refactor(obstacle_avoidance_planner): move the elastic band smoothing…

… to a new package (#420)

Signed-off-by: Maxime CLEMENT <[email protected]>

autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml

@@ -1,7 +1,6 @@
 /**:
   ros__parameters:
     option:
-      enable_smoothing: true                                       # enable path smoothing by elastic band
       enable_skip_optimization: false                              # skip elastic band and model predictive trajectory
       enable_reset_prev_optimization: false                        # If true, optimization has no fix constraint to the previous result.
       enable_outside_drivable_area_stop: true                      # stop if the ego's trajectory footprint is outside the drivable area
@@ -30,35 +29,6 @@
       max_goal_moving_dist: 15.0               # threshold of goal's moving distance for replan [m]
       max_delta_time_sec: 1.0                  # threshold of delta time for replan [second]
 
-    # eb param
-    eb:
-      option:
-        enable_warm_start: true
-        enable_optimization_validation: false
-
-      common:
-        num_points: 100        # number of points for optimization [-]
-        delta_arc_length: 1.0  # delta arc length for optimization [m]
-
-      clearance:
-        num_joint_points: 3  # number of joint points (joint means connecting fixing and smoothing)
-
-        clearance_for_fix: 0.0     # maximum optimizing range when applying fixing
-        clearance_for_joint: 0.1   # maximum optimizing range when applying jointing
-        clearance_for_smooth: 0.1  # maximum optimizing range when applying smoothing
-
-      weight:
-        smooth_weight: 1.0
-        lat_error_weight: 0.001
-
-      qp:
-        max_iteration: 10000  # max iteration when solving QP
-        eps_abs: 1.0e-7       # eps abs when solving OSQP
-        eps_rel: 1.0e-7       # eps rel when solving OSQP
-
-      validation: # if enable_optimization_validation is true
-        max_error: 3.0 # [m]
-
     # mpt param
     mpt:
       option:

autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/path_smoother/elastic_band_smoother.param.yaml

@@ -0,0 +1,37 @@
+/**:
+  ros__parameters:
+    common:
+      # output
+      output_delta_arc_length: 0.5     #  delta arc length for output trajectory [m]
+      output_backward_traj_length: 5.0  # backward length for backward trajectory from base_link [m]
+    # elastic band
+    elastic_band:
+      option:
+        enable_warm_start: true
+        enable_optimization_validation: false
+
+      common:
+        num_points: 100        # number of points for optimization [-]
+        delta_arc_length: 1.0  # delta arc length for optimization [m]
+
+      clearance:
+        num_joint_points: 3  # number of joint points (joint means connecting fixing and smoothing)
+
+        clearance_for_fix: 0.0     # maximum optimizing range when applying fixing
+        clearance_for_joint: 0.1   # maximum optimizing range when applying jointing
+        clearance_for_smooth: 0.1  # maximum optimizing range when applying smoothing
+
+      weight:
+        smooth_weight: 1.0
+        lat_error_weight: 0.001
+
+      qp:
+        max_iteration: 10000  # max iteration when solving QP
+        eps_abs: 1.0e-7       # eps abs when solving OSQP
+        eps_rel: 1.0e-7       # eps rel when solving OSQP
+
+      validation: # if enable_optimization_validation is true
+        max_error: 3.0 # [m]
+    # nearest search
+    ego_nearest_dist_threshold: 3.0 # [m]
+    ego_nearest_yaw_threshold: 1.046 # [rad] = 60 [deg]

autoware_launch/launch/components/tier4_planning_component.launch.xml

@@ -6,7 +6,8 @@
   <!-- motion -->
   <arg name="cruise_planner_type" default="obstacle_stop_planner" description="options: obstacle_stop_planner, obstacle_cruise_planner, none"/>
   <arg name="use_surround_obstacle_check" default="true"/>
-  <arg name="smoother_type" default="JerkFiltered" description="options: JerkFiltered, L2, Analytical, Linf(Unstable)"/>
+  <arg name="path_smoother_type" default="elastic_band" description="options: elastic_band, none"/>
+  <arg name="velocity_smoother_type" default="JerkFiltered" description="options: JerkFiltered, L2, Analytical, Linf(Unstable)"/>
 
   <!-- variables -->
   <arg name="behavior_config_path" default="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/lane_driving/behavior_planning"/>
@@ -19,7 +20,6 @@
     <arg name="vehicle_param_file" value="$(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml"/>
     <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
     <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
-    <arg name="smoother_type" value="$(var smoother_type)"/>
 
     <!-- common -->
     <arg name="common_param_path" value="$(var common_config_path)/common.param.yaml"/>
@@ -68,6 +68,7 @@
     <arg name="freespace_planner_param_path" value="$(find-pkg-share autoware_launch)/config/planning/scenario_planning/parking/freespace_planner/freespace_planner.param.yaml"/>
 
     <!-- motion -->
+    <arg name="elastic_band_smoother_param_path" value="$(var motion_config_path)/path_smoother/elastic_band_smoother.param.yaml"/>
     <arg name="obstacle_avoidance_planner_param_path" value="$(var motion_config_path)/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml"/>
     <arg name="path_sampler_param_path" value="$(var motion_config_path)/path_sampler/path_sampler.param.yaml"/>
     <arg name="obstacle_velocity_limiter_param_path" value="$(var motion_config_path)/obstacle_velocity_limiter/obstacle_velocity_limiter.param.yaml"/>
@@ -78,11 +79,12 @@
     <arg name="cruise_planner_type" value="$(var cruise_planner_type)"/>
     <arg name="use_surround_obstacle_check" value="$(var use_surround_obstacle_check)"/>
     <arg name="use_experimental_lane_change_function" value="$(var use_experimental_lane_change_function)"/>
-    <arg name="smoother_type" value="$(var smoother_type)"/>
+    <arg name="path_smoother_type" value="$(var path_smoother_type)"/>
+    <arg name="velocity_smoother_type" value="$(var velocity_smoother_type)"/>
 
     <!-- motion velocity smoother -->
     <arg name="motion_velocity_smoother_param_path" value="$(var common_config_path)/motion_velocity_smoother/motion_velocity_smoother.param.yaml"/>
-    <arg name="smoother_type_param_path" value="$(var common_config_path)/motion_velocity_smoother/$(var smoother_type).param.yaml"/>
+    <arg name="velocity_smoother_type_param_path" value="$(var common_config_path)/motion_velocity_smoother/$(var velocity_smoother_type).param.yaml"/>
 
     <!-- planning validator -->
     <arg name="planning_validator_param_path" value="$(var common_config_path)/planning_validator/planning_validator.param.yaml"/>