diff --git a/aichallenge/workspace/src/aichallenge_submit/booars_launch/launch/components/planning.launch.xml b/aichallenge/workspace/src/aichallenge_submit/booars_launch/launch/components/planning.launch.xml index a1f3cb0c..93c43ede 100644 --- a/aichallenge/workspace/src/aichallenge_submit/booars_launch/launch/components/planning.launch.xml +++ b/aichallenge/workspace/src/aichallenge_submit/booars_launch/launch/components/planning.launch.xml @@ -94,18 +94,16 @@ - - - + + + + + + + - - - - - - - - + + diff --git a/aichallenge/workspace/src/aichallenge_submit/booars_launch/map/csv/traj_mincurv_1.0m.csv b/aichallenge/workspace/src/aichallenge_submit/booars_launch/map/csv/traj_mincurv_1.0m.csv new file mode 100644 index 00000000..d1d5f58f --- /dev/null +++ b/aichallenge/workspace/src/aichallenge_submit/booars_launch/map/csv/traj_mincurv_1.0m.csv @@ -0,0 +1,157 @@ +x,y,z,yaw +89614.2712031,43153.1487373,0,0 +89614.0619002,43155.0924205,0,0 +89614.0392936,43157.1218632,0,0 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+89619.4019143,43144.6146083,0,0 +89618.2670558,43146.2685056,0,0 +89617.1347293,43147.9112705,0,0 +89616.0421712,43149.6038814,0,0 +89615.0897684,43151.3355203,0,0 +89614.3421119,43153.1948861,0,0 diff --git a/aichallenge/workspace/src/aichallenge_submit/path_to_trajectory/CMakeLists.txt b/aichallenge/workspace/src/aichallenge_submit/path_to_trajectory/CMakeLists.txt index 01e1d6f3..3a47d493 100644 --- a/aichallenge/workspace/src/aichallenge_submit/path_to_trajectory/CMakeLists.txt +++ b/aichallenge/workspace/src/aichallenge_submit/path_to_trajectory/CMakeLists.txt @@ -13,5 +13,8 @@ ament_auto_find_build_dependencies() ament_auto_add_executable(path_to_trajectory_node src/path_to_trajectory.cpp ) +ament_auto_add_executable(csv_to_trajectory_node + src/csv_to_trajectory.cpp +) ament_auto_package() diff --git a/aichallenge/workspace/src/aichallenge_submit/path_to_trajectory/include/path_to_trajectory/csv_to_trajectory.hpp b/aichallenge/workspace/src/aichallenge_submit/path_to_trajectory/include/path_to_trajectory/csv_to_trajectory.hpp new file mode 100644 index 00000000..64a870ad --- /dev/null +++ b/aichallenge/workspace/src/aichallenge_submit/path_to_trajectory/include/path_to_trajectory/csv_to_trajectory.hpp @@ -0,0 +1,52 @@ +// Copyright 2023 Tier IV, Inc. All rights reserved. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#ifndef PATH_TO_TRAJECTORY__CSV_TO_TRAJECTORY_HPP_ +#define PATH_TO_TRAJECTORY__CSV_TO_TRAJECTORY_HPP_ + +#include "nav_msgs/msg/odometry.hpp" +#include "std_msgs/msg/int32.hpp" +#include "autoware_auto_planning_msgs/msg/trajectory.hpp" +#include "autoware_auto_planning_msgs/msg/trajectory_point.hpp" +#include "rclcpp/rclcpp.hpp" +#include +#include +#include +#include + +class CsvToTrajectory : public rclcpp::Node { +public: + using Trajectory = autoware_auto_planning_msgs::msg::Trajectory; + using TrajectoryPoint = autoware_auto_planning_msgs::msg::TrajectoryPoint; + + CsvToTrajectory(); + +private: + rclcpp::Subscription::SharedPtr sub_odom_; + rclcpp::Publisher::SharedPtr pub_; + rclcpp::Publisher::SharedPtr pub_now_point_; + std::vector trajectory_points_; + size_t current_point_index_ = 0; + float velocity_rate_ = 1.0f; + float trajectory_length_ = 200.0f; + float trajectory_margin_ = 2.0f; + float next_point_threshold_ = 30.0f; + int now_index_ = 0; + float z_position_ = 0.0f; + + void odomCallback(const nav_msgs::msg::Odometry::SharedPtr odometry); + void readCsv(const std::string& csv_file_path); +}; + +#endif // PATH_TO_TRAJECTORY__CSV_TO_TRAJECTORY_HPP_ \ No newline at end of file diff --git a/aichallenge/workspace/src/aichallenge_submit/path_to_trajectory/src/csv_to_trajectory.cpp b/aichallenge/workspace/src/aichallenge_submit/path_to_trajectory/src/csv_to_trajectory.cpp new file mode 100644 index 00000000..6a097c79 --- /dev/null +++ b/aichallenge/workspace/src/aichallenge_submit/path_to_trajectory/src/csv_to_trajectory.cpp @@ -0,0 +1,125 @@ +// Copyright 2023 Tier IV, Inc. All rights reserved. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "path_to_trajectory/csv_to_trajectory.hpp" +#include +#include + + +CsvToTrajectory::CsvToTrajectory() : Node("csv_to_trajectory_node") { + using std::placeholders::_1; + this->declare_parameter("csv_file_path", ""); + this->declare_parameter("velocity_rate", 1.0f); + this->declare_parameter("trajectory_length", 100.0f); + this->declare_parameter("trajectory_margin", 2.0f); + this->declare_parameter("next_point_threshold", 30.0f); + this->declare_parameter("z_position", 0.0f); + + std::string csv_file_path; + this->get_parameter("csv_file_path", csv_file_path); + this->get_parameter("velocity_rate", this->velocity_rate_); + this->get_parameter("trajectory_length", this->trajectory_length_); + this->get_parameter("trajectory_margin", this->trajectory_margin_); + this->get_parameter("next_point_threshold", this->next_point_threshold_); + this->get_parameter("z_position", this->z_position_); + + if (csv_file_path.empty()) { + RCLCPP_ERROR(this->get_logger(), "No CSV file path provided"); + rclcpp::shutdown(); + return; + } + rclcpp::QoS qos(rclcpp::KeepLast(1)); + this->sub_odom_ = this->create_subscription( + "in_odom", qos, std::bind(&CsvToTrajectory::odomCallback, this, _1)); + this->pub_ = this->create_publisher("output", 1); + this->pub_now_point_ = this->create_publisher("now_waypoint", 1); + this->readCsv(csv_file_path); + +} + +void CsvToTrajectory::readCsv(const std::string& file_path) { + std::ifstream file(file_path); + std::string line; + double old_x=0.0; + double old_y=0.0; + while (std::getline(file, line)) { + if (line.empty() || line[0] == '#' || line[0] == 'x') continue; // Skip empty lines and comments + std::istringstream s(line); + std::string field; + std::vector values; + + while (getline(s, field, ',')) { + values.push_back(std::stod(field)); + } + // s_m; x_m; y_m; psi_rad; kappa_radpm; vx_mps; ax_mps2 + TrajectoryPoint point; + point.pose.position.x = values[0]; + point.pose.position.y = values[1]; + point.pose.position.z = z_position_; + double yaw = std::atan2(point.pose.position.y-old_y, point.pose.position.x-old_x); + point.pose.orientation.x = 0.0; + point.pose.orientation.y = 0.0; + point.pose.orientation.z = sin(yaw / 2); + point.pose.orientation.w = cos(yaw / 2); + point.longitudinal_velocity_mps = 30.0;//values[5] * this->velocity_rate_; + point.acceleration_mps2 = 0.0; //values[6]; + + trajectory_points_.push_back(point); + old_x = point.pose.position.x; + old_y = point.pose.position.y; + } + double yaw = std::atan2(trajectory_points_.front().pose.position.y-old_y, trajectory_points_.front().pose.position.x-old_x); + trajectory_points_.front().pose.orientation.x = 0.0; + trajectory_points_.front().pose.orientation.y = 0.0; + trajectory_points_.front().pose.orientation.z = sin(yaw / 2); + trajectory_points_.front().pose.orientation.w = cos(yaw / 2); + RCLCPP_INFO(this->get_logger(), "Loaded %zu trajectory points", trajectory_points_.size()); +} + +void CsvToTrajectory::odomCallback(const nav_msgs::msg::Odometry::SharedPtr odometry) +{ + if (current_point_index_ >= trajectory_points_.size()) return; + + Trajectory trajectory; + // Set trajectory header + trajectory.header = odometry->header; + while(true){ + const float dis = std::hypot( + trajectory_points_[current_point_index_].pose.position.x - odometry->pose.pose.position.x, + trajectory_points_[current_point_index_].pose.position.y - odometry->pose.pose.position.y); + if(dis > next_point_threshold_){ + break; + } + current_point_index_++; + } + // const int start_index = std::max(0, int(current_point_index_ - (2.0*next_point_threshold_)/trajectory_margin_)); + // const int end_index = std::min(int(trajectory_points_.size()), int(current_point_index_ + trajectory_length_/trajectory_margin_)); + const int start_index = 0; + const int end_index = trajectory_points_.size(); + for(int i = start_index; i < end_index; i++){ + trajectory.points.push_back(trajectory_points_[i]); + } + //RCLCPP_INFO(this->get_logger(), "Now waypoint: %d", int(start_index+next_point_threshold_/trajectory_margin_)); + std_msgs::msg::Int32 now_point; + now_point.data = int(current_point_index_ - (next_point_threshold_)/trajectory_margin_); + pub_now_point_->publish(now_point); + pub_->publish(trajectory); +} + +int main(int argc, char const* argv[]) { + rclcpp::init(argc, argv); + rclcpp::spin(std::make_shared()); + rclcpp::shutdown(); + return 0; +}