From a1df4a6d099f62bd2969f593c1c2b4d0cf2695b6 Mon Sep 17 00:00:00 2001 From: Satoshi Tanaka <16330533+scepter914@users.noreply.github.com> Date: Wed, 7 Feb 2024 12:18:04 +0900 Subject: [PATCH 001/126] fix(object_range_splitter): delete default param in src (#6312) Signed-off-by: scepter914 --- perception/object_range_splitter/src/node.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/perception/object_range_splitter/src/node.cpp b/perception/object_range_splitter/src/node.cpp index 52383ef922621..4c4f824feb6fb 100644 --- a/perception/object_range_splitter/src/node.cpp +++ b/perception/object_range_splitter/src/node.cpp @@ -20,7 +20,7 @@ ObjectRangeSplitterNode::ObjectRangeSplitterNode(const rclcpp::NodeOptions & nod : Node("object_range_splitter_node", node_options) { using std::placeholders::_1; - spilt_range_ = declare_parameter("split_range", 30.0); + spilt_range_ = declare_parameter("split_range"); sub_ = this->create_subscription( "input/object", rclcpp::QoS{1}, std::bind(&ObjectRangeSplitterNode::objectCallback, this, _1)); long_range_object_pub_ = From 069fb5e2fe4f4e07ffe943b8b43d2966c360136b Mon Sep 17 00:00:00 2001 From: Satoshi Tanaka <16330533+scepter914@users.noreply.github.com> Date: Wed, 7 Feb 2024 13:18:34 +0900 Subject: [PATCH 002/126] chore(object_velocity_splitter): fix README (#6259) * chore(object_velocity_splitter): fix README Signed-off-by: scepter914 * style(pre-commit): autofix --------- Signed-off-by: scepter914 Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kotaro Yoshimoto --- perception/object_velocity_splitter/README.md | 28 ++++++++++--------- 1 file changed, 15 insertions(+), 13 deletions(-) diff --git a/perception/object_velocity_splitter/README.md b/perception/object_velocity_splitter/README.md index 9dcd535a5a10f..57d2834f3f442 100644 --- a/perception/object_velocity_splitter/README.md +++ b/perception/object_velocity_splitter/README.md @@ -3,21 +3,23 @@ This package contains a object filter module for [autoware_auto_perception_msgs/msg/DetectedObject](https://gitlab.com/autowarefoundation/autoware.auto/autoware_auto_msgs/-/blob/master/autoware_auto_perception_msgs/msg/DetectedObject.idl). This package can split DetectedObjects into two messages by object's speed. -## Input +## Interface -| Name | Type | Description | -| ----------------- | ----------------------------------------------------- | -------------------- | -| `~/input/objects` | autoware_auto_perception_msgs/msg/DetectedObjects.msg | 3D detected objects. | +### Input -## Output +- `~/input/objects` (`autoware_auto_perception_msgs/msg/DetectedObjects.msg`) + - 3D detected objects -| Name | Type | Description | -| ----------------------------- | ----------------------------------------------------- | ----------------------- | -| `~/output/low_speed_objects` | autoware_auto_perception_msgs/msg/DetectedObjects.msg | Objects with low speed | -| `~/output/high_speed_objects` | autoware_auto_perception_msgs/msg/DetectedObjects.msg | Objects with high speed | +### Output -## Parameters +- `~/output/low_speed_objects` (`autoware_auto_perception_msgs/msg/DetectedObjects.msg`) + - Objects with low speed +- `~/output/high_speed_objects` (`autoware_auto_perception_msgs/msg/DetectedObjects.msg`) + - Objects with high speed -| Name | Type | Description | Default value | -| :------------------- | :----- | :-------------------------------------------------- | :------------ | -| `velocity_threshold` | double | Velocity threshold parameter to split objects [m/s] | 3.0 | +### Parameters + +- `velocity_threshold` (double) [m/s] + - Default parameter is 3.0 + +This parameter is velocity threshold to split objects From 64055164579da2351ed6cdaa8c797b266938dcdf Mon Sep 17 00:00:00 2001 From: Satoshi Tanaka <16330533+scepter914@users.noreply.github.com> Date: Wed, 7 Feb 2024 13:18:46 +0900 Subject: [PATCH 003/126] chore(radar_fusion_to_detected_object): fix README (#6261) * chore(radar_fusion_to_detected_object): fix README Signed-off-by: scepter914 * style(pre-commit): autofix --------- Signed-off-by: scepter914 Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kotaro Yoshimoto --- .../radar_fusion_to_detected_object/README.md | 126 +++++++++++++----- 1 file changed, 92 insertions(+), 34 deletions(-) diff --git a/perception/radar_fusion_to_detected_object/README.md b/perception/radar_fusion_to_detected_object/README.md index defc716a744d9..9ea8e5d188f71 100644 --- a/perception/radar_fusion_to_detected_object/README.md +++ b/perception/radar_fusion_to_detected_object/README.md @@ -1,46 +1,100 @@ # radar_fusion_to_detected_object -This package contains a sensor fusion module for radar-detected objects and 3D detected objects. The fusion node can: +This package contains a sensor fusion module for radar-detected objects and 3D detected objects. + +The fusion node can: - Attach velocity to 3D detections when successfully matching radar data. The tracking modules use the velocity information to enhance the tracking results while planning modules use it to execute actions like adaptive cruise control. - Improve the low confidence 3D detections when corresponding radar detections are found. ![process_low_confidence](docs/radar_fusion_to_detected_object_6.drawio.svg) -## Core algorithm +## Design + +### Background + +This package is the fusion with LiDAR-based 3D detection output and radar data. +LiDAR based 3D detection can estimate position and size of objects with high precision, but it cannot estimate velocity of objects. +Radar data can estimate doppler velocity of objects, but it cannot estimate position and size of objects with high precision +This fusion package is aim to fuse these characteristic data, and to estimate position, size, velocity of objects with high precision. + +### Algorithm The document of core algorithm is [here](docs/algorithm.md) +## Interface for core algorithm + +The parameters for core algorithm can be set as `core_params`. + ### Parameters for sensor fusion -| Name | Type | Description | Default value | -| :----------------------- | :----- | :----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | :------------ | -| bounding_box_margin | double | The distance to extend the 2D bird's-eye view Bounding Box on each side. This distance is used as a threshold to find radar centroids falling inside the extended box. [m] | 2.0 | -| split_threshold_velocity | double | The object's velocity threshold to decide to split for two objects from radar information (currently not implemented) [m/s] | 5.0 | -| threshold_yaw_diff | double | The yaw orientation threshold. If ∣ θ_ob − θ_ra ∣ < threshold × yaw_diff attached to radar information include estimated velocity, where*θob*is yaw angle from 3d detected object,\*θ_ra is yaw angle from radar object. [rad] | 0.35 | +- `bounding_box_margin` (double) [m] + - Default parameter is 2.0. + +This parameter is the distance to extend the 2D bird's-eye view bounding box on each side. +This parameter is used as a threshold to find radar centroids falling inside the extended box. + +- `split_threshold_velocity` (double) [m/s] + - Default parameter is 5.0. + +This parameter is the object's velocity threshold to decide to split for two objects from radar information. +Note that this feature is not currently implemented. + +- `threshold_yaw_diff` (double) [rad] + - Default parameter is 0.35. + +This parameter is the yaw orientation threshold. +If the difference of yaw degree between from a LiDAR-based detection object and radar velocity, radar information is attached to output objects. ### Weight parameters for velocity estimation To tune these weight parameters, please see [document](docs/algorithm.md) in detail. -| Name | Type | Description | Default value | -| :----------------------------------- | :----- | :-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | :------------ | -| velocity_weight_average | double | The twist coefficient of average twist of radar data in velocity estimation. | 0.0 | -| velocity_weight_median | double | The twist coefficient of median twist of radar data in velocity estimation. | 0.0 | -| velocity_weight_min_distance | double | The twist coefficient of radar data nearest to the center of bounding box in velocity estimation. | 1.0 | -| velocity_weight_target_value_average | double | The twist coefficient of target value weighted average in velocity estimation. Target value is amplitude if using radar pointcloud. Target value is probability if using radar objects. | -| 0.0 | -| velocity_weight_target_value_top | double | The twist coefficient of top target value radar data in velocity estimation. Target value is amplitude if using radar pointcloud. Target value is probability if using radar objects. | 0.0 | +- `velocity_weight_average` (double) +- Default parameter is 0.0. + +This parameter is the twist coefficient of average twist of radar data in velocity estimation. + +- `velocity_weight_median` (double) +- Default parameter is 0.0. + +This parameter is the twist coefficient of median twist of radar data in velocity estimation. + +- `velocity_weight_min_distance` (double) +- Default parameter is 1.0. + +This parameter is the twist coefficient of radar data nearest to the center of bounding box in velocity estimation. + +- `velocity_weight_target_value_average` (double) +- Default parameter is 0.0. + +This parameter is the twist coefficient of target value weighted average in velocity estimation. Target value is amplitude if using radar pointcloud. Target value is probability if using radar objects. + +- `velocity_weight_target_value_top` (double) +- Default parameter is 0.0. + +This parameter is the twist coefficient of top target value radar data in velocity estimation. Target value is amplitude if using radar pointcloud. Target value is probability if using radar objects. ### Parameters for fixed object information -| Name | Type | Description | Default value | -| :----------------------- | :---- | :----------------------------------------------------------------------------------------------------------------------------------------------------- | :------------ | -| convert_doppler_to_twist | bool | Convert doppler velocity to twist using the yaw information of a detected object. | false | -| threshold_probability | float | If the probability of an output object is lower than this parameter, and the output object does not have radar points/objects, then delete the object. | 0.4 | -| compensate_probability | bool | If this parameter is true, compensate probability of objects to threshold probability. | false | +- `convert_doppler_to_twist` (bool) + - Default parameter is false. + +This parameter is the flag whether convert doppler velocity to twist using the yaw information of a detected object. -## radar_object_fusion_to_detected_object +- `threshold_probability` (float) + - Default parameter is 0.4. + +This parameter is the threshold to filter output objects. +If the probability of an output object is lower than this parameter, and the output object does not have radar points/objects, then delete the object. + +- `compensate_probability` (bool) + - Default parameter is false. + +This parameter is the flag to use probability compensation. +If this parameter is true, compensate probability of objects to threshold probability. + +## Interface for radar_object_fusion_to_detected_object Sensor fusion with radar objects and a detected object. @@ -56,24 +110,28 @@ ros2 launch radar_fusion_to_detected_object radar_object_to_detected_object.laun ### Input -| Name | Type | Description | -| ----------------------- | ----------------------------------------------------- | ---------------------------------------------------------------------- | -| `~/input/objects` | autoware_auto_perception_msgs/msg/DetectedObject.msg | 3D detected objects. | -| `~/input/radar_objects` | autoware_auto_perception_msgs/msg/DetectedObjects.msg | Radar objects. Note that frame_id need to be same as `~/input/objects` | +- `~/input/objects` (`autoware_auto_perception_msgs/msg/DetectedObjects.msg`) + - 3D detected objects. +- `~/input/radar_objects` (`autoware_auto_perception_msgs/msg/DetectedObjects.msg`) + - Radar objects. Note that frame_id need to be same as `~/input/objects` ### Output -| Name | Type | Description | -| -------------------------------- | ----------------------------------------------------- | -------------------------------------------------------------------------------------- | -| `~/output/objects` | autoware_auto_perception_msgs/msg/DetectedObjects.msg | 3D detected object with twist. | -| `~/debug/low_confidence_objects` | autoware_auto_perception_msgs/msg/DetectedObjects.msg | 3D detected object that doesn't output as `~/output/objects` because of low confidence | +- `~/output/objects` (`autoware_auto_perception_msgs/msg/DetectedObjects.msg`) + - 3D detected object with twist. +- `~/debug/low_confidence_objects` (`autoware_auto_perception_msgs/msg/DetectedObjects.msg`) + - 3D detected object that doesn't output as `~/output/objects` because of low confidence ### Parameters -| Name | Type | Description | Default value | -| :------------- | :----- | :-------------------- | :------------ | -| update_rate_hz | double | The update rate [hz]. | 20.0 | +The parameters for core algorithm can be set as `node_params`. + +- `update_rate_hz` (double) [hz] + - Default parameter is 20.0 + +This parameter is update rate for the `onTimer` function. +This parameter should be same as the frame rate of input topics. -## radar_scan_fusion_to_detected_object (TBD) +## Interface for radar_scan_fusion_to_detected_object (TBD) -TBD +Under implement From 7e53f30de3c53842dcaa2b86e3c7fafcd410acef Mon Sep 17 00:00:00 2001 From: Yuki TAKAGI <141538661+yuki-takagi-66@users.noreply.github.com> Date: Wed, 7 Feb 2024 14:41:34 +0900 Subject: [PATCH 004/126] chore(planning/control/vehicle): declare ROS params in yaml files (#6217) * clean up launch file * add yaml Signed-off-by: Yuki Takagi --- control/joy_controller/config/joy_controller.param.yaml | 2 +- control/joy_controller/launch/joy_controller.launch.xml | 3 +-- control/trajectory_follower_node/CMakeLists.txt | 1 + .../config/simple_trajectory_follower.param.yaml | 5 +++++ .../launch/simple_trajectory_follower.launch.xml | 4 +--- .../vehicle_cmd_gate/config/vehicle_cmd_gate.param.yaml | 2 +- .../vehicle_cmd_gate/launch/vehicle_cmd_gate.launch.xml | 7 +------ .../test/src/test_filter_in_vehicle_cmd_gate_node.cpp | 3 +++ .../launch/obstacle_avoidance_planner.launch.xml | 4 +--- .../launch/obstacle_stop_planner.launch.xml | 2 -- vehicle/external_cmd_converter/CMakeLists.txt | 1 + .../config/external_cmd_converter.param.yaml | 9 +++++++++ .../launch/external_cmd_converter.launch.xml | 9 ++------- 13 files changed, 27 insertions(+), 25 deletions(-) create mode 100644 control/trajectory_follower_node/config/simple_trajectory_follower.param.yaml create mode 100644 vehicle/external_cmd_converter/config/external_cmd_converter.param.yaml diff --git a/control/joy_controller/config/joy_controller.param.yaml b/control/joy_controller/config/joy_controller.param.yaml index 73a5d028985c5..c9fe348867e68 100644 --- a/control/joy_controller/config/joy_controller.param.yaml +++ b/control/joy_controller/config/joy_controller.param.yaml @@ -1,6 +1,6 @@ /**: ros__parameters: - joy_type: DS4 + joy_type: $(var joy_type) update_rate: 10.0 accel_ratio: 3.0 brake_ratio: 5.0 diff --git a/control/joy_controller/launch/joy_controller.launch.xml b/control/joy_controller/launch/joy_controller.launch.xml index d2804a7339046..c392ca100a9c0 100644 --- a/control/joy_controller/launch/joy_controller.launch.xml +++ b/control/joy_controller/launch/joy_controller.launch.xml @@ -30,8 +30,7 @@ - - + diff --git a/control/trajectory_follower_node/CMakeLists.txt b/control/trajectory_follower_node/CMakeLists.txt index c64a51b3dde7f..653b02eb39ed6 100644 --- a/control/trajectory_follower_node/CMakeLists.txt +++ b/control/trajectory_follower_node/CMakeLists.txt @@ -62,4 +62,5 @@ ament_auto_package( param test launch + config ) diff --git a/control/trajectory_follower_node/config/simple_trajectory_follower.param.yaml b/control/trajectory_follower_node/config/simple_trajectory_follower.param.yaml new file mode 100644 index 0000000000000..8194990a136ea --- /dev/null +++ b/control/trajectory_follower_node/config/simple_trajectory_follower.param.yaml @@ -0,0 +1,5 @@ +/**: + ros__parameters: + use_external_target_vel: $(var use_external_target_vel) + external_target_vel: $(var external_target_vel) + lateral_deviation: $(var lateral_deviation) diff --git a/control/trajectory_follower_node/launch/simple_trajectory_follower.launch.xml b/control/trajectory_follower_node/launch/simple_trajectory_follower.launch.xml index 8ce799e17e632..0c4c3faac73a9 100644 --- a/control/trajectory_follower_node/launch/simple_trajectory_follower.launch.xml +++ b/control/trajectory_follower_node/launch/simple_trajectory_follower.launch.xml @@ -5,9 +5,7 @@ - - - + diff --git a/control/vehicle_cmd_gate/config/vehicle_cmd_gate.param.yaml b/control/vehicle_cmd_gate/config/vehicle_cmd_gate.param.yaml index 7ad685217f13d..54c87f45b6a96 100644 --- a/control/vehicle_cmd_gate/config/vehicle_cmd_gate.param.yaml +++ b/control/vehicle_cmd_gate/config/vehicle_cmd_gate.param.yaml @@ -3,7 +3,7 @@ update_rate: 10.0 system_emergency_heartbeat_timeout: 0.5 use_emergency_handling: false - check_external_emergency_heartbeat: false + check_external_emergency_heartbeat: $(var check_external_emergency_heartbeat) use_start_request: false enable_cmd_limit_filter: true filter_activated_count_threshold: 5 diff --git a/control/vehicle_cmd_gate/launch/vehicle_cmd_gate.launch.xml b/control/vehicle_cmd_gate/launch/vehicle_cmd_gate.launch.xml index a6cf7cdcf8c08..c5368276b488a 100644 --- a/control/vehicle_cmd_gate/launch/vehicle_cmd_gate.launch.xml +++ b/control/vehicle_cmd_gate/launch/vehicle_cmd_gate.launch.xml @@ -1,8 +1,6 @@ - - @@ -44,10 +42,7 @@ - + - - - diff --git a/control/vehicle_cmd_gate/test/src/test_filter_in_vehicle_cmd_gate_node.cpp b/control/vehicle_cmd_gate/test/src/test_filter_in_vehicle_cmd_gate_node.cpp index f02235ed1ecbf..f9f3087a6b69c 100644 --- a/control/vehicle_cmd_gate/test/src/test_filter_in_vehicle_cmd_gate_node.cpp +++ b/control/vehicle_cmd_gate/test/src/test_filter_in_vehicle_cmd_gate_node.cpp @@ -331,6 +331,9 @@ std::shared_ptr generateNode() {"--ros-args", "--params-file", vehicle_cmd_gate_dir + "/config/vehicle_cmd_gate.param.yaml", "--ros-args", "--params-file", vehicle_info_util_dir + "/config/vehicle_info.param.yaml"}); + node_options.append_parameter_override( + "check_external_emergency_heartbeat", true); // This parameter has to be set when launching. + const auto override = [&](const auto s, const std::vector v) { node_options.append_parameter_override>(s, v); }; diff --git a/planning/obstacle_avoidance_planner/launch/obstacle_avoidance_planner.launch.xml b/planning/obstacle_avoidance_planner/launch/obstacle_avoidance_planner.launch.xml index 5a64fc970c867..aec23bf3e60ad 100644 --- a/planning/obstacle_avoidance_planner/launch/obstacle_avoidance_planner.launch.xml +++ b/planning/obstacle_avoidance_planner/launch/obstacle_avoidance_planner.launch.xml @@ -2,13 +2,11 @@ - - + - diff --git a/planning/obstacle_stop_planner/launch/obstacle_stop_planner.launch.xml b/planning/obstacle_stop_planner/launch/obstacle_stop_planner.launch.xml index 7640e97af44a3..bec3aef6b4558 100644 --- a/planning/obstacle_stop_planner/launch/obstacle_stop_planner.launch.xml +++ b/planning/obstacle_stop_planner/launch/obstacle_stop_planner.launch.xml @@ -6,7 +6,6 @@ - @@ -21,7 +20,6 @@ - diff --git a/vehicle/external_cmd_converter/CMakeLists.txt b/vehicle/external_cmd_converter/CMakeLists.txt index fe6f12ebf5495..9624067bcf757 100644 --- a/vehicle/external_cmd_converter/CMakeLists.txt +++ b/vehicle/external_cmd_converter/CMakeLists.txt @@ -15,4 +15,5 @@ rclcpp_components_register_node(external_cmd_converter ament_auto_package(INSTALL_TO_SHARE launch + config ) diff --git a/vehicle/external_cmd_converter/config/external_cmd_converter.param.yaml b/vehicle/external_cmd_converter/config/external_cmd_converter.param.yaml new file mode 100644 index 0000000000000..5604fc07b2890 --- /dev/null +++ b/vehicle/external_cmd_converter/config/external_cmd_converter.param.yaml @@ -0,0 +1,9 @@ +/**: + ros__parameters: + csv_path_accel_map: $(var csv_path_accel_map) + csv_path_brake_map: $(var csv_path_brake_map) + ref_vel_gain: $(var ref_vel_gain) + timer_rate: $(var timer_rate) + wait_for_first_topic: $(var wait_for_first_topic) + control_command_timeout: $(var control_command_timeout) + emergency_stop_timeout: $(var emergency_stop_timeout) diff --git a/vehicle/external_cmd_converter/launch/external_cmd_converter.launch.xml b/vehicle/external_cmd_converter/launch/external_cmd_converter.launch.xml index c4de561103de6..856b534af81da 100644 --- a/vehicle/external_cmd_converter/launch/external_cmd_converter.launch.xml +++ b/vehicle/external_cmd_converter/launch/external_cmd_converter.launch.xml @@ -1,5 +1,6 @@ + @@ -24,13 +25,7 @@ - - - - - - - + From 97108286d83842862f11f4dc62f6107a8fe05cdd Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Wed, 7 Feb 2024 16:42:44 +0900 Subject: [PATCH 005/126] feat(intersection): use different expected deceleration for bike/car (#6328) Signed-off-by: Mamoru Sobue --- .../config/intersection.param.yaml | 4 +++- .../src/manager.cpp | 9 +++++++-- .../src/scene_intersection.hpp | 6 +++++- .../src/scene_intersection_collision.cpp | 15 ++++++++++----- 4 files changed, 25 insertions(+), 9 deletions(-) diff --git a/planning/behavior_velocity_intersection_module/config/intersection.param.yaml b/planning/behavior_velocity_intersection_module/config/intersection.param.yaml index c7f6f62d575a0..e934ad1d0dbfc 100644 --- a/planning/behavior_velocity_intersection_module/config/intersection.param.yaml +++ b/planning/behavior_velocity_intersection_module/config/intersection.param.yaml @@ -56,7 +56,9 @@ duration: 3.0 object_dist_to_stopline: 10.0 ignore_on_amber_traffic_light: - object_expected_deceleration: 2.0 + object_expected_deceleration: + car: 2.0 + bike: 5.0 ignore_on_red_traffic_light: object_margin_to_path: 2.0 avoid_collision_by_acceleration: diff --git a/planning/behavior_velocity_intersection_module/src/manager.cpp b/planning/behavior_velocity_intersection_module/src/manager.cpp index 8ab67c810a30e..0b4aabaa938f0 100644 --- a/planning/behavior_velocity_intersection_module/src/manager.cpp +++ b/planning/behavior_velocity_intersection_module/src/manager.cpp @@ -127,9 +127,14 @@ IntersectionModuleManager::IntersectionModuleManager(rclcpp::Node & node) ip.collision_detection.yield_on_green_traffic_light.object_dist_to_stopline = getOrDeclareParameter( node, ns + ".collision_detection.yield_on_green_traffic_light.object_dist_to_stopline"); - ip.collision_detection.ignore_on_amber_traffic_light.object_expected_deceleration = + ip.collision_detection.ignore_on_amber_traffic_light.object_expected_deceleration.car = getOrDeclareParameter( - node, ns + ".collision_detection.ignore_on_amber_traffic_light.object_expected_deceleration"); + node, + ns + ".collision_detection.ignore_on_amber_traffic_light.object_expected_deceleration.car"); + ip.collision_detection.ignore_on_amber_traffic_light.object_expected_deceleration.bike = + getOrDeclareParameter( + node, + ns + ".collision_detection.ignore_on_amber_traffic_light.object_expected_deceleration.bike"); ip.collision_detection.ignore_on_red_traffic_light.object_margin_to_path = getOrDeclareParameter( node, ns + ".collision_detection.ignore_on_red_traffic_light.object_margin_to_path"); diff --git a/planning/behavior_velocity_intersection_module/src/scene_intersection.hpp b/planning/behavior_velocity_intersection_module/src/scene_intersection.hpp index 752c21158ac95..5ebfaa43e458b 100644 --- a/planning/behavior_velocity_intersection_module/src/scene_intersection.hpp +++ b/planning/behavior_velocity_intersection_module/src/scene_intersection.hpp @@ -123,7 +123,11 @@ class IntersectionModule : public SceneModuleInterface } yield_on_green_traffic_light; struct IgnoreOnAmberTrafficLight { - double object_expected_deceleration; + struct ObjectExpectedDeceleration + { + double car; + double bike; + } object_expected_deceleration; } ignore_on_amber_traffic_light; struct IgnoreOnRedTrafficLight { diff --git a/planning/behavior_velocity_intersection_module/src/scene_intersection_collision.cpp b/planning/behavior_velocity_intersection_module/src/scene_intersection_collision.cpp index 4496df77134e2..4aa29e09c3284 100644 --- a/planning/behavior_velocity_intersection_module/src/scene_intersection_collision.cpp +++ b/planning/behavior_velocity_intersection_module/src/scene_intersection_collision.cpp @@ -176,18 +176,23 @@ void IntersectionModule::updateObjectInfoManagerCollision( for (auto & object_info : object_info_manager_.attentionObjects()) { const auto & predicted_object = object_info->predicted_object(); bool safe_under_traffic_control = false; + const auto label = predicted_object.classification.at(0).label; + const auto expected_deceleration = + (label == autoware_auto_perception_msgs::msg::ObjectClassification::MOTORCYCLE || + label == autoware_auto_perception_msgs::msg::ObjectClassification::BICYCLE) + ? planner_param_.collision_detection.ignore_on_amber_traffic_light + .object_expected_deceleration.bike + : planner_param_.collision_detection.ignore_on_amber_traffic_light + .object_expected_deceleration.car; if ( traffic_prioritized_level == TrafficPrioritizedLevel::PARTIALLY_PRIORITIZED && - object_info->can_stop_before_stopline( - planner_param_.collision_detection.ignore_on_amber_traffic_light - .object_expected_deceleration)) { + object_info->can_stop_before_stopline(expected_deceleration)) { safe_under_traffic_control = true; } if ( traffic_prioritized_level == TrafficPrioritizedLevel::FULLY_PRIORITIZED && object_info->can_stop_before_ego_lane( - planner_param_.collision_detection.ignore_on_amber_traffic_light - .object_expected_deceleration, + expected_deceleration, planner_param_.collision_detection.ignore_on_red_traffic_light.object_margin_to_path, ego_lane)) { safe_under_traffic_control = true; From b574523ee0dfc75206112effac3c5c35ab088aad Mon Sep 17 00:00:00 2001 From: Takamasa Horibe Date: Wed, 7 Feb 2024 16:43:54 +0900 Subject: [PATCH 006/126] chore(object_type_panel): update rosparam name config (#6347) Signed-off-by: Takamasa Horibe --- .../src/target_object_type_panel.cpp | 106 ++++++++++++++---- 1 file changed, 87 insertions(+), 19 deletions(-) diff --git a/common/tier4_target_object_type_rviz_plugin/src/target_object_type_panel.cpp b/common/tier4_target_object_type_rviz_plugin/src/target_object_type_panel.cpp index cf5960cac281f..e014307942bab 100644 --- a/common/tier4_target_object_type_rviz_plugin/src/target_object_type_panel.cpp +++ b/common/tier4_target_object_type_rviz_plugin/src/target_object_type_panel.cpp @@ -60,7 +60,12 @@ void TargetObjectTypePanel::setParameters() modules_ = { "avoidance", "avoidance_by_lane_change", + "dynamic_avoidance", "lane_change", + "start_planner", + "goal_planner", + "crosswalk", + "surround_obstacle_checker", "obstacle_cruise (inside)", "obstacle_cruise (outside)", "obstacle_stop", @@ -89,15 +94,8 @@ void TargetObjectTypePanel::setParameters() ParamNameEnableObject param_name; param_name.node = "/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner"; - param_name.ns = "avoidance.target_object"; - param_name.name.emplace("car", "car.is_target"); - param_name.name.emplace("truck", "truck.is_target"); - param_name.name.emplace("bus", "bus.is_target"); - param_name.name.emplace("trailer", "trailer.is_target"); - param_name.name.emplace("unknown", "unknown.is_target"); - param_name.name.emplace("bicycle", "bicycle.is_target"); - param_name.name.emplace("motorcycle", "motorcycle.is_target"); - param_name.name.emplace("pedestrian", "pedestrian.is_target"); + param_name.ns = "avoidance.target_filtering.target_type"; + param_name.name = default_param_name.name; param_names_.emplace(module, param_name); } @@ -107,15 +105,8 @@ void TargetObjectTypePanel::setParameters() ParamNameEnableObject param_name; param_name.node = "/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner"; - param_name.ns = "avoidance_by_lane_change.target_object"; - param_name.name.emplace("car", "car.is_target"); - param_name.name.emplace("truck", "truck.is_target"); - param_name.name.emplace("bus", "bus.is_target"); - param_name.name.emplace("trailer", "trailer.is_target"); - param_name.name.emplace("unknown", "unknown.is_target"); - param_name.name.emplace("bicycle", "bicycle.is_target"); - param_name.name.emplace("motorcycle", "motorcycle.is_target"); - param_name.name.emplace("pedestrian", "pedestrian.is_target"); + param_name.ns = "avoidance_by_lane_change.target_filtering.target_type"; + param_name.name = default_param_name.name; param_names_.emplace(module, param_name); } @@ -130,6 +121,64 @@ void TargetObjectTypePanel::setParameters() param_names_.emplace(module, param_name); } + // start_planner + { + const auto module = "start_planner"; + ParamNameEnableObject param_name; + param_name.node = + "/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner"; + param_name.ns = "start_planner.path_safety_check.target_filtering.object_types_to_check"; + param_name.name.emplace("car", "check_car"); + param_name.name.emplace("truck", "check_truck"); + param_name.name.emplace("bus", "check_bus"); + param_name.name.emplace("trailer", "check_trailer"); + param_name.name.emplace("unknown", "check_unknown"); + param_name.name.emplace("bicycle", "check_bicycle"); + param_name.name.emplace("motorcycle", "check_motorcycle"); + param_name.name.emplace("pedestrian", "check_pedestrian"); + param_names_.emplace(module, param_name); + } + + // goal_planner + { + const auto module = "goal_planner"; + ParamNameEnableObject param_name; + param_name.node = + "/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner"; + param_name.ns = "goal_planner.path_safety_check.target_filtering.object_types_to_check"; + param_name.name.emplace("car", "check_car"); + param_name.name.emplace("truck", "check_truck"); + param_name.name.emplace("bus", "check_bus"); + param_name.name.emplace("trailer", "check_trailer"); + param_name.name.emplace("unknown", "check_unknown"); + param_name.name.emplace("bicycle", "check_bicycle"); + param_name.name.emplace("motorcycle", "check_motorcycle"); + param_name.name.emplace("pedestrian", "check_pedestrian"); + param_names_.emplace(module, param_name); + } + + // dynamic_avoidance + { + const auto module = "dynamic_avoidance"; + ParamNameEnableObject param_name; + param_name.node = + "/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner"; + param_name.ns = "dynamic_avoidance.target_object"; + param_name.name = default_param_name.name; + param_names_.emplace(module, param_name); + } + + // crosswalk + { + const auto module = "crosswalk"; + ParamNameEnableObject param_name; + param_name.node = + "/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner"; + param_name.ns = "crosswalk.object_filtering.target_object"; + param_name.name = default_param_name.name; + param_names_.emplace(module, param_name); + } + // obstacle cruise (inside) { const auto module = "obstacle_cruise (inside)"; @@ -152,6 +201,24 @@ void TargetObjectTypePanel::setParameters() param_names_.emplace(module, param_name); } + // surround_obstacle_check + { + const auto module = "surround_obstacle_checker"; + ParamNameEnableObject param_name; + param_name.node = + "/planning/scenario_planning/lane_driving/motion_planning/surround_obstacle_checker"; + param_name.ns = ""; + param_name.name.emplace("car", "car.enable_check"); + param_name.name.emplace("truck", "truck.enable_check"); + param_name.name.emplace("bus", "bus.enable_check"); + param_name.name.emplace("trailer", "trailer.enable_check"); + param_name.name.emplace("unknown", "unknown.enable_check"); + param_name.name.emplace("bicycle", "bicycle.enable_check"); + param_name.name.emplace("motorcycle", "motorcycle.enable_check"); + param_name.name.emplace("pedestrian", "pedestrian.enable_check"); + param_names_.emplace(module, param_name); + } + // obstacle stop { const auto module = "obstacle_stop"; @@ -225,7 +292,8 @@ void TargetObjectTypePanel::updateMatrix() continue; } - std::string param_name = module_params.ns + "." + module_params.name.at(target); + std::string param_name = + (module_params.ns.empty() ? "" : module_params.ns + ".") + module_params.name.at(target); auto parameter_result = parameters_client->get_parameters({param_name}); if (!parameter_result.empty()) { From 3a102823a5c48701313b1d4e34a9b8be5aa6b42f Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Wed, 7 Feb 2024 17:22:58 +0900 Subject: [PATCH 007/126] chore(intersection): add const to member functions, replace enum with class tag for occlusion (#6299) Signed-off-by: Mamoru Sobue --- .../src/object_manager.cpp | 2 +- .../src/object_manager.hpp | 4 +- .../src/scene_intersection.cpp | 41 ++++++++------ .../src/scene_intersection.hpp | 55 +++++++++++-------- .../src/scene_intersection_collision.cpp | 28 +++++----- .../src/scene_intersection_occlusion.cpp | 19 ++++--- .../src/scene_intersection_prepare_data.cpp | 10 ++-- 7 files changed, 91 insertions(+), 68 deletions(-) diff --git a/planning/behavior_velocity_intersection_module/src/object_manager.cpp b/planning/behavior_velocity_intersection_module/src/object_manager.cpp index fe327704f61c2..420031e4df1cf 100644 --- a/planning/behavior_velocity_intersection_module/src/object_manager.cpp +++ b/planning/behavior_velocity_intersection_module/src/object_manager.cpp @@ -240,7 +240,7 @@ void ObjectInfoManager::clearObjects() parked_objects_.clear(); }; -std::vector> ObjectInfoManager::allObjects() +std::vector> ObjectInfoManager::allObjects() const { std::vector> all_objects = attention_area_objects_; all_objects.insert( diff --git a/planning/behavior_velocity_intersection_module/src/object_manager.hpp b/planning/behavior_velocity_intersection_module/src/object_manager.hpp index e77849570cda8..77e39637523a9 100644 --- a/planning/behavior_velocity_intersection_module/src/object_manager.hpp +++ b/planning/behavior_velocity_intersection_module/src/object_manager.hpp @@ -109,7 +109,7 @@ class ObjectInfo return predicted_object_; }; - std::optional is_unsafe() const + std::optional unsafe_info() const { if (safe_under_traffic_control_) { return std::nullopt; @@ -246,7 +246,7 @@ class ObjectInfoManager const std::vector> & parkedObjects() const { return parked_objects_; } - std::vector> allObjects(); + std::vector> allObjects() const; const std::unordered_map> & getObjectsMap() diff --git a/planning/behavior_velocity_intersection_module/src/scene_intersection.cpp b/planning/behavior_velocity_intersection_module/src/scene_intersection.cpp index 293103b078450..a6204ff218353 100644 --- a/planning/behavior_velocity_intersection_module/src/scene_intersection.cpp +++ b/planning/behavior_velocity_intersection_module/src/scene_intersection.cpp @@ -52,7 +52,6 @@ IntersectionModule::IntersectionModule( const std::string & turn_direction, const bool has_traffic_light, rclcpp::Node & node, const rclcpp::Logger logger, const rclcpp::Clock::SharedPtr clock) : SceneModuleInterface(module_id, logger, clock), - node_(node), lane_id_(lane_id), associative_ids_(associative_ids), turn_direction_(turn_direction), @@ -88,10 +87,10 @@ IntersectionModule::IntersectionModule( } decision_state_pub_ = - node_.create_publisher("~/debug/intersection/decision_state", 1); - ego_ttc_pub_ = node_.create_publisher( + node.create_publisher("~/debug/intersection/decision_state", 1); + ego_ttc_pub_ = node.create_publisher( "~/debug/intersection/ego_ttc", 1); - object_ttc_pub_ = node_.create_publisher( + object_ttc_pub_ = node.create_publisher( "~/debug/intersection/object_ttc", 1); } @@ -105,11 +104,13 @@ bool IntersectionModule::modifyPathVelocity(PathWithLaneId * path, StopReason * const auto decision_result = modifyPathVelocityDetail(path, stop_reason); prev_decision_result_ = decision_result; - const std::string decision_type = "intersection" + std::to_string(module_id_) + " : " + - intersection::formatDecisionResult(decision_result); - std_msgs::msg::String decision_result_msg; - decision_result_msg.data = decision_type; - decision_state_pub_->publish(decision_result_msg); + { + const std::string decision_type = "intersection" + std::to_string(module_id_) + " : " + + intersection::formatDecisionResult(decision_result); + std_msgs::msg::String decision_result_msg; + decision_result_msg.data = decision_type; + decision_state_pub_->publish(decision_result_msg); + } prepareRTCStatus(decision_result, *path); @@ -225,6 +226,14 @@ intersection::DecisionResult IntersectionModule::modifyPathVelocityDetail( updateObjectInfoManagerCollision( path_lanelets, time_distance_array, traffic_prioritized_level, safely_passed_1st_judge_line, safely_passed_2nd_judge_line); + for (const auto & object_info : object_info_manager_.attentionObjects()) { + if (!object_info->unsafe_info()) { + continue; + } + setObjectsOfInterestData( + object_info->predicted_object().kinematics.initial_pose_with_covariance.pose, + object_info->predicted_object().shape, ColorName::RED); + } const auto [has_collision, collision_position, too_late_detect_objects, misjudge_objects] = detectCollision(is_over_1st_pass_judge_line, is_over_2nd_pass_judge_line); @@ -241,17 +250,17 @@ intersection::DecisionResult IntersectionModule::modifyPathVelocityDetail( "no collision is detected", "ego can safely pass the intersection at this rate"}; } - const bool collision_on_1st_attention_lane = - has_collision && (collision_position == intersection::CollisionInterval::LanePosition::FIRST); // ========================================================================================== // this state is very dangerous because ego is very close/over the boundary of 1st attention lane // and collision is detected on the 1st lane. Since the 2nd attention lane also exists in this // case, possible another collision may be expected on the 2nd attention lane too. // ========================================================================================== std::string safety_report = safety_diag; - if ( - is_over_1st_pass_judge_line && is_over_2nd_pass_judge_line && - is_over_2nd_pass_judge_line.value() && collision_on_1st_attention_lane) { + if (const bool collision_on_1st_attention_lane = + has_collision && + (collision_position == intersection::CollisionInterval::LanePosition::FIRST); + is_over_1st_pass_judge_line && is_over_2nd_pass_judge_line.has_value() && + !is_over_2nd_pass_judge_line.value() && collision_on_1st_attention_lane) { safety_report += "\nego is between the 1st and 2nd pass judge line but collision is expected on the 1st " "attention lane, which is dangerous."; @@ -375,7 +384,7 @@ intersection::DecisionResult IntersectionModule::modifyPathVelocityDetail( closest_idx, first_attention_stopline_idx, occlusion_wo_tl_pass_judge_line_idx, - safety_diag}; + safety_report}; } // ========================================================================================== @@ -383,7 +392,7 @@ intersection::DecisionResult IntersectionModule::modifyPathVelocityDetail( // // if ego is stuck by static occlusion in the presence of traffic light, start timeout count // ========================================================================================== - const bool is_static_occlusion = occlusion_status == OcclusionType::STATICALLY_OCCLUDED; + const bool is_static_occlusion = std::holds_alternative(occlusion_status); const bool is_stuck_by_static_occlusion = stoppedAtPosition( occlusion_stopline_idx, planner_param_.occlusion.temporal_stop_time_before_peeking) && diff --git a/planning/behavior_velocity_intersection_module/src/scene_intersection.hpp b/planning/behavior_velocity_intersection_module/src/scene_intersection.hpp index 5ebfaa43e458b..9da765dfadc8a 100644 --- a/planning/behavior_velocity_intersection_module/src/scene_intersection.hpp +++ b/planning/behavior_velocity_intersection_module/src/scene_intersection.hpp @@ -41,6 +41,7 @@ #include #include #include +#include #include namespace behavior_velocity_planner @@ -170,16 +171,25 @@ class IntersectionModule : public SceneModuleInterface } debug; }; - enum OcclusionType { - //! occlusion is not detected - NOT_OCCLUDED, - //! occlusion is not caused by dynamic objects - STATICALLY_OCCLUDED, - //! occlusion is caused by dynamic objects - DYNAMICALLY_OCCLUDED, - //! actual occlusion does not exist, only disapproved by RTC - RTC_OCCLUDED, + //! occlusion is not detected + struct NotOccluded + { + double best_clearance_distance{-1.0}; + }; + //! occlusion is not caused by dynamic objects + struct StaticallyOccluded + { + double best_clearance_distance{0.0}; + }; + //! occlusion is caused by dynamic objects + struct DynamicallyOccluded + { + double best_clearance_distance{0.0}; }; + //! actual occlusion does not exist, only disapproved by RTC + using RTCOccluded = std::monostate; + using OcclusionType = + std::variant; struct DebugData { @@ -301,11 +311,9 @@ class IntersectionModule : public SceneModuleInterface bool getOcclusionSafety() const { return occlusion_safety_; } double getOcclusionDistance() const { return occlusion_stop_distance_; } void setOcclusionActivation(const bool activation) { occlusion_activated_ = activation; } - bool isOcclusionFirstStopRequired() { return occlusion_first_stop_required_; } + bool isOcclusionFirstStopRequired() const { return occlusion_first_stop_required_; } private: - rclcpp::Node & node_; - /** *********************************************************** *********************************************************** @@ -417,7 +425,7 @@ class IntersectionModule : public SceneModuleInterface * @defgroup occlusion-variables [var] occlusion detection variables * @{ */ - OcclusionType prev_occlusion_status_; + OcclusionType prev_occlusion_status_{NotOccluded{}}; //! debouncing for the first brief stop at the default stopline StateMachine before_creep_state_machine_; @@ -520,7 +528,7 @@ class IntersectionModule : public SceneModuleInterface */ std::optional getStopLineIndexFromMap( const intersection::InterpolatedPathInfo & interpolated_path_info, - lanelet::ConstLanelet assigned_lanelet); + lanelet::ConstLanelet assigned_lanelet) const; /** * @brief generate IntersectionStopLines @@ -531,7 +539,7 @@ class IntersectionModule : public SceneModuleInterface const lanelet::ConstLanelet & first_attention_lane, const std::optional & second_attention_area_opt, const intersection::InterpolatedPathInfo & interpolated_path_info, - autoware_auto_planning_msgs::msg::PathWithLaneId * original_path); + autoware_auto_planning_msgs::msg::PathWithLaneId * original_path) const; /** * @brief generate IntersectionLanelets @@ -539,7 +547,7 @@ class IntersectionModule : public SceneModuleInterface intersection::IntersectionLanelets generateObjectiveLanelets( lanelet::LaneletMapConstPtr lanelet_map_ptr, lanelet::routing::RoutingGraphPtr routing_graph_ptr, - const lanelet::ConstLanelet assigned_lanelet); + const lanelet::ConstLanelet assigned_lanelet) const; /** * @brief generate PathLanelets @@ -550,14 +558,15 @@ class IntersectionModule : public SceneModuleInterface const lanelet::CompoundPolygon3d & first_conflicting_area, const std::vector & conflicting_areas, const std::optional & first_attention_area, - const std::vector & attention_areas, const size_t closest_idx); + const std::vector & attention_areas, + const size_t closest_idx) const; /** * @brief generate discretized detection lane linestring. */ std::vector generateDetectionLaneDivisions( lanelet::ConstLanelets detection_lanelets, - const lanelet::routing::RoutingGraphPtr routing_graph_ptr, const double resolution); + const lanelet::routing::RoutingGraphPtr routing_graph_ptr, const double resolution) const; /** @} */ private: @@ -664,7 +673,8 @@ class IntersectionModule : public SceneModuleInterface * @attention this function has access to value() of intersection_lanelets_, * intersection_lanelets.first_attention_area(), occlusion_attention_divisions_ */ - OcclusionType detectOcclusion(const intersection::InterpolatedPathInfo & interpolated_path_info); + OcclusionType detectOcclusion( + const intersection::InterpolatedPathInfo & interpolated_path_info) const; /** @} */ private: @@ -727,7 +737,7 @@ class IntersectionModule : public SceneModuleInterface */ std::optional isGreenPseudoCollisionStatus( const size_t closest_idx, const size_t collision_stopline_idx, - const intersection::IntersectionStopLines & intersection_stoplines); + const intersection::IntersectionStopLines & intersection_stoplines) const; /** * @brief generate the message explaining why too_late_detect_objects/misjudge_objects exist and @@ -759,7 +769,8 @@ class IntersectionModule : public SceneModuleInterface * @brief return if collision is detected and the collision position */ CollisionStatus detectCollision( - const bool is_over_1st_pass_judge_line, const std::optional is_over_2nd_pass_judge_line); + const bool is_over_1st_pass_judge_line, + const std::optional is_over_2nd_pass_judge_line) const; std::optional checkAngleForTargetLanelets( const geometry_msgs::msg::Pose & pose, const lanelet::ConstLanelets & target_lanelets, @@ -775,7 +786,7 @@ class IntersectionModule : public SceneModuleInterface TimeDistanceArray calcIntersectionPassingTime( const autoware_auto_planning_msgs::msg::PathWithLaneId & path, const bool is_prioritized, const intersection::IntersectionStopLines & intersection_stoplines, - tier4_debug_msgs::msg::Float64MultiArrayStamped * debug_ttc_array); + tier4_debug_msgs::msg::Float64MultiArrayStamped * debug_ttc_array) const; /** @} */ mutable DebugData debug_data_; diff --git a/planning/behavior_velocity_intersection_module/src/scene_intersection_collision.cpp b/planning/behavior_velocity_intersection_module/src/scene_intersection_collision.cpp index 4aa29e09c3284..ae6043f2658c3 100644 --- a/planning/behavior_velocity_intersection_module/src/scene_intersection_collision.cpp +++ b/planning/behavior_velocity_intersection_module/src/scene_intersection_collision.cpp @@ -351,7 +351,7 @@ void IntersectionModule::cutPredictPathWithinDuration( std::optional IntersectionModule::isGreenPseudoCollisionStatus( const size_t closest_idx, const size_t collision_stopline_idx, - const intersection::IntersectionStopLines & intersection_stoplines) + const intersection::IntersectionStopLines & intersection_stoplines) const { // ========================================================================================== // if there are any vehicles on the attention area when ego entered the intersection on green @@ -593,7 +593,8 @@ std::string IntersectionModule::generateEgoRiskEvasiveDiagnosis( } IntersectionModule::CollisionStatus IntersectionModule::detectCollision( - const bool is_over_1st_pass_judge_line, const std::optional is_over_2nd_pass_judge_line) + const bool is_over_1st_pass_judge_line, + const std::optional is_over_2nd_pass_judge_line) const { // ========================================================================================== // if collision is detected for multiple objects, we prioritize collision on the first @@ -603,14 +604,18 @@ IntersectionModule::CollisionStatus IntersectionModule::detectCollision( bool collision_at_non_first_lane = false; // ========================================================================================== - // find the objects which is judges as UNSAFE after ego passed pass judge lines. + // find the objects which are judged as UNSAFE after ego passed pass judge lines. // // misjudge_objects are those that were once judged as safe when ego passed the pass judge line // - // too_late_detect objects are those that (1) were not detected when ego passed the pass judge - // line (2) were judged as dangerous at the same time when ego passed the pass judge, which are - // expected to have been detected in the prior iteration because ego could have judged as UNSAFE - // in the prior iteration + // too_late_detect_objects are those that (1) were not detected when ego passed the pass judge + // line (2) were judged as dangerous at the same time when ego passed the pass judge line, which + // means they were expected to have been detected when ego passed the pass judge lines or in the + // prior iteration, because ego could have judged them as UNSAFE if their information was + // available at that time. + // + // that case is both "too late to stop" and "too late to go" for the planner. and basically + // detection side is responsible for this fault // ========================================================================================== std::vector>> misjudge_objects; @@ -622,13 +627,10 @@ IntersectionModule::CollisionStatus IntersectionModule::detectCollision( object_info->predicted_object()); continue; } - if (!object_info->is_unsafe()) { + if (!object_info->unsafe_info()) { continue; } - const auto & unsafe_info = object_info->is_unsafe().value(); - setObjectsOfInterestData( - object_info->predicted_object().kinematics.initial_pose_with_covariance.pose, - object_info->predicted_object().shape, ColorName::RED); + const auto & unsafe_info = object_info->unsafe_info().value(); // ========================================================================================== // if ego is over the pass judge lines, then the visualization as "too_late_objects" or // "misjudge_objects" is more important than that for "unsafe" @@ -994,7 +996,7 @@ std::optional IntersectionModule::checkAngleForTargetLanelets( IntersectionModule::TimeDistanceArray IntersectionModule::calcIntersectionPassingTime( const autoware_auto_planning_msgs::msg::PathWithLaneId & path, const bool is_prioritized, const intersection::IntersectionStopLines & intersection_stoplines, - tier4_debug_msgs::msg::Float64MultiArrayStamped * debug_ttc_array) + tier4_debug_msgs::msg::Float64MultiArrayStamped * debug_ttc_array) const { const double intersection_velocity = planner_param_.collision_detection.velocity_profile.default_velocity; diff --git a/planning/behavior_velocity_intersection_module/src/scene_intersection_occlusion.cpp b/planning/behavior_velocity_intersection_module/src/scene_intersection_occlusion.cpp index 5d82e328f71f7..00ac333adeff1 100644 --- a/planning/behavior_velocity_intersection_module/src/scene_intersection_occlusion.cpp +++ b/planning/behavior_velocity_intersection_module/src/scene_intersection_occlusion.cpp @@ -62,9 +62,10 @@ IntersectionModule::getOcclusionStatus( (planner_param_.occlusion.enable && !occlusion_attention_lanelets.empty() && !is_amber_or_red_or_no_tl_info_ever) ? detectOcclusion(interpolated_path_info) - : OcclusionType::NOT_OCCLUDED; + : NotOccluded{}; occlusion_stop_state_machine_.setStateWithMarginTime( - occlusion_status == OcclusionType::NOT_OCCLUDED ? StateMachine::State::GO : StateMachine::STOP, + std::holds_alternative(occlusion_status) ? 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); // module's detection @@ -72,11 +73,11 @@ IntersectionModule::getOcclusionStatus( const bool ext_occlusion_requested = (is_occlusion_cleared_with_margin && !occlusion_activated_); // RTC's detection if (ext_occlusion_requested) { - occlusion_status = OcclusionType::RTC_OCCLUDED; + occlusion_status = RTCOccluded{}; } const bool is_occlusion_state = (!is_occlusion_cleared_with_margin || ext_occlusion_requested); // including approval - if (is_occlusion_state && occlusion_status == OcclusionType::NOT_OCCLUDED) { + if (is_occlusion_state && std::holds_alternative(occlusion_status)) { occlusion_status = prev_occlusion_status_; } else { prev_occlusion_status_ = occlusion_status; @@ -85,7 +86,7 @@ IntersectionModule::getOcclusionStatus( } IntersectionModule::OcclusionType IntersectionModule::detectOcclusion( - const intersection::InterpolatedPathInfo & interpolated_path_info) + const intersection::InterpolatedPathInfo & interpolated_path_info) const { const auto & intersection_lanelets = intersection_lanelets_.value(); const auto & adjacent_lanelets = intersection_lanelets.adjacent(); @@ -103,7 +104,7 @@ IntersectionModule::OcclusionType IntersectionModule::detectOcclusion( const auto first_attention_area_idx = util::getFirstPointInsidePolygon(path_ip, lane_interval_ip, first_attention_area); if (!first_attention_area_idx) { - return OcclusionType::NOT_OCCLUDED; + return NotOccluded{}; } const auto first_inside_attention_idx_ip_opt = @@ -394,7 +395,7 @@ IntersectionModule::OcclusionType IntersectionModule::detectOcclusion( } if (min_dist == std::numeric_limits::infinity() || min_dist > occlusion_dist_thr) { - return OcclusionType::NOT_OCCLUDED; + return NotOccluded{min_dist}; } debug_data_.nearest_occlusion_projection = @@ -406,9 +407,9 @@ IntersectionModule::OcclusionType IntersectionModule::detectOcclusion( const auto obj_poly = tier4_autoware_utils::toPolygon2d(attention_object_info->predicted_object()); if (bg::intersects(obj_poly, ego_occlusion_line)) { - return OcclusionType::DYNAMICALLY_OCCLUDED; + return DynamicallyOccluded{min_dist}; } } - return OcclusionType::STATICALLY_OCCLUDED; + return StaticallyOccluded{min_dist}; } } // namespace behavior_velocity_planner diff --git a/planning/behavior_velocity_intersection_module/src/scene_intersection_prepare_data.cpp b/planning/behavior_velocity_intersection_module/src/scene_intersection_prepare_data.cpp index 5f62d10e60387..1ffdb75204e4f 100644 --- a/planning/behavior_velocity_intersection_module/src/scene_intersection_prepare_data.cpp +++ b/planning/behavior_velocity_intersection_module/src/scene_intersection_prepare_data.cpp @@ -288,7 +288,7 @@ IntersectionModule::prepareIntersectionData(const bool is_prioritized, PathWithL std::optional IntersectionModule::getStopLineIndexFromMap( const intersection::InterpolatedPathInfo & interpolated_path_info, - lanelet::ConstLanelet assigned_lanelet) + lanelet::ConstLanelet assigned_lanelet) const { const auto & path = interpolated_path_info.path; const auto & lane_interval = interpolated_path_info.lane_id_interval.value(); @@ -344,7 +344,7 @@ IntersectionModule::generateIntersectionStopLines( const lanelet::ConstLanelet & first_attention_lane, const std::optional & second_attention_area_opt, const intersection::InterpolatedPathInfo & interpolated_path_info, - autoware_auto_planning_msgs::msg::PathWithLaneId * original_path) + autoware_auto_planning_msgs::msg::PathWithLaneId * original_path) const { const bool use_stuck_stopline = planner_param_.stuck_vehicle.use_stuck_stopline; const double stopline_margin = planner_param_.common.default_stopline_margin; @@ -575,7 +575,7 @@ IntersectionModule::generateIntersectionStopLines( intersection::IntersectionLanelets IntersectionModule::generateObjectiveLanelets( lanelet::LaneletMapConstPtr lanelet_map_ptr, lanelet::routing::RoutingGraphPtr routing_graph_ptr, - const lanelet::ConstLanelet assigned_lanelet) + const lanelet::ConstLanelet assigned_lanelet) const { const double detection_area_length = planner_param_.common.attention_area_length; const double occlusion_detection_area_length = @@ -780,7 +780,7 @@ std::optional IntersectionModule::generatePathLanele const lanelet::CompoundPolygon3d & first_conflicting_area, const std::vector & conflicting_areas, const std::optional & first_attention_area, - const std::vector & attention_areas, const size_t closest_idx) + const std::vector & attention_areas, const size_t closest_idx) const { const double width = planner_data_->vehicle_info_.vehicle_width_m; static constexpr double path_lanelet_interval = 1.5; @@ -848,7 +848,7 @@ std::optional IntersectionModule::generatePathLanele std::vector IntersectionModule::generateDetectionLaneDivisions( lanelet::ConstLanelets detection_lanelets_all, - const lanelet::routing::RoutingGraphPtr routing_graph_ptr, const double resolution) + const lanelet::routing::RoutingGraphPtr routing_graph_ptr, const double resolution) const { const double curvature_threshold = planner_param_.occlusion.attention_lane_crop_curvature_threshold; From 9df0ff9141c12cbd96c6c6bcf7d63300da47cc8d Mon Sep 17 00:00:00 2001 From: Anh Nguyen Date: Wed, 7 Feb 2024 16:27:13 +0700 Subject: [PATCH 008/126] chore(map_loader): rework parameters of map_loader (#6199) * Rework parameters of map_loader Signed-off-by: anhnv3991 * style(pre-commit): autofix * Fixed typo in name of map_based_pediction.schema.json, which cause json-schema-check failed Signed-off-by: anhnv3991 * Move path variables back to launch files Signed-off-by: anhnv3991 * Update README.md Signed-off-by: anhnv3991 * Undo the change in perception Signed-off-by: anhnv3991 * Remove default values of declare_parameter from map_loader Signed-off-by: anhnv3991 --------- Signed-off-by: anhnv3991 Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- map/map_loader/README.md | 15 +--- .../config/lanelet2_map_loader.param.yaml | 1 + .../config/pointcloud_map_loader.param.yaml | 2 + .../launch/lanelet2_map_loader.launch.xml | 5 +- .../launch/pointcloud_map_loader.launch.xml | 4 +- .../schema/lanelet2_map_loader.schema.json | 38 ++++++++++ .../schema/pointcloud_map_loader.schema.json | 71 +++++++++++++++++++ .../lanelet2_map_loader_node.cpp | 4 +- .../lanelet2_map_visualization_node.cpp | 2 +- .../test/lanelet2_map_loader_launch.test.py | 2 +- 10 files changed, 121 insertions(+), 23 deletions(-) create mode 100644 map/map_loader/schema/lanelet2_map_loader.schema.json create mode 100644 map/map_loader/schema/pointcloud_map_loader.schema.json diff --git a/map/map_loader/README.md b/map/map_loader/README.md index fbe019096a3e7..8a31ecee50be5 100644 --- a/map/map_loader/README.md +++ b/map/map_loader/README.md @@ -111,15 +111,7 @@ Please see [the description of `GetSelectedPointCloudMap.srv`](https://github.co ### Parameters -| Name | Type | Description | Default value | -| :---------------------------- | :---------- | :-------------------------------------------------------------------------------- | :------------ | -| enable_whole_load | bool | A flag to enable raw pointcloud map publishing | true | -| enable_downsampled_whole_load | bool | A flag to enable downsampled pointcloud map publishing | false | -| enable_partial_load | bool | A flag to enable partial pointcloud map server | false | -| enable_selected_load | bool | A flag to enable selected pointcloud map server | false | -| leaf_size | float | Downsampling leaf size (only used when enable_downsampled_whole_load is set true) | 3.0 | -| pcd_paths_or_directory | std::string | Path(s) to pointcloud map file or directory | | -| pcd_metadata_path | std::string | Path to pointcloud metadata file | | +{{ json_to_markdown("map/map_loader/schema/pointcloud_map_loader.schema.json") }} ### Interfaces @@ -156,10 +148,7 @@ Please see [tier4_autoware_msgs/msg/MapProjectorInfo.msg](https://github.com/tie ### Parameters -| Name | Type | Description | Default value | -| :--------------------- | :---------- | :----------------------------------------------- | :------------ | -| center_line_resolution | double | Define the resolution of the lanelet center line | 5.0 | -| lanelet2_map_path | std::string | The lanelet2 map path | None | +{{ json_to_markdown("map/map_loader/schema/lanelet2_map_loader.schema.json") }} --- diff --git a/map/map_loader/config/lanelet2_map_loader.param.yaml b/map/map_loader/config/lanelet2_map_loader.param.yaml index 24d2b0e8ed7a8..b830e038f1de2 100755 --- a/map/map_loader/config/lanelet2_map_loader.param.yaml +++ b/map/map_loader/config/lanelet2_map_loader.param.yaml @@ -1,3 +1,4 @@ /**: ros__parameters: center_line_resolution: 5.0 # [m] + lanelet2_map_path: $(var lanelet2_map_path) # The lanelet2 map path diff --git a/map/map_loader/config/pointcloud_map_loader.param.yaml b/map/map_loader/config/pointcloud_map_loader.param.yaml index b4efbec9706b4..180a3e6f9a2e5 100644 --- a/map/map_loader/config/pointcloud_map_loader.param.yaml +++ b/map/map_loader/config/pointcloud_map_loader.param.yaml @@ -7,3 +7,5 @@ # only used when downsample_whole_load enabled leaf_size: 3.0 # downsample leaf size [m] + pcd_paths_or_directory: [$(var pcd_paths_or_directory)] # Path to the pointcloud map file or directory + pcd_metadata_path: $(var pcd_metadata_path) # Path to pointcloud metadata file diff --git a/map/map_loader/launch/lanelet2_map_loader.launch.xml b/map/map_loader/launch/lanelet2_map_loader.launch.xml index b24ddae3a53e5..ea0157620ce43 100644 --- a/map/map_loader/launch/lanelet2_map_loader.launch.xml +++ b/map/map_loader/launch/lanelet2_map_loader.launch.xml @@ -5,13 +5,12 @@ - + - - + diff --git a/map/map_loader/launch/pointcloud_map_loader.launch.xml b/map/map_loader/launch/pointcloud_map_loader.launch.xml index 9901d04df5645..3e447456bb623 100644 --- a/map/map_loader/launch/pointcloud_map_loader.launch.xml +++ b/map/map_loader/launch/pointcloud_map_loader.launch.xml @@ -7,8 +7,6 @@ - - - + diff --git a/map/map_loader/schema/lanelet2_map_loader.schema.json b/map/map_loader/schema/lanelet2_map_loader.schema.json new file mode 100644 index 0000000000000..fa2b4d363ff92 --- /dev/null +++ b/map/map_loader/schema/lanelet2_map_loader.schema.json @@ -0,0 +1,38 @@ +{ + "$schema": "http://json-schema.org/draft-07/schema#", + "title": "Parameters for lanelet2 map loader Node", + "type": "object", + "definitions": { + "lanelet2_map_loader": { + "type": "object", + "properties": { + "center_line_resolution": { + "type": "number", + "description": "Resolution of the Lanelet center line [m]", + "default": "5.0" + }, + "lanelet2_map_path": { + "type": "string", + "description": "The lanelet2 map path pointing to the .osm file", + "default": "" + } + }, + "required": ["center_line_resolution", "lanelet2_map_path"], + "additionalProperties": false + } + }, + "properties": { + "/**": { + "type": "object", + "properties": { + "ros__parameters": { + "$ref": "#/definitions/lanelet2_map_loader" + } + }, + "required": ["ros__parameters"], + "additionalProperties": false + } + }, + "required": ["/**"], + "additionalProperties": false +} diff --git a/map/map_loader/schema/pointcloud_map_loader.schema.json b/map/map_loader/schema/pointcloud_map_loader.schema.json new file mode 100644 index 0000000000000..03cf10b9c5423 --- /dev/null +++ b/map/map_loader/schema/pointcloud_map_loader.schema.json @@ -0,0 +1,71 @@ +{ + "$schema": "http://json-schema.org/draft-07/schema#", + "title": "Parameters for point cloud map loader Node", + "type": "object", + "definitions": { + "pointcloud_map_loader": { + "type": "object", + "properties": { + "enable_whole_load": { + "type": "boolean", + "description": "Enable raw pointcloud map publishing", + "default": true + }, + "enable_downsampled_whole_load": { + "type": "boolean", + "description": "Enable downsampled pointcloud map publishing", + "default": false + }, + "enable_partial_load": { + "type": "boolean", + "description": "Enable partial pointcloud map server", + "default": true + }, + "enable_selected_load": { + "type": "boolean", + "description": "Enable selected pointcloud map server", + "default": false + }, + "leaf_size": { + "type": "number", + "description": "Downsampling leaf size (only used when enable_downsampled_whole_load is set true)", + "default": 3.0 + }, + "pcd_paths_or_directory": { + "type": "array", + "description": "Path(s) to pointcloud map file or directory", + "default": [] + }, + "pcd_metadata_path": { + "type": "string", + "description": "Path to pointcloud metadata file", + "default": "" + } + }, + "required": [ + "enable_whole_load", + "enable_downsampled_whole_load", + "enable_partial_load", + "enable_selected_load", + "leaf_size", + "pcd_paths_or_directory", + "pcd_metadata_path" + ], + "additionalProperties": false + } + }, + "properties": { + "/**": { + "type": "object", + "properties": { + "ros__parameters": { + "$ref": "#/definitions/pointcloud_map_loader" + } + }, + "required": ["ros__parameters"], + "additionalProperties": false + } + }, + "required": ["/**"], + "additionalProperties": false +} diff --git a/map/map_loader/src/lanelet2_map_loader/lanelet2_map_loader_node.cpp b/map/map_loader/src/lanelet2_map_loader/lanelet2_map_loader_node.cpp index 03504cc8e2e20..617f3dd503ce0 100644 --- a/map/map_loader/src/lanelet2_map_loader/lanelet2_map_loader_node.cpp +++ b/map/map_loader/src/lanelet2_map_loader/lanelet2_map_loader_node.cpp @@ -61,8 +61,8 @@ Lanelet2MapLoaderNode::Lanelet2MapLoaderNode(const rclcpp::NodeOptions & options sub_map_projector_info_, [this](const MapProjectorInfo::Message::ConstSharedPtr msg) { on_map_projector_info(msg); }); - declare_parameter("lanelet2_map_path", ""); - declare_parameter("center_line_resolution", 5.0); + declare_parameter("lanelet2_map_path"); + declare_parameter("center_line_resolution"); } void Lanelet2MapLoaderNode::on_map_projector_info( diff --git a/map/map_loader/src/lanelet2_map_loader/lanelet2_map_visualization_node.cpp b/map/map_loader/src/lanelet2_map_loader/lanelet2_map_visualization_node.cpp index a0c57759d51a6..870f8d06d90ea 100644 --- a/map/map_loader/src/lanelet2_map_loader/lanelet2_map_visualization_node.cpp +++ b/map/map_loader/src/lanelet2_map_loader/lanelet2_map_visualization_node.cpp @@ -71,7 +71,7 @@ Lanelet2MapVisualizationNode::Lanelet2MapVisualizationNode(const rclcpp::NodeOpt { using std::placeholders::_1; - viz_lanelets_centerline_ = this->declare_parameter("viz_lanelets_centerline", true); + viz_lanelets_centerline_ = true; sub_map_bin_ = this->create_subscription( "input/lanelet2_map", rclcpp::QoS{1}.transient_local(), diff --git a/map/map_loader/test/lanelet2_map_loader_launch.test.py b/map/map_loader/test/lanelet2_map_loader_launch.test.py index 24758a46f75aa..f1aa9e0efe922 100644 --- a/map/map_loader/test/lanelet2_map_loader_launch.test.py +++ b/map/map_loader/test/lanelet2_map_loader_launch.test.py @@ -34,7 +34,7 @@ def generate_test_description(): lanelet2_map_loader = Node( package="map_loader", executable="lanelet2_map_loader", - parameters=[{"lanelet2_map_path": lanelet2_map_path}], + parameters=[{"lanelet2_map_path": lanelet2_map_path, "center_line_resolution": 5.0}], ) context = {} From 0ed18a4e2b6a91eb943355d9db4bc74dbb5ff91f Mon Sep 17 00:00:00 2001 From: Khalil Selyan <36904941+KhalilSelyan@users.noreply.github.com> Date: Wed, 7 Feb 2024 12:57:54 +0300 Subject: [PATCH 009/126] feat: update vehicle overlay plugin (#6323) Signed-off-by: KhalilSelyan --- .../autoware_overlay_msgs}/CHANGELOG.rst | 0 .../autoware_overlay_msgs}/CMakeLists.txt | 2 +- .../msg/OverlayText.msg | 0 .../autoware_overlay_msgs}/package.xml | 2 +- .../CMakeLists.txt | 8 +- .../autoware_overlay_rviz_plugin}/LICENSE | 0 .../autoware_overlay_rviz_plugin/README.md | 54 ++++++++++++ .../assets/font/Quicksand/LICENSE | 0 .../font/Quicksand/static/Quicksand-Bold.ttf | Bin .../font/Quicksand/static/Quicksand-Light.ttf | Bin .../Quicksand/static/Quicksand-Medium.ttf | Bin .../Quicksand/static/Quicksand-Regular.ttf | Bin .../Quicksand/static/Quicksand-SemiBold.ttf | Bin .../assets/images/arrow.png | Bin .../assets/images/select_add.png | Bin .../assets/images/select_topic_name.png | Bin 0 -> 185036 bytes .../assets/images/traffic.png | Bin 0 -> 8439 bytes .../assets/images/wheel.png | Bin ...autoware_overlay_rviz_plugin-extras.cmake} | 0 .../include/gear_display.hpp | 4 +- .../include/overlay_text_display.hpp | 12 +-- .../include/overlay_utils.hpp | 18 ++-- .../include/signal_display.hpp | 9 +- .../include/speed_display.hpp | 4 +- .../include/speed_limit_display.hpp | 9 +- .../include/steering_wheel_display.hpp | 4 +- .../include/traffic_display.hpp | 17 ++-- .../include/turn_signals_display.hpp | 6 +- .../autoware_overlay_rviz_plugin}/package.xml | 4 +- .../plugins_description.xml | 5 ++ .../src/gear_display.cpp | 9 +- .../src/overlay_text_display.cpp | 28 +++---- .../src/overlay_utils.cpp | 4 +- .../src/signal_display.cpp | 43 +++++++--- .../src/speed_display.cpp | 7 +- .../src/speed_limit_display.cpp | 77 +++++++++++++----- .../src/steering_wheel_display.cpp | 7 +- .../src/traffic_display.cpp | 77 +++++++++++------- .../src/turn_signals_display.cpp | 7 +- .../awf_2d_overlay_vehicle/README.md | 54 ------------ .../assets/images/select_topic_name.png | Bin 422591 -> 0 bytes .../assets/images/select_vehicle_plugin.png | Bin 72553 -> 0 bytes .../assets/images/traffic.png | Bin 622 -> 0 bytes .../plugins_description.xml | 5 -- 44 files changed, 277 insertions(+), 199 deletions(-) rename common/{awf_vehicle_rviz_plugin/rviz_2d_overlay_msgs => autoware_overlay_rviz_plugin/autoware_overlay_msgs}/CHANGELOG.rst (100%) rename common/{awf_vehicle_rviz_plugin/rviz_2d_overlay_msgs => autoware_overlay_rviz_plugin/autoware_overlay_msgs}/CMakeLists.txt (92%) rename common/{awf_vehicle_rviz_plugin/rviz_2d_overlay_msgs => autoware_overlay_rviz_plugin/autoware_overlay_msgs}/msg/OverlayText.msg (100%) rename common/{awf_vehicle_rviz_plugin/rviz_2d_overlay_msgs => autoware_overlay_rviz_plugin/autoware_overlay_msgs}/package.xml (96%) rename common/{awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle => autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin}/CMakeLists.txt (94%) rename common/{awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle => autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin}/LICENSE (100%) create mode 100644 common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/README.md rename common/{awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle => autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin}/assets/font/Quicksand/LICENSE (100%) rename common/{awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle => autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin}/assets/font/Quicksand/static/Quicksand-Bold.ttf (100%) rename common/{awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle => autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin}/assets/font/Quicksand/static/Quicksand-Light.ttf (100%) rename common/{awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle => autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin}/assets/font/Quicksand/static/Quicksand-Medium.ttf (100%) rename common/{awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle => autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin}/assets/font/Quicksand/static/Quicksand-Regular.ttf (100%) rename common/{awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle => autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin}/assets/font/Quicksand/static/Quicksand-SemiBold.ttf (100%) rename common/{awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle => autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin}/assets/images/arrow.png (100%) rename common/{awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle => autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin}/assets/images/select_add.png (100%) create mode 100644 common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/assets/images/select_topic_name.png create mode 100644 common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/assets/images/traffic.png rename common/{awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle => autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin}/assets/images/wheel.png (100%) rename common/{awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/awf_2d_overlay_vehicle-extras.cmake => autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin-extras.cmake} (100%) rename common/{awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle => autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin}/include/gear_display.hpp (94%) rename common/{awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle => autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin}/include/overlay_text_display.hpp (93%) rename common/{awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle => autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin}/include/overlay_utils.hpp (90%) rename common/{awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle => autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin}/include/signal_display.hpp (93%) rename common/{awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle => autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin}/include/speed_display.hpp (94%) rename common/{awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle => autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin}/include/speed_limit_display.hpp (78%) rename common/{awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle => autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin}/include/steering_wheel_display.hpp (94%) rename common/{awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle => autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin}/include/traffic_display.hpp (84%) rename common/{awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle => autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin}/include/turn_signals_display.hpp (94%) rename common/{awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle => autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin}/package.xml (91%) create mode 100644 common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/plugins_description.xml rename common/{awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle => autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin}/src/gear_display.cpp (92%) rename common/{awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle => autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin}/src/overlay_text_display.cpp (93%) rename common/{awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle => autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin}/src/overlay_utils.cpp (99%) rename common/{awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle => autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin}/src/signal_display.cpp (92%) rename common/{awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle => autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin}/src/speed_display.cpp (95%) rename common/{awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle => autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin}/src/speed_limit_display.cpp (54%) rename common/{awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle => autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin}/src/steering_wheel_display.cpp (95%) rename common/{awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle => autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin}/src/traffic_display.cpp (54%) rename common/{awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle => autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin}/src/turn_signals_display.cpp (95%) delete mode 100644 common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/README.md delete mode 100644 common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/assets/images/select_topic_name.png delete mode 100644 common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/assets/images/select_vehicle_plugin.png delete mode 100644 common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/assets/images/traffic.png delete mode 100644 common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/plugins_description.xml diff --git a/common/awf_vehicle_rviz_plugin/rviz_2d_overlay_msgs/CHANGELOG.rst b/common/autoware_overlay_rviz_plugin/autoware_overlay_msgs/CHANGELOG.rst similarity index 100% rename from common/awf_vehicle_rviz_plugin/rviz_2d_overlay_msgs/CHANGELOG.rst rename to common/autoware_overlay_rviz_plugin/autoware_overlay_msgs/CHANGELOG.rst diff --git a/common/awf_vehicle_rviz_plugin/rviz_2d_overlay_msgs/CMakeLists.txt b/common/autoware_overlay_rviz_plugin/autoware_overlay_msgs/CMakeLists.txt similarity index 92% rename from common/awf_vehicle_rviz_plugin/rviz_2d_overlay_msgs/CMakeLists.txt rename to common/autoware_overlay_rviz_plugin/autoware_overlay_msgs/CMakeLists.txt index 9e9a8f277fd53..e23a4e755cbc4 100644 --- a/common/awf_vehicle_rviz_plugin/rviz_2d_overlay_msgs/CMakeLists.txt +++ b/common/autoware_overlay_rviz_plugin/autoware_overlay_msgs/CMakeLists.txt @@ -1,5 +1,5 @@ cmake_minimum_required(VERSION 3.5) -project(rviz_2d_overlay_msgs) +project(autoware_overlay_msgs) if (NOT CMAKE_CXX_STANDARD) set(CMAKE_CXX_STANDARD 17) diff --git a/common/awf_vehicle_rviz_plugin/rviz_2d_overlay_msgs/msg/OverlayText.msg b/common/autoware_overlay_rviz_plugin/autoware_overlay_msgs/msg/OverlayText.msg similarity index 100% rename from common/awf_vehicle_rviz_plugin/rviz_2d_overlay_msgs/msg/OverlayText.msg rename to common/autoware_overlay_rviz_plugin/autoware_overlay_msgs/msg/OverlayText.msg diff --git a/common/awf_vehicle_rviz_plugin/rviz_2d_overlay_msgs/package.xml b/common/autoware_overlay_rviz_plugin/autoware_overlay_msgs/package.xml similarity index 96% rename from common/awf_vehicle_rviz_plugin/rviz_2d_overlay_msgs/package.xml rename to common/autoware_overlay_rviz_plugin/autoware_overlay_msgs/package.xml index 53396c64aa156..4881b126ffffb 100644 --- a/common/awf_vehicle_rviz_plugin/rviz_2d_overlay_msgs/package.xml +++ b/common/autoware_overlay_rviz_plugin/autoware_overlay_msgs/package.xml @@ -1,7 +1,7 @@ - rviz_2d_overlay_msgs + autoware_overlay_msgs 1.3.0 Messages describing 2D overlays for RVIZ, extracted/derived from the jsk_visualization package. Team Spatzenhirn diff --git a/common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/CMakeLists.txt b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/CMakeLists.txt similarity index 94% rename from common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/CMakeLists.txt rename to common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/CMakeLists.txt index da67a6f63aeae..afb12bffeeaa7 100644 --- a/common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/CMakeLists.txt +++ b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/CMakeLists.txt @@ -1,5 +1,5 @@ cmake_minimum_required(VERSION 3.8) -project(awf_2d_overlay_vehicle) +project(autoware_overlay_rviz_plugin) # find dependencies find_package(ament_cmake_auto REQUIRED) @@ -9,7 +9,7 @@ find_package(tier4_planning_msgs REQUIRED) find_package(autoware_perception_msgs REQUIRED) ament_auto_find_build_dependencies() -find_package(rviz_2d_overlay_msgs REQUIRED) +find_package(autoware_overlay_msgs REQUIRED) find_package(rviz_common REQUIRED) find_package(rviz_rendering REQUIRED) @@ -90,7 +90,7 @@ ament_target_dependencies( PUBLIC rviz_common rviz_rendering - rviz_2d_overlay_msgs + autoware_overlay_msgs autoware_auto_vehicle_msgs tier4_planning_msgs autoware_perception_msgs @@ -136,5 +136,5 @@ install( add_definitions(-DQT_NO_KEYWORDS) ament_package( - CONFIG_EXTRAS "awf_2d_overlay_vehicle-extras.cmake" + CONFIG_EXTRAS "autoware_overlay_rviz_plugin-extras.cmake" ) diff --git a/common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/LICENSE b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/LICENSE similarity index 100% rename from common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/LICENSE rename to common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/LICENSE diff --git a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/README.md b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/README.md new file mode 100644 index 0000000000000..0d0def1a46997 --- /dev/null +++ b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/README.md @@ -0,0 +1,54 @@ +# autoware_overlay_rviz_plugin + +Plugin for displaying 2D overlays over the RViz2 3D scene. + +Based on the [jsk_visualization](https://github.com/jsk-ros-pkg/jsk_visualization) +package, under the 3-Clause BSD license. + +## Purpose + +This plugin provides a visual and easy-to-understand display of vehicle speed, turn signal, steering status and gears. + +## Inputs / Outputs + +### Input + +| Name | Type | Description | +| ------------------------------------------------------- | ------------------------------------------------------- | ------------------------------------ | +| `/vehicle/status/velocity_status` | `autoware_auto_vehicle_msgs::msg::VelocityReport` | The topic is vehicle velocity | +| `/vehicle/status/turn_indicators_status` | `autoware_auto_vehicle_msgs::msg::TurnIndicatorsReport` | The topic is status of turn signal | +| `/vehicle/status/hazard_status` | `autoware_auto_vehicle_msgs::msg::HazardReport` | The topic is status of hazard | +| `/vehicle/status/steering_status` | `autoware_auto_vehicle_msgs::msg::SteeringReport` | The topic is status of steering | +| `/vehicle/status/gear_status` | `autoware_auto_vehicle_msgs::msg::GearReport` | The topic is status of gear | +| `/planning/scenario_planning/current_max_velocity` | `tier4_planning_msgs::msg::VelocityLimit` | The topic is velocity limit | +| `/perception/traffic_light_recognition/traffic_signals` | `autoware_perception_msgs::msg::TrafficSignalArray` | The topic is status of traffic light | + +## Parameter + +### Core Parameters + +#### SignalDisplay + +| Name | Type | Default Value | Description | +| ------------------------ | ------ | -------------------- | --------------------------------- | +| `property_width_` | int | 128 | Width of the plotter window [px] | +| `property_height_` | int | 128 | Height of the plotter window [px] | +| `property_left_` | int | 128 | Left of the plotter window [px] | +| `property_top_` | int | 128 | Top of the plotter window [px] | +| `property_signal_color_` | QColor | QColor(25, 255, 240) | Turn Signal color | + +## Assumptions / Known limits + +TBD. + +## Usage + +1. Start `rviz2` and click `Add` button under the `Displays` panel. + + ![select_add](./assets/images/select_add.png) + +2. Under `By display type` tab, select `autoware_overlay_rviz_plugin/SignalDisplay` and press OK. + +3. Enter the names of the topics if necessary. + + ![select_topic_name](./assets/images/select_topic_name.png) diff --git a/common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/assets/font/Quicksand/LICENSE b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/assets/font/Quicksand/LICENSE similarity index 100% rename from common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/assets/font/Quicksand/LICENSE rename to common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/assets/font/Quicksand/LICENSE diff --git a/common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/assets/font/Quicksand/static/Quicksand-Bold.ttf b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/assets/font/Quicksand/static/Quicksand-Bold.ttf similarity index 100% rename from common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/assets/font/Quicksand/static/Quicksand-Bold.ttf rename to common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/assets/font/Quicksand/static/Quicksand-Bold.ttf diff --git a/common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/assets/font/Quicksand/static/Quicksand-Light.ttf b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/assets/font/Quicksand/static/Quicksand-Light.ttf similarity index 100% rename from common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/assets/font/Quicksand/static/Quicksand-Light.ttf rename to common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/assets/font/Quicksand/static/Quicksand-Light.ttf diff --git a/common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/assets/font/Quicksand/static/Quicksand-Medium.ttf b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/assets/font/Quicksand/static/Quicksand-Medium.ttf similarity index 100% rename from common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/assets/font/Quicksand/static/Quicksand-Medium.ttf rename to common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/assets/font/Quicksand/static/Quicksand-Medium.ttf diff --git a/common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/assets/font/Quicksand/static/Quicksand-Regular.ttf b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/assets/font/Quicksand/static/Quicksand-Regular.ttf similarity index 100% rename from common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/assets/font/Quicksand/static/Quicksand-Regular.ttf rename to common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/assets/font/Quicksand/static/Quicksand-Regular.ttf diff --git a/common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/assets/font/Quicksand/static/Quicksand-SemiBold.ttf b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/assets/font/Quicksand/static/Quicksand-SemiBold.ttf similarity index 100% rename from common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/assets/font/Quicksand/static/Quicksand-SemiBold.ttf rename to common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/assets/font/Quicksand/static/Quicksand-SemiBold.ttf diff --git a/common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/assets/images/arrow.png b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/assets/images/arrow.png similarity index 100% rename from common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/assets/images/arrow.png rename to common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/assets/images/arrow.png diff --git a/common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/assets/images/select_add.png b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/assets/images/select_add.png similarity index 100% rename from common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/assets/images/select_add.png rename to common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/assets/images/select_add.png diff --git 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a/common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/assets/images/wheel.png b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/assets/images/wheel.png similarity index 100% rename from common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/assets/images/wheel.png rename to common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/assets/images/wheel.png diff --git a/common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/awf_2d_overlay_vehicle-extras.cmake b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin-extras.cmake similarity index 100% rename from common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/awf_2d_overlay_vehicle-extras.cmake rename to common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin-extras.cmake diff --git a/common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/include/gear_display.hpp b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/gear_display.hpp similarity index 94% rename from common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/include/gear_display.hpp rename to common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/gear_display.hpp index b289bfc541cee..3fe473d5d5123 100644 --- a/common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/include/gear_display.hpp +++ b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/gear_display.hpp @@ -29,7 +29,7 @@ #include #include -namespace awf_2d_overlay_vehicle +namespace autoware_overlay_rviz_plugin { class GearDisplay @@ -44,6 +44,6 @@ class GearDisplay QColor gray = QColor(194, 194, 194); }; -} // namespace awf_2d_overlay_vehicle +} // namespace autoware_overlay_rviz_plugin #endif // GEAR_DISPLAY_HPP_ diff --git a/common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/include/overlay_text_display.hpp b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/overlay_text_display.hpp similarity index 93% rename from common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/include/overlay_text_display.hpp rename to common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/overlay_text_display.hpp index 9b3ecccf6301c..ccea51b9a5349 100644 --- a/common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/include/overlay_text_display.hpp +++ b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/overlay_text_display.hpp @@ -50,7 +50,7 @@ #ifndef OVERLAY_TEXT_DISPLAY_HPP_ #define OVERLAY_TEXT_DISPLAY_HPP_ -#include "rviz_2d_overlay_msgs/msg/overlay_text.hpp" +#include "autoware_overlay_msgs/msg/overlay_text.hpp" #ifndef Q_MOC_RUN #include "overlay_utils.hpp" @@ -69,10 +69,10 @@ #include #endif -namespace awf_2d_overlay_vehicle +namespace autoware_overlay_rviz_plugin { class OverlayTextDisplay -: public rviz_common::RosTopicDisplay +: public rviz_common::RosTopicDisplay { Q_OBJECT public: @@ -80,7 +80,7 @@ class OverlayTextDisplay virtual ~OverlayTextDisplay(); protected: - awf_2d_overlay_vehicle::OverlayObject::SharedPtr overlay_; + autoware_overlay_rviz_plugin::OverlayObject::SharedPtr overlay_; int texture_width_; int texture_height_; @@ -150,8 +150,8 @@ protected Q_SLOTS: void updateLineWidth(); private: - void processMessage(rviz_2d_overlay_msgs::msg::OverlayText::ConstSharedPtr msg) override; + void processMessage(autoware_overlay_msgs::msg::OverlayText::ConstSharedPtr msg) override; }; -} // namespace awf_2d_overlay_vehicle +} // namespace autoware_overlay_rviz_plugin #endif // OVERLAY_TEXT_DISPLAY_HPP_ diff --git a/common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/include/overlay_utils.hpp b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/overlay_utils.hpp similarity index 90% rename from common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/include/overlay_utils.hpp rename to common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/overlay_utils.hpp index 1270f15ca80ae..8581628ef0bce 100644 --- a/common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/include/overlay_utils.hpp +++ b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/overlay_utils.hpp @@ -54,7 +54,7 @@ #include #include -#include "rviz_2d_overlay_msgs/msg/overlay_text.hpp" +#include "autoware_overlay_msgs/msg/overlay_text.hpp" #include #include @@ -70,7 +70,7 @@ #include #include -namespace awf_2d_overlay_vehicle +namespace autoware_overlay_rviz_plugin { class OverlayObject; @@ -90,15 +90,15 @@ class ScopedPixelBuffer }; enum class VerticalAlignment : uint8_t { - CENTER = rviz_2d_overlay_msgs::msg::OverlayText::CENTER, - TOP = rviz_2d_overlay_msgs::msg::OverlayText::TOP, - BOTTOM = rviz_2d_overlay_msgs::msg::OverlayText::BOTTOM, + CENTER = autoware_overlay_msgs::msg::OverlayText::CENTER, + TOP = autoware_overlay_msgs::msg::OverlayText::TOP, + BOTTOM = autoware_overlay_msgs::msg::OverlayText::BOTTOM, }; enum class HorizontalAlignment : uint8_t { - LEFT = rviz_2d_overlay_msgs::msg::OverlayText::LEFT, - RIGHT = rviz_2d_overlay_msgs::msg::OverlayText::RIGHT, - CENTER = rviz_2d_overlay_msgs::msg::OverlayText::CENTER + LEFT = autoware_overlay_msgs::msg::OverlayText::LEFT, + RIGHT = autoware_overlay_msgs::msg::OverlayText::RIGHT, + CENTER = autoware_overlay_msgs::msg::OverlayText::CENTER }; /** @@ -136,6 +136,6 @@ class OverlayObject Ogre::MaterialPtr panel_material_; Ogre::TexturePtr texture_; }; -} // namespace awf_2d_overlay_vehicle +} // namespace autoware_overlay_rviz_plugin #endif // OVERLAY_UTILS_HPP_ diff --git a/common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/include/signal_display.hpp b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/signal_display.hpp similarity index 93% rename from common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/include/signal_display.hpp rename to common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/signal_display.hpp index aff475aba2f33..4fa39f2c5a903 100644 --- a/common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/include/signal_display.hpp +++ b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/signal_display.hpp @@ -39,7 +39,7 @@ #include #endif -namespace awf_2d_overlay_vehicle +namespace autoware_overlay_rviz_plugin { class SignalDisplay : public rviz_common::Display { @@ -70,7 +70,7 @@ private Q_SLOTS: private: std::mutex mutex_; - awf_2d_overlay_vehicle::OverlayObject::SharedPtr overlay_; + autoware_overlay_rviz_plugin::OverlayObject::SharedPtr overlay_; rviz_common::properties::IntProperty * property_width_; rviz_common::properties::IntProperty * property_height_; rviz_common::properties::IntProperty * property_left_; @@ -84,7 +84,8 @@ private Q_SLOTS: std::unique_ptr traffic_topic_property_; std::unique_ptr speed_limit_topic_property_; - void drawBackground(QPainter & painter, const QRectF & backgroundRect); + void drawHorizontalRoundedRectangle(QPainter & painter, const QRectF & backgroundRect); + void drawVerticalRoundedRectangle(QPainter & painter, const QRectF & backgroundRect); void setupRosSubscriptions(); std::unique_ptr steering_wheel_display_; @@ -119,6 +120,6 @@ private Q_SLOTS: const autoware_perception_msgs::msg::TrafficSignalArray::ConstSharedPtr msg); void drawWidget(QImage & hud); }; -} // namespace awf_2d_overlay_vehicle +} // namespace autoware_overlay_rviz_plugin #endif // SIGNAL_DISPLAY_HPP_ diff --git a/common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/include/speed_display.hpp b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/speed_display.hpp similarity index 94% rename from common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/include/speed_display.hpp rename to common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/speed_display.hpp index 317e45917f927..0669028dba3b2 100644 --- a/common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/include/speed_display.hpp +++ b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/speed_display.hpp @@ -29,7 +29,7 @@ #include #include -namespace awf_2d_overlay_vehicle +namespace autoware_overlay_rviz_plugin { class SpeedDisplay @@ -44,6 +44,6 @@ class SpeedDisplay QColor gray = QColor(194, 194, 194); }; -} // namespace awf_2d_overlay_vehicle +} // namespace autoware_overlay_rviz_plugin #endif // SPEED_DISPLAY_HPP_ diff --git a/common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/include/speed_limit_display.hpp b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/speed_limit_display.hpp similarity index 78% rename from common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/include/speed_limit_display.hpp rename to common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/speed_limit_display.hpp index 00eae077ff2ac..b59f4acf380db 100644 --- a/common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/include/speed_limit_display.hpp +++ b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/speed_limit_display.hpp @@ -23,13 +23,14 @@ #include #include +#include "autoware_auto_vehicle_msgs/msg/velocity_report.hpp" #include #include #include #include -namespace awf_2d_overlay_vehicle +namespace autoware_overlay_rviz_plugin { class SpeedLimitDisplay @@ -38,12 +39,14 @@ class SpeedLimitDisplay SpeedLimitDisplay(); void drawSpeedLimitIndicator(QPainter & painter, const QRectF & backgroundRect); void updateSpeedLimitData(const tier4_planning_msgs::msg::VelocityLimit::ConstSharedPtr msg); + void updateSpeedData(const autoware_auto_vehicle_msgs::msg::VelocityReport::ConstSharedPtr & msg); private: - float current_limit; // Internal variable to store current gear + float current_limit; // Internal variable to store current gear + float current_speed_; // Internal variable to store current speed QColor gray = QColor(194, 194, 194); }; -} // namespace awf_2d_overlay_vehicle +} // namespace autoware_overlay_rviz_plugin #endif // SPEED_LIMIT_DISPLAY_HPP_ diff --git a/common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/include/steering_wheel_display.hpp b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/steering_wheel_display.hpp similarity index 94% rename from common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/include/steering_wheel_display.hpp rename to common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/steering_wheel_display.hpp index a8291064c3807..121ee9a0a4d84 100644 --- a/common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/include/steering_wheel_display.hpp +++ b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/steering_wheel_display.hpp @@ -29,7 +29,7 @@ #include #include -namespace awf_2d_overlay_vehicle +namespace autoware_overlay_rviz_plugin { class SteeringWheelDisplay @@ -49,6 +49,6 @@ class SteeringWheelDisplay QImage coloredImage(const QImage & source, const QColor & color); }; -} // namespace awf_2d_overlay_vehicle +} // namespace autoware_overlay_rviz_plugin #endif // STEERING_WHEEL_DISPLAY_HPP_ diff --git a/common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/include/traffic_display.hpp b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/traffic_display.hpp similarity index 84% rename from common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/include/traffic_display.hpp rename to common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/traffic_display.hpp index bf776d27dfa94..20410a78edc44 100644 --- a/common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/include/traffic_display.hpp +++ b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/traffic_display.hpp @@ -31,7 +31,7 @@ #include #include -namespace awf_2d_overlay_vehicle +namespace autoware_overlay_rviz_plugin { class TrafficDisplay @@ -45,18 +45,15 @@ class TrafficDisplay private: QImage traffic_light_image_; - // yellow #CFC353 - QColor yellow = QColor(207, 195, 83); - // red #CF5353 - QColor red = QColor(207, 83, 83); - // green #53CF5F - QColor green = QColor(83, 207, 95); - // gray #C2C2C2 - QColor gray = QColor(194, 194, 194); + + const QColor tl_red_; + const QColor tl_yellow_; + const QColor tl_green_; + const QColor tl_gray_; QImage coloredImage(const QImage & source, const QColor & color); }; -} // namespace awf_2d_overlay_vehicle +} // namespace autoware_overlay_rviz_plugin #endif // TRAFFIC_DISPLAY_HPP_ diff --git a/common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/include/turn_signals_display.hpp b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/turn_signals_display.hpp similarity index 94% rename from common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/include/turn_signals_display.hpp rename to common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/turn_signals_display.hpp index cd659883c9ca0..87f141353d5b2 100644 --- a/common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/include/turn_signals_display.hpp +++ b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/turn_signals_display.hpp @@ -32,7 +32,7 @@ #include -namespace awf_2d_overlay_vehicle +namespace autoware_overlay_rviz_plugin { class TurnSignalsDisplay @@ -47,7 +47,7 @@ class TurnSignalsDisplay private: QImage arrowImage; - QColor gray = QColor(194, 194, 194); + QColor gray = QColor(46, 46, 46); int current_turn_signal_; // Internal variable to store turn signal state int current_hazard_lights_; // Internal variable to store hazard lights state @@ -58,6 +58,6 @@ class TurnSignalsDisplay const std::chrono::milliseconds blink_interval_{500}; // Blink interval in milliseconds }; -} // namespace awf_2d_overlay_vehicle +} // namespace autoware_overlay_rviz_plugin #endif // TURN_SIGNALS_DISPLAY_HPP_ diff --git a/common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/package.xml b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/package.xml similarity index 91% rename from common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/package.xml rename to common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/package.xml index b19b384d020b6..cc0ada00fa41b 100644 --- a/common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/package.xml +++ b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/package.xml @@ -1,7 +1,7 @@ - awf_2d_overlay_vehicle + autoware_overlay_rviz_plugin 0.0.1 RViz2 plugin for 2D overlays in the 3D view. Mainly a port of the JSK overlay plugin @@ -12,9 +12,9 @@ BSD-3-Clause autoware_auto_vehicle_msgs + autoware_overlay_msgs autoware_perception_msgs boost - rviz_2d_overlay_msgs rviz_common rviz_ogre_vendor rviz_rendering diff --git a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/plugins_description.xml b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/plugins_description.xml new file mode 100644 index 0000000000000..05c33f2fd10a5 --- /dev/null +++ b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/plugins_description.xml @@ -0,0 +1,5 @@ + + + Signal overlay plugin for the 3D view. + + diff --git a/common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/src/gear_display.cpp b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/gear_display.cpp similarity index 92% rename from common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/src/gear_display.cpp rename to common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/gear_display.cpp index 153e106f04264..8f05ce6fdce1c 100644 --- a/common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/src/gear_display.cpp +++ b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/gear_display.cpp @@ -31,12 +31,13 @@ #include #include -namespace awf_2d_overlay_vehicle +namespace autoware_overlay_rviz_plugin { GearDisplay::GearDisplay() : current_gear_(0) { - std::string package_path = ament_index_cpp::get_package_share_directory("awf_2d_overlay_vehicle"); + std::string package_path = + ament_index_cpp::get_package_share_directory("autoware_overlay_rviz_plugin"); std::string font_path = package_path + "/assets/font/Quicksand/static/Quicksand-Regular.ttf"; std::string font_path2 = package_path + "/assets/font/Quicksand/static/Quicksand-Bold.ttf"; int fontId = QFontDatabase::addApplicationFont( @@ -91,8 +92,8 @@ void GearDisplay::drawGearIndicator(QPainter & painter, const QRectF & backgroun int gearY = backgroundRect.height() - gearBoxSize - 20; QRect gearRect(gearX, gearY, gearBoxSize, gearBoxSize); painter.setBrush(QColor(0, 0, 0, 0)); - painter.drawRoundedRect(gearRect, 5, 5); + painter.drawRoundedRect(gearRect, 10, 10); painter.drawText(gearRect, Qt::AlignCenter, QString::fromStdString(gearString)); } -} // namespace awf_2d_overlay_vehicle +} // namespace autoware_overlay_rviz_plugin diff --git a/common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/src/overlay_text_display.cpp b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/overlay_text_display.cpp similarity index 93% rename from common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/src/overlay_text_display.cpp rename to common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/overlay_text_display.cpp index 053d0f6e981c0..b853e14a5858d 100644 --- a/common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/src/overlay_text_display.cpp +++ b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/overlay_text_display.cpp @@ -67,7 +67,7 @@ #include #include -namespace awf_2d_overlay_vehicle +namespace autoware_overlay_rviz_plugin { OverlayTextDisplay::OverlayTextDisplay() : texture_width_(0), @@ -105,15 +105,15 @@ OverlayTextDisplay::OverlayTextDisplay() hor_alignment_property_ = new rviz_common::properties::EnumProperty( "hor_alignment", "left", "horizontal alignment of the overlay", this, SLOT(updateHorizontalAlignment())); - hor_alignment_property_->addOption("left", rviz_2d_overlay_msgs::msg::OverlayText::LEFT); - hor_alignment_property_->addOption("center", rviz_2d_overlay_msgs::msg::OverlayText::CENTER); - hor_alignment_property_->addOption("right", rviz_2d_overlay_msgs::msg::OverlayText::RIGHT); + hor_alignment_property_->addOption("left", autoware_overlay_msgs::msg::OverlayText::LEFT); + hor_alignment_property_->addOption("center", autoware_overlay_msgs::msg::OverlayText::CENTER); + hor_alignment_property_->addOption("right", autoware_overlay_msgs::msg::OverlayText::RIGHT); ver_alignment_property_ = new rviz_common::properties::EnumProperty( "ver_alignment", "top", "vertical alignment of the overlay", this, SLOT(updateVerticalAlignment())); - ver_alignment_property_->addOption("top", rviz_2d_overlay_msgs::msg::OverlayText::TOP); - ver_alignment_property_->addOption("center", rviz_2d_overlay_msgs::msg::OverlayText::CENTER); - ver_alignment_property_->addOption("bottom", rviz_2d_overlay_msgs::msg::OverlayText::BOTTOM); + ver_alignment_property_->addOption("top", autoware_overlay_msgs::msg::OverlayText::TOP); + ver_alignment_property_->addOption("center", autoware_overlay_msgs::msg::OverlayText::CENTER); + ver_alignment_property_->addOption("bottom", autoware_overlay_msgs::msg::OverlayText::BOTTOM); width_property_ = new rviz_common::properties::IntProperty( "width", 128, "width position", this, SLOT(updateWidth())); width_property_->setMin(0); @@ -212,7 +212,7 @@ void OverlayTextDisplay::update(float /*wall_dt*/, float /*ros_dt*/) overlay_->updateTextureSize(texture_width_, texture_height_); { - awf_2d_overlay_vehicle::ScopedPixelBuffer buffer = overlay_->getBuffer(); + autoware_overlay_rviz_plugin::ScopedPixelBuffer buffer = overlay_->getBuffer(); QImage Hud = buffer.getQImage(*overlay_, bg_color_); QPainter painter(&Hud); painter.setRenderHint(QPainter::Antialiasing, true); @@ -288,7 +288,7 @@ void OverlayTextDisplay::reset() } } -void OverlayTextDisplay::processMessage(rviz_2d_overlay_msgs::msg::OverlayText::ConstSharedPtr msg) +void OverlayTextDisplay::processMessage(autoware_overlay_msgs::msg::OverlayText::ConstSharedPtr msg) { if (!isEnabled()) { return; @@ -297,13 +297,13 @@ void OverlayTextDisplay::processMessage(rviz_2d_overlay_msgs::msg::OverlayText:: static int count = 0; std::stringstream ss; ss << "OverlayTextDisplayObject" << count++; - overlay_.reset(new awf_2d_overlay_vehicle::OverlayObject(ss.str())); + overlay_.reset(new autoware_overlay_rviz_plugin::OverlayObject(ss.str())); overlay_->show(); } if (overlay_) { - if (msg->action == rviz_2d_overlay_msgs::msg::OverlayText::DELETE) { + if (msg->action == autoware_overlay_msgs::msg::OverlayText::DELETE) { overlay_->hide(); - } else if (msg->action == rviz_2d_overlay_msgs::msg::OverlayText::ADD) { + } else if (msg->action == autoware_overlay_msgs::msg::OverlayText::ADD) { overlay_->show(); } } @@ -550,7 +550,7 @@ void OverlayTextDisplay::updateLineWidth() } } -} // namespace awf_2d_overlay_vehicle +} // namespace autoware_overlay_rviz_plugin #include -PLUGINLIB_EXPORT_CLASS(awf_2d_overlay_vehicle::OverlayTextDisplay, rviz_common::Display) +PLUGINLIB_EXPORT_CLASS(autoware_overlay_rviz_plugin::OverlayTextDisplay, rviz_common::Display) diff --git a/common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/src/overlay_utils.cpp b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/overlay_utils.cpp similarity index 99% rename from common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/src/overlay_utils.cpp rename to common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/overlay_utils.cpp index e65a74415fb6a..d6f061e724369 100644 --- a/common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/src/overlay_utils.cpp +++ b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/overlay_utils.cpp @@ -52,7 +52,7 @@ #include -namespace awf_2d_overlay_vehicle +namespace autoware_overlay_rviz_plugin { ScopedPixelBuffer::ScopedPixelBuffer(Ogre::HardwarePixelBufferSharedPtr pixel_buffer) : pixel_buffer_(pixel_buffer) @@ -264,4 +264,4 @@ unsigned int OverlayObject::getTextureHeight() const return 0; } } -} // namespace awf_2d_overlay_vehicle +} // namespace autoware_overlay_rviz_plugin diff --git a/common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/src/signal_display.cpp b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/signal_display.cpp similarity index 92% rename from common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/src/signal_display.cpp rename to common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/signal_display.cpp index f2a82dd386b37..b2995327eb472 100644 --- a/common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/src/signal_display.cpp +++ b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/signal_display.cpp @@ -33,7 +33,7 @@ #include #include -namespace awf_2d_overlay_vehicle +namespace autoware_overlay_rviz_plugin { SignalDisplay::SignalDisplay() @@ -47,7 +47,7 @@ SignalDisplay::SignalDisplay() property_top_ = new rviz_common::properties::IntProperty( "Top", 10, "Top position of the overlay", this, SLOT(updateOverlayPosition())); property_signal_color_ = new rviz_common::properties::ColorProperty( - "Signal Color", QColor(94, 130, 255), "Color of the signal arrows", this, + "Signal Color", QColor(QString("#00E678")), "Color of the signal arrows", this, SLOT(updateOverlayColor())); // Initialize the component displays @@ -68,7 +68,7 @@ void SignalDisplay::onInitialize() static int count = 0; std::stringstream ss; ss << "SignalDisplayObject" << count++; - overlay_.reset(new awf_2d_overlay_vehicle::OverlayObject(ss.str())); + overlay_.reset(new autoware_overlay_rviz_plugin::OverlayObject(ss.str())); overlay_->show(); updateOverlaySize(); updateOverlayPosition(); @@ -206,7 +206,7 @@ void SignalDisplay::update(float /* wall_dt */, float /* ros_dt */) if (!overlay_) { return; } - awf_2d_overlay_vehicle::ScopedPixelBuffer buffer = overlay_->getBuffer(); + autoware_overlay_rviz_plugin::ScopedPixelBuffer buffer = overlay_->getBuffer(); QImage hud = buffer.getQImage(*overlay_); hud.fill(Qt::transparent); drawWidget(hud); @@ -297,6 +297,7 @@ void SignalDisplay::updateSpeedData( if (speed_display_) { speed_display_->updateSpeedData(msg); + speed_limit_display_->updateSpeedData(msg); queueRender(); } } @@ -324,7 +325,7 @@ void SignalDisplay::drawWidget(QImage & hud) painter.setRenderHint(QPainter::Antialiasing, true); QRectF backgroundRect(0, 0, 322, hud.height()); - drawBackground(painter, backgroundRect); + drawHorizontalRoundedRectangle(painter, backgroundRect); // Draw components if (steering_wheel_display_) { @@ -342,9 +343,9 @@ void SignalDisplay::drawWidget(QImage & hud) // a 27px space between the two halves of the HUD - QRectF smallerBackgroundRect(349, 0, 168, hud.height() / 2); + QRectF smallerBackgroundRect(340, 0, 190.0 / 2, hud.height()); - drawBackground(painter, smallerBackgroundRect); + drawVerticalRoundedRectangle(painter, smallerBackgroundRect); if (traffic_display_) { traffic_display_->drawTrafficLightIndicator(painter, smallerBackgroundRect); @@ -357,13 +358,33 @@ void SignalDisplay::drawWidget(QImage & hud) painter.end(); } -void SignalDisplay::drawBackground(QPainter & painter, const QRectF & backgroundRect) +void SignalDisplay::drawHorizontalRoundedRectangle( + QPainter & painter, const QRectF & backgroundRect) { - painter.setBrush(QColor(0, 0, 0, 255 * 0.2)); // Black background with opacity + painter.setRenderHint(QPainter::Antialiasing, true); + QColor colorFromHSV; + colorFromHSV.setHsv(0, 0, 0); // Hue, Saturation, Value + colorFromHSV.setAlphaF(0.65); // Transparency + + painter.setBrush(colorFromHSV); + painter.setPen(Qt::NoPen); painter.drawRoundedRect( backgroundRect, backgroundRect.height() / 2, backgroundRect.height() / 2); // Circular ends } +void SignalDisplay::drawVerticalRoundedRectangle(QPainter & painter, const QRectF & backgroundRect) +{ + painter.setRenderHint(QPainter::Antialiasing, true); + QColor colorFromHSV; + colorFromHSV.setHsv(0, 0, 0); // Hue, Saturation, Value + colorFromHSV.setAlphaF(0.65); // Transparency + + painter.setBrush(colorFromHSV); + + painter.setPen(Qt::NoPen); + painter.drawRoundedRect( + backgroundRect, backgroundRect.width() / 2, backgroundRect.width() / 2); // Circular ends +} void SignalDisplay::reset() { @@ -495,7 +516,7 @@ void SignalDisplay::topic_updated_traffic() }); } -} // namespace awf_2d_overlay_vehicle +} // namespace autoware_overlay_rviz_plugin #include -PLUGINLIB_EXPORT_CLASS(awf_2d_overlay_vehicle::SignalDisplay, rviz_common::Display) +PLUGINLIB_EXPORT_CLASS(autoware_overlay_rviz_plugin::SignalDisplay, rviz_common::Display) diff --git a/common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/src/speed_display.cpp b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/speed_display.cpp similarity index 95% rename from common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/src/speed_display.cpp rename to common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/speed_display.cpp index 8212758c09a9f..b1df14956d16c 100644 --- a/common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/src/speed_display.cpp +++ b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/speed_display.cpp @@ -31,12 +31,13 @@ #include #include -namespace awf_2d_overlay_vehicle +namespace autoware_overlay_rviz_plugin { SpeedDisplay::SpeedDisplay() : current_speed_(0.0) { - std::string package_path = ament_index_cpp::get_package_share_directory("awf_2d_overlay_vehicle"); + std::string package_path = + ament_index_cpp::get_package_share_directory("autoware_overlay_rviz_plugin"); std::string font_path = package_path + "/assets/font/Quicksand/static/Quicksand-Regular.ttf"; std::string font_path2 = package_path + "/assets/font/Quicksand/static/Quicksand-Bold.ttf"; int fontId = QFontDatabase::addApplicationFont( @@ -106,4 +107,4 @@ void SpeedDisplay::drawSpeedDisplay(QPainter & painter, const QRectF & backgroun painter.drawText(unitPos, speedUnit); } -} // namespace awf_2d_overlay_vehicle +} // namespace autoware_overlay_rviz_plugin diff --git a/common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/src/speed_limit_display.cpp b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/speed_limit_display.cpp similarity index 54% rename from common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/src/speed_limit_display.cpp rename to common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/speed_limit_display.cpp index fcc1df998798b..6913ef6a48ecd 100644 --- a/common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/src/speed_limit_display.cpp +++ b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/speed_limit_display.cpp @@ -31,12 +31,13 @@ #include #include -namespace awf_2d_overlay_vehicle +namespace autoware_overlay_rviz_plugin { -SpeedLimitDisplay::SpeedLimitDisplay() : current_limit(0.0) +SpeedLimitDisplay::SpeedLimitDisplay() : current_limit(0.0), current_speed_(0.0) { - std::string package_path = ament_index_cpp::get_package_share_directory("awf_2d_overlay_vehicle"); + std::string package_path = + ament_index_cpp::get_package_share_directory("autoware_overlay_rviz_plugin"); std::string font_path = package_path + "/assets/font/Quicksand/static/Quicksand-Regular.ttf"; std::string font_path2 = package_path + "/assets/font/Quicksand/static/Quicksand-Bold.ttf"; int fontId = QFontDatabase::addApplicationFont( @@ -54,45 +55,81 @@ void SpeedLimitDisplay::updateSpeedLimitData( current_limit = msg->max_velocity; } +void SpeedLimitDisplay::updateSpeedData( + const autoware_auto_vehicle_msgs::msg::VelocityReport::ConstSharedPtr & msg) +{ + try { + float speed = msg->longitudinal_velocity; + current_speed_ = speed; + } catch (const std::exception & e) { + // Log the error + std::cerr << "Error in processMessage: " << e.what() << std::endl; + } +} + void SpeedLimitDisplay::drawSpeedLimitIndicator(QPainter & painter, const QRectF & backgroundRect) { // Enable Antialiasing for smoother drawing painter.setRenderHint(QPainter::Antialiasing, true); painter.setRenderHint(QPainter::SmoothPixmapTransform, true); - // #C2C2C2 - painter.setPen(QPen(gray, 2, Qt::SolidLine, Qt::RoundCap, Qt::RoundJoin)); - painter.setBrush(QBrush(gray, Qt::SolidPattern)); + const double color_s_min = 0.4; + const double color_s_max = 0.8; + QColor colorMin; + colorMin.setHsvF(0.0, color_s_min, 1.0); + QColor colorMax; + colorMax.setHsvF(0.0, color_s_max, 1.0); + + QColor borderColor = colorMin; + if (current_limit > 0.0) { + double speed_to_limit_ratio = current_speed_ / current_limit; + const double speed_to_limit_ratio_min = 0.6; + const double speed_to_limit_ratio_max = 0.9; + + if (speed_to_limit_ratio >= speed_to_limit_ratio_max) { + borderColor = colorMax; + } else if (speed_to_limit_ratio > speed_to_limit_ratio_min) { + double interpolation_factor = (speed_to_limit_ratio - speed_to_limit_ratio_min) / + (speed_to_limit_ratio_max - speed_to_limit_ratio_min); + // Interpolate between colorMin and colorMax + double saturation = color_s_min + (color_s_max - color_s_min) * interpolation_factor; + + borderColor.setHsvF(0.0, saturation, 1.0); + } + } // Define the area for the outer circle QRectF outerCircleRect = backgroundRect; - outerCircleRect.setWidth(backgroundRect.width() / 2 - 20); - outerCircleRect.setHeight(backgroundRect.height() - 20); - outerCircleRect.moveTopLeft(QPointF(backgroundRect.left() + 10, backgroundRect.top() + 10)); + outerCircleRect.setWidth(backgroundRect.width() - 30); + outerCircleRect.setHeight(backgroundRect.width() - 30); + outerCircleRect.moveTopLeft(QPointF(backgroundRect.left() + 15, backgroundRect.top() + 10)); + + // Now use borderColor for drawing + painter.setPen(QPen(borderColor, 2, Qt::SolidLine, Qt::RoundCap, Qt::RoundJoin)); + painter.setBrush(borderColor); + // Draw the outer circle for the speed limit indicator + painter.drawEllipse(outerCircleRect); // Define the area for the inner circle QRectF innerCircleRect = outerCircleRect; - innerCircleRect.setWidth(outerCircleRect.width() / 1.375); - innerCircleRect.setHeight(outerCircleRect.height() / 1.375); + innerCircleRect.setWidth(outerCircleRect.width() / 1.25); + innerCircleRect.setHeight(outerCircleRect.height() / 1.25); innerCircleRect.moveCenter(outerCircleRect.center()); - // Draw the outer circle - painter.drawEllipse(outerCircleRect); + painter.setRenderHint(QPainter::Antialiasing, true); + QColor colorFromHSV; + colorFromHSV.setHsv(0, 0, 0); // Hue, Saturation, Value - // Change the composition mode and draw the inner circle - painter.setCompositionMode(QPainter::CompositionMode_Clear); + painter.setBrush(colorFromHSV); painter.drawEllipse(innerCircleRect); - // Reset the composition mode - painter.setCompositionMode(QPainter::CompositionMode_SourceOver); - int current_limit_int = std::round(current_limit * 3.6); // Define the text to be drawn QString text = QString::number(current_limit_int); // Set the font and color for the text - QFont font = QFont("Quicksand", 14, QFont::Bold); + QFont font = QFont("Quicksand", 24, QFont::Bold); painter.setFont(font); // #C2C2C2 @@ -102,4 +139,4 @@ void SpeedLimitDisplay::drawSpeedLimitIndicator(QPainter & painter, const QRectF painter.drawText(innerCircleRect, Qt::AlignCenter, text); } -} // namespace awf_2d_overlay_vehicle +} // namespace autoware_overlay_rviz_plugin diff --git a/common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/src/steering_wheel_display.cpp b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/steering_wheel_display.cpp similarity index 95% rename from common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/src/steering_wheel_display.cpp rename to common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/steering_wheel_display.cpp index b4da8ff5f8ffb..5882d7780dc92 100644 --- a/common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/src/steering_wheel_display.cpp +++ b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/steering_wheel_display.cpp @@ -31,13 +31,14 @@ #include #include -namespace awf_2d_overlay_vehicle +namespace autoware_overlay_rviz_plugin { SteeringWheelDisplay::SteeringWheelDisplay() { // Load the Quicksand font - std::string package_path = ament_index_cpp::get_package_share_directory("awf_2d_overlay_vehicle"); + std::string package_path = + ament_index_cpp::get_package_share_directory("autoware_overlay_rviz_plugin"); std::string font_path = package_path + "/assets/font/Quicksand/static/Quicksand-Regular.ttf"; std::string font_path2 = package_path + "/assets/font/Quicksand/static/Quicksand-Bold.ttf"; int fontId = QFontDatabase::addApplicationFont( @@ -120,4 +121,4 @@ QImage SteeringWheelDisplay::coloredImage(const QImage & source, const QColor & return result; } -} // namespace awf_2d_overlay_vehicle +} // namespace autoware_overlay_rviz_plugin diff --git a/common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/src/traffic_display.cpp b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/traffic_display.cpp similarity index 54% rename from common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/src/traffic_display.cpp rename to common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/traffic_display.cpp index 233da1f36b4a7..4fea8f78b80da 100644 --- a/common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/src/traffic_display.cpp +++ b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/traffic_display.cpp @@ -31,13 +31,18 @@ #include #include -namespace awf_2d_overlay_vehicle +namespace autoware_overlay_rviz_plugin { TrafficDisplay::TrafficDisplay() +: tl_red_(QString("#cc3d3d")), + tl_yellow_(QString("#ccb43d")), + tl_green_(QString("#3dcc55")), + tl_gray_(QString("#4f4f4f")) { // Load the traffic light image - std::string package_path = ament_index_cpp::get_package_share_directory("awf_2d_overlay_vehicle"); + std::string package_path = + ament_index_cpp::get_package_share_directory("autoware_overlay_rviz_plugin"); std::string image_path = package_path + "/assets/images/traffic.png"; traffic_light_image_.load(image_path.c_str()); } @@ -54,50 +59,60 @@ void TrafficDisplay::drawTrafficLightIndicator(QPainter & painter, const QRectF painter.setRenderHint(QPainter::Antialiasing, true); painter.setRenderHint(QPainter::SmoothPixmapTransform, true); + painter.setBrush(QBrush(tl_gray_, Qt::SolidPattern)); + painter.setPen(Qt::NoPen); // Define the area for the circle (background) QRectF circleRect = backgroundRect; - circleRect.setWidth(backgroundRect.width() / 2 - 20); - circleRect.setHeight(backgroundRect.height() - 20); - circleRect.moveTopRight(QPointF(backgroundRect.right() - 10, backgroundRect.top() + 10)); - - painter.setBrush(QBrush(gray)); - painter.drawEllipse(circleRect.center(), 30, 30); - - // Define the area for the traffic light image (should be smaller or positioned within the circle) - QRectF imageRect = - circleRect.adjusted(15, 15, -15, -15); // Adjusting the rectangle to make the image smaller - - QImage scaled_traffic_image = traffic_light_image_.scaled( - imageRect.size().toSize(), Qt::KeepAspectRatio, Qt::SmoothTransformation); - - if (current_traffic_.signals.size() > 0) { + circleRect.setWidth(backgroundRect.width() - 30); + circleRect.setHeight(backgroundRect.width() - 30); + circleRect.moveTopRight(QPointF( + backgroundRect.left() + circleRect.width() + 15, + backgroundRect.top() + circleRect.height() + 30)); + painter.drawEllipse(circleRect); + + if (!current_traffic_.signals.empty()) { switch (current_traffic_.signals[0].elements[0].color) { case 1: - painter.setBrush(QBrush(red)); - painter.drawEllipse(circleRect.center(), 30, 30); + painter.setBrush(QBrush(tl_red_)); + painter.drawEllipse(circleRect); break; case 2: - painter.setBrush(QBrush(yellow)); - painter.drawEllipse(circleRect.center(), 30, 30); + painter.setBrush(QBrush(tl_yellow_)); + painter.drawEllipse(circleRect); break; case 3: - painter.setBrush(QBrush(green)); - painter.drawEllipse(circleRect.center(), 30, 30); + painter.setBrush(QBrush(tl_green_)); + painter.drawEllipse(circleRect); break; case 4: - painter.setBrush(QBrush(gray)); - painter.drawEllipse(circleRect.center(), 30, 30); + painter.setBrush(tl_gray_); + painter.drawEllipse(circleRect); break; default: - painter.setBrush(QBrush(gray)); - painter.drawEllipse(circleRect.center(), 30, 30); + painter.setBrush(tl_gray_); + painter.drawEllipse(circleRect); break; } } - // make the image thicker - painter.setPen(QPen(Qt::black, 2, Qt::SolidLine, Qt::RoundCap, Qt::RoundJoin)); - painter.drawImage(imageRect, scaled_traffic_image); + // Scaling factor (e.g., 1.5 for 150% size) + float scaleFactor = 1.00; + + // Calculate the scaled size + QSize scaledSize = traffic_light_image_.size() * scaleFactor; + + // Ensure the scaled image is still within the circle bounds or adjust scaleFactor accordingly + + // Calculate the centered rectangle for the scaled image + QRectF scaledImageRect(0, 0, scaledSize.width(), scaledSize.height()); + scaledImageRect.moveCenter(circleRect.center()); + + // Scale the image to the new size + QImage scaledTrafficImage = + traffic_light_image_.scaled(scaledSize, Qt::KeepAspectRatio, Qt::SmoothTransformation); + + // Draw the scaled and centered image + painter.drawImage(scaledImageRect.topLeft(), scaledTrafficImage); } QImage TrafficDisplay::coloredImage(const QImage & source, const QColor & color) @@ -110,4 +125,4 @@ QImage TrafficDisplay::coloredImage(const QImage & source, const QColor & color) return result; } -} // namespace awf_2d_overlay_vehicle +} // namespace autoware_overlay_rviz_plugin diff --git a/common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/src/turn_signals_display.cpp b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/turn_signals_display.cpp similarity index 95% rename from common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/src/turn_signals_display.cpp rename to common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/turn_signals_display.cpp index a9b780cb4eab2..b6d37062bf08b 100644 --- a/common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/src/turn_signals_display.cpp +++ b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/turn_signals_display.cpp @@ -31,7 +31,7 @@ #include #include -namespace awf_2d_overlay_vehicle +namespace autoware_overlay_rviz_plugin { TurnSignalsDisplay::TurnSignalsDisplay() : current_turn_signal_(0) @@ -39,7 +39,8 @@ TurnSignalsDisplay::TurnSignalsDisplay() : current_turn_signal_(0) last_toggle_time_ = std::chrono::steady_clock::now(); // Load the arrow image - std::string package_path = ament_index_cpp::get_package_share_directory("awf_2d_overlay_vehicle"); + std::string package_path = + ament_index_cpp::get_package_share_directory("autoware_overlay_rviz_plugin"); std::string image_path = package_path + "/assets/images/arrow.png"; arrowImage.load(image_path.c_str()); } @@ -119,4 +120,4 @@ QImage TurnSignalsDisplay::coloredImage(const QImage & source, const QColor & co return result; } -} // namespace awf_2d_overlay_vehicle +} // namespace autoware_overlay_rviz_plugin diff --git a/common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/README.md b/common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/README.md deleted file mode 100644 index 6728f26878e10..0000000000000 --- a/common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/README.md +++ /dev/null @@ -1,54 +0,0 @@ -# awf_2d_overlay_vehicle - -Plugin for displaying 2D overlays over the RViz2 3D scene. - -Based on the [jsk_visualization](https://github.com/jsk-ros-pkg/jsk_visualization) -package, under the 3-Clause BSD license. - -## Purpose - -This plugin provides a visual and easy-to-understand display of vehicle speed, turn signal, steering status and gears. - -## Inputs / Outputs - -### Input - -| Name | Type | Description | -| ---------------------------------------- | ------------------------------------------------------- | ---------------------------------- | -| `/vehicle/status/velocity_status` | `autoware_auto_vehicle_msgs::msg::VelocityReport` | The topic is vehicle twist | -| `/vehicle/status/turn_indicators_status` | `autoware_auto_vehicle_msgs::msg::TurnIndicatorsReport` | The topic is status of turn signal | -| `/vehicle/status/hazard_status` | `autoware_auto_vehicle_msgs::msg::HazardReport` | The topic is status of hazard | -| `/vehicle/status/steering_status` | `autoware_auto_vehicle_msgs::msg::SteeringReport` | The topic is status of steering | -| `/vehicle/status/gear_status` | `autoware_auto_vehicle_msgs::msg::GearReport` | The topic is status of gear | - -## Parameter - -### Core Parameters - -#### SignalDisplay - -| Name | Type | Default Value | Description | -| ------------------------ | ------ | -------------------- | --------------------------------- | -| `property_width_` | int | 128 | Width of the plotter window [px] | -| `property_height_` | int | 128 | Height of the plotter window [px] | -| `property_left_` | int | 128 | Left of the plotter window [px] | -| `property_top_` | int | 128 | Top of the plotter window [px] | -| `property_signal_color_` | QColor | QColor(25, 255, 240) | Turn Signal color | - -## Assumptions / Known limits - -TBD. - -## Usage - -1. Start rviz and select Add under the Displays panel. - - ![select_add](./assets/images/select_add.png) - -2. Select any one of the tier4_vehicle_rviz_plugin and press OK. - - ![select_vehicle_plugin](./assets/images/select_vehicle_plugin.png) - -3. Enter the name of the topic where you want to view the status. - - ![select_topic_name](./assets/images/select_topic_name.png) diff --git a/common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/assets/images/select_topic_name.png b/common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/assets/images/select_topic_name.png deleted file mode 100644 index 5466bcf0050dfa1f36b4fcd6f2a8a6ccef33564e..0000000000000000000000000000000000000000 GIT binary patch literal 0 HcmV?d00001 literal 422591 zcmZ^K1ymee(+4;VI-@Lnf z&h|Oo({uZ3b#=*8bwd^9B~X#^kzrt9P^BbAm0@7u{GcZsB0RJN-m9Vz`UB@AETxJF zJ-iT2LZJWgoW(SqRRCtrZibGgFy?juTT^-`V@Fd{J0}Z(^Xc1m0ca)q|5OrjG&OX# z1lWC6wX`*bk%Qi_uzwacHU7-P#KQWSiJ6Cmori_%v!dK*S|--eeoa0Yn9nd$qC%?f zsYfer?jO}~IyTl4$Z~GeVUR>UPvw%Gb8v({s)~Mm`T!>;^aexhLxrDTRsq##y<}&^ z)_NG}*i|W5BD_&l(+3uH$KU%!r+i@=r}+ zK07*cKNcC-Bw!iyWm_%83Pw#~XCR}-(l%(0o}b01Z?c7%H4?S_|7dYQM{Zsp3XMO8}#RMisN%Kf^+RL0SnS3^>d#FpToBpFy!*$azmuCxVH z;~b!!o%Y}LZaREtcoWBAEAv%yfXSBOOPmAoK9-2(z-N{y3=``ti4;Q~TBI)}Pa~3; 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