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feat(goal_planner): use neighboring lane of pull over lane to check g…
…oal footprint (autowarefoundation#8716) move to utils and add tests Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>
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planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/test/test_util.cpp
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// Copyright 2024 TIER IV, Inc. | ||
// | ||
// Licensed under the Apache License, Version 2.0 (the "License"); | ||
// you may not use this file except in compliance with the License. | ||
// You may obtain a copy of the License at | ||
// | ||
// http://www.apache.org/licenses/LICENSE-2.0 | ||
// | ||
// Unless required by applicable law or agreed to in writing, software | ||
// distributed under the License is distributed on an "AS IS" BASIS, | ||
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
// See the License for the specific language governing permissions and | ||
// limitations under the License. | ||
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#include <ament_index_cpp/get_package_share_directory.hpp> | ||
#include <autoware/behavior_path_goal_planner_module/util.hpp> | ||
#include <autoware/route_handler/route_handler.hpp> | ||
#include <autoware_lanelet2_extension/utility/query.hpp> | ||
#include <autoware_test_utils/autoware_test_utils.hpp> | ||
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#include <gtest/gtest.h> | ||
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class TestUtilWithMap : public ::testing::Test | ||
{ | ||
protected: | ||
void SetUp() override | ||
{ | ||
rclcpp::init(0, nullptr); | ||
// parameters | ||
auto node_options = rclcpp::NodeOptions{}; | ||
node_options.arguments(std::vector<std::string>{ | ||
"--ros-args", "--params-file", | ||
ament_index_cpp::get_package_share_directory("autoware_test_utils") + | ||
"/config/test_vehicle_info.param.yaml"}); | ||
auto node = rclcpp::Node::make_shared("test", node_options); | ||
vehicle_info = autoware::vehicle_info_utils::VehicleInfoUtils(*node).getVehicleInfo(); | ||
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// lanelet map | ||
const std::string shoulder_map_path = autoware::test_utils::get_absolute_path_to_lanelet_map( | ||
"autoware_behavior_path_planner_common", "road_shoulder/lanelet2_map.osm"); | ||
const auto map_bin_msg = autoware::test_utils::make_map_bin_msg(shoulder_map_path, 0.5); | ||
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// load map | ||
route_handler = std::make_shared<autoware::route_handler::RouteHandler>(map_bin_msg); | ||
} | ||
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void TearDown() override { rclcpp::shutdown(); } | ||
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public: | ||
std::shared_ptr<autoware::route_handler::RouteHandler> route_handler; | ||
autoware::vehicle_info_utils::VehicleInfo vehicle_info; | ||
}; | ||
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TEST_F(TestUtilWithMap, getBusStopAreaPolygons) | ||
{ | ||
const auto lanes = lanelet::utils::query::laneletLayer(route_handler->getLaneletMapPtr()); | ||
const auto shoulder_lanes = lanelet::utils::query::shoulderLanelets(lanes); | ||
const auto bus_stop_area_polygons = | ||
autoware::behavior_path_planner::goal_planner_utils::getBusStopAreaPolygons(shoulder_lanes); | ||
EXPECT_EQ(bus_stop_area_polygons.size(), 2); | ||
} | ||
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TEST_F(TestUtilWithMap, isWithinAreas) | ||
{ | ||
const auto lanes = lanelet::utils::query::laneletLayer(route_handler->getLaneletMapPtr()); | ||
const auto shoulder_lanes = lanelet::utils::query::shoulderLanelets(lanes); | ||
const auto bus_stop_area_polygons = | ||
autoware::behavior_path_planner::goal_planner_utils::getBusStopAreaPolygons(shoulder_lanes); | ||
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const auto footprint = vehicle_info.createFootprint(); | ||
const geometry_msgs::msg::Pose baselink_pose = | ||
geometry_msgs::build<geometry_msgs::msg::Pose>() | ||
.position( | ||
geometry_msgs::build<geometry_msgs::msg::Point>().x(273.102814).y(402.194794).z(0.0)) | ||
.orientation( | ||
geometry_msgs::build<geometry_msgs::msg::Quaternion>().x(0.0).y(0.0).z(0.707390).w( | ||
0.706824)); | ||
const auto baselink_footprint = autoware::universe_utils::transformVector( | ||
footprint, autoware::universe_utils::pose2transform(baselink_pose)); | ||
EXPECT_EQ( | ||
autoware::behavior_path_planner::goal_planner_utils::isWithinAreas( | ||
baselink_footprint, bus_stop_area_polygons), | ||
true); | ||
} | ||
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TEST_F(TestUtilWithMap, combineLanePoints) | ||
{ | ||
// 1) combine points with no duplicate IDs | ||
{ | ||
lanelet::Points3d points{ | ||
{lanelet::Point3d(1, 0, 0), lanelet::Point3d(2, 0, 0), lanelet::Point3d(3, 0, 0)}}; | ||
lanelet::Points3d points_next{ | ||
{lanelet::Point3d(4, 0, 0), lanelet::Point3d(5, 0, 0), lanelet::Point3d(6, 0, 0)}}; | ||
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const auto combined_points = | ||
autoware::behavior_path_planner::goal_planner_utils::combineLanePoints(points, points_next); | ||
EXPECT_EQ(combined_points.size(), 6); | ||
} | ||
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// 2) combine points with duplicate IDs | ||
{ | ||
lanelet::Points3d points{ | ||
{lanelet::Point3d(1, 0, 0), lanelet::Point3d(2, 0, 0), lanelet::Point3d(3, 0, 0)}}; | ||
lanelet::Points3d points_next{ | ||
{lanelet::Point3d(3, 0, 0), lanelet::Point3d(4, 0, 0), lanelet::Point3d(5, 0, 0)}}; | ||
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const auto combined_points = | ||
autoware::behavior_path_planner::goal_planner_utils::combineLanePoints(points, points_next); | ||
EXPECT_EQ(combined_points.size(), 5); | ||
} | ||
} | ||
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TEST_F(TestUtilWithMap, createDepartureCheckLanelet) | ||
{ | ||
const auto lanelet_map_ptr = route_handler->getLaneletMapPtr(); | ||
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const geometry_msgs::msg::Pose goal_pose = | ||
geometry_msgs::build<geometry_msgs::msg::Pose>() | ||
.position(geometry_msgs::build<geometry_msgs::msg::Point>() | ||
.x(433.42254638671875) | ||
.y(465.3381652832031) | ||
.z(0.0)) | ||
.orientation(geometry_msgs::build<geometry_msgs::msg::Quaternion>() | ||
.x(0.0) | ||
.y(0.0) | ||
.z(0.306785474523741) | ||
.w(0.9517786888879384)); | ||
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// 1) get target shoulder lane and check it's lane id | ||
const auto target_shoulder_lane = route_handler->getPullOverTarget(goal_pose); | ||
EXPECT_EQ(target_shoulder_lane.has_value(), true); | ||
EXPECT_EQ(target_shoulder_lane.value().id(), 18391); | ||
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// 2) get shoulder lane sequence | ||
const auto target_shoulder_lanes = | ||
route_handler->getShoulderLaneletSequence(target_shoulder_lane.value(), goal_pose); | ||
EXPECT_EQ(target_shoulder_lanes.size(), 3); | ||
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// 3) check if the right bound of the departure check lane extended to the right end matches the | ||
// right bound of the rightmost lanelet | ||
const auto to_points3d = [](const lanelet::ConstLineString3d & bound) { | ||
lanelet::Points3d points; | ||
for (const auto & pt : bound) { | ||
points.push_back(lanelet::Point3d(pt)); | ||
} | ||
return points; | ||
}; | ||
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const auto departure_check_lane = | ||
autoware::behavior_path_planner::goal_planner_utils::createDepartureCheckLanelet( | ||
target_shoulder_lanes, *route_handler, true); | ||
const auto departure_check_lane_right_bound_points = | ||
to_points3d(departure_check_lane.rightBound()); | ||
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const std::vector<lanelet::Id> most_right_lanelet_ids = {18381, 18383, 18388}; | ||
lanelet::Points3d right_bound_points; | ||
for (const auto & id : most_right_lanelet_ids) { | ||
const auto lanelet = lanelet_map_ptr->laneletLayer.get(id); | ||
right_bound_points = autoware::behavior_path_planner::goal_planner_utils::combineLanePoints( | ||
right_bound_points, to_points3d(lanelet.rightBound())); | ||
} | ||
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EXPECT_EQ(departure_check_lane_right_bound_points.size(), right_bound_points.size()); | ||
for (size_t i = 0; i < departure_check_lane_right_bound_points.size(); ++i) { | ||
EXPECT_EQ(departure_check_lane_right_bound_points.at(i).id(), right_bound_points.at(i).id()); | ||
} | ||
} |