wheelbase + front overhang, see the [vehicle dimensions](https://autowarefoundation.github.io/autoware-documentation/main/design/autoware-interfaces/components/vehicle-dimensions/). + +![set_stop_velocity](./docs/set_stop_velocity.drawio.svg) + +## Input topics + +| Name | Type | Description | +| -------------------------------------- | ---------------------------------------------------- | ----------------------------- | +| `~/input/trajectory` | autoware_auto_planning_msgs::msg::Trajectory | input trajectory | +| `~/input/vector_map` | autoware_auto_mapping_msgs::msg::HADMapBin | vector map | +| `~/input/vehicle_odometry` | nav_msgs::msg::Odometry | vehicle position and velocity | +| `~/input/accel` | geometry_msgs::msg::AccelWithCovarianceStamped | vehicle acceleration | +| `~/input/dynamic_objects` | autoware_auto_perception_msgs::msg::PredictedObjects | dynamic objects | +| `~/input/no_ground_pointcloud` | sensor_msgs::msg::PointCloud2 | obstacle pointcloud | +| `~/input/traffic_signals` | autoware_perception_msgs::msg::TrafficSignalArray | traffic light states | +| `~/input/virtual_traffic_light_states` | tier4_v2x_msgs::msg::VirtualTrafficLightStateArray | virtual traffic light states | +| `~/input/occupancy_grid` | nav_msgs::msg::OccupancyGrid | occupancy grid | + +## Output topics + +| Name | Type | Description | +| --------------------------- | ------------------------------------------------- | -------------------------------------------------- | +| `~/output/trajectory` | autoware_auto_planning_msgs::msg::Trajectory | Ego trajectory with updated velocity profile | +| `~/output/velocity_factors` | autoware_adapi_v1_msgs::msg::VelocityFactorsArray | factors causing change in the ego velocity profile | + +## Services + +| Name | Type | Description | +| ------------------------- | -------------------------------------------------------- | ---------------------------- | +| `~/service/load_plugin` | autoware_motion_velocity_planner_node::srv::LoadPlugin | To request loading a plugin | +| `~/service/unload_plugin` | autoware_motion_velocity_planner_node::srv::UnloadPlugin | To request unloaded a plugin | + +## Node parameters + +| Parameter | Type | Description | +| ---------------- | ---------------- | ---------------------- | +| `launch_modules` | vector\ | module names to launch | + +In addition, the following parameters should be provided to the node: + +- [nearest search parameters](https://github.com/autowarefoundation/autoware_launch/blob/main/autoware_launch/config/planning/scenario_planning/common/nearest_search.param.yaml); +- [vehicle info parameters](https://github.com/autowarefoundation/sample_vehicle_launch/blob/main/sample_vehicle_description/config/vehicle_info.param.yaml); +- [common planning parameters](https://github.com/autowarefoundation/autoware_launch/blob/main/autoware_launch/config/planning/scenario_planning/common/common.param.yaml); +- [smoother parameters](https://autowarefoundation.github.io/autoware.universe/main/planning/motion_velocity_smoother/#parameters) +- Parameters of each plugin that will be loaded. diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/config/motion_velocity_planner.param.yaml b/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/config/motion_velocity_planner.param.yaml new file mode 100644 index 0000000000000..5b2fea537d4f7 --- /dev/null +++ b/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/config/motion_velocity_planner.param.yaml @@ -0,0 +1,3 @@ +/**: + ros__parameters: + smooth_velocity_before_planning: true # [-] if true, smooth the velocity profile of the input trajectory before planning diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/docs/MotionVelocityPlanner-InternalInterface.drawio.svg b/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/docs/MotionVelocityPlanner-InternalInterface.drawio.svg new file mode 100644 index 0000000000000..ea3b7ad99d4e5 --- /dev/null +++ b/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/docs/MotionVelocityPlanner-InternalInterface.drawio.svg @@ -0,0 +1,538 @@ + + + + + + + + + + + + + + + +
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+// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "node.hpp" + +#include +#include +#include +#include +#include +#include +#include +#include + +#include +#include +#include + +#include +#include + +#include +#include +#include + +namespace +{ +rclcpp::SubscriptionOptions create_subscription_options(rclcpp::Node * node_ptr) +{ + rclcpp::CallbackGroup::SharedPtr callback_group = + node_ptr->create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive); + + auto sub_opt = rclcpp::SubscriptionOptions(); + sub_opt.callback_group = callback_group; + + return sub_opt; +} +} // namespace + +namespace autoware::motion_velocity_planner +{ +MotionVelocityPlannerNode::MotionVelocityPlannerNode(const rclcpp::NodeOptions & node_options) +: Node("motion_velocity_planner_node", node_options), + tf_buffer_(this->get_clock()), + tf_listener_(tf_buffer_), + planner_data_(*this) +{ + using std::placeholders::_1; + using std::placeholders::_2; + + // Subscribers + sub_trajectory_ = this->create_subscription( + "~/input/trajectory", 1, std::bind(&MotionVelocityPlannerNode::on_trajectory, this, _1), + create_subscription_options(this)); + sub_predicted_objects_ = + this->create_subscription( + "~/input/dynamic_objects", 1, + std::bind(&MotionVelocityPlannerNode::on_predicted_objects, this, _1), + create_subscription_options(this)); + sub_no_ground_pointcloud_ = this->create_subscription( + "~/input/no_ground_pointcloud", rclcpp::SensorDataQoS(), + std::bind(&MotionVelocityPlannerNode::on_no_ground_pointcloud, this, _1), + create_subscription_options(this)); + sub_vehicle_odometry_ = this->create_subscription( + "~/input/vehicle_odometry", 1, std::bind(&MotionVelocityPlannerNode::on_odometry, this, _1), + create_subscription_options(this)); + sub_acceleration_ = this->create_subscription( + "~/input/accel", 1, std::bind(&MotionVelocityPlannerNode::on_acceleration, this, _1), + create_subscription_options(this)); + sub_lanelet_map_ = this->create_subscription( + "~/input/vector_map", rclcpp::QoS(10).transient_local(), + std::bind(&MotionVelocityPlannerNode::on_lanelet_map, this, _1), + create_subscription_options(this)); + sub_traffic_signals_ = + this->create_subscription( + "~/input/traffic_signals", 1, + std::bind(&MotionVelocityPlannerNode::on_traffic_signals, this, _1), + create_subscription_options(this)); + sub_virtual_traffic_light_states_ = + this->create_subscription( + "~/input/virtual_traffic_light_states", 1, + std::bind(&MotionVelocityPlannerNode::on_virtual_traffic_light_states, this, _1), + create_subscription_options(this)); + sub_occupancy_grid_ = this->create_subscription( + "~/input/occupancy_grid", 1, std::bind(&MotionVelocityPlannerNode::on_occupancy_grid, this, _1), + create_subscription_options(this)); + + srv_load_plugin_ = create_service( + "~/service/load_plugin", std::bind(&MotionVelocityPlannerNode::on_load_plugin, this, _1, _2)); + srv_unload_plugin_ = create_service( + "~/service/unload_plugin", + std::bind(&MotionVelocityPlannerNode::on_unload_plugin, this, _1, _2)); + + // Publishers + trajectory_pub_ = + this->create_publisher("~/output/trajectory", 1); + velocity_factor_publisher_ = + this->create_publisher( + "~/output/velocity_factors", 1); + + // Parameters + smooth_velocity_before_planning_ = declare_parameter("smooth_velocity_before_planning"); + // nearest search + planner_data_.ego_nearest_dist_threshold = + declare_parameter("ego_nearest_dist_threshold"); + planner_data_.ego_nearest_yaw_threshold = declare_parameter("ego_nearest_yaw_threshold"); + // set velocity smoother param + set_velocity_smoother_params(); + + // Initialize PlannerManager + for (const auto & name : declare_parameter>("launch_modules")) { + // workaround: Since ROS 2 can't get empty list, launcher set [''] on the parameter. + if (name == "") { + break; + } + planner_manager_.load_module_plugin(*this, name); + } + + set_param_callback_ = this->add_on_set_parameters_callback( + std::bind(&MotionVelocityPlannerNode::on_set_param, this, std::placeholders::_1)); + + logger_configure_ = std::make_unique(this); + published_time_publisher_ = std::make_unique(this); +} + +void MotionVelocityPlannerNode::on_load_plugin( + const LoadPlugin::Request::SharedPtr request, + [[maybe_unused]] const LoadPlugin::Response::SharedPtr response) +{ + std::unique_lock lk(mutex_); + planner_manager_.load_module_plugin(*this, request->plugin_name); +} + +void MotionVelocityPlannerNode::on_unload_plugin( + const UnloadPlugin::Request::SharedPtr request, + [[maybe_unused]] const UnloadPlugin::Response::SharedPtr response) +{ + std::unique_lock lk(mutex_); + planner_manager_.unload_module_plugin(*this, request->plugin_name); +} + +// NOTE: argument planner_data must not be referenced for multithreading +bool MotionVelocityPlannerNode::is_data_ready() const +{ + const auto & d = planner_data_; + auto clock = *get_clock(); + const auto check_with_msg = [&](const auto ptr, const auto & msg) { + constexpr auto throttle_duration = 3000; // [ms] + if (!ptr) { + RCLCPP_INFO_THROTTLE(get_logger(), clock, throttle_duration, msg); + return false; + } + return true; + }; + + return check_with_msg(d.current_odometry, "Waiting for current odometry") && + check_with_msg(d.current_velocity, "Waiting for current velocity") && + check_with_msg(d.current_acceleration, "Waiting for current acceleration") && + check_with_msg(d.predicted_objects, "Waiting for predicted objects") && + check_with_msg(d.no_ground_pointcloud, "Waiting for pointcloud") && + check_with_msg(map_ptr_, "Waiting for the map") && + check_with_msg( + d.velocity_smoother_, "Waiting for the initialization of the velocity smoother") && + check_with_msg(d.occupancy_grid, "Waiting for the occupancy grid"); +} + +void MotionVelocityPlannerNode::on_occupancy_grid( + const nav_msgs::msg::OccupancyGrid::ConstSharedPtr msg) +{ + std::lock_guard lock(mutex_); + planner_data_.occupancy_grid = msg; +} + +void MotionVelocityPlannerNode::on_predicted_objects( + const autoware_auto_perception_msgs::msg::PredictedObjects::ConstSharedPtr msg) +{ + std::lock_guard lock(mutex_); + planner_data_.predicted_objects = msg; +} + +void MotionVelocityPlannerNode::on_no_ground_pointcloud( + const sensor_msgs::msg::PointCloud2::ConstSharedPtr msg) +{ + geometry_msgs::msg::TransformStamped transform; + try { + transform = tf_buffer_.lookupTransform( + "map", msg->header.frame_id, msg->header.stamp, rclcpp::Duration::from_seconds(0.1)); + } catch (tf2::TransformException & e) { + RCLCPP_WARN(get_logger(), "no transform found for no_ground_pointcloud: %s", e.what()); + return; + } + + pcl::PointCloud pc; + pcl::fromROSMsg(*msg, pc); + + Eigen::Affine3f affine = tf2::transformToEigen(transform.transform).cast(); + pcl::PointCloud::Ptr pc_transformed(new pcl::PointCloud); + if (!pc.empty()) { + tier4_autoware_utils::transformPointCloud(pc, *pc_transformed, affine); + } + + { + std::lock_guard lock(mutex_); + planner_data_.no_ground_pointcloud = pc_transformed; + } +} + +void MotionVelocityPlannerNode::on_odometry(const nav_msgs::msg::Odometry::ConstSharedPtr msg) +{ + std::lock_guard lock(mutex_); + + auto current_odometry = std::make_shared(); + current_odometry->header = msg->header; + current_odometry->pose = msg->pose.pose; + planner_data_.current_odometry = current_odometry; + + auto current_velocity = std::make_shared(); + current_velocity->header = msg->header; + current_velocity->twist = msg->twist.twist; + planner_data_.current_velocity = current_velocity; +} + +void MotionVelocityPlannerNode::on_acceleration( + const geometry_msgs::msg::AccelWithCovarianceStamped::ConstSharedPtr msg) +{ + std::lock_guard lock(mutex_); + planner_data_.current_acceleration = msg; +} + +void MotionVelocityPlannerNode::set_velocity_smoother_params() +{ + planner_data_.velocity_smoother_ = + std::make_shared(*this); +} + +void MotionVelocityPlannerNode::on_lanelet_map( + const autoware_auto_mapping_msgs::msg::HADMapBin::ConstSharedPtr msg) +{ + std::lock_guard lock(mutex_); + + map_ptr_ = msg; + has_received_map_ = true; +} + +void MotionVelocityPlannerNode::on_traffic_signals( + const autoware_perception_msgs::msg::TrafficSignalArray::ConstSharedPtr msg) +{ + std::lock_guard lock(mutex_); + + // clear previous observation + planner_data_.traffic_light_id_map_raw_.clear(); + const auto traffic_light_id_map_last_observed_old = + planner_data_.traffic_light_id_map_last_observed_; + planner_data_.traffic_light_id_map_last_observed_.clear(); + for (const auto & signal : msg->signals) { + TrafficSignalStamped traffic_signal; + traffic_signal.stamp = msg->stamp; + traffic_signal.signal = signal; + planner_data_.traffic_light_id_map_raw_[signal.traffic_signal_id] = traffic_signal; + const bool is_unknown_observation = + std::any_of(signal.elements.begin(), signal.elements.end(), [](const auto & element) { + return element.color == autoware_perception_msgs::msg::TrafficSignalElement::UNKNOWN; + }); + // if the observation is UNKNOWN and past observation is available, only update the timestamp + // and keep the body of the info + const auto old_data = traffic_light_id_map_last_observed_old.find(signal.traffic_signal_id); + if (is_unknown_observation && old_data != traffic_light_id_map_last_observed_old.end()) { + // copy last observation + planner_data_.traffic_light_id_map_last_observed_[signal.traffic_signal_id] = + old_data->second; + // update timestamp + planner_data_.traffic_light_id_map_last_observed_[signal.traffic_signal_id].stamp = + msg->stamp; + } else { + planner_data_.traffic_light_id_map_last_observed_[signal.traffic_signal_id] = traffic_signal; + } + } +} + +void MotionVelocityPlannerNode::on_virtual_traffic_light_states( + const tier4_v2x_msgs::msg::VirtualTrafficLightStateArray::ConstSharedPtr msg) +{ + std::lock_guard lock(mutex_); + planner_data_.virtual_traffic_light_states = msg; +} + +void MotionVelocityPlannerNode::on_trajectory( + const autoware_auto_planning_msgs::msg::Trajectory::ConstSharedPtr input_trajectory_msg) +{ + std::unique_lock lk(mutex_); + + if (!is_data_ready()) { + return; + } + + if (input_trajectory_msg->points.empty()) { + RCLCPP_WARN(get_logger(), "Input trajectory message is empty"); + return; + } + + if (has_received_map_) { + planner_data_.route_handler = std::make_shared(*map_ptr_); + has_received_map_ = false; + } + + autoware::motion_velocity_planner::TrajectoryPoints input_trajectory_points{ + input_trajectory_msg->points.begin(), input_trajectory_msg->points.end()}; + + auto output_trajectory_msg = generate_trajectory(input_trajectory_points); + output_trajectory_msg.header = input_trajectory_msg->header; + + lk.unlock(); + + trajectory_pub_->publish(output_trajectory_msg); + published_time_publisher_->publish_if_subscribed( + trajectory_pub_, output_trajectory_msg.header.stamp); +} + +void MotionVelocityPlannerNode::insert_stop( + autoware_auto_planning_msgs::msg::Trajectory & trajectory, + const geometry_msgs::msg::Point & stop_point) const +{ + const auto seg_idx = motion_utils::findNearestSegmentIndex(trajectory.points, stop_point); + const auto insert_idx = motion_utils::insertTargetPoint(seg_idx, stop_point, trajectory.points); + if (insert_idx) { + for (auto idx = *insert_idx; idx < trajectory.points.size(); ++idx) + trajectory.points[idx].longitudinal_velocity_mps = 0.0; + } else { + RCLCPP_WARN(get_logger(), "Failed to insert stop point"); + } +} + +void MotionVelocityPlannerNode::insert_slowdown( + autoware_auto_planning_msgs::msg::Trajectory & trajectory, + const autoware::motion_velocity_planner::SlowdownInterval & slowdown_interval) const +{ + const auto from_seg_idx = + motion_utils::findNearestSegmentIndex(trajectory.points, slowdown_interval.from); + const auto from_insert_idx = + motion_utils::insertTargetPoint(from_seg_idx, slowdown_interval.from, trajectory.points); + const auto to_seg_idx = + motion_utils::findNearestSegmentIndex(trajectory.points, slowdown_interval.to); + const auto to_insert_idx = + motion_utils::insertTargetPoint(to_seg_idx, slowdown_interval.to, trajectory.points); + if (from_insert_idx && to_insert_idx) { + for (auto idx = *from_insert_idx; idx <= *to_insert_idx; ++idx) + trajectory.points[idx].longitudinal_velocity_mps = 0.0; + } else { + RCLCPP_WARN(get_logger(), "Failed to insert slowdown point"); + } +} + +autoware::motion_velocity_planner::TrajectoryPoints MotionVelocityPlannerNode::smooth_trajectory( + const autoware::motion_velocity_planner::TrajectoryPoints & trajectory_points, + const autoware::motion_velocity_planner::PlannerData & planner_data) const +{ + const geometry_msgs::msg::Pose current_pose = planner_data.current_odometry->pose; + const double v0 = planner_data.current_velocity->twist.linear.x; + const double a0 = planner_data.current_acceleration->accel.accel.linear.x; + const auto & external_v_limit = planner_data.external_velocity_limit; + const auto & smoother = planner_data.velocity_smoother_; + + const auto traj_lateral_acc_filtered = + smoother->applyLateralAccelerationFilter(trajectory_points); + + const auto traj_steering_rate_limited = + smoother->applySteeringRateLimit(traj_lateral_acc_filtered, false); + + // Resample trajectory with ego-velocity based interval distances + auto traj_resampled = smoother->resampleTrajectory( + traj_steering_rate_limited, v0, current_pose, planner_data.ego_nearest_dist_threshold, + planner_data.ego_nearest_yaw_threshold); + const size_t traj_resampled_closest = motion_utils::findFirstNearestIndexWithSoftConstraints( + traj_resampled, current_pose, planner_data.ego_nearest_dist_threshold, + planner_data.ego_nearest_yaw_threshold); + std::vector debug_trajectories; + // Clip trajectory from closest point + autoware::motion_velocity_planner::TrajectoryPoints clipped; + autoware::motion_velocity_planner::TrajectoryPoints traj_smoothed; + clipped.insert( + clipped.end(), traj_resampled.begin() + traj_resampled_closest, traj_resampled.end()); + if (!smoother->apply(v0, a0, clipped, traj_smoothed, debug_trajectories)) { + RCLCPP_ERROR(get_logger(), "failed to smooth"); + } + traj_smoothed.insert( + traj_smoothed.begin(), traj_resampled.begin(), traj_resampled.begin() + traj_resampled_closest); + + if (external_v_limit) { + motion_velocity_smoother::trajectory_utils::applyMaximumVelocityLimit( + traj_resampled_closest, traj_smoothed.size(), external_v_limit->max_velocity, traj_smoothed); + } + return traj_smoothed; +} + +autoware_auto_planning_msgs::msg::Trajectory MotionVelocityPlannerNode::generate_trajectory( + autoware::motion_velocity_planner::TrajectoryPoints input_trajectory_points) +{ + autoware_auto_planning_msgs::msg::Trajectory output_trajectory_msg; + output_trajectory_msg.points = {input_trajectory_points.begin(), input_trajectory_points.end()}; + if (smooth_velocity_before_planning_) + input_trajectory_points = smooth_trajectory(input_trajectory_points, planner_data_); + + const auto planning_results = planner_manager_.plan_velocities( + input_trajectory_points, std::make_shared(planner_data_)); + + autoware_adapi_v1_msgs::msg::VelocityFactorArray velocity_factors; + velocity_factors.header.frame_id = "map"; + velocity_factors.header.stamp = get_clock()->now(); + + for (const auto & planning_result : planning_results) { + for (const auto & stop_point : planning_result.stop_points) + insert_stop(output_trajectory_msg, stop_point); + for (const auto & slowdown_interval : planning_result.slowdown_intervals) + insert_slowdown(output_trajectory_msg, slowdown_interval); + if (planning_result.velocity_factor) + velocity_factors.factors.push_back(*planning_result.velocity_factor); + } + + velocity_factor_publisher_->publish(velocity_factors); + return output_trajectory_msg; +} + +rcl_interfaces::msg::SetParametersResult MotionVelocityPlannerNode::on_set_param( + const std::vector & parameters) +{ + using tier4_autoware_utils::updateParam; + + { + std::unique_lock lk(mutex_); // for planner_manager_ + planner_manager_.update_module_parameters(parameters); + } + + updateParam(parameters, "smooth_velocity_before_planning", smooth_velocity_before_planning_); + updateParam(parameters, "ego_nearest_dist_threshold", planner_data_.ego_nearest_dist_threshold); + updateParam(parameters, "ego_nearest_yaw_threshold", planner_data_.ego_nearest_yaw_threshold); + + set_velocity_smoother_params(); + + rcl_interfaces::msg::SetParametersResult result; + result.successful = true; + result.reason = "success"; + return result; +} +} // namespace autoware::motion_velocity_planner + +#include +RCLCPP_COMPONENTS_REGISTER_NODE(autoware::motion_velocity_planner::MotionVelocityPlannerNode) diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/src/node.hpp b/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/src/node.hpp new file mode 100644 index 0000000000000..ecf128bf9a012 --- /dev/null +++ b/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/src/node.hpp @@ -0,0 +1,140 @@ +// Copyright 2024 Autoware Foundation +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#ifndef NODE_HPP_ +#define NODE_HPP_ + +#include "planner_manager.hpp" + +#include +#include +#include +#include +#include +#include + +#include +#include +#include +#include +#include +#include +#include + +#include +#include + +#include +#include +#include +#include + +namespace autoware::motion_velocity_planner +{ +using autoware_auto_mapping_msgs::msg::HADMapBin; +using autoware_auto_planning_msgs::msg::Trajectory; +using autoware_motion_velocity_planner_node::srv::LoadPlugin; +using autoware_motion_velocity_planner_node::srv::UnloadPlugin; +using TrajectoryPoints = std::vector; + +class MotionVelocityPlannerNode : public rclcpp::Node +{ +public: + explicit MotionVelocityPlannerNode(const rclcpp::NodeOptions & node_options); + +private: + // tf + tf2_ros::Buffer tf_buffer_; + tf2_ros::TransformListener tf_listener_; + + // subscriber + rclcpp::Subscription::SharedPtr sub_trajectory_; + rclcpp::Subscription::SharedPtr + sub_predicted_objects_; + rclcpp::Subscription::SharedPtr sub_no_ground_pointcloud_; + rclcpp::Subscription::SharedPtr sub_vehicle_odometry_; + rclcpp::Subscription::SharedPtr sub_acceleration_; + rclcpp::Subscription::SharedPtr sub_lanelet_map_; + rclcpp::Subscription::SharedPtr + sub_traffic_signals_; + rclcpp::Subscription::SharedPtr + sub_virtual_traffic_light_states_; + rclcpp::Subscription::SharedPtr sub_occupancy_grid_; + + void on_trajectory( + const autoware_auto_planning_msgs::msg::Trajectory::ConstSharedPtr input_trajectory_msg); + void on_predicted_objects( + const autoware_auto_perception_msgs::msg::PredictedObjects::ConstSharedPtr msg); + void on_no_ground_pointcloud(const sensor_msgs::msg::PointCloud2::ConstSharedPtr msg); + void on_odometry(const nav_msgs::msg::Odometry::ConstSharedPtr msg); + void on_acceleration(const geometry_msgs::msg::AccelWithCovarianceStamped::ConstSharedPtr msg); + void on_lanelet_map(const autoware_auto_mapping_msgs::msg::HADMapBin::ConstSharedPtr msg); + void on_traffic_signals( + const autoware_perception_msgs::msg::TrafficSignalArray::ConstSharedPtr msg); + void on_virtual_traffic_light_states( + const tier4_v2x_msgs::msg::VirtualTrafficLightStateArray::ConstSharedPtr msg); + void on_occupancy_grid(const nav_msgs::msg::OccupancyGrid::ConstSharedPtr msg); + + // publishers + rclcpp::Publisher::SharedPtr trajectory_pub_; + rclcpp::Publisher::SharedPtr debug_viz_pub_; + rclcpp::Publisher::SharedPtr + velocity_factor_publisher_; + + // parameters + rclcpp::node_interfaces::OnSetParametersCallbackHandle::SharedPtr set_param_callback_; + bool smooth_velocity_before_planning_{}; + /// @brief set parameters of the velocity smoother + void set_velocity_smoother_params(); + + // members + PlannerData planner_data_; + MotionVelocityPlannerManager planner_manager_; + HADMapBin::ConstSharedPtr map_ptr_{nullptr}; + bool has_received_map_ = false; + + rclcpp::Service::SharedPtr srv_load_plugin_; + rclcpp::Service::SharedPtr srv_unload_plugin_; + void on_unload_plugin( + const UnloadPlugin::Request::SharedPtr request, + const UnloadPlugin::Response::SharedPtr response); + void on_load_plugin( + const LoadPlugin::Request::SharedPtr request, const LoadPlugin::Response::SharedPtr response); + rcl_interfaces::msg::SetParametersResult on_set_param( + const std::vector & parameters); + + // mutex for planner_data_ + std::mutex mutex_; + + // function + bool is_data_ready() const; + void insert_stop( + autoware_auto_planning_msgs::msg::Trajectory & trajectory, + const geometry_msgs::msg::Point & stop_point) const; + void insert_slowdown( + autoware_auto_planning_msgs::msg::Trajectory & trajectory, + const autoware::motion_velocity_planner::SlowdownInterval & slowdown_interval) const; + autoware::motion_velocity_planner::TrajectoryPoints smooth_trajectory( + const autoware::motion_velocity_planner::TrajectoryPoints & trajectory_points, + const autoware::motion_velocity_planner::PlannerData & planner_data) const; + autoware_auto_planning_msgs::msg::Trajectory generate_trajectory( + autoware::motion_velocity_planner::TrajectoryPoints input_trajectory_points); + + std::unique_ptr logger_configure_; + + std::unique_ptr published_time_publisher_; +}; +} // namespace autoware::motion_velocity_planner + +#endif // NODE_HPP_ diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/src/planner_manager.cpp b/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/src/planner_manager.cpp new file mode 100644 index 0000000000000..fa3a3b1ae5dcb --- /dev/null +++ b/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/src/planner_manager.cpp @@ -0,0 +1,83 @@ +// Copyright 2024 Tier IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "planner_manager.hpp" + +#include + +#include +#include + +namespace autoware::motion_velocity_planner +{ + +MotionVelocityPlannerManager::MotionVelocityPlannerManager() +: plugin_loader_( + "autoware_motion_velocity_planner_node", + "autoware::motion_velocity_planner::PluginModuleInterface") +{ +} + +void MotionVelocityPlannerManager::load_module_plugin(rclcpp::Node & node, const std::string & name) +{ + // Check if the plugin is already loaded. + if (plugin_loader_.isClassLoaded(name)) { + RCLCPP_WARN_STREAM(node.get_logger(), "The plugin '" << name << "' is already loaded."); + return; + } + if (plugin_loader_.isClassAvailable(name)) { + const auto plugin = plugin_loader_.createSharedInstance(name); + plugin->init(node, name); + + // register + loaded_plugins_.push_back(plugin); + RCLCPP_DEBUG_STREAM(node.get_logger(), "The scene plugin '" << name << "' is loaded."); + } else { + RCLCPP_ERROR_STREAM(node.get_logger(), "The scene plugin '" << name << "' is not available."); + } +} + +void MotionVelocityPlannerManager::unload_module_plugin( + rclcpp::Node & node, const std::string & name) +{ + auto it = std::remove_if(loaded_plugins_.begin(), loaded_plugins_.end(), [&](const auto plugin) { + return plugin->get_module_name() == name; + }); + + if (it == loaded_plugins_.end()) { + RCLCPP_WARN_STREAM( + node.get_logger(), + "The scene plugin '" << name << "' is not found in the registered modules."); + } else { + loaded_plugins_.erase(it, loaded_plugins_.end()); + RCLCPP_INFO_STREAM(node.get_logger(), "The scene plugin '" << name << "' is unloaded."); + } +} + +void MotionVelocityPlannerManager::update_module_parameters( + const std::vector & parameters) +{ + for (auto & plugin : loaded_plugins_) plugin->update_parameters(parameters); +} + +std::vector MotionVelocityPlannerManager::plan_velocities( + const std::vector & ego_trajectory_points, + const std::shared_ptr planner_data) +{ + std::vector results; + for (auto & plugin : loaded_plugins_) + results.push_back(plugin->plan(ego_trajectory_points, planner_data)); + return results; +} +} // namespace autoware::motion_velocity_planner diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/src/planner_manager.hpp b/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/src/planner_manager.hpp new file mode 100644 index 0000000000000..a5e330535fc73 --- /dev/null +++ b/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/src/planner_manager.hpp @@ -0,0 +1,57 @@ +// Copyright 2024 Autoware Foundation +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#ifndef PLANNER_MANAGER_HPP_ +#define PLANNER_MANAGER_HPP_ + +#include +#include +#include +#include + +#include +#include +#include +#include +#include + +#include +#include +#include +#include + +#include +#include +#include + +namespace autoware::motion_velocity_planner +{ +class MotionVelocityPlannerManager +{ +public: + MotionVelocityPlannerManager(); + void load_module_plugin(rclcpp::Node & node, const std::string & name); + void unload_module_plugin(rclcpp::Node & node, const std::string & name); + void update_module_parameters(const std::vector & parameters); + std::vector plan_velocities( + const std::vector & ego_trajectory_points, + const std::shared_ptr planner_data); + +private: + pluginlib::ClassLoader plugin_loader_; + std::vector> loaded_plugins_; +}; +} // namespace autoware::motion_velocity_planner + +#endif // PLANNER_MANAGER_HPP_ diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/srv/LoadPlugin.srv b/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/srv/LoadPlugin.srv new file mode 100644 index 0000000000000..7b9f08ab0ded8 --- /dev/null +++ b/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/srv/LoadPlugin.srv @@ -0,0 +1,3 @@ +string plugin_name +--- +bool success diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/srv/UnloadPlugin.srv b/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/srv/UnloadPlugin.srv new file mode 100644 index 0000000000000..7b9f08ab0ded8 --- /dev/null +++ b/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/srv/UnloadPlugin.srv @@ -0,0 +1,3 @@ +string plugin_name +--- +bool success diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/test/src/test_node_interface.cpp b/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/test/src/test_node_interface.cpp new file mode 100644 index 0000000000000..3ad5bab8e070b --- /dev/null +++ b/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/test/src/test_node_interface.cpp @@ -0,0 +1,139 @@ +// Copyright 2024 Tier IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "node.hpp" + +#include +#include +#include + +#include + +#include + +using autoware::motion_velocity_planner::MotionVelocityPlannerNode; +using planning_test_utils::PlanningInterfaceTestManager; + +std::shared_ptr generateTestManager() +{ + auto test_manager = std::make_shared(); + + // set subscriber with topic name: motion_velocity_planner → test_node_ + test_manager->setTrajectorySubscriber("motion_velocity_planner_node/output/trajectory"); + + // set motion_velocity_planner node's input topic name(this topic is changed to test node) + test_manager->setTrajectoryInputTopicName("motion_velocity_planner_node/input/trajectory"); + + test_manager->setInitialPoseTopicName("motion_velocity_planner_node/input/vehicle_odometry"); + test_manager->setOdometryTopicName("motion_velocity_planner_node/input/vehicle_odometry"); + + return test_manager; +} + +std::shared_ptr generateNode() +{ + auto node_options = rclcpp::NodeOptions{}; + + const auto planning_test_utils_dir = + ament_index_cpp::get_package_share_directory("planning_test_utils"); + const auto motion_velocity_planner_dir = + ament_index_cpp::get_package_share_directory("autoware_motion_velocity_planner_node"); + const auto motion_velocity_smoother_dir = + ament_index_cpp::get_package_share_directory("motion_velocity_smoother"); + + const auto get_motion_velocity_module_config = [](const std::string & module) { + const auto package_name = "autoware_motion_velocity_" + module + "_module"; + const auto package_path = ament_index_cpp::get_package_share_directory(package_name); + return package_path + "/config/" + module + ".param.yaml"; + }; + + std::vector module_names; + module_names.emplace_back("autoware::motion_velocity_planner::OutOfLaneModule"); + + std::vector params; + params.emplace_back("launch_modules", module_names); + params.emplace_back("is_simulation", false); + node_options.parameter_overrides(params); + + test_utils::updateNodeOptions( + node_options, + {planning_test_utils_dir + "/config/test_common.param.yaml", + planning_test_utils_dir + "/config/test_nearest_search.param.yaml", + planning_test_utils_dir + "/config/test_vehicle_info.param.yaml", + motion_velocity_smoother_dir + "/config/default_motion_velocity_smoother.param.yaml", + motion_velocity_smoother_dir + "/config/Analytical.param.yaml", + motion_velocity_planner_dir + "/config/motion_velocity_planner.param.yaml", + get_motion_velocity_module_config("out_of_lane")}); + + return std::make_shared(node_options); +} + +void publishMandatoryTopics( + std::shared_ptr test_manager, + std::shared_ptr test_target_node) +{ + // publish necessary topics from test_manager + test_manager->publishTF(test_target_node, "/tf"); + test_manager->publishAcceleration(test_target_node, "motion_velocity_planner_node/input/accel"); + test_manager->publishPredictedObjects( + test_target_node, "motion_velocity_planner_node/input/dynamic_objects"); + test_manager->publishPointCloud( + test_target_node, "motion_velocity_planner_node/input/no_ground_pointcloud"); + test_manager->publishOdometry( + test_target_node, "motion_velocity_planner_node/input/vehicle_odometry"); + test_manager->publishAcceleration(test_target_node, "motion_velocity_planner_node/input/accel"); + test_manager->publishMap(test_target_node, "motion_velocity_planner_node/input/vector_map"); + test_manager->publishTrafficSignals( + test_target_node, "motion_velocity_planner_node/input/traffic_signals"); + test_manager->publishVirtualTrafficLightState( + test_target_node, "motion_velocity_planner_node/input/virtual_traffic_light_states"); + test_manager->publishOccupancyGrid( + test_target_node, "motion_velocity_planner_node/input/occupancy_grid"); +} + +TEST(PlanningModuleInterfaceTest, NodeTestWithExceptionTrajectory) +{ + rclcpp::init(0, nullptr); + auto test_manager = generateTestManager(); + auto test_target_node = generateNode(); + + publishMandatoryTopics(test_manager, test_target_node); + + // test with nominal trajectory + ASSERT_NO_THROW_WITH_ERROR_MSG(test_manager->testWithNominalTrajectory(test_target_node)); + EXPECT_GE(test_manager->getReceivedTopicNum(), 1); + + // test with empty trajectory + ASSERT_NO_THROW_WITH_ERROR_MSG(test_manager->testWithAbnormalTrajectory(test_target_node)); + rclcpp::shutdown(); +} + +TEST(PlanningModuleInterfaceTest, NodeTestWithOffTrackEgoPose) +{ + rclcpp::init(0, nullptr); + + auto test_manager = generateTestManager(); + auto test_target_node = generateNode(); + publishMandatoryTopics(test_manager, test_target_node); + + // test for normal trajectory + ASSERT_NO_THROW_WITH_ERROR_MSG(test_manager->testWithNominalTrajectory(test_target_node)); + + // make sure motion_velocity_planner is running + EXPECT_GE(test_manager->getReceivedTopicNum(), 1); + + ASSERT_NO_THROW_WITH_ERROR_MSG(test_manager->testOffTrackFromTrajectory(test_target_node)); + + rclcpp::shutdown(); +} diff --git a/planning/motion_velocity_smoother/package.xml b/planning/motion_velocity_smoother/package.xml index 9792aa2bdd60b..b9b368d917535 100644 --- a/planning/motion_velocity_smoother/package.xml +++ b/planning/motion_velocity_smoother/package.xml @@ -21,12 +21,12 @@ eigen3_cmake_module autoware_auto_planning_msgs + autoware_planning_test_manager geometry_msgs interpolation motion_utils nav_msgs osqp_interface - planning_test_utils rclcpp tf2 tf2_ros diff --git a/planning/motion_velocity_smoother/src/smoother/analytical_jerk_constrained_smoother/velocity_planning_utils.cpp b/planning/motion_velocity_smoother/src/smoother/analytical_jerk_constrained_smoother/velocity_planning_utils.cpp index 2bcb31ff10969..9fa4d697f06cb 100644 --- a/planning/motion_velocity_smoother/src/smoother/analytical_jerk_constrained_smoother/velocity_planning_utils.cpp +++ b/planning/motion_velocity_smoother/src/smoother/analytical_jerk_constrained_smoother/velocity_planning_utils.cpp @@ -199,13 +199,12 @@ bool calcStopVelocityWithConstantJerkAccLimit( } // for debug - std::stringstream ss; + RCLCPP_DEBUG(rclcpp::get_logger("velocity_planning_utils"), "Calculate stop velocity."); for (unsigned int i = 0; i < ts.size(); ++i) { - ss << "t: " << ts.at(i) << ", x: " << xs.at(i) << ", v: " << vs.at(i) << ", a: " << as.at(i) - << ", j: " << js.at(i) << std::endl; + RCLCPP_DEBUG( + rclcpp::get_logger("velocity_planning_utils"), "--- t: %f, x: %f, v: %f, a: %f, j: %f", + ts.at(i), xs.at(i), vs.at(i), as.at(i), js.at(i)); } - RCLCPP_DEBUG( - rclcpp::get_logger("velocity_planning_utils"), "Calculate stop velocity. %s", ss.str().c_str()); const double a_target = 0.0; const double v_margin = 0.3; diff --git a/planning/motion_velocity_smoother/test/test_motion_velocity_smoother_node_interface.cpp b/planning/motion_velocity_smoother/test/test_motion_velocity_smoother_node_interface.cpp index 430f8b78ec88c..56813a37941a6 100644 --- a/planning/motion_velocity_smoother/test/test_motion_velocity_smoother_node_interface.cpp +++ b/planning/motion_velocity_smoother/test/test_motion_velocity_smoother_node_interface.cpp @@ -15,8 +15,8 @@ #include "motion_velocity_smoother/motion_velocity_smoother_node.hpp" #include -#include -#include +#include +#include #include diff --git a/planning/obstacle_avoidance_planner/include/obstacle_avoidance_planner/node.hpp b/planning/obstacle_avoidance_planner/include/obstacle_avoidance_planner/node.hpp index 3677e6c5fb075..db17496288766 100644 --- a/planning/obstacle_avoidance_planner/include/obstacle_avoidance_planner/node.hpp +++ b/planning/obstacle_avoidance_planner/include/obstacle_avoidance_planner/node.hpp @@ -22,6 +22,7 @@ #include "obstacle_avoidance_planner/type_alias.hpp" #include "rclcpp/rclcpp.hpp" #include "tier4_autoware_utils/ros/logger_level_configure.hpp" +#include "tier4_autoware_utils/ros/polling_subscriber.hpp" #include "vehicle_info_util/vehicle_info_util.hpp" #include @@ -83,16 +84,14 @@ class ObstacleAvoidancePlanner : public rclcpp::Node TrajectoryParam traj_param_{}; EgoNearestParam ego_nearest_param_{}; - // variables for subscribers - Odometry::ConstSharedPtr ego_state_ptr_; - // interface publisher rclcpp::Publisher::SharedPtr traj_pub_; rclcpp::Publisher::SharedPtr virtual_wall_pub_; // interface subscriber rclcpp::Subscription::SharedPtr path_sub_; - rclcpp::Subscription::SharedPtr odom_sub_; + tier4_autoware_utils::InterProcessPollingSubscriber ego_odom_sub_{ + this, "~/input/odometry"}; // debug publisher rclcpp::Publisher::SharedPtr debug_extended_traj_pub_; @@ -113,8 +112,9 @@ class ObstacleAvoidancePlanner : public rclcpp::Node void resetPreviousData(); // main functions - bool isDataReady(const Path & path, rclcpp::Clock clock) const; - PlannerData createPlannerData(const Path & path) const; + bool checkInputPath(const Path & path, rclcpp::Clock clock) const; + PlannerData createPlannerData( + const Path & path, const Odometry::ConstSharedPtr ego_odom_ptr) const; std::vector generateOptimizedTrajectory(const PlannerData & planner_data); std::vector extendTrajectory( const std::vector & traj_points, diff --git a/planning/obstacle_avoidance_planner/package.xml b/planning/obstacle_avoidance_planner/package.xml index 81429368fc7e4..40caf7ef300aa 100644 --- a/planning/obstacle_avoidance_planner/package.xml +++ b/planning/obstacle_avoidance_planner/package.xml @@ -15,12 +15,12 @@ autoware_cmake autoware_auto_planning_msgs + autoware_planning_test_manager geometry_msgs interpolation motion_utils nav_msgs osqp_interface - planning_test_utils rclcpp rclcpp_components std_msgs diff --git a/planning/obstacle_avoidance_planner/src/node.cpp b/planning/obstacle_avoidance_planner/src/node.cpp index c1da988eb5c25..b05d3f9da0c57 100644 --- a/planning/obstacle_avoidance_planner/src/node.cpp +++ b/planning/obstacle_avoidance_planner/src/node.cpp @@ -95,8 +95,6 @@ ObstacleAvoidancePlanner::ObstacleAvoidancePlanner(const rclcpp::NodeOptions & n // interface subscriber path_sub_ = create_subscription( "~/input/path", 1, std::bind(&ObstacleAvoidancePlanner::onPath, this, std::placeholders::_1)); - odom_sub_ = create_subscription( - "~/input/odometry", 1, [this](const Odometry::ConstSharedPtr msg) { ego_state_ptr_ = msg; }); // debug publisher debug_extended_traj_pub_ = create_publisher("~/debug/extended_traj", 1); @@ -224,8 +222,16 @@ void ObstacleAvoidancePlanner::onPath(const Path::ConstSharedPtr path_ptr) time_keeper_ptr_->init(); time_keeper_ptr_->tic(__func__); - // check if data is ready and valid - if (!isDataReady(*path_ptr, *get_clock())) { + // check if input path is valid + if (!checkInputPath(*path_ptr, *get_clock())) { + return; + } + + // check if ego's odometry is valid + const auto ego_odom_ptr = ego_odom_sub_.takeData(); + if (!ego_odom_ptr) { + RCLCPP_INFO_SKIPFIRST_THROTTLE( + get_logger(), *get_clock(), 5000, "Waiting for ego pose and twist."); return; } @@ -245,7 +251,7 @@ void ObstacleAvoidancePlanner::onPath(const Path::ConstSharedPtr path_ptr) } // 1. create planner data - const auto planner_data = createPlannerData(*path_ptr); + const auto planner_data = createPlannerData(*path_ptr, ego_odom_ptr); // 2. generate optimized trajectory const auto optimized_traj_points = generateOptimizedTrajectory(planner_data); @@ -276,13 +282,8 @@ void ObstacleAvoidancePlanner::onPath(const Path::ConstSharedPtr path_ptr) published_time_publisher_->publish_if_subscribed(traj_pub_, output_traj_msg.header.stamp); } -bool ObstacleAvoidancePlanner::isDataReady(const Path & path, rclcpp::Clock clock) const +bool ObstacleAvoidancePlanner::checkInputPath(const Path & path, rclcpp::Clock clock) const { - if (!ego_state_ptr_) { - RCLCPP_INFO_SKIPFIRST_THROTTLE(get_logger(), clock, 5000, "Waiting for ego pose and twist."); - return false; - } - if (path.points.size() < 2) { RCLCPP_INFO_SKIPFIRST_THROTTLE(get_logger(), clock, 5000, "Path points size is less than 1."); return false; @@ -297,7 +298,8 @@ bool ObstacleAvoidancePlanner::isDataReady(const Path & path, rclcpp::Clock cloc return true; } -PlannerData ObstacleAvoidancePlanner::createPlannerData(const Path & path) const +PlannerData ObstacleAvoidancePlanner::createPlannerData( + const Path & path, const Odometry::ConstSharedPtr ego_odom_ptr) const { // create planner data PlannerData planner_data; @@ -305,8 +307,8 @@ PlannerData ObstacleAvoidancePlanner::createPlannerData(const Path & path) const planner_data.traj_points = trajectory_utils::convertToTrajectoryPoints(path.points); planner_data.left_bound = path.left_bound; planner_data.right_bound = path.right_bound; - planner_data.ego_pose = ego_state_ptr_->pose.pose; - planner_data.ego_vel = ego_state_ptr_->twist.twist.linear.x; + planner_data.ego_pose = ego_odom_ptr->pose.pose; + planner_data.ego_vel = ego_odom_ptr->twist.twist.linear.x; debug_data_ptr_->ego_pose = planner_data.ego_pose; return planner_data; diff --git a/planning/obstacle_avoidance_planner/test/test_obstacle_avoidance_planner_node_interface.cpp b/planning/obstacle_avoidance_planner/test/test_obstacle_avoidance_planner_node_interface.cpp index 9c567487e9cac..d5af4c7e1180f 100644 --- a/planning/obstacle_avoidance_planner/test/test_obstacle_avoidance_planner_node_interface.cpp +++ b/planning/obstacle_avoidance_planner/test/test_obstacle_avoidance_planner_node_interface.cpp @@ -15,8 +15,8 @@ #include "obstacle_avoidance_planner/node.hpp" #include -#include -#include +#include +#include #include diff --git a/planning/obstacle_cruise_planner/config/obstacle_cruise_planner.param.yaml b/planning/obstacle_cruise_planner/config/obstacle_cruise_planner.param.yaml index bd9c5750af78f..2ccd000657948 100644 --- a/planning/obstacle_cruise_planner/config/obstacle_cruise_planner.param.yaml +++ b/planning/obstacle_cruise_planner/config/obstacle_cruise_planner.param.yaml @@ -87,7 +87,8 @@ obstacle_traj_angle_threshold : 1.22 # [rad] = 70 [deg], yaw threshold of crossing obstacle against the nearest trajectory point for cruise or stop stop: - max_lat_margin: 0.3 # lateral margin between obstacle and trajectory band with ego's width + max_lat_margin: 0.3 # lateral margin between the obstacles except for unknown and ego's footprint + max_lat_margin_against_unknown: -0.3 # lateral margin between the unknown obstacles and ego's footprint crossing_obstacle: collision_time_margin : 4.0 # time threshold of collision between obstacle adn ego for cruise or stop [s] diff --git a/planning/obstacle_cruise_planner/include/obstacle_cruise_planner/node.hpp b/planning/obstacle_cruise_planner/include/obstacle_cruise_planner/node.hpp index c368265ea0f66..fd65446408db1 100644 --- a/planning/obstacle_cruise_planner/include/obstacle_cruise_planner/node.hpp +++ b/planning/obstacle_cruise_planner/include/obstacle_cruise_planner/node.hpp @@ -55,15 +55,19 @@ class ObstacleCruisePlannerNode : public rclcpp::Node const std::vector & traj_points, const vehicle_info_util::VehicleInfo & vehicle_info, const geometry_msgs::msg::Pose & current_ego_pose, const double lat_margin = 0.0) const; - std::vector convertToObstacles(const std::vector & traj_points) const; + std::vector convertToObstacles( + const Odometry & odometry, const PredictedObjects & objects, + const std::vector & traj_points) const; std::tuple, std::vector, std::vector> determineEgoBehaviorAgainstObstacles( + const Odometry & odometry, const PredictedObjects & objects, const std::vector & traj_points, const std::vector & obstacles); std::vector decimateTrajectoryPoints( - const std::vector & traj_points) const; + const Odometry & odometry, const std::vector & traj_points) const; std::optional createStopObstacle( - const std::vector & traj_points, const std::vector & traj_polys, - const Obstacle & obstacle, const double precise_lateral_dist) const; + const Odometry & odometry, const std::vector & traj_points, + const std::vector & traj_polys, const Obstacle & obstacle, + const double precise_lateral_dist) const; bool isStopObstacle(const uint8_t label) const; bool isInsideCruiseObstacle(const uint8_t label) const; bool isOutsideCruiseObstacle(const uint8_t label) const; @@ -88,12 +92,14 @@ class ObstacleCruisePlannerNode : public rclcpp::Node bool isObstacleCrossing( const std::vector & traj_points, const Obstacle & obstacle) const; double calcCollisionTimeMargin( - const std::vector & collision_points, + const Odometry & odometry, const std::vector & collision_points, const std::vector & traj_points, const bool is_driving_forward) const; std::optional createSlowDownObstacle( - const std::vector & traj_points, const Obstacle & obstacle, - const double precise_lat_dist); - PlannerData createPlannerData(const std::vector & traj_points) const; + const Odometry & odometry, const std::vector & traj_points, + const Obstacle & obstacle, const double precise_lat_dist); + PlannerData createPlannerData( + const Odometry & odometry, const AccelWithCovarianceStamped & acc, + const std::vector & traj_points) const; void checkConsistency( const rclcpp::Time & current_time, const PredictedObjects & predicted_objects, @@ -194,6 +200,7 @@ class ObstacleCruisePlannerNode : public rclcpp::Node double prediction_resampling_time_horizon; // max lateral margin double max_lat_margin_for_stop; + double max_lat_margin_for_stop_against_unknown; double max_lat_margin_for_cruise; double max_lat_margin_for_slow_down; double lat_hysteresis_margin_for_slow_down; diff --git a/planning/obstacle_cruise_planner/include/obstacle_cruise_planner/polygon_utils.hpp b/planning/obstacle_cruise_planner/include/obstacle_cruise_planner/polygon_utils.hpp index 1d490abca291a..71d0f84637abc 100644 --- a/planning/obstacle_cruise_planner/include/obstacle_cruise_planner/polygon_utils.hpp +++ b/planning/obstacle_cruise_planner/include/obstacle_cruise_planner/polygon_utils.hpp @@ -47,8 +47,7 @@ std::vector getCollisionPoints( const std::vector & traj_points, const std::vector & traj_polygons, const rclcpp::Time & obstacle_stamp, const PredictedPath & predicted_path, const Shape & shape, const rclcpp::Time & current_time, const bool is_driving_forward, - std::vector & collision_index, - const double max_lat_dist = std::numeric_limits::max(), + std::vector & collision_index, const double max_dist = std::numeric_limits::max(), const double max_prediction_time_for_collision_check = std::numeric_limits::max()); } // namespace polygon_utils diff --git a/planning/obstacle_cruise_planner/package.xml b/planning/obstacle_cruise_planner/package.xml index f6263521bd337..eaba45a31869a 100644 --- a/planning/obstacle_cruise_planner/package.xml +++ b/planning/obstacle_cruise_planner/package.xml @@ -20,6 +20,7 @@ autoware_adapi_v1_msgs autoware_auto_perception_msgs autoware_auto_planning_msgs + autoware_planning_test_manager geometry_msgs interpolation lanelet2_extension @@ -27,7 +28,6 @@ nav_msgs object_recognition_utils osqp_interface - planning_test_utils rclcpp rclcpp_components signal_processing diff --git a/planning/obstacle_cruise_planner/src/node.cpp b/planning/obstacle_cruise_planner/src/node.cpp index 43400acb86bd9..c5f0c73a13b78 100644 --- a/planning/obstacle_cruise_planner/src/node.cpp +++ b/planning/obstacle_cruise_planner/src/node.cpp @@ -247,6 +247,8 @@ ObstacleCruisePlannerNode::BehaviorDeterminationParam::BehaviorDeterminationPara max_lat_margin_for_stop = node.declare_parameter("behavior_determination.stop.max_lat_margin"); + max_lat_margin_for_stop_against_unknown = + node.declare_parameter("behavior_determination.stop.max_lat_margin_against_unknown"); max_lat_margin_for_cruise = node.declare_parameter("behavior_determination.cruise.max_lat_margin"); enable_yield = node.declare_parameter("behavior_determination.cruise.yield.enable_yield"); @@ -311,6 +313,9 @@ void ObstacleCruisePlannerNode::BehaviorDeterminationParam::onParam( tier4_autoware_utils::updateParam( parameters, "behavior_determination.stop.max_lat_margin", max_lat_margin_for_stop); + tier4_autoware_utils::updateParam( + parameters, "behavior_determination.stop.max_lat_margin_against_unknown", + max_lat_margin_for_stop_against_unknown); tier4_autoware_utils::updateParam( parameters, "behavior_determination.cruise.max_lat_margin", max_lat_margin_for_cruise); tier4_autoware_utils::updateParam( @@ -484,12 +489,17 @@ rcl_interfaces::msg::SetParametersResult ObstacleCruisePlannerNode::onParam( void ObstacleCruisePlannerNode::onTrajectory(const Trajectory::ConstSharedPtr msg) { - if ( - !ego_odom_sub_.updateLatestData() || !objects_sub_.updateLatestData() || - !acc_sub_.updateLatestData()) { + const auto ego_odom_ptr = ego_odom_sub_.takeData(); + const auto objects_ptr = objects_sub_.takeData(); + const auto acc_ptr = acc_sub_.takeData(); + if (!ego_odom_ptr || !objects_ptr || !acc_ptr) { return; } + const auto & ego_odom = *ego_odom_ptr; + const auto & objects = *objects_ptr; + const auto & acc = *acc_ptr; + const auto traj_points = motion_utils::convertToTrajectoryPointArray(*msg); // check if subscribed variables are ready if (traj_points.empty()) { @@ -506,14 +516,14 @@ void ObstacleCruisePlannerNode::onTrajectory(const Trajectory::ConstSharedPtr ms // (1) with a proper label // (2) in front of ego // (3) not too far from trajectory - const auto target_obstacles = convertToObstacles(traj_points); + const auto target_obstacles = convertToObstacles(ego_odom, objects, traj_points); // 2. Determine ego's behavior against each obstacle from stop, cruise and slow down. const auto & [stop_obstacles, cruise_obstacles, slow_down_obstacles] = - determineEgoBehaviorAgainstObstacles(traj_points, target_obstacles); + determineEgoBehaviorAgainstObstacles(ego_odom, objects, traj_points, target_obstacles); // 3. Create data for planning - const auto planner_data = createPlannerData(traj_points); + const auto planner_data = createPlannerData(ego_odom, acc, traj_points); // 4. Stop planning const auto stop_traj_points = planner_ptr_->generateStopTrajectory(planner_data, stop_obstacles); @@ -629,15 +639,16 @@ std::vector ObstacleCruisePlannerNode::createOneStepPolygons( } std::vector ObstacleCruisePlannerNode::convertToObstacles( + const Odometry & odometry, const PredictedObjects & objects, const std::vector & traj_points) const { stop_watch_.tic(__func__); - const auto obj_stamp = rclcpp::Time(objects_sub_.getData().header.stamp); + const auto obj_stamp = rclcpp::Time(objects.header.stamp); const auto & p = behavior_determination_param_; std::vector target_obstacles; - for (const auto & predicted_object : objects_sub_.getData().objects) { + for (const auto & predicted_object : objects.objects) { const auto & object_id = tier4_autoware_utils::toHexString(predicted_object.object_id).substr(0, 4); const auto & current_obstacle_pose = @@ -655,8 +666,7 @@ std::vector ObstacleCruisePlannerNode::convertToObstacles( } // 2. Check if the obstacle is in front of the ego. - const size_t ego_idx = - ego_nearest_param_.findIndex(traj_points, ego_odom_sub_.getData().pose.pose); + const size_t ego_idx = ego_nearest_param_.findIndex(traj_points, odometry.pose.pose); const auto ego_to_obstacle_distance = calcDistanceToFrontVehicle(traj_points, ego_idx, current_obstacle_pose.pose.position); if (!ego_to_obstacle_distance) { @@ -677,8 +687,8 @@ std::vector ObstacleCruisePlannerNode::convertToObstacles( }(); const double max_lat_margin = std::max( - std::max(p.max_lat_margin_for_stop, p.max_lat_margin_for_cruise), - p.max_lat_margin_for_slow_down); + {p.max_lat_margin_for_stop, p.max_lat_margin_for_stop_against_unknown, + p.max_lat_margin_for_cruise, p.max_lat_margin_for_slow_down}); if (max_lat_margin < min_lat_dist_to_traj_poly) { RCLCPP_INFO_EXPRESSION( get_logger(), enable_debug_info_, @@ -745,14 +755,15 @@ bool ObstacleCruisePlannerNode::isFrontCollideObstacle( std::tuple, std::vector, std::vector> ObstacleCruisePlannerNode::determineEgoBehaviorAgainstObstacles( + const Odometry & odometry, const PredictedObjects & objects, const std::vector & traj_points, const std::vector & obstacles) { stop_watch_.tic(__func__); // calculated decimated trajectory points and trajectory polygon - const auto decimated_traj_points = decimateTrajectoryPoints(traj_points); + const auto decimated_traj_points = decimateTrajectoryPoints(odometry, traj_points); const auto decimated_traj_polys = - createOneStepPolygons(decimated_traj_points, vehicle_info_, ego_odom_sub_.getData().pose.pose); + createOneStepPolygons(decimated_traj_points, vehicle_info_, odometry.pose.pose); debug_data_ptr_->detection_polygons = decimated_traj_polys; // determine ego's behavior from stop, cruise and slow down @@ -777,14 +788,14 @@ ObstacleCruisePlannerNode::determineEgoBehaviorAgainstObstacles( cruise_obstacles.push_back(*cruise_obstacle); continue; } - const auto stop_obstacle = - createStopObstacle(decimated_traj_points, decimated_traj_polys, obstacle, precise_lat_dist); + const auto stop_obstacle = createStopObstacle( + odometry, decimated_traj_points, decimated_traj_polys, obstacle, precise_lat_dist); if (stop_obstacle) { stop_obstacles.push_back(*stop_obstacle); continue; } const auto slow_down_obstacle = - createSlowDownObstacle(decimated_traj_points, obstacle, precise_lat_dist); + createSlowDownObstacle(odometry, decimated_traj_points, obstacle, precise_lat_dist); if (slow_down_obstacle) { slow_down_obstacles.push_back(*slow_down_obstacle); continue; @@ -810,7 +821,7 @@ ObstacleCruisePlannerNode::determineEgoBehaviorAgainstObstacles( slow_down_condition_counter_.removeCounterUnlessUpdated(); // Check target obstacles' consistency - checkConsistency(objects_sub_.getData().header.stamp, objects_sub_.getData(), stop_obstacles); + checkConsistency(objects.header.stamp, objects, stop_obstacles); // update previous obstacles prev_stop_obstacles_ = stop_obstacles; @@ -826,13 +837,12 @@ ObstacleCruisePlannerNode::determineEgoBehaviorAgainstObstacles( } std::vector ObstacleCruisePlannerNode::decimateTrajectoryPoints( - const std::vector & traj_points) const + const Odometry & odometry, const std::vector & traj_points) const { const auto & p = behavior_determination_param_; // trim trajectory - const size_t ego_seg_idx = - ego_nearest_param_.findSegmentIndex(traj_points, ego_odom_sub_.getData().pose.pose); + const size_t ego_seg_idx = ego_nearest_param_.findSegmentIndex(traj_points, odometry.pose.pose); const size_t traj_start_point_idx = ego_seg_idx; const auto trimmed_traj_points = std::vector(traj_points.begin() + traj_start_point_idx, traj_points.end()); @@ -1074,7 +1084,11 @@ ObstacleCruisePlannerNode::createCollisionPointsForInsideCruiseObstacle( std::vector collision_index; const auto collision_points = polygon_utils::getCollisionPoints( traj_points, traj_polys, obstacle.stamp, resampled_predicted_path, obstacle.shape, now(), - is_driving_forward_, collision_index); + is_driving_forward_, collision_index, + calcObstacleMaxLength(obstacle.shape) + p.decimate_trajectory_step_length + + std::hypot( + vehicle_info_.vehicle_length_m, + vehicle_info_.vehicle_width_m * 0.5 + p.max_lat_margin_for_cruise)); return collision_points; } @@ -1114,7 +1128,10 @@ ObstacleCruisePlannerNode::createCollisionPointsForOutsideCruiseObstacle( const auto collision_points = polygon_utils::getCollisionPoints( traj_points, traj_polys, obstacle.stamp, resampled_predicted_path, obstacle.shape, now(), is_driving_forward_, collision_index, - vehicle_info_.vehicle_width_m + p.max_lat_margin_for_cruise, + calcObstacleMaxLength(obstacle.shape) + p.decimate_trajectory_step_length + + std::hypot( + vehicle_info_.vehicle_length_m, + vehicle_info_.vehicle_width_m * 0.5 + p.max_lat_margin_for_cruise), p.max_prediction_time_for_collision_check); if (collision_points.empty()) { // Ignore vehicle obstacles outside the trajectory without collision @@ -1151,8 +1168,9 @@ ObstacleCruisePlannerNode::createCollisionPointsForOutsideCruiseObstacle( } std::optional ObstacleCruisePlannerNode::createStopObstacle( - const std::vector & traj_points, const std::vector & traj_polys, - const Obstacle & obstacle, const double precise_lat_dist) const + const Odometry & odometry, const std::vector & traj_points, + const std::vector & traj_polys, const Obstacle & obstacle, + const double precise_lat_dist) const { const auto & p = behavior_determination_param_; const auto & object_id = obstacle.uuid.substr(0, 4); @@ -1161,7 +1179,13 @@ std::optional ObstacleCruisePlannerNode::createStopObstacle( if (!isStopObstacle(obstacle.classification.label)) { return std::nullopt; } - if (p.max_lat_margin_for_stop < precise_lat_dist) { + + const double max_lat_margin_for_stop = + (obstacle.classification.label == ObjectClassification::UNKNOWN) + ? p.max_lat_margin_for_stop_against_unknown + : p.max_lat_margin_for_stop; + + if (precise_lat_dist > std::max(max_lat_margin_for_stop, 1e-3)) { return std::nullopt; } @@ -1190,7 +1214,11 @@ std::optional ObstacleCruisePlannerNode::createStopObstacle( std::vector collision_index; const auto collision_points = polygon_utils::getCollisionPoints( traj_points, traj_polys, obstacle.stamp, resampled_predicted_path, obstacle.shape, now(), - is_driving_forward_, collision_index); + is_driving_forward_, collision_index, + calcObstacleMaxLength(obstacle.shape) + p.decimate_trajectory_step_length + + std::hypot( + vehicle_info_.vehicle_length_m, + vehicle_info_.vehicle_width_m * 0.5 + max_lat_margin_for_stop)); if (collision_points.empty()) { RCLCPP_INFO_EXPRESSION( get_logger(), enable_debug_info_, @@ -1203,7 +1231,7 @@ std::optional ObstacleCruisePlannerNode::createStopObstacle( } const double collision_time_margin = - calcCollisionTimeMargin(collision_points, traj_points, is_driving_forward_); + calcCollisionTimeMargin(odometry, collision_points, traj_points, is_driving_forward_); if (p.collision_time_margin < collision_time_margin) { RCLCPP_INFO_EXPRESSION( get_logger(), enable_debug_info_, @@ -1215,8 +1243,8 @@ std::optional ObstacleCruisePlannerNode::createStopObstacle( } // calculate collision points with trajectory with lateral stop margin - const auto traj_polys_with_lat_margin = createOneStepPolygons( - traj_points, vehicle_info_, ego_odom_sub_.getData().pose.pose, p.max_lat_margin_for_stop); + const auto traj_polys_with_lat_margin = + createOneStepPolygons(traj_points, vehicle_info_, odometry.pose.pose, max_lat_margin_for_stop); const auto collision_point = polygon_utils::getCollisionPoint( traj_points, traj_polys_with_lat_margin, obstacle, is_driving_forward_, vehicle_info_); @@ -1231,8 +1259,8 @@ std::optional ObstacleCruisePlannerNode::createStopObstacle( } std::optional ObstacleCruisePlannerNode::createSlowDownObstacle( - const std::vector & traj_points, const Obstacle & obstacle, - const double precise_lat_dist) + const Odometry & odometry, const std::vector & traj_points, + const Obstacle & obstacle, const double precise_lat_dist) { const auto & object_id = obstacle.uuid.substr(0, 4); const auto & p = behavior_determination_param_; @@ -1286,7 +1314,7 @@ std::optional ObstacleCruisePlannerNode::createSlowDownObstacl // calculate collision points with trajectory with lateral stop margin // NOTE: For additional margin, hysteresis is not divided by two. const auto traj_polys_with_lat_margin = createOneStepPolygons( - traj_points, vehicle_info_, ego_odom_sub_.getData().pose.pose, + traj_points, vehicle_info_, odometry.pose.pose, p.max_lat_margin_for_slow_down + p.lat_hysteresis_margin_for_slow_down); std::vector front_collision_polygons; @@ -1361,7 +1389,6 @@ void ObstacleCruisePlannerNode::checkConsistency( const auto current_closest_stop_obstacle = obstacle_cruise_utils::getClosestStopObstacle(stop_obstacles); - // If previous closest obstacle ptr is not set if (!prev_closest_stop_obstacle_ptr_) { if (current_closest_stop_obstacle) { prev_closest_stop_obstacle_ptr_ = @@ -1370,44 +1397,23 @@ void ObstacleCruisePlannerNode::checkConsistency( return; } - // Put previous closest target obstacle if necessary const auto predicted_object_itr = std::find_if( predicted_objects.objects.begin(), predicted_objects.objects.end(), [&](PredictedObject predicted_object) { return tier4_autoware_utils::toHexString(predicted_object.object_id) == prev_closest_stop_obstacle_ptr_->uuid; }); - - // If previous closest obstacle is not in the current perception lists - // just return the current target obstacles + // If previous closest obstacle disappear from the perception result, do nothing anymore. if (predicted_object_itr == predicted_objects.objects.end()) { return; } - // Previous closest obstacle is in the perception lists - const auto obstacle_itr = std::find_if( + const auto is_disappeared_from_stop_obstacle = std::none_of( stop_obstacles.begin(), stop_obstacles.end(), [&](const auto & obstacle) { return obstacle.uuid == prev_closest_stop_obstacle_ptr_->uuid; }); - - // Previous closest obstacle is both in the perception lists and target obstacles - if (obstacle_itr != stop_obstacles.end()) { - if (current_closest_stop_obstacle) { - if ((current_closest_stop_obstacle->uuid == prev_closest_stop_obstacle_ptr_->uuid)) { - // prev_closest_obstacle is current_closest_stop_obstacle just return the target - // obstacles(in target obstacles) - prev_closest_stop_obstacle_ptr_ = - std::make_shared(*current_closest_stop_obstacle); - } else { - // New obstacle becomes new stop obstacle - prev_closest_stop_obstacle_ptr_ = - std::make_shared(*current_closest_stop_obstacle); - } - } else { - // Previous closest stop obstacle becomes cruise obstacle - prev_closest_stop_obstacle_ptr_ = nullptr; - } - } else { - // prev obstacle is not in the target obstacles, but in the perception list + if (is_disappeared_from_stop_obstacle) { + // re-evaluate as a stop candidate, and overwrite the current decision if "maintain stop" + // condition is satisfied const double elapsed_time = (current_time - prev_closest_stop_obstacle_ptr_->stamp).seconds(); if ( predicted_object_itr->kinematics.initial_twist_with_covariance.twist.linear.x < @@ -1416,13 +1422,13 @@ void ObstacleCruisePlannerNode::checkConsistency( stop_obstacles.push_back(*prev_closest_stop_obstacle_ptr_); return; } + } - if (current_closest_stop_obstacle) { - prev_closest_stop_obstacle_ptr_ = - std::make_shared(*current_closest_stop_obstacle); - } else { - prev_closest_stop_obstacle_ptr_ = nullptr; - } + if (current_closest_stop_obstacle) { + prev_closest_stop_obstacle_ptr_ = + std::make_shared(*current_closest_stop_obstacle); + } else { + prev_closest_stop_obstacle_ptr_ = nullptr; } } @@ -1446,11 +1452,11 @@ bool ObstacleCruisePlannerNode::isObstacleCrossing( } double ObstacleCruisePlannerNode::calcCollisionTimeMargin( - const std::vector & collision_points, + const Odometry & odometry, const std::vector & collision_points, const std::vector & traj_points, const bool is_driving_forward) const { - const auto & ego_pose = ego_odom_sub_.getData().pose.pose; - const double ego_vel = ego_odom_sub_.getData().twist.twist.linear.x; + const auto & ego_pose = odometry.pose.pose; + const double ego_vel = odometry.twist.twist.linear.x; const double time_to_reach_collision_point = [&]() { const double abs_ego_offset = is_driving_forward @@ -1477,14 +1483,15 @@ double ObstacleCruisePlannerNode::calcCollisionTimeMargin( } PlannerData ObstacleCruisePlannerNode::createPlannerData( + const Odometry & odometry, const AccelWithCovarianceStamped & acc, const std::vector & traj_points) const { PlannerData planner_data; planner_data.current_time = now(); planner_data.traj_points = traj_points; - planner_data.ego_pose = ego_odom_sub_.getData().pose.pose; - planner_data.ego_vel = ego_odom_sub_.getData().twist.twist.linear.x; - planner_data.ego_acc = acc_sub_.getData().accel.accel.linear.x; + planner_data.ego_pose = odometry.pose.pose; + planner_data.ego_vel = odometry.twist.twist.linear.x; + planner_data.ego_acc = acc.accel.accel.linear.x; planner_data.is_driving_forward = is_driving_forward_; return planner_data; } diff --git a/planning/obstacle_cruise_planner/src/polygon_utils.cpp b/planning/obstacle_cruise_planner/src/polygon_utils.cpp index fa5a96b934f7a..1bd2de0bd985c 100644 --- a/planning/obstacle_cruise_planner/src/polygon_utils.cpp +++ b/planning/obstacle_cruise_planner/src/polygon_utils.cpp @@ -44,18 +44,18 @@ PointWithStamp calcNearestCollisionPoint( return collision_points.at(min_idx); } -// NOTE: max_lat_dist is used for efficient calculation to suppress boost::geometry's polygon +// NOTE: max_dist is used for efficient calculation to suppress boost::geometry's polygon // calculation. std::optional>> getCollisionIndex( const std::vector & traj_points, const std::vector & traj_polygons, const geometry_msgs::msg::Pose & object_pose, const rclcpp::Time & object_time, - const Shape & object_shape, const double max_lat_dist = std::numeric_limits::max()) + const Shape & object_shape, const double max_dist = std::numeric_limits::max()) { const auto obj_polygon = tier4_autoware_utils::toPolygon2d(object_pose, object_shape); for (size_t i = 0; i < traj_polygons.size(); ++i) { const double approximated_dist = tier4_autoware_utils::calcDistance2d(traj_points.at(i).pose, object_pose); - if (approximated_dist > max_lat_dist) { + if (approximated_dist > max_dist) { continue; } diff --git a/planning/obstacle_cruise_planner/test/test_obstacle_cruise_planner_node_interface.cpp b/planning/obstacle_cruise_planner/test/test_obstacle_cruise_planner_node_interface.cpp index d412286d77d53..bd11effb774da 100644 --- a/planning/obstacle_cruise_planner/test/test_obstacle_cruise_planner_node_interface.cpp +++ b/planning/obstacle_cruise_planner/test/test_obstacle_cruise_planner_node_interface.cpp @@ -15,8 +15,8 @@ #include "obstacle_cruise_planner/node.hpp" #include -#include -#include +#include +#include #include diff --git a/planning/obstacle_stop_planner/package.xml b/planning/obstacle_stop_planner/package.xml index 14cdd862bb41e..1a6f8433875ce 100644 --- a/planning/obstacle_stop_planner/package.xml +++ b/planning/obstacle_stop_planner/package.xml @@ -23,12 +23,12 @@ autoware_adapi_v1_msgs autoware_auto_perception_msgs autoware_auto_planning_msgs + autoware_planning_test_manager diagnostic_msgs motion_utils nav_msgs pcl_conversions pcl_ros - planning_test_utils rclcpp rclcpp_components sensor_msgs diff --git a/planning/obstacle_stop_planner/test/test_obstacle_stop_planner_node_interface.cpp b/planning/obstacle_stop_planner/test/test_obstacle_stop_planner_node_interface.cpp index 7f986bf848777..4e846d9ff1417 100644 --- a/planning/obstacle_stop_planner/test/test_obstacle_stop_planner_node_interface.cpp +++ b/planning/obstacle_stop_planner/test/test_obstacle_stop_planner_node_interface.cpp @@ -15,8 +15,8 @@ #include "obstacle_stop_planner/node.hpp" #include -#include -#include +#include +#include #include diff --git a/planning/obstacle_velocity_limiter/package.xml b/planning/obstacle_velocity_limiter/package.xml index 377f061faffd7..8c9c89094f5f0 100644 --- a/planning/obstacle_velocity_limiter/package.xml +++ b/planning/obstacle_velocity_limiter/package.xml @@ -13,6 +13,7 @@ autoware_auto_perception_msgs autoware_auto_planning_msgs + autoware_planning_test_manager eigen grid_map_msgs grid_map_ros @@ -23,7 +24,6 @@ motion_utils nav_msgs pcl_ros - planning_test_utils rclcpp rclcpp_components sensor_msgs diff --git a/planning/obstacle_velocity_limiter/test/test_obstacle_velocity_limiter_node_interface.cpp b/planning/obstacle_velocity_limiter/test/test_obstacle_velocity_limiter_node_interface.cpp index a89042ef210d5..fb7f9bb85e2c5 100644 --- a/planning/obstacle_velocity_limiter/test/test_obstacle_velocity_limiter_node_interface.cpp +++ b/planning/obstacle_velocity_limiter/test/test_obstacle_velocity_limiter_node_interface.cpp @@ -15,8 +15,8 @@ #include "obstacle_velocity_limiter/obstacle_velocity_limiter_node.hpp" #include -#include -#include +#include +#include #include diff --git a/planning/path_smoother/include/path_smoother/elastic_band_smoother.hpp b/planning/path_smoother/include/path_smoother/elastic_band_smoother.hpp index e0bdb326adb33..bc566fdfb96bf 100644 --- a/planning/path_smoother/include/path_smoother/elastic_band_smoother.hpp +++ b/planning/path_smoother/include/path_smoother/elastic_band_smoother.hpp @@ -22,6 +22,7 @@ #include "path_smoother/type_alias.hpp" #include "rclcpp/rclcpp.hpp" #include "tier4_autoware_utils/ros/logger_level_configure.hpp" +#include "tier4_autoware_utils/ros/polling_subscriber.hpp" #include @@ -72,9 +73,6 @@ class ElasticBandSmoother : public rclcpp::Node CommonParam common_param_{}; EgoNearestParam ego_nearest_param_{}; - // variables for subscribers - Odometry::ConstSharedPtr ego_state_ptr_; - // variables for previous information std::shared_ptr> prev_optimized_traj_points_ptr_; @@ -84,7 +82,7 @@ class ElasticBandSmoother : public rclcpp::Node // interface subscriber rclcpp::Subscription::SharedPtr path_sub_; - rclcpp::Subscription::SharedPtr odom_sub_; + tier4_autoware_utils::InterProcessPollingSubscriber odom_sub_{this, "~/input/odometry"}; // debug publisher rclcpp::Publisher::SharedPtr debug_extended_traj_pub_; @@ -104,7 +102,8 @@ class ElasticBandSmoother : public rclcpp::Node void resetPreviousData(); // main functions - bool isDataReady(const Path & path, rclcpp::Clock clock) const; + bool isDataReady( + const Path & path, const Odometry::ConstSharedPtr ego_state_ptr, rclcpp::Clock clock) const; void applyInputVelocity( std::vector & output_traj_points, const std::vector & input_traj_points, diff --git a/planning/path_smoother/package.xml b/planning/path_smoother/package.xml index f0e0381f1706b..0cba14254e492 100644 --- a/planning/path_smoother/package.xml +++ b/planning/path_smoother/package.xml @@ -15,12 +15,12 @@ autoware_cmake autoware_auto_planning_msgs + autoware_planning_test_manager geometry_msgs interpolation motion_utils nav_msgs osqp_interface - planning_test_utils rclcpp rclcpp_components std_msgs diff --git a/planning/path_smoother/src/elastic_band_smoother.cpp b/planning/path_smoother/src/elastic_band_smoother.cpp index 6fb732309da4b..75300286ac9dc 100644 --- a/planning/path_smoother/src/elastic_band_smoother.cpp +++ b/planning/path_smoother/src/elastic_band_smoother.cpp @@ -79,8 +79,6 @@ ElasticBandSmoother::ElasticBandSmoother(const rclcpp::NodeOptions & node_option // interface subscriber path_sub_ = create_subscription( "~/input/path", 1, std::bind(&ElasticBandSmoother::onPath, this, std::placeholders::_1)); - odom_sub_ = create_subscription( - "~/input/odometry", 1, [this](const Odometry::ConstSharedPtr msg) { ego_state_ptr_ = msg; }); // debug publisher debug_extended_traj_pub_ = create_publisher("~/debug/extended_traj", 1); @@ -156,7 +154,8 @@ void ElasticBandSmoother::onPath(const Path::ConstSharedPtr path_ptr) time_keeper_ptr_->tic(__func__); // check if data is ready and valid - if (!isDataReady(*path_ptr, *get_clock())) { + const auto ego_state_ptr = odom_sub_.takeData(); + if (!isDataReady(*path_ptr, ego_state_ptr, *get_clock())) { return; } @@ -181,7 +180,7 @@ void ElasticBandSmoother::onPath(const Path::ConstSharedPtr path_ptr) // 1. calculate trajectory with Elastic Band // 1.a check if replan (= optimization) is required PlannerData planner_data( - input_traj_points, ego_state_ptr_->pose.pose, ego_state_ptr_->twist.twist.linear.x); + input_traj_points, ego_state_ptr->pose.pose, ego_state_ptr->twist.twist.linear.x); const bool is_replan_required = [&]() { if (replan_checker_ptr_->isResetRequired(planner_data)) { // NOTE: always replan when resetting previous optimization @@ -195,7 +194,7 @@ void ElasticBandSmoother::onPath(const Path::ConstSharedPtr path_ptr) replan_checker_ptr_->updateData(planner_data, is_replan_required, now()); time_keeper_ptr_->tic(__func__); auto smoothed_traj_points = is_replan_required ? eb_path_smoother_ptr_->smoothTrajectory( - input_traj_points, ego_state_ptr_->pose.pose) + input_traj_points, ego_state_ptr->pose.pose) : *prev_optimized_traj_points_ptr_; time_keeper_ptr_->toc(__func__, " "); @@ -203,7 +202,7 @@ void ElasticBandSmoother::onPath(const Path::ConstSharedPtr path_ptr) std::make_shared>(smoothed_traj_points); // 2. update velocity - applyInputVelocity(smoothed_traj_points, input_traj_points, ego_state_ptr_->pose.pose); + applyInputVelocity(smoothed_traj_points, input_traj_points, ego_state_ptr->pose.pose); // 3. extend trajectory to connect the optimized trajectory and the following path smoothly auto full_traj_points = extendTrajectory(input_traj_points, smoothed_traj_points); @@ -230,9 +229,10 @@ void ElasticBandSmoother::onPath(const Path::ConstSharedPtr path_ptr) published_time_publisher_->publish_if_subscribed(path_pub_, path_ptr->header.stamp); } -bool ElasticBandSmoother::isDataReady(const Path & path, rclcpp::Clock clock) const +bool ElasticBandSmoother::isDataReady( + const Path & path, const Odometry::ConstSharedPtr ego_state_ptr, rclcpp::Clock clock) const { - if (!ego_state_ptr_) { + if (!ego_state_ptr) { RCLCPP_INFO_SKIPFIRST_THROTTLE(get_logger(), clock, 5000, "Waiting for ego pose and twist."); return false; } diff --git a/planning/path_smoother/test/test_path_smoother_node_interface.cpp b/planning/path_smoother/test/test_path_smoother_node_interface.cpp index 3598e07f84fd6..30e9fba1433cb 100644 --- a/planning/path_smoother/test/test_path_smoother_node_interface.cpp +++ b/planning/path_smoother/test/test_path_smoother_node_interface.cpp @@ -15,8 +15,8 @@ #include "path_smoother/elastic_band_smoother.hpp" #include -#include -#include +#include +#include #include diff --git a/planning/planning_test_utils/CMakeLists.txt b/planning/planning_test_utils/CMakeLists.txt index a192f1756b9be..ce746352bb89c 100644 --- a/planning/planning_test_utils/CMakeLists.txt +++ b/planning/planning_test_utils/CMakeLists.txt @@ -5,10 +5,25 @@ find_package(autoware_cmake REQUIRED) autoware_package() ament_auto_add_library(planning_test_utils SHARED - src/planning_interface_test_manager.cpp + src/planning_test_utils.cpp) + +ament_auto_add_library(mock_data_parser SHARED + src/mock_data_parser.cpp) + +target_link_libraries(mock_data_parser + yaml-cpp ) +if(BUILD_TESTING) + ament_add_ros_isolated_gtest(test_mock_data_parser + test/test_mock_data_parser.cpp) + + target_link_libraries(test_mock_data_parser + mock_data_parser) +endif() + ament_auto_package(INSTALL_TO_SHARE config test_map + test_data ) diff --git a/planning/planning_test_utils/README.md b/planning/planning_test_utils/README.md index 63f1bf53a4954..c064e5791a487 100644 --- a/planning/planning_test_utils/README.md +++ b/planning/planning_test_utils/README.md @@ -1,92 +1,40 @@ -# Planning Interface Test Manager +# Test Utils ## Background -In each node of the planning module, when exceptional input, such as unusual routes or significantly deviated ego-position, is given, the node may not be prepared for such input and could crash. As a result, debugging node crashes can be time-consuming. For example, if an empty trajectory is given as input and it was not anticipated during implementation, the node might crash due to the unaddressed exceptional input when changes are merged, during scenario testing or while the system is running on an actual vehicle. +Several Autoware's components and modules have already adopted unit testing, so a common library to ease the process of writing unit tests is necessary. ## Purpose -The purpose is to provide a utility for implementing tests to ensure that node operates correctly when receiving exceptional input. By utilizing this utility and implementing tests for exceptional input, the purpose is to reduce bugs that are only discovered when actually running the system, by requiring measures for exceptional input before merging PRs. +The objective of the `test_utils` is to develop a unit testing library for the Autoware components. This library will include -## Features +- commonly used functions +- input/mock data parser +- maps for testing +- common routes and mock data for testing. -### Confirmation of normal operation +## Available Maps -For the test target node, confirm that the node operates correctly and publishes the required messages for subsequent nodes. To do this, test_node publish the necessary messages and confirm that the node's output is being published. +The following maps are available [here](https://github.com/autowarefoundation/autoware.universe/tree/main/planning/planning_test_utils/test_map) -### Robustness confirmation for special inputs +### Common -After confirming normal operation, ensure that the test target node does not crash when given exceptional input. To do this, provide exceptional input from the test_node and confirm that the node does not crash. +The common map contains multiple types of usable inputs, including shoulder lanes, intersections, and some regulatory elements. The common map is named `lanelet2_map.osm` in the folder. -(WIP) +![common](./images/common.png) -## Usage +### 2 km Straight -```cpp +The 2 km straight lanelet map consists of two lanes that run in the same direction. The map is named `2km_test.osm`. -TEST(PlanningModuleInterfaceTest, NodeTestWithExceptionTrajectory) -{ - rclcpp::init(0, nullptr); +![two_km](./images/2km-test.png) - // instantiate test_manager with PlanningInterfaceTestManager type - auto test_manager = std::make_shared(); +The following illustrates the design of the map. - // get package directories for necessary configuration files - const auto planning_test_utils_dir = - ament_index_cpp::get_package_share_directory("planning_test_utils"); - const auto target_node_dir = - ament_index_cpp::get_package_share_directory("target_node"); +![straight_diagram](./images/2km-test.svg) - // set arguments to get the config file - node_options.arguments( - {"--ros-args", "--params-file", - planning_test_utils_dir + "/config/test_vehicle_info.param.yaml", "--params-file", - planning_validator_dir + "/config/planning_validator.param.yaml"}); +## Example use cases - // instantiate the TargetNode with node_options - auto test_target_node = std::make_shared(node_options); +### Autoware Planning Test Manager - // publish the necessary topics from test_manager second argument is topic name - test_manager->publishOdometry(test_target_node, "/localization/kinematic_state"); - test_manager->publishMaxVelocity( - test_target_node, "motion_velocity_smoother/input/external_velocity_limit_mps"); - - // set scenario_selector's input topic name(this topic is changed to test node) - test_manager->setTrajectoryInputTopicName("input/parking/trajectory"); - - // test with normal trajectory - ASSERT_NO_THROW(test_manager->testWithNominalTrajectory(test_target_node)); - - // make sure target_node is running - EXPECT_GE(test_manager->getReceivedTopicNum(), 1); - - // test with trajectory input with empty/one point/overlapping point - ASSERT_NO_THROW(test_manager->testWithAbnormalTrajectory(test_target_node)); - - // shutdown ROS context - rclcpp::shutdown(); -} -``` - -## Implemented tests - -| Node | Test name | exceptional input | output | Exceptional input pattern | -| -------------------------- | ----------------------------------------------------------------------------------------- | ----------------- | -------------- | ------------------------------------------------------------------------------------- | -| planning_validator | NodeTestWithExceptionTrajectory | trajectory | trajectory | Empty, single point, path with duplicate points | -| motion_velocity_smoother | NodeTestWithExceptionTrajectory | trajectory | trajectory | Empty, single point, path with duplicate points | -| obstacle_cruise_planner | NodeTestWithExceptionTrajectory | trajectory | trajectory | Empty, single point, path with duplicate points | -| obstacle_stop_planner | NodeTestWithExceptionTrajectory | trajectory | trajectory | Empty, single point, path with duplicate points | -| obstacle_velocity_limiter | NodeTestWithExceptionTrajectory | trajectory | trajectory | Empty, single point, path with duplicate points | -| obstacle_avoidance_planner | NodeTestWithExceptionTrajectory | trajectory | trajectory | Empty, single point, path with duplicate points | -| scenario_selector | NodeTestWithExceptionTrajectoryLaneDrivingMode NodeTestWithExceptionTrajectoryParkingMode | trajectory | scenario | Empty, single point, path with duplicate points for scenarios:LANEDRIVING and PARKING | -| freespace_planner | NodeTestWithExceptionRoute | route | trajectory | Empty route | -| behavior_path_planner | NodeTestWithExceptionRoute NodeTestWithOffTrackEgoPose | route | route odometry | Empty route Off-lane ego-position | -| behavior_velocity_planner | NodeTestWithExceptionPathWithLaneID | path_with_lane_id | path | Empty path | - -## Important Notes - -During test execution, when launching a node, parameters are loaded from the parameter file within each package. Therefore, when adding parameters, it is necessary to add the required parameters to the parameter file in the target node package. This is to prevent the node from being unable to launch if there are missing parameters when retrieving them from the parameter file during node launch. - -## Future extensions / Unimplemented parts - -(WIP) +The goal of the [Autoware Planning Test Manager](https://autowarefoundation.github.io/autoware.universe/main/planning/autoware_planning_test_manager/) is to test planning module nodes. The `PlanningInterfaceTestManager` class ([source code](https://github.com/autowarefoundation/autoware.universe/blob/main/planning/autoware_planning_test_manager/src/autoware_planning_test_manager.cpp)) creates wrapper functions based on the `test_utils` functions. diff --git a/planning/planning_test_utils/images/2km-test.png b/planning/planning_test_utils/images/2km-test.png new file mode 100644 index 0000000000000..297dc5a43865e Binary files /dev/null and b/planning/planning_test_utils/images/2km-test.png differ diff --git a/planning/planning_test_utils/images/2km-test.svg b/planning/planning_test_utils/images/2km-test.svg new file mode 100644 index 0000000000000..26632cdde9118 --- /dev/null +++ b/planning/planning_test_utils/images/2km-test.svg @@ -0,0 +1,505 @@ + + + + + + + + + + + + + + + + + + +
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+ + + + + + + diff --git a/planning/planning_test_utils/images/common.png b/planning/planning_test_utils/images/common.png new file mode 100644 index 0000000000000..340437b53c0f5 Binary files /dev/null and b/planning/planning_test_utils/images/common.png differ diff --git a/planning/planning_test_utils/include/planning_test_utils/mock_data_parser.hpp b/planning/planning_test_utils/include/planning_test_utils/mock_data_parser.hpp new file mode 100644 index 0000000000000..09d4474dda15d --- /dev/null +++ b/planning/planning_test_utils/include/planning_test_utils/mock_data_parser.hpp @@ -0,0 +1,46 @@ +// Copyright 2024 TIER IV +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#ifndef PLANNING_TEST_UTILS__MOCK_DATA_PARSER_HPP_ +#define PLANNING_TEST_UTILS__MOCK_DATA_PARSER_HPP_ + +#include +#include +#include +#include + +#include + +#include +#include + +namespace test_utils +{ +using autoware_planning_msgs::msg::LaneletPrimitive; +using autoware_planning_msgs::msg::LaneletRoute; +using autoware_planning_msgs::msg::LaneletSegment; +using geometry_msgs::msg::Pose; + +Pose parse_pose(const YAML::Node & node); + +LaneletPrimitive parse_lanelet_primitive(const YAML::Node & node); + +std::vector parse_lanelet_primitives(const YAML::Node & node); + +std::vector parse_segments(const YAML::Node & node); + +LaneletRoute parse_lanelet_route_file(const std::string & filename); +} // namespace test_utils + +#endif // PLANNING_TEST_UTILS__MOCK_DATA_PARSER_HPP_ diff --git a/planning/planning_test_utils/include/planning_test_utils/planning_interface_test_manager_utils.hpp b/planning/planning_test_utils/include/planning_test_utils/planning_interface_test_manager_utils.hpp deleted file mode 100644 index 371a6316ce993..0000000000000 --- a/planning/planning_test_utils/include/planning_test_utils/planning_interface_test_manager_utils.hpp +++ /dev/null @@ -1,559 +0,0 @@ -// Copyright 2023 Tier IV, Inc. -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. - -#ifndef PLANNING_TEST_UTILS__PLANNING_INTERFACE_TEST_MANAGER_UTILS_HPP_ -#define PLANNING_TEST_UTILS__PLANNING_INTERFACE_TEST_MANAGER_UTILS_HPP_ - -#include "ament_index_cpp/get_package_share_directory.hpp" -#include "rclcpp/rclcpp.hpp" - -#include -#include -#include -#include -#include -#include -#include - -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include - -#include -#include -#include -#include -#include - -#include -#include -#include -#include -#include - -namespace test_utils -{ -using autoware_adapi_v1_msgs::msg::OperationModeState; -using autoware_auto_mapping_msgs::msg::HADMapBin; -using autoware_auto_planning_msgs::msg::Path; -using autoware_auto_planning_msgs::msg::PathPointWithLaneId; -using autoware_auto_planning_msgs::msg::PathWithLaneId; -using autoware_auto_planning_msgs::msg::Trajectory; -using autoware_planning_msgs::msg::LaneletPrimitive; -using autoware_planning_msgs::msg::LaneletRoute; -using autoware_planning_msgs::msg::LaneletSegment; -using RouteSections = std::vector; -using geometry_msgs::msg::Point; -using geometry_msgs::msg::Pose; -using geometry_msgs::msg::PoseStamped; -using geometry_msgs::msg::TransformStamped; -using nav_msgs::msg::OccupancyGrid; -using nav_msgs::msg::Odometry; -using route_handler::RouteHandler; -using sensor_msgs::msg::PointCloud2; -using tf2_msgs::msg::TFMessage; -using tier4_autoware_utils::createPoint; -using tier4_autoware_utils::createQuaternionFromRPY; -using tier4_planning_msgs::msg::Scenario; -using unique_identifier_msgs::msg::UUID; - -geometry_msgs::msg::Pose createPose( - double x, double y, double z, double roll, double pitch, double yaw) -{ - geometry_msgs::msg::Pose p; - p.position = createPoint(x, y, z); - p.orientation = createQuaternionFromRPY(roll, pitch, yaw); - return p; -} - -geometry_msgs::msg::Pose createPose(const std::array & pose3d) -{ - return createPose(pose3d[0], pose3d[1], pose3d[2], 0.0, 0.0, pose3d[3]); -} - -template -T generateTrajectory( - const size_t num_points, const double point_interval, const double velocity = 0.0, - const double init_theta = 0.0, const double delta_theta = 0.0, - const size_t overlapping_point_index = std::numeric_limits::max()) -{ - using Point = typename T::_points_type::value_type; - - T traj; - for (size_t i = 0; i < num_points; ++i) { - const double theta = init_theta + i * delta_theta; - const double x = i * point_interval * std::cos(theta); - const double y = i * point_interval * std::sin(theta); - - Point p; - p.pose = createPose(x, y, 0.0, 0.0, 0.0, theta); - p.longitudinal_velocity_mps = velocity; - traj.points.push_back(p); - - if (i == overlapping_point_index) { - Point value_to_insert = traj.points[overlapping_point_index]; - traj.points.insert(traj.points.begin() + overlapping_point_index + 1, value_to_insert); - } - } - - return traj; -} - -LaneletSegment createLaneletSegment(int id) -{ - LaneletPrimitive primitive; - primitive.id = id; - primitive.primitive_type = "lane"; - LaneletSegment segment; - segment.preferred_primitive.id = id; - segment.primitives.push_back(primitive); - return segment; -} - -lanelet::LaneletMapPtr loadMap(const std::string & lanelet2_filename) -{ - lanelet::ErrorMessages errors{}; - lanelet::projection::MGRSProjector projector{}; - const lanelet::LaneletMapPtr map = lanelet::load(lanelet2_filename, projector, &errors); - if (errors.empty()) { - return map; - } - - for (const auto & error : errors) { - RCLCPP_ERROR_STREAM(rclcpp::get_logger("map_loader"), error); - } - return nullptr; -} - -HADMapBin convertToMapBinMsg( - const lanelet::LaneletMapPtr map, const std::string & lanelet2_filename, const rclcpp::Time & now) -{ - std::string format_version{}, map_version{}; - lanelet::io_handlers::AutowareOsmParser::parseVersions( - lanelet2_filename, &format_version, &map_version); - - HADMapBin map_bin_msg; - map_bin_msg.header.stamp = now; - map_bin_msg.header.frame_id = "map"; - map_bin_msg.format_version = format_version; - map_bin_msg.map_version = map_version; - lanelet::utils::conversion::toBinMsg(map, &map_bin_msg); - - return map_bin_msg; -} - -LaneletRoute makeNormalRoute() -{ - const std::array start_pose{5.5, 4., 0., M_PI_2}; - const std::array goal_pose{8.0, 26.3, 0, 0}; - LaneletRoute route; - route.header.frame_id = "map"; - route.start_pose = createPose(start_pose); - route.goal_pose = createPose(goal_pose); - return route; -} - -OccupancyGrid makeCostMapMsg(size_t width = 150, size_t height = 150, double resolution = 0.2) -{ - nav_msgs::msg::OccupancyGrid costmap_msg; - - // create info - costmap_msg.header.frame_id = "map"; - costmap_msg.info.width = width; - costmap_msg.info.height = height; - costmap_msg.info.resolution = resolution; - - // create data - const size_t n_elem = width * height; - for (size_t i = 0; i < n_elem; ++i) { - costmap_msg.data.push_back(0.0); - } - return costmap_msg; -} - -HADMapBin makeMapBinMsg() -{ - const auto planning_test_utils_dir = - ament_index_cpp::get_package_share_directory("planning_test_utils"); - const auto lanelet2_path = planning_test_utils_dir + "/test_map/lanelet2_map.osm"; - double center_line_resolution = 5.0; - // load map from file - const auto map = loadMap(lanelet2_path); - if (!map) { - return autoware_auto_mapping_msgs::msg::HADMapBin_>{}; - } - - // overwrite centerline - lanelet::utils::overwriteLaneletsCenterline(map, center_line_resolution, false); - - // create map bin msg - const auto map_bin_msg = - convertToMapBinMsg(map, lanelet2_path, rclcpp::Clock(RCL_ROS_TIME).now()); - return map_bin_msg; -} - -Odometry makeOdometry(const double shift = 0.0) -{ - Odometry odometry; - const std::array start_pose{0.0, shift, 0.0, 0.0}; - odometry.pose.pose = createPose(start_pose); - odometry.header.frame_id = "map"; - return odometry; -} - -Odometry makeInitialPose(const double shift = 0.0) -{ - Odometry current_odometry; - const auto yaw = 0.9724497591854532; - const auto shift_x = shift * std::sin(yaw); - const auto shift_y = shift * std::cos(yaw); - const std::array start_pose{ - 3722.16015625 + shift_x, 73723.515625 + shift_y, 0.233112560494183, yaw}; - current_odometry.pose.pose = test_utils::createPose(start_pose); - current_odometry.header.frame_id = "map"; - return current_odometry; -} - -TFMessage makeTFMsg( - rclcpp::Node::SharedPtr target_node, std::string frame_id = "", std::string child_frame_id = "") -{ - TFMessage tf_msg; - geometry_msgs::msg::Quaternion quaternion; - quaternion.x = 0.; - quaternion.y = 0.; - quaternion.z = 0.23311256049418302; - quaternion.w = 0.9724497591854532; - - TransformStamped tf; - tf.header.stamp = target_node->get_clock()->now(); - tf.header.frame_id = frame_id; - tf.child_frame_id = child_frame_id; - tf.transform.translation.x = 3722.16015625; - tf.transform.translation.y = 73723.515625; - tf.transform.translation.z = 0; - tf.transform.rotation = quaternion; - - tf_msg.transforms.emplace_back(std::move(tf)); - return tf_msg; -} - -Scenario makeScenarioMsg(const std::string scenario) -{ - Scenario scenario_msg; - scenario_msg.current_scenario = scenario; - scenario_msg.activating_scenarios = {scenario}; - return scenario_msg; -} - -Pose createPoseFromLaneID(const lanelet::Id & lane_id) -{ - auto map_bin_msg = makeMapBinMsg(); - // create route_handler - auto route_handler = std::make_shared(); - route_handler->setMap(map_bin_msg); - - // get middle idx of the lanelet - const auto lanelet = route_handler->getLaneletsFromId(lane_id); - const auto center_line = lanelet.centerline(); - const size_t middle_point_idx = std::floor(center_line.size() / 2.0); - - // get middle position of the lanelet - geometry_msgs::msg::Point middle_pos; - middle_pos.x = center_line[middle_point_idx].x(); - middle_pos.y = center_line[middle_point_idx].y(); - - // get next middle position of the lanelet - geometry_msgs::msg::Point next_middle_pos; - next_middle_pos.x = center_line[middle_point_idx + 1].x(); - next_middle_pos.y = center_line[middle_point_idx + 1].y(); - - // calculate middle pose - geometry_msgs::msg::Pose middle_pose; - middle_pose.position = middle_pos; - const double yaw = tier4_autoware_utils::calcAzimuthAngle(middle_pos, next_middle_pos); - middle_pose.orientation = tier4_autoware_utils::createQuaternionFromYaw(yaw); - - return middle_pose; -} - -Odometry makeInitialPoseFromLaneId(const lanelet::Id & lane_id) -{ - Odometry current_odometry; - current_odometry.pose.pose = createPoseFromLaneID(lane_id); - current_odometry.header.frame_id = "map"; - - return current_odometry; -} - -RouteSections combineConsecutiveRouteSections( - const RouteSections & route_sections1, const RouteSections & route_sections2) -{ - RouteSections route_sections; - route_sections.reserve(route_sections1.size() + route_sections2.size()); - if (!route_sections1.empty()) { - // remove end route section because it is overlapping with first one in next route_section - route_sections.insert(route_sections.end(), route_sections1.begin(), route_sections1.end() - 1); - } - if (!route_sections2.empty()) { - route_sections.insert(route_sections.end(), route_sections2.begin(), route_sections2.end()); - } - return route_sections; -} - -// Function to create a route from given start and goal lanelet ids -// start pose and goal pose are set to the middle of the lanelet -LaneletRoute makeBehaviorRouteFromLaneId(const int & start_lane_id, const int & goal_lane_id) -{ - LaneletRoute route; - route.header.frame_id = "map"; - auto start_pose = createPoseFromLaneID(start_lane_id); - auto goal_pose = createPoseFromLaneID(goal_lane_id); - route.start_pose = start_pose; - route.goal_pose = goal_pose; - - auto map_bin_msg = makeMapBinMsg(); - // create route_handler - auto route_handler = std::make_shared(); - route_handler->setMap(map_bin_msg); - - LaneletRoute route_msg; - RouteSections route_sections; - lanelet::ConstLanelets all_route_lanelets; - - // Plan the path between checkpoints (start and goal poses) - lanelet::ConstLanelets path_lanelets; - if (!route_handler->planPathLaneletsBetweenCheckpoints(start_pose, goal_pose, &path_lanelets)) { - return route_msg; - } - - // Add all path_lanelets to all_route_lanelets - for (const auto & lane : path_lanelets) { - all_route_lanelets.push_back(lane); - } - // create local route sections - route_handler->setRouteLanelets(path_lanelets); - const auto local_route_sections = route_handler->createMapSegments(path_lanelets); - route_sections = combineConsecutiveRouteSections(route_sections, local_route_sections); - for (const auto & route_section : route_sections) { - for (const auto & primitive : route_section.primitives) { - std::cerr << "primitive: " << primitive.id << std::endl; - } - std::cerr << "preferred_primitive id : " << route_section.preferred_primitive.id << std::endl; - } - route_handler->setRouteLanelets(all_route_lanelets); - route.segments = route_sections; - - route.allow_modification = false; - return route; -} - -// this is for the test lanelet2_map.osm -// file hash: a9f84cff03b55a64917bc066451276d2293b0a54f5c088febca0c7fdf2f245d5 -LaneletRoute makeBehaviorNormalRoute() -{ - LaneletRoute route; - route.header.frame_id = "map"; - route.start_pose = - createPose({3722.16015625, 73723.515625, 0.233112560494183, 0.9724497591854532}); - route.goal_pose = - createPose({3778.362060546875, 73721.2734375, -0.5107480274693206, 0.8597304533609347}); - - std::vector primitive_ids = {9102, 9178, 54, 112}; - for (int id : primitive_ids) { - route.segments.push_back(createLaneletSegment(id)); - } - - std::array uuid_bytes{210, 87, 16, 126, 98, 151, 58, 28, - 252, 221, 230, 92, 122, 170, 46, 6}; - route.uuid.uuid = uuid_bytes; - - route.allow_modification = false; - return route; -} - -template -void createPublisherWithQoS( - rclcpp::Node::SharedPtr test_node, std::string topic_name, - std::shared_ptr> & publisher) -{ - if constexpr ( - std::is_same_v || std::is_same_v || - std::is_same_v) { - rclcpp::QoS qos(rclcpp::KeepLast(1)); - qos.reliable(); - qos.transient_local(); - publisher = rclcpp::create_publisher(test_node, topic_name, qos); - } else { - publisher = rclcpp::create_publisher(test_node, topic_name, 1); - } -} - -template -void setPublisher( - rclcpp::Node::SharedPtr test_node, std::string topic_name, - std::shared_ptr> & publisher) -{ - createPublisherWithQoS(test_node, topic_name, publisher); -} - -template -void createSubscription( - rclcpp::Node::SharedPtr test_node, std::string topic_name, - std::function callback, - std::shared_ptr> & subscriber) -{ - if constexpr (std::is_same_v) { - subscriber = test_node->create_subscription(topic_name, rclcpp::QoS{1}, callback); - } else { - subscriber = test_node->create_subscription(topic_name, 10, callback); - } -} - -template -void setSubscriber( - rclcpp::Node::SharedPtr test_node, std::string topic_name, - std::shared_ptr> & subscriber, size_t & count) -{ - createSubscription( - test_node, topic_name, [&count](const typename T::ConstSharedPtr) { count++; }, subscriber); -} - -void spinSomeNodes( - rclcpp::Node::SharedPtr test_node, rclcpp::Node::SharedPtr target_node, - const int repeat_count = 1) -{ - rclcpp::executors::SingleThreadedExecutor executor; - executor.add_node(test_node); - executor.add_node(target_node); - for (int i = 0; i < repeat_count; i++) { - executor.spin_some(std::chrono::milliseconds(100)); - rclcpp::sleep_for(std::chrono::milliseconds(100)); - } -} - -template -void publishToTargetNode( - rclcpp::Node::SharedPtr test_node, rclcpp::Node::SharedPtr target_node, std::string topic_name, - typename rclcpp::Publisher::SharedPtr publisher, T data, const int repeat_count = 3) -{ - if (topic_name.empty()) { - int status; - char * demangled_name = abi::__cxa_demangle(typeid(data).name(), nullptr, nullptr, &status); - if (status == 0) { - throw std::runtime_error(std::string("Topic name for ") + demangled_name + " is empty"); - } else { - throw std::runtime_error(std::string("Topic name for ") + typeid(data).name() + " is empty"); - } - } - - test_utils::setPublisher(test_node, topic_name, publisher); - publisher->publish(data); - - if (target_node->count_subscribers(topic_name) == 0) { - throw std::runtime_error("No subscriber for " + topic_name); - } - test_utils::spinSomeNodes(test_node, target_node, repeat_count); -} - -void updateNodeOptions( - rclcpp::NodeOptions & node_options, const std::vector & params_files) -{ - std::vector arguments; - arguments.push_back("--ros-args"); - arguments.push_back("--params-file"); - for (const auto & param_file : params_files) { - arguments.push_back(param_file.c_str()); - arguments.push_back("--params-file"); - } - arguments.pop_back(); - - node_options.arguments(std::vector{arguments.begin(), arguments.end()}); -} - -PathWithLaneId loadPathWithLaneIdInYaml() -{ - const auto planning_test_utils_dir = - ament_index_cpp::get_package_share_directory("planning_test_utils"); - const auto yaml_path = planning_test_utils_dir + "/config/path_with_lane_id_data.yaml"; - YAML::Node yaml_node = YAML::LoadFile(yaml_path); - PathWithLaneId path_msg; - - // Convert YAML data to PathWithLaneId message - // Fill the header - path_msg.header.stamp.sec = yaml_node["header"]["stamp"]["sec"].as(); - path_msg.header.stamp.nanosec = yaml_node["header"]["stamp"]["nanosec"].as(); - path_msg.header.frame_id = yaml_node["header"]["frame_id"].as(); - - // Fill the points - for (const auto & point_node : yaml_node["points"]) { - PathPointWithLaneId point; - // Fill the PathPoint data - point.point.pose.position.x = point_node["point"]["pose"]["position"]["x"].as(); - point.point.pose.position.y = point_node["point"]["pose"]["position"]["y"].as(); - point.point.pose.position.z = point_node["point"]["pose"]["position"]["z"].as(); - point.point.pose.orientation.x = point_node["point"]["pose"]["orientation"]["x"].as(); - point.point.pose.orientation.y = point_node["point"]["pose"]["orientation"]["y"].as(); - point.point.pose.orientation.z = point_node["point"]["pose"]["orientation"]["z"].as(); - point.point.pose.orientation.w = point_node["point"]["pose"]["orientation"]["w"].as(); - point.point.longitudinal_velocity_mps = - point_node["point"]["longitudinal_velocity_mps"].as(); - point.point.lateral_velocity_mps = point_node["point"]["lateral_velocity_mps"].as(); - point.point.heading_rate_rps = point_node["point"]["heading_rate_rps"].as(); - point.point.is_final = point_node["point"]["is_final"].as(); - // Fill the lane_ids - for (const auto & lane_id_node : point_node["lane_ids"]) { - point.lane_ids.push_back(lane_id_node.as()); - } - - path_msg.points.push_back(point); - } - - // Fill the left_bound - for (const auto & point_node : yaml_node["left_bound"]) { - Point point; - // Fill the Point data (left_bound) - point.x = point_node["x"].as(); - point.y = point_node["y"].as(); - point.z = point_node["z"].as(); - - path_msg.left_bound.push_back(point); - } - - // Fill the right_bound - for (const auto & point_node : yaml_node["right_bound"]) { - Point point; - // Fill the Point data - point.x = point_node["x"].as(); - point.y = point_node["y"].as(); - point.z = point_node["z"].as(); - - path_msg.right_bound.push_back(point); - } - return path_msg; -} - -} // namespace test_utils - -#endif // PLANNING_TEST_UTILS__PLANNING_INTERFACE_TEST_MANAGER_UTILS_HPP_ diff --git a/planning/planning_test_utils/include/planning_test_utils/planning_test_utils.hpp b/planning/planning_test_utils/include/planning_test_utils/planning_test_utils.hpp new file mode 100644 index 0000000000000..43c3e029d4437 --- /dev/null +++ b/planning/planning_test_utils/include/planning_test_utils/planning_test_utils.hpp @@ -0,0 +1,482 @@ +// Copyright 2023 Tier IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#ifndef PLANNING_TEST_UTILS__PLANNING_TEST_UTILS_HPP_ +#define PLANNING_TEST_UTILS__PLANNING_TEST_UTILS_HPP_ + +#include "ament_index_cpp/get_package_share_directory.hpp" +#include "rclcpp/rclcpp.hpp" + +#include +#include +#include +#include +#include +#include + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include +#include +#include +#include +#include + +#include +#include +#include +#include +#include + +namespace test_utils +{ +using autoware_adapi_v1_msgs::msg::OperationModeState; +using autoware_auto_mapping_msgs::msg::HADMapBin; +using autoware_auto_planning_msgs::msg::Path; +using autoware_auto_planning_msgs::msg::PathPointWithLaneId; +using autoware_auto_planning_msgs::msg::PathWithLaneId; +using autoware_auto_planning_msgs::msg::Trajectory; +using autoware_planning_msgs::msg::LaneletPrimitive; +using autoware_planning_msgs::msg::LaneletRoute; +using autoware_planning_msgs::msg::LaneletSegment; +using RouteSections = std::vector; +using geometry_msgs::msg::Point; +using geometry_msgs::msg::Pose; +using geometry_msgs::msg::PoseStamped; +using geometry_msgs::msg::TransformStamped; +using nav_msgs::msg::OccupancyGrid; +using nav_msgs::msg::Odometry; +using sensor_msgs::msg::PointCloud2; +using tf2_msgs::msg::TFMessage; +using tier4_autoware_utils::createPoint; +using tier4_autoware_utils::createQuaternionFromRPY; +using tier4_planning_msgs::msg::Scenario; +using unique_identifier_msgs::msg::UUID; + +/** + * @brief Creates a Pose message with the specified position and orientation. + * + * This function initializes a geometry_msgs::msg::Pose message with the + * given position (x, y, z) and orientation (roll, pitch, yaw). + * + * @param x The x-coordinate of the position. + * @param y The y-coordinate of the position. + * @param z The z-coordinate of the position. + * @param roll The roll component of the orientation (in radians). + * @param pitch The pitch component of the orientation (in radians). + * @param yaw The yaw component of the orientation (in radians). + * @return A geometry_msgs::msg::Pose message with the specified position + * and orientation. + */ +geometry_msgs::msg::Pose createPose( + double x, double y, double z, double roll, double pitch, double yaw); + +/** + * @brief Creates a Pose message from a 4-element array representing a 3D pose. + * + * This function initializes a geometry_msgs::msg::Pose message using a + * std::array of four doubles, where the first three elements represent the + * position (x, y, z) and the fourth element represents the yaw orientation. + * The roll and pitch orientations are assumed to be zero. + * + * @param pose3d A std::array of four doubles representing the 3D pose. The + * first element is the x-coordinate, the second is the y-coordinate, the + * third is the z-coordinate, and the fourth is the yaw orientation. + * @return A geometry_msgs::msg::Pose message with the specified position + * and yaw orientation, with roll and pitch set to zero. + */ +geometry_msgs::msg::Pose createPose(const std::array & pose3d); + +/** + * @brief Creates a LaneletSegment with the specified ID. + * + * Initializes a LaneletSegment containing a single LaneletPrimitive with the + * given ID and a primitive type of "lane". + * + * @param id The ID for the LaneletPrimitive and preferred primitive. + * @return A LaneletSegment with the specified ID. + */ +LaneletSegment createLaneletSegment(int id); + +/** + * @brief Loads a Lanelet map from a specified file. + * + * This function loads a Lanelet2 map using the given filename. It uses the MGRS + * projector and checks for any errors during the loading process. If errors + * are found, they are logged, and the function returns nullptr. + * + * @param lanelet2_filename The filename of the Lanelet2 map to load. + * @return A LaneletMapPtr to the loaded map, or nullptr if there were errors. + */ +lanelet::LaneletMapPtr loadMap(const std::string & lanelet2_filename); + +/** + * @brief Converts a Lanelet map to a HADMapBin message. + * + * This function converts a given Lanelet map to a HADMapBin message. It also + * parses the format and map versions from the specified filename and includes + * them in the message. The timestamp for the message is set to the provided time. + * + * @param map The Lanelet map to convert. + * @param lanelet2_filename The filename of the Lanelet2 map, used to parse format and map versions. + * @param now The current time to set in the message header. + * @return A HADMapBin message containing the converted map data. + */ +HADMapBin convertToMapBinMsg( + const lanelet::LaneletMapPtr map, const std::string & lanelet2_filename, + const rclcpp::Time & now); + +/** + * @brief Creates a normal Lanelet route with predefined start and goal poses. + * + * This function initializes a LaneletRoute with a predefined start and goal pose. + * + * @return A LaneletRoute with the specified start and goal poses. + */ +LaneletRoute makeNormalRoute(); + +/** + * @brief Creates an OccupancyGrid message with the specified dimensions and resolution. + * + * This function initializes an OccupancyGrid message with given width, height, and resolution. + * All cells in the grid are initialized to zero. + * + * @param width The width of the occupancy grid. + * @param height The height of the occupancy grid. + * @param resolution The resolution of the occupancy grid. + * @return An OccupancyGrid message with the specified dimensions and resolution. + */ +OccupancyGrid makeCostMapMsg(size_t width = 150, size_t height = 150, double resolution = 0.2); + +/** + * @brief Creates a HADMapBin message from a Lanelet map file. + * + * This function loads a Lanelet map from the given file, overwrites the + * centerline with the specified resolution, and converts the map to a HADMapBin message. + * + * @param absolute_path The absolute path to the Lanelet2 map file. + * @param center_line_resolution The resolution for the centerline. + * @return A HADMapBin message containing the map data. + */ +HADMapBin make_map_bin_msg( + const std::string & absolute_path, const double center_line_resolution = 5.0); + +/** + * @brief Creates a HADMapBin message using a predefined Lanelet2 map file. + * + * This function loads a lanelet2_map.osm from the test_map folder in the + * planning_test_utils package, overwrites the centerline with a resolution of 5.0, + * and converts the map to a HADMapBin message. + * + * @return A HADMapBin message containing the map data. + */ +HADMapBin makeMapBinMsg(); + +/** + * @brief Creates an Odometry message with a specified shift. + * + * This function initializes an Odometry message with a pose shifted by the given amount at y + * direction. x pose, z pose, and yaw angle remains zero. + * + * @param shift The amount by which to shift the pose. + * @return An Odometry message with the specified shift. + */ +Odometry makeOdometry(const double shift = 0.0); + +/** + * @brief Creates an initial Odometry message with a specified shift. + * + * This function initializes an Odometry message with a pose shifted by the given amount, + * accounting for a specific yaw angle. + * + * @param shift The amount by which to shift the pose. + * @return An Odometry message with the specified shift. + */ +Odometry makeInitialPose(const double shift = 0.0); + +/** + * @brief Creates a TFMessage with the specified frame IDs. + * + * This function initializes a TFMessage with a transform containing the given frame IDs. + * The transform includes a specific translation and rotation. + * + * @param target_node The node to use for obtaining the current time. + * @param frame_id The ID of the parent frame. + * @param child_frame_id The ID of the child frame. + * @return A TFMessage containing the transform. + */ +TFMessage makeTFMsg( + rclcpp::Node::SharedPtr target_node, std::string && frame_id = "", + std::string && child_frame_id = ""); + +/** + * @brief Creates a Scenario message with the specified scenario. + * + * This function initializes a Scenario message with the current scenario and a list of activating + * scenarios. + * + * @param scenario The name of the current scenario. + * @return A Scenario message with the specified scenario. + */ +Scenario makeScenarioMsg(const std::string & scenario); + +/** + * @brief Combines two sets of consecutive RouteSections. + * + * This function combines two sets of RouteSections, removing the overlapping end section from the + * first set. + * + * @param route_sections1 The first set of RouteSections. + * @param route_sections2 The second set of RouteSections. + * @return A combined set of RouteSections. + */ +RouteSections combineConsecutiveRouteSections( + const RouteSections & route_sections1, const RouteSections & route_sections2); + +/** + * @brief Creates a predefined behavior Lanelet route. + * + * This function initializes a LaneletRoute with predefined start and goal poses, + * a list of lanelet segment IDs, and a fixed UUID. + * this is for the test lanelet2_map.osm + * file hash: a9f84cff03b55a64917bc066451276d2293b0a54f5c088febca0c7fdf2f245d5 + * + * @return A LaneletRoute with the specified attributes. + */ +LaneletRoute makeBehaviorNormalRoute(); + +/** + * @brief Spins multiple ROS nodes a specified number of times. + * + * This function spins the given test and target nodes for the specified number of iterations. + * + * @param test_node The test node to spin. + * @param target_node The target node to spin. + * @param repeat_count The number of times to spin the nodes. + */ +void spinSomeNodes( + rclcpp::Node::SharedPtr test_node, rclcpp::Node::SharedPtr target_node, + const int repeat_count = 1); + +/** + * @brief Updates node options with parameter files. + * + * This function updates the given node options to include the specified parameter files. + * + * @param node_options The node options to update. + * @param params_files A vector of parameter file paths to add to the node options. + */ +void updateNodeOptions( + rclcpp::NodeOptions & node_options, const std::vector & params_files); + +/** + * @brief Loads a PathWithLaneId message from a YAML file. + * + * This function loads a PathWithLaneId message from a YAML file located in the + * planning_test_utils package. + * + * @return A PathWithLaneId message containing the loaded data. + */ +PathWithLaneId loadPathWithLaneIdInYaml(); + +/** + * @brief Generates a trajectory with specified parameters. + * + * This function generates a trajectory of type T with a given number of points, + * point interval, velocity, initial theta, delta theta, and optionally an + * overlapping point index. + * + * @tparam T The type of the trajectory. + * @param num_points The number of points in the trajectory. + * @param point_interval The distance between consecutive points. + * @param velocity The longitudinal velocity for each point. + * @param init_theta The initial theta angle. + * @param delta_theta The change in theta per point. + * @param overlapping_point_index The index of the point to overlap (default is max size_t value). + * @return A trajectory of type T with the specified parameters. + */ +template +T generateTrajectory( + const size_t num_points, const double point_interval, const double velocity = 0.0, + const double init_theta = 0.0, const double delta_theta = 0.0, + const size_t overlapping_point_index = std::numeric_limits::max()) +{ + using Point = typename T::_points_type::value_type; + + T traj; + for (size_t i = 0; i < num_points; ++i) { + const double theta = init_theta + i * delta_theta; + const double x = i * point_interval * std::cos(theta); + const double y = i * point_interval * std::sin(theta); + + Point p; + p.pose = createPose(x, y, 0.0, 0.0, 0.0, theta); + p.longitudinal_velocity_mps = velocity; + traj.points.push_back(p); + + if (i == overlapping_point_index) { + Point value_to_insert = traj.points[overlapping_point_index]; + traj.points.insert(traj.points.begin() + overlapping_point_index + 1, value_to_insert); + } + } + + return traj; +} + +/** + * @brief Creates a publisher with appropriate QoS settings. + * + * This function creates a publisher for a given topic name and message type with appropriate + * QoS settings, depending on the message type. + * + * @tparam T The type of the message to publish. + * @param test_node The node to create the publisher on. + * @param topic_name The name of the topic to publish to. + * @param publisher A reference to the publisher to be created. + */ +template +void createPublisherWithQoS( + rclcpp::Node::SharedPtr test_node, std::string topic_name, + std::shared_ptr> & publisher) +{ + if constexpr ( + std::is_same_v || std::is_same_v || + std::is_same_v) { + rclcpp::QoS qos(rclcpp::KeepLast(1)); + qos.reliable(); + qos.transient_local(); + publisher = rclcpp::create_publisher(test_node, topic_name, qos); + } else { + publisher = rclcpp::create_publisher(test_node, topic_name, 1); + } +} + +/** + * @brief Sets up a publisher for a given topic. + * + * This function sets up a publisher for a given topic using createPublisherWithQoS. + * + * @tparam T The type of the message to publish. + * @param test_node The node to create the publisher on. + * @param topic_name The name of the topic to publish to. + * @param publisher A reference to the publisher to be set. + */ +template +void setPublisher( + rclcpp::Node::SharedPtr test_node, std::string topic_name, + std::shared_ptr> & publisher) +{ + createPublisherWithQoS(test_node, topic_name, publisher); +} + +/** + * @brief Creates a subscription with appropriate QoS settings. + * + * This function creates a subscription for a given topic name and message type with appropriate + * QoS settings, depending on the message type. + * + * @tparam T The type of the message to subscribe to. + * @param test_node The node to create the subscription on. + * @param topic_name The name of the topic to subscribe to. + * @param callback The callback function to call when a message is received. + * @param subscriber A reference to the subscription to be created. + */ +template +void createSubscription( + rclcpp::Node::SharedPtr test_node, std::string topic_name, + std::function callback, + std::shared_ptr> & subscriber) +{ + if constexpr (std::is_same_v) { + subscriber = test_node->create_subscription(topic_name, rclcpp::QoS{1}, callback); + } else { + subscriber = test_node->create_subscription(topic_name, 10, callback); + } +} + +/** + * @brief Sets up a subscriber for a given topic. + * + * This function sets up a subscriber for a given topic using createSubscription. + * + * @tparam T The type of the message to subscribe to. + * @param test_node The node to create the subscription on. + * @param topic_name The name of the topic to subscribe to. + * @param subscriber A reference to the subscription to be set. + * @param count A reference to a counter that increments on message receipt. + */ +template +void setSubscriber( + rclcpp::Node::SharedPtr test_node, std::string topic_name, + std::shared_ptr> & subscriber, size_t & count) +{ + createSubscription( + test_node, topic_name, [&count](const typename T::ConstSharedPtr) { count++; }, subscriber); +} + +/** + * @brief Publishes data to a target node. + * + * This function publishes data to a target node on a given topic, ensuring that the topic has + * subscribers and retrying a specified number of times. + * + * @tparam T The type of the message to publish. + * @param test_node The node to create the publisher on. + * @param target_node The target node to publish the message to. + * @param topic_name The name of the topic to publish to. + * @param publisher A shared pointer to the publisher. + * @param data The data to publish. + * @param repeat_count The number of times to retry publishing. + */ +template +void publishToTargetNode( + rclcpp::Node::SharedPtr test_node, rclcpp::Node::SharedPtr target_node, std::string topic_name, + typename rclcpp::Publisher::SharedPtr publisher, T data, const int repeat_count = 3) +{ + if (topic_name.empty()) { + int status = 1; + char * demangled_name = abi::__cxa_demangle(typeid(data).name(), nullptr, nullptr, &status); + if (status == 0) { + throw std::runtime_error(std::string("Topic name for ") + demangled_name + " is empty"); + } + throw std::runtime_error(std::string("Topic name for ") + typeid(data).name() + " is empty"); + } + + test_utils::setPublisher(test_node, topic_name, publisher); + publisher->publish(data); + + if (target_node->count_subscribers(topic_name) == 0) { + throw std::runtime_error("No subscriber for " + topic_name); + } + test_utils::spinSomeNodes(test_node, target_node, repeat_count); +} + +} // namespace test_utils + +#endif // PLANNING_TEST_UTILS__PLANNING_TEST_UTILS_HPP_ diff --git a/planning/planning_test_utils/package.xml b/planning/planning_test_utils/package.xml index 278813818de0d..b236a64f48da0 100644 --- a/planning/planning_test_utils/package.xml +++ b/planning/planning_test_utils/package.xml @@ -6,6 +6,8 @@ ROS 2 node for testing interface of the nodes in planning module Kyoichi Sugahara Takamasa Horibe + Zulfaqar Azmi + Mamoru Sobue Apache License 2.0 Kyoichi Sugahara @@ -23,10 +25,8 @@ component_interface_utils lanelet2_extension lanelet2_io - motion_utils nav_msgs rclcpp - route_handler tf2_msgs tf2_ros tier4_api_msgs diff --git a/planning/planning_test_utils/src/mock_data_parser.cpp b/planning/planning_test_utils/src/mock_data_parser.cpp new file mode 100644 index 0000000000000..f9f9a7b0b1594 --- /dev/null +++ b/planning/planning_test_utils/src/mock_data_parser.cpp @@ -0,0 +1,92 @@ +// Copyright 2024 TIER IV +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "planning_test_utils/mock_data_parser.hpp" + +#include + +#include +#include +#include +#include + +#include + +#include +#include +#include + +namespace test_utils +{ +Pose parse_pose(const YAML::Node & node) +{ + Pose pose; + pose.position.x = node["position"]["x"].as(); + pose.position.y = node["position"]["y"].as(); + pose.position.z = node["position"]["z"].as(); + pose.orientation.x = node["orientation"]["x"].as(); + pose.orientation.y = node["orientation"]["y"].as(); + pose.orientation.z = node["orientation"]["z"].as(); + pose.orientation.w = node["orientation"]["w"].as(); + return pose; +} + +LaneletPrimitive parse_lanelet_primitive(const YAML::Node & node) +{ + LaneletPrimitive primitive; + primitive.id = node["id"].as(); + primitive.primitive_type = node["primitive_type"].as(); + + return primitive; +} + +std::vector parse_lanelet_primitives(const YAML::Node & node) +{ + std::vector primitives; + primitives.reserve(node.size()); + std::transform(node.begin(), node.end(), std::back_inserter(primitives), [&](const auto & p) { + return parse_lanelet_primitive(p); + }); + + return primitives; +} + +std::vector parse_segments(const YAML::Node & node) +{ + std::vector segments; + std::transform(node.begin(), node.end(), std::back_inserter(segments), [&](const auto & input) { + LaneletSegment segment; + segment.preferred_primitive = parse_lanelet_primitive(input["preferred_primitive"]); + segment.primitives = parse_lanelet_primitives(input["primitives"]); + return segment; + }); + + return segments; +} + +LaneletRoute parse_lanelet_route_file(const std::string & filename) +{ + LaneletRoute lanelet_route; + try { + YAML::Node config = YAML::LoadFile(filename); + + lanelet_route.start_pose = (config["start_pose"]) ? parse_pose(config["start_pose"]) : Pose(); + lanelet_route.goal_pose = (config["goal_pose"]) ? parse_pose(config["goal_pose"]) : Pose(); + lanelet_route.segments = parse_segments(config["segments"]); + } catch (const std::exception & e) { + RCLCPP_DEBUG(rclcpp::get_logger("planning_test_utils"), "Exception caught: %s", e.what()); + } + return lanelet_route; +} +} // namespace test_utils diff --git a/planning/planning_test_utils/src/planning_test_utils.cpp b/planning/planning_test_utils/src/planning_test_utils.cpp new file mode 100644 index 0000000000000..efed22855cf0f --- /dev/null +++ b/planning/planning_test_utils/src/planning_test_utils.cpp @@ -0,0 +1,313 @@ +// Copyright 2024 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "planning_test_utils/planning_test_utils.hpp" +namespace test_utils +{ + +geometry_msgs::msg::Pose createPose( + double x, double y, double z, double roll, double pitch, double yaw) +{ + geometry_msgs::msg::Pose p; + p.position = createPoint(x, y, z); + p.orientation = createQuaternionFromRPY(roll, pitch, yaw); + return p; +} + +geometry_msgs::msg::Pose createPose(const std::array & pose3d) +{ + return createPose(pose3d[0], pose3d[1], pose3d[2], 0.0, 0.0, pose3d[3]); +} + +LaneletSegment createLaneletSegment(int id) +{ + LaneletPrimitive primitive; + primitive.id = id; + primitive.primitive_type = "lane"; + LaneletSegment segment; + segment.preferred_primitive.id = id; + segment.primitives.push_back(primitive); + return segment; +} + +lanelet::LaneletMapPtr loadMap(const std::string & lanelet2_filename) +{ + lanelet::ErrorMessages errors{}; + lanelet::projection::MGRSProjector projector{}; + lanelet::LaneletMapPtr map = lanelet::load(lanelet2_filename, projector, &errors); + if (errors.empty()) { + return map; + } + + for (const auto & error : errors) { + RCLCPP_ERROR_STREAM(rclcpp::get_logger("map_loader"), error); + } + return nullptr; +} + +HADMapBin convertToMapBinMsg( + const lanelet::LaneletMapPtr map, const std::string & lanelet2_filename, const rclcpp::Time & now) +{ + std::string format_version{}; + std::string map_version{}; + lanelet::io_handlers::AutowareOsmParser::parseVersions( + lanelet2_filename, &format_version, &map_version); + + HADMapBin map_bin_msg; + map_bin_msg.header.stamp = now; + map_bin_msg.header.frame_id = "map"; + map_bin_msg.format_version = format_version; + map_bin_msg.map_version = map_version; + lanelet::utils::conversion::toBinMsg(map, &map_bin_msg); + + return map_bin_msg; +} + +LaneletRoute makeNormalRoute() +{ + const std::array start_pose{5.5, 4., 0., M_PI_2}; + const std::array goal_pose{8.0, 26.3, 0, 0}; + LaneletRoute route; + route.header.frame_id = "map"; + route.start_pose = createPose(start_pose); + route.goal_pose = createPose(goal_pose); + return route; +} + +OccupancyGrid makeCostMapMsg(size_t width, size_t height, double resolution) +{ + nav_msgs::msg::OccupancyGrid costmap_msg; + + // create info + costmap_msg.header.frame_id = "map"; + costmap_msg.info.width = width; + costmap_msg.info.height = height; + costmap_msg.info.resolution = static_cast(resolution); + + // create data + const size_t n_elem = width * height; + for (size_t i = 0; i < n_elem; ++i) { + costmap_msg.data.push_back(0.0); + } + return costmap_msg; +} + +HADMapBin make_map_bin_msg(const std::string & absolute_path, const double center_line_resolution) +{ + const auto map = loadMap(absolute_path); + if (!map) { + return autoware_auto_mapping_msgs::msg::HADMapBin_>{}; + } + + // overwrite centerline + lanelet::utils::overwriteLaneletsCenterline(map, center_line_resolution, false); + + // create map bin msg + const auto map_bin_msg = + convertToMapBinMsg(map, absolute_path, rclcpp::Clock(RCL_ROS_TIME).now()); + return map_bin_msg; +} + +HADMapBin makeMapBinMsg() +{ + const auto planning_test_utils_dir = + ament_index_cpp::get_package_share_directory("planning_test_utils"); + const auto lanelet2_path = planning_test_utils_dir + "/test_map/lanelet2_map.osm"; + double center_line_resolution = 5.0; + + return make_map_bin_msg(lanelet2_path, center_line_resolution); +} + +Odometry makeOdometry(const double shift) +{ + Odometry odometry; + const std::array start_pose{0.0, shift, 0.0, 0.0}; + odometry.pose.pose = createPose(start_pose); + odometry.header.frame_id = "map"; + return odometry; +} + +Odometry makeInitialPose(const double shift) +{ + Odometry current_odometry; + const auto yaw = 0.9724497591854532; + const auto shift_x = shift * std::sin(yaw); + const auto shift_y = shift * std::cos(yaw); + const std::array start_pose{ + 3722.16015625 + shift_x, 73723.515625 + shift_y, 0.233112560494183, yaw}; + current_odometry.pose.pose = test_utils::createPose(start_pose); + current_odometry.header.frame_id = "map"; + return current_odometry; +} + +TFMessage makeTFMsg( + rclcpp::Node::SharedPtr target_node, std::string && frame_id, std::string && child_frame_id) +{ + TFMessage tf_msg; + geometry_msgs::msg::Quaternion quaternion; + quaternion.x = 0.; + quaternion.y = 0.; + quaternion.z = 0.23311256049418302; + quaternion.w = 0.9724497591854532; + + TransformStamped tf; + tf.header.stamp = target_node->get_clock()->now(); + tf.header.frame_id = frame_id; + tf.child_frame_id = child_frame_id; + tf.transform.translation.x = 3722.16015625; + tf.transform.translation.y = 73723.515625; + tf.transform.translation.z = 0; + tf.transform.rotation = quaternion; + + tf_msg.transforms.emplace_back(std::move(tf)); + return tf_msg; +} + +Scenario makeScenarioMsg(const std::string & scenario) +{ + Scenario scenario_msg; + scenario_msg.current_scenario = scenario; + scenario_msg.activating_scenarios = {scenario}; + return scenario_msg; +} + +RouteSections combineConsecutiveRouteSections( + const RouteSections & route_sections1, const RouteSections & route_sections2) +{ + RouteSections route_sections; + route_sections.reserve(route_sections1.size() + route_sections2.size()); + if (!route_sections1.empty()) { + // remove end route section because it is overlapping with first one in next route_section + route_sections.insert(route_sections.end(), route_sections1.begin(), route_sections1.end() - 1); + } + if (!route_sections2.empty()) { + route_sections.insert(route_sections.end(), route_sections2.begin(), route_sections2.end()); + } + return route_sections; +} + +// this is for the test lanelet2_map.osm +// file hash: a9f84cff03b55a64917bc066451276d2293b0a54f5c088febca0c7fdf2f245d5 +LaneletRoute makeBehaviorNormalRoute() +{ + LaneletRoute route; + route.header.frame_id = "map"; + route.start_pose = + createPose({3722.16015625, 73723.515625, 0.233112560494183, 0.9724497591854532}); + route.goal_pose = + createPose({3778.362060546875, 73721.2734375, -0.5107480274693206, 0.8597304533609347}); + + std::vector primitive_ids = {9102, 9178, 54, 112}; + for (int id : primitive_ids) { + route.segments.push_back(createLaneletSegment(id)); + } + + std::array uuid_bytes{210, 87, 16, 126, 98, 151, 58, 28, + 252, 221, 230, 92, 122, 170, 46, 6}; + route.uuid.uuid = uuid_bytes; + + route.allow_modification = false; + return route; +} + +void spinSomeNodes( + rclcpp::Node::SharedPtr test_node, rclcpp::Node::SharedPtr target_node, const int repeat_count) +{ + rclcpp::executors::SingleThreadedExecutor executor; + executor.add_node(test_node); + executor.add_node(target_node); + for (int i = 0; i < repeat_count; i++) { + executor.spin_some(std::chrono::milliseconds(100)); + rclcpp::sleep_for(std::chrono::milliseconds(100)); + } +} + +void updateNodeOptions( + rclcpp::NodeOptions & node_options, const std::vector & params_files) +{ + std::vector arguments; + arguments.push_back("--ros-args"); + arguments.push_back("--params-file"); + for (const auto & param_file : params_files) { + arguments.push_back(param_file.c_str()); + arguments.push_back("--params-file"); + } + arguments.pop_back(); + + node_options.arguments(std::vector{arguments.begin(), arguments.end()}); +} + +PathWithLaneId loadPathWithLaneIdInYaml() +{ + const auto planning_test_utils_dir = + ament_index_cpp::get_package_share_directory("planning_test_utils"); + const auto yaml_path = planning_test_utils_dir + "/config/path_with_lane_id_data.yaml"; + YAML::Node yaml_node = YAML::LoadFile(yaml_path); + PathWithLaneId path_msg; + + // Convert YAML data to PathWithLaneId message + // Fill the header + path_msg.header.stamp.sec = yaml_node["header"]["stamp"]["sec"].as(); + path_msg.header.stamp.nanosec = yaml_node["header"]["stamp"]["nanosec"].as(); + path_msg.header.frame_id = yaml_node["header"]["frame_id"].as(); + + // Fill the points + for (const auto & point_node : yaml_node["points"]) { + PathPointWithLaneId point; + // Fill the PathPoint data + point.point.pose.position.x = point_node["point"]["pose"]["position"]["x"].as(); + point.point.pose.position.y = point_node["point"]["pose"]["position"]["y"].as(); + point.point.pose.position.z = point_node["point"]["pose"]["position"]["z"].as(); + point.point.pose.orientation.x = point_node["point"]["pose"]["orientation"]["x"].as(); + point.point.pose.orientation.y = point_node["point"]["pose"]["orientation"]["y"].as(); + point.point.pose.orientation.z = point_node["point"]["pose"]["orientation"]["z"].as(); + point.point.pose.orientation.w = point_node["point"]["pose"]["orientation"]["w"].as(); + point.point.longitudinal_velocity_mps = + point_node["point"]["longitudinal_velocity_mps"].as(); + point.point.lateral_velocity_mps = point_node["point"]["lateral_velocity_mps"].as(); + point.point.heading_rate_rps = point_node["point"]["heading_rate_rps"].as(); + point.point.is_final = point_node["point"]["is_final"].as(); + // Fill the lane_ids + for (const auto & lane_id_node : point_node["lane_ids"]) { + point.lane_ids.push_back(lane_id_node.as()); + } + + path_msg.points.push_back(point); + } + + // Fill the left_bound + for (const auto & point_node : yaml_node["left_bound"]) { + Point point; + // Fill the Point data (left_bound) + point.x = point_node["x"].as(); + point.y = point_node["y"].as(); + point.z = point_node["z"].as(); + + path_msg.left_bound.push_back(point); + } + + // Fill the right_bound + for (const auto & point_node : yaml_node["right_bound"]) { + Point point; + // Fill the Point data + point.x = point_node["x"].as(); + point.y = point_node["y"].as(); + point.z = point_node["z"].as(); + + path_msg.right_bound.push_back(point); + } + return path_msg; +} + +} // namespace test_utils diff --git a/planning/planning_test_utils/test/test_mock_data_parser.cpp b/planning/planning_test_utils/test/test_mock_data_parser.cpp new file mode 100644 index 0000000000000..cda09522d8e6e --- /dev/null +++ b/planning/planning_test_utils/test/test_mock_data_parser.cpp @@ -0,0 +1,135 @@ +// Copyright 2024 TIER IV +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include + +// Assuming the parseRouteFile function is in 'RouteHandler.h' +#include "ament_index_cpp/get_package_share_directory.hpp" +#include "planning_test_utils/mock_data_parser.hpp" + +namespace test_utils +{ +// Example YAML structure as a string for testing +const char g_complete_yaml[] = R"( +start_pose: + position: + x: 1.0 + y: 2.0 + z: 3.0 + orientation: + x: 0.1 + y: 0.2 + z: 0.3 + w: 0.4 +goal_pose: + position: + x: 4.0 + y: 5.0 + z: 6.0 + orientation: + x: 0.5 + y: 0.6 + z: 0.7 + w: 0.8 +segments: +- preferred_primitive: + id: 11 + primitive_type: '' + primitives: + - id: 22 + primitive_type: lane + - id: 33 + primitive_type: lane +)"; + +TEST(ParseFunctions, CompleteYAMLTest) +{ + YAML::Node config = YAML::Load(g_complete_yaml); + + // Test parsing of start_pose and goal_pose + Pose start_pose = parse_pose(config["start_pose"]); + Pose goal_pose = parse_pose(config["goal_pose"]); + + EXPECT_DOUBLE_EQ(start_pose.position.x, 1.0); + EXPECT_DOUBLE_EQ(start_pose.position.y, 2.0); + EXPECT_DOUBLE_EQ(start_pose.position.z, 3.0); + + EXPECT_DOUBLE_EQ(start_pose.orientation.x, 0.1); + EXPECT_DOUBLE_EQ(start_pose.orientation.y, 0.2); + EXPECT_DOUBLE_EQ(start_pose.orientation.z, 0.3); + EXPECT_DOUBLE_EQ(start_pose.orientation.w, 0.4); + + EXPECT_DOUBLE_EQ(goal_pose.position.x, 4.0); + EXPECT_DOUBLE_EQ(goal_pose.position.y, 5.0); + EXPECT_DOUBLE_EQ(goal_pose.position.z, 6.0); + EXPECT_DOUBLE_EQ(goal_pose.orientation.x, 0.5); + EXPECT_DOUBLE_EQ(goal_pose.orientation.y, 0.6); + EXPECT_DOUBLE_EQ(goal_pose.orientation.z, 0.7); + EXPECT_DOUBLE_EQ(goal_pose.orientation.w, 0.8); + + // Test parsing of segments + std::vector segments = parse_segments(config["segments"]); + ASSERT_EQ( + segments.size(), uint64_t(1)); // Assuming only one segment in the provided YAML for this test + + const auto & segment0 = segments[0]; + EXPECT_EQ(segment0.preferred_primitive.id, 11); + EXPECT_EQ(segment0.primitives.size(), uint64_t(2)); + EXPECT_EQ(segment0.primitives[0].id, 22); + EXPECT_EQ(segment0.primitives[0].primitive_type, "lane"); + EXPECT_EQ(segment0.primitives[1].id, 33); + EXPECT_EQ(segment0.primitives[1].primitive_type, "lane"); +} + +TEST(ParseFunction, CompleteFromFilename) +{ + const auto planning_test_utils_dir = + ament_index_cpp::get_package_share_directory("planning_test_utils"); + const auto parser_test_route = + planning_test_utils_dir + "/test_data/lanelet_route_parser_test.yaml"; + + const auto lanelet_route = parse_lanelet_route_file(parser_test_route); + EXPECT_DOUBLE_EQ(lanelet_route.start_pose.position.x, 1.0); + EXPECT_DOUBLE_EQ(lanelet_route.start_pose.position.y, 2.0); + EXPECT_DOUBLE_EQ(lanelet_route.start_pose.position.z, 3.0); + + EXPECT_DOUBLE_EQ(lanelet_route.start_pose.orientation.x, 0.1); + EXPECT_DOUBLE_EQ(lanelet_route.start_pose.orientation.y, 0.2); + EXPECT_DOUBLE_EQ(lanelet_route.start_pose.orientation.z, 0.3); + EXPECT_DOUBLE_EQ(lanelet_route.start_pose.orientation.w, 0.4); + + EXPECT_DOUBLE_EQ(lanelet_route.goal_pose.position.x, 4.0); + EXPECT_DOUBLE_EQ(lanelet_route.goal_pose.position.y, 5.0); + EXPECT_DOUBLE_EQ(lanelet_route.goal_pose.position.z, 6.0); + EXPECT_DOUBLE_EQ(lanelet_route.goal_pose.orientation.x, 0.5); + EXPECT_DOUBLE_EQ(lanelet_route.goal_pose.orientation.y, 0.6); + EXPECT_DOUBLE_EQ(lanelet_route.goal_pose.orientation.z, 0.7); + EXPECT_DOUBLE_EQ(lanelet_route.goal_pose.orientation.w, 0.8); + + ASSERT_EQ( + lanelet_route.segments.size(), + uint64_t(2)); // Assuming only one segment in the provided YAML for this test + const auto & segment1 = lanelet_route.segments[1]; + EXPECT_EQ(segment1.preferred_primitive.id, 44); + EXPECT_EQ(segment1.primitives.size(), uint64_t(4)); + EXPECT_EQ(segment1.primitives[0].id, 55); + EXPECT_EQ(segment1.primitives[0].primitive_type, "lane"); + EXPECT_EQ(segment1.primitives[1].id, 66); + EXPECT_EQ(segment1.primitives[1].primitive_type, "lane"); + EXPECT_EQ(segment1.primitives[2].id, 77); + EXPECT_EQ(segment1.primitives[2].primitive_type, "lane"); + EXPECT_EQ(segment1.primitives[3].id, 88); + EXPECT_EQ(segment1.primitives[3].primitive_type, "lane"); +} +} // namespace test_utils diff --git a/planning/planning_test_utils/test_data/lanelet_route_parser_test.yaml b/planning/planning_test_utils/test_data/lanelet_route_parser_test.yaml new file mode 100644 index 0000000000000..06ed15d20d3c9 --- /dev/null +++ b/planning/planning_test_utils/test_data/lanelet_route_parser_test.yaml @@ -0,0 +1,41 @@ +start_pose: + position: + x: 1.0 + y: 2.0 + z: 3.0 + orientation: + x: 0.1 + y: 0.2 + z: 0.3 + w: 0.4 +goal_pose: + position: + x: 4.0 + y: 5.0 + z: 6.0 + orientation: + x: 0.5 + y: 0.6 + z: 0.7 + w: 0.8 +segments: + - preferred_primitive: + id: 11 + primitive_type: "" + primitives: + - id: 22 + primitive_type: lane + - id: 33 + primitive_type: lane + - preferred_primitive: + id: 44 + primitive_type: "" + primitives: + - id: 55 + primitive_type: lane + - id: 66 + primitive_type: lane + - id: 77 + primitive_type: lane + - id: 88 + primitive_type: lane diff --git a/planning/planning_test_utils/test_map/2km_test.osm b/planning/planning_test_utils/test_map/2km_test.osm new file mode 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+
+
+ + + + + + + diff --git a/planning/route_handler/include/route_handler/route_handler.hpp b/planning/route_handler/include/route_handler/route_handler.hpp index ac8e472b2f943..73bf99962ea82 100644 --- a/planning/route_handler/include/route_handler/route_handler.hpp +++ b/planning/route_handler/include/route_handler/route_handler.hpp @@ -27,6 +27,7 @@ #include #include #include +#include #include #include @@ -77,6 +78,7 @@ class RouteHandler lanelet::traffic_rules::TrafficRulesPtr getTrafficRulesPtr() const; std::shared_ptr getOverallGraphPtr() const; lanelet::LaneletMapPtr getLaneletMapPtr() const; + static bool isNoDrivableLane(const lanelet::ConstLanelet & llt); // for routing bool planPathLaneletsBetweenCheckpoints( @@ -203,54 +205,6 @@ class RouteHandler const lanelet::ConstLanelet & lanelet, const bool enable_same_root = false, const bool get_shoulder_lane = false) const; - /** - * @brief Searches the furthest linestring to the right side of the lanelet - * Only lanelet with same direction is considered - * @param the lanelet of interest - * @return right most linestring of the lane with same direction - */ - lanelet::ConstLineString3d getRightMostSameDirectionLinestring( - const lanelet::ConstLanelet & lanelet, const bool enable_same_root = false) const noexcept; - - /** - * @brief Searches the furthest linestring to the right side of the lanelet - * Used to search for road shoulders. Lane direction is ignored - * @param the lanelet of interest - * @return right most linestring - */ - lanelet::ConstLineString3d getRightMostLinestring( - const lanelet::ConstLanelet & lanelet, const bool enable_same_root = false) const noexcept; - - /** - * @brief Searches the furthest linestring to the left side of the lanelet - * Only lanelet with same direction is considered - * @param the lanelet of interest - * @return left most linestring of the lane with same direction - */ - lanelet::ConstLineString3d getLeftMostSameDirectionLinestring( - const lanelet::ConstLanelet & lanelet, const bool enable_same_root = false) const noexcept; - - /** - * @brief Searches the furthest linestring to the left side of the lanelet - * Used to search for road shoulders. Lane direction is ignored - * @param the lanelet of interest - * @return left most linestring - */ - lanelet::ConstLineString3d getLeftMostLinestring( - const lanelet::ConstLanelet & lanelet, const bool enable_same_root = false) const noexcept; - - /** - * @brief Return furthest linestring on both side of the lanelet - * @param the lanelet of interest - * @param (optional) search furthest right side - * @param (optional) search furthest left side - * @param (optional) include opposite lane as well - * @return right and left linestrings - */ - lanelet::ConstLineStrings3d getFurthestLinestring( - const lanelet::ConstLanelet & lanelet, bool is_right = true, bool is_left = true, - bool is_opposite = true, bool enable_same_root = false) const noexcept; - /** * Retrieves a sequence of lanelets before the given lanelet. * The total length of retrieved lanelet sequence at least given length. Returned lanelet sequence @@ -274,18 +228,6 @@ class RouteHandler int getNumLaneToPreferredLane( const lanelet::ConstLanelet & lanelet, const Direction direction = Direction::NONE) const; - /** - * Query input lanelet to see whether it exist in the preferred lane. If it doesn't exist, return - * the distance to the preferred lane from the give lane. - * The total distance is computed from the front point of the centerline of the given lane to - * the front point of the preferred lane. - * @param lanelet lanelet to query - * @param direction change direction - * @return number of lanes from input to the preferred lane - */ - double getTotalLateralDistanceToPreferredLane( - const lanelet::ConstLanelet & lanelet, const Direction direction = Direction::NONE) const; - /** * Query input lanelet to see whether it exist in the preferred lane. If it doesn't exist, return * the distance to the preferred lane from the give lane. @@ -319,14 +261,9 @@ class RouteHandler const lanelet::ConstLanelet & lanelet, const Pose & pose, const double backward_distance = std::numeric_limits::max(), const double forward_distance = std::numeric_limits::max()) const; - lanelet::ConstLanelets getCheckTargetLanesFromPath( - const PathWithLaneId & path, const lanelet::ConstLanelets & target_lanes, - const double check_length) const; - lanelet::routing::RelationType getRelation( - const lanelet::ConstLanelet & prev_lane, const lanelet::ConstLanelet & next_lane) const; - lanelet::ConstLanelets getShoulderLanelets() const; bool isShoulderLanelet(const lanelet::ConstLanelet & lanelet) const; bool isRouteLanelet(const lanelet::ConstLanelet & lanelet) const; + bool isRoadLanelet(const lanelet::ConstLanelet & lanelet) const; lanelet::ConstLanelets getPreferredLanelets() const; // for path @@ -337,24 +274,16 @@ class RouteHandler const lanelet::ConstLanelets & lanelets, const Direction direction = Direction::NONE) const; std::optional getLaneChangeTargetExceptPreferredLane( const lanelet::ConstLanelets & lanelets, const Direction direction) const; - bool getRightLaneChangeTargetExceptPreferredLane( - const lanelet::ConstLanelets & lanelets, lanelet::ConstLanelet * target_lanelet) const; - bool getLeftLaneChangeTargetExceptPreferredLane( - const lanelet::ConstLanelets & lanelets, lanelet::ConstLanelet * target_lanelet) const; - static bool getPullOverTarget( - const lanelet::ConstLanelets & lanelets, const Pose & goal_pose, - lanelet::ConstLanelet * target_lanelet); - static bool getPullOutStartLane( - const lanelet::ConstLanelets & lanelets, const Pose & pose, const double vehicle_width, - lanelet::ConstLanelet * target_lanelet); - double getLaneChangeableDistance(const Pose & current_pose, const Direction & direction) const; - bool getLeftShoulderLanelet( - const lanelet::ConstLanelet & lanelet, lanelet::ConstLanelet * left_lanelet) const; - bool getRightShoulderLanelet( - const lanelet::ConstLanelet & lanelet, lanelet::ConstLanelet * right_lanelet) const; + std::optional getPullOverTarget(const Pose & goal_pose) const; + std::optional getPullOutStartLane( + const Pose & pose, const double vehicle_width) const; + lanelet::ConstLanelets getRoadLaneletsAtPose(const Pose & pose) const; + std::optional getLeftShoulderLanelet( + const lanelet::ConstLanelet & lanelet) const; + std::optional getRightShoulderLanelet( + const lanelet::ConstLanelet & lanelet) const; + lanelet::ConstLanelets getShoulderLaneletsAtPose(const Pose & pose) const; lanelet::ConstPolygon3d getIntersectionAreaById(const lanelet::Id id) const; - bool isPreferredLane(const lanelet::ConstLanelet & lanelet) const; - lanelet::ConstLanelets getClosestLanelets(const geometry_msgs::msg::Pose & target_pose) const; private: // MUST @@ -362,12 +291,10 @@ class RouteHandler lanelet::traffic_rules::TrafficRulesPtr traffic_rules_ptr_; std::shared_ptr overall_graphs_ptr_; lanelet::LaneletMapPtr lanelet_map_ptr_; - lanelet::ConstLanelets road_lanelets_; lanelet::ConstLanelets route_lanelets_; lanelet::ConstLanelets preferred_lanelets_; lanelet::ConstLanelets start_lanelets_; lanelet::ConstLanelets goal_lanelets_; - lanelet::ConstLanelets shoulder_lanelets_; std::shared_ptr route_ptr_{nullptr}; rclcpp::Logger logger_{rclcpp::get_logger("route_handler")}; @@ -387,8 +314,6 @@ class RouteHandler lanelet::ConstLanelets getMainLanelets(const lanelet::ConstLanelets & path_lanelets) const; // for lanelet - bool isInTargetLane(const PoseStamped & pose, const lanelet::ConstLanelets & target) const; - bool isInPreferredLane(const PoseStamped & pose) const; bool isBijectiveConnection( const lanelet::ConstLanelets & lanelet_section1, const lanelet::ConstLanelets & lanelet_section2) const; @@ -409,30 +334,25 @@ class RouteHandler const lanelet::ConstLanelet & lanelet, const double min_length = std::numeric_limits::max(), const bool only_route_lanes = true) const; - bool getFollowingShoulderLanelet( - const lanelet::ConstLanelet & lanelet, lanelet::ConstLanelet * following_lanelet) const; + std::optional getFollowingShoulderLanelet( + const lanelet::ConstLanelet & lanelet) const; lanelet::ConstLanelets getShoulderLaneletSequenceAfter( const lanelet::ConstLanelet & lanelet, const double min_length = std::numeric_limits::max()) const; - bool getPreviousShoulderLanelet( - const lanelet::ConstLanelet & lanelet, lanelet::ConstLanelet * prev_lanelet) const; + std::optional getPreviousShoulderLanelet( + const lanelet::ConstLanelet & lanelet) const; lanelet::ConstLanelets getShoulderLaneletSequenceUpTo( const lanelet::ConstLanelet & lanelet, const double min_length = std::numeric_limits::max()) const; lanelet::ConstLanelets getPreviousLaneletSequence( const lanelet::ConstLanelets & lanelet_sequence) const; - lanelet::ConstLanelets getClosestLaneletSequence(const Pose & pose) const; - lanelet::ConstLanelets getLaneChangeTargetLanes(const Pose & pose) const; lanelet::ConstLanelets getLaneSequenceUpTo(const lanelet::ConstLanelet & lanelet) const; lanelet::ConstLanelets getLaneSequenceAfter(const lanelet::ConstLanelet & lanelet) const; lanelet::ConstLanelets getLaneSequence(const lanelet::ConstLanelet & lanelet) const; lanelet::ConstLanelets getNeighborsWithinRoute(const lanelet::ConstLanelet & lanelet) const; - std::vector getLaneSection(const lanelet::ConstLanelet & lanelet) const; - lanelet::ConstLanelets getNextLaneSequence(const lanelet::ConstLanelets & lane_sequence) const; // for path - PathWithLaneId updatePathTwist(const PathWithLaneId & path) const; /** * @brief Checks if a path has a no_drivable_lane or not * @param path lanelet path @@ -441,17 +361,41 @@ class RouteHandler */ bool hasNoDrivableLaneInPath(const lanelet::routing::LaneletPath & path) const; /** - * @brief Searches for a path between start and goal lanelets that does not include any - * no_drivable_lane. If there is more than one path fount, the function returns the shortest path - * that does not include any no_drivable_lane. + * @brief Searches for the shortest path between start and goal lanelets that does not include any + * no_drivable_lane. * @param start_lanelet start lanelet * @param goal_lanelet goal lanelet - * @param drivable_lane_path output path that does not include no_drivable_lane. - * @return true if a path without any no_drivable_lane found, false if this path is not found. + * @return the lanelet path (if found) */ - bool findDrivableLanePath( - const lanelet::ConstLanelet & start_lanelet, const lanelet::ConstLanelet & goal_lanelet, - lanelet::routing::LaneletPath & drivable_lane_path) const; + std::optional findDrivableLanePath( + const lanelet::ConstLanelet & start_lanelet, const lanelet::ConstLanelet & goal_lanelet) const; }; + +/// @brief custom routing cost with infinity cost for no drivable lanes +class RoutingCostDrivable : public lanelet::routing::RoutingCostDistance +{ +public: + RoutingCostDrivable() : lanelet::routing::RoutingCostDistance(10.0) {} + inline double getCostSucceeding( + const lanelet::traffic_rules::TrafficRules & trafficRules, + const lanelet::ConstLaneletOrArea & from, const lanelet::ConstLaneletOrArea & to) const + { + if ( + (from.isLanelet() && RouteHandler::isNoDrivableLane(*from.lanelet())) || + (to.isLanelet() && RouteHandler::isNoDrivableLane(*to.lanelet()))) + return std::numeric_limits::infinity(); + return lanelet::routing::RoutingCostDistance::getCostSucceeding(trafficRules, from, to); + } + inline double getCostLaneChange( + const lanelet::traffic_rules::TrafficRules & trafficRules, const lanelet::ConstLanelets & from, + const lanelet::ConstLanelets & to) const noexcept + { + if ( + std::any_of(from.begin(), from.end(), RouteHandler::isNoDrivableLane) || + std::any_of(to.begin(), to.end(), RouteHandler::isNoDrivableLane)) + return std::numeric_limits::infinity(); + return lanelet::routing::RoutingCostDistance::getCostLaneChange(trafficRules, from, to); + } +}; // class RoutingCostDrivable } // namespace route_handler #endif // ROUTE_HANDLER__ROUTE_HANDLER_HPP_ diff --git a/planning/route_handler/package.xml b/planning/route_handler/package.xml index 60adfb1531104..097bc62f8bf39 100644 --- a/planning/route_handler/package.xml +++ b/planning/route_handler/package.xml @@ -9,6 +9,8 @@ Kosuke Takeuchi Takayuki Murooka Mamoru Sobue + Go Sakayori + Apache License 2.0 Fumiya Watanabe @@ -16,6 +18,7 @@ ament_cmake_auto autoware_cmake + ament_cmake_ros ament_lint_auto autoware_lint_common @@ -24,10 +27,12 @@ autoware_planning_msgs geometry_msgs lanelet2_extension + planning_test_utils rclcpp rclcpp_components tf2_ros tier4_autoware_utils + yaml-cpp ament_cmake diff --git a/planning/route_handler/src/route_handler.cpp b/planning/route_handler/src/route_handler.cpp index 76763821998bd..4dd559b9bbc98 100644 --- a/planning/route_handler/src/route_handler.cpp +++ b/planning/route_handler/src/route_handler.cpp @@ -157,8 +157,6 @@ void RouteHandler::setMap(const HADMapBin & map_msg) overall_graphs_ptr_ = std::make_shared(overall_graphs); lanelet::ConstLanelets all_lanelets = lanelet::utils::query::laneletLayer(lanelet_map_ptr_); - road_lanelets_ = lanelet::utils::query::roadLanelets(all_lanelets); - shoulder_lanelets_ = lanelet::utils::query::shoulderLanelets(all_lanelets); is_map_msg_ready_ = true; is_handler_ready_ = false; @@ -575,44 +573,26 @@ lanelet::ConstLanelets RouteHandler::getLaneletSequenceUpTo( lanelet::ConstLanelet current_lanelet = lanelet; double length = 0; + lanelet::ConstLanelets previous_lanelets; while (rclcpp::ok() && length < min_length) { - lanelet::ConstLanelets candidate_lanelets; - if (!getPreviousLaneletsWithinRoute(current_lanelet, &candidate_lanelets)) { - if (only_route_lanes) { - break; - } - const auto prev_lanes = getPreviousLanelets(current_lanelet); - if (prev_lanes.empty()) { - break; - } - candidate_lanelets = prev_lanes; + previous_lanelets.clear(); + if (!getPreviousLaneletsWithinRoute(current_lanelet, &previous_lanelets)) { + if (only_route_lanes) break; + const auto previous_lanelets = getPreviousLanelets(current_lanelet); + if (previous_lanelets.empty()) break; } // loop check - if (std::any_of( - candidate_lanelets.begin(), candidate_lanelets.end(), - [lanelet](auto & prev_llt) { return lanelet.id() == prev_llt.id(); })) { + if (std::any_of(previous_lanelets.begin(), previous_lanelets.end(), [lanelet](auto & prev_llt) { + return lanelet.id() == prev_llt.id(); + })) { break; } - // If lanelet_sequence_backward with input lanelet contains all candidate lanelets, - // break the loop. - if (std::all_of( - candidate_lanelets.begin(), candidate_lanelets.end(), - [lanelet_sequence_backward, lanelet](auto & prev_llt) { - return std::any_of( - lanelet_sequence_backward.begin(), lanelet_sequence_backward.end(), - [prev_llt, lanelet](auto & llt) { - return (llt.id() == prev_llt.id() || lanelet.id() == prev_llt.id()); - }); - })) { - break; - } - - for (const auto & prev_lanelet : candidate_lanelets) { + for (const auto & prev_lanelet : previous_lanelets) { if (std::any_of( lanelet_sequence_backward.begin(), lanelet_sequence_backward.end(), - [prev_lanelet, lanelet](auto & llt) { - return (llt.id() == prev_lanelet.id() || lanelet.id() == prev_lanelet.id()); + [prev_lanelet, lanelet](auto & backward) { + return (backward.id() == prev_lanelet.id()); })) { continue; } @@ -646,7 +626,7 @@ lanelet::ConstLanelets RouteHandler::getLaneletSequence( const lanelet::ConstLanelets lanelet_sequence_forward = std::invoke([&]() { if (only_route_lanes) { return getLaneletSequenceAfter(lanelet, forward_distance, only_route_lanes); - } else if (lanelet::utils::contains(shoulder_lanelets_, lanelet)) { + } else if (isShoulderLanelet(lanelet)) { return getShoulderLaneletSequenceAfter(lanelet, forward_distance); } return lanelet::ConstLanelets{}; @@ -656,7 +636,7 @@ lanelet::ConstLanelets RouteHandler::getLaneletSequence( if (arc_coordinate.length < backward_distance) { if (only_route_lanes) { return getLaneletSequenceUpTo(lanelet, backward_distance, only_route_lanes); - } else if (lanelet::utils::contains(shoulder_lanelets_, lanelet)) { + } else if (isShoulderLanelet(lanelet)) { return getShoulderLaneletSequenceUpTo(lanelet, backward_distance); } } @@ -682,14 +662,13 @@ lanelet::ConstLanelets RouteHandler::getLaneletSequence( const lanelet::ConstLanelet & lanelet, const Pose & current_pose, const double backward_distance, const double forward_distance, const bool only_route_lanes) const { - lanelet::ConstLanelets lanelet_sequence; if (only_route_lanes && !exists(route_lanelets_, lanelet)) { - return lanelet_sequence; + return {}; } lanelet::ConstLanelets lanelet_sequence_forward = getLaneletSequenceAfter(lanelet, forward_distance, only_route_lanes); - const lanelet::ConstLanelets lanelet_sequence_backward = std::invoke([&]() { + lanelet::ConstLanelets lanelet_sequence = std::invoke([&]() { const auto arc_coordinate = lanelet::utils::getArcCoordinates({lanelet}, current_pose); if (arc_coordinate.length < backward_distance) { return getLaneletSequenceUpTo(lanelet, backward_distance, only_route_lanes); @@ -698,124 +677,148 @@ lanelet::ConstLanelets RouteHandler::getLaneletSequence( }); // loop check - if (!lanelet_sequence_forward.empty() && !lanelet_sequence_backward.empty()) { - if (lanelet_sequence_backward.back().id() == lanelet_sequence_forward.front().id()) { + if (!lanelet_sequence_forward.empty() && !lanelet_sequence.empty()) { + if (lanelet_sequence.back().id() == lanelet_sequence_forward.front().id()) { return lanelet_sequence_forward; } } - lanelet_sequence.insert( - lanelet_sequence.end(), lanelet_sequence_backward.begin(), lanelet_sequence_backward.end()); lanelet_sequence.push_back(lanelet); - lanelet_sequence.insert( - lanelet_sequence.end(), lanelet_sequence_forward.begin(), lanelet_sequence_forward.end()); - + std::move( + lanelet_sequence_forward.begin(), lanelet_sequence_forward.end(), + std::back_inserter(lanelet_sequence)); return lanelet_sequence; } -bool RouteHandler::getFollowingShoulderLanelet( - const lanelet::ConstLanelet & lanelet, lanelet::ConstLanelet * following_lanelet) const +lanelet::ConstLanelets RouteHandler::getRoadLaneletsAtPose(const Pose & pose) const { - for (const auto & shoulder_lanelet : shoulder_lanelets_) { - if (lanelet::geometry::follows(lanelet, shoulder_lanelet)) { - *following_lanelet = shoulder_lanelet; - return true; - } + lanelet::ConstLanelets road_lanelets_at_pose; + const lanelet::BasicPoint2d p{pose.position.x, pose.position.y}; + const auto lanelets_at_pose = lanelet_map_ptr_->laneletLayer.search(lanelet::BoundingBox2d(p)); + for (const auto & lanelet_at_pose : lanelets_at_pose) { + // confirm that the pose is inside the lanelet since "search" does an approximation with boxes + const auto is_pose_inside_lanelet = lanelet::geometry::inside(lanelet_at_pose, p); + if (is_pose_inside_lanelet && isRoadLanelet(lanelet_at_pose)) + road_lanelets_at_pose.push_back(lanelet_at_pose); } - return false; + return road_lanelets_at_pose; } -bool RouteHandler::getLeftShoulderLanelet( - const lanelet::ConstLanelet & lanelet, lanelet::ConstLanelet * left_lanelet) const +std::optional RouteHandler::getFollowingShoulderLanelet( + const lanelet::ConstLanelet & lanelet) const { - for (const auto & shoulder_lanelet : shoulder_lanelets_) { - if (lanelet::geometry::leftOf(shoulder_lanelet, lanelet)) { - *left_lanelet = shoulder_lanelet; - return true; - } + bool found = false; + const auto & search_point = lanelet.centerline().back().basicPoint2d(); + const auto next_lanelet = lanelet_map_ptr_->laneletLayer.nearestUntil( + search_point, [&](const auto & bbox, const auto & ll) { + if (isShoulderLanelet(ll) && lanelet::geometry::follows(lanelet, ll)) found = true; + // stop search once next shoulder lanelet is found, or the bbox does not touch the search + // point + return found || lanelet::geometry::distance2d(bbox, search_point) > 1e-3; + }); + if (found && next_lanelet.has_value()) return *next_lanelet; + return std::nullopt; +} + +std::optional RouteHandler::getLeftShoulderLanelet( + const lanelet::ConstLanelet & lanelet) const +{ + for (const auto & other_lanelet : + lanelet_map_ptr_->laneletLayer.findUsages(lanelet.leftBound())) { + if (other_lanelet.rightBound() == lanelet.leftBound() && isShoulderLanelet(other_lanelet)) + return other_lanelet; } - return false; + return std::nullopt; } -bool RouteHandler::getRightShoulderLanelet( - const lanelet::ConstLanelet & lanelet, lanelet::ConstLanelet * right_lanelet) const +std::optional RouteHandler::getRightShoulderLanelet( + const lanelet::ConstLanelet & lanelet) const { - for (const auto & shoulder_lanelet : shoulder_lanelets_) { - if (lanelet::geometry::rightOf(shoulder_lanelet, lanelet)) { - *right_lanelet = shoulder_lanelet; - return true; - } + for (const auto & other_lanelet : + lanelet_map_ptr_->laneletLayer.findUsages(lanelet.rightBound())) { + if (other_lanelet.leftBound() == lanelet.rightBound() && isShoulderLanelet(other_lanelet)) + return other_lanelet; } - return false; + return std::nullopt; +} + +lanelet::ConstLanelets RouteHandler::getShoulderLaneletsAtPose(const Pose & pose) const +{ + lanelet::ConstLanelets lanelets_at_pose; + const lanelet::BasicPoint2d p{pose.position.x, pose.position.y}; + const auto candidates_at_pose = lanelet_map_ptr_->laneletLayer.search(lanelet::BoundingBox2d(p)); + for (const auto & candidate : candidates_at_pose) { + // confirm that the pose is inside the lanelet since "search" does an approximation with boxes + const auto is_pose_inside_lanelet = lanelet::geometry::inside(candidate, p); + if (is_pose_inside_lanelet && isShoulderLanelet(candidate)) + lanelets_at_pose.push_back(candidate); + } + return lanelets_at_pose; } lanelet::ConstLanelets RouteHandler::getShoulderLaneletSequenceAfter( const lanelet::ConstLanelet & lanelet, const double min_length) const { lanelet::ConstLanelets lanelet_sequence_forward; - if (!exists(shoulder_lanelets_, lanelet)) { - return lanelet_sequence_forward; - } + if (!isShoulderLanelet(lanelet)) return lanelet_sequence_forward; double length = 0; lanelet::ConstLanelet current_lanelet = lanelet; std::set searched_ids{}; while (rclcpp::ok() && length < min_length) { - lanelet::ConstLanelet next_lanelet; - if (!getFollowingShoulderLanelet(current_lanelet, &next_lanelet)) { - break; - } - lanelet_sequence_forward.push_back(next_lanelet); - if (searched_ids.find(next_lanelet.id()) != searched_ids.end()) { + const auto next_lanelet = getFollowingShoulderLanelet(current_lanelet); + if (!next_lanelet) break; + lanelet_sequence_forward.push_back(*next_lanelet); + if (searched_ids.find(next_lanelet->id()) != searched_ids.end()) { // loop shoulder detected break; } - searched_ids.insert(next_lanelet.id()); - current_lanelet = next_lanelet; + searched_ids.insert(next_lanelet->id()); + current_lanelet = *next_lanelet; length += - static_cast(boost::geometry::length(next_lanelet.centerline().basicLineString())); + static_cast(boost::geometry::length(next_lanelet->centerline().basicLineString())); } return lanelet_sequence_forward; } -bool RouteHandler::getPreviousShoulderLanelet( - const lanelet::ConstLanelet & lanelet, lanelet::ConstLanelet * prev_lanelet) const +std::optional RouteHandler::getPreviousShoulderLanelet( + const lanelet::ConstLanelet & lanelet) const { - for (const auto & shoulder_lanelet : shoulder_lanelets_) { - if (lanelet::geometry::follows(shoulder_lanelet, lanelet)) { - *prev_lanelet = shoulder_lanelet; - return true; - } - } - return false; + bool found = false; + const auto & search_point = lanelet.centerline().front().basicPoint2d(); + const auto previous_lanelet = lanelet_map_ptr_->laneletLayer.nearestUntil( + search_point, [&](const auto & bbox, const auto & ll) { + if (isShoulderLanelet(ll) && lanelet::geometry::follows(ll, lanelet)) found = true; + // stop search once prev shoulder lanelet is found, or the bbox does not touch the search + // point + return found || lanelet::geometry::distance2d(bbox, search_point) > 1e-3; + }); + if (found && previous_lanelet.has_value()) return *previous_lanelet; + return std::nullopt; } lanelet::ConstLanelets RouteHandler::getShoulderLaneletSequenceUpTo( const lanelet::ConstLanelet & lanelet, const double min_length) const { lanelet::ConstLanelets lanelet_sequence_backward; - if (!exists(shoulder_lanelets_, lanelet)) { - return lanelet_sequence_backward; - } + if (!isShoulderLanelet(lanelet)) return lanelet_sequence_backward; double length = 0; lanelet::ConstLanelet current_lanelet = lanelet; std::set searched_ids{}; while (rclcpp::ok() && length < min_length) { - lanelet::ConstLanelet prev_lanelet; - if (!getPreviousShoulderLanelet(current_lanelet, &prev_lanelet)) { - break; - } + const auto prev_lanelet = getPreviousShoulderLanelet(current_lanelet); + if (!prev_lanelet) break; - lanelet_sequence_backward.insert(lanelet_sequence_backward.begin(), prev_lanelet); - if (searched_ids.find(prev_lanelet.id()) != searched_ids.end()) { + lanelet_sequence_backward.insert(lanelet_sequence_backward.begin(), *prev_lanelet); + if (searched_ids.find(prev_lanelet->id()) != searched_ids.end()) { // loop shoulder detected break; } - searched_ids.insert(prev_lanelet.id()); - current_lanelet = prev_lanelet; + searched_ids.insert(prev_lanelet->id()); + current_lanelet = *prev_lanelet; length += - static_cast(boost::geometry::length(prev_lanelet.centerline().basicLineString())); + static_cast(boost::geometry::length(prev_lanelet->centerline().basicLineString())); } return lanelet_sequence_backward; @@ -826,7 +829,7 @@ lanelet::ConstLanelets RouteHandler::getShoulderLaneletSequence( const double forward_distance) const { lanelet::ConstLanelets lanelet_sequence; - if (!exists(shoulder_lanelets_, lanelet)) { + if (!isShoulderLanelet(lanelet)) { return lanelet_sequence; } @@ -1009,20 +1012,16 @@ std::optional RouteHandler::getRightLanelet( { // right road lanelet of shoulder lanelet if (isShoulderLanelet(lanelet)) { - for (const auto & road_lanelet : road_lanelets_) { - if (lanelet::geometry::rightOf(road_lanelet, lanelet)) { - return road_lanelet; - } - } + const auto right_lanelets = lanelet_map_ptr_->laneletLayer.findUsages(lanelet.rightBound()); + for (const auto & right_lanelet : right_lanelets) + if (isRoadLanelet(right_lanelet)) return right_lanelet; return std::nullopt; } // right shoulder lanelet if (get_shoulder_lane) { - lanelet::ConstLanelet right_shoulder_lanelet; - if (getRightShoulderLanelet(lanelet, &right_shoulder_lanelet)) { - return right_shoulder_lanelet; - } + const auto right_shoulder_lanelet = getRightShoulderLanelet(lanelet); + if (right_shoulder_lanelet) return *right_shoulder_lanelet; } // routable lane @@ -1090,20 +1089,16 @@ std::optional RouteHandler::getLeftLanelet( { // left road lanelet of shoulder lanelet if (isShoulderLanelet(lanelet)) { - for (const auto & road_lanelet : road_lanelets_) { - if (lanelet::geometry::leftOf(road_lanelet, lanelet)) { - return road_lanelet; - } - } + const auto left_lanelets = lanelet_map_ptr_->laneletLayer.findUsages(lanelet.leftBound()); + for (const auto & left_lanelet : left_lanelets) + if (isRoadLanelet(left_lanelet)) return left_lanelet; return std::nullopt; } // left shoulder lanelet if (get_shoulder_lane) { - lanelet::ConstLanelet left_shoulder_lanelet; - if (getLeftShoulderLanelet(lanelet, &left_shoulder_lanelet)) { - return left_shoulder_lanelet; - } + const auto left_shoulder_lanelet = getLeftShoulderLanelet(lanelet); + if (left_shoulder_lanelet) return *left_shoulder_lanelet; } // routable lane @@ -1308,98 +1303,6 @@ lanelet::ConstLanelet RouteHandler::getMostLeftLanelet( return lanelet; } -lanelet::ConstLineString3d RouteHandler::getRightMostSameDirectionLinestring( - const lanelet::ConstLanelet & lanelet, const bool enable_same_root) const noexcept -{ - // recursively compute the width of the lanes - const auto & same = getRightLanelet(lanelet, enable_same_root); - - if (same) { - return getRightMostSameDirectionLinestring(same.value(), enable_same_root); - } - - return lanelet.rightBound(); -} - -lanelet::ConstLineString3d RouteHandler::getRightMostLinestring( - const lanelet::ConstLanelet & lanelet, const bool enable_same_root) const noexcept -{ - const auto & same = getRightLanelet(lanelet, enable_same_root); - const auto & opposite = getRightOppositeLanelets(lanelet); - if (!same && opposite.empty()) { - return lanelet.rightBound(); - } - - if (same) { - return getRightMostLinestring(same.value(), enable_same_root); - } - - if (!opposite.empty()) { - return getLeftMostLinestring(lanelet::ConstLanelet(opposite.front()), false); - } - - return lanelet.rightBound(); -} - -lanelet::ConstLineString3d RouteHandler::getLeftMostSameDirectionLinestring( - const lanelet::ConstLanelet & lanelet, const bool enable_same_root) const noexcept -{ - // recursively compute the width of the lanes - const auto & same = getLeftLanelet(lanelet, enable_same_root); - - if (same) { - return getLeftMostSameDirectionLinestring(same.value(), enable_same_root); - } - - return lanelet.leftBound(); -} - -lanelet::ConstLineString3d RouteHandler::getLeftMostLinestring( - const lanelet::ConstLanelet & lanelet, const bool enable_same_root) const noexcept -{ - // recursively compute the width of the lanes - const auto & same = getLeftLanelet(lanelet, enable_same_root); - const auto & opposite = getLeftOppositeLanelets(lanelet); - if (!same && opposite.empty()) { - return lanelet.leftBound(); - } - - if (same) { - return getLeftMostLinestring(same.value(), enable_same_root); - } - - if (!opposite.empty()) { - return getRightMostLinestring(lanelet::ConstLanelet(opposite.front()), false); - } - - return lanelet.leftBound(); -} - -lanelet::ConstLineStrings3d RouteHandler::getFurthestLinestring( - const lanelet::ConstLanelet & lanelet, bool is_right, bool is_left, bool is_opposite, - bool enable_same_root) const noexcept -{ - lanelet::ConstLineStrings3d linestrings; - linestrings.reserve(2); - - if (is_right && is_opposite) { - linestrings.emplace_back(getRightMostLinestring(lanelet, enable_same_root)); - } else if (is_right && !is_opposite) { - linestrings.emplace_back(getRightMostSameDirectionLinestring(lanelet, enable_same_root)); - } else { - linestrings.emplace_back(lanelet.rightBound()); - } - - if (is_left && is_opposite) { - linestrings.emplace_back(getLeftMostLinestring(lanelet, enable_same_root)); - } else if (is_left && !is_opposite) { - linestrings.emplace_back(getLeftMostSameDirectionLinestring(lanelet, enable_same_root)); - } else { - linestrings.emplace_back(lanelet.leftBound()); - } - return linestrings; -} - std::vector RouteHandler::getPrecedingLaneletSequence( const lanelet::ConstLanelet & lanelet, const double length, const lanelet::ConstLanelets & exclude_lanelets) const @@ -1470,79 +1373,33 @@ std::optional RouteHandler::getLaneChangeTargetExceptPref return std::nullopt; } -bool RouteHandler::getRightLaneChangeTargetExceptPreferredLane( - const lanelet::ConstLanelets & lanelets, lanelet::ConstLanelet * target_lanelet) const -{ - for (const auto & lanelet : lanelets) { - const int num = getNumLaneToPreferredLane(lanelet); - - // Get right lanelet if preferred lane is on the left - if (num >= 0) { - if (!!routing_graph_ptr_->right(lanelet)) { - const auto right_lanelet = routing_graph_ptr_->right(lanelet); - *target_lanelet = right_lanelet.value(); - return true; - } - } - } - - *target_lanelet = lanelets.front(); - return false; -} - -bool RouteHandler::getLeftLaneChangeTargetExceptPreferredLane( - const lanelet::ConstLanelets & lanelets, lanelet::ConstLanelet * target_lanelet) const -{ - for (const auto & lanelet : lanelets) { - const int num = getNumLaneToPreferredLane(lanelet); - - // Get left lanelet if preferred lane is on the right - if (num <= 0) { - if (!!routing_graph_ptr_->left(lanelet)) { - const auto left_lanelet = routing_graph_ptr_->left(lanelet); - *target_lanelet = left_lanelet.value(); - return true; - } - } - } - - *target_lanelet = lanelets.front(); - return false; -} - -bool RouteHandler::getPullOverTarget( - const lanelet::ConstLanelets & lanelets, const Pose & goal_pose, - lanelet::ConstLanelet * target_lanelet) +std::optional RouteHandler::getPullOverTarget(const Pose & goal_pose) const { - for (const auto & shoulder_lanelet : lanelets) { - if (lanelet::utils::isInLanelet(goal_pose, shoulder_lanelet, 0.1)) { - *target_lanelet = shoulder_lanelet; - return true; - } + const lanelet::BasicPoint2d p(goal_pose.position.x, goal_pose.position.y); + constexpr auto search_distance = 0.1; + const lanelet::BasicPoint2d offset(search_distance, search_distance); + const auto lanelets_in_range = + lanelet_map_ptr_->laneletLayer.search(lanelet::BoundingBox2d(p - offset, p + offset)); + for (const auto & lanelet : lanelets_in_range) { + const auto is_in_lanelet = lanelet::utils::isInLanelet(goal_pose, lanelet, search_distance); + if (is_in_lanelet && isShoulderLanelet(lanelet)) return lanelet; } - return false; + return std::nullopt; } -bool RouteHandler::getPullOutStartLane( - const lanelet::ConstLanelets & lanelets, const Pose & pose, const double vehicle_width, - lanelet::ConstLanelet * target_lanelet) +std::optional RouteHandler::getPullOutStartLane( + const Pose & pose, const double vehicle_width) const { - for (const auto & shoulder_lanelet : lanelets) { - if (lanelet::utils::isInLanelet(pose, shoulder_lanelet, vehicle_width / 2.0)) { - *target_lanelet = shoulder_lanelet; - return true; - } + const lanelet::BasicPoint2d p(pose.position.x, pose.position.y); + const auto search_distance = vehicle_width / 2.0; + const lanelet::BasicPoint2d offset(search_distance, search_distance); + const auto lanelets_in_range = + lanelet_map_ptr_->laneletLayer.search(lanelet::BoundingBox2d(p - offset, p + offset)); + for (const auto & lanelet : lanelets_in_range) { + const auto is_in_lanelet = lanelet::utils::isInLanelet(pose, lanelet, search_distance); + if (is_in_lanelet && isShoulderLanelet(lanelet)) return lanelet; } - return false; -} - -lanelet::ConstLanelets RouteHandler::getClosestLaneletSequence(const Pose & pose) const -{ - lanelet::ConstLanelet lanelet; - if (!getClosestLaneletWithinRoute(pose, &lanelet)) { - return lanelet::ConstLanelets{}; - } - return getLaneletSequence(lanelet); + return std::nullopt; } int RouteHandler::getNumLaneToPreferredLane( @@ -1579,13 +1436,6 @@ int RouteHandler::getNumLaneToPreferredLane( return 0; // TODO(Horibe) check if return 0 is appropriate. } -double RouteHandler::getTotalLateralDistanceToPreferredLane( - const lanelet::ConstLanelet & lanelet, const Direction direction) const -{ - const auto intervals = getLateralIntervalsToPreferredLane(lanelet, direction); - return std::accumulate(intervals.begin(), intervals.end(), 0); -} - std::vector RouteHandler::getLateralIntervalsToPreferredLane( const lanelet::ConstLanelet & lanelet, const Direction direction) const { @@ -1640,30 +1490,6 @@ std::vector RouteHandler::getLateralIntervalsToPreferredLane( return {}; } -bool RouteHandler::isPreferredLane(const lanelet::ConstLanelet & lanelet) const -{ - return exists(preferred_lanelets_, lanelet); -} - -bool RouteHandler::isInPreferredLane(const PoseStamped & pose) const -{ - lanelet::ConstLanelet lanelet; - if (!getClosestLaneletWithinRoute(pose.pose, &lanelet)) { - return false; - } - return exists(preferred_lanelets_, lanelet); -} - -bool RouteHandler::isInTargetLane( - const PoseStamped & pose, const lanelet::ConstLanelets & target) const -{ - lanelet::ConstLanelet lanelet; - if (!getClosestLaneletWithinRoute(pose.pose, &lanelet)) { - return false; - } - return exists(target, lanelet); -} - PathWithLaneId RouteHandler::getCenterLinePath( const lanelet::ConstLanelets & lanelet_sequence, const double s_start, const double s_end, bool use_exact) const @@ -1739,139 +1565,6 @@ PathWithLaneId RouteHandler::getCenterLinePath( return reference_path; } -PathWithLaneId RouteHandler::updatePathTwist(const PathWithLaneId & path) const -{ - PathWithLaneId updated_path = path; - for (auto & point : updated_path.points) { - const auto id = point.lane_ids.at(0); - const auto llt = lanelet_map_ptr_->laneletLayer.get(id); - const auto limit = traffic_rules_ptr_->speedLimit(llt); - point.point.longitudinal_velocity_mps = static_cast(limit.speedLimit.value()); - } - return updated_path; -} - -lanelet::ConstLanelets RouteHandler::getLaneChangeTargetLanes(const Pose & pose) const -{ - lanelet::ConstLanelet lanelet; - lanelet::ConstLanelets target_lanelets; - if (!getClosestLaneletWithinRoute(pose, &lanelet)) { - return target_lanelets; - } - - const int num = getNumLaneToPreferredLane(lanelet); - if (num < 0) { - const auto right_lanelet = (!!routing_graph_ptr_->right(lanelet)) - ? routing_graph_ptr_->right(lanelet) - : routing_graph_ptr_->adjacentRight(lanelet); - target_lanelets = getLaneletSequence(right_lanelet.value()); - } - if (num > 0) { - const auto left_lanelet = (!!routing_graph_ptr_->left(lanelet)) - ? routing_graph_ptr_->left(lanelet) - : routing_graph_ptr_->adjacentLeft(lanelet); - target_lanelets = getLaneletSequence(left_lanelet.value()); - } - return target_lanelets; -} - -double RouteHandler::getLaneChangeableDistance( - const Pose & current_pose, const Direction & direction) const -{ - lanelet::ConstLanelet current_lane; - if (!getClosestLaneletWithinRoute(current_pose, ¤t_lane)) { - return 0; - } - - // get lanelets after current lane - auto lanelet_sequence = getLaneletSequenceAfter(current_lane); - lanelet_sequence.insert(lanelet_sequence.begin(), current_lane); - - double accumulated_distance = 0; - for (const auto & lane : lanelet_sequence) { - lanelet::ConstLanelet target_lane; - if (direction == Direction::RIGHT) { - if (!getRightLaneletWithinRoute(lane, &target_lane)) { - break; - } - } - if (direction == Direction::LEFT) { - if (!getLeftLaneletWithinRoute(lane, &target_lane)) { - break; - } - } - double lane_length = lanelet::utils::getLaneletLength3d(lane); - - // overwrite goal because lane change must be finished before reaching goal - if (isInGoalRouteSection(lane)) { - const auto goal_position = lanelet::utils::conversion::toLaneletPoint(getGoalPose().position); - const auto goal_arc_coordinates = lanelet::geometry::toArcCoordinates( - lanelet::utils::to2D(lane.centerline()), lanelet::utils::to2D(goal_position).basicPoint()); - lane_length = std::min(goal_arc_coordinates.length, lane_length); - } - - // subtract distance up to current position for first lane - if (lane == current_lane) { - const auto current_position = - lanelet::utils::conversion::toLaneletPoint(current_pose.position); - const auto arc_coordinate = lanelet::geometry::toArcCoordinates( - lanelet::utils::to2D(lane.centerline()), - lanelet::utils::to2D(current_position).basicPoint()); - lane_length = std::max(lane_length - arc_coordinate.length, 0.0); - } - accumulated_distance += lane_length; - } - return accumulated_distance; -} - -lanelet::ConstLanelets RouteHandler::getCheckTargetLanesFromPath( - const PathWithLaneId & path, const lanelet::ConstLanelets & target_lanes, - const double check_length) const -{ - std::vector target_lane_ids; - target_lane_ids.reserve(target_lanes.size()); - for (const auto & llt : target_lanes) { - target_lane_ids.push_back(llt.id()); - } - - // find first lanelet in target lanes along path - int64_t root_lane_id = lanelet::InvalId; - for (const auto & point : path.points) { - for (const auto & lane_id : point.lane_ids) { - if (exists(target_lane_ids, lane_id)) { - root_lane_id = lane_id; - } - } - } - // return emtpy lane if failed to find root lane_id - if (root_lane_id == lanelet::InvalId) { - return target_lanes; - } - lanelet::ConstLanelet root_lanelet; - for (const auto & llt : target_lanes) { - if (llt.id() == root_lane_id) { - root_lanelet = llt; - } - } - - const auto sequences = lanelet::utils::query::getPrecedingLaneletSequences( - routing_graph_ptr_, root_lanelet, check_length); - lanelet::ConstLanelets check_lanelets; - for (const auto & sequence : sequences) { - for (const auto & llt : sequence) { - if (!lanelet::utils::contains(check_lanelets, llt)) { - check_lanelets.push_back(llt); - } - } - } - for (const auto & llt : target_lanes) { - if (!lanelet::utils::contains(check_lanelets, llt)) { - check_lanelets.push_back(llt); - } - } - return check_lanelets; -} - bool RouteHandler::isMapMsgReady() const { return is_map_msg_ready_; @@ -1898,49 +1591,10 @@ lanelet::LaneletMapPtr RouteHandler::getLaneletMapPtr() const return lanelet_map_ptr_; } -lanelet::routing::RelationType RouteHandler::getRelation( - const lanelet::ConstLanelet & prev_lane, const lanelet::ConstLanelet & next_lane) const -{ - if (prev_lane == next_lane) { - return lanelet::routing::RelationType::None; - } - const auto & relation = routing_graph_ptr_->routingRelation(prev_lane, next_lane); - if (relation) { - return relation.value(); - } - - // check if lane change extends across multiple lanes - const auto shortest_path = routing_graph_ptr_->shortestPath(prev_lane, next_lane); - if (shortest_path) { - auto prev_llt = shortest_path->front(); - for (const auto & llt : shortest_path.value()) { - if (prev_llt == llt) { - continue; - } - const auto & relation = routing_graph_ptr_->routingRelation(prev_llt, llt); - if (!relation) { - continue; - } - if ( - relation.value() == lanelet::routing::RelationType::Left || - relation.value() == lanelet::routing::RelationType::Right) { - return relation.value(); - } - prev_llt = llt; - } - } - - return lanelet::routing::RelationType::None; -} - -lanelet::ConstLanelets RouteHandler::getShoulderLanelets() const -{ - return shoulder_lanelets_; -} - bool RouteHandler::isShoulderLanelet(const lanelet::ConstLanelet & lanelet) const { - return lanelet::utils::contains(shoulder_lanelets_, lanelet); + return lanelet.hasAttribute(lanelet::AttributeName::Subtype) && + lanelet.attribute(lanelet::AttributeName::Subtype) == "road_shoulder"; } bool RouteHandler::isRouteLanelet(const lanelet::ConstLanelet & lanelet) const @@ -1948,6 +1602,12 @@ bool RouteHandler::isRouteLanelet(const lanelet::ConstLanelet & lanelet) const return lanelet::utils::contains(route_lanelets_, lanelet); } +bool RouteHandler::isRoadLanelet(const lanelet::ConstLanelet & lanelet) const +{ + return lanelet.hasAttribute(lanelet::AttributeName::Subtype) && + lanelet.attribute(lanelet::AttributeName::Subtype) == lanelet::AttributeValueString::Road; +} + lanelet::ConstLanelets RouteHandler::getPreviousLaneletSequence( const lanelet::ConstLanelets & lanelet_sequence) const { @@ -2000,8 +1660,9 @@ lanelet::ConstLanelets RouteHandler::getLaneSequenceUpTo( } lanelet::ConstLanelet current_lanelet = lanelet; + lanelet::ConstLanelets candidate_lanelets; while (rclcpp::ok()) { - lanelet::ConstLanelets candidate_lanelets; + candidate_lanelets.clear(); if (!getPreviousLaneletsWithinRoute(current_lanelet, &candidate_lanelets)) { break; } @@ -2088,60 +1749,52 @@ lanelet::ConstLanelets RouteHandler::getNeighborsWithinRoute( return neighbors_within_route; } -std::vector RouteHandler::getLaneSection( - const lanelet::ConstLanelet & lanelet) const -{ - const lanelet::ConstLanelets neighbors = getNeighborsWithinRoute(lanelet); - std::vector lane_section; - lane_section.reserve(neighbors.size()); - for (const auto & llt : neighbors) { - lane_section.push_back(getLaneSequence(llt)); - } - return lane_section; -} - -lanelet::ConstLanelets RouteHandler::getNextLaneSequence( - const lanelet::ConstLanelets & lane_sequence) const -{ - lanelet::ConstLanelets next_lane_sequence; - if (lane_sequence.empty()) { - return next_lane_sequence; - } - const auto & final_lanelet = lane_sequence.back(); - lanelet::ConstLanelet next_lanelet; - if (!getNextLaneletWithinRoute(final_lanelet, &next_lanelet)) { - return next_lane_sequence; - } - return getLaneSequence(next_lanelet); -} - bool RouteHandler::planPathLaneletsBetweenCheckpoints( const Pose & start_checkpoint, const Pose & goal_checkpoint, lanelet::ConstLanelets * path_lanelets, const bool consider_no_drivable_lanes) const { // Find lanelets for start point. First, find all lanelets containing the start point to calculate - // all possible route later. It fails when the point is not located on any road_lanelet (e.g. the + // all possible route later. It fails when the point is not located on any road lanelet (e.g. the // start point is located out of any lanelets or road_shoulder lanelet which is not contained in - // road_lanelet). In that case, find the closest lanelet instead. + // road lanelet). In that case, find the closest lanelet instead (within some maximum range). + constexpr auto max_search_range = 20.0; + auto start_lanelets = getRoadLaneletsAtPose(start_checkpoint); lanelet::ConstLanelet start_lanelet; - lanelet::ConstLanelets start_lanelets; - if (!lanelet::utils::query::getCurrentLanelets( - road_lanelets_, start_checkpoint, &start_lanelets)) { - if (!lanelet::utils::query::getClosestLanelet( - road_lanelets_, start_checkpoint, &start_lanelet)) { - RCLCPP_WARN_STREAM( - logger_, "Failed to find current lanelet." - << std::endl - << " - start checkpoint: " << toString(start_checkpoint) << std::endl - << " - goal checkpoint: " << toString(goal_checkpoint) << std::endl); - return false; - } - start_lanelets = {start_lanelet}; + if (start_lanelets.empty()) { + const lanelet::BasicPoint2d p(start_checkpoint.position.x, start_checkpoint.position.y); + const lanelet::BoundingBox2d bbox( + lanelet::BasicPoint2d(p.x() - max_search_range, p.y() - max_search_range), + lanelet::BasicPoint2d(p.x() + max_search_range, p.y() + max_search_range)); + // std::as_const(*ptr) to use the const version of the search function + auto candidates = std::as_const(*lanelet_map_ptr_).laneletLayer.search(bbox); + candidates.erase( + std::remove_if( + candidates.begin(), candidates.end(), [&](const auto & l) { return !isRoadLanelet(l); }), + candidates.end()); + if (lanelet::utils::query::getClosestLanelet(candidates, start_checkpoint, &start_lanelet)) + start_lanelets = {start_lanelet}; + } + if (start_lanelets.empty()) { + RCLCPP_WARN_STREAM( + logger_, "Failed to find current lanelet." + << std::endl + << " - start checkpoint: " << toString(start_checkpoint) << std::endl + << " - goal checkpoint: " << toString(goal_checkpoint) << std::endl); + return false; } // Find lanelets for goal point. lanelet::ConstLanelet goal_lanelet; - if (!lanelet::utils::query::getClosestLanelet(road_lanelets_, goal_checkpoint, &goal_lanelet)) { + const lanelet::BasicPoint2d p(goal_checkpoint.position.x, goal_checkpoint.position.y); + const lanelet::BoundingBox2d bbox( + lanelet::BasicPoint2d(p.x() - max_search_range, p.y() - max_search_range), + lanelet::BasicPoint2d(p.x() + max_search_range, p.y() + max_search_range)); + auto candidates = std::as_const(*lanelet_map_ptr_).laneletLayer.search(bbox); + candidates.erase( + std::remove_if( + candidates.begin(), candidates.end(), [&](const auto & l) { return !isRoadLanelet(l); }), + candidates.end()); + if (!lanelet::utils::query::getClosestLanelet(candidates, goal_checkpoint, &goal_lanelet)) { RCLCPP_WARN_STREAM( logger_, "Failed to find closest lanelet." << std::endl @@ -2189,14 +1842,11 @@ bool RouteHandler::planPathLaneletsBetweenCheckpoints( if (is_route_found) { lanelet::routing::LaneletPath path; path = [&]() -> lanelet::routing::LaneletPath { - if (!consider_no_drivable_lanes) return shortest_path; - lanelet::routing::LaneletPath drivable_lane_path; - bool drivable_lane_path_found = false; - if (hasNoDrivableLaneInPath(shortest_path)) { - drivable_lane_path_found = - findDrivableLanePath(start_lanelet, goal_lanelet, drivable_lane_path); + if (consider_no_drivable_lanes && hasNoDrivableLaneInPath(shortest_path)) { + const auto drivable_lane_path = findDrivableLanePath(start_lanelet, goal_lanelet); + if (drivable_lane_path) return *drivable_lane_path; } - return (drivable_lane_path_found) ? drivable_lane_path : shortest_path; + return shortest_path; }(); path_lanelets->reserve(path.size()); @@ -2248,49 +1898,28 @@ lanelet::ConstLanelets RouteHandler::getMainLanelets( return main_lanelets; } -bool RouteHandler::hasNoDrivableLaneInPath(const lanelet::routing::LaneletPath & path) const +bool RouteHandler::isNoDrivableLane(const lanelet::ConstLanelet & llt) { - for (const auto & llt : path) { - const std::string no_drivable_lane_attribute = llt.attributeOr("no_drivable_lane", "no"); - if (no_drivable_lane_attribute == "yes") { - return true; - } - } - - return false; + const std::string no_drivable_lane_attribute = llt.attributeOr("no_drivable_lane", "no"); + return no_drivable_lane_attribute == "yes"; } -bool RouteHandler::findDrivableLanePath( - const lanelet::ConstLanelet & start_lanelet, const lanelet::ConstLanelet & goal_lanelet, - lanelet::routing::LaneletPath & drivable_lane_path) const +bool RouteHandler::hasNoDrivableLaneInPath(const lanelet::routing::LaneletPath & path) const { - double drivable_lane_path_length2d = std::numeric_limits::max(); - bool drivable_lane_path_found = false; - - for (const auto & llt : road_lanelets_) { - lanelet::ConstLanelets via_lanelet; - via_lanelet.push_back(llt); - const lanelet::Optional optional_route = - routing_graph_ptr_->getRouteVia(start_lanelet, via_lanelet, goal_lanelet, 0); - - if ((optional_route) && (!hasNoDrivableLaneInPath(optional_route->shortestPath()))) { - if (optional_route->length2d() < drivable_lane_path_length2d) { - drivable_lane_path_length2d = optional_route->length2d(); - drivable_lane_path = optional_route->shortestPath(); - drivable_lane_path_found = true; - } - } - via_lanelet.clear(); - } - - return drivable_lane_path_found; + for (const auto & llt : path) + if (isNoDrivableLane(llt)) return true; + return false; } -lanelet::ConstLanelets RouteHandler::getClosestLanelets( - const geometry_msgs::msg::Pose & target_pose) const +std::optional RouteHandler::findDrivableLanePath( + const lanelet::ConstLanelet & start_lanelet, const lanelet::ConstLanelet & goal_lanelet) const { - lanelet::ConstLanelets target_lanelets; - lanelet::utils::query::getCurrentLanelets(road_lanelets_, target_pose, &target_lanelets); - return target_lanelets; + // we create a new routing graph with infinite cost on no drivable lanes + const auto drivable_routing_graph_ptr = lanelet::routing::RoutingGraph::build( + *lanelet_map_ptr_, *traffic_rules_ptr_, + lanelet::routing::RoutingCostPtrs{std::make_shared()}); + const auto route = drivable_routing_graph_ptr->getRoute(start_lanelet, goal_lanelet, 0); + if (route) return route->shortestPath(); + return {}; } } // namespace route_handler diff --git a/planning/route_handler/test/test_route_handler.cpp b/planning/route_handler/test/test_route_handler.cpp new file mode 100644 index 0000000000000..212fc0ce84d89 --- /dev/null +++ b/planning/route_handler/test/test_route_handler.cpp @@ -0,0 +1,110 @@ +// Copyright 2024 TIER IV +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "test_route_handler.hpp" + +#include + +#include + +namespace route_handler::test +{ +TEST_F(TestRouteHandler, isRouteHandlerReadyTest) +{ + ASSERT_TRUE(route_handler_->isHandlerReady()); +} + +TEST_F(TestRouteHandler, checkIfIDReturned) +{ + const auto lanelet1 = route_handler_->getLaneletsFromId(4785); + const auto is_lanelet1_in_goal_route_section = route_handler_->isInGoalRouteSection(lanelet1); + ASSERT_TRUE(is_lanelet1_in_goal_route_section); + + const auto lanelet2 = route_handler_->getLaneletsFromId(4780); + const auto is_lanelet2_in_goal_route_section = route_handler_->isInGoalRouteSection(lanelet2); + ASSERT_FALSE(is_lanelet2_in_goal_route_section); +} + +TEST_F(TestRouteHandler, getGoalLaneId) +{ + lanelet::ConstLanelet goal_lane; + + const auto goal_lane_obtained = route_handler_->getGoalLanelet(&goal_lane); + ASSERT_TRUE(goal_lane_obtained); + ASSERT_EQ(goal_lane.id(), 5088); +} + +// TEST_F(TestRouteHandler, getClosestLaneletWithinRouteWhenPointsInRoute) +// { +// lanelet::ConstLanelet closest_lane; + +// Pose search_pose; + +// search_pose.position = tier4_autoware_utils::createPoint(-1.0, 1.75, 0); +// search_pose.orientation = tier4_autoware_utils::createQuaternion(0.0, 0.0, 0.0, 1.0); +// const auto closest_lane_obtained7 = +// route_handler_->getClosestLaneletWithinRoute(search_pose, &closest_lane); + +// ASSERT_TRUE(closest_lane_obtained7); +// ASSERT_EQ(closest_lane.id(), 4775); + +// search_pose.position = tier4_autoware_utils::createPoint(-0.5, 1.75, 0); +// const auto closest_lane_obtained = +// search_pose.orientation = tier4_autoware_utils::createQuaternion(0.0, 0.0, 0.0, 1.0); +// route_handler_->getClosestLaneletWithinRoute(search_pose, &closest_lane); + +// ASSERT_TRUE(closest_lane_obtained); +// ASSERT_EQ(closest_lane.id(), 4775); + +// search_pose.position = tier4_autoware_utils::createPoint(-.01, 1.75, 0); +// search_pose.orientation = tier4_autoware_utils::createQuaternion(0.0, 0.0, 0.0, 1.0); +// const auto closest_lane_obtained3 = +// route_handler_->getClosestLaneletWithinRoute(search_pose, &closest_lane); + +// ASSERT_TRUE(closest_lane_obtained3); +// ASSERT_EQ(closest_lane.id(), 4775); + +// search_pose.position = tier4_autoware_utils::createPoint(0.0, 1.75, 0); +// search_pose.orientation = tier4_autoware_utils::createQuaternion(0.0, 0.0, 0.0, 1.0); +// const auto closest_lane_obtained1 = +// route_handler_->getClosestLaneletWithinRoute(search_pose, &closest_lane); + +// ASSERT_TRUE(closest_lane_obtained1); +// ASSERT_EQ(closest_lane.id(), 4775); + +// search_pose.position = tier4_autoware_utils::createPoint(0.01, 1.75, 0); +// search_pose.orientation = tier4_autoware_utils::createQuaternion(0.0, 0.0, 0.0, 1.0); +// const auto closest_lane_obtained2 = +// route_handler_->getClosestLaneletWithinRoute(search_pose, &closest_lane); + +// ASSERT_TRUE(closest_lane_obtained2); +// ASSERT_EQ(closest_lane.id(), 4424); + +// search_pose.position = tier4_autoware_utils::createPoint(0.5, 1.75, 0); +// search_pose.orientation = tier4_autoware_utils::createQuaternion(0.0, 0.0, 0.0, 1.0); +// const auto closest_lane_obtained4 = +// route_handler_->getClosestLaneletWithinRoute(search_pose, &closest_lane); + +// ASSERT_TRUE(closest_lane_obtained4); +// ASSERT_EQ(closest_lane.id(), 4424); + +// search_pose.position = tier4_autoware_utils::createPoint(1.0, 1.75, 0); +// search_pose.orientation = tier4_autoware_utils::createQuaternion(0.0, 0.0, 0.0, 1.0); +// const auto closest_lane_obtained5 = +// route_handler_->getClosestLaneletWithinRoute(search_pose, &closest_lane); + +// ASSERT_TRUE(closest_lane_obtained5); +// ASSERT_EQ(closest_lane.id(), 4424); +// } +} // namespace route_handler::test diff --git a/planning/route_handler/test/test_route_handler.hpp b/planning/route_handler/test/test_route_handler.hpp new file mode 100644 index 0000000000000..3c6893da3f9d1 --- /dev/null +++ b/planning/route_handler/test/test_route_handler.hpp @@ -0,0 +1,73 @@ +// Copyright 2024 TIER IV +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#ifndef TEST_ROUTE_HANDLER_HPP_ +#define TEST_ROUTE_HANDLER_HPP_ + +#include "ament_index_cpp/get_package_share_directory.hpp" +#include "gtest/gtest.h" +#include "planning_test_utils/mock_data_parser.hpp" +#include "planning_test_utils/planning_test_utils.hpp" + +#include +#include +#include +#include +#include +#include +#include + +#include + +#include + +#include +#include +namespace route_handler::test +{ + +using autoware_auto_mapping_msgs::msg::HADMapBin; + +class TestRouteHandler : public ::testing::Test +{ +public: + TestRouteHandler() + { + const auto planning_test_utils_dir = + ament_index_cpp::get_package_share_directory("planning_test_utils"); + const auto lanelet2_path = planning_test_utils_dir + "/test_map/2km_test.osm"; + constexpr double center_line_resolution = 5.0; + const auto map_bin_msg = test_utils::make_map_bin_msg(lanelet2_path, center_line_resolution); + route_handler_ = std::make_shared(map_bin_msg); + set_lane_change_test_route(); + } + + TestRouteHandler(const TestRouteHandler &) = delete; + TestRouteHandler(TestRouteHandler &&) = delete; + TestRouteHandler & operator=(const TestRouteHandler &) = delete; + TestRouteHandler & operator=(TestRouteHandler &&) = delete; + ~TestRouteHandler() override = default; + + void set_lane_change_test_route() + { + const auto route_handler_dir = ament_index_cpp::get_package_share_directory("route_handler"); + const auto rh_test_route = route_handler_dir + "/test_route/lane_change_test_route.yaml"; + route_handler_->setRoute(test_utils::parse_lanelet_route_file(rh_test_route)); + } + + std::shared_ptr route_handler_; +}; +} // namespace route_handler::test + +#endif // TEST_ROUTE_HANDLER_HPP_ diff --git a/planning/route_handler/test_route/lane_change_test_route.yaml b/planning/route_handler/test_route/lane_change_test_route.yaml new file mode 100644 index 0000000000000..8b4c423c622a0 --- /dev/null +++ b/planning/route_handler/test_route/lane_change_test_route.yaml @@ -0,0 +1,93 @@ +header: + stamp: + sec: 1715936953 + nanosec: 67206425 + frame_id: map +start_pose: + position: + x: -50.0 + y: 1.75 + z: 0.0 + orientation: + x: 0.0 + y: 0.0 + z: 0.0 + w: 1.0 +goal_pose: + position: + x: 70.0 + y: -1.75 + z: 0.0 + orientation: + x: 0.0 + y: 0.0 + z: 0.0 + w: 1.0 +segments: + - preferred_primitive: + id: 4765 + primitive_type: "" + primitives: + - id: 4765 + primitive_type: lane + - id: 9590 + primitive_type: lane + - preferred_primitive: + id: 4770 + primitive_type: "" + primitives: + - id: 4770 + primitive_type: lane + - id: 5072 + primitive_type: lane + - preferred_primitive: + id: 4775 + primitive_type: "" + primitives: + - id: 4775 + primitive_type: lane + - id: 9594 + primitive_type: lane + - preferred_primitive: + id: 9598 + primitive_type: "" + primitives: + - id: 4424 + primitive_type: lane + - id: 9598 + primitive_type: lane + - preferred_primitive: + id: 5084 + primitive_type: "" + primitives: + - id: 4780 + primitive_type: lane + - id: 5084 + primitive_type: lane + - preferred_primitive: + id: 5088 + primitive_type: "" + primitives: + - id: 4785 + primitive_type: lane + - id: 5088 + primitive_type: lane +uuid: + uuid: + - 231 + - 254 + - 143 + - 227 + - 194 + - 8 + - 220 + - 88 + - 30 + - 194 + - 172 + - 147 + - 127 + - 143 + - 176 + - 133 +allow_modification: false diff --git a/planning/rtc_interface/include/rtc_interface/rtc_interface.hpp b/planning/rtc_interface/include/rtc_interface/rtc_interface.hpp index aed7d42cda5e6..7ab796321e041 100644 --- a/planning/rtc_interface/include/rtc_interface/rtc_interface.hpp +++ b/planning/rtc_interface/include/rtc_interface/rtc_interface.hpp @@ -24,6 +24,7 @@ #include "tier4_rtc_msgs/msg/cooperate_status.hpp" #include "tier4_rtc_msgs/msg/cooperate_status_array.hpp" #include "tier4_rtc_msgs/msg/module.hpp" +#include "tier4_rtc_msgs/msg/state.hpp" #include "tier4_rtc_msgs/srv/auto_mode.hpp" #include "tier4_rtc_msgs/srv/cooperate_commands.hpp" #include @@ -41,6 +42,7 @@ using tier4_rtc_msgs::msg::CooperateResponse; using tier4_rtc_msgs::msg::CooperateStatus; using tier4_rtc_msgs::msg::CooperateStatusArray; using tier4_rtc_msgs::msg::Module; +using tier4_rtc_msgs::msg::State; using tier4_rtc_msgs::srv::AutoMode; using tier4_rtc_msgs::srv::CooperateCommands; using unique_identifier_msgs::msg::UUID; @@ -51,9 +53,10 @@ class RTCInterface RTCInterface(rclcpp::Node * node, const std::string & name, const bool enable_rtc = true); void publishCooperateStatus(const rclcpp::Time & stamp); void updateCooperateStatus( - const UUID & uuid, const bool safe, const double start_distance, const double finish_distance, - const rclcpp::Time & stamp); + const UUID & uuid, const bool safe, const uint8_t state, const double start_distance, + const double finish_distance, const rclcpp::Time & stamp); void removeCooperateStatus(const UUID & uuid); + void removeExpiredCooperateStatus(); void clearCooperateStatus(); bool isActivated(const UUID & uuid) const; bool isRegistered(const UUID & uuid) const; @@ -81,6 +84,7 @@ class RTCInterface rclcpp::Service::SharedPtr srv_auto_mode_; rclcpp::CallbackGroup::SharedPtr callback_group_; rclcpp::TimerBase::SharedPtr timer_; + rclcpp::Clock::SharedPtr clock_; rclcpp::Logger logger_; Module module_; diff --git a/planning/rtc_interface/src/rtc_interface.cpp b/planning/rtc_interface/src/rtc_interface.cpp index a7661f4c419a5..77fe29b41d893 100644 --- a/planning/rtc_interface/src/rtc_interface.cpp +++ b/planning/rtc_interface/src/rtc_interface.cpp @@ -62,9 +62,9 @@ Module getModuleType(const std::string & module_name) module.type = Module::AVOIDANCE_BY_LC_LEFT; } else if (module_name == "avoidance_by_lane_change_right") { module.type = Module::AVOIDANCE_BY_LC_RIGHT; - } else if (module_name == "avoidance_left") { + } else if (module_name == "static_obstacle_avoidance_left") { module.type = Module::AVOIDANCE_LEFT; - } else if (module_name == "avoidance_right") { + } else if (module_name == "static_obstacle_avoidance_right") { module.type = Module::AVOIDANCE_RIGHT; } else if (module_name == "goal_planner") { module.type = Module::GOAL_PLANNER; @@ -81,7 +81,8 @@ Module getModuleType(const std::string & module_name) namespace rtc_interface { RTCInterface::RTCInterface(rclcpp::Node * node, const std::string & name, const bool enable_rtc) -: logger_{node->get_logger().get_child("RTCInterface[" + name + "]")}, +: clock_{node->get_clock()}, + logger_{node->get_logger().get_child("RTCInterface[" + name + "]")}, is_auto_mode_enabled_{!enable_rtc}, is_locked_{false} { @@ -152,7 +153,16 @@ std::vector RTCInterface::validateCooperateCommands( registered_status_.statuses.begin(), registered_status_.statuses.end(), [command](auto & s) { return s.uuid == command.uuid; }); if (itr != registered_status_.statuses.end()) { - response.success = true; + if (itr->state.type == State::WAITING_FOR_EXECUTION || itr->state.type == State::RUNNING) { + response.success = true; + } else { + RCLCPP_WARN_STREAM( + getLogger(), "[validateCooperateCommands] uuid : " + << to_string(command.uuid) + << " state is not WAITING_FOR_EXECUTION or RUNNING. state : " + << itr->state.type << std::endl); + response.success = false; + } } else { RCLCPP_WARN_STREAM( getLogger(), "[validateCooperateCommands] uuid : " << to_string(command.uuid) @@ -174,8 +184,10 @@ void RTCInterface::updateCooperateCommandStatus(const std::vectorcommand_status = command.command; - itr->auto_mode = false; + if (itr->state.type == State::WAITING_FOR_EXECUTION || itr->state.type == State::RUNNING) { + itr->command_status = command.command; + itr->auto_mode = false; + } } } } @@ -201,8 +213,8 @@ void RTCInterface::onTimer() } void RTCInterface::updateCooperateStatus( - const UUID & uuid, const bool safe, const double start_distance, const double finish_distance, - const rclcpp::Time & stamp) + const UUID & uuid, const bool safe, const uint8_t state, const double start_distance, + const double finish_distance, const rclcpp::Time & stamp) { std::lock_guard lock(mutex_); // Find registered status which has same uuid @@ -218,6 +230,7 @@ void RTCInterface::updateCooperateStatus( status.module = module_; status.safe = safe; status.command_status.type = Command::DEACTIVATE; + status.state.type = state; status.start_distance = start_distance; status.finish_distance = finish_distance; status.auto_mode = is_auto_mode_enabled_; @@ -228,6 +241,7 @@ void RTCInterface::updateCooperateStatus( // If the registered status is found, update status itr->stamp = stamp; itr->safe = safe; + itr->state.type = state; itr->start_distance = start_distance; itr->finish_distance = finish_distance; } @@ -263,6 +277,16 @@ void RTCInterface::removeStoredCommand(const UUID & uuid) } } +void RTCInterface::removeExpiredCooperateStatus() +{ + std::lock_guard lock(mutex_); + const auto itr = std::remove_if( + registered_status_.statuses.begin(), registered_status_.statuses.end(), + [this](const auto & status) { return (clock_->now() - status.stamp).seconds() > 10.0; }); + + registered_status_.statuses.erase(itr, registered_status_.statuses.end()); +} + void RTCInterface::clearCooperateStatus() { std::lock_guard lock(mutex_); @@ -278,6 +302,9 @@ bool RTCInterface::isActivated(const UUID & uuid) const [uuid](auto & s) { return s.uuid == uuid; }); if (itr != registered_status_.statuses.end()) { + if (itr->state.type == State::FAILED || itr->state.type == State::SUCCEEDED) { + return false; + } if (itr->auto_mode) { return itr->safe; } else { diff --git a/planning/sampling_based_planner/path_sampler/include/path_sampler/node.hpp b/planning/sampling_based_planner/path_sampler/include/path_sampler/node.hpp index 50464f12114b0..ab9bc71bc79e4 100644 --- a/planning/sampling_based_planner/path_sampler/include/path_sampler/node.hpp +++ b/planning/sampling_based_planner/path_sampler/include/path_sampler/node.hpp @@ -95,7 +95,10 @@ class PathSampler : public rclcpp::Node void copyVelocity( const std::vector & from_traj, std::vector & to_traj, const geometry_msgs::msg::Pose & ego_pose); - std::vector generatePath(const PlannerData & planner_data); + sampler_common::Path generatePath(const PlannerData & planner_data); + std::vector generateCandidatesFromPreviousPath( + const PlannerData & planner_data, const sampler_common::transform::Spline2D & path_spline); + std::vector generateTrajectoryPoints(const PlannerData & planner_data); void publishVirtualWall(const geometry_msgs::msg::Pose & stop_pose) const; void publishDebugMarker(const std::vector & traj_points) const; }; diff --git a/planning/sampling_based_planner/path_sampler/include/path_sampler/parameters.hpp b/planning/sampling_based_planner/path_sampler/include/path_sampler/parameters.hpp index 1c5c51e33b431..03887d8357e0d 100644 --- a/planning/sampling_based_planner/path_sampler/include/path_sampler/parameters.hpp +++ b/planning/sampling_based_planner/path_sampler/include/path_sampler/parameters.hpp @@ -46,6 +46,12 @@ struct Parameters bool force_zero_heading{}; bool smooth_reference{}; } preprocessing{}; + + struct + { + double max_lat_dev{}; + double direct_reuse_dist{}; + } path_reuse{}; }; #endif // PATH_SAMPLER__PARAMETERS_HPP_ diff --git a/planning/sampling_based_planner/path_sampler/src/node.cpp b/planning/sampling_based_planner/path_sampler/src/node.cpp index 748486edf9ff6..97bafb68c47a8 100644 --- a/planning/sampling_based_planner/path_sampler/src/node.cpp +++ b/planning/sampling_based_planner/path_sampler/src/node.cpp @@ -84,12 +84,20 @@ PathSampler::PathSampler(const rclcpp::NodeOptions & node_options) declare_parameter("constraints.hard.max_curvature"); params_.constraints.hard.min_curvature = declare_parameter("constraints.hard.min_curvature"); + params_.constraints.hard.min_dist_from_obstacles = + declare_parameter("constraints.hard.min_distance_from_obstacles"); + params_.constraints.hard.limit_footprint_inside_drivable_area = + declare_parameter("constraints.hard.limit_footprint_inside_drivable_area"); params_.constraints.soft.lateral_deviation_weight = declare_parameter("constraints.soft.lateral_deviation_weight"); params_.constraints.soft.length_weight = declare_parameter("constraints.soft.length_weight"); params_.constraints.soft.curvature_weight = declare_parameter("constraints.soft.curvature_weight"); + params_.path_reuse.max_lat_dev = + declare_parameter("path_reuse.maximum_lateral_deviation"); + params_.path_reuse.direct_reuse_dist = + declare_parameter("path_reuse.direct_reuse_distance"); params_.sampling.enable_frenet = declare_parameter("sampling.enable_frenet"); params_.sampling.enable_bezier = declare_parameter("sampling.enable_bezier"); params_.sampling.resolution = declare_parameter("sampling.resolution"); @@ -144,6 +152,12 @@ rcl_interfaces::msg::SetParametersResult PathSampler::onParam( updateParam(parameters, "constraints.hard.max_curvature", params_.constraints.hard.max_curvature); updateParam(parameters, "constraints.hard.min_curvature", params_.constraints.hard.min_curvature); + updateParam( + parameters, "constraints.hard.min_distance_from_obstacles", + params_.constraints.hard.min_dist_from_obstacles); + updateParam( + parameters, "constraints.hard.limit_footprint_inside_drivable_area", + params_.constraints.hard.limit_footprint_inside_drivable_area); updateParam( parameters, "constraints.soft.lateral_deviation_weight", params_.constraints.soft.lateral_deviation_weight); @@ -243,9 +257,8 @@ void PathSampler::onPath(const Path::SharedPtr path_ptr) const auto generated_traj_points = generateTrajectory(planner_data); // 3. extend trajectory to connect the optimized trajectory and the following path smoothly if (!generated_traj_points.empty()) { - auto full_traj_points = extendTrajectory(planner_data.traj_points, generated_traj_points); const auto output_traj_msg = - motion_utils::convertToTrajectory(full_traj_points, path_ptr->header); + motion_utils::convertToTrajectory(generated_traj_points, path_ptr->header); traj_pub_->publish(output_traj_msg); } else { auto stopping_traj = trajectory_utils::convertToTrajectoryPoints(planner_data.traj_points); @@ -367,7 +380,7 @@ std::vector PathSampler::generateTrajectory(const PlannerData & const auto & input_traj_points = planner_data.traj_points; - auto generated_traj_points = generatePath(planner_data); + auto generated_traj_points = generateTrajectoryPoints(planner_data); copyVelocity(input_traj_points, generated_traj_points, planner_data.ego_pose); copyZ(input_traj_points, generated_traj_points); @@ -377,65 +390,89 @@ std::vector PathSampler::generateTrajectory(const PlannerData & return generated_traj_points; } -std::vector PathSampler::generatePath(const PlannerData & planner_data) +std::vector PathSampler::generateCandidatesFromPreviousPath( + const PlannerData & planner_data, const sampler_common::transform::Spline2D & path_spline) { - std::vector trajectory; - time_keeper_ptr_->tic(__func__); - const auto & p = planner_data; - - const auto path_spline = preparePathSpline(p.traj_points, params_.preprocessing.smooth_reference); + std::vector candidates; + if (!prev_path_ || prev_path_->points.size() < 2) return candidates; + // Update previous path sampler_common::State current_state; current_state.pose = {planner_data.ego_pose.position.x, planner_data.ego_pose.position.y}; current_state.heading = tf2::getYaw(planner_data.ego_pose.orientation); + const auto closest_iter = std::min_element( + prev_path_->points.begin(), prev_path_->points.end() - 1, + [&](const auto & p1, const auto & p2) { + return boost::geometry::distance(p1, current_state.pose) <= + boost::geometry::distance(p2, current_state.pose); + }); + if (closest_iter != prev_path_->points.end()) { + const auto current_idx = std::distance(prev_path_->points.begin(), closest_iter); + const auto length_offset = prev_path_->lengths[current_idx]; + for (auto & l : prev_path_->lengths) l -= length_offset; + constexpr auto behind_dist = -5.0; // [m] TODO(Maxime): param + auto behind_idx = current_idx; + while (behind_idx > 0 && prev_path_->lengths[behind_idx] > behind_dist) --behind_idx; + *prev_path_ = *prev_path_->subset(behind_idx, prev_path_->points.size()); + + // Use previous path for replanning + const auto prev_path_length = prev_path_->lengths.back(); + const auto reuse_step = prev_path_length / params_.sampling.previous_path_reuse_points_nb; + for (double reuse_length = reuse_step; reuse_length <= prev_path_length; + reuse_length += reuse_step) { + sampler_common::State reuse_state; + size_t reuse_idx = 0; + for (reuse_idx = 0; reuse_idx + 1 < prev_path_->lengths.size() && + prev_path_->lengths[reuse_idx] < reuse_length; + ++reuse_idx) + ; + if (reuse_idx == 0UL) continue; + const auto reused_path = *prev_path_->subset(0UL, reuse_idx); + reuse_state.curvature = reused_path.curvatures.back(); + reuse_state.pose = reused_path.points.back(); + reuse_state.heading = reused_path.yaws.back(); + reuse_state.frenet = path_spline.frenet(reuse_state.pose); + auto paths = generateCandidatePaths(reuse_state, path_spline, reuse_length, params_); + for (auto & p : paths) candidates.push_back(reused_path.extend(p)); + } + } + return candidates; +} - const auto planning_state = getPlanningState(current_state, path_spline); - prepareConstraints(params_.constraints, *in_objects_ptr_, p.left_bound, p.right_bound); - - auto candidate_paths = generateCandidatePaths(planning_state, path_spline, 0.0, params_); - if (prev_path_ && prev_path_->lengths.size() > 1) { - // Update previous path - constexpr auto max_deviation = 2.0; // [m] TODO(Maxime): param - const auto closest_iter = std::min_element( - prev_path_->points.begin(), prev_path_->points.end() - 1, - [&](const auto & p1, const auto & p2) { - return boost::geometry::distance(p1, current_state.pose) <= - boost::geometry::distance(p2, current_state.pose); - }); - if ( - closest_iter != prev_path_->points.end() && - boost::geometry::distance(*closest_iter, current_state.pose) <= max_deviation) { - const auto current_idx = std::distance(prev_path_->points.begin(), closest_iter); - const auto length_offset = prev_path_->lengths[current_idx]; - for (auto & l : prev_path_->lengths) l -= length_offset; - constexpr auto behind_dist = -5.0; // [m] TODO(Maxime): param - auto behind_idx = current_idx; - while (behind_idx > 0 && prev_path_->lengths[behind_idx] > behind_dist) --behind_idx; - *prev_path_ = *prev_path_->subset(behind_idx, prev_path_->points.size()); - - // Use previous path for replanning - const auto prev_path_length = prev_path_->lengths.back(); - const auto reuse_step = prev_path_length / params_.sampling.previous_path_reuse_points_nb; - for (double reuse_length = reuse_step; reuse_length <= prev_path_length; - reuse_length += reuse_step) { - sampler_common::State reuse_state; - size_t reuse_idx = 0; - for (reuse_idx = 0; reuse_idx + 1 < prev_path_->lengths.size() && - prev_path_->lengths[reuse_idx] < reuse_length; - ++reuse_idx) - ; - if (reuse_idx == 0UL) continue; - const auto reused_path = *prev_path_->subset(0UL, reuse_idx); - reuse_state.curvature = reused_path.curvatures.back(); - reuse_state.pose = reused_path.points.back(); - reuse_state.heading = reused_path.yaws.back(); - reuse_state.frenet = path_spline.frenet(reuse_state.pose); - auto paths = generateCandidatePaths(reuse_state, path_spline, reuse_length, params_); - for (auto & p : paths) candidate_paths.push_back(reused_path.extend(p)); - } +sampler_common::Path PathSampler::generatePath(const PlannerData & planner_data) +{ + time_keeper_ptr_->tic(__func__); + sampler_common::Path generated_path{}; + + if (prev_path_ && prev_path_->points.size() > 1) { + sampler_common::constraints::checkHardConstraints(*prev_path_, params_.constraints); + if (prev_path_->constraint_results.isValid()) { + const auto prev_path_spline = + preparePathSpline(trajectory_utils::convertToTrajectoryPoints(*prev_path_), false); + const auto frenet_p = prev_path_spline.frenet( + {planner_data.ego_pose.position.x, planner_data.ego_pose.position.y}); + if (std::abs(frenet_p.d) > params_.path_reuse.max_lat_dev || frenet_p.s < 0.0) + resetPreviousData(); + else if (frenet_p.s <= params_.path_reuse.direct_reuse_dist) + return *prev_path_; } else { resetPreviousData(); } } + const auto path_spline = + preparePathSpline(planner_data.traj_points, params_.preprocessing.smooth_reference); + sampler_common::State current_state; + current_state.pose = {planner_data.ego_pose.position.x, planner_data.ego_pose.position.y}; + current_state.heading = tf2::getYaw(planner_data.ego_pose.orientation); + + const auto planning_state = getPlanningState(current_state, path_spline); + prepareConstraints( + params_.constraints, *in_objects_ptr_, planner_data.left_bound, planner_data.right_bound); + + auto candidate_paths = generateCandidatePaths(planning_state, path_spline, 0.0, params_); + const auto candidates_from_prev_path = + generateCandidatesFromPreviousPath(planner_data, path_spline); + candidate_paths.insert( + candidate_paths.end(), candidates_from_prev_path.begin(), candidates_from_prev_path.end()); debug_data_.footprints.clear(); for (auto & path : candidate_paths) { const auto footprint = @@ -457,9 +494,7 @@ std::vector PathSampler::generatePath(const PlannerData & plann }; const auto selected_path_idx = best_path_idx(candidate_paths); if (selected_path_idx) { - const auto & selected_path = candidate_paths[*selected_path_idx]; - trajectory = trajectory_utils::convertToTrajectoryPoints(selected_path); - prev_path_ = selected_path; + generated_path = candidate_paths[*selected_path_idx]; } else { RCLCPP_WARN( get_logger(), "No valid path found (out of %lu) outputting %s\n", candidate_paths.size(), @@ -468,18 +503,28 @@ std::vector PathSampler::generatePath(const PlannerData & plann int da = 0; int k = 0; for (const auto & p : candidate_paths) { - coll += static_cast(!p.constraint_results.collision); - da += static_cast(!p.constraint_results.drivable_area); - k += static_cast(!p.constraint_results.curvature); + coll += static_cast(!p.constraint_results.collision_free); + da += static_cast(!p.constraint_results.inside_drivable_area); + k += static_cast(!p.constraint_results.valid_curvature); } RCLCPP_WARN(get_logger(), "\tInvalid coll/da/k = %d/%d/%d\n", coll, da, k); - if (prev_path_) trajectory = trajectory_utils::convertToTrajectoryPoints(*prev_path_); + if (prev_path_) generated_path = *prev_path_; } time_keeper_ptr_->toc(__func__, " "); debug_data_.previous_sampled_candidates_nb = debug_data_.sampled_candidates.size(); debug_data_.sampled_candidates = candidate_paths; debug_data_.obstacles = params_.constraints.obstacle_polygons; - return trajectory; + + prev_path_ = generated_path; + return generated_path; +} + +std::vector PathSampler::generateTrajectoryPoints(const PlannerData & planner_data) +{ + std::vector trajectory; + time_keeper_ptr_->tic(__func__); + const auto path = generatePath(planner_data); + return trajectory_utils::convertToTrajectoryPoints(path); } void PathSampler::publishVirtualWall(const geometry_msgs::msg::Pose & stop_pose) const diff --git a/planning/sampling_based_planner/sampler_common/include/sampler_common/constraints/hard_constraint.hpp b/planning/sampling_based_planner/sampler_common/include/sampler_common/constraints/hard_constraint.hpp index 652167ad94e75..a314e83b065d7 100644 --- a/planning/sampling_based_planner/sampler_common/include/sampler_common/constraints/hard_constraint.hpp +++ b/planning/sampling_based_planner/sampler_common/include/sampler_common/constraints/hard_constraint.hpp @@ -22,7 +22,9 @@ namespace sampler_common::constraints { /// @brief Check if the path satisfies the hard constraints MultiPoint2d checkHardConstraints(Path & path, const Constraints & constraints); -bool has_collision(const MultiPoint2d & footprint, const MultiPolygon2d & obstacles); +bool has_collision( + const MultiPoint2d & footprint, const MultiPolygon2d & obstacles, + const double min_distance = 0.0); bool satisfyMinMax(const std::vector & values, const double min, const double max); } // namespace sampler_common::constraints diff --git a/planning/sampling_based_planner/sampler_common/include/sampler_common/structures.hpp b/planning/sampling_based_planner/sampler_common/include/sampler_common/structures.hpp index 05c7fe47d79ef..cef791a01df44 100644 --- a/planning/sampling_based_planner/sampler_common/include/sampler_common/structures.hpp +++ b/planning/sampling_based_planner/sampler_common/include/sampler_common/structures.hpp @@ -50,13 +50,16 @@ typedef boost::geometry::index::rtree #include #include @@ -30,11 +31,12 @@ bool satisfyMinMax(const std::vector & values, const double min, const d return true; } -bool has_collision(const MultiPoint2d & footprint, const MultiPolygon2d & obstacles) +bool has_collision( + const MultiPoint2d & footprint, const MultiPolygon2d & obstacles, const double min_distance) { + if (footprint.empty()) return false; for (const auto & o : obstacles) - for (const auto & p : footprint) - if (boost::geometry::within(p, o)) return true; + if (boost::geometry::distance(o, footprint) <= min_distance) return true; return false; } @@ -42,14 +44,15 @@ MultiPoint2d checkHardConstraints(Path & path, const Constraints & constraints) { const auto footprint = buildFootprintPoints(path, constraints); if (!footprint.empty()) { - if (!boost::geometry::within(footprint, constraints.drivable_polygons)) { - path.constraint_results.drivable_area = false; - } + if (constraints.hard.limit_footprint_inside_drivable_area) + path.constraint_results.inside_drivable_area = + boost::geometry::within(footprint, constraints.drivable_polygons); + path.constraint_results.collision_free = !has_collision( + footprint, constraints.obstacle_polygons, constraints.hard.min_dist_from_obstacles); } - path.constraint_results.collision = !has_collision(footprint, constraints.obstacle_polygons); if (!satisfyMinMax( path.curvatures, constraints.hard.min_curvature, constraints.hard.max_curvature)) { - path.constraint_results.curvature = false; + path.constraint_results.valid_curvature = false; } return footprint; } diff --git a/planning/scenario_selector/package.xml b/planning/scenario_selector/package.xml index b985cac0b6ae7..341076505d5b8 100644 --- a/planning/scenario_selector/package.xml +++ b/planning/scenario_selector/package.xml @@ -18,9 +18,9 @@ autoware_auto_mapping_msgs autoware_auto_planning_msgs + autoware_planning_test_manager lanelet2_extension nav_msgs - planning_test_utils rclcpp rclcpp_components route_handler diff --git a/planning/scenario_selector/test/test_scenario_selector_node_interface.cpp b/planning/scenario_selector/test/test_scenario_selector_node_interface.cpp index 7413be07ef904..90995e4e2ae72 100644 --- a/planning/scenario_selector/test/test_scenario_selector_node_interface.cpp +++ b/planning/scenario_selector/test/test_scenario_selector_node_interface.cpp @@ -15,8 +15,8 @@ #include "scenario_selector/scenario_selector_node.hpp" #include -#include -#include +#include +#include #include diff --git a/planning/static_centerline_generator/scripts/tmp/bag_ego_trajectory_based_centerline.sh b/planning/static_centerline_generator/scripts/tmp/bag_ego_trajectory_based_centerline.sh deleted file mode 100755 index 30ed667dd3732..0000000000000 --- a/planning/static_centerline_generator/scripts/tmp/bag_ego_trajectory_based_centerline.sh +++ /dev/null @@ -1,3 +0,0 @@ -#!/bin/bash - -ros2 launch static_centerline_generator static_centerline_generator.launch.xml centerline_source:="bag_ego_trajectory_base" run_background:=false lanelet2_input_file_path:="$HOME/autoware_map/sample_map/lanelet2_map.osm" bag_filename:="$(ros2 pkg prefix static_centerline_generator --share)/test/data/bag_ego_trajectory.db3" vehicle_model:=lexus diff --git a/planning/static_centerline_generator/scripts/tmp/optimization_trajectory_based_centerline.sh b/planning/static_centerline_generator/scripts/tmp/optimization_trajectory_based_centerline.sh deleted file mode 100755 index 809bbb46a179e..0000000000000 --- a/planning/static_centerline_generator/scripts/tmp/optimization_trajectory_based_centerline.sh +++ /dev/null @@ -1,3 +0,0 @@ -#!/bin/bash - -ros2 launch static_centerline_generator static_centerline_generator.launch.xml centerline_source:="optimization_trajectory_base" run_background:=false lanelet2_input_file_path:="$HOME/autoware_map/sample_map/lanelet2_map.osm" start_lanelet_id:=125 end_lanelet_id:=132 vehicle_model:=lexus diff --git a/planning/static_centerline_generator/srv/PlanPath.srv b/planning/static_centerline_generator/srv/PlanPath.srv deleted file mode 100644 index 7d823b4eccbf9..0000000000000 --- a/planning/static_centerline_generator/srv/PlanPath.srv +++ /dev/null @@ -1,6 +0,0 @@ -uint32 map_id -int64[] route ---- -static_centerline_generator/PointsWithLaneId[] points_with_lane_ids -string message -int64[] unconnected_lane_ids diff --git a/sensing/gnss_poser/launch/gnss_poser.launch.xml b/sensing/gnss_poser/launch/gnss_poser.launch.xml index 90c3553312dc4..c33f9a7589812 100755 --- a/sensing/gnss_poser/launch/gnss_poser.launch.xml +++ b/sensing/gnss_poser/launch/gnss_poser.launch.xml @@ -7,7 +7,7 @@ - + diff --git a/sensing/image_diagnostics/package.xml b/sensing/image_diagnostics/package.xml index ea57285e81aba..ceb1283b115a5 100644 --- a/sensing/image_diagnostics/package.xml +++ b/sensing/image_diagnostics/package.xml @@ -5,6 +5,7 @@ 0.1.0 The image_diagnostics_package Dai Nguyen + Yoshi Ri Apache License 2.0 Dai Nguyen diff --git a/sensing/livox/livox_tag_filter/CMakeLists.txt b/sensing/livox/livox_tag_filter/CMakeLists.txt index 90b5eeed713c0..36c500aefa74d 100644 --- a/sensing/livox/livox_tag_filter/CMakeLists.txt +++ b/sensing/livox/livox_tag_filter/CMakeLists.txt @@ -21,4 +21,5 @@ rclcpp_components_register_node(livox_tag_filter ament_auto_package(INSTALL_TO_SHARE launch + config ) diff --git a/sensing/livox/livox_tag_filter/config/livox_tag_filter.param.yaml b/sensing/livox/livox_tag_filter/config/livox_tag_filter.param.yaml new file mode 100644 index 0000000000000..7b7e8cb5bd61a --- /dev/null +++ b/sensing/livox/livox_tag_filter/config/livox_tag_filter.param.yaml @@ -0,0 +1,19 @@ +/**: + ros__parameters: + ignore_tags: [] + # bit 0~1: Point property based on spatial position + # 00: Normal + # 01: High confidence level of the noise + # 10: Moderate confidence level of the noise + # 11: Low confidence level of the noise + # bit 2~3: Point property based on intensity + # 00: Normal + # 01: High confidence level of the noise + # 10: Moderate confidence level of the noise + # 11: Reserved + # bit 4~5: Return number + # 00: return 0 + # 01: return 1 + # 10: return 2 + # 11: return 3 + # bit 6~7: Reserved diff --git a/sensing/livox/livox_tag_filter/launch/livox_tag_filter.launch.xml b/sensing/livox/livox_tag_filter/launch/livox_tag_filter.launch.xml index 1da6c3074e7e7..331db891358f7 100644 --- a/sensing/livox/livox_tag_filter/launch/livox_tag_filter.launch.xml +++ b/sensing/livox/livox_tag_filter/launch/livox_tag_filter.launch.xml @@ -1,30 +1,11 @@ - - - + - + diff --git a/sensing/livox/livox_tag_filter/schema/livox_tag_filter.schema.json b/sensing/livox/livox_tag_filter/schema/livox_tag_filter.schema.json new file mode 100644 index 0000000000000..74d9881192258 --- /dev/null +++ b/sensing/livox/livox_tag_filter/schema/livox_tag_filter.schema.json @@ -0,0 +1,33 @@ +{ + "$schema": "http://json-schema.org/draft-07/schema#", + "title": "Livox Tag Filter Parameters", + "type": "object", + "definitions": { + "livox_tag_filter": { + "type": "object", + "properties": { + "ignore_tags": { + "type": "array", + "description": "ignored tags (int array) (See the table in the readme file)", + "default": "[]" + } + }, + "required": ["ignore_tags"], + "additionalProperties": false + } + }, + "properties": { + "/**": { + "type": "object", + "properties": { + "ros__parameters": { + "$ref": "#/definitions/livox_tag_filter" + } + }, + "required": ["ros__parameters"], + "additionalProperties": false + } + }, + "required": ["/**"], + "additionalProperties": false +} diff --git a/sensing/livox/livox_tag_filter/src/livox_tag_filter_node/livox_tag_filter_node.cpp b/sensing/livox/livox_tag_filter/src/livox_tag_filter_node/livox_tag_filter_node.cpp index 2fd55ce8df6a0..f3216fdcd9b6a 100644 --- a/sensing/livox/livox_tag_filter/src/livox_tag_filter_node/livox_tag_filter_node.cpp +++ b/sensing/livox/livox_tag_filter/src/livox_tag_filter_node/livox_tag_filter_node.cpp @@ -40,7 +40,7 @@ LivoxTagFilterNode::LivoxTagFilterNode(const rclcpp::NodeOptions & node_options) : Node("livox_tag_filter", node_options) { // Parameter - ignore_tags_ = this->declare_parameter("ignore_tags", std::vector{}); + ignore_tags_ = this->declare_parameter>("ignore_tags"); // Subscriber using std::placeholders::_1; diff --git a/sensing/pointcloud_preprocessor/docs/ring-outlier-filter.md b/sensing/pointcloud_preprocessor/docs/ring-outlier-filter.md index 61f65bc40f32d..e87023ef00149 100644 --- a/sensing/pointcloud_preprocessor/docs/ring-outlier-filter.md +++ b/sensing/pointcloud_preprocessor/docs/ring-outlier-filter.md @@ -10,6 +10,40 @@ A method of operating scan in chronological order and removing noise based on th ![ring_outlier_filter](./image/outlier_filter-ring.drawio.svg) +Another feature of this node is that it calculates visibility score based on outlier pointcloud and publish score as a topic. + +### visibility score calculation algorithm + +The pointcloud is divided into vertical bins (rings) and horizontal bins (azimuth divisions). +The algorithm starts by splitting the input point cloud into separate rings based on the ring value of each point. Then, for each ring, it iterates through the points and calculates the frequency of points within each horizontal bin. The frequency is determined by incrementing a counter for the corresponding bin based on the point's azimuth value. +The frequency values are stored in a frequency image matrix, where each cell represents a specific ring and azimuth bin. After calculating the frequency image, the algorithm applies a noise threshold to create a binary image. Points with frequency values above the noise threshold are considered valid, while points below the threshold are considered noise. +Finally, the algorithm calculates the visibility score by counting the number of non-zero pixels in the frequency image and dividing it by the total number of pixels (vertical bins multiplied by horizontal bins). + +```plantuml +@startuml +start + +:Convert input point cloud to PCL format; + +:Initialize vertical and horizontal bins; + +:Split point cloud into rings; + +while (For each ring) is (not empty) + :Calculate frequency of points in each azimuth bin; + :Update frequency image matrix; +endwhile + +:Apply noise threshold to create binary image; + +:Count non-zero pixels in frequency image; + +:Calculate visibility score as complement of filled pixel ratio; + +stop +@enduml +``` + ## Inputs / Outputs This implementation inherits `pointcloud_preprocessor::Filter` class, please refer [README](../README.md). @@ -22,14 +56,20 @@ This implementation inherits `pointcloud_preprocessor::Filter` class, please ref ### Core Parameters -| Name | Type | Default Value | Description | -| ---------------------------- | ------- | ------------- | -------------------------------------------------------------------------------------------------------- | -| `distance_ratio` | double | 1.03 | | -| `object_length_threshold` | double | 0.1 | | -| `num_points_threshold` | int | 4 | | -| `max_rings_num` | uint_16 | 128 | | -| `max_points_num_per_ring` | size_t | 4000 | Set this value large enough such that `HFoV / resolution < max_points_num_per_ring` | -| `publish_outlier_pointcloud` | bool | false | Flag to publish outlier pointcloud. Due to performance concerns, please set to false during experiments. | +| Name | Type | Default Value | Description | +| ---------------------------- | ------- | ------------- | ----------------------------------------------------------------------------------------------------------------------------- | +| `distance_ratio` | double | 1.03 | | +| `object_length_threshold` | double | 0.1 | | +| `num_points_threshold` | int | 4 | | +| `max_rings_num` | uint_16 | 128 | | +| `max_points_num_per_ring` | size_t | 4000 | Set this value large enough such that `HFoV / resolution < max_points_num_per_ring` | +| `publish_outlier_pointcloud` | bool | false | Flag to publish outlier pointcloud and visibility score. Due to performance concerns, please set to false during experiments. | +| `min_azimuth_deg` | float | 0.0 | The left limit of azimuth for visibility score calculation | +| `max_azimuth_deg` | float | 360.0 | The right limit of azimuth for visibility score calculation | +| `max_distance` | float | 12.0 | The limit distance for visibility score calculation | +| `vertical_bins` | int | 128 | The number of vertical bin for visibility histogram | +| `horizontal_bins` | int | 36 | The number of horizontal bin for visibility histogram | +| `noise_threshold` | int | 2 | The threshold value for distinguishing noise from valid points in the frequency image | ## Assumptions / Known limits diff --git a/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/downsample_filter/faster_voxel_grid_downsample_filter.hpp b/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/downsample_filter/faster_voxel_grid_downsample_filter.hpp index d92b511d40c69..d80e62d08330d 100644 --- a/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/downsample_filter/faster_voxel_grid_downsample_filter.hpp +++ b/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/downsample_filter/faster_voxel_grid_downsample_filter.hpp @@ -45,16 +45,22 @@ class FasterVoxelGridDownsampleFilter float x; float y; float z; + float intensity; uint32_t point_count_; - Centroid() : x(0), y(0), z(0) {} - Centroid(float _x, float _y, float _z) : x(_x), y(_y), z(_z) { this->point_count_ = 1; } + Centroid() : x(0), y(0), z(0), intensity(-1.0) {} + Centroid(float _x, float _y, float _z, float _intensity) + : x(_x), y(_y), z(_z), intensity(_intensity) + { + this->point_count_ = 1; + } - void add_point(float _x, float _y, float _z) + void add_point(float _x, float _y, float _z, float _intensity) { this->x += _x; this->y += _y; this->z += _z; + this->intensity += _intensity; this->point_count_++; } @@ -62,20 +68,20 @@ class FasterVoxelGridDownsampleFilter { Eigen::Vector4f centroid( (this->x / this->point_count_), (this->y / this->point_count_), - (this->z / this->point_count_), 1.0f); + (this->z / this->point_count_), (this->intensity / this->point_count_)); return centroid; } }; Eigen::Vector3f inverse_voxel_size_; - std::vector xyz_fields_; int x_offset_; int y_offset_; int z_offset_; + int intensity_index_; int intensity_offset_; bool offset_initialized_; - Eigen::Vector3f get_point_from_global_offset( + Eigen::Vector4f get_point_from_global_offset( const PointCloud2ConstPtr & input, size_t global_offset); bool get_min_max_voxel( diff --git a/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/outlier_filter/ring_outlier_filter_nodelet.hpp b/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/outlier_filter/ring_outlier_filter_nodelet.hpp index c871f1acbe5b9..55ba79aac4593 100644 --- a/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/outlier_filter/ring_outlier_filter_nodelet.hpp +++ b/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/outlier_filter/ring_outlier_filter_nodelet.hpp @@ -19,9 +19,17 @@ #include "pointcloud_preprocessor/filter.hpp" #include "pointcloud_preprocessor/transform_info.hpp" +#include #include +#if __has_include() +#include +#else +#include +#endif + #include +#include #include #include @@ -42,6 +50,8 @@ class RingOutlierFilterComponent : public pointcloud_preprocessor::Filter const PointCloud2ConstPtr & input, const IndicesPtr & indices, PointCloud2 & output, const TransformInfo & transform_info); + rclcpp::Publisher::SharedPtr visibility_pub_; + private: /** \brief publisher of excluded pointcloud for debug reason. **/ rclcpp::Publisher::SharedPtr outlier_pointcloud_publisher_; @@ -53,6 +63,15 @@ class RingOutlierFilterComponent : public pointcloud_preprocessor::Filter size_t max_points_num_per_ring_; bool publish_outlier_pointcloud_; + // for visibility score + int noise_threshold_; + int vertical_bins_; + int horizontal_bins_; + + float min_azimuth_deg_; + float max_azimuth_deg_; + float max_distance_; + /** \brief Parameter service callback result : needed to be hold */ OnSetParametersCallbackHandle::SharedPtr set_param_res_; @@ -77,6 +96,7 @@ class RingOutlierFilterComponent : public pointcloud_preprocessor::Filter void setUpPointCloudFormat( const PointCloud2ConstPtr & input, PointCloud2 & formatted_points, size_t points_size, size_t num_fields); + float calculateVisibilityScore(const PointCloud2 & input); public: PCL_MAKE_ALIGNED_OPERATOR_NEW diff --git a/sensing/pointcloud_preprocessor/package.xml b/sensing/pointcloud_preprocessor/package.xml index d12181f498dea..619bf3180591d 100644 --- a/sensing/pointcloud_preprocessor/package.xml +++ b/sensing/pointcloud_preprocessor/package.xml @@ -11,6 +11,9 @@ Dai Nguyen Kenzo Lobos-Tsunekawa Yihsiang Fang + Yoshi Ri + David Wong + Melike Tanrikulu Apache License 2.0 @@ -21,7 +24,6 @@ ament_cmake_auto autoware_cmake - autoware_auto_geometry autoware_point_types cgal cv_bridge diff --git a/sensing/pointcloud_preprocessor/src/downsample_filter/faster_voxel_grid_downsample_filter.cpp b/sensing/pointcloud_preprocessor/src/downsample_filter/faster_voxel_grid_downsample_filter.cpp index 5829277335433..9c07a4ec47cba 100644 --- a/sensing/pointcloud_preprocessor/src/downsample_filter/faster_voxel_grid_downsample_filter.cpp +++ b/sensing/pointcloud_preprocessor/src/downsample_filter/faster_voxel_grid_downsample_filter.cpp @@ -19,8 +19,6 @@ namespace pointcloud_preprocessor FasterVoxelGridDownsampleFilter::FasterVoxelGridDownsampleFilter() { - pcl::for_each_type::type>( - pcl::detail::FieldAdder(xyz_fields_)); offset_initialized_ = false; } @@ -36,9 +34,9 @@ void FasterVoxelGridDownsampleFilter::set_field_offsets(const PointCloud2ConstPt x_offset_ = input->fields[pcl::getFieldIndex(*input, "x")].offset; y_offset_ = input->fields[pcl::getFieldIndex(*input, "y")].offset; z_offset_ = input->fields[pcl::getFieldIndex(*input, "z")].offset; - int intensity_index = pcl::getFieldIndex(*input, "intensity"); - if (intensity_index != -1) { - intensity_offset_ = input->fields[intensity_index].offset; + intensity_index_ = pcl::getFieldIndex(*input, "intensity"); + if (intensity_index_ != -1) { + intensity_offset_ = input->fields[intensity_index_].offset; } else { intensity_offset_ = z_offset_ + sizeof(float); } @@ -72,7 +70,7 @@ void FasterVoxelGridDownsampleFilter::filter( output.row_step = voxel_centroid_map.size() * input->point_step; output.data.resize(output.row_step); output.width = voxel_centroid_map.size(); - pcl_conversions::fromPCL(xyz_fields_, output.fields); + output.fields = input->fields; output.is_dense = true; // we filter out invalid points output.height = input->height; output.is_bigendian = input->is_bigendian; @@ -83,13 +81,19 @@ void FasterVoxelGridDownsampleFilter::filter( copy_centroids_to_output(voxel_centroid_map, output, transform_info); } -Eigen::Vector3f FasterVoxelGridDownsampleFilter::get_point_from_global_offset( +Eigen::Vector4f FasterVoxelGridDownsampleFilter::get_point_from_global_offset( const PointCloud2ConstPtr & input, size_t global_offset) { - Eigen::Vector3f point( + float intensity = 0.0; + if (intensity_index_ == -1) { + intensity = -1.0; + } else { + intensity = *reinterpret_cast(&input->data[global_offset + intensity_offset_]); + } + Eigen::Vector4f point( *reinterpret_cast(&input->data[global_offset + x_offset_]), *reinterpret_cast(&input->data[global_offset + y_offset_]), - *reinterpret_cast(&input->data[global_offset + z_offset_])); + *reinterpret_cast(&input->data[global_offset + z_offset_]), intensity); return point; } @@ -102,10 +106,10 @@ bool FasterVoxelGridDownsampleFilter::get_min_max_voxel( max_point.setConstant(-FLT_MAX); for (size_t global_offset = 0; global_offset + input->point_step <= input->data.size(); global_offset += input->point_step) { - Eigen::Vector3f point = get_point_from_global_offset(input, global_offset); + Eigen::Vector4f point = get_point_from_global_offset(input, global_offset); if (std::isfinite(point[0]) && std::isfinite(point[1]), std::isfinite(point[2])) { - min_point = min_point.cwiseMin(point); - max_point = max_point.cwiseMax(point); + min_point = min_point.cwiseMin(point.head<3>()); + max_point = max_point.cwiseMax(point.head<3>()); } } @@ -142,7 +146,7 @@ FasterVoxelGridDownsampleFilter::calc_centroids_each_voxel( for (size_t global_offset = 0; global_offset + input->point_step <= input->data.size(); global_offset += input->point_step) { - Eigen::Vector3f point = get_point_from_global_offset(input, global_offset); + Eigen::Vector4f point = get_point_from_global_offset(input, global_offset); if (std::isfinite(point[0]) && std::isfinite(point[1]), std::isfinite(point[2])) { // Calculate the voxel index to which the point belongs int ijk0 = static_cast(std::floor(point[0] * inverse_voxel_size_[0]) - min_voxel[0]); @@ -152,9 +156,9 @@ FasterVoxelGridDownsampleFilter::calc_centroids_each_voxel( // Add the point to the corresponding centroid if (voxel_centroid_map.find(voxel_id) == voxel_centroid_map.end()) { - voxel_centroid_map[voxel_id] = Centroid(point[0], point[1], point[2]); + voxel_centroid_map[voxel_id] = Centroid(point[0], point[1], point[2], point[3]); } else { - voxel_centroid_map[voxel_id].add_point(point[0], point[1], point[2]); + voxel_centroid_map[voxel_id].add_point(point[0], point[1], point[2], point[3]); } } } diff --git a/sensing/pointcloud_preprocessor/src/outlier_filter/ring_outlier_filter_nodelet.cpp b/sensing/pointcloud_preprocessor/src/outlier_filter/ring_outlier_filter_nodelet.cpp index 762c62dc03b39..ada7d2616ed38 100644 --- a/sensing/pointcloud_preprocessor/src/outlier_filter/ring_outlier_filter_nodelet.cpp +++ b/sensing/pointcloud_preprocessor/src/outlier_filter/ring_outlier_filter_nodelet.cpp @@ -14,16 +14,16 @@ #include "pointcloud_preprocessor/outlier_filter/ring_outlier_filter_nodelet.hpp" -#include "autoware_auto_geometry/common_3d.hpp" +#include "autoware_point_types/types.hpp" #include -#include - #include #include namespace pointcloud_preprocessor { +using autoware_point_types::PointXYZIRADRT; + RingOutlierFilterComponent::RingOutlierFilterComponent(const rclcpp::NodeOptions & options) : Filter("RingOutlierFilter", options) { @@ -35,6 +35,8 @@ RingOutlierFilterComponent::RingOutlierFilterComponent(const rclcpp::NodeOptions debug_publisher_ = std::make_unique(this, "ring_outlier_filter"); outlier_pointcloud_publisher_ = this->create_publisher("debug/ring_outlier_filter", 1); + visibility_pub_ = create_publisher( + "ring_outlier_filter/debug/visibility", rclcpp::SensorDataQoS()); stop_watch_ptr_->tic("cyclic_time"); stop_watch_ptr_->tic("processing_time"); } @@ -50,6 +52,13 @@ RingOutlierFilterComponent::RingOutlierFilterComponent(const rclcpp::NodeOptions static_cast(declare_parameter("max_points_num_per_ring", 4000)); publish_outlier_pointcloud_ = static_cast(declare_parameter("publish_outlier_pointcloud", false)); + + min_azimuth_deg_ = static_cast(declare_parameter("min_azimuth_deg", 0.0)); + max_azimuth_deg_ = static_cast(declare_parameter("max_azimuth_deg", 360.0)); + max_distance_ = static_cast(declare_parameter("max_distance", 12.0)); + vertical_bins_ = static_cast(declare_parameter("vertical_bins", 128)); + horizontal_bins_ = static_cast(declare_parameter("horizontal_bins", 36)); + noise_threshold_ = static_cast(declare_parameter("noise_threshold", 2)); } using std::placeholders::_1; @@ -73,13 +82,7 @@ void RingOutlierFilterComponent::faster_filter( output.data.resize(output.point_step * input->width); size_t output_size = 0; - // Set up the noise points cloud, if noise points are to be published. - PointCloud2 outlier_points; - size_t outlier_points_size = 0; - if (publish_outlier_pointcloud_) { - outlier_points.point_step = sizeof(PointXYZI); - outlier_points.data.resize(outlier_points.point_step * input->width); - } + pcl::PointCloud::Ptr outlier_pcl(new pcl::PointCloud); const auto ring_offset = input->fields.at(static_cast(autoware_point_types::PointIndex::Ring)).offset; @@ -89,6 +92,10 @@ void RingOutlierFilterComponent::faster_filter( input->fields.at(static_cast(autoware_point_types::PointIndex::Distance)).offset; const auto intensity_offset = input->fields.at(static_cast(autoware_point_types::PointIndex::Intensity)).offset; + const auto return_type_offset = + input->fields.at(static_cast(autoware_point_types::PointIndex::ReturnType)).offset; + const auto time_stamp_offset = + input->fields.at(static_cast(autoware_point_types::PointIndex::TimeStamp)).offset; std::vector> ring2indices; ring2indices.reserve(max_rings_num_); @@ -163,24 +170,32 @@ void RingOutlierFilterComponent::faster_filter( } } else if (publish_outlier_pointcloud_) { for (int i = walk_first_idx; i <= walk_last_idx; i++) { - auto outlier_ptr = - reinterpret_cast(&outlier_points.data[outlier_points_size]); + PointXYZIRADRT outlier_point; auto input_ptr = - reinterpret_cast(&input->data[indices[walk_first_idx]]); + reinterpret_cast(&input->data[indices[walk_first_idx]]); if (transform_info.need_transform) { Eigen::Vector4f p(input_ptr->x, input_ptr->y, input_ptr->z, 1); p = transform_info.eigen_transform * p; - outlier_ptr->x = p[0]; - outlier_ptr->y = p[1]; - outlier_ptr->z = p[2]; + outlier_point.x = p[0]; + outlier_point.y = p[1]; + outlier_point.z = p[2]; } else { - *outlier_ptr = *input_ptr; + outlier_point = *input_ptr; } - const float & intensity = *reinterpret_cast( - &input->data[indices[walk_first_idx] + intensity_offset]); - outlier_ptr->intensity = intensity; - outlier_points_size += outlier_points.point_step; + outlier_point.intensity = *reinterpret_cast( + &input->data[indices[walk_first_idx] + intensity_offset]); + outlier_point.ring = *reinterpret_cast( + &input->data[indices[walk_first_idx] + ring_offset]); + outlier_point.azimuth = *reinterpret_cast( + &input->data[indices[walk_first_idx] + azimuth_offset]); + outlier_point.distance = *reinterpret_cast( + &input->data[indices[walk_first_idx] + distance_offset]); + outlier_point.return_type = *reinterpret_cast( + &input->data[indices[walk_first_idx] + return_type_offset]); + outlier_point.time_stamp = *reinterpret_cast( + &input->data[indices[walk_first_idx] + time_stamp_offset]); + outlier_pcl->push_back(outlier_point); } } @@ -213,21 +228,31 @@ void RingOutlierFilterComponent::faster_filter( } } else if (publish_outlier_pointcloud_) { for (int i = walk_first_idx; i < walk_last_idx; i++) { - auto outlier_ptr = reinterpret_cast(&outlier_points.data[outlier_points_size]); - auto input_ptr = reinterpret_cast(&input->data[indices[i]]); + PointXYZIRADRT outlier_point; + + auto input_ptr = reinterpret_cast(&input->data[indices[i]]); if (transform_info.need_transform) { Eigen::Vector4f p(input_ptr->x, input_ptr->y, input_ptr->z, 1); p = transform_info.eigen_transform * p; - outlier_ptr->x = p[0]; - outlier_ptr->y = p[1]; - outlier_ptr->z = p[2]; + outlier_point.x = p[0]; + outlier_point.y = p[1]; + outlier_point.z = p[2]; } else { - *outlier_ptr = *input_ptr; + outlier_point = *input_ptr; } - const float & intensity = + outlier_point.intensity = *reinterpret_cast(&input->data[indices[i] + intensity_offset]); - outlier_ptr->intensity = intensity; - outlier_points_size += outlier_points.point_step; + outlier_point.ring = + *reinterpret_cast(&input->data[indices[i] + ring_offset]); + outlier_point.azimuth = + *reinterpret_cast(&input->data[indices[i] + azimuth_offset]); + outlier_point.distance = + *reinterpret_cast(&input->data[indices[i] + distance_offset]); + outlier_point.return_type = + *reinterpret_cast(&input->data[indices[i] + return_type_offset]); + outlier_point.time_stamp = + *reinterpret_cast(&input->data[indices[i] + time_stamp_offset]); + outlier_pcl->push_back(outlier_point); } } } @@ -235,8 +260,15 @@ void RingOutlierFilterComponent::faster_filter( setUpPointCloudFormat(input, output, output_size, /*num_fields=*/4); if (publish_outlier_pointcloud_) { - setUpPointCloudFormat(input, outlier_points, outlier_points_size, /*num_fields=*/4); - outlier_pointcloud_publisher_->publish(outlier_points); + PointCloud2 outlier; + pcl::toROSMsg(*outlier_pcl, outlier); + outlier.header = input->header; + outlier_pointcloud_publisher_->publish(outlier); + + tier4_debug_msgs::msg::Float32Stamped visibility_msg; + visibility_msg.data = calculateVisibilityScore(outlier); + visibility_msg.stamp = input->header.stamp; + visibility_pub_->publish(visibility_msg); } // add processing time for debug @@ -288,6 +320,24 @@ rcl_interfaces::msg::SetParametersResult RingOutlierFilterComponent::paramCallba RCLCPP_DEBUG( get_logger(), "Setting new publish_outlier_pointcloud to: %d.", publish_outlier_pointcloud_); } + if (get_param(p, "vertical_bins", vertical_bins_)) { + RCLCPP_DEBUG(get_logger(), "Setting new vertical_bins to: %d.", vertical_bins_); + } + if (get_param(p, "horizontal_bins", horizontal_bins_)) { + RCLCPP_DEBUG(get_logger(), "Setting new horizontal_bins to: %d.", horizontal_bins_); + } + if (get_param(p, "noise_threshold", noise_threshold_)) { + RCLCPP_DEBUG(get_logger(), "Setting new noise_threshold to: %d.", noise_threshold_); + } + if (get_param(p, "max_azimuth_deg", max_azimuth_deg_)) { + RCLCPP_DEBUG(get_logger(), "Setting new max_azimuth_deg to: %f.", max_azimuth_deg_); + } + if (get_param(p, "min_azimuth_deg", min_azimuth_deg_)) { + RCLCPP_DEBUG(get_logger(), "Setting new min_azimuth_deg to: %f.", min_azimuth_deg_); + } + if (get_param(p, "max_distance", max_distance_)) { + RCLCPP_DEBUG(get_logger(), "Setting new max_distance to: %f.", max_distance_); + } rcl_interfaces::msg::SetParametersResult result; result.successful = true; @@ -319,6 +369,61 @@ void RingOutlierFilterComponent::setUpPointCloudFormat( "intensity", 1, sensor_msgs::msg::PointField::FLOAT32); } +float RingOutlierFilterComponent::calculateVisibilityScore( + const sensor_msgs::msg::PointCloud2 & input) +{ + pcl::PointCloud::Ptr input_cloud(new pcl::PointCloud); + pcl::fromROSMsg(input, *input_cloud); + + const uint32_t vertical_bins = vertical_bins_; + const uint32_t horizontal_bins = horizontal_bins_; + const float max_azimuth = max_azimuth_deg_ * 100.0; + const float min_azimuth = min_azimuth_deg_ * 100.0; + + const uint32_t horizontal_resolution = + static_cast((max_azimuth - min_azimuth) / horizontal_bins); + + std::vector> ring_point_clouds(vertical_bins); + cv::Mat frequency_image(cv::Size(horizontal_bins, vertical_bins), CV_8UC1, cv::Scalar(0)); + + // Split points into rings + for (const auto & point : input_cloud->points) { + ring_point_clouds.at(point.ring).push_back(point); + } + + // Calculate frequency for each bin in each ring + for (const auto & ring_points : ring_point_clouds) { + if (ring_points.empty()) continue; + + const uint ring_id = ring_points.front().ring; + std::vector frequency_in_ring(horizontal_bins, 0); + + for (const auto & point : ring_points.points) { + if (point.azimuth < min_azimuth || point.azimuth >= max_azimuth) continue; + if (point.distance >= max_distance_) continue; + + const uint bin_index = + static_cast((point.azimuth - min_azimuth) / horizontal_resolution); + + frequency_in_ring[bin_index]++; + frequency_in_ring[bin_index] = + std::min(frequency_in_ring[bin_index], 255); // Ensure value is within uchar range + + frequency_image.at(ring_id, bin_index) = + static_cast(frequency_in_ring[bin_index]); + } + } + + cv::Mat binary_image; + cv::inRange(frequency_image, noise_threshold_, 255, binary_image); + + const int num_pixels = cv::countNonZero(frequency_image); + const float num_filled_pixels = + static_cast(num_pixels) / static_cast(vertical_bins * horizontal_bins); + + return 1.0f - num_filled_pixels; +} + } // namespace pointcloud_preprocessor #include diff --git a/sensing/radar_tracks_noise_filter/launch/radar_tracks_noise_filter.launch.xml b/sensing/radar_tracks_noise_filter/launch/radar_tracks_noise_filter.launch.xml index 028ca5de6a220..f980bcebf1b6b 100644 --- a/sensing/radar_tracks_noise_filter/launch/radar_tracks_noise_filter.launch.xml +++ b/sensing/radar_tracks_noise_filter/launch/radar_tracks_noise_filter.launch.xml @@ -2,7 +2,7 @@ - + diff --git a/sensing/radar_tracks_noise_filter/src/radar_tracks_noise_filter_node/radar_tracks_noise_filter_node.cpp b/sensing/radar_tracks_noise_filter/src/radar_tracks_noise_filter_node/radar_tracks_noise_filter_node.cpp index 5bd143a42eced..82a0a21ff6fdc 100644 --- a/sensing/radar_tracks_noise_filter/src/radar_tracks_noise_filter_node/radar_tracks_noise_filter_node.cpp +++ b/sensing/radar_tracks_noise_filter/src/radar_tracks_noise_filter_node/radar_tracks_noise_filter_node.cpp @@ -56,7 +56,7 @@ RadarTrackCrossingNoiseFilterNode::RadarTrackCrossingNoiseFilterNode( // Subscriber sub_tracks_ = create_subscription( - "~/input/tracks", rclcpp::QoS{1}, + "~/input/tracks", rclcpp::QoS{1}.best_effort(), std::bind(&RadarTrackCrossingNoiseFilterNode::onTracks, this, std::placeholders::_1)); // Publisher diff --git a/simulator/simple_planning_simulator/package.xml b/simulator/simple_planning_simulator/package.xml index 14509f83ae2fe..7618ef4204335 100644 --- a/simulator/simple_planning_simulator/package.xml +++ b/simulator/simple_planning_simulator/package.xml @@ -6,6 +6,10 @@ simple_planning_simulator as a ROS 2 node Takamasa Horibe Tomoya Kimura + Maxime Clement + Mamoru Sobue + Zulfaqar Azmi + Temkei Kem Apache License 2.0 ament_cmake_auto diff --git a/simulator/simple_planning_simulator/src/simple_planning_simulator/simple_planning_simulator_core.cpp b/simulator/simple_planning_simulator/src/simple_planning_simulator/simple_planning_simulator_core.cpp index 524597e927f61..7fba0431706f0 100644 --- a/simulator/simple_planning_simulator/src/simple_planning_simulator/simple_planning_simulator_core.cpp +++ b/simulator/simple_planning_simulator/src/simple_planning_simulator/simple_planning_simulator_core.cpp @@ -358,6 +358,7 @@ double SimplePlanningSimulator::calculate_ego_pitch() const void SimplePlanningSimulator::on_timer() { if (!is_initialized_) { + publish_control_mode_report(); RCLCPP_INFO_THROTTLE(get_logger(), *get_clock(), 5000, "waiting initialization..."); return; } diff --git a/system/component_state_monitor/config/topics.yaml b/system/component_state_monitor/config/topics.yaml index f056892849fbc..098aa0e56b1ae 100644 --- a/system/component_state_monitor/config/topics.yaml +++ b/system/component_state_monitor/config/topics.yaml @@ -50,19 +50,6 @@ error_rate: 1.0 timeout: 1.0 -- module: localization - mode: [online, logging_simulation] - type: autonomous - args: - node_name_suffix: pose_estimator_pose - topic: /localization/pose_estimator/pose_with_covariance - topic_type: geometry_msgs/msg/PoseWithCovarianceStamped - best_effort: false - transient_local: false - warn_rate: 2.0 - error_rate: 1.0 - timeout: 1.0 - - module: perception mode: [online, logging_simulation] type: launch diff --git a/system/default_ad_api/CMakeLists.txt b/system/default_ad_api/CMakeLists.txt index 982112189412e..799a73508a061 100644 --- a/system/default_ad_api/CMakeLists.txt +++ b/system/default_ad_api/CMakeLists.txt @@ -5,7 +5,9 @@ find_package(autoware_cmake REQUIRED) autoware_package() ament_auto_add_library(${PROJECT_NAME} SHARED + src/diagnostics.cpp src/fail_safe.cpp + src/heartbeat.cpp src/interface.cpp src/localization.cpp src/motion.cpp @@ -16,13 +18,16 @@ ament_auto_add_library(${PROJECT_NAME} SHARED src/vehicle.cpp src/vehicle_info.cpp src/vehicle_door.cpp + src/utils/localization_conversion.cpp src/utils/route_conversion.cpp src/compatibility/autoware_state.cpp ) rclcpp_components_register_nodes(${PROJECT_NAME} "default_ad_api::AutowareStateNode" + "default_ad_api::DiagnosticsNode" "default_ad_api::FailSafeNode" + "default_ad_api::HeartbeatNode" "default_ad_api::InterfaceNode" "default_ad_api::LocalizationNode" "default_ad_api::MotionNode" diff --git a/system/default_ad_api/launch/default_ad_api.launch.py b/system/default_ad_api/launch/default_ad_api.launch.py index cf8fbe7d001bf..ca1575a528db2 100644 --- a/system/default_ad_api/launch/default_ad_api.launch.py +++ b/system/default_ad_api/launch/default_ad_api.launch.py @@ -42,7 +42,9 @@ def get_default_config(): def generate_launch_description(): components = [ create_api_node("autoware_state", "AutowareStateNode"), + create_api_node("diagnostics", "DiagnosticsNode"), create_api_node("fail_safe", "FailSafeNode"), + create_api_node("heartbeat", "HeartbeatNode"), create_api_node("interface", "InterfaceNode"), create_api_node("localization", "LocalizationNode"), create_api_node("motion", "MotionNode"), diff --git a/system/default_ad_api/package.xml b/system/default_ad_api/package.xml index 4e691f7ab3192..f9b5a167bdab1 100644 --- a/system/default_ad_api/package.xml +++ b/system/default_ad_api/package.xml @@ -21,6 +21,7 @@ autoware_planning_msgs component_interface_specs component_interface_utils + diagnostic_graph_utils geographic_msgs geography_utils motion_utils diff --git a/system/default_ad_api/src/diagnostics.cpp b/system/default_ad_api/src/diagnostics.cpp new file mode 100644 index 0000000000000..6eaaa5bf614a6 --- /dev/null +++ b/system/default_ad_api/src/diagnostics.cpp @@ -0,0 +1,81 @@ +// Copyright 2024 The Autoware Contributors +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "diagnostics.hpp" + +#include +#include + +namespace default_ad_api +{ + +DiagnosticsNode::DiagnosticsNode(const rclcpp::NodeOptions & options) : Node("diagnostics", options) +{ + using std::placeholders::_1; + + pub_struct_ = create_publisher( + "/api/system/diagnostics/struct", rclcpp::QoS(1).transient_local()); + pub_status_ = create_publisher( + "/api/system/diagnostics/status", rclcpp::QoS(1).best_effort()); + + sub_graph_.register_create_callback(std::bind(&DiagnosticsNode::on_create, this, _1)); + sub_graph_.register_update_callback(std::bind(&DiagnosticsNode::on_update, this, _1)); + sub_graph_.subscribe(*this, 10); +} +void DiagnosticsNode::on_create(DiagGraph::ConstSharedPtr graph) +{ + const auto & units = graph->units(); + const auto & links = graph->links(); + + std::unordered_map unit_indices_; + for (size_t i = 0; i < units.size(); ++i) { + unit_indices_[units[i]] = i; + } + + autoware_adapi_v1_msgs::msg::DiagGraphStruct msg; + msg.stamp = graph->created_stamp(); + msg.id = graph->id(); + msg.nodes.reserve(units.size()); + msg.links.reserve(links.size()); + for (const auto & unit : units) { + msg.nodes.emplace_back(); + msg.nodes.back().path = unit->path(); + } + for (const auto & link : links) { + msg.links.emplace_back(); + msg.links.back().parent = unit_indices_.at(link->parent()); + msg.links.back().child = unit_indices_.at(link->child()); + } + pub_struct_->publish(msg); +} + +void DiagnosticsNode::on_update(DiagGraph::ConstSharedPtr graph) +{ + const auto & units = graph->units(); + + autoware_adapi_v1_msgs::msg::DiagGraphStatus msg; + msg.stamp = graph->updated_stamp(); + msg.id = graph->id(); + msg.nodes.reserve(units.size()); + for (const auto & unit : units) { + msg.nodes.emplace_back(); + msg.nodes.back().level = unit->level(); + } + pub_status_->publish(msg); +} + +} // namespace default_ad_api + +#include +RCLCPP_COMPONENTS_REGISTER_NODE(default_ad_api::DiagnosticsNode) diff --git a/system/default_ad_api/src/diagnostics.hpp b/system/default_ad_api/src/diagnostics.hpp new file mode 100644 index 0000000000000..302ffe39159df --- /dev/null +++ b/system/default_ad_api/src/diagnostics.hpp @@ -0,0 +1,46 @@ +// Copyright 2024 The Autoware Contributors +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#ifndef DIAGNOSTICS_HPP_ +#define DIAGNOSTICS_HPP_ + +#include "diagnostic_graph_utils/subscription.hpp" + +#include + +#include +#include + +namespace default_ad_api +{ + +class DiagnosticsNode : public rclcpp::Node +{ +public: + explicit DiagnosticsNode(const rclcpp::NodeOptions & options); + +private: + using DiagGraph = diagnostic_graph_utils::DiagGraph; + using DiagUnit = diagnostic_graph_utils::DiagUnit; + using DiagLink = diagnostic_graph_utils::DiagLink; + void on_create(DiagGraph::ConstSharedPtr graph); + void on_update(DiagGraph::ConstSharedPtr graph); + rclcpp::Publisher::SharedPtr pub_struct_; + rclcpp::Publisher::SharedPtr pub_status_; + diagnostic_graph_utils::DiagGraphSubscription sub_graph_; +}; + +} // namespace default_ad_api + +#endif // DIAGNOSTICS_HPP_ diff --git a/system/default_ad_api/src/heartbeat.cpp b/system/default_ad_api/src/heartbeat.cpp new file mode 100644 index 0000000000000..4550302bb8bae --- /dev/null +++ b/system/default_ad_api/src/heartbeat.cpp @@ -0,0 +1,42 @@ +// Copyright 2024 The Autoware Contributors +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "heartbeat.hpp" + +#include + +namespace default_ad_api +{ + +HeartbeatNode::HeartbeatNode(const rclcpp::NodeOptions & options) : Node("heartbeat", options) +{ + // Move this function so that the timer no longer holds it as a reference. + const auto on_timer = [this]() { + autoware_ad_api::system::Heartbeat::Message heartbeat; + heartbeat.stamp = now(); + heartbeat.seq = ++sequence_; // Wraps at 65535. + pub_->publish(heartbeat); + }; + + const auto adaptor = component_interface_utils::NodeAdaptor(this); + adaptor.init_pub(pub_); + + const auto period = rclcpp::Rate(10.0).period(); + timer_ = rclcpp::create_timer(this, get_clock(), period, std::move(on_timer)); +} + +} // namespace default_ad_api + +#include +RCLCPP_COMPONENTS_REGISTER_NODE(default_ad_api::HeartbeatNode) diff --git a/common/mission_planner_rviz_plugin/src/mrm_goal.cpp b/system/default_ad_api/src/heartbeat.hpp similarity index 54% rename from common/mission_planner_rviz_plugin/src/mrm_goal.cpp rename to system/default_ad_api/src/heartbeat.hpp index ef5529abfb4a7..d922b88489639 100644 --- a/common/mission_planner_rviz_plugin/src/mrm_goal.cpp +++ b/system/default_ad_api/src/heartbeat.hpp @@ -12,23 +12,29 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "mrm_goal.hpp" +#ifndef HEARTBEAT_HPP_ +#define HEARTBEAT_HPP_ -namespace rviz_plugins -{ +#include +#include + +// This file should be included after messages. +#include "utils/types.hpp" -MrmGoalTool::MrmGoalTool() +namespace default_ad_api { - shortcut_key_ = 'm'; -} -void MrmGoalTool::onInitialize() +class HeartbeatNode : public rclcpp::Node { - GoalTool::onInitialize(); - setName("MRM Goal Pose"); -} +public: + explicit HeartbeatNode(const rclcpp::NodeOptions & options); + +private: + rclcpp::TimerBase::SharedPtr timer_; + Pub pub_; + uint16_t sequence_ = 0; +}; -} // namespace rviz_plugins +} // namespace default_ad_api -#include -PLUGINLIB_EXPORT_CLASS(rviz_plugins::MrmGoalTool, rviz_common::Tool) +#endif // HEARTBEAT_HPP_ diff --git a/system/default_ad_api/src/interface.cpp b/system/default_ad_api/src/interface.cpp index 506a4aa8bf5eb..d53d12afcc499 100644 --- a/system/default_ad_api/src/interface.cpp +++ b/system/default_ad_api/src/interface.cpp @@ -21,7 +21,7 @@ InterfaceNode::InterfaceNode(const rclcpp::NodeOptions & options) : Node("interf { const auto on_interface_version = [](auto, auto res) { res->major = 1; - res->minor = 2; + res->minor = 3; res->patch = 0; }; diff --git a/system/default_ad_api/src/localization.cpp b/system/default_ad_api/src/localization.cpp index 468e02b37644f..97544a7868d9c 100644 --- a/system/default_ad_api/src/localization.cpp +++ b/system/default_ad_api/src/localization.cpp @@ -14,6 +14,8 @@ #include "localization.hpp" +#include "utils/localization_conversion.hpp" + namespace default_ad_api { @@ -23,7 +25,15 @@ LocalizationNode::LocalizationNode(const rclcpp::NodeOptions & options) const auto adaptor = component_interface_utils::NodeAdaptor(this); group_cli_ = create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive); adaptor.relay_message(pub_state_, sub_state_); - adaptor.relay_service(cli_initialize_, srv_initialize_, group_cli_); + adaptor.init_cli(cli_initialize_); + adaptor.init_srv(srv_initialize_, this, &LocalizationNode::on_initialize, group_cli_); +} + +void LocalizationNode::on_initialize( + const autoware_ad_api::localization::Initialize::Service::Request::SharedPtr req, + const autoware_ad_api::localization::Initialize::Service::Response::SharedPtr res) +{ + res->status = localization_conversion::convert_call(cli_initialize_, req); } } // namespace default_ad_api diff --git a/system/default_ad_api/src/localization.hpp b/system/default_ad_api/src/localization.hpp index 71517c4c6c769..a24e2110fabd1 100644 --- a/system/default_ad_api/src/localization.hpp +++ b/system/default_ad_api/src/localization.hpp @@ -36,6 +36,10 @@ class LocalizationNode : public rclcpp::Node Pub pub_state_; Cli cli_initialize_; Sub sub_state_; + + void on_initialize( + const autoware_ad_api::localization::Initialize::Service::Request::SharedPtr req, + const autoware_ad_api::localization::Initialize::Service::Response::SharedPtr res); }; } // namespace default_ad_api diff --git a/system/default_ad_api/src/operation_mode.cpp b/system/default_ad_api/src/operation_mode.cpp index 829585ed4b8b4..d4b430ecd0579 100644 --- a/system/default_ad_api/src/operation_mode.cpp +++ b/system/default_ad_api/src/operation_mode.cpp @@ -39,18 +39,15 @@ OperationModeNode::OperationModeNode(const rclcpp::NodeOptions & options) adaptor.init_cli(cli_mode_, group_cli_); adaptor.init_cli(cli_control_, group_cli_); - const std::vector module_names = { - "sensing", "perception", "map", "localization", "planning", "control", "vehicle", "system", + const auto name = "/system/operation_mode/availability"; + const auto qos = rclcpp::QoS(1); + const auto callback = [this](const OperationModeAvailability::ConstSharedPtr msg) { + mode_available_[OperationModeState::Message::STOP] = msg->stop; + mode_available_[OperationModeState::Message::AUTONOMOUS] = msg->autonomous; + mode_available_[OperationModeState::Message::LOCAL] = msg->local; + mode_available_[OperationModeState::Message::REMOTE] = msg->remote; }; - - for (size_t i = 0; i < module_names.size(); ++i) { - const auto name = "/system/component_state_monitor/component/autonomous/" + module_names[i]; - const auto qos = rclcpp::QoS(1).transient_local(); - const auto callback = [this, i, module_names](const ModeChangeAvailable::ConstSharedPtr msg) { - module_states_[module_names[i]] = msg->available; - }; - sub_module_states_.push_back(create_subscription(name, qos, callback)); - } + sub_availability_ = create_subscription(name, qos, callback); timer_ = rclcpp::create_timer( this, get_clock(), rclcpp::Rate(5.0).period(), std::bind(&OperationModeNode::on_timer, this)); @@ -60,8 +57,8 @@ OperationModeNode::OperationModeNode(const rclcpp::NodeOptions & options) mode_available_[OperationModeState::Message::UNKNOWN] = false; mode_available_[OperationModeState::Message::STOP] = true; mode_available_[OperationModeState::Message::AUTONOMOUS] = false; - mode_available_[OperationModeState::Message::LOCAL] = true; - mode_available_[OperationModeState::Message::REMOTE] = true; + mode_available_[OperationModeState::Message::LOCAL] = false; + mode_available_[OperationModeState::Message::REMOTE] = false; } template @@ -135,23 +132,6 @@ void OperationModeNode::on_state(const OperationModeState::Message::ConstSharedP void OperationModeNode::on_timer() { - bool autonomous_available = true; - std::string unhealthy_components = ""; - for (const auto & state : module_states_) { - if (!state.second) { - unhealthy_components += unhealthy_components.empty() ? state.first : ", " + state.first; - } - autonomous_available &= state.second; - } - mode_available_[OperationModeState::Message::AUTONOMOUS] = autonomous_available; - - if (!unhealthy_components.empty()) { - RCLCPP_INFO_THROTTLE( - get_logger(), *get_clock(), 3000, - "%s component state is unhealthy. Autonomous is not available.", - unhealthy_components.c_str()); - } - update_state(); } diff --git a/system/default_ad_api/src/operation_mode.hpp b/system/default_ad_api/src/operation_mode.hpp index 1830b7041b566..7cd609b5eb852 100644 --- a/system/default_ad_api/src/operation_mode.hpp +++ b/system/default_ad_api/src/operation_mode.hpp @@ -25,7 +25,7 @@ #include // TODO(Takagi, Isamu): define interface -#include +#include // This file should be included after messages. #include "utils/types.hpp" @@ -47,7 +47,7 @@ class OperationModeNode : public rclcpp::Node using ChangeToRemote = autoware_ad_api::operation_mode::ChangeToRemote; using OperationModeRequest = system_interface::ChangeOperationMode::Service::Request; using AutowareControlRequest = system_interface::ChangeAutowareControl::Service::Request; - using ModeChangeAvailable = tier4_system_msgs::msg::ModeChangeAvailable; + using OperationModeAvailability = tier4_system_msgs::msg::OperationModeAvailability; OperationModeState::Message curr_state_; OperationModeState::Message prev_state_; @@ -65,9 +65,7 @@ class OperationModeNode : public rclcpp::Node Sub sub_state_; Cli cli_mode_; Cli cli_control_; - - std::unordered_map module_states_; - std::vector::SharedPtr> sub_module_states_; + rclcpp::Subscription::SharedPtr sub_availability_; void on_change_to_stop( const ChangeToStop::Service::Request::SharedPtr req, diff --git a/system/default_ad_api/src/planning.cpp b/system/default_ad_api/src/planning.cpp index 887e1167a7c3e..c40bfac40a135 100644 --- a/system/default_ad_api/src/planning.cpp +++ b/system/default_ad_api/src/planning.cpp @@ -85,7 +85,8 @@ PlanningNode::PlanningNode(const rclcpp::NodeOptions & options) : Node("planning "/planning/velocity_factors/surround_obstacle", "/planning/velocity_factors/traffic_light", "/planning/velocity_factors/virtual_traffic_light", - "/planning/velocity_factors/walkway"}; + "/planning/velocity_factors/walkway", + "/planning/velocity_factors/motion_velocity_planner"}; std::vector steering_factor_topics = { "/planning/steering_factor/avoidance", "/planning/steering_factor/intersection", diff --git a/system/default_ad_api/src/utils/localization_conversion.cpp b/system/default_ad_api/src/utils/localization_conversion.cpp new file mode 100644 index 0000000000000..3ddf259a4a590 --- /dev/null +++ b/system/default_ad_api/src/utils/localization_conversion.cpp @@ -0,0 +1,40 @@ +// Copyright 2024 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "localization_conversion.hpp" + +#include + +namespace default_ad_api::localization_conversion +{ + +InternalInitializeRequest convert_request(const ExternalInitializeRequest & external) +{ + auto internal = std::make_shared(); + internal->pose_with_covariance = external->pose; + internal->method = tier4_localization_msgs::srv::InitializeLocalization::Request::AUTO; + return internal; +} + +ExternalResponse convert_response(const InternalResponse & internal) +{ + // TODO(Takagi, Isamu): check error code correspondence + ExternalResponse external; + external.success = internal.success; + external.code = internal.code; + external.message = internal.message; + return external; +} + +} // namespace default_ad_api::localization_conversion diff --git a/system/default_ad_api/src/utils/localization_conversion.hpp b/system/default_ad_api/src/utils/localization_conversion.hpp new file mode 100644 index 0000000000000..85b6e81e6cd91 --- /dev/null +++ b/system/default_ad_api/src/utils/localization_conversion.hpp @@ -0,0 +1,44 @@ +// Copyright 2024 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#ifndef UTILS__LOCALIZATION_CONVERSION_HPP_ +#define UTILS__LOCALIZATION_CONVERSION_HPP_ + +#include + +#include +#include + +namespace default_ad_api::localization_conversion +{ + +using ExternalInitializeRequest = + autoware_adapi_v1_msgs::srv::InitializeLocalization::Request::SharedPtr; +using InternalInitializeRequest = + tier4_localization_msgs::srv::InitializeLocalization::Request::SharedPtr; +InternalInitializeRequest convert_request(const ExternalInitializeRequest & external); + +using ExternalResponse = autoware_adapi_v1_msgs::msg::ResponseStatus; +using InternalResponse = autoware_common_msgs::msg::ResponseStatus; +ExternalResponse convert_response(const InternalResponse & internal); + +template +ExternalResponse convert_call(ClientT & client, RequestT & req) +{ + return convert_response(client->call(convert_request(req))->status); +} + +} // namespace default_ad_api::localization_conversion + +#endif // UTILS__LOCALIZATION_CONVERSION_HPP_ diff --git a/system/default_ad_api/test/node/interface_version.py b/system/default_ad_api/test/node/interface_version.py index ccfa3e1101185..63a79e8722be3 100644 --- a/system/default_ad_api/test/node/interface_version.py +++ b/system/default_ad_api/test/node/interface_version.py @@ -30,7 +30,7 @@ if response.major != 1: exit(1) -if response.minor != 2: +if response.minor != 3: exit(1) if response.patch != 0: exit(1) diff --git a/system/default_ad_api_helpers/ad_api_adaptors/CMakeLists.txt b/system/default_ad_api_helpers/ad_api_adaptors/CMakeLists.txt index 35cb599995b31..c14f71571d272 100644 --- a/system/default_ad_api_helpers/ad_api_adaptors/CMakeLists.txt +++ b/system/default_ad_api_helpers/ad_api_adaptors/CMakeLists.txt @@ -4,12 +4,21 @@ project(ad_api_adaptors) find_package(autoware_cmake REQUIRED) autoware_package() -ament_auto_add_executable(initial_pose_adaptor +ament_auto_add_library(${PROJECT_NAME} SHARED src/initial_pose_adaptor.cpp + src/routing_adaptor.cpp ) -ament_auto_add_executable(routing_adaptor - src/routing_adaptor.cpp +rclcpp_components_register_node(${PROJECT_NAME} + PLUGIN "ad_api_adaptors::InitialPoseAdaptor" + EXECUTABLE initial_pose_adaptor_node + EXECUTOR MultiThreadedExecutor +) + +rclcpp_components_register_node(${PROJECT_NAME} + PLUGIN "ad_api_adaptors::RoutingAdaptor" + EXECUTABLE routing_adaptor_node + EXECUTOR SingleThreadedExecutor ) ament_auto_package(INSTALL_TO_SHARE config launch) diff --git a/system/default_ad_api_helpers/ad_api_adaptors/launch/rviz_adaptors.launch.xml b/system/default_ad_api_helpers/ad_api_adaptors/launch/rviz_adaptors.launch.xml index 4d00e254e78d5..855f57345ed15 100644 --- a/system/default_ad_api_helpers/ad_api_adaptors/launch/rviz_adaptors.launch.xml +++ b/system/default_ad_api_helpers/ad_api_adaptors/launch/rviz_adaptors.launch.xml @@ -3,7 +3,7 @@ - + @@ -12,7 +12,7 @@ - + diff --git a/system/default_ad_api_helpers/ad_api_adaptors/package.xml b/system/default_ad_api_helpers/ad_api_adaptors/package.xml index 785ff58db1f81..b070131f1d567 100644 --- a/system/default_ad_api_helpers/ad_api_adaptors/package.xml +++ b/system/default_ad_api_helpers/ad_api_adaptors/package.xml @@ -17,6 +17,7 @@ component_interface_utils map_height_fitter rclcpp + rclcpp_components ament_lint_auto autoware_lint_common diff --git a/system/default_ad_api_helpers/ad_api_adaptors/src/initial_pose_adaptor.cpp b/system/default_ad_api_helpers/ad_api_adaptors/src/initial_pose_adaptor.cpp index 5d34653244ea2..f3c0ab9213656 100644 --- a/system/default_ad_api_helpers/ad_api_adaptors/src/initial_pose_adaptor.cpp +++ b/system/default_ad_api_helpers/ad_api_adaptors/src/initial_pose_adaptor.cpp @@ -34,7 +34,8 @@ std::array get_covariance_parameter(rclcpp::Node * node, const std:: return array; } -InitialPoseAdaptor::InitialPoseAdaptor() : Node("initial_pose_adaptor"), fitter_(this) +InitialPoseAdaptor::InitialPoseAdaptor(const rclcpp::NodeOptions & options) +: Node("initial_pose_adaptor", options), fitter_(this) { rviz_particle_covariance_ = get_covariance_parameter(this, "initial_pose_particle_covariance"); sub_initial_pose_ = create_subscription( @@ -61,13 +62,5 @@ void InitialPoseAdaptor::on_initial_pose(const PoseWithCovarianceStamped::ConstS } // namespace ad_api_adaptors -int main(int argc, char ** argv) -{ - rclcpp::init(argc, argv); - rclcpp::executors::MultiThreadedExecutor executor; - auto node = std::make_shared(); - executor.add_node(node); - executor.spin(); - executor.remove_node(node); - rclcpp::shutdown(); -} +#include +RCLCPP_COMPONENTS_REGISTER_NODE(ad_api_adaptors::InitialPoseAdaptor) diff --git a/system/default_ad_api_helpers/ad_api_adaptors/src/initial_pose_adaptor.hpp b/system/default_ad_api_helpers/ad_api_adaptors/src/initial_pose_adaptor.hpp index 0531afd55ac21..340bc3b0a3058 100644 --- a/system/default_ad_api_helpers/ad_api_adaptors/src/initial_pose_adaptor.hpp +++ b/system/default_ad_api_helpers/ad_api_adaptors/src/initial_pose_adaptor.hpp @@ -28,7 +28,7 @@ namespace ad_api_adaptors class InitialPoseAdaptor : public rclcpp::Node { public: - InitialPoseAdaptor(); + explicit InitialPoseAdaptor(const rclcpp::NodeOptions & options); private: using PoseWithCovarianceStamped = geometry_msgs::msg::PoseWithCovarianceStamped; diff --git a/system/default_ad_api_helpers/ad_api_adaptors/src/routing_adaptor.cpp b/system/default_ad_api_helpers/ad_api_adaptors/src/routing_adaptor.cpp index 7151902a972d6..18421c976cf41 100644 --- a/system/default_ad_api_helpers/ad_api_adaptors/src/routing_adaptor.cpp +++ b/system/default_ad_api_helpers/ad_api_adaptors/src/routing_adaptor.cpp @@ -19,7 +19,8 @@ namespace ad_api_adaptors { -RoutingAdaptor::RoutingAdaptor() : Node("routing_adaptor") +RoutingAdaptor::RoutingAdaptor(const rclcpp::NodeOptions & options) +: Node("routing_adaptor", options) { using std::placeholders::_1; @@ -110,13 +111,5 @@ void RoutingAdaptor::on_reroute(const PoseStamped::ConstSharedPtr pose) } // namespace ad_api_adaptors -int main(int argc, char ** argv) -{ - rclcpp::init(argc, argv); - rclcpp::executors::SingleThreadedExecutor executor; - auto node = std::make_shared(); - executor.add_node(node); - executor.spin(); - executor.remove_node(node); - rclcpp::shutdown(); -} +#include +RCLCPP_COMPONENTS_REGISTER_NODE(ad_api_adaptors::RoutingAdaptor) diff --git a/system/default_ad_api_helpers/ad_api_adaptors/src/routing_adaptor.hpp b/system/default_ad_api_helpers/ad_api_adaptors/src/routing_adaptor.hpp index 4040ee37ead3e..877d705825733 100644 --- a/system/default_ad_api_helpers/ad_api_adaptors/src/routing_adaptor.hpp +++ b/system/default_ad_api_helpers/ad_api_adaptors/src/routing_adaptor.hpp @@ -29,7 +29,7 @@ namespace ad_api_adaptors class RoutingAdaptor : public rclcpp::Node { public: - RoutingAdaptor(); + explicit RoutingAdaptor(const rclcpp::NodeOptions & options); private: using PoseStamped = geometry_msgs::msg::PoseStamped; diff --git a/system/default_ad_api_helpers/automatic_pose_initializer/CMakeLists.txt b/system/default_ad_api_helpers/automatic_pose_initializer/CMakeLists.txt index ad65f04356f4d..b777df8675bef 100644 --- a/system/default_ad_api_helpers/automatic_pose_initializer/CMakeLists.txt +++ b/system/default_ad_api_helpers/automatic_pose_initializer/CMakeLists.txt @@ -4,8 +4,14 @@ project(automatic_pose_initializer) find_package(autoware_cmake REQUIRED) autoware_package() -ament_auto_add_executable(automatic_pose_initializer +ament_auto_add_library(${PROJECT_NAME} SHARED src/automatic_pose_initializer.cpp ) +rclcpp_components_register_node(${PROJECT_NAME} + PLUGIN "automatic_pose_initializer::AutomaticPoseInitializer" + EXECUTABLE ${PROJECT_NAME}_node + EXECUTOR MultiThreadedExecutor +) + ament_auto_package(INSTALL_TO_SHARE launch) diff --git a/system/default_ad_api_helpers/automatic_pose_initializer/launch/automatic_pose_initializer.launch.xml b/system/default_ad_api_helpers/automatic_pose_initializer/launch/automatic_pose_initializer.launch.xml index ac5e63e84092a..e9a94efd6be7b 100644 --- a/system/default_ad_api_helpers/automatic_pose_initializer/launch/automatic_pose_initializer.launch.xml +++ b/system/default_ad_api_helpers/automatic_pose_initializer/launch/automatic_pose_initializer.launch.xml @@ -1,6 +1,6 @@ - + diff --git a/system/default_ad_api_helpers/automatic_pose_initializer/package.xml b/system/default_ad_api_helpers/automatic_pose_initializer/package.xml index be192c3dade4b..7321de4b1811d 100644 --- a/system/default_ad_api_helpers/automatic_pose_initializer/package.xml +++ b/system/default_ad_api_helpers/automatic_pose_initializer/package.xml @@ -16,6 +16,7 @@ autoware_adapi_v1_msgs component_interface_utils rclcpp + rclcpp_components ament_lint_auto autoware_lint_common diff --git a/system/default_ad_api_helpers/automatic_pose_initializer/src/automatic_pose_initializer.cpp b/system/default_ad_api_helpers/automatic_pose_initializer/src/automatic_pose_initializer.cpp index 6970d489ff340..8347b479b22c1 100644 --- a/system/default_ad_api_helpers/automatic_pose_initializer/src/automatic_pose_initializer.cpp +++ b/system/default_ad_api_helpers/automatic_pose_initializer/src/automatic_pose_initializer.cpp @@ -19,7 +19,8 @@ namespace automatic_pose_initializer { -AutomaticPoseInitializer::AutomaticPoseInitializer() : Node("automatic_pose_initializer") +AutomaticPoseInitializer::AutomaticPoseInitializer(const rclcpp::NodeOptions & options) +: Node("automatic_pose_initializer", options) { const auto adaptor = component_interface_utils::NodeAdaptor(this); group_cli_ = create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive); @@ -48,13 +49,5 @@ void AutomaticPoseInitializer::on_timer() } // namespace automatic_pose_initializer -int main(int argc, char ** argv) -{ - rclcpp::init(argc, argv); - rclcpp::executors::MultiThreadedExecutor executor; - auto node = std::make_shared(); - executor.add_node(node); - executor.spin(); - executor.remove_node(node); - rclcpp::shutdown(); -} +#include +RCLCPP_COMPONENTS_REGISTER_NODE(automatic_pose_initializer::AutomaticPoseInitializer) diff --git a/system/default_ad_api_helpers/automatic_pose_initializer/src/automatic_pose_initializer.hpp b/system/default_ad_api_helpers/automatic_pose_initializer/src/automatic_pose_initializer.hpp index 80fe78832026d..91d70dfca3761 100644 --- a/system/default_ad_api_helpers/automatic_pose_initializer/src/automatic_pose_initializer.hpp +++ b/system/default_ad_api_helpers/automatic_pose_initializer/src/automatic_pose_initializer.hpp @@ -25,7 +25,7 @@ namespace automatic_pose_initializer class AutomaticPoseInitializer : public rclcpp::Node { public: - AutomaticPoseInitializer(); + explicit AutomaticPoseInitializer(const rclcpp::NodeOptions & options); private: void on_timer(); diff --git a/system/diagnostic_graph_aggregator/CMakeLists.txt b/system/diagnostic_graph_aggregator/CMakeLists.txt index 905cc07d81da1..4f18407e2a108 100644 --- a/system/diagnostic_graph_aggregator/CMakeLists.txt +++ b/system/diagnostic_graph_aggregator/CMakeLists.txt @@ -13,12 +13,6 @@ ament_auto_add_library(${PROJECT_NAME} SHARED src/common/graph/units.cpp ) -ament_auto_add_executable(aggregator - src/node/aggregator.cpp - src/node/availability.cpp -) -target_include_directories(aggregator PRIVATE src/common) - ament_auto_add_executable(tree src/tool/tree.cpp ) @@ -29,6 +23,17 @@ ament_auto_add_executable(plantuml ) target_include_directories(plantuml PRIVATE src/common) +ament_auto_add_library(aggregator SHARED + src/node/aggregator.cpp + src/node/availability.cpp +) +target_include_directories(aggregator PRIVATE src/common) + +rclcpp_components_register_node(aggregator + PLUGIN "diagnostic_graph_aggregator::AggregatorNode" + EXECUTABLE aggregator_node +) + if(BUILD_TESTING) get_filename_component(RESOURCE_PATH ${CMAKE_CURRENT_SOURCE_DIR}/test/files ABSOLUTE) ament_auto_add_gtest(gtest_${PROJECT_NAME} diff --git a/system/diagnostic_graph_aggregator/launch/aggregator.launch.xml b/system/diagnostic_graph_aggregator/launch/aggregator.launch.xml index 272901a3f8045..c06c3d1d96cfa 100644 --- a/system/diagnostic_graph_aggregator/launch/aggregator.launch.xml +++ b/system/diagnostic_graph_aggregator/launch/aggregator.launch.xml @@ -1,7 +1,7 @@ - + diff --git a/system/diagnostic_graph_aggregator/package.xml b/system/diagnostic_graph_aggregator/package.xml index 2a9efad2c0d6e..a89196f25a78d 100644 --- a/system/diagnostic_graph_aggregator/package.xml +++ b/system/diagnostic_graph_aggregator/package.xml @@ -12,6 +12,7 @@ diagnostic_msgs rclcpp + rclcpp_components tier4_system_msgs yaml_cpp_vendor diff --git a/system/diagnostic_graph_aggregator/src/common/graph/config.cpp b/system/diagnostic_graph_aggregator/src/common/graph/config.cpp index 9005084f84503..c9d281a5c886e 100644 --- a/system/diagnostic_graph_aggregator/src/common/graph/config.cpp +++ b/system/diagnostic_graph_aggregator/src/common/graph/config.cpp @@ -232,8 +232,8 @@ void apply_edits(FileConfig & config) if (remove_links.count(link) == 0) { filtered_list.push_back(link); } - unit->list = filtered_list; } + unit->list = filtered_list; } // Remove units and links. diff --git a/system/diagnostic_graph_aggregator/src/node/aggregator.cpp b/system/diagnostic_graph_aggregator/src/node/aggregator.cpp index 3287d30d4de18..4d2ec73bfceca 100644 --- a/system/diagnostic_graph_aggregator/src/node/aggregator.cpp +++ b/system/diagnostic_graph_aggregator/src/node/aggregator.cpp @@ -21,7 +21,7 @@ namespace diagnostic_graph_aggregator { -AggregatorNode::AggregatorNode() : Node("aggregator") +AggregatorNode::AggregatorNode(const rclcpp::NodeOptions & options) : Node("aggregator", options) { const auto stamp = now(); @@ -99,14 +99,5 @@ void AggregatorNode::on_diag(const DiagnosticArray & msg) } // namespace diagnostic_graph_aggregator -int main(int argc, char ** argv) -{ - using diagnostic_graph_aggregator::AggregatorNode; - rclcpp::init(argc, argv); - rclcpp::executors::SingleThreadedExecutor executor; - auto node = std::make_shared(); - executor.add_node(node); - executor.spin(); - executor.remove_node(node); - rclcpp::shutdown(); -} +#include +RCLCPP_COMPONENTS_REGISTER_NODE(diagnostic_graph_aggregator::AggregatorNode) diff --git a/system/diagnostic_graph_aggregator/src/node/aggregator.hpp b/system/diagnostic_graph_aggregator/src/node/aggregator.hpp index 8a0e12edb25e5..f71780f19a5c7 100644 --- a/system/diagnostic_graph_aggregator/src/node/aggregator.hpp +++ b/system/diagnostic_graph_aggregator/src/node/aggregator.hpp @@ -30,7 +30,7 @@ namespace diagnostic_graph_aggregator class AggregatorNode : public rclcpp::Node { public: - AggregatorNode(); + explicit AggregatorNode(const rclcpp::NodeOptions & options); ~AggregatorNode(); private: diff --git a/system/diagnostic_graph_utils/CMakeLists.txt b/system/diagnostic_graph_utils/CMakeLists.txt index 48af5e8fc304f..b68e7bedb57ed 100644 --- a/system/diagnostic_graph_utils/CMakeLists.txt +++ b/system/diagnostic_graph_utils/CMakeLists.txt @@ -9,12 +9,19 @@ ament_auto_add_library(${PROJECT_NAME} SHARED src/lib/subscription.cpp ) -ament_auto_add_executable(dump +ament_auto_add_library(${PROJECT_NAME}_tools SHARED src/node/dump.cpp + src/node/converter.cpp ) -ament_auto_add_executable(converter - src/node/converter.cpp +rclcpp_components_register_node(${PROJECT_NAME}_tools + PLUGIN "diagnostic_graph_utils::DumpNode" + EXECUTABLE dump_node +) + +rclcpp_components_register_node(${PROJECT_NAME}_tools + PLUGIN "diagnostic_graph_utils::ConverterNode" + EXECUTABLE converter_node ) ament_auto_package() diff --git a/system/diagnostic_graph_utils/doc/node/converter.md b/system/diagnostic_graph_utils/doc/node/converter.md index c3db547167474..407a99c87f73e 100644 --- a/system/diagnostic_graph_utils/doc/node/converter.md +++ b/system/diagnostic_graph_utils/doc/node/converter.md @@ -5,7 +5,7 @@ This tool converts `/diagnostics_graph` to `/diagnostics_array` so it can be rea ## Usage ```bash -ros2 run diagnostic_graph_utils converter +ros2 run diagnostic_graph_utils converter_node ``` ## Examples @@ -19,7 +19,7 @@ ros2 launch diagnostic_graph_aggregator example-main.launch.xml Terminal 2: ```bash -ros2 run diagnostic_graph_utils converter +ros2 run diagnostic_graph_utils converter_node ``` Terminal 3: diff --git a/system/diagnostic_graph_utils/doc/node/dump.md b/system/diagnostic_graph_utils/doc/node/dump.md index 090e9679676b6..c76bb85ed75cb 100644 --- a/system/diagnostic_graph_utils/doc/node/dump.md +++ b/system/diagnostic_graph_utils/doc/node/dump.md @@ -5,7 +5,7 @@ This tool displays `/diagnostics_graph` in table format. ## Usage ```bash -ros2 run diagnostic_graph_utils dump +ros2 run diagnostic_graph_utils dump_node ``` ## Examples @@ -19,7 +19,7 @@ ros2 launch diagnostic_graph_aggregator example-main.launch.xml Terminal 2: ```bash -ros2 run diagnostic_graph_utils dump +ros2 run diagnostic_graph_utils dump_node ``` Output: diff --git a/system/diagnostic_graph_utils/include/diagnostic_graph_utils/graph.hpp b/system/diagnostic_graph_utils/include/diagnostic_graph_utils/graph.hpp index b2c6fc752e463..c5b386dbe2c86 100644 --- a/system/diagnostic_graph_utils/include/diagnostic_graph_utils/graph.hpp +++ b/system/diagnostic_graph_utils/include/diagnostic_graph_utils/graph.hpp @@ -55,12 +55,20 @@ class DiagLink public: using DiagLinkStruct = tier4_system_msgs::msg::DiagLinkStruct; using DiagLinkStatus = tier4_system_msgs::msg::DiagLinkStatus; - explicit DiagLink(const DiagLinkStruct & msg) : struct_(msg) {} + DiagLink(const DiagLinkStruct & msg, DiagUnit * parent, DiagUnit * child) : struct_(msg) + { + parent_ = parent; + child_ = child; + } void update(const DiagLinkStatus & msg) { status_ = msg; } + DiagUnit * parent() const { return parent_; } + DiagUnit * child() const { return child_; } private: DiagLinkStruct struct_; DiagLinkStatus status_; + DiagUnit * parent_; + DiagUnit * child_; }; class DiagNode : public DiagUnit @@ -114,6 +122,7 @@ class DiagGraph bool update(const DiagGraphStatus & msg); rclcpp::Time created_stamp() const { return created_stamp_; } rclcpp::Time updated_stamp() const { return updated_stamp_; } + std::string id() const { return id_; } std::vector units() const; std::vector nodes() const; std::vector diags() const; diff --git a/system/diagnostic_graph_utils/package.xml b/system/diagnostic_graph_utils/package.xml index 42d44efb6697e..c5a70363bfecb 100644 --- a/system/diagnostic_graph_utils/package.xml +++ b/system/diagnostic_graph_utils/package.xml @@ -12,6 +12,7 @@ diagnostic_msgs rclcpp + rclcpp_components tier4_system_msgs ament_lint_auto diff --git a/system/diagnostic_graph_utils/src/lib/graph.cpp b/system/diagnostic_graph_utils/src/lib/graph.cpp index f1177c1047bdb..bd4c215a346ed 100644 --- a/system/diagnostic_graph_utils/src/lib/graph.cpp +++ b/system/diagnostic_graph_utils/src/lib/graph.cpp @@ -54,7 +54,7 @@ void DiagGraph::create(const DiagGraphStruct & msg) for (const auto & data : msg.links) { DiagNode * parent = nodes_.at(data.parent).get(); DiagUnit * child = get_child(data.is_leaf, data.child); - const auto link = links_.emplace_back(std::make_unique(data)).get(); + const auto link = links_.emplace_back(std::make_unique(data, parent, child)).get(); parent->add_child({link, child}); } } diff --git a/system/diagnostic_graph_utils/src/node/converter.cpp b/system/diagnostic_graph_utils/src/node/converter.cpp index e9e40fa0a0756..159cc6e0c3cab 100644 --- a/system/diagnostic_graph_utils/src/node/converter.cpp +++ b/system/diagnostic_graph_utils/src/node/converter.cpp @@ -19,7 +19,7 @@ namespace diagnostic_graph_utils { -ConverterNode::ConverterNode() : Node("converter") +ConverterNode::ConverterNode(const rclcpp::NodeOptions & options) : Node("converter", options) { using std::placeholders::_1; pub_array_ = create_publisher("/diagnostics_array", rclcpp::QoS(1)); @@ -40,14 +40,5 @@ void ConverterNode::on_update(DiagGraph::ConstSharedPtr graph) } // namespace diagnostic_graph_utils -int main(int argc, char ** argv) -{ - using diagnostic_graph_utils::ConverterNode; - rclcpp::init(argc, argv); - rclcpp::executors::SingleThreadedExecutor executor; - auto node = std::make_shared(); - executor.add_node(node); - executor.spin(); - executor.remove_node(node); - rclcpp::shutdown(); -} +#include +RCLCPP_COMPONENTS_REGISTER_NODE(diagnostic_graph_utils::ConverterNode) diff --git a/system/diagnostic_graph_utils/src/node/converter.hpp b/system/diagnostic_graph_utils/src/node/converter.hpp index 09ce62d7293ec..19364a8ff8240 100644 --- a/system/diagnostic_graph_utils/src/node/converter.hpp +++ b/system/diagnostic_graph_utils/src/node/converter.hpp @@ -28,7 +28,7 @@ namespace diagnostic_graph_utils class ConverterNode : public rclcpp::Node { public: - ConverterNode(); + explicit ConverterNode(const rclcpp::NodeOptions & options); private: using DiagnosticArray = diagnostic_msgs::msg::DiagnosticArray; diff --git a/system/diagnostic_graph_utils/src/node/dump.cpp b/system/diagnostic_graph_utils/src/node/dump.cpp index 5fa4922dec1a5..8456a92cbaa9b 100644 --- a/system/diagnostic_graph_utils/src/node/dump.cpp +++ b/system/diagnostic_graph_utils/src/node/dump.cpp @@ -24,7 +24,7 @@ namespace diagnostic_graph_utils { -DumpNode::DumpNode() : Node("dump") +DumpNode::DumpNode(const rclcpp::NodeOptions & options) : Node("dump", options) { using std::placeholders::_1; sub_graph_.register_create_callback(std::bind(&DumpNode::on_create, this, _1)); @@ -132,14 +132,5 @@ void DumpNode::on_update(DiagGraph::ConstSharedPtr graph) } // namespace diagnostic_graph_utils -int main(int argc, char ** argv) -{ - using diagnostic_graph_utils::DumpNode; - rclcpp::init(argc, argv); - rclcpp::executors::SingleThreadedExecutor executor; - auto node = std::make_shared(); - executor.add_node(node); - executor.spin(); - executor.remove_node(node); - rclcpp::shutdown(); -} +#include +RCLCPP_COMPONENTS_REGISTER_NODE(diagnostic_graph_utils::DumpNode) diff --git a/system/diagnostic_graph_utils/src/node/dump.hpp b/system/diagnostic_graph_utils/src/node/dump.hpp index e37a1ea971bf5..c990fb77a53db 100644 --- a/system/diagnostic_graph_utils/src/node/dump.hpp +++ b/system/diagnostic_graph_utils/src/node/dump.hpp @@ -28,7 +28,7 @@ namespace diagnostic_graph_utils class DumpNode : public rclcpp::Node { public: - DumpNode(); + explicit DumpNode(const rclcpp::NodeOptions & options); private: void on_create(DiagGraph::ConstSharedPtr graph); diff --git a/system/dummy_diag_publisher/CMakeLists.txt b/system/dummy_diag_publisher/CMakeLists.txt index cecb317bf9c34..794e7d35e1194 100644 --- a/system/dummy_diag_publisher/CMakeLists.txt +++ b/system/dummy_diag_publisher/CMakeLists.txt @@ -4,11 +4,15 @@ project(dummy_diag_publisher) find_package(autoware_cmake REQUIRED) autoware_package() -ament_auto_add_executable(${PROJECT_NAME} - src/dummy_diag_publisher_node.cpp +ament_auto_add_library(${PROJECT_NAME} SHARED src/dummy_diag_publisher_core.cpp ) +rclcpp_components_register_node(${PROJECT_NAME} + PLUGIN "DummyDiagPublisher" + EXECUTABLE ${PROJECT_NAME}_node +) + ament_auto_package(INSTALL_TO_SHARE launch config diff --git a/system/dummy_diag_publisher/include/dummy_diag_publisher/dummy_diag_publisher_core.hpp b/system/dummy_diag_publisher/include/dummy_diag_publisher/dummy_diag_publisher_core.hpp index 8398c15b8e8f6..071e665ece6ec 100644 --- a/system/dummy_diag_publisher/include/dummy_diag_publisher/dummy_diag_publisher_core.hpp +++ b/system/dummy_diag_publisher/include/dummy_diag_publisher/dummy_diag_publisher_core.hpp @@ -35,7 +35,7 @@ struct DiagConfig class DummyDiagPublisher : public rclcpp::Node { public: - DummyDiagPublisher(); + explicit DummyDiagPublisher(const rclcpp::NodeOptions & options); private: enum Status { diff --git a/system/dummy_diag_publisher/launch/dummy_diag_publisher_node.launch.xml b/system/dummy_diag_publisher/launch/dummy_diag_publisher_node.launch.xml index 8e71ce37543c2..9d9193fb5f7a7 100644 --- a/system/dummy_diag_publisher/launch/dummy_diag_publisher_node.launch.xml +++ b/system/dummy_diag_publisher/launch/dummy_diag_publisher_node.launch.xml @@ -4,7 +4,7 @@ - + diff --git a/system/dummy_diag_publisher/src/dummy_diag_publisher_core.cpp b/system/dummy_diag_publisher/src/dummy_diag_publisher_core.cpp index cfe1692c91df9..9abf325e62833 100644 --- a/system/dummy_diag_publisher/src/dummy_diag_publisher_core.cpp +++ b/system/dummy_diag_publisher/src/dummy_diag_publisher_core.cpp @@ -245,12 +245,14 @@ void DummyDiagPublisher::onTimer() updater_.force_update(); } -DummyDiagPublisher::DummyDiagPublisher() -: Node( - "dummy_diag_publisher", rclcpp::NodeOptions() - .allow_undeclared_parameters(true) - .automatically_declare_parameters_from_overrides(true)), - updater_(this) +rclcpp::NodeOptions override_options(rclcpp::NodeOptions options) +{ + return options.allow_undeclared_parameters(true).automatically_declare_parameters_from_overrides( + true); +} + +DummyDiagPublisher::DummyDiagPublisher(const rclcpp::NodeOptions & options) +: Node("dummy_diag_publisher", override_options(options)), updater_(this) { // Parameter @@ -277,3 +279,6 @@ DummyDiagPublisher::DummyDiagPublisher() timer_ = rclcpp::create_timer( this, get_clock(), period_ns, std::bind(&DummyDiagPublisher::onTimer, this)); } + +#include +RCLCPP_COMPONENTS_REGISTER_NODE(DummyDiagPublisher) diff --git a/system/dummy_diag_publisher/src/dummy_diag_publisher_node.cpp b/system/dummy_diag_publisher/src/dummy_diag_publisher_node.cpp deleted file mode 100644 index a532e8d1c6d01..0000000000000 --- a/system/dummy_diag_publisher/src/dummy_diag_publisher_node.cpp +++ /dev/null @@ -1,26 +0,0 @@ -// Copyright 2020 Tier IV, Inc. -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. - -#include "dummy_diag_publisher/dummy_diag_publisher_core.hpp" - -#include - -int main(int argc, char ** argv) -{ - rclcpp::init(argc, argv); - auto node = std::make_shared(); - rclcpp::spin(node); - rclcpp::shutdown(); - return 0; -} diff --git a/system/emergency_handler/CMakeLists.txt b/system/emergency_handler/CMakeLists.txt index b7895b07f6e4c..0475cdbe57dd8 100644 --- a/system/emergency_handler/CMakeLists.txt +++ b/system/emergency_handler/CMakeLists.txt @@ -4,11 +4,16 @@ project(emergency_handler) find_package(autoware_cmake REQUIRED) autoware_package() -ament_auto_add_executable(emergency_handler - src/emergency_handler/emergency_handler_node.cpp +ament_auto_add_library(${PROJECT_NAME} SHARED src/emergency_handler/emergency_handler_core.cpp ) +rclcpp_components_register_node(${PROJECT_NAME} + PLUGIN "EmergencyHandler" + EXECUTABLE ${PROJECT_NAME}_node + EXECUTOR MultiThreadedExecutor +) + ament_auto_package(INSTALL_TO_SHARE launch config diff --git a/system/emergency_handler/include/emergency_handler/emergency_handler_core.hpp b/system/emergency_handler/include/emergency_handler/emergency_handler_core.hpp index 5c76d96e573ab..a78b35be26daf 100644 --- a/system/emergency_handler/include/emergency_handler/emergency_handler_core.hpp +++ b/system/emergency_handler/include/emergency_handler/emergency_handler_core.hpp @@ -53,7 +53,7 @@ struct Param class EmergencyHandler : public rclcpp::Node { public: - EmergencyHandler(); + explicit EmergencyHandler(const rclcpp::NodeOptions & options); private: // Subscribers diff --git a/system/emergency_handler/launch/emergency_handler.launch.xml b/system/emergency_handler/launch/emergency_handler.launch.xml index 308eaf90dbb69..203c13bd94e0a 100644 --- a/system/emergency_handler/launch/emergency_handler.launch.xml +++ b/system/emergency_handler/launch/emergency_handler.launch.xml @@ -16,7 +16,7 @@ - + diff --git a/system/emergency_handler/package.xml b/system/emergency_handler/package.xml index 10282297017b1..97344f9b8c594 100644 --- a/system/emergency_handler/package.xml +++ b/system/emergency_handler/package.xml @@ -18,6 +18,7 @@ autoware_auto_vehicle_msgs nav_msgs rclcpp + rclcpp_components std_msgs std_srvs tier4_system_msgs diff --git a/system/emergency_handler/src/emergency_handler/emergency_handler_core.cpp b/system/emergency_handler/src/emergency_handler/emergency_handler_core.cpp index db3ad40249bfb..2770a14691d95 100644 --- a/system/emergency_handler/src/emergency_handler/emergency_handler_core.cpp +++ b/system/emergency_handler/src/emergency_handler/emergency_handler_core.cpp @@ -18,7 +18,8 @@ #include #include -EmergencyHandler::EmergencyHandler() : Node("emergency_handler") +EmergencyHandler::EmergencyHandler(const rclcpp::NodeOptions & options) +: Node("emergency_handler", options) { // Parameter param_.update_rate = declare_parameter("update_rate"); @@ -459,3 +460,6 @@ bool EmergencyHandler::isStopped() return false; } + +#include +RCLCPP_COMPONENTS_REGISTER_NODE(EmergencyHandler) diff --git a/system/emergency_handler/src/emergency_handler/emergency_handler_node.cpp b/system/emergency_handler/src/emergency_handler/emergency_handler_node.cpp deleted file mode 100644 index 5b60117cc3ff4..0000000000000 --- a/system/emergency_handler/src/emergency_handler/emergency_handler_node.cpp +++ /dev/null @@ -1,32 +0,0 @@ -// Copyright 2020 Tier IV, Inc. -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. - -#include "emergency_handler/emergency_handler_core.hpp" - -#include - -#include - -int main(int argc, char ** argv) -{ - rclcpp::init(argc, argv); - rclcpp::executors::MultiThreadedExecutor executor; - auto node = std::make_shared(); - executor.add_node(node); - executor.spin(); - executor.remove_node(node); - rclcpp::shutdown(); - - return 0; -} diff --git a/system/mrm_emergency_stop_operator/include/mrm_emergency_stop_operator/mrm_emergency_stop_operator_core.hpp b/system/mrm_emergency_stop_operator/include/mrm_emergency_stop_operator/mrm_emergency_stop_operator_core.hpp index 19e41397fe4da..5b91f56973ae9 100644 --- a/system/mrm_emergency_stop_operator/include/mrm_emergency_stop_operator/mrm_emergency_stop_operator_core.hpp +++ b/system/mrm_emergency_stop_operator/include/mrm_emergency_stop_operator/mrm_emergency_stop_operator_core.hpp @@ -27,6 +27,7 @@ // ROS 2 core #include +#include namespace mrm_emergency_stop_operator { using autoware_auto_control_msgs::msg::AckermannControlCommand; @@ -48,6 +49,10 @@ class MrmEmergencyStopOperator : public rclcpp::Node private: // Parameters Parameters params_; + OnSetParametersCallbackHandle::SharedPtr set_param_res_; + + rcl_interfaces::msg::SetParametersResult onParameter( + const std::vector & parameters); // Subscriber rclcpp::Subscription::SharedPtr sub_control_cmd_; diff --git a/system/mrm_emergency_stop_operator/package.xml b/system/mrm_emergency_stop_operator/package.xml index 251e79a07a73d..6ca4e3a815f72 100644 --- a/system/mrm_emergency_stop_operator/package.xml +++ b/system/mrm_emergency_stop_operator/package.xml @@ -17,6 +17,7 @@ rclcpp_components std_msgs std_srvs + tier4_autoware_utils tier4_system_msgs ament_lint_auto diff --git a/system/mrm_emergency_stop_operator/src/mrm_emergency_stop_operator/mrm_emergency_stop_operator_core.cpp b/system/mrm_emergency_stop_operator/src/mrm_emergency_stop_operator/mrm_emergency_stop_operator_core.cpp index 08814dbbd710d..9ee9d7a685df3 100644 --- a/system/mrm_emergency_stop_operator/src/mrm_emergency_stop_operator/mrm_emergency_stop_operator_core.cpp +++ b/system/mrm_emergency_stop_operator/src/mrm_emergency_stop_operator/mrm_emergency_stop_operator_core.cpp @@ -14,6 +14,8 @@ #include "mrm_emergency_stop_operator/mrm_emergency_stop_operator_core.hpp" +#include + namespace mrm_emergency_stop_operator { @@ -49,6 +51,23 @@ MrmEmergencyStopOperator::MrmEmergencyStopOperator(const rclcpp::NodeOptions & n // Initialize status_.state = MrmBehaviorStatus::AVAILABLE; is_prev_control_cmd_subscribed_ = false; + + // Parameter Callback + set_param_res_ = add_on_set_parameters_callback( + std::bind(&MrmEmergencyStopOperator::onParameter, this, std::placeholders::_1)); +} + +rcl_interfaces::msg::SetParametersResult MrmEmergencyStopOperator::onParameter( + const std::vector & parameters) +{ + using tier4_autoware_utils::updateParam; + updateParam(parameters, "target_acceleration", params_.target_acceleration); + updateParam(parameters, "target_jerk", params_.target_jerk); + + rcl_interfaces::msg::SetParametersResult result; + result.successful = true; + result.reason = "success"; + return result; } void MrmEmergencyStopOperator::onControlCommand(AckermannControlCommand::ConstSharedPtr msg) diff --git a/system/mrm_handler/CMakeLists.txt b/system/mrm_handler/CMakeLists.txt index 7c2174f03a6f3..93e03e7f20ead 100644 --- a/system/mrm_handler/CMakeLists.txt +++ b/system/mrm_handler/CMakeLists.txt @@ -4,11 +4,16 @@ project(mrm_handler) find_package(autoware_cmake REQUIRED) autoware_package() -ament_auto_add_executable(mrm_handler - src/mrm_handler/mrm_handler_node.cpp +ament_auto_add_library(${PROJECT_NAME} SHARED src/mrm_handler/mrm_handler_core.cpp ) +rclcpp_components_register_node(${PROJECT_NAME} + PLUGIN "MrmHandler" + EXECUTABLE ${PROJECT_NAME}_node + EXECUTOR MultiThreadedExecutor +) + ament_auto_package(INSTALL_TO_SHARE launch config diff --git a/system/mrm_handler/include/mrm_handler/mrm_handler_core.hpp b/system/mrm_handler/include/mrm_handler/mrm_handler_core.hpp index 1dd0f6b081337..c7aaca96aae49 100644 --- a/system/mrm_handler/include/mrm_handler/mrm_handler_core.hpp +++ b/system/mrm_handler/include/mrm_handler/mrm_handler_core.hpp @@ -60,7 +60,7 @@ struct Param class MrmHandler : public rclcpp::Node { public: - MrmHandler(); + explicit MrmHandler(const rclcpp::NodeOptions & options); private: // type diff --git a/system/mrm_handler/launch/mrm_handler.launch.xml b/system/mrm_handler/launch/mrm_handler.launch.xml index 562134f5301e2..7e761157956df 100644 --- a/system/mrm_handler/launch/mrm_handler.launch.xml +++ b/system/mrm_handler/launch/mrm_handler.launch.xml @@ -18,7 +18,7 @@ - + diff --git a/system/mrm_handler/package.xml b/system/mrm_handler/package.xml index e62091f2984e6..c15bc98a6c190 100644 --- a/system/mrm_handler/package.xml +++ b/system/mrm_handler/package.xml @@ -18,6 +18,7 @@ autoware_auto_vehicle_msgs nav_msgs rclcpp + rclcpp_components std_msgs std_srvs tier4_system_msgs diff --git a/system/mrm_handler/src/mrm_handler/mrm_handler_core.cpp b/system/mrm_handler/src/mrm_handler/mrm_handler_core.cpp index e8e692f755e2d..5e709946c2f46 100644 --- a/system/mrm_handler/src/mrm_handler/mrm_handler_core.cpp +++ b/system/mrm_handler/src/mrm_handler/mrm_handler_core.cpp @@ -18,7 +18,7 @@ #include #include -MrmHandler::MrmHandler() : Node("mrm_handler") +MrmHandler::MrmHandler(const rclcpp::NodeOptions & options) : Node("mrm_handler", options) { // Parameter param_.update_rate = declare_parameter("update_rate", 10); @@ -597,3 +597,6 @@ bool MrmHandler::isArrivedAtGoal() return operation_mode_state_->mode == OperationModeState::STOP; } + +#include +RCLCPP_COMPONENTS_REGISTER_NODE(MrmHandler) diff --git a/system/system_diagnostic_monitor/config/map.yaml b/system/system_diagnostic_monitor/config/map.yaml index 45c1db294119f..231ac6eb5fa44 100644 --- a/system/system_diagnostic_monitor/config/map.yaml +++ b/system/system_diagnostic_monitor/config/map.yaml @@ -13,4 +13,4 @@ units: - path: /autoware/map/topic_rate_check/pointcloud_map type: diag node: topic_state_monitor_pointcloud_map - name: map_topic_status" + name: map_topic_status diff --git a/system/system_diagnostic_monitor/launch/system_diagnostic_monitor.launch.xml b/system/system_diagnostic_monitor/launch/system_diagnostic_monitor.launch.xml index b00fcb8a26f68..8e2566a747abf 100644 --- a/system/system_diagnostic_monitor/launch/system_diagnostic_monitor.launch.xml +++ b/system/system_diagnostic_monitor/launch/system_diagnostic_monitor.launch.xml @@ -1,6 +1,8 @@ + + diff --git a/system/system_error_monitor/CMakeLists.txt b/system/system_error_monitor/CMakeLists.txt index 36edf5816f6d3..91e9e20146327 100644 --- a/system/system_error_monitor/CMakeLists.txt +++ b/system/system_error_monitor/CMakeLists.txt @@ -4,11 +4,14 @@ project(system_error_monitor) find_package(autoware_cmake REQUIRED) autoware_package() -ament_auto_add_executable(${PROJECT_NAME} - src/system_error_monitor_node.cpp +ament_auto_add_library(${PROJECT_NAME} SHARED src/system_error_monitor_core.cpp ) +rclcpp_components_register_node(${PROJECT_NAME} + PLUGIN "AutowareErrorMonitor" + EXECUTABLE ${PROJECT_NAME}_node) + ament_auto_package(INSTALL_TO_SHARE launch config diff --git a/system/system_error_monitor/include/system_error_monitor/system_error_monitor_core.hpp b/system/system_error_monitor/include/system_error_monitor/system_error_monitor_core.hpp index 4dbf8813805e3..8829bcc1edde2 100644 --- a/system/system_error_monitor/include/system_error_monitor/system_error_monitor_core.hpp +++ b/system/system_error_monitor/include/system_error_monitor/system_error_monitor_core.hpp @@ -64,7 +64,7 @@ struct KeyName class AutowareErrorMonitor : public rclcpp::Node { public: - AutowareErrorMonitor(); + explicit AutowareErrorMonitor(const rclcpp::NodeOptions & options); private: // Parameter diff --git a/system/system_error_monitor/launch/system_error_monitor_node.launch.xml b/system/system_error_monitor/launch/system_error_monitor_node.launch.xml index 6741b4f22ce48..f5ed927c7d6ca 100644 --- a/system/system_error_monitor/launch/system_error_monitor_node.launch.xml +++ b/system/system_error_monitor/launch/system_error_monitor_node.launch.xml @@ -11,7 +11,7 @@ - + diff --git a/system/system_error_monitor/package.xml b/system/system_error_monitor/package.xml index c6560209854d3..ed50eda95611a 100644 --- a/system/system_error_monitor/package.xml +++ b/system/system_error_monitor/package.xml @@ -15,6 +15,7 @@ diagnostic_msgs fmt rclcpp + rclcpp_components std_srvs tier4_autoware_utils tier4_control_msgs diff --git a/system/system_error_monitor/src/system_error_monitor_core.cpp b/system/system_error_monitor/src/system_error_monitor_core.cpp index fb0a607b9825a..e4ca33204f53e 100644 --- a/system/system_error_monitor/src/system_error_monitor_core.cpp +++ b/system/system_error_monitor/src/system_error_monitor_core.cpp @@ -202,10 +202,10 @@ int isInNoFaultCondition( } } // namespace -AutowareErrorMonitor::AutowareErrorMonitor() +AutowareErrorMonitor::AutowareErrorMonitor(const rclcpp::NodeOptions & options) : Node( "system_error_monitor", - rclcpp::NodeOptions().automatically_declare_parameters_from_overrides(true)), + rclcpp::NodeOptions(options).automatically_declare_parameters_from_overrides(true)), diag_array_stamp_(0, 0, this->get_clock()->get_clock_type()), autoware_state_stamp_(0, 0, this->get_clock()->get_clock_type()), current_gate_mode_stamp_(0, 0, this->get_clock()->get_clock_type()), @@ -720,3 +720,6 @@ void AutowareErrorMonitor::loggingErrors( logger_name, get_clock(), 5000, "[Single Point Fault]: " + hazard_diag.message); } } + +#include +RCLCPP_COMPONENTS_REGISTER_NODE(AutowareErrorMonitor) diff --git a/system/system_error_monitor/src/system_error_monitor_node.cpp b/system/system_error_monitor/src/system_error_monitor_node.cpp deleted file mode 100644 index f389497b93a43..0000000000000 --- a/system/system_error_monitor/src/system_error_monitor_node.cpp +++ /dev/null @@ -1,27 +0,0 @@ -// Copyright 2020 Tier IV, Inc. -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. - -#include "system_error_monitor/system_error_monitor_core.hpp" - -#include - -int main(int argc, char ** argv) -{ - rclcpp::init(argc, argv); - auto node = std::make_shared(); - rclcpp::spin(node); - rclcpp::shutdown(); - - return 0; -} diff --git a/system/system_monitor/src/net_monitor/net_monitor.cpp b/system/system_monitor/src/net_monitor/net_monitor.cpp index c8775e585765e..0b5bc4c1ee7ec 100644 --- a/system/system_monitor/src/net_monitor/net_monitor.cpp +++ b/system/system_monitor/src/net_monitor/net_monitor.cpp @@ -258,7 +258,7 @@ void NetMonitor::monitor_traffic(diagnostic_updater::DiagnosticStatusWrapper & s if (line.empty()) continue; boost::split(list, line, boost::is_any_of("\t"), boost::token_compress_on); - if (list.size() >= 3) { + if (list.size() > 3) { status.add(fmt::format("nethogs {}: program", index), list[3].c_str()); status.add(fmt::format("nethogs {}: sent (KB/s)", index), list[1].c_str()); status.add(fmt::format("nethogs {}: received (KB/sec)", index), list[2].c_str()); diff --git a/tools/reaction_analyzer/CMakeLists.txt b/tools/reaction_analyzer/CMakeLists.txt new file mode 100644 index 0000000000000..d94a5bd7a794e --- /dev/null +++ b/tools/reaction_analyzer/CMakeLists.txt @@ -0,0 +1,40 @@ +cmake_minimum_required(VERSION 3.14) +project(reaction_analyzer) + +find_package(autoware_cmake REQUIRED) +autoware_package() + +find_package(PCL REQUIRED) +find_package(Eigen3 REQUIRED) + +ament_auto_add_library(reaction_analyzer SHARED + include/reaction_analyzer_node.hpp + src/reaction_analyzer_node.cpp + include/subscriber.hpp + src/subscriber.cpp + include/topic_publisher.hpp + src/topic_publisher.cpp + include/utils.hpp + src/utils.cpp +) + +target_include_directories(reaction_analyzer + SYSTEM PUBLIC + ${PCL_INCLUDE_DIRS} + ${EIGEN3_INCLUDE_DIR} +) + +target_link_libraries(reaction_analyzer + ${PCL_LIBRARIES} +) + +rclcpp_components_register_node(reaction_analyzer + PLUGIN "reaction_analyzer::ReactionAnalyzerNode" + EXECUTABLE reaction_analyzer_exe +) + +ament_auto_package( + INSTALL_TO_SHARE + param + launch +) diff --git a/tools/reaction_analyzer/README.md b/tools/reaction_analyzer/README.md new file mode 100644 index 0000000000000..f5a22aaf20176 --- /dev/null +++ b/tools/reaction_analyzer/README.md @@ -0,0 +1,229 @@ +# Reaction Analyzer + +## Description + +The main purpose of the reaction analyzer package is to measure the reaction times of various nodes within a ROS-based +autonomous driving simulation environment by subscribing to pre-determined topics. This tool is particularly useful for +evaluating the performance of perception, planning, and control pipelines in response to dynamic changes in the +environment, such as sudden obstacles. To be able to measure both control outputs and perception outputs, it was +necessary to divide the node into two running_mode: `planning_control` and `perception_planning`. + +![ReactionAnalyzerDesign.png](media%2FReactionAnalyzerDesign.png) + +### Planning Control Mode + +In this mode, the reaction analyzer creates a dummy publisher for the PredictedObjects and PointCloud2 topics. In the +beginning of the test, it publishes the initial position of the ego vehicle and the goal position to set the test +environment. Then, it spawns a sudden obstacle in front of the ego vehicle. After the obstacle is spawned, it starts to +search reacted messages of the planning and control nodes in the pre-determined topics. When all the topics are reacted, +it calculates the reaction time of the nodes and statistics by comparing `reacted_times` of each of the nodes +with `spawn_cmd_time`, and it creates a csv file to store the results. + +### Perception Planning Mode + +In this mode, the reaction analyzer reads the rosbag files which are recorded from AWSIM, and it creates a topic +publisher for each topic inside the rosbag to replay the rosbag. It reads two rosbag files: `path_bag_without_object` +and `path_bag_with_object`. Firstly, it replays the `path_bag_without_object` to set the initial position of the ego +vehicle and the goal position. After `spawn_time_after_init` seconds , it replays the `path_bag_with_object` to spawn a +sudden obstacle in front of the ego vehicle. After the obstacle is spawned, it starts to search the reacted messages of +the perception and planning nodes in the pre-determined topics. When all the topics are reacted, it calculates the +reaction time of the nodes and statistics by comparing `reacted_times` of each of the nodes with `spawn_cmd_time`, and +it creates a csv file to store the results. + +#### Point Cloud Publisher Type + +To get better analyze for Perception & Sensing pipeline, the reaction analyzer can publish the point cloud messages in 3 +different ways: `async_header_sync_publish`, `sync_header_sync_publish` or `async_publish`. (`T` is the period of the +lidar's output) + +![PointcloudPublisherType.png](media%2FPointcloudPublisherType.png) + +- `async_header_sync_publish`: It publishes the point cloud messages synchronously with asynchronous header times. It + means that each of the lidar's output will be published at the same time, but the headers of the point cloud messages + includes different timestamps because of the phase difference. +- `sync_header_sync_publish`: It publishes the point cloud messages synchronously with synchronous header times. It + means that each of the lidar's output will be published at the same time, and the headers of the point cloud messages + includes the same timestamps. +- `async_publish`: It publishes the point cloud messages asynchronously. It means that each of the lidar's output will + be published at different times. + +## Usage + +The common parameters you need to define for both running modes are `output_file_path`, `test_iteration`, +and `reaction_chain` list. `output_file_path` is the output file path is the path where the results and statistics +will be stored. `test_iteration` defines how many tests will be performed. The `reaction_chain` list is the list of the +pre-defined topics you want to measure their reaction times. + +**IMPORTANT:** Ensure the `reaction_chain` list is correctly defined: + +- For `perception_planning` mode, **do not** define `Control` nodes. +- For `planning_control` mode, **do not** define `Perception` nodes. + +### Prepared Test Environment + +- Download the demonstration test map from the + link [here](https://github.com/tier4/AWSIM/releases/download/v1.1.0/nishishinjuku_autoware_map.zip). After + downloading, + extract the zip file and use its path as `[MAP_PATH]` in the following commands. + +#### Planning Control Mode + +- You need to define only Planning and Control nodes in the `reaction_chain` list. With the default parameters, + you can start to test with the following command: + +```bash +ros2 launch reaction_analyzer reaction_analyzer.launch.xml running_mode:=planning_control vehicle_model:=sample_vehicle sensor_model:=sample_sensor_kit map_path:=[MAP_PATH] +``` + +After the command, the `simple_planning_simulator` and the `reaction_analyzer` will be launched. It will automatically +start to test. After the test is completed, the results will be stored in the `output_file_path` you defined. + +#### Perception Planning Mode + +- Download the rosbag files from the Google Drive + link [here](https://drive.google.com/file/d/1-Qcv7gYfR-usKOjUH8I997w8I4NMhXlX/view?usp=sharing). +- Extract the zip file and set the path of the `.db3` files to parameters `path_bag_without_object` + and `path_bag_with_object`. +- You can start to test with the following command: + +```bash +ros2 launch reaction_analyzer reaction_analyzer.launch.xml running_mode:=perception_planning vehicle_model:=sample_vehicle sensor_model:=awsim_labs_sensor_kit map_path:=[MAP_PATH] +``` + +After the command, the `e2e_simulator` and the `reaction_analyzer` will be launched. It will automatically start +to test. After the test is completed, the results will be stored in the `output_file_path` you defined. + +#### Prepared Test Environment + +**Scene without object:** +![sc1-awsim.png](media%2Fsc1-awsim.png) +![sc1-rviz.png](media%2Fsc1-rviz.png) + +**Scene object:** +![sc2-awsim.png](media%2Fsc2-awsim.png) +![sc2-rviz.png](media%2Fsc2-rviz.png) + +### Custom Test Environment + +**If you want to run the reaction analyzer with your custom test environment, you need to redefine some of the +parameters. +The parameters you need to redefine are `initialization_pose`, `entity_params`, `goal_pose`, and `topic_publisher` ( +for `perception_planning` mode) parameters.** + +- To set `initialization_pose`, `entity_params`, `goal_pose`: +- Run the AWSIM environment. Tutorial for AWSIM can be found + [here](https://autowarefoundation.github.io/AWSIM/main/GettingStarted/QuickStartDemo/). +- Run the e2e_simulator with the following command: + +```bash +ros2 launch autoware_launch e2e_simulator.launch.xml vehicle_model:=sample_vehicle sensor_model:=awsim_labs_sensor_kit map_path:=[MAP_PATH] +``` + +- After EGO is initialized, you can move the ego vehicle to the desired position by using the `SetGoal` button in the + RViz. +- After the EGO stopped in desired position, please localize the dummy obstacle by using the traffic controller. You can + control the traffic by pressing `ESC` button. + +**After localize EGO and dummy vehicle, we should write the positions of these entities in the map frame +in `reaction_analyzer.param.yaml`. To achieve this:** + +- Get initialization pose from `/awsim/ground_truth/vehicle/pose` topic. +- Get entity params from `/perception/object_recognition/objects` topic. +- Get goal pose from `/planning/mission_planning/goal` topic. + +**PS: `initialization_pose` is only valid for `planning_control` mode.** + +- After the parameters were noted, we should record the rosbags for the test. To record the rosbags, you can use the + following command: + +```bash +ros2 bag record --all +``` + +- You should record two rosbags: one without the object and one with the object. You can use the traffic controller to + spawn the object in front of the EGO vehicle or remove it. + +**NOTE: You should record the rosbags in the same environment with the same position of the EGO vehicle. You don't need +to run Autoware while recording.** + +- After you record the rosbags, you can set the `path_bag_without_object` and `path_bag_with_object` parameters with the + paths of the recorded rosbags. + +## Results + +The results will be stored in the `csv` file format and written to the `output_file_path` you defined. It shows each +pipeline of the Autoware by using header timestamp of the messages, and it reports `Node Latency`, `Pipeline Latency`, +and `Total Latency` +for each of the nodes. + +- `Node Latency`: The time difference between previous and current node's reaction timestamps. If it is the first node + in the pipeline, it is same as `Pipeline Latency`. +- `Pipeline Latency`: The time difference between published time of the message and pipeline header time. +- `Total Latency`: The time difference between the message's published timestamp and the spawn obstacle command sent + timestamp. + +## Parameters + +| Name | Type | Description | +| ---------------------------------------------------------------------------- | ------ | --------------------------------------------------------------------------------------------------------------------------------------------- | +| `timer_period` | double | [s] Period for the main processing timer. | +| `test_iteration` | int | Number of iterations for the test. | +| `output_file_path` | string | Directory path where test results and statistics will be stored. | +| `spawn_time_after_init` | double | [s] Time delay after initialization before spawning objects. Only valid `perception_planning` mode. | +| `spawn_distance_threshold` | double | [m] Distance threshold for spawning objects. Only valid `planning_control` mode. | +| `poses.initialization_pose` | struct | Initial pose of the vehicle, containing `x`, `y`, `z`, `roll`, `pitch`, and `yaw` fields. Only valid `planning_control` mode. | +| `poses.entity_params` | struct | Parameters for entities (e.g., obstacles), containing `x`, `y`, `z`, `roll`, `pitch`, `yaw`, `x_dimension`, `y_dimension`, and `z_dimension`. | +| `poses.goal_pose` | struct | Goal pose of the vehicle, containing `x`, `y`, `z`, `roll`, `pitch`, and `yaw` fields. | +| `topic_publisher.path_bag_without_object` | string | Path to the ROS bag file without objects. Only valid `perception_planning` mode. | +| `topic_publisher.path_bag_with_object` | string | Path to the ROS bag file with objects. Only valid `perception_planning` mode. | +| `topic_publisher.spawned_pointcloud_sampling_distance` | double | [m] Sampling distance for point clouds of spawned objects. Only valid `planning_control` mode. | +| `topic_publisher.dummy_perception_publisher_period` | double | [s] Publishing period for the dummy perception data. Only valid `planning_control` mode. | +| `topic_publisher.pointcloud_publisher.pointcloud_publisher_type` | string | Defines how the PointCloud2 messages are going to be published. Modes explained above. | +| `topic_publisher.pointcloud_publisher.pointcloud_publisher_period` | double | [s] Publishing period of the PointCloud2 messages. | +| `topic_publisher.pointcloud_publisher.publish_only_pointcloud_with_object` | bool | Default false. Publish only the point cloud messages with the object. | +| `reaction_params.first_brake_params.debug_control_commands` | bool | Debug publish flag. | +| `reaction_params.first_brake_params.control_cmd_buffer_time_interval` | double | [s] Time interval for buffering control commands. | +| `reaction_params.first_brake_params.min_number_descending_order_control_cmd` | int | Minimum number of control commands in descending order for triggering brake. | +| `reaction_params.first_brake_params.min_jerk_for_brake_cmd` | double | [m/s³] Minimum jerk value for issuing a brake command. | +| `reaction_params.search_zero_vel_params.max_looking_distance` | double | [m] Maximum looking distance for zero velocity on trajectory | +| `reaction_params.search_entity_params.search_radius` | double | [m] Searching radius for spawned entity. Distance between ego pose and entity pose. | +| `reaction_chain` | struct | List of the nodes with their topics and topic's message types. | + +## Limitations + +- Reaction analyzer has some limitation like `PublisherMessageType`, `SubscriberMessageType` and `ReactionType`. It is + currently supporting following list: + +- **Publisher Message Types:** + + - `sensor_msgs/msg/PointCloud2` + - `sensor_msgs/msg/CameraInfo` + - `sensor_msgs/msg/Image` + - `geometry_msgs/msg/PoseWithCovarianceStamped` + - `sensor_msgs/msg/Imu` + - `autoware_auto_vehicle_msgs/msg/ControlModeReport` + - `autoware_auto_vehicle_msgs/msg/GearReport` + - `autoware_auto_vehicle_msgs/msg/HazardLightsReport` + - `autoware_auto_vehicle_msgs/msg/SteeringReport` + - `autoware_auto_vehicle_msgs/msg/TurnIndicatorsReport` + - `autoware_auto_vehicle_msgs/msg/VelocityReport` + +- **Subscriber Message Types:** + + - `sensor_msgs/msg/PointCloud2` + - `autoware_auto_perception_msgs/msg/DetectedObjects` + - `autoware_auto_perception_msgs/msg/TrackedObjects` + - `autoware_auto_msgs/msg/PredictedObject` + - `autoware_auto_planning_msgs/msg/Trajectory` + - `autoware_auto_control_msgs/msg/AckermannControlCommand` + +- **Reaction Types:** + - `FIRST_BRAKE` + - `SEARCH_ZERO_VEL` + - `SEARCH_ENTITY` + +## Future improvements + +- The reaction analyzer can be improved by adding more reaction types. Currently, it is supporting only `FIRST_BRAKE`, + `SEARCH_ZERO_VEL`, and `SEARCH_ENTITY` reaction types. It can be extended by adding more reaction types for each of + the message types. diff --git a/tools/reaction_analyzer/include/reaction_analyzer_node.hpp b/tools/reaction_analyzer/include/reaction_analyzer_node.hpp new file mode 100644 index 0000000000000..6dc3dd896dc92 --- /dev/null +++ b/tools/reaction_analyzer/include/reaction_analyzer_node.hpp @@ -0,0 +1,158 @@ +// Copyright 2024 The Autoware Contributors +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#ifndef REACTION_ANALYZER_NODE_HPP_ +#define REACTION_ANALYZER_NODE_HPP_ + +#include +#include +#include +#include + +#include +#include +#include +#include +#include +#include + +#include +#include +#include +#include +#include +#include +#include +#include + +namespace reaction_analyzer +{ +using autoware_adapi_v1_msgs::msg::LocalizationInitializationState; +using autoware_adapi_v1_msgs::msg::OperationModeState; +using autoware_adapi_v1_msgs::msg::RouteState; +using autoware_adapi_v1_msgs::srv::ChangeOperationMode; +using autoware_auto_perception_msgs::msg::PredictedObject; +using autoware_auto_perception_msgs::msg::PredictedObjects; +using autoware_internal_msgs::msg::PublishedTime; +using geometry_msgs::msg::Pose; +using geometry_msgs::msg::PoseStamped; +using nav_msgs::msg::Odometry; +using sensor_msgs::msg::PointCloud2; + +struct NodeParams +{ + std::string running_mode; + double timer_period; + std::string output_file_path; + size_t test_iteration; + double spawn_time_after_init; + double spawn_distance_threshold; + PoseParams initial_pose; + PoseParams goal_pose; + EntityParams entity_params; +}; + +class ReactionAnalyzerNode : public rclcpp::Node +{ +public: + explicit ReactionAnalyzerNode(rclcpp::NodeOptions node_options); + + Odometry::ConstSharedPtr odometry_ptr_; + +private: + std::mutex mutex_; + RunningMode node_running_mode_; + + // Parameters + NodeParams node_params_; + + // Initialization Variables + geometry_msgs::msg::Pose entity_pose_; + geometry_msgs::msg::PoseWithCovarianceStamped init_pose_; + geometry_msgs::msg::PoseStamped goal_pose_; + + // Subscribers + rclcpp::Subscription::SharedPtr sub_kinematics_; + rclcpp::Subscription::SharedPtr sub_route_state_; + rclcpp::Subscription::SharedPtr sub_localization_init_state_; + rclcpp::Subscription::SharedPtr sub_operation_mode_; + rclcpp::Subscription::SharedPtr + sub_ground_truth_pose_; // Only for perception_planning mode + + // Publishers + rclcpp::Publisher::SharedPtr pub_initial_pose_; + rclcpp::Publisher::SharedPtr pub_goal_pose_; + rclcpp::Publisher::SharedPtr pub_marker_; + + // Variables + std::vector pipeline_map_vector_; + std::optional last_test_environment_init_request_time_; + std::optional test_environment_init_time_; + std::optional spawn_cmd_time_; + std::atomic spawn_object_cmd_{false}; + std::atomic ego_initialized_{false}; + bool is_initialization_requested{false}; + bool is_route_set_{false}; + size_t test_iteration_count_{0}; + visualization_msgs::msg::Marker entity_debug_marker_; + + // Functions + void init_analyzer_variables(); + void init_test_env( + const LocalizationInitializationState::ConstSharedPtr & initialization_state_ptr, + const RouteState::ConstSharedPtr & route_state_ptr, + const OperationModeState::ConstSharedPtr & operation_mode_ptr, + const PoseStamped::ConstSharedPtr & ground_truth_pose_ptr, + const Odometry::ConstSharedPtr & odometry_ptr); + bool init_ego( + const LocalizationInitializationState::ConstSharedPtr & initialization_state_ptr, + const Odometry::ConstSharedPtr & odometry_ptr, const rclcpp::Time & current_time); + bool set_route( + const RouteState::ConstSharedPtr & route_state_ptr, const rclcpp::Time & current_time); + bool check_ego_init_correctly( + const PoseStamped::ConstSharedPtr & ground_truth_pose_ptr, + const Odometry::ConstSharedPtr & odometry_ptr); + void call_operation_mode_service_without_response(); + void spawn_obstacle(const geometry_msgs::msg::Point & ego_pose); + void calculate_results( + const std::map & message_buffers, + const rclcpp::Time & spawn_cmd_time); + void on_timer(); + void reset(); + + // Callbacks + void on_vehicle_pose(Odometry::ConstSharedPtr msg_ptr); + void on_localization_initialization_state( + LocalizationInitializationState::ConstSharedPtr msg_ptr); + void on_route_state(RouteState::ConstSharedPtr msg_ptr); + void on_operation_mode_state(OperationModeState::ConstSharedPtr msg_ptr); + void on_ground_truth_pose(PoseStamped::ConstSharedPtr msg_ptr); + + // Timer + rclcpp::TimerBase::SharedPtr timer_; + + // Client + rclcpp::Client::SharedPtr client_change_to_autonomous_; + + // Pointers + std::unique_ptr topic_publisher_ptr_; + std::unique_ptr subscriber_ptr_; + LocalizationInitializationState::ConstSharedPtr initialization_state_ptr_; + RouteState::ConstSharedPtr current_route_state_ptr_; + OperationModeState::ConstSharedPtr operation_mode_ptr_; + PoseStamped::ConstSharedPtr ground_truth_pose_ptr_; +}; +} // namespace reaction_analyzer + +#endif // REACTION_ANALYZER_NODE_HPP_ diff --git a/tools/reaction_analyzer/include/subscriber.hpp b/tools/reaction_analyzer/include/subscriber.hpp new file mode 100644 index 0000000000000..d14d41da545f7 --- /dev/null +++ b/tools/reaction_analyzer/include/subscriber.hpp @@ -0,0 +1,191 @@ +// Copyright 2024 The Autoware Contributors +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#ifndef SUBSCRIBER_HPP_ +#define SUBSCRIBER_HPP_ +#include +#include +#include +#include + +#include +#include + +#include +#include +#include +#include +#include +#include + +#include +#include +#include +#include +#include +#include +#include + +namespace reaction_analyzer::subscriber +{ +using autoware_auto_control_msgs::msg::AckermannControlCommand; +using autoware_auto_perception_msgs::msg::DetectedObject; +using autoware_auto_perception_msgs::msg::DetectedObjects; +using autoware_auto_perception_msgs::msg::PredictedObject; +using autoware_auto_perception_msgs::msg::PredictedObjects; +using autoware_auto_perception_msgs::msg::TrackedObject; +using autoware_auto_perception_msgs::msg::TrackedObjects; +using autoware_auto_planning_msgs::msg::Trajectory; +using autoware_internal_msgs::msg::PublishedTime; +using geometry_msgs::msg::Pose; +using nav_msgs::msg::Odometry; +using sensor_msgs::msg::PointCloud2; + +// Buffers to be used to store subscribed messages' data, pipeline Header, and PublishedTime +using MessageBuffer = std::optional; +// We need to store the past AckermannControlCommands to analyze the first brake +using ControlCommandBuffer = std::pair, MessageBuffer>; +// Variant to store different types of buffers +using MessageBufferVariant = std::variant; + +template +struct SubscriberVariables +{ + using ExactTimePolicy = message_filters::sync_policies::ExactTime; + + std::unique_ptr> sub1_; + std::unique_ptr> sub2_; + std::unique_ptr> synchronizer_; + // tmp: only for the messages who don't have header e.g. AckermannControlCommand + std::unique_ptr> cache_; +}; + +// Variant to create subscribers for different message types +using SubscriberVariablesVariant = std::variant< + SubscriberVariables, SubscriberVariables, + SubscriberVariables, SubscriberVariables, + SubscriberVariables, SubscriberVariables>; + +// The configuration of the topic to be subscribed which are defined in reaction_chain +struct TopicConfig +{ + std::string node_name; + std::string topic_address; + std::string time_debug_topic_address; + SubscriberMessageType message_type; +}; + +// Place for the reaction functions' parameter configuration +struct FirstBrakeParams +{ + bool debug_control_commands; + double control_cmd_buffer_time_interval; + size_t min_number_descending_order_control_cmd; + double min_jerk_for_brake_cmd; +}; + +struct SearchZeroVelParams +{ + double max_looking_distance; +}; + +struct SearchEntityParams +{ + double search_radius_offset; +}; + +// Place for the store the reaction parameter configuration (currently only for first brake) +struct ReactionParams +{ + FirstBrakeParams first_brake_params; + SearchZeroVelParams search_zero_vel_params; + SearchEntityParams search_entity_params; +}; + +using ChainModules = std::vector; + +class SubscriberBase +{ +public: + explicit SubscriberBase( + rclcpp::Node * node, Odometry::ConstSharedPtr & odometry, std::atomic & spawn_object_cmd, + const EntityParams & entity_params); + + std::optional> get_message_buffers_map(); + void reset(); + +private: + std::mutex mutex_; + + // Init + rclcpp::Node * node_; + Odometry::ConstSharedPtr odometry_; + std::atomic & spawn_object_cmd_; + EntityParams entity_params_; + + // Variables to be initialized in constructor + ChainModules chain_modules_{}; + ReactionParams reaction_params_{}; + geometry_msgs::msg::Pose entity_pose_{}; + double entity_search_radius_{0.0}; + + // Variants + std::map subscriber_variables_map_; + std::map message_buffers_; + + // tf + std::shared_ptr tf_buffer_; + std::shared_ptr tf_listener_; + + // Functions + void init_reaction_chains_and_params(); + bool init_subscribers(); + std::optional get_subscriber_variable( + const TopicConfig & topic_config); + std::optional find_first_brake_idx( + const std::vector & cmd_array); + void set_control_command_to_buffer( + std::vector & buffer, const AckermannControlCommand & cmd) const; + + // Callbacks for modules are subscribed + void on_control_command( + const std::string & node_name, const AckermannControlCommand::ConstSharedPtr & msg_ptr); + void on_trajectory(const std::string & node_name, const Trajectory::ConstSharedPtr & msg_ptr); + void on_trajectory( + const std::string & node_name, const Trajectory::ConstSharedPtr & msg_ptr, + const PublishedTime::ConstSharedPtr & published_time_ptr); + void on_pointcloud(const std::string & node_name, const PointCloud2::ConstSharedPtr & msg_ptr); + void on_pointcloud( + const std::string & node_name, const PointCloud2::ConstSharedPtr & msg_ptr, + const PublishedTime::ConstSharedPtr & published_time_ptr); + void on_predicted_objects( + const std::string & node_name, const PredictedObjects::ConstSharedPtr & msg_ptr); + void on_predicted_objects( + const std::string & node_name, const PredictedObjects::ConstSharedPtr & msg_ptr, + const PublishedTime::ConstSharedPtr & published_time_ptr); + void on_detected_objects( + const std::string & node_name, const DetectedObjects::ConstSharedPtr & msg_ptr); + void on_detected_objects( + const std::string & node_name, const DetectedObjects::ConstSharedPtr & msg_ptr, + const PublishedTime::ConstSharedPtr & published_time_ptr); + void on_tracked_objects( + const std::string & node_name, const TrackedObjects::ConstSharedPtr & msg_ptr); + void on_tracked_objects( + const std::string & node_name, const TrackedObjects::ConstSharedPtr & msg_ptr, + const PublishedTime::ConstSharedPtr & published_time_ptr); +}; + +} // namespace reaction_analyzer::subscriber + +#endif // SUBSCRIBER_HPP_ diff --git a/tools/reaction_analyzer/include/topic_publisher.hpp b/tools/reaction_analyzer/include/topic_publisher.hpp new file mode 100644 index 0000000000000..c6d3a90650884 --- /dev/null +++ b/tools/reaction_analyzer/include/topic_publisher.hpp @@ -0,0 +1,249 @@ +// Copyright 2024 The Autoware Contributors +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#ifndef TOPIC_PUBLISHER_HPP_ +#define TOPIC_PUBLISHER_HPP_ + +#include +#include +#include +#include + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include +#include + +#include +#include +#include +#include +#include +#include +#include + +namespace reaction_analyzer::topic_publisher +{ +using autoware_auto_control_msgs::msg::AckermannControlCommand; +using autoware_auto_perception_msgs::msg::DetectedObject; +using autoware_auto_perception_msgs::msg::DetectedObjects; +using autoware_auto_perception_msgs::msg::PredictedObject; +using autoware_auto_perception_msgs::msg::PredictedObjects; +using autoware_auto_planning_msgs::msg::Trajectory; +using geometry_msgs::msg::Pose; +using nav_msgs::msg::Odometry; +using sensor_msgs::msg::PointCloud2; + +struct TopicPublisherParams +{ + double dummy_perception_publisher_period; // Only for planning_control mode + double spawned_pointcloud_sampling_distance; + std::string path_bag_without_object; // Path to the bag file without object + std::string path_bag_with_object; // Path to the bag file with object + std::string pointcloud_publisher_type; // Type of the pointcloud publisher + double pointcloud_publisher_period; // Period of the pointcloud publisher + bool publish_only_pointcloud_with_object; // Publish only pointcloud with object for only + // perception pipeline debug purpose make it true. +}; + +enum class PointcloudPublisherType { + ASYNC_PUBLISHER = 0, // Asynchronous publisher + SYNC_HEADER_SYNC_PUBLISHER = 1, // Synchronous publisher with header synchronization + ASYNC_HEADER_SYNC_PUBLISHER = 2, // Asynchronous publisher with header synchronization +}; + +/** + * @brief Message type template struct for the variables of the Publisher. + */ +template +struct PublisherVariables +{ + std::chrono::milliseconds period_ms{0}; + typename MessageType::SharedPtr empty_area_message; + typename MessageType::SharedPtr object_spawned_message; + typename rclcpp::Publisher::SharedPtr publisher; + rclcpp::TimerBase::SharedPtr timer; +}; + +/** + * @brief Struct for accessing the variables of the Publisher. + */ +struct PublisherVarAccessor +{ + // Template struct to check if a type has a header member. + template > + struct HasHeader : std::false_type + { + }; + + template + struct HasHeader> : std::true_type + { + }; + + // Template struct to check if a type has a stamp member. + template > + struct HasStamp : std::false_type + { + }; + + template + struct HasStamp> : std::true_type + { + }; + + template + void publish_with_current_time( + const PublisherVariables & publisher_var, const rclcpp::Time & current_time, + const bool is_object_spawned) const + { + std::unique_ptr msg_to_be_published = std::make_unique(); + + if (is_object_spawned) { + *msg_to_be_published = *publisher_var.object_spawned_message; + } else { + *msg_to_be_published = *publisher_var.empty_area_message; + } + if constexpr (HasHeader::value) { + msg_to_be_published->header.stamp = current_time; + } else if constexpr (HasStamp::value) { + msg_to_be_published->stamp = current_time; + } + publisher_var.publisher->publish(std::move(msg_to_be_published)); + } + + template + void set_period(T & publisher_var, std::chrono::milliseconds new_period) + { + publisher_var.period_ms = new_period; + } + + template + std::chrono::milliseconds get_period(const T & publisher_var) const + { + return publisher_var.period_ms; + } + + template + std::shared_ptr get_empty_area_message(const T & publisher_var) const + { + return std::static_pointer_cast(publisher_var.empty_area_message); + } + + template + std::shared_ptr get_object_spawned_message(const T & publisher_var) const + { + return std::static_pointer_cast(publisher_var.object_spawned_message); + } +}; + +using PublisherVariablesVariant = std::variant< + PublisherVariables, PublisherVariables, + PublisherVariables, + PublisherVariables, + PublisherVariables, PublisherVariables, + PublisherVariables, + PublisherVariables, + PublisherVariables, + PublisherVariables, + PublisherVariables, + PublisherVariables, + PublisherVariables>; + +using LidarOutputPair = std::pair< + std::shared_ptr>, + std::shared_ptr>>; + +class TopicPublisher +{ +public: + explicit TopicPublisher( + rclcpp::Node * node, std::atomic & spawn_object_cmd, std::atomic & ego_initialized, + std::optional & spawn_cmd_time, const RunningMode & node_running_mode, + const EntityParams & entity_params); + + void reset(); + +private: + std::mutex mutex_; + + // Initialized variables + rclcpp::Node * node_; + RunningMode node_running_mode_; + std::atomic & spawn_object_cmd_; + std::atomic & ego_initialized_; // used for planning_control mode because if pointcloud is + // published before ego is initialized, it causes crash + EntityParams entity_params_; + std::optional & spawn_cmd_time_; // Set by a publisher function when the + // spawn_object_cmd_ is true + + // tf + std::shared_ptr tf_buffer_; + std::shared_ptr tf_listener_; + + // Parameters + TopicPublisherParams topic_publisher_params_; + + // Variables planning_control mode + rclcpp::Publisher::SharedPtr pub_pointcloud_; + rclcpp::Publisher::SharedPtr pub_predicted_objects_; + PointCloud2::SharedPtr entity_pointcloud_ptr_; + PredictedObjects::SharedPtr predicted_objects_ptr_; + + // Variables perception_planning mode + PointcloudPublisherType pointcloud_publisher_type_; + std::map topic_publisher_map_; + std::map + lidar_pub_variable_pair_map_; // used to publish pointcloud_raw and pointcloud_raw_ex + bool is_object_spawned_message_published_{false}; + std::shared_ptr one_shot_timer_shared_ptr_; + + // Functions + template + void set_message( + const std::string & topic_name, const rosbag2_storage::SerializedBagMessage & bag_message, + const bool is_empty_area_message); + void set_period(const std::map> & time_map); + void set_publishers_and_timers_to_variable(); + void set_timers_for_pointcloud_msgs( + const std::map> & pointcloud_variables_map); + bool check_publishers_initialized_correctly(); + void init_rosbag_publishers(); + void init_rosbag_publisher_buffer(const std::string & bag_path, const bool is_empty_area_message); + void pointcloud_messages_sync_publisher(const PointcloudPublisherType type); + void pointcloud_messages_async_publisher( + const std::pair< + std::shared_ptr>, + std::shared_ptr>> & lidar_output_pair_); + void generic_message_publisher(const std::string & topic_name); + void dummy_perception_publisher(); // Only for planning_control mode + + // Timers + std::map pointcloud_publish_timers_map_; + rclcpp::TimerBase::SharedPtr pointcloud_sync_publish_timer_; + rclcpp::TimerBase::SharedPtr dummy_perception_timer_; +}; +} // namespace reaction_analyzer::topic_publisher + +#endif // TOPIC_PUBLISHER_HPP_ diff --git a/tools/reaction_analyzer/include/utils.hpp b/tools/reaction_analyzer/include/utils.hpp new file mode 100644 index 0000000000000..da1defc03f34c --- /dev/null +++ b/tools/reaction_analyzer/include/utils.hpp @@ -0,0 +1,363 @@ +// Copyright 2024 The Autoware Contributors +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#ifndef UTILS_HPP_ +#define UTILS_HPP_ + +#include +#include +#include +#include +#include +#include + +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include +#include +#include +#include + +#include +#include +#include + +#include +#include +#include +#include +#include +#include +#include + +// The reaction_analyzer namespace contains utility functions for the Reaction Analyzer tool. +namespace reaction_analyzer +{ +using autoware_auto_control_msgs::msg::AckermannControlCommand; +using autoware_auto_perception_msgs::msg::DetectedObject; +using autoware_auto_perception_msgs::msg::DetectedObjects; +using autoware_auto_perception_msgs::msg::PredictedObject; +using autoware_auto_perception_msgs::msg::PredictedObjects; +using autoware_auto_perception_msgs::msg::TrackedObject; +using autoware_auto_perception_msgs::msg::TrackedObjects; +using autoware_auto_planning_msgs::msg::Trajectory; +using autoware_auto_planning_msgs::msg::TrajectoryPoint; +using autoware_internal_msgs::msg::PublishedTime; +using sensor_msgs::msg::PointCloud2; + +/** + * @brief A pair containing the ReactionPair. + * The first element is name of the node that published the PublishedTime msg. + * The second element is the PublishedTime msg itself + */ +using ReactionPair = std::pair; + +/** + * @brief A map containing the pipeline and the reaction pairs. + * The key is the time at which the pipeline was executed. + * The value is a vector of ReactionPair. + */ +using PipelineMap = std::map>; + +/** + * @brief A vector containing the pipeline and the reaction pairs. + * The first element is the time at which the pipeline was executed. + * The second element is a vector of ReactionPair. + */ +using TimestampedReactionPairsVector = + std::vector>>; + +/** + * @brief Enum for the different types of messages that can be published. + */ +enum class PublisherMessageType { + UNKNOWN = 0, + CAMERA_INFO = 1, + IMAGE = 2, + POINTCLOUD2 = 3, + POSE_WITH_COVARIANCE_STAMPED = 4, + POSE_STAMPED = 5, + ODOMETRY = 6, + IMU = 7, + CONTROL_MODE_REPORT = 8, + GEAR_REPORT = 9, + HAZARD_LIGHTS_REPORT = 10, + STEERING_REPORT = 11, + TURN_INDICATORS_REPORT = 12, + VELOCITY_REPORT = 13, +}; + +/** + * @brief Enum for the different types of messages that can be subscribed to. + */ +enum class SubscriberMessageType { + UNKNOWN = 0, + ACKERMANN_CONTROL_COMMAND = 1, + TRAJECTORY = 2, + POINTCLOUD2 = 3, + DETECTED_OBJECTS = 4, + PREDICTED_OBJECTS = 5, + TRACKED_OBJECTS = 6, +}; + +/** + * @brief Enum for the different types of reactions that can be analyzed. + */ +enum class ReactionType { + UNKNOWN = 0, + FIRST_BRAKE = 1, + SEARCH_ZERO_VEL = 2, + SEARCH_ENTITY = 3, +}; + +/** + * @brief Enum for the different running modes of the Reaction Analyzer. + */ +enum class RunningMode { + PerceptionPlanning = 0, + PlanningControl = 1, +}; + +/** + * @brief Structs containing the parameters of a pose. + */ +struct PoseParams +{ + double x; + double y; + double z; + double roll; + double pitch; + double yaw; +}; + +struct EntityParams +{ + double x; + double y; + double z; + double roll; + double pitch; + double yaw; + double x_l; + double y_l; + double z_l; +}; + +/** + * @brief Struct containing statistics of the latencies. + */ +struct LatencyStats +{ + double min; + double max; + double mean; + double median; + double std_dev; +}; + +/** + * @brief Convert string to SubscriberMessageType. + */ +SubscriberMessageType get_subscriber_message_type(const std::string & message_type); + +/** + * @brief Convert string to PublisherMessageType. + */ +PublisherMessageType get_publisher_message_type(const std::string & message_type); + +/** + * @brief Get the PublisherMessageType for a given topic. + */ +PublisherMessageType get_publisher_message_type_for_topic( + const std::vector & topics, const std::string & topic_name); + +/** + * @brief Convert string to ReactionType. + */ +ReactionType get_reaction_type(const std::string & reaction_type); + +/** + * @brief Calculates the statistics of a vector of latencies. + * @param latency_vec The vector of latencies. + * @return The statistics of the latencies. + */ +LatencyStats calculate_statistics(const std::vector & latency_vec); + +/** + * @brief Generates a UUID message from a string. + * @param input The string to generate the UUID from. + * @return The generated UUID message. + */ +unique_identifier_msgs::msg::UUID generate_uuid_msg(const std::string & input); + +/** + * @brief Generate pose from PoseParams. + * @param pose_params + * @return Pose + */ +geometry_msgs::msg::Pose pose_params_to_pose(const PoseParams & pose_params); + +/** + * @brief Generate entity pose from entity params. + * @param entity_params + * @return Pose + */ +geometry_msgs::msg::Pose create_entity_pose(const EntityParams & entity_params); + +/** + * @brief Generate entity pose from entity params. + * @param entity_params + * @return Pose + */ +double calculate_entity_search_radius(const EntityParams & entity_params); + +/** + * @brief Create a pointcloud from entity params. + * @param entity_params + * @param pointcloud_sampling_distance + * @return PointCloud2::SharedPtr + */ +PointCloud2::SharedPtr create_entity_pointcloud_ptr( + const EntityParams & entity_params, const double pointcloud_sampling_distance); + +/** + * @brief Create a predicted objects message from entity params. + * @param entity_params + * @return PredictedObjects::SharedPtr + */ +PredictedObjects::SharedPtr create_entity_predicted_objects_ptr(const EntityParams & entity_params); + +/** + * @brief Creates a subscription option with a new callback group. + * + * @param node A pointer to the node for which the subscription options are being created. + * @return The created SubscriptionOptions. + */ +rclcpp::SubscriptionOptions create_subscription_options(rclcpp::Node * node); + +/** + * @brief Creates a visualization marker for a polyhedron based on the provided entity parameters. + * + * @param params The parameters of the entity for which the marker is to be created. It includes the + * position, orientation, and dimensions of the entity. + * @return The created visualization marker for the polyhedron. + */ +visualization_msgs::msg::Marker create_polyhedron_marker(const EntityParams & params); + +/** + * @brief Splits a string by a given delimiter. + * + * @param str The string to be split. + * @param delimiter The delimiter to split the string by. + * @return A vector of strings, each of which is a segment of the original string split by the + * delimiter. + */ +std::vector split(const std::string & str, char delimiter); + +/** + * @brief Checks if a folder exists. + * + * @param path The path to the folder. + * @return True if the folder exists, false otherwise. + */ +bool does_folder_exist(const std::string & path); + +/** + * @brief Get the index of the trajectory point that is a certain distance away from the current + * point. + * + * @param traj The trajectory to search. + * @param curr_id The index of the current point in the trajectory. + * @param distance The distance to search for a point. + * @return The index of the point that is at least the specified distance away from the current + * point. + */ +size_t get_index_after_distance( + const Trajectory & traj, const size_t curr_id, const double distance); + +/** + * @brief Search for a pointcloud near the pose. + * @param pcl_pointcloud, pose, search_radius + * @return bool + */ +bool search_pointcloud_near_pose( + const pcl::PointCloud & pcl_pointcloud, const geometry_msgs::msg::Pose & pose, + const double search_radius); +/** + * + * @brief Search for a predicted object near the pose. + * @param predicted_objects, pose, search_radius + * @return bool + */ +bool search_predicted_objects_near_pose( + const PredictedObjects & predicted_objects, const geometry_msgs::msg::Pose & pose, + const double search_radius); +/** + * @brief Search for a detected object near the pose. + * @param detected_objects, pose, search_radius + * @return bool + */ +bool search_detected_objects_near_pose( + const DetectedObjects & detected_objects, const geometry_msgs::msg::Pose & pose, + const double search_radius); +/** + * @brief Search for a tracked object near the pose. + * @param tracked_objects, pose, search_radius + * @return bool + */ +bool search_tracked_objects_near_pose( + const TrackedObjects & tracked_objects, const geometry_msgs::msg::Pose & pose, + const double search_radius); + +/** + * Calculates the time difference in milliseconds between two rclcpp::Time instances. + * + * @param start The start time. + * @param end The end time. + * @return The time difference in milliseconds as a double. + */ +double calculate_time_diff_ms(const rclcpp::Time & start, const rclcpp::Time & end); + +/** + * @brief Converts a PipelineMap to a PipelineMapVector. + * + * @param pipelineMap The PipelineMap to be converted. + * @return The PipelineMapVector that is equivalent to the PipelineMap. + */ +TimestampedReactionPairsVector convert_pipeline_map_to_sorted_vector( + const PipelineMap & pipelineMap); + +/** + * @brief Writes the results to a file. + * + * @param node A pointer to the node for which the results are being written. + * @param output_file_path The path to the file where the results will be written. + * @param node_running_mode The running mode of the node. + * @param pipeline_map_vector The vector of PipelineMap containing the results to be written. + */ +void write_results( + rclcpp::Node * node, const std::string & output_file_path, const RunningMode & node_running_mode, + const std::vector & pipeline_map_vector); +} // namespace reaction_analyzer + +#endif // UTILS_HPP_ diff --git a/tools/reaction_analyzer/launch/reaction_analyzer.launch.xml b/tools/reaction_analyzer/launch/reaction_analyzer.launch.xml new file mode 100644 index 0000000000000..b0b1d4fb9bf2e --- /dev/null +++ b/tools/reaction_analyzer/launch/reaction_analyzer.launch.xml @@ -0,0 +1,67 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/tools/reaction_analyzer/media/PointcloudPublisherType.png b/tools/reaction_analyzer/media/PointcloudPublisherType.png new file mode 100644 index 0000000000000..597b73318bcac Binary files /dev/null and b/tools/reaction_analyzer/media/PointcloudPublisherType.png differ diff --git a/tools/reaction_analyzer/media/ReactionAnalyzerDesign.png b/tools/reaction_analyzer/media/ReactionAnalyzerDesign.png new file mode 100644 index 0000000000000..cb0f2dd8577fc Binary files /dev/null and b/tools/reaction_analyzer/media/ReactionAnalyzerDesign.png differ diff --git a/tools/reaction_analyzer/media/sc1-awsim.png b/tools/reaction_analyzer/media/sc1-awsim.png new file mode 100644 index 0000000000000..6bdc104a93b87 Binary files /dev/null and b/tools/reaction_analyzer/media/sc1-awsim.png differ diff --git a/tools/reaction_analyzer/media/sc1-rviz.png b/tools/reaction_analyzer/media/sc1-rviz.png new file mode 100644 index 0000000000000..ae7c6e882bf98 Binary files /dev/null and b/tools/reaction_analyzer/media/sc1-rviz.png differ diff --git a/tools/reaction_analyzer/media/sc2-awsim.png b/tools/reaction_analyzer/media/sc2-awsim.png new file mode 100644 index 0000000000000..8224b516897be Binary files /dev/null and b/tools/reaction_analyzer/media/sc2-awsim.png differ diff --git a/tools/reaction_analyzer/media/sc2-rviz.png b/tools/reaction_analyzer/media/sc2-rviz.png new file mode 100644 index 0000000000000..8f4f5feae8ba3 Binary files /dev/null and b/tools/reaction_analyzer/media/sc2-rviz.png differ diff --git a/tools/reaction_analyzer/package.xml b/tools/reaction_analyzer/package.xml new file mode 100644 index 0000000000000..05081eac01751 --- /dev/null +++ b/tools/reaction_analyzer/package.xml @@ -0,0 +1,49 @@ + + + + reaction_analyzer + 1.0.0 + Analyzer that measures reaction times of the nodes + + Berkay Karaman + + Apache License 2.0 + + Berkay Karaman + + ament_cmake_auto + autoware_cmake + + autoware_adapi_v1_msgs + autoware_auto_control_msgs + autoware_auto_perception_msgs + autoware_auto_planning_msgs + autoware_auto_system_msgs + autoware_auto_vehicle_msgs + autoware_internal_msgs + eigen + libpcl-all-dev + message_filters + motion_utils + pcl_conversions + pcl_ros + rclcpp + rclcpp_components + rosbag2_cpp + sensor_msgs + tf2 + tf2_eigen + tf2_geometry_msgs + tf2_ros + tier4_autoware_utils + + ament_cmake_ros + ament_index_python + ament_lint_auto + autoware_lint_common + autoware_testing + + + ament_cmake + + diff --git a/tools/reaction_analyzer/param/reaction_analyzer.param.yaml b/tools/reaction_analyzer/param/reaction_analyzer.param.yaml new file mode 100644 index 0000000000000..62c1191bd345a --- /dev/null +++ b/tools/reaction_analyzer/param/reaction_analyzer.param.yaml @@ -0,0 +1,117 @@ +/**: + ros__parameters: + timer_period: 0.033 # s + test_iteration: 10 + output_file_path: + spawn_time_after_init: 10.0 # s for perception_planning mode + spawn_distance_threshold: 15.0 # m # for planning_control mode + poses: + initialization_pose: + x: 81546.984375 + y: 50011.96875 + z: 0.0 + roll: 0.0 + pitch: 0.0 + yaw: 11.1130405 + goal_pose: + x: 81643.0703125 + y: 50029.8828125 + z: 0.0 + roll: 0.0 + pitch: 0.0 + yaw: 13.12 + entity_params: + x: 81633.86068376624 + y: 50028.383586673124 + z: 42.44818343779461 + roll: 0.0 + pitch: 0.0 + yaw: 11.8235848 + x_dimension: 3.95 + y_dimension: 1.77 + z_dimension: 1.43 + topic_publisher: + path_bag_without_object: /rosbag2_awsim_labs/rosbag2_awsim_labs.db3 + path_bag_with_object: /rosbag2_awsim_labs_obstacle/rosbag2_awsim_labs_obstacle.db3 + pointcloud_publisher: + pointcloud_publisher_type: "sync_header_sync_publish" # "async_header_sync_publish", "sync_header_sync_publish" or "async_publish" + pointcloud_publisher_period: 0.1 # s + publish_only_pointcloud_with_object: false # use it only for debug purposes. If true, only pointclouds with object will be published + spawned_pointcloud_sampling_distance: 0.1 # m for planning_control mode + dummy_perception_publisher_period: 0.1 # s for planning_control mode + subscriber: + reaction_params: + first_brake_params: + debug_control_commands: false + control_cmd_buffer_time_interval: 1.0 # s + min_number_descending_order_control_cmd: 3 + min_jerk_for_brake_cmd: 0.3 # m/s^3 + search_zero_vel_params: + max_looking_distance: 15.0 # m + search_entity_params: + search_radius_offset: 0.0 # m + reaction_chain: + obstacle_cruise_planner: + topic_name: /planning/scenario_planning/lane_driving/trajectory + time_debug_topic_name: /planning/scenario_planning/lane_driving/trajectory/debug/published_time + message_type: autoware_auto_planning_msgs/msg/Trajectory + scenario_selector: + topic_name: /planning/scenario_planning/scenario_selector/trajectory + time_debug_topic_name: /planning/scenario_planning/scenario_selector/trajectory/debug/published_time + message_type: autoware_auto_planning_msgs/msg/Trajectory + motion_velocity_smoother: + topic_name: /planning/scenario_planning/motion_velocity_smoother/trajectory + time_debug_topic_name: /planning/scenario_planning/motion_velocity_smoother/trajectory/debug/published_time + message_type: autoware_auto_planning_msgs/msg/Trajectory + planning_validator: + topic_name: /planning/scenario_planning/trajectory + time_debug_topic_name: /planning/scenario_planning/trajectory/debug/published_time + message_type: autoware_auto_planning_msgs/msg/Trajectory + trajectory_follower: + topic_name: /control/trajectory_follower/control_cmd + time_debug_topic_name: /control/trajectory_follower/control_cmd/debug/published_time + message_type: autoware_auto_control_msgs/msg/AckermannControlCommand + vehicle_cmd_gate: + topic_name: /control/command/control_cmd + time_debug_topic_name: /control/command/control_cmd/debug/published_time + message_type: autoware_auto_control_msgs/msg/AckermannControlCommand + common_ground_filter: + topic_name: /perception/obstacle_segmentation/single_frame/pointcloud + time_debug_topic_name: /perception/obstacle_segmentation/single_frame/pointcloud/debug/published_time + message_type: sensor_msgs/msg/PointCloud2 + occupancy_grid_map_outlier: + topic_name: /perception/obstacle_segmentation/pointcloud + time_debug_topic_name: /perception/obstacle_segmentation/pointcloud/debug/published_time + message_type: sensor_msgs/msg/PointCloud2 + multi_object_tracker: + topic_name: /perception/object_recognition/tracking/near_objects + time_debug_topic_name: /perception/object_recognition/tracking/near_objects/debug/published_time + message_type: autoware_auto_perception_msgs/msg/TrackedObjects + lidar_centerpoint: + topic_name: /perception/object_recognition/detection/centerpoint/objects + time_debug_topic_name: /perception/object_recognition/detection/centerpoint/objects/debug/published_time + message_type: autoware_auto_perception_msgs/msg/DetectedObjects + obstacle_pointcloud_based_validator: + topic_name: /perception/object_recognition/detection/centerpoint/validation/objects + time_debug_topic_name: /perception/object_recognition/detection/centerpoint/validation/objects/debug/published_time + message_type: autoware_auto_perception_msgs/msg/DetectedObjects + decorative_tracker_merger: + topic_name: /perception/object_recognition/tracking/objects + time_debug_topic_name: /perception/object_recognition/tracking/objects/debug/published_time + message_type: autoware_auto_perception_msgs/msg/TrackedObjects + detected_object_feature_remover: + topic_name: /perception/object_recognition/detection/clustering/objects + time_debug_topic_name: /perception/object_recognition/detection/clustering/objects/debug/published_time + message_type: autoware_auto_perception_msgs/msg/DetectedObjects + detection_by_tracker: + topic_name: /perception/object_recognition/detection/detection_by_tracker/objects + time_debug_topic_name: /perception/object_recognition/detection/detection_by_tracker/objects/debug/published_time + message_type: autoware_auto_perception_msgs/msg/DetectedObjects + object_lanelet_filter: + topic_name: /perception/object_recognition/detection/objects + time_debug_topic_name: /perception/object_recognition/detection/objects/debug/published_time + message_type: autoware_auto_perception_msgs/msg/DetectedObjects + map_based_prediction: + topic_name: /perception/object_recognition/objects + time_debug_topic_name: /perception/object_recognition/objects/debug/published_time + message_type: autoware_auto_perception_msgs/msg/PredictedObjects diff --git a/tools/reaction_analyzer/src/reaction_analyzer_node.cpp b/tools/reaction_analyzer/src/reaction_analyzer_node.cpp new file mode 100644 index 0000000000000..53313f28eb4d9 --- /dev/null +++ b/tools/reaction_analyzer/src/reaction_analyzer_node.cpp @@ -0,0 +1,442 @@ +// Copyright 2024 The Autoware Contributors +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "reaction_analyzer_node.hpp" + +#include +#include + +namespace reaction_analyzer +{ + +void ReactionAnalyzerNode::on_operation_mode_state(OperationModeState::ConstSharedPtr msg_ptr) +{ + std::lock_guard lock(mutex_); + operation_mode_ptr_ = std::move(msg_ptr); +} + +void ReactionAnalyzerNode::on_route_state(RouteState::ConstSharedPtr msg_ptr) +{ + std::lock_guard lock(mutex_); + current_route_state_ptr_ = std::move(msg_ptr); +} + +void ReactionAnalyzerNode::on_vehicle_pose(Odometry::ConstSharedPtr msg_ptr) +{ + std::lock_guard lock(mutex_); + odometry_ptr_ = msg_ptr; +} + +void ReactionAnalyzerNode::on_localization_initialization_state( + LocalizationInitializationState::ConstSharedPtr msg_ptr) +{ + std::lock_guard lock(mutex_); + initialization_state_ptr_ = std::move(msg_ptr); +} + +void ReactionAnalyzerNode::on_ground_truth_pose(PoseStamped::ConstSharedPtr msg_ptr) +{ + std::lock_guard lock(mutex_); + ground_truth_pose_ptr_ = std::move(msg_ptr); +} + +ReactionAnalyzerNode::ReactionAnalyzerNode(rclcpp::NodeOptions node_options) +: Node("reaction_analyzer_node", node_options.automatically_declare_parameters_from_overrides(true)) +{ + using std::placeholders::_1; + + node_params_.running_mode = get_parameter("running_mode").as_string(); + + // set running mode + if (node_params_.running_mode == "planning_control") { + node_running_mode_ = RunningMode::PlanningControl; + } else if (node_params_.running_mode == "perception_planning") { + node_running_mode_ = RunningMode::PerceptionPlanning; + } else { + RCLCPP_ERROR(get_logger(), "Invalid running mode. Node couldn't be initialized. Failed."); + return; + } + + node_params_.output_file_path = get_parameter("output_file_path").as_string(); + // Check if the output file path is valid + if (!does_folder_exist(node_params_.output_file_path)) { + RCLCPP_ERROR(get_logger(), "Output file path is not valid. Node couldn't be initialized."); + return; + } + + node_params_.timer_period = get_parameter("timer_period").as_double(); + node_params_.test_iteration = get_parameter("test_iteration").as_int(); + node_params_.spawn_time_after_init = get_parameter("spawn_time_after_init").as_double(); + node_params_.spawn_distance_threshold = get_parameter("spawn_distance_threshold").as_double(); + + // Position parameters + node_params_.initial_pose.x = get_parameter("poses.initialization_pose.x").as_double(); + node_params_.initial_pose.y = get_parameter("poses.initialization_pose.y").as_double(); + node_params_.initial_pose.z = get_parameter("poses.initialization_pose.z").as_double(); + node_params_.initial_pose.roll = get_parameter("poses.initialization_pose.roll").as_double(); + node_params_.initial_pose.pitch = get_parameter("poses.initialization_pose.pitch").as_double(); + node_params_.initial_pose.yaw = get_parameter("poses.initialization_pose.yaw").as_double(); + + node_params_.goal_pose.x = get_parameter("poses.goal_pose.x").as_double(); + node_params_.goal_pose.y = get_parameter("poses.goal_pose.y").as_double(); + node_params_.goal_pose.z = get_parameter("poses.goal_pose.z").as_double(); + node_params_.goal_pose.roll = get_parameter("poses.goal_pose.roll").as_double(); + node_params_.goal_pose.pitch = get_parameter("poses.goal_pose.pitch").as_double(); + node_params_.goal_pose.yaw = get_parameter("poses.goal_pose.yaw").as_double(); + + node_params_.entity_params.x = get_parameter("poses.entity_params.x").as_double(); + node_params_.entity_params.y = get_parameter("poses.entity_params.y").as_double(); + node_params_.entity_params.z = get_parameter("poses.entity_params.z").as_double(); + node_params_.entity_params.roll = get_parameter("poses.entity_params.roll").as_double(); + node_params_.entity_params.pitch = get_parameter("poses.entity_params.pitch").as_double(); + node_params_.entity_params.yaw = get_parameter("poses.entity_params.yaw").as_double(); + node_params_.entity_params.x_l = get_parameter("poses.entity_params.x_dimension").as_double(); + node_params_.entity_params.y_l = get_parameter("poses.entity_params.y_dimension").as_double(); + node_params_.entity_params.z_l = get_parameter("poses.entity_params.z_dimension").as_double(); + + sub_kinematics_ = create_subscription( + "input/kinematics", 1, std::bind(&ReactionAnalyzerNode::on_vehicle_pose, this, _1), + create_subscription_options(this)); + sub_localization_init_state_ = create_subscription( + "input/localization_initialization_state", rclcpp::QoS(1).transient_local(), + std::bind(&ReactionAnalyzerNode::on_localization_initialization_state, this, _1), + create_subscription_options(this)); + sub_route_state_ = create_subscription( + "input/routing_state", rclcpp::QoS{1}.transient_local(), + std::bind(&ReactionAnalyzerNode::on_route_state, this, _1), create_subscription_options(this)); + sub_operation_mode_ = create_subscription( + "input/operation_mode_state", rclcpp::QoS{1}.transient_local(), + std::bind(&ReactionAnalyzerNode::on_operation_mode_state, this, _1), + create_subscription_options(this)); + + pub_goal_pose_ = create_publisher("output/goal", rclcpp::QoS(1)); + pub_marker_ = create_publisher("~/debug", 10); + + init_analyzer_variables(); + + if (node_running_mode_ == RunningMode::PlanningControl) { + pub_initial_pose_ = create_publisher( + "output/initialpose", rclcpp::QoS(1)); + + client_change_to_autonomous_ = + create_client("service/change_to_autonomous"); + + } else if (node_running_mode_ == RunningMode::PerceptionPlanning) { + sub_ground_truth_pose_ = create_subscription( + "input/ground_truth_pose", rclcpp::QoS{1}, + std::bind(&ReactionAnalyzerNode::on_ground_truth_pose, this, _1), + create_subscription_options(this)); + } + + topic_publisher_ptr_ = std::make_unique( + this, spawn_object_cmd_, ego_initialized_, spawn_cmd_time_, node_running_mode_, + node_params_.entity_params); + + // initialize the odometry before init the subscriber + odometry_ptr_ = std::make_shared(); + // Load the subscriber to listen the topics for reactions + subscriber_ptr_ = std::make_unique( + this, odometry_ptr_, spawn_object_cmd_, node_params_.entity_params); + + const auto period_ns = std::chrono::duration_cast( + std::chrono::duration(node_params_.timer_period)); + timer_ = rclcpp::create_timer( + this, get_clock(), period_ns, std::bind(&ReactionAnalyzerNode::on_timer, this)); +} + +void ReactionAnalyzerNode::on_timer() +{ + mutex_.lock(); + const auto current_odometry_ptr = odometry_ptr_; + const auto initialization_state_ptr = initialization_state_ptr_; + const auto route_state_ptr = current_route_state_ptr_; + const auto operation_mode_ptr = operation_mode_ptr_; + const auto ground_truth_pose_ptr = ground_truth_pose_ptr_; + const auto spawn_cmd_time = spawn_cmd_time_; + mutex_.unlock(); + + // Init the test environment + if (!test_environment_init_time_) { + init_test_env( + initialization_state_ptr, route_state_ptr, operation_mode_ptr, ground_truth_pose_ptr, + current_odometry_ptr); + return; + } + + pub_marker_->publish(entity_debug_marker_); + + // Spawn the obstacle if the conditions are met + spawn_obstacle(current_odometry_ptr->pose.pose.position); + + // If the spawn_cmd_time is not set by pointcloud publishers, don't do anything + if (!spawn_cmd_time) return; + + // Get the reacted messages, if all modules reacted + const auto message_buffers = subscriber_ptr_->get_message_buffers_map(); + + if (message_buffers) { + // if reacted, calculate the results + calculate_results(message_buffers.value(), spawn_cmd_time.value()); + // reset the variables if the iteration is not finished, otherwise write the results + reset(); + } +} + +void ReactionAnalyzerNode::spawn_obstacle(const geometry_msgs::msg::Point & ego_pose) +{ + if (node_running_mode_ == RunningMode::PerceptionPlanning) { + rclcpp::Duration time_diff = this->now() - test_environment_init_time_.value(); + if (time_diff > rclcpp::Duration::from_seconds(node_params_.spawn_time_after_init)) { + if (!spawn_object_cmd_) { + spawn_object_cmd_ = true; + RCLCPP_INFO(this->get_logger(), "Spawn command is sent."); + } + } + } else { + if ( + tier4_autoware_utils::calcDistance3d(ego_pose, entity_pose_.position) < + node_params_.spawn_distance_threshold) { + if (!spawn_object_cmd_) { + spawn_object_cmd_ = true; + RCLCPP_INFO(this->get_logger(), "Spawn command is sent."); + } + } + } +} + +void ReactionAnalyzerNode::calculate_results( + const std::map & message_buffers, + const rclcpp::Time & spawn_cmd_time) +{ + // Map the reaction times w.r.t its header time to categorize it + PipelineMap pipeline_map; + + { + // set the spawn_cmd_time as the first reaction pair + ReactionPair reaction_pair; + reaction_pair.first = "spawn_cmd_time"; + reaction_pair.second.header.stamp = spawn_cmd_time; + reaction_pair.second.published_stamp = spawn_cmd_time; + pipeline_map[reaction_pair.second.header.stamp].emplace_back(reaction_pair); + } + + for (const auto & [key, variant] : message_buffers) { + ReactionPair reaction_pair; + if (auto * control_message = std::get_if(&variant)) { + if (control_message->second) { + reaction_pair.first = key; + reaction_pair.second = control_message->second.value(); + } + } else if (auto * general_message = std::get_if(&variant)) { + if (general_message->has_value()) { + reaction_pair.first = key; + reaction_pair.second = general_message->value(); + } + } + pipeline_map[reaction_pair.second.header.stamp].emplace_back(reaction_pair); + } + pipeline_map_vector_.emplace_back(pipeline_map); + test_iteration_count_++; +} + +void ReactionAnalyzerNode::init_analyzer_variables() +{ + entity_pose_ = create_entity_pose(node_params_.entity_params); + entity_debug_marker_ = create_polyhedron_marker(node_params_.entity_params); + goal_pose_.pose = pose_params_to_pose(node_params_.goal_pose); + + if (node_running_mode_ == RunningMode::PlanningControl) { + init_pose_.pose.pose = pose_params_to_pose(node_params_.initial_pose); + } +} + +void ReactionAnalyzerNode::init_test_env( + const LocalizationInitializationState::ConstSharedPtr & initialization_state_ptr, + const RouteState::ConstSharedPtr & route_state_ptr, + const OperationModeState::ConstSharedPtr & operation_mode_ptr, + const PoseStamped::ConstSharedPtr & ground_truth_pose_ptr, + const Odometry::ConstSharedPtr & odometry_ptr) +{ + const auto current_time = this->now(); + + // Initialize the test environment + constexpr double initialize_call_period = 1.0; // sec + if ( + !last_test_environment_init_request_time_ || + (current_time - last_test_environment_init_request_time_.value()).seconds() >= + initialize_call_period) { + last_test_environment_init_request_time_ = current_time; + + // Pose initialization of the ego + is_initialization_requested = !is_initialization_requested + ? init_ego(initialization_state_ptr, odometry_ptr, current_time) + : is_initialization_requested; + + if ( + is_initialization_requested && + initialization_state_ptr->state != LocalizationInitializationState::INITIALIZED) { + is_initialization_requested = false; + return; + } + + // Check is position initialized accurately, if node is running in perception_planning mode + if (node_running_mode_ == RunningMode::PerceptionPlanning) { + if (!check_ego_init_correctly(ground_truth_pose_ptr, odometry_ptr)) return; + } + + // Set route + is_route_set_ = !is_route_set_ ? set_route(route_state_ptr, current_time) : is_route_set_; + + if (!is_route_set_) { + return; + } + + // if node is running PlanningControl mode, change ego to Autonomous mode. + if (node_running_mode_ == RunningMode::PlanningControl) { + // change to autonomous + if (operation_mode_ptr && operation_mode_ptr->mode != OperationModeState::AUTONOMOUS) { + call_operation_mode_service_without_response(); + } + } + ego_initialized_ = true; + + const bool is_ready = + (is_initialization_requested && is_route_set_ && + (operation_mode_ptr->mode == OperationModeState::AUTONOMOUS || + node_running_mode_ == RunningMode::PerceptionPlanning)); + if (is_ready) { + test_environment_init_time_ = this->now(); + } + } +} + +void ReactionAnalyzerNode::call_operation_mode_service_without_response() +{ + auto req = std::make_shared(); + + RCLCPP_INFO(this->get_logger(), "client request"); + + if (!client_change_to_autonomous_->service_is_ready()) { + RCLCPP_INFO(this->get_logger(), "client is unavailable"); + return; + } + + client_change_to_autonomous_->async_send_request( + req, [this](typename rclcpp::Client::SharedFuture result) { + RCLCPP_INFO( + this->get_logger(), "Status: %d, %s", result.get()->status.code, + result.get()->status.message.c_str()); + }); +} + +bool ReactionAnalyzerNode::init_ego( + const LocalizationInitializationState::ConstSharedPtr & initialization_state_ptr, + const Odometry::ConstSharedPtr & odometry_ptr, const rclcpp::Time & current_time) +{ + // Pose initialization of the ego + if (initialization_state_ptr) { + if (node_running_mode_ == RunningMode::PlanningControl) { + // publish initial pose + init_pose_.header.stamp = current_time; + init_pose_.header.frame_id = "map"; + pub_initial_pose_->publish(init_pose_); + RCLCPP_WARN_ONCE(get_logger(), "Initialization position is published. Waiting for init..."); + } + // Wait until odometry_ptr is initialized + if (!odometry_ptr) { + RCLCPP_WARN_ONCE(get_logger(), "Odometry is not received. Waiting for odometry..."); + return false; + } + return true; + } + return false; +} + +bool ReactionAnalyzerNode::set_route( + const RouteState::ConstSharedPtr & route_state_ptr, const rclcpp::Time & current_time) +{ + if (route_state_ptr) { + if (route_state_ptr->state != RouteState::SET) { + // publish goal pose + goal_pose_.header.stamp = current_time; + goal_pose_.header.frame_id = "map"; + pub_goal_pose_->publish(goal_pose_); + return false; + } + return true; + } + return false; +} + +bool ReactionAnalyzerNode::check_ego_init_correctly( + const PoseStamped::ConstSharedPtr & ground_truth_pose_ptr, + const Odometry::ConstSharedPtr & odometry_ptr) +{ + if (!ground_truth_pose_ptr) { + RCLCPP_WARN( + get_logger(), "Ground truth pose is not received. Waiting for Ground truth pose..."); + return false; + } + if (!odometry_ptr) { + RCLCPP_WARN(get_logger(), "Odometry is not received. Waiting for odometry..."); + return false; + } + + constexpr double deviation_threshold = 0.1; + const auto deviation = + tier4_autoware_utils::calcPoseDeviation(ground_truth_pose_ptr->pose, odometry_ptr->pose.pose); + const bool is_position_initialized_correctly = deviation.longitudinal < deviation_threshold && + deviation.lateral < deviation_threshold && + deviation.yaw < deviation_threshold; + if (!is_position_initialized_correctly) { + RCLCPP_ERROR( + get_logger(), + "Deviation between ground truth position and ego position is high. Node is shutting " + "down. Longitudinal deviation: %f, Lateral deviation: %f, Yaw deviation: %f", + deviation.longitudinal, deviation.lateral, deviation.yaw); + rclcpp::shutdown(); + } + return true; +} + +void ReactionAnalyzerNode::reset() +{ + if (test_iteration_count_ >= node_params_.test_iteration) { + write_results(this, node_params_.output_file_path, node_running_mode_, pipeline_map_vector_); + RCLCPP_INFO(get_logger(), "%zu Tests are finished. Node shutting down.", test_iteration_count_); + rclcpp::shutdown(); + return; + } + // reset the variables + is_initialization_requested = false; + is_route_set_ = false; + test_environment_init_time_ = std::nullopt; + last_test_environment_init_request_time_ = std::nullopt; + spawn_object_cmd_ = false; + if (topic_publisher_ptr_) { + topic_publisher_ptr_->reset(); + } + std::lock_guard lock(mutex_); + spawn_cmd_time_ = std::nullopt; + subscriber_ptr_->reset(); + ego_initialized_ = false; + RCLCPP_INFO(this->get_logger(), "Test - %zu is done, resetting..", test_iteration_count_); +} +} // namespace reaction_analyzer + +#include + +#include + +RCLCPP_COMPONENTS_REGISTER_NODE(reaction_analyzer::ReactionAnalyzerNode) diff --git a/tools/reaction_analyzer/src/subscriber.cpp b/tools/reaction_analyzer/src/subscriber.cpp new file mode 100644 index 0000000000000..8c735c42b9cd5 --- /dev/null +++ b/tools/reaction_analyzer/src/subscriber.cpp @@ -0,0 +1,996 @@ +// Copyright 2024 The Autoware Contributors +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "subscriber.hpp" + +#include +#include +#include + +namespace reaction_analyzer::subscriber +{ + +SubscriberBase::SubscriberBase( + rclcpp::Node * node, Odometry::ConstSharedPtr & odometry, std::atomic & spawn_object_cmd, + const EntityParams & entity_params) +: node_(node), + odometry_(odometry), + spawn_object_cmd_(spawn_object_cmd), + entity_params_(entity_params) +{ + // init tf + tf_buffer_ = std::make_shared(node_->get_clock()); + tf_listener_ = std::make_shared(*tf_buffer_); + + // init reaction parameters and chain configuration + init_reaction_chains_and_params(); + init_subscribers(); +} + +void SubscriberBase::init_reaction_chains_and_params() +{ + // Init Chains: get the topic addresses and message types of the modules in chain + { + const auto param_key = std::string("subscriber.reaction_chain"); + const auto module_names = node_->list_parameters({param_key}, 3).prefixes; + for (const auto & module_name : module_names) { + const auto splitted_name = split(module_name, '.'); + TopicConfig tmp; + tmp.node_name = splitted_name.back(); + tmp.topic_address = node_->get_parameter(module_name + ".topic_name").as_string(); + tmp.time_debug_topic_address = + node_->get_parameter_or(module_name + ".time_debug_topic_name", std::string("")); + tmp.message_type = get_subscriber_message_type( + node_->get_parameter(module_name + ".message_type").as_string()); + if (tmp.message_type != SubscriberMessageType::UNKNOWN) { + chain_modules_.emplace_back(tmp); + } else { + RCLCPP_WARN( + node_->get_logger(), "Unknown message type for module name: %s, skipping..", + tmp.node_name.c_str()); + } + } + } + + // Init Params: get the parameters for the reaction functions + { + const auto param_key = std::string("subscriber.reaction_params"); + const auto module_names = node_->list_parameters({param_key}, 3).prefixes; + for (const auto & module_name : module_names) { + const auto splitted_name = split(module_name, '.'); + const auto type = get_reaction_type(splitted_name.back()); + switch (type) { + case ReactionType::FIRST_BRAKE: { + reaction_params_.first_brake_params.debug_control_commands = + node_->get_parameter(module_name + ".debug_control_commands").as_bool(); + reaction_params_.first_brake_params.control_cmd_buffer_time_interval = + node_->get_parameter(module_name + ".control_cmd_buffer_time_interval").as_double(); + reaction_params_.first_brake_params.min_number_descending_order_control_cmd = + node_->get_parameter(module_name + ".min_number_descending_order_control_cmd").as_int(); + reaction_params_.first_brake_params.min_jerk_for_brake_cmd = + node_->get_parameter(module_name + ".min_jerk_for_brake_cmd").as_double(); + RCLCPP_INFO_ONCE( + node_->get_logger(), + "First brake parameters are set: debug_control_commands %s, " + "control_cmd_buffer_time_interval %f, min_number_descending_order_control_cmd %zu, " + "min_jerk_for_brake_cmd %f", + reaction_params_.first_brake_params.debug_control_commands ? "true" : "false", + reaction_params_.first_brake_params.control_cmd_buffer_time_interval, + reaction_params_.first_brake_params.min_number_descending_order_control_cmd, + reaction_params_.first_brake_params.min_jerk_for_brake_cmd); + break; + } + case ReactionType::SEARCH_ZERO_VEL: { + reaction_params_.search_zero_vel_params.max_looking_distance = + node_->get_parameter(module_name + ".max_looking_distance").as_double(); + RCLCPP_INFO_ONCE( + node_->get_logger(), "Search Zero Vel parameters are set: max_looking_distance %f", + reaction_params_.search_zero_vel_params.max_looking_distance); + break; + } + case ReactionType::SEARCH_ENTITY: { + reaction_params_.search_entity_params.search_radius_offset = + node_->get_parameter(module_name + ".search_radius_offset").as_double(); + RCLCPP_INFO_ONCE( + node_->get_logger(), "Search Entity parameters are set: search_radius_offset %f", + reaction_params_.search_entity_params.search_radius_offset); + break; + } + default: + RCLCPP_WARN( + node_->get_logger(), "Unknown reaction type for module name: %s, skipping..", + splitted_name.back().c_str()); + break; + } + } + } + + // Init variables + { + entity_pose_ = create_entity_pose(entity_params_); + entity_search_radius_ = calculate_entity_search_radius(entity_params_) + + reaction_params_.search_entity_params.search_radius_offset; + } +} + +bool SubscriberBase::init_subscribers() +{ + if (chain_modules_.empty()) { + RCLCPP_ERROR(node_->get_logger(), "No module to initialize subscribers, failed."); + return false; + } + + for (const auto & module : chain_modules_) { + if (module.message_type == SubscriberMessageType::UNKNOWN) { + RCLCPP_WARN( + node_->get_logger(), "Unknown message type for topic_config name: %s, skipping..", + module.node_name.c_str()); + } + auto subscriber_var = get_subscriber_variable(module); + if (!subscriber_var) { + RCLCPP_ERROR( + node_->get_logger(), "Failed to initialize subscriber for module name: %s", + module.node_name.c_str()); + return false; + } + subscriber_variables_map_[module.node_name] = std::move(subscriber_var.value()); + } + return true; +} + +std::optional> SubscriberBase::get_message_buffers_map() +{ + std::lock_guard lock(mutex_); + if (message_buffers_.empty()) { + RCLCPP_ERROR(node_->get_logger(), "No message buffers are initialized."); + return std::nullopt; + } + + // Check all reacted or not + bool all_reacted = true; + for (const auto & [key, variant] : message_buffers_) { + if (auto * control_message = std::get_if(&variant)) { + if (!control_message->second) { + RCLCPP_WARN_THROTTLE( + node_->get_logger(), *node_->get_clock(), 1000, "Waiting for %s to react", key.c_str()); + all_reacted = false; + } + } else if (auto * general_message = std::get_if(&variant)) { + if (!general_message->has_value()) { + RCLCPP_WARN_THROTTLE( + node_->get_logger(), *node_->get_clock(), 1000, "Waiting for %s to react", key.c_str()); + all_reacted = false; + } + } + } + if (!all_reacted) { + return std::nullopt; + } + return message_buffers_; +} + +void SubscriberBase::reset() +{ + std::lock_guard lock(mutex_); + message_buffers_.clear(); +} + +// Callbacks + +void SubscriberBase::on_control_command( + const std::string & node_name, const AckermannControlCommand::ConstSharedPtr & msg_ptr) +{ + std::lock_guard lock(mutex_); + auto & variant = message_buffers_[node_name]; + if (!std::holds_alternative(variant)) { + ControlCommandBuffer buffer(std::vector{*msg_ptr}, std::nullopt); + variant = buffer; + } + auto & cmd_buffer = std::get(variant); + if (cmd_buffer.second) { + // reacted + return; + } + set_control_command_to_buffer(cmd_buffer.first, *msg_ptr); + if (!spawn_object_cmd_) return; + + const auto brake_idx = find_first_brake_idx(cmd_buffer.first); + if (brake_idx) { + const auto brake_cmd = cmd_buffer.first.at(brake_idx.value()); + + // TODO(brkay54): update here if message_filters package add support for the messages which + // does not have header + const auto & subscriber_variant = + std::get>(subscriber_variables_map_[node_name]); + + // check if the cache was initialized or not, if there is, use it to set the published time + if (subscriber_variant.cache_) { + // use cache to get the published time + const auto published_time_vec = + subscriber_variant.cache_->getSurroundingInterval(brake_cmd.stamp, node_->now()); + if (!published_time_vec.empty()) { + for (const auto & published_time : published_time_vec) { + if (published_time->header.stamp == brake_cmd.stamp) { + cmd_buffer.second = *published_time; + RCLCPP_INFO(node_->get_logger(), "%s reacted with published time", node_name.c_str()); + return; + } + } + RCLCPP_ERROR( + node_->get_logger(), "Published time couldn't found for the node: %s", node_name.c_str()); + + } else { + RCLCPP_ERROR( + node_->get_logger(), "Published time vector is empty for the node: %s", + node_name.c_str()); + } + } else { + cmd_buffer.second->header.stamp = brake_cmd.stamp; + cmd_buffer.second->published_stamp = brake_cmd.stamp; + RCLCPP_INFO(node_->get_logger(), "%s reacted without published time", node_name.c_str()); + } + } +} + +void SubscriberBase::on_trajectory( + const std::string & node_name, const Trajectory::ConstSharedPtr & msg_ptr) +{ + mutex_.lock(); + auto variant = message_buffers_[node_name]; + const auto current_odometry_ptr = odometry_; + if (!std::holds_alternative(variant)) { + MessageBuffer buffer(std::nullopt); + variant = buffer; + message_buffers_[node_name] = variant; + } + mutex_.unlock(); + + if (!current_odometry_ptr || !spawn_object_cmd_ || std::get(variant).has_value()) { + return; + } + + const auto nearest_seg_idx = motion_utils::findNearestSegmentIndex( + msg_ptr->points, current_odometry_ptr->pose.pose.position); + + const auto nearest_objects_seg_idx = + motion_utils::findNearestIndex(msg_ptr->points, entity_pose_.position); + + const auto zero_vel_idx = motion_utils::searchZeroVelocityIndex( + msg_ptr->points, nearest_seg_idx, nearest_objects_seg_idx); + + if (zero_vel_idx) { + RCLCPP_INFO(node_->get_logger(), "%s reacted without published time", node_name.c_str()); + // set header time + auto & buffer = std::get(variant); + buffer->header.stamp = msg_ptr->header.stamp; + buffer->published_stamp = msg_ptr->header.stamp; + mutex_.lock(); + message_buffers_[node_name] = variant; + mutex_.unlock(); + } +} + +void SubscriberBase::on_trajectory( + const std::string & node_name, const Trajectory::ConstSharedPtr & msg_ptr, + const PublishedTime::ConstSharedPtr & published_time_ptr) +{ + mutex_.lock(); + auto variant = message_buffers_[node_name]; + const auto current_odometry_ptr = odometry_; + if (!std::holds_alternative(variant)) { + MessageBuffer buffer(std::nullopt); + variant = buffer; + message_buffers_[node_name] = variant; + } + mutex_.unlock(); + + if (!current_odometry_ptr || !spawn_object_cmd_ || std::get(variant).has_value()) { + return; + } + + const auto nearest_seg_idx = motion_utils::findNearestSegmentIndex( + msg_ptr->points, current_odometry_ptr->pose.pose.position); + + // find the target index which we will search for zero velocity + auto tmp_target_idx = get_index_after_distance( + *msg_ptr, nearest_seg_idx, reaction_params_.search_zero_vel_params.max_looking_distance); + if (tmp_target_idx == msg_ptr->points.size() - 1) { + tmp_target_idx = msg_ptr->points.size() - 2; // Last trajectory points might be zero velocity + } + const auto target_idx = tmp_target_idx; + const auto zero_vel_idx = + motion_utils::searchZeroVelocityIndex(msg_ptr->points, nearest_seg_idx, target_idx); + + if (zero_vel_idx) { + RCLCPP_INFO(node_->get_logger(), "%s reacted with published time", node_name.c_str()); + // set published time + auto & buffer = std::get(variant); + buffer = *published_time_ptr; + mutex_.lock(); + message_buffers_[node_name] = variant; + mutex_.unlock(); + } +} + +void SubscriberBase::on_pointcloud( + const std::string & node_name, const PointCloud2::ConstSharedPtr & msg_ptr) +{ + mutex_.lock(); + auto variant = message_buffers_[node_name]; + if (!std::holds_alternative(variant)) { + MessageBuffer buffer(std::nullopt); + variant = buffer; + message_buffers_[node_name] = variant; + } + mutex_.unlock(); + + if (!spawn_object_cmd_ || std::get(variant).has_value()) { + return; + } + + // transform pointcloud + geometry_msgs::msg::TransformStamped transform_stamped{}; + try { + transform_stamped = tf_buffer_->lookupTransform( + "map", msg_ptr->header.frame_id, node_->now(), rclcpp::Duration::from_seconds(0.1)); + } catch (tf2::TransformException & ex) { + RCLCPP_ERROR_STREAM( + node_->get_logger(), + "Failed to look up transform from " << msg_ptr->header.frame_id << " to map"); + return; + } + + // transform by using eigen matrix + PointCloud2 transformed_points{}; + const Eigen::Matrix4f affine_matrix = + tf2::transformToEigen(transform_stamped.transform).matrix().cast(); + pcl_ros::transformPointCloud(affine_matrix, *msg_ptr, transformed_points); + + pcl::PointCloud pcl_pointcloud; + pcl::fromROSMsg(transformed_points, pcl_pointcloud); + + if (search_pointcloud_near_pose(pcl_pointcloud, entity_pose_, entity_search_radius_)) { + RCLCPP_INFO(node_->get_logger(), "%s reacted without published time", node_name.c_str()); + // set header time + auto & buffer = std::get(variant); + buffer->header.stamp = msg_ptr->header.stamp; + buffer->published_stamp = msg_ptr->header.stamp; + mutex_.lock(); + message_buffers_[node_name] = variant; + mutex_.unlock(); + } +} +void SubscriberBase::on_pointcloud( + const std::string & node_name, const PointCloud2::ConstSharedPtr & msg_ptr, + const PublishedTime::ConstSharedPtr & published_time_ptr) +{ + mutex_.lock(); + auto variant = message_buffers_[node_name]; + if (!std::holds_alternative(variant)) { + MessageBuffer buffer(std::nullopt); + variant = buffer; + message_buffers_[node_name] = variant; + } + mutex_.unlock(); + + if (!spawn_object_cmd_ || std::get(variant).has_value()) { + return; + } + + // transform pointcloud + geometry_msgs::msg::TransformStamped transform_stamped{}; + try { + transform_stamped = tf_buffer_->lookupTransform( + "map", msg_ptr->header.frame_id, node_->now(), rclcpp::Duration::from_seconds(0.1)); + } catch (tf2::TransformException & ex) { + RCLCPP_ERROR_STREAM( + node_->get_logger(), + "Failed to look up transform from " << msg_ptr->header.frame_id << " to map"); + return; + } + + // transform by using eigen matrix + PointCloud2 transformed_points{}; + const Eigen::Matrix4f affine_matrix = + tf2::transformToEigen(transform_stamped.transform).matrix().cast(); + pcl_ros::transformPointCloud(affine_matrix, *msg_ptr, transformed_points); + + pcl::PointCloud pcl_pointcloud; + pcl::fromROSMsg(transformed_points, pcl_pointcloud); + + if (search_pointcloud_near_pose(pcl_pointcloud, entity_pose_, entity_search_radius_)) { + RCLCPP_INFO(node_->get_logger(), "%s reacted with published time", node_name.c_str()); + // set published time + auto & buffer = std::get(variant); + buffer = *published_time_ptr; + mutex_.lock(); + message_buffers_[node_name] = variant; + mutex_.unlock(); + } +} +void SubscriberBase::on_predicted_objects( + const std::string & node_name, const PredictedObjects::ConstSharedPtr & msg_ptr) +{ + mutex_.lock(); + auto variant = message_buffers_[node_name]; + if (!std::holds_alternative(variant)) { + MessageBuffer buffer(std::nullopt); + variant = buffer; + message_buffers_[node_name] = variant; + } + mutex_.unlock(); + + if ( + !spawn_object_cmd_ || msg_ptr->objects.empty() || + std::get(variant).has_value()) { + return; + } + + if (search_predicted_objects_near_pose(*msg_ptr, entity_pose_, entity_search_radius_)) { + RCLCPP_INFO(node_->get_logger(), "%s reacted without published time", node_name.c_str()); + // set header time + auto & buffer = std::get(variant); + buffer->header.stamp = msg_ptr->header.stamp; + buffer->published_stamp = msg_ptr->header.stamp; + mutex_.lock(); + message_buffers_[node_name] = variant; + mutex_.unlock(); + } +} + +void SubscriberBase::on_predicted_objects( + const std::string & node_name, const PredictedObjects::ConstSharedPtr & msg_ptr, + const PublishedTime::ConstSharedPtr & published_time_ptr) +{ + mutex_.lock(); + auto variant = message_buffers_[node_name]; + if (!std::holds_alternative(variant)) { + MessageBuffer buffer(std::nullopt); + variant = buffer; + message_buffers_[node_name] = variant; + } + mutex_.unlock(); + + if ( + !spawn_object_cmd_ || msg_ptr->objects.empty() || + std::get(variant).has_value()) { + return; + } + + if (search_predicted_objects_near_pose(*msg_ptr, entity_pose_, entity_search_radius_)) { + RCLCPP_INFO(node_->get_logger(), "%s reacted with published time", node_name.c_str()); + // set published time + auto & buffer = std::get(variant); + buffer = *published_time_ptr; + mutex_.lock(); + message_buffers_[node_name] = variant; + mutex_.unlock(); + } +} + +void SubscriberBase::on_detected_objects( + const std::string & node_name, const DetectedObjects::ConstSharedPtr & msg_ptr) +{ + mutex_.lock(); + auto variant = message_buffers_[node_name]; + if (!std::holds_alternative(variant)) { + MessageBuffer buffer(std::nullopt); + variant = buffer; + message_buffers_[node_name] = variant; + } + mutex_.unlock(); + if ( + !spawn_object_cmd_ || msg_ptr->objects.empty() || + std::get(variant).has_value()) { + return; + } + + // transform objects + geometry_msgs::msg::TransformStamped transform_stamped{}; + try { + transform_stamped = tf_buffer_->lookupTransform( + "map", msg_ptr->header.frame_id, node_->now(), rclcpp::Duration::from_seconds(0.1)); + } catch (tf2::TransformException & ex) { + RCLCPP_ERROR_STREAM( + node_->get_logger(), + "Failed to look up transform from " << msg_ptr->header.frame_id << " to map"); + return; + } + + DetectedObjects output_objs; + output_objs = *msg_ptr; + for (auto & obj : output_objs.objects) { + geometry_msgs::msg::PoseStamped output_stamped; + geometry_msgs::msg::PoseStamped input_stamped; + input_stamped.pose = obj.kinematics.pose_with_covariance.pose; + tf2::doTransform(input_stamped, output_stamped, transform_stamped); + obj.kinematics.pose_with_covariance.pose = output_stamped.pose; + } + if (search_detected_objects_near_pose(output_objs, entity_pose_, entity_search_radius_)) { + RCLCPP_INFO(node_->get_logger(), "%s reacted without published time", node_name.c_str()); + // set header time + auto & buffer = std::get(variant); + buffer->header.stamp = msg_ptr->header.stamp; + buffer->published_stamp = msg_ptr->header.stamp; + mutex_.lock(); + message_buffers_[node_name] = variant; + mutex_.unlock(); + } +} + +void SubscriberBase::on_detected_objects( + const std::string & node_name, const DetectedObjects::ConstSharedPtr & msg_ptr, + const PublishedTime::ConstSharedPtr & published_time_ptr) +{ + mutex_.lock(); + auto variant = message_buffers_[node_name]; + if (!std::holds_alternative(variant)) { + MessageBuffer buffer(std::nullopt); + variant = buffer; + message_buffers_[node_name] = variant; + } + mutex_.unlock(); + if ( + !spawn_object_cmd_ || msg_ptr->objects.empty() || + std::get(variant).has_value()) { + return; + } + + // transform objects + geometry_msgs::msg::TransformStamped transform_stamped{}; + try { + transform_stamped = tf_buffer_->lookupTransform( + "map", msg_ptr->header.frame_id, node_->now(), rclcpp::Duration::from_seconds(0.1)); + } catch (tf2::TransformException & ex) { + RCLCPP_ERROR_STREAM( + node_->get_logger(), + "Failed to look up transform from " << msg_ptr->header.frame_id << " to map"); + return; + } + + DetectedObjects output_objs; + output_objs = *msg_ptr; + for (auto & obj : output_objs.objects) { + geometry_msgs::msg::PoseStamped output_stamped; + geometry_msgs::msg::PoseStamped input_stamped; + input_stamped.pose = obj.kinematics.pose_with_covariance.pose; + tf2::doTransform(input_stamped, output_stamped, transform_stamped); + obj.kinematics.pose_with_covariance.pose = output_stamped.pose; + } + if (search_detected_objects_near_pose(output_objs, entity_pose_, entity_search_radius_)) { + RCLCPP_INFO(node_->get_logger(), "%s reacted with published time", node_name.c_str()); + // set published time + auto & buffer = std::get(variant); + buffer = *published_time_ptr; + mutex_.lock(); + message_buffers_[node_name] = variant; + mutex_.unlock(); + } +} + +void SubscriberBase::on_tracked_objects( + const std::string & node_name, const TrackedObjects::ConstSharedPtr & msg_ptr) +{ + mutex_.lock(); + auto variant = message_buffers_[node_name]; + if (!std::holds_alternative(variant)) { + MessageBuffer buffer(std::nullopt); + variant = buffer; + message_buffers_[node_name] = variant; + } + mutex_.unlock(); + if ( + !spawn_object_cmd_ || msg_ptr->objects.empty() || + std::get(variant).has_value()) { + return; + } + + if (search_tracked_objects_near_pose(*msg_ptr, entity_pose_, entity_search_radius_)) { + mutex_.lock(); + message_buffers_[node_name] = variant; + mutex_.unlock(); + } +} + +void SubscriberBase::on_tracked_objects( + const std::string & node_name, const TrackedObjects::ConstSharedPtr & msg_ptr, + const PublishedTime::ConstSharedPtr & published_time_ptr) +{ + mutex_.lock(); + auto variant = message_buffers_[node_name]; + if (!std::holds_alternative(variant)) { + MessageBuffer buffer(std::nullopt); + variant = buffer; + message_buffers_[node_name] = variant; + } + mutex_.unlock(); + if ( + !spawn_object_cmd_ || msg_ptr->objects.empty() || + std::get(variant).has_value()) { + return; + } + + if (search_tracked_objects_near_pose(*msg_ptr, entity_pose_, entity_search_radius_)) { + RCLCPP_INFO(node_->get_logger(), "%s reacted with published time", node_name.c_str()); + // set published time + auto & buffer = std::get(variant); + buffer = *published_time_ptr; + mutex_.lock(); + message_buffers_[node_name] = variant; + mutex_.unlock(); + } +} + +std::optional SubscriberBase::get_subscriber_variable( + const TopicConfig & topic_config) +{ + switch (topic_config.message_type) { + case SubscriberMessageType::ACKERMANN_CONTROL_COMMAND: { + SubscriberVariables subscriber_variable; + + if (!topic_config.time_debug_topic_address.empty()) { + // If not empty, user should define a time debug topic + // NOTE: Because message_filters package does not support the messages without headers, we + // can not use the synchronizer. After we reacted, we are going to use the cache + // of the both PublishedTime and AckermannControlCommand subscribers to find the messages + // which have same header time. + + std::function callback = + [this, topic_config](const AckermannControlCommand::ConstSharedPtr & ptr) { + this->on_control_command(topic_config.node_name, ptr); + }; + subscriber_variable.sub1_ = + std::make_unique>( + node_, topic_config.topic_address, rclcpp::QoS(1).get_rmw_qos_profile(), + create_subscription_options(node_)); + + subscriber_variable.sub1_->registerCallback(std::bind(callback, std::placeholders::_1)); + + subscriber_variable.sub2_ = std::make_unique>( + node_, topic_config.time_debug_topic_address, rclcpp::QoS(1).get_rmw_qos_profile(), + create_subscription_options(node_)); + constexpr int cache_size = 5; + subscriber_variable.cache_ = std::make_unique>( + *subscriber_variable.sub2_, cache_size); + + } else { + std::function callback = + [this, topic_config](const AckermannControlCommand::ConstSharedPtr & ptr) { + this->on_control_command(topic_config.node_name, ptr); + }; + + subscriber_variable.sub1_ = + std::make_unique>( + node_, topic_config.topic_address, rclcpp::QoS(1).get_rmw_qos_profile(), + create_subscription_options(node_)); + + subscriber_variable.sub1_->registerCallback(std::bind(callback, std::placeholders::_1)); + RCLCPP_WARN( + node_->get_logger(), + "PublishedTime will not be used for node name: %s. Header timestamp will be used for " + "calculations", + topic_config.node_name.c_str()); + } + return subscriber_variable; + } + case SubscriberMessageType::TRAJECTORY: { + SubscriberVariables subscriber_variable; + + if (!topic_config.time_debug_topic_address.empty()) { + std::function + callback = [this, topic_config]( + const Trajectory::ConstSharedPtr & ptr, + const PublishedTime::ConstSharedPtr & published_time_ptr) { + this->on_trajectory(topic_config.node_name, ptr, published_time_ptr); + }; + + subscriber_variable.sub1_ = std::make_unique>( + node_, topic_config.topic_address, rclcpp::QoS(1).get_rmw_qos_profile(), + create_subscription_options(node_)); + subscriber_variable.sub2_ = std::make_unique>( + node_, topic_config.time_debug_topic_address, rclcpp::QoS(1).get_rmw_qos_profile(), + create_subscription_options(node_)); + + subscriber_variable.synchronizer_ = std::make_unique< + message_filters::Synchronizer::ExactTimePolicy>>( + SubscriberVariables::ExactTimePolicy(10), *subscriber_variable.sub1_, + *subscriber_variable.sub2_); + + subscriber_variable.synchronizer_->registerCallback( + std::bind(callback, std::placeholders::_1, std::placeholders::_2)); + + } else { + std::function callback = + [this, topic_config](const Trajectory::ConstSharedPtr & msg) { + this->on_trajectory(topic_config.node_name, msg); + }; + subscriber_variable.sub1_ = std::make_unique>( + node_, topic_config.topic_address, rclcpp::QoS(1).get_rmw_qos_profile(), + create_subscription_options(node_)); + + subscriber_variable.sub1_->registerCallback(std::bind(callback, std::placeholders::_1)); + RCLCPP_WARN( + node_->get_logger(), + "PublishedTime will not be used for node name: %s. Header timestamp will be used for " + "calculations", + topic_config.node_name.c_str()); + } + return subscriber_variable; + } + case SubscriberMessageType::POINTCLOUD2: { + SubscriberVariables subscriber_variable; + + if (!topic_config.time_debug_topic_address.empty()) { + std::function + callback = [this, topic_config]( + const PointCloud2::ConstSharedPtr & ptr, + const PublishedTime::ConstSharedPtr & published_time_ptr) { + this->on_pointcloud(topic_config.node_name, ptr, published_time_ptr); + }; + + subscriber_variable.sub1_ = std::make_unique>( + node_, topic_config.topic_address, rclcpp::SensorDataQoS().get_rmw_qos_profile(), + create_subscription_options(node_)); + subscriber_variable.sub2_ = std::make_unique>( + node_, topic_config.time_debug_topic_address, rclcpp::QoS(1).get_rmw_qos_profile(), + create_subscription_options(node_)); + + subscriber_variable.synchronizer_ = std::make_unique< + message_filters::Synchronizer::ExactTimePolicy>>( + SubscriberVariables::ExactTimePolicy(10), *subscriber_variable.sub1_, + *subscriber_variable.sub2_); + + subscriber_variable.synchronizer_->registerCallback( + std::bind(callback, std::placeholders::_1, std::placeholders::_2)); + + } else { + std::function callback = + [this, topic_config](const PointCloud2::ConstSharedPtr & msg) { + this->on_pointcloud(topic_config.node_name, msg); + }; + subscriber_variable.sub1_ = std::make_unique>( + node_, topic_config.topic_address, rclcpp::QoS(1).get_rmw_qos_profile(), + create_subscription_options(node_)); + + subscriber_variable.sub1_->registerCallback(std::bind(callback, std::placeholders::_1)); + RCLCPP_WARN( + node_->get_logger(), + "PublishedTime will not be used for node name: %s. Header timestamp will be used for " + "calculations", + topic_config.node_name.c_str()); + } + return subscriber_variable; + } + case SubscriberMessageType::PREDICTED_OBJECTS: { + SubscriberVariables subscriber_variable; + + if (!topic_config.time_debug_topic_address.empty()) { + std::function + callback = [this, topic_config]( + const PredictedObjects::ConstSharedPtr & ptr, + const PublishedTime::ConstSharedPtr & published_time_ptr) { + this->on_predicted_objects(topic_config.node_name, ptr, published_time_ptr); + }; + subscriber_variable.sub1_ = std::make_unique>( + node_, topic_config.topic_address, rclcpp::QoS(1).get_rmw_qos_profile(), + create_subscription_options(node_)); + subscriber_variable.sub2_ = std::make_unique>( + node_, topic_config.time_debug_topic_address, rclcpp::QoS(1).get_rmw_qos_profile(), + create_subscription_options(node_)); + + subscriber_variable.synchronizer_ = std::make_unique< + message_filters::Synchronizer::ExactTimePolicy>>( + SubscriberVariables::ExactTimePolicy(10), *subscriber_variable.sub1_, + *subscriber_variable.sub2_); + + subscriber_variable.synchronizer_->registerCallback( + std::bind(callback, std::placeholders::_1, std::placeholders::_2)); + + } else { + std::function callback = + [this, topic_config](const PredictedObjects::ConstSharedPtr & msg) { + this->on_predicted_objects(topic_config.node_name, msg); + }; + subscriber_variable.sub1_ = std::make_unique>( + node_, topic_config.topic_address, rclcpp::QoS(1).get_rmw_qos_profile(), + create_subscription_options(node_)); + + subscriber_variable.sub1_->registerCallback(std::bind(callback, std::placeholders::_1)); + RCLCPP_WARN( + node_->get_logger(), + "PublishedTime will not be used for node name: %s. Header timestamp will be used for " + "calculations", + topic_config.node_name.c_str()); + } + return subscriber_variable; + } + case SubscriberMessageType::DETECTED_OBJECTS: { + SubscriberVariables subscriber_variable; + + if (!topic_config.time_debug_topic_address.empty()) { + std::function + callback = [this, topic_config]( + const DetectedObjects::ConstSharedPtr & ptr, + const PublishedTime::ConstSharedPtr & published_time_ptr) { + this->on_detected_objects(topic_config.node_name, ptr, published_time_ptr); + }; + + subscriber_variable.sub1_ = std::make_unique>( + node_, topic_config.topic_address, rclcpp::QoS(1).get_rmw_qos_profile(), + create_subscription_options(node_)); + subscriber_variable.sub2_ = std::make_unique>( + node_, topic_config.time_debug_topic_address, rclcpp::QoS(1).get_rmw_qos_profile(), + create_subscription_options(node_)); + + subscriber_variable.synchronizer_ = std::make_unique< + message_filters::Synchronizer::ExactTimePolicy>>( + SubscriberVariables::ExactTimePolicy(10), *subscriber_variable.sub1_, + *subscriber_variable.sub2_); + + subscriber_variable.synchronizer_->registerCallback( + std::bind(callback, std::placeholders::_1, std::placeholders::_2)); + + } else { + std::function callback = + [this, topic_config](const DetectedObjects::ConstSharedPtr & msg) { + this->on_detected_objects(topic_config.node_name, msg); + }; + subscriber_variable.sub1_ = std::make_unique>( + node_, topic_config.topic_address, rclcpp::QoS(1).get_rmw_qos_profile(), + create_subscription_options(node_)); + + subscriber_variable.sub1_->registerCallback(std::bind(callback, std::placeholders::_1)); + RCLCPP_WARN( + node_->get_logger(), + "PublishedTime will not be used for node name: %s. Header timestamp will be used for " + "calculations", + topic_config.node_name.c_str()); + } + return subscriber_variable; + } + case SubscriberMessageType::TRACKED_OBJECTS: { + SubscriberVariables subscriber_variable; + if (!topic_config.time_debug_topic_address.empty()) { + std::function + callback = [this, topic_config]( + const TrackedObjects::ConstSharedPtr & ptr, + const PublishedTime::ConstSharedPtr & published_time_ptr) { + this->on_tracked_objects(topic_config.node_name, ptr, published_time_ptr); + }; + + subscriber_variable.sub1_ = std::make_unique>( + node_, topic_config.topic_address, rclcpp::QoS(1).get_rmw_qos_profile(), + create_subscription_options(node_)); + subscriber_variable.sub2_ = std::make_unique>( + node_, topic_config.time_debug_topic_address, rclcpp::QoS(1).get_rmw_qos_profile(), + create_subscription_options(node_)); + + subscriber_variable.synchronizer_ = std::make_unique< + message_filters::Synchronizer::ExactTimePolicy>>( + SubscriberVariables::ExactTimePolicy(10), *subscriber_variable.sub1_, + *subscriber_variable.sub2_); + + subscriber_variable.synchronizer_->registerCallback( + std::bind(callback, std::placeholders::_1, std::placeholders::_2)); + + } else { + std::function callback = + [this, topic_config](const TrackedObjects::ConstSharedPtr & msg) { + this->on_tracked_objects(topic_config.node_name, msg); + }; + subscriber_variable.sub1_ = std::make_unique>( + node_, topic_config.topic_address, rclcpp::QoS(1).get_rmw_qos_profile(), + create_subscription_options(node_)); + + subscriber_variable.sub1_->registerCallback(std::bind(callback, std::placeholders::_1)); + RCLCPP_WARN( + node_->get_logger(), + "PublishedTime will not be used for node name: %s. Header timestamp will be used for " + "calculations", + topic_config.node_name.c_str()); + } + return subscriber_variable; + } + default: + RCLCPP_WARN( + node_->get_logger(), "Unknown message type for topic_config name: %s, skipping..", + topic_config.node_name.c_str()); + return std::nullopt; + } +} + +std::optional SubscriberBase::find_first_brake_idx( + const std::vector & cmd_array) +{ + if ( + cmd_array.size() < + reaction_params_.first_brake_params.min_number_descending_order_control_cmd) { + RCLCPP_WARN_ONCE( + node_->get_logger(), + "Control command buffer size is less than the minimum required size for first brake check"); + return {}; + } + + for (size_t i = 0; + i < cmd_array.size() - + reaction_params_.first_brake_params.min_number_descending_order_control_cmd + 1; + ++i) { + size_t decreased_cmd_counter = 1; // because # of the decreased cmd = iteration + 1 + for (size_t j = i; j < cmd_array.size() - 1; ++j) { + const auto & cmd_first = cmd_array.at(j).longitudinal; + const auto & cmd_second = cmd_array.at(j + 1).longitudinal; + constexpr double jerk_time_epsilon = 0.001; + const auto jerk = + abs(cmd_second.acceleration - cmd_first.acceleration) / + std::max( + (rclcpp::Time(cmd_second.stamp) - rclcpp::Time(cmd_first.stamp)).seconds(), + jerk_time_epsilon); + + if ( + (cmd_second.acceleration < cmd_first.acceleration) && + (jerk > reaction_params_.first_brake_params.min_jerk_for_brake_cmd)) { + decreased_cmd_counter++; + } else { + break; + } + } + if ( + decreased_cmd_counter < + static_cast( + reaction_params_.first_brake_params.min_number_descending_order_control_cmd)) + continue; + if (reaction_params_.first_brake_params.debug_control_commands) { + std::stringstream ss; + + // debug print to show the first brake command in the all control commands + for (size_t k = 0; k < cmd_array.size(); ++k) { + if (k == i + 1) { + ss << "First Brake(" << cmd_array.at(k).longitudinal.acceleration << ") "; + } else { + ss << cmd_array.at(k).longitudinal.acceleration << " "; + } + } + + RCLCPP_INFO(node_->get_logger(), "%s", ss.str().c_str()); + } + return i + 1; + } + return {}; +} + +void SubscriberBase::set_control_command_to_buffer( + std::vector & buffer, const AckermannControlCommand & cmd) const +{ + const auto last_cmd_time = cmd.stamp; + if (!buffer.empty()) { + for (auto itr = buffer.begin(); itr != buffer.end();) { + const auto expired = (rclcpp::Time(last_cmd_time) - rclcpp::Time(itr->stamp)).seconds() > + reaction_params_.first_brake_params.control_cmd_buffer_time_interval; + + if (expired) { + itr = buffer.erase(itr); + continue; + } + + itr++; + } + } + buffer.emplace_back(cmd); +} +} // namespace reaction_analyzer::subscriber diff --git a/tools/reaction_analyzer/src/topic_publisher.cpp b/tools/reaction_analyzer/src/topic_publisher.cpp new file mode 100644 index 0000000000000..8a66bf9e33911 --- /dev/null +++ b/tools/reaction_analyzer/src/topic_publisher.cpp @@ -0,0 +1,536 @@ +// Copyright 2024 The Autoware Contributors +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "topic_publisher.hpp" + +#include +#include + +namespace reaction_analyzer::topic_publisher +{ + +TopicPublisher::TopicPublisher( + rclcpp::Node * node, std::atomic & spawn_object_cmd, std::atomic & ego_initialized, + std::optional & spawn_cmd_time, const RunningMode & node_running_mode, + const EntityParams & entity_params) +: node_(node), + node_running_mode_(node_running_mode), + spawn_object_cmd_(spawn_object_cmd), + ego_initialized_(ego_initialized), + entity_params_(entity_params), + spawn_cmd_time_(spawn_cmd_time) +{ + if (node_running_mode_ == RunningMode::PerceptionPlanning) { + // get perception_planning mode parameters + topic_publisher_params_.path_bag_with_object = + node_->get_parameter("topic_publisher.path_bag_with_object").as_string(); + topic_publisher_params_.path_bag_without_object = + node_->get_parameter("topic_publisher.path_bag_without_object").as_string(); + topic_publisher_params_.pointcloud_publisher_type = + node_->get_parameter("topic_publisher.pointcloud_publisher.pointcloud_publisher_type") + .as_string(); + topic_publisher_params_.pointcloud_publisher_period = + node_->get_parameter("topic_publisher.pointcloud_publisher.pointcloud_publisher_period") + .as_double(); + topic_publisher_params_.publish_only_pointcloud_with_object = + node_ + ->get_parameter("topic_publisher.pointcloud_publisher.publish_only_pointcloud_with_object") + .as_bool(); + + // set pointcloud publisher type + if (topic_publisher_params_.pointcloud_publisher_type == "sync_header_sync_publish") { + pointcloud_publisher_type_ = PointcloudPublisherType::SYNC_HEADER_SYNC_PUBLISHER; + } else if (topic_publisher_params_.pointcloud_publisher_type == "async_header_sync_publish") { + pointcloud_publisher_type_ = PointcloudPublisherType::ASYNC_HEADER_SYNC_PUBLISHER; + } else if (topic_publisher_params_.pointcloud_publisher_type == "async_publish") { + pointcloud_publisher_type_ = PointcloudPublisherType::ASYNC_PUBLISHER; + } else { + RCLCPP_ERROR(node_->get_logger(), "Invalid pointcloud_publisher_type"); + rclcpp::shutdown(); + return; + } + + // Init the publishers which will read the messages from the rosbag + init_rosbag_publishers(); + } else if (node_running_mode_ == RunningMode::PlanningControl) { + // init tf + tf_buffer_ = std::make_shared(node_->get_clock()); + tf_listener_ = std::make_shared(*tf_buffer_); + + // get parameters + topic_publisher_params_.dummy_perception_publisher_period = + node_->get_parameter("topic_publisher.dummy_perception_publisher_period").as_double(); + topic_publisher_params_.spawned_pointcloud_sampling_distance = + node_->get_parameter("topic_publisher.spawned_pointcloud_sampling_distance").as_double(); + + // init the messages that will be published to spawn the object + entity_pointcloud_ptr_ = create_entity_pointcloud_ptr( + entity_params_, topic_publisher_params_.spawned_pointcloud_sampling_distance); + predicted_objects_ptr_ = create_entity_predicted_objects_ptr(entity_params_); + + // init the publishers + pub_pointcloud_ = + node_->create_publisher("output/pointcloud", rclcpp::SensorDataQoS()); + pub_predicted_objects_ = + node_->create_publisher("output/objects", rclcpp::QoS(1)); + + // init dummy perception publisher + const auto period_ns = std::chrono::duration_cast( + std::chrono::duration(topic_publisher_params_.dummy_perception_publisher_period)); + + dummy_perception_timer_ = rclcpp::create_timer( + node_, node_->get_clock(), period_ns, + std::bind(&TopicPublisher::dummy_perception_publisher, this)); + } else { + RCLCPP_ERROR(node_->get_logger(), "Invalid running mode"); + rclcpp::shutdown(); + return; + } +} + +void TopicPublisher::pointcloud_messages_sync_publisher(const PointcloudPublisherType type) +{ + const auto current_time = node_->now(); + const bool is_object_spawned = spawn_object_cmd_; + + switch (type) { + case PointcloudPublisherType::SYNC_HEADER_SYNC_PUBLISHER: { + PublisherVarAccessor accessor; + for (const auto & publisher_var_pair : lidar_pub_variable_pair_map_) { + accessor.publish_with_current_time( + *publisher_var_pair.second.first, current_time, + topic_publisher_params_.publish_only_pointcloud_with_object || is_object_spawned); + accessor.publish_with_current_time( + *publisher_var_pair.second.second, current_time, + topic_publisher_params_.publish_only_pointcloud_with_object || is_object_spawned); + } + if (is_object_spawned && !is_object_spawned_message_published_) { + is_object_spawned_message_published_ = true; + mutex_.lock(); + spawn_cmd_time_ = current_time; + mutex_.unlock(); + } + break; + } + case PointcloudPublisherType::ASYNC_HEADER_SYNC_PUBLISHER: { + PublisherVarAccessor accessor; + const auto period_pointcloud_ns = std::chrono::duration_cast( + std::chrono::duration(topic_publisher_params_.pointcloud_publisher_period)); + const auto phase_dif = period_pointcloud_ns / lidar_pub_variable_pair_map_.size(); + + size_t counter = 0; + for (const auto & publisher_var_pair : lidar_pub_variable_pair_map_) { + const auto header_time = + current_time - std::chrono::nanoseconds(counter * phase_dif.count()); + accessor.publish_with_current_time( + *publisher_var_pair.second.first, header_time, + topic_publisher_params_.publish_only_pointcloud_with_object || is_object_spawned); + accessor.publish_with_current_time( + *publisher_var_pair.second.second, header_time, + topic_publisher_params_.publish_only_pointcloud_with_object || is_object_spawned); + counter++; + } + if (is_object_spawned && !is_object_spawned_message_published_) { + is_object_spawned_message_published_ = true; + mutex_.lock(); + spawn_cmd_time_ = current_time; + mutex_.unlock(); + } + break; + } + default: + break; + } +} + +void TopicPublisher::pointcloud_messages_async_publisher( + const std::pair< + std::shared_ptr>, + std::shared_ptr>> & lidar_output_pair_) +{ + PublisherVarAccessor accessor; + const auto current_time = node_->now(); + const bool is_object_spawned = spawn_object_cmd_; + accessor.publish_with_current_time( + *lidar_output_pair_.first, current_time, + topic_publisher_params_.publish_only_pointcloud_with_object || is_object_spawned); + accessor.publish_with_current_time( + *lidar_output_pair_.second, current_time, + topic_publisher_params_.publish_only_pointcloud_with_object || is_object_spawned); + + if (is_object_spawned && !is_object_spawned_message_published_) { + is_object_spawned_message_published_ = true; + mutex_.lock(); + spawn_cmd_time_ = current_time; + mutex_.unlock(); + } +} + +void TopicPublisher::generic_message_publisher(const std::string & topic_name) +{ + PublisherVarAccessor accessor; + const bool is_object_spawned = spawn_object_cmd_; + const auto current_time = node_->now(); + const auto & publisher_variant = topic_publisher_map_[topic_name]; + + std::visit( + [&](const auto & var) { + accessor.publish_with_current_time(var, current_time, is_object_spawned); + }, + publisher_variant); +} + +void TopicPublisher::dummy_perception_publisher() +{ + if (!ego_initialized_) { + return; // do not publish anything if ego is not initialized + } + if (!spawn_object_cmd_) { + // do not spawn it, send empty pointcloud + pcl::PointCloud pcl_empty; + PointCloud2 empty_pointcloud; + PredictedObjects empty_predicted_objects; + pcl::toROSMsg(pcl_empty, empty_pointcloud); + + const auto current_time = node_->now(); + empty_pointcloud.header.frame_id = "base_link"; + empty_pointcloud.header.stamp = current_time; + + empty_predicted_objects.header.frame_id = "map"; + empty_predicted_objects.header.stamp = current_time; + + pub_pointcloud_->publish(empty_pointcloud); + pub_predicted_objects_->publish(empty_predicted_objects); + } else { + // transform pointcloud + geometry_msgs::msg::TransformStamped transform_stamped{}; + try { + transform_stamped = tf_buffer_->lookupTransform( + "base_link", "map", node_->now(), rclcpp::Duration::from_seconds(0.1)); + } catch (tf2::TransformException & ex) { + RCLCPP_ERROR_STREAM(node_->get_logger(), "Failed to look up transform from map to base_link"); + return; + } + + // transform by using eigen matrix + PointCloud2 transformed_points{}; + const Eigen::Matrix4f affine_matrix = + tf2::transformToEigen(transform_stamped.transform).matrix().cast(); + pcl_ros::transformPointCloud(affine_matrix, *entity_pointcloud_ptr_, transformed_points); + const auto current_time = node_->now(); + + transformed_points.header.frame_id = "base_link"; + transformed_points.header.stamp = current_time; + + predicted_objects_ptr_->header.frame_id = "map"; + predicted_objects_ptr_->header.stamp = current_time; + + pub_pointcloud_->publish(transformed_points); + pub_predicted_objects_->publish(*predicted_objects_ptr_); + if (!is_object_spawned_message_published_) { + mutex_.lock(); + spawn_cmd_time_ = current_time; + mutex_.unlock(); + is_object_spawned_message_published_ = true; + } + } +} + +void TopicPublisher::reset() +{ + is_object_spawned_message_published_ = false; +} + +void TopicPublisher::init_rosbag_publishers() +{ + // read messages without object + init_rosbag_publisher_buffer(topic_publisher_params_.path_bag_without_object, true); + + // read messages with object + init_rosbag_publisher_buffer(topic_publisher_params_.path_bag_with_object, false); + + // before create publishers and timers, check all the messages are correctly initialized with + // their conjugate messages. + if (check_publishers_initialized_correctly()) { + RCLCPP_INFO(node_->get_logger(), "Messages are initialized correctly"); + } else { + RCLCPP_ERROR(node_->get_logger(), "Messages are not initialized correctly"); + rclcpp::shutdown(); + } + set_publishers_and_timers_to_variable(); +} + +template +void TopicPublisher::set_message( + const std::string & topic_name, const rosbag2_storage::SerializedBagMessage & bag_message, + const bool is_empty_area_message) +{ + rclcpp::Serialization serialization; + rclcpp::SerializedMessage extracted_serialized_msg(*bag_message.serialized_data); + + // Deserialize the message + auto deserialized_message = std::make_shared(); + serialization.deserialize_message(&extracted_serialized_msg, &*deserialized_message); + auto & publisher_variant = topic_publisher_map_[topic_name]; + + if (!std::holds_alternative>(publisher_variant)) { + publisher_variant = PublisherVariables{}; + } + + auto & publisher_variable = std::get>(publisher_variant); + + if (is_empty_area_message) { + if (!publisher_variable.empty_area_message) { + publisher_variable.empty_area_message = deserialized_message; + } + } else { + if (!publisher_variable.object_spawned_message) { + publisher_variable.object_spawned_message = deserialized_message; + } + } +} + +void TopicPublisher::set_period(const std::map> & time_map) +{ + for (auto & topic_pair : time_map) { + auto timestamps_tmp = topic_pair.second; + + // Sort the timestamps + std::sort(timestamps_tmp.begin(), timestamps_tmp.end()); + + // Then proceed with the frequency calculation + std::string topic_name = topic_pair.first; + if (timestamps_tmp.size() > 1) { + int64_t total_time_diff_ns = 0; + + // Accumulate the differences in nanoseconds + for (size_t i = 1; i < timestamps_tmp.size(); ++i) { + total_time_diff_ns += (timestamps_tmp[i] - timestamps_tmp[i - 1]).nanoseconds(); + } + + // Conversion to std::chrono::milliseconds + auto total_duration_ns = std::chrono::nanoseconds(total_time_diff_ns); + auto period_ms = std::chrono::duration_cast(total_duration_ns) / + (timestamps_tmp.size() - 1); + + PublisherVariablesVariant & publisher_variant = topic_publisher_map_[topic_name]; + PublisherVarAccessor accessor; + + std::visit([&](auto & var) { accessor.set_period(var, period_ms); }, publisher_variant); + } + } +} + +void TopicPublisher::set_publishers_and_timers_to_variable() +{ + std::map> + pointcloud_variables_map; // temp map for pointcloud publishers + + // initialize timers and message publishers except pointcloud messages + for (auto & [topic_name, variant] : topic_publisher_map_) { + PublisherVarAccessor accessor; + const auto & topic_ref = topic_name; + const auto period_ns = std::chrono::duration( + std::visit([&](const auto & var) { return accessor.get_period(var); }, variant)); + + // Dynamically create the correct publisher type based on the topic + std::visit( + [&](auto & var) { + using MessageType = typename decltype(var.empty_area_message)::element_type; + + if constexpr ( + std::is_same_v || + std::is_same_v || + std::is_same_v) { + var.publisher = node_->create_publisher(topic_ref, rclcpp::SensorDataQoS()); + } else { + // For other message types, use the QoS setting depth of 1 + var.publisher = node_->create_publisher(topic_ref, rclcpp::QoS(1)); + } + }, + variant); + + // Conditionally create the timer based on the message type, if message type is not + // PointCloud2 + std::visit( + [&](auto & var) { + using MessageType = typename decltype(var.empty_area_message)::element_type; + + if constexpr (!std::is_same_v) { + var.timer = node_->create_wall_timer( + period_ns, [this, topic_ref]() { this->generic_message_publisher(topic_ref); }); + } else { + // For PointCloud2, Store the variables in a temporary map + pointcloud_variables_map[topic_ref] = var; + } + }, + variant); + } + + // To be able to publish pointcloud messages with async, I need to create a timer for each lidar + // output. So different operations are needed for pointcloud messages. + set_timers_for_pointcloud_msgs(pointcloud_variables_map); +} + +void TopicPublisher::set_timers_for_pointcloud_msgs( + const std::map> & pointcloud_variables_map) +{ + // Set the point cloud publisher timers + if (pointcloud_variables_map.empty()) { + RCLCPP_ERROR(node_->get_logger(), "No pointcloud publishers found!"); + rclcpp::shutdown(); + } + + // Arrange the PointCloud2 variables w.r.t. the lidars' name + for (auto & [topic_name, pointcloud_variant] : pointcloud_variables_map) { + const auto lidar_name = split(topic_name, '/').at(3); + + if (lidar_pub_variable_pair_map_.find(lidar_name) == lidar_pub_variable_pair_map_.end()) { + lidar_pub_variable_pair_map_[lidar_name] = std::make_pair( + std::make_shared>(pointcloud_variant), nullptr); + } else { + if (lidar_pub_variable_pair_map_[lidar_name].second) { + RCLCPP_ERROR_STREAM( + node_->get_logger(), + "Lidar name: " << lidar_name << " is already used by another pointcloud publisher"); + rclcpp::shutdown(); + } + lidar_pub_variable_pair_map_[lidar_name].second = + std::make_shared>(pointcloud_variant); + } + } + + // Create the timer(s) to publish PointCloud2 Messages + const auto period_pointcloud_ns = std::chrono::duration_cast( + std::chrono::duration(topic_publisher_params_.pointcloud_publisher_period)); + + if (pointcloud_publisher_type_ != PointcloudPublisherType::ASYNC_PUBLISHER) { + // Create 1 timer to publish all PointCloud2 messages + pointcloud_sync_publish_timer_ = node_->create_wall_timer(period_pointcloud_ns, [this]() { + this->pointcloud_messages_sync_publisher(this->pointcloud_publisher_type_); + }); + } else { + // Create multiple timers which will run with a phase difference + const auto phase_dif = period_pointcloud_ns / lidar_pub_variable_pair_map_.size(); + + // Create a timer to create phase difference bw timers which will be created for each lidar + // topics + auto one_shot_timer = node_->create_wall_timer(phase_dif, [this, period_pointcloud_ns]() { + for (const auto & publisher_var_pair : lidar_pub_variable_pair_map_) { + const auto & lidar_name = publisher_var_pair.first; + const auto & publisher_var = publisher_var_pair.second; + if ( + pointcloud_publish_timers_map_.find(lidar_name) == pointcloud_publish_timers_map_.end()) { + auto periodic_timer = node_->create_wall_timer( + period_pointcloud_ns, + [this, publisher_var]() { this->pointcloud_messages_async_publisher(publisher_var); }); + pointcloud_publish_timers_map_[lidar_name] = periodic_timer; + return; + } + } + one_shot_timer_shared_ptr_->cancel(); + }); + one_shot_timer_shared_ptr_ = one_shot_timer; + } +} + +bool TopicPublisher::check_publishers_initialized_correctly() +{ + // check messages are correctly initialized or not from rosbags + for (const auto & [topic_name, variant] : topic_publisher_map_) { + PublisherVarAccessor accessor; + auto empty_area_message = + std::visit([&](const auto & var) { return accessor.get_empty_area_message(var); }, variant); + auto object_spawned_message = std::visit( + [&](const auto & var) { return accessor.get_object_spawned_message(var); }, variant); + + if (!empty_area_message) { + RCLCPP_ERROR_STREAM( + node_->get_logger(), + "Empty area message couldn't found in the topic named: " << topic_name); + return false; + } + if (!object_spawned_message) { + RCLCPP_ERROR_STREAM( + node_->get_logger(), + "Object spawned message couldn't found in the topic named: " << topic_name); + return false; + } + } + return true; +} + +void TopicPublisher::init_rosbag_publisher_buffer( + const std::string & bag_path, const bool is_empty_area_message) +{ + rosbag2_cpp::Reader reader; + + try { + reader.open(bag_path); + } catch (const std::exception & e) { + RCLCPP_ERROR_STREAM(node_->get_logger(), "Error opening bag file: " << e.what()); + rclcpp::shutdown(); + return; + } + + const auto & topics = reader.get_metadata().topics_with_message_count; + + while (reader.has_next()) { + auto bag_message = reader.read_next(); + const auto current_topic = bag_message->topic_name; + + const auto message_type = get_publisher_message_type_for_topic(topics, current_topic); + + if (message_type == PublisherMessageType::UNKNOWN) { + continue; + } + if (message_type == PublisherMessageType::CAMERA_INFO) { + set_message(current_topic, *bag_message, is_empty_area_message); + } else if (message_type == PublisherMessageType::IMAGE) { + set_message(current_topic, *bag_message, is_empty_area_message); + } else if (message_type == PublisherMessageType::POINTCLOUD2) { + set_message(current_topic, *bag_message, is_empty_area_message); + } else if (message_type == PublisherMessageType::POSE_WITH_COVARIANCE_STAMPED) { + set_message( + current_topic, *bag_message, is_empty_area_message); + } else if (message_type == PublisherMessageType::POSE_STAMPED) { + set_message( + current_topic, *bag_message, is_empty_area_message); + } else if (message_type == PublisherMessageType::ODOMETRY) { + set_message(current_topic, *bag_message, is_empty_area_message); + } else if (message_type == PublisherMessageType::IMU) { + set_message(current_topic, *bag_message, is_empty_area_message); + } else if (message_type == PublisherMessageType::CONTROL_MODE_REPORT) { + set_message( + current_topic, *bag_message, is_empty_area_message); + } else if (message_type == PublisherMessageType::GEAR_REPORT) { + set_message( + current_topic, *bag_message, is_empty_area_message); + } else if (message_type == PublisherMessageType::HAZARD_LIGHTS_REPORT) { + set_message( + current_topic, *bag_message, is_empty_area_message); + } else if (message_type == PublisherMessageType::STEERING_REPORT) { + set_message( + current_topic, *bag_message, is_empty_area_message); + } else if (message_type == PublisherMessageType::TURN_INDICATORS_REPORT) { + set_message( + current_topic, *bag_message, is_empty_area_message); + } else if (message_type == PublisherMessageType::VELOCITY_REPORT) { + set_message( + current_topic, *bag_message, is_empty_area_message); + } + } + reader.close(); +} +} // namespace reaction_analyzer::topic_publisher diff --git a/tools/reaction_analyzer/src/utils.cpp b/tools/reaction_analyzer/src/utils.cpp new file mode 100644 index 0000000000000..4a6110322440e --- /dev/null +++ b/tools/reaction_analyzer/src/utils.cpp @@ -0,0 +1,589 @@ +// Copyright 2024 The Autoware Contributors +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "utils.hpp" + +namespace reaction_analyzer +{ +SubscriberMessageType get_subscriber_message_type(const std::string & message_type) +{ + if (message_type == "autoware_auto_control_msgs/msg/AckermannControlCommand") { + return SubscriberMessageType::ACKERMANN_CONTROL_COMMAND; + } + if (message_type == "autoware_auto_planning_msgs/msg/Trajectory") { + return SubscriberMessageType::TRAJECTORY; + } + if (message_type == "sensor_msgs/msg/PointCloud2") { + return SubscriberMessageType::POINTCLOUD2; + } + if (message_type == "autoware_auto_perception_msgs/msg/PredictedObjects") { + return SubscriberMessageType::PREDICTED_OBJECTS; + } + if (message_type == "autoware_auto_perception_msgs/msg/DetectedObjects") { + return SubscriberMessageType::DETECTED_OBJECTS; + } + if (message_type == "autoware_auto_perception_msgs/msg/TrackedObjects") { + return SubscriberMessageType::TRACKED_OBJECTS; + } + return SubscriberMessageType::UNKNOWN; +} + +PublisherMessageType get_publisher_message_type(const std::string & message_type) +{ + if (message_type == "sensor_msgs/msg/PointCloud2") { + return PublisherMessageType::POINTCLOUD2; + } + if (message_type == "sensor_msgs/msg/CameraInfo") { + return PublisherMessageType::CAMERA_INFO; + } + if (message_type == "sensor_msgs/msg/Image") { + return PublisherMessageType::IMAGE; + } + if (message_type == "geometry_msgs/msg/PoseWithCovarianceStamped") { + return PublisherMessageType::POSE_WITH_COVARIANCE_STAMPED; + } + if (message_type == "geometry_msgs/msg/PoseStamped") { + return PublisherMessageType::POSE_STAMPED; + } + if (message_type == "nav_msgs/msg/Odometry") { + return PublisherMessageType::ODOMETRY; + } + if (message_type == "sensor_msgs/msg/Imu") { + return PublisherMessageType::IMU; + } + if (message_type == "autoware_auto_vehicle_msgs/msg/ControlModeReport") { + return PublisherMessageType::CONTROL_MODE_REPORT; + } + if (message_type == "autoware_auto_vehicle_msgs/msg/GearReport") { + return PublisherMessageType::GEAR_REPORT; + } + if (message_type == "autoware_auto_vehicle_msgs/msg/HazardLightsReport") { + return PublisherMessageType::HAZARD_LIGHTS_REPORT; + } + if (message_type == "autoware_auto_vehicle_msgs/msg/SteeringReport") { + return PublisherMessageType::STEERING_REPORT; + } + if (message_type == "autoware_auto_vehicle_msgs/msg/TurnIndicatorsReport") { + return PublisherMessageType::TURN_INDICATORS_REPORT; + } + if (message_type == "autoware_auto_vehicle_msgs/msg/VelocityReport") { + return PublisherMessageType::VELOCITY_REPORT; + } + return PublisherMessageType::UNKNOWN; +} + +PublisherMessageType get_publisher_message_type_for_topic( + const std::vector & topics, const std::string & topic_name) +{ + auto it = std::find_if(topics.begin(), topics.end(), [&topic_name](const auto & topic) { + return topic.topic_metadata.name == topic_name; + }); + if (it != topics.end()) { + return get_publisher_message_type(it->topic_metadata.type); // Return the message type if found + } + return PublisherMessageType::UNKNOWN; +} + +ReactionType get_reaction_type(const std::string & reaction_type) +{ + if (reaction_type == "first_brake_params") { + return ReactionType::FIRST_BRAKE; + } + if (reaction_type == "search_zero_vel_params") { + return ReactionType::SEARCH_ZERO_VEL; + } + if (reaction_type == "search_entity_params") { + return ReactionType::SEARCH_ENTITY; + } + return ReactionType::UNKNOWN; +} + +rclcpp::SubscriptionOptions create_subscription_options(rclcpp::Node * node) +{ + rclcpp::CallbackGroup::SharedPtr callback_group = + node->create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive); + + auto sub_opt = rclcpp::SubscriptionOptions(); + sub_opt.callback_group = callback_group; + + return sub_opt; +} + +visualization_msgs::msg::Marker create_polyhedron_marker(const EntityParams & params) +{ + visualization_msgs::msg::Marker marker; + marker.header.frame_id = "map"; + marker.header.stamp = rclcpp::Time(0); + marker.ns = "entity"; + marker.id = 0; + marker.type = visualization_msgs::msg::Marker::LINE_STRIP; + marker.action = visualization_msgs::msg::Marker::ADD; + + marker.pose.position.x = params.x; + marker.pose.position.y = params.y; + marker.pose.position.z = params.z; + + tf2::Quaternion quaternion; + quaternion.setRPY( + tier4_autoware_utils::deg2rad(params.roll), tier4_autoware_utils::deg2rad(params.pitch), + tier4_autoware_utils::deg2rad(params.yaw)); + marker.pose.orientation = tf2::toMsg(quaternion); + + marker.scale.x = 0.1; // Line width + + marker.color.a = 1.0; // Alpha + marker.color.r = 1.0; + marker.color.g = 0.0; + marker.color.b = 0.0; + + // Define the 8 corners of the polyhedron + geometry_msgs::msg::Point p1, p2, p3, p4, p5, p6, p7, p8; + + p1.x = params.x_l / 2.0; + p1.y = params.y_l / 2.0; + p1.z = params.z_l / 2.0; + p2.x = -params.x_l / 2.0; + p2.y = params.y_l / 2.0; + p2.z = params.z_l / 2.0; + p3.x = -params.x_l / 2.0; + p3.y = -params.y_l / 2.0; + p3.z = params.z_l / 2.0; + p4.x = params.x_l / 2.0; + p4.y = -params.y_l / 2.0; + p4.z = params.z_l / 2.0; + p5.x = params.x_l / 2.0; + p5.y = params.y_l / 2.0; + p5.z = -params.z_l / 2.0; + p6.x = -params.x_l / 2.0; + p6.y = params.y_l / 2.0; + p6.z = -params.z_l / 2.0; + p7.x = -params.x_l / 2.0; + p7.y = -params.y_l / 2.0; + p7.z = -params.z_l / 2.0; + p8.x = params.x_l / 2.0; + p8.y = -params.y_l / 2.0; + p8.z = -params.z_l / 2.0; + + // Add points to the marker + marker.points.push_back(p1); + marker.points.push_back(p2); + marker.points.push_back(p3); + marker.points.push_back(p4); + marker.points.push_back(p1); + + marker.points.push_back(p5); + marker.points.push_back(p6); + marker.points.push_back(p7); + marker.points.push_back(p8); + marker.points.push_back(p5); + + marker.points.push_back(p1); + marker.points.push_back(p5); + marker.points.push_back(p6); + marker.points.push_back(p2); + marker.points.push_back(p3); + marker.points.push_back(p7); + marker.points.push_back(p4); + marker.points.push_back(p8); + + return marker; +} + +std::vector split(const std::string & str, char delimiter) +{ + std::vector elements; + std::stringstream ss(str); + std::string item; + while (std::getline(ss, item, delimiter)) { + elements.push_back(item); + } + return elements; +} + +bool does_folder_exist(const std::string & path) +{ + return std::filesystem::exists(path) && std::filesystem::is_directory(path); +} + +size_t get_index_after_distance( + const Trajectory & traj, const size_t curr_id, const double distance) +{ + const TrajectoryPoint & curr_p = traj.points.at(curr_id); + + size_t target_id = curr_id; + double current_distance = 0.0; + for (size_t traj_id = curr_id + 1; traj_id < traj.points.size(); ++traj_id) { + current_distance = tier4_autoware_utils::calcDistance3d(traj.points.at(traj_id), curr_p); + if (current_distance >= distance) { + break; + } + target_id = traj_id; + } + return target_id; +} + +double calculate_time_diff_ms(const rclcpp::Time & start, const rclcpp::Time & end) +{ + const auto duration = end - start; + + const auto duration_ns = duration.to_chrono(); + return static_cast(duration_ns.count()) / 1e6; +} + +TimestampedReactionPairsVector convert_pipeline_map_to_sorted_vector( + const PipelineMap & pipelineMap) +{ + std::vector>> sorted_vector; + + for (const auto & entry : pipelineMap) { + auto sorted_reactions = entry.second; + // Sort the vector of ReactionPair based on the published stamp + std::sort( + sorted_reactions.begin(), sorted_reactions.end(), + [](const ReactionPair & a, const ReactionPair & b) { + return rclcpp::Time(a.second.published_stamp) < rclcpp::Time(b.second.published_stamp); + }); + + // Add to the vector as a tuple + sorted_vector.emplace_back(std::make_tuple(entry.first, sorted_reactions)); + } + + // Sort the vector of tuples by rclcpp::Time + std::sort(sorted_vector.begin(), sorted_vector.end(), [](const auto & a, const auto & b) { + return std::get<0>(a) < std::get<0>(b); + }); + + return sorted_vector; +} + +unique_identifier_msgs::msg::UUID generate_uuid_msg(const std::string & input) +{ + static auto generate_uuid = boost::uuids::name_generator(boost::uuids::random_generator()()); + const auto uuid = generate_uuid(input); + + unique_identifier_msgs::msg::UUID uuid_msg; + std::copy(uuid.begin(), uuid.end(), uuid_msg.uuid.begin()); + return uuid_msg; +} + +geometry_msgs::msg::Pose create_entity_pose(const EntityParams & entity_params) +{ + geometry_msgs::msg::Pose entity_pose; + entity_pose.position.x = entity_params.x; + entity_pose.position.y = entity_params.y; + entity_pose.position.z = entity_params.z; + + tf2::Quaternion entity_q_orientation; + entity_q_orientation.setRPY( + tier4_autoware_utils::deg2rad(entity_params.roll), + tier4_autoware_utils::deg2rad(entity_params.pitch), + tier4_autoware_utils::deg2rad(entity_params.yaw)); + entity_pose.orientation = tf2::toMsg(entity_q_orientation); + return entity_pose; +} + +geometry_msgs::msg::Pose pose_params_to_pose(const PoseParams & pose_params) +{ + geometry_msgs::msg::Pose pose; + pose.position.x = pose_params.x; + pose.position.y = pose_params.y; + pose.position.z = pose_params.z; + + tf2::Quaternion pose_q_orientation; + pose_q_orientation.setRPY( + tier4_autoware_utils::deg2rad(pose_params.roll), + tier4_autoware_utils::deg2rad(pose_params.pitch), + tier4_autoware_utils::deg2rad(pose_params.yaw)); + pose.orientation = tf2::toMsg(pose_q_orientation); + return pose; +} + +PointCloud2::SharedPtr create_entity_pointcloud_ptr( + const EntityParams & entity_params, const double pointcloud_sampling_distance) +{ + pcl::PointCloud point_cloud; + tf2::Quaternion entity_q_orientation; + + entity_q_orientation.setRPY( + tier4_autoware_utils::deg2rad(entity_params.roll), + tier4_autoware_utils::deg2rad(entity_params.pitch), + tier4_autoware_utils::deg2rad(entity_params.yaw)); + tf2::Transform tf(entity_q_orientation); + const auto origin = tf2::Vector3(entity_params.x, entity_params.y, entity_params.z); + tf.setOrigin(origin); + + const double it_x = entity_params.x_l / pointcloud_sampling_distance; + const double it_y = entity_params.y_l / pointcloud_sampling_distance; + const double it_z = entity_params.z_l / pointcloud_sampling_distance; + + // Sample the box and rotate + for (int i = 0; i <= it_z; ++i) { + for (int j = 0; j <= it_y; ++j) { + for (int k = 0; k <= it_x; ++k) { + const double p_x = -entity_params.x_l / 2 + k * pointcloud_sampling_distance; + const double p_y = -entity_params.y_l / 2 + j * pointcloud_sampling_distance; + const double p_z = -entity_params.z_l / 2 + i * pointcloud_sampling_distance; + const auto tmp = tf2::Vector3(p_x, p_y, p_z); + tf2::Vector3 data_out = tf * tmp; + point_cloud.emplace_back(pcl::PointXYZ( + static_cast(data_out.x()), static_cast(data_out.y()), + static_cast(data_out.z()))); + } + } + } + PointCloud2::SharedPtr entity_pointcloud_ptr; + entity_pointcloud_ptr = std::make_shared(); + pcl::toROSMsg(point_cloud, *entity_pointcloud_ptr); + return entity_pointcloud_ptr; +} + +PredictedObjects::SharedPtr create_entity_predicted_objects_ptr(const EntityParams & entity_params) +{ + unique_identifier_msgs::msg::UUID uuid_msg; + + PredictedObject obj; + const auto entity_pose = create_entity_pose(entity_params); + geometry_msgs::msg::Vector3 dimension; + dimension.set__x(entity_params.x_l); + dimension.set__y(entity_params.y_l); + dimension.set__z(entity_params.z_l); + obj.shape.set__dimensions(dimension); + + obj.shape.type = autoware_auto_perception_msgs::msg::Shape::BOUNDING_BOX; + obj.existence_probability = 1.0; + obj.kinematics.initial_pose_with_covariance.pose = entity_pose; + + autoware_auto_perception_msgs::msg::PredictedPath path; + path.confidence = 1.0; + path.path.emplace_back(entity_pose); + obj.kinematics.predicted_paths.emplace_back(path); + + autoware_auto_perception_msgs::msg::ObjectClassification classification; + classification.label = autoware_auto_perception_msgs::msg::ObjectClassification::CAR; + classification.probability = 1.0; + obj.classification.emplace_back(classification); + obj.set__object_id(generate_uuid_msg("test_obstacle")); + + PredictedObjects pred_objects; + pred_objects.objects.emplace_back(obj); + return std::make_shared(pred_objects); +} + +double calculate_entity_search_radius(const EntityParams & entity_params) +{ + return std::sqrt( + std::pow(entity_params.x_l, 2) + std::pow(entity_params.y_l, 2) + + std::pow(entity_params.z_l, 2)) / + 2.0; +} + +bool search_pointcloud_near_pose( + const pcl::PointCloud & pcl_pointcloud, const geometry_msgs::msg::Pose & pose, + const double search_radius) +{ + return std::any_of( + pcl_pointcloud.points.begin(), pcl_pointcloud.points.end(), + [pose, search_radius](const auto & point) { + return tier4_autoware_utils::calcDistance3d(pose.position, point) <= search_radius; + }); +} + +bool search_predicted_objects_near_pose( + const PredictedObjects & predicted_objects, const geometry_msgs::msg::Pose & pose, + const double search_radius) +{ + return std::any_of( + predicted_objects.objects.begin(), predicted_objects.objects.end(), + [pose, search_radius](const PredictedObject & object) { + return tier4_autoware_utils::calcDistance3d( + pose.position, object.kinematics.initial_pose_with_covariance.pose.position) <= + search_radius; + }); + ; +} + +bool search_detected_objects_near_pose( + const DetectedObjects & detected_objects, const geometry_msgs::msg::Pose & pose, + const double search_radius) +{ + return std::any_of( + detected_objects.objects.begin(), detected_objects.objects.end(), + [pose, search_radius](const DetectedObject & object) { + return tier4_autoware_utils::calcDistance3d( + pose.position, object.kinematics.pose_with_covariance.pose.position) <= + search_radius; + }); +} + +bool search_tracked_objects_near_pose( + const TrackedObjects & tracked_objects, const geometry_msgs::msg::Pose & pose, + const double search_radius) +{ + return std::any_of( + tracked_objects.objects.begin(), tracked_objects.objects.end(), + [pose, search_radius](const TrackedObject & object) { + return tier4_autoware_utils::calcDistance3d( + pose.position, object.kinematics.pose_with_covariance.pose.position) <= + search_radius; + }); +} + +LatencyStats calculate_statistics(const std::vector & latency_vec) +{ + LatencyStats stats{0.0, 0.0, 0.0, 0.0, 0.0}; + stats.max = *max_element(latency_vec.begin(), latency_vec.end()); + stats.min = *min_element(latency_vec.begin(), latency_vec.end()); + + const double sum = std::accumulate(latency_vec.begin(), latency_vec.end(), 0.0); + stats.mean = sum / static_cast(latency_vec.size()); + + std::vector sorted_latencies = latency_vec; + std::sort(sorted_latencies.begin(), sorted_latencies.end()); + stats.median = sorted_latencies.size() % 2 == 0 + ? (sorted_latencies[sorted_latencies.size() / 2 - 1] + + sorted_latencies[sorted_latencies.size() / 2]) / + 2 + : sorted_latencies[sorted_latencies.size() / 2]; + + const double sq_sum = + std::inner_product(latency_vec.begin(), latency_vec.end(), latency_vec.begin(), 0.0); + stats.std_dev = + std::sqrt(sq_sum / static_cast(latency_vec.size()) - stats.mean * stats.mean); + return stats; +} + +void write_results( + rclcpp::Node * node, const std::string & output_file_path, const RunningMode & node_running_mode, + const std::vector & pipeline_map_vector) +{ + // create csv file + auto now = std::chrono::system_clock::now(); + auto in_time_t = std::chrono::system_clock::to_time_t(now); + + std::stringstream ss; + ss << output_file_path; + if (!output_file_path.empty() && output_file_path.back() != '/') { + ss << "/"; // Ensure the path ends with a slash + } + if (node_running_mode == RunningMode::PlanningControl) { + ss << "planning_control-"; + } else { + ss << "perception_planning-"; + } + + ss << std::put_time(std::localtime(&in_time_t), "%Y-%m-%d-%H-%M-%S"); + ss << "-reaction-results.csv"; + + // open file + std::ofstream file(ss.str()); + + // Check if the file was opened successfully + if (!file.is_open()) { + RCLCPP_ERROR_ONCE(node->get_logger(), "Failed to open file: %s", ss.str().c_str()); + return; + } + + // tmp map to store latency results for statistics + std::map>> tmp_latency_map; + + size_t test_count = 0; + for (const auto & pipeline_map : pipeline_map_vector) { + test_count++; + // convert pipeline_map to vector of tuples + file << "Test " << test_count << "\n"; + const auto sorted_results_vector = convert_pipeline_map_to_sorted_vector(pipeline_map); + const auto spawn_cmd_time = std::get<0>(*sorted_results_vector.begin()); + + for (size_t i = 0; i < sorted_results_vector.size(); ++i) { + const auto & [pipeline_header_time, pipeline_reactions] = sorted_results_vector[i]; + + // total time pipeline lasts + file << "Pipeline - " << i << ","; + + // pipeline nodes + for (const auto & [node_name, reaction] : pipeline_reactions) { + file << node_name << ","; + } + + file << "\nNode - Pipeline - Total Latency [ms],"; + + for (size_t j = 0; j < pipeline_reactions.size(); ++j) { + const auto & reaction = pipeline_reactions[j].second; + const auto & node_name = pipeline_reactions[j].first; + if (j == 0) { + const auto node_latency = + calculate_time_diff_ms(reaction.header.stamp, reaction.published_stamp); + const auto pipeline_latency = + calculate_time_diff_ms(pipeline_header_time, reaction.published_stamp); + const auto total_latency = + calculate_time_diff_ms(spawn_cmd_time, reaction.published_stamp); + file << node_latency << " - " << pipeline_latency << " - " << total_latency << ","; + tmp_latency_map[node_name].emplace_back( + std::make_tuple(node_latency, pipeline_latency, total_latency)); + } else { + const auto & prev_reaction = pipeline_reactions[j - 1].second; + const auto node_latency = + calculate_time_diff_ms(prev_reaction.published_stamp, reaction.published_stamp); + const auto pipeline_latency = + calculate_time_diff_ms(pipeline_header_time, reaction.published_stamp); + const auto total_latency = + calculate_time_diff_ms(spawn_cmd_time, reaction.published_stamp); + file << node_latency << " - " << pipeline_latency << " - " << total_latency << ","; + tmp_latency_map[node_name].emplace_back( + std::make_tuple(node_latency, pipeline_latency, total_latency)); + } + } + file << "\n"; + } + } + + // write statistics + + file << "\nStatistics\n"; + file << "Node " + "Name,Min-NL,Max-NL,Mean-NL,Median-NL,Std-Dev-NL,Min-PL,Max-PL,Mean-PL,Median-PL,Std-Dev-" + "PL,Min-TL,Max-TL,Mean-TL,Median-TL,Std-Dev-TL\n"; + for (const auto & [node_name, latency_vec] : tmp_latency_map) { + file << node_name << ","; + + std::vector node_latencies; + std::vector pipeline_latencies; + std::vector total_latencies; + + // Extract latencies + for (const auto & latencies : latency_vec) { + double node_latency, pipeline_latency, total_latency; + std::tie(node_latency, pipeline_latency, total_latency) = latencies; + node_latencies.push_back(node_latency); + pipeline_latencies.push_back(pipeline_latency); + total_latencies.push_back(total_latency); + } + + const auto stats_node_latency = calculate_statistics(node_latencies); + const auto stats_pipeline_latency = calculate_statistics(pipeline_latencies); + const auto stats_total_latency = calculate_statistics(total_latencies); + + file << stats_node_latency.min << "," << stats_node_latency.max << "," + << stats_node_latency.mean << "," << stats_node_latency.median << "," + << stats_node_latency.std_dev << "," << stats_pipeline_latency.min << "," + << stats_pipeline_latency.max << "," << stats_pipeline_latency.mean << "," + << stats_pipeline_latency.median << "," << stats_pipeline_latency.std_dev << "," + << stats_total_latency.min << "," << stats_total_latency.max << "," + << stats_total_latency.mean << "," << stats_total_latency.median << "," + << stats_total_latency.std_dev << "\n"; + } + file.close(); + RCLCPP_INFO(node->get_logger(), "Results written to: %s", ss.str().c_str()); +} +} // namespace reaction_analyzer diff --git a/tools/rqt_diagnostic_graph_monitor/CMakeLists.txt b/tools/rqt_diagnostic_graph_monitor/CMakeLists.txt deleted file mode 100644 index 9e8bb20bb92a3..0000000000000 --- a/tools/rqt_diagnostic_graph_monitor/CMakeLists.txt +++ /dev/null @@ -1,9 +0,0 @@ -cmake_minimum_required(VERSION 3.14) -project(rqt_diagnostic_graph_monitor) - -find_package(autoware_cmake REQUIRED) -autoware_package() -ament_python_install_package(${PROJECT_NAME} PACKAGE_DIR python) -install(FILES plugin.xml DESTINATION share/${PROJECT_NAME}) -install(PROGRAMS script/rqt_diagnostic_graph_monitor DESTINATION lib/${PROJECT_NAME}) -ament_auto_package(INSTALL_TO_SHARE script) diff --git a/tools/rqt_diagnostic_graph_monitor/README.md b/tools/rqt_diagnostic_graph_monitor/README.md deleted file mode 100644 index 8dccca34db8c5..0000000000000 --- a/tools/rqt_diagnostic_graph_monitor/README.md +++ /dev/null @@ -1 +0,0 @@ -# System diagnostic monitor diff --git a/tools/rqt_diagnostic_graph_monitor/package.xml b/tools/rqt_diagnostic_graph_monitor/package.xml deleted file mode 100644 index 60780e2794998..0000000000000 --- a/tools/rqt_diagnostic_graph_monitor/package.xml +++ /dev/null @@ -1,24 +0,0 @@ - - - - rqt_diagnostic_graph_monitor - 0.1.0 - The rqt_diagnostic_graph_monitor package - Takagi, Isamu - Apache License 2.0 - - ament_cmake_auto - autoware_cmake - - python_qt_binding - rqt_gui - rqt_gui_py - - ament_lint_auto - autoware_lint_common - - - ament_cmake - - - diff --git a/tools/rqt_diagnostic_graph_monitor/plugin.xml b/tools/rqt_diagnostic_graph_monitor/plugin.xml deleted file mode 100644 index 6c64185e3f0af..0000000000000 --- a/tools/rqt_diagnostic_graph_monitor/plugin.xml +++ /dev/null @@ -1,16 +0,0 @@ - - - - - - - - folder - - - - utilities-system-monitor - - - - diff --git a/tools/rqt_diagnostic_graph_monitor/python/__init__.py b/tools/rqt_diagnostic_graph_monitor/python/__init__.py deleted file mode 100644 index 10f125fa447b5..0000000000000 --- a/tools/rqt_diagnostic_graph_monitor/python/__init__.py +++ /dev/null @@ -1,37 +0,0 @@ -# Copyright 2023 The Autoware Contributors -# -# Licensed under the Apache License, Version 2.0 (the "License"); -# you may not use this file except in compliance with the License. -# You may obtain a copy of the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, -# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -# See the License for the specific language governing permissions and -# limitations under the License. - -from rqt_gui_py.plugin import Plugin - -from .module import MonitorModule -from .widget import MonitorWidget - - -class MonitorPlugin(Plugin): - def __init__(self, context): - super().__init__(context) - self.widget = MonitorWidget() - self.module = MonitorModule(context.node) - self.module.append_struct_callback(self.widget.on_graph) - context.add_widget(self.widget) - - def shutdown_plugin(self): - self.module.shutdown() - self.widget.shutdown() - - def save_settings(self, plugin_settings, instance_settings): - pass - - def restore_settings(self, plugin_settings, instance_settings): - pass diff --git a/tools/rqt_diagnostic_graph_monitor/python/graph.py b/tools/rqt_diagnostic_graph_monitor/python/graph.py deleted file mode 100644 index cea81c1226637..0000000000000 --- a/tools/rqt_diagnostic_graph_monitor/python/graph.py +++ /dev/null @@ -1,127 +0,0 @@ -# Copyright 2023 The Autoware Contributors -# -# Licensed under the Apache License, Version 2.0 (the "License"); -# you may not use this file except in compliance with the License. -# You may obtain a copy of the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, -# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -# See the License for the specific language governing permissions and -# limitations under the License. - -from diagnostic_msgs.msg import DiagnosticStatus -from rclpy.time import Time - - -class DummyStatus: - def __init__(self): - self.level = DiagnosticStatus.STALE - - -class BaseUnit: - def __init__(self, status=DummyStatus()): - self._parents = [] - self._children = [] - self._path = None - self._type = None - self._status = status - - @property - def parents(self): - return self._parents - - @property - def children(self): - return self._children - - @property - def path(self): - return self._path - - @property - def kind(self): - return self._type - - -class NodeUnit(BaseUnit): - def __init__(self, struct): - super().__init__() - self._path = struct.path - self._type = struct.type - - def update(self, status): - self._status = status - - @property - def level(self): - return self._status.level - - -class DiagUnit(BaseUnit): - def __init__(self, struct): - super().__init__() - self._path = struct.path - self._name = struct.name - self._type = "diag" - - def update(self, status): - self._status = status - - @property - def level(self): - return self._status.level - - -class UnitLink: - def __init__(self, parent: BaseUnit, child: BaseUnit): - self._parent = parent - self._child = child - parent._children.append(self) - child._parents.append(self) - - def update(self, status): - self.status = status - - @property - def parent(self): - return self._parent - - @property - def child(self): - return self._child - - -class Graph: - def __init__(self, msg): - self._struct_stamp = Time.from_msg(msg.stamp) - self._status_stamp = None - self._id = msg.id - self._nodes = [NodeUnit(struct) for struct in msg.nodes] - self._diags = [DiagUnit(struct) for struct in msg.diags] - self._units = self._nodes + self._diags - self._links = [] - for struct in msg.links: - units = self._diags if struct.is_leaf else self._nodes - nodes = self._nodes - self._links.append(UnitLink(nodes[struct.parent], units[struct.child])) - - def update(self, msg): - if msg.id == self._id: - self._status_stamp = Time.from_msg(msg.stamp) - for node, status in zip(self._nodes, msg.nodes): - node.update(status) - for diag, status in zip(self._diags, msg.diags): - diag.update(status) - for link, status in zip(self._links, msg.links): - link.update(status) - - @property - def units(self): - return self._units - - @property - def links(self): - return self._links diff --git a/tools/rqt_diagnostic_graph_monitor/python/items.py b/tools/rqt_diagnostic_graph_monitor/python/items.py deleted file mode 100644 index 96f60ef0e09cf..0000000000000 --- a/tools/rqt_diagnostic_graph_monitor/python/items.py +++ /dev/null @@ -1,54 +0,0 @@ -# Copyright 2024 The Autoware Contributors -# -# Licensed under the Apache License, Version 2.0 (the "License"); -# you may not use this file except in compliance with the License. -# You may obtain a copy of the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, -# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -# See the License for the specific language governing permissions and -# limitations under the License. - - -from diagnostic_msgs.msg import DiagnosticStatus -from python_qt_binding import QtGui -from python_qt_binding import QtWidgets - -from .graph import BaseUnit -from .graph import UnitLink - - -class MonitorIcons: - def __init__(self): - self.disable = QtGui.QIcon.fromTheme("dialog-question") - self.unknown = QtGui.QIcon.fromTheme("system-search") - self.ok = QtGui.QIcon.fromTheme("emblem-default") - self.warn = QtGui.QIcon.fromTheme("emblem-important") - self.error = QtGui.QIcon.fromTheme("dialog-error") - self.stale = QtGui.QIcon.fromTheme("appointment-missed") - - self._levels = {} - self._levels[DiagnosticStatus.OK] = self.ok - self._levels[DiagnosticStatus.WARN] = self.warn - self._levels[DiagnosticStatus.ERROR] = self.error - self._levels[DiagnosticStatus.STALE] = self.stale - - def get(self, level): - return self._levels.get(level, self.unknown) - - -class MonitorItem: - icons = MonitorIcons() - - def __init__(self, link: UnitLink, unit: BaseUnit): - item_text = f"{unit.path} ({unit.kind})" if unit.path else f"({unit.kind})" - self.item = QtWidgets.QTreeWidgetItem([item_text]) - self.link = link - self.unit = unit - self.item.setIcon(0, self.icons.stale) - - def update(self): - self.item.setIcon(0, self.icons.get(self.unit.level)) diff --git a/tools/rqt_diagnostic_graph_monitor/python/module.py b/tools/rqt_diagnostic_graph_monitor/python/module.py deleted file mode 100644 index 74294659ef61a..0000000000000 --- a/tools/rqt_diagnostic_graph_monitor/python/module.py +++ /dev/null @@ -1,61 +0,0 @@ -# Copyright 2023 The Autoware Contributors -# -# Licensed under the Apache License, Version 2.0 (the "License"); -# you may not use this file except in compliance with the License. -# You may obtain a copy of the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, -# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -# See the License for the specific language governing permissions and -# limitations under the License. - - -from rclpy.node import Node -from tier4_system_msgs.msg import DiagGraphStatus -from tier4_system_msgs.msg import DiagGraphStruct - -from .graph import Graph -from .utils import default_qos -from .utils import durable_qos -from .utils import foreach - - -class MonitorModule: - def __init__(self, node: Node): - self.graph = None - self.struct_callbacks = [] - self.status_callbacks = [] - self.node = node - self.sub_struct = self.subscribe_struct() - self.sub_status = self.subscribe_status() - - def append_struct_callback(self, callback): - self.struct_callbacks.append(callback) - - def append_status_callback(self, callback): - self.status_callbacks.append(callback) - - def on_struct(self, msg): - self.graph = Graph(msg) - foreach(self.struct_callbacks, lambda callback: callback(self.graph)) - - def on_status(self, msg): - self.graph.update(msg) - foreach(self.status_callbacks, lambda callback: callback(self.graph)) - - def subscribe_struct(self): - return self.node.create_subscription( - DiagGraphStruct, "/diagnostics_graph/struct", self.on_struct, durable_qos(1) - ) - - def subscribe_status(self): - return self.node.create_subscription( - DiagGraphStatus, "/diagnostics_graph/status", self.on_status, default_qos(1) - ) - - def shutdown(self): - self.node.destroy_subscription(self.sub_struct) - self.node.destroy_subscription(self.sub_status) diff --git a/tools/rqt_diagnostic_graph_monitor/python/utils.py b/tools/rqt_diagnostic_graph_monitor/python/utils.py deleted file mode 100644 index 6e66102b16dc9..0000000000000 --- a/tools/rqt_diagnostic_graph_monitor/python/utils.py +++ /dev/null @@ -1,29 +0,0 @@ -# Copyright 2024 The Autoware Contributors -# -# Licensed under the Apache License, Version 2.0 (the "License"); -# you may not use this file except in compliance with the License. -# You may obtain a copy of the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, -# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -# See the License for the specific language governing permissions and -# limitations under the License. - -from rclpy.qos import QoSDurabilityPolicy -from rclpy.qos import QoSProfile - - -def default_qos(depth): - return QoSProfile(depth=depth) - - -def durable_qos(depth): - return QoSProfile(depth=depth, durability=QoSDurabilityPolicy.TRANSIENT_LOCAL) - - -def foreach(iterable, function): - for item in iterable: - function(item) diff --git a/tools/rqt_diagnostic_graph_monitor/python/widget.py b/tools/rqt_diagnostic_graph_monitor/python/widget.py deleted file mode 100644 index e7f022e5907c0..0000000000000 --- a/tools/rqt_diagnostic_graph_monitor/python/widget.py +++ /dev/null @@ -1,85 +0,0 @@ -# Copyright 2023 The Autoware Contributors -# -# Licensed under the Apache License, Version 2.0 (the "License"); -# you may not use this file except in compliance with the License. -# You may obtain a copy of the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, -# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -# See the License for the specific language governing permissions and -# limitations under the License. - -from python_qt_binding import QtCore -from python_qt_binding import QtWidgets - -from .graph import Graph -from .items import MonitorItem -from .utils import foreach - - -class MonitorWidget(QtWidgets.QSplitter): - def __init__(self): - super().__init__() - self.graph = None - self.items = [] - self.root_widget = QtWidgets.QTreeWidget() - self.tree_widget = QtWidgets.QTreeWidget() - self.root_widget.setHeaderLabels(["Top-level"]) - self.tree_widget.setHeaderLabels(["Subtrees"]) - self.addWidget(self.root_widget) - self.addWidget(self.tree_widget) - - self._timer = QtCore.QTimer() - self._timer.timeout.connect(self.on_timer) - self._timer.start(500) - - def shutdown(self): - self.clear_graph() - - def on_timer(self): - foreach(self.items, lambda item: item.update()) - - def on_graph(self, graph: Graph): - self.clear_graph() - self.build_graph(graph) - - def clear_graph(self): - self.graph = None - self.items = [] - self.root_widget.clear() - self.tree_widget.clear() - - def build_graph(self, graph: Graph): - self.graph = graph - root_units = filter(self.is_root_unit, self.graph.units) - tree_units = filter(self.is_tree_unit, self.graph.units) - root_items = [MonitorItem(None, unit) for unit in root_units] - tree_items = [MonitorItem(None, unit) for unit in tree_units] - link_items = [MonitorItem(link, link.child) for link in self.graph.links] - self.items = root_items + tree_items + link_items - - # Note: overwrite link items with root/tree items if there is more than one. - parents = {} - for items in [link_items, tree_items, root_items]: - parents.update({item.unit: item.item for item in items}) - - # Connect tree widget items. - root_widget_item = self.root_widget.invisibleRootItem() - tree_widget_item = self.tree_widget.invisibleRootItem() - for item in root_items: - root_widget_item.addChild(item.item) - for item in tree_items: - tree_widget_item.addChild(item.item) - for item in link_items: - parents[item.link.parent].addChild(item.item) - - @staticmethod - def is_root_unit(unit): - return len(unit.parents) == 0 - - @staticmethod - def is_tree_unit(unit): - return len(unit.parents) >= 2 and len(unit.children) != 0 diff --git a/tools/rqt_diagnostic_graph_monitor/script/cui_diagnostic_graph_monitor b/tools/rqt_diagnostic_graph_monitor/script/cui_diagnostic_graph_monitor deleted file mode 100755 index 8b0685125d026..0000000000000 --- a/tools/rqt_diagnostic_graph_monitor/script/cui_diagnostic_graph_monitor +++ /dev/null @@ -1,14 +0,0 @@ -#!/usr/bin/env python3 - -import rclpy -from rqt_diagnostic_graph_monitor.module import MonitorModule - -if __name__ == "__main__": - try: - rclpy.init() - node = rclpy.create_node("test_rqt_diagnostic_graph_monitor") - test = MonitorModule(node) - rclpy.spin(node) - rclpy.shutdown() - except KeyboardInterrupt: - print("KeyboardInterrupt") diff --git a/tools/rqt_diagnostic_graph_monitor/script/rqt_diagnostic_graph_monitor b/tools/rqt_diagnostic_graph_monitor/script/rqt_diagnostic_graph_monitor deleted file mode 100755 index a5237a87e87d6..0000000000000 --- a/tools/rqt_diagnostic_graph_monitor/script/rqt_diagnostic_graph_monitor +++ /dev/null @@ -1,8 +0,0 @@ -#!/usr/bin/env python3 - -import sys - -import rqt_gui.main - -rqt_main = rqt_gui.main.Main() -sys.exit(rqt_main.main(sys.argv, standalone="rqt_diagnostic_graph_monitor.MonitorPlugin")) diff --git a/vehicle/accel_brake_map_calibrator/src/accel_brake_map_calibrator_node.cpp b/vehicle/accel_brake_map_calibrator/src/accel_brake_map_calibrator_node.cpp index ecfc312d2bdfd..37f0a11165df3 100644 --- a/vehicle/accel_brake_map_calibrator/src/accel_brake_map_calibrator_node.cpp +++ b/vehicle/accel_brake_map_calibrator/src/accel_brake_map_calibrator_node.cpp @@ -703,17 +703,19 @@ void AccelBrakeMapCalibrator::takeConsistencyOfAccelMap() { const double bit = std::pow(1e-01, precision_); for (std::size_t ped_idx = 0; ped_idx < update_accel_map_value_.size() - 1; ped_idx++) { - for (std::size_t vel_idx = 0; vel_idx < update_accel_map_value_.at(0).size() - 1; vel_idx++) { + for (std::size_t vel_idx = update_accel_map_value_.at(0).size() - 1;; vel_idx--) { + if (vel_idx == 0) break; + const double current_acc = update_accel_map_value_.at(ped_idx).at(vel_idx); const double next_ped_acc = update_accel_map_value_.at(ped_idx + 1).at(vel_idx); - const double next_vel_acc = update_accel_map_value_.at(ped_idx).at(vel_idx + 1); + const double prev_vel_acc = update_accel_map_value_.at(ped_idx).at(vel_idx - 1); - if (current_acc <= next_vel_acc) { + if (current_acc + bit >= prev_vel_acc) { // the higher the velocity, the lower the acceleration - update_accel_map_value_.at(ped_idx).at(vel_idx + 1) = current_acc - bit; + update_accel_map_value_.at(ped_idx).at(vel_idx - 1) = current_acc + bit; } - if (current_acc >= next_ped_acc) { + if (current_acc + bit >= next_ped_acc) { // the higher the accel pedal, the higher the acceleration update_accel_map_value_.at(ped_idx + 1).at(vel_idx) = current_acc + bit; }