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feat(behavior_path_planner): resample output path (backport #1604) #782

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merged 1 commit into from
Sep 19, 2023
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feat(behavior_path_planner): resample output path (backport #1604) #782

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1 change: 1 addition & 0 deletions ...ing/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -14,3 +14,4 @@
drivable_area_margin: 6.0
refine_goal_search_radius_range: 7.5
intersection_search_distance: 30.0
path_interval: 2.0
2 changes: 2 additions & 0 deletions planning/behavior_path_planner/config/behavior_path_planner.param.yaml
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Expand Up @@ -17,4 +17,6 @@
refine_goal_search_radius_range: 7.5
intersection_search_distance: 30.0

path_interval: 2.0

visualize_drivable_area_for_shared_linestrings_lanelet: true
2 changes: 2 additions & 0 deletions planning/behavior_path_planner/include/behavior_path_planner/parameters.hpp
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Expand Up @@ -37,6 +37,8 @@ struct BehaviorPathPlannerParameters
double turn_light_on_threshold_dis_long;
double turn_light_on_threshold_time;

double path_interval;

// vehicle info
double wheel_base;
double front_overhang;
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6 changes: 5 additions & 1 deletion planning/behavior_path_planner/src/behavior_path_planner_node.cpp
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Expand Up @@ -165,6 +165,7 @@ BehaviorPathPlannerParameters BehaviorPathPlannerNode::getCommonParam()
p.turn_light_on_threshold_dis_lat = declare_parameter("turn_light_on_threshold_dis_lat", 0.3);
p.turn_light_on_threshold_dis_long = declare_parameter("turn_light_on_threshold_dis_long", 10.0);
p.turn_light_on_threshold_time = declare_parameter("turn_light_on_threshold_time", 3.0);
p.path_interval = declare_parameter<double>("path_interval");
p.visualize_drivable_area_for_shared_linestrings_lanelet =
declare_parameter("visualize_drivable_area_for_shared_linestrings_lanelet", true);

Expand Down Expand Up @@ -535,7 +536,10 @@ PathWithLaneId::SharedPtr BehaviorPathPlannerNode::getPath(const BehaviorModuleO
path->header.stamp = this->now();
RCLCPP_DEBUG(
get_logger(), "BehaviorTreeManager: output is %s.", bt_output.path ? "FOUND" : "NOT FOUND");
return path;

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

PathWithLaneId::SharedPtr BehaviorPathPlannerNode::getPathCandidate(
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