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fix(behavior_path_planner): change the order of resampling and smooth goal connection #1381

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fix(behavior_path_planner): change the order of resampling and smooth goal connection #1381

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6a37de9
fix
takayuki5168 Jul 3, 2024
13d2d9e
ci(pre-commit): autofix
pre-commit-ci[bot] Jul 4, 2024
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3 changes: 1 addition & 2 deletions planning/behavior_path_planner/include/behavior_path_planner/behavior_path_planner_node.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -137,8 +137,7 @@ class BehaviorPathPlannerNode : public rclcpp::Node
/**
* @brief extract path from behavior tree output
*/
std::pair<PathWithLaneId::SharedPtr, PathWithLaneId::SharedPtr> getPath(
const BehaviorModuleOutput & bt_out);
PathWithLaneId::SharedPtr getPath(const BehaviorModuleOutput & bt_out);

/**
* @brief extract path candidate from behavior tree output
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16 changes: 7 additions & 9 deletions planning/behavior_path_planner/src/behavior_path_planner_node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -478,14 +478,15 @@ void BehaviorPathPlannerNode::run()
const auto output = bt_manager_->run(planner_data_);

// path handling
const auto paths = getPath(output);
const auto path = paths.first;
const auto original_path = paths.second;
const auto original_path = getPath(output);

const auto path_candidate = getPathCandidate(output);
planner_data_->prev_output_path = path;
planner_data_->prev_output_path = original_path;

const auto path = original_path;
auto clipped_path = modifyPathForSmoothGoalConnection(*path);
clipped_path =
util::resamplePathWithSpline(clipped_path, planner_data_->parameters.path_interval);
clipPathLength(clipped_path);

if (!clipped_path.points.empty()) {
Expand Down Expand Up @@ -531,8 +532,7 @@ void BehaviorPathPlannerNode::run()
}

// output: spline interpolated path, original path
std::pair<PathWithLaneId::SharedPtr, PathWithLaneId::SharedPtr> BehaviorPathPlannerNode::getPath(
const BehaviorModuleOutput & bt_output)
PathWithLaneId::SharedPtr BehaviorPathPlannerNode::getPath(const BehaviorModuleOutput & bt_output)
{
// TODO(Horibe) do some error handling when path is not available.

Expand All @@ -542,9 +542,7 @@ std::pair<PathWithLaneId::SharedPtr, PathWithLaneId::SharedPtr> BehaviorPathPlan
RCLCPP_DEBUG(
get_logger(), "BehaviorTreeManager: output is %s.", bt_output.path ? "FOUND" : "NOT FOUND");

const auto resampled_path =
util::resamplePathWithSpline(*path, planner_data_->parameters.path_interval);
return std::make_pair(std::make_shared<PathWithLaneId>(resampled_path), path);
return path;
}

PathWithLaneId::SharedPtr BehaviorPathPlannerNode::getPathCandidate(
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