Merge pull request #133 from una-auxme/132-feature-create-package-for…

…-local-planner

feat: package added with test code

code/planning/local_planner/CMakeLists.txt

@@ -0,0 +1,202 @@
+cmake_minimum_required(VERSION 3.0.2)
+project(local_planner)
+
+## Compile as C++11, supported in ROS Kinetic and newer
+# add_compile_options(-std=c++11)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED)
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+## To declare and build messages, services or actions from within this
+## package, follow these steps:
+## * Let MSG_DEP_SET be the set of packages whose message types you use in
+##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
+## * In the file package.xml:
+##   * add a build_depend tag for "message_generation"
+##   * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
+##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
+##     but can be declared for certainty nonetheless:
+##     * add a exec_depend tag for "message_runtime"
+## * In this file (CMakeLists.txt):
+##   * add "message_generation" and every package in MSG_DEP_SET to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * add "message_runtime" and every package in MSG_DEP_SET to
+##     catkin_package(CATKIN_DEPENDS ...)
+##   * uncomment the add_*_files sections below as needed
+##     and list every .msg/.srv/.action file to be processed
+##   * uncomment the generate_messages entry below
+##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
+
+## Generate messages in the 'msg' folder
+# add_message_files(
+#   FILES
+#   Message1.msg
+#   Message2.msg
+# )
+
+## Generate services in the 'srv' folder
+# add_service_files(
+#   FILES
+#   Service1.srv
+#   Service2.srv
+# )
+
+## Generate actions in the 'action' folder
+# add_action_files(
+#   FILES
+#   Action1.action
+#   Action2.action
+# )
+
+## Generate added messages and services with any dependencies listed here
+# generate_messages(
+#   DEPENDENCIES
+#   std_msgs  # Or other packages containing msgs
+# )
+
+################################################
+## Declare ROS dynamic reconfigure parameters ##
+################################################
+
+## To declare and build dynamic reconfigure parameters within this
+## package, follow these steps:
+## * In the file package.xml:
+##   * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
+## * In this file (CMakeLists.txt):
+##   * add "dynamic_reconfigure" to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * uncomment the "generate_dynamic_reconfigure_options" section below
+##     and list every .cfg file to be processed
+
+## Generate dynamic reconfigure parameters in the 'cfg' folder
+# generate_dynamic_reconfigure_options(
+#   cfg/DynReconf1.cfg
+#   cfg/DynReconf2.cfg
+# )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if your package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+#  INCLUDE_DIRS include
+#  LIBRARIES planning
+#  CATKIN_DEPENDS other_catkin_pkg
+#  DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+include_directories(
+# include
+# ${catkin_INCLUDE_DIRS}
+)
+
+## Declare a C++ library
+# add_library(${PROJECT_NAME}
+#   src/${PROJECT_NAME}/planning.cpp
+# )
+
+## Add cmake target dependencies of the library
+## as an example, code may need to be generated before libraries
+## either from message generation or dynamic reconfigure
+# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Declare a C++ executable
+## With catkin_make all packages are built within a single CMake context
+## The recommended prefix ensures that target names across packages don't collide
+# add_executable(${PROJECT_NAME}_node src/planning_node.cpp)
+
+## Rename C++ executable without prefix
+## The above recommended prefix causes long target names, the following renames the
+## target back to the shorter version for ease of user use
+## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
+# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
+
+## Add cmake target dependencies of the executable
+## same as for the library above
+# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Specify libraries to link a library or executable target against
+# target_link_libraries(${PROJECT_NAME}_node
+#   ${catkin_LIBRARIES}
+# )
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# catkin_install_python(PROGRAMS
+#   scripts/my_python_script
+#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
+# install(TARGETS ${PROJECT_NAME}_node
+#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark libraries for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
+# install(TARGETS ${PROJECT_NAME}
+#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+#   FILES_MATCHING PATTERN "*.h"
+#   PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+#   # myfile1
+#   # myfile2
+#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_planning.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)

code/planning/local_planner/launch/local_planner.launch

@@ -0,0 +1,6 @@
+<launch>
+    <node pkg="local_planner" type="collision_check.py" name="CollisionCheck" output="screen">
+           <param name="role_name" value="hero" />
+           <param name="control_loop_rate" value="1" />
+    </node>
+</launch>

code/planning/local_planner/package.xml

@@ -0,0 +1,59 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>local_planner</name>
+  <version>0.0.0</version>
+  <description>The local planning package</description>
+
+  <!-- One maintainer tag required, multiple allowed, one person per tag -->
+  <!-- Example:  -->
+  <!-- <maintainer email="[email protected]">Jane Doe</maintainer> -->
+  <maintainer email="[email protected]">carla</maintainer>
+
+
+  <!-- One license tag required, multiple allowed, one license per tag -->
+  <!-- Commonly used license strings: -->
+  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+  <license>TODO</license>
+
+
+  <!-- Url tags are optional, but multiple are allowed, one per tag -->
+  <!-- Optional attribute type can be: website, bugtracker, or repository -->
+  <!-- Example: -->
+  <!-- <url type="website">http://wiki.ros.org/planning</url> -->
+
+
+  <!-- Author tags are optional, multiple are allowed, one per tag -->
+  <!-- Authors do not have to be maintainers, but could be -->
+  <!-- Example: -->
+  <!-- <author email="[email protected]">Jane Doe</author> -->
+
+
+  <!-- The *depend tags are used to specify dependencies -->
+  <!-- Dependencies can be catkin packages or system dependencies -->
+  <!-- Examples: -->
+  <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
+  <!--   <depend>roscpp</depend> -->
+  <!--   Note that this is equivalent to the following: -->
+  <!--   <build_depend>roscpp</build_depend> -->
+  <!--   <exec_depend>roscpp</exec_depend> -->
+  <!-- Use build_depend for packages you need at compile time: -->
+  <!--   <build_depend>message_generation</build_depend> -->
+  <!-- Use build_export_depend for packages you need in order to build against this package: -->
+  <!--   <build_export_depend>message_generation</build_export_depend> -->
+  <!-- Use buildtool_depend for build tool packages: -->
+  <!--   <buildtool_depend>catkin</buildtool_depend> -->
+  <!-- Use exec_depend for packages you need at runtime: -->
+  <!--   <exec_depend>message_runtime</exec_depend> -->
+  <!-- Use test_depend for packages you need only for testing: -->
+  <!--   <test_depend>gtest</test_depend> -->
+  <!-- Use doc_depend for packages you need only for building documentation: -->
+  <!--   <doc_depend>doxygen</doc_depend> -->
+  <buildtool_depend>catkin</buildtool_depend>
+
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- Other tools can request additional information be placed here -->
+
+  </export>
+</package>

code/planning/local_planner/setup.py

@@ -0,0 +1,7 @@
+#!/usr/bin/env python
+from distutils.core import setup
+from catkin_pkg.python_setup import generate_distutils_setup
+
+setup_args = generate_distutils_setup(packages=['local_planner'],
+                                      package_dir={'': 'src'})
+setup(**setup_args)

code/planning/local_planner/src/collision_check.py

@@ -0,0 +1,107 @@
+#!/usr/bin/env python
+# import rospy
+# import tf.transformations
+import ros_compatibility as roscomp
+from ros_compatibility.node import CompatibleNode
+
+# from geometry_msgs.msg import PoseStamped, Pose, Point, Quaternion
+# from carla_msgs.msg import CarlaRoute   # , CarlaWorldInfo
+# from nav_msgs.msg import Path
+# from std_msgs.msg import String
+# from std_msgs.msg import Float32MultiArray
+
+
+class CollisionCheck(CompatibleNode):
+    """
+    This is currently a test node. In the future this node will be
+    responsible for detecting collisions and reporting them.
+    """
+
+    def __init__(self):
+        super(CollisionCheck, self).__init__('CollisionCheck')
+        self.role_name = self.get_param("role_name", "hero")
+        self.control_loop_rate = self.get_param("control_loop_rate", 1)
+        self.current_speed = 50 / 3.6  # m/ss
+        # TODO: Add Subscriber for Speed and Obstacles
+        self.logdebug("CollisionCheck started")
+
+    def update(self, speed):
+        self.current_speed = speed
+
+    def time_to_collision(self, obstacle_speed, distance):
+        return distance / (self.current_speed - obstacle_speed)
+
+    def meters_to_collision(self, obstacle_speed, distance):
+        return self.time_to_collision(obstacle_speed, distance) * \
+            self.current_speed
+
+    # PAF 22
+    def calculate_safe_dist(self) -> float:
+        """
+        Calculates the distance you have to keep to the vehicle in front to
+        have t_reaction to react to the vehicle suddenly stopping
+        The formula replicates official recommendations for safe distances
+        """
+        t_reaction = 1  # s
+        t_breaking = 1  # s
+        a = 8  # m/s^2
+        v = self.current_speed
+        s = - 0.5 * a * t_breaking ** 2 + v * t_breaking + v * t_reaction
+        return s + 5
+
+    def calculate_rule_of_thumb(self, emergency):
+        reaction_distance = self.current_speed
+        braking_distance = (self.current_speed * 0.36)**2
+        if emergency:
+            return reaction_distance + braking_distance / 2
+        else:
+            return reaction_distance + braking_distance
+
+    def check_crash(self, obstacle):
+        distance, obstacle_speed = obstacle
+
+        collision_time = self.time_to_collision(obstacle_speed, distance)
+        collision_meter = self.meters_to_collision(obstacle_speed, distance)
+
+        safe_distance = self.calculate_safe_dist()
+        safe_distance2 = self.calculate_rule_of_thumb(False)
+        emergency_distance2 = self.calculate_rule_of_thumb(True)
+
+        # TODO: Convert to Publishers
+        if collision_time > 0:
+            if distance < emergency_distance2:
+                print(f"Emergency Brake needed, {emergency_distance2:.2f}")
+            print(f"Ego reaches obstacle after {collision_time:.2f} seconds.")
+            print(f"Ego reaches obstacle after {collision_meter:.2f} meters.")
+            print(f"Safe Distance PAF 22: {safe_distance:.2f}")
+            print(f"Safe Distance Thumb: {safe_distance2:.2f}")
+        else:
+            print("Ego slower then car in front")
+
+    def run(self):
+        """
+        Control loop
+        :return:
+        """
+
+        def loop(timer_event=None):
+            pass
+
+        self.new_timer(self.control_loop_rate, loop)
+        self.spin()
+
+
+if __name__ == "__main__":
+    """
+    main function starts the CollisionCheck node
+    :param args:
+    """
+    roscomp.init('CollisionCheck')
+
+    try:
+        node = CollisionCheck()
+        node.run()
+    except KeyboardInterrupt:
+        pass
+    finally:
+        roscomp.shutdown()

code/planning/planning_runner/launch/planning_runner.launch

@@ -2,4 +2,6 @@
     <include file="$(find planning)/launch/global_planner.launch"/>
 
     <include file="$(find behavior_agent)/launch/behavior_agent.launch"/>
+
+    <include file="$(find local_planner)/launch/local_planner.launch"/>
 </launch>