From 5ff3b170e2152cf064c220957052c63de22667c1 Mon Sep 17 00:00:00 2001 From: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> Date: Wed, 3 Apr 2024 11:46:54 +0900 Subject: [PATCH 01/54] fix(lane_change): check prepare phase in intersection (#6561) * fix(lane_change): check prepare phase in intersection Signed-off-by: Muhammad Zulfaqar Azmi * Add new parameter, also create function Signed-off-by: Muhammad Zulfaqar Azmi * Rename parameters Signed-off-by: Muhammad Zulfaqar Azmi * fix spell check * fix config file Signed-off-by: Zulfaqar Azmi * call the function check_prepare_phase only once Signed-off-by: Muhammad Zulfaqar Azmi * add parameter description in README Signed-off-by: Muhammad Zulfaqar Azmi * minor refactoring Signed-off-by: Muhammad Zulfaqar Azmi * Doxygen description Signed-off-by: Muhammad Zulfaqar Azmi --------- Signed-off-by: Muhammad Zulfaqar Azmi Signed-off-by: Zulfaqar Azmi --- .../README.md | 15 ++++--- .../config/lane_change.param.yaml | 4 +- .../scene.hpp | 2 + .../utils/data_structs.hpp | 3 +- .../utils/utils.hpp | 39 ++++++++++++++++- .../src/manager.cpp | 6 ++- .../src/scene.cpp | 43 ++++++++++++++++--- .../src/utils/utils.cpp | 35 +++++++++++++-- 8 files changed, 127 insertions(+), 20 deletions(-) diff --git a/planning/behavior_path_lane_change_module/README.md b/planning/behavior_path_lane_change_module/README.md index 874d542b445d3..17cdc58f5ad47 100644 --- a/planning/behavior_path_lane_change_module/README.md +++ b/planning/behavior_path_lane_change_module/README.md @@ -551,13 +551,14 @@ The following parameters are configurable in [lane_change.param.yaml](https://gi #### Additional parameters -| Name | Unit | Type | Description | Default value | -| :----------------------------------------- | ----- | ------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------- | -| `enable_collision_check_at_prepare_phase` | [-] | boolean | Perform collision check starting from prepare phase. If `false`, collision check only evaluated for lane changing phase. | false | -| `prepare_phase_ignore_target_speed_thresh` | [m/s] | double | Ignore collision check in prepare phase of object speed that is lesser that the configured value. `enable_collision_check_at_prepare_phase` must be `true` | 0.1 | -| `check_objects_on_current_lanes` | [-] | boolean | If true, the lane change module check objects on current lanes when performing collision assessment. | false | -| `check_objects_on_other_lanes` | [-] | boolean | If true, the lane change module include objects on other lanes. when performing collision assessment | false | -| `use_all_predicted_path` | [-] | boolean | If false, use only the predicted path that has the maximum confidence. | true | +| Name | Unit | Type | Description | Default value | +| :------------------------------------------------------- | ----- | ------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------- | +| `enable_collision_check_for_prepare_phase.general_lanes` | [-] | boolean | Perform collision check starting from the prepare phase for situations not explicitly covered by other settings (e.g., intersections). If `false`, collision check only evaluated for lane changing phase. | false | +| `enable_collision_check_for_prepare_phase.intersection` | [-] | boolean | Perform collision check starting from prepare phase when ego is in intersection. If `false`, collision check only evaluated for lane changing phase. | false | +| `prepare_phase_ignore_target_speed_thresh` | [m/s] | double | Ignore collision check in prepare phase of object speed that is lesser that the configured value. `enable_collision_check_at_prepare_phase` must be `true` | 0.1 | +| `check_objects_on_current_lanes` | [-] | boolean | If true, the lane change module check objects on current lanes when performing collision assessment. | false | +| `check_objects_on_other_lanes` | [-] | boolean | If true, the lane change module include objects on other lanes. when performing collision assessment | false | +| `use_all_predicted_path` | [-] | boolean | If false, use only the predicted path that has the maximum confidence. | true | #### safety constraints during lane change path is computed diff --git a/planning/behavior_path_lane_change_module/config/lane_change.param.yaml b/planning/behavior_path_lane_change_module/config/lane_change.param.yaml index 74c6ad0893b23..039e8a31ed10f 100644 --- a/planning/behavior_path_lane_change_module/config/lane_change.param.yaml +++ b/planning/behavior_path_lane_change_module/config/lane_change.param.yaml @@ -89,7 +89,9 @@ stop_time: 3.0 # [s] # collision check - enable_prepare_segment_collision_check: true + enable_collision_check_for_prepare_phase: + general_lanes: false + intersection: true prepare_segment_ignore_object_velocity_thresh: 0.1 # [m/s] check_objects_on_current_lanes: true check_objects_on_other_lanes: true diff --git a/planning/behavior_path_lane_change_module/include/behavior_path_lane_change_module/scene.hpp b/planning/behavior_path_lane_change_module/include/behavior_path_lane_change_module/scene.hpp index 3b8d2ad6e9931..0eec0ce75f622 100644 --- a/planning/behavior_path_lane_change_module/include/behavior_path_lane_change_module/scene.hpp +++ b/planning/behavior_path_lane_change_module/include/behavior_path_lane_change_module/scene.hpp @@ -174,6 +174,8 @@ class NormalLaneChange : public LaneChangeBase bool isVehicleStuck(const lanelet::ConstLanelets & current_lanes) const; + bool check_prepare_phase() const; + double calcMaximumLaneChangeLength( const lanelet::ConstLanelet & current_terminal_lanelet, const double max_acc) const; diff --git a/planning/behavior_path_lane_change_module/include/behavior_path_lane_change_module/utils/data_structs.hpp b/planning/behavior_path_lane_change_module/include/behavior_path_lane_change_module/utils/data_structs.hpp index e48f687a89035..0d77135fda242 100644 --- a/planning/behavior_path_lane_change_module/include/behavior_path_lane_change_module/utils/data_structs.hpp +++ b/planning/behavior_path_lane_change_module/include/behavior_path_lane_change_module/utils/data_structs.hpp @@ -112,7 +112,8 @@ struct LaneChangeParameters double max_longitudinal_acc{1.0}; // collision check - bool enable_prepare_segment_collision_check{true}; + bool enable_collision_check_for_prepare_phase_in_general_lanes{false}; + bool enable_collision_check_for_prepare_phase_in_intersection{true}; double prepare_segment_ignore_object_velocity_thresh{0.1}; bool check_objects_on_current_lanes{true}; bool check_objects_on_other_lanes{true}; diff --git a/planning/behavior_path_lane_change_module/include/behavior_path_lane_change_module/utils/utils.hpp b/planning/behavior_path_lane_change_module/include/behavior_path_lane_change_module/utils/utils.hpp index 35cc02e867557..ff5d7bc0773fa 100644 --- a/planning/behavior_path_lane_change_module/include/behavior_path_lane_change_module/utils/utils.hpp +++ b/planning/behavior_path_lane_change_module/include/behavior_path_lane_change_module/utils/utils.hpp @@ -23,6 +23,7 @@ #include "rclcpp/logger.hpp" #include +#include #include #include @@ -31,6 +32,7 @@ #include +#include #include #include @@ -185,7 +187,7 @@ std::optional createPolygon( ExtendedPredictedObject transform( const PredictedObject & object, const BehaviorPathPlannerParameters & common_parameters, - const LaneChangeParameters & lane_change_parameters); + const LaneChangeParameters & lane_change_parameters, const bool check_at_prepare_phase); bool isCollidedPolygonsInLanelet( const std::vector & collided_polygons, const lanelet::ConstLanelets & lanes); @@ -220,6 +222,41 @@ lanelet::ConstLanelets generateExpandedLanelets( * @return rclcpp::Logger The logger instance configured for the specified lane change type. */ rclcpp::Logger getLogger(const std::string & type); + +/** + * @brief Computes the current footprint of the ego vehicle based on its pose and size. + * + * This function calculates the 2D polygon representing the current footprint of the ego vehicle. + * The footprint is determined by the vehicle's pose and its dimensions, including the distance + * from the base to the front and rear ends of the vehicle, as well as its width. + * + * @param ego_pose The current pose of the ego vehicle. + * @param ego_info The structural information of the ego vehicle, such as its maximum longitudinal + * offset, rear overhang, and width. + * + * @return Polygon2d A polygon representing the current 2D footprint of the ego vehicle. + */ +Polygon2d getEgoCurrentFootprint( + const Pose & ego_pose, const vehicle_info_util::VehicleInfo & ego_info); + +/** + * @brief Checks if the given polygon is within an intersection area. + * + * This function evaluates whether a specified polygon is located within the bounds of an + * intersection. It identifies the intersection area by checking the attributes of the provided + * lanelet. If the lanelet has an attribute indicating it is part of an intersection, the function + * then checks if the polygon is fully contained within this area. + * + * @param route_handler a shared pointer to the route_handler + * @param lanelet A lanelet to check against the + * intersection area. + * @param polygon The polygon to check for containment within the intersection area. + * + * @return bool True if the polygon is within the intersection area, false otherwise. + */ +bool isWithinIntersection( + const std::shared_ptr & route_handler, const lanelet::ConstLanelet & lanelet, + const Polygon2d & polygon); } // namespace behavior_path_planner::utils::lane_change namespace behavior_path_planner::utils::lane_change::debug diff --git a/planning/behavior_path_lane_change_module/src/manager.cpp b/planning/behavior_path_lane_change_module/src/manager.cpp index 9f1c3c13bfadc..7045544df50aa 100644 --- a/planning/behavior_path_lane_change_module/src/manager.cpp +++ b/planning/behavior_path_lane_change_module/src/manager.cpp @@ -68,8 +68,10 @@ void LaneChangeModuleManager::initParams(rclcpp::Node * node) p.max_longitudinal_acc = getOrDeclareParameter(*node, parameter("max_longitudinal_acc")); // collision check - p.enable_prepare_segment_collision_check = - getOrDeclareParameter(*node, parameter("enable_prepare_segment_collision_check")); + p.enable_collision_check_for_prepare_phase_in_general_lanes = getOrDeclareParameter( + *node, parameter("enable_collision_check_for_prepare_phase.general_lanes")); + p.enable_collision_check_for_prepare_phase_in_intersection = getOrDeclareParameter( + *node, parameter("enable_collision_check_for_prepare_phase.intersection")); p.prepare_segment_ignore_object_velocity_thresh = getOrDeclareParameter( *node, parameter("prepare_segment_ignore_object_velocity_thresh")); p.check_objects_on_current_lanes = diff --git a/planning/behavior_path_lane_change_module/src/scene.cpp b/planning/behavior_path_lane_change_module/src/scene.cpp index 08034d43feb43..a6d21aede64b6 100644 --- a/planning/behavior_path_lane_change_module/src/scene.cpp +++ b/planning/behavior_path_lane_change_module/src/scene.cpp @@ -889,23 +889,27 @@ LaneChangeTargetObjects NormalLaneChange::getTargetObjects( target_objects.other_lane.reserve(target_obj_index.other_lane.size()); // objects in current lane + const auto is_check_prepare_phase = check_prepare_phase(); for (const auto & obj_idx : target_obj_index.current_lane) { const auto extended_object = utils::lane_change::transform( - objects.objects.at(obj_idx), common_parameters, *lane_change_parameters_); + objects.objects.at(obj_idx), common_parameters, *lane_change_parameters_, + is_check_prepare_phase); target_objects.current_lane.push_back(extended_object); } // objects in target lane for (const auto & obj_idx : target_obj_index.target_lane) { const auto extended_object = utils::lane_change::transform( - objects.objects.at(obj_idx), common_parameters, *lane_change_parameters_); + objects.objects.at(obj_idx), common_parameters, *lane_change_parameters_, + is_check_prepare_phase); target_objects.target_lane.push_back(extended_object); } // objects in other lane for (const auto & obj_idx : target_obj_index.other_lane) { const auto extended_object = utils::lane_change::transform( - objects.objects.at(obj_idx), common_parameters, *lane_change_parameters_); + objects.objects.at(obj_idx), common_parameters, *lane_change_parameters_, + is_check_prepare_phase); target_objects.other_lane.push_back(extended_object); } @@ -969,8 +973,8 @@ LaneChangeTargetObjectIndices NormalLaneChange::filterObject( const auto obj_velocity_norm = std::hypot( object.kinematics.initial_twist_with_covariance.twist.linear.x, object.kinematics.initial_twist_with_covariance.twist.linear.y); - const auto extended_object = - utils::lane_change::transform(object, common_parameters, *lane_change_parameters_); + const auto extended_object = utils::lane_change::transform( + object, common_parameters, *lane_change_parameters_, check_prepare_phase()); const auto obj_polygon = tier4_autoware_utils::toPolygon2d(object); @@ -2113,4 +2117,33 @@ void NormalLaneChange::updateStopTime() stop_watch_.tic("stop_time"); } +bool NormalLaneChange::check_prepare_phase() const +{ + const auto & route_handler = getRouteHandler(); + const auto & vehicle_info = getCommonParam().vehicle_info; + + const auto check_in_general_lanes = + lane_change_parameters_->enable_collision_check_for_prepare_phase_in_general_lanes; + + lanelet::ConstLanelet current_lane; + if (!route_handler->getClosestLaneletWithinRoute(getEgoPose(), ¤t_lane)) { + RCLCPP_DEBUG( + logger_, "Unable to get current lane. Default to %s.", + (check_in_general_lanes ? "true" : "false")); + return check_in_general_lanes; + } + + const auto ego_footprint = utils::lane_change::getEgoCurrentFootprint(getEgoPose(), vehicle_info); + + const auto check_in_intersection = std::invoke([&]() { + if (!lane_change_parameters_->enable_collision_check_for_prepare_phase_in_intersection) { + return false; + } + + return utils::lane_change::isWithinIntersection(route_handler, current_lane, ego_footprint); + }); + + return check_in_intersection || check_in_general_lanes; +} + } // namespace behavior_path_planner diff --git a/planning/behavior_path_lane_change_module/src/utils/utils.cpp b/planning/behavior_path_lane_change_module/src/utils/utils.cpp index bae733610905b..f112ab103b167 100644 --- a/planning/behavior_path_lane_change_module/src/utils/utils.cpp +++ b/planning/behavior_path_lane_change_module/src/utils/utils.cpp @@ -31,7 +31,11 @@ #include #include #include +#include #include +#include + +#include #include #include @@ -1086,7 +1090,7 @@ std::optional createPolygon( ExtendedPredictedObject transform( const PredictedObject & object, [[maybe_unused]] const BehaviorPathPlannerParameters & common_parameters, - const LaneChangeParameters & lane_change_parameters) + const LaneChangeParameters & lane_change_parameters, const bool check_at_prepare_phase) { ExtendedPredictedObject extended_object; extended_object.uuid = object.object_id; @@ -1096,8 +1100,6 @@ ExtendedPredictedObject transform( extended_object.shape = object.shape; const auto & time_resolution = lane_change_parameters.prediction_time_resolution; - const auto & check_at_prepare_phase = - lane_change_parameters.enable_prepare_segment_collision_check; const auto & prepare_duration = lane_change_parameters.lane_change_prepare_duration; const auto & velocity_threshold = lane_change_parameters.prepare_segment_ignore_object_velocity_thresh; @@ -1155,6 +1157,32 @@ rclcpp::Logger getLogger(const std::string & type) { return rclcpp::get_logger("lane_change").get_child(type); } + +Polygon2d getEgoCurrentFootprint( + const Pose & ego_pose, const vehicle_info_util::VehicleInfo & ego_info) +{ + const auto base_to_front = ego_info.max_longitudinal_offset_m; + const auto base_to_rear = ego_info.rear_overhang_m; + const auto width = ego_info.vehicle_width_m; + + return tier4_autoware_utils::toFootprint(ego_pose, base_to_front, base_to_rear, width); +} + +bool isWithinIntersection( + const std::shared_ptr & route_handler, const lanelet::ConstLanelet & lanelet, + const Polygon2d & polygon) +{ + const std::string id = lanelet.attributeOr("intersection_area", "else"); + if (id == "else") { + return false; + } + + const auto lanelet_polygon = + route_handler->getLaneletMapPtr()->polygonLayer.get(std::atoi(id.c_str())); + + return boost::geometry::within( + polygon, utils::toPolygon2d(lanelet::utils::to2D(lanelet_polygon.basicPolygon()))); +} } // namespace behavior_path_planner::utils::lane_change namespace behavior_path_planner::utils::lane_change::debug @@ -1194,4 +1222,5 @@ geometry_msgs::msg::Polygon createExecutionArea( return polygon; } + } // namespace behavior_path_planner::utils::lane_change::debug From 31b5a4ca4e9d4bfc0abf5a624f63bf0d92cf76ab Mon Sep 17 00:00:00 2001 From: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> Date: Wed, 3 Apr 2024 12:33:41 +0900 Subject: [PATCH 02/54] fix(lane_change): fix terminal path not working in some case (#6722) Signed-off-by: Zulfaqar Azmi --- planning/behavior_path_lane_change_module/src/utils/utils.cpp | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/planning/behavior_path_lane_change_module/src/utils/utils.cpp b/planning/behavior_path_lane_change_module/src/utils/utils.cpp index f112ab103b167..0b4893f94e071 100644 --- a/planning/behavior_path_lane_change_module/src/utils/utils.cpp +++ b/planning/behavior_path_lane_change_module/src/utils/utils.cpp @@ -439,7 +439,8 @@ PathWithLaneId getReferencePathFromTargetLane( .get_child("getReferencePathFromTargetLane"), "start: %f, end: %f", s_start, s_end); - if (s_end - s_start < lane_changing_length) { + constexpr double epsilon = 1e-4; + if (s_end - s_start + epsilon < lane_changing_length) { return PathWithLaneId(); } From 250f0818f8694bb94d4c5613602f9c52996b6848 Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Wed, 3 Apr 2024 13:06:05 +0900 Subject: [PATCH 03/54] chore(goal_planner): delete unnecessary comments (#6729) chore(goal_planner): delete comments Signed-off-by: kosuke55 --- .../src/goal_planner_module.cpp | 28 ------------------- 1 file changed, 28 deletions(-) diff --git a/planning/behavior_path_goal_planner_module/src/goal_planner_module.cpp b/planning/behavior_path_goal_planner_module/src/goal_planner_module.cpp index 7310e93dda4bb..a890cfc21ed13 100644 --- a/planning/behavior_path_goal_planner_module/src/goal_planner_module.cpp +++ b/planning/behavior_path_goal_planner_module/src/goal_planner_module.cpp @@ -1640,34 +1640,6 @@ TurnSignalInfo GoalPlannerModule::calcTurnSignalInfo() ignore_signal_ = update_ignore_signal(closest_lanelet.id(), is_ignore); return new_signal; - // // calc TurnIndicatorsCommand - // { - // const double distance_to_end = - // calcSignedArcLength(full_path.points, current_pose.position, end_pose.position); - // const bool is_before_end_pose = distance_to_end >= 0.0; - // if (is_before_end_pose) { - // if (left_side_parking_) { - // turn_signal.turn_signal.command = TurnIndicatorsCommand::ENABLE_LEFT; - // } else { - // turn_signal.turn_signal.command = TurnIndicatorsCommand::ENABLE_RIGHT; - // } - // } else { - // turn_signal.turn_signal.command = TurnIndicatorsCommand::NO_COMMAND; - // } - // } - - // // calc desired/required start/end point - // { - // // ego decelerates so that current pose is the point `turn_light_on_threshold_time` seconds - // // before starting pull_over - // turn_signal.desired_start_point = - // last_approval_data_ && hasDecidedPath() ? last_approval_data_->pose : current_pose; - // turn_signal.desired_end_point = end_pose; - // turn_signal.required_start_point = start_pose; - // turn_signal.required_end_point = end_pose; - // } - - // return turn_signal; } bool GoalPlannerModule::checkOccupancyGridCollision(const PathWithLaneId & path) const From dfec62ac277f893fd6276e3c6ffd9c7d4f475225 Mon Sep 17 00:00:00 2001 From: cyn-liu <104069308+cyn-liu@users.noreply.github.com> Date: Wed, 3 Apr 2024 15:44:15 +0800 Subject: [PATCH 04/54] feat(global_parameter_loader): add gtest to global parameter loader (#5021) * add remote * feat(global_parameter_loader): add gtest of global-parameter-loader Signed-off-by: Cynthia Liu * style(pre-commit): autofix --------- Signed-off-by: Cynthia Liu Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> --- build_depends.repos | 5 +++ common/global_parameter_loader/CMakeLists.txt | 5 +++ common/global_parameter_loader/package.xml | 4 +- .../test/test_global_params_launch.cpp | 44 +++++++++++++++++++ 4 files changed, 57 insertions(+), 1 deletion(-) create mode 100644 common/global_parameter_loader/test/test_global_params_launch.cpp diff --git a/build_depends.repos b/build_depends.repos index f7b3f12484015..5a12a67dbd346 100644 --- a/build_depends.repos +++ b/build_depends.repos @@ -41,3 +41,8 @@ repositories: type: git url: https://github.com/MORAI-Autonomous/MORAI-ROS2_morai_msgs.git version: main + #vehicle + vehicle/sample_vehicle_launch: + type: git + url: https://github.com/autowarefoundation/sample_vehicle_launch.git + version: main diff --git a/common/global_parameter_loader/CMakeLists.txt b/common/global_parameter_loader/CMakeLists.txt index e67ae1a5c06fc..eaca44c515452 100644 --- a/common/global_parameter_loader/CMakeLists.txt +++ b/common/global_parameter_loader/CMakeLists.txt @@ -4,6 +4,11 @@ project(global_parameter_loader) find_package(autoware_cmake REQUIRED) autoware_package() +if(BUILD_TESTING) + file(GLOB_RECURSE test_files test/*.cpp) + ament_add_ros_isolated_gtest(test_global_params_launch ${test_files}) +endif() + ament_auto_package( INSTALL_TO_SHARE launch diff --git a/common/global_parameter_loader/package.xml b/common/global_parameter_loader/package.xml index 4c2568b9aec98..78d08e4038250 100644 --- a/common/global_parameter_loader/package.xml +++ b/common/global_parameter_loader/package.xml @@ -10,8 +10,10 @@ ament_cmake_auto autoware_cmake - vehicle_info_util + sample_vehicle_description + vehicle_info_util + ament_cmake_ros ament_lint_auto autoware_lint_common diff --git a/common/global_parameter_loader/test/test_global_params_launch.cpp b/common/global_parameter_loader/test/test_global_params_launch.cpp new file mode 100644 index 0000000000000..2b33a695253ff --- /dev/null +++ b/common/global_parameter_loader/test/test_global_params_launch.cpp @@ -0,0 +1,44 @@ +// Copyright 2023 The Autoware Foundation +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include + +#include +#include +#include + +TEST(TestLaunchFile, test_launch_file) +{ + // Define the path of Python launch file + std::string global_params_launch_path = "global_params.launch.py"; + + // Define the parameters you want to pass to the launch file + std::string use_sim_time_param = "false"; + std::string vehicle_model_param = "sample_vehicle"; + // Construct the command to run the Python launch script with parameters + std::string command = "ros2 launch global_parameter_loader " + global_params_launch_path + + " use_sim_time:=" + use_sim_time_param + + " vehicle_model:=" + vehicle_model_param; + + // Use the system() function to execute the command + int result = std::system(command.c_str()); + // Check the result of running the launch file + EXPECT_EQ(result, 0); +} + +int main(int argc, char * argv[]) +{ + testing::InitGoogleTest(&argc, argv); + return RUN_ALL_TESTS(); +} From 1ae71985ffec3db97b83e1e9d5753c27d83d40b1 Mon Sep 17 00:00:00 2001 From: Berkay Karaman Date: Wed, 3 Apr 2024 13:38:14 +0300 Subject: [PATCH 05/54] feat(time_synchronizer_nodelet): set input_offsets zero if it was not defined (#6664) Signed-off-by: Berkay Karaman --- .../src/time_synchronizer/time_synchronizer_nodelet.cpp | 7 ++++++- 1 file changed, 6 insertions(+), 1 deletion(-) diff --git a/sensing/pointcloud_preprocessor/src/time_synchronizer/time_synchronizer_nodelet.cpp b/sensing/pointcloud_preprocessor/src/time_synchronizer/time_synchronizer_nodelet.cpp index 7aae6c937f4a9..12b034043894e 100644 --- a/sensing/pointcloud_preprocessor/src/time_synchronizer/time_synchronizer_nodelet.cpp +++ b/sensing/pointcloud_preprocessor/src/time_synchronizer/time_synchronizer_nodelet.cpp @@ -83,7 +83,12 @@ PointCloudDataSynchronizerComponent::PointCloudDataSynchronizerComponent( timeout_sec_ = static_cast(declare_parameter("timeout_sec", 0.1)); input_offset_ = declare_parameter("input_offset", std::vector{}); - if (!input_offset_.empty() && input_topics_.size() != input_offset_.size()) { + + // If input_offset_ is not defined, set all offsets to 0 + if (input_offset_.empty()) { + input_offset_.resize(input_topics_.size(), 0.0); + RCLCPP_INFO(get_logger(), "Input offset is not defined. Set all offsets to 0.0."); + } else if (input_topics_.size() != input_offset_.size()) { RCLCPP_ERROR(get_logger(), "The number of topics does not match the number of offsets."); return; } From d4ec8d3b3501c66902f9e93c7f92e83b9f80c61f Mon Sep 17 00:00:00 2001 From: oguzkaganozt Date: Wed, 3 Apr 2024 14:14:29 +0300 Subject: [PATCH 06/54] refactor(object_range_splitter): rework parameters (#6705) * rework parameters Signed-off-by: oguzkaganozt * . Signed-off-by: oguzkaganozt * . Signed-off-by: oguzkaganozt * style(pre-commit): autofix --------- Signed-off-by: oguzkaganozt Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- perception/object_range_splitter/README.md | 4 +-- .../schema/object_range_splitter.schema.json | 33 +++++++++++++++++++ 2 files changed, 34 insertions(+), 3 deletions(-) create mode 100644 perception/object_range_splitter/schema/object_range_splitter.schema.json diff --git a/perception/object_range_splitter/README.md b/perception/object_range_splitter/README.md index 89d266a666219..19c571962c0dc 100644 --- a/perception/object_range_splitter/README.md +++ b/perception/object_range_splitter/README.md @@ -43,9 +43,7 @@ Example: ## Parameters -| Name | Type | Description | -| ------------- | ----- | ---------------------------------------------------- | -| `split_range` | float | the distance boundary to divide detected objects [m] | +{{ json_to_markdown("perception/object_range_splitter/schema/object_range_splitter.schema.json") }} ## Assumptions / Known limits diff --git a/perception/object_range_splitter/schema/object_range_splitter.schema.json b/perception/object_range_splitter/schema/object_range_splitter.schema.json new file mode 100644 index 0000000000000..ed5ba3a96c18b --- /dev/null +++ b/perception/object_range_splitter/schema/object_range_splitter.schema.json @@ -0,0 +1,33 @@ +{ + "$schema": "http://json-schema.org/draft-07/schema#", + "title": "Parameters for object_range_splitter", + "type": "object", + "definitions": { + "object_range_splitter": { + "type": "object", + "properties": { + "split_range": { + "type": "number", + "description": "object_range_splitter is a package to divide detected objects into two messages by the distance from the origin", + "default": "30.0" + } + }, + "required": ["split_range"], + "additionalProperties": false + } + }, + "properties": { + "/**": { + "type": "object", + "properties": { + "ros__parameters": { + "$ref": "#/definitions/object_range_splitter" + } + }, + "required": ["ros__parameters"], + "additionalProperties": false + } + }, + "required": ["/**"], + "additionalProperties": false +} From c0fcd75fbfdc7dfc1b355d1325f8d12d74e7b554 Mon Sep 17 00:00:00 2001 From: Yuki TAKAGI <141538661+yuki-takagi-66@users.noreply.github.com> Date: Wed, 3 Apr 2024 21:00:30 +0900 Subject: [PATCH 07/54] feat(tier4_autoware_utils, obstacle_cruise): change to read topic by polling (#6702) change to read topic by polling Signed-off-by: Yuki Takagi --- .../ros/polling_subscriber.hpp | 65 +++++++++++++++++++ .../include/obstacle_cruise_planner/node.hpp | 15 ++--- planning/obstacle_cruise_planner/src/node.cpp | 45 ++++++------- 3 files changed, 93 insertions(+), 32 deletions(-) create mode 100644 common/tier4_autoware_utils/include/tier4_autoware_utils/ros/polling_subscriber.hpp diff --git a/common/tier4_autoware_utils/include/tier4_autoware_utils/ros/polling_subscriber.hpp b/common/tier4_autoware_utils/include/tier4_autoware_utils/ros/polling_subscriber.hpp new file mode 100644 index 0000000000000..f4d230e15dcf1 --- /dev/null +++ b/common/tier4_autoware_utils/include/tier4_autoware_utils/ros/polling_subscriber.hpp @@ -0,0 +1,65 @@ +// Copyright 2024 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#ifndef TIER4_AUTOWARE_UTILS__ROS__POLLING_SUBSCRIBER_HPP_ +#define TIER4_AUTOWARE_UTILS__ROS__POLLING_SUBSCRIBER_HPP_ + +#include + +#include + +namespace tier4_autoware_utils +{ + +template +class InterProcessPollingSubscriber +{ +private: + typename rclcpp::Subscription::SharedPtr subscriber_; + std::optional data_; + +public: + explicit InterProcessPollingSubscriber(rclcpp::Node * node, const std::string & topic_name) + { + auto noexec_callback_group = + node->create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive, false); + auto noexec_subscription_options = rclcpp::SubscriptionOptions(); + noexec_subscription_options.callback_group = noexec_callback_group; + + subscriber_ = node->create_subscription( + topic_name, rclcpp::QoS{1}, [node](const typename T::ConstSharedPtr msg) { assert(false); }, + noexec_subscription_options); + }; + bool updateLatestData() + { + rclcpp::MessageInfo message_info; + T tmp; + // The queue size (QoS) must be 1 to get the last message data. + if (subscriber_->take(tmp, message_info)) { + data_ = tmp; + } + return data_.has_value(); + }; + const T & getData() const + { + if (!data_.has_value()) { + throw std::runtime_error("Bad_optional_access in class InterProcessPollingSubscriber"); + } + return data_.value(); + }; +}; + +} // namespace tier4_autoware_utils + +#endif // TIER4_AUTOWARE_UTILS__ROS__POLLING_SUBSCRIBER_HPP_ diff --git a/planning/obstacle_cruise_planner/include/obstacle_cruise_planner/node.hpp b/planning/obstacle_cruise_planner/include/obstacle_cruise_planner/node.hpp index d1a9d0ff56b52..c368265ea0f66 100644 --- a/planning/obstacle_cruise_planner/include/obstacle_cruise_planner/node.hpp +++ b/planning/obstacle_cruise_planner/include/obstacle_cruise_planner/node.hpp @@ -21,6 +21,7 @@ #include "obstacle_cruise_planner/type_alias.hpp" #include "signal_processing/lowpass_filter_1d.hpp" #include "tier4_autoware_utils/ros/logger_level_configure.hpp" +#include "tier4_autoware_utils/ros/polling_subscriber.hpp" #include "tier4_autoware_utils/system/stop_watch.hpp" #include @@ -138,14 +139,12 @@ class ObstacleCruisePlannerNode : public rclcpp::Node // subscriber rclcpp::Subscription::SharedPtr traj_sub_; - rclcpp::Subscription::SharedPtr objects_sub_; - rclcpp::Subscription::SharedPtr odom_sub_; - rclcpp::Subscription::SharedPtr acc_sub_; - - // data for callback functions - PredictedObjects::ConstSharedPtr objects_ptr_{nullptr}; - Odometry::ConstSharedPtr ego_odom_ptr_{nullptr}; - AccelWithCovarianceStamped::ConstSharedPtr ego_accel_ptr_{nullptr}; + tier4_autoware_utils::InterProcessPollingSubscriber ego_odom_sub_{ + this, "~/input/odometry"}; + tier4_autoware_utils::InterProcessPollingSubscriber objects_sub_{ + this, "~/input/objects"}; + tier4_autoware_utils::InterProcessPollingSubscriber acc_sub_{ + this, "~/input/acceleration"}; // Vehicle Parameters VehicleInfo vehicle_info_; diff --git a/planning/obstacle_cruise_planner/src/node.cpp b/planning/obstacle_cruise_planner/src/node.cpp index 2d1b70d1745f9..a069b4b6f9395 100644 --- a/planning/obstacle_cruise_planner/src/node.cpp +++ b/planning/obstacle_cruise_planner/src/node.cpp @@ -357,15 +357,6 @@ ObstacleCruisePlannerNode::ObstacleCruisePlannerNode(const rclcpp::NodeOptions & traj_sub_ = create_subscription( "~/input/trajectory", rclcpp::QoS{1}, std::bind(&ObstacleCruisePlannerNode::onTrajectory, this, _1)); - objects_sub_ = create_subscription( - "~/input/objects", rclcpp::QoS{1}, - [this](const PredictedObjects::ConstSharedPtr msg) { objects_ptr_ = msg; }); - odom_sub_ = create_subscription( - "~/input/odometry", rclcpp::QoS{1}, - [this](const Odometry::ConstSharedPtr msg) { ego_odom_ptr_ = msg; }); - acc_sub_ = create_subscription( - "~/input/acceleration", rclcpp::QoS{1}, - [this](const AccelWithCovarianceStamped::ConstSharedPtr msg) { ego_accel_ptr_ = msg; }); // publisher trajectory_pub_ = create_publisher("~/output/trajectory", 1); @@ -493,10 +484,15 @@ rcl_interfaces::msg::SetParametersResult ObstacleCruisePlannerNode::onParam( void ObstacleCruisePlannerNode::onTrajectory(const Trajectory::ConstSharedPtr msg) { - const auto traj_points = motion_utils::convertToTrajectoryPointArray(*msg); + if ( + !ego_odom_sub_.updateLatestData() || !objects_sub_.updateLatestData() || + !acc_sub_.updateLatestData()) { + return; + } + const auto traj_points = motion_utils::convertToTrajectoryPointArray(*msg); // check if subscribed variables are ready - if (traj_points.empty() || !ego_odom_ptr_ || !ego_accel_ptr_ || !objects_ptr_) { + if (traj_points.empty()) { return; } @@ -609,11 +605,11 @@ std::vector ObstacleCruisePlannerNode::convertToObstacles( { stop_watch_.tic(__func__); - const auto obj_stamp = rclcpp::Time(objects_ptr_->header.stamp); + const auto obj_stamp = rclcpp::Time(objects_sub_.getData().header.stamp); const auto & p = behavior_determination_param_; std::vector target_obstacles; - for (const auto & predicted_object : objects_ptr_->objects) { + for (const auto & predicted_object : objects_sub_.getData().objects) { const auto & object_id = tier4_autoware_utils::toHexString(predicted_object.object_id).substr(0, 4); const auto & current_obstacle_pose = @@ -631,7 +627,8 @@ std::vector ObstacleCruisePlannerNode::convertToObstacles( } // 2. Check if the obstacle is in front of the ego. - const size_t ego_idx = ego_nearest_param_.findIndex(traj_points, ego_odom_ptr_->pose.pose); + const size_t ego_idx = + ego_nearest_param_.findIndex(traj_points, ego_odom_sub_.getData().pose.pose); const auto ego_to_obstacle_distance = calcDistanceToFrontVehicle(traj_points, ego_idx, current_obstacle_pose.pose.position); if (!ego_to_obstacle_distance) { @@ -727,7 +724,7 @@ ObstacleCruisePlannerNode::determineEgoBehaviorAgainstObstacles( // calculated decimated trajectory points and trajectory polygon const auto decimated_traj_points = decimateTrajectoryPoints(traj_points); const auto decimated_traj_polys = - createOneStepPolygons(decimated_traj_points, vehicle_info_, ego_odom_ptr_->pose.pose); + createOneStepPolygons(decimated_traj_points, vehicle_info_, ego_odom_sub_.getData().pose.pose); debug_data_ptr_->detection_polygons = decimated_traj_polys; // determine ego's behavior from stop, cruise and slow down @@ -785,7 +782,7 @@ ObstacleCruisePlannerNode::determineEgoBehaviorAgainstObstacles( slow_down_condition_counter_.removeCounterUnlessUpdated(); // Check target obstacles' consistency - checkConsistency(objects_ptr_->header.stamp, *objects_ptr_, stop_obstacles); + checkConsistency(objects_sub_.getData().header.stamp, objects_sub_.getData(), stop_obstacles); // update previous obstacles prev_stop_obstacles_ = stop_obstacles; @@ -807,7 +804,7 @@ std::vector ObstacleCruisePlannerNode::decimateTrajectoryPoints // trim trajectory const size_t ego_seg_idx = - ego_nearest_param_.findSegmentIndex(traj_points, ego_odom_ptr_->pose.pose); + ego_nearest_param_.findSegmentIndex(traj_points, ego_odom_sub_.getData().pose.pose); const size_t traj_start_point_idx = ego_seg_idx; const auto trimmed_traj_points = std::vector(traj_points.begin() + traj_start_point_idx, traj_points.end()); @@ -1191,7 +1188,7 @@ std::optional ObstacleCruisePlannerNode::createStopObstacle( // calculate collision points with trajectory with lateral stop margin const auto traj_polys_with_lat_margin = createOneStepPolygons( - traj_points, vehicle_info_, ego_odom_ptr_->pose.pose, p.max_lat_margin_for_stop); + traj_points, vehicle_info_, ego_odom_sub_.getData().pose.pose, p.max_lat_margin_for_stop); const auto collision_point = polygon_utils::getCollisionPoint( traj_points, traj_polys_with_lat_margin, obstacle, is_driving_forward_, vehicle_info_); @@ -1261,7 +1258,7 @@ std::optional ObstacleCruisePlannerNode::createSlowDownObstacl // calculate collision points with trajectory with lateral stop margin // NOTE: For additional margin, hysteresis is not divided by two. const auto traj_polys_with_lat_margin = createOneStepPolygons( - traj_points, vehicle_info_, ego_odom_ptr_->pose.pose, + traj_points, vehicle_info_, ego_odom_sub_.getData().pose.pose, p.max_lat_margin_for_slow_down + p.lat_hysteresis_margin_for_slow_down); std::vector front_collision_polygons; @@ -1424,8 +1421,8 @@ double ObstacleCruisePlannerNode::calcCollisionTimeMargin( const std::vector & collision_points, const std::vector & traj_points, const bool is_driving_forward) const { - const auto & ego_pose = ego_odom_ptr_->pose.pose; - const double ego_vel = ego_odom_ptr_->twist.twist.linear.x; + const auto & ego_pose = ego_odom_sub_.getData().pose.pose; + const double ego_vel = ego_odom_sub_.getData().twist.twist.linear.x; const double time_to_reach_collision_point = [&]() { const double abs_ego_offset = is_driving_forward @@ -1457,9 +1454,9 @@ PlannerData ObstacleCruisePlannerNode::createPlannerData( PlannerData planner_data; planner_data.current_time = now(); planner_data.traj_points = traj_points; - planner_data.ego_pose = ego_odom_ptr_->pose.pose; - planner_data.ego_vel = ego_odom_ptr_->twist.twist.linear.x; - planner_data.ego_acc = ego_accel_ptr_->accel.accel.linear.x; + planner_data.ego_pose = ego_odom_sub_.getData().pose.pose; + planner_data.ego_vel = ego_odom_sub_.getData().twist.twist.linear.x; + planner_data.ego_acc = acc_sub_.getData().accel.accel.linear.x; planner_data.is_driving_forward = is_driving_forward_; return planner_data; } From 9735dfa783a97e005565aff5432baac898792c7e Mon Sep 17 00:00:00 2001 From: Kyoichi Sugahara Date: Thu, 4 Apr 2024 11:36:28 +0900 Subject: [PATCH 08/54] docs(perception_online_evaluator): add description about yaw rate evaluation (#6737) Signed-off-by: kyoichi-sugahara --- evaluator/perception_online_evaluator/README.md | 1 + 1 file changed, 1 insertion(+) diff --git a/evaluator/perception_online_evaluator/README.md b/evaluator/perception_online_evaluator/README.md index c0e2a516cf948..7c2179239221e 100644 --- a/evaluator/perception_online_evaluator/README.md +++ b/evaluator/perception_online_evaluator/README.md @@ -11,6 +11,7 @@ This module allows for the evaluation of how accurately perception results are g - Calculates lateral deviation between the predicted path and the actual traveled trajectory. - Calculates lateral deviation between the smoothed traveled trajectory and the perceived position to evaluate the stability of lateral position recognition. - Calculates yaw deviation between the smoothed traveled trajectory and the perceived position to evaluate the stability of yaw recognition. +- Calculates yaw rate based on the yaw of the object received in the previous cycle to evaluate the stability of the yaw rate recognition. ## Inputs / Outputs From 41aab5122d416fd9c83ea49885eb5bf07673daf2 Mon Sep 17 00:00:00 2001 From: "Takagi, Isamu" <43976882+isamu-takagi@users.noreply.github.com> Date: Thu, 4 Apr 2024 16:13:42 +0900 Subject: [PATCH 09/54] fix(hazard_status_converter): check current operation mode (#6733) * fix: hazard status converter Signed-off-by: Takagi, Isamu * fix: topic name and modes Signed-off-by: Takagi, Isamu * fix check target mode Signed-off-by: Takagi, Isamu * fix message type Signed-off-by: Takagi, Isamu * Revert "fix check target mode" This reverts commit 8b190b7b99490503a52b155cad9f593c1c97e553. --------- Signed-off-by: Takagi, Isamu --- system/hazard_status_converter/package.xml | 1 + .../hazard_status_converter/src/converter.cpp | 73 +++++++++++++++---- .../hazard_status_converter/src/converter.hpp | 11 +++ 3 files changed, 69 insertions(+), 16 deletions(-) diff --git a/system/hazard_status_converter/package.xml b/system/hazard_status_converter/package.xml index 9ae7a384927b9..082aa85cba97a 100644 --- a/system/hazard_status_converter/package.xml +++ b/system/hazard_status_converter/package.xml @@ -10,6 +10,7 @@ ament_cmake_auto autoware_cmake + autoware_adapi_v1_msgs autoware_auto_system_msgs diagnostic_msgs rclcpp diff --git a/system/hazard_status_converter/src/converter.cpp b/system/hazard_status_converter/src/converter.cpp index e1da4f463f06d..58282306491dd 100644 --- a/system/hazard_status_converter/src/converter.cpp +++ b/system/hazard_status_converter/src/converter.cpp @@ -32,10 +32,10 @@ enum class HazardLevel { NF, SF, LF, SPF }; struct TempNode { const DiagnosticNode & node; - bool is_auto_tree; + bool is_root_tree; }; -HazardLevel get_hazard_level(const TempNode & node, DiagnosticLevel auto_mode_level) +HazardLevel get_hazard_level(const TempNode & node, DiagnosticLevel root_mode_level) { // Convert the level according to the table below. // The Level other than auto mode is considered OK. @@ -49,7 +49,7 @@ HazardLevel get_hazard_level(const TempNode & node, DiagnosticLevel auto_mode_le // | STALE | SF | LF | SPF | SPF | // |-------|-------------------------------| - const auto root_level = node.is_auto_tree ? auto_mode_level : DiagnosticStatus::OK; + const auto root_level = node.is_root_tree ? root_mode_level : DiagnosticStatus::OK; const auto node_level = node.node.status.level; if (node_level == DiagnosticStatus::OK) { @@ -67,20 +67,21 @@ HazardLevel get_hazard_level(const TempNode & node, DiagnosticLevel auto_mode_le return HazardLevel::SPF; } -void set_auto_tree(std::vector & nodes, int index) +void set_root_tree(std::vector & nodes, int index) { TempNode & node = nodes[index]; - if (node.is_auto_tree) { + if (node.is_root_tree) { return; } - node.is_auto_tree = true; + node.is_root_tree = true; for (const auto & link : node.node.links) { - set_auto_tree(nodes, link.index); + set_root_tree(nodes, link.index); } } -HazardStatusStamped convert_hazard_diagnostics(const DiagnosticGraph & graph) +HazardStatusStamped convert_hazard_diagnostics( + const DiagnosticGraph & graph, const std::string & root, bool ignore) { // Create temporary tree for conversion. std::vector nodes; @@ -90,19 +91,21 @@ HazardStatusStamped convert_hazard_diagnostics(const DiagnosticGraph & graph) } // Mark nodes included in the auto mode tree. - DiagnosticLevel auto_mode_level = DiagnosticStatus::STALE; - for (size_t index = 0; index < nodes.size(); ++index) { - const auto & status = nodes[index].node.status; - if (status.name == "/autoware/modes/autonomous") { - set_auto_tree(nodes, index); - auto_mode_level = status.level; + DiagnosticLevel root_mode_level = DiagnosticStatus::STALE; + if (!root.empty() && !ignore) { + for (size_t index = 0; index < nodes.size(); ++index) { + const auto & status = nodes[index].node.status; + if (status.name == root) { + set_root_tree(nodes, index); + root_mode_level = status.level; + } } } // Calculate hazard level from node level and root level. HazardStatusStamped hazard; for (const auto & node : nodes) { - switch (get_hazard_level(node, auto_mode_level)) { + switch (get_hazard_level(node, root_mode_level)) { case HazardLevel::NF: hazard.status.diag_no_fault.push_back(node.node.status); break; @@ -131,6 +134,22 @@ Converter::Converter(const rclcpp::NodeOptions & options) : Node("converter", op sub_graph_ = create_subscription( "~/diagnostics_graph", rclcpp::QoS(3), std::bind(&Converter::on_graph, this, std::placeholders::_1)); + sub_state_ = create_subscription( + "/autoware/state", rclcpp::QoS(1), + std::bind(&Converter::on_state, this, std::placeholders::_1)); + sub_mode_ = create_subscription( + "/system/operation_mode/state", rclcpp::QoS(1).transient_local(), + std::bind(&Converter::on_mode, this, std::placeholders::_1)); +} + +void Converter::on_state(const AutowareState::ConstSharedPtr msg) +{ + state_ = msg; +} + +void Converter::on_mode(const OperationMode::ConstSharedPtr msg) +{ + mode_ = msg; } void Converter::on_graph(const DiagnosticGraph::ConstSharedPtr msg) @@ -148,7 +167,29 @@ void Converter::on_graph(const DiagnosticGraph::ConstSharedPtr msg) return HazardStatus::NO_FAULT; }; - HazardStatusStamped hazard = convert_hazard_diagnostics(*msg); + const auto is_ignore = [this]() { + if (mode_ && state_) { + if (mode_->mode == OperationMode::AUTONOMOUS || mode_->mode == OperationMode::STOP) { + if (state_->state == AutowareState::WAITING_FOR_ROUTE) return true; + if (state_->state == AutowareState::PLANNING) return true; + } + if (state_->state == AutowareState::INITIALIZING) return true; + if (state_->state == AutowareState::FINALIZING) return true; + } + return false; + }; + + const auto get_root = [this]() { + if (mode_) { + if (mode_->mode == OperationMode::STOP) return "/autoware/modes/stop"; + if (mode_->mode == OperationMode::AUTONOMOUS) return "/autoware/modes/autonomous"; + if (mode_->mode == OperationMode::LOCAL) return "/autoware/modes/local"; + if (mode_->mode == OperationMode::REMOTE) return "/autoware/modes/remote"; + } + return ""; + }; + + HazardStatusStamped hazard = convert_hazard_diagnostics(*msg, get_root(), is_ignore()); hazard.stamp = msg->stamp; hazard.status.level = get_system_level(hazard.status); hazard.status.emergency = hazard.status.level == HazardStatus::SINGLE_POINT_FAULT; diff --git a/system/hazard_status_converter/src/converter.hpp b/system/hazard_status_converter/src/converter.hpp index 90c6f6e42bf85..04e84cfb3c0c4 100644 --- a/system/hazard_status_converter/src/converter.hpp +++ b/system/hazard_status_converter/src/converter.hpp @@ -17,6 +17,8 @@ #include +#include +#include #include #include @@ -33,11 +35,20 @@ class Converter : public rclcpp::Node explicit Converter(const rclcpp::NodeOptions & options); private: + using AutowareState = autoware_auto_system_msgs::msg::AutowareState; + using OperationMode = autoware_adapi_v1_msgs::msg::OperationModeState; using DiagnosticGraph = tier4_system_msgs::msg::DiagnosticGraph; using HazardStatusStamped = autoware_auto_system_msgs::msg::HazardStatusStamped; + rclcpp::Subscription::SharedPtr sub_state_; + rclcpp::Subscription::SharedPtr sub_mode_; rclcpp::Subscription::SharedPtr sub_graph_; rclcpp::Publisher::SharedPtr pub_hazard_; + void on_state(const AutowareState::ConstSharedPtr msg); + void on_mode(const OperationMode::ConstSharedPtr msg); void on_graph(const DiagnosticGraph::ConstSharedPtr msg); + + AutowareState::ConstSharedPtr state_; + OperationMode::ConstSharedPtr mode_; }; } // namespace hazard_status_converter From f088fb45537fc74f0fbcbc31a76877266cd5041a Mon Sep 17 00:00:00 2001 From: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> Date: Thu, 4 Apr 2024 22:52:42 +0900 Subject: [PATCH 10/54] fix(lane_change): limit prepare and lane changing length (#6734) Signed-off-by: Zulfaqar Azmi --- .../utils/utils.hpp | 17 +++++++++++++++++ .../src/scene.cpp | 11 +++++------ .../src/utils/utils.cpp | 10 ++++++++++ 3 files changed, 32 insertions(+), 6 deletions(-) diff --git a/planning/behavior_path_lane_change_module/include/behavior_path_lane_change_module/utils/utils.hpp b/planning/behavior_path_lane_change_module/include/behavior_path_lane_change_module/utils/utils.hpp index ff5d7bc0773fa..7c8cfdb926a6b 100644 --- a/planning/behavior_path_lane_change_module/include/behavior_path_lane_change_module/utils/utils.hpp +++ b/planning/behavior_path_lane_change_module/include/behavior_path_lane_change_module/utils/utils.hpp @@ -257,6 +257,23 @@ Polygon2d getEgoCurrentFootprint( bool isWithinIntersection( const std::shared_ptr & route_handler, const lanelet::ConstLanelet & lanelet, const Polygon2d & polygon); + +/** + * @brief Calculates the distance required during a lane change operation. + * + * Used for computing prepare or lane change length based on current and maximum velocity, + * acceleration, and duration, returning the lesser of accelerated distance or distance at max + * velocity. + * + * @param velocity The current velocity of the vehicle in meters per second (m/s). + * @param maximum_velocity The maximum velocity the vehicle can reach in meters per second (m/s). + * @param acceleration The acceleration of the vehicle in meters per second squared (m/s^2). + * @param duration The duration of the lane change in seconds (s). + * @return The calculated minimum distance in meters (m). + */ +double calcPhaseLength( + const double velocity, const double maximum_velocity, const double acceleration, + const double time); } // namespace behavior_path_planner::utils::lane_change namespace behavior_path_planner::utils::lane_change::debug diff --git a/planning/behavior_path_lane_change_module/src/scene.cpp b/planning/behavior_path_lane_change_module/src/scene.cpp index a6d21aede64b6..bc9a366e62b34 100644 --- a/planning/behavior_path_lane_change_module/src/scene.cpp +++ b/planning/behavior_path_lane_change_module/src/scene.cpp @@ -1293,9 +1293,8 @@ bool NormalLaneChange::getLaneChangePaths( (prepare_duration < 1e-3) ? 0.0 : ((prepare_velocity - current_velocity) / prepare_duration); - const double prepare_length = - current_velocity * prepare_duration + - 0.5 * longitudinal_acc_on_prepare * std::pow(prepare_duration, 2); + const auto prepare_length = utils::lane_change::calcPhaseLength( + current_velocity, getCommonParam().max_vel, longitudinal_acc_on_prepare, prepare_duration); auto prepare_segment = getPrepareSegment(current_lanes, backward_path_length, prepare_length); @@ -1347,9 +1346,9 @@ bool NormalLaneChange::getLaneChangePaths( utils::lane_change::calcLaneChangingAcceleration( initial_lane_changing_velocity, max_path_velocity, lane_changing_time, sampled_longitudinal_acc); - const auto lane_changing_length = - initial_lane_changing_velocity * lane_changing_time + - 0.5 * longitudinal_acc_on_lane_changing * lane_changing_time * lane_changing_time; + const auto lane_changing_length = utils::lane_change::calcPhaseLength( + initial_lane_changing_velocity, getCommonParam().max_vel, + longitudinal_acc_on_lane_changing, lane_changing_time); const auto terminal_lane_changing_velocity = std::min( initial_lane_changing_velocity + longitudinal_acc_on_lane_changing * lane_changing_time, getCommonParam().max_vel); diff --git a/planning/behavior_path_lane_change_module/src/utils/utils.cpp b/planning/behavior_path_lane_change_module/src/utils/utils.cpp index 0b4893f94e071..15db6b0055756 100644 --- a/planning/behavior_path_lane_change_module/src/utils/utils.cpp +++ b/planning/behavior_path_lane_change_module/src/utils/utils.cpp @@ -1184,6 +1184,16 @@ bool isWithinIntersection( return boost::geometry::within( polygon, utils::toPolygon2d(lanelet::utils::to2D(lanelet_polygon.basicPolygon()))); } + +double calcPhaseLength( + const double velocity, const double maximum_velocity, const double acceleration, + const double duration) +{ + const auto length_with_acceleration = + velocity * duration + 0.5 * acceleration * std::pow(duration, 2); + const auto length_with_max_velocity = maximum_velocity * duration; + return std::min(length_with_acceleration, length_with_max_velocity); +} } // namespace behavior_path_planner::utils::lane_change namespace behavior_path_planner::utils::lane_change::debug From 7d268799fefe6d326f906315293be1ea150af41f Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Thu, 4 Apr 2024 23:23:04 +0900 Subject: [PATCH 11/54] feat(perception_online_evaluator): ignore reversal of orientation from yaw_rate calculation (#6748) Signed-off-by: kosuke55 --- .../src/metrics_calculator.cpp | 13 +++++++++---- .../src/perception_online_evaluator_node.cpp | 1 + 2 files changed, 10 insertions(+), 4 deletions(-) diff --git a/evaluator/perception_online_evaluator/src/metrics_calculator.cpp b/evaluator/perception_online_evaluator/src/metrics_calculator.cpp index 20d8c6d570489..4b882bb8b2e68 100644 --- a/evaluator/perception_online_evaluator/src/metrics_calculator.cpp +++ b/evaluator/perception_online_evaluator/src/metrics_calculator.cpp @@ -381,12 +381,17 @@ MetricStatMap MetricsCalculator::calcYawRateMetrics(const ClassObjectsMap & clas if (time_diff < 0.01) { continue; } - const auto current_yaw = + const double current_yaw = tf2::getYaw(object.kinematics.initial_pose_with_covariance.pose.orientation); - const auto previous_yaw = + const double previous_yaw = tf2::getYaw(previous_object.kinematics.initial_pose_with_covariance.pose.orientation); - const auto yaw_rate = - std::abs(tier4_autoware_utils::normalizeRadian(current_yaw - previous_yaw) / time_diff); + const double yaw_diff = + std::abs(tier4_autoware_utils::normalizeRadian(current_yaw - previous_yaw)); + // if yaw_diff is close to PI, reversal of orientation is likely occurring, so ignore it + if (std::abs(M_PI - yaw_diff) < 0.1) { + continue; + } + const auto yaw_rate = yaw_diff / time_diff; stat.add(yaw_rate); } metric_stat_map["yaw_rate_" + convertLabelToString(label)] = stat; diff --git a/evaluator/perception_online_evaluator/src/perception_online_evaluator_node.cpp b/evaluator/perception_online_evaluator/src/perception_online_evaluator_node.cpp index f3a08bf42797a..ceb304894ad8c 100644 --- a/evaluator/perception_online_evaluator/src/perception_online_evaluator_node.cpp +++ b/evaluator/perception_online_evaluator/src/perception_online_evaluator_node.cpp @@ -214,6 +214,7 @@ rcl_interfaces::msg::SetParametersResult PerceptionOnlineEvaluatorNode::onParame auto & p = parameters_; updateParam(parameters, "smoothing_window_size", p->smoothing_window_size); + updateParam(parameters, "stopped_velocity_threshold", p->stopped_velocity_threshold); // update metrics { From 178841b9cc797bde39a5f47d8074729e0355bc43 Mon Sep 17 00:00:00 2001 From: Yoshi Ri Date: Fri, 5 Apr 2024 10:22:46 +0900 Subject: [PATCH 12/54] feat(obstacle_pointcloud_based_validator_node): skip validation when obstacle pointcloud is empty (#6684) * feat: skip validation when obstacle pointcloud is empty Signed-off-by: yoshiri * fix: remove mistakenly unremoved line Signed-off-by: yoshiri --------- Signed-off-by: yoshiri --- .../src/obstacle_pointcloud_based_validator.cpp | 10 +++++++--- 1 file changed, 7 insertions(+), 3 deletions(-) diff --git a/perception/detected_object_validation/src/obstacle_pointcloud_based_validator.cpp b/perception/detected_object_validation/src/obstacle_pointcloud_based_validator.cpp index e39de639a6121..db2e6ec3a7901 100644 --- a/perception/detected_object_validation/src/obstacle_pointcloud_based_validator.cpp +++ b/perception/detected_object_validation/src/obstacle_pointcloud_based_validator.cpp @@ -327,15 +327,19 @@ void ObstaclePointCloudBasedValidator::onObjectsAndObstaclePointCloud( // objects_pub_->publish(*input_objects); return; } + bool validation_is_ready = true; if (!validator_->setKdtreeInputCloud(input_obstacle_pointcloud)) { - RCLCPP_WARN_THROTTLE(this->get_logger(), *this->get_clock(), 5, "cannot receive pointcloud"); - return; + RCLCPP_WARN_THROTTLE( + this->get_logger(), *this->get_clock(), 5, + "obstacle pointcloud is empty! Can not validate objects."); + validation_is_ready = false; } for (size_t i = 0; i < transformed_objects.objects.size(); ++i) { const auto & transformed_object = transformed_objects.objects.at(i); const auto & object = input_objects->objects.at(i); - const auto validated = validator_->validate_object(transformed_object); + const auto validated = + validation_is_ready ? validator_->validate_object(transformed_object) : false; if (debugger_) { debugger_->addNeighborPointcloud(validator_->getDebugNeighborPointCloud()); debugger_->addPointcloudWithinPolygon(validator_->getDebugPointCloudWithinObject()); From 804600599c546e5947d34666e842d6e29840909a Mon Sep 17 00:00:00 2001 From: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> Date: Fri, 5 Apr 2024 10:49:31 +0900 Subject: [PATCH 13/54] feat(lane_change): check prepare phase in turn direction lanes (#6726) * feat(lane_change): check prepare phase in turn direction lanes Signed-off-by: Muhammad Zulfaqar Azmi * Doxygen comment Signed-off-by: Muhammad Zulfaqar Azmi * Add config Signed-off-by: Muhammad Zulfaqar Azmi * fix comments by the reviewer Signed-off-by: Muhammad Zulfaqar Azmi --------- Signed-off-by: Muhammad Zulfaqar Azmi --- .../behavior_path_lane_change_module/README.md | 3 ++- .../config/lane_change.param.yaml | 1 + .../utils/data_structs.hpp | 1 + .../utils/utils.hpp | 15 +++++++++++++++ .../src/manager.cpp | 2 ++ .../src/scene.cpp | 10 +++++++++- .../src/utils/utils.cpp | 13 +++++++++++++ 7 files changed, 43 insertions(+), 2 deletions(-) diff --git a/planning/behavior_path_lane_change_module/README.md b/planning/behavior_path_lane_change_module/README.md index 17cdc58f5ad47..62f35a053958a 100644 --- a/planning/behavior_path_lane_change_module/README.md +++ b/planning/behavior_path_lane_change_module/README.md @@ -554,7 +554,8 @@ The following parameters are configurable in [lane_change.param.yaml](https://gi | Name | Unit | Type | Description | Default value | | :------------------------------------------------------- | ----- | ------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------- | | `enable_collision_check_for_prepare_phase.general_lanes` | [-] | boolean | Perform collision check starting from the prepare phase for situations not explicitly covered by other settings (e.g., intersections). If `false`, collision check only evaluated for lane changing phase. | false | -| `enable_collision_check_for_prepare_phase.intersection` | [-] | boolean | Perform collision check starting from prepare phase when ego is in intersection. If `false`, collision check only evaluated for lane changing phase. | false | +| `enable_collision_check_for_prepare_phase.intersection` | [-] | boolean | Perform collision check starting from prepare phase when ego is in intersection. If `false`, collision check only evaluated for lane changing phase. | true | +| `enable_collision_check_for_prepare_phase.turns` | [-] | boolean | Perform collision check starting from prepare phase when ego is in lanelet with turn direction tags. If `false`, collision check only evaluated for lane changing phase. | true | | `prepare_phase_ignore_target_speed_thresh` | [m/s] | double | Ignore collision check in prepare phase of object speed that is lesser that the configured value. `enable_collision_check_at_prepare_phase` must be `true` | 0.1 | | `check_objects_on_current_lanes` | [-] | boolean | If true, the lane change module check objects on current lanes when performing collision assessment. | false | | `check_objects_on_other_lanes` | [-] | boolean | If true, the lane change module include objects on other lanes. when performing collision assessment | false | diff --git a/planning/behavior_path_lane_change_module/config/lane_change.param.yaml b/planning/behavior_path_lane_change_module/config/lane_change.param.yaml index 039e8a31ed10f..1ab33514c5f24 100644 --- a/planning/behavior_path_lane_change_module/config/lane_change.param.yaml +++ b/planning/behavior_path_lane_change_module/config/lane_change.param.yaml @@ -92,6 +92,7 @@ enable_collision_check_for_prepare_phase: general_lanes: false intersection: true + turns: true prepare_segment_ignore_object_velocity_thresh: 0.1 # [m/s] check_objects_on_current_lanes: true check_objects_on_other_lanes: true diff --git a/planning/behavior_path_lane_change_module/include/behavior_path_lane_change_module/utils/data_structs.hpp b/planning/behavior_path_lane_change_module/include/behavior_path_lane_change_module/utils/data_structs.hpp index 0d77135fda242..fdaa15ff9bef9 100644 --- a/planning/behavior_path_lane_change_module/include/behavior_path_lane_change_module/utils/data_structs.hpp +++ b/planning/behavior_path_lane_change_module/include/behavior_path_lane_change_module/utils/data_structs.hpp @@ -114,6 +114,7 @@ struct LaneChangeParameters // collision check bool enable_collision_check_for_prepare_phase_in_general_lanes{false}; bool enable_collision_check_for_prepare_phase_in_intersection{true}; + bool enable_collision_check_for_prepare_phase_in_turns{true}; double prepare_segment_ignore_object_velocity_thresh{0.1}; bool check_objects_on_current_lanes{true}; bool check_objects_on_other_lanes{true}; diff --git a/planning/behavior_path_lane_change_module/include/behavior_path_lane_change_module/utils/utils.hpp b/planning/behavior_path_lane_change_module/include/behavior_path_lane_change_module/utils/utils.hpp index 7c8cfdb926a6b..76331bd98eb9c 100644 --- a/planning/behavior_path_lane_change_module/include/behavior_path_lane_change_module/utils/utils.hpp +++ b/planning/behavior_path_lane_change_module/include/behavior_path_lane_change_module/utils/utils.hpp @@ -258,6 +258,21 @@ bool isWithinIntersection( const std::shared_ptr & route_handler, const lanelet::ConstLanelet & lanelet, const Polygon2d & polygon); +/** + * @brief Determines if a polygon is within lanes designated for turning. + * + * Checks if a polygon overlaps with lanelets tagged for turning directions (excluding 'straight'). + * It evaluates the lanelet's 'turn_direction' attribute and determines overlap with the lanelet's + * area. + * + * @param lanelet Lanelet representing the road segment whose turn direction is to be evaluated. + * @param polygon The polygon to be checked for its presence within turn direction lanes. + * + * @return bool True if the polygon is within a lane designated for turning, false if it is within a + * straight lane or no turn direction is specified. + */ +bool isWithinTurnDirectionLanes(const lanelet::ConstLanelet & lanelet, const Polygon2d & polygon); + /** * @brief Calculates the distance required during a lane change operation. * diff --git a/planning/behavior_path_lane_change_module/src/manager.cpp b/planning/behavior_path_lane_change_module/src/manager.cpp index 7045544df50aa..81d4b86afa094 100644 --- a/planning/behavior_path_lane_change_module/src/manager.cpp +++ b/planning/behavior_path_lane_change_module/src/manager.cpp @@ -72,6 +72,8 @@ void LaneChangeModuleManager::initParams(rclcpp::Node * node) *node, parameter("enable_collision_check_for_prepare_phase.general_lanes")); p.enable_collision_check_for_prepare_phase_in_intersection = getOrDeclareParameter( *node, parameter("enable_collision_check_for_prepare_phase.intersection")); + p.enable_collision_check_for_prepare_phase_in_turns = + getOrDeclareParameter(*node, parameter("enable_collision_check_for_prepare_phase.turns")); p.prepare_segment_ignore_object_velocity_thresh = getOrDeclareParameter( *node, parameter("prepare_segment_ignore_object_velocity_thresh")); p.check_objects_on_current_lanes = diff --git a/planning/behavior_path_lane_change_module/src/scene.cpp b/planning/behavior_path_lane_change_module/src/scene.cpp index bc9a366e62b34..3a4a44ef33edb 100644 --- a/planning/behavior_path_lane_change_module/src/scene.cpp +++ b/planning/behavior_path_lane_change_module/src/scene.cpp @@ -2142,7 +2142,15 @@ bool NormalLaneChange::check_prepare_phase() const return utils::lane_change::isWithinIntersection(route_handler, current_lane, ego_footprint); }); - return check_in_intersection || check_in_general_lanes; + const auto check_in_turns = std::invoke([&]() { + if (!lane_change_parameters_->enable_collision_check_for_prepare_phase_in_turns) { + return false; + } + + return utils::lane_change::isWithinTurnDirectionLanes(current_lane, ego_footprint); + }); + + return check_in_intersection || check_in_turns || check_in_general_lanes; } } // namespace behavior_path_planner diff --git a/planning/behavior_path_lane_change_module/src/utils/utils.cpp b/planning/behavior_path_lane_change_module/src/utils/utils.cpp index 15db6b0055756..97fcc841a546e 100644 --- a/planning/behavior_path_lane_change_module/src/utils/utils.cpp +++ b/planning/behavior_path_lane_change_module/src/utils/utils.cpp @@ -37,6 +37,8 @@ #include +#include + #include #include #include @@ -1185,6 +1187,17 @@ bool isWithinIntersection( polygon, utils::toPolygon2d(lanelet::utils::to2D(lanelet_polygon.basicPolygon()))); } +bool isWithinTurnDirectionLanes(const lanelet::ConstLanelet & lanelet, const Polygon2d & polygon) +{ + const std::string turn_direction = lanelet.attributeOr("turn_direction", "else"); + if (turn_direction == "else" || turn_direction == "straight") { + return false; + } + + return !boost::geometry::disjoint( + polygon, utils::toPolygon2d(lanelet::utils::to2D(lanelet.polygon2d().basicPolygon()))); +} + double calcPhaseLength( const double velocity, const double maximum_velocity, const double acceleration, const double duration) From 1eef4c0e102c53e96d30ee701420f388ba29f77d Mon Sep 17 00:00:00 2001 From: danielsanchezaran Date: Fri, 5 Apr 2024 19:05:10 +0900 Subject: [PATCH 14/54] feat(run_out): maintain run out stop wall (#6732) * feat(run_out): maintain run_out stop walls for a given time Signed-off-by: Daniel Sanchez * remove printouts Signed-off-by: Daniel Sanchez * space Signed-off-by: Daniel Sanchez * add stop wall debug markers when maintaining stop points Signed-off-by: Daniel Sanchez --------- Signed-off-by: Daniel Sanchez --- .../config/run_out.param.yaml | 1 + .../src/manager.cpp | 1 + .../src/scene.cpp | 54 +++++++++++++++---- .../src/scene.hpp | 12 ++++- .../src/utils.hpp | 1 + 5 files changed, 57 insertions(+), 12 deletions(-) diff --git a/planning/behavior_velocity_run_out_module/config/run_out.param.yaml b/planning/behavior_velocity_run_out_module/config/run_out.param.yaml index 628b8725149a2..6d0d9571bf43b 100644 --- a/planning/behavior_velocity_run_out_module/config/run_out.param.yaml +++ b/planning/behavior_velocity_run_out_module/config/run_out.param.yaml @@ -17,6 +17,7 @@ ego_cut_line_length: 3.0 # The width of the ego's cut line ego_footprint_extra_margin: 0.5 # [m] expand the ego vehicles' footprint by this value on all sides when building the ego footprint path keep_obstacle_on_path_time_threshold: 1.0 # [s] How much time a previous run out target obstacle is kept in the run out candidate list if it enters the ego path. + keep_stop_point_time: 1.0 # [s] If a stop point is issued by this module, keep the stop point for this many seconds. Only works if approach is disabled # Parameter to create abstracted dynamic obstacles dynamic_obstacle: diff --git a/planning/behavior_velocity_run_out_module/src/manager.cpp b/planning/behavior_velocity_run_out_module/src/manager.cpp index e2ce3822bf86d..1c85a22f57bf6 100644 --- a/planning/behavior_velocity_run_out_module/src/manager.cpp +++ b/planning/behavior_velocity_run_out_module/src/manager.cpp @@ -77,6 +77,7 @@ RunOutModuleManager::RunOutModuleManager(rclcpp::Node & node) getOrDeclareParameter(node, ns + ".ego_footprint_extra_margin"); p.keep_obstacle_on_path_time_threshold = getOrDeclareParameter(node, ns + ".keep_obstacle_on_path_time_threshold"); + p.keep_stop_point_time = getOrDeclareParameter(node, ns + ".keep_stop_point_time"); } { diff --git a/planning/behavior_velocity_run_out_module/src/scene.cpp b/planning/behavior_velocity_run_out_module/src/scene.cpp index 48fbebb8b056d..da826e1cf0cf6 100644 --- a/planning/behavior_velocity_run_out_module/src/scene.cpp +++ b/planning/behavior_velocity_run_out_module/src/scene.cpp @@ -144,6 +144,16 @@ bool RunOutModule::modifyPathVelocity( debug_ptr_->setDebugValues( DebugValues::TYPE::CALCULATION_TIME_COLLISION_CHECK, elapsed_collision_check.count() / 1000.0); + // If no new obstacle is detected, we check if the stop point should be maintained for more time. + auto should_maintain_stop_point = [&](const bool is_stopping_point_inserted) -> bool { + if (!stop_point_generation_time_.has_value() || is_stopping_point_inserted) { + return false; + } + const auto now = clock_->now().seconds(); + const double elapsed_time_since_stop_wall_was_generated = + (now - stop_point_generation_time_.value()); + return elapsed_time_since_stop_wall_was_generated < planner_param_.run_out.keep_stop_point_time; + }; // insert stop point for the detected obstacle if (planner_param_.approaching.enable) { // after a certain amount of time has elapsed since the ego stopped, @@ -152,7 +162,23 @@ bool RunOutModule::modifyPathVelocity( dynamic_obstacle, *planner_data_, planner_param_, extended_smoothed_path, *path); } else { // just insert zero velocity for stopping - insertStoppingVelocity(dynamic_obstacle, current_pose, current_vel, current_acc, *path); + std::optional stop_point; + const bool is_stopping_point_inserted = insertStoppingVelocity( + dynamic_obstacle, current_pose, current_vel, current_acc, *path, stop_point); + + stop_point_generation_time_ = (is_stopping_point_inserted) + ? std::make_optional(clock_->now().seconds()) + : stop_point_generation_time_; + last_stop_point_ = (is_stopping_point_inserted) ? stop_point : last_stop_point_; + + const bool is_maintain_stop_point = should_maintain_stop_point(is_stopping_point_inserted); + if (is_maintain_stop_point) { + insertStopPoint(last_stop_point_, *path); + // debug + debug_ptr_->setAccelReason(RunOutDebug::AccelReason::STOP); + debug_ptr_->pushStopPose(tier4_autoware_utils::calcOffsetPose( + *last_stop_point_, planner_param_.vehicle_param.base_to_front, 0, 0)); + } } // apply max jerk limit if the ego can't stop with specified max jerk and acc @@ -230,10 +256,8 @@ std::optional RunOutModule::detectCollision( debug_ptr_->pushCollisionPoints(obstacle_selected->collision_points); debug_ptr_->pushNearestCollisionPoint(obstacle_selected->nearest_collision_point); - return obstacle_selected; } - // no collision detected first_detected_time_.reset(); return {}; @@ -717,14 +741,14 @@ std::optional RunOutModule::calcStopPoint( return stop_point; } -void RunOutModule::insertStopPoint( +bool RunOutModule::insertStopPoint( const std::optional stop_point, autoware_auto_planning_msgs::msg::PathWithLaneId & path) { // no stop point if (!stop_point) { RCLCPP_DEBUG_STREAM(logger_, "already has same point"); - return; + return false; } // find nearest point index behind the stop point @@ -736,15 +760,15 @@ void RunOutModule::insertStopPoint( if ( insert_idx == path.points.size() - 1 && planning_utils::isAheadOf(*stop_point, path.points.at(insert_idx).point.pose)) { - return; + return false; } // to PathPointWithLaneId autoware_auto_planning_msgs::msg::PathPointWithLaneId stop_point_with_lane_id; stop_point_with_lane_id = path.points.at(nearest_seg_idx); stop_point_with_lane_id.point.pose = *stop_point; - planning_utils::insertVelocity(path, stop_point_with_lane_id, 0.0, insert_idx); + return true; } void RunOutModule::insertVelocityForState( @@ -806,14 +830,24 @@ void RunOutModule::insertVelocityForState( } } -void RunOutModule::insertStoppingVelocity( +bool RunOutModule::insertStoppingVelocity( const std::optional & dynamic_obstacle, const geometry_msgs::msg::Pose & current_pose, const float current_vel, const float current_acc, PathWithLaneId & output_path) { - const auto stop_point = + std::optional stopping_point; + return insertStoppingVelocity( + dynamic_obstacle, current_pose, current_vel, current_acc, output_path, stopping_point); +} + +bool RunOutModule::insertStoppingVelocity( + const std::optional & dynamic_obstacle, + const geometry_msgs::msg::Pose & current_pose, const float current_vel, const float current_acc, + PathWithLaneId & output_path, std::optional & stopping_point) +{ + stopping_point = calcStopPoint(dynamic_obstacle, output_path, current_pose, current_vel, current_acc); - insertStopPoint(stop_point, output_path); + return insertStopPoint(stopping_point, output_path); } void RunOutModule::insertApproachingVelocity( diff --git a/planning/behavior_velocity_run_out_module/src/scene.hpp b/planning/behavior_velocity_run_out_module/src/scene.hpp index c7702ed15337d..3db6051ab36e7 100644 --- a/planning/behavior_velocity_run_out_module/src/scene.hpp +++ b/planning/behavior_velocity_run_out_module/src/scene.hpp @@ -66,6 +66,9 @@ class RunOutModule : public SceneModuleInterface std::shared_ptr debug_ptr_; std::unique_ptr state_machine_; std::shared_ptr first_detected_time_; + std::optional stop_point_generation_time_; + std::optional last_stop_point_; + std::optional last_stop_obstacle_uuid_; std::unordered_map obstacle_in_ego_path_times_; @@ -119,7 +122,7 @@ class RunOutModule : public SceneModuleInterface const geometry_msgs::msg::Pose & current_pose, const float current_vel, const float current_acc) const; - void insertStopPoint( + bool insertStopPoint( const std::optional stop_point, autoware_auto_planning_msgs::msg::PathWithLaneId & path); @@ -128,11 +131,16 @@ class RunOutModule : public SceneModuleInterface const PlannerParam & planner_param, const PathWithLaneId & smoothed_path, PathWithLaneId & output_path); - void insertStoppingVelocity( + bool insertStoppingVelocity( const std::optional & dynamic_obstacle, const geometry_msgs::msg::Pose & current_pose, const float current_vel, const float current_acc, PathWithLaneId & output_path); + bool insertStoppingVelocity( + const std::optional & dynamic_obstacle, + const geometry_msgs::msg::Pose & current_pose, const float current_vel, const float current_acc, + PathWithLaneId & output_path, std::optional & stopping_point); + void insertApproachingVelocity( const DynamicObstacle & dynamic_obstacle, const geometry_msgs::msg::Pose & current_pose, const float approaching_vel, const float approach_margin, PathWithLaneId & output_path); diff --git a/planning/behavior_velocity_run_out_module/src/utils.hpp b/planning/behavior_velocity_run_out_module/src/utils.hpp index 823dc81b2b72b..51b460482458f 100644 --- a/planning/behavior_velocity_run_out_module/src/utils.hpp +++ b/planning/behavior_velocity_run_out_module/src/utils.hpp @@ -68,6 +68,7 @@ struct RunOutParam double ego_cut_line_length; double ego_footprint_extra_margin; double keep_obstacle_on_path_time_threshold; + double keep_stop_point_time; float detection_distance; float detection_span; float min_vel_ego_kmph; From 35642a6df0a12750256f459b40546e90bcd5c09e Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Sebastian=20Z=C4=99derowski?= Date: Sat, 6 Apr 2024 06:55:14 +0200 Subject: [PATCH 15/54] fix(route_handler): exception in route_handler caused by int overflow (#6755) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Remove cast to int which might cause overflow Signed-off-by: Sebastian ZÄ™derowski Co-authored-by: Sebastian ZÄ™derowski --- planning/route_handler/src/route_handler.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/planning/route_handler/src/route_handler.cpp b/planning/route_handler/src/route_handler.cpp index 8cec5073efb6a..8d143fcf0b87d 100644 --- a/planning/route_handler/src/route_handler.cpp +++ b/planning/route_handler/src/route_handler.cpp @@ -1708,7 +1708,7 @@ PathWithLaneId RouteHandler::getCenterLinePath( // append a point only when having one point so that yaw calculation would work if (reference_path.points.size() == 1) { - const lanelet::Id lane_id = static_cast(reference_path.points.front().lane_ids.front()); + const lanelet::Id lane_id = reference_path.points.front().lane_ids.front(); const auto lanelet = lanelet_map_ptr_->laneletLayer.get(lane_id); const auto point = reference_path.points.front().point.pose.position; const auto lane_yaw = lanelet::utils::getLaneletAngle(lanelet, point); From ad79997a32f331c2ce41ee42e1ccd6ef068ea67e Mon Sep 17 00:00:00 2001 From: Taekjin LEE Date: Mon, 8 Apr 2024 14:22:12 +0900 Subject: [PATCH 16/54] fix(multi_object_tracker): debugger timers checks if the timer is initialized (#6757) fix: debugger timers checks if the timer is initialized Signed-off-by: Taekjin LEE --- .../include/multi_object_tracker/debugger.hpp | 6 ++++ .../multi_object_tracker/src/debugger.cpp | 29 ++++++++++++++++--- .../src/multi_object_tracker_core.cpp | 5 ++++ 3 files changed, 36 insertions(+), 4 deletions(-) diff --git a/perception/multi_object_tracker/include/multi_object_tracker/debugger.hpp b/perception/multi_object_tracker/include/multi_object_tracker/debugger.hpp index ca1b20d26c25d..858d43dcfc5bd 100644 --- a/perception/multi_object_tracker/include/multi_object_tracker/debugger.hpp +++ b/perception/multi_object_tracker/include/multi_object_tracker/debugger.hpp @@ -41,7 +41,10 @@ class TrackerDebugger const autoware_auto_perception_msgs::msg::TrackedObjects & tentative_objects) const; void startMeasurementTime( const rclcpp::Time & now, const rclcpp::Time & measurement_header_stamp); + void endMeasurementTime(const rclcpp::Time & now); + void startPublishTime(const rclcpp::Time & now); void endPublishTime(const rclcpp::Time & now, const rclcpp::Time & object_time); + void setupDiagnostics(); void checkDelay(diagnostic_updater::DiagnosticStatusWrapper & stat); struct DEBUG_SETTINGS @@ -56,12 +59,15 @@ class TrackerDebugger private: void loadParameters(); + bool is_initialized_ = false; rclcpp::Node & node_; rclcpp::Publisher::SharedPtr debug_tentative_objects_pub_; std::unique_ptr processing_time_publisher_; rclcpp::Time last_input_stamp_; rclcpp::Time stamp_process_start_; + rclcpp::Time stamp_process_end_; + rclcpp::Time stamp_publish_start_; rclcpp::Time stamp_publish_output_; }; diff --git a/perception/multi_object_tracker/src/debugger.cpp b/perception/multi_object_tracker/src/debugger.cpp index e3fc58dd5d692..4304afbe2e055 100644 --- a/perception/multi_object_tracker/src/debugger.cpp +++ b/perception/multi_object_tracker/src/debugger.cpp @@ -108,16 +108,35 @@ void TrackerDebugger::startMeasurementTime( processing_time_publisher_->publish( "debug/input_latency_ms", input_latency_ms); } + // initialize debug time stamps + if (!is_initialized_) { + stamp_publish_output_ = now; + is_initialized_ = true; + } +} + +void TrackerDebugger::endMeasurementTime(const rclcpp::Time & now) +{ + stamp_process_end_ = now; +} + +void TrackerDebugger::startPublishTime(const rclcpp::Time & now) +{ + stamp_publish_start_ = now; } void TrackerDebugger::endPublishTime(const rclcpp::Time & now, const rclcpp::Time & object_time) { const auto current_time = now; - // pipeline latency: time from sensor measurement to publish + // pipeline latency: time from sensor measurement to publish, used for 'checkDelay' pipeline_latency_ms_ = (current_time - last_input_stamp_).seconds() * 1e3; - if (debug_settings_.publish_processing_time) { - // processing time: time between input and publish - double processing_time_ms = (current_time - stamp_process_start_).seconds() * 1e3; + if (debug_settings_.publish_processing_time && is_initialized_) { + // processing latency: time between input and publish + double processing_latency_ms = ((current_time - stamp_process_start_).seconds()) * 1e3; + // processing time: only the time spent in the tracking processes + double processing_time_ms = ((current_time - stamp_publish_start_).seconds() + + (stamp_process_end_ - stamp_process_start_).seconds()) * + 1e3; // cycle time: time between two consecutive publish double cyclic_time_ms = (current_time - stamp_publish_output_).seconds() * 1e3; // measurement to tracked-object time: time from the sensor measurement to the publishing object @@ -131,6 +150,8 @@ void TrackerDebugger::endPublishTime(const rclcpp::Time & now, const rclcpp::Tim "debug/cyclic_time_ms", cyclic_time_ms); processing_time_publisher_->publish( "debug/processing_time_ms", processing_time_ms); + processing_time_publisher_->publish( + "debug/processing_latency_ms", processing_latency_ms); processing_time_publisher_->publish( "debug/meas_to_tracked_object_ms", measurement_to_object_ms); } diff --git a/perception/multi_object_tracker/src/multi_object_tracker_core.cpp b/perception/multi_object_tracker/src/multi_object_tracker_core.cpp index b8e19d4ca2df4..aacd37766e8b0 100644 --- a/perception/multi_object_tracker/src/multi_object_tracker_core.cpp +++ b/perception/multi_object_tracker/src/multi_object_tracker_core.cpp @@ -190,6 +190,10 @@ void MultiObjectTracker::onMeasurement( if (tracker) list_tracker_.push_back(tracker); } + // debugger time + debugger_->endMeasurementTime(this->now()); + + // Publish objects if the timer is not enabled if (publish_timer_ == nullptr) { publish(measurement_time); } @@ -337,6 +341,7 @@ inline bool MultiObjectTracker::shouldTrackerPublish( void MultiObjectTracker::publish(const rclcpp::Time & time) const { + debugger_->startPublishTime(this->now()); const auto subscriber_count = tracked_objects_pub_->get_subscription_count() + tracked_objects_pub_->get_intra_process_subscription_count(); if (subscriber_count < 1) { From 52bc600edf1b0bba58acf8f3ebc5b73fd992f892 Mon Sep 17 00:00:00 2001 From: "Takagi, Isamu" <43976882+isamu-takagi@users.noreply.github.com> Date: Mon, 8 Apr 2024 14:28:31 +0900 Subject: [PATCH 17/54] docs(mission_planner): update readme for route selector (#6576) Signed-off-by: Takagi, Isamu --- planning/mission_planner/README.md | 67 +- .../media/architecture.drawio.svg | 725 ++++++++++++++++++ .../media/rerouting_interface.svg | 435 ----------- 3 files changed, 759 insertions(+), 468 deletions(-) create mode 100644 planning/mission_planner/media/architecture.drawio.svg delete mode 100644 planning/mission_planner/media/rerouting_interface.svg diff --git a/planning/mission_planner/README.md b/planning/mission_planner/README.md index 3b649168884e6..a9eb488c71377 100644 --- a/planning/mission_planner/README.md +++ b/planning/mission_planner/README.md @@ -7,8 +7,13 @@ The route is made of a sequence of lanes on a static map. Dynamic objects (e.g. pedestrians and other vehicles) and dynamic map information (e.g. road construction which blocks some lanes) are not considered during route planning. Therefore, the output topic is only published when the goal pose or check points are given and will be latched until the new goal pose or check points are given. -The core implementation does not depend on a map format. -In current Autoware.universe, only Lanelet2 map format is supported. +The core implementation does not depend on a map format. Any planning algorithms can be added as plugin modules. +In current Autoware.universe, only the plugin for Lanelet2 map format is supported. + +This package also manages routes for MRM. The `route_selector` node duplicates the `mission_planner` interface and provides it for normal and MRM respectively. +It distributes route requests and planning results according to current MRM operation state. + +![architecture](./media/architecture.drawio.svg) ## Interfaces @@ -28,31 +33,37 @@ In current Autoware.universe, only Lanelet2 map format is supported. ### Services -| Name | Type | Description | -| ------------------------------------------------ | ----------------------------------------- | ------------------------------------------------------------------------------------------- | -| `/planning/mission_planning/clear_route` | autoware_adapi_v1_msgs/srv/ClearRoute | route clear request | -| `/planning/mission_planning/set_route_points` | autoware_adapi_v1_msgs/srv/SetRoutePoints | route request with pose waypoints. Assumed the vehicle is stopped. | -| `/planning/mission_planning/set_route` | autoware_adapi_v1_msgs/srv/SetRoute | route request with lanelet waypoints. Assumed the vehicle is stopped. | -| `/planning/mission_planning/change_route_points` | autoware_adapi_v1_msgs/srv/SetRoutePoints | route change request with pose waypoints. This can be called when the vehicle is moving. | -| `/planning/mission_planning/change_route` | autoware_adapi_v1_msgs/srv/SetRoute | route change request with lanelet waypoints. This can be called when the vehicle is moving. | -| `~/srv/set_mrm_route` | autoware_adapi_v1_msgs/srv/SetRoutePoints | set emergency route. This can be called when the vehicle is moving. | -| `~/srv/clear_mrm_route` | std_srvs/srv/Trigger | clear emergency route. | +| Name | Type | Description | +| ------------------------------------------------------------------- | ---------------------------------------- | ------------------------------------------ | +| `/planning/mission_planning/mission_planner/clear_route` | tier4_planning_msgs/srv/ClearRoute | route clear request | +| `/planning/mission_planning/mission_planner/set_waypoint_route` | tier4_planning_msgs/srv/SetWaypointRoute | route request with lanelet waypoints. | +| `/planning/mission_planning/mission_planner/set_lanelet_route` | tier4_planning_msgs/srv/SetLaneletRoute | route request with pose waypoints. | +| `/planning/mission_planning/route_selector/main/clear_route` | tier4_planning_msgs/srv/ClearRoute | main route clear request | +| `/planning/mission_planning/route_selector/main/set_waypoint_route` | tier4_planning_msgs/srv/SetWaypointRoute | main route request with lanelet waypoints. | +| `/planning/mission_planning/route_selector/main/set_lanelet_route` | tier4_planning_msgs/srv/SetLaneletRoute | main route request with pose waypoints. | +| `/planning/mission_planning/route_selector/mrm/clear_route` | tier4_planning_msgs/srv/ClearRoute | mrm route clear request | +| `/planning/mission_planning/route_selector/mrm/set_waypoint_route` | tier4_planning_msgs/srv/SetWaypointRoute | mrm route request with lanelet waypoints. | +| `/planning/mission_planning/route_selector/mrm/set_lanelet_route` | tier4_planning_msgs/srv/SetLaneletRoute | mrm route request with pose waypoints. | ### Subscriptions -| Name | Type | Description | -| --------------------- | ------------------------------------ | ---------------------- | -| `input/vector_map` | autoware_auto_mapping_msgs/HADMapBin | vector map of Lanelet2 | -| `input/modified_goal` | geometry_msgs/PoseWithUuidStamped | modified goal pose | +| Name | Type | Description | +| ----------------------- | ------------------------------------ | ---------------------- | +| `~/input/vector_map` | autoware_auto_mapping_msgs/HADMapBin | vector map of Lanelet2 | +| `~/input/modified_goal` | geometry_msgs/PoseWithUuidStamped | modified goal pose | ### Publications -| Name | Type | Description | -| ---------------------------------------- | ------------------------------------- | ------------------------ | -| `/planning/mission_planning/route_state` | autoware_adapi_v1_msgs/msg/RouteState | route state | -| `/planning/mission_planning/route` | autoware_planning_msgs/LaneletRoute | route | -| `debug/route_marker` | visualization_msgs/msg/MarkerArray | route marker for debug | -| `debug/goal_footprint` | visualization_msgs/msg/MarkerArray | goal footprint for debug | +| Name | Type | Description | +| ------------------------------------------------------ | ----------------------------------- | ------------------------ | +| `/planning/mission_planning/state` | tier4_planning_msgs/msg/RouteState | route state | +| `/planning/mission_planning/route` | autoware_planning_msgs/LaneletRoute | route | +| `/planning/mission_planning/route_selector/main/state` | tier4_planning_msgs/msg/RouteState | main route state | +| `/planning/mission_planning/route_selector/main/route` | autoware_planning_msgs/LaneletRoute | main route | +| `/planning/mission_planning/route_selector/mrm/state` | tier4_planning_msgs/msg/RouteState | mrm route state | +| `/planning/mission_planning/route_selector/mrm/route` | autoware_planning_msgs/LaneletRoute | mrm route | +| `~/debug/route_marker` | visualization_msgs/msg/MarkerArray | route marker for debug | +| `~/debug/goal_footprint` | visualization_msgs/msg/MarkerArray | goal footprint for debug | ## Route section @@ -168,26 +179,16 @@ And there are three use cases that require reroute. - Emergency route - Goal modification -![rerouting_interface](./media/rerouting_interface.svg) - #### Route change API -- `change_route_points` -- `change_route` - -This is route change that the application makes using the API. It is used when changing the destination while driving or when driving a divided loop route. When the vehicle is driving on a MRM route, normal rerouting by this interface is not allowed. +It is used when changing the destination while driving or when driving a divided loop route. When the vehicle is driving on a MRM route, normal rerouting by this interface is not allowed. #### Emergency route -- `set_mrm_route` -- `clear_mrm_route` - -This interface for the MRM that pulls over the road shoulder. It has to be stopped as soon as possible, so a reroute is required. The MRM route has priority over the normal route. And if MRM route is cleared, try to return to the normal route also with a rerouting safety check. +The interface for the MRM that pulls over the road shoulder. It has to be stopped as soon as possible, so a reroute is required. The MRM route has priority over the normal route. And if MRM route is cleared, try to return to the normal route also with a rerouting safety check. ##### Goal modification -- `modified_goal` - This is a goal change to pull over, avoid parked vehicles, and so on by a planning component. If the modified goal is outside the calculated route, a reroute is required. This goal modification is executed by checking the local environment and path safety as the vehicle actually approaches the destination. And this modification is allowed for both normal_route and mrm_route. The new route generated here is sent to the AD API so that it can also be referenced by the application. Note, however, that the specifications here are subject to change in the future. diff --git a/planning/mission_planner/media/architecture.drawio.svg b/planning/mission_planner/media/architecture.drawio.svg new file mode 100644 index 0000000000000..36be0d683bc06 --- /dev/null +++ b/planning/mission_planner/media/architecture.drawio.svg @@ -0,0 +1,725 @@ + + + + + + + + + + + + + + + +
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- - set_mrm_route - - - - - - - Text is not SVG - cannot display - - - From 1524bdd813258e5d2b0e342821543da1cdc26092 Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Mon, 8 Apr 2024 18:17:25 +0900 Subject: [PATCH 18/54] fix(behavior_path_planner): fix behavior_path_planner node to check occupancy_grid before running (#6752) Signed-off-by: Mamoru Sobue --- .../behavior_path_planner/src/behavior_path_planner_node.cpp | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/planning/behavior_path_planner/src/behavior_path_planner_node.cpp b/planning/behavior_path_planner/src/behavior_path_planner_node.cpp index e41061a2ffbd2..1cea9e46cdb7b 100644 --- a/planning/behavior_path_planner/src/behavior_path_planner_node.cpp +++ b/planning/behavior_path_planner/src/behavior_path_planner_node.cpp @@ -312,6 +312,10 @@ bool BehaviorPathPlannerNode::isDataReady() return missing("operation_mode"); } + if (!planner_data_->occupancy_grid) { + return missing("occupancy_grid"); + } + return true; } From 86172857ecd6454d682ab38cba06a4230b94c5f5 Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Mon, 8 Apr 2024 19:50:15 +0900 Subject: [PATCH 19/54] fix(avoidance): add update param to use rqt reconfigure (#6759) * fix(avoidance): add update param to use rqt reconfigure Signed-off-by: satoshi-ota * Update planning/behavior_path_avoidance_module/src/manager.cpp Co-authored-by: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> * Update planning/behavior_path_avoidance_module/src/manager.cpp Co-authored-by: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> --------- Signed-off-by: satoshi-ota Co-authored-by: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> --- .../parameter_helper.hpp | 4 + .../src/manager.cpp | 98 +++++++++++++++++++ 2 files changed, 102 insertions(+) diff --git a/planning/behavior_path_avoidance_module/include/behavior_path_avoidance_module/parameter_helper.hpp b/planning/behavior_path_avoidance_module/include/behavior_path_avoidance_module/parameter_helper.hpp index abd0c017a6483..0a62eb5b33e8a 100644 --- a/planning/behavior_path_avoidance_module/include/behavior_path_avoidance_module/parameter_helper.hpp +++ b/planning/behavior_path_avoidance_module/include/behavior_path_avoidance_module/parameter_helper.hpp @@ -313,6 +313,10 @@ AvoidanceParameters getParameter(rclcpp::Node * node) p.use_shorten_margin_immediately = getOrDeclareParameter(*node, ns + "use_shorten_margin_immediately"); + if (p.policy_approval != "per_shift_line" && p.policy_approval != "per_avoidance_maneuver") { + throw std::domain_error("invalid policy. please select 'best_effort' or 'reliable'."); + } + if (p.policy_deceleration != "best_effort" && p.policy_deceleration != "reliable") { throw std::domain_error("invalid policy. please select 'best_effort' or 'reliable'."); } diff --git a/planning/behavior_path_avoidance_module/src/manager.cpp b/planning/behavior_path_avoidance_module/src/manager.cpp index 692e4260520f3..1f420baf4ae63 100644 --- a/planning/behavior_path_avoidance_module/src/manager.cpp +++ b/planning/behavior_path_avoidance_module/src/manager.cpp @@ -91,6 +91,76 @@ void AvoidanceModuleManager::updateModuleParams(const std::vectorupper_distance_for_polygon_expansion); } + { + const auto set_target_flag = [&](const uint8_t & object_type, const std::string & ns) { + if (p->object_parameters.count(object_type) == 0) { + return; + } + updateParam(parameters, ns, p->object_parameters.at(object_type).is_avoidance_target); + }; + + const std::string ns = "avoidance.target_filtering."; + set_target_flag(ObjectClassification::CAR, ns + "target_type.car"); + set_target_flag(ObjectClassification::TRUCK, ns + "target_type.truck"); + set_target_flag(ObjectClassification::TRAILER, ns + "target_type.trailer"); + set_target_flag(ObjectClassification::BUS, ns + "target_type.bus"); + set_target_flag(ObjectClassification::PEDESTRIAN, ns + "target_type.pedestrian"); + set_target_flag(ObjectClassification::BICYCLE, ns + "target_type.bicycle"); + set_target_flag(ObjectClassification::MOTORCYCLE, ns + "target_type.motorcycle"); + set_target_flag(ObjectClassification::UNKNOWN, ns + "target_type.unknown"); + + updateParam( + parameters, ns + "object_check_goal_distance", p->object_check_goal_distance); + updateParam( + parameters, ns + "object_check_return_pose_distance", p->object_check_return_pose_distance); + updateParam( + parameters, ns + "threshold_distance_object_is_on_center", + p->threshold_distance_object_is_on_center); + updateParam( + parameters, ns + "object_check_shiftable_ratio", p->object_check_shiftable_ratio); + updateParam( + parameters, ns + "object_check_min_road_shoulder_width", + p->object_check_min_road_shoulder_width); + updateParam( + parameters, ns + "object_last_seen_threshold", p->object_last_seen_threshold); + } + + { + const std::string ns = "avoidance.target_filtering.detection_area."; + updateParam(parameters, ns + "static", p->use_static_detection_area); + updateParam( + parameters, ns + "min_forward_distance", p->object_check_min_forward_distance); + updateParam( + parameters, ns + "max_forward_distance", p->object_check_max_forward_distance); + updateParam(parameters, ns + "backward_distance", p->object_check_backward_distance); + } + + { + const std::string ns = "avoidance.avoidance.lateral.avoidance_for_ambiguous_vehicle."; + updateParam(parameters, ns + "enable", p->enable_avoidance_for_ambiguous_vehicle); + updateParam( + parameters, ns + "closest_distance_to_wait_and_see", + p->closest_distance_to_wait_and_see_for_ambiguous_vehicle); + updateParam( + parameters, ns + "condition.time_threshold", p->time_threshold_for_ambiguous_vehicle); + updateParam( + parameters, ns + "condition.distance_threshold", p->distance_threshold_for_ambiguous_vehicle); + updateParam( + parameters, ns + "ignore_area.traffic_light.front_distance", + p->object_ignore_section_traffic_light_in_front_distance); + updateParam( + parameters, ns + "ignore_area.crosswalk.front_distance", + p->object_ignore_section_crosswalk_in_front_distance); + updateParam( + parameters, ns + "ignore_area.crosswalk.behind_distance", + p->object_ignore_section_crosswalk_behind_distance); + } + + { + const std::string ns = "avoidance.target_filtering.intersection."; + updateParam(parameters, ns + "yaw_deviation", p->object_check_yaw_deviation); + } + { const std::string ns = "avoidance.avoidance.lateral."; updateParam( @@ -107,6 +177,7 @@ void AvoidanceModuleManager::updateModuleParams(const std::vector(parameters, ns + "min_prepare_time", p->min_prepare_time); updateParam(parameters, ns + "max_prepare_time", p->max_prepare_time); + updateParam(parameters, ns + "min_prepare_distance", p->min_prepare_distance); updateParam(parameters, ns + "min_slow_down_speed", p->min_slow_down_speed); updateParam(parameters, ns + "buf_slow_down_speed", p->buf_slow_down_speed); } @@ -117,6 +188,33 @@ void AvoidanceModuleManager::updateModuleParams(const std::vector(parameters, ns + "stop_buffer", p->stop_buffer); } + { + const std::string ns = "avoidance.policy."; + updateParam(parameters, ns + "make_approval_request", p->policy_approval); + updateParam(parameters, ns + "deceleration", p->policy_deceleration); + updateParam(parameters, ns + "lateral_margin", p->policy_lateral_margin); + updateParam( + parameters, ns + "use_shorten_margin_immediately", p->use_shorten_margin_immediately); + + if (p->policy_approval != "per_shift_line" && p->policy_approval != "per_avoidance_maneuver") { + RCLCPP_ERROR( + rclcpp::get_logger(__func__), + "invalid policy. please select 'per_shift_line' or 'per_avoidance_maneuver'."); + } + + if (p->policy_deceleration != "best_effort" && p->policy_deceleration != "reliable") { + RCLCPP_ERROR( + rclcpp::get_logger(__func__), + "invalid deceleration policy. Please select 'best_effort' or 'reliable'."); + } + + if (p->policy_lateral_margin != "best_effort" && p->policy_lateral_margin != "reliable") { + RCLCPP_ERROR( + rclcpp::get_logger(__func__), + "invalid lateral margin policy. Please select 'best_effort' or 'reliable'."); + } + } + { const std::string ns = "avoidance.constrains.lateral."; From b98a21a5ffb71f7e33dc183cfc90c0196240cf7a Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Tue, 9 Apr 2024 12:13:57 +0900 Subject: [PATCH 20/54] feat(avoidance): limit acceleration during avoidance maneuver (#6698) Signed-off-by: satoshi-ota --- .../config/avoidance.param.yaml | 3 +- .../data_structs.hpp | 3 + .../behavior_path_avoidance_module/helper.hpp | 75 +++++++++++++++++++ .../parameter_helper.hpp | 2 + .../behavior_path_avoidance_module/scene.hpp | 6 ++ .../src/manager.cpp | 13 ++++ .../src/scene.cpp | 47 ++++++++++++ 7 files changed, 148 insertions(+), 1 deletion(-) diff --git a/planning/behavior_path_avoidance_module/config/avoidance.param.yaml b/planning/behavior_path_avoidance_module/config/avoidance.param.yaml index 3c3a086a3514d..b7b8d8434b9c4 100644 --- a/planning/behavior_path_avoidance_module/config/avoidance.param.yaml +++ b/planning/behavior_path_avoidance_module/config/avoidance.param.yaml @@ -287,7 +287,8 @@ nominal_jerk: 0.5 # [m/sss] max_deceleration: -1.5 # [m/ss] max_jerk: 1.0 # [m/sss] - max_acceleration: 1.0 # [m/ss] + max_acceleration: 0.5 # [m/ss] + min_velocity_to_limit_max_acceleration: 2.78 # [m/ss] shift_line_pipeline: trim: diff --git a/planning/behavior_path_avoidance_module/include/behavior_path_avoidance_module/data_structs.hpp b/planning/behavior_path_avoidance_module/include/behavior_path_avoidance_module/data_structs.hpp index 686e4023bc7c2..fd841ede37e70 100644 --- a/planning/behavior_path_avoidance_module/include/behavior_path_avoidance_module/data_structs.hpp +++ b/planning/behavior_path_avoidance_module/include/behavior_path_avoidance_module/data_structs.hpp @@ -143,6 +143,9 @@ struct AvoidanceParameters // To prevent large acceleration while avoidance. double max_acceleration{0.0}; + // To prevent large acceleration while avoidance. + double min_velocity_to_limit_max_acceleration{0.0}; + // upper distance for envelope polygon expansion. double upper_distance_for_polygon_expansion{0.0}; diff --git a/planning/behavior_path_avoidance_module/include/behavior_path_avoidance_module/helper.hpp b/planning/behavior_path_avoidance_module/include/behavior_path_avoidance_module/helper.hpp index 6d2eb81b328f4..4ff02df97bd89 100644 --- a/planning/behavior_path_avoidance_module/include/behavior_path_avoidance_module/helper.hpp +++ b/planning/behavior_path_avoidance_module/include/behavior_path_avoidance_module/helper.hpp @@ -24,6 +24,7 @@ #include #include #include +#include #include namespace behavior_path_planner::helper::avoidance @@ -32,7 +33,10 @@ namespace behavior_path_planner::helper::avoidance using behavior_path_planner::PathShifter; using behavior_path_planner::PlannerData; using motion_utils::calcDecelDistWithJerkAndAccConstraints; +using motion_utils::calcLongitudinalOffsetPose; +using motion_utils::calcSignedArcLength; using motion_utils::findNearestIndex; +using tier4_autoware_utils::getPose; class AvoidanceHelper { @@ -61,6 +65,11 @@ class AvoidanceHelper geometry_msgs::msg::Pose getEgoPose() const { return data_->self_odometry->pose.pose; } + geometry_msgs::msg::Point getEgoPosition() const + { + return data_->self_odometry->pose.pose.position; + } + static size_t getConstraintsMapIndex(const double velocity, const std::vector & values) { const auto itr = std::find_if( @@ -262,6 +271,20 @@ class AvoidanceHelper return *itr; } + std::pair getDistanceToAccelEndPoint(const PathWithLaneId & path) + { + updateAccelEndPoint(path); + + if (!max_v_point_.has_value()) { + return std::make_pair(0.0, std::numeric_limits::max()); + } + + const auto start_idx = data_->findEgoIndex(path.points); + const auto distance = + calcSignedArcLength(path.points, start_idx, max_v_point_.value().first.position); + return std::make_pair(distance, max_v_point_.value().second); + } + double getFeasibleDecelDistance( const double target_velocity, const bool use_hard_constraints = true) const { @@ -367,6 +390,56 @@ class AvoidanceHelper return true; } + void updateAccelEndPoint(const PathWithLaneId & path) + { + const auto & p = parameters_; + const auto & a_now = data_->self_acceleration->accel.accel.linear.x; + if (a_now < 0.0) { + max_v_point_ = std::nullopt; + return; + } + + if (getEgoSpeed() < p->min_velocity_to_limit_max_acceleration) { + max_v_point_ = std::nullopt; + return; + } + + if (max_v_point_.has_value()) { + return; + } + + const auto v0 = getEgoSpeed() + p->buf_slow_down_speed; + + const auto t_neg_jerk = std::max(0.0, a_now - p->max_acceleration) / p->max_jerk; + const auto v_neg_jerk = v0 + a_now * t_neg_jerk + std::pow(t_neg_jerk, 2.0) / 2.0; + const auto x_neg_jerk = v0 * t_neg_jerk + a_now * std::pow(t_neg_jerk, 2.0) / 2.0 + + p->max_jerk * std::pow(t_neg_jerk, 3.0) / 6.0; + + const auto & v_max = data_->parameters.max_vel; + if (v_max < v_neg_jerk) { + max_v_point_ = std::nullopt; + return; + } + + const auto t_max_accel = (v_max - v_neg_jerk) / p->max_acceleration; + const auto x_max_accel = + v_neg_jerk * t_max_accel + p->max_acceleration * std::pow(t_max_accel, 2.0) / 2.0; + + const auto point = + calcLongitudinalOffsetPose(path.points, getEgoPosition(), x_neg_jerk + x_max_accel); + if (point.has_value()) { + max_v_point_ = std::make_pair(point.value(), v_max); + return; + } + + const auto x_end = calcSignedArcLength(path.points, getEgoPosition(), path.points.size() - 1); + const auto t_end = + (std::sqrt(v0 * v0 + 2.0 * p->max_acceleration * x_end) - v0) / p->max_acceleration; + const auto v_end = v0 + p->max_acceleration * t_end; + + max_v_point_ = std::make_pair(getPose(path.points.back()), v_end); + } + void reset() { prev_reference_path_ = PathWithLaneId(); @@ -417,6 +490,8 @@ class AvoidanceHelper ShiftedPath prev_linear_shift_path_; lanelet::ConstLanelets prev_driving_lanes_; + + std::optional> max_v_point_; }; } // namespace behavior_path_planner::helper::avoidance diff --git a/planning/behavior_path_avoidance_module/include/behavior_path_avoidance_module/parameter_helper.hpp b/planning/behavior_path_avoidance_module/include/behavior_path_avoidance_module/parameter_helper.hpp index 0a62eb5b33e8a..fbfec58abe4da 100644 --- a/planning/behavior_path_avoidance_module/include/behavior_path_avoidance_module/parameter_helper.hpp +++ b/planning/behavior_path_avoidance_module/include/behavior_path_avoidance_module/parameter_helper.hpp @@ -334,6 +334,8 @@ AvoidanceParameters getParameter(rclcpp::Node * node) p.max_deceleration = getOrDeclareParameter(*node, ns + "max_deceleration"); p.max_jerk = getOrDeclareParameter(*node, ns + "max_jerk"); p.max_acceleration = getOrDeclareParameter(*node, ns + "max_acceleration"); + p.min_velocity_to_limit_max_acceleration = + getOrDeclareParameter(*node, ns + "min_velocity_to_limit_max_acceleration"); } // constraints (lateral) diff --git a/planning/behavior_path_avoidance_module/include/behavior_path_avoidance_module/scene.hpp b/planning/behavior_path_avoidance_module/include/behavior_path_avoidance_module/scene.hpp index 5125191a6e544..899ec99cb0d3b 100644 --- a/planning/behavior_path_avoidance_module/include/behavior_path_avoidance_module/scene.hpp +++ b/planning/behavior_path_avoidance_module/include/behavior_path_avoidance_module/scene.hpp @@ -233,6 +233,12 @@ class AvoidanceModule : public SceneModuleInterface */ void insertPrepareVelocity(ShiftedPath & shifted_path) const; + /** + * @brief insert max velocity in output path to limit acceleration. + * @param target path. + */ + void insertAvoidanceVelocity(ShiftedPath & shifted_path) const; + /** * @brief calculate stop distance based on object's overhang. * @param stop distance. diff --git a/planning/behavior_path_avoidance_module/src/manager.cpp b/planning/behavior_path_avoidance_module/src/manager.cpp index 1f420baf4ae63..5ce63987621ed 100644 --- a/planning/behavior_path_avoidance_module/src/manager.cpp +++ b/planning/behavior_path_avoidance_module/src/manager.cpp @@ -244,6 +244,19 @@ void AvoidanceModuleManager::updateModuleParams(const std::vector(parameters, ns + "nominal_deceleration", p->nominal_deceleration); + updateParam(parameters, ns + "nominal_jerk", p->nominal_jerk); + updateParam(parameters, ns + "max_deceleration", p->max_deceleration); + updateParam(parameters, ns + "max_jerk", p->max_jerk); + updateParam(parameters, ns + "max_acceleration", p->max_acceleration); + updateParam( + parameters, ns + "min_velocity_to_limit_max_acceleration", + p->min_velocity_to_limit_max_acceleration); + } + { const std::string ns = "avoidance.shift_line_pipeline."; updateParam( diff --git a/planning/behavior_path_avoidance_module/src/scene.cpp b/planning/behavior_path_avoidance_module/src/scene.cpp index 12c59daef93ad..b22a4bf53eab0 100644 --- a/planning/behavior_path_avoidance_module/src/scene.cpp +++ b/planning/behavior_path_avoidance_module/src/scene.cpp @@ -686,6 +686,7 @@ void AvoidanceModule::updateEgoBehavior(const AvoidancePlanningData & data, Shif } insertPrepareVelocity(path); + insertAvoidanceVelocity(path); switch (data.state) { case AvoidanceState::NOT_AVOID: { @@ -1725,6 +1726,52 @@ void AvoidanceModule::insertPrepareVelocity(ShiftedPath & shifted_path) const shifted_path.path.points, start_idx, distance_to_object); } +void AvoidanceModule::insertAvoidanceVelocity(ShiftedPath & shifted_path) const +{ + const auto & data = avoid_data_; + + // do nothing if no shift line is approved. + if (path_shifter_.getShiftLines().empty()) { + return; + } + + // do nothing if there is no avoidance target. + if (data.target_objects.empty()) { + return; + } + + const auto [distance_to_accel_end_point, v_max] = + helper_->getDistanceToAccelEndPoint(shifted_path.path); + if (distance_to_accel_end_point < 1e-3) { + return; + } + + const auto start_idx = planner_data_->findEgoIndex(shifted_path.path.points); + for (size_t i = start_idx; i < shifted_path.path.points.size(); ++i) { + const auto distance_from_ego = calcSignedArcLength(shifted_path.path.points, start_idx, i); + + // slow down speed is inserted only in front of the object. + const auto accel_distance = distance_to_accel_end_point - distance_from_ego; + if (accel_distance < 0.0) { + break; + } + + const double v_target_square = + v_max * v_max - 2.0 * parameters_->max_acceleration * accel_distance; + if (v_target_square < 1e-3) { + break; + } + + // target speed with nominal jerk limits. + const double v_target = std::max(getEgoSpeed(), std::sqrt(v_target_square)); + const double v_original = shifted_path.path.points.at(i).point.longitudinal_velocity_mps; + shifted_path.path.points.at(i).point.longitudinal_velocity_mps = std::min(v_original, v_target); + } + + slow_pose_ = motion_utils::calcLongitudinalOffsetPose( + shifted_path.path.points, start_idx, distance_to_accel_end_point); +} + std::shared_ptr AvoidanceModule::get_debug_msg_array() const { debug_data_.avoidance_debug_msg_array.header.stamp = clock_->now(); From d6824423c3f6cd75fd451fd6bdef7a53aea77719 Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Tue, 9 Apr 2024 12:21:08 +0900 Subject: [PATCH 21/54] fix(tier4_autoware_utils): fix `-Werror=unused-parameter` (#6764) fix(tier4_autoware_utils): fix -Werror=unused-parameter Signed-off-by: satoshi-ota --- .../include/tier4_autoware_utils/ros/polling_subscriber.hpp | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/common/tier4_autoware_utils/include/tier4_autoware_utils/ros/polling_subscriber.hpp b/common/tier4_autoware_utils/include/tier4_autoware_utils/ros/polling_subscriber.hpp index f4d230e15dcf1..f8d5baaf02777 100644 --- a/common/tier4_autoware_utils/include/tier4_autoware_utils/ros/polling_subscriber.hpp +++ b/common/tier4_autoware_utils/include/tier4_autoware_utils/ros/polling_subscriber.hpp @@ -38,7 +38,8 @@ class InterProcessPollingSubscriber noexec_subscription_options.callback_group = noexec_callback_group; subscriber_ = node->create_subscription( - topic_name, rclcpp::QoS{1}, [node](const typename T::ConstSharedPtr msg) { assert(false); }, + topic_name, rclcpp::QoS{1}, + [node]([[maybe_unused]] const typename T::ConstSharedPtr msg) { assert(false); }, noexec_subscription_options); }; bool updateLatestData() From b09501e78e8cb09d7e91d264389114190255a39e Mon Sep 17 00:00:00 2001 From: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> Date: Tue, 9 Apr 2024 13:01:35 +0900 Subject: [PATCH 22/54] feat(lane_change): use external velocity limit in safety check (#6760) * feat(lane_change): use external velocity limit in safety check Signed-off-by: Muhammad Zulfaqar * style(pre-commit): autofix * Minor refactoring Signed-off-by: Muhammad Zulfaqar * Fix spell check and remove headers Signed-off-by: Muhammad Zulfaqar Azmi * Add warning Signed-off-by: Muhammad Zulfaqar Azmi --------- Signed-off-by: Muhammad Zulfaqar Signed-off-by: Muhammad Zulfaqar Azmi Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- .../behavior_path_lane_change_module/scene.hpp | 2 ++ .../src/scene.cpp | 13 ++++++++++++- .../behavior_path_planner_node.hpp | 6 ++++++ .../src/behavior_path_planner_node.cpp | 18 ++++++++++++++++++ .../data_manager.hpp | 3 +++ .../utils/path_safety_checker/safety_check.hpp | 2 +- .../utils/path_safety_checker/safety_check.cpp | 10 ++++++---- 7 files changed, 48 insertions(+), 6 deletions(-) diff --git a/planning/behavior_path_lane_change_module/include/behavior_path_lane_change_module/scene.hpp b/planning/behavior_path_lane_change_module/include/behavior_path_lane_change_module/scene.hpp index 0eec0ce75f622..7a76daff4bc55 100644 --- a/planning/behavior_path_lane_change_module/include/behavior_path_lane_change_module/scene.hpp +++ b/planning/behavior_path_lane_change_module/include/behavior_path_lane_change_module/scene.hpp @@ -172,6 +172,8 @@ class NormalLaneChange : public LaneChangeBase bool isVehicleStuck( const lanelet::ConstLanelets & current_lanes, const double obstacle_check_distance) const; + double get_max_velocity_for_safety_check() const; + bool isVehicleStuck(const lanelet::ConstLanelets & current_lanes) const; bool check_prepare_phase() const; diff --git a/planning/behavior_path_lane_change_module/src/scene.cpp b/planning/behavior_path_lane_change_module/src/scene.cpp index 3a4a44ef33edb..db96f7c83d72a 100644 --- a/planning/behavior_path_lane_change_module/src/scene.cpp +++ b/planning/behavior_path_lane_change_module/src/scene.cpp @@ -1967,7 +1967,7 @@ PathSafetyStatus NormalLaneChange::isLaneChangePathSafe( for (const auto & obj_path : obj_predicted_paths) { const auto collided_polygons = utils::path_safety_checker::getCollidedPolygons( path, ego_predicted_path, obj, obj_path, common_parameters, rss_params, 1.0, - current_debug_data.second); + get_max_velocity_for_safety_check(), current_debug_data.second); if (collided_polygons.empty()) { utils::path_safety_checker::updateCollisionCheckDebugMap( @@ -2062,6 +2062,17 @@ bool NormalLaneChange::isVehicleStuck( return false; } +double NormalLaneChange::get_max_velocity_for_safety_check() const +{ + const auto external_velocity_limit_ptr = planner_data_->external_limit_max_velocity; + if (external_velocity_limit_ptr) { + return std::min( + static_cast(external_velocity_limit_ptr->max_velocity), getCommonParam().max_vel); + } + + return getCommonParam().max_vel; +} + bool NormalLaneChange::isVehicleStuck(const lanelet::ConstLanelets & current_lanes) const { if (current_lanes.empty()) { diff --git a/planning/behavior_path_planner/include/behavior_path_planner/behavior_path_planner_node.hpp b/planning/behavior_path_planner/include/behavior_path_planner/behavior_path_planner_node.hpp index 99e312f98f100..5a49f4d9ab66e 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/behavior_path_planner_node.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/behavior_path_planner_node.hpp @@ -40,6 +40,7 @@ #include #include #include +#include #include #include @@ -103,6 +104,8 @@ class BehaviorPathPlannerNode : public rclcpp::Node rclcpp::Publisher::SharedPtr modified_goal_publisher_; rclcpp::Publisher::SharedPtr stop_reason_publisher_; rclcpp::Publisher::SharedPtr reroute_availability_publisher_; + rclcpp::Subscription::SharedPtr + external_limit_max_velocity_subscriber_; rclcpp::TimerBase::SharedPtr timer_; std::map::SharedPtr> path_candidate_publishers_; @@ -142,6 +145,9 @@ class BehaviorPathPlannerNode : public rclcpp::Node void onRoute(const LaneletRoute::ConstSharedPtr route_msg); void onOperationMode(const OperationModeState::ConstSharedPtr msg); void onLateralOffset(const LateralOffset::ConstSharedPtr msg); + void on_external_velocity_limiter( + const tier4_planning_msgs::msg::VelocityLimit::ConstSharedPtr msg); + SetParametersResult onSetParam(const std::vector & parameters); OnSetParametersCallbackHandle::SharedPtr m_set_param_res; diff --git a/planning/behavior_path_planner/src/behavior_path_planner_node.cpp b/planning/behavior_path_planner/src/behavior_path_planner_node.cpp index 1cea9e46cdb7b..d250fd97c3aec 100644 --- a/planning/behavior_path_planner/src/behavior_path_planner_node.cpp +++ b/planning/behavior_path_planner/src/behavior_path_planner_node.cpp @@ -112,6 +112,11 @@ BehaviorPathPlannerNode::BehaviorPathPlannerNode(const rclcpp::NodeOptions & nod current_scenario_ = std::make_shared(*msg); }, createSubscriptionOptions(this)); + external_limit_max_velocity_subscriber_ = + create_subscription( + "/planning/scenario_planning/max_velocity", 1, + std::bind(&BehaviorPathPlannerNode::on_external_velocity_limiter, this, _1), + createSubscriptionOptions(this)); // route_handler vector_map_subscriber_ = create_subscription( @@ -821,6 +826,19 @@ void BehaviorPathPlannerNode::onOperationMode(const OperationModeState::ConstSha const std::lock_guard lock(mutex_pd_); planner_data_->operation_mode = msg; } + +void BehaviorPathPlannerNode::on_external_velocity_limiter( + const tier4_planning_msgs::msg::VelocityLimit::ConstSharedPtr msg) +{ + // Note: Using this parameter during path planning might cause unexpected deceleration or jerk. + // Therefore, do not use it for anything other than safety checks. + if (!msg) { + return; + } + + const std::lock_guard lock(mutex_pd_); + planner_data_->external_limit_max_velocity = msg; +} void BehaviorPathPlannerNode::onLateralOffset(const LateralOffset::ConstSharedPtr msg) { std::lock_guard lock(mutex_pd_); diff --git a/planning/behavior_path_planner_common/include/behavior_path_planner_common/data_manager.hpp b/planning/behavior_path_planner_common/include/behavior_path_planner_common/data_manager.hpp index d196f2bc551bb..09f3c2c66bcd4 100644 --- a/planning/behavior_path_planner_common/include/behavior_path_planner_common/data_manager.hpp +++ b/planning/behavior_path_planner_common/include/behavior_path_planner_common/data_manager.hpp @@ -38,6 +38,7 @@ #include #include #include +#include #include #include @@ -65,6 +66,7 @@ using route_handler::RouteHandler; using tier4_planning_msgs::msg::LateralOffset; using PlanResult = PathWithLaneId::SharedPtr; using lanelet::TrafficLight; +using tier4_planning_msgs::msg::VelocityLimit; using unique_identifier_msgs::msg::UUID; struct TrafficSignalStamped @@ -161,6 +163,7 @@ struct PlannerData std::map traffic_light_id_map; BehaviorPathPlannerParameters parameters{}; drivable_area_expansion::DrivableAreaExpansionParameters drivable_area_expansion_parameters{}; + VelocityLimit::ConstSharedPtr external_limit_max_velocity{}; mutable std::vector drivable_area_expansion_prev_path_poses{}; mutable std::vector drivable_area_expansion_prev_curvatures{}; diff --git a/planning/behavior_path_planner_common/include/behavior_path_planner_common/utils/path_safety_checker/safety_check.hpp b/planning/behavior_path_planner_common/include/behavior_path_planner_common/utils/path_safety_checker/safety_check.hpp index 13009d5114439..53c4706e49c10 100644 --- a/planning/behavior_path_planner_common/include/behavior_path_planner_common/utils/path_safety_checker/safety_check.hpp +++ b/planning/behavior_path_planner_common/include/behavior_path_planner_common/utils/path_safety_checker/safety_check.hpp @@ -141,7 +141,7 @@ std::vector getCollidedPolygons( const ExtendedPredictedObject & target_object, const PredictedPathWithPolygon & target_object_path, const BehaviorPathPlannerParameters & common_parameters, const RSSparams & rss_parameters, - const double hysteresis_factor, CollisionCheckDebug & debug); + const double hysteresis_factor, const double max_velocity_limit, CollisionCheckDebug & debug); bool checkPolygonsIntersects( const std::vector & polys_1, const std::vector & polys_2); diff --git a/planning/behavior_path_planner_common/src/utils/path_safety_checker/safety_check.cpp b/planning/behavior_path_planner_common/src/utils/path_safety_checker/safety_check.cpp index e15a3c164bef1..6390c45376b37 100644 --- a/planning/behavior_path_planner_common/src/utils/path_safety_checker/safety_check.cpp +++ b/planning/behavior_path_planner_common/src/utils/path_safety_checker/safety_check.cpp @@ -26,6 +26,8 @@ #include #include +#include + namespace behavior_path_planner::utils::path_safety_checker { @@ -560,7 +562,7 @@ bool checkCollision( { const auto collided_polygons = getCollidedPolygons( planned_path, predicted_ego_path, target_object, target_object_path, common_parameters, - rss_parameters, hysteresis_factor, debug); + rss_parameters, hysteresis_factor, std::numeric_limits::max(), debug); return collided_polygons.empty(); } @@ -570,7 +572,7 @@ std::vector getCollidedPolygons( const ExtendedPredictedObject & target_object, const PredictedPathWithPolygon & target_object_path, const BehaviorPathPlannerParameters & common_parameters, const RSSparams & rss_parameters, - double hysteresis_factor, CollisionCheckDebug & debug) + double hysteresis_factor, const double max_velocity_limit, CollisionCheckDebug & debug) { { debug.ego_predicted_path = predicted_ego_path; @@ -586,7 +588,7 @@ std::vector getCollidedPolygons( // get object information at current time const auto & obj_pose = obj_pose_with_poly.pose; const auto & obj_polygon = obj_pose_with_poly.poly; - const auto & object_velocity = obj_pose_with_poly.velocity; + const auto object_velocity = obj_pose_with_poly.velocity; // get ego information at current time // Note: we can create these polygons in advance. However, it can decrease the readability and @@ -599,7 +601,7 @@ std::vector getCollidedPolygons( } const auto & ego_pose = interpolated_data->pose; const auto & ego_polygon = interpolated_data->poly; - const auto & ego_velocity = interpolated_data->velocity; + const auto ego_velocity = std::min(interpolated_data->velocity, max_velocity_limit); // check overlap if (boost::geometry::overlaps(ego_polygon, obj_polygon)) { From d340d10fbbbb04eb1ba614bb05f3f4d3b110792c Mon Sep 17 00:00:00 2001 From: Taekjin LEE Date: Tue, 9 Apr 2024 15:24:21 +0900 Subject: [PATCH 23/54] fix(multi_object_tracker): mot timer bug fix (#6775) * fix: set object timestamp type to follow node time fix: remove comment Signed-off-by: Taekjin LEE * fix: add initialization checkers Signed-off-by: Taekjin LEE * fix: timestamp initialization Signed-off-by: Taekjin LEE --------- Signed-off-by: Taekjin LEE --- .../multi_object_tracker/src/debugger.cpp | 40 ++++++++++++------- .../src/multi_object_tracker_core.cpp | 11 +++-- 2 files changed, 32 insertions(+), 19 deletions(-) diff --git a/perception/multi_object_tracker/src/debugger.cpp b/perception/multi_object_tracker/src/debugger.cpp index 4304afbe2e055..b5632a13e78fc 100644 --- a/perception/multi_object_tracker/src/debugger.cpp +++ b/perception/multi_object_tracker/src/debugger.cpp @@ -18,12 +18,7 @@ #include -TrackerDebugger::TrackerDebugger(rclcpp::Node & node) -: diagnostic_updater_(&node), - node_(node), - last_input_stamp_(node.now()), - stamp_process_start_(node.now()), - stamp_publish_output_(node.now()) +TrackerDebugger::TrackerDebugger(rclcpp::Node & node) : diagnostic_updater_(&node), node_(node) { // declare debug parameters to decide whether to publish debug topics loadParameters(); @@ -39,7 +34,15 @@ TrackerDebugger::TrackerDebugger(rclcpp::Node & node) "debug/tentative_objects", rclcpp::QoS{1}); } - // initialize stop watch and diagnostics + // initialize timestamps + const rclcpp::Time now = node_.now(); + last_input_stamp_ = now; + stamp_process_start_ = now; + stamp_process_end_ = now; + stamp_publish_start_ = now; + stamp_publish_output_ = now; + + // setup diagnostics setupDiagnostics(); } @@ -73,7 +76,11 @@ void TrackerDebugger::loadParameters() void TrackerDebugger::checkDelay(diagnostic_updater::DiagnosticStatusWrapper & stat) { - const double delay = pipeline_latency_ms_; // [s] + if (!is_initialized_) { + stat.summary(diagnostic_msgs::msg::DiagnosticStatus::ERROR, "Measurement time is not set."); + return; + } + const double & delay = pipeline_latency_ms_; // [s] if (delay == 0.0) { stat.summary(diagnostic_msgs::msg::DiagnosticStatus::OK, "Detection delay is not calculated."); @@ -127,18 +134,21 @@ void TrackerDebugger::startPublishTime(const rclcpp::Time & now) void TrackerDebugger::endPublishTime(const rclcpp::Time & now, const rclcpp::Time & object_time) { - const auto current_time = now; + // if the measurement time is not set, do not publish debug information + if (!is_initialized_) return; + // pipeline latency: time from sensor measurement to publish, used for 'checkDelay' - pipeline_latency_ms_ = (current_time - last_input_stamp_).seconds() * 1e3; - if (debug_settings_.publish_processing_time && is_initialized_) { + pipeline_latency_ms_ = (now - last_input_stamp_).seconds() * 1e3; + + if (debug_settings_.publish_processing_time) { // processing latency: time between input and publish - double processing_latency_ms = ((current_time - stamp_process_start_).seconds()) * 1e3; + double processing_latency_ms = ((now - stamp_process_start_).seconds()) * 1e3; // processing time: only the time spent in the tracking processes - double processing_time_ms = ((current_time - stamp_publish_start_).seconds() + + double processing_time_ms = ((now - stamp_publish_start_).seconds() + (stamp_process_end_ - stamp_process_start_).seconds()) * 1e3; // cycle time: time between two consecutive publish - double cyclic_time_ms = (current_time - stamp_publish_output_).seconds() * 1e3; + double cyclic_time_ms = (now - stamp_publish_output_).seconds() * 1e3; // measurement to tracked-object time: time from the sensor measurement to the publishing object // time If there is not latency compensation, this value is zero double measurement_to_object_ms = (object_time - last_input_stamp_).seconds() * 1e3; @@ -155,5 +165,5 @@ void TrackerDebugger::endPublishTime(const rclcpp::Time & now, const rclcpp::Tim processing_time_publisher_->publish( "debug/meas_to_tracked_object_ms", measurement_to_object_ms); } - stamp_publish_output_ = current_time; + stamp_publish_output_ = now; } diff --git a/perception/multi_object_tracker/src/multi_object_tracker_core.cpp b/perception/multi_object_tracker/src/multi_object_tracker_core.cpp index aacd37766e8b0..8ff69ffaeaa9a 100644 --- a/perception/multi_object_tracker/src/multi_object_tracker_core.cpp +++ b/perception/multi_object_tracker/src/multi_object_tracker_core.cpp @@ -135,10 +135,14 @@ MultiObjectTracker::MultiObjectTracker(const rclcpp::NodeOptions & node_options) void MultiObjectTracker::onMeasurement( const autoware_auto_perception_msgs::msg::DetectedObjects::ConstSharedPtr input_objects_msg) { + // Get the time of the measurement + const rclcpp::Time measurement_time = + rclcpp::Time(input_objects_msg->header.stamp, this->now().get_clock_type()); + /* keep the latest input stamp and check transform*/ - debugger_->startMeasurementTime(this->now(), rclcpp::Time(input_objects_msg->header.stamp)); - const auto self_transform = getTransformAnonymous( - tf_buffer_, "base_link", world_frame_id_, input_objects_msg->header.stamp); + debugger_->startMeasurementTime(this->now(), measurement_time); + const auto self_transform = + getTransformAnonymous(tf_buffer_, "base_link", world_frame_id_, measurement_time); if (!self_transform) { return; } @@ -150,7 +154,6 @@ void MultiObjectTracker::onMeasurement( return; } /* tracker prediction */ - const rclcpp::Time measurement_time = input_objects_msg->header.stamp; for (auto itr = list_tracker_.begin(); itr != list_tracker_.end(); ++itr) { (*itr)->predict(measurement_time); } From f5c30eb55e52d52412a71369cb44eaab775f8ea4 Mon Sep 17 00:00:00 2001 From: Taekjin LEE Date: Tue, 9 Apr 2024 16:15:15 +0900 Subject: [PATCH 24/54] feat(multi_object_tracker): reduce publish delay (#6710) * feat: implement a new publish timer Signed-off-by: Taekjin LEE * chore: add comments for new variables Signed-off-by: Taekjin LEE * fix: variable name was wrong Signed-off-by: Taekjin LEE fix: reduce lower limit of publish interval Signed-off-by: Taekjin LEE fix: enlarge publish range upper limit Signed-off-by: Taekjin LEE fix: set parameter tested and agreed Signed-off-by: Taekjin LEE --------- Signed-off-by: Taekjin LEE --- .../multi_object_tracker_core.hpp | 10 ++-- .../src/multi_object_tracker_core.cpp | 48 +++++++++++++------ 2 files changed, 41 insertions(+), 17 deletions(-) diff --git a/perception/multi_object_tracker/include/multi_object_tracker/multi_object_tracker_core.hpp b/perception/multi_object_tracker/include/multi_object_tracker/multi_object_tracker_core.hpp index 94cc7185bd518..fe41f97cb5a77 100644 --- a/perception/multi_object_tracker/include/multi_object_tracker/multi_object_tracker_core.hpp +++ b/perception/multi_object_tracker/include/multi_object_tracker/multi_object_tracker_core.hpp @@ -58,7 +58,11 @@ class MultiObjectTracker : public rclcpp::Node tracked_objects_pub_; rclcpp::Subscription::SharedPtr detected_object_sub_; - rclcpp::TimerBase::SharedPtr publish_timer_; // publish timer + + // publish timer + rclcpp::TimerBase::SharedPtr publish_timer_; + rclcpp::Time last_published_time_; + double publisher_period_; // debugger class std::unique_ptr debugger_; @@ -79,14 +83,14 @@ class MultiObjectTracker : public rclcpp::Node std::unique_ptr data_association_; void checkTrackerLifeCycle( - std::list> & list_tracker, const rclcpp::Time & time, - const geometry_msgs::msg::Transform & self_transform); + std::list> & list_tracker, const rclcpp::Time & time); void sanitizeTracker( std::list> & list_tracker, const rclcpp::Time & time); std::shared_ptr createNewTracker( const autoware_auto_perception_msgs::msg::DetectedObject & object, const rclcpp::Time & time, const geometry_msgs::msg::Transform & self_transform) const; + void checkAndPublish(const rclcpp::Time & time); void publish(const rclcpp::Time & time) const; inline bool shouldTrackerPublish(const std::shared_ptr tracker) const; }; diff --git a/perception/multi_object_tracker/src/multi_object_tracker_core.cpp b/perception/multi_object_tracker/src/multi_object_tracker_core.cpp index 8ff69ffaeaa9a..785038fb513c9 100644 --- a/perception/multi_object_tracker/src/multi_object_tracker_core.cpp +++ b/perception/multi_object_tracker/src/multi_object_tracker_core.cpp @@ -68,6 +68,7 @@ boost::optional getTransformAnonymous( MultiObjectTracker::MultiObjectTracker(const rclcpp::NodeOptions & node_options) : rclcpp::Node("multi_object_tracker", node_options), + last_published_time_(this->now()), tf_buffer_(this->get_clock()), tf_listener_(tf_buffer_) { @@ -83,7 +84,7 @@ MultiObjectTracker::MultiObjectTracker(const rclcpp::NodeOptions & node_options) create_publisher("output", rclcpp::QoS{1}); // Parameters - double publish_rate = declare_parameter("publish_rate"); + double publish_rate = declare_parameter("publish_rate"); // [hz] world_frame_id_ = declare_parameter("world_frame_id"); bool enable_delay_compensation{declare_parameter("enable_delay_compensation")}; @@ -94,11 +95,15 @@ MultiObjectTracker::MultiObjectTracker(const rclcpp::NodeOptions & node_options) this->get_node_base_interface(), this->get_node_timers_interface()); tf_buffer_.setCreateTimerInterface(cti); - // Create ROS time based timer + // Create ROS time based timer. + // If the delay compensation is enabled, the timer is used to publish the output at the correct + // time. if (enable_delay_compensation) { - const auto period_ns = rclcpp::Rate(publish_rate).period(); + publisher_period_ = 1.0 / publish_rate; // [s] + constexpr double timer_multiplier = 20.0; // 20 times frequent for publish timing check + const auto timer_period = rclcpp::Rate(publish_rate * timer_multiplier).period(); publish_timer_ = rclcpp::create_timer( - this, get_clock(), period_ns, std::bind(&MultiObjectTracker::onTimer, this)); + this, get_clock(), timer_period, std::bind(&MultiObjectTracker::onTimer, this)); } const auto tmp = this->declare_parameter>("can_assign_matrix"); @@ -179,7 +184,7 @@ void MultiObjectTracker::onMeasurement( } /* life cycle check */ - checkTrackerLifeCycle(list_tracker_, measurement_time, *self_transform); + checkTrackerLifeCycle(list_tracker_, measurement_time); /* sanitize trackers */ sanitizeTracker(list_tracker_, measurement_time); @@ -198,7 +203,14 @@ void MultiObjectTracker::onMeasurement( // Publish objects if the timer is not enabled if (publish_timer_ == nullptr) { + // Publish if the delay compensation is disabled publish(measurement_time); + } else { + // Publish if the next publish time is close + const double minimum_publish_interval = publisher_period_ * 0.70; // 70% of the period + if ((this->now() - last_published_time_).seconds() > minimum_publish_interval) { + checkAndPublish(this->now()); + } } } @@ -232,24 +244,32 @@ std::shared_ptr MultiObjectTracker::createNewTracker( void MultiObjectTracker::onTimer() { const rclcpp::Time current_time = this->now(); - const auto self_transform = - getTransformAnonymous(tf_buffer_, world_frame_id_, "base_link", current_time); - if (!self_transform) { - return; + // check the publish period + const auto elapsed_time = (current_time - last_published_time_).seconds(); + // if the elapsed time is over the period, publish objects with prediction + constexpr double maximum_latency_ratio = 1.11; // 11% margin + const double maximum_publish_latency = publisher_period_ * maximum_latency_ratio; + if (elapsed_time > maximum_publish_latency) { + checkAndPublish(current_time); } +} +void MultiObjectTracker::checkAndPublish(const rclcpp::Time & time) +{ /* life cycle check */ - checkTrackerLifeCycle(list_tracker_, current_time, *self_transform); + checkTrackerLifeCycle(list_tracker_, time); /* sanitize trackers */ - sanitizeTracker(list_tracker_, current_time); + sanitizeTracker(list_tracker_, time); // Publish - publish(current_time); + publish(time); + + // Update last published time + last_published_time_ = this->now(); } void MultiObjectTracker::checkTrackerLifeCycle( - std::list> & list_tracker, const rclcpp::Time & time, - [[maybe_unused]] const geometry_msgs::msg::Transform & self_transform) + std::list> & list_tracker, const rclcpp::Time & time) { /* params */ constexpr float max_elapsed_time = 1.0; From 094f3e6710f06acec009d3ddad41aafefb000381 Mon Sep 17 00:00:00 2001 From: badai nguyen <94814556+badai-nguyen@users.noreply.github.com> Date: Tue, 9 Apr 2024 20:36:43 +0900 Subject: [PATCH 25/54] chore(ground_segmentation): add tuning param (#6753) * chore(ground_segmentation): add tuning param Signed-off-by: badai-nguyen * fix: and param into yaml file Signed-off-by: badai-nguyen * chore: typo Signed-off-by: badai-nguyen * chore: typo Signed-off-by: badai-nguyen * chore: refactor Signed-off-by: badai-nguyen --------- Signed-off-by: badai-nguyen --- .../config/ground_segmentation.param.yaml | 1 + .../config/scan_ground_filter.param.yaml | 1 + .../ground_segmentation/docs/scan-ground-filter.md | 1 + .../scan_ground_filter_nodelet.hpp | 4 +++- .../src/scan_ground_filter_nodelet.cpp | 11 +++++++---- .../test/test_scan_ground_filter.cpp | 3 +++ 6 files changed, 16 insertions(+), 5 deletions(-) diff --git a/perception/ground_segmentation/config/ground_segmentation.param.yaml b/perception/ground_segmentation/config/ground_segmentation.param.yaml index 756882391183e..594ef1fe974b2 100644 --- a/perception/ground_segmentation/config/ground_segmentation.param.yaml +++ b/perception/ground_segmentation/config/ground_segmentation.param.yaml @@ -33,3 +33,4 @@ center_pcl_shift: 0.0 radial_divider_angle_deg: 1.0 use_recheck_ground_cluster: true + use_lowest_point: true diff --git a/perception/ground_segmentation/config/scan_ground_filter.param.yaml b/perception/ground_segmentation/config/scan_ground_filter.param.yaml index bc02a1ab7e6e7..35d494a620b19 100644 --- a/perception/ground_segmentation/config/scan_ground_filter.param.yaml +++ b/perception/ground_segmentation/config/scan_ground_filter.param.yaml @@ -15,3 +15,4 @@ center_pcl_shift: 0.0 radial_divider_angle_deg: 1.0 use_recheck_ground_cluster: true + use_lowest_point: true diff --git a/perception/ground_segmentation/docs/scan-ground-filter.md b/perception/ground_segmentation/docs/scan-ground-filter.md index 21df6fa6ea1b9..d4eb9c6f3addf 100644 --- a/perception/ground_segmentation/docs/scan-ground-filter.md +++ b/perception/ground_segmentation/docs/scan-ground-filter.md @@ -50,6 +50,7 @@ This implementation inherits `pointcloud_preprocessor::Filter` class, please ref | `low_priority_region_x` | float | -20.0 | The non-zero x threshold in back side from which small objects detection is low priority [m] | | `elevation_grid_mode` | bool | true | Elevation grid scan mode option | | `use_recheck_ground_cluster` | bool | true | Enable recheck ground cluster | +| `use_lowest_point` | bool | true | to select lowest point for reference in recheck ground cluster, otherwise select middle point | ## Assumptions / Known limits diff --git a/perception/ground_segmentation/include/ground_segmentation/scan_ground_filter_nodelet.hpp b/perception/ground_segmentation/include/ground_segmentation/scan_ground_filter_nodelet.hpp index d017d06929702..d97bbaa2118e5 100644 --- a/perception/ground_segmentation/include/ground_segmentation/scan_ground_filter_nodelet.hpp +++ b/perception/ground_segmentation/include/ground_segmentation/scan_ground_filter_nodelet.hpp @@ -194,6 +194,8 @@ class ScanGroundFilterComponent : public pointcloud_preprocessor::Filter split_height_distance_; // useful for close points bool use_virtual_ground_point_; bool use_recheck_ground_cluster_; // to enable recheck ground cluster + bool use_lowest_point_; // to select lowest point for reference in recheck ground cluster, + // otherwise select middle point size_t radial_dividers_num_; VehicleInfo vehicle_info_; @@ -258,7 +260,7 @@ class ScanGroundFilterComponent : public pointcloud_preprocessor::Filter * @param non_ground_indices Output non-ground PointCloud indices */ void recheckGroundCluster( - PointsCentroid & gnd_cluster, const float non_ground_threshold, + PointsCentroid & gnd_cluster, const float non_ground_threshold, const bool use_lowest_point, pcl::PointIndices & non_ground_indices); /*! * Returns the resulting complementary PointCloud, one with the points kept diff --git a/perception/ground_segmentation/src/scan_ground_filter_nodelet.cpp b/perception/ground_segmentation/src/scan_ground_filter_nodelet.cpp index 7a0333d95075b..34573b564fa36 100644 --- a/perception/ground_segmentation/src/scan_ground_filter_nodelet.cpp +++ b/perception/ground_segmentation/src/scan_ground_filter_nodelet.cpp @@ -57,6 +57,7 @@ ScanGroundFilterComponent::ScanGroundFilterComponent(const rclcpp::NodeOptions & split_height_distance_ = declare_parameter("split_height_distance"); use_virtual_ground_point_ = declare_parameter("use_virtual_ground_point"); use_recheck_ground_cluster_ = declare_parameter("use_recheck_ground_cluster"); + use_lowest_point_ = declare_parameter("use_lowest_point"); radial_dividers_num_ = std::ceil(2.0 * M_PI / radial_divider_angle_rad_); vehicle_info_ = VehicleInfoUtil(*this).getVehicleInfo(); @@ -316,14 +317,15 @@ void ScanGroundFilterComponent::checkBreakGndGrid( } void ScanGroundFilterComponent::recheckGroundCluster( - PointsCentroid & gnd_cluster, const float non_ground_threshold, + PointsCentroid & gnd_cluster, const float non_ground_threshold, const bool use_lowest_point, pcl::PointIndices & non_ground_indices) { - const float min_gnd_height = gnd_cluster.getMinHeight(); + float reference_height = + use_lowest_point ? gnd_cluster.getMinHeight() : gnd_cluster.getAverageHeight(); const pcl::PointIndices & gnd_indices = gnd_cluster.getIndicesRef(); const std::vector & height_list = gnd_cluster.getHeightListRef(); for (size_t i = 0; i < height_list.size(); ++i) { - if (height_list.at(i) >= min_gnd_height + non_ground_threshold) { + if (height_list.at(i) >= reference_height + non_ground_threshold) { non_ground_indices.indices.push_back(gnd_indices.indices.at(i)); } } @@ -403,7 +405,8 @@ void ScanGroundFilterComponent::classifyPointCloudGridScan( if (p->grid_id > prev_p->grid_id && ground_cluster.getAverageRadius() > 0.0) { // check if the prev grid have ground point cloud if (use_recheck_ground_cluster_) { - recheckGroundCluster(ground_cluster, non_ground_height_threshold_, out_no_ground_indices); + recheckGroundCluster( + ground_cluster, non_ground_height_threshold_, use_lowest_point_, out_no_ground_indices); } curr_gnd_grid.radius = ground_cluster.getAverageRadius(); curr_gnd_grid.avg_height = ground_cluster.getAverageHeight(); diff --git a/perception/ground_segmentation/test/test_scan_ground_filter.cpp b/perception/ground_segmentation/test/test_scan_ground_filter.cpp index 444a38ea44754..e48bd36d8c54e 100644 --- a/perception/ground_segmentation/test/test_scan_ground_filter.cpp +++ b/perception/ground_segmentation/test/test_scan_ground_filter.cpp @@ -83,6 +83,7 @@ class ScanGroundFilterTest : public ::testing::Test rclcpp::Parameter("radial_divider_angle_deg", radial_divider_angle_deg_)); parameters.emplace_back( rclcpp::Parameter("use_recheck_ground_cluster", use_recheck_ground_cluster_)); + parameters.emplace_back(rclcpp::Parameter("use_lowest_point", use_lowest_point_)); options.parameter_overrides(parameters); @@ -157,6 +158,7 @@ class ScanGroundFilterTest : public ::testing::Test center_pcl_shift_ = params["center_pcl_shift"].as(); radial_divider_angle_deg_ = params["radial_divider_angle_deg"].as(); use_recheck_ground_cluster_ = params["use_recheck_ground_cluster"].as(); + use_lowest_point_ = params["use_lowest_point"].as(); } float global_slope_max_angle_deg_ = 0.0; @@ -174,6 +176,7 @@ class ScanGroundFilterTest : public ::testing::Test float center_pcl_shift_; float radial_divider_angle_deg_; bool use_recheck_ground_cluster_; + bool use_lowest_point_; }; TEST_F(ScanGroundFilterTest, TestCase1) From 9cbd02d7dd5c505ec604efca73d6eb61442ee2bd Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Tue, 9 Apr 2024 20:59:21 +0900 Subject: [PATCH 26/54] fix(avoidance): bug in the logic to judge whether it's a parked vehicle (#6768) fix(avoidance): adjacent lane check for ambiguous stopped vehicle Signed-off-by: satoshi-ota --- .../behavior_path_avoidance_module/utils.hpp | 4 -- .../src/scene.cpp | 1 - .../src/utils.cpp | 45 +++---------------- 3 files changed, 5 insertions(+), 45 deletions(-) diff --git a/planning/behavior_path_avoidance_module/include/behavior_path_avoidance_module/utils.hpp b/planning/behavior_path_avoidance_module/include/behavior_path_avoidance_module/utils.hpp index 9dc23ea4ec80e..3f1d3495e51cb 100644 --- a/planning/behavior_path_avoidance_module/include/behavior_path_avoidance_module/utils.hpp +++ b/planning/behavior_path_avoidance_module/include/behavior_path_avoidance_module/utils.hpp @@ -85,10 +85,6 @@ lanelet::ConstLanelets getAdjacentLane( const std::shared_ptr & planner_data, const std::shared_ptr & parameters, const bool is_right_shift); -lanelet::ConstLanelets getTargetLanelets( - const std::shared_ptr & planner_data, lanelet::ConstLanelets & route_lanelets, - const double left_offset, const double right_offset); - lanelet::ConstLanelets getCurrentLanesFromPath( const PathWithLaneId & path, const std::shared_ptr & planner_data); diff --git a/planning/behavior_path_avoidance_module/src/scene.cpp b/planning/behavior_path_avoidance_module/src/scene.cpp index b22a4bf53eab0..a7430efd1c860 100644 --- a/planning/behavior_path_avoidance_module/src/scene.cpp +++ b/planning/behavior_path_avoidance_module/src/scene.cpp @@ -318,7 +318,6 @@ void AvoidanceModule::fillAvoidanceTargetObjects( using utils::avoidance::fillAvoidanceNecessity; using utils::avoidance::fillObjectStoppableJudge; using utils::avoidance::filterTargetObjects; - using utils::avoidance::getTargetLanelets; using utils::avoidance::separateObjectsByPath; using utils::avoidance::updateRoadShoulderDistance; using utils::traffic_light::calcDistanceToRedTrafficLight; diff --git a/planning/behavior_path_avoidance_module/src/utils.cpp b/planning/behavior_path_avoidance_module/src/utils.cpp index fdb2b9b71c782..6c2b72db0237d 100644 --- a/planning/behavior_path_avoidance_module/src/utils.cpp +++ b/planning/behavior_path_avoidance_module/src/utils.cpp @@ -575,9 +575,11 @@ bool isNeverAvoidanceTarget( } if (object.is_on_ego_lane) { - if ( - planner_data->route_handler->getRightLanelet(object.overhang_lanelet).has_value() && - planner_data->route_handler->getLeftLanelet(object.overhang_lanelet).has_value()) { + const auto right_lane = + planner_data->route_handler->getRightLanelet(object.overhang_lanelet, true, false); + const auto left_lane = + planner_data->route_handler->getLeftLanelet(object.overhang_lanelet, true, false); + if (right_lane.has_value() && left_lane.has_value()) { object.reason = AvoidanceDebugFactor::NOT_PARKING_OBJECT; RCLCPP_DEBUG(rclcpp::get_logger(__func__), "object isn't on the edge lane. never avoid it."); return true; @@ -1219,43 +1221,6 @@ std::vector generateObstaclePolygonsForDrivableArea( return obstacles_for_drivable_area; } -lanelet::ConstLanelets getTargetLanelets( - const std::shared_ptr & planner_data, lanelet::ConstLanelets & route_lanelets, - const double left_offset, const double right_offset) -{ - const auto & rh = planner_data->route_handler; - - lanelet::ConstLanelets target_lanelets{}; - for (const auto & lane : route_lanelets) { - auto l_offset = 0.0; - auto r_offset = 0.0; - - const auto opt_left_lane = rh->getLeftLanelet(lane); - if (opt_left_lane) { - target_lanelets.push_back(opt_left_lane.value()); - } else { - l_offset = left_offset; - } - - const auto opt_right_lane = rh->getRightLanelet(lane); - if (opt_right_lane) { - target_lanelets.push_back(opt_right_lane.value()); - } else { - r_offset = right_offset; - } - - const auto right_opposite_lanes = rh->getRightOppositeLanelets(lane); - if (!right_opposite_lanes.empty()) { - target_lanelets.push_back(right_opposite_lanes.front()); - } - - const auto expand_lane = lanelet::utils::getExpandedLanelet(lane, l_offset, r_offset); - target_lanelets.push_back(expand_lane); - } - - return target_lanelets; -} - lanelet::ConstLanelets getCurrentLanesFromPath( const PathWithLaneId & path, const std::shared_ptr & planner_data) { From c3b727f002e0400130e891909a868d3b75ee6d1e Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Tue, 9 Apr 2024 22:14:00 +0900 Subject: [PATCH 27/54] fix(avoidance): fix margin param inconsistency (#6765) Signed-off-by: satoshi-ota --- .../behavior_path_avoidance_module/src/scene.cpp | 15 ++++++++++++--- 1 file changed, 12 insertions(+), 3 deletions(-) diff --git a/planning/behavior_path_avoidance_module/src/scene.cpp b/planning/behavior_path_avoidance_module/src/scene.cpp index a7430efd1c860..33f58c6a08dfc 100644 --- a/planning/behavior_path_avoidance_module/src/scene.cpp +++ b/planning/behavior_path_avoidance_module/src/scene.cpp @@ -641,7 +641,10 @@ void AvoidanceModule::fillDebugData( const auto constant_distance = helper_->getFrontConstantDistance(o_front); const auto & vehicle_width = planner_data_->parameters.vehicle_width; - const auto max_avoid_margin = object_parameter.lateral_hard_margin * o_front.distance_factor + + const auto lateral_hard_margin = o_front.is_parked + ? object_parameter.lateral_hard_margin_for_parked_vehicle + : object_parameter.lateral_hard_margin; + const auto max_avoid_margin = lateral_hard_margin * o_front.distance_factor + object_parameter.lateral_soft_margin + 0.5 * vehicle_width; const auto avoidance_distance = helper_->getSharpAvoidanceDistance( @@ -1431,7 +1434,10 @@ double AvoidanceModule::calcDistanceToStopLine(const ObjectData & object) const const auto object_type = utils::getHighestProbLabel(object.object.classification); const auto object_parameter = parameters_->object_parameters.at(object_type); - const auto avoid_margin = object_parameter.lateral_hard_margin * object.distance_factor + + const auto lateral_hard_margin = object.is_parked + ? object_parameter.lateral_hard_margin_for_parked_vehicle + : object_parameter.lateral_hard_margin; + const auto avoid_margin = lateral_hard_margin * object.distance_factor + object_parameter.lateral_soft_margin + 0.5 * vehicle_width; const auto avoidance_distance = helper_->getMinAvoidanceDistance( helper_->getShiftLength(object, utils::avoidance::isOnRight(object), avoid_margin)); @@ -1675,7 +1681,10 @@ void AvoidanceModule::insertPrepareVelocity(ShiftedPath & shifted_path) const const auto & vehicle_width = planner_data_->parameters.vehicle_width; const auto object_type = utils::getHighestProbLabel(object.value().object.classification); const auto object_parameter = parameters_->object_parameters.at(object_type); - const auto avoid_margin = object_parameter.lateral_hard_margin * object.value().distance_factor + + const auto lateral_hard_margin = object.value().is_parked + ? object_parameter.lateral_hard_margin_for_parked_vehicle + : object_parameter.lateral_hard_margin; + const auto avoid_margin = lateral_hard_margin * object.value().distance_factor + object_parameter.lateral_soft_margin + 0.5 * vehicle_width; const auto shift_length = helper_->getShiftLength( object.value(), utils::avoidance::isOnRight(object.value()), avoid_margin); From fd1a27e053823fb6a3e38522b4c884deb5a9809d Mon Sep 17 00:00:00 2001 From: Aswin <130948783+4swinv@users.noreply.github.com> Date: Wed, 10 Apr 2024 11:35:35 +0900 Subject: [PATCH 28/54] fix(freespace_planning_algorithms): fix issue of astar search planner not reaching goal pose (#6562) fix(freespace_planning_algorithms): fix issue of freespace planner not reaching goal pose --- .../src/astar_search.cpp | 11 +++++++++++ 1 file changed, 11 insertions(+) diff --git a/planning/freespace_planning_algorithms/src/astar_search.cpp b/planning/freespace_planning_algorithms/src/astar_search.cpp index 1ab5e9d5df487..3cc3801575116 100644 --- a/planning/freespace_planning_algorithms/src/astar_search.cpp +++ b/planning/freespace_planning_algorithms/src/astar_search.cpp @@ -292,6 +292,17 @@ void AstarSearch::setPath(const AstarNode & goal_node) // From the goal node to the start node const AstarNode * node = &goal_node; + // push exact goal pose first + geometry_msgs::msg::PoseStamped pose; + pose.header = header; + pose.pose = local2global(costmap_, goal_pose_); + + PlannerWaypoint pw; + pw.pose = pose; + pw.is_back = node->is_back; + waypoints_.waypoints.push_back(pw); + + // push astar nodes poses while (node != nullptr) { geometry_msgs::msg::PoseStamped pose; pose.header = header; From 2b48d25ac6d32c7617be8d098b78c76df6101560 Mon Sep 17 00:00:00 2001 From: Yuki TAKAGI <141538661+yuki-takagi-66@users.noreply.github.com> Date: Wed, 10 Apr 2024 11:53:01 +0900 Subject: [PATCH 29/54] docs(dynamic_avoidance): fix sentence (#6782) * fix confusing sentence Signed-off-by: Yuki Takagi --- .../README.md | 23 +++++++++---------- 1 file changed, 11 insertions(+), 12 deletions(-) diff --git a/planning/behavior_path_dynamic_avoidance_module/README.md b/planning/behavior_path_dynamic_avoidance_module/README.md index 10276db0efab2..89a661d66735e 100644 --- a/planning/behavior_path_dynamic_avoidance_module/README.md +++ b/planning/behavior_path_dynamic_avoidance_module/README.md @@ -4,15 +4,16 @@ This module is under development. ## Purpose / Role -This module provides avoidance functions for vehicles, pedestrians, and obstacles in the vicinity of the ego's path in combination with the obstacle_avoidance module. +This module provides avoidance functions for vehicles, pedestrians, and obstacles in the vicinity of the ego's path in combination with the [obstacle_avoidance_planner](https://autowarefoundation.github.io/autoware.universe/main/planning/obstacle_avoidance_planner/). Each module performs the following roles. -Dynamic Avoidance module: This module cuts off the drivable area according to the position and velocity of the target to be avoided. -Obstacle Avoidance module: This module modifies the path to be followed so that it fits within the drivable area received. +Dynamic Avoidance module cuts off the drivable area according to the position and velocity of the target to be avoided. +Obstacle Avoidance module modifies the path to be followed so that it fits within the received drivable area. -Avoidance functions are also provided by the Avoidance module, which allows avoidance through the outside of own lanes but not against moving objects. +Avoidance functions are also provided by the [Avoidance module](https://autowarefoundation.github.io/autoware.universe/main/planning/behavior_path_avoidance_module/), but these modules have different roles. +The Avoidance module performs avoidance through the outside of own lanes but cannot avoid the moving objects. On the other hand, this module can avoid moving objects. -For this reason, the word "dynamic" is used in its name. -The table below lists the avoidance modules that can be used for each situation. +For this reason, the word "dynamic" is used in the modules's name. +The table below lists the avoidance modules that can handle each situation. | | avoid within the own lane | avoid through the outside of own lanes | | :----------------------- | :------------------------------------------------------------------------: | :------------------------------------: | @@ -23,7 +24,6 @@ The table below lists the avoidance modules that can be used for each situation. Here, we describe the policy of inner algorithms. The inner algorithms can be separated into two parts: The first decide whether to avoid the obstacles and the second cuts off the drivable area against the corresponding obstacle. -If you are interested in more details, please see the code itself. ### Select obstacles to avoid @@ -31,11 +31,10 @@ To decide whether to avoid an object, both the predicted path and the state (pos The type of objects the user wants this module to avoid is also required. Using this information, the module decides to _avoid_ objects that _obstruct the ego's passage_ and _can be avoided_. -The definition of _obstruct own passage_ is implemented as the object that collides within seconds. -This process wastes computational cost by doing it for all objects; thus, filtering by the relative position and speed of the object with respect to the ego's path is also done as an auxiliary process. -The other, _can be avoided_ denotes whether it can be avoided without risk to passengers or other vehicles. -For this purpose, it is judged whether the obstacle can be avoided by satisfying the constraints of lateral acceleration and lateral jerk. -For example, the module decides not to avoid an object that is too close or fast in the lateral direction because it cannot be avoided. +The definition of _obstruct the ego's passage_ is implemented as the object that collides within seconds. +The other, _can be avoided_ denotes whether it can be avoided without risk to the passengers or the other vehicles. +For this purpose, the module judges whether the obstacle can be avoided with satisfying the constraints of lateral acceleration and lateral jerk. +For example, the module decides not to avoid an object that is too close or fast in the lateral direction. ### Cuts off the drivable area against the selected obstacles From 81c432e8110ca54acc5e6fc4a757eff87724c39b Mon Sep 17 00:00:00 2001 From: Taekjin LEE Date: Wed, 10 Apr 2024 13:16:21 +0900 Subject: [PATCH 30/54] chore(multi_object_tracker): change node and glog implementation (#6780) * chore: change node and glog impl Signed-off-by: Taekjin LEE * style(pre-commit): autofix --------- Signed-off-by: Taekjin LEE Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com> --- .../multi_object_tracker/CMakeLists.txt | 10 +++--- .../src/multi_object_tracker_core.cpp | 4 --- .../src/multi_object_tracker_node.cpp | 34 +++++++++++++++++++ 3 files changed, 40 insertions(+), 8 deletions(-) create mode 100644 perception/multi_object_tracker/src/multi_object_tracker_node.cpp diff --git a/perception/multi_object_tracker/CMakeLists.txt b/perception/multi_object_tracker/CMakeLists.txt index 8d835fec20a9b..185ca175df2b6 100644 --- a/perception/multi_object_tracker/CMakeLists.txt +++ b/perception/multi_object_tracker/CMakeLists.txt @@ -47,12 +47,14 @@ ament_auto_add_library(multi_object_tracker_node SHARED target_link_libraries(multi_object_tracker_node Eigen3::Eigen - glog::glog ) -rclcpp_components_register_node(multi_object_tracker_node - PLUGIN "MultiObjectTracker" - EXECUTABLE multi_object_tracker +ament_auto_add_executable(${PROJECT_NAME} + src/multi_object_tracker_node.cpp +) + +target_link_libraries(${PROJECT_NAME} + multi_object_tracker_node glog ) ament_auto_package(INSTALL_TO_SHARE diff --git a/perception/multi_object_tracker/src/multi_object_tracker_core.cpp b/perception/multi_object_tracker/src/multi_object_tracker_core.cpp index 785038fb513c9..220d1104b33ee 100644 --- a/perception/multi_object_tracker/src/multi_object_tracker_core.cpp +++ b/perception/multi_object_tracker/src/multi_object_tracker_core.cpp @@ -72,10 +72,6 @@ MultiObjectTracker::MultiObjectTracker(const rclcpp::NodeOptions & node_options) tf_buffer_(this->get_clock()), tf_listener_(tf_buffer_) { - // glog for debug - google::InitGoogleLogging("multi_object_tracker"); - google::InstallFailureSignalHandler(); - // Create publishers and subscribers detected_object_sub_ = create_subscription( "input", rclcpp::QoS{1}, diff --git a/perception/multi_object_tracker/src/multi_object_tracker_node.cpp b/perception/multi_object_tracker/src/multi_object_tracker_node.cpp new file mode 100644 index 0000000000000..f20aedf16efef --- /dev/null +++ b/perception/multi_object_tracker/src/multi_object_tracker_node.cpp @@ -0,0 +1,34 @@ +// Copyright 2024 TIER IV, inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "multi_object_tracker/multi_object_tracker_core.hpp" + +#include + +#include + +int main(int argc, char ** argv) +{ + google::InitGoogleLogging(argv[0]); // NOLINT + google::InstallFailureSignalHandler(); + + rclcpp::init(argc, argv); + rclcpp::NodeOptions options; + auto multi_object_tracker = std::make_shared(options); + rclcpp::executors::SingleThreadedExecutor exec; + exec.add_node(multi_object_tracker); + exec.spin(); + rclcpp::shutdown(); + return 0; +} From 9f915019c9eaa4a1ecd0b20dc77c6c603ceac407 Mon Sep 17 00:00:00 2001 From: Keisuke Shima <19993104+KeisukeShima@users.noreply.github.com> Date: Thu, 11 Apr 2024 09:52:56 +0900 Subject: [PATCH 31/54] feat(fault injection): change for diagnostic graph aggregator (#6750) * feat: change to adapt diagnostic graph aggregator Signed-off-by: Keisuke Shima <19993104+KeisukeShima@users.noreply.github.com> * Change the configuration to adapt to both system_error_monitor and diagnostic_graph_aggregator Signed-off-by: Keisuke Shima <19993104+KeisukeShima@users.noreply.github.com> * style(pre-commit): autofix * pre-commit fix Signed-off-by: Keisuke Shima <19993104+KeisukeShima@users.noreply.github.com> * style(pre-commit): autofix * spell check fix Signed-off-by: Keisuke Shima <19993104+KeisukeShima@users.noreply.github.com> * clang-tidy fix Signed-off-by: Keisuke Shima <19993104+KeisukeShima@users.noreply.github.com> * style(pre-commit): autofix * pre-commit fix Signed-off-by: Keisuke Shima <19993104+KeisukeShima@users.noreply.github.com> * style(pre-commit): autofix * fix datatype Signed-off-by: Keisuke Shima <19993104+KeisukeShima@users.noreply.github.com> * cleanup code Signed-off-by: Keisuke Shima <19993104+KeisukeShima@users.noreply.github.com> --------- Signed-off-by: Keisuke Shima <19993104+KeisukeShima@users.noreply.github.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Tomohito ANDO --- simulator/fault_injection/README.md | 4 +- .../config/fault_injection.param.yaml | 64 ++--- .../fault_injection_diag_updater.hpp | 244 ++++++++++++++++++ .../fault_injection/fault_injection_node.hpp | 18 +- .../fault_injection_node.cpp | 43 +-- .../test/config/test_event_diag.param.yaml | 6 +- .../test/test_fault_injection_node.test.py | 6 +- 7 files changed, 298 insertions(+), 87 deletions(-) create mode 100644 simulator/fault_injection/include/fault_injection/fault_injection_diag_updater.hpp diff --git a/simulator/fault_injection/README.md b/simulator/fault_injection/README.md index cbac41ebfb640..cb3d6fea96a7a 100644 --- a/simulator/fault_injection/README.md +++ b/simulator/fault_injection/README.md @@ -27,7 +27,9 @@ launch_test test/test_fault_injection_node.test.py ### Output -None. +| Name | Type | Description | +| -------------- | --------------------------------------- | ----------------- | +| `/diagnostics` | `diagnostic_msgs::msg::DiagnosticArray` | Dummy diagnostics | ## Parameters diff --git a/simulator/fault_injection/config/fault_injection.param.yaml b/simulator/fault_injection/config/fault_injection.param.yaml index ac02442d70b4d..e9e90a336348e 100644 --- a/simulator/fault_injection/config/fault_injection.param.yaml +++ b/simulator/fault_injection/config/fault_injection.param.yaml @@ -1,37 +1,37 @@ /**: ros__parameters: event_diag_list: - vehicle_is_out_of_lane: "lane_departure" - trajectory_deviation_is_high: "trajectory_deviation" - localization_matching_score_is_low: "ndt_scan_matcher" - localization_accuracy_is_low: "localization_error_ellipse" - map_version_is_different: "map_version" - trajectory_is_invalid: "trajectory_point_validation" - cpu_temperature_is_high: "CPU Temperature" - cpu_usage_is_high: "CPU Usage" - cpu_is_in_thermal_throttling: "CPU Thermal Throttling" - storage_temperature_is_high: "HDD Temperature" - storage_usage_is_high: "HDD Usage" - network_usage_is_high: "Network Usage" - clock_error_is_large: "NTP Offset" - gpu_temperature_is_high: "GPU Temperature" - gpu_usage_is_high: "GPU Usage" - gpu_memory_usage_is_high: "GPU Memory Usage" - gpu_is_in_thermal_throttling: "GPU Thermal Throttling" - driving_recorder_storage_error: "driving_recorder" - debug_data_logger_storage_error: "bagpacker" - emergency_stop_operation: "emergency_stop_operation" - vehicle_error_occurred: "vehicle_errors" - vehicle_ecu_connection_is_lost: "can_bus_connection" - obstacle_crash_sensor_is_activated: "obstacle_crash" + vehicle_is_out_of_lane: ": lane_departure" + trajectory_deviation_is_high: ": trajectory_deviation" + localization_matching_score_is_low: ": ndt_scan_matcher" + localization_accuracy_is_low: ": localization_error_ellipse" + map_version_is_different: ": map_version" + trajectory_is_invalid: ": trajectory_point_validation" + cpu_temperature_is_high: ": CPU Temperature" + cpu_usage_is_high: ": CPU Usage" + cpu_is_in_thermal_throttling: ": CPU Thermal Throttling" + storage_temperature_is_high: ": HDD Temperature" + storage_usage_is_high: ": HDD Usage" + network_usage_is_high: ": Network Usage" + clock_error_is_large: ": NTP Offset" + gpu_temperature_is_high: ": GPU Temperature" + gpu_usage_is_high: ": GPU Usage" + gpu_memory_usage_is_high: ": GPU Memory Usage" + gpu_is_in_thermal_throttling: ": GPU Thermal Throttling" + driving_recorder_storage_error: ": driving_recorder" + debug_data_logger_storage_error: ": bagpacker" + emergency_stop_operation: ": emergency_stop_operation" + vehicle_error_occurred: ": vehicle_errors" + vehicle_ecu_connection_is_lost: ": can_bus_connection" + obstacle_crash_sensor_is_activated: ": obstacle_crash" /control/command_gate/node_alive_monitoring: "vehicle_cmd_gate: heartbeat" - /control/autonomous_driving/node_alive_monitoring: "control_topic_status" + /control/autonomous_driving/node_alive_monitoring: ": control_topic_status" /control/external_command_selector/node_alive_monitoring: "external_cmd_selector: heartbeat" - /localization/node_alive_monitoring: "localization_topic_status" - /map/node_alive_monitoring: "map_topic_status" - /planning/node_alive_monitoring: "planning_topic_status" - /sensing/lidar/node_alive_monitoring: "lidar_topic_status" - /sensing/imu/node_alive_monitoring: "imu_connection" - /sensing/gnss/node_alive_monitoring: "gnss_connection" - /system/node_alive_monitoring: "system_topic_status" - /vehicle/node_alive_monitoring: "vehicle_topic_status" + /localization/node_alive_monitoring: ": localization_topic_status" + /map/node_alive_monitoring: ": map_topic_status" + /planning/node_alive_monitoring: ": planning_topic_status" + /sensing/lidar/node_alive_monitoring: ": lidar_topic_status" + /sensing/imu/node_alive_monitoring: ": imu_connection" + /sensing/gnss/node_alive_monitoring: ": gnss_connection" + /system/node_alive_monitoring: ": system_topic_status" + /vehicle/node_alive_monitoring: ": vehicle_topic_status" diff --git a/simulator/fault_injection/include/fault_injection/fault_injection_diag_updater.hpp b/simulator/fault_injection/include/fault_injection/fault_injection_diag_updater.hpp new file mode 100644 index 0000000000000..948c2b45f6615 --- /dev/null +++ b/simulator/fault_injection/include/fault_injection/fault_injection_diag_updater.hpp @@ -0,0 +1,244 @@ +// Copyright 2024 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2008, Willow Garage, Inc. + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/or other materials provided + * with the distribution. + * * Neither the name of the Willow Garage nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ + +#ifndef FAULT_INJECTION__FAULT_INJECTION_DIAG_UPDATER_HPP_ +#define FAULT_INJECTION__FAULT_INJECTION_DIAG_UPDATER_HPP_ + +#include + +#include +#include +#include +#include + +namespace fault_injection +{ +class FaultInjectionDiagUpdater : public diagnostic_updater::DiagnosticTaskVector +{ +public: + template + explicit FaultInjectionDiagUpdater(NodeT node, double period = 1.0) + : FaultInjectionDiagUpdater( + node->get_node_base_interface(), node->get_node_clock_interface(), + node->get_node_logging_interface(), node->get_node_timers_interface(), + node->get_node_topics_interface(), period) + { + } + + FaultInjectionDiagUpdater( + const std::shared_ptr & base_interface, + const std::shared_ptr & clock_interface, + const std::shared_ptr & logging_interface, + std::shared_ptr timers_interface, + std::shared_ptr topics_interface, + double period = 1.0) + : base_interface_(base_interface), + timers_interface_(std::move(timers_interface)), + clock_(clock_interface->get_clock()), + period_(rclcpp::Duration::from_nanoseconds(static_cast(period * 1e9))), + publisher_(rclcpp::create_publisher( + topics_interface, "/diagnostics", 1)), + logger_(logging_interface->get_logger()), + node_name_(base_interface->get_name()) + { + reset_timer(); + } + + /** + * \brief Returns the interval between updates. + */ + [[nodiscard]] auto get_period() const { return period_; } + + /** + * \brief Sets the period as a rclcpp::Duration + */ + void set_period(const rclcpp::Duration & period) + { + period_ = period; + reset_timer(); + } + + /** + * \brief Sets the period given a value in seconds + */ + void set_period(double period) + { + set_period(rclcpp::Duration::from_nanoseconds(static_cast(period * 1e9))); + } + + /** + * \brief Forces to send out an update for all known DiagnosticStatus. + */ + void force_update() { update(); } + + /** + * \brief Output a message on all the known DiagnosticStatus. + * + * Useful if something drastic is happening such as shutdown or a + * self-test. + * + * \param lvl Level of the diagnostic being output. + * + * \param msg Status message to output. + */ + void broadcast(int lvl, const std::string & msg) + { + std::vector status_vec; + + const std::vector & tasks = getTasks(); + for (const auto & task : tasks) { + diagnostic_updater::DiagnosticStatusWrapper status; + + status.name = task.getName(); + status.summary(lvl, msg); + + status_vec.push_back(status); + } + + publish(status_vec); + } + + void set_hardware_id_f(const char * format, ...) + { + va_list va; + const int k_buffer_size = 1000; + char buff[1000]; // @todo This could be done more elegantly. + va_start(va, format); + if (vsnprintf(buff, k_buffer_size, format, va) >= k_buffer_size) { + RCLCPP_DEBUG(logger_, "Really long string in diagnostic_updater::setHardwareIDf."); + } + hardware_id_ = std::string(buff); + va_end(va); + } + + void set_hardware_id(const std::string & hardware_id) { hardware_id_ = hardware_id; } + +private: + void reset_timer() + { + update_timer_ = rclcpp::create_timer( + base_interface_, timers_interface_, clock_, period_, + std::bind(&FaultInjectionDiagUpdater::update, this)); + } + + /** + * \brief Causes the diagnostics to update if the inter-update interval + * has been exceeded. + */ + void update() + { + if (rclcpp::ok()) { + std::vector status_vec; + + std::unique_lock lock( + lock_); // Make sure no adds happen while we are processing here. + const std::vector & tasks = getTasks(); + for (const auto & task : tasks) { + diagnostic_updater::DiagnosticStatusWrapper status; + + status.name = task.getName(); + status.level = 2; + status.message = "No message was set"; + status.hardware_id = hardware_id_; + + task.run(status); + + status_vec.push_back(status); + } + + publish(status_vec); + } + } + + /** + * Publishes a single diagnostic status. + */ + void publish(diagnostic_msgs::msg::DiagnosticStatus & stat) + { + std::vector status_vec; + status_vec.push_back(stat); + publish(status_vec); + } + + /** + * Publishes a vector of diagnostic statuses. + */ + void publish(std::vector & status_vec) + { + diagnostic_msgs::msg::DiagnosticArray msg; + msg.status = status_vec; + msg.header.stamp = clock_->now(); + publisher_->publish(msg); + } + + /** + * Causes a placeholder DiagnosticStatus to be published as soon as a + * diagnostic task is added to the Updater. + */ + void addedTaskCallback(DiagnosticTaskInternal & task) override + { + diagnostic_updater::DiagnosticStatusWrapper stat; + stat.name = task.getName(); + stat.summary(0, "Node starting up"); + publish(stat); + } + + rclcpp::node_interfaces::NodeBaseInterface::SharedPtr base_interface_; + rclcpp::node_interfaces::NodeTimersInterface::SharedPtr timers_interface_; + rclcpp::Clock::SharedPtr clock_; + rclcpp::Duration period_; + rclcpp::TimerBase::SharedPtr update_timer_; + rclcpp::Publisher::SharedPtr publisher_; + rclcpp::Logger logger_; + + std::string hardware_id_; + std::string node_name_; +}; +} // namespace fault_injection + +#endif // FAULT_INJECTION__FAULT_INJECTION_DIAG_UPDATER_HPP_ diff --git a/simulator/fault_injection/include/fault_injection/fault_injection_node.hpp b/simulator/fault_injection/include/fault_injection/fault_injection_node.hpp index 0f578ff343a17..999d18b38c7b0 100644 --- a/simulator/fault_injection/include/fault_injection/fault_injection_node.hpp +++ b/simulator/fault_injection/include/fault_injection/fault_injection_node.hpp @@ -16,8 +16,8 @@ #define FAULT_INJECTION__FAULT_INJECTION_NODE_HPP_ #include "fault_injection/diagnostic_storage.hpp" +#include "fault_injection/fault_injection_diag_updater.hpp" -#include #include #include @@ -36,23 +36,15 @@ class FaultInjectionNode : public rclcpp::Node private: // Subscribers - void onSimulationEvents(const SimulationEvents::ConstSharedPtr msg); + void on_simulation_events(const SimulationEvents::ConstSharedPtr msg); rclcpp::Subscription::SharedPtr sub_simulation_events_; - // Parameter Server - rcl_interfaces::msg::SetParametersResult onSetParam( - const std::vector & params); - OnSetParametersCallbackHandle::SharedPtr set_param_res_; - - void updateEventDiag( + void update_event_diag( diagnostic_updater::DiagnosticStatusWrapper & wrap, const std::string & event_name); - void addDiag( - const diagnostic_msgs::msg::DiagnosticStatus & status, diagnostic_updater::Updater & updater); - - std::vector readEventDiagList(); + std::vector read_event_diag_list(); - diagnostic_updater::Updater updater_; + FaultInjectionDiagUpdater updater_; DiagnosticStorage diagnostic_storage_; }; diff --git a/simulator/fault_injection/src/fault_injection_node/fault_injection_node.cpp b/simulator/fault_injection/src/fault_injection_node/fault_injection_node.cpp index 9b86fa2de4294..7b8f87400beab 100644 --- a/simulator/fault_injection/src/fault_injection_node/fault_injection_node.cpp +++ b/simulator/fault_injection/src/fault_injection_node/fault_injection_node.cpp @@ -43,30 +43,26 @@ using rosidl_generator_traits::to_yaml; FaultInjectionNode::FaultInjectionNode(rclcpp::NodeOptions node_options) : Node("fault_injection", node_options.automatically_declare_parameters_from_overrides(true)), - updater_(this) + updater_(this, 0.05) { - updater_.setHardwareID("fault_injection"); + updater_.set_hardware_id("fault_injection"); using std::placeholders::_1; - // Parameter Server - set_param_res_ = - this->add_on_set_parameters_callback(std::bind(&FaultInjectionNode::onSetParam, this, _1)); - // Subscriber sub_simulation_events_ = this->create_subscription( "~/input/simulation_events", rclcpp::QoS{rclcpp::KeepLast(10)}, - std::bind(&FaultInjectionNode::onSimulationEvents, this, _1)); + std::bind(&FaultInjectionNode::on_simulation_events, this, _1)); // Load all config - for (const auto & diag : readEventDiagList()) { + for (const auto & diag : read_event_diag_list()) { diagnostic_storage_.registerEvent(diag); updater_.add( - diag.diag_name, std::bind(&FaultInjectionNode::updateEventDiag, this, _1, diag.sim_name)); + diag.diag_name, std::bind(&FaultInjectionNode::update_event_diag, this, _1, diag.sim_name)); } } -void FaultInjectionNode::onSimulationEvents(const SimulationEvents::ConstSharedPtr msg) +void FaultInjectionNode::on_simulation_events(const SimulationEvents::ConstSharedPtr msg) { RCLCPP_DEBUG(this->get_logger(), "Received data: %s", to_yaml(*msg).c_str()); for (const auto & event : msg->fault_injection_events) { @@ -76,7 +72,7 @@ void FaultInjectionNode::onSimulationEvents(const SimulationEvents::ConstSharedP } } -void FaultInjectionNode::updateEventDiag( +void FaultInjectionNode::update_event_diag( diagnostic_updater::DiagnosticStatusWrapper & wrap, const std::string & event_name) { const auto diag = diagnostic_storage_.getDiag(event_name); @@ -86,30 +82,7 @@ void FaultInjectionNode::updateEventDiag( wrap.hardware_id = diag.hardware_id; } -rcl_interfaces::msg::SetParametersResult FaultInjectionNode::onSetParam( - const std::vector & params) -{ - rcl_interfaces::msg::SetParametersResult result; - - RCLCPP_DEBUG(this->get_logger(), "call onSetParam"); - - try { - double value; - if (tier4_autoware_utils::updateParam(params, "diagnostic_updater.period", value)) { - updater_.setPeriod(value); - } - } catch (const rclcpp::exceptions::InvalidParameterTypeException & e) { - result.successful = false; - result.reason = e.what(); - return result; - } - - result.successful = true; - result.reason = "success"; - return result; -} - -std::vector FaultInjectionNode::readEventDiagList() +std::vector FaultInjectionNode::read_event_diag_list() { // Expected parameter name is "event_diag_list.param_name". // In this case, depth is 2. diff --git a/simulator/fault_injection/test/config/test_event_diag.param.yaml b/simulator/fault_injection/test/config/test_event_diag.param.yaml index 83f58fcc455ee..d9006d239b924 100644 --- a/simulator/fault_injection/test/config/test_event_diag.param.yaml +++ b/simulator/fault_injection/test/config/test_event_diag.param.yaml @@ -1,6 +1,6 @@ /**: ros__parameters: event_diag_list: - cpu_temperature: "CPU Temperature" - cpu_usage: "CPU Usage" - cpu_load_average: "CPU Load Average" + cpu_temperature: ": CPU Temperature" + cpu_usage: ": CPU Usage" + cpu_load_average: ": CPU Load Average" diff --git a/simulator/fault_injection/test/test_fault_injection_node.test.py b/simulator/fault_injection/test/test_fault_injection_node.test.py index 4556aaaca8d80..1437d69b1c91b 100644 --- a/simulator/fault_injection/test/test_fault_injection_node.test.py +++ b/simulator/fault_injection/test/test_fault_injection_node.test.py @@ -167,11 +167,11 @@ def test_receive_multiple_message_simultaneously(self): # Verify the latest message for stat in msg_buffer[-1].status: - if stat.name == "fault_injection: CPU Load Average": + if stat.name == ": CPU Load Average": self.assertEqual(stat.level, DiagnosticStatus.OK) - elif stat.name == "fault_injection: CPU Temperature": + elif stat.name == ": CPU Temperature": self.assertEqual(stat.level, DiagnosticStatus.ERROR) - elif stat.name == "fault_injection: CPU Usage": + elif stat.name == ": CPU Usage": self.assertEqual(stat.level, DiagnosticStatus.ERROR) else: self.fail(f"Unexpected status name: {stat.name}") From c381661ba4a20b1054d28a95467835e95424b30a Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Thu, 11 Apr 2024 11:56:09 +0900 Subject: [PATCH 32/54] refactor(static_centerline_optimizer): admit I/F for other sources of centerline (#6783) * refactor(static_centerline_optimizer): admit I/F for other sources of centerline Signed-off-by: Takayuki Murooka * fix Signed-off-by: Takayuki Murooka --------- Signed-off-by: Takayuki Murooka --- .../static_centerline_optimizer.param.yaml | 1 + .../static_centerline_optimizer_node.hpp | 21 +++-- .../src/static_centerline_optimizer_node.cpp | 84 ++++++++++++------- 3 files changed, 68 insertions(+), 38 deletions(-) diff --git a/planning/static_centerline_optimizer/config/static_centerline_optimizer.param.yaml b/planning/static_centerline_optimizer/config/static_centerline_optimizer.param.yaml index f62c34496e024..4fdee8a0ca6fc 100644 --- a/planning/static_centerline_optimizer/config/static_centerline_optimizer.param.yaml +++ b/planning/static_centerline_optimizer/config/static_centerline_optimizer.param.yaml @@ -1,4 +1,5 @@ /**: ros__parameters: + centerline_source: "optimization_trajectory_base" # select from "optimization_trajectory_base" and "bag_ego_trajectory_base" marker_color: ["FF0000", "00FF00", "0000FF"] marker_color_dist_thresh : [0.1, 0.2, 0.3] diff --git a/planning/static_centerline_optimizer/include/static_centerline_optimizer/static_centerline_optimizer_node.hpp b/planning/static_centerline_optimizer/include/static_centerline_optimizer/static_centerline_optimizer_node.hpp index 3e6aafd3a9954..a920139a94472 100644 --- a/planning/static_centerline_optimizer/include/static_centerline_optimizer/static_centerline_optimizer_node.hpp +++ b/planning/static_centerline_optimizer/include/static_centerline_optimizer/static_centerline_optimizer_node.hpp @@ -44,6 +44,11 @@ class StaticCenterlineOptimizerNode : public rclcpp::Node void run(); private: + struct CenterlineWithRoute + { + std::vector centerline{}; + std::vector route_lane_ids{}; + }; // load map void load_map(const std::string & lanelet2_input_file_path); void on_load_map( @@ -56,6 +61,7 @@ class StaticCenterlineOptimizerNode : public rclcpp::Node const PlanRoute::Request::SharedPtr request, const PlanRoute::Response::SharedPtr response); // plan path + CenterlineWithRoute generate_centerline_with_route(); std::vector plan_path(const std::vector & route_lane_ids); std::vector optimize_trajectory(const Path & raw_path) const; void on_plan_path( @@ -65,8 +71,8 @@ class StaticCenterlineOptimizerNode : public rclcpp::Node const std::vector & route_lane_ids, const std::vector & optimized_traj_points); void save_map( - const std::string & lanelet2_output_file_path, const std::vector & route_lane_ids, - const std::vector & optimized_traj_points); + const std::string & lanelet2_output_file_path, + const CenterlineWithRoute & centerline_with_route); lanelet::LaneletMapPtr original_map_ptr_{nullptr}; HADMapBin::ConstSharedPtr map_bin_ptr_{nullptr}; @@ -75,12 +81,13 @@ class StaticCenterlineOptimizerNode : public rclcpp::Node int traj_start_index_{0}; int traj_end_index_{0}; - struct MetaDataToSaveMap - { - std::vector optimized_traj_points{}; - std::vector route_lane_ids{}; + std::optional centerline_with_route_{std::nullopt}; + + enum class CenterlineSource { + OptimizationTrajectoryBase = 0, + BagEgoTrajectoryBase, }; - std::optional meta_data_to_save_map_{std::nullopt}; + CenterlineSource centerline_source_; // publisher rclcpp::Publisher::SharedPtr pub_map_bin_{nullptr}; diff --git a/planning/static_centerline_optimizer/src/static_centerline_optimizer_node.cpp b/planning/static_centerline_optimizer/src/static_centerline_optimizer_node.cpp index ea7e1c302fd68..0feebe8cbceb6 100644 --- a/planning/static_centerline_optimizer/src/static_centerline_optimizer_node.cpp +++ b/planning/static_centerline_optimizer/src/static_centerline_optimizer_node.cpp @@ -240,46 +240,44 @@ StaticCenterlineOptimizerNode::StaticCenterlineOptimizerNode( sub_traj_start_index_ = create_subscription( "/centerline_updater_helper/traj_start_index", rclcpp::QoS{1}, [this](const std_msgs::msg::Int32 & msg) { - if (!meta_data_to_save_map_ || traj_end_index_ + 1 < msg.data) { + if (!centerline_with_route_ || traj_end_index_ + 1 < msg.data) { return; } traj_start_index_ = msg.data; - const auto & d = meta_data_to_save_map_; - const auto selected_optimized_traj_points = std::vector( - d->optimized_traj_points.begin() + traj_start_index_, - d->optimized_traj_points.begin() + traj_end_index_ + 1); + const auto & c = *centerline_with_route_; + const auto selected_centerline = std::vector( + c.centerline.begin() + traj_start_index_, c.centerline.begin() + traj_end_index_ + 1); - pub_optimized_centerline_->publish(motion_utils::convertToTrajectory( - selected_optimized_traj_points, createHeader(this->now()))); + pub_optimized_centerline_->publish( + motion_utils::convertToTrajectory(selected_centerline, createHeader(this->now()))); }); sub_traj_end_index_ = create_subscription( "/centerline_updater_helper/traj_end_index", rclcpp::QoS{1}, [this](const std_msgs::msg::Int32 & msg) { - if (!meta_data_to_save_map_ || msg.data + 1 < traj_start_index_) { + if (!centerline_with_route_ || msg.data + 1 < traj_start_index_) { return; } traj_end_index_ = msg.data; - const auto & d = meta_data_to_save_map_; - const auto selected_optimized_traj_points = std::vector( - d->optimized_traj_points.begin() + traj_start_index_, - d->optimized_traj_points.begin() + traj_end_index_ + 1); + const auto & c = *centerline_with_route_; + const auto selected_centerline = std::vector( + c.centerline.begin() + traj_start_index_, c.centerline.begin() + traj_end_index_ + 1); - pub_optimized_centerline_->publish(motion_utils::convertToTrajectory( - selected_optimized_traj_points, createHeader(this->now()))); + pub_optimized_centerline_->publish( + motion_utils::convertToTrajectory(selected_centerline, createHeader(this->now()))); }); sub_save_map_ = create_subscription( "/centerline_updater_helper/save_map", rclcpp::QoS{1}, [this](const std_msgs::msg::Bool & msg) { const auto lanelet2_output_file_path = tier4_autoware_utils::getOrDeclareParameter( *this, "lanelet2_output_file_path"); - if (!meta_data_to_save_map_ || msg.data) { - const auto & d = meta_data_to_save_map_; - const auto selected_optimized_traj_points = std::vector( - d->optimized_traj_points.begin() + traj_start_index_, - d->optimized_traj_points.begin() + traj_end_index_ + 1); - save_map(lanelet2_output_file_path, d->route_lane_ids, selected_optimized_traj_points); + if (!centerline_with_route_ || msg.data) { + const auto & c = *centerline_with_route_; + const auto selected_centerline = std::vector( + c.centerline.begin() + traj_start_index_, c.centerline.begin() + traj_end_index_ + 1); + save_map( + lanelet2_output_file_path, CenterlineWithRoute{selected_centerline, c.route_lane_ids}); } }); @@ -306,6 +304,17 @@ StaticCenterlineOptimizerNode::StaticCenterlineOptimizerNode( // vehicle info vehicle_info_ = vehicle_info_util::VehicleInfoUtil(*this).getVehicleInfo(); + + centerline_source_ = [&]() { + const auto centerline_source_param = declare_parameter("centerline_source"); + if (centerline_source_param == "optimization_trajectory_base") { + return CenterlineSource::OptimizationTrajectoryBase; + } else if (centerline_source_param == "bag_ego_trajectory_base") { + return CenterlineSource::BagEgoTrajectoryBase; + } + throw std::logic_error( + "The centerline source is not supported in static_centerline_optimizer."); + }(); } void StaticCenterlineOptimizerNode::run() @@ -314,18 +323,31 @@ void StaticCenterlineOptimizerNode::run() const auto lanelet2_input_file_path = declare_parameter("lanelet2_input_file_path"); const auto lanelet2_output_file_path = declare_parameter("lanelet2_output_file_path"); - const lanelet::Id start_lanelet_id = declare_parameter("start_lanelet_id"); - const lanelet::Id end_lanelet_id = declare_parameter("end_lanelet_id"); // process load_map(lanelet2_input_file_path); - const auto route_lane_ids = plan_route(start_lanelet_id, end_lanelet_id); - const auto optimized_traj_points = plan_path(route_lane_ids); + const auto centerline_with_route = generate_centerline_with_route(); traj_start_index_ = 0; - traj_end_index_ = optimized_traj_points.size() - 1; - save_map(lanelet2_output_file_path, route_lane_ids, optimized_traj_points); + traj_end_index_ = centerline_with_route.centerline.size() - 1; + save_map(lanelet2_output_file_path, centerline_with_route); + + centerline_with_route_ = centerline_with_route; +} + +StaticCenterlineOptimizerNode::CenterlineWithRoute +StaticCenterlineOptimizerNode::generate_centerline_with_route() +{ + if (centerline_source_ == CenterlineSource::OptimizationTrajectoryBase) { + const lanelet::Id start_lanelet_id = declare_parameter("start_lanelet_id"); + const lanelet::Id end_lanelet_id = declare_parameter("end_lanelet_id"); + const auto route_lane_ids = plan_route(start_lanelet_id, end_lanelet_id); + const auto optimized_traj_points = plan_path(route_lane_ids); + return CenterlineWithRoute{optimized_traj_points, route_lane_ids}; + } else if (centerline_source_ == CenterlineSource::BagEgoTrajectoryBase) { + return CenterlineWithRoute{}; + } - meta_data_to_save_map_ = MetaDataToSaveMap{optimized_traj_points, route_lane_ids}; + throw std::logic_error("The centerline source is not supported in static_centerline_optimizer."); } void StaticCenterlineOptimizerNode::load_map(const std::string & lanelet2_input_file_path) @@ -741,17 +763,17 @@ void StaticCenterlineOptimizerNode::evaluate( } void StaticCenterlineOptimizerNode::save_map( - const std::string & lanelet2_output_file_path, const std::vector & route_lane_ids, - const std::vector & optimized_traj_points) + const std::string & lanelet2_output_file_path, const CenterlineWithRoute & centerline_with_route) { if (!route_handler_ptr_) { return; } - const auto route_lanelets = get_lanelets_from_ids(*route_handler_ptr_, route_lane_ids); + const auto & c = centerline_with_route; + const auto route_lanelets = get_lanelets_from_ids(*route_handler_ptr_, c.route_lane_ids); // update centerline in map - utils::update_centerline(*route_handler_ptr_, route_lanelets, optimized_traj_points); + utils::update_centerline(*route_handler_ptr_, route_lanelets, c.centerline); RCLCPP_INFO(get_logger(), "Updated centerline in map."); // save map with modified center line From 5807f7a36835ee3258d524db9683d199a911be88 Mon Sep 17 00:00:00 2001 From: Taekjin LEE Date: Thu, 11 Apr 2024 13:21:27 +0900 Subject: [PATCH 33/54] feat(multi_object_tracker): process modulation (#6742) * fix: reduce lower limit of publish interval Signed-off-by: Taekjin LEE * fix: enlarge publish range upper limit Signed-off-by: Taekjin LEE * fix: set parameter tested and agreed Signed-off-by: Taekjin LEE * fix: define functions on each tracking steps Signed-off-by: Taekjin LEE * fix: remove time argument to avoid misuse Signed-off-by: Taekjin LEE * fix: refine function inputs and outputs Signed-off-by: Taekjin LEE * fix: create tracking process class Signed-off-by: Taekjin LEE * chore: clean up Signed-off-by: Taekjin LEE * fix: move processor to subfolder Signed-off-by: Taekjin LEE * fix: output filter is moved to the processor side Signed-off-by: Taekjin LEE * fix: rename tracker management process, process parameter Signed-off-by: Taekjin LEE * chore: revise comments Signed-off-by: Taekjin LEE * fix: remove not-related dependency Signed-off-by: Taekjin LEE --------- Signed-off-by: Taekjin LEE --- .../multi_object_tracker/CMakeLists.txt | 1 + .../include/multi_object_tracker/debugger.hpp | 1 + .../multi_object_tracker_core.hpp | 36 +-- .../processor/processor.hpp | 79 +++++ perception/multi_object_tracker/package.xml | 1 - .../src/multi_object_tracker_core.cpp | 292 +++++------------- .../src/processor/processor.cpp | 242 +++++++++++++++ 7 files changed, 414 insertions(+), 238 deletions(-) create mode 100644 perception/multi_object_tracker/include/multi_object_tracker/processor/processor.hpp create mode 100644 perception/multi_object_tracker/src/processor/processor.cpp diff --git a/perception/multi_object_tracker/CMakeLists.txt b/perception/multi_object_tracker/CMakeLists.txt index 185ca175df2b6..41d150ef0ba1b 100644 --- a/perception/multi_object_tracker/CMakeLists.txt +++ b/perception/multi_object_tracker/CMakeLists.txt @@ -23,6 +23,7 @@ include_directories( set(MULTI_OBJECT_TRACKER_SRC src/multi_object_tracker_core.cpp src/debugger.cpp + src/processor/processor.cpp src/data_association/data_association.cpp src/data_association/mu_successive_shortest_path/mu_successive_shortest_path_wrapper.cpp src/tracker/motion_model/motion_model_base.cpp diff --git a/perception/multi_object_tracker/include/multi_object_tracker/debugger.hpp b/perception/multi_object_tracker/include/multi_object_tracker/debugger.hpp index 858d43dcfc5bd..90291ae6fec18 100644 --- a/perception/multi_object_tracker/include/multi_object_tracker/debugger.hpp +++ b/perception/multi_object_tracker/include/multi_object_tracker/debugger.hpp @@ -56,6 +56,7 @@ class TrackerDebugger } debug_settings_; double pipeline_latency_ms_ = 0.0; diagnostic_updater::Updater diagnostic_updater_; + bool shouldPublishTentativeObjects() const { return debug_settings_.publish_tentative_objects; } private: void loadParameters(); diff --git a/perception/multi_object_tracker/include/multi_object_tracker/multi_object_tracker_core.hpp b/perception/multi_object_tracker/include/multi_object_tracker/multi_object_tracker_core.hpp index fe41f97cb5a77..f788dd3895216 100644 --- a/perception/multi_object_tracker/include/multi_object_tracker/multi_object_tracker_core.hpp +++ b/perception/multi_object_tracker/include/multi_object_tracker/multi_object_tracker_core.hpp @@ -21,6 +21,7 @@ #include "multi_object_tracker/data_association/data_association.hpp" #include "multi_object_tracker/debugger.hpp" +#include "multi_object_tracker/processor/processor.hpp" #include "multi_object_tracker/tracker/model/tracker_base.hpp" #include @@ -46,6 +47,7 @@ #include #include #include +#include #include class MultiObjectTracker : public rclcpp::Node @@ -54,42 +56,34 @@ class MultiObjectTracker : public rclcpp::Node explicit MultiObjectTracker(const rclcpp::NodeOptions & node_options); private: + // ROS interface rclcpp::Publisher::SharedPtr tracked_objects_pub_; rclcpp::Subscription::SharedPtr detected_object_sub_; + tf2_ros::Buffer tf_buffer_; + tf2_ros::TransformListener tf_listener_; + + // debugger + std::unique_ptr debugger_; + std::unique_ptr published_time_publisher_; // publish timer rclcpp::TimerBase::SharedPtr publish_timer_; rclcpp::Time last_published_time_; double publisher_period_; - // debugger class - std::unique_ptr debugger_; - - tf2_ros::Buffer tf_buffer_; - tf2_ros::TransformListener tf_listener_; - - std::map tracker_map_; - - std::unique_ptr published_time_publisher_; + // internal states + std::string world_frame_id_; // tracking frame + std::unique_ptr data_association_; + std::unique_ptr processor_; + // callback functions void onMeasurement( const autoware_auto_perception_msgs::msg::DetectedObjects::ConstSharedPtr input_objects_msg); void onTimer(); - std::string world_frame_id_; // tracking frame - std::list> list_tracker_; - std::unique_ptr data_association_; - - void checkTrackerLifeCycle( - std::list> & list_tracker, const rclcpp::Time & time); - void sanitizeTracker( - std::list> & list_tracker, const rclcpp::Time & time); - std::shared_ptr createNewTracker( - const autoware_auto_perception_msgs::msg::DetectedObject & object, const rclcpp::Time & time, - const geometry_msgs::msg::Transform & self_transform) const; - + // publish processes void checkAndPublish(const rclcpp::Time & time); void publish(const rclcpp::Time & time) const; inline bool shouldTrackerPublish(const std::shared_ptr tracker) const; diff --git a/perception/multi_object_tracker/include/multi_object_tracker/processor/processor.hpp b/perception/multi_object_tracker/include/multi_object_tracker/processor/processor.hpp new file mode 100644 index 0000000000000..6d6e364d83a41 --- /dev/null +++ b/perception/multi_object_tracker/include/multi_object_tracker/processor/processor.hpp @@ -0,0 +1,79 @@ +// Copyright 2024 Tier IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. +// +// + +#ifndef MULTI_OBJECT_TRACKER__PROCESSOR__PROCESSOR_HPP_ +#define MULTI_OBJECT_TRACKER__PROCESSOR__PROCESSOR_HPP_ + +#include "multi_object_tracker/tracker/model/tracker_base.hpp" + +#include + +#include +#include + +#include +#include +#include +#include +#include +#include + +class TrackerProcessor +{ +public: + explicit TrackerProcessor(const std::map & tracker_map); + + const std::list> & getListTracker() const { return list_tracker_; } + // tracker processes + void predict(const rclcpp::Time & time); + void update( + const autoware_auto_perception_msgs::msg::DetectedObjects & transformed_objects, + const geometry_msgs::msg::Transform & self_transform, + const std::unordered_map & direct_assignment); + void spawn( + const autoware_auto_perception_msgs::msg::DetectedObjects & detected_objects, + const geometry_msgs::msg::Transform & self_transform, + const std::unordered_map & reverse_assignment); + void prune(const rclcpp::Time & time); + + // output + bool isConfidentTracker(const std::shared_ptr & tracker) const; + void getTrackedObjects( + const rclcpp::Time & time, + autoware_auto_perception_msgs::msg::TrackedObjects & tracked_objects) const; + void getTentativeObjects( + const rclcpp::Time & time, + autoware_auto_perception_msgs::msg::TrackedObjects & tentative_objects) const; + +private: + std::map tracker_map_; + std::list> list_tracker_; + + // parameters + float max_elapsed_time_; // [s] + float min_iou_; // [ratio] + float min_iou_for_unknown_object_; // [ratio] + double distance_threshold_; // [m] + int confident_count_threshold_; // [count] + + void removeOldTracker(const rclcpp::Time & time); + void removeOverlappedTracker(const rclcpp::Time & time); + std::shared_ptr createNewTracker( + const autoware_auto_perception_msgs::msg::DetectedObject & object, const rclcpp::Time & time, + const geometry_msgs::msg::Transform & self_transform) const; +}; + +#endif // MULTI_OBJECT_TRACKER__PROCESSOR__PROCESSOR_HPP_ diff --git a/perception/multi_object_tracker/package.xml b/perception/multi_object_tracker/package.xml index 699b28222f63f..4033f85eafb8a 100644 --- a/perception/multi_object_tracker/package.xml +++ b/perception/multi_object_tracker/package.xml @@ -25,7 +25,6 @@ tf2 tf2_ros tier4_autoware_utils - tier4_perception_msgs unique_identifier_msgs ament_lint_auto diff --git a/perception/multi_object_tracker/src/multi_object_tracker_core.cpp b/perception/multi_object_tracker/src/multi_object_tracker_core.cpp index 220d1104b33ee..d80a21813b28b 100644 --- a/perception/multi_object_tracker/src/multi_object_tracker_core.cpp +++ b/perception/multi_object_tracker/src/multi_object_tracker_core.cpp @@ -31,7 +31,6 @@ #define EIGEN_MPL2_ONLY #include "multi_object_tracker/multi_object_tracker_core.hpp" #include "multi_object_tracker/utils/utils.hpp" -#include "object_recognition_utils/object_recognition_utils.hpp" #include #include @@ -41,18 +40,20 @@ using Label = autoware_auto_perception_msgs::msg::ObjectClassification; namespace { +// Function to get the transform between two frames boost::optional getTransformAnonymous( const tf2_ros::Buffer & tf_buffer, const std::string & source_frame_id, const std::string & target_frame_id, const rclcpp::Time & time) { try { - // check if the frames are ready + // Check if the frames are ready std::string errstr; // This argument prevents error msg from being displayed in the terminal. if (!tf_buffer.canTransform( target_frame_id, source_frame_id, tf2::TimePointZero, tf2::Duration::zero(), &errstr)) { return boost::none; } + // Lookup the transform geometry_msgs::msg::TransformStamped self_transform_stamped; self_transform_stamped = tf_buffer.lookupTransform( /*target*/ target_frame_id, /*src*/ source_frame_id, time, @@ -68,9 +69,9 @@ boost::optional getTransformAnonymous( MultiObjectTracker::MultiObjectTracker(const rclcpp::NodeOptions & node_options) : rclcpp::Node("multi_object_tracker", node_options), - last_published_time_(this->now()), tf_buffer_(this->get_clock()), - tf_listener_(tf_buffer_) + tf_listener_(tf_buffer_), + last_published_time_(this->now()) { // Create publishers and subscribers detected_object_sub_ = create_subscription( @@ -79,14 +80,12 @@ MultiObjectTracker::MultiObjectTracker(const rclcpp::NodeOptions & node_options) tracked_objects_pub_ = create_publisher("output", rclcpp::QoS{1}); - // Parameters + // Get parameters double publish_rate = declare_parameter("publish_rate"); // [hz] world_frame_id_ = declare_parameter("world_frame_id"); bool enable_delay_compensation{declare_parameter("enable_delay_compensation")}; - // Debug publishers - debugger_ = std::make_unique(*this); - + // Create tf timer auto cti = std::make_shared( this->get_node_base_interface(), this->get_node_timers_interface()); tf_buffer_.setCreateTimerInterface(cti); @@ -102,34 +101,44 @@ MultiObjectTracker::MultiObjectTracker(const rclcpp::NodeOptions & node_options) this, get_clock(), timer_period, std::bind(&MultiObjectTracker::onTimer, this)); } - const auto tmp = this->declare_parameter>("can_assign_matrix"); - const std::vector can_assign_matrix(tmp.begin(), tmp.end()); - - const auto max_dist_matrix = this->declare_parameter>("max_dist_matrix"); - const auto max_area_matrix = this->declare_parameter>("max_area_matrix"); - const auto min_area_matrix = this->declare_parameter>("min_area_matrix"); - const auto max_rad_matrix = this->declare_parameter>("max_rad_matrix"); - const auto min_iou_matrix = this->declare_parameter>("min_iou_matrix"); - - // tracker map - tracker_map_.insert( - std::make_pair(Label::CAR, this->declare_parameter("car_tracker"))); - tracker_map_.insert( - std::make_pair(Label::TRUCK, this->declare_parameter("truck_tracker"))); - tracker_map_.insert( - std::make_pair(Label::BUS, this->declare_parameter("bus_tracker"))); - tracker_map_.insert( - std::make_pair(Label::TRAILER, this->declare_parameter("trailer_tracker"))); - tracker_map_.insert( - std::make_pair(Label::PEDESTRIAN, this->declare_parameter("pedestrian_tracker"))); - tracker_map_.insert( - std::make_pair(Label::BICYCLE, this->declare_parameter("bicycle_tracker"))); - tracker_map_.insert( - std::make_pair(Label::MOTORCYCLE, this->declare_parameter("motorcycle_tracker"))); - - data_association_ = std::make_unique( - can_assign_matrix, max_dist_matrix, max_area_matrix, min_area_matrix, max_rad_matrix, - min_iou_matrix); + // Initialize processor + { + std::map tracker_map; + tracker_map.insert( + std::make_pair(Label::CAR, this->declare_parameter("car_tracker"))); + tracker_map.insert( + std::make_pair(Label::TRUCK, this->declare_parameter("truck_tracker"))); + tracker_map.insert( + std::make_pair(Label::BUS, this->declare_parameter("bus_tracker"))); + tracker_map.insert( + std::make_pair(Label::TRAILER, this->declare_parameter("trailer_tracker"))); + tracker_map.insert(std::make_pair( + Label::PEDESTRIAN, this->declare_parameter("pedestrian_tracker"))); + tracker_map.insert( + std::make_pair(Label::BICYCLE, this->declare_parameter("bicycle_tracker"))); + tracker_map.insert(std::make_pair( + Label::MOTORCYCLE, this->declare_parameter("motorcycle_tracker"))); + + processor_ = std::make_unique(tracker_map); + } + + // Data association initialization + { + const auto tmp = this->declare_parameter>("can_assign_matrix"); + const std::vector can_assign_matrix(tmp.begin(), tmp.end()); + const auto max_dist_matrix = this->declare_parameter>("max_dist_matrix"); + const auto max_area_matrix = this->declare_parameter>("max_area_matrix"); + const auto min_area_matrix = this->declare_parameter>("min_area_matrix"); + const auto max_rad_matrix = this->declare_parameter>("max_rad_matrix"); + const auto min_iou_matrix = this->declare_parameter>("min_iou_matrix"); + + data_association_ = std::make_unique( + can_assign_matrix, max_dist_matrix, max_area_matrix, min_area_matrix, max_rad_matrix, + min_iou_matrix); + } + + // Debugger + debugger_ = std::make_unique(*this); published_time_publisher_ = std::make_unique(this); } @@ -147,52 +156,33 @@ void MultiObjectTracker::onMeasurement( if (!self_transform) { return; } - /* transform to world coordinate */ autoware_auto_perception_msgs::msg::DetectedObjects transformed_objects; if (!object_recognition_utils::transformObjects( *input_objects_msg, world_frame_id_, tf_buffer_, transformed_objects)) { return; } - /* tracker prediction */ - for (auto itr = list_tracker_.begin(); itr != list_tracker_.end(); ++itr) { - (*itr)->predict(measurement_time); - } - /* global nearest neighbor */ + ////// Tracker Process + //// Associate and update + /* prediction */ + processor_->predict(measurement_time); + /* object association */ std::unordered_map direct_assignment, reverse_assignment; - Eigen::MatrixXd score_matrix = data_association_->calcScoreMatrix( - transformed_objects, list_tracker_); // row : tracker, col : measurement - data_association_->assign(score_matrix, direct_assignment, reverse_assignment); - - /* tracker measurement update */ - int tracker_idx = 0; - for (auto tracker_itr = list_tracker_.begin(); tracker_itr != list_tracker_.end(); - ++tracker_itr, ++tracker_idx) { - if (direct_assignment.find(tracker_idx) != direct_assignment.end()) { // found - (*(tracker_itr)) - ->updateWithMeasurement( - transformed_objects.objects.at(direct_assignment.find(tracker_idx)->second), - measurement_time, *self_transform); - } else { // not found - (*(tracker_itr))->updateWithoutMeasurement(); - } - } - - /* life cycle check */ - checkTrackerLifeCycle(list_tracker_, measurement_time); - /* sanitize trackers */ - sanitizeTracker(list_tracker_, measurement_time); - - /* new tracker */ - for (size_t i = 0; i < transformed_objects.objects.size(); ++i) { - if (reverse_assignment.find(i) != reverse_assignment.end()) { // found - continue; - } - std::shared_ptr tracker = - createNewTracker(transformed_objects.objects.at(i), measurement_time, *self_transform); - if (tracker) list_tracker_.push_back(tracker); + { + const auto & list_tracker = processor_->getListTracker(); + const auto & detected_objects = transformed_objects; + // global nearest neighbor + Eigen::MatrixXd score_matrix = data_association_->calcScoreMatrix( + detected_objects, list_tracker); // row : tracker, col : measurement + data_association_->assign(score_matrix, direct_assignment, reverse_assignment); } + /* tracker update */ + processor_->update(transformed_objects, *self_transform, direct_assignment); + /* tracker pruning */ + processor_->prune(measurement_time); + /* spawn new tracker */ + processor_->spawn(transformed_objects, *self_transform, reverse_assignment); // debugger time debugger_->endMeasurementTime(this->now()); @@ -210,39 +200,12 @@ void MultiObjectTracker::onMeasurement( } } -std::shared_ptr MultiObjectTracker::createNewTracker( - const autoware_auto_perception_msgs::msg::DetectedObject & object, const rclcpp::Time & time, - const geometry_msgs::msg::Transform & self_transform) const -{ - const std::uint8_t label = object_recognition_utils::getHighestProbLabel(object.classification); - if (tracker_map_.count(label) != 0) { - const auto tracker = tracker_map_.at(label); - - if (tracker == "bicycle_tracker") { - return std::make_shared(time, object, self_transform); - } else if (tracker == "big_vehicle_tracker") { - return std::make_shared(time, object, self_transform); - } else if (tracker == "multi_vehicle_tracker") { - return std::make_shared(time, object, self_transform); - } else if (tracker == "normal_vehicle_tracker") { - return std::make_shared(time, object, self_transform); - } else if (tracker == "pass_through_tracker") { - return std::make_shared(time, object, self_transform); - } else if (tracker == "pedestrian_and_bicycle_tracker") { - return std::make_shared(time, object, self_transform); - } else if (tracker == "pedestrian_tracker") { - return std::make_shared(time, object, self_transform); - } - } - return std::make_shared(time, object, self_transform); -} - void MultiObjectTracker::onTimer() { const rclcpp::Time current_time = this->now(); - // check the publish period + // Check the publish period const auto elapsed_time = (current_time - last_published_time_).seconds(); - // if the elapsed time is over the period, publish objects with prediction + // If the elapsed time is over the period, publish objects with prediction constexpr double maximum_latency_ratio = 1.11; // 11% margin const double maximum_publish_latency = publisher_period_ * maximum_latency_ratio; if (elapsed_time > maximum_publish_latency) { @@ -252,10 +215,8 @@ void MultiObjectTracker::onTimer() void MultiObjectTracker::checkAndPublish(const rclcpp::Time & time) { - /* life cycle check */ - checkTrackerLifeCycle(list_tracker_, time); - /* sanitize trackers */ - sanitizeTracker(list_tracker_, time); + /* tracker pruning*/ + processor_->prune(time); // Publish publish(time); @@ -264,100 +225,6 @@ void MultiObjectTracker::checkAndPublish(const rclcpp::Time & time) last_published_time_ = this->now(); } -void MultiObjectTracker::checkTrackerLifeCycle( - std::list> & list_tracker, const rclcpp::Time & time) -{ - /* params */ - constexpr float max_elapsed_time = 1.0; - - /* delete tracker */ - for (auto itr = list_tracker.begin(); itr != list_tracker.end(); ++itr) { - const bool is_old = max_elapsed_time < (*itr)->getElapsedTimeFromLastUpdate(time); - if (is_old) { - auto erase_itr = itr; - --itr; - list_tracker.erase(erase_itr); - } - } -} - -void MultiObjectTracker::sanitizeTracker( - std::list> & list_tracker, const rclcpp::Time & time) -{ - constexpr float min_iou = 0.1; - constexpr float min_iou_for_unknown_object = 0.001; - constexpr double distance_threshold = 5.0; - /* delete collision tracker */ - for (auto itr1 = list_tracker.begin(); itr1 != list_tracker.end(); ++itr1) { - autoware_auto_perception_msgs::msg::TrackedObject object1; - if (!(*itr1)->getTrackedObject(time, object1)) continue; - for (auto itr2 = std::next(itr1); itr2 != list_tracker.end(); ++itr2) { - autoware_auto_perception_msgs::msg::TrackedObject object2; - if (!(*itr2)->getTrackedObject(time, object2)) continue; - const double distance = std::hypot( - object1.kinematics.pose_with_covariance.pose.position.x - - object2.kinematics.pose_with_covariance.pose.position.x, - object1.kinematics.pose_with_covariance.pose.position.y - - object2.kinematics.pose_with_covariance.pose.position.y); - if (distance_threshold < distance) { - continue; - } - - const double min_union_iou_area = 1e-2; - const auto iou = object_recognition_utils::get2dIoU(object1, object2, min_union_iou_area); - const auto & label1 = (*itr1)->getHighestProbLabel(); - const auto & label2 = (*itr2)->getHighestProbLabel(); - bool should_delete_tracker1 = false; - bool should_delete_tracker2 = false; - - // If at least one of them is UNKNOWN, delete the one with lower IOU. Because the UNKNOWN - // objects are not reliable. - if (label1 == Label::UNKNOWN || label2 == Label::UNKNOWN) { - if (min_iou_for_unknown_object < iou) { - if (label1 == Label::UNKNOWN && label2 == Label::UNKNOWN) { - if ((*itr1)->getTotalMeasurementCount() < (*itr2)->getTotalMeasurementCount()) { - should_delete_tracker1 = true; - } else { - should_delete_tracker2 = true; - } - } else if (label1 == Label::UNKNOWN) { - should_delete_tracker1 = true; - } else if (label2 == Label::UNKNOWN) { - should_delete_tracker2 = true; - } - } - } else { // If neither is UNKNOWN, delete the one with lower IOU. - if (min_iou < iou) { - if ((*itr1)->getTotalMeasurementCount() < (*itr2)->getTotalMeasurementCount()) { - should_delete_tracker1 = true; - } else { - should_delete_tracker2 = true; - } - } - } - - if (should_delete_tracker1) { - itr1 = list_tracker.erase(itr1); - --itr1; - break; - } else if (should_delete_tracker2) { - itr2 = list_tracker.erase(itr2); - --itr2; - } - } - } -} - -inline bool MultiObjectTracker::shouldTrackerPublish( - const std::shared_ptr tracker) const -{ - constexpr int measurement_count_threshold = 3; - if (tracker->getTotalMeasurementCount() < measurement_count_threshold) { - return false; - } - return true; -} - void MultiObjectTracker::publish(const rclcpp::Time & time) const { debugger_->startPublishTime(this->now()); @@ -369,28 +236,21 @@ void MultiObjectTracker::publish(const rclcpp::Time & time) const // Create output msg autoware_auto_perception_msgs::msg::TrackedObjects output_msg, tentative_objects_msg; output_msg.header.frame_id = world_frame_id_; - output_msg.header.stamp = time; - tentative_objects_msg.header = output_msg.header; - - for (auto itr = list_tracker_.begin(); itr != list_tracker_.end(); ++itr) { - if (!shouldTrackerPublish(*itr)) { // for debug purpose - autoware_auto_perception_msgs::msg::TrackedObject object; - if (!(*itr)->getTrackedObject(time, object)) continue; - tentative_objects_msg.objects.push_back(object); - continue; - } - autoware_auto_perception_msgs::msg::TrackedObject object; - if (!(*itr)->getTrackedObject(time, object)) continue; - output_msg.objects.push_back(object); - } + processor_->getTrackedObjects(time, output_msg); // Publish tracked_objects_pub_->publish(output_msg); published_time_publisher_->publish_if_subscribed(tracked_objects_pub_, output_msg.header.stamp); - // Debugger Publish if enabled + // Publish debugger information if enabled debugger_->endPublishTime(this->now(), time); - debugger_->publishTentativeObjects(tentative_objects_msg); + + if (debugger_->shouldPublishTentativeObjects()) { + autoware_auto_perception_msgs::msg::TrackedObjects tentative_objects_msg; + tentative_objects_msg.header.frame_id = world_frame_id_; + processor_->getTentativeObjects(time, tentative_objects_msg); + debugger_->publishTentativeObjects(tentative_objects_msg); + } } RCLCPP_COMPONENTS_REGISTER_NODE(MultiObjectTracker) diff --git a/perception/multi_object_tracker/src/processor/processor.cpp b/perception/multi_object_tracker/src/processor/processor.cpp new file mode 100644 index 0000000000000..0d56e16b431e9 --- /dev/null +++ b/perception/multi_object_tracker/src/processor/processor.cpp @@ -0,0 +1,242 @@ +// Copyright 2024 Tier IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. +// +// + +#include "multi_object_tracker/processor/processor.hpp" + +#include "multi_object_tracker/tracker/tracker.hpp" +#include "object_recognition_utils/object_recognition_utils.hpp" + +#include + +#include + +using Label = autoware_auto_perception_msgs::msg::ObjectClassification; + +TrackerProcessor::TrackerProcessor(const std::map & tracker_map) +: tracker_map_(tracker_map) +{ + // Set tracker lifetime parameters + max_elapsed_time_ = 1.0; // [s] + + // Set tracker overlap remover parameters + min_iou_ = 0.1; // [ratio] + min_iou_for_unknown_object_ = 0.001; // [ratio] + distance_threshold_ = 5.0; // [m] + + // Set tracker confidence threshold + confident_count_threshold_ = 3; // [count] +} + +void TrackerProcessor::predict(const rclcpp::Time & time) +{ + for (auto itr = list_tracker_.begin(); itr != list_tracker_.end(); ++itr) { + (*itr)->predict(time); + } +} + +void TrackerProcessor::update( + const autoware_auto_perception_msgs::msg::DetectedObjects & detected_objects, + const geometry_msgs::msg::Transform & self_transform, + const std::unordered_map & direct_assignment) +{ + int tracker_idx = 0; + const auto & time = detected_objects.header.stamp; + for (auto tracker_itr = list_tracker_.begin(); tracker_itr != list_tracker_.end(); + ++tracker_itr, ++tracker_idx) { + if (direct_assignment.find(tracker_idx) != direct_assignment.end()) { // found + const auto & associated_object = + detected_objects.objects.at(direct_assignment.find(tracker_idx)->second); + (*(tracker_itr))->updateWithMeasurement(associated_object, time, self_transform); + } else { // not found + (*(tracker_itr))->updateWithoutMeasurement(); + } + } +} + +void TrackerProcessor::spawn( + const autoware_auto_perception_msgs::msg::DetectedObjects & detected_objects, + const geometry_msgs::msg::Transform & self_transform, + const std::unordered_map & reverse_assignment) +{ + const auto & time = detected_objects.header.stamp; + for (size_t i = 0; i < detected_objects.objects.size(); ++i) { + if (reverse_assignment.find(i) != reverse_assignment.end()) { // found + continue; + } + const auto & new_object = detected_objects.objects.at(i); + std::shared_ptr tracker = createNewTracker(new_object, time, self_transform); + if (tracker) list_tracker_.push_back(tracker); + } +} + +std::shared_ptr TrackerProcessor::createNewTracker( + const autoware_auto_perception_msgs::msg::DetectedObject & object, const rclcpp::Time & time, + const geometry_msgs::msg::Transform & self_transform) const +{ + const std::uint8_t label = object_recognition_utils::getHighestProbLabel(object.classification); + if (tracker_map_.count(label) != 0) { + const auto tracker = tracker_map_.at(label); + if (tracker == "bicycle_tracker") + return std::make_shared(time, object, self_transform); + if (tracker == "big_vehicle_tracker") + return std::make_shared(time, object, self_transform); + if (tracker == "multi_vehicle_tracker") + return std::make_shared(time, object, self_transform); + if (tracker == "normal_vehicle_tracker") + return std::make_shared(time, object, self_transform); + if (tracker == "pass_through_tracker") + return std::make_shared(time, object, self_transform); + if (tracker == "pedestrian_and_bicycle_tracker") + return std::make_shared(time, object, self_transform); + if (tracker == "pedestrian_tracker") + return std::make_shared(time, object, self_transform); + } + return std::make_shared(time, object, self_transform); +} + +void TrackerProcessor::prune(const rclcpp::Time & time) +{ + // Check tracker lifetime: if the tracker is old, delete it + removeOldTracker(time); + // Check tracker overlap: if the tracker is overlapped, delete the one with lower IOU + removeOverlappedTracker(time); +} + +void TrackerProcessor::removeOldTracker(const rclcpp::Time & time) +{ + // Check elapsed time from last update + for (auto itr = list_tracker_.begin(); itr != list_tracker_.end(); ++itr) { + const bool is_old = max_elapsed_time_ < (*itr)->getElapsedTimeFromLastUpdate(time); + // If the tracker is old, delete it + if (is_old) { + auto erase_itr = itr; + --itr; + list_tracker_.erase(erase_itr); + } + } +} + +// This function removes overlapped trackers based on distance and IoU criteria +void TrackerProcessor::removeOverlappedTracker(const rclcpp::Time & time) +{ + // Iterate through the list of trackers + for (auto itr1 = list_tracker_.begin(); itr1 != list_tracker_.end(); ++itr1) { + autoware_auto_perception_msgs::msg::TrackedObject object1; + if (!(*itr1)->getTrackedObject(time, object1)) continue; + + // Compare the current tracker with the remaining trackers + for (auto itr2 = std::next(itr1); itr2 != list_tracker_.end(); ++itr2) { + autoware_auto_perception_msgs::msg::TrackedObject object2; + if (!(*itr2)->getTrackedObject(time, object2)) continue; + + // Calculate the distance between the two objects + const double distance = std::hypot( + object1.kinematics.pose_with_covariance.pose.position.x - + object2.kinematics.pose_with_covariance.pose.position.x, + object1.kinematics.pose_with_covariance.pose.position.y - + object2.kinematics.pose_with_covariance.pose.position.y); + + // If the distance is too large, skip + if (distance > distance_threshold_) { + continue; + } + + // Check the Intersection over Union (IoU) between the two objects + const double min_union_iou_area = 1e-2; + const auto iou = object_recognition_utils::get2dIoU(object1, object2, min_union_iou_area); + const auto & label1 = (*itr1)->getHighestProbLabel(); + const auto & label2 = (*itr2)->getHighestProbLabel(); + bool should_delete_tracker1 = false; + bool should_delete_tracker2 = false; + + // If both trackers are UNKNOWN, delete the younger tracker + // If one side of the tracker is UNKNOWN, delete UNKNOWN objects + if (label1 == Label::UNKNOWN || label2 == Label::UNKNOWN) { + if (iou > min_iou_for_unknown_object_) { + if (label1 == Label::UNKNOWN && label2 == Label::UNKNOWN) { + if ((*itr1)->getTotalMeasurementCount() < (*itr2)->getTotalMeasurementCount()) { + should_delete_tracker1 = true; + } else { + should_delete_tracker2 = true; + } + } else if (label1 == Label::UNKNOWN) { + should_delete_tracker1 = true; + } else if (label2 == Label::UNKNOWN) { + should_delete_tracker2 = true; + } + } + } else { // If neither object is UNKNOWN, delete the younger tracker + if (iou > min_iou_) { + if ((*itr1)->getTotalMeasurementCount() < (*itr2)->getTotalMeasurementCount()) { + should_delete_tracker1 = true; + } else { + should_delete_tracker2 = true; + } + } + } + + // Delete the tracker + if (should_delete_tracker1) { + itr1 = list_tracker_.erase(itr1); + --itr1; + break; + } + if (should_delete_tracker2) { + itr2 = list_tracker_.erase(itr2); + --itr2; + } + } + } +} + +bool TrackerProcessor::isConfidentTracker(const std::shared_ptr & tracker) const +{ + // Confidence is determined by counting the number of measurements. + // If the number of measurements is equal to or greater than the threshold, the tracker is + // considered confident. + return tracker->getTotalMeasurementCount() >= confident_count_threshold_; +} + +void TrackerProcessor::getTrackedObjects( + const rclcpp::Time & time, + autoware_auto_perception_msgs::msg::TrackedObjects & tracked_objects) const +{ + tracked_objects.header.stamp = time; + for (const auto & tracker : list_tracker_) { + // Skip if the tracker is not confident + if (!isConfidentTracker(tracker)) continue; + // Get the tracked object, extrapolated to the given time + autoware_auto_perception_msgs::msg::TrackedObject tracked_object; + if (tracker->getTrackedObject(time, tracked_object)) { + tracked_objects.objects.push_back(tracked_object); + } + } +} + +void TrackerProcessor::getTentativeObjects( + const rclcpp::Time & time, + autoware_auto_perception_msgs::msg::TrackedObjects & tentative_objects) const +{ + tentative_objects.header.stamp = time; + for (const auto & tracker : list_tracker_) { + if (!isConfidentTracker(tracker)) { + autoware_auto_perception_msgs::msg::TrackedObject tracked_object; + if (tracker->getTrackedObject(time, tracked_object)) { + tentative_objects.objects.push_back(tracked_object); + } + } + } +} From 06bb9bdab6398c717f5e5b234c0f35ad268e80c8 Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Thu, 11 Apr 2024 15:38:54 +0900 Subject: [PATCH 34/54] fix(avoidance): fix invalid road bound distance calculation (#6781) fix(avoidance): fix invalid road shoulder distance calculation Signed-off-by: satoshi-ota --- planning/behavior_path_avoidance_module/src/utils.cpp | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/planning/behavior_path_avoidance_module/src/utils.cpp b/planning/behavior_path_avoidance_module/src/utils.cpp index 6c2b72db0237d..f0d864f3fed38 100644 --- a/planning/behavior_path_avoidance_module/src/utils.cpp +++ b/planning/behavior_path_avoidance_module/src/utils.cpp @@ -874,8 +874,7 @@ double getRoadShoulderDistance( } { - const auto p2 = - calcOffsetPose(p_tmp, 0.0, (isOnRight(object) ? -100.0 : 100.0), 0.0).position; + const auto p2 = calcOffsetPose(p_tmp, 0.0, (isOnRight(object) ? -1.0 : 1.0), 0.0).position; const auto opt_intersect = tier4_autoware_utils::intersect(p1.second, p2, bound.at(i - 1), bound.at(i)); From a06122ce1bdbefae8c4b0bb0a7ce38c2f7edc407 Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Thu, 11 Apr 2024 19:28:40 +0900 Subject: [PATCH 35/54] refactor(avoidance): rebuild parameter structure (#6786) * refactor(avoidance): unify similar param Signed-off-by: satoshi-ota * refactor(avoidance): rename misreading params Signed-off-by: satoshi-ota * refactor(avoidance): update parameter namespace Signed-off-by: satoshi-ota * refactor(avoidance): use prefix th instead of threshold Signed-off-by: satoshi-ota * refactor(avoidance): rename params Signed-off-by: satoshi-ota * refactor(AbLC): rename params Signed-off-by: satoshi-ota * refactor(avoidance): update yaml Signed-off-by: satoshi-ota * refactor(AbLC): update yaml Signed-off-by: satoshi-ota --------- Signed-off-by: satoshi-ota --- .../avoidance_by_lane_change.param.yaml | 52 ++-- .../src/manager.cpp | 24 +- .../config/avoidance.param.yaml | 292 +++++++++--------- .../data_structs.hpp | 20 +- .../behavior_path_avoidance_module/helper.hpp | 7 +- .../parameter_helper.hpp | 78 ++--- .../src/manager.cpp | 64 ++-- .../src/scene.cpp | 8 +- .../src/shift_line_generator.cpp | 8 +- .../src/utils.cpp | 4 +- 10 files changed, 268 insertions(+), 289 deletions(-) diff --git a/planning/behavior_path_avoidance_by_lane_change_module/config/avoidance_by_lane_change.param.yaml b/planning/behavior_path_avoidance_by_lane_change_module/config/avoidance_by_lane_change.param.yaml index ad5fe0b123f1d..384ef7bd285e9 100644 --- a/planning/behavior_path_avoidance_by_lane_change_module/config/avoidance_by_lane_change.param.yaml +++ b/planning/behavior_path_avoidance_by_lane_change_module/config/avoidance_by_lane_change.param.yaml @@ -8,8 +8,8 @@ target_object: car: execute_num: 2 # [-] - moving_speed_threshold: 1.0 # [m/s] - moving_time_threshold: 1.0 # [s] + th_moving_speed: 1.0 # [m/s] + th_moving_time: 1.0 # [s] max_expand_ratio: 0.0 # [-] envelope_buffer_margin: 0.3 # [m] lateral_margin: @@ -18,8 +18,8 @@ hard_margin_for_parked_vehicle: 0.0 # [m] truck: execute_num: 2 - moving_speed_threshold: 1.0 # 3.6km/h - moving_time_threshold: 1.0 + th_moving_speed: 1.0 # 3.6km/h + th_moving_time: 1.0 max_expand_ratio: 0.0 envelope_buffer_margin: 0.3 lateral_margin: @@ -28,8 +28,8 @@ hard_margin_for_parked_vehicle: 0.0 # [m] bus: execute_num: 2 - moving_speed_threshold: 1.0 # 3.6km/h - moving_time_threshold: 1.0 + th_moving_speed: 1.0 # 3.6km/h + th_moving_time: 1.0 max_expand_ratio: 0.0 envelope_buffer_margin: 0.3 lateral_margin: @@ -38,8 +38,8 @@ hard_margin_for_parked_vehicle: 0.0 # [m] trailer: execute_num: 2 - moving_speed_threshold: 1.0 # 3.6km/h - moving_time_threshold: 1.0 + th_moving_speed: 1.0 # 3.6km/h + th_moving_time: 1.0 max_expand_ratio: 0.0 envelope_buffer_margin: 0.3 lateral_margin: @@ -48,8 +48,8 @@ hard_margin_for_parked_vehicle: 0.0 # [m] unknown: execute_num: 1 - moving_speed_threshold: 0.28 # 1.0km/h - moving_time_threshold: 1.0 + th_moving_speed: 0.28 # 1.0km/h + th_moving_time: 1.0 max_expand_ratio: 0.0 envelope_buffer_margin: 0.3 lateral_margin: @@ -58,34 +58,34 @@ hard_margin_for_parked_vehicle: 0.0 # [m] bicycle: execute_num: 2 - moving_speed_threshold: 0.28 # 1.0km/h - moving_time_threshold: 1.0 + th_moving_speed: 0.28 # 1.0km/h + th_moving_time: 1.0 max_expand_ratio: 0.0 envelope_buffer_margin: 0.8 lateral_margin: soft_margin: 0.0 # [m] - hard_margin: 0.0 # [m] - hard_margin_for_parked_vehicle: 0.0 # [m] + hard_margin: 1.0 # [m] + hard_margin_for_parked_vehicle: 1.0 # [m] motorcycle: execute_num: 2 - moving_speed_threshold: 1.0 # 3.6km/h - moving_time_threshold: 1.0 + th_moving_speed: 1.0 # 3.6km/h + th_moving_time: 1.0 max_expand_ratio: 0.0 envelope_buffer_margin: 0.8 lateral_margin: soft_margin: 0.0 # [m] - hard_margin: 0.0 # [m] - hard_margin_for_parked_vehicle: 0.0 # [m] + hard_margin: 1.0 # [m] + hard_margin_for_parked_vehicle: 1.0 # [m] pedestrian: execute_num: 2 - moving_speed_threshold: 0.28 # 1.0km/h - moving_time_threshold: 1.0 + th_moving_speed: 0.28 # 1.0km/h + th_moving_time: 1.0 max_expand_ratio: 0.0 envelope_buffer_margin: 0.8 lateral_margin: soft_margin: 0.0 # [m] - hard_margin: 0.0 # [m] - hard_margin_for_parked_vehicle: 0.0 # [m] + hard_margin: 1.0 # [m] + hard_margin_for_parked_vehicle: 1.0 # [m] lower_distance_for_polygon_expansion: 0.0 # [m] upper_distance_for_polygon_expansion: 1.0 # [m] @@ -101,11 +101,3 @@ bicycle: false # [-] motorcycle: false # [-] pedestrian: false # [-] - - constraints: - # lateral constraints - lateral: - velocity: [1.0, 1.38, 11.1] # [m/s] - max_accel_values: [0.5, 0.5, 0.5] # [m/ss] - min_jerk_values: [0.2, 0.2, 0.2] # [m/sss] - max_jerk_values: [1.0, 1.0, 1.0] # [m/sss] diff --git a/planning/behavior_path_avoidance_by_lane_change_module/src/manager.cpp b/planning/behavior_path_avoidance_by_lane_change_module/src/manager.cpp index 799364437955c..a3b28b4d63d06 100644 --- a/planning/behavior_path_avoidance_by_lane_change_module/src/manager.cpp +++ b/planning/behavior_path_avoidance_by_lane_change_module/src/manager.cpp @@ -65,10 +65,8 @@ void AvoidanceByLaneChangeModuleManager::init(rclcpp::Node * node) const auto get_object_param = [&](std::string && ns) { ObjectParameter param{}; param.execute_num = getOrDeclareParameter(*node, ns + "execute_num"); - param.moving_speed_threshold = - getOrDeclareParameter(*node, ns + "moving_speed_threshold"); - param.moving_time_threshold = - getOrDeclareParameter(*node, ns + "moving_time_threshold"); + param.moving_speed_threshold = getOrDeclareParameter(*node, ns + "th_moving_speed"); + param.moving_time_threshold = getOrDeclareParameter(*node, ns + "th_moving_time"); param.max_expand_ratio = getOrDeclareParameter(*node, ns + "max_expand_ratio"); param.envelope_buffer_margin = getOrDeclareParameter(*node, ns + "envelope_buffer_margin"); @@ -121,14 +119,18 @@ void AvoidanceByLaneChangeModuleManager::init(rclcpp::Node * node) p.object_check_goal_distance = getOrDeclareParameter(*node, ns + "object_check_goal_distance"); + p.object_last_seen_threshold = + getOrDeclareParameter(*node, ns + "max_compensation_time"); + } + + { + const std::string ns = "avoidance.target_filtering.parked_vehicle."; p.threshold_distance_object_is_on_center = - getOrDeclareParameter(*node, ns + "threshold_distance_object_is_on_center"); + getOrDeclareParameter(*node, ns + "th_offset_from_centerline"); p.object_check_shiftable_ratio = - getOrDeclareParameter(*node, ns + "object_check_shiftable_ratio"); + getOrDeclareParameter(*node, ns + "th_shiftable_ratio"); p.object_check_min_road_shoulder_width = - getOrDeclareParameter(*node, ns + "object_check_min_road_shoulder_width"); - p.object_last_seen_threshold = - getOrDeclareParameter(*node, ns + "object_last_seen_threshold"); + getOrDeclareParameter(*node, ns + "min_road_shoulder_width"); } { @@ -137,9 +139,9 @@ void AvoidanceByLaneChangeModuleManager::init(rclcpp::Node * node) p.closest_distance_to_wait_and_see_for_ambiguous_vehicle = getOrDeclareParameter(*node, ns + "closest_distance_to_wait_and_see"); p.time_threshold_for_ambiguous_vehicle = - getOrDeclareParameter(*node, ns + "condition.time_threshold"); + getOrDeclareParameter(*node, ns + "condition.th_stopped_time"); p.distance_threshold_for_ambiguous_vehicle = - getOrDeclareParameter(*node, ns + "condition.distance_threshold"); + getOrDeclareParameter(*node, ns + "condition.th_moving_distance"); p.object_ignore_section_traffic_light_in_front_distance = getOrDeclareParameter(*node, ns + "ignore_area.traffic_light.front_distance"); p.object_ignore_section_crosswalk_in_front_distance = diff --git a/planning/behavior_path_avoidance_module/config/avoidance.param.yaml b/planning/behavior_path_avoidance_module/config/avoidance.param.yaml index b7b8d8434b9c4..92f533bc63872 100644 --- a/planning/behavior_path_avoidance_module/config/avoidance.param.yaml +++ b/planning/behavior_path_avoidance_module/config/avoidance.param.yaml @@ -2,11 +2,11 @@ /**: ros__parameters: avoidance: - resample_interval_for_planning: 0.3 # [m] - resample_interval_for_output: 4.0 # [m] + resample_interval_for_planning: 0.3 # [m] FOR DEVELOPER + resample_interval_for_output: 4.0 # [m] FOR DEVELOPER + # avoidance module common setting enable_bound_clipping: false - enable_cancel_maneuver: true disable_path_update: false # drivable area setting @@ -16,215 +16,203 @@ use_hatched_road_markings: true use_freespace_areas: true - # for debug - publish_debug_marker: false - print_debug_info: false - # avoidance is performed for the object type with true target_object: car: - execute_num: 1 # [-] - moving_speed_threshold: 1.0 # [m/s] - moving_time_threshold: 2.0 # [s] + th_moving_speed: 1.0 # [m/s] + th_moving_time: 2.0 # [s] + longitudinal_margin: 0.0 # [m] lateral_margin: - soft_margin: 0.7 # [m] - hard_margin: 0.3 # [m] - hard_margin_for_parked_vehicle: 0.3 # [m] - max_expand_ratio: 0.0 # [-] - envelope_buffer_margin: 0.5 # [m] - safety_buffer_longitudinal: 0.0 # [m] - use_conservative_buffer_longitudinal: true # [-] When set to true, the base_link2front is added to the longitudinal buffer before avoidance. + soft_margin: 0.3 # [m] + hard_margin: 0.2 # [m] + hard_margin_for_parked_vehicle: 0.7 # [m] + max_expand_ratio: 0.0 # [-] FOR DEVELOPER + envelope_buffer_margin: 0.5 # [m] FOR DEVELOPER + use_conservative_buffer_longitudinal: true # [-] When set to true, the base_link2front is added to the longitudinal buffer before avoidance. truck: - execute_num: 1 - moving_speed_threshold: 1.0 # 3.6km/h - moving_time_threshold: 2.0 + th_moving_speed: 1.0 + th_moving_time: 2.0 + longitudinal_margin: 0.0 lateral_margin: - soft_margin: 0.9 # [m] - hard_margin: 0.1 # [m] - hard_margin_for_parked_vehicle: 0.1 # [m] + soft_margin: 0.3 + hard_margin: 0.2 + hard_margin_for_parked_vehicle: 0.7 max_expand_ratio: 0.0 envelope_buffer_margin: 0.5 - safety_buffer_longitudinal: 0.0 use_conservative_buffer_longitudinal: true bus: - execute_num: 1 - moving_speed_threshold: 1.0 # 3.6km/h - moving_time_threshold: 2.0 + th_moving_speed: 1.0 + th_moving_time: 2.0 + longitudinal_margin: 0.0 lateral_margin: - soft_margin: 0.9 # [m] - hard_margin: 0.1 # [m] - hard_margin_for_parked_vehicle: 0.1 # [m] + soft_margin: 0.3 + hard_margin: 0.2 + hard_margin_for_parked_vehicle: 0.7 max_expand_ratio: 0.0 envelope_buffer_margin: 0.5 - safety_buffer_longitudinal: 0.0 use_conservative_buffer_longitudinal: true trailer: - execute_num: 1 - moving_speed_threshold: 1.0 # 3.6km/h - moving_time_threshold: 2.0 + th_moving_speed: 1.0 + th_moving_time: 2.0 + longitudinal_margin: 0.0 lateral_margin: - soft_margin: 0.9 # [m] - hard_margin: 0.1 # [m] - hard_margin_for_parked_vehicle: 0.1 # [m] + soft_margin: 0.3 + hard_margin: 0.2 + hard_margin_for_parked_vehicle: 0.7 max_expand_ratio: 0.0 envelope_buffer_margin: 0.5 - safety_buffer_longitudinal: 0.0 use_conservative_buffer_longitudinal: true unknown: - execute_num: 1 - moving_speed_threshold: 0.28 # 1.0km/h - moving_time_threshold: 1.0 + th_moving_speed: 0.28 + th_moving_time: 1.0 + longitudinal_margin: 0.0 lateral_margin: - soft_margin: 0.7 # [m] - hard_margin: -0.2 # [m] - hard_margin_for_parked_vehicle: -0.2 # [m] + soft_margin: 0.7 + hard_margin: -0.2 + hard_margin_for_parked_vehicle: -0.2 max_expand_ratio: 0.0 envelope_buffer_margin: 0.1 - safety_buffer_longitudinal: 0.0 use_conservative_buffer_longitudinal: true bicycle: - execute_num: 1 - moving_speed_threshold: 0.28 # 1.0km/h - moving_time_threshold: 1.0 + th_moving_speed: 0.28 + th_moving_time: 1.0 + longitudinal_margin: 1.0 lateral_margin: - soft_margin: 0.7 # [m] - hard_margin: 0.5 # [m] - hard_margin_for_parked_vehicle: 0.5 # [m] + soft_margin: 0.7 + hard_margin: 0.5 + hard_margin_for_parked_vehicle: 0.5 max_expand_ratio: 0.0 envelope_buffer_margin: 0.5 - safety_buffer_longitudinal: 1.0 use_conservative_buffer_longitudinal: true motorcycle: - execute_num: 1 - moving_speed_threshold: 1.0 # 3.6km/h - moving_time_threshold: 1.0 + th_moving_speed: 1.0 + th_moving_time: 1.0 + longitudinal_margin: 1.0 lateral_margin: - soft_margin: 0.7 # [m] - hard_margin: 0.3 # [m] - hard_margin_for_parked_vehicle: 0.3 # [m] + soft_margin: 0.7 + hard_margin: 0.3 + hard_margin_for_parked_vehicle: 0.3 max_expand_ratio: 0.0 envelope_buffer_margin: 0.5 - safety_buffer_longitudinal: 1.0 use_conservative_buffer_longitudinal: true pedestrian: - execute_num: 1 - moving_speed_threshold: 0.28 # 1.0km/h - moving_time_threshold: 1.0 + th_moving_speed: 0.28 + th_moving_time: 1.0 + longitudinal_margin: 1.0 lateral_margin: - soft_margin: 0.7 # [m] - hard_margin: 0.5 # [m] - hard_margin_for_parked_vehicle: 0.5 # [m] + soft_margin: 0.7 + hard_margin: 0.5 + hard_margin_for_parked_vehicle: 0.5 max_expand_ratio: 0.0 envelope_buffer_margin: 0.5 - safety_buffer_longitudinal: 1.0 use_conservative_buffer_longitudinal: true - lower_distance_for_polygon_expansion: 30.0 # [m] - upper_distance_for_polygon_expansion: 100.0 # [m] + lower_distance_for_polygon_expansion: 30.0 # [m] FOR DEVELOPER + upper_distance_for_polygon_expansion: 100.0 # [m] FOR DEVELOPER # For target object filtering target_filtering: # avoidance target type target_type: - car: true # [-] - truck: true # [-] - bus: true # [-] - trailer: true # [-] - unknown: true # [-] - bicycle: true # [-] - motorcycle: true # [-] - pedestrian: true # [-] + car: true # [-] + truck: true # [-] + bus: true # [-] + trailer: true # [-] + unknown: true # [-] + bicycle: true # [-] + motorcycle: true # [-] + pedestrian: true # [-] # detection range - object_check_goal_distance: 20.0 # [m] - object_check_return_pose_distance: 20.0 # [m] - # filtering parking objects - threshold_distance_object_is_on_center: 1.0 # [m] - object_check_shiftable_ratio: 0.6 # [-] - object_check_min_road_shoulder_width: 0.5 # [m] + object_check_goal_distance: 20.0 # [m] + object_check_return_pose_distance: 20.0 # [m] # lost object compensation - object_last_seen_threshold: 2.0 + max_compensation_time: 2.0 # detection area generation parameters detection_area: - static: false # [-] - min_forward_distance: 50.0 # [m] - max_forward_distance: 150.0 # [m] - backward_distance: 10.0 # [m] + static: false # [-] + min_forward_distance: 50.0 # [m] + max_forward_distance: 150.0 # [m] + backward_distance: 10.0 # [m] + + # filtering parking objects + parked_vehicle: + th_offset_from_centerline: 1.0 # [m] + th_shiftable_ratio: 0.8 # [-] + min_road_shoulder_width: 0.5 # [m] FOR DEVELOPER # params for avoidance of vehicle type objects that are ambiguous as to whether they are parked. avoidance_for_ambiguous_vehicle: - enable: false # [-] - closest_distance_to_wait_and_see: 10.0 # [m] + enable: true # [-] + closest_distance_to_wait_and_see: 10.0 # [m] condition: - time_threshold: 1.0 # [s] - distance_threshold: 1.0 # [m] + th_stopped_time: 3.0 # [s] + th_moving_distance: 1.0 # [m] ignore_area: traffic_light: - front_distance: 100.0 # [m] + front_distance: 100.0 # [m] crosswalk: - front_distance: 30.0 # [m] - behind_distance: 30.0 # [m] + front_distance: 30.0 # [m] + behind_distance: 30.0 # [m] # params for filtering objects that are in intersection intersection: - yaw_deviation: 0.349 # [rad] (default 20.0deg) + yaw_deviation: 0.349 # [rad] (default 20.0deg) # For safety check safety_check: # safety check target type target_type: - car: true # [-] - truck: true # [-] - bus: true # [-] - trailer: true # [-] - unknown: false # [-] - bicycle: true # [-] - motorcycle: true # [-] - pedestrian: true # [-] + car: true # [-] + truck: true # [-] + bus: true # [-] + trailer: true # [-] + unknown: false # [-] + bicycle: true # [-] + motorcycle: true # [-] + pedestrian: true # [-] # safety check configuration - enable: true # [-] - check_current_lane: false # [-] - check_shift_side_lane: true # [-] - check_other_side_lane: false # [-] - check_unavoidable_object: false # [-] - check_other_object: true # [-] + enable: true # [-] + check_current_lane: false # [-] + check_shift_side_lane: true # [-] + check_other_side_lane: false # [-] + check_unavoidable_object: false # [-] + check_other_object: true # [-] # collision check parameters - check_all_predicted_path: false # [-] - safety_check_backward_distance: 100.0 # [m] - hysteresis_factor_expand_rate: 1.5 # [-] - hysteresis_factor_safe_count: 10 # [-] + check_all_predicted_path: false # [-] + safety_check_backward_distance: 100.0 # [m] + hysteresis_factor_expand_rate: 1.5 # [-] + hysteresis_factor_safe_count: 3 # [-] # predicted path parameters - min_velocity: 1.38 # [m/s] - max_velocity: 50.0 # [m/s] - time_resolution: 0.5 # [s] - time_horizon_for_front_object: 3.0 # [s] - time_horizon_for_rear_object: 10.0 # [s] - delay_until_departure: 0.0 # [s] + min_velocity: 1.38 # [m/s] + max_velocity: 50.0 # [m/s] + time_resolution: 0.5 # [s] + time_horizon_for_front_object: 3.0 # [s] + time_horizon_for_rear_object: 10.0 # [s] + delay_until_departure: 0.0 # [s] # rss parameters - extended_polygon_policy: "along_path" # [-] select "rectangle" or "along_path" - expected_front_deceleration: -1.0 # [m/ss] - expected_rear_deceleration: -1.0 # [m/ss] - rear_vehicle_reaction_time: 2.0 # [s] - rear_vehicle_safety_time_margin: 1.0 # [s] - lateral_distance_max_threshold: 0.75 # [m] - longitudinal_distance_min_threshold: 3.0 # [m] - longitudinal_velocity_delta_time: 0.8 # [s] + extended_polygon_policy: "along_path" # [-] select "rectangle" or "along_path" + expected_front_deceleration: -1.0 # [m/ss] + expected_rear_deceleration: -1.0 # [m/ss] + rear_vehicle_reaction_time: 2.0 # [s] + rear_vehicle_safety_time_margin: 1.0 # [s] + lateral_distance_max_threshold: 2.0 # [m] + longitudinal_distance_min_threshold: 3.0 # [m] + longitudinal_velocity_delta_time: 0.0 # [s] # For avoidance maneuver avoidance: # avoidance lateral parameters lateral: - lateral_execution_threshold: 0.09 # [m] - lateral_small_shift_threshold: 0.101 # [m] - lateral_avoid_check_threshold: 0.1 # [m] - soft_road_shoulder_margin: 0.3 # [m] - hard_road_shoulder_margin: 0.3 # [m] - max_right_shift_length: 5.0 - max_left_shift_length: 5.0 - max_deviation_from_lane: 0.5 # [m] + th_avoid_execution: 0.09 # [m] FOR DEVELOPER + th_small_shift_length: 0.101 # [m] FOR DEVELOPER + soft_drivable_bound_margin: 0.3 # [m] + hard_drivable_bound_margin: 0.3 # [m] + max_right_shift_length: 5.0 # [m] FOR DEVELOPER + max_left_shift_length: 5.0 # [m] FOR DEVELOPER + max_deviation_from_lane: 0.2 # [m] # approve the next shift line after reaching this percentage of the current shift line length. - # this parameter should be within range of 0.0 to 1.0. # this parameter is added to allow waiting for the return of shift approval until the occlusion behind the avoid target is clear. - # this feature can be disabled by setting this parameter to 1.0. (in that case, avoidance module creates return shift as soon as possible.) + # this feature can be disabled by setting this parameter to 0.0. ratio_for_return_shift_approval: 0.5 # [-] # avoidance distance parameters longitudinal: @@ -232,17 +220,21 @@ max_prepare_time: 2.0 # [s] min_prepare_distance: 1.0 # [m] min_slow_down_speed: 1.38 # [m/s] - buf_slow_down_speed: 0.56 # [m/s] - nominal_avoidance_speed: 8.33 # [m/s] + buf_slow_down_speed: 0.56 # [m/s] FOR DEVELOPER + nominal_avoidance_speed: 8.33 # [m/s] FOR DEVELOPER # return dead line return_dead_line: goal: enable: true # [-] - buffer: 30.0 # [m] + buffer: 3.0 # [m] traffic_light: enable: true # [-] buffer: 3.0 # [m] + # For cancel maneuver + cancel: + enable: true # [-] + # For yield maneuver yield: enable: true # [-] @@ -251,7 +243,7 @@ # For stop maneuver stop: max_distance: 20.0 # [m] - stop_buffer: 1.0 # [m] + stop_buffer: 1.0 # [m] FOR DEVELOPER policy: # policy for rtc request. select "per_shift_line" or "per_avoidance_maneuver". @@ -273,6 +265,10 @@ # if true, module doesn't wait deceleration and outputs avoidance path by best effort margin. use_shorten_margin_immediately: true # [-] + # -------------------------------------- + # FOLLOWING PARAMETERS ARE FOR DEVELOPER + # -------------------------------------- + constraints: # lateral constraints lateral: @@ -292,8 +288,12 @@ shift_line_pipeline: trim: - quantize_filter_threshold: 0.1 - same_grad_filter_1_threshold: 0.1 - same_grad_filter_2_threshold: 0.2 - same_grad_filter_3_threshold: 0.5 - sharp_shift_filter_threshold: 0.2 + quantize_size: 0.1 + th_similar_grad_1: 0.1 + th_similar_grad_2: 0.2 + th_similar_grad_3: 0.5 + + # for debug + debug: + marker: false + console: false diff --git a/planning/behavior_path_avoidance_module/include/behavior_path_avoidance_module/data_structs.hpp b/planning/behavior_path_avoidance_module/include/behavior_path_avoidance_module/data_structs.hpp index fd841ede37e70..bc66598d3ee90 100644 --- a/planning/behavior_path_avoidance_module/include/behavior_path_avoidance_module/data_structs.hpp +++ b/planning/behavior_path_avoidance_module/include/behavior_path_avoidance_module/data_structs.hpp @@ -75,7 +75,7 @@ struct ObjectParameter double lateral_hard_margin_for_parked_vehicle{1.0}; - double safety_buffer_longitudinal{0.0}; + double longitudinal_margin{0.0}; bool use_conservative_buffer_longitudinal{true}; }; @@ -243,11 +243,11 @@ struct AvoidanceParameters // The margin is configured so that the generated avoidance trajectory does not come near to the // road shoulder. - double soft_road_shoulder_margin{1.0}; + double soft_drivable_bound_margin{1.0}; // The margin is configured so that the generated avoidance trajectory does not come near to the // road shoulder. - double hard_road_shoulder_margin{1.0}; + double hard_drivable_bound_margin{1.0}; // Even if the obstacle is very large, it will not avoid more than this length for right direction double max_right_shift_length{0.0}; @@ -276,26 +276,20 @@ struct AvoidanceParameters // line. double lateral_small_shift_threshold{0.0}; - // use for judge if the ego is shifting or not. - double lateral_avoid_check_threshold{0.0}; - // use for return shift approval. double ratio_for_return_shift_approval{0.0}; // For shift line generation process. The continuous shift length is quantized by this value. - double quantize_filter_threshold{0.0}; + double quantize_size{0.0}; // For shift line generation process. Merge small shift lines. (First step) - double same_grad_filter_1_threshold{0.0}; + double th_similar_grad_1{0.0}; // For shift line generation process. Merge small shift lines. (Second step) - double same_grad_filter_2_threshold{0.0}; + double th_similar_grad_2{0.0}; // For shift line generation process. Merge small shift lines. (Third step) - double same_grad_filter_3_threshold{0.0}; - - // For shift line generation process. Remove sharp(=jerky) shift line. - double sharp_shift_filter_threshold{0.0}; + double th_similar_grad_3{0.0}; // policy bool use_shorten_margin_immediately{false}; diff --git a/planning/behavior_path_avoidance_module/include/behavior_path_avoidance_module/helper.hpp b/planning/behavior_path_avoidance_module/include/behavior_path_avoidance_module/helper.hpp index 4ff02df97bd89..2e481e7c98e44 100644 --- a/planning/behavior_path_avoidance_module/include/behavior_path_avoidance_module/helper.hpp +++ b/planning/behavior_path_avoidance_module/include/behavior_path_avoidance_module/helper.hpp @@ -151,15 +151,14 @@ class AvoidanceHelper const auto & additional_buffer_longitudinal = object_parameter.use_conservative_buffer_longitudinal ? data_->parameters.base_link2front : 0.0; - return object_parameter.safety_buffer_longitudinal + additional_buffer_longitudinal; + return object_parameter.longitudinal_margin + additional_buffer_longitudinal; } double getRearConstantDistance(const ObjectData & object) const { const auto object_type = utils::getHighestProbLabel(object.object.classification); const auto object_parameter = parameters_->object_parameters.at(object_type); - return object_parameter.safety_buffer_longitudinal + data_->parameters.base_link2rear + - object.length; + return object_parameter.longitudinal_margin + data_->parameters.base_link2rear + object.length; } double getEgoShift() const @@ -370,7 +369,7 @@ class AvoidanceHelper bool isShifted() const { - return std::abs(getEgoShift()) > parameters_->lateral_avoid_check_threshold; + return std::abs(getEgoShift()) > parameters_->lateral_execution_threshold; } bool isInitialized() const diff --git a/planning/behavior_path_avoidance_module/include/behavior_path_avoidance_module/parameter_helper.hpp b/planning/behavior_path_avoidance_module/include/behavior_path_avoidance_module/parameter_helper.hpp index fbfec58abe4da..5b8963c7ca22d 100644 --- a/planning/behavior_path_avoidance_module/include/behavior_path_avoidance_module/parameter_helper.hpp +++ b/planning/behavior_path_avoidance_module/include/behavior_path_avoidance_module/parameter_helper.hpp @@ -40,10 +40,7 @@ AvoidanceParameters getParameter(rclcpp::Node * node) p.resample_interval_for_output = getOrDeclareParameter(*node, ns + "resample_interval_for_output"); p.enable_bound_clipping = getOrDeclareParameter(*node, ns + "enable_bound_clipping"); - p.enable_cancel_maneuver = getOrDeclareParameter(*node, ns + "enable_cancel_maneuver"); p.disable_path_update = getOrDeclareParameter(*node, ns + "disable_path_update"); - p.publish_debug_marker = getOrDeclareParameter(*node, ns + "publish_debug_marker"); - p.print_debug_info = getOrDeclareParameter(*node, ns + "print_debug_info"); } // drivable area @@ -61,11 +58,8 @@ AvoidanceParameters getParameter(rclcpp::Node * node) { const auto get_object_param = [&](std::string && ns) { ObjectParameter param{}; - param.execute_num = getOrDeclareParameter(*node, ns + "execute_num"); - param.moving_speed_threshold = - getOrDeclareParameter(*node, ns + "moving_speed_threshold"); - param.moving_time_threshold = - getOrDeclareParameter(*node, ns + "moving_time_threshold"); + param.moving_speed_threshold = getOrDeclareParameter(*node, ns + "th_moving_speed"); + param.moving_time_threshold = getOrDeclareParameter(*node, ns + "th_moving_time"); param.max_expand_ratio = getOrDeclareParameter(*node, ns + "max_expand_ratio"); param.envelope_buffer_margin = getOrDeclareParameter(*node, ns + "envelope_buffer_margin"); @@ -75,8 +69,7 @@ AvoidanceParameters getParameter(rclcpp::Node * node) getOrDeclareParameter(*node, ns + "lateral_margin.hard_margin"); param.lateral_hard_margin_for_parked_vehicle = getOrDeclareParameter(*node, ns + "lateral_margin.hard_margin_for_parked_vehicle"); - param.safety_buffer_longitudinal = - getOrDeclareParameter(*node, ns + "safety_buffer_longitudinal"); + param.longitudinal_margin = getOrDeclareParameter(*node, ns + "longitudinal_margin"); param.use_conservative_buffer_longitudinal = getOrDeclareParameter(*node, ns + "use_conservative_buffer_longitudinal"); return param; @@ -124,16 +117,20 @@ AvoidanceParameters getParameter(rclcpp::Node * node) getOrDeclareParameter(*node, ns + "object_check_goal_distance"); p.object_check_return_pose_distance = getOrDeclareParameter(*node, ns + "object_check_return_pose_distance"); - p.threshold_distance_object_is_on_center = - getOrDeclareParameter(*node, ns + "threshold_distance_object_is_on_center"); - p.object_check_shiftable_ratio = - getOrDeclareParameter(*node, ns + "object_check_shiftable_ratio"); - p.object_check_min_road_shoulder_width = - getOrDeclareParameter(*node, ns + "object_check_min_road_shoulder_width"); p.object_check_yaw_deviation = getOrDeclareParameter(*node, ns + "intersection.yaw_deviation"); p.object_last_seen_threshold = - getOrDeclareParameter(*node, ns + "object_last_seen_threshold"); + getOrDeclareParameter(*node, ns + "max_compensation_time"); + } + + { + const std::string ns = "avoidance.target_filtering.parked_vehicle."; + p.threshold_distance_object_is_on_center = + getOrDeclareParameter(*node, ns + "th_offset_from_centerline"); + p.object_check_shiftable_ratio = + getOrDeclareParameter(*node, ns + "th_shiftable_ratio"); + p.object_check_min_road_shoulder_width = + getOrDeclareParameter(*node, ns + "min_road_shoulder_width"); } { @@ -142,9 +139,9 @@ AvoidanceParameters getParameter(rclcpp::Node * node) p.closest_distance_to_wait_and_see_for_ambiguous_vehicle = getOrDeclareParameter(*node, ns + "closest_distance_to_wait_and_see"); p.time_threshold_for_ambiguous_vehicle = - getOrDeclareParameter(*node, ns + "condition.time_threshold"); + getOrDeclareParameter(*node, ns + "condition.th_stopped_time"); p.distance_threshold_for_ambiguous_vehicle = - getOrDeclareParameter(*node, ns + "condition.distance_threshold"); + getOrDeclareParameter(*node, ns + "condition.th_moving_distance"); p.object_ignore_section_traffic_light_in_front_distance = getOrDeclareParameter(*node, ns + "ignore_area.traffic_light.front_distance"); p.object_ignore_section_crosswalk_in_front_distance = @@ -244,16 +241,13 @@ AvoidanceParameters getParameter(rclcpp::Node * node) // avoidance maneuver (lateral) { const std::string ns = "avoidance.avoidance.lateral."; - p.soft_road_shoulder_margin = - getOrDeclareParameter(*node, ns + "soft_road_shoulder_margin"); - p.hard_road_shoulder_margin = - getOrDeclareParameter(*node, ns + "hard_road_shoulder_margin"); - p.lateral_execution_threshold = - getOrDeclareParameter(*node, ns + "lateral_execution_threshold"); + p.soft_drivable_bound_margin = + getOrDeclareParameter(*node, ns + "soft_drivable_bound_margin"); + p.hard_drivable_bound_margin = + getOrDeclareParameter(*node, ns + "hard_drivable_bound_margin"); + p.lateral_execution_threshold = getOrDeclareParameter(*node, ns + "th_avoid_execution"); p.lateral_small_shift_threshold = - getOrDeclareParameter(*node, ns + "lateral_small_shift_threshold"); - p.lateral_avoid_check_threshold = - getOrDeclareParameter(*node, ns + "lateral_avoid_check_threshold"); + getOrDeclareParameter(*node, ns + "th_small_shift_length"); p.max_right_shift_length = getOrDeclareParameter(*node, ns + "max_right_shift_length"); p.max_left_shift_length = getOrDeclareParameter(*node, ns + "max_left_shift_length"); p.max_deviation_from_lane = @@ -289,6 +283,12 @@ AvoidanceParameters getParameter(rclcpp::Node * node) getOrDeclareParameter(*node, ns + "traffic_light.buffer"); } + // cancel + { + const std::string ns = "avoidance.cancel."; + p.enable_cancel_maneuver = getOrDeclareParameter(*node, ns + "enable"); + } + // yield { const std::string ns = "avoidance.yield."; @@ -369,17 +369,19 @@ AvoidanceParameters getParameter(rclcpp::Node * node) // shift line pipeline { const std::string ns = "avoidance.shift_line_pipeline."; - p.quantize_filter_threshold = - getOrDeclareParameter(*node, ns + "trim.quantize_filter_threshold"); - p.same_grad_filter_1_threshold = - getOrDeclareParameter(*node, ns + "trim.same_grad_filter_1_threshold"); - p.same_grad_filter_2_threshold = - getOrDeclareParameter(*node, ns + "trim.same_grad_filter_2_threshold"); - p.same_grad_filter_3_threshold = - getOrDeclareParameter(*node, ns + "trim.same_grad_filter_3_threshold"); - p.sharp_shift_filter_threshold = - getOrDeclareParameter(*node, ns + "trim.sharp_shift_filter_threshold"); + p.quantize_size = getOrDeclareParameter(*node, ns + "trim.quantize_size"); + p.th_similar_grad_1 = getOrDeclareParameter(*node, ns + "trim.th_similar_grad_1"); + p.th_similar_grad_2 = getOrDeclareParameter(*node, ns + "trim.th_similar_grad_2"); + p.th_similar_grad_3 = getOrDeclareParameter(*node, ns + "trim.th_similar_grad_3"); } + + // debug + { + const std::string ns = "avoidance.debug."; + p.publish_debug_marker = getOrDeclareParameter(*node, ns + "marker"); + p.print_debug_info = getOrDeclareParameter(*node, ns + "console"); + } + return p; } } // namespace behavior_path_planner diff --git a/planning/behavior_path_avoidance_module/src/manager.cpp b/planning/behavior_path_avoidance_module/src/manager.cpp index 5ce63987621ed..3261214d1b9b6 100644 --- a/planning/behavior_path_avoidance_module/src/manager.cpp +++ b/planning/behavior_path_avoidance_module/src/manager.cpp @@ -46,18 +46,11 @@ void AvoidanceModuleManager::updateModuleParams(const std::vector(parameters, ns + "enable_safety_check", p->enable_safety_check); - updateParam(parameters, ns + "publish_debug_marker", p->publish_debug_marker); - updateParam(parameters, ns + "print_debug_info", p->print_debug_info); - } - const auto update_object_param = [&p, ¶meters]( const auto & semantic, const std::string & ns) { auto & config = p->object_parameters.at(semantic); - updateParam(parameters, ns + "moving_speed_threshold", config.moving_speed_threshold); - updateParam(parameters, ns + "moving_time_threshold", config.moving_time_threshold); + updateParam(parameters, ns + "th_moving_speed", config.moving_speed_threshold); + updateParam(parameters, ns + "th_moving_time", config.moving_time_threshold); updateParam(parameters, ns + "max_expand_ratio", config.max_expand_ratio); updateParam(parameters, ns + "envelope_buffer_margin", config.envelope_buffer_margin); updateParam(parameters, ns + "lateral_margin.soft_margin", config.lateral_soft_margin); @@ -65,8 +58,7 @@ void AvoidanceModuleManager::updateModuleParams(const std::vector( parameters, ns + "lateral_margin.hard_margin_for_parked_vehicle", config.lateral_hard_margin_for_parked_vehicle); - updateParam( - parameters, ns + "safety_buffer_longitudinal", config.safety_buffer_longitudinal); + updateParam(parameters, ns + "longitudinal_margin", config.longitudinal_margin); updateParam( parameters, ns + "use_conservative_buffer_longitudinal", config.use_conservative_buffer_longitudinal); @@ -113,16 +105,16 @@ void AvoidanceModuleManager::updateModuleParams(const std::vectorobject_check_goal_distance); updateParam( parameters, ns + "object_check_return_pose_distance", p->object_check_return_pose_distance); + updateParam(parameters, ns + "max_compensation_time", p->object_last_seen_threshold); + } + + { + const std::string ns = "avoidance.target_filtering.parked_vehicle."; updateParam( - parameters, ns + "threshold_distance_object_is_on_center", - p->threshold_distance_object_is_on_center); - updateParam( - parameters, ns + "object_check_shiftable_ratio", p->object_check_shiftable_ratio); - updateParam( - parameters, ns + "object_check_min_road_shoulder_width", - p->object_check_min_road_shoulder_width); + parameters, ns + "th_offset_from_centerline", p->threshold_distance_object_is_on_center); + updateParam(parameters, ns + "th_shiftable_ratio", p->object_check_shiftable_ratio); updateParam( - parameters, ns + "object_last_seen_threshold", p->object_last_seen_threshold); + parameters, ns + "min_road_shoulder_width", p->object_check_min_road_shoulder_width); } { @@ -142,9 +134,9 @@ void AvoidanceModuleManager::updateModuleParams(const std::vectorclosest_distance_to_wait_and_see_for_ambiguous_vehicle); updateParam( - parameters, ns + "condition.time_threshold", p->time_threshold_for_ambiguous_vehicle); + parameters, ns + "condition.th_stopped_time", p->time_threshold_for_ambiguous_vehicle); updateParam( - parameters, ns + "condition.distance_threshold", p->distance_threshold_for_ambiguous_vehicle); + parameters, ns + "condition.th_moving_distance", p->distance_threshold_for_ambiguous_vehicle); updateParam( parameters, ns + "ignore_area.traffic_light.front_distance", p->object_ignore_section_traffic_light_in_front_distance); @@ -163,14 +155,12 @@ void AvoidanceModuleManager::updateModuleParams(const std::vector(parameters, ns + "th_avoid_execution", p->lateral_execution_threshold); + updateParam(parameters, ns + "th_small_shift_length", p->lateral_small_shift_threshold); updateParam( - parameters, ns + "lateral_execution_threshold", p->lateral_execution_threshold); + parameters, ns + "soft_drivable_bound_margin", p->soft_drivable_bound_margin); updateParam( - parameters, ns + "lateral_small_shift_threshold", p->lateral_small_shift_threshold); - updateParam( - parameters, ns + "lateral_avoid_check_threshold", p->lateral_avoid_check_threshold); - updateParam(parameters, ns + "soft_road_shoulder_margin", p->soft_road_shoulder_margin); - updateParam(parameters, ns + "hard_road_shoulder_margin", p->hard_road_shoulder_margin); + parameters, ns + "hard_drivable_bound_margin", p->hard_drivable_bound_margin); } { @@ -259,16 +249,16 @@ void AvoidanceModuleManager::updateModuleParams(const std::vector( - parameters, ns + "trim.quantize_filter_threshold", p->quantize_filter_threshold); - updateParam( - parameters, ns + "trim.same_grad_filter_1_threshold", p->same_grad_filter_1_threshold); - updateParam( - parameters, ns + "trim.same_grad_filter_2_threshold", p->same_grad_filter_2_threshold); - updateParam( - parameters, ns + "trim.same_grad_filter_3_threshold", p->same_grad_filter_3_threshold); - updateParam( - parameters, ns + "trim.sharp_shift_filter_threshold", p->sharp_shift_filter_threshold); + updateParam(parameters, ns + "trim.quantize_size", p->quantize_size); + updateParam(parameters, ns + "trim.th_similar_grad_1", p->th_similar_grad_1); + updateParam(parameters, ns + "trim.th_similar_grad_2", p->th_similar_grad_2); + updateParam(parameters, ns + "trim.th_similar_grad_3", p->th_similar_grad_3); + } + + { + const std::string ns = "avoidance.debug."; + updateParam(parameters, ns + "marker", p->publish_debug_marker); + updateParam(parameters, ns + "console", p->print_debug_info); } std::for_each(observers_.begin(), observers_.end(), [&p](const auto & observer) { diff --git a/planning/behavior_path_avoidance_module/src/scene.cpp b/planning/behavior_path_avoidance_module/src/scene.cpp index 33f58c6a08dfc..b16395f825385 100644 --- a/planning/behavior_path_avoidance_module/src/scene.cpp +++ b/planning/behavior_path_avoidance_module/src/scene.cpp @@ -162,7 +162,7 @@ bool AvoidanceModule::isSatisfiedSuccessCondition(const AvoidancePlanningData & const bool has_shift_point = !path_shifter_.getShiftLines().empty(); const bool has_base_offset = - std::abs(path_shifter_.getBaseOffset()) > parameters_->lateral_avoid_check_threshold; + std::abs(path_shifter_.getBaseOffset()) > parameters_->lateral_execution_threshold; // Nothing to do. -> EXIT. if (!has_shift_point && !has_base_offset) { @@ -734,7 +734,7 @@ bool AvoidanceModule::isSafePath( for (size_t i = ego_idx; i < shifted_path.shift_length.size(); i++) { const auto length = shifted_path.shift_length.at(i); - if (parameters_->lateral_avoid_check_threshold < length) { + if (parameters_->lateral_execution_threshold < length) { return true; } } @@ -746,7 +746,7 @@ bool AvoidanceModule::isSafePath( for (size_t i = ego_idx; i < shifted_path.shift_length.size(); i++) { const auto length = shifted_path.shift_length.at(i); - if (parameters_->lateral_avoid_check_threshold < -1.0 * length) { + if (parameters_->lateral_execution_threshold < -1.0 * length) { return true; } } @@ -1222,7 +1222,7 @@ bool AvoidanceModule::isValidShiftLine( // check if the vehicle is in road. (yaw angle is not considered) { const auto minimum_distance = 0.5 * planner_data_->parameters.vehicle_width + - parameters_->hard_road_shoulder_margin - + parameters_->hard_drivable_bound_margin - parameters_->max_deviation_from_lane; const size_t start_idx = shift_lines.front().start_idx; diff --git a/planning/behavior_path_avoidance_module/src/shift_line_generator.cpp b/planning/behavior_path_avoidance_module/src/shift_line_generator.cpp index 5a8fd35f6d618..9137048945fa1 100644 --- a/planning/behavior_path_avoidance_module/src/shift_line_generator.cpp +++ b/planning/behavior_path_avoidance_module/src/shift_line_generator.cpp @@ -871,7 +871,7 @@ AvoidLineArray ShiftLineGenerator::applyTrimProcess( // - Combine avoid points that have almost same gradient. // this is to remove the noise. { - const auto THRESHOLD = parameters_->same_grad_filter_1_threshold; + const auto THRESHOLD = parameters_->th_similar_grad_1; applySimilarGradFilter(sl_array_trimmed, THRESHOLD); debug.step3_grad_filtered_1st = sl_array_trimmed; } @@ -879,7 +879,7 @@ AvoidLineArray ShiftLineGenerator::applyTrimProcess( // - Quantize the shift length to reduce the shift point noise // This is to remove the noise coming from detection accuracy, interpolation, resampling, etc. { - const auto THRESHOLD = parameters_->quantize_filter_threshold; + const auto THRESHOLD = parameters_->quantize_size; applyQuantizeProcess(sl_array_trimmed, THRESHOLD); debug.step3_quantize_filtered = sl_array_trimmed; } @@ -893,14 +893,14 @@ AvoidLineArray ShiftLineGenerator::applyTrimProcess( // - Combine avoid points that have almost same gradient (again) { - const auto THRESHOLD = parameters_->same_grad_filter_2_threshold; + const auto THRESHOLD = parameters_->th_similar_grad_2; applySimilarGradFilter(sl_array_trimmed, THRESHOLD); debug.step3_grad_filtered_2nd = sl_array_trimmed; } // - Combine avoid points that have almost same gradient (again) { - const auto THRESHOLD = parameters_->same_grad_filter_3_threshold; + const auto THRESHOLD = parameters_->th_similar_grad_3; applySimilarGradFilter(sl_array_trimmed, THRESHOLD); debug.step3_grad_filtered_3rd = sl_array_trimmed; } diff --git a/planning/behavior_path_avoidance_module/src/utils.cpp b/planning/behavior_path_avoidance_module/src/utils.cpp index f0d864f3fed38..bef3976be7e1e 100644 --- a/planning/behavior_path_avoidance_module/src/utils.cpp +++ b/planning/behavior_path_avoidance_module/src/utils.cpp @@ -814,9 +814,9 @@ std::optional getAvoidMargin( object_parameter.lateral_soft_margin + 0.5 * vehicle_width; const auto min_avoid_margin = lateral_hard_margin + 0.5 * vehicle_width; const auto soft_lateral_distance_limit = - object.to_road_shoulder_distance - parameters->soft_road_shoulder_margin - 0.5 * vehicle_width; + object.to_road_shoulder_distance - parameters->soft_drivable_bound_margin - 0.5 * vehicle_width; const auto hard_lateral_distance_limit = - object.to_road_shoulder_distance - parameters->hard_road_shoulder_margin - 0.5 * vehicle_width; + object.to_road_shoulder_distance - parameters->hard_drivable_bound_margin - 0.5 * vehicle_width; // Step1. check avoidable or not. if (hard_lateral_distance_limit < min_avoid_margin) { From e459f09dada0db9b57ac8108254a844d69e86569 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Fri, 12 Apr 2024 03:05:40 +0900 Subject: [PATCH 36/54] feat(static_centerline_optimizer): generate centerline from ego's trajectory in bag (#6788) * implement bag_ego_trajectory_based_centerline Signed-off-by: Takayuki Murooka * fix Signed-off-by: Takayuki Murooka * fix Signed-off-by: Takayuki Murooka --------- Signed-off-by: Takayuki Murooka --- .../include/route_handler/route_handler.hpp | 1 + planning/route_handler/src/route_handler.cpp | 7 + .../CMakeLists.txt | 2 + .../static_centerline_optimizer.param.yaml | 2 +- .../bag_ego_trajectory_based_centerline.hpp | 29 ++ ...timization_trajectory_based_centerline.hpp | 45 +++ .../static_centerline_optimizer_node.hpp | 26 +- .../static_centerline_optimizer/utils.hpp | 3 + .../static_centerline_optimizer.launch.xml | 5 + .../bag_ego_trajectory_based_centerline.sh | 3 + ...ptimization_trajectory_based_centerline.sh | 3 + .../scripts/tmp/run.sh | 3 - .../bag_ego_trajectory_based_centerline.cpp | 82 +++++ ...timization_trajectory_based_centerline.cpp | 192 +++++++++++ .../src/static_centerline_optimizer_node.cpp | 307 ++++++------------ .../static_centerline_optimizer/src/utils.cpp | 11 + .../test/data/bag_ego_trajectory.db3 | Bin 0 -> 2654208 bytes .../test_static_centerline_optimizer.test.py | 1 + 18 files changed, 491 insertions(+), 231 deletions(-) create mode 100644 planning/static_centerline_optimizer/include/static_centerline_optimizer/centerline_source/bag_ego_trajectory_based_centerline.hpp create mode 100644 planning/static_centerline_optimizer/include/static_centerline_optimizer/centerline_source/optimization_trajectory_based_centerline.hpp create mode 100755 planning/static_centerline_optimizer/scripts/tmp/bag_ego_trajectory_based_centerline.sh create mode 100755 planning/static_centerline_optimizer/scripts/tmp/optimization_trajectory_based_centerline.sh delete mode 100755 planning/static_centerline_optimizer/scripts/tmp/run.sh create mode 100644 planning/static_centerline_optimizer/src/centerline_source/bag_ego_trajectory_based_centerline.cpp create mode 100644 planning/static_centerline_optimizer/src/centerline_source/optimization_trajectory_based_centerline.cpp create mode 100644 planning/static_centerline_optimizer/test/data/bag_ego_trajectory.db3 diff --git a/planning/route_handler/include/route_handler/route_handler.hpp b/planning/route_handler/include/route_handler/route_handler.hpp index 83c814b70f0a5..ac8e472b2f943 100644 --- a/planning/route_handler/include/route_handler/route_handler.hpp +++ b/planning/route_handler/include/route_handler/route_handler.hpp @@ -354,6 +354,7 @@ class RouteHandler const lanelet::ConstLanelet & lanelet, lanelet::ConstLanelet * right_lanelet) const; lanelet::ConstPolygon3d getIntersectionAreaById(const lanelet::Id id) const; bool isPreferredLane(const lanelet::ConstLanelet & lanelet) const; + lanelet::ConstLanelets getClosestLanelets(const geometry_msgs::msg::Pose & target_pose) const; private: // MUST diff --git a/planning/route_handler/src/route_handler.cpp b/planning/route_handler/src/route_handler.cpp index 8d143fcf0b87d..76763821998bd 100644 --- a/planning/route_handler/src/route_handler.cpp +++ b/planning/route_handler/src/route_handler.cpp @@ -2286,4 +2286,11 @@ bool RouteHandler::findDrivableLanePath( return drivable_lane_path_found; } +lanelet::ConstLanelets RouteHandler::getClosestLanelets( + const geometry_msgs::msg::Pose & target_pose) const +{ + lanelet::ConstLanelets target_lanelets; + lanelet::utils::query::getCurrentLanelets(road_lanelets_, target_pose, &target_lanelets); + return target_lanelets; +} } // namespace route_handler diff --git a/planning/static_centerline_optimizer/CMakeLists.txt b/planning/static_centerline_optimizer/CMakeLists.txt index 829c06c1fba12..cc33f2234a50c 100644 --- a/planning/static_centerline_optimizer/CMakeLists.txt +++ b/planning/static_centerline_optimizer/CMakeLists.txt @@ -22,6 +22,8 @@ autoware_package() ament_auto_add_executable(main src/main.cpp src/static_centerline_optimizer_node.cpp + src/centerline_source/optimization_trajectory_based_centerline.cpp + src/centerline_source/bag_ego_trajectory_based_centerline.cpp src/utils.cpp ) diff --git a/planning/static_centerline_optimizer/config/static_centerline_optimizer.param.yaml b/planning/static_centerline_optimizer/config/static_centerline_optimizer.param.yaml index 4fdee8a0ca6fc..24a5536949479 100644 --- a/planning/static_centerline_optimizer/config/static_centerline_optimizer.param.yaml +++ b/planning/static_centerline_optimizer/config/static_centerline_optimizer.param.yaml @@ -1,5 +1,5 @@ /**: ros__parameters: - centerline_source: "optimization_trajectory_base" # select from "optimization_trajectory_base" and "bag_ego_trajectory_base" marker_color: ["FF0000", "00FF00", "0000FF"] marker_color_dist_thresh : [0.1, 0.2, 0.3] + output_trajectory_interval: 1.0 diff --git a/planning/static_centerline_optimizer/include/static_centerline_optimizer/centerline_source/bag_ego_trajectory_based_centerline.hpp b/planning/static_centerline_optimizer/include/static_centerline_optimizer/centerline_source/bag_ego_trajectory_based_centerline.hpp new file mode 100644 index 0000000000000..db954b6ccbd47 --- /dev/null +++ b/planning/static_centerline_optimizer/include/static_centerline_optimizer/centerline_source/bag_ego_trajectory_based_centerline.hpp @@ -0,0 +1,29 @@ +// Copyright 2024 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#ifndef STATIC_CENTERLINE_OPTIMIZER__CENTERLINE_SOURCE__BAG_EGO_TRAJECTORY_BASED_CENTERLINE_HPP_ +#define STATIC_CENTERLINE_OPTIMIZER__CENTERLINE_SOURCE__BAG_EGO_TRAJECTORY_BASED_CENTERLINE_HPP_ + +#include "rclcpp/rclcpp.hpp" +#include "static_centerline_optimizer/type_alias.hpp" + +#include +#include +#include + +namespace static_centerline_optimizer +{ +std::vector generate_centerline_with_bag(rclcpp::Node & node); +} // namespace static_centerline_optimizer +#endif // STATIC_CENTERLINE_OPTIMIZER__CENTERLINE_SOURCE__BAG_EGO_TRAJECTORY_BASED_CENTERLINE_HPP_ diff --git a/planning/static_centerline_optimizer/include/static_centerline_optimizer/centerline_source/optimization_trajectory_based_centerline.hpp b/planning/static_centerline_optimizer/include/static_centerline_optimizer/centerline_source/optimization_trajectory_based_centerline.hpp new file mode 100644 index 0000000000000..6e52ff98d78da --- /dev/null +++ b/planning/static_centerline_optimizer/include/static_centerline_optimizer/centerline_source/optimization_trajectory_based_centerline.hpp @@ -0,0 +1,45 @@ +// Copyright 2024 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#ifndef STATIC_CENTERLINE_OPTIMIZER__CENTERLINE_SOURCE__OPTIMIZATION_TRAJECTORY_BASED_CENTERLINE_HPP_ // NOLINT +#define STATIC_CENTERLINE_OPTIMIZER__CENTERLINE_SOURCE__OPTIMIZATION_TRAJECTORY_BASED_CENTERLINE_HPP_ // NOLINT + +#include "rclcpp/rclcpp.hpp" +#include "static_centerline_optimizer/type_alias.hpp" + +#include +#include +#include + +namespace static_centerline_optimizer +{ +class OptimizationTrajectoryBasedCenterline +{ +public: + OptimizationTrajectoryBasedCenterline() = default; + explicit OptimizationTrajectoryBasedCenterline(rclcpp::Node & node); + std::vector generate_centerline_with_optimization( + rclcpp::Node & node, const RouteHandler & route_handler, + const std::vector & route_lane_ids); + +private: + std::vector optimize_trajectory(const Path & raw_path) const; + + rclcpp::Publisher::SharedPtr pub_raw_path_with_lane_id_{nullptr}; + rclcpp::Publisher::SharedPtr pub_raw_path_{nullptr}; +}; +} // namespace static_centerline_optimizer +// clang-format off +#endif // STATIC_CENTERLINE_OPTIMIZER__CENTERLINE_SOURCE__OPTIMIZATION_TRAJECTORY_BASED_CENTERLINE_HPP_ // NOLINT +// clang-format on diff --git a/planning/static_centerline_optimizer/include/static_centerline_optimizer/static_centerline_optimizer_node.hpp b/planning/static_centerline_optimizer/include/static_centerline_optimizer/static_centerline_optimizer_node.hpp index a920139a94472..242a76ae0d94f 100644 --- a/planning/static_centerline_optimizer/include/static_centerline_optimizer/static_centerline_optimizer_node.hpp +++ b/planning/static_centerline_optimizer/include/static_centerline_optimizer/static_centerline_optimizer_node.hpp @@ -16,6 +16,7 @@ #define STATIC_CENTERLINE_OPTIMIZER__STATIC_CENTERLINE_OPTIMIZER_NODE_HPP_ #include "rclcpp/rclcpp.hpp" +#include "static_centerline_optimizer/centerline_source/optimization_trajectory_based_centerline.hpp" #include "static_centerline_optimizer/srv/load_map.hpp" #include "static_centerline_optimizer/srv/plan_path.hpp" #include "static_centerline_optimizer/srv/plan_route.hpp" @@ -25,6 +26,7 @@ #include #include "std_msgs/msg/bool.hpp" +#include "std_msgs/msg/float32.hpp" #include "std_msgs/msg/int32.hpp" #include @@ -37,6 +39,12 @@ using static_centerline_optimizer::srv::LoadMap; using static_centerline_optimizer::srv::PlanPath; using static_centerline_optimizer::srv::PlanRoute; +struct CenterlineWithRoute +{ + std::vector centerline{}; + std::vector route_lane_ids{}; +}; + class StaticCenterlineOptimizerNode : public rclcpp::Node { public: @@ -44,11 +52,6 @@ class StaticCenterlineOptimizerNode : public rclcpp::Node void run(); private: - struct CenterlineWithRoute - { - std::vector centerline{}; - std::vector route_lane_ids{}; - }; // load map void load_map(const std::string & lanelet2_input_file_path); void on_load_map( @@ -60,13 +63,12 @@ class StaticCenterlineOptimizerNode : public rclcpp::Node void on_plan_route( const PlanRoute::Request::SharedPtr request, const PlanRoute::Response::SharedPtr response); - // plan path + // plan centerline CenterlineWithRoute generate_centerline_with_route(); - std::vector plan_path(const std::vector & route_lane_ids); - std::vector optimize_trajectory(const Path & raw_path) const; void on_plan_path( const PlanPath::Request::SharedPtr request, const PlanPath::Response::SharedPtr response); + void update_centerline_range(const int traj_start_index, const int traj_end_index); void evaluate( const std::vector & route_lane_ids, const std::vector & optimized_traj_points); @@ -88,19 +90,19 @@ class StaticCenterlineOptimizerNode : public rclcpp::Node BagEgoTrajectoryBase, }; CenterlineSource centerline_source_; + OptimizationTrajectoryBasedCenterline optimization_trajectory_based_centerline_; // publisher rclcpp::Publisher::SharedPtr pub_map_bin_{nullptr}; - rclcpp::Publisher::SharedPtr pub_raw_path_with_lane_id_{nullptr}; - rclcpp::Publisher::SharedPtr pub_raw_path_{nullptr}; rclcpp::Publisher::SharedPtr pub_debug_unsafe_footprints_{nullptr}; - rclcpp::Publisher::SharedPtr pub_whole_optimized_centerline_{nullptr}; - rclcpp::Publisher::SharedPtr pub_optimized_centerline_{nullptr}; + rclcpp::Publisher::SharedPtr pub_whole_centerline_{nullptr}; + rclcpp::Publisher::SharedPtr pub_centerline_{nullptr}; // subscriber rclcpp::Subscription::SharedPtr sub_traj_start_index_; rclcpp::Subscription::SharedPtr sub_traj_end_index_; rclcpp::Subscription::SharedPtr sub_save_map_; + rclcpp::Subscription::SharedPtr sub_traj_resample_interval_; // service rclcpp::Service::SharedPtr srv_load_map_; diff --git a/planning/static_centerline_optimizer/include/static_centerline_optimizer/utils.hpp b/planning/static_centerline_optimizer/include/static_centerline_optimizer/utils.hpp index 8c8c346557fce..52dcd171e8658 100644 --- a/planning/static_centerline_optimizer/include/static_centerline_optimizer/utils.hpp +++ b/planning/static_centerline_optimizer/include/static_centerline_optimizer/utils.hpp @@ -28,6 +28,9 @@ namespace static_centerline_optimizer { namespace utils { +lanelet::ConstLanelets get_lanelets_from_ids( + const RouteHandler & route_handler, const std::vector & lane_ids); + geometry_msgs::msg::Pose get_center_pose( const RouteHandler & route_handler, const size_t lanelet_id); diff --git a/planning/static_centerline_optimizer/launch/static_centerline_optimizer.launch.xml b/planning/static_centerline_optimizer/launch/static_centerline_optimizer.launch.xml index 2e163e2eb93eb..10718150d1751 100644 --- a/planning/static_centerline_optimizer/launch/static_centerline_optimizer.launch.xml +++ b/planning/static_centerline_optimizer/launch/static_centerline_optimizer.launch.xml @@ -5,6 +5,9 @@ + + + @@ -78,6 +81,8 @@ + + diff --git a/planning/static_centerline_optimizer/scripts/tmp/bag_ego_trajectory_based_centerline.sh b/planning/static_centerline_optimizer/scripts/tmp/bag_ego_trajectory_based_centerline.sh new file mode 100755 index 0000000000000..8164b521553c8 --- /dev/null +++ b/planning/static_centerline_optimizer/scripts/tmp/bag_ego_trajectory_based_centerline.sh @@ -0,0 +1,3 @@ +#!/bin/bash + +ros2 launch static_centerline_optimizer static_centerline_optimizer.launch.xml centerline_source:="bag_ego_trajectory_base" run_background:=false lanelet2_input_file_path:="$HOME/autoware_map/sample_map/lanelet2_map.osm" bag_filename:="$(ros2 pkg prefix static_centerline_optimizer --share)/test/data/bag_ego_trajectory.db3" vehicle_model:=lexus diff --git a/planning/static_centerline_optimizer/scripts/tmp/optimization_trajectory_based_centerline.sh b/planning/static_centerline_optimizer/scripts/tmp/optimization_trajectory_based_centerline.sh new file mode 100755 index 0000000000000..3967c7a4ca523 --- /dev/null +++ b/planning/static_centerline_optimizer/scripts/tmp/optimization_trajectory_based_centerline.sh @@ -0,0 +1,3 @@ +#!/bin/bash + +ros2 launch static_centerline_optimizer static_centerline_optimizer.launch.xml centerline_source:="optimization_trajectory_base" run_background:=false lanelet2_input_file_path:="$HOME/autoware_map/sample_map/lanelet2_map.osm" start_lanelet_id:=125 end_lanelet_id:=132 vehicle_model:=lexus diff --git a/planning/static_centerline_optimizer/scripts/tmp/run.sh b/planning/static_centerline_optimizer/scripts/tmp/run.sh deleted file mode 100755 index 9e475b9d8759b..0000000000000 --- a/planning/static_centerline_optimizer/scripts/tmp/run.sh +++ /dev/null @@ -1,3 +0,0 @@ -#!/bin/bash - -ros2 launch static_centerline_optimizer static_centerline_optimizer.launch.xml run_background:=false lanelet2_input_file_path:="$HOME/autoware_map/sample_map/lanelet2_map.osm" start_lanelet_id:=125 end_lanelet_id:=132 vehicle_model:=lexus diff --git a/planning/static_centerline_optimizer/src/centerline_source/bag_ego_trajectory_based_centerline.cpp b/planning/static_centerline_optimizer/src/centerline_source/bag_ego_trajectory_based_centerline.cpp new file mode 100644 index 0000000000000..150218b498ae7 --- /dev/null +++ b/planning/static_centerline_optimizer/src/centerline_source/bag_ego_trajectory_based_centerline.cpp @@ -0,0 +1,82 @@ +// Copyright 2024 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "static_centerline_optimizer/centerline_source/bag_ego_trajectory_based_centerline.hpp" + +#include "rclcpp/serialization.hpp" +#include "rosbag2_cpp/reader.hpp" +#include "static_centerline_optimizer/static_centerline_optimizer_node.hpp" + +#include + +namespace static_centerline_optimizer +{ +std::vector generate_centerline_with_bag(rclcpp::Node & node) +{ + const auto bag_filename = node.declare_parameter("bag_filename"); + + rosbag2_cpp::Reader bag_reader; + bag_reader.open(bag_filename); + + rclcpp::Serialization bag_serialization; + std::vector centerline_traj_points; + while (bag_reader.has_next()) { + const rosbag2_storage::SerializedBagMessageSharedPtr msg = bag_reader.read_next(); + + if (msg->topic_name != "/localization/kinematic_state") { + continue; + } + + rclcpp::SerializedMessage serialized_msg(*msg->serialized_data); + const auto ros_msg = std::make_shared(); + + bag_serialization.deserialize_message(&serialized_msg, ros_msg.get()); + + if (!centerline_traj_points.empty()) { + constexpr double epsilon = 1e-1; + if ( + std::abs(centerline_traj_points.back().pose.position.x - ros_msg->pose.pose.position.x) < + epsilon && + std::abs(centerline_traj_points.back().pose.position.y - ros_msg->pose.pose.position.y) < + epsilon) { + continue; + } + } + TrajectoryPoint centerline_traj_point; + centerline_traj_point.pose.position = ros_msg->pose.pose.position; + // std::cerr << centerline_traj_point.pose.position.x << " " + // << centerline_traj_point.pose.position.y << std::endl; + centerline_traj_points.push_back(centerline_traj_point); + } + + RCLCPP_INFO(node.get_logger(), "Extracted centerline from the bag."); + + // calculate rough orientation of centerline trajectory points + for (size_t i = 0; i < centerline_traj_points.size(); ++i) { + if (i == centerline_traj_points.size() - 1) { + if (i != 0) { + centerline_traj_points.at(i).pose.orientation = + centerline_traj_points.at(i - 1).pose.orientation; + } + } else { + const double yaw_angle = tier4_autoware_utils::calcAzimuthAngle( + centerline_traj_points.at(i).pose.position, centerline_traj_points.at(i + 1).pose.position); + centerline_traj_points.at(i).pose.orientation = + tier4_autoware_utils::createQuaternionFromYaw(yaw_angle); + } + } + + return centerline_traj_points; +} +} // namespace static_centerline_optimizer diff --git a/planning/static_centerline_optimizer/src/centerline_source/optimization_trajectory_based_centerline.cpp b/planning/static_centerline_optimizer/src/centerline_source/optimization_trajectory_based_centerline.cpp new file mode 100644 index 0000000000000..5bce91be722ca --- /dev/null +++ b/planning/static_centerline_optimizer/src/centerline_source/optimization_trajectory_based_centerline.cpp @@ -0,0 +1,192 @@ +// Copyright 2024 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "static_centerline_optimizer/centerline_source/optimization_trajectory_based_centerline.hpp" + +#include "motion_utils/resample/resample.hpp" +#include "motion_utils/trajectory/conversion.hpp" +#include "obstacle_avoidance_planner/node.hpp" +#include "path_smoother/elastic_band_smoother.hpp" +#include "static_centerline_optimizer/static_centerline_optimizer_node.hpp" +#include "static_centerline_optimizer/utils.hpp" + +namespace static_centerline_optimizer +{ +namespace +{ +rclcpp::NodeOptions create_node_options() +{ + return rclcpp::NodeOptions{}; +} + +rclcpp::QoS create_transient_local_qos() +{ + return rclcpp::QoS{1}.transient_local(); +} +Path convert_to_path(const PathWithLaneId & path_with_lane_id) +{ + Path path; + path.header = path_with_lane_id.header; + path.left_bound = path_with_lane_id.left_bound; + path.right_bound = path_with_lane_id.right_bound; + for (const auto & point : path_with_lane_id.points) { + path.points.push_back(point.point); + } + + return path; +} + +Trajectory convert_to_trajectory(const Path & path) +{ + Trajectory traj; + for (const auto & point : path.points) { + TrajectoryPoint traj_point; + traj_point.pose = point.pose; + traj_point.longitudinal_velocity_mps = point.longitudinal_velocity_mps; + traj_point.lateral_velocity_mps = point.lateral_velocity_mps; + traj_point.heading_rate_rps = point.heading_rate_rps; + + traj.points.push_back(traj_point); + } + return traj; +} +} // namespace + +OptimizationTrajectoryBasedCenterline::OptimizationTrajectoryBasedCenterline(rclcpp::Node & node) +{ + pub_raw_path_with_lane_id_ = + node.create_publisher("input_centerline", create_transient_local_qos()); + pub_raw_path_ = node.create_publisher("debug/raw_centerline", create_transient_local_qos()); +} + +std::vector +OptimizationTrajectoryBasedCenterline::generate_centerline_with_optimization( + rclcpp::Node & node, const RouteHandler & route_handler, + const std::vector & route_lane_ids) +{ + const auto route_lanelets = utils::get_lanelets_from_ids(route_handler, route_lane_ids); + + // optimize centerline inside the lane + const auto start_center_pose = utils::get_center_pose(route_handler, route_lane_ids.front()); + + // get ego nearest search parameters and resample interval in behavior_path_planner + const double ego_nearest_dist_threshold = + node.has_parameter("ego_nearest_dist_threshold") + ? node.get_parameter("ego_nearest_dist_threshold").as_double() + : node.declare_parameter("ego_nearest_dist_threshold"); + const double ego_nearest_yaw_threshold = + node.has_parameter("ego_nearest_yaw_threshold") + ? node.get_parameter("ego_nearest_yaw_threshold").as_double() + : node.declare_parameter("ego_nearest_yaw_threshold"); + const double behavior_path_interval = node.has_parameter("output_path_interval") + ? node.get_parameter("output_path_interval").as_double() + : node.declare_parameter("output_path_interval"); + const double behavior_vel_interval = + node.has_parameter("behavior_output_path_interval") + ? node.get_parameter("behavior_output_path_interval").as_double() + : node.declare_parameter("behavior_output_path_interval"); + + // extract path with lane id from lanelets + const auto raw_path_with_lane_id = [&]() { + const auto non_resampled_path_with_lane_id = utils::get_path_with_lane_id( + route_handler, route_lanelets, start_center_pose, ego_nearest_dist_threshold, + ego_nearest_yaw_threshold); + return motion_utils::resamplePath(non_resampled_path_with_lane_id, behavior_path_interval); + }(); + pub_raw_path_with_lane_id_->publish(raw_path_with_lane_id); + RCLCPP_INFO(node.get_logger(), "Calculated raw path with lane id and published."); + + // convert path with lane id to path + const auto raw_path = [&]() { + const auto non_resampled_path = convert_to_path(raw_path_with_lane_id); + return motion_utils::resamplePath(non_resampled_path, behavior_vel_interval); + }(); + pub_raw_path_->publish(raw_path); + RCLCPP_INFO(node.get_logger(), "Converted to path and published."); + + // smooth trajectory and road collision avoidance + const auto optimized_traj_points = optimize_trajectory(raw_path); + RCLCPP_INFO( + node.get_logger(), + "Smoothed trajectory and made it collision free with the road and published."); + + return optimized_traj_points; +} + +std::vector OptimizationTrajectoryBasedCenterline::optimize_trajectory( + const Path & raw_path) const +{ + // convert to trajectory points + const auto raw_traj_points = [&]() { + const auto raw_traj = convert_to_trajectory(raw_path); + return motion_utils::convertToTrajectoryPointArray(raw_traj); + }(); + + // create an instance of elastic band and model predictive trajectory. + const auto eb_path_smoother_ptr = + path_smoother::ElasticBandSmoother(create_node_options()).getElasticBandSmoother(); + const auto mpt_optimizer_ptr = + obstacle_avoidance_planner::ObstacleAvoidancePlanner(create_node_options()).getMPTOptimizer(); + + // NOTE: The optimization is executed every valid_optimized_traj_points_num points. + constexpr int valid_optimized_traj_points_num = 10; + const int traj_segment_num = raw_traj_points.size() / valid_optimized_traj_points_num; + + // NOTE: num_initial_optimization exists to make the both optimizations stable since they may use + // warm start. + constexpr int num_initial_optimization = 2; + + std::vector whole_optimized_traj_points; + for (int virtual_ego_pose_idx = -num_initial_optimization; + virtual_ego_pose_idx < traj_segment_num; ++virtual_ego_pose_idx) { + // calculate virtual ego pose for the optimization + constexpr int virtual_ego_pose_offset_idx = 1; + const auto virtual_ego_pose = + raw_traj_points + .at( + valid_optimized_traj_points_num * std::max(virtual_ego_pose_idx, 0) + + virtual_ego_pose_offset_idx) + .pose; + + // smooth trajectory by elastic band in the path_smoother package + const auto smoothed_traj_points = + eb_path_smoother_ptr->smoothTrajectory(raw_traj_points, virtual_ego_pose); + + // road collision avoidance by model predictive trajectory in the obstacle_avoidance_planner + // package + const obstacle_avoidance_planner::PlannerData planner_data{ + raw_path.header, smoothed_traj_points, raw_path.left_bound, raw_path.right_bound, + virtual_ego_pose}; + const auto optimized_traj_points = mpt_optimizer_ptr->optimizeTrajectory(planner_data); + + // connect the previously and currently optimized trajectory points + for (size_t j = 0; j < whole_optimized_traj_points.size(); ++j) { + const double dist = tier4_autoware_utils::calcDistance2d( + whole_optimized_traj_points.at(j), optimized_traj_points.front()); + if (dist < 0.5) { + const std::vector extracted_whole_optimized_traj_points{ + whole_optimized_traj_points.begin(), + whole_optimized_traj_points.begin() + std::max(j, 1UL) - 1}; + whole_optimized_traj_points = extracted_whole_optimized_traj_points; + break; + } + } + for (size_t j = 0; j < optimized_traj_points.size(); ++j) { + whole_optimized_traj_points.push_back(optimized_traj_points.at(j)); + } + } + + return whole_optimized_traj_points; +} +} // namespace static_centerline_optimizer diff --git a/planning/static_centerline_optimizer/src/static_centerline_optimizer_node.cpp b/planning/static_centerline_optimizer/src/static_centerline_optimizer_node.cpp index 0feebe8cbceb6..4f729ab5c8c57 100644 --- a/planning/static_centerline_optimizer/src/static_centerline_optimizer_node.cpp +++ b/planning/static_centerline_optimizer/src/static_centerline_optimizer_node.cpp @@ -21,8 +21,7 @@ #include "map_projection_loader/load_info_from_lanelet2_map.hpp" #include "motion_utils/resample/resample.hpp" #include "motion_utils/trajectory/conversion.hpp" -#include "obstacle_avoidance_planner/node.hpp" -#include "path_smoother/elastic_band_smoother.hpp" +#include "static_centerline_optimizer/centerline_source/bag_ego_trajectory_based_centerline.hpp" #include "static_centerline_optimizer/msg/points_with_lane_id.hpp" #include "static_centerline_optimizer/type_alias.hpp" #include "static_centerline_optimizer/utils.hpp" @@ -35,6 +34,7 @@ #include #include "std_msgs/msg/bool.hpp" +#include "std_msgs/msg/float32.hpp" #include "std_msgs/msg/int32.hpp" #include @@ -57,34 +57,6 @@ namespace static_centerline_optimizer { namespace { -Path convert_to_path(const PathWithLaneId & path_with_lane_id) -{ - Path path; - path.header = path_with_lane_id.header; - path.left_bound = path_with_lane_id.left_bound; - path.right_bound = path_with_lane_id.right_bound; - for (const auto & point : path_with_lane_id.points) { - path.points.push_back(point.point); - } - - return path; -} - -Trajectory convert_to_trajectory(const Path & path) -{ - Trajectory traj; - for (const auto & point : path.points) { - TrajectoryPoint traj_point; - traj_point.pose = point.pose; - traj_point.longitudinal_velocity_mps = point.longitudinal_velocity_mps; - traj_point.lateral_velocity_mps = point.lateral_velocity_mps; - traj_point.heading_rate_rps = point.heading_rate_rps; - - traj.points.push_back(traj_point); - } - return traj; -} - [[maybe_unused]] lanelet::ConstLanelets get_lanelets_from_route( const RouteHandler & route_handler, const LaneletRoute & route) { @@ -109,22 +81,6 @@ std::vector get_lane_ids_from_route(const LaneletRoute & route) return lane_ids; } -lanelet::ConstLanelets get_lanelets_from_ids( - const RouteHandler & route_handler, const std::vector & lane_ids) -{ - lanelet::ConstLanelets lanelets; - for (const lanelet::Id lane_id : lane_ids) { - const auto lanelet = route_handler.getLaneletsFromId(lane_id); - lanelets.push_back(lanelet); - } - return lanelets; -} - -rclcpp::NodeOptions create_node_options() -{ - return rclcpp::NodeOptions{}; -} - rclcpp::QoS create_transient_local_qos() { return rclcpp::QoS{1}.transient_local(); @@ -216,6 +172,15 @@ std_msgs::msg::Header createHeader(const rclcpp::Time & now) header.stamp = now; return header; } + +std::vector resampleTrajectoryPoints( + const std::vector & input_traj_points, const double resample_interval) +{ + // resample and calculate trajectory points' orientation + const auto input_traj = motion_utils::convertToTrajectory(input_traj_points); + auto resampled_input_traj = motion_utils::resampleTrajectory(input_traj, resample_interval); + return motion_utils::convertToTrajectoryPointArray(resampled_input_traj); +} } // namespace StaticCenterlineOptimizerNode::StaticCenterlineOptimizerNode( @@ -224,13 +189,9 @@ StaticCenterlineOptimizerNode::StaticCenterlineOptimizerNode( { // publishers pub_map_bin_ = create_publisher("lanelet2_map_topic", create_transient_local_qos()); - pub_raw_path_with_lane_id_ = - create_publisher("input_centerline", create_transient_local_qos()); - pub_raw_path_ = create_publisher("debug/raw_centerline", create_transient_local_qos()); - pub_whole_optimized_centerline_ = + pub_whole_centerline_ = create_publisher("output_whole_centerline", create_transient_local_qos()); - pub_optimized_centerline_ = - create_publisher("output_centerline", create_transient_local_qos()); + pub_centerline_ = create_publisher("output_centerline", create_transient_local_qos()); // debug publishers pub_debug_unsafe_footprints_ = @@ -240,32 +201,16 @@ StaticCenterlineOptimizerNode::StaticCenterlineOptimizerNode( sub_traj_start_index_ = create_subscription( "/centerline_updater_helper/traj_start_index", rclcpp::QoS{1}, [this](const std_msgs::msg::Int32 & msg) { - if (!centerline_with_route_ || traj_end_index_ + 1 < msg.data) { - return; + if (msg.data <= traj_end_index_ + 1) { + update_centerline_range(msg.data, traj_end_index_); } - traj_start_index_ = msg.data; - - const auto & c = *centerline_with_route_; - const auto selected_centerline = std::vector( - c.centerline.begin() + traj_start_index_, c.centerline.begin() + traj_end_index_ + 1); - - pub_optimized_centerline_->publish( - motion_utils::convertToTrajectory(selected_centerline, createHeader(this->now()))); }); sub_traj_end_index_ = create_subscription( "/centerline_updater_helper/traj_end_index", rclcpp::QoS{1}, [this](const std_msgs::msg::Int32 & msg) { - if (!centerline_with_route_ || msg.data + 1 < traj_start_index_) { - return; + if (traj_start_index_ <= msg.data + 1) { + update_centerline_range(traj_start_index_, msg.data); } - traj_end_index_ = msg.data; - - const auto & c = *centerline_with_route_; - const auto selected_centerline = std::vector( - c.centerline.begin() + traj_start_index_, c.centerline.begin() + traj_end_index_ + 1); - - pub_optimized_centerline_->publish( - motion_utils::convertToTrajectory(selected_centerline, createHeader(this->now()))); }); sub_save_map_ = create_subscription( "/centerline_updater_helper/save_map", rclcpp::QoS{1}, [this](const std_msgs::msg::Bool & msg) { @@ -280,6 +225,11 @@ StaticCenterlineOptimizerNode::StaticCenterlineOptimizerNode( lanelet2_output_file_path, CenterlineWithRoute{selected_centerline, c.route_lane_ids}); } }); + sub_traj_resample_interval_ = create_subscription( + "/centerline_updater_helper/traj_resample_interval", rclcpp::QoS{1}, + [this]([[maybe_unused]] const std_msgs::msg::Float32 & msg) { + // TODO(murooka) + }); // services callback_group_ = create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive); @@ -308,6 +258,7 @@ StaticCenterlineOptimizerNode::StaticCenterlineOptimizerNode( centerline_source_ = [&]() { const auto centerline_source_param = declare_parameter("centerline_source"); if (centerline_source_param == "optimization_trajectory_base") { + optimization_trajectory_based_centerline_ = OptimizationTrajectoryBasedCenterline(*this); return CenterlineSource::OptimizationTrajectoryBase; } else if (centerline_source_param == "bag_ego_trajectory_base") { return CenterlineSource::BagEgoTrajectoryBase; @@ -317,6 +268,24 @@ StaticCenterlineOptimizerNode::StaticCenterlineOptimizerNode( }(); } +void StaticCenterlineOptimizerNode::update_centerline_range( + const int traj_start_index, const int traj_end_index) +{ + if (!centerline_with_route_) { + return; + } + + traj_start_index_ = traj_start_index; + traj_end_index_ = traj_end_index; + + const auto & centerline = centerline_with_route_->centerline; + const auto selected_centerline = std::vector( + centerline.begin() + traj_start_index_, centerline.begin() + traj_end_index_ + 1); + + pub_centerline_->publish( + motion_utils::convertToTrajectory(selected_centerline, createHeader(this->now()))); +} + void StaticCenterlineOptimizerNode::run() { // declare planning setting parameters @@ -334,20 +303,53 @@ void StaticCenterlineOptimizerNode::run() centerline_with_route_ = centerline_with_route; } -StaticCenterlineOptimizerNode::CenterlineWithRoute -StaticCenterlineOptimizerNode::generate_centerline_with_route() +CenterlineWithRoute StaticCenterlineOptimizerNode::generate_centerline_with_route() { - if (centerline_source_ == CenterlineSource::OptimizationTrajectoryBase) { - const lanelet::Id start_lanelet_id = declare_parameter("start_lanelet_id"); - const lanelet::Id end_lanelet_id = declare_parameter("end_lanelet_id"); - const auto route_lane_ids = plan_route(start_lanelet_id, end_lanelet_id); - const auto optimized_traj_points = plan_path(route_lane_ids); - return CenterlineWithRoute{optimized_traj_points, route_lane_ids}; - } else if (centerline_source_ == CenterlineSource::BagEgoTrajectoryBase) { + if (!route_handler_ptr_) { + RCLCPP_ERROR(get_logger(), "Route handler is not ready. Return empty trajectory."); return CenterlineWithRoute{}; } - throw std::logic_error("The centerline source is not supported in static_centerline_optimizer."); + auto centerline_with_route = [&]() { + if (centerline_source_ == CenterlineSource::OptimizationTrajectoryBase) { + const lanelet::Id start_lanelet_id = declare_parameter("start_lanelet_id"); + const lanelet::Id end_lanelet_id = declare_parameter("end_lanelet_id"); + const auto route_lane_ids = plan_route(start_lanelet_id, end_lanelet_id); + const auto optimized_centerline = + optimization_trajectory_based_centerline_.generate_centerline_with_optimization( + *this, *route_handler_ptr_, route_lane_ids); + return CenterlineWithRoute{optimized_centerline, route_lane_ids}; + } else if (centerline_source_ == CenterlineSource::BagEgoTrajectoryBase) { + const auto bag_centerline = generate_centerline_with_bag(*this); + const auto start_lanelets = + route_handler_ptr_->getClosestLanelets(bag_centerline.front().pose); + const auto end_lanelets = route_handler_ptr_->getClosestLanelets(bag_centerline.back().pose); + if (start_lanelets.empty() || end_lanelets.empty()) { + RCLCPP_ERROR(get_logger(), "Nearest lanelets to the bag's centerline are not found."); + return CenterlineWithRoute{}; + } + + const lanelet::Id start_lanelet_id = start_lanelets.front().id(); + const lanelet::Id end_lanelet_id = end_lanelets.front().id(); + const auto route_lane_ids = plan_route(start_lanelet_id, end_lanelet_id); + + return CenterlineWithRoute{bag_centerline, route_lane_ids}; + } + throw std::logic_error( + "The centerline source is not supported in static_centerline_optimizer."); + }(); + + const double output_trajectory_interval = declare_parameter("output_trajectory_interval"); + centerline_with_route.centerline = + resampleTrajectoryPoints(centerline_with_route.centerline, output_trajectory_interval); + + pub_whole_centerline_->publish( + motion_utils::convertToTrajectory(centerline_with_route.centerline, createHeader(this->now()))); + + pub_centerline_->publish( + motion_utils::convertToTrajectory(centerline_with_route.centerline, createHeader(this->now()))); + + return centerline_with_route; } void StaticCenterlineOptimizerNode::load_map(const std::string & lanelet2_input_file_path) @@ -443,7 +445,7 @@ std::vector StaticCenterlineOptimizerNode::plan_route( plugin_loader.createSharedInstance("mission_planner::lanelet2::DefaultPlanner"); // initialize mission_planner - auto node = rclcpp::Node("po"); + auto node = rclcpp::Node("mission_planner"); mission_planner->initialize(&node, map_bin_ptr_); // plan route @@ -472,7 +474,7 @@ void StaticCenterlineOptimizerNode::on_plan_route( // plan route const auto route_lane_ids = plan_route(start_lanelet_id, end_lanelet_id); - const auto route_lanelets = get_lanelets_from_ids(*route_handler_ptr_, route_lane_ids); + const auto route_lanelets = utils::get_lanelets_from_ids(*route_handler_ptr_, route_lane_ids); // extract lane ids std::vector lane_ids; @@ -491,133 +493,6 @@ void StaticCenterlineOptimizerNode::on_plan_route( response->lane_ids = lane_ids; } -std::vector StaticCenterlineOptimizerNode::plan_path( - const std::vector & route_lane_ids) -{ - if (!route_handler_ptr_) { - RCLCPP_ERROR(get_logger(), "Route handler is not ready. Return empty trajectory."); - return std::vector{}; - } - - const auto route_lanelets = get_lanelets_from_ids(*route_handler_ptr_, route_lane_ids); - - // optimize centerline inside the lane - const auto start_center_pose = - utils::get_center_pose(*route_handler_ptr_, route_lane_ids.front()); - - // get ego nearest search parameters and resample interval in behavior_path_planner - const double ego_nearest_dist_threshold = - has_parameter("ego_nearest_dist_threshold") - ? get_parameter("ego_nearest_dist_threshold").as_double() - : declare_parameter("ego_nearest_dist_threshold"); - const double ego_nearest_yaw_threshold = - has_parameter("ego_nearest_yaw_threshold") - ? get_parameter("ego_nearest_yaw_threshold").as_double() - : declare_parameter("ego_nearest_yaw_threshold"); - const double behavior_path_interval = has_parameter("output_path_interval") - ? get_parameter("output_path_interval").as_double() - : declare_parameter("output_path_interval"); - const double behavior_vel_interval = - has_parameter("behavior_output_path_interval") - ? get_parameter("behavior_output_path_interval").as_double() - : declare_parameter("behavior_output_path_interval"); - - // extract path with lane id from lanelets - const auto raw_path_with_lane_id = [&]() { - const auto non_resampled_path_with_lane_id = utils::get_path_with_lane_id( - *route_handler_ptr_, route_lanelets, start_center_pose, ego_nearest_dist_threshold, - ego_nearest_yaw_threshold); - return motion_utils::resamplePath(non_resampled_path_with_lane_id, behavior_path_interval); - }(); - pub_raw_path_with_lane_id_->publish(raw_path_with_lane_id); - RCLCPP_INFO(get_logger(), "Calculated raw path with lane id and published."); - - // convert path with lane id to path - const auto raw_path = [&]() { - const auto non_resampled_path = convert_to_path(raw_path_with_lane_id); - return motion_utils::resamplePath(non_resampled_path, behavior_vel_interval); - }(); - pub_raw_path_->publish(raw_path); - RCLCPP_INFO(get_logger(), "Converted to path and published."); - - // smooth trajectory and road collision avoidance - const auto optimized_traj_points = optimize_trajectory(raw_path); - pub_whole_optimized_centerline_->publish( - motion_utils::convertToTrajectory(optimized_traj_points, raw_path.header)); - pub_optimized_centerline_->publish( - motion_utils::convertToTrajectory(optimized_traj_points, raw_path.header)); - RCLCPP_INFO( - get_logger(), "Smoothed trajectory and made it collision free with the road and published."); - - return optimized_traj_points; -} - -std::vector StaticCenterlineOptimizerNode::optimize_trajectory( - const Path & raw_path) const -{ - // convert to trajectory points - const auto raw_traj_points = [&]() { - const auto raw_traj = convert_to_trajectory(raw_path); - return motion_utils::convertToTrajectoryPointArray(raw_traj); - }(); - - // create an instance of elastic band and model predictive trajectory. - const auto eb_path_smoother_ptr = - path_smoother::ElasticBandSmoother(create_node_options()).getElasticBandSmoother(); - const auto mpt_optimizer_ptr = - obstacle_avoidance_planner::ObstacleAvoidancePlanner(create_node_options()).getMPTOptimizer(); - - // NOTE: The optimization is executed every valid_optimized_traj_points_num points. - constexpr int valid_optimized_traj_points_num = 10; - const int traj_segment_num = raw_traj_points.size() / valid_optimized_traj_points_num; - - // NOTE: num_initial_optimization exists to make the both optimizations stable since they may use - // warm start. - constexpr int num_initial_optimization = 2; - - std::vector whole_optimized_traj_points; - for (int virtual_ego_pose_idx = -num_initial_optimization; - virtual_ego_pose_idx < traj_segment_num; ++virtual_ego_pose_idx) { - // calculate virtual ego pose for the optimization - constexpr int virtual_ego_pose_offset_idx = 1; - const auto virtual_ego_pose = - raw_traj_points - .at( - valid_optimized_traj_points_num * std::max(virtual_ego_pose_idx, 0) + - virtual_ego_pose_offset_idx) - .pose; - - // smooth trajectory by elastic band in the path_smoother package - const auto smoothed_traj_points = - eb_path_smoother_ptr->smoothTrajectory(raw_traj_points, virtual_ego_pose); - - // road collision avoidance by model predictive trajectory in the obstacle_avoidance_planner - // package - const obstacle_avoidance_planner::PlannerData planner_data{ - raw_path.header, smoothed_traj_points, raw_path.left_bound, raw_path.right_bound, - virtual_ego_pose}; - const auto optimized_traj_points = mpt_optimizer_ptr->optimizeTrajectory(planner_data); - - // connect the previously and currently optimized trajectory points - for (size_t j = 0; j < whole_optimized_traj_points.size(); ++j) { - const double dist = tier4_autoware_utils::calcDistance2d( - whole_optimized_traj_points.at(j), optimized_traj_points.front()); - if (dist < 0.5) { - const std::vector extracted_whole_optimized_traj_points{ - whole_optimized_traj_points.begin(), - whole_optimized_traj_points.begin() + std::max(j, 1UL) - 1}; - whole_optimized_traj_points = extracted_whole_optimized_traj_points; - break; - } - } - for (size_t j = 0; j < optimized_traj_points.size(); ++j) { - whole_optimized_traj_points.push_back(optimized_traj_points.at(j)); - } - } - - return whole_optimized_traj_points; -} - void StaticCenterlineOptimizerNode::on_plan_path( const PlanPath::Request::SharedPtr request, const PlanPath::Response::SharedPtr response) { @@ -629,7 +504,7 @@ void StaticCenterlineOptimizerNode::on_plan_path( // get lanelets from route lane ids const auto route_lane_ids = request->route; - const auto route_lanelets = get_lanelets_from_ids(*route_handler_ptr_, route_lane_ids); + const auto route_lanelets = utils::get_lanelets_from_ids(*route_handler_ptr_, route_lane_ids); // check if input route lanelets are connected to each other. const auto unconnected_lane_ids = check_lanelet_connection(*route_handler_ptr_, route_lanelets); @@ -641,7 +516,9 @@ void StaticCenterlineOptimizerNode::on_plan_path( } // plan path - const auto optimized_traj_points = plan_path(route_lane_ids); + const auto optimized_traj_points = + optimization_trajectory_based_centerline_.generate_centerline_with_optimization( + *this, *route_handler_ptr_, route_lane_ids); // check calculation result if (optimized_traj_points.empty()) { @@ -693,7 +570,7 @@ void StaticCenterlineOptimizerNode::evaluate( const std::vector & route_lane_ids, const std::vector & optimized_traj_points) { - const auto route_lanelets = get_lanelets_from_ids(*route_handler_ptr_, route_lane_ids); + const auto route_lanelets = utils::get_lanelets_from_ids(*route_handler_ptr_, route_lane_ids); const auto dist_thresh_vec = has_parameter("marker_color_dist_thresh") ? get_parameter("marker_color_dist_thresh").as_double_array() @@ -770,7 +647,7 @@ void StaticCenterlineOptimizerNode::save_map( } const auto & c = centerline_with_route; - const auto route_lanelets = get_lanelets_from_ids(*route_handler_ptr_, c.route_lane_ids); + const auto route_lanelets = utils::get_lanelets_from_ids(*route_handler_ptr_, c.route_lane_ids); // update centerline in map utils::update_centerline(*route_handler_ptr_, route_lanelets, c.centerline); diff --git a/planning/static_centerline_optimizer/src/utils.cpp b/planning/static_centerline_optimizer/src/utils.cpp index f8cc0953a6dbd..3cc7ed5ca1fda 100644 --- a/planning/static_centerline_optimizer/src/utils.cpp +++ b/planning/static_centerline_optimizer/src/utils.cpp @@ -45,6 +45,17 @@ lanelet::Point3d createPoint3d(const double x, const double y, const double z = namespace utils { +lanelet::ConstLanelets get_lanelets_from_ids( + const RouteHandler & route_handler, const std::vector & lane_ids) +{ + lanelet::ConstLanelets lanelets; + for (const lanelet::Id lane_id : lane_ids) { + const auto lanelet = route_handler.getLaneletsFromId(lane_id); + lanelets.push_back(lanelet); + } + return lanelets; +} + 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b/planning/static_centerline_optimizer/test/test_static_centerline_optimizer.test.py @@ -39,6 +39,7 @@ def generate_test_description(): {"lanelet2_map_path": lanelet2_map_path}, {"run_background": False}, {"rviz": False}, + {"centerline_source": "optimization_trajectory_base"}, {"lanelet2_input_file_path": lanelet2_map_path}, {"lanelet2_output_file_path": "/tmp/lanelet2_map.osm"}, {"start_lanelet_id": 215}, From 957e55346df22260c30d6edeb655679d2035fed3 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Fri, 12 Apr 2024 10:10:46 +0900 Subject: [PATCH 37/54] refactor(static_centerline_optimizer): clean up the code (#6794) * refactor(static_centerline_optimizer): clean up the code Signed-off-by: Takayuki Murooka * update Signed-off-by: Takayuki Murooka --------- Signed-off-by: Takayuki Murooka --- .../bag_ego_trajectory_based_centerline.hpp | 2 - ...timization_trajectory_based_centerline.hpp | 2 - .../static_centerline_optimizer_node.hpp | 4 +- .../static_centerline_optimizer/utils.hpp | 2 + .../static_centerline_optimizer.launch.xml | 3 +- .../bag_ego_trajectory_based_centerline.cpp | 4 +- ...timization_trajectory_based_centerline.cpp | 27 ++---- .../src/static_centerline_optimizer_node.cpp | 89 +++++++------------ .../static_centerline_optimizer/src/utils.cpp | 5 ++ 9 files changed, 55 insertions(+), 83 deletions(-) diff --git a/planning/static_centerline_optimizer/include/static_centerline_optimizer/centerline_source/bag_ego_trajectory_based_centerline.hpp b/planning/static_centerline_optimizer/include/static_centerline_optimizer/centerline_source/bag_ego_trajectory_based_centerline.hpp index db954b6ccbd47..b29f222b068cc 100644 --- a/planning/static_centerline_optimizer/include/static_centerline_optimizer/centerline_source/bag_ego_trajectory_based_centerline.hpp +++ b/planning/static_centerline_optimizer/include/static_centerline_optimizer/centerline_source/bag_ego_trajectory_based_centerline.hpp @@ -18,8 +18,6 @@ #include "rclcpp/rclcpp.hpp" #include "static_centerline_optimizer/type_alias.hpp" -#include -#include #include namespace static_centerline_optimizer diff --git a/planning/static_centerline_optimizer/include/static_centerline_optimizer/centerline_source/optimization_trajectory_based_centerline.hpp b/planning/static_centerline_optimizer/include/static_centerline_optimizer/centerline_source/optimization_trajectory_based_centerline.hpp index 6e52ff98d78da..8c7c1e69e9ce6 100644 --- a/planning/static_centerline_optimizer/include/static_centerline_optimizer/centerline_source/optimization_trajectory_based_centerline.hpp +++ b/planning/static_centerline_optimizer/include/static_centerline_optimizer/centerline_source/optimization_trajectory_based_centerline.hpp @@ -18,8 +18,6 @@ #include "rclcpp/rclcpp.hpp" #include "static_centerline_optimizer/type_alias.hpp" -#include -#include #include namespace static_centerline_optimizer diff --git a/planning/static_centerline_optimizer/include/static_centerline_optimizer/static_centerline_optimizer_node.hpp b/planning/static_centerline_optimizer/include/static_centerline_optimizer/static_centerline_optimizer_node.hpp index 242a76ae0d94f..5d9530a469012 100644 --- a/planning/static_centerline_optimizer/include/static_centerline_optimizer/static_centerline_optimizer_node.hpp +++ b/planning/static_centerline_optimizer/include/static_centerline_optimizer/static_centerline_optimizer_node.hpp @@ -31,6 +31,7 @@ #include #include +#include #include namespace static_centerline_optimizer @@ -81,8 +82,7 @@ class StaticCenterlineOptimizerNode : public rclcpp::Node std::shared_ptr route_handler_ptr_{nullptr}; std::unique_ptr map_projector_{nullptr}; - int traj_start_index_{0}; - int traj_end_index_{0}; + std::pair traj_range_indices_{0, 0}; std::optional centerline_with_route_{std::nullopt}; enum class CenterlineSource { diff --git a/planning/static_centerline_optimizer/include/static_centerline_optimizer/utils.hpp b/planning/static_centerline_optimizer/include/static_centerline_optimizer/utils.hpp index 52dcd171e8658..04f2268aa972f 100644 --- a/planning/static_centerline_optimizer/include/static_centerline_optimizer/utils.hpp +++ b/planning/static_centerline_optimizer/include/static_centerline_optimizer/utils.hpp @@ -28,6 +28,8 @@ namespace static_centerline_optimizer { namespace utils { +rclcpp::QoS create_transient_local_qos(); + lanelet::ConstLanelets get_lanelets_from_ids( const RouteHandler & route_handler, const std::vector & lane_ids); diff --git a/planning/static_centerline_optimizer/launch/static_centerline_optimizer.launch.xml b/planning/static_centerline_optimizer/launch/static_centerline_optimizer.launch.xml index 10718150d1751..ed137367f3ba4 100644 --- a/planning/static_centerline_optimizer/launch/static_centerline_optimizer.launch.xml +++ b/planning/static_centerline_optimizer/launch/static_centerline_optimizer.launch.xml @@ -5,8 +5,7 @@ - - + diff --git a/planning/static_centerline_optimizer/src/centerline_source/bag_ego_trajectory_based_centerline.cpp b/planning/static_centerline_optimizer/src/centerline_source/bag_ego_trajectory_based_centerline.cpp index 150218b498ae7..571e98cdbe1c3 100644 --- a/planning/static_centerline_optimizer/src/centerline_source/bag_ego_trajectory_based_centerline.cpp +++ b/planning/static_centerline_optimizer/src/centerline_source/bag_ego_trajectory_based_centerline.cpp @@ -26,9 +26,11 @@ std::vector generate_centerline_with_bag(rclcpp::Node & node) { const auto bag_filename = node.declare_parameter("bag_filename"); + // open rosbag rosbag2_cpp::Reader bag_reader; bag_reader.open(bag_filename); + // extract 2D position of ego's trajectory from rosbag rclcpp::Serialization bag_serialization; std::vector centerline_traj_points; while (bag_reader.has_next()) { @@ -55,8 +57,6 @@ std::vector generate_centerline_with_bag(rclcpp::Node & node) } TrajectoryPoint centerline_traj_point; centerline_traj_point.pose.position = ros_msg->pose.pose.position; - // std::cerr << centerline_traj_point.pose.position.x << " " - // << centerline_traj_point.pose.position.y << std::endl; centerline_traj_points.push_back(centerline_traj_point); } diff --git a/planning/static_centerline_optimizer/src/centerline_source/optimization_trajectory_based_centerline.cpp b/planning/static_centerline_optimizer/src/centerline_source/optimization_trajectory_based_centerline.cpp index 5bce91be722ca..20b2027f39d54 100644 --- a/planning/static_centerline_optimizer/src/centerline_source/optimization_trajectory_based_centerline.cpp +++ b/planning/static_centerline_optimizer/src/centerline_source/optimization_trajectory_based_centerline.cpp @@ -20,6 +20,7 @@ #include "path_smoother/elastic_band_smoother.hpp" #include "static_centerline_optimizer/static_centerline_optimizer_node.hpp" #include "static_centerline_optimizer/utils.hpp" +#include "tier4_autoware_utils/ros/parameter.hpp" namespace static_centerline_optimizer { @@ -30,10 +31,6 @@ rclcpp::NodeOptions create_node_options() return rclcpp::NodeOptions{}; } -rclcpp::QoS create_transient_local_qos() -{ - return rclcpp::QoS{1}.transient_local(); -} Path convert_to_path(const PathWithLaneId & path_with_lane_id) { Path path; @@ -66,8 +63,9 @@ Trajectory convert_to_trajectory(const Path & path) OptimizationTrajectoryBasedCenterline::OptimizationTrajectoryBasedCenterline(rclcpp::Node & node) { pub_raw_path_with_lane_id_ = - node.create_publisher("input_centerline", create_transient_local_qos()); - pub_raw_path_ = node.create_publisher("debug/raw_centerline", create_transient_local_qos()); + node.create_publisher("input_centerline", utils::create_transient_local_qos()); + pub_raw_path_ = + node.create_publisher("debug/raw_centerline", utils::create_transient_local_qos()); } std::vector @@ -82,20 +80,13 @@ OptimizationTrajectoryBasedCenterline::generate_centerline_with_optimization( // get ego nearest search parameters and resample interval in behavior_path_planner const double ego_nearest_dist_threshold = - node.has_parameter("ego_nearest_dist_threshold") - ? node.get_parameter("ego_nearest_dist_threshold").as_double() - : node.declare_parameter("ego_nearest_dist_threshold"); + tier4_autoware_utils::getOrDeclareParameter(node, "ego_nearest_dist_threshold"); const double ego_nearest_yaw_threshold = - node.has_parameter("ego_nearest_yaw_threshold") - ? node.get_parameter("ego_nearest_yaw_threshold").as_double() - : node.declare_parameter("ego_nearest_yaw_threshold"); - const double behavior_path_interval = node.has_parameter("output_path_interval") - ? node.get_parameter("output_path_interval").as_double() - : node.declare_parameter("output_path_interval"); + tier4_autoware_utils::getOrDeclareParameter(node, "ego_nearest_yaw_threshold"); + const double behavior_path_interval = + tier4_autoware_utils::getOrDeclareParameter(node, "output_path_interval"); const double behavior_vel_interval = - node.has_parameter("behavior_output_path_interval") - ? node.get_parameter("behavior_output_path_interval").as_double() - : node.declare_parameter("behavior_output_path_interval"); + tier4_autoware_utils::getOrDeclareParameter(node, "behavior_output_path_interval"); // extract path with lane id from lanelets const auto raw_path_with_lane_id = [&]() { diff --git a/planning/static_centerline_optimizer/src/static_centerline_optimizer_node.cpp b/planning/static_centerline_optimizer/src/static_centerline_optimizer_node.cpp index 4f729ab5c8c57..073d30f5b5a39 100644 --- a/planning/static_centerline_optimizer/src/static_centerline_optimizer_node.cpp +++ b/planning/static_centerline_optimizer/src/static_centerline_optimizer_node.cpp @@ -57,19 +57,6 @@ namespace static_centerline_optimizer { namespace { -[[maybe_unused]] lanelet::ConstLanelets get_lanelets_from_route( - const RouteHandler & route_handler, const LaneletRoute & route) -{ - lanelet::ConstLanelets lanelets; - for (const auto & segment : route.segments) { - const auto & target_lanelet_id = segment.preferred_primitive.id; - const auto target_lanelet = route_handler.getLaneletsFromId(target_lanelet_id); - lanelets.push_back(target_lanelet); - } - - return lanelets; -} - std::vector get_lane_ids_from_route(const LaneletRoute & route) { std::vector lane_ids; @@ -81,12 +68,7 @@ std::vector get_lane_ids_from_route(const LaneletRoute & route) return lane_ids; } -rclcpp::QoS create_transient_local_qos() -{ - return rclcpp::QoS{1}.transient_local(); -} - -lanelet::BasicPoint2d convertToLaneletPoint(const geometry_msgs::msg::Point & geom_point) +lanelet::BasicPoint2d convert_to_lanelet_point(const geometry_msgs::msg::Point & geom_point) { lanelet::BasicPoint2d point(geom_point.x, geom_point.y); return point; @@ -131,7 +113,7 @@ geometry_msgs::msg::Pose get_text_pose( return tier4_autoware_utils::calcOffsetPose(pose, x_front, y_left, 0.0); } -std::array convertHexStringToDecimal(const std::string & hex_str_color) +std::array convert_hex_string_to_decimal(const std::string & hex_str_color) { unsigned int hex_int_color; std::istringstream iss(hex_str_color); @@ -165,7 +147,7 @@ std::vector check_lanelet_connection( return unconnected_lane_ids; } -std_msgs::msg::Header createHeader(const rclcpp::Time & now) +std_msgs::msg::Header create_header(const rclcpp::Time & now) { std_msgs::msg::Header header; header.frame_id = "map"; @@ -173,7 +155,7 @@ std_msgs::msg::Header createHeader(const rclcpp::Time & now) return header; } -std::vector resampleTrajectoryPoints( +std::vector resample_trajectory_points( const std::vector & input_traj_points, const double resample_interval) { // resample and calculate trajectory points' orientation @@ -188,29 +170,27 @@ StaticCenterlineOptimizerNode::StaticCenterlineOptimizerNode( : Node("static_centerline_optimizer", node_options) { // publishers - pub_map_bin_ = create_publisher("lanelet2_map_topic", create_transient_local_qos()); + pub_map_bin_ = + create_publisher("lanelet2_map_topic", utils::create_transient_local_qos()); pub_whole_centerline_ = - create_publisher("output_whole_centerline", create_transient_local_qos()); - pub_centerline_ = create_publisher("output_centerline", create_transient_local_qos()); + create_publisher("output_whole_centerline", utils::create_transient_local_qos()); + pub_centerline_ = + create_publisher("output_centerline", utils::create_transient_local_qos()); // debug publishers pub_debug_unsafe_footprints_ = - create_publisher("debug/unsafe_footprints", create_transient_local_qos()); + create_publisher("debug/unsafe_footprints", utils::create_transient_local_qos()); // subscribers sub_traj_start_index_ = create_subscription( "/centerline_updater_helper/traj_start_index", rclcpp::QoS{1}, [this](const std_msgs::msg::Int32 & msg) { - if (msg.data <= traj_end_index_ + 1) { - update_centerline_range(msg.data, traj_end_index_); - } + update_centerline_range(msg.data, traj_range_indices_.second); }); sub_traj_end_index_ = create_subscription( "/centerline_updater_helper/traj_end_index", rclcpp::QoS{1}, [this](const std_msgs::msg::Int32 & msg) { - if (traj_start_index_ <= msg.data + 1) { - update_centerline_range(traj_start_index_, msg.data); - } + update_centerline_range(traj_range_indices_.first, msg.data); }); sub_save_map_ = create_subscription( "/centerline_updater_helper/save_map", rclcpp::QoS{1}, [this](const std_msgs::msg::Bool & msg) { @@ -220,7 +200,8 @@ StaticCenterlineOptimizerNode::StaticCenterlineOptimizerNode( if (!centerline_with_route_ || msg.data) { const auto & c = *centerline_with_route_; const auto selected_centerline = std::vector( - c.centerline.begin() + traj_start_index_, c.centerline.begin() + traj_end_index_ + 1); + c.centerline.begin() + traj_range_indices_.first, + c.centerline.begin() + traj_range_indices_.second + 1); save_map( lanelet2_output_file_path, CenterlineWithRoute{selected_centerline, c.route_lane_ids}); } @@ -271,19 +252,19 @@ StaticCenterlineOptimizerNode::StaticCenterlineOptimizerNode( void StaticCenterlineOptimizerNode::update_centerline_range( const int traj_start_index, const int traj_end_index) { - if (!centerline_with_route_) { + if (!centerline_with_route_ || traj_range_indices_.second + 1 < traj_start_index) { return; } - traj_start_index_ = traj_start_index; - traj_end_index_ = traj_end_index; + traj_range_indices_ = std::make_pair(traj_start_index, traj_end_index); const auto & centerline = centerline_with_route_->centerline; const auto selected_centerline = std::vector( - centerline.begin() + traj_start_index_, centerline.begin() + traj_end_index_ + 1); + centerline.begin() + traj_range_indices_.first, + centerline.begin() + traj_range_indices_.second + 1); pub_centerline_->publish( - motion_utils::convertToTrajectory(selected_centerline, createHeader(this->now()))); + motion_utils::convertToTrajectory(selected_centerline, create_header(this->now()))); } void StaticCenterlineOptimizerNode::run() @@ -296,8 +277,7 @@ void StaticCenterlineOptimizerNode::run() // process load_map(lanelet2_input_file_path); const auto centerline_with_route = generate_centerline_with_route(); - traj_start_index_ = 0; - traj_end_index_ = centerline_with_route.centerline.size() - 1; + traj_range_indices_ = std::make_pair(0, centerline_with_route.centerline.size() - 1); save_map(lanelet2_output_file_path, centerline_with_route); centerline_with_route_ = centerline_with_route; @@ -310,6 +290,7 @@ CenterlineWithRoute StaticCenterlineOptimizerNode::generate_centerline_with_rout return CenterlineWithRoute{}; } + // generate centerline with route auto centerline_with_route = [&]() { if (centerline_source_ == CenterlineSource::OptimizationTrajectoryBase) { const lanelet::Id start_lanelet_id = declare_parameter("start_lanelet_id"); @@ -339,15 +320,16 @@ CenterlineWithRoute StaticCenterlineOptimizerNode::generate_centerline_with_rout "The centerline source is not supported in static_centerline_optimizer."); }(); + // resample const double output_trajectory_interval = declare_parameter("output_trajectory_interval"); centerline_with_route.centerline = - resampleTrajectoryPoints(centerline_with_route.centerline, output_trajectory_interval); + resample_trajectory_points(centerline_with_route.centerline, output_trajectory_interval); - pub_whole_centerline_->publish( - motion_utils::convertToTrajectory(centerline_with_route.centerline, createHeader(this->now()))); + pub_whole_centerline_->publish(motion_utils::convertToTrajectory( + centerline_with_route.centerline, create_header(this->now()))); - pub_centerline_->publish( - motion_utils::convertToTrajectory(centerline_with_route.centerline, createHeader(this->now()))); + pub_centerline_->publish(motion_utils::convertToTrajectory( + centerline_with_route.centerline, create_header(this->now()))); return centerline_with_route; } @@ -537,8 +519,8 @@ void StaticCenterlineOptimizerNode::on_plan_path( std::vector current_lanelet_points; // check if target point is inside the lanelet - while ( - lanelet::geometry::inside(lanelet, convertToLaneletPoint(target_traj_point->pose.position))) { + while (lanelet::geometry::inside( + lanelet, convert_to_lanelet_point(target_traj_point->pose.position))) { // memorize points inside the lanelet current_lanelet_points.push_back(target_traj_point->pose.position); target_traj_point++; @@ -571,18 +553,15 @@ void StaticCenterlineOptimizerNode::evaluate( const std::vector & optimized_traj_points) { const auto route_lanelets = utils::get_lanelets_from_ids(*route_handler_ptr_, route_lane_ids); - const auto dist_thresh_vec = - has_parameter("marker_color_dist_thresh") - ? get_parameter("marker_color_dist_thresh").as_double_array() - : declare_parameter>("marker_color_dist_thresh"); - const auto marker_color_vec = has_parameter("marker_color") - ? get_parameter("marker_color").as_string_array() - : declare_parameter>("marker_color"); + const auto dist_thresh_vec = tier4_autoware_utils::getOrDeclareParameter>( + *this, "marker_color_dist_thresh"); + const auto marker_color_vec = + tier4_autoware_utils::getOrDeclareParameter>(*this, "marker_color"); const auto get_marker_color = [&](const double dist) -> boost::optional> { for (size_t i = 0; i < dist_thresh_vec.size(); ++i) { const double dist_thresh = dist_thresh_vec.at(i); if (dist < dist_thresh) { - return convertHexStringToDecimal(marker_color_vec.at(i)); + return convert_hex_string_to_decimal(marker_color_vec.at(i)); } } return boost::none; diff --git a/planning/static_centerline_optimizer/src/utils.cpp b/planning/static_centerline_optimizer/src/utils.cpp index 3cc7ed5ca1fda..9448677d1bbae 100644 --- a/planning/static_centerline_optimizer/src/utils.cpp +++ b/planning/static_centerline_optimizer/src/utils.cpp @@ -45,6 +45,11 @@ lanelet::Point3d createPoint3d(const double x, const double y, const double z = namespace utils { +rclcpp::QoS create_transient_local_qos() +{ + return rclcpp::QoS{1}.transient_local(); +} + lanelet::ConstLanelets get_lanelets_from_ids( const RouteHandler & route_handler, const std::vector & lane_ids) { From 879358434705a6f8fa512c0b438583fd696cccf1 Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Fri, 12 Apr 2024 10:50:09 +0900 Subject: [PATCH 38/54] docs(avoidance): use json schema (#6789) docs(avoidance): json schema Signed-off-by: satoshi-ota --- .../behavior_path_avoidance_module/README.md | 171 +- .../schema/avoidance.schema.json | 1465 +++++++++++++++++ 2 files changed, 1466 insertions(+), 170 deletions(-) create mode 100644 planning/behavior_path_avoidance_module/schema/avoidance.schema.json diff --git a/planning/behavior_path_avoidance_module/README.md b/planning/behavior_path_avoidance_module/README.md index dc6ab0ec4b6e1..aa7a3a42efdb4 100644 --- a/planning/behavior_path_avoidance_module/README.md +++ b/planning/behavior_path_avoidance_module/README.md @@ -760,176 +760,7 @@ WIP The avoidance specific parameter configuration file can be located at `src/autoware/launcher/planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml`. -### General parameters - -namespace: `avoidance.` - -| Name | Unit | Type | Description | Default value | -| :------------------------------------ | :--- | :----- | :---------------------------------------------------------------------------------------------------------------------------------- | :------------ | -| resample_interval_for_planning | [m] | double | Path resample interval for avoidance planning path. | 0.3 | -| resample_interval_for_output | [m] | double | Path resample interval for output path. Too short interval increases computational cost for latter modules. | 4.0 | -| detection_area_right_expand_dist | [m] | double | Lanelet expand length for right side to find avoidance target vehicles. | 0.0 | -| detection_area_left_expand_dist | [m] | double | Lanelet expand length for left side to find avoidance target vehicles. | 1.0 | -| enable_cancel_maneuver | [-] | bool | Reset trajectory when avoided objects are gone. If false, shifted path points remain same even though the avoided objects are gone. | false | -| enable_yield_maneuver | [-] | bool | Flag to enable yield maneuver. | false | -| enable_yield_maneuver_during_shifting | [-] | bool | Flag to enable yield maneuver during shifting. | false | - -| Name | Unit | Type | Description | Default value | -| :------------------------ | ---- | ---- | ----------------------------------------------------------------------------------------------------------------------- | ------------- | -| enable_bound_clipping | [-] | bool | Enable clipping left and right bound of drivable area when obstacles are in the drivable area | false | -| use_adjacent_lane | [-] | bool | Extend avoidance trajectory to adjacent lanes that has same direction. If false, avoidance only happen in current lane. | true | -| use_opposite_lane | [-] | bool | Extend avoidance trajectory to opposite direction lane. `use_adjacent_lane` must be `true` to take effects | true | -| use_intersection_areas | [-] | bool | Extend drivable to intersection area. | false | -| use_hatched_road_markings | [-] | bool | Extend drivable to hatched road marking area. | false | - -| Name | Unit | Type | Description | Default value | -| :------------------ | ---- | ---- | --------------------------------------------------------------------------------------- | ------------- | -| output_debug_marker | [-] | bool | Flag to publish debug marker (set `false` as default since it takes considerable cost). | false | -| output_debug_info | [-] | bool | Flag to print debug info (set `false` as default since it takes considerable cost). | false | - -### Avoidance target filtering parameters - -namespace: `avoidance.target_object.` - -This module supports all object classes, and it can set following parameters independently. - -```yaml -car: - is_target: true # [-] - moving_speed_threshold: 1.0 # [m/s] - moving_time_threshold: 1.0 # [s] - max_expand_ratio: 0.0 # [-] - envelope_buffer_margin: 0.3 # [m] - avoid_margin_lateral: 1.0 # [m] - safety_buffer_lateral: 0.7 # [m] - safety_buffer_longitudinal: 0.0 # [m] -``` - -| Name | Unit | Type | Description | Default value | -| :------------------------- | ----- | ------ | ------------------------------------------------------------------------------------------------------------------------- | ------------- | -| is_target | [-] | bool | By setting this flag `true`, this module avoid those class objects. | false | -| moving_speed_threshold | [m/s] | double | Objects with speed greater than this will be judged as moving ones. | 1.0 | -| moving_time_threshold | [s] | double | Objects keep moving longer duration than this will be excluded from avoidance target. | 1.0 | -| envelope_buffer_margin | [m] | double | The buffer between raw boundary box of detected objects and enveloped polygon that is used for avoidance path generation. | 0.3 | -| avoid_margin_lateral | [m] | double | The lateral distance between ego and avoidance targets. | 1.0 | -| safety_buffer_lateral | [m] | double | Creates an additional lateral gap that will prevent the vehicle from getting to near to the obstacle. | 0.5 | -| safety_buffer_longitudinal | [m] | double | Creates an additional longitudinal gap that will prevent the vehicle from getting to near to the obstacle. | 0.0 | - -Parameters for the logic to compensate perception noise of the far objects. - -| Name | Unit | Type | Description | Default value | -| :----------------------------------- | ---- | ------ | ------------------------------------------------------------------------------------------------------------ | ------------- | -| max_expand_ratio | [-] | double | This value will be applied `envelope_buffer_margin` according to the distance between the ego and object. | 0.0 | -| lower_distance_for_polygon_expansion | [-] | double | If the distance between the ego and object is less than this, the expand ratio will be zero. | 30.0 | -| upper_distance_for_polygon_expansion | [-] | double | If the distance between the ego and object is larger than this, the expand ratio will be `max_expand_ratio`. | 100.0 | - -namespace: `avoidance.target_filtering.` - -| Name | Unit | Type | Description | Default value | -| :---------------------------------------------------- | :--- | :----- | :------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | :------------ | -| threshold_distance_object_is_on_center | [m] | double | Vehicles around the center line within this distance will be excluded from avoidance target. | 1.0 | -| object_ignore_section_traffic_light_in_front_distance | [m] | double | If the distance between traffic light and vehicle is less than this parameter, this module will ignore it. | 30.0 | -| object_ignore_section_crosswalk_in_front_distance | [m] | double | If the front distance between crosswalk and vehicle is less than this parameter, this module will ignore it. | 30.0 | -| object_ignore_section_crosswalk_behind_distance | [m] | double | If the back distance between crosswalk and vehicle is less than this parameter, this module will ignore it. | 30.0 | -| object_check_forward_distance | [m] | double | Forward distance to search the avoidance target. | 150.0 | -| object_check_backward_distance | [m] | double | Backward distance to search the avoidance target. | 2.0 | -| object_check_goal_distance | [m] | double | If the distance between object and goal position is less than this parameter, the module do not return center line. | 20.0 | -| object_check_return_pose_distance | [m] | double | If the distance between object and return position is less than this parameter, the module do not return center line. | 20.0 | -| object_check_shiftable_ratio | [m] | double | Vehicles around the center line within this distance will be excluded from avoidance target. | 0.6 | -| object_check_min_road_shoulder_width | [m] | double | Width considered as a road shoulder if the lane does not have a road shoulder target. | 0.5 | -| object_last_seen_threshold | [s] | double | For the compensation of the detection lost. The object is registered once it is observed as an avoidance target. When the detection loses, the timer will start and the object will be un-registered when the time exceeds this limit. | 2.0 | - -### Safety check parameters - -namespace: `avoidance.safety_check.` - -| Name | Unit | Type | Description | Default value | -| :----------------------------- | ---- | ------ | ---------------------------------------------------------------------------------------------------------- | ------------- | -| enable | [-] | bool | Enable to use safety check feature. | true | -| check_current_lane | [-] | bool | Check objects on current driving lane. | false | -| check_shift_side_lane | [-] | bool | Check objects on shift side lane. | true | -| check_other_side_lane | [-] | bool | Check objects on other side lane. | false | -| check_unavoidable_object | [-] | bool | Check collision between ego and unavoidable objects. | false | -| check_other_object | [-] | bool | Check collision between ego and non avoidance target objects. | false | -| check_all_predicted_path | [-] | bool | Check all prediction path of safety check target objects. | false | -| time_horizon | [s] | double | Time horizon to check lateral/longitudinal margin is enough or not. | 10.0 | -| time_resolution | [s] | double | Time resolution to check lateral/longitudinal margin is enough or not. | 0.5 | -| safety_check_backward_distance | [m] | double | Backward distance to search the dynamic objects. | 50.0 | -| safety_check_hysteresis_factor | [-] | double | Hysteresis factor that be used for chattering prevention. | 2.0 | -| safety_check_ego_offset | [m] | double | Output new avoidance path **only when** the offset between ego and previous output path is less than this. | 1.0 | - -### Avoidance maneuver parameters - -namespace: `avoidance.avoidance.lateral.` - -| Name | Unit | Type | Description | Default value | -| :---------------------------- | :--- | :----- | :-------------------------------------------------------------------------------------------------------------------------- | :------------ | -| road_shoulder_safety_margin | [m] | double | Prevents the generated path to come too close to the road shoulders. | 0.0 | -| lateral_execution_threshold | [m] | double | The lateral distance deviation threshold between the current path and suggested avoidance point to execute avoidance. (\*2) | 0.499 | -| lateral_small_shift_threshold | [m] | double | The shift lines whose lateral offset is less than this will be applied with other ones. | 0.501 | -| max_right_shift_length | [m] | double | Maximum shift length for right direction | 5.0 | -| max_left_shift_length | [m] | double | Maximum shift length for left direction | 5.0 | - -namespace: `avoidance.avoidance.longitudinal.` - -| Name | Unit | Type | Description | Default value | -| :----------------------------------- | :---- | :----- | :---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | :------------- | -| prepare_time | [s] | double | Avoidance shift starts from point ahead of this time x ego_speed to avoid sudden path change. | 2.0 | -| longitudinal_collision_safety_buffer | [s] | double | Longitudinal collision buffer between target object and shift line. | 0.0 | -| min_prepare_distance | [m] | double | Minimum distance for "prepare_time" x "ego_speed". | 1.0 | -| min_avoidance_distance | [m] | double | Minimum distance of avoidance path (i.e. this distance is needed even if its lateral jerk is very low) | 10.0 | -| min_nominal_avoidance_speed | [m/s] | double | Minimum speed for jerk calculation in a nominal situation (\*1). | 7.0 | -| min_sharp_avoidance_speed | [m/s] | double | Minimum speed for jerk calculation in a sharp situation (\*1). | 1.0 | -| min_slow_down_speed | [m/s] | double | Minimum slow speed for avoidance prepare section. | 1.38 (5km/h) | -| buf_slow_down_speed | [m/s] | double | Buffer for controller tracking error. Basically, vehicle always cannot follow velocity profile precisely. Therefore, the module inserts lower speed than target speed that satisfies conditions to avoid object within accel/jerk constraints so that the avoidance path always can be output even if the current speed is a little bit higher than target speed. | 0.57 (2.0km/h) | - -### Yield maneuver parameters - -namespace: `avoidance.yield.` - -| Name | Unit | Type | Description | Default value | -| :------------- | :---- | :----- | :------------------------------------------------------------ | :------------ | -| yield_velocity | [m/s] | double | The ego will decelerate yield velocity in the yield maneuver. | 2.78 | - -### Stop maneuver parameters - -namespace: `avoidance.stop.` - -| Name | Unit | Type | Description | Default value | -| :----------- | :--- | :----- | :---------------------------------------------------------------------------------------------------- | :------------ | -| min_distance | [m] | double | Minimum stop distance in the situation where avoidance maneuver is not approved or in yield maneuver. | 10.0 | -| max_distance | [m] | double | Maximum stop distance in the situation where avoidance maneuver is not approved or in yield maneuver. | 20.0 | -| stop_buffer | [m] | double | Buffer distance in the situation where avoidance maneuver is not approved or in yield maneuver. | 1.0 | - -### Constraints parameters - -namespace: `avoidance.constraints.` - -| Name | Unit | Type | Description | Default value | -| :------------------------ | :--- | :--- | :--------------------------------------------------------------------------------------- | :------------ | -| use_constraints_for_decel | [-] | bool | Flag to decel under longitudinal constraints. `TRUE: allow to control breaking mildness` | false | - -namespace: `avoidance.constraints.lateral.` - -| a Name | Unit | Type | Description | Default value | -| :----------------------- | :----- | :----- | :-------------------------------------------------------------------------------------------- | :------------ | -| prepare_time | [s] | double | Avoidance shift starts from point ahead of this time x ego_speed to avoid sudden path change. | 2.0 | -| min_prepare_distance | [m] | double | Minimum distance for "prepare_time" x "ego_speed". | 1.0 | -| nominal_lateral_jerk | [m/s3] | double | Avoidance path is generated with this jerk when there is enough distance from ego. | 0.2 | -| max_lateral_jerk | [m/s3] | double | Avoidance path gets sharp up to this jerk limit when there is not enough distance from ego. | 1.0 | -| max_lateral_acceleration | [m/s3] | double | Avoidance path gets sharp up to this accel limit when there is not enough distance from ego. | 0.5 | - -namespace: `avoidance.constraints.longitudinal.` - -| Name | Unit | Type | Description | Default value | -| :------------------- | :------ | :----- | :------------------------------------- | :------------ | -| nominal_deceleration | [m/ss] | double | Nominal deceleration limit. | -1.0 | -| nominal_jerk | [m/sss] | double | Nominal jerk limit. | 0.5 | -| max_deceleration | [m/ss] | double | Max decelerate limit. | -2.0 | -| max_jerk | [m/sss] | double | Max jerk limit. | 1.0 | -| max_acceleration | [m/ss] | double | Maximum acceleration during avoidance. | 1.0 | - -(\*2) If there are multiple vehicles in a row to be avoided, no new avoidance path will be generated unless their lateral margin difference exceeds this value. +{{ json_to_markdown("planning/behavior_path_avoidance_module/schema/avoidance.schema.json") }} ## Future extensions / Unimplemented parts diff --git a/planning/behavior_path_avoidance_module/schema/avoidance.schema.json b/planning/behavior_path_avoidance_module/schema/avoidance.schema.json new file mode 100644 index 0000000000000..cd3e29b8ec0b8 --- /dev/null +++ b/planning/behavior_path_avoidance_module/schema/avoidance.schema.json @@ -0,0 +1,1465 @@ +{ + "$schema": "http://json-schema.org/draft-07/schema#", + "title": "Parameters for behavior_path_avoidance_module", + "type": "object", + "definitions": { + "behavior_path_avoidance_module": { + "type": "object", + "properties": { + "resample_interval_for_planning": { + "type": "number", + "description": "Path resample interval for avoidance planning path.", + "default": "0.3" + }, + "resample_interval_for_output": { + "type": "number", + "description": "Path resample interval for output path. Too short interval increases computational cost for latter modules.", + "default": "4.0" + }, + "enable_bound_clipping": { + "type": "boolean", + "description": "Enable clipping left and right bound of drivable area when obstacles are in the drivable area.", + "default": "false" + }, + "disable_path_update": { + "type": "boolean", + "description": "Disable path update.", + "default": "false" + }, + "use_adjacent_lane": { + "type": "boolean", + "description": "Extend avoidance trajectory to adjacent lanes that has same direction. If false, avoidance only happen in current lane.", + "default": "true" + }, + "use_opposite_lane": { + "type": "boolean", + "description": "Extend avoidance trajectory to opposite direction lane. `use_adjacent_lane` must be `true` to take effects.", + "default": "true" + }, + "use_hatched_road_markings": { + "type": "boolean", + "description": "Extend drivable to hatched road marking area.", + "default": "true" + }, + "use_intersection_areas": { + "type": "boolean", + "description": "Extend drivable to intersection area.", + "default": "true" + }, + "use_freespace_areas": { + "type": "boolean", + "description": "Extend drivable to freespace area.", + "default": "true" + }, + "target_object": { + "type": "object", + "properties": { + "car": { + "type": "object", + "properties": { + "th_moving_speed": { + "type": "number", + "description": "Objects with speed greater than this will be judged as moving ones.", + "default": 1.0, + "minimum": 0.0 + }, + "th_moving_time": { + "type": "number", + "description": "Objects keep moving longer duration than this will be excluded from avoidance target.", + "default": 1.0 + }, + "longitudinal_margin": { + "type": "number", + "description": "Creates an additional longitudinal gap that will prevent the vehicle from getting to near to the obstacle.", + "default": 0.0 + }, + "lateral_margin": { + "type": "object", + "properties": { + "soft_margin": { + "type": "number", + "description": "Lateral distance between ego and avoidance targets.", + "default": 0.3 + }, + "hard_margin": { + "type": "number", + "description": "Lateral distance between ego and avoidance targets.", + "default": 0.2 + }, + "hard_margin_for_parked_vehicle": { + "type": "number", + "description": "Lateral distance between ego and avoidance targets.", + "default": 0.7 + } + }, + "required": ["soft_margin", "hard_margin", "hard_margin_for_parked_vehicle"], + "additionalProperties": false + }, + "envelope_buffer_margin": { + "type": "number", + "description": "The buffer between raw boundary box of detected objects and enveloped polygon that is used for avoidance path generation.", + "default": 0.5 + }, + "max_expand_ratio": { + "type": "number", + "description": "This value will be applied envelope_buffer_margin according to the distance between the ego and object.", + "default": 0.0 + }, + "use_conservative_buffer_longitudinal": { + "type": "boolean", + "description": "When set to true, the base_link2front is added to the longitudinal buffer before avoidance.", + "default": "true" + } + }, + "required": [ + "th_moving_speed", + "th_moving_time", + "longitudinal_margin", + "lateral_margin", + "envelope_buffer_margin", + "max_expand_ratio" + ], + "additionalProperties": false + }, + "truck": { + "type": "object", + "properties": { + "th_moving_speed": { + "type": "number", + "description": "Objects with speed greater than this will be judged as moving ones.", + "default": 1.0, + "minimum": 0.0 + }, + "th_moving_time": { + "type": "number", + "description": "Objects keep moving longer duration than this will be excluded from avoidance target.", + "default": 1.0 + }, + "longitudinal_margin": { + "type": "number", + "description": "Creates an additional longitudinal gap that will prevent the vehicle from getting to near to the obstacle.", + "default": 0.0 + }, + "lateral_margin": { + "type": "object", + "properties": { + "soft_margin": { + "type": "number", + "description": "Lateral distance between ego and avoidance targets.", + "default": 0.3 + }, + "hard_margin": { + "type": "number", + "description": "Lateral distance between ego and avoidance targets.", + "default": 0.2 + }, + "hard_margin_for_parked_vehicle": { + "type": "number", + "description": "Lateral distance between ego and avoidance targets.", + "default": 0.7 + } + }, + "required": ["soft_margin", "hard_margin", "hard_margin_for_parked_vehicle"], + "additionalProperties": false + }, + "envelope_buffer_margin": { + "type": "number", + "description": "The buffer between raw boundary box of detected objects and enveloped polygon that is used for avoidance path generation.", + "default": 0.5 + }, + "max_expand_ratio": { + "type": "number", + "description": "This value will be applied envelope_buffer_margin according to the distance between the ego and object.", + "default": 0.0 + }, + "use_conservative_buffer_longitudinal": { + "type": "boolean", + "description": "When set to true, the base_link2front is added to the longitudinal buffer before avoidance.", + "default": "true" + } + }, + "required": [ + "th_moving_speed", + "th_moving_time", + "longitudinal_margin", + "lateral_margin", + "envelope_buffer_margin", + "max_expand_ratio" + ], + "additionalProperties": false + }, + "bus": { + "type": "object", + "properties": { + "th_moving_speed": { + "type": "number", + "description": "Objects with speed greater than this will be judged as moving ones.", + "default": 1.0, + "minimum": 0.0 + }, + "th_moving_time": { + "type": "number", + "description": "Objects keep moving longer duration than this will be excluded from avoidance target.", + "default": 1.0 + }, + "longitudinal_margin": { + "type": "number", + "description": "Creates an additional longitudinal gap that will prevent the vehicle from getting to near to the obstacle.", + "default": 0.0 + }, + "lateral_margin": { + "type": "object", + "properties": { + "soft_margin": { + "type": "number", + "description": "Lateral distance between ego and avoidance targets.", + "default": 0.3 + }, + "hard_margin": { + "type": "number", + "description": "Lateral distance between ego and avoidance targets.", + "default": 0.2 + }, + "hard_margin_for_parked_vehicle": { + "type": "number", + "description": "Lateral distance between ego and avoidance targets.", + "default": 0.7 + } + }, + "required": ["soft_margin", "hard_margin", "hard_margin_for_parked_vehicle"], + "additionalProperties": false + }, + "envelope_buffer_margin": { + "type": "number", + "description": "The buffer between raw boundary box of detected objects and enveloped polygon that is used for avoidance path generation.", + "default": 0.5 + }, + "max_expand_ratio": { + "type": "number", + "description": "This value will be applied envelope_buffer_margin according to the distance between the ego and object.", + "default": 0.0 + }, + "use_conservative_buffer_longitudinal": { + "type": "boolean", + "description": "When set to true, the base_link2front is added to the longitudinal buffer before avoidance.", + "default": "true" + } + }, + "required": [ + "th_moving_speed", + "th_moving_time", + "longitudinal_margin", + "lateral_margin", + "envelope_buffer_margin", + "max_expand_ratio" + ], + "additionalProperties": false + }, + "trailer": { + "type": "object", + "properties": { + "th_moving_speed": { + "type": "number", + "description": "Objects with speed greater than this will be judged as moving ones.", + "default": 1.0, + "minimum": 0.0 + }, + "th_moving_time": { + "type": "number", + "description": "Objects keep moving longer duration than this will be excluded from avoidance target.", + "default": 1.0 + }, + "longitudinal_margin": { + "type": "number", + "description": "Creates an additional longitudinal gap that will prevent the vehicle from getting to near to the obstacle.", + "default": 0.0 + }, + "lateral_margin": { + "type": "object", + "properties": { + "soft_margin": { + "type": "number", + "description": "Lateral distance between ego and avoidance targets.", + "default": 0.3 + }, + "hard_margin": { + "type": "number", + "description": "Lateral distance between ego and avoidance targets.", + "default": 0.2 + }, + "hard_margin_for_parked_vehicle": { + "type": "number", + "description": "Lateral distance between ego and avoidance targets.", + "default": 0.7 + } + }, + "required": ["soft_margin", "hard_margin", "hard_margin_for_parked_vehicle"], + "additionalProperties": false + }, + "envelope_buffer_margin": { + "type": "number", + "description": "The buffer between raw boundary box of detected objects and enveloped polygon that is used for avoidance path generation.", + "default": 0.5 + }, + "max_expand_ratio": { + "type": "number", + "description": "This value will be applied envelope_buffer_margin according to the distance between the ego and object.", + "default": 0.0 + }, + "use_conservative_buffer_longitudinal": { + "type": "boolean", + "description": "When set to true, the base_link2front is added to the longitudinal buffer before avoidance.", + "default": "true" + } + }, + "required": [ + "th_moving_speed", + "th_moving_time", + "longitudinal_margin", + "lateral_margin", + "envelope_buffer_margin", + "max_expand_ratio" + ], + "additionalProperties": false + }, + "unknown": { + "type": "object", + "properties": { + "th_moving_speed": { + "type": "number", + "description": "Objects with speed greater than this will be judged as moving ones.", + "default": 1.0, + "minimum": 0.0 + }, + "th_moving_time": { + "type": "number", + "description": "Objects keep moving longer duration than this will be excluded from avoidance target.", + "default": 1.0 + }, + "longitudinal_margin": { + "type": "number", + "description": "Creates an additional longitudinal gap that will prevent the vehicle from getting to near to the obstacle.", + "default": 0.0 + }, + "lateral_margin": { + "type": "object", + "properties": { + "soft_margin": { + "type": "number", + "description": "Lateral distance between ego and avoidance targets.", + "default": 0.7 + }, + "hard_margin": { + "type": "number", + "description": "Lateral distance between ego and avoidance targets.", + "default": -0.2 + }, + "hard_margin_for_parked_vehicle": { + "type": "number", + "description": "Lateral distance between ego and avoidance targets.", + "default": -0.2 + } + }, + "required": ["soft_margin", "hard_margin", "hard_margin_for_parked_vehicle"], + "additionalProperties": false + }, + "envelope_buffer_margin": { + "type": "number", + "description": "The buffer between raw boundary box of detected objects and enveloped polygon that is used for avoidance path generation.", + "default": 0.1 + }, + "max_expand_ratio": { + "type": "number", + "description": "This value will be applied envelope_buffer_margin according to the distance between the ego and object.", + "default": 0.0 + }, + "use_conservative_buffer_longitudinal": { + "type": "boolean", + "description": "When set to true, the base_link2front is added to the longitudinal buffer before avoidance.", + "default": "true" + } + }, + "required": [ + "th_moving_speed", + "th_moving_time", + "longitudinal_margin", + "lateral_margin", + "envelope_buffer_margin", + "max_expand_ratio" + ], + "additionalProperties": false + }, + "motorcycle": { + "type": "object", + "properties": { + "th_moving_speed": { + "type": "number", + "description": "Objects with speed greater than this will be judged as moving ones.", + "default": 1.0, + "minimum": 0.0 + }, + "th_moving_time": { + "type": "number", + "description": "Objects keep moving longer duration than this will be excluded from avoidance target.", + "default": 1.0 + }, + "longitudinal_margin": { + "type": "number", + "description": "Creates an additional longitudinal gap that will prevent the vehicle from getting to near to the obstacle.", + "default": 0.0 + }, + "lateral_margin": { + "type": "object", + "properties": { + "soft_margin": { + "type": "number", + "description": "Lateral distance between ego and avoidance targets.", + "default": 0.7 + }, + "hard_margin": { + "type": "number", + "description": "Lateral distance between ego and avoidance targets.", + "default": 0.5 + }, + "hard_margin_for_parked_vehicle": { + "type": "number", + "description": "Lateral distance between ego and avoidance targets.", + "default": 0.5 + } + }, + "required": ["soft_margin", "hard_margin", "hard_margin_for_parked_vehicle"], + "additionalProperties": false + }, + "envelope_buffer_margin": { + "type": "number", + "description": "The buffer between raw boundary box of detected objects and enveloped polygon that is used for avoidance path generation.", + "default": 0.5 + }, + "max_expand_ratio": { + "type": "number", + "description": "This value will be applied envelope_buffer_margin according to the distance between the ego and object.", + "default": 0.0 + }, + "use_conservative_buffer_longitudinal": { + "type": "boolean", + "description": "When set to true, the base_link2front is added to the longitudinal buffer before avoidance.", + "default": "true" + } + }, + "required": [ + "th_moving_speed", + "th_moving_time", + "longitudinal_margin", + "lateral_margin", + "envelope_buffer_margin", + "max_expand_ratio" + ], + "additionalProperties": false + }, + "bicycle": { + "type": "object", + "properties": { + "th_moving_speed": { + "type": "number", + "description": "Objects with speed greater than this will be judged as moving ones.", + "default": 1.0, + "minimum": 0.0 + }, + "th_moving_time": { + "type": "number", + "description": "Objects keep moving longer duration than this will be excluded from avoidance target.", + "default": 1.0 + }, + "longitudinal_margin": { + "type": "number", + "description": "Creates an additional longitudinal gap that will prevent the vehicle from getting to near to the obstacle.", + "default": 0.0 + }, + "lateral_margin": { + "type": "object", + "properties": { + "soft_margin": { + "type": "number", + "description": "Lateral distance between ego and avoidance targets.", + "default": 0.7 + }, + "hard_margin": { + "type": "number", + "description": "Lateral distance between ego and avoidance targets.", + "default": 0.3 + }, + "hard_margin_for_parked_vehicle": { + "type": "number", + "description": "Lateral distance between ego and avoidance targets.", + "default": 0.3 + } + }, + "required": ["soft_margin", "hard_margin", "hard_margin_for_parked_vehicle"], + "additionalProperties": false + }, + "envelope_buffer_margin": { + "type": "number", + "description": "The buffer between raw boundary box of detected objects and enveloped polygon that is used for avoidance path generation.", + "default": 0.5 + }, + "max_expand_ratio": { + "type": "number", + "description": "This value will be applied envelope_buffer_margin according to the distance between the ego and object.", + "default": 0.0 + }, + "use_conservative_buffer_longitudinal": { + "type": "boolean", + "description": "When set to true, the base_link2front is added to the longitudinal buffer before avoidance.", + "default": "true" + } + }, + "required": [ + "th_moving_speed", + "th_moving_time", + "longitudinal_margin", + "lateral_margin", + "envelope_buffer_margin", + "max_expand_ratio" + ], + "additionalProperties": false + }, + "pedestrian": { + "type": "object", + "properties": { + "th_moving_speed": { + "type": "number", + "description": "Objects with speed greater than this will be judged as moving ones.", + "default": 1.0, + "minimum": 0.0 + }, + "th_moving_time": { + "type": "number", + "description": "Objects keep moving longer duration than this will be excluded from avoidance target.", + "default": 1.0 + }, + "longitudinal_margin": { + "type": "number", + "description": "Creates an additional longitudinal gap that will prevent the vehicle from getting to near to the obstacle.", + "default": 0.0 + }, + "lateral_margin": { + "type": "object", + "properties": { + "soft_margin": { + "type": "number", + "description": "Lateral distance between ego and avoidance targets.", + "default": 0.7 + }, + "hard_margin": { + "type": "number", + "description": "Lateral distance between ego and avoidance targets.", + "default": 0.5 + }, + "hard_margin_for_parked_vehicle": { + "type": "number", + "description": "Lateral distance between ego and avoidance targets.", + "default": 0.5 + } + }, + "required": ["soft_margin", "hard_margin", "hard_margin_for_parked_vehicle"], + "additionalProperties": false + }, + "envelope_buffer_margin": { + "type": "number", + "description": "The buffer between raw boundary box of detected objects and enveloped polygon that is used for avoidance path generation.", + "default": 0.5 + }, + "max_expand_ratio": { + "type": "number", + "description": "This value will be applied envelope_buffer_margin according to the distance between the ego and object.", + "default": 0.0 + }, + "use_conservative_buffer_longitudinal": { + "type": "boolean", + "description": "When set to true, the base_link2front is added to the longitudinal buffer before avoidance.", + "default": "true" + } + }, + "required": [ + "th_moving_speed", + "th_moving_time", + "longitudinal_margin", + "lateral_margin", + "envelope_buffer_margin", + "max_expand_ratio" + ], + "additionalProperties": false + }, + "lower_distance_for_polygon_expansion": { + "type": "number", + "description": "If the distance between the ego and object is less than this, the expand ratio will be zero.", + "default": 30.0 + }, + "upper_distance_for_polygon_expansion": { + "type": "number", + "description": "If the distance between the ego and object is larger than this, the expand ratio will be max_expand_ratio.", + "default": 100.0 + } + }, + "required": [ + "car", + "truck", + "bus", + "trailer", + "unknown", + "bicycle", + "motorcycle", + "pedestrian", + "lower_distance_for_polygon_expansion", + "upper_distance_for_polygon_expansion" + ], + "additionalProperties": false + }, + "target_filtering": { + "type": "object", + "properties": { + "target_type": { + "type": "object", + "properties": { + "car": { + "type": "boolean", + "description": "Enable avoidance maneuver for CAR.", + "default": "true" + }, + "truck": { + "type": "boolean", + "description": "Enable avoidance maneuver for TRUCK.", + "default": "true" + }, + "bus": { + "type": "boolean", + "description": "Enable avoidance maneuver for BUS.", + "default": "true" + }, + "trailer": { + "type": "boolean", + "description": "Enable avoidance maneuver for TRAILER.", + "default": "true" + }, + "unknown": { + "type": "boolean", + "description": "Enable avoidance maneuver for UNKNOWN.", + "default": "true" + }, + "bicycle": { + "type": "boolean", + "description": "Enable avoidance maneuver for BICYCLE.", + "default": "true" + }, + "motorcycle": { + "type": "boolean", + "description": "Enable avoidance maneuver for MOTORCYCLE.", + "default": "true" + }, + "pedestrian": { + "type": "boolean", + "description": "Enable avoidance maneuver for PEDESTRIAN.", + "default": "true" + } + }, + "required": [ + "car", + "truck", + "bus", + "trailer", + "unknown", + "bicycle", + "motorcycle", + "pedestrian" + ], + "additionalProperties": false + }, + "object_check_goal_distance": { + "type": "number", + "description": "If the distance between object and goal position is less than this parameter, the module do not return center line.", + "default": 20.0 + }, + "object_check_return_pose_distance": { + "type": "number", + "description": "If the distance between object and return position is less than this parameter, the module do not return center line.", + "default": 20.0 + }, + "max_compensation_time": { + "type": "number", + "description": "For the compensation of the detection lost. The object is registered once it is observed as an avoidance target. When the detection loses, the timer will start and the object will be un-registered when the time exceeds this limit.", + "default": 2.0 + }, + "detection_area": { + "type": "object", + "properties": { + "static": { + "type": "boolean", + "description": "If true, the detection area longitudinal range is calculated based on current ego speed.", + "default": "false" + }, + "min_forward_distance": { + "type": "number", + "description": "Minimum forward distance to search the avoidance target.", + "default": 50.0 + }, + "max_forward_distance": { + "type": "number", + "description": "Maximum forward distance to search the avoidance target.", + "default": 150.0 + }, + "backward_distance": { + "type": "number", + "description": "Backward distance to search the avoidance target.", + "default": 10.0 + } + }, + "required": [ + "static", + "min_forward_distance", + "max_forward_distance", + "backward_distance" + ], + "additionalProperties": false + }, + "parked_vehicle": { + "type": "object", + "properties": { + "th_offset_from_centerline": { + "type": "number", + "description": "Vehicles around the center line within this distance will be excluded from avoidance target.", + "default": 1.0 + }, + "th_shiftable_ratio": { + "type": "number", + "description": "Vehicles around the center line within this distance will be excluded from avoidance target.", + "default": 0.8, + "minimum": 0.0, + "maximum": 1.0 + }, + "min_road_shoulder_width": { + "type": "number", + "description": "Width considered as a road shoulder if the lane does not have a road shoulder target.", + "default": 0.5 + } + }, + "required": [ + "th_offset_from_centerline", + "th_shiftable_ratio", + "min_road_shoulder_width" + ], + "additionalProperties": false + }, + "avoidance_for_ambiguous_vehicle": { + "type": "object", + "properties": { + "enable": { + "type": "boolean", + "description": "Enable avoidance maneuver for ambiguous vehicles.", + "default": "true" + }, + "closest_distance_to_wait_and_see": { + "type": "number", + "description": "Start avoidance maneuver after the distance to ambiguous vehicle is less than this param.", + "default": 10.0 + }, + "condition": { + "type": "object", + "properties": { + "th_stopped_time": { + "type": "number", + "description": "Never avoid object whose stopped time is less than this param.", + "default": 3.0 + }, + "th_moving_distance": { + "type": "number", + "description": "Never avoid object which moves more than this param.", + "default": 1.0 + } + }, + "required": ["th_stopped_time", "th_moving_distance"], + "additionalProperties": false + }, + "ignore_area": { + "type": "object", + "properties": { + "traffic_light": { + "type": "object", + "properties": { + "front_distance": { + "type": "number", + "description": "If the distance between traffic light and vehicle is less than this parameter, this module will ignore it.", + "default": 100.0 + } + }, + "required": ["front_distance"], + "additionalProperties": false + }, + "crosswalk": { + "type": "object", + "properties": { + "front_distance": { + "type": "number", + "description": "If the front distance between crosswalk and vehicle is less than this parameter, this module will ignore it.", + "default": 30.0 + }, + "behind_distance": { + "type": "number", + "description": "If the back distance between crosswalk and vehicle is less than this parameter, this module will ignore it.", + "default": 30.0 + } + }, + "required": ["front_distance", "behind_distance"], + "additionalProperties": false + } + }, + "required": ["traffic_light", "crosswalk"], + "additionalProperties": false + } + }, + "required": [ + "enable", + "closest_distance_to_wait_and_see", + "condition", + "ignore_area" + ], + "additionalProperties": false + }, + "intersection": { + "type": "object", + "properties": { + "yaw_deviation": { + "type": "number", + "description": "Yaw deviation threshold param to judge if the object is not merging or deviating vehicle.", + "default": 0.349 + } + }, + "required": ["yaw_deviation"], + "additionalProperties": false + } + }, + "required": [ + "target_type", + "object_check_goal_distance", + "object_check_return_pose_distance", + "max_compensation_time", + "detection_area", + "parked_vehicle", + "avoidance_for_ambiguous_vehicle", + "intersection" + ], + "additionalProperties": false + }, + "safety_check": { + "type": "object", + "properties": { + "target_type": { + "type": "object", + "properties": { + "car": { + "type": "boolean", + "description": "Enable safety_check for CAR.", + "default": "true" + }, + "truck": { + "type": "boolean", + "description": "Enable safety_check for TRUCK.", + "default": "true" + }, + "bus": { + "type": "boolean", + "description": "Enable safety_check for BUS.", + "default": "true" + }, + "trailer": { + "type": "boolean", + "description": "Enable safety_check for TRAILER.", + "default": "true" + }, + "unknown": { + "type": "boolean", + "description": "Enable safety_check for UNKNOWN.", + "default": "false" + }, + "bicycle": { + "type": "boolean", + "description": "Enable safety_check for BICYCLE.", + "default": "true" + }, + "motorcycle": { + "type": "boolean", + "description": "Enable safety_check for MOTORCYCLE.", + "default": "true" + }, + "pedestrian": { + "type": "boolean", + "description": "Enable safety_check for PEDESTRIAN.", + "default": "true" + } + }, + "required": [ + "car", + "truck", + "bus", + "trailer", + "unknown", + "bicycle", + "motorcycle", + "pedestrian" + ], + "additionalProperties": false + }, + "enable": { + "type": "boolean", + "description": "Enable to use safety check feature.", + "default": "true" + }, + "check_current_lane": { + "type": "boolean", + "description": "Check objects on current driving lane.", + "default": "true" + }, + "check_shift_side_lane": { + "type": "boolean", + "description": "Check objects on shift side lane.", + "default": "true" + }, + "check_other_side_lane": { + "type": "boolean", + "description": "Check objects on other side lane.", + "default": "true" + }, + "check_unavoidable_object": { + "type": "boolean", + "description": "Check collision between ego and unavoidable objects.", + "default": "true" + }, + "check_other_object": { + "type": "boolean", + "description": "Check collision between ego and non avoidance target objects.", + "default": "true" + }, + "check_all_predicted_path": { + "type": "boolean", + "description": "Check all prediction path of safety check target objects.", + "default": "true" + }, + "safety_check_backward_distance": { + "type": "number", + "description": "Backward distance to search the dynamic objects.", + "default": 100.0 + }, + "hysteresis_factor_expand_rate": { + "type": "number", + "description": "Hysteresis factor that be used for chattering prevention.", + "default": 2.0 + }, + "hysteresis_factor_safe_count": { + "type": "integer", + "description": "Hysteresis count that be used for chattering prevention.", + "default": 10 + }, + "min_velocity": { + "type": "number", + "description": "Minimum velocity of the ego vehicle's predicted path.", + "default": 1.38 + }, + "max_velocity": { + "type": "number", + "description": "Maximum velocity of the ego vehicle's predicted path.", + "default": 50.0 + }, + "time_resolution": { + "type": "number", + "description": "Time resolution for the ego vehicle's predicted path.", + "default": 0.5 + }, + "time_horizon_for_front_object": { + "type": "number", + "description": "Time horizon for predicting front objects.", + "default": 3.0 + }, + "time_horizon_for_rear_object": { + "type": "number", + "description": "Time horizon for predicting rear objects.", + "default": 10.0 + }, + "delay_until_departure": { + "type": "number", + "description": "Delay until the ego vehicle departs.", + "default": 1.0 + }, + "extended_polygon_policy": { + "type": "string", + "enum": ["rectangle", "along_path"], + "description": "See https://github.com/autowarefoundation/autoware.universe/pull/6336.", + "default": "along_path" + }, + "expected_front_deceleration": { + "type": "number", + "description": "The front object's maximum deceleration when the front vehicle perform sudden braking.", + "default": -1.0 + }, + "expected_rear_deceleration": { + "type": "number", + "description": "The rear object's maximum deceleration when the rear vehicle perform sudden braking.", + "default": -1.0 + }, + "rear_vehicle_reaction_time": { + "type": "number", + "description": "The reaction time of the rear vehicle driver which starts from the driver noticing the sudden braking of the front vehicle until the driver step on the brake.", + "default": 2.0 + }, + "rear_vehicle_safety_time_margin": { + "type": "number", + "description": "The time buffer for the rear vehicle to come into complete stop when its driver perform sudden braking.", + "default": 1.0 + }, + "lateral_distance_max_threshold": { + "type": "number", + "description": "The lateral distance threshold that is used to determine whether lateral distance between two object is enough and whether lane change is safe.", + "default": 2.0 + }, + "longitudinal_distance_min_threshold": { + "type": "number", + "description": "The longitudinal distance threshold that is used to determine whether longitudinal distance between two object is enough and whether lane change is safe.", + "default": 3.0 + }, + "longitudinal_velocity_delta_time": { + "type": "number", + "description": "The time multiplier that is used to compute the actual gap between vehicle at each predicted points (not RSS distance)", + "default": 0.0 + } + }, + "required": [ + "target_type", + "enable", + "check_current_lane", + "check_shift_side_lane", + "check_other_side_lane", + "check_unavoidable_object", + "check_other_object", + "check_all_predicted_path", + "safety_check_backward_distance", + "hysteresis_factor_expand_rate", + "hysteresis_factor_safe_count", + "min_velocity", + "max_velocity", + "time_resolution", + "time_horizon_for_front_object", + "time_horizon_for_rear_object", + "delay_until_departure", + "extended_polygon_policy", + "expected_front_deceleration", + "expected_rear_deceleration", + "rear_vehicle_reaction_time", + "rear_vehicle_safety_time_margin", + "lateral_distance_max_threshold", + "longitudinal_distance_min_threshold", + "longitudinal_velocity_delta_time" + ], + "additionalProperties": false + }, + "avoidance": { + "type": "object", + "properties": { + "lateral": { + "type": "object", + "properties": { + "th_avoid_execution": { + "type": "number", + "description": "The lateral distance deviation threshold between the current path and suggested avoidance point to execute avoidance.", + "default": 0.09 + }, + "th_small_shift_length": { + "type": "number", + "description": "The shift lines whose lateral offset is less than this will be applied with other ones.", + "default": 0.101 + }, + "soft_drivable_bound_margin": { + "type": "number", + "description": "Keep distance to drivable bound.", + "default": 0.3 + }, + "hard_drivable_bound_margin": { + "type": "number", + "description": "Keep distance to drivable bound.", + "default": 0.3 + }, + "max_right_shift_length": { + "type": "number", + "description": "Maximum shift length for right direction", + "default": 5.0 + }, + "max_left_shift_length": { + "type": "number", + "description": "Maximum shift length for left direction.", + "default": 5.0 + }, + "max_deviation_from_lane": { + "type": "number", + "description": "Use in validation phase to check if the avoidance path is in drivable area.", + "default": 0.2 + }, + "ratio_for_return_shift_approval": { + "type": "number", + "description": "This parameter is added to allow waiting for the return of shift approval until the occlusion behind the avoid target is clear.", + "default": 0.5, + "minimum": 0.0, + "maximum": 1.0 + } + }, + "required": [ + "th_avoid_execution", + "th_small_shift_length", + "soft_drivable_bound_margin", + "hard_drivable_bound_margin", + "max_deviation_from_lane", + "ratio_for_return_shift_approval" + ], + "additionalProperties": false + }, + "longitudinal": { + "type": "object", + "properties": { + "min_prepare_time": { + "type": "number", + "description": "Avoidance shift starts from point ahead of this time x ego speed at least.", + "default": 1.0 + }, + "max_prepare_time": { + "type": "number", + "description": "Avoidance shift starts from point ahead of this time x ego speed if possible.", + "default": 2.0 + }, + "min_prepare_distance": { + "type": "number", + "description": "Minimum prepare distance.", + "default": 1.0 + }, + "min_slow_down_speed": { + "type": "number", + "description": "Minimum slow speed for avoidance prepare section.", + "default": 1.38 + }, + "buf_slow_down_speed": { + "type": "number", + "description": "Buffer for controller tracking error. Basically, vehicle always cannot follow velocity profile precisely. Therefore, the module inserts lower speed than target speed that satisfies conditions to avoid object within accel/jerk constraints so that the avoidance path always can be output even if the current speed is a little bit higher than target speed.", + "default": 0.56 + }, + "nominal_avoidance_speed": { + "type": "number", + "description": "Nominal avoidance speed.", + "default": 8.33 + } + }, + "required": [ + "min_prepare_time", + "max_prepare_time", + "min_prepare_distance", + "min_slow_down_speed", + "buf_slow_down_speed", + "nominal_avoidance_speed" + ], + "additionalProperties": false + }, + "return_dead_line": { + "type": "object", + "properties": { + "goal": { + "type": "object", + "properties": { + "enable": { + "type": "boolean", + "description": "Insert stop point in order to return original lane before reaching goal.", + "default": "true" + }, + "buffer": { + "type": "number", + "description": "Buffer distance to return original lane before reaching goal.", + "default": 3.0 + } + }, + "required": ["enable", "buffer"], + "additionalProperties": false + }, + "traffic_light": { + "type": "object", + "properties": { + "enable": { + "type": "boolean", + "description": "Insert stop point in order to return original lane before reaching traffic light.", + "default": "true" + }, + "buffer": { + "type": "number", + "description": "Buffer distance to return original lane before reaching traffic light.", + "default": 3.0 + } + }, + "required": ["enable", "buffer"], + "additionalProperties": false + } + }, + "required": ["goal", "traffic_light"], + "additionalProperties": false + } + }, + "required": ["lateral", "longitudinal", "return_dead_line"], + "additionalProperties": false + }, + "stop": { + "type": "object", + "properties": { + "max_distance": { + "type": "number", + "description": "Maximum stop distance in the situation where avoidance maneuver is not approved or in yield maneuver.", + "default": 20.0 + }, + "stop_buffer": { + "type": "number", + "description": "Buffer distance in the situation where avoidance maneuver is not approved or in yield maneuver.", + "default": 1.0 + } + }, + "required": ["max_distance", "stop_buffer"], + "additionalProperties": false + }, + "yield": { + "type": "object", + "properties": { + "enable": { + "type": "boolean", + "description": "Flag to enable yield maneuver.", + "default": "true" + }, + "enable_during_shifting": { + "type": "boolean", + "description": "Flag to enable yield maneuver during shifting.", + "default": "false" + } + }, + "required": ["enable", "enable_during_shifting"], + "additionalProperties": false + }, + "cancel": { + "type": "object", + "properties": { + "enable": { + "type": "boolean", + "description": "Flag to enable cancel maneuver.", + "default": "true" + } + }, + "required": ["enable"], + "additionalProperties": false + }, + "policy": { + "type": "object", + "properties": { + "make_approval_request": { + "type": "string", + "enum": ["per_shift_line", "per_avoidance_maneuver"], + "description": "policy for rtc request. select `per_shift_line` or `per_avoidance_maneuver`. `per_shift_line`: request approval for each shift line. `per_avoidance_maneuver`: request approval for avoidance maneuver (avoid + return).", + "default": "per_shift_line" + }, + "deceleration": { + "type": "string", + "enum": ["reliable", "best_effort"], + "description": "policy for vehicle slow down behavior. select `best_effort` or `reliable`. `best_effort`: slow down deceleration & jerk are limited by constraints but there is a possibility that the vehicle can't stop in front of the vehicle. `reliable`: insert stop or slow down point with ignoring decel/jerk constraints. make it possible to increase chance to avoid but uncomfortable deceleration maybe happen.", + "default": "best_effort" + }, + "lateral_margin": { + "type": "string", + "enum": ["reliable", "best_effort"], + "description": "policy for voidance lateral margin. select `best_effort` or `reliable`. `best_effort`: output avoidance path with shorten lateral margin when there is no enough longitudinal margin to avoid. `reliable`: module output avoidance path with safe (rtc cooperate) state only when the vehicle can avoid with expected lateral margin.", + "default": "best_effort" + }, + "use_shorten_margin_immediately": { + "type": "boolean", + "description": "if true, module doesn't wait deceleration and outputs avoidance path by best effort margin.", + "default": "true" + } + }, + "required": ["make_approval_request"], + "additionalProperties": false + }, + "constraints": { + "type": "object", + "properties": { + "lateral": { + "type": "object", + "properties": { + "velocity": { + "type": "array", + "description": "Velocity array to decide current lateral accel/jerk limit.", + "default": [1.0, 1.38, 11.1] + }, + "max_accel_values": { + "type": "array", + "description": "Avoidance path gets sharp up to this accel limit when there is not enough distance from ego.", + "default": [0.5, 0.5, 0.5] + }, + "min_jerk_values": { + "type": "array", + "description": "Avoidance path is generated with this jerk when there is enough distance from ego.", + "default": [0.2, 0.2, 0.2] + }, + "max_jerk_values": { + "type": "array", + "description": "Avoidance path gets sharp up to this jerk limit when there is not enough distance from ego.", + "default": [1.0, 1.0, 1.0] + } + }, + "required": ["velocity", "max_accel_values", "min_jerk_values", "max_jerk_values"], + "additionalProperties": false + }, + "longitudinal": { + "type": "object", + "properties": { + "nominal_deceleration": { + "type": "number", + "description": "Nominal deceleration limit.", + "default": -1.0 + }, + "nominal_jerk": { + "type": "number", + "description": "Nominal jerk limit.", + "default": 0.5 + }, + "max_deceleration": { + "type": "number", + "description": "Max deceleration limit.", + "default": -1.5 + }, + "max_jerk": { + "type": "number", + "description": "Max jerk limit.", + "default": 1.0 + }, + "max_acceleration": { + "type": "number", + "description": "Maximum acceleration during avoidance.", + "default": 0.5 + }, + "min_velocity_to_limit_max_acceleration": { + "type": "number", + "description": "If the ego speed is faster than this param, the module applies acceleration limit `max_acceleration`.", + "default": 2.78 + } + }, + "required": [ + "nominal_deceleration", + "nominal_jerk", + "max_deceleration", + "max_jerk", + "max_acceleration", + "min_velocity_to_limit_max_acceleration" + ], + "additionalProperties": false + } + }, + "required": ["lateral", "longitudinal"], + "additionalProperties": false + }, + "shift_line_pipeline": { + "type": "object", + "properties": { + "trim": { + "type": "object", + "properties": { + "quantize_size": { + "type": "number", + "description": "Lateral shift length quantize size.", + "default": 0.1 + }, + "th_similar_grad_1": { + "type": "number", + "description": "Lateral shift length threshold to merge similar gradient shift lines.", + "default": 0.1 + }, + "th_similar_grad_2": { + "type": "number", + "description": "Lateral shift length threshold to merge similar gradient shift lines.", + "default": 0.2 + }, + "th_similar_grad_3": { + "type": "number", + "description": "Lateral shift length threshold to merge similar gradient shift lines.", + "default": 0.5 + } + }, + "required": [ + "quantize_size", + "th_similar_grad_1", + "th_similar_grad_2", + "th_similar_grad_3" + ], + "additionalProperties": false + } + }, + "required": ["trim"], + "additionalProperties": false + }, + "debug": { + "type": "object", + "properties": { + "marker": { + "type": "boolean", + "description": "Publish debug marker.", + "default": "false" + }, + "console": { + "type": "boolean", + "description": "Output debug info on console.", + "default": "false" + } + }, + "required": ["marker", "console"], + "additionalProperties": false + } + }, + "required": [ + "resample_interval_for_planning", + "resample_interval_for_output", + "enable_bound_clipping", + "use_adjacent_lane", + "use_opposite_lane", + "use_hatched_road_markings", + "use_intersection_areas", + "use_freespace_areas", + "target_object", + "target_filtering", + "safety_check", + "avoidance", + "stop", + "yield", + "cancel", + "policy", + "constraints", + "shift_line_pipeline", + "debug" + ], + "additionalProperties": false + } + }, + "properties": { + "/**": { + "properties": { + "ros__parameters": { + "type": "object", + "properties": { + "avoidance": { + "$ref": "#/definitions/behavior_path_avoidance_module" + } + }, + "required": ["avoidance"], + "additionalProperties": false + } + }, + "required": ["ros__parameters"], + "additionalProperties": false + } + }, + "required": ["/**"], + "additionalProperties": false +} From 682a814961e100c2c49a1be3b8995f366c038276 Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Fri, 12 Apr 2024 15:36:25 +0900 Subject: [PATCH 39/54] refactor(avoidance): unify redundant parameters (#6798) * refactor(avoidance): unify redundant parameters Signed-off-by: satoshi-ota * refactor(avoidance): remove unused parameters Signed-off-by: satoshi-ota --------- Signed-off-by: satoshi-ota --- .../config/avoidance.param.yaml | 10 +--- .../data_structs.hpp | 13 ++--- .../behavior_path_avoidance_module/helper.hpp | 11 ++-- .../parameter_helper.hpp | 4 +- .../schema/avoidance.schema.json | 54 +++++-------------- .../src/manager.cpp | 5 +- 6 files changed, 29 insertions(+), 68 deletions(-) diff --git a/planning/behavior_path_avoidance_module/config/avoidance.param.yaml b/planning/behavior_path_avoidance_module/config/avoidance.param.yaml index 92f533bc63872..5d6044df64b2f 100644 --- a/planning/behavior_path_avoidance_module/config/avoidance.param.yaml +++ b/planning/behavior_path_avoidance_module/config/avoidance.param.yaml @@ -28,7 +28,6 @@ hard_margin_for_parked_vehicle: 0.7 # [m] max_expand_ratio: 0.0 # [-] FOR DEVELOPER envelope_buffer_margin: 0.5 # [m] FOR DEVELOPER - use_conservative_buffer_longitudinal: true # [-] When set to true, the base_link2front is added to the longitudinal buffer before avoidance. truck: th_moving_speed: 1.0 th_moving_time: 2.0 @@ -39,7 +38,6 @@ hard_margin_for_parked_vehicle: 0.7 max_expand_ratio: 0.0 envelope_buffer_margin: 0.5 - use_conservative_buffer_longitudinal: true bus: th_moving_speed: 1.0 th_moving_time: 2.0 @@ -50,7 +48,6 @@ hard_margin_for_parked_vehicle: 0.7 max_expand_ratio: 0.0 envelope_buffer_margin: 0.5 - use_conservative_buffer_longitudinal: true trailer: th_moving_speed: 1.0 th_moving_time: 2.0 @@ -61,7 +58,6 @@ hard_margin_for_parked_vehicle: 0.7 max_expand_ratio: 0.0 envelope_buffer_margin: 0.5 - use_conservative_buffer_longitudinal: true unknown: th_moving_speed: 0.28 th_moving_time: 1.0 @@ -72,7 +68,6 @@ hard_margin_for_parked_vehicle: -0.2 max_expand_ratio: 0.0 envelope_buffer_margin: 0.1 - use_conservative_buffer_longitudinal: true bicycle: th_moving_speed: 0.28 th_moving_time: 1.0 @@ -83,7 +78,6 @@ hard_margin_for_parked_vehicle: 0.5 max_expand_ratio: 0.0 envelope_buffer_margin: 0.5 - use_conservative_buffer_longitudinal: true motorcycle: th_moving_speed: 1.0 th_moving_time: 1.0 @@ -94,7 +88,6 @@ hard_margin_for_parked_vehicle: 0.3 max_expand_ratio: 0.0 envelope_buffer_margin: 0.5 - use_conservative_buffer_longitudinal: true pedestrian: th_moving_speed: 0.28 th_moving_time: 1.0 @@ -105,7 +98,6 @@ hard_margin_for_parked_vehicle: 0.5 max_expand_ratio: 0.0 envelope_buffer_margin: 0.5 - use_conservative_buffer_longitudinal: true lower_distance_for_polygon_expansion: 30.0 # [m] FOR DEVELOPER upper_distance_for_polygon_expansion: 100.0 # [m] FOR DEVELOPER @@ -222,6 +214,8 @@ min_slow_down_speed: 1.38 # [m/s] buf_slow_down_speed: 0.56 # [m/s] FOR DEVELOPER nominal_avoidance_speed: 8.33 # [m/s] FOR DEVELOPER + consider_front_overhang: true # [-] + consider_rear_overhang: true # [-] # return dead line return_dead_line: goal: diff --git a/planning/behavior_path_avoidance_module/include/behavior_path_avoidance_module/data_structs.hpp b/planning/behavior_path_avoidance_module/include/behavior_path_avoidance_module/data_structs.hpp index bc66598d3ee90..e74b546f31fc4 100644 --- a/planning/behavior_path_avoidance_module/include/behavior_path_avoidance_module/data_structs.hpp +++ b/planning/behavior_path_avoidance_module/include/behavior_path_avoidance_module/data_structs.hpp @@ -76,8 +76,6 @@ struct ObjectParameter double lateral_hard_margin_for_parked_vehicle{1.0}; double longitudinal_margin{0.0}; - - bool use_conservative_buffer_longitudinal{true}; }; struct AvoidanceParameters @@ -191,14 +189,6 @@ struct AvoidanceParameters double time_threshold_for_ambiguous_vehicle{0.0}; double distance_threshold_for_ambiguous_vehicle{0.0}; - // when complete avoidance motion, there is a distance margin with the object - // for longitudinal direction - double longitudinal_collision_margin_min_distance{0.0}; - - // when complete avoidance motion, there is a time margin with the object - // for longitudinal direction - double longitudinal_collision_margin_time{0.0}; - // parameters for safety check area bool enable_safety_check{false}; bool check_current_lane{false}; @@ -219,6 +209,9 @@ struct AvoidanceParameters size_t hysteresis_factor_safe_count; double hysteresis_factor_expand_rate{0.0}; + bool consider_front_overhang{true}; + bool consider_rear_overhang{true}; + // maximum stop distance double stop_max_distance{0.0}; diff --git a/planning/behavior_path_avoidance_module/include/behavior_path_avoidance_module/helper.hpp b/planning/behavior_path_avoidance_module/include/behavior_path_avoidance_module/helper.hpp index 2e481e7c98e44..8d95e724045ba 100644 --- a/planning/behavior_path_avoidance_module/include/behavior_path_avoidance_module/helper.hpp +++ b/planning/behavior_path_avoidance_module/include/behavior_path_avoidance_module/helper.hpp @@ -148,16 +148,19 @@ class AvoidanceHelper { const auto object_type = utils::getHighestProbLabel(object.object.classification); const auto object_parameter = parameters_->object_parameters.at(object_type); - const auto & additional_buffer_longitudinal = - object_parameter.use_conservative_buffer_longitudinal ? data_->parameters.base_link2front - : 0.0; - return object_parameter.longitudinal_margin + additional_buffer_longitudinal; + if (!parameters_->consider_front_overhang) { + return object_parameter.longitudinal_margin; + } + return object_parameter.longitudinal_margin + data_->parameters.base_link2front; } double getRearConstantDistance(const ObjectData & object) const { const auto object_type = utils::getHighestProbLabel(object.object.classification); const auto object_parameter = parameters_->object_parameters.at(object_type); + if (!parameters_->consider_rear_overhang) { + return object_parameter.longitudinal_margin; + } return object_parameter.longitudinal_margin + data_->parameters.base_link2rear + object.length; } diff --git a/planning/behavior_path_avoidance_module/include/behavior_path_avoidance_module/parameter_helper.hpp b/planning/behavior_path_avoidance_module/include/behavior_path_avoidance_module/parameter_helper.hpp index 5b8963c7ca22d..6dbf52c0425fb 100644 --- a/planning/behavior_path_avoidance_module/include/behavior_path_avoidance_module/parameter_helper.hpp +++ b/planning/behavior_path_avoidance_module/include/behavior_path_avoidance_module/parameter_helper.hpp @@ -70,8 +70,6 @@ AvoidanceParameters getParameter(rclcpp::Node * node) param.lateral_hard_margin_for_parked_vehicle = getOrDeclareParameter(*node, ns + "lateral_margin.hard_margin_for_parked_vehicle"); param.longitudinal_margin = getOrDeclareParameter(*node, ns + "longitudinal_margin"); - param.use_conservative_buffer_longitudinal = - getOrDeclareParameter(*node, ns + "use_conservative_buffer_longitudinal"); return param; }; @@ -270,6 +268,8 @@ AvoidanceParameters getParameter(rclcpp::Node * node) p.buf_slow_down_speed = getOrDeclareParameter(*node, ns + "buf_slow_down_speed"); p.nominal_avoidance_speed = getOrDeclareParameter(*node, ns + "nominal_avoidance_speed"); + p.consider_front_overhang = getOrDeclareParameter(*node, ns + "consider_front_overhang"); + p.consider_rear_overhang = getOrDeclareParameter(*node, ns + "consider_rear_overhang"); } // avoidance maneuver (return shift dead line) diff --git a/planning/behavior_path_avoidance_module/schema/avoidance.schema.json b/planning/behavior_path_avoidance_module/schema/avoidance.schema.json index cd3e29b8ec0b8..79882beb805f8 100644 --- a/planning/behavior_path_avoidance_module/schema/avoidance.schema.json +++ b/planning/behavior_path_avoidance_module/schema/avoidance.schema.json @@ -104,11 +104,6 @@ "type": "number", "description": "This value will be applied envelope_buffer_margin according to the distance between the ego and object.", "default": 0.0 - }, - "use_conservative_buffer_longitudinal": { - "type": "boolean", - "description": "When set to true, the base_link2front is added to the longitudinal buffer before avoidance.", - "default": "true" } }, "required": [ @@ -171,11 +166,6 @@ "type": "number", "description": "This value will be applied envelope_buffer_margin according to the distance between the ego and object.", "default": 0.0 - }, - "use_conservative_buffer_longitudinal": { - "type": "boolean", - "description": "When set to true, the base_link2front is added to the longitudinal buffer before avoidance.", - "default": "true" } }, "required": [ @@ -238,11 +228,6 @@ "type": "number", "description": "This value will be applied envelope_buffer_margin according to the distance between the ego and object.", "default": 0.0 - }, - "use_conservative_buffer_longitudinal": { - "type": "boolean", - "description": "When set to true, the base_link2front is added to the longitudinal buffer before avoidance.", - "default": "true" } }, "required": [ @@ -305,11 +290,6 @@ "type": "number", "description": "This value will be applied envelope_buffer_margin according to the distance between the ego and object.", "default": 0.0 - }, - "use_conservative_buffer_longitudinal": { - "type": "boolean", - "description": "When set to true, the base_link2front is added to the longitudinal buffer before avoidance.", - "default": "true" } }, "required": [ @@ -372,11 +352,6 @@ "type": "number", "description": "This value will be applied envelope_buffer_margin according to the distance between the ego and object.", "default": 0.0 - }, - "use_conservative_buffer_longitudinal": { - "type": "boolean", - "description": "When set to true, the base_link2front is added to the longitudinal buffer before avoidance.", - "default": "true" } }, "required": [ @@ -439,11 +414,6 @@ "type": "number", "description": "This value will be applied envelope_buffer_margin according to the distance between the ego and object.", "default": 0.0 - }, - "use_conservative_buffer_longitudinal": { - "type": "boolean", - "description": "When set to true, the base_link2front is added to the longitudinal buffer before avoidance.", - "default": "true" } }, "required": [ @@ -506,11 +476,6 @@ "type": "number", "description": "This value will be applied envelope_buffer_margin according to the distance between the ego and object.", "default": 0.0 - }, - "use_conservative_buffer_longitudinal": { - "type": "boolean", - "description": "When set to true, the base_link2front is added to the longitudinal buffer before avoidance.", - "default": "true" } }, "required": [ @@ -573,11 +538,6 @@ "type": "number", "description": "This value will be applied envelope_buffer_margin according to the distance between the ego and object.", "default": 0.0 - }, - "use_conservative_buffer_longitudinal": { - "type": "boolean", - "description": "When set to true, the base_link2front is added to the longitudinal buffer before avoidance.", - "default": "true" } }, "required": [ @@ -1150,6 +1110,16 @@ "type": "number", "description": "Nominal avoidance speed.", "default": 8.33 + }, + "consider_front_overhang": { + "type": "boolean", + "description": "Flag to consider vehicle front overhang in shift line generation logic.", + "default": true + }, + "consider_rear_overhang": { + "type": "boolean", + "description": "Flag to consider vehicle rear overhang in shift line generation logic.", + "default": true } }, "required": [ @@ -1158,7 +1128,9 @@ "min_prepare_distance", "min_slow_down_speed", "buf_slow_down_speed", - "nominal_avoidance_speed" + "nominal_avoidance_speed", + "consider_front_overhang", + "consider_rear_overhang" ], "additionalProperties": false }, diff --git a/planning/behavior_path_avoidance_module/src/manager.cpp b/planning/behavior_path_avoidance_module/src/manager.cpp index 3261214d1b9b6..e3391f251e55f 100644 --- a/planning/behavior_path_avoidance_module/src/manager.cpp +++ b/planning/behavior_path_avoidance_module/src/manager.cpp @@ -59,9 +59,6 @@ void AvoidanceModuleManager::updateModuleParams(const std::vector(parameters, ns + "longitudinal_margin", config.longitudinal_margin); - updateParam( - parameters, ns + "use_conservative_buffer_longitudinal", - config.use_conservative_buffer_longitudinal); }; { @@ -170,6 +167,8 @@ void AvoidanceModuleManager::updateModuleParams(const std::vector(parameters, ns + "min_prepare_distance", p->min_prepare_distance); updateParam(parameters, ns + "min_slow_down_speed", p->min_slow_down_speed); updateParam(parameters, ns + "buf_slow_down_speed", p->buf_slow_down_speed); + updateParam(parameters, ns + "consider_front_overhang", p->consider_front_overhang); + updateParam(parameters, ns + "consider_rear_overhang", p->consider_rear_overhang); } { From fd032e86926cbd191f8fdca3b154f46cadad3fd8 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Fri, 12 Apr 2024 16:59:34 +0900 Subject: [PATCH 40/54] refactor(static_centerline_generator): change the package name from static_centerline_optimizer (#6795) static_centerline_optimizer -> static_centerline_generator Signed-off-by: Takayuki Murooka --- .github/CODEOWNERS | 2 +- ...load_local_cartesian_utm_from_yaml.test.py | 2 +- .../test_node_load_local_from_yaml.test.py | 2 +- .../test_node_load_mgrs_from_yaml.test.py | 2 +- ...load_transverse_mercator_from_yaml.test.py | 2 +- planning/.pages | 2 +- .../obstacle_avoidance_planner/node.hpp | 4 +- .../path_smoother/elastic_band_smoother.hpp | 2 +- .../include/path_sampler/node.hpp | 2 +- .../CMakeLists.txt | 12 ++-- .../README.md | 6 +- .../config/common.param.yaml | 0 .../config/nearest_search.param.yaml | 0 .../static_centerline_generator.param.yaml} | 0 .../config/vehicle_info.param.yaml | 0 .../bag_ego_trajectory_based_centerline.hpp | 12 ++-- ...timization_trajectory_based_centerline.hpp | 12 ++-- .../static_centerline_generator_node.hpp} | 30 +++++----- .../type_alias.hpp | 10 ++-- .../static_centerline_generator}/utils.hpp | 12 ++-- .../launch/run_planning_server.launch.xml | 4 +- .../static_centerline_generator.launch.xml} | 6 +- .../media/rviz.png | Bin .../media/unsafe_footprints.png | Bin .../msg/PointsWithLaneId.msg | 0 .../package.xml | 4 +- .../rviz/static_centerline_generator.rviz} | 8 +-- .../scripts/app.py | 14 ++--- .../scripts/centerline_updater_helper.py | 2 +- .../bag_ego_trajectory_based_centerline.sh | 3 + ...ptimization_trajectory_based_centerline.sh | 2 +- .../bag_ego_trajectory_based_centerline.cpp | 8 +-- ...timization_trajectory_based_centerline.cpp | 10 ++-- .../src/main.cpp | 4 +- .../src/static_centerline_generator_node.cpp} | 56 +++++++++--------- .../src/utils.cpp | 6 +- .../srv/LoadMap.srv | 0 .../srv/PlanPath.srv | 2 +- .../srv/PlanRoute.srv | 0 .../test/data/bag_ego_trajectory.db3 | Bin .../test/data/lanelet2_map.osm | 0 .../test_static_centerline_generator.test.py} | 20 +++---- .../bag_ego_trajectory_based_centerline.sh | 3 - 43 files changed, 133 insertions(+), 133 deletions(-) rename planning/{static_centerline_optimizer => static_centerline_generator}/CMakeLists.txt (80%) rename planning/{static_centerline_optimizer => static_centerline_generator}/README.md (93%) rename planning/{static_centerline_optimizer => static_centerline_generator}/config/common.param.yaml (100%) rename planning/{static_centerline_optimizer => static_centerline_generator}/config/nearest_search.param.yaml (100%) rename planning/{static_centerline_optimizer/config/static_centerline_optimizer.param.yaml => static_centerline_generator/config/static_centerline_generator.param.yaml} (100%) rename planning/{static_centerline_optimizer => static_centerline_generator}/config/vehicle_info.param.yaml (100%) rename planning/{static_centerline_optimizer/include/static_centerline_optimizer => static_centerline_generator/include/static_centerline_generator}/centerline_source/bag_ego_trajectory_based_centerline.hpp (71%) rename planning/{static_centerline_optimizer/include/static_centerline_optimizer => static_centerline_generator/include/static_centerline_generator}/centerline_source/optimization_trajectory_based_centerline.hpp (81%) rename planning/{static_centerline_optimizer/include/static_centerline_optimizer/static_centerline_optimizer_node.hpp => static_centerline_generator/include/static_centerline_generator/static_centerline_generator_node.hpp} (81%) rename planning/{static_centerline_optimizer/include/static_centerline_optimizer => static_centerline_generator/include/static_centerline_generator}/type_alias.hpp (87%) rename planning/{static_centerline_optimizer/include/static_centerline_optimizer => static_centerline_generator/include/static_centerline_generator}/utils.hpp (86%) rename planning/{static_centerline_optimizer => static_centerline_generator}/launch/run_planning_server.launch.xml (54%) rename planning/{static_centerline_optimizer/launch/static_centerline_optimizer.launch.xml => static_centerline_generator/launch/static_centerline_generator.launch.xml} (93%) rename planning/{static_centerline_optimizer => static_centerline_generator}/media/rviz.png (100%) rename planning/{static_centerline_optimizer => static_centerline_generator}/media/unsafe_footprints.png (100%) rename planning/{static_centerline_optimizer => static_centerline_generator}/msg/PointsWithLaneId.msg (100%) rename planning/{static_centerline_optimizer => static_centerline_generator}/package.xml (94%) rename planning/{static_centerline_optimizer/rviz/static_centerline_optimizer.rviz => static_centerline_generator/rviz/static_centerline_generator.rviz} (98%) rename planning/{static_centerline_optimizer => static_centerline_generator}/scripts/app.py (92%) rename planning/{static_centerline_optimizer => static_centerline_generator}/scripts/centerline_updater_helper.py (99%) create mode 100755 planning/static_centerline_generator/scripts/tmp/bag_ego_trajectory_based_centerline.sh rename planning/{static_centerline_optimizer => static_centerline_generator}/scripts/tmp/optimization_trajectory_based_centerline.sh (57%) rename planning/{static_centerline_optimizer => static_centerline_generator}/src/centerline_source/bag_ego_trajectory_based_centerline.cpp (93%) rename planning/{static_centerline_optimizer => static_centerline_generator}/src/centerline_source/optimization_trajectory_based_centerline.cpp (96%) rename planning/{static_centerline_optimizer => static_centerline_generator}/src/main.cpp (86%) rename planning/{static_centerline_optimizer/src/static_centerline_optimizer_node.cpp => static_centerline_generator/src/static_centerline_generator_node.cpp} (93%) rename planning/{static_centerline_optimizer => static_centerline_generator}/src/utils.cpp (98%) rename planning/{static_centerline_optimizer => static_centerline_generator}/srv/LoadMap.srv (100%) rename planning/{static_centerline_optimizer => static_centerline_generator}/srv/PlanPath.srv (55%) rename planning/{static_centerline_optimizer => static_centerline_generator}/srv/PlanRoute.srv (100%) rename planning/{static_centerline_optimizer => static_centerline_generator}/test/data/bag_ego_trajectory.db3 (100%) rename planning/{static_centerline_optimizer => static_centerline_generator}/test/data/lanelet2_map.osm (100%) rename planning/{static_centerline_optimizer/test/test_static_centerline_optimizer.test.py => static_centerline_generator/test/test_static_centerline_generator.test.py} (84%) delete mode 100755 planning/static_centerline_optimizer/scripts/tmp/bag_ego_trajectory_based_centerline.sh diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS index 256b617116432..a6cdc58f03e94 100644 --- a/.github/CODEOWNERS +++ b/.github/CODEOWNERS @@ -205,7 +205,7 @@ planning/sampling_based_planner/frenet_planner/** maxime.clement@tier4.jp planning/sampling_based_planner/path_sampler/** maxime.clement@tier4.jp planning/sampling_based_planner/sampler_common/** maxime.clement@tier4.jp planning/scenario_selector/** fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp -planning/static_centerline_optimizer/** kosuke.takeuchi@tier4.jp takayuki.murooka@tier4.jp +planning/static_centerline_generator/** kosuke.takeuchi@tier4.jp takayuki.murooka@tier4.jp planning/surround_obstacle_checker/** satoshi.ota@tier4.jp sensing/gnss_poser/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp koji.minoda@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp sensing/image_diagnostics/** dai.nguyen@tier4.jp diff --git a/map/map_projection_loader/test/test_node_load_local_cartesian_utm_from_yaml.test.py b/map/map_projection_loader/test/test_node_load_local_cartesian_utm_from_yaml.test.py index ec13df010c8c3..b8540550ce9da 100644 --- a/map/map_projection_loader/test/test_node_load_local_cartesian_utm_from_yaml.test.py +++ b/map/map_projection_loader/test/test_node_load_local_cartesian_utm_from_yaml.test.py @@ -61,7 +61,7 @@ def generate_test_description(): LaunchDescription( [ map_projection_loader_node, - # Start test after 1s - gives time for the static_centerline_optimizer to finish initialization + # Start test after 1s - gives time for the static_centerline_generator to finish initialization launch.actions.TimerAction( period=1.0, actions=[launch_testing.actions.ReadyToTest()] ), diff --git a/map/map_projection_loader/test/test_node_load_local_from_yaml.test.py b/map/map_projection_loader/test/test_node_load_local_from_yaml.test.py index ccec68486b79c..c7697038cc253 100644 --- a/map/map_projection_loader/test/test_node_load_local_from_yaml.test.py +++ b/map/map_projection_loader/test/test_node_load_local_from_yaml.test.py @@ -61,7 +61,7 @@ def generate_test_description(): LaunchDescription( [ map_projection_loader_node, - # Start test after 1s - gives time for the static_centerline_optimizer to finish initialization + # Start test after 1s - gives time for the static_centerline_generator to finish initialization launch.actions.TimerAction( period=1.0, actions=[launch_testing.actions.ReadyToTest()] ), diff --git a/map/map_projection_loader/test/test_node_load_mgrs_from_yaml.test.py b/map/map_projection_loader/test/test_node_load_mgrs_from_yaml.test.py index 200504d0ea18f..f75beddc6827c 100644 --- a/map/map_projection_loader/test/test_node_load_mgrs_from_yaml.test.py +++ b/map/map_projection_loader/test/test_node_load_mgrs_from_yaml.test.py @@ -61,7 +61,7 @@ def generate_test_description(): LaunchDescription( [ map_projection_loader_node, - # Start test after 1s - gives time for the static_centerline_optimizer to finish initialization + # Start test after 1s - gives time for the static_centerline_generator to finish initialization launch.actions.TimerAction( period=1.0, actions=[launch_testing.actions.ReadyToTest()] ), diff --git a/map/map_projection_loader/test/test_node_load_transverse_mercator_from_yaml.test.py b/map/map_projection_loader/test/test_node_load_transverse_mercator_from_yaml.test.py index 7883ae6aa3c99..765f3cde04679 100644 --- a/map/map_projection_loader/test/test_node_load_transverse_mercator_from_yaml.test.py +++ b/map/map_projection_loader/test/test_node_load_transverse_mercator_from_yaml.test.py @@ -61,7 +61,7 @@ def generate_test_description(): LaunchDescription( [ map_projection_loader_node, - # Start test after 1s - gives time for the static_centerline_optimizer to finish initialization + # Start test after 1s - gives time for the static_centerline_generator to finish initialization launch.actions.TimerAction( period=1.0, actions=[launch_testing.actions.ReadyToTest()] ), diff --git a/planning/.pages b/planning/.pages index 1b5608f7ded57..942a5a0b32158 100644 --- a/planning/.pages +++ b/planning/.pages @@ -67,7 +67,7 @@ nav: - 'About Motion Velocity Smoother': planning/motion_velocity_smoother - 'About Motion Velocity Smoother (Japanese)': planning/motion_velocity_smoother/README.ja - 'Scenario Selector': planning/scenario_selector - - 'Static Centerline Optimizer': planning/static_centerline_optimizer + - 'Static Centerline Generator': planning/static_centerline_generator - 'API and Library': - 'Costmap Generator': planning/costmap_generator - 'External Velocity Limit Selector': planning/external_velocity_limit_selector diff --git a/planning/obstacle_avoidance_planner/include/obstacle_avoidance_planner/node.hpp b/planning/obstacle_avoidance_planner/include/obstacle_avoidance_planner/node.hpp index 2dbefffe67738..3677e6c5fb075 100644 --- a/planning/obstacle_avoidance_planner/include/obstacle_avoidance_planner/node.hpp +++ b/planning/obstacle_avoidance_planner/include/obstacle_avoidance_planner/node.hpp @@ -39,12 +39,12 @@ class ObstacleAvoidancePlanner : public rclcpp::Node public: explicit ObstacleAvoidancePlanner(const rclcpp::NodeOptions & node_options); - // NOTE: This is for the static_centerline_optimizer package which utilizes the following + // NOTE: This is for the static_centerline_generator package which utilizes the following // instance. std::shared_ptr getMPTOptimizer() const { return mpt_optimizer_ptr_; } // private: -protected: // for the static_centerline_optimizer package +protected: // for the static_centerline_generator package // TODO(murooka) move this node to common class DrivingDirectionChecker { diff --git a/planning/path_smoother/include/path_smoother/elastic_band_smoother.hpp b/planning/path_smoother/include/path_smoother/elastic_band_smoother.hpp index eb2d651cc967d..e0bdb326adb33 100644 --- a/planning/path_smoother/include/path_smoother/elastic_band_smoother.hpp +++ b/planning/path_smoother/include/path_smoother/elastic_band_smoother.hpp @@ -38,7 +38,7 @@ class ElasticBandSmoother : public rclcpp::Node public: explicit ElasticBandSmoother(const rclcpp::NodeOptions & node_options); - // NOTE: This is for the static_centerline_optimizer package which utilizes the following + // NOTE: This is for the static_centerline_generator package which utilizes the following // instance. std::shared_ptr getElasticBandSmoother() const { return eb_path_smoother_ptr_; } diff --git a/planning/sampling_based_planner/path_sampler/include/path_sampler/node.hpp b/planning/sampling_based_planner/path_sampler/include/path_sampler/node.hpp index a9002c8cf8a9f..50464f12114b0 100644 --- a/planning/sampling_based_planner/path_sampler/include/path_sampler/node.hpp +++ b/planning/sampling_based_planner/path_sampler/include/path_sampler/node.hpp @@ -37,7 +37,7 @@ class PathSampler : public rclcpp::Node public: explicit PathSampler(const rclcpp::NodeOptions & node_options); -protected: // for the static_centerline_optimizer package +protected: // for the static_centerline_generator package // argument variables vehicle_info_util::VehicleInfo vehicle_info_{}; mutable DebugData debug_data_{}; diff --git a/planning/static_centerline_optimizer/CMakeLists.txt b/planning/static_centerline_generator/CMakeLists.txt similarity index 80% rename from planning/static_centerline_optimizer/CMakeLists.txt rename to planning/static_centerline_generator/CMakeLists.txt index cc33f2234a50c..991d12097cc08 100644 --- a/planning/static_centerline_optimizer/CMakeLists.txt +++ b/planning/static_centerline_generator/CMakeLists.txt @@ -1,5 +1,5 @@ cmake_minimum_required(VERSION 3.14) -project(static_centerline_optimizer) +project(static_centerline_generator) find_package(autoware_cmake REQUIRED) @@ -9,7 +9,7 @@ find_package(rosidl_default_generators REQUIRED) find_package(std_msgs REQUIRED) rosidl_generate_interfaces( - static_centerline_optimizer + static_centerline_generator "srv/LoadMap.srv" "srv/PlanRoute.srv" "srv/PlanPath.srv" @@ -21,7 +21,7 @@ autoware_package() ament_auto_add_executable(main src/main.cpp - src/static_centerline_optimizer_node.cpp + src/static_centerline_generator_node.cpp src/centerline_source/optimization_trajectory_based_centerline.cpp src/centerline_source/bag_ego_trajectory_based_centerline.cpp src/utils.cpp @@ -29,10 +29,10 @@ ament_auto_add_executable(main if(${rosidl_cmake_VERSION} VERSION_LESS 2.5.0) rosidl_target_interfaces(main - static_centerline_optimizer "rosidl_typesupport_cpp") + static_centerline_generator "rosidl_typesupport_cpp") else() rosidl_get_typesupport_target( - cpp_typesupport_target static_centerline_optimizer "rosidl_typesupport_cpp") + cpp_typesupport_target static_centerline_generator "rosidl_typesupport_cpp") target_link_libraries(main "${cpp_typesupport_target}") endif() @@ -45,7 +45,7 @@ ament_auto_package( if(BUILD_TESTING) add_launch_test( - test/test_static_centerline_optimizer.test.py + test/test_static_centerline_generator.test.py TIMEOUT "30" ) install(DIRECTORY diff --git a/planning/static_centerline_optimizer/README.md b/planning/static_centerline_generator/README.md similarity index 93% rename from planning/static_centerline_optimizer/README.md rename to planning/static_centerline_generator/README.md index fd5a58ef816df..00572b754645c 100644 --- a/planning/static_centerline_optimizer/README.md +++ b/planning/static_centerline_generator/README.md @@ -1,4 +1,4 @@ -# Static Centerline Optimizer +# Static Centerline Generator ## Purpose @@ -34,7 +34,7 @@ We can run with the following command by designating `` ```sh -ros2 launch static_centerline_optimizer run_planning_server.launch.xml vehicle_model:= +ros2 launch static_centerline_generator run_planning_server.launch.xml vehicle_model:= ``` FYI, port ID of the http server is 4010 by default. @@ -50,7 +50,7 @@ The optimized centerline can be generated from the command line interface by des - `` ```sh -ros2 launch static_centerline_optimizer static_centerline_optimizer.launch.xml run_backgrond:=false lanelet2_input_file_path:= lanelet2_output_file_path:= start_lanelet_id:= end_lanelet_id:= vehicle_model:= +ros2 launch static_centerline_generator static_centerline_generator.launch.xml run_backgrond:=false lanelet2_input_file_path:= lanelet2_output_file_path:= start_lanelet_id:= end_lanelet_id:= vehicle_model:= ``` The default output map path containing the optimized centerline locates `/tmp/lanelet2_map.osm`. diff --git a/planning/static_centerline_optimizer/config/common.param.yaml b/planning/static_centerline_generator/config/common.param.yaml similarity index 100% rename from planning/static_centerline_optimizer/config/common.param.yaml rename to planning/static_centerline_generator/config/common.param.yaml diff --git a/planning/static_centerline_optimizer/config/nearest_search.param.yaml b/planning/static_centerline_generator/config/nearest_search.param.yaml similarity index 100% rename from planning/static_centerline_optimizer/config/nearest_search.param.yaml rename to planning/static_centerline_generator/config/nearest_search.param.yaml diff --git a/planning/static_centerline_optimizer/config/static_centerline_optimizer.param.yaml b/planning/static_centerline_generator/config/static_centerline_generator.param.yaml similarity index 100% rename from planning/static_centerline_optimizer/config/static_centerline_optimizer.param.yaml rename to planning/static_centerline_generator/config/static_centerline_generator.param.yaml diff --git a/planning/static_centerline_optimizer/config/vehicle_info.param.yaml b/planning/static_centerline_generator/config/vehicle_info.param.yaml similarity index 100% rename from planning/static_centerline_optimizer/config/vehicle_info.param.yaml rename to planning/static_centerline_generator/config/vehicle_info.param.yaml diff --git a/planning/static_centerline_optimizer/include/static_centerline_optimizer/centerline_source/bag_ego_trajectory_based_centerline.hpp b/planning/static_centerline_generator/include/static_centerline_generator/centerline_source/bag_ego_trajectory_based_centerline.hpp similarity index 71% rename from planning/static_centerline_optimizer/include/static_centerline_optimizer/centerline_source/bag_ego_trajectory_based_centerline.hpp rename to planning/static_centerline_generator/include/static_centerline_generator/centerline_source/bag_ego_trajectory_based_centerline.hpp index b29f222b068cc..30b2e55c36bba 100644 --- a/planning/static_centerline_optimizer/include/static_centerline_optimizer/centerline_source/bag_ego_trajectory_based_centerline.hpp +++ b/planning/static_centerline_generator/include/static_centerline_generator/centerline_source/bag_ego_trajectory_based_centerline.hpp @@ -12,16 +12,16 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef STATIC_CENTERLINE_OPTIMIZER__CENTERLINE_SOURCE__BAG_EGO_TRAJECTORY_BASED_CENTERLINE_HPP_ -#define STATIC_CENTERLINE_OPTIMIZER__CENTERLINE_SOURCE__BAG_EGO_TRAJECTORY_BASED_CENTERLINE_HPP_ +#ifndef STATIC_CENTERLINE_GENERATOR__CENTERLINE_SOURCE__BAG_EGO_TRAJECTORY_BASED_CENTERLINE_HPP_ +#define STATIC_CENTERLINE_GENERATOR__CENTERLINE_SOURCE__BAG_EGO_TRAJECTORY_BASED_CENTERLINE_HPP_ #include "rclcpp/rclcpp.hpp" -#include "static_centerline_optimizer/type_alias.hpp" +#include "static_centerline_generator/type_alias.hpp" #include -namespace static_centerline_optimizer +namespace static_centerline_generator { std::vector generate_centerline_with_bag(rclcpp::Node & node); -} // namespace static_centerline_optimizer -#endif // STATIC_CENTERLINE_OPTIMIZER__CENTERLINE_SOURCE__BAG_EGO_TRAJECTORY_BASED_CENTERLINE_HPP_ +} // namespace static_centerline_generator +#endif // STATIC_CENTERLINE_GENERATOR__CENTERLINE_SOURCE__BAG_EGO_TRAJECTORY_BASED_CENTERLINE_HPP_ diff --git a/planning/static_centerline_optimizer/include/static_centerline_optimizer/centerline_source/optimization_trajectory_based_centerline.hpp b/planning/static_centerline_generator/include/static_centerline_generator/centerline_source/optimization_trajectory_based_centerline.hpp similarity index 81% rename from planning/static_centerline_optimizer/include/static_centerline_optimizer/centerline_source/optimization_trajectory_based_centerline.hpp rename to planning/static_centerline_generator/include/static_centerline_generator/centerline_source/optimization_trajectory_based_centerline.hpp index 8c7c1e69e9ce6..7e7cdea31e9f1 100644 --- a/planning/static_centerline_optimizer/include/static_centerline_optimizer/centerline_source/optimization_trajectory_based_centerline.hpp +++ b/planning/static_centerline_generator/include/static_centerline_generator/centerline_source/optimization_trajectory_based_centerline.hpp @@ -12,15 +12,15 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef STATIC_CENTERLINE_OPTIMIZER__CENTERLINE_SOURCE__OPTIMIZATION_TRAJECTORY_BASED_CENTERLINE_HPP_ // NOLINT -#define STATIC_CENTERLINE_OPTIMIZER__CENTERLINE_SOURCE__OPTIMIZATION_TRAJECTORY_BASED_CENTERLINE_HPP_ // NOLINT +#ifndef STATIC_CENTERLINE_GENERATOR__CENTERLINE_SOURCE__OPTIMIZATION_TRAJECTORY_BASED_CENTERLINE_HPP_ // NOLINT +#define STATIC_CENTERLINE_GENERATOR__CENTERLINE_SOURCE__OPTIMIZATION_TRAJECTORY_BASED_CENTERLINE_HPP_ // NOLINT #include "rclcpp/rclcpp.hpp" -#include "static_centerline_optimizer/type_alias.hpp" +#include "static_centerline_generator/type_alias.hpp" #include -namespace static_centerline_optimizer +namespace static_centerline_generator { class OptimizationTrajectoryBasedCenterline { @@ -37,7 +37,7 @@ class OptimizationTrajectoryBasedCenterline rclcpp::Publisher::SharedPtr pub_raw_path_with_lane_id_{nullptr}; rclcpp::Publisher::SharedPtr pub_raw_path_{nullptr}; }; -} // namespace static_centerline_optimizer +} // namespace static_centerline_generator // clang-format off -#endif // STATIC_CENTERLINE_OPTIMIZER__CENTERLINE_SOURCE__OPTIMIZATION_TRAJECTORY_BASED_CENTERLINE_HPP_ // NOLINT +#endif // STATIC_CENTERLINE_GENERATOR__CENTERLINE_SOURCE__OPTIMIZATION_TRAJECTORY_BASED_CENTERLINE_HPP_ // NOLINT // clang-format on diff --git a/planning/static_centerline_optimizer/include/static_centerline_optimizer/static_centerline_optimizer_node.hpp b/planning/static_centerline_generator/include/static_centerline_generator/static_centerline_generator_node.hpp similarity index 81% rename from planning/static_centerline_optimizer/include/static_centerline_optimizer/static_centerline_optimizer_node.hpp rename to planning/static_centerline_generator/include/static_centerline_generator/static_centerline_generator_node.hpp index 5d9530a469012..c1d92c06a8e05 100644 --- a/planning/static_centerline_optimizer/include/static_centerline_optimizer/static_centerline_optimizer_node.hpp +++ b/planning/static_centerline_generator/include/static_centerline_generator/static_centerline_generator_node.hpp @@ -12,15 +12,15 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef STATIC_CENTERLINE_OPTIMIZER__STATIC_CENTERLINE_OPTIMIZER_NODE_HPP_ -#define STATIC_CENTERLINE_OPTIMIZER__STATIC_CENTERLINE_OPTIMIZER_NODE_HPP_ +#ifndef STATIC_CENTERLINE_GENERATOR__STATIC_CENTERLINE_GENERATOR_NODE_HPP_ +#define STATIC_CENTERLINE_GENERATOR__STATIC_CENTERLINE_GENERATOR_NODE_HPP_ #include "rclcpp/rclcpp.hpp" -#include "static_centerline_optimizer/centerline_source/optimization_trajectory_based_centerline.hpp" -#include "static_centerline_optimizer/srv/load_map.hpp" -#include "static_centerline_optimizer/srv/plan_path.hpp" -#include "static_centerline_optimizer/srv/plan_route.hpp" -#include "static_centerline_optimizer/type_alias.hpp" +#include "static_centerline_generator/centerline_source/optimization_trajectory_based_centerline.hpp" +#include "static_centerline_generator/srv/load_map.hpp" +#include "static_centerline_generator/srv/plan_path.hpp" +#include "static_centerline_generator/srv/plan_route.hpp" +#include "static_centerline_generator/type_alias.hpp" #include "vehicle_info_util/vehicle_info_util.hpp" #include @@ -34,11 +34,11 @@ #include #include -namespace static_centerline_optimizer +namespace static_centerline_generator { -using static_centerline_optimizer::srv::LoadMap; -using static_centerline_optimizer::srv::PlanPath; -using static_centerline_optimizer::srv::PlanRoute; +using static_centerline_generator::srv::LoadMap; +using static_centerline_generator::srv::PlanPath; +using static_centerline_generator::srv::PlanRoute; struct CenterlineWithRoute { @@ -46,10 +46,10 @@ struct CenterlineWithRoute std::vector route_lane_ids{}; }; -class StaticCenterlineOptimizerNode : public rclcpp::Node +class StaticCenterlineGeneratorNode : public rclcpp::Node { public: - explicit StaticCenterlineOptimizerNode(const rclcpp::NodeOptions & node_options); + explicit StaticCenterlineGeneratorNode(const rclcpp::NodeOptions & node_options); void run(); private: @@ -115,5 +115,5 @@ class StaticCenterlineOptimizerNode : public rclcpp::Node // vehicle info vehicle_info_util::VehicleInfo vehicle_info_; }; -} // namespace static_centerline_optimizer -#endif // STATIC_CENTERLINE_OPTIMIZER__STATIC_CENTERLINE_OPTIMIZER_NODE_HPP_ +} // namespace static_centerline_generator +#endif // STATIC_CENTERLINE_GENERATOR__STATIC_CENTERLINE_GENERATOR_NODE_HPP_ diff --git a/planning/static_centerline_optimizer/include/static_centerline_optimizer/type_alias.hpp b/planning/static_centerline_generator/include/static_centerline_generator/type_alias.hpp similarity index 87% rename from planning/static_centerline_optimizer/include/static_centerline_optimizer/type_alias.hpp rename to planning/static_centerline_generator/include/static_centerline_generator/type_alias.hpp index 1a700d36deaaf..2dcb9cbbd099f 100644 --- a/planning/static_centerline_optimizer/include/static_centerline_optimizer/type_alias.hpp +++ b/planning/static_centerline_generator/include/static_centerline_generator/type_alias.hpp @@ -11,8 +11,8 @@ // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. // See the License for the specific language governing permissions and // limitations under the License. -#ifndef STATIC_CENTERLINE_OPTIMIZER__TYPE_ALIAS_HPP_ -#define STATIC_CENTERLINE_OPTIMIZER__TYPE_ALIAS_HPP_ +#ifndef STATIC_CENTERLINE_GENERATOR__TYPE_ALIAS_HPP_ +#define STATIC_CENTERLINE_GENERATOR__TYPE_ALIAS_HPP_ #include "route_handler/route_handler.hpp" #include "tier4_autoware_utils/geometry/geometry.hpp" @@ -26,7 +26,7 @@ #include "autoware_planning_msgs/msg/lanelet_route.hpp" #include "visualization_msgs/msg/marker_array.hpp" -namespace static_centerline_optimizer +namespace static_centerline_generator { using autoware_auto_mapping_msgs::msg::HADMapBin; using autoware_auto_perception_msgs::msg::PredictedObjects; @@ -41,6 +41,6 @@ using tier4_autoware_utils::LinearRing2d; using tier4_autoware_utils::LineString2d; using tier4_autoware_utils::Point2d; using visualization_msgs::msg::MarkerArray; -} // namespace static_centerline_optimizer +} // namespace static_centerline_generator -#endif // STATIC_CENTERLINE_OPTIMIZER__TYPE_ALIAS_HPP_ +#endif // STATIC_CENTERLINE_GENERATOR__TYPE_ALIAS_HPP_ diff --git a/planning/static_centerline_optimizer/include/static_centerline_optimizer/utils.hpp b/planning/static_centerline_generator/include/static_centerline_generator/utils.hpp similarity index 86% rename from planning/static_centerline_optimizer/include/static_centerline_optimizer/utils.hpp rename to planning/static_centerline_generator/include/static_centerline_generator/utils.hpp index 04f2268aa972f..c8cf8f8b90590 100644 --- a/planning/static_centerline_optimizer/include/static_centerline_optimizer/utils.hpp +++ b/planning/static_centerline_generator/include/static_centerline_generator/utils.hpp @@ -12,11 +12,11 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef STATIC_CENTERLINE_OPTIMIZER__UTILS_HPP_ -#define STATIC_CENTERLINE_OPTIMIZER__UTILS_HPP_ +#ifndef STATIC_CENTERLINE_GENERATOR__UTILS_HPP_ +#define STATIC_CENTERLINE_GENERATOR__UTILS_HPP_ #include "route_handler/route_handler.hpp" -#include "static_centerline_optimizer/type_alias.hpp" +#include "static_centerline_generator/type_alias.hpp" #include @@ -24,7 +24,7 @@ #include #include -namespace static_centerline_optimizer +namespace static_centerline_generator { namespace utils { @@ -53,6 +53,6 @@ MarkerArray create_distance_text_marker( const geometry_msgs::msg::Pose & pose, const double dist, const std::array & marker_color, const rclcpp::Time & now, const size_t idx); } // namespace utils -} // namespace static_centerline_optimizer +} // namespace static_centerline_generator -#endif // STATIC_CENTERLINE_OPTIMIZER__UTILS_HPP_ +#endif // STATIC_CENTERLINE_GENERATOR__UTILS_HPP_ diff --git a/planning/static_centerline_optimizer/launch/run_planning_server.launch.xml b/planning/static_centerline_generator/launch/run_planning_server.launch.xml similarity index 54% rename from planning/static_centerline_optimizer/launch/run_planning_server.launch.xml rename to planning/static_centerline_generator/launch/run_planning_server.launch.xml index 3a8b88a021dc0..1493078317458 100644 --- a/planning/static_centerline_optimizer/launch/run_planning_server.launch.xml +++ b/planning/static_centerline_generator/launch/run_planning_server.launch.xml @@ -2,11 +2,11 @@ - + - + diff --git a/planning/static_centerline_optimizer/launch/static_centerline_optimizer.launch.xml b/planning/static_centerline_generator/launch/static_centerline_generator.launch.xml similarity index 93% rename from planning/static_centerline_optimizer/launch/static_centerline_optimizer.launch.xml rename to planning/static_centerline_generator/launch/static_centerline_generator.launch.xml index ed137367f3ba4..ae71b0ae6e925 100644 --- a/planning/static_centerline_optimizer/launch/static_centerline_optimizer.launch.xml +++ b/planning/static_centerline_generator/launch/static_centerline_generator.launch.xml @@ -55,7 +55,7 @@ - + @@ -79,11 +79,11 @@ - + - + diff --git a/planning/static_centerline_optimizer/media/rviz.png b/planning/static_centerline_generator/media/rviz.png similarity index 100% rename from planning/static_centerline_optimizer/media/rviz.png rename to planning/static_centerline_generator/media/rviz.png diff --git a/planning/static_centerline_optimizer/media/unsafe_footprints.png b/planning/static_centerline_generator/media/unsafe_footprints.png similarity index 100% rename from planning/static_centerline_optimizer/media/unsafe_footprints.png rename to planning/static_centerline_generator/media/unsafe_footprints.png diff --git a/planning/static_centerline_optimizer/msg/PointsWithLaneId.msg b/planning/static_centerline_generator/msg/PointsWithLaneId.msg similarity index 100% rename from planning/static_centerline_optimizer/msg/PointsWithLaneId.msg rename to planning/static_centerline_generator/msg/PointsWithLaneId.msg diff --git a/planning/static_centerline_optimizer/package.xml b/planning/static_centerline_generator/package.xml similarity index 94% rename from planning/static_centerline_optimizer/package.xml rename to planning/static_centerline_generator/package.xml index eef133581622f..6573f6e439c43 100644 --- a/planning/static_centerline_optimizer/package.xml +++ b/planning/static_centerline_generator/package.xml @@ -1,9 +1,9 @@ - static_centerline_optimizer + static_centerline_generator 0.1.0 - The static_centerline_optimizer package + The static_centerline_generator package Takayuki Murooka Kosuke Takeuchi Apache License 2.0 diff --git a/planning/static_centerline_optimizer/rviz/static_centerline_optimizer.rviz b/planning/static_centerline_generator/rviz/static_centerline_generator.rviz similarity index 98% rename from planning/static_centerline_optimizer/rviz/static_centerline_optimizer.rviz rename to planning/static_centerline_generator/rviz/static_centerline_generator.rviz index 1e7573d561ba1..62b4c9b75ec87 100644 --- a/planning/static_centerline_optimizer/rviz/static_centerline_optimizer.rviz +++ b/planning/static_centerline_generator/rviz/static_centerline_generator.rviz @@ -130,7 +130,7 @@ Visualization Manager: Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable - Value: /static_centerline_optimizer/input_centerline + Value: /static_centerline_generator/input_centerline Value: true View Drivable Area: Alpha: 0.9990000128746033 @@ -179,7 +179,7 @@ Visualization Manager: Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable - Value: /static_centerline_optimizer/output_centerline + Value: /static_centerline_generator/output_centerline Value: true View Footprint: Alpha: 1 @@ -222,7 +222,7 @@ Visualization Manager: Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable - Value: /static_centerline_optimizer/debug/raw_centerline + Value: /static_centerline_generator/debug/raw_centerline Value: false View Drivable Area: Alpha: 0.9990000128746033 @@ -268,7 +268,7 @@ Visualization Manager: Durability Policy: Transient Local History Policy: Keep Last Reliability Policy: Reliable - Value: /static_centerline_optimizer/debug/unsafe_footprints + Value: /static_centerline_generator/debug/unsafe_footprints Value: true Enabled: false Name: debug diff --git a/planning/static_centerline_optimizer/scripts/app.py b/planning/static_centerline_generator/scripts/app.py similarity index 92% rename from planning/static_centerline_optimizer/scripts/app.py rename to planning/static_centerline_generator/scripts/app.py index 90610755e828a..c1cb0473da040 100755 --- a/planning/static_centerline_optimizer/scripts/app.py +++ b/planning/static_centerline_generator/scripts/app.py @@ -23,12 +23,12 @@ from flask_cors import CORS import rclpy from rclpy.node import Node -from static_centerline_optimizer.srv import LoadMap -from static_centerline_optimizer.srv import PlanPath -from static_centerline_optimizer.srv import PlanRoute +from static_centerline_generator.srv import LoadMap +from static_centerline_generator.srv import PlanPath +from static_centerline_generator.srv import PlanRoute rclpy.init() -node = Node("static_centerline_optimizer_http_server") +node = Node("static_centerline_generator_http_server") app = Flask(__name__) CORS(app) @@ -51,7 +51,7 @@ def get_map(): map_id = map_uuid # create client - cli = create_client(LoadMap, "/planning/static_centerline_optimizer/load_map") + cli = create_client(LoadMap, "/planning/static_centerline_generator/load_map") # request map loading req = LoadMap.Request(map=data["map"]) @@ -85,7 +85,7 @@ def post_planned_route(): print("map_id is not correct.") # create client - cli = create_client(PlanRoute, "/planning/static_centerline_optimizer/plan_route") + cli = create_client(PlanRoute, "/planning/static_centerline_generator/plan_route") # request route planning req = PlanRoute.Request( @@ -123,7 +123,7 @@ def post_planned_path(): print("map_id is not correct.") # create client - cli = create_client(PlanPath, "/planning/static_centerline_optimizer/plan_path") + cli = create_client(PlanPath, "/planning/static_centerline_generator/plan_path") # request path planning route_lane_ids = [eval(i) for i in request.args.getlist("route[]")] diff --git a/planning/static_centerline_optimizer/scripts/centerline_updater_helper.py b/planning/static_centerline_generator/scripts/centerline_updater_helper.py similarity index 99% rename from planning/static_centerline_optimizer/scripts/centerline_updater_helper.py rename to planning/static_centerline_generator/scripts/centerline_updater_helper.py index 00a646406f14f..fec3d21d20bec 100755 --- a/planning/static_centerline_optimizer/scripts/centerline_updater_helper.py +++ b/planning/static_centerline_generator/scripts/centerline_updater_helper.py @@ -155,7 +155,7 @@ def __init__(self): transient_local_qos = QoSProfile(depth=1, durability=QoSDurabilityPolicy.TRANSIENT_LOCAL) self.sub_whole_centerline = self.create_subscription( Trajectory, - "/static_centerline_optimizer/output_whole_centerline", + "/static_centerline_generator/output_whole_centerline", self.onWholeCenterline, transient_local_qos, ) diff --git a/planning/static_centerline_generator/scripts/tmp/bag_ego_trajectory_based_centerline.sh b/planning/static_centerline_generator/scripts/tmp/bag_ego_trajectory_based_centerline.sh new file mode 100755 index 0000000000000..30ed667dd3732 --- /dev/null +++ b/planning/static_centerline_generator/scripts/tmp/bag_ego_trajectory_based_centerline.sh @@ -0,0 +1,3 @@ +#!/bin/bash + +ros2 launch static_centerline_generator static_centerline_generator.launch.xml centerline_source:="bag_ego_trajectory_base" run_background:=false lanelet2_input_file_path:="$HOME/autoware_map/sample_map/lanelet2_map.osm" bag_filename:="$(ros2 pkg prefix static_centerline_generator --share)/test/data/bag_ego_trajectory.db3" vehicle_model:=lexus diff --git a/planning/static_centerline_optimizer/scripts/tmp/optimization_trajectory_based_centerline.sh b/planning/static_centerline_generator/scripts/tmp/optimization_trajectory_based_centerline.sh similarity index 57% rename from planning/static_centerline_optimizer/scripts/tmp/optimization_trajectory_based_centerline.sh rename to planning/static_centerline_generator/scripts/tmp/optimization_trajectory_based_centerline.sh index 3967c7a4ca523..809bbb46a179e 100755 --- a/planning/static_centerline_optimizer/scripts/tmp/optimization_trajectory_based_centerline.sh +++ b/planning/static_centerline_generator/scripts/tmp/optimization_trajectory_based_centerline.sh @@ -1,3 +1,3 @@ #!/bin/bash -ros2 launch static_centerline_optimizer static_centerline_optimizer.launch.xml centerline_source:="optimization_trajectory_base" run_background:=false lanelet2_input_file_path:="$HOME/autoware_map/sample_map/lanelet2_map.osm" start_lanelet_id:=125 end_lanelet_id:=132 vehicle_model:=lexus +ros2 launch static_centerline_generator static_centerline_generator.launch.xml centerline_source:="optimization_trajectory_base" run_background:=false lanelet2_input_file_path:="$HOME/autoware_map/sample_map/lanelet2_map.osm" start_lanelet_id:=125 end_lanelet_id:=132 vehicle_model:=lexus diff --git a/planning/static_centerline_optimizer/src/centerline_source/bag_ego_trajectory_based_centerline.cpp b/planning/static_centerline_generator/src/centerline_source/bag_ego_trajectory_based_centerline.cpp similarity index 93% rename from planning/static_centerline_optimizer/src/centerline_source/bag_ego_trajectory_based_centerline.cpp rename to planning/static_centerline_generator/src/centerline_source/bag_ego_trajectory_based_centerline.cpp index 571e98cdbe1c3..4e541b1aff527 100644 --- a/planning/static_centerline_optimizer/src/centerline_source/bag_ego_trajectory_based_centerline.cpp +++ b/planning/static_centerline_generator/src/centerline_source/bag_ego_trajectory_based_centerline.cpp @@ -12,15 +12,15 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "static_centerline_optimizer/centerline_source/bag_ego_trajectory_based_centerline.hpp" +#include "static_centerline_generator/centerline_source/bag_ego_trajectory_based_centerline.hpp" #include "rclcpp/serialization.hpp" #include "rosbag2_cpp/reader.hpp" -#include "static_centerline_optimizer/static_centerline_optimizer_node.hpp" +#include "static_centerline_generator/static_centerline_generator_node.hpp" #include -namespace static_centerline_optimizer +namespace static_centerline_generator { std::vector generate_centerline_with_bag(rclcpp::Node & node) { @@ -79,4 +79,4 @@ std::vector generate_centerline_with_bag(rclcpp::Node & node) return centerline_traj_points; } -} // namespace static_centerline_optimizer +} // namespace static_centerline_generator diff --git a/planning/static_centerline_optimizer/src/centerline_source/optimization_trajectory_based_centerline.cpp b/planning/static_centerline_generator/src/centerline_source/optimization_trajectory_based_centerline.cpp similarity index 96% rename from planning/static_centerline_optimizer/src/centerline_source/optimization_trajectory_based_centerline.cpp rename to planning/static_centerline_generator/src/centerline_source/optimization_trajectory_based_centerline.cpp index 20b2027f39d54..7980ae4e8d2d7 100644 --- a/planning/static_centerline_optimizer/src/centerline_source/optimization_trajectory_based_centerline.cpp +++ b/planning/static_centerline_generator/src/centerline_source/optimization_trajectory_based_centerline.cpp @@ -12,17 +12,17 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "static_centerline_optimizer/centerline_source/optimization_trajectory_based_centerline.hpp" +#include "static_centerline_generator/centerline_source/optimization_trajectory_based_centerline.hpp" #include "motion_utils/resample/resample.hpp" #include "motion_utils/trajectory/conversion.hpp" #include "obstacle_avoidance_planner/node.hpp" #include "path_smoother/elastic_band_smoother.hpp" -#include "static_centerline_optimizer/static_centerline_optimizer_node.hpp" -#include "static_centerline_optimizer/utils.hpp" +#include "static_centerline_generator/static_centerline_generator_node.hpp" +#include "static_centerline_generator/utils.hpp" #include "tier4_autoware_utils/ros/parameter.hpp" -namespace static_centerline_optimizer +namespace static_centerline_generator { namespace { @@ -180,4 +180,4 @@ std::vector OptimizationTrajectoryBasedCenterline::optimize_tra return whole_optimized_traj_points; } -} // namespace static_centerline_optimizer +} // namespace static_centerline_generator diff --git a/planning/static_centerline_optimizer/src/main.cpp b/planning/static_centerline_generator/src/main.cpp similarity index 86% rename from planning/static_centerline_optimizer/src/main.cpp rename to planning/static_centerline_generator/src/main.cpp index 96c139fd7ff93..981cf54fc9274 100644 --- a/planning/static_centerline_optimizer/src/main.cpp +++ b/planning/static_centerline_generator/src/main.cpp @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "static_centerline_optimizer/static_centerline_optimizer_node.hpp" +#include "static_centerline_generator/static_centerline_generator_node.hpp" int main(int argc, char * argv[]) { @@ -21,7 +21,7 @@ int main(int argc, char * argv[]) // initialize node rclcpp::NodeOptions node_options; auto node = - std::make_shared(node_options); + std::make_shared(node_options); // get ros parameter const bool run_background = node->declare_parameter("run_background"); diff --git a/planning/static_centerline_optimizer/src/static_centerline_optimizer_node.cpp b/planning/static_centerline_generator/src/static_centerline_generator_node.cpp similarity index 93% rename from planning/static_centerline_optimizer/src/static_centerline_optimizer_node.cpp rename to planning/static_centerline_generator/src/static_centerline_generator_node.cpp index 073d30f5b5a39..ec7d6278e346d 100644 --- a/planning/static_centerline_optimizer/src/static_centerline_optimizer_node.cpp +++ b/planning/static_centerline_generator/src/static_centerline_generator_node.cpp @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "static_centerline_optimizer/static_centerline_optimizer_node.hpp" +#include "static_centerline_generator/static_centerline_generator_node.hpp" #include "lanelet2_extension/utility/message_conversion.hpp" #include "lanelet2_extension/utility/query.hpp" @@ -21,10 +21,10 @@ #include "map_projection_loader/load_info_from_lanelet2_map.hpp" #include "motion_utils/resample/resample.hpp" #include "motion_utils/trajectory/conversion.hpp" -#include "static_centerline_optimizer/centerline_source/bag_ego_trajectory_based_centerline.hpp" -#include "static_centerline_optimizer/msg/points_with_lane_id.hpp" -#include "static_centerline_optimizer/type_alias.hpp" -#include "static_centerline_optimizer/utils.hpp" +#include "static_centerline_generator/centerline_source/bag_ego_trajectory_based_centerline.hpp" +#include "static_centerline_generator/msg/points_with_lane_id.hpp" +#include "static_centerline_generator/type_alias.hpp" +#include "static_centerline_generator/utils.hpp" #include "tier4_autoware_utils/geometry/geometry.hpp" #include "tier4_autoware_utils/ros/parameter.hpp" @@ -53,7 +53,7 @@ #include #include -namespace static_centerline_optimizer +namespace static_centerline_generator { namespace { @@ -165,9 +165,9 @@ std::vector resample_trajectory_points( } } // namespace -StaticCenterlineOptimizerNode::StaticCenterlineOptimizerNode( +StaticCenterlineGeneratorNode::StaticCenterlineGeneratorNode( const rclcpp::NodeOptions & node_options) -: Node("static_centerline_optimizer", node_options) +: Node("static_centerline_generator", node_options) { // publishers pub_map_bin_ = @@ -215,21 +215,21 @@ StaticCenterlineOptimizerNode::StaticCenterlineOptimizerNode( // services callback_group_ = create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive); srv_load_map_ = create_service( - "/planning/static_centerline_optimizer/load_map", + "/planning/static_centerline_generator/load_map", std::bind( - &StaticCenterlineOptimizerNode::on_load_map, this, std::placeholders::_1, + &StaticCenterlineGeneratorNode::on_load_map, this, std::placeholders::_1, std::placeholders::_2), rmw_qos_profile_services_default, callback_group_); srv_plan_route_ = create_service( - "/planning/static_centerline_optimizer/plan_route", + "/planning/static_centerline_generator/plan_route", std::bind( - &StaticCenterlineOptimizerNode::on_plan_route, this, std::placeholders::_1, + &StaticCenterlineGeneratorNode::on_plan_route, this, std::placeholders::_1, std::placeholders::_2), rmw_qos_profile_services_default, callback_group_); srv_plan_path_ = create_service( - "/planning/static_centerline_optimizer/plan_path", + "/planning/static_centerline_generator/plan_path", std::bind( - &StaticCenterlineOptimizerNode::on_plan_path, this, std::placeholders::_1, + &StaticCenterlineGeneratorNode::on_plan_path, this, std::placeholders::_1, std::placeholders::_2), rmw_qos_profile_services_default, callback_group_); @@ -245,11 +245,11 @@ StaticCenterlineOptimizerNode::StaticCenterlineOptimizerNode( return CenterlineSource::BagEgoTrajectoryBase; } throw std::logic_error( - "The centerline source is not supported in static_centerline_optimizer."); + "The centerline source is not supported in static_centerline_generator."); }(); } -void StaticCenterlineOptimizerNode::update_centerline_range( +void StaticCenterlineGeneratorNode::update_centerline_range( const int traj_start_index, const int traj_end_index) { if (!centerline_with_route_ || traj_range_indices_.second + 1 < traj_start_index) { @@ -267,7 +267,7 @@ void StaticCenterlineOptimizerNode::update_centerline_range( motion_utils::convertToTrajectory(selected_centerline, create_header(this->now()))); } -void StaticCenterlineOptimizerNode::run() +void StaticCenterlineGeneratorNode::run() { // declare planning setting parameters const auto lanelet2_input_file_path = declare_parameter("lanelet2_input_file_path"); @@ -283,7 +283,7 @@ void StaticCenterlineOptimizerNode::run() centerline_with_route_ = centerline_with_route; } -CenterlineWithRoute StaticCenterlineOptimizerNode::generate_centerline_with_route() +CenterlineWithRoute StaticCenterlineGeneratorNode::generate_centerline_with_route() { if (!route_handler_ptr_) { RCLCPP_ERROR(get_logger(), "Route handler is not ready. Return empty trajectory."); @@ -317,7 +317,7 @@ CenterlineWithRoute StaticCenterlineOptimizerNode::generate_centerline_with_rout return CenterlineWithRoute{bag_centerline, route_lane_ids}; } throw std::logic_error( - "The centerline source is not supported in static_centerline_optimizer."); + "The centerline source is not supported in static_centerline_generator."); }(); // resample @@ -334,7 +334,7 @@ CenterlineWithRoute StaticCenterlineOptimizerNode::generate_centerline_with_rout return centerline_with_route; } -void StaticCenterlineOptimizerNode::load_map(const std::string & lanelet2_input_file_path) +void StaticCenterlineGeneratorNode::load_map(const std::string & lanelet2_input_file_path) { // load map by the map_loader package map_bin_ptr_ = [&]() -> HADMapBin::ConstSharedPtr { @@ -381,7 +381,7 @@ void StaticCenterlineOptimizerNode::load_map(const std::string & lanelet2_input_ route_handler_ptr_->setMap(*map_bin_ptr_); } -void StaticCenterlineOptimizerNode::on_load_map( +void StaticCenterlineGeneratorNode::on_load_map( const LoadMap::Request::SharedPtr request, const LoadMap::Response::SharedPtr response) { const std::string tmp_lanelet2_input_file_path = "/tmp/input_lanelet2_map.osm"; @@ -402,7 +402,7 @@ void StaticCenterlineOptimizerNode::on_load_map( response->message = "InvalidMapFormat"; } -std::vector StaticCenterlineOptimizerNode::plan_route( +std::vector StaticCenterlineGeneratorNode::plan_route( const lanelet::Id start_lanelet_id, const lanelet::Id end_lanelet_id) { if (!map_bin_ptr_ || !route_handler_ptr_) { @@ -442,7 +442,7 @@ std::vector StaticCenterlineOptimizerNode::plan_route( return route_lane_ids; } -void StaticCenterlineOptimizerNode::on_plan_route( +void StaticCenterlineGeneratorNode::on_plan_route( const PlanRoute::Request::SharedPtr request, const PlanRoute::Response::SharedPtr response) { if (!map_bin_ptr_ || !route_handler_ptr_) { @@ -475,7 +475,7 @@ void StaticCenterlineOptimizerNode::on_plan_route( response->lane_ids = lane_ids; } -void StaticCenterlineOptimizerNode::on_plan_path( +void StaticCenterlineGeneratorNode::on_plan_path( const PlanPath::Request::SharedPtr request, const PlanPath::Response::SharedPtr response) { if (!route_handler_ptr_) { @@ -533,7 +533,7 @@ void StaticCenterlineOptimizerNode::on_plan_path( if (!current_lanelet_points.empty()) { // register points with lane_id - static_centerline_optimizer::msg::PointsWithLaneId points_with_lane_id; + static_centerline_generator::msg::PointsWithLaneId points_with_lane_id; points_with_lane_id.lane_id = lanelet.id(); points_with_lane_id.points = current_lanelet_points; response->points_with_lane_ids.push_back(points_with_lane_id); @@ -548,7 +548,7 @@ void StaticCenterlineOptimizerNode::on_plan_path( response->message = ""; } -void StaticCenterlineOptimizerNode::evaluate( +void StaticCenterlineGeneratorNode::evaluate( const std::vector & route_lane_ids, const std::vector & optimized_traj_points) { @@ -618,7 +618,7 @@ void StaticCenterlineOptimizerNode::evaluate( RCLCPP_INFO(get_logger(), "Minimum distance to road is %f [m]", min_dist); } -void StaticCenterlineOptimizerNode::save_map( +void StaticCenterlineGeneratorNode::save_map( const std::string & lanelet2_output_file_path, const CenterlineWithRoute & centerline_with_route) { if (!route_handler_ptr_) { @@ -636,4 +636,4 @@ void StaticCenterlineOptimizerNode::save_map( lanelet::write(lanelet2_output_file_path, *original_map_ptr_, *map_projector_); RCLCPP_INFO(get_logger(), "Saved map."); } -} // namespace static_centerline_optimizer +} // namespace static_centerline_generator diff --git a/planning/static_centerline_optimizer/src/utils.cpp b/planning/static_centerline_generator/src/utils.cpp similarity index 98% rename from planning/static_centerline_optimizer/src/utils.cpp rename to planning/static_centerline_generator/src/utils.cpp index 9448677d1bbae..ddfd3e11036ce 100644 --- a/planning/static_centerline_optimizer/src/utils.cpp +++ b/planning/static_centerline_generator/src/utils.cpp @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "static_centerline_optimizer/utils.hpp" +#include "static_centerline_generator/utils.hpp" #include "behavior_path_planner_common/data_manager.hpp" #include "behavior_path_planner_common/utils/drivable_area_expansion/static_drivable_area.hpp" @@ -21,7 +21,7 @@ #include #include -namespace static_centerline_optimizer +namespace static_centerline_generator { namespace { @@ -228,4 +228,4 @@ MarkerArray create_distance_text_marker( return marker_array; } } // namespace utils -} // namespace static_centerline_optimizer +} // namespace static_centerline_generator diff --git a/planning/static_centerline_optimizer/srv/LoadMap.srv b/planning/static_centerline_generator/srv/LoadMap.srv similarity index 100% rename from planning/static_centerline_optimizer/srv/LoadMap.srv rename to planning/static_centerline_generator/srv/LoadMap.srv diff --git a/planning/static_centerline_optimizer/srv/PlanPath.srv b/planning/static_centerline_generator/srv/PlanPath.srv similarity index 55% rename from planning/static_centerline_optimizer/srv/PlanPath.srv rename to planning/static_centerline_generator/srv/PlanPath.srv index 644a4ea013557..7d823b4eccbf9 100644 --- a/planning/static_centerline_optimizer/srv/PlanPath.srv +++ b/planning/static_centerline_generator/srv/PlanPath.srv @@ -1,6 +1,6 @@ uint32 map_id int64[] route --- -static_centerline_optimizer/PointsWithLaneId[] points_with_lane_ids +static_centerline_generator/PointsWithLaneId[] points_with_lane_ids string message int64[] unconnected_lane_ids diff --git a/planning/static_centerline_optimizer/srv/PlanRoute.srv b/planning/static_centerline_generator/srv/PlanRoute.srv similarity index 100% rename from planning/static_centerline_optimizer/srv/PlanRoute.srv rename to planning/static_centerline_generator/srv/PlanRoute.srv diff --git a/planning/static_centerline_optimizer/test/data/bag_ego_trajectory.db3 b/planning/static_centerline_generator/test/data/bag_ego_trajectory.db3 similarity index 100% rename from planning/static_centerline_optimizer/test/data/bag_ego_trajectory.db3 rename to planning/static_centerline_generator/test/data/bag_ego_trajectory.db3 diff --git a/planning/static_centerline_optimizer/test/data/lanelet2_map.osm b/planning/static_centerline_generator/test/data/lanelet2_map.osm similarity index 100% rename from planning/static_centerline_optimizer/test/data/lanelet2_map.osm rename to planning/static_centerline_generator/test/data/lanelet2_map.osm diff --git a/planning/static_centerline_optimizer/test/test_static_centerline_optimizer.test.py b/planning/static_centerline_generator/test/test_static_centerline_generator.test.py similarity index 84% rename from planning/static_centerline_optimizer/test/test_static_centerline_optimizer.test.py rename to planning/static_centerline_generator/test/test_static_centerline_generator.test.py index 9f0a5df7f3fcc..29ee49a11e3b3 100644 --- a/planning/static_centerline_optimizer/test/test_static_centerline_optimizer.test.py +++ b/planning/static_centerline_generator/test/test_static_centerline_generator.test.py @@ -28,11 +28,11 @@ @pytest.mark.launch_test def generate_test_description(): lanelet2_map_path = os.path.join( - get_package_share_directory("static_centerline_optimizer"), "test/data/lanelet2_map.osm" + get_package_share_directory("static_centerline_generator"), "test/data/lanelet2_map.osm" ) - static_centerline_optimizer_node = Node( - package="static_centerline_optimizer", + static_centerline_generator_node = Node( + package="static_centerline_generator", executable="main", output="screen", parameters=[ @@ -50,8 +50,8 @@ def generate_test_description(): "mission_planner.param.yaml", ), os.path.join( - get_package_share_directory("static_centerline_optimizer"), - "config/static_centerline_optimizer.param.yaml", + get_package_share_directory("static_centerline_generator"), + "config/static_centerline_generator.param.yaml", ), os.path.join( get_package_share_directory("behavior_path_planner"), @@ -74,15 +74,15 @@ def generate_test_description(): "config/lanelet2_map_loader.param.yaml", ), os.path.join( - get_package_share_directory("static_centerline_optimizer"), + get_package_share_directory("static_centerline_generator"), "config/common.param.yaml", ), os.path.join( - get_package_share_directory("static_centerline_optimizer"), + get_package_share_directory("static_centerline_generator"), "config/nearest_search.param.yaml", ), os.path.join( - get_package_share_directory("static_centerline_optimizer"), + get_package_share_directory("static_centerline_generator"), "config/vehicle_info.param.yaml", ), ], @@ -93,8 +93,8 @@ def generate_test_description(): return ( LaunchDescription( [ - static_centerline_optimizer_node, - # Start test after 1s - gives time for the static_centerline_optimizer to finish initialization + static_centerline_generator_node, + # Start test after 1s - gives time for the static_centerline_generator to finish initialization launch.actions.TimerAction( period=1.0, actions=[launch_testing.actions.ReadyToTest()] ), diff --git a/planning/static_centerline_optimizer/scripts/tmp/bag_ego_trajectory_based_centerline.sh b/planning/static_centerline_optimizer/scripts/tmp/bag_ego_trajectory_based_centerline.sh deleted file mode 100755 index 8164b521553c8..0000000000000 --- a/planning/static_centerline_optimizer/scripts/tmp/bag_ego_trajectory_based_centerline.sh +++ /dev/null @@ -1,3 +0,0 @@ -#!/bin/bash - -ros2 launch static_centerline_optimizer static_centerline_optimizer.launch.xml centerline_source:="bag_ego_trajectory_base" run_background:=false lanelet2_input_file_path:="$HOME/autoware_map/sample_map/lanelet2_map.osm" bag_filename:="$(ros2 pkg prefix static_centerline_optimizer --share)/test/data/bag_ego_trajectory.db3" vehicle_model:=lexus From 453d41c2f75091c32c21f48f497d11e2f99a48a0 Mon Sep 17 00:00:00 2001 From: badai nguyen <94814556+badai-nguyen@users.noreply.github.com> Date: Fri, 12 Apr 2024 17:26:33 +0900 Subject: [PATCH 41/54] fix(ground_segmentation launch): fix topic name conflict in additional_lidars option (#6801) fix(ground_segmentation launch): fix topic name conflict when using additional lidars Signed-off-by: badai-nguyen --- .../ground_segmentation/ground_segmentation.launch.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/launch/tier4_perception_launch/launch/obstacle_segmentation/ground_segmentation/ground_segmentation.launch.py b/launch/tier4_perception_launch/launch/obstacle_segmentation/ground_segmentation/ground_segmentation.launch.py index f502aef017979..a307b192d7caa 100644 --- a/launch/tier4_perception_launch/launch/obstacle_segmentation/ground_segmentation/ground_segmentation.launch.py +++ b/launch/tier4_perception_launch/launch/obstacle_segmentation/ground_segmentation/ground_segmentation.launch.py @@ -281,7 +281,7 @@ def create_single_frame_obstacle_segmentation_components(self, input_topic, outp use_additional = bool(additional_lidars) relay_topic = "all_lidars/pointcloud" common_pipeline_output = ( - "single_frame/pointcloud" if use_additional or use_ransac else output_topic + "common/pointcloud" if use_additional or use_ransac else output_topic ) components = self.create_common_pipeline( From 9f3633d3c15f6e32d5d3bafbfef31ff7109f5d2c Mon Sep 17 00:00:00 2001 From: Dmitrii Koldaev <39071246+dkoldaev@users.noreply.github.com> Date: Fri, 12 Apr 2024 17:33:12 +0900 Subject: [PATCH 42/54] fix(map_based_prediction): use object_buffer_time_length_ (#6772) fix: use object_buffer_time_length_ Signed-off-by: Dmitrii Koldaev Co-authored-by: Dmitrii Koldaev --- .../map_based_prediction/src/map_based_prediction_node.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/perception/map_based_prediction/src/map_based_prediction_node.cpp b/perception/map_based_prediction/src/map_based_prediction_node.cpp index e12b7c54c3a9f..56dc1c2293583 100644 --- a/perception/map_based_prediction/src/map_based_prediction_node.cpp +++ b/perception/map_based_prediction/src/map_based_prediction_node.cpp @@ -1360,7 +1360,7 @@ void MapBasedPredictionNode::removeOldObjectsHistory( const double latest_object_time = rclcpp::Time(object_data.back().header.stamp).seconds(); // Delete Old Objects - if (current_time - latest_object_time > 2.0) { + if (current_time - latest_object_time > object_buffer_time_length_) { invalid_object_id.push_back(object_id); continue; } @@ -1368,7 +1368,7 @@ void MapBasedPredictionNode::removeOldObjectsHistory( // Delete old information while (!object_data.empty()) { const double post_object_time = rclcpp::Time(object_data.front().header.stamp).seconds(); - if (current_time - post_object_time > 2.0) { + if (current_time - post_object_time > object_buffer_time_length_) { // Delete Old Position object_data.pop_front(); } else { From fae0f78d8b48a798b13e7d2beb69e6088d2c7c75 Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Fri, 12 Apr 2024 19:20:47 +0900 Subject: [PATCH 43/54] feat(start_planner): fix non-thread-safe access (#6779) Signed-off-by: Mamoru Sobue --- .../pull_out_planner_base.hpp | 2 +- .../start_planner_module.hpp | 23 ++- .../src/start_planner_module.cpp | 162 ++++++++++++++---- 3 files changed, 148 insertions(+), 39 deletions(-) diff --git a/planning/behavior_path_start_planner_module/include/behavior_path_start_planner_module/pull_out_planner_base.hpp b/planning/behavior_path_start_planner_module/include/behavior_path_start_planner_module/pull_out_planner_base.hpp index 0126ab47d1ae6..3089134a16500 100644 --- a/planning/behavior_path_start_planner_module/include/behavior_path_start_planner_module/pull_out_planner_base.hpp +++ b/planning/behavior_path_start_planner_module/include/behavior_path_start_planner_module/pull_out_planner_base.hpp @@ -51,7 +51,7 @@ class PullOutPlannerBase } virtual ~PullOutPlannerBase() = default; - void setPlannerData(std::shared_ptr & planner_data) + void setPlannerData(const std::shared_ptr & planner_data) { planner_data_ = planner_data; } diff --git a/planning/behavior_path_start_planner_module/include/behavior_path_start_planner_module/start_planner_module.hpp b/planning/behavior_path_start_planner_module/include/behavior_path_start_planner_module/start_planner_module.hpp index 2d661cf41855f..c05b7a8f94716 100644 --- a/planning/behavior_path_start_planner_module/include/behavior_path_start_planner_module/start_planner_module.hpp +++ b/planning/behavior_path_start_planner_module/include/behavior_path_start_planner_module/start_planner_module.hpp @@ -155,6 +155,24 @@ class StartPlannerModule : public SceneModuleInterface bool isFreespacePlanning() const { return status_.planner_type == PlannerType::FREESPACE; } private: + struct StartPlannerData + { + StartPlannerParameters parameters; + PlannerData planner_data; + ModuleStatus current_status; + PullOutStatus main_thread_pull_out_status; + bool is_stopped; + + StartPlannerData clone() const; + void update( + const StartPlannerParameters & parameters, const PlannerData & planner_data, + const ModuleStatus & current_status, const PullOutStatus & pull_out_status, + const bool is_stopped); + }; + std::optional freespace_thread_status_{std::nullopt}; + std::optional start_planner_data_{std::nullopt}; + std::mutex start_planner_data_mutex_; + // Flag class for managing whether a certain callback is running in multi-threading class ScopedFlag { @@ -290,7 +308,6 @@ class StartPlannerModule : public SceneModuleInterface bool hasFinishedBackwardDriving() const; bool hasCollisionWithDynamicObjects() const; bool isStopped(); - bool isStuck(); bool hasFinishedCurrentPath(); void updateSafetyCheckTargetObjectsData( const PredictedObjects & filtered_objects, const TargetObjectsOnLane & target_objects_on_lane, @@ -307,7 +324,9 @@ class StartPlannerModule : public SceneModuleInterface SafetyCheckParams createSafetyCheckParams() const; // freespace planner void onFreespacePlannerTimer(); - bool planFreespacePath(); + std::optional planFreespacePath( + const StartPlannerParameters & parameters, + const std::shared_ptr & planner_data, const PullOutStatus & pull_out_status); void setDebugData(); void logPullOutStatus(rclcpp::Logger::Level log_level = rclcpp::Logger::Level::Info) const; diff --git a/planning/behavior_path_start_planner_module/src/start_planner_module.cpp b/planning/behavior_path_start_planner_module/src/start_planner_module.cpp index 0e6e5fae84fb8..4433020605056 100644 --- a/planning/behavior_path_start_planner_module/src/start_planner_module.cpp +++ b/planning/behavior_path_start_planner_module/src/start_planner_module.cpp @@ -93,26 +93,56 @@ void StartPlannerModule::onFreespacePlannerTimer() { const ScopedFlag flag(is_freespace_planner_cb_running_); - if (getCurrentStatus() == ModuleStatus::IDLE) { + std::shared_ptr local_planner_data{nullptr}; + std::optional current_status_opt{std::nullopt}; + std::optional parameters_opt{std::nullopt}; + std::optional pull_out_status_opt{std::nullopt}; + bool is_stopped; + + // making a local copy of thread sensitive data + { + std::lock_guard guard(start_planner_data_mutex_); + if (start_planner_data_) { + const auto & start_planner_data = start_planner_data_.value(); + local_planner_data = std::make_shared(start_planner_data.planner_data); + current_status_opt = start_planner_data.current_status; + parameters_opt = start_planner_data.parameters; + pull_out_status_opt = start_planner_data.main_thread_pull_out_status; + is_stopped = start_planner_data.is_stopped; + } + } + // finish copying thread sensitive data + if (!local_planner_data || !current_status_opt || !parameters_opt || !pull_out_status_opt) { return; } - if (!planner_data_) { + const auto & current_status = current_status_opt.value(); + const auto & parameters = parameters_opt.value(); + const auto & pull_out_status = pull_out_status_opt.value(); + + if (current_status == ModuleStatus::IDLE) { return; } - if (!planner_data_->costmap) { + if (!local_planner_data->costmap) { return; } const bool is_new_costmap = - (clock_->now() - planner_data_->costmap->header.stamp).seconds() < 1.0; + (clock_->now() - local_planner_data->costmap->header.stamp).seconds() < 1.0; if (!is_new_costmap) { return; } - if (isStuck()) { - planFreespacePath(); + const bool is_stuck = is_stopped && pull_out_status.planner_type == PlannerType::STOP && + !pull_out_status.found_pull_out_path; + if (is_stuck) { + const auto free_space_status = + planFreespacePath(parameters, local_planner_data, pull_out_status); + if (free_space_status) { + std::lock_guard guard(start_planner_data_mutex_); + freespace_thread_status_ = free_space_status; + } } } @@ -172,6 +202,38 @@ void StartPlannerModule::updateObjectsFilteringParams( void StartPlannerModule::updateData() { + // The method PlannerManager::run() calls SceneModuleInterface::setData and + // SceneModuleInterface::setPreviousModuleOutput() before this module's run() method is called + // with module_ptr->run(). Then module_ptr->run() invokes StartPlannerModule::updateData and, + // finally, the planWaitingApproval()/plan() methods are called by run(). So we can copy the + // latest current_status to start_planner_data_ here for later usage. + + // NOTE: onFreespacePlannerTimer copies start_planner_data to its thread local variable, so we + // need to lock start_planner_data_ here to avoid data race. But the following clone process is + // lightweight because most of the member variables of PlannerData/RouteHandler is + // shared_ptrs/bool + // making a local copy of thread sensitive data + { + std::lock_guard guard(start_planner_data_mutex_); + if (!start_planner_data_) { + start_planner_data_ = StartPlannerData(); + } + start_planner_data_.value().update( + *parameters_, *planner_data_, getCurrentStatus(), status_, isStopped()); + if (freespace_thread_status_) { + // if freespace solution is available, copy it to status_ on main thread + const auto & freespace_status = freespace_thread_status_.value(); + status_.pull_out_path = freespace_status.pull_out_path; + status_.pull_out_start_pose = freespace_status.pull_out_start_pose; + status_.planner_type = freespace_status.planner_type; + status_.found_pull_out_path = freespace_status.found_pull_out_path; + status_.driving_forward = freespace_status.driving_forward; + // and then reset it + freespace_thread_status_ = std::nullopt; + } + } + // finish copying thread sensitive data + if (receivedNewRoute()) { resetStatus(); DEBUG_PRINT("StartPlannerModule::updateData() received new route, reset status"); @@ -1128,19 +1190,6 @@ bool StartPlannerModule::needToPrepareBlinkerBeforeStartDrivingForward() const return elapsed < parameters_->prepare_time_before_start; } -bool StartPlannerModule::isStuck() -{ - if (!isStopped()) { - return false; - } - - if (status_.planner_type == PlannerType::STOP || !status_.found_pull_out_path) { - return true; - } - - return false; -} - bool StartPlannerModule::hasFinishedCurrentPath() { const auto current_path = getCurrentPath(); @@ -1336,19 +1385,21 @@ BehaviorModuleOutput StartPlannerModule::generateStopOutput() return output; } -bool StartPlannerModule::planFreespacePath() +std::optional StartPlannerModule::planFreespacePath( + const StartPlannerParameters & parameters, + const std::shared_ptr & planner_data, const PullOutStatus & pull_out_status) { - const Pose & current_pose = planner_data_->self_odometry->pose.pose; - const auto & route_handler = planner_data_->route_handler; + const Pose & current_pose = planner_data->self_odometry->pose.pose; + const auto & route_handler = planner_data->route_handler; - const double end_pose_search_start_distance = parameters_->end_pose_search_start_distance; - const double end_pose_search_end_distance = parameters_->end_pose_search_end_distance; - const double end_pose_search_interval = parameters_->end_pose_search_interval; + const double end_pose_search_start_distance = parameters.end_pose_search_start_distance; + const double end_pose_search_end_distance = parameters.end_pose_search_end_distance; + const double end_pose_search_interval = parameters.end_pose_search_interval; const double backward_path_length = - planner_data_->parameters.backward_path_length + parameters_->max_back_distance; + planner_data->parameters.backward_path_length + parameters.max_back_distance; const auto current_lanes = utils::getExtendedCurrentLanes( - planner_data_, backward_path_length, std::numeric_limits::max(), + planner_data, backward_path_length, std::numeric_limits::max(), /*forward_only_in_route*/ true); const auto current_arc_coords = lanelet::utils::getArcCoordinates(current_lanes, current_pose); @@ -1361,23 +1412,23 @@ bool StartPlannerModule::planFreespacePath() for (const auto & p : center_line_path.points) { const Pose end_pose = p.point.pose; - freespace_planner_->setPlannerData(planner_data_); + freespace_planner_->setPlannerData(planner_data); auto freespace_path = freespace_planner_->plan(current_pose, end_pose); if (!freespace_path) { continue; } - const std::lock_guard lock(mutex_); - status_.pull_out_path = *freespace_path; - status_.pull_out_start_pose = current_pose; - status_.planner_type = freespace_planner_->getPlannerType(); - status_.found_pull_out_path = true; - status_.driving_forward = true; - return true; + auto status = pull_out_status; + status.pull_out_path = *freespace_path; + status.pull_out_start_pose = current_pose; + status.planner_type = freespace_planner_->getPlannerType(); + status.found_pull_out_path = true; + status.driving_forward = true; + return std::make_optional(status); } - return false; + return std::nullopt; } void StartPlannerModule::setDrivableAreaInfo(BehaviorModuleOutput & output) const @@ -1665,4 +1716,43 @@ void StartPlannerModule::logPullOutStatus(rclcpp::Logger::Level log_level) const logFunc("======================================="); } + +StartPlannerModule::StartPlannerData StartPlannerModule::StartPlannerData::clone() const +{ + StartPlannerData start_planner_data; + start_planner_data.update( + parameters, planner_data, current_status, main_thread_pull_out_status, is_stopped); + return start_planner_data; +} + +void StartPlannerModule::StartPlannerData::update( + const StartPlannerParameters & parameters_, const PlannerData & planner_data_, + const ModuleStatus & current_status_, const PullOutStatus & pull_out_status_, + const bool is_stopped_) +{ + parameters = parameters_; + planner_data = planner_data_; + // TODO(Mamoru Sobue): in the future we will add planner_data->is_route_handler_updated flag to + // avoid the copy overhead of lanelet objects inside the RouteHandler. behavior_path_planner can + // tell us the flag if map/route changed, so we can skip route_handler update if it + // is false in the following way + /* + auto route_handler_self = planner_data.route_handler; + planner_data = planner_data_; // sync planer_data to planner_data_, planner_data.route_handler + is once re-pointed + + if (!planner_data_->is_route_handler_updated && route_handler_self != nullptr) { + // we do not need to sync planner_data.route_handler with that of planner_data_ + // re-point to the original again + planner_data.route_handler = route_handler_self; + } else { + // this is actually heavy if the lanelet_map is HUGE + planner_data.route_handler = std::make_shared(*(planner_data_.route_handler)); + } + */ + planner_data.route_handler = std::make_shared(*(planner_data_.route_handler)); + current_status = current_status_; + main_thread_pull_out_status = pull_out_status_; + is_stopped = is_stopped_; +} } // namespace behavior_path_planner From 4ff93b2ff57e4ff59486a2412ebdf40d5501cc0c Mon Sep 17 00:00:00 2001 From: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> Date: Mon, 15 Apr 2024 09:26:01 +0900 Subject: [PATCH 44/54] revert(lane_change): disable terminal path (#6800) Signed-off-by: Zulfaqar Azmi --- planning/behavior_path_lane_change_module/src/interface.cpp | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/planning/behavior_path_lane_change_module/src/interface.cpp b/planning/behavior_path_lane_change_module/src/interface.cpp index 523a5349aaef6..af2ccb807d989 100644 --- a/planning/behavior_path_lane_change_module/src/interface.cpp +++ b/planning/behavior_path_lane_change_module/src/interface.cpp @@ -136,8 +136,7 @@ BehaviorModuleOutput LaneChangeInterface::planWaitingApproval() { *prev_approved_path_ = getPreviousModuleOutput().path; - BehaviorModuleOutput out; - out = module_type_->getTerminalLaneChangePath(); + BehaviorModuleOutput out = getPreviousModuleOutput(); module_type_->insertStopPoint(module_type_->getLaneChangeStatus().current_lanes, out.path); out.turn_signal_info = getCurrentTurnSignalInfo(out.path, getPreviousModuleOutput().turn_signal_info); From 165e79d9e98c1b989d7eac76c895a0a2556adc43 Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Mon, 15 Apr 2024 11:57:22 +0900 Subject: [PATCH 45/54] feat(goal_planner): fix non-thread-safe access in goal_planner (#6740) Signed-off-by: Mamoru Sobue --- .../geometric_pull_over.hpp | 6 +- .../goal_planner_module.hpp | 190 +++-- .../goal_searcher.hpp | 36 +- .../goal_searcher_base.hpp | 25 +- .../shift_pull_over.hpp | 6 +- .../src/geometric_pull_over.cpp | 5 +- .../src/goal_planner_module.cpp | 698 ++++++++++++------ .../src/goal_searcher.cpp | 108 +-- .../src/shift_pull_over.cpp | 4 +- 9 files changed, 714 insertions(+), 364 deletions(-) diff --git a/planning/behavior_path_goal_planner_module/include/behavior_path_goal_planner_module/geometric_pull_over.hpp b/planning/behavior_path_goal_planner_module/include/behavior_path_goal_planner_module/geometric_pull_over.hpp index 6de1a726d4d4e..e67d458874d17 100644 --- a/planning/behavior_path_goal_planner_module/include/behavior_path_goal_planner_module/geometric_pull_over.hpp +++ b/planning/behavior_path_goal_planner_module/include/behavior_path_goal_planner_module/geometric_pull_over.hpp @@ -16,7 +16,6 @@ #define BEHAVIOR_PATH_GOAL_PLANNER_MODULE__GEOMETRIC_PULL_OVER_HPP_ #include "behavior_path_goal_planner_module/pull_over_planner_base.hpp" -#include "behavior_path_planner_common/utils/occupancy_grid_based_collision_detector/occupancy_grid_based_collision_detector.hpp" #include "behavior_path_planner_common/utils/parking_departure/geometric_parallel_parking.hpp" #include @@ -34,9 +33,7 @@ class GeometricPullOver : public PullOverPlannerBase public: GeometricPullOver( rclcpp::Node & node, const GoalPlannerParameters & parameters, - const LaneDepartureChecker & lane_departure_checker, - const std::shared_ptr occupancy_grid_map, - const bool is_forward); + const LaneDepartureChecker & lane_departure_checker, const bool is_forward); PullOverPlannerType getPlannerType() const override { @@ -61,7 +58,6 @@ class GeometricPullOver : public PullOverPlannerBase protected: ParallelParkingParameters parallel_parking_parameters_; LaneDepartureChecker lane_departure_checker_{}; - std::shared_ptr occupancy_grid_map_; bool is_forward_{true}; bool left_side_parking_{true}; diff --git a/planning/behavior_path_goal_planner_module/include/behavior_path_goal_planner_module/goal_planner_module.hpp b/planning/behavior_path_goal_planner_module/include/behavior_path_goal_planner_module/goal_planner_module.hpp index 21ea06531c2f4..818aa7ff79edb 100644 --- a/planning/behavior_path_goal_planner_module/include/behavior_path_goal_planner_module/goal_planner_module.hpp +++ b/planning/behavior_path_goal_planner_module/include/behavior_path_goal_planner_module/goal_planner_module.hpp @@ -91,6 +91,33 @@ public: \ DEFINE_SETTER_WITH_MUTEX(TYPE, NAME) \ DEFINE_GETTER_WITH_MUTEX(TYPE, NAME) +enum class DecidingPathStatus { + NOT_DECIDED, + DECIDING, + DECIDED, +}; +using DecidingPathStatusWithStamp = std::pair; + +struct PreviousPullOverData +{ + struct SafetyStatus + { + std::optional safe_start_time{}; + bool is_safe{false}; + }; + + void reset() + { + found_path = false; + safety_status = SafetyStatus{}; + deciding_path_status = DecidingPathStatusWithStamp{}; + } + + bool found_path{false}; + SafetyStatus safety_status{}; + DecidingPathStatusWithStamp deciding_path_status{}; +}; + class ThreadSafeData { public: @@ -145,6 +172,9 @@ class ThreadSafeData void set(const std::shared_ptr & arg) { set_pull_over_path(arg); } void set(const PullOverPath & arg) { set_pull_over_path(arg); } void set(const GoalCandidate & arg) { set_modified_goal_pose(arg); } + void set(const BehaviorModuleOutput & arg) { set_last_previous_module_output(arg); } + void set(const PreviousPullOverData & arg) { set_prev_data(arg); } + void set(const CollisionCheckDebugMap & arg) { set_collision_check(arg); } void clearPullOverPath() { @@ -182,6 +212,8 @@ class ThreadSafeData last_path_update_time_ = std::nullopt; last_path_idx_increment_time_ = std::nullopt; closest_start_pose_ = std::nullopt; + last_previous_module_output_ = std::nullopt; + prev_data_.reset(); } DEFINE_GETTER_WITH_MUTEX(std::shared_ptr, pull_over_path) @@ -193,6 +225,9 @@ class ThreadSafeData DEFINE_SETTER_GETTER_WITH_MUTEX(GoalCandidates, goal_candidates) DEFINE_SETTER_GETTER_WITH_MUTEX(std::optional, modified_goal_pose) DEFINE_SETTER_GETTER_WITH_MUTEX(std::optional, closest_start_pose) + DEFINE_SETTER_GETTER_WITH_MUTEX(std::optional, last_previous_module_output) + DEFINE_SETTER_GETTER_WITH_MUTEX(PreviousPullOverData, prev_data) + DEFINE_SETTER_GETTER_WITH_MUTEX(CollisionCheckDebugMap, collision_check) private: std::shared_ptr pull_over_path_{nullptr}; @@ -203,6 +238,9 @@ class ThreadSafeData std::optional last_path_update_time_; std::optional last_path_idx_increment_time_; std::optional closest_start_pose_{}; + std::optional last_previous_module_output_{}; + PreviousPullOverData prev_data_{}; + CollisionCheckDebugMap collision_check_{}; std::recursive_mutex & mutex_; rclcpp::Clock::SharedPtr clock_; @@ -234,33 +272,6 @@ struct LastApprovalData Pose pose{}; }; -enum class DecidingPathStatus { - NOT_DECIDED, - DECIDING, - DECIDED, -}; -using DecidingPathStatusWithStamp = std::pair; - -struct PreviousPullOverData -{ - struct SafetyStatus - { - std::optional safe_start_time{}; - bool is_safe{false}; - }; - - void reset() - { - found_path = false; - safety_status = SafetyStatus{}; - deciding_path_status = DecidingPathStatusWithStamp{}; - } - - bool found_path{false}; - SafetyStatus safety_status{}; - DecidingPathStatusWithStamp deciding_path_status{}; -}; - // store stop_pose_ pointer with reason string struct PoseWithString { @@ -363,6 +374,50 @@ class GoalPlannerModule : public SceneModuleInterface CandidateOutput planCandidate() const override { return CandidateOutput{}; } private: + /** + * @brief shared data for onTimer(onTimer/onFreespaceParkingTimer just read this) + */ + struct GoalPlannerData + { + GoalPlannerData(const PlannerData & planner_data, const GoalPlannerParameters & parameters) + { + initializeOccupancyGridMap(planner_data, parameters); + }; + GoalPlannerParameters parameters; + std::shared_ptr ego_predicted_path_params; + std::shared_ptr objects_filtering_params; + std::shared_ptr safety_check_params; + tier4_autoware_utils::LinearRing2d vehicle_footprint; + + PlannerData planner_data; + ModuleStatus current_status; + BehaviorModuleOutput previous_module_output; + // collision detector + // need to be shared_ptr to be used in planner and goal searcher + std::shared_ptr occupancy_grid_map; + std::shared_ptr goal_searcher; + + const BehaviorModuleOutput & getPreviousModuleOutput() const { return previous_module_output; } + const ModuleStatus & getCurrentStatus() const { return current_status; } + void updateOccupancyGrid(); + GoalPlannerData clone() const; + void update( + const GoalPlannerParameters & parameters, + const std::shared_ptr & ego_predicted_path_params_, + const std::shared_ptr & objects_filtering_params_, + const std::shared_ptr & safety_check_params_, + const PlannerData & planner_data, const ModuleStatus & current_status, + const BehaviorModuleOutput & previous_module_output, + const std::shared_ptr goal_searcher_, + const tier4_autoware_utils::LinearRing2d & vehicle_footprint); + + private: + void initializeOccupancyGridMap( + const PlannerData & planner_data, const GoalPlannerParameters & parameters); + }; + std::optional gp_planner_data_{std::nullopt}; + std::mutex gp_planner_data_mutex_; + // Flag class for managing whether a certain callback is running in multi-threading class ScopedFlag { @@ -420,9 +475,10 @@ class GoalPlannerModule : public SceneModuleInterface // goal searcher std::shared_ptr goal_searcher_; - // collision detector - // need to be shared_ptr to be used in planner and goal searcher - std::shared_ptr occupancy_grid_map_; + // NOTE: this is latest occupancy_grid_map pointer which the local planner_data on + // onFreespaceParkingTimer thread storage may point to while calculation. + // onTimer/onFreespaceParkingTimer and their callees MUST NOT use this + std::shared_ptr occupancy_grid_map_{nullptr}; // check stopped and stuck state std::deque odometry_buffer_stopped_; @@ -431,10 +487,10 @@ class GoalPlannerModule : public SceneModuleInterface tier4_autoware_utils::LinearRing2d vehicle_footprint_; std::recursive_mutex mutex_; - ThreadSafeData thread_safe_data_; + // TODO(Mamoru Sobue): isSafePath() modifies ThreadSafeData::check_collision, avoid this mutable + mutable ThreadSafeData thread_safe_data_; std::unique_ptr last_approval_data_{nullptr}; - PreviousPullOverData prev_data_{}; // approximate distance from the start point to the end point of pull_over. // this is used as an assumed value to decelerate, etc., before generating the actual path. @@ -460,11 +516,12 @@ class GoalPlannerModule : public SceneModuleInterface mutable PoseWithString debug_stop_pose_with_info_; // collision check - void initializeOccupancyGridMap(); - void updateOccupancyGrid(); - bool checkOccupancyGridCollision(const PathWithLaneId & path) const; + bool checkOccupancyGridCollision( + const PathWithLaneId & path, + const std::shared_ptr occupancy_grid_map) const; bool checkObjectsCollision( - const PathWithLaneId & path, const double collision_check_margin, + const PathWithLaneId & path, const std::shared_ptr planner_data, + const GoalPlannerParameters & parameters, const double collision_check_margin, const bool extract_static_objects, const bool update_debug_data = false) const; // goal seach @@ -487,13 +544,39 @@ class GoalPlannerModule : public SceneModuleInterface bool isStopped( std::deque & odometry_buffer, const double time); bool hasFinishedCurrentPath(); - bool isOnModifiedGoal() const; + bool isOnModifiedGoal(const Pose & current_pose, const GoalPlannerParameters & parameters) const; double calcModuleRequestLength() const; - bool needPathUpdate(const double path_update_duration) const; - bool isStuck(); - bool hasDecidedPath() const; - bool hasNotDecidedPath() const; - DecidingPathStatusWithStamp checkDecidingPathStatus() const; + bool needPathUpdate( + const Pose & current_pose, const double path_update_duration, + const GoalPlannerParameters & parameters) const; + bool isStuck( + const std::shared_ptr planner_data, + const std::shared_ptr occupancy_grid_map, + const GoalPlannerParameters & parameters); + bool hasDecidedPath( + const std::shared_ptr planner_data, + const std::shared_ptr occupancy_grid_map, + const GoalPlannerParameters & parameters, + const std::shared_ptr & ego_predicted_path_params, + const std::shared_ptr & objects_filtering_params, + const std::shared_ptr & safety_check_params, + const std::shared_ptr goal_searcher) const; + bool hasNotDecidedPath( + const std::shared_ptr planner_data, + const std::shared_ptr occupancy_grid_map, + const GoalPlannerParameters & parameters, + const std::shared_ptr & ego_predicted_path_params, + const std::shared_ptr & objects_filtering_params, + const std::shared_ptr & safety_check_params, + const std::shared_ptr goal_searcher) const; + DecidingPathStatusWithStamp checkDecidingPathStatus( + const std::shared_ptr planner_data, + const std::shared_ptr occupancy_grid_map, + const GoalPlannerParameters & parameters, + const std::shared_ptr & ego_predicted_path_params, + const std::shared_ptr & objects_filtering_params, + const std::shared_ptr & safety_check_params, + const std::shared_ptr goal_searcher) const; void decideVelocity(); bool foundPullOverPath() const; void updateStatus(const BehaviorModuleOutput & output); @@ -508,7 +591,10 @@ class GoalPlannerModule : public SceneModuleInterface bool hasEnoughTimePassedSincePathUpdate(const double duration) const; // freespace parking - bool planFreespacePath(); + bool planFreespacePath( + std::shared_ptr planner_data, + const std::shared_ptr goal_searcher, + const std::shared_ptr occupancy_grid_map); bool canReturnToLaneParking(); // plan pull over path @@ -537,10 +623,12 @@ class GoalPlannerModule : public SceneModuleInterface TurnSignalInfo calcTurnSignalInfo(); std::optional ignore_signal_{std::nullopt}; - std::optional last_previous_module_output_{}; - bool hasPreviousModulePathShapeChanged() const; - bool hasDeviatedFromLastPreviousModulePath() const; - bool hasDeviatedFromCurrentPreviousModulePath() const; + bool hasPreviousModulePathShapeChanged(const BehaviorModuleOutput & previous_module_output) const; + bool hasDeviatedFromLastPreviousModulePath( + const std::shared_ptr planner_data) const; + bool hasDeviatedFromCurrentPreviousModulePath( + const std::shared_ptr planner_data, + const BehaviorModuleOutput & previous_module_output) const; // timer for generating pull over path candidates in a separate thread void onTimer(); @@ -556,16 +644,22 @@ class GoalPlannerModule : public SceneModuleInterface // safety check void initializeSafetyCheckParameters(); SafetyCheckParams createSafetyCheckParams() const; + /* void updateSafetyCheckTargetObjectsData( const PredictedObjects & filtered_objects, const TargetObjectsOnLane & target_objects_on_lane, const std::vector & ego_predicted_path) const; + */ /** * @brief Checks if the current path is safe. * @return std::pair * first: If the path is safe for a certain period of time, true. * second: If the path is safe in the current state, true. */ - std::pair isSafePath() const; + std::pair isSafePath( + const std::shared_ptr planner_data, const GoalPlannerParameters & parameters, + const std::shared_ptr & ego_predicted_path_params, + const std::shared_ptr & objects_filtering_params, + const std::shared_ptr & safety_check_params) const; // debug void setDebugData(); diff --git a/planning/behavior_path_goal_planner_module/include/behavior_path_goal_planner_module/goal_searcher.hpp b/planning/behavior_path_goal_planner_module/include/behavior_path_goal_planner_module/goal_searcher.hpp index f228ecc378c28..89f4086874183 100644 --- a/planning/behavior_path_goal_planner_module/include/behavior_path_goal_planner_module/goal_searcher.hpp +++ b/planning/behavior_path_goal_planner_module/include/behavior_path_goal_planner_module/goal_searcher.hpp @@ -29,33 +29,45 @@ using BasicPolygons2d = std::vector; class GoalSearcher : public GoalSearcherBase { public: - GoalSearcher( - const GoalPlannerParameters & parameters, const LinearRing2d & vehicle_footprint, - const std::shared_ptr & occupancy_grid_map); + GoalSearcher(const GoalPlannerParameters & parameters, const LinearRing2d & vehicle_footprint); - GoalCandidates search() override; - void update(GoalCandidates & goal_candidates) const override; + GoalCandidates search( + const std::shared_ptr occupancy_grid_map, + const std::shared_ptr & planner_data) override; + void update( + GoalCandidates & goal_candidates, + const std::shared_ptr occupancy_grid_map, + const std::shared_ptr & planner_data) const override; // todo(kosuke55): Functions for this specific use should not be in the interface, // so it is better to consider interface design when we implement other goal searchers. GoalCandidate getClosetGoalCandidateAlongLanes( - const GoalCandidates & goal_candidates) const override; + const GoalCandidates & goal_candidates, + const std::shared_ptr & planner_data) const override; bool isSafeGoalWithMarginScaleFactor( - const GoalCandidate & goal_candidate, const double margin_scale_factor) const override; + const GoalCandidate & goal_candidate, const double margin_scale_factor, + const std::shared_ptr occupancy_grid_map, + const std::shared_ptr & planner_data) const override; private: void countObjectsToAvoid( - GoalCandidates & goal_candidates, const PredictedObjects & objects) const; - void createAreaPolygons(std::vector original_search_poses); - bool checkCollision(const Pose & pose, const PredictedObjects & objects) const; + GoalCandidates & goal_candidates, const PredictedObjects & objects, + const std::shared_ptr & planner_data) const; + void createAreaPolygons( + std::vector original_search_poses, + const std::shared_ptr & planner_data); + bool checkCollision( + const Pose & pose, const PredictedObjects & objects, + const std::shared_ptr occupancy_grid_map) const; bool checkCollisionWithLongitudinalDistance( - const Pose & ego_pose, const PredictedObjects & objects) const; + const Pose & ego_pose, const PredictedObjects & objects, + const std::shared_ptr occupancy_grid_map, + const std::shared_ptr & planner_data) const; BasicPolygons2d getNoParkingAreaPolygons(const lanelet::ConstLanelets & lanes) const; BasicPolygons2d getNoStoppingAreaPolygons(const lanelet::ConstLanelets & lanes) const; bool isInAreas(const LinearRing2d & footprint, const BasicPolygons2d & areas) const; LinearRing2d vehicle_footprint_{}; - std::shared_ptr occupancy_grid_map_{}; bool left_side_parking_{true}; }; } // namespace behavior_path_planner diff --git a/planning/behavior_path_goal_planner_module/include/behavior_path_goal_planner_module/goal_searcher_base.hpp b/planning/behavior_path_goal_planner_module/include/behavior_path_goal_planner_module/goal_searcher_base.hpp index 2ddacc0aac46d..f5d879358cd38 100644 --- a/planning/behavior_path_goal_planner_module/include/behavior_path_goal_planner_module/goal_searcher_base.hpp +++ b/planning/behavior_path_goal_planner_module/include/behavior_path_goal_planner_module/goal_searcher_base.hpp @@ -17,6 +17,7 @@ #include "behavior_path_goal_planner_module/goal_planner_parameters.hpp" #include "behavior_path_planner_common/data_manager.hpp" +#include "behavior_path_planner_common/utils/occupancy_grid_based_collision_detector/occupancy_grid_based_collision_detector.hpp" #include @@ -49,23 +50,29 @@ class GoalSearcherBase { reference_goal_pose_ = reference_goal_pose; } + const Pose & getReferenceGoal() const { return reference_goal_pose_; } - void setPlannerData(const std::shared_ptr & planner_data) + MultiPolygon2d getAreaPolygons() const { return area_polygons_; } + virtual GoalCandidates search( + const std::shared_ptr occupancy_grid_map, + const std::shared_ptr & planner_data) = 0; + virtual void update( + [[maybe_unused]] GoalCandidates & goal_candidates, + [[maybe_unused]] const std::shared_ptr occupancy_grid_map, + [[maybe_unused]] const std::shared_ptr & planner_data) const { - planner_data_ = planner_data; + return; } - - MultiPolygon2d getAreaPolygons() { return area_polygons_; } - virtual GoalCandidates search() = 0; - virtual void update([[maybe_unused]] GoalCandidates & goal_candidates) const { return; } virtual GoalCandidate getClosetGoalCandidateAlongLanes( - const GoalCandidates & goal_candidates) const = 0; + const GoalCandidates & goal_candidates, + const std::shared_ptr & planner_data) const = 0; virtual bool isSafeGoalWithMarginScaleFactor( - const GoalCandidate & goal_candidate, const double margin_scale_factor) const = 0; + const GoalCandidate & goal_candidate, const double margin_scale_factor, + const std::shared_ptr occupancy_grid_map, + const std::shared_ptr & planner_data) const = 0; protected: GoalPlannerParameters parameters_{}; - std::shared_ptr planner_data_{nullptr}; Pose reference_goal_pose_{}; MultiPolygon2d area_polygons_{}; }; diff --git a/planning/behavior_path_goal_planner_module/include/behavior_path_goal_planner_module/shift_pull_over.hpp b/planning/behavior_path_goal_planner_module/include/behavior_path_goal_planner_module/shift_pull_over.hpp index 892ef7d5dd303..d0b0aee83e20c 100644 --- a/planning/behavior_path_goal_planner_module/include/behavior_path_goal_planner_module/shift_pull_over.hpp +++ b/planning/behavior_path_goal_planner_module/include/behavior_path_goal_planner_module/shift_pull_over.hpp @@ -16,7 +16,6 @@ #define BEHAVIOR_PATH_GOAL_PLANNER_MODULE__SHIFT_PULL_OVER_HPP_ #include "behavior_path_goal_planner_module/pull_over_planner_base.hpp" -#include "behavior_path_planner_common/utils/occupancy_grid_based_collision_detector/occupancy_grid_based_collision_detector.hpp" #include @@ -34,9 +33,7 @@ class ShiftPullOver : public PullOverPlannerBase public: ShiftPullOver( rclcpp::Node & node, const GoalPlannerParameters & parameters, - const LaneDepartureChecker & lane_departure_checker, - const std::shared_ptr & occupancy_grid_map); - + const LaneDepartureChecker & lane_departure_checker); PullOverPlannerType getPlannerType() const override { return PullOverPlannerType::SHIFT; }; std::optional plan(const Pose & goal_pose) override; @@ -57,7 +54,6 @@ class ShiftPullOver : public PullOverPlannerBase const Pose & start_pose, const Pose & end_pose, const double resample_interval); LaneDepartureChecker lane_departure_checker_{}; - std::shared_ptr occupancy_grid_map_{}; bool left_side_parking_{true}; }; diff --git a/planning/behavior_path_goal_planner_module/src/geometric_pull_over.cpp b/planning/behavior_path_goal_planner_module/src/geometric_pull_over.cpp index b7d1c240d032a..0779002690f8f 100644 --- a/planning/behavior_path_goal_planner_module/src/geometric_pull_over.cpp +++ b/planning/behavior_path_goal_planner_module/src/geometric_pull_over.cpp @@ -27,13 +27,10 @@ namespace behavior_path_planner { GeometricPullOver::GeometricPullOver( rclcpp::Node & node, const GoalPlannerParameters & parameters, - const LaneDepartureChecker & lane_departure_checker, - const std::shared_ptr occupancy_grid_map, - const bool is_forward) + const LaneDepartureChecker & lane_departure_checker, const bool is_forward) : PullOverPlannerBase{node, parameters}, parallel_parking_parameters_{parameters.parallel_parking_parameters}, lane_departure_checker_{lane_departure_checker}, - occupancy_grid_map_{occupancy_grid_map}, is_forward_{is_forward}, left_side_parking_{parameters.parking_policy == ParkingPolicy::LEFT_SIDE} { diff --git a/planning/behavior_path_goal_planner_module/src/goal_planner_module.cpp b/planning/behavior_path_goal_planner_module/src/goal_planner_module.cpp index a890cfc21ed13..14fc48b4aeba9 100644 --- a/planning/behavior_path_goal_planner_module/src/goal_planner_module.cpp +++ b/planning/behavior_path_goal_planner_module/src/goal_planner_module.cpp @@ -78,14 +78,14 @@ GoalPlannerModule::GoalPlannerModule( for (const std::string & planner_type : parameters_->efficient_path_order) { if (planner_type == "SHIFT" && parameters_->enable_shift_parking) { - pull_over_planners_.push_back(std::make_shared( - node, *parameters, lane_departure_checker, occupancy_grid_map_)); + pull_over_planners_.push_back( + std::make_shared(node, *parameters, lane_departure_checker)); } else if (planner_type == "ARC_FORWARD" && parameters_->enable_arc_forward_parking) { pull_over_planners_.push_back(std::make_shared( - node, *parameters, lane_departure_checker, occupancy_grid_map_, /*is_forward*/ true)); + node, *parameters, lane_departure_checker, /*is_forward*/ true)); } else if (planner_type == "ARC_BACKWARD" && parameters_->enable_arc_backward_parking) { pull_over_planners_.push_back(std::make_shared( - node, *parameters, lane_departure_checker, occupancy_grid_map_, /*is_forward*/ false)); + node, *parameters, lane_departure_checker, /*is_forward*/ false)); } } @@ -97,8 +97,7 @@ GoalPlannerModule::GoalPlannerModule( // currently there is only one goal_searcher_type const auto vehicle_info = vehicle_info_util::VehicleInfoUtil(node).getVehicleInfo(); vehicle_footprint_ = vehicle_info.createFootprint(); - goal_searcher_ = - std::make_shared(*parameters, vehicle_footprint_, occupancy_grid_map_); + goal_searcher_ = std::make_shared(*parameters, vehicle_footprint_); // timer callback for generating lane parking candidate paths const auto lane_parking_period_ns = rclcpp::Rate(1.0).period(); @@ -123,51 +122,44 @@ GoalPlannerModule::GoalPlannerModule( // Initialize safety checker if (parameters_->safety_check_params.enable_safety_check) { initializeSafetyCheckParameters(); - utils::parking_departure::initializeCollisionCheckDebugMap(goal_planner_data_.collision_check); } - - prev_data_.reset(); -} - -// This function is needed for waiting for planner_data_ -void GoalPlannerModule::updateOccupancyGrid() -{ - if (!planner_data_->occupancy_grid) { - RCLCPP_WARN_THROTTLE(getLogger(), *clock_, 5000, "occupancy_grid is not ready"); - return; - } - occupancy_grid_map_->setMap(*(planner_data_->occupancy_grid)); } -bool GoalPlannerModule::hasPreviousModulePathShapeChanged() const +bool GoalPlannerModule::hasPreviousModulePathShapeChanged( + const BehaviorModuleOutput & previous_module_output) const { - if (!last_previous_module_output_) { + const auto last_previous_module_output = thread_safe_data_.get_last_previous_module_output(); + if (!last_previous_module_output) { return true; } - const auto current_path = getPreviousModuleOutput().path; + const auto current_path = previous_module_output.path; // the terminal distance is far return calcDistance2d( - last_previous_module_output_->path.points.back().point, + last_previous_module_output->path.points.back().point, current_path.points.back().point) > 0.3; } -bool GoalPlannerModule::hasDeviatedFromLastPreviousModulePath() const +bool GoalPlannerModule::hasDeviatedFromLastPreviousModulePath( + const std::shared_ptr planner_data) const { - if (!last_previous_module_output_) { + const auto last_previous_module_output = thread_safe_data_.get_last_previous_module_output(); + if (!last_previous_module_output) { return true; } return std::abs(motion_utils::calcLateralOffset( - last_previous_module_output_->path.points, - planner_data_->self_odometry->pose.pose.position)) > 0.3; + last_previous_module_output->path.points, + planner_data->self_odometry->pose.pose.position)) > 0.3; } -bool GoalPlannerModule::hasDeviatedFromCurrentPreviousModulePath() const +bool GoalPlannerModule::hasDeviatedFromCurrentPreviousModulePath( + const std::shared_ptr planner_data, + const BehaviorModuleOutput & previous_module_output) const { return std::abs(motion_utils::calcLateralOffset( - getPreviousModuleOutput().path.points, - planner_data_->self_odometry->pose.pose.position)) > 0.3; + previous_module_output.path.points, planner_data->self_odometry->pose.pose.position)) > + 0.3; } // generate pull over candidate paths @@ -175,7 +167,50 @@ void GoalPlannerModule::onTimer() { const ScopedFlag flag(is_lane_parking_cb_running_); - if (getCurrentStatus() == ModuleStatus::IDLE) { + std::shared_ptr local_planner_data{nullptr}; + std::optional current_status_opt{std::nullopt}; + std::optional previous_module_output_opt{std::nullopt}; + std::shared_ptr occupancy_grid_map{nullptr}; + std::optional parameters_opt{std::nullopt}; + std::shared_ptr ego_predicted_path_params{nullptr}; + std::shared_ptr objects_filtering_params{nullptr}; + std::shared_ptr safety_check_params{nullptr}; + std::shared_ptr goal_searcher{nullptr}; + + // begin of critical section + { + std::lock_guard guard(gp_planner_data_mutex_); + if (gp_planner_data_) { + const auto & gp_planner_data = gp_planner_data_.value(); + local_planner_data = std::make_shared(gp_planner_data.planner_data); + current_status_opt = gp_planner_data.current_status; + previous_module_output_opt = gp_planner_data.previous_module_output; + occupancy_grid_map = gp_planner_data.occupancy_grid_map; + parameters_opt = gp_planner_data.parameters; + ego_predicted_path_params = gp_planner_data.ego_predicted_path_params; + objects_filtering_params = gp_planner_data.objects_filtering_params; + safety_check_params = gp_planner_data.safety_check_params; + goal_searcher = gp_planner_data.goal_searcher; + } + } + // end of critical section + if ( + !local_planner_data || !current_status_opt || !previous_module_output_opt || + !occupancy_grid_map || !parameters_opt || !ego_predicted_path_params || + !objects_filtering_params || !safety_check_params || !goal_searcher) { + RCLCPP_ERROR( + getLogger(), + "failed to get valid " + "local_planner_data/current_status/previous_module_output/occupancy_grid_map/parameters_opt/" + "ego_predicted_path_params/objects_filtering_params/safety_check_params/goal_searcher in " + "onTimer"); + return; + } + const auto & current_status = current_status_opt.value(); + const auto & previous_module_output = previous_module_output_opt.value(); + const auto & parameters = parameters_opt.value(); + + if (current_status == ModuleStatus::IDLE) { return; } @@ -184,27 +219,31 @@ void GoalPlannerModule::onTimer() return; } - if (!planner_data_ || !utils::isAllowedGoalModification(planner_data_->route_handler)) { + if (!utils::isAllowedGoalModification(local_planner_data->route_handler)) { return; } // check if new pull over path candidates are needed to be generated const bool need_update = std::invoke([&]() { - if (isOnModifiedGoal()) { + if (isOnModifiedGoal(local_planner_data->self_odometry->pose.pose, parameters)) { return false; } - if (hasDeviatedFromCurrentPreviousModulePath()) { + if (hasDeviatedFromCurrentPreviousModulePath(local_planner_data, previous_module_output)) { RCLCPP_DEBUG(getLogger(), "has deviated from current previous module path"); return false; } if (thread_safe_data_.get_pull_over_path_candidates().empty()) { return true; } - if (hasPreviousModulePathShapeChanged()) { + if (hasPreviousModulePathShapeChanged(previous_module_output)) { RCLCPP_DEBUG(getLogger(), "has previous module path shape changed"); return true; } - if (hasDeviatedFromLastPreviousModulePath() && !hasDecidedPath()) { + if ( + hasDeviatedFromLastPreviousModulePath(local_planner_data) && + !hasDecidedPath( + local_planner_data, occupancy_grid_map, parameters, ego_predicted_path_params, + objects_filtering_params, safety_check_params, goal_searcher)) { RCLCPP_DEBUG(getLogger(), "has deviated from last previous module path"); return true; } @@ -214,13 +253,12 @@ void GoalPlannerModule::onTimer() return; } - const auto previous_module_output = getPreviousModuleOutput(); const auto goal_candidates = thread_safe_data_.get_goal_candidates(); // generate valid pull over path candidates and calculate closest start pose const auto current_lanes = utils::getExtendedCurrentLanes( - planner_data_, parameters_->backward_goal_search_length, - parameters_->forward_goal_search_length, + local_planner_data, parameters.backward_goal_search_length, + parameters.forward_goal_search_length, /*forward_only_in_route*/ false); std::vector path_candidates{}; std::optional closest_start_pose{}; @@ -228,7 +266,7 @@ void GoalPlannerModule::onTimer() const auto planCandidatePaths = [&]( const std::shared_ptr & planner, const GoalCandidate & goal_candidate) { - planner->setPlannerData(planner_data_); + planner->setPlannerData(local_planner_data); planner->setPreviousModuleOutput(previous_module_output); auto pull_over_path = planner->plan(goal_candidate.goal_pose); if (pull_over_path) { @@ -254,7 +292,7 @@ void GoalPlannerModule::onTimer() is_center_line_input_path); // plan candidate paths and set them to the member variable - if (parameters_->path_priority == "efficient_path") { + if (parameters.path_priority == "efficient_path") { for (const auto & planner : pull_over_planners_) { // todo: temporary skip NON SHIFT planner when input path is not center line if (!is_center_line_input_path && planner->getPlannerType() != PullOverPlannerType::SHIFT) { @@ -264,7 +302,7 @@ void GoalPlannerModule::onTimer() planCandidatePaths(planner, goal_candidate); } } - } else if (parameters_->path_priority == "close_goal") { + } else if (parameters.path_priority == "close_goal") { for (const auto & goal_candidate : goal_candidates) { for (const auto & planner : pull_over_planners_) { // todo: temporary skip NON SHIFT planner when input path is not center line @@ -277,49 +315,76 @@ void GoalPlannerModule::onTimer() } else { RCLCPP_ERROR( getLogger(), "path_priority should be efficient_path or close_goal, but %s is given.", - parameters_->path_priority.c_str()); + parameters.path_priority.c_str()); throw std::domain_error("[pull_over] invalid path_priority"); } // set member variables - { - const std::lock_guard lock(mutex_); - thread_safe_data_.set_pull_over_path_candidates(path_candidates); - thread_safe_data_.set_closest_start_pose(closest_start_pose); - RCLCPP_INFO(getLogger(), "generated %lu pull over path candidates", path_candidates.size()); - } + thread_safe_data_.set_pull_over_path_candidates(path_candidates); + thread_safe_data_.set_closest_start_pose(closest_start_pose); + RCLCPP_INFO(getLogger(), "generated %lu pull over path candidates", path_candidates.size()); - last_previous_module_output_ = previous_module_output; + thread_safe_data_.set_last_previous_module_output(previous_module_output); } void GoalPlannerModule::onFreespaceParkingTimer() { const ScopedFlag flag(is_freespace_parking_cb_running_); - if (getCurrentStatus() == ModuleStatus::IDLE) { + std::shared_ptr local_planner_data{nullptr}; + std::optional current_status_opt{std::nullopt}; + std::shared_ptr occupancy_grid_map{nullptr}; + std::optional parameters_opt{std::nullopt}; + std::shared_ptr goal_searcher{nullptr}; + + // begin of critical section + { + std::lock_guard guard(gp_planner_data_mutex_); + if (gp_planner_data_) { + const auto & gp_planner_data = gp_planner_data_.value(); + local_planner_data = std::make_shared(gp_planner_data.planner_data); + current_status_opt = gp_planner_data.current_status; + occupancy_grid_map = gp_planner_data.occupancy_grid_map; + parameters_opt = gp_planner_data.parameters; + goal_searcher = gp_planner_data.goal_searcher; + } + } + // end of critical section + if (!local_planner_data || !current_status_opt || !parameters_opt || !goal_searcher) { + RCLCPP_ERROR( + getLogger(), + "failed to get valid planner_data/current_status/parameters/goal_searcher in " + "onFreespaceParkingTimer"); return; } - if (!planner_data_) { + const auto & current_status = current_status_opt.value(); + const auto & parameters = parameters_opt.value(); + + if (current_status == ModuleStatus::IDLE) { return; } - if (!planner_data_->costmap) { + + if (!local_planner_data->costmap) { return; } // fixed goal planner do not use freespace planner - if (!utils::isAllowedGoalModification(planner_data_->route_handler)) { + if (!utils::isAllowedGoalModification(local_planner_data->route_handler)) { return; } - if (isOnModifiedGoal()) { + if (isOnModifiedGoal(local_planner_data->self_odometry->pose.pose, parameters)) { return; } const bool is_new_costmap = - (clock_->now() - planner_data_->costmap->header.stamp).seconds() < 1.0; + (clock_->now() - local_planner_data->costmap->header.stamp).seconds() < 1.0; constexpr double path_update_duration = 1.0; - if (isStuck() && is_new_costmap && needPathUpdate(path_update_duration)) { - planFreespacePath(); + if ( + isStuck(local_planner_data, occupancy_grid_map, parameters) && is_new_costmap && + needPathUpdate( + local_planner_data->self_odometry->pose.pose, path_update_duration, parameters)) { + planFreespacePath(local_planner_data, goal_searcher, occupancy_grid_map); } } @@ -349,28 +414,64 @@ void GoalPlannerModule::updateObjectsFilteringParams( void GoalPlannerModule::updateData() { + // In PlannerManager::run(), it calls SceneModuleInterface::setData and + // SceneModuleInterface::setPreviousModuleOutput before module_ptr->run(). + // Then module_ptr->run() invokes GoalPlannerModule::updateData and then + // planWaitingApproval()/plan(), so we can copy latest current_status/previous_module_output to + // gp_planner_data_ here + + // NOTE: onTimer/onFreespaceParkingTimer copies gp_planner_data_ to their local clone, so we need + // to lock gp_planner_data_ here to avoid data race. But the following clone process is + // lightweight because most of the member variables of PlannerData/RouteHandler is + // shared_ptrs/bool + // begin of critical section + { + std::lock_guard guard(gp_planner_data_mutex_); + if (!gp_planner_data_) { + gp_planner_data_ = GoalPlannerData(*planner_data_, *parameters_); + } + auto & gp_planner_data = gp_planner_data_.value(); + // NOTE: for the above reasons, PlannerManager/behavior_path_planner_node ensure that + // planner_data_ is not nullptr, so it is OK to copy as value + // By copying PlannerData as value, the internal shared member variables are also copied + // (reference count is incremented), so `gp_planner_data_.foo` is now thread-safe from the + // **re-pointing** by `planner_data_->foo = msg` in behavior_path_planner::onCallbackFor(msg) + // and if these two coincided, only the reference count is affected + gp_planner_data.update( + *parameters_, ego_predicted_path_params_, objects_filtering_params_, safety_check_params_, + *planner_data_, getCurrentStatus(), getPreviousModuleOutput(), goal_searcher_, + vehicle_footprint_); + // NOTE: RouteHandler holds several shared pointers in it, so just copying PlannerData as + // value does not adds the reference counts of RouteHandler.lanelet_map_ptr_ and others. Since + // behavior_path_planner::run() updates + // planner_data_->route_handler->lanelet_map_ptr_/routing_graph_ptr_ especially, we also have + // to copy route_handler as value to use lanelet_map_ptr_/routing_graph_ptr_ thread-safely in + // onTimer/onFreespaceParkingTimer + // TODO(Mamoru Sobue): If the copy of RouteHandler.road_lanelets/shoulder_lanelets is not + // lightweight, we should update gp_planner_data_.route_handler only when + // `planner_data_.is_route_handler_updated` variable is set true by behavior_path_planner + // (although this flag is not implemented yet). In that case, gp_planner_data members except + // for route_handler should be copied from planner_data_ + + // GoalPlannerModule::occupancy_grid_map_ and gp_planner_data.occupancy_grid_map share the + // ownership, and gp_planner_data.occupancy_grid_map maybe also shared by the local + // planner_data on onFreespaceParkingTimer thread local memory space. So following operation + // is thread-safe because gp_planner_data.occupancy_grid_map is only re-pointed here and its + // prior resource is still owned by the onFreespaceParkingTimer thread locally. + occupancy_grid_map_ = gp_planner_data.occupancy_grid_map; + } + // end of critical section + if (getCurrentStatus() == ModuleStatus::IDLE && !isExecutionRequested()) { return; } - // Initialize Occupancy Grid Map - // This operation requires waiting for `planner_data_`, hence it is executed here instead of in - // the constructor. Ideally, this operation should only need to be performed once. - if ( - parameters_->use_occupancy_grid_for_goal_search || - parameters_->use_occupancy_grid_for_path_collision_check) { - initializeOccupancyGridMap(); - } - resetPathCandidate(); resetPathReference(); path_reference_ = std::make_shared(getPreviousModuleOutput().reference_path); - updateOccupancyGrid(); - // update goal searcher and generate goal candidates if (thread_safe_data_.get_goal_candidates().empty()) { - goal_searcher_->setPlannerData(planner_data_); goal_searcher_->setReferenceGoal( calcRefinedGoal(planner_data_->route_handler->getOriginalGoalPose())); thread_safe_data_.set_goal_candidates(generateGoalCandidates()); @@ -391,21 +492,6 @@ void GoalPlannerModule::updateData() } } -void GoalPlannerModule::initializeOccupancyGridMap() -{ - OccupancyGridMapParam occupancy_grid_map_param{}; - const double margin = parameters_->occupancy_grid_collision_check_margin; - occupancy_grid_map_param.vehicle_shape.length = - planner_data_->parameters.vehicle_length + 2 * margin; - occupancy_grid_map_param.vehicle_shape.width = - planner_data_->parameters.vehicle_width + 2 * margin; - occupancy_grid_map_param.vehicle_shape.base2back = - planner_data_->parameters.base_link2rear + margin; - occupancy_grid_map_param.theta_size = parameters_->theta_size; - occupancy_grid_map_param.obstacle_threshold = parameters_->obstacle_threshold; - occupancy_grid_map_->setParam(occupancy_grid_map_param); -} - void GoalPlannerModule::initializeSafetyCheckParameters() { updateEgoPredictedPathParams(ego_predicted_path_params_, parameters_); @@ -418,7 +504,7 @@ void GoalPlannerModule::processOnExit() resetPathCandidate(); resetPathReference(); debug_marker_.markers.clear(); - prev_data_.reset(); + thread_safe_data_.reset(); last_approval_data_.reset(); } @@ -501,7 +587,10 @@ bool GoalPlannerModule::isExecutionRequested() const bool GoalPlannerModule::isExecutionReady() const { if (parameters_->safety_check_params.enable_safety_check && isWaitingApproval()) { - if (!isSafePath().first) { + if (!isSafePath( + planner_data_, *parameters_, ego_predicted_path_params_, objects_filtering_params_, + safety_check_params_) + .first) { RCLCPP_ERROR_THROTTLE(getLogger(), *clock_, 5000, "Path is not safe against dynamic objects"); return false; } @@ -584,18 +673,17 @@ Pose GoalPlannerModule::calcRefinedGoal(const Pose & goal_pose) const return refined_goal_pose; } -bool GoalPlannerModule::planFreespacePath() +bool GoalPlannerModule::planFreespacePath( + std::shared_ptr planner_data, + const std::shared_ptr goal_searcher, + const std::shared_ptr occupancy_grid_map) { GoalCandidates goal_candidates{}; - { - const std::lock_guard lock(mutex_); - goal_searcher_->setPlannerData(planner_data_); - goal_candidates = thread_safe_data_.get_goal_candidates(); - goal_searcher_->update(goal_candidates); - thread_safe_data_.set_goal_candidates(goal_candidates); - debug_data_.freespace_planner.num_goal_candidates = goal_candidates.size(); - debug_data_.freespace_planner.is_planning = true; - } + goal_candidates = thread_safe_data_.get_goal_candidates(); + goal_searcher->update(goal_candidates, occupancy_grid_map, planner_data); + thread_safe_data_.set_goal_candidates(goal_candidates); + debug_data_.freespace_planner.num_goal_candidates = goal_candidates.size(); + debug_data_.freespace_planner.is_planning = true; for (size_t i = 0; i < goal_candidates.size(); i++) { const auto goal_candidate = goal_candidates.at(i); @@ -607,7 +695,7 @@ bool GoalPlannerModule::planFreespacePath() if (!goal_candidate.is_safe) { continue; } - freespace_planner_->setPlannerData(planner_data_); + freespace_planner_->setPlannerData(planner_data); auto freespace_path = freespace_planner_->plan(goal_candidate.goal_pose); freespace_path->goal_id = goal_candidate.id; if (!freespace_path) { @@ -645,13 +733,15 @@ bool GoalPlannerModule::canReturnToLaneParking() if ( parameters_->use_object_recognition && checkObjectsCollision( - path, parameters_->object_recognition_collision_check_hard_margins.back(), + path, planner_data_, *parameters_, + parameters_->object_recognition_collision_check_hard_margins.back(), /*extract_static_objects=*/false)) { return false; } if ( - parameters_->use_occupancy_grid_for_path_collision_check && checkOccupancyGridCollision(path)) { + parameters_->use_occupancy_grid_for_path_collision_check && + checkOccupancyGridCollision(path, occupancy_grid_map_)) { return false; } @@ -671,7 +761,7 @@ GoalCandidates GoalPlannerModule::generateGoalCandidates() const // calculate goal candidates const auto & route_handler = planner_data_->route_handler; if (utils::isAllowedGoalModification(route_handler)) { - return goal_searcher_->search(); + return goal_searcher_->search(occupancy_grid_map_, planner_data_); } // NOTE: @@ -778,7 +868,7 @@ std::vector GoalPlannerModule::sortPullOverPathCandidatesByGoalPri utils::resamplePathWithSpline(pull_over_path.getParkingPath(), 0.5); for (const auto & margin : margins) { if (!checkObjectsCollision( - resampled_path, margin, + resampled_path, planner_data_, *parameters_, margin, /*extract_static_objects=*/true)) { return margin; } @@ -865,16 +955,17 @@ std::optional> GoalPlannerModule::selectP const auto resampled_path = utils::resamplePathWithSpline(pull_over_path.getParkingPath(), 0.5); if ( - parameters_->use_object_recognition && checkObjectsCollision( - resampled_path, collision_check_margin, - /*extract_static_objects=*/true, - /*update_debug_data=*/true)) { + parameters_->use_object_recognition && + checkObjectsCollision( + resampled_path, planner_data_, *parameters_, collision_check_margin, + /*extract_static_objects=*/true, + /*update_debug_data=*/true)) { continue; } if ( parameters_->use_occupancy_grid_for_path_collision_check && - checkOccupancyGridCollision(resampled_path)) { + checkOccupancyGridCollision(resampled_path, occupancy_grid_map_)) { continue; } @@ -910,7 +1001,12 @@ void GoalPlannerModule::setOutput(BehaviorModuleOutput & output) } if ( - parameters_->safety_check_params.enable_safety_check && !isSafePath().first && isActivated()) { + parameters_->safety_check_params.enable_safety_check && + !isSafePath( + planner_data_, *parameters_, ego_predicted_path_params_, objects_filtering_params_, + safety_check_params_) + .first && + isActivated()) { // situation : not safe against dynamic objects after approval // insert stop point in current path if ego is able to stop with acceleration and jerk // constraints @@ -933,7 +1029,11 @@ void GoalPlannerModule::setOutput(BehaviorModuleOutput & output) setDrivableAreaInfo(output); // set hazard and turn signal - if (hasDecidedPath() && isActivated()) { + if ( + hasDecidedPath( + planner_data_, occupancy_grid_map_, *parameters_, ego_predicted_path_params_, + objects_filtering_params_, safety_check_params_, goal_searcher_) && + isActivated()) { setTurnSignalInfo(output); } } @@ -997,20 +1097,47 @@ void GoalPlannerModule::updateSteeringFactor( pose, distance, PlanningBehavior::GOAL_PLANNER, steering_factor_direction, type, ""); } -bool GoalPlannerModule::hasDecidedPath() const -{ - return checkDecidingPathStatus().first == DecidingPathStatus::DECIDED; -} - -bool GoalPlannerModule::hasNotDecidedPath() const -{ - return checkDecidingPathStatus().first == DecidingPathStatus::NOT_DECIDED; -} - -DecidingPathStatusWithStamp GoalPlannerModule::checkDecidingPathStatus() const -{ - const auto & prev_status = prev_data_.deciding_path_status; - const bool enable_safety_check = parameters_->safety_check_params.enable_safety_check; +bool GoalPlannerModule::hasDecidedPath( + const std::shared_ptr planner_data, + const std::shared_ptr occupancy_grid_map, + const GoalPlannerParameters & parameters, + const std::shared_ptr & ego_predicted_path_params, + const std::shared_ptr & objects_filtering_params, + const std::shared_ptr & safety_check_params, + const std::shared_ptr goal_searcher) const +{ + return checkDecidingPathStatus( + planner_data, occupancy_grid_map, parameters, ego_predicted_path_params, + objects_filtering_params, safety_check_params, goal_searcher) + .first == DecidingPathStatus::DECIDED; +} + +bool GoalPlannerModule::hasNotDecidedPath( + const std::shared_ptr planner_data, + const std::shared_ptr occupancy_grid_map, + const GoalPlannerParameters & parameters, + const std::shared_ptr & ego_predicted_path_params, + const std::shared_ptr & objects_filtering_params, + const std::shared_ptr & safety_check_params, + const std::shared_ptr goal_searcher) const +{ + return checkDecidingPathStatus( + planner_data, occupancy_grid_map, parameters, ego_predicted_path_params, + objects_filtering_params, safety_check_params, goal_searcher) + .first == DecidingPathStatus::NOT_DECIDED; +} + +DecidingPathStatusWithStamp GoalPlannerModule::checkDecidingPathStatus( + const std::shared_ptr planner_data, + const std::shared_ptr occupancy_grid_map, + const GoalPlannerParameters & parameters, + const std::shared_ptr & ego_predicted_path_params, + const std::shared_ptr & objects_filtering_params, + const std::shared_ptr & safety_check_params, + const std::shared_ptr goal_searcher) const +{ + const auto & prev_status = thread_safe_data_.get_prev_data().deciding_path_status; + const bool enable_safety_check = parameters.safety_check_params.enable_safety_check; // Once this function returns true, it will continue to return true thereafter if (prev_status.first == DecidingPathStatus::DECIDED) { @@ -1024,7 +1151,13 @@ DecidingPathStatusWithStamp GoalPlannerModule::checkDecidingPathStatus() const // If it is dangerous against dynamic objects before approval, do not determine the path. // This eliminates a unsafe path to be approved - if (enable_safety_check && !isSafePath().first && !isActivated()) { + if ( + enable_safety_check && + !isSafePath( + planner_data, parameters, ego_predicted_path_params, objects_filtering_params, + safety_check_params) + .first && + !isActivated()) { RCLCPP_DEBUG( getLogger(), "[DecidingPathStatus]: NOT_DECIDED. path is not safe against dynamic objects before " @@ -1040,11 +1173,11 @@ DecidingPathStatusWithStamp GoalPlannerModule::checkDecidingPathStatus() const const double hysteresis_factor = 0.9; // check goal pose collision - goal_searcher_->setPlannerData(planner_data_); const auto modified_goal_opt = thread_safe_data_.get_modified_goal_pose(); if ( - modified_goal_opt && !goal_searcher_->isSafeGoalWithMarginScaleFactor( - modified_goal_opt.value(), hysteresis_factor)) { + modified_goal_opt && + !goal_searcher->isSafeGoalWithMarginScaleFactor( + modified_goal_opt.value(), hysteresis_factor, occupancy_grid_map, planner_data)) { RCLCPP_DEBUG(getLogger(), "[DecidingPathStatus]: DECIDING->NOT_DECIDED. goal is not safe"); return {DecidingPathStatus::NOT_DECIDED, clock_->now()}; } @@ -1052,15 +1185,20 @@ DecidingPathStatusWithStamp GoalPlannerModule::checkDecidingPathStatus() const // check current parking path collision const auto parking_path = utils::resamplePathWithSpline(pull_over_path->getParkingPath(), 0.5); const double margin = - parameters_->object_recognition_collision_check_hard_margins.back() * hysteresis_factor; - if (checkObjectsCollision(parking_path, margin, /*extract_static_objects=*/false)) { + parameters.object_recognition_collision_check_hard_margins.back() * hysteresis_factor; + if (checkObjectsCollision( + parking_path, planner_data, parameters, margin, /*extract_static_objects=*/false)) { RCLCPP_DEBUG( getLogger(), "[DecidingPathStatus]: DECIDING->NOT_DECIDED. path has collision with objects"); return {DecidingPathStatus::NOT_DECIDED, clock_->now()}; } - if (enable_safety_check && !isSafePath().first) { + if ( + enable_safety_check && !isSafePath( + planner_data, parameters, ego_predicted_path_params, + objects_filtering_params, safety_check_params) + .first) { RCLCPP_DEBUG( getLogger(), "[DecidingPathStatus]: DECIDING->NOT_DECIDED. path is not safe against dynamic objects"); @@ -1084,7 +1222,7 @@ DecidingPathStatusWithStamp GoalPlannerModule::checkDecidingPathStatus() const } // if ego is sufficiently close to the start of the nearest candidate path, the path is decided - const auto & current_pose = planner_data_->self_odometry->pose.pose; + const auto & current_pose = planner_data->self_odometry->pose.pose; const size_t ego_segment_idx = motion_utils::findNearestSegmentIndex(current_path.points, current_pose.position); @@ -1093,13 +1231,13 @@ DecidingPathStatusWithStamp GoalPlannerModule::checkDecidingPathStatus() const const double dist_to_parking_start_pose = calcSignedArcLength( current_path.points, current_pose.position, ego_segment_idx, pull_over_path->start_pose.position, start_pose_segment_idx); - if (dist_to_parking_start_pose > parameters_->decide_path_distance) { + if (dist_to_parking_start_pose > parameters.decide_path_distance) { return {DecidingPathStatus::NOT_DECIDED, clock_->now()}; } // if object recognition for path collision check is enabled, transition to DECIDING to check // collision for a certain period of time. Otherwise, transition to DECIDED directly. - if (parameters_->use_object_recognition) { + if (parameters.use_object_recognition) { RCLCPP_DEBUG( getLogger(), "[DecidingPathStatus]: NOT_DECIDED->DECIDING. start checking collision for certain " @@ -1124,7 +1262,9 @@ void GoalPlannerModule::decideVelocity() BehaviorModuleOutput GoalPlannerModule::planPullOver() { - if (!hasDecidedPath()) { + if (!hasDecidedPath( + planner_data_, occupancy_grid_map_, *parameters_, ego_predicted_path_params_, + objects_filtering_params_, safety_check_params_, goal_searcher_)) { return planPullOverAsCandidate(); } @@ -1168,7 +1308,12 @@ BehaviorModuleOutput GoalPlannerModule::planPullOverAsOutput() return getPreviousModuleOutput(); } - if (hasNotDecidedPath() && needPathUpdate(1.0 /*path_update_duration*/)) { + if ( + hasNotDecidedPath( + planner_data_, occupancy_grid_map_, *parameters_, ego_predicted_path_params_, + objects_filtering_params_, safety_check_params_, goal_searcher_) && + needPathUpdate( + planner_data_->self_odometry->pose.pose, 1.0 /*path_update_duration*/, *parameters_)) { // if the final path is not decided and enough time has passed since last path update, // select safe path from lane parking pull over path candidates // and set it to thread_safe_data_ @@ -1177,9 +1322,8 @@ BehaviorModuleOutput GoalPlannerModule::planPullOverAsOutput() thread_safe_data_.clearPullOverPath(); // update goal candidates - goal_searcher_->setPlannerData(planner_data_); auto goal_candidates = thread_safe_data_.get_goal_candidates(); - goal_searcher_->update(goal_candidates); + goal_searcher_->update(goal_candidates, occupancy_grid_map_, planner_data_); // update pull over path candidates const auto pull_over_path_candidates = sortPullOverPathCandidatesByGoalPriority( @@ -1240,9 +1384,14 @@ void GoalPlannerModule::postProcess() return; } - const bool has_decided_path = hasDecidedPath(); const auto distance_to_path_change = calcDistanceToPathChange(); + // TODO(Mamoru Sobue): repetitive call to checkDecidingPathStatus() in the main thread is a + // waste of time because it gives same result throughout the main thread. + const bool has_decided_path = hasDecidedPath( + planner_data_, occupancy_grid_map_, *parameters_, ego_predicted_path_params_, + objects_filtering_params_, safety_check_params_, goal_searcher_); + if (has_decided_path) { updateRTCStatus(distance_to_path_change.first, distance_to_path_change.second); } @@ -1260,27 +1409,35 @@ void GoalPlannerModule::updatePreviousData() { // for the next loop setOutput(). // this is used to determine whether to generate a new stop path or keep the current stop path. - prev_data_.found_path = thread_safe_data_.foundPullOverPath(); + // TODO(Mamoru Sobue): put prev_data_ out of ThreadSafeData + auto prev_data = thread_safe_data_.get_prev_data(); + prev_data.found_path = thread_safe_data_.foundPullOverPath(); - prev_data_.deciding_path_status = checkDecidingPathStatus(); + prev_data.deciding_path_status = checkDecidingPathStatus( + planner_data_, occupancy_grid_map_, *parameters_, ego_predicted_path_params_, + objects_filtering_params_, safety_check_params_, goal_searcher_); // This is related to safety check, so if it is disabled, return here. if (!parameters_->safety_check_params.enable_safety_check) { - prev_data_.safety_status.is_safe = true; - return; - } - - // Even if the current path is safe, it will not be safe unless it stands for a certain period of - // time. Record the time when the current path has become safe - const auto [is_safe, current_is_safe] = isSafePath(); - if (current_is_safe) { - if (!prev_data_.safety_status.safe_start_time) { - prev_data_.safety_status.safe_start_time = clock_->now(); - } + prev_data.safety_status.is_safe = true; } else { - prev_data_.safety_status.safe_start_time = std::nullopt; + // Even if the current path is safe, it will not be safe unless it stands for a certain period + // of time. Record the time when the current path has become safe + const auto [is_safe, current_is_safe] = isSafePath( + planner_data_, *parameters_, ego_predicted_path_params_, objects_filtering_params_, + safety_check_params_); + if (current_is_safe) { + if (!prev_data.safety_status.safe_start_time) { + prev_data.safety_status.safe_start_time = clock_->now(); + } + } else { + prev_data.safety_status.safe_start_time = std::nullopt; + } + prev_data.safety_status.is_safe = is_safe; } - prev_data_.safety_status.is_safe = is_safe; + + // commit the change + thread_safe_data_.set_prev_data(prev_data); } BehaviorModuleOutput GoalPlannerModule::planWaitingApproval() @@ -1357,8 +1514,8 @@ PathWithLaneId GoalPlannerModule::generateStopPath() const // calculate search start offset pose from the closest goal candidate pose with // approximate_pull_over_distance_ ego vehicle decelerates to this position. or if no feasible // stop point is found, stop at this position. - const auto closest_goal_candidate = - goal_searcher_->getClosetGoalCandidateAlongLanes(thread_safe_data_.get_goal_candidates()); + const auto closest_goal_candidate = goal_searcher_->getClosetGoalCandidateAlongLanes( + thread_safe_data_.get_goal_candidates(), planner_data_); const auto decel_pose = calcLongitudinalOffsetPose( extended_prev_path.points, closest_goal_candidate.goal_pose.position, -approximate_pull_over_distance_); @@ -1486,10 +1643,13 @@ bool GoalPlannerModule::isStopped() return isStopped(odometry_buffer_stopped_, parameters_->th_stopped_time); } -bool GoalPlannerModule::isStuck() +bool GoalPlannerModule::isStuck( + const std::shared_ptr planner_data, + const std::shared_ptr occupancy_grid_map, + const GoalPlannerParameters & parameters) { const std::lock_guard lock(mutex_); - if (isOnModifiedGoal()) { + if (isOnModifiedGoal(planner_data->self_odometry->pose.pose, parameters)) { return false; } @@ -1509,17 +1669,18 @@ bool GoalPlannerModule::isStuck() } if ( - parameters_->use_object_recognition && + parameters.use_object_recognition && checkObjectsCollision( - thread_safe_data_.get_pull_over_path()->getCurrentPath(), + thread_safe_data_.get_pull_over_path()->getCurrentPath(), planner_data, parameters, /*extract_static_objects=*/false, - parameters_->object_recognition_collision_check_hard_margins.back())) { + parameters.object_recognition_collision_check_hard_margins.back())) { return true; } if ( - parameters_->use_occupancy_grid_for_path_collision_check && - checkOccupancyGridCollision(thread_safe_data_.get_pull_over_path()->getCurrentPath())) { + parameters.use_occupancy_grid_for_path_collision_check && + checkOccupancyGridCollision( + thread_safe_data_.get_pull_over_path()->getCurrentPath(), occupancy_grid_map)) { return true; } @@ -1565,15 +1726,15 @@ bool GoalPlannerModule::hasFinishedCurrentPath() parameters_->th_arrived_distance; } -bool GoalPlannerModule::isOnModifiedGoal() const +bool GoalPlannerModule::isOnModifiedGoal( + const Pose & current_pose, const GoalPlannerParameters & parameters) const { if (!thread_safe_data_.get_modified_goal_pose()) { return false; } - const Pose current_pose = planner_data_->self_odometry->pose.pose; return calcDistance2d(current_pose, thread_safe_data_.get_modified_goal_pose()->goal_pose) < - parameters_->th_arrived_distance; + parameters.th_arrived_distance; } TurnSignalInfo GoalPlannerModule::calcTurnSignalInfo() @@ -1642,31 +1803,34 @@ TurnSignalInfo GoalPlannerModule::calcTurnSignalInfo() return new_signal; } -bool GoalPlannerModule::checkOccupancyGridCollision(const PathWithLaneId & path) const +bool GoalPlannerModule::checkOccupancyGridCollision( + const PathWithLaneId & path, + const std::shared_ptr occupancy_grid_map) const { - if (!occupancy_grid_map_) { + if (!occupancy_grid_map) { return false; } const bool check_out_of_range = false; - return occupancy_grid_map_->hasObstacleOnPath(path, check_out_of_range); + return occupancy_grid_map->hasObstacleOnPath(path, check_out_of_range); } bool GoalPlannerModule::checkObjectsCollision( - const PathWithLaneId & path, const double collision_check_margin, + const PathWithLaneId & path, const std::shared_ptr planner_data, + const GoalPlannerParameters & parameters, const double collision_check_margin, const bool extract_static_objects, const bool update_debug_data) const { const auto target_objects = std::invoke([&]() { - const auto & p = parameters_; - const auto & rh = *(planner_data_->route_handler); - const auto objects = *(planner_data_->dynamic_object); + const auto & p = parameters; + const auto & rh = *(planner_data->route_handler); + const auto objects = *(planner_data->dynamic_object); if (extract_static_objects) { return goal_planner_utils::extractStaticObjectsInExpandedPullOverLanes( - rh, left_side_parking_, p->backward_goal_search_length, p->forward_goal_search_length, - p->detection_bound_offset, objects, p->th_moving_object_velocity); + rh, left_side_parking_, p.backward_goal_search_length, p.forward_goal_search_length, + p.detection_bound_offset, objects, p.th_moving_object_velocity); } return goal_planner_utils::extractObjectsInExpandedPullOverLanes( - rh, left_side_parking_, p->backward_goal_search_length, p->forward_goal_search_length, - p->detection_bound_offset, objects); + rh, left_side_parking_, p.backward_goal_search_length, p.forward_goal_search_length, + p.detection_bound_offset, objects); }); std::vector obj_polygons; @@ -1685,8 +1849,8 @@ bool GoalPlannerModule::checkObjectsCollision( const auto p = path.points.at(i); const double extra_stopping_margin = std::min( - std::pow(p.point.longitudinal_velocity_mps, 2) * 0.5 / parameters_->maximum_deceleration, - parameters_->object_recognition_collision_check_max_extra_stopping_margin); + std::pow(p.point.longitudinal_velocity_mps, 2) * 0.5 / parameters.maximum_deceleration, + parameters.object_recognition_collision_check_max_extra_stopping_margin); // The square is meant to imply centrifugal force, but it is not a very well-founded formula. // TODO(kosuke55): It is needed to consider better way because there is an inherently different @@ -1697,9 +1861,9 @@ bool GoalPlannerModule::checkObjectsCollision( const auto ego_polygon = tier4_autoware_utils::toFootprint( p.point.pose, - planner_data_->parameters.base_link2front + collision_check_margin + extra_stopping_margin, - planner_data_->parameters.base_link2rear + collision_check_margin, - planner_data_->parameters.vehicle_width + collision_check_margin * 2.0 + + planner_data->parameters.base_link2front + collision_check_margin + extra_stopping_margin, + planner_data->parameters.base_link2rear + collision_check_margin, + planner_data->parameters.vehicle_width + collision_check_margin * 2.0 + extra_lateral_margin * 2.0); ego_polygons_expanded.push_back(ego_polygon); } @@ -1782,8 +1946,8 @@ double GoalPlannerModule::calcSignedArcLengthFromEgo( void GoalPlannerModule::deceleratePath(PullOverPath & pull_over_path) const { // decelerate before the search area start - const auto closest_goal_candidate = - goal_searcher_->getClosetGoalCandidateAlongLanes(thread_safe_data_.get_goal_candidates()); + const auto closest_goal_candidate = goal_searcher_->getClosetGoalCandidateAlongLanes( + thread_safe_data_.get_goal_candidates(), planner_data_); const auto decel_pose = calcLongitudinalOffsetPose( pull_over_path.getFullPath().points, closest_goal_candidate.goal_pose.position, -approximate_pull_over_distance_); @@ -1964,6 +2128,7 @@ bool GoalPlannerModule::isCrossingPossible(const PullOverPath & pull_over_path) return isCrossingPossible(start_pose, end_pose, lanes); } +/* void GoalPlannerModule::updateSafetyCheckTargetObjectsData( const PredictedObjects & filtered_objects, const TargetObjectsOnLane & target_objects_on_lane, const std::vector & ego_predicted_path) const @@ -1972,6 +2137,7 @@ void GoalPlannerModule::updateSafetyCheckTargetObjectsData( goal_planner_data_.target_objects_on_lane = target_objects_on_lane; goal_planner_data_.ego_predicted_path = ego_predicted_path; } +*/ static std::vector filterObjectsByWithinPolicy( const std::shared_ptr & objects, @@ -2017,26 +2183,29 @@ static std::vector filterOb return refined_filtered_objects; } -std::pair GoalPlannerModule::isSafePath() const +std::pair GoalPlannerModule::isSafePath( + const std::shared_ptr planner_data, const GoalPlannerParameters & parameters, + const std::shared_ptr & ego_predicted_path_params, + const std::shared_ptr & objects_filtering_params, + const std::shared_ptr & safety_check_params) const { if (!thread_safe_data_.get_pull_over_path()) { return {false, false}; } const auto pull_over_path = thread_safe_data_.get_pull_over_path()->getCurrentPath(); - const auto & current_pose = planner_data_->self_odometry->pose.pose; + const auto & current_pose = planner_data->self_odometry->pose.pose; const double current_velocity = std::hypot( - planner_data_->self_odometry->twist.twist.linear.x, - planner_data_->self_odometry->twist.twist.linear.y); - const auto & dynamic_object = planner_data_->dynamic_object; - const auto & route_handler = planner_data_->route_handler; + planner_data->self_odometry->twist.twist.linear.x, + planner_data->self_odometry->twist.twist.linear.y); + const auto & dynamic_object = planner_data->dynamic_object; + const auto & route_handler = planner_data->route_handler; const lanelet::ConstLanelets current_lanes = utils::getExtendedCurrentLanes( - planner_data_, parameters_->backward_goal_search_length, - parameters_->forward_goal_search_length, + planner_data, parameters.backward_goal_search_length, parameters.forward_goal_search_length, /*forward_only_in_route*/ false); const auto pull_over_lanes = goal_planner_utils::getPullOverLanes( - *route_handler, left_side_parking_, parameters_->backward_goal_search_length, - parameters_->forward_goal_search_length); - const size_t ego_seg_idx = planner_data_->findEgoSegmentIndex(pull_over_path.points); + *route_handler, left_side_parking_, parameters.backward_goal_search_length, + parameters.forward_goal_search_length); + const size_t ego_seg_idx = planner_data->findEgoSegmentIndex(pull_over_path.points); const std::pair terminal_velocity_and_accel = utils::parking_departure::getPairsTerminalVelocityAndAccel( thread_safe_data_.get_pull_over_path()->pairs_terminal_velocity_and_accel, @@ -2044,15 +2213,15 @@ std::pair GoalPlannerModule::isSafePath() const RCLCPP_DEBUG( getLogger(), "pairs_terminal_velocity_and_accel for goal_planner: %f, %f", terminal_velocity_and_accel.first, terminal_velocity_and_accel.second); - utils::parking_departure::updatePathProperty( - ego_predicted_path_params_, terminal_velocity_and_accel); + auto temp_param = std::make_shared(*ego_predicted_path_params); + utils::parking_departure::updatePathProperty(temp_param, terminal_velocity_and_accel); // TODO(Sugahara): shoule judge is_object_front properly const bool is_object_front = true; const bool limit_to_max_velocity = true; const auto ego_predicted_path = behavior_path_planner::utils::path_safety_checker::createPredictedPath( - ego_predicted_path_params_, pull_over_path.points, current_pose, current_velocity, - ego_seg_idx, is_object_front, limit_to_max_velocity); + ego_predicted_path_params, pull_over_path.points, current_pose, current_velocity, ego_seg_idx, + is_object_front, limit_to_max_velocity); // ========================================================================================== // if ego is before the entry of pull_over_lanes, the beginning of the safety check area @@ -2094,36 +2263,38 @@ std::pair GoalPlannerModule::isSafePath() const const auto expanded_pull_over_lanes_between_ego = goal_planner_utils::generateBetweenEgoAndExpandedPullOverLanes( pull_over_lanes, left_side_parking_, ego_pose_for_expand, - planner_data_->parameters.vehicle_info, parameters_->outer_road_detection_offset, - parameters_->inner_road_detection_offset); + planner_data->parameters.vehicle_info, parameters.outer_road_detection_offset, + parameters.inner_road_detection_offset); const auto merged_expanded_pull_over_lanes = lanelet::utils::combineLaneletsShape(expanded_pull_over_lanes_between_ego); debug_data_.expanded_pull_over_lane_between_ego = merged_expanded_pull_over_lanes; const auto filtered_objects = filterObjectsByWithinPolicy( - dynamic_object, {merged_expanded_pull_over_lanes}, objects_filtering_params_); + dynamic_object, {merged_expanded_pull_over_lanes}, objects_filtering_params); + const auto prev_data = thread_safe_data_.get_prev_data(); const double hysteresis_factor = - prev_data_.safety_status.is_safe ? 1.0 : parameters_->hysteresis_factor_expand_rate; + prev_data.safety_status.is_safe ? 1.0 : parameters.hysteresis_factor_expand_rate; + CollisionCheckDebugMap collision_check{}; const bool current_is_safe = std::invoke([&]() { - if (parameters_->safety_check_params.method == "RSS") { + if (parameters.safety_check_params.method == "RSS") { return behavior_path_planner::utils::path_safety_checker::checkSafetyWithRSS( - pull_over_path, ego_predicted_path, filtered_objects, goal_planner_data_.collision_check, - planner_data_->parameters, safety_check_params_->rss_params, - objects_filtering_params_->use_all_predicted_path, hysteresis_factor); - } else if (parameters_->safety_check_params.method == "integral_predicted_polygon") { + pull_over_path, ego_predicted_path, filtered_objects, collision_check, + planner_data->parameters, safety_check_params->rss_params, + objects_filtering_params->use_all_predicted_path, hysteresis_factor); + } else if (parameters.safety_check_params.method == "integral_predicted_polygon") { return utils::path_safety_checker::checkSafetyWithIntegralPredictedPolygon( ego_predicted_path, vehicle_info_, filtered_objects, - objects_filtering_params_->check_all_predicted_path, - parameters_->safety_check_params.integral_predicted_polygon_params, - goal_planner_data_.collision_check); + objects_filtering_params->check_all_predicted_path, + parameters.safety_check_params.integral_predicted_polygon_params, collision_check); } RCLCPP_ERROR( getLogger(), " [pull_over] invalid safety check method: %s", - parameters_->safety_check_params.method.c_str()); + parameters.safety_check_params.method.c_str()); throw std::domain_error("[pull_over] invalid safety check method"); }); + thread_safe_data_.set_collision_check(collision_check); /* * ==== is_safe @@ -2140,9 +2311,9 @@ std::pair GoalPlannerModule::isSafePath() const */ if (current_is_safe) { if ( - prev_data_.safety_status.safe_start_time && - (clock_->now() - prev_data_.safety_status.safe_start_time.value()).seconds() > - parameters_->safety_check_params.keep_unsafe_time) { + prev_data.safety_status.safe_start_time && + (clock_->now() - prev_data.safety_status.safe_start_time.value()).seconds() > + parameters.safety_check_params.keep_unsafe_time) { return {true /*is_safe*/, true /*current_is_safe*/}; } } @@ -2176,8 +2347,12 @@ void GoalPlannerModule::setDebugData() }; if (utils::isAllowedGoalModification(planner_data_->route_handler)) { // Visualize pull over areas - const auto color = hasDecidedPath() ? createMarkerColor(1.0, 1.0, 0.0, 0.999) // yellow - : createMarkerColor(0.0, 1.0, 0.0, 0.999); // green + const auto color = + hasDecidedPath( + planner_data_, occupancy_grid_map_, *parameters_, ego_predicted_path_params_, + objects_filtering_params_, safety_check_params_, goal_searcher_) + ? createMarkerColor(1.0, 1.0, 0.0, 0.999) // yellow + : createMarkerColor(0.0, 1.0, 0.0, 0.999); // green const double z = planner_data_->route_handler->getGoalPose().position.z; add(goal_planner_utils::createPullOverAreaMarkerArray( goal_searcher_->getAreaPolygons(), header, color, z)); @@ -2190,9 +2365,11 @@ void GoalPlannerModule::setDebugData() // Visualize previous module output add(createPathMarkerArray( getPreviousModuleOutput().path, "previous_module_path", 0, 1.0, 0.0, 0.0)); - if (last_previous_module_output_.has_value()) { + + const auto last_previous_module_output = thread_safe_data_.get_last_previous_module_output(); + if (last_previous_module_output.has_value()) { add(createPathMarkerArray( - last_previous_module_output_.value().path, "last_previous_module_path", 0, 0.0, 1.0, 1.0)); + last_previous_module_output.value().path, "last_previous_module_path", 0, 0.0, 1.0, 1.0)); } // Visualize path and related pose @@ -2249,6 +2426,7 @@ void GoalPlannerModule::setDebugData() } } + auto collision_check = thread_safe_data_.get_collision_check(); // safety check if (parameters_->safety_check_params.enable_safety_check) { if (goal_planner_data_.ego_predicted_path.size() > 0) { @@ -2263,33 +2441,35 @@ void GoalPlannerModule::setDebugData() } if (parameters_->safety_check_params.method == "RSS") { - add(showSafetyCheckInfo(goal_planner_data_.collision_check, "object_debug_info")); + add(showSafetyCheckInfo(collision_check, "object_debug_info")); } - add(showPredictedPath(goal_planner_data_.collision_check, "ego_predicted_path")); - add(showPolygon(goal_planner_data_.collision_check, "ego_and_target_polygon_relation")); + add(showPredictedPath(collision_check, "ego_predicted_path")); + add(showPolygon(collision_check, "ego_and_target_polygon_relation")); // set objects of interest - for (const auto & [uuid, data] : goal_planner_data_.collision_check) { + for (const auto & [uuid, data] : collision_check) { const auto color = data.is_safe ? ColorName::GREEN : ColorName::RED; setObjectsOfInterestData(data.current_obj_pose, data.obj_shape, color); } - utils::parking_departure::initializeCollisionCheckDebugMap(goal_planner_data_.collision_check); + // TODO(Mamoru Sobue): it is not clear where ThreadSafeData::collision_check should be cleared + utils::parking_departure::initializeCollisionCheckDebugMap(collision_check); // visualize safety status maker { + const auto prev_data = thread_safe_data_.get_prev_data(); visualization_msgs::msg::MarkerArray marker_array{}; - const auto color = prev_data_.safety_status.is_safe ? createMarkerColor(1.0, 1.0, 1.0, 0.99) - : createMarkerColor(1.0, 0.0, 0.0, 0.99); + const auto color = prev_data.safety_status.is_safe ? createMarkerColor(1.0, 1.0, 1.0, 0.99) + : createMarkerColor(1.0, 0.0, 0.0, 0.99); auto marker = createDefaultMarker( header.frame_id, header.stamp, "safety_status", 0, visualization_msgs::msg::Marker::TEXT_VIEW_FACING, createMarkerScale(0.0, 0.0, 1.0), color); marker.pose = planner_data_->self_odometry->pose.pose; - marker.text += "is_safe: " + std::to_string(prev_data_.safety_status.is_safe) + "\n"; - if (prev_data_.safety_status.safe_start_time) { + marker.text += "is_safe: " + std::to_string(prev_data.safety_status.is_safe) + "\n"; + if (prev_data.safety_status.safe_start_time) { const double elapsed_time_from_safe_start = - (clock_->now() - prev_data_.safety_status.safe_start_time.value()).seconds(); + (clock_->now() - prev_data.safety_status.safe_start_time.value()).seconds(); marker.text += "elapsed_time_from_safe_start: " + std::to_string(elapsed_time_from_safe_start) + "\n"; } @@ -2317,7 +2497,7 @@ void GoalPlannerModule::setDebugData() std::to_string(thread_safe_data_.get_pull_over_path()->partial_paths.size() - 1); } - if (isStuck()) { + if (isStuck(planner_data_, occupancy_grid_map_, *parameters_)) { marker.text += " stuck"; } else if (isStopped()) { marker.text += " stopped"; @@ -2367,9 +2547,12 @@ void GoalPlannerModule::printParkingPositionError() const distance_from_real_shoulder); } -bool GoalPlannerModule::needPathUpdate(const double path_update_duration) const +bool GoalPlannerModule::needPathUpdate( + const Pose & current_pose, const double path_update_duration, + const GoalPlannerParameters & parameters) const { - return !isOnModifiedGoal() && hasEnoughTimePassedSincePathUpdate(path_update_duration); + return !isOnModifiedGoal(current_pose, parameters) && + hasEnoughTimePassedSincePathUpdate(path_update_duration); } bool GoalPlannerModule::hasEnoughTimePassedSincePathUpdate(const double duration) const @@ -2380,4 +2563,57 @@ bool GoalPlannerModule::hasEnoughTimePassedSincePathUpdate(const double duration return (clock_->now() - *thread_safe_data_.get_last_path_update_time()).seconds() > duration; } + +void GoalPlannerModule::GoalPlannerData::initializeOccupancyGridMap( + const PlannerData & planner_data, const GoalPlannerParameters & parameters) +{ + OccupancyGridMapParam occupancy_grid_map_param{}; + const double margin = parameters.occupancy_grid_collision_check_margin; + occupancy_grid_map_param.vehicle_shape.length = + planner_data.parameters.vehicle_length + 2 * margin; + occupancy_grid_map_param.vehicle_shape.width = planner_data.parameters.vehicle_width + 2 * margin; + occupancy_grid_map_param.vehicle_shape.base2back = + planner_data.parameters.base_link2rear + margin; + occupancy_grid_map_param.theta_size = parameters.theta_size; + occupancy_grid_map_param.obstacle_threshold = parameters.obstacle_threshold; + occupancy_grid_map->setParam(occupancy_grid_map_param); +} + +GoalPlannerModule::GoalPlannerData GoalPlannerModule::GoalPlannerData::clone() const +{ + GoalPlannerModule::GoalPlannerData gp_planner_data(planner_data, parameters); + gp_planner_data.update( + parameters, ego_predicted_path_params, objects_filtering_params, safety_check_params, + planner_data, current_status, previous_module_output, goal_searcher, vehicle_footprint); + return gp_planner_data; +} + +void GoalPlannerModule::GoalPlannerData::update( + const GoalPlannerParameters & parameters_, + const std::shared_ptr & ego_predicted_path_params_, + const std::shared_ptr & objects_filtering_params_, + const std::shared_ptr & safety_check_params_, + const PlannerData & planner_data_, const ModuleStatus & current_status_, + const BehaviorModuleOutput & previous_module_output_, + const std::shared_ptr goal_searcher_, + const tier4_autoware_utils::LinearRing2d & vehicle_footprint_) +{ + parameters = parameters_; + ego_predicted_path_params = ego_predicted_path_params_; + objects_filtering_params = objects_filtering_params_; + safety_check_params = safety_check_params_; + vehicle_footprint = vehicle_footprint_; + + planner_data = planner_data_; + planner_data.route_handler = std::make_shared(*(planner_data_.route_handler)); + current_status = current_status_; + previous_module_output = previous_module_output_; + occupancy_grid_map->setMap(*(planner_data.occupancy_grid)); + // to create a deepcopy of GoalPlanner(not GoalPlannerBase), goal_searcher_ is not enough, so + // recreate it here + goal_searcher = std::make_shared(parameters, vehicle_footprint); + // and then copy the reference goal + goal_searcher->setReferenceGoal(goal_searcher_->getReferenceGoal()); +} + } // namespace behavior_path_planner diff --git a/planning/behavior_path_goal_planner_module/src/goal_searcher.cpp b/planning/behavior_path_goal_planner_module/src/goal_searcher.cpp index bd19871c482fc..df91687622349 100644 --- a/planning/behavior_path_goal_planner_module/src/goal_searcher.cpp +++ b/planning/behavior_path_goal_planner_module/src/goal_searcher.cpp @@ -90,35 +90,35 @@ struct SortByWeightedDistance }; GoalSearcher::GoalSearcher( - const GoalPlannerParameters & parameters, const LinearRing2d & vehicle_footprint, - const std::shared_ptr & occupancy_grid_map) + const GoalPlannerParameters & parameters, const LinearRing2d & vehicle_footprint) : GoalSearcherBase{parameters}, vehicle_footprint_{vehicle_footprint}, - occupancy_grid_map_{occupancy_grid_map}, left_side_parking_{parameters.parking_policy == ParkingPolicy::LEFT_SIDE} { } -GoalCandidates GoalSearcher::search() +GoalCandidates GoalSearcher::search( + const std::shared_ptr occupancy_grid_map, + const std::shared_ptr & planner_data) { GoalCandidates goal_candidates{}; - const auto & route_handler = planner_data_->route_handler; + const auto & route_handler = planner_data->route_handler; const double forward_length = parameters_.forward_goal_search_length; const double backward_length = parameters_.backward_goal_search_length; const double margin_from_boundary = parameters_.margin_from_boundary; const double lateral_offset_interval = parameters_.lateral_offset_interval; const double max_lateral_offset = parameters_.max_lateral_offset; const double ignore_distance_from_lane_start = parameters_.ignore_distance_from_lane_start; - const double vehicle_width = planner_data_->parameters.vehicle_width; - const double base_link2front = planner_data_->parameters.base_link2front; - const double base_link2rear = planner_data_->parameters.base_link2rear; + const double vehicle_width = planner_data->parameters.vehicle_width; + const double base_link2front = planner_data->parameters.base_link2front; + const double base_link2rear = planner_data->parameters.base_link2rear; const auto pull_over_lanes = goal_planner_utils::getPullOverLanes( *route_handler, left_side_parking_, parameters_.backward_goal_search_length, parameters_.forward_goal_search_length); auto lanes = utils::getExtendedCurrentLanes( - planner_data_, backward_length, forward_length, + planner_data, backward_length, forward_length, /*forward_only_in_route*/ false); lanes.insert(lanes.end(), pull_over_lanes.begin(), pull_over_lanes.end()); @@ -193,17 +193,18 @@ GoalCandidates GoalSearcher::search() goal_candidates.push_back(goal_candidate); } } - createAreaPolygons(original_search_poses); + createAreaPolygons(original_search_poses, planner_data); - update(goal_candidates); + update(goal_candidates, occupancy_grid_map, planner_data); return goal_candidates; } void GoalSearcher::countObjectsToAvoid( - GoalCandidates & goal_candidates, const PredictedObjects & objects) const + GoalCandidates & goal_candidates, const PredictedObjects & objects, + const std::shared_ptr & planner_data) const { - const auto & route_handler = planner_data_->route_handler; + const auto & route_handler = planner_data->route_handler; const double forward_length = parameters_.forward_goal_search_length; const double backward_length = parameters_.backward_goal_search_length; @@ -225,7 +226,7 @@ void GoalSearcher::countObjectsToAvoid( // generate current lane center line path to check collision with objects const auto current_lanes = utils::getExtendedCurrentLanes( - planner_data_, parameters_.backward_goal_search_length, parameters_.forward_goal_search_length, + planner_data, parameters_.backward_goal_search_length, parameters_.forward_goal_search_length, /*forward_only_in_route*/ false); const auto current_center_line_path = std::invoke([&]() -> PathWithLaneId { const double s_start = @@ -264,16 +265,19 @@ void GoalSearcher::countObjectsToAvoid( } } -void GoalSearcher::update(GoalCandidates & goal_candidates) const +void GoalSearcher::update( + GoalCandidates & goal_candidates, + const std::shared_ptr occupancy_grid_map, + const std::shared_ptr & planner_data) const { const auto pull_over_lane_stop_objects = goal_planner_utils::extractStaticObjectsInExpandedPullOverLanes( - *(planner_data_->route_handler), left_side_parking_, parameters_.backward_goal_search_length, + *(planner_data->route_handler), left_side_parking_, parameters_.backward_goal_search_length, parameters_.forward_goal_search_length, parameters_.detection_bound_offset, - *(planner_data_->dynamic_object), parameters_.th_moving_object_velocity); + *(planner_data->dynamic_object), parameters_.th_moving_object_velocity); if (parameters_.prioritize_goals_before_objects) { - countObjectsToAvoid(goal_candidates, pull_over_lane_stop_objects); + countObjectsToAvoid(goal_candidates, pull_over_lane_stop_objects, planner_data); } if (parameters_.goal_priority == "minimum_weighted_distance") { @@ -293,7 +297,7 @@ void GoalSearcher::update(GoalCandidates & goal_candidates) const const Pose goal_pose = goal_candidate.goal_pose; // check collision with footprint - if (checkCollision(goal_pose, pull_over_lane_stop_objects)) { + if (checkCollision(goal_pose, pull_over_lane_stop_objects, occupancy_grid_map)) { goal_candidate.is_safe = false; continue; } @@ -301,9 +305,10 @@ void GoalSearcher::update(GoalCandidates & goal_candidates) const // check longitudinal margin with pull over lane objects constexpr bool filter_inside = true; const auto target_objects = goal_planner_utils::filterObjectsByLateralDistance( - goal_pose, planner_data_->parameters.vehicle_width, pull_over_lane_stop_objects, + goal_pose, planner_data->parameters.vehicle_width, pull_over_lane_stop_objects, parameters_.object_recognition_collision_check_hard_margins.back(), filter_inside); - if (checkCollisionWithLongitudinalDistance(goal_pose, target_objects)) { + if (checkCollisionWithLongitudinalDistance( + goal_pose, target_objects, occupancy_grid_map, planner_data)) { goal_candidate.is_safe = false; continue; } @@ -316,7 +321,9 @@ void GoalSearcher::update(GoalCandidates & goal_candidates) const // current planner_data_ and margin scale factor. // And is_safe is not updated in this function. bool GoalSearcher::isSafeGoalWithMarginScaleFactor( - const GoalCandidate & goal_candidate, const double margin_scale_factor) const + const GoalCandidate & goal_candidate, const double margin_scale_factor, + const std::shared_ptr occupancy_grid_map, + const std::shared_ptr & planner_data) const { if (!parameters_.use_object_recognition) { return true; @@ -326,9 +333,9 @@ bool GoalSearcher::isSafeGoalWithMarginScaleFactor( const auto pull_over_lane_stop_objects = goal_planner_utils::extractStaticObjectsInExpandedPullOverLanes( - *(planner_data_->route_handler), left_side_parking_, parameters_.backward_goal_search_length, + *(planner_data->route_handler), left_side_parking_, parameters_.backward_goal_search_length, parameters_.forward_goal_search_length, parameters_.detection_bound_offset, - *(planner_data_->dynamic_object), parameters_.th_moving_object_velocity); + *(planner_data->dynamic_object), parameters_.th_moving_object_velocity); const double margin = parameters_.object_recognition_collision_check_hard_margins.back() * margin_scale_factor; @@ -341,23 +348,26 @@ bool GoalSearcher::isSafeGoalWithMarginScaleFactor( // check longitudinal margin with pull over lane objects constexpr bool filter_inside = true; const auto target_objects = goal_planner_utils::filterObjectsByLateralDistance( - goal_pose, planner_data_->parameters.vehicle_width, pull_over_lane_stop_objects, margin, + goal_pose, planner_data->parameters.vehicle_width, pull_over_lane_stop_objects, margin, filter_inside); - if (checkCollisionWithLongitudinalDistance(goal_pose, target_objects)) { + if (checkCollisionWithLongitudinalDistance( + goal_pose, target_objects, occupancy_grid_map, planner_data)) { return false; } return true; } -bool GoalSearcher::checkCollision(const Pose & pose, const PredictedObjects & objects) const +bool GoalSearcher::checkCollision( + const Pose & pose, const PredictedObjects & objects, + const std::shared_ptr occupancy_grid_map) const { if (parameters_.use_occupancy_grid_for_goal_search) { - const Pose pose_grid_coords = global2local(occupancy_grid_map_->getMap(), pose); + const Pose pose_grid_coords = global2local(occupancy_grid_map->getMap(), pose); const auto idx = pose2index( - occupancy_grid_map_->getMap(), pose_grid_coords, occupancy_grid_map_->getParam().theta_size); + occupancy_grid_map->getMap(), pose_grid_coords, occupancy_grid_map->getParam().theta_size); const bool check_out_of_range = false; - if (occupancy_grid_map_->detectCollision(idx, check_out_of_range)) { + if (occupancy_grid_map->detectCollision(idx, check_out_of_range)) { return true; } } @@ -373,7 +383,9 @@ bool GoalSearcher::checkCollision(const Pose & pose, const PredictedObjects & ob } bool GoalSearcher::checkCollisionWithLongitudinalDistance( - const Pose & ego_pose, const PredictedObjects & objects) const + const Pose & ego_pose, const PredictedObjects & objects, + const std::shared_ptr occupancy_grid_map, + const std::shared_ptr & planner_data) const { if ( parameters_.use_occupancy_grid_for_goal_search && @@ -385,22 +397,22 @@ bool GoalSearcher::checkCollisionWithLongitudinalDistance( // check forward collision const Pose ego_pose_moved_forward = calcOffsetPose(ego_pose, offset, 0, 0); const Pose forward_pose_grid_coords = - global2local(occupancy_grid_map_->getMap(), ego_pose_moved_forward); + global2local(occupancy_grid_map->getMap(), ego_pose_moved_forward); const auto forward_idx = pose2index( - occupancy_grid_map_->getMap(), forward_pose_grid_coords, - occupancy_grid_map_->getParam().theta_size); - if (occupancy_grid_map_->detectCollision(forward_idx, check_out_of_range)) { + occupancy_grid_map->getMap(), forward_pose_grid_coords, + occupancy_grid_map->getParam().theta_size); + if (occupancy_grid_map->detectCollision(forward_idx, check_out_of_range)) { return true; } // check backward collision const Pose ego_pose_moved_backward = calcOffsetPose(ego_pose, -offset, 0, 0); const Pose backward_pose_grid_coords = - global2local(occupancy_grid_map_->getMap(), ego_pose_moved_backward); + global2local(occupancy_grid_map->getMap(), ego_pose_moved_backward); const auto backward_idx = pose2index( - occupancy_grid_map_->getMap(), backward_pose_grid_coords, - occupancy_grid_map_->getParam().theta_size); - if (occupancy_grid_map_->detectCollision(backward_idx, check_out_of_range)) { + occupancy_grid_map->getMap(), backward_pose_grid_coords, + occupancy_grid_map->getParam().theta_size); + if (occupancy_grid_map->detectCollision(backward_idx, check_out_of_range)) { return true; } } @@ -408,23 +420,24 @@ bool GoalSearcher::checkCollisionWithLongitudinalDistance( if (parameters_.use_object_recognition) { if ( utils::calcLongitudinalDistanceFromEgoToObjects( - ego_pose, planner_data_->parameters.base_link2front, - planner_data_->parameters.base_link2rear, objects) < parameters_.longitudinal_margin) { + ego_pose, planner_data->parameters.base_link2front, planner_data->parameters.base_link2rear, + objects) < parameters_.longitudinal_margin) { return true; } } return false; } -void GoalSearcher::createAreaPolygons(std::vector original_search_poses) +void GoalSearcher::createAreaPolygons( + std::vector original_search_poses, const std::shared_ptr & planner_data) { using tier4_autoware_utils::MultiPolygon2d; using tier4_autoware_utils::Point2d; using tier4_autoware_utils::Polygon2d; - const double vehicle_width = planner_data_->parameters.vehicle_width; - const double base_link2front = planner_data_->parameters.base_link2front; - const double base_link2rear = planner_data_->parameters.base_link2rear; + const double vehicle_width = planner_data->parameters.vehicle_width; + const double base_link2front = planner_data->parameters.base_link2front; + const double base_link2rear = planner_data->parameters.base_link2rear; const double max_lateral_offset = parameters_.max_lateral_offset; const auto appendPointToPolygon = @@ -506,10 +519,11 @@ bool GoalSearcher::isInAreas(const LinearRing2d & footprint, const BasicPolygons } GoalCandidate GoalSearcher::getClosetGoalCandidateAlongLanes( - const GoalCandidates & goal_candidates) const + const GoalCandidates & goal_candidates, + const std::shared_ptr & planner_data) const { const auto current_lanes = utils::getExtendedCurrentLanes( - planner_data_, parameters_.backward_goal_search_length, parameters_.forward_goal_search_length, + planner_data, parameters_.backward_goal_search_length, parameters_.forward_goal_search_length, /*forward_only_in_route*/ false); // Define a lambda function to compute the arc length for a given goal candidate. diff --git a/planning/behavior_path_goal_planner_module/src/shift_pull_over.cpp b/planning/behavior_path_goal_planner_module/src/shift_pull_over.cpp index b168da61e6239..33d1eb78e14f6 100644 --- a/planning/behavior_path_goal_planner_module/src/shift_pull_over.cpp +++ b/planning/behavior_path_goal_planner_module/src/shift_pull_over.cpp @@ -28,11 +28,9 @@ namespace behavior_path_planner { ShiftPullOver::ShiftPullOver( rclcpp::Node & node, const GoalPlannerParameters & parameters, - const LaneDepartureChecker & lane_departure_checker, - const std::shared_ptr & occupancy_grid_map) + const LaneDepartureChecker & lane_departure_checker) : PullOverPlannerBase{node, parameters}, lane_departure_checker_{lane_departure_checker}, - occupancy_grid_map_{occupancy_grid_map}, left_side_parking_{parameters.parking_policy == ParkingPolicy::LEFT_SIDE} { } From de21d1a504978df4f2fa380768f2cd83dfa8f4a4 Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Mon, 15 Apr 2024 14:28:30 +0900 Subject: [PATCH 46/54] revert(goal_planner): fix non-thread-safe access in goal_planner (#6740) (#6809) Signed-off-by: Mamoru Sobue --- .../geometric_pull_over.hpp | 6 +- .../goal_planner_module.hpp | 190 ++--- .../goal_searcher.hpp | 36 +- .../goal_searcher_base.hpp | 25 +- .../shift_pull_over.hpp | 6 +- .../src/geometric_pull_over.cpp | 5 +- .../src/goal_planner_module.cpp | 698 ++++++------------ .../src/goal_searcher.cpp | 108 ++- .../src/shift_pull_over.cpp | 4 +- 9 files changed, 364 insertions(+), 714 deletions(-) diff --git a/planning/behavior_path_goal_planner_module/include/behavior_path_goal_planner_module/geometric_pull_over.hpp b/planning/behavior_path_goal_planner_module/include/behavior_path_goal_planner_module/geometric_pull_over.hpp index e67d458874d17..6de1a726d4d4e 100644 --- a/planning/behavior_path_goal_planner_module/include/behavior_path_goal_planner_module/geometric_pull_over.hpp +++ b/planning/behavior_path_goal_planner_module/include/behavior_path_goal_planner_module/geometric_pull_over.hpp @@ -16,6 +16,7 @@ #define BEHAVIOR_PATH_GOAL_PLANNER_MODULE__GEOMETRIC_PULL_OVER_HPP_ #include "behavior_path_goal_planner_module/pull_over_planner_base.hpp" +#include "behavior_path_planner_common/utils/occupancy_grid_based_collision_detector/occupancy_grid_based_collision_detector.hpp" #include "behavior_path_planner_common/utils/parking_departure/geometric_parallel_parking.hpp" #include @@ -33,7 +34,9 @@ class GeometricPullOver : public PullOverPlannerBase public: GeometricPullOver( rclcpp::Node & node, const GoalPlannerParameters & parameters, - const LaneDepartureChecker & lane_departure_checker, const bool is_forward); + const LaneDepartureChecker & lane_departure_checker, + const std::shared_ptr occupancy_grid_map, + const bool is_forward); PullOverPlannerType getPlannerType() const override { @@ -58,6 +61,7 @@ class GeometricPullOver : public PullOverPlannerBase protected: ParallelParkingParameters parallel_parking_parameters_; LaneDepartureChecker lane_departure_checker_{}; + std::shared_ptr occupancy_grid_map_; bool is_forward_{true}; bool left_side_parking_{true}; diff --git a/planning/behavior_path_goal_planner_module/include/behavior_path_goal_planner_module/goal_planner_module.hpp b/planning/behavior_path_goal_planner_module/include/behavior_path_goal_planner_module/goal_planner_module.hpp index 818aa7ff79edb..21ea06531c2f4 100644 --- a/planning/behavior_path_goal_planner_module/include/behavior_path_goal_planner_module/goal_planner_module.hpp +++ b/planning/behavior_path_goal_planner_module/include/behavior_path_goal_planner_module/goal_planner_module.hpp @@ -91,33 +91,6 @@ public: \ DEFINE_SETTER_WITH_MUTEX(TYPE, NAME) \ DEFINE_GETTER_WITH_MUTEX(TYPE, NAME) -enum class DecidingPathStatus { - NOT_DECIDED, - DECIDING, - DECIDED, -}; -using DecidingPathStatusWithStamp = std::pair; - -struct PreviousPullOverData -{ - struct SafetyStatus - { - std::optional safe_start_time{}; - bool is_safe{false}; - }; - - void reset() - { - found_path = false; - safety_status = SafetyStatus{}; - deciding_path_status = DecidingPathStatusWithStamp{}; - } - - bool found_path{false}; - SafetyStatus safety_status{}; - DecidingPathStatusWithStamp deciding_path_status{}; -}; - class ThreadSafeData { public: @@ -172,9 +145,6 @@ class ThreadSafeData void set(const std::shared_ptr & arg) { set_pull_over_path(arg); } void set(const PullOverPath & arg) { set_pull_over_path(arg); } void set(const GoalCandidate & arg) { set_modified_goal_pose(arg); } - void set(const BehaviorModuleOutput & arg) { set_last_previous_module_output(arg); } - void set(const PreviousPullOverData & arg) { set_prev_data(arg); } - void set(const CollisionCheckDebugMap & arg) { set_collision_check(arg); } void clearPullOverPath() { @@ -212,8 +182,6 @@ class ThreadSafeData last_path_update_time_ = std::nullopt; last_path_idx_increment_time_ = std::nullopt; closest_start_pose_ = std::nullopt; - last_previous_module_output_ = std::nullopt; - prev_data_.reset(); } DEFINE_GETTER_WITH_MUTEX(std::shared_ptr, pull_over_path) @@ -225,9 +193,6 @@ class ThreadSafeData DEFINE_SETTER_GETTER_WITH_MUTEX(GoalCandidates, goal_candidates) DEFINE_SETTER_GETTER_WITH_MUTEX(std::optional, modified_goal_pose) DEFINE_SETTER_GETTER_WITH_MUTEX(std::optional, closest_start_pose) - DEFINE_SETTER_GETTER_WITH_MUTEX(std::optional, last_previous_module_output) - DEFINE_SETTER_GETTER_WITH_MUTEX(PreviousPullOverData, prev_data) - DEFINE_SETTER_GETTER_WITH_MUTEX(CollisionCheckDebugMap, collision_check) private: std::shared_ptr pull_over_path_{nullptr}; @@ -238,9 +203,6 @@ class ThreadSafeData std::optional last_path_update_time_; std::optional last_path_idx_increment_time_; std::optional closest_start_pose_{}; - std::optional last_previous_module_output_{}; - PreviousPullOverData prev_data_{}; - CollisionCheckDebugMap collision_check_{}; std::recursive_mutex & mutex_; rclcpp::Clock::SharedPtr clock_; @@ -272,6 +234,33 @@ struct LastApprovalData Pose pose{}; }; +enum class DecidingPathStatus { + NOT_DECIDED, + DECIDING, + DECIDED, +}; +using DecidingPathStatusWithStamp = std::pair; + +struct PreviousPullOverData +{ + struct SafetyStatus + { + std::optional safe_start_time{}; + bool is_safe{false}; + }; + + void reset() + { + found_path = false; + safety_status = SafetyStatus{}; + deciding_path_status = DecidingPathStatusWithStamp{}; + } + + bool found_path{false}; + SafetyStatus safety_status{}; + DecidingPathStatusWithStamp deciding_path_status{}; +}; + // store stop_pose_ pointer with reason string struct PoseWithString { @@ -374,50 +363,6 @@ class GoalPlannerModule : public SceneModuleInterface CandidateOutput planCandidate() const override { return CandidateOutput{}; } private: - /** - * @brief shared data for onTimer(onTimer/onFreespaceParkingTimer just read this) - */ - struct GoalPlannerData - { - GoalPlannerData(const PlannerData & planner_data, const GoalPlannerParameters & parameters) - { - initializeOccupancyGridMap(planner_data, parameters); - }; - GoalPlannerParameters parameters; - std::shared_ptr ego_predicted_path_params; - std::shared_ptr objects_filtering_params; - std::shared_ptr safety_check_params; - tier4_autoware_utils::LinearRing2d vehicle_footprint; - - PlannerData planner_data; - ModuleStatus current_status; - BehaviorModuleOutput previous_module_output; - // collision detector - // need to be shared_ptr to be used in planner and goal searcher - std::shared_ptr occupancy_grid_map; - std::shared_ptr goal_searcher; - - const BehaviorModuleOutput & getPreviousModuleOutput() const { return previous_module_output; } - const ModuleStatus & getCurrentStatus() const { return current_status; } - void updateOccupancyGrid(); - GoalPlannerData clone() const; - void update( - const GoalPlannerParameters & parameters, - const std::shared_ptr & ego_predicted_path_params_, - const std::shared_ptr & objects_filtering_params_, - const std::shared_ptr & safety_check_params_, - const PlannerData & planner_data, const ModuleStatus & current_status, - const BehaviorModuleOutput & previous_module_output, - const std::shared_ptr goal_searcher_, - const tier4_autoware_utils::LinearRing2d & vehicle_footprint); - - private: - void initializeOccupancyGridMap( - const PlannerData & planner_data, const GoalPlannerParameters & parameters); - }; - std::optional gp_planner_data_{std::nullopt}; - std::mutex gp_planner_data_mutex_; - // Flag class for managing whether a certain callback is running in multi-threading class ScopedFlag { @@ -475,10 +420,9 @@ class GoalPlannerModule : public SceneModuleInterface // goal searcher std::shared_ptr goal_searcher_; - // NOTE: this is latest occupancy_grid_map pointer which the local planner_data on - // onFreespaceParkingTimer thread storage may point to while calculation. - // onTimer/onFreespaceParkingTimer and their callees MUST NOT use this - std::shared_ptr occupancy_grid_map_{nullptr}; + // collision detector + // need to be shared_ptr to be used in planner and goal searcher + std::shared_ptr occupancy_grid_map_; // check stopped and stuck state std::deque odometry_buffer_stopped_; @@ -487,10 +431,10 @@ class GoalPlannerModule : public SceneModuleInterface tier4_autoware_utils::LinearRing2d vehicle_footprint_; std::recursive_mutex mutex_; - // TODO(Mamoru Sobue): isSafePath() modifies ThreadSafeData::check_collision, avoid this mutable - mutable ThreadSafeData thread_safe_data_; + ThreadSafeData thread_safe_data_; std::unique_ptr last_approval_data_{nullptr}; + PreviousPullOverData prev_data_{}; // approximate distance from the start point to the end point of pull_over. // this is used as an assumed value to decelerate, etc., before generating the actual path. @@ -516,12 +460,11 @@ class GoalPlannerModule : public SceneModuleInterface mutable PoseWithString debug_stop_pose_with_info_; // collision check - bool checkOccupancyGridCollision( - const PathWithLaneId & path, - const std::shared_ptr occupancy_grid_map) const; + void initializeOccupancyGridMap(); + void updateOccupancyGrid(); + bool checkOccupancyGridCollision(const PathWithLaneId & path) const; bool checkObjectsCollision( - const PathWithLaneId & path, const std::shared_ptr planner_data, - const GoalPlannerParameters & parameters, const double collision_check_margin, + const PathWithLaneId & path, const double collision_check_margin, const bool extract_static_objects, const bool update_debug_data = false) const; // goal seach @@ -544,39 +487,13 @@ class GoalPlannerModule : public SceneModuleInterface bool isStopped( std::deque & odometry_buffer, const double time); bool hasFinishedCurrentPath(); - bool isOnModifiedGoal(const Pose & current_pose, const GoalPlannerParameters & parameters) const; + bool isOnModifiedGoal() const; double calcModuleRequestLength() const; - bool needPathUpdate( - const Pose & current_pose, const double path_update_duration, - const GoalPlannerParameters & parameters) const; - bool isStuck( - const std::shared_ptr planner_data, - const std::shared_ptr occupancy_grid_map, - const GoalPlannerParameters & parameters); - bool hasDecidedPath( - const std::shared_ptr planner_data, - const std::shared_ptr occupancy_grid_map, - const GoalPlannerParameters & parameters, - const std::shared_ptr & ego_predicted_path_params, - const std::shared_ptr & objects_filtering_params, - const std::shared_ptr & safety_check_params, - const std::shared_ptr goal_searcher) const; - bool hasNotDecidedPath( - const std::shared_ptr planner_data, - const std::shared_ptr occupancy_grid_map, - const GoalPlannerParameters & parameters, - const std::shared_ptr & ego_predicted_path_params, - const std::shared_ptr & objects_filtering_params, - const std::shared_ptr & safety_check_params, - const std::shared_ptr goal_searcher) const; - DecidingPathStatusWithStamp checkDecidingPathStatus( - const std::shared_ptr planner_data, - const std::shared_ptr occupancy_grid_map, - const GoalPlannerParameters & parameters, - const std::shared_ptr & ego_predicted_path_params, - const std::shared_ptr & objects_filtering_params, - const std::shared_ptr & safety_check_params, - const std::shared_ptr goal_searcher) const; + bool needPathUpdate(const double path_update_duration) const; + bool isStuck(); + bool hasDecidedPath() const; + bool hasNotDecidedPath() const; + DecidingPathStatusWithStamp checkDecidingPathStatus() const; void decideVelocity(); bool foundPullOverPath() const; void updateStatus(const BehaviorModuleOutput & output); @@ -591,10 +508,7 @@ class GoalPlannerModule : public SceneModuleInterface bool hasEnoughTimePassedSincePathUpdate(const double duration) const; // freespace parking - bool planFreespacePath( - std::shared_ptr planner_data, - const std::shared_ptr goal_searcher, - const std::shared_ptr occupancy_grid_map); + bool planFreespacePath(); bool canReturnToLaneParking(); // plan pull over path @@ -623,12 +537,10 @@ class GoalPlannerModule : public SceneModuleInterface TurnSignalInfo calcTurnSignalInfo(); std::optional ignore_signal_{std::nullopt}; - bool hasPreviousModulePathShapeChanged(const BehaviorModuleOutput & previous_module_output) const; - bool hasDeviatedFromLastPreviousModulePath( - const std::shared_ptr planner_data) const; - bool hasDeviatedFromCurrentPreviousModulePath( - const std::shared_ptr planner_data, - const BehaviorModuleOutput & previous_module_output) const; + std::optional last_previous_module_output_{}; + bool hasPreviousModulePathShapeChanged() const; + bool hasDeviatedFromLastPreviousModulePath() const; + bool hasDeviatedFromCurrentPreviousModulePath() const; // timer for generating pull over path candidates in a separate thread void onTimer(); @@ -644,22 +556,16 @@ class GoalPlannerModule : public SceneModuleInterface // safety check void initializeSafetyCheckParameters(); SafetyCheckParams createSafetyCheckParams() const; - /* void updateSafetyCheckTargetObjectsData( const PredictedObjects & filtered_objects, const TargetObjectsOnLane & target_objects_on_lane, const std::vector & ego_predicted_path) const; - */ /** * @brief Checks if the current path is safe. * @return std::pair * first: If the path is safe for a certain period of time, true. * second: If the path is safe in the current state, true. */ - std::pair isSafePath( - const std::shared_ptr planner_data, const GoalPlannerParameters & parameters, - const std::shared_ptr & ego_predicted_path_params, - const std::shared_ptr & objects_filtering_params, - const std::shared_ptr & safety_check_params) const; + std::pair isSafePath() const; // debug void setDebugData(); diff --git a/planning/behavior_path_goal_planner_module/include/behavior_path_goal_planner_module/goal_searcher.hpp b/planning/behavior_path_goal_planner_module/include/behavior_path_goal_planner_module/goal_searcher.hpp index 89f4086874183..f228ecc378c28 100644 --- a/planning/behavior_path_goal_planner_module/include/behavior_path_goal_planner_module/goal_searcher.hpp +++ b/planning/behavior_path_goal_planner_module/include/behavior_path_goal_planner_module/goal_searcher.hpp @@ -29,45 +29,33 @@ using BasicPolygons2d = std::vector; class GoalSearcher : public GoalSearcherBase { public: - GoalSearcher(const GoalPlannerParameters & parameters, const LinearRing2d & vehicle_footprint); + GoalSearcher( + const GoalPlannerParameters & parameters, const LinearRing2d & vehicle_footprint, + const std::shared_ptr & occupancy_grid_map); - GoalCandidates search( - const std::shared_ptr occupancy_grid_map, - const std::shared_ptr & planner_data) override; - void update( - GoalCandidates & goal_candidates, - const std::shared_ptr occupancy_grid_map, - const std::shared_ptr & planner_data) const override; + GoalCandidates search() override; + void update(GoalCandidates & goal_candidates) const override; // todo(kosuke55): Functions for this specific use should not be in the interface, // so it is better to consider interface design when we implement other goal searchers. GoalCandidate getClosetGoalCandidateAlongLanes( - const GoalCandidates & goal_candidates, - const std::shared_ptr & planner_data) const override; + const GoalCandidates & goal_candidates) const override; bool isSafeGoalWithMarginScaleFactor( - const GoalCandidate & goal_candidate, const double margin_scale_factor, - const std::shared_ptr occupancy_grid_map, - const std::shared_ptr & planner_data) const override; + const GoalCandidate & goal_candidate, const double margin_scale_factor) const override; private: void countObjectsToAvoid( - GoalCandidates & goal_candidates, const PredictedObjects & objects, - const std::shared_ptr & planner_data) const; - void createAreaPolygons( - std::vector original_search_poses, - const std::shared_ptr & planner_data); - bool checkCollision( - const Pose & pose, const PredictedObjects & objects, - const std::shared_ptr occupancy_grid_map) const; + GoalCandidates & goal_candidates, const PredictedObjects & objects) const; + void createAreaPolygons(std::vector original_search_poses); + bool checkCollision(const Pose & pose, const PredictedObjects & objects) const; bool checkCollisionWithLongitudinalDistance( - const Pose & ego_pose, const PredictedObjects & objects, - const std::shared_ptr occupancy_grid_map, - const std::shared_ptr & planner_data) const; + const Pose & ego_pose, const PredictedObjects & objects) const; BasicPolygons2d getNoParkingAreaPolygons(const lanelet::ConstLanelets & lanes) const; BasicPolygons2d getNoStoppingAreaPolygons(const lanelet::ConstLanelets & lanes) const; bool isInAreas(const LinearRing2d & footprint, const BasicPolygons2d & areas) const; LinearRing2d vehicle_footprint_{}; + std::shared_ptr occupancy_grid_map_{}; bool left_side_parking_{true}; }; } // namespace behavior_path_planner diff --git a/planning/behavior_path_goal_planner_module/include/behavior_path_goal_planner_module/goal_searcher_base.hpp b/planning/behavior_path_goal_planner_module/include/behavior_path_goal_planner_module/goal_searcher_base.hpp index f5d879358cd38..2ddacc0aac46d 100644 --- a/planning/behavior_path_goal_planner_module/include/behavior_path_goal_planner_module/goal_searcher_base.hpp +++ b/planning/behavior_path_goal_planner_module/include/behavior_path_goal_planner_module/goal_searcher_base.hpp @@ -17,7 +17,6 @@ #include "behavior_path_goal_planner_module/goal_planner_parameters.hpp" #include "behavior_path_planner_common/data_manager.hpp" -#include "behavior_path_planner_common/utils/occupancy_grid_based_collision_detector/occupancy_grid_based_collision_detector.hpp" #include @@ -50,29 +49,23 @@ class GoalSearcherBase { reference_goal_pose_ = reference_goal_pose; } - const Pose & getReferenceGoal() const { return reference_goal_pose_; } - MultiPolygon2d getAreaPolygons() const { return area_polygons_; } - virtual GoalCandidates search( - const std::shared_ptr occupancy_grid_map, - const std::shared_ptr & planner_data) = 0; - virtual void update( - [[maybe_unused]] GoalCandidates & goal_candidates, - [[maybe_unused]] const std::shared_ptr occupancy_grid_map, - [[maybe_unused]] const std::shared_ptr & planner_data) const + void setPlannerData(const std::shared_ptr & planner_data) { - return; + planner_data_ = planner_data; } + + MultiPolygon2d getAreaPolygons() { return area_polygons_; } + virtual GoalCandidates search() = 0; + virtual void update([[maybe_unused]] GoalCandidates & goal_candidates) const { return; } virtual GoalCandidate getClosetGoalCandidateAlongLanes( - const GoalCandidates & goal_candidates, - const std::shared_ptr & planner_data) const = 0; + const GoalCandidates & goal_candidates) const = 0; virtual bool isSafeGoalWithMarginScaleFactor( - const GoalCandidate & goal_candidate, const double margin_scale_factor, - const std::shared_ptr occupancy_grid_map, - const std::shared_ptr & planner_data) const = 0; + const GoalCandidate & goal_candidate, const double margin_scale_factor) const = 0; protected: GoalPlannerParameters parameters_{}; + std::shared_ptr planner_data_{nullptr}; Pose reference_goal_pose_{}; MultiPolygon2d area_polygons_{}; }; diff --git a/planning/behavior_path_goal_planner_module/include/behavior_path_goal_planner_module/shift_pull_over.hpp b/planning/behavior_path_goal_planner_module/include/behavior_path_goal_planner_module/shift_pull_over.hpp index d0b0aee83e20c..892ef7d5dd303 100644 --- a/planning/behavior_path_goal_planner_module/include/behavior_path_goal_planner_module/shift_pull_over.hpp +++ b/planning/behavior_path_goal_planner_module/include/behavior_path_goal_planner_module/shift_pull_over.hpp @@ -16,6 +16,7 @@ #define BEHAVIOR_PATH_GOAL_PLANNER_MODULE__SHIFT_PULL_OVER_HPP_ #include "behavior_path_goal_planner_module/pull_over_planner_base.hpp" +#include "behavior_path_planner_common/utils/occupancy_grid_based_collision_detector/occupancy_grid_based_collision_detector.hpp" #include @@ -33,7 +34,9 @@ class ShiftPullOver : public PullOverPlannerBase public: ShiftPullOver( rclcpp::Node & node, const GoalPlannerParameters & parameters, - const LaneDepartureChecker & lane_departure_checker); + const LaneDepartureChecker & lane_departure_checker, + const std::shared_ptr & occupancy_grid_map); + PullOverPlannerType getPlannerType() const override { return PullOverPlannerType::SHIFT; }; std::optional plan(const Pose & goal_pose) override; @@ -54,6 +57,7 @@ class ShiftPullOver : public PullOverPlannerBase const Pose & start_pose, const Pose & end_pose, const double resample_interval); LaneDepartureChecker lane_departure_checker_{}; + std::shared_ptr occupancy_grid_map_{}; bool left_side_parking_{true}; }; diff --git a/planning/behavior_path_goal_planner_module/src/geometric_pull_over.cpp b/planning/behavior_path_goal_planner_module/src/geometric_pull_over.cpp index 0779002690f8f..b7d1c240d032a 100644 --- a/planning/behavior_path_goal_planner_module/src/geometric_pull_over.cpp +++ b/planning/behavior_path_goal_planner_module/src/geometric_pull_over.cpp @@ -27,10 +27,13 @@ namespace behavior_path_planner { GeometricPullOver::GeometricPullOver( rclcpp::Node & node, const GoalPlannerParameters & parameters, - const LaneDepartureChecker & lane_departure_checker, const bool is_forward) + const LaneDepartureChecker & lane_departure_checker, + const std::shared_ptr occupancy_grid_map, + const bool is_forward) : PullOverPlannerBase{node, parameters}, parallel_parking_parameters_{parameters.parallel_parking_parameters}, lane_departure_checker_{lane_departure_checker}, + occupancy_grid_map_{occupancy_grid_map}, is_forward_{is_forward}, left_side_parking_{parameters.parking_policy == ParkingPolicy::LEFT_SIDE} { diff --git a/planning/behavior_path_goal_planner_module/src/goal_planner_module.cpp b/planning/behavior_path_goal_planner_module/src/goal_planner_module.cpp index 14fc48b4aeba9..a890cfc21ed13 100644 --- a/planning/behavior_path_goal_planner_module/src/goal_planner_module.cpp +++ b/planning/behavior_path_goal_planner_module/src/goal_planner_module.cpp @@ -78,14 +78,14 @@ GoalPlannerModule::GoalPlannerModule( for (const std::string & planner_type : parameters_->efficient_path_order) { if (planner_type == "SHIFT" && parameters_->enable_shift_parking) { - pull_over_planners_.push_back( - std::make_shared(node, *parameters, lane_departure_checker)); + pull_over_planners_.push_back(std::make_shared( + node, *parameters, lane_departure_checker, occupancy_grid_map_)); } else if (planner_type == "ARC_FORWARD" && parameters_->enable_arc_forward_parking) { pull_over_planners_.push_back(std::make_shared( - node, *parameters, lane_departure_checker, /*is_forward*/ true)); + node, *parameters, lane_departure_checker, occupancy_grid_map_, /*is_forward*/ true)); } else if (planner_type == "ARC_BACKWARD" && parameters_->enable_arc_backward_parking) { pull_over_planners_.push_back(std::make_shared( - node, *parameters, lane_departure_checker, /*is_forward*/ false)); + node, *parameters, lane_departure_checker, occupancy_grid_map_, /*is_forward*/ false)); } } @@ -97,7 +97,8 @@ GoalPlannerModule::GoalPlannerModule( // currently there is only one goal_searcher_type const auto vehicle_info = vehicle_info_util::VehicleInfoUtil(node).getVehicleInfo(); vehicle_footprint_ = vehicle_info.createFootprint(); - goal_searcher_ = std::make_shared(*parameters, vehicle_footprint_); + goal_searcher_ = + std::make_shared(*parameters, vehicle_footprint_, occupancy_grid_map_); // timer callback for generating lane parking candidate paths const auto lane_parking_period_ns = rclcpp::Rate(1.0).period(); @@ -122,44 +123,51 @@ GoalPlannerModule::GoalPlannerModule( // Initialize safety checker if (parameters_->safety_check_params.enable_safety_check) { initializeSafetyCheckParameters(); + utils::parking_departure::initializeCollisionCheckDebugMap(goal_planner_data_.collision_check); } + + prev_data_.reset(); +} + +// This function is needed for waiting for planner_data_ +void GoalPlannerModule::updateOccupancyGrid() +{ + if (!planner_data_->occupancy_grid) { + RCLCPP_WARN_THROTTLE(getLogger(), *clock_, 5000, "occupancy_grid is not ready"); + return; + } + occupancy_grid_map_->setMap(*(planner_data_->occupancy_grid)); } -bool GoalPlannerModule::hasPreviousModulePathShapeChanged( - const BehaviorModuleOutput & previous_module_output) const +bool GoalPlannerModule::hasPreviousModulePathShapeChanged() const { - const auto last_previous_module_output = thread_safe_data_.get_last_previous_module_output(); - if (!last_previous_module_output) { + if (!last_previous_module_output_) { return true; } - const auto current_path = previous_module_output.path; + const auto current_path = getPreviousModuleOutput().path; // the terminal distance is far return calcDistance2d( - last_previous_module_output->path.points.back().point, + last_previous_module_output_->path.points.back().point, current_path.points.back().point) > 0.3; } -bool GoalPlannerModule::hasDeviatedFromLastPreviousModulePath( - const std::shared_ptr planner_data) const +bool GoalPlannerModule::hasDeviatedFromLastPreviousModulePath() const { - const auto last_previous_module_output = thread_safe_data_.get_last_previous_module_output(); - if (!last_previous_module_output) { + if (!last_previous_module_output_) { return true; } return std::abs(motion_utils::calcLateralOffset( - last_previous_module_output->path.points, - planner_data->self_odometry->pose.pose.position)) > 0.3; + last_previous_module_output_->path.points, + planner_data_->self_odometry->pose.pose.position)) > 0.3; } -bool GoalPlannerModule::hasDeviatedFromCurrentPreviousModulePath( - const std::shared_ptr planner_data, - const BehaviorModuleOutput & previous_module_output) const +bool GoalPlannerModule::hasDeviatedFromCurrentPreviousModulePath() const { return std::abs(motion_utils::calcLateralOffset( - previous_module_output.path.points, planner_data->self_odometry->pose.pose.position)) > - 0.3; + getPreviousModuleOutput().path.points, + planner_data_->self_odometry->pose.pose.position)) > 0.3; } // generate pull over candidate paths @@ -167,50 +175,7 @@ void GoalPlannerModule::onTimer() { const ScopedFlag flag(is_lane_parking_cb_running_); - std::shared_ptr local_planner_data{nullptr}; - std::optional current_status_opt{std::nullopt}; - std::optional previous_module_output_opt{std::nullopt}; - std::shared_ptr occupancy_grid_map{nullptr}; - std::optional parameters_opt{std::nullopt}; - std::shared_ptr ego_predicted_path_params{nullptr}; - std::shared_ptr objects_filtering_params{nullptr}; - std::shared_ptr safety_check_params{nullptr}; - std::shared_ptr goal_searcher{nullptr}; - - // begin of critical section - { - std::lock_guard guard(gp_planner_data_mutex_); - if (gp_planner_data_) { - const auto & gp_planner_data = gp_planner_data_.value(); - local_planner_data = std::make_shared(gp_planner_data.planner_data); - current_status_opt = gp_planner_data.current_status; - previous_module_output_opt = gp_planner_data.previous_module_output; - occupancy_grid_map = gp_planner_data.occupancy_grid_map; - parameters_opt = gp_planner_data.parameters; - ego_predicted_path_params = gp_planner_data.ego_predicted_path_params; - objects_filtering_params = gp_planner_data.objects_filtering_params; - safety_check_params = gp_planner_data.safety_check_params; - goal_searcher = gp_planner_data.goal_searcher; - } - } - // end of critical section - if ( - !local_planner_data || !current_status_opt || !previous_module_output_opt || - !occupancy_grid_map || !parameters_opt || !ego_predicted_path_params || - !objects_filtering_params || !safety_check_params || !goal_searcher) { - RCLCPP_ERROR( - getLogger(), - "failed to get valid " - "local_planner_data/current_status/previous_module_output/occupancy_grid_map/parameters_opt/" - "ego_predicted_path_params/objects_filtering_params/safety_check_params/goal_searcher in " - "onTimer"); - return; - } - const auto & current_status = current_status_opt.value(); - const auto & previous_module_output = previous_module_output_opt.value(); - const auto & parameters = parameters_opt.value(); - - if (current_status == ModuleStatus::IDLE) { + if (getCurrentStatus() == ModuleStatus::IDLE) { return; } @@ -219,31 +184,27 @@ void GoalPlannerModule::onTimer() return; } - if (!utils::isAllowedGoalModification(local_planner_data->route_handler)) { + if (!planner_data_ || !utils::isAllowedGoalModification(planner_data_->route_handler)) { return; } // check if new pull over path candidates are needed to be generated const bool need_update = std::invoke([&]() { - if (isOnModifiedGoal(local_planner_data->self_odometry->pose.pose, parameters)) { + if (isOnModifiedGoal()) { return false; } - if (hasDeviatedFromCurrentPreviousModulePath(local_planner_data, previous_module_output)) { + if (hasDeviatedFromCurrentPreviousModulePath()) { RCLCPP_DEBUG(getLogger(), "has deviated from current previous module path"); return false; } if (thread_safe_data_.get_pull_over_path_candidates().empty()) { return true; } - if (hasPreviousModulePathShapeChanged(previous_module_output)) { + if (hasPreviousModulePathShapeChanged()) { RCLCPP_DEBUG(getLogger(), "has previous module path shape changed"); return true; } - if ( - hasDeviatedFromLastPreviousModulePath(local_planner_data) && - !hasDecidedPath( - local_planner_data, occupancy_grid_map, parameters, ego_predicted_path_params, - objects_filtering_params, safety_check_params, goal_searcher)) { + if (hasDeviatedFromLastPreviousModulePath() && !hasDecidedPath()) { RCLCPP_DEBUG(getLogger(), "has deviated from last previous module path"); return true; } @@ -253,12 +214,13 @@ void GoalPlannerModule::onTimer() return; } + const auto previous_module_output = getPreviousModuleOutput(); const auto goal_candidates = thread_safe_data_.get_goal_candidates(); // generate valid pull over path candidates and calculate closest start pose const auto current_lanes = utils::getExtendedCurrentLanes( - local_planner_data, parameters.backward_goal_search_length, - parameters.forward_goal_search_length, + planner_data_, parameters_->backward_goal_search_length, + parameters_->forward_goal_search_length, /*forward_only_in_route*/ false); std::vector path_candidates{}; std::optional closest_start_pose{}; @@ -266,7 +228,7 @@ void GoalPlannerModule::onTimer() const auto planCandidatePaths = [&]( const std::shared_ptr & planner, const GoalCandidate & goal_candidate) { - planner->setPlannerData(local_planner_data); + planner->setPlannerData(planner_data_); planner->setPreviousModuleOutput(previous_module_output); auto pull_over_path = planner->plan(goal_candidate.goal_pose); if (pull_over_path) { @@ -292,7 +254,7 @@ void GoalPlannerModule::onTimer() is_center_line_input_path); // plan candidate paths and set them to the member variable - if (parameters.path_priority == "efficient_path") { + if (parameters_->path_priority == "efficient_path") { for (const auto & planner : pull_over_planners_) { // todo: temporary skip NON SHIFT planner when input path is not center line if (!is_center_line_input_path && planner->getPlannerType() != PullOverPlannerType::SHIFT) { @@ -302,7 +264,7 @@ void GoalPlannerModule::onTimer() planCandidatePaths(planner, goal_candidate); } } - } else if (parameters.path_priority == "close_goal") { + } else if (parameters_->path_priority == "close_goal") { for (const auto & goal_candidate : goal_candidates) { for (const auto & planner : pull_over_planners_) { // todo: temporary skip NON SHIFT planner when input path is not center line @@ -315,76 +277,49 @@ void GoalPlannerModule::onTimer() } else { RCLCPP_ERROR( getLogger(), "path_priority should be efficient_path or close_goal, but %s is given.", - parameters.path_priority.c_str()); + parameters_->path_priority.c_str()); throw std::domain_error("[pull_over] invalid path_priority"); } // set member variables - thread_safe_data_.set_pull_over_path_candidates(path_candidates); - thread_safe_data_.set_closest_start_pose(closest_start_pose); - RCLCPP_INFO(getLogger(), "generated %lu pull over path candidates", path_candidates.size()); + { + const std::lock_guard lock(mutex_); + thread_safe_data_.set_pull_over_path_candidates(path_candidates); + thread_safe_data_.set_closest_start_pose(closest_start_pose); + RCLCPP_INFO(getLogger(), "generated %lu pull over path candidates", path_candidates.size()); + } - thread_safe_data_.set_last_previous_module_output(previous_module_output); + last_previous_module_output_ = previous_module_output; } void GoalPlannerModule::onFreespaceParkingTimer() { const ScopedFlag flag(is_freespace_parking_cb_running_); - std::shared_ptr local_planner_data{nullptr}; - std::optional current_status_opt{std::nullopt}; - std::shared_ptr occupancy_grid_map{nullptr}; - std::optional parameters_opt{std::nullopt}; - std::shared_ptr goal_searcher{nullptr}; - - // begin of critical section - { - std::lock_guard guard(gp_planner_data_mutex_); - if (gp_planner_data_) { - const auto & gp_planner_data = gp_planner_data_.value(); - local_planner_data = std::make_shared(gp_planner_data.planner_data); - current_status_opt = gp_planner_data.current_status; - occupancy_grid_map = gp_planner_data.occupancy_grid_map; - parameters_opt = gp_planner_data.parameters; - goal_searcher = gp_planner_data.goal_searcher; - } - } - // end of critical section - if (!local_planner_data || !current_status_opt || !parameters_opt || !goal_searcher) { - RCLCPP_ERROR( - getLogger(), - "failed to get valid planner_data/current_status/parameters/goal_searcher in " - "onFreespaceParkingTimer"); + if (getCurrentStatus() == ModuleStatus::IDLE) { return; } - const auto & current_status = current_status_opt.value(); - const auto & parameters = parameters_opt.value(); - - if (current_status == ModuleStatus::IDLE) { + if (!planner_data_) { return; } - - if (!local_planner_data->costmap) { + if (!planner_data_->costmap) { return; } // fixed goal planner do not use freespace planner - if (!utils::isAllowedGoalModification(local_planner_data->route_handler)) { + if (!utils::isAllowedGoalModification(planner_data_->route_handler)) { return; } - if (isOnModifiedGoal(local_planner_data->self_odometry->pose.pose, parameters)) { + if (isOnModifiedGoal()) { return; } const bool is_new_costmap = - (clock_->now() - local_planner_data->costmap->header.stamp).seconds() < 1.0; + (clock_->now() - planner_data_->costmap->header.stamp).seconds() < 1.0; constexpr double path_update_duration = 1.0; - if ( - isStuck(local_planner_data, occupancy_grid_map, parameters) && is_new_costmap && - needPathUpdate( - local_planner_data->self_odometry->pose.pose, path_update_duration, parameters)) { - planFreespacePath(local_planner_data, goal_searcher, occupancy_grid_map); + if (isStuck() && is_new_costmap && needPathUpdate(path_update_duration)) { + planFreespacePath(); } } @@ -414,64 +349,28 @@ void GoalPlannerModule::updateObjectsFilteringParams( void GoalPlannerModule::updateData() { - // In PlannerManager::run(), it calls SceneModuleInterface::setData and - // SceneModuleInterface::setPreviousModuleOutput before module_ptr->run(). - // Then module_ptr->run() invokes GoalPlannerModule::updateData and then - // planWaitingApproval()/plan(), so we can copy latest current_status/previous_module_output to - // gp_planner_data_ here - - // NOTE: onTimer/onFreespaceParkingTimer copies gp_planner_data_ to their local clone, so we need - // to lock gp_planner_data_ here to avoid data race. But the following clone process is - // lightweight because most of the member variables of PlannerData/RouteHandler is - // shared_ptrs/bool - // begin of critical section - { - std::lock_guard guard(gp_planner_data_mutex_); - if (!gp_planner_data_) { - gp_planner_data_ = GoalPlannerData(*planner_data_, *parameters_); - } - auto & gp_planner_data = gp_planner_data_.value(); - // NOTE: for the above reasons, PlannerManager/behavior_path_planner_node ensure that - // planner_data_ is not nullptr, so it is OK to copy as value - // By copying PlannerData as value, the internal shared member variables are also copied - // (reference count is incremented), so `gp_planner_data_.foo` is now thread-safe from the - // **re-pointing** by `planner_data_->foo = msg` in behavior_path_planner::onCallbackFor(msg) - // and if these two coincided, only the reference count is affected - gp_planner_data.update( - *parameters_, ego_predicted_path_params_, objects_filtering_params_, safety_check_params_, - *planner_data_, getCurrentStatus(), getPreviousModuleOutput(), goal_searcher_, - vehicle_footprint_); - // NOTE: RouteHandler holds several shared pointers in it, so just copying PlannerData as - // value does not adds the reference counts of RouteHandler.lanelet_map_ptr_ and others. Since - // behavior_path_planner::run() updates - // planner_data_->route_handler->lanelet_map_ptr_/routing_graph_ptr_ especially, we also have - // to copy route_handler as value to use lanelet_map_ptr_/routing_graph_ptr_ thread-safely in - // onTimer/onFreespaceParkingTimer - // TODO(Mamoru Sobue): If the copy of RouteHandler.road_lanelets/shoulder_lanelets is not - // lightweight, we should update gp_planner_data_.route_handler only when - // `planner_data_.is_route_handler_updated` variable is set true by behavior_path_planner - // (although this flag is not implemented yet). In that case, gp_planner_data members except - // for route_handler should be copied from planner_data_ - - // GoalPlannerModule::occupancy_grid_map_ and gp_planner_data.occupancy_grid_map share the - // ownership, and gp_planner_data.occupancy_grid_map maybe also shared by the local - // planner_data on onFreespaceParkingTimer thread local memory space. So following operation - // is thread-safe because gp_planner_data.occupancy_grid_map is only re-pointed here and its - // prior resource is still owned by the onFreespaceParkingTimer thread locally. - occupancy_grid_map_ = gp_planner_data.occupancy_grid_map; - } - // end of critical section - if (getCurrentStatus() == ModuleStatus::IDLE && !isExecutionRequested()) { return; } + // Initialize Occupancy Grid Map + // This operation requires waiting for `planner_data_`, hence it is executed here instead of in + // the constructor. Ideally, this operation should only need to be performed once. + if ( + parameters_->use_occupancy_grid_for_goal_search || + parameters_->use_occupancy_grid_for_path_collision_check) { + initializeOccupancyGridMap(); + } + resetPathCandidate(); resetPathReference(); path_reference_ = std::make_shared(getPreviousModuleOutput().reference_path); + updateOccupancyGrid(); + // update goal searcher and generate goal candidates if (thread_safe_data_.get_goal_candidates().empty()) { + goal_searcher_->setPlannerData(planner_data_); goal_searcher_->setReferenceGoal( calcRefinedGoal(planner_data_->route_handler->getOriginalGoalPose())); thread_safe_data_.set_goal_candidates(generateGoalCandidates()); @@ -492,6 +391,21 @@ void GoalPlannerModule::updateData() } } +void GoalPlannerModule::initializeOccupancyGridMap() +{ + OccupancyGridMapParam occupancy_grid_map_param{}; + const double margin = parameters_->occupancy_grid_collision_check_margin; + occupancy_grid_map_param.vehicle_shape.length = + planner_data_->parameters.vehicle_length + 2 * margin; + occupancy_grid_map_param.vehicle_shape.width = + planner_data_->parameters.vehicle_width + 2 * margin; + occupancy_grid_map_param.vehicle_shape.base2back = + planner_data_->parameters.base_link2rear + margin; + occupancy_grid_map_param.theta_size = parameters_->theta_size; + occupancy_grid_map_param.obstacle_threshold = parameters_->obstacle_threshold; + occupancy_grid_map_->setParam(occupancy_grid_map_param); +} + void GoalPlannerModule::initializeSafetyCheckParameters() { updateEgoPredictedPathParams(ego_predicted_path_params_, parameters_); @@ -504,7 +418,7 @@ void GoalPlannerModule::processOnExit() resetPathCandidate(); resetPathReference(); debug_marker_.markers.clear(); - thread_safe_data_.reset(); + prev_data_.reset(); last_approval_data_.reset(); } @@ -587,10 +501,7 @@ bool GoalPlannerModule::isExecutionRequested() const bool GoalPlannerModule::isExecutionReady() const { if (parameters_->safety_check_params.enable_safety_check && isWaitingApproval()) { - if (!isSafePath( - planner_data_, *parameters_, ego_predicted_path_params_, objects_filtering_params_, - safety_check_params_) - .first) { + if (!isSafePath().first) { RCLCPP_ERROR_THROTTLE(getLogger(), *clock_, 5000, "Path is not safe against dynamic objects"); return false; } @@ -673,17 +584,18 @@ Pose GoalPlannerModule::calcRefinedGoal(const Pose & goal_pose) const return refined_goal_pose; } -bool GoalPlannerModule::planFreespacePath( - std::shared_ptr planner_data, - const std::shared_ptr goal_searcher, - const std::shared_ptr occupancy_grid_map) +bool GoalPlannerModule::planFreespacePath() { GoalCandidates goal_candidates{}; - goal_candidates = thread_safe_data_.get_goal_candidates(); - goal_searcher->update(goal_candidates, occupancy_grid_map, planner_data); - thread_safe_data_.set_goal_candidates(goal_candidates); - debug_data_.freespace_planner.num_goal_candidates = goal_candidates.size(); - debug_data_.freespace_planner.is_planning = true; + { + const std::lock_guard lock(mutex_); + goal_searcher_->setPlannerData(planner_data_); + goal_candidates = thread_safe_data_.get_goal_candidates(); + goal_searcher_->update(goal_candidates); + thread_safe_data_.set_goal_candidates(goal_candidates); + debug_data_.freespace_planner.num_goal_candidates = goal_candidates.size(); + debug_data_.freespace_planner.is_planning = true; + } for (size_t i = 0; i < goal_candidates.size(); i++) { const auto goal_candidate = goal_candidates.at(i); @@ -695,7 +607,7 @@ bool GoalPlannerModule::planFreespacePath( if (!goal_candidate.is_safe) { continue; } - freespace_planner_->setPlannerData(planner_data); + freespace_planner_->setPlannerData(planner_data_); auto freespace_path = freespace_planner_->plan(goal_candidate.goal_pose); freespace_path->goal_id = goal_candidate.id; if (!freespace_path) { @@ -733,15 +645,13 @@ bool GoalPlannerModule::canReturnToLaneParking() if ( parameters_->use_object_recognition && checkObjectsCollision( - path, planner_data_, *parameters_, - parameters_->object_recognition_collision_check_hard_margins.back(), + path, parameters_->object_recognition_collision_check_hard_margins.back(), /*extract_static_objects=*/false)) { return false; } if ( - parameters_->use_occupancy_grid_for_path_collision_check && - checkOccupancyGridCollision(path, occupancy_grid_map_)) { + parameters_->use_occupancy_grid_for_path_collision_check && checkOccupancyGridCollision(path)) { return false; } @@ -761,7 +671,7 @@ GoalCandidates GoalPlannerModule::generateGoalCandidates() const // calculate goal candidates const auto & route_handler = planner_data_->route_handler; if (utils::isAllowedGoalModification(route_handler)) { - return goal_searcher_->search(occupancy_grid_map_, planner_data_); + return goal_searcher_->search(); } // NOTE: @@ -868,7 +778,7 @@ std::vector GoalPlannerModule::sortPullOverPathCandidatesByGoalPri utils::resamplePathWithSpline(pull_over_path.getParkingPath(), 0.5); for (const auto & margin : margins) { if (!checkObjectsCollision( - resampled_path, planner_data_, *parameters_, margin, + resampled_path, margin, /*extract_static_objects=*/true)) { return margin; } @@ -955,17 +865,16 @@ std::optional> GoalPlannerModule::selectP const auto resampled_path = utils::resamplePathWithSpline(pull_over_path.getParkingPath(), 0.5); if ( - parameters_->use_object_recognition && - checkObjectsCollision( - resampled_path, planner_data_, *parameters_, collision_check_margin, - /*extract_static_objects=*/true, - /*update_debug_data=*/true)) { + parameters_->use_object_recognition && checkObjectsCollision( + resampled_path, collision_check_margin, + /*extract_static_objects=*/true, + /*update_debug_data=*/true)) { continue; } if ( parameters_->use_occupancy_grid_for_path_collision_check && - checkOccupancyGridCollision(resampled_path, occupancy_grid_map_)) { + checkOccupancyGridCollision(resampled_path)) { continue; } @@ -1001,12 +910,7 @@ void GoalPlannerModule::setOutput(BehaviorModuleOutput & output) } if ( - parameters_->safety_check_params.enable_safety_check && - !isSafePath( - planner_data_, *parameters_, ego_predicted_path_params_, objects_filtering_params_, - safety_check_params_) - .first && - isActivated()) { + parameters_->safety_check_params.enable_safety_check && !isSafePath().first && isActivated()) { // situation : not safe against dynamic objects after approval // insert stop point in current path if ego is able to stop with acceleration and jerk // constraints @@ -1029,11 +933,7 @@ void GoalPlannerModule::setOutput(BehaviorModuleOutput & output) setDrivableAreaInfo(output); // set hazard and turn signal - if ( - hasDecidedPath( - planner_data_, occupancy_grid_map_, *parameters_, ego_predicted_path_params_, - objects_filtering_params_, safety_check_params_, goal_searcher_) && - isActivated()) { + if (hasDecidedPath() && isActivated()) { setTurnSignalInfo(output); } } @@ -1097,47 +997,20 @@ void GoalPlannerModule::updateSteeringFactor( pose, distance, PlanningBehavior::GOAL_PLANNER, steering_factor_direction, type, ""); } -bool GoalPlannerModule::hasDecidedPath( - const std::shared_ptr planner_data, - const std::shared_ptr occupancy_grid_map, - const GoalPlannerParameters & parameters, - const std::shared_ptr & ego_predicted_path_params, - const std::shared_ptr & objects_filtering_params, - const std::shared_ptr & safety_check_params, - const std::shared_ptr goal_searcher) const -{ - return checkDecidingPathStatus( - planner_data, occupancy_grid_map, parameters, ego_predicted_path_params, - objects_filtering_params, safety_check_params, goal_searcher) - .first == DecidingPathStatus::DECIDED; -} - -bool GoalPlannerModule::hasNotDecidedPath( - const std::shared_ptr planner_data, - const std::shared_ptr occupancy_grid_map, - const GoalPlannerParameters & parameters, - const std::shared_ptr & ego_predicted_path_params, - const std::shared_ptr & objects_filtering_params, - const std::shared_ptr & safety_check_params, - const std::shared_ptr goal_searcher) const -{ - return checkDecidingPathStatus( - planner_data, occupancy_grid_map, parameters, ego_predicted_path_params, - objects_filtering_params, safety_check_params, goal_searcher) - .first == DecidingPathStatus::NOT_DECIDED; -} - -DecidingPathStatusWithStamp GoalPlannerModule::checkDecidingPathStatus( - const std::shared_ptr planner_data, - const std::shared_ptr occupancy_grid_map, - const GoalPlannerParameters & parameters, - const std::shared_ptr & ego_predicted_path_params, - const std::shared_ptr & objects_filtering_params, - const std::shared_ptr & safety_check_params, - const std::shared_ptr goal_searcher) const -{ - const auto & prev_status = thread_safe_data_.get_prev_data().deciding_path_status; - const bool enable_safety_check = parameters.safety_check_params.enable_safety_check; +bool GoalPlannerModule::hasDecidedPath() const +{ + return checkDecidingPathStatus().first == DecidingPathStatus::DECIDED; +} + +bool GoalPlannerModule::hasNotDecidedPath() const +{ + return checkDecidingPathStatus().first == DecidingPathStatus::NOT_DECIDED; +} + +DecidingPathStatusWithStamp GoalPlannerModule::checkDecidingPathStatus() const +{ + const auto & prev_status = prev_data_.deciding_path_status; + const bool enable_safety_check = parameters_->safety_check_params.enable_safety_check; // Once this function returns true, it will continue to return true thereafter if (prev_status.first == DecidingPathStatus::DECIDED) { @@ -1151,13 +1024,7 @@ DecidingPathStatusWithStamp GoalPlannerModule::checkDecidingPathStatus( // If it is dangerous against dynamic objects before approval, do not determine the path. // This eliminates a unsafe path to be approved - if ( - enable_safety_check && - !isSafePath( - planner_data, parameters, ego_predicted_path_params, objects_filtering_params, - safety_check_params) - .first && - !isActivated()) { + if (enable_safety_check && !isSafePath().first && !isActivated()) { RCLCPP_DEBUG( getLogger(), "[DecidingPathStatus]: NOT_DECIDED. path is not safe against dynamic objects before " @@ -1173,11 +1040,11 @@ DecidingPathStatusWithStamp GoalPlannerModule::checkDecidingPathStatus( const double hysteresis_factor = 0.9; // check goal pose collision + goal_searcher_->setPlannerData(planner_data_); const auto modified_goal_opt = thread_safe_data_.get_modified_goal_pose(); if ( - modified_goal_opt && - !goal_searcher->isSafeGoalWithMarginScaleFactor( - modified_goal_opt.value(), hysteresis_factor, occupancy_grid_map, planner_data)) { + modified_goal_opt && !goal_searcher_->isSafeGoalWithMarginScaleFactor( + modified_goal_opt.value(), hysteresis_factor)) { RCLCPP_DEBUG(getLogger(), "[DecidingPathStatus]: DECIDING->NOT_DECIDED. goal is not safe"); return {DecidingPathStatus::NOT_DECIDED, clock_->now()}; } @@ -1185,20 +1052,15 @@ DecidingPathStatusWithStamp GoalPlannerModule::checkDecidingPathStatus( // check current parking path collision const auto parking_path = utils::resamplePathWithSpline(pull_over_path->getParkingPath(), 0.5); const double margin = - parameters.object_recognition_collision_check_hard_margins.back() * hysteresis_factor; - if (checkObjectsCollision( - parking_path, planner_data, parameters, margin, /*extract_static_objects=*/false)) { + parameters_->object_recognition_collision_check_hard_margins.back() * hysteresis_factor; + if (checkObjectsCollision(parking_path, margin, /*extract_static_objects=*/false)) { RCLCPP_DEBUG( getLogger(), "[DecidingPathStatus]: DECIDING->NOT_DECIDED. path has collision with objects"); return {DecidingPathStatus::NOT_DECIDED, clock_->now()}; } - if ( - enable_safety_check && !isSafePath( - planner_data, parameters, ego_predicted_path_params, - objects_filtering_params, safety_check_params) - .first) { + if (enable_safety_check && !isSafePath().first) { RCLCPP_DEBUG( getLogger(), "[DecidingPathStatus]: DECIDING->NOT_DECIDED. path is not safe against dynamic objects"); @@ -1222,7 +1084,7 @@ DecidingPathStatusWithStamp GoalPlannerModule::checkDecidingPathStatus( } // if ego is sufficiently close to the start of the nearest candidate path, the path is decided - const auto & current_pose = planner_data->self_odometry->pose.pose; + const auto & current_pose = planner_data_->self_odometry->pose.pose; const size_t ego_segment_idx = motion_utils::findNearestSegmentIndex(current_path.points, current_pose.position); @@ -1231,13 +1093,13 @@ DecidingPathStatusWithStamp GoalPlannerModule::checkDecidingPathStatus( const double dist_to_parking_start_pose = calcSignedArcLength( current_path.points, current_pose.position, ego_segment_idx, pull_over_path->start_pose.position, start_pose_segment_idx); - if (dist_to_parking_start_pose > parameters.decide_path_distance) { + if (dist_to_parking_start_pose > parameters_->decide_path_distance) { return {DecidingPathStatus::NOT_DECIDED, clock_->now()}; } // if object recognition for path collision check is enabled, transition to DECIDING to check // collision for a certain period of time. Otherwise, transition to DECIDED directly. - if (parameters.use_object_recognition) { + if (parameters_->use_object_recognition) { RCLCPP_DEBUG( getLogger(), "[DecidingPathStatus]: NOT_DECIDED->DECIDING. start checking collision for certain " @@ -1262,9 +1124,7 @@ void GoalPlannerModule::decideVelocity() BehaviorModuleOutput GoalPlannerModule::planPullOver() { - if (!hasDecidedPath( - planner_data_, occupancy_grid_map_, *parameters_, ego_predicted_path_params_, - objects_filtering_params_, safety_check_params_, goal_searcher_)) { + if (!hasDecidedPath()) { return planPullOverAsCandidate(); } @@ -1308,12 +1168,7 @@ BehaviorModuleOutput GoalPlannerModule::planPullOverAsOutput() return getPreviousModuleOutput(); } - if ( - hasNotDecidedPath( - planner_data_, occupancy_grid_map_, *parameters_, ego_predicted_path_params_, - objects_filtering_params_, safety_check_params_, goal_searcher_) && - needPathUpdate( - planner_data_->self_odometry->pose.pose, 1.0 /*path_update_duration*/, *parameters_)) { + if (hasNotDecidedPath() && needPathUpdate(1.0 /*path_update_duration*/)) { // if the final path is not decided and enough time has passed since last path update, // select safe path from lane parking pull over path candidates // and set it to thread_safe_data_ @@ -1322,8 +1177,9 @@ BehaviorModuleOutput GoalPlannerModule::planPullOverAsOutput() thread_safe_data_.clearPullOverPath(); // update goal candidates + goal_searcher_->setPlannerData(planner_data_); auto goal_candidates = thread_safe_data_.get_goal_candidates(); - goal_searcher_->update(goal_candidates, occupancy_grid_map_, planner_data_); + goal_searcher_->update(goal_candidates); // update pull over path candidates const auto pull_over_path_candidates = sortPullOverPathCandidatesByGoalPriority( @@ -1384,14 +1240,9 @@ void GoalPlannerModule::postProcess() return; } + const bool has_decided_path = hasDecidedPath(); const auto distance_to_path_change = calcDistanceToPathChange(); - // TODO(Mamoru Sobue): repetitive call to checkDecidingPathStatus() in the main thread is a - // waste of time because it gives same result throughout the main thread. - const bool has_decided_path = hasDecidedPath( - planner_data_, occupancy_grid_map_, *parameters_, ego_predicted_path_params_, - objects_filtering_params_, safety_check_params_, goal_searcher_); - if (has_decided_path) { updateRTCStatus(distance_to_path_change.first, distance_to_path_change.second); } @@ -1409,35 +1260,27 @@ void GoalPlannerModule::updatePreviousData() { // for the next loop setOutput(). // this is used to determine whether to generate a new stop path or keep the current stop path. - // TODO(Mamoru Sobue): put prev_data_ out of ThreadSafeData - auto prev_data = thread_safe_data_.get_prev_data(); - prev_data.found_path = thread_safe_data_.foundPullOverPath(); + prev_data_.found_path = thread_safe_data_.foundPullOverPath(); - prev_data.deciding_path_status = checkDecidingPathStatus( - planner_data_, occupancy_grid_map_, *parameters_, ego_predicted_path_params_, - objects_filtering_params_, safety_check_params_, goal_searcher_); + prev_data_.deciding_path_status = checkDecidingPathStatus(); // This is related to safety check, so if it is disabled, return here. if (!parameters_->safety_check_params.enable_safety_check) { - prev_data.safety_status.is_safe = true; - } else { - // Even if the current path is safe, it will not be safe unless it stands for a certain period - // of time. Record the time when the current path has become safe - const auto [is_safe, current_is_safe] = isSafePath( - planner_data_, *parameters_, ego_predicted_path_params_, objects_filtering_params_, - safety_check_params_); - if (current_is_safe) { - if (!prev_data.safety_status.safe_start_time) { - prev_data.safety_status.safe_start_time = clock_->now(); - } - } else { - prev_data.safety_status.safe_start_time = std::nullopt; - } - prev_data.safety_status.is_safe = is_safe; + prev_data_.safety_status.is_safe = true; + return; } - // commit the change - thread_safe_data_.set_prev_data(prev_data); + // Even if the current path is safe, it will not be safe unless it stands for a certain period of + // time. Record the time when the current path has become safe + const auto [is_safe, current_is_safe] = isSafePath(); + if (current_is_safe) { + if (!prev_data_.safety_status.safe_start_time) { + prev_data_.safety_status.safe_start_time = clock_->now(); + } + } else { + prev_data_.safety_status.safe_start_time = std::nullopt; + } + prev_data_.safety_status.is_safe = is_safe; } BehaviorModuleOutput GoalPlannerModule::planWaitingApproval() @@ -1514,8 +1357,8 @@ PathWithLaneId GoalPlannerModule::generateStopPath() const // calculate search start offset pose from the closest goal candidate pose with // approximate_pull_over_distance_ ego vehicle decelerates to this position. or if no feasible // stop point is found, stop at this position. - const auto closest_goal_candidate = goal_searcher_->getClosetGoalCandidateAlongLanes( - thread_safe_data_.get_goal_candidates(), planner_data_); + const auto closest_goal_candidate = + goal_searcher_->getClosetGoalCandidateAlongLanes(thread_safe_data_.get_goal_candidates()); const auto decel_pose = calcLongitudinalOffsetPose( extended_prev_path.points, closest_goal_candidate.goal_pose.position, -approximate_pull_over_distance_); @@ -1643,13 +1486,10 @@ bool GoalPlannerModule::isStopped() return isStopped(odometry_buffer_stopped_, parameters_->th_stopped_time); } -bool GoalPlannerModule::isStuck( - const std::shared_ptr planner_data, - const std::shared_ptr occupancy_grid_map, - const GoalPlannerParameters & parameters) +bool GoalPlannerModule::isStuck() { const std::lock_guard lock(mutex_); - if (isOnModifiedGoal(planner_data->self_odometry->pose.pose, parameters)) { + if (isOnModifiedGoal()) { return false; } @@ -1669,18 +1509,17 @@ bool GoalPlannerModule::isStuck( } if ( - parameters.use_object_recognition && + parameters_->use_object_recognition && checkObjectsCollision( - thread_safe_data_.get_pull_over_path()->getCurrentPath(), planner_data, parameters, + thread_safe_data_.get_pull_over_path()->getCurrentPath(), /*extract_static_objects=*/false, - parameters.object_recognition_collision_check_hard_margins.back())) { + parameters_->object_recognition_collision_check_hard_margins.back())) { return true; } if ( - parameters.use_occupancy_grid_for_path_collision_check && - checkOccupancyGridCollision( - thread_safe_data_.get_pull_over_path()->getCurrentPath(), occupancy_grid_map)) { + parameters_->use_occupancy_grid_for_path_collision_check && + checkOccupancyGridCollision(thread_safe_data_.get_pull_over_path()->getCurrentPath())) { return true; } @@ -1726,15 +1565,15 @@ bool GoalPlannerModule::hasFinishedCurrentPath() parameters_->th_arrived_distance; } -bool GoalPlannerModule::isOnModifiedGoal( - const Pose & current_pose, const GoalPlannerParameters & parameters) const +bool GoalPlannerModule::isOnModifiedGoal() const { if (!thread_safe_data_.get_modified_goal_pose()) { return false; } + const Pose current_pose = planner_data_->self_odometry->pose.pose; return calcDistance2d(current_pose, thread_safe_data_.get_modified_goal_pose()->goal_pose) < - parameters.th_arrived_distance; + parameters_->th_arrived_distance; } TurnSignalInfo GoalPlannerModule::calcTurnSignalInfo() @@ -1803,34 +1642,31 @@ TurnSignalInfo GoalPlannerModule::calcTurnSignalInfo() return new_signal; } -bool GoalPlannerModule::checkOccupancyGridCollision( - const PathWithLaneId & path, - const std::shared_ptr occupancy_grid_map) const +bool GoalPlannerModule::checkOccupancyGridCollision(const PathWithLaneId & path) const { - if (!occupancy_grid_map) { + if (!occupancy_grid_map_) { return false; } const bool check_out_of_range = false; - return occupancy_grid_map->hasObstacleOnPath(path, check_out_of_range); + return occupancy_grid_map_->hasObstacleOnPath(path, check_out_of_range); } bool GoalPlannerModule::checkObjectsCollision( - const PathWithLaneId & path, const std::shared_ptr planner_data, - const GoalPlannerParameters & parameters, const double collision_check_margin, + const PathWithLaneId & path, const double collision_check_margin, const bool extract_static_objects, const bool update_debug_data) const { const auto target_objects = std::invoke([&]() { - const auto & p = parameters; - const auto & rh = *(planner_data->route_handler); - const auto objects = *(planner_data->dynamic_object); + const auto & p = parameters_; + const auto & rh = *(planner_data_->route_handler); + const auto objects = *(planner_data_->dynamic_object); if (extract_static_objects) { return goal_planner_utils::extractStaticObjectsInExpandedPullOverLanes( - rh, left_side_parking_, p.backward_goal_search_length, p.forward_goal_search_length, - p.detection_bound_offset, objects, p.th_moving_object_velocity); + rh, left_side_parking_, p->backward_goal_search_length, p->forward_goal_search_length, + p->detection_bound_offset, objects, p->th_moving_object_velocity); } return goal_planner_utils::extractObjectsInExpandedPullOverLanes( - rh, left_side_parking_, p.backward_goal_search_length, p.forward_goal_search_length, - p.detection_bound_offset, objects); + rh, left_side_parking_, p->backward_goal_search_length, p->forward_goal_search_length, + p->detection_bound_offset, objects); }); std::vector obj_polygons; @@ -1849,8 +1685,8 @@ bool GoalPlannerModule::checkObjectsCollision( const auto p = path.points.at(i); const double extra_stopping_margin = std::min( - std::pow(p.point.longitudinal_velocity_mps, 2) * 0.5 / parameters.maximum_deceleration, - parameters.object_recognition_collision_check_max_extra_stopping_margin); + std::pow(p.point.longitudinal_velocity_mps, 2) * 0.5 / parameters_->maximum_deceleration, + parameters_->object_recognition_collision_check_max_extra_stopping_margin); // The square is meant to imply centrifugal force, but it is not a very well-founded formula. // TODO(kosuke55): It is needed to consider better way because there is an inherently different @@ -1861,9 +1697,9 @@ bool GoalPlannerModule::checkObjectsCollision( const auto ego_polygon = tier4_autoware_utils::toFootprint( p.point.pose, - planner_data->parameters.base_link2front + collision_check_margin + extra_stopping_margin, - planner_data->parameters.base_link2rear + collision_check_margin, - planner_data->parameters.vehicle_width + collision_check_margin * 2.0 + + planner_data_->parameters.base_link2front + collision_check_margin + extra_stopping_margin, + planner_data_->parameters.base_link2rear + collision_check_margin, + planner_data_->parameters.vehicle_width + collision_check_margin * 2.0 + extra_lateral_margin * 2.0); ego_polygons_expanded.push_back(ego_polygon); } @@ -1946,8 +1782,8 @@ double GoalPlannerModule::calcSignedArcLengthFromEgo( void GoalPlannerModule::deceleratePath(PullOverPath & pull_over_path) const { // decelerate before the search area start - const auto closest_goal_candidate = goal_searcher_->getClosetGoalCandidateAlongLanes( - thread_safe_data_.get_goal_candidates(), planner_data_); + const auto closest_goal_candidate = + goal_searcher_->getClosetGoalCandidateAlongLanes(thread_safe_data_.get_goal_candidates()); const auto decel_pose = calcLongitudinalOffsetPose( pull_over_path.getFullPath().points, closest_goal_candidate.goal_pose.position, -approximate_pull_over_distance_); @@ -2128,7 +1964,6 @@ bool GoalPlannerModule::isCrossingPossible(const PullOverPath & pull_over_path) return isCrossingPossible(start_pose, end_pose, lanes); } -/* void GoalPlannerModule::updateSafetyCheckTargetObjectsData( const PredictedObjects & filtered_objects, const TargetObjectsOnLane & target_objects_on_lane, const std::vector & ego_predicted_path) const @@ -2137,7 +1972,6 @@ void GoalPlannerModule::updateSafetyCheckTargetObjectsData( goal_planner_data_.target_objects_on_lane = target_objects_on_lane; goal_planner_data_.ego_predicted_path = ego_predicted_path; } -*/ static std::vector filterObjectsByWithinPolicy( const std::shared_ptr & objects, @@ -2183,29 +2017,26 @@ static std::vector filterOb return refined_filtered_objects; } -std::pair GoalPlannerModule::isSafePath( - const std::shared_ptr planner_data, const GoalPlannerParameters & parameters, - const std::shared_ptr & ego_predicted_path_params, - const std::shared_ptr & objects_filtering_params, - const std::shared_ptr & safety_check_params) const +std::pair GoalPlannerModule::isSafePath() const { if (!thread_safe_data_.get_pull_over_path()) { return {false, false}; } const auto pull_over_path = thread_safe_data_.get_pull_over_path()->getCurrentPath(); - const auto & current_pose = planner_data->self_odometry->pose.pose; + const auto & current_pose = planner_data_->self_odometry->pose.pose; const double current_velocity = std::hypot( - planner_data->self_odometry->twist.twist.linear.x, - planner_data->self_odometry->twist.twist.linear.y); - const auto & dynamic_object = planner_data->dynamic_object; - const auto & route_handler = planner_data->route_handler; + planner_data_->self_odometry->twist.twist.linear.x, + planner_data_->self_odometry->twist.twist.linear.y); + const auto & dynamic_object = planner_data_->dynamic_object; + const auto & route_handler = planner_data_->route_handler; const lanelet::ConstLanelets current_lanes = utils::getExtendedCurrentLanes( - planner_data, parameters.backward_goal_search_length, parameters.forward_goal_search_length, + planner_data_, parameters_->backward_goal_search_length, + parameters_->forward_goal_search_length, /*forward_only_in_route*/ false); const auto pull_over_lanes = goal_planner_utils::getPullOverLanes( - *route_handler, left_side_parking_, parameters.backward_goal_search_length, - parameters.forward_goal_search_length); - const size_t ego_seg_idx = planner_data->findEgoSegmentIndex(pull_over_path.points); + *route_handler, left_side_parking_, parameters_->backward_goal_search_length, + parameters_->forward_goal_search_length); + const size_t ego_seg_idx = planner_data_->findEgoSegmentIndex(pull_over_path.points); const std::pair terminal_velocity_and_accel = utils::parking_departure::getPairsTerminalVelocityAndAccel( thread_safe_data_.get_pull_over_path()->pairs_terminal_velocity_and_accel, @@ -2213,15 +2044,15 @@ std::pair GoalPlannerModule::isSafePath( RCLCPP_DEBUG( getLogger(), "pairs_terminal_velocity_and_accel for goal_planner: %f, %f", terminal_velocity_and_accel.first, terminal_velocity_and_accel.second); - auto temp_param = std::make_shared(*ego_predicted_path_params); - utils::parking_departure::updatePathProperty(temp_param, terminal_velocity_and_accel); + utils::parking_departure::updatePathProperty( + ego_predicted_path_params_, terminal_velocity_and_accel); // TODO(Sugahara): shoule judge is_object_front properly const bool is_object_front = true; const bool limit_to_max_velocity = true; const auto ego_predicted_path = behavior_path_planner::utils::path_safety_checker::createPredictedPath( - ego_predicted_path_params, pull_over_path.points, current_pose, current_velocity, ego_seg_idx, - is_object_front, limit_to_max_velocity); + ego_predicted_path_params_, pull_over_path.points, current_pose, current_velocity, + ego_seg_idx, is_object_front, limit_to_max_velocity); // ========================================================================================== // if ego is before the entry of pull_over_lanes, the beginning of the safety check area @@ -2263,38 +2094,36 @@ std::pair GoalPlannerModule::isSafePath( const auto expanded_pull_over_lanes_between_ego = goal_planner_utils::generateBetweenEgoAndExpandedPullOverLanes( pull_over_lanes, left_side_parking_, ego_pose_for_expand, - planner_data->parameters.vehicle_info, parameters.outer_road_detection_offset, - parameters.inner_road_detection_offset); + planner_data_->parameters.vehicle_info, parameters_->outer_road_detection_offset, + parameters_->inner_road_detection_offset); const auto merged_expanded_pull_over_lanes = lanelet::utils::combineLaneletsShape(expanded_pull_over_lanes_between_ego); debug_data_.expanded_pull_over_lane_between_ego = merged_expanded_pull_over_lanes; const auto filtered_objects = filterObjectsByWithinPolicy( - dynamic_object, {merged_expanded_pull_over_lanes}, objects_filtering_params); + dynamic_object, {merged_expanded_pull_over_lanes}, objects_filtering_params_); - const auto prev_data = thread_safe_data_.get_prev_data(); const double hysteresis_factor = - prev_data.safety_status.is_safe ? 1.0 : parameters.hysteresis_factor_expand_rate; + prev_data_.safety_status.is_safe ? 1.0 : parameters_->hysteresis_factor_expand_rate; - CollisionCheckDebugMap collision_check{}; const bool current_is_safe = std::invoke([&]() { - if (parameters.safety_check_params.method == "RSS") { + if (parameters_->safety_check_params.method == "RSS") { return behavior_path_planner::utils::path_safety_checker::checkSafetyWithRSS( - pull_over_path, ego_predicted_path, filtered_objects, collision_check, - planner_data->parameters, safety_check_params->rss_params, - objects_filtering_params->use_all_predicted_path, hysteresis_factor); - } else if (parameters.safety_check_params.method == "integral_predicted_polygon") { + pull_over_path, ego_predicted_path, filtered_objects, goal_planner_data_.collision_check, + planner_data_->parameters, safety_check_params_->rss_params, + objects_filtering_params_->use_all_predicted_path, hysteresis_factor); + } else if (parameters_->safety_check_params.method == "integral_predicted_polygon") { return utils::path_safety_checker::checkSafetyWithIntegralPredictedPolygon( ego_predicted_path, vehicle_info_, filtered_objects, - objects_filtering_params->check_all_predicted_path, - parameters.safety_check_params.integral_predicted_polygon_params, collision_check); + objects_filtering_params_->check_all_predicted_path, + parameters_->safety_check_params.integral_predicted_polygon_params, + goal_planner_data_.collision_check); } RCLCPP_ERROR( getLogger(), " [pull_over] invalid safety check method: %s", - parameters.safety_check_params.method.c_str()); + parameters_->safety_check_params.method.c_str()); throw std::domain_error("[pull_over] invalid safety check method"); }); - thread_safe_data_.set_collision_check(collision_check); /* * ==== is_safe @@ -2311,9 +2140,9 @@ std::pair GoalPlannerModule::isSafePath( */ if (current_is_safe) { if ( - prev_data.safety_status.safe_start_time && - (clock_->now() - prev_data.safety_status.safe_start_time.value()).seconds() > - parameters.safety_check_params.keep_unsafe_time) { + prev_data_.safety_status.safe_start_time && + (clock_->now() - prev_data_.safety_status.safe_start_time.value()).seconds() > + parameters_->safety_check_params.keep_unsafe_time) { return {true /*is_safe*/, true /*current_is_safe*/}; } } @@ -2347,12 +2176,8 @@ void GoalPlannerModule::setDebugData() }; if (utils::isAllowedGoalModification(planner_data_->route_handler)) { // Visualize pull over areas - const auto color = - hasDecidedPath( - planner_data_, occupancy_grid_map_, *parameters_, ego_predicted_path_params_, - objects_filtering_params_, safety_check_params_, goal_searcher_) - ? createMarkerColor(1.0, 1.0, 0.0, 0.999) // yellow - : createMarkerColor(0.0, 1.0, 0.0, 0.999); // green + const auto color = hasDecidedPath() ? createMarkerColor(1.0, 1.0, 0.0, 0.999) // yellow + : createMarkerColor(0.0, 1.0, 0.0, 0.999); // green const double z = planner_data_->route_handler->getGoalPose().position.z; add(goal_planner_utils::createPullOverAreaMarkerArray( goal_searcher_->getAreaPolygons(), header, color, z)); @@ -2365,11 +2190,9 @@ void GoalPlannerModule::setDebugData() // Visualize previous module output add(createPathMarkerArray( getPreviousModuleOutput().path, "previous_module_path", 0, 1.0, 0.0, 0.0)); - - const auto last_previous_module_output = thread_safe_data_.get_last_previous_module_output(); - if (last_previous_module_output.has_value()) { + if (last_previous_module_output_.has_value()) { add(createPathMarkerArray( - last_previous_module_output.value().path, "last_previous_module_path", 0, 0.0, 1.0, 1.0)); + last_previous_module_output_.value().path, "last_previous_module_path", 0, 0.0, 1.0, 1.0)); } // Visualize path and related pose @@ -2426,7 +2249,6 @@ void GoalPlannerModule::setDebugData() } } - auto collision_check = thread_safe_data_.get_collision_check(); // safety check if (parameters_->safety_check_params.enable_safety_check) { if (goal_planner_data_.ego_predicted_path.size() > 0) { @@ -2441,35 +2263,33 @@ void GoalPlannerModule::setDebugData() } if (parameters_->safety_check_params.method == "RSS") { - add(showSafetyCheckInfo(collision_check, "object_debug_info")); + add(showSafetyCheckInfo(goal_planner_data_.collision_check, "object_debug_info")); } - add(showPredictedPath(collision_check, "ego_predicted_path")); - add(showPolygon(collision_check, "ego_and_target_polygon_relation")); + add(showPredictedPath(goal_planner_data_.collision_check, "ego_predicted_path")); + add(showPolygon(goal_planner_data_.collision_check, "ego_and_target_polygon_relation")); // set objects of interest - for (const auto & [uuid, data] : collision_check) { + for (const auto & [uuid, data] : goal_planner_data_.collision_check) { const auto color = data.is_safe ? ColorName::GREEN : ColorName::RED; setObjectsOfInterestData(data.current_obj_pose, data.obj_shape, color); } - // TODO(Mamoru Sobue): it is not clear where ThreadSafeData::collision_check should be cleared - utils::parking_departure::initializeCollisionCheckDebugMap(collision_check); + utils::parking_departure::initializeCollisionCheckDebugMap(goal_planner_data_.collision_check); // visualize safety status maker { - const auto prev_data = thread_safe_data_.get_prev_data(); visualization_msgs::msg::MarkerArray marker_array{}; - const auto color = prev_data.safety_status.is_safe ? createMarkerColor(1.0, 1.0, 1.0, 0.99) - : createMarkerColor(1.0, 0.0, 0.0, 0.99); + const auto color = prev_data_.safety_status.is_safe ? createMarkerColor(1.0, 1.0, 1.0, 0.99) + : createMarkerColor(1.0, 0.0, 0.0, 0.99); auto marker = createDefaultMarker( header.frame_id, header.stamp, "safety_status", 0, visualization_msgs::msg::Marker::TEXT_VIEW_FACING, createMarkerScale(0.0, 0.0, 1.0), color); marker.pose = planner_data_->self_odometry->pose.pose; - marker.text += "is_safe: " + std::to_string(prev_data.safety_status.is_safe) + "\n"; - if (prev_data.safety_status.safe_start_time) { + marker.text += "is_safe: " + std::to_string(prev_data_.safety_status.is_safe) + "\n"; + if (prev_data_.safety_status.safe_start_time) { const double elapsed_time_from_safe_start = - (clock_->now() - prev_data.safety_status.safe_start_time.value()).seconds(); + (clock_->now() - prev_data_.safety_status.safe_start_time.value()).seconds(); marker.text += "elapsed_time_from_safe_start: " + std::to_string(elapsed_time_from_safe_start) + "\n"; } @@ -2497,7 +2317,7 @@ void GoalPlannerModule::setDebugData() std::to_string(thread_safe_data_.get_pull_over_path()->partial_paths.size() - 1); } - if (isStuck(planner_data_, occupancy_grid_map_, *parameters_)) { + if (isStuck()) { marker.text += " stuck"; } else if (isStopped()) { marker.text += " stopped"; @@ -2547,12 +2367,9 @@ void GoalPlannerModule::printParkingPositionError() const distance_from_real_shoulder); } -bool GoalPlannerModule::needPathUpdate( - const Pose & current_pose, const double path_update_duration, - const GoalPlannerParameters & parameters) const +bool GoalPlannerModule::needPathUpdate(const double path_update_duration) const { - return !isOnModifiedGoal(current_pose, parameters) && - hasEnoughTimePassedSincePathUpdate(path_update_duration); + return !isOnModifiedGoal() && hasEnoughTimePassedSincePathUpdate(path_update_duration); } bool GoalPlannerModule::hasEnoughTimePassedSincePathUpdate(const double duration) const @@ -2563,57 +2380,4 @@ bool GoalPlannerModule::hasEnoughTimePassedSincePathUpdate(const double duration return (clock_->now() - *thread_safe_data_.get_last_path_update_time()).seconds() > duration; } - -void GoalPlannerModule::GoalPlannerData::initializeOccupancyGridMap( - const PlannerData & planner_data, const GoalPlannerParameters & parameters) -{ - OccupancyGridMapParam occupancy_grid_map_param{}; - const double margin = parameters.occupancy_grid_collision_check_margin; - occupancy_grid_map_param.vehicle_shape.length = - planner_data.parameters.vehicle_length + 2 * margin; - occupancy_grid_map_param.vehicle_shape.width = planner_data.parameters.vehicle_width + 2 * margin; - occupancy_grid_map_param.vehicle_shape.base2back = - planner_data.parameters.base_link2rear + margin; - occupancy_grid_map_param.theta_size = parameters.theta_size; - occupancy_grid_map_param.obstacle_threshold = parameters.obstacle_threshold; - occupancy_grid_map->setParam(occupancy_grid_map_param); -} - -GoalPlannerModule::GoalPlannerData GoalPlannerModule::GoalPlannerData::clone() const -{ - GoalPlannerModule::GoalPlannerData gp_planner_data(planner_data, parameters); - gp_planner_data.update( - parameters, ego_predicted_path_params, objects_filtering_params, safety_check_params, - planner_data, current_status, previous_module_output, goal_searcher, vehicle_footprint); - return gp_planner_data; -} - -void GoalPlannerModule::GoalPlannerData::update( - const GoalPlannerParameters & parameters_, - const std::shared_ptr & ego_predicted_path_params_, - const std::shared_ptr & objects_filtering_params_, - const std::shared_ptr & safety_check_params_, - const PlannerData & planner_data_, const ModuleStatus & current_status_, - const BehaviorModuleOutput & previous_module_output_, - const std::shared_ptr goal_searcher_, - const tier4_autoware_utils::LinearRing2d & vehicle_footprint_) -{ - parameters = parameters_; - ego_predicted_path_params = ego_predicted_path_params_; - objects_filtering_params = objects_filtering_params_; - safety_check_params = safety_check_params_; - vehicle_footprint = vehicle_footprint_; - - planner_data = planner_data_; - planner_data.route_handler = std::make_shared(*(planner_data_.route_handler)); - current_status = current_status_; - previous_module_output = previous_module_output_; - occupancy_grid_map->setMap(*(planner_data.occupancy_grid)); - // to create a deepcopy of GoalPlanner(not GoalPlannerBase), goal_searcher_ is not enough, so - // recreate it here - goal_searcher = std::make_shared(parameters, vehicle_footprint); - // and then copy the reference goal - goal_searcher->setReferenceGoal(goal_searcher_->getReferenceGoal()); -} - } // namespace behavior_path_planner diff --git a/planning/behavior_path_goal_planner_module/src/goal_searcher.cpp b/planning/behavior_path_goal_planner_module/src/goal_searcher.cpp index df91687622349..bd19871c482fc 100644 --- a/planning/behavior_path_goal_planner_module/src/goal_searcher.cpp +++ b/planning/behavior_path_goal_planner_module/src/goal_searcher.cpp @@ -90,35 +90,35 @@ struct SortByWeightedDistance }; GoalSearcher::GoalSearcher( - const GoalPlannerParameters & parameters, const LinearRing2d & vehicle_footprint) + const GoalPlannerParameters & parameters, const LinearRing2d & vehicle_footprint, + const std::shared_ptr & occupancy_grid_map) : GoalSearcherBase{parameters}, vehicle_footprint_{vehicle_footprint}, + occupancy_grid_map_{occupancy_grid_map}, left_side_parking_{parameters.parking_policy == ParkingPolicy::LEFT_SIDE} { } -GoalCandidates GoalSearcher::search( - const std::shared_ptr occupancy_grid_map, - const std::shared_ptr & planner_data) +GoalCandidates GoalSearcher::search() { GoalCandidates goal_candidates{}; - const auto & route_handler = planner_data->route_handler; + const auto & route_handler = planner_data_->route_handler; const double forward_length = parameters_.forward_goal_search_length; const double backward_length = parameters_.backward_goal_search_length; const double margin_from_boundary = parameters_.margin_from_boundary; const double lateral_offset_interval = parameters_.lateral_offset_interval; const double max_lateral_offset = parameters_.max_lateral_offset; const double ignore_distance_from_lane_start = parameters_.ignore_distance_from_lane_start; - const double vehicle_width = planner_data->parameters.vehicle_width; - const double base_link2front = planner_data->parameters.base_link2front; - const double base_link2rear = planner_data->parameters.base_link2rear; + const double vehicle_width = planner_data_->parameters.vehicle_width; + const double base_link2front = planner_data_->parameters.base_link2front; + const double base_link2rear = planner_data_->parameters.base_link2rear; const auto pull_over_lanes = goal_planner_utils::getPullOverLanes( *route_handler, left_side_parking_, parameters_.backward_goal_search_length, parameters_.forward_goal_search_length); auto lanes = utils::getExtendedCurrentLanes( - planner_data, backward_length, forward_length, + planner_data_, backward_length, forward_length, /*forward_only_in_route*/ false); lanes.insert(lanes.end(), pull_over_lanes.begin(), pull_over_lanes.end()); @@ -193,18 +193,17 @@ GoalCandidates GoalSearcher::search( goal_candidates.push_back(goal_candidate); } } - createAreaPolygons(original_search_poses, planner_data); + createAreaPolygons(original_search_poses); - update(goal_candidates, occupancy_grid_map, planner_data); + update(goal_candidates); return goal_candidates; } void GoalSearcher::countObjectsToAvoid( - GoalCandidates & goal_candidates, const PredictedObjects & objects, - const std::shared_ptr & planner_data) const + GoalCandidates & goal_candidates, const PredictedObjects & objects) const { - const auto & route_handler = planner_data->route_handler; + const auto & route_handler = planner_data_->route_handler; const double forward_length = parameters_.forward_goal_search_length; const double backward_length = parameters_.backward_goal_search_length; @@ -226,7 +225,7 @@ void GoalSearcher::countObjectsToAvoid( // generate current lane center line path to check collision with objects const auto current_lanes = utils::getExtendedCurrentLanes( - planner_data, parameters_.backward_goal_search_length, parameters_.forward_goal_search_length, + planner_data_, parameters_.backward_goal_search_length, parameters_.forward_goal_search_length, /*forward_only_in_route*/ false); const auto current_center_line_path = std::invoke([&]() -> PathWithLaneId { const double s_start = @@ -265,19 +264,16 @@ void GoalSearcher::countObjectsToAvoid( } } -void GoalSearcher::update( - GoalCandidates & goal_candidates, - const std::shared_ptr occupancy_grid_map, - const std::shared_ptr & planner_data) const +void GoalSearcher::update(GoalCandidates & goal_candidates) const { const auto pull_over_lane_stop_objects = goal_planner_utils::extractStaticObjectsInExpandedPullOverLanes( - *(planner_data->route_handler), left_side_parking_, parameters_.backward_goal_search_length, + *(planner_data_->route_handler), left_side_parking_, parameters_.backward_goal_search_length, parameters_.forward_goal_search_length, parameters_.detection_bound_offset, - *(planner_data->dynamic_object), parameters_.th_moving_object_velocity); + *(planner_data_->dynamic_object), parameters_.th_moving_object_velocity); if (parameters_.prioritize_goals_before_objects) { - countObjectsToAvoid(goal_candidates, pull_over_lane_stop_objects, planner_data); + countObjectsToAvoid(goal_candidates, pull_over_lane_stop_objects); } if (parameters_.goal_priority == "minimum_weighted_distance") { @@ -297,7 +293,7 @@ void GoalSearcher::update( const Pose goal_pose = goal_candidate.goal_pose; // check collision with footprint - if (checkCollision(goal_pose, pull_over_lane_stop_objects, occupancy_grid_map)) { + if (checkCollision(goal_pose, pull_over_lane_stop_objects)) { goal_candidate.is_safe = false; continue; } @@ -305,10 +301,9 @@ void GoalSearcher::update( // check longitudinal margin with pull over lane objects constexpr bool filter_inside = true; const auto target_objects = goal_planner_utils::filterObjectsByLateralDistance( - goal_pose, planner_data->parameters.vehicle_width, pull_over_lane_stop_objects, + goal_pose, planner_data_->parameters.vehicle_width, pull_over_lane_stop_objects, parameters_.object_recognition_collision_check_hard_margins.back(), filter_inside); - if (checkCollisionWithLongitudinalDistance( - goal_pose, target_objects, occupancy_grid_map, planner_data)) { + if (checkCollisionWithLongitudinalDistance(goal_pose, target_objects)) { goal_candidate.is_safe = false; continue; } @@ -321,9 +316,7 @@ void GoalSearcher::update( // current planner_data_ and margin scale factor. // And is_safe is not updated in this function. bool GoalSearcher::isSafeGoalWithMarginScaleFactor( - const GoalCandidate & goal_candidate, const double margin_scale_factor, - const std::shared_ptr occupancy_grid_map, - const std::shared_ptr & planner_data) const + const GoalCandidate & goal_candidate, const double margin_scale_factor) const { if (!parameters_.use_object_recognition) { return true; @@ -333,9 +326,9 @@ bool GoalSearcher::isSafeGoalWithMarginScaleFactor( const auto pull_over_lane_stop_objects = goal_planner_utils::extractStaticObjectsInExpandedPullOverLanes( - *(planner_data->route_handler), left_side_parking_, parameters_.backward_goal_search_length, + *(planner_data_->route_handler), left_side_parking_, parameters_.backward_goal_search_length, parameters_.forward_goal_search_length, parameters_.detection_bound_offset, - *(planner_data->dynamic_object), parameters_.th_moving_object_velocity); + *(planner_data_->dynamic_object), parameters_.th_moving_object_velocity); const double margin = parameters_.object_recognition_collision_check_hard_margins.back() * margin_scale_factor; @@ -348,26 +341,23 @@ bool GoalSearcher::isSafeGoalWithMarginScaleFactor( // check longitudinal margin with pull over lane objects constexpr bool filter_inside = true; const auto target_objects = goal_planner_utils::filterObjectsByLateralDistance( - goal_pose, planner_data->parameters.vehicle_width, pull_over_lane_stop_objects, margin, + goal_pose, planner_data_->parameters.vehicle_width, pull_over_lane_stop_objects, margin, filter_inside); - if (checkCollisionWithLongitudinalDistance( - goal_pose, target_objects, occupancy_grid_map, planner_data)) { + if (checkCollisionWithLongitudinalDistance(goal_pose, target_objects)) { return false; } return true; } -bool GoalSearcher::checkCollision( - const Pose & pose, const PredictedObjects & objects, - const std::shared_ptr occupancy_grid_map) const +bool GoalSearcher::checkCollision(const Pose & pose, const PredictedObjects & objects) const { if (parameters_.use_occupancy_grid_for_goal_search) { - const Pose pose_grid_coords = global2local(occupancy_grid_map->getMap(), pose); + const Pose pose_grid_coords = global2local(occupancy_grid_map_->getMap(), pose); const auto idx = pose2index( - occupancy_grid_map->getMap(), pose_grid_coords, occupancy_grid_map->getParam().theta_size); + occupancy_grid_map_->getMap(), pose_grid_coords, occupancy_grid_map_->getParam().theta_size); const bool check_out_of_range = false; - if (occupancy_grid_map->detectCollision(idx, check_out_of_range)) { + if (occupancy_grid_map_->detectCollision(idx, check_out_of_range)) { return true; } } @@ -383,9 +373,7 @@ bool GoalSearcher::checkCollision( } bool GoalSearcher::checkCollisionWithLongitudinalDistance( - const Pose & ego_pose, const PredictedObjects & objects, - const std::shared_ptr occupancy_grid_map, - const std::shared_ptr & planner_data) const + const Pose & ego_pose, const PredictedObjects & objects) const { if ( parameters_.use_occupancy_grid_for_goal_search && @@ -397,22 +385,22 @@ bool GoalSearcher::checkCollisionWithLongitudinalDistance( // check forward collision const Pose ego_pose_moved_forward = calcOffsetPose(ego_pose, offset, 0, 0); const Pose forward_pose_grid_coords = - global2local(occupancy_grid_map->getMap(), ego_pose_moved_forward); + global2local(occupancy_grid_map_->getMap(), ego_pose_moved_forward); const auto forward_idx = pose2index( - occupancy_grid_map->getMap(), forward_pose_grid_coords, - occupancy_grid_map->getParam().theta_size); - if (occupancy_grid_map->detectCollision(forward_idx, check_out_of_range)) { + occupancy_grid_map_->getMap(), forward_pose_grid_coords, + occupancy_grid_map_->getParam().theta_size); + if (occupancy_grid_map_->detectCollision(forward_idx, check_out_of_range)) { return true; } // check backward collision const Pose ego_pose_moved_backward = calcOffsetPose(ego_pose, -offset, 0, 0); const Pose backward_pose_grid_coords = - global2local(occupancy_grid_map->getMap(), ego_pose_moved_backward); + global2local(occupancy_grid_map_->getMap(), ego_pose_moved_backward); const auto backward_idx = pose2index( - occupancy_grid_map->getMap(), backward_pose_grid_coords, - occupancy_grid_map->getParam().theta_size); - if (occupancy_grid_map->detectCollision(backward_idx, check_out_of_range)) { + occupancy_grid_map_->getMap(), backward_pose_grid_coords, + occupancy_grid_map_->getParam().theta_size); + if (occupancy_grid_map_->detectCollision(backward_idx, check_out_of_range)) { return true; } } @@ -420,24 +408,23 @@ bool GoalSearcher::checkCollisionWithLongitudinalDistance( if (parameters_.use_object_recognition) { if ( utils::calcLongitudinalDistanceFromEgoToObjects( - ego_pose, planner_data->parameters.base_link2front, planner_data->parameters.base_link2rear, - objects) < parameters_.longitudinal_margin) { + ego_pose, planner_data_->parameters.base_link2front, + planner_data_->parameters.base_link2rear, objects) < parameters_.longitudinal_margin) { return true; } } return false; } -void GoalSearcher::createAreaPolygons( - std::vector original_search_poses, const std::shared_ptr & planner_data) +void GoalSearcher::createAreaPolygons(std::vector original_search_poses) { using tier4_autoware_utils::MultiPolygon2d; using tier4_autoware_utils::Point2d; using tier4_autoware_utils::Polygon2d; - const double vehicle_width = planner_data->parameters.vehicle_width; - const double base_link2front = planner_data->parameters.base_link2front; - const double base_link2rear = planner_data->parameters.base_link2rear; + const double vehicle_width = planner_data_->parameters.vehicle_width; + const double base_link2front = planner_data_->parameters.base_link2front; + const double base_link2rear = planner_data_->parameters.base_link2rear; const double max_lateral_offset = parameters_.max_lateral_offset; const auto appendPointToPolygon = @@ -519,11 +506,10 @@ bool GoalSearcher::isInAreas(const LinearRing2d & footprint, const BasicPolygons } GoalCandidate GoalSearcher::getClosetGoalCandidateAlongLanes( - const GoalCandidates & goal_candidates, - const std::shared_ptr & planner_data) const + const GoalCandidates & goal_candidates) const { const auto current_lanes = utils::getExtendedCurrentLanes( - planner_data, parameters_.backward_goal_search_length, parameters_.forward_goal_search_length, + planner_data_, parameters_.backward_goal_search_length, parameters_.forward_goal_search_length, /*forward_only_in_route*/ false); // Define a lambda function to compute the arc length for a given goal candidate. diff --git a/planning/behavior_path_goal_planner_module/src/shift_pull_over.cpp b/planning/behavior_path_goal_planner_module/src/shift_pull_over.cpp index 33d1eb78e14f6..b168da61e6239 100644 --- a/planning/behavior_path_goal_planner_module/src/shift_pull_over.cpp +++ b/planning/behavior_path_goal_planner_module/src/shift_pull_over.cpp @@ -28,9 +28,11 @@ namespace behavior_path_planner { ShiftPullOver::ShiftPullOver( rclcpp::Node & node, const GoalPlannerParameters & parameters, - const LaneDepartureChecker & lane_departure_checker) + const LaneDepartureChecker & lane_departure_checker, + const std::shared_ptr & occupancy_grid_map) : PullOverPlannerBase{node, parameters}, lane_departure_checker_{lane_departure_checker}, + occupancy_grid_map_{occupancy_grid_map}, left_side_parking_{parameters.parking_policy == ParkingPolicy::LEFT_SIDE} { } From 9544e9c82c07a315daf75ec0d5e470fe15931fe0 Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Mon, 15 Apr 2024 16:51:34 +0900 Subject: [PATCH 47/54] fix(intersection): detect stuck vehicle by position on detect area (#6689) Signed-off-by: Mamoru Sobue --- .../src/scene_intersection_stuck.cpp | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/planning/behavior_velocity_intersection_module/src/scene_intersection_stuck.cpp b/planning/behavior_velocity_intersection_module/src/scene_intersection_stuck.cpp index 6c9254919cac7..b26f960ec28f9 100644 --- a/planning/behavior_velocity_intersection_module/src/scene_intersection_stuck.cpp +++ b/planning/behavior_velocity_intersection_module/src/scene_intersection_stuck.cpp @@ -296,7 +296,10 @@ bool IntersectionModule::checkStuckVehicleInIntersection( // check if the footprint is in the stuck detect area const auto obj_footprint = tier4_autoware_utils::toPolygon2d(object); - const bool is_in_stuck_area = !bg::disjoint(obj_footprint, stuck_vehicle_detect_area); + // NOTE: in order not to stop too much + const bool is_in_stuck_area = bg::within( + to_bg2d(object.kinematics.initial_pose_with_covariance.pose.position), + stuck_vehicle_detect_area); if (is_in_stuck_area) { debug_data_.stuck_targets.objects.push_back(object); return true; From d5e07a8f1496c564565722774089981bd808bd8b Mon Sep 17 00:00:00 2001 From: badai nguyen <94814556+badai-nguyen@users.noreply.github.com> Date: Tue, 16 Apr 2024 09:52:10 +0900 Subject: [PATCH 48/54] fix(compare_map_segmentation): add intensity field (#6807) * fix(comare_map_segmentation): add intensity field Signed-off-by: badai-nguyen * fix: add intensity other compare map filter Signed-off-by: badai-nguyen --------- Signed-off-by: badai-nguyen --- ...tance_based_compare_map_filter_nodelet.cpp | 33 +++++++++++++------ ...approximate_compare_map_filter_nodelet.cpp | 32 +++++++++++++----- ...voxel_based_compare_map_filter_nodelet.cpp | 30 ++++++++++++----- ...tance_based_compare_map_filter_nodelet.cpp | 32 +++++++++++++----- 4 files changed, 91 insertions(+), 36 deletions(-) diff --git a/perception/compare_map_segmentation/src/distance_based_compare_map_filter_nodelet.cpp b/perception/compare_map_segmentation/src/distance_based_compare_map_filter_nodelet.cpp index 519afa4145bcf..0f870d37c0de1 100644 --- a/perception/compare_map_segmentation/src/distance_based_compare_map_filter_nodelet.cpp +++ b/perception/compare_map_segmentation/src/distance_based_compare_map_filter_nodelet.cpp @@ -137,20 +137,33 @@ void DistanceBasedCompareMapFilterComponent::filter( std::scoped_lock lock(mutex_); stop_watch_ptr_->toc("processing_time", true); - pcl::PointCloud::Ptr pcl_input(new pcl::PointCloud); - pcl::PointCloud::Ptr pcl_output(new pcl::PointCloud); - pcl::fromROSMsg(*input, *pcl_input); - pcl_output->points.reserve(pcl_input->points.size()); - - for (size_t i = 0; i < pcl_input->points.size(); ++i) { - if (distance_based_map_loader_->is_close_to_map(pcl_input->points.at(i), distance_threshold_)) { + int point_step = input->point_step; + int offset_x = input->fields[pcl::getFieldIndex(*input, "x")].offset; + int offset_y = input->fields[pcl::getFieldIndex(*input, "y")].offset; + int offset_z = input->fields[pcl::getFieldIndex(*input, "z")].offset; + + output.data.resize(input->data.size()); + output.point_step = point_step; + size_t output_size = 0; + for (size_t global_offset = 0; global_offset < input->data.size(); global_offset += point_step) { + pcl::PointXYZ point{}; + std::memcpy(&point.x, &input->data[global_offset + offset_x], sizeof(float)); + std::memcpy(&point.y, &input->data[global_offset + offset_y], sizeof(float)); + std::memcpy(&point.z, &input->data[global_offset + offset_z], sizeof(float)); + if (distance_based_map_loader_->is_close_to_map(point, distance_threshold_)) { continue; } - pcl_output->points.push_back(pcl_input->points.at(i)); + std::memcpy(&output.data[output_size], &input->data[global_offset], point_step); + output_size += point_step; } - - pcl::toROSMsg(*pcl_output, output); output.header = input->header; + output.fields = input->fields; + output.data.resize(output_size); + output.height = input->height; + output.width = output_size / point_step / output.height; + output.row_step = output_size / output.height; + output.is_bigendian = input->is_bigendian; + output.is_dense = input->is_dense; // add processing time for debug if (debug_publisher_) { diff --git a/perception/compare_map_segmentation/src/voxel_based_approximate_compare_map_filter_nodelet.cpp b/perception/compare_map_segmentation/src/voxel_based_approximate_compare_map_filter_nodelet.cpp index 34a0f17bdb389..7ad479a6e74bd 100644 --- a/perception/compare_map_segmentation/src/voxel_based_approximate_compare_map_filter_nodelet.cpp +++ b/perception/compare_map_segmentation/src/voxel_based_approximate_compare_map_filter_nodelet.cpp @@ -106,19 +106,33 @@ void VoxelBasedApproximateCompareMapFilterComponent::filter( { std::scoped_lock lock(mutex_); stop_watch_ptr_->toc("processing_time", true); - pcl::PointCloud::Ptr pcl_input(new pcl::PointCloud); - pcl::PointCloud::Ptr pcl_output(new pcl::PointCloud); - pcl::fromROSMsg(*input, *pcl_input); - pcl_output->points.reserve(pcl_input->points.size()); - for (size_t i = 0; i < pcl_input->points.size(); ++i) { - if (voxel_based_approximate_map_loader_->is_close_to_map( - pcl_input->points.at(i), distance_threshold_)) { + int point_step = input->point_step; + int offset_x = input->fields[pcl::getFieldIndex(*input, "x")].offset; + int offset_y = input->fields[pcl::getFieldIndex(*input, "y")].offset; + int offset_z = input->fields[pcl::getFieldIndex(*input, "z")].offset; + + output.data.resize(input->data.size()); + output.point_step = point_step; + size_t output_size = 0; + for (size_t global_offset = 0; global_offset < input->data.size(); global_offset += point_step) { + pcl::PointXYZ point{}; + std::memcpy(&point.x, &input->data[global_offset + offset_x], sizeof(float)); + std::memcpy(&point.y, &input->data[global_offset + offset_y], sizeof(float)); + std::memcpy(&point.z, &input->data[global_offset + offset_z], sizeof(float)); + if (voxel_based_approximate_map_loader_->is_close_to_map(point, distance_threshold_)) { continue; } - pcl_output->points.push_back(pcl_input->points.at(i)); + std::memcpy(&output.data[output_size], &input->data[global_offset], point_step); + output_size += point_step; } - pcl::toROSMsg(*pcl_output, output); output.header = input->header; + output.fields = input->fields; + output.data.resize(output_size); + output.height = input->height; + output.width = output_size / point_step / output.height; + output.row_step = output_size / output.height; + output.is_bigendian = input->is_bigendian; + output.is_dense = input->is_dense; // add processing time for debug if (debug_publisher_) { diff --git a/perception/compare_map_segmentation/src/voxel_based_compare_map_filter_nodelet.cpp b/perception/compare_map_segmentation/src/voxel_based_compare_map_filter_nodelet.cpp index 82c3576dd951c..595336145dabd 100644 --- a/perception/compare_map_segmentation/src/voxel_based_compare_map_filter_nodelet.cpp +++ b/perception/compare_map_segmentation/src/voxel_based_compare_map_filter_nodelet.cpp @@ -67,19 +67,33 @@ void VoxelBasedCompareMapFilterComponent::filter( { std::scoped_lock lock(mutex_); stop_watch_ptr_->toc("processing_time", true); - pcl::PointCloud::Ptr pcl_input(new pcl::PointCloud); - pcl::PointCloud::Ptr pcl_output(new pcl::PointCloud); - pcl::fromROSMsg(*input, *pcl_input); - pcl_output->points.reserve(pcl_input->points.size()); - for (size_t i = 0; i < pcl_input->points.size(); ++i) { - const pcl::PointXYZ point = pcl_input->points.at(i); + int point_step = input->point_step; + int offset_x = input->fields[pcl::getFieldIndex(*input, "x")].offset; + int offset_y = input->fields[pcl::getFieldIndex(*input, "y")].offset; + int offset_z = input->fields[pcl::getFieldIndex(*input, "z")].offset; + + output.data.resize(input->data.size()); + output.point_step = point_step; + size_t output_size = 0; + for (size_t global_offset = 0; global_offset < input->data.size(); global_offset += point_step) { + pcl::PointXYZ point{}; + std::memcpy(&point.x, &input->data[global_offset + offset_x], sizeof(float)); + std::memcpy(&point.y, &input->data[global_offset + offset_y], sizeof(float)); + std::memcpy(&point.z, &input->data[global_offset + offset_z], sizeof(float)); if (voxel_grid_map_loader_->is_close_to_map(point, distance_threshold_)) { continue; } - pcl_output->points.push_back(point); + std::memcpy(&output.data[output_size], &input->data[global_offset], point_step); + output_size += point_step; } - pcl::toROSMsg(*pcl_output, output); output.header = input->header; + output.fields = input->fields; + output.data.resize(output_size); + output.height = input->height; + output.width = output_size / point_step / output.height; + output.row_step = output_size / output.height; + output.is_bigendian = input->is_bigendian; + output.is_dense = input->is_dense; // add processing time for debug if (debug_publisher_) { diff --git a/perception/compare_map_segmentation/src/voxel_distance_based_compare_map_filter_nodelet.cpp b/perception/compare_map_segmentation/src/voxel_distance_based_compare_map_filter_nodelet.cpp index 32e5367fbcc38..f169e2069aee7 100644 --- a/perception/compare_map_segmentation/src/voxel_distance_based_compare_map_filter_nodelet.cpp +++ b/perception/compare_map_segmentation/src/voxel_distance_based_compare_map_filter_nodelet.cpp @@ -135,20 +135,34 @@ void VoxelDistanceBasedCompareMapFilterComponent::filter( { std::scoped_lock lock(mutex_); stop_watch_ptr_->toc("processing_time", true); - pcl::PointCloud::Ptr pcl_input(new pcl::PointCloud); - pcl::PointCloud::Ptr pcl_output(new pcl::PointCloud); - pcl::fromROSMsg(*input, *pcl_input); - pcl_output->points.reserve(pcl_input->points.size()); - for (size_t i = 0; i < pcl_input->points.size(); ++i) { - if (voxel_distance_based_map_loader_->is_close_to_map( - pcl_input->points.at(i), distance_threshold_)) { + int point_step = input->point_step; + int offset_x = input->fields[pcl::getFieldIndex(*input, "x")].offset; + int offset_y = input->fields[pcl::getFieldIndex(*input, "y")].offset; + int offset_z = input->fields[pcl::getFieldIndex(*input, "z")].offset; + + output.data.resize(input->data.size()); + output.point_step = point_step; + size_t output_size = 0; + for (size_t global_offset = 0; global_offset < input->data.size(); global_offset += point_step) { + pcl::PointXYZ point{}; + std::memcpy(&point.x, &input->data[global_offset + offset_x], sizeof(float)); + std::memcpy(&point.y, &input->data[global_offset + offset_y], sizeof(float)); + std::memcpy(&point.z, &input->data[global_offset + offset_z], sizeof(float)); + if (voxel_distance_based_map_loader_->is_close_to_map(point, distance_threshold_)) { continue; } - pcl_output->points.push_back(pcl_input->points.at(i)); + std::memcpy(&output.data[output_size], &input->data[global_offset], point_step); + output_size += point_step; } - pcl::toROSMsg(*pcl_output, output); output.header = input->header; + output.fields = input->fields; + output.data.resize(output_size); + output.height = input->height; + output.width = output_size / point_step / output.height; + output.row_step = output_size / output.height; + output.is_bigendian = input->is_bigendian; + output.is_dense = input->is_dense; // add processing time for debug if (debug_publisher_) { From 729cbc6d80a1d76869e5111377db529c256b8539 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Tue, 16 Apr 2024 10:51:02 +0900 Subject: [PATCH 49/54] fix(obstacle_avoidance_planner): fix mathjax visualization error (#6813) * fix(obstacle_avoidance_planner): fix mathjax visualization error Signed-off-by: Takayuki Murooka * fix Signed-off-by: Takayuki Murooka --------- Signed-off-by: Takayuki Murooka --- .../obstacle_avoidance_planner/docs/mpt.md | 226 +++++++++--------- 1 file changed, 113 insertions(+), 113 deletions(-) diff --git a/planning/obstacle_avoidance_planner/docs/mpt.md b/planning/obstacle_avoidance_planner/docs/mpt.md index f8441783bf1d2..4b35fd0e36ab5 100644 --- a/planning/obstacle_avoidance_planner/docs/mpt.md +++ b/planning/obstacle_avoidance_planner/docs/mpt.md @@ -51,8 +51,8 @@ We also assume that the steer angle $\delta_k$ is first-order lag to the command $$ \begin{align} -y_{k+1} & = y_{k} + v \sin \theta_k dt \\ -\theta_{k+1} & = \theta_k + \frac{v \tan \delta_k}{L}dt - \kappa_k v \cos \theta_k dt \\ +y_{k+1} & = y_{k} + v \sin \theta_k dt \\\ +\theta_{k+1} & = \theta_k + \frac{v \tan \delta_k}{L}dt - \kappa_k v \cos \theta_k dt \\\ \delta_{k+1} & = \delta_k - \frac{\delta_k - \delta_{des,k}}{\tau}dt \end{align} $$ @@ -72,8 +72,8 @@ Therefore, we have to apply the steer angle limitation to $\delta_{\mathrm{ref}, $$ \begin{align} -\delta_{\mathrm{ref}, k} & = \mathrm{clamp}(\arctan(L \kappa_k), -\delta_{\max}, \delta_{\max}) \\ -\delta_k & = \delta_{\mathrm{ref}, k} + \Delta \delta_k, \ \Delta \delta_k \ll 1 \\ +\delta_{\mathrm{ref}, k} & = \mathrm{clamp}(\arctan(L \kappa_k), -\delta_{\max}, \delta_{\max}) \\\ +\delta_k & = \delta_{\mathrm{ref}, k} + \Delta \delta_k, \ \Delta \delta_k \ll 1 \\\ \end{align} $$ @@ -83,8 +83,8 @@ Using this $\delta_{\mathrm{ref}, k}$, $\tan \delta_k$ is linearized as follows. $$ \begin{align} -\tan \delta_k & \approx \tan \delta_{\mathrm{ref}, k} + \left.\frac{d \tan \delta}{d \delta}\right|_{\delta = \delta_{\mathrm{ref}, k}} \Delta \delta_k \\ -& = \tan \delta_{\mathrm{ref}, k} + \left.\frac{d \tan \delta}{d \delta}\right|_{\delta = \delta_{\mathrm{ref}, k}} (\delta_{\mathrm{ref}, k} - \delta_k) \\ +\tan \delta_k & \approx \tan \delta_{\mathrm{ref}, k} + \lbrace\frac{d \tan \delta}{d \delta}\rbrace|_{\delta = \delta_{\mathrm{ref}, k}} \Delta \delta_k \\\ +& = \tan \delta_{\mathrm{ref}, k} + \lbrace\frac{d \tan \delta}{d \delta}\rbrace|_{\delta = \delta_{\mathrm{ref}, k}} (\delta_{\mathrm{ref}, k} - \delta_k) \\\ & = \tan \delta_{\mathrm{ref}, k} - \frac{\delta_{\mathrm{ref}, k}}{\cos^2 \delta_{\mathrm{ref}, k}} + \frac{1}{\cos^2 \delta_{\mathrm{ref}, k}} \delta_k \end{align} $$ @@ -96,37 +96,37 @@ Based on the linearization, the error kinematics is formulated with the followin $$ \begin{align} \begin{pmatrix} - y_{k+1} \\ + y_{k+1} \\\ \theta_{k+1} \end{pmatrix} = \begin{pmatrix} - 1 & v dt \\ - 0 & 1 \\ + 1 & v dt \\\ + 0 & 1 \end{pmatrix} \begin{pmatrix} - y_k \\ - \theta_k \\ + y_k \\\ + \theta_k \end{pmatrix} + \begin{pmatrix} - 0 \\ - \frac{v dt}{L \cos^{2} \delta_{\mathrm{ref}, k}} \\ + 0 \\\ + \frac{v dt}{L \cos^{2} \delta_{\mathrm{ref}, k}} \end{pmatrix} \delta_{k} + \begin{pmatrix} - 0 \\ - \frac{v \tan(\delta_{\mathrm{ref}, k}) dt}{L} - \frac{v \delta_{\mathrm{ref}, k} dt}{L \cos^{2} \delta_{\mathrm{ref}, k}} - \kappa_k v dt\\ + 0 \\\ + \frac{v \tan(\delta_{\mathrm{ref}, k}) dt}{L} - \frac{v \delta_{\mathrm{ref}, k} dt}{L \cos^{2} \delta_{\mathrm{ref}, k}} - \kappa_k v dt \end{pmatrix} \end{align} $$ -which can be formulated as follows with the state $\boldsymbol{x}$, control input $u$ and some matrices, where $\boldsymbol{x} = (y_k, \theta_k)$ +which can be formulated as follows with the state $\mathbf{x}$, control input $u$ and some matrices, where $\mathbf{x} = (y_k, \theta_k)$ $$ \begin{align} - \boldsymbol{x}_{k+1} = A_k \boldsymbol{x}_k + \boldsymbol{b}_k u_k + \boldsymbol{w}_k + \mathbf{x}_{k+1} = A_k \mathbf{x}_k + \mathbf{b}_k u_k + \mathbf{w}_k \end{align} $$ @@ -136,7 +136,7 @@ Then, we formulate time-series state equation by concatenating states, control i $$ \begin{align} - \boldsymbol{x} = A \boldsymbol{x}_0 + B \boldsymbol{u} + \boldsymbol{w} + \mathbf{x} = A \mathbf{x}_0 + B \mathbf{u} + \mathbf{w} \end{align} $$ @@ -144,9 +144,9 @@ where $$ \begin{align} -\boldsymbol{x} = (\boldsymbol{x}^T_1, \boldsymbol{x}^T_2, \boldsymbol{x}^T_3, \dots, \boldsymbol{x}^T_{n-1})^T \\ -\boldsymbol{u} = (u_0, u_1, u_2, \dots, u_{n-2})^T \\ -\boldsymbol{w} = (\boldsymbol{w}^T_0, \boldsymbol{w}^T_1, \boldsymbol{w}^T_2, \dots, \boldsymbol{w}^T_{n-1})^T. \\ +\mathbf{x} = (\mathbf{x}^T_1, \mathbf{x}^T_2, \mathbf{x}^T_3, \dots, \mathbf{x}^T_{n-1})^T \\\ +\mathbf{u} = (u_0, u_1, u_2, \dots, u_{n-2})^T \\\ +\mathbf{w} = (\mathbf{w}^T_0, \mathbf{w}^T_1, \mathbf{w}^T_2, \dots, \mathbf{w}^T_{n-1})^T. \\\ \end{align} $$ @@ -155,63 +155,63 @@ In detail, each matrices are constructed as follows. $$ \begin{align} \begin{pmatrix} - \boldsymbol{x}_1 \\ - \boldsymbol{x}_2 \\ - \boldsymbol{x}_3 \\ - \vdots \\ - \boldsymbol{x}_{n-1} + \mathbf{x}_1 \\\ + \mathbf{x}_2 \\\ + \mathbf{x}_3 \\\ + \vdots \\\ + \mathbf{x}_{n-1} \end{pmatrix} = \begin{pmatrix} - A_0 \\ - A_1 A_0 \\ - A_2 A_1 A_0\\ - \vdots \\ + A_0 \\\ + A_1 A_0 \\\ + A_2 A_1 A_0\\\ + \vdots \\\ \prod\limits_{k=0}^{n-1} A_{k} \end{pmatrix} - \boldsymbol{x}_0 + \mathbf{x}_0 + \begin{pmatrix} - B_0 & 0 & & \dots & 0 \\ - A_0 B_0 & B_1 & 0 & \dots & 0 \\ - A_1 A_0 B_0 & A_0 B_1 & B_2 & \dots & 0 \\ - \vdots & \vdots & & \ddots & 0 \\ + B_0 & 0 & & \dots & 0 \\\ + A_0 B_0 & B_1 & 0 & \dots & 0 \\\ + A_1 A_0 B_0 & A_0 B_1 & B_2 & \dots & 0 \\\ + \vdots & \vdots & & \ddots & 0 \\\ \prod\limits_{k=0}^{n-3} A_k B_0 & \prod\limits_{k=0}^{n-4} A_k B_1 & \dots & A_0 B_{n-3} & B_{n-2} \end{pmatrix} \begin{pmatrix} - u_0 \\ - u_1 \\ - u_2 \\ - \vdots \\ + u_0 \\\ + u_1 \\\ + u_2 \\\ + \vdots \\\ u_{n-2} \end{pmatrix} + \begin{pmatrix} - I & 0 & & \dots & 0 \\ - A_0 & I & 0 & \dots & 0 \\ - A_1 A_0 & A_0 & I & \dots & 0 \\ - \vdots & \vdots & & \ddots & 0 \\ + I & 0 & & \dots & 0 \\\ + A_0 & I & 0 & \dots & 0 \\\ + A_1 A_0 & A_0 & I & \dots & 0 \\\ + \vdots & \vdots & & \ddots & 0 \\\ \prod\limits_{k=0}^{n-3} A_k & \prod\limits_{k=0}^{n-4} A_k & \dots & A_0 & I \end{pmatrix} \begin{pmatrix} - \boldsymbol{w}_0 \\ - \boldsymbol{w}_1 \\ - \boldsymbol{w}_2 \\ - \vdots \\ - \boldsymbol{w}_{n-2} + \mathbf{w}_0 \\\ + \mathbf{w}_1 \\\ + \mathbf{w}_2 \\\ + \vdots \\\ + \mathbf{w}_{n-2} \end{pmatrix} \end{align} $$ ### Free-boundary-conditioned time-series state equation -For path planning which does not start from the current ego pose, $\boldsymbol{x}_0$ should be the design variable of optimization. -Therefore, we make $\boldsymbol{u}'$ by concatenating $\boldsymbol{x}_0$ and $\boldsymbol{u}$, and redefine $\boldsymbol{x}$ as follows. +For path planning which does not start from the current ego pose, $\mathbf{x}_0$ should be the design variable of optimization. +Therefore, we make $\mathbf{u}'$ by concatenating $\mathbf{x}_0$ and $\mathbf{u}$, and redefine $\mathbf{x}$ as follows. $$ \begin{align} - \boldsymbol{u}' & = (\boldsymbol{x}^T_0, \boldsymbol{u}^T)^T \\ - \boldsymbol{x} & = (\boldsymbol{x}^T_0, \boldsymbol{x}^T_1, \boldsymbol{x}^T_2, \dots, \boldsymbol{x}^T_{n-1})^T + \mathbf{u}' & = (\mathbf{x}^T_0, \mathbf{u}^T)^T \\\ + \mathbf{x} & = (\mathbf{x}^T_0, \mathbf{x}^T_1, \mathbf{x}^T_2, \dots, \mathbf{x}^T_{n-1})^T \end{align} $$ @@ -219,7 +219,7 @@ Then we get the following state equation $$ \begin{align} - \boldsymbol{x}' = B \boldsymbol{u}' + \boldsymbol{w}, + \mathbf{x}' = B \mathbf{u}' + \mathbf{w}, \end{align} $$ @@ -228,45 +228,45 @@ which is in detail $$ \begin{align} \begin{pmatrix} - \boldsymbol{x}_0 \\ - \boldsymbol{x}_1 \\ - \boldsymbol{x}_2 \\ - \boldsymbol{x}_3 \\ - \vdots \\ - \boldsymbol{x}_{n-1} + \mathbf{x}_0 \\\ + \mathbf{x}_1 \\\ + \mathbf{x}_2 \\\ + \mathbf{x}_3 \\\ + \vdots \\\ + \mathbf{x}_{n-1} \end{pmatrix} = \begin{pmatrix} - I & 0 & \dots & & & 0 \\ - A_0 & B_0 & 0 & & \dots & 0 \\ - A_1 A_0 & A_0 B_0 & B_1 & 0 & \dots & 0 \\ - A_2 A_1 A_0 & A_1 A_0 B_0 & A_0 B_1 & B_2 & \dots & 0 \\ - \vdots & \vdots & \vdots & & \ddots & 0 \\ + I & 0 & \dots & & & 0 \\\ + A_0 & B_0 & 0 & & \dots & 0 \\\ + A_1 A_0 & A_0 B_0 & B_1 & 0 & \dots & 0 \\\ + A_2 A_1 A_0 & A_1 A_0 B_0 & A_0 B_1 & B_2 & \dots & 0 \\\ + \vdots & \vdots & \vdots & & \ddots & 0 \\\ \prod\limits_{k=0}^{n-1} A_k & \prod\limits_{k=0}^{n-3} A_k B_0 & \prod\limits_{k=0}^{n-4} A_k B_1 & \dots & A_0 B_{n-3} & B_{n-2} \end{pmatrix} \begin{pmatrix} - \boldsymbol{x}_0 \\ - u_0 \\ - u_1 \\ - u_2 \\ - \vdots \\ + \mathbf{x}_0 \\\ + u_0 \\\ + u_1 \\\ + u_2 \\\ + \vdots \\\ u_{n-2} \end{pmatrix} + \begin{pmatrix} - 0 & \dots & & & 0 \\ - I & 0 & & \dots & 0 \\ - A_0 & I & 0 & \dots & 0 \\ - A_1 A_0 & A_0 & I & \dots & 0 \\ - \vdots & \vdots & & \ddots & 0 \\ + 0 & \dots & & & 0 \\\ + I & 0 & & \dots & 0 \\\ + A_0 & I & 0 & \dots & 0 \\\ + A_1 A_0 & A_0 & I & \dots & 0 \\\ + \vdots & \vdots & & \ddots & 0 \\\ \prod\limits_{k=0}^{n-3} A_k & \prod\limits_{k=0}^{n-4} A_k & \dots & A_0 & I \end{pmatrix} \begin{pmatrix} - \boldsymbol{w}_0 \\ - \boldsymbol{w}_1 \\ - \boldsymbol{w}_2 \\ - \vdots \\ - \boldsymbol{w}_{n-2} + \mathbf{w}_0 \\\ + \mathbf{w}_1 \\\ + \mathbf{w}_2 \\\ + \vdots \\\ + \mathbf{w}_{n-2} \end{pmatrix}. \end{align} $$ @@ -277,9 +277,9 @@ The objective function for smoothing and tracking is shown as follows, which can $$ \begin{align} -J_1 (\boldsymbol{x}', \boldsymbol{u}') & = w_y \sum_{k} y_k^2 + w_{\theta} \sum_{k} \theta_k^2 + w_{\delta} \sum_k \delta_k^2 + w_{\dot{\delta}} \sum_k \dot{\delta}_k^2 + w_{\ddot{\delta}} \sum_k \ddot{\delta}_k^2 \\ -& = \boldsymbol{x}'^T Q \boldsymbol{x}' + \boldsymbol{u}'^T R \boldsymbol{u}' \\ -& = \boldsymbol{u}'^T H \boldsymbol{u}' + \boldsymbol{u}'^T \boldsymbol{f} +J_1 (\mathbf{x}', \mathbf{u}') & = w_y \sum_{k} y_k^2 + w_{\theta} \sum_{k} \theta_k^2 + w_{\delta} \sum_k \delta_k^2 + w_{\dot \delta} \sum_k \dot \delta_k^2 + w_{\ddot \delta} \sum_k \ddot \delta_k^2 \\\ +& = \mathbf{x}'^T Q \mathbf{x}' + \mathbf{u}'^T R \mathbf{u}' \\\ +& = \mathbf{u}'^T H \mathbf{u}' + \mathbf{u}'^T \mathbf{f} \end{align} $$ @@ -287,11 +287,11 @@ As mentioned before, the constraints to be collision free with obstacles and roa Assuming that the lateral distance to the road boundaries or obstacles from the back wheel center, front wheel center, and the point between them are $y_{\mathrm{base}, k}, y_{\mathrm{top}, k}, y_{\mathrm{mid}, k}$ respectively, and slack variables for each point are $\lambda_{\mathrm{base}}, \lambda_{\mathrm{top}}, \lambda_{\mathrm{mid}}$, the soft constraints can be formulated as follows. $$ -y_{\mathrm{base}, k, \min} - \lambda_{\mathrm{base}, k} \leq y_{\mathrm{base}, k} (y_k) \leq y_{\mathrm{base}, k, \max} + \lambda_{\mathrm{base}, k}\\ -y_{\mathrm{top}, k, \min} - \lambda_{\mathrm{top}, k} \leq y_{\mathrm{top}, k} (y_k) \leq y_{\mathrm{top}, k, \max} + \lambda_{\mathrm{top}, k}\\ -y_{\mathrm{mid}, k, \min} - \lambda_{\mathrm{mid}, k} \leq y_{\mathrm{mid}, k} (y_k) \leq y_{\mathrm{mid}, k, \max} + \lambda_{\mathrm{mid}, k} \\ -0 \leq \lambda_{\mathrm{base}, k} \\ -0 \leq \lambda_{\mathrm{top}, k} \\ +y_{\mathrm{base}, k, \min} - \lambda_{\mathrm{base}, k} \leq y_{\mathrm{base}, k} (y_k) \leq y_{\mathrm{base}, k, \max} + \lambda_{\mathrm{base}, k}\\\ +y_{\mathrm{top}, k, \min} - \lambda_{\mathrm{top}, k} \leq y_{\mathrm{top}, k} (y_k) \leq y_{\mathrm{top}, k, \max} + \lambda_{\mathrm{top}, k}\\\ +y_{\mathrm{mid}, k, \min} - \lambda_{\mathrm{mid}, k} \leq y_{\mathrm{mid}, k} (y_k) \leq y_{\mathrm{mid}, k, \max} + \lambda_{\mathrm{mid}, k} \\\ +0 \leq \lambda_{\mathrm{base}, k} \\\ +0 \leq \lambda_{\mathrm{top}, k} \\\ 0 \leq \lambda_{\mathrm{mid}, k} $$ @@ -299,19 +299,19 @@ Since $y_{\mathrm{base}, k}, y_{\mathrm{top}, k}, y_{\mathrm{mid}, k}$ is formul $$ \begin{align} -J_2 & (\boldsymbol{\lambda}_\mathrm{base}, \boldsymbol{\lambda}_\mathrm{top}, \boldsymbol {\lambda}_\mathrm{mid})\\ +J_2 & (\mathbf{\lambda}_\mathrm{base}, \mathbf{\lambda}_\mathrm{top}, \mathbf {\lambda}_\mathrm{mid})\\\ & = w_{\mathrm{base}} \sum_{k} \lambda_{\mathrm{base}, k} + w_{\mathrm{mid}} \sum_k \lambda_{\mathrm{mid}, k} + w_{\mathrm{top}} \sum_k \lambda_{\mathrm{top}, k} \end{align} $$ Slack variables are also design variables for optimization. -We define a vector $\boldsymbol{v}$, that concatenates all the design variables. +We define a vector $\mathbf{v}$, that concatenates all the design variables. $$ \begin{align} -\boldsymbol{v} = +\mathbf{v} = \begin{pmatrix} - \boldsymbol{u}'^T & \boldsymbol{\lambda}_\mathrm{base}^T & \boldsymbol{\lambda}_\mathrm{top}^T & \boldsymbol{\lambda}_\mathrm{mid}^T + \mathbf{u}'^T & \mathbf{\lambda}_\mathrm{base}^T & \mathbf{\lambda}_\mathrm{top}^T & \mathbf{\lambda}_\mathrm{mid}^T \end{pmatrix}^T \end{align} $$ @@ -320,7 +320,7 @@ The summation of these two objective functions is the objective function for the $$ \begin{align} -\min_{\boldsymbol{v}} J (\boldsymbol{v}) = \min_{\boldsymbol{v}} J_1 (\boldsymbol{u}') + J_2 (\boldsymbol{\lambda}_\mathrm{base}, \boldsymbol{\lambda}_\mathrm{top}, \boldsymbol{\lambda}_\mathrm{mid}) +\min_{\mathbf{v}} J (\mathbf{v}) = \min_{\mathbf{v}} J_1 (\mathbf{u}') + J_2 (\mathbf{\lambda}_\mathrm{base}, \mathbf{\lambda}_\mathrm{top}, \mathbf{\lambda}_\mathrm{mid}) \end{align} $$ @@ -337,8 +337,8 @@ Finally we transform those objective functions to the following QP problem, and $$ \begin{align} -\min_{\boldsymbol{v}} \ & \frac{1}{2} \boldsymbol{v}^T \boldsymbol{H} \boldsymbol{v} + \boldsymbol{f} \boldsymbol{v} \\ -\mathrm{s.t.} \ & \boldsymbol{b}_{lower} \leq \boldsymbol{A} \boldsymbol{v} \leq \boldsymbol{b}_{upper} +\min_{\mathbf{v}} \ & \frac{1}{2} \mathbf{v}^T \mathbf{H} \mathbf{v} + \mathbf{f} \mathbf{v} \\\ +\mathrm{s.t.} \ & \mathbf{b}_{lower} \leq \mathbf{A} \mathbf{v} \leq \mathbf{b}_{upper} \end{align} $$ @@ -382,8 +382,8 @@ Based on the following figure, $y'$ can be formulated as follows. $$ \begin{align} -y' & = L \sin(\theta + \beta) + y \cos \beta - l \sin(\gamma - \phi_a) \\ -& = L \sin \theta \cos \beta + L \cos \theta \sin \beta + y \cos \beta - l \sin(\gamma - \phi_a) \\ +y' & = L \sin(\theta + \beta) + y \cos \beta - l \sin(\gamma - \phi_a) \\\ +& = L \sin \theta \cos \beta + L \cos \theta \sin \beta + y \cos \beta - l \sin(\gamma - \phi_a) \\\ & \approx L \theta \cos \beta + L \sin \beta + y \cos \beta - l \sin(\gamma - \phi_a) \end{align} $$ @@ -394,9 +394,9 @@ $$ $$ \begin{align} -y' & = C_1 \boldsymbol{x} + C_2 \\ -& = C_1 (B \boldsymbol{v} + \boldsymbol{w}) + C_2 \\ -& = C_1 B \boldsymbol{v} + \boldsymbol{w} + C_2 +y' & = C_1 \mathbf{x} + C_2 \\\ +& = C_1 (B \mathbf{v} + \mathbf{w}) + C_2 \\\ +& = C_1 B \mathbf{v} + \mathbf{w} + C_2 \end{align} $$ @@ -408,20 +408,20 @@ $$ \begin{align} A_{blk} & = \begin{pmatrix} - C_1 B & O & \dots & O & I_{N_{ref} \times N_{ref}} & O \dots & O\\ - -C_1 B & O & \dots & O & I & O \dots & O\\ + C_1 B & O & \dots & O & I_{N_{ref} \times N_{ref}} & O \dots & O\\\ + -C_1 B & O & \dots & O & I & O \dots & O\\\ O & O & \dots & O & I & O \dots & O \end{pmatrix} - \in \boldsymbol{R}^{3 N_{ref} \times D_v + N_{circle} N_{ref}} \\ - \boldsymbol{b}_{lower, blk} & = + \in \mathbf{R}^{3 N_{ref} \times D_v + N_{circle} N_{ref}} \\\ + \mathbf{b}_{lower, blk} & = \begin{pmatrix} - \boldsymbol{b}_{lower} - C_1 \boldsymbol{w} - C_2 \\ - -\boldsymbol{b}_{upper} + C_1 \boldsymbol{w} + C_2 \\ + \mathbf{b}_{lower} - C_1 \mathbf{w} - C_2 \\\ + -\mathbf{b}_{upper} + C_1 \mathbf{w} + C_2 \\\ O \end{pmatrix} - \in \boldsymbol{R}^{3 N_{ref}} \\ - \boldsymbol{b}_{upper, blk} & = \boldsymbol{\infty} - \in \boldsymbol{R}^{3 N_{ref}} + \in \mathbf{R}^{3 N_{ref}} \\\ + \mathbf{b}_{upper, blk} & = \mathbf{\infty} + \in \mathbf{R}^{3 N_{ref}} \end{align} $$ @@ -436,11 +436,11 @@ $$ \begin{align} A_{blk} = \begin{pmatrix} - C_1 B & I_{N_{ref} \times N_{ref}} \\ - -C_1 B & I \\ + C_1 B & I_{N_{ref} \times N_{ref}} \\\ + -C_1 B & I \\\ O & I \end{pmatrix} -\in \boldsymbol{R}^{3N_{ref} \times D_v + N_{ref}} +\in \mathbf{R}^{3N_{ref} \times D_v + N_{ref}} \end{align} $$ @@ -476,8 +476,8 @@ Assume that $v_{ego}$ is the ego velocity, and $t_{fix}$ is the time to fix the $$ \begin{align} -r & = \mathrm{lerp}(w^{\mathrm{steer}}_{\mathrm{normal}}, w^{\mathrm{steer}}_{\mathrm{avoidance}}, c) \\ -w^{\mathrm{lat}} & = \mathrm{lerp}(w^{\mathrm{lat}}_{\mathrm{normal}}, w^{\mathrm{lat}}_{\mathrm{avoidance}}, r) \\ +r & = \mathrm{lerp}(w^{\mathrm{steer}}_{\mathrm{normal}}, w^{\mathrm{steer}}_{\mathrm{avoidance}}, c) \\\ +w^{\mathrm{lat}} & = \mathrm{lerp}(w^{\mathrm{lat}}_{\mathrm{normal}}, w^{\mathrm{lat}}_{\mathrm{avoidance}}, r) \\\ w^{\mathrm{yaw}} & = \mathrm{lerp}(w^{\mathrm{yaw}}_{\mathrm{normal}}, w^{\mathrm{yaw}}_{\mathrm{avoidance}}, r) \end{align} $$ From cf5a2ed247cb216fbd3f65453a673866b5f5e5c2 Mon Sep 17 00:00:00 2001 From: Tao Zhong <55872497+tzhong518@users.noreply.github.com> Date: Tue, 16 Apr 2024 11:31:28 +0900 Subject: [PATCH 50/54] feat(lidar_centerpoint): output the covariance of pose and twist (#6573) * feat: postprocess variance Signed-off-by: tzhong518 * feat: output variance Signed-off-by: tzhong518 * feat: add has_variance to config Signed-off-by: tzhong518 * fix: single_inference node Signed-off-by: tzhong518 * style(pre-commit): autofix * fix: add to pointpainting param Signed-off-by: tzhong518 * Update perception/lidar_centerpoint/src/node.cpp Co-authored-by: Yoshi Ri * Update perception/image_projection_based_fusion/src/pointpainting_fusion/node.cpp Co-authored-by: Yoshi Ri * Update perception/lidar_centerpoint/src/node.cpp Co-authored-by: Yoshi Ri * fix: add options Signed-off-by: tzhong518 * fix: avoid powf Signed-off-by: tzhong518 * Update launch/tier4_perception_launch/launch/object_recognition/detection/detector/lidar_dnn_detector.launch.xml Co-authored-by: Taekjin LEE --------- Signed-off-by: tzhong518 Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Yoshi Ri Co-authored-by: Taekjin LEE --- .../detector/lidar_dnn_detector.launch.xml | 2 +- .../launch/perception.launch.xml | 2 +- .../config/pointpainting.param.yaml | 1 + .../pointpainting_fusion/node.hpp | 1 + .../schema/pointpainting.schema.json | 5 +++ .../src/pointpainting_fusion/node.cpp | 5 +-- .../config/centerpoint.param.yaml | 1 + .../config/centerpoint_sigma.param.yaml | 27 ++++++++++++++++ .../config/centerpoint_tiny.param.yaml | 1 + .../lidar_centerpoint/centerpoint_config.hpp | 22 +++++++++---- .../include/lidar_centerpoint/node.hpp | 1 + .../include/lidar_centerpoint/ros_utils.hpp | 6 +++- .../include/lidar_centerpoint/utils.hpp | 11 +++++++ .../lib/postprocess/postprocess_kernel.cu | 32 +++++++++++++++++-- .../lidar_centerpoint/lib/ros_utils.cpp | 30 ++++++++++++++++- perception/lidar_centerpoint/src/node.cpp | 7 ++-- 16 files changed, 137 insertions(+), 17 deletions(-) create mode 100644 perception/lidar_centerpoint/config/centerpoint_sigma.param.yaml diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/detector/lidar_dnn_detector.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/detector/lidar_dnn_detector.launch.xml index f9b65fd5c30eb..ab89da7112b66 100644 --- a/launch/tier4_perception_launch/launch/object_recognition/detection/detector/lidar_dnn_detector.launch.xml +++ b/launch/tier4_perception_launch/launch/object_recognition/detection/detector/lidar_dnn_detector.launch.xml @@ -5,7 +5,7 @@ - + diff --git a/launch/tier4_perception_launch/launch/perception.launch.xml b/launch/tier4_perception_launch/launch/perception.launch.xml index c6213ee313c2b..d9e18e76bc4c4 100644 --- a/launch/tier4_perception_launch/launch/perception.launch.xml +++ b/launch/tier4_perception_launch/launch/perception.launch.xml @@ -36,7 +36,7 @@ - + diff --git a/perception/image_projection_based_fusion/config/pointpainting.param.yaml b/perception/image_projection_based_fusion/config/pointpainting.param.yaml index 3abaffb243d96..53ac6f4cafc28 100755 --- a/perception/image_projection_based_fusion/config/pointpainting.param.yaml +++ b/perception/image_projection_based_fusion/config/pointpainting.param.yaml @@ -16,6 +16,7 @@ downsample_factor: 1 encoder_in_feature_size: 12 yaw_norm_thresholds: [0.3, 0.3, 0.3, 0.3, 0.0] + has_variance: false has_twist: false densification_params: world_frame_id: "map" diff --git a/perception/image_projection_based_fusion/include/image_projection_based_fusion/pointpainting_fusion/node.hpp b/perception/image_projection_based_fusion/include/image_projection_based_fusion/pointpainting_fusion/node.hpp index 78ae152141a00..c39dd7ac8bc33 100644 --- a/perception/image_projection_based_fusion/include/image_projection_based_fusion/pointpainting_fusion/node.hpp +++ b/perception/image_projection_based_fusion/include/image_projection_based_fusion/pointpainting_fusion/node.hpp @@ -60,6 +60,7 @@ class PointPaintingFusionNode std::map class_index_; std::map> isClassTable_; std::vector pointcloud_range; + bool has_variance_{false}; bool has_twist_{false}; centerpoint::NonMaximumSuppression iou_bev_nms_; diff --git a/perception/image_projection_based_fusion/schema/pointpainting.schema.json b/perception/image_projection_based_fusion/schema/pointpainting.schema.json index 036628d72e70a..bc8f0512263b6 100644 --- a/perception/image_projection_based_fusion/schema/pointpainting.schema.json +++ b/perception/image_projection_based_fusion/schema/pointpainting.schema.json @@ -60,6 +60,11 @@ "minimum": 0.0, "maximum": 1.0 }, + "has_variance": { + "type": "boolean", + "description": "Indicates whether the model outputs variance value.", + "default": false + }, "has_twist": { "type": "boolean", "description": "Indicates whether the model outputs twist value.", diff --git a/perception/image_projection_based_fusion/src/pointpainting_fusion/node.cpp b/perception/image_projection_based_fusion/src/pointpainting_fusion/node.cpp index 14783a46ba8b4..c4c5941be5fec 100644 --- a/perception/image_projection_based_fusion/src/pointpainting_fusion/node.cpp +++ b/perception/image_projection_based_fusion/src/pointpainting_fusion/node.cpp @@ -140,6 +140,7 @@ PointPaintingFusionNode::PointPaintingFusionNode(const rclcpp::NodeOptions & opt isClassTable_.erase(cls); } } + has_variance_ = this->declare_parameter("has_variance"); has_twist_ = this->declare_parameter("model_params.has_twist"); const std::size_t point_feature_size = static_cast( this->declare_parameter("model_params.point_feature_size")); @@ -189,7 +190,7 @@ PointPaintingFusionNode::PointPaintingFusionNode(const rclcpp::NodeOptions & opt centerpoint::CenterPointConfig config( class_names_.size(), point_feature_size, max_voxel_size, pointcloud_range, voxel_size, downsample_factor, encoder_in_feature_size, score_threshold, circle_nms_dist_threshold, - yaw_norm_thresholds); + yaw_norm_thresholds, has_variance_); // create detector detector_ptr_ = std::make_unique( @@ -401,7 +402,7 @@ void PointPaintingFusionNode::postprocess(sensor_msgs::msg::PointCloud2 & painte raw_objects.reserve(det_boxes3d.size()); for (const auto & box3d : det_boxes3d) { autoware_auto_perception_msgs::msg::DetectedObject obj; - box3DToDetectedObject(box3d, class_names_, has_twist_, obj); + box3DToDetectedObject(box3d, class_names_, has_twist_, has_variance_, obj); raw_objects.emplace_back(obj); } diff --git a/perception/lidar_centerpoint/config/centerpoint.param.yaml b/perception/lidar_centerpoint/config/centerpoint.param.yaml index a9c3174846d0d..38c57285e552d 100644 --- a/perception/lidar_centerpoint/config/centerpoint.param.yaml +++ b/perception/lidar_centerpoint/config/centerpoint.param.yaml @@ -14,6 +14,7 @@ iou_nms_threshold: 0.1 yaw_norm_thresholds: [0.3, 0.3, 0.3, 0.3, 0.0] score_threshold: 0.35 + has_variance: false has_twist: false trt_precision: fp16 densification_num_past_frames: 1 diff --git a/perception/lidar_centerpoint/config/centerpoint_sigma.param.yaml b/perception/lidar_centerpoint/config/centerpoint_sigma.param.yaml new file mode 100644 index 0000000000000..c217f6321381a --- /dev/null +++ b/perception/lidar_centerpoint/config/centerpoint_sigma.param.yaml @@ -0,0 +1,27 @@ +/**: + ros__parameters: + class_names: ["CAR", "TRUCK", "BUS", "BICYCLE", "PEDESTRIAN"] + point_feature_size: 4 + max_voxel_size: 40000 + point_cloud_range: [-76.8, -76.8, -4.0, 76.8, 76.8, 6.0] + voxel_size: [0.32, 0.32, 10.0] + downsample_factor: 1 + encoder_in_feature_size: 9 + # post-process params + circle_nms_dist_threshold: 0.5 + iou_nms_target_class_names: ["CAR"] + iou_nms_search_distance_2d: 10.0 + iou_nms_threshold: 0.1 + yaw_norm_thresholds: [0.3, 0.3, 0.3, 0.3, 0.0] + score_threshold: 0.35 + has_variance: true + has_twist: true + trt_precision: fp16 + densification_num_past_frames: 1 + densification_world_frame_id: map + + # weight files + encoder_onnx_path: "$(var model_path)/pts_voxel_encoder_$(var model_name).onnx" + encoder_engine_path: "$(var model_path)/pts_voxel_encoder_$(var model_name).engine" + head_onnx_path: "$(var model_path)/pts_backbone_neck_head_$(var model_name).onnx" + head_engine_path: "$(var model_path)/pts_backbone_neck_head_$(var model_name).engine" diff --git a/perception/lidar_centerpoint/config/centerpoint_tiny.param.yaml b/perception/lidar_centerpoint/config/centerpoint_tiny.param.yaml index 474d0e2b695ac..35e11e61e9634 100644 --- a/perception/lidar_centerpoint/config/centerpoint_tiny.param.yaml +++ b/perception/lidar_centerpoint/config/centerpoint_tiny.param.yaml @@ -14,6 +14,7 @@ iou_nms_threshold: 0.1 yaw_norm_thresholds: [0.3, 0.3, 0.3, 0.3, 0.0] score_threshold: 0.35 + has_variance: false has_twist: false trt_precision: fp16 densification_num_past_frames: 1 diff --git a/perception/lidar_centerpoint/include/lidar_centerpoint/centerpoint_config.hpp b/perception/lidar_centerpoint/include/lidar_centerpoint/centerpoint_config.hpp index 363184ecacfa9..19fdbe7a8b9c2 100644 --- a/perception/lidar_centerpoint/include/lidar_centerpoint/centerpoint_config.hpp +++ b/perception/lidar_centerpoint/include/lidar_centerpoint/centerpoint_config.hpp @@ -28,7 +28,7 @@ class CenterPointConfig const std::vector & point_cloud_range, const std::vector & voxel_size, const std::size_t downsample_factor, const std::size_t encoder_in_feature_size, const float score_threshold, const float circle_nms_dist_threshold, - const std::vector yaw_norm_thresholds) + const std::vector yaw_norm_thresholds, const bool has_variance) { class_size_ = class_size; point_feature_size_ = point_feature_size; @@ -49,6 +49,15 @@ class CenterPointConfig downsample_factor_ = downsample_factor; encoder_in_feature_size_ = encoder_in_feature_size; + if (has_variance) { + has_variance_ = true; + head_out_offset_size_ = 4; + head_out_z_size_ = 2; + head_out_dim_size_ = 6; + head_out_rot_size_ = 4; + head_out_vel_size_ = 4; + } + if (score_threshold > 0 && score_threshold < 1) { score_threshold_ = score_threshold; } @@ -97,11 +106,12 @@ class CenterPointConfig std::size_t encoder_in_feature_size_{9}; const std::size_t encoder_out_feature_size_{32}; const std::size_t head_out_size_{6}; - const std::size_t head_out_offset_size_{2}; - const std::size_t head_out_z_size_{1}; - const std::size_t head_out_dim_size_{3}; - const std::size_t head_out_rot_size_{2}; - const std::size_t head_out_vel_size_{2}; + bool has_variance_{false}; + std::size_t head_out_offset_size_{2}; + std::size_t head_out_z_size_{1}; + std::size_t head_out_dim_size_{3}; + std::size_t head_out_rot_size_{2}; + std::size_t head_out_vel_size_{2}; // post-process params float score_threshold_{0.35f}; diff --git a/perception/lidar_centerpoint/include/lidar_centerpoint/node.hpp b/perception/lidar_centerpoint/include/lidar_centerpoint/node.hpp index 963579e5763c2..d9740df515db2 100644 --- a/perception/lidar_centerpoint/include/lidar_centerpoint/node.hpp +++ b/perception/lidar_centerpoint/include/lidar_centerpoint/node.hpp @@ -53,6 +53,7 @@ class LidarCenterPointNode : public rclcpp::Node float score_threshold_{0.0}; std::vector class_names_; + bool has_variance_{false}; bool has_twist_{false}; NonMaximumSuppression iou_bev_nms_; diff --git a/perception/lidar_centerpoint/include/lidar_centerpoint/ros_utils.hpp b/perception/lidar_centerpoint/include/lidar_centerpoint/ros_utils.hpp index 69b75b614498e..4eb4318c4f3f9 100644 --- a/perception/lidar_centerpoint/include/lidar_centerpoint/ros_utils.hpp +++ b/perception/lidar_centerpoint/include/lidar_centerpoint/ros_utils.hpp @@ -32,10 +32,14 @@ namespace centerpoint void box3DToDetectedObject( const Box3D & box3d, const std::vector & class_names, const bool has_twist, - autoware_auto_perception_msgs::msg::DetectedObject & obj); + const bool has_variance, autoware_auto_perception_msgs::msg::DetectedObject & obj); uint8_t getSemanticType(const std::string & class_name); +std::array convertPoseCovarianceMatrix(const Box3D & box3d); + +std::array convertTwistCovarianceMatrix(const Box3D & box3d); + bool isCarLikeVehicleLabel(const uint8_t label); } // namespace centerpoint diff --git a/perception/lidar_centerpoint/include/lidar_centerpoint/utils.hpp b/perception/lidar_centerpoint/include/lidar_centerpoint/utils.hpp index 84462bc9657ac..f3dd30f754989 100644 --- a/perception/lidar_centerpoint/include/lidar_centerpoint/utils.hpp +++ b/perception/lidar_centerpoint/include/lidar_centerpoint/utils.hpp @@ -33,6 +33,17 @@ struct Box3D float yaw; float vel_x; float vel_y; + + // variance + float x_variance; + float y_variance; + float z_variance; + float length_variance; + float width_variance; + float height_variance; + float yaw_variance; + float vel_x_variance; + float vel_y_variance; }; // cspell: ignore divup diff --git a/perception/lidar_centerpoint/lib/postprocess/postprocess_kernel.cu b/perception/lidar_centerpoint/lib/postprocess/postprocess_kernel.cu index ea2111862759a..34bbd2811041c 100644 --- a/perception/lidar_centerpoint/lib/postprocess/postprocess_kernel.cu +++ b/perception/lidar_centerpoint/lib/postprocess/postprocess_kernel.cu @@ -58,7 +58,7 @@ __global__ void generateBoxes3D_kernel( const float * out_rot, const float * out_vel, const float voxel_size_x, const float voxel_size_y, const float range_min_x, const float range_min_y, const std::size_t down_grid_size_x, const std::size_t down_grid_size_y, const std::size_t downsample_factor, const int class_size, - const float * yaw_norm_thresholds, Box3D * det_boxes3d) + const bool has_variance, const float * yaw_norm_thresholds, Box3D * det_boxes3d) { // generate boxes3d from the outputs of the network. // shape of out_*: (N, DOWN_GRID_SIZE_Y, DOWN_GRID_SIZE_X) @@ -107,6 +107,34 @@ __global__ void generateBoxes3D_kernel( det_boxes3d[idx].yaw = atan2f(yaw_sin, yaw_cos); det_boxes3d[idx].vel_x = vel_x; det_boxes3d[idx].vel_y = vel_y; + + if (has_variance) { + const float offset_x_variance = out_offset[down_grid_size * 2 + idx]; + const float offset_y_variance = out_offset[down_grid_size * 3 + idx]; + const float z_variance = out_z[down_grid_size * 1 + idx]; + const float w_variance = out_dim[down_grid_size * 3 + idx]; + const float l_variance = out_dim[down_grid_size * 4 + idx]; + const float h_variance = out_dim[down_grid_size * 5 + idx]; + const float yaw_sin_log_variance = out_rot[down_grid_size * 2 + idx]; + const float yaw_cos_log_variance = out_rot[down_grid_size * 3 + idx]; + const float vel_x_variance = out_vel[down_grid_size * 2 + idx]; + const float vel_y_variance = out_vel[down_grid_size * 3 + idx]; + + det_boxes3d[idx].x_variance = voxel_size_x * downsample_factor * expf(offset_x_variance); + det_boxes3d[idx].y_variance = voxel_size_x * downsample_factor * expf(offset_y_variance); + det_boxes3d[idx].z_variance = expf(z_variance); + det_boxes3d[idx].length_variance = expf(l_variance); + det_boxes3d[idx].width_variance = expf(w_variance); + det_boxes3d[idx].height_variance = expf(h_variance); + const float yaw_sin_sq = yaw_sin * yaw_sin; + const float yaw_cos_sq = yaw_cos * yaw_cos; + const float yaw_norm_sq = (yaw_sin_sq + yaw_cos_sq) * (yaw_sin_sq + yaw_cos_sq); + det_boxes3d[idx].yaw_variance = + (yaw_cos_sq * expf(yaw_sin_log_variance) + yaw_sin_sq * expf(yaw_cos_log_variance)) / + yaw_norm_sq; + det_boxes3d[idx].vel_x_variance = expf(vel_x_variance); + det_boxes3d[idx].vel_y_variance = expf(vel_y_variance); + } } PostProcessCUDA::PostProcessCUDA(const CenterPointConfig & config) : config_(config) @@ -131,7 +159,7 @@ cudaError_t PostProcessCUDA::generateDetectedBoxes3D_launch( out_heatmap, out_offset, out_z, out_dim, out_rot, out_vel, config_.voxel_size_x_, config_.voxel_size_y_, config_.range_min_x_, config_.range_min_y_, config_.down_grid_size_x_, config_.down_grid_size_y_, config_.downsample_factor_, config_.class_size_, - thrust::raw_pointer_cast(yaw_norm_thresholds_d_.data()), + config_.has_variance_, thrust::raw_pointer_cast(yaw_norm_thresholds_d_.data()), thrust::raw_pointer_cast(boxes3d_d_.data())); // suppress by score diff --git a/perception/lidar_centerpoint/lib/ros_utils.cpp b/perception/lidar_centerpoint/lib/ros_utils.cpp index 6bb788ec097b5..c4fb4abd8d753 100644 --- a/perception/lidar_centerpoint/lib/ros_utils.cpp +++ b/perception/lidar_centerpoint/lib/ros_utils.cpp @@ -25,7 +25,7 @@ using Label = autoware_auto_perception_msgs::msg::ObjectClassification; void box3DToDetectedObject( const Box3D & box3d, const std::vector & class_names, const bool has_twist, - autoware_auto_perception_msgs::msg::DetectedObject & obj) + const bool has_variance, autoware_auto_perception_msgs::msg::DetectedObject & obj) { // TODO(yukke42): the value of classification confidence of DNN, not probability. obj.existence_probability = box3d.score; @@ -58,6 +58,10 @@ void box3DToDetectedObject( obj.shape.type = autoware_auto_perception_msgs::msg::Shape::BOUNDING_BOX; obj.shape.dimensions = tier4_autoware_utils::createTranslation(box3d.length, box3d.width, box3d.height); + if (has_variance) { + obj.kinematics.has_position_covariance = has_variance; + obj.kinematics.pose_with_covariance.covariance = convertPoseCovarianceMatrix(box3d); + } // twist if (has_twist) { @@ -68,6 +72,10 @@ void box3DToDetectedObject( twist.angular.z = 2 * (std::atan2(vel_y, vel_x) - yaw); obj.kinematics.twist_with_covariance.twist = twist; obj.kinematics.has_twist = has_twist; + if (has_variance) { + obj.kinematics.has_twist_covariance = has_variance; + obj.kinematics.twist_with_covariance.covariance = convertTwistCovarianceMatrix(box3d); + } } } @@ -92,4 +100,24 @@ uint8_t getSemanticType(const std::string & class_name) } } +std::array convertPoseCovarianceMatrix(const Box3D & box3d) +{ + using POSE_IDX = tier4_autoware_utils::xyzrpy_covariance_index::XYZRPY_COV_IDX; + std::array pose_covariance{}; + pose_covariance[POSE_IDX::X_X] = box3d.x_variance; + pose_covariance[POSE_IDX::Y_Y] = box3d.y_variance; + pose_covariance[POSE_IDX::Z_Z] = box3d.z_variance; + pose_covariance[POSE_IDX::YAW_YAW] = box3d.yaw_variance; + return pose_covariance; +} + +std::array convertTwistCovarianceMatrix(const Box3D & box3d) +{ + using POSE_IDX = tier4_autoware_utils::xyzrpy_covariance_index::XYZRPY_COV_IDX; + std::array twist_covariance{}; + twist_covariance[POSE_IDX::X_X] = box3d.vel_x_variance; + twist_covariance[POSE_IDX::Y_Y] = box3d.vel_y_variance; + return twist_covariance; +} + } // namespace centerpoint diff --git a/perception/lidar_centerpoint/src/node.cpp b/perception/lidar_centerpoint/src/node.cpp index 65bdafe94fe7d..0606a2ec55c9e 100644 --- a/perception/lidar_centerpoint/src/node.cpp +++ b/perception/lidar_centerpoint/src/node.cpp @@ -55,7 +55,8 @@ LidarCenterPointNode::LidarCenterPointNode(const rclcpp::NodeOptions & node_opti const std::string head_onnx_path = this->declare_parameter("head_onnx_path"); const std::string head_engine_path = this->declare_parameter("head_engine_path"); class_names_ = this->declare_parameter>("class_names"); - has_twist_ = this->declare_parameter("has_twist", false); + has_variance_ = this->declare_parameter("has_variance"); + has_twist_ = this->declare_parameter("has_twist"); const std::size_t point_feature_size = static_cast(this->declare_parameter("point_feature_size")); const std::size_t max_voxel_size = @@ -102,7 +103,7 @@ LidarCenterPointNode::LidarCenterPointNode(const rclcpp::NodeOptions & node_opti CenterPointConfig config( class_names_.size(), point_feature_size, max_voxel_size, point_cloud_range, voxel_size, downsample_factor, encoder_in_feature_size, score_threshold, circle_nms_dist_threshold, - yaw_norm_thresholds); + yaw_norm_thresholds, has_variance_); detector_ptr_ = std::make_unique(encoder_param, head_param, densification_param, config); @@ -152,7 +153,7 @@ void LidarCenterPointNode::pointCloudCallback( raw_objects.reserve(det_boxes3d.size()); for (const auto & box3d : det_boxes3d) { autoware_auto_perception_msgs::msg::DetectedObject obj; - box3DToDetectedObject(box3d, class_names_, has_twist_, obj); + box3DToDetectedObject(box3d, class_names_, has_twist_, has_variance_, obj); raw_objects.emplace_back(obj); } From 5ef57580d2d35e47f172653f47b6c66f10a80a63 Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Tue, 16 Apr 2024 16:16:29 +0900 Subject: [PATCH 51/54] feat(perception_online_evaluator): add predicted path variance (#6793) * feat(perception_online_evaluator): add predicted path variance Signed-off-by: kosuke55 * add unit test Signed-off-by: kosuke55 * update readme Signed-off-by: kosuke55 * pre commit Signed-off-by: kosuke55 --------- Signed-off-by: kosuke55 --- .../CMakeLists.txt | 1 + .../perception_online_evaluator/README.md | 51 + .../images/path_deviation.drawio.svg | 534 ++++++++ .../path_deviation_each_object.drawio.svg | 1208 +++++++++++++++++ .../metrics/metric.hpp | 6 + .../metrics_calculator.hpp | 2 +- .../src/metrics_calculator.cpp | 82 +- .../src/utils/marker_utils.cpp | 2 +- .../test_perception_online_evaluator_node.cpp | 141 +- 9 files changed, 1995 insertions(+), 32 deletions(-) create mode 100644 evaluator/perception_online_evaluator/images/path_deviation.drawio.svg create mode 100644 evaluator/perception_online_evaluator/images/path_deviation_each_object.drawio.svg diff --git a/evaluator/perception_online_evaluator/CMakeLists.txt b/evaluator/perception_online_evaluator/CMakeLists.txt index f9cc0f4fa256c..e1cd0546ea94a 100644 --- a/evaluator/perception_online_evaluator/CMakeLists.txt +++ b/evaluator/perception_online_evaluator/CMakeLists.txt @@ -31,6 +31,7 @@ target_link_libraries(${PROJECT_NAME}_node glog::glog) if(BUILD_TESTING) ament_add_ros_isolated_gtest(test_${PROJECT_NAME} test/test_perception_online_evaluator_node.cpp + TIMEOUT 180 ) target_link_libraries(test_${PROJECT_NAME} ${PROJECT_NAME}_node diff --git a/evaluator/perception_online_evaluator/README.md b/evaluator/perception_online_evaluator/README.md index 7c2179239221e..4fcd4fdf9cc84 100644 --- a/evaluator/perception_online_evaluator/README.md +++ b/evaluator/perception_online_evaluator/README.md @@ -13,6 +13,57 @@ This module allows for the evaluation of how accurately perception results are g - Calculates yaw deviation between the smoothed traveled trajectory and the perceived position to evaluate the stability of yaw recognition. - Calculates yaw rate based on the yaw of the object received in the previous cycle to evaluate the stability of the yaw rate recognition. +### Predicted Path Deviation / Predicted Path Deviation Variance + +Compare the predicted path of past objects with their actual traveled path to determine the deviation. For each object, calculate the mean distance between the predicted path points and the corresponding points on the actual path, up to the specified time step. In other words, this calculates the Average Displacement Error (ADE). The target object to be evaluated is the object from $T_N$ seconds ago, where $T_N$ is the maximum value of the prediction time horizon $[T_1, T_2, ..., T_N]$. + +![path_deviation_each_object](./images/path_deviation_each_object.drawio.svg) + +$$ +\begin{align} +n_{points} = T / dt \\ +ADE = \Sigma_{i=1}^{n_{points}} d_i / n_{points}　\\ +Var = \Sigma_{i=1}^{n_{points}} (d_i - ADE)^2 / n_{points} +\end{align} +$$ + +- $n_{points}$ : Number of points in the predicted path +- $T$ : Time horizon for prediction evaluation. +- $dt$ : Time interval of the predicted path +- $d_i$ : Distance between the predicted path and the actual traveled path at path point $i$ +- $ADE$ : Mean deviation of the predicted path for the target object. +- $Var$ : Variance of the predicted path deviation for the target object. + +The final predicted path deviation metrics are calculated by averaging the mean deviation of the predicted path for all objects of the same class, and then calculating the mean, maximum, and minimum values of the mean deviation. + +![path_deviation](./images/path_deviation.drawio.svg) + +$$ +\begin{align} +ADE_{mean} = \Sigma_{j=1}^{n_{objects}} ADE_j / n_{objects} \\ +ADE_{max} = max(ADE_j) \\ +ADE_{min} = min(ADE_j) +\end{align} +$$ + +$$ +\begin{align} +Var_{mean} = \Sigma_{j=1}^{n_{objects}} Var_j / n_{objects} \\ +Var_{max} = max(Var_j) \\ +Var_{min} = min(Var_j) +\end{align} +$$ + +- $n_{objects}$ : Number of objects +- $ADE_{mean}$ : Mean deviation of the predicted path through all objects +- $ADE_{max}$ : Maximum deviation of the predicted path through all objects +- $ADE_{min}$ : Minimum deviation of the predicted path through all objects +- $Var_{mean}$ : Mean variance of the predicted path deviation through all objects +- $Var_{max}$ : Maximum variance of the predicted path deviation through all objects +- $Var_{min}$ : Minimum variance of the predicted path deviation through all objects + +The actual metric name is determined by the object class and time horizon. For example, `predicted_path_deviation_variance_CAR_5.00` + ## Inputs / Outputs | Name | Type | Description | diff --git a/evaluator/perception_online_evaluator/images/path_deviation.drawio.svg b/evaluator/perception_online_evaluator/images/path_deviation.drawio.svg new file mode 100644 index 0000000000000..0ff07f2808ea4 --- /dev/null +++ b/evaluator/perception_online_evaluator/images/path_deviation.drawio.svg @@ -0,0 +1,534 @@ + + + + + + + + + + + + + + + + + + + + + + +
+
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
+
+
+ + `\object_1` + + + + + + +
+
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
+
+
+ + `\object_2` + + + + + + +
+
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
+
+
+ + `\object_j` + + + + + + +
+
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
+
+
+ + `ADE_1` + + + + + + +
+
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
+
+
+ + `ADE_2` + + + + + + +
+
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
+
+
+ + `ADE_j` + + + + + + + + + Text is not SVG - cannot display + + + diff --git a/evaluator/perception_online_evaluator/images/path_deviation_each_object.drawio.svg b/evaluator/perception_online_evaluator/images/path_deviation_each_object.drawio.svg new file mode 100644 index 0000000000000..39a69b5f198e9 --- /dev/null +++ b/evaluator/perception_online_evaluator/images/path_deviation_each_object.drawio.svg @@ -0,0 +1,1208 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
+
+
+ past predicted path +
+
+
+ + past predicted path + + + + + + + + + + +
+
+
+ dt +
+
+
+ + dt + + + + + + + + + + +
+
+
+ + + + + + + + + + + + + + + + + + + + + + + = dt * k +
+
+
+ + `T_k` = dt... + + + + + + + + + + +
+
+
+ + + + + + + + + + + + + + + + + + + + + + + = dt * n +
+
+
+ + `T_n` = dt... + + + + + + + + + + + + + + + + +
+
+
+ actual traveled path +
+
+
+ + actual traveled path + + + + + + + + + + +
+
+
+ + + + + + + + + + + + + + + + + + + + + + +
+
+
+ + `d_1` + + + + + + + + + + +
+
+
+ + + + + + + + + + + + + + + + + + + + + + +
+
+
+ + `d_k` + + + + + + + + + + +
+
+
+ + + + + + + + + + + + + + + + + + + + + + +
+
+
+ + `d_n` + + + + + + + + + + +
+
+
+ object at + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
+
+
+ + object at `T_{now} - T_N` + + + + + + + + + + +
+
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+ object at + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
+
+
+ + object at `T_{now}` + + + + + + + + + + +
+
+
+ prediction_time_horizons = + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
+ s.t. + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
+
+
+ + prediction_time_horizons = `[T_1, T_2, ... , T... + + + + + + + + + + + + + + + + +
+
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
+
+
+ + `ADE_{T_k} = 1/k \Sigma_1^k d_i` + + + + + + + + + + +
+
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
+
+
+ + `ADE_{T_n} = 1/n \Sigma_1^n d_i` + + + + + + + + + + + + + + + + + + + + +
+
+
+ dt * 2 +
+
+
+ + dt * 2 + + + + + + + + + + +
+
+
+ + + + + + + + + + + + + + + + + + + + + + +
+
+
+ + `d_2` + + + + + diff --git a/evaluator/perception_online_evaluator/include/perception_online_evaluator/metrics/metric.hpp b/evaluator/perception_online_evaluator/include/perception_online_evaluator/metrics/metric.hpp index f5dee74828424..e11ae89e48106 100644 --- a/evaluator/perception_online_evaluator/include/perception_online_evaluator/metrics/metric.hpp +++ b/evaluator/perception_online_evaluator/include/perception_online_evaluator/metrics/metric.hpp @@ -37,6 +37,12 @@ enum class Metric { using MetricStatMap = std::unordered_map>; +struct PredictedPathDeviationMetrics +{ + Stat mean; + Stat variance; +}; + static const std::unordered_map str_to_metric = { {"lateral_deviation", Metric::lateral_deviation}, {"yaw_deviation", Metric::yaw_deviation}, diff --git a/evaluator/perception_online_evaluator/include/perception_online_evaluator/metrics_calculator.hpp b/evaluator/perception_online_evaluator/include/perception_online_evaluator/metrics_calculator.hpp index f6566326ba979..ee0a1eac73762 100644 --- a/evaluator/perception_online_evaluator/include/perception_online_evaluator/metrics_calculator.hpp +++ b/evaluator/perception_online_evaluator/include/perception_online_evaluator/metrics_calculator.hpp @@ -126,7 +126,7 @@ class MetricsCalculator MetricStatMap calcLateralDeviationMetrics(const ClassObjectsMap & class_objects_map) const; MetricStatMap calcYawDeviationMetrics(const ClassObjectsMap & class_objects_map) const; MetricStatMap calcPredictedPathDeviationMetrics(const ClassObjectsMap & class_objects_map) const; - Stat calcPredictedPathDeviationMetrics( + PredictedPathDeviationMetrics calcPredictedPathDeviationMetrics( const PredictedObjects & objects, const double time_horizon) const; MetricStatMap calcYawRateMetrics(const ClassObjectsMap & class_objects_map) const; diff --git a/evaluator/perception_online_evaluator/src/metrics_calculator.cpp b/evaluator/perception_online_evaluator/src/metrics_calculator.cpp index 4b882bb8b2e68..c31a7f22d16c4 100644 --- a/evaluator/perception_online_evaluator/src/metrics_calculator.cpp +++ b/evaluator/perception_online_evaluator/src/metrics_calculator.cpp @@ -152,11 +152,17 @@ std::optional MetricsCalculator::getClosestObjectIterato std::optional MetricsCalculator::getObjectByStamp( const std::string uuid, const rclcpp::Time stamp) const { + constexpr double eps = 0.01; + constexpr double close_time_threshold = 0.1; + const auto obj_it_opt = getClosestObjectIterator(uuid, stamp); if (obj_it_opt.has_value()) { const auto it = obj_it_opt.value(); - if (it->first == getClosestStamp(stamp)) { - return it->second; + if (std::abs((it->first - getClosestStamp(stamp)).seconds()) < eps) { + const double time_diff = std::abs((it->first - stamp).seconds()); + if (time_diff < close_time_threshold) { + return it->second; + } } } return std::nullopt; @@ -256,31 +262,34 @@ MetricStatMap MetricsCalculator::calcPredictedPathDeviationMetrics( MetricStatMap metric_stat_map{}; for (const auto & [label, objects] : class_objects_map) { for (const double time_horizon : time_horizons) { - const auto stat = calcPredictedPathDeviationMetrics(objects, time_horizon); + const auto metrics = calcPredictedPathDeviationMetrics(objects, time_horizon); std::ostringstream stream; stream << std::fixed << std::setprecision(2) << time_horizon; std::string time_horizon_str = stream.str(); metric_stat_map - ["predicted_path_deviation_" + convertLabelToString(label) + "_" + time_horizon_str] = stat; + ["predicted_path_deviation_" + convertLabelToString(label) + "_" + time_horizon_str] = + metrics.mean; + metric_stat_map + ["predicted_path_deviation_variance_" + convertLabelToString(label) + "_" + + time_horizon_str] = metrics.variance; } } return metric_stat_map; } -Stat MetricsCalculator::calcPredictedPathDeviationMetrics( +PredictedPathDeviationMetrics MetricsCalculator::calcPredictedPathDeviationMetrics( const PredictedObjects & objects, const double time_horizon) const { - // For each object, select the predicted path that is closest to the history path and store the - // distance to the history path + // Step 1: For each object and its predicted paths, calculate the deviation between each predicted + // path pose and the corresponding historical path pose. Store the deviations in + // deviation_map_for_paths. std::unordered_map>> deviation_map_for_paths; - // For debugging. Save the pairs of predicted path pose and history path pose. - // Visualize the correspondence in rviz from the node. + + // For debugging: Save the pairs of predicted path pose and history path pose. std::unordered_map>> debug_predicted_path_pairs_map; - // Find the corresponding pose in the history path for each pose of the predicted path of each - // object, and record the distances const auto stamp = objects.header.stamp; for (const auto & object : objects.objects) { const auto uuid = tier4_autoware_utils::toHexString(object.object_id); @@ -309,30 +318,36 @@ Stat MetricsCalculator::calcPredictedPathDeviationMetrics( const double distance = tier4_autoware_utils::calcDistance2d(p.position, history_pose.position); deviation_map_for_paths[uuid][i].push_back(distance); - // debug + + // Save debug information debug_predicted_path_pairs_map[path_id].push_back(std::make_pair(p, history_pose)); } } } - // Select the predicted path with the smallest deviation for each object + // Step 2: For each object, select the predicted path with the smallest mean deviation. + // Store the selected path's deviations in deviation_map_for_objects. std::unordered_map> deviation_map_for_objects; for (const auto & [uuid, deviation_map] : deviation_map_for_paths) { - size_t min_deviation_index = 0; - double min_sum_deviation = std::numeric_limits::max(); + std::optional> min_deviation; for (const auto & [i, deviations] : deviation_map) { if (deviations.empty()) { continue; } const double sum = std::accumulate(deviations.begin(), deviations.end(), 0.0); - if (sum < min_sum_deviation) { - min_sum_deviation = sum; - min_deviation_index = i; + const double mean = sum / deviations.size(); + if (!min_deviation.has_value() || mean < min_deviation.value().second) { + min_deviation = std::make_pair(i, mean); } } - deviation_map_for_objects[uuid] = deviation_map.at(min_deviation_index); - // debug: save the delayed target object and the corresponding predicted path + if (!min_deviation.has_value()) { + continue; + } + + // Save the delayed target object and the corresponding predicted path for debugging + const auto [min_deviation_index, min_mean_deviation] = min_deviation.value(); + deviation_map_for_objects[uuid] = deviation_map.at(min_deviation_index); const auto path_id = uuid + "_" + std::to_string(min_deviation_index); const auto target_stamp_object = getObjectByStamp(uuid, stamp); if (target_stamp_object.has_value()) { @@ -343,17 +358,26 @@ Stat MetricsCalculator::calcPredictedPathDeviationMetrics( } } - // Store the deviation as a metric - Stat stat; - for (const auto & [uuid, deviations] : deviation_map_for_objects) { - if (deviations.empty()) { - continue; - } - for (const auto & deviation : deviations) { - stat.add(deviation); + // Step 3: Calculate the mean and variance of the deviations for each object's selected predicted + // path. Store the results in the PredictedPathDeviationMetrics structure. + PredictedPathDeviationMetrics metrics; + for (const auto & [object_id, object_path_deviations] : deviation_map_for_objects) { + if (!object_path_deviations.empty()) { + const double sum_of_deviations = + std::accumulate(object_path_deviations.begin(), object_path_deviations.end(), 0.0); + const double mean_deviation = sum_of_deviations / object_path_deviations.size(); + metrics.mean.add(mean_deviation); + double sum_of_squared_deviations = 0.0; + for (const auto path_point_deviation : object_path_deviations) { + sum_of_squared_deviations += std::pow(path_point_deviation - mean_deviation, 2); + } + const double variance_deviation = sum_of_squared_deviations / object_path_deviations.size(); + + metrics.variance.add(variance_deviation); } } - return stat; + + return metrics; } MetricStatMap MetricsCalculator::calcYawRateMetrics(const ClassObjectsMap & class_objects_map) const diff --git a/evaluator/perception_online_evaluator/src/utils/marker_utils.cpp b/evaluator/perception_online_evaluator/src/utils/marker_utils.cpp index a29e1a468e983..523e11883e755 100644 --- a/evaluator/perception_online_evaluator/src/utils/marker_utils.cpp +++ b/evaluator/perception_online_evaluator/src/utils/marker_utils.cpp @@ -119,7 +119,7 @@ MarkerArray createDeviationLines( for (size_t i = 0; i < max_idx; ++i) { auto marker = createDefaultMarker( "map", rclcpp::Clock{RCL_ROS_TIME}.now(), ns, first_id + i, Marker::LINE_STRIP, - createMarkerScale(0.005, 0.0, 0.0), createMarkerColor(r, g, b, 0.5)); + createMarkerScale(0.01, 0.0, 0.0), createMarkerColor(r, g, b, 0.5)); marker.points.push_back(poses1.at(i).position); marker.points.push_back(poses2.at(i).position); msg.markers.push_back(marker); diff --git a/evaluator/perception_online_evaluator/test/test_perception_online_evaluator_node.cpp b/evaluator/perception_online_evaluator/test/test_perception_online_evaluator_node.cpp index dabd17b9db46a..8f8cd4ac896fe 100644 --- a/evaluator/perception_online_evaluator/test/test_perception_online_evaluator_node.cpp +++ b/evaluator/perception_online_evaluator/test/test_perception_online_evaluator_node.cpp @@ -497,7 +497,7 @@ TEST_F(EvalTest, testYawDeviation_deviation0_PEDESTRIAN) } // ========================================================================================== -// predicted path deviation{ +// predicted path deviation TEST_F(EvalTest, testPredictedPathDeviation_deviation0) { waitForDummyNode(); @@ -585,6 +585,145 @@ TEST_F(EvalTest, testPredictedPathDeviation_deviation0_PEDESTRIAN) } // ========================================================================================== +// ========================================================================================== +// predicted path deviation variance +TEST_F(EvalTest, testPredictedPathDeviationVariance_deviation0) +{ + waitForDummyNode(); + + setTargetMetric("predicted_path_deviation_variance_CAR_5.00"); + + const auto init_objects = makeStraightPredictedObjects(0); + publishObjects(init_objects); + + const double deviation = 0.0; + for (double time = time_step_; time < time_delay_; time += time_step_) { + const auto objects = makeDeviatedStraightPredictedObjects(time, deviation); + publishObjects(objects); + } + const auto last_objects = makeDeviatedStraightPredictedObjects(time_delay_, deviation); + + EXPECT_NEAR(publishObjectsAndGetMetric(last_objects), 0.0, epsilon); +} + +TEST_F(EvalTest, testPredictedPathDeviationVariance_deviation1) +{ + waitForDummyNode(); + + setTargetMetric("predicted_path_deviation_variance_CAR_5.00"); + + const auto init_objects = makeStraightPredictedObjects(0); + publishObjects(init_objects); + + const double deviation = 1.0; + for (double time = time_step_; time < time_delay_; time += time_step_) { + const auto objects = makeDeviatedStraightPredictedObjects(time, deviation); + publishObjects(objects); + } + const auto last_objects = makeDeviatedStraightPredictedObjects(time_delay_, deviation); + + const double num_points = time_delay_ / time_step_ + 1; + // deviations + // All - 11 points (num_points) + // 0.0[m] - 1 points + // 1.0[m] - 10 points + const double mean_deviation = deviation * (num_points - 1) / num_points; + const double variance = + (pow(0.0 - mean_deviation, 2) + 10 * pow(1.0 - mean_deviation, 2)) / num_points; + + EXPECT_NEAR(publishObjectsAndGetMetric(last_objects), variance, epsilon); +} + +TEST_F(EvalTest, testPredictedPathDeviationVariance_deviationIncreasing) +{ + waitForDummyNode(); + + setTargetMetric("predicted_path_deviation_variance_CAR_5.00"); + + const auto init_objects = makeStraightPredictedObjects(0); + publishObjects(init_objects); + + const double deviation_step = 0.1; + double deviation = deviation_step; + for (double time = time_step_; time < time_delay_; time += time_step_) { + const auto objects = makeDeviatedStraightPredictedObjects(time, deviation); + publishObjects(objects); + deviation += deviation_step; + } + const auto last_objects = makeDeviatedStraightPredictedObjects(time_delay_, deviation); + + const double num_points = time_delay_ / time_step_ + 1; + // deviations + // All - 11 points (num_points) + // 0.0[m] - 1 points + // 0.1[m] - 1 points + // 0.2[m] - 1 points + // : + // 0.9[m] - 1 points + // 1.0[m] - 1 points + const double mean_deviation = std::invoke([&]() { + double sum = 0.0; + for (size_t i = 0; i < num_points; ++i) { + sum += static_cast(i) * deviation_step; + } + return sum / num_points; + }); + double sum_squared_deviations = 0.0; + for (size_t i = 0; i < num_points; ++i) { + const double deviation = static_cast(i) * deviation_step; + sum_squared_deviations += pow(deviation - mean_deviation, 2); + } + const double variance = sum_squared_deviations / num_points; + + EXPECT_NEAR(publishObjectsAndGetMetric(last_objects), variance, epsilon); +} + +TEST_F(EvalTest, testPredictedPathDeviationVariance_deviationOscillating) +{ + waitForDummyNode(); + + setTargetMetric("predicted_path_deviation_variance_CAR_5.00"); + + const auto init_objects = makeStraightPredictedObjects(0); + publishObjects(init_objects); + + const std::vector deviations = {-0.1, -0.2, -0.1, 0.0, 0.1, 0.2, 0.1, 0.0, -0.1, -0.2}; + for (size_t i = 0; i < deviations.size() - 1; ++i) { + const double time = static_cast(i + 1) * time_step_; + const auto objects = makeDeviatedStraightPredictedObjects(time, deviations[i]); + publishObjects(objects); + } + + const double num_points = deviations.size() + 1; + // deviations + // All - 11 points (num_points) + // 0.0[m] - 1 points + // -0.1[m] - 1 points + // -0.2[m] - 1 points + // -0.1[m] - 1 points + // -0.0[m] - 1 points + // 0.1[m] - 1 points + // 0.2[m] - 1 points + // 0.1[m] - 1 points + // 0.0[m] - 1 points + // -0.1[m] - 1 points + // -0.2[m] - 1 points + const double mean_deviation = + std::accumulate( + deviations.begin(), deviations.end(), 0.0, + [](double sum, double deviation) { return sum + std::abs(deviation); }) / + num_points; + + double sum_squared_deviations = pow(0 - mean_deviation, 2); + for (const auto deviation : deviations) { + sum_squared_deviations += pow(std::abs(deviation) - mean_deviation, 2); + } + const double variance = sum_squared_deviations / num_points; + const auto last_objects = makeDeviatedStraightPredictedObjects(time_delay_, deviations.back()); + EXPECT_NEAR(publishObjectsAndGetMetric(last_objects), variance, epsilon); +} +// ========================================================================================== + // ========================================================================================== // yaw rate TEST_F(EvalTest, testYawRate_0) From f6a734f3d48907b4d30ceb3d86cf3143a46eb297 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Tue, 16 Apr 2024 19:22:34 +0900 Subject: [PATCH 52/54] fix(path_smoother): fix mathjax visualization error (#6821) Signed-off-by: Takayuki Murooka --- planning/path_smoother/docs/eb.md | 100 +++++++++++++++--------------- 1 file changed, 50 insertions(+), 50 deletions(-) diff --git a/planning/path_smoother/docs/eb.md b/planning/path_smoother/docs/eb.md index 2c232cfa4de81..d62a6de5e3f54 100644 --- a/planning/path_smoother/docs/eb.md +++ b/planning/path_smoother/docs/eb.md @@ -78,65 +78,65 @@ We formulate a quadratic problem minimizing the diagonal length of the rhombus o ![eb](../media/eb.svg){: style="width:600px"} -Assuming that $k$'th point is $\boldsymbol{p}_k = (x_k, y_k)$, the objective function is as follows. +Assuming that $k$'th point is $\mathbf{p}_k = (x_k, y_k)$, the objective function is as follows. $$ \begin{align} -\ J & = \min \sum_{k=1}^{n-2} ||(\boldsymbol{p}_{k+1} - \boldsymbol{p}_{k}) - (\boldsymbol{p}_{k} - \boldsymbol{p}_{k-1})||^2 \\ -\ & = \min \sum_{k=1}^{n-2} ||\boldsymbol{p}_{k+1} - 2 \boldsymbol{p}_{k} + \boldsymbol{p}_{k-1}||^2 \\ -\ & = \min \sum_{k=1}^{n-2} \{(x_{k+1} - x_k + x_{k-1})^2 + (y_{k+1} - y_k + y_{k-1})^2\} \\ +\ J & = \min \sum_{k=1}^{n-2} ||(\mathbf{p}_{k+1} - \mathbf{p}_{k}) - (\mathbf{p}_{k} - \mathbf{p}_{k-1})||^2 \\\ +\ & = \min \sum_{k=1}^{n-2} ||\mathbf{p}_{k+1} - 2 \mathbf{p}_{k} + \mathbf{p}_{k-1}||^2 \\\ +\ & = \min \sum_{k=1}^{n-2} \{(x_{k+1} - x_k + x_{k-1})^2 + (y_{k+1} - y_k + y_{k-1})^2\} \\\ \ & = \min \begin{pmatrix} - \ x_0 \\ - \ x_1 \\ - \ x_2 \\ - \vdots \\ - \ x_{n-3}\\ - \ x_{n-2} \\ - \ x_{n-1} \\ - \ y_0 \\ - \ y_1 \\ - \ y_2 \\ - \vdots \\ - \ y_{n-3}\\ - \ y_{n-2} \\ - \ y_{n-1} \\ + \ x_0 \\\ + \ x_1 \\\ + \ x_2 \\\ + \vdots \\\ + \ x_{n-3}\\\ + \ x_{n-2} \\\ + \ x_{n-1} \\\ + \ y_0 \\\ + \ y_1 \\\ + \ y_2 \\\ + \vdots \\\ + \ y_{n-3}\\\ + \ y_{n-2} \\\ + \ y_{n-1} \\\ \end{pmatrix}^T \begin{pmatrix} - 1 & -2 & 1 & 0 & \dots& \\ - -2 & 5 & -4 & 1 & 0 &\dots \\ - 1 & -4 & 6 & -4 & 1 & \\ - 0 & 1 & -4 & 6 & -4 & \\ - \vdots & 0 & \ddots&\ddots& \ddots \\ - & \vdots & & & \\ - & & & 1 & -4 & 6 & -4 & 1 \\ - & & & & 1 & -4 & 5 & -2 \\ - & & & & & 1 & -2 & 1& \\ - & & & & & & & &1 & -2 & 1 & 0 & \dots& \\ - & & & & & & & &-2 & 5 & -4 & 1 & 0 &\dots \\ - & & & & & & & &1 & -4 & 6 & -4 & 1 & \\ - & & & & & & & &0 & 1 & -4 & 6 & -4 & \\ - & & & & & & & &\vdots & 0 & \ddots&\ddots& \ddots \\ - & & & & & & & & & \vdots & & & \\ - & & & & & & & & & & & 1 & -4 & 6 & -4 & 1 \\ - & & & & & & & & & & & & 1 & -4 & 5 & -2 \\ - & & & & & & & & & & & & & 1 & -2 & 1& \\ + 1 & -2 & 1 & 0 & \dots& \\\ + -2 & 5 & -4 & 1 & 0 &\dots \\\ + 1 & -4 & 6 & -4 & 1 & \\\ + 0 & 1 & -4 & 6 & -4 & \\\ + \vdots & 0 & \ddots&\ddots& \ddots \\\ + & \vdots & & & \\\ + & & & 1 & -4 & 6 & -4 & 1 \\\ + & & & & 1 & -4 & 5 & -2 \\\ + & & & & & 1 & -2 & 1& \\\ + & & & & & & & &1 & -2 & 1 & 0 & \dots& \\\ + & & & & & & & &-2 & 5 & -4 & 1 & 0 &\dots \\\ + & & & & & & & &1 & -4 & 6 & -4 & 1 & \\\ + & & & & & & & &0 & 1 & -4 & 6 & -4 & \\\ + & & & & & & & &\vdots & 0 & \ddots&\ddots& \ddots \\\ + & & & & & & & & & \vdots & & & \\\ + & & & & & & & & & & & 1 & -4 & 6 & -4 & 1 \\\ + & & & & & & & & & & & & 1 & -4 & 5 & -2 \\\ + & & & & & & & & & & & & & 1 & -2 & 1& \\\ \end{pmatrix} \begin{pmatrix} - \ x_0 \\ - \ x_1 \\ - \ x_2 \\ - \vdots \\ - \ x_{n-3}\\ - \ x_{n-2} \\ - \ x_{n-1} \\ - \ y_0 \\ - \ y_1 \\ - \ y_2 \\ - \vdots \\ - \ y_{n-3}\\ - \ y_{n-2} \\ - \ y_{n-1} \\ + \ x_0 \\\ + \ x_1 \\\ + \ x_2 \\\ + \vdots \\\ + \ x_{n-3}\\\ + \ x_{n-2} \\\ + \ x_{n-1} \\\ + \ y_0 \\\ + \ y_1 \\\ + \ y_2 \\\ + \vdots \\\ + \ y_{n-3}\\\ + \ y_{n-2} \\\ + \ y_{n-1} \\\ \end{pmatrix} \end{align} $$ From c40da9f1d312d88b13bf4a88124ac688df6d1c90 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Tue, 16 Apr 2024 20:55:46 +0900 Subject: [PATCH 53/54] feat(static_centerline_generator): add script to show diff of lanelet2 maps (#6804) * feat(static_centerline_generator): add script to show diff of lanelet2 maps Signed-off-by: Takayuki Murooka * fix Signed-off-by: Takayuki Murooka * fix typo Signed-off-by: Takayuki Murooka * update Signed-off-by: Takayuki Murooka --------- Signed-off-by: Takayuki Murooka --- .../scripts/show_lanelet2_map_diff.py | 139 ++++++++++++++++++ .../src/static_centerline_generator_node.cpp | 15 ++ 2 files changed, 154 insertions(+) create mode 100755 planning/static_centerline_generator/scripts/show_lanelet2_map_diff.py diff --git a/planning/static_centerline_generator/scripts/show_lanelet2_map_diff.py b/planning/static_centerline_generator/scripts/show_lanelet2_map_diff.py new file mode 100755 index 0000000000000..912226511f1d9 --- /dev/null +++ b/planning/static_centerline_generator/scripts/show_lanelet2_map_diff.py @@ -0,0 +1,139 @@ +#!/bin/env python3 + +# Copyright 2024 TIER IV, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +import argparse +from decimal import Decimal +import os +import subprocess +import xml.etree.ElementTree as ET + + +def sort_attributes(root): + for shallow_element in root: + # sort nodes + attrib = shallow_element.attrib + if len(attrib) > 1: + attributes = sorted(attrib.items()) + attrib.clear() + attrib.update(attributes) + if shallow_element.tag == "relation": + pass + + # sort the element in the tag + for deep_element in shallow_element: + attrib = deep_element.attrib + if len(attrib) > 1: + # adjust attribute order, e.g. by sorting + attributes = sorted(attrib.items()) + attrib.clear() + attrib.update(attributes) + + # sort tags + sorted_shallow_element = sorted(shallow_element, key=lambda x: x.items()) + if len(shallow_element) != 0: + # NOTE: This "tail" is related to the indent of the next tag + first_tail = shallow_element[0].tail + last_tail = shallow_element[-1].tail + for idx, val_shallow_element in enumerate(sorted_shallow_element): + shallow_element[idx] = val_shallow_element + if idx == len(shallow_element) - 1: + shallow_element[idx].tail = last_tail + else: + shallow_element[idx].tail = first_tail + + +def remove_diff_to_ignore(osm_root): + decimal_precision = 11 # for lat/lon values + + # remove attributes of the osm tag + osm_root.attrib.clear() + + # remove the MetaInfo tag generated by Vector Map Builder + if osm_root[0].tag == "MetaInfo": + osm_root.remove(osm_root[0]) + + # remove unnecessary attributes for diff + for osm_child in osm_root: + if osm_child.tag == "osm": + osm_child.attrib.pop("osm") + if "visible" in osm_child.attrib and osm_child.attrib["visible"]: + osm_child.attrib.pop("visible") + if "version" in osm_child.attrib and osm_child.attrib["version"]: + osm_child.attrib.pop("version") + if "action" in osm_child.attrib and osm_child.attrib["action"] == "modify": + osm_child.attrib.pop("action") + if "lat" in osm_child.attrib: + osm_child.attrib["lat"] = str( + Decimal(float(osm_child.attrib["lat"])).quantize(Decimal(f"1e-{decimal_precision}")) + ) + if "lon" in osm_child.attrib: + osm_child.attrib["lon"] = str( + Decimal(float(osm_child.attrib["lon"])).quantize(Decimal(f"1e-{decimal_precision}")) + ) + + +if __name__ == "__main__": + parser = argparse.ArgumentParser() + parser.add_argument( + "-s", "--sort-attributes", action="store_true", help="Sort attributes of LL2 maps" + ) + parser.add_argument( + "-i", + "--ignore-minor-attributes", + action="store_true", + help="Ignore minor attributes of LL2 maps which does not change the map's behavior", + ) + args = parser.parse_args() + + original_osm_file_name = "/tmp/static_centerline_generator/input/lanelet2_map.osm" + modified_osm_file_name = "/tmp/static_centerline_generator/output/lanelet2_map.osm" + + # load LL2 maps + original_osm_tree = ET.parse(original_osm_file_name) + original_osm_root = original_osm_tree.getroot() + modified_osm_tree = ET.parse(modified_osm_file_name) + modified_osm_root = modified_osm_tree.getroot() + + # sort attributes + if args.sort_attributes: + sort_attributes(modified_osm_root) + sort_attributes(original_osm_root) + + # ignore minor attributes + if args.ignore_minor_attributes: + remove_diff_to_ignore(original_osm_root) + remove_diff_to_ignore(modified_osm_root) + + # write LL2 maps + output_dir_path = "/tmp/static_centerline_generator/show_lanelet2_map_diff/" + os.makedirs(output_dir_path + "original/", exist_ok=True) + os.makedirs(output_dir_path + "modified/", exist_ok=True) + + original_osm_tree.write(output_dir_path + "original/lanelet2_map.osm") + modified_osm_tree.write(output_dir_path + "modified/lanelet2_map.osm") + + # show diff + print("[INFO] Show diff of following LL2 maps") + print(f" {output_dir_path + 'original/lanelet2_map.osm'}") + print(f" {output_dir_path + 'modified/lanelet2_map.osm'}") + subprocess.run( + [ + "diff", + output_dir_path + "original/lanelet2_map.osm", + output_dir_path + "modified/lanelet2_map.osm", + "--color", + ] + ) diff --git a/planning/static_centerline_generator/src/static_centerline_generator_node.cpp b/planning/static_centerline_generator/src/static_centerline_generator_node.cpp index ec7d6278e346d..750b2e68b16b0 100644 --- a/planning/static_centerline_generator/src/static_centerline_generator_node.cpp +++ b/planning/static_centerline_generator/src/static_centerline_generator_node.cpp @@ -47,6 +47,7 @@ #include #include +#include #include #include #include @@ -336,6 +337,13 @@ CenterlineWithRoute StaticCenterlineGeneratorNode::generate_centerline_with_rout void StaticCenterlineGeneratorNode::load_map(const std::string & lanelet2_input_file_path) { + // copy the input LL2 map to the temporary file for debugging + const std::string debug_input_file_dir{"/tmp/static_centerline_generator/input/"}; + std::filesystem::create_directories(debug_input_file_dir); + std::filesystem::copy( + lanelet2_input_file_path, debug_input_file_dir + "lanelet2_map.osm", + std::filesystem::copy_options::overwrite_existing); + // load map by the map_loader package map_bin_ptr_ = [&]() -> HADMapBin::ConstSharedPtr { // load map @@ -635,5 +643,12 @@ void StaticCenterlineGeneratorNode::save_map( // save map with modified center line lanelet::write(lanelet2_output_file_path, *original_map_ptr_, *map_projector_); RCLCPP_INFO(get_logger(), "Saved map."); + + // copy the output LL2 map to the temporary file for debugging + const std::string debug_output_file_dir{"/tmp/static_centerline_generator/output/"}; + std::filesystem::create_directories(debug_output_file_dir); + std::filesystem::copy( + lanelet2_output_file_path, debug_output_file_dir + "lanelet2_map.osm", + std::filesystem::copy_options::overwrite_existing); } } // namespace static_centerline_generator From 51efa6d06420f3dd72d7d8f6f650b3e1097552fb Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Wed, 17 Apr 2024 09:55:46 +0900 Subject: [PATCH 54/54] feat(perception_online_evaluator): better waitForDummyNode (#6827) --- .../test/test_perception_online_evaluator_node.cpp | 13 ++----------- 1 file changed, 2 insertions(+), 11 deletions(-) diff --git a/evaluator/perception_online_evaluator/test/test_perception_online_evaluator_node.cpp b/evaluator/perception_online_evaluator/test/test_perception_online_evaluator_node.cpp index 8f8cd4ac896fe..e64411a66f521 100644 --- a/evaluator/perception_online_evaluator/test/test_perception_online_evaluator_node.cpp +++ b/evaluator/perception_online_evaluator/test/test_perception_online_evaluator_node.cpp @@ -77,11 +77,6 @@ class EvalTest : public ::testing::Test objects_pub_ = rclcpp::create_publisher( dummy_node, "/perception_online_evaluator/input/objects", 1); - marker_sub_ = rclcpp::create_subscription( - eval_node, "perception_online_evaluator/markers", 10, - [this]([[maybe_unused]] const MarkerArray::ConstSharedPtr msg) { - has_received_marker_ = true; - }); uuid_ = generateUUID(); } @@ -229,12 +224,10 @@ class EvalTest : public ::testing::Test void waitForDummyNode() { - // wait for the marker to be published - publishObjects(makeStraightPredictedObjects(0)); - while (!has_received_marker_) { + // Wait until the publisher is connected to the dummy node + while (objects_pub_->get_subscription_count() == 0) { rclcpp::spin_some(dummy_node); rclcpp::sleep_for(std::chrono::milliseconds(100)); - rclcpp::spin_some(eval_node); } } @@ -248,8 +241,6 @@ class EvalTest : public ::testing::Test // Pub/Sub rclcpp::Publisher::SharedPtr objects_pub_; rclcpp::Subscription::SharedPtr metric_sub_; - rclcpp::Subscription::SharedPtr marker_sub_; - bool has_received_marker_{false}; double time_delay_ = 5.0; double time_step_ = 0.5;