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feat(autoware_velocity_smoother): use polling subscriber #7216

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Jun 8, 2024
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feat(autoware_velocity_smoother): use polling subscriber #7216

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17 changes: 9 additions & 8 deletions planning/autoware_velocity_smoother/include/autoware_velocity_smoother/node.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -31,6 +31,7 @@
#include "tier4_autoware_utils/geometry/geometry.hpp"
#include "tier4_autoware_utils/math/unit_conversion.hpp"
#include "tier4_autoware_utils/ros/logger_level_configure.hpp"
#include "tier4_autoware_utils/ros/polling_subscriber.hpp"
#include "tier4_autoware_utils/ros/self_pose_listener.hpp"
#include "tier4_autoware_utils/system/stop_watch.hpp"

Expand Down Expand Up @@ -86,11 +87,15 @@ class VelocitySmootherNode : public rclcpp::Node
rclcpp::Publisher<Trajectory>::SharedPtr pub_trajectory_;
rclcpp::Publisher<MarkerArray>::SharedPtr pub_virtual_wall_;
rclcpp::Publisher<StopSpeedExceeded>::SharedPtr pub_over_stop_velocity_;
rclcpp::Subscription<Odometry>::SharedPtr sub_current_odometry_;
rclcpp::Subscription<AccelWithCovarianceStamped>::SharedPtr sub_current_acceleration_;
rclcpp::Subscription<Trajectory>::SharedPtr sub_current_trajectory_;
rclcpp::Subscription<VelocityLimit>::SharedPtr sub_external_velocity_limit_;
rclcpp::Subscription<OperationModeState>::SharedPtr sub_operation_mode_;
tier4_autoware_utils::InterProcessPollingSubscriber<Odometry> sub_current_odometry_{
this, "/localization/kinematic_state"};
tier4_autoware_utils::InterProcessPollingSubscriber<AccelWithCovarianceStamped>
sub_current_acceleration_{this, "~/input/acceleration"};
tier4_autoware_utils::InterProcessPollingSubscriber<VelocityLimit> sub_external_velocity_limit_{
this, "~/input/external_velocity_limit_mps"};
tier4_autoware_utils::InterProcessPollingSubscriber<OperationModeState> sub_operation_mode_{
this, "~/input/operation_mode_state"};

Odometry::ConstSharedPtr current_odometry_ptr_; // current odometry
AccelWithCovarianceStamped::ConstSharedPtr current_acceleration_ptr_;
Expand Down Expand Up @@ -180,12 +185,8 @@ class VelocitySmootherNode : public rclcpp::Node
const std::vector<rclcpp::Parameter> & parameters);

// topic callback
void onCurrentOdometry(const Odometry::ConstSharedPtr msg);

void onCurrentTrajectory(const Trajectory::ConstSharedPtr msg);

void onExternalVelocityLimit(const VelocityLimit::ConstSharedPtr msg);

void calcExternalVelocityLimit();

// publish methods
Expand Down
32 changes: 9 additions & 23 deletions planning/autoware_velocity_smoother/src/node.cpp
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Original file line number Diff line number Diff line change
@@ -1,4 +1,4 @@
// Copyright 2021 Tier IV, Inc.

Check notice on line 1 in planning/autoware_velocity_smoother/src/node.cpp

View check run for this annotation

CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)

ℹ Getting worse: Overall Code Complexity 

The mean cyclomatic complexity increases from 4.03 to 4.26, threshold = 4. This file has many conditional statements (e.g. if, for, while) across its implementation, leading to lower code health. Avoid adding more conditionals.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
Expand Down Expand Up @@ -58,19 +58,6 @@
pub_over_stop_velocity_ = create_publisher<StopSpeedExceeded>("~/stop_speed_exceeded", 1);
sub_current_trajectory_ = create_subscription<Trajectory>(
"~/input/trajectory", 1, std::bind(&VelocitySmootherNode::onCurrentTrajectory, this, _1));
sub_current_odometry_ = create_subscription<Odometry>(
"/localization/kinematic_state", 1,
std::bind(&VelocitySmootherNode::onCurrentOdometry, this, _1));
sub_external_velocity_limit_ = create_subscription<VelocityLimit>(
"~/input/external_velocity_limit_mps", 1,
std::bind(&VelocitySmootherNode::onExternalVelocityLimit, this, _1));
sub_current_acceleration_ = create_subscription<AccelWithCovarianceStamped>(
"~/input/acceleration", 1, [this](const AccelWithCovarianceStamped::ConstSharedPtr msg) {
current_acceleration_ptr_ = msg;
});
sub_operation_mode_ = create_subscription<OperationModeState>(
"~/input/operation_mode_state", 1,
[this](const OperationModeState::ConstSharedPtr msg) { operation_mode_ = *msg; });

// parameter update
set_param_res_ =
Expand Down Expand Up @@ -319,16 +306,6 @@
pub_trajectory_, publishing_trajectory.header.stamp);
}

void VelocitySmootherNode::onCurrentOdometry(const Odometry::ConstSharedPtr msg)
{
current_odometry_ptr_ = msg;
}

void VelocitySmootherNode::onExternalVelocityLimit(const VelocityLimit::ConstSharedPtr msg)
{
external_velocity_limit_ptr_ = msg;
}

void VelocitySmootherNode::calcExternalVelocityLimit()
{
if (!external_velocity_limit_ptr_) {
Expand Down Expand Up @@ -441,6 +418,15 @@

base_traj_raw_ptr_ = msg;

// receive data
current_odometry_ptr_ = sub_current_odometry_.takeData();
current_acceleration_ptr_ = sub_current_acceleration_.takeData();
external_velocity_limit_ptr_ = sub_external_velocity_limit_.takeData();
const auto operation_mode_ptr = sub_operation_mode_.takeData();
if (operation_mode_ptr) {
operation_mode_ = *operation_mode_ptr;
}

Check warning on line 429 in planning/autoware_velocity_smoother/src/node.cpp

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CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)

❌ New issue: Complex Method 

VelocitySmootherNode::onCurrentTrajectory has a cyclomatic complexity of 9, threshold = 9. This function has many conditional statements (e.g. if, for, while), leading to lower code health. Avoid adding more conditionals and code to it without refactoring.
// guard
if (!checkData()) {
return;
Expand Down
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