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Block rollouts that cut through of drivable areas #18

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Block rollouts that cut through of drivable areas #18

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2 changes: 2 additions & 0 deletions op_local_planner/include/op_trajectory_evaluator_core.h
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Original file line number Diff line number Diff line change
Expand Up @@ -32,6 +32,7 @@
#include "op_planner/TrajectoryEvaluator.h"
#include "op_ros_helpers/ROSVelocityHandler.h"
#include "op_ros_helpers/op_ParamsHandler.h"
#include "op_ros_helpers/ROSMapHandler.h"

namespace TrajectoryEvaluatorNS
{
Expand Down Expand Up @@ -75,6 +76,7 @@ class TrajectoryEvalCore
PlannerHNS::PlanningParams m_PlanningParams;
PlannerHNS::PlanningParams m_ModPlanningParams;
PlannerHNS::CAR_BASIC_INFO m_CarInfo;
PlannerHNS::MapHandler m_MapHandler;

PlannerHNS::BehaviorState m_CurrentBehavior;
double m_AdditionalFollowDistance;
Expand Down
2 changes: 2 additions & 0 deletions op_local_planner/launch/op_common_params.launch
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Expand Up @@ -29,6 +29,7 @@
<arg name="enableTrafficLightBehavior" default="false" />
<arg name="enableStopSignBehavior" default="false" />
<arg name="enableLaneChange" default="false" />
<arg name="enableBlockingRolloutsOutOfMap" default="false" />

<!-- Vehicle Info, shared with controller and simulation -->
<arg name="height" default="1.47" />
Expand Down Expand Up @@ -92,6 +93,7 @@
<param name="enableTrafficLightBehavior" value="$(arg enableTrafficLightBehavior)" />
<param name="enableStopSignBehavior" value="$(arg enableStopSignBehavior)" />
<param name="enableLaneChange" value="$(arg enableLaneChange)" />
<param name="enableBlockingRolloutsOutOfMap" value="$(arg enableBlockingRolloutsOutOfMap)" />

<param name="height" value="$(arg height)" />
<param name="front_length" value="$(arg front_length)" />
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11 changes: 9 additions & 2 deletions op_local_planner/nodes/op_trajectory_evaluator/op_trajectory_evaluator_core.cpp
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Expand Up @@ -58,6 +58,9 @@ TrajectoryEvalCore::TrajectoryEvalCore()

m_TrajectoryCostsCalculator.SetEvalParams(m_EvaluationParams);
PlannerHNS::ROSHelpers::InitCollisionPointsMarkers(500, m_CollisionsDummy);

m_MapHandler.InitMapHandler(nh, "/op_common_params/mapSource",
"/op_common_params/mapFileName", "/op_common_params/lanelet2_origin");
}

TrajectoryEvalCore::~TrajectoryEvalCore()
Expand Down Expand Up @@ -105,6 +108,7 @@ void TrajectoryEvalCore::UpdatePlanningParams(ros::NodeHandle& _nh)
_nh.getParam("/op_common_params/minDistanceToAvoid", m_PlanningParams.minDistanceToAvoid);
_nh.getParam("/op_common_params/maxDistanceToAvoid", m_PlanningParams.maxDistanceToAvoid);
_nh.getParam("/op_common_params/speedProfileFactor", m_PlanningParams.speedProfileFactor);
_nh.getParam("/op_common_params/enableBlockingRolloutsOutOfMap", m_PlanningParams.enableBlockingRolloutsOutOfMap);

_nh.getParam("/op_common_params/enableLaneChange", m_PlanningParams.enableLaneChange);
if(!m_PlanningParams.enableLaneChange)
Expand Down Expand Up @@ -231,7 +235,7 @@ void TrajectoryEvalCore::callbackGetGlobalPlannerPath(const autoware_msgs::LaneA

void TrajectoryEvalCore::callbackGetLocalPlannerPath(const autoware_msgs::LaneArrayConstPtr& msg)
{
if(msg->lanes.size() != (m_PlanningParams.rollOutNumber + 1))
if(msg->lanes.size() != m_GlobalPaths.size()*(m_PlanningParams.rollOutNumber + 1))
{
std::cout << " ### Waiting until nodes are synchronized, Generated rollouts = " << msg->lanes.size() << ", But They should = " << m_PlanningParams.rollOutNumber + 1 << std::endl;
return;
Expand Down Expand Up @@ -434,7 +438,10 @@ void TrajectoryEvalCore::MainLoop()
while (ros::ok())
{
ros::spinOnce();

if( ! m_MapHandler.IsMapLoaded())
{
m_MapHandler.LoadMap(m_TrajectoryCostsCalculator.m_Map, m_PlanningParams.enableLaneChange);
}

if(bNewCurrentPos)
{
Expand Down