Merge branch 'main' into 538-feature-update-and-use-ultralytics-yolov…

…11-for-object-detection

code/planning/CMakeLists.txt

@@ -13,8 +13,11 @@ project(planning)
 find_package(catkin REQUIRED COMPONENTS
   perception
   rospy
+  rosout
   roslaunch
   std_msgs
+  geometry_msgs
+  message_generation
 )
 
 roslaunch_add_file_check(launch)
@@ -48,9 +51,11 @@ catkin_python_setup()
 ##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
 
 ## Generate messages in the 'msg' folder
-# add_message_files(
-#   MinDistance.msg
-# )
+ add_message_files(
+   FILES
+   NavigationPoint.msg
+   Trajectory.msg
+ )
 
 ## Generate services in the 'srv' folder
 # add_service_files(
@@ -67,9 +72,12 @@ catkin_python_setup()
 # )
 
 ## Generate added messages and services with any dependencies listed here
-# generate_messages(
-#   perception
-# )
+ generate_messages(
+   DEPENDENCIES
+   std_msgs
+   perception
+   geometry_msgs
+ )
 
 ################################################
 ## Declare ROS dynamic reconfigure parameters ##
@@ -105,7 +113,7 @@ catkin_package(
 #  LIBRARIES planning
 #  CATKIN_DEPENDS other_catkin_pkg
 #  DEPENDS system_lib
-  CATKIN_DEPENDS perception rospy
+  CATKIN_DEPENDS perception rospy message_runtime
 )
 
 ###########

code/planning/msg/NavigationPoint.msg

@@ -0,0 +1,3 @@
+geometry_msgs/Point position
+float32 speed
+uint8 behaviour

code/planning/msg/Trajectory.msg

@@ -0,0 +1,2 @@
+Header header
+planning/NavigationPoint[] navigationPoints

code/planning/package.xml

@@ -47,6 +47,9 @@
   <!--   <test_depend>gtest</test_depend> -->
   <!-- Use doc_depend for packages you need only for building documentation: -->
   <!--   <doc_depend>doxygen</doc_depend> -->
+  <build_depend>message_generation</build_depend>
+  <exec_depend>message_runtime</exec_depend>
+
   <build_depend>rospy</build_depend>
   <build_depend>roslaunch</build_depend>
 
@@ -57,6 +60,7 @@
   <exec_depend>carla_msgs</exec_depend>
   <exec_depend>sensor_msgs</exec_depend>
   <exec_depend>std_msgs</exec_depend>
+  <exec_depend>geometry_msgs</exec_depend>
   <exec_depend>perception</exec_depend>
 
   <build_depend>perception</build_depend>

code/planning/src/BehaviourEnum.py

@@ -0,0 +1,8 @@
+from enum import IntEnum
+
+# getattr(Behaviour, "name").value returns the ID
+# Behaviour(id) returns Behaviour.NAME
+
+
+class BehaviourEnum(IntEnum):
+    CRUISING = 0

doc/general/README.md

@@ -4,4 +4,5 @@ This Folder contains instruction on installation, execution and architecture of
 
 1. [Installation](./installation.md)
 2. [Execution](./execution.md)
-3. [Current architecture of the agent](./architecture.md)
+3. [Current architecture of the agent](./architecture_current.md)
+4. [Planned architecture of the agent](./architecture_planned.md)

doc/general/architecture.md → doc/general/architecture_planned.md

@@ -3,37 +3,39 @@
 **Summary:** This page gives an overview over the planned general architecture of the vehicle agent.
 The document contains an overview over all [nodes](#overview) and [topics](#topics).
 
-- [Planned architecture of vehicle agent](#planned-architecture-of-vehicle-agent)
-  - [Overview](#overview)
-  - [Perception](#perception)
-    - [Obstacle Detection and Classification](#obstacle-detection-and-classification)
-    - [Traffic Light Detection](#traffic-light-detection)
-    - [Localization](#localization)
-  - [Planning](#planning)
-    - [Global Planning](#global-planning)
-    - [Decision Making](#decision-making)
-    - [Local Planning](#local-planning)
-      - [Collision Check](#collision-check)
-      - [ACC](#acc)
-      - [Motion Planning](#motion-planning)
-  - [Acting](#acting)
-    - [Path following with Steering Controllers](#path-following-with-steering-controllers)
-    - [Velocity control](#velocity-control)
-    - [Vehicle controller](#vehicle-controller)
-  - [Visualization](#visualization)
+- [Overview](#overview)
+- [Perception](#perception)
+  - [Vision Node](#vision-node)
+  - [Traffic Light Detection](#traffic-light-detection)
+  - [Position Heading Node](#position-heading-node)
+  - [Distance to Objects](#distance-to-objects)
+  - [Localization](#localization)
+- [Planning](#planning)
+  - [Global Planning](#global-planning)
+  - [Decision Making](#decision-making)
+  - [Local Planning](#local-planning)
+    - [Collision Check](#collision-check)
+    - [ACC](#acc)
+    - [Motion Planning](#motion-planning)
+- [Acting](#acting)
+  - [Path following with Steering Controllers](#path-following-with-steering-controllers)
+  - [Velocity control](#velocity-control)
+  - [Vehicle controller](#vehicle-controller)
+- [Visualization](#visualization)
 
 ## Overview
 
 The vehicle agent is split into three major components: [Perception](#Perception), [Planning](#Planning)
 and [Acting](#Acting).
 A separate node is responsible for the [visualization](#Visualization).
 The topics published by the Carla bridge can be
-found [here](https://carla.readthedocs.io/projects/ros-bridge/en/latest/ros_sensors/).
-The msgs necessary to control the vehicle via the Carla bridge can be
-found [here](https://carla.readthedocs.io/en/0.9.8/ros_msgs/#CarlaEgoVehicleControlmsg)
+found [here](https://carla.readthedocs.io/projects/ros-bridge/en/latest/ros_sensors/).\
+The messages necessary to control the vehicle via the Carla bridge can be
+found [here](https://carla.readthedocs.io/en/0.9.8/ros_msgs/#CarlaEgoVehicleControlmsg).\
 
-![Architecture overview](../assets/overview.jpg)
 The miro-board can be found [here](https://miro.com/welcomeonboard/a1F0d1dya2FneWNtbVk4cTBDU1NiN3RiZUIxdGhHNzJBdk5aS3N4VmdBM0R5c2Z1VXZIUUN4SkkwNHpuWlk2ZXwzNDU4NzY0NTMwNjYwNzAyODIzfDI=?share_link_id=785020837509).
+![Architecture overview](../assets/overview.jpg "Connections between nodes visualized")
+![Department node overview](../assets/research_assets/node_path_ros.png "In- and outgoing topics for every node of the departments")
 
 ## Perception
 
@@ -43,7 +45,7 @@ environment representation that can be used by the [Planning](#Planning) for fur
 Further information regarding the perception can be found [here](../perception/README.md).
 Research for the perception can be found [here](../research/perception/README.md).
 
-### Obstacle Detection and Classification
+### Vision Node
 
 Evaluates sensor data to detect and classify objects around the ego vehicle.
 Other road users and objects blocking the vehicle's path are recognized.
@@ -52,17 +54,28 @@ In the case of dynamic objects, an attempt is made to recognize the direction an
 
 Subscriptions:
 
-- ```radar``` ([sensor_msgs/PointCloud2](https://docs.ros.org/en/api/sensor_msgs/html/msg/PointCloud2.html))
 - ```lidar``` ([sensor_msgs/PointCloud2](https://docs.ros.org/en/api/sensor_msgs/html/msg/PointCloud2.html))
 - ```rgb_camera``` ([sensor_msgs/Image](https://docs.ros.org/en/api/sensor_msgs/html/msg/Image.html))
 - ````gnss```` ([sensor_msgs/NavSatFix](https://carla.readthedocs.io/projects/ros-bridge/en/latest/ros_sensors/))
 - ```map``` ([std_msgs/String](https://docs.ros.org/en/api/std_msgs/html/msg/String.html))
+- ```radar``` ([sensor_msgs/PointCloud2](https://docs.ros.org/en/api/sensor_msgs/html/msg/PointCloud2.html)) SOON TO COME
 
 Publishes:
 
 - ```obstacles``` (Custom msg:
   obstacle ([vision_msgs/Detection3DArray Message](http://docs.ros.org/en/api/vision_msgs/html/msg/Detection3DArray.html))
   and its classification ([std_msgs/String Message](http://docs.ros.org/en/noetic/api/std_msgs/html/msg/String.html)))
+- ```segmented_image``` ([sensor_msgs/Image](https://docs.ros.org/en/api/sensor_msgs/html/msg/Image.html))
+  - /paf/hero/Center/segmented_image
+  - /paf/hero/Back/segmented_image
+  - /paf/hero/Left/segmented_image
+  - /paf/hero/Right/segmented_image
+- ```segmented_traffic_light``` ([sensor_msgs/Image](https://docs.ros.org/en/api/sensor_msgs/html/msg/Image.html))
+- ```object_distance``` ([sensor_msgs/Float32MultiArray](https://docs.ros.org/en/noetic/api/std_msgs/html/msg/Float32MultiArray.html))
+  - /paf/hero/Center/object_distance
+  - /paf/hero/Back/object_distance
+  - /paf/hero/Left/object_distance
+  - /paf/hero/Right/object_distance
 
 ### Traffic Light Detection
 
@@ -84,6 +97,14 @@ Publishes:
   position ([geometry_msgs/Pose Message](http://docs.ros.org/en/noetic/api/geometry_msgs/html/msg/Pose.html)),
   distance_to_stop_line ([std_msgs/Float64 Message](http://docs.ros.org/en/api/std_msgs/html/msg/Float64.html)))
 
+### Position Heading Node
+
+There are currently no planned improvements of the Position Heading Node.
+
+### Distance to Objects
+
+There are currently no planned improvements for Distance to Objects.
+
 ### Localization
 
 Provides corrected accurate position, direction and speed of the ego vehicle