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refactor(autoware_behavior_path_start_planner_module): add data_struc…
…ts.cpp and init method for StartPlannerParameters (autowarefoundation#9736) feat(autoware_behavior_path_start_planner_module): add data_structs.cpp and init method for StartPlannerParameters Signed-off-by: Kyoichi Sugahara <[email protected]>
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...ng/behavior_path_planner/autoware_behavior_path_start_planner_module/src/data_structs.cpp
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| // 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. | ||
|
|
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| #include "autoware/behavior_path_start_planner_module/data_structs.hpp" | ||
|
|
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| #include "autoware/behavior_path_start_planner_module/manager.hpp" | ||
|
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| #include <autoware/universe_utils/ros/parameter.hpp> | ||
| #include <rclcpp/rclcpp.hpp> | ||
|
|
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| #include <string> | ||
|
|
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| namespace autoware::behavior_path_planner | ||
| { | ||
|
|
||
| StartPlannerParameters StartPlannerParameters::init(rclcpp::Node & node) | ||
| { | ||
| using autoware::universe_utils::getOrDeclareParameter; | ||
| StartPlannerParameters p; | ||
| { | ||
| const std::string ns = "start_planner."; | ||
|
|
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| p.th_arrived_distance = getOrDeclareParameter<double>(node, ns + "th_arrived_distance"); | ||
| p.th_stopped_velocity = getOrDeclareParameter<double>(node, ns + "th_stopped_velocity"); | ||
| p.th_stopped_time = getOrDeclareParameter<double>(node, ns + "th_stopped_time"); | ||
| p.prepare_time_before_start = | ||
| getOrDeclareParameter<double>(node, ns + "prepare_time_before_start"); | ||
| p.th_distance_to_middle_of_the_road = | ||
| getOrDeclareParameter<double>(node, ns + "th_distance_to_middle_of_the_road"); | ||
| p.skip_rear_vehicle_check = getOrDeclareParameter<bool>(node, ns + "skip_rear_vehicle_check"); | ||
| p.extra_width_margin_for_rear_obstacle = | ||
| getOrDeclareParameter<double>(node, ns + "extra_width_margin_for_rear_obstacle"); | ||
| p.collision_check_margins = | ||
| getOrDeclareParameter<std::vector<double>>(node, ns + "collision_check_margins"); | ||
| p.collision_check_margin_from_front_object = | ||
| getOrDeclareParameter<double>(node, ns + "collision_check_margin_from_front_object"); | ||
| p.th_moving_object_velocity = | ||
| getOrDeclareParameter<double>(node, ns + "th_moving_object_velocity"); | ||
| p.center_line_path_interval = | ||
| getOrDeclareParameter<double>(node, ns + "center_line_path_interval"); | ||
| // shift pull out | ||
| p.enable_shift_pull_out = getOrDeclareParameter<bool>(node, ns + "enable_shift_pull_out"); | ||
| p.check_shift_path_lane_departure = | ||
| getOrDeclareParameter<bool>(node, ns + "check_shift_path_lane_departure"); | ||
| p.allow_check_shift_path_lane_departure_override = | ||
| getOrDeclareParameter<bool>(node, ns + "allow_check_shift_path_lane_departure_override"); | ||
| p.shift_collision_check_distance_from_end = | ||
| getOrDeclareParameter<double>(node, ns + "shift_collision_check_distance_from_end"); | ||
| p.minimum_shift_pull_out_distance = | ||
| getOrDeclareParameter<double>(node, ns + "minimum_shift_pull_out_distance"); | ||
| p.lateral_acceleration_sampling_num = | ||
| getOrDeclareParameter<int>(node, ns + "lateral_acceleration_sampling_num"); | ||
| p.lateral_jerk = getOrDeclareParameter<double>(node, ns + "lateral_jerk"); | ||
| p.maximum_lateral_acc = getOrDeclareParameter<double>(node, ns + "maximum_lateral_acc"); | ||
| p.minimum_lateral_acc = getOrDeclareParameter<double>(node, ns + "minimum_lateral_acc"); | ||
| p.maximum_curvature = getOrDeclareParameter<double>(node, ns + "maximum_curvature"); | ||
| p.end_pose_curvature_threshold = | ||
| getOrDeclareParameter<double>(node, ns + "end_pose_curvature_threshold"); | ||
| p.maximum_longitudinal_deviation = | ||
| getOrDeclareParameter<double>(node, ns + "maximum_longitudinal_deviation"); | ||
| // geometric pull out | ||
| p.enable_geometric_pull_out = | ||
| getOrDeclareParameter<bool>(node, ns + "enable_geometric_pull_out"); | ||
| p.geometric_collision_check_distance_from_end = | ||
| getOrDeclareParameter<double>(node, ns + "geometric_collision_check_distance_from_end"); | ||
| p.divide_pull_out_path = getOrDeclareParameter<bool>(node, ns + "divide_pull_out_path"); | ||
| p.parallel_parking_parameters.pull_out_velocity = | ||
| getOrDeclareParameter<double>(node, ns + "geometric_pull_out_velocity"); | ||
| p.parallel_parking_parameters.pull_out_arc_path_interval = | ||
| getOrDeclareParameter<double>(node, ns + "arc_path_interval"); | ||
| p.parallel_parking_parameters.pull_out_lane_departure_margin = | ||
| getOrDeclareParameter<double>(node, ns + "lane_departure_margin"); | ||
| p.lane_departure_check_expansion_margin = | ||
| getOrDeclareParameter<double>(node, ns + "lane_departure_check_expansion_margin"); | ||
| p.parallel_parking_parameters.pull_out_max_steer_angle = | ||
| getOrDeclareParameter<double>(node, ns + "pull_out_max_steer_angle"); // 15deg | ||
| p.parallel_parking_parameters.center_line_path_interval = | ||
| p.center_line_path_interval; // for geometric parallel parking | ||
| // search start pose backward | ||
| p.search_priority = getOrDeclareParameter<std::string>( | ||
| node, | ||
| ns + "search_priority"); // "efficient_path" or "short_back_distance" | ||
| p.enable_back = getOrDeclareParameter<bool>(node, ns + "enable_back"); | ||
| p.backward_velocity = getOrDeclareParameter<double>(node, ns + "backward_velocity"); | ||
| p.max_back_distance = getOrDeclareParameter<double>(node, ns + "max_back_distance"); | ||
| p.backward_search_resolution = | ||
| getOrDeclareParameter<double>(node, ns + "backward_search_resolution"); | ||
| p.backward_path_update_duration = | ||
| getOrDeclareParameter<double>(node, ns + "backward_path_update_duration"); | ||
| p.ignore_distance_from_lane_end = | ||
| getOrDeclareParameter<double>(node, ns + "ignore_distance_from_lane_end"); | ||
| // stop condition | ||
| p.maximum_deceleration_for_stop = | ||
| getOrDeclareParameter<double>(node, ns + "stop_condition.maximum_deceleration_for_stop"); | ||
| p.maximum_jerk_for_stop = | ||
| getOrDeclareParameter<double>(node, ns + "stop_condition.maximum_jerk_for_stop"); | ||
| } | ||
| { | ||
| const std::string ns = "start_planner.object_types_to_check_for_path_generation."; | ||
| p.object_types_to_check_for_path_generation.check_car = | ||
| getOrDeclareParameter<bool>(node, ns + "check_car"); | ||
| p.object_types_to_check_for_path_generation.check_truck = | ||
| getOrDeclareParameter<bool>(node, ns + "check_truck"); | ||
| p.object_types_to_check_for_path_generation.check_bus = | ||
| getOrDeclareParameter<bool>(node, ns + "check_bus"); | ||
| p.object_types_to_check_for_path_generation.check_trailer = | ||
| getOrDeclareParameter<bool>(node, ns + "check_trailer"); | ||
| p.object_types_to_check_for_path_generation.check_unknown = | ||
| getOrDeclareParameter<bool>(node, ns + "check_unknown"); | ||
| p.object_types_to_check_for_path_generation.check_bicycle = | ||
| getOrDeclareParameter<bool>(node, ns + "check_bicycle"); | ||
| p.object_types_to_check_for_path_generation.check_motorcycle = | ||
| getOrDeclareParameter<bool>(node, ns + "check_motorcycle"); | ||
| p.object_types_to_check_for_path_generation.check_pedestrian = | ||
| getOrDeclareParameter<bool>(node, ns + "check_pedestrian"); | ||
| } | ||
| // freespace planner general params | ||
| { | ||
| const std::string ns = "start_planner.freespace_planner."; | ||
| p.enable_freespace_planner = getOrDeclareParameter<bool>(node, ns + "enable_freespace_planner"); | ||
| p.freespace_planner_algorithm = | ||
| getOrDeclareParameter<std::string>(node, ns + "freespace_planner_algorithm"); | ||
| p.end_pose_search_start_distance = | ||
| getOrDeclareParameter<double>(node, ns + "end_pose_search_start_distance"); | ||
| p.end_pose_search_end_distance = | ||
| getOrDeclareParameter<double>(node, ns + "end_pose_search_end_distance"); | ||
| p.end_pose_search_interval = | ||
| getOrDeclareParameter<double>(node, ns + "end_pose_search_interval"); | ||
| p.freespace_planner_velocity = getOrDeclareParameter<double>(node, ns + "velocity"); | ||
| p.vehicle_shape_margin = getOrDeclareParameter<double>(node, ns + "vehicle_shape_margin"); | ||
| p.freespace_planner_common_parameters.time_limit = | ||
| getOrDeclareParameter<double>(node, ns + "time_limit"); | ||
| p.freespace_planner_common_parameters.max_turning_ratio = | ||
| getOrDeclareParameter<double>(node, ns + "max_turning_ratio"); | ||
| p.freespace_planner_common_parameters.turning_steps = | ||
| getOrDeclareParameter<int>(node, ns + "turning_steps"); | ||
| } | ||
| // freespace planner search config | ||
| { | ||
| const std::string ns = "start_planner.freespace_planner.search_configs."; | ||
| p.freespace_planner_common_parameters.theta_size = | ||
| getOrDeclareParameter<int>(node, ns + "theta_size"); | ||
| p.freespace_planner_common_parameters.angle_goal_range = | ||
| getOrDeclareParameter<double>(node, ns + "angle_goal_range"); | ||
| p.freespace_planner_common_parameters.curve_weight = | ||
| getOrDeclareParameter<double>(node, ns + "curve_weight"); | ||
| p.freespace_planner_common_parameters.reverse_weight = | ||
| getOrDeclareParameter<double>(node, ns + "reverse_weight"); | ||
| p.freespace_planner_common_parameters.lateral_goal_range = | ||
| getOrDeclareParameter<double>(node, ns + "lateral_goal_range"); | ||
| p.freespace_planner_common_parameters.longitudinal_goal_range = | ||
| getOrDeclareParameter<double>(node, ns + "longitudinal_goal_range"); | ||
| } | ||
| // freespace planner costmap configs | ||
| { | ||
| const std::string ns = "start_planner.freespace_planner.costmap_configs."; | ||
| p.freespace_planner_common_parameters.obstacle_threshold = | ||
| getOrDeclareParameter<int>(node, ns + "obstacle_threshold"); | ||
| } | ||
| // freespace planner astar | ||
| { | ||
| const std::string ns = "start_planner.freespace_planner.astar."; | ||
| p.astar_parameters.search_method = | ||
| getOrDeclareParameter<std::string>(node, ns + "search_method"); | ||
| p.astar_parameters.only_behind_solutions = | ||
| getOrDeclareParameter<bool>(node, ns + "only_behind_solutions"); | ||
| p.astar_parameters.use_back = getOrDeclareParameter<bool>(node, ns + "use_back"); | ||
| p.astar_parameters.distance_heuristic_weight = | ||
| getOrDeclareParameter<double>(node, ns + "distance_heuristic_weight"); | ||
| } | ||
| // freespace planner rrtstar | ||
| { | ||
| const std::string ns = "start_planner.freespace_planner.rrtstar."; | ||
| p.rrt_star_parameters.enable_update = getOrDeclareParameter<bool>(node, ns + "enable_update"); | ||
| p.rrt_star_parameters.use_informed_sampling = | ||
| getOrDeclareParameter<bool>(node, ns + "use_informed_sampling"); | ||
| p.rrt_star_parameters.max_planning_time = | ||
| getOrDeclareParameter<double>(node, ns + "max_planning_time"); | ||
| p.rrt_star_parameters.neighbor_radius = | ||
| getOrDeclareParameter<double>(node, ns + "neighbor_radius"); | ||
| p.rrt_star_parameters.margin = getOrDeclareParameter<double>(node, ns + "margin"); | ||
| } | ||
|
|
||
| const std::string base_ns = "start_planner.path_safety_check."; | ||
| // EgoPredictedPath | ||
| { | ||
| const std::string ego_path_ns = base_ns + "ego_predicted_path."; | ||
| p.ego_predicted_path_params.min_velocity = | ||
| getOrDeclareParameter<double>(node, ego_path_ns + "min_velocity"); | ||
| p.ego_predicted_path_params.acceleration = | ||
| getOrDeclareParameter<double>(node, ego_path_ns + "min_acceleration"); | ||
| p.ego_predicted_path_params.time_horizon_for_front_object = | ||
| getOrDeclareParameter<double>(node, ego_path_ns + "time_horizon_for_front_object"); | ||
| p.ego_predicted_path_params.time_horizon_for_rear_object = | ||
| getOrDeclareParameter<double>(node, ego_path_ns + "time_horizon_for_rear_object"); | ||
| p.ego_predicted_path_params.time_resolution = | ||
| getOrDeclareParameter<double>(node, ego_path_ns + "time_resolution"); | ||
| p.ego_predicted_path_params.delay_until_departure = | ||
| getOrDeclareParameter<double>(node, ego_path_ns + "delay_until_departure"); | ||
| } | ||
| // ObjectFilteringParams | ||
| const std::string obj_filter_ns = base_ns + "target_filtering."; | ||
| { | ||
| p.objects_filtering_params.safety_check_time_horizon = | ||
| getOrDeclareParameter<double>(node, obj_filter_ns + "safety_check_time_horizon"); | ||
| p.objects_filtering_params.safety_check_time_resolution = | ||
| getOrDeclareParameter<double>(node, obj_filter_ns + "safety_check_time_resolution"); | ||
| p.objects_filtering_params.object_check_forward_distance = | ||
| getOrDeclareParameter<double>(node, obj_filter_ns + "object_check_forward_distance"); | ||
| p.objects_filtering_params.object_check_backward_distance = | ||
| getOrDeclareParameter<double>(node, obj_filter_ns + "object_check_backward_distance"); | ||
| p.objects_filtering_params.ignore_object_velocity_threshold = | ||
| getOrDeclareParameter<double>(node, obj_filter_ns + "ignore_object_velocity_threshold"); | ||
| p.objects_filtering_params.include_opposite_lane = | ||
| getOrDeclareParameter<bool>(node, obj_filter_ns + "include_opposite_lane"); | ||
| p.objects_filtering_params.invert_opposite_lane = | ||
| getOrDeclareParameter<bool>(node, obj_filter_ns + "invert_opposite_lane"); | ||
| p.objects_filtering_params.check_all_predicted_path = | ||
| getOrDeclareParameter<bool>(node, obj_filter_ns + "check_all_predicted_path"); | ||
| p.objects_filtering_params.use_all_predicted_path = | ||
| getOrDeclareParameter<bool>(node, obj_filter_ns + "use_all_predicted_path"); | ||
| p.objects_filtering_params.use_predicted_path_outside_lanelet = | ||
| getOrDeclareParameter<bool>(node, obj_filter_ns + "use_predicted_path_outside_lanelet"); | ||
| } | ||
| // ObjectTypesToCheck | ||
| { | ||
| const std::string obj_types_ns = obj_filter_ns + "object_types_to_check."; | ||
| p.objects_filtering_params.object_types_to_check.check_car = | ||
| getOrDeclareParameter<bool>(node, obj_types_ns + "check_car"); | ||
| p.objects_filtering_params.object_types_to_check.check_truck = | ||
| getOrDeclareParameter<bool>(node, obj_types_ns + "check_truck"); | ||
| p.objects_filtering_params.object_types_to_check.check_bus = | ||
| getOrDeclareParameter<bool>(node, obj_types_ns + "check_bus"); | ||
| p.objects_filtering_params.object_types_to_check.check_trailer = | ||
| getOrDeclareParameter<bool>(node, obj_types_ns + "check_trailer"); | ||
| p.objects_filtering_params.object_types_to_check.check_unknown = | ||
| getOrDeclareParameter<bool>(node, obj_types_ns + "check_unknown"); | ||
| p.objects_filtering_params.object_types_to_check.check_bicycle = | ||
| getOrDeclareParameter<bool>(node, obj_types_ns + "check_bicycle"); | ||
| p.objects_filtering_params.object_types_to_check.check_motorcycle = | ||
| getOrDeclareParameter<bool>(node, obj_types_ns + "check_motorcycle"); | ||
| p.objects_filtering_params.object_types_to_check.check_pedestrian = | ||
| getOrDeclareParameter<bool>(node, obj_types_ns + "check_pedestrian"); | ||
| } | ||
| // ObjectLaneConfiguration | ||
| { | ||
| const std::string obj_lane_ns = obj_filter_ns + "object_lane_configuration."; | ||
| p.objects_filtering_params.object_lane_configuration.check_current_lane = | ||
| getOrDeclareParameter<bool>(node, obj_lane_ns + "check_current_lane"); | ||
| p.objects_filtering_params.object_lane_configuration.check_right_lane = | ||
| getOrDeclareParameter<bool>(node, obj_lane_ns + "check_right_side_lane"); | ||
| p.objects_filtering_params.object_lane_configuration.check_left_lane = | ||
| getOrDeclareParameter<bool>(node, obj_lane_ns + "check_left_side_lane"); | ||
| p.objects_filtering_params.object_lane_configuration.check_shoulder_lane = | ||
| getOrDeclareParameter<bool>(node, obj_lane_ns + "check_shoulder_lane"); | ||
| p.objects_filtering_params.object_lane_configuration.check_other_lane = | ||
| getOrDeclareParameter<bool>(node, obj_lane_ns + "check_other_lane"); | ||
| } | ||
| // SafetyCheckParams | ||
| const std::string safety_check_ns = base_ns + "safety_check_params."; | ||
| { | ||
| p.safety_check_params.enable_safety_check = | ||
| getOrDeclareParameter<bool>(node, safety_check_ns + "enable_safety_check"); | ||
| p.safety_check_params.hysteresis_factor_expand_rate = | ||
| getOrDeclareParameter<double>(node, safety_check_ns + "hysteresis_factor_expand_rate"); | ||
| p.safety_check_params.backward_path_length = | ||
| getOrDeclareParameter<double>(node, safety_check_ns + "backward_path_length"); | ||
| p.safety_check_params.forward_path_length = | ||
| getOrDeclareParameter<double>(node, safety_check_ns + "forward_path_length"); | ||
| p.safety_check_params.publish_debug_marker = | ||
| getOrDeclareParameter<bool>(node, safety_check_ns + "publish_debug_marker"); | ||
| p.safety_check_params.collision_check_yaw_diff_threshold = | ||
| getOrDeclareParameter<double>(node, safety_check_ns + "collision_check_yaw_diff_threshold"); | ||
| } | ||
| // RSSparams | ||
| { | ||
| const std::string rss_ns = safety_check_ns + "rss_params."; | ||
| p.safety_check_params.rss_params.rear_vehicle_reaction_time = | ||
| getOrDeclareParameter<double>(node, rss_ns + "rear_vehicle_reaction_time"); | ||
| p.safety_check_params.rss_params.rear_vehicle_safety_time_margin = | ||
| getOrDeclareParameter<double>(node, rss_ns + "rear_vehicle_safety_time_margin"); | ||
| p.safety_check_params.rss_params.lateral_distance_max_threshold = | ||
| getOrDeclareParameter<double>(node, rss_ns + "lateral_distance_max_threshold"); | ||
| p.safety_check_params.rss_params.longitudinal_distance_min_threshold = | ||
| getOrDeclareParameter<double>(node, rss_ns + "longitudinal_distance_min_threshold"); | ||
| p.safety_check_params.rss_params.longitudinal_velocity_delta_time = | ||
| getOrDeclareParameter<double>(node, rss_ns + "longitudinal_velocity_delta_time"); | ||
| p.safety_check_params.rss_params.extended_polygon_policy = | ||
| getOrDeclareParameter<std::string>(node, rss_ns + "extended_polygon_policy"); | ||
| } | ||
| // surround moving obstacle check | ||
| { | ||
| const std::string surround_moving_obstacle_check_ns = | ||
| "start_planner.surround_moving_obstacle_check."; | ||
| p.search_radius = | ||
| getOrDeclareParameter<double>(node, surround_moving_obstacle_check_ns + "search_radius"); | ||
| p.th_moving_obstacle_velocity = getOrDeclareParameter<double>( | ||
| node, surround_moving_obstacle_check_ns + "th_moving_obstacle_velocity"); | ||
| // ObjectTypesToCheck | ||
| { | ||
| const std::string obj_types_ns = surround_moving_obstacle_check_ns + "object_types_to_check."; | ||
| p.surround_moving_obstacles_type_to_check.check_car = | ||
| getOrDeclareParameter<bool>(node, obj_types_ns + "check_car"); | ||
| p.surround_moving_obstacles_type_to_check.check_truck = | ||
| getOrDeclareParameter<bool>(node, obj_types_ns + "check_truck"); | ||
| p.surround_moving_obstacles_type_to_check.check_bus = | ||
| getOrDeclareParameter<bool>(node, obj_types_ns + "check_bus"); | ||
| p.surround_moving_obstacles_type_to_check.check_trailer = | ||
| getOrDeclareParameter<bool>(node, obj_types_ns + "check_trailer"); | ||
| p.surround_moving_obstacles_type_to_check.check_unknown = | ||
| getOrDeclareParameter<bool>(node, obj_types_ns + "check_unknown"); | ||
| p.surround_moving_obstacles_type_to_check.check_bicycle = | ||
| getOrDeclareParameter<bool>(node, obj_types_ns + "check_bicycle"); | ||
| p.surround_moving_obstacles_type_to_check.check_motorcycle = | ||
| getOrDeclareParameter<bool>(node, obj_types_ns + "check_motorcycle"); | ||
| p.surround_moving_obstacles_type_to_check.check_pedestrian = | ||
| getOrDeclareParameter<bool>(node, obj_types_ns + "check_pedestrian"); | ||
| } | ||
| } | ||
|
|
||
| // debug | ||
| { | ||
| const std::string debug_ns = "start_planner.debug."; | ||
| p.print_debug_info = getOrDeclareParameter<bool>(node, debug_ns + "print_debug_info"); | ||
| } | ||
|
|
||
| return p; | ||
| } | ||
| } // namespace autoware::behavior_path_planner |
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