From de5e51b8f7b7a80b25bc3ae0d7fe6e51547de62e Mon Sep 17 00:00:00 2001
From: Michikuni Eguchi <egrt117@gmail.com>
Date: Wed, 9 Oct 2024 22:17:01 +0900
Subject: [PATCH] mppi dynamic reconfigure (#55)

---
 .../planning/costmap_generator.param.yaml     |   2 +-
 .../planning/mppi_controller.param.yaml       |  18 +-
 .../launch/components/control.launch.xml      |   4 +-
 .../mppi_controller/mppi_controller.py        |  79 +++++++++
 .../mppi_controller/mppi_controller_node.py   |  30 +++-
 .../config/debug_sensing.rviz                 | 160 +++++++++++++++---
 6 files changed, 259 insertions(+), 34 deletions(-)

diff --git a/aichallenge/workspace/src/aichallenge_submit/booars_launch/config/planning/costmap_generator.param.yaml b/aichallenge/workspace/src/aichallenge_submit/booars_launch/config/planning/costmap_generator.param.yaml
index 283e0a7f..62292907 100644
--- a/aichallenge/workspace/src/aichallenge_submit/booars_launch/config/planning/costmap_generator.param.yaml
+++ b/aichallenge/workspace/src/aichallenge_submit/booars_launch/config/planning/costmap_generator.param.yaml
@@ -13,7 +13,7 @@
         type: "cached_lanelet"
         map_topic: "/map/vector_map"
         costmap_topic: "~/debug/cached_costmap"
-        inflation_radius: 1.4 # [m]
+        inflation_radius: 1.8 # [m]
         cached_costmap:
           min_x: 89607.0  # [m]
           max_x: 89687.0  # [m]
diff --git a/aichallenge/workspace/src/aichallenge_submit/booars_launch/config/planning/mppi_controller.param.yaml b/aichallenge/workspace/src/aichallenge_submit/booars_launch/config/planning/mppi_controller.param.yaml
index 35ba01cc..50506a60 100644
--- a/aichallenge/workspace/src/aichallenge_submit/booars_launch/config/planning/mppi_controller.param.yaml
+++ b/aichallenge/workspace/src/aichallenge_submit/booars_launch/config/planning/mppi_controller.param.yaml
@@ -2,20 +2,20 @@
   ros__parameters:
       # mppi
       horizon : 25
-      num_samples : 4000
-      u_min : [-4.0, -0.35] # accel(m/s2), steer angle(rad)
-      u_max : [3.0, 0.35]
-      sigmas : [2.0, 0.35] # sample range
+      num_samples : 5000
+      u_min : [-4.0, -0.25] # accel(m/s2), steer angle(rad)
+      u_max : [2.0, 0.25]
+      sigmas : [2.0, 0.25] # sample range
       lambda : 1.0 
-      auto_lambda : false
+      auto_lambda : true
       # reference path
       DL : 0.1
       lookahead_distance : 0.1
-      reference_path_interval : 0.8
+      reference_path_interval : 0.83
       # cost weights
-      Qc : 10.0
-      Ql : 1.0
-      Qv : 4.0
+      Qc : 20.0
+      Ql : 5.0
+      Qv : 0.5
       Qo : 1000.0
       Qin : 0.01
       Qdin : 0.0
diff --git a/aichallenge/workspace/src/aichallenge_submit/booars_launch/launch/components/control.launch.xml b/aichallenge/workspace/src/aichallenge_submit/booars_launch/launch/components/control.launch.xml
index 44181f68..7c0c285a 100644
--- a/aichallenge/workspace/src/aichallenge_submit/booars_launch/launch/components/control.launch.xml
+++ b/aichallenge/workspace/src/aichallenge_submit/booars_launch/launch/components/control.launch.xml
@@ -12,8 +12,8 @@
 
     <!-- <node pkg="simple_pure_pursuit" exec="simple_pure_pursuit" name="simple_pure_pursuit_node"
       output="screen" unless="$(var use_stanley)">
-      <param name="use_external_target_vel" value="true" />
-      <param name="external_target_vel" value="8.0" />
+      <param name="use_external_target_vel" value="false" />
+      <param name="external_target_vel" value="8.3" />
       <param name="lookahead_gain" value="0.24" />
       <param name="lookahead_min_distance" value="2.0" />
       <param name="speed_proportional_gain" value="2.0" />
diff --git a/aichallenge/workspace/src/aichallenge_submit/mppi_controller/mppi_controller/mppi_controller.py b/aichallenge/workspace/src/aichallenge_submit/mppi_controller/mppi_controller/mppi_controller.py
index 7a65192f..4f62efb4 100644
--- a/aichallenge/workspace/src/aichallenge_submit/mppi_controller/mppi_controller/mppi_controller.py
+++ b/aichallenge/workspace/src/aichallenge_submit/mppi_controller/mppi_controller/mppi_controller.py
@@ -59,6 +59,23 @@ def __init__(self, config, debug=False, device=torch.device("cuda"), dtype=torch
         self.reference_path: torch.Tensor = None
         self.cost_map: CostMapTensor = None
 
+    def update_params(self, config):
+        self.config = config
+
+        # model parameter
+        self.delta_t = torch.tensor(self.config["delta_t"], device=self._device, dtype=self._dtype)
+        self.vehicle_L = torch.tensor(self.config["vehicle_L"], device=self._device, dtype=self._dtype)
+        self.V_MAX = torch.tensor(self.config["V_MAX"], device=self._device, dtype=self._dtype)
+        
+        # cost weights
+        self.Qc = self.config["Qc"]
+        self.Ql = self.config["Ql"]
+        self.Qv = self.config["Qv"]
+        self.Qo = self.config["Qo"]
+        self.Qin = self.config["Qin"]
+        self.Qdin = self.config["Qdin"]
+        
+
     def update(self, state: torch.Tensor, racing_center_path: torch.Tensor) -> Tuple[torch.Tensor, torch.Tensor]:
         """
         Update the controller with the current state and reference path.
@@ -170,6 +187,12 @@ def cost_function(self, state: torch.Tensor, action: torch.Tensor, info: dict) -
         input_cost = self.Qin * action.pow(2).sum(dim=1)
         input_cost += self.Qdin * (action - prev_action).pow(2).sum(dim=1)
 
+        # dtheta cost
+        # steer = action[:, 1]
+        # dtheta = v * torch.tan(steer) / self.vehicle_L
+        # MAX_DTHETA = 1
+        # dtheta_cost = 400*torch.relu(torch.abs(dtheta) - MAX_DTHETA)
+
         cost = path_cost + velocity_cost + obstacle_cost + input_cost
 
         return cost
@@ -218,6 +241,45 @@ def resample_path(path, DL):
                 start_idx += segment_length
 
             return new_path
+        
+        def compute_curvature(path, interval=5):
+            """
+            Compute curvature for each segment of the path at specified intervals and linearly interpolate the skipped points.
+            Args:
+                path (torch.Tensor): path points with shape (N, 4) [x, y, yaw, target_v]
+                interval (int): number of points to skip when computing curvature (the larger the value, the fewer points are used)
+            
+            Returns:
+                torch.Tensor: curvature values for each path point, shape (N,)
+            """
+            # Initialize curvature tensor
+            curvature = torch.zeros(path.shape[0], dtype=path.dtype, device=path.device)
+
+            # Compute curvature at every 'interval' points
+            for i in range(interval, len(path) - interval, interval):
+                # Compute central difference for first derivative (dx, dy)
+                dx = (path[i + interval, 0] - path[i - interval, 0]) / (2.0 * interval)
+                dy = (path[i + interval, 1] - path[i - interval, 1]) / (2.0 * interval)
+
+                # Compute central difference for second derivative (ddx, ddy)
+                ddx = path[i + interval, 0] - 2 * path[i, 0] + path[i - interval, 0]
+                ddy = path[i + interval, 1] - 2 * path[i, 1] + path[i - interval, 1]
+
+                # Curvature formula: k = (x'y'' - y'x'') / (x'^2 + y'^2)^(3/2)
+                curvature[i] = torch.abs(dx * ddy - dy * ddx) / (dx.pow(2) + dy.pow(2)).pow(3 / 2)
+
+            # Linearly interpolate skipped points
+            for i in range(interval, len(path) - interval, interval):
+                if i + interval < len(path):
+                    for j in range(1, interval):
+                        curvature[i + j] = curvature[i] + (curvature[i + interval] - curvature[i]) * (j / interval)
+
+            # Handle the boundary cases (start and end)
+            curvature[:interval] = curvature[interval]
+            curvature[-interval:] = curvature[-interval - 1]
+
+            return curvature
+    
 
         # Resample the path with the specified DL
         path = resample_path(path, DL)
@@ -229,6 +291,9 @@ def resample_path(path, DL):
         # Ensure the index is not less than the current index
         ind = max(cind, ind)
 
+        # Compute curvature along the path
+        # curvature = compute_curvature(path)
+
         # Generate the rest of the reference trajectory
         travel = lookahead_distance
 
@@ -236,6 +301,20 @@ def resample_path(path, DL):
             travel += reference_path_interval
             dind = int(round(travel / DL))
 
+            # if (ind + dind) < ncourse:
+            #     xref[i] = path[ind + dind]
+
+            #     # Adjust target velocity based on curvature
+            #     if (ind + dind) < len(curvature):
+            #         current_curvature = curvature[ind + dind]
+            #         # Lower the target velocity when curvature is high
+            #         print("curvature:", current_curvature)
+            #         if current_curvature > 2.0:  # Set threshold for high curvature
+            #             xref[i, 3] = 1.0
+
+            # else:
+            #     xref[i] = path[-1]
+
             if (ind + dind) < ncourse:
                 xref[i] = path[ind + dind]
             else:
diff --git a/aichallenge/workspace/src/aichallenge_submit/mppi_controller/mppi_controller/mppi_controller_node.py b/aichallenge/workspace/src/aichallenge_submit/mppi_controller/mppi_controller/mppi_controller_node.py
index a0153179..636d0ab5 100644
--- a/aichallenge/workspace/src/aichallenge_submit/mppi_controller/mppi_controller/mppi_controller_node.py
+++ b/aichallenge/workspace/src/aichallenge_submit/mppi_controller/mppi_controller/mppi_controller_node.py
@@ -1,5 +1,8 @@
 import rclpy
 from rclpy.node import Node
+from rcl_interfaces.msg import ParameterEvent
+from rclpy.parameter import Parameter
+from rcl_interfaces.msg import SetParametersResult
 from nav_msgs.msg import Odometry
 from geometry_msgs.msg import Pose, Point, Quaternion
 from autoware_auto_planning_msgs.msg import Trajectory, TrajectoryPoint
@@ -40,7 +43,7 @@ def __init__(self):
         self.declare_parameter('vehicle_L', 1.0)
         self.declare_parameter('V_MAX', 8.0)
         # get
-        config = {
+        self.config = {
             "horizon": self.get_parameter('horizon').get_parameter_value().integer_value,
             "num_samples": self.get_parameter('num_samples').get_parameter_value().integer_value,
             "u_min": self.get_parameter('u_min').get_parameter_value().double_array_value,
@@ -61,8 +64,10 @@ def __init__(self):
             "vehicle_L": self.get_parameter('vehicle_L').get_parameter_value().double_value,
             "V_MAX": self.get_parameter('V_MAX').get_parameter_value().double_value,
         }
+        self.get_logger().info(f'config: {self.config}')
 
-        self.get_logger().info(f'config: {config}')
+        # Add parameter change callback
+        self.add_on_set_parameters_callback(self.parameter_callback)
 
         # publisher
         # control command
@@ -100,7 +105,7 @@ def __init__(self):
         self.dtype = torch.float32
         
         # mppi controller
-        self.controller = mppi_controller(config=config, debug=True, device=self.device, dtype=self.dtype)
+        self.controller = mppi_controller(config=self.config, debug=True, device=self.device, dtype=self.dtype)
 
         self.odometry: Odometry = None
         self.trajectory: Trajectory = None
@@ -117,6 +122,25 @@ def trajectory_callback(self, msg : Trajectory):
     def costmap_callback(self, msg : OccupancyGrid):
         self.costmap = msg
 
+    def parameter_callback(self, params):
+        for param in params:
+            if param.name in self.config:
+                if param.type_ == Parameter.Type.DOUBLE:
+                    self.config[param.name] = param.value
+                elif param.type_ == Parameter.Type.INTEGER:
+                    self.config[param.name] = param.value
+                elif param.type_ == Parameter.Type.BOOL:
+                    self.config[param.name] = param.value
+                elif param.type_ == Parameter.Type.DOUBLE_ARRAY:
+                    self.config[param.name] = param.value
+                self.get_logger().info(f"Parameter {param.name} changed to {param.value}")
+
+        # update controller
+        self.controller.update_params(self.config)
+
+        # Return a success result
+        return SetParametersResult(successful=True)
+
     def zero_ackermann_control_command(self):
         cmd = AckermannControlCommand()
         now = self.get_clock().now().to_msg()
diff --git a/aichallenge/workspace/src/aichallenge_system/aichallenge_system_launch/config/debug_sensing.rviz b/aichallenge/workspace/src/aichallenge_system/aichallenge_system_launch/config/debug_sensing.rviz
index bc2090e8..1fe22598 100644
--- a/aichallenge/workspace/src/aichallenge_system/aichallenge_system_launch/config/debug_sensing.rviz
+++ b/aichallenge/workspace/src/aichallenge_system/aichallenge_system_launch/config/debug_sensing.rviz
@@ -16,14 +16,14 @@ Panels:
         - /Localization1
         - /Localization1/EKF1/PoseHistory1
         - /Planning1
-        - /Planning1/ScenarioPlanning1/ScenarioTrajectory1
         - /Planning1/ScenarioPlanning1/ScenarioTrajectory1/View Path1
         - /Planning1/ScenarioPlanning1/ScenarioTrajectory1/View Velocity1
         - /Planning1/ScenarioPlanning1/LaneDriving1
-        - /Control1
-        - /Control1/PointStamped1
+        - /Planning1/MPPITrajectory1
+        - /Trajectory1
+        - /Trajectory1/Topic1
       Splitter Ratio: 0.557669460773468
-    Tree Height: 331
+    Tree Height: 385
   - Class: rviz_common/Selection
     Name: Selection
   - Class: rviz_common/Tool Properties
@@ -200,8 +200,8 @@ Visualization Manager:
               Max Alpha: 0.5
               Max Range: 100
               Max Wave Alpha: 0.5
-              Min Alpha: 0.01
-              Min Wave Alpha: 0.01
+              Min Alpha: 0.009999999776482582
+              Min Wave Alpha: 0.009999999776482582
               Name: PolarGridDisplay
               Reference Frame: base_link
               Value: true
@@ -229,7 +229,7 @@ Visualization Manager:
                 History Policy: Keep Last
                 Reliability Policy: Reliable
                 Value: /vehicle/status/turn_indicators_status
-              Value: true
+              Value: false
               Width: 546
           Enabled: true
           Name: Vehicle
@@ -729,7 +729,7 @@ Visualization Manager:
                 Color: 0; 0; 0
                 Constant Color: false
                 Value: true
-                Width: 0.10000000149011612
+                Width: 0.30000001192092896
               View Point:
                 Alpha: 1
                 Color: 0; 60; 255
@@ -1777,13 +1777,75 @@ Visualization Manager:
               Value: true
           Enabled: false
           Name: Diagnostic
+        - Alpha: 0.699999988079071
+          Class: rviz_default_plugins/Map
+          Color Scheme: costmap
+          Draw Behind: false
+          Enabled: true
+          Name: CostMap
+          Topic:
+            Depth: 5
+            Durability Policy: Volatile
+            Filter size: 10
+            History Policy: Keep Last
+            Reliability Policy: Reliable
+            Value: /planning/costmap/costmap_generator/costmap
+          Update Topic:
+            Depth: 5
+            Durability Policy: Volatile
+            History Policy: Keep Last
+            Reliability Policy: Reliable
+            Value: /planning/costmap/costmap_generator/costmap_updates
+          Use Timestamp: false
+          Value: true
+        - Class: rviz_plugins/Trajectory
+          Color Border Vel Max: 8.300000190734863
+          Enabled: true
+          Name: MPPITrajectory
+          Topic:
+            Depth: 5
+            Durability Policy: Volatile
+            Filter size: 10
+            History Policy: Keep Last
+            Reliability Policy: Reliable
+            Value: /planning/output/mppi_planned_path
+          Value: true
+          View Footprint:
+            Alpha: 1
+            Color: 230; 230; 50
+            Offset from BaseLink: 0
+            Rear Overhang: 1.0299999713897705
+            Value: false
+            Vehicle Length: 4.769999980926514
+            Vehicle Width: 1.8300000429153442
+          View Path:
+            Alpha: 1
+            Color: 0; 0; 0
+            Constant Color: false
+            Value: true
+            Width: 0.5
+          View Point:
+            Alpha: 1
+            Color: 0; 60; 255
+            Offset: 0
+            Radius: 0.10000000149011612
+            Value: false
+          View Text Velocity:
+            Scale: 0.30000001192092896
+            Value: false
+          View Velocity:
+            Alpha: 1
+            Color: 0; 0; 0
+            Constant Color: false
+            Scale: 0.30000001192092896
+            Value: true
       Enabled: true
       Name: Planning
     - Class: rviz_common/Group
       Displays:
         - Alpha: 1
           Class: rviz_default_plugins/PointStamped
-          Color: 204; 41; 204
+          Color: 255; 255; 255
           Enabled: true
           History Length: 1
           Name: PointStamped
@@ -1843,6 +1905,47 @@ Visualization Manager:
         Reliability Policy: Reliable
         Value: /simple_pure_pursuit_node/debug/markers
       Value: true
+    - Class: rviz_plugins/Trajectory
+      Color Border Vel Max: 8.300000190734863
+      Enabled: true
+      Name: Trajectory
+      Topic:
+        Depth: 15
+        Durability Policy: Volatile
+        Filter size: 10
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /planning/debug/path
+      Value: true
+      View Footprint:
+        Alpha: 1
+        Color: 230; 230; 50
+        Offset from BaseLink: 0
+        Rear Overhang: 1.0299999713897705
+        Value: false
+        Vehicle Length: 4.769999980926514
+        Vehicle Width: 1.8300000429153442
+      View Path:
+        Alpha: 1
+        Color: 0; 0; 0
+        Constant Color: false
+        Value: true
+        Width: 1
+      View Point:
+        Alpha: 1
+        Color: 0; 60; 255
+        Offset: 0
+        Radius: 0.10000000149011612
+        Value: false
+      View Text Velocity:
+        Scale: 0.30000001192092896
+        Value: false
+      View Velocity:
+        Alpha: 1
+        Color: 0; 0; 0
+        Constant Color: false
+        Scale: 0.30000001192092896
+        Value: true
   Enabled: true
   Global Options:
     Background Color: 10; 10; 10
@@ -1874,26 +1977,47 @@ Visualization Manager:
         History Policy: Keep Last
         Reliability Policy: Reliable
         Value: /planning/mission_planning/goal
-    - Class: rviz_plugins/PedestrianInitialPoseTool
+    - Acceleration: 0
+      Class: rviz_plugins/PedestrianInitialPoseTool
+      Interactive: false
+      Max velocity: 33.29999923706055
+      Min velocity: -33.29999923706055
       Pose Topic: /simulation/dummy_perception_publisher/object_info
+      Target Frame: <Fixed Frame>
       Theta std deviation: 0.0872664600610733
       Velocity: 0
       X std deviation: 0.029999999329447746
       Y std deviation: 0.029999999329447746
       Z position: 1
       Z std deviation: 0.029999999329447746
-    - Class: rviz_plugins/CarInitialPoseTool
+    - Acceleration: 0
+      Class: rviz_plugins/CarInitialPoseTool
+      H vehicle height: 2
+      Interactive: false
+      L vehicle length: 4
+      Max velocity: 33.29999923706055
+      Min velocity: -33.29999923706055
       Pose Topic: /simulation/dummy_perception_publisher/object_info
+      Target Frame: <Fixed Frame>
       Theta std deviation: 0.0872664600610733
       Velocity: 3
+      W vehicle width: 1.7999999523162842
       X std deviation: 0.029999999329447746
       Y std deviation: 0.029999999329447746
       Z position: 0
       Z std deviation: 0.029999999329447746
-    - Class: rviz_plugins/BusInitialPoseTool
+    - Acceleration: 0
+      Class: rviz_plugins/BusInitialPoseTool
+      H vehicle height: 3.5
+      Interactive: false
+      L vehicle length: 10.5
+      Max velocity: 33.29999923706055
+      Min velocity: -33.29999923706055
       Pose Topic: /simulation/dummy_perception_publisher/object_info
+      Target Frame: <Fixed Frame>
       Theta std deviation: 0.0872664600610733
       Velocity: 0
+      W vehicle width: 2.5
       X std deviation: 0.029999999329447746
       Y std deviation: 0.029999999329447746
       Z position: 0
@@ -1922,7 +2046,7 @@ Visualization Manager:
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.009999999776482582
-      Scale: 41.36642837524414
+      Scale: 14.891090393066406
       Target Frame: base_link
       Value: TopDownOrtho (rviz_default_plugins)
       X: 0
@@ -1968,14 +2092,12 @@ Window Geometry:
     collapsed: false
   Displays:
     collapsed: false
-  Height: 1074
+  Height: 937
   Hide Left Dock: false
   Hide Right Dock: false
   InitialPoseButtonPanel:
     collapsed: false
-  MultiDataMonitor:
-    collapsed: false
-  QMainWindow State: 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   Tool Properties:
@@ -1983,5 +2105,5 @@ Window Geometry:
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     collapsed: false
   Width: 1920
-  X: 2870
-  Y: 2187
+  X: 0
+  Y: 32