From 33549de273d538bf376c5b2828810f03e76f2490 Mon Sep 17 00:00:00 2001 From: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> Date: Sun, 30 Jan 2022 03:16:38 +0900 Subject: [PATCH 001/202] ci: add sync-upstream.yaml (#4) Signed-off-by: Kenji Miyake --- .github/workflows/sync-upstream.yaml | 28 ++++++++++++++++++++++++++++ 1 file changed, 28 insertions(+) create mode 100644 .github/workflows/sync-upstream.yaml diff --git a/.github/workflows/sync-upstream.yaml b/.github/workflows/sync-upstream.yaml new file mode 100644 index 0000000000000..cd0d5af4883a3 --- /dev/null +++ b/.github/workflows/sync-upstream.yaml @@ -0,0 +1,28 @@ +name: sync-upstream + +on: + schedule: + - cron: 0 19 * * * # run at 4 AM JST + workflow_dispatch: + +jobs: + sync-upstream: + runs-on: ubuntu-latest + steps: + - name: Generate token + id: generate-token + uses: tibdex/github-app-token@v1 + with: + app_id: ${{ secrets.APP_ID }} + private_key: ${{ secrets.PRIVATE_KEY }} + + - name: Run sync-branches + uses: autowarefoundation/autoware-github-actions/sync-branches@tier4/proposal + with: + token: ${{ steps.generate-token.outputs.token }} + base-branch: tier4/main + sync-pr-branch: sync-upstream + sync-target-repository: https://github.com/autowarefoundation/autoware.universe.git + sync-target-branch: tier4/proposal + pr-title: "chore: sync upstream" + auto-merge-method: merge From acf26eaa8c16c95cddcc527c02ed473da6ed748d Mon Sep 17 00:00:00 2001 From: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> Date: Thu, 3 Mar 2022 16:34:55 +0900 Subject: [PATCH 002/202] ci(sync-upstream): update settings (#19) Signed-off-by: Kenji Miyake --- .github/workflows/sync-upstream.yaml | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/.github/workflows/sync-upstream.yaml b/.github/workflows/sync-upstream.yaml index cd0d5af4883a3..3e164c07dbec1 100644 --- a/.github/workflows/sync-upstream.yaml +++ b/.github/workflows/sync-upstream.yaml @@ -2,7 +2,7 @@ name: sync-upstream on: schedule: - - cron: 0 19 * * * # run at 4 AM JST + - cron: 0 0 * * * workflow_dispatch: jobs: @@ -17,12 +17,12 @@ jobs: private_key: ${{ secrets.PRIVATE_KEY }} - name: Run sync-branches - uses: autowarefoundation/autoware-github-actions/sync-branches@tier4/proposal + uses: autowarefoundation/autoware-github-actions/sync-branches@v1 with: token: ${{ steps.generate-token.outputs.token }} base-branch: tier4/main sync-pr-branch: sync-upstream sync-target-repository: https://github.com/autowarefoundation/autoware.universe.git - sync-target-branch: tier4/proposal + sync-target-branch: main pr-title: "chore: sync upstream" auto-merge-method: merge From 4a3e529bde03d9470e3c84868a460726ee641959 Mon Sep 17 00:00:00 2001 From: "awf-autoware-bot[bot]" <94889083+awf-autoware-bot[bot]@users.noreply.github.com> Date: Tue, 5 Apr 2022 12:59:33 +0000 Subject: [PATCH 003/202] chore: sync files (#629) * chore: sync files Signed-off-by: GitHub * ci(pre-commit): autofix Co-authored-by: kenji-miyake Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- .markdownlint.yaml | 2 ++ .prettierrc.yaml | 18 ++++++++++++++++++ CPPLINT.cfg | 1 + common/goal_distance_calculator/package.xml | 2 +- common/path_distance_calculator/package.xml | 2 -- common/polar_grid/package.xml | 1 - common/tier4_api_utils/package.xml | 2 -- common/tier4_datetime_rviz_plugin/package.xml | 2 -- .../tier4_localization_rviz_plugin/package.xml | 2 -- common/tier4_planning_rviz_plugin/package.xml | 2 -- .../package.xml | 2 -- common/tier4_state_rviz_plugin/package.xml | 2 -- control/shift_decider/package.xml | 1 - launch/tier4_vehicle_launch/package.xml | 1 - localization/ekf_localizer/package.xml | 1 - map/util/lanelet2_map_preprocessor/package.xml | 6 ------ perception/tensorrt_yolo/package.xml | 1 - .../package.xml | 1 - planning/obstacle_stop_planner/package.xml | 1 - planning/planning_error_monitor/package.xml | 2 +- .../image_transport_decompressor/package.xml | 2 -- 21 files changed, 23 insertions(+), 31 deletions(-) diff --git a/.markdownlint.yaml b/.markdownlint.yaml index dbd5b9703d834..df1f518dc0d48 100644 --- a/.markdownlint.yaml +++ b/.markdownlint.yaml @@ -1,3 +1,4 @@ +# See https://github.com/DavidAnson/markdownlint/blob/main/doc/Rules.md for all rules. default: true MD013: false MD024: @@ -5,3 +6,4 @@ MD024: MD033: false MD041: false MD046: false +MD049: false diff --git a/.prettierrc.yaml b/.prettierrc.yaml index 48b0552e3fe47..e29bf32762769 100644 --- a/.prettierrc.yaml +++ b/.prettierrc.yaml @@ -1,2 +1,20 @@ printWidth: 100 tabWidth: 2 +overrides: + - files: package.xml + options: + printWidth: 1000 + xmlSelfClosingSpace: false + xmlWhitespaceSensitivity: ignore + + - files: "*.launch.xml" + options: + printWidth: 200 + xmlSelfClosingSpace: false + xmlWhitespaceSensitivity: ignore + + - files: "*.xacro" + options: + printWidth: 200 + xmlSelfClosingSpace: false + xmlWhitespaceSensitivity: ignore diff --git a/CPPLINT.cfg b/CPPLINT.cfg index 1e2521f0b6442..ba6bdf08c10ca 100644 --- a/CPPLINT.cfg +++ b/CPPLINT.cfg @@ -11,3 +11,4 @@ filter=-whitespace/parens # we allow closing parenthesis to be on the ne filter=-whitespace/semicolon # we allow the developer to decide about whitespace after a semicolon filter=-build/header_guard # we automatically fix the names of header guards using pre-commit filter=-build/include_order # we use the custom include order +filter=-build/include_subdir # we allow the style of "foo.hpp" diff --git a/common/goal_distance_calculator/package.xml b/common/goal_distance_calculator/package.xml index d191ffd3945c9..66a911d8e9786 100644 --- a/common/goal_distance_calculator/package.xml +++ b/common/goal_distance_calculator/package.xml @@ -3,7 +3,7 @@ goal_distance_calculator 0.0.0 - The goal_distance_calculator package + The goal_distance_calculator package Taiki Tanaka Apache License 2.0 diff --git a/common/path_distance_calculator/package.xml b/common/path_distance_calculator/package.xml index c69f961f271ef..e85c8ccd93850 100644 --- a/common/path_distance_calculator/package.xml +++ b/common/path_distance_calculator/package.xml @@ -1,7 +1,6 @@ - path_distance_calculator 0.0.0 The path_distance_calculator package @@ -20,5 +19,4 @@ ament_cmake - diff --git a/common/polar_grid/package.xml b/common/polar_grid/package.xml index c11858c4dcc98..ea5b9dd9986e9 100644 --- a/common/polar_grid/package.xml +++ b/common/polar_grid/package.xml @@ -24,5 +24,4 @@ ament_cmake - diff --git a/common/tier4_api_utils/package.xml b/common/tier4_api_utils/package.xml index 4141904db9945..ba307d694a56c 100644 --- a/common/tier4_api_utils/package.xml +++ b/common/tier4_api_utils/package.xml @@ -1,7 +1,6 @@ - tier4_api_utils 0.0.0 The tier4_api_utils package @@ -24,5 +23,4 @@ ament_cmake - diff --git a/common/tier4_datetime_rviz_plugin/package.xml b/common/tier4_datetime_rviz_plugin/package.xml index 853b22b49be10..bb6b72797290b 100644 --- a/common/tier4_datetime_rviz_plugin/package.xml +++ b/common/tier4_datetime_rviz_plugin/package.xml @@ -1,6 +1,5 @@ - tier4_datetime_rviz_plugin 0.0.0 The tier4_datetime_rviz_plugin package @@ -22,5 +21,4 @@ ament_cmake - diff --git a/common/tier4_localization_rviz_plugin/package.xml b/common/tier4_localization_rviz_plugin/package.xml index 7d054c46c5083..a48dfb3ac3d73 100644 --- a/common/tier4_localization_rviz_plugin/package.xml +++ b/common/tier4_localization_rviz_plugin/package.xml @@ -1,6 +1,5 @@ - tier4_localization_rviz_plugin 0.1.0 The tier4_localization_rviz_plugin package @@ -25,5 +24,4 @@ ament_cmake - diff --git a/common/tier4_planning_rviz_plugin/package.xml b/common/tier4_planning_rviz_plugin/package.xml index 9d47827548843..3a937abeb5eb4 100644 --- a/common/tier4_planning_rviz_plugin/package.xml +++ b/common/tier4_planning_rviz_plugin/package.xml @@ -1,6 +1,5 @@ - tier4_planning_rviz_plugin 0.1.0 The tier4_planning_rviz_plugin package @@ -28,5 +27,4 @@ ament_cmake - diff --git a/common/tier4_simulated_clock_rviz_plugin/package.xml b/common/tier4_simulated_clock_rviz_plugin/package.xml index 4835e2b4bc3bb..25f701a6ce56f 100644 --- a/common/tier4_simulated_clock_rviz_plugin/package.xml +++ b/common/tier4_simulated_clock_rviz_plugin/package.xml @@ -1,6 +1,5 @@ - tier4_simulated_clock_rviz_plugin 0.0.1 Rviz plugin to publish and control the /clock topic @@ -23,5 +22,4 @@ ament_cmake - diff --git a/common/tier4_state_rviz_plugin/package.xml b/common/tier4_state_rviz_plugin/package.xml index e949c0c6a6148..2d33d6f1aaa7d 100644 --- a/common/tier4_state_rviz_plugin/package.xml +++ b/common/tier4_state_rviz_plugin/package.xml @@ -1,6 +1,5 @@ - tier4_state_rviz_plugin 0.0.0 The autoware state rviz plugin package @@ -26,5 +25,4 @@ ament_cmake - diff --git a/control/shift_decider/package.xml b/control/shift_decider/package.xml index a6640725a1597..1c7e2b1913944 100644 --- a/control/shift_decider/package.xml +++ b/control/shift_decider/package.xml @@ -21,5 +21,4 @@ ament_cmake - diff --git a/launch/tier4_vehicle_launch/package.xml b/launch/tier4_vehicle_launch/package.xml index bc2ef43e0a6bd..b0a3ea6a21485 100644 --- a/launch/tier4_vehicle_launch/package.xml +++ b/launch/tier4_vehicle_launch/package.xml @@ -7,7 +7,6 @@ Yukihiro Saito Apache License 2.0 - ament_cmake_auto robot_state_publisher diff --git a/localization/ekf_localizer/package.xml b/localization/ekf_localizer/package.xml index e4a380039ff02..0f27207fdc08d 100644 --- a/localization/ekf_localizer/package.xml +++ b/localization/ekf_localizer/package.xml @@ -29,5 +29,4 @@ ament_cmake - diff --git a/map/util/lanelet2_map_preprocessor/package.xml b/map/util/lanelet2_map_preprocessor/package.xml index e71adaea8bc73..7ec500da53ebb 100644 --- a/map/util/lanelet2_map_preprocessor/package.xml +++ b/map/util/lanelet2_map_preprocessor/package.xml @@ -9,25 +9,21 @@ mitsudome-r - Apache License 2.0 - - - @@ -59,10 +55,8 @@ pcl_ros roscpp - - diff --git a/perception/tensorrt_yolo/package.xml b/perception/tensorrt_yolo/package.xml index ff47dff04d845..9e393a56f1eef 100755 --- a/perception/tensorrt_yolo/package.xml +++ b/perception/tensorrt_yolo/package.xml @@ -24,5 +24,4 @@ ament_cmake - diff --git a/perception/traffic_light_ssd_fine_detector/package.xml b/perception/traffic_light_ssd_fine_detector/package.xml index 223dbf0b0f8c1..cf37f7f9baa8f 100644 --- a/perception/traffic_light_ssd_fine_detector/package.xml +++ b/perception/traffic_light_ssd_fine_detector/package.xml @@ -10,7 +10,6 @@ Daisuke Nishimatsu - diff --git a/planning/obstacle_stop_planner/package.xml b/planning/obstacle_stop_planner/package.xml index 45100bec069f6..a665fd8fcfe9c 100644 --- a/planning/obstacle_stop_planner/package.xml +++ b/planning/obstacle_stop_planner/package.xml @@ -37,5 +37,4 @@ ament_cmake - diff --git a/planning/planning_error_monitor/package.xml b/planning/planning_error_monitor/package.xml index 8bef053fc095d..e35554a392d7e 100644 --- a/planning/planning_error_monitor/package.xml +++ b/planning/planning_error_monitor/package.xml @@ -2,7 +2,7 @@ planning_error_monitor 0.1.0 - ros node for monitoring planning error + ros node for monitoring planning error Yutaka Shimizu diff --git a/sensing/image_transport_decompressor/package.xml b/sensing/image_transport_decompressor/package.xml index c6238d4fd7ae6..9f131490dea3f 100644 --- a/sensing/image_transport_decompressor/package.xml +++ b/sensing/image_transport_decompressor/package.xml @@ -24,6 +24,4 @@ ament_cmake - - From 3dea07d2c4a90c6729ab23525955c5a62e628b8c Mon Sep 17 00:00:00 2001 From: "awf-autoware-bot[bot]" <94889083+awf-autoware-bot[bot]@users.noreply.github.com> Date: Wed, 6 Apr 2022 11:05:46 +0900 Subject: [PATCH 004/202] chore: sync files (#637) Signed-off-by: GitHub Co-authored-by: kenji-miyake --- .github/workflows/build-and-test-differential.yaml | 2 +- .github/workflows/build-and-test.yaml | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/.github/workflows/build-and-test-differential.yaml b/.github/workflows/build-and-test-differential.yaml index 7e3d186886b6b..51e93d53049fc 100644 --- a/.github/workflows/build-and-test-differential.yaml +++ b/.github/workflows/build-and-test-differential.yaml @@ -42,7 +42,7 @@ jobs: - name: Upload coverage to CodeCov if: ${{ steps.test.outputs.coverage-report-files != '' }} - uses: codecov/codecov-action@v2 + uses: codecov/codecov-action@v3 with: files: ${{ steps.test.outputs.coverage-report-files }} fail_ci_if_error: false diff --git a/.github/workflows/build-and-test.yaml b/.github/workflows/build-and-test.yaml index 125d209ac1603..a7476a607d7e9 100644 --- a/.github/workflows/build-and-test.yaml +++ b/.github/workflows/build-and-test.yaml @@ -41,7 +41,7 @@ jobs: - name: Upload coverage to CodeCov if: ${{ steps.test.outputs.coverage-report-files != '' }} - uses: codecov/codecov-action@v2 + uses: codecov/codecov-action@v3 with: files: ${{ steps.test.outputs.coverage-report-files }} fail_ci_if_error: false From f037c18dfa92a52a637d5ec1031e7036663bd989 Mon Sep 17 00:00:00 2001 From: Hiroki OTA Date: Wed, 6 Apr 2022 14:03:11 +0900 Subject: [PATCH 005/202] fix(dummy_diag_publisher): use anon to make unique node name instead of diag name (#639) --- .../launch/dummy_diag_publisher_node.launch.xml | 12 +++++------- 1 file changed, 5 insertions(+), 7 deletions(-) diff --git a/system/dummy_diag_publisher/launch/dummy_diag_publisher_node.launch.xml b/system/dummy_diag_publisher/launch/dummy_diag_publisher_node.launch.xml index ae1042fc006bf..5448fb0269c09 100644 --- a/system/dummy_diag_publisher/launch/dummy_diag_publisher_node.launch.xml +++ b/system/dummy_diag_publisher/launch/dummy_diag_publisher_node.launch.xml @@ -5,13 +5,11 @@ - - - - - - - + + + + + From 3a3724243f701818db9ccf890eee0c833679163a Mon Sep 17 00:00:00 2001 From: "awf-autoware-bot[bot]" <94889083+awf-autoware-bot[bot]@users.noreply.github.com> Date: Sat, 9 Apr 2022 07:09:58 +0000 Subject: [PATCH 006/202] chore: sync files (#648) * chore: sync files Signed-off-by: GitHub * Revert "chore: sync files" This reverts commit b24f530b48306e16aa285f80a629ce5c5a9ccda7. Signed-off-by: Kenji Miyake * sync codecov.yaml Signed-off-by: Kenji Miyake Co-authored-by: kenji-miyake Co-authored-by: Kenji Miyake --- .github/sync-files.yaml | 1 + 1 file changed, 1 insertion(+) diff --git a/.github/sync-files.yaml b/.github/sync-files.yaml index 1cb1b399efe4d..494ab9300f025 100644 --- a/.github/sync-files.yaml +++ b/.github/sync-files.yaml @@ -35,6 +35,7 @@ - source: .github/workflows/build-and-test-self-hosted.yaml - source: .github/workflows/check-build-depends.yaml - source: .github/workflows/clang-tidy-pr-comments.yaml + - source: codecov.yaml - repository: autowarefoundation/autoware-documentation files: From a8272006e59cd73db96adba0abe68a68e930a03b Mon Sep 17 00:00:00 2001 From: Hiroki OTA Date: Mon, 11 Apr 2022 15:58:38 +0900 Subject: [PATCH 007/202] fix(autoware_state_panel): fix message type for /api/autoware/get/engage (#666) * fix(autoware_state_panel): fix message type for /api/autoware/get/engage Signed-off-by: h-ohta * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- common/tier4_state_rviz_plugin/src/autoware_state_panel.cpp | 4 ++-- common/tier4_state_rviz_plugin/src/autoware_state_panel.hpp | 6 +++--- 2 files changed, 5 insertions(+), 5 deletions(-) diff --git a/common/tier4_state_rviz_plugin/src/autoware_state_panel.cpp b/common/tier4_state_rviz_plugin/src/autoware_state_panel.cpp index b0cad0282cf9a..78681106b3d61 100644 --- a/common/tier4_state_rviz_plugin/src/autoware_state_panel.cpp +++ b/common/tier4_state_rviz_plugin/src/autoware_state_panel.cpp @@ -109,7 +109,7 @@ void AutowareStatePanel::onInitialize() sub_gear_ = raw_node_->create_subscription( "/vehicle/status/gear_status", 10, std::bind(&AutowareStatePanel::onShift, this, _1)); - sub_engage_ = raw_node_->create_subscription( + sub_engage_ = raw_node_->create_subscription( "/api/autoware/get/engage", 10, std::bind(&AutowareStatePanel::onEngageStatus, this, _1)); client_engage_ = raw_node_->create_client( @@ -209,7 +209,7 @@ void AutowareStatePanel::onShift( } void AutowareStatePanel::onEngageStatus( - const tier4_external_api_msgs::msg::EngageStatus::ConstSharedPtr msg) + const autoware_auto_vehicle_msgs::msg::Engage::ConstSharedPtr msg) { current_engage_ = msg->engage; engage_status_label_ptr_->setText(QString::fromStdString(Bool2String(current_engage_))); diff --git a/common/tier4_state_rviz_plugin/src/autoware_state_panel.hpp b/common/tier4_state_rviz_plugin/src/autoware_state_panel.hpp index af562dd055f7c..45cd290e5f4a3 100644 --- a/common/tier4_state_rviz_plugin/src/autoware_state_panel.hpp +++ b/common/tier4_state_rviz_plugin/src/autoware_state_panel.hpp @@ -23,10 +23,10 @@ #include #include +#include #include #include #include -#include #include namespace rviz_plugins @@ -48,7 +48,7 @@ public Q_SLOTS: const tier4_control_msgs::msg::ExternalCommandSelectorMode::ConstSharedPtr msg); void onAutowareState(const autoware_auto_system_msgs::msg::AutowareState::ConstSharedPtr msg); void onShift(const autoware_auto_vehicle_msgs::msg::GearReport::ConstSharedPtr msg); - void onEngageStatus(const tier4_external_api_msgs::msg::EngageStatus::ConstSharedPtr msg); + void onEngageStatus(const autoware_auto_vehicle_msgs::msg::Engage::ConstSharedPtr msg); rclcpp::Node::SharedPtr raw_node_; rclcpp::Subscription::SharedPtr sub_gate_mode_; @@ -57,7 +57,7 @@ public Q_SLOTS: rclcpp::Subscription::SharedPtr sub_autoware_state_; rclcpp::Subscription::SharedPtr sub_gear_; - rclcpp::Subscription::SharedPtr sub_engage_; + rclcpp::Subscription::SharedPtr sub_engage_; rclcpp::Client::SharedPtr client_engage_; From 9f5837ffcd8246fa8f9a377c23d2d0e7b1251346 Mon Sep 17 00:00:00 2001 From: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> Date: Mon, 9 May 2022 11:10:17 +0900 Subject: [PATCH 008/202] fix(behavior_velocity): avoid insert same point on trajectory utils (#834) Signed-off-by: tanaka3 --- .../include/utilization/trajectory_utils.hpp | 14 +++++++++----- 1 file changed, 9 insertions(+), 5 deletions(-) diff --git a/planning/behavior_velocity_planner/include/utilization/trajectory_utils.hpp b/planning/behavior_velocity_planner/include/utilization/trajectory_utils.hpp index 93b3d9c3d9617..729af3099f814 100644 --- a/planning/behavior_velocity_planner/include/utilization/trajectory_utils.hpp +++ b/planning/behavior_velocity_planner/include/utilization/trajectory_utils.hpp @@ -91,7 +91,7 @@ inline Quaternion lerpOrientation( * @param [in] point Interpolated point is nearest to this point. */ template -TrajectoryPointWithIdx getLerpTrajectoryPointWithIdx( +boost::optional getLerpTrajectoryPointWithIdx( const T & points, const geometry_msgs::msg::Point & point) { TrajectoryPoint interpolated_point; @@ -100,7 +100,9 @@ TrajectoryPointWithIdx getLerpTrajectoryPointWithIdx( tier4_autoware_utils::calcLongitudinalOffsetToSegment(points, nearest_seg_idx, point); const double len_segment = tier4_autoware_utils::calcSignedArcLength(points, nearest_seg_idx, nearest_seg_idx + 1); - const double interpolate_ratio = std::clamp(len_to_interpolated / len_segment, 0.0, 1.0); + const double ratio = len_to_interpolated / len_segment; + if (ratio <= 0.0 || 1.0 <= ratio) return boost::none; + const double interpolate_ratio = std::clamp(ratio, 0.0, 1.0); { const size_t i = nearest_seg_idx; const auto & pos0 = points.at(i).pose.position; @@ -154,14 +156,15 @@ inline bool smoothPath( // calc ego internal division point on path const auto traj_with_ego_point_with_idx = getLerpTrajectoryPointWithIdx(*traj_lateral_acc_filtered, current_pose.position); - TrajectoryPoint ego_point_on_path = traj_with_ego_point_with_idx.first; - const size_t nearest_seg_idx = traj_with_ego_point_with_idx.second; + if (traj_with_ego_point_with_idx == boost::none) return false; + TrajectoryPoint ego_point_on_path = traj_with_ego_point_with_idx->first; + const size_t nearest_seg_idx = traj_with_ego_point_with_idx->second; //! insert ego projected pose on path so new nearest segment will be nearest_seg_idx + 1 traj_with_ego_point_on_path.insert( traj_with_ego_point_on_path.begin() + nearest_seg_idx, ego_point_on_path); // ego point inserted is new nearest point - nearest_idx = traj_with_ego_point_with_idx.second + 1; + nearest_idx = nearest_seg_idx + 1; } // Resample trajectory with ego-velocity based interval distances auto traj_resampled = smoother->resampleTrajectory(traj_with_ego_point_on_path, v0, nearest_idx); @@ -182,6 +185,7 @@ inline bool smoothPath( traj_smoothed.insert( traj_smoothed.begin(), traj_resampled->begin(), traj_resampled->begin() + *traj_resampled_closest); + out_path = convertTrajectoryPointsToPath(traj_smoothed); return true; } From 69fc674ae3d0f668183b1661fd3dbc0843253a73 Mon Sep 17 00:00:00 2001 From: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> Date: Mon, 9 May 2022 11:59:02 +0900 Subject: [PATCH 009/202] refactor(behavior_velocity_planner): simplify CMakeLists.txt (#855) Signed-off-by: Kenji Miyake --- .../behavior_velocity_planner/CMakeLists.txt | 296 ++---------------- 1 file changed, 27 insertions(+), 269 deletions(-) diff --git a/planning/behavior_velocity_planner/CMakeLists.txt b/planning/behavior_velocity_planner/CMakeLists.txt index 6acaa54b6481b..47f6f999ecb08 100644 --- a/planning/behavior_velocity_planner/CMakeLists.txt +++ b/planning/behavior_velocity_planner/CMakeLists.txt @@ -11,292 +11,50 @@ find_package(Eigen3 REQUIRED) find_package(PCL REQUIRED COMPONENTS common) find_package(OpenCV REQUIRED) -set(BEHAVIOR_VELOCITY_PLANNER_DEPENDENCIES - tier4_api_msgs - autoware_auto_perception_msgs - autoware_auto_planning_msgs - tier4_planning_msgs - tier4_autoware_utils - Boost - Eigen3 - diagnostic_msgs - geometry_msgs - lanelet2_extension - PCL - pcl_conversions - rclcpp - sensor_msgs - interpolation - tf2 - tf2_eigen - tf2_geometry_msgs - tf2_ros - vehicle_info_util - visualization_msgs - nav_msgs - grid_map_ros -) +set(scene_modules + detection_area + blind_spot + stop_line + crosswalk + traffic_light + intersection + no_stopping_area + virtual_traffic_light + occlusion_spot +) + +foreach(scene_module IN LISTS scene_modules) + file(GLOB_RECURSE scene_module_src "src/scene_module/${scene_module}/*") + list(APPEND scene_modules_src ${scene_module_src}) +endforeach() - -# Common -ament_auto_add_library(scene_module_lib SHARED +ament_auto_add_library(behavior_velocity_planner SHARED + src/node.cpp + src/planner_manager.cpp src/utilization/path_utilization.cpp src/utilization/util.cpp + ${scene_modules_src} ) -target_include_directories(scene_module_lib +target_include_directories(behavior_velocity_planner SYSTEM PUBLIC ${BOOST_INCLUDE_DIRS} - ${tf2_geometry_msgs_INCLUDE_DIRS} -) - -target_include_directories(scene_module_lib - PUBLIC - $ - $ -) - -target_include_directories(scene_module_lib - SYSTEM PUBLIC ${PCL_INCLUDE_DIRS} -) - -ament_target_dependencies(scene_module_lib ${BEHAVIOR_VELOCITY_PLANNER_DEPENDENCIES}) - -# Scene Module: Stop Line -ament_auto_add_library(scene_module_stop_line SHARED - src/scene_module/stop_line/manager.cpp - src/scene_module/stop_line/scene.cpp - src/scene_module/stop_line/debug.cpp -) - -target_include_directories(scene_module_stop_line - PUBLIC - $ - $ -) - -ament_target_dependencies(scene_module_stop_line ${BEHAVIOR_VELOCITY_PLANNER_DEPENDENCIES}) - -target_link_libraries(scene_module_stop_line scene_module_lib) - -# Scene Module: Crosswalk -ament_auto_add_library(scene_module_crosswalk SHARED - src/scene_module/crosswalk/manager.cpp - src/scene_module/crosswalk/scene_crosswalk.cpp - src/scene_module/crosswalk/scene_walkway.cpp - src/scene_module/crosswalk/debug.cpp - src/scene_module/crosswalk/util.cpp -) - -target_include_directories(scene_module_crosswalk - PUBLIC - $ - $ -) - -ament_target_dependencies(scene_module_crosswalk ${BEHAVIOR_VELOCITY_PLANNER_DEPENDENCIES}) - -target_link_libraries(scene_module_crosswalk scene_module_lib) - -# Scene Module: Intersection -ament_auto_add_library(scene_module_intersection SHARED - src/scene_module/intersection/manager.cpp - src/scene_module/intersection/scene_intersection.cpp - src/scene_module/intersection/scene_merge_from_private_road.cpp - src/scene_module/intersection/debug.cpp - src/scene_module/intersection/util.cpp -) - -target_include_directories(scene_module_intersection - PUBLIC - $ - $ -) - -ament_target_dependencies(scene_module_intersection ${BEHAVIOR_VELOCITY_PLANNER_DEPENDENCIES}) - -target_link_libraries(scene_module_intersection scene_module_lib) - -# Scene Module: Traffic Light -ament_auto_add_library(scene_module_traffic_light SHARED - src/scene_module/traffic_light/manager.cpp - src/scene_module/traffic_light/scene.cpp - src/scene_module/traffic_light/debug.cpp -) - -target_include_directories(scene_module_traffic_light - PUBLIC - $ - $ -) - -ament_target_dependencies(scene_module_traffic_light ${BEHAVIOR_VELOCITY_PLANNER_DEPENDENCIES}) - -target_link_libraries(scene_module_traffic_light scene_module_lib) - -# Scene Module: Blind Spot -ament_auto_add_library(scene_module_blind_spot SHARED - src/scene_module/blind_spot/manager.cpp - src/scene_module/blind_spot/scene.cpp - src/scene_module/blind_spot/debug.cpp -) - -target_include_directories(scene_module_blind_spot - PUBLIC - $ - $ -) - -ament_target_dependencies(scene_module_blind_spot ${BEHAVIOR_VELOCITY_PLANNER_DEPENDENCIES}) - -target_link_libraries(scene_module_blind_spot scene_module_lib) - -# Scene Module: Detection Area -ament_auto_add_library(scene_module_detection_area SHARED - src/scene_module/detection_area/manager.cpp - src/scene_module/detection_area/scene.cpp - src/scene_module/detection_area/debug.cpp -) - -target_include_directories(scene_module_detection_area - PUBLIC - $ - $ -) - -ament_target_dependencies(scene_module_detection_area ${BEHAVIOR_VELOCITY_PLANNER_DEPENDENCIES}) - -target_link_libraries(scene_module_detection_area scene_module_lib) - -# Scene Module: No Stopping Area -ament_auto_add_library(scene_module_no_stopping_area SHARED - src/scene_module/no_stopping_area/manager.cpp - src/scene_module/no_stopping_area/scene_no_stopping_area.cpp - src/scene_module/no_stopping_area/debug.cpp -) - -target_include_directories(scene_module_no_stopping_area - PUBLIC - $ - $ -) - -ament_target_dependencies(scene_module_no_stopping_area ${BEHAVIOR_VELOCITY_PLANNER_DEPENDENCIES}) - -target_link_libraries(scene_module_no_stopping_area scene_module_lib) - -# Scene Module: Virtual Traffic Light -ament_auto_add_library(scene_module_virtual_traffic_light SHARED - src/scene_module/virtual_traffic_light/manager.cpp - src/scene_module/virtual_traffic_light/scene.cpp - src/scene_module/virtual_traffic_light/debug.cpp -) - -target_include_directories(scene_module_virtual_traffic_light - PUBLIC - $ - $ -) - -ament_target_dependencies(scene_module_virtual_traffic_light ${BEHAVIOR_VELOCITY_PLANNER_DEPENDENCIES}) - -target_link_libraries(scene_module_virtual_traffic_light scene_module_lib) - -# SceneModule OcclusionSpot -# Util -ament_auto_add_library(occlusion_spot_lib SHARED - src/scene_module/occlusion_spot/grid_utils.cpp - src/scene_module/occlusion_spot/occlusion_spot_utils.cpp - src/scene_module/occlusion_spot/risk_predictive_braking.cpp -) - -target_include_directories(occlusion_spot_lib - SYSTEM PUBLIC - ${BOOST_INCLUDE_DIRS} ${tf2_geometry_msgs_INCLUDE_DIRS} ) -target_include_directories(occlusion_spot_lib - PUBLIC - $ - $ -) - -ament_target_dependencies(occlusion_spot_lib ${BEHAVIOR_VELOCITY_PLANNER_DEPENDENCIES}) - -ament_auto_add_library(scene_module_occlusion_spot SHARED - src/scene_module/occlusion_spot/manager.cpp - src/scene_module/occlusion_spot/debug.cpp - src/scene_module/occlusion_spot/scene_occlusion_spot.cpp -) - -target_include_directories(scene_module_occlusion_spot - PUBLIC - $ - $ -) - -ament_target_dependencies(scene_module_occlusion_spot ${BEHAVIOR_VELOCITY_PLANNER_DEPENDENCIES}) - -target_link_libraries(scene_module_occlusion_spot scene_module_lib occlusion_spot_lib) - -# Scene Module Manager -ament_auto_add_library(scene_module_manager SHARED - src/planner_manager.cpp -) - -target_include_directories(scene_module_manager - PUBLIC - $ - $ -) - -ament_target_dependencies(scene_module_manager ${BEHAVIOR_VELOCITY_PLANNER_DEPENDENCIES}) - -target_link_libraries(scene_module_manager scene_module_lib) - -# Node -ament_auto_add_library(behavior_velocity_planner SHARED - src/node.cpp -) - -target_include_directories(behavior_velocity_planner - PUBLIC - $ - $ -) - -ament_target_dependencies(behavior_velocity_planner ${BEHAVIOR_VELOCITY_PLANNER_DEPENDENCIES}) - -target_link_libraries(behavior_velocity_planner - scene_module_lib - scene_module_stop_line - scene_module_crosswalk - scene_module_intersection - scene_module_traffic_light - scene_module_blind_spot - scene_module_occlusion_spot - scene_module_detection_area - scene_module_no_stopping_area - scene_module_virtual_traffic_light - scene_module_manager +ament_target_dependencies(behavior_velocity_planner + Boost + Eigen3 + PCL ) -ament_export_dependencies(${BEHAVIOR_VELOCITY_PLANNER_DEPENDENCIES}) - rclcpp_components_register_node(behavior_velocity_planner PLUGIN "behavior_velocity_planner::BehaviorVelocityPlannerNode" EXECUTABLE behavior_velocity_planner_node ) - if(BUILD_TESTING) - # utils for test - ament_auto_add_library(utilization SHARED - src/utilization/util.cpp - ) - # Gtest for utilization ament_add_gtest(utilization-test test/src/test_state_machine.cpp @@ -305,7 +63,7 @@ if(BUILD_TESTING) ) target_link_libraries(utilization-test gtest_main - utilization + behavior_velocity_planner ) # Gtest for occlusion spot @@ -316,7 +74,7 @@ if(BUILD_TESTING) ) target_link_libraries(occlusion_spot-test gtest_main - scene_module_occlusion_spot + behavior_velocity_planner ) endif() From 063a95d3f9c88e3e4fe69c4adf8be2c0d3be2a81 Mon Sep 17 00:00:00 2001 From: Shark <71419791+Sharrrrk@users.noreply.github.com> Date: Mon, 9 May 2022 11:31:50 +0800 Subject: [PATCH 010/202] fix(system_monitor): fix build error on tegra platform (#869) * fix(system_monitor): fix build error on tegra platform Signed-off-by: Shark Liu * ci(pre-commit): autofix * Update system/system_monitor/src/gpu_monitor/tegra_gpu_monitor.cpp Co-authored-by: Shark Liu Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> --- system/system_monitor/src/gpu_monitor/tegra_gpu_monitor.cpp | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/system/system_monitor/src/gpu_monitor/tegra_gpu_monitor.cpp b/system/system_monitor/src/gpu_monitor/tegra_gpu_monitor.cpp index a9ae72321efd1..8da0d071de582 100644 --- a/system/system_monitor/src/gpu_monitor/tegra_gpu_monitor.cpp +++ b/system/system_monitor/src/gpu_monitor/tegra_gpu_monitor.cpp @@ -127,8 +127,10 @@ void GPUMonitor::checkUsage(diagnostic_updater::DiagnosticStatusWrapper & stat) } } -void GPUMonitor::checkThrottling(diagnostic_updater::DiagnosticStatusWrapper & stat) +void GPUMonitor::checkThrottling( + [[maybe_unused]] diagnostic_updater::DiagnosticStatusWrapper & stat) { + // Please remove the [[maybe_unused]] tag after implementation, it's a temp build fix // TODO(Fumihito Ito): implement me } From 35a1f0a28b141491997e342b25153998bbc4f56e Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Mon, 9 May 2022 14:07:00 +0900 Subject: [PATCH 011/202] feat(ad_service_state_monitor): limit odometry buffer size (#514) * feat(ad_service_state_monitor): limit odometry buffer size 40 Signed-off-by: Takayuki Murooka * Update system/ad_service_state_monitor/src/ad_service_state_monitor_node/ad_service_state_monitor_node.cpp Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> * Update ad_service_state_monitor_node.cpp Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> --- .../ad_service_state_monitor_node.cpp | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/system/ad_service_state_monitor/src/ad_service_state_monitor_node/ad_service_state_monitor_node.cpp b/system/ad_service_state_monitor/src/ad_service_state_monitor_node/ad_service_state_monitor_node.cpp index e5a59692983ca..076f8d3a9f399 100644 --- a/system/ad_service_state_monitor/src/ad_service_state_monitor_node/ad_service_state_monitor_node.cpp +++ b/system/ad_service_state_monitor/src/ad_service_state_monitor_node/ad_service_state_monitor_node.cpp @@ -120,6 +120,11 @@ void AutowareStateMonitorNode::onOdometry(const nav_msgs::msg::Odometry::ConstSh state_input_.odometry_buffer.pop_front(); } + + constexpr size_t odometry_buffer_size = 200; // 40Hz * 5sec + if (state_input_.odometry_buffer.size() > odometry_buffer_size) { + state_input_.odometry_buffer.pop_front(); + } } bool AutowareStateMonitorNode::onShutdownService( From 82c6ad85bc0193021f94a28c4ce16c99525d5090 Mon Sep 17 00:00:00 2001 From: Shintaro Tomie <58775300+Shin-kyoto@users.noreply.github.com> Date: Mon, 9 May 2022 17:53:57 +0900 Subject: [PATCH 012/202] docs: fix 404 error caused by typo in url (#871) * docs: fix 404 error caused by typo in url Signed-off-by: Shin-kyoto * docs: fix typo in url for yolov4 Signed-off-by: Shin-kyoto --- perception/tensorrt_yolo/README.md | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/perception/tensorrt_yolo/README.md b/perception/tensorrt_yolo/README.md index 5dfae272f143a..5811fa88a6b7a 100644 --- a/perception/tensorrt_yolo/README.md +++ b/perception/tensorrt_yolo/README.md @@ -72,15 +72,15 @@ This package includes multiple licenses. ### YOLOv4 -[YOLOv4](https://drive.google.com//uc?id=1vkNmSwcIpTkJ_-BrKhxtit0PBJeJYTVX "YOLOv4"): Converted from darknet [weight file](https://github.com/AlexeyAB/darknet/releases/download/darknet_yolo_v3_optimal/yolov4.weights "weight file") and [conf file](https://github.com/AlexeyAB/darknet/blob/master/cfg/yolov4.cfg "conf file"). +[YOLOv4](https://drive.google.com/uc?id=1vkNmSwcIpTkJ_-BrKhxtit0PBJeJYTVX "YOLOv4"): Converted from darknet [weight file](https://github.com/AlexeyAB/darknet/releases/download/darknet_yolo_v3_optimal/yolov4.weights "weight file") and [conf file](https://github.com/AlexeyAB/darknet/blob/master/cfg/yolov4.cfg "conf file"). ### YOLOv5 Refer to [this guide](https://github.com/ultralytics/yolov5/issues/251 "guide") -- [YOLOv5s](https://drive.google.com//uc?id=1CF21nQWigwCPTr5psQZXg6cBQIOYKbad "YOLOv5s") +- [YOLOv5s](https://drive.google.com/uc?id=1CF21nQWigwCPTr5psQZXg6cBQIOYKbad "YOLOv5s") -- [YOLOv5m](https://drive.google.com//uc?id=1a1h50KJH6slwmjKZpPlS-errukF-BrgG "YOLOv5m") +- [YOLOv5m](https://drive.google.com/uc?id=1a1h50KJH6slwmjKZpPlS-errukF-BrgG "YOLOv5m") - [YOLOv5l](https://drive.google.com/uc?id=1xO8S92Cq7qrmx93UHHyA7Cd7-dJsBDP8 "YOLOv5l") From a7118b62a065c02a70266a2dda3e4b296ccad886 Mon Sep 17 00:00:00 2001 From: storrrrrrrrm <103425473+storrrrrrrrm@users.noreply.github.com> Date: Mon, 9 May 2022 17:15:57 +0800 Subject: [PATCH 013/202] fix(image_projection_based_fusion): set imagebuffersize (#820) * fix: set imagebuffersize configured Signed-off-by: suchang * ci(pre-commit): autofix Co-authored-by: suchang Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- .../include/image_projection_based_fusion/debugger.hpp | 5 +++-- .../launch/roi_cluster_fusion.launch.xml | 2 ++ .../launch/roi_detected_object_fusion.launch.xml | 2 ++ perception/image_projection_based_fusion/src/debugger.cpp | 7 +++++-- .../image_projection_based_fusion/src/fusion_node.cpp | 4 +++- 5 files changed, 15 insertions(+), 5 deletions(-) diff --git a/perception/image_projection_based_fusion/include/image_projection_based_fusion/debugger.hpp b/perception/image_projection_based_fusion/include/image_projection_based_fusion/debugger.hpp index ff790894658ec..9ecd336818b59 100644 --- a/perception/image_projection_based_fusion/include/image_projection_based_fusion/debugger.hpp +++ b/perception/image_projection_based_fusion/include/image_projection_based_fusion/debugger.hpp @@ -38,7 +38,8 @@ using sensor_msgs::msg::RegionOfInterest; class Debugger { public: - explicit Debugger(rclcpp::Node * node_ptr, const std::size_t image_num); + explicit Debugger( + rclcpp::Node * node_ptr, const std::size_t image_num, const std::size_t image_buffer_size); void publishImage(const std::size_t image_id, const rclcpp::Time & stamp); @@ -57,7 +58,7 @@ class Debugger std::vector image_subs_; std::vector image_pubs_; std::vector> image_buffers_; - std::size_t image_buffer_size{5}; + std::size_t image_buffer_size_; }; } // namespace image_projection_based_fusion diff --git a/perception/image_projection_based_fusion/launch/roi_cluster_fusion.launch.xml b/perception/image_projection_based_fusion/launch/roi_cluster_fusion.launch.xml index 8fe94963ff8ca..e5824dfcff97f 100644 --- a/perception/image_projection_based_fusion/launch/roi_cluster_fusion.launch.xml +++ b/perception/image_projection_based_fusion/launch/roi_cluster_fusion.launch.xml @@ -24,6 +24,7 @@ + @@ -70,6 +71,7 @@ + diff --git a/perception/image_projection_based_fusion/launch/roi_detected_object_fusion.launch.xml b/perception/image_projection_based_fusion/launch/roi_detected_object_fusion.launch.xml index f6466e6512a09..be981478e78a2 100644 --- a/perception/image_projection_based_fusion/launch/roi_detected_object_fusion.launch.xml +++ b/perception/image_projection_based_fusion/launch/roi_detected_object_fusion.launch.xml @@ -24,6 +24,7 @@ + @@ -70,6 +71,7 @@ + diff --git a/perception/image_projection_based_fusion/src/debugger.cpp b/perception/image_projection_based_fusion/src/debugger.cpp index e1254fc136304..0bcfb019d93df 100644 --- a/perception/image_projection_based_fusion/src/debugger.cpp +++ b/perception/image_projection_based_fusion/src/debugger.cpp @@ -34,9 +34,12 @@ void drawRoiOnImage( namespace image_projection_based_fusion { -Debugger::Debugger(rclcpp::Node * node_ptr, const std::size_t image_num) : node_ptr_(node_ptr) +Debugger::Debugger( + rclcpp::Node * node_ptr, const std::size_t image_num, const std::size_t image_buffer_size) +: node_ptr_(node_ptr) { image_buffers_.resize(image_num); + image_buffer_size_ = image_buffer_size; for (std::size_t img_i = 0; img_i < image_num; ++img_i) { auto sub = image_transport::create_subscription( node_ptr, "input/image_raw" + std::to_string(img_i), @@ -54,7 +57,7 @@ Debugger::Debugger(rclcpp::Node * node_ptr, const std::size_t image_num) : node_ auto pub = image_transport::create_publisher(node_ptr, "output/image_raw" + std::to_string(img_i)); image_pubs_.push_back(pub); - image_buffers_.at(img_i).set_capacity(image_buffer_size); + image_buffers_.at(img_i).set_capacity(image_buffer_size_); } } diff --git a/perception/image_projection_based_fusion/src/fusion_node.cpp b/perception/image_projection_based_fusion/src/fusion_node.cpp index 57ed245f67bd7..5d33303ca1bf9 100644 --- a/perception/image_projection_based_fusion/src/fusion_node.cpp +++ b/perception/image_projection_based_fusion/src/fusion_node.cpp @@ -127,7 +127,9 @@ FusionNode::FusionNode(const std::string & node_name, const rclcpp::NodeOpt // debugger if (declare_parameter("debug_mode", false)) { - debugger_ = std::make_shared(this, rois_number_); + std::size_t image_buffer_size = + static_cast(declare_parameter("image_buffer_size", 15)); + debugger_ = std::make_shared(this, rois_number_, image_buffer_size); } } From 880967342402c09f33615805ffe8a1e12360c930 Mon Sep 17 00:00:00 2001 From: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> Date: Mon, 9 May 2022 19:18:23 +0900 Subject: [PATCH 014/202] chore(avoidance_module): fix spell check (#732) Signed-off-by: Muhammad Zulfaqar Azmi --- .../scene_module/avoidance/debug.hpp | 2 +- .../src/scene_module/avoidance/avoidance_module.cpp | 8 ++++---- .../src/scene_module/avoidance/debug.cpp | 2 +- 3 files changed, 6 insertions(+), 6 deletions(-) diff --git a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/avoidance/debug.hpp b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/avoidance/debug.hpp index edfb7d7f84d71..d3f8f80606784 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/avoidance/debug.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/avoidance/debug.hpp @@ -93,7 +93,7 @@ MarkerArray createPoseMarkerArray( MarkerArray makeOverhangToRoadShoulderMarkerArray( const behavior_path_planner::ObjectDataArray & objects); -MarkerArray createOvehangFurthestLineStringMarkerArray( +MarkerArray createOverhangFurthestLineStringMarkerArray( const lanelet::ConstLineStrings3d & linestrings, const std::string & ns, const double r, const double g, const double b); diff --git a/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp b/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp index b03282c735ece..876e5fc3112c3 100644 --- a/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp +++ b/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp @@ -1939,8 +1939,8 @@ void AvoidanceModule::modifyPathVelocityToPreventAccelerationOnAvoidance(Shifted std::sqrt(v0 * v0 + 2.0 * s * parameters_.max_avoidance_acceleration)); // apply velocity limit - constexpr size_t VLIM_APPLY_IDX_MARGIN = 0; - for (size_t i = ego_idx + VLIM_APPLY_IDX_MARGIN; i < N; ++i) { + constexpr size_t V_LIM_APPLY_IDX_MARGIN = 0; + for (size_t i = ego_idx + V_LIM_APPLY_IDX_MARGIN; i < N; ++i) { path.path.points.at(i).point.longitudinal_velocity_mps = std::min(path.path.points.at(i).point.longitudinal_velocity_mps, static_cast(vmax)); } @@ -2619,7 +2619,7 @@ void AvoidanceModule::setDebugData(const PathShifter & shifter, const DebugData using marker_utils::createAvoidPointMarkerArray; using marker_utils::createLaneletsAreaMarkerArray; using marker_utils::createObjectsMarkerArray; - using marker_utils::createOvehangFurthestLineStringMarkerArray; + using marker_utils::createOverhangFurthestLineStringMarkerArray; using marker_utils::createPathMarkerArray; using marker_utils::createPoseMarkerArray; using marker_utils::createShiftLengthMarkerArray; @@ -2652,7 +2652,7 @@ void AvoidanceModule::setDebugData(const PathShifter & shifter, const DebugData add(createLaneletsAreaMarkerArray(*debug.expanded_lanelets, "expanded_lanelet", 0.8, 0.8, 0.0)); add(createAvoidanceObjectsMarkerArray(avoidance_data_.objects, "avoidance_object")); add(makeOverhangToRoadShoulderMarkerArray(avoidance_data_.objects)); - add(createOvehangFurthestLineStringMarkerArray( + add(createOverhangFurthestLineStringMarkerArray( *debug.farthest_linestring_from_overhang, "farthest_linestring_from_overhang", 1.0, 0.0, 1.0)); // parent object info diff --git a/planning/behavior_path_planner/src/scene_module/avoidance/debug.cpp b/planning/behavior_path_planner/src/scene_module/avoidance/debug.cpp index d7c3b1325f7dc..88c8d102bd00c 100644 --- a/planning/behavior_path_planner/src/scene_module/avoidance/debug.cpp +++ b/planning/behavior_path_planner/src/scene_module/avoidance/debug.cpp @@ -512,7 +512,7 @@ MarkerArray makeOverhangToRoadShoulderMarkerArray( return msg; } -MarkerArray createOvehangFurthestLineStringMarkerArray( +MarkerArray createOverhangFurthestLineStringMarkerArray( const lanelet::ConstLineStrings3d & linestrings, const std::string & ns, const double r, const double g, const double b) { From cc43203bc87745624b6185ef73b783f42170e8c9 Mon Sep 17 00:00:00 2001 From: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> Date: Mon, 9 May 2022 21:08:53 +0900 Subject: [PATCH 015/202] feat: isolate gtests in all packages (#693) Signed-off-by: Maxime CLEMENT --- common/autoware_auto_common/CMakeLists.txt | 2 +- common/autoware_auto_common/package.xml | 2 +- common/autoware_auto_geometry/CMakeLists.txt | 2 +- common/autoware_auto_geometry/package.xml | 2 +- common/autoware_auto_tf2/CMakeLists.txt | 2 +- common/autoware_auto_tf2/package.xml | 2 +- common/autoware_point_types/CMakeLists.txt | 2 +- common/autoware_point_types/package.xml | 2 +- common/fake_test_node/CMakeLists.txt | 2 +- common/fake_test_node/package.xml | 2 +- common/had_map_utils/package.xml | 2 +- common/interpolation/CMakeLists.txt | 2 +- common/interpolation/package.xml | 2 +- common/motion_testing/CMakeLists.txt | 2 +- common/motion_testing/package.xml | 2 +- common/osqp_interface/CMakeLists.txt | 2 +- common/osqp_interface/package.xml | 2 +- common/signal_processing/CMakeLists.txt | 2 +- common/signal_processing/package.xml | 2 +- common/tier4_api_utils/CMakeLists.txt | 2 +- common/tier4_api_utils/package.xml | 2 +- common/tier4_autoware_utils/CMakeLists.txt | 4 ++-- common/tier4_autoware_utils/package.xml | 2 +- common/time_utils/package.xml | 2 +- common/vehicle_constants_manager/CMakeLists.txt | 2 +- common/vehicle_constants_manager/package.xml | 2 +- control/trajectory_follower/CMakeLists.txt | 4 ++-- control/trajectory_follower/package.xml | 2 +- control/vehicle_cmd_gate/CMakeLists.txt | 2 +- control/vehicle_cmd_gate/package.xml | 2 +- localization/ekf_localizer/CMakeLists.txt | 4 ++-- localization/ekf_localizer/package.xml | 2 +- localization/stop_filter/package.xml | 2 +- map/lanelet2_extension/CMakeLists.txt | 10 +++++----- map/lanelet2_extension/package.xml | 2 +- .../detected_object_feature_remover/package.xml | 2 +- planning/behavior_velocity_planner/CMakeLists.txt | 4 ++-- planning/behavior_velocity_planner/package.xml | 2 +- planning/costmap_generator/CMakeLists.txt | 2 +- planning/costmap_generator/package.xml | 2 +- .../freespace_planning_algorithms/CMakeLists.txt | 4 ++-- planning/freespace_planning_algorithms/package.xml | 2 +- planning/planning_error_monitor/CMakeLists.txt | 2 +- planning/planning_error_monitor/package.xml | 2 +- planning/planning_evaluator/CMakeLists.txt | 2 +- planning/planning_evaluator/package.xml | 2 +- .../dummy_perception_publisher/CMakeLists.txt | 2 +- simulator/dummy_perception_publisher/package.xml | 1 + simulator/fault_injection/CMakeLists.txt | 2 +- simulator/fault_injection/package.xml | 2 +- simulator/simple_planning_simulator/CMakeLists.txt | 2 +- simulator/simple_planning_simulator/package.xml | 2 +- system/system_monitor/CMakeLists.txt | 14 +++++++------- system/system_monitor/package.xml | 2 +- vehicle/raw_vehicle_cmd_converter/CMakeLists.txt | 2 +- vehicle/raw_vehicle_cmd_converter/package.xml | 2 +- 56 files changed, 71 insertions(+), 70 deletions(-) diff --git a/common/autoware_auto_common/CMakeLists.txt b/common/autoware_auto_common/CMakeLists.txt index 4f7846c89eb72..b0957ad726856 100644 --- a/common/autoware_auto_common/CMakeLists.txt +++ b/common/autoware_auto_common/CMakeLists.txt @@ -9,7 +9,7 @@ include_directories(SYSTEM ${EIGEN3_INCLUDE_DIR}) if(BUILD_TESTING) set(TEST_COMMON test_common_gtest) - ament_add_gtest(${TEST_COMMON} + ament_add_ros_isolated_gtest(${TEST_COMMON} test/gtest_main.cpp test/test_bool_comparisons.cpp test/test_byte_reader.cpp diff --git a/common/autoware_auto_common/package.xml b/common/autoware_auto_common/package.xml index dca22e9b29ea3..17d666e2273e6 100644 --- a/common/autoware_auto_common/package.xml +++ b/common/autoware_auto_common/package.xml @@ -14,7 +14,7 @@ builtin_interfaces eigen - ament_cmake_gtest + ament_cmake_ros ament_lint_auto autoware_lint_common geometry_msgs diff --git a/common/autoware_auto_geometry/CMakeLists.txt b/common/autoware_auto_geometry/CMakeLists.txt index 0e964e3b064a2..454e0e7ef044f 100644 --- a/common/autoware_auto_geometry/CMakeLists.txt +++ b/common/autoware_auto_geometry/CMakeLists.txt @@ -23,7 +23,7 @@ if(BUILD_TESTING) test/src/test_common_2d.cpp test/src/test_intersection.cpp ) - ament_add_gtest(${GEOMETRY_GTEST} ${GEOMETRY_SRC}) + ament_add_ros_isolated_gtest(${GEOMETRY_GTEST} ${GEOMETRY_SRC}) target_compile_options(${GEOMETRY_GTEST} PRIVATE -Wno-conversion -Wno-sign-conversion) target_include_directories(${GEOMETRY_GTEST} PRIVATE "test/include" "include") ament_target_dependencies(${GEOMETRY_GTEST} diff --git a/common/autoware_auto_geometry/package.xml b/common/autoware_auto_geometry/package.xml index 976cf59013370..e19ac4897aab0 100644 --- a/common/autoware_auto_geometry/package.xml +++ b/common/autoware_auto_geometry/package.xml @@ -18,7 +18,7 @@ autoware_auto_vehicle_msgs geometry_msgs - ament_cmake_gtest + ament_cmake_ros ament_lint_auto autoware_lint_common osrf_testing_tools_cpp diff --git a/common/autoware_auto_tf2/CMakeLists.txt b/common/autoware_auto_tf2/CMakeLists.txt index f4b3223391a7b..a8ae9ec2d962e 100755 --- a/common/autoware_auto_tf2/CMakeLists.txt +++ b/common/autoware_auto_tf2/CMakeLists.txt @@ -5,7 +5,7 @@ find_package(autoware_cmake REQUIRED) autoware_package() if(BUILD_TESTING) - ament_add_gtest(test_tf2_autoware_auto_msgs test/test_tf2_autoware_auto_msgs.cpp) + ament_add_ros_isolated_gtest(test_tf2_autoware_auto_msgs test/test_tf2_autoware_auto_msgs.cpp) target_include_directories(test_tf2_autoware_auto_msgs PRIVATE "include") ament_target_dependencies(test_tf2_autoware_auto_msgs "autoware_auto_common" diff --git a/common/autoware_auto_tf2/package.xml b/common/autoware_auto_tf2/package.xml index d6fbd4f4ce3d8..c80ce45a217ac 100644 --- a/common/autoware_auto_tf2/package.xml +++ b/common/autoware_auto_tf2/package.xml @@ -20,7 +20,7 @@ tf2_geometry_msgs tf2_ros - ament_cmake_gtest + ament_cmake_ros ament_lint_auto autoware_lint_common diff --git a/common/autoware_point_types/CMakeLists.txt b/common/autoware_point_types/CMakeLists.txt index e46081c5ea96f..c149f79dab71f 100644 --- a/common/autoware_point_types/CMakeLists.txt +++ b/common/autoware_point_types/CMakeLists.txt @@ -11,7 +11,7 @@ include_directories( ) if(BUILD_TESTING) - ament_add_gtest(test_autoware_point_types + ament_add_ros_isolated_gtest(test_autoware_point_types test/test_point_types.cpp ) target_include_directories(test_autoware_point_types diff --git a/common/autoware_point_types/package.xml b/common/autoware_point_types/package.xml index b7449dbbd13d5..8829bd7538d9b 100644 --- a/common/autoware_point_types/package.xml +++ b/common/autoware_point_types/package.xml @@ -23,7 +23,7 @@ pcl_ros point_cloud_msg_wrapper - ament_cmake_gtest + ament_cmake_ros ament_lint_auto autoware_lint_common point_cloud_msg_wrapper diff --git a/common/fake_test_node/CMakeLists.txt b/common/fake_test_node/CMakeLists.txt index cc80077163ab1..8ad71df2777f3 100644 --- a/common/fake_test_node/CMakeLists.txt +++ b/common/fake_test_node/CMakeLists.txt @@ -7,7 +7,7 @@ autoware_package() ament_auto_add_library(fake_test_node SHARED src/fake_test_node.cpp) if(BUILD_TESTING) - ament_add_gtest(test_fake_test_node + ament_add_ros_isolated_gtest(test_fake_test_node test/test_fake_test_node.cpp ) add_dependencies(test_fake_test_node fake_test_node) diff --git a/common/fake_test_node/package.xml b/common/fake_test_node/package.xml index 6d337906ff3b7..8e919d719fc6c 100644 --- a/common/fake_test_node/package.xml +++ b/common/fake_test_node/package.xml @@ -11,7 +11,7 @@ autoware_cmake - ament_cmake_gtest + ament_cmake_ros autoware_auto_common rclcpp rclcpp_components diff --git a/common/had_map_utils/package.xml b/common/had_map_utils/package.xml index 2baa56aa12c73..aa7f7a9e78840 100644 --- a/common/had_map_utils/package.xml +++ b/common/had_map_utils/package.xml @@ -23,7 +23,7 @@ lanelet2_io visualization_msgs - ament_cmake_gtest + ament_cmake_ros ament_lint_auto autoware_lint_common diff --git a/common/interpolation/CMakeLists.txt b/common/interpolation/CMakeLists.txt index bca79e0f23d98..7afed6fe57c41 100644 --- a/common/interpolation/CMakeLists.txt +++ b/common/interpolation/CMakeLists.txt @@ -13,7 +13,7 @@ ament_auto_add_library(interpolation SHARED if(BUILD_TESTING) file(GLOB_RECURSE test_files test/**/*.cpp) - ament_add_gtest(test_interpolation ${test_files}) + ament_add_ros_isolated_gtest(test_interpolation ${test_files}) target_link_libraries(test_interpolation interpolation diff --git a/common/interpolation/package.xml b/common/interpolation/package.xml index 213616b007a19..665e26bab9a0a 100644 --- a/common/interpolation/package.xml +++ b/common/interpolation/package.xml @@ -14,7 +14,7 @@ tier4_autoware_utils - ament_cmake_gtest + ament_cmake_ros ament_lint_auto autoware_lint_common diff --git a/common/motion_testing/CMakeLists.txt b/common/motion_testing/CMakeLists.txt index 4e7006978ab22..f8428c0df709c 100644 --- a/common/motion_testing/CMakeLists.txt +++ b/common/motion_testing/CMakeLists.txt @@ -7,7 +7,7 @@ autoware_package() ament_auto_add_library(${PROJECT_NAME} SHARED src/motion_testing/motion_testing.cpp) if(BUILD_TESTING) - ament_add_gtest(motion_testing_unit_tests + ament_add_ros_isolated_gtest(motion_testing_unit_tests test/gtest_main.cpp test/constant_trajectory.cpp test/trajectory_checks.cpp) diff --git a/common/motion_testing/package.xml b/common/motion_testing/package.xml index 33e7b4798d0e7..f292a7e5bb54b 100644 --- a/common/motion_testing/package.xml +++ b/common/motion_testing/package.xml @@ -19,7 +19,7 @@ autoware_auto_planning_msgs autoware_auto_vehicle_msgs - ament_cmake_gtest + ament_cmake_ros ament_lint_auto autoware_lint_common diff --git a/common/osqp_interface/CMakeLists.txt b/common/osqp_interface/CMakeLists.txt index 4180461cc261c..996f8b6153cf0 100644 --- a/common/osqp_interface/CMakeLists.txt +++ b/common/osqp_interface/CMakeLists.txt @@ -49,7 +49,7 @@ if(BUILD_TESTING) test/test_csc_matrix_conv.cpp ) set(TEST_OSQP_INTERFACE_EXE test_osqp_interface) - ament_add_gtest(${TEST_OSQP_INTERFACE_EXE} ${TEST_SOURCES}) + ament_add_ros_isolated_gtest(${TEST_OSQP_INTERFACE_EXE} ${TEST_SOURCES}) target_link_libraries(${TEST_OSQP_INTERFACE_EXE} ${PROJECT_NAME}) endif() diff --git a/common/osqp_interface/package.xml b/common/osqp_interface/package.xml index f89810ddda953..5260a3f2b07c0 100644 --- a/common/osqp_interface/package.xml +++ b/common/osqp_interface/package.xml @@ -17,7 +17,7 @@ rclcpp rclcpp_components - ament_cmake_gtest + ament_cmake_ros ament_lint_auto autoware_lint_common eigen diff --git a/common/signal_processing/CMakeLists.txt b/common/signal_processing/CMakeLists.txt index e93023e703eb7..93cb7aa225a08 100644 --- a/common/signal_processing/CMakeLists.txt +++ b/common/signal_processing/CMakeLists.txt @@ -9,7 +9,7 @@ ament_auto_add_library(lowpass_filter_1d SHARED ) if(BUILD_TESTING) - ament_add_gtest(test_signal_processing + ament_add_ros_isolated_gtest(test_signal_processing test/src/lowpass_filter_1d_test.cpp ) target_link_libraries(test_signal_processing diff --git a/common/signal_processing/package.xml b/common/signal_processing/package.xml index 563715af77248..867f2d05da60e 100644 --- a/common/signal_processing/package.xml +++ b/common/signal_processing/package.xml @@ -12,7 +12,7 @@ ament_cmake_auto - ament_cmake_gtest + ament_cmake_ros ament_lint_auto autoware_lint_common diff --git a/common/tier4_api_utils/CMakeLists.txt b/common/tier4_api_utils/CMakeLists.txt index e65e538fe1df4..4eda0296e520e 100644 --- a/common/tier4_api_utils/CMakeLists.txt +++ b/common/tier4_api_utils/CMakeLists.txt @@ -6,7 +6,7 @@ autoware_package() if(BUILD_TESTING) include_directories(include) - ament_add_gtest(${PROJECT_NAME}_test test/test.cpp) + ament_add_ros_isolated_gtest(${PROJECT_NAME}_test test/test.cpp) ament_target_dependencies(${PROJECT_NAME}_test rclcpp tier4_external_api_msgs) endif() diff --git a/common/tier4_api_utils/package.xml b/common/tier4_api_utils/package.xml index 99a03ab92b0ec..a8378b92352ec 100644 --- a/common/tier4_api_utils/package.xml +++ b/common/tier4_api_utils/package.xml @@ -14,7 +14,7 @@ rclcpp tier4_external_api_msgs - ament_cmake_gtest + ament_cmake_ros ament_lint_auto autoware_lint_common rclcpp diff --git a/common/tier4_autoware_utils/CMakeLists.txt b/common/tier4_autoware_utils/CMakeLists.txt index eeca0a2d83630..7ba9c2020a36f 100644 --- a/common/tier4_autoware_utils/CMakeLists.txt +++ b/common/tier4_autoware_utils/CMakeLists.txt @@ -12,11 +12,11 @@ ament_auto_add_library(tier4_autoware_utils SHARED ) if(BUILD_TESTING) - find_package(ament_cmake_gtest REQUIRED) + find_package(ament_cmake_ros REQUIRED) file(GLOB_RECURSE test_files test/**/*.cpp) - ament_add_gtest(test_tier4_autoware_utils ${test_files}) + ament_add_ros_isolated_gtest(test_tier4_autoware_utils ${test_files}) target_link_libraries(test_tier4_autoware_utils tier4_autoware_utils diff --git a/common/tier4_autoware_utils/package.xml b/common/tier4_autoware_utils/package.xml index f1bd523a8eda1..63fd56ae09f86 100644 --- a/common/tier4_autoware_utils/package.xml +++ b/common/tier4_autoware_utils/package.xml @@ -23,7 +23,7 @@ tier4_debug_msgs visualization_msgs - ament_cmake_gtest + ament_cmake_ros ament_lint_auto autoware_lint_common diff --git a/common/time_utils/package.xml b/common/time_utils/package.xml index 9b553289e09be..a248e72f125f3 100644 --- a/common/time_utils/package.xml +++ b/common/time_utils/package.xml @@ -12,7 +12,7 @@ autoware_cmake builtin_interfaces - ament_cmake_gtest + ament_cmake_ros ament_lint_auto autoware_lint_common diff --git a/common/vehicle_constants_manager/CMakeLists.txt b/common/vehicle_constants_manager/CMakeLists.txt index eb5f7b27663e3..1e84c5f781d39 100644 --- a/common/vehicle_constants_manager/CMakeLists.txt +++ b/common/vehicle_constants_manager/CMakeLists.txt @@ -18,7 +18,7 @@ ament_auto_add_library(${PROJECT_NAME} SHARED # if(BUILD_TESTING) # set(TEST_SOURCES test/test_vehicle_constants_manager.cpp) # set(TEST_VEHICLE_CONSTANTS_MANAGER_EXE test_vehicle_constants_manager) -# ament_add_gtest(${TEST_VEHICLE_CONSTANTS_MANAGER_EXE} ${TEST_SOURCES}) +# ament_add_ros_isolated_gtest(${TEST_VEHICLE_CONSTANTS_MANAGER_EXE} ${TEST_SOURCES}) # target_link_libraries(${TEST_VEHICLE_CONSTANTS_MANAGER_EXE} ${PROJECT_NAME}) # endif() diff --git a/common/vehicle_constants_manager/package.xml b/common/vehicle_constants_manager/package.xml index eecb3e8f2108f..8041ae90a2cb7 100644 --- a/common/vehicle_constants_manager/package.xml +++ b/common/vehicle_constants_manager/package.xml @@ -15,7 +15,7 @@ rclcpp rclcpp_components - ament_cmake_gtest + ament_cmake_ros ament_cmake diff --git a/control/trajectory_follower/CMakeLists.txt b/control/trajectory_follower/CMakeLists.txt index 5c29617296780..67d157df835de 100644 --- a/control/trajectory_follower/CMakeLists.txt +++ b/control/trajectory_follower/CMakeLists.txt @@ -72,7 +72,7 @@ if(BUILD_TESTING) test/test_lowpass_filter.cpp ) set(TEST_LATERAL_CONTROLLER_EXE test_lateral_controller) - ament_add_gtest(${TEST_LATERAL_CONTROLLER_EXE} ${TEST_LAT_SOURCES}) + ament_add_ros_isolated_gtest(${TEST_LATERAL_CONTROLLER_EXE} ${TEST_LAT_SOURCES}) target_link_libraries(${TEST_LATERAL_CONTROLLER_EXE} ${LATERAL_CONTROLLER_LIB}) set(TEST_LON_SOURCES @@ -82,7 +82,7 @@ if(BUILD_TESTING) test/test_longitudinal_controller_utils.cpp ) set(TEST_LONGITUDINAL_CONTROLLER_EXE test_longitudinal_controller) - ament_add_gtest(${TEST_LONGITUDINAL_CONTROLLER_EXE} ${TEST_LON_SOURCES}) + ament_add_ros_isolated_gtest(${TEST_LONGITUDINAL_CONTROLLER_EXE} ${TEST_LON_SOURCES}) target_link_libraries(${TEST_LONGITUDINAL_CONTROLLER_EXE} ${LONGITUDINAL_CONTROLLER_LIB}) endif() diff --git a/control/trajectory_follower/package.xml b/control/trajectory_follower/package.xml index 4bc005335f4a9..840cad74aeb55 100644 --- a/control/trajectory_follower/package.xml +++ b/control/trajectory_follower/package.xml @@ -28,7 +28,7 @@ tf2 tf2_ros - ament_cmake_gtest + ament_cmake_ros ament_lint_auto autoware_lint_common eigen diff --git a/control/vehicle_cmd_gate/CMakeLists.txt b/control/vehicle_cmd_gate/CMakeLists.txt index 886842aa7f634..309a296acc9db 100644 --- a/control/vehicle_cmd_gate/CMakeLists.txt +++ b/control/vehicle_cmd_gate/CMakeLists.txt @@ -15,7 +15,7 @@ rclcpp_components_register_node(vehicle_cmd_gate_node ) if(BUILD_TESTING) - ament_add_gtest(test_vehicle_cmd_gate + ament_add_ros_isolated_gtest(test_vehicle_cmd_gate test/src/test_main.cpp test/src/test_vehicle_cmd_filter.cpp ) diff --git a/control/vehicle_cmd_gate/package.xml b/control/vehicle_cmd_gate/package.xml index cb30c913ad766..7cb8b18244d18 100644 --- a/control/vehicle_cmd_gate/package.xml +++ b/control/vehicle_cmd_gate/package.xml @@ -26,7 +26,7 @@ tier4_vehicle_msgs vehicle_info_util - ament_cmake_gtest + ament_cmake_ros ament_lint_auto autoware_lint_common diff --git a/localization/ekf_localizer/CMakeLists.txt b/localization/ekf_localizer/CMakeLists.txt index fa894c8a7b1a5..3a3edd5338a58 100644 --- a/localization/ekf_localizer/CMakeLists.txt +++ b/localization/ekf_localizer/CMakeLists.txt @@ -13,8 +13,8 @@ ament_auto_add_executable(ekf_localizer ament_target_dependencies(ekf_localizer kalman_filter) # if(BUILD_TESTING) -# find_package(ament_cmake_gtest REQUIRED) -# ament_add_gtest(ekf_localizer-test test/test_ekf_localizer.test +# find_package(ament_cmake_ros REQUIRED) +# ament_add_ros_isolated_gtest(ekf_localizer-test test/test_ekf_localizer.test # test/src/test_ekf_localizer.cpp # src/ekf_localizer.cpp # src/kalman_filter/kalman_filter.cpp diff --git a/localization/ekf_localizer/package.xml b/localization/ekf_localizer/package.xml index c67cfaa400a0d..3e9d9735ae3bd 100644 --- a/localization/ekf_localizer/package.xml +++ b/localization/ekf_localizer/package.xml @@ -24,7 +24,7 @@ tier4_autoware_utils tier4_debug_msgs - ament_cmake_gtest + ament_cmake_ros ament_lint_auto autoware_lint_common diff --git a/localization/stop_filter/package.xml b/localization/stop_filter/package.xml index b4b948c236af4..47fcf3282efea 100644 --- a/localization/stop_filter/package.xml +++ b/localization/stop_filter/package.xml @@ -17,7 +17,7 @@ tf2 tier4_debug_msgs - ament_cmake_gtest + ament_cmake_ros ament_lint_auto autoware_lint_common diff --git a/map/lanelet2_extension/CMakeLists.txt b/map/lanelet2_extension/CMakeLists.txt index d256029e4041a..709c7bdaa6858 100644 --- a/map/lanelet2_extension/CMakeLists.txt +++ b/map/lanelet2_extension/CMakeLists.txt @@ -62,15 +62,15 @@ target_link_libraries(autoware_lanelet2_validation ) if(BUILD_TESTING) - ament_add_gtest(message_conversion-test test/src/test_message_conversion.cpp) + ament_add_ros_isolated_gtest(message_conversion-test test/src/test_message_conversion.cpp) target_link_libraries(message_conversion-test lanelet2_extension_lib) - ament_add_gtest(projector-test test/src/test_projector.cpp) + ament_add_ros_isolated_gtest(projector-test test/src/test_projector.cpp) target_link_libraries(projector-test lanelet2_extension_lib) - ament_add_gtest(query-test test/src/test_query.cpp) + ament_add_ros_isolated_gtest(query-test test/src/test_query.cpp) target_link_libraries(query-test lanelet2_extension_lib) - ament_add_gtest(regulatory_elements-test test/src/test_regulatory_elements.cpp) + ament_add_ros_isolated_gtest(regulatory_elements-test test/src/test_regulatory_elements.cpp) target_link_libraries(regulatory_elements-test lanelet2_extension_lib) - ament_add_gtest(utilities-test test/src/test_utilities.cpp) + ament_add_ros_isolated_gtest(utilities-test test/src/test_utilities.cpp) target_link_libraries(utilities-test lanelet2_extension_lib) endif() diff --git a/map/lanelet2_extension/package.xml b/map/lanelet2_extension/package.xml index e817b06f1be86..d46d05a7f3064 100644 --- a/map/lanelet2_extension/package.xml +++ b/map/lanelet2_extension/package.xml @@ -27,7 +27,7 @@ tier4_autoware_utils visualization_msgs - ament_cmake_gtest + ament_cmake_ros ament_lint_auto autoware_lint_common diff --git a/perception/detected_object_feature_remover/package.xml b/perception/detected_object_feature_remover/package.xml index 686c01621c546..b609ff0257f1e 100644 --- a/perception/detected_object_feature_remover/package.xml +++ b/perception/detected_object_feature_remover/package.xml @@ -16,7 +16,7 @@ rclcpp_components tier4_perception_msgs - ament_cmake_gtest + ament_cmake_ros ament_lint_auto autoware_lint_common diff --git a/planning/behavior_velocity_planner/CMakeLists.txt b/planning/behavior_velocity_planner/CMakeLists.txt index 47f6f999ecb08..6e9671c166518 100644 --- a/planning/behavior_velocity_planner/CMakeLists.txt +++ b/planning/behavior_velocity_planner/CMakeLists.txt @@ -56,7 +56,7 @@ rclcpp_components_register_node(behavior_velocity_planner if(BUILD_TESTING) # Gtest for utilization - ament_add_gtest(utilization-test + ament_add_ros_isolated_gtest(utilization-test test/src/test_state_machine.cpp test/src/test_arc_lane_util.cpp test/src/test_utilization.cpp @@ -67,7 +67,7 @@ if(BUILD_TESTING) ) # Gtest for occlusion spot - ament_add_gtest(occlusion_spot-test + ament_add_ros_isolated_gtest(occlusion_spot-test test/src/test_occlusion_spot_utils.cpp test/src/test_risk_predictive_braking.cpp test/src/test_grid_utils.cpp diff --git a/planning/behavior_velocity_planner/package.xml b/planning/behavior_velocity_planner/package.xml index a1f86fdf19419..16998b4f27f19 100644 --- a/planning/behavior_velocity_planner/package.xml +++ b/planning/behavior_velocity_planner/package.xml @@ -42,7 +42,7 @@ vehicle_info_util visualization_msgs - ament_cmake_gtest + ament_cmake_ros ament_lint_auto autoware_lint_common diff --git a/planning/costmap_generator/CMakeLists.txt b/planning/costmap_generator/CMakeLists.txt index a2c3f70b2f722..648d01ee4c4e4 100644 --- a/planning/costmap_generator/CMakeLists.txt +++ b/planning/costmap_generator/CMakeLists.txt @@ -46,7 +46,7 @@ rclcpp_components_register_node(costmap_generator_node ) if(BUILD_TESTING) - find_package(ament_cmake_gtest REQUIRED) + find_package(ament_cmake_ros REQUIRED) endif() ament_auto_package(INSTALL_TO_SHARE launch) diff --git a/planning/costmap_generator/package.xml b/planning/costmap_generator/package.xml index 289e2be0197cb..070c160d3aa05 100644 --- a/planning/costmap_generator/package.xml +++ b/planning/costmap_generator/package.xml @@ -29,7 +29,7 @@ tf2_ros tier4_planning_msgs - ament_cmake_gtest + ament_cmake_ros ament_lint_auto autoware_lint_common diff --git a/planning/freespace_planning_algorithms/CMakeLists.txt b/planning/freespace_planning_algorithms/CMakeLists.txt index 093eaffa23bae..a08e89143ef3c 100644 --- a/planning/freespace_planning_algorithms/CMakeLists.txt +++ b/planning/freespace_planning_algorithms/CMakeLists.txt @@ -18,8 +18,8 @@ target_link_libraries(freespace_planning_algorithms ) if(BUILD_TESTING) - find_package(ament_cmake_gtest REQUIRED) - ament_add_gtest(freespace_planning_algorithms-test + find_package(ament_cmake_ros REQUIRED) + ament_add_ros_isolated_gtest(freespace_planning_algorithms-test test/src/test_freespace_planning_algorithms.cpp ) target_link_libraries(freespace_planning_algorithms-test diff --git a/planning/freespace_planning_algorithms/package.xml b/planning/freespace_planning_algorithms/package.xml index 72fc9d5a0dc45..db0ea35e9bb03 100644 --- a/planning/freespace_planning_algorithms/package.xml +++ b/planning/freespace_planning_algorithms/package.xml @@ -21,7 +21,7 @@ tf2_geometry_msgs tier4_autoware_utils - ament_cmake_gtest + ament_cmake_ros ament_lint_auto autoware_lint_common diff --git a/planning/planning_error_monitor/CMakeLists.txt b/planning/planning_error_monitor/CMakeLists.txt index 8bd30ea1fd005..66932c63e8990 100644 --- a/planning/planning_error_monitor/CMakeLists.txt +++ b/planning/planning_error_monitor/CMakeLists.txt @@ -23,7 +23,7 @@ rclcpp_components_register_node(invalid_trajectory_publisher_node ) if(BUILD_TESTING) - ament_add_gtest(test_planning_error_monitor + ament_add_ros_isolated_gtest(test_planning_error_monitor test/src/test_main.cpp test/src/test_planning_error_monitor_functions.cpp test/src/test_planning_error_monitor_helper.hpp diff --git a/planning/planning_error_monitor/package.xml b/planning/planning_error_monitor/package.xml index b70e2f319cd01..e667c81790875 100644 --- a/planning/planning_error_monitor/package.xml +++ b/planning/planning_error_monitor/package.xml @@ -21,7 +21,7 @@ tier4_autoware_utils visualization_msgs - ament_cmake_gtest + ament_cmake_ros ament_lint_auto autoware_lint_common diff --git a/planning/planning_evaluator/CMakeLists.txt b/planning/planning_evaluator/CMakeLists.txt index 6641d08cc52a5..6865f8eef7005 100644 --- a/planning/planning_evaluator/CMakeLists.txt +++ b/planning/planning_evaluator/CMakeLists.txt @@ -26,7 +26,7 @@ rclcpp_components_register_node(${PROJECT_NAME}_node ) if(BUILD_TESTING) - ament_add_gtest(test_${PROJECT_NAME} + ament_add_ros_isolated_gtest(test_${PROJECT_NAME} test/test_planning_evaluator_node.cpp ) target_link_libraries(test_${PROJECT_NAME} diff --git a/planning/planning_evaluator/package.xml b/planning/planning_evaluator/package.xml index f7e1d5c3480dd..8681543485c21 100644 --- a/planning/planning_evaluator/package.xml +++ b/planning/planning_evaluator/package.xml @@ -23,7 +23,7 @@ tf2_ros tier4_autoware_utils - ament_cmake_gtest + ament_cmake_ros ament_lint_auto autoware_lint_common diff --git a/simulator/dummy_perception_publisher/CMakeLists.txt b/simulator/dummy_perception_publisher/CMakeLists.txt index 85347b04b3be6..63d07faf0634c 100644 --- a/simulator/dummy_perception_publisher/CMakeLists.txt +++ b/simulator/dummy_perception_publisher/CMakeLists.txt @@ -74,7 +74,7 @@ ament_auto_add_executable(empty_objects_publisher ) if(BUILD_TESTING) - ament_add_gtest(signed_distance_function-test + ament_add_ros_isolated_gtest(signed_distance_function-test test/src/test_signed_distance_function.cpp ) target_link_libraries(signed_distance_function-test diff --git a/simulator/dummy_perception_publisher/package.xml b/simulator/dummy_perception_publisher/package.xml index e7ce4dc99c433..1635deda40a4b 100644 --- a/simulator/dummy_perception_publisher/package.xml +++ b/simulator/dummy_perception_publisher/package.xml @@ -14,6 +14,7 @@ rosidl_default_runtime + ament_cmake_ros ament_lint_auto autoware_lint_common diff --git a/simulator/fault_injection/CMakeLists.txt b/simulator/fault_injection/CMakeLists.txt index 7cd78e35aadd2..0bc1663412960 100644 --- a/simulator/fault_injection/CMakeLists.txt +++ b/simulator/fault_injection/CMakeLists.txt @@ -15,7 +15,7 @@ rclcpp_components_register_node(fault_injection_node_component if(BUILD_TESTING) # gtest - ament_add_gtest(test_fault_injection_node_component + ament_add_ros_isolated_gtest(test_fault_injection_node_component test/src/main.cpp test/src/test_diagnostic_storage.cpp ) diff --git a/simulator/fault_injection/package.xml b/simulator/fault_injection/package.xml index 961a0af1e5854..95e50e6448807 100644 --- a/simulator/fault_injection/package.xml +++ b/simulator/fault_injection/package.xml @@ -19,7 +19,7 @@ tier4_autoware_utils tier4_simulation_msgs - ament_cmake_gtest + ament_cmake_ros ament_lint_auto autoware_lint_common launch diff --git a/simulator/simple_planning_simulator/CMakeLists.txt b/simulator/simple_planning_simulator/CMakeLists.txt index d62a84e7d7b6f..6034697304059 100644 --- a/simulator/simple_planning_simulator/CMakeLists.txt +++ b/simulator/simple_planning_simulator/CMakeLists.txt @@ -28,7 +28,7 @@ rclcpp_components_register_node(${PROJECT_NAME} ) if(BUILD_TESTING) - ament_add_gtest(test_simple_planning_simulator + ament_add_ros_isolated_gtest(test_simple_planning_simulator test/test_simple_planning_simulator.cpp TIMEOUT 120 ) diff --git a/simulator/simple_planning_simulator/package.xml b/simulator/simple_planning_simulator/package.xml index 761aef0e322f2..2c63c861039ed 100644 --- a/simulator/simple_planning_simulator/package.xml +++ b/simulator/simple_planning_simulator/package.xml @@ -31,7 +31,7 @@ launch_ros - ament_cmake_gtest + ament_cmake_ros ament_lint_auto autoware_lint_common diff --git a/system/system_monitor/CMakeLists.txt b/system/system_monitor/CMakeLists.txt index 017e08393baae..65e933d072046 100644 --- a/system/system_monitor/CMakeLists.txt +++ b/system/system_monitor/CMakeLists.txt @@ -180,7 +180,7 @@ rclcpp_components_register_node(gpu_monitor_lib # TODO(yunus.caliskan): Port the tests to ROS2, robustify the tests. if(BUILD_TESTING) - # ament_add_gtest(test_cpu_monitor + # ament_add_ros_isolated_gtest(test_cpu_monitor # test/src/cpu_monitor/test_${CMAKE_CPU_PLATFORM}_cpu_monitor.cpp # ${CPU_MONITOR_SOURCE} # ) @@ -196,7 +196,7 @@ if(BUILD_TESTING) # target_link_libraries(test_cpu_monitor ${Boost_LIBRARIES} ${LIBRARIES}) - # ament_add_gtest(test_hdd_monitor + # ament_add_ros_isolated_gtest(test_hdd_monitor # test/src/hdd_monitor/test_hdd_monitor.cpp # src/hdd_monitor/hdd_monitor.cpp # ) @@ -213,7 +213,7 @@ if(BUILD_TESTING) # target_link_libraries(test_hdd_monitor ${Boost_LIBRARIES} ${LIBRARIES} # ) - # ament_add_gtest(test_mem_monitor + # ament_add_ros_isolated_gtest(test_mem_monitor # test/src/mem_monitor/test_mem_monitor.cpp # src/mem_monitor/mem_monitor.cpp # ) @@ -229,7 +229,7 @@ if(BUILD_TESTING) # target_link_libraries(test_mem_monitor ${Boost_LIBRARIES} ${LIBRARIES}) - # ament_add_gtest(test_net_monitor + # ament_add_ros_isolated_gtest(test_net_monitor # test/src/net_monitor/test_net_monitor.cpp # src/net_monitor/net_monitor.cpp # src/net_monitor/nl80211.cpp @@ -246,7 +246,7 @@ if(BUILD_TESTING) # target_link_libraries(test_net_monitor ${Boost_LIBRARIES} ${NL_LIBS} ${LIBRARIES}) - # ament_add_gtest(test_ntp_monitor + # ament_add_ros_isolated_gtest(test_ntp_monitor # test/src/ntp_monitor/test_ntp_monitor.cpp # src/ntp_monitor/ntp_monitor.cpp # ) @@ -262,7 +262,7 @@ if(BUILD_TESTING) # target_link_libraries(test_ntp_monitor ${Boost_LIBRARIES} ${LIBRARIES}) - # ament_add_gtest(test_process_monitor + # ament_add_ros_isolated_gtest(test_process_monitor # test/src/process_monitor/test_process_monitor.cpp # src/process_monitor/process_monitor.cpp # ) @@ -278,7 +278,7 @@ if(BUILD_TESTING) # target_link_libraries(test_process_monitor ${Boost_LIBRARIES} ${LIBRARIES}) - # ament_add_gtest(test_gpu_monitor + # ament_add_ros_isolated_gtest(test_gpu_monitor # test/src/gpu_monitor/test_${CMAKE_GPU_PLATFORM}_gpu_monitor.cpp # ${GPU_MONITOR_SOURCE} # ) diff --git a/system/system_monitor/package.xml b/system/system_monitor/package.xml index 8cca9d2c71545..559dc9c072592 100644 --- a/system/system_monitor/package.xml +++ b/system/system_monitor/package.xml @@ -23,7 +23,7 @@ chrony sysstat - ament_cmake_gtest + ament_cmake_ros ament_lint_auto autoware_lint_common diff --git a/vehicle/raw_vehicle_cmd_converter/CMakeLists.txt b/vehicle/raw_vehicle_cmd_converter/CMakeLists.txt index d85b418d6fcbe..36b96a2a300c5 100644 --- a/vehicle/raw_vehicle_cmd_converter/CMakeLists.txt +++ b/vehicle/raw_vehicle_cmd_converter/CMakeLists.txt @@ -28,7 +28,7 @@ if(BUILD_TESTING) test/test_raw_vehicle_cmd_converter.cpp ) set(TEST_RAW_VEHICLE_CMD_CONVERTER_EXE test_raw_vehicle_cmd_converter) - ament_add_gtest(${TEST_RAW_VEHICLE_CMD_CONVERTER_EXE} ${TEST_SOURCES}) + ament_add_ros_isolated_gtest(${TEST_RAW_VEHICLE_CMD_CONVERTER_EXE} ${TEST_SOURCES}) target_link_libraries(${TEST_RAW_VEHICLE_CMD_CONVERTER_EXE} actuation_map_converter raw_vehicle_cmd_converter_node_component) endif() diff --git a/vehicle/raw_vehicle_cmd_converter/package.xml b/vehicle/raw_vehicle_cmd_converter/package.xml index b14b00c9d3963..4f36c95e5d82d 100644 --- a/vehicle/raw_vehicle_cmd_converter/package.xml +++ b/vehicle/raw_vehicle_cmd_converter/package.xml @@ -26,7 +26,7 @@ rclpy - ament_cmake_gtest + ament_cmake_ros ament_lint_auto autoware_lint_common From 0786fa1a9bc3d0f1abfe242059f301d64893efd3 Mon Sep 17 00:00:00 2001 From: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> Date: Tue, 10 May 2022 00:06:41 +0900 Subject: [PATCH 016/202] docs(virtual traffic light): add documentation (#245) * doc(behavior_velocity): add graph and fix link * doc(behavior_velocity): update virtual traffic light doc Signed-off-by: tanaka3 * doc(behavior_velocity): minor fix Signed-off-by: tanaka3 * doc : mediate to coordinate Signed-off-by: tanaka3 * doc: minor update Signed-off-by: tanaka3 * doc: fix pre-commit * doc: update docs Signed-off-by: tanaka3 * apply suggestion * doc: to intersection-coordination Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> --- planning/behavior_velocity_planner/README.md | 3 + ...iorVelocityPlanner-Architecture.drawio.svg | 1663 +++++++++++++++++ .../V2X_support_traffic_light.png | Bin 0 -> 91648 bytes .../intersection-coordination.png | Bin 0 -> 161821 bytes .../virtual-traffic-light-design.md | 267 +++ 5 files changed, 1933 insertions(+) create mode 100644 planning/behavior_velocity_planner/docs/BehaviorVelocityPlanner-Architecture.drawio.svg create mode 100644 planning/behavior_velocity_planner/docs/virtual_traffic_light/V2X_support_traffic_light.png create mode 100644 planning/behavior_velocity_planner/docs/virtual_traffic_light/intersection-coordination.png create mode 100644 planning/behavior_velocity_planner/virtual-traffic-light-design.md diff --git a/planning/behavior_velocity_planner/README.md b/planning/behavior_velocity_planner/README.md index a7feea30a3017..20ad38140d330 100644 --- a/planning/behavior_velocity_planner/README.md +++ b/planning/behavior_velocity_planner/README.md @@ -5,12 +5,15 @@ `behavior_velocity_planner` is a planner that adjust velocity based on the traffic rules. It consists of several modules. Please refer to the links listed below for detail on each module. +![Architecture](./docs/BehaviorVelocityPlanner-Architecture.drawio.svg) + - [Blind Spot](blind-spot-design.md) - [Crosswalk](crosswalk-design.md) - [Detection Area](detection-area-design.md) - [Intersection](intersection-design.md) - [MergeFromPrivate](merge-from-private-design.md) - [Stop Line](stop-line-design.md) +- [Virtual Traffic Light](virtual-traffic-light-design.md) - [Traffic Light](traffic-light-design.md) - [Occlusion Spot](occlusion-spot-design.md) - [No Stopping Area](no-stopping-area-design.md) diff --git a/planning/behavior_velocity_planner/docs/BehaviorVelocityPlanner-Architecture.drawio.svg b/planning/behavior_velocity_planner/docs/BehaviorVelocityPlanner-Architecture.drawio.svg new file mode 100644 index 0000000000000..4d2808a5be41a --- /dev/null +++ b/planning/behavior_velocity_planner/docs/BehaviorVelocityPlanner-Architecture.drawio.svg @@ -0,0 +1,1663 @@ + + + + + + + + +
+
+
+ /perception/occupancy_grid_map/map +
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+ + /planning/behavior_planning/path_with_lane_id + +
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+
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+ UpdateModuleInstance +
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+ /tf +
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+ /perception/object_recognition/objects +
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z($!P~yY|r=pg?H7W(KO~-pp}ZCwLUlu6 Autoware API +behavior_planner -up-> autoware_api : infrastructure\n command +autoware_api -down-> behavior_planner : infrastructure\n state + +'' Vector Map +vector_map -left-> behavior_planner : vector map + +'' Autoware API <-> Infrastructure +autoware_api -up-> fms : lock\n request +fms -down-> autoware_api : right-of-way\n state + +autoware_api -up-> automatic_shutter : approach\n notification +automatic_shutter -down-> autoware_api : shutter\n state + +autoware_api -up-> manual_shutter : open/close\n command +manual_shutter -down-> autoware_api : shutter\n state + +autoware_api -up-> remote_controllable_traffic_light : light change\n command +remote_controllable_traffic_light -down-> autoware_api : light\n state + +autoware_api -up-> warning_light : activation\n command +warning_light -down-> autoware_api : warning light\n state + +' Layout +'' Infrastructure +fms -[hidden]right-> automatic_shutter +automatic_shutter -[hidden]right-> manual_shutter +manual_shutter -[hidden]right-> remote_controllable_traffic_light +remote_controllable_traffic_light -[hidden]right-> warning_light + +@enduml +``` + +Planner and each infrastructure communicate with each other using common abstracted messages. + +- Special handling for each infrastructure is not scalable. The interface is defined as an Autoware API. +- The requirements for each infrastructure are slightly different, but will be handled flexibly. + +FMS: Intersection coordination when multiple vehicles are in operation and the relevant lane is occupied + +- Automatic shutter: Open the shutter when approaching/close it when leaving +- Manual shutter: Have the driver open and close the shutter. +- Remote control signal: Have the driver change the signal status to match the direction of travel. +- Warning light: Activate the warning light + +Support different communication methods for different infrastructures + +- HTTP +- Bluetooth +- ZigBee + +Have different meta-information for each geographic location + +- Associated lane ID +- Hardware ID +- Communication method + +FMS: Fleet Management System + +```plantuml +@startuml +!theme cerulean-outline + +' Component +node "Autoware ECU" as autoware_ecu { +component "Behavior Planner" as behavior_planner +component "Autoware API" as autoware_api +component "Web.Auto Agent" as web_auto_agent +note right of web_auto_agent : (fms_bridge) +database "Vector Map" as vector_map + +package "Infrastructure Bridges" as infrastructure_bridges { + component "Automatic Shutter Bridge" as automatic_shutter_bridge + component "Manual Shutter Bridge" as manual_shutter_bridge + component "Remove Controllable Traffic Light Bridge" as remote_controllable_traffic_light_bridge + component "Warning Light Bridge" as warning_light_bridge +} +} + +cloud "FMS" as fms { + component "FMS Gateway" as fms_gateway + + component "Intersection Arbitrator" as intersection_arbitrator + database "Intersection Lock Table" as intersection_lock_table + + component "Vector Map Builder" as vector_map_builder + database "Vector Map Database" as vector_map_database +} + +package "Infrastructures" as infrastructures { + node "Automatic Shutter" as automatic_shutter + node "Manual Shutter" as manual_shutter + node "Remote Controllable Traffic Light" as remote_controllable_traffic_light + node "Warning Light" as warning_light +} + +' Relationship +'' Behavior Planner <-> Autoware API +behavior_planner -up-> autoware_api : infrastructure\n command +autoware_api -down-> behavior_planner : infrastructure state\n as virtual traffic light + +'' Autoware API <-> Web.Auto +autoware_api -up-> web_auto_agent : infrastructure\n command +web_auto_agent -down-> autoware_api : infrastructure state\n as virtual traffic light + +'' Autoware API <-> Infrastructure Bridge +autoware_api -right-> infrastructure_bridges : infrastructure\n command +infrastructure_bridges -left-> autoware_api : infrastructure state\n as virtual traffic light + +'' Infrastructure Bridge <-> Infrastructure +automatic_shutter_bridge -right-> automatic_shutter : approach notification +automatic_shutter -left-> automatic_shutter_bridge : shutter state + +manual_shutter_bridge -right-> manual_shutter : open/close command +manual_shutter -left-> manual_shutter_bridge : shutter state + +remote_controllable_traffic_light_bridge -right-> remote_controllable_traffic_light : light change command +remote_controllable_traffic_light -left-> remote_controllable_traffic_light_bridge : light state + +warning_light_bridge -right-> warning_light : activation command +warning_light -left-> warning_light_bridge : warning light state + +'' Web.Auto +web_auto_agent -up-> fms_gateway : infrastructure\n command +fms_gateway -down-> web_auto_agent : infrastructure state\n as virtual traffic light + +fms_gateway -up-> intersection_arbitrator : lock request +intersection_arbitrator -down-> fms_gateway : right-of-way state + +intersection_arbitrator -up-> intersection_lock_table : lock request +intersection_lock_table -down-> intersection_arbitrator : lock result + +vector_map_builder -down-> vector_map_database : create vector map +vector_map_database -left-> intersection_arbitrator : vector map + +'' Vector Map +vector_map_database .down.> web_auto_agent : vector map +web_auto_agent -left-> vector_map : vector map +vector_map -down-> behavior_planner : vector map + +' Layout +'' Infrastructure Bridge +automatic_shutter_bridge -[hidden]down-> manual_shutter_bridge +manual_shutter_bridge -[hidden]down-> remote_controllable_traffic_light_bridge +remote_controllable_traffic_light_bridge -[hidden]down-> warning_light_bridge + +'' Infrastructure +automatic_shutter -[hidden]down-> manual_shutter +manual_shutter -[hidden]down-> remote_controllable_traffic_light +remote_controllable_traffic_light -[hidden]down-> warning_light + +@enduml +``` + +#### Module Parameters + +| Parameter | Type | Description | +| ------------------------------- | ------ | --------------------------------------------------------------------- | +| `max_delay_sec` | double | [s] maximum allowed delay for command | +| `near_line_distance` | double | [m] threshold distance to stop line to check ego stop. | +| `dead_line_margin` | double | [m] threshold distance that this module continue to insert stop line. | +| `check_timeout_after_stop_line` | bool | [-] check timeout to stop when linkage is disconnected | + +#### Flowchart + +```plantuml +@startuml +!theme cerulean-outline +start + +if (before start line?) then (yes) + stop +else (no) +endif + +if (after end line?) then (yes) + stop +else (no) +endif + +:send command to infrastructure; + +if (no stop line?) then (yes) + stop +else (no) +endif + +:check infrastructure state; + +if (timeout or not received?) then (yes) + :stop at stop line; + stop +else (no) +endif + +if (no right of way?) then (yes) + :stop at stop line; +else (no) +endif + +if (finalization is requested?) then (yes) + if (not finalized?) then (yes) + :stop at end line; + else (no) + endif +else (no) +endif + +stop +@enduml +``` + +##### Known Limits + +- tbd. From 4f4644f1ff02e6a22fef45a6555a6e3d5b9d5761 Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Tue, 10 May 2022 08:29:37 +0900 Subject: [PATCH 017/202] feat(surround_obstacle_checker): separate surround_obstacle_checker from hierarchical planning flow (#830) * fix(surroud_obstacle_checker): use alias Signed-off-by: satoshi-ota * feat(surround_obstacle_checker): use velocity limit Signed-off-by: satoshi-ota * chore(surround_obstacle_checker): rename publisher, subscriber and callback functions Signed-off-by: satoshi-ota * refactor(surround_obstacle_checker): use parameter struct Signed-off-by: satoshi-ota * fix(surround_obstacle_checker): use alias Signed-off-by: satoshi-ota * refactor(surround_obstacle_checker): cleanup member functions Signed-off-by: satoshi-ota * refactor(surround_obstacle_checker): cleanup polygon handling Signed-off-by: satoshi-ota * refactor(surround_obstacle_checker): use marker helper Signed-off-by: satoshi-ota * feat(planning_launch): separate surround_obstacle_checker from hierarchical motion planning flow Signed-off-by: satoshi-ota --- .../motion_planning/motion_planning.launch.py | 35 +- .../motion_planning.launch.xml | 13 +- .../surround_obstacle_checker/CMakeLists.txt | 2 +- .../surround_obstacle_checker.param.yaml | 1 + .../debug_marker.hpp | 20 +- .../surround_obstacle_checker/node.hpp | 136 ++-- .../surround_obstacle_checker.launch.xml | 12 +- .../surround_obstacle_checker/package.xml | 1 + .../src/debug_marker.cpp | 105 +-- .../surround_obstacle_checker/src/node.cpp | 632 +++++++++--------- 10 files changed, 433 insertions(+), 524 deletions(-) diff --git a/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.py b/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.py index e8661322215fe..89d04bc5b3a00 100644 --- a/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.py +++ b/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.py @@ -92,20 +92,23 @@ def launch_setup(context, *args, **kwargs): surround_obstacle_checker_param = yaml.safe_load(f)["/**"]["ros__parameters"] surround_obstacle_checker_component = ComposableNode( package="surround_obstacle_checker", - plugin="SurroundObstacleCheckerNode", + plugin="surround_obstacle_checker::SurroundObstacleCheckerNode", name="surround_obstacle_checker", namespace="", remappings=[ ("~/output/no_start_reason", "/planning/scenario_planning/status/no_start_reason"), ("~/output/stop_reasons", "/planning/scenario_planning/status/stop_reasons"), - ("~/output/trajectory", "surround_obstacle_checker/trajectory"), + ("~/output/max_velocity", "/planning/scenario_planning/max_velocity_candidates"), + ( + "~/output/velocity_limit_clear_command", + "/planning/scenario_planning/clear_velocity_limit", + ), ( "~/input/pointcloud", "/perception/obstacle_segmentation/pointcloud", ), ("~/input/objects", "/perception/object_recognition/objects"), ("~/input/odometry", "/localization/kinematic_state"), - ("~/input/trajectory", "obstacle_avoidance_planner/trajectory"), ], parameters=[ surround_obstacle_checker_param, @@ -114,22 +117,6 @@ def launch_setup(context, *args, **kwargs): extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}], ) - # relay - relay_component = ComposableNode( - package="topic_tools", - plugin="topic_tools::RelayNode", - name="skip_surround_obstacle_check_relay", - namespace="", - parameters=[ - { - "input_topic": "obstacle_avoidance_planner/trajectory", - "output_topic": "surround_obstacle_checker/trajectory", - "type": "autoware_auto_planning_msgs/msg/Trajectory", - } - ], - extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}], - ) - # obstacle stop planner obstacle_stop_planner_param_path = os.path.join( get_package_share_directory("tier4_planning_launch"), @@ -173,7 +160,7 @@ def launch_setup(context, *args, **kwargs): ), ("~/input/objects", "/perception/object_recognition/objects"), ("~/input/odometry", "/localization/kinematic_state"), - ("~/input/trajectory", "surround_obstacle_checker/trajectory"), + ("~/input/trajectory", "obstacle_avoidance_planner/trajectory"), ], parameters=[ common_param, @@ -202,13 +189,7 @@ def launch_setup(context, *args, **kwargs): condition=IfCondition(LaunchConfiguration("use_surround_obstacle_check")), ) - relay_loader = LoadComposableNodes( - composable_node_descriptions=[relay_component], - target_container=container, - condition=UnlessCondition(LaunchConfiguration("use_surround_obstacle_check")), - ) - - group = GroupAction([container, surround_obstacle_checker_loader, relay_loader]) + group = GroupAction([container, surround_obstacle_checker_loader]) return [group] diff --git a/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.xml b/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.xml index 0fa8707e4fda9..3d195185d9bd6 100644 --- a/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.xml +++ b/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.xml @@ -19,22 +19,11 @@ - - - - - - - - - - - @@ -45,7 +34,7 @@ - + diff --git a/planning/surround_obstacle_checker/CMakeLists.txt b/planning/surround_obstacle_checker/CMakeLists.txt index b40b7c22c98ca..ab61405c9f335 100644 --- a/planning/surround_obstacle_checker/CMakeLists.txt +++ b/planning/surround_obstacle_checker/CMakeLists.txt @@ -18,7 +18,7 @@ target_link_libraries(${PROJECT_NAME} ) rclcpp_components_register_node(${PROJECT_NAME} - PLUGIN "SurroundObstacleCheckerNode" + PLUGIN "surround_obstacle_checker::SurroundObstacleCheckerNode" EXECUTABLE ${PROJECT_NAME}_node ) diff --git a/planning/surround_obstacle_checker/config/surround_obstacle_checker.param.yaml b/planning/surround_obstacle_checker/config/surround_obstacle_checker.param.yaml index b57d7506b0574..afcc532b7c604 100644 --- a/planning/surround_obstacle_checker/config/surround_obstacle_checker.param.yaml +++ b/planning/surround_obstacle_checker/config/surround_obstacle_checker.param.yaml @@ -9,3 +9,4 @@ # ego stop state stop_state_ego_speed: 0.1 #[m/s] + stop_state_entry_duration_time: 0.1 #[s] diff --git a/planning/surround_obstacle_checker/include/surround_obstacle_checker/debug_marker.hpp b/planning/surround_obstacle_checker/include/surround_obstacle_checker/debug_marker.hpp index d076e26afc009..2891ac63c5df4 100644 --- a/planning/surround_obstacle_checker/include/surround_obstacle_checker/debug_marker.hpp +++ b/planning/surround_obstacle_checker/include/surround_obstacle_checker/debug_marker.hpp @@ -25,8 +25,18 @@ #include #include +namespace surround_obstacle_checker +{ + +using tier4_planning_msgs::msg::StopFactor; +using tier4_planning_msgs::msg::StopReason; +using tier4_planning_msgs::msg::StopReasonArray; +using visualization_msgs::msg::Marker; +using visualization_msgs::msg::MarkerArray; + enum class PoseType : int8_t { NoStart = 0 }; enum class PointType : int8_t { NoStart = 0 }; + class SurroundObstacleCheckerDebugNode { public: @@ -38,16 +48,16 @@ class SurroundObstacleCheckerDebugNode void publish(); private: - rclcpp::Publisher::SharedPtr debug_viz_pub_; - rclcpp::Publisher::SharedPtr stop_reason_pub_; + rclcpp::Publisher::SharedPtr debug_viz_pub_; + rclcpp::Publisher::SharedPtr stop_reason_pub_; double base_link2front_; - visualization_msgs::msg::MarkerArray makeVisualizationMarker(); - tier4_planning_msgs::msg::StopReasonArray makeStopReasonArray(); + MarkerArray makeVisualizationMarker(); + StopReasonArray makeStopReasonArray(); std::shared_ptr stop_obstacle_point_ptr_; std::shared_ptr stop_pose_ptr_; rclcpp::Clock::SharedPtr clock_; }; - +} // namespace surround_obstacle_checker #endif // SURROUND_OBSTACLE_CHECKER__DEBUG_MARKER_HPP_ diff --git a/planning/surround_obstacle_checker/include/surround_obstacle_checker/node.hpp b/planning/surround_obstacle_checker/include/surround_obstacle_checker/node.hpp index 7e4bbb9ffd15a..e437787c234ac 100644 --- a/planning/surround_obstacle_checker/include/surround_obstacle_checker/node.hpp +++ b/planning/surround_obstacle_checker/include/surround_obstacle_checker/node.hpp @@ -16,9 +16,9 @@ #define SURROUND_OBSTACLE_CHECKER__NODE_HPP_ #include "surround_obstacle_checker/debug_marker.hpp" -#include "tier4_autoware_utils/trajectory/tmp_conversion.hpp" #include +#include #include #include @@ -27,30 +27,31 @@ #include #include #include +#include +#include #include -#include -#include -#include -#include -#include -#include - -#include #include #include #include #include #include +#include #include -using Point2d = boost::geometry::model::d2::point_xy; -using Polygon2d = - boost::geometry::model::polygon; // counter-clockwise, open +namespace surround_obstacle_checker +{ + +using autoware_auto_perception_msgs::msg::PredictedObjects; +using autoware_auto_perception_msgs::msg::Shape; using autoware_auto_planning_msgs::msg::Trajectory; using autoware_auto_planning_msgs::msg::TrajectoryPoint; -using TrajectoryPoints = std::vector; +using tier4_planning_msgs::msg::VelocityLimit; +using tier4_planning_msgs::msg::VelocityLimitClearCommand; +using vehicle_info_util::VehicleInfo; + +using Obstacle = std::pair; enum class State { PASS, STOP }; @@ -59,70 +60,73 @@ class SurroundObstacleCheckerNode : public rclcpp::Node public: explicit SurroundObstacleCheckerNode(const rclcpp::NodeOptions & node_options); + struct NodeParam + { + bool use_pointcloud; + bool use_dynamic_object; + bool is_surround_obstacle; + // For preventing chattering, + // surround_check_recover_distance_ must be bigger than surround_check_distance_ + double surround_check_recover_distance; + double surround_check_distance; + double state_clear_time; + double stop_state_ego_speed; + double stop_state_entry_duration_time; + }; + private: - void pathCallback(const Trajectory::ConstSharedPtr input_msg); - void pointCloudCallback(const sensor_msgs::msg::PointCloud2::ConstSharedPtr input_msg); - void dynamicObjectCallback( - const autoware_auto_perception_msgs::msg::PredictedObjects::ConstSharedPtr input_msg); - void currentVelocityCallback(const nav_msgs::msg::Odometry::ConstSharedPtr input_msg); - void insertStopVelocity(const size_t closest_idx, TrajectoryPoints * traj); - bool convertPose( - const geometry_msgs::msg::Pose & pose, const std::string & source, const std::string & target, - const rclcpp::Time & time, geometry_msgs::msg::Pose & conv_pose); - bool getPose( - const std::string & source, const std::string & target, geometry_msgs::msg::Pose & pose); - void getNearestObstacle(double * min_dist_to_obj, geometry_msgs::msg::Point * nearest_obj_point); - void getNearestObstacleByPointCloud( - double * min_dist_to_obj, geometry_msgs::msg::Point * nearest_obj_point); - void getNearestObstacleByDynamicObject( - double * min_dist_to_obj, geometry_msgs::msg::Point * nearest_obj_point); - bool isObstacleFound(const double min_dist_to_obj); + void onTimer(); + + void onPointCloud(const sensor_msgs::msg::PointCloud2::ConstSharedPtr msg); + + void onDynamicObjects(const PredictedObjects::ConstSharedPtr msg); + + void onOdometry(const nav_msgs::msg::Odometry::ConstSharedPtr msg); + + boost::optional getNearestObstacle() const; + + boost::optional getNearestObstacleByPointCloud() const; + + boost::optional getNearestObstacleByDynamicObject() const; + + boost::optional getTransform( + const std::string & source, const std::string & target, const rclcpp::Time & stamp, + double duration_sec) const; + bool isStopRequired(const bool is_obstacle_found, const bool is_stopped); - size_t getClosestIdx(const TrajectoryPoints & traj, const geometry_msgs::msg::Pose current_pose); - bool checkStop(const TrajectoryPoint & closest_point); - Polygon2d createSelfPolygon(); - Polygon2d createObjPolygon( - const geometry_msgs::msg::Pose & pose, const geometry_msgs::msg::Vector3 & size); - Polygon2d createObjPolygon( - const geometry_msgs::msg::Pose & pose, const geometry_msgs::msg::Polygon & footprint); - diagnostic_msgs::msg::DiagnosticStatus makeStopReasonDiag( - const std::string no_start_reason, const geometry_msgs::msg::Pose & stop_pose); - std::string jsonDumpsPose(const geometry_msgs::msg::Pose & pose); - - /* - * ROS - */ + + bool isVehicleStopped(); + + // ros + mutable tf2_ros::Buffer tf_buffer_{get_clock()}; + mutable tf2_ros::TransformListener tf_listener_{tf_buffer_}; + rclcpp::TimerBase::SharedPtr timer_; + // publisher and subscriber - rclcpp::Subscription::SharedPtr path_sub_; - rclcpp::Subscription::SharedPtr pointcloud_sub_; - rclcpp::Subscription::SharedPtr - dynamic_object_sub_; - rclcpp::Subscription::SharedPtr current_velocity_sub_; - rclcpp::Publisher::SharedPtr path_pub_; - rclcpp::Publisher::SharedPtr stop_reason_diag_pub_; + rclcpp::Subscription::SharedPtr sub_pointcloud_; + rclcpp::Subscription::SharedPtr sub_dynamic_objects_; + rclcpp::Subscription::SharedPtr sub_odometry_; + rclcpp::Publisher::SharedPtr pub_stop_reason_; + rclcpp::Publisher::SharedPtr pub_clear_velocity_limit_; + rclcpp::Publisher::SharedPtr pub_velocity_limit_; + + // debug std::shared_ptr debug_ptr_; - tf2_ros::Buffer tf_buffer_; - tf2_ros::TransformListener tf_listener_; // parameter - nav_msgs::msg::Odometry::ConstSharedPtr current_velocity_ptr_; - sensor_msgs::msg::PointCloud2::ConstSharedPtr pointcloud_ptr_; - autoware_auto_perception_msgs::msg::PredictedObjects::ConstSharedPtr object_ptr_; + NodeParam node_param_; vehicle_info_util::VehicleInfo vehicle_info_; - Polygon2d self_poly_; - bool use_pointcloud_; - bool use_dynamic_object_; - double surround_check_distance_; - // For preventing chattering, - // surround_check_recover_distance_ must be bigger than surround_check_distance_ - double surround_check_recover_distance_; - double state_clear_time_; - double stop_state_ego_speed_; - bool is_surround_obstacle_; + + // data + nav_msgs::msg::Odometry::ConstSharedPtr odometry_ptr_; + sensor_msgs::msg::PointCloud2::ConstSharedPtr pointcloud_ptr_; + PredictedObjects::ConstSharedPtr object_ptr_; // State Machine State state_ = State::PASS; std::shared_ptr last_obstacle_found_time_; + std::shared_ptr last_running_time_; }; +} // namespace surround_obstacle_checker #endif // SURROUND_OBSTACLE_CHECKER__NODE_HPP_ diff --git a/planning/surround_obstacle_checker/launch/surround_obstacle_checker.launch.xml b/planning/surround_obstacle_checker/launch/surround_obstacle_checker.launch.xml index a0dd4b307f495..53f26a05c87c3 100644 --- a/planning/surround_obstacle_checker/launch/surround_obstacle_checker.launch.xml +++ b/planning/surround_obstacle_checker/launch/surround_obstacle_checker.launch.xml @@ -1,24 +1,20 @@ - - - - - + + - - + + - diff --git a/planning/surround_obstacle_checker/package.xml b/planning/surround_obstacle_checker/package.xml index 5dfed9ddb19a7..b74ad2ccec25b 100644 --- a/planning/surround_obstacle_checker/package.xml +++ b/planning/surround_obstacle_checker/package.xml @@ -14,6 +14,7 @@ autoware_auto_perception_msgs autoware_auto_planning_msgs + autoware_auto_tf2 diagnostic_msgs eigen libpcl-all-dev diff --git a/planning/surround_obstacle_checker/src/debug_marker.cpp b/planning/surround_obstacle_checker/src/debug_marker.cpp index 64dbc2f349f14..8abdb67e8b2c6 100644 --- a/planning/surround_obstacle_checker/src/debug_marker.cpp +++ b/planning/surround_obstacle_checker/src/debug_marker.cpp @@ -14,6 +14,7 @@ #include "surround_obstacle_checker/debug_marker.hpp" +#include #ifdef ROS_DISTRO_GALACTIC #include #else @@ -22,13 +23,23 @@ #include +namespace surround_obstacle_checker +{ + +using tier4_autoware_utils::appendMarkerArray; +using tier4_autoware_utils::calcOffsetPose; +using tier4_autoware_utils::createDefaultMarker; +using tier4_autoware_utils::createMarkerColor; +using tier4_autoware_utils::createMarkerScale; +using tier4_autoware_utils::createPoint; +using tier4_autoware_utils::createStopVirtualWallMarker; + SurroundObstacleCheckerDebugNode::SurroundObstacleCheckerDebugNode( const double base_link2front, const rclcpp::Clock::SharedPtr clock, rclcpp::Node & node) : base_link2front_(base_link2front), clock_(clock) { debug_viz_pub_ = node.create_publisher("~/debug/marker", 1); - stop_reason_pub_ = - node.create_publisher("~/output/stop_reasons", 1); + stop_reason_pub_ = node.create_publisher("~/output/stop_reasons", 1); } bool SurroundObstacleCheckerDebugNode::pushPose( @@ -70,87 +81,25 @@ void SurroundObstacleCheckerDebugNode::publish() stop_obstacle_point_ptr_ = nullptr; } -visualization_msgs::msg::MarkerArray SurroundObstacleCheckerDebugNode::makeVisualizationMarker() +MarkerArray SurroundObstacleCheckerDebugNode::makeVisualizationMarker() { - visualization_msgs::msg::MarkerArray msg; + MarkerArray msg; rclcpp::Time current_time = this->clock_->now(); - tf2::Transform tf_base_link2front( - tf2::Quaternion(0.0, 0.0, 0.0, 1.0), tf2::Vector3(base_link2front_, 0.0, 0.0)); // visualize stop line if (stop_pose_ptr_ != nullptr) { - visualization_msgs::msg::Marker marker; - marker.header.frame_id = "map"; - marker.header.stamp = current_time; - marker.ns = "virtual_wall/no_start"; - marker.id = 0; - marker.lifetime = rclcpp::Duration::from_seconds(0.5); - marker.type = visualization_msgs::msg::Marker::CUBE; - marker.action = visualization_msgs::msg::Marker::ADD; - tf2::Transform tf_map2base_link; - tf2::fromMsg(*stop_pose_ptr_, tf_map2base_link); - tf2::Transform tf_map2front = tf_map2base_link * tf_base_link2front; - tf2::toMsg(tf_map2front, marker.pose); - marker.pose.position.z += 1.0; - marker.scale.x = 0.1; - marker.scale.y = 5.0; - marker.scale.z = 2.0; - marker.color.a = 0.5; // Don't forget to set the alpha! - marker.color.r = 1.0; - marker.color.g = 0.0; - marker.color.b = 0.0; - msg.markers.push_back(marker); - } - - // visualize stop reason - if (stop_pose_ptr_ != nullptr) { - visualization_msgs::msg::Marker marker; - marker.header.frame_id = "map"; - marker.header.stamp = current_time; - marker.ns = "factor_text/no_start"; - marker.id = 0; - marker.lifetime = rclcpp::Duration::from_seconds(0.5); - marker.type = visualization_msgs::msg::Marker::TEXT_VIEW_FACING; - marker.action = visualization_msgs::msg::Marker::ADD; - tf2::Transform tf_map2base_link; - tf2::fromMsg(*stop_pose_ptr_, tf_map2base_link); - tf2::Transform tf_map2front = tf_map2base_link * tf_base_link2front; - tf2::toMsg(tf_map2front, marker.pose); - marker.pose.position.z += 2.0; - marker.scale.x = 0.0; - marker.scale.y = 0.0; - marker.scale.z = 1.0; - marker.color.a = 0.999; // Don't forget to set the alpha! - marker.color.r = 1.0; - marker.color.g = 1.0; - marker.color.b = 1.0; - marker.text = "surround obstacle"; - msg.markers.push_back(marker); + const auto p = calcOffsetPose(*stop_pose_ptr_, base_link2front_, 0.0, 0.0); + const auto markers = createStopVirtualWallMarker(p, "surround obstacle", current_time, 0); + appendMarkerArray(markers, &msg); } // visualize surround object if (stop_obstacle_point_ptr_ != nullptr) { - visualization_msgs::msg::Marker marker; - marker.header.frame_id = "map"; - marker.header.stamp = current_time; - marker.ns = "no_start_obstacle_text"; - marker.id = 0; - marker.lifetime = rclcpp::Duration::from_seconds(0.5); - marker.type = visualization_msgs::msg::Marker::TEXT_VIEW_FACING; - marker.action = visualization_msgs::msg::Marker::ADD; + auto marker = createDefaultMarker( + "map", current_time, "no_start_obstacle_text", 0, Marker::TEXT_VIEW_FACING, + createMarkerScale(0.0, 0.0, 1.0), createMarkerColor(1.0, 1.0, 1.0, 0.999)); marker.pose.position = *stop_obstacle_point_ptr_; marker.pose.position.z += 2.0; // add half of the heights of obj roughly - marker.pose.orientation.x = 0.0; - marker.pose.orientation.y = 0.0; - marker.pose.orientation.z = 0.0; - marker.pose.orientation.w = 1.0; - marker.scale.x = 0.0; - marker.scale.y = 0.0; - marker.scale.z = 1.0; - marker.color.a = 0.999; // Don't forget to set the alpha! - marker.color.r = 1.0; - marker.color.g = 1.0; - marker.color.b = 1.0; marker.text = "!"; msg.markers.push_back(marker); } @@ -158,7 +107,7 @@ visualization_msgs::msg::MarkerArray SurroundObstacleCheckerDebugNode::makeVisua return msg; } -tier4_planning_msgs::msg::StopReasonArray SurroundObstacleCheckerDebugNode::makeStopReasonArray() +StopReasonArray SurroundObstacleCheckerDebugNode::makeStopReasonArray() { // create header std_msgs::msg::Header header; @@ -166,9 +115,9 @@ tier4_planning_msgs::msg::StopReasonArray SurroundObstacleCheckerDebugNode::make header.stamp = this->clock_->now(); // create stop reason stamped - tier4_planning_msgs::msg::StopReason stop_reason_msg; - stop_reason_msg.reason = tier4_planning_msgs::msg::StopReason::SURROUND_OBSTACLE_CHECK; - tier4_planning_msgs::msg::StopFactor stop_factor; + StopReason stop_reason_msg; + stop_reason_msg.reason = StopReason::SURROUND_OBSTACLE_CHECK; + StopFactor stop_factor; if (stop_pose_ptr_ != nullptr) { stop_factor.stop_pose = *stop_pose_ptr_; @@ -179,8 +128,10 @@ tier4_planning_msgs::msg::StopReasonArray SurroundObstacleCheckerDebugNode::make } // create stop reason array - tier4_planning_msgs::msg::StopReasonArray stop_reason_array; + StopReasonArray stop_reason_array; stop_reason_array.header = header; stop_reason_array.stop_reasons.emplace_back(stop_reason_msg); return stop_reason_array; } + +} // namespace surround_obstacle_checker diff --git a/planning/surround_obstacle_checker/src/node.cpp b/planning/surround_obstacle_checker/src/node.cpp index 09fe48f35b571..9e1fc6711bd3f 100644 --- a/planning/surround_obstacle_checker/src/node.cpp +++ b/planning/surround_obstacle_checker/src/node.cpp @@ -14,9 +14,17 @@ #include "surround_obstacle_checker/node.hpp" +#include + +#include +#include +#include +#include +#include +#include + #include #include -#include #include #ifdef ROS_DISTRO_GALACTIC #include @@ -34,313 +42,381 @@ #include #include +namespace surround_obstacle_checker +{ + +namespace bg = boost::geometry; +using Point2d = bg::model::d2::point_xy; +using Polygon2d = bg::model::polygon; +using tier4_autoware_utils::createPoint; +using tier4_autoware_utils::pose2transform; + +namespace +{ +std::string jsonDumpsPose(const geometry_msgs::msg::Pose & pose) +{ + const std::string json_dumps_pose = + (boost::format( + R"({"position":{"x":%lf,"y":%lf,"z":%lf},"orientation":{"w":%lf,"x":%lf,"y":%lf,"z":%lf}})") % + pose.position.x % pose.position.y % pose.position.z % pose.orientation.w % pose.orientation.x % + pose.orientation.y % pose.orientation.z) + .str(); + return json_dumps_pose; +} + +diagnostic_msgs::msg::DiagnosticStatus makeStopReasonDiag( + const std::string no_start_reason, const geometry_msgs::msg::Pose & stop_pose) +{ + diagnostic_msgs::msg::DiagnosticStatus no_start_reason_diag; + diagnostic_msgs::msg::KeyValue no_start_reason_diag_kv; + no_start_reason_diag.level = diagnostic_msgs::msg::DiagnosticStatus::OK; + no_start_reason_diag.name = "no_start_reason"; + no_start_reason_diag.message = no_start_reason; + no_start_reason_diag_kv.key = "no_start_pose"; + no_start_reason_diag_kv.value = jsonDumpsPose(stop_pose); + no_start_reason_diag.values.push_back(no_start_reason_diag_kv); + return no_start_reason_diag; +} + +geometry_msgs::msg::Point32 createPoint32(const double x, const double y, const double z) +{ + geometry_msgs::msg::Point32 p; + p.x = x; + p.y = y; + p.z = z; + return p; +} + +Polygon2d createObjPolygon( + const geometry_msgs::msg::Pose & pose, const geometry_msgs::msg::Polygon & footprint) +{ + geometry_msgs::msg::Polygon transformed_polygon{}; + geometry_msgs::msg::TransformStamped geometry_tf{}; + geometry_tf.transform = pose2transform(pose); + tf2::doTransform(footprint, transformed_polygon, geometry_tf); + + Polygon2d object_polygon; + for (const auto & p : transformed_polygon.points) { + object_polygon.outer().push_back(Point2d(p.x, p.y)); + } + + bg::correct(object_polygon); + + return object_polygon; +} + +Polygon2d createObjPolygon( + const geometry_msgs::msg::Pose & pose, const geometry_msgs::msg::Vector3 & size) +{ + const double & length_m = size.x / 2.0; + const double & width_m = size.y / 2.0; + + geometry_msgs::msg::Polygon polygon{}; + + polygon.points.push_back(createPoint32(length_m, -width_m, 0.0)); + polygon.points.push_back(createPoint32(length_m, width_m, 0.0)); + polygon.points.push_back(createPoint32(-length_m, width_m, 0.0)); + polygon.points.push_back(createPoint32(-length_m, -width_m, 0.0)); + + return createObjPolygon(pose, polygon); +} + +Polygon2d createSelfPolygon(const VehicleInfo & vehicle_info) +{ + const double & front_m = vehicle_info.max_longitudinal_offset_m; + const double & width_m = vehicle_info.min_lateral_offset_m; + const double & rear_m = vehicle_info.min_longitudinal_offset_m; + + Polygon2d ego_polygon; + + ego_polygon.outer().push_back(Point2d(front_m, -width_m)); + ego_polygon.outer().push_back(Point2d(front_m, width_m)); + ego_polygon.outer().push_back(Point2d(-rear_m, width_m)); + ego_polygon.outer().push_back(Point2d(-rear_m, -width_m)); + + bg::correct(ego_polygon); + + return ego_polygon; +} +} // namespace + SurroundObstacleCheckerNode::SurroundObstacleCheckerNode(const rclcpp::NodeOptions & node_options) -: Node("surround_obstacle_checker_node", node_options), - tf_buffer_(this->get_clock()), - tf_listener_(tf_buffer_), - vehicle_info_(vehicle_info_util::VehicleInfoUtil(*this).getVehicleInfo()) +: Node("surround_obstacle_checker_node", node_options) { // Parameters - use_pointcloud_ = this->declare_parameter("use_pointcloud", true); - use_dynamic_object_ = this->declare_parameter("use_dynamic_object", true); - surround_check_distance_ = this->declare_parameter("surround_check_distance", 2.0); - surround_check_recover_distance_ = - this->declare_parameter("surround_check_recover_distance", 2.5); - state_clear_time_ = this->declare_parameter("state_clear_time", 2.0); - stop_state_ego_speed_ = this->declare_parameter("stop_state_ego_speed", 0.1); - debug_ptr_ = std::make_shared( - vehicle_info_.max_longitudinal_offset_m, this->get_clock(), *this); - self_poly_ = createSelfPolygon(); + { + auto & p = node_param_; + p.use_pointcloud = this->declare_parameter("use_pointcloud", true); + p.use_dynamic_object = this->declare_parameter("use_dynamic_object", true); + p.surround_check_distance = this->declare_parameter("surround_check_distance", 2.0); + p.surround_check_recover_distance = + this->declare_parameter("surround_check_recover_distance", 2.5); + p.state_clear_time = this->declare_parameter("state_clear_time", 2.0); + p.stop_state_ego_speed = this->declare_parameter("stop_state_ego_speed", 0.1); + p.stop_state_entry_duration_time = + this->declare_parameter("stop_state_entry_duration_time", 0.1); + } + + vehicle_info_ = vehicle_info_util::VehicleInfoUtil(*this).getVehicleInfo(); // Publishers - path_pub_ = - this->create_publisher("~/output/trajectory", 1); - stop_reason_diag_pub_ = + pub_stop_reason_ = this->create_publisher("~/output/no_start_reason", 1); + pub_clear_velocity_limit_ = + this->create_publisher("~/output/velocity_limit_clear_command", 1); + pub_velocity_limit_ = this->create_publisher("~/output/max_velocity", 1); - // Subscriber - path_sub_ = this->create_subscription( - "~/input/trajectory", 1, - std::bind(&SurroundObstacleCheckerNode::pathCallback, this, std::placeholders::_1)); - pointcloud_sub_ = this->create_subscription( + // Subscribers + sub_pointcloud_ = this->create_subscription( "~/input/pointcloud", rclcpp::SensorDataQoS(), - std::bind(&SurroundObstacleCheckerNode::pointCloudCallback, this, std::placeholders::_1)); - dynamic_object_sub_ = - this->create_subscription( - "~/input/objects", 1, - std::bind(&SurroundObstacleCheckerNode::dynamicObjectCallback, this, std::placeholders::_1)); - current_velocity_sub_ = this->create_subscription( + std::bind(&SurroundObstacleCheckerNode::onPointCloud, this, std::placeholders::_1)); + sub_dynamic_objects_ = this->create_subscription( + "~/input/objects", 1, + std::bind(&SurroundObstacleCheckerNode::onDynamicObjects, this, std::placeholders::_1)); + sub_odometry_ = this->create_subscription( "~/input/odometry", 1, - std::bind(&SurroundObstacleCheckerNode::currentVelocityCallback, this, std::placeholders::_1)); + std::bind(&SurroundObstacleCheckerNode::onOdometry, this, std::placeholders::_1)); + + using std::chrono_literals::operator""ms; + timer_ = rclcpp::create_timer( + this, get_clock(), 100ms, std::bind(&SurroundObstacleCheckerNode::onTimer, this)); + + last_running_time_ = std::make_shared(this->now()); + + // Debug + debug_ptr_ = std::make_shared( + vehicle_info_.max_longitudinal_offset_m, this->get_clock(), *this); } -void SurroundObstacleCheckerNode::pathCallback( - const autoware_auto_planning_msgs::msg::Trajectory::ConstSharedPtr input_msg) +void SurroundObstacleCheckerNode::onTimer() { - if (use_pointcloud_ && !pointcloud_ptr_) { + if (node_param_.use_pointcloud && !pointcloud_ptr_) { RCLCPP_WARN_THROTTLE( this->get_logger(), *this->get_clock(), 1000 /* ms */, "waiting for pointcloud info..."); return; } - if (use_dynamic_object_ && !object_ptr_) { + if (node_param_.use_dynamic_object && !object_ptr_) { RCLCPP_WARN_THROTTLE( this->get_logger(), *this->get_clock(), 1000 /* ms */, "waiting for dynamic object info..."); return; } - if (!current_velocity_ptr_) { + if (!odometry_ptr_) { RCLCPP_WARN_THROTTLE( this->get_logger(), *this->get_clock(), 1000 /* ms */, "waiting for current velocity..."); return; } - // parameter description - TrajectoryPoints output_trajectory_points = - tier4_autoware_utils::convertToTrajectoryPointArray(*input_msg); + const auto nearest_obstacle = getNearestObstacle(); + const auto is_vehicle_stopped = isVehicleStopped(); - diagnostic_msgs::msg::DiagnosticStatus no_start_reason_diag; + switch (state_) { + case State::PASS: { + const auto is_obstacle_found = + !nearest_obstacle ? false + : nearest_obstacle.get().first < node_param_.surround_check_distance; - // get current pose in traj frame - geometry_msgs::msg::Pose current_pose; - if (!getPose(input_msg->header.frame_id, "base_link", current_pose)) { - return; - } + if (!isStopRequired(is_obstacle_found, is_vehicle_stopped)) { + break; + } + + state_ = State::STOP; - // get closest idx - const size_t closest_idx = getClosestIdx(output_trajectory_points, current_pose); + auto velocity_limit = std::make_shared(); + velocity_limit->stamp = this->now(); + velocity_limit->max_velocity = 0.0; + velocity_limit->use_constraints = false; + velocity_limit->sender = "surround_obstacle_checker"; - // get nearest object - double min_dist_to_obj = std::numeric_limits::max(); - geometry_msgs::msg::Point nearest_obj_point; - getNearestObstacle(&min_dist_to_obj, &nearest_obj_point); + pub_velocity_limit_->publish(*velocity_limit); - // check current obstacle status (exist or not) - const auto is_obstacle_found = isObstacleFound(min_dist_to_obj); + // do not start when there is a obstacle near the ego vehicle. + RCLCPP_WARN(get_logger(), "do not start because there is obstacle near the ego vehicle."); - // check current stop status (stop or not) - const auto is_stopped = checkStop(input_msg->points.at(closest_idx)); + break; + } - const auto is_stop_required = isStopRequired(is_obstacle_found, is_stopped); + case State::STOP: { + const auto is_obstacle_found = + !nearest_obstacle + ? false + : nearest_obstacle.get().first < node_param_.surround_check_recover_distance; - // insert stop velocity - if (is_stop_required) { - state_ = State::STOP; + if (isStopRequired(is_obstacle_found, is_vehicle_stopped)) { + break; + } - // do not start when there is a obstacle near the ego vehicle. - RCLCPP_WARN_THROTTLE( - get_logger(), *this->get_clock(), 500 /* ms */, - "do not start because there is obstacle near the ego vehicle."); - insertStopVelocity(closest_idx, &output_trajectory_points); + state_ = State::PASS; + + auto velocity_limit_clear_command = std::make_shared(); + velocity_limit_clear_command->stamp = this->now(); + velocity_limit_clear_command->command = true; + velocity_limit_clear_command->sender = "surround_obstacle_checker"; - // visualization for debug - if (is_obstacle_found) { - debug_ptr_->pushObstaclePoint(nearest_obj_point, PointType::NoStart); + pub_clear_velocity_limit_->publish(*velocity_limit_clear_command); + + break; } - debug_ptr_->pushPose(input_msg->points.at(closest_idx).pose, PoseType::NoStart); - no_start_reason_diag = makeStopReasonDiag("obstacle", input_msg->points.at(closest_idx).pose); - } else { - state_ = State::PASS; + + default: + break; } - // publish trajectory and debug info - auto output_msg = tier4_autoware_utils::convertToTrajectory(output_trajectory_points); - output_msg.header = input_msg->header; - path_pub_->publish(output_msg); - stop_reason_diag_pub_->publish(no_start_reason_diag); + if (nearest_obstacle) { + debug_ptr_->pushObstaclePoint(nearest_obstacle.get().second, PointType::NoStart); + } + + diagnostic_msgs::msg::DiagnosticStatus no_start_reason_diag; + if (state_ == State::STOP) { + debug_ptr_->pushPose(odometry_ptr_->pose.pose, PoseType::NoStart); + no_start_reason_diag = makeStopReasonDiag("obstacle", odometry_ptr_->pose.pose); + } + + pub_stop_reason_->publish(no_start_reason_diag); debug_ptr_->publish(); } -void SurroundObstacleCheckerNode::pointCloudCallback( - const sensor_msgs::msg::PointCloud2::ConstSharedPtr input_msg) +void SurroundObstacleCheckerNode::onPointCloud( + const sensor_msgs::msg::PointCloud2::ConstSharedPtr msg) { - pointcloud_ptr_ = input_msg; + pointcloud_ptr_ = msg; } -void SurroundObstacleCheckerNode::dynamicObjectCallback( - const autoware_auto_perception_msgs::msg::PredictedObjects::ConstSharedPtr input_msg) +void SurroundObstacleCheckerNode::onDynamicObjects(const PredictedObjects::ConstSharedPtr msg) { - object_ptr_ = input_msg; + object_ptr_ = msg; } -void SurroundObstacleCheckerNode::currentVelocityCallback( - const nav_msgs::msg::Odometry::ConstSharedPtr input_msg) +void SurroundObstacleCheckerNode::onOdometry(const nav_msgs::msg::Odometry::ConstSharedPtr msg) { - current_velocity_ptr_ = input_msg; + odometry_ptr_ = msg; } -void SurroundObstacleCheckerNode::insertStopVelocity( - const size_t closest_idx, TrajectoryPoints * traj) +boost::optional SurroundObstacleCheckerNode::getNearestObstacle() const { - // set zero velocity from closest idx to last idx - for (size_t i = closest_idx; i < traj->size(); i++) { - traj->at(i).longitudinal_velocity_mps = 0.0; - } -} + boost::optional nearest_pointcloud{boost::none}; + boost::optional nearest_object{boost::none}; -bool SurroundObstacleCheckerNode::getPose( - const std::string & source, const std::string & target, geometry_msgs::msg::Pose & pose) -{ - try { - // get transform from source to target - geometry_msgs::msg::TransformStamped ros_src2tgt = - tf_buffer_.lookupTransform(source, target, tf2::TimePointZero); - // convert geometry_msgs::msg::Transform to geometry_msgs::msg::Pose - tf2::Transform transform; - tf2::fromMsg(ros_src2tgt.transform, transform); - tf2::toMsg(transform, pose); - } catch (tf2::TransformException & ex) { - RCLCPP_WARN_STREAM_THROTTLE( - get_logger(), *this->get_clock(), 500 /* ms */, - "cannot get tf from " << source << " to " << target); - return false; + if (node_param_.use_pointcloud) { + nearest_pointcloud = getNearestObstacleByPointCloud(); } - return true; -} -bool SurroundObstacleCheckerNode::convertPose( - const geometry_msgs::msg::Pose & pose, const std::string & source, const std::string & target, - const rclcpp::Time & time, geometry_msgs::msg::Pose & conv_pose) -{ - tf2::Transform src2tgt; - try { - // get transform from source to target - geometry_msgs::msg::TransformStamped ros_src2tgt = - tf_buffer_.lookupTransform(source, target, time, tf2::durationFromSec(0.1)); - tf2::fromMsg(ros_src2tgt.transform, src2tgt); - } catch (tf2::TransformException & ex) { - RCLCPP_WARN_STREAM_THROTTLE( - get_logger(), *this->get_clock(), 500 /* ms */, - "cannot get tf from " << source << " to " << target); - return false; + if (node_param_.use_dynamic_object) { + nearest_object = getNearestObstacleByDynamicObject(); } - tf2::Transform src2obj; - tf2::fromMsg(pose, src2obj); - tf2::Transform tgt2obj = src2tgt.inverse() * src2obj; - tf2::toMsg(tgt2obj, conv_pose); - return true; -} - -size_t SurroundObstacleCheckerNode::getClosestIdx( - const TrajectoryPoints & traj, const geometry_msgs::msg::Pose current_pose) -{ - double min_dist = std::numeric_limits::max(); - size_t min_dist_idx = 0; - for (size_t i = 0; i < traj.size(); ++i) { - const double x = traj.at(i).pose.position.x - current_pose.position.x; - const double y = traj.at(i).pose.position.y - current_pose.position.y; - const double dist = std::hypot(x, y); - if (dist < min_dist) { - min_dist_idx = i; - min_dist = dist; - } + if (!nearest_pointcloud && !nearest_object) { + return {}; } - return min_dist_idx; -} -void SurroundObstacleCheckerNode::getNearestObstacle( - double * min_dist_to_obj, geometry_msgs::msg::Point * nearest_obj_point) -{ - if (use_pointcloud_) { - getNearestObstacleByPointCloud(min_dist_to_obj, nearest_obj_point); + if (!nearest_pointcloud) { + return nearest_object; } - if (use_dynamic_object_) { - getNearestObstacleByDynamicObject(min_dist_to_obj, nearest_obj_point); + if (!nearest_object) { + return nearest_pointcloud; } + + return nearest_pointcloud.get().first < nearest_object.get().first ? nearest_pointcloud + : nearest_object; } -void SurroundObstacleCheckerNode::getNearestObstacleByPointCloud( - double * min_dist_to_obj, geometry_msgs::msg::Point * nearest_obj_point) +boost::optional SurroundObstacleCheckerNode::getNearestObstacleByPointCloud() const { - // wait to transform pointcloud - geometry_msgs::msg::TransformStamped transform_stamped; - try { - transform_stamped = tf_buffer_.lookupTransform( - "base_link", pointcloud_ptr_->header.frame_id, pointcloud_ptr_->header.stamp, - tf2::durationFromSec(0.5)); - } catch (tf2::TransformException & ex) { - RCLCPP_WARN_STREAM_THROTTLE( - get_logger(), *this->get_clock(), 500 /* ms */, - "failed to get base_link to " << pointcloud_ptr_->header.frame_id << " transform."); - return; + const auto transform_stamped = + getTransform("base_link", pointcloud_ptr_->header.frame_id, pointcloud_ptr_->header.stamp, 0.5); + + geometry_msgs::msg::Point nearest_point; + auto minimum_distance = std::numeric_limits::max(); + + if (!transform_stamped) { + return {}; } - Eigen::Affine3f isometry = tf2::transformToEigen(transform_stamped.transform).cast(); - pcl::PointCloud pcl; - pcl::fromROSMsg(*pointcloud_ptr_, pcl); - pcl::transformPointCloud(pcl, pcl, isometry); - for (const auto & p : pcl) { - // create boost point - Point2d boost_p(p.x, p.y); - - // calc distance - const double dist_to_obj = boost::geometry::distance(self_poly_, boost_p); - - // get minimum distance to obj - if (dist_to_obj < *min_dist_to_obj) { - *min_dist_to_obj = dist_to_obj; - nearest_obj_point->x = p.x; - nearest_obj_point->y = p.y; - nearest_obj_point->z = p.z; + Eigen::Affine3f isometry = tf2::transformToEigen(transform_stamped.get().transform).cast(); + pcl::PointCloud transformed_pointcloud; + pcl::fromROSMsg(*pointcloud_ptr_, transformed_pointcloud); + pcl::transformPointCloud(transformed_pointcloud, transformed_pointcloud, isometry); + + const auto ego_polygon = createSelfPolygon(vehicle_info_); + + for (const auto & p : transformed_pointcloud) { + Point2d boost_point(p.x, p.y); + + const auto distance_to_object = bg::distance(ego_polygon, boost_point); + + if (distance_to_object < minimum_distance) { + nearest_point = createPoint(p.x, p.y, p.z); + minimum_distance = distance_to_object; } } + + return std::make_pair(minimum_distance, nearest_point); } -void SurroundObstacleCheckerNode::getNearestObstacleByDynamicObject( - double * min_dist_to_obj, geometry_msgs::msg::Point * nearest_obj_point) +boost::optional SurroundObstacleCheckerNode::getNearestObstacleByDynamicObject() const { - const auto obj_frame = object_ptr_->header.frame_id; - const auto obj_time = object_ptr_->header.stamp; - for (const auto & obj : object_ptr_->objects) { - // change frame of obj_pose to base_link - geometry_msgs::msg::Pose pose_baselink; - if (!convertPose( - obj.kinematics.initial_pose_with_covariance.pose, obj_frame, "base_link", obj_time, - pose_baselink)) { - return; - } + const auto transform_stamped = + getTransform(object_ptr_->header.frame_id, "base_link", object_ptr_->header.stamp, 0.5); - // create obj polygon - Polygon2d obj_poly; - if (obj.shape.type == autoware_auto_perception_msgs::msg::Shape::POLYGON) { - obj_poly = createObjPolygon(pose_baselink, obj.shape.footprint); - } else { - obj_poly = createObjPolygon(pose_baselink, obj.shape.dimensions); - } + geometry_msgs::msg::Point nearest_point; + auto minimum_distance = std::numeric_limits::max(); + + if (!transform_stamped) { + return {}; + } + + tf2::Transform tf_src2target; + tf2::fromMsg(transform_stamped.get().transform, tf_src2target); + + const auto ego_polygon = createSelfPolygon(vehicle_info_); - // calc distance - const double dist_to_obj = boost::geometry::distance(self_poly_, obj_poly); + for (const auto & object : object_ptr_->objects) { + const auto & object_pose = object.kinematics.initial_pose_with_covariance.pose; - // get minimum distance to obj - if (dist_to_obj < *min_dist_to_obj) { - *min_dist_to_obj = dist_to_obj; - *nearest_obj_point = obj.kinematics.initial_pose_with_covariance.pose.position; + tf2::Transform tf_src2object; + tf2::fromMsg(object_pose, tf_src2object); + + geometry_msgs::msg::Pose transformed_object_pose; + tf2::toMsg(tf_src2target.inverse() * tf_src2object, transformed_object_pose); + + const auto object_polygon = + object.shape.type == Shape::POLYGON + ? createObjPolygon(transformed_object_pose, object.shape.footprint) + : createObjPolygon(transformed_object_pose, object.shape.dimensions); + + const auto distance_to_object = bg::distance(ego_polygon, object_polygon); + + if (distance_to_object < minimum_distance) { + nearest_point = object_pose.position; + minimum_distance = distance_to_object; } } + + return std::make_pair(minimum_distance, nearest_point); } -bool SurroundObstacleCheckerNode::isObstacleFound(const double min_dist_to_obj) +boost::optional SurroundObstacleCheckerNode::getTransform( + const std::string & source, const std::string & target, const rclcpp::Time & stamp, + double duration_sec) const { - const auto is_obstacle_inside_range = min_dist_to_obj < surround_check_distance_; - const auto is_obstacle_outside_range = min_dist_to_obj > surround_check_recover_distance_; - - if (state_ == State::PASS) { - return is_obstacle_inside_range; - } + geometry_msgs::msg::TransformStamped transform_stamped; - if (state_ == State::STOP) { - return !is_obstacle_outside_range; + try { + transform_stamped = + tf_buffer_.lookupTransform(source, target, stamp, tf2::durationFromSec(duration_sec)); + } catch (tf2::TransformException & ex) { + return {}; } - throw std::runtime_error("invalid state"); + return transform_stamped; } bool SurroundObstacleCheckerNode::isStopRequired( - const bool is_obstacle_found, const bool is_stopped) + const bool is_obstacle_found, const bool is_vehicle_stopped) { - if (!is_stopped) { + if (!is_vehicle_stopped) { return false; } @@ -356,7 +432,7 @@ bool SurroundObstacleCheckerNode::isStopRequired( // Keep stop state if (last_obstacle_found_time_) { const auto elapsed_time = this->now() - *last_obstacle_found_time_; - if (elapsed_time.seconds() <= state_clear_time_) { + if (elapsed_time.seconds() <= node_param_.state_clear_time) { return true; } } @@ -365,118 +441,18 @@ bool SurroundObstacleCheckerNode::isStopRequired( return false; } -bool SurroundObstacleCheckerNode::checkStop( - const autoware_auto_planning_msgs::msg::TrajectoryPoint & closest_point) -{ - if (std::fabs(current_velocity_ptr_->twist.twist.linear.x) > stop_state_ego_speed_) { - // ego vehicle has high velocity now. not stop. - return false; - } - - const double closest_vel = closest_point.longitudinal_velocity_mps; - const double closest_acc = closest_point.acceleration_mps2; - - if (closest_vel * closest_acc < 0) { - // ego vehicle is about to stop (during deceleration). not stop. - return false; - } - - return true; -} - -Polygon2d SurroundObstacleCheckerNode::createSelfPolygon() -{ - const double front = vehicle_info_.max_longitudinal_offset_m; - const double rear = vehicle_info_.min_longitudinal_offset_m; - const double left = vehicle_info_.max_lateral_offset_m; - const double right = vehicle_info_.min_lateral_offset_m; - - Polygon2d poly; - boost::geometry::exterior_ring(poly) = boost::assign::list_of(front, left)(front, right)( - rear, right)(rear, left)(front, left); - return poly; -} - -Polygon2d SurroundObstacleCheckerNode::createObjPolygon( - const geometry_msgs::msg::Pose & pose, const geometry_msgs::msg::Vector3 & size) +bool SurroundObstacleCheckerNode::isVehicleStopped() { - // rename - const double x = pose.position.x; - const double y = pose.position.y; - const double h = size.x; - const double w = size.y; - const double yaw = tf2::getYaw(pose.orientation); - - // create base polygon - Polygon2d obj_poly; - boost::geometry::exterior_ring(obj_poly) = boost::assign::list_of(h / 2.0, w / 2.0)( - -h / 2.0, w / 2.0)(-h / 2.0, -w / 2.0)(h / 2.0, -w / 2.0)(h / 2.0, w / 2.0); - - // rotate polygon(yaw) - boost::geometry::strategy::transform::rotate_transformer - rotate(-yaw); // anti-clockwise -> :clockwise rotation - Polygon2d rotate_obj_poly; - boost::geometry::transform(obj_poly, rotate_obj_poly, rotate); - - // translate polygon(x, y) - boost::geometry::strategy::transform::translate_transformer translate(x, y); - Polygon2d translate_obj_poly; - boost::geometry::transform(rotate_obj_poly, translate_obj_poly, translate); - return translate_obj_poly; -} + const auto current_velocity = std::abs(odometry_ptr_->twist.twist.linear.x); -Polygon2d SurroundObstacleCheckerNode::createObjPolygon( - const geometry_msgs::msg::Pose & pose, const geometry_msgs::msg::Polygon & footprint) -{ - // rename - const double x = pose.position.x; - const double y = pose.position.y; - const double yaw = tf2::getYaw(pose.orientation); - - // create base polygon - Polygon2d obj_poly; - for (const auto point : footprint.points) { - const Point2d point2d(point.x, point.y); - obj_poly.outer().push_back(point2d); + if (node_param_.stop_state_ego_speed < current_velocity) { + last_running_time_ = std::make_shared(this->now()); } - // rotate polygon(yaw) - boost::geometry::strategy::transform::rotate_transformer - rotate(-yaw); // anti-clockwise -> :clockwise rotation - Polygon2d rotate_obj_poly; - boost::geometry::transform(obj_poly, rotate_obj_poly, rotate); - - // translate polygon(x, y) - boost::geometry::strategy::transform::translate_transformer translate(x, y); - Polygon2d translate_obj_poly; - boost::geometry::transform(rotate_obj_poly, translate_obj_poly, translate); - return translate_obj_poly; -} - -diagnostic_msgs::msg::DiagnosticStatus SurroundObstacleCheckerNode::makeStopReasonDiag( - const std::string no_start_reason, const geometry_msgs::msg::Pose & stop_pose) -{ - diagnostic_msgs::msg::DiagnosticStatus no_start_reason_diag; - diagnostic_msgs::msg::KeyValue no_start_reason_diag_kv; - no_start_reason_diag.level = diagnostic_msgs::msg::DiagnosticStatus::OK; - no_start_reason_diag.name = "no_start_reason"; - no_start_reason_diag.message = no_start_reason; - no_start_reason_diag_kv.key = "no_start_pose"; - no_start_reason_diag_kv.value = jsonDumpsPose(stop_pose); - no_start_reason_diag.values.push_back(no_start_reason_diag_kv); - return no_start_reason_diag; + return node_param_.stop_state_entry_duration_time < (this->now() - *last_running_time_).seconds(); } -std::string SurroundObstacleCheckerNode::jsonDumpsPose(const geometry_msgs::msg::Pose & pose) -{ - const std::string json_dumps_pose = - (boost::format( - R"({"position":{"x":%lf,"y":%lf,"z":%lf},"orientation":{"w":%lf,"x":%lf,"y":%lf,"z":%lf}})") % - pose.position.x % pose.position.y % pose.position.z % pose.orientation.w % pose.orientation.x % - pose.orientation.y % pose.orientation.z) - .str(); - return json_dumps_pose; -} +} // namespace surround_obstacle_checker #include -RCLCPP_COMPONENTS_REGISTER_NODE(SurroundObstacleCheckerNode) +RCLCPP_COMPONENTS_REGISTER_NODE(surround_obstacle_checker::SurroundObstacleCheckerNode) From 1f5ade6a6a5c2f26cc94a5c10d0ffde82b165205 Mon Sep 17 00:00:00 2001 From: Yukihiro Saito Date: Tue, 10 May 2022 10:15:23 +0900 Subject: [PATCH 018/202] feat: remove deprecated package in prediction launch (#875) Signed-off-by: Yukihiro Saito --- .../launch/object_recognition/prediction/prediction.launch.xml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/launch/tier4_perception_launch/launch/object_recognition/prediction/prediction.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/prediction/prediction.launch.xml index 4749bd45d3e3e..fd9d1ba6f3cda 100644 --- a/launch/tier4_perception_launch/launch/object_recognition/prediction/prediction.launch.xml +++ b/launch/tier4_perception_launch/launch/object_recognition/prediction/prediction.launch.xml @@ -9,6 +9,6 @@ - + From 399c13366100a710090486ae6cb7370a0f77a59e Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Tue, 10 May 2022 12:43:47 +0900 Subject: [PATCH 019/202] fix(surround_obstacle_checker): fix ego footprint polygon (#877) Signed-off-by: satoshi-ota --- planning/surround_obstacle_checker/src/node.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/planning/surround_obstacle_checker/src/node.cpp b/planning/surround_obstacle_checker/src/node.cpp index 9e1fc6711bd3f..cd7117f360143 100644 --- a/planning/surround_obstacle_checker/src/node.cpp +++ b/planning/surround_obstacle_checker/src/node.cpp @@ -131,8 +131,8 @@ Polygon2d createSelfPolygon(const VehicleInfo & vehicle_info) ego_polygon.outer().push_back(Point2d(front_m, -width_m)); ego_polygon.outer().push_back(Point2d(front_m, width_m)); - ego_polygon.outer().push_back(Point2d(-rear_m, width_m)); - ego_polygon.outer().push_back(Point2d(-rear_m, -width_m)); + ego_polygon.outer().push_back(Point2d(rear_m, width_m)); + ego_polygon.outer().push_back(Point2d(rear_m, -width_m)); bg::correct(ego_polygon); From eca2944b058d137c6a1c7dab582f28f109be4d6e Mon Sep 17 00:00:00 2001 From: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> Date: Tue, 10 May 2022 15:21:49 +0900 Subject: [PATCH 020/202] fix: update nvinfer api (#863) * fix(lidar_centerpoint): update nvinfer api Signed-off-by: Daisuke Nishimatsu * fix(tensorrt_yolo): update nvinfer api Signed-off-by: Daisuke Nishimatsu * fix(lidar_apollo_instance_segmentation): update nvinfer api Signed-off-by: Daisuke Nishimatsu * fix(traffic_light_classifier): update nvinfer api Signed-off-by: Daisuke Nishimatsu * fix(traffic_light_ssd_fine_detector): update nvinfer api Signed-off-by: Daisuke Nishimatsu * pre-commit run Signed-off-by: Daisuke Nishimatsu --- .../CMakeLists.txt | 3 --- .../lib/include/TrtNet.hpp | 6 ++--- .../lib/src/TrtNet.cpp | 2 +- .../src/detector.cpp | 26 +++++++++++++------ perception/lidar_centerpoint/CMakeLists.txt | 10 ++++--- .../lib/include/tensorrt_wrapper.hpp | 3 ++- .../lib/src/tensorrt_wrapper.cpp | 14 ++++++---- perception/tensorrt_yolo/CMakeLists.txt | 3 --- .../tensorrt_yolo/lib/include/trt_yolo.hpp | 3 ++- perception/tensorrt_yolo/lib/src/trt_yolo.cpp | 16 +++++++----- .../traffic_light_classifier/CMakeLists.txt | 3 --- .../utils/trt_common.cpp | 14 ++++++---- .../CMakeLists.txt | 3 --- .../lib/include/trt_ssd.hpp | 3 ++- .../lib/src/trt_ssd.cpp | 14 ++++++---- 15 files changed, 72 insertions(+), 51 deletions(-) diff --git a/perception/lidar_apollo_instance_segmentation/CMakeLists.txt b/perception/lidar_apollo_instance_segmentation/CMakeLists.txt index 4fee2ecdd2f3b..433999051097d 100644 --- a/perception/lidar_apollo_instance_segmentation/CMakeLists.txt +++ b/perception/lidar_apollo_instance_segmentation/CMakeLists.txt @@ -4,9 +4,6 @@ project(lidar_apollo_instance_segmentation) find_package(autoware_cmake REQUIRED) autoware_package() -# TODO: remove (https://github.com/autowarefoundation/autoware.universe/issues/850) -add_compile_options(-Wno-deprecated-declarations) - option(CUDA_VERBOSE "Verbose output of CUDA modules" OFF) # set flags for CUDA availability diff --git a/perception/lidar_apollo_instance_segmentation/lib/include/TrtNet.hpp b/perception/lidar_apollo_instance_segmentation/lib/include/TrtNet.hpp index 30d560135cb4f..14c1ff6d44c63 100644 --- a/perception/lidar_apollo_instance_segmentation/lib/include/TrtNet.hpp +++ b/perception/lidar_apollo_instance_segmentation/lib/include/TrtNet.hpp @@ -56,13 +56,13 @@ class trtNet } if (!mTrtRunTime) { - mTrtRunTime->destroy(); + delete mTrtRunTime; } if (!mTrtContext) { - mTrtContext->destroy(); + delete mTrtContext; } if (!mTrtEngine) { - mTrtEngine->destroy(); + delete mTrtEngine; } } diff --git a/perception/lidar_apollo_instance_segmentation/lib/src/TrtNet.cpp b/perception/lidar_apollo_instance_segmentation/lib/src/TrtNet.cpp index c51adc83e07c1..0f1da4bdac8a6 100644 --- a/perception/lidar_apollo_instance_segmentation/lib/src/TrtNet.cpp +++ b/perception/lidar_apollo_instance_segmentation/lib/src/TrtNet.cpp @@ -100,7 +100,7 @@ trtNet::trtNet(const std::string & engineFile) mTrtRunTime = createInferRuntime(gLogger); assert(mTrtRunTime != nullptr); - mTrtEngine = mTrtRunTime->deserializeCudaEngine(data.get(), length, nullptr); + mTrtEngine = mTrtRunTime->deserializeCudaEngine(data.get(), length); assert(mTrtEngine != nullptr); InitEngine(); diff --git a/perception/lidar_apollo_instance_segmentation/src/detector.cpp b/perception/lidar_apollo_instance_segmentation/src/detector.cpp index 7d628173b2e4c..af8b29f55f340 100644 --- a/perception/lidar_apollo_instance_segmentation/src/detector.cpp +++ b/perception/lidar_apollo_instance_segmentation/src/detector.cpp @@ -63,17 +63,27 @@ LidarApolloInstanceSegmentation::LidarApolloInstanceSegmentation(rclcpp::Node * const int batch_size = 1; builder->setMaxBatchSize(batch_size); config->setMaxWorkspaceSize(1 << 30); - nvinfer1::ICudaEngine * engine = builder->buildEngineWithConfig(*network, *config); - nvinfer1::IHostMemory * trt_model_stream = engine->serialize(); - assert(trt_model_stream != nullptr); + nvinfer1::IHostMemory * plan = builder->buildSerializedNetwork(*network, *config); + assert(plan != nullptr); std::ofstream outfile(engine_file, std::ofstream::binary); assert(!outfile.fail()); - outfile.write(reinterpret_cast(trt_model_stream->data()), trt_model_stream->size()); + outfile.write(reinterpret_cast(plan->data()), plan->size()); outfile.close(); - network->destroy(); - parser->destroy(); - builder->destroy(); - config->destroy(); + if (network) { + delete network; + } + if (parser) { + delete parser; + } + if (builder) { + delete builder; + } + if (config) { + delete config; + } + if (plan) { + delete plan; + } } net_ptr_.reset(new Tn::trtNet(engine_file)); diff --git a/perception/lidar_centerpoint/CMakeLists.txt b/perception/lidar_centerpoint/CMakeLists.txt index 1f5c869136eb0..0cf1f51654bb1 100644 --- a/perception/lidar_centerpoint/CMakeLists.txt +++ b/perception/lidar_centerpoint/CMakeLists.txt @@ -4,9 +4,6 @@ project(lidar_centerpoint) find_package(autoware_cmake REQUIRED) autoware_package() -# TODO: remove (https://github.com/autowarefoundation/autoware.universe/issues/850) -add_compile_options(-Wno-deprecated-declarations -Wno-unknown-pragmas) - option(CUDA_VERBOSE "Verbose output of CUDA modules" OFF) # set flags for CUDA availability @@ -144,6 +141,13 @@ if(TRT_AVAIL AND CUDA_AVAIL AND CUDNN_AVAIL) centerpoint_cuda_libraries ) + # To suppress unknown-pragmas error. The root-cause is CUB library in CUDA 11.6. + # This issue was fixed by https://github.com/NVIDIA/cub/commit/7d608bf1dc14553e2fb219eabeed80b76621b6fe + target_include_directories(centerpoint + SYSTEM PUBLIC + ${CUDA_INCLUDE_DIRS} + ) + ## node ## ament_auto_add_library(lidar_centerpoint_component SHARED src/node.cpp diff --git a/perception/lidar_centerpoint/lib/include/tensorrt_wrapper.hpp b/perception/lidar_centerpoint/lib/include/tensorrt_wrapper.hpp index dd49723a5265c..b334be9e2230b 100644 --- a/perception/lidar_centerpoint/lib/include/tensorrt_wrapper.hpp +++ b/perception/lidar_centerpoint/lib/include/tensorrt_wrapper.hpp @@ -29,7 +29,7 @@ struct Deleter void operator()(T * obj) const { if (obj) { - obj->destroy(); + delete obj; } } }; @@ -82,6 +82,7 @@ class TensorRTWrapper bool createContext(); unique_ptr runtime_ = nullptr; + unique_ptr plan_ = nullptr; unique_ptr engine_ = nullptr; }; diff --git a/perception/lidar_centerpoint/lib/src/tensorrt_wrapper.cpp b/perception/lidar_centerpoint/lib/src/tensorrt_wrapper.cpp index 3691128137c39..f9882afac8f92 100644 --- a/perception/lidar_centerpoint/lib/src/tensorrt_wrapper.cpp +++ b/perception/lidar_centerpoint/lib/src/tensorrt_wrapper.cpp @@ -104,7 +104,13 @@ bool TensorRTWrapper::parseONNX( std::cout << "Applying optimizations and building TRT CUDA engine (" << onnx_path << ") ..." << std::endl; - engine_ = unique_ptr(builder->buildEngineWithConfig(*network, *config)); + plan_ = unique_ptr(builder->buildSerializedNetwork(*network, *config)); + if (!plan_) { + std::cout << "Fail to create serialized network" << std::endl; + return false; + } + engine_ = unique_ptr( + runtime_->deserializeCudaEngine(plan_->data(), plan_->size())); if (!engine_) { std::cout << "Fail to create engine" << std::endl; return false; @@ -116,9 +122,8 @@ bool TensorRTWrapper::parseONNX( bool TensorRTWrapper::saveEngine(const std::string & engine_path) { std::cout << "Writing to " << engine_path << std::endl; - auto serialized = unique_ptr(engine_->serialize()); std::ofstream file(engine_path, std::ios::out | std::ios::binary); - file.write(reinterpret_cast(serialized->data()), serialized->size()); + file.write(reinterpret_cast(plan_->data()), plan_->size()); return true; } @@ -139,8 +144,7 @@ bool TensorRTWrapper::loadEngine(const std::string & engine_path) } std::cout << "Loading from " << engine_path << std::endl; - engine_ = - unique_ptr(runtime_->deserializeCudaEngine(buffer.get(), size, nullptr)); + engine_ = unique_ptr(runtime_->deserializeCudaEngine(buffer.get(), size)); return true; } diff --git a/perception/tensorrt_yolo/CMakeLists.txt b/perception/tensorrt_yolo/CMakeLists.txt index c05fefc38d15c..a50af6bfa9abb 100755 --- a/perception/tensorrt_yolo/CMakeLists.txt +++ b/perception/tensorrt_yolo/CMakeLists.txt @@ -4,9 +4,6 @@ project(tensorrt_yolo) find_package(autoware_cmake REQUIRED) autoware_package() -# TODO: remove (https://github.com/autowarefoundation/autoware.universe/issues/850) -add_compile_options(-Wno-deprecated-declarations) - option(CUDA_VERBOSE "Verbose output of CUDA modules" OFF) find_package(OpenCV REQUIRED) diff --git a/perception/tensorrt_yolo/lib/include/trt_yolo.hpp b/perception/tensorrt_yolo/lib/include/trt_yolo.hpp index 813811226a0a6..c951154820f1a 100644 --- a/perception/tensorrt_yolo/lib/include/trt_yolo.hpp +++ b/perception/tensorrt_yolo/lib/include/trt_yolo.hpp @@ -59,7 +59,7 @@ struct Deleter void operator()(T * obj) const { if (obj) { - obj->destroy(); + delete obj; } } }; @@ -130,6 +130,7 @@ class Net private: unique_ptr runtime_ = nullptr; + unique_ptr plan_ = nullptr; unique_ptr engine_ = nullptr; unique_ptr context_ = nullptr; cudaStream_t stream_ = nullptr; diff --git a/perception/tensorrt_yolo/lib/src/trt_yolo.cpp b/perception/tensorrt_yolo/lib/src/trt_yolo.cpp index 1be5f279714ba..748680266ca9c 100644 --- a/perception/tensorrt_yolo/lib/src/trt_yolo.cpp +++ b/perception/tensorrt_yolo/lib/src/trt_yolo.cpp @@ -65,8 +65,7 @@ void Net::load(const std::string & path) file.read(buffer, size); file.close(); if (runtime_) { - engine_ = - unique_ptr(runtime_->deserializeCudaEngine(buffer, size, nullptr)); + engine_ = unique_ptr(runtime_->deserializeCudaEngine(buffer, size)); } delete[] buffer; } @@ -253,9 +252,15 @@ Net::Net( // Build engine std::cout << "Applying optimizations and building TRT CUDA engine..." << std::endl; - engine_ = unique_ptr(builder->buildEngineWithConfig(*network, *config)); + plan_ = unique_ptr(builder->buildSerializedNetwork(*network, *config)); + if (!plan_) { + std::cout << "Fail to create serialized network" << std::endl; + return; + } + engine_ = unique_ptr( + runtime_->deserializeCudaEngine(plan_->data(), plan_->size())); if (!prepare()) { - std::cout << "Fail to prepare engine" << std::endl; + std::cout << "Fail to create engine" << std::endl; return; } } @@ -263,9 +268,8 @@ Net::Net( void Net::save(const std::string & path) const { std::cout << "Writing to " << path << "..." << std::endl; - auto serialized = unique_ptr(engine_->serialize()); std::ofstream file(path, std::ios::out | std::ios::binary); - file.write(reinterpret_cast(serialized->data()), serialized->size()); + file.write(reinterpret_cast(plan_->data()), plan_->size()); } void Net::infer(std::vector & buffers, const int batch_size) diff --git a/perception/traffic_light_classifier/CMakeLists.txt b/perception/traffic_light_classifier/CMakeLists.txt index 08897bfa3cf5a..8ebd5f32db99e 100644 --- a/perception/traffic_light_classifier/CMakeLists.txt +++ b/perception/traffic_light_classifier/CMakeLists.txt @@ -4,9 +4,6 @@ project(traffic_light_classifier) find_package(autoware_cmake REQUIRED) autoware_package() -# TODO: remove (https://github.com/autowarefoundation/autoware.universe/issues/850) -add_compile_options(-Wno-deprecated-declarations) - option(CUDA_VERBOSE "Verbose output of CUDA modules" OFF) # set flags for CUDA availability option(CUDA_AVAIL "CUDA available" OFF) diff --git a/perception/traffic_light_classifier/utils/trt_common.cpp b/perception/traffic_light_classifier/utils/trt_common.cpp index a920d47fa295a..cae9f0cd1682a 100644 --- a/perception/traffic_light_classifier/utils/trt_common.cpp +++ b/perception/traffic_light_classifier/utils/trt_common.cpp @@ -45,6 +45,7 @@ TrtCommon::TrtCommon(std::string model_path, std::string precision) is_initialized_(false), max_batch_size_(1) { + runtime_ = UniquePtr(nvinfer1::createInferRuntime(logger_)); } void TrtCommon::setup() @@ -86,9 +87,8 @@ bool TrtCommon::loadEngine(std::string engine_file_path) std::stringstream engine_buffer; engine_buffer << engine_file.rdbuf(); std::string engine_str = engine_buffer.str(); - runtime_ = UniquePtr(nvinfer1::createInferRuntime(logger_)); engine_ = UniquePtr(runtime_->deserializeCudaEngine( - reinterpret_cast(engine_str.data()), engine_str.size(), nullptr)); + reinterpret_cast(engine_str.data()), engine_str.size())); return true; } @@ -117,19 +117,23 @@ bool TrtCommon::buildEngineFromOnnx(std::string onnx_file_path, std::string outp return false; } - engine_ = UniquePtr(builder->buildEngineWithConfig(*network, *config)); + auto plan = UniquePtr(builder->buildSerializedNetwork(*network, *config)); + if (!plan) { + return false; + } + engine_ = + UniquePtr(runtime_->deserializeCudaEngine(plan->data(), plan->size())); if (!engine_) { return false; } // save engine - nvinfer1::IHostMemory * data = engine_->serialize(); std::ofstream file; file.open(output_engine_file_path, std::ios::binary | std::ios::out); if (!file.is_open()) { return false; } - file.write((const char *)data->data(), data->size()); + file.write((const char *)plan->data(), plan->size()); file.close(); return true; diff --git a/perception/traffic_light_ssd_fine_detector/CMakeLists.txt b/perception/traffic_light_ssd_fine_detector/CMakeLists.txt index e82c790f4fd1e..eb172b7faf981 100644 --- a/perception/traffic_light_ssd_fine_detector/CMakeLists.txt +++ b/perception/traffic_light_ssd_fine_detector/CMakeLists.txt @@ -4,9 +4,6 @@ project(traffic_light_ssd_fine_detector) find_package(autoware_cmake REQUIRED) autoware_package() -# TODO: remove (https://github.com/autowarefoundation/autoware.universe/issues/850) -add_compile_options(-Wno-deprecated-declarations) - option(CUDA_VERBOSE "Verbose output of CUDA modules" OFF) find_package(OpenCV REQUIRED) diff --git a/perception/traffic_light_ssd_fine_detector/lib/include/trt_ssd.hpp b/perception/traffic_light_ssd_fine_detector/lib/include/trt_ssd.hpp index bbe5ae8da513c..cfb6c8a6d5754 100644 --- a/perception/traffic_light_ssd_fine_detector/lib/include/trt_ssd.hpp +++ b/perception/traffic_light_ssd_fine_detector/lib/include/trt_ssd.hpp @@ -31,7 +31,7 @@ struct Deleter void operator()(T * obj) const { if (obj) { - obj->destroy(); + delete obj; } } }; @@ -87,6 +87,7 @@ class Net private: unique_ptr runtime_ = nullptr; + unique_ptr plan_ = nullptr; unique_ptr engine_ = nullptr; unique_ptr context_ = nullptr; cudaStream_t stream_ = nullptr; diff --git a/perception/traffic_light_ssd_fine_detector/lib/src/trt_ssd.cpp b/perception/traffic_light_ssd_fine_detector/lib/src/trt_ssd.cpp index 766de7eb4cde1..ba9f94b014513 100644 --- a/perception/traffic_light_ssd_fine_detector/lib/src/trt_ssd.cpp +++ b/perception/traffic_light_ssd_fine_detector/lib/src/trt_ssd.cpp @@ -36,8 +36,7 @@ void Net::load(const std::string & path) file.read(buffer, size); file.close(); if (runtime_) { - engine_ = - unique_ptr(runtime_->deserializeCudaEngine(buffer, size, nullptr)); + engine_ = unique_ptr(runtime_->deserializeCudaEngine(buffer, size)); } delete[] buffer; } @@ -136,7 +135,13 @@ Net::Net( // Build engine std::cout << "Applying optimizations and building TRT CUDA engine..." << std::endl; - engine_ = unique_ptr(builder->buildEngineWithConfig(*network, *config)); + plan_ = unique_ptr(builder->buildSerializedNetwork(*network, *config)); + if (!plan_) { + std::cout << "Fail to create serialized network" << std::endl; + return; + } + engine_ = unique_ptr( + runtime_->deserializeCudaEngine(plan_->data(), plan_->size())); if (!engine_) { std::cout << "Fail to create engine" << std::endl; return; @@ -151,9 +156,8 @@ Net::Net( void Net::save(const std::string & path) { std::cout << "Writing to " << path << "..." << std::endl; - auto serialized = unique_ptr(engine_->serialize()); std::ofstream file(path, std::ios::out | std::ios::binary); - file.write(reinterpret_cast(serialized->data()), serialized->size()); + file.write(reinterpret_cast(plan_->data()), plan_->size()); } void Net::infer(std::vector & buffers, const int batch_size) From 3e5e6db3a707510f92f3f2fe634dc3491ec81f5d Mon Sep 17 00:00:00 2001 From: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> Date: Tue, 10 May 2022 17:39:28 +0900 Subject: [PATCH 021/202] fix(avoidance_module): ignore object instead of creating zero shift (#731) * fix: ignore object instead of creating zero shift instead of creating zero shift point, the object will be ignored. no behavior changes should be observed. Signed-off-by: Muhammad Zulfaqar Azmi * refactor: sync continue with upstream Signed-off-by: Muhammad Zulfaqar Azmi * fix: fix debug message for insufficient lateral margin Signed-off-by: Muhammad Zulfaqar Azmi --- .../avoidance/avoidance_module.cpp | 19 +++++++------------ 1 file changed, 7 insertions(+), 12 deletions(-) diff --git a/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp b/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp index 876e5fc3112c3..2923996ca8697 100644 --- a/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp +++ b/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp @@ -490,24 +490,19 @@ AvoidPointArray AvoidanceModule::calcRawShiftPointsFromObjects( avoidance_debug_msg.max_shift_length = max_allowable_lateral_distance; if (!(o.to_road_shoulder_distance > max_allowable_lateral_distance)) { - avoidance_debug_msg.allow_avoidance = false; - avoidance_debug_msg.failed_reason = AvoidanceDebugFactor::INSUFFICIENT_LATERAL_MARGIN; + avoidance_debug_array_false_and_push_back(AvoidanceDebugFactor::INSUFFICIENT_LATERAL_MARGIN); + continue; } const auto max_shift_length = o.to_road_shoulder_distance - road_shoulder_safety_margin - 0.5 * vehicle_width; - const auto max_left_shift_limit = [&o, &max_allowable_lateral_distance, &max_shift_length, - this]() noexcept { - const auto left_shift_constraint = std::min(getLeftShiftBound(), max_shift_length); - return (o.to_road_shoulder_distance > max_allowable_lateral_distance) ? left_shift_constraint - : 0.0; + + const auto max_left_shift_limit = [&max_shift_length, this]() noexcept { + return std::min(getLeftShiftBound(), max_shift_length); }; - const auto max_right_shift_limit = [&o, &max_allowable_lateral_distance, &max_shift_length, - this]() noexcept { - const auto right_shift_constraint = std::max(getRightShiftBound(), -max_shift_length); - return (o.to_road_shoulder_distance > max_allowable_lateral_distance) ? right_shift_constraint - : 0.0; + const auto max_right_shift_limit = [&max_shift_length, this]() noexcept { + return std::max(getRightShiftBound(), -max_shift_length); }; const auto shift_length = isOnRight(o) From 7b81507c8074c6b4a547d3165856993f77ea72bd Mon Sep 17 00:00:00 2001 From: Takamasa Horibe Date: Tue, 10 May 2022 18:33:56 +0900 Subject: [PATCH 022/202] fix(motion_velocity_smoother): curve deceleration not working with a specific parameter set (#738) Signed-off-by: Takamasa Horibe --- .../motion_velocity_smoother/src/smoother/smoother_base.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/planning/motion_velocity_smoother/src/smoother/smoother_base.cpp b/planning/motion_velocity_smoother/src/smoother/smoother_base.cpp index 2ecf683fd3028..31c6420a67870 100644 --- a/planning/motion_velocity_smoother/src/smoother/smoother_base.cpp +++ b/planning/motion_velocity_smoother/src/smoother/smoother_base.cpp @@ -105,7 +105,7 @@ boost::optional SmootherBase::applyLateralAccelerationFilter( for (size_t i = 0; i < output->size(); ++i) { double curvature = 0.0; const size_t start = i > after_decel_index ? i - after_decel_index : 0; - const size_t end = std::min(output->size(), i + before_decel_index); + const size_t end = std::min(output->size(), i + before_decel_index + 1); for (size_t j = start; j < end; ++j) { curvature = std::max(curvature, std::fabs(curvature_v->at(j))); } From 66688730c654a76629ace36961351667e5694c69 Mon Sep 17 00:00:00 2001 From: Keisuke Shima <19993104+KeisukeShima@users.noreply.github.com> Date: Tue, 10 May 2022 21:29:41 +0900 Subject: [PATCH 023/202] test(autoware_testing): fix smoke_test (#479) * fix(autoware_testing): fix smoke_test Signed-off-by: Keisuke Shima <19993104+KeisukeShima@users.noreply.github.com> * restore smoke_test for trajectory_follower_nodes Signed-off-by: Keisuke Shima <19993104+KeisukeShima@users.noreply.github.com> * add support multiple parameter files Signed-off-by: Keisuke Shima <19993104+KeisukeShima@users.noreply.github.com> * ci(pre-commit): autofix * minor fix Signed-off-by: Keisuke Shima <19993104+KeisukeShima@users.noreply.github.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- .../autoware_testing/smoke_test.py | 39 +++++++++++++------ .../cmake/add_smoke_test.cmake | 10 ++--- .../trajectory_follower_nodes/CMakeLists.txt | 14 +++++-- 3 files changed, 42 insertions(+), 21 deletions(-) diff --git a/common/autoware_testing/autoware_testing/smoke_test.py b/common/autoware_testing/autoware_testing/smoke_test.py index 2753861269124..8c361474034ad 100644 --- a/common/autoware_testing/autoware_testing/smoke_test.py +++ b/common/autoware_testing/autoware_testing/smoke_test.py @@ -16,6 +16,7 @@ import os import shlex +import time import unittest from ament_index_python import get_package_share_directory @@ -26,21 +27,24 @@ from launch_ros.actions import Node import launch_testing import pytest +import rclpy def resolve_node(context, *args, **kwargs): + parameters = [ + os.path.join( + get_package_share_directory(LaunchConfiguration("arg_package").perform(context)), + "param", + file_name, + ) + for file_name in shlex.split(LaunchConfiguration("arg_param_filenames").perform(context)) + ] smoke_test_node = Node( package=LaunchConfiguration("arg_package"), executable=LaunchConfiguration("arg_package_exe"), namespace="test", - parameters=[ - os.path.join( - get_package_share_directory(LaunchConfiguration("arg_package").perform(context)), - "param", - LaunchConfiguration("arg_param_filename").perform(context), - ) - ], + parameters=parameters, arguments=shlex.split(LaunchConfiguration("arg_executable_arguments").perform(context)), ) return [smoke_test_node] @@ -55,8 +59,8 @@ def generate_test_description(): arg_package_exe = DeclareLaunchArgument( "arg_package_exe", default_value=["default"], description="Tested executable" ) - arg_param_filename = DeclareLaunchArgument( - "arg_param_filename", default_value=["test.param.yaml"], description="Test param file" + arg_param_filenames = DeclareLaunchArgument( + "arg_param_filenames", default_value=["test.param.yaml"], description="Test param file" ) arg_executable_arguments = DeclareLaunchArgument( "arg_executable_arguments", default_value=[""], description="Tested executable arguments" @@ -66,7 +70,7 @@ def generate_test_description(): [ arg_package, arg_package_exe, - arg_param_filename, + arg_param_filenames, arg_executable_arguments, OpaqueFunction(function=resolve_node), launch_testing.actions.ReadyToTest(), @@ -74,8 +78,19 @@ def generate_test_description(): ) +class DummyTest(unittest.TestCase): + def test_wait_for_node_ready(self): + """Waiting for the node is ready.""" + rclpy.init() + test_node = rclpy.create_node("test_node") + while len(test_node.get_node_names()) == 0: + time.sleep(0.1) + print("waiting for Node to be ready") + rclpy.shutdown() + + @launch_testing.post_shutdown_test() class TestProcessOutput(unittest.TestCase): def test_exit_code(self, proc_output, proc_info): - # Check that process exits with code -15 code: termination request, sent to the program - launch_testing.asserts.assertExitCodes(proc_info, [-15]) + # Check that process exits with code 0 + launch_testing.asserts.assertExitCodes(proc_info) diff --git a/common/autoware_testing/cmake/add_smoke_test.cmake b/common/autoware_testing/cmake/add_smoke_test.cmake index 2998db4960de4..ee2cb0f06e789 100644 --- a/common/autoware_testing/cmake/add_smoke_test.cmake +++ b/common/autoware_testing/cmake/add_smoke_test.cmake @@ -19,18 +19,18 @@ # :type package_name: string # :param package_exec: package executable to run during smoke test # :type executable_name: string -# :param PARAM_FILENAME: yaml filename containing test parameters -# :type PARAM_FILENAME: string +# :param PARAM_FILENAMES: yaml filenames containing test parameters +# :type PARAM_FILENAMES: string # :param EXECUTABLE_ARGUMENTS: arguments passed to tested executable # :type EXECUTABLE_ARGUMENTS: string function(add_smoke_test package_name executable_name) - cmake_parse_arguments(PARSE_ARGV 2 smoke_test "" "PARAM_FILENAME;EXECUTABLE_ARGUMENTS" "") + cmake_parse_arguments(PARSE_ARGV 2 smoke_test "" "PARAM_FILENAMES;EXECUTABLE_ARGUMENTS" "") set(ARGUMENTS "arg_package:=${package_name}" "arg_package_exe:=${executable_name}") - if(smoke_test_PARAM_FILENAME) - list(APPEND ARGUMENTS "arg_param_filename:=${smoke_test_PARAM_FILENAME}") + if(smoke_test_PARAM_FILENAMES) + list(APPEND ARGUMENTS "arg_param_filenames:=${smoke_test_PARAM_FILENAMES}") endif() if(smoke_test_EXECUTABLE_ARGUMENTS) diff --git a/control/trajectory_follower_nodes/CMakeLists.txt b/control/trajectory_follower_nodes/CMakeLists.txt index 7996ac0713107..fa005c1c0bfda 100644 --- a/control/trajectory_follower_nodes/CMakeLists.txt +++ b/control/trajectory_follower_nodes/CMakeLists.txt @@ -57,10 +57,16 @@ if(BUILD_TESTING) ament_target_dependencies(${TRAJECTORY_FOLLOWER_NODES_TEST} fake_test_node) target_link_libraries(${TRAJECTORY_FOLLOWER_NODES_TEST} ${LATLON_MUXER_NODE} ${LATERAL_CONTROLLER_NODE} ${LONGITUDINAL_CONTROLLER_NODE}) - #find_package(autoware_testing REQUIRED) - #add_smoke_test(${PROJECT_NAME} ${LATLON_MUXER_NODE}_exe PARAM_FILENAME latlon_muxer_defaults.param.yaml) - #add_smoke_test(${PROJECT_NAME} ${LATERAL_CONTROLLER_NODE}_exe PARAM_FILENAME lateral_controller_defaults.param.yaml) - #add_smoke_test(${PROJECT_NAME} ${LONGITUDINAL_CONTROLLER_NODE}_exe PARAM_FILENAME longitudinal_controller_defaults.param.yaml) + find_package(autoware_testing REQUIRED) + add_smoke_test(${PROJECT_NAME} ${LATLON_MUXER_NODE}_exe + PARAM_FILENAMES "latlon_muxer_defaults.param.yaml" + ) + add_smoke_test(${PROJECT_NAME} ${LATERAL_CONTROLLER_NODE}_exe + PARAM_FILENAMES "lateral_controller_defaults.param.yaml test_vehicle_info.param.yaml" + ) + add_smoke_test(${PROJECT_NAME} ${LONGITUDINAL_CONTROLLER_NODE}_exe + PARAM_FILENAMES "longitudinal_controller_defaults.param.yaml test_vehicle_info.param.yaml" + ) endif() ament_auto_package( From 31147a2cea1221677fae2a6bcc1a4aa8a41a18fb Mon Sep 17 00:00:00 2001 From: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> Date: Wed, 11 May 2022 10:22:56 +0900 Subject: [PATCH 024/202] feat(rviz_plugins): add velocity limit to autoware state panel (#879) * feat(rviz_plugins): add velocity limit to autoware state panel Signed-off-by: tanaka3 * chore(rviz_plugin): change ms to kmh Signed-off-by: tanaka3 --- common/tier4_state_rviz_plugin/package.xml | 1 + .../src/autoware_state_panel.cpp | 23 +++++++++++++++++++ .../src/autoware_state_panel.hpp | 7 ++++++ 3 files changed, 31 insertions(+) diff --git a/common/tier4_state_rviz_plugin/package.xml b/common/tier4_state_rviz_plugin/package.xml index 2afbe9c315f75..74f7a7418815e 100644 --- a/common/tier4_state_rviz_plugin/package.xml +++ b/common/tier4_state_rviz_plugin/package.xml @@ -21,6 +21,7 @@ rviz_common tier4_control_msgs tier4_external_api_msgs + tier4_planning_msgs ament_lint_auto autoware_lint_common diff --git a/common/tier4_state_rviz_plugin/src/autoware_state_panel.cpp b/common/tier4_state_rviz_plugin/src/autoware_state_panel.cpp index 78681106b3d61..825e06dac1cd9 100644 --- a/common/tier4_state_rviz_plugin/src/autoware_state_panel.cpp +++ b/common/tier4_state_rviz_plugin/src/autoware_state_panel.cpp @@ -80,13 +80,26 @@ AutowareStatePanel::AutowareStatePanel(QWidget * parent) : rviz_common::Panel(pa engage_button_ptr_ = new QPushButton("Engage"); connect(engage_button_ptr_, SIGNAL(clicked()), SLOT(onClickAutowareEngage())); + velocity_limit_button_ptr_ = new QPushButton("Send Velocity Limit"); + pub_velocity_limit_input_ = new QSpinBox(); + pub_velocity_limit_input_->setRange(-100.0, 100.0); + pub_velocity_limit_input_->setValue(0.0); + pub_velocity_limit_input_->setSingleStep(5.0); + connect(velocity_limit_button_ptr_, SIGNAL(clicked()), this, SLOT(onClickVelocityLimit())); + auto * v_layout = new QVBoxLayout; + auto * velocity_limit_layout = new QHBoxLayout(); v_layout->addLayout(gate_layout); v_layout->addLayout(selector_layout); v_layout->addLayout(state_layout); v_layout->addLayout(gear_layout); v_layout->addLayout(engage_status_layout); v_layout->addWidget(engage_button_ptr_); + v_layout->addLayout(engage_status_layout); + velocity_limit_layout->addWidget(velocity_limit_button_ptr_); + velocity_limit_layout->addWidget(pub_velocity_limit_input_); + velocity_limit_layout->addWidget(new QLabel(" [km/h]")); + v_layout->addLayout(velocity_limit_layout); setLayout(v_layout); } @@ -114,6 +127,9 @@ void AutowareStatePanel::onInitialize() client_engage_ = raw_node_->create_client( "/api/autoware/set/engage", rmw_qos_profile_services_default); + + pub_velocity_limit_ = raw_node_->create_publisher( + "/planning/scenario_planning/max_velocity_default", rclcpp::QoS(1)); } void AutowareStatePanel::onGateMode(const tier4_control_msgs::msg::GateMode::ConstSharedPtr msg) @@ -215,6 +231,13 @@ void AutowareStatePanel::onEngageStatus( engage_status_label_ptr_->setText(QString::fromStdString(Bool2String(current_engage_))); } +void AutowareStatePanel::onClickVelocityLimit() +{ + auto velocity_limit = std::make_shared(); + velocity_limit->max_velocity = pub_velocity_limit_input_->value() / 3.6; + pub_velocity_limit_->publish(*velocity_limit); +} + void AutowareStatePanel::onClickAutowareEngage() { auto req = std::make_shared(); diff --git a/common/tier4_state_rviz_plugin/src/autoware_state_panel.hpp b/common/tier4_state_rviz_plugin/src/autoware_state_panel.hpp index 45cd290e5f4a3..97c559bdfb3de 100644 --- a/common/tier4_state_rviz_plugin/src/autoware_state_panel.hpp +++ b/common/tier4_state_rviz_plugin/src/autoware_state_panel.hpp @@ -19,6 +19,7 @@ #include #include +#include #include #include @@ -28,6 +29,7 @@ #include #include #include +#include namespace rviz_plugins { @@ -41,6 +43,7 @@ class AutowareStatePanel : public rviz_common::Panel public Q_SLOTS: void onClickAutowareEngage(); + void onClickVelocityLimit(); protected: void onGateMode(const tier4_control_msgs::msg::GateMode::ConstSharedPtr msg); @@ -61,12 +64,16 @@ public Q_SLOTS: rclcpp::Client::SharedPtr client_engage_; + rclcpp::Publisher::SharedPtr pub_velocity_limit_; + QLabel * gate_mode_label_ptr_; QLabel * selector_mode_label_ptr_; QLabel * autoware_state_label_ptr_; QLabel * gear_label_ptr_; QLabel * engage_status_label_ptr_; QPushButton * engage_button_ptr_; + QPushButton * velocity_limit_button_ptr_; + QSpinBox * pub_velocity_limit_input_; bool current_engage_; }; From da41a37d19434b62ccce549a83777b0d469e48d7 Mon Sep 17 00:00:00 2001 From: Hirokazu Ishida <38597814+HiroIshida@users.noreply.github.com> Date: Wed, 11 May 2022 11:00:51 +0900 Subject: [PATCH 025/202] fix(dummy_perception_publisher): publish multiple layers of pointcloud (#882) * fix: single -> multiple layers pointcloud Signed-off-by: Hirokazu Ishida * refactor: share common among different pcloud creators Signed-off-by: Hirokazu Ishida --- .../src/pointcloud_creator.cpp | 56 ++++++++++++++----- 1 file changed, 41 insertions(+), 15 deletions(-) diff --git a/simulator/dummy_perception_publisher/src/pointcloud_creator.cpp b/simulator/dummy_perception_publisher/src/pointcloud_creator.cpp index 6c964625a3e69..d55c42a0c28bd 100644 --- a/simulator/dummy_perception_publisher/src/pointcloud_creator.cpp +++ b/simulator/dummy_perception_publisher/src/pointcloud_creator.cpp @@ -25,6 +25,18 @@ #include #include +namespace +{ + +static constexpr double epsilon = 0.001; +static constexpr double step = 0.05; +static constexpr double vertical_theta_step = (1.0 / 180.0) * M_PI; +static constexpr double vertical_min_theta = (-15.0 / 180.0) * M_PI; +static constexpr double vertical_max_theta = (15.0 / 180.0) * M_PI; +static constexpr double horizontal_theta_step = (0.1 / 180.0) * M_PI; +static constexpr double horizontal_min_theta = (-180.0 / 180.0) * M_PI; +static constexpr double horizontal_max_theta = (180.0 / 180.0) * M_PI; + pcl::PointXYZ getPointWrtBaseLink( const tf2::Transform & tf_base_link2moved_object, double x, double y, double z) { @@ -32,6 +44,8 @@ pcl::PointXYZ getPointWrtBaseLink( return pcl::PointXYZ(p_wrt_base.x(), p_wrt_base.y(), p_wrt_base.z()); } +} // namespace + void ObjectCentricPointCloudCreator::create_object_pointcloud( const ObjectInfo & obj_info, const tf2::Transform & tf_base_link2map, std::mt19937 & random_generator, pcl::PointCloud::Ptr pointcloud) const @@ -39,14 +53,6 @@ void ObjectCentricPointCloudCreator::create_object_pointcloud( std::normal_distribution<> x_random(0.0, obj_info.std_dev_x); std::normal_distribution<> y_random(0.0, obj_info.std_dev_y); std::normal_distribution<> z_random(0.0, obj_info.std_dev_z); - const double epsilon = 0.001; - const double step = 0.05; - const double vertical_theta_step = (1.0 / 180.0) * M_PI; - const double vertical_min_theta = (-15.0 / 180.0) * M_PI; - const double vertical_max_theta = (15.0 / 180.0) * M_PI; - const double horizontal_theta_step = (0.1 / 180.0) * M_PI; - const double horizontal_min_theta = (-180.0 / 180.0) * M_PI; - const double horizontal_max_theta = (180.0 / 180.0) * M_PI; const auto tf_base_link2moved_object = tf_base_link2map * obj_info.tf_map2moved_object; @@ -206,7 +212,18 @@ std::vector::Ptr> EgoCentricPointCloudCreator::cr pointclouds.at(i) = (pcl::PointCloud::Ptr(new pcl::PointCloud)); } - const double horizontal_theta_step = 0.25 * M_PI / 180.0; + std::vector min_zs(obj_infos.size()); + std::vector max_zs(obj_infos.size()); + + for (size_t idx = 0; idx < obj_infos.size(); ++idx) { + const auto & obj_info = obj_infos.at(idx); + const auto tf_base_link2moved_object = tf_base_link2map * obj_info.tf_map2moved_object; + const double min_z = -1.0 * (obj_info.height / 2.0) + tf_base_link2moved_object.getOrigin().z(); + const double max_z = 1.0 * (obj_info.height / 2.0) + tf_base_link2moved_object.getOrigin().z(); + min_zs.at(idx) = min_z; + max_zs.at(idx) = max_z; + } + double angle = 0.0; const auto n_scan = static_cast(std::floor(2 * M_PI / horizontal_theta_step)); for (size_t i = 0; i < n_scan; ++i) { @@ -217,13 +234,22 @@ std::vector::Ptr> EgoCentricPointCloudCreator::cr const auto x_hit = dist * cos(angle); const auto y_hit = dist * sin(angle); const auto idx_hit = composite_sdf.nearest_sdf_index(x_hit, y_hit); + const auto obj_info_here = obj_infos.at(idx_hit); + const auto min_z_here = min_zs.at(idx_hit); + const auto max_z_here = max_zs.at(idx_hit); + std::normal_distribution<> x_random(0.0, obj_info_here.std_dev_x); + std::normal_distribution<> y_random(0.0, obj_info_here.std_dev_y); + std::normal_distribution<> z_random(0.0, obj_info_here.std_dev_z); - std::normal_distribution<> x_random(0.0, obj_infos.at(idx_hit).std_dev_x); - std::normal_distribution<> y_random(0.0, obj_infos.at(idx_hit).std_dev_y); - std::normal_distribution<> z_random(0.0, obj_infos.at(idx_hit).std_dev_z); - pointclouds.at(idx_hit)->push_back(pcl::PointXYZ( - x_hit + x_random(random_generator), y_hit + y_random(random_generator), - z_random(random_generator))); + for (double vertical_theta = vertical_min_theta; + vertical_theta <= vertical_max_theta + epsilon; vertical_theta += vertical_theta_step) { + const double z = dist * std::tan(vertical_theta); + if (min_z_here <= z && z <= max_z_here + epsilon) { + pointclouds.at(idx_hit)->push_back(pcl::PointXYZ( + x_hit + x_random(random_generator), y_hit + y_random(random_generator), + z + z_random(random_generator))); + } + } } } From e2e557d63e4c342da067a32ff6d8ddefe4ea8d47 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Wed, 11 May 2022 12:56:26 +0900 Subject: [PATCH 026/202] feat(vehicle_info_util): add max_steer_angle (#740) * feat(vehicle_info_util): add max_steer_angle Signed-off-by: Takayuki Murooka * applied pre-commit Signed-off-by: Takayuki Murooka * Added max_steer_angle in test config Signed-off-by: Takayuki Murooka Co-authored-by: Tomoya Kimura --- .../param/test_vehicle_info.param.yaml | 1 + .../param/vehicle_characteristics.param.yaml | 1 + .../test/test_simple_planning_simulator.cpp | 1 + vehicle/vehicle_info_util/config/vehicle_info.param.yaml | 1 + .../include/vehicle_info_util/vehicle_info.hpp | 5 ++++- vehicle/vehicle_info_util/src/vehicle_info_util.cpp | 4 +++- 6 files changed, 11 insertions(+), 2 deletions(-) diff --git a/control/trajectory_follower_nodes/param/test_vehicle_info.param.yaml b/control/trajectory_follower_nodes/param/test_vehicle_info.param.yaml index b1279b50ef04a..8941b92b4e78e 100644 --- a/control/trajectory_follower_nodes/param/test_vehicle_info.param.yaml +++ b/control/trajectory_follower_nodes/param/test_vehicle_info.param.yaml @@ -9,3 +9,4 @@ left_overhang: 0.1 # between left wheel center and vehicle left right_overhang: 0.1 # between right wheel center and vehicle right vehicle_height: 2.5 + max_steer_angle: 0.70 # [rad] diff --git a/simulator/simple_planning_simulator/param/vehicle_characteristics.param.yaml b/simulator/simple_planning_simulator/param/vehicle_characteristics.param.yaml index 12b6efa79d1cd..ef594927dac4d 100644 --- a/simulator/simple_planning_simulator/param/vehicle_characteristics.param.yaml +++ b/simulator/simple_planning_simulator/param/vehicle_characteristics.param.yaml @@ -10,3 +10,4 @@ width_m: 2.0 front_overhang_m: 0.5 rear_overhang_m: 0.5 + max_steer_angle: 0.70 # [rad] diff --git a/simulator/simple_planning_simulator/test/test_simple_planning_simulator.cpp b/simulator/simple_planning_simulator/test/test_simple_planning_simulator.cpp index d983aeed4d8c4..fea6cd16db9d0 100644 --- a/simulator/simple_planning_simulator/test/test_simple_planning_simulator.cpp +++ b/simulator/simple_planning_simulator/test/test_simple_planning_simulator.cpp @@ -190,6 +190,7 @@ void declareVehicleInfoParams(rclcpp::NodeOptions & node_options) node_options.append_parameter_override("left_overhang", 0.5); node_options.append_parameter_override("right_overhang", 0.5); node_options.append_parameter_override("vehicle_height", 1.5); + node_options.append_parameter_override("max_steer_angle", 0.7); } // Send a control command and run the simulation. diff --git a/vehicle/vehicle_info_util/config/vehicle_info.param.yaml b/vehicle/vehicle_info_util/config/vehicle_info.param.yaml index b1279b50ef04a..8941b92b4e78e 100644 --- a/vehicle/vehicle_info_util/config/vehicle_info.param.yaml +++ b/vehicle/vehicle_info_util/config/vehicle_info.param.yaml @@ -9,3 +9,4 @@ left_overhang: 0.1 # between left wheel center and vehicle left right_overhang: 0.1 # between right wheel center and vehicle right vehicle_height: 2.5 + max_steer_angle: 0.70 # [rad] diff --git a/vehicle/vehicle_info_util/include/vehicle_info_util/vehicle_info.hpp b/vehicle/vehicle_info_util/include/vehicle_info_util/vehicle_info.hpp index e7ba446051889..8df6d4cfe04c1 100644 --- a/vehicle/vehicle_info_util/include/vehicle_info_util/vehicle_info.hpp +++ b/vehicle/vehicle_info_util/include/vehicle_info_util/vehicle_info.hpp @@ -31,6 +31,7 @@ struct VehicleInfo double left_overhang_m; double right_overhang_m; double vehicle_height_m; + double max_steer_angle_m; // Derived parameters, i.e. calculated from base parameters // The offset values are relative to the base frame origin, which is located @@ -49,7 +50,8 @@ struct VehicleInfo inline VehicleInfo createVehicleInfo( const double wheel_radius_m, const double wheel_width_m, const double wheel_base_m, const double wheel_tread_m, const double front_overhang_m, const double rear_overhang_m, - const double left_overhang_m, const double right_overhang_m, const double vehicle_height_m) + const double left_overhang_m, const double right_overhang_m, const double vehicle_height_m, + const double max_steer_angle_m) { // Calculate derived parameters const double vehicle_length_m_ = front_overhang_m + wheel_base_m + rear_overhang_m; @@ -72,6 +74,7 @@ inline VehicleInfo createVehicleInfo( left_overhang_m, right_overhang_m, vehicle_height_m, + max_steer_angle_m, // Derived parameters vehicle_length_m_, vehicle_width_m_, diff --git a/vehicle/vehicle_info_util/src/vehicle_info_util.cpp b/vehicle/vehicle_info_util/src/vehicle_info_util.cpp index 6cc2d2f27e9ce..c295155727e61 100644 --- a/vehicle/vehicle_info_util/src/vehicle_info_util.cpp +++ b/vehicle/vehicle_info_util/src/vehicle_info_util.cpp @@ -49,6 +49,7 @@ VehicleInfoUtil::VehicleInfoUtil(rclcpp::Node & node) vehicle_info_.left_overhang_m = getParameter(node, "left_overhang"); vehicle_info_.right_overhang_m = getParameter(node, "right_overhang"); vehicle_info_.vehicle_height_m = getParameter(node, "vehicle_height"); + vehicle_info_.max_steer_angle_m = getParameter(node, "max_steer_angle"); } VehicleInfo VehicleInfoUtil::getVehicleInfo() @@ -56,7 +57,8 @@ VehicleInfo VehicleInfoUtil::getVehicleInfo() return createVehicleInfo( vehicle_info_.wheel_radius_m, vehicle_info_.wheel_width_m, vehicle_info_.wheel_base_m, vehicle_info_.wheel_tread_m, vehicle_info_.front_overhang_m, vehicle_info_.rear_overhang_m, - vehicle_info_.left_overhang_m, vehicle_info_.right_overhang_m, vehicle_info_.vehicle_height_m); + vehicle_info_.left_overhang_m, vehicle_info_.right_overhang_m, vehicle_info_.vehicle_height_m, + vehicle_info_.max_steer_angle_m); } } // namespace vehicle_info_util From 952510b3427c7af5dc09cc25365c56f248e33780 Mon Sep 17 00:00:00 2001 From: Shumpei Wakabayashi <42209144+shmpwk@users.noreply.github.com> Date: Wed, 11 May 2022 14:52:58 +0900 Subject: [PATCH 027/202] ci(deploy-docs): remove mdx_unimoji (#883) Signed-off-by: Shumpei Wakabayashi --- mkdocs.yaml | 1 - 1 file changed, 1 deletion(-) diff --git a/mkdocs.yaml b/mkdocs.yaml index 2bd16349b24bb..02c3bb42383e8 100644 --- a/mkdocs.yaml +++ b/mkdocs.yaml @@ -66,7 +66,6 @@ markdown_extensions: - mdx_math - mdx_truly_sane_lists: nested_indent: 2 - - mdx_unimoji - plantuml_markdown: server: http://www.plantuml.com/plantuml format: svg From b2727f066bcf842777734f5c8c649d669a91105d Mon Sep 17 00:00:00 2001 From: "awf-autoware-bot[bot]" <94889083+awf-autoware-bot[bot]@users.noreply.github.com> Date: Wed, 11 May 2022 06:17:37 +0000 Subject: [PATCH 028/202] chore: sync files (#884) Signed-off-by: GitHub Co-authored-by: kenji-miyake --- .github/workflows/github-release.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/github-release.yaml b/.github/workflows/github-release.yaml index 23508e63bc43d..93533b54e1dd0 100644 --- a/.github/workflows/github-release.yaml +++ b/.github/workflows/github-release.yaml @@ -54,7 +54,7 @@ jobs: - name: Select verb id: select-verb run: | - has_previous_draft=$(gh release view --json isDraft -q ".isDraft" "${{ steps.set-tag-name.outputs.tag-name }}") + has_previous_draft=$(gh release view --json isDraft -q ".isDraft" "${{ steps.set-tag-name.outputs.tag-name }}") || true verb=create if [ "$has_previous_draft" = "true" ]; then From ae80db9ad2878ff44c80a7aa9657be45da2ea829 Mon Sep 17 00:00:00 2001 From: Hiroki OTA Date: Thu, 12 May 2022 15:45:49 +0900 Subject: [PATCH 029/202] fix(lidar_centerpoint): fix google drive url to avoid 404 (#889) * fix(lidar_centerpoint): fix google drive url to avoid 404 * Update CMakeLists.txt Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> --- perception/lidar_centerpoint/CMakeLists.txt | 4 ++-- perception/tensorrt_yolo/CMakeLists.txt | 6 +++--- 2 files changed, 5 insertions(+), 5 deletions(-) diff --git a/perception/lidar_centerpoint/CMakeLists.txt b/perception/lidar_centerpoint/CMakeLists.txt index 0cf1f51654bb1..4f15575181348 100644 --- a/perception/lidar_centerpoint/CMakeLists.txt +++ b/perception/lidar_centerpoint/CMakeLists.txt @@ -86,13 +86,13 @@ if(TRT_AVAIL AND CUDA_AVAIL AND CUDNN_AVAIL) message(STATUS "File already exists.") else() message(STATUS "File hash changes. Downloading now ...") - execute_process(COMMAND gdown --quiet https://drive.google.com//uc?id=${GFILE_ID} -O ${FILE_PATH}) + execute_process(COMMAND gdown --quiet https://drive.google.com/uc?id=${GFILE_ID} -O ${FILE_PATH}) # file(MD5 ${FILE_PATH} DOWNLOADED_FILE_HASH) # disable to pass ci message(STATUS "Downloaded file hash: ${DOWNLOADED_FILE_HASH}") endif() else() message(STATUS "File doesn't exists. Downloading now ...") - execute_process(COMMAND gdown --quiet https://drive.google.com//uc?id=${GFILE_ID} -O ${FILE_PATH}) + execute_process(COMMAND gdown --quiet https://drive.google.com/uc?id=${GFILE_ID} -O ${FILE_PATH}) # file(MD5 ${FILE_PATH} DOWNLOADED_FILE_HASH) # disable to pass ci message(STATUS "Downloaded file hash: ${DOWNLOADED_FILE_HASH}") endif() diff --git a/perception/tensorrt_yolo/CMakeLists.txt b/perception/tensorrt_yolo/CMakeLists.txt index a50af6bfa9abb..e8ac60c30ed37 100755 --- a/perception/tensorrt_yolo/CMakeLists.txt +++ b/perception/tensorrt_yolo/CMakeLists.txt @@ -93,7 +93,7 @@ message(STATUS "Checking and downloading yolov4.onnx") if(NOT EXISTS "${FILE}") message(STATUS "... file does not exist. Downloading now ...") execute_process( - COMMAND gdown "https://drive.google.com//uc?id=1vkNmSwcIpTkJ_-BrKhxtit0PBJeJYTVX" -O ${PATH}/yolov4.onnx + COMMAND gdown "https://drive.google.com/uc?id=1vkNmSwcIpTkJ_-BrKhxtit0PBJeJYTVX" -O ${PATH}/yolov4.onnx ERROR_QUIET ) endif() @@ -115,7 +115,7 @@ message(STATUS "Checking and downloading yolov5s.onnx") if(NOT EXISTS "${FILE}") message(STATUS "... file does not exist. Downloading now ...") execute_process( - COMMAND gdown "https://drive.google.com//uc?id=1CF21nQWigwCPTr5psQZXg6cBQIOYKbad" -O ${PATH}/yolov5s.onnx + COMMAND gdown "https://drive.google.com/uc?id=1CF21nQWigwCPTr5psQZXg6cBQIOYKbad" -O ${PATH}/yolov5s.onnx ERROR_QUIET ) endif() @@ -126,7 +126,7 @@ message(STATUS "Checking and downloading yolov5m.onnx") if(NOT EXISTS "${FILE}") message(STATUS "... file does not exist. Downloading now ...") execute_process( - COMMAND gdown "https://drive.google.com//uc?id=1a1h50KJH6slwmjKZpPlS-errukF-BrgG" -O ${PATH}/yolov5m.onnx + COMMAND gdown "https://drive.google.com/uc?id=1a1h50KJH6slwmjKZpPlS-errukF-BrgG" -O ${PATH}/yolov5m.onnx ERROR_QUIET ) endif() From c396b9d75dbb49c1ce0a288b54f7bf8fa907fc1d Mon Sep 17 00:00:00 2001 From: badai nguyen <94814556+badai-nguyen@users.noreply.github.com> Date: Thu, 12 May 2022 21:01:04 +0900 Subject: [PATCH 030/202] chore: fix typos (#886) Signed-off-by: badai-nguyen --- .../src/blockage_diag/blockage_diag_nodelet.cpp | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/sensing/pointcloud_preprocessor/src/blockage_diag/blockage_diag_nodelet.cpp b/sensing/pointcloud_preprocessor/src/blockage_diag/blockage_diag_nodelet.cpp index 3f3665bf06531..821e2de462bdc 100644 --- a/sensing/pointcloud_preprocessor/src/blockage_diag/blockage_diag_nodelet.cpp +++ b/sensing/pointcloud_preprocessor/src/blockage_diag/blockage_diag_nodelet.cpp @@ -42,7 +42,7 @@ BlockageDiagComponent::BlockageDiagComponent(const rclcpp::NodeOptions & options updater_.setHardwareID("blockage_diag"); updater_.add( - std::string(this->get_namespace()) + ": ground_blockage_validation", this, + std::string(this->get_namespace()) + ": blockage_validation", this, &BlockageDiagComponent::onBlockageChecker); updater_.setPeriod(0.1); @@ -93,9 +93,9 @@ void BlockageDiagComponent::onBlockageChecker(DiagnosticStatusWrapper & stat) if (level == DiagnosticStatus::OK) { msg = "OK"; } else if (level == DiagnosticStatus::WARN) { - msg = "WARNING: LiDAR ground blockage"; + msg = "WARNING: LiDAR blockage"; } else if (level == DiagnosticStatus::ERROR) { - msg = "ERROR: LiDAR ground blockage"; + msg = "ERROR: LiDAR blockage"; } else if (level == DiagnosticStatus::STALE) { msg = "STALE"; } From ffb0553a1915806df75e17dac2d9a237318f30c9 Mon Sep 17 00:00:00 2001 From: Hiroki OTA Date: Fri, 13 May 2022 11:22:08 +0900 Subject: [PATCH 031/202] feat(state_rviz_plugin): add GateMode and PathChangeApproval Button (#894) * feat(state_rviz_plugin): add GateMode and PathChangeApproval Button * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- .../src/autoware_state_panel.cpp | 40 +++++++++++++++++++ .../src/autoware_state_panel.hpp | 7 ++++ 2 files changed, 47 insertions(+) diff --git a/common/tier4_state_rviz_plugin/src/autoware_state_panel.cpp b/common/tier4_state_rviz_plugin/src/autoware_state_panel.cpp index 825e06dac1cd9..33177729e8359 100644 --- a/common/tier4_state_rviz_plugin/src/autoware_state_panel.cpp +++ b/common/tier4_state_rviz_plugin/src/autoware_state_panel.cpp @@ -16,6 +16,7 @@ #include "autoware_state_panel.hpp" +#include #include #include #include @@ -80,6 +81,15 @@ AutowareStatePanel::AutowareStatePanel(QWidget * parent) : rviz_common::Panel(pa engage_button_ptr_ = new QPushButton("Engage"); connect(engage_button_ptr_, SIGNAL(clicked()), SLOT(onClickAutowareEngage())); + // Gate Mode Button + gate_mode_button_ptr_ = new QPushButton("Gate Mode"); + connect(gate_mode_button_ptr_, SIGNAL(clicked()), SLOT(onClickGateMode())); + + // Path Change Approval Button + path_change_approval_button_ptr_ = new QPushButton("Path Change Approval"); + connect(path_change_approval_button_ptr_, SIGNAL(clicked()), SLOT(onClickPathChangeApproval())); + + // Velocity Limit velocity_limit_button_ptr_ = new QPushButton("Send Velocity Limit"); pub_velocity_limit_input_ = new QSpinBox(); pub_velocity_limit_input_->setRange(-100.0, 100.0); @@ -87,7 +97,9 @@ AutowareStatePanel::AutowareStatePanel(QWidget * parent) : rviz_common::Panel(pa pub_velocity_limit_input_->setSingleStep(5.0); connect(velocity_limit_button_ptr_, SIGNAL(clicked()), this, SLOT(onClickVelocityLimit())); + // Layout auto * v_layout = new QVBoxLayout; + auto * gate_mode_path_change_approval_layout = new QHBoxLayout; auto * velocity_limit_layout = new QHBoxLayout(); v_layout->addLayout(gate_layout); v_layout->addLayout(selector_layout); @@ -96,6 +108,9 @@ AutowareStatePanel::AutowareStatePanel(QWidget * parent) : rviz_common::Panel(pa v_layout->addLayout(engage_status_layout); v_layout->addWidget(engage_button_ptr_); v_layout->addLayout(engage_status_layout); + gate_mode_path_change_approval_layout->addWidget(gate_mode_button_ptr_); + gate_mode_path_change_approval_layout->addWidget(path_change_approval_button_ptr_); + v_layout->addLayout(gate_mode_path_change_approval_layout); velocity_limit_layout->addWidget(velocity_limit_button_ptr_); velocity_limit_layout->addWidget(pub_velocity_limit_input_); velocity_limit_layout->addWidget(new QLabel(" [km/h]")); @@ -130,6 +145,14 @@ void AutowareStatePanel::onInitialize() pub_velocity_limit_ = raw_node_->create_publisher( "/planning/scenario_planning/max_velocity_default", rclcpp::QoS(1)); + + pub_gate_mode_ = raw_node_->create_publisher( + "/control/gate_mode_cmd", rclcpp::QoS(1)); + + pub_path_change_approval_ = raw_node_->create_publisher( + "/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/" + "path_change_approval", + rclcpp::QoS(1)); } void AutowareStatePanel::onGateMode(const tier4_control_msgs::msg::GateMode::ConstSharedPtr msg) @@ -258,6 +281,23 @@ void AutowareStatePanel::onClickAutowareEngage() }); } +void AutowareStatePanel::onClickGateMode() +{ + const auto data = gate_mode_label_ptr_->text().toStdString() == "AUTO" + ? tier4_control_msgs::msg::GateMode::EXTERNAL + : tier4_control_msgs::msg::GateMode::AUTO; + RCLCPP_INFO(raw_node_->get_logger(), "data : %d", data); + pub_gate_mode_->publish( + tier4_control_msgs::build().data(data)); +} + +void AutowareStatePanel::onClickPathChangeApproval() +{ + pub_path_change_approval_->publish( + tier4_planning_msgs::build() + .stamp(raw_node_->now()) + .approval(true)); +} } // namespace rviz_plugins #include diff --git a/common/tier4_state_rviz_plugin/src/autoware_state_panel.hpp b/common/tier4_state_rviz_plugin/src/autoware_state_panel.hpp index 97c559bdfb3de..a53bea54452fc 100644 --- a/common/tier4_state_rviz_plugin/src/autoware_state_panel.hpp +++ b/common/tier4_state_rviz_plugin/src/autoware_state_panel.hpp @@ -29,6 +29,7 @@ #include #include #include +#include #include namespace rviz_plugins @@ -44,6 +45,8 @@ class AutowareStatePanel : public rviz_common::Panel public Q_SLOTS: void onClickAutowareEngage(); void onClickVelocityLimit(); + void onClickGateMode(); + void onClickPathChangeApproval(); protected: void onGateMode(const tier4_control_msgs::msg::GateMode::ConstSharedPtr msg); @@ -65,6 +68,8 @@ public Q_SLOTS: rclcpp::Client::SharedPtr client_engage_; rclcpp::Publisher::SharedPtr pub_velocity_limit_; + rclcpp::Publisher::SharedPtr pub_gate_mode_; + rclcpp::Publisher::SharedPtr pub_path_change_approval_; QLabel * gate_mode_label_ptr_; QLabel * selector_mode_label_ptr_; @@ -73,6 +78,8 @@ public Q_SLOTS: QLabel * engage_status_label_ptr_; QPushButton * engage_button_ptr_; QPushButton * velocity_limit_button_ptr_; + QPushButton * gate_mode_button_ptr_; + QPushButton * path_change_approval_button_ptr_; QSpinBox * pub_velocity_limit_input_; bool current_engage_; From 80f3f1c8455381c040d2f166bf622d4f5cb79a5c Mon Sep 17 00:00:00 2001 From: Takeshi Ishita Date: Fri, 13 May 2022 13:50:09 +0900 Subject: [PATCH 032/202] feat(map_tf_generator): accelerate the 'viewer' coordinate calculation (#890) * add random point sampling function to quickly calculate the 'viewer' coordinate Signed-off-by: IshitaTakeshi Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> --- map/map_tf_generator/CMakeLists.txt | 17 ++++++++ .../map_tf_generator/uniform_random.hpp | 33 ++++++++++++++ map/map_tf_generator/package.xml | 1 + .../src/map_tf_generator_node.cpp | 18 +++++--- .../test/test_uniform_random.cpp | 43 +++++++++++++++++++ 5 files changed, 107 insertions(+), 5 deletions(-) create mode 100644 map/map_tf_generator/include/map_tf_generator/uniform_random.hpp create mode 100644 map/map_tf_generator/test/test_uniform_random.cpp diff --git a/map/map_tf_generator/CMakeLists.txt b/map/map_tf_generator/CMakeLists.txt index 1170dfef00474..506f763c4bb36 100644 --- a/map/map_tf_generator/CMakeLists.txt +++ b/map/map_tf_generator/CMakeLists.txt @@ -16,6 +16,23 @@ rclcpp_components_register_node(map_tf_generator_node EXECUTABLE map_tf_generator ) + +if(BUILD_TESTING) + function(add_testcase filepath) + get_filename_component(filename ${filepath} NAME) + string(REGEX REPLACE ".cpp" "" test_name ${filename}) + + ament_add_gmock(${test_name} ${filepath}) + target_include_directories(${test_name} PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}/include) + ament_target_dependencies(${test_name} ${${PROJECT_NAME}_FOUND_BUILD_DEPENDS}) + endfunction() + + find_package(ament_lint_auto REQUIRED) + ament_lint_auto_find_test_dependencies() + + add_testcase(test/test_uniform_random.cpp) +endif() + ament_auto_package(INSTALL_TO_SHARE launch ) diff --git a/map/map_tf_generator/include/map_tf_generator/uniform_random.hpp b/map/map_tf_generator/include/map_tf_generator/uniform_random.hpp new file mode 100644 index 0000000000000..345703a19bc06 --- /dev/null +++ b/map/map_tf_generator/include/map_tf_generator/uniform_random.hpp @@ -0,0 +1,33 @@ +// Copyright 2022 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. + +#ifndef MAP_TF_GENERATOR__UNIFORM_RANDOM_HPP_ +#define MAP_TF_GENERATOR__UNIFORM_RANDOM_HPP_ + +#include +#include + +std::vector UniformRandom(const size_t max_exclusive, const size_t n) +{ + std::default_random_engine generator; + std::uniform_int_distribution distribution(0, max_exclusive - 1); + + std::vector v(n); + for (size_t i = 0; i < n; i++) { + v[i] = distribution(generator); + } + return v; +} + +#endif // MAP_TF_GENERATOR__UNIFORM_RANDOM_HPP_ diff --git a/map/map_tf_generator/package.xml b/map/map_tf_generator/package.xml index 9aaf14bc5fda7..3adcf80690668 100644 --- a/map/map_tf_generator/package.xml +++ b/map/map_tf_generator/package.xml @@ -19,6 +19,7 @@ tf2 tf2_ros + ament_cmake_gmock ament_lint_auto autoware_lint_common diff --git a/map/map_tf_generator/src/map_tf_generator_node.cpp b/map/map_tf_generator/src/map_tf_generator_node.cpp index 378d739ffbef3..b99514f18e658 100644 --- a/map/map_tf_generator/src/map_tf_generator_node.cpp +++ b/map/map_tf_generator/src/map_tf_generator_node.cpp @@ -12,6 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. +#include "map_tf_generator/uniform_random.hpp" + #include #include @@ -25,6 +27,8 @@ #include #include +constexpr size_t N_SAMPLES = 20; + class MapTFGeneratorNode : public rclcpp::Node { public: @@ -51,19 +55,23 @@ class MapTFGeneratorNode : public rclcpp::Node void onPointCloud(const sensor_msgs::msg::PointCloud2::ConstSharedPtr clouds_ros) { + // fix random seed to produce the same viewer position every time + // 3939 is just the author's favorite number + srand(3939); + PointCloud clouds; pcl::fromROSMsg(*clouds_ros, clouds); - const unsigned int sum = clouds.points.size(); + const std::vector indices = UniformRandom(clouds.size(), N_SAMPLES); double coordinate[3] = {0, 0, 0}; - for (unsigned int i = 0; i < sum; i++) { + for (const auto i : indices) { coordinate[0] += clouds.points[i].x; coordinate[1] += clouds.points[i].y; coordinate[2] += clouds.points[i].z; } - coordinate[0] = coordinate[0] / sum; - coordinate[1] = coordinate[1] / sum; - coordinate[2] = coordinate[2] / sum; + coordinate[0] = coordinate[0] / indices.size(); + coordinate[1] = coordinate[1] / indices.size(); + coordinate[2] = coordinate[2] / indices.size(); geometry_msgs::msg::TransformStamped static_transformStamped; static_transformStamped.header.stamp = this->now(); diff --git a/map/map_tf_generator/test/test_uniform_random.cpp b/map/map_tf_generator/test/test_uniform_random.cpp new file mode 100644 index 0000000000000..76ee174a34871 --- /dev/null +++ b/map/map_tf_generator/test/test_uniform_random.cpp @@ -0,0 +1,43 @@ +// Copyright 2022 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. + +#include "map_tf_generator/uniform_random.hpp" + +#include + +using testing::AllOf; +using testing::Each; +using testing::Ge; +using testing::Lt; + +TEST(UniformRandom, UniformRandom) +{ + { + const std::vector random = UniformRandom(4, 0); + ASSERT_EQ(random.size(), static_cast(0)); + } + + // checks if the returned values are in range of [min, max) + // note that the minimun range is always zero and the max value is exclusive + { + const size_t min_inclusive = 0; + const size_t max_exclusive = 4; + + for (int i = 0; i < 50; i++) { + const std::vector random = UniformRandom(4, 10); + ASSERT_EQ(random.size(), 10U); + ASSERT_THAT(random, Each(AllOf(Ge(min_inclusive), Lt(max_exclusive)))); // in range [0, 4) + } + } +} From ef379533fdf2fdf5d8599d2c34af7ce38eef7ab0 Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Fri, 13 May 2022 17:45:37 +0900 Subject: [PATCH 033/202] docs(obstacle_stop_planner): update documentation (#880) Signed-off-by: satoshi-ota --- planning/obstacle_stop_planner/README.md | 13 +- .../docs/insert_decel_velocity.drawio.svg | 273 +----------------- .../docs/insert_velocity1.drawio.svg | 4 + .../docs/insert_velocity2.drawio.svg | 4 + 4 files changed, 22 insertions(+), 272 deletions(-) create mode 100644 planning/obstacle_stop_planner/docs/insert_velocity1.drawio.svg create mode 100644 planning/obstacle_stop_planner/docs/insert_velocity2.drawio.svg diff --git a/planning/obstacle_stop_planner/README.md b/planning/obstacle_stop_planner/README.md index 95274b6a4829d..9c8fc714fb9c1 100644 --- a/planning/obstacle_stop_planner/README.md +++ b/planning/obstacle_stop_planner/README.md @@ -11,13 +11,20 @@ - Adaptive Cruise Controller (ACC) - embeds target velocity in trajectory when there is a dynamic point cloud on the trajectory. -When the stop point that has 0 velocity is inserted, the point is inserted in front of the target point cloud by the distance of `baselink to front` + `stop margin`. The `baselink to front` means the distance between `base_link`(center of rear-wheel axis) and front of the car. `stop margin` is determined by the parameters described below. +In order to stop with a `stop margin` from the obstacle exists, the stop point (`v=0`) is inserted at a distance of `baselink to front` + `stop margin` from the obstacle. The `baselink to front` means the distance between `base_link`(center of rear-wheel axis) and front of the car. -![insert_stop_velocity](./docs/insert_velocity.drawio.svg) +If a stop point has already been inserted by other nodes between the obstacle and a position which is `stop margin` meters away from the obstacle, the stop point is inserted at a distance of `baselink to front` + `min behavior stop margin` from the obstacle. + +

+ + +
When the deceleration section is inserted, the start point of the section is inserted in front of the target point cloud by the distance of `baselink to front` + `slow down forward margin`. the end point of the section is inserted behind the target point cloud by the distance of `slow down backward margin` + `baselink to rear`. The `baselink to rear` means the distance between `base_link` and rear of the car. The velocities of points in the deceleration section are modified to the deceleration velocity. `slow down backward margin` and `slow down forward margin` are determined by the parameters described below. -![insert_stop_velocity](./docs/insert_decel_velocity.drawio.svg) +
+ +
## Input topics diff --git a/planning/obstacle_stop_planner/docs/insert_decel_velocity.drawio.svg b/planning/obstacle_stop_planner/docs/insert_decel_velocity.drawio.svg index 80cb8c2ed5016..a49853974a2f9 100644 --- a/planning/obstacle_stop_planner/docs/insert_decel_velocity.drawio.svg +++ b/planning/obstacle_stop_planner/docs/insert_decel_velocity.drawio.svg @@ -1,269 +1,4 @@ - - - - - - - -
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zYx~nsbvtBxz`S^WHp%Uz;~I4B>pVOYhHM<1_j!=Pq>3bqz58h}O*NIz#uB?&olY2dQ{U5zO1VG;TB5<@{h0MH8Tr18{GBh$C{p4C}UGd<@WC* zwR*;`m?;#sanQzV(Vu=VOh#1bmgQiU;tR>aD=}9eJXd>d^j;2OJ^I|dF`L#J!KGDc zHC5&#&%fG!irAea*a~}0?Qa6+#&ip-O8Z*W8Ny;-#g^%GxX{W@io`pccE?GWH+RCy zXS;I6atLZY%NrYm{}F=ykG!^u|0gu!e{G`Dsd)aEnH>AbsEUBBNm!bae5eA zRj_>rT_ForMdOtxgWSW`>CQk`>+rea-e%XZhyYt7{oHZ%*oy{dWP5XM^y2`?s zx4vhGvC~$Vge%MZNAnA}|F7f^+y7wxcwUTH{(czC9TF(~mPAem%t`~U13XSe4E%sE zI6vB9``+wC{X=U`HcD-zn+B{{=J@jVk~E From e1e81b3a1a3c4c5e86f472538a40f1b7c57a8de8 Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Tue, 17 May 2022 08:37:29 +0900 Subject: [PATCH 035/202] fix(accel_brake_map_calibrator): rviz panel type (#895) * fixed panel type Signed-off-by: Mamoru Sobue * modified instruction for rosbag replay case Signed-off-by: Mamoru Sobue * modified update_map_dir service name Signed-off-by: Mamoru Sobue --- .../src/accel_brake_map_calibrator_button_panel.cpp | 2 +- .../accel_brake_map_calibrator/README.md | 4 ++-- .../accel_brake_map_calibrator/rviz/occupancy.rviz | 4 ++-- 3 files changed, 5 insertions(+), 5 deletions(-) diff --git a/common/tier4_calibration_rviz_plugin/src/accel_brake_map_calibrator_button_panel.cpp b/common/tier4_calibration_rviz_plugin/src/accel_brake_map_calibrator_button_panel.cpp index 542ce6f7bdeda..545bdac7b630d 100644 --- a/common/tier4_calibration_rviz_plugin/src/accel_brake_map_calibrator_button_panel.cpp +++ b/common/tier4_calibration_rviz_plugin/src/accel_brake_map_calibrator_button_panel.cpp @@ -75,7 +75,7 @@ void AccelBrakeMapCalibratorButtonPanel::onInitialize() &AccelBrakeMapCalibratorButtonPanel::callbackUpdateSuggest, this, std::placeholders::_1)); client_ = raw_node->create_client( - "/vehicle/calibration/accel_brake_map_calibrator/update_map_dir"); + "/accel_brake_map_calibrator/update_map_dir"); } void AccelBrakeMapCalibratorButtonPanel::callbackUpdateSuggest( diff --git a/vehicle/accel_brake_map_calibrator/accel_brake_map_calibrator/README.md b/vehicle/accel_brake_map_calibrator/accel_brake_map_calibrator/README.md index d7de930308412..0d30686bbe5e2 100644 --- a/vehicle/accel_brake_map_calibrator/accel_brake_map_calibrator/README.md +++ b/vehicle/accel_brake_map_calibrator/accel_brake_map_calibrator/README.md @@ -17,7 +17,7 @@ ros2 launch accel_brake_map_calibrator accel_brake_map_calibrator.launch.xml rvi Or if you want to use rosbag files, run the following commands. ```sh -ros2 param set /use_sim_time true +ros2 launch accel_brake_map_calibrator accel_brake_map_calibrator.launch.xml rviz:=true use_sim_time:=true ros2 bag play --clock ``` @@ -110,7 +110,7 @@ ros2 run accel_brake_map_calibrator view_statistics.py You can save accel and brake map anytime with the following command. ```sh -ros2 service call /accel_brake_map_calibrator/update_map_dir "path: ''" +ros2 service call /accel_brake_map_calibrator/update_map_dir tier4_vehicle_msgs/srv/UpdateAccelBrakeMap "path: ''" ``` You can also save accel and brake map in the default directory where Autoware reads accel_map.csv/brake_map.csv using the RViz plugin (AccelBrakeMapCalibratorButtonPanel) as following. diff --git a/vehicle/accel_brake_map_calibrator/accel_brake_map_calibrator/rviz/occupancy.rviz b/vehicle/accel_brake_map_calibrator/accel_brake_map_calibrator/rviz/occupancy.rviz index ca51dc4ee75fc..c430c21562f32 100644 --- a/vehicle/accel_brake_map_calibrator/accel_brake_map_calibrator/rviz/occupancy.rviz +++ b/vehicle/accel_brake_map_calibrator/accel_brake_map_calibrator/rviz/occupancy.rviz @@ -17,9 +17,9 @@ Panels: - /Current View1 Name: Views Splitter Ratio: 0.5 - - Class: autoware_localization_rviz_plugin/InitialPoseButtonPanel + - Class: tier4_localization_rviz_plugin/InitialPoseButtonPanel Name: InitialPoseButtonPanel - - Class: autoware_localization_rviz_plugin/InitialPoseButtonPanel + - Class: tier4_localization_rviz_plugin/InitialPoseButtonPanel Name: InitialPoseButtonPanel Preferences: PromptSaveOnExit: true From 55d807e4625f65fb857aa5f3b99b158667827870 Mon Sep 17 00:00:00 2001 From: TakumiKozaka-T4 <70260442+TakumiKozaka-T4@users.noreply.github.com> Date: Tue, 17 May 2022 14:35:38 +0900 Subject: [PATCH 036/202] fix(behavior velocity planner): skipping emplace back stop reason if it is empty (#898) * skipping emplace back stop reason if it is empty Signed-off-by: TakumiKozaka-T4 * add braces Signed-off-by: TakumiKozaka-T4 * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> --- .../include/scene_module/scene_module_interface.hpp | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/planning/behavior_velocity_planner/include/scene_module/scene_module_interface.hpp b/planning/behavior_velocity_planner/include/scene_module/scene_module_interface.hpp index 50261de15f5c9..398994b4cde2b 100644 --- a/planning/behavior_velocity_planner/include/scene_module/scene_module_interface.hpp +++ b/planning/behavior_velocity_planner/include/scene_module/scene_module_interface.hpp @@ -123,7 +123,10 @@ class SceneModuleManagerInterface tier4_planning_msgs::msg::StopReason stop_reason; scene_module->setPlannerData(planner_data_); scene_module->modifyPathVelocity(path, &stop_reason); - stop_reason_array.stop_reasons.emplace_back(stop_reason); + + if (stop_reason.reason != "") { + stop_reason_array.stop_reasons.emplace_back(stop_reason); + } if (const auto command = scene_module->getInfrastructureCommand()) { infrastructure_command_array.commands.push_back(*command); From f1d2b9ec7aab0b27d4e2b66e1cc6cf1d97b9a2d6 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Tue, 17 May 2022 22:54:46 +0900 Subject: [PATCH 037/202] feat(behavior_path_planner): weakened noise filtering of drivable area (#838) * feat(behavior_path_planner): Weakened noise filtering of drivable area Signed-off-by: Takayuki Murooka * fix lanelet's longitudinal disconnection Signed-off-by: Takayuki Murooka * add comments of erode/dilate process Signed-off-by: Takayuki Murooka --- map/lanelet2_extension/lib/utilities.cpp | 34 +++++++++++++++++-- .../behavior_path_planner/src/utilities.cpp | 5 ++- 2 files changed, 36 insertions(+), 3 deletions(-) diff --git a/map/lanelet2_extension/lib/utilities.cpp b/map/lanelet2_extension/lib/utilities.cpp index 072f079028db6..8983d9d4f3678 100644 --- a/map/lanelet2_extension/lib/utilities.cpp +++ b/map/lanelet2_extension/lib/utilities.cpp @@ -315,8 +315,38 @@ lanelet::ConstLanelet getExpandedLanelet( // Note: The lanelet::geometry::offset throws exception when the undesired inversion is found. // Use offsetNoThrow until the logic is updated to handle the inversion. // TODO(Horibe) update - const auto & expanded_left_bound_2d = offsetNoThrow(orig_left_bound_2d, left_offset); - const auto & expanded_right_bound_2d = offsetNoThrow(orig_right_bound_2d, right_offset); + auto expanded_left_bound_2d = offsetNoThrow(orig_left_bound_2d, left_offset); + auto expanded_right_bound_2d = offsetNoThrow(orig_right_bound_2d, right_offset); + + // Note: modify front and back points so that the successive lanelets will not have any + // longitudinal space between them. + { // front + const double diff_x = orig_right_bound_2d.front().x() - orig_left_bound_2d.front().x(); + const double diff_y = orig_right_bound_2d.front().y() - orig_left_bound_2d.front().y(); + const double theta = std::atan2(diff_y, diff_x); + expanded_right_bound_2d.front().x() = + orig_right_bound_2d.front().x() - right_offset * std::cos(theta); + expanded_right_bound_2d.front().y() = + orig_right_bound_2d.front().y() - right_offset * std::sin(theta); + expanded_left_bound_2d.front().x() = + orig_left_bound_2d.front().x() - left_offset * std::cos(theta); + expanded_left_bound_2d.front().y() = + orig_left_bound_2d.front().y() - left_offset * std::sin(theta); + } + { // back + const double diff_x = orig_right_bound_2d.back().x() - orig_left_bound_2d.back().x(); + const double diff_y = orig_right_bound_2d.back().y() - orig_left_bound_2d.back().y(); + const double theta = std::atan2(diff_y, diff_x); + expanded_right_bound_2d.back().x() = + orig_right_bound_2d.back().x() - right_offset * std::cos(theta); + expanded_right_bound_2d.back().y() = + orig_right_bound_2d.back().y() - right_offset * std::sin(theta); + expanded_left_bound_2d.back().x() = + orig_left_bound_2d.back().x() - left_offset * std::cos(theta); + expanded_left_bound_2d.back().y() = + orig_left_bound_2d.back().y() - left_offset * std::sin(theta); + } + rclcpp::Clock clock{RCL_ROS_TIME}; try { checkForInversion(orig_left_bound_2d, expanded_left_bound_2d, left_offset); diff --git a/planning/behavior_path_planner/src/utilities.cpp b/planning/behavior_path_planner/src/utilities.cpp index a2c3545d65c7c..ca29304a65b22 100644 --- a/planning/behavior_path_planner/src/utilities.cpp +++ b/planning/behavior_path_planner/src/utilities.cpp @@ -1227,7 +1227,10 @@ OccupancyGrid generateDrivableArea( } // Closing - constexpr int num_iter = 10; // TODO(Horibe) Think later. + // NOTE: Because of the discretization error, there may be some discontinuity between two + // successive lanelets in the drivable area. This issue is dealt with by the erode/dilate + // process. + constexpr int num_iter = 1; cv::Mat cv_erode, cv_dilate; cv::erode(cv_image, cv_erode, cv::Mat(), cv::Point(-1, -1), num_iter); cv::dilate(cv_erode, cv_dilate, cv::Mat(), cv::Point(-1, -1), num_iter); From 3c02b13469ef982e5445b113d7106cb23173a7ae Mon Sep 17 00:00:00 2001 From: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> Date: Sat, 17 Sep 2022 11:48:19 +0900 Subject: [PATCH 038/202] ci: add slack-send.yaml (#133) Signed-off-by: Kenji Miyake Signed-off-by: Kenji Miyake --- .github/workflows/slack-send.yaml | 25 +++++++++++++++++++++++++ 1 file changed, 25 insertions(+) create mode 100644 .github/workflows/slack-send.yaml diff --git a/.github/workflows/slack-send.yaml b/.github/workflows/slack-send.yaml new file mode 100644 index 0000000000000..973b08674f7e8 --- /dev/null +++ b/.github/workflows/slack-send.yaml @@ -0,0 +1,25 @@ +name: slack-send +on: + workflow_run: + workflows: + - build-and-test + types: + - completed + +jobs: + on-failure: + if: ${{ github.event.workflow_run.conclusion == 'failure' }} + runs-on: ubuntu-latest + steps: + - name: Check out repository + uses: actions/checkout@v3 + + - name: Send to Slack workflow + uses: slackapi/slack-github-action@v1 + with: + payload: | + { + "workflow-url": "${{ github.event.workflow_run.html_url }}" + } + env: + SLACK_WEBHOOK_URL: ${{ secrets.SLACK_WORKFLOW_WEBHOOK_URL }} From 02a740a86a01c10546741a36dadd85c4afd7dcf6 Mon Sep 17 00:00:00 2001 From: "tier4-autoware-public-bot[bot]" <98652886+tier4-autoware-public-bot[bot]@users.noreply.github.com> Date: Sun, 5 Mar 2023 01:29:54 +0000 Subject: [PATCH 039/202] chore: sync upstream (#302) chore(typo): fix typos in comment (#2999) Co-authored-by: Kotaro Yoshimoto --- .../src/pid_longitudinal_controller.cpp | 2 +- .../src/tracker/model/big_vehicle_tracker.cpp | 2 +- .../config/intersection.param.yaml | 2 +- .../scene_module/intersection/scene_intersection.hpp | 4 ++-- .../behavior_velocity_planner/include/utilization/util.hpp | 2 +- .../accel_brake_map_calibrator_node.hpp | 6 +++--- .../src/accel_brake_map_calibrator_node.cpp | 2 +- 7 files changed, 10 insertions(+), 10 deletions(-) diff --git a/control/pid_longitudinal_controller/src/pid_longitudinal_controller.cpp b/control/pid_longitudinal_controller/src/pid_longitudinal_controller.cpp index 16b477387a598..b435e5e4f589f 100644 --- a/control/pid_longitudinal_controller/src/pid_longitudinal_controller.cpp +++ b/control/pid_longitudinal_controller/src/pid_longitudinal_controller.cpp @@ -924,7 +924,7 @@ double PidLongitudinalController::applyVelocityFeedback( m_pid_vel.calculate(error_vel_filtered, dt, enable_integration, pid_contributions); // Feedforward scaling: - // This is for the coordinate convertion where feedforward is applied, from Time to Arclength. + // This is for the coordinate conversion where feedforward is applied, from Time to Arclength. // Details: For accurate control, the feedforward should be calculated in the arclength coordinate // system, not in the time coordinate system. Otherwise, even if FF is applied, the vehicle speed // deviation will be bigger. diff --git a/perception/multi_object_tracker/src/tracker/model/big_vehicle_tracker.cpp b/perception/multi_object_tracker/src/tracker/model/big_vehicle_tracker.cpp index 12086daa23463..c147035345901 100644 --- a/perception/multi_object_tracker/src/tracker/model/big_vehicle_tracker.cpp +++ b/perception/multi_object_tracker/src/tracker/model/big_vehicle_tracker.cpp @@ -132,7 +132,7 @@ BigVehicleTracker::BigVehicleTracker( object.shape.dimensions.x, object.shape.dimensions.y, object.shape.dimensions.z}; last_input_bounding_box_ = bounding_box_; } else { - // past defalut value + // past default value // bounding_box_ = {7.0, 2.0, 2.0}; autoware_auto_perception_msgs::msg::DetectedObject bbox_object; utils::convertConvexHullToBoundingBox(object, bbox_object); diff --git a/planning/behavior_velocity_planner/config/intersection.param.yaml b/planning/behavior_velocity_planner/config/intersection.param.yaml index c46861d32a384..7d4cce642b2fb 100644 --- a/planning/behavior_velocity_planner/config/intersection.param.yaml +++ b/planning/behavior_velocity_planner/config/intersection.param.yaml @@ -21,7 +21,7 @@ use_stuck_stopline: false # stopline generate before the intersection lanelet when is_stuck assumed_front_car_decel: 1.0 # [m/ss] the expected deceleration of front car when front car as well as ego are turning enable_front_car_decel_prediction: false # By default this feature is disabled - stop_overshoot_margin: 0.5 # [m] overshoot margin for stuck, collsion detection + stop_overshoot_margin: 0.5 # [m] overshoot margin for stuck, collision detection merge_from_private_road: stop_duration_sec: 1.0 diff --git a/planning/behavior_velocity_planner/include/scene_module/intersection/scene_intersection.hpp b/planning/behavior_velocity_planner/include/scene_module/intersection/scene_intersection.hpp index cf1efca0e8673..a7ae4b496ef5d 100644 --- a/planning/behavior_velocity_planner/include/scene_module/intersection/scene_intersection.hpp +++ b/planning/behavior_velocity_planner/include/scene_module/intersection/scene_intersection.hpp @@ -86,14 +86,14 @@ class IntersectionModule : public SceneModuleInterface double min_predicted_path_confidence; //! minimum confidence value of predicted path to use for collision detection double external_input_timeout; //! used to disable external input - double minimum_ego_predicted_velocity; //! used to calclate ego's future velocity profile + double minimum_ego_predicted_velocity; //! used to calculate ego's future velocity profile double collision_start_margin_time; //! start margin time to check collision double collision_end_margin_time; //! end margin time to check collision bool use_stuck_stopline; //! stopline generate before the intersection lanelet when is_stuck. double assumed_front_car_decel; //! the expected deceleration of front car when front car as well bool enable_front_car_decel_prediction; //! flag for using above feature - double stop_overshoot_margin; //! overshoot margin for stuck, collsion detection + double stop_overshoot_margin; //! overshoot margin for stuck, collision detection }; IntersectionModule( diff --git a/planning/behavior_velocity_planner/include/utilization/util.hpp b/planning/behavior_velocity_planner/include/utilization/util.hpp index a7b3b0457544e..18dab98533616 100644 --- a/planning/behavior_velocity_planner/include/utilization/util.hpp +++ b/planning/behavior_velocity_planner/include/utilization/util.hpp @@ -295,7 +295,7 @@ boost::optional insertStopPoint( const geometry_msgs::msg::Point & stop_point, const size_t stop_seg_idx, PathWithLaneId & output); /* - @brief return 'associatvie' lanes in the intersection. 'associative' means that a lane shares same + @brief return 'associative' lanes in the intersection. 'associative' means that a lane shares same or lane-changeable parent lanes with `lane` and has same turn_direction value. */ std::set getAssociativeIntersectionLanelets( diff --git a/vehicle/accel_brake_map_calibrator/accel_brake_map_calibrator/include/accel_brake_map_calibrator/accel_brake_map_calibrator_node.hpp b/vehicle/accel_brake_map_calibrator/accel_brake_map_calibrator/include/accel_brake_map_calibrator/accel_brake_map_calibrator_node.hpp index a00f780379d41..e7d6be502285f 100644 --- a/vehicle/accel_brake_map_calibrator/accel_brake_map_calibrator/include/accel_brake_map_calibrator/accel_brake_map_calibrator_node.hpp +++ b/vehicle/accel_brake_map_calibrator/accel_brake_map_calibrator/include/accel_brake_map_calibrator/accel_brake_map_calibrator_node.hpp @@ -296,13 +296,13 @@ class AccelBrakeMapCalibrator : public rclcpp::Node bool isTimeout(const DataStampedPtr & data_stamped, const double timeout_sec); /* for covariance calculation */ - // mean value on each cell (counting methoud depends on the update algorithm) + // mean value on each cell (counting method depends on the update algorithm) Eigen::MatrixXd accel_data_mean_mat_; Eigen::MatrixXd brake_data_mean_mat_; - // calculated vairiance on each cell + // calculated variance on each cell Eigen::MatrixXd accel_data_covariance_mat_; Eigen::MatrixXd brake_data_covariance_mat_; - // number of data on each cell (counting methoud depends on the update algorithm) + // number of data on each cell (counting method depends on the update algorithm) Eigen::MatrixXd accel_data_num_; Eigen::MatrixXd brake_data_num_; diff --git a/vehicle/accel_brake_map_calibrator/accel_brake_map_calibrator/src/accel_brake_map_calibrator_node.cpp b/vehicle/accel_brake_map_calibrator/accel_brake_map_calibrator/src/accel_brake_map_calibrator_node.cpp index 0b24f6c4d41c0..e2707a51160b3 100644 --- a/vehicle/accel_brake_map_calibrator/accel_brake_map_calibrator/src/accel_brake_map_calibrator_node.cpp +++ b/vehicle/accel_brake_map_calibrator/accel_brake_map_calibrator/src/accel_brake_map_calibrator_node.cpp @@ -155,7 +155,7 @@ AccelBrakeMapCalibrator::AccelBrakeMapCalibrator(const rclcpp::NodeOptions & nod std::copy(accel_map_value_.begin(), accel_map_value_.end(), update_accel_map_value_.begin()); std::copy(brake_map_value_.begin(), brake_map_value_.end(), update_brake_map_value_.begin()); - // inialize matrix for covariance calculation + // initialize matrix for covariance calculation { const auto genConstMat = [](const Map & map, const auto val) { return Eigen::MatrixXd::Constant(map.size(), map.at(0).size(), val); From dc16a31c8c2bbeb7ca76fe8a46aa4737624c5801 Mon Sep 17 00:00:00 2001 From: Shumpei Wakabayashi <42209144+shmpwk@users.noreply.github.com> Date: Fri, 10 Mar 2023 22:09:01 +0900 Subject: [PATCH 040/202] ci: dispatch release note repository (#313) Signed-off-by: Shumpei Wakabayashi --- .github/workflows/dispatch-release-note.yaml | 39 ++++++++++++++++++++ 1 file changed, 39 insertions(+) create mode 100644 .github/workflows/dispatch-release-note.yaml diff --git a/.github/workflows/dispatch-release-note.yaml b/.github/workflows/dispatch-release-note.yaml new file mode 100644 index 0000000000000..690b2fedbbff5 --- /dev/null +++ b/.github/workflows/dispatch-release-note.yaml @@ -0,0 +1,39 @@ +name: dispatch-release-note +on: + push: + branches: + - beta/v* + - tier4/main + tags: + - v* + workflow_dispatch: + inputs: + beta-branch-or-tag-name: + description: The name of the beta branch or tag to write release note + type: string + required: true +jobs: + dispatch-release-note: + runs-on: ubuntu-latest + name: release-repository-dispatch + steps: + - name: Set tag name + id: set-tag-name + run: | + if [ "${{ github.event_name }}" = "workflow_dispatch" ]; then + REF_NAME="${{ github.event.inputs.beta-branch-or-tag-name }}" + else + REF_NAME="${{ github.ref_name }}" + fi + echo ::set-output name=ref-name::"$REF_NAME" + echo ::set-output name=tag-name::"${REF_NAME#beta/}" + + - name: Repository dispatch for release note + run: | + curl \ + -X POST \ + -H "Accept: application/vnd.github+json" \ + -H "Authorization: Bearer ${{ secrets.GITHUB_TOKEN }}" \ + -H "X-GitHub-Api-Version: 2022-11-28" \ + "https://api.github.com/repos/tier4/update-release-notes/dispatches" \ + -d '{"event_type":"${{ steps.set-tag-name.outputs.ref-name }}"}' From 057d0da1776c05363d136930c8ab48a8deb54042 Mon Sep 17 00:00:00 2001 From: Shumpei Wakabayashi <42209144+shmpwk@users.noreply.github.com> Date: Tue, 14 Mar 2023 17:58:47 +0900 Subject: [PATCH 041/202] ci(dispatch-release-note): use Github Apps instead of GIHUB_TOKEN (#315) * ci(dispatch-release-note): use Github Apps instead of GIHUB_TOKEN Signed-off-by: Shumpei Wakabayashi * fix typo * chore: remove white space Signed-off-by: Shumpei Wakabayashi --------- Signed-off-by: Shumpei Wakabayashi Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> --- .github/workflows/dispatch-release-note.yaml | 9 ++++++++- 1 file changed, 8 insertions(+), 1 deletion(-) diff --git a/.github/workflows/dispatch-release-note.yaml b/.github/workflows/dispatch-release-note.yaml index 690b2fedbbff5..0245e2b929cd8 100644 --- a/.github/workflows/dispatch-release-note.yaml +++ b/.github/workflows/dispatch-release-note.yaml @@ -28,12 +28,19 @@ jobs: echo ::set-output name=ref-name::"$REF_NAME" echo ::set-output name=tag-name::"${REF_NAME#beta/}" + - name: Generate token + id: generate-token + uses: tibdex/github-app-token@v1 + with: + app_id: ${{ secrets.APP_ID }} + private_key: ${{ secrets.PRIVATE_KEY }} + - name: Repository dispatch for release note run: | curl \ -X POST \ -H "Accept: application/vnd.github+json" \ - -H "Authorization: Bearer ${{ secrets.GITHUB_TOKEN }}" \ + -H "Authorization: token ${{ steps.generate-token.outputs.token }}" \ -H "X-GitHub-Api-Version: 2022-11-28" \ "https://api.github.com/repos/tier4/update-release-notes/dispatches" \ -d '{"event_type":"${{ steps.set-tag-name.outputs.ref-name }}"}' From 38d3e7e7646aa9ab89a9fedb090ac801e9d25bab Mon Sep 17 00:00:00 2001 From: Shumpei Wakabayashi <42209144+shmpwk@users.noreply.github.com> Date: Wed, 26 Apr 2023 11:44:40 +0900 Subject: [PATCH 042/202] ci(sync-upstream): run weekdays except holidays (#379) --- .github/workflows/sync-upstream.yaml | 15 ++++++++++++++- 1 file changed, 14 insertions(+), 1 deletion(-) diff --git a/.github/workflows/sync-upstream.yaml b/.github/workflows/sync-upstream.yaml index 3e164c07dbec1..267fe2135a627 100644 --- a/.github/workflows/sync-upstream.yaml +++ b/.github/workflows/sync-upstream.yaml @@ -2,7 +2,7 @@ name: sync-upstream on: schedule: - - cron: 0 0 * * * + - cron: 0 1 * * 1-5 workflow_dispatch: jobs: @@ -16,8 +16,21 @@ jobs: app_id: ${{ secrets.APP_ID }} private_key: ${{ secrets.PRIVATE_KEY }} + - uses: actions/setup-node@v3 + with: + node-version: 16 + + - run: npm install @holiday-jp/holiday_jp + + - uses: actions/github-script@v6 + id: is-holiday + with: + script: | + const holiday_jp = require(`${process.env.GITHUB_WORKSPACE}/node_modules/@holiday-jp/holiday_jp`) + core.setOutput('holiday', holiday_jp.isHoliday(new Date())); - name: Run sync-branches uses: autowarefoundation/autoware-github-actions/sync-branches@v1 + if: ${{ steps.is-holiday.outputs.holiday != 'true' || github.event_name == 'workflow_dispatch' }} with: token: ${{ steps.generate-token.outputs.token }} base-branch: tier4/main From 1a110178b53334103edf82ad12e132ee5e23f389 Mon Sep 17 00:00:00 2001 From: Keisuke Shima <19993104+KeisukeShima@users.noreply.github.com> Date: Fri, 8 Sep 2023 11:36:37 +0900 Subject: [PATCH 043/202] ci: add dispatch-push-event workflow (#803) * ci: add dispatch-push-event workflow Signed-off-by: Keisuke Shima <19993104+KeisukeShima@users.noreply.github.com> * fix: change APP KEY Signed-off-by: Keisuke Shima <19993104+KeisukeShima@users.noreply.github.com> * chore: use strategy Signed-off-by: Keisuke Shima <19993104+KeisukeShima@users.noreply.github.com> * chore: change trigger Signed-off-by: Keisuke Shima <19993104+KeisukeShima@users.noreply.github.com> * pre-commit fixes Signed-off-by: Keisuke Shima <19993104+KeisukeShima@users.noreply.github.com> * Update .github/workflows/dispatch-push-event.yaml * Update .github/workflows/dispatch-push-event.yaml * style(pre-commit): autofix * Update .github/workflows/dispatch-push-event.yaml --------- Signed-off-by: Keisuke Shima <19993104+KeisukeShima@users.noreply.github.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- .github/workflows/dispatch-push-event.yaml | 45 ++++++++++++++++++++++ 1 file changed, 45 insertions(+) create mode 100644 .github/workflows/dispatch-push-event.yaml diff --git a/.github/workflows/dispatch-push-event.yaml b/.github/workflows/dispatch-push-event.yaml new file mode 100644 index 0000000000000..492083c8038f6 --- /dev/null +++ b/.github/workflows/dispatch-push-event.yaml @@ -0,0 +1,45 @@ +name: dispatch-push-event +on: + push: + +jobs: + search-dispatch-repo: + runs-on: ubuntu-latest + strategy: + matrix: + include: + - { version: beta/v0.3.**, dispatch-repo: pilot-auto.x1.eve } + outputs: + dispatch-repo: ${{ steps.search-dispatch-repo.outputs.value }} + steps: + - name: Search dispatch repo + id: search-dispatch-repo + run: | + if [[ ${{ github.ref_name }} =~ ${{ matrix.version }} ]]; then + echo ::set-output name=value::"${{ matrix.dispatch-repo }}" + echo "Detected beta branch: ${{ github.ref_name }}" + echo "Dispatch repository: ${{ matrix.dispatch-repo }}" + fi + + dispatch-push-event: + runs-on: ubuntu-latest + needs: search-dispatch-repo + if: ${{ needs.search-dispatch-repo.outputs.dispatch-repo != '' }} + steps: + - name: Generate token + id: generate-token + uses: tibdex/github-app-token@v1 + with: + app_id: ${{ secrets.INTERNAL_APP_ID }} + private_key: ${{ secrets.INTERNAL_PRIVATE_KEY }} + + # 注意: workflow_dispatchで指定するブランチはmain固定となっているため、dispatch-repoのmainブランチにupdate-beta-branch.yamlが存在することが前提条件。 + - name: Dispatch the update-beta-branch workflow + run: | + curl -L \ + -X POST \ + -H "Accept: application/vnd.github+json" \ + -H "Authorization: Bearer ${{ steps.generate-token.outputs.token }}" \ + -H "X-GitHub-Api-Version: 2022-11-28" \ + https://api.github.com/repos/tier4/${{ needs.search-dispatch-repo.outputs.dispatch-repo }}/actions/workflows/update-beta-branch.yaml/dispatches \ + -d '{"ref":"main"}' From 81a3c6d9f4147ef1413430e7002e66c54916f81b Mon Sep 17 00:00:00 2001 From: Tomoya Kimura Date: Tue, 12 Sep 2023 15:23:39 +0900 Subject: [PATCH 044/202] chore: update sync upstream script (#792) * chore: update sync upstream script Signed-off-by: tomoya.kimura * style(pre-commit): autofix --------- Signed-off-by: tomoya.kimura Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- .github/workflows/sync-upstream.yaml | 16 ++++++++++++---- 1 file changed, 12 insertions(+), 4 deletions(-) diff --git a/.github/workflows/sync-upstream.yaml b/.github/workflows/sync-upstream.yaml index 267fe2135a627..90420ec404042 100644 --- a/.github/workflows/sync-upstream.yaml +++ b/.github/workflows/sync-upstream.yaml @@ -1,9 +1,12 @@ name: sync-upstream on: - schedule: - - cron: 0 1 * * 1-5 workflow_dispatch: + inputs: + target_branch: + description: Target branch + required: true + type: string jobs: sync-upstream: @@ -28,12 +31,17 @@ jobs: script: | const holiday_jp = require(`${process.env.GITHUB_WORKSPACE}/node_modules/@holiday-jp/holiday_jp`) core.setOutput('holiday', holiday_jp.isHoliday(new Date())); + - name: Print warning for invalid branch name + if: ${{ inputs.target_branch == 'tier4/main' }} + run: | + echo This action cannot be performed on 'tier4/main' branch + - name: Run sync-branches + if: ${{ inputs.target_branch != 'tier4/main' }} uses: autowarefoundation/autoware-github-actions/sync-branches@v1 - if: ${{ steps.is-holiday.outputs.holiday != 'true' || github.event_name == 'workflow_dispatch' }} with: token: ${{ steps.generate-token.outputs.token }} - base-branch: tier4/main + base-branch: ${{ inputs.target_branch }} sync-pr-branch: sync-upstream sync-target-repository: https://github.com/autowarefoundation/autoware.universe.git sync-target-branch: main From 18b27a241e73729308989aa18d6e5942dac21daf Mon Sep 17 00:00:00 2001 From: Tomoya Kimura Date: Tue, 12 Sep 2023 15:23:50 +0900 Subject: [PATCH 045/202] chore: add workflow to merge beta branch to tier4 main (#811) * chore: add workflow to merge beta branch to tier4 main Signed-off-by: tomoya.kimura * fix: fix variable name Signed-off-by: tomoya.kimura --------- Signed-off-by: tomoya.kimura --- .../workflows/beta-to-tier4-main-sync.yaml | 34 +++++++++++++++++++ 1 file changed, 34 insertions(+) create mode 100644 .github/workflows/beta-to-tier4-main-sync.yaml diff --git a/.github/workflows/beta-to-tier4-main-sync.yaml b/.github/workflows/beta-to-tier4-main-sync.yaml new file mode 100644 index 0000000000000..53f40f1e811ab --- /dev/null +++ b/.github/workflows/beta-to-tier4-main-sync.yaml @@ -0,0 +1,34 @@ +name: beta-to-tier4-main-sync + +on: + workflow_dispatch: + inputs: + source_branch: + description: Source branch + required: true + type: string + +jobs: + sync-beta-branch: + runs-on: ubuntu-latest + steps: + - name: Generate token + id: generate-token + uses: tibdex/github-app-token@v1 + with: + app_id: ${{ secrets.APP_ID }} + private_key: ${{ secrets.PRIVATE_KEY }} + + - name: Run sync-branches + uses: autowarefoundation/autoware-github-actions/sync-branches@v1 + with: + token: ${{ steps.generate-token.outputs.token }} + base-branch: tier4/main + sync-pr-branch: beta-to-tier4-main-sync + sync-target-repository: https://github.com/tier4/autoware.universe.git + sync-target-branch: ${{ inputs.source_branch }} + pr-title: "chore: sync beta branch ${{ inputs.source_branch }} with tier4/main" + pr-labels: | + bot + sync-beta-branch + auto-merge-method: merge From 3399a5333d14f9f109d8eddfc337afca758cd413 Mon Sep 17 00:00:00 2001 From: Shunsuke Miura Date: Thu, 14 Sep 2023 02:18:08 +0900 Subject: [PATCH 046/202] fix: camera lidar fusion launch Signed-off-by: Shunsuke Miura --- .../camera_lidar_fusion_based_detection.launch.xml | 13 +------------ 1 file changed, 1 insertion(+), 12 deletions(-) diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml index 5f92d25022a22..eab2a56607dee 100644 --- a/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml +++ b/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml @@ -339,22 +339,11 @@ - - - - - - - - - - - - + From 1648a2b1979bdbdf4bad1f0fc670a899731784e2 Mon Sep 17 00:00:00 2001 From: Takamasa Horibe Date: Thu, 14 Sep 2023 19:44:29 +0900 Subject: [PATCH 047/202] fix(resample): remove duplicated poinnt before resampling (#4965) Signed-off-by: Takamasa Horibe --- common/motion_utils/src/resample/resample.cpp | 7 +++++-- 1 file changed, 5 insertions(+), 2 deletions(-) diff --git a/common/motion_utils/src/resample/resample.cpp b/common/motion_utils/src/resample/resample.cpp index 091f3405e2815..1a800a38d1051 100644 --- a/common/motion_utils/src/resample/resample.cpp +++ b/common/motion_utils/src/resample/resample.cpp @@ -109,13 +109,16 @@ std::vector resamplePointVector( } std::vector resamplePoseVector( - const std::vector & points, + const std::vector & points_raw, const std::vector & resampled_arclength, const bool use_akima_spline_for_xy, const bool use_lerp_for_z) { + // Remove overlap points for resampling + const auto points = motion_utils::removeOverlapPoints(points_raw); + // validate arguments if (!resample_utils::validate_arguments(points, resampled_arclength)) { - return points; + return points_raw; } std::vector position(points.size()); From 18427ca0cf28e8a1ff0ff2f3b49ff2f5797078b1 Mon Sep 17 00:00:00 2001 From: Takamasa Horibe Date: Thu, 14 Sep 2023 23:04:17 +0900 Subject: [PATCH 048/202] fix(start_planner): uninitialized hysteresis_factor_expand_rate (#838) Signed-off-by: Takamasa Horibe --- .../utils/start_planner/start_planner_parameters.hpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/planning/behavior_path_planner/include/behavior_path_planner/utils/start_planner/start_planner_parameters.hpp b/planning/behavior_path_planner/include/behavior_path_planner/utils/start_planner/start_planner_parameters.hpp index 771fbd93f7196..4c095a38e7f73 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/utils/start_planner/start_planner_parameters.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/utils/start_planner/start_planner_parameters.hpp @@ -83,7 +83,7 @@ struct StartPlannerParameters double maximum_jerk_for_stop; // hysteresis parameter - double hysteresis_factor_expand_rate; + double hysteresis_factor_expand_rate = 0.0; // path safety checker utils::path_safety_checker::EgoPredictedPathParams ego_predicted_path_params; From 226611067153f4ba48731d74196eab046f05e290 Mon Sep 17 00:00:00 2001 From: Takamasa Horibe Date: Thu, 28 Sep 2023 14:20:28 +0900 Subject: [PATCH 049/202] fix(autoware_auto_tf2): remove tf2 geometry function duplicated in tf2 geometry msgs (#5089) (#887) Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> --- common/autoware_auto_geometry/CMakeLists.txt | 6 --- common/autoware_auto_tf2/CMakeLists.txt | 5 -- .../tf2_autoware_auto_msgs.hpp | 51 ------------------- planning/behavior_path_planner/CMakeLists.txt | 6 --- .../surround_obstacle_checker/CMakeLists.txt | 6 --- 5 files changed, 74 deletions(-) diff --git a/common/autoware_auto_geometry/CMakeLists.txt b/common/autoware_auto_geometry/CMakeLists.txt index bf48e8fcaca3f..454e0e7ef044f 100644 --- a/common/autoware_auto_geometry/CMakeLists.txt +++ b/common/autoware_auto_geometry/CMakeLists.txt @@ -12,12 +12,6 @@ ament_auto_add_library(${PROJECT_NAME} SHARED src/bounding_box.cpp ) -if(tf2_geometry_msgs_VERSION VERSION_LESS 0.25.4) - target_compile_definitions(${PROJECT_NAME} PRIVATE - DEFINE_LEGACY_FUNCTION - ) -endif() - if(BUILD_TESTING) set(GEOMETRY_GTEST geometry_gtest) set(GEOMETRY_SRC test/src/test_geometry.cpp diff --git a/common/autoware_auto_tf2/CMakeLists.txt b/common/autoware_auto_tf2/CMakeLists.txt index fe4cec1c0fc89..a8ae9ec2d962e 100755 --- a/common/autoware_auto_tf2/CMakeLists.txt +++ b/common/autoware_auto_tf2/CMakeLists.txt @@ -17,11 +17,6 @@ if(BUILD_TESTING) "tf2_geometry_msgs" "tf2_ros" ) - if(tf2_geometry_msgs_VERSION VERSION_LESS 0.25.4) - target_compile_definitions(test_tf2_autoware_auto_msgs PRIVATE - DEFINE_LEGACY_FUNCTION - ) - endif() endif() ament_auto_package() diff --git a/common/autoware_auto_tf2/include/autoware_auto_tf2/tf2_autoware_auto_msgs.hpp b/common/autoware_auto_tf2/include/autoware_auto_tf2/tf2_autoware_auto_msgs.hpp index ee8d52fa402c0..b35eb6e93ce6e 100644 --- a/common/autoware_auto_tf2/include/autoware_auto_tf2/tf2_autoware_auto_msgs.hpp +++ b/common/autoware_auto_tf2/include/autoware_auto_tf2/tf2_autoware_auto_msgs.hpp @@ -45,57 +45,6 @@ using BoundingBox = autoware_auto_perception_msgs::msg::BoundingBox; namespace tf2 { -#ifdef DEFINE_LEGACY_FUNCTION -/*************/ -/** Point32 **/ -/*************/ - -/** \brief Apply a geometry_msgs TransformStamped to a geometry_msgs Point32 type. - * This function is a specialization of the doTransform template defined in tf2/convert.h. - * \param t_in The point to transform, as a Point32 message. - * \param t_out The transformed point, as a Point32 message. - * \param transform The timestamped transform to apply, as a TransformStamped message. - */ -template <> -inline void doTransform( - const geometry_msgs::msg::Point32 & t_in, geometry_msgs::msg::Point32 & t_out, - const geometry_msgs::msg::TransformStamped & transform) -{ - const KDL::Vector v_out = gmTransformToKDL(transform) * KDL::Vector(t_in.x, t_in.y, t_in.z); - t_out.x = static_cast(v_out[0]); - t_out.y = static_cast(v_out[1]); - t_out.z = static_cast(v_out[2]); -} - -/*************/ -/** Polygon **/ -/*************/ - -/** \brief Apply a geometry_msgs TransformStamped to a geometry_msgs Polygon type. - * This function is a specialization of the doTransform template defined in tf2/convert.h. - * \param t_in The polygon to transform. - * \param t_out The transformed polygon. - * \param transform The timestamped transform to apply, as a TransformStamped message. - */ -template <> -inline void doTransform( - const geometry_msgs::msg::Polygon & t_in, geometry_msgs::msg::Polygon & t_out, - const geometry_msgs::msg::TransformStamped & transform) -{ - // Don't call the Point32 doTransform to avoid doing this conversion every time - const auto kdl_frame = gmTransformToKDL(transform); - // We don't use std::back_inserter to allow aliasing between t_in and t_out - t_out.points.resize(t_in.points.size()); - for (size_t i = 0; i < t_in.points.size(); ++i) { - const KDL::Vector v_out = - kdl_frame * KDL::Vector(t_in.points[i].x, t_in.points[i].y, t_in.points[i].z); - t_out.points[i].x = static_cast(v_out[0]); - t_out.points[i].y = static_cast(v_out[1]); - t_out.points[i].z = static_cast(v_out[2]); - } -} -#endif - /******************/ /** Quaternion32 **/ /******************/ diff --git a/planning/behavior_path_planner/CMakeLists.txt b/planning/behavior_path_planner/CMakeLists.txt index 542d4daa0c676..f62e418371401 100644 --- a/planning/behavior_path_planner/CMakeLists.txt +++ b/planning/behavior_path_planner/CMakeLists.txt @@ -58,12 +58,6 @@ ament_auto_add_library(behavior_path_planner_node SHARED src/marker_utils/lane_change/debug.cpp ) -if(tf2_geometry_msgs_VERSION VERSION_LESS 0.25.4) - target_compile_definitions(behavior_path_planner_node PRIVATE - DEFINE_LEGACY_FUNCTION - ) -endif() - target_include_directories(behavior_path_planner_node SYSTEM PUBLIC ${EIGEN3_INCLUDE_DIR} ) diff --git a/planning/surround_obstacle_checker/CMakeLists.txt b/planning/surround_obstacle_checker/CMakeLists.txt index 694bddf421486..0d7b636646783 100644 --- a/planning/surround_obstacle_checker/CMakeLists.txt +++ b/planning/surround_obstacle_checker/CMakeLists.txt @@ -18,12 +18,6 @@ ament_auto_add_library(${PROJECT_NAME} SHARED src/node.cpp ) -if(tf2_geometry_msgs_VERSION VERSION_LESS 0.25.4) - target_compile_definitions(${PROJECT_NAME} PRIVATE - DEFINE_LEGACY_FUNCTION - ) -endif() - target_link_libraries(${PROJECT_NAME} ${PCL_LIBRARIES} ) From 533127c66518905ea3f0948e2cf1def43d295e91 Mon Sep 17 00:00:00 2001 From: Alexey Panferov <37497658+lexavtanke@users.noreply.github.com> Date: Thu, 28 Sep 2023 16:11:12 +0300 Subject: [PATCH 050/202] fix(lidar_centerpoint): add arg data_path, update model path (#5162) Signed-off-by: Alexey Panferov --- .../centerpoint_vs_centerpoint-tiny.launch.xml | 5 +++-- .../lidar_centerpoint/launch/lidar_centerpoint.launch.xml | 3 ++- .../launch/single_inference_lidar_centerpoint.launch.xml | 3 ++- 3 files changed, 7 insertions(+), 4 deletions(-) diff --git a/perception/lidar_centerpoint/launch/centerpoint_vs_centerpoint-tiny/centerpoint_vs_centerpoint-tiny.launch.xml b/perception/lidar_centerpoint/launch/centerpoint_vs_centerpoint-tiny/centerpoint_vs_centerpoint-tiny.launch.xml index 13fd386238eda..b9c056cfb5686 100644 --- a/perception/lidar_centerpoint/launch/centerpoint_vs_centerpoint-tiny/centerpoint_vs_centerpoint-tiny.launch.xml +++ b/perception/lidar_centerpoint/launch/centerpoint_vs_centerpoint-tiny/centerpoint_vs_centerpoint-tiny.launch.xml @@ -5,6 +5,7 @@ + @@ -21,7 +22,7 @@ - + @@ -35,7 +36,7 @@ - + diff --git a/perception/lidar_centerpoint/launch/lidar_centerpoint.launch.xml b/perception/lidar_centerpoint/launch/lidar_centerpoint.launch.xml index d552cb702b980..a7f181ab78ac6 100644 --- a/perception/lidar_centerpoint/launch/lidar_centerpoint.launch.xml +++ b/perception/lidar_centerpoint/launch/lidar_centerpoint.launch.xml @@ -2,8 +2,9 @@ + - + diff --git a/perception/lidar_centerpoint/launch/single_inference_lidar_centerpoint.launch.xml b/perception/lidar_centerpoint/launch/single_inference_lidar_centerpoint.launch.xml index 0f6923d5e6414..491abfbad7764 100644 --- a/perception/lidar_centerpoint/launch/single_inference_lidar_centerpoint.launch.xml +++ b/perception/lidar_centerpoint/launch/single_inference_lidar_centerpoint.launch.xml @@ -1,7 +1,8 @@ + - + From 0810eb71f2dd6da8d77ffb2b6eb89211a349e7b6 Mon Sep 17 00:00:00 2001 From: Alexey Panferov <37497658+lexavtanke@users.noreply.github.com> Date: Thu, 28 Sep 2023 16:30:47 +0300 Subject: [PATCH 051/202] feat(perception_launch): add data_path arg to perception launch (#5069) * feat(perception_launch): add var data_path to perception.launch Signed-off-by: Alexey Panferov * feat(perception_launch): update default center_point_model_path Signed-off-by: Alexey Panferov --------- Signed-off-by: Alexey Panferov --- .../detection/lidar_based_detection.launch.xml | 2 +- .../tier4_perception_launch/launch/perception.launch.xml | 7 ++++--- 2 files changed, 5 insertions(+), 4 deletions(-) diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml index 23e0297dc5e44..3b6b9ba652a24 100644 --- a/launch/tier4_perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml +++ b/launch/tier4_perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml @@ -10,7 +10,7 @@ - + diff --git a/launch/tier4_perception_launch/launch/perception.launch.xml b/launch/tier4_perception_launch/launch/perception.launch.xml index 36d43bab74894..b0219376e9625 100644 --- a/launch/tier4_perception_launch/launch/perception.launch.xml +++ b/launch/tier4_perception_launch/launch/perception.launch.xml @@ -25,11 +25,12 @@ - + + @@ -78,11 +79,11 @@ - + Date: Thu, 28 Sep 2023 15:11:27 +0300 Subject: [PATCH 052/202] fix(traffic_light_fine_detector): add data_path arg and update default model path (#5118) * fix(traffic_light_fine_detector): add data_path arg and update default model path Signed-off-by: Alexey Panferov * fix(traffic_light_fine_detector): update README with data path arg Signed-off-by: Alexey Panferov * style(pre-commit): autofix --------- Signed-off-by: Alexey Panferov Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- perception/traffic_light_fine_detector/README.md | 13 +++++++------ .../launch/traffic_light_fine_detector.launch.xml | 5 +++-- 2 files changed, 10 insertions(+), 8 deletions(-) diff --git a/perception/traffic_light_fine_detector/README.md b/perception/traffic_light_fine_detector/README.md index 1ed6debfeae91..dcc89c76387c6 100644 --- a/perception/traffic_light_fine_detector/README.md +++ b/perception/traffic_light_fine_detector/README.md @@ -50,12 +50,13 @@ Based on the camera image and the global ROI array detected by `map_based_detect ### Node Parameters -| Name | Type | Default Value | Description | -| -------------------------- | ------ | ------------- | ------------------------------------------------------------------ | -| `fine_detector_model_path` | string | "" | The onnx file name for yolo model | -| `fine_detector_label_path` | string | "" | The label file with label names for detected objects written on it | -| `fine_detector_precision` | string | "fp32" | The inference mode: "fp32", "fp16" | -| `approximate_sync` | bool | false | Flag for whether to ues approximate sync policy | +| Name | Type | Default Value | Description | +| -------------------------- | ------ | --------------------------- | ------------------------------------------------------------------ | +| `data_path` | string | "$(env HOME)/autoware_data" | packages data and artifacts directory path | +| `fine_detector_model_path` | string | "" | The onnx file name for yolo model | +| `fine_detector_label_path` | string | "" | The label file with label names for detected objects written on it | +| `fine_detector_precision` | string | "fp32" | The inference mode: "fp32", "fp16" | +| `approximate_sync` | bool | false | Flag for whether to ues approximate sync policy | ## Assumptions / Known limits diff --git a/perception/traffic_light_fine_detector/launch/traffic_light_fine_detector.launch.xml b/perception/traffic_light_fine_detector/launch/traffic_light_fine_detector.launch.xml index 5ce7840c28fd6..6e32d3410c260 100644 --- a/perception/traffic_light_fine_detector/launch/traffic_light_fine_detector.launch.xml +++ b/perception/traffic_light_fine_detector/launch/traffic_light_fine_detector.launch.xml @@ -1,6 +1,7 @@ - - + + + From 5fffdbd5fa8fa5f64bfc10f3a99b70baffd9663c Mon Sep 17 00:00:00 2001 From: Alexey Panferov <37497658+lexavtanke@users.noreply.github.com> Date: Thu, 28 Sep 2023 15:52:00 +0300 Subject: [PATCH 053/202] fix(tensorrt_yolox): add data_path arg and update default model path (#5119) * fix(tensorrt_yolox): add data_path arg and update default model path Signed-off-by: Alexey Panferov * fix(tensorrt_yolox): update README Signed-off-by: Alexey Panferov --------- Signed-off-by: Alexey Panferov --- perception/tensorrt_yolox/README.md | 4 ++-- perception/tensorrt_yolox/launch/yolox_s_plus_opt.launch.xml | 3 ++- perception/tensorrt_yolox/launch/yolox_tiny.launch.xml | 3 ++- 3 files changed, 6 insertions(+), 4 deletions(-) diff --git a/perception/tensorrt_yolox/README.md b/perception/tensorrt_yolox/README.md index 3c253a0b68489..ca407b1ff6811 100644 --- a/perception/tensorrt_yolox/README.md +++ b/perception/tensorrt_yolox/README.md @@ -71,7 +71,7 @@ those are labeled as `UNKNOWN`, while detected rectangles are drawn in the visua ## Onnx model -A sample model (named `yolox-tiny.onnx`) is downloaded automatically during the build process. +A sample model (named `yolox-tiny.onnx`) is downloaded by ansible script on env preparation stage, if not, please, follow [Manual downloading of artifacts](https://github.com/autowarefoundation/autoware/tree/main/ansible/roles/artifacts). To accelerate Non-maximum-suppression (NMS), which is one of the common post-process after object detection inference, `EfficientNMS_TRT` module is attached after the ordinal YOLOX (tiny) network. The `EfficientNMS_TRT` module contains fixed values for `score_threshold` and `nms_threshold` in it, @@ -146,7 +146,7 @@ Please refer [the official document](https://github.com/Megvii-BaseDetection/YOL ## Label file -A sample label file (named `label.txt`)is also downloaded automatically during the build process +A sample label file (named `label.txt`)is also downloaded automatically during env preparation process (**NOTE:** This file is incompatible with models that output labels for the COCO dataset (e.g., models from the official YOLOX repository)). This file represents the correspondence between class index (integer outputted from YOLOX network) and diff --git a/perception/tensorrt_yolox/launch/yolox_s_plus_opt.launch.xml b/perception/tensorrt_yolox/launch/yolox_s_plus_opt.launch.xml index cb89f5829c65d..3f8d7897ab5d3 100644 --- a/perception/tensorrt_yolox/launch/yolox_s_plus_opt.launch.xml +++ b/perception/tensorrt_yolox/launch/yolox_s_plus_opt.launch.xml @@ -4,7 +4,8 @@ - + + diff --git a/perception/tensorrt_yolox/launch/yolox_tiny.launch.xml b/perception/tensorrt_yolox/launch/yolox_tiny.launch.xml index d8c67e39e0b8a..2f08031ea159f 100644 --- a/perception/tensorrt_yolox/launch/yolox_tiny.launch.xml +++ b/perception/tensorrt_yolox/launch/yolox_tiny.launch.xml @@ -3,7 +3,8 @@ - + + From 7822596b1361a6c09a3e4ad2a367366ce0c2e275 Mon Sep 17 00:00:00 2001 From: Alexey Panferov <37497658+lexavtanke@users.noreply.github.com> Date: Thu, 28 Sep 2023 15:13:18 +0300 Subject: [PATCH 054/202] fix(traffic_light_ssd_fine_detector): add arg data_path, update model file path (#5141) * fix(traffic_light_ssd_fine_detector): add arg data_path, update model file path Signed-off-by: Alexey Panferov * fix(traffic_light_ssd_fine_detector): update README with data_path arg Signed-off-by: Alexey Panferov * style(pre-commit): autofix --------- Signed-off-by: Alexey Panferov Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- .../traffic_light_ssd_fine_detector/README.md | 19 ++++++++++--------- ...traffic_light_ssd_fine_detector.launch.xml | 5 +++-- 2 files changed, 13 insertions(+), 11 deletions(-) diff --git a/perception/traffic_light_ssd_fine_detector/README.md b/perception/traffic_light_ssd_fine_detector/README.md index 1dd05665709f5..4dbda8421d85d 100644 --- a/perception/traffic_light_ssd_fine_detector/README.md +++ b/perception/traffic_light_ssd_fine_detector/README.md @@ -122,15 +122,16 @@ Based on the camera image and the global ROI array detected by `map_based_detect ### Node Parameters -| Name | Type | Default Value | Description | -| ------------------ | ------ | ------------------------------ | -------------------------------------------------------------------- | -| `onnx_file` | string | "./data/mb2-ssd-lite-tlr.onnx" | The onnx file name for yolo model | -| `label_file` | string | "./data/voc_labels_tl.txt" | The label file with label names for detected objects written on it | -| `dnn_header_type` | string | "pytorch" | Name of DNN trained toolbox: "pytorch" or "mmdetection" | -| `mode` | string | "FP32" | The inference mode: "FP32", "FP16", "INT8" | -| `max_batch_size` | int | 8 | The size of the batch processed at one time by inference by TensorRT | -| `approximate_sync` | bool | false | Flag for whether to ues approximate sync policy | -| `build_only` | bool | false | shutdown node after TensorRT engine file is built | +| Name | Type | Default Value | Description | +| ------------------ | ------ | ------------------------------------------------------------------------ | -------------------------------------------------------------------- | +| `data_path` | string | "$(env HOME)/autoware_data" | packages data and artifacts directory path | +| `onnx_file` | string | "$(var data_path)/traffic_light_ssd_fine_detector/mb2-ssd-lite-tlr.onnx" | The onnx file name for yolo model | +| `label_file` | string | "$(var data_path)/traffic_light_ssd_fine_detector/voc_labels_tl.txt" | The label file with label names for detected objects written on it | +| `dnn_header_type` | string | "pytorch" | Name of DNN trained toolbox: "pytorch" or "mmdetection" | +| `mode` | string | "FP32" | The inference mode: "FP32", "FP16", "INT8" | +| `max_batch_size` | int | 8 | The size of the batch processed at one time by inference by TensorRT | +| `approximate_sync` | bool | false | Flag for whether to ues approximate sync policy | +| `build_only` | bool | false | shutdown node after TensorRT engine file is built | ## Assumptions / Known limits diff --git a/perception/traffic_light_ssd_fine_detector/launch/traffic_light_ssd_fine_detector.launch.xml b/perception/traffic_light_ssd_fine_detector/launch/traffic_light_ssd_fine_detector.launch.xml index a4d61b774652a..714c4d288b603 100644 --- a/perception/traffic_light_ssd_fine_detector/launch/traffic_light_ssd_fine_detector.launch.xml +++ b/perception/traffic_light_ssd_fine_detector/launch/traffic_light_ssd_fine_detector.launch.xml @@ -1,6 +1,7 @@ - - + + + From 55de0b46a0989053a0278e0271867c7287142d64 Mon Sep 17 00:00:00 2001 From: Alexey Panferov <37497658+lexavtanke@users.noreply.github.com> Date: Thu, 28 Sep 2023 15:15:11 +0300 Subject: [PATCH 055/202] fix(traffic_light_classifier): add arg data_path, update model path (#5144) * fix(traffic_light_classfier): add arg data_path, update model path Signed-off-by: Alexey Panferov * fix(traffic_light_classifier): add arg data_path, update model path Signed-off-by: Alexey Panferov * fix(traffic_light_classifier): add arg data_path to README Signed-off-by: Alexey Panferov --------- Signed-off-by: Alexey Panferov --- perception/traffic_light_classifier/README.md | 1 + .../launch/traffic_light_classifier.launch.xml | 5 +++-- 2 files changed, 4 insertions(+), 2 deletions(-) diff --git a/perception/traffic_light_classifier/README.md b/perception/traffic_light_classifier/README.md index 3d15af0cf7805..7df0c5466695b 100644 --- a/perception/traffic_light_classifier/README.md +++ b/perception/traffic_light_classifier/README.md @@ -55,6 +55,7 @@ These colors and shapes are assigned to the message as follows: | Name | Type | Description | | ----------------- | ---- | ------------------------------------------- | | `classifier_type` | int | if the value is `1`, cnn_classifier is used | +| `data_path` | str | packages data and artifacts directory path | ### Core Parameters diff --git a/perception/traffic_light_classifier/launch/traffic_light_classifier.launch.xml b/perception/traffic_light_classifier/launch/traffic_light_classifier.launch.xml index d4794443d95d9..10aa04cc585af 100644 --- a/perception/traffic_light_classifier/launch/traffic_light_classifier.launch.xml +++ b/perception/traffic_light_classifier/launch/traffic_light_classifier.launch.xml @@ -2,8 +2,9 @@ - - + + + From 3f48f10de2fa81f09e47e7e82e5f97f1cc0e2ae4 Mon Sep 17 00:00:00 2001 From: Alexey Panferov <37497658+lexavtanke@users.noreply.github.com> Date: Thu, 28 Sep 2023 15:16:16 +0300 Subject: [PATCH 056/202] fix(tensorrt yolo): update model path (#5158) * fix(tensorrt_yolo): add arg data_path, update onnx_file Signed-off-by: Alexey Panferov * fix(tensorrt_yolo): update model downloading in README, add data_path Signed-off-by: Alexey Panferov --------- Signed-off-by: Alexey Panferov --- perception/tensorrt_yolo/README.md | 3 ++- perception/tensorrt_yolo/launch/tensorrt_yolo.launch.xml | 9 +++++---- 2 files changed, 7 insertions(+), 5 deletions(-) diff --git a/perception/tensorrt_yolo/README.md b/perception/tensorrt_yolo/README.md index afa9209c43bb2..58d4af0dfa83d 100644 --- a/perception/tensorrt_yolo/README.md +++ b/perception/tensorrt_yolo/README.md @@ -55,6 +55,7 @@ Jocher, G., et al. (2021). ultralytics/yolov5: v6.0 - YOLOv5n 'Nano' models, Rob | Name | Type | Default Value | Description | | ----------------------- | ------ | ------------- | ------------------------------------------------------------------ | +| `data_path` | string | "" | Packages data and artifacts directory path | | `onnx_file` | string | "" | The onnx file name for yolo model | | `engine_file` | string | "" | The tensorrt engine file name for yolo model | | `label_file` | string | "" | The label file with label names for detected objects written on it | @@ -71,7 +72,7 @@ This package includes multiple licenses. All YOLO ONNX models are converted from the officially trained model. If you need information about training datasets and conditions, please refer to the official repositories. -All models are downloaded automatically when building. When launching the node with a model for the first time, the model is automatically converted to TensorRT, although this may take some time. +All models are downloaded during env preparation by ansible (as mention in [installation](https://autowarefoundation.github.io/autoware-documentation/main/installation/autoware/source-installation/)). It is also possible to download them manually, see [Manual downloading of artifacts](https://github.com/autowarefoundation/autoware/tree/main/ansible/roles/artifacts) . When launching the node with a model for the first time, the model is automatically converted to TensorRT, although this may take some time. ### YOLOv3 diff --git a/perception/tensorrt_yolo/launch/tensorrt_yolo.launch.xml b/perception/tensorrt_yolo/launch/tensorrt_yolo.launch.xml index a548939f2cebe..b2656de0ab72e 100755 --- a/perception/tensorrt_yolo/launch/tensorrt_yolo.launch.xml +++ b/perception/tensorrt_yolo/launch/tensorrt_yolo.launch.xml @@ -3,7 +3,8 @@ - + + @@ -11,11 +12,11 @@ - + - + - + From b77a29f01df88d65fe5b14de74fc51f019a7e88a Mon Sep 17 00:00:00 2001 From: Alexey Panferov <37497658+lexavtanke@users.noreply.github.com> Date: Thu, 28 Sep 2023 15:17:48 +0300 Subject: [PATCH 057/202] fix(image_projection_based_fusion): add arg data_path, update model_path (#5163) Signed-off-by: Alexey Panferov --- .../launch/pointpainting_fusion.launch.xml | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/perception/image_projection_based_fusion/launch/pointpainting_fusion.launch.xml b/perception/image_projection_based_fusion/launch/pointpainting_fusion.launch.xml index e6275a2ee83c7..8e79e21db40e3 100644 --- a/perception/image_projection_based_fusion/launch/pointpainting_fusion.launch.xml +++ b/perception/image_projection_based_fusion/launch/pointpainting_fusion.launch.xml @@ -18,8 +18,9 @@ + - + From d5af0afc255602e01990a59f12384eff49f4deb0 Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Thu, 12 Oct 2023 11:06:01 +0900 Subject: [PATCH 058/202] refactor(motion_velocity_smoother): align processing time topic name (#5273) Signed-off-by: satoshi-ota --- .../src/motion_velocity_smoother_node.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/planning/motion_velocity_smoother/src/motion_velocity_smoother_node.cpp b/planning/motion_velocity_smoother/src/motion_velocity_smoother_node.cpp index 75c84d3c482f6..6b5da01b9cb09 100644 --- a/planning/motion_velocity_smoother/src/motion_velocity_smoother_node.cpp +++ b/planning/motion_velocity_smoother/src/motion_velocity_smoother_node.cpp @@ -79,7 +79,7 @@ MotionVelocitySmootherNode::MotionVelocitySmootherNode(const rclcpp::NodeOptions debug_closest_acc_ = create_publisher("~/closest_acceleration", 1); debug_closest_jerk_ = create_publisher("~/closest_jerk", 1); debug_closest_max_velocity_ = create_publisher("~/closest_max_velocity", 1); - debug_calculation_time_ = create_publisher("~/calculation_time", 1); + debug_calculation_time_ = create_publisher("~/debug/processing_time_ms", 1); pub_trajectory_raw_ = create_publisher("~/debug/trajectory_raw", 1); pub_trajectory_vel_lim_ = create_publisher("~/debug/trajectory_external_velocity_limited", 1); From 4ab73742a1d630218c749ecf4a18f0bce125f603 Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Thu, 12 Oct 2023 12:54:03 +0900 Subject: [PATCH 059/202] refactor(path_smoother, obstacle_avoidance_planner): output processing time topic (#5274) * refactor(path_smoother): output processing time topic Signed-off-by: satoshi-ota * refactor(obstacle_avoidance_planner): output processing time topic Signed-off-by: satoshi-ota * Update planning/path_smoother/src/elastic_band_smoother.cpp Co-authored-by: Takamasa Horibe * Update planning/path_smoother/src/elastic_band_smoother.cpp Co-authored-by: Takamasa Horibe * Update planning/obstacle_avoidance_planner/src/node.cpp Co-authored-by: Takamasa Horibe * Update planning/obstacle_avoidance_planner/src/node.cpp Co-authored-by: Takamasa Horibe --------- Signed-off-by: satoshi-ota Co-authored-by: Takamasa Horibe --- .../common_structs.hpp | 11 ++++++++++- .../include/obstacle_avoidance_planner/node.hpp | 3 ++- .../obstacle_avoidance_planner/type_alias.hpp | 2 ++ planning/obstacle_avoidance_planner/src/node.cpp | 16 ++++++++++++++-- .../include/path_smoother/common_structs.hpp | 11 ++++++++++- .../path_smoother/elastic_band_smoother.hpp | 3 ++- .../include/path_smoother/type_alias.hpp | 2 ++ .../path_smoother/src/elastic_band_smoother.cpp | 16 ++++++++++++++-- 8 files changed, 56 insertions(+), 8 deletions(-) diff --git a/planning/obstacle_avoidance_planner/include/obstacle_avoidance_planner/common_structs.hpp b/planning/obstacle_avoidance_planner/include/obstacle_avoidance_planner/common_structs.hpp index d0fc995da0ef4..4f4f01bf1ec9f 100644 --- a/planning/obstacle_avoidance_planner/include/obstacle_avoidance_planner/common_structs.hpp +++ b/planning/obstacle_avoidance_planner/include/obstacle_avoidance_planner/common_structs.hpp @@ -45,7 +45,11 @@ struct PlannerData struct TimeKeeper { - void init() { accumulated_msg = "\n"; } + void init() + { + accumulated_msg = "\n"; + accumulated_time = 0.0; + } template TimeKeeper & operator<<(const T & msg) @@ -71,6 +75,7 @@ struct TimeKeeper { const double elapsed_time = stop_watch_.toc(func_name); *this << white_spaces << func_name << ":= " << elapsed_time << " [ms]"; + accumulated_time = elapsed_time; endLine(); } @@ -80,6 +85,10 @@ struct TimeKeeper std::string accumulated_msg = "\n"; std::stringstream latest_stream; + double getAccumulatedTime() const { return accumulated_time; } + + double accumulated_time{0.0}; + tier4_autoware_utils::StopWatch< std::chrono::milliseconds, std::chrono::microseconds, std::chrono::steady_clock> stop_watch_; diff --git a/planning/obstacle_avoidance_planner/include/obstacle_avoidance_planner/node.hpp b/planning/obstacle_avoidance_planner/include/obstacle_avoidance_planner/node.hpp index d6f49afad4391..9207277d0bc98 100644 --- a/planning/obstacle_avoidance_planner/include/obstacle_avoidance_planner/node.hpp +++ b/planning/obstacle_avoidance_planner/include/obstacle_avoidance_planner/node.hpp @@ -90,7 +90,8 @@ class ObstacleAvoidancePlanner : public rclcpp::Node // debug publisher rclcpp::Publisher::SharedPtr debug_extended_traj_pub_; rclcpp::Publisher::SharedPtr debug_markers_pub_; - rclcpp::Publisher::SharedPtr debug_calculation_time_pub_; + rclcpp::Publisher::SharedPtr debug_calculation_time_str_pub_; + rclcpp::Publisher::SharedPtr debug_calculation_time_float_pub_; // parameter callback rcl_interfaces::msg::SetParametersResult onParam( diff --git a/planning/obstacle_avoidance_planner/include/obstacle_avoidance_planner/type_alias.hpp b/planning/obstacle_avoidance_planner/include/obstacle_avoidance_planner/type_alias.hpp index 0f45e1223551f..b02d2232a4aa1 100644 --- a/planning/obstacle_avoidance_planner/include/obstacle_avoidance_planner/type_alias.hpp +++ b/planning/obstacle_avoidance_planner/include/obstacle_avoidance_planner/type_alias.hpp @@ -24,6 +24,7 @@ #include "geometry_msgs/msg/twist.hpp" #include "nav_msgs/msg/odometry.hpp" #include "std_msgs/msg/header.hpp" +#include "tier4_debug_msgs/msg/float64_stamped.hpp" #include "tier4_debug_msgs/msg/string_stamped.hpp" #include "visualization_msgs/msg/marker_array.hpp" @@ -42,6 +43,7 @@ using nav_msgs::msg::Odometry; using visualization_msgs::msg::Marker; using visualization_msgs::msg::MarkerArray; // debug +using tier4_debug_msgs::msg::Float64Stamped; using tier4_debug_msgs::msg::StringStamped; } // namespace obstacle_avoidance_planner diff --git a/planning/obstacle_avoidance_planner/src/node.cpp b/planning/obstacle_avoidance_planner/src/node.cpp index 9cee933a1c9a7..da31c7f469555 100644 --- a/planning/obstacle_avoidance_planner/src/node.cpp +++ b/planning/obstacle_avoidance_planner/src/node.cpp @@ -45,6 +45,14 @@ StringStamped createStringStamped(const rclcpp::Time & now, const std::string & return msg; } +Float64Stamped createFloat64Stamped(const rclcpp::Time & now, const float & data) +{ + Float64Stamped msg; + msg.stamp = now; + msg.data = data; + return msg; +} + void setZeroVelocityAfterStopPoint(std::vector & traj_points) { const auto opt_zero_vel_idx = motion_utils::searchZeroVelocityIndex(traj_points); @@ -92,7 +100,9 @@ ObstacleAvoidancePlanner::ObstacleAvoidancePlanner(const rclcpp::NodeOptions & n // debug publisher debug_extended_traj_pub_ = create_publisher("~/debug/extended_traj", 1); debug_markers_pub_ = create_publisher("~/debug/marker", 1); - debug_calculation_time_pub_ = create_publisher("~/debug/calculation_time", 1); + debug_calculation_time_str_pub_ = create_publisher("~/debug/calculation_time", 1); + debug_calculation_time_float_pub_ = + create_publisher("~/debug/processing_time_ms", 1); { // parameters // parameter for option @@ -253,7 +263,9 @@ void ObstacleAvoidancePlanner::onPath(const Path::ConstSharedPtr path_ptr) // publish calculation_time // NOTE: This function must be called after measuring onPath calculation time const auto calculation_time_msg = createStringStamped(now(), time_keeper_ptr_->getLog()); - debug_calculation_time_pub_->publish(calculation_time_msg); + debug_calculation_time_str_pub_->publish(calculation_time_msg); + debug_calculation_time_float_pub_->publish( + createFloat64Stamped(now(), time_keeper_ptr_->getAccumulatedTime())); const auto output_traj_msg = trajectory_utils::createTrajectory(path_ptr->header, full_traj_points); diff --git a/planning/path_smoother/include/path_smoother/common_structs.hpp b/planning/path_smoother/include/path_smoother/common_structs.hpp index a14c42ed056af..d44c964cf634c 100644 --- a/planning/path_smoother/include/path_smoother/common_structs.hpp +++ b/planning/path_smoother/include/path_smoother/common_structs.hpp @@ -44,7 +44,11 @@ struct PlannerData struct TimeKeeper { - void init() { accumulated_msg = "\n"; } + void init() + { + accumulated_msg = "\n"; + accumulated_time = 0.0; + } template TimeKeeper & operator<<(const T & msg) @@ -66,6 +70,7 @@ struct TimeKeeper { const double elapsed_time = stop_watch_.toc(func_name); *this << white_spaces << func_name << ":= " << elapsed_time << " [ms]"; + accumulated_time = elapsed_time; endLine(); } @@ -74,6 +79,10 @@ struct TimeKeeper std::string accumulated_msg = "\n"; std::stringstream latest_stream; + double getAccumulatedTime() const { return accumulated_time; } + + double accumulated_time{0.0}; + tier4_autoware_utils::StopWatch< std::chrono::milliseconds, std::chrono::microseconds, std::chrono::steady_clock> stop_watch_; diff --git a/planning/path_smoother/include/path_smoother/elastic_band_smoother.hpp b/planning/path_smoother/include/path_smoother/elastic_band_smoother.hpp index a67983393681f..217a138084310 100644 --- a/planning/path_smoother/include/path_smoother/elastic_band_smoother.hpp +++ b/planning/path_smoother/include/path_smoother/elastic_band_smoother.hpp @@ -82,7 +82,8 @@ class ElasticBandSmoother : public rclcpp::Node // debug publisher rclcpp::Publisher::SharedPtr debug_extended_traj_pub_; - rclcpp::Publisher::SharedPtr debug_calculation_time_pub_; + rclcpp::Publisher::SharedPtr debug_calculation_time_str_pub_; + rclcpp::Publisher::SharedPtr debug_calculation_time_float_pub_; // parameter callback rcl_interfaces::msg::SetParametersResult onParam( diff --git a/planning/path_smoother/include/path_smoother/type_alias.hpp b/planning/path_smoother/include/path_smoother/type_alias.hpp index 75bf1cff20857..c8f6d6da98dcd 100644 --- a/planning/path_smoother/include/path_smoother/type_alias.hpp +++ b/planning/path_smoother/include/path_smoother/type_alias.hpp @@ -22,6 +22,7 @@ #include "geometry_msgs/msg/point.hpp" #include "nav_msgs/msg/odometry.hpp" #include "std_msgs/msg/header.hpp" +#include "tier4_debug_msgs/msg/float64_stamped.hpp" #include "tier4_debug_msgs/msg/string_stamped.hpp" namespace path_smoother @@ -36,6 +37,7 @@ using autoware_auto_planning_msgs::msg::TrajectoryPoint; // navigation using nav_msgs::msg::Odometry; // debug +using tier4_debug_msgs::msg::Float64Stamped; using tier4_debug_msgs::msg::StringStamped; } // namespace path_smoother diff --git a/planning/path_smoother/src/elastic_band_smoother.cpp b/planning/path_smoother/src/elastic_band_smoother.cpp index cd314b7b141bf..923b753e83ac6 100644 --- a/planning/path_smoother/src/elastic_band_smoother.cpp +++ b/planning/path_smoother/src/elastic_band_smoother.cpp @@ -43,6 +43,14 @@ StringStamped createStringStamped(const rclcpp::Time & now, const std::string & return msg; } +Float64Stamped createFloat64Stamped(const rclcpp::Time & now, const float & data) +{ + Float64Stamped msg; + msg.stamp = now; + msg.data = data; + return msg; +} + void setZeroVelocityAfterStopPoint(std::vector & traj_points) { const auto opt_zero_vel_idx = motion_utils::searchZeroVelocityIndex(traj_points); @@ -75,7 +83,9 @@ ElasticBandSmoother::ElasticBandSmoother(const rclcpp::NodeOptions & node_option // debug publisher debug_extended_traj_pub_ = create_publisher("~/debug/extended_traj", 1); - debug_calculation_time_pub_ = create_publisher("~/debug/calculation_time", 1); + debug_calculation_time_str_pub_ = create_publisher("~/debug/calculation_time", 1); + debug_calculation_time_float_pub_ = + create_publisher("~/debug/processing_time_ms", 1); { // parameters // parameters for ego nearest search @@ -205,7 +215,9 @@ void ElasticBandSmoother::onPath(const Path::ConstSharedPtr path_ptr) // publish calculation_time // NOTE: This function must be called after measuring onPath calculation time const auto calculation_time_msg = createStringStamped(now(), time_keeper_ptr_->getLog()); - debug_calculation_time_pub_->publish(calculation_time_msg); + debug_calculation_time_str_pub_->publish(calculation_time_msg); + debug_calculation_time_float_pub_->publish( + createFloat64Stamped(now(), time_keeper_ptr_->getAccumulatedTime())); const auto output_traj_msg = trajectory_utils::createTrajectory(path_ptr->header, full_traj_points); From 0a48be46df3552456483e8b9eb6bbdc6f1164a97 Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Thu, 12 Oct 2023 12:41:28 +0900 Subject: [PATCH 060/202] feat(planning_validator): output processing time (#5276) Signed-off-by: satoshi-ota --- .../planning_validator/planning_validator.hpp | 8 ++++++++ .../planning_validator/src/planning_validator.cpp | 12 ++++++++++++ 2 files changed, 20 insertions(+) diff --git a/planning/planning_validator/include/planning_validator/planning_validator.hpp b/planning/planning_validator/include/planning_validator/planning_validator.hpp index 3b09ebe51ff6b..ef570b57773bb 100644 --- a/planning/planning_validator/include/planning_validator/planning_validator.hpp +++ b/planning/planning_validator/include/planning_validator/planning_validator.hpp @@ -18,6 +18,7 @@ #include "planning_validator/debug_marker.hpp" #include "planning_validator/msg/planning_validator_status.hpp" #include "tier4_autoware_utils/ros/logger_level_configure.hpp" +#include "tier4_autoware_utils/system/stop_watch.hpp" #include "vehicle_info_util/vehicle_info_util.hpp" #include @@ -26,6 +27,7 @@ #include #include #include +#include #include #include @@ -38,6 +40,8 @@ using diagnostic_updater::DiagnosticStatusWrapper; using diagnostic_updater::Updater; using nav_msgs::msg::Odometry; using planning_validator::msg::PlanningValidatorStatus; +using tier4_autoware_utils::StopWatch; +using tier4_debug_msgs::msg::Float64Stamped; struct ValidationParams { @@ -81,6 +85,7 @@ class PlanningValidator : public rclcpp::Node void validate(const Trajectory & trajectory); + void publishProcessingTime(const double processing_time_ms); void publishTrajectory(); void publishDebugInfo(); void displayStatus(); @@ -91,6 +96,7 @@ class PlanningValidator : public rclcpp::Node rclcpp::Subscription::SharedPtr sub_traj_; rclcpp::Publisher::SharedPtr pub_traj_; rclcpp::Publisher::SharedPtr pub_status_; + rclcpp::Publisher::SharedPtr pub_processing_time_ms_; rclcpp::Publisher::SharedPtr pub_markers_; // system parameters @@ -120,6 +126,8 @@ class PlanningValidator : public rclcpp::Node std::shared_ptr debug_pose_publisher_; std::unique_ptr logger_configure_; + + StopWatch stop_watch_; }; } // namespace planning_validator diff --git a/planning/planning_validator/src/planning_validator.cpp b/planning/planning_validator/src/planning_validator.cpp index 13a63a7e7d4ed..875781d47b25d 100644 --- a/planning/planning_validator/src/planning_validator.cpp +++ b/planning/planning_validator/src/planning_validator.cpp @@ -41,6 +41,7 @@ PlanningValidator::PlanningValidator(const rclcpp::NodeOptions & options) pub_traj_ = create_publisher("~/output/trajectory", 1); pub_status_ = create_publisher("~/output/validation_status", 1); pub_markers_ = create_publisher("~/output/markers", 1); + pub_processing_time_ms_ = create_publisher("~/debug/processing_time_ms", 1); debug_pose_publisher_ = std::make_shared(this); @@ -167,6 +168,8 @@ bool PlanningValidator::isDataReady() void PlanningValidator::onTrajectory(const Trajectory::ConstSharedPtr msg) { + stop_watch_.tic(__func__); + current_trajectory_ = msg; if (!isDataReady()) return; @@ -180,6 +183,7 @@ void PlanningValidator::onTrajectory(const Trajectory::ConstSharedPtr msg) publishTrajectory(); // for debug + publishProcessingTime(stop_watch_.toc(__func__)); publishDebugInfo(); displayStatus(); } @@ -222,6 +226,14 @@ void PlanningValidator::publishTrajectory() return; } +void PlanningValidator::publishProcessingTime(const double processing_time_ms) +{ + Float64Stamped msg{}; + msg.stamp = this->now(); + msg.data = processing_time_ms; + pub_processing_time_ms_->publish(msg); +} + void PlanningValidator::publishDebugInfo() { validation_status_.stamp = get_clock()->now(); From 47682f673a620e6924618128abedbbf4bcd2f449 Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Thu, 12 Oct 2023 12:52:29 +0900 Subject: [PATCH 061/202] feat(obstacle_stop_planner): output processing time (#5279) Signed-off-by: satoshi-ota --- .../include/obstacle_stop_planner/node.hpp | 8 ++++++++ planning/obstacle_stop_planner/src/node.cpp | 9 +++++++++ 2 files changed, 17 insertions(+) diff --git a/planning/obstacle_stop_planner/include/obstacle_stop_planner/node.hpp b/planning/obstacle_stop_planner/include/obstacle_stop_planner/node.hpp index 93a9736bcdb36..368ad34b9c4e2 100644 --- a/planning/obstacle_stop_planner/include/obstacle_stop_planner/node.hpp +++ b/planning/obstacle_stop_planner/include/obstacle_stop_planner/node.hpp @@ -19,6 +19,7 @@ #include "obstacle_stop_planner/debug_marker.hpp" #include "obstacle_stop_planner/planner_data.hpp" #include "tier4_autoware_utils/ros/logger_level_configure.hpp" +#include "tier4_autoware_utils/system/stop_watch.hpp" #include #include @@ -37,6 +38,7 @@ #include #include #include +#include #include #include #include @@ -78,9 +80,11 @@ using autoware_auto_planning_msgs::msg::Trajectory; using autoware_auto_planning_msgs::msg::TrajectoryPoint; using tier4_autoware_utils::Point2d; using tier4_autoware_utils::Polygon2d; +using tier4_autoware_utils::StopWatch; using tier4_debug_msgs::msg::BoolStamped; using tier4_debug_msgs::msg::Float32MultiArrayStamped; using tier4_debug_msgs::msg::Float32Stamped; +using tier4_debug_msgs::msg::Float64Stamped; using tier4_planning_msgs::msg::ExpandStopRange; using tier4_planning_msgs::msg::VelocityLimit; using tier4_planning_msgs::msg::VelocityLimitClearCommand; @@ -143,6 +147,8 @@ class ObstacleStopPlannerNode : public rclcpp::Node rclcpp::Publisher::SharedPtr pub_collision_pointcloud_debug_; + rclcpp::Publisher::SharedPtr pub_processing_time_ms_; + std::unique_ptr acc_controller_; std::shared_ptr debug_ptr_; boost::optional latest_slow_down_section_{boost::none}; @@ -166,6 +172,8 @@ class ObstacleStopPlannerNode : public rclcpp::Node StopParam stop_param_; SlowDownParam slow_down_param_; + StopWatch stop_watch_; + // mutex for vehicle_info_, stop_param_, current_acc_, obstacle_ros_pointcloud_ptr_ // NOTE: shared_ptr itself is thread safe so we do not have to care if *ptr is not used // (current_velocity_ptr_) diff --git a/planning/obstacle_stop_planner/src/node.cpp b/planning/obstacle_stop_planner/src/node.cpp index 4e4b5d2f91ef3..9a9712c5a2503 100644 --- a/planning/obstacle_stop_planner/src/node.cpp +++ b/planning/obstacle_stop_planner/src/node.cpp @@ -209,6 +209,8 @@ ObstacleStopPlannerNode::ObstacleStopPlannerNode(const rclcpp::NodeOptions & nod pub_collision_pointcloud_debug_ = this->create_publisher("~/debug/collision_pointcloud", 1); + pub_processing_time_ms_ = this->create_publisher("~/debug/processing_time_ms", 1); + // Subscribers if (!node_param_.use_predicted_objects) { // No need to point cloud while using predicted objects @@ -274,6 +276,8 @@ void ObstacleStopPlannerNode::onPointCloud(const PointCloud2::ConstSharedPtr inp void ObstacleStopPlannerNode::onTrigger(const Trajectory::ConstSharedPtr input_msg) { + stop_watch_.tic(__func__); + mutex_.lock(); // NOTE: these variables must not be referenced for multithreading const auto vehicle_info = vehicle_info_; @@ -376,6 +380,11 @@ void ObstacleStopPlannerNode::onTrigger(const Trajectory::ConstSharedPtr input_m trajectory.header = input_msg->header; pub_trajectory_->publish(trajectory); + + Float64Stamped processing_time_ms; + processing_time_ms.stamp = now(); + processing_time_ms.data = stop_watch_.toc(__func__); + pub_processing_time_ms_->publish(processing_time_ms); } void ObstacleStopPlannerNode::searchObstacle( From 8de1b1371b1b20ee17d3c5c86ad770293f516c95 Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Thu, 12 Oct 2023 14:03:20 +0900 Subject: [PATCH 062/202] refactor(obstacle_cruise_planner): align processing time topic name (#5278) Signed-off-by: satoshi-ota --- planning/obstacle_cruise_planner/src/node.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/planning/obstacle_cruise_planner/src/node.cpp b/planning/obstacle_cruise_planner/src/node.cpp index d50054da46237..c9fe9f2210423 100644 --- a/planning/obstacle_cruise_planner/src/node.cpp +++ b/planning/obstacle_cruise_planner/src/node.cpp @@ -374,7 +374,7 @@ ObstacleCruisePlannerNode::ObstacleCruisePlannerNode(const rclcpp::NodeOptions & "~/output/clear_velocity_limit", rclcpp::QoS{1}.transient_local()); // debug publisher - debug_calculation_time_pub_ = create_publisher("~/debug/calculation_time", 1); + debug_calculation_time_pub_ = create_publisher("~/debug/processing_time_ms", 1); debug_cruise_wall_marker_pub_ = create_publisher("~/debug/cruise/virtual_wall", 1); debug_stop_wall_marker_pub_ = create_publisher("~/virtual_wall", 1); debug_slow_down_wall_marker_pub_ = From 9a116bae63b78c2e618e8d15f83757ba5ad9d29a Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Thu, 12 Oct 2023 13:19:39 +0900 Subject: [PATCH 063/202] refactor(behavior_path_planner): align processing time topic name (#5281) Signed-off-by: satoshi-ota --- planning/behavior_path_planner/src/planner_manager.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/planning/behavior_path_planner/src/planner_manager.cpp b/planning/behavior_path_planner/src/planner_manager.cpp index 24967608775f3..d0e55ffa574fd 100644 --- a/planning/behavior_path_planner/src/planner_manager.cpp +++ b/planning/behavior_path_planner/src/planner_manager.cpp @@ -35,7 +35,7 @@ PlannerManager::PlannerManager(rclcpp::Node & node, const bool verbose) verbose_{verbose} { processing_time_.emplace("total_time", 0.0); - debug_publisher_ptr_ = std::make_unique(&node, "behavior_planner_manager/debug"); + debug_publisher_ptr_ = std::make_unique(&node, "~/debug"); } BehaviorModuleOutput PlannerManager::run(const std::shared_ptr & data) @@ -894,7 +894,7 @@ void PlannerManager::print() const void PlannerManager::publishProcessingTime() const { for (const auto & t : processing_time_) { - std::string name = std::string("processing_time/") + t.first; + std::string name = t.first + std::string("/processing_time_ms"); debug_publisher_ptr_->publish(name, t.second); } } From 5e32e8b48cbb3ec29f18224bb2fb36d664f89850 Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Wed, 25 Oct 2023 11:39:02 +0900 Subject: [PATCH 064/202] fix(goal_planner): revert "refactor(goal_planner): rebuild state transition (#5371)" (#5399) This reverts commit 3d2a7f6038627ca52a4f0c2af6f5a8d56bc6962b. --- .../goal_planner/goal_planner_module.hpp | 19 +++--- .../goal_planner/goal_planner_module.cpp | 59 +++++++++++-------- 2 files changed, 46 insertions(+), 32 deletions(-) diff --git a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/goal_planner/goal_planner_module.hpp b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/goal_planner/goal_planner_module.hpp index 21372ed6e2c2f..343302a022a69 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/goal_planner/goal_planner_module.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/goal_planner/goal_planner_module.hpp @@ -217,28 +217,31 @@ class GoalPlannerModule : public SceneModuleInterface } } - CandidateOutput planCandidate() const override; - BehaviorModuleOutput plan() override; - BehaviorModuleOutput planWaitingApproval() override; + // TODO(someone): remove this, and use base class function + [[deprecated]] BehaviorModuleOutput run() override; bool isExecutionRequested() const override; bool isExecutionReady() const override; + // TODO(someone): remove this, and use base class function + [[deprecated]] ModuleStatus updateState() override; + BehaviorModuleOutput plan() override; + BehaviorModuleOutput planWaitingApproval() override; + void processOnEntry() override; void processOnExit() override; - void updateData() override; void setParameters(const std::shared_ptr & parameters); void acceptVisitor( [[maybe_unused]] const std::shared_ptr & visitor) const override { } + // not used, but need to override + CandidateOutput planCandidate() const override { return CandidateOutput{}; }; + private: - // The start_planner activates when it receives a new route, - // so there is no need to terminate the goal planner. - // If terminating it, it may switch to lane following and could generate an inappropriate path. bool canTransitSuccessState() override { return false; } bool canTransitFailureState() override { return false; } - bool canTransitIdleToRunningState() override { return true; } + bool canTransitIdleToRunningState() override { return false; } mutable StartGoalPlannerData goal_planner_data_; diff --git a/planning/behavior_path_planner/src/scene_module/goal_planner/goal_planner_module.cpp b/planning/behavior_path_planner/src/scene_module/goal_planner/goal_planner_module.cpp index 95ac47494d016..64504918efd0e 100644 --- a/planning/behavior_path_planner/src/scene_module/goal_planner/goal_planner_module.cpp +++ b/planning/behavior_path_planner/src/scene_module/goal_planner/goal_planner_module.cpp @@ -113,13 +113,6 @@ GoalPlannerModule::GoalPlannerModule( freespace_parking_timer_cb_group_); } - // Initialize safety checker - if (parameters_->safety_check_params.enable_safety_check) { - initializeSafetyCheckParameters(); - utils::start_goal_planner_common::initializeCollisionCheckDebugMap( - goal_planner_data_.collision_check); - } - status_.reset(); } @@ -226,18 +219,16 @@ void GoalPlannerModule::onFreespaceParkingTimer() } } -void GoalPlannerModule::updateData() +BehaviorModuleOutput GoalPlannerModule::run() { - // Initialize Occupancy Grid Map - // This operation requires waiting for `planner_data_`, hence it is executed here instead of in - // the constructor. Ideally, this operation should only need to be performed once. - if ( - parameters_->use_occupancy_grid_for_goal_search || - parameters_->use_occupancy_grid_for_path_collision_check) { - initializeOccupancyGridMap(); + current_state_ = ModuleStatus::RUNNING; + updateOccupancyGrid(); + + if (!isActivated()) { + return planWaitingApproval(); } - updateOccupancyGrid(); + return plan(); } void GoalPlannerModule::initializeOccupancyGridMap() @@ -264,6 +255,22 @@ void GoalPlannerModule::initializeSafetyCheckParameters() objects_filtering_params_, parameters_); } +void GoalPlannerModule::processOnEntry() +{ + // Initialize occupancy grid map + if ( + parameters_->use_occupancy_grid_for_goal_search || + parameters_->use_occupancy_grid_for_path_collision_check) { + initializeOccupancyGridMap(); + } + // Initialize safety checker + if (parameters_->safety_check_params.enable_safety_check) { + initializeSafetyCheckParameters(); + utils::start_goal_planner_common::initializeCollisionCheckDebugMap( + goal_planner_data_.collision_check); + } +} + void GoalPlannerModule::processOnExit() { resetPathCandidate(); @@ -430,6 +437,13 @@ Pose GoalPlannerModule::calcRefinedGoal(const Pose & goal_pose) const return refined_goal_pose; } +ModuleStatus GoalPlannerModule::updateState() +{ + // start_planner module will be run when setting new goal, so not need finishing pull_over module. + // Finishing it causes wrong lane_following path generation. + return current_state_; +} + bool GoalPlannerModule::planFreespacePath() { goal_searcher_->setPlannerData(planner_data_); @@ -883,12 +897,6 @@ void GoalPlannerModule::decideVelocity() status_.set_has_decided_velocity(true); } -CandidateOutput GoalPlannerModule::planCandidate() const -{ - return CandidateOutput( - status_.get_pull_over_path() ? status_.get_pull_over_path()->getFullPath() : PathWithLaneId()); -} - BehaviorModuleOutput GoalPlannerModule::planWithGoalModification() { constexpr double path_update_duration = 1.0; @@ -927,7 +935,7 @@ BehaviorModuleOutput GoalPlannerModule::planWithGoalModification() // set output and status BehaviorModuleOutput output{}; setOutput(output); - path_candidate_ = std::make_shared(planCandidate().path_candidate); + path_candidate_ = std::make_shared(status_.get_pull_over_path()->getFullPath()); path_reference_ = getPreviousModuleOutput().reference_path; // return to lane parking if it is possible @@ -980,7 +988,10 @@ BehaviorModuleOutput GoalPlannerModule::planWaitingApprovalWithGoalModification( out.modified_goal = plan().modified_goal; // update status_ out.path = std::make_shared(generateStopPath()); out.reference_path = getPreviousModuleOutput().reference_path; - path_candidate_ = std::make_shared(planCandidate().path_candidate); + path_candidate_ = + status_.get_is_safe_static_objects() + ? std::make_shared(status_.get_pull_over_path()->getFullPath()) + : out.path; path_reference_ = getPreviousModuleOutput().reference_path; const auto distance_to_path_change = calcDistanceToPathChange(); From a1beca1746e4d1131bb4a447f156d6a39ad4bd5a Mon Sep 17 00:00:00 2001 From: Fumiya Watanabe Date: Wed, 25 Oct 2023 14:02:10 +0900 Subject: [PATCH 065/202] fix(motion_utils): fix build error (#5404) (#982) Signed-off-by: Fumiya Watanabe --- .../motion_utils/vehicle/vehicle_state_checker.hpp | 8 ++++---- common/motion_utils/src/vehicle/vehicle_state_checker.cpp | 4 ++-- 2 files changed, 6 insertions(+), 6 deletions(-) diff --git a/common/motion_utils/include/motion_utils/vehicle/vehicle_state_checker.hpp b/common/motion_utils/include/motion_utils/vehicle/vehicle_state_checker.hpp index f5f423f881ba2..6a9bd01a5a9a0 100644 --- a/common/motion_utils/include/motion_utils/vehicle/vehicle_state_checker.hpp +++ b/common/motion_utils/include/motion_utils/vehicle/vehicle_state_checker.hpp @@ -55,11 +55,11 @@ class VehicleStopChecker : public VehicleStopCheckerBase protected: rclcpp::Subscription::SharedPtr sub_odom_; - Odometry::SharedPtr odometry_ptr_; + Odometry::ConstSharedPtr odometry_ptr_; private: static constexpr double velocity_buffer_time_sec = 10.0; - void onOdom(const Odometry::SharedPtr msg); + void onOdom(const Odometry::ConstSharedPtr msg); }; class VehicleArrivalChecker : public VehicleStopChecker @@ -74,9 +74,9 @@ class VehicleArrivalChecker : public VehicleStopChecker rclcpp::Subscription::SharedPtr sub_trajectory_; - Trajectory::SharedPtr trajectory_ptr_; + Trajectory::ConstSharedPtr trajectory_ptr_; - void onTrajectory(const Trajectory::SharedPtr msg); + void onTrajectory(const Trajectory::ConstSharedPtr msg); }; } // namespace motion_utils diff --git a/common/motion_utils/src/vehicle/vehicle_state_checker.cpp b/common/motion_utils/src/vehicle/vehicle_state_checker.cpp index 6ed9472d39e0f..194c49ae3bff8 100644 --- a/common/motion_utils/src/vehicle/vehicle_state_checker.cpp +++ b/common/motion_utils/src/vehicle/vehicle_state_checker.cpp @@ -88,7 +88,7 @@ VehicleStopChecker::VehicleStopChecker(rclcpp::Node * node) std::bind(&VehicleStopChecker::onOdom, this, _1)); } -void VehicleStopChecker::onOdom(const Odometry::SharedPtr msg) +void VehicleStopChecker::onOdom(const Odometry::ConstSharedPtr msg) { odometry_ptr_ = msg; @@ -128,7 +128,7 @@ bool VehicleArrivalChecker::isVehicleStoppedAtStopPoint(const double stop_durati th_arrived_distance_m; } -void VehicleArrivalChecker::onTrajectory(const Trajectory::SharedPtr msg) +void VehicleArrivalChecker::onTrajectory(const Trajectory::ConstSharedPtr msg) { trajectory_ptr_ = msg; } From eddf914a300db9cb09aed1f47d723bc489c56489 Mon Sep 17 00:00:00 2001 From: masaharuTakano Date: Wed, 8 Nov 2023 11:41:55 +0900 Subject: [PATCH 066/202] checkout to awf/main Signed-off-by: masaharuTakano --- .../launch/roi_cluster_fusion.launch.xml | 1 - .../goal_planner/goal_planner_module.hpp | 19 +++---- .../src/util.cpp | 53 ++++++++----------- 3 files changed, 29 insertions(+), 44 deletions(-) diff --git a/perception/image_projection_based_fusion/launch/roi_cluster_fusion.launch.xml b/perception/image_projection_based_fusion/launch/roi_cluster_fusion.launch.xml index abdd44a70d24a..60f6f943b8cda 100644 --- a/perception/image_projection_based_fusion/launch/roi_cluster_fusion.launch.xml +++ b/perception/image_projection_based_fusion/launch/roi_cluster_fusion.launch.xml @@ -29,7 +29,6 @@ - diff --git a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/goal_planner/goal_planner_module.hpp b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/goal_planner/goal_planner_module.hpp index 0a4ba1f6ea0cb..df21bad862cc9 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/goal_planner/goal_planner_module.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/goal_planner/goal_planner_module.hpp @@ -223,31 +223,28 @@ class GoalPlannerModule : public SceneModuleInterface } } - // TODO(someone): remove this, and use base class function - [[deprecated]] BehaviorModuleOutput run() override; - bool isExecutionRequested() const override; - bool isExecutionReady() const override; - // TODO(someone): remove this, and use base class function - [[deprecated]] ModuleStatus updateState() override; + CandidateOutput planCandidate() const override; BehaviorModuleOutput plan() override; BehaviorModuleOutput planWaitingApproval() override; - void processOnEntry() override; + bool isExecutionRequested() const override; + bool isExecutionReady() const override; void processOnExit() override; + void updateData() override; void setParameters(const std::shared_ptr & parameters); void acceptVisitor( [[maybe_unused]] const std::shared_ptr & visitor) const override { } - // not used, but need to override - CandidateOutput planCandidate() const override { return CandidateOutput{}; }; - private: + // The start_planner activates when it receives a new route, + // so there is no need to terminate the goal planner. + // If terminating it, it may switch to lane following and could generate an inappropriate path. bool canTransitSuccessState() override { return false; } bool canTransitFailureState() override { return false; } - bool canTransitIdleToRunningState() override { return false; } + bool canTransitIdleToRunningState() override { return true; } mutable StartGoalPlannerData goal_planner_data_; diff --git a/planning/behavior_velocity_intersection_module/src/util.cpp b/planning/behavior_velocity_intersection_module/src/util.cpp index 7f76d538f0846..94bc75b805934 100644 --- a/planning/behavior_velocity_intersection_module/src/util.cpp +++ b/planning/behavior_velocity_intersection_module/src/util.cpp @@ -84,21 +84,16 @@ static std::optional getDuplicatedPointIdx( static std::optional insertPointIndex( const geometry_msgs::msg::Pose & in_pose, - autoware_auto_planning_msgs::msg::PathWithLaneId * inout_path) + autoware_auto_planning_msgs::msg::PathWithLaneId * inout_path, + const double ego_nearest_dist_threshold, const double ego_nearest_yaw_threshold) { const auto duplicate_idx_opt = getDuplicatedPointIdx(*inout_path, in_pose.position); if (duplicate_idx_opt) { return duplicate_idx_opt.value(); } - static constexpr double dist_thr = 10.0; - static constexpr double angle_thr = M_PI / 1.5; - const auto closest_idx_opt = - motion_utils::findNearestIndex(inout_path->points, in_pose, dist_thr, angle_thr); - if (!closest_idx_opt) { - return std::nullopt; - } - const size_t closest_idx = closest_idx_opt.get(); + const size_t closest_idx = motion_utils::findFirstNearestIndexWithSoftConstraints( + inout_path->points, in_pose, ego_nearest_dist_threshold, ego_nearest_yaw_threshold); // vector.insert(i) inserts element on the left side of v[i] // the velocity need to be zero order hold(from prior point) int insert_idx = closest_idx; @@ -165,7 +160,7 @@ std::optional> findLaneIdsInterval( */ static std::optional getStopLineIndexFromMap( const InterpolatedPathInfo & interpolated_path_info, - const std::shared_ptr & planner_data, const double dist_thr) + const std::shared_ptr & planner_data) { const auto & path = interpolated_path_info.path; const auto & lane_interval = interpolated_path_info.lane_id_interval.value(); @@ -212,12 +207,9 @@ static std::optional getStopLineIndexFromMap( stop_point_from_map.position.y = 0.5 * (p_start.y() + p_end.y()); stop_point_from_map.position.z = 0.5 * (p_start.z() + p_end.z()); - const auto stop_idx_ip_opt = - motion_utils::findNearestIndex(path.points, stop_point_from_map, static_cast(dist_thr)); - if (!stop_idx_ip_opt) { - return std::nullopt; - } - return stop_idx_ip_opt.get(); + return motion_utils::findFirstNearestIndexWithSoftConstraints( + path.points, stop_point_from_map, planner_data->ego_nearest_dist_threshold, + planner_data->ego_nearest_yaw_threshold); } static std::optional getFirstPointInsidePolygonByFootprint( @@ -304,8 +296,7 @@ std::optional generateIntersectionStopLines( // (1) default stop line position on interpolated path bool default_stop_line_valid = true; int stop_idx_ip_int = -1; - if (const auto map_stop_idx_ip = - getStopLineIndexFromMap(interpolated_path_info, planner_data, 10.0); + if (const auto map_stop_idx_ip = getStopLineIndexFromMap(interpolated_path_info, planner_data); map_stop_idx_ip) { stop_idx_ip_int = static_cast(map_stop_idx_ip.value()) - base2front_idx_dist; } @@ -319,12 +310,9 @@ std::optional generateIntersectionStopLines( // (2) ego front stop line position on interpolated path const geometry_msgs::msg::Pose & current_pose = planner_data->current_odometry->pose; - const auto closest_idx_ip_opt = - motion_utils::findNearestIndex(path_ip.points, current_pose, 3.0, M_PI_4); - if (!closest_idx_ip_opt) { - return std::nullopt; - } - const auto closest_idx_ip = closest_idx_ip_opt.value(); + const auto closest_idx_ip = motion_utils::findFirstNearestIndexWithSoftConstraints( + path_ip.points, current_pose, planner_data->ego_nearest_dist_threshold, + planner_data->ego_nearest_yaw_threshold); // (3) occlusion peeking stop line position on interpolated path int occlusion_peeking_line_ip_int = static_cast(default_stop_line_ip); @@ -404,7 +392,9 @@ std::optional generateIntersectionStopLines( [](const auto & it1, const auto & it2) { return *(std::get<0>(it1)) < *(std::get<0>(it2)); }); for (const auto & [stop_idx_ip, stop_idx] : stop_lines) { const auto & insert_point = path_ip.points.at(*stop_idx_ip).point.pose; - const auto insert_idx = insertPointIndex(insert_point, original_path); + const auto insert_idx = insertPointIndex( + insert_point, original_path, planner_data->ego_nearest_dist_threshold, + planner_data->ego_nearest_yaw_threshold); if (!insert_idx) { return std::nullopt; } @@ -555,7 +545,9 @@ std::optional generateStuckStopLine( static_cast(stuck_stop_line_idx_ip) - 1 - stop_line_margin_idx_dist - base2front_idx_dist, 0)); const auto & insert_point = path_ip.points.at(insert_idx_ip).point.pose; - return insertPointIndex(insert_point, original_path); + return insertPointIndex( + insert_point, original_path, planner_data->ego_nearest_dist_threshold, + planner_data->ego_nearest_yaw_threshold); } static std::vector getPolygon3dFromLanelets( @@ -1348,13 +1340,10 @@ TimeDistanceArray calcIntersectionPassingTime( // `last_intersection_stop_line_candidate_idx` makes no sense const auto last_intersection_stop_line_candidate_point_orig = path.points.at(last_intersection_stop_line_candidate_idx).point.pose; - const auto last_intersection_stop_line_candidate_nearest_ind_opt = motion_utils::findNearestIndex( - smoothed_reference_path.points, last_intersection_stop_line_candidate_point_orig, 3.0, M_PI_4); - if (!last_intersection_stop_line_candidate_nearest_ind_opt) { - return time_distance_array; - } const auto last_intersection_stop_line_candidate_nearest_ind = - last_intersection_stop_line_candidate_nearest_ind_opt.value(); + motion_utils::findFirstNearestIndexWithSoftConstraints( + smoothed_reference_path.points, last_intersection_stop_line_candidate_point_orig, + planner_data->ego_nearest_dist_threshold, planner_data->ego_nearest_yaw_threshold); for (size_t i = 1; i < smoothed_reference_path.points.size(); ++i) { const auto & p1 = smoothed_reference_path.points.at(i - 1); From 8eaa02ee0566fce834ec3eadbbe3d3e5949b3558 Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Wed, 8 Nov 2023 14:28:19 +0900 Subject: [PATCH 067/202] fix(intersection): fix wrong resample process (#5516) Signed-off-by: Mamoru Sobue --- .../behavior_velocity_intersection_module/src/util.cpp | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/planning/behavior_velocity_intersection_module/src/util.cpp b/planning/behavior_velocity_intersection_module/src/util.cpp index 94bc75b805934..a9d0f56266181 100644 --- a/planning/behavior_velocity_intersection_module/src/util.cpp +++ b/planning/behavior_velocity_intersection_module/src/util.cpp @@ -1459,14 +1459,14 @@ lanelet::ConstLanelet generatePathLanelet( { lanelet::Points3d lefts; lanelet::Points3d rights; + size_t prev_idx = start_idx; for (size_t i = start_idx; i <= end_idx; ++i) { const auto & p = path.points.at(i).point.pose; - if (start_idx < i && i != end_idx) { - const auto & p_prev = path.points.at(i - 1).point.pose; - if (tier4_autoware_utils::calcDistance2d(p_prev, p) < interval) { - continue; - } + const auto & p_prev = path.points.at(prev_idx).point.pose; + if (i != start_idx && tier4_autoware_utils::calcDistance2d(p_prev, p) < interval) { + continue; } + prev_idx = i; const double yaw = tf2::getYaw(p.orientation); const double x = p.position.x; const double y = p.position.y; From d595785aca975a1c437ddf12446f268d3a8aece5 Mon Sep 17 00:00:00 2001 From: Yamato Ando Date: Thu, 9 Nov 2023 18:23:52 +0900 Subject: [PATCH 068/202] fix(ndt_scan_matcher): delete diagnostics thread (#5532) Signed-off-by: yamato-ando Co-authored-by: yamato-ando --- .../ndt_scan_matcher/map_update_module.hpp | 4 +- .../ndt_scan_matcher_core.hpp | 4 +- .../src/map_update_module.cpp | 4 +- .../src/ndt_scan_matcher_core.cpp | 142 ++++++++---------- 4 files changed, 68 insertions(+), 86 deletions(-) diff --git a/localization/ndt_scan_matcher/include/ndt_scan_matcher/map_update_module.hpp b/localization/ndt_scan_matcher/include/ndt_scan_matcher/map_update_module.hpp index 13721c03ca22e..78052cb8198a3 100644 --- a/localization/ndt_scan_matcher/include/ndt_scan_matcher/map_update_module.hpp +++ b/localization/ndt_scan_matcher/include/ndt_scan_matcher/map_update_module.hpp @@ -51,8 +51,7 @@ class MapUpdateModule rclcpp::Node * node, std::mutex * ndt_ptr_mutex, std::shared_ptr ndt_ptr, std::shared_ptr tf2_listener_module, std::string map_frame, - rclcpp::CallbackGroup::SharedPtr main_callback_group, - std::shared_ptr> state_ptr); + rclcpp::CallbackGroup::SharedPtr main_callback_group); private: friend class NDTScanMatcher; @@ -82,7 +81,6 @@ class MapUpdateModule rclcpp::Logger logger_; rclcpp::Clock::SharedPtr clock_; std::shared_ptr tf2_listener_module_; - std::shared_ptr> state_ptr_; std::optional last_update_position_ = std::nullopt; std::optional current_position_ = std::nullopt; diff --git a/localization/ndt_scan_matcher/include/ndt_scan_matcher/ndt_scan_matcher_core.hpp b/localization/ndt_scan_matcher/include/ndt_scan_matcher/ndt_scan_matcher_core.hpp index 9eb62230dad9e..f0d90fdfa0e08 100644 --- a/localization/ndt_scan_matcher/include/ndt_scan_matcher/ndt_scan_matcher_core.hpp +++ b/localization/ndt_scan_matcher/include/ndt_scan_matcher/ndt_scan_matcher_core.hpp @@ -132,7 +132,7 @@ class NDTScanMatcher : public rclcpp::Node const rclcpp::Time & sensor_ros_time); void add_regularization_pose(const rclcpp::Time & sensor_ros_time); - void timer_diagnostic(); + void publish_diagnostic(); rclcpp::Subscription::SharedPtr initial_pose_sub_; rclcpp::Subscription::SharedPtr sensor_points_sub_; @@ -203,8 +203,6 @@ class NDTScanMatcher : public rclcpp::Node std::mutex ndt_ptr_mtx_; std::mutex initial_pose_array_mtx_; - std::thread diagnostic_thread_; - // variables for regularization const bool regularization_enabled_; std::deque diff --git a/localization/ndt_scan_matcher/src/map_update_module.cpp b/localization/ndt_scan_matcher/src/map_update_module.cpp index 7512ae2e77a21..f0a583417fb76 100644 --- a/localization/ndt_scan_matcher/src/map_update_module.cpp +++ b/localization/ndt_scan_matcher/src/map_update_module.cpp @@ -26,15 +26,13 @@ MapUpdateModule::MapUpdateModule( rclcpp::Node * node, std::mutex * ndt_ptr_mutex, std::shared_ptr ndt_ptr, std::shared_ptr tf2_listener_module, std::string map_frame, - rclcpp::CallbackGroup::SharedPtr main_callback_group, - std::shared_ptr> state_ptr) + rclcpp::CallbackGroup::SharedPtr main_callback_group) : ndt_ptr_(std::move(ndt_ptr)), ndt_ptr_mutex_(ndt_ptr_mutex), map_frame_(std::move(map_frame)), logger_(node->get_logger()), clock_(node->get_clock()), tf2_listener_module_(std::move(tf2_listener_module)), - state_ptr_(std::move(state_ptr)), dynamic_map_loading_update_distance_( node->declare_parameter("dynamic_map_loading_update_distance")), dynamic_map_loading_map_radius_( diff --git a/localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp b/localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp index cb66998147220..a2e89540a172f 100644 --- a/localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp +++ b/localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp @@ -280,16 +280,12 @@ NDTScanMatcher::NDTScanMatcher() &NDTScanMatcher::service_trigger_node, this, std::placeholders::_1, std::placeholders::_2), rclcpp::ServicesQoS().get_rmw_qos_profile(), main_callback_group); - diagnostic_thread_ = std::thread(&NDTScanMatcher::timer_diagnostic, this); - diagnostic_thread_.detach(); - tf2_listener_module_ = std::make_shared(this); use_dynamic_map_loading_ = this->declare_parameter("use_dynamic_map_loading"); if (use_dynamic_map_loading_) { map_update_module_ = std::make_unique( - this, &ndt_ptr_mtx_, ndt_ptr_, tf2_listener_module_, map_frame_, main_callback_group, - state_ptr_); + this, &ndt_ptr_mtx_, ndt_ptr_, tf2_listener_module_, map_frame_, main_callback_group); } else { map_module_ = std::make_unique(this, &ndt_ptr_mtx_, ndt_ptr_, main_callback_group); } @@ -297,76 +293,71 @@ NDTScanMatcher::NDTScanMatcher() logger_configure_ = std::make_unique(this); } -void NDTScanMatcher::timer_diagnostic() +void NDTScanMatcher::publish_diagnostic() { - rclcpp::Rate rate(100); - while (rclcpp::ok()) { - diagnostic_msgs::msg::DiagnosticStatus diag_status_msg; - diag_status_msg.name = "ndt_scan_matcher"; - diag_status_msg.hardware_id = ""; - - for (const auto & key_value : (*state_ptr_)) { - diagnostic_msgs::msg::KeyValue key_value_msg; - key_value_msg.key = key_value.first; - key_value_msg.value = key_value.second; - diag_status_msg.values.push_back(key_value_msg); - } - + diagnostic_msgs::msg::DiagnosticStatus diag_status_msg; + diag_status_msg.name = "ndt_scan_matcher"; + diag_status_msg.hardware_id = ""; + + for (const auto & key_value : (*state_ptr_)) { + diagnostic_msgs::msg::KeyValue key_value_msg; + key_value_msg.key = key_value.first; + key_value_msg.value = key_value.second; + diag_status_msg.values.push_back(key_value_msg); + } + + diag_status_msg.level = diagnostic_msgs::msg::DiagnosticStatus::OK; + diag_status_msg.message = ""; + if (state_ptr_->count("state") && (*state_ptr_)["state"] == "Initializing") { + diag_status_msg.level = diagnostic_msgs::msg::DiagnosticStatus::WARN; + diag_status_msg.message += "Initializing State. "; + } + if ( + state_ptr_->count("lidar_topic_delay_time_sec") && + std::stod((*state_ptr_)["lidar_topic_delay_time_sec"]) > lidar_topic_timeout_sec_) { + diag_status_msg.level = diagnostic_msgs::msg::DiagnosticStatus::WARN; + diag_status_msg.message += "lidar_topic_delay_time_sec exceed limit. "; + } + if ( + state_ptr_->count("skipping_publish_num") && + std::stoi((*state_ptr_)["skipping_publish_num"]) > 1 && + std::stoi((*state_ptr_)["skipping_publish_num"]) < 5) { + diag_status_msg.level = diagnostic_msgs::msg::DiagnosticStatus::WARN; + diag_status_msg.message += "skipping_publish_num > 1. "; + } + if ( + state_ptr_->count("skipping_publish_num") && + std::stoi((*state_ptr_)["skipping_publish_num"]) >= 5) { + diag_status_msg.level = diagnostic_msgs::msg::DiagnosticStatus::ERROR; + diag_status_msg.message += "skipping_publish_num exceed limit. "; + } + if ( + state_ptr_->count("nearest_voxel_transformation_likelihood") && + std::stod((*state_ptr_)["nearest_voxel_transformation_likelihood"]) < + converged_param_nearest_voxel_transformation_likelihood_) { + diag_status_msg.level = diagnostic_msgs::msg::DiagnosticStatus::WARN; + diag_status_msg.message += "NDT score is unreliably low. "; + } + if ( + state_ptr_->count("execution_time") && + std::stod((*state_ptr_)["execution_time"]) >= critical_upper_bound_exe_time_ms_) { + diag_status_msg.level = diagnostic_msgs::msg::DiagnosticStatus::WARN; + diag_status_msg.message += + "NDT exe time is too long. (took " + (*state_ptr_)["execution_time"] + " [ms])"; + } + // Ignore local optimal solution + if ( + state_ptr_->count("is_local_optimal_solution_oscillation") && + std::stoi((*state_ptr_)["is_local_optimal_solution_oscillation"])) { diag_status_msg.level = diagnostic_msgs::msg::DiagnosticStatus::OK; - diag_status_msg.message = ""; - if (state_ptr_->count("state") && (*state_ptr_)["state"] == "Initializing") { - diag_status_msg.level = diagnostic_msgs::msg::DiagnosticStatus::WARN; - diag_status_msg.message += "Initializing State. "; - } - if ( - state_ptr_->count("lidar_topic_delay_time_sec") && - std::stod((*state_ptr_)["lidar_topic_delay_time_sec"]) > lidar_topic_timeout_sec_) { - diag_status_msg.level = diagnostic_msgs::msg::DiagnosticStatus::WARN; - diag_status_msg.message += "lidar_topic_delay_time_sec exceed limit. "; - } - if ( - state_ptr_->count("skipping_publish_num") && - std::stoi((*state_ptr_)["skipping_publish_num"]) > 1 && - std::stoi((*state_ptr_)["skipping_publish_num"]) < 5) { - diag_status_msg.level = diagnostic_msgs::msg::DiagnosticStatus::WARN; - diag_status_msg.message += "skipping_publish_num > 1. "; - } - if ( - state_ptr_->count("skipping_publish_num") && - std::stoi((*state_ptr_)["skipping_publish_num"]) >= 5) { - diag_status_msg.level = diagnostic_msgs::msg::DiagnosticStatus::ERROR; - diag_status_msg.message += "skipping_publish_num exceed limit. "; - } - if ( - state_ptr_->count("nearest_voxel_transformation_likelihood") && - std::stod((*state_ptr_)["nearest_voxel_transformation_likelihood"]) < - converged_param_nearest_voxel_transformation_likelihood_) { - diag_status_msg.level = diagnostic_msgs::msg::DiagnosticStatus::WARN; - diag_status_msg.message += "NDT score is unreliably low. "; - } - if ( - state_ptr_->count("execution_time") && - std::stod((*state_ptr_)["execution_time"]) >= critical_upper_bound_exe_time_ms_) { - diag_status_msg.level = diagnostic_msgs::msg::DiagnosticStatus::WARN; - diag_status_msg.message += - "NDT exe time is too long. (took " + (*state_ptr_)["execution_time"] + " [ms])"; - } - // Ignore local optimal solution - if ( - state_ptr_->count("is_local_optimal_solution_oscillation") && - std::stoi((*state_ptr_)["is_local_optimal_solution_oscillation"])) { - diag_status_msg.level = diagnostic_msgs::msg::DiagnosticStatus::OK; - diag_status_msg.message = "local optimal solution oscillation occurred"; - } - - diagnostic_msgs::msg::DiagnosticArray diag_msg; - diag_msg.header.stamp = this->now(); - diag_msg.status.push_back(diag_status_msg); + diag_status_msg.message = "local optimal solution oscillation occurred"; + } - diagnostics_pub_->publish(diag_msg); + diagnostic_msgs::msg::DiagnosticArray diag_msg; + diag_msg.header.stamp = this->now(); + diag_msg.status.push_back(diag_status_msg); - rate.sleep(); - } + diagnostics_pub_->publish(diag_msg); } void NDTScanMatcher::callback_initial_pose( @@ -476,13 +467,11 @@ void NDTScanMatcher::callback_sensor_points( } // perform ndt scan matching - (*state_ptr_)["state"] = "Aligning"; const Eigen::Matrix4f initial_pose_matrix = pose_to_matrix4f(interpolator.get_current_pose().pose.pose); auto output_cloud = std::make_shared>(); ndt_ptr_->align(*output_cloud, initial_pose_matrix); const pclomp::NdtResult ndt_result = ndt_ptr_->getResult(); - (*state_ptr_)["state"] = "Sleeping"; const geometry_msgs::msg::Pose result_pose_msg = matrix4f_to_pose(ndt_result.pose); std::vector transformation_msg_array; @@ -573,6 +562,7 @@ void NDTScanMatcher::callback_sensor_points( make_float32_stamped(sensor_ros_time, no_ground_nearest_voxel_transformation_likelihood)); } + (*state_ptr_)["state"] = "Aligned"; (*state_ptr_)["transform_probability"] = std::to_string(ndt_result.transform_probability); (*state_ptr_)["nearest_voxel_transformation_likelihood"] = std::to_string(ndt_result.nearest_voxel_transformation_likelihood); @@ -584,6 +574,8 @@ void NDTScanMatcher::callback_sensor_points( (*state_ptr_)["is_local_optimal_solution_oscillation"] = "0"; } (*state_ptr_)["execution_time"] = std::to_string(exe_time); + + publish_diagnostic(); } void NDTScanMatcher::transform_sensor_measurement( @@ -859,8 +851,6 @@ void NDTScanMatcher::service_trigger_node( if (is_activated_) { std::lock_guard initial_pose_array_lock(initial_pose_array_mtx_); initial_pose_msg_ptr_array_.clear(); - } else { - (*state_ptr_)["state"] = "Initializing"; } res->success = true; } @@ -897,9 +887,7 @@ void NDTScanMatcher::service_ndt_align( return; } - (*state_ptr_)["state"] = "Aligning"; res->pose_with_covariance = align_pose(initial_pose_msg_in_map_frame); - (*state_ptr_)["state"] = "Sleeping"; res->success = true; res->pose_with_covariance.pose.covariance = req->pose_with_covariance.pose.covariance; } From b607e5ca94913dffe7b24388ff79edcf62b53a51 Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Wed, 8 Nov 2023 18:17:55 +0900 Subject: [PATCH 069/202] feat(intersection): rectify initial accel/velocity profile in ego velocity profile (#5496) Signed-off-by: Mamoru Sobue --- .../README.md | 8 ++ .../config/intersection.param.yaml | 14 +-- .../docs/ttc.gif | Bin 0 -> 2467326 bytes .../scripts/ttc.py | 13 ++- .../src/util.cpp | 86 +++++++++++++----- .../src/utilization/trajectory_utils.cpp | 13 ++- 6 files changed, 94 insertions(+), 40 deletions(-) create mode 100644 planning/behavior_velocity_intersection_module/docs/ttc.gif diff --git a/planning/behavior_velocity_intersection_module/README.md b/planning/behavior_velocity_intersection_module/README.md index 16459bb64074b..cb65e2a3cc23c 100644 --- a/planning/behavior_velocity_intersection_module/README.md +++ b/planning/behavior_velocity_intersection_module/README.md @@ -86,6 +86,14 @@ The parameters `collision_detection.collision_start_margin_time` and `collision_ If collision is detected, the state transits to "STOP" immediately. On the other hand, the state does not transit to "GO" unless safe judgement continues for a certain period `collision_detection.state_transit_margin` to prevent the chattering of decisions. +Currently, the intersection module uses `motion_velocity_smoother` feature to precisely calculate ego vehicle velocity profile along the intersection lane under longitudinal/lateral constraints. If the flag `collision_detection.use_upstream_velocity` is true, the target velocity profile of the original path is used. Otherwise the target velocity is set to `common.intersection_velocity`. In the trajectory smoothing process the target velocity at/before ego trajectory points are set to ego current velocity. The smoothed trajectory is then converted to an array of (time, distance) which indicates the arrival time to each trajectory point on the path from current ego position. You can visualize this array by adding the lane id to `debug.ttc` and running + +```bash +ros2 run behavior_velocity_intersection_module ttc.py --lane_id +``` + +![ego ttc profile](./docs/ttc.gif) + #### Stop Line Automatic Generation If a stopline is associated with the intersection lane on the map, that line is used as the stopline for collision detection. Otherwise the path is interpolated at a certain intervals (=`common.path_interpolation_ds`), and the point which is `stop_line_margin` meters behind the attention area is defined as the position of the stop line for the vehicle front. diff --git a/planning/behavior_velocity_intersection_module/config/intersection.param.yaml b/planning/behavior_velocity_intersection_module/config/intersection.param.yaml index adbc7b3e087d6..22f68733a3bc2 100644 --- a/planning/behavior_velocity_intersection_module/config/intersection.param.yaml +++ b/planning/behavior_velocity_intersection_module/config/intersection.param.yaml @@ -35,24 +35,24 @@ distance_thr: 1.0 # [m] collision_detection: - state_transit_margin_time: 1.0 + state_transit_margin_time: 0.5 min_predicted_path_confidence: 0.05 minimum_ego_predicted_velocity: 1.388 # [m/s] fully_prioritized: collision_start_margin_time: 2.0 collision_end_margin_time: 0.0 partially_prioritized: - collision_start_margin_time: 2.0 + collision_start_margin_time: 3.0 collision_end_margin_time: 2.0 not_prioritized: - collision_start_margin_time: 4.0 # [s] this + state_transit_margin_time should be higher to account for collision with fast/accelerating object - collision_end_margin_time: 6.0 # [s] this + state_transit_margin_time should be higher to account for collision with slow/decelerating object + collision_start_margin_time: 3.0 # [s] this + state_transit_margin_time should be higher to account for collision with fast/accelerating object + collision_end_margin_time: 2.0 # [s] this + state_transit_margin_time should be higher to account for collision with slow/decelerating object keep_detection_vel_thr: 0.833 # == 3.0km/h. keep detection if ego is ego.vel < keep_detection_vel_thr use_upstream_velocity: true # flag to use the planned velocity profile from the upstream module minimum_upstream_velocity: 0.01 # [m/s] minimum velocity to avoid null division for the stop line from the upstream velocity yield_on_green_traffic_light: - distance_to_assigned_lanelet_start: 5.0 - duration: 2.0 + distance_to_assigned_lanelet_start: 10.0 + duration: 3.0 object_dist_to_stopline: 10.0 # [m] ignore_on_amber_traffic_light: object_expected_deceleration: 2.0 # [m/ss] @@ -81,7 +81,7 @@ maximum_peeking_distance: 6.0 # [m] attention_lane_crop_curvature_threshold: 0.25 attention_lane_curvature_calculation_ds: 0.5 - static_occlusion_with_traffic_light_timeout: 3.5 + static_occlusion_with_traffic_light_timeout: 0.5 debug: ttc: [0] diff --git a/planning/behavior_velocity_intersection_module/docs/ttc.gif b/planning/behavior_velocity_intersection_module/docs/ttc.gif new file mode 100644 index 0000000000000000000000000000000000000000..bb797f7df59a1ee9800ebae6f978bf1efc555ac1 GIT binary patch literal 2467326 zcmWifWmMEp7sr1a>@Kjt(jl>QrwB;M(nv{{bV-RQAt>O|OM`@9(A^*+h;&M~ARW@N z2m&Iw&;R+JId{&yn=^Orees>oXxvwqxob~DWDbr70K$Lz_mA-J=HGwu=7w)+`q z;rAxtbouP;?DX{X*RNmyPF7D&PHv8m2>4k%9)Em%OgK0o98O;x{QS4Ib-cMjI2a`C 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b/planning/behavior_velocity_intersection_module/scripts/ttc.py @@ -126,8 +126,11 @@ def plot_ttc(self): self.ttc_ax.set_xlabel("ego time") self.ttc_ax.set_ylabel("ego dist") time_dist_plot = self.ttc_ax.plot(ego_ttc_time, ego_ttc_dist, label="time-dist", c="orange") - self.ttc_ax.set_xlim(min(ego_ttc_time) - 2.0, max(ego_ttc_time) + 3.0) - self.ttc_ax.set_ylim(min(ego_ttc_dist) - 2.0, max(ego_ttc_dist) + 3.0) + self.ttc_ax.set_xlim( + min(ego_ttc_time) - 2.0, + min(max(ego_ttc_time) + 3.0, self.args.max_time), + ) + # self.ttc_ax.set_ylim(min(ego_ttc_dist) - 2.0, max(ego_ttc_dist) + 3.0) for npc, color in zip(self.npc_vehicles, cycle(self.color_list)): t0, t1 = npc.collision_start_time, npc.collision_end_time d0, d1 = npc.collision_start_dist, npc.collision_end_dist @@ -137,15 +140,13 @@ def plot_ttc(self): c=color, alpha=0.2, ) - dd = [d1 - d0 for d0, d1 in zip(ego_ttc_dist, ego_ttc_dist[1:])] dt = [t1 - t0 for t0, t1 in zip(ego_ttc_time, ego_ttc_time[1:])] v = [d / t for d, t in zip(dd, dt)] self.ttc_vel_ax.yaxis.set_label_position("right") self.ttc_vel_ax.set_ylabel("ego velocity") - self.ttc_vel_ax.set_ylim(0.0, max(v) + 1.0) + # self.ttc_vel_ax.set_ylim(0.0, max(v) + 1.0) time_velocity_plot = self.ttc_vel_ax.plot(ego_ttc_time[1:], v, label="time-v", c="red") - lines = time_dist_plot + time_velocity_plot labels = [line.get_label() for line in lines] self.ttc_ax.legend(lines, labels, loc="upper left") @@ -218,6 +219,7 @@ def cleanup(self): if self.args.save: kwargs_write = {"fps": self.args.fps, "quantizer": "nq"} imageio.mimsave("./" + self.args.gif + ".gif", self.images, **kwargs_write) + rclpy.shutdown() def on_plot_timer(self): with self.lock: @@ -277,6 +279,7 @@ def on_object_ttc(self, msg): default=60, help="detect range for drawing", ) + parser.add_argument("--max_time", type=float, default=100, help="max plot limit for time") parser.add_argument("-s", "--save", action="store_true", help="flag to save gif") parser.add_argument("--gif", type=str, default="ttc", help="filename of gif file") parser.add_argument("--fps", type=float, default=5, help="fps of gif") diff --git a/planning/behavior_velocity_intersection_module/src/util.cpp b/planning/behavior_velocity_intersection_module/src/util.cpp index a9d0f56266181..e6e6fa0a1da9a 100644 --- a/planning/behavior_velocity_intersection_module/src/util.cpp +++ b/planning/behavior_velocity_intersection_module/src/util.cpp @@ -36,6 +36,7 @@ #include #include +#include #include #include #include @@ -1304,14 +1305,27 @@ TimeDistanceArray calcIntersectionPassingTime( const bool use_upstream_velocity, const double minimum_upstream_velocity, tier4_debug_msgs::msg::Float64MultiArrayStamped * debug_ttc_array) { - double dist_sum = 0.0; + const double current_velocity = planner_data->current_velocity->twist.linear.x; + int assigned_lane_found = false; // crop intersection part of the path, and set the reference velocity to intersection_velocity // for ego's ttc PathWithLaneId reference_path; - for (size_t i = closest_idx; i < path.points.size(); ++i) { + std::optional upstream_stop_line{std::nullopt}; + for (size_t i = 0; i < path.points.size() - 1; ++i) { auto reference_point = path.points.at(i); + // assume backward velocity is current ego velocity + if (i < closest_idx) { + reference_point.point.longitudinal_velocity_mps = current_velocity; + } + if ( + i > last_intersection_stop_line_candidate_idx && + std::fabs(reference_point.point.longitudinal_velocity_mps) < + std::numeric_limits::epsilon() && + !upstream_stop_line) { + upstream_stop_line = i; + } if (!use_upstream_velocity) { reference_point.point.longitudinal_velocity_mps = intersection_velocity; } @@ -1326,28 +1340,46 @@ TimeDistanceArray calcIntersectionPassingTime( return {{0.0, 0.0}}; // has already passed the intersection. } + std::vector> original_path_xy; + for (size_t i = 0; i < reference_path.points.size(); ++i) { + const auto & p = reference_path.points.at(i).point.pose.position; + original_path_xy.emplace_back(p.x, p.y); + } + // apply smoother to reference velocity PathWithLaneId smoothed_reference_path = reference_path; - smoothPath(reference_path, smoothed_reference_path, planner_data); + if (!smoothPath(reference_path, smoothed_reference_path, planner_data)) { + smoothed_reference_path = reference_path; + } // calculate when ego is going to reach each (interpolated) points on the path TimeDistanceArray time_distance_array{}; - dist_sum = 0.0; + double dist_sum = 0.0; double passing_time = time_delay; time_distance_array.emplace_back(passing_time, dist_sum); // NOTE: `reference_path` is resampled in `reference_smoothed_path`, so // `last_intersection_stop_line_candidate_idx` makes no sense - const auto last_intersection_stop_line_candidate_point_orig = - path.points.at(last_intersection_stop_line_candidate_idx).point.pose; - const auto last_intersection_stop_line_candidate_nearest_ind = - motion_utils::findFirstNearestIndexWithSoftConstraints( - smoothed_reference_path.points, last_intersection_stop_line_candidate_point_orig, - planner_data->ego_nearest_dist_threshold, planner_data->ego_nearest_yaw_threshold); + const auto smoothed_path_closest_idx = motion_utils::findFirstNearestIndexWithSoftConstraints( + smoothed_reference_path.points, path.points.at(closest_idx).point.pose, + planner_data->ego_nearest_dist_threshold, planner_data->ego_nearest_yaw_threshold); + + const std::optional upstream_stop_line_idx_opt = [&]() -> std::optional { + if (upstream_stop_line) { + const auto upstream_stop_line_point = path.points.at(upstream_stop_line.value()).point.pose; + return motion_utils::findFirstNearestIndexWithSoftConstraints( + smoothed_reference_path.points, upstream_stop_line_point, + planner_data->ego_nearest_dist_threshold, planner_data->ego_nearest_yaw_threshold); + } else { + return std::nullopt; + } + }(); + const bool has_upstream_stopline = upstream_stop_line_idx_opt.has_value(); + const size_t upstream_stopline_ind = upstream_stop_line_idx_opt.value_or(0); - for (size_t i = 1; i < smoothed_reference_path.points.size(); ++i) { - const auto & p1 = smoothed_reference_path.points.at(i - 1); - const auto & p2 = smoothed_reference_path.points.at(i); + for (size_t i = smoothed_path_closest_idx; i < smoothed_reference_path.points.size() - 1; ++i) { + const auto & p1 = smoothed_reference_path.points.at(i); + const auto & p2 = smoothed_reference_path.points.at(i + 1); const double dist = tier4_autoware_utils::calcDistance2d(p1, p2); dist_sum += dist; @@ -1355,12 +1387,16 @@ TimeDistanceArray calcIntersectionPassingTime( // use average velocity between p1 and p2 const double average_velocity = (p1.point.longitudinal_velocity_mps + p2.point.longitudinal_velocity_mps) / 2.0; - const double minimum_ego_velocity_division = - (use_upstream_velocity && i > last_intersection_stop_line_candidate_nearest_ind) - ? minimum_upstream_velocity /* to avoid null division */ - : minimum_ego_velocity; - const double passing_velocity = - std::max(minimum_ego_velocity_division, average_velocity); + const double passing_velocity = [=]() { + if (use_upstream_velocity) { + if (has_upstream_stopline && i > upstream_stopline_ind) { + return minimum_upstream_velocity; + } + return std::max(average_velocity, minimum_ego_velocity); + } else { + return std::max(average_velocity, minimum_ego_velocity); + } + }(); passing_time += (dist / passing_velocity); time_distance_array.emplace_back(passing_time, dist_sum); @@ -1370,6 +1406,8 @@ TimeDistanceArray calcIntersectionPassingTime( debug_ttc_array->layout.dim.at(0).size = 5; debug_ttc_array->layout.dim.at(1).label = "values"; debug_ttc_array->layout.dim.at(1).size = time_distance_array.size(); + debug_ttc_array->data.reserve( + time_distance_array.size() * debug_ttc_array->layout.dim.at(0).size); for (unsigned i = 0; i < time_distance_array.size(); ++i) { debug_ttc_array->data.push_back(lane_id); } @@ -1379,11 +1417,13 @@ TimeDistanceArray calcIntersectionPassingTime( for (const auto & [t, d] : time_distance_array) { debug_ttc_array->data.push_back(d); } - for (const auto & p : smoothed_reference_path.points) { - debug_ttc_array->data.push_back(p.point.pose.position.x); + for (size_t i = smoothed_path_closest_idx; i < smoothed_reference_path.points.size(); ++i) { + const auto & p = smoothed_reference_path.points.at(i).point.pose.position; + debug_ttc_array->data.push_back(p.x); } - for (const auto & p : smoothed_reference_path.points) { - debug_ttc_array->data.push_back(p.point.pose.position.y); + for (size_t i = smoothed_path_closest_idx; i < smoothed_reference_path.points.size(); ++i) { + const auto & p = smoothed_reference_path.points.at(i).point.pose.position; + debug_ttc_array->data.push_back(p.y); } return time_distance_array; } diff --git a/planning/behavior_velocity_planner_common/src/utilization/trajectory_utils.cpp b/planning/behavior_velocity_planner_common/src/utilization/trajectory_utils.cpp index 71cdd9650a598..7fe8612cc6858 100644 --- a/planning/behavior_velocity_planner_common/src/utilization/trajectory_utils.cpp +++ b/planning/behavior_velocity_planner_common/src/utilization/trajectory_utils.cpp @@ -88,15 +88,14 @@ bool smoothPath( const auto & smoother = planner_data->velocity_smoother_; auto trajectory = convertPathToTrajectoryPoints(in_path); - if (external_v_limit) { - motion_velocity_smoother::trajectory_utils::applyMaximumVelocityLimit( - 0, trajectory.size(), external_v_limit->max_velocity, trajectory); - } const auto traj_lateral_acc_filtered = smoother->applyLateralAccelerationFilter(trajectory); + const auto traj_steering_rate_limited = + smoother->applySteeringRateLimit(traj_lateral_acc_filtered, false); + // Resample trajectory with ego-velocity based interval distances auto traj_resampled = smoother->resampleTrajectory( - traj_lateral_acc_filtered, v0, current_pose, planner_data->ego_nearest_dist_threshold, + traj_steering_rate_limited, v0, current_pose, planner_data->ego_nearest_dist_threshold, planner_data->ego_nearest_yaw_threshold); const size_t traj_resampled_closest = motion_utils::findFirstNearestIndexWithSoftConstraints( traj_resampled, current_pose, planner_data->ego_nearest_dist_threshold, @@ -114,6 +113,10 @@ bool smoothPath( traj_smoothed.insert( traj_smoothed.begin(), traj_resampled.begin(), traj_resampled.begin() + traj_resampled_closest); + if (external_v_limit) { + motion_velocity_smoother::trajectory_utils::applyMaximumVelocityLimit( + traj_resampled_closest, traj_smoothed.size(), external_v_limit->max_velocity, traj_smoothed); + } out_path = convertTrajectoryPointsToPath(traj_smoothed); return true; } From c6d6fc10a4217de804b20ee87717f60702bec0ce Mon Sep 17 00:00:00 2001 From: kminoda <44218668+kminoda@users.noreply.github.com> Date: Wed, 8 Nov 2023 18:32:41 +0900 Subject: [PATCH 070/202] fix: add_ros_test to add_launch_test (#5486) * fix: add_ros_test to add_launch_test Signed-off-by: kminoda * fix ndt_scan_matcher Signed-off-by: kminoda --------- Signed-off-by: kminoda --- localization/ekf_localizer/CMakeLists.txt | 4 ++-- localization/ndt_scan_matcher/CMakeLists.txt | 2 +- map/map_loader/CMakeLists.txt | 2 +- 3 files changed, 4 insertions(+), 4 deletions(-) diff --git a/localization/ekf_localizer/CMakeLists.txt b/localization/ekf_localizer/CMakeLists.txt index 45d420bafff10..9944cbb84d97c 100644 --- a/localization/ekf_localizer/CMakeLists.txt +++ b/localization/ekf_localizer/CMakeLists.txt @@ -43,11 +43,11 @@ function(add_testcase filepath) endfunction() if(BUILD_TESTING) - add_ros_test( + add_launch_test( test/test_ekf_localizer_launch.py TIMEOUT "30" ) - add_ros_test( + add_launch_test( test/test_ekf_localizer_mahalanobis.py TIMEOUT "30" ) diff --git a/localization/ndt_scan_matcher/CMakeLists.txt b/localization/ndt_scan_matcher/CMakeLists.txt index 6fe61cd25bc6e..4beecc2625fe3 100644 --- a/localization/ndt_scan_matcher/CMakeLists.txt +++ b/localization/ndt_scan_matcher/CMakeLists.txt @@ -38,7 +38,7 @@ link_directories(${PCL_LIBRARY_DIRS}) target_link_libraries(ndt_scan_matcher ${PCL_LIBRARIES} glog::glog) if(BUILD_TESTING) - add_ros_test( + add_launch_test( test/test_ndt_scan_matcher_launch.py TIMEOUT "30" ) diff --git a/map/map_loader/CMakeLists.txt b/map/map_loader/CMakeLists.txt index b94eaac7ee34d..115f7e5b17464 100644 --- a/map/map_loader/CMakeLists.txt +++ b/map/map_loader/CMakeLists.txt @@ -46,7 +46,7 @@ rclcpp_components_register_node(lanelet2_map_visualization_node ) if(BUILD_TESTING) - add_ros_test( + add_launch_test( test/lanelet2_map_loader_launch.test.py TIMEOUT "30" ) From 3462f27bfef26c34d2ec1f7d97533f03e192231d Mon Sep 17 00:00:00 2001 From: Kyoichi Sugahara Date: Wed, 8 Nov 2023 20:59:48 +0900 Subject: [PATCH 071/202] refactor(behavior_path_planner): remove status_.pull_over_lanes (#5520) * Remove unused variable and update function arguments in start_planner_module.hpp and util.hpp/cpp Signed-off-by: kyoichi-sugahara --------- Signed-off-by: kyoichi-sugahara --- .../start_planner/start_planner_module.hpp | 1 - .../start_planner/start_planner_module.cpp | 43 +++++++++++-------- .../src/utils/start_planner/util.cpp | 7 ++- 3 files changed, 28 insertions(+), 23 deletions(-) diff --git a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/start_planner/start_planner_module.hpp b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/start_planner/start_planner_module.hpp index 8ea963fec0b8d..91121598cb3ae 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/start_planner/start_planner_module.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/start_planner/start_planner_module.hpp @@ -59,7 +59,6 @@ struct PullOutStatus size_t current_path_idx{0}; PlannerType planner_type{PlannerType::NONE}; PathWithLaneId backward_path{}; - lanelet::ConstLanelets pull_out_lanes{}; bool found_pull_out_path{false}; // current path is safe against static objects bool is_safe_dynamic_objects{false}; // current path is safe against dynamic objects bool driving_forward{false}; // if ego is driving on backward path, this is set to false diff --git a/planning/behavior_path_planner/src/scene_module/start_planner/start_planner_module.cpp b/planning/behavior_path_planner/src/scene_module/start_planner/start_planner_module.cpp index e3670710b64f0..bd042f8ecef4d 100644 --- a/planning/behavior_path_planner/src/scene_module/start_planner/start_planner_module.cpp +++ b/planning/behavior_path_planner/src/scene_module/start_planner/start_planner_module.cpp @@ -619,8 +619,11 @@ PathWithLaneId StartPlannerModule::generateStopPath() const PathPointWithLaneId p{}; p.point.pose = pose; p.point.longitudinal_velocity_mps = 0.0; + const auto pull_out_lanes = start_planner_utils::getPullOutLanes( + planner_data_, + planner_data_->parameters.backward_path_length + parameters_->max_back_distance); lanelet::Lanelet closest_lanelet; - lanelet::utils::query::getClosestLanelet(status_.pull_out_lanes, pose, &closest_lanelet); + lanelet::utils::query::getClosestLanelet(pull_out_lanes, pose, &closest_lanelet); p.lane_ids.push_back(closest_lanelet.id()); return p; }; @@ -664,13 +667,15 @@ lanelet::ConstLanelets StartPlannerModule::getPathRoadLanes(const PathWithLaneId std::vector StartPlannerModule::generateDrivableLanes( const PathWithLaneId & path) const { + const auto pull_out_lanes = start_planner_utils::getPullOutLanes( + planner_data_, planner_data_->parameters.backward_path_length + parameters_->max_back_distance); + const auto path_road_lanes = getPathRoadLanes(path); if (!path_road_lanes.empty()) { lanelet::ConstLanelets shoulder_lanes; const auto & rh = planner_data_->route_handler; std::copy_if( - status_.pull_out_lanes.begin(), status_.pull_out_lanes.end(), - std::back_inserter(shoulder_lanes), + pull_out_lanes.begin(), pull_out_lanes.end(), std::back_inserter(shoulder_lanes), [&rh](const auto & pull_out_lane) { return rh->isShoulderLanelet(pull_out_lane); }); return utils::generateDrivableLanesWithShoulderLanes(path_road_lanes, shoulder_lanes); @@ -678,7 +683,7 @@ std::vector StartPlannerModule::generateDrivableLanes( // if path_road_lanes is empty, use only pull_out_lanes as drivable lanes std::vector drivable_lanes; - for (const auto & lane : status_.pull_out_lanes) { + for (const auto & lane : pull_out_lanes) { DrivableLanes drivable_lane; drivable_lane.right_lane = lane; drivable_lane.left_lane = lane; @@ -693,11 +698,6 @@ void StartPlannerModule::updatePullOutStatus() !planner_data_->prev_route_id || *planner_data_->prev_route_id != planner_data_->route_handler->getRouteUuid(); - // save pull out lanes which is generated using current pose before starting pull out - // (before approval) - status_.pull_out_lanes = start_planner_utils::getPullOutLanes( - planner_data_, planner_data_->parameters.backward_path_length + parameters_->max_back_distance); - // skip updating if enough time has not passed for preventing chattering between back and // start_planner if (!has_received_new_route) { @@ -734,12 +734,15 @@ void StartPlannerModule::updatePullOutStatus() planWithPriority( start_pose_candidates, *refined_start_pose, goal_pose, parameters_->search_priority); + const auto pull_out_lanes = start_planner_utils::getPullOutLanes( + planner_data_, planner_data_->parameters.backward_path_length + parameters_->max_back_distance); + if (isBackwardDrivingComplete()) { updateStatusAfterBackwardDriving(); current_state_ = ModuleStatus::SUCCESS; // for breaking loop } else { status_.backward_path = start_planner_utils::getBackwardPath( - *route_handler, status_.pull_out_lanes, current_pose, status_.pull_out_start_pose, + *route_handler, pull_out_lanes, current_pose, status_.pull_out_start_pose, parameters_->backward_velocity); } } @@ -761,12 +764,14 @@ PathWithLaneId StartPlannerModule::calcStartPoseCandidatesBackwardPath() const { const Pose & current_pose = planner_data_->self_odometry->pose.pose; + const auto pull_out_lanes = start_planner_utils::getPullOutLanes( + planner_data_, planner_data_->parameters.backward_path_length + parameters_->max_back_distance); + // get backward shoulder path - const auto arc_position_pose = - lanelet::utils::getArcCoordinates(status_.pull_out_lanes, current_pose); + const auto arc_position_pose = lanelet::utils::getArcCoordinates(pull_out_lanes, current_pose); const double check_distance = parameters_->max_back_distance + 30.0; // buffer auto path = planner_data_->route_handler->getCenterLinePath( - status_.pull_out_lanes, arc_position_pose.length - check_distance, + pull_out_lanes, arc_position_pose.length - check_distance, arc_position_pose.length + check_distance); // lateral shift to current_pose @@ -785,18 +790,20 @@ std::vector StartPlannerModule::searchPullOutStartPoses( std::vector pull_out_start_pose{}; + const auto pull_out_lanes = start_planner_utils::getPullOutLanes( + planner_data_, planner_data_->parameters.backward_path_length + parameters_->max_back_distance); + // filter pull out lanes stop objects const auto [pull_out_lane_objects, others] = utils::path_safety_checker::separateObjectsByLanelets( - *planner_data_->dynamic_object, status_.pull_out_lanes, + *planner_data_->dynamic_object, pull_out_lanes, utils::path_safety_checker::isPolygonOverlapLanelet); const auto pull_out_lane_stop_objects = utils::path_safety_checker::filterObjectsByVelocity( pull_out_lane_objects, parameters_->th_moving_object_velocity); // Set the maximum backward distance less than the distance from the vehicle's base_link to the // lane's rearmost point to prevent lane departure. - const double s_current = - lanelet::utils::getArcCoordinates(status_.pull_out_lanes, current_pose).length; + const double s_current = lanelet::utils::getArcCoordinates(pull_out_lanes, current_pose).length; const double max_back_distance = std::clamp( s_current - planner_data_->parameters.base_link2rear, 0.0, parameters_->max_back_distance); @@ -812,10 +819,10 @@ std::vector StartPlannerModule::searchPullOutStartPoses( // check the back pose is near the lane end const double length_to_backed_pose = - lanelet::utils::getArcCoordinates(status_.pull_out_lanes, *backed_pose).length; + lanelet::utils::getArcCoordinates(pull_out_lanes, *backed_pose).length; const double length_to_lane_end = std::accumulate( - std::begin(status_.pull_out_lanes), std::end(status_.pull_out_lanes), 0.0, + std::begin(pull_out_lanes), std::end(pull_out_lanes), 0.0, [](double acc, const auto & lane) { return acc + lanelet::utils::getLaneletLength2d(lane); }); const double distance_from_lane_end = length_to_lane_end - length_to_backed_pose; if (distance_from_lane_end < parameters_->ignore_distance_from_lane_end) { diff --git a/planning/behavior_path_planner/src/utils/start_planner/util.cpp b/planning/behavior_path_planner/src/utils/start_planner/util.cpp index 40b100a1bc070..7b4d4566bba27 100644 --- a/planning/behavior_path_planner/src/utils/start_planner/util.cpp +++ b/planning/behavior_path_planner/src/utils/start_planner/util.cpp @@ -89,15 +89,14 @@ lanelet::ConstLanelets getPullOutLanes( { const double & vehicle_width = planner_data->parameters.vehicle_width; const auto & route_handler = planner_data->route_handler; - const auto & current_pose = planner_data->self_odometry->pose.pose; + const auto & start_pose = planner_data->route_handler->getOriginalStartPose(); lanelet::ConstLanelet current_shoulder_lane; lanelet::ConstLanelets shoulder_lanes; if (route_handler->getPullOutStartLane( - route_handler->getShoulderLanelets(), current_pose, vehicle_width, - ¤t_shoulder_lane)) { + route_handler->getShoulderLanelets(), start_pose, vehicle_width, ¤t_shoulder_lane)) { // pull out from shoulder lane - return route_handler->getShoulderLaneletSequence(current_shoulder_lane, current_pose); + return route_handler->getShoulderLaneletSequence(current_shoulder_lane, start_pose); } // pull out from road lane From 3e8c7bf6df79a9f4027f01e0310036606098aa0a Mon Sep 17 00:00:00 2001 From: Alexey Panferov <37497658+lexavtanke@users.noreply.github.com> Date: Wed, 8 Nov 2023 17:31:40 +0300 Subject: [PATCH 072/202] build(lidar_apollo_segmentation_tvm and lidar_apollo_segmentation_tvm_nodes): remove download from cmake (#5431) * add include tier4_autoware_utils and dependency Signed-off-by: Alexey Panferov * remove downloading logic from Cmake, update documentation Signed-off-by: Alexey Panferov * build(tvm_utility): remove downloading logic from Cmake, update documentation Signed-off-by: Alexey Panferov * style(pre-commit): autofix * build(tvm_utility): fix lint_cmake error Signed-off-by: Alexey Panferov * build(tvm_utility): format warning message Signed-off-by: Alexey Panferov * build(tvm_utility): add logic to work with autoware_data folder, add nn config header and test image Signed-off-by: Alexey Panferov * style(pre-commit): autofix * style(pre-commit): autofix * build(tvm_utility): refactor, update InferenceEngineTVM constructor Signed-off-by: Alexey Panferov * style(pre-commit): autofix * build(tvm_utility): add lightweight model and test with it Signed-off-by: Alexey Panferov * build(tvm_utility): make building yolo_v2_tiny disable by default Signed-off-by: Alexey Panferov * build(tvm_utility): remove test artifact for yolo_v2_tiny Signed-off-by: Alexey Panferov * build(tvm_utility): update docs Signed-off-by: Alexey Panferov * build(tvm_utility): update docs Signed-off-by: Alexey Panferov * style(pre-commit): autofix * build(tvm_utility): update namespace in abs_model test Signed-off-by: Alexey Panferov * build(tvm_utility): rewrite yolo_v2_tiny as example Signed-off-by: Alexey Panferov * build(tvm_utility): clean comments in yolo_v2_tiny example main.cpp Signed-off-by: Alexey Panferov * build(tvm_utility): add launch file for yolo_v2_tiny example Signed-off-by: Alexey Panferov * build(tvm_utility): update yolo_v2_tiny example readme Signed-off-by: Alexey Panferov * style(pre-commit): autofix * build(tvm_utility): add model for arm based systems, need to be tested on device Signed-off-by: Alexey Panferov * style(pre-commit): autofix * style(pre-commit): autofix * build(tvm_utility): update config header for arm Signed-off-by: Alexey Panferov * style(pre-commit): autofix * build(tvm_utility): remove debug output Signed-off-by: Alexey Panferov * build(tvm_utility): add find_package conditional section Signed-off-by: Alexey Panferov * build(tvm_utility): fix lint_cmake errors Signed-off-by: Alexey Panferov * build(tvm_utility): remove coping model files during build Signed-off-by: Alexey Panferov * build(tvm_utility): update readme with new data folder structure Signed-off-by: Alexey Panferov * build(tvm_utility): fix spell check warnings Signed-off-by: Alexey Panferov * style(pre-commit): autofix * build(tvm_utility): add no model files guard to get_neural_network Signed-off-by: Alexey Panferov * style(pre-commit): autofix * build(tvm_utility): set back default paths in config headers Signed-off-by: Alexey Panferov * build(lidar_apollo_segmentation): wip update launch files Signed-off-by: Alexey Panferov * build(tvm_utility): add param file, update launch file Signed-off-by: Alexey Panferov * build(tvm_utility): add schema file, update node name Signed-off-by: Alexey Panferov * style(pre-commit): autofix * build(tvm_utility): fix json-schema-check Signed-off-by: Alexey Panferov * build(tvm_utility): fix json-schema-check Signed-off-by: Alexey Panferov * style(pre-commit): autofix * build(tvm_utility): add parameter table to example readme Signed-off-by: Alexey Panferov * build(tvm_utility): fix typo-error in description of schema.json Signed-off-by: Alexey Panferov * style(pre-commit): autofix * buiild(tvm_utility): fix spell-check warning and typo Signed-off-by: Alexey Panferov * feat(spell-check): add dltype and tvmgen to local dict Signed-off-by: Alexey Panferov * style(pre-commit): autofix * build(lidar_apollo_segmentation_tvm): remove test Signed-off-by: Alexey Panferov * build(lidar_apollo_segmentation_tvm): add data_path to constructor Signed-off-by: Alexey Panferov * build(lidar_apollo_segmentation_tvm_nodes): add data_path to param file Signed-off-by: Alexey Panferov * build(lidar_apollo_segmentation_tvm_nodes): add allow_substs to launches Signed-off-by: Alexey Panferov * style(pre-commit): autofix * build(lidar_apollo_segmentation_tvm_nodes): update README Signed-off-by: Alexey Panferov * build(lidar_apollo_segmentation_tvm): update README Signed-off-by: Alexey Panferov * build(lidar_apollo_segmentation_tvm_nodes): fix schema typo Signed-off-by: Alexey Panferov * build(lidar_apollo_segmentation_tvm): remove unused import Signed-off-by: Alexey Panferov * build(lidar_apollo_segmentation_tvm): suppress cpplint Signed-off-by: Alexey Panferov * build(lidar_apollo_segmentation_tvm): suppress cpplint Signed-off-by: Alexey Panferov * build(lidar_apollo_segmentation_tvm): return test back and update it Signed-off-by: Alexey Panferov * style(pre-commit): autofix * build(lidar_apollo_segmentation_tvm): fix cpplilnt errors Signed-off-by: Alexey Panferov * build(lidar_apollo_segmenntation_tvm): update checking for models files Signed-off-by: Alexey Panferov * style(pre-commit): autofix --------- Signed-off-by: Alexey Panferov Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- .../lidar_apollo_segmentation_tvm/.gitignore | 1 - .../lidar_apollo_segmentation_tvm/README.md | 7 ++- .../baidu_cnn/inference_engine_tvm_config.hpp | 55 +++++++++++++++++++ .../lidar_apollo_segmentation_tvm.hpp | 3 +- .../src/lidar_apollo_segmentation_tvm.cpp | 4 +- .../test/main.cpp | 40 ++++++++++++-- .../README.md | 2 +- ...r_apollo_segmentation_tvm_nodes.param.yaml | 1 + ...ar_apollo_segmentation_tvm_nodes.launch.py | 11 +++- ...r_apollo_segmentation_tvm_nodes.launch.xml | 3 +- ..._apollo_segmentation_tvm_nodes.schema.json | 8 ++- .../lidar_apollo_segmentation_tvm_node.cpp | 2 +- 12 files changed, 117 insertions(+), 20 deletions(-) delete mode 100644 perception/lidar_apollo_segmentation_tvm/.gitignore create mode 100644 perception/lidar_apollo_segmentation_tvm/data/models/baidu_cnn/inference_engine_tvm_config.hpp diff --git a/perception/lidar_apollo_segmentation_tvm/.gitignore b/perception/lidar_apollo_segmentation_tvm/.gitignore deleted file mode 100644 index 8fce603003c1e..0000000000000 --- a/perception/lidar_apollo_segmentation_tvm/.gitignore +++ /dev/null @@ -1 +0,0 @@ -data/ diff --git a/perception/lidar_apollo_segmentation_tvm/README.md b/perception/lidar_apollo_segmentation_tvm/README.md index d1337304fbf06..72fb26105e63e 100644 --- a/perception/lidar_apollo_segmentation_tvm/README.md +++ b/perception/lidar_apollo_segmentation_tvm/README.md @@ -6,9 +6,10 @@ #### Neural network -This package will not build without a neural network for its inference. -The network is provided by the cmake function exported by the tvm_utility package. -See its design page for more information on how to enable downloading pre-compiled networks (by setting the `DOWNLOAD_ARTIFACTS` cmake variable), or how to handle user-compiled networks. +This package will not run without a neural network for its inference. +The network is provided by ansible script during the installation of Autoware or can be downloaded manually according to [Manual Downloading](https://github.com/autowarefoundation/autoware/tree/main/ansible/roles/artifacts). +This package uses 'get_neural_network' function from tvm_utility package to create and provide proper dependency. +See its design page for more information on how to handle user-compiled networks. #### Backend diff --git a/perception/lidar_apollo_segmentation_tvm/data/models/baidu_cnn/inference_engine_tvm_config.hpp b/perception/lidar_apollo_segmentation_tvm/data/models/baidu_cnn/inference_engine_tvm_config.hpp new file mode 100644 index 0000000000000..d7541df046532 --- /dev/null +++ b/perception/lidar_apollo_segmentation_tvm/data/models/baidu_cnn/inference_engine_tvm_config.hpp @@ -0,0 +1,55 @@ +// Copyright 2021 Arm Limited and Contributors. +// +// 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 "tvm_utility/pipeline.hpp" + +#ifndef PERCEPTION__LIDAR_APOLLO_SEGMENTATION_TVM__DATA__MODELS__BAIDU_CNN__INFERENCE_ENGINE_TVM_CONFIG_HPP_ // NOLINT +#define PERCEPTION__LIDAR_APOLLO_SEGMENTATION_TVM__DATA__MODELS__BAIDU_CNN__INFERENCE_ENGINE_TVM_CONFIG_HPP_ // NOLINT + +namespace model_zoo +{ +namespace perception +{ +namespace lidar_obstacle_detection +{ +namespace baidu_cnn +{ +namespace onnx_bcnn +{ + +static const tvm_utility::pipeline::InferenceEngineTVMConfig config{ + {3, 0, 0}, // modelzoo_version + + "baidu_cnn", // network_name + "llvm", // network_backend + + "./deploy_lib.so", // network_module_path + "./deploy_graph.json", // network_graph_path + "./deploy_param.params", // network_params_path + + kDLCPU, // tvm_device_type + 0, // tvm_device_id + + {{"data", kDLFloat, 32, 1, {1, 4, 864, 864}}}, // network_inputs + + {{"deconv0", kDLFloat, 32, 1, {1, 12, 864, 864}}} // network_outputs +}; + +} // namespace onnx_bcnn +} // namespace baidu_cnn +} // namespace lidar_obstacle_detection +} // namespace perception +} // namespace model_zoo +// NOLINTNEXTLINE +#endif // PERCEPTION__LIDAR_APOLLO_SEGMENTATION_TVM__DATA__MODELS__BAIDU_CNN__INFERENCE_ENGINE_TVM_CONFIG_HPP_ diff --git a/perception/lidar_apollo_segmentation_tvm/include/lidar_apollo_segmentation_tvm/lidar_apollo_segmentation_tvm.hpp b/perception/lidar_apollo_segmentation_tvm/include/lidar_apollo_segmentation_tvm/lidar_apollo_segmentation_tvm.hpp index b9734a41d28ae..7f8c5f51f73a6 100644 --- a/perception/lidar_apollo_segmentation_tvm/include/lidar_apollo_segmentation_tvm/lidar_apollo_segmentation_tvm.hpp +++ b/perception/lidar_apollo_segmentation_tvm/include/lidar_apollo_segmentation_tvm/lidar_apollo_segmentation_tvm.hpp @@ -141,10 +141,11 @@ class LIDAR_APOLLO_SEGMENTATION_TVM_PUBLIC ApolloLidarSegmentation /// \param[in] height_thresh If it is non-negative, the points that are higher than the predicted /// object height by height_thresh are filtered out in the /// post-processing step. + /// \param[in] data_path The path to autoware data and artifacts folder explicit ApolloLidarSegmentation( int32_t range, float score_threshold, bool use_intensity_feature, bool use_constant_feature, float z_offset, float min_height, float max_height, float objectness_thresh, - int32_t min_pts_num, float height_thresh); + int32_t min_pts_num, float height_thresh, const std::string & data_path); /// \brief Detect obstacles. /// \param[in] input Input pointcloud. diff --git a/perception/lidar_apollo_segmentation_tvm/src/lidar_apollo_segmentation_tvm.cpp b/perception/lidar_apollo_segmentation_tvm/src/lidar_apollo_segmentation_tvm.cpp index e6c95f202106d..85f0a69356d55 100644 --- a/perception/lidar_apollo_segmentation_tvm/src/lidar_apollo_segmentation_tvm.cpp +++ b/perception/lidar_apollo_segmentation_tvm/src/lidar_apollo_segmentation_tvm.cpp @@ -108,7 +108,7 @@ std::shared_ptr ApolloLidarSegmentationPostProcessor ApolloLidarSegmentation::ApolloLidarSegmentation( int32_t range, float score_threshold, bool use_intensity_feature, bool use_constant_feature, float z_offset, float min_height, float max_height, float objectness_thresh, int32_t min_pts_num, - float height_thresh) + float height_thresh, const std::string & data_path) : range_(range), score_threshold_(score_threshold), z_offset_(z_offset), @@ -118,7 +118,7 @@ ApolloLidarSegmentation::ApolloLidarSegmentation( pcl_pointcloud_ptr_(new pcl::PointCloud), PreP(std::make_shared( config, range, use_intensity_feature, use_constant_feature, min_height, max_height)), - IE(std::make_shared(config, "lidar_apollo_segmentation_tvm")), + IE(std::make_shared(config, "lidar_apollo_segmentation_tvm", data_path)), PostP(std::make_shared( config, pcl_pointcloud_ptr_, range, objectness_thresh, score_threshold, height_thresh, min_pts_num)), diff --git a/perception/lidar_apollo_segmentation_tvm/test/main.cpp b/perception/lidar_apollo_segmentation_tvm/test/main.cpp index 9fd644afff1f2..06cff2a67e908 100644 --- a/perception/lidar_apollo_segmentation_tvm/test/main.cpp +++ b/perception/lidar_apollo_segmentation_tvm/test/main.cpp @@ -17,14 +17,18 @@ #include +#include #include #include #include #include using autoware::perception::lidar_apollo_segmentation_tvm::ApolloLidarSegmentation; +namespace fs = std::filesystem; -void test_segmentation(bool use_intensity_feature, bool use_constant_feature, bool expect_throw) +void test_segmentation( + const std::string & data_path, bool use_intensity_feature, bool use_constant_feature, + bool expect_throw) { // Instantiate the pipeline const int width = 1; @@ -37,9 +41,10 @@ void test_segmentation(bool use_intensity_feature, bool use_constant_feature, bo const float objectness_thresh = 0.5f; const int32_t min_pts_num = 3; const float height_thresh = 0.5f; + ApolloLidarSegmentation segmentation( range, score_threshold, use_intensity_feature, use_constant_feature, z_offset, min_height, - max_height, objectness_thresh, min_pts_num, height_thresh); + max_height, objectness_thresh, min_pts_num, height_thresh, data_path); auto version_status = segmentation.version_check(); EXPECT_NE(version_status, tvm_utility::Version::Unsupported); @@ -85,8 +90,31 @@ void test_segmentation(bool use_intensity_feature, bool use_constant_feature, bo // Other test configurations to increase code coverage. TEST(lidar_apollo_segmentation_tvm, others) { - test_segmentation(false, true, false); - test_segmentation(true, true, false); - test_segmentation(false, false, false); - test_segmentation(true, false, false); + std::string home = std::getenv("HOME"); + fs::path data_path(home); + data_path /= "autoware_data"; + fs::path apollo_data_path(data_path); + apollo_data_path /= "lidar_apollo_segmentation_tvm"; + fs::path deploy_path(apollo_data_path); + deploy_path /= "models/baidu_cnn"; + + fs::path deploy_graph("deploy_graph.json"); + fs::path deploy_lib("deploy_lib.so"); + fs::path deploy_param("deploy_param.params"); + + fs::path deploy_graph_path = deploy_path / deploy_graph; + fs::path deploy_lib_path = deploy_path / deploy_lib; + fs::path deploy_param_path = deploy_path / deploy_param; + + if ( + !fs::exists(deploy_graph_path) || !fs::exists(deploy_lib_path) || + !fs::exists(deploy_param_path)) { + printf("Model deploy files not found. Skip test.\n"); + GTEST_SKIP(); + return; + } + test_segmentation(data_path, false, true, false); + test_segmentation(data_path, true, true, false); + test_segmentation(data_path, false, false, false); + test_segmentation(data_path, true, false, false); } diff --git a/perception/lidar_apollo_segmentation_tvm_nodes/README.md b/perception/lidar_apollo_segmentation_tvm_nodes/README.md index 488eea4f92168..a9ffd59f228ec 100644 --- a/perception/lidar_apollo_segmentation_tvm_nodes/README.md +++ b/perception/lidar_apollo_segmentation_tvm_nodes/README.md @@ -28,7 +28,7 @@ See the design of the algorithm in the core (lidar_apollo_segmentation_tvm) pack ### Usage -`lidar_apollo_segmentation_tvm` and `lidar_apollo_segmentation_tvm_nodes` will not build without a neural network. +`lidar_apollo_segmentation_tvm` and `lidar_apollo_segmentation_tvm_nodes` will not work without a neural network. See the lidar_apollo_segmentation_tvm usage for more information. ### Assumptions / Known limits diff --git a/perception/lidar_apollo_segmentation_tvm_nodes/config/lidar_apollo_segmentation_tvm_nodes.param.yaml b/perception/lidar_apollo_segmentation_tvm_nodes/config/lidar_apollo_segmentation_tvm_nodes.param.yaml index 97f733f01c794..30bf0ba68d28c 100644 --- a/perception/lidar_apollo_segmentation_tvm_nodes/config/lidar_apollo_segmentation_tvm_nodes.param.yaml +++ b/perception/lidar_apollo_segmentation_tvm_nodes/config/lidar_apollo_segmentation_tvm_nodes.param.yaml @@ -24,3 +24,4 @@ objectness_thresh: 0.5 min_pts_num: 3 height_thresh: 0.5 + data_path: $(env HOME)/autoware_data diff --git a/perception/lidar_apollo_segmentation_tvm_nodes/launch/lidar_apollo_segmentation_tvm_nodes.launch.py b/perception/lidar_apollo_segmentation_tvm_nodes/launch/lidar_apollo_segmentation_tvm_nodes.launch.py index f4c81d6b154d7..2d070f2611ac5 100644 --- a/perception/lidar_apollo_segmentation_tvm_nodes/launch/lidar_apollo_segmentation_tvm_nodes.launch.py +++ b/perception/lidar_apollo_segmentation_tvm_nodes/launch/lidar_apollo_segmentation_tvm_nodes.launch.py @@ -21,7 +21,7 @@ from launch.actions import DeclareLaunchArgument from launch.substitutions import LaunchConfiguration from launch_ros.actions import Node -import yaml +import launch_ros.parameter_descriptions def generate_launch_description(): @@ -29,12 +29,17 @@ def generate_launch_description(): get_package_share_directory("lidar_apollo_segmentation_tvm_nodes"), "config/lidar_apollo_segmentation_tvm_nodes.param.yaml", ) - with open(param_file, "r") as f: - lidar_apollo_segmentation_tvm_node_params = yaml.safe_load(f)["/**"]["ros__parameters"] + + lidar_apollo_segmentation_tvm_node_params = launch_ros.parameter_descriptions.ParameterFile( + param_file=param_file, allow_substs=True + ) arguments = [ DeclareLaunchArgument("input/pointcloud", default_value="/sensing/lidar/pointcloud"), DeclareLaunchArgument("output/objects", default_value="labeled_clusters"), + DeclareLaunchArgument( + "data_path", default_value=os.path.join(os.environ["HOME"], "autoware_data") + ), ] # lidar segmentation node execution definition. diff --git a/perception/lidar_apollo_segmentation_tvm_nodes/launch/lidar_apollo_segmentation_tvm_nodes.launch.xml b/perception/lidar_apollo_segmentation_tvm_nodes/launch/lidar_apollo_segmentation_tvm_nodes.launch.xml index 0d7bebe986df4..c97d7356f5616 100644 --- a/perception/lidar_apollo_segmentation_tvm_nodes/launch/lidar_apollo_segmentation_tvm_nodes.launch.xml +++ b/perception/lidar_apollo_segmentation_tvm_nodes/launch/lidar_apollo_segmentation_tvm_nodes.launch.xml @@ -23,6 +23,7 @@ - + + diff --git a/perception/lidar_apollo_segmentation_tvm_nodes/schema/lidar_apollo_segmentation_tvm_nodes.schema.json b/perception/lidar_apollo_segmentation_tvm_nodes/schema/lidar_apollo_segmentation_tvm_nodes.schema.json index 8e56cfb820766..aaabbf2b65879 100644 --- a/perception/lidar_apollo_segmentation_tvm_nodes/schema/lidar_apollo_segmentation_tvm_nodes.schema.json +++ b/perception/lidar_apollo_segmentation_tvm_nodes/schema/lidar_apollo_segmentation_tvm_nodes.schema.json @@ -61,6 +61,11 @@ "type": "number", "default": 0.5, "description": "If it is non-negative, the points that are higher than the predicted object height by height_thresh are filtered out in the post-processing step." + }, + "data_path": { + "type": "string", + "default": "$(env HOME)/autoware_data", + "description": "Packages data and artifacts directory path." } }, "required": [ @@ -73,7 +78,8 @@ "max_height", "objectness_thresh", "min_pts_num", - "height_thresh" + "height_thresh", + "data_path" ] } }, diff --git a/perception/lidar_apollo_segmentation_tvm_nodes/src/lidar_apollo_segmentation_tvm_node.cpp b/perception/lidar_apollo_segmentation_tvm_nodes/src/lidar_apollo_segmentation_tvm_node.cpp index 8f1d3301cf3a2..618d2e258c99b 100644 --- a/perception/lidar_apollo_segmentation_tvm_nodes/src/lidar_apollo_segmentation_tvm_node.cpp +++ b/perception/lidar_apollo_segmentation_tvm_nodes/src/lidar_apollo_segmentation_tvm_node.cpp @@ -41,7 +41,7 @@ ApolloLidarSegmentationNode::ApolloLidarSegmentationNode(const rclcpp::NodeOptio declare_parameter("use_constant_feature"), declare_parameter("z_offset"), declare_parameter("min_height"), declare_parameter("max_height"), declare_parameter("objectness_thresh"), declare_parameter("min_pts_num"), - declare_parameter("height_thresh"))} + declare_parameter("height_thresh"), declare_parameter("data_path"))} { // Log unexpected versions of the neural network. auto version_status = m_detector_ptr->version_check(); From e3f8a3763ec891f4bfe6c4873e5dbfbb3965ccf3 Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Thu, 9 Nov 2023 08:09:21 +0900 Subject: [PATCH 073/202] refactor(tier4_planning_launch): align argument name (#5505) * chore(tier4_planning_launch): align arument name Signed-off-by: satoshi-ota * refactor(tier4_planning_launch): pass params directly Signed-off-by: satoshi-ota --------- Signed-off-by: satoshi-ota --- .../behavior_planning.launch.xml | 117 +++++++++++++++++ .../motion_planning.launch.xml | 2 +- .../config/scene_module_manager.param.yaml | 10 -- .../launch/behavior_path_planner.launch.xml | 77 +++++++++-- ...t_behavior_path_planner_node_interface.cpp | 13 ++ .../behavior_velocity_planner.param.yaml | 17 --- .../behavior_velocity_planner.launch.xml | 121 ++++++++---------- .../test/src/test_node_interface.cpp | 21 +++ 8 files changed, 275 insertions(+), 103 deletions(-) diff --git a/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml b/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml index 085dc92982663..ba2318c438674 100644 --- a/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml +++ b/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml @@ -5,6 +5,112 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + @@ -23,6 +129,16 @@ + + + + + + + + + + @@ -66,6 +182,7 @@ + diff --git a/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.xml b/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.xml index 577b0e00d133c..a8dbcfd372226 100644 --- a/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.xml +++ b/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.xml @@ -180,7 +180,7 @@ - + diff --git a/planning/behavior_path_planner/config/scene_module_manager.param.yaml b/planning/behavior_path_planner/config/scene_module_manager.param.yaml index 5797704e8a0ca..91e34c0e91931 100644 --- a/planning/behavior_path_planner/config/scene_module_manager.param.yaml +++ b/planning/behavior_path_planner/config/scene_module_manager.param.yaml @@ -4,7 +4,6 @@ /**: ros__parameters: external_request_lane_change_left: - enable_module: false enable_rtc: false enable_simultaneous_execution_as_approved_module: false enable_simultaneous_execution_as_candidate_module: true @@ -13,7 +12,6 @@ max_module_size: 1 external_request_lane_change_right: - enable_module: false enable_rtc: false enable_simultaneous_execution_as_approved_module: false enable_simultaneous_execution_as_candidate_module: true @@ -22,7 +20,6 @@ max_module_size: 1 lane_change_left: - enable_module: true enable_rtc: false enable_simultaneous_execution_as_approved_module: true enable_simultaneous_execution_as_candidate_module: true @@ -31,7 +28,6 @@ max_module_size: 1 lane_change_right: - enable_module: true enable_rtc: false enable_simultaneous_execution_as_approved_module: true enable_simultaneous_execution_as_candidate_module: true @@ -40,7 +36,6 @@ max_module_size: 1 start_planner: - enable_module: true enable_rtc: false enable_simultaneous_execution_as_approved_module: false enable_simultaneous_execution_as_candidate_module: false @@ -49,7 +44,6 @@ max_module_size: 1 side_shift: - enable_module: true enable_rtc: false enable_simultaneous_execution_as_approved_module: false enable_simultaneous_execution_as_candidate_module: false @@ -58,7 +52,6 @@ max_module_size: 1 goal_planner: - enable_module: true enable_rtc: false enable_simultaneous_execution_as_approved_module: false enable_simultaneous_execution_as_candidate_module: false @@ -67,7 +60,6 @@ max_module_size: 1 avoidance: - enable_module: true enable_rtc: false enable_simultaneous_execution_as_approved_module: true enable_simultaneous_execution_as_candidate_module: false @@ -76,7 +68,6 @@ max_module_size: 1 avoidance_by_lc: - enable_module: false enable_rtc: false enable_simultaneous_execution_as_approved_module: false enable_simultaneous_execution_as_candidate_module: false @@ -85,7 +76,6 @@ max_module_size: 1 dynamic_avoidance: - enable_module: false enable_rtc: false enable_simultaneous_execution_as_approved_module: true enable_simultaneous_execution_as_candidate_module: true diff --git a/planning/behavior_path_planner/launch/behavior_path_planner.launch.xml b/planning/behavior_path_planner/launch/behavior_path_planner.launch.xml index a4d3cab3c1bf0..d1dac8ad8d93e 100644 --- a/planning/behavior_path_planner/launch/behavior_path_planner.launch.xml +++ b/planning/behavior_path_planner/launch/behavior_path_planner.launch.xml @@ -1,20 +1,77 @@ + - - + + + + - - + + + + + + + + + + + + + + + + + + + + + + + + + - - + + + + + + - - - - + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/planning/behavior_path_planner/test/test_behavior_path_planner_node_interface.cpp b/planning/behavior_path_planner/test/test_behavior_path_planner_node_interface.cpp index ec2d01e44940a..423fcd2b05048 100644 --- a/planning/behavior_path_planner/test/test_behavior_path_planner_node_interface.cpp +++ b/planning/behavior_path_planner/test/test_behavior_path_planner_node_interface.cpp @@ -48,6 +48,19 @@ std::shared_ptr generateNode() const auto behavior_path_planner_dir = ament_index_cpp::get_package_share_directory("behavior_path_planner"); + std::vector params; + params.emplace_back("avoidance.enable_module", true); + params.emplace_back("avoidance_by_lc.enable_module", true); + params.emplace_back("dynamic_avoidance.enable_module", true); + params.emplace_back("lane_change_right.enable_module", true); + params.emplace_back("lane_change_left.enable_module", true); + params.emplace_back("external_request_lane_change_right.enable_module", true); + params.emplace_back("external_request_lane_change_left.enable_module", true); + params.emplace_back("goal_planner.enable_module", true); + params.emplace_back("start_planner.enable_module", true); + params.emplace_back("side_shift.enable_module", true); + node_options.parameter_overrides(params); + test_utils::updateNodeOptions( node_options, {planning_test_utils_dir + "/config/test_common.param.yaml", diff --git a/planning/behavior_velocity_planner/config/behavior_velocity_planner.param.yaml b/planning/behavior_velocity_planner/config/behavior_velocity_planner.param.yaml index 276e8f8e3145a..aa51c38b55742 100644 --- a/planning/behavior_velocity_planner/config/behavior_velocity_planner.param.yaml +++ b/planning/behavior_velocity_planner/config/behavior_velocity_planner.param.yaml @@ -8,20 +8,3 @@ system_delay: 0.5 delay_response_time: 0.5 is_publish_debug_path: false # publish all debug path with lane id in each module - launch_modules: - - behavior_velocity_planner::CrosswalkModulePlugin - - behavior_velocity_planner::WalkwayModulePlugin - - behavior_velocity_planner::TrafficLightModulePlugin - - behavior_velocity_planner::IntersectionModulePlugin # Intersection module should be before merge from private to declare intersection parameters. - - behavior_velocity_planner::MergeFromPrivateModulePlugin - - behavior_velocity_planner::BlindSpotModulePlugin - - behavior_velocity_planner::DetectionAreaModulePlugin - # behavior_velocity_planner::VirtualTrafficLightModulePlugin - - behavior_velocity_planner::NoStoppingAreaModulePlugin # No stopping area module requires all the stop line. Therefore this modules should be placed at the bottom. - - behavior_velocity_planner::StopLineModulePlugin # Permanent stop line module should be after no stopping area - # behavior_velocity_planner::OcclusionSpotModulePlugin - # behavior_velocity_planner::RunOutModulePlugin - # behavior_velocity_planner::SpeedBumpModulePlugin - # behavior_velocity_planner::TemplateModulePlugin - - behavior_velocity_planner::OutOfLaneModulePlugin - - behavior_velocity_planner::NoDrivableLaneModulePlugin diff --git a/planning/behavior_velocity_planner/launch/behavior_velocity_planner.launch.xml b/planning/behavior_velocity_planner/launch/behavior_velocity_planner.launch.xml index 69d9c27331e52..46472619d5fb0 100644 --- a/planning/behavior_velocity_planner/launch/behavior_velocity_planner.launch.xml +++ b/planning/behavior_velocity_planner/launch/behavior_velocity_planner.launch.xml @@ -1,82 +1,73 @@ - - + + + + - - - - + + - - - - - - - - - - - - - - - - - - - - + + + + + + + + + + + + + + + + + + + - - - - - - - - - - - - - - - + - + - - - + + + + + + - - - - - - - - - - - - - - - - - - - - + + + + + + + + + + + + + + + + + + + + + + + diff --git a/planning/behavior_velocity_planner/test/src/test_node_interface.cpp b/planning/behavior_velocity_planner/test/src/test_node_interface.cpp index 6756a82ca20d4..491df4c7a8766 100644 --- a/planning/behavior_velocity_planner/test/src/test_node_interface.cpp +++ b/planning/behavior_velocity_planner/test/src/test_node_interface.cpp @@ -59,6 +59,27 @@ std::shared_ptr generateNode() return package_path + "/config/" + module + ".param.yaml"; }; + std::vector module_names; + module_names.emplace_back("behavior_velocity_planner::CrosswalkModulePlugin"); + module_names.emplace_back("behavior_velocity_planner::WalkwayModulePlugin"); + module_names.emplace_back("behavior_velocity_planner::TrafficLightModulePlugin"); + module_names.emplace_back("behavior_velocity_planner::IntersectionModulePlugin"); + module_names.emplace_back("behavior_velocity_planner::MergeFromPrivateModulePlugin"); + module_names.emplace_back("behavior_velocity_planner::BlindSpotModulePlugin"); + module_names.emplace_back("behavior_velocity_planner::DetectionAreaModulePlugin"); + module_names.emplace_back("behavior_velocity_planner::VirtualTrafficLightModulePlugin"); + module_names.emplace_back("behavior_velocity_planner::NoStoppingAreaModulePlugin"); + module_names.emplace_back("behavior_velocity_planner::StopLineModulePlugin"); + module_names.emplace_back("behavior_velocity_planner::OcclusionSpotModulePlugin"); + module_names.emplace_back("behavior_velocity_planner::RunOutModulePlugin"); + module_names.emplace_back("behavior_velocity_planner::SpeedBumpModulePlugin"); + module_names.emplace_back("behavior_velocity_planner::OutOfLaneModulePlugin"); + module_names.emplace_back("behavior_velocity_planner::NoDrivableLaneModulePlugin"); + + std::vector params; + params.emplace_back("launch_modules", module_names); + node_options.parameter_overrides(params); + test_utils::updateNodeOptions( node_options, {planning_test_utils_dir + "/config/test_common.param.yaml", From 56d804f14062752e009966ab197400f202ad4a33 Mon Sep 17 00:00:00 2001 From: Takamasa Horibe Date: Thu, 9 Nov 2023 11:55:54 +0900 Subject: [PATCH 074/202] refactor(system_error_monitor): hide error log in no-fault condition (#5522) Signed-off-by: Takamasa Horibe --- .../system_error_monitor_core.hpp | 2 ++ .../src/system_error_monitor_core.cpp | 31 ++++++++++++++----- 2 files changed, 25 insertions(+), 8 deletions(-) diff --git a/system/system_error_monitor/include/system_error_monitor/system_error_monitor_core.hpp b/system/system_error_monitor/include/system_error_monitor/system_error_monitor_core.hpp index 0bb95882700a5..4dbf8813805e3 100644 --- a/system/system_error_monitor/include/system_error_monitor/system_error_monitor_core.hpp +++ b/system/system_error_monitor/include/system_error_monitor/system_error_monitor_core.hpp @@ -148,6 +148,8 @@ class AutowareErrorMonitor : public rclcpp::Node bool canAutoRecovery() const; bool isEmergencyHoldingRequired() const; + void loggingErrors(const autoware_auto_system_msgs::msg::HazardStatus & diag_array); + std::unique_ptr logger_configure_; }; diff --git a/system/system_error_monitor/src/system_error_monitor_core.cpp b/system/system_error_monitor/src/system_error_monitor_core.cpp index e74ac9c360164..c7fdfa61f1d2c 100644 --- a/system/system_error_monitor/src/system_error_monitor_core.cpp +++ b/system/system_error_monitor/src/system_error_monitor_core.cpp @@ -140,17 +140,9 @@ diagnostic_msgs::msg::DiagnosticArray convertHazardStatusToDiagnosticArray( diag_array.status.push_back(decorateDiag(hazard_diag, "[Safe Fault]")); } for (const auto & hazard_diag : hazard_status.diag_latent_fault) { - const std::string logger_name = "system_error_monitor " + hazard_diag.name; - logThrottledNamed( - logger_name, clock, 5000, "[Latent Fault]: " + hazard_diag.message); - diag_array.status.push_back(decorateDiag(hazard_diag, "[Latent Fault]")); } for (const auto & hazard_diag : hazard_status.diag_single_point_fault) { - const std::string logger_name = "system_error_monitor " + hazard_diag.name; - logThrottledNamed( - logger_name, clock, 5000, "[Single Point Fault]: " + hazard_diag.message); - diag_array.status.push_back(decorateDiag(hazard_diag, "[Single Point Fault]")); } @@ -688,6 +680,9 @@ void AutowareErrorMonitor::publishHazardStatus( hazard_status_stamped.stamp = this->now(); hazard_status_stamped.status = hazard_status; pub_hazard_status_->publish(hazard_status_stamped); + + loggingErrors(hazard_status_stamped.status); + pub_diagnostics_err_->publish( convertHazardStatusToDiagnosticArray(this->get_clock(), hazard_status_stamped.status)); } @@ -703,3 +698,23 @@ bool AutowareErrorMonitor::onClearEmergencyService( return true; } + +void AutowareErrorMonitor::loggingErrors( + const autoware_auto_system_msgs::msg::HazardStatus & hazard_status) +{ + if (isInNoFaultCondition(*autoware_state_, *current_gate_mode_)) { + RCLCPP_DEBUG(get_logger(), "Autoware is in no-fault condition."); + return; + } + + for (const auto & hazard_diag : hazard_status.diag_latent_fault) { + const std::string logger_name = "system_error_monitor " + hazard_diag.name; + logThrottledNamed( + logger_name, get_clock(), 5000, "[Latent Fault]: " + hazard_diag.message); + } + for (const auto & hazard_diag : hazard_status.diag_single_point_fault) { + const std::string logger_name = "system_error_monitor " + hazard_diag.name; + logThrottledNamed( + logger_name, get_clock(), 5000, "[Single Point Fault]: " + hazard_diag.message); + } +} From 90f873c3e5c48f2123ec82a7cc7a99c7574c94e0 Mon Sep 17 00:00:00 2001 From: Kyoichi Sugahara Date: Thu, 9 Nov 2023 12:40:49 +0900 Subject: [PATCH 075/202] feat(behavior_path_planner): add option to insert zero velocity to the center line path (#5517) feat(behavior_path_planner): Add option to insert zero velocity to the center line path This commit adds a new boolean parameter, `insert_zero_velocity`, to the `getCenterLinePath` function in the `utils.hpp` file. When set to `true`, this parameter will insert a zero velocity to each point in the path. In the `utils.cpp` file, this option is used to insert zero velocities to the reference path generated in the `createGoalAroundPath` function. Signed-off-by: kyoichi-sugahara --- planning/behavior_path_planner/src/utils/utils.cpp | 8 +++++--- 1 file changed, 5 insertions(+), 3 deletions(-) diff --git a/planning/behavior_path_planner/src/utils/utils.cpp b/planning/behavior_path_planner/src/utils/utils.cpp index 62a48da85ba2c..19c408359e5f2 100644 --- a/planning/behavior_path_planner/src/utils/utils.cpp +++ b/planning/behavior_path_planner/src/utils/utils.cpp @@ -974,9 +974,11 @@ BehaviorModuleOutput createGoalAroundPath(const std::shared_ptr(reference_path); output.reference_path = std::make_shared(reference_path); output.drivable_area_info.drivable_lanes = drivable_lanes; From 6bfb0e5e3aaf136ae096b1f76e15426d7a6a6515 Mon Sep 17 00:00:00 2001 From: Kyoichi Sugahara Date: Thu, 9 Nov 2023 13:56:20 +0900 Subject: [PATCH 076/202] refactor(start_planner): support new interface (#5526) Update getCurrentStatus() function in StartPlannerModule.cpp Signed-off-by: kyoichi-sugahara --- .../src/scene_module/start_planner/start_planner_module.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/planning/behavior_path_planner/src/scene_module/start_planner/start_planner_module.cpp b/planning/behavior_path_planner/src/scene_module/start_planner/start_planner_module.cpp index bd042f8ecef4d..77a290835fb31 100644 --- a/planning/behavior_path_planner/src/scene_module/start_planner/start_planner_module.cpp +++ b/planning/behavior_path_planner/src/scene_module/start_planner/start_planner_module.cpp @@ -172,7 +172,7 @@ bool StartPlannerModule::isExecutionRequested() const bool StartPlannerModule::isModuleRunning() const { - return current_state_ == ModuleStatus::RUNNING; + return getCurrentStatus() == ModuleStatus::RUNNING; } bool StartPlannerModule::isCurrentPoseOnMiddleOfTheRoad() const From c4c384124f271574e27ef30fcaaccf3ac07d4820 Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Thu, 9 Nov 2023 14:20:23 +0900 Subject: [PATCH 077/202] refactor(goal_planner): support new interface (#5525) Signed-off-by: satoshi-ota --- .../src/scene_module/goal_planner/goal_planner_module.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/planning/behavior_path_planner/src/scene_module/goal_planner/goal_planner_module.cpp b/planning/behavior_path_planner/src/scene_module/goal_planner/goal_planner_module.cpp index 6d34ce4ecde38..69c1fb911c4f9 100644 --- a/planning/behavior_path_planner/src/scene_module/goal_planner/goal_planner_module.cpp +++ b/planning/behavior_path_planner/src/scene_module/goal_planner/goal_planner_module.cpp @@ -296,7 +296,7 @@ void GoalPlannerModule::processOnExit() bool GoalPlannerModule::isExecutionRequested() const { - if (current_state_ == ModuleStatus::RUNNING) { + if (getCurrentStatus() == ModuleStatus::RUNNING) { return true; } From eb2eb5853501adda166d3e8167b03d5fb6f73bcb Mon Sep 17 00:00:00 2001 From: Yuqi Huai <34195403+YuqiHuai@users.noreply.github.com> Date: Wed, 8 Nov 2023 22:08:13 -0800 Subject: [PATCH 078/202] refactor(gyro_odometer): rework parameters (#5243) * refactor(gyro_odometer): rework parameters Signed-off-by: Yuqi Huai * style(pre-commit): autofix * doc(gyro_odometer): remove copyright --------- Signed-off-by: Yuqi Huai Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- localization/gyro_odometer/CMakeLists.txt | 1 + localization/gyro_odometer/README.md | 5 +-- .../config/gyro_odometer.param.yaml | 4 ++ .../launch/gyro_odometer.launch.xml | 6 +-- .../schema/gyro_odometer.schema.json | 38 +++++++++++++++++++ .../gyro_odometer/src/gyro_odometer_core.cpp | 4 +- 6 files changed, 48 insertions(+), 10 deletions(-) create mode 100644 localization/gyro_odometer/config/gyro_odometer.param.yaml create mode 100644 localization/gyro_odometer/schema/gyro_odometer.schema.json diff --git a/localization/gyro_odometer/CMakeLists.txt b/localization/gyro_odometer/CMakeLists.txt index 59a5e1121b22f..57589837dd529 100644 --- a/localization/gyro_odometer/CMakeLists.txt +++ b/localization/gyro_odometer/CMakeLists.txt @@ -32,4 +32,5 @@ endif() ament_auto_package(INSTALL_TO_SHARE launch + config ) diff --git a/localization/gyro_odometer/README.md b/localization/gyro_odometer/README.md index ec50a113af4d9..e9e390010f084 100644 --- a/localization/gyro_odometer/README.md +++ b/localization/gyro_odometer/README.md @@ -21,10 +21,7 @@ ## Parameters -| Parameter | Type | Description | -| --------------------- | ------ | -------------------------------- | -| `output_frame` | String | output's frame id | -| `message_timeout_sec` | Double | delay tolerance time for message | +{{ json_to_markdown("localization/gyro_odometer/schema/gyro_odometer.schema.json") }} ## Assumptions / Known limits diff --git a/localization/gyro_odometer/config/gyro_odometer.param.yaml b/localization/gyro_odometer/config/gyro_odometer.param.yaml new file mode 100644 index 0000000000000..420a9b0d80582 --- /dev/null +++ b/localization/gyro_odometer/config/gyro_odometer.param.yaml @@ -0,0 +1,4 @@ +/**: + ros__parameters: + output_frame: "base_link" + message_timeout_sec: 0.2 diff --git a/localization/gyro_odometer/launch/gyro_odometer.launch.xml b/localization/gyro_odometer/launch/gyro_odometer.launch.xml index aeb505270b2cc..21aff3e10d26c 100644 --- a/localization/gyro_odometer/launch/gyro_odometer.launch.xml +++ b/localization/gyro_odometer/launch/gyro_odometer.launch.xml @@ -9,8 +9,7 @@ - - + @@ -23,7 +22,6 @@ - - + diff --git a/localization/gyro_odometer/schema/gyro_odometer.schema.json b/localization/gyro_odometer/schema/gyro_odometer.schema.json new file mode 100644 index 0000000000000..189df2a2f63f3 --- /dev/null +++ b/localization/gyro_odometer/schema/gyro_odometer.schema.json @@ -0,0 +1,38 @@ +{ + "$schema": "http://json-schema.org/draft-07/schema#", + "title": "Parameters for gyro odometer", + "type": "object", + "definitions": { + "gyro_odometer": { + "type": "object", + "properties": { + "output_frame": { + "type": "string", + "description": "output's frame id", + "default": "base_link" + }, + "message_timeout_sec": { + "type": "number", + "description": "delay tolerance time for message", + "default": 0.2 + } + }, + "required": ["output_frame", "message_timeout_sec"], + "additionalProperties": false + } + }, + "properties": { + "/**": { + "type": "object", + "properties": { + "ros__parameters": { + "$ref": "#/definitions/gyro_odometer" + } + }, + "required": ["ros__parameters"], + "additionalProperties": false + } + }, + "required": ["/**"], + "additionalProperties": false +} diff --git a/localization/gyro_odometer/src/gyro_odometer_core.cpp b/localization/gyro_odometer/src/gyro_odometer_core.cpp index c14c48ffb2046..5de0ecd7cdc0a 100644 --- a/localization/gyro_odometer/src/gyro_odometer_core.cpp +++ b/localization/gyro_odometer/src/gyro_odometer_core.cpp @@ -102,8 +102,8 @@ geometry_msgs::msg::TwistWithCovarianceStamped concatGyroAndOdometer( GyroOdometer::GyroOdometer(const rclcpp::NodeOptions & options) : Node("gyro_odometer", options), - output_frame_(declare_parameter("output_frame", "base_link")), - message_timeout_sec_(declare_parameter("message_timeout_sec", 0.2)), + output_frame_(declare_parameter("output_frame")), + message_timeout_sec_(declare_parameter("message_timeout_sec")), vehicle_twist_arrived_(false), imu_arrived_(false) { From 62de92ae3ccbf84763bc2e485ed4cc30c9a792a9 Mon Sep 17 00:00:00 2001 From: SakodaShintaro Date: Thu, 9 Nov 2023 15:29:56 +0900 Subject: [PATCH 079/202] refactor(ar_tag_based_localizer): refactor `ar_tag_based_localizer` (#5521) * Refactored ar_tag_based_localizer Signed-off-by: Shintaro Sakoda * Refactor ArTagBasedLocalizer class to use shorter type names Signed-off-by: Shintaro Sakoda * Fix const correctness in ar_tag_based_localizer.cpp Signed-off-by: Shintaro Sakoda * Fix position difference calculation in ArTagBasedLocalizer Signed-off-by: Shintaro Sakoda * Renamed arg name Signed-off-by: Shintaro Sakoda --------- Signed-off-by: Shintaro Sakoda --- .../ar_tag_based_localizer/package.xml | 1 + .../src/ar_tag_based_localizer.cpp | 156 ++++++++---------- .../src/ar_tag_based_localizer.hpp | 39 +++-- 3 files changed, 92 insertions(+), 104 deletions(-) diff --git a/localization/landmark_based_localizer/ar_tag_based_localizer/package.xml b/localization/landmark_based_localizer/ar_tag_based_localizer/package.xml index c0d1b00e35d3b..a22e7b1acf6dc 100644 --- a/localization/landmark_based_localizer/ar_tag_based_localizer/package.xml +++ b/localization/landmark_based_localizer/ar_tag_based_localizer/package.xml @@ -19,6 +19,7 @@ image_transport landmark_parser lanelet2_extension + localization_util rclcpp tf2_eigen tf2_geometry_msgs diff --git a/localization/landmark_based_localizer/ar_tag_based_localizer/src/ar_tag_based_localizer.cpp b/localization/landmark_based_localizer/ar_tag_based_localizer/src/ar_tag_based_localizer.cpp index 73e7b8b7e3587..bc40fb1532297 100644 --- a/localization/landmark_based_localizer/ar_tag_based_localizer/src/ar_tag_based_localizer.cpp +++ b/localization/landmark_based_localizer/ar_tag_based_localizer/src/ar_tag_based_localizer.cpp @@ -44,6 +44,8 @@ #include "ar_tag_based_localizer.hpp" +#include "localization_util/util_func.hpp" + #include #include #include @@ -111,18 +113,19 @@ bool ArTagBasedLocalizer::setup() /* Subscribers */ - map_bin_sub_ = this->create_subscription( + map_bin_sub_ = this->create_subscription( "~/input/lanelet2_map", rclcpp::QoS(10).durability(rclcpp::DurabilityPolicy::TransientLocal), std::bind(&ArTagBasedLocalizer::map_bin_callback, this, std::placeholders::_1)); + rclcpp::QoS qos_sub(rclcpp::QoSInitialization::from_rmw(rmw_qos_profile_default)); qos_sub.best_effort(); - image_sub_ = this->create_subscription( + image_sub_ = this->create_subscription( "~/input/image", qos_sub, std::bind(&ArTagBasedLocalizer::image_callback, this, std::placeholders::_1)); - cam_info_sub_ = this->create_subscription( + cam_info_sub_ = this->create_subscription( "~/input/camera_info", qos_sub, std::bind(&ArTagBasedLocalizer::cam_info_callback, this, std::placeholders::_1)); - ekf_pose_sub_ = this->create_subscription( + ekf_pose_sub_ = this->create_subscription( "~/input/ekf_pose", qos_sub, std::bind(&ArTagBasedLocalizer::ekf_pose_callback, this, std::placeholders::_1)); @@ -132,29 +135,25 @@ bool ArTagBasedLocalizer::setup() rclcpp::QoS qos_marker = rclcpp::QoS(rclcpp::KeepLast(10)); qos_marker.transient_local(); qos_marker.reliable(); - marker_pub_ = - this->create_publisher("~/debug/marker", qos_marker); + marker_pub_ = this->create_publisher("~/debug/marker", qos_marker); rclcpp::QoS qos_pub(rclcpp::QoSInitialization::from_rmw(rmw_qos_profile_default)); image_pub_ = it_->advertise("~/debug/result", 1); - pose_pub_ = this->create_publisher( - "~/output/pose_with_covariance", qos_pub); - diag_pub_ = - this->create_publisher("/diagnostics", qos_pub); + pose_pub_ = + this->create_publisher("~/output/pose_with_covariance", qos_pub); + diag_pub_ = this->create_publisher("/diagnostics", qos_pub); RCLCPP_INFO(this->get_logger(), "Setup of ar_tag_based_localizer node is successful!"); return true; } -void ArTagBasedLocalizer::map_bin_callback( - const autoware_auto_mapping_msgs::msg::HADMapBin::ConstSharedPtr & msg) +void ArTagBasedLocalizer::map_bin_callback(const HADMapBin::ConstSharedPtr & msg) { landmark_map_ = parse_landmark(msg, "apriltag_16h5", this->get_logger()); - const visualization_msgs::msg::MarkerArray marker_msg = - convert_to_marker_array_msg(landmark_map_); + const MarkerArray marker_msg = convert_to_marker_array_msg(landmark_map_); marker_pub_->publish(marker_msg); } -void ArTagBasedLocalizer::image_callback(const sensor_msgs::msg::Image::ConstSharedPtr & msg) +void ArTagBasedLocalizer::image_callback(const Image::ConstSharedPtr & msg) { if ((image_pub_.getNumSubscribers() == 0) && (pose_pub_->get_subscription_count() == 0)) { RCLCPP_DEBUG(this->get_logger(), "No subscribers, not looking for ArUco markers"); @@ -166,7 +165,7 @@ void ArTagBasedLocalizer::image_callback(const sensor_msgs::msg::Image::ConstSha return; } - builtin_interfaces::msg::Time curr_stamp = msg->header.stamp; + const builtin_interfaces::msg::Time curr_stamp = msg->header.stamp; cv_bridge::CvImagePtr cv_ptr; try { cv_ptr = cv_bridge::toCvCopy(*msg, sensor_msgs::image_encodings::RGB8); @@ -185,20 +184,20 @@ void ArTagBasedLocalizer::image_callback(const sensor_msgs::msg::Image::ConstSha // for each marker, draw info and its boundaries in the image for (const aruco::Marker & marker : markers) { - tf2::Transform tf_cam_to_marker = aruco_marker_to_tf2(marker); + const tf2::Transform tf_cam_to_marker = aruco_marker_to_tf2(marker); - geometry_msgs::msg::TransformStamped tf_cam_to_marker_stamped; + TransformStamped tf_cam_to_marker_stamped; tf2::toMsg(tf_cam_to_marker, tf_cam_to_marker_stamped.transform); tf_cam_to_marker_stamped.header.stamp = curr_stamp; tf_cam_to_marker_stamped.header.frame_id = msg->header.frame_id; tf_cam_to_marker_stamped.child_frame_id = "detected_marker_" + std::to_string(marker.id); tf_broadcaster_->sendTransform(tf_cam_to_marker_stamped); - geometry_msgs::msg::PoseStamped pose_cam_to_marker; + PoseStamped pose_cam_to_marker; tf2::toMsg(tf_cam_to_marker, pose_cam_to_marker.pose); pose_cam_to_marker.header.stamp = curr_stamp; - pose_cam_to_marker.header.frame_id = std::to_string(marker.id); - publish_pose_as_base_link(pose_cam_to_marker, msg->header.frame_id); + pose_cam_to_marker.header.frame_id = msg->header.frame_id; + publish_pose_as_base_link(pose_cam_to_marker, std::to_string(marker.id)); // drawing the detected markers marker.draw(in_image, cv::Scalar(0, 0, 255), 2); @@ -240,7 +239,7 @@ void ArTagBasedLocalizer::image_callback(const sensor_msgs::msg::Image::ConstSha key_value.value = std::to_string(detected_tags); diag_status.values.push_back(key_value); - diagnostic_msgs::msg::DiagnosticArray diag_msg; + DiagnosticArray diag_msg; diag_msg.header.stamp = this->now(); diag_msg.status.push_back(diag_status); @@ -248,17 +247,13 @@ void ArTagBasedLocalizer::image_callback(const sensor_msgs::msg::Image::ConstSha } // wait for one camera info, then shut down that subscriber -void ArTagBasedLocalizer::cam_info_callback(const sensor_msgs::msg::CameraInfo & msg) +void ArTagBasedLocalizer::cam_info_callback(const CameraInfo & msg) { if (cam_info_received_) { return; } cv::Mat camera_matrix(3, 4, CV_64FC1, 0.0); - cv::Mat distortion_coeff(4, 1, CV_64FC1); - cv::Size size(static_cast(msg.width), static_cast(msg.height)); - - camera_matrix.setTo(0); camera_matrix.at(0, 0) = msg.p[0]; camera_matrix.at(0, 1) = msg.p[1]; camera_matrix.at(0, 2) = msg.p[2]; @@ -272,111 +267,88 @@ void ArTagBasedLocalizer::cam_info_callback(const sensor_msgs::msg::CameraInfo & camera_matrix.at(2, 2) = msg.p[10]; camera_matrix.at(2, 3) = msg.p[11]; + cv::Mat distortion_coeff(4, 1, CV_64FC1); for (int i = 0; i < 4; ++i) { distortion_coeff.at(i, 0) = 0; } + const cv::Size size(static_cast(msg.width), static_cast(msg.height)); + cam_param_ = aruco::CameraParameters(camera_matrix, distortion_coeff, size); cam_info_received_ = true; } -void ArTagBasedLocalizer::ekf_pose_callback( - const geometry_msgs::msg::PoseWithCovarianceStamped & msg) +void ArTagBasedLocalizer::ekf_pose_callback(const PoseWithCovarianceStamped & msg) { latest_ekf_pose_ = msg; } void ArTagBasedLocalizer::publish_pose_as_base_link( - const geometry_msgs::msg::PoseStamped & msg, const std::string & camera_frame_id) + const PoseStamped & sensor_to_tag, const std::string & tag_id) { - // Check if frame_id is in target_tag_ids - if ( - std::find(target_tag_ids_.begin(), target_tag_ids_.end(), msg.header.frame_id) == - target_tag_ids_.end()) { - RCLCPP_INFO_STREAM( - this->get_logger(), "frame_id(" << msg.header.frame_id << ") is not in target_tag_ids"); + // Check tag_id + if (std::find(target_tag_ids_.begin(), target_tag_ids_.end(), tag_id) == target_tag_ids_.end()) { + RCLCPP_INFO_STREAM(this->get_logger(), "tag_id(" << tag_id << ") is not in target_tag_ids"); + return; + } + if (landmark_map_.count(tag_id) == 0) { + RCLCPP_INFO_STREAM(this->get_logger(), "tag_id(" << tag_id << ") is not in landmark_map_"); return; } // Range filter - const double distance_squared = msg.pose.position.x * msg.pose.position.x + - msg.pose.position.y * msg.pose.position.y + - msg.pose.position.z * msg.pose.position.z; + const double distance_squared = sensor_to_tag.pose.position.x * sensor_to_tag.pose.position.x + + sensor_to_tag.pose.position.y * sensor_to_tag.pose.position.y + + sensor_to_tag.pose.position.z * sensor_to_tag.pose.position.z; if (distance_threshold_squared_ < distance_squared) { return; } - // Transform map to tag - if (landmark_map_.count(msg.header.frame_id) == 0) { - RCLCPP_INFO_STREAM( - this->get_logger(), "frame_id(" << msg.header.frame_id << ") is not in landmark_map_"); - return; - } - const geometry_msgs::msg::Pose & tag_pose = landmark_map_.at(msg.header.frame_id); - geometry_msgs::msg::TransformStamped map_to_tag_tf; - map_to_tag_tf.header.stamp = msg.header.stamp; - map_to_tag_tf.header.frame_id = "map"; - map_to_tag_tf.child_frame_id = msg.header.frame_id; - map_to_tag_tf.transform.translation.x = tag_pose.position.x; - map_to_tag_tf.transform.translation.y = tag_pose.position.y; - map_to_tag_tf.transform.translation.z = tag_pose.position.z; - map_to_tag_tf.transform.rotation = tag_pose.orientation; - - // Transform camera to base_link - geometry_msgs::msg::TransformStamped camera_to_base_link_tf; + // Transform to base_link + PoseStamped base_link_to_tag; try { - camera_to_base_link_tf = - tf_buffer_->lookupTransform(camera_frame_id, "base_link", tf2::TimePointZero); + const TransformStamped transform = + tf_buffer_->lookupTransform("base_link", sensor_to_tag.header.frame_id, tf2::TimePointZero); + tf2::doTransform(sensor_to_tag, base_link_to_tag, transform); + base_link_to_tag.header.frame_id = "base_link"; } catch (tf2::TransformException & ex) { RCLCPP_INFO(this->get_logger(), "Could not transform base_link to camera: %s", ex.what()); return; } - // Convert ROS Transforms to Eigen matrices for easy matrix multiplication and inversion - Eigen::Affine3d map_to_tag = tf2::transformToEigen(map_to_tag_tf.transform); - Eigen::Affine3d camera_to_base_link = tf2::transformToEigen(camera_to_base_link_tf.transform); - Eigen::Affine3d camera_to_tag = Eigen::Affine3d( - Eigen::Translation3d(msg.pose.position.x, msg.pose.position.y, msg.pose.position.z) * - Eigen::Quaterniond( - msg.pose.orientation.w, msg.pose.orientation.x, msg.pose.orientation.y, - msg.pose.orientation.z)); - Eigen::Affine3d tag_to_camera = camera_to_tag.inverse(); + // (1) map_to_tag + const Pose & map_to_tag = landmark_map_.at(tag_id); + const Eigen::Affine3d map_to_tag_affine = pose_to_affine3d(map_to_tag); - // Final pose calculation - Eigen::Affine3d map_to_base_link = map_to_tag * tag_to_camera * camera_to_base_link; + // (2) tag_to_base_link + const Eigen::Affine3d base_link_to_tag_affine = pose_to_affine3d(base_link_to_tag.pose); + const Eigen::Affine3d tag_to_base_link_affine = base_link_to_tag_affine.inverse(); - // Construct output message - geometry_msgs::msg::PoseWithCovarianceStamped pose_with_covariance_stamped; - pose_with_covariance_stamped.header.stamp = msg.header.stamp; - pose_with_covariance_stamped.header.frame_id = "map"; - pose_with_covariance_stamped.pose.pose = tf2::toMsg(map_to_base_link); + // calculate map_to_base_link + const Eigen::Affine3d map_to_base_link_affine = map_to_tag_affine * tag_to_base_link_affine; + const Pose map_to_base_link = tf2::toMsg(map_to_base_link_affine); // If latest_ekf_pose_ is older than seconds compared to current frame, it // will not be published. - const rclcpp::Duration tolerance{ - static_cast(ekf_time_tolerance_), - static_cast((ekf_time_tolerance_ - std::floor(ekf_time_tolerance_)) * 1e9)}; - if (rclcpp::Time(latest_ekf_pose_.header.stamp) + tolerance < rclcpp::Time(msg.header.stamp)) { + const rclcpp::Duration diff_time = + rclcpp::Time(sensor_to_tag.header.stamp) - rclcpp::Time(latest_ekf_pose_.header.stamp); + if (diff_time.seconds() > ekf_time_tolerance_) { RCLCPP_INFO( this->get_logger(), "latest_ekf_pose_ is older than %f seconds compared to current frame. " - "latest_ekf_pose_.header.stamp: %d.%d, msg.header.stamp: %d.%d", + "latest_ekf_pose_.header.stamp: %d.%d, sensor_to_tag.header.stamp: %d.%d", ekf_time_tolerance_, latest_ekf_pose_.header.stamp.sec, latest_ekf_pose_.header.stamp.nanosec, - msg.header.stamp.sec, msg.header.stamp.nanosec); + sensor_to_tag.header.stamp.sec, sensor_to_tag.header.stamp.nanosec); return; } // If curr_pose differs from latest_ekf_pose_ by more than , it will not // be published. - const geometry_msgs::msg::Pose curr_pose = pose_with_covariance_stamped.pose.pose; - const geometry_msgs::msg::Pose latest_ekf_pose = latest_ekf_pose_.pose.pose; - const double diff_x = curr_pose.position.x - latest_ekf_pose.position.x; - const double diff_y = curr_pose.position.y - latest_ekf_pose.position.y; - const double diff_z = curr_pose.position.z - latest_ekf_pose.position.z; - const double diff_distance_squared = diff_x * diff_x + diff_y * diff_y + diff_z * diff_z; - const double threshold = ekf_position_tolerance_ * ekf_position_tolerance_; - if (threshold < diff_distance_squared) { + const Pose curr_pose = map_to_base_link; + const Pose latest_ekf_pose = latest_ekf_pose_.pose.pose; + const double diff_position = norm(curr_pose.position, latest_ekf_pose.position); + if (diff_position > ekf_position_tolerance_) { RCLCPP_INFO( this->get_logger(), "curr_pose differs from latest_ekf_pose_ by more than %f m. " @@ -386,6 +358,12 @@ void ArTagBasedLocalizer::publish_pose_as_base_link( return; } + // Construct output message + PoseWithCovarianceStamped pose_with_covariance_stamped; + pose_with_covariance_stamped.header.stamp = sensor_to_tag.header.stamp; + pose_with_covariance_stamped.header.frame_id = "map"; + pose_with_covariance_stamped.pose.pose = curr_pose; + // ~5[m]: base_covariance // 5~[m]: scaling base_covariance by std::pow(distance/5, 3) const double distance = std::sqrt(distance_squared); diff --git a/localization/landmark_based_localizer/ar_tag_based_localizer/src/ar_tag_based_localizer.hpp b/localization/landmark_based_localizer/ar_tag_based_localizer/src/ar_tag_based_localizer.hpp index 6bd66eead653f..fe33a64b995a3 100644 --- a/localization/landmark_based_localizer/ar_tag_based_localizer/src/ar_tag_based_localizer.hpp +++ b/localization/landmark_based_localizer/ar_tag_based_localizer/src/ar_tag_based_localizer.hpp @@ -66,17 +66,26 @@ class ArTagBasedLocalizer : public rclcpp::Node { + using HADMapBin = autoware_auto_mapping_msgs::msg::HADMapBin; + using Image = sensor_msgs::msg::Image; + using CameraInfo = sensor_msgs::msg::CameraInfo; + using Pose = geometry_msgs::msg::Pose; + using PoseStamped = geometry_msgs::msg::PoseStamped; + using PoseWithCovarianceStamped = geometry_msgs::msg::PoseWithCovarianceStamped; + using TransformStamped = geometry_msgs::msg::TransformStamped; + using MarkerArray = visualization_msgs::msg::MarkerArray; + using DiagnosticArray = diagnostic_msgs::msg::DiagnosticArray; + public: explicit ArTagBasedLocalizer(const rclcpp::NodeOptions & options = rclcpp::NodeOptions()); bool setup(); private: - void map_bin_callback(const autoware_auto_mapping_msgs::msg::HADMapBin::ConstSharedPtr & msg); - void image_callback(const sensor_msgs::msg::Image::ConstSharedPtr & msg); - void cam_info_callback(const sensor_msgs::msg::CameraInfo & msg); - void ekf_pose_callback(const geometry_msgs::msg::PoseWithCovarianceStamped & msg); - void publish_pose_as_base_link( - const geometry_msgs::msg::PoseStamped & msg, const std::string & camera_frame_id); + void map_bin_callback(const HADMapBin::ConstSharedPtr & msg); + void image_callback(const Image::ConstSharedPtr & msg); + void cam_info_callback(const CameraInfo & msg); + void ekf_pose_callback(const PoseWithCovarianceStamped & msg); + void publish_pose_as_base_link(const PoseStamped & sensor_to_tag, const std::string & tag_id); static tf2::Transform aruco_marker_to_tf2(const aruco::Marker & marker); // Parameters @@ -96,23 +105,23 @@ class ArTagBasedLocalizer : public rclcpp::Node std::unique_ptr it_; // Subscribers - rclcpp::Subscription::SharedPtr map_bin_sub_; - rclcpp::Subscription::SharedPtr image_sub_; - rclcpp::Subscription::SharedPtr cam_info_sub_; - rclcpp::Subscription::SharedPtr ekf_pose_sub_; + rclcpp::Subscription::SharedPtr map_bin_sub_; + rclcpp::Subscription::SharedPtr image_sub_; + rclcpp::Subscription::SharedPtr cam_info_sub_; + rclcpp::Subscription::SharedPtr ekf_pose_sub_; // Publishers - rclcpp::Publisher::SharedPtr marker_pub_; + rclcpp::Publisher::SharedPtr marker_pub_; image_transport::Publisher image_pub_; - rclcpp::Publisher::SharedPtr pose_pub_; - rclcpp::Publisher::SharedPtr diag_pub_; + rclcpp::Publisher::SharedPtr pose_pub_; + rclcpp::Publisher::SharedPtr diag_pub_; // Others aruco::MarkerDetector detector_; aruco::CameraParameters cam_param_; bool cam_info_received_; - geometry_msgs::msg::PoseWithCovarianceStamped latest_ekf_pose_{}; - std::map landmark_map_; + PoseWithCovarianceStamped latest_ekf_pose_{}; + std::map landmark_map_; }; #endif // AR_TAG_BASED_LOCALIZER_HPP_ From 7b71000e87d1f9c197f4632a289231cae96ee214 Mon Sep 17 00:00:00 2001 From: Kyoichi Sugahara Date: Thu, 9 Nov 2023 16:43:11 +0900 Subject: [PATCH 080/202] refactor(motion_utils): fix typo in calcLongitudinalOffsetPose return (#5528) Fix typo in calcLongitudinalOffsetPose return statement Signed-off-by: kyoichi-sugahara --- .../motion_utils/include/motion_utils/trajectory/trajectory.hpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/common/motion_utils/include/motion_utils/trajectory/trajectory.hpp b/common/motion_utils/include/motion_utils/trajectory/trajectory.hpp index 5d773c5be32d9..61dc65c5ea3f2 100644 --- a/common/motion_utils/include/motion_utils/trajectory/trajectory.hpp +++ b/common/motion_utils/include/motion_utils/trajectory/trajectory.hpp @@ -1251,7 +1251,7 @@ calcLongitudinalOffsetPose boost::optional calcLongitudinalOffsetPose( From 805933c2dc15f7db829830196f53630bbaa3f222 Mon Sep 17 00:00:00 2001 From: danielsanchezaran Date: Thu, 9 Nov 2023 17:29:28 +0900 Subject: [PATCH 081/202] fix(simple_planning_simulator): set ego pitch to 0 if road slope is not simulated (#5501) set ego pitch to 0 if road slope is not simulated Signed-off-by: Daniel Sanchez --- .../simple_planning_simulator_core.cpp | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/simulator/simple_planning_simulator/src/simple_planning_simulator/simple_planning_simulator_core.cpp b/simulator/simple_planning_simulator/src/simple_planning_simulator/simple_planning_simulator_core.cpp index d7e25860c8abf..f2629a0586045 100644 --- a/simulator/simple_planning_simulator/src/simple_planning_simulator/simple_planning_simulator_core.cpp +++ b/simulator/simple_planning_simulator/src/simple_planning_simulator/simple_planning_simulator_core.cpp @@ -326,9 +326,9 @@ void SimplePlanningSimulator::on_timer() } // calculate longitudinal acceleration by slope - const double ego_pitch_angle = calculate_ego_pitch(); - const double acc_by_slope = - enable_road_slope_simulation_ ? -9.81 * std::sin(ego_pitch_angle) : 0.0; + constexpr double gravity_acceleration = -9.81; + const double ego_pitch_angle = enable_road_slope_simulation_ ? calculate_ego_pitch() : 0.0; + const double acc_by_slope = gravity_acceleration * std::sin(ego_pitch_angle); // update vehicle dynamics { From b8bfaea163f74a4398aa7f6381f295e6919de2c0 Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Thu, 9 Nov 2023 19:12:48 +0900 Subject: [PATCH 082/202] refactor(dynamic_avoidance): support new interface (#5527) Signed-off-by: satoshi-ota --- .../dynamic_avoidance_module.hpp | 22 +------------------ .../dynamic_avoidance_module.cpp | 12 +++------- 2 files changed, 4 insertions(+), 30 deletions(-) diff --git a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/dynamic_avoidance/dynamic_avoidance_module.hpp b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/dynamic_avoidance/dynamic_avoidance_module.hpp index 6c522c79a8774..077e0ecec0f29 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/dynamic_avoidance/dynamic_avoidance_module.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/dynamic_avoidance/dynamic_avoidance_module.hpp @@ -273,29 +273,9 @@ class DynamicAvoidanceModule : public SceneModuleInterface parameters_ = std::any_cast>(parameters); } - // TODO(someone): remove this, and use base class function - [[deprecated]] BehaviorModuleOutput run() override - { - updateData(); - - if (!isWaitingApproval()) { - return plan(); - } - - // module is waiting approval. Check it. - if (isActivated()) { - RCLCPP_DEBUG(getLogger(), "Was waiting approval, and now approved. Do plan()."); - return plan(); - } else { - RCLCPP_DEBUG(getLogger(), "keep waiting approval... Do planCandidate()."); - return planWaitingApproval(); - } - } - bool isExecutionRequested() const override; bool isExecutionReady() const override; // TODO(someone): remove this, and use base class function - [[deprecated]] ModuleStatus updateState() override; BehaviorModuleOutput plan() override; BehaviorModuleOutput planWaitingApproval() override; CandidateOutput planCandidate() const override; @@ -315,7 +295,7 @@ class DynamicAvoidanceModule : public SceneModuleInterface const double min_lon_offset; }; - bool canTransitSuccessState() override { return false; } + bool canTransitSuccessState() override; bool canTransitFailureState() override { return false; } diff --git a/planning/behavior_path_planner/src/scene_module/dynamic_avoidance/dynamic_avoidance_module.cpp b/planning/behavior_path_planner/src/scene_module/dynamic_avoidance/dynamic_avoidance_module.cpp index 2c5e78a267d5a..7aba1d1b2d97f 100644 --- a/planning/behavior_path_planner/src/scene_module/dynamic_avoidance/dynamic_avoidance_module.cpp +++ b/planning/behavior_path_planner/src/scene_module/dynamic_avoidance/dynamic_avoidance_module.cpp @@ -251,7 +251,7 @@ bool DynamicAvoidanceModule::isExecutionRequested() const } // check if the planner is already running - if (current_state_ == ModuleStatus::RUNNING) { + if (getCurrentStatus() == ModuleStatus::RUNNING) { return true; } @@ -279,15 +279,9 @@ void DynamicAvoidanceModule::updateData() } } -ModuleStatus DynamicAvoidanceModule::updateState() +bool DynamicAvoidanceModule::canTransitSuccessState() { - const bool has_avoidance_target = !target_objects_.empty(); - - if (!has_avoidance_target) { - return ModuleStatus::SUCCESS; - } - - return ModuleStatus::RUNNING; + return target_objects_.empty(); } BehaviorModuleOutput DynamicAvoidanceModule::plan() From eb7ccb824c9d1ff812861aa02be7514a46e5dc9f Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Thu, 9 Nov 2023 20:52:26 +0900 Subject: [PATCH 083/202] refactor(mission_planner): use combineLaneletsShape in lanelet2_extension (#5535) Signed-off-by: kosuke55 --- .../src/lanelet2_plugins/default_planner.cpp | 4 +-- .../lanelet2_plugins/utility_functions.cpp | 33 ------------------- .../lanelet2_plugins/utility_functions.hpp | 1 - 3 files changed, 2 insertions(+), 36 deletions(-) diff --git a/planning/mission_planner/src/lanelet2_plugins/default_planner.cpp b/planning/mission_planner/src/lanelet2_plugins/default_planner.cpp index 673519b6f7a0e..0fce63827b5e7 100644 --- a/planning/mission_planner/src/lanelet2_plugins/default_planner.cpp +++ b/planning/mission_planner/src/lanelet2_plugins/default_planner.cpp @@ -288,7 +288,7 @@ bool DefaultPlanner::check_goal_footprint( lanelet::ConstLanelets lanelets; lanelets.push_back(combined_prev_lanelet); lanelets.push_back(next_lane); - lanelet::ConstLanelet combined_lanelets = combine_lanelets(lanelets); + lanelet::ConstLanelet combined_lanelets = lanelet::utils::combineLaneletsShape(lanelets); // if next lanelet length longer than vehicle longitudinal offset if (vehicle_info_.max_longitudinal_offset_m + search_margin < next_lane_length) { @@ -347,7 +347,7 @@ bool DefaultPlanner::is_goal_valid( double next_lane_length = 0.0; // combine calculated route lanelets - lanelet::ConstLanelet combined_prev_lanelet = combine_lanelets(path_lanelets); + lanelet::ConstLanelet combined_prev_lanelet = lanelet::utils::combineLaneletsShape(path_lanelets); // check if goal footprint exceeds lane when the goal isn't in parking_lot if ( diff --git a/planning/mission_planner/src/lanelet2_plugins/utility_functions.cpp b/planning/mission_planner/src/lanelet2_plugins/utility_functions.cpp index 690a864fcdacd..126c673108b3c 100644 --- a/planning/mission_planner/src/lanelet2_plugins/utility_functions.cpp +++ b/planning/mission_planner/src/lanelet2_plugins/utility_functions.cpp @@ -54,39 +54,6 @@ void insert_marker_array( a1->markers.insert(a1->markers.end(), a2.markers.begin(), a2.markers.end()); } -lanelet::ConstLanelet combine_lanelets(const lanelet::ConstLanelets & lanelets) -{ - lanelet::Points3d lefts; - lanelet::Points3d rights; - lanelet::Points3d centers; - std::vector left_bound_ids; - std::vector right_bound_ids; - - for (const auto & llt : lanelets) { - if (llt.id() != 0) { - left_bound_ids.push_back(llt.leftBound().id()); - right_bound_ids.push_back(llt.rightBound().id()); - } - } - - for (const auto & llt : lanelets) { - if (std::count(right_bound_ids.begin(), right_bound_ids.end(), llt.leftBound().id()) < 1) { - for (const auto & pt : llt.leftBound()) { - lefts.push_back(lanelet::Point3d(pt)); - } - } - if (std::count(left_bound_ids.begin(), left_bound_ids.end(), llt.rightBound().id()) < 1) { - for (const auto & pt : llt.rightBound()) { - rights.push_back(lanelet::Point3d(pt)); - } - } - } - const auto left_bound = lanelet::LineString3d(lanelet::InvalId, lefts); - const auto right_bound = lanelet::LineString3d(lanelet::InvalId, rights); - auto combined_lanelet = lanelet::Lanelet(lanelet::InvalId, left_bound, right_bound); - return std::move(combined_lanelet); -} - std::vector convertCenterlineToPoints(const lanelet::Lanelet & lanelet) { std::vector centerline_points; diff --git a/planning/mission_planner/src/lanelet2_plugins/utility_functions.hpp b/planning/mission_planner/src/lanelet2_plugins/utility_functions.hpp index 3ea6237f38501..df9d42bab9444 100644 --- a/planning/mission_planner/src/lanelet2_plugins/utility_functions.hpp +++ b/planning/mission_planner/src/lanelet2_plugins/utility_functions.hpp @@ -49,7 +49,6 @@ void set_color(std_msgs::msg::ColorRGBA * cl, double r, double g, double b, doub void insert_marker_array( visualization_msgs::msg::MarkerArray * a1, const visualization_msgs::msg::MarkerArray & a2); -lanelet::ConstLanelet combine_lanelets(const lanelet::ConstLanelets & lanelets); std::vector convertCenterlineToPoints(const lanelet::Lanelet & lanelet); geometry_msgs::msg::Pose convertBasicPoint3dToPose( const lanelet::BasicPoint3d & point, const double lane_yaw); From 7a63e68b169dad64b15303148f2005f6b18353f8 Mon Sep 17 00:00:00 2001 From: Takamasa Horibe Date: Thu, 9 Nov 2023 21:03:50 +0900 Subject: [PATCH 084/202] feat(controller): publish processing time (#5537) Signed-off-by: Takamasa Horibe --- .../controller_node.hpp | 10 ++++++++++ .../src/controller_node.cpp | 18 ++++++++++++++++++ 2 files changed, 28 insertions(+) diff --git a/control/trajectory_follower_node/include/trajectory_follower_node/controller_node.hpp b/control/trajectory_follower_node/include/trajectory_follower_node/controller_node.hpp index c108bec2671b3..cc43da7114630 100644 --- a/control/trajectory_follower_node/include/trajectory_follower_node/controller_node.hpp +++ b/control/trajectory_follower_node/include/trajectory_follower_node/controller_node.hpp @@ -20,6 +20,7 @@ #include "tf2_ros/buffer.h" #include "tf2_ros/transform_listener.h" #include "tier4_autoware_utils/ros/logger_level_configure.hpp" +#include "tier4_autoware_utils/system/stop_watch.hpp" #include "trajectory_follower_base/lateral_controller_base.hpp" #include "trajectory_follower_base/longitudinal_controller_base.hpp" #include "trajectory_follower_node/visibility_control.hpp" @@ -38,6 +39,7 @@ #include "nav_msgs/msg/odometry.hpp" #include "tf2_msgs/msg/tf_message.hpp" #include "visualization_msgs/msg/marker_array.hpp" +#include #include #include @@ -52,6 +54,8 @@ namespace trajectory_follower_node { using autoware_adapi_v1_msgs::msg::OperationModeState; +using tier4_autoware_utils::StopWatch; +using tier4_debug_msgs::msg::Float64Stamped; namespace trajectory_follower = ::autoware::motion::control::trajectory_follower; @@ -78,6 +82,8 @@ class TRAJECTORY_FOLLOWER_PUBLIC Controller : public rclcpp::Node rclcpp::Subscription::SharedPtr sub_operation_mode_; rclcpp::Publisher::SharedPtr control_cmd_pub_; + rclcpp::Publisher::SharedPtr pub_processing_time_lat_ms_; + rclcpp::Publisher::SharedPtr pub_processing_time_lon_ms_; rclcpp::Publisher::SharedPtr debug_marker_pub_; autoware_auto_planning_msgs::msg::Trajectory::SharedPtr current_trajectory_ptr_; @@ -114,6 +120,10 @@ class TRAJECTORY_FOLLOWER_PUBLIC Controller : public rclcpp::Node const trajectory_follower::LateralOutput & lat_out) const; std::unique_ptr logger_configure_; + + void publishProcessingTime( + const double t_ms, const rclcpp::Publisher::SharedPtr pub); + StopWatch stop_watch_; }; } // namespace trajectory_follower_node } // namespace autoware::motion::control diff --git a/control/trajectory_follower_node/src/controller_node.cpp b/control/trajectory_follower_node/src/controller_node.cpp index e35848e9495af..322aa9eef5a79 100644 --- a/control/trajectory_follower_node/src/controller_node.cpp +++ b/control/trajectory_follower_node/src/controller_node.cpp @@ -75,6 +75,10 @@ Controller::Controller(const rclcpp::NodeOptions & node_options) : Node("control [this](const OperationModeState::SharedPtr msg) { current_operation_mode_ptr_ = msg; }); control_cmd_pub_ = create_publisher( "~/output/control_cmd", rclcpp::QoS{1}.transient_local()); + pub_processing_time_lat_ms_ = + create_publisher("~/lateral/debug/processing_time_ms", 1); + pub_processing_time_lon_ms_ = + create_publisher("~/longitudinal/debug/processing_time_ms", 1); debug_marker_pub_ = create_publisher("~/output/debug_marker", rclcpp::QoS{1}); @@ -205,8 +209,13 @@ void Controller::callbackTimerControl() } // 3. run controllers + stop_watch_.tic("lateral"); const auto lat_out = lateral_controller_->run(*input_data); + publishProcessingTime(stop_watch_.toc("lateral"), pub_processing_time_lat_ms_); + + stop_watch_.tic("longitudinal"); const auto lon_out = longitudinal_controller_->run(*input_data); + publishProcessingTime(stop_watch_.toc("longitudinal"), pub_processing_time_lon_ms_); // 4. sync with each other controllers longitudinal_controller_->sync(lat_out.sync_data); @@ -254,6 +263,15 @@ void Controller::publishDebugMarker( debug_marker_pub_->publish(debug_marker_array); } +void Controller::publishProcessingTime( + const double t_ms, const rclcpp::Publisher::SharedPtr pub) +{ + Float64Stamped msg{}; + msg.stamp = this->now(); + msg.data = t_ms; + pub->publish(msg); +} + } // namespace autoware::motion::control::trajectory_follower_node #include "rclcpp_components/register_node_macro.hpp" From b4a05f6f5c05418a6b69f473399d0d996f7d6031 Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Fri, 10 Nov 2023 03:31:22 +0900 Subject: [PATCH 085/202] fix(mission_planner): revert "refactor(mission_planner): use combineLaneletsShape in lanele2_extension (#5535)" (#5543) Revert "refactor(mission_planner): use combineLaneletsShape in lanelet2_extension (#5535)" This reverts commit c4ca645cbbd0a7b919ba1c2cdf78742bb81b87b5. --- .../src/lanelet2_plugins/default_planner.cpp | 4 +-- .../lanelet2_plugins/utility_functions.cpp | 33 +++++++++++++++++++ .../lanelet2_plugins/utility_functions.hpp | 1 + 3 files changed, 36 insertions(+), 2 deletions(-) diff --git a/planning/mission_planner/src/lanelet2_plugins/default_planner.cpp b/planning/mission_planner/src/lanelet2_plugins/default_planner.cpp index 0fce63827b5e7..673519b6f7a0e 100644 --- a/planning/mission_planner/src/lanelet2_plugins/default_planner.cpp +++ b/planning/mission_planner/src/lanelet2_plugins/default_planner.cpp @@ -288,7 +288,7 @@ bool DefaultPlanner::check_goal_footprint( lanelet::ConstLanelets lanelets; lanelets.push_back(combined_prev_lanelet); lanelets.push_back(next_lane); - lanelet::ConstLanelet combined_lanelets = lanelet::utils::combineLaneletsShape(lanelets); + lanelet::ConstLanelet combined_lanelets = combine_lanelets(lanelets); // if next lanelet length longer than vehicle longitudinal offset if (vehicle_info_.max_longitudinal_offset_m + search_margin < next_lane_length) { @@ -347,7 +347,7 @@ bool DefaultPlanner::is_goal_valid( double next_lane_length = 0.0; // combine calculated route lanelets - lanelet::ConstLanelet combined_prev_lanelet = lanelet::utils::combineLaneletsShape(path_lanelets); + lanelet::ConstLanelet combined_prev_lanelet = combine_lanelets(path_lanelets); // check if goal footprint exceeds lane when the goal isn't in parking_lot if ( diff --git a/planning/mission_planner/src/lanelet2_plugins/utility_functions.cpp b/planning/mission_planner/src/lanelet2_plugins/utility_functions.cpp index 126c673108b3c..690a864fcdacd 100644 --- a/planning/mission_planner/src/lanelet2_plugins/utility_functions.cpp +++ b/planning/mission_planner/src/lanelet2_plugins/utility_functions.cpp @@ -54,6 +54,39 @@ void insert_marker_array( a1->markers.insert(a1->markers.end(), a2.markers.begin(), a2.markers.end()); } +lanelet::ConstLanelet combine_lanelets(const lanelet::ConstLanelets & lanelets) +{ + lanelet::Points3d lefts; + lanelet::Points3d rights; + lanelet::Points3d centers; + std::vector left_bound_ids; + std::vector right_bound_ids; + + for (const auto & llt : lanelets) { + if (llt.id() != 0) { + left_bound_ids.push_back(llt.leftBound().id()); + right_bound_ids.push_back(llt.rightBound().id()); + } + } + + for (const auto & llt : lanelets) { + if (std::count(right_bound_ids.begin(), right_bound_ids.end(), llt.leftBound().id()) < 1) { + for (const auto & pt : llt.leftBound()) { + lefts.push_back(lanelet::Point3d(pt)); + } + } + if (std::count(left_bound_ids.begin(), left_bound_ids.end(), llt.rightBound().id()) < 1) { + for (const auto & pt : llt.rightBound()) { + rights.push_back(lanelet::Point3d(pt)); + } + } + } + const auto left_bound = lanelet::LineString3d(lanelet::InvalId, lefts); + const auto right_bound = lanelet::LineString3d(lanelet::InvalId, rights); + auto combined_lanelet = lanelet::Lanelet(lanelet::InvalId, left_bound, right_bound); + return std::move(combined_lanelet); +} + std::vector convertCenterlineToPoints(const lanelet::Lanelet & lanelet) { std::vector centerline_points; diff --git a/planning/mission_planner/src/lanelet2_plugins/utility_functions.hpp b/planning/mission_planner/src/lanelet2_plugins/utility_functions.hpp index df9d42bab9444..3ea6237f38501 100644 --- a/planning/mission_planner/src/lanelet2_plugins/utility_functions.hpp +++ b/planning/mission_planner/src/lanelet2_plugins/utility_functions.hpp @@ -49,6 +49,7 @@ void set_color(std_msgs::msg::ColorRGBA * cl, double r, double g, double b, doub void insert_marker_array( visualization_msgs::msg::MarkerArray * a1, const visualization_msgs::msg::MarkerArray & a2); +lanelet::ConstLanelet combine_lanelets(const lanelet::ConstLanelets & lanelets); std::vector convertCenterlineToPoints(const lanelet::Lanelet & lanelet); geometry_msgs::msg::Pose convertBasicPoint3dToPose( const lanelet::BasicPoint3d & point, const double lane_yaw); From da6281ffb0c63a8431a3025a304a44df1fa7ea9e Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Fri, 10 Nov 2023 13:50:16 +0900 Subject: [PATCH 086/202] fix(tier4_planning_launch): obstacle_cruise_planner pipeline is not connected (#5542) Signed-off-by: Takayuki Murooka --- .../lane_driving/motion_planning/motion_planning.launch.xml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.xml b/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.xml index a8dbcfd372226..18de04fd9e317 100644 --- a/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.xml +++ b/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.xml @@ -127,8 +127,8 @@ - - + + From 54020ff175b01eaaa2778ce5be66fbff95edb3a1 Mon Sep 17 00:00:00 2001 From: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> Date: Fri, 10 Nov 2023 15:19:46 +0900 Subject: [PATCH 087/202] fix(image_projection_based_fusion): add missing install (#5548) --- perception/image_projection_based_fusion/CMakeLists.txt | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/perception/image_projection_based_fusion/CMakeLists.txt b/perception/image_projection_based_fusion/CMakeLists.txt index 53aafa44b75d6..c021dd92dae64 100644 --- a/perception/image_projection_based_fusion/CMakeLists.txt +++ b/perception/image_projection_based_fusion/CMakeLists.txt @@ -146,6 +146,10 @@ if(TRT_AVAIL AND CUDA_AVAIL AND CUDNN_AVAIL) EXECUTABLE pointpainting_fusion_node ) + install( + TARGETS pointpainting_cuda_lib + DESTINATION lib + ) else() message("Skipping build of some nodes due to missing dependencies") endif() From 20c8641b09dcde57b6898f326d8ebbbff30c0413 Mon Sep 17 00:00:00 2001 From: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> Date: Fri, 10 Nov 2023 17:36:41 +0900 Subject: [PATCH 088/202] perf(motion_utils): faster removeOverlapPoints and calcLateralOffset functions (#5385) Signed-off-by: Maxime CLEMENT --- .../motion_utils/trajectory/trajectory.hpp | 1 + .../benchmark_calcLateralOffset.cpp | 77 +++++++++++++++++++ 2 files changed, 78 insertions(+) create mode 100644 common/motion_utils/test/src/trajectory/benchmark_calcLateralOffset.cpp diff --git a/common/motion_utils/include/motion_utils/trajectory/trajectory.hpp b/common/motion_utils/include/motion_utils/trajectory/trajectory.hpp index 61dc65c5ea3f2..f4f9f45935347 100644 --- a/common/motion_utils/include/motion_utils/trajectory/trajectory.hpp +++ b/common/motion_utils/include/motion_utils/trajectory/trajectory.hpp @@ -168,6 +168,7 @@ T removeOverlapPoints(const T & points, const size_t start_idx = 0) } T dst; + dst.reserve(points.size()); for (size_t i = 0; i <= start_idx; ++i) { dst.push_back(points.at(i)); diff --git a/common/motion_utils/test/src/trajectory/benchmark_calcLateralOffset.cpp b/common/motion_utils/test/src/trajectory/benchmark_calcLateralOffset.cpp new file mode 100644 index 0000000000000..549ca4c0ae5bb --- /dev/null +++ b/common/motion_utils/test/src/trajectory/benchmark_calcLateralOffset.cpp @@ -0,0 +1,77 @@ +// Copyright 2023 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. + +#include "motion_utils/trajectory/trajectory.hpp" + +#include +#include +#include + +#include + +namespace +{ +using autoware_auto_planning_msgs::msg::Trajectory; +using tier4_autoware_utils::createPoint; +using tier4_autoware_utils::createQuaternionFromRPY; + +constexpr double epsilon = 1e-6; + +geometry_msgs::msg::Pose createPose( + double x, double y, double z, double roll, double pitch, double yaw) +{ + geometry_msgs::msg::Pose p; + p.position = createPoint(x, y, z); + p.orientation = createQuaternionFromRPY(roll, pitch, yaw); + return p; +} + +template +T generateTestTrajectory( + const size_t num_points, const double point_interval, const double vel = 0.0, + const double init_theta = 0.0, const double delta_theta = 0.0) +{ + using Point = typename T::_points_type::value_type; + + T traj; + for (size_t i = 0; i < num_points; ++i) { + const double theta = init_theta + i * delta_theta; + const double x = i * point_interval * std::cos(theta); + const double y = i * point_interval * std::sin(theta); + + Point p; + p.pose = createPose(x, y, 0.0, 0.0, 0.0, theta); + p.longitudinal_velocity_mps = vel; + traj.points.push_back(p); + } + + return traj; +} +} // namespace + +TEST(trajectory_benchmark, DISABLED_calcLateralOffset) +{ + std::random_device r; + std::default_random_engine e1(r()); + std::uniform_real_distribution uniform_dist(0.0, 1000.0); + + using motion_utils::calcLateralOffset; + + const auto traj = generateTestTrajectory(1000, 1.0, 0.0, 0.0, 0.1); + constexpr auto nb_iteration = 10000; + for (auto i = 0; i < nb_iteration; ++i) { + const auto point = createPoint(uniform_dist(e1), uniform_dist(e1), 0.0); + calcLateralOffset(traj.points, point); + } +} From dd2c3a7719abb9e4b6c82118e03240ac5a06ed34 Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Fri, 10 Nov 2023 19:20:43 +0900 Subject: [PATCH 089/202] refactor(goal_planner): separate thread safe data (#5493) * refactor(goal_planner): separate thread safe data Signed-off-by: kosuke55 * fix style(pre-commit): autofix fix fix --------- Signed-off-by: kosuke55 --- .../goal_planner/goal_planner_module.hpp | 190 ++++++--- .../goal_planner/pull_over_planner_base.hpp | 22 ++ .../goal_planner/goal_planner_module.cpp | 360 +++++++++--------- 3 files changed, 344 insertions(+), 228 deletions(-) diff --git a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/goal_planner/goal_planner_module.hpp b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/goal_planner/goal_planner_module.hpp index df21bad862cc9..e4044d7191805 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/goal_planner/goal_planner_module.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/goal_planner/goal_planner_module.hpp @@ -68,38 +68,30 @@ using behavior_path_planner::utils::path_safety_checker::SafetyCheckParams; using behavior_path_planner::utils::path_safety_checker::TargetObjectsOnLane; using tier4_autoware_utils::Polygon2d; -enum class PathType { - NONE = 0, - SHIFT, - ARC_FORWARD, - ARC_BACKWARD, - FREESPACE, -}; +#define DEFINE_SETTER(TYPE, NAME) \ +public: \ + void set_##NAME(const TYPE & value) \ + { \ + NAME##_ = value; \ + } -#define DEFINE_SETTER_GETTER(TYPE, NAME) \ -public: \ - void set_##NAME(const TYPE & value) \ - { \ - const std::lock_guard lock(mutex_); \ - NAME##_ = value; \ - } \ - \ - TYPE get_##NAME() const \ - { \ - const std::lock_guard lock(mutex_); \ - return NAME##_; \ +#define DEFINE_GETTER(TYPE, NAME) \ +public: \ + TYPE get_##NAME() const \ + { \ + return NAME##_; \ } +#define DEFINE_SETTER_GETTER(TYPE, NAME) \ + DEFINE_SETTER(TYPE, NAME) \ + DEFINE_GETTER(TYPE, NAME) + class PullOverStatus { public: - explicit PullOverStatus(std::recursive_mutex & mutex) : mutex_(mutex) {} - // Reset all data members to their initial states void reset() { - std::lock_guard lock(mutex_); - pull_over_path_ = nullptr; lane_parking_pull_over_path_ = nullptr; current_path_idx_ = 0; require_increment_ = true; @@ -109,16 +101,12 @@ class PullOverStatus pull_over_lanes_.clear(); lanes_.clear(); has_decided_path_ = false; - is_safe_static_objects_ = false; is_safe_dynamic_objects_ = false; - prev_is_safe_ = false; + prev_found_path_ = false; prev_is_safe_dynamic_objects_ = false; has_decided_velocity_ = false; - has_requested_approval_ = false; - is_ready_ = false; } - DEFINE_SETTER_GETTER(std::shared_ptr, pull_over_path) DEFINE_SETTER_GETTER(std::shared_ptr, lane_parking_pull_over_path) DEFINE_SETTER_GETTER(size_t, current_path_idx) DEFINE_SETTER_GETTER(bool, require_increment) @@ -128,24 +116,14 @@ class PullOverStatus DEFINE_SETTER_GETTER(lanelet::ConstLanelets, pull_over_lanes) DEFINE_SETTER_GETTER(std::vector, lanes) DEFINE_SETTER_GETTER(bool, has_decided_path) - DEFINE_SETTER_GETTER(bool, is_safe_static_objects) DEFINE_SETTER_GETTER(bool, is_safe_dynamic_objects) - DEFINE_SETTER_GETTER(bool, prev_is_safe) + DEFINE_SETTER_GETTER(bool, prev_found_path) DEFINE_SETTER_GETTER(bool, prev_is_safe_dynamic_objects) DEFINE_SETTER_GETTER(bool, has_decided_velocity) - DEFINE_SETTER_GETTER(bool, has_requested_approval) - DEFINE_SETTER_GETTER(bool, is_ready) - DEFINE_SETTER_GETTER(std::shared_ptr, last_increment_time) - DEFINE_SETTER_GETTER(std::shared_ptr, last_path_update_time) - DEFINE_SETTER_GETTER(std::optional, modified_goal_pose) DEFINE_SETTER_GETTER(Pose, refined_goal_pose) - DEFINE_SETTER_GETTER(GoalCandidates, goal_candidates) DEFINE_SETTER_GETTER(Pose, closest_goal_candidate_pose) - DEFINE_SETTER_GETTER(std::vector, pull_over_path_candidates) - DEFINE_SETTER_GETTER(std::optional, closest_start_pose) private: - std::shared_ptr pull_over_path_{nullptr}; std::shared_ptr lane_parking_pull_over_path_{nullptr}; size_t current_path_idx_{0}; bool require_increment_{true}; @@ -155,32 +133,134 @@ class PullOverStatus lanelet::ConstLanelets pull_over_lanes_{}; std::vector lanes_{}; bool has_decided_path_{false}; - bool is_safe_static_objects_{false}; bool is_safe_dynamic_objects_{false}; - bool prev_is_safe_{false}; + bool prev_found_path_{false}; bool prev_is_safe_dynamic_objects_{false}; bool has_decided_velocity_{false}; - bool has_requested_approval_{false}; - bool is_ready_{false}; - // save last time and pose - std::shared_ptr last_increment_time_; - std::shared_ptr last_path_update_time_; - - // goal modification - std::optional modified_goal_pose_; Pose refined_goal_pose_{}; - GoalCandidates goal_candidates_{}; Pose closest_goal_candidate_pose_{}; +}; + +#undef DEFINE_SETTER +#undef DEFINE_GETTER +#undef DEFINE_SETTER_GETTER + +#define DEFINE_SETTER_WITH_MUTEX(TYPE, NAME) \ +public: \ + void set_##NAME(const TYPE & value) \ + { \ + const std::lock_guard lock(mutex_); \ + NAME##_ = value; \ + } + +#define DEFINE_GETTER_WITH_MUTEX(TYPE, NAME) \ +public: \ + TYPE get_##NAME() const \ + { \ + const std::lock_guard lock(mutex_); \ + return NAME##_; \ + } + +#define DEFINE_SETTER_GETTER_WITH_MUTEX(TYPE, NAME) \ + DEFINE_SETTER_WITH_MUTEX(TYPE, NAME) \ + DEFINE_GETTER_WITH_MUTEX(TYPE, NAME) + +class ThreadSafeData +{ +public: + ThreadSafeData(std::recursive_mutex & mutex, rclcpp::Clock::SharedPtr clock) + : mutex_(mutex), clock_(clock) + { + } + + bool incrementPathIndex() + { + const std::lock_guard lock(mutex_); + if (pull_over_path_->incrementPathIndex()) { + last_path_idx_increment_time_ = clock_->now(); + return true; + } + return false; + } + + void set_pull_over_path(const PullOverPath & value) + { + const std::lock_guard lock(mutex_); + pull_over_path_ = std::make_shared(value); + last_path_update_time_ = clock_->now(); + } + + void set_pull_over_path(const std::shared_ptr & value) + { + const std::lock_guard lock(mutex_); + pull_over_path_ = value; + last_path_update_time_ = clock_->now(); + } + + void clearPullOverPath() + { + const std::lock_guard lock(mutex_); + pull_over_path_ = nullptr; + } + + bool foundPullOverPath() const + { + const std::lock_guard lock(mutex_); + if (!pull_over_path_) { + return false; + } + + return pull_over_path_->isValidPath(); + } + + PullOverPlannerType getPullOverPlannerType() const + { + const std::lock_guard lock(mutex_); + if (!pull_over_path_) { + return PullOverPlannerType::NONE; + } + + return pull_over_path_->type; + }; - // pull over path + void reset() + { + const std::lock_guard lock(mutex_); + pull_over_path_ = nullptr; + pull_over_path_candidates_.clear(); + goal_candidates_.clear(); + modified_goal_pose_ = std::nullopt; + last_path_update_time_ = std::nullopt; + last_path_idx_increment_time_ = std::nullopt; + closest_start_pose_ = std::nullopt; + } + + DEFINE_GETTER_WITH_MUTEX(std::shared_ptr, pull_over_path) + DEFINE_GETTER_WITH_MUTEX(std::optional, last_path_update_time) + DEFINE_GETTER_WITH_MUTEX(std::optional, last_path_idx_increment_time) + + DEFINE_SETTER_GETTER_WITH_MUTEX(std::vector, pull_over_path_candidates) + DEFINE_SETTER_GETTER_WITH_MUTEX(GoalCandidates, goal_candidates) + DEFINE_SETTER_GETTER_WITH_MUTEX(std::optional, modified_goal_pose) + DEFINE_SETTER_GETTER_WITH_MUTEX(std::optional, closest_start_pose) + +private: + std::shared_ptr pull_over_path_{nullptr}; std::vector pull_over_path_candidates_; - std::optional closest_start_pose_; + GoalCandidates goal_candidates_{}; + std::optional modified_goal_pose_; + std::optional last_path_update_time_; + std::optional last_path_idx_increment_time_; + std::optional closest_start_pose_{}; std::recursive_mutex & mutex_; + rclcpp::Clock::SharedPtr clock_; }; -#undef DEFINE_SETTER_GETTER +#undef DEFINE_SETTER_WITH_MUTEX +#undef DEFINE_GETTER_WITH_MUTEX +#undef DEFINE_SETTER_GETTER_WITH_MUTEX struct FreespacePlannerDebugData { @@ -276,6 +356,7 @@ class GoalPlannerModule : public SceneModuleInterface std::recursive_mutex mutex_; PullOverStatus status_; + ThreadSafeData thread_safe_data_; std::unique_ptr last_approval_data_{nullptr}; @@ -329,6 +410,7 @@ class GoalPlannerModule : public SceneModuleInterface bool isStuck(); bool hasDecidedPath() const; void decideVelocity(); + bool foundPullOverPath() const; // validation bool hasEnoughDistance(const PullOverPath & pull_over_path) const; @@ -352,8 +434,6 @@ class GoalPlannerModule : public SceneModuleInterface const GoalCandidates & goal_candidates) const; // deal with pull over partial paths - PathWithLaneId getCurrentPath() const; - bool incrementPathIndex(); void transitionToNextPathIfFinishingCurrentPath(); // lanes and drivable area diff --git a/planning/behavior_path_planner/include/behavior_path_planner/utils/goal_planner/pull_over_planner_base.hpp b/planning/behavior_path_planner/include/behavior_path_planner/utils/goal_planner/pull_over_planner_base.hpp index 54bba6aee2fc2..4267261fdfe84 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/utils/goal_planner/pull_over_planner_base.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/utils/goal_planner/pull_over_planner_base.hpp @@ -46,6 +46,7 @@ struct PullOverPath { PullOverPlannerType type{PullOverPlannerType::NONE}; std::vector partial_paths{}; + size_t path_idx{0}; // accelerate with constant acceleration to the target velocity std::vector> pairs_terminal_velocity_and_accel{}; Pose start_pose{}; @@ -84,6 +85,27 @@ struct PullOverPath return parking_path; } + + PathWithLaneId getCurrentPath() const + { + if (partial_paths.empty()) { + return PathWithLaneId{}; + } else if (partial_paths.size() <= path_idx) { + return partial_paths.back(); + } + return partial_paths.at(path_idx); + } + + bool incrementPathIndex() + { + if (partial_paths.size() - 1 <= path_idx) { + return false; + } + path_idx += 1; + return true; + } + + bool isValidPath() const { return type != PullOverPlannerType::NONE; } }; class PullOverPlannerBase diff --git a/planning/behavior_path_planner/src/scene_module/goal_planner/goal_planner_module.cpp b/planning/behavior_path_planner/src/scene_module/goal_planner/goal_planner_module.cpp index 69c1fb911c4f9..0475cd92f1bec 100644 --- a/planning/behavior_path_planner/src/scene_module/goal_planner/goal_planner_module.cpp +++ b/planning/behavior_path_planner/src/scene_module/goal_planner/goal_planner_module.cpp @@ -58,7 +58,7 @@ GoalPlannerModule::GoalPlannerModule( : SceneModuleInterface{name, node, rtc_interface_ptr_map}, parameters_{parameters}, vehicle_info_{vehicle_info_util::VehicleInfoUtil(node).getVehicleInfo()}, - status_{mutex_} + thread_safe_data_{mutex_, clock_} { LaneDepartureChecker lane_departure_checker{}; lane_departure_checker.setVehicleInfo(vehicle_info_); @@ -138,16 +138,12 @@ void GoalPlannerModule::updateOccupancyGrid() void GoalPlannerModule::onTimer() { // already generated pull over candidate paths - if (!status_.get_pull_over_path_candidates().empty()) { + if (!thread_safe_data_.get_pull_over_path_candidates().empty()) { return; } // goals are not yet available. - if (status_.get_goal_candidates().empty()) { - return; - } - - if (!isExecutionRequested()) { + if (thread_safe_data_.get_goal_candidates().empty()) { return; } @@ -157,7 +153,11 @@ void GoalPlannerModule::onTimer() return; } - const auto goal_candidates = status_.get_goal_candidates(); + if (getCurrentStatus() == ModuleStatus::IDLE) { + return; + } + + const auto goal_candidates = thread_safe_data_.get_goal_candidates(); // generate valid pull over path candidates and calculate closest start pose const auto current_lanes = utils::getExtendedCurrentLanes( @@ -208,8 +208,8 @@ void GoalPlannerModule::onTimer() // set member variables { const std::lock_guard lock(mutex_); - status_.set_pull_over_path_candidates(path_candidates); - status_.set_closest_start_pose(closest_start_pose); + thread_safe_data_.set_pull_over_path_candidates(path_candidates); + thread_safe_data_.set_closest_start_pose(closest_start_pose); } } @@ -457,13 +457,13 @@ Pose GoalPlannerModule::calcRefinedGoal(const Pose & goal_pose) const bool GoalPlannerModule::planFreespacePath() { - goal_searcher_->setPlannerData(planner_data_); - auto goal_candidates = status_.get_goal_candidates(); - goal_searcher_->update(goal_candidates); - status_.set_goal_candidates(goal_candidates); - + GoalCandidates goal_candidates{}; { const std::lock_guard lock(mutex_); + goal_searcher_->setPlannerData(planner_data_); + goal_candidates = thread_safe_data_.get_goal_candidates(); + goal_searcher_->update(goal_candidates); + thread_safe_data_.set_goal_candidates(goal_candidates); debug_data_.freespace_planner.num_goal_candidates = goal_candidates.size(); debug_data_.freespace_planner.is_planning = true; } @@ -487,11 +487,8 @@ bool GoalPlannerModule::planFreespacePath() { const std::lock_guard lock(mutex_); - status_.set_pull_over_path(std::make_shared(*freespace_path)); - status_.set_current_path_idx(0); - status_.set_is_safe_static_objects(true); - status_.set_modified_goal_pose(goal_candidate); - status_.set_last_path_update_time(std::make_shared(clock_->now())); + thread_safe_data_.set_pull_over_path(*freespace_path); + thread_safe_data_.set_modified_goal_pose(goal_candidate); debug_data_.freespace_planner.is_planning = false; } @@ -527,14 +524,8 @@ void GoalPlannerModule::returnToLaneParking() return; } - { - const std::lock_guard lock(mutex_); - status_.set_is_safe_static_objects(true); - status_.set_has_decided_path(false); - status_.set_pull_over_path(status_.get_lane_parking_pull_over_path()); - status_.set_current_path_idx(0); - status_.set_last_path_update_time(std::make_shared(clock_->now())); - } + status_.set_has_decided_path(false); + thread_safe_data_.set_pull_over_path(status_.get_lane_parking_pull_over_path()); RCLCPP_INFO(getLogger(), "return to lane parking"); } @@ -546,7 +537,7 @@ void GoalPlannerModule::generateGoalCandidates() // with old architecture, module instance is not cleared when new route is received // so need to reset status here. // todo: move this check out of this function after old architecture is removed - if (!status_.get_goal_candidates().empty()) { + if (!thread_safe_data_.get_goal_candidates().empty()) { return; } @@ -554,21 +545,23 @@ void GoalPlannerModule::generateGoalCandidates() const Pose goal_pose = route_handler->getOriginalGoalPose(); status_.set_refined_goal_pose(calcRefinedGoal(goal_pose)); if (goal_planner_utils::isAllowedGoalModification(route_handler)) { + const std::lock_guard lock(mutex_); goal_searcher_->setPlannerData(planner_data_); goal_searcher_->setReferenceGoal(status_.get_refined_goal_pose()); - status_.set_goal_candidates(goal_searcher_->search()); + thread_safe_data_.set_goal_candidates(goal_searcher_->search()); const auto current_lanes = utils::getExtendedCurrentLanes( planner_data_, parameters_->backward_goal_search_length, parameters_->forward_goal_search_length, false); status_.set_closest_goal_candidate_pose( - goal_searcher_->getClosetGoalCandidateAlongLanes(status_.get_goal_candidates()).goal_pose); + goal_searcher_->getClosetGoalCandidateAlongLanes(thread_safe_data_.get_goal_candidates()) + .goal_pose); } else { GoalCandidate goal_candidate{}; goal_candidate.goal_pose = goal_pose; goal_candidate.distance_from_original_goal = 0.0; GoalCandidates goal_candidates{}; goal_candidates.push_back(goal_candidate); - status_.set_goal_candidates(goal_candidates); + thread_safe_data_.set_goal_candidates(goal_candidates); status_.set_closest_goal_candidate_pose(goal_pose); } } @@ -630,13 +623,13 @@ void GoalPlannerModule::selectSafePullOverPath() { const std::lock_guard lock(mutex_); goal_searcher_->setPlannerData(planner_data_); - goal_candidates = status_.get_goal_candidates(); + goal_candidates = thread_safe_data_.get_goal_candidates(); goal_searcher_->update(goal_candidates); - status_.set_goal_candidates(goal_candidates); - status_.set_pull_over_path_candidates(sortPullOverPathCandidatesByGoalPriority( - status_.get_pull_over_path_candidates(), status_.get_goal_candidates())); - pull_over_path_candidates = status_.get_pull_over_path_candidates(); - status_.set_is_safe_static_objects(false); + thread_safe_data_.set_goal_candidates(goal_candidates); + thread_safe_data_.set_pull_over_path_candidates(sortPullOverPathCandidatesByGoalPriority( + thread_safe_data_.get_pull_over_path_candidates(), thread_safe_data_.get_goal_candidates())); + pull_over_path_candidates = thread_safe_data_.get_pull_over_path_candidates(); + thread_safe_data_.clearPullOverPath(); } for (const auto & pull_over_path : pull_over_path_candidates) { @@ -660,26 +653,24 @@ void GoalPlannerModule::selectSafePullOverPath() // found safe pull over path { const std::lock_guard lock(mutex_); - status_.set_is_safe_static_objects(true); - status_.set_pull_over_path(std::make_shared(pull_over_path)); - status_.set_current_path_idx(0); - status_.set_lane_parking_pull_over_path(status_.get_pull_over_path()); - status_.set_modified_goal_pose(*goal_candidate_it); - status_.set_last_path_update_time(std::make_shared(clock_->now())); + thread_safe_data_.set_pull_over_path(pull_over_path); + thread_safe_data_.set_modified_goal_pose(*goal_candidate_it); + status_.set_lane_parking_pull_over_path(thread_safe_data_.get_pull_over_path()); } break; } - if (!status_.get_is_safe_static_objects()) { + if (!thread_safe_data_.foundPullOverPath()) { return; } // decelerate before the search area start const auto search_start_offset_pose = calcLongitudinalOffsetPose( - status_.get_pull_over_path()->getFullPath().points, status_.get_refined_goal_pose().position, + thread_safe_data_.get_pull_over_path()->getFullPath().points, + status_.get_refined_goal_pose().position, -parameters_->backward_goal_search_length - planner_data_->parameters.base_link2front - approximate_pull_over_distance_); - auto & first_path = status_.get_pull_over_path()->partial_paths.front(); + auto & first_path = thread_safe_data_.get_pull_over_path()->partial_paths.front(); if (search_start_offset_pose) { decelerateBeforeSearchStart(*search_start_offset_pose, first_path); } else { @@ -714,7 +705,7 @@ void GoalPlannerModule::setLanes() void GoalPlannerModule::setOutput(BehaviorModuleOutput & output) { - if (!status_.get_is_safe_static_objects()) { + if (!thread_safe_data_.foundPullOverPath()) { // situation : not safe against static objects use stop_path setStopPath(output); } else if ( @@ -732,7 +723,7 @@ void GoalPlannerModule::setOutput(BehaviorModuleOutput & output) } // keep stop if not enough time passed, // because it takes time for the trajectory to be reflected - auto current_path = getCurrentPath(); + auto current_path = thread_safe_data_.get_pull_over_path()->getCurrentPath(); keepStoppedWithCurrentPath(current_path); output.path = std::make_shared(current_path); @@ -751,14 +742,14 @@ void GoalPlannerModule::setOutput(BehaviorModuleOutput & output) // for the next loop setOutput(). // this is used to determine whether to generate a new stop path or keep the current stop path. const std::lock_guard lock(mutex_); - status_.set_prev_is_safe(status_.get_is_safe_static_objects()); + status_.set_prev_found_path(thread_safe_data_.foundPullOverPath()); status_.set_prev_is_safe_dynamic_objects( parameters_->safety_check_params.enable_safety_check ? isSafePath() : true); } void GoalPlannerModule::setStopPath(BehaviorModuleOutput & output) { - if (status_.get_prev_is_safe() || !status_.get_prev_stop_path()) { + if (status_.get_prev_found_path() || !status_.get_prev_stop_path()) { // safe -> not_safe or no prev_stop_path: generate new stop_path output.path = std::make_shared(generateStopPath()); const std::lock_guard lock(mutex_); @@ -766,10 +757,7 @@ void GoalPlannerModule::setStopPath(BehaviorModuleOutput & output) // set stop path as pull over path auto stop_pull_over_path = std::make_shared(); stop_pull_over_path->partial_paths.push_back(*output.path); - status_.set_pull_over_path(stop_pull_over_path); - status_.set_current_path_idx(0); - status_.set_last_path_update_time(std::make_shared(clock_->now())); - + thread_safe_data_.set_pull_over_path(stop_pull_over_path); RCLCPP_WARN_THROTTLE( getLogger(), *clock_, 5000, "Not found safe pull_over path, generate stop path"); } else { @@ -786,7 +774,7 @@ void GoalPlannerModule::setStopPathFromCurrentPath(BehaviorModuleOutput & output { // safe or not safe(no feasible stop_path found) -> not_safe: try to find new feasible stop_path if (status_.get_prev_is_safe_dynamic_objects() || !status_.get_prev_stop_path_after_approval()) { - auto current_path = getCurrentPath(); + auto current_path = thread_safe_data_.get_pull_over_path()->getCurrentPath(); const auto stop_path = behavior_path_planner::utils::start_goal_planner_common::generateFeasibleStopPath( current_path, planner_data_, *stop_pose_, parameters_->maximum_deceleration_for_stop, @@ -796,12 +784,13 @@ void GoalPlannerModule::setStopPathFromCurrentPath(BehaviorModuleOutput & output status_.set_prev_stop_path_after_approval(output.path); RCLCPP_WARN_THROTTLE(getLogger(), *clock_, 5000, "Collision detected, generate stop path"); } else { - output.path = std::make_shared(getCurrentPath()); + output.path = + std::make_shared(thread_safe_data_.get_pull_over_path()->getCurrentPath()); RCLCPP_WARN_THROTTLE( getLogger(), *clock_, 5000, "Collision detected, no feasible stop path found, cannot stop."); } - status_.set_last_path_update_time(std::make_shared(clock_->now())); + // status_.set_last_path_update_time(std::make_shared(clock_->now())); } else { // not_safe safe(no feasible stop path found) -> not_safe: use previous stop path output.path = status_.get_prev_stop_path_after_approval(); @@ -813,7 +802,7 @@ void GoalPlannerModule::setStopPathFromCurrentPath(BehaviorModuleOutput & output void GoalPlannerModule::setDrivableAreaInfo(BehaviorModuleOutput & output) const { - if (status_.get_pull_over_path()->type == PullOverPlannerType::FREESPACE) { + if (thread_safe_data_.getPullOverPlannerType() == PullOverPlannerType::FREESPACE) { const double drivable_area_margin = planner_data_->parameters.vehicle_width; output.drivable_area_info.drivable_margin = planner_data_->parameters.vehicle_width / 2.0 + drivable_area_margin; @@ -831,10 +820,10 @@ void GoalPlannerModule::setDrivableAreaInfo(BehaviorModuleOutput & output) const void GoalPlannerModule::setModifiedGoal(BehaviorModuleOutput & output) const { const auto & route_handler = planner_data_->route_handler; - if (status_.get_is_safe_static_objects()) { + if (thread_safe_data_.foundPullOverPath()) { PoseWithUuidStamped modified_goal{}; modified_goal.uuid = route_handler->getRouteUuid(); - modified_goal.pose = status_.get_modified_goal_pose()->goal_pose; + modified_goal.pose = thread_safe_data_.get_modified_goal_pose()->goal_pose; modified_goal.header = route_handler->getRouteHeader(); output.modified_goal = modified_goal; } else { @@ -879,22 +868,25 @@ bool GoalPlannerModule::hasDecidedPath() const } // if path is not safe, not decided - if (!status_.get_is_safe_static_objects()) { + if (!thread_safe_data_.foundPullOverPath()) { return false; } // if ego is sufficiently close to the start of the nearest candidate path, the path is decided const auto & current_pose = planner_data_->self_odometry->pose.pose; const auto ego_segment_idx = motion_utils::findNearestSegmentIndex( - getCurrentPath().points, current_pose, std::numeric_limits::max(), M_PI_2); + thread_safe_data_.get_pull_over_path()->getCurrentPath().points, current_pose, + std::numeric_limits::max(), M_PI_2); if (!ego_segment_idx) { return false; } const size_t start_pose_segment_idx = motion_utils::findNearestSegmentIndex( - getCurrentPath().points, status_.get_pull_over_path()->start_pose.position); + thread_safe_data_.get_pull_over_path()->getCurrentPath().points, + thread_safe_data_.get_pull_over_path()->start_pose.position); const double dist_to_parking_start_pose = calcSignedArcLength( - getCurrentPath().points, current_pose.position, *ego_segment_idx, - status_.get_pull_over_path()->start_pose.position, start_pose_segment_idx); + thread_safe_data_.get_pull_over_path()->getCurrentPath().points, current_pose.position, + *ego_segment_idx, thread_safe_data_.get_pull_over_path()->start_pose.position, + start_pose_segment_idx); return dist_to_parking_start_pose < parameters_->decide_path_distance; } @@ -904,7 +896,7 @@ void GoalPlannerModule::decideVelocity() // decide velocity to guarantee turn signal lighting time if (!status_.get_has_decided_velocity()) { - auto & first_path = status_.get_pull_over_path()->partial_paths.front(); + auto & first_path = thread_safe_data_.get_pull_over_path()->partial_paths.front(); const auto vel = static_cast(std::max(current_vel, parameters_->pull_over_minimum_velocity)); for (auto & p : first_path.points) { @@ -917,13 +909,14 @@ void GoalPlannerModule::decideVelocity() CandidateOutput GoalPlannerModule::planCandidate() const { return CandidateOutput( - status_.get_pull_over_path() ? status_.get_pull_over_path()->getFullPath() : PathWithLaneId()); + thread_safe_data_.get_pull_over_path() ? thread_safe_data_.get_pull_over_path()->getFullPath() + : PathWithLaneId()); } BehaviorModuleOutput GoalPlannerModule::planWithGoalModification() { // if pull over path candidates generation is not finished, use previous module output - if (status_.get_pull_over_path_candidates().empty()) { + if (thread_safe_data_.get_pull_over_path_candidates().empty()) { return getPreviousModuleOutput(); } @@ -944,10 +937,11 @@ BehaviorModuleOutput GoalPlannerModule::planWithGoalModification() } transitionToNextPathIfFinishingCurrentPath(); } else if ( - !status_.get_pull_over_path_candidates().empty() && needPathUpdate(path_update_duration)) { + !thread_safe_data_.get_pull_over_path_candidates().empty() && + needPathUpdate(path_update_duration)) { // if the final path is not decided and enough time has passed since last path update, // select safe path from lane parking pull over path candidates - // and set it to status_.get_pull_over_path() + // and set it to thread_safe_data_.get_pull_over_path() selectSafePullOverPath(); } // else: stop path is generated and set by setOutput() @@ -959,27 +953,32 @@ BehaviorModuleOutput GoalPlannerModule::planWithGoalModification() path_reference_ = getPreviousModuleOutput().reference_path; // return to lane parking if it is possible - if (status_.get_pull_over_path()->type == PullOverPlannerType::FREESPACE) { + if (thread_safe_data_.getPullOverPlannerType() == PullOverPlannerType::FREESPACE) { returnToLaneParking(); } + // For debug + setDebugData(); + if (parameters_->print_debug_info) { + // For evaluations + printParkingPositionError(); + } + + if (!thread_safe_data_.foundPullOverPath()) { + return output; + } + const auto distance_to_path_change = calcDistanceToPathChange(); if (status_.get_has_decided_path()) { updateRTCStatus(distance_to_path_change.first, distance_to_path_change.second); } // TODO(tkhmy) add handle status TRYING updateSteeringFactor( - {status_.get_pull_over_path()->start_pose, status_.get_modified_goal_pose()->goal_pose}, + {thread_safe_data_.get_pull_over_path()->start_pose, + thread_safe_data_.get_modified_goal_pose()->goal_pose}, {distance_to_path_change.first, distance_to_path_change.second}, SteeringFactor::TURNING); - // For debug - setDebugData(); - if (parameters_->print_debug_info) { - // For evaluations - printParkingPositionError(); - } - - setStopReason(StopReason::GOAL_PLANNER, status_.get_pull_over_path()->getFullPath()); + setStopReason(StopReason::GOAL_PLANNER, thread_safe_data_.get_pull_over_path()->getFullPath()); return output; } @@ -1002,7 +1001,7 @@ BehaviorModuleOutput GoalPlannerModule::planWaitingApproval() BehaviorModuleOutput GoalPlannerModule::planWaitingApprovalWithGoalModification() { // if pull over path candidates generation is not finished, use previous module output - if (status_.get_pull_over_path_candidates().empty()) { + if (thread_safe_data_.get_pull_over_path_candidates().empty()) { return getPreviousModuleOutput(); } @@ -1012,10 +1011,9 @@ BehaviorModuleOutput GoalPlannerModule::planWaitingApprovalWithGoalModification( out.reference_path = getPreviousModuleOutput().reference_path; path_candidate_ = std::make_shared(planCandidate().path_candidate); path_reference_ = getPreviousModuleOutput().reference_path; - const auto distance_to_path_change = calcDistanceToPathChange(); // generate drivable area info for new architecture - if (status_.get_pull_over_path()->type == PullOverPlannerType::FREESPACE) { + if (thread_safe_data_.getPullOverPlannerType() == PullOverPlannerType::FREESPACE) { const double drivable_area_margin = planner_data_->parameters.vehicle_width; out.drivable_area_info.drivable_margin = planner_data_->parameters.vehicle_width / 2.0 + drivable_area_margin; @@ -1029,21 +1027,31 @@ BehaviorModuleOutput GoalPlannerModule::planWaitingApprovalWithGoalModification( current_drivable_area_info, getPreviousModuleOutput().drivable_area_info); } + if (!thread_safe_data_.foundPullOverPath()) { + return out; + } + + const auto distance_to_path_change = calcDistanceToPathChange(); if (status_.get_has_decided_path()) { updateRTCStatus(distance_to_path_change.first, distance_to_path_change.second); } updateSteeringFactor( - {status_.get_pull_over_path()->start_pose, status_.get_modified_goal_pose()->goal_pose}, + {thread_safe_data_.get_pull_over_path()->start_pose, + thread_safe_data_.get_modified_goal_pose()->goal_pose}, {distance_to_path_change.first, distance_to_path_change.second}, SteeringFactor::APPROACHING); - setStopReason(StopReason::GOAL_PLANNER, status_.get_pull_over_path()->getFullPath()); + setStopReason(StopReason::GOAL_PLANNER, thread_safe_data_.get_pull_over_path()->getFullPath()); return out; } std::pair GoalPlannerModule::calcDistanceToPathChange() const { - const auto full_path = status_.get_pull_over_path()->getFullPath(); + if (!thread_safe_data_.foundPullOverPath()) { + return {std::numeric_limits::max(), std::numeric_limits::max()}; + } + + const auto full_path = thread_safe_data_.get_pull_over_path()->getFullPath(); const auto ego_segment_idx = motion_utils::findNearestSegmentIndex( full_path.points, planner_data_->self_odometry->pose.pose, std::numeric_limits::max(), @@ -1053,15 +1061,15 @@ std::pair GoalPlannerModule::calcDistanceToPathChange() const } const size_t start_pose_segment_idx = motion_utils::findNearestSegmentIndex( - full_path.points, status_.get_pull_over_path()->start_pose.position); + full_path.points, thread_safe_data_.get_pull_over_path()->start_pose.position); const double dist_to_parking_start_pose = calcSignedArcLength( full_path.points, planner_data_->self_odometry->pose.pose.position, *ego_segment_idx, - status_.get_pull_over_path()->start_pose.position, start_pose_segment_idx); + thread_safe_data_.get_pull_over_path()->start_pose.position, start_pose_segment_idx); const size_t goal_pose_segment_idx = motion_utils::findNearestSegmentIndex( - full_path.points, status_.get_modified_goal_pose()->goal_pose.position); + full_path.points, thread_safe_data_.get_modified_goal_pose()->goal_pose.position); const double dist_to_parking_finish_pose = calcSignedArcLength( full_path.points, planner_data_->self_odometry->pose.pose.position, *ego_segment_idx, - status_.get_modified_goal_pose()->goal_pose.position, goal_pose_segment_idx); + thread_safe_data_.get_modified_goal_pose()->goal_pose.position, goal_pose_segment_idx); return {dist_to_parking_start_pose, dist_to_parking_finish_pose}; } @@ -1103,17 +1111,17 @@ PathWithLaneId GoalPlannerModule::generateStopPath() reference_path.points, status_.get_closest_goal_candidate_pose().position, -approximate_pull_over_distance_); if ( - !status_.get_is_safe_static_objects() && !status_.get_closest_start_pose() && + !thread_safe_data_.foundPullOverPath() && !thread_safe_data_.get_closest_start_pose() && !search_start_offset_pose) { return generateFeasibleStopPath(); } const Pose stop_pose = [&]() -> Pose { - if (status_.get_is_safe_static_objects()) { - return status_.get_pull_over_path()->start_pose; + if (thread_safe_data_.foundPullOverPath()) { + return thread_safe_data_.get_pull_over_path()->start_pose; } - if (status_.get_closest_start_pose()) { - return status_.get_closest_start_pose().value(); + if (thread_safe_data_.get_closest_start_pose()) { + return thread_safe_data_.get_closest_start_pose().value(); } return *search_start_offset_pose; }(); @@ -1187,44 +1195,42 @@ PathWithLaneId GoalPlannerModule::generateFeasibleStopPath() void GoalPlannerModule::transitionToNextPathIfFinishingCurrentPath() { - if (isActivated() && last_approval_data_) { - // if using arc_path and finishing current_path, get next path - // enough time for turn signal - const bool has_passed_enough_time = (clock_->now() - last_approval_data_->time).seconds() > - planner_data_->parameters.turn_signal_search_time; - - if (hasFinishedCurrentPath() && has_passed_enough_time && status_.get_require_increment()) { - if (incrementPathIndex()) { - status_.set_last_increment_time(std::make_shared(clock_->now())); - } - } + if (!isActivated() || !last_approval_data_) { + return; } -} -bool GoalPlannerModule::incrementPathIndex() -{ - if (status_.get_current_path_idx() == status_.get_pull_over_path()->partial_paths.size() - 1) { - return false; + // if using arc_path and finishing current_path, get next path + // enough time for turn signal + const bool has_passed_enough_time_from_approval = + (clock_->now() - last_approval_data_->time).seconds() > + planner_data_->parameters.turn_signal_search_time; + if (!has_passed_enough_time_from_approval) { + return; } - status_.set_current_path_idx(status_.get_current_path_idx() + 1); - return true; -} -PathWithLaneId GoalPlannerModule::getCurrentPath() const -{ - if (status_.get_pull_over_path() == nullptr) { - return PathWithLaneId{}; + // require increment only when the time passed is enough + // to prevent increment before driving + // when the end of the current path is close to the current pose + // this value should be `keep_stop_time` in keepStoppedWithCurrentPath + constexpr double keep_current_idx_time = 4.0; + const bool has_passed_enough_time_from_increment = + (clock_->now() - *thread_safe_data_.get_last_path_update_time()).seconds() > + keep_current_idx_time; + if (!has_passed_enough_time_from_increment) { + return; } - if (status_.get_pull_over_path()->partial_paths.size() <= status_.get_current_path_idx()) { - return PathWithLaneId{}; + if (!hasFinishedCurrentPath()) { + return; } - return status_.get_pull_over_path()->partial_paths.at(status_.get_current_path_idx()); + + thread_safe_data_.incrementPathIndex(); } bool GoalPlannerModule::isStopped( std::deque & odometry_buffer, const double time) { + const std::lock_guard lock(mutex_); odometry_buffer.push_back(planner_data_->self_odometry); // Delete old data in buffer while (rclcpp::ok()) { @@ -1254,6 +1260,7 @@ bool GoalPlannerModule::isStopped() bool GoalPlannerModule::isStuck() { + const std::lock_guard lock(mutex_); if (isOnModifiedGoal()) { return false; } @@ -1264,21 +1271,22 @@ bool GoalPlannerModule::isStuck() } // not found safe path - if (!status_.get_is_safe_static_objects()) { + if (!thread_safe_data_.foundPullOverPath()) { return true; } // any path has never been found - if (!status_.get_pull_over_path()) { + if (!thread_safe_data_.get_pull_over_path()) { return false; } - return checkCollision(getCurrentPath()); + return checkCollision(thread_safe_data_.get_pull_over_path()->getCurrentPath()); } bool GoalPlannerModule::hasFinishedCurrentPath() { - const auto current_path_end = getCurrentPath().points.back(); + const auto current_path_end = + thread_safe_data_.get_pull_over_path()->getCurrentPath().points.back(); const auto & self_pose = planner_data_->self_odometry->pose.pose; const bool is_near_target = tier4_autoware_utils::calcDistance2d(current_path_end, self_pose) < parameters_->th_arrived_distance; @@ -1288,12 +1296,12 @@ bool GoalPlannerModule::hasFinishedCurrentPath() bool GoalPlannerModule::isOnModifiedGoal() const { - if (!status_.get_modified_goal_pose()) { + if (!thread_safe_data_.get_modified_goal_pose()) { return false; } const Pose current_pose = planner_data_->self_odometry->pose.pose; - return calcDistance2d(current_pose, status_.get_modified_goal_pose()->goal_pose) < + return calcDistance2d(current_pose, thread_safe_data_.get_modified_goal_pose()->goal_pose) < parameters_->th_arrived_distance; } @@ -1302,9 +1310,9 @@ TurnSignalInfo GoalPlannerModule::calcTurnSignalInfo() const TurnSignalInfo turn_signal{}; // output const auto & current_pose = planner_data_->self_odometry->pose.pose; - const auto & start_pose = status_.get_pull_over_path()->start_pose; - const auto & end_pose = status_.get_pull_over_path()->end_pose; - const auto full_path = status_.get_pull_over_path()->getFullPath(); + const auto & start_pose = thread_safe_data_.get_pull_over_path()->start_pose; + const auto & end_pose = thread_safe_data_.get_pull_over_path()->end_pose; + const auto full_path = thread_safe_data_.get_pull_over_path()->getFullPath(); // calc TurnIndicatorsCommand { @@ -1435,20 +1443,18 @@ bool GoalPlannerModule::hasEnoughDistance(const PullOverPath & pull_over_path) c void GoalPlannerModule::keepStoppedWithCurrentPath(PathWithLaneId & path) { constexpr double keep_stop_time = 2.0; - constexpr double keep_current_idx_buffer_time = 2.0; - if (status_.get_last_increment_time()) { - const auto time_diff = (clock_->now() - *status_.get_last_increment_time()).seconds(); - if (time_diff < keep_stop_time) { - status_.set_require_increment(false); - for (auto & p : path.points) { - p.point.longitudinal_velocity_mps = 0.0; - } - } else if (time_diff > keep_stop_time + keep_current_idx_buffer_time) { - // require increment only when the time passed is enough - // to prevent increment before driving - // when the end of the current path is close to the current pose - status_.set_require_increment(true); - } + if (!thread_safe_data_.get_last_path_idx_increment_time()) { + return; + } + + const auto time_diff = + (clock_->now() - *thread_safe_data_.get_last_path_idx_increment_time()).seconds(); + if (time_diff > keep_stop_time) { + return; + } + + for (auto & p : path.points) { + p.point.longitudinal_velocity_mps = 0.0; } } @@ -1499,7 +1505,7 @@ void GoalPlannerModule::decelerateForTurnSignal(const Pose & stop_pose, PathWith planner_data_, parameters_->maximum_deceleration, parameters_->maximum_jerk, 0.0); if (min_stop_distance && *min_stop_distance < stop_point_length) { - const auto stop_point = utils::insertStopPoint(stop_point_length, path); + utils::insertStopPoint(stop_point_length, path); } } @@ -1631,7 +1637,7 @@ void GoalPlannerModule::updateSafetyCheckTargetObjectsData( bool GoalPlannerModule::isSafePath() const { - const auto pull_over_path = getCurrentPath(); + const auto pull_over_path = thread_safe_data_.get_pull_over_path()->getCurrentPath(); const auto & current_pose = planner_data_->self_odometry->pose.pose; const double current_velocity = std::hypot( planner_data_->self_odometry->twist.twist.linear.x, @@ -1648,7 +1654,7 @@ bool GoalPlannerModule::isSafePath() const const size_t ego_seg_idx = planner_data_->findEgoSegmentIndex(pull_over_path.points); const std::pair terminal_velocity_and_accel = utils::start_goal_planner_common::getPairsTerminalVelocityAndAccel( - status_.get_pull_over_path()->pairs_terminal_velocity_and_accel, + thread_safe_data_.get_pull_over_path()->pairs_terminal_velocity_and_accel, status_.get_current_path_idx()); RCLCPP_DEBUG( getLogger(), "pairs_terminal_velocity_and_accel for goal_planner: %f, %f", @@ -1744,23 +1750,25 @@ void GoalPlannerModule::setDebugData() goal_searcher_->getAreaPolygons(), header, color, z)); // Visualize goal candidates - const auto goal_candidates = status_.get_goal_candidates(); + const auto goal_candidates = thread_safe_data_.get_goal_candidates(); add(goal_planner_utils::createGoalCandidatesMarkerArray(goal_candidates, color)); } // Visualize path and related pose - if (status_.get_is_safe_static_objects()) { + if (thread_safe_data_.foundPullOverPath()) { add(createPoseMarkerArray( - status_.get_pull_over_path()->start_pose, "pull_over_start_pose", 0, 0.3, 0.3, 0.9)); + thread_safe_data_.get_pull_over_path()->start_pose, "pull_over_start_pose", 0, 0.3, 0.3, + 0.9)); add(createPoseMarkerArray( - status_.get_pull_over_path()->end_pose, "pull_over_end_pose", 0, 0.3, 0.3, 0.9)); + thread_safe_data_.get_pull_over_path()->end_pose, "pull_over_end_pose", 0, 0.3, 0.3, 0.9)); + add(createPathMarkerArray( + thread_safe_data_.get_pull_over_path()->getFullPath(), "full_path", 0, 0.0, 0.5, 0.9)); add(createPathMarkerArray( - status_.get_pull_over_path()->getFullPath(), "full_path", 0, 0.0, 0.5, 0.9)); - add(createPathMarkerArray(getCurrentPath(), "current_path", 0, 0.9, 0.5, 0.0)); + thread_safe_data_.get_pull_over_path()->getCurrentPath(), "current_path", 0, 0.9, 0.5, 0.0)); // visualize each partial path - for (size_t i = 0; i < status_.get_pull_over_path()->partial_paths.size(); ++i) { - const auto & partial_path = status_.get_pull_over_path()->partial_paths.at(i); + for (size_t i = 0; i < thread_safe_data_.get_pull_over_path()->partial_paths.size(); ++i) { + const auto & partial_path = thread_safe_data_.get_pull_over_path()->partial_paths.at(i); add( createPathMarkerArray(partial_path, "partial_path_" + std::to_string(i), 0, 0.9, 0.5, 0.9)); } @@ -1782,7 +1790,15 @@ void GoalPlannerModule::setDebugData() } } debug_marker_.markers.push_back(marker); + + // Visualize debug poses + const auto & debug_poses = thread_safe_data_.get_pull_over_path()->debug_poses; + for (size_t i = 0; i < debug_poses.size(); ++i) { + add(createPoseMarkerArray( + debug_poses.at(i), "debug_pose_" + std::to_string(i), 0, 0.3, 0.3, 0.3)); + } } + // safety check if (parameters_->safety_check_params.enable_safety_check) { if (goal_planner_data_.ego_predicted_path.size() > 0) { @@ -1806,17 +1822,22 @@ void GoalPlannerModule::setDebugData() // Visualize planner type text { visualization_msgs::msg::MarkerArray planner_type_marker_array{}; - const auto color = status_.get_is_safe_static_objects() + const auto color = thread_safe_data_.foundPullOverPath() ? createMarkerColor(1.0, 1.0, 1.0, 0.99) : createMarkerColor(1.0, 0.0, 0.0, 0.99); auto marker = createDefaultMarker( header.frame_id, header.stamp, "planner_type", 0, visualization_msgs::msg::Marker::TEXT_VIEW_FACING, createMarkerScale(0.0, 0.0, 1.0), color); - marker.pose = status_.get_modified_goal_pose() ? status_.get_modified_goal_pose()->goal_pose - : planner_data_->self_odometry->pose.pose; - marker.text = magic_enum::enum_name(status_.get_pull_over_path()->type); - marker.text += " " + std::to_string(status_.get_current_path_idx()) + "/" + - std::to_string(status_.get_pull_over_path()->partial_paths.size() - 1); + marker.pose = thread_safe_data_.get_modified_goal_pose() + ? thread_safe_data_.get_modified_goal_pose()->goal_pose + : planner_data_->self_odometry->pose.pose; + marker.text = magic_enum::enum_name(thread_safe_data_.getPullOverPlannerType()); + if (thread_safe_data_.foundPullOverPath()) { + marker.text += + " " + std::to_string(status_.get_current_path_idx()) + "/" + + std::to_string(thread_safe_data_.get_pull_over_path()->partial_paths.size() - 1); + } + if (isStuck()) { marker.text += " stuck"; } else if (isStopped()) { @@ -1832,13 +1853,6 @@ void GoalPlannerModule::setDebugData() planner_type_marker_array.markers.push_back(marker); add(planner_type_marker_array); } - - // Visualize debug poses - const auto & debug_poses = status_.get_pull_over_path()->debug_poses; - for (size_t i = 0; i < debug_poses.size(); ++i) { - add(createPoseMarkerArray( - debug_poses.at(i), "debug_pose_" + std::to_string(i), 0, 0.3, 0.3, 0.3)); - } } void GoalPlannerModule::printParkingPositionError() const @@ -1847,7 +1861,7 @@ void GoalPlannerModule::printParkingPositionError() const const double real_shoulder_to_map_shoulder = 0.0; const Pose goal_to_ego = - inverseTransformPose(current_pose, status_.get_modified_goal_pose()->goal_pose); + inverseTransformPose(current_pose, thread_safe_data_.get_modified_goal_pose()->goal_pose); const double dx = goal_to_ego.position.x; const double dy = goal_to_ego.position.y; const double distance_from_real_shoulder = @@ -1856,7 +1870,7 @@ void GoalPlannerModule::printParkingPositionError() const getLogger(), "current pose to goal, dx:%f dy:%f dyaw:%f from_real_shoulder:%f", dx, dy, tier4_autoware_utils::rad2deg( tf2::getYaw(current_pose.orientation) - - tf2::getYaw(status_.get_modified_goal_pose()->goal_pose.orientation)), + tf2::getYaw(thread_safe_data_.get_modified_goal_pose()->goal_pose.orientation)), distance_from_real_shoulder); } @@ -1882,10 +1896,10 @@ bool GoalPlannerModule::needPathUpdate(const double path_update_duration) const bool GoalPlannerModule::hasEnoughTimePassedSincePathUpdate(const double duration) const { - if (!status_.get_last_path_update_time()) { + if (!thread_safe_data_.get_last_path_update_time()) { return true; } - return (clock_->now() - *status_.get_last_path_update_time()).seconds() > duration; + return (clock_->now() - *thread_safe_data_.get_last_path_update_time()).seconds() > duration; } } // namespace behavior_path_planner From c2fc1880ba11d640287e67d4b43f372c672ecf7e Mon Sep 17 00:00:00 2001 From: Kyoichi Sugahara Date: Fri, 10 Nov 2023 19:21:20 +0900 Subject: [PATCH 090/202] refactor(start_planner): refactor backward path calculation in StartPlannerModule (#5529) * refactor(start_planner): refactor backward path calculation in StartPlannerModule The method "calcStartPoseCandidatesBackwardPath" has been renamed to "calcBackwardPathFromStartPose" to better reflect its purpose. The method now calculates the backward path by shifting the original start pose coordinates to align with the pull out lanes. The stop objects in the pull out lanes are filtered by velocity, using the new "filterStopObjectsInPullOutLanes" method. Additionally, the redundant "isOverlappedWithLane" method has been removed. Signed-off-by: kyoichi-sugahara --------- Signed-off-by: kyoichi-sugahara Co-authored-by: Kosuke Takeuchi --- ...avior_path_planner_start_planner_design.md | 2 +- .../start_planner/start_planner_module.hpp | 10 +- .../start_planner/start_planner_module.cpp | 101 +++++++++--------- 3 files changed, 55 insertions(+), 58 deletions(-) diff --git a/planning/behavior_path_planner/docs/behavior_path_planner_start_planner_design.md b/planning/behavior_path_planner/docs/behavior_path_planner_start_planner_design.md index 131202038c270..28a1db649cf04 100644 --- a/planning/behavior_path_planner/docs/behavior_path_planner_start_planner_design.md +++ b/planning/behavior_path_planner/docs/behavior_path_planner_start_planner_design.md @@ -252,7 +252,7 @@ If a safe path cannot be generated from the current position, search backwards f | max_back_distance | [m] | double | maximum back distance | 30.0 | | backward_search_resolution | [m] | double | distance interval for searching backward pull out start point | 2.0 | | backward_path_update_duration | [s] | double | time interval for searching backward pull out start point. this prevents chattering between back driving and pull_out | 3.0 | -| ignore_distance_from_lane_end | [m] | double | distance from end of pull out lanes for ignoring start candidates | 15.0 | +| ignore_distance_from_lane_end | [m] | double | If distance from shift start pose to end of shoulder lane is less than this value, this start pose candidate is ignored | 15.0 | ### **freespace pull out** diff --git a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/start_planner/start_planner_module.hpp b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/start_planner/start_planner_module.hpp index 91121598cb3ae..8d2532504926e 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/start_planner/start_planner_module.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/start_planner/start_planner_module.hpp @@ -176,8 +176,9 @@ class StartPlannerModule : public SceneModuleInterface std::mutex mutex_; PathWithLaneId getFullPath() const; - PathWithLaneId calcStartPoseCandidatesBackwardPath() const; - std::vector searchPullOutStartPoses(const PathWithLaneId & start_pose_candidates) const; + PathWithLaneId calcBackwardPathFromStartPose() const; + std::vector searchPullOutStartPoseCandidates( + const PathWithLaneId & back_path_from_start_pose) const; std::shared_ptr lane_departure_checker_; @@ -194,9 +195,8 @@ class StartPlannerModule : public SceneModuleInterface std::vector generateDrivableLanes(const PathWithLaneId & path) const; void updatePullOutStatus(); void updateStatusAfterBackwardDriving(); - static bool isOverlappedWithLane( - const lanelet::ConstLanelet & candidate_lanelet, - const tier4_autoware_utils::LinearRing2d & vehicle_footprint); + PredictedObjects filterStopObjectsInPullOutLanes( + const lanelet::ConstLanelets & pull_out_lanes, const double velocity_threshold) const; bool hasFinishedPullOut() const; bool isBackwardDrivingComplete() const; bool isStopped(); diff --git a/planning/behavior_path_planner/src/scene_module/start_planner/start_planner_module.cpp b/planning/behavior_path_planner/src/scene_module/start_planner/start_planner_module.cpp index 77a290835fb31..75562f59a402f 100644 --- a/planning/behavior_path_planner/src/scene_module/start_planner/start_planner_module.cpp +++ b/planning/behavior_path_planner/src/scene_module/start_planner/start_planner_module.cpp @@ -718,7 +718,7 @@ void StartPlannerModule::updatePullOutStatus() // refine start pose with pull out lanes. // 1) backward driving is not allowed: use refined pose just as start pose. // 2) backward driving is allowed: use refined pose to check if backward driving is needed. - const PathWithLaneId start_pose_candidates_path = calcStartPoseCandidatesBackwardPath(); + const PathWithLaneId start_pose_candidates_path = calcBackwardPathFromStartPose(); const auto refined_start_pose = calcLongitudinalOffsetPose( start_pose_candidates_path.points, planner_data_->self_odometry->pose.pose.position, 0.0); if (!refined_start_pose) return; @@ -726,7 +726,7 @@ void StartPlannerModule::updatePullOutStatus() // search pull out start candidates backward const std::vector start_pose_candidates = std::invoke([&]() -> std::vector { if (parameters_->enable_back) { - return searchPullOutStartPoses(start_pose_candidates_path); + return searchPullOutStartPoseCandidates(start_pose_candidates_path); } return {*refined_start_pose}; }); @@ -739,6 +739,7 @@ void StartPlannerModule::updatePullOutStatus() if (isBackwardDrivingComplete()) { updateStatusAfterBackwardDriving(); + // should be moved to transition state current_state_ = ModuleStatus::SUCCESS; // for breaking loop } else { status_.backward_path = start_planner_utils::getBackwardPath( @@ -760,71 +761,66 @@ void StartPlannerModule::updateStatusAfterBackwardDriving() } } -PathWithLaneId StartPlannerModule::calcStartPoseCandidatesBackwardPath() const +PathWithLaneId StartPlannerModule::calcBackwardPathFromStartPose() const { - const Pose & current_pose = planner_data_->self_odometry->pose.pose; - + const Pose & start_pose = planner_data_->route_handler->getOriginalStartPose(); const auto pull_out_lanes = start_planner_utils::getPullOutLanes( planner_data_, planner_data_->parameters.backward_path_length + parameters_->max_back_distance); - // get backward shoulder path - const auto arc_position_pose = lanelet::utils::getArcCoordinates(pull_out_lanes, current_pose); - const double check_distance = parameters_->max_back_distance + 30.0; // buffer - auto path = planner_data_->route_handler->getCenterLinePath( - pull_out_lanes, arc_position_pose.length - check_distance, - arc_position_pose.length + check_distance); - - // lateral shift to current_pose - const double distance_from_center_line = arc_position_pose.distance; - for (auto & p : path.points) { - p.point.pose = calcOffsetPose(p.point.pose, 0, distance_from_center_line, 0); + const auto arc_position_pose = lanelet::utils::getArcCoordinates(pull_out_lanes, start_pose); + + // common buffer distance for both front and back + static constexpr double buffer = 30.0; + const double check_distance = parameters_->max_back_distance + buffer; + + const double start_distance = arc_position_pose.length - check_distance; + const double end_distance = arc_position_pose.length + buffer; + + auto path = + planner_data_->route_handler->getCenterLinePath(pull_out_lanes, start_distance, end_distance); + + // shift all path points laterally to align with the start pose + for (auto & path_point : path.points) { + path_point.point.pose = calcOffsetPose(path_point.point.pose, 0, arc_position_pose.distance, 0); } return path; } -std::vector StartPlannerModule::searchPullOutStartPoses( - const PathWithLaneId & start_pose_candidates) const +std::vector StartPlannerModule::searchPullOutStartPoseCandidates( + const PathWithLaneId & back_path_from_start_pose) const { - const Pose & current_pose = planner_data_->self_odometry->pose.pose; - - std::vector pull_out_start_pose{}; - + std::vector pull_out_start_pose_candidates{}; + const auto & start_pose = planner_data_->route_handler->getOriginalStartPose(); + const auto local_vehicle_footprint = createVehicleFootprint(vehicle_info_); const auto pull_out_lanes = start_planner_utils::getPullOutLanes( planner_data_, planner_data_->parameters.backward_path_length + parameters_->max_back_distance); - // filter pull out lanes stop objects - const auto [pull_out_lane_objects, others] = - utils::path_safety_checker::separateObjectsByLanelets( - *planner_data_->dynamic_object, pull_out_lanes, - utils::path_safety_checker::isPolygonOverlapLanelet); - const auto pull_out_lane_stop_objects = utils::path_safety_checker::filterObjectsByVelocity( - pull_out_lane_objects, parameters_->th_moving_object_velocity); + const auto stop_objects_in_pull_out_lanes = + filterStopObjectsInPullOutLanes(pull_out_lanes, parameters_->th_moving_object_velocity); // Set the maximum backward distance less than the distance from the vehicle's base_link to the // lane's rearmost point to prevent lane departure. - const double s_current = lanelet::utils::getArcCoordinates(pull_out_lanes, current_pose).length; - const double max_back_distance = std::clamp( - s_current - planner_data_->parameters.base_link2rear, 0.0, parameters_->max_back_distance); + const double current_arc_length = + lanelet::utils::getArcCoordinates(pull_out_lanes, start_pose).length; + const double allowed_backward_distance = std::clamp( + current_arc_length - planner_data_->parameters.base_link2rear, 0.0, + parameters_->max_back_distance); - // check collision between footprint and object at the backed pose - const auto local_vehicle_footprint = createVehicleFootprint(vehicle_info_); - for (double back_distance = 0.0; back_distance <= max_back_distance; + for (double back_distance = 0.0; back_distance <= allowed_backward_distance; back_distance += parameters_->backward_search_resolution) { const auto backed_pose = calcLongitudinalOffsetPose( - start_pose_candidates.points, current_pose.position, -back_distance); + back_path_from_start_pose.points, start_pose.position, -back_distance); if (!backed_pose) { continue; } - // check the back pose is near the lane end - const double length_to_backed_pose = + const double backed_pose_arc_length = lanelet::utils::getArcCoordinates(pull_out_lanes, *backed_pose).length; - const double length_to_lane_end = std::accumulate( std::begin(pull_out_lanes), std::end(pull_out_lanes), 0.0, [](double acc, const auto & lane) { return acc + lanelet::utils::getLaneletLength2d(lane); }); - const double distance_from_lane_end = length_to_lane_end - length_to_backed_pose; + const double distance_from_lane_end = length_to_lane_end - backed_pose_arc_length; if (distance_from_lane_end < parameters_->ignore_distance_from_lane_end) { RCLCPP_WARN_THROTTLE( getLogger(), *clock_, 5000, @@ -833,27 +829,28 @@ std::vector StartPlannerModule::searchPullOutStartPoses( } if (utils::checkCollisionBetweenFootprintAndObjects( - local_vehicle_footprint, *backed_pose, pull_out_lane_stop_objects, + local_vehicle_footprint, *backed_pose, stop_objects_in_pull_out_lanes, parameters_->collision_check_margin)) { break; // poses behind this has a collision, so break. } - pull_out_start_pose.push_back(*backed_pose); + pull_out_start_pose_candidates.push_back(*backed_pose); } - return pull_out_start_pose; + return pull_out_start_pose_candidates; } -bool StartPlannerModule::isOverlappedWithLane( - const lanelet::ConstLanelet & candidate_lanelet, - const tier4_autoware_utils::LinearRing2d & vehicle_footprint) +PredictedObjects StartPlannerModule::filterStopObjectsInPullOutLanes( + const lanelet::ConstLanelets & pull_out_lanes, const double velocity_threshold) const { - for (const auto & point : vehicle_footprint) { - if (boost::geometry::within(point, candidate_lanelet.polygon2d().basicPolygon())) { - return true; - } - } + const auto stop_objects = utils::path_safety_checker::filterObjectsByVelocity( + *planner_data_->dynamic_object, velocity_threshold); - return false; + // filter for objects located in pull_out_lanes and moving at a speed below the threshold + const auto [stop_objects_in_pull_out_lanes, others] = + utils::path_safety_checker::separateObjectsByLanelets( + stop_objects, pull_out_lanes, utils::path_safety_checker::isPolygonOverlapLanelet); + + return stop_objects_in_pull_out_lanes; } bool StartPlannerModule::hasFinishedPullOut() const From bde4eb8329423048fab9b9f075291c59a0c81a0c Mon Sep 17 00:00:00 2001 From: Alexey Panferov <37497658+lexavtanke@users.noreply.github.com> Date: Fri, 10 Nov 2023 13:25:24 +0300 Subject: [PATCH 091/202] build(lidar_centerpoint_tvm): remove artifacts download (#5367) Signed-off-by: Alexey Panferov --- perception/lidar_centerpoint_tvm/.gitignore | 1 - .../inference_engine_tvm_config.hpp | 60 +++++++++++++++++++ ...processing_inference_engine_tvm_config.hpp | 59 ++++++++++++++++++ .../inference_engine_tvm_config.hpp | 55 +++++++++++++++++ .../lidar_centerpoint_tvm/centerpoint_tvm.hpp | 5 +- .../launch/lidar_centerpoint_tvm.launch.xml | 2 + ...inference_lidar_centerpoint_tvm.launch.xml | 2 + .../lib/centerpoint_tvm.cpp | 14 ++--- perception/lidar_centerpoint_tvm/src/node.cpp | 3 +- .../src/single_inference_node.cpp | 4 +- 10 files changed, 192 insertions(+), 13 deletions(-) create mode 100644 perception/lidar_centerpoint_tvm/data/models/centerpoint_backbone/inference_engine_tvm_config.hpp create mode 100644 perception/lidar_centerpoint_tvm/data/models/centerpoint_backbone/preprocessing_inference_engine_tvm_config.hpp create mode 100644 perception/lidar_centerpoint_tvm/data/models/centerpoint_encoder/inference_engine_tvm_config.hpp diff --git a/perception/lidar_centerpoint_tvm/.gitignore b/perception/lidar_centerpoint_tvm/.gitignore index 8fce603003c1e..e69de29bb2d1d 100644 --- a/perception/lidar_centerpoint_tvm/.gitignore +++ b/perception/lidar_centerpoint_tvm/.gitignore @@ -1 +0,0 @@ -data/ diff --git a/perception/lidar_centerpoint_tvm/data/models/centerpoint_backbone/inference_engine_tvm_config.hpp b/perception/lidar_centerpoint_tvm/data/models/centerpoint_backbone/inference_engine_tvm_config.hpp new file mode 100644 index 0000000000000..8201dd25c1039 --- /dev/null +++ b/perception/lidar_centerpoint_tvm/data/models/centerpoint_backbone/inference_engine_tvm_config.hpp @@ -0,0 +1,60 @@ +// Copyright 2021 Arm Limited and Contributors. +// +// 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 "tvm_utility/pipeline.hpp" + +#ifndef PERCEPTION__LIDAR_CENTERPOINT_TVM__DATA__MODELS__CENTERPOINT_BACKBONE__INFERENCE_ENGINE_TVM_CONFIG_HPP_ // NOLINT +#define PERCEPTION__LIDAR_CENTERPOINT_TVM__DATA__MODELS__CENTERPOINT_BACKBONE__INFERENCE_ENGINE_TVM_CONFIG_HPP_ // NOLINT + +namespace model_zoo +{ +namespace perception +{ +namespace lidar_obstacle_detection +{ +namespace centerpoint_backbone +{ +namespace onnx_centerpoint_backbone +{ + +static const tvm_utility::pipeline::InferenceEngineTVMConfig config{ + {3, 0, 0}, // modelzoo_version + + "centerpoint_backbone", // network_name + "llvm", // network_backend + + "./deploy_lib.so", // network_module_path + "./deploy_graph.json", // network_graph_path + "./deploy_param.params", // network_params_path + + kDLCPU, // tvm_device_type + 0, // tvm_device_id + + {{"spatial_features", kDLFloat, 32, 1, {1, 32, 560, 560}}}, // network_inputs + + {{"heatmap", kDLFloat, 32, 1, {1, 3, 560, 560}}, + {"reg", kDLFloat, 32, 1, {1, 2, 560, 560}}, + {"height", kDLFloat, 32, 1, {1, 1, 560, 560}}, + {"dim", kDLFloat, 32, 1, {1, 3, 560, 560}}, + {"rot", kDLFloat, 32, 1, {1, 2, 560, 560}}, + {"vel", kDLFloat, 32, 1, {1, 2, 560, 560}}} // network_outputs +}; + +} // namespace onnx_centerpoint_backbone +} // namespace centerpoint_backbone +} // namespace lidar_obstacle_detection +} // namespace perception +} // namespace model_zoo +// NOLINTNEXTLINE +#endif // PERCEPTION__LIDAR_CENTERPOINT_TVM__DATA__MODELS__CENTERPOINT_BACKBONE__INFERENCE_ENGINE_TVM_CONFIG_HPP_ diff --git a/perception/lidar_centerpoint_tvm/data/models/centerpoint_backbone/preprocessing_inference_engine_tvm_config.hpp b/perception/lidar_centerpoint_tvm/data/models/centerpoint_backbone/preprocessing_inference_engine_tvm_config.hpp new file mode 100644 index 0000000000000..2f6943e90bc83 --- /dev/null +++ b/perception/lidar_centerpoint_tvm/data/models/centerpoint_backbone/preprocessing_inference_engine_tvm_config.hpp @@ -0,0 +1,59 @@ +// Copyright 2021 Arm Limited and Contributors. +// +// 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 "tvm_utility/pipeline.hpp" + +#ifndef PERCEPTION__LIDAR_CENTERPOINT_TVM__DATA__MODELS__CENTERPOINT_BACKBONE__PREPROCESSING_INFERENCE_ENGINE_TVM_CONFIG_HPP_ // NOLINT +#define PERCEPTION__LIDAR_CENTERPOINT_TVM__DATA__MODELS__CENTERPOINT_BACKBONE__PREPROCESSING_INFERENCE_ENGINE_TVM_CONFIG_HPP_ // NOLINT + +namespace model_zoo +{ +namespace perception +{ +namespace lidar_obstacle_detection +{ +namespace centerpoint_backbone +{ +namespace onnx_centerpoint_backbone +{ +namespace preprocessing +{ + +static const tvm_utility::pipeline::InferenceEngineTVMConfig config{ + {3, 0, 0}, // modelzoo_version + + "centerpoint_backbone", // network_name + "llvm", // network_backend + + "./preprocess.so", // network_module_path + "./", // network_graph_path + "./", // network_params_path + + kDLCPU, // tvm_device_type + 0, // tvm_device_id + + {{"pillar_features", kDLFloat, 32, 1, {40000, 1, 32}}, + {"coords", kDLInt, 32, 1, {40000, 3}}}, // network_inputs + + {{"spatial_features", kDLFloat, 32, 1, {1, 32, 560, 560}}} // network_outputs +}; + +} // namespace preprocessing +} // namespace onnx_centerpoint_backbone +} // namespace centerpoint_backbone +} // namespace lidar_obstacle_detection +} // namespace perception +} // namespace model_zoo +// NOLINTNEXTLINE +#endif // PERCEPTION__LIDAR_CENTERPOINT_TVM__DATA__MODELS__CENTERPOINT_BACKBONE__PREPROCESSING_INFERENCE_ENGINE_TVM_CONFIG_HPP_ diff --git a/perception/lidar_centerpoint_tvm/data/models/centerpoint_encoder/inference_engine_tvm_config.hpp b/perception/lidar_centerpoint_tvm/data/models/centerpoint_encoder/inference_engine_tvm_config.hpp new file mode 100644 index 0000000000000..521036b49a533 --- /dev/null +++ b/perception/lidar_centerpoint_tvm/data/models/centerpoint_encoder/inference_engine_tvm_config.hpp @@ -0,0 +1,55 @@ +// Copyright 2021 Arm Limited and Contributors. +// +// 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 "tvm_utility/pipeline.hpp" + +#ifndef PERCEPTION__LIDAR_CENTERPOINT_TVM__DATA__MODELS__CENTERPOINT_ENCODER__INFERENCE_ENGINE_TVM_CONFIG_HPP_ // NOLINT +#define PERCEPTION__LIDAR_CENTERPOINT_TVM__DATA__MODELS__CENTERPOINT_ENCODER__INFERENCE_ENGINE_TVM_CONFIG_HPP_ // NOLINT + +namespace model_zoo +{ +namespace perception +{ +namespace lidar_obstacle_detection +{ +namespace centerpoint_encoder +{ +namespace onnx_centerpoint_encoder +{ + +static const tvm_utility::pipeline::InferenceEngineTVMConfig config{ + {3, 0, 0}, // modelzoo_version + + "centerpoint_encoder", // network_name + "llvm", // network_backend + + "./deploy_lib.so", // network_module_path + "./deploy_graph.json", // network_graph_path + "./deploy_param.params", // network_params_path + + kDLCPU, // tvm_device_type + 0, // tvm_device_id + + {{"input_features", kDLFloat, 32, 1, {40000, 32, 9}}}, // network_inputs + + {{"pillar_features", kDLFloat, 32, 1, {40000, 1, 32}}} // network_outputs +}; + +} // namespace onnx_centerpoint_encoder +} // namespace centerpoint_encoder +} // namespace lidar_obstacle_detection +} // namespace perception +} // namespace model_zoo +// NOLINTNEXTLINE +#endif // PERCEPTION__LIDAR_CENTERPOINT_TVM__DATA__MODELS__CENTERPOINT_ENCODER__INFERENCE_ENGINE_TVM_CONFIG_HPP_ diff --git a/perception/lidar_centerpoint_tvm/include/lidar_centerpoint_tvm/centerpoint_tvm.hpp b/perception/lidar_centerpoint_tvm/include/lidar_centerpoint_tvm/centerpoint_tvm.hpp index 168a249714bb4..865ca7d4253bf 100644 --- a/perception/lidar_centerpoint_tvm/include/lidar_centerpoint_tvm/centerpoint_tvm.hpp +++ b/perception/lidar_centerpoint_tvm/include/lidar_centerpoint_tvm/centerpoint_tvm.hpp @@ -60,7 +60,7 @@ class LIDAR_CENTERPOINT_TVM_LOCAL TVMScatterIE : public tvm_utility::pipeline::I public: explicit TVMScatterIE( tvm_utility::pipeline::InferenceEngineTVMConfig config, const std::string & pkg_name, - const std::string & function_name); + const std::string & data_path, const std::string & function_name); TVMArrayContainerVector schedule(const TVMArrayContainerVector & input); void set_coords(TVMArrayContainer coords) { coords_ = coords; } @@ -132,7 +132,8 @@ class LIDAR_CENTERPOINT_TVM_PUBLIC CenterPointTVM /// \param[in] dense_param The densification parameter used to constructing vg_ptr. /// \param[in] config The CenterPoint model configuration. explicit CenterPointTVM( - const DensificationParam & densification_param, const CenterPointConfig & config); + const DensificationParam & densification_param, const CenterPointConfig & config, + const std::string & data_path); ~CenterPointTVM(); diff --git a/perception/lidar_centerpoint_tvm/launch/lidar_centerpoint_tvm.launch.xml b/perception/lidar_centerpoint_tvm/launch/lidar_centerpoint_tvm.launch.xml index e838f01e347ce..2bd6e3aa15c21 100644 --- a/perception/lidar_centerpoint_tvm/launch/lidar_centerpoint_tvm.launch.xml +++ b/perception/lidar_centerpoint_tvm/launch/lidar_centerpoint_tvm.launch.xml @@ -10,6 +10,7 @@ + @@ -20,5 +21,6 @@ + diff --git a/perception/lidar_centerpoint_tvm/launch/single_inference_lidar_centerpoint_tvm.launch.xml b/perception/lidar_centerpoint_tvm/launch/single_inference_lidar_centerpoint_tvm.launch.xml index e62808804ca07..c2e0801fbd11c 100644 --- a/perception/lidar_centerpoint_tvm/launch/single_inference_lidar_centerpoint_tvm.launch.xml +++ b/perception/lidar_centerpoint_tvm/launch/single_inference_lidar_centerpoint_tvm.launch.xml @@ -12,6 +12,7 @@ + @@ -22,6 +23,7 @@ + diff --git a/perception/lidar_centerpoint_tvm/lib/centerpoint_tvm.cpp b/perception/lidar_centerpoint_tvm/lib/centerpoint_tvm.cpp index 7b31bdf3c8fd3..2e0f9ad28bfb6 100644 --- a/perception/lidar_centerpoint_tvm/lib/centerpoint_tvm.cpp +++ b/perception/lidar_centerpoint_tvm/lib/centerpoint_tvm.cpp @@ -43,11 +43,10 @@ namespace lidar_centerpoint_tvm TVMScatterIE::TVMScatterIE( tvm_utility::pipeline::InferenceEngineTVMConfig config, const std::string & pkg_name, - const std::string & function_name) + const std::string & data_path, const std::string & function_name) : config_(config) { - std::string network_prefix = - ament_index_cpp::get_package_share_directory(pkg_name) + "/models/" + config.network_name + "/"; + std::string network_prefix = data_path + "/" + pkg_name + "/models/" + config.network_name + "/"; std::string network_module_path = network_prefix + config.network_module_path; std::ifstream module(network_module_path); @@ -159,14 +158,15 @@ std::vector BackboneNeckHeadPostProcessor::schedule(const TVMArrayContain } CenterPointTVM::CenterPointTVM( - const DensificationParam & densification_param, const CenterPointConfig & config) + const DensificationParam & densification_param, const CenterPointConfig & config, + const std::string & data_path) : config_ve(config_en), config_bnh(config_bk), VE_PreP(std::make_shared(config_en, config)), - VE_IE(std::make_shared(config_en, "lidar_centerpoint_tvm")), - BNH_IE(std::make_shared(config_bk, "lidar_centerpoint_tvm")), + VE_IE(std::make_shared(config_en, "lidar_centerpoint_tvm", data_path)), + BNH_IE(std::make_shared(config_bk, "lidar_centerpoint_tvm", data_path)), BNH_PostP(std::make_shared(config_bk, config)), - scatter_ie(std::make_shared(config_scatter, "lidar_centerpoint_tvm", "scatter")), + scatter_ie(std::make_shared(config_scatter, "lidar_centerpoint_tvm", data_path, "scatter")), TSP_pipeline(std::make_shared(VE_PreP, VE_IE, scatter_ie, BNH_IE, BNH_PostP)), config_(config) { diff --git a/perception/lidar_centerpoint_tvm/src/node.cpp b/perception/lidar_centerpoint_tvm/src/node.cpp index e63cb7e19ba8e..0054211a15f9f 100644 --- a/perception/lidar_centerpoint_tvm/src/node.cpp +++ b/perception/lidar_centerpoint_tvm/src/node.cpp @@ -65,6 +65,7 @@ LidarCenterPointTVMNode::LidarCenterPointTVMNode(const rclcpp::NodeOptions & nod static_cast(this->declare_parameter("downsample_factor")); const std::size_t encoder_in_feature_size = static_cast(this->declare_parameter("encoder_in_feature_size")); + const auto data_path = this->declare_parameter("data_path"); DensificationParam densification_param( densification_world_frame_id, densification_num_past_frames); @@ -83,7 +84,7 @@ LidarCenterPointTVMNode::LidarCenterPointTVMNode(const rclcpp::NodeOptions & nod class_names_.size(), point_feature_size, max_voxel_size, point_cloud_range, voxel_size, downsample_factor, encoder_in_feature_size, score_threshold, circle_nms_dist_threshold, yaw_norm_threshold); - detector_ptr_ = std::make_unique(densification_param, config); + detector_ptr_ = std::make_unique(densification_param, config, data_path); pointcloud_sub_ = this->create_subscription( "~/input/pointcloud", rclcpp::SensorDataQoS{}.keep_last(1), diff --git a/perception/lidar_centerpoint_tvm/src/single_inference_node.cpp b/perception/lidar_centerpoint_tvm/src/single_inference_node.cpp index 8b810c5a7d759..a08850a7572f2 100644 --- a/perception/lidar_centerpoint_tvm/src/single_inference_node.cpp +++ b/perception/lidar_centerpoint_tvm/src/single_inference_node.cpp @@ -70,7 +70,7 @@ SingleInferenceLidarCenterPointNode::SingleInferenceLidarCenterPointNode( static_cast(this->declare_parameter("encoder_in_feature_size")); const auto pcd_path = this->declare_parameter("pcd_path"); const auto detections_path = this->declare_parameter("detections_path"); - + const auto data_path = this->declare_parameter("data_path"); DensificationParam densification_param( densification_world_frame_id, densification_num_past_frames); @@ -88,7 +88,7 @@ SingleInferenceLidarCenterPointNode::SingleInferenceLidarCenterPointNode( class_names_.size(), point_feature_size, max_voxel_size, point_cloud_range, voxel_size, downsample_factor, encoder_in_feature_size, score_threshold, circle_nms_dist_threshold, yaw_norm_threshold); - detector_ptr_ = std::make_unique(densification_param, config); + detector_ptr_ = std::make_unique(densification_param, config, data_path); detect(pcd_path, detections_path); exit(0); From a1dfb07dcd78c7387567e985abbf60c17ebbe17d Mon Sep 17 00:00:00 2001 From: Yuxuan Liu <619684051@qq.com> Date: Sat, 11 Nov 2023 14:44:04 +0800 Subject: [PATCH 092/202] refactor(perception_rviz_plugin): apply thread pool to manage detached thread (#5418) * apply thread pool to manage detached thread Signed-off-by: Owen-Liuyuxuan * style(pre-commit): autofix * clean up the destructor Signed-off-by: Owen-Liuyuxuan * style(pre-commit): autofix * use function object in the queue instead Signed-off-by: Owen-Liuyuxuan * style(pre-commit): autofix * fix condition variable naming problem Signed-off-by: Owen-Liuyuxuan * add utility include for CI Signed-off-by: Owen-Liuyuxuan --------- Signed-off-by: Owen-Liuyuxuan Co-authored-by: Owen-Liuyuxuan Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- .../predicted_objects_display.hpp | 33 ++++++++++++++ .../predicted_objects_display.cpp | 45 +++++++++++++------ 2 files changed, 64 insertions(+), 14 deletions(-) diff --git a/common/autoware_auto_perception_rviz_plugin/include/object_detection/predicted_objects_display.hpp b/common/autoware_auto_perception_rviz_plugin/include/object_detection/predicted_objects_display.hpp index 5493f1dd594ce..2896286970217 100644 --- a/common/autoware_auto_perception_rviz_plugin/include/object_detection/predicted_objects_display.hpp +++ b/common/autoware_auto_perception_rviz_plugin/include/object_detection/predicted_objects_display.hpp @@ -24,9 +24,11 @@ #include #include +#include #include #include #include +#include #include namespace autoware @@ -45,10 +47,31 @@ class AUTOWARE_AUTO_PERCEPTION_RVIZ_PLUGIN_PUBLIC PredictedObjectsDisplay using PredictedObjects = autoware_auto_perception_msgs::msg::PredictedObjects; PredictedObjectsDisplay(); + ~PredictedObjectsDisplay() + { + { + std::unique_lock lock(queue_mutex); + should_terminate = true; + } + condition.notify_all(); + for (std::thread & active_thread : threads) { + active_thread.join(); + } + threads.clear(); + } private: void processMessage(PredictedObjects::ConstSharedPtr msg) override; + void queueJob(std::function job) + { + { + std::unique_lock lock(queue_mutex); + jobs.push(std::move(job)); + } + condition.notify_one(); + } + boost::uuids::uuid to_boost_uuid(const unique_identifier_msgs::msg::UUID & uuid_msg) { const std::string uuid_str = uuid_to_string(uuid_msg); @@ -100,6 +123,8 @@ class AUTOWARE_AUTO_PERCEPTION_RVIZ_PLUGIN_PUBLIC PredictedObjectsDisplay PredictedObjects::ConstSharedPtr msg); void workerThread(); + void messageProcessorThreadJob(); + void update(float wall_dt, float ros_dt) override; std::unordered_map> id_map; @@ -108,6 +133,14 @@ class AUTOWARE_AUTO_PERCEPTION_RVIZ_PLUGIN_PUBLIC PredictedObjectsDisplay int32_t marker_id = 0; const int32_t PATH_ID_CONSTANT = 1e3; + // max_num_threads: number of threads created in the thread pool, hard-coded to be 1; + int max_num_threads; + + bool should_terminate{false}; + std::mutex queue_mutex; + std::vector threads; + std::queue> jobs; + PredictedObjects::ConstSharedPtr msg; bool consumed{false}; std::mutex mutex; diff --git a/common/autoware_auto_perception_rviz_plugin/src/object_detection/predicted_objects_display.cpp b/common/autoware_auto_perception_rviz_plugin/src/object_detection/predicted_objects_display.cpp index 24e67a6f44e95..2cc5397d18721 100644 --- a/common/autoware_auto_perception_rviz_plugin/src/object_detection/predicted_objects_display.cpp +++ b/common/autoware_auto_perception_rviz_plugin/src/object_detection/predicted_objects_display.cpp @@ -25,27 +25,44 @@ namespace object_detection { PredictedObjectsDisplay::PredictedObjectsDisplay() : ObjectPolygonDisplayBase("tracks") { - std::thread worker(&PredictedObjectsDisplay::workerThread, this); - worker.detach(); + max_num_threads = 1; // hard code the number of threads to be created + + for (int ii = 0; ii < max_num_threads; ++ii) { + threads.emplace_back(std::thread(&PredictedObjectsDisplay::workerThread, this)); + } } void PredictedObjectsDisplay::workerThread() -{ +{ // A standard working thread that waiting for jobs while (true) { - std::unique_lock lock(mutex); - condition.wait(lock, [this] { return this->msg; }); + std::function job; + { + std::unique_lock lock(queue_mutex); + condition.wait(lock, [this] { return !jobs.empty() || should_terminate; }); + if (should_terminate) { + return; + } + job = jobs.front(); + jobs.pop(); + } + job(); + } +} - auto tmp_msg = this->msg; - this->msg.reset(); +void PredictedObjectsDisplay::messageProcessorThreadJob() +{ + // Receiving + std::unique_lock lock(mutex); + auto tmp_msg = this->msg; + this->msg.reset(); + lock.unlock(); - lock.unlock(); + auto tmp_markers = createMarkers(tmp_msg); - auto tmp_markers = createMarkers(tmp_msg); - lock.lock(); - markers = tmp_markers; + lock.lock(); + markers = tmp_markers; - consumed = true; - } + consumed = true; } std::vector PredictedObjectsDisplay::createMarkers( @@ -188,7 +205,7 @@ void PredictedObjectsDisplay::processMessage(PredictedObjects::ConstSharedPtr ms std::unique_lock lock(mutex); this->msg = msg; - condition.notify_one(); + queueJob(std::bind(&PredictedObjectsDisplay::messageProcessorThreadJob, this)); } void PredictedObjectsDisplay::update(float wall_dt, float ros_dt) From 567b9e5aeaf10d117a06d7f6a5bde10cd869b252 Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Mon, 13 Nov 2023 09:52:56 +0900 Subject: [PATCH 093/202] feat(intersection): use the centerline position of first attention area if there is no traffic light (#5547) Signed-off-by: Mamoru Sobue --- .../README.md | 15 +- .../docs/data-structure.drawio.svg | 745 ++++++++++++------ .../src/manager.cpp | 1 + .../src/scene_intersection.cpp | 173 ++-- .../src/scene_merge_from_private_road.cpp | 4 +- .../src/util.cpp | 86 +- .../src/util.hpp | 3 +- .../src/util_type.hpp | 3 +- 8 files changed, 690 insertions(+), 340 deletions(-) diff --git a/planning/behavior_velocity_intersection_module/README.md b/planning/behavior_velocity_intersection_module/README.md index cb65e2a3cc23c..3ed4ee8fd334a 100644 --- a/planning/behavior_velocity_intersection_module/README.md +++ b/planning/behavior_velocity_intersection_module/README.md @@ -100,7 +100,18 @@ If a stopline is associated with the intersection lane on the map, that line is #### Pass Judge Line -To avoid sudden braking, if deceleration and jerk more than a threshold (`behavior_velocity_planner.max_accel` and `behavior_velocity_planner.max_jerk`) is required to stop just in front of the attention area, this module does not insert stopline after passing the default stopline position. +To avoid sudden braking, if deceleration and jerk more than a threshold (`behavior_velocity_planner.max_accel` and `behavior_velocity_planner.max_jerk`) is required to stop just in front of the attention area, namely the `first_attention_stop_line`, this module does not insert stopline after it passed the `default stop_line` position. + +The position of the pass judge line depends on the occlusion detection configuration and the existence of the associated traffic light of the intersection lane. + +- If `occlusion.enable` is false, the pass judge line before the `first_attention_stop_line` by the braking distance $v_{ego}^{2} / 2a_{max}$. +- If `occlusion.enable` is true and: + - if there are associated traffic lights, the pass judge line is at the `occlusion_peeking_stop_line` in order to continue peeking/collision detection while occlusion is detected. + - if there are no associated traffic lights and: + - if occlusion is detected, pass judge line is at the `occlusion_wo_tl_pass_judge_line` to continue peeking. + - if occlusion is not detected, pass judge line is at the same place at the case where `occlusion.enable` is false. + +![data structure](./docs/data-structure.drawio.svg) ### Occlusion detection @@ -170,8 +181,6 @@ entity IntersectionStopLines { @enduml ``` -![data structure](./docs/data-structure.drawio.svg) - ### Module Parameters | Parameter | Type | Description | diff --git a/planning/behavior_velocity_intersection_module/docs/data-structure.drawio.svg b/planning/behavior_velocity_intersection_module/docs/data-structure.drawio.svg index fb512902ef856..ec5878a0d828e 100644 --- a/planning/behavior_velocity_intersection_module/docs/data-structure.drawio.svg +++ b/planning/behavior_velocity_intersection_module/docs/data-structure.drawio.svg @@ -5,31 +5,31 @@ xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" version="1.1" - width="2159px" - height="1028px" - viewBox="-0.5 -0.5 2159 1028" - 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</diagram></mxfile>" > - + - - - - - + + + + + - - - - - - - - - - - - + + + + + + + + + + + + - + - + - + - + - + - - - - - + + + + + + - - - - + - - - + + + - - - - + + + + - - + + - - + + - - + + - - + + - - + + - - + + - - - - - - - - - - - + transform="translate(292.95,0)scale(-1,1)translate(-292.95,0)rotate(90,292.95,751.55)" + pointer-events="none" + /> + + + + + + + + + + +
@@ -294,18 +285,18 @@
- closest_idx + closest_idx - - - + + +
@@ -316,21 +307,21 @@
- stuck_stop_line + stuck_stop_line - - - - - - + + + + + +
@@ -341,18 +332,18 @@
- default_stop_line + default_stop_line - - - + + +
@@ -363,18 +354,18 @@
- first_attention_stop_line + first_attention_stop_line - - - + + +
@@ -389,25 +380,25 @@
- occlusion_peeking... + occlusion_peeking... - - - - - - - - - - - - - - - + + + + + + + + + + + + + + - + - + - + - + - + - - - - - + + + + + + + - - - + - - - + + + - - - + + + - - + + - - + + - - + + - - + + - - + + - - + + - +
@@ -649,18 +632,18 @@
- next + next - - - + + +
@@ -673,18 +656,18 @@
- prev + prev - - - + + +
@@ -697,18 +680,18 @@
- ego_or_entry2exit + ego_or_entry2exit - - - + + +
@@ -721,15 +704,15 @@
- entry2ego + entry2ego - - + + -
+
@@ -739,7 +722,7 @@
- IntersectionStopLines + IntersectionStopLines @@ -747,7 +730,7 @@
@@ -758,9 +741,325 @@
- PathLanelets + PathLanelets + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
+
+
+ + + occlusion_wo_tl +
+ _pass_judge_line +
+
+
+
+
+
+
+ occlusion_wo_tl... +
+
+ + + + + + +
+
+
+ + closest_idx + +
+
+
+
+ closest_idx +
+
+ + + + + + + + + +
+
+
+ + stuck_stop_line + +
+
+
+
+ stuck_stop_line +
+
+ + + + + + +
+
+
+ + default_stop_line + +
+
+
+
+ default_stop_line +
+
+ + + + + + +
+
+
+ + first_attention_stop_line + +
+
+
+
+ first_attention_stop_line +
+
+ + + + + + +
+
+
+ + + occlusion_peeking +
+ _stop_line +
+
+
+
+
+
+ occlusion_peeking... +
+
+ + + + + + + + +
+
+
+ + + occlusion_wo_tl +
+ _pass_judge_line +
+
+
+
+
+
+
+ occlusion_wo_tl...
+ + + + + + + + + diff --git a/planning/behavior_velocity_intersection_module/src/manager.cpp b/planning/behavior_velocity_intersection_module/src/manager.cpp index 5c5f5eac16b81..5de74aeb82d86 100644 --- a/planning/behavior_velocity_intersection_module/src/manager.cpp +++ b/planning/behavior_velocity_intersection_module/src/manager.cpp @@ -193,6 +193,7 @@ void IntersectionModuleManager::launchNewModules( const auto lanelets = planning_utils::getLaneletsOnPath(path, lanelet_map, planner_data_->current_odometry->pose); // run occlusion detection only in the first intersection + // TODO(Mamoru Sobue): remove `enable_occlusion_detection` variable const bool enable_occlusion_detection = intersection_param_.occlusion.enable; for (size_t i = 0; i < lanelets.size(); i++) { const auto ll = lanelets.at(i); diff --git a/planning/behavior_velocity_intersection_module/src/scene_intersection.cpp b/planning/behavior_velocity_intersection_module/src/scene_intersection.cpp index c3b429680ab91..476238f6b1e9e 100644 --- a/planning/behavior_velocity_intersection_module/src/scene_intersection.cpp +++ b/planning/behavior_velocity_intersection_module/src/scene_intersection.cpp @@ -936,6 +936,7 @@ IntersectionModule::DecisionResult IntersectionModule::modifyPathVelocityDetail( const auto routing_graph_ptr = planner_data_->route_handler_->getRoutingGraphPtr(); const auto & assigned_lanelet = lanelet_map_ptr->laneletLayer.get(lane_id_); const std::string turn_direction = assigned_lanelet.attributeOr("turn_direction", "else"); + const double baselink2front = planner_data_->vehicle_info_.max_longitudinal_offset_m; // spline interpolation const auto interpolated_path_info_opt = util::generateInterpolatedPath( @@ -969,15 +970,17 @@ IntersectionModule::DecisionResult IntersectionModule::modifyPathVelocityDetail( const bool is_prioritized = traffic_prioritized_level == util::TrafficPrioritizedLevel::FULLY_PRIORITIZED; const auto footprint = planner_data_->vehicle_info_.createFootprint(0.0, 0.0); - intersection_lanelets.update(is_prioritized, interpolated_path_info, footprint); + intersection_lanelets.update(is_prioritized, interpolated_path_info, footprint, baselink2front); // this is abnormal const auto & conflicting_lanelets = intersection_lanelets.conflicting(); const auto & first_conflicting_area_opt = intersection_lanelets.first_conflicting_area(); - if (conflicting_lanelets.empty() || !first_conflicting_area_opt) { + const auto & first_conflicting_lane_opt = intersection_lanelets.first_conflicting_lane(); + if (conflicting_lanelets.empty() || !first_conflicting_area_opt || !first_conflicting_lane_opt) { return IntersectionModule::Indecisive{"conflicting area is empty"}; } - const auto first_conflicting_area = first_conflicting_area_opt.value(); + const auto & first_conflicting_lane = first_conflicting_lane_opt.value(); + const auto & first_conflicting_area = first_conflicting_area_opt.value(); // generate all stop line candidates // see the doc for struct IntersectionStopLines @@ -986,22 +989,24 @@ IntersectionModule::DecisionResult IntersectionModule::modifyPathVelocityDetail( /// conflicting lanes const auto & dummy_first_attention_area = first_attention_area_opt ? first_attention_area_opt.value() : first_conflicting_area; - const double peeking_offset = - has_traffic_light_ ? planner_param_.occlusion.peeking_offset - : planner_param_.occlusion.absence_traffic_light.maximum_peeking_distance; + const auto & dummy_first_attention_lane_centerline = + intersection_lanelets.first_attention_lane() + ? intersection_lanelets.first_attention_lane().value().centerline2d() + : first_conflicting_lane.centerline2d(); const auto intersection_stop_lines_opt = util::generateIntersectionStopLines( - first_conflicting_area, dummy_first_attention_area, planner_data_, interpolated_path_info, - planner_param_.stuck_vehicle.use_stuck_stopline, planner_param_.common.stop_line_margin, - planner_param_.common.max_accel, planner_param_.common.max_jerk, - planner_param_.common.delay_response_time, peeking_offset, path); + first_conflicting_area, dummy_first_attention_area, dummy_first_attention_lane_centerline, + planner_data_, interpolated_path_info, planner_param_.stuck_vehicle.use_stuck_stopline, + planner_param_.common.stop_line_margin, planner_param_.common.max_accel, + planner_param_.common.max_jerk, planner_param_.common.delay_response_time, + planner_param_.occlusion.peeking_offset, path); if (!intersection_stop_lines_opt) { return IntersectionModule::Indecisive{"failed to generate intersection_stop_lines"}; } const auto & intersection_stop_lines = intersection_stop_lines_opt.value(); const auto [closest_idx, stuck_stop_line_idx_opt, default_stop_line_idx_opt, - first_attention_stop_line_idx_opt, occlusion_peeking_stop_line_idx_opt, pass_judge_line_idx] = - intersection_stop_lines; + first_attention_stop_line_idx_opt, occlusion_peeking_stop_line_idx_opt, + default_pass_judge_line_idx, occlusion_wo_tl_pass_judge_line_idx] = intersection_stop_lines; // see the doc for struct PathLanelets const auto & conflicting_area = intersection_lanelets.conflicting_area(); @@ -1083,16 +1088,91 @@ IntersectionModule::DecisionResult IntersectionModule::modifyPathVelocityDetail( if (!default_stop_line_idx_opt) { return IntersectionModule::Indecisive{"default stop line is null"}; } + // occlusion stop line is generated from the intersection of ego footprint along the path with the + // attention area, so if this is null, eog has already passed the intersection + if (!first_attention_stop_line_idx_opt || !occlusion_peeking_stop_line_idx_opt) { + return IntersectionModule::Indecisive{"occlusion stop line is null"}; + } const auto default_stop_line_idx = default_stop_line_idx_opt.value(); + const bool is_over_default_stop_line = + util::isOverTargetIndex(*path, closest_idx, current_pose, default_stop_line_idx); + const auto collision_stop_line_idx = + is_over_default_stop_line ? closest_idx : default_stop_line_idx; + const auto first_attention_stop_line_idx = first_attention_stop_line_idx_opt.value(); + const auto occlusion_stop_line_idx = occlusion_peeking_stop_line_idx_opt.value(); + + const auto & adjacent_lanelets = intersection_lanelets.adjacent(); + const auto & occlusion_attention_lanelets = intersection_lanelets.occlusion_attention(); + const auto & occlusion_attention_area = intersection_lanelets.occlusion_attention_area(); + debug_data_.attention_area = intersection_lanelets.attention_area(); + debug_data_.occlusion_attention_area = occlusion_attention_area; + debug_data_.adjacent_area = intersection_lanelets.adjacent_area(); + + // check occlusion on detection lane + if (!occlusion_attention_divisions_) { + occlusion_attention_divisions_ = util::generateDetectionLaneDivisions( + occlusion_attention_lanelets, routing_graph_ptr, + planner_data_->occupancy_grid->info.resolution, + planner_param_.occlusion.attention_lane_crop_curvature_threshold, + planner_param_.occlusion.attention_lane_curvature_calculation_ds); + } + const auto & occlusion_attention_divisions = occlusion_attention_divisions_.value(); + + // get intersection area + const auto intersection_area = util::getIntersectionArea(assigned_lanelet, lanelet_map_ptr); + // filter objects + auto target_objects = generateTargetObjects(intersection_lanelets, intersection_area); + + const double occlusion_dist_thr = std::fabs( + std::pow(planner_param_.occlusion.max_vehicle_velocity_for_rss, 2) / + (2 * planner_param_.occlusion.min_vehicle_brake_for_rss)); + auto occlusion_status = + (enable_occlusion_detection_ && !occlusion_attention_lanelets.empty() && !is_prioritized) + ? getOcclusionStatus( + *planner_data_->occupancy_grid, occlusion_attention_area, adjacent_lanelets, + first_attention_area, interpolated_path_info, occlusion_attention_divisions, + target_objects, current_pose, occlusion_dist_thr) + : OcclusionType::NOT_OCCLUDED; + occlusion_stop_state_machine_.setStateWithMarginTime( + occlusion_status == OcclusionType::NOT_OCCLUDED ? StateMachine::State::GO : StateMachine::STOP, + logger_.get_child("occlusion_stop"), *clock_); + const bool is_occlusion_cleared_with_margin = + (occlusion_stop_state_machine_.getState() == StateMachine::State::GO); + // distinguish if ego detected occlusion or RTC detects occlusion + const bool ext_occlusion_requested = (is_occlusion_cleared_with_margin && !occlusion_activated_); + if (ext_occlusion_requested) { + occlusion_status = OcclusionType::RTC_OCCLUDED; + } + const bool is_occlusion_state = (!is_occlusion_cleared_with_margin || ext_occlusion_requested); + if (is_occlusion_state && occlusion_status == OcclusionType::NOT_OCCLUDED) { + occlusion_status = prev_occlusion_status_; + } else { + prev_occlusion_status_ = occlusion_status; + } // TODO(Mamoru Sobue): this part needs more formal handling - const double baselink2front = planner_data_->vehicle_info_.max_longitudinal_offset_m; + const size_t pass_judge_line_idx = [=]() { + if (enable_occlusion_detection_) { + // if occlusion detection is enabled, pass_judge position is beyond the boundary of first + // attention area + if (has_traffic_light_) { + return occlusion_stop_line_idx; + } else if (is_occlusion_state) { + // if there is no traffic light and occlusion is detected, pass_judge position is beyond + // the boundary of first attention area + return occlusion_wo_tl_pass_judge_line_idx; + } else { + // if there is no traffic light and occlusion is not detected, pass_judge position is + // default + return default_pass_judge_line_idx; + } + } + return default_pass_judge_line_idx; + }(); debug_data_.pass_judge_wall_pose = planning_utils::getAheadPose(pass_judge_line_idx, baselink2front, *path); const bool is_over_pass_judge_line = util::isOverTargetIndex(*path, closest_idx, current_pose, pass_judge_line_idx); - const bool is_over_default_stop_line = - util::isOverTargetIndex(*path, closest_idx, current_pose, default_stop_line_idx); const double vel_norm = std::hypot( planner_data_->current_velocity->twist.linear.x, planner_data_->current_velocity->twist.linear.y); @@ -1113,28 +1193,6 @@ IntersectionModule::DecisionResult IntersectionModule::modifyPathVelocityDetail( return IntersectionModule::Indecisive{"over the pass judge line. no plan needed"}; } - // occlusion stop line is generated from the intersection of ego footprint along the path with the - // attention area, so if this is null, eog has already passed the intersection - if (!first_attention_stop_line_idx_opt || !occlusion_peeking_stop_line_idx_opt) { - return IntersectionModule::Indecisive{"occlusion stop line is null"}; - } - const auto collision_stop_line_idx = - is_over_default_stop_line ? closest_idx : default_stop_line_idx; - const auto first_attention_stop_line_idx = first_attention_stop_line_idx_opt.value(); - const auto occlusion_stop_line_idx = occlusion_peeking_stop_line_idx_opt.value(); - - const auto & adjacent_lanelets = intersection_lanelets.adjacent(); - const auto & occlusion_attention_lanelets = intersection_lanelets.occlusion_attention(); - const auto & occlusion_attention_area = intersection_lanelets.occlusion_attention_area(); - debug_data_.attention_area = intersection_lanelets.attention_area(); - debug_data_.occlusion_attention_area = occlusion_attention_area; - debug_data_.adjacent_area = intersection_lanelets.adjacent_area(); - - // get intersection area - const auto intersection_area = util::getIntersectionArea(assigned_lanelet, lanelet_map_ptr); - - auto target_objects = generateTargetObjects(intersection_lanelets, intersection_area); - // If there are any vehicles on the attention area when ego entered the intersection on green // light, do pseudo collision detection because the vehicles are very slow and no collisions may // be detected. check if ego vehicle entered assigned lanelet @@ -1196,43 +1254,6 @@ IntersectionModule::DecisionResult IntersectionModule::modifyPathVelocityDetail( has_collision_with_margin, closest_idx, collision_stop_line_idx, occlusion_stop_line_idx}; } - // check occlusion on detection lane - if (!occlusion_attention_divisions_) { - occlusion_attention_divisions_ = util::generateDetectionLaneDivisions( - occlusion_attention_lanelets, routing_graph_ptr, - planner_data_->occupancy_grid->info.resolution, - planner_param_.occlusion.attention_lane_crop_curvature_threshold, - planner_param_.occlusion.attention_lane_curvature_calculation_ds); - } - const auto & occlusion_attention_divisions = occlusion_attention_divisions_.value(); - - const double occlusion_dist_thr = std::fabs( - std::pow(planner_param_.occlusion.max_vehicle_velocity_for_rss, 2) / - (2 * planner_param_.occlusion.min_vehicle_brake_for_rss)); - auto occlusion_status = - (enable_occlusion_detection_ && !occlusion_attention_lanelets.empty() && !is_prioritized) - ? getOcclusionStatus( - *planner_data_->occupancy_grid, occlusion_attention_area, adjacent_lanelets, - first_attention_area, interpolated_path_info, occlusion_attention_divisions, - target_objects, current_pose, occlusion_dist_thr) - : OcclusionType::NOT_OCCLUDED; - occlusion_stop_state_machine_.setStateWithMarginTime( - occlusion_status == OcclusionType::NOT_OCCLUDED ? StateMachine::State::GO : StateMachine::STOP, - logger_.get_child("occlusion_stop"), *clock_); - const bool is_occlusion_cleared_with_margin = - (occlusion_stop_state_machine_.getState() == StateMachine::State::GO); - // distinguish if ego detected occlusion or RTC detects occlusion - const bool ext_occlusion_requested = (is_occlusion_cleared_with_margin && !occlusion_activated_); - if (ext_occlusion_requested) { - occlusion_status = OcclusionType::RTC_OCCLUDED; - } - const bool is_occlusion_state = (!is_occlusion_cleared_with_margin || ext_occlusion_requested); - if (is_occlusion_state && occlusion_status == OcclusionType::NOT_OCCLUDED) { - occlusion_status = prev_occlusion_status_; - } else { - prev_occlusion_status_ = occlusion_status; - } - // Safe if (!is_occlusion_state && !has_collision_with_margin) { return IntersectionModule::Safe{closest_idx, collision_stop_line_idx, occlusion_stop_line_idx}; @@ -1257,14 +1278,14 @@ IntersectionModule::DecisionResult IntersectionModule::modifyPathVelocityDetail( temporal_stop_before_attention_state_machine_) : false; if (!has_traffic_light_) { - if (fromEgoDist(first_attention_stop_line_idx) <= -peeking_offset) { + if (fromEgoDist(occlusion_wo_tl_pass_judge_line_idx) < 0) { return IntersectionModule::Indecisive{ "already passed maximum peeking line in the absence of traffic light"}; } return IntersectionModule::OccludedAbsenceTrafficLight{ is_occlusion_cleared_with_margin, has_collision_with_margin, temporal_stop_before_attention_required, closest_idx, - first_attention_stop_line_idx, occlusion_stop_line_idx}; + first_attention_stop_line_idx, occlusion_wo_tl_pass_judge_line_idx}; } // following remaining block is "has_traffic_light_" // if ego is stuck by static occlusion in the presence of traffic light, start timeout count diff --git a/planning/behavior_velocity_intersection_module/src/scene_merge_from_private_road.cpp b/planning/behavior_velocity_intersection_module/src/scene_merge_from_private_road.cpp index 698242da67528..f1b516d72726f 100644 --- a/planning/behavior_velocity_intersection_module/src/scene_merge_from_private_road.cpp +++ b/planning/behavior_velocity_intersection_module/src/scene_merge_from_private_road.cpp @@ -96,7 +96,9 @@ bool MergeFromPrivateRoadModule::modifyPathVelocity(PathWithLaneId * path, StopR } auto & intersection_lanelets = intersection_lanelets_.value(); const auto local_footprint = planner_data_->vehicle_info_.createFootprint(0.0, 0.0); - intersection_lanelets.update(false, interpolated_path_info, local_footprint); + intersection_lanelets.update( + false, interpolated_path_info, local_footprint, + planner_data_->vehicle_info_.max_longitudinal_offset_m); const auto & first_conflicting_area = intersection_lanelets.first_conflicting_area(); if (!first_conflicting_area) { return false; diff --git a/planning/behavior_velocity_intersection_module/src/util.cpp b/planning/behavior_velocity_intersection_module/src/util.cpp index e6e6fa0a1da9a..093f90e4b3df7 100644 --- a/planning/behavior_velocity_intersection_module/src/util.cpp +++ b/planning/behavior_velocity_intersection_module/src/util.cpp @@ -215,13 +215,15 @@ static std::optional getStopLineIndexFromMap( static std::optional getFirstPointInsidePolygonByFootprint( const lanelet::CompoundPolygon3d & polygon, const InterpolatedPathInfo & interpolated_path_info, - const tier4_autoware_utils::LinearRing2d & footprint) + const tier4_autoware_utils::LinearRing2d & footprint, const double vehicle_length) { const auto & path_ip = interpolated_path_info.path; const auto [lane_start, lane_end] = interpolated_path_info.lane_id_interval.value(); - + const size_t vehicle_length_idx = static_cast(vehicle_length / interpolated_path_info.ds); + const size_t start = + static_cast(std::max(0, static_cast(lane_start) - vehicle_length_idx)); const auto area_2d = lanelet::utils::to2D(polygon).basicPolygon(); - for (auto i = lane_start; i <= lane_end; ++i) { + for (auto i = start; i <= lane_end; ++i) { const auto & base_pose = path_ip.points.at(i).point.pose; const auto path_footprint = tier4_autoware_utils::transformVector( footprint, tier4_autoware_utils::pose2transform(base_pose)); @@ -237,12 +239,15 @@ static std::optional & polygons, const InterpolatedPathInfo & interpolated_path_info, - const tier4_autoware_utils::LinearRing2d & footprint) + const tier4_autoware_utils::LinearRing2d & footprint, const double vehicle_length) { const auto & path_ip = interpolated_path_info.path; const auto [lane_start, lane_end] = interpolated_path_info.lane_id_interval.value(); + const size_t vehicle_length_idx = static_cast(vehicle_length / interpolated_path_info.ds); + const size_t start = + static_cast(std::max(0, static_cast(lane_start) - vehicle_length_idx)); - for (size_t i = lane_start; i <= lane_end; ++i) { + for (size_t i = start; i <= lane_end; ++i) { const auto & pose = path_ip.points.at(i).point.pose; const auto path_footprint = tier4_autoware_utils::transformVector(footprint, tier4_autoware_utils::pose2transform(pose)); @@ -259,7 +264,8 @@ getFirstPointInsidePolygonsByFootprint( std::optional generateIntersectionStopLines( const lanelet::CompoundPolygon3d & first_conflicting_area, - const lanelet::CompoundPolygon3d & first_detection_area, + const lanelet::CompoundPolygon3d & first_attention_area, + const lanelet::ConstLineString2d & first_attention_lane_centerline, const std::shared_ptr & planner_data, const InterpolatedPathInfo & interpolated_path_info, const bool use_stuck_stopline, const double stop_line_margin, const double max_accel, const double max_jerk, @@ -269,31 +275,39 @@ std::optional generateIntersectionStopLines( const auto & path_ip = interpolated_path_info.path; const double ds = interpolated_path_info.ds; const auto & lane_interval_ip = interpolated_path_info.lane_id_interval.value(); + const double baselink2front = planner_data->vehicle_info_.max_longitudinal_offset_m; const int stop_line_margin_idx_dist = std::ceil(stop_line_margin / ds); const int base2front_idx_dist = std::ceil(planner_data->vehicle_info_.max_longitudinal_offset_m / ds); - /* - // find the index of the first point that intersects with detection_areas - const auto first_inside_detection_idx_ip_opt = - getFirstPointInsidePolygon(path_ip, lane_interval_ip, first_detection_area); - // if path is not intersecting with detection_area, error - if (!first_inside_detection_idx_ip_opt) { - return std::nullopt; - } - const auto first_inside_detection_ip = first_inside_detection_idx_ip_opt.value(); - */ // find the index of the first point whose vehicle footprint on it intersects with detection_area const auto local_footprint = planner_data->vehicle_info_.createFootprint(0.0, 0.0); std::optional first_footprint_inside_detection_ip_opt = getFirstPointInsidePolygonByFootprint( - first_detection_area, interpolated_path_info, local_footprint); + first_attention_area, interpolated_path_info, local_footprint, baselink2front); if (!first_footprint_inside_detection_ip_opt) { return std::nullopt; } const auto first_footprint_inside_detection_ip = first_footprint_inside_detection_ip_opt.value(); + std::optional first_footprint_attention_centerline_ip_opt = std::nullopt; + for (auto i = std::get<0>(lane_interval_ip); i < std::get<1>(lane_interval_ip); ++i) { + const auto & base_pose = path_ip.points.at(i).point.pose; + const auto path_footprint = tier4_autoware_utils::transformVector( + local_footprint, tier4_autoware_utils::pose2transform(base_pose)); + if (bg::intersects(path_footprint, first_attention_lane_centerline.basicLineString())) { + // TODO(Mamoru Sobue): maybe consideration of braking dist is necessary + first_footprint_attention_centerline_ip_opt = i; + break; + } + } + if (!first_footprint_attention_centerline_ip_opt) { + return std::nullopt; + } + const size_t first_footprint_attention_centerline_ip = + first_footprint_attention_centerline_ip_opt.value(); + // (1) default stop line position on interpolated path bool default_stop_line_valid = true; int stop_idx_ip_int = -1; @@ -318,24 +332,25 @@ std::optional generateIntersectionStopLines( // (3) occlusion peeking stop line position on interpolated path int occlusion_peeking_line_ip_int = static_cast(default_stop_line_ip); bool occlusion_peeking_line_valid = true; + // NOTE: if footprints[0] is already inside the detection area, invalid { - // NOTE: if footprints[0] is already inside the detection area, invalid const auto & base_pose0 = path_ip.points.at(default_stop_line_ip).point.pose; const auto path_footprint0 = tier4_autoware_utils::transformVector( local_footprint, tier4_autoware_utils::pose2transform(base_pose0)); if (bg::intersects( - path_footprint0, lanelet::utils::to2D(first_detection_area).basicPolygon())) { + path_footprint0, lanelet::utils::to2D(first_attention_area).basicPolygon())) { occlusion_peeking_line_valid = false; } } if (occlusion_peeking_line_valid) { - occlusion_peeking_line_ip_int = first_footprint_inside_detection_ip; + occlusion_peeking_line_ip_int = + first_footprint_inside_detection_ip + std::ceil(peeking_offset / ds); } - const auto first_attention_stop_line_ip = static_cast(occlusion_peeking_line_ip_int); - const bool first_attention_stop_line_valid = occlusion_peeking_line_valid; - occlusion_peeking_line_ip_int += std::ceil(peeking_offset / ds); + const auto occlusion_peeking_line_ip = static_cast( std::clamp(occlusion_peeking_line_ip_int, 0, static_cast(path_ip.points.size()) - 1)); + const auto first_attention_stop_line_ip = first_footprint_inside_detection_ip; + const bool first_attention_stop_line_valid = true; // (4) pass judge line position on interpolated path const double velocity = planner_data->current_velocity->twist.linear.x; @@ -346,6 +361,9 @@ std::optional generateIntersectionStopLines( static_cast(first_footprint_inside_detection_ip) - std::ceil(braking_dist / ds); const auto pass_judge_line_ip = static_cast( std::clamp(pass_judge_ip_int, 0, static_cast(path_ip.points.size()) - 1)); + // TODO(Mamoru Sobue): maybe braking dist should be considered + const auto occlusion_wo_tl_pass_judge_line_ip = + static_cast(first_footprint_attention_centerline_ip); // (5) stuck vehicle stop line int stuck_stop_line_ip_int = 0; @@ -354,7 +372,7 @@ std::optional generateIntersectionStopLines( // NOTE: when ego vehicle is approaching detection area and already passed // first_conflicting_area, this could be null. const auto stuck_stop_line_idx_ip_opt = getFirstPointInsidePolygonByFootprint( - first_conflicting_area, interpolated_path_info, local_footprint); + first_conflicting_area, interpolated_path_info, local_footprint, baselink2front); if (!stuck_stop_line_idx_ip_opt) { stuck_stop_line_valid = false; stuck_stop_line_ip_int = 0; @@ -378,6 +396,7 @@ std::optional generateIntersectionStopLines( size_t first_attention_stop_line{0}; size_t occlusion_peeking_stop_line{0}; size_t pass_judge_line{0}; + size_t occlusion_wo_tl_pass_judge_line{0}; }; IntersectionStopLinesTemp intersection_stop_lines_temp; @@ -388,7 +407,8 @@ std::optional generateIntersectionStopLines( {&first_attention_stop_line_ip, &intersection_stop_lines_temp.first_attention_stop_line}, {&occlusion_peeking_line_ip, &intersection_stop_lines_temp.occlusion_peeking_stop_line}, {&pass_judge_line_ip, &intersection_stop_lines_temp.pass_judge_line}, - }; + {&occlusion_wo_tl_pass_judge_line_ip, + &intersection_stop_lines_temp.occlusion_wo_tl_pass_judge_line}}; stop_lines.sort( [](const auto & it1, const auto & it2) { return *(std::get<0>(it1)) < *(std::get<0>(it2)); }); for (const auto & [stop_idx_ip, stop_idx] : stop_lines) { @@ -407,12 +427,6 @@ std::optional generateIntersectionStopLines( intersection_stop_lines_temp.occlusion_peeking_stop_line = intersection_stop_lines_temp.default_stop_line; } - if ( - intersection_stop_lines_temp.occlusion_peeking_stop_line > - intersection_stop_lines_temp.pass_judge_line) { - intersection_stop_lines_temp.pass_judge_line = - intersection_stop_lines_temp.occlusion_peeking_stop_line; - } IntersectionStopLines intersection_stop_lines; intersection_stop_lines.closest_idx = intersection_stop_lines_temp.closest_idx; @@ -431,6 +445,8 @@ std::optional generateIntersectionStopLines( intersection_stop_lines_temp.occlusion_peeking_stop_line; } intersection_stop_lines.pass_judge_line = intersection_stop_lines_temp.pass_judge_line; + intersection_stop_lines.occlusion_wo_tl_pass_judge_line = + intersection_stop_lines_temp.occlusion_wo_tl_pass_judge_line; return intersection_stop_lines; } @@ -1457,13 +1473,13 @@ double calcDistanceUntilIntersectionLanelet( void IntersectionLanelets::update( const bool is_prioritized, const InterpolatedPathInfo & interpolated_path_info, - const tier4_autoware_utils::LinearRing2d & footprint) + const tier4_autoware_utils::LinearRing2d & footprint, const double vehicle_length) { is_prioritized_ = is_prioritized; // find the first conflicting/detection area polygon intersecting the path if (!first_conflicting_area_) { - auto first = - getFirstPointInsidePolygonsByFootprint(conflicting_area_, interpolated_path_info, footprint); + auto first = getFirstPointInsidePolygonsByFootprint( + conflicting_area_, interpolated_path_info, footprint, vehicle_length); if (first) { first_conflicting_lane_ = conflicting_.at(first.value().second); first_conflicting_area_ = conflicting_area_.at(first.value().second); @@ -1471,7 +1487,7 @@ void IntersectionLanelets::update( } if (!first_attention_area_) { auto first = getFirstPointInsidePolygonsByFootprint( - attention_non_preceding_area_, interpolated_path_info, footprint); + attention_non_preceding_area_, interpolated_path_info, footprint, vehicle_length); if (first) { first_attention_lane_ = attention_non_preceding_.at(first.value().second); first_attention_area_ = attention_non_preceding_area_.at(first.value().second); diff --git a/planning/behavior_velocity_intersection_module/src/util.hpp b/planning/behavior_velocity_intersection_module/src/util.hpp index 2f204f06aac7c..0ff35ab5c0c23 100644 --- a/planning/behavior_velocity_intersection_module/src/util.hpp +++ b/planning/behavior_velocity_intersection_module/src/util.hpp @@ -69,7 +69,8 @@ std::optional generateStuckStopLine( std::optional generateIntersectionStopLines( const lanelet::CompoundPolygon3d & first_conflicting_area, - const lanelet::CompoundPolygon3d & first_detection_area, + const lanelet::CompoundPolygon3d & first_attention_area, + const lanelet::ConstLineString2d & first_attention_lane_centerline, const std::shared_ptr & planner_data, const InterpolatedPathInfo & interpolated_path_info, const bool use_stuck_stopline, const double stop_line_margin, const double max_accel, const double max_jerk, diff --git a/planning/behavior_velocity_intersection_module/src/util_type.hpp b/planning/behavior_velocity_intersection_module/src/util_type.hpp index 73e60aea6471a..d1ee4c2f79410 100644 --- a/planning/behavior_velocity_intersection_module/src/util_type.hpp +++ b/planning/behavior_velocity_intersection_module/src/util_type.hpp @@ -74,7 +74,7 @@ struct IntersectionLanelets public: void update( const bool is_prioritized, const InterpolatedPathInfo & interpolated_path_info, - const tier4_autoware_utils::LinearRing2d & footprint); + const tier4_autoware_utils::LinearRing2d & footprint, const double vehicle_length); const lanelet::ConstLanelets & attention() const { return is_prioritized_ ? attention_non_preceding_ : attention_; @@ -160,6 +160,7 @@ struct IntersectionStopLines std::optional occlusion_peeking_stop_line{std::nullopt}; // if the value is calculated negative, its value is 0 size_t pass_judge_line{0}; + size_t occlusion_wo_tl_pass_judge_line{0}; }; struct PathLanelets From cd06205ae63be9b8e311ccef9e08adb0edb0128f Mon Sep 17 00:00:00 2001 From: Shunsuke Miura <37187849+miursh@users.noreply.github.com> Date: Mon, 13 Nov 2023 12:48:27 +0900 Subject: [PATCH 094/202] fix: scan ground filter document (#5552) Signed-off-by: Shunsuke Miura --- .../docs/scan-ground-filter.md | 39 ++++++++++--------- 1 file changed, 20 insertions(+), 19 deletions(-) diff --git a/perception/ground_segmentation/docs/scan-ground-filter.md b/perception/ground_segmentation/docs/scan-ground-filter.md index bc44544fa298c..21df6fa6ea1b9 100644 --- a/perception/ground_segmentation/docs/scan-ground-filter.md +++ b/perception/ground_segmentation/docs/scan-ground-filter.md @@ -30,25 +30,26 @@ This implementation inherits `pointcloud_preprocessor::Filter` class, please ref #### Core Parameters ![scan_ground_parameter](./image/scan_ground_filter_parameters.drawio.svg) -| Name | Type | Default Value | Description | -| --------------------------------- | ------ | ------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -| `input_frame` | string | "base_link" | frame id of input pointcloud | -| `output_frame` | string | "base_link" | frame id of output pointcloud | -| `global_slope_max_angle_deg` | double | 8.0 | The global angle to classify as the ground or object [deg].
A large threshold may reduce false positive of high slope road classification but it may lead to increase false negative of non-ground classification, particularly for small objects. | -| `local_slope_max_angle_deg` | double | 10.0 | The local angle to classify as the ground or object [deg] when comparing with adjacent point.
A small value enhance accuracy classification of object with inclined surface. This should be considered together with `split_points_distance_tolerance` value. | -| `radial_divider_angle_deg` | double | 1.0 | The angle which divide the whole pointcloud to sliced group [deg] | -| `split_points_distance_tolerance` | double | 0.2 | The xy-distance threshold to distinguish far and near [m] | -| `split_height_distance` | double | 0.2 | The height threshold to distinguish ground and non-ground pointcloud when comparing with adjacent points [m].
A small threshold improves classification of non-ground point, especially for high elevation resolution pointcloud lidar. However, it might cause false positive for small step-like road surface or misaligned multiple lidar configuration. | -| `use_virtual_ground_point` | bool | true | whether to use the ground center of front wheels as the virtual ground point. | -| `detection_range_z_max` | float | 2.5 | Maximum height of detection range [m], applied only for elevation_grid_mode | -| `center_pcl_shift` | float | 0.0 | The x-axis offset of addition LiDARs from vehicle center of mass [m],
recommended to use only for additional LiDARs in elevation_grid_mode | -| `non_ground_height_threshold` | float | 0.2 | Height threshold of non ground objects [m] as `split_height_distance` and applied only for elevation_grid_mode | -| `grid_mode_switch_radius` | float | 20.0 | The distance where grid division mode change from by distance to by vertical angle [m],
applied only for elevation_grid_mode | -| `grid_size_m` | float | 0.5 | The first grid size [m], applied only for elevation_grid_mode.
A large value enhances the prediction stability for ground surface. suitable for rough surface or multiple lidar configuration. | -| `gnd_grid_buffer_size` | uint16 | 4 | Number of grids using to estimate local ground slope,
applied only for elevation_grid_mode | -| `low_priority_region_x` | float | -20.0 | The non-zero x threshold in back side from which small objects detection is low priority [m] | -| `elevation_grid_mode` | bool | true | Elevation grid scan mode option | -| `use_recheck_ground_cluster` | bool | true | Enable recheck ground cluster | + +| Name | Type | Default Value | Description | +| --------------------------------- | ------ | ------------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| `input_frame` | string | "base_link" | frame id of input pointcloud | +| `output_frame` | string | "base_link" | frame id of output pointcloud | +| `global_slope_max_angle_deg` | double | 8.0 | The global angle to classify as the ground or object [deg].
A large threshold may reduce false positive of high slope road classification but it may lead to increase false negative of non-ground classification, particularly for small objects. | +| `local_slope_max_angle_deg` | double | 10.0 | The local angle to classify as the ground or object [deg] when comparing with adjacent point.
A small value enhance accuracy classification of object with inclined surface. This should be considered together with `split_points_distance_tolerance` value. | +| `radial_divider_angle_deg` | double | 1.0 | The angle which divide the whole pointcloud to sliced group [deg] | +| `split_points_distance_tolerance` | double | 0.2 | The xy-distance threshold to distinguish far and near [m] | +| `split_height_distance` | double | 0.2 | The height threshold to distinguish ground and non-ground pointcloud when comparing with adjacent points [m].
A small threshold improves classification of non-ground point, especially for high elevation resolution pointcloud lidar. However, it might cause false positive for small step-like road surface or misaligned multiple lidar configuration. | +| `use_virtual_ground_point` | bool | true | whether to use the ground center of front wheels as the virtual ground point. | +| `detection_range_z_max` | float | 2.5 | Maximum height of detection range [m], applied only for elevation_grid_mode | +| `center_pcl_shift` | float | 0.0 | The x-axis offset of addition LiDARs from vehicle center of mass [m],
recommended to use only for additional LiDARs in elevation_grid_mode | +| `non_ground_height_threshold` | float | 0.2 | Height threshold of non ground objects [m] as `split_height_distance` and applied only for elevation_grid_mode | +| `grid_mode_switch_radius` | float | 20.0 | The distance where grid division mode change from by distance to by vertical angle [m],
applied only for elevation_grid_mode | +| `grid_size_m` | float | 0.5 | The first grid size [m], applied only for elevation_grid_mode.
A large value enhances the prediction stability for ground surface. suitable for rough surface or multiple lidar configuration. | +| `gnd_grid_buffer_size` | uint16 | 4 | Number of grids using to estimate local ground slope,
applied only for elevation_grid_mode | +| `low_priority_region_x` | float | -20.0 | The non-zero x threshold in back side from which small objects detection is low priority [m] | +| `elevation_grid_mode` | bool | true | Elevation grid scan mode option | +| `use_recheck_ground_cluster` | bool | true | Enable recheck ground cluster | ## Assumptions / Known limits From 1f861e88e227865b2938682ca7656341345ce5a5 Mon Sep 17 00:00:00 2001 From: kminoda <44218668+kminoda@users.noreply.github.com> Date: Mon, 13 Nov 2023 13:14:55 +0900 Subject: [PATCH 095/202] feat(geo_pose_projector): use geo_pose_projector in eagleye (#5513) * feat(tier4_geo_pose_projector): use tier4_geo_pose_projector in eagleye Signed-off-by: kminoda * style(pre-commit): autofix * fix(eagleye): split fix2pose Signed-off-by: kminoda * style(pre-commit): autofix * fix name: fuser -> fusion Signed-off-by: kminoda * style(pre-commit): autofix * update Signed-off-by: kminoda * style(pre-commit): autofix * update readme Signed-off-by: kminoda * style(pre-commit): autofix * add #include Signed-off-by: kminoda * add rclcpp in dependency Signed-off-by: kminoda * style(pre-commit): autofix * add limitation in readme Signed-off-by: kminoda * style(pre-commit): autofix * update tier4_localization_launch Signed-off-by: kminoda * update tier4_localization_launch Signed-off-by: kminoda * rename package Signed-off-by: kminoda * style(pre-commit): autofix --------- Signed-off-by: kminoda Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- .../eagleye/eagleye_rt.launch.xml | 10 +- .../eagleye/geo_pose_converter.launch.xml | 23 ---- launch/tier4_localization_launch/package.xml | 2 +- .../geo_pose_projector/CMakeLists.txt | 17 +++ localization/geo_pose_projector/README.md | 28 +++++ .../config/geo_pose_projector.param.yaml | 5 + .../launch/geo_pose_projector.launch.xml | 13 +++ localization/geo_pose_projector/package.xml | 30 +++++ .../schema/geo_pose_projector.schema.json | 43 ++++++++ .../src/geo_pose_projector.cpp | 103 ++++++++++++++++++ .../src/geo_pose_projector.hpp | 58 ++++++++++ .../src/geo_pose_projector_node.cpp | 29 +++++ 12 files changed, 334 insertions(+), 27 deletions(-) delete mode 100644 launch/tier4_localization_launch/launch/pose_twist_estimator/eagleye/geo_pose_converter.launch.xml create mode 100644 localization/geo_pose_projector/CMakeLists.txt create mode 100644 localization/geo_pose_projector/README.md create mode 100644 localization/geo_pose_projector/config/geo_pose_projector.param.yaml create mode 100644 localization/geo_pose_projector/launch/geo_pose_projector.launch.xml create mode 100644 localization/geo_pose_projector/package.xml create mode 100644 localization/geo_pose_projector/schema/geo_pose_projector.schema.json create mode 100644 localization/geo_pose_projector/src/geo_pose_projector.cpp create mode 100644 localization/geo_pose_projector/src/geo_pose_projector.hpp create mode 100644 localization/geo_pose_projector/src/geo_pose_projector_node.cpp diff --git a/launch/tier4_localization_launch/launch/pose_twist_estimator/eagleye/eagleye_rt.launch.xml b/launch/tier4_localization_launch/launch/pose_twist_estimator/eagleye/eagleye_rt.launch.xml index 12d84f374f7c7..6cf8d390f919b 100644 --- a/launch/tier4_localization_launch/launch/pose_twist_estimator/eagleye/eagleye_rt.launch.xml +++ b/launch/tier4_localization_launch/launch/pose_twist_estimator/eagleye/eagleye_rt.launch.xml @@ -145,9 +145,13 @@ - - - + + + + + + + diff --git a/launch/tier4_localization_launch/launch/pose_twist_estimator/eagleye/geo_pose_converter.launch.xml b/launch/tier4_localization_launch/launch/pose_twist_estimator/eagleye/geo_pose_converter.launch.xml deleted file mode 100644 index d4f82e72a297b..0000000000000 --- a/launch/tier4_localization_launch/launch/pose_twist_estimator/eagleye/geo_pose_converter.launch.xml +++ /dev/null @@ -1,23 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - diff --git a/launch/tier4_localization_launch/package.xml b/launch/tier4_localization_launch/package.xml index 9a137032e1277..1126914d58c5a 100644 --- a/launch/tier4_localization_launch/package.xml +++ b/launch/tier4_localization_launch/package.xml @@ -16,11 +16,11 @@ ar_tag_based_localizer automatic_pose_initializer - eagleye_geo_pose_converter eagleye_geo_pose_fusion eagleye_gnss_converter eagleye_rt ekf_localizer + geo_pose_projector gyro_odometer ndt_scan_matcher pointcloud_preprocessor diff --git a/localization/geo_pose_projector/CMakeLists.txt b/localization/geo_pose_projector/CMakeLists.txt new file mode 100644 index 0000000000000..6e2cdf32fb6c5 --- /dev/null +++ b/localization/geo_pose_projector/CMakeLists.txt @@ -0,0 +1,17 @@ +cmake_minimum_required(VERSION 3.14) +project(geo_pose_projector) + +find_package(autoware_cmake REQUIRED) +autoware_package() + +ament_auto_add_executable(geo_pose_projector + src/geo_pose_projector_node.cpp + src/geo_pose_projector.cpp +) +ament_target_dependencies(geo_pose_projector) + +ament_auto_package( + INSTALL_TO_SHARE + launch + config +) diff --git a/localization/geo_pose_projector/README.md b/localization/geo_pose_projector/README.md new file mode 100644 index 0000000000000..a3363336da1a7 --- /dev/null +++ b/localization/geo_pose_projector/README.md @@ -0,0 +1,28 @@ +# geo_pose_projector + +## Overview + +This node is a simple node that subscribes to the geo-referenced pose topic and publishes the pose in the map frame. + +## Subscribed Topics + +| Name | Type | Description | +| ------------------------- | ---------------------------------------------------- | ------------------- | +| `input_geo_pose` | `geographic_msgs::msg::GeoPoseWithCovarianceStamped` | geo-referenced pose | +| `/map/map_projector_info` | `tier4_map_msgs::msg::MapProjectedObjectInfo` | map projector info | + +## Published Topics + +| Name | Type | Description | +| ------------- | ----------------------------------------------- | ------------------------------------- | +| `output_pose` | `geometry_msgs::msg::PoseWithCovarianceStamped` | pose in map frame | +| `/tf` | `tf2_msgs::msg::TFMessage` | tf from parent link to the child link | + +## Parameters + +{{ json_to_markdown("localization/geo_pose_projector/schema/geo_pose_projector.schema.json") }} + +## Limitations + +The covariance conversion may be incorrect depending on the projection type you are using. The covariance of input topic is expressed in (Latitude, Longitude, Altitude) as a diagonal matrix. +Currently, we assume that the x axis is the east direction and the y axis is the north direction. Thus, the conversion may be incorrect when this assumption breaks, especially when the covariance of latitude and longitude is different. diff --git a/localization/geo_pose_projector/config/geo_pose_projector.param.yaml b/localization/geo_pose_projector/config/geo_pose_projector.param.yaml new file mode 100644 index 0000000000000..704d9dce8a4ee --- /dev/null +++ b/localization/geo_pose_projector/config/geo_pose_projector.param.yaml @@ -0,0 +1,5 @@ +/**: + ros__parameters: + publish_tf: true + parent_frame: "map" + child_frame: "pose_estimator_base_link" diff --git a/localization/geo_pose_projector/launch/geo_pose_projector.launch.xml b/localization/geo_pose_projector/launch/geo_pose_projector.launch.xml new file mode 100644 index 0000000000000..d840add1ed1c7 --- /dev/null +++ b/localization/geo_pose_projector/launch/geo_pose_projector.launch.xml @@ -0,0 +1,13 @@ + + + + + + + + + + + + + diff --git a/localization/geo_pose_projector/package.xml b/localization/geo_pose_projector/package.xml new file mode 100644 index 0000000000000..d424ff14b9c99 --- /dev/null +++ b/localization/geo_pose_projector/package.xml @@ -0,0 +1,30 @@ + + + + geo_pose_projector + 0.1.0 + The geo_pose_projector package + Yamato Ando + Koji Minoda + Apache License 2.0 + Koji Minoda + + ament_cmake_auto + autoware_cmake + + component_interface_specs + component_interface_utils + geographic_msgs + geography_utils + geometry_msgs + rclcpp + tf2_geometry_msgs + tf2_ros + + ament_lint_auto + autoware_lint_common + + + ament_cmake + + diff --git a/localization/geo_pose_projector/schema/geo_pose_projector.schema.json b/localization/geo_pose_projector/schema/geo_pose_projector.schema.json new file mode 100644 index 0000000000000..9daafb27f4320 --- /dev/null +++ b/localization/geo_pose_projector/schema/geo_pose_projector.schema.json @@ -0,0 +1,43 @@ +{ + "$schema": "http://json-schema.org/draft-07/schema#", + "title": "Parameters for geo_pose_projector", + "type": "object", + "definitions": { + "geo_pose_projector": { + "type": "object", + "properties": { + "publish_tf": { + "type": "boolean", + "description": "whether to publish tf", + "default": true + }, + "parent_frame": { + "type": "string", + "description": "parent frame for published tf", + "default": "map" + }, + "child_frame": { + "type": "string", + "description": "child frame for published tf", + "default": "pose_estimator_base_link" + } + }, + "required": ["publish_tf", "parent_frame", "child_frame"], + "additionalProperties": false + } + }, + "properties": { + "/**": { + "type": "object", + "properties": { + "ros__parameters": { + "$ref": "#/definitions/geo_pose_projector" + } + }, + "required": ["ros__parameters"], + "additionalProperties": false + } + }, + "required": ["/**"], + "additionalProperties": false +} diff --git a/localization/geo_pose_projector/src/geo_pose_projector.cpp b/localization/geo_pose_projector/src/geo_pose_projector.cpp new file mode 100644 index 0000000000000..6d5308b929b25 --- /dev/null +++ b/localization/geo_pose_projector/src/geo_pose_projector.cpp @@ -0,0 +1,103 @@ +// Copyright 2023 Autoware Foundation +// +// 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 "geo_pose_projector.hpp" + +#include +#include + +#ifdef ROS_DISTRO_GALACTIC +#include +#else +#include +#endif + +#include + +GeoPoseProjector::GeoPoseProjector() +: Node("geo_pose_projector"), publish_tf_(declare_parameter("publish_tf")) +{ + // Subscribe to map_projector_info topic + const auto adaptor = component_interface_utils::NodeAdaptor(this); + adaptor.init_sub( + sub_map_projector_info_, + [this](const MapProjectorInfo::Message::ConstSharedPtr msg) { projector_info_ = *msg; }); + + // Subscribe to geo_pose topic + geo_pose_sub_ = create_subscription( + "input_geo_pose", 10, [this](const GeoPoseWithCovariance::SharedPtr msg) { on_geo_pose(msg); }); + + // Publish pose topic + pose_pub_ = create_publisher("output_pose", 10); + + // Publish tf + if (publish_tf_) { + tf_broadcaster_ = std::make_unique(this); + parent_frame_ = declare_parameter("parent_frame"); + child_frame_ = declare_parameter("child_frame"); + } +} + +void GeoPoseProjector::on_geo_pose(const GeoPoseWithCovariance::SharedPtr msg) +{ + if (!projector_info_) { + RCLCPP_WARN_THROTTLE( + get_logger(), *get_clock(), 1000 /* ms */, "map_projector_info is not received yet."); + return; + } + + // get position + geographic_msgs::msg::GeoPoint gps_point; + gps_point.latitude = msg->pose.pose.position.latitude; + gps_point.longitude = msg->pose.pose.position.longitude; + gps_point.altitude = msg->pose.pose.position.altitude; + geometry_msgs::msg::Point position = + geography_utils::project_forward(gps_point, projector_info_.value()); + position.z = geography_utils::convert_height( + position.z, gps_point.latitude, gps_point.longitude, MapProjectorInfo::Message::WGS84, + projector_info_.value().vertical_datum); + + // Convert geo_pose to pose + PoseWithCovariance projected_pose; + projected_pose.header = msg->header; + projected_pose.pose.pose.position = position; + projected_pose.pose.pose.orientation = msg->pose.pose.orientation; + projected_pose.pose.covariance = msg->pose.covariance; + + // Covariance in GeoPoseWithCovariance is in Lat/Lon/Alt coordinate. + // TODO(TIER IV): This swap may be invalid when using other projector type. + projected_pose.pose.covariance[0] = msg->pose.covariance[7]; + projected_pose.pose.covariance[7] = msg->pose.covariance[0]; + + pose_pub_->publish(projected_pose); + + // Publish tf + if (publish_tf_) { + tf2::Transform transform; + transform.setOrigin(tf2::Vector3( + projected_pose.pose.pose.position.x, projected_pose.pose.pose.position.y, + projected_pose.pose.pose.position.z)); + const auto localization_quat = tf2::Quaternion( + projected_pose.pose.pose.orientation.x, projected_pose.pose.pose.orientation.y, + projected_pose.pose.pose.orientation.z, projected_pose.pose.pose.orientation.w); + transform.setRotation(localization_quat); + + geometry_msgs::msg::TransformStamped transform_stamped; + transform_stamped.header = msg->header; + transform_stamped.header.frame_id = parent_frame_; + transform_stamped.child_frame_id = child_frame_; + transform_stamped.transform = tf2::toMsg(transform); + tf_broadcaster_->sendTransform(transform_stamped); + } +} diff --git a/localization/geo_pose_projector/src/geo_pose_projector.hpp b/localization/geo_pose_projector/src/geo_pose_projector.hpp new file mode 100644 index 0000000000000..b24b976b1eb61 --- /dev/null +++ b/localization/geo_pose_projector/src/geo_pose_projector.hpp @@ -0,0 +1,58 @@ +// Copyright 2023 Autoware Foundation +// +// 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 GEO_POSE_PROJECTOR_HPP_ +#define GEO_POSE_PROJECTOR_HPP_ + +#include +#include +#include + +#include +#include + +#include + +#include +#include +#include + +class GeoPoseProjector : public rclcpp::Node +{ +private: + using GeoPoseWithCovariance = geographic_msgs::msg::GeoPoseWithCovarianceStamped; + using PoseWithCovariance = geometry_msgs::msg::PoseWithCovarianceStamped; + using MapProjectorInfo = map_interface::MapProjectorInfo; + +public: + GeoPoseProjector(); + +private: + void on_geo_pose(const GeoPoseWithCovariance::SharedPtr msg); + + component_interface_utils::Subscription::SharedPtr sub_map_projector_info_; + rclcpp::Subscription::SharedPtr geo_pose_sub_; + rclcpp::Publisher::SharedPtr pose_pub_; + + std::unique_ptr tf_broadcaster_; + + std::optional projector_info_ = std::nullopt; + + const bool publish_tf_; + + std::string parent_frame_; + std::string child_frame_; +}; + +#endif // GEO_POSE_PROJECTOR_HPP_ diff --git a/localization/geo_pose_projector/src/geo_pose_projector_node.cpp b/localization/geo_pose_projector/src/geo_pose_projector_node.cpp new file mode 100644 index 0000000000000..97367d6b9f774 --- /dev/null +++ b/localization/geo_pose_projector/src/geo_pose_projector_node.cpp @@ -0,0 +1,29 @@ +// Copyright 2023 Autoware Foundation +// +// 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 "geo_pose_projector.hpp" + +#include + +#include + +int main(int argc, char ** argv) +{ + rclcpp::init(argc, argv); + + rclcpp::spin(std::make_shared()); + rclcpp::shutdown(); + + return 0; +} From c8b60f85dc29947446b72c85cb58c90dcb1019da Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Mon, 13 Nov 2023 13:23:03 +0900 Subject: [PATCH 096/202] feat(simple_planning_simulator): add acceleration and steer command scaling factor for debug (#5534) * feat(simple_planning_simulator): add acceleration and steer command scaling factor Signed-off-by: kosuke55 * update params as debug Signed-off-by: kosuke55 --------- Signed-off-by: kosuke55 --- simulator/simple_planning_simulator/README.md | 28 ++++++++++--------- .../sim_model_delay_steer_acc.hpp | 21 ++++++++------ .../sim_model_delay_steer_acc_geared.hpp | 21 ++++++++------ .../simple_planning_simulator_core.cpp | 8 ++++-- .../sim_model_delay_steer_acc.cpp | 13 ++++++--- .../sim_model_delay_steer_acc_geared.cpp | 14 ++++++---- 6 files changed, 65 insertions(+), 40 deletions(-) diff --git a/simulator/simple_planning_simulator/README.md b/simulator/simple_planning_simulator/README.md index 75f77489daada..0c5441c1ad9c8 100644 --- a/simulator/simple_planning_simulator/README.md +++ b/simulator/simple_planning_simulator/README.md @@ -67,19 +67,21 @@ The `IDEAL` model moves ideally as commanded, while the `DELAY` model moves base The table below shows which models correspond to what parameters. The model names are written in abbreviated form (e.g. IDEAL_STEER_VEL = I_ST_V). -| Name | Type | Description | I_ST_V | I_ST_A | I_ST_A_G | D_ST_V | D_ST_A | D_ST_A_G | Default value | unit | -| :------------------ | :----- | :--------------------------------------------------- | :----- | :----- | :------- | :----- | :----- | :------- | :------------ | :------ | -| acc_time_delay | double | dead time for the acceleration input | x | x | x | x | o | o | 0.1 | [s] | -| steer_time_delay | double | dead time for the steering input | x | x | x | o | o | o | 0.24 | [s] | -| vel_time_delay | double | dead time for the velocity input | x | x | x | o | x | x | 0.25 | [s] | -| acc_time_constant | double | time constant of the 1st-order acceleration dynamics | x | x | x | x | o | o | 0.1 | [s] | -| steer_time_constant | double | time constant of the 1st-order steering dynamics | x | x | x | o | o | o | 0.27 | [s] | -| steer_dead_band | double | dead band for steering angle | x | x | x | o | o | o | 0.0 | [rad] | -| vel_time_constant | double | time constant of the 1st-order velocity dynamics | x | x | x | o | x | x | 0.5 | [s] | -| vel_lim | double | limit of velocity | x | x | x | o | o | o | 50.0 | [m/s] | -| vel_rate_lim | double | limit of acceleration | x | x | x | o | o | o | 7.0 | [m/ss] | -| steer_lim | double | limit of steering angle | x | x | x | o | o | o | 1.0 | [rad] | -| steer_rate_lim | double | limit of steering angle change rate | x | x | x | o | o | o | 5.0 | [rad/s] | +| Name | Type | Description | I_ST_V | I_ST_A | I_ST_A_G | D_ST_V | D_ST_A | D_ST_A_G | Default value | unit | +| :------------------------- | :----- | :--------------------------------------------------- | :----- | :----- | :------- | :----- | :----- | :------- | :------------ | :------ | +| acc_time_delay | double | dead time for the acceleration input | x | x | x | x | o | o | 0.1 | [s] | +| steer_time_delay | double | dead time for the steering input | x | x | x | o | o | o | 0.24 | [s] | +| vel_time_delay | double | dead time for the velocity input | x | x | x | o | x | x | 0.25 | [s] | +| acc_time_constant | double | time constant of the 1st-order acceleration dynamics | x | x | x | x | o | o | 0.1 | [s] | +| steer_time_constant | double | time constant of the 1st-order steering dynamics | x | x | x | o | o | o | 0.27 | [s] | +| steer_dead_band | double | dead band for steering angle | x | x | x | o | o | o | 0.0 | [rad] | +| vel_time_constant | double | time constant of the 1st-order velocity dynamics | x | x | x | o | x | x | 0.5 | [s] | +| vel_lim | double | limit of velocity | x | x | x | o | o | o | 50.0 | [m/s] | +| vel_rate_lim | double | limit of acceleration | x | x | x | o | o | o | 7.0 | [m/ss] | +| steer_lim | double | limit of steering angle | x | x | x | o | o | o | 1.0 | [rad] | +| steer_rate_lim | double | limit of steering angle change rate | x | x | x | o | o | o | 5.0 | [rad/s] | +| debug_acc_scaling_factor | double | scaling factor for accel command | x | x | x | x | o | o | 1.0 | [-] | +| debug_steer_scaling_factor | double | scaling factor for steer command | x | x | x | x | o | o | 1.0 | [-] | diff --git a/simulator/simple_planning_simulator/include/simple_planning_simulator/vehicle_model/sim_model_delay_steer_acc.hpp b/simulator/simple_planning_simulator/include/simple_planning_simulator/vehicle_model/sim_model_delay_steer_acc.hpp index 289c607a18d90..92129541ff891 100644 --- a/simulator/simple_planning_simulator/include/simple_planning_simulator/vehicle_model/sim_model_delay_steer_acc.hpp +++ b/simulator/simple_planning_simulator/include/simple_planning_simulator/vehicle_model/sim_model_delay_steer_acc.hpp @@ -40,11 +40,14 @@ class SimModelDelaySteerAcc : public SimModelInterface * @param [in] steer_delay time delay for steering command [s] * @param [in] steer_time_constant time constant for 1D model of steering dynamics * @param [in] steer_dead_band dead band for steering angle [rad] + * @param [in] debug_acc_scaling_factor scaling factor for accel command + * @param [in] debug_steer_scaling_factor scaling factor for steering command */ SimModelDelaySteerAcc( double vx_lim, double steer_lim, double vx_rate_lim, double steer_rate_lim, double wheelbase, double dt, double acc_delay, double acc_time_constant, double steer_delay, - double steer_time_constant, double steer_dead_band); + double steer_time_constant, double steer_dead_band, double debug_acc_scaling_factor, + double debug_steer_scaling_factor); /** * @brief default destructor @@ -74,13 +77,15 @@ class SimModelDelaySteerAcc : public SimModelInterface const double steer_rate_lim_; //!< @brief steering angular velocity limit [rad/s] const double wheelbase_; //!< @brief vehicle wheelbase length [m] - std::deque acc_input_queue_; //!< @brief buffer for accel command - std::deque steer_input_queue_; //!< @brief buffer for steering command - const double acc_delay_; //!< @brief time delay for accel command [s] - const double acc_time_constant_; //!< @brief time constant for accel dynamics - const double steer_delay_; //!< @brief time delay for steering command [s] - const double steer_time_constant_; //!< @brief time constant for steering dynamics - const double steer_dead_band_; //!< @brief dead band for steering angle [rad] + std::deque acc_input_queue_; //!< @brief buffer for accel command + std::deque steer_input_queue_; //!< @brief buffer for steering command + const double acc_delay_; //!< @brief time delay for accel command [s] + const double acc_time_constant_; //!< @brief time constant for accel dynamics + const double steer_delay_; //!< @brief time delay for steering command [s] + const double steer_time_constant_; //!< @brief time constant for steering dynamics + const double steer_dead_band_; //!< @brief dead band for steering angle [rad] + const double debug_acc_scaling_factor_; //!< @brief scaling factor for accel command + const double debug_steer_scaling_factor_; //!< @brief scaling factor for steering command /** * @brief set queue buffer for input command diff --git a/simulator/simple_planning_simulator/include/simple_planning_simulator/vehicle_model/sim_model_delay_steer_acc_geared.hpp b/simulator/simple_planning_simulator/include/simple_planning_simulator/vehicle_model/sim_model_delay_steer_acc_geared.hpp index 3bda878f8cd76..376ee55f1aa5e 100644 --- a/simulator/simple_planning_simulator/include/simple_planning_simulator/vehicle_model/sim_model_delay_steer_acc_geared.hpp +++ b/simulator/simple_planning_simulator/include/simple_planning_simulator/vehicle_model/sim_model_delay_steer_acc_geared.hpp @@ -40,11 +40,14 @@ class SimModelDelaySteerAccGeared : public SimModelInterface * @param [in] steer_delay time delay for steering command [s] * @param [in] steer_time_constant time constant for 1D model of steering dynamics * @param [in] steer_dead_band dead band for steering angle [rad] + * @param [in] debug_acc_scaling_factor scaling factor for accel command + * @param [in] debug_steer_scaling_factor scaling factor for steering command */ SimModelDelaySteerAccGeared( double vx_lim, double steer_lim, double vx_rate_lim, double steer_rate_lim, double wheelbase, double dt, double acc_delay, double acc_time_constant, double steer_delay, - double steer_time_constant, double steer_dead_band); + double steer_time_constant, double steer_dead_band, double debug_acc_scaling_factor, + double debug_steer_scaling_factor); /** * @brief default destructor @@ -74,13 +77,15 @@ class SimModelDelaySteerAccGeared : public SimModelInterface const double steer_rate_lim_; //!< @brief steering angular velocity limit [rad/s] const double wheelbase_; //!< @brief vehicle wheelbase length [m] - std::deque acc_input_queue_; //!< @brief buffer for accel command - std::deque steer_input_queue_; //!< @brief buffer for steering command - const double acc_delay_; //!< @brief time delay for accel command [s] - const double acc_time_constant_; //!< @brief time constant for accel dynamics - const double steer_delay_; //!< @brief time delay for steering command [s] - const double steer_time_constant_; //!< @brief time constant for steering dynamics - const double steer_dead_band_; //!< @brief dead band for steering angle [rad] + std::deque acc_input_queue_; //!< @brief buffer for accel command + std::deque steer_input_queue_; //!< @brief buffer for steering command + const double acc_delay_; //!< @brief time delay for accel command [s] + const double acc_time_constant_; //!< @brief time constant for accel dynamics + const double steer_delay_; //!< @brief time delay for steering command [s] + const double steer_time_constant_; //!< @brief time constant for steering dynamics + const double steer_dead_band_; //!< @brief dead band for steering angle [rad] + const double debug_acc_scaling_factor_; //!< @brief scaling factor for accel command + const double debug_steer_scaling_factor_; //!< @brief scaling factor for steering command /** * @brief set queue buffer for input command diff --git a/simulator/simple_planning_simulator/src/simple_planning_simulator/simple_planning_simulator_core.cpp b/simulator/simple_planning_simulator/src/simple_planning_simulator/simple_planning_simulator_core.cpp index f2629a0586045..07a5d34f63c39 100644 --- a/simulator/simple_planning_simulator/src/simple_planning_simulator/simple_planning_simulator_core.cpp +++ b/simulator/simple_planning_simulator/src/simple_planning_simulator/simple_planning_simulator_core.cpp @@ -230,6 +230,8 @@ void SimplePlanningSimulator::initialize_vehicle_model() const double steer_time_delay = declare_parameter("steer_time_delay", 0.24); const double steer_time_constant = declare_parameter("steer_time_constant", 0.27); const double steer_dead_band = declare_parameter("steer_dead_band", 0.0); + const double debug_acc_scaling_factor = declare_parameter("debug_acc_scaling_factor", 1.0); + const double debug_steer_scaling_factor = declare_parameter("debug_steer_scaling_factor", 1.0); const auto vehicle_info = vehicle_info_util::VehicleInfoUtil(*this).getVehicleInfo(); const double wheelbase = vehicle_info.wheel_base_m; @@ -251,12 +253,14 @@ void SimplePlanningSimulator::initialize_vehicle_model() vehicle_model_type_ = VehicleModelType::DELAY_STEER_ACC; vehicle_model_ptr_ = std::make_shared( vel_lim, steer_lim, vel_rate_lim, steer_rate_lim, wheelbase, timer_sampling_time_ms_ / 1000.0, - acc_time_delay, acc_time_constant, steer_time_delay, steer_time_constant, steer_dead_band); + acc_time_delay, acc_time_constant, steer_time_delay, steer_time_constant, steer_dead_band, + debug_acc_scaling_factor, debug_steer_scaling_factor); } else if (vehicle_model_type_str == "DELAY_STEER_ACC_GEARED") { vehicle_model_type_ = VehicleModelType::DELAY_STEER_ACC_GEARED; vehicle_model_ptr_ = std::make_shared( vel_lim, steer_lim, vel_rate_lim, steer_rate_lim, wheelbase, timer_sampling_time_ms_ / 1000.0, - acc_time_delay, acc_time_constant, steer_time_delay, steer_time_constant, steer_dead_band); + acc_time_delay, acc_time_constant, steer_time_delay, steer_time_constant, steer_dead_band, + debug_acc_scaling_factor, debug_steer_scaling_factor); } else { throw std::invalid_argument("Invalid vehicle_model_type: " + vehicle_model_type_str); } diff --git a/simulator/simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_delay_steer_acc.cpp b/simulator/simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_delay_steer_acc.cpp index 964157cdeb64c..670671165de60 100644 --- a/simulator/simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_delay_steer_acc.cpp +++ b/simulator/simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_delay_steer_acc.cpp @@ -19,7 +19,8 @@ SimModelDelaySteerAcc::SimModelDelaySteerAcc( double vx_lim, double steer_lim, double vx_rate_lim, double steer_rate_lim, double wheelbase, double dt, double acc_delay, double acc_time_constant, double steer_delay, - double steer_time_constant, double steer_dead_band) + double steer_time_constant, double steer_dead_band, double debug_acc_scaling_factor, + double debug_steer_scaling_factor) : SimModelInterface(6 /* dim x */, 2 /* dim u */), MIN_TIME_CONSTANT(0.03), vx_lim_(vx_lim), @@ -31,7 +32,9 @@ SimModelDelaySteerAcc::SimModelDelaySteerAcc( acc_time_constant_(std::max(acc_time_constant, MIN_TIME_CONSTANT)), steer_delay_(steer_delay), steer_time_constant_(std::max(steer_time_constant, MIN_TIME_CONSTANT)), - steer_dead_band_(steer_dead_band) + steer_dead_band_(steer_dead_band), + debug_acc_scaling_factor_(std::max(debug_acc_scaling_factor, 0.0)), + debug_steer_scaling_factor_(std::max(debug_steer_scaling_factor, 0.0)) { initializeInputQueue(dt); } @@ -104,8 +107,10 @@ Eigen::VectorXd SimModelDelaySteerAcc::calcModel( const double acc = sat(state(IDX::ACCX), vx_rate_lim_, -vx_rate_lim_); const double yaw = state(IDX::YAW); const double steer = state(IDX::STEER); - const double acc_des = sat(input(IDX_U::ACCX_DES), vx_rate_lim_, -vx_rate_lim_); - const double steer_des = sat(input(IDX_U::STEER_DES), steer_lim_, -steer_lim_); + const double acc_des = + sat(input(IDX_U::ACCX_DES), vx_rate_lim_, -vx_rate_lim_) * debug_acc_scaling_factor_; + const double steer_des = + sat(input(IDX_U::STEER_DES), steer_lim_, -steer_lim_) * debug_steer_scaling_factor_; const double steer_diff = steer - steer_des; const double steer_diff_with_dead_band = std::invoke([&]() { if (steer_diff > steer_dead_band_) { diff --git a/simulator/simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_delay_steer_acc_geared.cpp b/simulator/simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_delay_steer_acc_geared.cpp index 76669c9490fc6..d72b8bf116d77 100644 --- a/simulator/simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_delay_steer_acc_geared.cpp +++ b/simulator/simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_delay_steer_acc_geared.cpp @@ -21,7 +21,8 @@ SimModelDelaySteerAccGeared::SimModelDelaySteerAccGeared( double vx_lim, double steer_lim, double vx_rate_lim, double steer_rate_lim, double wheelbase, double dt, double acc_delay, double acc_time_constant, double steer_delay, - double steer_time_constant, double steer_dead_band) + double steer_time_constant, double steer_dead_band, double debug_acc_scaling_factor, + double debug_steer_scaling_factor) : SimModelInterface(6 /* dim x */, 2 /* dim u */), MIN_TIME_CONSTANT(0.03), vx_lim_(vx_lim), @@ -33,8 +34,9 @@ SimModelDelaySteerAccGeared::SimModelDelaySteerAccGeared( acc_time_constant_(std::max(acc_time_constant, MIN_TIME_CONSTANT)), steer_delay_(steer_delay), steer_time_constant_(std::max(steer_time_constant, MIN_TIME_CONSTANT)), - steer_dead_band_(steer_dead_band) - + steer_dead_band_(steer_dead_band), + debug_acc_scaling_factor_(std::max(debug_acc_scaling_factor, 0.0)), + debug_steer_scaling_factor_(std::max(debug_steer_scaling_factor, 0.0)) { initializeInputQueue(dt); } @@ -113,8 +115,10 @@ Eigen::VectorXd SimModelDelaySteerAccGeared::calcModel( const double acc = sat(state(IDX::ACCX), vx_rate_lim_, -vx_rate_lim_); const double yaw = state(IDX::YAW); const double steer = state(IDX::STEER); - const double acc_des = sat(input(IDX_U::ACCX_DES), vx_rate_lim_, -vx_rate_lim_); - const double steer_des = sat(input(IDX_U::STEER_DES), steer_lim_, -steer_lim_); + const double acc_des = + sat(input(IDX_U::ACCX_DES), vx_rate_lim_, -vx_rate_lim_) * debug_acc_scaling_factor_; + const double steer_des = + sat(input(IDX_U::STEER_DES), steer_lim_, -steer_lim_) * debug_steer_scaling_factor_; const double steer_diff = steer - steer_des; const double steer_diff_with_dead_band = std::invoke([&]() { if (steer_diff > steer_dead_band_) { From dcbff101ea0548d25fed24c89356b86148d8f538 Mon Sep 17 00:00:00 2001 From: Kento Yabuuchi Date: Mon, 13 Nov 2023 17:44:07 +0900 Subject: [PATCH 097/202] fix(ndt_scan_matcher): make regularization process thread safe (#5550) * use mutex rather than main_callback_group Signed-off-by: Kento Yabuuchi * subscribe reg_pose only when regularization is enabled Signed-off-by: Kento Yabuuchi * add some comments to describe Signed-off-by: Kento Yabuuchi * use initial_pose_callback_group Signed-off-by: Kento Yabuuchi * fix typo (pauses->poses) Signed-off-by: Kento Yabuuchi Co-authored-by: Yamato Ando --------- Signed-off-by: Kento Yabuuchi Co-authored-by: Yamato Ando --- .../ndt_scan_matcher_core.hpp | 5 +- .../src/ndt_scan_matcher_core.cpp | 51 ++++++++++++++----- 2 files changed, 40 insertions(+), 16 deletions(-) diff --git a/localization/ndt_scan_matcher/include/ndt_scan_matcher/ndt_scan_matcher_core.hpp b/localization/ndt_scan_matcher/include/ndt_scan_matcher/ndt_scan_matcher_core.hpp index f0d90fdfa0e08..6f9420f5bc71a 100644 --- a/localization/ndt_scan_matcher/include/ndt_scan_matcher/ndt_scan_matcher_core.hpp +++ b/localization/ndt_scan_matcher/include/ndt_scan_matcher/ndt_scan_matcher_core.hpp @@ -204,9 +204,10 @@ class NDTScanMatcher : public rclcpp::Node std::mutex initial_pose_array_mtx_; // variables for regularization - const bool regularization_enabled_; + const bool regularization_enabled_; // whether to use longitudinal regularization std::deque - regularization_pose_msg_ptr_array_; + regularization_pose_msg_ptr_array_; // queue for storing regularization base poses + std::mutex regularization_mutex_; // mutex for regularization_pose_msg_ptr_array_ bool is_activated_; std::shared_ptr tf2_listener_module_; diff --git a/localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp b/localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp index a2e89540a172f..1317b8bacf47f 100644 --- a/localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp +++ b/localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp @@ -219,10 +219,20 @@ NDTScanMatcher::NDTScanMatcher() sensor_points_sub_ = this->create_subscription( "points_raw", rclcpp::SensorDataQoS().keep_last(points_queue_size), std::bind(&NDTScanMatcher::callback_sensor_points, this, std::placeholders::_1), main_sub_opt); - regularization_pose_sub_ = - this->create_subscription( - "regularization_pose_with_covariance", 100, - std::bind(&NDTScanMatcher::callback_regularization_pose, this, std::placeholders::_1)); + + // Only if regularization is enabled, subscribe to the regularization base pose + if (regularization_enabled_) { + // NOTE: The reason that the regularization subscriber does not belong to the + // main_callback_group is to ensure that the regularization callback is called even if + // sensor_callback takes long time to process. + // Both callback_initial_pose and callback_regularization_pose must not miss receiving data for + // proper interpolation. + regularization_pose_sub_ = + this->create_subscription( + "regularization_pose_with_covariance", 10, + std::bind(&NDTScanMatcher::callback_regularization_pose, this, std::placeholders::_1), + initial_pose_sub_opt); + } sensor_aligned_pose_pub_ = this->create_publisher("points_aligned", 10); @@ -397,7 +407,10 @@ void NDTScanMatcher::callback_initial_pose( void NDTScanMatcher::callback_regularization_pose( geometry_msgs::msg::PoseWithCovarianceStamped::ConstSharedPtr pose_conv_msg_ptr) { + // Get lock for regularization_pose_msg_ptr_array_ + std::lock_guard lock(regularization_mutex_); regularization_pose_msg_ptr_array_.push_back(pose_conv_msg_ptr); + // Release lock for regularization_pose_msg_ptr_array_ } void NDTScanMatcher::callback_sensor_points( @@ -459,7 +472,9 @@ void NDTScanMatcher::callback_sensor_points( initial_pose_array_lock.unlock(); // if regularization is enabled and available, set pose to NDT for regularization - if (regularization_enabled_) add_regularization_pose(sensor_ros_time); + if (regularization_enabled_) { + add_regularization_pose(sensor_ros_time); + } if (ndt_ptr_->getInputTarget() == nullptr) { RCLCPP_WARN_STREAM_THROTTLE(this->get_logger(), *this->get_clock(), 1, "No MAP!"); @@ -816,21 +831,29 @@ std::array NDTScanMatcher::estimate_covariance( std::optional NDTScanMatcher::interpolate_regularization_pose( const rclcpp::Time & sensor_ros_time) { - if (regularization_pose_msg_ptr_array_.empty()) { - return std::nullopt; - } + std::shared_ptr interpolator = nullptr; + { + // Get lock for regularization_pose_msg_ptr_array_ + std::lock_guard lock(regularization_mutex_); - // synchronization - PoseArrayInterpolator interpolator(this, sensor_ros_time, regularization_pose_msg_ptr_array_); + if (regularization_pose_msg_ptr_array_.empty()) { + return std::nullopt; + } + + interpolator = std::make_shared( + this, sensor_ros_time, regularization_pose_msg_ptr_array_); - pop_old_pose(regularization_pose_msg_ptr_array_, sensor_ros_time); + // Remove old poses to make next interpolation more efficient + pop_old_pose(regularization_pose_msg_ptr_array_, sensor_ros_time); + + // Release lock for regularization_pose_msg_ptr_array_ + } - // if the interpolate_pose fails, 0.0 is stored in the stamp - if (rclcpp::Time(interpolator.get_current_pose().header.stamp).seconds() == 0.0) { + if (!interpolator || !interpolator->is_success()) { return std::nullopt; } - return pose_to_matrix4f(interpolator.get_current_pose().pose.pose); + return pose_to_matrix4f(interpolator->get_current_pose().pose.pose); } void NDTScanMatcher::add_regularization_pose(const rclcpp::Time & sensor_ros_time) From 54ff23ab1bf21f2cd433502395037f3f48c40972 Mon Sep 17 00:00:00 2001 From: Bupesh Rethinam Veeraiah <93628947+bupeshr@users.noreply.github.com> Date: Mon, 13 Nov 2023 17:53:46 +0900 Subject: [PATCH 098/202] test(obstacle_velocity_limiter): added test cases for particle model and approximation method (#5342) Co-authored-by: Maxime CLEMENT --- .../test/test_collision_distance.cpp | 215 +++++++++++++++++- 1 file changed, 212 insertions(+), 3 deletions(-) diff --git a/planning/obstacle_velocity_limiter/test/test_collision_distance.cpp b/planning/obstacle_velocity_limiter/test/test_collision_distance.cpp index e9cf8d9ad4dd6..c5e69e5fd8fb9 100644 --- a/planning/obstacle_velocity_limiter/test/test_collision_distance.cpp +++ b/planning/obstacle_velocity_limiter/test/test_collision_distance.cpp @@ -34,7 +34,7 @@ const auto point_in_polygon = [](const auto x, const auto y, const auto & polygo }) != polygon.outer().end(); }; -TEST(TestCollisionDistance, distanceToClosestCollision) +TEST(TestCollisionDistance, distanceToClosestCollisionParticleModel) { using obstacle_velocity_limiter::CollisionChecker; using obstacle_velocity_limiter::distanceToClosestCollision; @@ -76,11 +76,11 @@ TEST(TestCollisionDistance, distanceToClosestCollision) ASSERT_TRUE(result.has_value()); EXPECT_DOUBLE_EQ(*result, 3.0); - obstacles.points.emplace_back(2.5, -0.75); + obstacles.points.emplace_back(2.75, -0.75); result = distanceToClosestCollision(vector, footprint, CollisionChecker(obstacles, 0lu, 0lu), params); ASSERT_TRUE(result.has_value()); - EXPECT_DOUBLE_EQ(*result, 2.5); + EXPECT_DOUBLE_EQ(*result, 2.75); // Change vector and footprint vector = linestring_t{{0.0, 0.0}, {5.0, 5.0}}; @@ -95,6 +95,7 @@ TEST(TestCollisionDistance, distanceToClosestCollision) ASSERT_FALSE(result.has_value()); obstacles.points.emplace_back(4.0, 4.0); + result = distanceToClosestCollision(vector, footprint, CollisionChecker(obstacles, 0lu, 0lu), params); ASSERT_TRUE(result.has_value()); @@ -151,6 +152,214 @@ TEST(TestCollisionDistance, distanceToClosestCollision) EXPECT_NEAR(*result, 2.121, 1e-3); } +TEST(TestCollisionDistance, distanceToClosestCollisionApproximation) +{ + using obstacle_velocity_limiter::CollisionChecker; + using obstacle_velocity_limiter::distanceToClosestCollision; + using obstacle_velocity_limiter::linestring_t; + using obstacle_velocity_limiter::polygon_t; + + obstacle_velocity_limiter::ProjectionParameters params; + params.distance_method = obstacle_velocity_limiter::ProjectionParameters::APPROXIMATION; + params.heading = 0.0; + linestring_t vector = {{0.0, 0.0}, {5.0, 0.0}}; + polygon_t footprint; + footprint.outer() = {{0.0, 1.0}, {5.0, 1.0}, {5.0, -1.0}, {0.0, -1.0}}; + boost::geometry::correct(footprint); // avoid bugs with malformed polygon + obstacle_velocity_limiter::Obstacles obstacles; + + auto EPS = 1e-2; + + std::optional result = + distanceToClosestCollision(vector, footprint, CollisionChecker(obstacles, 0lu, 0lu), params); + ASSERT_FALSE(result.has_value()); + // Non Value obstacles + obstacles.points.emplace_back(-1.0, 0.0); + result = + distanceToClosestCollision(vector, footprint, CollisionChecker(obstacles, 0lu, 0lu), params); + ASSERT_FALSE(result.has_value()); + + obstacles.points.emplace_back(1.0, 2.0); + result = + distanceToClosestCollision(vector, footprint, CollisionChecker(obstacles, 0lu, 0lu), params); + ASSERT_FALSE(result.has_value()); + + // inside the polygon + obstacles.points.emplace_back(4.0, 0.0); + result = + distanceToClosestCollision(vector, footprint, CollisionChecker(obstacles, 0lu, 0lu), params); + ASSERT_TRUE(result.has_value()); + EXPECT_DOUBLE_EQ(*result, 4.0); + + obstacles.points.emplace_back(3.0, 0.5); + result = + distanceToClosestCollision(vector, footprint, CollisionChecker(obstacles, 0lu, 0lu), params); + ASSERT_TRUE(result.has_value()); + EXPECT_NEAR(*result, 3.04, EPS); + + obstacles.points.emplace_back(2.5, -0.75); + result = + distanceToClosestCollision(vector, footprint, CollisionChecker(obstacles, 0lu, 0lu), params); + ASSERT_TRUE(result.has_value()); + EXPECT_NEAR(*result, 2.61, EPS); + + obstacles.points.emplace_back(2.0, -1.0); + result = + distanceToClosestCollision(vector, footprint, CollisionChecker(obstacles, 0lu, 0lu), params); + ASSERT_TRUE(result.has_value()); + EXPECT_NEAR(*result, 2.23, EPS); + + // Change vector and footprint + vector = linestring_t{{0.0, 0.0}, {5.0, 5.0}}; + params.heading = M_PI_4; + footprint.outer() = {{-1.0, 1.0}, {4.0, 6.0}, {6.0, 4.0}, {1.0, -1.0}}; + boost::geometry::correct(footprint); // avoid bugs with malformed polygon + obstacles.points.clear(); + obstacles.lines.clear(); + + // auto EPS = 1e-3; + obstacles.points.emplace_back(5.0, 1.0); + result = + distanceToClosestCollision(vector, footprint, CollisionChecker(obstacles, 0lu, 0lu), params); + ASSERT_FALSE(result.has_value()); + + obstacles.points.emplace_back(4.0, 4.0); + result = + distanceToClosestCollision(vector, footprint, CollisionChecker(obstacles, 0lu, 0lu), params); + ASSERT_TRUE(result.has_value()); + EXPECT_NEAR(*result, 5.65, EPS); + + obstacles.points.emplace_back(1.0, 2.0); + result = + distanceToClosestCollision(vector, footprint, CollisionChecker(obstacles, 0lu, 0lu), params); + ASSERT_TRUE(result.has_value()); + EXPECT_NEAR(*result, 2.23, EPS); + + // Change vector (opposite direction) + params.heading = -3 * M_PI_4; + vector = linestring_t{{5.0, 5.0}, {0.0, 0.0}}; + obstacles.points.clear(); + obstacles.lines.clear(); + + obstacles.points.emplace_back(1.0, 1.0); + result = + distanceToClosestCollision(vector, footprint, CollisionChecker(obstacles, 0lu, 0lu), params); + ASSERT_TRUE(result.has_value()); + EXPECT_NEAR(*result, 5.65, EPS); + + obstacles.points.emplace_back(4.0, 3.0); + result = + distanceToClosestCollision(vector, footprint, CollisionChecker(obstacles, 0lu, 0lu), params); + ASSERT_TRUE(result.has_value()); + EXPECT_NEAR(*result, 2.23, EPS); +} + +TEST(TestCollisionDistance, distanceToClosestCollisionBicycleModel) +{ + using obstacle_velocity_limiter::CollisionChecker; + using obstacle_velocity_limiter::distanceToClosestCollision; + using obstacle_velocity_limiter::linestring_t; + using obstacle_velocity_limiter::polygon_t; + + obstacle_velocity_limiter::ProjectionParameters params; + params.model = obstacle_velocity_limiter::ProjectionParameters::BICYCLE; + params.heading = 0.0; + linestring_t vector = {{0.0, 0.0}, {5.0, 0.0}}; + polygon_t footprint; + footprint.outer() = {{0.0, 1.0}, {5.0, 1.0}, {5.0, -1.0}, {0.0, -1.0}}; + boost::geometry::correct(footprint); // avoid bugs with malformed polygon + obstacle_velocity_limiter::Obstacles obstacles; + + auto EPS = 1e-2; + + std::optional result = + distanceToClosestCollision(vector, footprint, CollisionChecker(obstacles, 0lu, 0lu), params); + ASSERT_FALSE(result.has_value()); + + obstacles.points.emplace_back(-1.0, 0.0); + result = + distanceToClosestCollision(vector, footprint, CollisionChecker(obstacles, 0lu, 0lu), params); + ASSERT_FALSE(result.has_value()); + + obstacles.points.emplace_back(1.0, 2.0); + result = + distanceToClosestCollision(vector, footprint, CollisionChecker(obstacles, 0lu, 0lu), params); + ASSERT_FALSE(result.has_value()); + + obstacles.points.emplace_back(4.0, 0.0); + result = + distanceToClosestCollision(vector, footprint, CollisionChecker(obstacles, 0lu, 0lu), params); + ASSERT_FALSE(result.has_value()); + + obstacles.points.emplace_back(3.0, 0.5); + result = + distanceToClosestCollision(vector, footprint, CollisionChecker(obstacles, 0lu, 0lu), params); + ASSERT_TRUE(result.has_value()); + EXPECT_NEAR(*result, 3.05, EPS); + + obstacles.points.emplace_back(2.5, -0.75); + result = + distanceToClosestCollision(vector, footprint, CollisionChecker(obstacles, 0lu, 0lu), params); + ASSERT_TRUE(result.has_value()); + EXPECT_NEAR(*result, 2.64, EPS); + + // Change vector and footprint + vector = linestring_t{{0.0, 0.0}, {5.0, 5.0}}; + params.heading = M_PI_2; + footprint.outer() = {{-1.0, 1.0}, {4.0, 6.0}, {6.0, 4.0}, {1.0, -1.0}}; + boost::geometry::correct(footprint); // avoid bugs with malformed polygon + obstacles.points.clear(); + obstacles.lines.clear(); + + result = + distanceToClosestCollision(vector, footprint, CollisionChecker(obstacles, 0lu, 0lu), params); + ASSERT_FALSE(result.has_value()); + + obstacles.points.emplace_back(4.0, 4.0); + result = + distanceToClosestCollision(vector, footprint, CollisionChecker(obstacles, 0lu, 0lu), params); + ASSERT_TRUE(result.has_value()); + EXPECT_NEAR(*result, 6.28, EPS); + + obstacles.points.emplace_back(1.0, 2.0); + result = + distanceToClosestCollision(vector, footprint, CollisionChecker(obstacles, 0lu, 0lu), params); + ASSERT_TRUE(result.has_value()); + EXPECT_NEAR(*result, 2.31, EPS); + + // Change vector (opposite direction) + params.heading = -M_PI; + vector = linestring_t{{5.0, 5.0}, {0.0, 0.0}}; + obstacles.points.clear(); + obstacles.lines.clear(); + + obstacles.points.emplace_back(1.0, 1.0); + result = + distanceToClosestCollision(vector, footprint, CollisionChecker(obstacles, 0lu, 0lu), params); + ASSERT_TRUE(result.has_value()); + EXPECT_NEAR(*result, 6.28, EPS); + + obstacles.points.emplace_back(4.0, 3.0); + result = + distanceToClosestCollision(vector, footprint, CollisionChecker(obstacles, 0lu, 0lu), params); + ASSERT_TRUE(result.has_value()); + EXPECT_NEAR(*result, 2.76, EPS); + + // change vector and footprint + params.heading = M_PI_2; + vector = linestring_t{{3.0, 3.0}, {0.0, 3.0}}; + footprint.outer() = {{1.0, -1.0}, {-4.0, 6.0}, {-5.0, -4.0}, {1.0, -4.0}}; + boost::geometry::correct(footprint); + obstacles.points.clear(); + obstacles.lines.clear(); + + obstacles.points.emplace_back(-2.0, -1.0); + result = + distanceToClosestCollision(vector, footprint, CollisionChecker(obstacles, 0lu, 0lu), params); + ASSERT_TRUE(result.has_value()); + EXPECT_NEAR(*result, 7.34, EPS); +} + TEST(TestCollisionDistance, arcDistance) { using obstacle_velocity_limiter::arcDistance; From 387cb24426a69a83dc54a6a27cd3cb576b6c36d2 Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Mon, 13 Nov 2023 17:58:19 +0900 Subject: [PATCH 099/202] fix(sampling_based_planner): fix runtime error (#5490) Signed-off-by: satoshi-ota --- .../include/bezier_sampler/bezier_sampling.hpp | 1 + planning/sampling_based_planner/path_sampler/src/node.cpp | 5 +++-- 2 files changed, 4 insertions(+), 2 deletions(-) diff --git a/planning/sampling_based_planner/bezier_sampler/include/bezier_sampler/bezier_sampling.hpp b/planning/sampling_based_planner/bezier_sampler/include/bezier_sampler/bezier_sampling.hpp index 624cd585b0a72..18df9dcb796d8 100644 --- a/planning/sampling_based_planner/bezier_sampler/include/bezier_sampler/bezier_sampling.hpp +++ b/planning/sampling_based_planner/bezier_sampler/include/bezier_sampler/bezier_sampling.hpp @@ -17,6 +17,7 @@ #include #include +#include #include #include diff --git a/planning/sampling_based_planner/path_sampler/src/node.cpp b/planning/sampling_based_planner/path_sampler/src/node.cpp index aa037755bbedd..e61f635de67c4 100644 --- a/planning/sampling_based_planner/path_sampler/src/node.cpp +++ b/planning/sampling_based_planner/path_sampler/src/node.cpp @@ -298,7 +298,8 @@ PlannerData PathSampler::createPlannerData(const Path & path) const return planner_data; } -void copyZ(const std::vector & from_traj, std::vector & to_traj) +void PathSampler::copyZ( + const std::vector & from_traj, std::vector & to_traj) { if (from_traj.empty() || to_traj.empty()) return; to_traj.front().pose.position.z = from_traj.front().pose.position.z; @@ -320,7 +321,7 @@ void copyZ(const std::vector & from_traj, std::vectorpose.position.z; } -void copyVelocity( +void PathSampler::copyVelocity( const std::vector & from_traj, std::vector & to_traj, const geometry_msgs::msg::Pose & ego_pose) { From cbbc7b7257c4fb65770d952966c0e372b31181d8 Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Mon, 13 Nov 2023 19:23:36 +0900 Subject: [PATCH 100/202] docs(lane_change): stopping position when an object exists ahead (#5523) * docs(lane_change): Stopping position when an object exists ahead Signed-off-by: kosuke55 * add stuck params Signed-off-by: kosuke55 * add backward_length_buffer_for_blocking_object Signed-off-by: kosuke55 * add stop for lane change Signed-off-by: kosuke55 --------- Signed-off-by: kosuke55 --- ...ehavior_path_planner_lane_change_design.md | 159 +++++++++++++----- .../lane_change-stop_at_terminal.drawio.svg | 94 +++++++++++ ...hange-stop_at_terminal_no_block.drawio.svg | 76 +++++++++ ...hange-stop_far_from_target_lane.drawio.svg | 85 ++++++++++ ...ane_change-stop_not_at_terminal.drawio.svg | 70 ++++++++ ..._at_terminal_no_blocking_object.drawio.svg | 76 +++++++++ 6 files changed, 518 insertions(+), 42 deletions(-) create mode 100644 planning/behavior_path_planner/image/lane_change/lane_change-stop_at_terminal.drawio.svg create mode 100644 planning/behavior_path_planner/image/lane_change/lane_change-stop_at_terminal_no_block.drawio.svg create mode 100644 planning/behavior_path_planner/image/lane_change/lane_change-stop_far_from_target_lane.drawio.svg create mode 100644 planning/behavior_path_planner/image/lane_change/lane_change-stop_not_at_terminal.drawio.svg create mode 100644 planning/behavior_path_planner/image/lane_change/lane_change-stop_not_at_terminal_no_blocking_object.drawio.svg diff --git a/planning/behavior_path_planner/docs/behavior_path_planner_lane_change_design.md b/planning/behavior_path_planner/docs/behavior_path_planner_lane_change_design.md index 2e5e486afc7c3..ee74f700c4d42 100644 --- a/planning/behavior_path_planner/docs/behavior_path_planner_lane_change_design.md +++ b/planning/behavior_path_planner/docs/behavior_path_planner_lane_change_design.md @@ -186,6 +186,46 @@ The following figure illustrates when the lane is blocked in multiple lane chang ![multiple-lane-changes](../image/lane_change/lane_change-when_cannot_change_lanes.png) +#### Stopping position when an object exists ahead + +When an obstacle is in front of the ego vehicle, stop with keeping a distance for lane change. +The position to be stopped depends on the situation, such as when the lane change is blocked by the target lane obstacle, or when the lane change is not needed immediately.The following shows the division in that case. + +##### When the ego vehicle is near the end of the lane change + +Regardless of the presence or absence of objects in the lane change target lane, stop by keeping the distance necessary for lane change to the object ahead. + +![stop_at_terminal_no_block](../image/lane_change/lane_change-stop_at_terminal_no_block.drawio.svg) + +![stop_at_terminal](../image/lane_change/lane_change-stop_at_terminal.drawio.svg) + +##### When the ego vehicle is not near the end of the lane change + +If there are NO objects in the lane change section of the target lane, stop by keeping the distance necessary for lane change to the object ahead. + +![stop_not_at_terminal_no_blocking_object](../image/lane_change/lane_change-stop_not_at_terminal_no_blocking_object.drawio.svg) + +If there are objects in the lane change section of the target lane, stop WITHOUT keeping the distance necessary for lane change to the object ahead. + +![stop_not_at_terminal](../image/lane_change/lane_change-stop_not_at_terminal.drawio.svg) + +##### When the target lane is far away + +When the target lane for lane change is far away and not next to the current lane, do not keep the distance necessary for lane change to the object ahead. + +![stop_far_from_target_lane](../image/lane_change/lane_change-stop_far_from_target_lane.drawio.svg) + +### Lane Change When Stuck + +The ego vehicle is considered stuck if it is stopped and meets any of the following conditions: + +- There is an obstacle in front of the current lane +- The ego vehicle is at the end of the current lane + +In this case, the safety check for lane change is relaxed compared to normal times. +Please refer to the 'stuck' section under the 'Collision checks during lane change' for more details. +The function to stop by keeping a margin against forward obstacle in the previous section is being performed to achieve this feature. + ### Lane change regulations If you want to regulate lane change on crosswalks or intersections, the lane change module finds a lane change path excluding it includes crosswalks or intersections. @@ -272,35 +312,36 @@ The last behavior will also occur if the ego vehicle has departed from the curre The following parameters are configurable in `lane_change.param.yaml`. -| Name | Unit | Type | Description | Default value | -| :------------------------------------------ | ------ | ------- | --------------------------------------------------------------------------------------------------------------- | ------------------ | -| `backward_lane_length` | [m] | double | The backward length to check incoming objects in lane change target lane. | 200.0 | -| `prepare_duration` | [m] | double | The preparation time for the ego vehicle to be ready to perform lane change. | 4.0 | -| `backward_length_buffer_for_end_of_lane` | [m] | double | The end of lane buffer to ensure ego vehicle has enough distance to start lane change | 2.0 | -| `lane_change_finish_judge_buffer` | [m] | double | The additional buffer used to confirm lane change process completion | 3.0 | -| `finish_judge_lateral_threshold` | [m] | double | Lateral distance threshold to confirm lane change process completion | 0.2 | -| `lane_changing_lateral_jerk` | [m/s3] | double | Lateral jerk value for lane change path generation | 0.5 | -| `minimum_lane_changing_velocity` | [m/s] | double | Minimum speed during lane changing process. | 2.78 | -| `prediction_time_resolution` | [s] | double | Time resolution for object's path interpolation and collision check. | 0.5 | -| `longitudinal_acceleration_sampling_num` | [-] | int | Number of possible lane-changing trajectories that are being influenced by longitudinal acceleration | 5 | -| `lateral_acceleration_sampling_num` | [-] | int | Number of possible lane-changing trajectories that are being influenced by lateral acceleration | 3 | -| `object_check_min_road_shoulder_width` | [m] | double | Width considered as a road shoulder if the lane does not have a road shoulder | 0.5 | -| `object_shiftable_ratio_threshold` | [-] | double | Vehicles around the center line within this distance ratio will be excluded from parking objects | 0.6 | -| `min_length_for_turn_signal_activation` | [m] | double | Turn signal will be activated if the ego vehicle approaches to this length from minimum lane change length | 10.0 | -| `length_ratio_for_turn_signal_deactivation` | [-] | double | Turn signal will be deactivated if the ego vehicle approaches to this length ratio for lane change finish point | 0.8 | -| `max_longitudinal_acc` | [-] | double | maximum longitudinal acceleration for lane change | 1.0 | -| `min_longitudinal_acc` | [-] | double | maximum longitudinal deceleration for lane change | -1.0 | -| `lateral_acceleration.velocity` | [m/s] | double | Reference velocity for lateral acceleration calculation (look up table) | [0.0, 4.0, 10.0] | -| `lateral_acceleration.min_values` | [m/ss] | double | Min lateral acceleration values corresponding to velocity (look up table) | [0.15, 0.15, 0.15] | -| `lateral_acceleration.max_values` | [m/ss] | double | Max lateral acceleration values corresponding to velocity (look up table) | [0.5, 0.5, 0.5] | -| `target_object.car` | [-] | boolean | Include car objects for safety check | true | -| `target_object.truck` | [-] | boolean | Include truck objects for safety check | true | -| `target_object.bus` | [-] | boolean | Include bus objects for safety check | true | -| `target_object.trailer` | [-] | boolean | Include trailer objects for safety check | true | -| `target_object.unknown` | [-] | boolean | Include unknown objects for safety check | true | -| `target_object.bicycle` | [-] | boolean | Include bicycle objects for safety check | true | -| `target_object.motorcycle` | [-] | boolean | Include motorcycle objects for safety check | true | -| `target_object.pedestrian` | [-] | boolean | Include pedestrian objects for safety check | true | +| Name | Unit | Type | Description | Default value | +| :------------------------------------------- | ------ | ------- | ---------------------------------------------------------------------------------------------------------------------- | ------------------ | +| `backward_lane_length` | [m] | double | The backward length to check incoming objects in lane change target lane. | 200.0 | +| `prepare_duration` | [m] | double | The preparation time for the ego vehicle to be ready to perform lane change. | 4.0 | +| `backward_length_buffer_for_end_of_lane` | [m] | double | The end of lane buffer to ensure ego vehicle has enough distance to start lane change | 3.0 | +| `backward_length_buffer_for_blocking_object` | [m] | double | The end of lane buffer to ensure ego vehicle has enough distance to start lane change when there is an object in front | 3.0 | +| `lane_change_finish_judge_buffer` | [m] | double | The additional buffer used to confirm lane change process completion | 3.0 | +| `finish_judge_lateral_threshold` | [m] | double | Lateral distance threshold to confirm lane change process completion | 0.2 | +| `lane_changing_lateral_jerk` | [m/s3] | double | Lateral jerk value for lane change path generation | 0.5 | +| `minimum_lane_changing_velocity` | [m/s] | double | Minimum speed during lane changing process. | 2.78 | +| `prediction_time_resolution` | [s] | double | Time resolution for object's path interpolation and collision check. | 0.5 | +| `longitudinal_acceleration_sampling_num` | [-] | int | Number of possible lane-changing trajectories that are being influenced by longitudinal acceleration | 5 | +| `lateral_acceleration_sampling_num` | [-] | int | Number of possible lane-changing trajectories that are being influenced by lateral acceleration | 3 | +| `object_check_min_road_shoulder_width` | [m] | double | Width considered as a road shoulder if the lane does not have a road shoulder | 0.5 | +| `object_shiftable_ratio_threshold` | [-] | double | Vehicles around the center line within this distance ratio will be excluded from parking objects | 0.6 | +| `min_length_for_turn_signal_activation` | [m] | double | Turn signal will be activated if the ego vehicle approaches to this length from minimum lane change length | 10.0 | +| `length_ratio_for_turn_signal_deactivation` | [-] | double | Turn signal will be deactivated if the ego vehicle approaches to this length ratio for lane change finish point | 0.8 | +| `max_longitudinal_acc` | [-] | double | maximum longitudinal acceleration for lane change | 1.0 | +| `min_longitudinal_acc` | [-] | double | maximum longitudinal deceleration for lane change | -1.0 | +| `lateral_acceleration.velocity` | [m/s] | double | Reference velocity for lateral acceleration calculation (look up table) | [0.0, 4.0, 10.0] | +| `lateral_acceleration.min_values` | [m/ss] | double | Min lateral acceleration values corresponding to velocity (look up table) | [0.15, 0.15, 0.15] | +| `lateral_acceleration.max_values` | [m/ss] | double | Max lateral acceleration values corresponding to velocity (look up table) | [0.5, 0.5, 0.5] | +| `target_object.car` | [-] | boolean | Include car objects for safety check | true | +| `target_object.truck` | [-] | boolean | Include truck objects for safety check | true | +| `target_object.bus` | [-] | boolean | Include bus objects for safety check | true | +| `target_object.trailer` | [-] | boolean | Include trailer objects for safety check | true | +| `target_object.unknown` | [-] | boolean | Include unknown objects for safety check | true | +| `target_object.bicycle` | [-] | boolean | Include bicycle objects for safety check | true | +| `target_object.motorcycle` | [-] | boolean | Include motorcycle objects for safety check | true | +| `target_object.pedestrian` | [-] | boolean | Include pedestrian objects for safety check | true | ### Lane change regulations @@ -320,19 +361,53 @@ The following parameters are configurable in `lane_change.param.yaml`. The following parameters are configurable in `behavior_path_planner.param.yaml` and `lane_change.param.yaml`. -| Name | Unit | Type | Description | Default value | -| :----------------------------------------- | ------- | ------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------- | -| `lateral_distance_max_threshold` | [m] | double | The lateral distance threshold that is used to determine whether lateral distance between two object is enough and whether lane change is safe. | 2.0 | -| `longitudinal_distance_min_threshold` | [m] | double | The longitudinal distance threshold that is used to determine whether longitudinal distance between two object is enough and whether lane change is safe. | 3.0 | -| `expected_front_deceleration` | [m/s^2] | double | The front object's maximum deceleration when the front vehicle perform sudden braking. (\*1) | -1.0 | -| `expected_rear_deceleration` | [m/s^2] | double | The rear object's maximum deceleration when the rear vehicle perform sudden braking. (\*1) | -1.0 | -| `rear_vehicle_reaction_time` | [s] | double | The reaction time of the rear vehicle driver which starts from the driver noticing the sudden braking of the front vehicle until the driver step on the brake. | 2.0 | -| `rear_vehicle_safety_time_margin` | [s] | double | The time buffer for the rear vehicle to come into complete stop when its driver perform sudden braking. | 2.0 | -| `enable_collision_check_at_prepare_phase` | [-] | boolean | Perform collision check starting from prepare phase. If `false`, collision check only evaluated for lane changing phase. | true | -| `prepare_phase_ignore_target_speed_thresh` | [m/s] | double | Ignore collision check in prepare phase of object speed that is lesser that the configured value. `enable_collision_check_at_prepare_phase` must be `true` | 0.1 | -| `check_objects_on_current_lanes` | [-] | boolean | If true, the lane change module include objects on current lanes. | true | -| `check_objects_on_other_lanes` | [-] | boolean | If true, the lane change module include objects on other lanes. | true | -| `use_all_predicted_path` | [-] | boolean | If false, use only the predicted path that has the maximum confidence. | true | +#### execution + +| Name | Unit | Type | Description | Default value | +| :---------------------------------------------------------------- | ------- | ------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------- | +| `safety_check.execution.lateral_distance_max_threshold` | [m] | double | The lateral distance threshold that is used to determine whether lateral distance between two object is enough and whether lane change is safe. | 2.0 | +| `safety_check.execution.longitudinal_distance_min_threshold` | [m] | double | The longitudinal distance threshold that is used to determine whether longitudinal distance between two object is enough and whether lane change is safe. | 3.0 | +| `safety_check.execution.expected_front_deceleration` | [m/s^2] | double | The front object's maximum deceleration when the front vehicle perform sudden braking. (\*1) | -1.0 | +| `safety_check.execution.expected_rear_deceleration` | [m/s^2] | double | The rear object's maximum deceleration when the rear vehicle perform sudden braking. (\*1) | -1.0 | +| `safety_check.execution.rear_vehicle_reaction_time` | [s] | double | The reaction time of the rear vehicle driver which starts from the driver noticing the sudden braking of the front vehicle until the driver step on the brake. | 2.0 | +| `safety_check.execution.rear_vehicle_safety_time_margin` | [s] | double | The time buffer for the rear vehicle to come into complete stop when its driver perform sudden braking. | 2.0 | +| `safety_check.execution.enable_collision_check_at_prepare_phase` | [-] | boolean | Perform collision check starting from prepare phase. If `false`, collision check only evaluated for lane changing phase. | true | +| `safety_check.execution.prepare_phase_ignore_target_speed_thresh` | [m/s] | double | Ignore collision check in prepare phase of object speed that is lesser that the configured value. `enable_collision_check_at_prepare_phase` must be `true` | 0.1 | +| `safety_check.execution.check_objects_on_current_lanes` | [-] | boolean | If true, the lane change module include objects on current lanes. | true | +| `safety_check.execution.check_objects_on_other_lanes` | [-] | boolean | If true, the lane change module include objects on other lanes. | true | +| `safety_check.execution.use_all_predicted_path` | [-] | boolean | If false, use only the predicted path that has the maximum confidence. | true | + +##### cancel + +| Name | Unit | Type | Description | Default value | +| :------------------------------------------------------------- | ------- | ------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------- | +| `safety_check.cancel.lateral_distance_max_threshold` | [m] | double | The lateral distance threshold that is used to determine whether lateral distance between two object is enough and whether lane change is safe. | 1.5 | +| `safety_check.cancel.longitudinal_distance_min_threshold` | [m] | double | The longitudinal distance threshold that is used to determine whether longitudinal distance between two object is enough and whether lane change is safe. | 3.0 | +| `safety_check.cancel.expected_front_deceleration` | [m/s^2] | double | The front object's maximum deceleration when the front vehicle perform sudden braking. (\*1) | -1.5 | +| `safety_check.cancel.expected_rear_deceleration` | [m/s^2] | double | The rear object's maximum deceleration when the rear vehicle perform sudden braking. (\*1) | -2.5 | +| `safety_check.cancel.rear_vehicle_reaction_time` | [s] | double | The reaction time of the rear vehicle driver which starts from the driver noticing the sudden braking of the front vehicle until the driver step on the brake. | 2.0 | +| `safety_check.cancel.rear_vehicle_safety_time_margin` | [s] | double | The time buffer for the rear vehicle to come into complete stop when its driver perform sudden braking. | 2.5 | +| `safety_check.cancel.enable_collision_check_at_prepare_phase` | [-] | boolean | Perform collision check starting from prepare phase. If `false`, collision check only evaluated for lane changing phase. | false | +| `safety_check.cancel.prepare_phase_ignore_target_speed_thresh` | [m/s] | double | Ignore collision check in prepare phase of object speed that is lesser that the configured value. `enable_collision_check_at_prepare_phase` must be `true` | 0.2 | +| `safety_check.cancel.check_objects_on_current_lanes` | [-] | boolean | If true, the lane change module include objects on current lanes. | false | +| `safety_check.cancel.check_objects_on_other_lanes` | [-] | boolean | If true, the lane change module include objects on other lanes. | false | +| `safety_check.cancel.use_all_predicted_path` | [-] | boolean | If false, use only the predicted path that has the maximum confidence. | false | + +##### stuck + +| Name | Unit | Type | Description | Default value | +| :------------------------------------------------------------ | ------- | ------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------- | +| `safety_check.stuck.lateral_distance_max_threshold` | [m] | double | The lateral distance threshold that is used to determine whether lateral distance between two object is enough and whether lane change is safe. | 2.0 | +| `safety_check.stuck.longitudinal_distance_min_threshold` | [m] | double | The longitudinal distance threshold that is used to determine whether longitudinal distance between two object is enough and whether lane change is safe. | 3.0 | +| `safety_check.stuck.expected_front_deceleration` | [m/s^2] | double | The front object's maximum deceleration when the front vehicle perform sudden braking. (\*1) | -1.0 | +| `safety_check.stuck.expected_rear_deceleration` | [m/s^2] | double | The rear object's maximum deceleration when the rear vehicle perform sudden braking. (\*1) | -1.0 | +| `safety_check.stuck.rear_vehicle_reaction_time` | [s] | double | The reaction time of the rear vehicle driver which starts from the driver noticing the sudden braking of the front vehicle until the driver step on the brake. | 2.0 | +| `safety_check.stuck.rear_vehicle_safety_time_margin` | [s] | double | The time buffer for the rear vehicle to come into complete stop when its driver perform sudden braking. | 2.0 | +| `safety_check.stuck.enable_collision_check_at_prepare_phase` | [-] | boolean | Perform collision check starting from prepare phase. If `false`, collision check only evaluated for lane changing phase. | true | +| `safety_check.stuck.prepare_phase_ignore_target_speed_thresh` | [m/s] | double | Ignore collision check in prepare phase of object speed that is lesser that the configured value. `enable_collision_check_at_prepare_phase` must be `true` | 0.1 | +| `safety_check.stuck.check_objects_on_current_lanes` | [-] | boolean | If true, the lane change module include objects on current lanes. | true | +| `safety_check.stuck.check_objects_on_other_lanes` | [-] | boolean | If true, the lane change module include objects on other lanes. | true | +| `safety_check.stuck.use_all_predicted_path` | [-] | boolean | If false, use only the predicted path that has the maximum confidence. | true | (\*1) the value must be negative. diff --git a/planning/behavior_path_planner/image/lane_change/lane_change-stop_at_terminal.drawio.svg b/planning/behavior_path_planner/image/lane_change/lane_change-stop_at_terminal.drawio.svg new file mode 100644 index 0000000000000..f8aab60d0991d --- /dev/null +++ b/planning/behavior_path_planner/image/lane_change/lane_change-stop_at_terminal.drawio.svg @@ -0,0 +1,94 @@ + + + + + + + + + + + + + + + + + + + + +
+
+
+ lane change margin +
+
+
+
+ lane change m... +
+
+
+ + + + Text is not SVG - cannot display + + +
diff --git a/planning/behavior_path_planner/image/lane_change/lane_change-stop_at_terminal_no_block.drawio.svg b/planning/behavior_path_planner/image/lane_change/lane_change-stop_at_terminal_no_block.drawio.svg new file mode 100644 index 0000000000000..0de2c5fa0a550 --- /dev/null +++ b/planning/behavior_path_planner/image/lane_change/lane_change-stop_at_terminal_no_block.drawio.svg @@ -0,0 +1,76 @@ + + + + + + + + + + + + + + + + + + +
+
+
+ lane change margin +
+
+
+
+ lane change m... +
+
+
+ + + + Text is not SVG - cannot display + + +
diff --git a/planning/behavior_path_planner/image/lane_change/lane_change-stop_far_from_target_lane.drawio.svg b/planning/behavior_path_planner/image/lane_change/lane_change-stop_far_from_target_lane.drawio.svg new file mode 100644 index 0000000000000..dedcc13b6ef6a --- /dev/null +++ b/planning/behavior_path_planner/image/lane_change/lane_change-stop_far_from_target_lane.drawio.svg @@ -0,0 +1,85 @@ + + + + + + + + + + + + + + + + + + diff --git a/planning/behavior_path_planner/image/lane_change/lane_change-stop_not_at_terminal.drawio.svg b/planning/behavior_path_planner/image/lane_change/lane_change-stop_not_at_terminal.drawio.svg new file mode 100644 index 0000000000000..938b7b7d4b371 --- /dev/null +++ b/planning/behavior_path_planner/image/lane_change/lane_change-stop_not_at_terminal.drawio.svg @@ -0,0 +1,70 @@ + + + + + + + + + + + + + + + diff --git a/planning/behavior_path_planner/image/lane_change/lane_change-stop_not_at_terminal_no_blocking_object.drawio.svg b/planning/behavior_path_planner/image/lane_change/lane_change-stop_not_at_terminal_no_blocking_object.drawio.svg new file mode 100644 index 0000000000000..e07a8dcbe0354 --- /dev/null +++ b/planning/behavior_path_planner/image/lane_change/lane_change-stop_not_at_terminal_no_blocking_object.drawio.svg @@ -0,0 +1,76 @@ + + + + + + + + + + + + + + + + + + +
+
+
+ lane change margin +
+
+
+
+ lane change m... +
+
+
+ + + + Text is not SVG - cannot display + + +
From db962b3f13806d83ae01029800faa7930cc59989 Mon Sep 17 00:00:00 2001 From: badai nguyen <94814556+badai-nguyen@users.noreply.github.com> Date: Mon, 13 Nov 2023 20:17:03 +0900 Subject: [PATCH 101/202] fix(detection_by_tracker): add ignore option for each label (#5473) * fix(detection_by_tracker): add ignore for each class Signed-off-by: badai-nguyen * fix: launch Signed-off-by: badai-nguyen --------- Signed-off-by: badai-nguyen --- ...ra_lidar_fusion_based_detection.launch.xml | 1 + ...ar_radar_fusion_based_detection.launch.xml | 1 + .../detection/detection.launch.xml | 3 ++ .../lidar_based_detection.launch.xml | 1 + .../launch/perception.launch.xml | 2 ++ .../detection_by_tracker/CMakeLists.txt | 2 ++ .../config/detection_by_tracker.param.yaml | 11 ++++++ .../detection_by_tracker_core.hpp | 5 +-- .../include/utils/utils.hpp | 36 +++++++++++++++++++ .../launch/detection_by_tracker.launch.xml | 3 +- .../src/detection_by_tracker_core.cpp | 14 ++++++-- perception/detection_by_tracker/src/utils.cpp | 30 ++++++++++++++++ 12 files changed, 103 insertions(+), 6 deletions(-) create mode 100644 perception/detection_by_tracker/config/detection_by_tracker.param.yaml create mode 100644 perception/detection_by_tracker/include/utils/utils.hpp create mode 100644 perception/detection_by_tracker/src/utils.cpp diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml index 59fe3f13f1231..b3e9e9148ee60 100644 --- a/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml +++ b/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml @@ -195,6 +195,7 @@ + diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml index 11deaad5d06cc..20b1b5a4d0b27 100644 --- a/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml +++ b/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml @@ -220,6 +220,7 @@ + diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/detection.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/detection.launch.xml index 1fcf29606891b..33994934949ac 100644 --- a/launch/tier4_perception_launch/launch/object_recognition/detection/detection.launch.xml +++ b/launch/tier4_perception_launch/launch/object_recognition/detection/detection.launch.xml @@ -73,6 +73,7 @@ + @@ -104,6 +105,7 @@ + @@ -133,6 +135,7 @@ + diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml index 822c251ddad33..ac521934265d7 100644 --- a/launch/tier4_perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml +++ b/launch/tier4_perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml @@ -61,6 +61,7 @@ + diff --git a/launch/tier4_perception_launch/launch/perception.launch.xml b/launch/tier4_perception_launch/launch/perception.launch.xml index 347606d91759f..8b241db9774b3 100644 --- a/launch/tier4_perception_launch/launch/perception.launch.xml +++ b/launch/tier4_perception_launch/launch/perception.launch.xml @@ -18,6 +18,7 @@ + @@ -174,6 +175,7 @@ + diff --git a/perception/detection_by_tracker/CMakeLists.txt b/perception/detection_by_tracker/CMakeLists.txt index 236268438f852..51839027e0e41 100644 --- a/perception/detection_by_tracker/CMakeLists.txt +++ b/perception/detection_by_tracker/CMakeLists.txt @@ -27,6 +27,7 @@ include_directories( # Generate exe file set(DETECTION_BY_TRACKER_SRC src/detection_by_tracker_core.cpp + src/utils.cpp ) ament_auto_add_library(detection_by_tracker_node SHARED @@ -45,4 +46,5 @@ rclcpp_components_register_node(detection_by_tracker_node ament_auto_package(INSTALL_TO_SHARE launch + config ) diff --git a/perception/detection_by_tracker/config/detection_by_tracker.param.yaml b/perception/detection_by_tracker/config/detection_by_tracker.param.yaml new file mode 100644 index 0000000000000..695704050697d --- /dev/null +++ b/perception/detection_by_tracker/config/detection_by_tracker.param.yaml @@ -0,0 +1,11 @@ +/**: + ros__parameters: + tracker_ignore_label: + UNKNOWN : true + CAR : false + TRUCK : false + BUS : false + TRAILER : false + MOTORCYCLE : false + BICYCLE : false + PEDESTRIAN : false diff --git a/perception/detection_by_tracker/include/detection_by_tracker/detection_by_tracker_core.hpp b/perception/detection_by_tracker/include/detection_by_tracker/detection_by_tracker_core.hpp index 0eacfa527750b..10affd0b94ffd 100644 --- a/perception/detection_by_tracker/include/detection_by_tracker/detection_by_tracker_core.hpp +++ b/perception/detection_by_tracker/include/detection_by_tracker/detection_by_tracker_core.hpp @@ -39,6 +39,8 @@ #include #endif +#include "utils/utils.hpp" + #include #include @@ -46,7 +48,6 @@ #include #include #include - class TrackerHandler { private: @@ -81,7 +82,7 @@ class DetectionByTracker : public rclcpp::Node std::map max_search_distance_for_merger_; std::map max_search_distance_for_divider_; - bool ignore_unknown_tracker_; + utils::TrackerIgnoreLabel tracker_ignore_; void setMaxSearchRange(); diff --git a/perception/detection_by_tracker/include/utils/utils.hpp b/perception/detection_by_tracker/include/utils/utils.hpp new file mode 100644 index 0000000000000..3f39125b95e03 --- /dev/null +++ b/perception/detection_by_tracker/include/utils/utils.hpp @@ -0,0 +1,36 @@ +// Copyright 2023 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. + +#ifndef UTILS__UTILS_HPP_ +#define UTILS__UTILS_HPP_ + +#include + +namespace utils +{ +struct TrackerIgnoreLabel +{ + bool UNKNOWN; + bool CAR; + bool TRUCK; + bool BUS; + bool TRAILER; + bool MOTORCYCLE; + bool BICYCLE; + bool PEDESTRIAN; + bool isIgnore(const uint8_t label) const; +}; // struct TrackerIgnoreLabel +} // namespace utils + +#endif // UTILS__UTILS_HPP_ diff --git a/perception/detection_by_tracker/launch/detection_by_tracker.launch.xml b/perception/detection_by_tracker/launch/detection_by_tracker.launch.xml index 79e1b642cc53c..95e7cbf16b388 100644 --- a/perception/detection_by_tracker/launch/detection_by_tracker.launch.xml +++ b/perception/detection_by_tracker/launch/detection_by_tracker.launch.xml @@ -3,10 +3,11 @@ - + + diff --git a/perception/detection_by_tracker/src/detection_by_tracker_core.cpp b/perception/detection_by_tracker/src/detection_by_tracker_core.cpp index 7b436e1edd64c..2595315e1f9b2 100644 --- a/perception/detection_by_tracker/src/detection_by_tracker_core.cpp +++ b/perception/detection_by_tracker/src/detection_by_tracker_core.cpp @@ -160,7 +160,15 @@ DetectionByTracker::DetectionByTracker(const rclcpp::NodeOptions & node_options) objects_pub_ = create_publisher( "~/output", rclcpp::QoS{1}); - ignore_unknown_tracker_ = declare_parameter("ignore_unknown_tracker", true); + // Set parameters + tracker_ignore_.UNKNOWN = declare_parameter("tracker_ignore_label.UNKNOWN"); + tracker_ignore_.CAR = declare_parameter("tracker_ignore_label.CAR"); + tracker_ignore_.TRUCK = declare_parameter("tracker_ignore_label.TRUCK"); + tracker_ignore_.BUS = declare_parameter("tracker_ignore_label.BUS"); + tracker_ignore_.TRAILER = declare_parameter("tracker_ignore_label.TRAILER"); + tracker_ignore_.MOTORCYCLE = declare_parameter("tracker_ignore_label.MOTORCYCLE"); + tracker_ignore_.BICYCLE = declare_parameter("tracker_ignore_label.BICYCLE"); + tracker_ignore_.PEDESTRIAN = declare_parameter("tracker_ignore_label.PEDESTRIAN"); // set maximum search setting for merger/divider setMaxSearchRange(); @@ -259,7 +267,7 @@ void DetectionByTracker::divideUnderSegmentedObjects( for (const auto & tracked_object : tracked_objects.objects) { const auto & label = tracked_object.classification.front().label; - if (ignore_unknown_tracker_ && (label == Label::UNKNOWN)) continue; + if (tracker_ignore_.isIgnore(label)) continue; // change search range according to label type const float max_search_range = max_search_distance_for_divider_[label]; @@ -395,7 +403,7 @@ void DetectionByTracker::mergeOverSegmentedObjects( for (const auto & tracked_object : tracked_objects.objects) { const auto & label = tracked_object.classification.front().label; - if (ignore_unknown_tracker_ && (label == Label::UNKNOWN)) continue; + if (tracker_ignore_.isIgnore(label)) continue; // change search range according to label type const float max_search_range = max_search_distance_for_merger_[label]; diff --git a/perception/detection_by_tracker/src/utils.cpp b/perception/detection_by_tracker/src/utils.cpp new file mode 100644 index 0000000000000..29a500a24cf32 --- /dev/null +++ b/perception/detection_by_tracker/src/utils.cpp @@ -0,0 +1,30 @@ +// Copyright 2023 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. + +#include "utils/utils.hpp" + +#include + +namespace utils +{ +using Label = autoware_auto_perception_msgs::msg::ObjectClassification; + +bool TrackerIgnoreLabel::isIgnore(const uint8_t label) const +{ + return (label == Label::UNKNOWN && UNKNOWN) || (label == Label::CAR && CAR) || + (label == Label::TRUCK && TRUCK) || (label == Label::BUS && BUS) || + (label == Label::TRAILER && TRAILER) || (label == Label::MOTORCYCLE && MOTORCYCLE) || + (label == Label::BICYCLE && BICYCLE) || (label == Label::PEDESTRIAN && PEDESTRIAN); +} +} // namespace utils From d3ab218b6e76d53eaf2cef7d46f4486224a7a3ef Mon Sep 17 00:00:00 2001 From: Yoshi Ri Date: Mon, 13 Nov 2023 20:32:22 +0900 Subject: [PATCH 102/202] feat(image_projection_based_fusion): enable to show iou value in roi_cluster_fusion debug image (#5541) * enable to show debug iou value in roi_cluster_fusion Signed-off-by: yoshiri * refactor iou draw settings Signed-off-by: yoshiri * add backgroud color to iou Signed-off-by: yoshiri * prevent object copying when debugger is not enabled Signed-off-by: yoshiri --------- Signed-off-by: yoshiri --- .../debugger.hpp | 1 + .../src/debugger.cpp | 56 ++++++++++++++++--- .../src/fusion_node.cpp | 1 + .../src/roi_cluster_fusion/node.cpp | 18 +++--- 4 files changed, 58 insertions(+), 18 deletions(-) diff --git a/perception/image_projection_based_fusion/include/image_projection_based_fusion/debugger.hpp b/perception/image_projection_based_fusion/include/image_projection_based_fusion/debugger.hpp index 8a6ac7672b3a8..e4b1913effed5 100644 --- a/perception/image_projection_based_fusion/include/image_projection_based_fusion/debugger.hpp +++ b/perception/image_projection_based_fusion/include/image_projection_based_fusion/debugger.hpp @@ -50,6 +50,7 @@ class Debugger std::vector image_rois_; std::vector obstacle_rois_; std::vector obstacle_points_; + std::vector max_iou_for_image_rois_; private: void imageCallback( diff --git a/perception/image_projection_based_fusion/src/debugger.cpp b/perception/image_projection_based_fusion/src/debugger.cpp index 3f52a0de1f09d..a51c23a77aac6 100644 --- a/perception/image_projection_based_fusion/src/debugger.cpp +++ b/perception/image_projection_based_fusion/src/debugger.cpp @@ -77,6 +77,7 @@ void Debugger::clear() image_rois_.clear(); obstacle_rois_.clear(); obstacle_points_.clear(); + max_iou_for_image_rois_.clear(); } void Debugger::publishImage(const std::size_t image_id, const rclcpp::Time & stamp) @@ -84,6 +85,8 @@ void Debugger::publishImage(const std::size_t image_id, const rclcpp::Time & sta const boost::circular_buffer & image_buffer = image_buffers_.at(image_id); const image_transport::Publisher & image_pub = image_pubs_.at(image_id); + const bool draw_iou_score = + max_iou_for_image_rois_.size() > 0 && max_iou_for_image_rois_.size() == image_rois_.size(); for (std::size_t i = 0; i < image_buffer.size(); ++i) { if (image_buffer.at(i)->header.stamp != stamp) { @@ -91,22 +94,59 @@ void Debugger::publishImage(const std::size_t image_id, const rclcpp::Time & sta } auto cv_ptr = cv_bridge::toCvCopy(image_buffer.at(i), image_buffer.at(i)->encoding); - + // draw obstacle points for (const auto & point : obstacle_points_) { cv::circle( cv_ptr->image, cv::Point(static_cast(point.x()), static_cast(point.y())), 2, cv::Scalar(255, 255, 255), 3, 4); } + + // draw rois + const int img_height = static_cast(image_buffer.at(i)->height); + const int img_width = static_cast(image_buffer.at(i)->width); for (const auto & roi : obstacle_rois_) { - drawRoiOnImage( - cv_ptr->image, roi, image_buffer.at(i)->width, image_buffer.at(i)->height, - cv::Scalar(255, 0, 0)); + drawRoiOnImage(cv_ptr->image, roi, img_width, img_height, cv::Scalar(255, 0, 0)); // blue } - // TODO(yukke42): show iou_score on image for (const auto & roi : image_rois_) { - drawRoiOnImage( - cv_ptr->image, roi, image_buffer.at(i)->width, image_buffer.at(i)->height, - cv::Scalar(0, 0, 255)); + drawRoiOnImage(cv_ptr->image, roi, img_width, img_height, cv::Scalar(0, 0, 255)); // red + } + + // show iou_score on image + if (draw_iou_score) { + for (auto roi_index = 0; roi_index < static_cast(image_rois_.size()); ++roi_index) { + std::stringstream stream; + stream << std::fixed << std::setprecision(2) << max_iou_for_image_rois_.at(roi_index); + std::string iou_score = stream.str(); + + // set text position + int baseline = 3; + cv::Size textSize = cv::getTextSize(iou_score, cv::FONT_HERSHEY_SIMPLEX, 0.5, 1, &baseline); + const int text_height = static_cast(textSize.height); + const int text_width = static_cast(textSize.width); + int x = image_rois_.at(roi_index).x_offset; + int y = image_rois_.at(roi_index).y_offset; // offset for text + if (y < 0 + text_height) + y = text_height; // if roi is on the top of image, put text on lower left of roi + if (y > img_height - text_height) + y = img_height - + text_height; // if roi is on the bottom of image, put text on upper left of roi + if (x > img_width - text_width) + x = img_width - text_width; // if roi is on the right of image, put text on left of roi + if (x < 0) x = 0; // if roi is on the left of image, put text on right of roi + + // choice color by iou score + // cv::Scalar color = max_iou_for_image_rois_.at(i) > 0.5 ? cv::Scalar(0, 255, 0) : + // cv::Scalar(0, 0, 255); + cv::Scalar color = cv::Scalar(0, 0, 255); // red + + cv::rectangle( + cv_ptr->image, cv::Point(x, y - textSize.height - baseline), + cv::Point(x + textSize.width, y), cv::Scalar(255, 255, 255), + cv::FILLED); // white background + cv::putText( + cv_ptr->image, iou_score, cv::Point(x, y), cv::FONT_HERSHEY_SIMPLEX, 0.5, color, 1, + cv::LINE_AA); // text + } } image_pub.publish(cv_ptr->toImageMsg()); diff --git a/perception/image_projection_based_fusion/src/fusion_node.cpp b/perception/image_projection_based_fusion/src/fusion_node.cpp index a540688f7e751..df797369208fe 100644 --- a/perception/image_projection_based_fusion/src/fusion_node.cpp +++ b/perception/image_projection_based_fusion/src/fusion_node.cpp @@ -203,6 +203,7 @@ void FusionNode::subCallback(const typename Msg::ConstSharedPtr input_ (*output_msg).header.stamp.sec * (int64_t)1e9 + (*output_msg).header.stamp.nanosec; // if matching rois exist, fuseOnSingle + // please ask maintainers before parallelize this loop because debugger is not thread safe for (std::size_t roi_i = 0; roi_i < rois_number_; ++roi_i) { if (camera_info_map_.find(roi_i) == camera_info_map_.end()) { RCLCPP_WARN_THROTTLE( diff --git a/perception/image_projection_based_fusion/src/roi_cluster_fusion/node.cpp b/perception/image_projection_based_fusion/src/roi_cluster_fusion/node.cpp index 4a46c8aace696..9da9df7eff6ca 100644 --- a/perception/image_projection_based_fusion/src/roi_cluster_fusion/node.cpp +++ b/perception/image_projection_based_fusion/src/roi_cluster_fusion/node.cpp @@ -84,10 +84,6 @@ void RoiClusterFusionNode::fuseOnSingleImage( const DetectedObjectsWithFeature & input_roi_msg, const sensor_msgs::msg::CameraInfo & camera_info, DetectedObjectsWithFeature & output_cluster_msg) { - std::vector debug_image_rois; - std::vector debug_pointcloud_rois; - std::vector debug_image_points; - Eigen::Matrix4d projection; projection << camera_info.p.at(0), camera_info.p.at(1), camera_info.p.at(2), camera_info.p.at(3), camera_info.p.at(4), camera_info.p.at(5), camera_info.p.at(6), camera_info.p.at(7), @@ -100,6 +96,9 @@ void RoiClusterFusionNode::fuseOnSingleImage( tf_buffer_, /*target*/ camera_info.header.frame_id, /*source*/ input_cluster_msg.header.frame_id, camera_info.header.stamp); if (!transform_stamped_optional) { + RCLCPP_WARN_STREAM( + get_logger(), "Failed to get transform from " << input_cluster_msg.header.frame_id << " to " + << camera_info.header.frame_id); return; } transform_stamped = transform_stamped_optional.value(); @@ -151,7 +150,7 @@ void RoiClusterFusionNode::fuseOnSingleImage( max_x = std::max(static_cast(normalized_projected_point.x()), max_x); max_y = std::max(static_cast(normalized_projected_point.y()), max_y); projected_points.push_back(normalized_projected_point); - debug_image_points.push_back(normalized_projected_point); + if (debugger_) debugger_->obstacle_points_.push_back(normalized_projected_point); } } if (projected_points.empty()) { @@ -165,7 +164,7 @@ void RoiClusterFusionNode::fuseOnSingleImage( roi.width = max_x - min_x; roi.height = max_y - min_y; m_cluster_roi.insert(std::make_pair(i, roi)); - debug_pointcloud_rois.push_back(roi); + if (debugger_) debugger_->obstacle_rois_.push_back(roi); } for (const auto & feature_obj : input_roi_msg.feature_objects) { @@ -231,13 +230,12 @@ void RoiClusterFusionNode::fuseOnSingleImage( } } } - debug_image_rois.push_back(feature_obj.feature.roi); + if (debugger_) debugger_->image_rois_.push_back(feature_obj.feature.roi); + if (debugger_) debugger_->max_iou_for_image_rois_.push_back(max_iou); } + // note: debug objects are safely cleared in fusion_node.cpp if (debugger_) { - debugger_->image_rois_ = debug_image_rois; - debugger_->obstacle_rois_ = debug_pointcloud_rois; - debugger_->obstacle_points_ = debug_image_points; debugger_->publishImage(image_id, input_roi_msg.header.stamp); } } From 8eb858a1267a02d96b9bb7be9ffe9d0172ed55ce Mon Sep 17 00:00:00 2001 From: SakodaShintaro Date: Tue, 14 Nov 2023 08:49:29 +0900 Subject: [PATCH 103/202] refactor(landmark_parser): refactored landmark manager (#5511) * Refactored landmark_parser Signed-off-by: Shintaro Sakoda * Renamed landmark_parser to landmark_manager Signed-off-by: Shintaro Sakoda * Fixed tag_id Signed-off-by: Shintaro Sakoda * Refactored ar_tag_based_localizer Signed-off-by: Shintaro Sakoda * style(pre-commit): autofix * Added [[nodiscard]] Signed-off-by: Shintaro Sakoda * Refactored landmark parsing and conversion Signed-off-by: Shintaro SAKODA * style(pre-commit): autofix * Added namespace Signed-off-by: Shintaro Sakoda * Fixed include Signed-off-by: Shintaro Sakoda --------- Signed-off-by: Shintaro Sakoda Signed-off-by: Shintaro SAKODA Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- .../landmark_based_localizer/README.md | 6 ++--- .../ar_tag_based_localizer/package.xml | 2 +- .../src/ar_tag_based_localizer.cpp | 9 +++++-- .../src/ar_tag_based_localizer.hpp | 2 +- .../CMakeLists.txt | 6 ++--- .../landmark_manager/landmark_manager.hpp} | 26 ++++++++++++++----- .../package.xml | 5 ++-- .../src/landmark_manager.cpp} | 22 ++++++++++------ 8 files changed, 51 insertions(+), 27 deletions(-) rename localization/landmark_based_localizer/{landmark_parser => landmark_manager}/CMakeLists.txt (79%) rename localization/landmark_based_localizer/{landmark_parser/include/landmark_parser/landmark_parser_core.hpp => landmark_manager/include/landmark_manager/landmark_manager.hpp} (64%) rename localization/landmark_based_localizer/{landmark_parser => landmark_manager}/package.xml (88%) rename localization/landmark_based_localizer/{landmark_parser/src/landmark_parser_core.cpp => landmark_manager/src/landmark_manager.cpp} (92%) diff --git a/localization/landmark_based_localizer/README.md b/localization/landmark_based_localizer/README.md index 35d8d78e7015c..e4c79b7941b12 100644 --- a/localization/landmark_based_localizer/README.md +++ b/localization/landmark_based_localizer/README.md @@ -23,11 +23,11 @@ This calculated ego pose is passed to the EKF, where it is fused with the twist ![node diagram](./doc_image/node_diagram.drawio.svg) -### `landmark_parser` +### `landmark_manager` The definitions of the landmarks written to the map are introduced in the next section. See `Map Specifications`. -The `landmark_parser` is a utility package to load landmarks from the map. +The `landmark_manager` is a utility package to load landmarks from the map. - Translation : The center of the four vertices of the landmark - Rotation : Let the vertex numbers be 1, 2, 3, 4 counterclockwise as shown in the next section. Direction is defined as the cross product of the vector from 1 to 2 and the vector from 2 to 3. @@ -43,7 +43,7 @@ So, if the 4 vertices are considered as forming a tetrahedron and its volume exc ## Map specifications -For this package to work correctly, the poses of the landmarks must be specified in the Lanelet2 map format that `map_loader` and `landmark_parser` can interpret. +For this package to work correctly, the poses of the landmarks must be specified in the Lanelet2 map format that `map_loader` and `landmark_manager` can interpret. The four vertices of a landmark are defined counterclockwise. diff --git a/localization/landmark_based_localizer/ar_tag_based_localizer/package.xml b/localization/landmark_based_localizer/ar_tag_based_localizer/package.xml index a22e7b1acf6dc..24b737c309016 100644 --- a/localization/landmark_based_localizer/ar_tag_based_localizer/package.xml +++ b/localization/landmark_based_localizer/ar_tag_based_localizer/package.xml @@ -17,7 +17,7 @@ cv_bridge diagnostic_msgs image_transport - landmark_parser + landmark_manager lanelet2_extension localization_util rclcpp diff --git a/localization/landmark_based_localizer/ar_tag_based_localizer/src/ar_tag_based_localizer.cpp b/localization/landmark_based_localizer/ar_tag_based_localizer/src/ar_tag_based_localizer.cpp index bc40fb1532297..a66277c699a00 100644 --- a/localization/landmark_based_localizer/ar_tag_based_localizer/src/ar_tag_based_localizer.cpp +++ b/localization/landmark_based_localizer/ar_tag_based_localizer/src/ar_tag_based_localizer.cpp @@ -148,8 +148,13 @@ bool ArTagBasedLocalizer::setup() void ArTagBasedLocalizer::map_bin_callback(const HADMapBin::ConstSharedPtr & msg) { - landmark_map_ = parse_landmark(msg, "apriltag_16h5", this->get_logger()); - const MarkerArray marker_msg = convert_to_marker_array_msg(landmark_map_); + const std::vector landmarks = + landmark_manager::parse_landmarks(msg, "apriltag_16h5", this->get_logger()); + for (const landmark_manager::Landmark & landmark : landmarks) { + landmark_map_[landmark.id] = landmark.pose; + } + + const MarkerArray marker_msg = landmark_manager::convert_landmarks_to_marker_array_msg(landmarks); marker_pub_->publish(marker_msg); } diff --git a/localization/landmark_based_localizer/ar_tag_based_localizer/src/ar_tag_based_localizer.hpp b/localization/landmark_based_localizer/ar_tag_based_localizer/src/ar_tag_based_localizer.hpp index fe33a64b995a3..889e76eb78ad2 100644 --- a/localization/landmark_based_localizer/ar_tag_based_localizer/src/ar_tag_based_localizer.hpp +++ b/localization/landmark_based_localizer/ar_tag_based_localizer/src/ar_tag_based_localizer.hpp @@ -45,7 +45,7 @@ #ifndef AR_TAG_BASED_LOCALIZER_HPP_ #define AR_TAG_BASED_LOCALIZER_HPP_ -#include "landmark_parser/landmark_parser_core.hpp" +#include "landmark_manager/landmark_manager.hpp" #include #include diff --git a/localization/landmark_based_localizer/landmark_parser/CMakeLists.txt b/localization/landmark_based_localizer/landmark_manager/CMakeLists.txt similarity index 79% rename from localization/landmark_based_localizer/landmark_parser/CMakeLists.txt rename to localization/landmark_based_localizer/landmark_manager/CMakeLists.txt index 41f7c00d61383..1b6126c892d2e 100644 --- a/localization/landmark_based_localizer/landmark_parser/CMakeLists.txt +++ b/localization/landmark_based_localizer/landmark_manager/CMakeLists.txt @@ -1,5 +1,5 @@ cmake_minimum_required(VERSION 3.14) -project(landmark_parser) +project(landmark_manager) find_package(autoware_cmake REQUIRED) autoware_package() @@ -12,8 +12,8 @@ endif() find_package(ament_cmake_auto REQUIRED) ament_auto_find_build_dependencies() -ament_auto_add_library(landmark_parser - src/landmark_parser_core.cpp +ament_auto_add_library(landmark_manager + src/landmark_manager.cpp ) ament_auto_package( diff --git a/localization/landmark_based_localizer/landmark_parser/include/landmark_parser/landmark_parser_core.hpp b/localization/landmark_based_localizer/landmark_manager/include/landmark_manager/landmark_manager.hpp similarity index 64% rename from localization/landmark_based_localizer/landmark_parser/include/landmark_parser/landmark_parser_core.hpp rename to localization/landmark_based_localizer/landmark_manager/include/landmark_manager/landmark_manager.hpp index edf45c2a2997a..9a22ee13f60ae 100644 --- a/localization/landmark_based_localizer/landmark_parser/include/landmark_parser/landmark_parser_core.hpp +++ b/localization/landmark_based_localizer/landmark_manager/include/landmark_manager/landmark_manager.hpp @@ -12,23 +12,35 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef LANDMARK_PARSER__LANDMARK_PARSER_CORE_HPP_ -#define LANDMARK_PARSER__LANDMARK_PARSER_CORE_HPP_ +#ifndef LANDMARK_MANAGER__LANDMARK_MANAGER_HPP_ +#define LANDMARK_MANAGER__LANDMARK_MANAGER_HPP_ #include #include "autoware_auto_mapping_msgs/msg/had_map_bin.hpp" #include +#include #include -#include #include +#include -std::map parse_landmark( +namespace landmark_manager +{ + +struct Landmark +{ + std::string id; + geometry_msgs::msg::Pose pose; +}; + +std::vector parse_landmarks( const autoware_auto_mapping_msgs::msg::HADMapBin::ConstSharedPtr & msg, const std::string & target_subtype, const rclcpp::Logger & logger); -visualization_msgs::msg::MarkerArray convert_to_marker_array_msg( - const std::map & landmarks); +visualization_msgs::msg::MarkerArray convert_landmarks_to_marker_array_msg( + const std::vector & landmarks); + +} // namespace landmark_manager -#endif // LANDMARK_PARSER__LANDMARK_PARSER_CORE_HPP_ +#endif // LANDMARK_MANAGER__LANDMARK_MANAGER_HPP_ diff --git a/localization/landmark_based_localizer/landmark_parser/package.xml b/localization/landmark_based_localizer/landmark_manager/package.xml similarity index 88% rename from localization/landmark_based_localizer/landmark_parser/package.xml rename to localization/landmark_based_localizer/landmark_manager/package.xml index e3daa93f81220..1a35ae6a338d1 100644 --- a/localization/landmark_based_localizer/landmark_parser/package.xml +++ b/localization/landmark_based_localizer/landmark_manager/package.xml @@ -1,9 +1,9 @@ - landmark_parser + landmark_manager 0.0.0 - The landmark_parser package + The landmark_manager package Shintaro Sakoda Masahiro Sakamoto Yamato Ando @@ -19,6 +19,7 @@ geometry_msgs lanelet2_extension rclcpp + tf2_eigen ament_cmake diff --git a/localization/landmark_based_localizer/landmark_parser/src/landmark_parser_core.cpp b/localization/landmark_based_localizer/landmark_manager/src/landmark_manager.cpp similarity index 92% rename from localization/landmark_based_localizer/landmark_parser/src/landmark_parser_core.cpp rename to localization/landmark_based_localizer/landmark_manager/src/landmark_manager.cpp index c86b35b6115b4..6d1698daf5eae 100644 --- a/localization/landmark_based_localizer/landmark_parser/src/landmark_parser_core.cpp +++ b/localization/landmark_based_localizer/landmark_manager/src/landmark_manager.cpp @@ -12,16 +12,20 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "landmark_parser/landmark_parser_core.hpp" +#include "landmark_manager/landmark_manager.hpp" #include "lanelet2_extension/utility/message_conversion.hpp" #include +#include #include #include -std::map parse_landmark( +namespace landmark_manager +{ + +std::vector parse_landmarks( const autoware_auto_mapping_msgs::msg::HADMapBin::ConstSharedPtr & msg, const std::string & target_subtype, const rclcpp::Logger & logger) { @@ -32,7 +36,7 @@ std::map parse_landmark( lanelet::LaneletMapPtr lanelet_map_ptr{std::make_shared()}; lanelet::utils::conversion::fromBinMsg(*msg, lanelet_map_ptr); - std::map landmark_map; + std::vector landmarks; for (const auto & poly : lanelet_map_ptr->polygonLayer) { const std::string type{poly.attributeOr(lanelet::AttributeName::Type, "none")}; @@ -93,8 +97,8 @@ std::map parse_landmark( pose.orientation.z = q.z(); pose.orientation.w = q.w(); - // Add to map - landmark_map[marker_id] = pose; + // Add + landmarks.push_back(Landmark{marker_id, pose}); RCLCPP_INFO_STREAM(logger, "id: " << marker_id); RCLCPP_INFO_STREAM( logger, @@ -104,11 +108,11 @@ std::map parse_landmark( << pose.orientation.z << ", " << pose.orientation.w); } - return landmark_map; + return landmarks; } -visualization_msgs::msg::MarkerArray convert_to_marker_array_msg( - const std::map & landmarks) +visualization_msgs::msg::MarkerArray convert_landmarks_to_marker_array_msg( + const std::vector & landmarks) { int32_t id = 0; visualization_msgs::msg::MarkerArray marker_array; @@ -152,3 +156,5 @@ visualization_msgs::msg::MarkerArray convert_to_marker_array_msg( } return marker_array; } + +} // namespace landmark_manager From 450f832924dd80d23964825c9e23b0a6bafe9a89 Mon Sep 17 00:00:00 2001 From: danielsanchezaran Date: Tue, 14 Nov 2023 11:03:49 +0900 Subject: [PATCH 104/202] feat(obstacle_cruise_planner): use obstacle velocity based obstacle parameters (#5510) * Add extra tag for moving obstacle type Signed-off-by: Daniel Sanchez * add static and moving as parameter postfixes Signed-off-by: Daniel Sanchez * set hysteresis-based obstacle moving classification Signed-off-by: Daniel Sanchez * update config params Signed-off-by: Daniel Sanchez * Use speed norm for object classification Signed-off-by: Daniel Sanchez * changed '_' for '.' to make the code more consistent Signed-off-by: Daniel Sanchez * update documentation Signed-off-by: Daniel Sanchez * move the obstacle moving check to generateSlowDownTrajectory Signed-off-by: Daniel Sanchez * remove unnecessary reference Signed-off-by: Daniel Sanchez * add const to certain variables Signed-off-by: Daniel Sanchez --------- Signed-off-by: Daniel Sanchez Signed-off-by: Daniel Sanchez --- planning/obstacle_cruise_planner/README.md | 32 +++--- .../config/obstacle_cruise_planner.param.yaml | 31 ++++-- .../planner_interface.hpp | 104 +++++++++++------- .../src/planner_interface.cpp | 24 ++-- 4 files changed, 120 insertions(+), 71 deletions(-) diff --git a/planning/obstacle_cruise_planner/README.md b/planning/obstacle_cruise_planner/README.md index 260f302791079..532761b1f0cb7 100644 --- a/planning/obstacle_cruise_planner/README.md +++ b/planning/obstacle_cruise_planner/README.md @@ -230,19 +230,25 @@ $$ ### Slow down planning -| Parameter | Type | Description | -| ----------------------------------------------- | -------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | -| `slow_down.labels` | vector(string) | A vector of labels for customizing obstacle-label-based slow down behavior. Each label represents an obstacle type that will be treated differently when applying slow down. The possible labels are ("default" (Mandatory), "unknown","car","truck","bus","trailer","motorcycle","bicycle" or "pedestrian") | -| `slow_down.default.min_lat_velocity` | double | minimum velocity to linearly calculate slow down velocity [m]. Note: This default value will be used when the detected obstacle label does not match any of the slow_down.labels | -| `slow_down.default.max_lat_velocity` | double | maximum velocity to linearly calculate slow down velocity [m]. Note: This default value will be used when the detected obstacle label does not match any of the slow_down.labels | -| `slow_down.default.min_lat_margin` | double | minimum lateral margin to linearly calculate slow down velocity [m]. Note: This default value will be used when the detected obstacle label does not match any of the slow_down.labels | -| `slow_down.default.max_lat_margin` | double | maximum lateral margin to linearly calculate slow down velocity [m]. Note: This default value will be used when the detected obstacle label does not match any of the slow_down.labels | -| `(optional) slow_down."label".min_lat_velocity` | double | minimum velocity to linearly calculate slow down velocity [m]. Note: only for obstacles specified in `slow_down.labels` | -| `(optional) slow_down."label".max_lat_velocity` | double | maximum velocity to linearly calculate slow down velocity [m]. Note: only for obstacles specified in `slow_down.labels` | -| `(optional) slow_down."label".min_lat_margin` | double | minimum lateral margin to linearly calculate slow down velocity [m]. Note: only for obstacles specified in `slow_down.labels` | -| `(optional) slow_down."label".max_lat_margin` | double | maximum lateral margin to linearly calculate slow down velocity [m]. Note: only for obstacles specified in `slow_down.labels` | - -The role of the slow down planning is inserting slow down velocity in the trajectory where the trajectory points are close to the obstacles. The parameters can be customized depending on the obstacle type (see `slow_down.labels`), making it possible to adjust the slow down behavior depending if the obstacle is a pedestrian, bicycle, car, etc. +| Parameter | Type | Description | +| ----------------------------------------------------------------- | -------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | +| `slow_down.labels` | vector(string) | A vector of labels for customizing obstacle-label-based slow down behavior. Each label represents an obstacle type that will be treated differently when applying slow down. The possible labels are ("default" (Mandatory), "unknown","car","truck","bus","trailer","motorcycle","bicycle" or "pedestrian") | +| `slow_down.default.static.min_lat_velocity` | double | minimum velocity to linearly calculate slow down velocity [m]. Note: This default value will be used when the detected obstacle label does not match any of the slow_down.labels and the obstacle is considered to be static, or not moving | +| `slow_down.default.static.max_lat_velocity` | double | maximum velocity to linearly calculate slow down velocity [m]. Note: This default value will be used when the detected obstacle label does not match any of the slow_down.labels and the obstacle is considered to be static, or not moving | +| `slow_down.default.static.min_lat_margin` | double | minimum lateral margin to linearly calculate slow down velocity [m]. Note: This default value will be used when the detected obstacle label does not match any of the slow_down.labels and the obstacle is considered to be static, or not moving | +| `slow_down.default.static.max_lat_margin` | double | maximum lateral margin to linearly calculate slow down velocity [m]. Note: This default value will be used when the detected obstacle label does not match any of the slow_down.labels and the obstacle is considered to be static, or not moving | +| `slow_down.default.moving.min_lat_velocity` | double | minimum velocity to linearly calculate slow down velocity [m]. Note: This default value will be used when the detected obstacle label does not match any of the slow_down.labels and the obstacle is considered to be moving | +| `slow_down.default.moving.max_lat_velocity` | double | maximum velocity to linearly calculate slow down velocity [m]. Note: This default value will be used when the detected obstacle label does not match any of the slow_down.labels and the obstacle is considered to be moving | +| `slow_down.default.moving.min_lat_margin` | double | minimum lateral margin to linearly calculate slow down velocity [m]. Note: This default value will be used when the detected obstacle label does not match any of the slow_down.labels and the obstacle is considered to be moving | +| `slow_down.default.moving.max_lat_margin` | double | maximum lateral margin to linearly calculate slow down velocity [m]. Note: This default value will be used when the detected obstacle label does not match any of the slow_down.labels and the obstacle is considered to be moving | +| `(optional) slow_down."label".(static & moving).min_lat_velocity` | double | minimum velocity to linearly calculate slow down velocity [m]. Note: only for obstacles specified in `slow_down.labels`. Requires a `static` and a `moving` value | +| `(optional) slow_down."label".(static & moving).max_lat_velocity` | double | maximum velocity to linearly calculate slow down velocity [m]. Note: only for obstacles specified in `slow_down.labels`. Requires a `static` and a `moving` value | +| `(optional) slow_down."label".(static & moving).min_lat_margin` | double | minimum lateral margin to linearly calculate slow down velocity [m]. Note: only for obstacles specified in `slow_down.labels`. Requires a `static` and a `moving` value | +| `(optional) slow_down."label".(static & moving).max_lat_margin` | double | maximum lateral margin to linearly calculate slow down velocity [m]. Note: only for obstacles specified in `slow_down.labels`. Requires a `static` and a `moving` value | + +The role of the slow down planning is inserting slow down velocity in the trajectory where the trajectory points are close to the obstacles. The parameters can be customized depending on the obstacle type (see `slow_down.labels`), making it possible to adjust the slow down behavior depending if the obstacle is a pedestrian, bicycle, car, etc. Each obstacle type has a `static` and a `moving` parameter set, so it is possible to customize the slow down response of the ego vehicle according to the obstacle type and if it is moving or not. If an obstacle is determined to be moving, the corresponding `moving` set of parameters will be used to compute the vehicle slow down, otherwise, the `static` parameters will be used. The `static` and `moving` separation is useful for customizing the ego vehicle slow down behavior to, for example, slow down more significantly when passing stopped vehicles that might cause occlusion or that might suddenly open its doors. + +An obstacle is classified as `static` if its total speed is less than the `moving_object_speed_threshold` parameter. Furthermore, a hysteresis based approach is used to avoid chattering, it uses the `moving_object_hysteresis_range` parameter range and the obstacle's previous state (`moving` or `static`) to determine if the obstacle is moving or not. In other words, if an obstacle was previously classified as `static`, it will not change its classification to `moving` unless its total speed is greater than `moving_object_speed_threshold` + `moving_object_hysteresis_range`. Likewise, an obstacle previously classified as `moving`, will only change to `static` if its speed is lower than `moving_object_speed_threshold` - `moving_object_hysteresis_range`. The closest point on the obstacle to the ego's trajectory is calculated. Then, the slow down velocity is calculated by linear interpolation with the distance between the point and trajectory as follows. diff --git a/planning/obstacle_cruise_planner/config/obstacle_cruise_planner.param.yaml b/planning/obstacle_cruise_planner/config/obstacle_cruise_planner.param.yaml index 123d0dda93b7a..def2a2af78b37 100644 --- a/planning/obstacle_cruise_planner/config/obstacle_cruise_planner.param.yaml +++ b/planning/obstacle_cruise_planner/config/obstacle_cruise_planner.param.yaml @@ -183,15 +183,30 @@ - "default" - "pedestrian" default: - min_lat_margin: 0.2 - max_lat_margin: 1.0 - min_ego_velocity: 2.0 - max_ego_velocity: 8.0 + moving: + min_lat_margin: 0.8 + max_lat_margin: 1.3 + min_ego_velocity: 0.5 + max_ego_velocity: 1.5 + static: + min_lat_margin: 0.2 + max_lat_margin: 1.0 + min_ego_velocity: 2.0 + max_ego_velocity: 8.0 pedestrian: - min_lat_margin: 0.5 - max_lat_margin: 1.5 - min_ego_velocity: 1.0 - max_ego_velocity: 2.0 + moving: + min_lat_margin: 0.8 + max_lat_margin: 1.3 + min_ego_velocity: 0.5 + max_ego_velocity: 0.8 + static: + min_lat_margin: 0.8 + max_lat_margin: 1.3 + min_ego_velocity: 1.0 + max_ego_velocity: 2.0 + + moving_object_speed_threshold: 0.5 # [m/s] how fast the object needs to move to be considered as "moving" + moving_object_hysteresis_range: 0.1 # [m/s] hysteresis range used to prevent chattering when obstacle moves close to moving_object_speed_threshold time_margin_on_target_velocity: 1.5 # [s] diff --git a/planning/obstacle_cruise_planner/include/obstacle_cruise_planner/planner_interface.hpp b/planning/obstacle_cruise_planner/include/obstacle_cruise_planner/planner_interface.hpp index d8c31fb35df9b..2e1e165a78952 100644 --- a/planning/obstacle_cruise_planner/include/obstacle_cruise_planner/planner_interface.hpp +++ b/planning/obstacle_cruise_planner/include/obstacle_cruise_planner/planner_interface.hpp @@ -49,6 +49,11 @@ class PlannerInterface node.create_publisher("/planning/velocity_factors/obstacle_cruise", 1); stop_speed_exceeded_pub_ = node.create_publisher("~/output/stop_speed_exceeded", 1); + + moving_object_speed_threshold = + node.declare_parameter("slow_down.moving_object_speed_threshold"); + moving_object_hysteresis_range = + node.declare_parameter("slow_down.moving_object_hysteresis_range"); } PlannerInterface() = default; @@ -183,11 +188,12 @@ class PlannerInterface const std::string & arg_uuid, const std::vector & traj_points, const std::optional & start_idx, const std::optional & end_idx, const double arg_target_vel, const double arg_feasible_target_vel, - const double arg_precise_lat_dist) + const double arg_precise_lat_dist, const bool is_moving) : uuid(arg_uuid), target_vel(arg_target_vel), feasible_target_vel(arg_feasible_target_vel), - precise_lat_dist(arg_precise_lat_dist) + precise_lat_dist(arg_precise_lat_dist), + is_moving(is_moving) { if (start_idx) { start_point = traj_points.at(*start_idx).pose; @@ -203,15 +209,17 @@ class PlannerInterface double precise_lat_dist; std::optional start_point{std::nullopt}; std::optional end_point{std::nullopt}; + bool is_moving; }; double calculateMarginFromObstacleOnCurve( const PlannerData & planner_data, const StopObstacle & stop_obstacle) const; double calculateSlowDownVelocity( - const SlowDownObstacle & obstacle, const std::optional & prev_output) const; + const SlowDownObstacle & obstacle, const std::optional & prev_output, + const bool is_obstacle_moving) const; std::optional> calculateDistanceToSlowDownWithConstraints( const PlannerData & planner_data, const std::vector & traj_points, const SlowDownObstacle & obstacle, const std::optional & prev_output, - const double dist_to_ego) const; + const double dist_to_ego, const bool is_obstacle_moving) const; struct SlowDownInfo { @@ -223,6 +231,7 @@ class PlannerInterface struct SlowDownParam { std::vector obstacle_labels{"default"}; + std::vector obstacle_moving_classification{"static", "moving"}; std::unordered_map types_map; struct ObstacleSpecificParams { @@ -233,28 +242,23 @@ class PlannerInterface }; explicit SlowDownParam(rclcpp::Node & node) { - types_map = {{ObjectClassification::UNKNOWN, "unknown"}, - {ObjectClassification::CAR, "car"}, - {ObjectClassification::TRUCK, "truck"}, - {ObjectClassification::BUS, "bus"}, - {ObjectClassification::TRAILER, "trailer"}, - {ObjectClassification::MOTORCYCLE, "motorcycle"}, - {ObjectClassification::BICYCLE, "bicycle"}, - {ObjectClassification::PEDESTRIAN, "pedestrian"}}; obstacle_labels = node.declare_parameter>("slow_down.labels", obstacle_labels); // obstacle label dependant parameters for (const auto & label : obstacle_labels) { - ObstacleSpecificParams params; - params.max_lat_margin = - node.declare_parameter("slow_down." + label + ".max_lat_margin"); - params.min_lat_margin = - node.declare_parameter("slow_down." + label + ".min_lat_margin"); - params.max_ego_velocity = - node.declare_parameter("slow_down." + label + ".max_ego_velocity"); - params.min_ego_velocity = - node.declare_parameter("slow_down." + label + ".min_ego_velocity"); - obstacle_to_param_struct_map.emplace(std::make_pair(label, params)); + for (const auto & movement_postfix : obstacle_moving_classification) { + ObstacleSpecificParams params; + params.max_lat_margin = node.declare_parameter( + "slow_down." + label + "." + movement_postfix + ".max_lat_margin"); + params.min_lat_margin = node.declare_parameter( + "slow_down." + label + "." + movement_postfix + ".min_lat_margin"); + params.max_ego_velocity = node.declare_parameter( + "slow_down." + label + "." + movement_postfix + ".max_ego_velocity"); + params.min_ego_velocity = node.declare_parameter( + "slow_down." + label + "." + movement_postfix + ".min_ego_velocity"); + obstacle_to_param_struct_map.emplace( + std::make_pair(label + "." + movement_postfix, params)); + } } // common parameters @@ -264,34 +268,49 @@ class PlannerInterface lpf_gain_lat_dist = node.declare_parameter("slow_down.lpf_gain_lat_dist"); lpf_gain_dist_to_slow_down = node.declare_parameter("slow_down.lpf_gain_dist_to_slow_down"); + + types_map = {{ObjectClassification::UNKNOWN, "unknown"}, + {ObjectClassification::CAR, "car"}, + {ObjectClassification::TRUCK, "truck"}, + {ObjectClassification::BUS, "bus"}, + {ObjectClassification::TRAILER, "trailer"}, + {ObjectClassification::MOTORCYCLE, "motorcycle"}, + {ObjectClassification::BICYCLE, "bicycle"}, + {ObjectClassification::PEDESTRIAN, "pedestrian"}}; } - ObstacleSpecificParams getObstacleParamByLabel(const ObjectClassification & label_id) const + ObstacleSpecificParams getObstacleParamByLabel( + const ObjectClassification & label_id, const bool is_obstacle_moving) const { - const std::string label = types_map.at(label_id.label); - if (obstacle_to_param_struct_map.count(label) > 0) { - return obstacle_to_param_struct_map.at(label); - } - return obstacle_to_param_struct_map.at("default"); + const std::string label = + (types_map.count(label_id.label) > 0) ? types_map.at(label_id.label) : "default"; + const std::string movement_postfix = (is_obstacle_moving) ? "moving" : "static"; + return (obstacle_to_param_struct_map.count(label + "." + movement_postfix) > 0) + ? obstacle_to_param_struct_map.at(label + "." + movement_postfix) + : obstacle_to_param_struct_map.at("default." + movement_postfix); } void onParam(const std::vector & parameters) { // obstacle type dependant parameters for (const auto & label : obstacle_labels) { - auto & param_by_obstacle_label = obstacle_to_param_struct_map[label]; - tier4_autoware_utils::updateParam( - parameters, "slow_down." + label + ".max_lat_margin", - param_by_obstacle_label.max_lat_margin); - tier4_autoware_utils::updateParam( - parameters, "slow_down." + label + ".min_lat_margin", - param_by_obstacle_label.min_lat_margin); - tier4_autoware_utils::updateParam( - parameters, "slow_down." + label + ".max_ego_velocity", - param_by_obstacle_label.max_ego_velocity); - tier4_autoware_utils::updateParam( - parameters, "slow_down." + label + ".min_ego_velocity", - param_by_obstacle_label.min_ego_velocity); + for (const auto & movement_postfix : obstacle_moving_classification) { + if (obstacle_to_param_struct_map.count(label + "." + movement_postfix) < 1) continue; + auto & param_by_obstacle_label = + obstacle_to_param_struct_map.at(label + "." + movement_postfix); + tier4_autoware_utils::updateParam( + parameters, "slow_down." + label + "." + movement_postfix + ".max_lat_margin", + param_by_obstacle_label.max_lat_margin); + tier4_autoware_utils::updateParam( + parameters, "slow_down." + label + "." + movement_postfix + ".min_lat_margin", + param_by_obstacle_label.min_lat_margin); + tier4_autoware_utils::updateParam( + parameters, "slow_down." + label + "." + movement_postfix + ".max_ego_velocity", + param_by_obstacle_label.max_ego_velocity); + tier4_autoware_utils::updateParam( + parameters, "slow_down." + label + "." + movement_postfix + ".min_ego_velocity", + param_by_obstacle_label.min_ego_velocity); + } } // common parameters @@ -313,7 +332,8 @@ class PlannerInterface double lpf_gain_dist_to_slow_down; }; SlowDownParam slow_down_param_; - + double moving_object_speed_threshold; + double moving_object_hysteresis_range; std::vector prev_slow_down_output_; // previous trajectory and distance to stop // NOTE: Previous trajectory is memorized to deal with nearest index search for overlapping or diff --git a/planning/obstacle_cruise_planner/src/planner_interface.cpp b/planning/obstacle_cruise_planner/src/planner_interface.cpp index 76469364cfb39..47f62016df53b 100644 --- a/planning/obstacle_cruise_planner/src/planner_interface.cpp +++ b/planning/obstacle_cruise_planner/src/planner_interface.cpp @@ -561,9 +561,17 @@ std::vector PlannerInterface::generateSlowDownTrajectory( const auto & obstacle = obstacles.at(i); const auto prev_output = getObjectFromUuid(prev_slow_down_output_, obstacle.uuid); + const bool is_obstacle_moving = [&]() -> bool { + const auto object_vel_norm = std::hypot(obstacle.velocity, obstacle.lat_velocity); + if (!prev_output) return object_vel_norm > moving_object_speed_threshold; + if (prev_output->is_moving) + return object_vel_norm > moving_object_speed_threshold - moving_object_hysteresis_range; + return object_vel_norm > moving_object_speed_threshold + moving_object_hysteresis_range; + }(); + // calculate slow down start distance, and insert slow down velocity const auto dist_vec_to_slow_down = calculateDistanceToSlowDownWithConstraints( - planner_data, slow_down_traj_points, obstacle, prev_output, dist_to_ego); + planner_data, slow_down_traj_points, obstacle, prev_output, dist_to_ego, is_obstacle_moving); if (!dist_vec_to_slow_down) { RCLCPP_INFO_EXPRESSION( rclcpp::get_logger("ObstacleCruisePlanner::PlannerInterface"), enable_debug_info_, @@ -648,7 +656,7 @@ std::vector PlannerInterface::generateSlowDownTrajectory( // update prev_slow_down_output_ new_prev_slow_down_output.push_back(SlowDownOutput{ obstacle.uuid, slow_down_traj_points, slow_down_start_idx, slow_down_end_idx, - stable_slow_down_vel, feasible_slow_down_vel, obstacle.precise_lat_dist}); + stable_slow_down_vel, feasible_slow_down_vel, obstacle.precise_lat_dist, is_obstacle_moving}); } // update prev_slow_down_output_ @@ -663,10 +671,11 @@ std::vector PlannerInterface::generateSlowDownTrajectory( } double PlannerInterface::calculateSlowDownVelocity( - const SlowDownObstacle & obstacle, const std::optional & prev_output) const + const SlowDownObstacle & obstacle, const std::optional & prev_output, + const bool is_obstacle_moving) const { - const auto & p = slow_down_param_.getObstacleParamByLabel(obstacle.classification); - + const auto & p = + slow_down_param_.getObstacleParamByLabel(obstacle.classification, is_obstacle_moving); const double stable_precise_lat_dist = [&]() { if (prev_output) { return signal_processing::lowpassFilter( @@ -689,15 +698,14 @@ std::optional> PlannerInterface::calculateDistanceToSlowDownWithConstraints( const PlannerData & planner_data, const std::vector & traj_points, const SlowDownObstacle & obstacle, const std::optional & prev_output, - const double dist_to_ego) const + const double dist_to_ego, const bool is_obstacle_moving) const { const double abs_ego_offset = planner_data.is_driving_forward ? std::abs(vehicle_info_.max_longitudinal_offset_m) : std::abs(vehicle_info_.min_longitudinal_offset_m); const double obstacle_vel = obstacle.velocity; - // calculate slow down velocity - const double slow_down_vel = calculateSlowDownVelocity(obstacle, prev_output); + const double slow_down_vel = calculateSlowDownVelocity(obstacle, prev_output, is_obstacle_moving); // calculate distance to collision points const double dist_to_front_collision = From cadba461d609e1f9ca72f29ab199814c200fcfd0 Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Tue, 14 Nov 2023 11:31:36 +0900 Subject: [PATCH 105/202] refactor(side_shift): support new interface (#5556) Signed-off-by: satoshi-ota --- .../side_shift/side_shift_module.hpp | 26 ++----------------- .../side_shift/side_shift_module.cpp | 14 ++++------ 2 files changed, 7 insertions(+), 33 deletions(-) diff --git a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/side_shift/side_shift_module.hpp b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/side_shift/side_shift_module.hpp index 7c04cab5c081f..fce31b6db7369 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/side_shift/side_shift_module.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/side_shift/side_shift_module.hpp @@ -49,8 +49,6 @@ class SideShiftModule : public SceneModuleInterface bool isExecutionReady() const override; bool isReadyForNextRequest( const double & min_request_time_sec, bool override_requests = false) const noexcept; - // TODO(someone): remove this, and use base class function - [[deprecated]] ModuleStatus updateState() override; void updateData() override; BehaviorModuleOutput plan() override; BehaviorModuleOutput planWaitingApproval() override; @@ -70,32 +68,12 @@ class SideShiftModule : public SceneModuleInterface { } - // TODO(someone): remove this, and use base class function - [[deprecated]] BehaviorModuleOutput run() override - { - updateData(); - - if (!isWaitingApproval()) { - return plan(); - } - - // module is waiting approval. Check it. - if (isActivated()) { - RCLCPP_DEBUG(getLogger(), "Was waiting approval, and now approved. Do plan()."); - return plan(); - } else { - RCLCPP_DEBUG(getLogger(), "keep waiting approval... Do planCandidate()."); - return planWaitingApproval(); - } - } - private: - bool canTransitSuccessState() override { return false; } + bool canTransitSuccessState() override; bool canTransitFailureState() override { return false; } - bool canTransitIdleToRunningState() override { return false; } - rclcpp::Subscription::SharedPtr lateral_offset_subscriber_; + bool canTransitIdleToRunningState() override { return true; } void initVariables(); diff --git a/planning/behavior_path_planner/src/scene_module/side_shift/side_shift_module.cpp b/planning/behavior_path_planner/src/scene_module/side_shift/side_shift_module.cpp index 2232c6d750d55..46332e738f82f 100644 --- a/planning/behavior_path_planner/src/scene_module/side_shift/side_shift_module.cpp +++ b/planning/behavior_path_planner/src/scene_module/side_shift/side_shift_module.cpp @@ -40,8 +40,6 @@ SideShiftModule::SideShiftModule( const std::unordered_map > & rtc_interface_ptr_map) : SceneModuleInterface{name, node, rtc_interface_ptr_map}, parameters_{parameters} { - // If lateral offset is subscribed, it approves side shift module automatically - clearWaitingApproval(); } void SideShiftModule::initVariables() @@ -80,7 +78,7 @@ void SideShiftModule::setParameters(const std::shared_ptr & bool SideShiftModule::isExecutionRequested() const { - if (current_state_ == ModuleStatus::RUNNING) { + if (getCurrentStatus() == ModuleStatus::RUNNING) { return true; } @@ -112,7 +110,7 @@ bool SideShiftModule::isReadyForNextRequest( return false; } -ModuleStatus SideShiftModule::updateState() +bool SideShiftModule::canTransitSuccessState() { // Never return the FAILURE. When the desired offset is zero and the vehicle is in the original // drivable area,this module can stop the computation and return SUCCESS. @@ -150,7 +148,7 @@ ModuleStatus SideShiftModule::updateState() no_shifted_plan); if (no_request && no_shifted_plan && no_offset_diff) { - return ModuleStatus::SUCCESS; + return true; } const auto & current_lanes = utils::getCurrentLanes(planner_data_); @@ -169,7 +167,7 @@ ModuleStatus SideShiftModule::updateState() } else { shift_status_ = SideShiftStatus::AFTER_SHIFT; } - return ModuleStatus::RUNNING; + return false; } void SideShiftModule::updateData() @@ -184,7 +182,7 @@ void SideShiftModule::updateData() } } - if (current_state_ != ModuleStatus::RUNNING && current_state_ != ModuleStatus::IDLE) { + if (getCurrentStatus() != ModuleStatus::RUNNING && getCurrentStatus() != ModuleStatus::IDLE) { return; } @@ -331,8 +329,6 @@ BehaviorModuleOutput SideShiftModule::planWaitingApproval() prev_output_ = shifted_path; - waitApproval(); - return output; } From 9f43afc510143246982d9d3f9600913462796417 Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Tue, 14 Nov 2023 12:46:44 +0900 Subject: [PATCH 106/202] refactor(goal_planner): add updateStatus and reduce variables (#5546) * refactor(goal_planner): add updateStatus and reduce variables Signed-off-by: kosuke55 refactor Signed-off-by: kosuke55 refactor Signed-off-by: kosuke55 * move to updatedata Signed-off-by: kosuke55 * Update planning/behavior_path_planner/src/scene_module/goal_planner/goal_planner_module.cpp Co-authored-by: Kyoichi Sugahara * style(pre-commit): autofix --------- Signed-off-by: kosuke55 Co-authored-by: Kyoichi Sugahara Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- .../goal_planner/goal_planner_module.hpp | 56 ++-- .../goal_planner/pull_over_planner_base.hpp | 1 + .../goal_planner/goal_planner_module.cpp | 272 +++++++++--------- 3 files changed, 152 insertions(+), 177 deletions(-) diff --git a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/goal_planner/goal_planner_module.hpp b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/goal_planner/goal_planner_module.hpp index e4044d7191805..5149979ef082d 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/goal_planner/goal_planner_module.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/goal_planner/goal_planner_module.hpp @@ -93,50 +93,30 @@ class PullOverStatus void reset() { lane_parking_pull_over_path_ = nullptr; - current_path_idx_ = 0; - require_increment_ = true; prev_stop_path_ = nullptr; prev_stop_path_after_approval_ = nullptr; - current_lanes_.clear(); - pull_over_lanes_.clear(); - lanes_.clear(); - has_decided_path_ = false; - is_safe_dynamic_objects_ = false; + + is_safe_ = false; prev_found_path_ = false; - prev_is_safe_dynamic_objects_ = false; - has_decided_velocity_ = false; + prev_is_safe_ = false; } DEFINE_SETTER_GETTER(std::shared_ptr, lane_parking_pull_over_path) - DEFINE_SETTER_GETTER(size_t, current_path_idx) - DEFINE_SETTER_GETTER(bool, require_increment) DEFINE_SETTER_GETTER(std::shared_ptr, prev_stop_path) DEFINE_SETTER_GETTER(std::shared_ptr, prev_stop_path_after_approval) - DEFINE_SETTER_GETTER(lanelet::ConstLanelets, current_lanes) - DEFINE_SETTER_GETTER(lanelet::ConstLanelets, pull_over_lanes) - DEFINE_SETTER_GETTER(std::vector, lanes) - DEFINE_SETTER_GETTER(bool, has_decided_path) - DEFINE_SETTER_GETTER(bool, is_safe_dynamic_objects) + DEFINE_SETTER_GETTER(bool, is_safe) DEFINE_SETTER_GETTER(bool, prev_found_path) - DEFINE_SETTER_GETTER(bool, prev_is_safe_dynamic_objects) - DEFINE_SETTER_GETTER(bool, has_decided_velocity) + DEFINE_SETTER_GETTER(bool, prev_is_safe) DEFINE_SETTER_GETTER(Pose, refined_goal_pose) DEFINE_SETTER_GETTER(Pose, closest_goal_candidate_pose) private: std::shared_ptr lane_parking_pull_over_path_{nullptr}; - size_t current_path_idx_{0}; - bool require_increment_{true}; std::shared_ptr prev_stop_path_{nullptr}; std::shared_ptr prev_stop_path_after_approval_{nullptr}; - lanelet::ConstLanelets current_lanes_{}; - lanelet::ConstLanelets pull_over_lanes_{}; - std::vector lanes_{}; - bool has_decided_path_{false}; - bool is_safe_dynamic_objects_{false}; + bool is_safe_{false}; bool prev_found_path_{false}; - bool prev_is_safe_dynamic_objects_{false}; - bool has_decided_velocity_{false}; + bool prev_is_safe_{false}; Pose refined_goal_pose_{}; Pose closest_goal_candidate_pose_{}; @@ -177,6 +157,10 @@ class ThreadSafeData bool incrementPathIndex() { const std::lock_guard lock(mutex_); + if (!pull_over_path_) { + return false; + } + if (pull_over_path_->incrementPathIndex()) { last_path_idx_increment_time_ = clock_->now(); return true; @@ -393,10 +377,10 @@ class GoalPlannerModule : public SceneModuleInterface void decelerateForTurnSignal(const Pose & stop_pose, PathWithLaneId & path) const; void decelerateBeforeSearchStart( const Pose & search_start_offset_pose, PathWithLaneId & path) const; - PathWithLaneId generateStopPath(); - PathWithLaneId generateFeasibleStopPath(); + PathWithLaneId generateStopPath() const; + PathWithLaneId generateFeasibleStopPath() const; - void keepStoppedWithCurrentPath(PathWithLaneId & path); + void keepStoppedWithCurrentPath(PathWithLaneId & path) const; double calcSignedArcLengthFromEgo(const PathWithLaneId & path, const Pose & pose) const; // status @@ -411,6 +395,7 @@ class GoalPlannerModule : public SceneModuleInterface bool hasDecidedPath() const; void decideVelocity(); bool foundPullOverPath() const; + void updateStatus(const BehaviorModuleOutput & output); // validation bool hasEnoughDistance(const PullOverPath & pull_over_path) const; @@ -433,16 +418,13 @@ class GoalPlannerModule : public SceneModuleInterface const std::vector & pull_over_path_candidates, const GoalCandidates & goal_candidates) const; - // deal with pull over partial paths - void transitionToNextPathIfFinishingCurrentPath(); - // lanes and drivable area - void setLanes(); + std::vector generateDrivableLanes() const; void setDrivableAreaInfo(BehaviorModuleOutput & output) const; // output setter - void setOutput(BehaviorModuleOutput & output); - void setStopPath(BehaviorModuleOutput & output); + void setOutput(BehaviorModuleOutput & output) const; + void setStopPath(BehaviorModuleOutput & output) const; /** * @brief Sets a stop path in the current path based on safety conditions and previous paths. @@ -453,7 +435,7 @@ class GoalPlannerModule : public SceneModuleInterface * * @param output BehaviorModuleOutput */ - void setStopPathFromCurrentPath(BehaviorModuleOutput & output); + void setStopPathFromCurrentPath(BehaviorModuleOutput & output) const; void setModifiedGoal(BehaviorModuleOutput & output) const; void setTurnSignalInfo(BehaviorModuleOutput & output) const; diff --git a/planning/behavior_path_planner/include/behavior_path_planner/utils/goal_planner/pull_over_planner_base.hpp b/planning/behavior_path_planner/include/behavior_path_planner/utils/goal_planner/pull_over_planner_base.hpp index 4267261fdfe84..acb034a29d9e5 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/utils/goal_planner/pull_over_planner_base.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/utils/goal_planner/pull_over_planner_base.hpp @@ -53,6 +53,7 @@ struct PullOverPath Pose end_pose{}; std::vector debug_poses{}; size_t goal_id{}; + bool decided_velocity{false}; PathWithLaneId getFullPath() const { diff --git a/planning/behavior_path_planner/src/scene_module/goal_planner/goal_planner_module.cpp b/planning/behavior_path_planner/src/scene_module/goal_planner/goal_planner_module.cpp index 0475cd92f1bec..202c19f1bf1db 100644 --- a/planning/behavior_path_planner/src/scene_module/goal_planner/goal_planner_module.cpp +++ b/planning/behavior_path_planner/src/scene_module/goal_planner/goal_planner_module.cpp @@ -255,10 +255,21 @@ void GoalPlannerModule::updateData() updateOccupancyGrid(); - // set current road lanes, pull over lanes, and drivable lane - setLanes(); - generateGoalCandidates(); + + if (!isActivated()) { + return; + } + + if (hasFinishedCurrentPath()) { + thread_safe_data_.incrementPathIndex(); + } + + if (!last_approval_data_) { + last_approval_data_ = + std::make_unique(clock_->now(), planner_data_->self_odometry->pose.pose); + decideVelocity(); + } } void GoalPlannerModule::initializeOccupancyGridMap() @@ -524,9 +535,7 @@ void GoalPlannerModule::returnToLaneParking() return; } - status_.set_has_decided_path(false); thread_safe_data_.set_pull_over_path(status_.get_lane_parking_pull_over_path()); - RCLCPP_INFO(getLogger(), "return to lane parking"); } @@ -549,9 +558,6 @@ void GoalPlannerModule::generateGoalCandidates() goal_searcher_->setPlannerData(planner_data_); goal_searcher_->setReferenceGoal(status_.get_refined_goal_pose()); thread_safe_data_.set_goal_candidates(goal_searcher_->search()); - const auto current_lanes = utils::getExtendedCurrentLanes( - planner_data_, parameters_->backward_goal_search_length, - parameters_->forward_goal_search_length, false); status_.set_closest_goal_candidate_pose( goal_searcher_->getClosetGoalCandidateAlongLanes(thread_safe_data_.get_goal_candidates()) .goal_pose); @@ -689,28 +695,25 @@ void GoalPlannerModule::selectSafePullOverPath() } } -void GoalPlannerModule::setLanes() +std::vector GoalPlannerModule::generateDrivableLanes() const { - const std::lock_guard lock(mutex_); - status_.set_current_lanes(utils::getExtendedCurrentLanes( + const lanelet::ConstLanelets current_lanes = utils::getExtendedCurrentLanes( planner_data_, parameters_->backward_goal_search_length, parameters_->forward_goal_search_length, - /*forward_only_in_route*/ false)); - status_.set_pull_over_lanes(goal_planner_utils::getPullOverLanes( + /*forward_only_in_route*/ false); + const lanelet::ConstLanelets pull_over_lanes = goal_planner_utils::getPullOverLanes( *(planner_data_->route_handler), left_side_parking_, parameters_->backward_goal_search_length, - parameters_->forward_goal_search_length)); - status_.set_lanes(utils::generateDrivableLanesWithShoulderLanes( - status_.get_current_lanes(), status_.get_pull_over_lanes())); + parameters_->forward_goal_search_length); + return utils::generateDrivableLanesWithShoulderLanes(current_lanes, pull_over_lanes); } -void GoalPlannerModule::setOutput(BehaviorModuleOutput & output) +void GoalPlannerModule::setOutput(BehaviorModuleOutput & output) const { if (!thread_safe_data_.foundPullOverPath()) { // situation : not safe against static objects use stop_path setStopPath(output); } else if ( - parameters_->safety_check_params.enable_safety_check && !isSafePath() && - status_.get_has_decided_path() && isActivated()) { + parameters_->safety_check_params.enable_safety_check && !isSafePath() && isActivated()) { // situation : not safe against dynamic objects after approval // insert stop point in current path if ego is able to stop with acceleration and jerk // constraints @@ -735,34 +738,22 @@ void GoalPlannerModule::setOutput(BehaviorModuleOutput & output) setModifiedGoal(output); // set hazard and turn signal - if (status_.get_has_decided_path()) { + if (hasDecidedPath()) { setTurnSignalInfo(output); } - - // for the next loop setOutput(). - // this is used to determine whether to generate a new stop path or keep the current stop path. - const std::lock_guard lock(mutex_); - status_.set_prev_found_path(thread_safe_data_.foundPullOverPath()); - status_.set_prev_is_safe_dynamic_objects( - parameters_->safety_check_params.enable_safety_check ? isSafePath() : true); } -void GoalPlannerModule::setStopPath(BehaviorModuleOutput & output) +void GoalPlannerModule::setStopPath(BehaviorModuleOutput & output) const { if (status_.get_prev_found_path() || !status_.get_prev_stop_path()) { // safe -> not_safe or no prev_stop_path: generate new stop_path output.path = std::make_shared(generateStopPath()); - const std::lock_guard lock(mutex_); - status_.set_prev_stop_path(output.path); - // set stop path as pull over path - auto stop_pull_over_path = std::make_shared(); - stop_pull_over_path->partial_paths.push_back(*output.path); - thread_safe_data_.set_pull_over_path(stop_pull_over_path); RCLCPP_WARN_THROTTLE( getLogger(), *clock_, 5000, "Not found safe pull_over path, generate stop path"); } else { // not_safe -> not_safe: use previous stop path output.path = status_.get_prev_stop_path(); + // stop_pose_ is removed in manager every loop, so need to set every loop. stop_pose_ = utils::getFirstStopPoseFromPath(*output.path); RCLCPP_WARN_THROTTLE( getLogger(), *clock_, 5000, "Not found safe pull_over path, use previous stop path"); @@ -770,10 +761,10 @@ void GoalPlannerModule::setStopPath(BehaviorModuleOutput & output) output.reference_path = getPreviousModuleOutput().reference_path; } -void GoalPlannerModule::setStopPathFromCurrentPath(BehaviorModuleOutput & output) +void GoalPlannerModule::setStopPathFromCurrentPath(BehaviorModuleOutput & output) const { // safe or not safe(no feasible stop_path found) -> not_safe: try to find new feasible stop_path - if (status_.get_prev_is_safe_dynamic_objects() || !status_.get_prev_stop_path_after_approval()) { + if (status_.get_prev_is_safe() || !status_.get_prev_stop_path_after_approval()) { auto current_path = thread_safe_data_.get_pull_over_path()->getCurrentPath(); const auto stop_path = behavior_path_planner::utils::start_goal_planner_common::generateFeasibleStopPath( @@ -781,7 +772,7 @@ void GoalPlannerModule::setStopPathFromCurrentPath(BehaviorModuleOutput & output parameters_->maximum_jerk_for_stop); if (stop_path) { output.path = std::make_shared(*stop_path); - status_.set_prev_stop_path_after_approval(output.path); + // status_.set_prev_stop_path_after_approval(output.path); RCLCPP_WARN_THROTTLE(getLogger(), *clock_, 5000, "Collision detected, generate stop path"); } else { output.path = @@ -794,6 +785,7 @@ void GoalPlannerModule::setStopPathFromCurrentPath(BehaviorModuleOutput & output } else { // not_safe safe(no feasible stop path found) -> not_safe: use previous stop path output.path = status_.get_prev_stop_path_after_approval(); + // stop_pose_ is removed in manager every loop, so need to set every loop. stop_pose_ = utils::getFirstStopPoseFromPath(*output.path); RCLCPP_WARN_THROTTLE(getLogger(), *clock_, 5000, "Collision detected, use previous stop path"); } @@ -808,7 +800,7 @@ void GoalPlannerModule::setDrivableAreaInfo(BehaviorModuleOutput & output) const planner_data_->parameters.vehicle_width / 2.0 + drivable_area_margin; } else { const auto target_drivable_lanes = utils::getNonOverlappingExpandedLanes( - *output.path, status_.get_lanes(), planner_data_->drivable_area_expansion_parameters); + *output.path, generateDrivableLanes(), planner_data_->drivable_area_expansion_parameters); DrivableAreaInfo current_drivable_area_info; current_drivable_area_info.drivable_lanes = target_drivable_lanes; @@ -860,13 +852,10 @@ void GoalPlannerModule::updateSteeringFactor( pose, distance, SteeringFactor::GOAL_PLANNER, steering_factor_direction, type, ""); } +// NOTE: Once this function returns true, it will continue to return true thereafter. Because +// selectSafePullOverPath() will not select new path. bool GoalPlannerModule::hasDecidedPath() const { - // once decided, keep the decision - if (status_.get_has_decided_path()) { - return true; - } - // if path is not safe, not decided if (!thread_safe_data_.foundPullOverPath()) { return false; @@ -874,18 +863,15 @@ bool GoalPlannerModule::hasDecidedPath() const // if ego is sufficiently close to the start of the nearest candidate path, the path is decided const auto & current_pose = planner_data_->self_odometry->pose.pose; - const auto ego_segment_idx = motion_utils::findNearestSegmentIndex( - thread_safe_data_.get_pull_over_path()->getCurrentPath().points, current_pose, - std::numeric_limits::max(), M_PI_2); - if (!ego_segment_idx) { - return false; - } + const size_t ego_segment_idx = motion_utils::findNearestSegmentIndex( + thread_safe_data_.get_pull_over_path()->getCurrentPath().points, current_pose.position); + const size_t start_pose_segment_idx = motion_utils::findNearestSegmentIndex( thread_safe_data_.get_pull_over_path()->getCurrentPath().points, thread_safe_data_.get_pull_over_path()->start_pose.position); const double dist_to_parking_start_pose = calcSignedArcLength( thread_safe_data_.get_pull_over_path()->getCurrentPath().points, current_pose.position, - *ego_segment_idx, thread_safe_data_.get_pull_over_path()->start_pose.position, + ego_segment_idx, thread_safe_data_.get_pull_over_path()->start_pose.position, start_pose_segment_idx); return dist_to_parking_start_pose < parameters_->decide_path_distance; } @@ -894,16 +880,12 @@ void GoalPlannerModule::decideVelocity() { const double current_vel = planner_data_->self_odometry->twist.twist.linear.x; - // decide velocity to guarantee turn signal lighting time - if (!status_.get_has_decided_velocity()) { - auto & first_path = thread_safe_data_.get_pull_over_path()->partial_paths.front(); - const auto vel = - static_cast(std::max(current_vel, parameters_->pull_over_minimum_velocity)); - for (auto & p : first_path.points) { - p.point.longitudinal_velocity_mps = std::min(p.point.longitudinal_velocity_mps, vel); - } + auto & first_path = thread_safe_data_.get_pull_over_path()->partial_paths.front(); + const auto vel = + static_cast(std::max(current_vel, parameters_->pull_over_minimum_velocity)); + for (auto & p : first_path.points) { + p.point.longitudinal_velocity_mps = std::min(p.point.longitudinal_velocity_mps, vel); } - status_.set_has_decided_velocity(true); } CandidateOutput GoalPlannerModule::planCandidate() const @@ -920,31 +902,15 @@ BehaviorModuleOutput GoalPlannerModule::planWithGoalModification() return getPreviousModuleOutput(); } - constexpr double path_update_duration = 1.0; - resetPathCandidate(); resetPathReference(); - // Check if it needs to decide path - status_.set_has_decided_path(hasDecidedPath()); - - // Use decided path - if (status_.get_has_decided_path()) { - if (isActivated() && !last_approval_data_) { - last_approval_data_ = - std::make_unique(clock_->now(), planner_data_->self_odometry->pose.pose); - decideVelocity(); - } - transitionToNextPathIfFinishingCurrentPath(); - } else if ( - !thread_safe_data_.get_pull_over_path_candidates().empty() && - needPathUpdate(path_update_duration)) { + if (!hasDecidedPath() && needPathUpdate(1.0 /*path_update_duration*/)) { // if the final path is not decided and enough time has passed since last path update, // select safe path from lane parking pull over path candidates // and set it to thread_safe_data_.get_pull_over_path() selectSafePullOverPath(); } - // else: stop path is generated and set by setOutput() // set output and status BehaviorModuleOutput output{}; @@ -969,7 +935,7 @@ BehaviorModuleOutput GoalPlannerModule::planWithGoalModification() } const auto distance_to_path_change = calcDistanceToPathChange(); - if (status_.get_has_decided_path()) { + if (hasDecidedPath()) { updateRTCStatus(distance_to_path_change.first, distance_to_path_change.second); } // TODO(tkhmy) add handle status TRYING @@ -980,9 +946,41 @@ BehaviorModuleOutput GoalPlannerModule::planWithGoalModification() setStopReason(StopReason::GOAL_PLANNER, thread_safe_data_.get_pull_over_path()->getFullPath()); + updateStatus(output); + return output; } +void GoalPlannerModule::updateStatus(const BehaviorModuleOutput & output) +{ + if (status_.get_prev_found_path() || !status_.get_prev_stop_path()) { + status_.set_prev_stop_path(output.path); + } + + // for the next loop setOutput(). + // this is used to determine whether to generate a new stop path or keep the current stop path. + status_.set_prev_found_path(thread_safe_data_.foundPullOverPath()); + status_.set_prev_is_safe( + parameters_->safety_check_params.enable_safety_check ? isSafePath() : true); + + if (!isActivated()) { + return; + } + + if ( + !parameters_->safety_check_params.enable_safety_check || isSafePath() || + (!status_.get_prev_is_safe() && status_.get_prev_stop_path_after_approval())) { + return; + } + status_.set_prev_is_safe(false); + const bool is_stop_path = std::any_of( + output.path->points.begin(), output.path->points.end(), + [](const auto & point) { return point.point.longitudinal_velocity_mps == 0.0; }); + if (is_stop_path) { + status_.set_prev_stop_path_after_approval(output.path); + } +} + BehaviorModuleOutput GoalPlannerModule::planWaitingApproval() { resetPathCandidate(); @@ -1019,7 +1017,7 @@ BehaviorModuleOutput GoalPlannerModule::planWaitingApprovalWithGoalModification( planner_data_->parameters.vehicle_width / 2.0 + drivable_area_margin; } else { const auto target_drivable_lanes = utils::getNonOverlappingExpandedLanes( - *out.path, status_.get_lanes(), planner_data_->drivable_area_expansion_parameters); + *out.path, generateDrivableLanes(), planner_data_->drivable_area_expansion_parameters); DrivableAreaInfo current_drivable_area_info; current_drivable_area_info.drivable_lanes = target_drivable_lanes; @@ -1032,7 +1030,7 @@ BehaviorModuleOutput GoalPlannerModule::planWaitingApprovalWithGoalModification( } const auto distance_to_path_change = calcDistanceToPathChange(); - if (status_.get_has_decided_path()) { + if (hasDecidedPath()) { updateRTCStatus(distance_to_path_change.first, distance_to_path_change.second); } updateSteeringFactor( @@ -1079,7 +1077,7 @@ void GoalPlannerModule::setParameters(const std::shared_ptrroute_handler; const auto & current_pose = planner_data_->self_odometry->pose.pose; @@ -1087,17 +1085,19 @@ PathWithLaneId GoalPlannerModule::generateStopPath() const double current_vel = planner_data_->self_odometry->twist.twist.linear.x; const double pull_over_velocity = parameters_->pull_over_velocity; - if (status_.get_current_lanes().empty()) { + const auto current_lanes = utils::getExtendedCurrentLanes( + planner_data_, common_parameters.backward_path_length, std::numeric_limits::max(), + /*forward_only_in_route*/ true); + + if (current_lanes.empty()) { return PathWithLaneId{}; } // generate reference path - const auto s_current = - lanelet::utils::getArcCoordinates(status_.get_current_lanes(), current_pose).length; + const auto s_current = lanelet::utils::getArcCoordinates(current_lanes, current_pose).length; const double s_start = std::max(0.0, s_current - common_parameters.backward_path_length); const double s_end = s_current + common_parameters.forward_path_length; - auto reference_path = - route_handler->getCenterLinePath(status_.get_current_lanes(), s_start, s_end, true); + auto reference_path = route_handler->getCenterLinePath(current_lanes, s_start, s_end, true); // if not approved stop road lane. // stop point priority is @@ -1162,19 +1162,20 @@ PathWithLaneId GoalPlannerModule::generateStopPath() return reference_path; } -PathWithLaneId GoalPlannerModule::generateFeasibleStopPath() +PathWithLaneId GoalPlannerModule::generateFeasibleStopPath() const { const auto & route_handler = planner_data_->route_handler; const auto & current_pose = planner_data_->self_odometry->pose.pose; const auto & common_parameters = planner_data_->parameters; // generate stop reference path - const auto s_current = - lanelet::utils::getArcCoordinates(status_.get_current_lanes(), current_pose).length; + const auto current_lanes = utils::getExtendedCurrentLanes( + planner_data_, common_parameters.backward_path_length, std::numeric_limits::max(), + /*forward_only_in_route*/ true); + const auto s_current = lanelet::utils::getArcCoordinates(current_lanes, current_pose).length; const double s_start = std::max(0.0, s_current - common_parameters.backward_path_length); const double s_end = s_current + common_parameters.forward_path_length; - auto stop_path = - route_handler->getCenterLinePath(status_.get_current_lanes(), s_start, s_end, true); + auto stop_path = route_handler->getCenterLinePath(current_lanes, s_start, s_end, true); // calc minimum stop distance under maximum deceleration const auto min_stop_distance = calcFeasibleDecelDistance( @@ -1193,40 +1194,6 @@ PathWithLaneId GoalPlannerModule::generateFeasibleStopPath() return stop_path; } -void GoalPlannerModule::transitionToNextPathIfFinishingCurrentPath() -{ - if (!isActivated() || !last_approval_data_) { - return; - } - - // if using arc_path and finishing current_path, get next path - // enough time for turn signal - const bool has_passed_enough_time_from_approval = - (clock_->now() - last_approval_data_->time).seconds() > - planner_data_->parameters.turn_signal_search_time; - if (!has_passed_enough_time_from_approval) { - return; - } - - // require increment only when the time passed is enough - // to prevent increment before driving - // when the end of the current path is close to the current pose - // this value should be `keep_stop_time` in keepStoppedWithCurrentPath - constexpr double keep_current_idx_time = 4.0; - const bool has_passed_enough_time_from_increment = - (clock_->now() - *thread_safe_data_.get_last_path_update_time()).seconds() > - keep_current_idx_time; - if (!has_passed_enough_time_from_increment) { - return; - } - - if (!hasFinishedCurrentPath()) { - return; - } - - thread_safe_data_.incrementPathIndex(); -} - bool GoalPlannerModule::isStopped( std::deque & odometry_buffer, const double time) { @@ -1285,13 +1252,41 @@ bool GoalPlannerModule::isStuck() bool GoalPlannerModule::hasFinishedCurrentPath() { + if (!last_approval_data_) { + return false; + } + + if (!isStopped()) { + return false; + } + + // check if enough time has passed since last approval + // this is necessary to give turn signal for enough time + const bool has_passed_enough_time_from_approval = + (clock_->now() - last_approval_data_->time).seconds() > + planner_data_->parameters.turn_signal_search_time; + if (!has_passed_enough_time_from_approval) { + return false; + } + + // require increment only when the time passed is enough + // to prevent increment before driving + // when the end of the current path is close to the current pose + // this value should be `keep_stop_time` in keepStoppedWithCurrentPath + constexpr double keep_current_idx_time = 4.0; + const bool has_passed_enough_time_from_increment = + (clock_->now() - *thread_safe_data_.get_last_path_update_time()).seconds() > + keep_current_idx_time; + if (!has_passed_enough_time_from_increment) { + return false; + } + + // check if self pose is near the end of current path const auto current_path_end = thread_safe_data_.get_pull_over_path()->getCurrentPath().points.back(); const auto & self_pose = planner_data_->self_odometry->pose.pose; - const bool is_near_target = tier4_autoware_utils::calcDistance2d(current_path_end, self_pose) < - parameters_->th_arrived_distance; - - return is_near_target && isStopped(); + return tier4_autoware_utils::calcDistance2d(current_path_end, self_pose) < + parameters_->th_arrived_distance; } bool GoalPlannerModule::isOnModifiedGoal() const @@ -1334,9 +1329,8 @@ TurnSignalInfo GoalPlannerModule::calcTurnSignalInfo() const { // ego decelerates so that current pose is the point `turn_light_on_threshold_time` seconds // before starting pull_over - turn_signal.desired_start_point = last_approval_data_ && status_.get_has_decided_path() - ? last_approval_data_->pose - : current_pose; + turn_signal.desired_start_point = + last_approval_data_ && hasDecidedPath() ? last_approval_data_->pose : current_pose; turn_signal.desired_end_point = end_pose; turn_signal.required_start_point = start_pose; turn_signal.required_end_point = end_pose; @@ -1440,7 +1434,7 @@ bool GoalPlannerModule::hasEnoughDistance(const PullOverPath & pull_over_path) c return true; } -void GoalPlannerModule::keepStoppedWithCurrentPath(PathWithLaneId & path) +void GoalPlannerModule::keepStoppedWithCurrentPath(PathWithLaneId & path) const { constexpr double keep_stop_time = 2.0; if (!thread_safe_data_.get_last_path_idx_increment_time()) { @@ -1619,7 +1613,7 @@ bool GoalPlannerModule::isCrossingPossible( bool GoalPlannerModule::isCrossingPossible(const PullOverPath & pull_over_path) const { - const lanelet::ConstLanelets lanes = utils::transformToLanelets(status_.get_lanes()); + const lanelet::ConstLanelets lanes = utils::transformToLanelets(generateDrivableLanes()); const Pose & start_pose = pull_over_path.start_pose; const Pose & end_pose = pull_over_path.end_pose; @@ -1655,11 +1649,10 @@ bool GoalPlannerModule::isSafePath() const const std::pair terminal_velocity_and_accel = utils::start_goal_planner_common::getPairsTerminalVelocityAndAccel( thread_safe_data_.get_pull_over_path()->pairs_terminal_velocity_and_accel, - status_.get_current_path_idx()); + thread_safe_data_.get_pull_over_path()->path_idx); RCLCPP_DEBUG( getLogger(), "pairs_terminal_velocity_and_accel for goal_planner: %f, %f", terminal_velocity_and_accel.first, terminal_velocity_and_accel.second); - RCLCPP_DEBUG(getLogger(), "current_path_idx %ld", status_.get_current_path_idx()); utils::start_goal_planner_common::updatePathProperty( ego_predicted_path_params_, terminal_velocity_and_accel); // TODO(Sugahara): shoule judge is_object_front properly @@ -1680,7 +1673,7 @@ bool GoalPlannerModule::isSafePath() const pull_over_lanes, route_handler, filtered_objects, objects_filtering_params_); const double hysteresis_factor = - status_.get_prev_is_safe_dynamic_objects() ? 1.0 : parameters_->hysteresis_factor_expand_rate; + status_.get_prev_is_safe() ? 1.0 : parameters_->hysteresis_factor_expand_rate; utils::start_goal_planner_common::updateSafetyCheckTargetObjectsData( goal_planner_data_, filtered_objects, target_objects_on_lane, ego_predicted_path); @@ -1742,9 +1735,8 @@ void GoalPlannerModule::setDebugData() }; if (goal_planner_utils::isAllowedGoalModification(planner_data_->route_handler)) { // Visualize pull over areas - const auto color = status_.get_has_decided_path() - ? createMarkerColor(1.0, 1.0, 0.0, 0.999) // yellow - : createMarkerColor(0.0, 1.0, 0.0, 0.999); // green + const auto color = hasDecidedPath() ? createMarkerColor(1.0, 1.0, 0.0, 0.999) // yellow + : createMarkerColor(0.0, 1.0, 0.0, 0.999); // green const double z = status_.get_refined_goal_pose().position.z; add(goal_planner_utils::createPullOverAreaMarkerArray( goal_searcher_->getAreaPolygons(), header, color, z)); @@ -1834,7 +1826,7 @@ void GoalPlannerModule::setDebugData() marker.text = magic_enum::enum_name(thread_safe_data_.getPullOverPlannerType()); if (thread_safe_data_.foundPullOverPath()) { marker.text += - " " + std::to_string(status_.get_current_path_idx()) + "/" + + " " + std::to_string(thread_safe_data_.get_pull_over_path()->path_idx) + "/" + std::to_string(thread_safe_data_.get_pull_over_path()->partial_paths.size() - 1); } From b11496eaa9ffb7e3d55daa1011be71fb5d96f7b2 Mon Sep 17 00:00:00 2001 From: Hiroki OTA Date: Tue, 14 Nov 2023 15:47:59 +0900 Subject: [PATCH 107/202] fix(simple_planning_simulator): change default value of manual gear, DRIVE -> PARK (#5563) --- .../simple_planning_simulator_core.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/simulator/simple_planning_simulator/src/simple_planning_simulator/simple_planning_simulator_core.cpp b/simulator/simple_planning_simulator/src/simple_planning_simulator/simple_planning_simulator_core.cpp index 07a5d34f63c39..a3715a1efe8ab 100644 --- a/simulator/simple_planning_simulator/src/simple_planning_simulator/simple_planning_simulator_core.cpp +++ b/simulator/simple_planning_simulator/src/simple_planning_simulator/simple_planning_simulator_core.cpp @@ -210,7 +210,7 @@ SimplePlanningSimulator::SimplePlanningSimulator(const rclcpp::NodeOptions & opt // control mode current_control_mode_.mode = ControlModeReport::AUTONOMOUS; - current_manual_gear_cmd_.command = GearCommand::DRIVE; + current_manual_gear_cmd_.command = GearCommand::PARK; } void SimplePlanningSimulator::initialize_vehicle_model() From 18867318a73a4561151c9d5d793bd40a4f803a48 Mon Sep 17 00:00:00 2001 From: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> Date: Tue, 14 Nov 2023 16:33:19 +0900 Subject: [PATCH 108/202] fix(lane_change): fix object debug marker not having point (#5577) Signed-off-by: Zulfaqar Azmi --- planning/behavior_path_planner/src/marker_utils/utils.cpp | 2 ++ 1 file changed, 2 insertions(+) diff --git a/planning/behavior_path_planner/src/marker_utils/utils.cpp b/planning/behavior_path_planner/src/marker_utils/utils.cpp index 031926f2d9d1d..f1f681fed06a0 100644 --- a/planning/behavior_path_planner/src/marker_utils/utils.cpp +++ b/planning/behavior_path_planner/src/marker_utils/utils.cpp @@ -18,6 +18,7 @@ #include "behavior_path_planner/utils/path_safety_checker/path_safety_checker_parameters.hpp" #include "behavior_path_planner/utils/path_utils.hpp" +#include #include #include @@ -45,6 +46,7 @@ CollisionCheckDebugPair createObjectDebug(const ExtendedPredictedObject & obj) { CollisionCheckDebug debug; debug.current_obj_pose = obj.initial_pose.pose; + debug.extended_obj_polygon = tier4_autoware_utils::toPolygon2d(obj.initial_pose.pose, obj.shape); debug.current_twist = obj.initial_twist.twist; return {tier4_autoware_utils::toHexString(obj.uuid), debug}; } From 7d7168707d303d368fc1ec67a5977a889cc1fdd7 Mon Sep 17 00:00:00 2001 From: Yuki TAKAGI <141538661+yuki-takagi-66@users.noreply.github.com> Date: Tue, 14 Nov 2023 16:35:04 +0900 Subject: [PATCH 109/202] fix(avoidance): fix a bug regarding the nearest search (#5575) * fix a bug regarding nearest search --------- Signed-off-by: Yuki Takagi --- .../src/scene_module/avoidance/avoidance_module.cpp | 9 ++++++--- 1 file changed, 6 insertions(+), 3 deletions(-) diff --git a/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp b/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp index 2ad0928696a5c..2d85f8cbe3224 100644 --- a/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp +++ b/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp @@ -2025,13 +2025,16 @@ PathWithLaneId AvoidanceModule::extendBackwardLength(const PathWithLaneId & orig planner_data_->parameters.backward_path_length, longest_dist_to_shift_point + extra_margin); const size_t orig_ego_idx = planner_data_->findEgoIndex(original_path.points); - const size_t prev_ego_idx = motion_utils::findFirstNearestSegmentIndexWithSoftConstraints( + const auto prev_ego_idx = motion_utils::findNearestSegmentIndex( previous_path.points, getPose(original_path.points.at(orig_ego_idx)), std::numeric_limits::max(), planner_data_->parameters.ego_nearest_yaw_threshold); + if (!prev_ego_idx) { + return original_path; + } size_t clip_idx = 0; for (size_t i = 0; i < prev_ego_idx; ++i) { - if (backward_length > calcSignedArcLength(previous_path.points, clip_idx, prev_ego_idx)) { + if (backward_length > calcSignedArcLength(previous_path.points, clip_idx, *prev_ego_idx)) { break; } clip_idx = i; @@ -2041,7 +2044,7 @@ PathWithLaneId AvoidanceModule::extendBackwardLength(const PathWithLaneId & orig { extended_path.points.insert( extended_path.points.end(), previous_path.points.begin() + clip_idx, - previous_path.points.begin() + prev_ego_idx); + previous_path.points.begin() + *prev_ego_idx); } // overwrite backward path velocity by latest one. From 5fe26c63254a273477b27723c925fa48ff4d6e35 Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Tue, 14 Nov 2023 18:48:25 +0900 Subject: [PATCH 110/202] refactor(goal_planner): refactoring plan flow and add post process (#5554) * refactor(goal_planner): refactoring plan flow and add post process Signed-off-by: kosuke55 do not decel when searching Signed-off-by: kosuke55 rename planPullOver Signed-off-by: kosuke55 * add plan flow Signed-off-by: kosuke55 * add reason of early return Signed-off-by: kosuke55 * typo Signed-off-by: kosuke55 * fix path_candidate_ Signed-off-by: kosuke55 * pub path candidate after approval Signed-off-by: kosuke55 --------- Signed-off-by: kosuke55 --- .../goal_planner/goal_planner_module.hpp | 31 +- .../goal_planner/goal_planner_module.cpp | 273 ++++++++---------- 2 files changed, 154 insertions(+), 150 deletions(-) diff --git a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/goal_planner/goal_planner_module.hpp b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/goal_planner/goal_planner_module.hpp index 5149979ef082d..2e95ca82735fb 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/goal_planner/goal_planner_module.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/goal_planner/goal_planner_module.hpp @@ -287,27 +287,47 @@ class GoalPlannerModule : public SceneModuleInterface } } - CandidateOutput planCandidate() const override; BehaviorModuleOutput plan() override; BehaviorModuleOutput planWaitingApproval() override; bool isExecutionRequested() const override; bool isExecutionReady() const override; void processOnExit() override; void updateData() override; + void postProcess() override; void setParameters(const std::shared_ptr & parameters); void acceptVisitor( [[maybe_unused]] const std::shared_ptr & visitor) const override { } + CandidateOutput planCandidate() const override { return CandidateOutput{}; } private: + /*  + * state transitions and plan function used in each state + * + * +--------------------------+ + * | RUNNING | + * | planPullOverAsCandidate()| + * +------------+-------------+ + * | hasDecidedPath() + * 2 v + * +--------------------------+ + * | WAITING_APPROVAL | + * | planPullOverAsCandidate()| + * +------------+-------------+ + * | isActivated() + * 3 v + * +--------------------------+ + * | RUNNING | + * | planPullOverAsOutput() | + * +--------------------------+ + */ + // The start_planner activates when it receives a new route, // so there is no need to terminate the goal planner. // If terminating it, it may switch to lane following and could generate an inappropriate path. bool canTransitSuccessState() override { return false; } - bool canTransitFailureState() override { return false; } - bool canTransitIdleToRunningState() override { return true; } mutable StartGoalPlannerData goal_planner_data_; @@ -411,8 +431,9 @@ class GoalPlannerModule : public SceneModuleInterface void returnToLaneParking(); // plan pull over path - BehaviorModuleOutput planWithGoalModification(); - BehaviorModuleOutput planWaitingApprovalWithGoalModification(); + BehaviorModuleOutput planPullOver(); + BehaviorModuleOutput planPullOverAsOutput(); + BehaviorModuleOutput planPullOverAsCandidate(); void selectSafePullOverPath(); std::vector sortPullOverPathCandidatesByGoalPriority( const std::vector & pull_over_path_candidates, diff --git a/planning/behavior_path_planner/src/scene_module/goal_planner/goal_planner_module.cpp b/planning/behavior_path_planner/src/scene_module/goal_planner/goal_planner_module.cpp index 202c19f1bf1db..84b4032cde4ad 100644 --- a/planning/behavior_path_planner/src/scene_module/goal_planner/goal_planner_module.cpp +++ b/planning/behavior_path_planner/src/scene_module/goal_planner/goal_planner_module.cpp @@ -253,10 +253,17 @@ void GoalPlannerModule::updateData() initializeOccupancyGridMap(); } + resetPathCandidate(); + resetPathReference(); + path_reference_ = getPreviousModuleOutput().reference_path; + updateOccupancyGrid(); generateGoalCandidates(); + // Only after the path is decided, approval is allowed and the module is Activated. + // The path index is not incremented until after deciding the path. + // So return here, if (!isActivated()) { return; } @@ -541,16 +548,12 @@ void GoalPlannerModule::returnToLaneParking() void GoalPlannerModule::generateGoalCandidates() { - const auto & route_handler = planner_data_->route_handler; - - // with old architecture, module instance is not cleared when new route is received - // so need to reset status here. - // todo: move this check out of this function after old architecture is removed if (!thread_safe_data_.get_goal_candidates().empty()) { return; } // calculate goal candidates + const auto & route_handler = planner_data_->route_handler; const Pose goal_pose = route_handler->getOriginalGoalPose(); status_.set_refined_goal_pose(calcRefinedGoal(goal_pose)); if (goal_planner_utils::isAllowedGoalModification(route_handler)) { @@ -574,17 +577,12 @@ void GoalPlannerModule::generateGoalCandidates() BehaviorModuleOutput GoalPlannerModule::plan() { - resetPathCandidate(); - resetPathReference(); - - path_reference_ = getPreviousModuleOutput().reference_path; - if (goal_planner_utils::isAllowedGoalModification(planner_data_->route_handler)) { - return planWithGoalModification(); - } else { - fixed_goal_planner_->setPreviousModuleOutput(getPreviousModuleOutput()); - return fixed_goal_planner_->plan(planner_data_); + return planPullOver(); } + + fixed_goal_planner_->setPreviousModuleOutput(getPreviousModuleOutput()); + return fixed_goal_planner_->plan(planner_data_); } std::vector GoalPlannerModule::sortPullOverPathCandidatesByGoalPriority( @@ -671,27 +669,26 @@ void GoalPlannerModule::selectSafePullOverPath() } // decelerate before the search area start - const auto search_start_offset_pose = calcLongitudinalOffsetPose( + const auto decel_pose = calcLongitudinalOffsetPose( thread_safe_data_.get_pull_over_path()->getFullPath().points, - status_.get_refined_goal_pose().position, - -parameters_->backward_goal_search_length - planner_data_->parameters.base_link2front - - approximate_pull_over_distance_); + status_.get_closest_goal_candidate_pose().position, -approximate_pull_over_distance_); auto & first_path = thread_safe_data_.get_pull_over_path()->partial_paths.front(); - if (search_start_offset_pose) { - decelerateBeforeSearchStart(*search_start_offset_pose, first_path); - } else { - // if already passed the search start offset pose, set pull_over_velocity to first_path. - const auto min_decel_distance = calcFeasibleDecelDistance( - planner_data_, parameters_->maximum_deceleration, parameters_->maximum_jerk, - parameters_->pull_over_velocity); - for (auto & p : first_path.points) { - const double distance_from_ego = calcSignedArcLengthFromEgo(first_path, p.point.pose); - if (min_decel_distance && distance_from_ego < *min_decel_distance) { - continue; - } - p.point.longitudinal_velocity_mps = std::min( - p.point.longitudinal_velocity_mps, static_cast(parameters_->pull_over_velocity)); + if (decel_pose) { + decelerateBeforeSearchStart(*decel_pose, first_path); + return; + } + + // if already passed the search start offset pose, set pull_over_velocity to first_path. + const auto min_decel_distance = calcFeasibleDecelDistance( + planner_data_, parameters_->maximum_deceleration, parameters_->maximum_jerk, + parameters_->pull_over_velocity); + for (auto & p : first_path.points) { + const double distance_from_ego = calcSignedArcLengthFromEgo(first_path, p.point.pose); + if (min_decel_distance && distance_from_ego < *min_decel_distance) { + continue; } + p.point.longitudinal_velocity_mps = std::min( + p.point.longitudinal_velocity_mps, static_cast(parameters_->pull_over_velocity)); } } @@ -709,11 +706,16 @@ std::vector GoalPlannerModule::generateDrivableLanes() const void GoalPlannerModule::setOutput(BehaviorModuleOutput & output) const { + output.reference_path = getPreviousModuleOutput().reference_path; + if (!thread_safe_data_.foundPullOverPath()) { // situation : not safe against static objects use stop_path setStopPath(output); - } else if ( - parameters_->safety_check_params.enable_safety_check && !isSafePath() && isActivated()) { + setDrivableAreaInfo(output); + return; + } + + if (parameters_->safety_check_params.enable_safety_check && !isSafePath() && isActivated()) { // situation : not safe against dynamic objects after approval // insert stop point in current path if ego is able to stop with acceleration and jerk // constraints @@ -721,24 +723,18 @@ void GoalPlannerModule::setOutput(BehaviorModuleOutput & output) const } else { // situation : (safe against static and dynamic objects) or (safe against static objects and // before approval) don't stop - if (isActivated()) { - resetWallPoses(); - } // keep stop if not enough time passed, // because it takes time for the trajectory to be reflected auto current_path = thread_safe_data_.get_pull_over_path()->getCurrentPath(); keepStoppedWithCurrentPath(current_path); - output.path = std::make_shared(current_path); - output.reference_path = getPreviousModuleOutput().reference_path; } - setDrivableAreaInfo(output); - setModifiedGoal(output); + setDrivableAreaInfo(output); // set hazard and turn signal - if (hasDecidedPath()) { + if (hasDecidedPath() && isActivated()) { setTurnSignalInfo(output); } } @@ -758,7 +754,6 @@ void GoalPlannerModule::setStopPath(BehaviorModuleOutput & output) const RCLCPP_WARN_THROTTLE( getLogger(), *clock_, 5000, "Not found safe pull_over path, use previous stop path"); } - output.reference_path = getPreviousModuleOutput().reference_path; } void GoalPlannerModule::setStopPathFromCurrentPath(BehaviorModuleOutput & output) const @@ -789,7 +784,6 @@ void GoalPlannerModule::setStopPathFromCurrentPath(BehaviorModuleOutput & output stop_pose_ = utils::getFirstStopPoseFromPath(*output.path); RCLCPP_WARN_THROTTLE(getLogger(), *clock_, 5000, "Collision detected, use previous stop path"); } - output.reference_path = getPreviousModuleOutput().reference_path; } void GoalPlannerModule::setDrivableAreaInfo(BehaviorModuleOutput & output) const @@ -888,22 +882,48 @@ void GoalPlannerModule::decideVelocity() } } -CandidateOutput GoalPlannerModule::planCandidate() const +BehaviorModuleOutput GoalPlannerModule::planPullOver() { - return CandidateOutput( - thread_safe_data_.get_pull_over_path() ? thread_safe_data_.get_pull_over_path()->getFullPath() - : PathWithLaneId()); + if (!hasDecidedPath()) { + return planPullOverAsCandidate(); + } + + return planPullOverAsOutput(); } -BehaviorModuleOutput GoalPlannerModule::planWithGoalModification() +BehaviorModuleOutput GoalPlannerModule::planPullOverAsCandidate() { // if pull over path candidates generation is not finished, use previous module output if (thread_safe_data_.get_pull_over_path_candidates().empty()) { return getPreviousModuleOutput(); } - resetPathCandidate(); - resetPathReference(); + BehaviorModuleOutput output{}; + const BehaviorModuleOutput pull_over_output = planPullOverAsOutput(); + output.modified_goal = pull_over_output.modified_goal; + output.path = std::make_shared(generateStopPath()); + + const auto target_drivable_lanes = utils::getNonOverlappingExpandedLanes( + *output.path, generateDrivableLanes(), planner_data_->drivable_area_expansion_parameters); + + DrivableAreaInfo current_drivable_area_info{}; + current_drivable_area_info.drivable_lanes = target_drivable_lanes; + output.drivable_area_info = utils::combineDrivableAreaInfo( + current_drivable_area_info, getPreviousModuleOutput().drivable_area_info); + + if (!thread_safe_data_.foundPullOverPath()) { + return output; + } + + return output; +} + +BehaviorModuleOutput GoalPlannerModule::planPullOverAsOutput() +{ + // if pull over path candidates generation is not finished, use previous module output + if (thread_safe_data_.get_pull_over_path_candidates().empty()) { + return getPreviousModuleOutput(); + } if (!hasDecidedPath() && needPathUpdate(1.0 /*path_update_duration*/)) { // if the final path is not decided and enough time has passed since last path update, @@ -915,8 +935,6 @@ BehaviorModuleOutput GoalPlannerModule::planWithGoalModification() // set output and status BehaviorModuleOutput output{}; setOutput(output); - path_candidate_ = std::make_shared(planCandidate().path_candidate); - path_reference_ = getPreviousModuleOutput().reference_path; // return to lane parking if it is possible if (thread_safe_data_.getPullOverPlannerType() == PullOverPlannerType::FREESPACE) { @@ -934,21 +952,34 @@ BehaviorModuleOutput GoalPlannerModule::planWithGoalModification() return output; } + path_candidate_ = + std::make_shared(thread_safe_data_.get_pull_over_path()->getFullPath()); + + updateStatus(output); + + return output; +} + +void GoalPlannerModule::postProcess() +{ + if (!thread_safe_data_.foundPullOverPath()) { + return; + } + + const bool has_decided_path = hasDecidedPath(); const auto distance_to_path_change = calcDistanceToPathChange(); - if (hasDecidedPath()) { + + if (has_decided_path) { updateRTCStatus(distance_to_path_change.first, distance_to_path_change.second); } - // TODO(tkhmy) add handle status TRYING + updateSteeringFactor( {thread_safe_data_.get_pull_over_path()->start_pose, thread_safe_data_.get_modified_goal_pose()->goal_pose}, - {distance_to_path_change.first, distance_to_path_change.second}, SteeringFactor::TURNING); + {distance_to_path_change.first, distance_to_path_change.second}, + has_decided_path ? SteeringFactor::TURNING : SteeringFactor::APPROACHING); setStopReason(StopReason::GOAL_PLANNER, thread_safe_data_.get_pull_over_path()->getFullPath()); - - updateStatus(output); - - return output; } void GoalPlannerModule::updateStatus(const BehaviorModuleOutput & output) @@ -983,64 +1014,12 @@ void GoalPlannerModule::updateStatus(const BehaviorModuleOutput & output) BehaviorModuleOutput GoalPlannerModule::planWaitingApproval() { - resetPathCandidate(); - resetPathReference(); - - path_reference_ = getPreviousModuleOutput().reference_path; - if (goal_planner_utils::isAllowedGoalModification(planner_data_->route_handler)) { - return planWaitingApprovalWithGoalModification(); - } else { - fixed_goal_planner_->setPreviousModuleOutput(getPreviousModuleOutput()); - return fixed_goal_planner_->plan(planner_data_); - } -} - -BehaviorModuleOutput GoalPlannerModule::planWaitingApprovalWithGoalModification() -{ - // if pull over path candidates generation is not finished, use previous module output - if (thread_safe_data_.get_pull_over_path_candidates().empty()) { - return getPreviousModuleOutput(); - } - - BehaviorModuleOutput out; - out.modified_goal = planWithGoalModification().modified_goal; // update status_ - out.path = std::make_shared(generateStopPath()); - out.reference_path = getPreviousModuleOutput().reference_path; - path_candidate_ = std::make_shared(planCandidate().path_candidate); - path_reference_ = getPreviousModuleOutput().reference_path; - - // generate drivable area info for new architecture - if (thread_safe_data_.getPullOverPlannerType() == PullOverPlannerType::FREESPACE) { - const double drivable_area_margin = planner_data_->parameters.vehicle_width; - out.drivable_area_info.drivable_margin = - planner_data_->parameters.vehicle_width / 2.0 + drivable_area_margin; - } else { - const auto target_drivable_lanes = utils::getNonOverlappingExpandedLanes( - *out.path, generateDrivableLanes(), planner_data_->drivable_area_expansion_parameters); - - DrivableAreaInfo current_drivable_area_info; - current_drivable_area_info.drivable_lanes = target_drivable_lanes; - out.drivable_area_info = utils::combineDrivableAreaInfo( - current_drivable_area_info, getPreviousModuleOutput().drivable_area_info); - } - - if (!thread_safe_data_.foundPullOverPath()) { - return out; + return planPullOverAsCandidate(); } - const auto distance_to_path_change = calcDistanceToPathChange(); - if (hasDecidedPath()) { - updateRTCStatus(distance_to_path_change.first, distance_to_path_change.second); - } - updateSteeringFactor( - {thread_safe_data_.get_pull_over_path()->start_pose, - thread_safe_data_.get_modified_goal_pose()->goal_pose}, - {distance_to_path_change.first, distance_to_path_change.second}, SteeringFactor::APPROACHING); - - setStopReason(StopReason::GOAL_PLANNER, thread_safe_data_.get_pull_over_path()->getFullPath()); - - return out; + fixed_goal_planner_->setPreviousModuleOutput(getPreviousModuleOutput()); + return fixed_goal_planner_->plan(planner_data_); } std::pair GoalPlannerModule::calcDistanceToPathChange() const @@ -1099,6 +1078,13 @@ PathWithLaneId GoalPlannerModule::generateStopPath() const const double s_end = s_current + common_parameters.forward_path_length; auto reference_path = route_handler->getCenterLinePath(current_lanes, s_start, s_end, true); + // calculate search start offset pose from the closest goal candidate pose with + // approximate_pull_over_distance_ ego vehicle decelerates to this position. or if no feasible + // stop point is found, stop at this position. + const auto decel_pose = calcLongitudinalOffsetPose( + reference_path.points, status_.get_closest_goal_candidate_pose().position, + -approximate_pull_over_distance_); + // if not approved stop road lane. // stop point priority is // 1. actual start pose @@ -1107,27 +1093,24 @@ PathWithLaneId GoalPlannerModule::generateStopPath() const // (In the case of the curve lane, the position is not aligned due to the // difference between the outer and inner sides) // 4. feasible stop - const auto search_start_offset_pose = calcLongitudinalOffsetPose( - reference_path.points, status_.get_closest_goal_candidate_pose().position, - -approximate_pull_over_distance_); - if ( - !thread_safe_data_.foundPullOverPath() && !thread_safe_data_.get_closest_start_pose() && - !search_start_offset_pose) { - return generateFeasibleStopPath(); - } - - const Pose stop_pose = [&]() -> Pose { + const auto stop_pose = std::invoke([&]() -> boost::optional { if (thread_safe_data_.foundPullOverPath()) { return thread_safe_data_.get_pull_over_path()->start_pose; } if (thread_safe_data_.get_closest_start_pose()) { return thread_safe_data_.get_closest_start_pose().value(); } - return *search_start_offset_pose; - }(); + if (!decel_pose) { + return boost::optional{}; + } + return decel_pose.value(); + }); + if (!stop_pose) { + return generateFeasibleStopPath(); + } // if stop pose is closer than min_stop_distance, stop as soon as possible - const double ego_to_stop_distance = calcSignedArcLengthFromEgo(reference_path, stop_pose); + const double ego_to_stop_distance = calcSignedArcLengthFromEgo(reference_path, *stop_pose); const auto min_stop_distance = calcFeasibleDecelDistance( planner_data_, parameters_->maximum_deceleration, parameters_->maximum_jerk, 0.0); const double eps_vel = 0.01; @@ -1138,27 +1121,27 @@ PathWithLaneId GoalPlannerModule::generateStopPath() const } // slow down for turn signal, insert stop point to stop_pose - decelerateForTurnSignal(stop_pose, reference_path); - stop_pose_ = stop_pose; + decelerateForTurnSignal(*stop_pose, reference_path); + stop_pose_ = *stop_pose; // for debug wall marker // slow down before the search area. - if (search_start_offset_pose) { - decelerateBeforeSearchStart(*search_start_offset_pose, reference_path); - } else { - // if already passed the search start offset pose, set pull_over_velocity to reference_path. - const auto min_decel_distance = calcFeasibleDecelDistance( - planner_data_, parameters_->maximum_deceleration, parameters_->maximum_jerk, - pull_over_velocity); - for (auto & p : reference_path.points) { - const double distance_from_ego = calcSignedArcLengthFromEgo(reference_path, p.point.pose); - if (min_decel_distance && distance_from_ego < *min_decel_distance) { - continue; - } - p.point.longitudinal_velocity_mps = - std::min(p.point.longitudinal_velocity_mps, static_cast(pull_over_velocity)); - } + if (decel_pose) { + decelerateBeforeSearchStart(*decel_pose, reference_path); + return reference_path; } + // if already passed the decel pose, set pull_over_velocity to reference_path. + const auto min_decel_distance = calcFeasibleDecelDistance( + planner_data_, parameters_->maximum_deceleration, parameters_->maximum_jerk, + pull_over_velocity); + for (auto & p : reference_path.points) { + const double distance_from_ego = calcSignedArcLengthFromEgo(reference_path, p.point.pose); + if (min_decel_distance && distance_from_ego < *min_decel_distance) { + continue; + } + p.point.longitudinal_velocity_mps = + std::min(p.point.longitudinal_velocity_mps, static_cast(pull_over_velocity)); + } return reference_path; } From 874c55977e2c470feaf66e44251026da656146fa Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?M=2E=20Fatih=20C=C4=B1r=C4=B1t?= Date: Tue, 14 Nov 2023 14:36:47 +0300 Subject: [PATCH 111/202] ci(labeler): rename simulator to simulation (#5580) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: M. Fatih Cırıt --- .github/labeler.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/labeler.yaml b/.github/labeler.yaml index c3efa2a1a2b15..47f8737ebbf39 100644 --- a/.github/labeler.yaml +++ b/.github/labeler.yaml @@ -31,7 +31,7 @@ - planning/**/* "component:sensing": - sensing/**/* -"component:simulator": +"component:simulation": - simulator/**/* "component:system": - system/**/* From 2a53348eadf259a302fbac960fabb1464a3df698 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Tue, 14 Nov 2023 21:37:23 +0900 Subject: [PATCH 112/202] feat(motion_velocity_smoother): add motion_velocity_smoother's virtual wall such as MRM (#5555) * feat: add motion_velocity_smoother's virtual wall Signed-off-by: Takayuki Murooka * fix Signed-off-by: Takayuki Murooka --------- Signed-off-by: Takayuki Murooka --- .../src/external_velocity_limit_selector_node.cpp | 1 + .../motion_velocity_smoother_node.hpp | 5 +++++ .../src/motion_velocity_smoother_node.cpp | 14 ++++++++++++++ 3 files changed, 20 insertions(+) diff --git a/planning/external_velocity_limit_selector/src/external_velocity_limit_selector_node.cpp b/planning/external_velocity_limit_selector/src/external_velocity_limit_selector_node.cpp index 2ba0a4c1d46f3..ccca5e97d2b38 100644 --- a/planning/external_velocity_limit_selector/src/external_velocity_limit_selector_node.cpp +++ b/planning/external_velocity_limit_selector/src/external_velocity_limit_selector_node.cpp @@ -46,6 +46,7 @@ VelocityLimit getHardestLimit( // find hardest max velocity if (max_velocity < hardest_max_velocity) { hardest_limit.stamp = limit.second.stamp; + hardest_limit.sender = limit.first; hardest_limit.max_velocity = max_velocity; hardest_max_velocity = max_velocity; } diff --git a/planning/motion_velocity_smoother/include/motion_velocity_smoother/motion_velocity_smoother_node.hpp b/planning/motion_velocity_smoother/include/motion_velocity_smoother/motion_velocity_smoother_node.hpp index 347d19f631588..7be91d67cb945 100644 --- a/planning/motion_velocity_smoother/include/motion_velocity_smoother/motion_velocity_smoother_node.hpp +++ b/planning/motion_velocity_smoother/include/motion_velocity_smoother/motion_velocity_smoother_node.hpp @@ -42,6 +42,7 @@ #include "tier4_debug_msgs/msg/float32_stamped.hpp" // temporary #include "tier4_planning_msgs/msg/stop_speed_exceeded.hpp" // temporary #include "tier4_planning_msgs/msg/velocity_limit.hpp" // temporary +#include "visualization_msgs/msg/marker_array.hpp" #include #include @@ -63,6 +64,7 @@ using nav_msgs::msg::Odometry; using tier4_debug_msgs::msg::Float32Stamped; // temporary using tier4_planning_msgs::msg::StopSpeedExceeded; // temporary using tier4_planning_msgs::msg::VelocityLimit; // temporary +using visualization_msgs::msg::MarkerArray; struct Motion { @@ -80,6 +82,7 @@ class MotionVelocitySmootherNode : public rclcpp::Node private: rclcpp::Publisher::SharedPtr pub_trajectory_; + rclcpp::Publisher::SharedPtr pub_virtual_wall_; rclcpp::Publisher::SharedPtr pub_over_stop_velocity_; rclcpp::Subscription::SharedPtr sub_current_odometry_; rclcpp::Subscription::SharedPtr sub_current_acceleration_; @@ -95,6 +98,7 @@ class MotionVelocitySmootherNode : public rclcpp::Node double max_velocity_with_deceleration_; // maximum velocity with deceleration // for external velocity limit double wheelbase_; // wheelbase + double base_link2front_; // base_link to front TrajectoryPoints prev_output_; // previously published trajectory @@ -153,6 +157,7 @@ class MotionVelocitySmootherNode : public rclcpp::Node { double velocity{0.0}; // current external_velocity_limit double dist{0.0}; // distance to set external velocity limit + std::string sender{""}; }; ExternalVelocityLimit external_velocity_limit_; // velocity and distance constraint of external velocity limit diff --git a/planning/motion_velocity_smoother/src/motion_velocity_smoother_node.cpp b/planning/motion_velocity_smoother/src/motion_velocity_smoother_node.cpp index 6b5da01b9cb09..a27e02c15710f 100644 --- a/planning/motion_velocity_smoother/src/motion_velocity_smoother_node.cpp +++ b/planning/motion_velocity_smoother/src/motion_velocity_smoother_node.cpp @@ -14,6 +14,7 @@ #include "motion_velocity_smoother/motion_velocity_smoother_node.hpp" +#include "motion_utils/marker/marker_helper.hpp" #include "motion_velocity_smoother/smoother/jerk_filtered_smoother.hpp" #include "motion_velocity_smoother/smoother/l2_pseudo_jerk_smoother.hpp" #include "motion_velocity_smoother/smoother/linf_pseudo_jerk_smoother.hpp" @@ -41,6 +42,7 @@ MotionVelocitySmootherNode::MotionVelocitySmootherNode(const rclcpp::NodeOptions // set common params const auto vehicle_info = vehicle_info_util::VehicleInfoUtil(*this).getVehicleInfo(); wheelbase_ = vehicle_info.wheel_base_m; + base_link2front_ = vehicle_info.max_longitudinal_offset_m; initCommonParam(); over_stop_velocity_warn_thr_ = declare_parameter("over_stop_velocity_warn_thr"); @@ -49,6 +51,7 @@ MotionVelocitySmootherNode::MotionVelocitySmootherNode(const rclcpp::NodeOptions // publishers, subscribers pub_trajectory_ = create_publisher("~/output/trajectory", 1); + pub_virtual_wall_ = create_publisher("~/virtual_wall", 1); pub_velocity_limit_ = create_publisher( "~/output/current_velocity_limit_mps", rclcpp::QoS{1}.transient_local()); pub_dist_to_stopline_ = create_publisher("~/distance_to_stopline", 1); @@ -329,6 +332,9 @@ void MotionVelocitySmootherNode::calcExternalVelocityLimit() return; } + // sender + external_velocity_limit_.sender = external_velocity_limit_ptr_->sender; + // on the first time, apply directly if (prev_output_.empty() || !current_closest_point_from_prev_output_) { external_velocity_limit_.velocity = external_velocity_limit_ptr_->max_velocity; @@ -890,6 +896,14 @@ void MotionVelocitySmootherNode::applyExternalVelocityLimit(TrajectoryPoints & t trajectory_utils::applyMaximumVelocityLimit( *inserted_index, traj.size(), external_velocity_limit_.velocity, traj); + // create virtual wall + if (std::abs(external_velocity_limit_.velocity) < 1e-3) { + const auto virtual_wall_marker = motion_utils::createStopVirtualWallMarker( + traj.at(*inserted_index).pose, external_velocity_limit_.sender, this->now(), 0, + base_link2front_); + pub_virtual_wall_->publish(virtual_wall_marker); + } + RCLCPP_DEBUG( get_logger(), "externalVelocityLimit : limit_vel = %.3f", external_velocity_limit_.velocity); } From 4d79d98488a037b56169c5fa5fd977ddda07d026 Mon Sep 17 00:00:00 2001 From: SakodaShintaro Date: Wed, 15 Nov 2023 09:08:47 +0900 Subject: [PATCH 113/202] feat(localization): add `pose_instability_detector` (#5439) * Added pose_instability_detector Signed-off-by: Shintaro Sakoda * Renamed files Signed-off-by: Shintaro Sakoda * Fixed parameter name Signed-off-by: Shintaro Sakoda * Fixed to launch Signed-off-by: Shintaro Sakoda * Fixed to run normally Signed-off-by: Shintaro Sakoda * Fixed to publish diagnostics Signed-off-by: Shintaro Sakoda * Fixed a variable name Signed-off-by: Shintaro Sakoda * Fixed Copyright Signed-off-by: Shintaro Sakoda * Added test Signed-off-by: Shintaro Sakoda * Added maintainer Signed-off-by: Shintaro Sakoda * Added maintainer Signed-off-by: Shintaro Sakoda * Removed log output Signed-off-by: Shintaro Sakoda * Modified test Signed-off-by: Shintaro Sakoda * Fixed comment Signed-off-by: Shintaro Sakoda * Added a test case Signed-off-by: Shintaro Sakoda * Added set_first_odometry_ Signed-off-by: Shintaro Sakoda * Refactored test Signed-off-by: Shintaro Sakoda * Fixed test Signed-off-by: Shintaro Sakoda * Fixed topic name Signed-off-by: Shintaro Sakoda * Fixed position Signed-off-by: Shintaro Sakoda * Added twist message2 Signed-off-by: Shintaro Sakoda * Fixed launch Signed-off-by: Shintaro Sakoda * Updated README.md Signed-off-by: Shintaro Sakoda * style(pre-commit): autofix * Fixed as pointed out by clang-tidy Signed-off-by: Shintaro Sakoda * Renamed parameters Signed-off-by: Shintaro Sakoda * Fixed timer Signed-off-by: Shintaro Sakoda * Fixed README.md Signed-off-by: Shintaro Sakoda * Added debug publishers Signed-off-by: Shintaro Sakoda * Fixed parameters Signed-off-by: Shintaro Sakoda * style(pre-commit): autofix * Fixed tests Signed-off-by: Shintaro Sakoda * Changed the type of ekf_to_odom and add const Signed-off-by: Shintaro Sakoda * Fixed DiagnosticStatus Signed-off-by: Shintaro Sakoda * Changed odometry_data to std::optional Signed-off-by: Shintaro Sakoda * Refactored debug output in pose instability detector Signed-off-by: Shintaro Sakoda * style(pre-commit): autofix * Remove warning message for negative time difference in PoseInstabilityDetector Signed-off-by: Shintaro Sakoda * Updated rqt_runtime_monitor.png Signed-off-by: Shintaro SAKODA --------- Signed-off-by: Shintaro Sakoda Signed-off-by: Shintaro SAKODA Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- .../pose_twist_fusion_filter.launch.xml | 8 + launch/tier4_localization_launch/package.xml | 1 + .../pose_instability_detector/CMakeLists.txt | 24 +++ .../pose_instability_detector/README.md | 37 ++++ .../pose_instability_detector.param.yaml | 9 + .../pose_instability_detector.launch.xml | 14 ++ .../media/rqt_runtime_monitor.png | Bin 0 -> 438840 bytes .../media/timeline.drawio.svg | 157 ++++++++++++++++ .../pose_instability_detector/package.xml | 34 ++++ .../pose_instability_detector.schema.json | 75 ++++++++ .../pose_instability_detector/src/main.cpp | 26 +++ .../src/pose_instability_detector.cpp | 176 ++++++++++++++++++ .../src/pose_instability_detector.hpp | 70 +++++++ .../pose_instability_detector/test/test.cpp | 168 +++++++++++++++++ .../test/test_message_helper_node.hpp | 80 ++++++++ 15 files changed, 879 insertions(+) create mode 100644 localization/pose_instability_detector/CMakeLists.txt create mode 100644 localization/pose_instability_detector/README.md create mode 100644 localization/pose_instability_detector/config/pose_instability_detector.param.yaml create mode 100644 localization/pose_instability_detector/launch/pose_instability_detector.launch.xml create mode 100644 localization/pose_instability_detector/media/rqt_runtime_monitor.png create mode 100644 localization/pose_instability_detector/media/timeline.drawio.svg create mode 100644 localization/pose_instability_detector/package.xml create mode 100644 localization/pose_instability_detector/schema/pose_instability_detector.schema.json create mode 100644 localization/pose_instability_detector/src/main.cpp create mode 100644 localization/pose_instability_detector/src/pose_instability_detector.cpp create mode 100644 localization/pose_instability_detector/src/pose_instability_detector.hpp create mode 100644 localization/pose_instability_detector/test/test.cpp create mode 100644 localization/pose_instability_detector/test/test_message_helper_node.hpp diff --git a/launch/tier4_localization_launch/launch/pose_twist_fusion_filter/pose_twist_fusion_filter.launch.xml b/launch/tier4_localization_launch/launch/pose_twist_fusion_filter/pose_twist_fusion_filter.launch.xml index 59fd5174fa38c..23a1201a84958 100644 --- a/launch/tier4_localization_launch/launch/pose_twist_fusion_filter/pose_twist_fusion_filter.launch.xml +++ b/launch/tier4_localization_launch/launch/pose_twist_fusion_filter/pose_twist_fusion_filter.launch.xml @@ -33,4 +33,12 @@ + + + + + + + + diff --git a/launch/tier4_localization_launch/package.xml b/launch/tier4_localization_launch/package.xml index 1126914d58c5a..c4de9c04dcaf2 100644 --- a/launch/tier4_localization_launch/package.xml +++ b/launch/tier4_localization_launch/package.xml @@ -25,6 +25,7 @@ ndt_scan_matcher pointcloud_preprocessor pose_initializer + pose_instability_detector topic_tools yabloc_common yabloc_image_processing diff --git a/localization/pose_instability_detector/CMakeLists.txt b/localization/pose_instability_detector/CMakeLists.txt new file mode 100644 index 0000000000000..5270df636d791 --- /dev/null +++ b/localization/pose_instability_detector/CMakeLists.txt @@ -0,0 +1,24 @@ +cmake_minimum_required(VERSION 3.14) +project(pose_instability_detector) + +find_package(autoware_cmake REQUIRED) +autoware_package() + +ament_auto_add_executable(pose_instability_detector + src/main.cpp + src/pose_instability_detector.cpp +) + +if(BUILD_TESTING) + find_package(ament_cmake_gtest REQUIRED) + ament_auto_add_gtest(test_pose_instability_detector + test/test.cpp + src/pose_instability_detector.cpp + ) +endif() + +ament_auto_package( + INSTALL_TO_SHARE + launch + config +) diff --git a/localization/pose_instability_detector/README.md b/localization/pose_instability_detector/README.md new file mode 100644 index 0000000000000..89cf6ca3be684 --- /dev/null +++ b/localization/pose_instability_detector/README.md @@ -0,0 +1,37 @@ +# pose_instability_detector + +The `pose_instability_detector` package includes a node designed to monitor the stability of `/localization/kinematic_state`, which is an output topic of the Extended Kalman Filter (EKF). + +This node triggers periodic timer callbacks to compare two poses: + +- The pose obtained by integrating the twist values from the last received message on `/localization/kinematic_state` over a duration specified by `interval_sec`. +- The latest pose from `/localization/kinematic_state`. + +The results of this comparison are then output to the `/diagnostics` topic. + +If this node outputs WARN messages to `/diagnostics`, it means that the EKF output is significantly different from the integrated twist values. +This discrepancy suggests that there may be an issue with either the estimated pose or the input twist. + +The following diagram provides an overview of what the timeline of this process looks like: + +![timeline](./media/timeline.drawio.svg) + +## Parameters + +{{ json_to_markdown("localization/pose_instability_detector/schema/pose_instability_detector.schema.json") }} + +## Input + +| Name | Type | Description | +| ------------------ | ---------------------------------------------- | --------------------- | +| `~/input/odometry` | nav_msgs::msg::Odometry | Pose estimated by EKF | +| `~/input/twist` | geometry_msgs::msg::TwistWithCovarianceStamped | Twist | + +## Output + +| Name | Type | Description | +| ------------------- | ------------------------------------- | ----------- | +| `~/debug/diff_pose` | geometry_msgs::msg::PoseStamped | diff_pose | +| `/diagnostics` | diagnostic_msgs::msg::DiagnosticArray | Diagnostics | + +![rqt_runtime_monitor](./media/rqt_runtime_monitor.png) diff --git a/localization/pose_instability_detector/config/pose_instability_detector.param.yaml b/localization/pose_instability_detector/config/pose_instability_detector.param.yaml new file mode 100644 index 0000000000000..29a25849d6b1c --- /dev/null +++ b/localization/pose_instability_detector/config/pose_instability_detector.param.yaml @@ -0,0 +1,9 @@ +/**: + ros__parameters: + interval_sec: 1.0 # [sec] + threshold_diff_position_x: 1.0 # [m] + threshold_diff_position_y: 1.0 # [m] + threshold_diff_position_z: 1.0 # [m] + threshold_diff_angle_x: 1.0 # [rad] + threshold_diff_angle_y: 1.0 # [rad] + threshold_diff_angle_z: 1.0 # [rad] diff --git a/localization/pose_instability_detector/launch/pose_instability_detector.launch.xml b/localization/pose_instability_detector/launch/pose_instability_detector.launch.xml new file mode 100644 index 0000000000000..4a390ee2854d7 --- /dev/null +++ b/localization/pose_instability_detector/launch/pose_instability_detector.launch.xml @@ -0,0 +1,14 @@ + + + + + + + + + + + + + + diff --git a/localization/pose_instability_detector/media/rqt_runtime_monitor.png b/localization/pose_instability_detector/media/rqt_runtime_monitor.png new file mode 100644 index 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a/localization/pose_instability_detector/package.xml b/localization/pose_instability_detector/package.xml new file mode 100644 index 0000000000000..9f38cf6e00262 --- /dev/null +++ b/localization/pose_instability_detector/package.xml @@ -0,0 +1,34 @@ + + + + pose_instability_detector + 0.1.0 + The pose_instability_detector package + Yamato Ando + Kento Yabuuchi + Masahiro Sakamoto + Taiki Yamada + Ryu Yamamoto + Shintaro Sakoda + Apache License 2.0 + Shintaro Sakoda + + ament_cmake_auto + autoware_cmake + + diagnostic_msgs + geometry_msgs + nav_msgs + rclcpp + tf2 + tf2_geometry_msgs + tier4_autoware_utils + tier4_debug_msgs + + ament_cmake_cppcheck + ament_lint_auto + + + ament_cmake + + diff --git a/localization/pose_instability_detector/schema/pose_instability_detector.schema.json b/localization/pose_instability_detector/schema/pose_instability_detector.schema.json new file mode 100644 index 0000000000000..b45b43102444d --- /dev/null +++ b/localization/pose_instability_detector/schema/pose_instability_detector.schema.json @@ -0,0 +1,75 @@ +{ + "$schema": "http://json-schema.org/draft-07/schema#", + "title": "Parameters for Pose Instability Detector Nodes", + "type": "object", + "definitions": { + "pose_instability_detector_node": { + "type": "object", + "properties": { + "interval_sec": { + "type": "number", + "default": 1.0, + "exclusiveMinimum": 0, + "description": "The interval of timer_callback in seconds." + }, + "threshold_diff_position_x": { + "type": "number", + "default": 1.0, + "minimum": 0.0, + "description": "The threshold of diff_position x (m)." + }, + "threshold_diff_position_y": { + "type": "number", + "default": 1.0, + "minimum": 0.0, + "description": "The threshold of diff_position y (m)." + }, + "threshold_diff_position_z": { + "type": "number", + "default": 1.0, + "minimum": 0.0, + "description": "The threshold of diff_position z (m)." + }, + "threshold_diff_angle_x": { + "type": "number", + "default": 1.0, + "minimum": 0.0, + "description": "The threshold of diff_angle x (rad)." + }, + "threshold_diff_angle_y": { + "type": "number", + "default": 1.0, + "minimum": 0.0, + "description": "The threshold of diff_angle y (rad)." + }, + "threshold_diff_angle_z": { + "type": "number", + "default": 1.0, + "minimum": 0.0, + "description": "The threshold of diff_angle z (rad)." + } + }, + "required": [ + "interval_sec", + "threshold_diff_position_x", + "threshold_diff_position_y", + "threshold_diff_position_z", + "threshold_diff_angle_x", + "threshold_diff_angle_y", + "threshold_diff_angle_z" + ] + } + }, + "properties": { + "/**": { + "type": "object", + "properties": { + "ros__parameters": { + "$ref": "#/definitions/pose_instability_detector_node" + } + }, + "required": ["ros__parameters"] + } + }, + "required": ["/**"] +} diff --git a/localization/pose_instability_detector/src/main.cpp b/localization/pose_instability_detector/src/main.cpp new file mode 100644 index 0000000000000..34e679e86730f --- /dev/null +++ b/localization/pose_instability_detector/src/main.cpp @@ -0,0 +1,26 @@ +// Copyright 2023- Autoware Foundation +// +// 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 "pose_instability_detector.hpp" + +#include + +int main(int argc, char ** argv) +{ + rclcpp::init(argc, argv); + auto pose_instability_detector = std::make_shared(); + rclcpp::spin(pose_instability_detector); + rclcpp::shutdown(); + return 0; +} diff --git a/localization/pose_instability_detector/src/pose_instability_detector.cpp b/localization/pose_instability_detector/src/pose_instability_detector.cpp new file mode 100644 index 0000000000000..afb7d6e007db2 --- /dev/null +++ b/localization/pose_instability_detector/src/pose_instability_detector.cpp @@ -0,0 +1,176 @@ +// Copyright 2023- Autoware Foundation +// +// 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 "pose_instability_detector.hpp" + +#include "tier4_autoware_utils/geometry/geometry.hpp" + +#include + +#include + +#include + +PoseInstabilityDetector::PoseInstabilityDetector(const rclcpp::NodeOptions & options) +: Node("pose_instability_detector", options), + threshold_diff_position_x_(this->declare_parameter("threshold_diff_position_x")), + threshold_diff_position_y_(this->declare_parameter("threshold_diff_position_y")), + threshold_diff_position_z_(this->declare_parameter("threshold_diff_position_z")), + threshold_diff_angle_x_(this->declare_parameter("threshold_diff_angle_x")), + threshold_diff_angle_y_(this->declare_parameter("threshold_diff_angle_y")), + threshold_diff_angle_z_(this->declare_parameter("threshold_diff_angle_z")) +{ + odometry_sub_ = this->create_subscription( + "~/input/odometry", 10, + std::bind(&PoseInstabilityDetector::callback_odometry, this, std::placeholders::_1)); + + twist_sub_ = this->create_subscription( + "~/input/twist", 10, + std::bind(&PoseInstabilityDetector::callback_twist, this, std::placeholders::_1)); + + const double interval_sec = this->declare_parameter("interval_sec"); + timer_ = rclcpp::create_timer( + this, this->get_clock(), std::chrono::duration(interval_sec), + std::bind(&PoseInstabilityDetector::callback_timer, this)); + + diff_pose_pub_ = this->create_publisher("~/debug/diff_pose", 10); + diagnostics_pub_ = this->create_publisher("/diagnostics", 10); +} + +void PoseInstabilityDetector::callback_odometry(Odometry::ConstSharedPtr odometry_msg_ptr) +{ + latest_odometry_ = *odometry_msg_ptr; +} + +void PoseInstabilityDetector::callback_twist( + TwistWithCovarianceStamped::ConstSharedPtr twist_msg_ptr) +{ + twist_buffer_.push_back(*twist_msg_ptr); +} + +void PoseInstabilityDetector::callback_timer() +{ + if (latest_odometry_ == std::nullopt) { + return; + } + if (prev_odometry_ == std::nullopt) { + prev_odometry_ = latest_odometry_; + return; + } + + auto quat_to_rpy = [](const Quaternion & quat) { + tf2::Quaternion tf2_quat(quat.x, quat.y, quat.z, quat.w); + tf2::Matrix3x3 mat(tf2_quat); + double roll{}; + double pitch{}; + double yaw{}; + mat.getRPY(roll, pitch, yaw); + return std::make_tuple(roll, pitch, yaw); + }; + + Pose pose = prev_odometry_->pose.pose; + rclcpp::Time prev_time = rclcpp::Time(prev_odometry_->header.stamp); + for (const TwistWithCovarianceStamped & twist_with_cov : twist_buffer_) { + const Twist twist = twist_with_cov.twist.twist; + + const rclcpp::Time curr_time = rclcpp::Time(twist_with_cov.header.stamp); + if (curr_time > latest_odometry_->header.stamp) { + break; + } + + const rclcpp::Duration time_diff = curr_time - prev_time; + const double time_diff_sec = time_diff.seconds(); + if (time_diff_sec < 0.0) { + continue; + } + + // quat to rpy + auto [ang_x, ang_y, ang_z] = quat_to_rpy(pose.orientation); + + // rpy update + ang_x += twist.angular.x * time_diff_sec; + ang_y += twist.angular.y * time_diff_sec; + ang_z += twist.angular.z * time_diff_sec; + tf2::Quaternion quat; + quat.setRPY(ang_x, ang_y, ang_z); + + // Convert twist to world frame + tf2::Vector3 linear_velocity(twist.linear.x, twist.linear.y, twist.linear.z); + linear_velocity = tf2::quatRotate(quat, linear_velocity); + + // update + pose.position.x += linear_velocity.x() * time_diff_sec; + pose.position.y += linear_velocity.y() * time_diff_sec; + pose.position.z += linear_velocity.z() * time_diff_sec; + pose.orientation.x = quat.x(); + pose.orientation.y = quat.y(); + pose.orientation.z = quat.z(); + pose.orientation.w = quat.w(); + prev_time = curr_time; + } + + // compare pose and latest_odometry_ + const Pose latest_ekf_pose = latest_odometry_->pose.pose; + const Pose ekf_to_odom = tier4_autoware_utils::inverseTransformPose(pose, latest_ekf_pose); + const geometry_msgs::msg::Point pos = ekf_to_odom.position; + const auto [ang_x, ang_y, ang_z] = quat_to_rpy(ekf_to_odom.orientation); + const std::vector values = {pos.x, pos.y, pos.z, ang_x, ang_y, ang_z}; + + const rclcpp::Time stamp = latest_odometry_->header.stamp; + + // publish diff_pose for debug + PoseStamped diff_pose; + diff_pose.header = latest_odometry_->header; + diff_pose.pose = ekf_to_odom; + diff_pose_pub_->publish(diff_pose); + + const std::vector thresholds = {threshold_diff_position_x_, threshold_diff_position_y_, + threshold_diff_position_z_, threshold_diff_angle_x_, + threshold_diff_angle_y_, threshold_diff_angle_z_}; + + const std::vector labels = {"diff_position_x", "diff_position_y", "diff_position_z", + "diff_angle_x", "diff_angle_y", "diff_angle_z"}; + + // publish diagnostics + DiagnosticStatus status; + status.name = "localization: pose_instability_detector"; + status.hardware_id = this->get_name(); + bool all_ok = true; + + for (size_t i = 0; i < values.size(); ++i) { + const bool ok = (std::abs(values[i]) < thresholds[i]); + all_ok &= ok; + diagnostic_msgs::msg::KeyValue kv; + kv.key = labels[i] + ":threshold"; + kv.value = std::to_string(thresholds[i]); + status.values.push_back(kv); + kv.key = labels[i] + ":value"; + kv.value = std::to_string(values[i]); + status.values.push_back(kv); + kv.key = labels[i] + ":status"; + kv.value = (ok ? "OK" : "WARN"); + status.values.push_back(kv); + } + status.level = (all_ok ? DiagnosticStatus::OK : DiagnosticStatus::WARN); + status.message = (all_ok ? "OK" : "WARN"); + + DiagnosticArray diagnostics; + diagnostics.header.stamp = stamp; + diagnostics.status.emplace_back(status); + diagnostics_pub_->publish(diagnostics); + + // prepare for next loop + prev_odometry_ = latest_odometry_; + twist_buffer_.clear(); +} diff --git a/localization/pose_instability_detector/src/pose_instability_detector.hpp b/localization/pose_instability_detector/src/pose_instability_detector.hpp new file mode 100644 index 0000000000000..761a10b7a6bf7 --- /dev/null +++ b/localization/pose_instability_detector/src/pose_instability_detector.hpp @@ -0,0 +1,70 @@ +// Copyright 2023- Autoware Foundation +// +// 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 POSE_INSTABILITY_DETECTOR_HPP_ +#define POSE_INSTABILITY_DETECTOR_HPP_ + +#include + +#include +#include +#include +#include + +#include + +class PoseInstabilityDetector : public rclcpp::Node +{ + using Quaternion = geometry_msgs::msg::Quaternion; + using Twist = geometry_msgs::msg::Twist; + using TwistWithCovarianceStamped = geometry_msgs::msg::TwistWithCovarianceStamped; + using Pose = geometry_msgs::msg::Pose; + using PoseStamped = geometry_msgs::msg::PoseStamped; + using Odometry = nav_msgs::msg::Odometry; + using KeyValue = diagnostic_msgs::msg::KeyValue; + using DiagnosticStatus = diagnostic_msgs::msg::DiagnosticStatus; + using DiagnosticArray = diagnostic_msgs::msg::DiagnosticArray; + +public: + explicit PoseInstabilityDetector(const rclcpp::NodeOptions & options = rclcpp::NodeOptions()); + +private: + void callback_odometry(Odometry::ConstSharedPtr odometry_msg_ptr); + void callback_twist(TwistWithCovarianceStamped::ConstSharedPtr twist_msg_ptr); + void callback_timer(); + + // subscribers and timer + rclcpp::Subscription::SharedPtr odometry_sub_; + rclcpp::Subscription::SharedPtr twist_sub_; + rclcpp::TimerBase::SharedPtr timer_; + + // publisher + rclcpp::Publisher::SharedPtr diff_pose_pub_; + rclcpp::Publisher::SharedPtr diagnostics_pub_; + + // parameters + const double threshold_diff_position_x_; + const double threshold_diff_position_y_; + const double threshold_diff_position_z_; + const double threshold_diff_angle_x_; + const double threshold_diff_angle_y_; + const double threshold_diff_angle_z_; + + // variables + std::optional latest_odometry_ = std::nullopt; + std::optional prev_odometry_ = std::nullopt; + std::vector twist_buffer_; +}; + +#endif // POSE_INSTABILITY_DETECTOR_HPP_ diff --git a/localization/pose_instability_detector/test/test.cpp b/localization/pose_instability_detector/test/test.cpp new file mode 100644 index 0000000000000..4747582cdd163 --- /dev/null +++ b/localization/pose_instability_detector/test/test.cpp @@ -0,0 +1,168 @@ +// Copyright 2023- Autoware Foundation +// +// 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 "../src/pose_instability_detector.hpp" +#include "test_message_helper_node.hpp" + +#include + +#include +#include + +#include +#include +#include + +class TestPoseInstabilityDetector : public ::testing::Test +{ + using TwistWithCovarianceStamped = geometry_msgs::msg::TwistWithCovarianceStamped; + using Odometry = nav_msgs::msg::Odometry; + using DiagnosticStatus = diagnostic_msgs::msg::DiagnosticStatus; + using DiagnosticArray = diagnostic_msgs::msg::DiagnosticArray; + +protected: + void SetUp() override + { + const std::string yaml_path = + "../../install/pose_instability_detector/share/pose_instability_detector/config/" + "pose_instability_detector.param.yaml"; + + rcl_params_t * params_st = rcl_yaml_node_struct_init(rcl_get_default_allocator()); + if (!rcl_parse_yaml_file(yaml_path.c_str(), params_st)) { + std::cerr << "Failed to parse yaml file : " << yaml_path << std::endl; + std::exit(1); + } + + const rclcpp::ParameterMap param_map = rclcpp::parameter_map_from(params_st, ""); + rclcpp::NodeOptions node_options; + for (const auto & param_pair : param_map) { + for (const auto & param : param_pair.second) { + node_options.parameter_overrides().push_back(param); + } + } + + subject_ = std::make_shared(node_options); + executor_.add_node(subject_); + + helper_ = std::make_shared(); + executor_.add_node(helper_); + + rcl_yaml_node_struct_fini(params_st); + } + + void TearDown() override + { + executor_.remove_node(subject_); + executor_.remove_node(helper_); + } + + rclcpp::executors::SingleThreadedExecutor executor_; + std::shared_ptr subject_; + std::shared_ptr helper_; +}; + +TEST_F(TestPoseInstabilityDetector, output_ok_when_twist_matches_odometry) // NOLINT +{ + // send the first odometry message (start x = 10) + builtin_interfaces::msg::Time timestamp{}; + timestamp.sec = 0; + timestamp.nanosec = 0; + helper_->send_odometry_message(timestamp, 10.0, 0.0, 0.0); + + // process the above message (by timer_callback) + helper_->received_diagnostic_array_flag = false; + while (!helper_->received_diagnostic_array_flag) { + executor_.spin_some(); + std::this_thread::sleep_for(std::chrono::milliseconds(10)); + } + + // send the twist message1 (move 1m in x direction) + timestamp.sec = 0; + timestamp.nanosec = 5e8; + helper_->send_twist_message(timestamp, 2.0, 0.0, 0.0); + + // send the twist message2 (move 1m in x direction) + timestamp.sec = 1; + timestamp.nanosec = 0; + helper_->send_twist_message(timestamp, 2.0, 0.0, 0.0); + + // send the second odometry message (finish x = 12) + timestamp.sec = 2; + timestamp.nanosec = 0; + helper_->send_odometry_message(timestamp, 12.0, 0.0, 0.0); + + // process the above messages (by timer_callback) + helper_->received_diagnostic_array_flag = false; + while (!helper_->received_diagnostic_array_flag) { + executor_.spin_some(); + std::this_thread::sleep_for(std::chrono::milliseconds(10)); + } + + // check result + const diagnostic_msgs::msg::DiagnosticStatus & diagnostic_status = + helper_->received_diagnostic_array.status[0]; + EXPECT_TRUE(diagnostic_status.level == diagnostic_msgs::msg::DiagnosticStatus::OK); +} + +TEST_F(TestPoseInstabilityDetector, output_warn_when_twist_is_too_small) // NOLINT +{ + // send the first odometry message (start x = 10) + builtin_interfaces::msg::Time timestamp{}; + timestamp.sec = 0; + timestamp.nanosec = 0; + helper_->send_odometry_message(timestamp, 10.0, 0.0, 0.0); + + // process the above message (by timer_callback) + helper_->received_diagnostic_array_flag = false; + while (!helper_->received_diagnostic_array_flag) { + executor_.spin_some(); + std::this_thread::sleep_for(std::chrono::milliseconds(10)); + } + + // send the twist message1 (move 0.1m in x direction) + timestamp.sec = 0; + timestamp.nanosec = 5e8; + helper_->send_twist_message(timestamp, 0.2, 0.0, 0.0); + + // send the twist message2 (move 0.1m in x direction) + timestamp.sec = 1; + timestamp.nanosec = 0; + helper_->send_twist_message(timestamp, 0.2, 0.0, 0.0); + + // send the second odometry message (finish x = 12) + timestamp.sec = 2; + timestamp.nanosec = 0; + helper_->send_odometry_message(timestamp, 12.0, 0.0, 0.0); + + // process the above messages (by timer_callback) + helper_->received_diagnostic_array_flag = false; + while (!helper_->received_diagnostic_array_flag) { + executor_.spin_some(); + std::this_thread::sleep_for(std::chrono::milliseconds(10)); + } + + // check result + const diagnostic_msgs::msg::DiagnosticStatus & diagnostic_status = + helper_->received_diagnostic_array.status[0]; + EXPECT_TRUE(diagnostic_status.level == diagnostic_msgs::msg::DiagnosticStatus::WARN); +} + +int main(int argc, char ** argv) +{ + rclcpp::init(argc, argv); + ::testing::InitGoogleTest(&argc, argv); + int result = RUN_ALL_TESTS(); + rclcpp::shutdown(); + return result; +} diff --git a/localization/pose_instability_detector/test/test_message_helper_node.hpp b/localization/pose_instability_detector/test/test_message_helper_node.hpp new file mode 100644 index 0000000000000..51444f9736b02 --- /dev/null +++ b/localization/pose_instability_detector/test/test_message_helper_node.hpp @@ -0,0 +1,80 @@ +// Copyright 2023- Autoware Foundation +// +// 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 TEST_MESSAGE_HELPER_NODE_HPP_ +#define TEST_MESSAGE_HELPER_NODE_HPP_ + +#include + +#include +#include +#include + +class TestMessageHelperNode : public rclcpp::Node +{ + using TwistWithCovarianceStamped = geometry_msgs::msg::TwistWithCovarianceStamped; + using Odometry = nav_msgs::msg::Odometry; + using DiagnosticStatus = diagnostic_msgs::msg::DiagnosticStatus; + using DiagnosticArray = diagnostic_msgs::msg::DiagnosticArray; + +public: + TestMessageHelperNode() : Node("test_message_helper_node") + { + odometry_publisher_ = + this->create_publisher("/pose_instability_detector/input/odometry", 10); + twist_publisher_ = this->create_publisher( + "/pose_instability_detector/input/twist", 10); + diagnostic_subscriber_ = this->create_subscription( + "/diagnostics", 10, + std::bind(&TestMessageHelperNode::callback_diagnostics, this, std::placeholders::_1)); + } + + void send_odometry_message( + const builtin_interfaces::msg::Time timestamp, const double x, const double y, const double z) + { + Odometry message{}; + message.header.stamp = timestamp; + message.pose.pose.position.x = x; + message.pose.pose.position.y = y; + message.pose.pose.position.z = z; + odometry_publisher_->publish(message); + } + + void send_twist_message( + const builtin_interfaces::msg::Time timestamp, const double x, const double y, const double z) + { + TwistWithCovarianceStamped message{}; + message.header.stamp = timestamp; + message.twist.twist.linear.x = x; + message.twist.twist.linear.y = y; + message.twist.twist.linear.z = z; + twist_publisher_->publish(message); + } + + void callback_diagnostics(const DiagnosticArray::ConstSharedPtr msg) + { + received_diagnostic_array = *msg; + received_diagnostic_array_flag = true; + } + + DiagnosticArray received_diagnostic_array; + bool received_diagnostic_array_flag = false; + +private: + rclcpp::Publisher::SharedPtr odometry_publisher_; + rclcpp::Publisher::SharedPtr twist_publisher_; + rclcpp::Subscription::SharedPtr diagnostic_subscriber_; +}; + +#endif // TEST_MESSAGE_HELPER_NODE_HPP_ From 5930a79badb8d72db7d522c75b12360567891cb8 Mon Sep 17 00:00:00 2001 From: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> Date: Wed, 15 Nov 2023 13:29:22 +0900 Subject: [PATCH 114/202] fix(drivable_area_expansion): fix bug when reusing previous path points (#5586) Signed-off-by: Maxime CLEMENT --- .../drivable_area_expansion.cpp | 12 +++++++++++- 1 file changed, 11 insertions(+), 1 deletion(-) diff --git a/planning/behavior_path_planner/src/utils/drivable_area_expansion/drivable_area_expansion.cpp b/planning/behavior_path_planner/src/utils/drivable_area_expansion/drivable_area_expansion.cpp index 3008f98331c92..ebc1f686865a6 100644 --- a/planning/behavior_path_planner/src/utils/drivable_area_expansion/drivable_area_expansion.cpp +++ b/planning/behavior_path_planner/src/utils/drivable_area_expansion/drivable_area_expansion.cpp @@ -53,7 +53,17 @@ void reuse_previous_poses( prev_poses, 0, ego_point) < 0.0; const auto ego_is_far = !prev_poses.empty() && tier4_autoware_utils::calcDistance2d(ego_point, prev_poses.front()) < 0.0; - if (!ego_is_behind && !ego_is_far && prev_poses.size() > 1) { + // make sure the reused points are not behind the current original drivable area + LineString2d left_bound; + LineString2d right_bound; + for (const auto & p : path.left_bound) left_bound.push_back(convert_point(p)); + for (const auto & p : path.right_bound) right_bound.push_back(convert_point(p)); + LineString2d prev_poses_ls; + for (const auto & p : prev_poses) prev_poses_ls.push_back(convert_point(p.position)); + auto prev_poses_across_bounds = boost::geometry::intersects(left_bound, prev_poses_ls) || + boost::geometry::intersects(right_bound, prev_poses_ls); + + if (!ego_is_behind && !ego_is_far && prev_poses.size() > 1 && !prev_poses_across_bounds) { const auto first_idx = motion_utils::findNearestSegmentIndex(prev_poses, path.points.front().point.pose); const auto deviation = From fe50118ed82efa5562eda244578ba7e85650a144 Mon Sep 17 00:00:00 2001 From: Kento Yabuuchi Date: Wed, 15 Nov 2023 16:23:03 +0900 Subject: [PATCH 115/202] refactor(pose_instability_detector, ar_tag_based_localizer): specify file path using get_package_share_directory (#5588) * use get_package_share_directory Signed-off-by: Kento Yabuuchi * use get_package_share_directory in pose_instability_detector Signed-off-by: Kento Yabuuchi --------- Signed-off-by: Kento Yabuuchi --- .../ar_tag_based_localizer/package.xml | 1 + .../ar_tag_based_localizer/test/test.cpp | 5 +++-- localization/pose_instability_detector/package.xml | 1 + localization/pose_instability_detector/test/test.cpp | 5 +++-- 4 files changed, 8 insertions(+), 4 deletions(-) diff --git a/localization/landmark_based_localizer/ar_tag_based_localizer/package.xml b/localization/landmark_based_localizer/ar_tag_based_localizer/package.xml index 24b737c309016..7e83220dadf2a 100644 --- a/localization/landmark_based_localizer/ar_tag_based_localizer/package.xml +++ b/localization/landmark_based_localizer/ar_tag_based_localizer/package.xml @@ -13,6 +13,7 @@ ament_cmake autoware_cmake + ament_index_cpp aruco cv_bridge diagnostic_msgs diff --git a/localization/landmark_based_localizer/ar_tag_based_localizer/test/test.cpp b/localization/landmark_based_localizer/ar_tag_based_localizer/test/test.cpp index 6b302ee6bc862..1b44327fd9e8b 100644 --- a/localization/landmark_based_localizer/ar_tag_based_localizer/test/test.cpp +++ b/localization/landmark_based_localizer/ar_tag_based_localizer/test/test.cpp @@ -14,6 +14,7 @@ #include "../src/ar_tag_based_localizer.hpp" +#include #include #include @@ -29,8 +30,8 @@ class TestArTagBasedLocalizer : public ::testing::Test void SetUp() override { const std::string yaml_path = - "../../install/ar_tag_based_localizer/share/ar_tag_based_localizer/config/" - "ar_tag_based_localizer.param.yaml"; + ament_index_cpp::get_package_share_directory("ar_tag_based_localizer") + + "/config/ar_tag_based_localizer.param.yaml"; rcl_params_t * params_st = rcl_yaml_node_struct_init(rcl_get_default_allocator()); if (!rcl_parse_yaml_file(yaml_path.c_str(), params_st)) { diff --git a/localization/pose_instability_detector/package.xml b/localization/pose_instability_detector/package.xml index 9f38cf6e00262..7774407a7990d 100644 --- a/localization/pose_instability_detector/package.xml +++ b/localization/pose_instability_detector/package.xml @@ -16,6 +16,7 @@ ament_cmake_auto autoware_cmake + ament_index_cpp diagnostic_msgs geometry_msgs nav_msgs diff --git a/localization/pose_instability_detector/test/test.cpp b/localization/pose_instability_detector/test/test.cpp index 4747582cdd163..5ea03859d7731 100644 --- a/localization/pose_instability_detector/test/test.cpp +++ b/localization/pose_instability_detector/test/test.cpp @@ -15,6 +15,7 @@ #include "../src/pose_instability_detector.hpp" #include "test_message_helper_node.hpp" +#include #include #include @@ -35,8 +36,8 @@ class TestPoseInstabilityDetector : public ::testing::Test void SetUp() override { const std::string yaml_path = - "../../install/pose_instability_detector/share/pose_instability_detector/config/" - "pose_instability_detector.param.yaml"; + ament_index_cpp::get_package_share_directory("pose_instability_detector") + + "/config/pose_instability_detector.param.yaml"; rcl_params_t * params_st = rcl_yaml_node_struct_init(rcl_get_default_allocator()); if (!rcl_parse_yaml_file(yaml_path.c_str(), params_st)) { From 2bc49aeda4d3f60c261d0466104f2b5ec88c7a74 Mon Sep 17 00:00:00 2001 From: badai nguyen <94814556+badai-nguyen@users.noreply.github.com> Date: Wed, 15 Nov 2023 23:41:49 +0900 Subject: [PATCH 116/202] fix(detected_object_validation): add 3d pointcloud based validator (#5327) * fix: add 3d validation bind function Signed-off-by: badai-nguyen * fix: check validation point within shape Signed-off-by: badai-nguyen * fix: add 2d validator option param Signed-off-by: badai-nguyen * chore: refactor Signed-off-by: badai-nguyen * chore: refactor Signed-off-by: badai-nguyen * Revert "chore: refactor" This reverts commit e3cbf6cb524a34ad3b693a8c0eaa1680e3141f72. * chore: update docs and param file Signed-off-by: badai-nguyen * refactor: change to abstract class Signed-off-by: badai-nguyen * chore: add maintainer Signed-off-by: badai-nguyen --------- Signed-off-by: badai-nguyen --- ...acle_pointcloud_based_validator.param.yaml | 2 + .../debugger.hpp | 13 +- .../obstacle_pointcloud_based_validator.hpp | 88 +++- .../obstacle-pointcloud-based-validator.md | 1 + .../detected_object_validation/package.xml | 1 + .../obstacle_pointcloud_based_validator.cpp | 377 ++++++++++++------ 6 files changed, 344 insertions(+), 138 deletions(-) diff --git a/perception/detected_object_validation/config/obstacle_pointcloud_based_validator.param.yaml b/perception/detected_object_validation/config/obstacle_pointcloud_based_validator.param.yaml index 745a0fd6591a9..f7a27a52bfa8a 100644 --- a/perception/detected_object_validation/config/obstacle_pointcloud_based_validator.param.yaml +++ b/perception/detected_object_validation/config/obstacle_pointcloud_based_validator.param.yaml @@ -11,3 +11,5 @@ min_points_and_distance_ratio: #UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE, PEDESTRIAN [800.0, 800.0, 800.0, 800.0, 800.0, 800.0, 800.0, 800.0] + + using_2d_validator: false diff --git a/perception/detected_object_validation/include/obstacle_pointcloud_based_validator/debugger.hpp b/perception/detected_object_validation/include/obstacle_pointcloud_based_validator/debugger.hpp index 9ef1f75427b65..6597475ae297e 100644 --- a/perception/detected_object_validation/include/obstacle_pointcloud_based_validator/debugger.hpp +++ b/perception/detected_object_validation/include/obstacle_pointcloud_based_validator/debugger.hpp @@ -71,11 +71,18 @@ class Debugger void addNeighborPointcloud(const pcl::PointCloud::Ptr & input) { pcl::PointCloud::Ptr input_xyz = toXYZ(input); - for (const auto & point : *input_xyz) { - neighbor_pointcloud_->push_back(point); - } + addNeighborPointcloud(input_xyz); } + void addNeighborPointcloud(const pcl::PointCloud::Ptr & input) + { + if (!input->empty()) { + neighbor_pointcloud_->reserve(neighbor_pointcloud_->size() + input->size()); + for (const auto & point : *input) { + neighbor_pointcloud_->push_back(point); + } + } + } void addPointcloudWithinPolygon(const pcl::PointCloud::Ptr & input) { // pcl::PointCloud::Ptr input_xyz = toXYZ(input); diff --git a/perception/detected_object_validation/include/obstacle_pointcloud_based_validator/obstacle_pointcloud_based_validator.hpp b/perception/detected_object_validation/include/obstacle_pointcloud_based_validator/obstacle_pointcloud_based_validator.hpp index 5819302664907..e7df2c409b18f 100644 --- a/perception/detected_object_validation/include/obstacle_pointcloud_based_validator/obstacle_pointcloud_based_validator.hpp +++ b/perception/detected_object_validation/include/obstacle_pointcloud_based_validator/obstacle_pointcloud_based_validator.hpp @@ -25,8 +25,13 @@ #include #include #include +#include +#include #include #include +#include +#include +#include #include #include @@ -35,12 +40,88 @@ #include namespace obstacle_pointcloud_based_validator { + struct PointsNumThresholdParam { std::vector min_points_num; std::vector max_points_num; std::vector min_points_and_distance_ratio; }; + +class Validator +{ +private: + PointsNumThresholdParam points_num_threshold_param_; + +protected: + pcl::PointCloud::Ptr cropped_pointcloud_; + +public: + explicit Validator(PointsNumThresholdParam & points_num_threshold_param); + inline pcl::PointCloud::Ptr getDebugPointCloudWithinObject() + { + return cropped_pointcloud_; + } + + virtual bool setKdtreeInputCloud( + const sensor_msgs::msg::PointCloud2::ConstSharedPtr & input_pointcloud) = 0; + virtual bool validate_object( + const autoware_auto_perception_msgs::msg::DetectedObject & transformed_object) = 0; + virtual std::optional getMaxRadius( + const autoware_auto_perception_msgs::msg::DetectedObject & object) = 0; + size_t getThresholdPointCloud(const autoware_auto_perception_msgs::msg::DetectedObject & object); + virtual pcl::PointCloud::Ptr getDebugNeighborPointCloud() = 0; +}; + +class Validator2D : public Validator +{ +private: + pcl::PointCloud::Ptr obstacle_pointcloud_; + pcl::PointCloud::Ptr neighbor_pointcloud_; + pcl::search::Search::Ptr kdtree_; + +public: + explicit Validator2D(PointsNumThresholdParam & points_num_threshold_param); + + pcl::PointCloud::Ptr convertToXYZ( + const pcl::PointCloud::Ptr & pointcloud_xy); + inline pcl::PointCloud::Ptr getDebugNeighborPointCloud() + { + return convertToXYZ(neighbor_pointcloud_); + } + + bool setKdtreeInputCloud(const sensor_msgs::msg::PointCloud2::ConstSharedPtr & input_cloud); + bool validate_object( + const autoware_auto_perception_msgs::msg::DetectedObject & transformed_object); + std::optional getMaxRadius( + const autoware_auto_perception_msgs::msg::DetectedObject & object); + std::optional getPointCloudWithinObject( + const autoware_auto_perception_msgs::msg::DetectedObject & object, + const pcl::PointCloud::Ptr neighbor_pointcloud); +}; +class Validator3D : public Validator +{ +private: + pcl::PointCloud::Ptr obstacle_pointcloud_; + pcl::PointCloud::Ptr neighbor_pointcloud_; + pcl::search::Search::Ptr kdtree_; + +public: + explicit Validator3D(PointsNumThresholdParam & points_num_threshold_param); + inline pcl::PointCloud::Ptr getDebugNeighborPointCloud() + { + return neighbor_pointcloud_; + } + bool setKdtreeInputCloud(const sensor_msgs::msg::PointCloud2::ConstSharedPtr & input_cloud); + bool validate_object( + const autoware_auto_perception_msgs::msg::DetectedObject & transformed_object); + std::optional getMaxRadius( + const autoware_auto_perception_msgs::msg::DetectedObject & object); + std::optional getPointCloudWithinObject( + const autoware_auto_perception_msgs::msg::DetectedObject & object, + const pcl::PointCloud::Ptr neighbor_pointcloud); +}; + class ObstaclePointCloudBasedValidator : public rclcpp::Node { public: @@ -61,16 +142,13 @@ class ObstaclePointCloudBasedValidator : public rclcpp::Node PointsNumThresholdParam points_num_threshold_param_; std::shared_ptr debugger_; + bool using_2d_validator_; + std::unique_ptr validator_; private: void onObjectsAndObstaclePointCloud( const autoware_auto_perception_msgs::msg::DetectedObjects::ConstSharedPtr & input_objects, const sensor_msgs::msg::PointCloud2::ConstSharedPtr & input_obstacle_pointcloud); - std::optional getPointCloudNumWithinPolygon( - const autoware_auto_perception_msgs::msg::DetectedObject & object, - const pcl::PointCloud::Ptr pointcloud); - std::optional getMaxRadius( - const autoware_auto_perception_msgs::msg::DetectedObject & object); }; } // namespace obstacle_pointcloud_based_validator diff --git a/perception/detected_object_validation/obstacle-pointcloud-based-validator.md b/perception/detected_object_validation/obstacle-pointcloud-based-validator.md index dd67aab3db0c9..36b3815e7e689 100644 --- a/perception/detected_object_validation/obstacle-pointcloud-based-validator.md +++ b/perception/detected_object_validation/obstacle-pointcloud-based-validator.md @@ -28,6 +28,7 @@ In the debug image above, the red DetectedObject is the validated object. The bl | Name | Type | Description | | ------------------------------- | ----- | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| `using_2d_validator` | bool | The xy-plane projected (2D) obstacle point clouds will be used for validation | | `min_points_num` | int | The minimum number of obstacle point clouds in DetectedObjects | | `max_points_num` | int | The max number of obstacle point clouds in DetectedObjects | | `min_points_and_distance_ratio` | float | Threshold value of the number of point clouds per object when the distance from baselink is 1m, because the number of point clouds varies with the distance from baselink. | diff --git a/perception/detected_object_validation/package.xml b/perception/detected_object_validation/package.xml index e19b2b1c399b2..31bb633294748 100644 --- a/perception/detected_object_validation/package.xml +++ b/perception/detected_object_validation/package.xml @@ -6,6 +6,7 @@ The ROS 2 detected_object_validation package Yukihiro Saito Shunsuke Miura + badai nguyen Apache License 2.0 ament_cmake_auto diff --git a/perception/detected_object_validation/src/obstacle_pointcloud_based_validator.cpp b/perception/detected_object_validation/src/obstacle_pointcloud_based_validator.cpp index 47640c9332e4d..3249581513dd9 100644 --- a/perception/detected_object_validation/src/obstacle_pointcloud_based_validator.cpp +++ b/perception/detected_object_validation/src/obstacle_pointcloud_based_validator.cpp @@ -19,12 +19,6 @@ #include -#include -#include -#include -#include -#include - #ifdef ROS_DISTRO_GALACTIC #include #else @@ -35,44 +29,247 @@ #include #include -namespace +namespace obstacle_pointcloud_based_validator { -inline pcl::PointXY toPCL(const double x, const double y) +namespace bg = boost::geometry; +using Shape = autoware_auto_perception_msgs::msg::Shape; +using Polygon2d = tier4_autoware_utils::Polygon2d; + +Validator::Validator(PointsNumThresholdParam & points_num_threshold_param) { - pcl::PointXY pcl_point; - pcl_point.x = x; - pcl_point.y = y; - return pcl_point; + points_num_threshold_param_.min_points_num = points_num_threshold_param.min_points_num; + points_num_threshold_param_.max_points_num = points_num_threshold_param.max_points_num; + points_num_threshold_param_.min_points_and_distance_ratio = + points_num_threshold_param.min_points_and_distance_ratio; } -inline pcl::PointXY toPCL(const geometry_msgs::msg::Point & point) +size_t Validator::getThresholdPointCloud( + const autoware_auto_perception_msgs::msg::DetectedObject & object) { - return toPCL(point.x, point.y); + const auto object_label_id = object.classification.front().label; + const auto object_distance = std::hypot( + object.kinematics.pose_with_covariance.pose.position.x, + object.kinematics.pose_with_covariance.pose.position.y); + size_t threshold_pc = std::clamp( + static_cast( + points_num_threshold_param_.min_points_and_distance_ratio.at(object_label_id) / + object_distance + + 0.5f), + static_cast(points_num_threshold_param_.min_points_num.at(object_label_id)), + static_cast(points_num_threshold_param_.max_points_num.at(object_label_id))); + return threshold_pc; } -inline pcl::PointXYZ toXYZ(const pcl::PointXY & point) +Validator2D::Validator2D(PointsNumThresholdParam & points_num_threshold_param) +: Validator(points_num_threshold_param) { - return pcl::PointXYZ(point.x, point.y, 0.0); } -inline pcl::PointCloud::Ptr toXYZ( - const pcl::PointCloud::Ptr & pointcloud) +bool Validator2D::setKdtreeInputCloud( + const sensor_msgs::msg::PointCloud2::ConstSharedPtr & input_cloud) +{ + obstacle_pointcloud_.reset(new pcl::PointCloud); + pcl::fromROSMsg(*input_cloud, *obstacle_pointcloud_); + if (obstacle_pointcloud_->empty()) { + return false; + } + + kdtree_ = pcl::make_shared>(false); + kdtree_->setInputCloud(obstacle_pointcloud_); + + return true; +} +pcl::PointCloud::Ptr Validator2D::convertToXYZ( + const pcl::PointCloud::Ptr & pointcloud_xy) { pcl::PointCloud::Ptr pointcloud_xyz(new pcl::PointCloud); - pointcloud_xyz->reserve(pointcloud->size()); - for (const auto & point : *pointcloud) { - pointcloud_xyz->push_back(toXYZ(point)); + pointcloud_xyz->reserve(pointcloud_xy->size()); + for (const auto & point : *pointcloud_xy) { + pointcloud_xyz->push_back(pcl::PointXYZ(point.x, point.y, 0.0)); } return pointcloud_xyz; } -} // namespace +std::optional Validator2D::getPointCloudWithinObject( + const autoware_auto_perception_msgs::msg::DetectedObject & object, + const pcl::PointCloud::Ptr pointcloud) +{ + std::vector vertices_array; + pcl::Vertices vertices; + Polygon2d poly2d = + tier4_autoware_utils::toPolygon2d(object.kinematics.pose_with_covariance.pose, object.shape); + if (bg::is_empty(poly2d)) return std::nullopt; -namespace obstacle_pointcloud_based_validator + pcl::PointCloud::Ptr poly3d(new pcl::PointCloud); + + for (size_t i = 0; i < poly2d.outer().size(); ++i) { + vertices.vertices.emplace_back(i); + vertices_array.emplace_back(vertices); + poly3d->emplace_back(poly2d.outer().at(i).x(), poly2d.outer().at(i).y(), 0.0); + } + cropped_pointcloud_.reset(new pcl::PointCloud); + pcl::CropHull cropper; // don't be implemented PointXY by PCL + cropper.setInputCloud(convertToXYZ(pointcloud)); + cropper.setDim(2); + cropper.setHullIndices(vertices_array); + cropper.setHullCloud(poly3d); + cropper.setCropOutside(true); + cropper.filter(*cropped_pointcloud_); + return cropped_pointcloud_->size(); +} + +bool Validator2D::validate_object( + const autoware_auto_perception_msgs::msg::DetectedObject & transformed_object) { -namespace bg = boost::geometry; -using Shape = autoware_auto_perception_msgs::msg::Shape; -using Polygon2d = tier4_autoware_utils::Polygon2d; + // get neighbor_pointcloud of object + neighbor_pointcloud_.reset(new pcl::PointCloud); + std::vector indices; + std::vector distances; + const auto search_radius = getMaxRadius(transformed_object); + if (!search_radius) { + return false; + } + kdtree_->radiusSearch( + pcl::PointXY( + transformed_object.kinematics.pose_with_covariance.pose.position.x, + transformed_object.kinematics.pose_with_covariance.pose.position.y), + search_radius.value(), indices, distances); + for (const auto & index : indices) { + neighbor_pointcloud_->push_back(obstacle_pointcloud_->at(index)); + } + const auto num = getPointCloudWithinObject(transformed_object, neighbor_pointcloud_); + if (!num) return true; + + size_t threshold_pointcloud_num = getThresholdPointCloud(transformed_object); + if (num.value() > threshold_pointcloud_num) { + return true; + } + return false; // remove object +} + +std::optional Validator2D::getMaxRadius( + const autoware_auto_perception_msgs::msg::DetectedObject & object) +{ + if (object.shape.type == Shape::BOUNDING_BOX || object.shape.type == Shape::CYLINDER) { + return std::hypot(object.shape.dimensions.x * 0.5f, object.shape.dimensions.y * 0.5f); + } else if (object.shape.type == Shape::POLYGON) { + float max_dist = 0.0; + for (const auto & point : object.shape.footprint.points) { + const float dist = std::hypot(point.x, point.y); + max_dist = max_dist < dist ? dist : max_dist; + } + return max_dist; + } else { + return std::nullopt; + } +} + +Validator3D::Validator3D(PointsNumThresholdParam & points_num_threshold_param) +: Validator(points_num_threshold_param) +{ +} +bool Validator3D::setKdtreeInputCloud( + const sensor_msgs::msg::PointCloud2::ConstSharedPtr & input_cloud) +{ + obstacle_pointcloud_.reset(new pcl::PointCloud); + pcl::fromROSMsg(*input_cloud, *obstacle_pointcloud_); + if (obstacle_pointcloud_->empty()) { + return false; + } + // setup kdtree_ + kdtree_ = pcl::make_shared>(false); + kdtree_->setInputCloud(obstacle_pointcloud_); + return true; +} +std::optional Validator3D::getMaxRadius( + const autoware_auto_perception_msgs::msg::DetectedObject & object) +{ + if (object.shape.type == Shape::BOUNDING_BOX || object.shape.type == Shape::CYLINDER) { + auto square_radius = (object.shape.dimensions.x * 0.5f) * (object.shape.dimensions.x * 0.5f) + + (object.shape.dimensions.y * 0.5f) * (object.shape.dimensions.y * 0.5f) + + (object.shape.dimensions.z * 0.5f) * (object.shape.dimensions.z * 0.5f); + return std::sqrt(square_radius); + } else if (object.shape.type == Shape::POLYGON) { + float max_dist = 0.0; + for (const auto & point : object.shape.footprint.points) { + const float dist = std::hypot(point.x, point.y); + max_dist = max_dist < dist ? dist : max_dist; + } + return std::hypot(max_dist, object.shape.dimensions.z * 0.5f); + } else { + return std::nullopt; + } +} + +std::optional Validator3D::getPointCloudWithinObject( + const autoware_auto_perception_msgs::msg::DetectedObject & object, + const pcl::PointCloud::Ptr neighbor_pointcloud) +{ + std::vector vertices_array; + pcl::Vertices vertices; + auto const & object_position = object.kinematics.pose_with_covariance.pose.position; + auto const object_height = object.shape.dimensions.x; + auto z_min = object_position.z - object_height / 2.0f; + auto z_max = object_position.z + object_height / 2.0f; + Polygon2d poly2d = + tier4_autoware_utils::toPolygon2d(object.kinematics.pose_with_covariance.pose, object.shape); + if (bg::is_empty(poly2d)) return std::nullopt; + + pcl::PointCloud::Ptr poly3d(new pcl::PointCloud); + for (size_t i = 0; i < poly2d.outer().size(); ++i) { + vertices.vertices.emplace_back(i); + vertices_array.emplace_back(vertices); + poly3d->emplace_back(poly2d.outer().at(i).x(), poly2d.outer().at(i).y(), 0.0); + } + + pcl::PointCloud::Ptr cropped_pointcloud_2d(new pcl::PointCloud); + pcl::CropHull cropper; + cropper.setInputCloud(neighbor_pointcloud); + cropper.setDim(2); + cropper.setHullIndices(vertices_array); + cropper.setHullCloud(poly3d); + cropper.setCropOutside(true); + cropper.filter(*cropped_pointcloud_2d); + + cropped_pointcloud_.reset(new pcl::PointCloud); + cropped_pointcloud_->reserve(cropped_pointcloud_2d->size()); + for (const auto & point : *cropped_pointcloud_2d) { + if (point.z > z_min && point.z < z_max) { + cropped_pointcloud_->push_back(point); + } + } + return cropped_pointcloud_->size(); +} + +bool Validator3D::validate_object( + const autoware_auto_perception_msgs::msg::DetectedObject & transformed_object) +{ + neighbor_pointcloud_.reset(new pcl::PointCloud); + std::vector indices; + std::vector distances; + const auto search_radius = getMaxRadius(transformed_object); + if (!search_radius) { + return false; + } + kdtree_->radiusSearch( + pcl::PointXYZ( + transformed_object.kinematics.pose_with_covariance.pose.position.x, + transformed_object.kinematics.pose_with_covariance.pose.position.y, + transformed_object.kinematics.pose_with_covariance.pose.position.z), + search_radius.value(), indices, distances); + for (const auto & index : indices) { + neighbor_pointcloud_->push_back(obstacle_pointcloud_->at(index)); + } + + const auto num = getPointCloudWithinObject(transformed_object, neighbor_pointcloud_); + if (!num) return true; + + size_t threshold_pointcloud_num = getThresholdPointCloud(transformed_object); + if (num.value() > threshold_pointcloud_num) { + return true; + } + return false; // remove object +} ObstaclePointCloudBasedValidator::ObstaclePointCloudBasedValidator( const rclcpp::NodeOptions & node_options) @@ -85,13 +282,6 @@ ObstaclePointCloudBasedValidator::ObstaclePointCloudBasedValidator( tf_listener_(tf_buffer_), sync_(SyncPolicy(10), objects_sub_, obstacle_pointcloud_sub_) { - using std::placeholders::_1; - using std::placeholders::_2; - sync_.registerCallback( - std::bind(&ObstaclePointCloudBasedValidator::onObjectsAndObstaclePointCloud, this, _1, _2)); - objects_pub_ = create_publisher( - "~/output/objects", rclcpp::QoS{1}); - points_num_threshold_param_.min_points_num = declare_parameter>("min_points_num"); points_num_threshold_param_.max_points_num = @@ -99,10 +289,25 @@ ObstaclePointCloudBasedValidator::ObstaclePointCloudBasedValidator( points_num_threshold_param_.min_points_and_distance_ratio = declare_parameter>("min_points_and_distance_ratio"); + using_2d_validator_ = declare_parameter("using_2d_validator"); + + using std::placeholders::_1; + using std::placeholders::_2; + + sync_.registerCallback( + std::bind(&ObstaclePointCloudBasedValidator::onObjectsAndObstaclePointCloud, this, _1, _2)); + if (using_2d_validator_) { + validator_ = std::make_unique(points_num_threshold_param_); + } else { + validator_ = std::make_unique(points_num_threshold_param_); + } + + objects_pub_ = create_publisher( + "~/output/objects", rclcpp::QoS{1}); + const bool enable_debugger = declare_parameter("enable_debugger", false); if (enable_debugger) debugger_ = std::make_shared(this); } - void ObstaclePointCloudBasedValidator::onObjectsAndObstaclePointCloud( const autoware_auto_perception_msgs::msg::DetectedObjects::ConstSharedPtr & input_objects, const sensor_msgs::msg::PointCloud2::ConstSharedPtr & input_obstacle_pointcloud) @@ -119,61 +324,23 @@ void ObstaclePointCloudBasedValidator::onObjectsAndObstaclePointCloud( // objects_pub_->publish(*input_objects); return; } - - // Convert to PCL - pcl::PointCloud::Ptr obstacle_pointcloud(new pcl::PointCloud); - pcl::fromROSMsg(*input_obstacle_pointcloud, *obstacle_pointcloud); - if (obstacle_pointcloud->empty()) { + if (!validator_->setKdtreeInputCloud(input_obstacle_pointcloud)) { RCLCPP_WARN_THROTTLE(this->get_logger(), *this->get_clock(), 5, "cannot receive pointcloud"); - // objects_pub_->publish(*input_objects); return; } - // Create Kd-tree to search neighbor pointcloud to reduce cost. - pcl::search::Search::Ptr kdtree = - pcl::make_shared>(false); - kdtree->setInputCloud(obstacle_pointcloud); - for (size_t i = 0; i < transformed_objects.objects.size(); ++i) { const auto & transformed_object = transformed_objects.objects.at(i); - const auto object_label_id = transformed_object.classification.front().label; const auto & object = input_objects->objects.at(i); - const auto & transformed_object_position = - transformed_object.kinematics.pose_with_covariance.pose.position; - const auto search_radius = getMaxRadius(transformed_object); - if (!search_radius) { - output.objects.push_back(object); - continue; - } - - // Search neighbor pointcloud to reduce cost. - pcl::PointCloud::Ptr neighbor_pointcloud(new pcl::PointCloud); - std::vector indices; - std::vector distances; - kdtree->radiusSearch( - toPCL(transformed_object_position), search_radius.value(), indices, distances); - for (const auto & index : indices) { - neighbor_pointcloud->push_back(obstacle_pointcloud->at(index)); + const auto validated = validator_->validate_object(transformed_object); + if (debugger_) { + debugger_->addNeighborPointcloud(validator_->getDebugNeighborPointCloud()); + debugger_->addPointcloudWithinPolygon(validator_->getDebugPointCloudWithinObject()); } - if (debugger_) debugger_->addNeighborPointcloud(neighbor_pointcloud); - - // Filter object that have few pointcloud in them. - // TODO(badai-nguyen) add 3d validator option - const auto num = getPointCloudNumWithinPolygon(transformed_object, neighbor_pointcloud); - const auto object_distance = - std::hypot(transformed_object_position.x, transformed_object_position.y); - size_t min_pointcloud_num = std::clamp( - static_cast( - points_num_threshold_param_.min_points_and_distance_ratio.at(object_label_id) / - object_distance + - 0.5f), - static_cast(points_num_threshold_param_.min_points_num.at(object_label_id)), - static_cast(points_num_threshold_param_.max_points_num.at(object_label_id))); - if (num) { - (min_pointcloud_num <= num.value()) ? output.objects.push_back(object) - : removed_objects.objects.push_back(object); - } else { + if (validated) { output.objects.push_back(object); + } else { + removed_objects.objects.push_back(object); } } @@ -185,56 +352,6 @@ void ObstaclePointCloudBasedValidator::onObjectsAndObstaclePointCloud( } } -std::optional ObstaclePointCloudBasedValidator::getPointCloudNumWithinPolygon( - const autoware_auto_perception_msgs::msg::DetectedObject & object, - const pcl::PointCloud::Ptr pointcloud) -{ - pcl::PointCloud::Ptr cropped_pointcloud(new pcl::PointCloud); - std::vector vertices_array; - pcl::Vertices vertices; - - Polygon2d poly2d = - tier4_autoware_utils::toPolygon2d(object.kinematics.pose_with_covariance.pose, object.shape); - if (bg::is_empty(poly2d)) return std::nullopt; - - pcl::PointCloud::Ptr poly3d(new pcl::PointCloud); - - for (size_t i = 0; i < poly2d.outer().size(); ++i) { - vertices.vertices.emplace_back(i); - vertices_array.emplace_back(vertices); - poly3d->emplace_back(poly2d.outer().at(i).x(), poly2d.outer().at(i).y(), 0.0); - } - - pcl::CropHull cropper; // don't be implemented PointXY by PCL - cropper.setInputCloud(toXYZ(pointcloud)); - cropper.setDim(2); - cropper.setHullIndices(vertices_array); - cropper.setHullCloud(poly3d); - cropper.setCropOutside(true); - cropper.filter(*cropped_pointcloud); - - if (debugger_) debugger_->addPointcloudWithinPolygon(cropped_pointcloud); - return cropped_pointcloud->size(); -} - -std::optional ObstaclePointCloudBasedValidator::getMaxRadius( - const autoware_auto_perception_msgs::msg::DetectedObject & object) -{ - if (object.shape.type == Shape::BOUNDING_BOX || object.shape.type == Shape::CYLINDER) { - return std::hypot(object.shape.dimensions.x * 0.5f, object.shape.dimensions.y * 0.5f); - } else if (object.shape.type == Shape::POLYGON) { - float max_dist = 0.0; - for (const auto & point : object.shape.footprint.points) { - const float dist = std::hypot(point.x, point.y); - max_dist = max_dist < dist ? dist : max_dist; - } - return max_dist; - } else { - RCLCPP_WARN_THROTTLE(this->get_logger(), *this->get_clock(), 5000, "unknown shape type"); - return std::nullopt; - } -} - } // namespace obstacle_pointcloud_based_validator #include From cdf4b77c26e66e8b56e0b8fa6b65c22b952e5e7b Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Thu, 16 Nov 2023 00:09:19 +0900 Subject: [PATCH 117/202] fix(goal_planner): fix detection_polygons visualiztion (#5596) --- .../src/scene_module/goal_planner/goal_planner_module.cpp | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/planning/behavior_path_planner/src/scene_module/goal_planner/goal_planner_module.cpp b/planning/behavior_path_planner/src/scene_module/goal_planner/goal_planner_module.cpp index 84b4032cde4ad..6b363f206204c 100644 --- a/planning/behavior_path_planner/src/scene_module/goal_planner/goal_planner_module.cpp +++ b/planning/behavior_path_planner/src/scene_module/goal_planner/goal_planner_module.cpp @@ -1752,16 +1752,16 @@ void GoalPlannerModule::setDebugData() "map", rclcpp::Clock{RCL_ROS_TIME}.now(), "detection_polygons", 0, Marker::LINE_LIST, tier4_autoware_utils::createMarkerScale(0.01, 0.0, 0.0), tier4_autoware_utils::createMarkerColor(0.0, 0.0, 1.0, 0.999)); - + const double ego_z = planner_data_->self_odometry->pose.pose.position.z; for (const auto & ego_polygon : debug_data_.ego_polygons_expanded) { for (size_t ep_idx = 0; ep_idx < ego_polygon.outer().size(); ++ep_idx) { const auto & current_point = ego_polygon.outer().at(ep_idx); const auto & next_point = ego_polygon.outer().at((ep_idx + 1) % ego_polygon.outer().size()); marker.points.push_back( - tier4_autoware_utils::createPoint(current_point.x(), current_point.y(), 0.0)); + tier4_autoware_utils::createPoint(current_point.x(), current_point.y(), ego_z)); marker.points.push_back( - tier4_autoware_utils::createPoint(next_point.x(), next_point.y(), 0.0)); + tier4_autoware_utils::createPoint(next_point.x(), next_point.y(), ego_z)); } } debug_marker_.markers.push_back(marker); From cae657b2b44b67e17c07fc77903322bf0de14477 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?M=2E=20Fatih=20C=C4=B1r=C4=B1t?= Date: Wed, 15 Nov 2023 18:10:28 +0300 Subject: [PATCH 118/202] ci(sync-files): remove stale label pre-commands (#5597) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: M. Fatih Cırıt --- .github/sync-files.yaml | 2 -- 1 file changed, 2 deletions(-) diff --git a/.github/sync-files.yaml b/.github/sync-files.yaml index 4d316b9fb2481..5b60a371abd93 100644 --- a/.github/sync-files.yaml +++ b/.github/sync-files.yaml @@ -12,8 +12,6 @@ - source: .github/PULL_REQUEST_TEMPLATE/standard-change.md - source: .github/dependabot.yaml - source: .github/stale.yml - pre-commands: | - sd "staleLabel: stale" "staleLabel: status:stale" {source} - source: .github/workflows/cancel-previous-workflows.yaml - source: .github/workflows/github-release.yaml - source: .github/workflows/pre-commit.yaml From 9026da87af473d8c6ac3147de25b8302bf4ba30a Mon Sep 17 00:00:00 2001 From: Tomohito ANDO Date: Thu, 16 Nov 2023 00:21:30 +0900 Subject: [PATCH 119/202] chore(run_out): add maintainer (#5598) Signed-off-by: Tomohito Ando --- planning/behavior_velocity_run_out_module/package.xml | 1 + 1 file changed, 1 insertion(+) diff --git a/planning/behavior_velocity_run_out_module/package.xml b/planning/behavior_velocity_run_out_module/package.xml index fb3c49bb750a6..7bd27fca3407c 100644 --- a/planning/behavior_velocity_run_out_module/package.xml +++ b/planning/behavior_velocity_run_out_module/package.xml @@ -9,6 +9,7 @@ Makoto Kurihara Tomoya Kimura Shumpei Wakabayashi + Takayuki Murooka Apache License 2.0 From 62c34195456b1659ca457c0d7b724fad623713df Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Thu, 16 Nov 2023 03:54:21 +0900 Subject: [PATCH 120/202] fix(goal_planner): fix extending current lanes (#5595) * fix(goal_planner): fix extending current lanes Signed-off-by: kosuke55 * fix build error Signed-off-by: kosuke55 --------- Signed-off-by: kosuke55 --- .../goal_planner/goal_planner_module.cpp | 22 ++++++++++--------- 1 file changed, 12 insertions(+), 10 deletions(-) diff --git a/planning/behavior_path_planner/src/scene_module/goal_planner/goal_planner_module.cpp b/planning/behavior_path_planner/src/scene_module/goal_planner/goal_planner_module.cpp index 6b363f206204c..a0a84adfcf6f8 100644 --- a/planning/behavior_path_planner/src/scene_module/goal_planner/goal_planner_module.cpp +++ b/planning/behavior_path_planner/src/scene_module/goal_planner/goal_planner_module.cpp @@ -1064,9 +1064,10 @@ PathWithLaneId GoalPlannerModule::generateStopPath() const const double current_vel = planner_data_->self_odometry->twist.twist.linear.x; const double pull_over_velocity = parameters_->pull_over_velocity; - const auto current_lanes = utils::getExtendedCurrentLanes( - planner_data_, common_parameters.backward_path_length, std::numeric_limits::max(), - /*forward_only_in_route*/ true); + const lanelet::ConstLanelets current_lanes = utils::getExtendedCurrentLanes( + planner_data_, parameters_->backward_goal_search_length, + parameters_->forward_goal_search_length, + /*forward_only_in_route*/ false); if (current_lanes.empty()) { return PathWithLaneId{}; @@ -1152,9 +1153,10 @@ PathWithLaneId GoalPlannerModule::generateFeasibleStopPath() const const auto & common_parameters = planner_data_->parameters; // generate stop reference path - const auto current_lanes = utils::getExtendedCurrentLanes( - planner_data_, common_parameters.backward_path_length, std::numeric_limits::max(), - /*forward_only_in_route*/ true); + const lanelet::ConstLanelets current_lanes = utils::getExtendedCurrentLanes( + planner_data_, parameters_->backward_goal_search_length, + parameters_->forward_goal_search_length, + /*forward_only_in_route*/ false); const auto s_current = lanelet::utils::getArcCoordinates(current_lanes, current_pose).length; const double s_start = std::max(0.0, s_current - common_parameters.backward_path_length); const double s_end = s_current + common_parameters.forward_path_length; @@ -1621,10 +1623,10 @@ bool GoalPlannerModule::isSafePath() const planner_data_->self_odometry->twist.twist.linear.y); const auto & dynamic_object = planner_data_->dynamic_object; const auto & route_handler = planner_data_->route_handler; - const double backward_path_length = planner_data_->parameters.backward_path_length; - const auto current_lanes = utils::getExtendedCurrentLanes( - planner_data_, backward_path_length, std::numeric_limits::max(), - /*forward_only_in_route*/ true); + const lanelet::ConstLanelets current_lanes = utils::getExtendedCurrentLanes( + planner_data_, parameters_->backward_goal_search_length, + parameters_->forward_goal_search_length, + /*forward_only_in_route*/ false); const auto pull_over_lanes = goal_planner_utils::getPullOverLanes( *route_handler, left_side_parking_, parameters_->backward_goal_search_length, parameters_->forward_goal_search_length); From 58b909fed5a9e26d3c15898484e4837ae4271579 Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Thu, 16 Nov 2023 09:27:35 +0900 Subject: [PATCH 121/202] fix(geo_pose_projector): fix -Werror=deprecated-declarations (#5599) Signed-off-by: satoshi-ota --- localization/geo_pose_projector/src/geo_pose_projector.cpp | 5 +++-- localization/geo_pose_projector/src/geo_pose_projector.hpp | 2 +- 2 files changed, 4 insertions(+), 3 deletions(-) diff --git a/localization/geo_pose_projector/src/geo_pose_projector.cpp b/localization/geo_pose_projector/src/geo_pose_projector.cpp index 6d5308b929b25..d147888bb743b 100644 --- a/localization/geo_pose_projector/src/geo_pose_projector.cpp +++ b/localization/geo_pose_projector/src/geo_pose_projector.cpp @@ -36,7 +36,8 @@ GeoPoseProjector::GeoPoseProjector() // Subscribe to geo_pose topic geo_pose_sub_ = create_subscription( - "input_geo_pose", 10, [this](const GeoPoseWithCovariance::SharedPtr msg) { on_geo_pose(msg); }); + "input_geo_pose", 10, + [this](const GeoPoseWithCovariance::ConstSharedPtr msg) { on_geo_pose(msg); }); // Publish pose topic pose_pub_ = create_publisher("output_pose", 10); @@ -49,7 +50,7 @@ GeoPoseProjector::GeoPoseProjector() } } -void GeoPoseProjector::on_geo_pose(const GeoPoseWithCovariance::SharedPtr msg) +void GeoPoseProjector::on_geo_pose(const GeoPoseWithCovariance::ConstSharedPtr msg) { if (!projector_info_) { RCLCPP_WARN_THROTTLE( diff --git a/localization/geo_pose_projector/src/geo_pose_projector.hpp b/localization/geo_pose_projector/src/geo_pose_projector.hpp index b24b976b1eb61..b0611fec36984 100644 --- a/localization/geo_pose_projector/src/geo_pose_projector.hpp +++ b/localization/geo_pose_projector/src/geo_pose_projector.hpp @@ -39,7 +39,7 @@ class GeoPoseProjector : public rclcpp::Node GeoPoseProjector(); private: - void on_geo_pose(const GeoPoseWithCovariance::SharedPtr msg); + void on_geo_pose(const GeoPoseWithCovariance::ConstSharedPtr msg); component_interface_utils::Subscription::SharedPtr sub_map_projector_info_; rclcpp::Subscription::SharedPtr geo_pose_sub_; From f12df94c098256e7c50cfbc224652d42a20b073f Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Thu, 16 Nov 2023 11:03:59 +0900 Subject: [PATCH 122/202] refactor(goal_planner): refactor select path (#5559) Signed-off-by: kosuke55 --- .../goal_planner/goal_planner_module.hpp | 36 ++++- .../goal_planner/goal_planner_module.cpp | 135 +++++++++--------- 2 files changed, 100 insertions(+), 71 deletions(-) diff --git a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/goal_planner/goal_planner_module.hpp b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/goal_planner/goal_planner_module.hpp index 2e95ca82735fb..d647caeabbc44 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/goal_planner/goal_planner_module.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/goal_planner/goal_planner_module.hpp @@ -168,20 +168,39 @@ class ThreadSafeData return false; } - void set_pull_over_path(const PullOverPath & value) + void set_pull_over_path(const PullOverPath & path) { const std::lock_guard lock(mutex_); - pull_over_path_ = std::make_shared(value); + pull_over_path_ = std::make_shared(path); + if (path.type != PullOverPlannerType::NONE && path.type != PullOverPlannerType::FREESPACE) { + lane_parking_pull_over_path_ = std::make_shared(path); + } + last_path_update_time_ = clock_->now(); } - void set_pull_over_path(const std::shared_ptr & value) + void set_pull_over_path(const std::shared_ptr & path) { const std::lock_guard lock(mutex_); - pull_over_path_ = value; + pull_over_path_ = path; + if (path->type != PullOverPlannerType::NONE && path->type != PullOverPlannerType::FREESPACE) { + lane_parking_pull_over_path_ = path; + } last_path_update_time_ = clock_->now(); } + template + void set(Args... args) + { + std::lock_guard lock(mutex_); + (..., set(args)); + } + void set(const GoalCandidates & arg) { set_goal_candidates(arg); } + void set(const std::vector & arg) { set_pull_over_path_candidates(arg); } + void set(const std::shared_ptr & arg) { set_pull_over_path(arg); } + void set(const PullOverPath & arg) { set_pull_over_path(arg); } + void set(const GoalCandidate & arg) { set_modified_goal_pose(arg); } + void clearPullOverPath() { const std::lock_guard lock(mutex_); @@ -221,6 +240,7 @@ class ThreadSafeData } DEFINE_GETTER_WITH_MUTEX(std::shared_ptr, pull_over_path) + DEFINE_GETTER_WITH_MUTEX(std::shared_ptr, lane_parking_pull_over_path) DEFINE_GETTER_WITH_MUTEX(std::optional, last_path_update_time) DEFINE_GETTER_WITH_MUTEX(std::optional, last_path_idx_increment_time) @@ -231,6 +251,7 @@ class ThreadSafeData private: std::shared_ptr pull_over_path_{nullptr}; + std::shared_ptr lane_parking_pull_over_path_{nullptr}; std::vector pull_over_path_candidates_; GoalCandidates goal_candidates_{}; std::optional modified_goal_pose_; @@ -394,6 +415,7 @@ class GoalPlannerModule : public SceneModuleInterface void generateGoalCandidates(); // stop or decelerate + void deceleratePath(PullOverPath & pull_over_path) const; void decelerateForTurnSignal(const Pose & stop_pose, PathWithLaneId & path) const; void decelerateBeforeSearchStart( const Pose & search_start_offset_pose, PathWithLaneId & path) const; @@ -428,13 +450,15 @@ class GoalPlannerModule : public SceneModuleInterface // freespace parking bool planFreespacePath(); - void returnToLaneParking(); + bool canReturnToLaneParking(); // plan pull over path BehaviorModuleOutput planPullOver(); BehaviorModuleOutput planPullOverAsOutput(); BehaviorModuleOutput planPullOverAsCandidate(); - void selectSafePullOverPath(); + std::optional> selectPullOverPath( + const std::vector & pull_over_path_candidates, + const GoalCandidates & goal_candidates) const; std::vector sortPullOverPathCandidatesByGoalPriority( const std::vector & pull_over_path_candidates, const GoalCandidates & goal_candidates) const; diff --git a/planning/behavior_path_planner/src/scene_module/goal_planner/goal_planner_module.cpp b/planning/behavior_path_planner/src/scene_module/goal_planner/goal_planner_module.cpp index a0a84adfcf6f8..ba846efbb0a50 100644 --- a/planning/behavior_path_planner/src/scene_module/goal_planner/goal_planner_module.cpp +++ b/planning/behavior_path_planner/src/scene_module/goal_planner/goal_planner_module.cpp @@ -54,7 +54,7 @@ namespace behavior_path_planner GoalPlannerModule::GoalPlannerModule( const std::string & name, rclcpp::Node & node, const std::shared_ptr & parameters, - const std::unordered_map > & rtc_interface_ptr_map) + const std::unordered_map> & rtc_interface_ptr_map) : SceneModuleInterface{name, node, rtc_interface_ptr_map}, parameters_{parameters}, vehicle_info_{vehicle_info_util::VehicleInfoUtil(node).getVehicleInfo()}, @@ -518,20 +518,20 @@ bool GoalPlannerModule::planFreespacePath() return false; } -void GoalPlannerModule::returnToLaneParking() +bool GoalPlannerModule::canReturnToLaneParking() { // return only before starting free space parking if (!isStopped()) { - return; + return false; } - if (!status_.get_lane_parking_pull_over_path()) { - return; + if (!thread_safe_data_.get_lane_parking_pull_over_path()) { + return false; } - const PathWithLaneId path = status_.get_lane_parking_pull_over_path()->getFullPath(); + const PathWithLaneId path = thread_safe_data_.get_lane_parking_pull_over_path()->getFullPath(); if (checkCollision(path)) { - return; + return false; } const Point & current_point = planner_data_->self_odometry->pose.pose.position; @@ -539,11 +539,10 @@ void GoalPlannerModule::returnToLaneParking() const bool is_close_to_path = std::abs(motion_utils::calcLateralOffset(path.points, current_point)) < th_distance; if (!is_close_to_path) { - return; + return false; } - thread_safe_data_.set_pull_over_path(status_.get_lane_parking_pull_over_path()); - RCLCPP_INFO(getLogger(), "return to lane parking"); + return true; } void GoalPlannerModule::generateGoalCandidates() @@ -619,23 +618,10 @@ std::vector GoalPlannerModule::sortPullOverPathCandidatesByGoalPri return sorted_pull_over_path_candidates; } -void GoalPlannerModule::selectSafePullOverPath() +std::optional> GoalPlannerModule::selectPullOverPath( + const std::vector & pull_over_path_candidates, + const GoalCandidates & goal_candidates) const { - // select safe lane pull over path from candidates - std::vector pull_over_path_candidates{}; - GoalCandidates goal_candidates{}; - { - const std::lock_guard lock(mutex_); - goal_searcher_->setPlannerData(planner_data_); - goal_candidates = thread_safe_data_.get_goal_candidates(); - goal_searcher_->update(goal_candidates); - thread_safe_data_.set_goal_candidates(goal_candidates); - thread_safe_data_.set_pull_over_path_candidates(sortPullOverPathCandidatesByGoalPriority( - thread_safe_data_.get_pull_over_path_candidates(), thread_safe_data_.get_goal_candidates())); - pull_over_path_candidates = thread_safe_data_.get_pull_over_path_candidates(); - thread_safe_data_.clearPullOverPath(); - } - for (const auto & pull_over_path : pull_over_path_candidates) { // check if goal is safe const auto goal_candidate_it = std::find_if( @@ -654,42 +640,10 @@ void GoalPlannerModule::selectSafePullOverPath() continue; } - // found safe pull over path - { - const std::lock_guard lock(mutex_); - thread_safe_data_.set_pull_over_path(pull_over_path); - thread_safe_data_.set_modified_goal_pose(*goal_candidate_it); - status_.set_lane_parking_pull_over_path(thread_safe_data_.get_pull_over_path()); - } - break; + return std::make_pair(pull_over_path, *goal_candidate_it); } - if (!thread_safe_data_.foundPullOverPath()) { - return; - } - - // decelerate before the search area start - const auto decel_pose = calcLongitudinalOffsetPose( - thread_safe_data_.get_pull_over_path()->getFullPath().points, - status_.get_closest_goal_candidate_pose().position, -approximate_pull_over_distance_); - auto & first_path = thread_safe_data_.get_pull_over_path()->partial_paths.front(); - if (decel_pose) { - decelerateBeforeSearchStart(*decel_pose, first_path); - return; - } - - // if already passed the search start offset pose, set pull_over_velocity to first_path. - const auto min_decel_distance = calcFeasibleDecelDistance( - planner_data_, parameters_->maximum_deceleration, parameters_->maximum_jerk, - parameters_->pull_over_velocity); - for (auto & p : first_path.points) { - const double distance_from_ego = calcSignedArcLengthFromEgo(first_path, p.point.pose); - if (min_decel_distance && distance_from_ego < *min_decel_distance) { - continue; - } - p.point.longitudinal_velocity_mps = std::min( - p.point.longitudinal_velocity_mps, static_cast(parameters_->pull_over_velocity)); - } + return {}; } std::vector GoalPlannerModule::generateDrivableLanes() const @@ -847,7 +801,7 @@ void GoalPlannerModule::updateSteeringFactor( } // NOTE: Once this function returns true, it will continue to return true thereafter. Because -// selectSafePullOverPath() will not select new path. +// selectPullOverPath() will not select new path. bool GoalPlannerModule::hasDecidedPath() const { // if path is not safe, not decided @@ -928,8 +882,31 @@ BehaviorModuleOutput GoalPlannerModule::planPullOverAsOutput() if (!hasDecidedPath() && needPathUpdate(1.0 /*path_update_duration*/)) { // if the final path is not decided and enough time has passed since last path update, // select safe path from lane parking pull over path candidates - // and set it to thread_safe_data_.get_pull_over_path() - selectSafePullOverPath(); + // and set it to thread_safe_data_ + + thread_safe_data_.clearPullOverPath(); + + // update goal candidates + goal_searcher_->setPlannerData(planner_data_); + auto goal_candidates = thread_safe_data_.get_goal_candidates(); + goal_searcher_->update(goal_candidates); + + // update pull over path candidates + const auto pull_over_path_candidates = sortPullOverPathCandidatesByGoalPriority( + thread_safe_data_.get_pull_over_path_candidates(), goal_candidates); + + // select pull over path which is safe against static objects and get it's goal + const auto path_and_goal_opt = selectPullOverPath(pull_over_path_candidates, goal_candidates); + + // update thread_safe_data_ + if (path_and_goal_opt) { + auto [pull_over_path, modified_goal] = *path_and_goal_opt; + deceleratePath(pull_over_path); + thread_safe_data_.set( + goal_candidates, pull_over_path_candidates, pull_over_path, modified_goal); + } else { + thread_safe_data_.set(goal_candidates, pull_over_path_candidates); + } } // set output and status @@ -937,8 +914,10 @@ BehaviorModuleOutput GoalPlannerModule::planPullOverAsOutput() setOutput(output); // return to lane parking if it is possible - if (thread_safe_data_.getPullOverPlannerType() == PullOverPlannerType::FREESPACE) { - returnToLaneParking(); + if ( + thread_safe_data_.getPullOverPlannerType() == PullOverPlannerType::FREESPACE && + canReturnToLaneParking()) { + thread_safe_data_.set_pull_over_path(thread_safe_data_.get_lane_parking_pull_over_path()); } // For debug @@ -1450,6 +1429,32 @@ double GoalPlannerModule::calcSignedArcLengthFromEgo( path.points, current_pose.position, ego_idx, pose.position, target_idx); } +void GoalPlannerModule::deceleratePath(PullOverPath & pull_over_path) const +{ + // decelerate before the search area start + const auto decel_pose = calcLongitudinalOffsetPose( + pull_over_path.getFullPath().points, status_.get_closest_goal_candidate_pose().position, + -approximate_pull_over_distance_); + auto & first_path = pull_over_path.partial_paths.front(); + if (decel_pose) { + decelerateBeforeSearchStart(*decel_pose, first_path); + return; + } + + // if already passed the search start offset pose, set pull_over_velocity to first_path. + const auto min_decel_distance = calcFeasibleDecelDistance( + planner_data_, parameters_->maximum_deceleration, parameters_->maximum_jerk, + parameters_->pull_over_velocity); + for (auto & p : first_path.points) { + const double distance_from_ego = calcSignedArcLengthFromEgo(first_path, p.point.pose); + if (min_decel_distance && distance_from_ego < *min_decel_distance) { + continue; + } + p.point.longitudinal_velocity_mps = std::min( + p.point.longitudinal_velocity_mps, static_cast(parameters_->pull_over_velocity)); + } +} + void GoalPlannerModule::decelerateForTurnSignal(const Pose & stop_pose, PathWithLaneId & path) const { const double time = planner_data_->parameters.turn_signal_search_time; From 8ea6094d7065df58532fd648f7d13414af82f1fa Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Thu, 16 Nov 2023 11:48:38 +0900 Subject: [PATCH 123/202] feat(lane_departure_checker): better cubstones's search (#5582) * feat(lane_departure_checker): better cubstones's search Signed-off-by: Takayuki Murooka * update Signed-off-by: Takayuki Murooka --------- Signed-off-by: Takayuki Murooka --- .../lane_departure_checker.hpp | 15 ++- .../lane_departure_checker.cpp | 114 +++++++++--------- 2 files changed, 65 insertions(+), 64 deletions(-) diff --git a/control/lane_departure_checker/include/lane_departure_checker/lane_departure_checker.hpp b/control/lane_departure_checker/include/lane_departure_checker/lane_departure_checker.hpp index c77503106e485..dc55576640133 100644 --- a/control/lane_departure_checker/include/lane_departure_checker/lane_departure_checker.hpp +++ b/control/lane_departure_checker/include/lane_departure_checker/lane_departure_checker.hpp @@ -29,6 +29,7 @@ #include #include +#include #include #include @@ -46,7 +47,9 @@ using autoware_auto_planning_msgs::msg::TrajectoryPoint; using autoware_planning_msgs::msg::LaneletRoute; using tier4_autoware_utils::LinearRing2d; using tier4_autoware_utils::PoseDeviation; +using tier4_autoware_utils::Segment2d; using TrajectoryPoints = std::vector; +typedef boost::geometry::index::rtree> SegmentRtree; struct Param { @@ -137,13 +140,15 @@ class LaneDepartureChecker const lanelet::ConstLanelets & candidate_lanelets, const std::vector & vehicle_footprints); + double calcMaxSearchLengthForBoundaries(const Trajectory & trajectory) const; + + static SegmentRtree extractUncrossableBoundaries( + const lanelet::LaneletMap & lanelet_map, const geometry_msgs::msg::Point & ego_point, + const double max_search_length, const std::vector & boundary_types_to_detect); + static bool willCrossBoundary( - const lanelet::ConstLanelets & candidate_lanelets, const std::vector & vehicle_footprints, - const std::vector & boundary_types_to_detects); - - static bool isCrossingRoadBorder( - const lanelet::BasicLineString2d & road_border, const std::vector & footprints); + const SegmentRtree & uncrossable_segments); }; } // namespace lane_departure_checker diff --git a/control/lane_departure_checker/src/lane_departure_checker_node/lane_departure_checker.cpp b/control/lane_departure_checker/src/lane_departure_checker_node/lane_departure_checker.cpp index 9d413b2bf0a70..5bd0fcace9909 100644 --- a/control/lane_departure_checker/src/lane_departure_checker_node/lane_departure_checker.cpp +++ b/control/lane_departure_checker/src/lane_departure_checker_node/lane_departure_checker.cpp @@ -30,7 +30,9 @@ #include #include +using motion_utils::calcArcLength; using tier4_autoware_utils::LinearRing2d; +using tier4_autoware_utils::LineString2d; using tier4_autoware_utils::MultiPoint2d; using tier4_autoware_utils::Point2d; @@ -41,15 +43,6 @@ using autoware_auto_planning_msgs::msg::TrajectoryPoint; using TrajectoryPoints = std::vector; using geometry_msgs::msg::Point; -Point fromVector2dToMsg(const Eigen::Vector2d & point) -{ - Point msg{}; - msg.x = point.x(); - msg.y = point.y(); - msg.z = 0.0; - return msg; -} - double calcBrakingDistance( const double abs_velocity, const double max_deceleration, const double delay_time) { @@ -67,27 +60,6 @@ bool isInAnyLane(const lanelet::ConstLanelets & candidate_lanelets, const Point2 return false; } -bool isCrossingWithBoundary( - const lanelet::BasicLineString2d & boundary, const std::vector & footprints) -{ - for (auto & footprint : footprints) { - for (size_t i = 0; i < footprint.size() - 1; ++i) { - auto footprint1 = footprint.at(i).to_3d(); - auto footprint2 = footprint.at(i + 1).to_3d(); - for (size_t i = 0; i < boundary.size() - 1; ++i) { - auto boundary1 = boundary.at(i); - auto boundary2 = boundary.at(i + 1); - if (tier4_autoware_utils::intersect( - tier4_autoware_utils::toMsg(footprint1), tier4_autoware_utils::toMsg(footprint2), - fromVector2dToMsg(boundary1), fromVector2dToMsg(boundary2))) { - return true; - } - } - } - } - return false; -} - LinearRing2d createHullFromFootprints(const std::vector & footprints) { MultiPoint2d combined; @@ -172,8 +144,12 @@ Output LaneDepartureChecker::update(const Input & input) output.is_out_of_lane = isOutOfLane(output.candidate_lanelets, output.vehicle_footprints.front()); output.processing_time_map["isOutOfLane"] = stop_watch.toc(true); - output.will_cross_boundary = willCrossBoundary( - output.candidate_lanelets, output.vehicle_footprints, input.boundary_types_to_detect); + const double max_search_length_for_boundaries = + calcMaxSearchLengthForBoundaries(*input.predicted_trajectory); + const auto uncrossable_boundaries = extractUncrossableBoundaries( + *input.lanelet_map, input.predicted_trajectory->points.front().pose.position, + max_search_length_for_boundaries, input.boundary_types_to_detect); + output.will_cross_boundary = willCrossBoundary(output.vehicle_footprints, uncrossable_boundaries); output.processing_time_map["willCrossBoundary"] = stop_watch.toc(true); return output; @@ -334,38 +310,58 @@ bool LaneDepartureChecker::isOutOfLane( return false; } -bool LaneDepartureChecker::willCrossBoundary( - const lanelet::ConstLanelets & candidate_lanelets, - const std::vector & vehicle_footprints, - const std::vector & boundary_types_to_detect) +double LaneDepartureChecker::calcMaxSearchLengthForBoundaries(const Trajectory & trajectory) const { - for (const auto & candidate_lanelet : candidate_lanelets) { - const std::string r_type = - candidate_lanelet.rightBound().attributeOr(lanelet::AttributeName::Type, "none"); - if ( - std::find(boundary_types_to_detect.begin(), boundary_types_to_detect.end(), r_type) != - boundary_types_to_detect.end()) { - if (isCrossingWithBoundary( - candidate_lanelet.rightBound2d().basicLineString(), vehicle_footprints)) { - // std::cerr << "The crossed road_border's line string id: " - // << candidate_lanelet.rightBound().id() << std::endl; - return true; + const double max_ego_lon_length = std::max( + std::abs(vehicle_info_ptr_->max_longitudinal_offset_m), + std::abs(vehicle_info_ptr_->min_longitudinal_offset_m)); + const double max_ego_lat_length = std::max( + std::abs(vehicle_info_ptr_->max_lateral_offset_m), + std::abs(vehicle_info_ptr_->min_lateral_offset_m)); + const double max_ego_search_length = std::hypot(max_ego_lon_length, max_ego_lat_length); + return calcArcLength(trajectory.points) + max_ego_search_length; +} + +SegmentRtree LaneDepartureChecker::extractUncrossableBoundaries( + const lanelet::LaneletMap & lanelet_map, const geometry_msgs::msg::Point & ego_point, + const double max_search_length, const std::vector & boundary_types_to_detect) +{ + const auto has_types = + [](const lanelet::ConstLineString3d & ls, const std::vector & types) { + constexpr auto no_type = ""; + const auto type = ls.attributeOr(lanelet::AttributeName::Type, no_type); + return (type != no_type && std::find(types.begin(), types.end(), type) != types.end()); + }; + + SegmentRtree uncrossable_segments_in_range; + LineString2d line; + const auto ego_p = Point2d{ego_point.x, ego_point.y}; + for (const auto & ls : lanelet_map.lineStringLayer) { + if (has_types(ls, boundary_types_to_detect)) { + line.clear(); + for (const auto & p : ls) line.push_back(Point2d{p.x(), p.y()}); + for (auto segment_idx = 0LU; segment_idx + 1 < line.size(); ++segment_idx) { + const Segment2d segment = {line[segment_idx], line[segment_idx + 1]}; + if (boost::geometry::distance(segment, ego_p) < max_search_length) { + uncrossable_segments_in_range.insert(segment); + } } } - const std::string l_type = - candidate_lanelet.leftBound().attributeOr(lanelet::AttributeName::Type, "none"); - if ( - std::find(boundary_types_to_detect.begin(), boundary_types_to_detect.end(), l_type) != - boundary_types_to_detect.end()) { - if (isCrossingWithBoundary( - candidate_lanelet.leftBound2d().basicLineString(), vehicle_footprints)) { - // std::cerr << "The crossed road_border's line string id: " - // << candidate_lanelet.leftBound().id() << std::endl; - return true; - } + } + return uncrossable_segments_in_range; +} + +bool LaneDepartureChecker::willCrossBoundary( + const std::vector & vehicle_footprints, const SegmentRtree & uncrossable_segments) +{ + for (const auto & footprint : vehicle_footprints) { + std::vector intersection_result; + uncrossable_segments.query( + boost::geometry::index::intersects(footprint), std::back_inserter(intersection_result)); + if (!intersection_result.empty()) { + return true; } } return false; } - } // namespace lane_departure_checker From 8c69bba61a7edf93b91442c2c2a8e75fbe22ff0f Mon Sep 17 00:00:00 2001 From: kminoda <44218668+kminoda@users.noreply.github.com> Date: Thu, 16 Nov 2023 12:10:23 +0900 Subject: [PATCH 124/202] build(tier4_perception_launch): add tracking_object_merger (#5602) Signed-off-by: kminoda --- launch/tier4_perception_launch/package.xml | 1 + 1 file changed, 1 insertion(+) diff --git a/launch/tier4_perception_launch/package.xml b/launch/tier4_perception_launch/package.xml index 336588891d9b2..7e6ba83747a8b 100644 --- a/launch/tier4_perception_launch/package.xml +++ b/launch/tier4_perception_launch/package.xml @@ -39,6 +39,7 @@ shape_estimation tensorrt_yolo topic_tools + tracking_object_merger traffic_light_arbiter traffic_light_classifier traffic_light_fine_detector From db036686f5f76ea9823ea4a4293f6cc25b63c9ef Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Thu, 16 Nov 2023 15:15:14 +0900 Subject: [PATCH 125/202] fix(avoidance): fix avoidance exit condition (#5592) Signed-off-by: satoshi-ota --- .../src/scene_module/avoidance/avoidance_module.cpp | 13 +++++++++++++ 1 file changed, 13 insertions(+) diff --git a/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp b/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp index 2d85f8cbe3224..46dfd93d83432 100644 --- a/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp +++ b/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp @@ -222,6 +222,19 @@ bool AvoidanceModule::canTransitSuccessState() const bool has_base_offset = std::abs(path_shifter_.getBaseOffset()) > parameters_->lateral_avoid_check_threshold; + // If the vehicle is on the shift line, keep RUNNING. + { + const size_t idx = planner_data_->findEgoIndex(path_shifter_.getReferencePath().points); + const auto within = [](const auto & line, const size_t idx) { + return line.start_idx < idx && idx < line.end_idx; + }; + for (const auto & shift_line : path_shifter_.getShiftLines()) { + if (within(shift_line, idx)) { + return false; + } + } + } + // Nothing to do. -> EXIT. if (!has_avoidance_target) { if (!has_shift_point && !has_base_offset) { From cbc54cf5952a90da7cfcf91cac2c64c4fb7b1067 Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Thu, 16 Nov 2023 15:41:42 +0900 Subject: [PATCH 126/202] fix(avoidance): fix wrong reason for unavoidable situation (#5558) * fix(avoidance): fix wrong reason for unavoidable situation Signed-off-by: satoshi-ota * fix(avoidance): fix misreading variable name Signed-off-by: satoshi-ota --------- Signed-off-by: satoshi-ota --- .../src/scene_module/avoidance/avoidance_module.cpp | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp b/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp index 46dfd93d83432..54771cc4e66c1 100644 --- a/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp +++ b/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp @@ -1010,13 +1010,13 @@ AvoidOutlines AvoidanceModule::generateAvoidOutline( desire_shift_length > 0.0 ? feasible_relative_shift_length + current_ego_shift : -1.0 * feasible_relative_shift_length + current_ego_shift; - const auto feasible = + const auto infeasible = std::abs(feasible_shift_length - object.overhang_dist) < 0.5 * planner_data_->parameters.vehicle_width + object_parameter.safety_buffer_lateral; - if (feasible) { + if (infeasible) { RCLCPP_WARN_THROTTLE( getLogger(), *clock_, 1000, "feasible shift length is not enough to avoid. "); - object.reason = AvoidanceDebugFactor::INSUFFICIENT_LATERAL_MARGIN; + object.reason = AvoidanceDebugFactor::TOO_LARGE_JERK; return boost::none; } From d808d0458c7c2ce130802ca9a7c891b7b2690f74 Mon Sep 17 00:00:00 2001 From: Yoshi Ri Date: Thu, 16 Nov 2023 15:47:15 +0900 Subject: [PATCH 127/202] refactor(radar_object_clustering): move radar object clustering parameter to param file (#5451) * move radar object clustering parameter to param file Signed-off-by: yoshiri * remove default parameter settings and fix cmakelists --------- Signed-off-by: yoshiri --- ...ar_radar_fusion_based_detection.launch.xml | 5 ++--- .../detection/detection.launch.xml | 2 ++ .../lidar_radar_based_detection.launch.xml | 5 ++--- .../radar_based_detection.launch.xml | 14 ++----------- .../launch/perception.launch.xml | 3 +++ .../radar_object_clustering/CMakeLists.txt | 1 + .../config/radar_object_clustering.param.yaml | 15 ++++++++++++++ .../launch/radar_object_clustering.launch.xml | 20 ++----------------- .../radar_object_clustering_node.cpp | 18 ++++++++--------- 9 files changed, 38 insertions(+), 45 deletions(-) create mode 100644 perception/radar_object_clustering/config/radar_object_clustering.param.yaml diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml index 20b1b5a4d0b27..1b4c3f38e038d 100644 --- a/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml +++ b/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml @@ -50,6 +50,7 @@ + @@ -78,9 +79,7 @@ - - - + diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/detection.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/detection.launch.xml index 33994934949ac..b69f1c0ee8b14 100644 --- a/launch/tier4_perception_launch/launch/object_recognition/detection/detection.launch.xml +++ b/launch/tier4_perception_launch/launch/object_recognition/detection/detection.launch.xml @@ -32,6 +32,7 @@ + @@ -145,6 +146,7 @@ + diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/lidar_radar_based_detection.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/lidar_radar_based_detection.launch.xml index cee6829ea3b4a..ed37f6270c913 100644 --- a/launch/tier4_perception_launch/launch/object_recognition/detection/lidar_radar_based_detection.launch.xml +++ b/launch/tier4_perception_launch/launch/object_recognition/detection/lidar_radar_based_detection.launch.xml @@ -11,6 +11,7 @@ + @@ -37,9 +38,7 @@ - - - + diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/radar_based_detection.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/radar_based_detection.launch.xml index 5b5646a061ac7..26e7af07646cd 100644 --- a/launch/tier4_perception_launch/launch/object_recognition/detection/radar_based_detection.launch.xml +++ b/launch/tier4_perception_launch/launch/object_recognition/detection/radar_based_detection.launch.xml @@ -6,10 +6,8 @@ - - - + @@ -43,14 +41,6 @@ - - - - - - - - - + diff --git a/launch/tier4_perception_launch/launch/perception.launch.xml b/launch/tier4_perception_launch/launch/perception.launch.xml index 8b241db9774b3..fe6636c0f74a0 100644 --- a/launch/tier4_perception_launch/launch/perception.launch.xml +++ b/launch/tier4_perception_launch/launch/perception.launch.xml @@ -12,6 +12,7 @@ + @@ -175,7 +176,9 @@ + + diff --git a/perception/radar_object_clustering/CMakeLists.txt b/perception/radar_object_clustering/CMakeLists.txt index acb544bfe4f6a..ba911c3035765 100644 --- a/perception/radar_object_clustering/CMakeLists.txt +++ b/perception/radar_object_clustering/CMakeLists.txt @@ -37,4 +37,5 @@ endif() ament_auto_package( INSTALL_TO_SHARE launch + config ) diff --git a/perception/radar_object_clustering/config/radar_object_clustering.param.yaml b/perception/radar_object_clustering/config/radar_object_clustering.param.yaml new file mode 100644 index 0000000000000..2abbf14622a3f --- /dev/null +++ b/perception/radar_object_clustering/config/radar_object_clustering.param.yaml @@ -0,0 +1,15 @@ +/**: + ros__parameters: + # clustering parameter + angle_threshold: 0.174 # [rad] (10 deg) + distance_threshold: 10.0 # [m] + velocity_threshold: 4.0 # [m/s] + + # output object settings + # set false if you want to use the object information from radar + is_fixed_label: true + fixed_label: "CAR" + is_fixed_size: true + size_x: 4.0 # [m] + size_y: 1.5 # [m] + size_z: 1.5 # [m] diff --git a/perception/radar_object_clustering/launch/radar_object_clustering.launch.xml b/perception/radar_object_clustering/launch/radar_object_clustering.launch.xml index e216bec45798a..68fca44bcc723 100644 --- a/perception/radar_object_clustering/launch/radar_object_clustering.launch.xml +++ b/perception/radar_object_clustering/launch/radar_object_clustering.launch.xml @@ -4,28 +4,12 @@ - - - - - - - - - + - - - - - - - - - + diff --git a/perception/radar_object_clustering/src/radar_object_clustering_node/radar_object_clustering_node.cpp b/perception/radar_object_clustering/src/radar_object_clustering_node/radar_object_clustering_node.cpp index 74e85bde21385..8612fa19ca7f3 100644 --- a/perception/radar_object_clustering/src/radar_object_clustering_node/radar_object_clustering_node.cpp +++ b/perception/radar_object_clustering/src/radar_object_clustering_node/radar_object_clustering_node.cpp @@ -71,15 +71,15 @@ RadarObjectClusteringNode::RadarObjectClusteringNode(const rclcpp::NodeOptions & std::bind(&RadarObjectClusteringNode::onSetParam, this, std::placeholders::_1)); // Node Parameter - node_param_.angle_threshold = declare_parameter("angle_threshold", 0.174); - node_param_.distance_threshold = declare_parameter("distance_threshold", 4.0); - node_param_.velocity_threshold = declare_parameter("velocity_threshold", 2.0); - node_param_.is_fixed_label = declare_parameter("is_fixed_label", false); - node_param_.fixed_label = declare_parameter("fixed_label", "UNKNOWN"); - node_param_.is_fixed_size = declare_parameter("is_fixed_size", false); - node_param_.size_x = declare_parameter("size_x", 4.0); - node_param_.size_y = declare_parameter("size_y", 1.5); - node_param_.size_z = declare_parameter("size_z", 1.5); + node_param_.angle_threshold = declare_parameter("angle_threshold"); + node_param_.distance_threshold = declare_parameter("distance_threshold"); + node_param_.velocity_threshold = declare_parameter("velocity_threshold"); + node_param_.is_fixed_label = declare_parameter("is_fixed_label"); + node_param_.fixed_label = declare_parameter("fixed_label"); + node_param_.is_fixed_size = declare_parameter("is_fixed_size"); + node_param_.size_x = declare_parameter("size_x"); + node_param_.size_y = declare_parameter("size_y"); + node_param_.size_z = declare_parameter("size_z"); // Subscriber sub_objects_ = create_subscription( From 7b1e139c652917d68a78efce7b8e5f47ed8ecdf6 Mon Sep 17 00:00:00 2001 From: Shunsuke Miura <37187849+miursh@users.noreply.github.com> Date: Thu, 16 Nov 2023 16:56:30 +0900 Subject: [PATCH 128/202] feat(radar_object_tracker): Change to use `use_radar_tracking_fusion` as true (#5605) Signed-off-by: Shunsuke Miura --- launch/tier4_perception_launch/launch/perception.launch.xml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/launch/tier4_perception_launch/launch/perception.launch.xml b/launch/tier4_perception_launch/launch/perception.launch.xml index fe6636c0f74a0..6582dfd32d91d 100644 --- a/launch/tier4_perception_launch/launch/perception.launch.xml +++ b/launch/tier4_perception_launch/launch/perception.launch.xml @@ -104,7 +104,7 @@ From bce08008ac0a59f63753534d63eb6395041e898e Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Thu, 16 Nov 2023 17:10:37 +0900 Subject: [PATCH 129/202] fix(avoidance): fix bug in shift lon distance calculation (#5557) * fix(avoidance): consider avoidance prepare time Signed-off-by: satoshi-ota * fix(avoidance): consider avoidance prepare distance Signed-off-by: satoshi-ota * fix(avoidance): use std::optional Signed-off-by: satoshi-ota --------- Signed-off-by: satoshi-ota --- .../utils/avoidance/helper.hpp | 3 +- .../avoidance/avoidance_module.cpp | 78 ++++++++++--------- 2 files changed, 42 insertions(+), 39 deletions(-) diff --git a/planning/behavior_path_planner/include/behavior_path_planner/utils/avoidance/helper.hpp b/planning/behavior_path_planner/include/behavior_path_planner/utils/avoidance/helper.hpp index 11388dd6bb74a..b4c6230750946 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/utils/avoidance/helper.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/utils/avoidance/helper.hpp @@ -185,7 +185,8 @@ class AvoidanceHelper max_shift_length, getLateralMinJerkLimit(), getEgoSpeed()); return std::clamp( - 1.5 * dynamic_distance, parameters_->object_check_min_forward_distance, + 1.5 * dynamic_distance + getNominalPrepareDistance(), + parameters_->object_check_min_forward_distance, parameters_->object_check_max_forward_distance); } diff --git a/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp b/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp index 54771cc4e66c1..80baa5230f4f5 100644 --- a/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp +++ b/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp @@ -920,8 +920,9 @@ AvoidOutlines AvoidanceModule::generateAvoidOutline( const auto & base_link2rear = planner_data_->parameters.base_link2rear; // Calculate feasible shift length - const auto get_shift_length = - [&](auto & object, const auto & desire_shift_length) -> boost::optional { + const auto get_shift_profile = + [&]( + auto & object, const auto & desire_shift_length) -> std::optional> { // use each object param const auto object_type = utils::getHighestProbLabel(object.object.classification); const auto object_parameter = parameters_->object_parameters.at(object_type); @@ -931,55 +932,57 @@ AvoidOutlines AvoidanceModule::generateAvoidOutline( const auto avoiding_shift = desire_shift_length - current_ego_shift; const auto nominal_avoid_distance = helper_.getMaxAvoidanceDistance(avoiding_shift); + // calculate remaining distance. + const auto prepare_distance = helper_.getNominalPrepareDistance(); + const auto & additional_buffer_longitudinal = + object_parameter.use_conservative_buffer_longitudinal + ? planner_data_->parameters.base_link2front + : 0.0; + const auto constant = object_parameter.safety_buffer_longitudinal + + additional_buffer_longitudinal + prepare_distance; + const auto has_enough_distance = object.longitudinal > constant + nominal_avoid_distance; + const auto remaining_distance = object.longitudinal - constant; + const auto avoidance_distance = + has_enough_distance ? nominal_avoid_distance : remaining_distance; + + // nominal case. avoidable. + if (has_enough_distance) { + return std::make_pair(desire_shift_length, avoidance_distance); + } + if (!isBestEffort(parameters_->policy_lateral_margin)) { - return desire_shift_length; + return std::make_pair(desire_shift_length, avoidance_distance); } // ego already has enough positive shift. const auto has_enough_positive_shift = avoiding_shift < -1e-3 && desire_shift_length > 1e-3; if (is_object_on_right && has_enough_positive_shift) { - return desire_shift_length; + return std::make_pair(desire_shift_length, avoidance_distance); } // ego already has enough negative shift. const auto has_enough_negative_shift = avoiding_shift > 1e-3 && desire_shift_length < -1e-3; if (!is_object_on_right && has_enough_negative_shift) { - return desire_shift_length; + return std::make_pair(desire_shift_length, avoidance_distance); } // don't relax shift length since it can stop in front of the object. if (object.is_stoppable && !parameters_->use_shorten_margin_immediately) { - return desire_shift_length; + return std::make_pair(desire_shift_length, avoidance_distance); } - // calculate remaining distance. - const auto prepare_distance = helper_.getNominalPrepareDistance(); - const auto & additional_buffer_longitudinal = - object_parameter.use_conservative_buffer_longitudinal - ? planner_data_->parameters.base_link2front - : 0.0; - const auto constant = object_parameter.safety_buffer_longitudinal + - additional_buffer_longitudinal + prepare_distance; - const auto has_enough_distance = object.longitudinal > constant + nominal_avoid_distance; - const auto remaining_distance = object.longitudinal - constant; - // the avoidance path is already approved const auto & object_pos = object.object.kinematics.initial_pose_with_covariance.pose.position; const auto is_approved = (helper_.getShift(object_pos) > 0.0 && is_object_on_right) || (helper_.getShift(object_pos) < 0.0 && !is_object_on_right); if (is_approved) { - return desire_shift_length; + return std::make_pair(desire_shift_length, avoidance_distance); } // prepare distance is not enough. unavoidable. if (remaining_distance < 1e-3) { object.reason = AvoidanceDebugFactor::REMAINING_DISTANCE_LESS_THAN_ZERO; - return boost::none; - } - - // nominal case. avoidable. - if (has_enough_distance) { - return desire_shift_length; + return std::nullopt; } // calculate lateral jerk. @@ -988,13 +991,13 @@ AvoidOutlines AvoidanceModule::generateAvoidOutline( // relax lateral jerk limit. avoidable. if (required_jerk < helper_.getLateralMaxJerkLimit()) { - return desire_shift_length; + return std::make_pair(desire_shift_length, avoidance_distance); } // avoidance distance is not enough. unavoidable. if (!isBestEffort(parameters_->policy_deceleration)) { object.reason = AvoidanceDebugFactor::TOO_LARGE_JERK; - return boost::none; + return std::nullopt; } // output avoidance path under lateral jerk constraints. @@ -1003,7 +1006,7 @@ AvoidOutlines AvoidanceModule::generateAvoidOutline( if (std::abs(feasible_relative_shift_length) < parameters_->lateral_execution_threshold) { object.reason = "LessThanExecutionThreshold"; - return boost::none; + return std::nullopt; } const auto feasible_shift_length = @@ -1017,7 +1020,7 @@ AvoidOutlines AvoidanceModule::generateAvoidOutline( RCLCPP_WARN_THROTTLE( getLogger(), *clock_, 1000, "feasible shift length is not enough to avoid. "); object.reason = AvoidanceDebugFactor::TOO_LARGE_JERK; - return boost::none; + return std::nullopt; } { @@ -1026,7 +1029,7 @@ AvoidOutlines AvoidanceModule::generateAvoidOutline( std::abs(avoiding_shift), feasible_relative_shift_length); } - return feasible_shift_length; + return std::make_pair(feasible_shift_length, avoidance_distance); }; const auto is_forward_object = [](const auto & object) { return object.longitudinal > 0.0; }; @@ -1061,9 +1064,9 @@ AvoidOutlines AvoidanceModule::generateAvoidOutline( // use each object param const auto object_type = utils::getHighestProbLabel(o.object.classification); const auto object_parameter = parameters_->object_parameters.at(object_type); - const auto feasible_shift_length = get_shift_length(o, desire_shift_length); + const auto feasible_shift_profile = get_shift_profile(o, desire_shift_length); - if (!feasible_shift_length) { + if (!feasible_shift_profile.has_value()) { if (o.avoid_required && is_forward_object(o)) { break; } else { @@ -1072,10 +1075,8 @@ AvoidOutlines AvoidanceModule::generateAvoidOutline( } // use absolute dist for return-to-center, relative dist from current for avoiding. - const auto feasible_avoid_distance = - helper_.getMaxAvoidanceDistance(feasible_shift_length.get() - current_ego_shift); const auto feasible_return_distance = - helper_.getMaxAvoidanceDistance(feasible_shift_length.get()); + helper_.getMaxAvoidanceDistance(feasible_shift_profile.value().first); AvoidLine al_avoid; { @@ -1091,14 +1092,15 @@ AvoidOutlines AvoidanceModule::generateAvoidOutline( // start point (use previous linear shift length as start shift length.) al_avoid.start_longitudinal = [&]() { - const auto nearest_avoid_distance = std::max(to_shift_end - feasible_avoid_distance, 1e-3); + const auto nearest_avoid_distance = + std::max(to_shift_end - feasible_shift_profile.value().second, 1e-3); if (data.to_start_point > to_shift_end) { return nearest_avoid_distance; } const auto minimum_avoid_distance = - helper_.getMinAvoidanceDistance(feasible_shift_length.get() - current_ego_shift); + helper_.getMinAvoidanceDistance(feasible_shift_profile.value().first - current_ego_shift); const auto furthest_avoid_distance = std::max(to_shift_end - minimum_avoid_distance, 1e-3); return std::clamp(data.to_start_point, nearest_avoid_distance, furthest_avoid_distance); @@ -1110,7 +1112,7 @@ AvoidOutlines AvoidanceModule::generateAvoidOutline( al_avoid.start_shift_length = helper_.getLinearShift(al_avoid.start.position); // end point - al_avoid.end_shift_length = feasible_shift_length.get(); + al_avoid.end_shift_length = feasible_shift_profile.value().first; al_avoid.end_longitudinal = to_shift_end; // misc @@ -1125,7 +1127,7 @@ AvoidOutlines AvoidanceModule::generateAvoidOutline( const auto to_shift_start = o.longitudinal + offset; // start point - al_return.start_shift_length = feasible_shift_length.get(); + al_return.start_shift_length = feasible_shift_profile.value().first; al_return.start_longitudinal = to_shift_start; // end point From 20345f4e034f1bd330997eaebf8e16e5ab8ff3c4 Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Thu, 16 Nov 2023 17:11:06 +0900 Subject: [PATCH 130/202] fix(avoidance): prevent sudden steering at avoidance maneuver (#5572) * fix(avoidance): prevent sudden steering at yield maneuver Signed-off-by: satoshi-ota * feat(avoidance): output debug info Signed-off-by: satoshi-ota * Update planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp Co-authored-by: Fumiya Watanabe * style(pre-commit): autofix --------- Signed-off-by: satoshi-ota Co-authored-by: Fumiya Watanabe Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- .../config/avoidance/avoidance.param.yaml | 3 ++- .../utils/avoidance/avoidance_module_data.hpp | 3 ++- .../utils/avoidance/helper.hpp | 8 +++++- .../avoidance/avoidance_module.cpp | 26 ++++++++++++++++--- .../src/scene_module/avoidance/manager.cpp | 6 +++-- 5 files changed, 38 insertions(+), 8 deletions(-) diff --git a/planning/behavior_path_planner/config/avoidance/avoidance.param.yaml b/planning/behavior_path_planner/config/avoidance/avoidance.param.yaml index 96b6ca452bbcc..ad06a1a9f6a10 100644 --- a/planning/behavior_path_planner/config/avoidance/avoidance.param.yaml +++ b/planning/behavior_path_planner/config/avoidance/avoidance.param.yaml @@ -190,7 +190,8 @@ max_deviation_from_lane: 0.5 # [m] # avoidance distance parameters longitudinal: - prepare_time: 2.0 # [s] + min_prepare_time: 1.0 # [s] + max_prepare_time: 2.0 # [s] min_prepare_distance: 1.0 # [m] min_slow_down_speed: 1.38 # [m/s] buf_slow_down_speed: 0.56 # [m/s] diff --git a/planning/behavior_path_planner/include/behavior_path_planner/utils/avoidance/avoidance_module_data.hpp b/planning/behavior_path_planner/include/behavior_path_planner/utils/avoidance/avoidance_module_data.hpp index c8b87c7b4759f..60cf9b1244236 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/utils/avoidance/avoidance_module_data.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/utils/avoidance/avoidance_module_data.hpp @@ -211,7 +211,8 @@ struct AvoidanceParameters double stop_buffer{0.0}; // start avoidance after this time to avoid sudden path change - double prepare_time{0.0}; + double min_prepare_time{0.0}; + double max_prepare_time{0.0}; // Even if the vehicle speed is zero, avoidance will start after a distance of this much. double min_prepare_distance{0.0}; diff --git a/planning/behavior_path_planner/include/behavior_path_planner/utils/avoidance/helper.hpp b/planning/behavior_path_planner/include/behavior_path_planner/utils/avoidance/helper.hpp index b4c6230750946..e1d51122e5c1b 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/utils/avoidance/helper.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/utils/avoidance/helper.hpp @@ -91,10 +91,16 @@ class AvoidanceHelper return std::max(getEgoSpeed(), values.at(idx)); } + double getMinimumPrepareDistance() const + { + const auto & p = parameters_; + return std::max(getEgoSpeed() * p->min_prepare_time, p->min_prepare_distance); + } + double getNominalPrepareDistance() const { const auto & p = parameters_; - return std::max(getEgoSpeed() * p->prepare_time, p->min_prepare_distance); + return std::max(getEgoSpeed() * p->max_prepare_time, p->min_prepare_distance); } double getNominalAvoidanceDistance(const double shift_length) const diff --git a/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp b/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp index 80baa5230f4f5..ea4eab425b66b 100644 --- a/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp +++ b/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp @@ -437,10 +437,27 @@ bool AvoidanceModule::canYieldManeuver(const AvoidancePlanningData & data) const { // transit yield maneuver only when the avoidance maneuver is not initiated. if (helper_.isShifted()) { + RCLCPP_DEBUG(getLogger(), "avoidance maneuver already initiated."); return false; } + // prevent sudden steering. + const auto registered_lines = path_shifter_.getShiftLines(); + if (!registered_lines.empty()) { + const size_t idx = planner_data_->findEgoIndex(path_shifter_.getReferencePath().points); + const auto to_shift_start_point = calcSignedArcLength( + path_shifter_.getReferencePath().points, idx, registered_lines.front().start_idx); + if (to_shift_start_point < helper_.getMinimumPrepareDistance()) { + RCLCPP_DEBUG( + getLogger(), + "Distance to shift start point is less than minimum prepare distance. The distance is not " + "enough."); + return false; + } + } + if (!data.stop_target_object) { + RCLCPP_DEBUG(getLogger(), "can pass by the object safely without avoidance maneuver."); return true; } @@ -1654,6 +1671,10 @@ void AvoidanceModule::applySmallShiftFilter( continue; } + if (s.start_longitudinal < helper_.getMinimumPrepareDistance()) { + continue; + } + shift_lines.push_back(s); } } @@ -2407,9 +2428,8 @@ AvoidLineArray AvoidanceModule::findNewShiftLine( for (size_t i = 0; i < shift_lines.size(); ++i) { const auto & candidate = shift_lines.at(i); - // new shift points must exist in front of Ego - // this value should be larger than -eps consider path shifter calculation error. - if (candidate.start_idx < avoid_data_.ego_closest_path_index) { + // prevent sudden steering. + if (candidate.start_longitudinal < helper_.getMinimumPrepareDistance()) { break; } diff --git a/planning/behavior_path_planner/src/scene_module/avoidance/manager.cpp b/planning/behavior_path_planner/src/scene_module/avoidance/manager.cpp index 6ed67fc817f28..f71024dcc5034 100644 --- a/planning/behavior_path_planner/src/scene_module/avoidance/manager.cpp +++ b/planning/behavior_path_planner/src/scene_module/avoidance/manager.cpp @@ -221,7 +221,8 @@ AvoidanceModuleManager::AvoidanceModuleManager( // avoidance maneuver (longitudinal) { std::string ns = "avoidance.avoidance.longitudinal."; - p.prepare_time = getOrDeclareParameter(*node, ns + "prepare_time"); + p.min_prepare_time = getOrDeclareParameter(*node, ns + "min_prepare_time"); + p.max_prepare_time = getOrDeclareParameter(*node, ns + "max_prepare_time"); p.min_prepare_distance = getOrDeclareParameter(*node, ns + "min_prepare_distance"); p.min_slow_down_speed = getOrDeclareParameter(*node, ns + "min_slow_down_speed"); p.buf_slow_down_speed = getOrDeclareParameter(*node, ns + "buf_slow_down_speed"); @@ -390,7 +391,8 @@ void AvoidanceModuleManager::updateModuleParams(const std::vector(parameters, ns + "prepare_time", p->prepare_time); + updateParam(parameters, ns + "min_prepare_time", p->min_prepare_time); + updateParam(parameters, ns + "max_prepare_time", p->max_prepare_time); updateParam(parameters, ns + "min_slow_down_speed", p->min_slow_down_speed); updateParam(parameters, ns + "buf_slow_down_speed", p->buf_slow_down_speed); } From 8753183f42d78b3a8e86c6c2a137478a07546266 Mon Sep 17 00:00:00 2001 From: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> Date: Thu, 16 Nov 2023 18:06:09 +0900 Subject: [PATCH 131/202] feat(out_of_lane): more stable decisions (#5197) Signed-off-by: Maxime CLEMENT --- .../config/out_of_lane.param.yaml | 2 + .../src/calculate_slowdown_points.hpp | 35 ++++++-- .../src/debug.cpp | 87 ++++++++++++++++++- .../src/debug.hpp | 20 ++++- .../src/decisions.cpp | 36 +++----- .../src/decisions.hpp | 22 +---- .../src/manager.cpp | 2 + .../src/overlapping_range.cpp | 11 ++- .../src/overlapping_range.hpp | 10 --- .../src/scene_out_of_lane.cpp | 59 ++++++++++--- .../src/scene_out_of_lane.hpp | 7 +- .../src/types.hpp | 73 +++++++++++++--- 12 files changed, 273 insertions(+), 91 deletions(-) diff --git a/planning/behavior_velocity_out_of_lane_module/config/out_of_lane.param.yaml b/planning/behavior_velocity_out_of_lane_module/config/out_of_lane.param.yaml index c74c5b3d87c1d..092f1d32b27b3 100644 --- a/planning/behavior_velocity_out_of_lane_module/config/out_of_lane.param.yaml +++ b/planning/behavior_velocity_out_of_lane_module/config/out_of_lane.param.yaml @@ -17,6 +17,7 @@ use_predicted_paths: true # if true, use the predicted paths to estimate future positions. # if false, assume the object moves at constant velocity along *all* lanelets it currently is located in. predicted_path_min_confidence : 0.1 # when using predicted paths, ignore the ones whose confidence is lower than this value. + distance_buffer: 1.0 # [m] distance buffer used to determine if a collision will occur in the other lane overlap: minimum_distance: 0.0 # [m] minimum distance inside a lanelet for an overlap to be considered @@ -26,6 +27,7 @@ skip_if_over_max_decel: true # if true, do not take an action that would cause more deceleration than the maximum allowed precision: 0.1 # [m] precision when inserting a stop pose in the path distance_buffer: 1.5 # [m] buffer distance to try to keep between the ego footprint and lane + min_duration: 1.0 # [s] minimum duration needed before a decision can be canceled slowdown: distance_threshold: 30.0 # [m] insert a slowdown when closer than this distance from an overlap velocity: 2.0 # [m/s] slowdown velocity diff --git a/planning/behavior_velocity_out_of_lane_module/src/calculate_slowdown_points.hpp b/planning/behavior_velocity_out_of_lane_module/src/calculate_slowdown_points.hpp index 5d22f01222919..0c9e6448bb374 100644 --- a/planning/behavior_velocity_out_of_lane_module/src/calculate_slowdown_points.hpp +++ b/planning/behavior_velocity_out_of_lane_module/src/calculate_slowdown_points.hpp @@ -29,6 +29,11 @@ namespace behavior_velocity_planner::out_of_lane { +/// @brief estimate whether ego can decelerate without breaking the deceleration limit +/// @details assume ego wants to reach the target point at the target velocity +/// @param [in] ego_data ego data +/// @param [in] point target point +/// @param [in] target_vel target_velocity bool can_decelerate( const EgoData & ego_data, const PathPointWithLaneId & point, const double target_vel) { @@ -40,9 +45,16 @@ bool can_decelerate( return acc_to_target_vel < std::abs(ego_data.max_decel); } +/// @brief calculate the last pose along the path where ego does not overlap the lane to avoid +/// @param [in] ego_data ego data +/// @param [in] decision the input decision (i.e., which lane to avoid and at what speed) +/// @param [in] footprint the ego footprint +/// @param [in] prev_slowdown_point previous slowdown point. If set, ignore deceleration limits +/// @param [in] params parameters +/// @return the last pose that is not out of lane (if found) std::optional calculate_last_in_lane_pose( const EgoData & ego_data, const Slowdown & decision, const Polygon2d & footprint, - const PlannerParam & params) + const std::optional & prev_slowdown_point, const PlannerParam & params) { const auto from_arc_length = motion_utils::calcSignedArcLength(ego_data.path.points, 0, ego_data.first_path_idx); @@ -53,12 +65,17 @@ std::optional calculate_last_in_lane_pose( // TODO(Maxime): binary search interpolated_point.point.pose = motion_utils::calcInterpolatedPose(ego_data.path.points, l); const auto respect_decel_limit = - !params.skip_if_over_max_decel || + !params.skip_if_over_max_decel || prev_slowdown_point || can_decelerate(ego_data, interpolated_point, decision.velocity); - if ( - respect_decel_limit && !boost::geometry::overlaps( - project_to_pose(footprint, interpolated_point.point.pose), - decision.lane_to_avoid.polygon2d().basicPolygon())) + const auto interpolated_footprint = project_to_pose(footprint, interpolated_point.point.pose); + const auto is_overlap_lane = boost::geometry::overlaps( + interpolated_footprint, decision.lane_to_avoid.polygon2d().basicPolygon()); + const auto is_overlap_extra_lane = + prev_slowdown_point && + boost::geometry::overlaps( + interpolated_footprint, + prev_slowdown_point->slowdown.lane_to_avoid.polygon2d().basicPolygon()); + if (respect_decel_limit && !is_overlap_lane && !is_overlap_extra_lane) return interpolated_point; } return std::nullopt; @@ -67,10 +84,12 @@ std::optional calculate_last_in_lane_pose( /// @brief calculate the slowdown point to insert in the path /// @param ego_data ego data (path, velocity, etc) /// @param decisions decision (before which point to stop, what lane to avoid entering, etc) +/// @param prev_slowdown_point previously calculated slowdown point /// @param params parameters /// @return optional slowdown point to insert in the path std::optional calculate_slowdown_point( - const EgoData & ego_data, const std::vector & decisions, PlannerParam params) + const EgoData & ego_data, const std::vector & decisions, + const std::optional prev_slowdown_point, PlannerParam params) { params.extra_front_offset += params.dist_buffer; const auto base_footprint = make_base_footprint(params); @@ -78,7 +97,7 @@ std::optional calculate_slowdown_point( // search for the first slowdown decision for which a stop point can be inserted for (const auto & decision : decisions) { const auto last_in_lane_pose = - calculate_last_in_lane_pose(ego_data, decision, base_footprint, params); + calculate_last_in_lane_pose(ego_data, decision, base_footprint, prev_slowdown_point, params); if (last_in_lane_pose) return SlowdownToInsert{decision, *last_in_lane_pose}; } return std::nullopt; diff --git a/planning/behavior_velocity_out_of_lane_module/src/debug.cpp b/planning/behavior_velocity_out_of_lane_module/src/debug.cpp index 0574a5226dc4a..489bb3f5abc78 100644 --- a/planning/behavior_velocity_out_of_lane_module/src/debug.cpp +++ b/planning/behavior_velocity_out_of_lane_module/src/debug.cpp @@ -34,13 +34,12 @@ visualization_msgs::msg::Marker get_base_marker() base_marker.pose.orientation = tier4_autoware_utils::createMarkerOrientation(0, 0, 0, 1.0); base_marker.scale = tier4_autoware_utils::createMarkerScale(0.1, 0.1, 0.1); base_marker.color = tier4_autoware_utils::createMarkerColor(1.0, 0.1, 0.1, 0.5); - base_marker.lifetime = rclcpp::Duration::from_seconds(0.5); return base_marker; } } // namespace void add_footprint_markers( visualization_msgs::msg::MarkerArray & debug_marker_array, - const lanelet::BasicPolygons2d & footprints, const double z) + const lanelet::BasicPolygons2d & footprints, const double z, const size_t prev_nb) { auto debug_marker = get_base_marker(); debug_marker.ns = "footprints"; @@ -54,12 +53,14 @@ void add_footprint_markers( debug_marker.id++; debug_marker.points.clear(); } + for (; debug_marker.id < static_cast(prev_nb); ++debug_marker.id) + debug_marker_array.markers.push_back(debug_marker); } void add_current_overlap_marker( visualization_msgs::msg::MarkerArray & debug_marker_array, const lanelet::BasicPolygon2d & current_footprint, - const lanelet::ConstLanelets & current_overlapped_lanelets, const double z) + const lanelet::ConstLanelets & current_overlapped_lanelets, const double z, const size_t prev_nb) { auto debug_marker = get_base_marker(); debug_marker.ns = "current_overlap"; @@ -82,12 +83,14 @@ void add_current_overlap_marker( debug_marker_array.markers.push_back(debug_marker); debug_marker.id++; } + for (; debug_marker.id < static_cast(prev_nb); ++debug_marker.id) + debug_marker_array.markers.push_back(debug_marker); } void add_lanelet_markers( visualization_msgs::msg::MarkerArray & debug_marker_array, const lanelet::ConstLanelets & lanelets, const std::string & ns, - const std_msgs::msg::ColorRGBA & color) + const std_msgs::msg::ColorRGBA & color, const size_t prev_nb) { auto debug_marker = get_base_marker(); debug_marker.ns = ns; @@ -103,6 +106,82 @@ void add_lanelet_markers( debug_marker_array.markers.push_back(debug_marker); debug_marker.id++; } + debug_marker.action = debug_marker.DELETE; + for (; debug_marker.id < static_cast(prev_nb); ++debug_marker.id) + debug_marker_array.markers.push_back(debug_marker); +} + +void add_range_markers( + visualization_msgs::msg::MarkerArray & debug_marker_array, const OverlapRanges & ranges, + const autoware_auto_planning_msgs::msg::PathWithLaneId & path, const size_t first_ego_idx, + const double z, const size_t prev_nb) +{ + auto debug_marker = get_base_marker(); + debug_marker.ns = "ranges"; + debug_marker.color = tier4_autoware_utils::createMarkerColor(0.2, 0.9, 0.1, 0.5); + for (const auto & range : ranges) { + debug_marker.points.clear(); + debug_marker.points.push_back( + path.points[first_ego_idx + range.entering_path_idx].point.pose.position); + debug_marker.points.push_back(tier4_autoware_utils::createMarkerPosition( + range.entering_point.x(), range.entering_point.y(), z)); + for (const auto & overlap : range.debug.overlaps) { + debug_marker.points.push_back(tier4_autoware_utils::createMarkerPosition( + overlap.min_overlap_point.x(), overlap.min_overlap_point.y(), z)); + debug_marker.points.push_back(tier4_autoware_utils::createMarkerPosition( + overlap.max_overlap_point.x(), overlap.max_overlap_point.y(), z)); + } + debug_marker.points.push_back(tier4_autoware_utils::createMarkerPosition( + range.exiting_point.x(), range.exiting_point.y(), z)); + debug_marker.points.push_back( + path.points[first_ego_idx + range.exiting_path_idx].point.pose.position); + debug_marker_array.markers.push_back(debug_marker); + debug_marker.id++; + } + debug_marker.action = debug_marker.DELETE; + for (; debug_marker.id < static_cast(prev_nb); ++debug_marker.id) + debug_marker_array.markers.push_back(debug_marker); + debug_marker.action = debug_marker.ADD; + debug_marker.id = 0; + debug_marker.ns = "decisions"; + debug_marker.color = tier4_autoware_utils::createMarkerColor(0.9, 0.1, 0.1, 1.0); + debug_marker.points.clear(); + for (const auto & range : ranges) { + debug_marker.type = debug_marker.LINE_STRIP; + if (range.debug.decision) { + debug_marker.points.push_back(tier4_autoware_utils::createMarkerPosition( + range.entering_point.x(), range.entering_point.y(), z)); + debug_marker.points.push_back( + range.debug.object->kinematics.initial_pose_with_covariance.pose.position); + } + debug_marker_array.markers.push_back(debug_marker); + debug_marker.points.clear(); + debug_marker.id++; + + debug_marker.type = debug_marker.TEXT_VIEW_FACING; + debug_marker.pose.position.x = range.entering_point.x(); + debug_marker.pose.position.y = range.entering_point.y(); + debug_marker.pose.position.z = z; + std::stringstream ss; + ss << "Ego: " << range.debug.times.ego.enter_time << " - " << range.debug.times.ego.exit_time + << "\n"; + if (range.debug.object) { + debug_marker.pose.position.x += + range.debug.object->kinematics.initial_pose_with_covariance.pose.position.x; + debug_marker.pose.position.y += + range.debug.object->kinematics.initial_pose_with_covariance.pose.position.y; + debug_marker.pose.position.x /= 2; + debug_marker.pose.position.y /= 2; + ss << "Obj: " << range.debug.times.object.enter_time << " - " + << range.debug.times.object.exit_time << "\n"; + } + debug_marker.scale.z = 1.0; + debug_marker.text = ss.str(); + debug_marker_array.markers.push_back(debug_marker); + debug_marker.id++; + } + for (; debug_marker.id < static_cast(prev_nb); ++debug_marker.id) + debug_marker_array.markers.push_back(debug_marker); } } // namespace behavior_velocity_planner::out_of_lane::debug diff --git a/planning/behavior_velocity_out_of_lane_module/src/debug.hpp b/planning/behavior_velocity_out_of_lane_module/src/debug.hpp index 06bc6d935f310..2b6b65638ec40 100644 --- a/planning/behavior_velocity_out_of_lane_module/src/debug.hpp +++ b/planning/behavior_velocity_out_of_lane_module/src/debug.hpp @@ -29,27 +29,41 @@ namespace behavior_velocity_planner::out_of_lane::debug /// @param [inout] debug_marker_array marker array /// @param [in] footprints footprints to turn into markers /// @param [in] z z value to use for the markers +/// @param [in] prev_nb previous number of markers (used to delete the extra ones) void add_footprint_markers( visualization_msgs::msg::MarkerArray & debug_marker_array, - const lanelet::BasicPolygons2d & footprints, const double z); + const lanelet::BasicPolygons2d & footprints, const double z, const size_t prev_nb); /// @brief add footprint markers to the given marker array /// @param [inout] debug_marker_array marker array /// @param [in] current_footprint footprint to turn into a marker /// @param [in] current_overlapped_lanelets lanelets to turn into markers /// @param [in] z z value to use for the markers +/// @param [in] prev_nb previous number of markers (used to delete the extra ones) void add_current_overlap_marker( visualization_msgs::msg::MarkerArray & debug_marker_array, const lanelet::BasicPolygon2d & current_footprint, - const lanelet::ConstLanelets & current_overlapped_lanelets, const double z); + const lanelet::ConstLanelets & current_overlapped_lanelets, const double z, const size_t prev_nb); /// @brief add footprint markers to the given marker array /// @param [inout] debug_marker_array marker array /// @param [in] lanelets lanelets to turn into markers /// @param [in] ns namespace of the markers /// @param [in] color namespace of the markers +/// @param [in] prev_nb previous number of markers (used to delete the extra ones) void add_lanelet_markers( visualization_msgs::msg::MarkerArray & debug_marker_array, const lanelet::ConstLanelets & lanelets, const std::string & ns, - const std_msgs::msg::ColorRGBA & color); + const std_msgs::msg::ColorRGBA & color, const size_t prev_nb); +/// @brief add ranges markers to the given marker array +/// @param [inout] debug_marker_array marker array +/// @param [in] ranges ranges to turn into markers +/// @param [in] path modified ego path that was used to calculate the ranges +/// @param [in] first_path_idx first idx of ego on the path +/// @param [in] z z value to use for the markers +/// @param [in] prev_nb previous number of markers (used to delete the extra ones) +void add_range_markers( + visualization_msgs::msg::MarkerArray & debug_marker_array, const OverlapRanges & ranges, + const autoware_auto_planning_msgs::msg::PathWithLaneId & path, const size_t first_path_idx, + const double z, const size_t prev_nb); } // namespace behavior_velocity_planner::out_of_lane::debug #endif // DEBUG_HPP_ diff --git a/planning/behavior_velocity_out_of_lane_module/src/decisions.cpp b/planning/behavior_velocity_out_of_lane_module/src/decisions.cpp index 78d9b73c86a17..be72109db4548 100644 --- a/planning/behavior_velocity_out_of_lane_module/src/decisions.cpp +++ b/planning/behavior_velocity_out_of_lane_module/src/decisions.cpp @@ -26,7 +26,6 @@ #include #include -#include #include #include #include @@ -63,7 +62,8 @@ bool object_is_incoming( std::optional> object_time_to_range( const autoware_auto_perception_msgs::msg::PredictedObject & object, const OverlapRange & range, - const std::shared_ptr route_handler, const rclcpp::Logger & logger) + const std::shared_ptr route_handler, const double dist_buffer, + const rclcpp::Logger & logger) { // skip the dynamic object if it is not in a lane preceding the overlapped lane // lane changes are intentionally not considered @@ -72,8 +72,7 @@ std::optional> object_time_to_range( object.kinematics.initial_pose_with_covariance.pose.position.y); if (!object_is_incoming(object_point, route_handler, range.lane)) return {}; - const auto max_deviation = object.shape.dimensions.y + range.inside_distance; - + const auto max_deviation = object.shape.dimensions.y + range.inside_distance + dist_buffer; auto worst_enter_time = std::optional(); auto worst_exit_time = std::optional(); @@ -308,7 +307,8 @@ bool should_not_enter( // skip objects that are already on the interval const auto enter_exit_time = params.objects_use_predicted_paths - ? object_time_to_range(object, range, inputs.route_handler, logger) + ? object_time_to_range( + object, range, inputs.route_handler, params.objects_dist_buffer, logger) : object_time_to_range(object, range, inputs, logger); if (!enter_exit_time) { RCLCPP_DEBUG(logger, " SKIP (no enter/exit times found)\n"); @@ -317,27 +317,14 @@ bool should_not_enter( range_times.object.enter_time = enter_exit_time->first; range_times.object.exit_time = enter_exit_time->second; - if (will_collide_on_range(range_times, params, logger)) return true; - } - return false; -} - -OverlapRange find_most_preceding_range(const OverlapRange & range, const DecisionInputs & inputs) -{ - OverlapRange preceding_range = range; - bool found_preceding_range = true; - while (found_preceding_range) { - found_preceding_range = false; - for (const auto & other_range : inputs.ranges) { - if ( - other_range.entering_path_idx < preceding_range.entering_path_idx && - other_range.exiting_path_idx >= preceding_range.entering_path_idx) { - preceding_range = other_range; - found_preceding_range = true; - } + if (will_collide_on_range(range_times, params, logger)) { + range.debug.times = range_times; + range.debug.object = object; + return true; } } - return preceding_range; + range.debug.times = range_times; + return false; } void set_decision_velocity( @@ -375,6 +362,7 @@ std::vector calculate_decisions( for (const auto & range : inputs.ranges) { if (range.entering_path_idx == 0UL) continue; // skip if we already entered the range const auto optional_decision = calculate_decision(range, inputs, params, logger); + range.debug.decision = optional_decision; if (optional_decision) decisions.push_back(*optional_decision); } return decisions; diff --git a/planning/behavior_velocity_out_of_lane_module/src/decisions.hpp b/planning/behavior_velocity_out_of_lane_module/src/decisions.hpp index 2898595c2e74c..0612cc041c1ef 100644 --- a/planning/behavior_velocity_out_of_lane_module/src/decisions.hpp +++ b/planning/behavior_velocity_out_of_lane_module/src/decisions.hpp @@ -31,16 +31,6 @@ namespace behavior_velocity_planner::out_of_lane { -struct EnterExitTimes -{ - double enter_time; - double exit_time; -}; -struct RangeTimes -{ - EnterExitTimes ego; - EnterExitTimes object; -}; /// @brief calculate the distance along the ego path between ego and some target path index /// @param [in] ego_data data related to the ego vehicle /// @param [in] target_idx target ego path index @@ -64,13 +54,15 @@ double time_along_path(const EgoData & ego_data, const size_t target_idx); /// the opposite direction, time at enter > time at exit std::optional> object_time_to_range( const autoware_auto_perception_msgs::msg::PredictedObject & object, const OverlapRange & range, - const std::shared_ptr route_handler, const rclcpp::Logger & logger); + const std::shared_ptr route_handler, const double dist_buffer, + const rclcpp::Logger & logger); /// @brief use the lanelet map to estimate the times when an object will reach the enter and exit /// points of an overlapping range /// @param [in] object dynamic object /// @param [in] range overlapping range /// @param [in] inputs information used to take decisions (ranges, ego and objects data, route /// handler, lanelets) +/// @param [in] dist_buffer extra distance used to estimate if a collision will occur on the range /// @param [in] logger ros logger /// @return an optional pair (time at enter [s], time at exit [s]). If the dynamic object drives in /// the opposite direction, time at enter > time at exit. @@ -94,14 +86,6 @@ bool will_collide_on_range( bool should_not_enter( const OverlapRange & range, const DecisionInputs & inputs, const PlannerParam & params, const rclcpp::Logger & logger); -/// @brief find the most preceding range -/// @details the most preceding range is the first range in a succession of ranges with overlapping -/// enter/exit indexes. -/// @param [in] range range -/// @param [in] inputs information used to take decisions (ranges, ego and objects data, route -/// handler, lanelets) -/// @return most preceding range -OverlapRange find_most_preceding_range(const OverlapRange & range, const DecisionInputs & inputs); /// @brief set the velocity of a decision (or unset it) based on the distance away from the range /// @param [out] decision decision to update (either set its velocity or unset the decision) /// @param [in] distance distance between ego and the range corresponding to the decision diff --git a/planning/behavior_velocity_out_of_lane_module/src/manager.cpp b/planning/behavior_velocity_out_of_lane_module/src/manager.cpp index 2422c6fe84e56..23de809e429ec 100644 --- a/planning/behavior_velocity_out_of_lane_module/src/manager.cpp +++ b/planning/behavior_velocity_out_of_lane_module/src/manager.cpp @@ -50,6 +50,7 @@ OutOfLaneModuleManager::OutOfLaneModuleManager(rclcpp::Node & node) getOrDeclareParameter(node, ns + ".objects.use_predicted_paths"); pp.objects_min_confidence = getOrDeclareParameter(node, ns + ".objects.predicted_path_min_confidence"); + pp.objects_dist_buffer = getOrDeclareParameter(node, ns + ".objects.distance_buffer"); pp.overlap_min_dist = getOrDeclareParameter(node, ns + ".overlap.minimum_distance"); pp.overlap_extra_length = getOrDeclareParameter(node, ns + ".overlap.extra_length"); @@ -57,6 +58,7 @@ OutOfLaneModuleManager::OutOfLaneModuleManager(rclcpp::Node & node) pp.skip_if_over_max_decel = getOrDeclareParameter(node, ns + ".action.skip_if_over_max_decel"); pp.precision = getOrDeclareParameter(node, ns + ".action.precision"); + pp.min_decision_duration = getOrDeclareParameter(node, ns + ".action.min_duration"); pp.dist_buffer = getOrDeclareParameter(node, ns + ".action.distance_buffer"); pp.slow_velocity = getOrDeclareParameter(node, ns + ".action.slowdown.velocity"); pp.slow_dist_threshold = diff --git a/planning/behavior_velocity_out_of_lane_module/src/overlapping_range.cpp b/planning/behavior_velocity_out_of_lane_module/src/overlapping_range.cpp index 98a9e4404e013..6f74f42af2056 100644 --- a/planning/behavior_velocity_out_of_lane_module/src/overlapping_range.cpp +++ b/planning/behavior_velocity_out_of_lane_module/src/overlapping_range.cpp @@ -23,7 +23,6 @@ #include #include -#include namespace behavior_velocity_planner::out_of_lane { @@ -76,10 +75,12 @@ OverlapRanges calculate_overlapping_ranges( { OverlapRanges ranges; OtherLane other_lane(lanelet); + std::vector overlaps; for (auto i = 0UL; i < path_footprints.size(); ++i) { const auto overlap = calculate_overlap(path_footprints[i], path_lanelets, lanelet); const auto has_overlap = overlap.inside_distance > params.overlap_min_dist; if (has_overlap) { // open/update the range + overlaps.push_back(overlap); if (!other_lane.range_is_open) { other_lane.first_range_bound.index = i; other_lane.first_range_bound.point = overlap.min_overlap_point; @@ -94,10 +95,16 @@ OverlapRanges calculate_overlapping_ranges( other_lane.last_range_bound.inside_distance = overlap.inside_distance; } else if (other_lane.range_is_open) { // !has_overlap: close the range if it is open ranges.push_back(other_lane.close_range()); + ranges.back().debug.overlaps = overlaps; + overlaps.clear(); } } // close the range if it is still open - if (other_lane.range_is_open) ranges.push_back(other_lane.close_range()); + if (other_lane.range_is_open) { + ranges.push_back(other_lane.close_range()); + ranges.back().debug.overlaps = overlaps; + overlaps.clear(); + } return ranges; } diff --git a/planning/behavior_velocity_out_of_lane_module/src/overlapping_range.hpp b/planning/behavior_velocity_out_of_lane_module/src/overlapping_range.hpp index ab4d31480e1cb..24bd6b3f16eb9 100644 --- a/planning/behavior_velocity_out_of_lane_module/src/overlapping_range.hpp +++ b/planning/behavior_velocity_out_of_lane_module/src/overlapping_range.hpp @@ -21,21 +21,11 @@ #include -#include #include namespace behavior_velocity_planner::out_of_lane { -/// @brief representation of an overlap between the ego footprint and some other lane -struct Overlap -{ - double inside_distance = 0.0; ///!< distance inside the overlap - double min_arc_length = std::numeric_limits::infinity(); - double max_arc_length = 0.0; - lanelet::BasicPoint2d min_overlap_point{}; ///!< point with min arc length - lanelet::BasicPoint2d max_overlap_point{}; ///!< point with max arc length -}; /// @brief calculate the overlap between the given footprint and lanelet /// @param [in] path_footprint footprint used to calculate the overlap /// @param [in] path_lanelets path lanelets used to calculate arc length along the ego path diff --git a/planning/behavior_velocity_out_of_lane_module/src/scene_out_of_lane.cpp b/planning/behavior_velocity_out_of_lane_module/src/scene_out_of_lane.cpp index 1487d9e63c8b0..539cdefb31fdf 100644 --- a/planning/behavior_velocity_out_of_lane_module/src/scene_out_of_lane.cpp +++ b/planning/behavior_velocity_out_of_lane_module/src/scene_out_of_lane.cpp @@ -55,8 +55,7 @@ OutOfLaneModule::OutOfLaneModule( velocity_factor_.init(VelocityFactor::UNKNOWN); } -bool OutOfLaneModule::modifyPathVelocity( - PathWithLaneId * path, [[maybe_unused]] StopReason * stop_reason) +bool OutOfLaneModule::modifyPathVelocity(PathWithLaneId * path, StopReason * stop_reason) { debug_data_.reset_data(); *stop_reason = planning_utils::initializeStopReason(StopReason::OUT_OF_LANE); @@ -68,6 +67,19 @@ bool OutOfLaneModule::modifyPathVelocity( ego_data.path.points = path->points; ego_data.first_path_idx = motion_utils::findNearestSegmentIndex(ego_data.path.points, ego_data.pose.position); + for (const auto & p : prev_overlapping_path_points_) { + const auto nearest_idx = + motion_utils::findNearestIndex(ego_data.path.points, p.point.pose, 1.0); + const auto insert_idx = + motion_utils::findNearestSegmentIndex(ego_data.path.points, p.point.pose, 1.0); + if (nearest_idx && insert_idx && *insert_idx > ego_data.first_path_idx) { + if ( + tier4_autoware_utils::calcDistance2d( + ego_data.path.points[*nearest_idx].point.pose, p.point.pose) > 0.5) + ego_data.path.points.insert(std::next(ego_data.path.points.begin(), *insert_idx), p); + } + } + motion_utils::removeOverlapPoints(ego_data.path.points); ego_data.velocity = planner_data_->current_velocity->twist.linear.x; ego_data.max_decel = -planner_data_->max_stop_acceleration_threshold; stopwatch.tic("calculate_path_footprints"); @@ -87,6 +99,8 @@ bool OutOfLaneModule::modifyPathVelocity( debug_data_.path_lanelets = path_lanelets; debug_data_.ignored_lanelets = ignored_lanelets; debug_data_.other_lanelets = other_lanelets; + debug_data_.path = ego_data.path; + debug_data_.first_path_idx = ego_data.first_path_idx; if (params_.skip_if_already_overlapping) { debug_data_.current_footprint = current_ego_footprint; @@ -104,6 +118,10 @@ bool OutOfLaneModule::modifyPathVelocity( stopwatch.tic("calculate_overlapping_ranges"); const auto ranges = calculate_overlapping_ranges(path_footprints, path_lanelets, other_lanelets, params_); + prev_overlapping_path_points_.clear(); + for (const auto & range : ranges) + prev_overlapping_path_points_.push_back( + ego_data.path.points[ego_data.first_path_idx + range.entering_path_idx]); const auto calculate_overlapping_ranges_us = stopwatch.toc("calculate_overlapping_ranges"); // Calculate stop and slowdown points stopwatch.tic("calculate_decisions"); @@ -113,14 +131,27 @@ bool OutOfLaneModule::modifyPathVelocity( inputs.objects = filter_predicted_objects(*planner_data_->predicted_objects, ego_data, params_); inputs.route_handler = planner_data_->route_handler_; inputs.lanelets = other_lanelets; - auto decisions = calculate_decisions(inputs, params_, logger_); + const auto decisions = calculate_decisions(inputs, params_, logger_); const auto calculate_decisions_us = stopwatch.toc("calculate_decisions"); stopwatch.tic("calc_slowdown_points"); - const auto point_to_insert = calculate_slowdown_point(ego_data, decisions, params_); + if ( // reset the previous inserted point if the timer expired + prev_inserted_point_ && + (clock_->now() - prev_inserted_point_time_).seconds() > params_.min_decision_duration) + prev_inserted_point_.reset(); + auto point_to_insert = + calculate_slowdown_point(ego_data, decisions, prev_inserted_point_, params_); const auto calc_slowdown_points_us = stopwatch.toc("calc_slowdown_points"); stopwatch.tic("insert_slowdown_points"); debug_data_.slowdowns.clear(); + if ( // reset the timer if there is no previous inserted point or if we avoid the same lane + point_to_insert && + (!prev_inserted_point_ || prev_inserted_point_->slowdown.lane_to_avoid.id() == + point_to_insert->slowdown.lane_to_avoid.id())) + prev_inserted_point_time_ = clock_->now(); + if (!point_to_insert && prev_inserted_point_) point_to_insert = prev_inserted_point_; if (point_to_insert) { + prev_inserted_point_ = point_to_insert; + RCLCPP_INFO(logger_, "Avoiding lane %lu", point_to_insert->slowdown.lane_to_avoid.id()); debug_data_.slowdowns = {*point_to_insert}; auto path_idx = motion_utils::findNearestSegmentIndex( path->points, point_to_insert->point.point.pose.position) + @@ -132,14 +163,17 @@ bool OutOfLaneModule::modifyPathVelocity( tier4_planning_msgs::msg::StopFactor stop_factor; stop_factor.stop_pose = point_to_insert->point.point.pose; stop_factor.dist_to_stop_pose = motion_utils::calcSignedArcLength( - ego_data.path.points, ego_data.pose.position, point_to_insert->point.point.pose.position); + path->points, ego_data.pose.position, point_to_insert->point.point.pose.position); planning_utils::appendStopReason(stop_factor, stop_reason); } velocity_factor_.set( path->points, planner_data_->current_odometry->pose, point_to_insert->point.point.pose, VelocityFactor::UNKNOWN); + } else if (!decisions.empty()) { + RCLCPP_WARN(logger_, "Could not insert stop point (would violate max deceleration limits)"); } const auto insert_slowdown_points_us = stopwatch.toc("insert_slowdown_points"); + debug_data_.ranges = inputs.ranges; const auto total_time_us = stopwatch.toc(); RCLCPP_DEBUG( @@ -160,18 +194,23 @@ MarkerArray OutOfLaneModule::createDebugMarkerArray() constexpr auto z = 0.0; MarkerArray debug_marker_array; - debug::add_footprint_markers(debug_marker_array, debug_data_.footprints, z); + debug::add_footprint_markers( + debug_marker_array, debug_data_.footprints, z, debug_data_.prev_footprints); debug::add_current_overlap_marker( - debug_marker_array, debug_data_.current_footprint, debug_data_.current_overlapped_lanelets, z); + debug_marker_array, debug_data_.current_footprint, debug_data_.current_overlapped_lanelets, z, + debug_data_.prev_current_overlapped_lanelets); debug::add_lanelet_markers( debug_marker_array, debug_data_.path_lanelets, "path_lanelets", - tier4_autoware_utils::createMarkerColor(0.1, 0.1, 1.0, 0.5)); + tier4_autoware_utils::createMarkerColor(0.1, 0.1, 1.0, 0.5), debug_data_.prev_path_lanelets); debug::add_lanelet_markers( debug_marker_array, debug_data_.ignored_lanelets, "ignored_lanelets", - tier4_autoware_utils::createMarkerColor(0.7, 0.7, 0.2, 0.5)); + tier4_autoware_utils::createMarkerColor(0.7, 0.7, 0.2, 0.5), debug_data_.prev_ignored_lanelets); debug::add_lanelet_markers( debug_marker_array, debug_data_.other_lanelets, "other_lanelets", - tier4_autoware_utils::createMarkerColor(0.4, 0.4, 0.7, 0.5)); + tier4_autoware_utils::createMarkerColor(0.4, 0.4, 0.7, 0.5), debug_data_.prev_other_lanelets); + debug::add_range_markers( + debug_marker_array, debug_data_.ranges, debug_data_.path, debug_data_.first_path_idx, z, + debug_data_.prev_ranges); return debug_marker_array; } diff --git a/planning/behavior_velocity_out_of_lane_module/src/scene_out_of_lane.hpp b/planning/behavior_velocity_out_of_lane_module/src/scene_out_of_lane.hpp index cdf8eef8f277b..310e2a9764d36 100644 --- a/planning/behavior_velocity_out_of_lane_module/src/scene_out_of_lane.hpp +++ b/planning/behavior_velocity_out_of_lane_module/src/scene_out_of_lane.hpp @@ -22,6 +22,7 @@ #include #include +#include #include #include @@ -48,9 +49,13 @@ class OutOfLaneModule : public SceneModuleInterface motion_utils::VirtualWalls createVirtualWalls() override; private: - // Parameter PlannerParam params_; + std::vector + prev_overlapping_path_points_{}; + std::optional prev_inserted_point_{}; + rclcpp::Time prev_inserted_point_time_{}; + protected: int64_t module_id_{}; diff --git a/planning/behavior_velocity_out_of_lane_module/src/types.hpp b/planning/behavior_velocity_out_of_lane_module/src/types.hpp index 64d88f15e6966..34bd52634ce7b 100644 --- a/planning/behavior_velocity_out_of_lane_module/src/types.hpp +++ b/planning/behavior_velocity_out_of_lane_module/src/types.hpp @@ -24,7 +24,9 @@ #include #include +#include #include +#include #include #include #include @@ -47,6 +49,8 @@ struct PlannerParam bool objects_use_predicted_paths; // whether to use the objects' predicted paths double objects_min_vel; // [m/s] objects lower than this velocity will be ignored double objects_min_confidence; // minimum confidence to consider a predicted path + double objects_dist_buffer; // [m] distance buffer used to determine if a collision will occur in + // the other lane double overlap_extra_length; // [m] extra length to add around an overlap range double overlap_min_dist; // [m] min distance inside another lane to consider an overlap @@ -56,7 +60,8 @@ struct PlannerParam double slow_velocity; double slow_dist_threshold; double stop_dist_threshold; - double precision; // [m] precision when inserting a stop pose in the path + double precision; // [m] precision when inserting a stop pose in the path + double min_decision_duration; // [s] minimum duration needed a decision can be canceled // ego dimensions used to create its polygon footprint double front_offset; // [m] front offset (from vehicle info) double rear_offset; // [m] rear offset (from vehicle info) @@ -68,17 +73,16 @@ struct PlannerParam double extra_left_offset; // [m] extra left distance }; -/// @brief range along the path where ego overlaps another lane -struct OverlapRange +struct EnterExitTimes { - lanelet::ConstLanelet lane; - size_t entering_path_idx{}; - size_t exiting_path_idx{}; - lanelet::BasicPoint2d entering_point; // pose of the overlapping point closest along the lane - lanelet::BasicPoint2d exiting_point; // pose of the overlapping point furthest along the lane - double inside_distance{}; // [m] how much ego footprint enters the lane + double enter_time{}; + double exit_time{}; +}; +struct RangeTimes +{ + EnterExitTimes ego{}; + EnterExitTimes object{}; }; -using OverlapRanges = std::vector; /// @brief action taken by the "out of lane" module struct Slowdown @@ -102,6 +106,35 @@ struct RangeBound double arc_length; double inside_distance; }; + +/// @brief representation of an overlap between the ego footprint and some other lane +struct Overlap +{ + double inside_distance = 0.0; ///!< distance inside the overlap + double min_arc_length = std::numeric_limits::infinity(); + double max_arc_length = 0.0; + lanelet::BasicPoint2d min_overlap_point{}; ///!< point with min arc length + lanelet::BasicPoint2d max_overlap_point{}; ///!< point with max arc length +}; + +/// @brief range along the path where ego overlaps another lane +struct OverlapRange +{ + lanelet::ConstLanelet lane; + size_t entering_path_idx{}; + size_t exiting_path_idx{}; + lanelet::BasicPoint2d entering_point; // pose of the overlapping point closest along the lane + lanelet::BasicPoint2d exiting_point; // pose of the overlapping point furthest along the lane + double inside_distance{}; // [m] how much ego footprint enters the lane + mutable struct + { + std::vector overlaps; + std::optional decision; + RangeTimes times; + std::optional object{}; + } debug; +}; +using OverlapRanges = std::vector; /// @brief representation of a lane and its current overlap range struct OtherLane { @@ -164,12 +197,32 @@ struct DebugData lanelet::ConstLanelets path_lanelets; lanelet::ConstLanelets ignored_lanelets; lanelet::ConstLanelets other_lanelets; + autoware_auto_planning_msgs::msg::PathWithLaneId path; + size_t first_path_idx; + + size_t prev_footprints = 0; + size_t prev_slowdowns = 0; + size_t prev_ranges = 0; + size_t prev_current_overlapped_lanelets = 0; + size_t prev_ignored_lanelets = 0; + size_t prev_path_lanelets = 0; + size_t prev_other_lanelets = 0; void reset_data() { + prev_footprints = footprints.size(); footprints.clear(); + prev_slowdowns = slowdowns.size(); slowdowns.clear(); + prev_ranges = ranges.size(); ranges.clear(); + prev_current_overlapped_lanelets = current_overlapped_lanelets.size(); current_overlapped_lanelets.clear(); + prev_ignored_lanelets = ignored_lanelets.size(); + ignored_lanelets.clear(); + prev_path_lanelets = path_lanelets.size(); + path_lanelets.clear(); + prev_other_lanelets = other_lanelets.size(); + other_lanelets.clear(); } }; From 1b5ef956d8622f69f8dafbf97fc2d993f20472f9 Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Thu, 16 Nov 2023 21:49:50 +0900 Subject: [PATCH 132/202] refactor(goal_planner): add prev_data instead of status (#5561) --- .../goal_planner/goal_planner_module.hpp | 79 ++++------------ .../goal_planner/goal_planner_module.cpp | 94 +++++++++---------- 2 files changed, 64 insertions(+), 109 deletions(-) diff --git a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/goal_planner/goal_planner_module.hpp b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/goal_planner/goal_planner_module.hpp index d647caeabbc44..a31442def538f 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/goal_planner/goal_planner_module.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/goal_planner/goal_planner_module.hpp @@ -68,64 +68,6 @@ using behavior_path_planner::utils::path_safety_checker::SafetyCheckParams; using behavior_path_planner::utils::path_safety_checker::TargetObjectsOnLane; using tier4_autoware_utils::Polygon2d; -#define DEFINE_SETTER(TYPE, NAME) \ -public: \ - void set_##NAME(const TYPE & value) \ - { \ - NAME##_ = value; \ - } - -#define DEFINE_GETTER(TYPE, NAME) \ -public: \ - TYPE get_##NAME() const \ - { \ - return NAME##_; \ - } - -#define DEFINE_SETTER_GETTER(TYPE, NAME) \ - DEFINE_SETTER(TYPE, NAME) \ - DEFINE_GETTER(TYPE, NAME) - -class PullOverStatus -{ -public: - // Reset all data members to their initial states - void reset() - { - lane_parking_pull_over_path_ = nullptr; - prev_stop_path_ = nullptr; - prev_stop_path_after_approval_ = nullptr; - - is_safe_ = false; - prev_found_path_ = false; - prev_is_safe_ = false; - } - - DEFINE_SETTER_GETTER(std::shared_ptr, lane_parking_pull_over_path) - DEFINE_SETTER_GETTER(std::shared_ptr, prev_stop_path) - DEFINE_SETTER_GETTER(std::shared_ptr, prev_stop_path_after_approval) - DEFINE_SETTER_GETTER(bool, is_safe) - DEFINE_SETTER_GETTER(bool, prev_found_path) - DEFINE_SETTER_GETTER(bool, prev_is_safe) - DEFINE_SETTER_GETTER(Pose, refined_goal_pose) - DEFINE_SETTER_GETTER(Pose, closest_goal_candidate_pose) - -private: - std::shared_ptr lane_parking_pull_over_path_{nullptr}; - std::shared_ptr prev_stop_path_{nullptr}; - std::shared_ptr prev_stop_path_after_approval_{nullptr}; - bool is_safe_{false}; - bool prev_found_path_{false}; - bool prev_is_safe_{false}; - - Pose refined_goal_pose_{}; - Pose closest_goal_candidate_pose_{}; -}; - -#undef DEFINE_SETTER -#undef DEFINE_GETTER -#undef DEFINE_SETTER_GETTER - #define DEFINE_SETTER_WITH_MUTEX(TYPE, NAME) \ public: \ void set_##NAME(const TYPE & value) \ @@ -288,6 +230,22 @@ struct LastApprovalData Pose pose{}; }; +struct PreviousPullOverData +{ + void reset() + { + stop_path = nullptr; + stop_path_after_approval = nullptr; + found_path = false; + is_safe = false; + } + + std::shared_ptr stop_path{nullptr}; + std::shared_ptr stop_path_after_approval{nullptr}; + bool found_path{false}; + bool is_safe{false}; +}; + class GoalPlannerModule : public SceneModuleInterface { public: @@ -380,10 +338,10 @@ class GoalPlannerModule : public SceneModuleInterface tier4_autoware_utils::LinearRing2d vehicle_footprint_; std::recursive_mutex mutex_; - PullOverStatus status_; ThreadSafeData thread_safe_data_; std::unique_ptr last_approval_data_{nullptr}; + PreviousPullOverData prev_data_{nullptr}; // approximate distance from the start point to the end point of pull_over. // this is used as an assumed value to decelerate, etc., before generating the actual path. @@ -412,7 +370,7 @@ class GoalPlannerModule : public SceneModuleInterface // goal seach Pose calcRefinedGoal(const Pose & goal_pose) const; - void generateGoalCandidates(); + GoalCandidates generateGoalCandidates() const; // stop or decelerate void deceleratePath(PullOverPath & pull_over_path) const; @@ -470,6 +428,7 @@ class GoalPlannerModule : public SceneModuleInterface // output setter void setOutput(BehaviorModuleOutput & output) const; void setStopPath(BehaviorModuleOutput & output) const; + void updatePreviousData(const BehaviorModuleOutput & output); /** * @brief Sets a stop path in the current path based on safety conditions and previous paths. diff --git a/planning/behavior_path_planner/src/scene_module/goal_planner/goal_planner_module.cpp b/planning/behavior_path_planner/src/scene_module/goal_planner/goal_planner_module.cpp index ba846efbb0a50..509214d37cd5a 100644 --- a/planning/behavior_path_planner/src/scene_module/goal_planner/goal_planner_module.cpp +++ b/planning/behavior_path_planner/src/scene_module/goal_planner/goal_planner_module.cpp @@ -121,7 +121,7 @@ GoalPlannerModule::GoalPlannerModule( goal_planner_data_.collision_check); } - status_.reset(); + prev_data_.reset(); } // This function is needed for waiting for planner_data_ @@ -240,7 +240,7 @@ void GoalPlannerModule::onFreespaceParkingTimer() void GoalPlannerModule::updateData() { - if (getCurrentStatus() == ModuleStatus::IDLE) { + if (getCurrentStatus() == ModuleStatus::IDLE && !isExecutionRequested()) { return; } @@ -259,11 +259,14 @@ void GoalPlannerModule::updateData() updateOccupancyGrid(); - generateGoalCandidates(); + // update goal searcher and generate goal candidates + if (thread_safe_data_.get_goal_candidates().empty()) { + goal_searcher_->setPlannerData(planner_data_); + goal_searcher_->setReferenceGoal( + calcRefinedGoal(planner_data_->route_handler->getOriginalGoalPose())); + thread_safe_data_.set_goal_candidates(generateGoalCandidates()); + } - // Only after the path is decided, approval is allowed and the module is Activated. - // The path index is not incremented until after deciding the path. - // So return here, if (!isActivated()) { return; } @@ -308,7 +311,7 @@ void GoalPlannerModule::processOnExit() resetPathCandidate(); resetPathReference(); debug_marker_.markers.clear(); - status_.reset(); + prev_data_.reset(); last_approval_data_.reset(); } @@ -545,33 +548,24 @@ bool GoalPlannerModule::canReturnToLaneParking() return true; } -void GoalPlannerModule::generateGoalCandidates() +GoalCandidates GoalPlannerModule::generateGoalCandidates() const { - if (!thread_safe_data_.get_goal_candidates().empty()) { - return; - } - // calculate goal candidates const auto & route_handler = planner_data_->route_handler; - const Pose goal_pose = route_handler->getOriginalGoalPose(); - status_.set_refined_goal_pose(calcRefinedGoal(goal_pose)); if (goal_planner_utils::isAllowedGoalModification(route_handler)) { - const std::lock_guard lock(mutex_); - goal_searcher_->setPlannerData(planner_data_); - goal_searcher_->setReferenceGoal(status_.get_refined_goal_pose()); - thread_safe_data_.set_goal_candidates(goal_searcher_->search()); - status_.set_closest_goal_candidate_pose( - goal_searcher_->getClosetGoalCandidateAlongLanes(thread_safe_data_.get_goal_candidates()) - .goal_pose); - } else { - GoalCandidate goal_candidate{}; - goal_candidate.goal_pose = goal_pose; - goal_candidate.distance_from_original_goal = 0.0; - GoalCandidates goal_candidates{}; - goal_candidates.push_back(goal_candidate); - thread_safe_data_.set_goal_candidates(goal_candidates); - status_.set_closest_goal_candidate_pose(goal_pose); + return goal_searcher_->search(); } + + // NOTE: + // currently since pull over is performed only when isAllowedGoalModification is true, + // never be in the following process. + GoalCandidate goal_candidate{}; + goal_candidate.goal_pose = route_handler->getOriginalGoalPose(); + goal_candidate.distance_from_original_goal = 0.0; + GoalCandidates goal_candidates{}; + goal_candidates.push_back(goal_candidate); + + return goal_candidates; } BehaviorModuleOutput GoalPlannerModule::plan() @@ -695,14 +689,14 @@ void GoalPlannerModule::setOutput(BehaviorModuleOutput & output) const void GoalPlannerModule::setStopPath(BehaviorModuleOutput & output) const { - if (status_.get_prev_found_path() || !status_.get_prev_stop_path()) { + if (prev_data_.found_path || !prev_data_.stop_path) { // safe -> not_safe or no prev_stop_path: generate new stop_path output.path = std::make_shared(generateStopPath()); RCLCPP_WARN_THROTTLE( getLogger(), *clock_, 5000, "Not found safe pull_over path, generate stop path"); } else { // not_safe -> not_safe: use previous stop path - output.path = status_.get_prev_stop_path(); + output.path = prev_data_.stop_path; // stop_pose_ is removed in manager every loop, so need to set every loop. stop_pose_ = utils::getFirstStopPoseFromPath(*output.path); RCLCPP_WARN_THROTTLE( @@ -713,7 +707,7 @@ void GoalPlannerModule::setStopPath(BehaviorModuleOutput & output) const void GoalPlannerModule::setStopPathFromCurrentPath(BehaviorModuleOutput & output) const { // safe or not safe(no feasible stop_path found) -> not_safe: try to find new feasible stop_path - if (status_.get_prev_is_safe() || !status_.get_prev_stop_path_after_approval()) { + if (prev_data_.is_safe || !prev_data_.stop_path_after_approval) { auto current_path = thread_safe_data_.get_pull_over_path()->getCurrentPath(); const auto stop_path = behavior_path_planner::utils::start_goal_planner_common::generateFeasibleStopPath( @@ -721,7 +715,6 @@ void GoalPlannerModule::setStopPathFromCurrentPath(BehaviorModuleOutput & output parameters_->maximum_jerk_for_stop); if (stop_path) { output.path = std::make_shared(*stop_path); - // status_.set_prev_stop_path_after_approval(output.path); RCLCPP_WARN_THROTTLE(getLogger(), *clock_, 5000, "Collision detected, generate stop path"); } else { output.path = @@ -730,10 +723,9 @@ void GoalPlannerModule::setStopPathFromCurrentPath(BehaviorModuleOutput & output getLogger(), *clock_, 5000, "Collision detected, no feasible stop path found, cannot stop."); } - // status_.set_last_path_update_time(std::make_shared(clock_->now())); } else { // not_safe safe(no feasible stop path found) -> not_safe: use previous stop path - output.path = status_.get_prev_stop_path_after_approval(); + output.path = prev_data_.stop_path_after_approval; // stop_pose_ is removed in manager every loop, so need to set every loop. stop_pose_ = utils::getFirstStopPoseFromPath(*output.path); RCLCPP_WARN_THROTTLE(getLogger(), *clock_, 5000, "Collision detected, use previous stop path"); @@ -934,7 +926,7 @@ BehaviorModuleOutput GoalPlannerModule::planPullOverAsOutput() path_candidate_ = std::make_shared(thread_safe_data_.get_pull_over_path()->getFullPath()); - updateStatus(output); + updatePreviousData(output); return output; } @@ -961,17 +953,16 @@ void GoalPlannerModule::postProcess() setStopReason(StopReason::GOAL_PLANNER, thread_safe_data_.get_pull_over_path()->getFullPath()); } -void GoalPlannerModule::updateStatus(const BehaviorModuleOutput & output) +void GoalPlannerModule::updatePreviousData(const BehaviorModuleOutput & output) { - if (status_.get_prev_found_path() || !status_.get_prev_stop_path()) { - status_.set_prev_stop_path(output.path); + if (prev_data_.found_path || !prev_data_.stop_path) { + prev_data_.stop_path = output.path; } // for the next loop setOutput(). // this is used to determine whether to generate a new stop path or keep the current stop path. - status_.set_prev_found_path(thread_safe_data_.foundPullOverPath()); - status_.set_prev_is_safe( - parameters_->safety_check_params.enable_safety_check ? isSafePath() : true); + prev_data_.found_path = thread_safe_data_.foundPullOverPath(); + prev_data_.is_safe = parameters_->safety_check_params.enable_safety_check ? isSafePath() : true; if (!isActivated()) { return; @@ -979,15 +970,15 @@ void GoalPlannerModule::updateStatus(const BehaviorModuleOutput & output) if ( !parameters_->safety_check_params.enable_safety_check || isSafePath() || - (!status_.get_prev_is_safe() && status_.get_prev_stop_path_after_approval())) { + (!prev_data_.is_safe && prev_data_.stop_path_after_approval)) { return; } - status_.set_prev_is_safe(false); + prev_data_.is_safe = false; const bool is_stop_path = std::any_of( output.path->points.begin(), output.path->points.end(), [](const auto & point) { return point.point.longitudinal_velocity_mps == 0.0; }); if (is_stop_path) { - status_.set_prev_stop_path_after_approval(output.path); + prev_data_.stop_path_after_approval = output.path; } } @@ -1061,8 +1052,10 @@ PathWithLaneId GoalPlannerModule::generateStopPath() const // calculate search start offset pose from the closest goal candidate pose with // approximate_pull_over_distance_ ego vehicle decelerates to this position. or if no feasible // stop point is found, stop at this position. + const auto closest_goal_candidate = + goal_searcher_->getClosetGoalCandidateAlongLanes(thread_safe_data_.get_goal_candidates()); const auto decel_pose = calcLongitudinalOffsetPose( - reference_path.points, status_.get_closest_goal_candidate_pose().position, + reference_path.points, closest_goal_candidate.goal_pose.position, -approximate_pull_over_distance_); // if not approved stop road lane. @@ -1136,6 +1129,7 @@ PathWithLaneId GoalPlannerModule::generateFeasibleStopPath() const planner_data_, parameters_->backward_goal_search_length, parameters_->forward_goal_search_length, /*forward_only_in_route*/ false); + const auto s_current = lanelet::utils::getArcCoordinates(current_lanes, current_pose).length; const double s_start = std::max(0.0, s_current - common_parameters.backward_path_length); const double s_end = s_current + common_parameters.forward_path_length; @@ -1432,8 +1426,10 @@ double GoalPlannerModule::calcSignedArcLengthFromEgo( void GoalPlannerModule::deceleratePath(PullOverPath & pull_over_path) const { // decelerate before the search area start + const auto closest_goal_candidate = + goal_searcher_->getClosetGoalCandidateAlongLanes(thread_safe_data_.get_goal_candidates()); const auto decel_pose = calcLongitudinalOffsetPose( - pull_over_path.getFullPath().points, status_.get_closest_goal_candidate_pose().position, + pull_over_path.getFullPath().points, closest_goal_candidate.goal_pose.position, -approximate_pull_over_distance_); auto & first_path = pull_over_path.partial_paths.front(); if (decel_pose) { @@ -1663,7 +1659,7 @@ bool GoalPlannerModule::isSafePath() const pull_over_lanes, route_handler, filtered_objects, objects_filtering_params_); const double hysteresis_factor = - status_.get_prev_is_safe() ? 1.0 : parameters_->hysteresis_factor_expand_rate; + prev_data_.is_safe ? 1.0 : parameters_->hysteresis_factor_expand_rate; utils::start_goal_planner_common::updateSafetyCheckTargetObjectsData( goal_planner_data_, filtered_objects, target_objects_on_lane, ego_predicted_path); @@ -1727,7 +1723,7 @@ void GoalPlannerModule::setDebugData() // Visualize pull over areas const auto color = hasDecidedPath() ? createMarkerColor(1.0, 1.0, 0.0, 0.999) // yellow : createMarkerColor(0.0, 1.0, 0.0, 0.999); // green - const double z = status_.get_refined_goal_pose().position.z; + const double z = planner_data_->route_handler->getGoalPose().position.z; add(goal_planner_utils::createPullOverAreaMarkerArray( goal_searcher_->getAreaPolygons(), header, color, z)); From 4d916ddeca062680144426dc05093a076c056a18 Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Thu, 16 Nov 2023 23:59:35 +0900 Subject: [PATCH 133/202] feat(goal_planner): keep margin against objects as possible (#5569) * refactor(goal_planner): add prev_data instead of status Signed-off-by: kosuke55 * feat(goal_planner): keep margin against objects as possible Signed-off-by: kosuke55 --------- Signed-off-by: kosuke55 --- .../goal_planner/goal_planner_module.hpp | 7 +- .../goal_planner/pull_over_planner_base.hpp | 1 + .../goal_planner/goal_planner_module.cpp | 147 +++++++++++++++--- 3 files changed, 130 insertions(+), 25 deletions(-) diff --git a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/goal_planner/goal_planner_module.hpp b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/goal_planner/goal_planner_module.hpp index a31442def538f..87340cc665edd 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/goal_planner/goal_planner_module.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/goal_planner/goal_planner_module.hpp @@ -366,7 +366,10 @@ class GoalPlannerModule : public SceneModuleInterface // collision check void initializeOccupancyGridMap(); void updateOccupancyGrid(); - bool checkCollision(const PathWithLaneId & path) const; + bool checkOccupancyGridCollision(const PathWithLaneId & path) const; + bool checkObjectsCollision( + const PathWithLaneId & path, const double collision_check_margin, + const bool update_debug_data = false) const; // goal seach Pose calcRefinedGoal(const Pose & goal_pose) const; @@ -416,7 +419,7 @@ class GoalPlannerModule : public SceneModuleInterface BehaviorModuleOutput planPullOverAsCandidate(); std::optional> selectPullOverPath( const std::vector & pull_over_path_candidates, - const GoalCandidates & goal_candidates) const; + const GoalCandidates & goal_candidates, const double collision_check_margin) const; std::vector sortPullOverPathCandidatesByGoalPriority( const std::vector & pull_over_path_candidates, const GoalCandidates & goal_candidates) const; diff --git a/planning/behavior_path_planner/include/behavior_path_planner/utils/goal_planner/pull_over_planner_base.hpp b/planning/behavior_path_planner/include/behavior_path_planner/utils/goal_planner/pull_over_planner_base.hpp index acb034a29d9e5..5023401263b8d 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/utils/goal_planner/pull_over_planner_base.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/utils/goal_planner/pull_over_planner_base.hpp @@ -53,6 +53,7 @@ struct PullOverPath Pose end_pose{}; std::vector debug_poses{}; size_t goal_id{}; + size_t id{}; bool decided_velocity{false}; PathWithLaneId getFullPath() const diff --git a/planning/behavior_path_planner/src/scene_module/goal_planner/goal_planner_module.cpp b/planning/behavior_path_planner/src/scene_module/goal_planner/goal_planner_module.cpp index 509214d37cd5a..5a51353143fe0 100644 --- a/planning/behavior_path_planner/src/scene_module/goal_planner/goal_planner_module.cpp +++ b/planning/behavior_path_planner/src/scene_module/goal_planner/goal_planner_module.cpp @@ -174,6 +174,7 @@ void GoalPlannerModule::onTimer() auto pull_over_path = planner->plan(goal_candidate.goal_pose); if (pull_over_path && isCrossingPossible(*pull_over_path)) { pull_over_path->goal_id = goal_candidate.id; + pull_over_path->id = path_candidates.size(); path_candidates.push_back(*pull_over_path); // calculate closest pull over start pose for stop path const double start_arc_length = @@ -533,7 +534,15 @@ bool GoalPlannerModule::canReturnToLaneParking() } const PathWithLaneId path = thread_safe_data_.get_lane_parking_pull_over_path()->getFullPath(); - if (checkCollision(path)) { + + if ( + parameters_->use_object_recognition && + checkObjectsCollision(path, parameters_->object_recognition_collision_check_margin)) { + return false; + } + + if ( + parameters_->use_occupancy_grid_for_path_collision_check && checkOccupancyGridCollision(path)) { return false; } @@ -597,6 +606,48 @@ std::vector GoalPlannerModule::sortPullOverPathCandidatesByGoalPri return goal_id_to_index[a.goal_id] < goal_id_to_index[b.goal_id]; }); + if (parameters_->use_object_recognition) { + // Create a map of PullOverPath pointer to largest collision check margin + auto calcLargestMargin = [&](const PullOverPath & pull_over_path) { + // check has safe goal + const auto goal_candidate_it = std::find_if( + goal_candidates.begin(), goal_candidates.end(), + [pull_over_path](const auto & goal_candidate) { + return goal_candidate.id == pull_over_path.goal_id; + }); + if (goal_candidate_it != goal_candidates.end() && !goal_candidate_it->is_safe) { + return 0.0; + } + // calc largest margin + std::vector scale_factors{3.0, 2.0, 1.0}; + const double margin = parameters_->object_recognition_collision_check_margin; + const auto resampled_path = + utils::resamplePathWithSpline(pull_over_path.getParkingPath(), 0.5); + for (const auto & scale_factor : scale_factors) { + if (!checkObjectsCollision(resampled_path, margin * scale_factor)) { + return margin * scale_factor; + } + } + return 0.0; + }; + + // Create a map of PullOverPath pointer to largest collision check margin + std::map path_id_to_margin_map; + for (const auto & path : sorted_pull_over_path_candidates) { + path_id_to_margin_map[path.id] = calcLargestMargin(path); + } + + // sorts in descending order so the item with larger margin comes first + std::stable_sort( + sorted_pull_over_path_candidates.begin(), sorted_pull_over_path_candidates.end(), + [&path_id_to_margin_map](const PullOverPath & a, const PullOverPath & b) { + if (std::abs(path_id_to_margin_map[a.id] - path_id_to_margin_map[b.id]) < 0.01) { + return false; + } + return path_id_to_margin_map[a.id] > path_id_to_margin_map[b.id]; + }); + } + // Sort pull_over_path_candidates based on the order in efficient_path_order if (parameters_->path_priority == "efficient_path") { std::stable_sort( @@ -614,7 +665,7 @@ std::vector GoalPlannerModule::sortPullOverPathCandidatesByGoalPri std::optional> GoalPlannerModule::selectPullOverPath( const std::vector & pull_over_path_candidates, - const GoalCandidates & goal_candidates) const + const GoalCandidates & goal_candidates, const double collision_check_margin) const { for (const auto & pull_over_path : pull_over_path_candidates) { // check if goal is safe @@ -627,10 +678,20 @@ std::optional> GoalPlannerModule::selectP continue; } - // check if path is valid and safe + if (!hasEnoughDistance(pull_over_path)) { + continue; + } + + const auto resampled_path = utils::resamplePathWithSpline(pull_over_path.getParkingPath(), 0.5); if ( - !hasEnoughDistance(pull_over_path) || - checkCollision(utils::resamplePathWithSpline(pull_over_path.getParkingPath(), 0.5))) { + parameters_->use_object_recognition && + checkObjectsCollision(resampled_path, collision_check_margin, true /*update_debug_data*/)) { + continue; + } + + if ( + parameters_->use_occupancy_grid_for_path_collision_check && + checkOccupancyGridCollision(resampled_path)) { continue; } @@ -888,7 +949,9 @@ BehaviorModuleOutput GoalPlannerModule::planPullOverAsOutput() thread_safe_data_.get_pull_over_path_candidates(), goal_candidates); // select pull over path which is safe against static objects and get it's goal - const auto path_and_goal_opt = selectPullOverPath(pull_over_path_candidates, goal_candidates); + const auto path_and_goal_opt = selectPullOverPath( + pull_over_path_candidates, goal_candidates, + parameters_->object_recognition_collision_check_margin); // update thread_safe_data_ if (path_and_goal_opt) { @@ -1205,7 +1268,21 @@ bool GoalPlannerModule::isStuck() return false; } - return checkCollision(thread_safe_data_.get_pull_over_path()->getCurrentPath()); + if ( + parameters_->use_object_recognition && + checkObjectsCollision( + thread_safe_data_.get_pull_over_path()->getCurrentPath(), + parameters_->object_recognition_collision_check_margin)) { + return true; + } + + if ( + parameters_->use_occupancy_grid_for_path_collision_check && + checkOccupancyGridCollision(thread_safe_data_.get_pull_over_path()->getCurrentPath())) { + return true; + } + + return false; } bool GoalPlannerModule::hasFinishedCurrentPath() @@ -1297,18 +1374,19 @@ TurnSignalInfo GoalPlannerModule::calcTurnSignalInfo() const return turn_signal; } -bool GoalPlannerModule::checkCollision(const PathWithLaneId & path) const +bool GoalPlannerModule::checkOccupancyGridCollision(const PathWithLaneId & path) const { - if (parameters_->use_occupancy_grid_for_path_collision_check && occupancy_grid_map_) { - const bool check_out_of_range = false; - if (occupancy_grid_map_->hasObstacleOnPath(path, check_out_of_range)) { - return true; - } - } - if (!parameters_->use_object_recognition) { + if (!occupancy_grid_map_) { return false; } + const bool check_out_of_range = false; + return occupancy_grid_map_->hasObstacleOnPath(path, check_out_of_range); +} +bool GoalPlannerModule::checkObjectsCollision( + const PathWithLaneId & path, const double collision_check_margin, + const bool update_debug_data) const +{ const auto pull_over_lanes = goal_planner_utils::getPullOverLanes( *(planner_data_->route_handler), left_side_parking_, parameters_->backward_goal_search_length, parameters_->forward_goal_search_length); @@ -1323,7 +1401,30 @@ bool GoalPlannerModule::checkCollision(const PathWithLaneId & path) const obj_polygons.push_back(tier4_autoware_utils::toPolygon2d(object)); } - std::vector ego_polygons_expanded; + /* Expand ego collision check polygon + * - `collision_check_margin` in all directions + * - `extra_stopping_margin` in the moving direction + * - `extra_lateral_margin` in external direction of path curve + * + * + * ^ moving direction + * x + * x + * x + * +----------------------+------x--+ + * | | x | + * | +---------------+ | xx | + * | | | | xx | + * | | ego footprint |xxxxx | + * | | | | | + * | +---------------+ | extra_stopping_margin + * | margin | | + * +----------------------+ | + * | extra_lateral_margin | + * +--------------------------------+ + * + */ + std::vector ego_polygons_expanded{}; const auto curvatures = motion_utils::calcCurvature(path.points); for (size_t i = 0; i < path.points.size(); ++i) { const auto p = path.points.at(i); @@ -1341,16 +1442,16 @@ bool GoalPlannerModule::checkCollision(const PathWithLaneId & path) const tier4_autoware_utils::calcOffsetPose(p.point.pose, 0.0, extra_lateral_margin / 2.0, 0.0); const auto ego_polygon = tier4_autoware_utils::toFootprint( lateral_offset_pose, - planner_data_->parameters.base_link2front + - parameters_->object_recognition_collision_check_margin + extra_stopping_margin, - planner_data_->parameters.base_link2rear + - parameters_->object_recognition_collision_check_margin, - planner_data_->parameters.vehicle_width + - parameters_->object_recognition_collision_check_margin * 2.0 + + planner_data_->parameters.base_link2front + collision_check_margin + extra_stopping_margin, + planner_data_->parameters.base_link2rear + collision_check_margin, + planner_data_->parameters.vehicle_width + collision_check_margin * 2.0 + std::abs(extra_lateral_margin)); ego_polygons_expanded.push_back(ego_polygon); } - debug_data_.ego_polygons_expanded = ego_polygons_expanded; + + if (update_debug_data) { + debug_data_.ego_polygons_expanded = ego_polygons_expanded; + } return utils::path_safety_checker::checkPolygonsIntersects(ego_polygons_expanded, obj_polygons); } From 9513782933672a100d01318ca33288d464f431a2 Mon Sep 17 00:00:00 2001 From: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> Date: Fri, 17 Nov 2023 08:26:21 +0900 Subject: [PATCH 134/202] feat(out_of_lane): improve reuse of previous decision (#5611) Signed-off-by: Maxime CLEMENT --- .../src/overlapping_range.hpp | 3 +- .../src/scene_out_of_lane.cpp | 42 ++++++++++--------- .../src/scene_out_of_lane.hpp | 2 - 3 files changed, 25 insertions(+), 22 deletions(-) diff --git a/planning/behavior_velocity_out_of_lane_module/src/overlapping_range.hpp b/planning/behavior_velocity_out_of_lane_module/src/overlapping_range.hpp index 24bd6b3f16eb9..2b0830acc28cc 100644 --- a/planning/behavior_velocity_out_of_lane_module/src/overlapping_range.hpp +++ b/planning/behavior_velocity_out_of_lane_module/src/overlapping_range.hpp @@ -49,7 +49,8 @@ OverlapRanges calculate_overlapping_ranges( /// @param [in] path_lanelets path lanelets used to calculate arc length along the ego path /// @param [in] lanelets lanelets used to calculate the overlaps /// @param [in] params parameters -/// @return the overlapping ranges found between the footprints and the lanelets +/// @return the overlapping ranges found between the footprints and the lanelets, sorted by +/// increasing arc length along the path OverlapRanges calculate_overlapping_ranges( const std::vector & path_footprints, const lanelet::ConstLanelets & path_lanelets, const lanelet::ConstLanelets & lanelets, diff --git a/planning/behavior_velocity_out_of_lane_module/src/scene_out_of_lane.cpp b/planning/behavior_velocity_out_of_lane_module/src/scene_out_of_lane.cpp index 539cdefb31fdf..d739c6440ae75 100644 --- a/planning/behavior_velocity_out_of_lane_module/src/scene_out_of_lane.cpp +++ b/planning/behavior_velocity_out_of_lane_module/src/scene_out_of_lane.cpp @@ -67,18 +67,6 @@ bool OutOfLaneModule::modifyPathVelocity(PathWithLaneId * path, StopReason * sto ego_data.path.points = path->points; ego_data.first_path_idx = motion_utils::findNearestSegmentIndex(ego_data.path.points, ego_data.pose.position); - for (const auto & p : prev_overlapping_path_points_) { - const auto nearest_idx = - motion_utils::findNearestIndex(ego_data.path.points, p.point.pose, 1.0); - const auto insert_idx = - motion_utils::findNearestSegmentIndex(ego_data.path.points, p.point.pose, 1.0); - if (nearest_idx && insert_idx && *insert_idx > ego_data.first_path_idx) { - if ( - tier4_autoware_utils::calcDistance2d( - ego_data.path.points[*nearest_idx].point.pose, p.point.pose) > 0.5) - ego_data.path.points.insert(std::next(ego_data.path.points.begin(), *insert_idx), p); - } - } motion_utils::removeOverlapPoints(ego_data.path.points); ego_data.velocity = planner_data_->current_velocity->twist.linear.x; ego_data.max_decel = -planner_data_->max_stop_acceleration_threshold; @@ -118,10 +106,6 @@ bool OutOfLaneModule::modifyPathVelocity(PathWithLaneId * path, StopReason * sto stopwatch.tic("calculate_overlapping_ranges"); const auto ranges = calculate_overlapping_ranges(path_footprints, path_lanelets, other_lanelets, params_); - prev_overlapping_path_points_.clear(); - for (const auto & range : ranges) - prev_overlapping_path_points_.push_back( - ego_data.path.points[ego_data.first_path_idx + range.entering_path_idx]); const auto calculate_overlapping_ranges_us = stopwatch.toc("calculate_overlapping_ranges"); // Calculate stop and slowdown points stopwatch.tic("calculate_decisions"); @@ -148,7 +132,28 @@ bool OutOfLaneModule::modifyPathVelocity(PathWithLaneId * path, StopReason * sto (!prev_inserted_point_ || prev_inserted_point_->slowdown.lane_to_avoid.id() == point_to_insert->slowdown.lane_to_avoid.id())) prev_inserted_point_time_ = clock_->now(); - if (!point_to_insert && prev_inserted_point_) point_to_insert = prev_inserted_point_; + // reuse previous stop point if there is no new one or if its velocity is not higher than the new + // one and its arc length is lower + const auto should_use_prev_inserted_point = [&]() { + if ( + point_to_insert && prev_inserted_point_ && + prev_inserted_point_->slowdown.velocity <= point_to_insert->slowdown.velocity) { + const auto arc_length = motion_utils::calcSignedArcLength( + path->points, 0LU, point_to_insert->point.point.pose.position); + const auto prev_arc_length = motion_utils::calcSignedArcLength( + path->points, 0LU, prev_inserted_point_->point.point.pose.position); + return prev_arc_length < arc_length; + } + return !point_to_insert && prev_inserted_point_; + }(); + if (should_use_prev_inserted_point) { + // if the path changed the prev point is no longer on the path so we project it + const auto insert_arc_length = motion_utils::calcSignedArcLength( + path->points, 0LU, prev_inserted_point_->point.point.pose.position); + prev_inserted_point_->point.point.pose = + motion_utils::calcInterpolatedPose(path->points, insert_arc_length); + point_to_insert = prev_inserted_point_; + } if (point_to_insert) { prev_inserted_point_ = point_to_insert; RCLCPP_INFO(logger_, "Avoiding lane %lu", point_to_insert->slowdown.lane_to_avoid.id()); @@ -157,8 +162,7 @@ bool OutOfLaneModule::modifyPathVelocity(PathWithLaneId * path, StopReason * sto path->points, point_to_insert->point.point.pose.position) + 1; planning_utils::insertVelocity( - *path, point_to_insert->point, point_to_insert->slowdown.velocity, path_idx, - params_.precision); + *path, point_to_insert->point, point_to_insert->slowdown.velocity, path_idx); if (point_to_insert->slowdown.velocity == 0.0) { tier4_planning_msgs::msg::StopFactor stop_factor; stop_factor.stop_pose = point_to_insert->point.point.pose; diff --git a/planning/behavior_velocity_out_of_lane_module/src/scene_out_of_lane.hpp b/planning/behavior_velocity_out_of_lane_module/src/scene_out_of_lane.hpp index 310e2a9764d36..6133bb1ea0d6e 100644 --- a/planning/behavior_velocity_out_of_lane_module/src/scene_out_of_lane.hpp +++ b/planning/behavior_velocity_out_of_lane_module/src/scene_out_of_lane.hpp @@ -51,8 +51,6 @@ class OutOfLaneModule : public SceneModuleInterface private: PlannerParam params_; - std::vector - prev_overlapping_path_points_{}; std::optional prev_inserted_point_{}; rclcpp::Time prev_inserted_point_time_{}; From 1e65d39418bea9027effae90b32982669fe9cd07 Mon Sep 17 00:00:00 2001 From: Kyoichi Sugahara Date: Fri, 17 Nov 2023 13:47:18 +0900 Subject: [PATCH 135/202] refactor(start_planner): support new interface (#5606) * refactor(start_planner): support new interface refactor state transition logic in StartPlannerModule Signed-off-by: kyoichi-sugahara --------- Signed-off-by: kyoichi-sugahara --- .../start_planner/start_planner_module.hpp | 6 ++-- .../start_planner/start_planner_module.cpp | 35 ++++--------------- 2 files changed, 9 insertions(+), 32 deletions(-) diff --git a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/start_planner/start_planner_module.hpp b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/start_planner/start_planner_module.hpp index 8d2532504926e..838cf040c3f8b 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/start_planner/start_planner_module.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/start_planner/start_planner_module.hpp @@ -91,8 +91,6 @@ class StartPlannerModule : public SceneModuleInterface bool isExecutionRequested() const override; bool isExecutionReady() const override; - // TODO(someone): remove this, and use base class function - [[deprecated]] void updateCurrentState() override; BehaviorModuleOutput plan() override; BehaviorModuleOutput planWaitingApproval() override; CandidateOutput planCandidate() const override; @@ -123,11 +121,11 @@ class StartPlannerModule : public SceneModuleInterface bool isFreespacePlanning() const { return status_.planner_type == PlannerType::FREESPACE; } private: - bool canTransitSuccessState() override { return false; } + bool canTransitSuccessState() override; bool canTransitFailureState() override { return false; } - bool canTransitIdleToRunningState() override { return false; } + bool canTransitIdleToRunningState() override; void initializeSafetyCheckParameters(); diff --git a/planning/behavior_path_planner/src/scene_module/start_planner/start_planner_module.cpp b/planning/behavior_path_planner/src/scene_module/start_planner/start_planner_module.cpp index 75562f59a402f..a39af7a376b02 100644 --- a/planning/behavior_path_planner/src/scene_module/start_planner/start_planner_module.cpp +++ b/planning/behavior_path_planner/src/scene_module/start_planner/start_planner_module.cpp @@ -228,33 +228,14 @@ bool StartPlannerModule::isExecutionReady() const return true; } -void StartPlannerModule::updateCurrentState() +bool StartPlannerModule::canTransitSuccessState() { - RCLCPP_DEBUG(getLogger(), "START_PLANNER updateCurrentState"); - - const auto print = [this](const auto & from, const auto & to) { - RCLCPP_DEBUG(getLogger(), "[start_planner] Transit from %s to %s.", from.data(), to.data()); - }; - - const auto & from = current_state_; - // current_state_ = updateState(); - - if (isActivated() && !isWaitingApproval()) { - current_state_ = ModuleStatus::RUNNING; - } else { - current_state_ = ModuleStatus::IDLE; - } - - // TODO(someone): move to canTransitSuccessState - if (hasFinishedPullOut()) { - current_state_ = ModuleStatus::SUCCESS; - } - // TODO(someone): move to canTransitSuccessState - if (status_.backward_driving_complete) { - current_state_ = ModuleStatus::SUCCESS; // for breaking loop - } + return hasFinishedPullOut(); +} - print(magic_enum::enum_name(from), magic_enum::enum_name(current_state_)); +bool StartPlannerModule::canTransitIdleToRunningState() +{ + return isActivated() && !isWaitingApproval(); } BehaviorModuleOutput StartPlannerModule::plan() @@ -278,7 +259,7 @@ BehaviorModuleOutput StartPlannerModule::plan() PathWithLaneId path; // Check if backward motion is finished - if (status_.driving_forward) { + if (status_.driving_forward || status_.backward_driving_complete) { // Increment path index if the current path is finished if (hasFinishedCurrentPath()) { RCLCPP_INFO(getLogger(), "Increment path index"); @@ -739,8 +720,6 @@ void StartPlannerModule::updatePullOutStatus() if (isBackwardDrivingComplete()) { updateStatusAfterBackwardDriving(); - // should be moved to transition state - current_state_ = ModuleStatus::SUCCESS; // for breaking loop } else { status_.backward_path = start_planner_utils::getBackwardPath( *route_handler, pull_out_lanes, current_pose, status_.pull_out_start_pose, From 4d27fa4f55437a890a1098b2afb16ead74398620 Mon Sep 17 00:00:00 2001 From: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> Date: Fri, 17 Nov 2023 15:57:30 +0900 Subject: [PATCH 136/202] fix(lane_change): regulate at the traffic light (#5457) * fix(lane_change): regulate at the traffic light Signed-off-by: Zulfaqar Azmi * fix conflict Signed-off-by: Muhammad Zulfaqar Azmi --------- Signed-off-by: Zulfaqar Azmi Signed-off-by: Muhammad Zulfaqar Azmi --- .../config/lane_change/lane_change.param.yaml | 1 + .../scene_module/lane_change/normal.hpp | 3 +++ .../lane_change/lane_change_module_data.hpp | 1 + .../behavior_path_planner/utils/utils.hpp | 1 + .../src/scene_module/lane_change/manager.cpp | 2 ++ .../src/scene_module/lane_change/normal.cpp | 21 +++++++++++++++++++ 6 files changed, 29 insertions(+) diff --git a/planning/behavior_path_planner/config/lane_change/lane_change.param.yaml b/planning/behavior_path_planner/config/lane_change/lane_change.param.yaml index f98eac5315006..0cb7f3f1a7a92 100644 --- a/planning/behavior_path_planner/config/lane_change/lane_change.param.yaml +++ b/planning/behavior_path_planner/config/lane_change/lane_change.param.yaml @@ -81,6 +81,7 @@ regulation: crosswalk: false intersection: false + traffic_light: true # ego vehicle stuck detection stuck_detection: diff --git a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/lane_change/normal.hpp b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/lane_change/normal.hpp index 503542be7cda6..4a117e5350baf 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/lane_change/normal.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/lane_change/normal.hpp @@ -135,6 +135,9 @@ class NormalLaneChange : public LaneChangeBase bool hasEnoughLengthToIntersection( const LaneChangePath & path, const lanelet::ConstLanelets & current_lanes) const; + bool hasEnoughLengthToTrafficLight( + const LaneChangePath & path, const lanelet::ConstLanelets & current_lanes) const; + bool getLaneChangePaths( const lanelet::ConstLanelets & current_lanes, const lanelet::ConstLanelets & target_lanes, Direction direction, LaneChangePaths * candidate_paths, diff --git a/planning/behavior_path_planner/include/behavior_path_planner/utils/lane_change/lane_change_module_data.hpp b/planning/behavior_path_planner/include/behavior_path_planner/utils/lane_change/lane_change_module_data.hpp index c664ae3e15aef..3f53f4b9c51e8 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/utils/lane_change/lane_change_module_data.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/utils/lane_change/lane_change_module_data.hpp @@ -65,6 +65,7 @@ struct LaneChangeParameters // regulatory elements bool regulate_on_crosswalk{false}; bool regulate_on_intersection{false}; + bool regulate_on_traffic_light{false}; // ego vehicle stuck detection double stop_velocity_threshold{0.1}; diff --git a/planning/behavior_path_planner/include/behavior_path_planner/utils/utils.hpp b/planning/behavior_path_planner/include/behavior_path_planner/utils/utils.hpp index 3f9591f6c2143..4d34c548e640e 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/utils/utils.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/utils/utils.hpp @@ -45,6 +45,7 @@ #include #include #include +#include #include namespace behavior_path_planner::utils diff --git a/planning/behavior_path_planner/src/scene_module/lane_change/manager.cpp b/planning/behavior_path_planner/src/scene_module/lane_change/manager.cpp index ee7b45de09e93..e772c21331ae8 100644 --- a/planning/behavior_path_planner/src/scene_module/lane_change/manager.cpp +++ b/planning/behavior_path_planner/src/scene_module/lane_change/manager.cpp @@ -84,6 +84,8 @@ LaneChangeModuleManager::LaneChangeModuleManager( p.regulate_on_crosswalk = getOrDeclareParameter(*node, parameter("regulation.crosswalk")); p.regulate_on_intersection = getOrDeclareParameter(*node, parameter("regulation.intersection")); + p.regulate_on_traffic_light = + getOrDeclareParameter(*node, parameter("regulation.traffic_light")); // ego vehicle stuck detection p.stop_velocity_threshold = diff --git a/planning/behavior_path_planner/src/scene_module/lane_change/normal.cpp b/planning/behavior_path_planner/src/scene_module/lane_change/normal.cpp index 5bffef1a4b421..c0655b3f18b5f 100644 --- a/planning/behavior_path_planner/src/scene_module/lane_change/normal.cpp +++ b/planning/behavior_path_planner/src/scene_module/lane_change/normal.cpp @@ -19,6 +19,7 @@ #include "behavior_path_planner/utils/path_safety_checker/objects_filtering.hpp" #include "behavior_path_planner/utils/path_safety_checker/safety_check.hpp" #include "behavior_path_planner/utils/path_utils.hpp" +#include "behavior_path_planner/utils/traffic_light_utils.hpp" #include "behavior_path_planner/utils/utils.hpp" #include @@ -38,6 +39,7 @@ namespace behavior_path_planner { using motion_utils::calcSignedArcLength; +using utils::traffic_light::getDistanceToNextTrafficLight; NormalLaneChange::NormalLaneChange( const std::shared_ptr & parameters, LaneChangeModuleType type, @@ -1086,6 +1088,19 @@ bool NormalLaneChange::hasEnoughLengthToIntersection( return true; } +bool NormalLaneChange::hasEnoughLengthToTrafficLight( + const LaneChangePath & path, const lanelet::ConstLanelets & current_lanes) const +{ + const auto current_pose = getEgoPose(); + const auto dist_to_next_traffic_light = + getDistanceToNextTrafficLight(current_pose, current_lanes); + const auto dist_to_next_traffic_light_from_lc_start_pose = + dist_to_next_traffic_light - path.info.length.prepare; + + return dist_to_next_traffic_light_from_lc_start_pose <= 0.0 || + dist_to_next_traffic_light_from_lc_start_pose >= path.info.length.lane_changing; +} + bool NormalLaneChange::getLaneChangePaths( const lanelet::ConstLanelets & current_lanes, const lanelet::ConstLanelets & target_lanes, Direction direction, LaneChangePaths * candidate_paths, @@ -1345,6 +1360,12 @@ bool NormalLaneChange::getLaneChangePaths( logger_, "Stop time is over threshold. Allow lane change in intersection."); } + if ( + lane_change_parameters_->regulate_on_traffic_light && + !hasEnoughLengthToTrafficLight(*candidate_path, current_lanes)) { + continue; + } + candidate_paths->push_back(*candidate_path); std::vector filtered_objects = From dd3e9fb68f9c00209d811786e8193a811e64f847 Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Fri, 17 Nov 2023 18:53:10 +0900 Subject: [PATCH 137/202] fix(start_planner, goal_planner): remove inappropriate reference value (#5618) Signed-off-by: kosuke55 --- .../src/scene_module/goal_planner/goal_planner_module.cpp | 6 +++--- .../scene_module/start_planner/start_planner_module.cpp | 8 ++++---- .../src/utils/start_planner/util.cpp | 2 +- 3 files changed, 8 insertions(+), 8 deletions(-) diff --git a/planning/behavior_path_planner/src/scene_module/goal_planner/goal_planner_module.cpp b/planning/behavior_path_planner/src/scene_module/goal_planner/goal_planner_module.cpp index 5a51353143fe0..6fdb46d058aef 100644 --- a/planning/behavior_path_planner/src/scene_module/goal_planner/goal_planner_module.cpp +++ b/planning/behavior_path_planner/src/scene_module/goal_planner/goal_planner_module.cpp @@ -1751,12 +1751,12 @@ bool GoalPlannerModule::isSafePath() const ego_seg_idx, is_object_front, limit_to_max_velocity); // filtering objects with velocity, position and class - const auto & filtered_objects = utils::path_safety_checker::filterObjects( + const auto filtered_objects = utils::path_safety_checker::filterObjects( dynamic_object, route_handler, pull_over_lanes, current_pose.position, objects_filtering_params_); // filtering objects based on the current position's lane - const auto & target_objects_on_lane = utils::path_safety_checker::createTargetObjectsOnLane( + const auto target_objects_on_lane = utils::path_safety_checker::createTargetObjectsOnLane( pull_over_lanes, route_handler, filtered_objects, objects_filtering_params_); const double hysteresis_factor = @@ -1956,7 +1956,7 @@ void GoalPlannerModule::printParkingPositionError() const bool GoalPlannerModule::checkOriginalGoalIsInShoulder() const { const auto & route_handler = planner_data_->route_handler; - const Pose & goal_pose = route_handler->getOriginalGoalPose(); + const Pose goal_pose = route_handler->getOriginalGoalPose(); const lanelet::ConstLanelets pull_over_lanes = goal_planner_utils::getPullOverLanes( *(route_handler), left_side_parking_, parameters_->backward_goal_search_length, diff --git a/planning/behavior_path_planner/src/scene_module/start_planner/start_planner_module.cpp b/planning/behavior_path_planner/src/scene_module/start_planner/start_planner_module.cpp index a39af7a376b02..d8370381f5eef 100644 --- a/planning/behavior_path_planner/src/scene_module/start_planner/start_planner_module.cpp +++ b/planning/behavior_path_planner/src/scene_module/start_planner/start_planner_module.cpp @@ -742,7 +742,7 @@ void StartPlannerModule::updateStatusAfterBackwardDriving() PathWithLaneId StartPlannerModule::calcBackwardPathFromStartPose() const { - const Pose & start_pose = planner_data_->route_handler->getOriginalStartPose(); + const Pose start_pose = planner_data_->route_handler->getOriginalStartPose(); const auto pull_out_lanes = start_planner_utils::getPullOutLanes( planner_data_, planner_data_->parameters.backward_path_length + parameters_->max_back_distance); @@ -770,7 +770,7 @@ std::vector StartPlannerModule::searchPullOutStartPoseCandidates( const PathWithLaneId & back_path_from_start_pose) const { std::vector pull_out_start_pose_candidates{}; - const auto & start_pose = planner_data_->route_handler->getOriginalStartPose(); + const auto start_pose = planner_data_->route_handler->getOriginalStartPose(); const auto local_vehicle_footprint = createVehicleFootprint(vehicle_info_); const auto pull_out_lanes = start_planner_utils::getPullOutLanes( planner_data_, planner_data_->parameters.backward_path_length + parameters_->max_back_distance); @@ -1074,11 +1074,11 @@ bool StartPlannerModule::isSafePath() const is_object_front, limit_to_max_velocity); // filtering objects with velocity, position and class - const auto & filtered_objects = utils::path_safety_checker::filterObjects( + const auto filtered_objects = utils::path_safety_checker::filterObjects( dynamic_object, route_handler, current_lanes, current_pose.position, objects_filtering_params_); // filtering objects based on the current position's lane - const auto & target_objects_on_lane = utils::path_safety_checker::createTargetObjectsOnLane( + const auto target_objects_on_lane = utils::path_safety_checker::createTargetObjectsOnLane( current_lanes, route_handler, filtered_objects, objects_filtering_params_); const double hysteresis_factor = diff --git a/planning/behavior_path_planner/src/utils/start_planner/util.cpp b/planning/behavior_path_planner/src/utils/start_planner/util.cpp index 7b4d4566bba27..ad841822aeb0d 100644 --- a/planning/behavior_path_planner/src/utils/start_planner/util.cpp +++ b/planning/behavior_path_planner/src/utils/start_planner/util.cpp @@ -89,7 +89,7 @@ lanelet::ConstLanelets getPullOutLanes( { const double & vehicle_width = planner_data->parameters.vehicle_width; const auto & route_handler = planner_data->route_handler; - const auto & start_pose = planner_data->route_handler->getOriginalStartPose(); + const auto start_pose = planner_data->route_handler->getOriginalStartPose(); lanelet::ConstLanelet current_shoulder_lane; lanelet::ConstLanelets shoulder_lanes; From 14e5101cfbd33598c3115314dbaca37be61c4760 Mon Sep 17 00:00:00 2001 From: kminoda <44218668+kminoda@users.noreply.github.com> Date: Mon, 20 Nov 2023 10:33:18 +0900 Subject: [PATCH 138/202] feat(component_state_monitor): monitor pose_estimator output (#5617) Signed-off-by: kminoda --- system/component_state_monitor/config/topics.yaml | 13 +++++++++++++ 1 file changed, 13 insertions(+) diff --git a/system/component_state_monitor/config/topics.yaml b/system/component_state_monitor/config/topics.yaml index c00203dbb6073..5672d13dcb43f 100644 --- a/system/component_state_monitor/config/topics.yaml +++ b/system/component_state_monitor/config/topics.yaml @@ -50,6 +50,19 @@ error_rate: 1.0 timeout: 1.0 +- module: localization + mode: [online, logging_simulation] + type: autonomous + args: + node_name_suffix: pose_estimator_pose + topic: /localization/pose_estimator/pose_with_covariance + topic_type: geometry_msgs/msg/PoseWithCovarianceStamped + best_effort: false + transient_local: false + warn_rate: 5.0 + error_rate: 1.0 + timeout: 1.0 + - module: perception mode: [online, logging_simulation] type: launch From 93e45ac72a2c480559cd8ca8d2c23f45ab211f03 Mon Sep 17 00:00:00 2001 From: danielsanchezaran Date: Mon, 20 Nov 2023 10:34:25 +0900 Subject: [PATCH 139/202] fix(simple_planning_simulator): fix ego sign pitch problem (#5616) * fix ego sign pitch problem Signed-off-by: Daniel Sanchez * change variable name for clarity Signed-off-by: Daniel Sanchez * update documentation to clarify that driving against the lane is not supported Signed-off-by: Daniel Sanchez --------- Signed-off-by: Daniel Sanchez --- simulator/simple_planning_simulator/README.md | 2 ++ .../simple_planning_simulator_core.cpp | 5 +++-- 2 files changed, 5 insertions(+), 2 deletions(-) diff --git a/simulator/simple_planning_simulator/README.md b/simulator/simple_planning_simulator/README.md index 0c5441c1ad9c8..1491f8ffea36e 100644 --- a/simulator/simple_planning_simulator/README.md +++ b/simulator/simple_planning_simulator/README.md @@ -98,6 +98,8 @@ Ego vehicle pitch angle is calculated in the following manner. ![pitch calculation](./media/pitch-calculation.drawio.svg) +NOTE: driving against the line direction (as depicted in image's bottom row) is not supported and only shown for illustration purposes. + ## Error detection and handling The only validation on inputs being done is testing for a valid vehicle model type. diff --git a/simulator/simple_planning_simulator/src/simple_planning_simulator/simple_planning_simulator_core.cpp b/simulator/simple_planning_simulator/src/simple_planning_simulator/simple_planning_simulator_core.cpp index a3715a1efe8ab..f0b126cbc61be 100644 --- a/simulator/simple_planning_simulator/src/simple_planning_simulator/simple_planning_simulator_core.cpp +++ b/simulator/simple_planning_simulator/src/simple_planning_simulator/simple_planning_simulator_core.cpp @@ -331,8 +331,9 @@ void SimplePlanningSimulator::on_timer() // calculate longitudinal acceleration by slope constexpr double gravity_acceleration = -9.81; - const double ego_pitch_angle = enable_road_slope_simulation_ ? calculate_ego_pitch() : 0.0; - const double acc_by_slope = gravity_acceleration * std::sin(ego_pitch_angle); + const double ego_pitch_angle = calculate_ego_pitch(); + const double slope_angle = enable_road_slope_simulation_ ? -ego_pitch_angle : 0.0; + const double acc_by_slope = gravity_acceleration * std::sin(slope_angle); // update vehicle dynamics { From 9e99bfc04301da81ba6aad82691a2e9a0fc7803b Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Mon, 20 Nov 2023 14:45:38 +0900 Subject: [PATCH 140/202] fix(utils): fix monotonic bound create logic (#5565) Signed-off-by: satoshi-ota --- .../behavior_path_planner/src/utils/utils.cpp | 40 ++++++++++++------- 1 file changed, 25 insertions(+), 15 deletions(-) diff --git a/planning/behavior_path_planner/src/utils/utils.cpp b/planning/behavior_path_planner/src/utils/utils.cpp index 19c408359e5f2..0d1eaef0237b3 100644 --- a/planning/behavior_path_planner/src/utils/utils.cpp +++ b/planning/behavior_path_planner/src/utils/utils.cpp @@ -1933,22 +1933,33 @@ void makeBoundLongitudinallyMonotonic( return ret; }; - const auto is_monotonic = - [&](const auto & p1, const auto & p2, const auto & p3, const auto is_points_left) { - const auto p1_to_p2 = calcAzimuthAngle(p1, p2); - const auto p2_to_p3 = calcAzimuthAngle(p2, p3); + const auto is_non_monotonic = [&]( + const auto & base_pose, const auto & point, + const auto is_points_left, const auto is_reverse) { + const auto p_transformed = tier4_autoware_utils::inverseTransformPoint(point, base_pose); + if (p_transformed.x < 0.0 && p_transformed.y > 0.0) { + return is_points_left && !is_reverse; + } - const auto theta = normalizeRadian(p1_to_p2 - p2_to_p3); + if (p_transformed.x < 0.0 && p_transformed.y < 0.0) { + return !is_points_left && !is_reverse; + } - return (is_points_left && 0 < theta) || (!is_points_left && theta < 0); - }; + if (p_transformed.x > 0.0 && p_transformed.y > 0.0) { + return is_points_left && is_reverse; + } + + if (p_transformed.x > 0.0 && p_transformed.y < 0.0) { + return !is_points_left && is_reverse; + } + + return false; + }; // define a function to remove non monotonic point on bound const auto remove_non_monotonic_point = [&](const auto & bound_with_pose, const bool is_reverse) { std::vector monotonic_bound; - const bool is_points_left = is_reverse ? !is_bound_left : is_bound_left; - size_t bound_idx = 0; while (true) { monotonic_bound.push_back(bound_with_pose.at(bound_idx)); @@ -1961,13 +1972,12 @@ void makeBoundLongitudinallyMonotonic( // opposite. const double lat_offset = is_bound_left ? 100.0 : -100.0; - const auto p_bound_1 = getPoint(bound_with_pose.at(bound_idx)); - const auto p_bound_2 = getPoint(bound_with_pose.at(bound_idx + 1)); + const auto p_bound_1 = getPose(bound_with_pose.at(bound_idx)); + const auto p_bound_2 = getPose(bound_with_pose.at(bound_idx + 1)); - const auto p_bound_offset = - calcOffsetPose(getPose(bound_with_pose.at(bound_idx)), 0.0, lat_offset, 0.0); + const auto p_bound_offset = calcOffsetPose(p_bound_1, 0.0, lat_offset, 0.0); - if (!is_monotonic(p_bound_1, p_bound_2, p_bound_offset.position, is_points_left)) { + if (!is_non_monotonic(p_bound_1, p_bound_2.position, is_bound_left, is_reverse)) { bound_idx++; continue; } @@ -1975,7 +1985,7 @@ void makeBoundLongitudinallyMonotonic( // skip non monotonic points for (size_t i = bound_idx + 1; i < bound_with_pose.size() - 1; ++i) { const auto intersect_point = intersect( - p_bound_1, p_bound_offset.position, bound_with_pose.at(i).position, + p_bound_1.position, p_bound_offset.position, bound_with_pose.at(i).position, bound_with_pose.at(i + 1).position); if (intersect_point) { From a8000409b5be540211189dcc8a7cd8e3a981d960 Mon Sep 17 00:00:00 2001 From: Fumiya Watanabe Date: Mon, 20 Nov 2023 15:16:59 +0900 Subject: [PATCH 141/202] fix(lane_change): fix abort path (#5628) Signed-off-by: Fumiya Watanabe --- .../src/scene_module/lane_change/normal.cpp | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/planning/behavior_path_planner/src/scene_module/lane_change/normal.cpp b/planning/behavior_path_planner/src/scene_module/lane_change/normal.cpp index c0655b3f18b5f..702ed16166e2b 100644 --- a/planning/behavior_path_planner/src/scene_module/lane_change/normal.cpp +++ b/planning/behavior_path_planner/src/scene_module/lane_change/normal.cpp @@ -1636,7 +1636,9 @@ bool NormalLaneChange::calcAbortPath() const double s_start = arc_position.length; double s_end = std::max(lanelet::utils::getLaneletLength2d(reference_lanelets), s_start); - if (route_handler->isInGoalRouteSection(selected_path.info.target_lanes.back())) { + if ( + !reference_lanelets.empty() && + route_handler->isInGoalRouteSection(reference_lanelets.back())) { const auto goal_arc_coordinates = lanelet::utils::getArcCoordinates(reference_lanelets, route_handler->getGoalPose()); const double forward_length = std::max(goal_arc_coordinates.length, s_start); From 3bb70d0a507a49abc8808ee9b2b735c7ab934f32 Mon Sep 17 00:00:00 2001 From: Kyoichi Sugahara Date: Mon, 20 Nov 2023 17:20:22 +0900 Subject: [PATCH 142/202] refactor(start_planner): add verbose parameter for debug print (#5622) * refactor(start_planner): add verbose parameter for debug print - Added a new parameter "verbose" to the StartPlannerParameters struct. - Updated the start_planner.param.yaml file to include the "verbose" parameter. - Added a new method receivedNewRoute() in the StartPlannerModule class to check if a new route has been received. - Updated the updateData() method to use the receivedNewRoute() method instead of directly checking if a new route has been received. - Renamed the method IsGoalBehindOfEgoInSameRouteSegment() to isGoalBehindOfEgoInSameRouteSegment(). - Added a new method logPullOutStatus() to log the pull out status. - Updated the setDebugData() method to call logPullOutStatus() if the "verbose" parameter is true. Signed-off-by: kyoichi-sugahara --------- Signed-off-by: kyoichi-sugahara --- .../start_planner/start_planner.param.yaml | 3 + .../start_planner/start_planner_module.hpp | 5 +- .../start_planner_parameters.hpp | 1 + .../scene_module/start_planner/manager.cpp | 1 + .../start_planner/start_planner_module.cpp | 77 +++++++++++++++++-- 5 files changed, 79 insertions(+), 8 deletions(-) diff --git a/planning/behavior_path_planner/config/start_planner/start_planner.param.yaml b/planning/behavior_path_planner/config/start_planner/start_planner.param.yaml index 4a42da9bc5ac3..3a94a18e011b9 100644 --- a/planning/behavior_path_planner/config/start_planner/start_planner.param.yaml +++ b/planning/behavior_path_planner/config/start_planner/start_planner.param.yaml @@ -1,6 +1,9 @@ /**: ros__parameters: start_planner: + + verbose: false + th_arrived_distance: 1.0 th_stopped_velocity: 0.01 th_stopped_time: 1.0 diff --git a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/start_planner/start_planner_module.hpp b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/start_planner/start_planner_module.hpp index 838cf040c3f8b..54e13de85e8da 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/start_planner/start_planner_module.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/start_planner/start_planner_module.hpp @@ -129,6 +129,8 @@ class StartPlannerModule : public SceneModuleInterface void initializeSafetyCheckParameters(); + bool receivedNewRoute() const; + bool isModuleRunning() const; bool isCurrentPoseOnMiddleOfTheRoad() const; bool isCloseToOriginalStartPose() const; @@ -207,7 +209,7 @@ class StartPlannerModule : public SceneModuleInterface void setDrivableAreaInfo(BehaviorModuleOutput & output) const; // check if the goal is located behind the ego in the same route segment. - bool IsGoalBehindOfEgoInSameRouteSegment() const; + bool isGoalBehindOfEgoInSameRouteSegment() const; // generate BehaviorPathOutput with stopping path and update status BehaviorModuleOutput generateStopOutput(); @@ -218,6 +220,7 @@ class StartPlannerModule : public SceneModuleInterface bool planFreespacePath(); void setDebugData() const; + void logPullOutStatus(rclcpp::Logger::Level log_level = rclcpp::Logger::Level::Info) const; }; } // namespace behavior_path_planner diff --git a/planning/behavior_path_planner/include/behavior_path_planner/utils/start_planner/start_planner_parameters.hpp b/planning/behavior_path_planner/include/behavior_path_planner/utils/start_planner/start_planner_parameters.hpp index 6978a7d494f30..bd4017e5dff7d 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/utils/start_planner/start_planner_parameters.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/utils/start_planner/start_planner_parameters.hpp @@ -46,6 +46,7 @@ struct StartPlannerParameters double collision_check_distance_from_end{0.0}; double th_moving_object_velocity{0.0}; double center_line_path_interval{0.0}; + bool verbose{false}; // shift pull out bool enable_shift_pull_out{false}; diff --git a/planning/behavior_path_planner/src/scene_module/start_planner/manager.cpp b/planning/behavior_path_planner/src/scene_module/start_planner/manager.cpp index 46db10417d19e..fdc28139aa8f0 100644 --- a/planning/behavior_path_planner/src/scene_module/start_planner/manager.cpp +++ b/planning/behavior_path_planner/src/scene_module/start_planner/manager.cpp @@ -33,6 +33,7 @@ StartPlannerModuleManager::StartPlannerModuleManager( std::string ns = "start_planner."; + p.verbose = node->declare_parameter(ns + "verbose"); p.th_arrived_distance = node->declare_parameter(ns + "th_arrived_distance"); p.th_stopped_velocity = node->declare_parameter(ns + "th_stopped_velocity"); p.th_stopped_time = node->declare_parameter(ns + "th_stopped_time"); diff --git a/planning/behavior_path_planner/src/scene_module/start_planner/start_planner_module.cpp b/planning/behavior_path_planner/src/scene_module/start_planner/start_planner_module.cpp index d8370381f5eef..ed70e68414543 100644 --- a/planning/behavior_path_planner/src/scene_module/start_planner/start_planner_module.cpp +++ b/planning/behavior_path_planner/src/scene_module/start_planner/start_planner_module.cpp @@ -128,11 +128,7 @@ void StartPlannerModule::updateData() status_.backward_driving_complete = false; } - const bool has_received_new_route = - !planner_data_->prev_route_id || - *planner_data_->prev_route_id != planner_data_->route_handler->getRouteUuid(); - - if (has_received_new_route) { + if (receivedNewRoute()) { status_ = PullOutStatus(); } // check safety status when driving forward @@ -143,6 +139,12 @@ void StartPlannerModule::updateData() } } +bool StartPlannerModule::receivedNewRoute() const +{ + return !planner_data_->prev_route_id || + *planner_data_->prev_route_id != planner_data_->route_handler->getRouteUuid(); +} + bool StartPlannerModule::isExecutionRequested() const { if (isModuleRunning()) { @@ -161,7 +163,7 @@ bool StartPlannerModule::isExecutionRequested() const } // Check if the goal is behind the ego vehicle within the same route segment. - if (IsGoalBehindOfEgoInSameRouteSegment()) { + if (isGoalBehindOfEgoInSameRouteSegment()) { RCLCPP_WARN_THROTTLE( getLogger(), *clock_, 5000, "Start plan for a backward goal is not supported now"); return false; @@ -1118,7 +1120,7 @@ bool StartPlannerModule::isSafePath() const return is_safe_dynamic_objects; } -bool StartPlannerModule::IsGoalBehindOfEgoInSameRouteSegment() const +bool StartPlannerModule::isGoalBehindOfEgoInSameRouteSegment() const { const auto & rh = planner_data_->route_handler; @@ -1306,5 +1308,66 @@ void StartPlannerModule::setDebugData() const planner_type_marker_array.markers.push_back(marker); add(planner_type_marker_array); } + if (parameters_->verbose) { + logPullOutStatus(); + } +} + +void StartPlannerModule::logPullOutStatus(rclcpp::Logger::Level log_level) const +{ + const auto logger = getLogger(); + auto logFunc = [&logger, log_level](const char * format, ...) { + char buffer[1024]; + va_list args; + va_start(args, format); + vsnprintf(buffer, sizeof(buffer), format, args); + va_end(args); + switch (log_level) { + case rclcpp::Logger::Level::Debug: + RCLCPP_DEBUG(logger, "%s", buffer); + break; + case rclcpp::Logger::Level::Info: + RCLCPP_INFO(logger, "%s", buffer); + break; + case rclcpp::Logger::Level::Warn: + RCLCPP_WARN(logger, "%s", buffer); + break; + case rclcpp::Logger::Level::Error: + RCLCPP_ERROR(logger, "%s", buffer); + break; + case rclcpp::Logger::Level::Fatal: + RCLCPP_FATAL(logger, "%s", buffer); + break; + default: + RCLCPP_INFO(logger, "%s", buffer); + break; + } + }; + + logFunc("======== PullOutStatus Report ========"); + + logFunc("[Path Info]"); + logFunc(" Current Path Index: %zu", status_.current_path_idx); + + logFunc("[Planner Info]"); + logFunc(" Planner Type: %s", magic_enum::enum_name(status_.planner_type).data()); + + logFunc("[Safety and Direction Info]"); + logFunc(" Found Pull Out Path: %s", status_.found_pull_out_path ? "true" : "false"); + logFunc( + " Is Safe Against Dynamic Objects: %s", status_.is_safe_dynamic_objects ? "true" : "false"); + logFunc( + " Previous Is Safe Dynamic Objects: %s", + status_.prev_is_safe_dynamic_objects ? "true" : "false"); + logFunc(" Driving Forward: %s", status_.driving_forward ? "true" : "false"); + logFunc(" Backward Driving Complete: %s", status_.backward_driving_complete ? "true" : "false"); + logFunc(" Has Stop Point: %s", status_.has_stop_point ? "true" : "false"); + + logFunc("[Module State]"); + logFunc(" isActivated: %s", isActivated() ? "true" : "false"); + logFunc(" isWaitingForApproval: %s", isWaitingApproval() ? "true" : "false"); + logFunc(" ModuleStatus: %s", magic_enum::enum_name(getCurrentStatus())); + + logFunc("======================================="); } } // namespace behavior_path_planner From e5c4b0873783cc170b5b36907b3625d10a759f1f Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Mon, 20 Nov 2023 18:13:23 +0900 Subject: [PATCH 143/202] refactor(goal_planner): add rss safety check function (#5620) * refactor(goal_planner): add rss safety check function Signed-off-by: kosuke55 * has_collision Signed-off-by: kosuke55 --------- Signed-off-by: kosuke55 --- .../goal_planner/goal_planner_module.hpp | 5 ++ .../goal_planner/goal_planner_module.cpp | 64 +++++++++---------- 2 files changed, 37 insertions(+), 32 deletions(-) diff --git a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/goal_planner/goal_planner_module.hpp b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/goal_planner/goal_planner_module.hpp index 87340cc665edd..b04a3fee41dcb 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/goal_planner/goal_planner_module.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/goal_planner/goal_planner_module.hpp @@ -62,6 +62,7 @@ using freespace_planning_algorithms::RRTStar; using freespace_planning_algorithms::RRTStarParam; using behavior_path_planner::utils::path_safety_checker::EgoPredictedPathParams; +using behavior_path_planner::utils::path_safety_checker::ExtendedPredictedObject; using behavior_path_planner::utils::path_safety_checker::ObjectsFilteringParams; using behavior_path_planner::utils::path_safety_checker::PoseWithVelocityStamped; using behavior_path_planner::utils::path_safety_checker::SafetyCheckParams; @@ -471,6 +472,10 @@ class GoalPlannerModule : public SceneModuleInterface const PredictedObjects & filtered_objects, const TargetObjectsOnLane & target_objects_on_lane, const std::vector & ego_predicted_path) const; bool isSafePath() const; + bool checkSafetyWithRSS( + const PathWithLaneId & planned_path, + const std::vector & ego_predicted_path, + const std::vector & objects, const double hysteresis_factor) const; // debug void setDebugData(); diff --git a/planning/behavior_path_planner/src/scene_module/goal_planner/goal_planner_module.cpp b/planning/behavior_path_planner/src/scene_module/goal_planner/goal_planner_module.cpp index 6fdb46d058aef..9712faae5712a 100644 --- a/planning/behavior_path_planner/src/scene_module/goal_planner/goal_planner_module.cpp +++ b/planning/behavior_path_planner/src/scene_module/goal_planner/goal_planner_module.cpp @@ -1716,6 +1716,34 @@ void GoalPlannerModule::updateSafetyCheckTargetObjectsData( goal_planner_data_.ego_predicted_path = ego_predicted_path; } +bool GoalPlannerModule::checkSafetyWithRSS( + const PathWithLaneId & planned_path, + const std::vector & ego_predicted_path, + const std::vector & objects, const double hysteresis_factor) const +{ + // Check for collisions with each predicted path of the object + const bool is_safe = !std::any_of(objects.begin(), objects.end(), [&](const auto & object) { + auto current_debug_data = marker_utils::createObjectDebug(object); + + const auto obj_predicted_paths = utils::path_safety_checker::getPredictedPathFromObj( + object, objects_filtering_params_->check_all_predicted_path); + + return std::any_of( + obj_predicted_paths.begin(), obj_predicted_paths.end(), [&](const auto & obj_path) { + const bool has_collision = !utils::path_safety_checker::checkCollision( + planned_path, ego_predicted_path, object, obj_path, planner_data_->parameters, + safety_check_params_->rss_params, hysteresis_factor, current_debug_data.second); + + marker_utils::updateCollisionCheckDebugMap( + goal_planner_data_.collision_check, current_debug_data, !has_collision); + + return has_collision; + }); + }); + + return is_safe; +} + bool GoalPlannerModule::isSafePath() const { const auto pull_over_path = thread_safe_data_.get_pull_over_path()->getCurrentPath(); @@ -1759,41 +1787,13 @@ bool GoalPlannerModule::isSafePath() const const auto target_objects_on_lane = utils::path_safety_checker::createTargetObjectsOnLane( pull_over_lanes, route_handler, filtered_objects, objects_filtering_params_); - const double hysteresis_factor = - prev_data_.is_safe ? 1.0 : parameters_->hysteresis_factor_expand_rate; - utils::start_goal_planner_common::updateSafetyCheckTargetObjectsData( goal_planner_data_, filtered_objects, target_objects_on_lane, ego_predicted_path); - bool is_safe_dynamic_objects = true; - // Check for collisions with each predicted path of the object - for (const auto & object : target_objects_on_lane.on_current_lane) { - auto current_debug_data = marker_utils::createObjectDebug(object); - - bool is_safe_dynamic_object = true; - - const auto obj_predicted_paths = utils::path_safety_checker::getPredictedPathFromObj( - object, objects_filtering_params_->check_all_predicted_path); - - // If a collision is detected, mark the object as unsafe and break the loop - for (const auto & obj_path : obj_predicted_paths) { - if (!utils::path_safety_checker::checkCollision( - pull_over_path, ego_predicted_path, object, obj_path, planner_data_->parameters, - safety_check_params_->rss_params, hysteresis_factor, current_debug_data.second)) { - marker_utils::updateCollisionCheckDebugMap( - goal_planner_data_.collision_check, current_debug_data, false); - is_safe_dynamic_objects = false; - is_safe_dynamic_object = false; - break; - } - } - if (is_safe_dynamic_object) { - marker_utils::updateCollisionCheckDebugMap( - goal_planner_data_.collision_check, current_debug_data, is_safe_dynamic_object); - } - } - - return is_safe_dynamic_objects; + const double hysteresis_factor = + prev_data_.is_safe ? 1.0 : parameters_->hysteresis_factor_expand_rate; + return checkSafetyWithRSS( + pull_over_path, ego_predicted_path, target_objects_on_lane.on_current_lane, hysteresis_factor); } void GoalPlannerModule::setDebugData() From eb9c7149021a51d5458f723ce9b05ba221c6cc63 Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Mon, 20 Nov 2023 21:54:04 +0900 Subject: [PATCH 144/202] feat(goal_planner): prevent auto approval for unsafe path (#5621) Signed-off-by: kosuke55 --- .../src/scene_module/goal_planner/goal_planner_module.cpp | 6 ++++++ 1 file changed, 6 insertions(+) diff --git a/planning/behavior_path_planner/src/scene_module/goal_planner/goal_planner_module.cpp b/planning/behavior_path_planner/src/scene_module/goal_planner/goal_planner_module.cpp index 9712faae5712a..f39d706eb7ceb 100644 --- a/planning/behavior_path_planner/src/scene_module/goal_planner/goal_planner_module.cpp +++ b/planning/behavior_path_planner/src/scene_module/goal_planner/goal_planner_module.cpp @@ -862,6 +862,12 @@ bool GoalPlannerModule::hasDecidedPath() const return false; } + // If it is dangerous before approval, do not determine the path. + // This eliminates a unsafe path to be approved + if (!isSafePath() && !isActivated()) { + return false; + } + // if ego is sufficiently close to the start of the nearest candidate path, the path is decided const auto & current_pose = planner_data_->self_odometry->pose.pose; const size_t ego_segment_idx = motion_utils::findNearestSegmentIndex( From 6c2d806791f722febc3c549a94d853e917b6507e Mon Sep 17 00:00:00 2001 From: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> Date: Tue, 21 Nov 2023 10:30:26 +0900 Subject: [PATCH 145/202] refactor(behavior_path_planner): separate drivable area functions (#5604) Signed-off-by: Muhammad Zulfaqar Azmi --- planning/behavior_path_planner/CMakeLists.txt | 1 + .../static_drivable_area.hpp | 99 + .../utils/goal_planner/util.hpp | 1 + .../utils/path_utils.hpp | 7 + .../utils/start_planner/util.hpp | 1 + .../behavior_path_planner/utils/utils.hpp | 86 +- .../src/behavior_path_planner_node.cpp | 1 + .../src/planner_manager.cpp | 2 + .../avoidance/avoidance_module.cpp | 1 + .../dynamic_avoidance_module.cpp | 1 + .../src/scene_module/lane_change/normal.cpp | 1 + .../side_shift/side_shift_module.cpp | 1 + .../static_drivable_area.cpp | 1871 ++++++++++++++ .../utils/goal_planner/shift_pull_over.cpp | 1 + .../src/utils/path_utils.cpp | 105 + .../behavior_path_planner/src/utils/utils.cpp | 2179 +---------------- .../behavior_path_planner/test/test_utils.cpp | 1 + .../static_centerline_optimizer/src/utils.cpp | 2 +- 18 files changed, 2222 insertions(+), 2139 deletions(-) create mode 100644 planning/behavior_path_planner/include/behavior_path_planner/utils/drivable_area_expansion/static_drivable_area.hpp create mode 100644 planning/behavior_path_planner/src/utils/drivable_area_expansion/static_drivable_area.cpp diff --git a/planning/behavior_path_planner/CMakeLists.txt b/planning/behavior_path_planner/CMakeLists.txt index e71d1dd9d86b4..7fc35355202ff 100644 --- a/planning/behavior_path_planner/CMakeLists.txt +++ b/planning/behavior_path_planner/CMakeLists.txt @@ -48,6 +48,7 @@ ament_auto_add_library(behavior_path_planner_node SHARED src/utils/start_planner/geometric_pull_out.cpp src/utils/start_planner/freespace_pull_out.cpp src/utils/path_shifter/path_shifter.cpp + src/utils/drivable_area_expansion/static_drivable_area.cpp src/utils/drivable_area_expansion/drivable_area_expansion.cpp src/utils/drivable_area_expansion/map_utils.cpp src/utils/drivable_area_expansion/footprints.cpp diff --git a/planning/behavior_path_planner/include/behavior_path_planner/utils/drivable_area_expansion/static_drivable_area.hpp b/planning/behavior_path_planner/include/behavior_path_planner/utils/drivable_area_expansion/static_drivable_area.hpp new file mode 100644 index 0000000000000..e7a05bc473c03 --- /dev/null +++ b/planning/behavior_path_planner/include/behavior_path_planner/utils/drivable_area_expansion/static_drivable_area.hpp @@ -0,0 +1,99 @@ +// Copyright 2023 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. + +#ifndef BEHAVIOR_PATH_PLANNER__UTILS__DRIVABLE_AREA_EXPANSION__STATIC_DRIVABLE_AREA_HPP_ +#define BEHAVIOR_PATH_PLANNER__UTILS__DRIVABLE_AREA_EXPANSION__STATIC_DRIVABLE_AREA_HPP_ + +#include + +#include +#include +#include +namespace behavior_path_planner::utils +{ +using drivable_area_expansion::DrivableAreaExpansionParameters; + +boost::optional getOverlappedLaneletId(const std::vector & lanes); + +std::vector cutOverlappedLanes( + PathWithLaneId & path, const std::vector & lanes); + +std::vector generateDrivableLanes(const lanelet::ConstLanelets & current_lanes); + +std::vector generateDrivableLanesWithShoulderLanes( + const lanelet::ConstLanelets & current_lanes, const lanelet::ConstLanelets & shoulder_lanes); + +std::vector getNonOverlappingExpandedLanes( + PathWithLaneId & path, const std::vector & lanes, + const DrivableAreaExpansionParameters & parameters); +void generateDrivableArea( + PathWithLaneId & path, const std::vector & lanes, + const bool enable_expanding_hatched_road_markings, const bool enable_expanding_intersection_areas, + const double vehicle_length, const std::shared_ptr planner_data, + const bool is_driving_forward = true); + +void generateDrivableArea( + PathWithLaneId & path, const double vehicle_length, const double offset, + const bool is_driving_forward = true); + +lanelet::ConstLineStrings3d getMaximumDrivableArea( + const std::shared_ptr & planner_data); + +/** + * @brief Expand the borders of the given lanelets + * @param [in] drivable_lanes lanelets to expand + * @param [in] left_bound_offset [m] expansion distance of the left bound + * @param [in] right_bound_offset [m] expansion distance of the right bound + * @param [in] types_to_skip linestring types that will not be expanded + * @return expanded lanelets + */ +std::vector expandLanelets( + const std::vector & drivable_lanes, const double left_bound_offset, + const double right_bound_offset, const std::vector & types_to_skip = {}); + +void extractObstaclesFromDrivableArea( + PathWithLaneId & path, const std::vector & obstacles); + +std::vector getBoundWithHatchedRoadMarkings( + const std::vector & original_bound, + const std::shared_ptr & route_handler); + +std::vector getBoundWithIntersectionAreas( + const std::vector & original_bound, + const std::shared_ptr & route_handler, + const std::vector & drivable_lanes, const bool is_left); + +std::vector calcBound( + const std::shared_ptr route_handler, + const std::vector & drivable_lanes, + const bool enable_expanding_hatched_road_markings, const bool enable_expanding_intersection_areas, + const bool is_left); + +void makeBoundLongitudinallyMonotonic( + PathWithLaneId & path, const std::shared_ptr & planner_data, + const bool is_bound_left); + +DrivableAreaInfo combineDrivableAreaInfo( + const DrivableAreaInfo & drivable_area_info1, const DrivableAreaInfo & drivable_area_info2); + +lanelet::ConstLanelets combineLanelets( + const lanelet::ConstLanelets & base_lanes, const lanelet::ConstLanelets & added_lanes); + +std::vector combineDrivableLanes( + const std::vector & original_drivable_lanes_vec, + const std::vector & new_drivable_lanes_vec); + +} // namespace behavior_path_planner::utils + +#endif // BEHAVIOR_PATH_PLANNER__UTILS__DRIVABLE_AREA_EXPANSION__STATIC_DRIVABLE_AREA_HPP_ diff --git a/planning/behavior_path_planner/include/behavior_path_planner/utils/goal_planner/util.hpp b/planning/behavior_path_planner/include/behavior_path_planner/utils/goal_planner/util.hpp index 062a84bcd5aef..2977dab91fd14 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/utils/goal_planner/util.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/utils/goal_planner/util.hpp @@ -15,6 +15,7 @@ #ifndef BEHAVIOR_PATH_PLANNER__UTILS__GOAL_PLANNER__UTIL_HPP_ #define BEHAVIOR_PATH_PLANNER__UTILS__GOAL_PLANNER__UTIL_HPP_ +#include "behavior_path_planner/utils/drivable_area_expansion/static_drivable_area.hpp" #include "behavior_path_planner/utils/goal_planner/goal_searcher_base.hpp" #include "behavior_path_planner/utils/utils.hpp" diff --git a/planning/behavior_path_planner/include/behavior_path_planner/utils/path_utils.hpp b/planning/behavior_path_planner/include/behavior_path_planner/utils/path_utils.hpp index a9cbf859dd9d8..4b3c026ae8064 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/utils/path_utils.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/utils/path_utils.hpp @@ -106,6 +106,13 @@ PathWithLaneId calcCenterLinePath( PathWithLaneId combinePath(const PathWithLaneId & path1, const PathWithLaneId & path2); boost::optional getFirstStopPoseFromPath(const PathWithLaneId & path); + +BehaviorModuleOutput getReferencePath( + const lanelet::ConstLanelet & current_lane, + const std::shared_ptr & planner_data); + +BehaviorModuleOutput createGoalAroundPath(const std::shared_ptr & planner_data); + } // namespace behavior_path_planner::utils #endif // BEHAVIOR_PATH_PLANNER__UTILS__PATH_UTILS_HPP_ diff --git a/planning/behavior_path_planner/include/behavior_path_planner/utils/start_planner/util.hpp b/planning/behavior_path_planner/include/behavior_path_planner/utils/start_planner/util.hpp index e7f51b2e86d5b..71571b6d7a6c6 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/utils/start_planner/util.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/utils/start_planner/util.hpp @@ -16,6 +16,7 @@ #define BEHAVIOR_PATH_PLANNER__UTILS__START_PLANNER__UTIL_HPP_ #include "behavior_path_planner/data_manager.hpp" +#include "behavior_path_planner/utils/drivable_area_expansion/static_drivable_area.hpp" #include "behavior_path_planner/utils/path_safety_checker/path_safety_checker_parameters.hpp" #include "behavior_path_planner/utils/path_safety_checker/safety_check.hpp" diff --git a/planning/behavior_path_planner/include/behavior_path_planner/utils/utils.hpp b/planning/behavior_path_planner/include/behavior_path_planner/utils/utils.hpp index 4d34c548e640e..144dad3b6feab 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/utils/utils.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/utils/utils.hpp @@ -59,7 +59,6 @@ using autoware_auto_perception_msgs::msg::Shape; using autoware_auto_planning_msgs::msg::Path; using autoware_auto_planning_msgs::msg::PathPointWithLaneId; using autoware_auto_planning_msgs::msg::PathWithLaneId; -using drivable_area_expansion::DrivableAreaExpansionParameters; using geometry_msgs::msg::Point; using geometry_msgs::msg::Pose; using geometry_msgs::msg::PoseArray; @@ -209,56 +208,6 @@ boost::optional getRightLanelet( const lanelet::ConstLanelet & current_lane, const lanelet::ConstLanelets & shoulder_lanes); boost::optional getLeftLanelet( const lanelet::ConstLanelet & current_lane, const lanelet::ConstLanelets & shoulder_lanes); -std::vector generateDrivableLanes(const lanelet::ConstLanelets & current_lanes); -std::vector generateDrivableLanesWithShoulderLanes( - const lanelet::ConstLanelets & current_lanes, const lanelet::ConstLanelets & shoulder_lanes); -std::vector getNonOverlappingExpandedLanes( - PathWithLaneId & path, const std::vector & lanes, - const DrivableAreaExpansionParameters & parameters); -std::vector calcBound( - const std::shared_ptr route_handler, - const std::vector & drivable_lanes, - const bool enable_expanding_hatched_road_markings, const bool enable_expanding_intersection_areas, - const bool is_left); - -std::vector getBoundWithHatchedRoadMarkings( - const std::vector & original_bound, - const std::shared_ptr & route_handler); - -std::vector getBoundWithIntersectionAreas( - const std::vector & original_bound, - const std::shared_ptr & route_handler, - const std::vector & drivable_lanes, const bool is_left); - -boost::optional getOverlappedLaneletId(const std::vector & lanes); -std::vector cutOverlappedLanes( - PathWithLaneId & path, const std::vector & lanes); - -void generateDrivableArea( - PathWithLaneId & path, const std::vector & lanes, - const bool enable_expanding_hatched_road_markings, const bool enable_expanding_intersection_areas, - const double vehicle_length, const std::shared_ptr planner_data, - const bool is_driving_forward = true); - -void generateDrivableArea( - PathWithLaneId & path, const double vehicle_length, const double offset, - const bool is_driving_forward = true); - -lanelet::ConstLineStrings3d getMaximumDrivableArea( - const std::shared_ptr & planner_data); - -/** - * @brief Expand the borders of the given lanelets - * @param [in] drivable_lanes lanelets to expand - * @param [in] left_bound_offset [m] expansion distance of the left bound - * @param [in] right_bound_offset [m] expansion distance of the right bound - * @param [in] types_to_skip linestring types that will not be expanded - * @return expanded lanelets - */ -std::vector expandLanelets( - const std::vector & drivable_lanes, const double left_bound_offset, - const double right_bound_offset, const std::vector & types_to_skip = {}); - // goal management /** @@ -294,8 +243,6 @@ PathWithLaneId refinePathForGoal( bool containsGoal(const lanelet::ConstLanelets & lanes, const lanelet::Id & goal_id); -BehaviorModuleOutput createGoalAroundPath(const std::shared_ptr & planner_data); - bool isInLanelets(const Pose & pose, const lanelet::ConstLanelets & lanes); bool isInLaneletWithYawThreshold( @@ -349,10 +296,6 @@ PathWithLaneId setDecelerationVelocity( const lanelet::ConstLanelets & lanelet_sequence, const double lane_change_prepare_duration, const double lane_change_buffer); -BehaviorModuleOutput getReferencePath( - const lanelet::ConstLanelet & current_lane, - const std::shared_ptr & planner_data); - // object label std::uint8_t getHighestProbLabel(const std::vector & classification); @@ -399,26 +342,23 @@ lanelet::ConstLanelets getLaneletsFromPath( std::string convertToSnakeCase(const std::string & input_str); -std::vector combineDrivableLanes( - const std::vector & original_drivable_lanes_vec, - const std::vector & new_drivable_lanes_vec); - -DrivableAreaInfo combineDrivableAreaInfo( - const DrivableAreaInfo & drivable_area_info1, const DrivableAreaInfo & drivable_area_info2); - -void extractObstaclesFromDrivableArea( - PathWithLaneId & path, const std::vector & obstacles); - -void makeBoundLongitudinallyMonotonic( - PathWithLaneId & path, const std::shared_ptr & planner_data, - const bool is_bound_left); - std::optional getPolygonByPoint( const std::shared_ptr & route_handler, const lanelet::ConstPoint3d & point, const std::string & polygon_name); -lanelet::ConstLanelets combineLanelets( - const lanelet::ConstLanelets & base_lanes, const lanelet::ConstLanelets & added_lanes); +template +size_t findNearestSegmentIndex( + const std::vector & points, const geometry_msgs::msg::Pose & pose, const double dist_threshold, + const double yaw_threshold) +{ + const auto nearest_idx = + motion_utils::findNearestSegmentIndex(points, pose, dist_threshold, yaw_threshold); + if (nearest_idx) { + return nearest_idx.get(); + } + + return motion_utils::findNearestSegmentIndex(points, pose.position); +} } // namespace behavior_path_planner::utils #endif // BEHAVIOR_PATH_PLANNER__UTILS__UTILS_HPP_ diff --git a/planning/behavior_path_planner/src/behavior_path_planner_node.cpp b/planning/behavior_path_planner/src/behavior_path_planner_node.cpp index ef44bee663985..689444a3bf995 100644 --- a/planning/behavior_path_planner/src/behavior_path_planner_node.cpp +++ b/planning/behavior_path_planner/src/behavior_path_planner_node.cpp @@ -22,6 +22,7 @@ #include "behavior_path_planner/scene_module/lane_change/manager.hpp" #include "behavior_path_planner/scene_module/side_shift/manager.hpp" #include "behavior_path_planner/scene_module/start_planner/manager.hpp" +#include "behavior_path_planner/utils/drivable_area_expansion/static_drivable_area.hpp" #include "behavior_path_planner/utils/path_utils.hpp" #include diff --git a/planning/behavior_path_planner/src/planner_manager.cpp b/planning/behavior_path_planner/src/planner_manager.cpp index 79e6055d26a81..478b74c9051bb 100644 --- a/planning/behavior_path_planner/src/planner_manager.cpp +++ b/planning/behavior_path_planner/src/planner_manager.cpp @@ -14,6 +14,8 @@ #include "behavior_path_planner/planner_manager.hpp" +#include "behavior_path_planner/utils/drivable_area_expansion/static_drivable_area.hpp" +#include "behavior_path_planner/utils/path_utils.hpp" #include "behavior_path_planner/utils/utils.hpp" #include "tier4_autoware_utils/ros/debug_publisher.hpp" #include "tier4_autoware_utils/system/stop_watch.hpp" diff --git a/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp b/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp index ea4eab425b66b..1bd4fb3fef616 100644 --- a/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp +++ b/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp @@ -18,6 +18,7 @@ #include "behavior_path_planner/scene_module/scene_module_visitor.hpp" #include "behavior_path_planner/utils/avoidance/utils.hpp" #include "behavior_path_planner/utils/create_vehicle_footprint.hpp" +#include "behavior_path_planner/utils/drivable_area_expansion/static_drivable_area.hpp" #include "behavior_path_planner/utils/path_safety_checker/objects_filtering.hpp" #include "behavior_path_planner/utils/path_utils.hpp" #include "behavior_path_planner/utils/utils.hpp" diff --git a/planning/behavior_path_planner/src/scene_module/dynamic_avoidance/dynamic_avoidance_module.cpp b/planning/behavior_path_planner/src/scene_module/dynamic_avoidance/dynamic_avoidance_module.cpp index 7aba1d1b2d97f..f917f1e2f3c65 100644 --- a/planning/behavior_path_planner/src/scene_module/dynamic_avoidance/dynamic_avoidance_module.cpp +++ b/planning/behavior_path_planner/src/scene_module/dynamic_avoidance/dynamic_avoidance_module.cpp @@ -14,6 +14,7 @@ #include "behavior_path_planner/scene_module/dynamic_avoidance/dynamic_avoidance_module.hpp" +#include "behavior_path_planner/utils/drivable_area_expansion/static_drivable_area.hpp" #include "behavior_path_planner/utils/utils.hpp" #include "object_recognition_utils/predicted_path_utils.hpp" #include "signal_processing/lowpass_filter_1d.hpp" diff --git a/planning/behavior_path_planner/src/scene_module/lane_change/normal.cpp b/planning/behavior_path_planner/src/scene_module/lane_change/normal.cpp index 702ed16166e2b..d213eec21cdbf 100644 --- a/planning/behavior_path_planner/src/scene_module/lane_change/normal.cpp +++ b/planning/behavior_path_planner/src/scene_module/lane_change/normal.cpp @@ -15,6 +15,7 @@ #include "behavior_path_planner/scene_module/lane_change/normal.hpp" #include "behavior_path_planner/marker_utils/utils.hpp" +#include "behavior_path_planner/utils/drivable_area_expansion/static_drivable_area.hpp" #include "behavior_path_planner/utils/lane_change/utils.hpp" #include "behavior_path_planner/utils/path_safety_checker/objects_filtering.hpp" #include "behavior_path_planner/utils/path_safety_checker/safety_check.hpp" diff --git a/planning/behavior_path_planner/src/scene_module/side_shift/side_shift_module.cpp b/planning/behavior_path_planner/src/scene_module/side_shift/side_shift_module.cpp index 46332e738f82f..0e86508ca6afc 100644 --- a/planning/behavior_path_planner/src/scene_module/side_shift/side_shift_module.cpp +++ b/planning/behavior_path_planner/src/scene_module/side_shift/side_shift_module.cpp @@ -15,6 +15,7 @@ #include "behavior_path_planner/scene_module/side_shift/side_shift_module.hpp" #include "behavior_path_planner/marker_utils/utils.hpp" +#include "behavior_path_planner/utils/drivable_area_expansion/static_drivable_area.hpp" #include "behavior_path_planner/utils/path_utils.hpp" #include "behavior_path_planner/utils/side_shift/util.hpp" #include "behavior_path_planner/utils/utils.hpp" diff --git a/planning/behavior_path_planner/src/utils/drivable_area_expansion/static_drivable_area.cpp b/planning/behavior_path_planner/src/utils/drivable_area_expansion/static_drivable_area.cpp new file mode 100644 index 0000000000000..becbf4ceb508b --- /dev/null +++ b/planning/behavior_path_planner/src/utils/drivable_area_expansion/static_drivable_area.cpp @@ -0,0 +1,1871 @@ +// Copyright 2023 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. +#include "behavior_path_planner/utils/drivable_area_expansion/static_drivable_area.hpp" + +#include "behavior_path_planner/utils/drivable_area_expansion/drivable_area_expansion.hpp" +#include "motion_utils/trajectory/trajectory.hpp" + +#include +#include +#include +#include +#include +#include + +#include + +#include +#include +#include + +namespace +{ +template +size_t findNearestSegmentIndexFromLateralDistance( + const std::vector & points, const geometry_msgs::msg::Point & target_point) +{ + std::optional closest_idx{std::nullopt}; + double min_lateral_dist = std::numeric_limits::max(); + for (size_t seg_idx = 0; seg_idx < points.size() - 1; ++seg_idx) { + const double lon_dist = + motion_utils::calcLongitudinalOffsetToSegment(points, seg_idx, target_point); + const double segment_length = + tier4_autoware_utils::calcDistance2d(points.at(seg_idx), points.at(seg_idx + 1)); + const double lat_dist = [&]() { + if (lon_dist < 0.0) { + return tier4_autoware_utils::calcDistance2d(points.at(seg_idx), target_point); + } + if (segment_length < lon_dist) { + return tier4_autoware_utils::calcDistance2d(points.at(seg_idx + 1), target_point); + } + return std::abs(motion_utils::calcLateralOffset(points, target_point, seg_idx)); + }(); + if (lat_dist < min_lateral_dist) { + closest_idx = seg_idx; + min_lateral_dist = lat_dist; + } + } + + if (closest_idx) { + return *closest_idx; + } + + return motion_utils::findNearestSegmentIndex(points, target_point); +} + +bool checkHasSameLane( + const lanelet::ConstLanelets & lanelets, const lanelet::ConstLanelet & target_lane) +{ + if (lanelets.empty()) return false; + + const auto has_same = [&](const auto & ll) { return ll.id() == target_lane.id(); }; + return std::find_if(lanelets.begin(), lanelets.end(), has_same) != lanelets.end(); +} + +bool isSamePoint(const geometry_msgs::msg::Point & point1, const geometry_msgs::msg::Point & point2) +{ + constexpr double epsilon = 1e-3; + return std::abs(point1.x - point2.x) < epsilon && std::abs(point1.y - point2.y) < epsilon; +} + +geometry_msgs::msg::Point calcLongitudinalOffsetStartPoint( + const std::vector & points, const geometry_msgs::msg::Pose & pose, + const size_t nearest_segment_idx, const double offset) +{ + const double offset_length = + motion_utils::calcLongitudinalOffsetToSegment(points, nearest_segment_idx, pose.position); + const auto offset_point = + motion_utils::calcLongitudinalOffsetPoint(points, nearest_segment_idx, offset_length + offset); + + return offset_point ? offset_point.get() : points.at(nearest_segment_idx); +} + +geometry_msgs::msg::Point calcLongitudinalOffsetGoalPoint( + const std::vector & points, const geometry_msgs::msg::Pose & pose, + const size_t nearest_segment_idx, const double offset) +{ + const double offset_length = + motion_utils::calcLongitudinalOffsetToSegment(points, nearest_segment_idx, pose.position); + const auto offset_point = + motion_utils::calcLongitudinalOffsetPoint(points, nearest_segment_idx, offset_length + offset); + + return offset_point ? offset_point.get() : points.at(nearest_segment_idx + 1); +} +} // namespace + +namespace behavior_path_planner::utils::drivable_area_processing +{ +boost::optional> intersectBound( + const geometry_msgs::msg::Point & p1, const geometry_msgs::msg::Point & p2, + const std::vector & bound, const size_t seg_idx1, + const size_t seg_idx2) +{ + const size_t start_idx = + static_cast(std::max(0, static_cast(std::min(seg_idx1, seg_idx2)) - 5)); + const size_t end_idx = static_cast(std::min( + static_cast(bound.size()) - 1, static_cast(std::max(seg_idx1, seg_idx2)) + 1 + 5)); + for (int i = start_idx; i < static_cast(end_idx); ++i) { + const auto intersect_point = + tier4_autoware_utils::intersect(p1, p2, bound.at(i), bound.at(i + 1)); + if (intersect_point) { + std::pair result; + result.first = static_cast(i); + result.second = *intersect_point; + return result; + } + } + return boost::none; +} + +double calcDistanceFromPointToSegment( + const geometry_msgs::msg::Point & segment_start_point, + const geometry_msgs::msg::Point & segment_end_point, + const geometry_msgs::msg::Point & target_point) +{ + const auto & a = segment_start_point; + const auto & b = segment_end_point; + const auto & p = target_point; + + const double dot_val = (b.x - a.x) * (p.x - a.x) + (b.y - a.y) * (p.y - a.y); + const double squared_segment_length = tier4_autoware_utils::calcSquaredDistance2d(a, b); + if (0 <= dot_val && dot_val <= squared_segment_length) { + const double numerator = std::abs((p.x - a.x) * (a.y - b.y) - (p.y - a.y) * (a.x - b.x)); + const double denominator = std::sqrt(std::pow(a.x - b.x, 2) + std::pow(a.y - b.y, 2)); + return numerator / denominator; + } + + // target_point is outside the segment. + return std::min( + tier4_autoware_utils::calcDistance2d(a, p), tier4_autoware_utils::calcDistance2d(b, p)); +} + +PolygonPoint transformBoundFrenetCoordinate( + const std::vector & bound_points, + const geometry_msgs::msg::Point & target_point) +{ + // NOTE: findNearestSegmentIndex cannot be used since a bound's interval is sometimes too large to + // find wrong nearest index. + std::vector dist_to_bound_segment_vec; + for (size_t i = 0; i < bound_points.size() - 1; ++i) { + const double dist_to_bound_segment = + calcDistanceFromPointToSegment(bound_points.at(i), bound_points.at(i + 1), target_point); + dist_to_bound_segment_vec.push_back(dist_to_bound_segment); + } + + const size_t min_dist_seg_idx = std::distance( + dist_to_bound_segment_vec.begin(), + std::min_element(dist_to_bound_segment_vec.begin(), dist_to_bound_segment_vec.end())); + const double lon_dist_to_segment = + motion_utils::calcLongitudinalOffsetToSegment(bound_points, min_dist_seg_idx, target_point); + const double lat_dist_to_segment = + motion_utils::calcLateralOffset(bound_points, target_point, min_dist_seg_idx); + return PolygonPoint{target_point, min_dist_seg_idx, lon_dist_to_segment, lat_dist_to_segment}; +} + +std::vector generatePolygonInsideBounds( + const std::vector & bound, const std::vector & edge_points, + const bool is_object_right) +{ + constexpr double invalid_lat_dist_to_bound = 10.0; + + std::vector full_polygon; + for (const auto & edge_point : edge_points) { + const auto polygon_point = transformBoundFrenetCoordinate(bound, edge_point); + + // check lat dist for U-turn roads. + if ( + (is_object_right && invalid_lat_dist_to_bound < polygon_point.lat_dist_to_bound) || + (!is_object_right && polygon_point.lat_dist_to_bound < -invalid_lat_dist_to_bound)) { + return {}; + } + full_polygon.push_back(polygon_point); + } + + // 1. check the case where the polygon intersects the bound + std::vector inside_poly; + bool has_intersection = false; // NOTE: between obstacle polygon and bound + for (int i = 0; i < static_cast(full_polygon.size()); ++i) { + const auto & curr_poly = full_polygon.at(i); + const auto & prev_poly = full_polygon.at(i == 0 ? full_polygon.size() - 1 : i - 1); + + const bool is_curr_outside = curr_poly.is_outside_bounds(is_object_right); + const bool is_prev_outside = prev_poly.is_outside_bounds(is_object_right); + + if (is_curr_outside && is_prev_outside) { + continue; + } + if (!is_curr_outside && !is_prev_outside) { + inside_poly.push_back(curr_poly); + continue; + } + + const auto intersection = intersectBound( + prev_poly.point, curr_poly.point, bound, prev_poly.bound_seg_idx, curr_poly.bound_seg_idx); + if (!intersection) { + continue; + } + const double lon_dist = motion_utils::calcLongitudinalOffsetToSegment( + bound, intersection->first, intersection->second); + const auto intersect_point = + PolygonPoint{intersection->second, intersection->first, lon_dist, 0.0}; + has_intersection = true; + + if (is_prev_outside && !is_curr_outside) { + inside_poly.push_back(intersect_point); + inside_poly.push_back(curr_poly); + continue; + } + // Here is if (!is_prev_outside && is_curr_outside). + inside_poly.push_back(prev_poly); + inside_poly.push_back(intersect_point); + continue; + } + if (has_intersection) { + return inside_poly; + } + + // 2. check the case where the polygon does not intersect the bound + const bool is_polygon_fully_inside_bounds = [&]() { + for (const auto & curr_poly : full_polygon) { + const bool is_curr_outside = curr_poly.is_outside_bounds(is_object_right); + if (is_curr_outside) { + return false; + } + } + return true; + }(); + if (is_polygon_fully_inside_bounds) { + return full_polygon; + } + + return std::vector{}; +} + +std::vector convertToGeometryPoints( + const std::vector & polygon_points) +{ + std::vector points; + points.reserve(polygon_points.size()); + + for (const auto & polygon_point : polygon_points) { + points.push_back(polygon_point.point); + } + return points; +} + +// NOTE: See the PR's figure. https://github.com/autowarefoundation/autoware.universe/pull/2880 +std::vector concatenateTwoPolygons( + const std::vector & front_polygon, const std::vector & back_polygon) +{ + const auto make_unique_polygon = [&](const auto & polygon) { + std::vector unique_polygon; + for (const auto & point : polygon) { + if (!unique_polygon.empty() && isSamePoint(unique_polygon.back().point, point.point)) { + continue; + } + unique_polygon.push_back(point); + } + return unique_polygon; + }; + const auto unique_front_polygon = make_unique_polygon(front_polygon); + const auto unique_back_polygon = make_unique_polygon(back_polygon); + + // At first, the front polygon is the outside polygon + bool is_front_polygon_outside = true; + size_t before_outside_idx = 0; + + const auto get_out_poly = [&]() { + return is_front_polygon_outside ? unique_front_polygon : unique_back_polygon; + }; + const auto get_in_poly = [&]() { + return is_front_polygon_outside ? unique_back_polygon : unique_front_polygon; + }; + + // NOTE: Polygon points is assumed to be clock-wise. + std::vector concatenated_polygon; + // NOTE: Maximum number of loop is set to avoid infinity loop calculation just in case. + const size_t max_loop_num = (unique_front_polygon.size() + unique_back_polygon.size()) * 2; + for (size_t loop_idx = 0; loop_idx < max_loop_num; ++loop_idx) { + concatenated_polygon.push_back(get_out_poly().at(before_outside_idx)); + if (before_outside_idx == get_out_poly().size() - 1) { + break; + } + const size_t curr_idx = before_outside_idx; + const size_t next_idx = before_outside_idx + 1; + + // NOTE: Two polygons may have two intersection points. Therefore the closest intersection + // point is used. + std::optional closest_idx = std::nullopt; + double min_dist_to_intersection = std::numeric_limits::max(); + PolygonPoint closest_intersect_point; + for (size_t i = 0; i < get_in_poly().size() - 1; ++i) { + const auto intersection = tier4_autoware_utils::intersect( + get_out_poly().at(curr_idx).point, get_out_poly().at(next_idx).point, + get_in_poly().at(i).point, get_in_poly().at(i + 1).point); + if (!intersection) { + continue; + } + if ( + isSamePoint(get_out_poly().at(curr_idx).point, get_in_poly().at(i).point) || + isSamePoint(get_out_poly().at(curr_idx).point, get_in_poly().at(i + 1).point) || + isSamePoint(get_out_poly().at(next_idx).point, get_in_poly().at(i).point) || + isSamePoint(get_out_poly().at(next_idx).point, get_in_poly().at(i + 1).point)) { + // NOTE: If the segments shares one point, the while loop will not end. + continue; + } + + const auto intersect_point = PolygonPoint{*intersection, 0, 0.0, 0.0}; + const double dist_to_intersection = + tier4_autoware_utils::calcDistance2d(get_out_poly().at(curr_idx).point, *intersection); + if (dist_to_intersection < min_dist_to_intersection) { + closest_idx = i; + min_dist_to_intersection = dist_to_intersection; + closest_intersect_point = intersect_point; + } + } + + if (closest_idx) { + before_outside_idx = *closest_idx; + concatenated_polygon.push_back(closest_intersect_point); + is_front_polygon_outside = !is_front_polygon_outside; + } + + before_outside_idx += 1; + + if (loop_idx == max_loop_num - 1) { + return front_polygon; + } + } + + return concatenated_polygon; +} + +std::vector> concatenatePolygons( + const std::vector> & polygons) +{ + auto unique_polygons = polygons; + + while (rclcpp::ok()) { + bool is_updated = false; + + for (size_t i = 0; i < unique_polygons.size(); ++i) { + for (size_t j = 0; j < i; ++j) { + const auto & p1 = unique_polygons.at(i); + const auto & p2 = unique_polygons.at(j); + + // if p1 and p2 overlaps + if (p1.back().is_after(p2.front()) && p2.back().is_after(p1.front())) { + is_updated = true; + + const auto concatenated_polygon = [&]() { + if (p2.front().is_after(p1.front())) { + return concatenateTwoPolygons(p1, p2); + } + return concatenateTwoPolygons(p2, p1); + }(); + + // NOTE: remove i's element first since is larger than j. + unique_polygons.erase(unique_polygons.begin() + i); + unique_polygons.erase(unique_polygons.begin() + j); + + unique_polygons.push_back(concatenated_polygon); + break; + } + } + if (is_updated) { + break; + } + } + + if (!is_updated) { + break; + } + } + return unique_polygons; +} + +std::vector getPolygonPointsInsideBounds( + const std::vector & bound, const std::vector & edge_points, + const bool is_object_right) +{ + // NOTE: Polygon is defined at lest by three points. + if (edge_points.size() < 3) { + return std::vector(); + } + + // convert to vector of PolygonPoint + const auto inside_polygon = [&]() { + auto tmp_polygon = generatePolygonInsideBounds(bound, edge_points, is_object_right); + + // In order to make the order of points the same as the order of lon_dist_to_segment. + // The order of points is clockwise. + if (!is_object_right) { + std::reverse(tmp_polygon.begin(), tmp_polygon.end()); + } + return tmp_polygon; + }(); + if (inside_polygon.empty()) { + return std::vector(); + } + + // search start and end index by longitudinal distance + std::vector polygon_indices(inside_polygon.size()); + std::iota(polygon_indices.begin(), polygon_indices.end(), 0); + std::sort(polygon_indices.begin(), polygon_indices.end(), [&](int i1, int i2) { + return inside_polygon.at(i2).is_after(inside_polygon.at(i1)); + }); + const int start_idx = polygon_indices.front(); + const int end_idx = polygon_indices.back(); + + // calculate valid inside polygon + std::vector valid_inside_polygon; + for (int i = 0; i < (end_idx - start_idx + static_cast(polygon_indices.size())) % + static_cast(polygon_indices.size()) + + 1; + ++i) { + const int poly_idx = (start_idx + i) % static_cast(inside_polygon.size()); + valid_inside_polygon.push_back(inside_polygon.at(poly_idx)); + } + + // add start and end points projected to bound if necessary + if (inside_polygon.at(start_idx).lat_dist_to_bound != 0.0) { // not on bound + auto start_point = inside_polygon.at(start_idx); + const auto start_point_on_bound = motion_utils::calcLongitudinalOffsetPoint( + bound, start_point.bound_seg_idx, start_point.lon_dist_to_segment); + if (start_point_on_bound) { + start_point.point = start_point_on_bound.get(); + valid_inside_polygon.insert(valid_inside_polygon.begin(), start_point); + } + } + if (inside_polygon.at(end_idx).lat_dist_to_bound != 0.0) { // not on bound + auto end_point = inside_polygon.at(end_idx); + const auto end_point_on_bound = motion_utils::calcLongitudinalOffsetPoint( + bound, end_point.bound_seg_idx, end_point.lon_dist_to_segment); + if (end_point_on_bound) { + end_point.point = end_point_on_bound.get(); + valid_inside_polygon.insert(valid_inside_polygon.end(), end_point); + } + } + return valid_inside_polygon; +} + +std::vector updateBoundary( + const std::vector & original_bound, + const std::vector> & sorted_polygons) +{ + if (sorted_polygons.empty()) { + return original_bound; + } + + auto reversed_polygons = sorted_polygons; + std::reverse(reversed_polygons.begin(), reversed_polygons.end()); + + auto updated_bound = original_bound; + + // NOTE: Further obstacle is applied first since a part of the updated_bound is erased. + for (const auto & polygon : reversed_polygons) { + const auto & start_poly = polygon.front(); + const auto & end_poly = polygon.back(); + + const double front_offset = motion_utils::calcLongitudinalOffsetToSegment( + updated_bound, start_poly.bound_seg_idx, start_poly.point); + + const size_t removed_start_idx = + 0 < front_offset ? start_poly.bound_seg_idx + 1 : start_poly.bound_seg_idx; + const size_t removed_end_idx = end_poly.bound_seg_idx; + + updated_bound.erase( + updated_bound.begin() + removed_start_idx, updated_bound.begin() + removed_end_idx + 1); + + const auto obj_points = convertToGeometryPoints(polygon); + updated_bound.insert( + updated_bound.begin() + removed_start_idx, obj_points.begin(), obj_points.end()); + } + return updated_bound; +} + +[[maybe_unused]] geometry_msgs::msg::Point calcCenterOfGeometry(const Polygon2d & obj_poly) +{ + geometry_msgs::msg::Point center_pos; + for (const auto & point : obj_poly.outer()) { + center_pos.x += point.x(); + center_pos.y += point.y(); + } + + center_pos.x = center_pos.x / obj_poly.outer().size(); + center_pos.y = center_pos.y / obj_poly.outer().size(); + center_pos.z = center_pos.z / obj_poly.outer().size(); + + return center_pos; +} +} // namespace behavior_path_planner::utils::drivable_area_processing + +namespace behavior_path_planner::utils +{ +using tier4_autoware_utils::Point2d; + +boost::optional getOverlappedLaneletId(const std::vector & lanes) +{ + auto overlaps = [](const DrivableLanes & lanes, const DrivableLanes & target_lanes) { + const auto lanelets = utils::transformToLanelets(lanes); + const auto target_lanelets = utils::transformToLanelets(target_lanes); + + for (const auto & lanelet : lanelets) { + for (const auto & target_lanelet : target_lanelets) { + std::vector intersections{}; + boost::geometry::intersection( + lanelet.polygon2d().basicPolygon(), target_lanelet.polygon2d().basicPolygon(), + intersections); + + // if only one point intersects, it is assumed not to be overlapped + if (intersections.size() > 1) { + return true; + } + } + } + + // No overlapping + return false; + }; + + if (lanes.size() <= 2) { + return {}; + } + + size_t overlapped_idx = lanes.size(); + for (size_t i = 0; i < lanes.size() - 2; ++i) { + for (size_t j = i + 2; j < lanes.size(); ++j) { + if (overlaps(lanes.at(i), lanes.at(j))) { + overlapped_idx = std::min(overlapped_idx, j); + } + } + } + + if (overlapped_idx == lanes.size()) { + return {}; + } + + return overlapped_idx; +} + +std::vector cutOverlappedLanes( + PathWithLaneId & path, const std::vector & lanes) +{ + const auto overlapped_lanelet_idx = getOverlappedLaneletId(lanes); + if (!overlapped_lanelet_idx) { + return lanes; + } + + std::vector shorten_lanes{lanes.begin(), lanes.begin() + *overlapped_lanelet_idx}; + const auto shorten_lanelets = utils::transformToLanelets(shorten_lanes); + + const auto original_points = path.points; + + path.points.clear(); + + const auto has_same_id_lane = [](const auto & lanelet, const auto & p) { + return std::any_of(p.lane_ids.begin(), p.lane_ids.end(), [&lanelet](const auto id) { + return lanelet.id() == id; + }); + }; + + const auto has_same_id_lanes = [&has_same_id_lane](const auto & lanelets, const auto & p) { + return std::any_of( + lanelets.begin(), lanelets.end(), + [&has_same_id_lane, &p](const auto & lanelet) { return has_same_id_lane(lanelet, p); }); + }; + + // Step1. find first path point within drivable lanes + size_t start_point_idx = std::numeric_limits::max(); + for (const auto & lanes : shorten_lanes) { + for (size_t i = 0; i < original_points.size(); ++i) { + // check right lane + if (has_same_id_lane(lanes.right_lane, original_points.at(i))) { + start_point_idx = std::min(start_point_idx, i); + } + + // check left lane + if (has_same_id_lane(lanes.left_lane, original_points.at(i))) { + start_point_idx = std::min(start_point_idx, i); + } + + // check middle lanes + if (has_same_id_lanes(lanes.middle_lanes, original_points.at(i))) { + start_point_idx = std::min(start_point_idx, i); + } + } + } + + // Step2. pick up only path points within drivable lanes + for (const auto & lanes : shorten_lanes) { + for (size_t i = start_point_idx; i < original_points.size(); ++i) { + // check right lane + if (has_same_id_lane(lanes.right_lane, original_points.at(i))) { + path.points.push_back(original_points.at(i)); + continue; + } + + // check left lane + if (has_same_id_lane(lanes.left_lane, original_points.at(i))) { + path.points.push_back(original_points.at(i)); + continue; + } + + // check middle lanes + if (has_same_id_lanes(lanes.middle_lanes, original_points.at(i))) { + path.points.push_back(original_points.at(i)); + continue; + } + + start_point_idx = i; + break; + } + } + + return shorten_lanes; +} + +std::vector generateDrivableLanes(const lanelet::ConstLanelets & lanes) +{ + std::vector drivable_lanes(lanes.size()); + for (size_t i = 0; i < lanes.size(); ++i) { + drivable_lanes.at(i).left_lane = lanes.at(i); + drivable_lanes.at(i).right_lane = lanes.at(i); + } + return drivable_lanes; +} + +std::vector generateDrivableLanesWithShoulderLanes( + const lanelet::ConstLanelets & current_lanes, const lanelet::ConstLanelets & shoulder_lanes) +{ + std::vector drivable_lanes; + for (const auto & current_lane : current_lanes) { + DrivableLanes drivable_lane; + + const auto right_lane = utils::getRightLanelet(current_lane, shoulder_lanes); + const auto left_lane = utils::getLeftLanelet(current_lane, shoulder_lanes); + + if (right_lane && left_lane) { + drivable_lane.right_lane = *right_lane; + drivable_lane.left_lane = *left_lane; + drivable_lane.middle_lanes.push_back(current_lane); + } else if (right_lane) { + drivable_lane.right_lane = *right_lane; + drivable_lane.left_lane = current_lane; + } else if (left_lane) { + drivable_lane.right_lane = current_lane; + drivable_lane.left_lane = *left_lane; + } else { + drivable_lane.right_lane = current_lane; + drivable_lane.left_lane = current_lane; + } + + drivable_lanes.push_back(drivable_lane); + } + + return drivable_lanes; +} + +std::vector getNonOverlappingExpandedLanes( + PathWithLaneId & path, const std::vector & lanes, + const DrivableAreaExpansionParameters & parameters) +{ + const auto shorten_lanes = cutOverlappedLanes(path, lanes); + return utils::expandLanelets( + shorten_lanes, parameters.drivable_area_left_bound_offset, + parameters.drivable_area_right_bound_offset, parameters.drivable_area_types_to_skip); +} + +void generateDrivableArea( + PathWithLaneId & path, const std::vector & lanes, + const bool enable_expanding_hatched_road_markings, const bool enable_expanding_intersection_areas, + const double vehicle_length, const std::shared_ptr planner_data, + const bool is_driving_forward) +{ + // extract data + const auto transformed_lanes = utils::transformToLanelets(lanes); + const auto current_pose = planner_data->self_odometry->pose.pose; + const auto route_handler = planner_data->route_handler; + constexpr double overlap_threshold = 0.01; + + if (path.points.empty()) { + return; + } + + auto addPoints = + [](const lanelet::ConstLineString3d & points, std::vector & bound) { + for (const auto & bound_p : points) { + const auto cp = lanelet::utils::conversion::toGeomMsgPt(bound_p); + if (bound.empty()) { + bound.push_back(cp); + } else if (tier4_autoware_utils::calcDistance2d(cp, bound.back()) > overlap_threshold) { + bound.push_back(cp); + } + } + }; + + const auto has_overlap = + [&](const lanelet::ConstLanelet & lane, const lanelet::ConstLanelets & ignore_lanelets = {}) { + for (const auto & transformed_lane : transformed_lanes) { + if (checkHasSameLane(ignore_lanelets, transformed_lane)) { + continue; + } + if (boost::geometry::intersects( + lane.polygon2d().basicPolygon(), transformed_lane.polygon2d().basicPolygon())) { + return true; + } + } + return false; + }; + + // Insert Position + auto left_bound = calcBound( + route_handler, lanes, enable_expanding_hatched_road_markings, + enable_expanding_intersection_areas, true); + auto right_bound = calcBound( + route_handler, lanes, enable_expanding_hatched_road_markings, + enable_expanding_intersection_areas, false); + + if (left_bound.empty() || right_bound.empty()) { + auto clock{rclcpp::Clock{RCL_ROS_TIME}}; + RCLCPP_ERROR_STREAM_THROTTLE( + rclcpp::get_logger("behavior_path_planner").get_child("utils"), clock, 1000, + "The right or left bound of drivable area is empty"); + return; + } + + // Insert points after goal + lanelet::ConstLanelet goal_lanelet; + if ( + route_handler->getGoalLanelet(&goal_lanelet) && + checkHasSameLane(transformed_lanes, goal_lanelet)) { + const auto lanes_after_goal = route_handler->getLanesAfterGoal(vehicle_length); + const auto next_lanes_after_goal = route_handler->getNextLanelets(goal_lanelet); + const auto goal_left_lanelet = route_handler->getLeftLanelet(goal_lanelet); + const auto goal_right_lanelet = route_handler->getRightLanelet(goal_lanelet); + lanelet::ConstLanelets goal_lanelets = {goal_lanelet}; + if (goal_left_lanelet) { + goal_lanelets.push_back(*goal_left_lanelet); + } + if (goal_right_lanelet) { + goal_lanelets.push_back(*goal_right_lanelet); + } + + for (const auto & lane : lanes_after_goal) { + // If lane is already in the transformed lanes, ignore it + if (checkHasSameLane(transformed_lanes, lane)) { + continue; + } + // Check if overlapped + const bool is_overlapped = + (checkHasSameLane(next_lanes_after_goal, lane) ? has_overlap(lane, goal_lanelets) + : has_overlap(lane)); + if (is_overlapped) { + continue; + } + + addPoints(lane.leftBound3d(), left_bound); + addPoints(lane.rightBound3d(), right_bound); + } + } + + if (!is_driving_forward) { + std::reverse(left_bound.begin(), left_bound.end()); + std::reverse(right_bound.begin(), right_bound.end()); + } + + path.left_bound.clear(); + path.right_bound.clear(); + + const auto [left_start_idx, right_start_idx] = [&]() { + const size_t current_seg_idx = planner_data->findEgoSegmentIndex(path.points); + const auto cropped_path_points = motion_utils::cropPoints( + path.points, current_pose.position, current_seg_idx, + planner_data->parameters.forward_path_length, + planner_data->parameters.backward_path_length + planner_data->parameters.input_path_interval); + + constexpr double front_length = 0.5; + const auto front_pose = + cropped_path_points.empty() ? current_pose : cropped_path_points.front().point.pose; + const size_t front_left_start_idx = + findNearestSegmentIndexFromLateralDistance(left_bound, front_pose.position); + const size_t front_right_start_idx = + findNearestSegmentIndexFromLateralDistance(right_bound, front_pose.position); + const auto left_start_point = + calcLongitudinalOffsetStartPoint(left_bound, front_pose, front_left_start_idx, -front_length); + const auto right_start_point = calcLongitudinalOffsetStartPoint( + right_bound, front_pose, front_right_start_idx, -front_length); + const size_t left_start_idx = + findNearestSegmentIndexFromLateralDistance(left_bound, left_start_point); + const size_t right_start_idx = + findNearestSegmentIndexFromLateralDistance(right_bound, right_start_point); + + // Insert a start point + path.left_bound.push_back(left_start_point); + path.right_bound.push_back(right_start_point); + + return std::make_pair(left_start_idx, right_start_idx); + }(); + + // Get Closest segment for the goal point + const auto goal_pose = path.points.empty() ? current_pose : path.points.back().point.pose; + const size_t goal_left_start_idx = + findNearestSegmentIndexFromLateralDistance(left_bound, goal_pose.position); + const size_t goal_right_start_idx = + findNearestSegmentIndexFromLateralDistance(right_bound, goal_pose.position); + const auto left_goal_point = + calcLongitudinalOffsetGoalPoint(left_bound, goal_pose, goal_left_start_idx, vehicle_length); + const auto right_goal_point = + calcLongitudinalOffsetGoalPoint(right_bound, goal_pose, goal_right_start_idx, vehicle_length); + const size_t left_goal_idx = std::max( + goal_left_start_idx, findNearestSegmentIndexFromLateralDistance(left_bound, left_goal_point)); + const size_t right_goal_idx = std::max( + goal_right_start_idx, + findNearestSegmentIndexFromLateralDistance(right_bound, right_goal_point)); + + // Insert middle points + for (size_t i = left_start_idx + 1; i <= left_goal_idx; ++i) { + const auto & next_point = left_bound.at(i); + const double dist = tier4_autoware_utils::calcDistance2d(path.left_bound.back(), next_point); + if (dist > overlap_threshold) { + path.left_bound.push_back(next_point); + } + } + for (size_t i = right_start_idx + 1; i <= right_goal_idx; ++i) { + const auto & next_point = right_bound.at(i); + const double dist = tier4_autoware_utils::calcDistance2d(path.right_bound.back(), next_point); + if (dist > overlap_threshold) { + path.right_bound.push_back(next_point); + } + } + + // Insert a goal point + if ( + tier4_autoware_utils::calcDistance2d(path.left_bound.back(), left_goal_point) > + overlap_threshold) { + path.left_bound.push_back(left_goal_point); + } + if ( + tier4_autoware_utils::calcDistance2d(path.right_bound.back(), right_goal_point) > + overlap_threshold) { + path.right_bound.push_back(right_goal_point); + } + const auto & expansion_params = planner_data->drivable_area_expansion_parameters; + if (expansion_params.enabled) { + drivable_area_expansion::expand_drivable_area(path, planner_data); + } + + // make bound longitudinally monotonic + // TODO(Murooka) Fix makeBoundLongitudinallyMonotonic + if ( + is_driving_forward && + (enable_expanding_hatched_road_markings || enable_expanding_intersection_areas)) { + makeBoundLongitudinallyMonotonic(path, planner_data, true); // for left bound + makeBoundLongitudinallyMonotonic(path, planner_data, false); // for right bound + } +} + +void generateDrivableArea( + PathWithLaneId & path, const double vehicle_length, const double offset, + const bool is_driving_forward) +{ + using tier4_autoware_utils::calcOffsetPose; + + // remove path points which is close to the previous point + PathWithLaneId resampled_path{}; + const double resample_interval = 2.0; + for (size_t i = 0; i < path.points.size(); ++i) { + if (i == 0) { + resampled_path.points.push_back(path.points.at(i)); + } else { + const auto & prev_point = resampled_path.points.back().point.pose.position; + const auto & curr_point = path.points.at(i).point.pose.position; + const double signed_arc_length = + motion_utils::calcSignedArcLength(path.points, prev_point, curr_point); + if (signed_arc_length > resample_interval) { + resampled_path.points.push_back(path.points.at(i)); + } + } + } + // add last point of path if enough far from the one of resampled path + constexpr double th_last_point_distance = 0.3; + if ( + tier4_autoware_utils::calcDistance2d( + resampled_path.points.back().point.pose.position, path.points.back().point.pose.position) > + th_last_point_distance) { + resampled_path.points.push_back(path.points.back()); + } + + // create bound point by calculating offset point + std::vector left_bound; + std::vector right_bound; + for (const auto & point : resampled_path.points) { + const auto & pose = point.point.pose; + + const auto left_point = calcOffsetPose(pose, 0, offset, 0); + const auto right_point = calcOffsetPose(pose, 0, -offset, 0); + + left_bound.push_back(left_point.position); + right_bound.push_back(right_point.position); + } + + if (is_driving_forward) { + // add backward offset point to bound + const Pose first_point = + calcOffsetPose(resampled_path.points.front().point.pose, -vehicle_length, 0, 0); + const Pose left_first_point = calcOffsetPose(first_point, 0, offset, 0); + const Pose right_first_point = calcOffsetPose(first_point, 0, -offset, 0); + left_bound.insert(left_bound.begin(), left_first_point.position); + right_bound.insert(right_bound.begin(), right_first_point.position); + + // add forward offset point to bound + const Pose last_point = + calcOffsetPose(resampled_path.points.back().point.pose, vehicle_length, 0, 0); + const Pose left_last_point = calcOffsetPose(last_point, 0, offset, 0); + const Pose right_last_point = calcOffsetPose(last_point, 0, -offset, 0); + left_bound.push_back(left_last_point.position); + right_bound.push_back(right_last_point.position); + } else { + // add forward offset point to bound + const Pose first_point = + calcOffsetPose(resampled_path.points.front().point.pose, vehicle_length, 0, 0); + const Pose left_first_point = calcOffsetPose(first_point, 0, offset, 0); + const Pose right_first_point = calcOffsetPose(first_point, 0, -offset, 0); + left_bound.insert(left_bound.begin(), left_first_point.position); + right_bound.insert(right_bound.begin(), right_first_point.position); + + // add backward offset point to bound + const Pose last_point = + calcOffsetPose(resampled_path.points.back().point.pose, -vehicle_length, 0, 0); + const Pose left_last_point = calcOffsetPose(last_point, 0, offset, 0); + const Pose right_last_point = calcOffsetPose(last_point, 0, -offset, 0); + left_bound.push_back(left_last_point.position); + right_bound.push_back(right_last_point.position); + } + + if (left_bound.empty() || right_bound.empty()) { + return; + } + + // fix intersected bound + // if bound is intersected, remove them and insert intersection point + typedef boost::geometry::model::d2::point_xy BoostPoint; + typedef boost::geometry::model::linestring LineString; + auto modify_bound_intersection = [](const std::vector & bound) { + const double intersection_check_distance = 10.0; + std::vector modified_bound; + size_t i = 0; + while (i < bound.size() - 1) { + BoostPoint p1(bound.at(i).x, bound.at(i).y); + BoostPoint p2(bound.at(i + 1).x, bound.at(i + 1).y); + LineString p_line; + p_line.push_back(p1); + p_line.push_back(p2); + bool intersection_found = false; + for (size_t j = i + 2; j < bound.size() - 1; j++) { + const double distance = tier4_autoware_utils::calcDistance2d(bound.at(i), bound.at(j)); + if (distance > intersection_check_distance) { + break; + } + LineString q_line; + BoostPoint q1(bound.at(j).x, bound.at(j).y); + BoostPoint q2(bound.at(j + 1).x, bound.at(j + 1).y); + q_line.push_back(q1); + q_line.push_back(q2); + std::vector intersection_points; + boost::geometry::intersection(p_line, q_line, intersection_points); + if (intersection_points.size() > 0) { + modified_bound.push_back(bound.at(i)); + Point intersection_point; + intersection_point.x = intersection_points.at(0).x(); + intersection_point.y = intersection_points.at(0).y(); + modified_bound.push_back(intersection_point); + i = j + 1; + intersection_found = true; + break; + } + } + if (!intersection_found) { + modified_bound.push_back(bound.at(i)); + i++; + } + } + modified_bound.push_back(bound.back()); + return modified_bound; + }; + std::vector modified_left_bound = modify_bound_intersection(left_bound); + std::vector modified_right_bound = modify_bound_intersection(right_bound); + + // set bound to path + path.left_bound = modified_left_bound; + path.right_bound = modified_right_bound; +} + +// TODO(Azu) Some parts of is the same with generateCenterLinePath. Therefore it might be better if +// we can refactor some of the code for better readability +lanelet::ConstLineStrings3d getMaximumDrivableArea( + const std::shared_ptr & planner_data) +{ + const auto & p = planner_data->parameters; + const auto & route_handler = planner_data->route_handler; + const auto & ego_pose = planner_data->self_odometry->pose.pose; + + lanelet::ConstLanelet current_lane; + if (!route_handler->getClosestLaneletWithinRoute(ego_pose, ¤t_lane)) { + RCLCPP_ERROR( + rclcpp::get_logger("behavior_path_planner").get_child("utils"), + "failed to find closest lanelet within route!!!"); + return {}; + } + + const auto current_lanes = route_handler->getLaneletSequence( + current_lane, ego_pose, p.backward_path_length, p.forward_path_length); + lanelet::ConstLineStrings3d linestring_shared; + for (const auto & lane : current_lanes) { + lanelet::ConstLineStrings3d furthest_line = route_handler->getFurthestLinestring(lane); + linestring_shared.insert(linestring_shared.end(), furthest_line.begin(), furthest_line.end()); + } + + return linestring_shared; +} + +std::vector expandLanelets( + const std::vector & drivable_lanes, const double left_bound_offset, + const double right_bound_offset, const std::vector & types_to_skip) +{ + if (left_bound_offset == 0.0 && right_bound_offset == 0.0) return drivable_lanes; + + std::vector expanded_drivable_lanes{}; + expanded_drivable_lanes.reserve(drivable_lanes.size()); + for (const auto & lanes : drivable_lanes) { + const std::string l_type = + lanes.left_lane.leftBound().attributeOr(lanelet::AttributeName::Type, "none"); + const std::string r_type = + lanes.right_lane.rightBound().attributeOr(lanelet::AttributeName::Type, "none"); + + const bool l_skip = + std::find(types_to_skip.begin(), types_to_skip.end(), l_type) != types_to_skip.end(); + const bool r_skip = + std::find(types_to_skip.begin(), types_to_skip.end(), r_type) != types_to_skip.end(); + const double l_offset = l_skip ? 0.0 : left_bound_offset; + const double r_offset = r_skip ? 0.0 : -right_bound_offset; + + DrivableLanes expanded_lanes; + if (lanes.left_lane.id() == lanes.right_lane.id()) { + expanded_lanes.left_lane = + lanelet::utils::getExpandedLanelet(lanes.left_lane, l_offset, r_offset); + expanded_lanes.right_lane = + lanelet::utils::getExpandedLanelet(lanes.right_lane, l_offset, r_offset); + } else { + expanded_lanes.left_lane = lanelet::utils::getExpandedLanelet(lanes.left_lane, l_offset, 0.0); + expanded_lanes.right_lane = + lanelet::utils::getExpandedLanelet(lanes.right_lane, 0.0, r_offset); + } + expanded_lanes.middle_lanes = lanes.middle_lanes; + expanded_drivable_lanes.push_back(expanded_lanes); + } + return expanded_drivable_lanes; +} + +// NOTE: Assuming that path.right/left_bound is already created. +void extractObstaclesFromDrivableArea( + PathWithLaneId & path, const std::vector & obstacles) +{ + if (obstacles.empty()) { + return; + } + + std::vector> right_polygons; + std::vector> left_polygons; + for (const auto & obstacle : obstacles) { + const auto & obj_pos = obstacle.pose.position; + + // get edge points of the object + const size_t nearest_path_idx = + motion_utils::findNearestIndex(path.points, obj_pos); // to get z for object polygon + std::vector edge_points; + for (size_t i = 0; i < obstacle.poly.outer().size() - 1; + ++i) { // NOTE: There is a duplicated points + edge_points.push_back(tier4_autoware_utils::createPoint( + obstacle.poly.outer().at(i).x(), obstacle.poly.outer().at(i).y(), + path.points.at(nearest_path_idx).point.pose.position.z)); + } + + // get a boundary that we have to change + const bool is_object_right = !obstacle.is_left; + const auto & bound = is_object_right ? path.right_bound : path.left_bound; + + // get polygon points inside the bounds + const auto inside_polygon = + drivable_area_processing::getPolygonPointsInsideBounds(bound, edge_points, is_object_right); + if (!inside_polygon.empty()) { + if (is_object_right) { + right_polygons.push_back(inside_polygon); + } else { + left_polygons.push_back(inside_polygon); + } + } + } + + for (const bool is_object_right : {true, false}) { + const auto & polygons = is_object_right ? right_polygons : left_polygons; + if (polygons.empty()) { + continue; + } + + // concatenate polygons if they are longitudinal overlapped. + auto unique_polygons = drivable_area_processing::concatenatePolygons(polygons); + + // sort bounds longitudinally + std::sort( + unique_polygons.begin(), unique_polygons.end(), + [](const std::vector & p1, const std::vector & p2) { + return p2.front().is_after(p1.front()); + }); + + // update boundary + auto & bound = is_object_right ? path.right_bound : path.left_bound; + bound = drivable_area_processing::updateBoundary(bound, unique_polygons); + } +} + +std::vector getBoundWithHatchedRoadMarkings( + const std::vector & original_bound, + const std::shared_ptr & route_handler) +{ + // a function to get polygon with a designated point id + const auto get_corresponding_polygon_index = + [&](const auto & polygon, const auto & target_point_id) { + for (size_t poly_point_idx = 0; poly_point_idx < polygon.size(); ++poly_point_idx) { + if (polygon[poly_point_idx].id() == target_point_id) { + // NOTE: If there are duplicated points in polygon, the early one will be returned. + return poly_point_idx; + } + } + // This means calculation has some errors. + return polygon.size() - 1; + }; + + const auto mod = [&](const int a, const int b) { + return (a + b) % b; // NOTE: consider negative value + }; + + std::vector expanded_bound{}; + + std::optional current_polygon{std::nullopt}; + std::vector current_polygon_border_indices; + // expand drivable area by hatched road markings. + for (size_t bound_point_idx = 0; bound_point_idx < original_bound.size(); ++bound_point_idx) { + const auto & bound_point = original_bound[bound_point_idx]; + const auto polygon = getPolygonByPoint(route_handler, bound_point, "hatched_road_markings"); + + bool will_close_polygon{false}; + if (!current_polygon) { + if (!polygon) { + expanded_bound.push_back(bound_point); + } else { + // There is a new additional polygon to expand + current_polygon = polygon; + current_polygon_border_indices.push_back( + get_corresponding_polygon_index(*current_polygon, bound_point.id())); + } + } else { + if (!polygon) { + will_close_polygon = true; + } else { + current_polygon_border_indices.push_back( + get_corresponding_polygon_index(*current_polygon, bound_point.id())); + } + } + + if (bound_point_idx == original_bound.size() - 1 && current_polygon) { + // If drivable lanes ends earlier than polygon, close the polygon + will_close_polygon = true; + } + + if (will_close_polygon) { + // The current additional polygon ends to expand + if (current_polygon_border_indices.size() == 1) { + expanded_bound.push_back((*current_polygon)[current_polygon_border_indices.front()]); + } else { + const size_t current_polygon_points_num = current_polygon->size(); + const bool is_polygon_opposite_direction = [&]() { + const size_t modulo_diff = mod( + static_cast(current_polygon_border_indices[1]) - + static_cast(current_polygon_border_indices[0]), + current_polygon_points_num); + return modulo_diff == 1; + }(); + + const int target_points_num = + current_polygon_points_num - current_polygon_border_indices.size() + 1; + for (int poly_idx = 0; poly_idx <= target_points_num; ++poly_idx) { + const int target_poly_idx = current_polygon_border_indices.front() + + poly_idx * (is_polygon_opposite_direction ? -1 : 1); + expanded_bound.push_back( + (*current_polygon)[mod(target_poly_idx, current_polygon_points_num)]); + } + } + current_polygon = std::nullopt; + current_polygon_border_indices.clear(); + } + } + + return expanded_bound; +} + +std::vector getBoundWithIntersectionAreas( + const std::vector & original_bound, + const std::shared_ptr & route_handler, + const std::vector & drivable_lanes, const bool is_left) +{ + const auto extract_bound_from_polygon = + [](const auto & polygon, const auto start_idx, const auto end_idx, const auto clockwise) { + std::vector ret{}; + for (size_t i = start_idx; i != end_idx; i = clockwise ? i + 1 : i - 1) { + ret.push_back(polygon[i]); + + if (i + 1 == polygon.size() && clockwise) { + if (end_idx == 0) { + ret.push_back(polygon[end_idx]); + return ret; + } + i = 0; + continue; + } + + if (i == 0 && !clockwise) { + if (end_idx == polygon.size() - 1) { + ret.push_back(polygon[end_idx]); + return ret; + } + i = polygon.size() - 1; + continue; + } + } + + ret.push_back(polygon[end_idx]); + + return ret; + }; + + std::vector expanded_bound = original_bound; + + // expand drivable area by using intersection area. + for (const auto & drivable_lane : drivable_lanes) { + const auto edge_lanelet = is_left ? drivable_lane.left_lane : drivable_lane.right_lane; + const auto lanelet_bound = is_left ? edge_lanelet.leftBound3d() : edge_lanelet.rightBound3d(); + + if (lanelet_bound.size() < 2) { + continue; + } + + const std::string id = edge_lanelet.attributeOr("intersection_area", "else"); + if (id == "else") { + continue; + } + + // Step1. extract intersection partial bound. + std::vector intersection_bound{}; + { + const auto polygon = + route_handler->getLaneletMapPtr()->polygonLayer.get(std::atoi(id.c_str())); + + const auto is_clockwise_polygon = + boost::geometry::is_valid(lanelet::utils::to2D(polygon.basicPolygon())); + const auto is_clockwise_iteration = is_clockwise_polygon ? is_left : !is_left; + + const auto intersection_bound_itr_init = std::find_if( + polygon.begin(), polygon.end(), + [&lanelet_bound](const auto & p) { return p.id() == lanelet_bound.front().id(); }); + + const auto intersection_bound_itr_last = std::find_if( + polygon.begin(), polygon.end(), + [&lanelet_bound](const auto & p) { return p.id() == lanelet_bound.back().id(); }); + + if ( + intersection_bound_itr_init == polygon.end() || + intersection_bound_itr_last == polygon.end()) { + continue; + } + + // extract line strings between start_idx and end_idx. + const size_t start_idx = std::distance(polygon.begin(), intersection_bound_itr_init); + const size_t end_idx = std::distance(polygon.begin(), intersection_bound_itr_last); + + intersection_bound = + extract_bound_from_polygon(polygon, start_idx, end_idx, is_clockwise_iteration); + } + + // Step2. check shared bound point. + const auto shared_point_itr_init = + std::find_if(expanded_bound.begin(), expanded_bound.end(), [&](const auto & p) { + return std::any_of( + intersection_bound.begin(), intersection_bound.end(), + [&](const auto & point) { return point.id() == p.id(); }); + }); + + const auto shared_point_itr_last = + std::find_if(expanded_bound.rbegin(), expanded_bound.rend(), [&](const auto & p) { + return std::any_of( + intersection_bound.rbegin(), intersection_bound.rend(), + [&](const auto & point) { return point.id() == p.id(); }); + }); + + if ( + shared_point_itr_init == expanded_bound.end() || + shared_point_itr_last == expanded_bound.rend()) { + continue; + } + + // Step3. overwrite duplicate drivable bound by intersection bound. + { + const auto trim_point_itr_init = std::find_if( + intersection_bound.begin(), intersection_bound.end(), + [&](const auto & p) { return p.id() == shared_point_itr_init->id(); }); + + const auto trim_point_itr_last = std::find_if( + intersection_bound.begin(), intersection_bound.end(), + [&](const auto & p) { return p.id() == shared_point_itr_last->id(); }); + + if ( + trim_point_itr_init == intersection_bound.end() || + trim_point_itr_last == intersection_bound.end()) { + continue; + } + + // TODO(Satoshi OTA): remove this guard. + if ( + std::distance(intersection_bound.begin(), trim_point_itr_last) < + std::distance(intersection_bound.begin(), trim_point_itr_init)) { + continue; + } + + std::vector tmp_bound{}; + + tmp_bound.insert(tmp_bound.end(), expanded_bound.begin(), shared_point_itr_init); + tmp_bound.insert(tmp_bound.end(), trim_point_itr_init, trim_point_itr_last); + tmp_bound.insert( + tmp_bound.end(), std::next(shared_point_itr_last).base(), expanded_bound.end()); + + expanded_bound = tmp_bound; + } + } + + return expanded_bound; +} + +// calculate bounds from drivable lanes and hatched road markings +std::vector calcBound( + const std::shared_ptr route_handler, + const std::vector & drivable_lanes, + const bool enable_expanding_hatched_road_markings, const bool enable_expanding_intersection_areas, + const bool is_left) +{ + // a function to convert drivable lanes to points without duplicated points + const auto convert_to_points = [&](const std::vector & drivable_lanes) { + constexpr double overlap_threshold = 0.01; + + std::vector points; + for (const auto & drivable_lane : drivable_lanes) { + const auto bound = + is_left ? drivable_lane.left_lane.leftBound3d() : drivable_lane.right_lane.rightBound3d(); + for (const auto & point : bound) { + if ( + points.empty() || + overlap_threshold < (points.back().basicPoint2d() - point.basicPoint2d()).norm()) { + points.push_back(point); + } + } + } + return points; + }; + + const auto to_ros_point = [](const std::vector & bound) { + std::vector ret{}; + std::for_each(bound.begin(), bound.end(), [&](const auto & p) { + ret.push_back(lanelet::utils::conversion::toGeomMsgPt(p)); + }); + return ret; + }; + + // Step1. create drivable bound from drivable lanes. + std::vector bound_points = convert_to_points(drivable_lanes); + + // Step2. if there is no drivable area defined by polygon, return original drivable bound. + if (!enable_expanding_hatched_road_markings && !enable_expanding_intersection_areas) { + return motion_utils::removeOverlapPoints(to_ros_point(bound_points)); + } + + // Step3. if there are hatched road markings, expand drivable bound with the polygon. + if (enable_expanding_hatched_road_markings) { + bound_points = getBoundWithHatchedRoadMarkings(bound_points, route_handler); + } + + if (!enable_expanding_intersection_areas) { + return motion_utils::removeOverlapPoints(to_ros_point(bound_points)); + } + + // Step4. if there are intersection areas, expand drivable bound with the polygon. + { + bound_points = + getBoundWithIntersectionAreas(bound_points, route_handler, drivable_lanes, is_left); + } + + return motion_utils::removeOverlapPoints(to_ros_point(bound_points)); +} + +void makeBoundLongitudinallyMonotonic( + PathWithLaneId & path, const std::shared_ptr & planner_data, + const bool is_bound_left) +{ + using motion_utils::findNearestSegmentIndex; + using tier4_autoware_utils::calcAzimuthAngle; + using tier4_autoware_utils::calcDistance2d; + using tier4_autoware_utils::calcOffsetPose; + using tier4_autoware_utils::createQuaternionFromRPY; + using tier4_autoware_utils::getPoint; + using tier4_autoware_utils::getPose; + using tier4_autoware_utils::intersect; + using tier4_autoware_utils::normalizeRadian; + + const auto set_orientation = []( + auto & bound_with_pose, const auto idx, const auto & orientation) { + bound_with_pose.at(idx).orientation = orientation; + }; + + const auto get_intersect_idx = []( + const auto & bound_with_pose, const auto start_idx, + const auto & p1, const auto & p2) -> boost::optional { + std::vector> intersects; + for (size_t i = start_idx; i < bound_with_pose.size() - 1; i++) { + const auto opt_intersect = + intersect(p1, p2, bound_with_pose.at(i).position, bound_with_pose.at(i + 1).position); + + if (!opt_intersect) { + continue; + } + + intersects.emplace_back(i, *opt_intersect); + } + + if (intersects.empty()) { + return boost::none; + } + + std::sort(intersects.begin(), intersects.end(), [&](const auto & a, const auto & b) { + return calcDistance2d(p1, a.second) < calcDistance2d(p1, b.second); + }); + + return intersects.front().first; + }; + + const auto get_bound_with_pose = [&](const auto & bound_with_pose, const auto & path_points) { + auto ret = bound_with_pose; + + const double offset = is_bound_left ? 100.0 : -100.0; + + size_t start_bound_idx = 0; + + const size_t start_path_idx = + findNearestSegmentIndex(path_points, bound_with_pose.front().position); + + // append bound point with point + for (size_t i = start_path_idx + 1; i < path_points.size(); i++) { + const auto p_path_offset = calcOffsetPose(getPose(path_points.at(i)), 0.0, offset, 0.0); + const auto intersect_idx = get_intersect_idx( + bound_with_pose, start_bound_idx, getPoint(path_points.at(i)), getPoint(p_path_offset)); + + if (!intersect_idx) { + continue; + } + + if (i + 1 == path_points.size()) { + for (size_t j = intersect_idx.get(); j < bound_with_pose.size(); j++) { + if (j + 1 == bound_with_pose.size()) { + const auto yaw = + calcAzimuthAngle(bound_with_pose.at(j - 1).position, bound_with_pose.at(j).position); + set_orientation(ret, j, createQuaternionFromRPY(0.0, 0.0, yaw)); + } else { + const auto yaw = + calcAzimuthAngle(bound_with_pose.at(j).position, bound_with_pose.at(j + 1).position); + set_orientation(ret, j, createQuaternionFromRPY(0.0, 0.0, yaw)); + } + } + } else { + for (size_t j = intersect_idx.get() + 1; j < bound_with_pose.size(); j++) { + set_orientation(ret, j, getPose(path_points.at(i)).orientation); + } + } + + constexpr size_t OVERLAP_CHECK_NUM = 3; + start_bound_idx = + intersect_idx.get() < OVERLAP_CHECK_NUM ? 0 : intersect_idx.get() - OVERLAP_CHECK_NUM; + } + + return ret; + }; + + const auto is_non_monotonic = [&]( + const auto & base_pose, const auto & point, + const auto is_points_left, const auto is_reverse) { + const auto p_transformed = tier4_autoware_utils::inverseTransformPoint(point, base_pose); + if (p_transformed.x < 0.0 && p_transformed.y > 0.0) { + return is_points_left && !is_reverse; + } + + if (p_transformed.x < 0.0 && p_transformed.y < 0.0) { + return !is_points_left && !is_reverse; + } + + if (p_transformed.x > 0.0 && p_transformed.y > 0.0) { + return is_points_left && is_reverse; + } + + if (p_transformed.x > 0.0 && p_transformed.y < 0.0) { + return !is_points_left && is_reverse; + } + + return false; + }; + + // define a function to remove non monotonic point on bound + const auto remove_non_monotonic_point = [&](const auto & bound_with_pose, const bool is_reverse) { + std::vector monotonic_bound; + + size_t bound_idx = 0; + while (true) { + monotonic_bound.push_back(bound_with_pose.at(bound_idx)); + + if (bound_idx + 1 == bound_with_pose.size()) { + break; + } + + // NOTE: is_bound_left is used instead of is_points_left since orientation of path point is + // opposite. + const double lat_offset = is_bound_left ? 100.0 : -100.0; + + const auto p_bound_1 = getPose(bound_with_pose.at(bound_idx)); + const auto p_bound_2 = getPose(bound_with_pose.at(bound_idx + 1)); + + const auto p_bound_offset = calcOffsetPose(p_bound_1, 0.0, lat_offset, 0.0); + + if (!is_non_monotonic(p_bound_1, p_bound_2.position, is_bound_left, is_reverse)) { + bound_idx++; + continue; + } + + // skip non monotonic points + for (size_t i = bound_idx + 1; i < bound_with_pose.size() - 1; ++i) { + const auto intersect_point = intersect( + p_bound_1.position, p_bound_offset.position, bound_with_pose.at(i).position, + bound_with_pose.at(i + 1).position); + + if (intersect_point) { + Pose pose; + pose.position = *intersect_point; + pose.position.z = bound_with_pose.at(i).position.z; + const auto yaw = calcAzimuthAngle(*intersect_point, bound_with_pose.at(i + 1).position); + pose.orientation = createQuaternionFromRPY(0.0, 0.0, yaw); + monotonic_bound.push_back(pose); + bound_idx = i; + break; + } + } + + bound_idx++; + } + + return monotonic_bound; + }; + + const auto remove_orientation = [](const auto & bound_with_pose) { + std::vector ret; + + ret.reserve(bound_with_pose.size()); + + std::for_each(bound_with_pose.begin(), bound_with_pose.end(), [&ret](const auto & p) { + ret.push_back(p.position); + }); + + return ret; + }; + + const auto remove_sharp_points = [](const auto & bound) { + if (bound.size() < 2) { + return bound; + } + + std::vector ret = bound; + auto itr = std::next(ret.begin()); + while (std::next(itr) != ret.end()) { + if (itr == ret.begin()) { + itr++; + continue; + } + + const auto p1 = *std::prev(itr); + const auto p2 = *itr; + const auto p3 = *std::next(itr); + + const std::vector vec_1to2 = {p2.x - p1.x, p2.y - p1.y, p2.z - p1.z}; + const std::vector vec_3to2 = {p2.x - p3.x, p2.y - p3.y, p2.z - p3.z}; + const auto product = + std::inner_product(vec_1to2.begin(), vec_1to2.end(), vec_3to2.begin(), 0.0); + + const auto dist_1to2 = tier4_autoware_utils::calcDistance3d(p1, p2); + const auto dist_3to2 = tier4_autoware_utils::calcDistance3d(p3, p2); + + constexpr double epsilon = 1e-3; + + // Remove overlapped point. + if (dist_1to2 < epsilon || dist_3to2 < epsilon) { + itr = std::prev(ret.erase(itr)); + continue; + } + + // If the angle between the points is sharper than 45 degrees, remove the middle point. + if (std::cos(M_PI_4) < product / dist_1to2 / dist_3to2 + epsilon) { + itr = std::prev(ret.erase(itr)); + continue; + } + + itr++; + } + + return ret; + }; + + const auto original_bound = is_bound_left ? path.left_bound : path.right_bound; + + if (path.points.empty()) { + return; + } + + if (original_bound.empty()) { + return; + } + + if (path.points.front().lane_ids.empty()) { + return; + } + + // step.1 create bound with pose vector. + std::vector original_bound_with_pose; + { + original_bound_with_pose.reserve(original_bound.size()); + + std::for_each(original_bound.begin(), original_bound.end(), [&](const auto & p) { + Pose pose; + pose.position = p; + original_bound_with_pose.push_back(pose); + }); + + for (size_t i = 0; i < original_bound_with_pose.size(); i++) { + if (i + 1 == original_bound_with_pose.size()) { + const auto yaw = calcAzimuthAngle( + original_bound_with_pose.at(i - 1).position, original_bound_with_pose.at(i).position); + set_orientation(original_bound_with_pose, i, createQuaternionFromRPY(0.0, 0.0, yaw)); + } else { + const auto yaw = calcAzimuthAngle( + original_bound_with_pose.at(i).position, original_bound_with_pose.at(i + 1).position); + set_orientation(original_bound_with_pose, i, createQuaternionFromRPY(0.0, 0.0, yaw)); + } + } + } + + // step.2 get base pose vector. + std::vector clipped_points; + { + const auto & route_handler = planner_data->route_handler; + const auto p = planner_data->parameters; + const auto start_id = path.points.front().lane_ids.front(); + const auto start_lane = planner_data->route_handler->getLaneletsFromId(start_id); + + const auto lanelet_sequence = + route_handler->getLaneletSequence(start_lane, p.backward_path_length, p.forward_path_length); + const auto centerline_path = getCenterLinePath( + *route_handler, lanelet_sequence, getPose(path.points.front()), p.backward_path_length, + p.forward_path_length, p); + + if (centerline_path.points.size() < 2) { + return; + } + + const auto ego_idx = planner_data->findEgoIndex(centerline_path.points); + const auto end_idx = findNearestSegmentIndex(centerline_path.points, original_bound.back()); + + if (ego_idx >= end_idx) { + return; + } + + clipped_points.insert( + clipped_points.end(), centerline_path.points.begin() + ego_idx, + centerline_path.points.begin() + end_idx + 1); + } + + if (clipped_points.empty()) { + return; + } + + // step.3 update bound pose by reference path pose. + const auto updated_bound_with_pose = + get_bound_with_pose(original_bound_with_pose, clipped_points); // for reverse + + // step.4 create remove monotonic points by forward direction. + auto half_monotonic_bound_with_pose = + remove_non_monotonic_point(updated_bound_with_pose, false); // for reverse + std::reverse(half_monotonic_bound_with_pose.begin(), half_monotonic_bound_with_pose.end()); + + // step.5 create remove monotonic points by backward direction. + auto full_monotonic_bound_with_pose = + remove_non_monotonic_point(half_monotonic_bound_with_pose, true); + std::reverse(full_monotonic_bound_with_pose.begin(), full_monotonic_bound_with_pose.end()); + + // step.6 remove orientation from bound with pose. + auto full_monotonic_bound = remove_orientation(full_monotonic_bound_with_pose); + + // step.7 remove sharp bound points. + if (is_bound_left) { + path.left_bound = remove_sharp_points(full_monotonic_bound); + } else { + path.right_bound = remove_sharp_points(full_monotonic_bound); + } +} + +std::vector combineDrivableLanes( + const std::vector & original_drivable_lanes_vec, + const std::vector & new_drivable_lanes_vec) +{ + const auto has_same_lane = + [](const lanelet::ConstLanelet & target_lane, const lanelet::ConstLanelets & lanes) { + return std::find_if(lanes.begin(), lanes.end(), [&](const auto & ll) { + return ll.id() == target_lane.id(); + }) != lanes.end(); + }; + + const auto convert_to_lanes = [](const DrivableLanes & drivable_lanes) { + auto lanes = drivable_lanes.middle_lanes; + lanes.push_back(drivable_lanes.right_lane); + lanes.push_back(drivable_lanes.left_lane); + return lanes; + }; + + auto updated_drivable_lanes_vec = original_drivable_lanes_vec; + size_t new_drivable_lanes_idx = 0; + for (auto & updated_drivable_lanes : updated_drivable_lanes_vec) { + // calculated corresponding index of new_drivable_lanes + const auto opt_new_drivable_lanes_idx = [&]() -> std::optional { + for (size_t n_idx = 0; n_idx < new_drivable_lanes_vec.size(); ++n_idx) { + for (const auto & ll : convert_to_lanes(updated_drivable_lanes)) { + if (has_same_lane(ll, convert_to_lanes(new_drivable_lanes_vec.at(n_idx)))) { + return n_idx; + } + } + } + return std::nullopt; + }(); + if (!opt_new_drivable_lanes_idx) { + continue; + } + new_drivable_lanes_idx = *opt_new_drivable_lanes_idx; + const auto & new_drivable_lanes = new_drivable_lanes_vec.at(new_drivable_lanes_idx); + + // update left lane + if (has_same_lane(updated_drivable_lanes.left_lane, convert_to_lanes(new_drivable_lanes))) { + updated_drivable_lanes.left_lane = new_drivable_lanes.left_lane; + } + // update right lane + if (has_same_lane(updated_drivable_lanes.right_lane, convert_to_lanes(new_drivable_lanes))) { + updated_drivable_lanes.right_lane = new_drivable_lanes.right_lane; + } + // update middle lanes + for (const auto & middle_lane : convert_to_lanes(new_drivable_lanes)) { + if (!has_same_lane(middle_lane, convert_to_lanes(updated_drivable_lanes))) { + updated_drivable_lanes.middle_lanes.push_back(middle_lane); + } + } + + // validate middle lanes + auto & middle_lanes = updated_drivable_lanes.middle_lanes; + if (has_same_lane(updated_drivable_lanes.right_lane, middle_lanes)) { + middle_lanes.erase( + std::remove( + std::begin(middle_lanes), std::end(middle_lanes), updated_drivable_lanes.right_lane), + std::cend(middle_lanes)); + } + if (has_same_lane(updated_drivable_lanes.left_lane, middle_lanes)) { + middle_lanes.erase( + std::remove( + std::begin(middle_lanes), std::end(middle_lanes), updated_drivable_lanes.left_lane), + std::cend(middle_lanes)); + } + } + // NOTE: If original_drivable_lanes_vec is shorter than new_drivable_lanes_vec, push back remained + // new_drivable_lanes_vec. + if (new_drivable_lanes_idx + 1 < new_drivable_lanes_vec.size()) { + updated_drivable_lanes_vec.insert( + updated_drivable_lanes_vec.end(), new_drivable_lanes_vec.begin() + new_drivable_lanes_idx + 1, + new_drivable_lanes_vec.end()); + } + + return updated_drivable_lanes_vec; +} + +DrivableAreaInfo combineDrivableAreaInfo( + const DrivableAreaInfo & drivable_area_info1, const DrivableAreaInfo & drivable_area_info2) +{ + DrivableAreaInfo combined_drivable_area_info; + + // drivable lanes + combined_drivable_area_info.drivable_lanes = + combineDrivableLanes(drivable_area_info1.drivable_lanes, drivable_area_info2.drivable_lanes); + + // obstacles + for (const auto & obstacle : drivable_area_info1.obstacles) { + combined_drivable_area_info.obstacles.push_back(obstacle); + } + for (const auto & obstacle : drivable_area_info2.obstacles) { + combined_drivable_area_info.obstacles.push_back(obstacle); + } + + // enable expanding hatched road markings + combined_drivable_area_info.enable_expanding_hatched_road_markings = + drivable_area_info1.enable_expanding_hatched_road_markings || + drivable_area_info2.enable_expanding_hatched_road_markings; + + // enable expanding intersection areas + combined_drivable_area_info.enable_expanding_intersection_areas = + drivable_area_info1.enable_expanding_intersection_areas || + drivable_area_info2.enable_expanding_intersection_areas; + + return combined_drivable_area_info; +} + +lanelet::ConstLanelets combineLanelets( + const lanelet::ConstLanelets & base_lanes, const lanelet::ConstLanelets & added_lanes) +{ + lanelet::ConstLanelets combined_lanes = base_lanes; + for (const auto & added_lane : added_lanes) { + const auto it = std::find_if( + combined_lanes.begin(), combined_lanes.end(), + [&added_lane](const lanelet::ConstLanelet & lane) { return lane.id() == added_lane.id(); }); + if (it == combined_lanes.end()) { + combined_lanes.push_back(added_lane); + } + } + + return combined_lanes; +} +} // namespace behavior_path_planner::utils diff --git a/planning/behavior_path_planner/src/utils/goal_planner/shift_pull_over.cpp b/planning/behavior_path_planner/src/utils/goal_planner/shift_pull_over.cpp index 60cc2d19c5f35..ac8e458fd0d6c 100644 --- a/planning/behavior_path_planner/src/utils/goal_planner/shift_pull_over.cpp +++ b/planning/behavior_path_planner/src/utils/goal_planner/shift_pull_over.cpp @@ -14,6 +14,7 @@ #include "behavior_path_planner/utils/goal_planner/shift_pull_over.hpp" +#include "behavior_path_planner/utils/drivable_area_expansion/static_drivable_area.hpp" #include "behavior_path_planner/utils/goal_planner/util.hpp" #include "behavior_path_planner/utils/path_utils.hpp" diff --git a/planning/behavior_path_planner/src/utils/path_utils.cpp b/planning/behavior_path_planner/src/utils/path_utils.cpp index a6d7bc0040c23..44501977eacd6 100644 --- a/planning/behavior_path_planner/src/utils/path_utils.cpp +++ b/planning/behavior_path_planner/src/utils/path_utils.cpp @@ -14,9 +14,11 @@ #include "behavior_path_planner/utils/path_utils.hpp" +#include "behavior_path_planner/utils/drivable_area_expansion/static_drivable_area.hpp" #include "behavior_path_planner/utils/utils.hpp" #include +#include #include #include #include @@ -589,4 +591,107 @@ boost::optional getFirstStopPoseFromPath(const PathWithLaneId & path) } return boost::none; } + +BehaviorModuleOutput getReferencePath( + const lanelet::ConstLanelet & current_lane, + const std::shared_ptr & planner_data) +{ + PathWithLaneId reference_path{}; + + const auto & route_handler = planner_data->route_handler; + const auto current_pose = planner_data->self_odometry->pose.pose; + const auto p = planner_data->parameters; + + // Set header + reference_path.header = route_handler->getRouteHeader(); + + // calculate path with backward margin to avoid end points' instability by spline interpolation + constexpr double extra_margin = 10.0; + const double backward_length = p.backward_path_length + extra_margin; + const auto current_lanes_with_backward_margin = + route_handler->getLaneletSequence(current_lane, backward_length, p.forward_path_length); + const auto no_shift_pose = + lanelet::utils::getClosestCenterPose(current_lane, current_pose.position); + reference_path = getCenterLinePath( + *route_handler, current_lanes_with_backward_margin, no_shift_pose, backward_length, + p.forward_path_length, p); + + // clip backward length + // NOTE: In order to keep backward_path_length at least, resampling interval is added to the + // backward. + const size_t current_seg_idx = motion_utils::findFirstNearestSegmentIndexWithSoftConstraints( + reference_path.points, no_shift_pose, p.ego_nearest_dist_threshold, + p.ego_nearest_yaw_threshold); + reference_path.points = motion_utils::cropPoints( + reference_path.points, no_shift_pose.position, current_seg_idx, p.forward_path_length, + p.backward_path_length + p.input_path_interval); + + const auto drivable_lanelets = getLaneletsFromPath(reference_path, route_handler); + const auto drivable_lanes = generateDrivableLanes(drivable_lanelets); + + const auto & dp = planner_data->drivable_area_expansion_parameters; + + const auto shorten_lanes = cutOverlappedLanes(reference_path, drivable_lanes); + const auto expanded_lanes = expandLanelets( + shorten_lanes, dp.drivable_area_left_bound_offset, dp.drivable_area_right_bound_offset, + dp.drivable_area_types_to_skip); + + BehaviorModuleOutput output; + output.path = std::make_shared(reference_path); + output.reference_path = std::make_shared(reference_path); + output.drivable_area_info.drivable_lanes = drivable_lanes; + + return output; +} + +BehaviorModuleOutput createGoalAroundPath(const std::shared_ptr & planner_data) +{ + BehaviorModuleOutput output; + + const auto & route_handler = planner_data->route_handler; + const auto & modified_goal = planner_data->prev_modified_goal; + + const Pose goal_pose = modified_goal ? modified_goal->pose : route_handler->getGoalPose(); + const auto shoulder_lanes = route_handler->getShoulderLanelets(); + + lanelet::ConstLanelet goal_lane; + const bool is_failed_getting_lanelet = std::invoke([&]() { + if (isInLanelets(goal_pose, shoulder_lanes)) { + return !lanelet::utils::query::getClosestLanelet(shoulder_lanes, goal_pose, &goal_lane); + } + return !route_handler->getGoalLanelet(&goal_lane); + }); + if (is_failed_getting_lanelet) { + return output; + } + + constexpr double backward_length = 1.0; + const auto arc_coord = lanelet::utils::getArcCoordinates({goal_lane}, goal_pose); + const double s_start = std::max(arc_coord.length - backward_length, 0.0); + const double s_end = arc_coord.length; + + auto reference_path = route_handler->getCenterLinePath({goal_lane}, s_start, s_end); + + const auto drivable_lanelets = getLaneletsFromPath(reference_path, route_handler); + const auto drivable_lanes = generateDrivableLanes(drivable_lanelets); + + const auto & dp = planner_data->drivable_area_expansion_parameters; + + const auto shorten_lanes = cutOverlappedLanes(reference_path, drivable_lanes); + const auto expanded_lanes = expandLanelets( + shorten_lanes, dp.drivable_area_left_bound_offset, dp.drivable_area_right_bound_offset, + dp.drivable_area_types_to_skip); + + // Insert zero velocity to each point in the path. + for (auto & point : reference_path.points) { + point.point.longitudinal_velocity_mps = 0.0; + } + + output.path = std::make_shared(reference_path); + output.reference_path = std::make_shared(reference_path); + output.drivable_area_info.drivable_lanes = drivable_lanes; + + return output; +} + } // namespace behavior_path_planner::utils diff --git a/planning/behavior_path_planner/src/utils/utils.cpp b/planning/behavior_path_planner/src/utils/utils.cpp index 0d1eaef0237b3..763719f11ebd9 100644 --- a/planning/behavior_path_planner/src/utils/utils.cpp +++ b/planning/behavior_path_planner/src/utils/utils.cpp @@ -14,7 +14,6 @@ #include "behavior_path_planner/utils/utils.hpp" -#include "behavior_path_planner/utils/drivable_area_expansion/drivable_area_expansion.hpp" #include "behavior_path_planner/utils/path_shifter/path_shifter.hpp" #include "motion_utils/trajectory/path_with_lane_id.hpp" #include "object_recognition_utils/predicted_path_utils.hpp" @@ -68,68 +67,6 @@ double calcInterpolatedVelocity( const double interpolated_vel = std::abs(seg_dist) < 1e-06 ? next_vel : closest_vel; return interpolated_vel; } - -template -size_t findNearestSegmentIndex( - const std::vector & points, const geometry_msgs::msg::Pose & pose, const double dist_threshold, - const double yaw_threshold) -{ - const auto nearest_idx = - motion_utils::findNearestSegmentIndex(points, pose, dist_threshold, yaw_threshold); - if (nearest_idx) { - return nearest_idx.get(); - } - - return motion_utils::findNearestSegmentIndex(points, pose.position); -} - -template -size_t findNearestSegmentIndexFromLateralDistance( - const std::vector & points, const geometry_msgs::msg::Point & target_point) -{ - std::optional closest_idx{std::nullopt}; - double min_lateral_dist = std::numeric_limits::max(); - for (size_t seg_idx = 0; seg_idx < points.size() - 1; ++seg_idx) { - const double lon_dist = - motion_utils::calcLongitudinalOffsetToSegment(points, seg_idx, target_point); - const double segment_length = - tier4_autoware_utils::calcDistance2d(points.at(seg_idx), points.at(seg_idx + 1)); - const double lat_dist = [&]() { - if (lon_dist < 0.0) { - return tier4_autoware_utils::calcDistance2d(points.at(seg_idx), target_point); - } - if (segment_length < lon_dist) { - return tier4_autoware_utils::calcDistance2d(points.at(seg_idx + 1), target_point); - } - return std::abs(motion_utils::calcLateralOffset(points, target_point, seg_idx)); - }(); - if (lat_dist < min_lateral_dist) { - closest_idx = seg_idx; - min_lateral_dist = lat_dist; - } - } - - if (closest_idx) { - return *closest_idx; - } - - return motion_utils::findNearestSegmentIndex(points, target_point); -} - -bool checkHasSameLane( - const lanelet::ConstLanelets & lanelets, const lanelet::ConstLanelet & target_lane) -{ - if (lanelets.empty()) return false; - - const auto has_same = [&](const auto & ll) { return ll.id() == target_lane.id(); }; - return std::find_if(lanelets.begin(), lanelets.end(), has_same) != lanelets.end(); -} - -bool isSamePoint(const geometry_msgs::msg::Point & point1, const geometry_msgs::msg::Point & point2) -{ - constexpr double epsilon = 1e-3; - return std::abs(point1.x - point2.x) < epsilon && std::abs(point1.y - point2.y) < epsilon; -} } // namespace namespace behavior_path_planner::utils @@ -140,413 +77,6 @@ using geometry_msgs::msg::PoseWithCovarianceStamped; using tf2::fromMsg; using tier4_autoware_utils::Point2d; -namespace drivable_area_processing -{ -boost::optional> intersectBound( - const geometry_msgs::msg::Point & p1, const geometry_msgs::msg::Point & p2, - const std::vector & bound, const size_t seg_idx1, - const size_t seg_idx2) -{ - const size_t start_idx = - static_cast(std::max(0, static_cast(std::min(seg_idx1, seg_idx2)) - 5)); - const size_t end_idx = static_cast(std::min( - static_cast(bound.size()) - 1, static_cast(std::max(seg_idx1, seg_idx2)) + 1 + 5)); - for (int i = start_idx; i < static_cast(end_idx); ++i) { - const auto intersect_point = - tier4_autoware_utils::intersect(p1, p2, bound.at(i), bound.at(i + 1)); - if (intersect_point) { - std::pair result; - result.first = static_cast(i); - result.second = *intersect_point; - return result; - } - } - return boost::none; -} - -double calcDistanceFromPointToSegment( - const geometry_msgs::msg::Point & segment_start_point, - const geometry_msgs::msg::Point & segment_end_point, - const geometry_msgs::msg::Point & target_point) -{ - const auto & a = segment_start_point; - const auto & b = segment_end_point; - const auto & p = target_point; - - const double dot_val = (b.x - a.x) * (p.x - a.x) + (b.y - a.y) * (p.y - a.y); - const double squared_segment_length = tier4_autoware_utils::calcSquaredDistance2d(a, b); - if (0 <= dot_val && dot_val <= squared_segment_length) { - const double numerator = std::abs((p.x - a.x) * (a.y - b.y) - (p.y - a.y) * (a.x - b.x)); - const double denominator = std::sqrt(std::pow(a.x - b.x, 2) + std::pow(a.y - b.y, 2)); - return numerator / denominator; - } - - // target_point is outside the segment. - return std::min( - tier4_autoware_utils::calcDistance2d(a, p), tier4_autoware_utils::calcDistance2d(b, p)); -} - -PolygonPoint transformBoundFrenetCoordinate( - const std::vector & bound_points, - const geometry_msgs::msg::Point & target_point) -{ - // NOTE: findNearestSegmentIndex cannot be used since a bound's interval is sometimes too large to - // find wrong nearest index. - std::vector dist_to_bound_segment_vec; - for (size_t i = 0; i < bound_points.size() - 1; ++i) { - const double dist_to_bound_segment = - calcDistanceFromPointToSegment(bound_points.at(i), bound_points.at(i + 1), target_point); - dist_to_bound_segment_vec.push_back(dist_to_bound_segment); - } - - const size_t min_dist_seg_idx = std::distance( - dist_to_bound_segment_vec.begin(), - std::min_element(dist_to_bound_segment_vec.begin(), dist_to_bound_segment_vec.end())); - const double lon_dist_to_segment = - motion_utils::calcLongitudinalOffsetToSegment(bound_points, min_dist_seg_idx, target_point); - const double lat_dist_to_segment = - motion_utils::calcLateralOffset(bound_points, target_point, min_dist_seg_idx); - return PolygonPoint{target_point, min_dist_seg_idx, lon_dist_to_segment, lat_dist_to_segment}; -} - -std::vector generatePolygonInsideBounds( - const std::vector & bound, const std::vector & edge_points, - const bool is_object_right) -{ - constexpr double invalid_lat_dist_to_bound = 10.0; - - std::vector full_polygon; - for (const auto & edge_point : edge_points) { - const auto polygon_point = transformBoundFrenetCoordinate(bound, edge_point); - - // check lat dist for U-turn roads. - if ( - (is_object_right && invalid_lat_dist_to_bound < polygon_point.lat_dist_to_bound) || - (!is_object_right && polygon_point.lat_dist_to_bound < -invalid_lat_dist_to_bound)) { - return {}; - } - full_polygon.push_back(polygon_point); - } - - // 1. check the case where the polygon intersects the bound - std::vector inside_poly; - bool has_intersection = false; // NOTE: between obstacle polygon and bound - for (int i = 0; i < static_cast(full_polygon.size()); ++i) { - const auto & curr_poly = full_polygon.at(i); - const auto & prev_poly = full_polygon.at(i == 0 ? full_polygon.size() - 1 : i - 1); - - const bool is_curr_outside = curr_poly.is_outside_bounds(is_object_right); - const bool is_prev_outside = prev_poly.is_outside_bounds(is_object_right); - - if (is_curr_outside && is_prev_outside) { - continue; - } - if (!is_curr_outside && !is_prev_outside) { - inside_poly.push_back(curr_poly); - continue; - } - - const auto intersection = intersectBound( - prev_poly.point, curr_poly.point, bound, prev_poly.bound_seg_idx, curr_poly.bound_seg_idx); - if (!intersection) { - continue; - } - const double lon_dist = motion_utils::calcLongitudinalOffsetToSegment( - bound, intersection->first, intersection->second); - const auto intersect_point = - PolygonPoint{intersection->second, intersection->first, lon_dist, 0.0}; - has_intersection = true; - - if (is_prev_outside && !is_curr_outside) { - inside_poly.push_back(intersect_point); - inside_poly.push_back(curr_poly); - continue; - } - // Here is if (!is_prev_outside && is_curr_outside). - inside_poly.push_back(prev_poly); - inside_poly.push_back(intersect_point); - continue; - } - if (has_intersection) { - return inside_poly; - } - - // 2. check the case where the polygon does not intersect the bound - const bool is_polygon_fully_inside_bounds = [&]() { - for (const auto & curr_poly : full_polygon) { - const bool is_curr_outside = curr_poly.is_outside_bounds(is_object_right); - if (is_curr_outside) { - return false; - } - } - return true; - }(); - if (is_polygon_fully_inside_bounds) { - return full_polygon; - } - - return std::vector{}; -} - -std::vector convertToGeometryPoints( - const std::vector & polygon_points) -{ - std::vector points; - points.reserve(polygon_points.size()); - - for (const auto & polygon_point : polygon_points) { - points.push_back(polygon_point.point); - } - return points; -} - -// NOTE: See the PR's figure. https://github.com/autowarefoundation/autoware.universe/pull/2880 -std::vector concatenateTwoPolygons( - const std::vector & front_polygon, const std::vector & back_polygon) -{ - const auto make_unique_polygon = [&](const auto & polygon) { - std::vector unique_polygon; - for (const auto & point : polygon) { - if (!unique_polygon.empty() && isSamePoint(unique_polygon.back().point, point.point)) { - continue; - } - unique_polygon.push_back(point); - } - return unique_polygon; - }; - const auto unique_front_polygon = make_unique_polygon(front_polygon); - const auto unique_back_polygon = make_unique_polygon(back_polygon); - - // At first, the front polygon is the outside polygon - bool is_front_polygon_outside = true; - size_t before_outside_idx = 0; - - const auto get_out_poly = [&]() { - return is_front_polygon_outside ? unique_front_polygon : unique_back_polygon; - }; - const auto get_in_poly = [&]() { - return is_front_polygon_outside ? unique_back_polygon : unique_front_polygon; - }; - - // NOTE: Polygon points is assumed to be clock-wise. - std::vector concatenated_polygon; - // NOTE: Maximum number of loop is set to avoid infinity loop calculation just in case. - const size_t max_loop_num = (unique_front_polygon.size() + unique_back_polygon.size()) * 2; - for (size_t loop_idx = 0; loop_idx < max_loop_num; ++loop_idx) { - concatenated_polygon.push_back(get_out_poly().at(before_outside_idx)); - if (before_outside_idx == get_out_poly().size() - 1) { - break; - } - const size_t curr_idx = before_outside_idx; - const size_t next_idx = before_outside_idx + 1; - - // NOTE: Two polygons may have two intersection points. Therefore the closest intersection - // point is used. - std::optional closest_idx = std::nullopt; - double min_dist_to_intersection = std::numeric_limits::max(); - PolygonPoint closest_intersect_point; - for (size_t i = 0; i < get_in_poly().size() - 1; ++i) { - const auto intersection = tier4_autoware_utils::intersect( - get_out_poly().at(curr_idx).point, get_out_poly().at(next_idx).point, - get_in_poly().at(i).point, get_in_poly().at(i + 1).point); - if (!intersection) { - continue; - } - if ( - isSamePoint(get_out_poly().at(curr_idx).point, get_in_poly().at(i).point) || - isSamePoint(get_out_poly().at(curr_idx).point, get_in_poly().at(i + 1).point) || - isSamePoint(get_out_poly().at(next_idx).point, get_in_poly().at(i).point) || - isSamePoint(get_out_poly().at(next_idx).point, get_in_poly().at(i + 1).point)) { - // NOTE: If the segments shares one point, the while loop will not end. - continue; - } - - const auto intersect_point = PolygonPoint{*intersection, 0, 0.0, 0.0}; - const double dist_to_intersection = - tier4_autoware_utils::calcDistance2d(get_out_poly().at(curr_idx).point, *intersection); - if (dist_to_intersection < min_dist_to_intersection) { - closest_idx = i; - min_dist_to_intersection = dist_to_intersection; - closest_intersect_point = intersect_point; - } - } - - if (closest_idx) { - before_outside_idx = *closest_idx; - concatenated_polygon.push_back(closest_intersect_point); - is_front_polygon_outside = !is_front_polygon_outside; - } - - before_outside_idx += 1; - - if (loop_idx == max_loop_num - 1) { - return front_polygon; - } - } - - return concatenated_polygon; -} - -std::vector> concatenatePolygons( - const std::vector> & polygons) -{ - auto unique_polygons = polygons; - - while (rclcpp::ok()) { - bool is_updated = false; - - for (size_t i = 0; i < unique_polygons.size(); ++i) { - for (size_t j = 0; j < i; ++j) { - const auto & p1 = unique_polygons.at(i); - const auto & p2 = unique_polygons.at(j); - - // if p1 and p2 overlaps - if (p1.back().is_after(p2.front()) && p2.back().is_after(p1.front())) { - is_updated = true; - - const auto concatenated_polygon = [&]() { - if (p2.front().is_after(p1.front())) { - return concatenateTwoPolygons(p1, p2); - } - return concatenateTwoPolygons(p2, p1); - }(); - - // NOTE: remove i's element first since is larger than j. - unique_polygons.erase(unique_polygons.begin() + i); - unique_polygons.erase(unique_polygons.begin() + j); - - unique_polygons.push_back(concatenated_polygon); - break; - } - } - if (is_updated) { - break; - } - } - - if (!is_updated) { - break; - } - } - return unique_polygons; -} - -std::vector getPolygonPointsInsideBounds( - const std::vector & bound, const std::vector & edge_points, - const bool is_object_right) -{ - // NOTE: Polygon is defined at lest by three points. - if (edge_points.size() < 3) { - return std::vector(); - } - - // convert to vector of PolygonPoint - const auto inside_polygon = [&]() { - auto tmp_polygon = generatePolygonInsideBounds(bound, edge_points, is_object_right); - - // In order to make the order of points the same as the order of lon_dist_to_segment. - // The order of points is clockwise. - if (!is_object_right) { - std::reverse(tmp_polygon.begin(), tmp_polygon.end()); - } - return tmp_polygon; - }(); - if (inside_polygon.empty()) { - return std::vector(); - } - - // search start and end index by longitudinal distance - std::vector polygon_indices(inside_polygon.size()); - std::iota(polygon_indices.begin(), polygon_indices.end(), 0); - std::sort(polygon_indices.begin(), polygon_indices.end(), [&](int i1, int i2) { - return inside_polygon.at(i2).is_after(inside_polygon.at(i1)); - }); - const int start_idx = polygon_indices.front(); - const int end_idx = polygon_indices.back(); - - // calculate valid inside polygon - std::vector valid_inside_polygon; - for (int i = 0; i < (end_idx - start_idx + static_cast(polygon_indices.size())) % - static_cast(polygon_indices.size()) + - 1; - ++i) { - const int poly_idx = (start_idx + i) % static_cast(inside_polygon.size()); - valid_inside_polygon.push_back(inside_polygon.at(poly_idx)); - } - - // add start and end points projected to bound if necessary - if (inside_polygon.at(start_idx).lat_dist_to_bound != 0.0) { // not on bound - auto start_point = inside_polygon.at(start_idx); - const auto start_point_on_bound = motion_utils::calcLongitudinalOffsetPoint( - bound, start_point.bound_seg_idx, start_point.lon_dist_to_segment); - if (start_point_on_bound) { - start_point.point = start_point_on_bound.get(); - valid_inside_polygon.insert(valid_inside_polygon.begin(), start_point); - } - } - if (inside_polygon.at(end_idx).lat_dist_to_bound != 0.0) { // not on bound - auto end_point = inside_polygon.at(end_idx); - const auto end_point_on_bound = motion_utils::calcLongitudinalOffsetPoint( - bound, end_point.bound_seg_idx, end_point.lon_dist_to_segment); - if (end_point_on_bound) { - end_point.point = end_point_on_bound.get(); - valid_inside_polygon.insert(valid_inside_polygon.end(), end_point); - } - } - return valid_inside_polygon; -} - -std::vector updateBoundary( - const std::vector & original_bound, - const std::vector> & sorted_polygons) -{ - if (sorted_polygons.empty()) { - return original_bound; - } - - auto reversed_polygons = sorted_polygons; - std::reverse(reversed_polygons.begin(), reversed_polygons.end()); - - auto updated_bound = original_bound; - - // NOTE: Further obstacle is applied first since a part of the updated_bound is erased. - for (const auto & polygon : reversed_polygons) { - const auto & start_poly = polygon.front(); - const auto & end_poly = polygon.back(); - - const double front_offset = motion_utils::calcLongitudinalOffsetToSegment( - updated_bound, start_poly.bound_seg_idx, start_poly.point); - - const size_t removed_start_idx = - 0 < front_offset ? start_poly.bound_seg_idx + 1 : start_poly.bound_seg_idx; - const size_t removed_end_idx = end_poly.bound_seg_idx; - - updated_bound.erase( - updated_bound.begin() + removed_start_idx, updated_bound.begin() + removed_end_idx + 1); - - const auto obj_points = convertToGeometryPoints(polygon); - updated_bound.insert( - updated_bound.begin() + removed_start_idx, obj_points.begin(), obj_points.end()); - } - return updated_bound; -} - -[[maybe_unused]] geometry_msgs::msg::Point calcCenterOfGeometry(const Polygon2d & obj_poly) -{ - geometry_msgs::msg::Point center_pos; - for (const auto & point : obj_poly.outer()) { - center_pos.x += point.x(); - center_pos.y += point.y(); - } - - center_pos.x = center_pos.x / obj_poly.outer().size(); - center_pos.y = center_pos.y / obj_poly.outer().size(); - center_pos.z = center_pos.z / obj_poly.outer().size(); - - return center_pos; -} -} // namespace drivable_area_processing - std::optional getPolygonByPoint( const std::shared_ptr & route_handler, const lanelet::ConstPoint3d & point, const std::string & polygon_name) @@ -936,56 +466,6 @@ bool containsGoal(const lanelet::ConstLanelets & lanes, const lanelet::Id & goal return false; } -BehaviorModuleOutput createGoalAroundPath(const std::shared_ptr & planner_data) -{ - BehaviorModuleOutput output; - - const auto & route_handler = planner_data->route_handler; - const auto & modified_goal = planner_data->prev_modified_goal; - - const Pose goal_pose = modified_goal ? modified_goal->pose : route_handler->getGoalPose(); - const auto shoulder_lanes = route_handler->getShoulderLanelets(); - - lanelet::ConstLanelet goal_lane; - const bool is_failed_getting_lanelet = std::invoke([&]() { - if (isInLanelets(goal_pose, shoulder_lanes)) { - return !lanelet::utils::query::getClosestLanelet(shoulder_lanes, goal_pose, &goal_lane); - } - return !route_handler->getGoalLanelet(&goal_lane); - }); - if (is_failed_getting_lanelet) { - return output; - } - - constexpr double backward_length = 1.0; - const auto arc_coord = lanelet::utils::getArcCoordinates({goal_lane}, goal_pose); - const double s_start = std::max(arc_coord.length - backward_length, 0.0); - const double s_end = arc_coord.length; - - auto reference_path = route_handler->getCenterLinePath({goal_lane}, s_start, s_end); - - const auto drivable_lanelets = getLaneletsFromPath(reference_path, route_handler); - const auto drivable_lanes = generateDrivableLanes(drivable_lanelets); - - const auto & dp = planner_data->drivable_area_expansion_parameters; - - const auto shorten_lanes = cutOverlappedLanes(reference_path, drivable_lanes); - const auto expanded_lanes = expandLanelets( - shorten_lanes, dp.drivable_area_left_bound_offset, dp.drivable_area_right_bound_offset, - dp.drivable_area_types_to_skip); - - // Insert zero velocity to each point in the path. - for (auto & point : reference_path.points) { - point.point.longitudinal_velocity_mps = 0.0; - } - - output.path = std::make_shared(reference_path); - output.reference_path = std::make_shared(reference_path); - output.drivable_area_info.drivable_lanes = drivable_lanes; - - return output; -} - bool isInLanelets(const Pose & pose, const lanelet::ConstLanelets & lanes) { for (const auto & lane : lanes) { @@ -1018,1285 +498,160 @@ bool isEgoOutOfRoute( : route_handler->getGoalPose(); const auto shoulder_lanes = route_handler->getShoulderLanelets(); - lanelet::ConstLanelet goal_lane; - const bool is_failed_getting_lanelet = std::invoke([&]() { - if (utils::isInLanelets(goal_pose, shoulder_lanes)) { - return !lanelet::utils::query::getClosestLanelet(shoulder_lanes, goal_pose, &goal_lane); - } - return !route_handler->getGoalLanelet(&goal_lane); - }); - if (is_failed_getting_lanelet) { - RCLCPP_WARN_STREAM( - rclcpp::get_logger("behavior_path_planner").get_child("util"), "cannot find goal lanelet"); - return true; - } - - // If ego vehicle is over goal on goal lane, return true - const double yaw_threshold = tier4_autoware_utils::deg2rad(90); - if (isInLaneletWithYawThreshold(self_pose, goal_lane, yaw_threshold)) { - constexpr double buffer = 1.0; - const auto ego_arc_coord = lanelet::utils::getArcCoordinates({goal_lane}, self_pose); - const auto goal_arc_coord = - lanelet::utils::getArcCoordinates({goal_lane}, route_handler->getGoalPose()); - if (ego_arc_coord.length > goal_arc_coord.length + buffer) { - return true; - } else { - return false; - } - } - - // If ego vehicle is out of the closest lanelet, return true - // Check if ego vehicle is in shoulder lane - const bool is_in_shoulder_lane = std::invoke([&]() { - lanelet::Lanelet closest_shoulder_lanelet; - if (!lanelet::utils::query::getClosestLanelet( - shoulder_lanes, self_pose, &closest_shoulder_lanelet)) { - return false; - } - return lanelet::utils::isInLanelet(self_pose, closest_shoulder_lanelet); - }); - // Check if ego vehicle is in road lane - const bool is_in_road_lane = std::invoke([&]() { - lanelet::ConstLanelet closest_road_lane; - if (!route_handler->getClosestLaneletWithinRoute(self_pose, &closest_road_lane)) { - RCLCPP_WARN_STREAM( - rclcpp::get_logger("behavior_path_planner").get_child("util"), - "cannot find closest road lanelet"); - return false; - } - - if (lanelet::utils::isInLanelet(self_pose, closest_road_lane)) { - return true; - } - - // check previous lanes for backward driving (e.g. pull out) - const auto prev_lanes = route_handler->getPreviousLanelets(closest_road_lane); - for (const auto & lane : prev_lanes) { - if (lanelet::utils::isInLanelet(self_pose, lane)) { - return true; - } - } - - return false; - }); - if (!is_in_shoulder_lane && !is_in_road_lane) { - return true; - } - - return false; -} - -bool isEgoWithinOriginalLane( - const lanelet::ConstLanelets & current_lanes, const Pose & current_pose, - const BehaviorPathPlannerParameters & common_param, const double outer_margin) -{ - const auto lane_length = lanelet::utils::getLaneletLength2d(current_lanes); - const auto lane_poly = lanelet::utils::getPolygonFromArcLength(current_lanes, 0, lane_length); - const auto base_link2front = common_param.base_link2front; - const auto base_link2rear = common_param.base_link2rear; - const auto vehicle_width = common_param.vehicle_width; - const auto vehicle_poly = - tier4_autoware_utils::toFootprint(current_pose, base_link2front, base_link2rear, vehicle_width); - - // Check if the ego vehicle is entirely within the lane with a given outer margin. - for (const auto & p : vehicle_poly.outer()) { - // When the point is in the polygon, the distance is 0. When it is out of the polygon, return a - // positive value. - const auto dist = boost::geometry::distance(p, lanelet::utils::to2D(lane_poly).basicPolygon()); - if (dist > std::max(outer_margin, 0.0)) { - return false; // out of polygon - } - } - - return true; // inside polygon -} - -lanelet::ConstLanelets transformToLanelets(const DrivableLanes & drivable_lanes) -{ - lanelet::ConstLanelets lanes; - - const auto has_same_lane = [&](const auto & lane) { - if (lanes.empty()) return false; - const auto has_same = [&](const auto & ll) { return ll.id() == lane.id(); }; - return std::find_if(lanes.begin(), lanes.end(), has_same) != lanes.end(); - }; - - lanes.push_back(drivable_lanes.right_lane); - if (!has_same_lane(drivable_lanes.left_lane)) { - lanes.push_back(drivable_lanes.left_lane); - } - - for (const auto & ml : drivable_lanes.middle_lanes) { - if (!has_same_lane(ml)) { - lanes.push_back(ml); - } - } - - return lanes; -} - -lanelet::ConstLanelets transformToLanelets(const std::vector & drivable_lanes) -{ - lanelet::ConstLanelets lanes; - - for (const auto & drivable_lane : drivable_lanes) { - const auto transformed_lane = transformToLanelets(drivable_lane); - lanes.insert(lanes.end(), transformed_lane.begin(), transformed_lane.end()); - } - - return lanes; -} - -boost::optional getRightLanelet( - const lanelet::ConstLanelet & current_lane, const lanelet::ConstLanelets & shoulder_lanes) -{ - for (const auto & shoulder_lane : shoulder_lanes) { - if (shoulder_lane.leftBound().id() == current_lane.rightBound().id()) { - return shoulder_lane; - } - } - - return {}; -} - -boost::optional getLeftLanelet( - const lanelet::ConstLanelet & current_lane, const lanelet::ConstLanelets & shoulder_lanes) -{ - for (const auto & shoulder_lane : shoulder_lanes) { - if (shoulder_lane.rightBound().id() == current_lane.leftBound().id()) { - return shoulder_lane; - } - } - - return {}; -} - -std::vector generateDrivableLanes(const lanelet::ConstLanelets & lanes) -{ - std::vector drivable_lanes(lanes.size()); - for (size_t i = 0; i < lanes.size(); ++i) { - drivable_lanes.at(i).left_lane = lanes.at(i); - drivable_lanes.at(i).right_lane = lanes.at(i); - } - return drivable_lanes; -} - -std::vector generateDrivableLanesWithShoulderLanes( - const lanelet::ConstLanelets & current_lanes, const lanelet::ConstLanelets & shoulder_lanes) -{ - std::vector drivable_lanes; - for (const auto & current_lane : current_lanes) { - DrivableLanes drivable_lane; - - const auto right_lane = getRightLanelet(current_lane, shoulder_lanes); - const auto left_lane = getLeftLanelet(current_lane, shoulder_lanes); - - if (right_lane && left_lane) { - drivable_lane.right_lane = *right_lane; - drivable_lane.left_lane = *left_lane; - drivable_lane.middle_lanes.push_back(current_lane); - } else if (right_lane) { - drivable_lane.right_lane = *right_lane; - drivable_lane.left_lane = current_lane; - } else if (left_lane) { - drivable_lane.right_lane = current_lane; - drivable_lane.left_lane = *left_lane; - } else { - drivable_lane.right_lane = current_lane; - drivable_lane.left_lane = current_lane; - } - - drivable_lanes.push_back(drivable_lane); - } - - return drivable_lanes; -} - -std::vector getNonOverlappingExpandedLanes( - PathWithLaneId & path, const std::vector & lanes, - const DrivableAreaExpansionParameters & parameters) -{ - const auto shorten_lanes = utils::cutOverlappedLanes(path, lanes); - return utils::expandLanelets( - shorten_lanes, parameters.drivable_area_left_bound_offset, - parameters.drivable_area_right_bound_offset, parameters.drivable_area_types_to_skip); -} - -boost::optional getOverlappedLaneletId(const std::vector & lanes) -{ - auto overlaps = [](const DrivableLanes & lanes, const DrivableLanes & target_lanes) { - const auto lanelets = transformToLanelets(lanes); - const auto target_lanelets = transformToLanelets(target_lanes); - - for (const auto & lanelet : lanelets) { - for (const auto & target_lanelet : target_lanelets) { - std::vector intersections{}; - boost::geometry::intersection( - lanelet.polygon2d().basicPolygon(), target_lanelet.polygon2d().basicPolygon(), - intersections); - - // if only one point intersects, it is assumed not to be overlapped - if (intersections.size() > 1) { - return true; - } - } - } - - // No overlapping - return false; - }; - - if (lanes.size() <= 2) { - return {}; - } - - size_t overlapped_idx = lanes.size(); - for (size_t i = 0; i < lanes.size() - 2; ++i) { - for (size_t j = i + 2; j < lanes.size(); ++j) { - if (overlaps(lanes.at(i), lanes.at(j))) { - overlapped_idx = std::min(overlapped_idx, j); - } - } - } - - if (overlapped_idx == lanes.size()) { - return {}; - } - - return overlapped_idx; -} - -std::vector cutOverlappedLanes( - PathWithLaneId & path, const std::vector & lanes) -{ - const auto overlapped_lanelet_idx = getOverlappedLaneletId(lanes); - if (!overlapped_lanelet_idx) { - return lanes; - } - - std::vector shorten_lanes{lanes.begin(), lanes.begin() + *overlapped_lanelet_idx}; - const auto shorten_lanelets = utils::transformToLanelets(shorten_lanes); - - const auto original_points = path.points; - - path.points.clear(); - - const auto has_same_id_lane = [](const auto & lanelet, const auto & p) { - return std::any_of(p.lane_ids.begin(), p.lane_ids.end(), [&lanelet](const auto id) { - return lanelet.id() == id; - }); - }; - - const auto has_same_id_lanes = [&has_same_id_lane](const auto & lanelets, const auto & p) { - return std::any_of( - lanelets.begin(), lanelets.end(), - [&has_same_id_lane, &p](const auto & lanelet) { return has_same_id_lane(lanelet, p); }); - }; - - // Step1. find first path point within drivable lanes - size_t start_point_idx = std::numeric_limits::max(); - for (const auto & lanes : shorten_lanes) { - for (size_t i = 0; i < original_points.size(); ++i) { - // check right lane - if (has_same_id_lane(lanes.right_lane, original_points.at(i))) { - start_point_idx = std::min(start_point_idx, i); - } - - // check left lane - if (has_same_id_lane(lanes.left_lane, original_points.at(i))) { - start_point_idx = std::min(start_point_idx, i); - } - - // check middle lanes - if (has_same_id_lanes(lanes.middle_lanes, original_points.at(i))) { - start_point_idx = std::min(start_point_idx, i); - } - } - } - - // Step2. pick up only path points within drivable lanes - for (const auto & lanes : shorten_lanes) { - for (size_t i = start_point_idx; i < original_points.size(); ++i) { - // check right lane - if (has_same_id_lane(lanes.right_lane, original_points.at(i))) { - path.points.push_back(original_points.at(i)); - continue; - } - - // check left lane - if (has_same_id_lane(lanes.left_lane, original_points.at(i))) { - path.points.push_back(original_points.at(i)); - continue; - } - - // check middle lanes - if (has_same_id_lanes(lanes.middle_lanes, original_points.at(i))) { - path.points.push_back(original_points.at(i)); - continue; - } - - start_point_idx = i; - break; - } - } - - return shorten_lanes; -} - -geometry_msgs::msg::Point calcLongitudinalOffsetStartPoint( - const std::vector & points, const geometry_msgs::msg::Pose & pose, - const size_t nearest_segment_idx, const double offset) -{ - const double offset_length = - motion_utils::calcLongitudinalOffsetToSegment(points, nearest_segment_idx, pose.position); - const auto offset_point = - motion_utils::calcLongitudinalOffsetPoint(points, nearest_segment_idx, offset_length + offset); - - return offset_point ? offset_point.get() : points.at(nearest_segment_idx); -} - -geometry_msgs::msg::Point calcLongitudinalOffsetGoalPoint( - const std::vector & points, const geometry_msgs::msg::Pose & pose, - const size_t nearest_segment_idx, const double offset) -{ - const double offset_length = - motion_utils::calcLongitudinalOffsetToSegment(points, nearest_segment_idx, pose.position); - const auto offset_point = - motion_utils::calcLongitudinalOffsetPoint(points, nearest_segment_idx, offset_length + offset); - - return offset_point ? offset_point.get() : points.at(nearest_segment_idx + 1); -} - -void generateDrivableArea( - PathWithLaneId & path, const std::vector & lanes, - const bool enable_expanding_hatched_road_markings, const bool enable_expanding_intersection_areas, - const double vehicle_length, const std::shared_ptr planner_data, - const bool is_driving_forward) -{ - // extract data - const auto transformed_lanes = utils::transformToLanelets(lanes); - const auto current_pose = planner_data->self_odometry->pose.pose; - const auto route_handler = planner_data->route_handler; - constexpr double overlap_threshold = 0.01; - - if (path.points.empty()) { - return; - } - - auto addPoints = - [](const lanelet::ConstLineString3d & points, std::vector & bound) { - for (const auto & bound_p : points) { - const auto cp = lanelet::utils::conversion::toGeomMsgPt(bound_p); - if (bound.empty()) { - bound.push_back(cp); - } else if (tier4_autoware_utils::calcDistance2d(cp, bound.back()) > overlap_threshold) { - bound.push_back(cp); - } - } - }; - - const auto has_overlap = - [&](const lanelet::ConstLanelet & lane, const lanelet::ConstLanelets & ignore_lanelets = {}) { - for (const auto & transformed_lane : transformed_lanes) { - if (checkHasSameLane(ignore_lanelets, transformed_lane)) { - continue; - } - if (boost::geometry::intersects( - lane.polygon2d().basicPolygon(), transformed_lane.polygon2d().basicPolygon())) { - return true; - } - } - return false; - }; - - // Insert Position - auto left_bound = calcBound( - route_handler, lanes, enable_expanding_hatched_road_markings, - enable_expanding_intersection_areas, true); - auto right_bound = calcBound( - route_handler, lanes, enable_expanding_hatched_road_markings, - enable_expanding_intersection_areas, false); - - if (left_bound.empty() || right_bound.empty()) { - auto clock{rclcpp::Clock{RCL_ROS_TIME}}; - RCLCPP_ERROR_STREAM_THROTTLE( - rclcpp::get_logger("behavior_path_planner").get_child("utils"), clock, 1000, - "The right or left bound of drivable area is empty"); - return; - } - - // Insert points after goal - lanelet::ConstLanelet goal_lanelet; - if ( - route_handler->getGoalLanelet(&goal_lanelet) && - checkHasSameLane(transformed_lanes, goal_lanelet)) { - const auto lanes_after_goal = route_handler->getLanesAfterGoal(vehicle_length); - const auto next_lanes_after_goal = route_handler->getNextLanelets(goal_lanelet); - const auto goal_left_lanelet = route_handler->getLeftLanelet(goal_lanelet); - const auto goal_right_lanelet = route_handler->getRightLanelet(goal_lanelet); - lanelet::ConstLanelets goal_lanelets = {goal_lanelet}; - if (goal_left_lanelet) { - goal_lanelets.push_back(*goal_left_lanelet); - } - if (goal_right_lanelet) { - goal_lanelets.push_back(*goal_right_lanelet); - } - - for (const auto & lane : lanes_after_goal) { - // If lane is already in the transformed lanes, ignore it - if (checkHasSameLane(transformed_lanes, lane)) { - continue; - } - // Check if overlapped - const bool is_overlapped = - (checkHasSameLane(next_lanes_after_goal, lane) ? has_overlap(lane, goal_lanelets) - : has_overlap(lane)); - if (is_overlapped) { - continue; - } - - addPoints(lane.leftBound3d(), left_bound); - addPoints(lane.rightBound3d(), right_bound); - } - } - - if (!is_driving_forward) { - std::reverse(left_bound.begin(), left_bound.end()); - std::reverse(right_bound.begin(), right_bound.end()); - } - - path.left_bound.clear(); - path.right_bound.clear(); - - const auto [left_start_idx, right_start_idx] = [&]() { - const size_t current_seg_idx = planner_data->findEgoSegmentIndex(path.points); - const auto cropped_path_points = motion_utils::cropPoints( - path.points, current_pose.position, current_seg_idx, - planner_data->parameters.forward_path_length, - planner_data->parameters.backward_path_length + planner_data->parameters.input_path_interval); - - constexpr double front_length = 0.5; - const auto front_pose = - cropped_path_points.empty() ? current_pose : cropped_path_points.front().point.pose; - const size_t front_left_start_idx = - findNearestSegmentIndexFromLateralDistance(left_bound, front_pose.position); - const size_t front_right_start_idx = - findNearestSegmentIndexFromLateralDistance(right_bound, front_pose.position); - const auto left_start_point = - calcLongitudinalOffsetStartPoint(left_bound, front_pose, front_left_start_idx, -front_length); - const auto right_start_point = calcLongitudinalOffsetStartPoint( - right_bound, front_pose, front_right_start_idx, -front_length); - const size_t left_start_idx = - findNearestSegmentIndexFromLateralDistance(left_bound, left_start_point); - const size_t right_start_idx = - findNearestSegmentIndexFromLateralDistance(right_bound, right_start_point); - - // Insert a start point - path.left_bound.push_back(left_start_point); - path.right_bound.push_back(right_start_point); - - return std::make_pair(left_start_idx, right_start_idx); - }(); - - // Get Closest segment for the goal point - const auto goal_pose = path.points.empty() ? current_pose : path.points.back().point.pose; - const size_t goal_left_start_idx = - findNearestSegmentIndexFromLateralDistance(left_bound, goal_pose.position); - const size_t goal_right_start_idx = - findNearestSegmentIndexFromLateralDistance(right_bound, goal_pose.position); - const auto left_goal_point = - calcLongitudinalOffsetGoalPoint(left_bound, goal_pose, goal_left_start_idx, vehicle_length); - const auto right_goal_point = - calcLongitudinalOffsetGoalPoint(right_bound, goal_pose, goal_right_start_idx, vehicle_length); - const size_t left_goal_idx = std::max( - goal_left_start_idx, findNearestSegmentIndexFromLateralDistance(left_bound, left_goal_point)); - const size_t right_goal_idx = std::max( - goal_right_start_idx, - findNearestSegmentIndexFromLateralDistance(right_bound, right_goal_point)); - - // Insert middle points - for (size_t i = left_start_idx + 1; i <= left_goal_idx; ++i) { - const auto & next_point = left_bound.at(i); - const double dist = tier4_autoware_utils::calcDistance2d(path.left_bound.back(), next_point); - if (dist > overlap_threshold) { - path.left_bound.push_back(next_point); - } - } - for (size_t i = right_start_idx + 1; i <= right_goal_idx; ++i) { - const auto & next_point = right_bound.at(i); - const double dist = tier4_autoware_utils::calcDistance2d(path.right_bound.back(), next_point); - if (dist > overlap_threshold) { - path.right_bound.push_back(next_point); - } - } - - // Insert a goal point - if ( - tier4_autoware_utils::calcDistance2d(path.left_bound.back(), left_goal_point) > - overlap_threshold) { - path.left_bound.push_back(left_goal_point); - } - if ( - tier4_autoware_utils::calcDistance2d(path.right_bound.back(), right_goal_point) > - overlap_threshold) { - path.right_bound.push_back(right_goal_point); - } - const auto & expansion_params = planner_data->drivable_area_expansion_parameters; - if (expansion_params.enabled) { - drivable_area_expansion::expand_drivable_area(path, planner_data); - } - - // make bound longitudinally monotonic - // TODO(Murooka) Fix makeBoundLongitudinallyMonotonic - if ( - is_driving_forward && - (enable_expanding_hatched_road_markings || enable_expanding_intersection_areas)) { - makeBoundLongitudinallyMonotonic(path, planner_data, true); // for left bound - makeBoundLongitudinallyMonotonic(path, planner_data, false); // for right bound - } -} - -std::vector getBoundWithHatchedRoadMarkings( - const std::vector & original_bound, - const std::shared_ptr & route_handler) -{ - // a function to get polygon with a designated point id - const auto get_corresponding_polygon_index = - [&](const auto & polygon, const auto & target_point_id) { - for (size_t poly_point_idx = 0; poly_point_idx < polygon.size(); ++poly_point_idx) { - if (polygon[poly_point_idx].id() == target_point_id) { - // NOTE: If there are duplicated points in polygon, the early one will be returned. - return poly_point_idx; - } - } - // This means calculation has some errors. - return polygon.size() - 1; - }; - - const auto mod = [&](const int a, const int b) { - return (a + b) % b; // NOTE: consider negative value - }; - - std::vector expanded_bound{}; - - std::optional current_polygon{std::nullopt}; - std::vector current_polygon_border_indices; - // expand drivable area by hatched road markings. - for (size_t bound_point_idx = 0; bound_point_idx < original_bound.size(); ++bound_point_idx) { - const auto & bound_point = original_bound[bound_point_idx]; - const auto polygon = getPolygonByPoint(route_handler, bound_point, "hatched_road_markings"); - - bool will_close_polygon{false}; - if (!current_polygon) { - if (!polygon) { - expanded_bound.push_back(bound_point); - } else { - // There is a new additional polygon to expand - current_polygon = polygon; - current_polygon_border_indices.push_back( - get_corresponding_polygon_index(*current_polygon, bound_point.id())); - } - } else { - if (!polygon) { - will_close_polygon = true; - } else { - current_polygon_border_indices.push_back( - get_corresponding_polygon_index(*current_polygon, bound_point.id())); - } - } - - if (bound_point_idx == original_bound.size() - 1 && current_polygon) { - // If drivable lanes ends earlier than polygon, close the polygon - will_close_polygon = true; - } - - if (will_close_polygon) { - // The current additional polygon ends to expand - if (current_polygon_border_indices.size() == 1) { - expanded_bound.push_back((*current_polygon)[current_polygon_border_indices.front()]); - } else { - const size_t current_polygon_points_num = current_polygon->size(); - const bool is_polygon_opposite_direction = [&]() { - const size_t modulo_diff = mod( - static_cast(current_polygon_border_indices[1]) - - static_cast(current_polygon_border_indices[0]), - current_polygon_points_num); - return modulo_diff == 1; - }(); - - const int target_points_num = - current_polygon_points_num - current_polygon_border_indices.size() + 1; - for (int poly_idx = 0; poly_idx <= target_points_num; ++poly_idx) { - const int target_poly_idx = current_polygon_border_indices.front() + - poly_idx * (is_polygon_opposite_direction ? -1 : 1); - expanded_bound.push_back( - (*current_polygon)[mod(target_poly_idx, current_polygon_points_num)]); - } - } - current_polygon = std::nullopt; - current_polygon_border_indices.clear(); - } - } - - return expanded_bound; -} - -std::vector getBoundWithIntersectionAreas( - const std::vector & original_bound, - const std::shared_ptr & route_handler, - const std::vector & drivable_lanes, const bool is_left) -{ - const auto extract_bound_from_polygon = - [](const auto & polygon, const auto start_idx, const auto end_idx, const auto clockwise) { - std::vector ret{}; - for (size_t i = start_idx; i != end_idx; i = clockwise ? i + 1 : i - 1) { - ret.push_back(polygon[i]); - - if (i + 1 == polygon.size() && clockwise) { - if (end_idx == 0) { - ret.push_back(polygon[end_idx]); - return ret; - } - i = 0; - continue; - } - - if (i == 0 && !clockwise) { - if (end_idx == polygon.size() - 1) { - ret.push_back(polygon[end_idx]); - return ret; - } - i = polygon.size() - 1; - continue; - } - } - - ret.push_back(polygon[end_idx]); - - return ret; - }; - - std::vector expanded_bound = original_bound; - - // expand drivable area by using intersection area. - for (const auto & drivable_lane : drivable_lanes) { - const auto edge_lanelet = is_left ? drivable_lane.left_lane : drivable_lane.right_lane; - const auto lanelet_bound = is_left ? edge_lanelet.leftBound3d() : edge_lanelet.rightBound3d(); - - if (lanelet_bound.size() < 2) { - continue; - } - - const std::string id = edge_lanelet.attributeOr("intersection_area", "else"); - if (id == "else") { - continue; - } - - // Step1. extract intersection partial bound. - std::vector intersection_bound{}; - { - const auto polygon = - route_handler->getLaneletMapPtr()->polygonLayer.get(std::atoi(id.c_str())); - - const auto is_clockwise_polygon = - boost::geometry::is_valid(lanelet::utils::to2D(polygon.basicPolygon())); - const auto is_clockwise_iteration = is_clockwise_polygon ? is_left : !is_left; - - const auto intersection_bound_itr_init = std::find_if( - polygon.begin(), polygon.end(), - [&lanelet_bound](const auto & p) { return p.id() == lanelet_bound.front().id(); }); - - const auto intersection_bound_itr_last = std::find_if( - polygon.begin(), polygon.end(), - [&lanelet_bound](const auto & p) { return p.id() == lanelet_bound.back().id(); }); - - if ( - intersection_bound_itr_init == polygon.end() || - intersection_bound_itr_last == polygon.end()) { - continue; - } - - // extract line strings between start_idx and end_idx. - const size_t start_idx = std::distance(polygon.begin(), intersection_bound_itr_init); - const size_t end_idx = std::distance(polygon.begin(), intersection_bound_itr_last); - - intersection_bound = - extract_bound_from_polygon(polygon, start_idx, end_idx, is_clockwise_iteration); - } - - // Step2. check shared bound point. - const auto shared_point_itr_init = - std::find_if(expanded_bound.begin(), expanded_bound.end(), [&](const auto & p) { - return std::any_of( - intersection_bound.begin(), intersection_bound.end(), - [&](const auto & point) { return point.id() == p.id(); }); - }); - - const auto shared_point_itr_last = - std::find_if(expanded_bound.rbegin(), expanded_bound.rend(), [&](const auto & p) { - return std::any_of( - intersection_bound.rbegin(), intersection_bound.rend(), - [&](const auto & point) { return point.id() == p.id(); }); - }); - - if ( - shared_point_itr_init == expanded_bound.end() || - shared_point_itr_last == expanded_bound.rend()) { - continue; - } - - // Step3. overwrite duplicate drivable bound by intersection bound. - { - const auto trim_point_itr_init = std::find_if( - intersection_bound.begin(), intersection_bound.end(), - [&](const auto & p) { return p.id() == shared_point_itr_init->id(); }); - - const auto trim_point_itr_last = std::find_if( - intersection_bound.begin(), intersection_bound.end(), - [&](const auto & p) { return p.id() == shared_point_itr_last->id(); }); - - if ( - trim_point_itr_init == intersection_bound.end() || - trim_point_itr_last == intersection_bound.end()) { - continue; - } - - // TODO(Satoshi OTA): remove this guard. - if ( - std::distance(intersection_bound.begin(), trim_point_itr_last) < - std::distance(intersection_bound.begin(), trim_point_itr_init)) { - continue; - } - - std::vector tmp_bound{}; - - tmp_bound.insert(tmp_bound.end(), expanded_bound.begin(), shared_point_itr_init); - tmp_bound.insert(tmp_bound.end(), trim_point_itr_init, trim_point_itr_last); - tmp_bound.insert( - tmp_bound.end(), std::next(shared_point_itr_last).base(), expanded_bound.end()); - - expanded_bound = tmp_bound; - } - } - - return expanded_bound; -} - -// calculate bounds from drivable lanes and hatched road markings -std::vector calcBound( - const std::shared_ptr route_handler, - const std::vector & drivable_lanes, - const bool enable_expanding_hatched_road_markings, const bool enable_expanding_intersection_areas, - const bool is_left) -{ - // a function to convert drivable lanes to points without duplicated points - const auto convert_to_points = [&](const std::vector & drivable_lanes) { - constexpr double overlap_threshold = 0.01; - - std::vector points; - for (const auto & drivable_lane : drivable_lanes) { - const auto bound = - is_left ? drivable_lane.left_lane.leftBound3d() : drivable_lane.right_lane.rightBound3d(); - for (const auto & point : bound) { - if ( - points.empty() || - overlap_threshold < (points.back().basicPoint2d() - point.basicPoint2d()).norm()) { - points.push_back(point); - } - } - } - return points; - }; - - const auto to_ros_point = [](const std::vector & bound) { - std::vector ret{}; - std::for_each(bound.begin(), bound.end(), [&](const auto & p) { - ret.push_back(lanelet::utils::conversion::toGeomMsgPt(p)); - }); - return ret; - }; - - // Step1. create drivable bound from drivable lanes. - std::vector bound_points = convert_to_points(drivable_lanes); - - // Step2. if there is no drivable area defined by polygon, return original drivable bound. - if (!enable_expanding_hatched_road_markings && !enable_expanding_intersection_areas) { - return motion_utils::removeOverlapPoints(to_ros_point(bound_points)); - } - - // Step3. if there are hatched road markings, expand drivable bound with the polygon. - if (enable_expanding_hatched_road_markings) { - bound_points = getBoundWithHatchedRoadMarkings(bound_points, route_handler); - } - - if (!enable_expanding_intersection_areas) { - return motion_utils::removeOverlapPoints(to_ros_point(bound_points)); - } - - // Step4. if there are intersection areas, expand drivable bound with the polygon. - { - bound_points = - getBoundWithIntersectionAreas(bound_points, route_handler, drivable_lanes, is_left); - } - - return motion_utils::removeOverlapPoints(to_ros_point(bound_points)); -} - -void makeBoundLongitudinallyMonotonic( - PathWithLaneId & path, const std::shared_ptr & planner_data, - const bool is_bound_left) -{ - using motion_utils::findNearestSegmentIndex; - using tier4_autoware_utils::calcAzimuthAngle; - using tier4_autoware_utils::calcDistance2d; - using tier4_autoware_utils::calcOffsetPose; - using tier4_autoware_utils::createQuaternionFromRPY; - using tier4_autoware_utils::getPoint; - using tier4_autoware_utils::getPose; - using tier4_autoware_utils::intersect; - using tier4_autoware_utils::normalizeRadian; - - const auto set_orientation = []( - auto & bound_with_pose, const auto idx, const auto & orientation) { - bound_with_pose.at(idx).orientation = orientation; - }; - - const auto get_intersect_idx = []( - const auto & bound_with_pose, const auto start_idx, - const auto & p1, const auto & p2) -> boost::optional { - std::vector> intersects; - for (size_t i = start_idx; i < bound_with_pose.size() - 1; i++) { - const auto opt_intersect = - intersect(p1, p2, bound_with_pose.at(i).position, bound_with_pose.at(i + 1).position); - - if (!opt_intersect) { - continue; - } - - intersects.emplace_back(i, *opt_intersect); - } - - if (intersects.empty()) { - return boost::none; - } - - std::sort(intersects.begin(), intersects.end(), [&](const auto & a, const auto & b) { - return calcDistance2d(p1, a.second) < calcDistance2d(p1, b.second); - }); - - return intersects.front().first; - }; - - const auto get_bound_with_pose = [&](const auto & bound_with_pose, const auto & path_points) { - auto ret = bound_with_pose; - - const double offset = is_bound_left ? 100.0 : -100.0; - - size_t start_bound_idx = 0; - - const size_t start_path_idx = - findNearestSegmentIndex(path_points, bound_with_pose.front().position); - - // append bound point with point - for (size_t i = start_path_idx + 1; i < path_points.size(); i++) { - const auto p_path_offset = calcOffsetPose(getPose(path_points.at(i)), 0.0, offset, 0.0); - const auto intersect_idx = get_intersect_idx( - bound_with_pose, start_bound_idx, getPoint(path_points.at(i)), getPoint(p_path_offset)); - - if (!intersect_idx) { - continue; - } - - if (i + 1 == path_points.size()) { - for (size_t j = intersect_idx.get(); j < bound_with_pose.size(); j++) { - if (j + 1 == bound_with_pose.size()) { - const auto yaw = - calcAzimuthAngle(bound_with_pose.at(j - 1).position, bound_with_pose.at(j).position); - set_orientation(ret, j, createQuaternionFromRPY(0.0, 0.0, yaw)); - } else { - const auto yaw = - calcAzimuthAngle(bound_with_pose.at(j).position, bound_with_pose.at(j + 1).position); - set_orientation(ret, j, createQuaternionFromRPY(0.0, 0.0, yaw)); - } - } - } else { - for (size_t j = intersect_idx.get() + 1; j < bound_with_pose.size(); j++) { - set_orientation(ret, j, getPose(path_points.at(i)).orientation); - } - } - - constexpr size_t OVERLAP_CHECK_NUM = 3; - start_bound_idx = - intersect_idx.get() < OVERLAP_CHECK_NUM ? 0 : intersect_idx.get() - OVERLAP_CHECK_NUM; - } - - return ret; - }; - - const auto is_non_monotonic = [&]( - const auto & base_pose, const auto & point, - const auto is_points_left, const auto is_reverse) { - const auto p_transformed = tier4_autoware_utils::inverseTransformPoint(point, base_pose); - if (p_transformed.x < 0.0 && p_transformed.y > 0.0) { - return is_points_left && !is_reverse; + lanelet::ConstLanelet goal_lane; + const bool is_failed_getting_lanelet = std::invoke([&]() { + if (utils::isInLanelets(goal_pose, shoulder_lanes)) { + return !lanelet::utils::query::getClosestLanelet(shoulder_lanes, goal_pose, &goal_lane); } + return !route_handler->getGoalLanelet(&goal_lane); + }); + if (is_failed_getting_lanelet) { + RCLCPP_WARN_STREAM( + rclcpp::get_logger("behavior_path_planner").get_child("util"), "cannot find goal lanelet"); + return true; + } - if (p_transformed.x < 0.0 && p_transformed.y < 0.0) { - return !is_points_left && !is_reverse; + // If ego vehicle is over goal on goal lane, return true + const double yaw_threshold = tier4_autoware_utils::deg2rad(90); + if (isInLaneletWithYawThreshold(self_pose, goal_lane, yaw_threshold)) { + constexpr double buffer = 1.0; + const auto ego_arc_coord = lanelet::utils::getArcCoordinates({goal_lane}, self_pose); + const auto goal_arc_coord = + lanelet::utils::getArcCoordinates({goal_lane}, route_handler->getGoalPose()); + if (ego_arc_coord.length > goal_arc_coord.length + buffer) { + return true; + } else { + return false; } + } - if (p_transformed.x > 0.0 && p_transformed.y > 0.0) { - return is_points_left && is_reverse; + // If ego vehicle is out of the closest lanelet, return true + // Check if ego vehicle is in shoulder lane + const bool is_in_shoulder_lane = std::invoke([&]() { + lanelet::Lanelet closest_shoulder_lanelet; + if (!lanelet::utils::query::getClosestLanelet( + shoulder_lanes, self_pose, &closest_shoulder_lanelet)) { + return false; } - - if (p_transformed.x > 0.0 && p_transformed.y < 0.0) { - return !is_points_left && is_reverse; + return lanelet::utils::isInLanelet(self_pose, closest_shoulder_lanelet); + }); + // Check if ego vehicle is in road lane + const bool is_in_road_lane = std::invoke([&]() { + lanelet::ConstLanelet closest_road_lane; + if (!route_handler->getClosestLaneletWithinRoute(self_pose, &closest_road_lane)) { + RCLCPP_WARN_STREAM( + rclcpp::get_logger("behavior_path_planner").get_child("util"), + "cannot find closest road lanelet"); + return false; } - return false; - }; - - // define a function to remove non monotonic point on bound - const auto remove_non_monotonic_point = [&](const auto & bound_with_pose, const bool is_reverse) { - std::vector monotonic_bound; - - size_t bound_idx = 0; - while (true) { - monotonic_bound.push_back(bound_with_pose.at(bound_idx)); - - if (bound_idx + 1 == bound_with_pose.size()) { - break; - } - - // NOTE: is_bound_left is used instead of is_points_left since orientation of path point is - // opposite. - const double lat_offset = is_bound_left ? 100.0 : -100.0; - - const auto p_bound_1 = getPose(bound_with_pose.at(bound_idx)); - const auto p_bound_2 = getPose(bound_with_pose.at(bound_idx + 1)); - - const auto p_bound_offset = calcOffsetPose(p_bound_1, 0.0, lat_offset, 0.0); - - if (!is_non_monotonic(p_bound_1, p_bound_2.position, is_bound_left, is_reverse)) { - bound_idx++; - continue; - } + if (lanelet::utils::isInLanelet(self_pose, closest_road_lane)) { + return true; + } - // skip non monotonic points - for (size_t i = bound_idx + 1; i < bound_with_pose.size() - 1; ++i) { - const auto intersect_point = intersect( - p_bound_1.position, p_bound_offset.position, bound_with_pose.at(i).position, - bound_with_pose.at(i + 1).position); - - if (intersect_point) { - Pose pose; - pose.position = *intersect_point; - pose.position.z = bound_with_pose.at(i).position.z; - const auto yaw = calcAzimuthAngle(*intersect_point, bound_with_pose.at(i + 1).position); - pose.orientation = createQuaternionFromRPY(0.0, 0.0, yaw); - monotonic_bound.push_back(pose); - bound_idx = i; - break; - } + // check previous lanes for backward driving (e.g. pull out) + const auto prev_lanes = route_handler->getPreviousLanelets(closest_road_lane); + for (const auto & lane : prev_lanes) { + if (lanelet::utils::isInLanelet(self_pose, lane)) { + return true; } - - bound_idx++; } - return monotonic_bound; - }; - - const auto remove_orientation = [](const auto & bound_with_pose) { - std::vector ret; - - ret.reserve(bound_with_pose.size()); + return false; + }); + if (!is_in_shoulder_lane && !is_in_road_lane) { + return true; + } - std::for_each(bound_with_pose.begin(), bound_with_pose.end(), [&ret](const auto & p) { - ret.push_back(p.position); - }); + return false; +} - return ret; - }; +bool isEgoWithinOriginalLane( + const lanelet::ConstLanelets & current_lanes, const Pose & current_pose, + const BehaviorPathPlannerParameters & common_param, const double outer_margin) +{ + const auto lane_length = lanelet::utils::getLaneletLength2d(current_lanes); + const auto lane_poly = lanelet::utils::getPolygonFromArcLength(current_lanes, 0, lane_length); + const auto base_link2front = common_param.base_link2front; + const auto base_link2rear = common_param.base_link2rear; + const auto vehicle_width = common_param.vehicle_width; + const auto vehicle_poly = + tier4_autoware_utils::toFootprint(current_pose, base_link2front, base_link2rear, vehicle_width); - const auto remove_sharp_points = [](const auto & bound) { - if (bound.size() < 2) { - return bound; + // Check if the ego vehicle is entirely within the lane with a given outer margin. + for (const auto & p : vehicle_poly.outer()) { + // When the point is in the polygon, the distance is 0. When it is out of the polygon, return a + // positive value. + const auto dist = boost::geometry::distance(p, lanelet::utils::to2D(lane_poly).basicPolygon()); + if (dist > std::max(outer_margin, 0.0)) { + return false; // out of polygon } + } - std::vector ret = bound; - auto itr = std::next(ret.begin()); - while (std::next(itr) != ret.end()) { - if (itr == ret.begin()) { - itr++; - continue; - } - - const auto p1 = *std::prev(itr); - const auto p2 = *itr; - const auto p3 = *std::next(itr); - - const std::vector vec_1to2 = {p2.x - p1.x, p2.y - p1.y, p2.z - p1.z}; - const std::vector vec_3to2 = {p2.x - p3.x, p2.y - p3.y, p2.z - p3.z}; - const auto product = - std::inner_product(vec_1to2.begin(), vec_1to2.end(), vec_3to2.begin(), 0.0); - - const auto dist_1to2 = tier4_autoware_utils::calcDistance3d(p1, p2); - const auto dist_3to2 = tier4_autoware_utils::calcDistance3d(p3, p2); - - constexpr double epsilon = 1e-3; - - // Remove overlapped point. - if (dist_1to2 < epsilon || dist_3to2 < epsilon) { - itr = std::prev(ret.erase(itr)); - continue; - } - - // If the angle between the points is sharper than 45 degrees, remove the middle point. - if (std::cos(M_PI_4) < product / dist_1to2 / dist_3to2 + epsilon) { - itr = std::prev(ret.erase(itr)); - continue; - } + return true; // inside polygon +} - itr++; - } +lanelet::ConstLanelets transformToLanelets(const DrivableLanes & drivable_lanes) +{ + lanelet::ConstLanelets lanes; - return ret; + const auto has_same_lane = [&](const auto & lane) { + if (lanes.empty()) return false; + const auto has_same = [&](const auto & ll) { return ll.id() == lane.id(); }; + return std::find_if(lanes.begin(), lanes.end(), has_same) != lanes.end(); }; - const auto original_bound = is_bound_left ? path.left_bound : path.right_bound; - - if (path.points.empty()) { - return; - } - - if (original_bound.empty()) { - return; + lanes.push_back(drivable_lanes.right_lane); + if (!has_same_lane(drivable_lanes.left_lane)) { + lanes.push_back(drivable_lanes.left_lane); } - if (path.points.front().lane_ids.empty()) { - return; + for (const auto & ml : drivable_lanes.middle_lanes) { + if (!has_same_lane(ml)) { + lanes.push_back(ml); + } } - // step.1 create bound with pose vector. - std::vector original_bound_with_pose; - { - original_bound_with_pose.reserve(original_bound.size()); + return lanes; +} - std::for_each(original_bound.begin(), original_bound.end(), [&](const auto & p) { - Pose pose; - pose.position = p; - original_bound_with_pose.push_back(pose); - }); +lanelet::ConstLanelets transformToLanelets(const std::vector & drivable_lanes) +{ + lanelet::ConstLanelets lanes; - for (size_t i = 0; i < original_bound_with_pose.size(); i++) { - if (i + 1 == original_bound_with_pose.size()) { - const auto yaw = calcAzimuthAngle( - original_bound_with_pose.at(i - 1).position, original_bound_with_pose.at(i).position); - set_orientation(original_bound_with_pose, i, createQuaternionFromRPY(0.0, 0.0, yaw)); - } else { - const auto yaw = calcAzimuthAngle( - original_bound_with_pose.at(i).position, original_bound_with_pose.at(i + 1).position); - set_orientation(original_bound_with_pose, i, createQuaternionFromRPY(0.0, 0.0, yaw)); - } - } + for (const auto & drivable_lane : drivable_lanes) { + const auto transformed_lane = transformToLanelets(drivable_lane); + lanes.insert(lanes.end(), transformed_lane.begin(), transformed_lane.end()); } - // step.2 get base pose vector. - std::vector clipped_points; - { - const auto & route_handler = planner_data->route_handler; - const auto p = planner_data->parameters; - const auto start_id = path.points.front().lane_ids.front(); - const auto start_lane = planner_data->route_handler->getLaneletsFromId(start_id); - - const auto lanelet_sequence = - route_handler->getLaneletSequence(start_lane, p.backward_path_length, p.forward_path_length); - const auto centerline_path = getCenterLinePath( - *route_handler, lanelet_sequence, getPose(path.points.front()), p.backward_path_length, - p.forward_path_length, p); - - if (centerline_path.points.size() < 2) { - return; - } - - const auto ego_idx = planner_data->findEgoIndex(centerline_path.points); - const auto end_idx = findNearestSegmentIndex(centerline_path.points, original_bound.back()); + return lanes; +} - if (ego_idx >= end_idx) { - return; +boost::optional getRightLanelet( + const lanelet::ConstLanelet & current_lane, const lanelet::ConstLanelets & shoulder_lanes) +{ + for (const auto & shoulder_lane : shoulder_lanes) { + if (shoulder_lane.leftBound().id() == current_lane.rightBound().id()) { + return shoulder_lane; } - - clipped_points.insert( - clipped_points.end(), centerline_path.points.begin() + ego_idx, - centerline_path.points.begin() + end_idx + 1); - } - - if (clipped_points.empty()) { - return; } - // step.3 update bound pose by reference path pose. - const auto updated_bound_with_pose = - get_bound_with_pose(original_bound_with_pose, clipped_points); // for reverse - - // step.4 create remove monotonic points by forward direction. - auto half_monotonic_bound_with_pose = - remove_non_monotonic_point(updated_bound_with_pose, false); // for reverse - std::reverse(half_monotonic_bound_with_pose.begin(), half_monotonic_bound_with_pose.end()); - - // step.5 create remove monotonic points by backward direction. - auto full_monotonic_bound_with_pose = - remove_non_monotonic_point(half_monotonic_bound_with_pose, true); - std::reverse(full_monotonic_bound_with_pose.begin(), full_monotonic_bound_with_pose.end()); - - // step.6 remove orientation from bound with pose. - auto full_monotonic_bound = remove_orientation(full_monotonic_bound_with_pose); - - // step.7 remove sharp bound points. - if (is_bound_left) { - path.left_bound = remove_sharp_points(full_monotonic_bound); - } else { - path.right_bound = remove_sharp_points(full_monotonic_bound); - } + return {}; } -// generate drivable area by expanding path for freespace -void generateDrivableArea( - PathWithLaneId & path, const double vehicle_length, const double offset, - const bool is_driving_forward) +boost::optional getLeftLanelet( + const lanelet::ConstLanelet & current_lane, const lanelet::ConstLanelets & shoulder_lanes) { - using tier4_autoware_utils::calcOffsetPose; - - // remove path points which is close to the previous point - PathWithLaneId resampled_path{}; - const double resample_interval = 2.0; - for (size_t i = 0; i < path.points.size(); ++i) { - if (i == 0) { - resampled_path.points.push_back(path.points.at(i)); - } else { - const auto & prev_point = resampled_path.points.back().point.pose.position; - const auto & curr_point = path.points.at(i).point.pose.position; - const double signed_arc_length = - motion_utils::calcSignedArcLength(path.points, prev_point, curr_point); - if (signed_arc_length > resample_interval) { - resampled_path.points.push_back(path.points.at(i)); - } + for (const auto & shoulder_lane : shoulder_lanes) { + if (shoulder_lane.rightBound().id() == current_lane.leftBound().id()) { + return shoulder_lane; } } - // add last point of path if enough far from the one of resampled path - constexpr double th_last_point_distance = 0.3; - if ( - tier4_autoware_utils::calcDistance2d( - resampled_path.points.back().point.pose.position, path.points.back().point.pose.position) > - th_last_point_distance) { - resampled_path.points.push_back(path.points.back()); - } - - // create bound point by calculating offset point - std::vector left_bound; - std::vector right_bound; - for (const auto & point : resampled_path.points) { - const auto & pose = point.point.pose; - - const auto left_point = calcOffsetPose(pose, 0, offset, 0); - const auto right_point = calcOffsetPose(pose, 0, -offset, 0); - - left_bound.push_back(left_point.position); - right_bound.push_back(right_point.position); - } - - if (is_driving_forward) { - // add backward offset point to bound - const Pose first_point = - calcOffsetPose(resampled_path.points.front().point.pose, -vehicle_length, 0, 0); - const Pose left_first_point = calcOffsetPose(first_point, 0, offset, 0); - const Pose right_first_point = calcOffsetPose(first_point, 0, -offset, 0); - left_bound.insert(left_bound.begin(), left_first_point.position); - right_bound.insert(right_bound.begin(), right_first_point.position); - - // add forward offset point to bound - const Pose last_point = - calcOffsetPose(resampled_path.points.back().point.pose, vehicle_length, 0, 0); - const Pose left_last_point = calcOffsetPose(last_point, 0, offset, 0); - const Pose right_last_point = calcOffsetPose(last_point, 0, -offset, 0); - left_bound.push_back(left_last_point.position); - right_bound.push_back(right_last_point.position); - } else { - // add forward offset point to bound - const Pose first_point = - calcOffsetPose(resampled_path.points.front().point.pose, vehicle_length, 0, 0); - const Pose left_first_point = calcOffsetPose(first_point, 0, offset, 0); - const Pose right_first_point = calcOffsetPose(first_point, 0, -offset, 0); - left_bound.insert(left_bound.begin(), left_first_point.position); - right_bound.insert(right_bound.begin(), right_first_point.position); - - // add backward offset point to bound - const Pose last_point = - calcOffsetPose(resampled_path.points.back().point.pose, -vehicle_length, 0, 0); - const Pose left_last_point = calcOffsetPose(last_point, 0, offset, 0); - const Pose right_last_point = calcOffsetPose(last_point, 0, -offset, 0); - left_bound.push_back(left_last_point.position); - right_bound.push_back(right_last_point.position); - } - - if (left_bound.empty() || right_bound.empty()) { - return; - } - - // fix intersected bound - // if bound is intersected, remove them and insert intersection point - typedef boost::geometry::model::d2::point_xy BoostPoint; - typedef boost::geometry::model::linestring LineString; - auto modify_bound_intersection = [](const std::vector & bound) { - const double intersection_check_distance = 10.0; - std::vector modified_bound; - size_t i = 0; - while (i < bound.size() - 1) { - BoostPoint p1(bound.at(i).x, bound.at(i).y); - BoostPoint p2(bound.at(i + 1).x, bound.at(i + 1).y); - LineString p_line; - p_line.push_back(p1); - p_line.push_back(p2); - bool intersection_found = false; - for (size_t j = i + 2; j < bound.size() - 1; j++) { - const double distance = tier4_autoware_utils::calcDistance2d(bound.at(i), bound.at(j)); - if (distance > intersection_check_distance) { - break; - } - LineString q_line; - BoostPoint q1(bound.at(j).x, bound.at(j).y); - BoostPoint q2(bound.at(j + 1).x, bound.at(j + 1).y); - q_line.push_back(q1); - q_line.push_back(q2); - std::vector intersection_points; - boost::geometry::intersection(p_line, q_line, intersection_points); - if (intersection_points.size() > 0) { - modified_bound.push_back(bound.at(i)); - Point intersection_point; - intersection_point.x = intersection_points.at(0).x(); - intersection_point.y = intersection_points.at(0).y(); - modified_bound.push_back(intersection_point); - i = j + 1; - intersection_found = true; - break; - } - } - if (!intersection_found) { - modified_bound.push_back(bound.at(i)); - i++; - } - } - modified_bound.push_back(bound.back()); - return modified_bound; - }; - std::vector modified_left_bound = modify_bound_intersection(left_bound); - std::vector modified_right_bound = modify_bound_intersection(right_bound); - // set bound to path - path.left_bound = modified_left_bound; - path.right_bound = modified_right_bound; + return {}; } +// generate drivable area by expanding path for freespace double getDistanceToEndOfLane(const Pose & current_pose, const lanelet::ConstLanelets & lanelets) { const auto & arc_coordinates = lanelet::utils::getArcCoordinates(lanelets, current_pose); @@ -2759,72 +1114,6 @@ std::shared_ptr generateCenterLinePath( return centerline_path; } -// TODO(Azu) Some parts of is the same with generateCenterLinePath. Therefore it might be better if -// we can refactor some of the code for better readability -lanelet::ConstLineStrings3d getMaximumDrivableArea( - const std::shared_ptr & planner_data) -{ - const auto & p = planner_data->parameters; - const auto & route_handler = planner_data->route_handler; - const auto & ego_pose = planner_data->self_odometry->pose.pose; - - lanelet::ConstLanelet current_lane; - if (!route_handler->getClosestLaneletWithinRoute(ego_pose, ¤t_lane)) { - RCLCPP_ERROR( - rclcpp::get_logger("behavior_path_planner").get_child("utils"), - "failed to find closest lanelet within route!!!"); - return {}; - } - - const auto current_lanes = route_handler->getLaneletSequence( - current_lane, ego_pose, p.backward_path_length, p.forward_path_length); - lanelet::ConstLineStrings3d linestring_shared; - for (const auto & lane : current_lanes) { - lanelet::ConstLineStrings3d furthest_line = route_handler->getFurthestLinestring(lane); - linestring_shared.insert(linestring_shared.end(), furthest_line.begin(), furthest_line.end()); - } - - return linestring_shared; -} - -std::vector expandLanelets( - const std::vector & drivable_lanes, const double left_bound_offset, - const double right_bound_offset, const std::vector & types_to_skip) -{ - if (left_bound_offset == 0.0 && right_bound_offset == 0.0) return drivable_lanes; - - std::vector expanded_drivable_lanes{}; - expanded_drivable_lanes.reserve(drivable_lanes.size()); - for (const auto & lanes : drivable_lanes) { - const std::string l_type = - lanes.left_lane.leftBound().attributeOr(lanelet::AttributeName::Type, "none"); - const std::string r_type = - lanes.right_lane.rightBound().attributeOr(lanelet::AttributeName::Type, "none"); - - const bool l_skip = - std::find(types_to_skip.begin(), types_to_skip.end(), l_type) != types_to_skip.end(); - const bool r_skip = - std::find(types_to_skip.begin(), types_to_skip.end(), r_type) != types_to_skip.end(); - const double l_offset = l_skip ? 0.0 : left_bound_offset; - const double r_offset = r_skip ? 0.0 : -right_bound_offset; - - DrivableLanes expanded_lanes; - if (lanes.left_lane.id() == lanes.right_lane.id()) { - expanded_lanes.left_lane = - lanelet::utils::getExpandedLanelet(lanes.left_lane, l_offset, r_offset); - expanded_lanes.right_lane = - lanelet::utils::getExpandedLanelet(lanes.right_lane, l_offset, r_offset); - } else { - expanded_lanes.left_lane = lanelet::utils::getExpandedLanelet(lanes.left_lane, l_offset, 0.0); - expanded_lanes.right_lane = - lanelet::utils::getExpandedLanelet(lanes.right_lane, 0.0, r_offset); - } - expanded_lanes.middle_lanes = lanes.middle_lanes; - expanded_drivable_lanes.push_back(expanded_lanes); - } - return expanded_drivable_lanes; -} - PathWithLaneId getCenterLinePathFromRootLanelet( const lanelet::ConstLanelet & root_lanelet, const std::shared_ptr & planner_data) @@ -2937,58 +1226,6 @@ PathWithLaneId setDecelerationVelocity( return reference_path; } -BehaviorModuleOutput getReferencePath( - const lanelet::ConstLanelet & current_lane, - const std::shared_ptr & planner_data) -{ - PathWithLaneId reference_path{}; - - const auto & route_handler = planner_data->route_handler; - const auto current_pose = planner_data->self_odometry->pose.pose; - const auto p = planner_data->parameters; - - // Set header - reference_path.header = route_handler->getRouteHeader(); - - // calculate path with backward margin to avoid end points' instability by spline interpolation - constexpr double extra_margin = 10.0; - const double backward_length = p.backward_path_length + extra_margin; - const auto current_lanes_with_backward_margin = - route_handler->getLaneletSequence(current_lane, backward_length, p.forward_path_length); - const auto no_shift_pose = - lanelet::utils::getClosestCenterPose(current_lane, current_pose.position); - reference_path = getCenterLinePath( - *route_handler, current_lanes_with_backward_margin, no_shift_pose, backward_length, - p.forward_path_length, p); - - // clip backward length - // NOTE: In order to keep backward_path_length at least, resampling interval is added to the - // backward. - const size_t current_seg_idx = motion_utils::findFirstNearestSegmentIndexWithSoftConstraints( - reference_path.points, no_shift_pose, p.ego_nearest_dist_threshold, - p.ego_nearest_yaw_threshold); - reference_path.points = motion_utils::cropPoints( - reference_path.points, no_shift_pose.position, current_seg_idx, p.forward_path_length, - p.backward_path_length + p.input_path_interval); - - const auto drivable_lanelets = getLaneletsFromPath(reference_path, route_handler); - const auto drivable_lanes = generateDrivableLanes(drivable_lanelets); - - const auto & dp = planner_data->drivable_area_expansion_parameters; - - const auto shorten_lanes = cutOverlappedLanes(reference_path, drivable_lanes); - const auto expanded_lanes = expandLanelets( - shorten_lanes, dp.drivable_area_left_bound_offset, dp.drivable_area_right_bound_offset, - dp.drivable_area_types_to_skip); - - BehaviorModuleOutput output; - output.path = std::make_shared(reference_path); - output.reference_path = std::make_shared(reference_path); - output.drivable_area_info.drivable_lanes = drivable_lanes; - - return output; -} - std::uint8_t getHighestProbLabel(const std::vector & classification) { std::uint8_t label = ObjectClassification::UNKNOWN; @@ -3339,192 +1576,4 @@ std::string convertToSnakeCase(const std::string & input_str) } return output_str; } - -std::vector combineDrivableLanes( - const std::vector & original_drivable_lanes_vec, - const std::vector & new_drivable_lanes_vec) -{ - const auto has_same_lane = - [](const lanelet::ConstLanelet & target_lane, const lanelet::ConstLanelets & lanes) { - return std::find_if(lanes.begin(), lanes.end(), [&](const auto & ll) { - return ll.id() == target_lane.id(); - }) != lanes.end(); - }; - - const auto convert_to_lanes = [](const DrivableLanes & drivable_lanes) { - auto lanes = drivable_lanes.middle_lanes; - lanes.push_back(drivable_lanes.right_lane); - lanes.push_back(drivable_lanes.left_lane); - return lanes; - }; - - auto updated_drivable_lanes_vec = original_drivable_lanes_vec; - size_t new_drivable_lanes_idx = 0; - for (auto & updated_drivable_lanes : updated_drivable_lanes_vec) { - // calculated corresponding index of new_drivable_lanes - const auto opt_new_drivable_lanes_idx = [&]() -> std::optional { - for (size_t n_idx = 0; n_idx < new_drivable_lanes_vec.size(); ++n_idx) { - for (const auto & ll : convert_to_lanes(updated_drivable_lanes)) { - if (has_same_lane(ll, convert_to_lanes(new_drivable_lanes_vec.at(n_idx)))) { - return n_idx; - } - } - } - return std::nullopt; - }(); - if (!opt_new_drivable_lanes_idx) { - continue; - } - new_drivable_lanes_idx = *opt_new_drivable_lanes_idx; - const auto & new_drivable_lanes = new_drivable_lanes_vec.at(new_drivable_lanes_idx); - - // update left lane - if (has_same_lane(updated_drivable_lanes.left_lane, convert_to_lanes(new_drivable_lanes))) { - updated_drivable_lanes.left_lane = new_drivable_lanes.left_lane; - } - // update right lane - if (has_same_lane(updated_drivable_lanes.right_lane, convert_to_lanes(new_drivable_lanes))) { - updated_drivable_lanes.right_lane = new_drivable_lanes.right_lane; - } - // update middle lanes - for (const auto & middle_lane : convert_to_lanes(new_drivable_lanes)) { - if (!has_same_lane(middle_lane, convert_to_lanes(updated_drivable_lanes))) { - updated_drivable_lanes.middle_lanes.push_back(middle_lane); - } - } - - // validate middle lanes - auto & middle_lanes = updated_drivable_lanes.middle_lanes; - if (has_same_lane(updated_drivable_lanes.right_lane, middle_lanes)) { - middle_lanes.erase( - std::remove( - std::begin(middle_lanes), std::end(middle_lanes), updated_drivable_lanes.right_lane), - std::cend(middle_lanes)); - } - if (has_same_lane(updated_drivable_lanes.left_lane, middle_lanes)) { - middle_lanes.erase( - std::remove( - std::begin(middle_lanes), std::end(middle_lanes), updated_drivable_lanes.left_lane), - std::cend(middle_lanes)); - } - } - // NOTE: If original_drivable_lanes_vec is shorter than new_drivable_lanes_vec, push back remained - // new_drivable_lanes_vec. - if (new_drivable_lanes_idx + 1 < new_drivable_lanes_vec.size()) { - updated_drivable_lanes_vec.insert( - updated_drivable_lanes_vec.end(), new_drivable_lanes_vec.begin() + new_drivable_lanes_idx + 1, - new_drivable_lanes_vec.end()); - } - - return updated_drivable_lanes_vec; -} - -DrivableAreaInfo combineDrivableAreaInfo( - const DrivableAreaInfo & drivable_area_info1, const DrivableAreaInfo & drivable_area_info2) -{ - DrivableAreaInfo combined_drivable_area_info; - - // drivable lanes - combined_drivable_area_info.drivable_lanes = - combineDrivableLanes(drivable_area_info1.drivable_lanes, drivable_area_info2.drivable_lanes); - - // obstacles - for (const auto & obstacle : drivable_area_info1.obstacles) { - combined_drivable_area_info.obstacles.push_back(obstacle); - } - for (const auto & obstacle : drivable_area_info2.obstacles) { - combined_drivable_area_info.obstacles.push_back(obstacle); - } - - // enable expanding hatched road markings - combined_drivable_area_info.enable_expanding_hatched_road_markings = - drivable_area_info1.enable_expanding_hatched_road_markings || - drivable_area_info2.enable_expanding_hatched_road_markings; - - // enable expanding intersection areas - combined_drivable_area_info.enable_expanding_intersection_areas = - drivable_area_info1.enable_expanding_intersection_areas || - drivable_area_info2.enable_expanding_intersection_areas; - - return combined_drivable_area_info; -} - -// NOTE: Assuming that path.right/left_bound is already created. -void extractObstaclesFromDrivableArea( - PathWithLaneId & path, const std::vector & obstacles) -{ - if (obstacles.empty()) { - return; - } - - std::vector> right_polygons; - std::vector> left_polygons; - for (const auto & obstacle : obstacles) { - const auto & obj_pos = obstacle.pose.position; - - // get edge points of the object - const size_t nearest_path_idx = - motion_utils::findNearestIndex(path.points, obj_pos); // to get z for object polygon - std::vector edge_points; - for (size_t i = 0; i < obstacle.poly.outer().size() - 1; - ++i) { // NOTE: There is a duplicated points - edge_points.push_back(tier4_autoware_utils::createPoint( - obstacle.poly.outer().at(i).x(), obstacle.poly.outer().at(i).y(), - path.points.at(nearest_path_idx).point.pose.position.z)); - } - - // get a boundary that we have to change - const bool is_object_right = !obstacle.is_left; - const auto & bound = is_object_right ? path.right_bound : path.left_bound; - - // get polygon points inside the bounds - const auto inside_polygon = - drivable_area_processing::getPolygonPointsInsideBounds(bound, edge_points, is_object_right); - if (!inside_polygon.empty()) { - if (is_object_right) { - right_polygons.push_back(inside_polygon); - } else { - left_polygons.push_back(inside_polygon); - } - } - } - - for (const bool is_object_right : {true, false}) { - const auto & polygons = is_object_right ? right_polygons : left_polygons; - if (polygons.empty()) { - continue; - } - - // concatenate polygons if they are longitudinal overlapped. - auto unique_polygons = drivable_area_processing::concatenatePolygons(polygons); - - // sort bounds longitudinally - std::sort( - unique_polygons.begin(), unique_polygons.end(), - [](const std::vector & p1, const std::vector & p2) { - return p2.front().is_after(p1.front()); - }); - - // update boundary - auto & bound = is_object_right ? path.right_bound : path.left_bound; - bound = drivable_area_processing::updateBoundary(bound, unique_polygons); - } -} - -lanelet::ConstLanelets combineLanelets( - const lanelet::ConstLanelets & base_lanes, const lanelet::ConstLanelets & added_lanes) -{ - lanelet::ConstLanelets combined_lanes = base_lanes; - for (const auto & added_lane : added_lanes) { - const auto it = std::find_if( - combined_lanes.begin(), combined_lanes.end(), - [&added_lane](const lanelet::ConstLanelet & lane) { return lane.id() == added_lane.id(); }); - if (it == combined_lanes.end()) { - combined_lanes.push_back(added_lane); - } - } - - return combined_lanes; -} - } // namespace behavior_path_planner::utils diff --git a/planning/behavior_path_planner/test/test_utils.cpp b/planning/behavior_path_planner/test/test_utils.cpp index 4eefa27e88806..46e08c6697f65 100644 --- a/planning/behavior_path_planner/test/test_utils.cpp +++ b/planning/behavior_path_planner/test/test_utils.cpp @@ -11,6 +11,7 @@ // 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 "behavior_path_planner/utils/drivable_area_expansion/static_drivable_area.hpp" #include "behavior_path_planner/utils/utils.hpp" #include "input.hpp" #include "lanelet2_core/Attribute.h" diff --git a/planning/static_centerline_optimizer/src/utils.cpp b/planning/static_centerline_optimizer/src/utils.cpp index d5169ac17af8a..ef05f98c368d9 100644 --- a/planning/static_centerline_optimizer/src/utils.cpp +++ b/planning/static_centerline_optimizer/src/utils.cpp @@ -15,7 +15,7 @@ #include "static_centerline_optimizer/utils.hpp" #include "behavior_path_planner/data_manager.hpp" -#include "behavior_path_planner/utils/utils.hpp" +#include "behavior_path_planner/utils/drivable_area_expansion/static_drivable_area.hpp" #include "tier4_autoware_utils/geometry/geometry.hpp" #include "tier4_autoware_utils/ros/marker_helper.hpp" From 691ab7848ac6fa8e383efe564ac2f2bc93669047 Mon Sep 17 00:00:00 2001 From: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> Date: Tue, 21 Nov 2023 10:38:19 +0900 Subject: [PATCH 146/202] perf(image_projection_based_fusion): replace std::bitset (#5603) --- .../src/pointpainting_fusion/voxel_generator.cpp | 10 +++++++--- 1 file changed, 7 insertions(+), 3 deletions(-) diff --git a/perception/image_projection_based_fusion/src/pointpainting_fusion/voxel_generator.cpp b/perception/image_projection_based_fusion/src/pointpainting_fusion/voxel_generator.cpp index f462b9b0ba17a..f1ba163ee69b9 100755 --- a/perception/image_projection_based_fusion/src/pointpainting_fusion/voxel_generator.cpp +++ b/perception/image_projection_based_fusion/src/pointpainting_fusion/voxel_generator.cpp @@ -60,9 +60,13 @@ std::size_t VoxelGenerator::pointsToVoxels( point[2] = point_current.z(); point[3] = time_lag; // decode the class value back to one-hot binary and assign it to point - for (std::size_t i = 1; i <= config_.class_size_; i++) { - auto decode = std::bitset<8>(*class_iter).to_string(); - point[3 + i] = decode[-i] == 1 ? 1 : 0; + std::fill(point.begin() + 4, point.end(), 0); + auto class_value = static_cast(*class_iter); + auto iter = point.begin() + 4; + while (class_value > 0) { + *iter = class_value % 2; + class_value /= 2; + ++iter; } out_of_range = false; From 06af6c17ffc6e1377b368115e883a607a68352fa Mon Sep 17 00:00:00 2001 From: Yoshi Ri Date: Tue, 21 Nov 2023 11:35:21 +0900 Subject: [PATCH 147/202] fix(bytetrack): fix uninteded roi value error due to casting int to uint (#5589) * fix uint32 conversion bug in bytetrack Signed-off-by: yoshiri * refactor outside xy variable --------- Signed-off-by: yoshiri --- perception/bytetrack/src/bytetrack_node.cpp | 16 ++++++++++++---- 1 file changed, 12 insertions(+), 4 deletions(-) diff --git a/perception/bytetrack/src/bytetrack_node.cpp b/perception/bytetrack/src/bytetrack_node.cpp index 358a5053b5d4a..eb5e73312a890 100644 --- a/perception/bytetrack/src/bytetrack_node.cpp +++ b/perception/bytetrack/src/bytetrack_node.cpp @@ -83,10 +83,18 @@ void ByteTrackNode::on_rect( bytetrack::ObjectArray objects = bytetrack_->update_tracker(object_array); for (const auto & tracked_object : objects) { tier4_perception_msgs::msg::DetectedObjectWithFeature object; - object.feature.roi.x_offset = tracked_object.x_offset; - object.feature.roi.y_offset = tracked_object.y_offset; - object.feature.roi.width = tracked_object.width; - object.feature.roi.height = tracked_object.height; + // fit xy offset to 0 if roi is outside of image + const int outside_x = std::max(-tracked_object.x_offset, 0); + const int outside_y = std::max(-tracked_object.y_offset, 0); + const int32_t output_x = std::max(tracked_object.x_offset, 0); + const int32_t output_y = std::max(tracked_object.y_offset, 0); + const int32_t output_width = tracked_object.width - outside_x; + const int32_t output_height = tracked_object.height - outside_y; + // convert int32 to uint32 + object.feature.roi.x_offset = static_cast(output_x); + object.feature.roi.y_offset = static_cast(output_y); + object.feature.roi.width = static_cast(output_width); + object.feature.roi.height = static_cast(output_height); object.object.existence_probability = tracked_object.score; 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b/planning/autoware_static_centerline_generator/test/test_static_centerline_generator.test.py index 07f8f3e30e659..4bb0630d13942 100644 --- a/planning/autoware_static_centerline_generator/test/test_static_centerline_generator.test.py +++ b/planning/autoware_static_centerline_generator/test/test_static_centerline_generator.test.py @@ -38,7 +38,7 @@ def generate_test_description(): output="screen", parameters=[ {"lanelet2_map_path": lanelet2_map_path}, - {"run_background": False}, + {"mode": "AUTO"}, {"rviz": False}, {"centerline_source": "optimization_trajectory_base"}, {"lanelet2_input_file_path": lanelet2_map_path}, diff --git a/vehicle/autoware_vehicle_info_utils/include/autoware_vehicle_info_utils/vehicle_info.hpp b/vehicle/autoware_vehicle_info_utils/include/autoware_vehicle_info_utils/vehicle_info.hpp index e951f11e49ab7..923fc53055475 100644 --- a/vehicle/autoware_vehicle_info_utils/include/autoware_vehicle_info_utils/vehicle_info.hpp +++ b/vehicle/autoware_vehicle_info_utils/include/autoware_vehicle_info_utils/vehicle_info.hpp @@ -50,6 +50,9 @@ struct VehicleInfo autoware::universe_utils::LinearRing2d createFootprint(const double margin = 0.0) const; autoware::universe_utils::LinearRing2d createFootprint( const double lat_margin, const double lon_margin) const; + + double calcMaxCurvature() const; + double calcCurvatureFromSteerAngle(const double steer_angle) const; }; /// Create vehicle info from base parameters diff --git a/vehicle/autoware_vehicle_info_utils/src/vehicle_info.cpp b/vehicle/autoware_vehicle_info_utils/src/vehicle_info.cpp index db223663f1145..2dd5b19f2f523 100644 --- a/vehicle/autoware_vehicle_info_utils/src/vehicle_info.cpp +++ b/vehicle/autoware_vehicle_info_utils/src/vehicle_info.cpp @@ -85,4 +85,30 @@ VehicleInfo createVehicleInfo( }; } +double VehicleInfo::calcMaxCurvature() const +{ + if (std::abs(wheel_base_m) < 1e-6) { + throw std::invalid_argument("wheel_base_m is 0."); + } + if (std::abs(max_steer_angle_rad) < 1e-6) { + return std::numeric_limits::max(); + } + + const double radius = wheel_base_m / std::tan(max_steer_angle_rad); + const double curvature = 1.0 / radius; + return curvature; +} +double VehicleInfo::calcCurvatureFromSteerAngle(const double steer_angle) const +{ + if (std::abs(wheel_base_m) < 1e-6) { + throw std::invalid_argument("wheel_base_m is 0."); + } + if (std::abs(steer_angle) < 1e-6) { + return std::numeric_limits::max(); + } + + const double radius = wheel_base_m / std::tan(steer_angle); + const double curvature = 1.0 / radius; + return curvature; +} } // namespace autoware::vehicle_info_utils From 470ebbaf0c3a6577be34d1871109ea2f8ee5ee49 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Mon, 1 Jul 2024 16:31:17 +0900 Subject: [PATCH 197/202] refactor(static_centerline_optimizer): clean up the code (#7756) Signed-off-by: Takayuki Murooka --- .../rviz/static_centerline_generator.rviz | 2 +- .../scripts/centerline_updater_helper.py | 5 +++- .../src/static_centerline_generator_node.cpp | 23 ++++++------------- .../src/static_centerline_generator_node.hpp | 1 - 4 files changed, 12 insertions(+), 19 deletions(-) diff --git a/planning/autoware_static_centerline_generator/rviz/static_centerline_generator.rviz b/planning/autoware_static_centerline_generator/rviz/static_centerline_generator.rviz index fc916f188e758..f1bd110783009 100644 --- a/planning/autoware_static_centerline_generator/rviz/static_centerline_generator.rviz +++ b/planning/autoware_static_centerline_generator/rviz/static_centerline_generator.rviz @@ -122,7 +122,7 @@ Visualization Manager: Name: Map - Class: rviz_plugins/PathWithLaneId Color Border Vel Max: 3 - Enabled: true + Enabled: false Name: Raw Centerline Topic: Depth: 5 diff --git a/planning/autoware_static_centerline_generator/scripts/centerline_updater_helper.py b/planning/autoware_static_centerline_generator/scripts/centerline_updater_helper.py index 2cd0c2f66d474..4bed564cee295 100755 --- a/planning/autoware_static_centerline_generator/scripts/centerline_updater_helper.py +++ b/planning/autoware_static_centerline_generator/scripts/centerline_updater_helper.py @@ -65,6 +65,7 @@ def setupUI(self): centerline_group.setLayout(centerline_vertical_box) self.grid_layout.addWidget(centerline_group) + """ # 2. Road Boundary road_boundary_group = QGroupBox("Road Boundary") road_boundary_vertical_box = QVBoxLayout(self) @@ -79,8 +80,8 @@ def setupUI(self): self.road_boundary_lateral_margin_slider.setMaximum( 5 * self.road_boundary_lateral_margin_ratio ) - road_boundary_vertical_box.addWidget(QPushButton("reset")) + """ # 3. General general_group = QGroupBox("General") @@ -123,9 +124,11 @@ def __init__(self): self.widget.validate_button.clicked.connect(self.onValidateButtonPushed) self.widget.traj_start_index_slider.valueChanged.connect(self.onStartIndexChanged) self.widget.traj_end_index_slider.valueChanged.connect(self.onEndIndexChanged) + """ self.widget.road_boundary_lateral_margin_slider.valueChanged.connect( self.onRoadBoundaryLateralMargin ) + """ # ROS self.pub_save_map = self.create_publisher(Empty, "/static_centerline_generator/save_map", 1) diff --git a/planning/autoware_static_centerline_generator/src/static_centerline_generator_node.cpp b/planning/autoware_static_centerline_generator/src/static_centerline_generator_node.cpp index 24ccd7d660edf..de89cf4d12a87 100644 --- a/planning/autoware_static_centerline_generator/src/static_centerline_generator_node.cpp +++ b/planning/autoware_static_centerline_generator/src/static_centerline_generator_node.cpp @@ -251,11 +251,6 @@ StaticCenterlineGeneratorNode::StaticCenterlineGeneratorNode( } save_map(); }); - sub_traj_resample_interval_ = create_subscription( - "/static_centerline_generator/traj_resample_interval", rclcpp::QoS{1}, - [this]([[maybe_unused]] const std_msgs::msg::Float32 & msg) { - // TODO(murooka) - }); sub_validate_ = create_subscription( "/static_centerline_generator/validate", rclcpp::QoS{1}, [this]([[maybe_unused]] const std_msgs::msg::Empty & msg) { validate(); }); @@ -325,14 +320,6 @@ void StaticCenterlineGeneratorNode::generate_centerline() visualize_selected_centerline(); } -void StaticCenterlineGeneratorNode::validate() -{ - const auto selected_centerline = centerline_handler_.get_selected_centerline(); - const auto road_bounds = update_road_boundary(selected_centerline); - - evaluate(); -} - CenterlineWithRoute StaticCenterlineGeneratorNode::generate_whole_centerline_with_route() { if (!route_handler_ptr_) { @@ -572,7 +559,7 @@ void StaticCenterlineGeneratorNode::on_plan_path( CenterlineHandler(CenterlineWithRoute{optimized_traj_points, route_lane_ids}); // publish unsafe_footprints - evaluate(); + validate(); // create output data auto target_traj_point = optimized_traj_points.cbegin(); @@ -714,8 +701,11 @@ RoadBounds StaticCenterlineGeneratorNode::update_road_boundary( return RoadBounds{ego_left_bound, ego_right_bound}; } -void StaticCenterlineGeneratorNode::evaluate() +void StaticCenterlineGeneratorNode::validate() { + // const auto selected_centerline = centerline_handler_.get_selected_centerline(); + // const auto road_bounds = update_road_boundary(selected_centerline); + std::cerr << std::endl << "############################################## Validation Results " "##############################################" @@ -730,6 +720,7 @@ void StaticCenterlineGeneratorNode::evaluate() const double max_steer_angle_margin = getRosParameter("validation.max_steer_angle_margin"); + // calculate color for distance to road border const auto dist_thresh_vec = getRosParameter>("marker_color_dist_thresh"); const auto marker_color_vec = getRosParameter>("marker_color"); const auto get_marker_color = [&](const double dist) -> boost::optional> { @@ -806,7 +797,7 @@ void StaticCenterlineGeneratorNode::evaluate() } } - // publish left boundary + // publish road boundaries const auto left_bound = convertToGeometryPoints(lanelet_left_bound); const auto right_bound = convertToGeometryPoints(lanelet_right_bound); diff --git a/planning/autoware_static_centerline_generator/src/static_centerline_generator_node.hpp b/planning/autoware_static_centerline_generator/src/static_centerline_generator_node.hpp index 42033f7956bfd..fd2314d42e46f 100644 --- a/planning/autoware_static_centerline_generator/src/static_centerline_generator_node.hpp +++ b/planning/autoware_static_centerline_generator/src/static_centerline_generator_node.hpp @@ -133,7 +133,6 @@ class StaticCenterlineGeneratorNode : public rclcpp::Node void visualize_selected_centerline(); RoadBounds update_road_boundary(const std::vector & centerline); - void evaluate(); // parameter template From 222d3199ff9fd7c7d52b9d6bce47276cbe7497ee Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Mon, 1 Jul 2024 19:35:03 +0900 Subject: [PATCH 198/202] fix(static_centerline_generator): save_map only once (#7770) Signed-off-by: Takayuki Murooka --- .../scripts/centerline_updater_helper.py | 7 +++++++ 1 file changed, 7 insertions(+) diff --git a/planning/autoware_static_centerline_generator/scripts/centerline_updater_helper.py b/planning/autoware_static_centerline_generator/scripts/centerline_updater_helper.py index 4bed564cee295..f3d908713361d 100755 --- a/planning/autoware_static_centerline_generator/scripts/centerline_updater_helper.py +++ b/planning/autoware_static_centerline_generator/scripts/centerline_updater_helper.py @@ -162,6 +162,13 @@ def onSaveMapButtonPushed(self, event): msg = Empty() self.pub_save_map.publish(msg) + # NOTE: After saving the map, the generated centerline is written + # in original_map_ptr_ in static_centerline_generator_node. + # When saving the map again, another centerline is written without + # removing the previous centerline. + # Therefore, saving the map can be called only once. + self.widget.save_map_button.setEnabled(False) + def onValidateButtonPushed(self, event): msg = Empty() self.pub_validate.publish(msg) From 5bed858794e5d88799d9dd1096c333d884ea3e45 Mon Sep 17 00:00:00 2001 From: SakodaShintaro Date: Mon, 1 Jul 2024 12:45:46 +0900 Subject: [PATCH 199/202] fix(pose_instability_detector): fix a rare error (#7681) * Added an error test case Signed-off-by: Shintaro Sakoda * Fixed to avoid out-of-size access Signed-off-by: Shintaro Sakoda * Fixed the test case Signed-off-by: Shintaro Sakoda * Fixed test Signed-off-by: Shintaro Sakoda --------- Signed-off-by: Shintaro Sakoda --- .../src/pose_instability_detector.cpp | 6 ++ .../pose_instability_detector/test/test.cpp | 58 +++++++++++++++++++ 2 files changed, 64 insertions(+) diff --git a/localization/pose_instability_detector/src/pose_instability_detector.cpp b/localization/pose_instability_detector/src/pose_instability_detector.cpp index 28398588809eb..23362dd13c6bc 100644 --- a/localization/pose_instability_detector/src/pose_instability_detector.cpp +++ b/localization/pose_instability_detector/src/pose_instability_detector.cpp @@ -354,6 +354,9 @@ PoseInstabilityDetector::clip_out_necessary_twist( start_twist.header.stamp = start_time; result_deque.push_front(start_twist); } else { + if (result_deque.size() < 2) { + return result_deque; + } // If the first element is earlier than start_time, interpolate the first element rclcpp::Time time0 = rclcpp::Time(result_deque[0].header.stamp); rclcpp::Time time1 = rclcpp::Time(result_deque[1].header.stamp); @@ -380,6 +383,9 @@ PoseInstabilityDetector::clip_out_necessary_twist( end_twist.header.stamp = end_time; result_deque.push_back(end_twist); } else { + if (result_deque.size() < 2) { + return result_deque; + } // If the last element is later than end_time, interpolate the last element rclcpp::Time time0 = rclcpp::Time(result_deque[result_deque.size() - 2].header.stamp); rclcpp::Time time1 = rclcpp::Time(result_deque[result_deque.size() - 1].header.stamp); diff --git a/localization/pose_instability_detector/test/test.cpp b/localization/pose_instability_detector/test/test.cpp index 9300984967d4b..482e659e7a13c 100644 --- a/localization/pose_instability_detector/test/test.cpp +++ b/localization/pose_instability_detector/test/test.cpp @@ -163,6 +163,64 @@ TEST_F(TestPoseInstabilityDetector, output_warn_when_twist_is_too_small) // NOL EXPECT_TRUE(diagnostic_status.level == diagnostic_msgs::msg::DiagnosticStatus::WARN); } +TEST_F(TestPoseInstabilityDetector, does_not_crash_even_if_abnormal_odometry_data_comes) // NOLINT +{ + // [Condition] There is no twist_msg between the two target odometry_msgs. + // Normally this doesn't seem to happen. + // As far as I can think, this happens when the odometry msg stops (so the next timer callback + // will refer to the same odometry msg, and the timestamp difference will be calculated as 0) + // This test case shows that an error occurs when two odometry msgs come in close succession and + // there is no other odometry msg. + // Referring again, this doesn't normally seem to happen in usual operation. + + builtin_interfaces::msg::Time timestamp{}; + + // send the twist message1 + timestamp.sec = 0; + timestamp.nanosec = 0; + helper_->send_twist_message(timestamp, 0.2, 0.0, 0.0); + + // send the first odometry message after the first twist message + timestamp.sec = 0; + timestamp.nanosec = 5e8 + 1; + helper_->send_odometry_message(timestamp, 10.0, 0.0, 0.0); + + // process the above message (by timer_callback) + helper_->received_diagnostic_array_flag = false; + while (!helper_->received_diagnostic_array_flag) { + executor_.spin_some(); + std::this_thread::sleep_for(std::chrono::milliseconds(10)); + } + + // send the second odometry message before the second twist message + timestamp.sec = 0; + timestamp.nanosec = 5e8 + 1e7; + helper_->send_odometry_message(timestamp, 12.0, 0.0, 0.0); + + // send the twist message2 + timestamp.sec = 1; + timestamp.nanosec = 0; + helper_->send_twist_message(timestamp, 0.2, 0.0, 0.0); + + // process the above messages (by timer_callback) + helper_->received_diagnostic_array_flag = false; + while (!helper_->received_diagnostic_array_flag) { + executor_.spin_some(); + std::this_thread::sleep_for(std::chrono::milliseconds(10)); + } + + // provoke timer callback again + helper_->received_diagnostic_array_flag = false; + while (!helper_->received_diagnostic_array_flag) { + executor_.spin_some(); + std::this_thread::sleep_for(std::chrono::milliseconds(10)); + } + + // This test is OK if pose_instability_detector does not crash. The diagnostics status is not + // checked. + SUCCEED(); +} + int main(int argc, char ** argv) { rclcpp::init(argc, argv); From cb3e7588a8c4ad5ec5e147815c6193467e0ff4dd Mon Sep 17 00:00:00 2001 From: Zhi Wang Date: Wed, 3 Jul 2024 14:28:38 +0900 Subject: [PATCH 200/202] feat(mrm_handler): operate mrm only when autonomous operation mode (#1377) feat(mrm_handler): operate mrm only when autonomous operation mode (#7784) * feat: add isOperationModeAutonomous() function to MRM handler core The code changes add a new function `isOperationModeAutonomous()` to the MRM handler core. This function is used to check if the operation mode is set to autonomous. --------- Signed-off-by: kyoichi-sugahara Co-authored-by: Kyoichi Sugahara --- .../include/mrm_handler/mrm_handler_core.hpp | 3 ++- .../src/mrm_handler/mrm_handler_core.cpp | 15 ++++++++++++--- 2 files changed, 14 insertions(+), 4 deletions(-) diff --git a/system/mrm_handler/include/mrm_handler/mrm_handler_core.hpp b/system/mrm_handler/include/mrm_handler/mrm_handler_core.hpp index c908ca1a62ee2..7d7deb8c4a504 100644 --- a/system/mrm_handler/include/mrm_handler/mrm_handler_core.hpp +++ b/system/mrm_handler/include/mrm_handler/mrm_handler_core.hpp @@ -148,7 +148,8 @@ class MrmHandler : public rclcpp::Node bool isStopped(); bool isDrivingBackwards(); bool isEmergency() const; - bool isAutonomous(); + bool isControlModeAutonomous(); + bool isOperationModeAutonomous(); bool isPullOverStatusAvailable(); bool isComfortableStopStatusAvailable(); bool isEmergencyStopStatusAvailable(); diff --git a/system/mrm_handler/src/mrm_handler/mrm_handler_core.cpp b/system/mrm_handler/src/mrm_handler/mrm_handler_core.cpp index 326fbb392fd35..47cbb0ae7d016 100644 --- a/system/mrm_handler/src/mrm_handler/mrm_handler_core.cpp +++ b/system/mrm_handler/src/mrm_handler/mrm_handler_core.cpp @@ -396,12 +396,13 @@ void MrmHandler::updateMrmState() } // Get mode - const bool is_auto_mode = isAutonomous(); + const bool is_control_mode_autonomous = isControlModeAutonomous(); + const bool is_operation_mode_autonomous = isOperationModeAutonomous(); // State Machine switch (mrm_state_.state) { case MrmState::NORMAL: - if (is_auto_mode) { + if (is_control_mode_autonomous && is_operation_mode_autonomous) { transitionTo(MrmState::MRM_OPERATING); } return; @@ -537,7 +538,7 @@ bool MrmHandler::isEmergency() const is_operation_mode_availability_timeout; } -bool MrmHandler::isAutonomous() +bool MrmHandler::isControlModeAutonomous() { using autoware_vehicle_msgs::msg::ControlModeReport; auto mode = sub_control_mode_.takeData(); @@ -545,6 +546,14 @@ bool MrmHandler::isAutonomous() return mode->mode == ControlModeReport::AUTONOMOUS; } +bool MrmHandler::isOperationModeAutonomous() +{ + using autoware_adapi_v1_msgs::msg::OperationModeState; + auto state = sub_operation_mode_state_.takeData(); + if (state == nullptr) return false; + return state->mode == OperationModeState::AUTONOMOUS; +} + bool MrmHandler::isPullOverStatusAvailable() { auto status = sub_mrm_pull_over_status_.takeData(); From 9f31524e84f984bb393331be71e89f79cee136a0 Mon Sep 17 00:00:00 2001 From: badai nguyen <94814556+badai-nguyen@users.noreply.github.com> Date: Fri, 21 Jun 2024 15:14:55 +0900 Subject: [PATCH 201/202] fix(image_transport_decompressor): missing config setting (#7615) Signed-off-by: badai-nguyen Co-authored-by: Kenzo Lobos Tsunekawa --- sensing/image_transport_decompressor/CMakeLists.txt | 1 + 1 file changed, 1 insertion(+) diff --git a/sensing/image_transport_decompressor/CMakeLists.txt b/sensing/image_transport_decompressor/CMakeLists.txt index 2359a327abb8c..2ecd3446290df 100644 --- a/sensing/image_transport_decompressor/CMakeLists.txt +++ b/sensing/image_transport_decompressor/CMakeLists.txt @@ -24,4 +24,5 @@ rclcpp_components_register_node(image_transport_decompressor ament_auto_package(INSTALL_TO_SHARE launch + config ) From a28bbd2c49be8666650e0f90dcc91df40c652849 Mon Sep 17 00:00:00 2001 From: badai nguyen <94814556+badai-nguyen@users.noreply.github.com> Date: Thu, 4 Jul 2024 10:34:17 +0900 Subject: [PATCH 202/202] fix(euclidean_cluster, ground_segmentation): cherry-pick bug fix PRs (#1378) * fix(euclidean_cluster): fix euclidean cluster params (#7662) * fix(euclidean_cluster): fix max and min cluster size Signed-off-by: beginningfan * fix(gnss_poser): fix a typo Signed-off-by: beginningfan * fix(euclidean_cluster): fix min cluster size Signed-off-by: beginningfan * style(pre-commit): autofix --------- Signed-off-by: beginningfan Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> * fix(euclidean_cluster): fix max_cluster_size bug (#7734) Signed-off-by: badai-nguyen * fix(ground_segmentation): fix bug (#7771) --------- Signed-off-by: beginningfan Signed-off-by: badai-nguyen Co-authored-by: beginningfan <103237402+beginningfan@users.noreply.github.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Shunsuke Miura <37187849+miursh@users.noreply.github.com> --- launch/tier4_perception_launch/package.xml | 1 + .../lib/voxel_grid_based_euclidean_cluster.cpp | 8 ++++++-- .../src/ransac_ground_filter_nodelet.cpp | 7 ++++--- 3 files changed, 11 insertions(+), 5 deletions(-) diff --git a/launch/tier4_perception_launch/package.xml b/launch/tier4_perception_launch/package.xml index 6ec706a4aad32..57d4b209efeef 100644 --- a/launch/tier4_perception_launch/package.xml +++ b/launch/tier4_perception_launch/package.xml @@ -19,6 +19,7 @@ detected_object_feature_remover detected_object_validation detection_by_tracker + elevation_map_loader euclidean_cluster ground_segmentation image_projection_based_fusion diff --git a/perception/euclidean_cluster/lib/voxel_grid_based_euclidean_cluster.cpp b/perception/euclidean_cluster/lib/voxel_grid_based_euclidean_cluster.cpp index 40699fd6e27ab..126f877afddb0 100644 --- a/perception/euclidean_cluster/lib/voxel_grid_based_euclidean_cluster.cpp +++ b/perception/euclidean_cluster/lib/voxel_grid_based_euclidean_cluster.cpp @@ -106,7 +106,7 @@ bool VoxelGridBasedEuclideanCluster::cluster( temporary_cluster.height = pointcloud_msg->height; temporary_cluster.fields = pointcloud_msg->fields; temporary_cluster.point_step = point_step; - temporary_cluster.data.resize(max_cluster_size_ * point_step); + temporary_cluster.data.resize(cluster.indices.size() * point_step); clusters_data_size.push_back(0); } @@ -117,13 +117,17 @@ bool VoxelGridBasedEuclideanCluster::cluster( voxel_grid_.getCentroidIndexAt(voxel_grid_.getGridCoordinates(point.x, point.y, point.z)); if (map.find(index) != map.end()) { auto & cluster_data_size = clusters_data_size.at(map[index]); - if (cluster_data_size + point_step > std::size_t(max_cluster_size_ * point_step)) { + if (cluster_data_size > std::size_t(max_cluster_size_ * point_step)) { continue; } std::memcpy( &temporary_clusters.at(map[index]).data[cluster_data_size], &pointcloud_msg->data[i * point_step], point_step); cluster_data_size += point_step; + if (cluster_data_size == temporary_clusters.at(map[index]).data.size()) { + temporary_clusters.at(map[index]) + .data.resize(temporary_clusters.at(map[index]).data.size() * 2); + } } } diff --git a/perception/ground_segmentation/src/ransac_ground_filter_nodelet.cpp b/perception/ground_segmentation/src/ransac_ground_filter_nodelet.cpp index d7fa777dc58c9..aa224e7adc5bf 100644 --- a/perception/ground_segmentation/src/ransac_ground_filter_nodelet.cpp +++ b/perception/ground_segmentation/src/ransac_ground_filter_nodelet.cpp @@ -292,12 +292,13 @@ void RANSACGroundFilterComponent::filter( no_ground_cloud_msg_ptr->header = input->header; no_ground_cloud_msg_ptr->fields = input->fields; no_ground_cloud_msg_ptr->point_step = point_step; + no_ground_cloud_msg_ptr->data.resize(input->data.size()); size_t output_size = 0; // use not downsampled pointcloud for extract pointcloud that higher than height threshold for (size_t global_size = 0; global_size < input->data.size(); global_size += point_step) { - float x = *reinterpret_cast(input->data[global_size + x_offset]); - float y = *reinterpret_cast(input->data[global_size + y_offset]); - float z = *reinterpret_cast(input->data[global_size + z_offset]); + float x = *reinterpret_cast(&input->data[global_size + x_offset]); + float y = *reinterpret_cast(&input->data[global_size + y_offset]); + float z = *reinterpret_cast(&input->data[global_size + z_offset]); const Eigen::Vector3d transformed_point = plane_affine.inverse() * Eigen::Vector3d(x, y, z); if (std::abs(transformed_point.z()) > height_threshold_) { std::memcpy(

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