From fd6306d6fc3fff852046474c71a9181ddc7aa40c Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?M=2E=20Fatih=20C=C4=B1r=C4=B1t?= Date: Sat, 11 May 2024 22:09:46 +0300 Subject: [PATCH 01/43] fix(autoware_overlay_rviz_plugin): fix subs and cleanup (#6978) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: M. Fatih Cırıt --- .../autoware_overlay_msgs/CHANGELOG.rst | 24 - .../autoware_overlay_msgs/CMakeLists.txt | 19 - .../autoware_overlay_msgs/msg/OverlayText.msg | 31 - .../autoware_overlay_msgs/package.xml | 24 - .../CMakeLists.txt | 115 ++-- .../include/overlay_text_display.hpp | 157 ----- .../include/overlay_utils.hpp | 14 +- .../autoware_overlay_rviz_plugin/package.xml | 1 - .../src/overlay_text_display.cpp | 556 ------------------ .../src/signal_display.cpp | 80 +-- 10 files changed, 62 insertions(+), 959 deletions(-) delete mode 100644 common/autoware_overlay_rviz_plugin/autoware_overlay_msgs/CHANGELOG.rst delete mode 100644 common/autoware_overlay_rviz_plugin/autoware_overlay_msgs/CMakeLists.txt delete mode 100644 common/autoware_overlay_rviz_plugin/autoware_overlay_msgs/msg/OverlayText.msg delete mode 100644 common/autoware_overlay_rviz_plugin/autoware_overlay_msgs/package.xml delete mode 100644 common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/overlay_text_display.hpp delete mode 100644 common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/overlay_text_display.cpp 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/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/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 841b33c29fbb0..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 @@ -120,59 +120,13 @@ void SignalDisplay::onInitialize() 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::TrafficSignal::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() @@ -419,8 +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); }); @@ -433,8 +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); }); @@ -447,8 +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); }); @@ -462,7 +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); }); @@ -477,8 +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); }); @@ -493,8 +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); }); @@ -507,8 +456,7 @@ void SignalDisplay::topic_updated_traffic() 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(), + traffic_topic_property_->getTopicStd(), rclcpp::QoS(rclcpp::KeepLast(10)), [this](const autoware_perception_msgs::msg::TrafficSignal::SharedPtr msg) { updateTrafficLightData(msg); }); From bffbccec54f79cd2ed3e1143feb2f5584ecfc169 Mon Sep 17 00:00:00 2001 From: Hiroki OTA Date: Mon, 13 May 2024 08:10:45 +0800 Subject: [PATCH 02/43] fix(accel_brake_calibrator): fix to set service name and exception failure (#6973) * add service * fix exception * fix style --- ...ccel_brake_map_calibrator_button_panel.cpp | 48 ++++++++++++++++--- ...ccel_brake_map_calibrator_button_panel.hpp | 3 ++ 2 files changed, 44 insertions(+), 7 deletions(-) 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 index 5c1c98488b0f6..d89f13ce74d02 100644 --- 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 @@ -34,13 +34,19 @@ namespace tier4_calibration_rviz_plugin AccelBrakeMapCalibratorButtonPanel::AccelBrakeMapCalibratorButtonPanel(QWidget * parent) : rviz_common::Panel(parent) { - topic_label_ = new QLabel("Topic name of update suggest "); + topic_label_ = new QLabel("topic: "); 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())); + service_label_ = new QLabel("service: "); + service_label_->setAlignment(Qt::AlignCenter); + + service_edit_ = new QLineEdit("/vehicle/calibration/accel_brake_map_calibrator/update_map_dir"); + connect(service_edit_, SIGNAL(textEdited(QString)), SLOT(editService())); + calibration_button_ = new QPushButton("Wait for subscribe topic"); calibration_button_->setEnabled(false); connect(calibration_button_, SIGNAL(clicked(bool)), SLOT(pushCalibrationButton())); @@ -56,8 +62,13 @@ AccelBrakeMapCalibratorButtonPanel::AccelBrakeMapCalibratorButtonPanel(QWidget * topic_layout->addWidget(topic_label_); topic_layout->addWidget(topic_edit_); + auto * service_layout = new QHBoxLayout; + service_layout->addWidget(service_label_); + service_layout->addWidget(service_edit_); + auto * v_layout = new QVBoxLayout; v_layout->addLayout(topic_layout); + v_layout->addLayout(service_layout); v_layout->addWidget(calibration_button_); v_layout->addWidget(status_label_); @@ -75,7 +86,7 @@ void AccelBrakeMapCalibratorButtonPanel::onInitialize() &AccelBrakeMapCalibratorButtonPanel::callbackUpdateSuggest, this, std::placeholders::_1)); client_ = raw_node->create_client( - "/vehicle/calibration/accel_brake_map_calibrator/update_map_dir"); + service_edit_->text().toStdString()); } void AccelBrakeMapCalibratorButtonPanel::callbackUpdateSuggest( @@ -85,6 +96,12 @@ void AccelBrakeMapCalibratorButtonPanel::callbackUpdateSuggest( return; } + if (!client_ || !client_->service_is_ready()) { + calibration_button_->setText("wait for service"); + calibration_button_->setEnabled(false); + return; + } + if (msg->data) { status_label_->setText("Ready"); status_label_->setStyleSheet("QLabel { background-color : white;}"); @@ -98,17 +115,34 @@ void AccelBrakeMapCalibratorButtonPanel::callbackUpdateSuggest( 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)); + try { + update_suggest_sub_.reset(); + update_suggest_sub_ = raw_node->create_subscription( + topic_edit_->text().toStdString(), 10, + std::bind( + &AccelBrakeMapCalibratorButtonPanel::callbackUpdateSuggest, this, std::placeholders::_1)); + } catch (const rclcpp::exceptions::InvalidTopicNameError & e) { + RCLCPP_WARN_STREAM(raw_node->get_logger(), e.what()); + } calibration_button_->setText("Wait for subscribe topic"); calibration_button_->setEnabled(false); } +void AccelBrakeMapCalibratorButtonPanel::editService() +{ + rclcpp::Node::SharedPtr raw_node = + this->getDisplayContext()->getRosNodeAbstraction().lock()->get_raw_node(); + try { + client_.reset(); + client_ = raw_node->create_client( + service_edit_->text().toStdString()); + } catch (const rclcpp::exceptions::InvalidServiceNameError & e) { + RCLCPP_WARN_STREAM(raw_node->get_logger(), e.what()); + } +} + void AccelBrakeMapCalibratorButtonPanel::pushCalibrationButton() { // lock button 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 index e26789c9f120f..70ebe0631fa21 100644 --- 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 @@ -46,6 +46,7 @@ class AccelBrakeMapCalibratorButtonPanel : public rviz_common::Panel public Q_SLOTS: // NOLINT for Qt void editTopic(); + void editService(); void pushCalibrationButton(); protected: @@ -56,6 +57,8 @@ public Q_SLOTS: // NOLINT for Qt QLabel * topic_label_; QLineEdit * topic_edit_; + QLabel * service_label_; + QLineEdit * service_edit_; QPushButton * calibration_button_; QLabel * status_label_; }; From fd89ca2e9e043be5de92a259a32e8e75b6f34707 Mon Sep 17 00:00:00 2001 From: go-sakayori Date: Mon, 13 May 2024 10:22:47 +0900 Subject: [PATCH 03/43] test: behavior path obstacle avoidance (#6972) * write test for behavior avoidance Signed-off-by: Go Sakayori * style(pre-commit): autofix --------- Signed-off-by: Go Sakayori Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- .../test/test_utils.cpp | 17 +++++++++++++++++ 1 file changed, 17 insertions(+) diff --git a/planning/behavior_path_avoidance_module/test/test_utils.cpp b/planning/behavior_path_avoidance_module/test/test_utils.cpp index 95488daa69cf8..1a114eef9f7f7 100644 --- a/planning/behavior_path_avoidance_module/test/test_utils.cpp +++ b/planning/behavior_path_avoidance_module/test/test_utils.cpp @@ -21,6 +21,7 @@ using behavior_path_planner::ObjectData; using behavior_path_planner::utils::avoidance::isOnRight; using behavior_path_planner::utils::avoidance::isSameDirectionShift; +using behavior_path_planner::utils::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)); +} From bd46dc3ac15b15bff515900e2b9c84c339338813 Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Mon, 13 May 2024 13:54:31 +0900 Subject: [PATCH 04/43] feat(rtc_interface)!: add new field to rtc cooperate status (#6933) * feat(rtc_interface): add new field Signed-off-by: satoshi-ota * feat(bvp): support new rtc cooperate status Signed-off-by: satoshi-ota * feat(bpp): support new rtc cooperate status Signed-off-by: satoshi-ota --------- Signed-off-by: satoshi-ota --- .../src/interface.cpp | 5 ++++- .../behavior_path_avoidance_module/scene.hpp | 14 ++++++++------ .../behavior_path_avoidance_module/type_alias.hpp | 2 ++ .../interface/scene_module_interface.hpp | 5 ++++- .../src/manager.cpp | 3 ++- .../src/manager.cpp | 4 ++-- .../src/manager.cpp | 3 ++- .../src/manager.cpp | 11 ++++++----- .../src/manager.cpp | 3 ++- .../scene_module_interface.hpp | 7 +++++-- .../src/scene_module_interface.cpp | 3 ++- .../src/manager.cpp | 3 ++- .../include/rtc_interface/rtc_interface.hpp | 6 ++++-- planning/rtc_interface/src/rtc_interface.cpp | 6 ++++-- 14 files changed, 49 insertions(+), 26 deletions(-) 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_module/include/behavior_path_avoidance_module/scene.hpp b/planning/behavior_path_avoidance_module/include/behavior_path_avoidance_module/scene.hpp index d7c101f885cdf..6b11d490e8c23 100644 --- a/planning/behavior_path_avoidance_module/include/behavior_path_avoidance_module/scene.hpp +++ b/planning/behavior_path_avoidance_module/include/behavior_path_avoidance_module/scene.hpp @@ -77,15 +77,17 @@ 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; } @@ -108,7 +110,7 @@ class AvoidanceModule : public SceneModuleInterface 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}, @@ -121,7 +123,7 @@ class AvoidanceModule : public SceneModuleInterface 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}, diff --git a/planning/behavior_path_avoidance_module/include/behavior_path_avoidance_module/type_alias.hpp b/planning/behavior_path_avoidance_module/include/behavior_path_avoidance_module/type_alias.hpp index 8e7c7820a3650..67bca3099df6f 100644 --- a/planning/behavior_path_avoidance_module/include/behavior_path_avoidance_module/type_alias.hpp +++ b/planning/behavior_path_avoidance_module/include/behavior_path_avoidance_module/type_alias.hpp @@ -28,6 +28,7 @@ #include #include #include +#include #include namespace behavior_path_planner @@ -49,6 +50,7 @@ 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; 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 0e06c1f8ab908..b4e1ffce8104a 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 @@ -41,6 +41,7 @@ #include #include #include +#include #include #include @@ -67,6 +68,7 @@ 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; @@ -490,8 +492,9 @@ 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()); } } diff --git a/planning/behavior_velocity_blind_spot_module/src/manager.cpp b/planning/behavior_velocity_blind_spot_module/src/manager.cpp index d114ab0c65da9..faa10c1fbe9b4 100644 --- a/planning/behavior_velocity_blind_spot_module/src/manager.cpp +++ b/planning/behavior_velocity_blind_spot_module/src/manager.cpp @@ -73,7 +73,8 @@ void BlindSpotModuleManager::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_crosswalk_module/src/manager.cpp b/planning/behavior_velocity_crosswalk_module/src/manager.cpp index ad56df5f76944..5110ff9993a62 100644 --- a/planning/behavior_velocity_crosswalk_module/src/manager.cpp +++ b/planning/behavior_velocity_crosswalk_module/src/manager.cpp @@ -190,8 +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_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_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_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_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..082a88e306169 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 @@ -31,6 +31,7 @@ #include #include #include +#include #include #include @@ -58,6 +59,7 @@ 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 @@ -235,9 +237,10 @@ 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); } 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..803682489ebde 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); } diff --git a/planning/behavior_velocity_traffic_light_module/src/manager.cpp b/planning/behavior_velocity_traffic_light_module/src/manager.cpp index 89817f3342dbd..6e6871e20a354 100644 --- a/planning/behavior_velocity_traffic_light_module/src/manager.cpp +++ b/planning/behavior_velocity_traffic_light_module/src/manager.cpp @@ -133,7 +133,8 @@ void TrafficLightModuleManager::launchNewModules( planner_param_, logger_.get_child("traffic_light_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/rtc_interface/include/rtc_interface/rtc_interface.hpp b/planning/rtc_interface/include/rtc_interface/rtc_interface.hpp index aed7d42cda5e6..8d6e8c8fc1c7c 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; @@ -51,8 +53,8 @@ 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 clearCooperateStatus(); bool isActivated(const UUID & uuid) const; diff --git a/planning/rtc_interface/src/rtc_interface.cpp b/planning/rtc_interface/src/rtc_interface.cpp index a7661f4c419a5..c7afea57afce3 100644 --- a/planning/rtc_interface/src/rtc_interface.cpp +++ b/planning/rtc_interface/src/rtc_interface.cpp @@ -201,8 +201,8 @@ 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 +218,7 @@ void RTCInterface::updateCooperateStatus( status.module = module_; status.safe = safe; status.command_status.type = Command::DEACTIVATE; + status.state.type = State::WAITING_FOR_EXECUTION; status.start_distance = start_distance; status.finish_distance = finish_distance; status.auto_mode = is_auto_mode_enabled_; @@ -228,6 +229,7 @@ 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; } From f3cd528230b46be523f69f94e6629a1be5758d82 Mon Sep 17 00:00:00 2001 From: Ryuta Kambe Date: Mon, 13 May 2024 14:39:18 +0900 Subject: [PATCH 05/43] fix(behavior_velocity_run_out_module): initialize `accel_reason_` (#6982) fix(behavior_velocity_run_out_module): initialize accel_reason_ Signed-off-by: Ryuta Kambe --- planning/behavior_velocity_run_out_module/src/debug.cpp | 2 ++ planning/behavior_velocity_run_out_module/src/debug.hpp | 1 + 2 files changed, 3 insertions(+) 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 From 86804e1d99fa6106b26914b6fc969fa9b7bb3229 Mon Sep 17 00:00:00 2001 From: Ahmed Ebrahim <36835765+ahmeddesokyebrahim@users.noreply.github.com> Date: Mon, 13 May 2024 10:19:53 +0300 Subject: [PATCH 06/43] feat: add autoware_remaining_distance_time_calculator and overlay (#6855) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: AhmedEbrahim Signed-off-by: M. Fatih Cırıt --- .../CMakeLists.txt | 108 +++++++ .../LICENSE | 12 + .../README.md | 35 +++ .../assets/av_timer.png | Bin 0 -> 2010 bytes .../assets/font/Quicksand/LICENSE | 93 ++++++ .../font/Quicksand/static/Quicksand-Bold.ttf | Bin 0 -> 78596 bytes .../Quicksand/static/Quicksand-Regular.ttf | Bin 0 -> 78936 bytes .../assets/path.png | Bin 0 -> 1461 bytes ...n_details_overlay_rviz_plugin-extras.cmake | 31 ++ .../include/mission_details_display.hpp | 83 ++++++ .../include/overlay_utils.hpp | 131 +++++++++ .../remaining_distance_time_display.hpp | 57 ++++ .../package.xml | 28 ++ .../plugins_description.xml | 5 + .../src/mission_details_display.cpp | 212 ++++++++++++++ .../src/overlay_utils.cpp | 267 ++++++++++++++++++ .../src/remaining_distance_time_display.cpp | 157 ++++++++++ .../launch/planning.launch.xml | 5 + launch/tier4_planning_launch/package.xml | 1 + .../CMakeLists.txt | 21 ++ .../README.md | 39 +++ ...aining_distance_time_calculator.param.yaml | 3 + ...aining_distance_time_calculator.launch.xml | 20 ++ .../package.xml | 35 +++ ...ining_distance_time_calculator.schema.json | 31 ++ ...emaining_distance_time_calculator_node.cpp | 188 ++++++++++++ ...emaining_distance_time_calculator_node.hpp | 110 ++++++++ 27 files changed, 1672 insertions(+) create mode 100644 common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/CMakeLists.txt create mode 100644 common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/LICENSE create mode 100644 common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/README.md create mode 100644 common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/assets/av_timer.png create mode 100644 common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/assets/font/Quicksand/LICENSE create mode 100644 common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/assets/font/Quicksand/static/Quicksand-Bold.ttf create mode 100644 common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/assets/font/Quicksand/static/Quicksand-Regular.ttf create mode 100644 common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/assets/path.png create mode 100644 common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin-extras.cmake create mode 100644 common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/include/mission_details_display.hpp create mode 100644 common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/include/overlay_utils.hpp create mode 100644 common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/include/remaining_distance_time_display.hpp create mode 100644 common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/package.xml create mode 100644 common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/plugins_description.xml create mode 100644 common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/src/mission_details_display.cpp create mode 100644 common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/src/overlay_utils.cpp create mode 100644 common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/src/remaining_distance_time_display.cpp create mode 100644 planning/autoware_remaining_distance_time_calculator/CMakeLists.txt create mode 100644 planning/autoware_remaining_distance_time_calculator/README.md create mode 100644 planning/autoware_remaining_distance_time_calculator/config/remaining_distance_time_calculator.param.yaml create mode 100644 planning/autoware_remaining_distance_time_calculator/launch/remaining_distance_time_calculator.launch.xml create mode 100644 planning/autoware_remaining_distance_time_calculator/package.xml create mode 100644 planning/autoware_remaining_distance_time_calculator/schema/remaining_distance_time_calculator.schema.json create mode 100644 planning/autoware_remaining_distance_time_calculator/src/remaining_distance_time_calculator_node.cpp create mode 100644 planning/autoware_remaining_distance_time_calculator/src/remaining_distance_time_calculator_node.hpp 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 0000000000000000000000000000000000000000..f7f5db12495113f6b0afacbc182658bb519a9059 GIT binary patch literal 2010 zcmV<02POE4P)Px+lu1NERCr$PoZC+0I2eF`r)agicO#%fuC_eMlqaEm65vT-o@BaDLPlDt(1N&H zt+Y$y#Yqz!C;!2*LyOej%pp!}fBw&QqTuigBA|lqKHLlkfPq4A0C)fxNFea`y_CS^ z@?~PrD^0&-f%6>f_PqnRTs_ScsN0SiZz1YTfhzubNATd!1hDXUx;?2( z0W5X}bMFBn&@kD^0Cc9cTBKi(Zv+Aq++^E&6 zU@_2JKP^CC7z*Gn-y}D&J^JSZ=xG!k(3##O7cn751GrqRX6bkw98wTrjIYq4jz(*^ zi{)gZ0DM?I{Qyu?t>HR!U=%>}d{Fvl0_vLvm;yi};PxRLW2~mXV1O08YVe^0BLRY* z+g`QESd#owDVX(xnJ>=9rx!lp-L^phU3f7d)&M(fopu1)lPT|mOQQ)sK#X(wIzFEJ 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z(9Tbrw%=Rft#-L*qiDW@j~(AdH4{h$f;PT67n zL-%X{H=R#2!~j+Sthpv!O-^i*E+wNqu3et8uGc!9i6}q=G4RrPgZU&2pidI|-?qpD zWL*d8(ULx31jwPByX6pYJ8NC0ue4SiVD%wZNuM_NGA#(=uCwLQ09H2f<-PICLv4)_>T(Eo+kfTlLttFD~zcYg1aERGnPpK^04q*@gDi``!o7S9L}E&1rQ46OnCd5PH-%|{T)Yct6jPb`1Cc(?a+u!*AeRKgHf8XKc zY+xOUUrFEGENMO8rIzue0XBnpUD(jS#vckYuiwpkzpVT@ +#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/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/package.xml b/launch/tier4_planning_launch/package.xml index 950ef67865a85..d04a405a61c7b 100644 --- a/launch/tier4_planning_launch/package.xml +++ b/launch/tier4_planning_launch/package.xml @@ -57,6 +57,7 @@ ament_cmake_auto autoware_cmake + autoware_remaining_distance_time_calculator behavior_path_planner behavior_velocity_planner costmap_generator 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_ From 7302cd762c98f777023636f9b44ab01210a43f3d Mon Sep 17 00:00:00 2001 From: Tomoya Kimura Date: Mon, 13 May 2024 19:02:42 +0900 Subject: [PATCH 07/43] fix(accel_brake_map_calibrator): fix accel_brake_map_calibrator not to output invalid maps (#6992) Signed-off-by: tomoya.kimura --- .../src/accel_brake_map_calibrator_node.cpp | 12 +++++++----- 1 file changed, 7 insertions(+), 5 deletions(-) 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; } From 2f2438ecdae686d9c7d041744677cb332a375b17 Mon Sep 17 00:00:00 2001 From: danielsanchezaran Date: Mon, 13 May 2024 19:58:46 +0900 Subject: [PATCH 08/43] feat(mrm_emergency_stop_operator): add support for real time param reconfigure for mrm_emergency_stop (#6994) add support for real time param reconfigure for mrm_emergency_stop Signed-off-by: Daniel Sanchez --- .../mrm_emergency_stop_operator_core.hpp | 5 +++++ .../mrm_emergency_stop_operator/package.xml | 1 + .../mrm_emergency_stop_operator_core.cpp | 19 +++++++++++++++++++ 3 files changed, 25 insertions(+) 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) From aff5370c45853810a2ac075a5c21d010f0c30439 Mon Sep 17 00:00:00 2001 From: Dmitrii Koldaev <39071246+dkoldaev@users.noreply.github.com> Date: Mon, 13 May 2024 20:05:24 +0900 Subject: [PATCH 09/43] feat(map_based_prediction): incorporate crosswalk user history (#6905) Signed-off-by: Dmitrii Koldaev --- .../config/map_based_prediction.param.yaml | 3 + .../map_based_prediction_node.hpp | 25 +- .../src/map_based_prediction_node.cpp | 245 +++++++++++++----- 3 files changed, 209 insertions(+), 64 deletions(-) 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..a1b776bdb6393 100644 --- a/perception/map_based_prediction/config/map_based_prediction.param.yaml +++ b/perception/map_based_prediction/config/map_based_prediction.param.yaml @@ -27,6 +27,9 @@ 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..213f18d63ef3a 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; @@ -135,8 +142,10 @@ 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_; @@ -200,6 +209,9 @@ 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 +234,7 @@ 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( @@ -232,10 +243,14 @@ 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); 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 8f080ba0edc35..b55ea72402d74 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 * @@ -776,7 +822,10 @@ 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_ = @@ -918,7 +967,19 @@ 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; @@ -928,6 +989,20 @@ 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; @@ -948,6 +1023,12 @@ 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); @@ -965,7 +1046,7 @@ 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()) { @@ -1113,6 +1194,19 @@ 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); @@ -1125,6 +1219,79 @@ 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 = @@ -1345,49 +1512,9 @@ 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(), @@ -1502,9 +1629,9 @@ 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) == @@ -1571,7 +1698,7 @@ 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) { @@ -1595,13 +1722,13 @@ 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( @@ -1789,10 +1916,10 @@ 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()) { @@ -1828,11 +1955,11 @@ 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; @@ -1899,11 +2026,11 @@ 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 @@ -2060,12 +2187,12 @@ 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) == From d9b3df7da042fdc9759f330404b73a4f9a91167b Mon Sep 17 00:00:00 2001 From: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> Date: Mon, 13 May 2024 20:59:20 +0900 Subject: [PATCH 10/43] feat(out_of_lane): add option to ignore overlaps in lane changes (#6991) Signed-off-by: Maxime CLEMENT --- .../config/out_of_lane.param.yaml | 1 + .../src/lanelets_selection.cpp | 11 +++++++++++ .../src/manager.cpp | 2 ++ .../src/types.hpp | 2 ++ 4 files changed, 16 insertions(+) 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 From b6bd75073a61757b6212c578409363680df2ddd8 Mon Sep 17 00:00:00 2001 From: Yoshi Ri Date: Tue, 14 May 2024 01:13:18 +0900 Subject: [PATCH 11/43] feat(tier4_perception_launch): downsample perception input pointcloud (#6886) * feat: downsample perception input pointcloud Signed-off-by: yoshiri * fix: add group if to switch downsample node Signed-off-by: yoshiri * fix: add test and exec depend Signed-off-by: yoshiri * Update launch/tier4_perception_launch/launch/perception.launch.xml Co-authored-by: Yukihiro Saito * chore: refactor perception.launch.xml Signed-off-by: yoshiri --------- Signed-off-by: yoshiri Co-authored-by: Yukihiro Saito --- .../launch/perception.launch.xml | 29 +++++++++++++++++-- 1 file changed, 26 insertions(+), 3 deletions(-) diff --git a/launch/tier4_perception_launch/launch/perception.launch.xml b/launch/tier4_perception_launch/launch/perception.launch.xml index 71fb38f883144..d020bfe0d6786 100644 --- a/launch/tier4_perception_launch/launch/perception.launch.xml +++ b/launch/tier4_perception_launch/launch/perception.launch.xml @@ -121,9 +121,32 @@ description="if use_radar_tracking_fusion:=true, radar information is merged in tracking launch. Otherwise, radar information is merged in detection launch." /> + + + + + + + + + + + + + + + + + + + + + + + @@ -133,7 +156,7 @@ - + @@ -142,7 +165,7 @@ - + @@ -162,7 +185,7 @@ - + From a3c1ed33a47afb7e57647aeb22bc9871ef8b1135 Mon Sep 17 00:00:00 2001 From: Yoshi Ri Date: Tue, 14 May 2024 10:36:53 +0900 Subject: [PATCH 12/43] feat(tier4_perception_launch): fix typo error (#6999) * feat: downsample perception input pointcloud Signed-off-by: yoshiri * fix: add group if to switch downsample node Signed-off-by: yoshiri * fix: add test and exec depend Signed-off-by: yoshiri * Update launch/tier4_perception_launch/launch/perception.launch.xml Co-authored-by: Yukihiro Saito * chore: refactor perception.launch.xml Signed-off-by: yoshiri * fix: fix name Signed-off-by: yoshiri --------- Signed-off-by: yoshiri Co-authored-by: Yukihiro Saito --- launch/tier4_perception_launch/launch/perception.launch.xml | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/launch/tier4_perception_launch/launch/perception.launch.xml b/launch/tier4_perception_launch/launch/perception.launch.xml index d020bfe0d6786..d60f54c2e641a 100644 --- a/launch/tier4_perception_launch/launch/perception.launch.xml +++ b/launch/tier4_perception_launch/launch/perception.launch.xml @@ -132,9 +132,9 @@ - - - + + + From a714f945b9a7856fb574ad67a9e6ec84957cf78d Mon Sep 17 00:00:00 2001 From: Ryuta Kambe Date: Tue, 14 May 2024 13:26:48 +0900 Subject: [PATCH 13/43] refactor(behavior_velocity_occlusion_spot_module): reduce cppcheck warning (#6987) * remove unnecessary if branch Signed-off-by: Ryuta Kambe * add const for const variable Signed-off-by: Ryuta Kambe * remove redundant assignment Signed-off-by: Ryuta Kambe * remove redundant if branch Signed-off-by: Ryuta Kambe * underflow check Signed-off-by: Ryuta Kambe * use const for const parameter Signed-off-by: Ryuta Kambe * style(pre-commit): autofix * delete unnecessary pointsToRays function Signed-off-by: Ryuta Kambe --------- Signed-off-by: Ryuta Kambe Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- .../src/debug.cpp | 2 +- .../src/grid_utils.cpp | 66 +++++-------------- .../src/occlusion_spot_utils.cpp | 6 +- .../src/occlusion_spot_utils.hpp | 3 +- 4 files changed, 24 insertions(+), 53 deletions(-) diff --git a/planning/behavior_velocity_occlusion_spot_module/src/debug.cpp b/planning/behavior_velocity_occlusion_spot_module/src/debug.cpp index a6e13d0dfdcdc..f4d3fbf6cc2c1 100644 --- a/planning/behavior_velocity_occlusion_spot_module/src/debug.cpp +++ b/planning/behavior_velocity_occlusion_spot_module/src/debug.cpp @@ -118,7 +118,7 @@ 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..22b93c2c0236c 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; @@ -426,7 +429,8 @@ 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; 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..47242b70f0cbd 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 @@ -241,7 +241,8 @@ 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, From ac5190bf6b2e76fc56dcd2b5879a29a55b4c9066 Mon Sep 17 00:00:00 2001 From: SakodaShintaro Date: Tue, 14 May 2024 13:35:34 +0900 Subject: [PATCH 14/43] fix(ndt_scan_matcher): improved tpe (#6990) * Improved tpe Signed-off-by: Shintaro Sakoda * Added name in TODO Signed-off-by: Shintaro Sakoda * Fixed tpe test Signed-off-by: Shintaro Sakoda * style(pre-commit): autofix --------- Signed-off-by: Shintaro Sakoda Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- .../config/ndt_scan_matcher.param.yaml | 2 +- .../schema/sub/initial_pose_estimation.json | 2 +- .../src/ndt_scan_matcher_core.cpp | 72 +++----- .../tree_structured_parzen_estimator.hpp | 27 +-- .../src/tree_structured_parzen_estimator.cpp | 172 +++++++----------- .../test/test_tpe.cpp | 16 +- 6 files changed, 117 insertions(+), 174 deletions(-) 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/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/ndt_scan_matcher_core.cpp b/localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp index 1e3188a15acc9..8e7685180c1f9 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 @@ -988,34 +986,20 @@ 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>(); @@ -1029,16 +1013,13 @@ 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); @@ -1061,22 +1042,13 @@ 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>(); 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); From 0e6f175330bf891355175bb2973cd04a1c1e6a3a Mon Sep 17 00:00:00 2001 From: Ryuta Kambe Date: Tue, 14 May 2024 13:48:26 +0900 Subject: [PATCH 15/43] refactor(behavior_velocity_occlusion_spot_module): remove unnecessary declaration (#7000) * refactor(behavior_velocity_occlusion_spot_module): remove unnecessary declaration Signed-off-by: Ryuta Kambe * remove unnecessary declaration Signed-off-by: Ryuta Kambe * unify lanelet::ArcCoordinates Signed-off-by: Ryuta Kambe * unify lanelet::geometry::fromArcCoordinates Signed-off-by: Ryuta Kambe * style(pre-commit): autofix * unify lanelet::ConstLineString2d Signed-off-by: Ryuta Kambe * style(pre-commit): autofix * fix Signed-off-by: veqcc --------- Signed-off-by: Ryuta Kambe Signed-off-by: veqcc Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- .../src/debug.cpp | 1 - .../src/occlusion_spot_utils.cpp | 44 ++++++++++--------- .../src/occlusion_spot_utils.hpp | 4 -- 3 files changed, 24 insertions(+), 25 deletions(-) diff --git a/planning/behavior_velocity_occlusion_spot_module/src/debug.cpp b/planning/behavior_velocity_occlusion_spot_module/src/debug.cpp index f4d3fbf6cc2c1..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; 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 22b93c2c0236c..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 @@ -245,7 +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; @@ -260,16 +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); } @@ -289,18 +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. * ^ @@ -341,8 +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, @@ -455,7 +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 47242b70f0cbd..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; From 590518fb6435bfa379bb2896813f005f843efb23 Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Tue, 14 May 2024 13:50:38 +0900 Subject: [PATCH 16/43] chore(tools): move system and evaluation tools to autoware_tools repo from autoware.universe (#7002) * chore(tools): move system tools Signed-off-by: satoshi-ota * chore(evaluator): move evaluators Signed-off-by: satoshi-ota --------- Signed-off-by: satoshi-ota --- .../tier4_metrics_rviz_plugin/CMakeLists.txt | 31 --- evaluator/tier4_metrics_rviz_plugin/README.md | 16 -- .../icons/classes/MetricsVisualizePanel.png | Bin 18815 -> 0 bytes .../include/metrics_visualize_panel.hpp | 254 ----------------- .../tier4_metrics_rviz_plugin/package.xml | 33 --- .../plugins/plugin_description.xml | 5 - .../src/metrics_visualize_panel.cpp | 262 ------------------ .../CMakeLists.txt | 9 - tools/rqt_diagnostic_graph_monitor/README.md | 1 - .../rqt_diagnostic_graph_monitor/package.xml | 24 -- tools/rqt_diagnostic_graph_monitor/plugin.xml | 16 -- .../python/__init__.py | 37 --- .../python/graph.py | 127 --------- .../python/items.py | 54 ---- .../python/module.py | 61 ---- .../python/utils.py | 29 -- .../python/widget.py | 85 ------ .../script/cui_diagnostic_graph_monitor | 14 - .../script/rqt_diagnostic_graph_monitor | 8 - 19 files changed, 1066 deletions(-) delete mode 100644 evaluator/tier4_metrics_rviz_plugin/CMakeLists.txt delete mode 100644 evaluator/tier4_metrics_rviz_plugin/README.md delete mode 100644 evaluator/tier4_metrics_rviz_plugin/icons/classes/MetricsVisualizePanel.png delete mode 100644 evaluator/tier4_metrics_rviz_plugin/include/metrics_visualize_panel.hpp delete mode 100644 evaluator/tier4_metrics_rviz_plugin/package.xml delete mode 100644 evaluator/tier4_metrics_rviz_plugin/plugins/plugin_description.xml delete mode 100644 evaluator/tier4_metrics_rviz_plugin/src/metrics_visualize_panel.cpp delete mode 100644 tools/rqt_diagnostic_graph_monitor/CMakeLists.txt delete mode 100644 tools/rqt_diagnostic_graph_monitor/README.md delete mode 100644 tools/rqt_diagnostic_graph_monitor/package.xml delete mode 100644 tools/rqt_diagnostic_graph_monitor/plugin.xml delete mode 100644 tools/rqt_diagnostic_graph_monitor/python/__init__.py delete mode 100644 tools/rqt_diagnostic_graph_monitor/python/graph.py delete mode 100644 tools/rqt_diagnostic_graph_monitor/python/items.py delete mode 100644 tools/rqt_diagnostic_graph_monitor/python/module.py delete mode 100644 tools/rqt_diagnostic_graph_monitor/python/utils.py delete mode 100644 tools/rqt_diagnostic_graph_monitor/python/widget.py delete mode 100755 tools/rqt_diagnostic_graph_monitor/script/cui_diagnostic_graph_monitor delete mode 100755 tools/rqt_diagnostic_graph_monitor/script/rqt_diagnostic_graph_monitor 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. 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z-)DvlmLg^;&QlPoDNzVPj2csI+Sp_GZ>Y~5tTw?OOsB`~G>Igi6#!z}vZxRn z_mZ3%^Wj5E=1-Gbo9g3YL(lz--KY}z4P9;Rev`lWf1j9yQ{VAp+Sf5=7Hy=={c`2yJadWY-BAQd=Lk{ z_R5BjK&)=KT9B)gLV{1>rb2!28ThgAIW#%qO5B*yF`N0*A1srvHd0v*yWIk#^?)Ts zM5jSs*i*xFz2D7|(i500ZVx1J5^<9kp}e$hGHAC2LutRtBH%ytYf07!h%N|p$O_p@ zM76*Ze2pGv`4>e77PC@W+j}V~VvZ$pJA7_u0J6SUt6#Bso7y)~k6x^LN|Y_7g&3t~ zc23kDyJ8C;xg3Hmb~#>n;^|83;U1180$1Uh7VPe5U0Yj3=xI`|HIDic);1 z%Zx)#tB~cm_w^{1mrymqhd`i6ceMi`P*4dL1i~7qi~&@l{y)Y0VJg~EDlzW{YoEjk QxT*u><#`b=z=h}h2b9~@i2wiq 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/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")) From f012a756023ed140a94a4e1033930880e618d541 Mon Sep 17 00:00:00 2001 From: go-sakayori Date: Tue, 14 May 2024 14:29:31 +0900 Subject: [PATCH 17/43] chore: added maintainer (#7003) added maintainer Signed-off-by: Go Sakayori --- planning/behavior_path_avoidance_module/package.xml | 1 + planning/behavior_path_planner/package.xml | 1 + planning/behavior_path_planner_common/package.xml | 1 + planning/route_handler/package.xml | 2 ++ 4 files changed, 5 insertions(+) diff --git a/planning/behavior_path_avoidance_module/package.xml b/planning/behavior_path_avoidance_module/package.xml index fc34172bb2ce9..5f0a658735b2f 100644 --- a/planning/behavior_path_avoidance_module/package.xml +++ b/planning/behavior_path_avoidance_module/package.xml @@ -13,6 +13,7 @@ Tomoya Kimura Shumpei Wakabayashi Tomohito Ando + Go Sakayori Apache License 2.0 diff --git a/planning/behavior_path_planner/package.xml b/planning/behavior_path_planner/package.xml index 7f50c61a8343a..f6bd82430c389 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 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/route_handler/package.xml b/planning/route_handler/package.xml index 60adfb1531104..22db01d833023 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 From a5fdb8d85b2f27f632e48f1fa5682d6b055b696c Mon Sep 17 00:00:00 2001 From: "awf-autoware-bot[bot]" <94889083+awf-autoware-bot[bot]@users.noreply.github.com> Date: Tue, 14 May 2024 05:51:35 +0000 Subject: [PATCH 18/43] chore: update CODEOWNERS (#6866) Signed-off-by: github-actions[bot] <41898282+github-actions[bot]@users.noreply.github.com> Co-authored-by: github-actions --- .github/CODEOWNERS | 36 +++++++++++++++++++++--------------- 1 file changed, 21 insertions(+), 15 deletions(-) diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS index b283c95c28a9b..dc745760cb7d0 100644 --- a/.github/CODEOWNERS +++ b/.github/CODEOWNERS @@ -4,7 +4,7 @@ common/autoware_auto_common/** opensource@apex.ai satoshi.ota@tier4.jp shumpei.w 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 @@ -45,7 +45,7 @@ common/tier4_localization_rviz_plugin/** isamu.takagi@tier4.jp takamasa.horibe@t 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_screen_capture_rviz_plugin/** kyoichi.sugahara@tier4.jp satoshi.ota@tier4.jp 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_system_rviz_plugin/** koji.minoda@tier4.jp @@ -72,12 +72,12 @@ control/shift_decider/** takamasa.horibe@tier4.jp 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 +88,7 @@ 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 +123,17 @@ 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 +142,28 @@ 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_remaining_distance_time_calculator/** ahmed.ebrahim@leodrive.ai 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 @@ -197,7 +200,7 @@ 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_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 @@ -208,11 +211,11 @@ planning/scenario_selector/** fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shum 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 @@ -221,6 +224,7 @@ 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/learning_based_vehicle_model/** maxime.clement@tier4.jp nagy.tomas@tier4.jp simulator/simple_planning_simulator/** takamasa.horibe@tier4.jp tomoya.kimura@tier4.jp simulator/vehicle_door_simulator/** isamu.takagi@tier4.jp system/autoware_auto_msgs_adapter/** isamu.takagi@tier4.jp mfc@leodrive.ai @@ -231,6 +235,7 @@ 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 @@ -239,6 +244,7 @@ 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 From f30c0350861d020ad26a45806ab1334895122fab Mon Sep 17 00:00:00 2001 From: masayukiaino <101699734+masayukiaino@users.noreply.github.com> Date: Tue, 14 May 2024 17:59:07 +0900 Subject: [PATCH 19/43] feat(smart_mpc_trajectory_follower): add smart_mpc_trajectory_follower (#6805) * feat(smart_mpc_trajectory_follower): add smart_mpc_trajectory_follower * style(pre-commit): autofix * modified control.launch.py * update README.md * Minor changes * style(pre-commit): autofix * bug fixed * update README and add a comment to mpc_param.yaml * minor changes * add copyright * mpc_param.yaml changed * add note to README * update according to spell check * update python_simulator according to spell check * update scripts according to spell check * update according to spell-check-partial * fixed ignored words in spell check --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Takamasa Horibe Co-authored-by: Kosuke Takeuchi --- .../smart_mpc_trajectory_follower/.gitignore | 3 + .../CMakeLists.txt | 13 + .../smart_mpc_trajectory_follower/README.md | 338 + .../images/autoware_smart_mpc.png | Bin 0 -> 1328486 bytes .../images/lateral_error_nominal_model.png | Bin 0 -> 36024 bytes .../images/lateral_error_trained_model.png | Bin 0 -> 26903 bytes .../images/proxima_logo.png | Bin 0 -> 20962 bytes ...python_sim_lateral_error_nominal_model.png | Bin 0 -> 492385 bytes ...python_sim_lateral_error_trained_model.png | Bin 0 -> 498530 bytes .../images/test_route.png | Bin 0 -> 676745 bytes .../smart_mpc_trajectory_follower/package.xml | 43 + .../smart_mpc_trajectory_follower/setup.py | 37 + .../smart_mpc_trajectory_follower/.gitignore | 2 + .../smart_mpc_trajectory_follower/__init__.py | 0 .../clear_pycache.py | 31 + .../param/mpc_param.yaml | 56 + .../param/nominal_param.yaml | 10 + .../param/trained_model_param.yaml | 30 + .../python_simulator/.gitignore | 13 + .../python_simulator/accel_map.csv | 20 + .../plot_auto_test_result.ipynb | 180 + .../python_simulator/python_simulator.py | 1593 + .../python_simulator/run_python_simulator.py | 36 + .../python_simulator/run_sim.py | 392 + .../python_simulator/slalom_course_data.csv | 75014 ++++++++++++++++ .../scripts/.gitignore | 7 + .../scripts/__init__.py | 0 .../scripts/drive_GP.py | 110 + .../scripts/drive_NN.py | 247 + .../scripts/drive_controller.py | 943 + .../scripts/drive_functions.py | 1540 + .../scripts/drive_iLQR.py | 644 + .../scripts/drive_mppi.py | 170 + .../scripts/proxima_calc.cpp | 487 + .../scripts/pympc_trajectory_follower.py | 859 + .../training_and_data_check/.gitignore | 4 + .../training_and_data_check/__init__.py | 0 .../add_training_data_from_csv.py | 293 + .../data_checker.ipynb | 252 + .../execute_train_drive_NN_model.ipynb | 77 + .../training_and_data_check/rosbag2.bash | 40 + .../train_drive_GP_model.py | 88 + .../train_drive_NN_model.py | 716 + .../launch/control.launch.py | 67 +- 44 files changed, 84340 insertions(+), 15 deletions(-) create mode 100644 control/smart_mpc_trajectory_follower/.gitignore create mode 100644 control/smart_mpc_trajectory_follower/CMakeLists.txt create mode 100644 control/smart_mpc_trajectory_follower/README.md create mode 100644 control/smart_mpc_trajectory_follower/images/autoware_smart_mpc.png create mode 100644 control/smart_mpc_trajectory_follower/images/lateral_error_nominal_model.png create mode 100644 control/smart_mpc_trajectory_follower/images/lateral_error_trained_model.png create mode 100644 control/smart_mpc_trajectory_follower/images/proxima_logo.png create mode 100644 control/smart_mpc_trajectory_follower/images/python_sim_lateral_error_nominal_model.png create mode 100644 control/smart_mpc_trajectory_follower/images/python_sim_lateral_error_trained_model.png create mode 100644 control/smart_mpc_trajectory_follower/images/test_route.png create mode 100644 control/smart_mpc_trajectory_follower/package.xml create mode 100644 control/smart_mpc_trajectory_follower/setup.py create mode 100644 control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/.gitignore create mode 100644 control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/__init__.py create mode 100644 control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/clear_pycache.py create mode 100644 control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/param/mpc_param.yaml create mode 100644 control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/param/nominal_param.yaml create mode 100644 control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/param/trained_model_param.yaml create mode 100644 control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/python_simulator/.gitignore create mode 100644 control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/python_simulator/accel_map.csv create mode 100644 control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/python_simulator/plot_auto_test_result.ipynb create mode 100644 control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/python_simulator/python_simulator.py create mode 100644 control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/python_simulator/run_python_simulator.py create mode 100644 control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/python_simulator/run_sim.py create mode 100644 control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/python_simulator/slalom_course_data.csv create mode 100644 control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/scripts/.gitignore create mode 100644 control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/scripts/__init__.py create mode 100644 control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/scripts/drive_GP.py create mode 100644 control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/scripts/drive_NN.py create mode 100644 control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/scripts/drive_controller.py create mode 100644 control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/scripts/drive_functions.py create mode 100644 control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/scripts/drive_iLQR.py create mode 100644 control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/scripts/drive_mppi.py create mode 100644 control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/scripts/proxima_calc.cpp create mode 100755 control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/scripts/pympc_trajectory_follower.py create mode 100644 control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/training_and_data_check/.gitignore create mode 100644 control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/training_and_data_check/__init__.py create mode 100644 control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/training_and_data_check/add_training_data_from_csv.py create mode 100644 control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/training_and_data_check/data_checker.ipynb create mode 100644 control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/training_and_data_check/execute_train_drive_NN_model.ipynb create mode 100644 control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/training_and_data_check/rosbag2.bash create mode 100644 control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/training_and_data_check/train_drive_GP_model.py create mode 100644 control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/training_and_data_check/train_drive_NN_model.py 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. 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z0pos;IiXEwrOY(*c-UJ!1nDV5(=~Hjcss}YuSD4c02Gft^L!P&A_3ij*OMlMJp)Cp WPp_3+qE<2Rb>=kIxYEew=6?Zc;?mLp literal 0 HcmV?d00001 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/launch/tier4_control_launch/launch/control.launch.py b/launch/tier4_control_launch/launch/control.launch.py index 2ef2e07367f81..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", @@ -328,20 +330,40 @@ 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( @@ -408,7 +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(): @@ -447,11 +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", From 2ae1716b909ebb824f0c91bde30ace82c5b4fe91 Mon Sep 17 00:00:00 2001 From: Ryuta Kambe Date: Tue, 14 May 2024 18:33:35 +0900 Subject: [PATCH 20/43] perf(behavior_path_dynamic_avoidance_module): use const reference (#6981) * perf(behavior_path_dynamic_avoidance_module): use const reference Signed-off-by: Ryuta Kambe * style(pre-commit): autofix * add const to the other args --------- Signed-off-by: Ryuta Kambe Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Yuki TAKAGI <141538661+yuki-takagi-66@users.noreply.github.com> --- .../src/scene.cpp | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/planning/behavior_path_dynamic_avoidance_module/src/scene.cpp b/planning/behavior_path_dynamic_avoidance_module/src/scene.cpp index 84871ed756e81..a5368732ef3bb 100644 --- a/planning/behavior_path_dynamic_avoidance_module/src/scene.cpp +++ b/planning/behavior_path_dynamic_avoidance_module/src/scene.cpp @@ -1799,11 +1799,11 @@ 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( From a4bb1779f58057e555f0ada96246628a9d75faad Mon Sep 17 00:00:00 2001 From: danielsanchezaran Date: Tue, 14 May 2024 19:06:59 +0900 Subject: [PATCH 21/43] refactor(turn_signal_decider): straddle bound method (#7006) * refactor straddle bound method Signed-off-by: Daniel Sanchez * remove parenthesis Signed-off-by: Daniel Sanchez * add alias for inner lambda Signed-off-by: Daniel Sanchez --------- Signed-off-by: Daniel Sanchez --- .../turn_signal_decider.hpp | 34 +++++++++---------- 1 file changed, 17 insertions(+), 17 deletions(-) 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( From ea009b89c7cb0e070ef8d5010e886e31fdcae4f0 Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Tue, 14 May 2024 22:31:06 +0900 Subject: [PATCH 22/43] feat(goal_planner): reject candidate path whose start pose direction is not aligned with ego path (#6935) Signed-off-by: Mamoru Sobue --- .../goal_planner_module.hpp | 3 ++- .../src/goal_planner_module.cpp | 27 ++++++++++++++++--- 2 files changed, 26 insertions(+), 4 deletions(-) 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 818aa7ff79edb..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 @@ -582,7 +582,8 @@ class GoalPlannerModule : public SceneModuleInterface 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( 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 ef3de3b0363ce..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 @@ -936,6 +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( @@ -947,7 +967,7 @@ std::optional> GoalPlannerModule::selectP continue; } - if (!hasEnoughDistance(pull_over_path)) { + if (!hasEnoughDistance(pull_over_path, long_tail_reference_path)) { continue; } @@ -1873,7 +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; @@ -1885,7 +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; From 006b40eb76cc03f6fc81306ddb9458b97a97ac64 Mon Sep 17 00:00:00 2001 From: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> Date: Wed, 15 May 2024 10:57:09 +0900 Subject: [PATCH 23/43] refactor(behavior_velocity_planner_common): move VelocityFactorInterface to motion_utils (#7007) Signed-off-by: Maxime CLEMENT --- common/motion_utils/CMakeLists.txt | 10 +------ .../factor}/velocity_factor_interface.hpp | 28 ++++++++----------- common/motion_utils/package.xml | 1 + .../src/factor}/velocity_factor_interface.cpp | 13 +++++---- .../src/scene_intersection.cpp | 2 ++ .../CMakeLists.txt | 1 - .../scene_module_interface.hpp | 6 ++-- 7 files changed, 27 insertions(+), 34 deletions(-) rename {planning/behavior_velocity_planner_common/include/behavior_velocity_planner_common => common/motion_utils/include/motion_utils/factor}/velocity_factor_interface.hpp (67%) rename {planning/behavior_velocity_planner_common/src => common/motion_utils/src/factor}/velocity_factor_interface.cpp (77%) 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 67% 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..fdfd3a25eb3ad 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. @@ -13,8 +13,8 @@ // 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 @@ -25,35 +25,31 @@ #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; } void set( const std::vector & points, const Pose & curr_pose, const Pose & stop_pose, const VelocityFactorStatus status, - const std::string detail = ""); + 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/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/planning/behavior_velocity_planner_common/src/velocity_factor_interface.cpp b/common/motion_utils/src/factor/velocity_factor_interface.cpp similarity index 77% rename from planning/behavior_velocity_planner_common/src/velocity_factor_interface.cpp rename to common/motion_utils/src/factor/velocity_factor_interface.cpp index 7bc46846afb83..eabd00fae85d6 100644 --- a/planning/behavior_velocity_planner_common/src/velocity_factor_interface.cpp +++ b/common/motion_utils/src/factor/velocity_factor_interface.cpp @@ -1,4 +1,4 @@ -// Copyright 2023 TIER IV, Inc. +// 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. @@ -12,23 +12,24 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include +#include #include -namespace behavior_velocity_planner +namespace motion_utils { void VelocityFactorInterface::set( const std::vector & points, const Pose & curr_pose, const Pose & stop_pose, const VelocityFactorStatus status, - const std::string detail) + 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_.distance = + static_cast(motion_utils::calcSignedArcLength(points, curr_point, stop_point)); velocity_factor_.status = status; velocity_factor_.detail = detail; } -} // namespace behavior_velocity_planner +} // namespace motion_utils 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_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 082a88e306169..27db42d36f08b 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 @@ -50,6 +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; @@ -128,7 +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) From d0cfc9af5cf2971d698f440f833e1a1a738512bf Mon Sep 17 00:00:00 2001 From: danielsanchezaran Date: Wed, 15 May 2024 12:13:35 +0900 Subject: [PATCH 24/43] fix(start_planner): issue when ego does not straddle lane bounds and starts from 0 speed (#7004) * fix issue when ego does not straddle lane bounds and starts from 0 speed Signed-off-by: Daniel Sanchez * add new status for ego departed Signed-off-by: Daniel Sanchez --------- Signed-off-by: Daniel Sanchez --- .../src/turn_signal_decider.cpp | 5 ++++- .../start_planner_module.hpp | 2 ++ .../src/start_planner_module.cpp | 16 ++++++++++++++-- 3 files changed, 20 insertions(+), 3 deletions(-) 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..21937aa76da29 100644 --- a/planning/behavior_path_planner_common/src/turn_signal_decider.cpp +++ b/planning/behavior_path_planner_common/src/turn_signal_decider.cpp @@ -731,10 +731,13 @@ 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_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..591d8adb60819 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() {} }; 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 bee3fb16595b7..280e1112ef7fb 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 @@ -247,6 +247,13 @@ 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(); @@ -1265,8 +1272,10 @@ 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; } @@ -1277,6 +1286,9 @@ 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); From 2297b0ce85a08cd983b16b07a447c4e4778c5802 Mon Sep 17 00:00:00 2001 From: Tomoya Kimura Date: Wed, 15 May 2024 16:26:30 +0900 Subject: [PATCH 25/43] chore(simple_planning_simulator): publish control mode before the self-position is given (#7008) Signed-off-by: tomoya.kimura --- .../simple_planning_simulator/simple_planning_simulator_core.cpp | 1 + 1 file changed, 1 insertion(+) 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; } From d7c22887471808d449d69e5732783f56758494a5 Mon Sep 17 00:00:00 2001 From: TetsuKawa <70682030+TetsuKawa@users.noreply.github.com> Date: Wed, 15 May 2024 18:13:35 +0900 Subject: [PATCH 26/43] feat: componentize-system_error_monitor (#7009) * feat: componentize-system_error_monitor Signed-off-by: TetsuKawa * modify: componentize-system_error_monitor Signed-off-by: TetsuKawa * feat: add explicit Signed-off-by: TetsuKawa --------- Signed-off-by: TetsuKawa --- system/system_error_monitor/CMakeLists.txt | 7 +++-- .../system_error_monitor_core.hpp | 2 +- .../system_error_monitor_node.launch.xml | 2 +- system/system_error_monitor/package.xml | 1 + .../src/system_error_monitor_core.cpp | 7 +++-- .../src/system_error_monitor_node.cpp | 27 ------------------- 6 files changed, 13 insertions(+), 33 deletions(-) delete mode 100644 system/system_error_monitor/src/system_error_monitor_node.cpp 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; -} From 23d103f635f787f72085e5a23a15bab358b50493 Mon Sep 17 00:00:00 2001 From: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> Date: Wed, 15 May 2024 19:08:43 +0900 Subject: [PATCH 27/43] refactor(autoware_planning_test_manager): rename package (#6995) * refactor(autoware_planning_test_manager): rename package Signed-off-by: Zulfaqar Azmi * rename file Signed-off-by: Zulfaqar Azmi * Add maintainer for planning test utils Signed-off-by: Muhammad Zulfaqar Azmi * Add route handler back into package.xml Signed-off-by: Muhammad Zulfaqar Azmi --------- Signed-off-by: Zulfaqar Azmi Signed-off-by: Muhammad Zulfaqar Azmi --- .../CMakeLists.txt | 11 +++ .../autoware_planning_test_manager/README.md | 92 +++++++++++++++++++ .../autoware_planning_test_manager.hpp} | 6 +- .../package.xml | 47 ++++++++++ .../src/autoware_planning_test_manager.cpp} | 4 +- ...t_behavior_path_planner_node_interface.cpp | 4 +- ...t_behavior_path_planner_node_interface.cpp | 4 +- ...t_behavior_path_planner_node_interface.cpp | 4 +- ...t_behavior_path_planner_node_interface.cpp | 4 +- ...t_behavior_path_planner_node_interface.cpp | 4 +- planning/behavior_path_planner/package.xml | 2 +- ...t_behavior_path_planner_node_interface.cpp | 4 +- .../package.xml | 2 +- ...t_behavior_path_planner_node_interface.cpp | 4 +- .../test/src/test_node_interface.cpp | 4 +- planning/freespace_planner/package.xml | 2 +- .../test_freespace_planner_node_interface.cpp | 4 +- planning/motion_velocity_smoother/package.xml | 2 +- ...otion_velocity_smoother_node_interface.cpp | 4 +- .../obstacle_avoidance_planner/package.xml | 2 +- ...tacle_avoidance_planner_node_interface.cpp | 4 +- planning/obstacle_cruise_planner/package.xml | 2 +- ...obstacle_cruise_planner_node_interface.cpp | 4 +- planning/obstacle_stop_planner/package.xml | 2 +- ...t_obstacle_stop_planner_node_interface.cpp | 4 +- .../obstacle_velocity_limiter/package.xml | 2 +- ...stacle_velocity_limiter_node_interface.cpp | 4 +- planning/path_smoother/package.xml | 2 +- .../test_path_smoother_node_interface.cpp | 4 +- planning/planning_test_utils/CMakeLists.txt | 4 - planning/planning_test_utils/README.md | 2 +- ...ager_utils.hpp => planning_test_utils.hpp} | 6 +- planning/planning_test_utils/package.xml | 2 + planning/planning_validator/package.xml | 2 +- ...test_planning_validator_node_interface.cpp | 4 +- planning/scenario_selector/package.xml | 2 +- .../test_scenario_selector_node_interface.cpp | 4 +- 37 files changed, 206 insertions(+), 58 deletions(-) create mode 100644 planning/autoware_planning_test_manager/CMakeLists.txt create mode 100644 planning/autoware_planning_test_manager/README.md rename planning/{planning_test_utils/include/planning_test_utils/planning_interface_test_manager.hpp => autoware_planning_test_manager/include/autoware_planning_test_manager/autoware_planning_test_manager.hpp} (98%) create mode 100644 planning/autoware_planning_test_manager/package.xml rename planning/{planning_test_utils/src/planning_interface_test_manager.cpp => autoware_planning_test_manager/src/autoware_planning_test_manager.cpp} (99%) rename planning/planning_test_utils/include/planning_test_utils/{planning_interface_test_manager_utils.hpp => planning_test_utils.hpp} (98%) 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..63f1bf53a4954 --- /dev/null +++ b/planning/autoware_planning_test_manager/README.md @@ -0,0 +1,92 @@ +# Planning Interface 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/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 99% 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..3aee408a76306 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 +14,8 @@ #include "motion_utils/trajectory/conversion.hpp" -#include -#include +#include +#include namespace planning_test_utils { 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..f66e944cb7cbc 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 diff --git a/planning/behavior_path_avoidance_module/test/test_behavior_path_planner_node_interface.cpp b/planning/behavior_path_avoidance_module/test/test_behavior_path_planner_node_interface.cpp index 8cf85554e2b2c..4ae77249b5d0f 100644 --- a/planning/behavior_path_avoidance_module/test/test_behavior_path_planner_node_interface.cpp +++ b/planning/behavior_path_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 diff --git a/planning/behavior_path_dynamic_avoidance_module/test/test_behavior_path_planner_node_interface.cpp b/planning/behavior_path_dynamic_avoidance_module/test/test_behavior_path_planner_node_interface.cpp index 16b4ffbc688ae..cf38a0b4993fe 100644 --- a/planning/behavior_path_dynamic_avoidance_module/test/test_behavior_path_planner_node_interface.cpp +++ b/planning/behavior_path_dynamic_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 diff --git a/planning/behavior_path_external_request_lane_change_module/test/test_behavior_path_planner_node_interface.cpp b/planning/behavior_path_external_request_lane_change_module/test/test_behavior_path_planner_node_interface.cpp index 434988cc3ab08..1eb5118cd94b2 100644 --- a/planning/behavior_path_external_request_lane_change_module/test/test_behavior_path_planner_node_interface.cpp +++ b/planning/behavior_path_external_request_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_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/package.xml b/planning/behavior_path_planner/package.xml index f6bd82430c389..14220c09880de 100644 --- a/planning/behavior_path_planner/package.xml +++ b/planning/behavior_path_planner/package.xml @@ -42,6 +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 @@ -55,7 +56,6 @@ motion_utils object_recognition_utils path_sampler - planning_test_utils pluginlib rclcpp rclcpp_components 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_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_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_velocity_planner/test/src/test_node_interface.cpp b/planning/behavior_velocity_planner/test/src/test_node_interface.cpp index 935530b52e175..f70259b6a1f80 100644 --- a/planning/behavior_velocity_planner/test/src/test_node_interface.cpp +++ b/planning/behavior_velocity_planner/test/src/test_node_interface.cpp @@ -15,8 +15,8 @@ #include "node.hpp" #include -#include -#include +#include +#include #include 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/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/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/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/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/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/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/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/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/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..29ee79c2cab1a 100644 --- a/planning/planning_test_utils/CMakeLists.txt +++ b/planning/planning_test_utils/CMakeLists.txt @@ -4,10 +4,6 @@ project(planning_test_utils) find_package(autoware_cmake REQUIRED) autoware_package() -ament_auto_add_library(planning_test_utils SHARED - src/planning_interface_test_manager.cpp -) - ament_auto_package(INSTALL_TO_SHARE config test_map diff --git a/planning/planning_test_utils/README.md b/planning/planning_test_utils/README.md index 63f1bf53a4954..b72625be999dd 100644 --- a/planning/planning_test_utils/README.md +++ b/planning/planning_test_utils/README.md @@ -1,4 +1,4 @@ -# Planning Interface Test Manager +# Autoware Planning Test Manager ## Background 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_test_utils.hpp similarity index 98% rename from planning/planning_test_utils/include/planning_test_utils/planning_interface_test_manager_utils.hpp rename to planning/planning_test_utils/include/planning_test_utils/planning_test_utils.hpp index 371a6316ce993..7b52f3860592e 100644 --- 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_test_utils.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_UTILS_HPP_ -#define PLANNING_TEST_UTILS__PLANNING_INTERFACE_TEST_MANAGER_UTILS_HPP_ +#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" @@ -556,4 +556,4 @@ PathWithLaneId loadPathWithLaneIdInYaml() } // namespace test_utils -#endif // PLANNING_TEST_UTILS__PLANNING_INTERFACE_TEST_MANAGER_UTILS_HPP_ +#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..47540d6d3751f 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 diff --git a/planning/planning_validator/package.xml b/planning/planning_validator/package.xml index 1f1c1cc55e93c..9ecc760efd7e3 100644 --- a/planning/planning_validator/package.xml +++ b/planning/planning_validator/package.xml @@ -16,11 +16,11 @@ rosidl_default_generators autoware_auto_planning_msgs + autoware_planning_test_manager diagnostic_updater geometry_msgs motion_utils nav_msgs - planning_test_utils rclcpp rclcpp_components tier4_autoware_utils diff --git a/planning/planning_validator/test/src/test_planning_validator_node_interface.cpp b/planning/planning_validator/test/src/test_planning_validator_node_interface.cpp index 606dc182504a2..2b2a32bf54618 100644 --- a/planning/planning_validator/test/src/test_planning_validator_node_interface.cpp +++ b/planning/planning_validator/test/src/test_planning_validator_node_interface.cpp @@ -15,8 +15,8 @@ #include "planning_validator/planning_validator.hpp" #include -#include -#include +#include +#include #include 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 From 85fdcb0847e164994602215ea31b570325c8b976 Mon Sep 17 00:00:00 2001 From: "Takagi, Isamu" <43976882+isamu-takagi@users.noreply.github.com> Date: Wed, 15 May 2024 19:24:27 +0900 Subject: [PATCH 28/43] feat(diagnostic_graph_aggregator): componentize node (#7025) Signed-off-by: Takagi, Isamu --- .../diagnostic_graph_aggregator/CMakeLists.txt | 17 +++++++++++------ .../launch/aggregator.launch.xml | 2 +- system/diagnostic_graph_aggregator/package.xml | 1 + .../src/node/aggregator.cpp | 15 +++------------ .../src/node/aggregator.hpp | 2 +- 5 files changed, 17 insertions(+), 20 deletions(-) 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/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: From c86524050af5ac92390e6200592a949c638a7299 Mon Sep 17 00:00:00 2001 From: "Takagi, Isamu" <43976882+isamu-takagi@users.noreply.github.com> Date: Wed, 15 May 2024 19:24:51 +0900 Subject: [PATCH 29/43] feat(component_interface_tools): componentize node (#7023) Signed-off-by: Takagi, Isamu --- common/component_interface_tools/CMakeLists.txt | 11 ++++++++++- .../launch/service_log_checker.launch.xml | 2 +- common/component_interface_tools/package.xml | 1 + .../src/service_log_checker.cpp | 15 ++++----------- .../src/service_log_checker.hpp | 2 +- 5 files changed, 17 insertions(+), 14 deletions(-) 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; From d47430cdab35b3447b4ff4be3ca6e1e6da027f02 Mon Sep 17 00:00:00 2001 From: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> Date: Wed, 15 May 2024 20:02:08 +0900 Subject: [PATCH 30/43] chore(simple_planning_simulator): add maintainer (#7026) Signed-off-by: Zulfaqar Azmi --- simulator/simple_planning_simulator/package.xml | 4 ++++ 1 file changed, 4 insertions(+) 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 From dbc96b3e86630bea387bc33c9dd0503ab5d9b87a Mon Sep 17 00:00:00 2001 From: Esteve Fernandez <33620+esteve@users.noreply.github.com> Date: Wed, 15 May 2024 14:25:39 +0200 Subject: [PATCH 31/43] build(static_centerline_generator): prefix package and namespace with autoware_ (#6817) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit * build(static_centerline_generator): prefix package and namespace with autoware_ Signed-off-by: Esteve Fernandez * style(pre-commit): autofix Signed-off-by: Esteve Fernandez * build: fix CMake target Signed-off-by: Esteve Fernandez * build(autoware_static_centerline_generator): more renames Signed-off-by: Esteve Fernandez * style(pre-commit): autofix Signed-off-by: Esteve Fernandez * build(autoware_static_centerline_generator): fix namespace Signed-off-by: Esteve Fernandez * fix(autoware_static_centerline_generator): fix clang-tidy issues Signed-off-by: Esteve Fernandez * style(pre-commit): autofix Signed-off-by: Esteve Fernandez * style(pre-commit): autofix Signed-off-by: Esteve Fernandez * fix(autoware_static_centerline_generator): fix clang-tidy issues Signed-off-by: Esteve Fernandez * fix(autoware_static_centerline_generator): fix build issues Signed-off-by: Esteve Fernandez * fix(autoware_static_centerline_generator): fix build issues Signed-off-by: Esteve Fernandez * style(pre-commit): autofix Signed-off-by: Esteve Fernandez * fix(autoware_static_centerline_optimizer): fix clang-tidy issues Signed-off-by: Esteve Fernandez * style(pre-commit): autofix Signed-off-by: Esteve Fernandez * build: fix build errors Signed-off-by: Esteve Fernandez * fix: remove else statements after return Signed-off-by: Esteve Fernandez * fix(autoware_static_centerline_generator): fix clang-tidy issues Signed-off-by: Esteve Fernandez * style(pre-commit): autofix Signed-off-by: Esteve Fernandez * revert changes for static_centerline_generator Signed-off-by: Esteve Fernandez * fix(autoware_static_centerline_generator): add autoware_ prefix Signed-off-by: Esteve Fernandez * style(pre-commit): autofix Signed-off-by: Esteve Fernandez * fix(autoware_static_centerline_generator): fix filenames Signed-off-by: Esteve Fernandez * fix(autoware_static_centerline_generator): fix namespaces Signed-off-by: Esteve Fernandez * style(pre-commit): autofix Signed-off-by: Esteve Fernandez * fix: added prefix to missing strings Signed-off-by: Esteve Fernandez * refactor(autoware_static_centerline_generator): move header files to src Signed-off-by: Esteve Fernandez * refactor(autoware_static_centerline_generator): fix include paths Signed-off-by: Esteve Fernandez * style(pre-commit): autofix Signed-off-by: Esteve Fernandez * refactor(autoware_static_centerline_generator): rename base folder Signed-off-by: Esteve Fernandez * Update planning/autoware_static_centerline_generator/launch/static_centerline_generator.launch.xml Co-authored-by: M. Fatih Cırıt Signed-off-by: Esteve Fernandez * build(autoware_static_centerline_generator): fix include in CMake Signed-off-by: Esteve Fernandez * build(autoware_static_centerline_generator): fix missing includes Signed-off-by: Esteve Fernandez --------- Signed-off-by: Esteve Fernandez Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: M. Fatih Cırıt --- .github/CODEOWNERS | 2 +- planning/.pages | 2 +- .../CMakeLists.txt | 12 ++++--- .../README.md | 4 +-- .../config/common.param.yaml | 0 .../config/nearest_search.param.yaml | 0 .../static_centerline_generator.param.yaml | 0 .../config/vehicle_info.param.yaml | 0 .../launch/run_planning_server.launch.xml | 4 +-- .../static_centerline_generator.launch.xml | 6 ++-- .../media/rviz.png | Bin .../media/unsafe_footprints.png | Bin .../msg/PointsWithLaneId.msg | 0 .../package.xml | 4 +-- .../rviz/static_centerline_generator.rviz | 8 ++--- .../scripts/app.py | 12 +++---- .../scripts/centerline_updater_helper.py | 2 +- .../scripts/show_lanelet2_map_diff.py | 6 ++-- .../bag_ego_trajectory_based_centerline.sh | 3 ++ ...ptimization_trajectory_based_centerline.sh | 3 ++ .../bag_ego_trajectory_based_centerline.cpp | 11 +++--- .../bag_ego_trajectory_based_centerline.hpp | 12 +++---- ...timization_trajectory_based_centerline.cpp | 12 ++++--- ...timization_trajectory_based_centerline.hpp | 12 +++---- .../src/main.cpp | 5 +-- .../src/static_centerline_generator_node.cpp | 33 +++++++++--------- .../src}/static_centerline_generator_node.hpp | 26 +++++++------- .../src}/type_alias.hpp | 10 +++--- .../src/utils.cpp | 9 +++-- .../src}/utils.hpp | 12 +++---- .../srv/LoadMap.srv | 0 .../srv/PlanPath.srv | 6 ++++ .../srv/PlanRoute.srv | 0 .../test/data/bag_ego_trajectory.db3 | Bin .../test/data/lanelet2_map.osm | 0 .../test_static_centerline_generator.test.py | 15 ++++---- .../bag_ego_trajectory_based_centerline.sh | 3 -- ...ptimization_trajectory_based_centerline.sh | 3 -- .../srv/PlanPath.srv | 6 ---- 39 files changed, 129 insertions(+), 114 deletions(-) rename planning/{static_centerline_generator => autoware_static_centerline_generator}/CMakeLists.txt (78%) rename planning/{static_centerline_generator => autoware_static_centerline_generator}/README.md (88%) rename planning/{static_centerline_generator => autoware_static_centerline_generator}/config/common.param.yaml (100%) rename planning/{static_centerline_generator => autoware_static_centerline_generator}/config/nearest_search.param.yaml (100%) rename planning/{static_centerline_generator => autoware_static_centerline_generator}/config/static_centerline_generator.param.yaml (100%) rename planning/{static_centerline_generator => autoware_static_centerline_generator}/config/vehicle_info.param.yaml (100%) rename planning/{static_centerline_generator => autoware_static_centerline_generator}/launch/run_planning_server.launch.xml (53%) rename planning/{static_centerline_generator => autoware_static_centerline_generator}/launch/static_centerline_generator.launch.xml (93%) rename planning/{static_centerline_generator => autoware_static_centerline_generator}/media/rviz.png (100%) rename planning/{static_centerline_generator => autoware_static_centerline_generator}/media/unsafe_footprints.png (100%) rename planning/{static_centerline_generator => autoware_static_centerline_generator}/msg/PointsWithLaneId.msg (100%) rename planning/{static_centerline_generator => autoware_static_centerline_generator}/package.xml (93%) rename planning/{static_centerline_generator => autoware_static_centerline_generator}/rviz/static_centerline_generator.rviz (97%) rename planning/{static_centerline_generator => autoware_static_centerline_generator}/scripts/app.py (91%) rename planning/{static_centerline_generator => autoware_static_centerline_generator}/scripts/centerline_updater_helper.py (98%) rename planning/{static_centerline_generator => autoware_static_centerline_generator}/scripts/show_lanelet2_map_diff.py (94%) create mode 100755 planning/autoware_static_centerline_generator/scripts/tmp/bag_ego_trajectory_based_centerline.sh create mode 100755 planning/autoware_static_centerline_generator/scripts/tmp/optimization_trajectory_based_centerline.sh rename planning/{static_centerline_generator => autoware_static_centerline_generator}/src/centerline_source/bag_ego_trajectory_based_centerline.cpp (91%) rename planning/{static_centerline_generator/include/static_centerline_generator => autoware_static_centerline_generator/src}/centerline_source/bag_ego_trajectory_based_centerline.hpp (62%) rename planning/{static_centerline_generator => autoware_static_centerline_generator}/src/centerline_source/optimization_trajectory_based_centerline.cpp (95%) rename planning/{static_centerline_generator/include/static_centerline_generator => autoware_static_centerline_generator/src}/centerline_source/optimization_trajectory_based_centerline.hpp (72%) rename planning/{static_centerline_generator => autoware_static_centerline_generator}/src/main.cpp (85%) rename planning/{static_centerline_generator => autoware_static_centerline_generator}/src/static_centerline_generator_node.cpp (95%) rename planning/{static_centerline_generator/include/static_centerline_generator => autoware_static_centerline_generator/src}/static_centerline_generator_node.hpp (82%) rename planning/{static_centerline_generator/include/static_centerline_generator => autoware_static_centerline_generator/src}/type_alias.hpp (87%) rename planning/{static_centerline_generator => autoware_static_centerline_generator}/src/utils.cpp (98%) rename planning/{static_centerline_generator/include/static_centerline_generator => autoware_static_centerline_generator/src}/utils.hpp (86%) rename planning/{static_centerline_generator => autoware_static_centerline_generator}/srv/LoadMap.srv (100%) create mode 100644 planning/autoware_static_centerline_generator/srv/PlanPath.srv rename planning/{static_centerline_generator => autoware_static_centerline_generator}/srv/PlanRoute.srv (100%) rename planning/{static_centerline_generator => autoware_static_centerline_generator}/test/data/bag_ego_trajectory.db3 (100%) rename planning/{static_centerline_generator => autoware_static_centerline_generator}/test/data/lanelet2_map.osm (100%) rename planning/{static_centerline_generator => autoware_static_centerline_generator}/test/test_static_centerline_generator.test.py (84%) delete mode 100755 planning/static_centerline_generator/scripts/tmp/bag_ego_trajectory_based_centerline.sh delete mode 100755 planning/static_centerline_generator/scripts/tmp/optimization_trajectory_based_centerline.sh delete mode 100644 planning/static_centerline_generator/srv/PlanPath.srv diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS index dc745760cb7d0..4c01604c51ee4 100644 --- a/.github/CODEOWNERS +++ b/.github/CODEOWNERS @@ -156,6 +156,7 @@ perception/traffic_light_multi_camera_fusion/** shunsuke.miura@tier4.jp tao.zhon perception/traffic_light_occlusion_predictor/** shunsuke.miura@tier4.jp tao.zhong@tier4.jp perception/traffic_light_visualization/** tao.zhong@tier4.jp yukihiro.saito@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 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 @@ -208,7 +209,6 @@ 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 yoshi.ri@tier4.jp diff --git a/planning/.pages b/planning/.pages index 942a5a0b32158..645a32b4b05fa 100644 --- a/planning/.pages +++ b/planning/.pages @@ -67,7 +67,7 @@ nav: - '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 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 93% 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..2a2fbe4340fa8 100644 --- a/planning/static_centerline_generator/launch/static_centerline_generator.launch.xml +++ b/planning/autoware_static_centerline_generator/launch/static_centerline_generator.launch.xml @@ -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 93% rename from planning/static_centerline_generator/package.xml rename to planning/autoware_static_centerline_generator/package.xml index 6573f6e439c43..96e17595d49ee 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 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 97% rename from planning/static_centerline_generator/rviz/static_centerline_generator.rviz rename to planning/autoware_static_centerline_generator/rviz/static_centerline_generator.rviz index 62b4c9b75ec87..002af580c2f00 100644 --- a/planning/static_centerline_generator/rviz/static_centerline_generator.rviz +++ b/planning/autoware_static_centerline_generator/rviz/static_centerline_generator.rviz @@ -130,7 +130,7 @@ Visualization Manager: Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable - Value: /static_centerline_generator/input_centerline + Value: /autoware_static_centerline_generator/input_centerline Value: true View Drivable Area: Alpha: 0.9990000128746033 @@ -179,7 +179,7 @@ Visualization Manager: Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable - Value: /static_centerline_generator/output_centerline + Value: /autoware_static_centerline_generator/output_centerline Value: true View Footprint: Alpha: 1 @@ -222,7 +222,7 @@ Visualization Manager: Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable - Value: /static_centerline_generator/debug/raw_centerline + Value: /autoware_static_centerline_generator/debug/raw_centerline Value: false View Drivable Area: Alpha: 0.9990000128746033 @@ -268,7 +268,7 @@ Visualization Manager: Durability Policy: Transient Local History Policy: Keep Last Reliability Policy: Reliable - Value: /static_centerline_generator/debug/unsafe_footprints + Value: /autoware_static_centerline_generator/debug/unsafe_footprints Value: true Enabled: false Name: debug diff --git a/planning/static_centerline_generator/scripts/app.py b/planning/autoware_static_centerline_generator/scripts/app.py similarity index 91% rename from planning/static_centerline_generator/scripts/app.py rename to planning/autoware_static_centerline_generator/scripts/app.py index c1cb0473da040..f37737a0de4e4 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") @@ -51,7 +51,7 @@ def get_map(): map_id = map_uuid # create client - cli = create_client(LoadMap, "/planning/static_centerline_generator/load_map") + cli = create_client(LoadMap, "/planning/autoware_static_centerline_generator/load_map") # request map loading req = LoadMap.Request(map=data["map"]) @@ -85,7 +85,7 @@ def post_planned_route(): print("map_id is not correct.") # create client - cli = create_client(PlanRoute, "/planning/static_centerline_generator/plan_route") + cli = create_client(PlanRoute, "/planning/autoware_static_centerline_generator/plan_route") # request route planning req = PlanRoute.Request( @@ -123,7 +123,7 @@ def post_planned_path(): print("map_id is not correct.") # create client - cli = create_client(PlanPath, "/planning/static_centerline_generator/plan_path") + cli = create_client(PlanPath, "/planning/autoware_static_centerline_generator/plan_path") # request path planning route_lane_ids = [eval(i) for i in request.args.getlist("route[]")] 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 98% rename from planning/static_centerline_generator/scripts/centerline_updater_helper.py rename to planning/autoware_static_centerline_generator/scripts/centerline_updater_helper.py index fec3d21d20bec..cec4e5b457c7f 100755 --- a/planning/static_centerline_generator/scripts/centerline_updater_helper.py +++ b/planning/autoware_static_centerline_generator/scripts/centerline_updater_helper.py @@ -155,7 +155,7 @@ def __init__(self): transient_local_qos = QoSProfile(depth=1, durability=QoSDurabilityPolicy.TRANSIENT_LOCAL) self.sub_whole_centerline = self.create_subscription( Trajectory, - "/static_centerline_generator/output_whole_centerline", + "/autoware_static_centerline_generator/output_whole_centerline", self.onWholeCenterline, transient_local_qos, ) 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 95% 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 ec24f47dacc27..8388bb61748f1 100644 --- a/planning/static_centerline_generator/src/static_centerline_generator_node.cpp +++ b/planning/autoware_static_centerline_generator/src/static_centerline_generator_node.cpp @@ -12,8 +12,10 @@ // 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" @@ -21,12 +23,10 @@ #include "map_projection_loader/load_info_from_lanelet2_map.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 @@ -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 { @@ -168,7 +169,7 @@ std::vector resample_trajectory_points( StaticCenterlineGeneratorNode::StaticCenterlineGeneratorNode( const rclcpp::NodeOptions & node_options) -: Node("static_centerline_generator", node_options) +: Node("autoware_static_centerline_generator", node_options) { // publishers pub_map_bin_ = @@ -216,19 +217,19 @@ StaticCenterlineGeneratorNode::StaticCenterlineGeneratorNode( // services callback_group_ = create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive); srv_load_map_ = create_service( - "/planning/static_centerline_generator/load_map", + "/planning/autoware_static_centerline_generator/load_map", std::bind( &StaticCenterlineGeneratorNode::on_load_map, this, std::placeholders::_1, std::placeholders::_2), rmw_qos_profile_services_default, callback_group_); srv_plan_route_ = create_service( - "/planning/static_centerline_generator/plan_route", + "/planning/autoware_static_centerline_generator/plan_route", std::bind( &StaticCenterlineGeneratorNode::on_plan_route, this, std::placeholders::_1, std::placeholders::_2), rmw_qos_profile_services_default, callback_group_); srv_plan_path_ = create_service( - "/planning/static_centerline_generator/plan_path", + "/planning/autoware_static_centerline_generator/plan_path", std::bind( &StaticCenterlineGeneratorNode::on_plan_path, this, std::placeholders::_1, std::placeholders::_2), @@ -246,7 +247,7 @@ 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."); }(); } @@ -319,7 +320,7 @@ CenterlineWithRoute StaticCenterlineGeneratorNode::generate_centerline_with_rout 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 @@ -339,7 +340,7 @@ CenterlineWithRoute StaticCenterlineGeneratorNode::generate_centerline_with_rout 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", @@ -542,7 +543,7 @@ 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); @@ -646,10 +647,10 @@ void StaticCenterlineGeneratorNode::save_map( 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 82% 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..9baa1c3fbb892 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 @@ -12,15 +12,15 @@ // 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 @@ -34,11 +34,11 @@ #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; struct CenterlineWithRoute { @@ -115,5 +115,5 @@ 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 98% rename from planning/static_centerline_generator/src/utils.cpp rename to planning/autoware_static_centerline_generator/src/utils.cpp index ddfd3e11036ce..4ea56e10935b2 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 { @@ -228,4 +231,4 @@ 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 86% rename from planning/static_centerline_generator/include/static_centerline_generator/utils.hpp rename to planning/autoware_static_centerline_generator/src/utils.hpp index c8cf8f8b90590..6c6257bee59a3 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 { @@ -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 84% 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..3011abccd48ca 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( @@ -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/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 From 017b3fbe25c90b84cc714b64a9719c8110979011 Mon Sep 17 00:00:00 2001 From: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> Date: Wed, 15 May 2024 23:43:56 +0900 Subject: [PATCH 32/43] perf(map_height_fitter): find z value with a more efficient closest point query (#7020) Signed-off-by: Maxime CLEMENT --- map/map_height_fitter/src/map_height_fitter.cpp | 14 +++----------- 1 file changed, 3 insertions(+), 11 deletions(-) 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; From 5889e9a3c72e9255e8a4ba09b67b1e62cab6c5ae Mon Sep 17 00:00:00 2001 From: Esteve Fernandez <33620+esteve@users.noreply.github.com> Date: Wed, 15 May 2024 17:59:06 +0200 Subject: [PATCH 33/43] fix(autoware_static_centerline_generator): remove prefix from topics and node names (#7028) Signed-off-by: Esteve Fernandez --- .../rviz/static_centerline_generator.rviz | 8 ++++---- .../autoware_static_centerline_generator/scripts/app.py | 6 +++--- .../scripts/centerline_updater_helper.py | 2 +- .../src/static_centerline_generator_node.cpp | 8 ++++---- 4 files changed, 12 insertions(+), 12 deletions(-) diff --git a/planning/autoware_static_centerline_generator/rviz/static_centerline_generator.rviz b/planning/autoware_static_centerline_generator/rviz/static_centerline_generator.rviz index 002af580c2f00..62b4c9b75ec87 100644 --- a/planning/autoware_static_centerline_generator/rviz/static_centerline_generator.rviz +++ b/planning/autoware_static_centerline_generator/rviz/static_centerline_generator.rviz @@ -130,7 +130,7 @@ Visualization Manager: Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable - Value: /autoware_static_centerline_generator/input_centerline + Value: /static_centerline_generator/input_centerline Value: true View Drivable Area: Alpha: 0.9990000128746033 @@ -179,7 +179,7 @@ Visualization Manager: Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable - Value: /autoware_static_centerline_generator/output_centerline + Value: /static_centerline_generator/output_centerline Value: true View Footprint: Alpha: 1 @@ -222,7 +222,7 @@ Visualization Manager: Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable - Value: /autoware_static_centerline_generator/debug/raw_centerline + Value: /static_centerline_generator/debug/raw_centerline Value: false View Drivable Area: Alpha: 0.9990000128746033 @@ -268,7 +268,7 @@ Visualization Manager: Durability Policy: Transient Local History Policy: Keep Last Reliability Policy: Reliable - Value: /autoware_static_centerline_generator/debug/unsafe_footprints + Value: /static_centerline_generator/debug/unsafe_footprints Value: true Enabled: false Name: debug diff --git a/planning/autoware_static_centerline_generator/scripts/app.py b/planning/autoware_static_centerline_generator/scripts/app.py index f37737a0de4e4..08bff8b80dcb7 100755 --- a/planning/autoware_static_centerline_generator/scripts/app.py +++ b/planning/autoware_static_centerline_generator/scripts/app.py @@ -51,7 +51,7 @@ def get_map(): map_id = map_uuid # create client - cli = create_client(LoadMap, "/planning/autoware_static_centerline_generator/load_map") + cli = create_client(LoadMap, "/planning/static_centerline_generator/load_map") # request map loading req = LoadMap.Request(map=data["map"]) @@ -85,7 +85,7 @@ def post_planned_route(): print("map_id is not correct.") # create client - cli = create_client(PlanRoute, "/planning/autoware_static_centerline_generator/plan_route") + cli = create_client(PlanRoute, "/planning/static_centerline_generator/plan_route") # request route planning req = PlanRoute.Request( @@ -123,7 +123,7 @@ def post_planned_path(): print("map_id is not correct.") # create client - cli = create_client(PlanPath, "/planning/autoware_static_centerline_generator/plan_path") + cli = create_client(PlanPath, "/planning/static_centerline_generator/plan_path") # request path planning route_lane_ids = [eval(i) for i in request.args.getlist("route[]")] diff --git a/planning/autoware_static_centerline_generator/scripts/centerline_updater_helper.py b/planning/autoware_static_centerline_generator/scripts/centerline_updater_helper.py index cec4e5b457c7f..fec3d21d20bec 100755 --- a/planning/autoware_static_centerline_generator/scripts/centerline_updater_helper.py +++ b/planning/autoware_static_centerline_generator/scripts/centerline_updater_helper.py @@ -155,7 +155,7 @@ def __init__(self): transient_local_qos = QoSProfile(depth=1, durability=QoSDurabilityPolicy.TRANSIENT_LOCAL) self.sub_whole_centerline = self.create_subscription( Trajectory, - "/autoware_static_centerline_generator/output_whole_centerline", + "/static_centerline_generator/output_whole_centerline", self.onWholeCenterline, transient_local_qos, ) diff --git a/planning/autoware_static_centerline_generator/src/static_centerline_generator_node.cpp b/planning/autoware_static_centerline_generator/src/static_centerline_generator_node.cpp index 8388bb61748f1..57d292c348f2c 100644 --- a/planning/autoware_static_centerline_generator/src/static_centerline_generator_node.cpp +++ b/planning/autoware_static_centerline_generator/src/static_centerline_generator_node.cpp @@ -169,7 +169,7 @@ std::vector resample_trajectory_points( StaticCenterlineGeneratorNode::StaticCenterlineGeneratorNode( const rclcpp::NodeOptions & node_options) -: Node("autoware_static_centerline_generator", node_options) +: Node("static_centerline_generator", node_options) { // publishers pub_map_bin_ = @@ -217,19 +217,19 @@ StaticCenterlineGeneratorNode::StaticCenterlineGeneratorNode( // services callback_group_ = create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive); srv_load_map_ = create_service( - "/planning/autoware_static_centerline_generator/load_map", + "/planning/static_centerline_generator/load_map", std::bind( &StaticCenterlineGeneratorNode::on_load_map, this, std::placeholders::_1, std::placeholders::_2), rmw_qos_profile_services_default, callback_group_); srv_plan_route_ = create_service( - "/planning/autoware_static_centerline_generator/plan_route", + "/planning/static_centerline_generator/plan_route", std::bind( &StaticCenterlineGeneratorNode::on_plan_route, this, std::placeholders::_1, std::placeholders::_2), rmw_qos_profile_services_default, callback_group_); srv_plan_path_ = create_service( - "/planning/autoware_static_centerline_generator/plan_path", + "/planning/static_centerline_generator/plan_path", std::bind( &StaticCenterlineGeneratorNode::on_plan_path, this, std::placeholders::_1, std::placeholders::_2), From ad46e3c35c18ca4e8e505f2fd0d22f899b578024 Mon Sep 17 00:00:00 2001 From: mkquda <168697710+mkquda@users.noreply.github.com> Date: Thu, 16 May 2024 10:52:19 +0900 Subject: [PATCH 34/43] refactor(route_handler): remove unused functions in route_handler (#7012) remove unused functions in route_handler --- .../include/route_handler/route_handler.hpp | 77 ---- planning/route_handler/src/route_handler.cpp | 358 ------------------ 2 files changed, 435 deletions(-) diff --git a/planning/route_handler/include/route_handler/route_handler.hpp b/planning/route_handler/include/route_handler/route_handler.hpp index d13c0536cf3c1..73bf99962ea82 100644 --- a/planning/route_handler/include/route_handler/route_handler.hpp +++ b/planning/route_handler/include/route_handler/route_handler.hpp @@ -205,54 +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 @@ -276,18 +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. @@ -321,11 +261,6 @@ 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; bool isShoulderLanelet(const lanelet::ConstLanelet & lanelet) const; bool isRouteLanelet(const lanelet::ConstLanelet & lanelet) const; bool isRoadLanelet(const lanelet::ConstLanelet & lanelet) const; @@ -339,14 +274,9 @@ 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; std::optional getPullOverTarget(const Pose & goal_pose) const; std::optional getPullOutStartLane( const Pose & pose, const double vehicle_width) const; - double getLaneChangeableDistance(const Pose & current_pose, const Direction & direction) const; lanelet::ConstLanelets getRoadLaneletsAtPose(const Pose & pose) const; std::optional getLeftShoulderLanelet( const lanelet::ConstLanelet & lanelet) const; @@ -354,7 +284,6 @@ class RouteHandler 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; private: // MUST @@ -385,8 +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; @@ -419,17 +346,13 @@ class RouteHandler const double min_length = std::numeric_limits::max()) const; lanelet::ConstLanelets getPreviousLaneletSequence( const lanelet::ConstLanelets & lanelet_sequence) 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 diff --git a/planning/route_handler/src/route_handler.cpp b/planning/route_handler/src/route_handler.cpp index 589a98d7d5ab4..e9fb3cc7d2fd7 100644 --- a/planning/route_handler/src/route_handler.cpp +++ b/planning/route_handler/src/route_handler.cpp @@ -1324,98 +1324,6 @@ 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 @@ -1486,46 +1394,6 @@ 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; -} - std::optional RouteHandler::getPullOverTarget(const Pose & goal_pose) const { const lanelet::BasicPoint2d p(goal_pose.position.x, goal_pose.position.y); @@ -1589,13 +1457,6 @@ 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 { @@ -1650,30 +1511,6 @@ 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 @@ -1749,139 +1586,6 @@ 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_; @@ -1908,41 +1612,6 @@ 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; -} - bool RouteHandler::isShoulderLanelet(const lanelet::ConstLanelet & lanelet) const { return lanelet.hasAttribute(lanelet::AttributeName::Subtype) && @@ -2100,33 +1769,6 @@ 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 From ac8d50b5b96428488d2a2eed1b952506fa7a2bce Mon Sep 17 00:00:00 2001 From: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> Date: Thu, 16 May 2024 14:46:54 +0900 Subject: [PATCH 35/43] revert(lane_change): remove terminal in abort path (#6930) Signed-off-by: Muhammad Zulfaqar Azmi --- .../behavior_path_lane_change_module/src/scene.cpp | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/planning/behavior_path_lane_change_module/src/scene.cpp b/planning/behavior_path_lane_change_module/src/scene.cpp index 1052a283efc47..2d88a820e0fae 100644 --- a/planning/behavior_path_lane_change_module/src/scene.cpp +++ b/planning/behavior_path_lane_change_module/src/scene.cpp @@ -1974,11 +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, From 2c65ee9cd4a50b2ca18681bcd130e573229997cd Mon Sep 17 00:00:00 2001 From: "Takagi, Isamu" <43976882+isamu-takagi@users.noreply.github.com> Date: Thu, 16 May 2024 15:37:56 +0900 Subject: [PATCH 36/43] feat(automatic_pose_initializer): componentize node (#7021) Signed-off-by: Takagi, Isamu --- .../automatic_pose_initializer/CMakeLists.txt | 8 +++++++- .../launch/automatic_pose_initializer.launch.xml | 2 +- .../automatic_pose_initializer/package.xml | 1 + .../src/automatic_pose_initializer.cpp | 15 ++++----------- .../src/automatic_pose_initializer.hpp | 2 +- 5 files changed, 14 insertions(+), 14 deletions(-) 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..a8d16cc17609f 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 "ServiceLogChecker" + 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(); From 1bf48565df5ec4b5ba05cf3df919e4426d696fea Mon Sep 17 00:00:00 2001 From: "Takagi, Isamu" <43976882+isamu-takagi@users.noreply.github.com> Date: Thu, 16 May 2024 15:41:52 +0900 Subject: [PATCH 37/43] feat(ad_api_adaptors): componentize nodes (#7022) Signed-off-by: Takagi, Isamu --- .../ad_api_adaptors/CMakeLists.txt | 15 ++++++++++++--- .../launch/rviz_adaptors.launch.xml | 4 ++-- .../ad_api_adaptors/package.xml | 1 + .../ad_api_adaptors/src/initial_pose_adaptor.cpp | 15 ++++----------- .../ad_api_adaptors/src/initial_pose_adaptor.hpp | 2 +- .../ad_api_adaptors/src/routing_adaptor.cpp | 15 ++++----------- .../ad_api_adaptors/src/routing_adaptor.hpp | 2 +- 7 files changed, 25 insertions(+), 29 deletions(-) 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; From de53828028aafefbd9722de4bd66a562187249fb Mon Sep 17 00:00:00 2001 From: SakodaShintaro Date: Thu, 16 May 2024 16:56:27 +0900 Subject: [PATCH 38/43] fix(automatic_pose_initializer): fix plugin name (#7035) Fixed automatic_pose_initializer plugin name Signed-off-by: Shintaro Sakoda --- .../automatic_pose_initializer/CMakeLists.txt | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) 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 a8d16cc17609f..b777df8675bef 100644 --- a/system/default_ad_api_helpers/automatic_pose_initializer/CMakeLists.txt +++ b/system/default_ad_api_helpers/automatic_pose_initializer/CMakeLists.txt @@ -9,7 +9,7 @@ ament_auto_add_library(${PROJECT_NAME} SHARED ) rclcpp_components_register_node(${PROJECT_NAME} - PLUGIN "ServiceLogChecker" + PLUGIN "automatic_pose_initializer::AutomaticPoseInitializer" EXECUTABLE ${PROJECT_NAME}_node EXECUTOR MultiThreadedExecutor ) From d4cb23c5d5114481b97d60c31dbdefabc098cfd7 Mon Sep 17 00:00:00 2001 From: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> Date: Thu, 16 May 2024 18:19:53 +0900 Subject: [PATCH 39/43] perf(lanelet2_map_preprocessor): use set.find instead of std::find (#7033) Signed-off-by: Maxime CLEMENT --- .../src/fix_lane_change_tags.cpp | 5 ----- .../lanelet2_map_preprocessor/src/fix_z_value_by_pcd.cpp | 9 ++------- .../lanelet2_map_preprocessor/src/merge_close_lines.cpp | 2 +- .../lanelet2_map_preprocessor/src/merge_close_points.cpp | 2 +- .../src/remove_unreferenced_geometry.cpp | 5 ----- 5 files changed, 4 insertions(+), 19 deletions(-) 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; From 8265f9383e5e29354eff3369e34bf25cc99aae0d Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Thu, 16 May 2024 19:14:36 +0900 Subject: [PATCH 40/43] fix(avoidance): unexpected road shoulder distance calculation result (#6911) * fix(avoidance): unexpected road shoulder distance calculation result Signed-off-by: satoshi-ota * fix(avoidance): prevent division by zero Signed-off-by: satoshi-ota --------- Signed-off-by: satoshi-ota --- planning/behavior_path_avoidance_module/src/utils.cpp | 8 +++++++- 1 file changed, 7 insertions(+), 1 deletion(-) diff --git a/planning/behavior_path_avoidance_module/src/utils.cpp b/planning/behavior_path_avoidance_module/src/utils.cpp index 7ae5a97b77fff..1e83769dde599 100644 --- a/planning/behavior_path_avoidance_module/src/utils.cpp +++ b/planning/behavior_path_avoidance_module/src/utils.cpp @@ -912,8 +912,14 @@ 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)); From a233cd9a1c85696e4f9a791b5c660e6519b00bfb Mon Sep 17 00:00:00 2001 From: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> Date: Thu, 16 May 2024 19:44:45 +0900 Subject: [PATCH 41/43] refactor(planning_test_utils): remove route_handler dependencies (#7005) * refactor(planning_test_utils): remove route_handler dependencies Signed-off-by: Muhammad Zulfaqar Azmi * style(pre-commit): autofix * Fix precommit Signed-off-by: Muhammad Zulfaqar Azmi --------- Signed-off-by: Muhammad Zulfaqar Azmi Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- .../autoware_planning_test_manager_utils.hpp | 124 ++++++++++++++++++ .../src/autoware_planning_test_manager.cpp | 6 +- .../planning_test_utils.hpp | 91 +------------ planning/planning_test_utils/package.xml | 2 - 4 files changed, 130 insertions(+), 93 deletions(-) create mode 100644 planning/autoware_planning_test_manager/include/autoware_planning_test_manager/autoware_planning_test_manager_utils.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/src/autoware_planning_test_manager.cpp b/planning/autoware_planning_test_manager/src/autoware_planning_test_manager.cpp index 3aee408a76306..9ee162ec02d1f 100644 --- a/planning/autoware_planning_test_manager/src/autoware_planning_test_manager.cpp +++ b/planning/autoware_planning_test_manager/src/autoware_planning_test_manager.cpp @@ -15,7 +15,9 @@ #include "motion_utils/trajectory/conversion.hpp" #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/planning_test_utils/include/planning_test_utils/planning_test_utils.hpp b/planning/planning_test_utils/include/planning_test_utils/planning_test_utils.hpp index 7b52f3860592e..c47404b45bb5d 100644 --- 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 @@ -23,7 +23,6 @@ #include #include #include -#include #include #include @@ -37,7 +36,9 @@ #include #include #include +#include #include +#include #include #include @@ -71,7 +72,6 @@ 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; @@ -267,46 +267,6 @@ Scenario makeScenarioMsg(const std::string 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) { @@ -322,53 +282,6 @@ RouteSections combineConsecutiveRouteSections( 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() diff --git a/planning/planning_test_utils/package.xml b/planning/planning_test_utils/package.xml index 47540d6d3751f..b236a64f48da0 100644 --- a/planning/planning_test_utils/package.xml +++ b/planning/planning_test_utils/package.xml @@ -25,10 +25,8 @@ component_interface_utils lanelet2_extension lanelet2_io - motion_utils nav_msgs rclcpp - route_handler tf2_msgs tf2_ros tier4_api_msgs From 0de4a0a9cca7dd845b39b1f182295ab2ab1d2573 Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Fri, 17 May 2024 06:59:14 +0900 Subject: [PATCH 42/43] feat(tier4_autoware_utils): default QoS setting of polling subscriber (#6976) Signed-off-by: Mamoru Sobue --- .../ros/polling_subscriber.hpp | 34 ++++----- .../include/obstacle_cruise_planner/node.hpp | 22 +++--- planning/obstacle_cruise_planner/src/node.cpp | 71 ++++++++++--------- 3 files changed, 71 insertions(+), 56 deletions(-) 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/planning/obstacle_cruise_planner/include/obstacle_cruise_planner/node.hpp b/planning/obstacle_cruise_planner/include/obstacle_cruise_planner/node.hpp index c368265ea0f66..a819f000412b1 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 & objecrts, 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, diff --git a/planning/obstacle_cruise_planner/src/node.cpp b/planning/obstacle_cruise_planner/src/node.cpp index 43400acb86bd9..94e9707d55c4f 100644 --- a/planning/obstacle_cruise_planner/src/node.cpp +++ b/planning/obstacle_cruise_planner/src/node.cpp @@ -484,12 +484,17 @@ 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 +511,14 @@ 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 +634,16 @@ 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 +661,7 @@ 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) { @@ -745,14 +750,15 @@ 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 +783,14 @@ 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 +816,7 @@ 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 +832,12 @@ 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()); @@ -1151,8 +1156,9 @@ 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); @@ -1203,7 +1209,7 @@ 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_, @@ -1216,7 +1222,7 @@ 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); + traj_points, vehicle_info_, odometry.pose.pose, p.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 +1237,8 @@ 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 +1292,7 @@ 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; @@ -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; } From 7da5afd02d7cd4d2098e0818a84127ce3d8a9dc1 Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Fri, 17 May 2024 10:10:33 +0900 Subject: [PATCH 43/43] fix(bpp, bvp): keep rtc cooperate status even after manager stops module execution (#7032) * feat(rtc_interface): add new function to remove old status Signed-off-by: satoshi-ota * fix(bpp): don't remove rtc cooperate status Signed-off-by: satoshi-ota * fix(bvp): don't remove rtc cooperate status Signed-off-by: satoshi-ota --------- Signed-off-by: satoshi-ota --- .../interface/scene_module_interface.hpp | 1 - .../interface/scene_module_manager_interface.hpp | 1 + .../scene_module_interface.hpp | 6 +++++- .../src/scene_module_interface.cpp | 5 ++++- .../include/rtc_interface/rtc_interface.hpp | 1 + planning/rtc_interface/src/rtc_interface.cpp | 12 ++++++++++++ 6 files changed, 23 insertions(+), 3 deletions(-) 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 b4e1ffce8104a..bd7949a83a1d7 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 @@ -187,7 +187,6 @@ class SceneModuleInterface RCLCPP_DEBUG(getLogger(), "%s %s", name_.c_str(), __func__); clearWaitingApproval(); - removeRTCStatus(); unlockNewModuleLaunch(); unlockOutputPath(); steering_factor_interface_ptr_->clearSteeringFactors(); 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 0bea7c08c6601..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 @@ -103,6 +103,7 @@ class SceneModuleManagerInterface { for (const auto & [module_name, ptr] : rtc_interface_ptr_map_) { if (ptr) { + ptr->removeExpiredCooperateStatus(); ptr->publishCooperateStatus(rclcpp::Clock(RCL_ROS_TIME).now()); } } 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 27db42d36f08b..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 @@ -247,7 +247,11 @@ class SceneModuleManagerInterfaceWithRTC : public SceneModuleManagerInterface 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 803682489ebde..eb43e45d55711 100644 --- a/planning/behavior_velocity_planner_common/src/scene_module_interface.cpp +++ b/planning/behavior_velocity_planner_common/src/scene_module_interface.cpp @@ -272,7 +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/rtc_interface/include/rtc_interface/rtc_interface.hpp b/planning/rtc_interface/include/rtc_interface/rtc_interface.hpp index 8d6e8c8fc1c7c..7180812c7500b 100644 --- a/planning/rtc_interface/include/rtc_interface/rtc_interface.hpp +++ b/planning/rtc_interface/include/rtc_interface/rtc_interface.hpp @@ -56,6 +56,7 @@ class RTCInterface 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; diff --git a/planning/rtc_interface/src/rtc_interface.cpp b/planning/rtc_interface/src/rtc_interface.cpp index c7afea57afce3..623f899f55c70 100644 --- a/planning/rtc_interface/src/rtc_interface.cpp +++ b/planning/rtc_interface/src/rtc_interface.cpp @@ -265,6 +265,18 @@ 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(), + [](const auto & status) { + return (rclcpp::Clock{RCL_ROS_TIME}.now() - status.stamp).seconds() > 10.0; + }); + + registered_status_.statuses.erase(itr, registered_status_.statuses.end()); +} + void RTCInterface::clearCooperateStatus() { std::lock_guard lock(mutex_);

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