From 14f2990c4f6d76fbc274dc0f76a52544726db6b3 Mon Sep 17 00:00:00 2001 From: yamacir-kit Date: Tue, 24 Dec 2024 15:50:36 +0900 Subject: [PATCH] Remove member function `AutowareUniverse::updateLocalization` Signed-off-by: yamacir-kit --- .../include/concealer/autoware_universe.hpp | 4 +- external/concealer/src/autoware_universe.cpp | 97 +++++++++---------- 2 files changed, 49 insertions(+), 52 deletions(-) diff --git a/external/concealer/include/concealer/autoware_universe.hpp b/external/concealer/include/concealer/autoware_universe.hpp index dddaf9adbb5..d4becd62048 100644 --- a/external/concealer/include/concealer/autoware_universe.hpp +++ b/external/concealer/include/concealer/autoware_universe.hpp @@ -83,7 +83,7 @@ class AutowareUniverse : public rclcpp::Node, const rclcpp::TimerBase::SharedPtr vehicle_state_update_timer; - std::thread localization_and_vehicle_state_update_thread; + std::thread spinner; std::atomic is_stop_requested = false; @@ -100,8 +100,6 @@ class AutowareUniverse : public rclcpp::Node, auto rethrow() -> void; - auto updateLocalization() -> void; - auto updateVehicleState() -> void; auto getVehicleCommand() const -> std::tuple; diff --git a/external/concealer/src/autoware_universe.cpp b/external/concealer/src/autoware_universe.cpp index 57490a28aae..d4dcebf0b63 100644 --- a/external/concealer/src/autoware_universe.cpp +++ b/external/concealer/src/autoware_universe.cpp @@ -64,13 +64,56 @@ AutowareUniverse::AutowareUniverse(bool simulate_localization) break; } })), - localization_update_timer( - rclcpp::create_timer( // Autoware.Universe requires localization topics to send data at 50Hz - this, get_clock(), std::chrono::milliseconds(20), [this]() { updateLocalization(); })), + localization_update_timer(rclcpp::create_timer( + this, get_clock(), + std::chrono::milliseconds( + 20), // Autoware.Universe requires localization topics to send data at 50Hz + [this]() { + setAcceleration([this]() { + AccelWithCovarianceStamped message; + message.header.stamp = get_clock()->now(); + message.header.frame_id = "/base_link"; + message.accel.accel = current_acceleration.load(); + message.accel.covariance.at(6 * 0 + 0) = 0.001; // linear x + message.accel.covariance.at(6 * 1 + 1) = 0.001; // linear y + message.accel.covariance.at(6 * 2 + 2) = 0.001; // linear z + message.accel.covariance.at(6 * 3 + 3) = 0.001; // angular x + message.accel.covariance.at(6 * 4 + 4) = 0.001; // angular y + message.accel.covariance.at(6 * 5 + 5) = 0.001; // angular z + return message; + }()); + + setOdometry([this]() { + Odometry message; + message.header.stamp = get_clock()->now(); + message.header.frame_id = "map"; + message.pose.pose = current_pose.load(); + message.pose.covariance = {}; + message.twist.twist = current_twist.load(); + return message; + }()); + + setPose([this]() { + // See https://github.com/tier4/autoware.universe/blob/45ab20af979c5663e5a8d4dda787b1dea8d6e55b/simulator/simple_planning_simulator/src/simple_planning_simulator/simple_planning_simulator_core.cpp#L785-L803 + PoseWithCovarianceStamped message; + message.header.stamp = get_clock()->now(); + message.header.frame_id = "map"; + message.pose.pose = current_pose.load(); + message.pose.covariance.at(6 * 0 + 0) = 0.0225; // XYZRPY_COV_IDX::X_X + message.pose.covariance.at(6 * 1 + 1) = 0.0225; // XYZRPY_COV_IDX::Y_Y + message.pose.covariance.at(6 * 2 + 2) = 0.0225; // XYZRPY_COV_IDX::Z_Z + message.pose.covariance.at(6 * 3 + 3) = 0.000625; // XYZRPY_COV_IDX::ROLL_ROLL + message.pose.covariance.at(6 * 4 + 4) = 0.000625; // XYZRPY_COV_IDX::PITCH_PITCH + message.pose.covariance.at(6 * 5 + 5) = 0.000625; // XYZRPY_COV_IDX::YAW_YAW + return message; + }()); + + setTransform(current_pose.load()); + })), vehicle_state_update_timer( rclcpp::create_timer( // Autoware.Universe requires vehicle state topics to send data at 30Hz this, get_clock(), std::chrono::milliseconds(33), [this]() { updateVehicleState(); })), - localization_and_vehicle_state_update_thread(std::thread([this]() { + spinner(std::thread([this]() { try { while (rclcpp::ok() and not is_stop_requested.load()) { rclcpp::spin_some(get_node_base_interface()); @@ -86,7 +129,7 @@ AutowareUniverse::AutowareUniverse(bool simulate_localization) AutowareUniverse::~AutowareUniverse() { is_stop_requested.store(true); - localization_and_vehicle_state_update_thread.join(); + spinner.join(); } auto AutowareUniverse::rethrow() -> void @@ -96,50 +139,6 @@ auto AutowareUniverse::rethrow() -> void } } -auto AutowareUniverse::updateLocalization() -> void -{ - setAcceleration([this]() { - AccelWithCovarianceStamped message; - message.header.stamp = get_clock()->now(); - message.header.frame_id = "/base_link"; - message.accel.accel = current_acceleration.load(); - message.accel.covariance.at(6 * 0 + 0) = 0.001; // linear x - message.accel.covariance.at(6 * 1 + 1) = 0.001; // linear y - message.accel.covariance.at(6 * 2 + 2) = 0.001; // linear z - message.accel.covariance.at(6 * 3 + 3) = 0.001; // angular x - message.accel.covariance.at(6 * 4 + 4) = 0.001; // angular y - message.accel.covariance.at(6 * 5 + 5) = 0.001; // angular z - return message; - }()); - - setOdometry([this]() { - Odometry message; - message.header.stamp = get_clock()->now(); - message.header.frame_id = "map"; - message.pose.pose = current_pose.load(); - message.pose.covariance = {}; - message.twist.twist = current_twist.load(); - return message; - }()); - - setPose([this]() { - // See https://github.com/tier4/autoware.universe/blob/45ab20af979c5663e5a8d4dda787b1dea8d6e55b/simulator/simple_planning_simulator/src/simple_planning_simulator/simple_planning_simulator_core.cpp#L785-L803 - PoseWithCovarianceStamped message; - message.header.stamp = get_clock()->now(); - message.header.frame_id = "map"; - message.pose.pose = current_pose.load(); - message.pose.covariance.at(6 * 0 + 0) = 0.0225; // XYZRPY_COV_IDX::X_X - message.pose.covariance.at(6 * 1 + 1) = 0.0225; // XYZRPY_COV_IDX::Y_Y - message.pose.covariance.at(6 * 2 + 2) = 0.0225; // XYZRPY_COV_IDX::Z_Z - message.pose.covariance.at(6 * 3 + 3) = 0.000625; // XYZRPY_COV_IDX::ROLL_ROLL - message.pose.covariance.at(6 * 4 + 4) = 0.000625; // XYZRPY_COV_IDX::PITCH_PITCH - message.pose.covariance.at(6 * 5 + 5) = 0.000625; // XYZRPY_COV_IDX::YAW_YAW - return message; - }()); - - setTransform(current_pose.load()); -} - auto AutowareUniverse::updateVehicleState() -> void { setControlModeReport(getControlModeReport());