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RJD 782 Fixes necessary to run Odaiba scenario #1196

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RJD 782 Fixes necessary to run Odaiba scenario #1196

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4989e12
Fixes necessary to run Odaiba scenario
pawellech1 Feb 19, 2024
ca54255
Codestyle fixed
pawellech1 Feb 19, 2024
691a284
Removing unnecessary changes from concealer
pawellech1 Feb 22, 2024
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25 changes: 4 additions & 21 deletions mock/cpp_mock_scenarios/src/cpp_scenario_node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -93,6 +93,7 @@ void CppScenarioNode::spawnEgoEntity(
api_.updateFrame();
std::this_thread::sleep_for(std::chrono::duration<double>(1.0 / 20.0));
api_.spawn("ego", spawn_lanelet_pose, parameters, traffic_simulator::VehicleBehavior::autoware());
api_.asFieldOperatorApplication("ego").declare_parameter<bool>("allow_goal_modification", true);
api_.attachLidarSensor("ego", 0.0);

api_.attachDetectionSensor("ego", 200.0, true, 0.0, 0, 0.0, 0.0);
Expand All @@ -112,30 +113,12 @@ void CppScenarioNode::spawnEgoEntity(
return configuration;
}());
api_.requestAssignRoute("ego", goal_lanelet_poses);
using namespace std::chrono_literals;
std::atomic<bool> initialized(false);
auto initialize_thread = std::thread([&]() {
while (!api_.asFieldOperatorApplication("ego").engaged()) {
api_.updateFrame();
std::this_thread::sleep_for(std::chrono::duration<double>(1.0 / 20.0));
}
initialized.store(true);
});
std::atomic<bool> engaged(false);
auto engage_thread = std::thread([&]() {
while (!api_.asFieldOperatorApplication("ego").engaged()) {
while (!api_.asFieldOperatorApplication("ego").engaged()) {
if (api_.asFieldOperatorApplication("ego").engageable())
api_.asFieldOperatorApplication("ego").engage();
std::this_thread::sleep_for(1000ms);
}
engaged.store(true);
});
while (!api_.asFieldOperatorApplication("ego").engaged() &&
!(initialized.load() && engaged.load())) {
// RCLCPP_INFO_STREAM(get_logger(), "Waiting for Autoware initialization...");
api_.updateFrame();
std::this_thread::sleep_for(std::chrono::duration<double>(1.0 / 20.0));
}
initialize_thread.join();
engage_thread.join();
}

void CppScenarioNode::checkConfiguration(const traffic_simulator::Configuration & configuration)
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3 changes: 2 additions & 1 deletion mock/cpp_mock_scenarios/src/random_scenario/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -4,7 +4,8 @@
)

ament_auto_add_executable(random001
random001.cpp
# random001.cpp
random002-odaiba.cpp

Check warning on line 8 in mock/cpp_mock_scenarios/src/random_scenario/CMakeLists.txt

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Check warning on line 8 in mock/cpp_mock_scenarios/src/random_scenario/CMakeLists.txt

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)
target_link_libraries(random001
cpp_scenario_node
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