diff --git a/code/planning/local_planner/CMakeLists.txt b/code/planning/local_planner/CMakeLists.txt new file mode 100644 index 00000000..32a5947b --- /dev/null +++ b/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) diff --git a/code/planning/local_planner/__init__.py b/code/planning/local_planner/__init__.py new file mode 100644 index 00000000..e69de29b diff --git a/code/planning/local_planner/launch/local_planner.launch b/code/planning/local_planner/launch/local_planner.launch new file mode 100644 index 00000000..c469c05e --- /dev/null +++ b/code/planning/local_planner/launch/local_planner.launch @@ -0,0 +1,6 @@ + + + + + + diff --git a/code/planning/local_planner/package.xml b/code/planning/local_planner/package.xml new file mode 100644 index 00000000..6dc4269a --- /dev/null +++ b/code/planning/local_planner/package.xml @@ -0,0 +1,59 @@ + + + local_planner + 0.0.0 + The local planning package + + + + + carla + + + + + + TODO + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + catkin + + + + + + + + diff --git a/code/planning/local_planner/setup.py b/code/planning/local_planner/setup.py new file mode 100644 index 00000000..e5a88c1c --- /dev/null +++ b/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) diff --git a/code/planning/local_planner/src/collision_check.py b/code/planning/local_planner/src/collision_check.py new file mode 100755 index 00000000..34bcdbb4 --- /dev/null +++ b/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() diff --git a/code/planning/planning_runner/launch/planning_runner.launch b/code/planning/planning_runner/launch/planning_runner.launch index 30f01411..b5597b71 100755 --- a/code/planning/planning_runner/launch/planning_runner.launch +++ b/code/planning/planning_runner/launch/planning_runner.launch @@ -2,4 +2,6 @@ + +