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[DO NOT MERGE] feat: force slow driving to test FOA #1699

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[DO NOT MERGE] feat: force slow driving to test FOA #1699

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478a0d5
chore: rename codeowners file
tkimura4 Nov 27, 2024
52b0f71
feat(motion_velocity_smoother): force slow driving (#1409)
go-sakayori Jul 11, 2024
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0 .github/CODEOWNERS → .github/_CODEOWNERS
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16 changes: 16 additions & 0 deletions planning/autoware_velocity_smoother/include/autoware/velocity_smoother/node.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -43,6 +43,7 @@
#include "autoware_planning_msgs/msg/trajectory_point.hpp"
#include "geometry_msgs/msg/accel_with_covariance_stamped.hpp"
#include "nav_msgs/msg/odometry.hpp"
#include "std_srvs/srv/set_bool.hpp"
#include "tier4_debug_msgs/msg/float32_stamped.hpp" // temporary
#include "tier4_debug_msgs/msg/float64_stamped.hpp" // temporary
#include "tier4_planning_msgs/msg/stop_speed_exceeded.hpp" // temporary
Expand All @@ -66,6 +67,7 @@ using geometry_msgs::msg::AccelWithCovarianceStamped;
using geometry_msgs::msg::Pose;
using geometry_msgs::msg::PoseStamped;
using nav_msgs::msg::Odometry;
using std_srvs::srv::SetBool;
using tier4_debug_msgs::msg::Float32Stamped; // temporary
using tier4_debug_msgs::msg::Float64Stamped; // temporary
using tier4_planning_msgs::msg::StopSpeedExceeded; // temporary
Expand Down Expand Up @@ -100,6 +102,7 @@ class VelocitySmootherNode : public rclcpp::Node
sub_external_velocity_limit_{this, "~/input/external_velocity_limit_mps"};
autoware::universe_utils::InterProcessPollingSubscriber<OperationModeState> sub_operation_mode_{
this, "~/input/operation_mode_state"};
rclcpp::Service<SetBool>::SharedPtr srv_slow_driving_;

Odometry::ConstSharedPtr current_odometry_ptr_; // current odometry
AccelWithCovarianceStamped::ConstSharedPtr current_acceleration_ptr_;
Expand Down Expand Up @@ -137,6 +140,12 @@ class VelocitySmootherNode : public rclcpp::Node
NORMAL = 3,
};

enum class ForceSlowDrivingType {
DEACTIVATED = 0,
READY = 1,
ACTIVATED = 2,
};

struct Param
{
bool enable_lateral_acc_limit;
Expand All @@ -162,6 +171,8 @@ class VelocitySmootherNode : public rclcpp::Node
AlgorithmType algorithm_type; // Option : JerkFiltered, Linf, L2

bool plan_from_ego_speed_on_manual_mode = true;

double force_slow_driving_velocity;
} node_param_{};

struct AccelerationRequest
Expand Down Expand Up @@ -255,6 +266,11 @@ class VelocitySmootherNode : public rclcpp::Node
// parameter handling
void initCommonParam();

// Related to force slow driving
void onSlowDriving(
const std::shared_ptr<SetBool::Request> request, std::shared_ptr<SetBool::Response> response);
ForceSlowDrivingType force_slow_driving_mode_;

// debug
autoware::universe_utils::StopWatch<std::chrono::milliseconds> stop_watch_;
std::shared_ptr<rclcpp::Time> prev_time_;
Expand Down
41 changes: 41 additions & 0 deletions planning/autoware_velocity_smoother/src/node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -39,6 +39,7 @@
: Node("velocity_smoother", node_options)
{
using std::placeholders::_1;
using std::placeholders::_2;

// set common params
const auto vehicle_info = autoware::vehicle_info_utils::VehicleInfoUtils(*this).getVehicleInfo();
Expand Down Expand Up @@ -67,6 +68,10 @@
sub_current_trajectory_ = create_subscription<Trajectory>(
"~/input/trajectory", 1, std::bind(&VelocitySmootherNode::onCurrentTrajectory, this, _1));

srv_slow_driving_ = create_service<SetBool>(
"~/slow_driving", std::bind(&VelocitySmootherNode::onSlowDriving, this, _1, _2));
force_slow_driving_mode_ = ForceSlowDrivingType::DEACTIVATED;

// parameter update
set_param_res_ =
this->add_on_set_parameters_callback(std::bind(&VelocitySmootherNode::onParameter, this, _1));
Expand Down Expand Up @@ -185,6 +190,8 @@
update_param("ego_nearest_dist_threshold", p.ego_nearest_dist_threshold);
update_param("ego_nearest_yaw_threshold", p.ego_nearest_yaw_threshold);
update_param_bool("plan_from_ego_speed_on_manual_mode", p.plan_from_ego_speed_on_manual_mode);

update_param("force_slow_driving.velocity", p.force_slow_driving_velocity);
}

{
Expand Down Expand Up @@ -304,6 +311,8 @@

p.plan_from_ego_speed_on_manual_mode =
declare_parameter<bool>("plan_from_ego_speed_on_manual_mode");

p.force_slow_driving_velocity = declare_parameter<double>("force_slow_driving.velocity");
}

void VelocitySmootherNode::publishTrajectory(const TrajectoryPoints & trajectory) const
Expand Down Expand Up @@ -489,6 +498,14 @@
flipVelocity(input_points);
}

// Only activate slow driving when velocity is below threshold
double slow_driving_vel_threshold = get_parameter("force_slow_driving.velocity").as_double();
if (
force_slow_driving_mode_ == ForceSlowDrivingType::READY &&
current_odometry_ptr_->twist.twist.linear.x < slow_driving_vel_threshold) {
force_slow_driving_mode_ = ForceSlowDrivingType::ACTIVATED;
}

const auto output = calcTrajectoryVelocity(input_points);
if (output.empty()) {
RCLCPP_WARN(get_logger(), "Output Point is empty");
Expand Down Expand Up @@ -578,6 +595,13 @@
// Apply velocity to approach stop point
applyStopApproachingVelocity(traj_extracted);

// Apply force slow driving if activated
if (force_slow_driving_mode_ == ForceSlowDrivingType::ACTIVATED) {
for (auto & tp : traj_extracted) {
tp.longitudinal_velocity_mps = get_parameter("force_slow_driving.velocity").as_double();
}
}

// Debug
if (publish_debug_trajs_) {
auto tmp = traj_extracted;
Expand Down Expand Up @@ -1142,6 +1166,23 @@
return calcProjectedTrajectoryPoint(trajectory, current_odometry_ptr_->pose.pose);
}

void VelocitySmootherNode::onSlowDriving(
const std::shared_ptr<SetBool::Request> request, std::shared_ptr<SetBool::Response> response)
{
std::string message = "default";
if (request->data && force_slow_driving_mode_ == ForceSlowDrivingType::DEACTIVATED) {
force_slow_driving_mode_ = ForceSlowDrivingType::READY;

message = "Activated force slow drving";

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} else if (!request->data) {
force_slow_driving_mode_ = ForceSlowDrivingType::DEACTIVATED;
message = "Deactivated force slow driving";
}

response->success = true;
response->message = message;
}

} // namespace autoware::velocity_smoother

#include "rclcpp_components/register_node_macro.hpp"
Expand Down
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