feat(simple_planning_simulator): consider ego pitch angle for simulat…

…ion (autowarefoundation#4941)

* feat(simple_planning_simulator): consider ego pitch angle for simulation

Signed-off-by: Takayuki Murooka <[email protected]>

* update

Signed-off-by: Takayuki Murooka <[email protected]>

* fix spell

Signed-off-by: Takayuki Murooka <[email protected]>

* update

Signed-off-by: Takayuki Murooka <[email protected]>

---------

Signed-off-by: Takayuki Murooka <[email protected]>

simulator/simple_planning_simulator/include/simple_planning_simulator/simple_planning_simulator_core.hpp

@@ -22,6 +22,7 @@
 
 #include "autoware_auto_control_msgs/msg/ackermann_control_command.hpp"
 #include "autoware_auto_geometry_msgs/msg/complex32.hpp"
+#include "autoware_auto_mapping_msgs/msg/had_map_bin.hpp"
 #include "autoware_auto_planning_msgs/msg/trajectory.hpp"
 #include "autoware_auto_vehicle_msgs/msg/control_mode_command.hpp"
 #include "autoware_auto_vehicle_msgs/msg/control_mode_report.hpp"
@@ -47,6 +48,7 @@
 #include "sensor_msgs/msg/imu.hpp"
 #include "tier4_external_api_msgs/srv/initialize_pose.hpp"
 
+#include <lanelet2_core/geometry/Lanelet.h>
 #include <tf2_ros/buffer.h>
 #include <tf2_ros/transform_listener.h>
 
@@ -62,6 +64,7 @@ namespace simple_planning_simulator
 
 using autoware_auto_control_msgs::msg::AckermannControlCommand;
 using autoware_auto_geometry_msgs::msg::Complex32;
+using autoware_auto_mapping_msgs::msg::HADMapBin;
 using autoware_auto_planning_msgs::msg::Trajectory;
 using autoware_auto_vehicle_msgs::msg::ControlModeReport;
 using autoware_auto_vehicle_msgs::msg::Engage;
@@ -143,6 +146,7 @@ class PLANNING_SIMULATOR_PUBLIC SimplePlanningSimulator : public rclcpp::Node
   rclcpp::Subscription<VehicleControlCommand>::SharedPtr sub_vehicle_cmd_;
   rclcpp::Subscription<AckermannControlCommand>::SharedPtr sub_ackermann_cmd_;
   rclcpp::Subscription<AckermannControlCommand>::SharedPtr sub_manual_ackermann_cmd_;
+  rclcpp::Subscription<HADMapBin>::SharedPtr sub_map_;
   rclcpp::Subscription<PoseWithCovarianceStamped>::SharedPtr sub_init_pose_;
   rclcpp::Subscription<TwistStamped>::SharedPtr sub_init_twist_;
   rclcpp::Subscription<Trajectory>::SharedPtr sub_trajectory_;
@@ -160,6 +164,8 @@ class PLANNING_SIMULATOR_PUBLIC SimplePlanningSimulator : public rclcpp::Node
   rcl_interfaces::msg::SetParametersResult on_parameter(
     const std::vector<rclcpp::Parameter> & parameters);
 
+  lanelet::ConstLanelets road_lanelets_;
+
   /* tf */
   tf2_ros::Buffer tf_buffer_;
   tf2_ros::TransformListener tf_listener_;
@@ -179,6 +185,7 @@ class PLANNING_SIMULATOR_PUBLIC SimplePlanningSimulator : public rclcpp::Node
   Trajectory::ConstSharedPtr current_trajectory_ptr_;
   bool simulate_motion_;  //!< stop vehicle motion simulation if false
   ControlModeReport current_control_mode_;
+  bool enable_road_slope_simulation_;
 
   /* frame_id */
   std::string simulated_frame_id_;  //!< @brief simulated vehicle frame id
@@ -214,7 +221,7 @@ class PLANNING_SIMULATOR_PUBLIC SimplePlanningSimulator : public rclcpp::Node
   /**
    * @brief set input steering, velocity, and acceleration of the vehicle model
    */
-  void set_input(const AckermannControlCommand & cmd);
+  void set_input(const AckermannControlCommand & cmd, const double acc_by_slope);
 
   /**
    * @brief set current_vehicle_state_ with received message
@@ -226,6 +233,11 @@ class PLANNING_SIMULATOR_PUBLIC SimplePlanningSimulator : public rclcpp::Node
    */
   void on_hazard_lights_cmd(const HazardLightsCommand::ConstSharedPtr msg);
 
+  /**
+   * @brief subscribe lanelet map
+   */
+  void on_map(const HADMapBin::ConstSharedPtr msg);
+
   /**
    * @brief set initial pose for simulation with received message
    */
@@ -276,6 +288,12 @@ class PLANNING_SIMULATOR_PUBLIC SimplePlanningSimulator : public rclcpp::Node
    */
   TransformStamped get_transform_msg(const std::string parent_frame, const std::string child_frame);
 
+  /**
+   * @brief calculate ego pitch angle from trajectory
+   * @return ego pitch angle
+   */
+  double calculate_ego_pitch() const;
+
   /**
    * @brief timer callback for simulation with loop_rate
    */

simulator/simple_planning_simulator/launch/simple_planning_simulator.launch.py

@@ -53,6 +53,7 @@ def launch_setup(context, *args, **kwargs):
             },
         ],
         remappings=[
+            ("input/vector_map", "/map/vector_map"),
             ("input/initialpose", "/initialpose3d"),
             ("input/ackermann_control_command", "/control/command/control_cmd"),
             ("input/manual_ackermann_control_command", "/vehicle/command/manual_control_cmd"),

simulator/simple_planning_simulator/package.xml

@@ -12,10 +12,14 @@
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
   <depend>autoware_auto_control_msgs</depend>
+  <depend>autoware_auto_mapping_msgs</depend>
   <depend>autoware_auto_planning_msgs</depend>
   <depend>autoware_auto_tf2</depend>
   <depend>autoware_auto_vehicle_msgs</depend>
   <depend>geometry_msgs</depend>
+  <depend>lanelet2_core</depend>
+  <depend>lanelet2_extension</depend>
+  <depend>motion_utils</depend>
   <depend>nav_msgs</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>

simulator/simple_planning_simulator/src/simple_planning_simulator/simple_planning_simulator_core.cpp

@@ -15,11 +15,17 @@
 #include "simple_planning_simulator/simple_planning_simulator_core.hpp"
 
 #include "autoware_auto_tf2/tf2_autoware_auto_msgs.hpp"
+#include "motion_utils/trajectory/trajectory.hpp"
 #include "rclcpp_components/register_node_macro.hpp"
 #include "simple_planning_simulator/vehicle_model/sim_model.hpp"
 #include "tier4_autoware_utils/tier4_autoware_utils.hpp"
 #include "vehicle_info_util/vehicle_info_util.hpp"
 
+#include <lanelet2_extension/utility/message_conversion.hpp>
+#include <lanelet2_extension/utility/query.hpp>
+
+#include <lanelet2_routing/RoutingGraph.h>
+#include <lanelet2_traffic_rules/TrafficRulesFactory.h>
 #include <tf2/LinearMath/Quaternion.h>
 #include <tf2/utils.h>
 
@@ -45,13 +51,14 @@ autoware_auto_vehicle_msgs::msg::VelocityReport to_velocity_report(
   return velocity;
 }
 
-nav_msgs::msg::Odometry to_odometry(const std::shared_ptr<SimModelInterface> vehicle_model_ptr)
+nav_msgs::msg::Odometry to_odometry(
+  const std::shared_ptr<SimModelInterface> vehicle_model_ptr, const double ego_pitch_angle)
 {
   nav_msgs::msg::Odometry odometry;
   odometry.pose.pose.position.x = vehicle_model_ptr->getX();
   odometry.pose.pose.position.y = vehicle_model_ptr->getY();
-  odometry.pose.pose.orientation =
-    tier4_autoware_utils::createQuaternionFromYaw(vehicle_model_ptr->getYaw());
+  odometry.pose.pose.orientation = tier4_autoware_utils::createQuaternionFromRPY(
+    0.0, ego_pitch_angle, vehicle_model_ptr->getYaw());
   odometry.twist.twist.linear.x = vehicle_model_ptr->getVx();
   odometry.twist.twist.angular.z = vehicle_model_ptr->getWz();
 
@@ -66,6 +73,19 @@ autoware_auto_vehicle_msgs::msg::SteeringReport to_steering_report(
   return steer;
 }
 
+std::vector<geometry_msgs::msg::Point> convert_centerline_to_points(
+  const lanelet::Lanelet & lanelet)
+{
+  std::vector<geometry_msgs::msg::Point> centerline_points;
+  for (const auto & point : lanelet.centerline()) {
+    geometry_msgs::msg::Point center_point;
+    center_point.x = point.basicPoint().x();
+    center_point.y = point.basicPoint().y();
+    center_point.z = point.basicPoint().z();
+    centerline_points.push_back(center_point);
+  }
+  return centerline_points;
+}
 }  // namespace
 
 namespace simulation
@@ -80,11 +100,15 @@ SimplePlanningSimulator::SimplePlanningSimulator(const rclcpp::NodeOptions & opt
   origin_frame_id_ = declare_parameter("origin_frame_id", "odom");
   add_measurement_noise_ = declare_parameter("add_measurement_noise", false);
   simulate_motion_ = declare_parameter<bool>("initial_engage_state");
+  enable_road_slope_simulation_ = declare_parameter("enable_road_slope_simulation", false);
 
   using rclcpp::QoS;
   using std::placeholders::_1;
   using std::placeholders::_2;
 
+  sub_map_ = create_subscription<HADMapBin>(
+    "input/vector_map", rclcpp::QoS(10).transient_local(),
+    std::bind(&SimplePlanningSimulator::on_map, this, _1));
   sub_init_pose_ = create_subscription<PoseWithCovarianceStamped>(
     "input/initialpose", QoS{1}, std::bind(&SimplePlanningSimulator::on_initialpose, this, _1));
   sub_init_twist_ = create_subscription<TwistStamped>(
@@ -251,23 +275,66 @@ rcl_interfaces::msg::SetParametersResult SimplePlanningSimulator::on_parameter(
   return result;
 }
 
+double SimplePlanningSimulator::calculate_ego_pitch() const
+{
+  const double ego_x = vehicle_model_ptr_->getX();
+  const double ego_y = vehicle_model_ptr_->getY();
+  const double ego_yaw = vehicle_model_ptr_->getYaw();
+
+  geometry_msgs::msg::Pose ego_pose;
+  ego_pose.position.x = ego_x;
+  ego_pose.position.y = ego_y;
+  ego_pose.orientation = tier4_autoware_utils::createQuaternionFromYaw(ego_yaw);
+
+  // calculate prev/next point of lanelet centerline nearest to ego pose.
+  lanelet::Lanelet ego_lanelet;
+  if (!lanelet::utils::query::getClosestLaneletWithConstrains(
+        road_lanelets_, ego_pose, &ego_lanelet, 2.0, std::numeric_limits<double>::max())) {
+    return 0.0;
+  }
+  const auto centerline_points = convert_centerline_to_points(ego_lanelet);
+  const size_t ego_seg_idx =
+    motion_utils::findNearestSegmentIndex(centerline_points, ego_pose.position);
+
+  const auto & prev_point = centerline_points.at(ego_seg_idx);
+  const auto & next_point = centerline_points.at(ego_seg_idx + 1);
+
+  // calculate ego yaw angle on lanelet coordinates
+  const double lanelet_yaw = std::atan2(next_point.y - prev_point.y, next_point.x - prev_point.x);
+  const double ego_yaw_against_lanelet = ego_yaw - lanelet_yaw;
+
+  // calculate ego pitch angle considering ego yaw.
+  const double diff_z = next_point.z - prev_point.z;
+  const double diff_xy = std::hypot(next_point.x - prev_point.x, next_point.y - prev_point.y) /
+                         std::cos(ego_yaw_against_lanelet);
+  const bool reverse_sign = std::cos(ego_yaw_against_lanelet) < 0.0;
+  const double ego_pitch_angle =
+    reverse_sign ? std::atan2(-diff_z, -diff_xy) : std::atan2(diff_z, diff_xy);
+  return ego_pitch_angle;
+}
+
 void SimplePlanningSimulator::on_timer()
 {
   if (!is_initialized_) {
     RCLCPP_INFO_THROTTLE(get_logger(), *get_clock(), 5000, "waiting initialization...");
     return;
   }
 
+  // calculate longitudinal acceleration by slope
+  const double ego_pitch_angle = calculate_ego_pitch();
+  const double acc_by_slope =
+    enable_road_slope_simulation_ ? -9.81 * std::sin(ego_pitch_angle) : 0.0;
+
   // update vehicle dynamics
   {
     const double dt = delta_time_.get_dt(get_clock()->now());
 
     if (current_control_mode_.mode == ControlModeReport::AUTONOMOUS) {
       vehicle_model_ptr_->setGear(current_gear_cmd_.command);
-      set_input(current_ackermann_cmd_);
+      set_input(current_ackermann_cmd_, acc_by_slope);
     } else {
       vehicle_model_ptr_->setGear(current_manual_gear_cmd_.command);
-      set_input(current_manual_ackermann_cmd_);
+      set_input(current_manual_ackermann_cmd_, acc_by_slope);
     }
 
     if (simulate_motion_) {
@@ -276,7 +343,7 @@ void SimplePlanningSimulator::on_timer()
   }
 
   // set current state
-  current_odometry_ = to_odometry(vehicle_model_ptr_);
+  current_odometry_ = to_odometry(vehicle_model_ptr_, ego_pitch_angle);
   current_odometry_.pose.pose.position.z = get_z_pose_from_trajectory(
     current_odometry_.pose.pose.position.x, current_odometry_.pose.pose.position.y);
 
@@ -308,6 +375,19 @@ void SimplePlanningSimulator::on_timer()
   publish_tf(current_odometry_);
 }
 
+void SimplePlanningSimulator::on_map(const HADMapBin::ConstSharedPtr msg)
+{
+  auto lanelet_map_ptr = std::make_shared<lanelet::LaneletMap>();
+
+  lanelet::routing::RoutingGraphPtr routing_graph_ptr;
+  lanelet::traffic_rules::TrafficRulesPtr traffic_rules_ptr;
+  lanelet::utils::conversion::fromBinMsg(
+    *msg, lanelet_map_ptr, &traffic_rules_ptr, &routing_graph_ptr);
+
+  lanelet::ConstLanelets all_lanelets = lanelet::utils::query::laneletLayer(lanelet_map_ptr);
+  road_lanelets_ = lanelet::utils::query::roadLanelets(all_lanelets);
+}
+
 void SimplePlanningSimulator::on_initialpose(const PoseWithCovarianceStamped::ConstSharedPtr msg)
 {
   // save initial pose
@@ -344,7 +424,8 @@ void SimplePlanningSimulator::on_set_pose(
   response->status = tier4_api_utils::response_success();
 }
 
-void SimplePlanningSimulator::set_input(const AckermannControlCommand & cmd)
+void SimplePlanningSimulator::set_input(
+  const AckermannControlCommand & cmd, const double acc_by_slope)
 {
   const auto steer = cmd.lateral.steering_tire_angle;
   const auto vel = cmd.longitudinal.speed;
@@ -356,11 +437,11 @@ void SimplePlanningSimulator::set_input(const AckermannControlCommand & cmd)
 
   // TODO(Watanabe): The definition of the sign of acceleration in REVERSE mode is different
   // between .auto and proposal.iv, and will be discussed later.
-  float acc = accel;
+  float acc = accel + acc_by_slope;
   if (gear == GearCommand::NONE) {
     acc = 0.0;
   } else if (gear == GearCommand::REVERSE || gear == GearCommand::REVERSE_2) {
-    acc = -accel;
+    acc = -accel - acc_by_slope;
   }
 
   if (