From a7db560481a34f86245a3b19e7489aa37fd3cd0c Mon Sep 17 00:00:00 2001 From: Yukinari Hisaki <42021302+yhisaki@users.noreply.github.com> Date: Thu, 22 Aug 2024 09:23:02 +0900 Subject: [PATCH 001/169] ci(build-and-test-differential): separate build-and-test-differential job to composite action (#8555) * ci(build-and-test-differential): separate build-and-test-differential job to composite action Signed-off-by: Y.Hisaki * fix bug Signed-off-by: Y.Hisaki * fix bug Signed-off-by: Y.Hisaki --------- Signed-off-by: Y.Hisaki --- .../build-and-test-differential/action.yaml | 109 ++++++++++++++++++ .../build-and-test-differential.yaml | 80 ++----------- 2 files changed, 116 insertions(+), 73 deletions(-) create mode 100644 .github/actions/build-and-test-differential/action.yaml diff --git a/.github/actions/build-and-test-differential/action.yaml b/.github/actions/build-and-test-differential/action.yaml new file mode 100644 index 0000000000000..3decc3f9861b1 --- /dev/null +++ b/.github/actions/build-and-test-differential/action.yaml @@ -0,0 +1,109 @@ +name: build-and-test-differential +description: "" + +inputs: + rosdistro: + description: "" + required: true + container: + description: "" + required: true + container-suffix: + description: "" + required: true + runner: + description: "" + required: true + build-depends-repos: + description: "" + required: true + build-pre-command: + description: "" + required: true + codecov-token: + description: "" + required: true + +runs: + using: composite + steps: + - name: Show disk space before the tasks + run: df -h + shell: bash + + - name: Show machine specs + run: lscpu && free -h + shell: bash + + - name: Remove exec_depend + uses: autowarefoundation/autoware-github-actions/remove-exec-depend@v1 + + - name: Get modified packages + id: get-modified-packages + uses: autowarefoundation/autoware-github-actions/get-modified-packages@v1 + + - name: Create ccache directory + run: | + mkdir -p ${CCACHE_DIR} + du -sh ${CCACHE_DIR} && ccache -s + shell: bash + + - name: Attempt to restore ccache + uses: actions/cache/restore@v4 + with: + path: | + /root/.ccache + key: ccache-main-${{ runner.arch }}-${{ inputs.rosdistro }}-${{ github.event.pull_request.base.sha }} + restore-keys: | + ccache-main-${{ runner.arch }}-${{ inputs.rosdistro }}- + + - name: Show ccache stats before build + run: du -sh ${CCACHE_DIR} && ccache -s + shell: bash + + - name: Export CUDA state as a variable for adding to cache key + run: | + build_type_cuda_state=nocuda + if [[ "${{ inputs.container-suffix }}" == "-cuda" ]]; then + build_type_cuda_state=cuda + fi + echo "BUILD_TYPE_CUDA_STATE=$build_type_cuda_state" >> "${GITHUB_ENV}" + echo "::notice::BUILD_TYPE_CUDA_STATE=$build_type_cuda_state" + shell: bash + + - name: Build + if: ${{ steps.get-modified-packages.outputs.modified-packages != '' }} + uses: autowarefoundation/autoware-github-actions/colcon-build@v1 + with: + rosdistro: ${{ inputs.rosdistro }} + target-packages: ${{ steps.get-modified-packages.outputs.modified-packages }} + build-depends-repos: ${{ inputs.build-depends-repos }} + cache-key-element: ${{ env.BUILD_TYPE_CUDA_STATE }} + build-pre-command: ${{ inputs.build-pre-command }} + + - name: Show ccache stats after build + run: du -sh ${CCACHE_DIR} && ccache -s + shell: bash + + - name: Test + id: test + if: ${{ steps.get-modified-packages.outputs.modified-packages != '' }} + uses: autowarefoundation/autoware-github-actions/colcon-test@v1 + with: + rosdistro: ${{ inputs.rosdistro }} + target-packages: ${{ steps.get-modified-packages.outputs.modified-packages }} + build-depends-repos: ${{ inputs.build-depends-repos }} + + - name: Upload coverage to CodeCov + if: ${{ steps.test.outputs.coverage-report-files != '' }} + uses: codecov/codecov-action@v4 + with: + files: ${{ steps.test.outputs.coverage-report-files }} + fail_ci_if_error: false + verbose: true + flags: differential + token: ${{ inputs.codecov-token }} + + - name: Show disk space after the tasks + run: df -h + shell: bash diff --git a/.github/workflows/build-and-test-differential.yaml b/.github/workflows/build-and-test-differential.yaml index 78c21477c2588..48d432861f1de 100644 --- a/.github/workflows/build-and-test-differential.yaml +++ b/.github/workflows/build-and-test-differential.yaml @@ -48,6 +48,7 @@ jobs: steps: - name: Set PR fetch depth run: echo "PR_FETCH_DEPTH=$(( ${{ github.event.pull_request.commits }} + 1 ))" >> "${GITHUB_ENV}" + shell: bash - name: Checkout PR branch and all PR commits uses: actions/checkout@v4 @@ -55,83 +56,16 @@ jobs: ref: ${{ github.event.pull_request.head.sha }} fetch-depth: ${{ env.PR_FETCH_DEPTH }} - - name: Show disk space before the tasks - run: df -h - - - name: Show machine specs - run: lscpu && free -h - - - name: Remove exec_depend - uses: autowarefoundation/autoware-github-actions/remove-exec-depend@v1 - - - name: Get modified packages - id: get-modified-packages - uses: autowarefoundation/autoware-github-actions/get-modified-packages@v1 - - - name: Create ccache directory - run: | - mkdir -p ${CCACHE_DIR} - du -sh ${CCACHE_DIR} && ccache -s - shell: bash - - - name: Attempt to restore ccache - uses: actions/cache/restore@v4 - with: - path: | - /root/.ccache - key: ccache-main-${{ runner.arch }}-${{ matrix.rosdistro }}-${{ github.event.pull_request.base.sha }} - restore-keys: | - ccache-main-${{ runner.arch }}-${{ matrix.rosdistro }}- - - - name: Show ccache stats before build - run: du -sh ${CCACHE_DIR} && ccache -s - shell: bash - - - name: Export CUDA state as a variable for adding to cache key - run: | - build_type_cuda_state=nocuda - if [[ "${{ matrix.container-suffix }}" == "-cuda" ]]; then - build_type_cuda_state=cuda - fi - echo "BUILD_TYPE_CUDA_STATE=$build_type_cuda_state" >> "${GITHUB_ENV}" - echo "::notice::BUILD_TYPE_CUDA_STATE=$build_type_cuda_state" - shell: bash - - - name: Build - if: ${{ steps.get-modified-packages.outputs.modified-packages != '' }} - uses: autowarefoundation/autoware-github-actions/colcon-build@v1 + - name: Run build-and-test-differential action + uses: ./.github/actions/build-and-test-differential with: rosdistro: ${{ matrix.rosdistro }} - target-packages: ${{ steps.get-modified-packages.outputs.modified-packages }} + container: ${{ matrix.container }} + container-suffix: ${{ matrix.container-suffix }} + runner: ${{ matrix.runner }} build-depends-repos: ${{ matrix.build-depends-repos }} - cache-key-element: ${{ env.BUILD_TYPE_CUDA_STATE }} build-pre-command: ${{ matrix.build-pre-command }} - - - name: Show ccache stats after build - run: du -sh ${CCACHE_DIR} && ccache -s - shell: bash - - - name: Test - id: test - if: ${{ steps.get-modified-packages.outputs.modified-packages != '' }} - uses: autowarefoundation/autoware-github-actions/colcon-test@v1 - with: - rosdistro: ${{ matrix.rosdistro }} - target-packages: ${{ steps.get-modified-packages.outputs.modified-packages }} - build-depends-repos: ${{ matrix.build-depends-repos }} - - - name: Upload coverage to CodeCov - if: ${{ steps.test.outputs.coverage-report-files != '' }} - uses: codecov/codecov-action@v4 - with: - files: ${{ steps.test.outputs.coverage-report-files }} - fail_ci_if_error: false - verbose: true - flags: differential - token: ${{ secrets.CODECOV_TOKEN }} - - - name: Show disk space after the tasks - run: df -h + codecov-token: ${{ secrets.CODECOV_TOKEN }} clang-tidy-differential: needs: build-and-test-differential From c83e3a1c47ca43bdd11c18be79a1d6a61afccf13 Mon Sep 17 00:00:00 2001 From: mkquda <168697710+mkquda@users.noreply.github.com> Date: Thu, 22 Aug 2024 09:54:41 +0900 Subject: [PATCH 002/169] feat(freespace_planning_algorithms): implement option for backward search from goal to start (#8091) * refactor freespace planning algorithms Signed-off-by: mohammad alqudah * fix error Signed-off-by: mohammad alqudah * use vector instead of map for a-star node graph Signed-off-by: mohammad alqudah * remove unnecessary parameters Signed-off-by: mohammad alqudah * precompute average turning radius Signed-off-by: mohammad alqudah * add threshold for minimum distance between direction changes Signed-off-by: mohammad alqudah * apply curvature weight and change in curvature weight Signed-off-by: mohammad alqudah * store total cost instead of heuristic cost Signed-off-by: mohammad alqudah * fix reverse weight application Signed-off-by: mohammad alqudah * fix parameter description in README Signed-off-by: mohammad alqudah * implement edt map to store distance to nearest obstacle for each grid cell Signed-off-by: mohammad alqudah * use obstacle edt in collision check Signed-off-by: mohammad alqudah * add cost for distance to obstacle Signed-off-by: mohammad alqudah * fix formats Signed-off-by: mohammad alqudah * add missing include Signed-off-by: mohammad alqudah * refactor functions Signed-off-by: mohammad alqudah * add missing include Signed-off-by: mohammad alqudah * implement backward search option Signed-off-by: mohammad alqudah * precompute number of margin cells to reduce out of range vertices check necessity Signed-off-by: mohammad alqudah * add reset data function Signed-off-by: mohammad alqudah * remove unnecessary code Signed-off-by: mohammad alqudah * add member function set() to AstarNode struct Signed-off-by: mohammad alqudah * implement adaptive expansion distance Signed-off-by: mohammad alqudah * remove unnecessary code Signed-off-by: mohammad alqudah * interpolate nodes with large expansion distance Signed-off-by: mohammad alqudah * minor refactor Signed-off-by: mohammad alqudah * fix interpolation for backward search Signed-off-by: mohammad alqudah * ensure expansion distance is larger than grid cell diagonal Signed-off-by: mohammad alqudah * compute collision free distance to goal map Signed-off-by: mohammad alqudah * use obstacle edt when computing collision free distance map Signed-off-by: mohammad alqudah * minor refactor Signed-off-by: mohammad alqudah * fix expansion cost function Signed-off-by: mohammad alqudah * set distance map before setting start node Signed-off-by: mohammad alqudah * refactor detect collision function Signed-off-by: mohammad alqudah * use flag instead of enum Signed-off-by: mohammad alqudah * add missing variable initialization Signed-off-by: mohammad alqudah * remove declared but undefined function Signed-off-by: mohammad alqudah * refactor makePlan() function Signed-off-by: mohammad alqudah * remove bool return statement for void function Signed-off-by: mohammad alqudah * remove unnecessary checks Signed-off-by: mohammad alqudah * minor fix Signed-off-by: mohammad alqudah * refactor computeEDTMap function Signed-off-by: mohammad alqudah * remove unnecessary code Signed-off-by: mohammad alqudah * set min and max expansion distance after setting costmap Signed-off-by: mohammad alqudah * refactor detectCollision function Signed-off-by: mohammad alqudah * remove unused function Signed-off-by: mohammad alqudah * change default parameter values Signed-off-by: mohammad alqudah * add missing last waypoint Signed-off-by: mohammad alqudah * fix computeEDTMap function Signed-off-by: mohammad alqudah * rename parameter Signed-off-by: mohammad alqudah * use linear function for obstacle distance cost Signed-off-by: mohammad alqudah * fix rrtstar obstacle check Signed-off-by: mohammad alqudah * add public access function to get distance to nearest obstacle Signed-off-by: mohammad alqudah * remove redundant return statements Signed-off-by: mohammad alqudah * check goal pose validity before setting collision free distance map Signed-off-by: mohammad alqudah * declare variables as const where necessary Signed-off-by: mohammad alqudah * compare front and back lengths when setting min and max dimension Signed-off-by: mohammad alqudah * add docstring and citation for computeEDTMap function Signed-off-by: mohammad alqudah * transform pose to local frame in getDistanceToObstacle funcion Signed-off-by: mohammad alqudah * update freespace planner parameter schema Signed-off-by: mohammad alqudah * refactor setPath function Signed-off-by: mohammad alqudah * fix function setPath Signed-off-by: mohammad alqudah * minor refactor Signed-off-by: mohammad alqudah --------- Signed-off-by: mohammad alqudah Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> --- planning/autoware_freespace_planner/README.md | 1 + .../config/freespace_planner.param.yaml | 1 + .../schema/freespace_planner.schema.json | 18 ++++- .../abstract_algorithm.hpp | 1 + .../astar_search.hpp | 5 +- .../scripts/bind/astar_search_pybind.cpp | 1 + .../scripts/example/example.py | 1 + .../src/abstract_algorithm.cpp | 10 +++ .../src/astar_search.cpp | 66 ++++++++++++------- .../test_freespace_planning_algorithms.cpp | 5 +- .../config/goal_planner.param.yaml | 1 + .../src/manager.cpp | 2 + .../config/start_planner.param.yaml | 1 + .../src/manager.cpp | 2 + 14 files changed, 87 insertions(+), 28 deletions(-) diff --git a/planning/autoware_freespace_planner/README.md b/planning/autoware_freespace_planner/README.md index 179bb55186c21..db48154ffa214 100644 --- a/planning/autoware_freespace_planner/README.md +++ b/planning/autoware_freespace_planner/README.md @@ -77,6 +77,7 @@ None | Parameter | Type | Description | | --------------------------- | ------ | ------------------------------------------------------- | +| `search_method` | string | method of searching, start to goal or vice versa | | `only_behind_solutions` | bool | whether restricting the solutions to be behind the goal | | `use_back` | bool | whether using backward trajectory | | `adapt_expansion_distance` | bool | if true, adapt expansion distance based on environment | diff --git a/planning/autoware_freespace_planner/config/freespace_planner.param.yaml b/planning/autoware_freespace_planner/config/freespace_planner.param.yaml index cadce152febc2..6ea99b2c0c061 100644 --- a/planning/autoware_freespace_planner/config/freespace_planner.param.yaml +++ b/planning/autoware_freespace_planner/config/freespace_planner.param.yaml @@ -31,6 +31,7 @@ # -- A* search Configurations -- astar: + search_method: "forward" # options: forward, backward only_behind_solutions: false use_back: true adapt_expansion_distance: true diff --git a/planning/autoware_freespace_planner/schema/freespace_planner.schema.json b/planning/autoware_freespace_planner/schema/freespace_planner.schema.json index 92a2274347371..4494878849897 100644 --- a/planning/autoware_freespace_planner/schema/freespace_planner.schema.json +++ b/planning/autoware_freespace_planner/schema/freespace_planner.schema.json @@ -120,6 +120,12 @@ "astar": { "type": "object", "properties": { + "search_method": { + "type": "string", + "enum": ["forward", "backward"], + "default": "forward", + "description": "Search method to use, options: forward, backward." + }, "only_behind_solutions": { "type": "boolean", "default": false, @@ -130,6 +136,11 @@ "default": true, "description": "Allow reverse motion in A* search." }, + "adapt_expansion_distance": { + "type": "boolean", + "default": true, + "description": "Allow varying A* expansion distance based on space configuration." + }, "expansion_distance": { "type": "number", "default": 0.5, @@ -143,7 +154,12 @@ "smoothness_weight": { "type": "number", "default": 0.5, - "description": "Weight for the smoothness heuristic in A* search." + "description": "Weight for the smoothness (change in curvature) in A* search." + }, + "obstacle_distance_weight": { + "type": "number", + "default": 0.5, + "description": "Weight for distance to obstacle in A* search." } }, "required": [ diff --git a/planning/autoware_freespace_planning_algorithms/include/autoware/freespace_planning_algorithms/abstract_algorithm.hpp b/planning/autoware_freespace_planning_algorithms/include/autoware/freespace_planning_algorithms/abstract_algorithm.hpp index cbf835df3b6c6..911144f3796e5 100644 --- a/planning/autoware_freespace_planning_algorithms/include/autoware/freespace_planning_algorithms/abstract_algorithm.hpp +++ b/planning/autoware_freespace_planning_algorithms/include/autoware/freespace_planning_algorithms/abstract_algorithm.hpp @@ -164,6 +164,7 @@ class AbstractPlanningAlgorithm const geometry_msgs::msg::Pose & start_pose, const geometry_msgs::msg::Pose & goal_pose) = 0; virtual bool hasObstacleOnTrajectory(const geometry_msgs::msg::PoseArray & trajectory) const; const PlannerWaypoints & getWaypoints() const { return waypoints_; } + double getDistanceToObstacle(const geometry_msgs::msg::Pose & pose) const; virtual ~AbstractPlanningAlgorithm() {} diff --git a/planning/autoware_freespace_planning_algorithms/include/autoware/freespace_planning_algorithms/astar_search.hpp b/planning/autoware_freespace_planning_algorithms/include/autoware/freespace_planning_algorithms/astar_search.hpp index cbdbb9d4c3fb3..8ac7c60e7ca4f 100644 --- a/planning/autoware_freespace_planning_algorithms/include/autoware/freespace_planning_algorithms/astar_search.hpp +++ b/planning/autoware_freespace_planning_algorithms/include/autoware/freespace_planning_algorithms/astar_search.hpp @@ -41,6 +41,7 @@ enum class NodeStatus : uint8_t { None, Open, Closed }; struct AstarParam { // base configs + std::string search_method; bool only_behind_solutions; // solutions should be behind the goal bool use_back; // backward search bool adapt_expansion_distance; @@ -99,6 +100,7 @@ class AstarSearch : public AbstractPlanningAlgorithm : AstarSearch( planner_common_param, collision_vehicle_shape, AstarParam{ + node.declare_parameter("astar.search_method"), node.declare_parameter("astar.only_behind_solutions"), node.declare_parameter("astar.use_back"), node.declare_parameter("astar.adapt_expansion_distance"), @@ -125,7 +127,7 @@ class AstarSearch : public AbstractPlanningAlgorithm void expandNodes(AstarNode & current_node, const bool is_back = false); void resetData(); void setPath(const AstarNode & goal); - bool setStartNode(); + void setStartNode(); double estimateCost(const Pose & pose, const IndexXYT & index) const; bool isGoal(const AstarNode & node) const; Pose node2pose(const AstarNode & node) const; @@ -156,6 +158,7 @@ class AstarSearch : public AbstractPlanningAlgorithm double avg_turning_radius_; double min_expansion_dist_; double max_expansion_dist_; + bool is_backward_search_; // the following constexpr values were found to be best by trial and error, through multiple // tests, and are not expected to be changed regularly, therefore they were not made into ros diff --git a/planning/autoware_freespace_planning_algorithms/scripts/bind/astar_search_pybind.cpp b/planning/autoware_freespace_planning_algorithms/scripts/bind/astar_search_pybind.cpp index 40b16f71d5fe7..1c04fd65447b2 100644 --- a/planning/autoware_freespace_planning_algorithms/scripts/bind/astar_search_pybind.cpp +++ b/planning/autoware_freespace_planning_algorithms/scripts/bind/astar_search_pybind.cpp @@ -111,6 +111,7 @@ PYBIND11_MODULE(autoware_freespace_planning_algorithms_pybind, p) auto pyAstarParam = py::class_(p, "AstarParam", py::dynamic_attr()) .def(py::init<>()) + .def_readwrite("search_method", &freespace_planning_algorithms::AstarParam::search_method) .def_readwrite( "only_behind_solutions", &freespace_planning_algorithms::AstarParam::only_behind_solutions) .def_readwrite("use_back", &freespace_planning_algorithms::AstarParam::use_back) diff --git a/planning/autoware_freespace_planning_algorithms/scripts/example/example.py b/planning/autoware_freespace_planning_algorithms/scripts/example/example.py index 28c505fbaae02..b4af9ed87a3b9 100644 --- a/planning/autoware_freespace_planning_algorithms/scripts/example/example.py +++ b/planning/autoware_freespace_planning_algorithms/scripts/example/example.py @@ -44,6 +44,7 @@ # -- A* search Configurations -- astar_param = fp.AstarParam() +astar_param.search_method = "forward" astar_param.only_behind_solutions = False astar_param.use_back = True astar_param.adapt_expansion_distance = True diff --git a/planning/autoware_freespace_planning_algorithms/src/abstract_algorithm.cpp b/planning/autoware_freespace_planning_algorithms/src/abstract_algorithm.cpp index 380eafb745062..97fd93e31d5cd 100644 --- a/planning/autoware_freespace_planning_algorithms/src/abstract_algorithm.cpp +++ b/planning/autoware_freespace_planning_algorithms/src/abstract_algorithm.cpp @@ -138,6 +138,16 @@ void AbstractPlanningAlgorithm::setMap(const nav_msgs::msg::OccupancyGrid & cost std::hypot(0.5 * collision_vehicle_shape_.width, base2front) / costmap_.info.resolution); } +double AbstractPlanningAlgorithm::getDistanceToObstacle(const geometry_msgs::msg::Pose & pose) const +{ + const auto local_pose = global2local(costmap_, pose); + const auto index = pose2index(costmap_, local_pose, planner_common_param_.theta_size); + if (indexToId(index) >= static_cast(edt_map_.size())) { + return std::numeric_limits::max(); + } + return getObstacleEDT(index); +} + void AbstractPlanningAlgorithm::computeEDTMap() { const int height = costmap_.info.height; diff --git a/planning/autoware_freespace_planning_algorithms/src/astar_search.cpp b/planning/autoware_freespace_planning_algorithms/src/astar_search.cpp index fe87011273c1b..b0be1da75caec 100644 --- a/planning/autoware_freespace_planning_algorithms/src/astar_search.cpp +++ b/planning/autoware_freespace_planning_algorithms/src/astar_search.cpp @@ -29,6 +29,7 @@ #include #endif +#include #include namespace autoware::freespace_planning_algorithms @@ -83,6 +84,8 @@ AstarSearch::AstarSearch( avg_turning_radius_ = kinematic_bicycle_model::getTurningRadius(collision_vehicle_shape_.base_length, avg_steering); + is_backward_search_ = astar_param_.search_method == "backward"; + min_expansion_dist_ = astar_param_.expansion_distance; max_expansion_dist_ = collision_vehicle_shape_.base_length * base_length_max_expansion_factor_; } @@ -104,15 +107,15 @@ bool AstarSearch::makePlan(const Pose & start_pose, const Pose & goal_pose) start_pose_ = global2local(costmap_, start_pose); goal_pose_ = global2local(costmap_, goal_pose); - if (detectCollision(goal_pose_)) { - throw std::logic_error("Invalid goal pose"); + if (detectCollision(start_pose_) || detectCollision(goal_pose_)) { + throw std::logic_error("Invalid start or goal pose"); } + if (is_backward_search_) std::swap(start_pose_, goal_pose_); + setCollisionFreeDistanceMap(); - if (!setStartNode()) { - throw std::logic_error("Invalid start pose"); - } + setStartNode(); if (!search()) { throw std::logic_error("HA* failed to find path to goal"); @@ -174,12 +177,9 @@ void AstarSearch::setCollisionFreeDistanceMap() } } -bool AstarSearch::setStartNode() +void AstarSearch::setStartNode() { const auto index = pose2index(costmap_, start_pose_, planner_common_param_.theta_size); - - if (detectCollision(index)) return false; - // Set start node AstarNode * start_node = &graph_[getKey(index)]; start_node->set(start_pose_, 0.0, estimateCost(start_pose_, index), 0, false); @@ -191,8 +191,6 @@ bool AstarSearch::setStartNode() // Push start node to openlist openlist_.push(start_node); - - return true; } double AstarSearch::estimateCost(const Pose & pose, const IndexXYT & index) const @@ -242,7 +240,8 @@ bool AstarSearch::search() void AstarSearch::expandNodes(AstarNode & current_node, const bool is_back) { const auto current_pose = node2pose(current_node); - double distance = getExpansionDistance(current_node) * (is_back ? -1.0 : 1.0); + const double direction = (is_back == is_backward_search_) ? 1.0 : -1.0; + const double distance = getExpansionDistance(current_node) * direction; int steering_index = -1 * planner_common_param_.turning_steps; for (; steering_index <= planner_common_param_.turning_steps; ++steering_index) { // skip expansion back to parent @@ -333,46 +332,65 @@ void AstarSearch::setPath(const AstarNode & goal_node) header.stamp = rclcpp::Clock(RCL_ROS_TIME).now(); header.frame_id = costmap_.header.frame_id; - waypoints_.header = header; - waypoints_.waypoints.clear(); - // From the goal node to the start node const AstarNode * node = &goal_node; + std::vector waypoints; + geometry_msgs::msg::PoseStamped pose; pose.header = header; - const auto interpolate = [this, &pose](const AstarNode & node) { + const auto interpolate = [this, &waypoints, &pose](const AstarNode & node) { if (node.parent == nullptr || !astar_param_.adapt_expansion_distance) return; const auto parent_pose = node2pose(*node.parent); const double distance_2d = calcDistance2d(node2pose(node), parent_pose); const int n = static_cast(distance_2d / min_expansion_dist_); for (int i = 1; i < n; ++i) { - const double dist = ((distance_2d * i) / n) * (node.is_back ? -1.0 : 1.0); + const double dist = + ((distance_2d * i) / n) * (node.is_back == is_backward_search_ ? 1.0 : -1.0); const double steering = node.steering_index * steering_resolution_; const auto local_pose = kinematic_bicycle_model::getPose( parent_pose, collision_vehicle_shape_.base_length, steering, dist); pose.pose = local2global(costmap_, local_pose); - waypoints_.waypoints.push_back({pose, node.is_back}); + waypoints.push_back({pose, node.is_back}); } }; // push astar nodes poses while (node != nullptr) { pose.pose = local2global(costmap_, node2pose(*node)); - waypoints_.waypoints.push_back({pose, node->is_back}); + waypoints.push_back({pose, node->is_back}); interpolate(*node); // To the next node node = node->parent; } - // Reverse the vector to be start to goal order - std::reverse(waypoints_.waypoints.begin(), waypoints_.waypoints.end()); + if (waypoints.empty()) return; - // Update first point direction - if (waypoints_.waypoints.size() > 1) { - waypoints_.waypoints.at(0).is_back = waypoints_.waypoints.at(1).is_back; + if (waypoints.size() > 1) waypoints.back().is_back = waypoints.rbegin()[1].is_back; + + if (!is_backward_search_) { + // Reverse the vector to be start to goal order + std::reverse(waypoints.begin(), waypoints.end()); + } + + waypoints_.header = header; + waypoints_.waypoints.clear(); + + for (size_t i = 0; i < waypoints.size() - 1; ++i) { + const auto & current = waypoints[i]; + const auto & next = waypoints[i + 1]; + + waypoints_.waypoints.push_back(current); + + if (current.is_back != next.is_back) { + waypoints_.waypoints.push_back( + {is_backward_search_ ? next.pose : current.pose, + is_backward_search_ ? current.is_back : next.is_back}); + } } + + waypoints_.waypoints.push_back(waypoints.back()); } bool AstarSearch::isGoal(const AstarNode & node) const diff --git a/planning/autoware_freespace_planning_algorithms/test/src/test_freespace_planning_algorithms.cpp b/planning/autoware_freespace_planning_algorithms/test/src/test_freespace_planning_algorithms.cpp index 7284a8dcffc44..82806bb500b0e 100644 --- a/planning/autoware_freespace_planning_algorithms/test/src/test_freespace_planning_algorithms.cpp +++ b/planning/autoware_freespace_planning_algorithms/test/src/test_freespace_planning_algorithms.cpp @@ -209,6 +209,7 @@ std::unique_ptr configure_astar(bool use_multi) } // configure astar param + const std::string search_method = "forward"; const bool only_behind_solutions = false; const bool use_back = true; const bool adapt_expansion_distance = true; @@ -217,8 +218,8 @@ std::unique_ptr configure_astar(bool use_multi) const double smoothness_weight = 0.5; const double obstacle_distance_weight = 1.7; const auto astar_param = fpa::AstarParam{ - only_behind_solutions, use_back, adapt_expansion_distance, expansion_distance, - distance_heuristic_weight, smoothness_weight, obstacle_distance_weight}; + search_method, only_behind_solutions, use_back, adapt_expansion_distance, + expansion_distance, distance_heuristic_weight, smoothness_weight, obstacle_distance_weight}; auto algo = std::make_unique(planner_common_param, vehicle_shape, astar_param); return algo; diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/config/goal_planner.param.yaml b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/config/goal_planner.param.yaml index d3d23ae69dc1a..b40214bf2e89e 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/config/goal_planner.param.yaml +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/config/goal_planner.param.yaml @@ -106,6 +106,7 @@ obstacle_threshold: 30 # -- A* search Configurations -- astar: + search_method: "forward" # options: forward, backward only_behind_solutions: false use_back: false distance_heuristic_weight: 1.0 diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/manager.cpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/manager.cpp index 805e91f739a6a..9f146f0ad73d0 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/manager.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/manager.cpp @@ -235,6 +235,7 @@ void GoalPlannerModuleManager::init(rclcpp::Node * node) // freespace parking astar { const std::string ns = base_ns + "pull_over.freespace_parking.astar."; + p.astar_parameters.search_method = node->declare_parameter(ns + "search_method"); p.astar_parameters.only_behind_solutions = node->declare_parameter(ns + "only_behind_solutions"); p.astar_parameters.use_back = node->declare_parameter(ns + "use_back"); @@ -623,6 +624,7 @@ void GoalPlannerModuleManager::updateModuleParams( // freespace parking astar { const std::string ns = base_ns + "pull_over.freespace_parking.astar."; + updateParam(parameters, ns + "search_method", p->astar_parameters.search_method); updateParam( parameters, ns + "only_behind_solutions", p->astar_parameters.only_behind_solutions); updateParam(parameters, ns + "use_back", p->astar_parameters.use_back); diff --git a/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/config/start_planner.param.yaml b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/config/start_planner.param.yaml index 851e96f7a265c..499f713a3d65b 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/config/start_planner.param.yaml +++ b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/config/start_planner.param.yaml @@ -77,6 +77,7 @@ obstacle_threshold: 30 # -- A* search Configurations -- astar: + search_method: "forward" # options: forward, backward only_behind_solutions: false use_back: false distance_heuristic_weight: 1.0 diff --git a/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/src/manager.cpp b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/src/manager.cpp index 23817ee081501..193f88d212842 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/src/manager.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/src/manager.cpp @@ -167,6 +167,7 @@ void StartPlannerModuleManager::init(rclcpp::Node * node) // freespace planner astar { const std::string ns = "start_planner.freespace_planner.astar."; + p.astar_parameters.search_method = node->declare_parameter(ns + "search_method"); p.astar_parameters.only_behind_solutions = node->declare_parameter(ns + "only_behind_solutions"); p.astar_parameters.use_back = node->declare_parameter(ns + "use_back"); @@ -501,6 +502,7 @@ void StartPlannerModuleManager::updateModuleParams( { const std::string ns = "start_planner.freespace_planner.astar."; + updateParam(parameters, ns + "search_method", p->astar_parameters.search_method); updateParam(parameters, ns + "use_back", p->astar_parameters.use_back); updateParam( parameters, ns + "only_behind_solutions", p->astar_parameters.only_behind_solutions); From 9202499373ea7ada6ac1b7e31bf519971226edb7 Mon Sep 17 00:00:00 2001 From: Masaki Baba Date: Thu, 22 Aug 2024 13:03:29 +0900 Subject: [PATCH 003/169] refactor(localization_error_monitor)!: prefix package and namespace with autoware (#8423) add autoware_ prefix Signed-off-by: a-maumau --- .github/CODEOWNERS | 2 +- .../localization_error_monitor.launch.xml | 2 +- .../CMakeLists.txt | 6 +-- .../README.md | 6 +-- .../localization_error_monitor.param.yaml | 0 .../localization_error_monitor.launch.xml | 9 ++++ .../media/diagnostics.png | Bin .../package.xml | 2 +- .../localization_error_monitor.schema.json | 0 .../src/diagnostics.cpp | 5 +++ .../src}/diagnostics.hpp | 9 ++-- .../src/localization_error_monitor.cpp | 10 +++-- .../src}/localization_error_monitor.hpp | 10 +++-- .../test/test_diagnostics.cpp | 41 ++++++++++-------- .../localization_error_monitor.launch.xml | 9 ---- 15 files changed, 66 insertions(+), 45 deletions(-) rename localization/{localization_error_monitor => autoware_localization_error_monitor}/CMakeLists.txt (87%) rename localization/{localization_error_monitor => autoware_localization_error_monitor}/README.md (74%) rename localization/{localization_error_monitor => autoware_localization_error_monitor}/config/localization_error_monitor.param.yaml (100%) create mode 100644 localization/autoware_localization_error_monitor/launch/localization_error_monitor.launch.xml rename localization/{localization_error_monitor => autoware_localization_error_monitor}/media/diagnostics.png (100%) rename localization/{localization_error_monitor => autoware_localization_error_monitor}/package.xml (96%) rename localization/{localization_error_monitor => autoware_localization_error_monitor}/schema/localization_error_monitor.schema.json (100%) rename localization/{localization_error_monitor => autoware_localization_error_monitor}/src/diagnostics.cpp (96%) rename localization/{localization_error_monitor/include/localization_error_monitor => autoware_localization_error_monitor/src}/diagnostics.hpp (86%) rename localization/{localization_error_monitor => autoware_localization_error_monitor}/src/localization_error_monitor.cpp (92%) rename localization/{localization_error_monitor/include/localization_error_monitor => autoware_localization_error_monitor/src}/localization_error_monitor.hpp (88%) rename localization/{localization_error_monitor => autoware_localization_error_monitor}/test/test_diagnostics.cpp (73%) delete mode 100644 localization/localization_error_monitor/launch/localization_error_monitor.launch.xml diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS index 0f98b3a2ce884..08fa500a8d546 100644 --- a/.github/CODEOWNERS +++ b/.github/CODEOWNERS @@ -88,7 +88,7 @@ localization/autoware_twist2accel/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier localization/ekf_localizer/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp takamasa.horibe@tier4.jp takeshi.ishita@tier4.jp yamato.ando@tier4.jp localization/autoware_geo_pose_projector/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp localization/gyro_odometer/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp -localization/localization_error_monitor/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp +localization/autoware_localization_error_monitor/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp localization/localization_util/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp localization/ndt_scan_matcher/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp localization/pose_estimator_arbiter/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp diff --git a/launch/tier4_localization_launch/launch/localization_error_monitor/localization_error_monitor.launch.xml b/launch/tier4_localization_launch/launch/localization_error_monitor/localization_error_monitor.launch.xml index 4caefed02584a..ceff1f3fdcdb7 100644 --- a/launch/tier4_localization_launch/launch/localization_error_monitor/localization_error_monitor.launch.xml +++ b/launch/tier4_localization_launch/launch/localization_error_monitor/localization_error_monitor.launch.xml @@ -1,7 +1,7 @@ - + diff --git a/localization/localization_error_monitor/CMakeLists.txt b/localization/autoware_localization_error_monitor/CMakeLists.txt similarity index 87% rename from localization/localization_error_monitor/CMakeLists.txt rename to localization/autoware_localization_error_monitor/CMakeLists.txt index c27e51e6e0359..93cfb7ba7a0d9 100644 --- a/localization/localization_error_monitor/CMakeLists.txt +++ b/localization/autoware_localization_error_monitor/CMakeLists.txt @@ -1,5 +1,5 @@ cmake_minimum_required(VERSION 3.14) -project(localization_error_monitor) +project(autoware_localization_error_monitor) find_package(autoware_cmake REQUIRED) autoware_package() @@ -10,7 +10,7 @@ ament_auto_add_library(${PROJECT_NAME} SHARED ) rclcpp_components_register_node(${PROJECT_NAME} - PLUGIN "LocalizationErrorMonitor" + PLUGIN "autoware::localization_error_monitor::LocalizationErrorMonitor" EXECUTABLE ${PROJECT_NAME}_node EXECUTOR SingleThreadedExecutor ) @@ -20,7 +20,7 @@ if(BUILD_TESTING) get_filename_component(filename ${filepath} NAME) string(REGEX REPLACE ".cpp" "" test_name ${filename}) ament_add_gtest(${test_name} ${filepath}) - target_include_directories(${test_name} PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}/include) + target_include_directories(${test_name} PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}/src) target_link_libraries(${test_name} ${PROJECT_NAME}) ament_target_dependencies(${test_name} ${${PROJECT_NAME}_FOUND_BUILD_DEPENDS}) endfunction() diff --git a/localization/localization_error_monitor/README.md b/localization/autoware_localization_error_monitor/README.md similarity index 74% rename from localization/localization_error_monitor/README.md rename to localization/autoware_localization_error_monitor/README.md index 8dc82f09f3d07..9ea1eb5b269d9 100644 --- a/localization/localization_error_monitor/README.md +++ b/localization/autoware_localization_error_monitor/README.md @@ -1,4 +1,4 @@ -# localization_error_monitor +# autoware_localization_error_monitor ## Purpose @@ -6,7 +6,7 @@

-localization_error_monitor is a package for diagnosing localization errors by monitoring uncertainty of the localization results. +autoware_localization_error_monitor is a package for diagnosing localization errors by monitoring uncertainty of the localization results. The package monitors the following two values: - size of long radius of confidence ellipse @@ -29,4 +29,4 @@ The package monitors the following two values: ## Parameters -{{ json_to_markdown("localization/localization_error_monitor/schema/localization_error_monitor.schema.json") }} +{{ json_to_markdown("localization/autoware_localization_error_monitor/schema/localization_error_monitor.schema.json") }} diff --git a/localization/localization_error_monitor/config/localization_error_monitor.param.yaml b/localization/autoware_localization_error_monitor/config/localization_error_monitor.param.yaml similarity index 100% rename from localization/localization_error_monitor/config/localization_error_monitor.param.yaml rename to localization/autoware_localization_error_monitor/config/localization_error_monitor.param.yaml diff --git a/localization/autoware_localization_error_monitor/launch/localization_error_monitor.launch.xml b/localization/autoware_localization_error_monitor/launch/localization_error_monitor.launch.xml new file mode 100644 index 0000000000000..3ac61a8b45570 --- /dev/null +++ b/localization/autoware_localization_error_monitor/launch/localization_error_monitor.launch.xml @@ -0,0 +1,9 @@ + + + + + + + + + diff --git a/localization/localization_error_monitor/media/diagnostics.png b/localization/autoware_localization_error_monitor/media/diagnostics.png similarity index 100% rename from localization/localization_error_monitor/media/diagnostics.png rename to localization/autoware_localization_error_monitor/media/diagnostics.png diff --git a/localization/localization_error_monitor/package.xml b/localization/autoware_localization_error_monitor/package.xml similarity index 96% rename from localization/localization_error_monitor/package.xml rename to localization/autoware_localization_error_monitor/package.xml index c4fa77ce85a6b..426b0d6b6c432 100644 --- a/localization/localization_error_monitor/package.xml +++ b/localization/autoware_localization_error_monitor/package.xml @@ -1,7 +1,7 @@ - localization_error_monitor + autoware_localization_error_monitor 0.1.0 ros node for monitoring localization error Yamato Ando diff --git a/localization/localization_error_monitor/schema/localization_error_monitor.schema.json b/localization/autoware_localization_error_monitor/schema/localization_error_monitor.schema.json similarity index 100% rename from localization/localization_error_monitor/schema/localization_error_monitor.schema.json rename to localization/autoware_localization_error_monitor/schema/localization_error_monitor.schema.json diff --git a/localization/localization_error_monitor/src/diagnostics.cpp b/localization/autoware_localization_error_monitor/src/diagnostics.cpp similarity index 96% rename from localization/localization_error_monitor/src/diagnostics.cpp rename to localization/autoware_localization_error_monitor/src/diagnostics.cpp index e6b9da8fc4a97..ef7f0faf12373 100644 --- a/localization/localization_error_monitor/src/diagnostics.cpp +++ b/localization/autoware_localization_error_monitor/src/diagnostics.cpp @@ -12,11 +12,15 @@ // See the License for the specific language governing permissions and // limitations under the License. +#include "diagnostics.hpp" + #include #include #include +namespace autoware::localization_error_monitor +{ diagnostic_msgs::msg::DiagnosticStatus check_localization_accuracy( const double ellipse_size, const double warn_ellipse_size, const double error_ellipse_size) { @@ -92,3 +96,4 @@ diagnostic_msgs::msg::DiagnosticStatus merge_diagnostic_status( return merged_stat; } +} // namespace autoware::localization_error_monitor diff --git a/localization/localization_error_monitor/include/localization_error_monitor/diagnostics.hpp b/localization/autoware_localization_error_monitor/src/diagnostics.hpp similarity index 86% rename from localization/localization_error_monitor/include/localization_error_monitor/diagnostics.hpp rename to localization/autoware_localization_error_monitor/src/diagnostics.hpp index b1da87128bee5..bd92c28daad78 100644 --- a/localization/localization_error_monitor/include/localization_error_monitor/diagnostics.hpp +++ b/localization/autoware_localization_error_monitor/src/diagnostics.hpp @@ -12,14 +12,16 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef LOCALIZATION_ERROR_MONITOR__DIAGNOSTICS_HPP_ -#define LOCALIZATION_ERROR_MONITOR__DIAGNOSTICS_HPP_ +#ifndef DIAGNOSTICS_HPP_ +#define DIAGNOSTICS_HPP_ #include #include #include +namespace autoware::localization_error_monitor +{ diagnostic_msgs::msg::DiagnosticStatus check_localization_accuracy( const double ellipse_size, const double warn_ellipse_size, const double error_ellipse_size); diagnostic_msgs::msg::DiagnosticStatus check_localization_accuracy_lateral_direction( @@ -27,5 +29,6 @@ diagnostic_msgs::msg::DiagnosticStatus check_localization_accuracy_lateral_direc diagnostic_msgs::msg::DiagnosticStatus merge_diagnostic_status( const std::vector & stat_array); +} // namespace autoware::localization_error_monitor -#endif // LOCALIZATION_ERROR_MONITOR__DIAGNOSTICS_HPP_ +#endif // DIAGNOSTICS_HPP_ diff --git a/localization/localization_error_monitor/src/localization_error_monitor.cpp b/localization/autoware_localization_error_monitor/src/localization_error_monitor.cpp similarity index 92% rename from localization/localization_error_monitor/src/localization_error_monitor.cpp rename to localization/autoware_localization_error_monitor/src/localization_error_monitor.cpp index 44223b0fd1670..fb96a55dd0dc1 100644 --- a/localization/localization_error_monitor/src/localization_error_monitor.cpp +++ b/localization/autoware_localization_error_monitor/src/localization_error_monitor.cpp @@ -12,9 +12,9 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "localization_error_monitor/localization_error_monitor.hpp" +#include "localization_error_monitor.hpp" -#include "localization_error_monitor/diagnostics.hpp" +#include "diagnostics.hpp" #include @@ -31,7 +31,10 @@ #include #include #include +#include +namespace autoware::localization_error_monitor +{ LocalizationErrorMonitor::LocalizationErrorMonitor(const rclcpp::NodeOptions & options) : Node("localization_error_monitor", options) { @@ -84,6 +87,7 @@ void LocalizationErrorMonitor::on_odom(nav_msgs::msg::Odometry::ConstSharedPtr i diag_msg.status.push_back(diag_merged_status); diag_pub_->publish(diag_msg); } +} // namespace autoware::localization_error_monitor #include -RCLCPP_COMPONENTS_REGISTER_NODE(LocalizationErrorMonitor) +RCLCPP_COMPONENTS_REGISTER_NODE(autoware::localization_error_monitor::LocalizationErrorMonitor) diff --git a/localization/localization_error_monitor/include/localization_error_monitor/localization_error_monitor.hpp b/localization/autoware_localization_error_monitor/src/localization_error_monitor.hpp similarity index 88% rename from localization/localization_error_monitor/include/localization_error_monitor/localization_error_monitor.hpp rename to localization/autoware_localization_error_monitor/src/localization_error_monitor.hpp index 0f293e4d31cac..919951bca3998 100644 --- a/localization/localization_error_monitor/include/localization_error_monitor/localization_error_monitor.hpp +++ b/localization/autoware_localization_error_monitor/src/localization_error_monitor.hpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef LOCALIZATION_ERROR_MONITOR__LOCALIZATION_ERROR_MONITOR_HPP_ -#define LOCALIZATION_ERROR_MONITOR__LOCALIZATION_ERROR_MONITOR_HPP_ +#ifndef LOCALIZATION_ERROR_MONITOR_HPP_ +#define LOCALIZATION_ERROR_MONITOR_HPP_ #include "localization_util/covariance_ellipse.hpp" @@ -27,6 +27,8 @@ #include +namespace autoware::localization_error_monitor +{ class LocalizationErrorMonitor : public rclcpp::Node { private: @@ -50,4 +52,6 @@ class LocalizationErrorMonitor : public rclcpp::Node public: explicit LocalizationErrorMonitor(const rclcpp::NodeOptions & options); }; -#endif // LOCALIZATION_ERROR_MONITOR__LOCALIZATION_ERROR_MONITOR_HPP_ +} // namespace autoware::localization_error_monitor + +#endif // LOCALIZATION_ERROR_MONITOR_HPP_ diff --git a/localization/localization_error_monitor/test/test_diagnostics.cpp b/localization/autoware_localization_error_monitor/test/test_diagnostics.cpp similarity index 73% rename from localization/localization_error_monitor/test/test_diagnostics.cpp rename to localization/autoware_localization_error_monitor/test/test_diagnostics.cpp index 12515687e7a98..1cc5640d78290 100644 --- a/localization/localization_error_monitor/test/test_diagnostics.cpp +++ b/localization/autoware_localization_error_monitor/test/test_diagnostics.cpp @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "localization_error_monitor/diagnostics.hpp" +#include "diagnostics.hpp" #include @@ -24,23 +24,28 @@ TEST(TestLocalizationErrorMonitorDiagnostics, CheckLocalizationAccuracy) const double error_ellipse_size = 1.0; double ellipse_size = 0.0; - stat = check_localization_accuracy(ellipse_size, warn_ellipse_size, error_ellipse_size); + stat = autoware::localization_error_monitor::check_localization_accuracy( + ellipse_size, warn_ellipse_size, error_ellipse_size); EXPECT_EQ(stat.level, diagnostic_msgs::msg::DiagnosticStatus::OK); ellipse_size = 0.7; - stat = check_localization_accuracy(ellipse_size, warn_ellipse_size, error_ellipse_size); + stat = autoware::localization_error_monitor::check_localization_accuracy( + ellipse_size, warn_ellipse_size, error_ellipse_size); EXPECT_EQ(stat.level, diagnostic_msgs::msg::DiagnosticStatus::OK); ellipse_size = 0.8; - stat = check_localization_accuracy(ellipse_size, warn_ellipse_size, error_ellipse_size); + stat = autoware::localization_error_monitor::check_localization_accuracy( + ellipse_size, warn_ellipse_size, error_ellipse_size); EXPECT_EQ(stat.level, diagnostic_msgs::msg::DiagnosticStatus::WARN); ellipse_size = 0.9; - stat = check_localization_accuracy(ellipse_size, warn_ellipse_size, error_ellipse_size); + stat = autoware::localization_error_monitor::check_localization_accuracy( + ellipse_size, warn_ellipse_size, error_ellipse_size); EXPECT_EQ(stat.level, diagnostic_msgs::msg::DiagnosticStatus::WARN); ellipse_size = 1.0; - stat = check_localization_accuracy(ellipse_size, warn_ellipse_size, error_ellipse_size); + stat = autoware::localization_error_monitor::check_localization_accuracy( + ellipse_size, warn_ellipse_size, error_ellipse_size); EXPECT_EQ(stat.level, diagnostic_msgs::msg::DiagnosticStatus::ERROR); } @@ -52,27 +57,27 @@ TEST(TestLocalizationErrorMonitorDiagnostics, CheckLocalizationAccuracyLateralDi const double error_ellipse_size = 0.3; double ellipse_size = 0.0; - stat = check_localization_accuracy_lateral_direction( + stat = autoware::localization_error_monitor::check_localization_accuracy_lateral_direction( ellipse_size, warn_ellipse_size, error_ellipse_size); EXPECT_EQ(stat.level, diagnostic_msgs::msg::DiagnosticStatus::OK); ellipse_size = 0.24; - stat = check_localization_accuracy_lateral_direction( + stat = autoware::localization_error_monitor::check_localization_accuracy_lateral_direction( ellipse_size, warn_ellipse_size, error_ellipse_size); EXPECT_EQ(stat.level, diagnostic_msgs::msg::DiagnosticStatus::OK); ellipse_size = 0.25; - stat = check_localization_accuracy_lateral_direction( + stat = autoware::localization_error_monitor::check_localization_accuracy_lateral_direction( ellipse_size, warn_ellipse_size, error_ellipse_size); EXPECT_EQ(stat.level, diagnostic_msgs::msg::DiagnosticStatus::WARN); ellipse_size = 0.29; - stat = check_localization_accuracy_lateral_direction( + stat = autoware::localization_error_monitor::check_localization_accuracy_lateral_direction( ellipse_size, warn_ellipse_size, error_ellipse_size); EXPECT_EQ(stat.level, diagnostic_msgs::msg::DiagnosticStatus::WARN); ellipse_size = 0.3; - stat = check_localization_accuracy_lateral_direction( + stat = autoware::localization_error_monitor::check_localization_accuracy_lateral_direction( ellipse_size, warn_ellipse_size, error_ellipse_size); EXPECT_EQ(stat.level, diagnostic_msgs::msg::DiagnosticStatus::ERROR); } @@ -86,7 +91,7 @@ TEST(TestLocalizationErrorMonitorDiagnostics, MergeDiagnosticStatus) stat_array.at(0).message = "OK"; stat_array.at(1).level = diagnostic_msgs::msg::DiagnosticStatus::OK; stat_array.at(1).message = "OK"; - merged_stat = merge_diagnostic_status(stat_array); + merged_stat = autoware::localization_error_monitor::merge_diagnostic_status(stat_array); EXPECT_EQ(merged_stat.level, diagnostic_msgs::msg::DiagnosticStatus::OK); EXPECT_EQ(merged_stat.message, "OK"); @@ -94,7 +99,7 @@ TEST(TestLocalizationErrorMonitorDiagnostics, MergeDiagnosticStatus) stat_array.at(0).message = "WARN0"; stat_array.at(1).level = diagnostic_msgs::msg::DiagnosticStatus::OK; stat_array.at(1).message = "OK"; - merged_stat = merge_diagnostic_status(stat_array); + merged_stat = autoware::localization_error_monitor::merge_diagnostic_status(stat_array); EXPECT_EQ(merged_stat.level, diagnostic_msgs::msg::DiagnosticStatus::WARN); EXPECT_EQ(merged_stat.message, "WARN0"); @@ -102,7 +107,7 @@ TEST(TestLocalizationErrorMonitorDiagnostics, MergeDiagnosticStatus) stat_array.at(0).message = "OK"; stat_array.at(1).level = diagnostic_msgs::msg::DiagnosticStatus::WARN; stat_array.at(1).message = "WARN1"; - merged_stat = merge_diagnostic_status(stat_array); + merged_stat = autoware::localization_error_monitor::merge_diagnostic_status(stat_array); EXPECT_EQ(merged_stat.level, diagnostic_msgs::msg::DiagnosticStatus::WARN); EXPECT_EQ(merged_stat.message, "WARN1"); @@ -110,7 +115,7 @@ TEST(TestLocalizationErrorMonitorDiagnostics, MergeDiagnosticStatus) stat_array.at(0).message = "WARN0"; stat_array.at(1).level = diagnostic_msgs::msg::DiagnosticStatus::WARN; stat_array.at(1).message = "WARN1"; - merged_stat = merge_diagnostic_status(stat_array); + merged_stat = autoware::localization_error_monitor::merge_diagnostic_status(stat_array); EXPECT_EQ(merged_stat.level, diagnostic_msgs::msg::DiagnosticStatus::WARN); EXPECT_EQ(merged_stat.message, "WARN0; WARN1"); @@ -118,7 +123,7 @@ TEST(TestLocalizationErrorMonitorDiagnostics, MergeDiagnosticStatus) stat_array.at(0).message = "OK"; stat_array.at(1).level = diagnostic_msgs::msg::DiagnosticStatus::ERROR; stat_array.at(1).message = "ERROR1"; - merged_stat = merge_diagnostic_status(stat_array); + merged_stat = autoware::localization_error_monitor::merge_diagnostic_status(stat_array); EXPECT_EQ(merged_stat.level, diagnostic_msgs::msg::DiagnosticStatus::ERROR); EXPECT_EQ(merged_stat.message, "ERROR1"); @@ -126,7 +131,7 @@ TEST(TestLocalizationErrorMonitorDiagnostics, MergeDiagnosticStatus) stat_array.at(0).message = "WARN0"; stat_array.at(1).level = diagnostic_msgs::msg::DiagnosticStatus::ERROR; stat_array.at(1).message = "ERROR1"; - merged_stat = merge_diagnostic_status(stat_array); + merged_stat = autoware::localization_error_monitor::merge_diagnostic_status(stat_array); EXPECT_EQ(merged_stat.level, diagnostic_msgs::msg::DiagnosticStatus::ERROR); EXPECT_EQ(merged_stat.message, "WARN0; ERROR1"); @@ -134,7 +139,7 @@ TEST(TestLocalizationErrorMonitorDiagnostics, MergeDiagnosticStatus) stat_array.at(0).message = "ERROR0"; stat_array.at(1).level = diagnostic_msgs::msg::DiagnosticStatus::ERROR; stat_array.at(1).message = "ERROR1"; - merged_stat = merge_diagnostic_status(stat_array); + merged_stat = autoware::localization_error_monitor::merge_diagnostic_status(stat_array); EXPECT_EQ(merged_stat.level, diagnostic_msgs::msg::DiagnosticStatus::ERROR); EXPECT_EQ(merged_stat.message, "ERROR0; ERROR1"); } diff --git a/localization/localization_error_monitor/launch/localization_error_monitor.launch.xml b/localization/localization_error_monitor/launch/localization_error_monitor.launch.xml deleted file mode 100644 index ad3e8beff92ab..0000000000000 --- a/localization/localization_error_monitor/launch/localization_error_monitor.launch.xml +++ /dev/null @@ -1,9 +0,0 @@ - - - - - - - - - From d87301c1e5273dcf7adbb60d3a6d34359cbce93f Mon Sep 17 00:00:00 2001 From: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> Date: Thu, 22 Aug 2024 13:23:52 +0900 Subject: [PATCH 004/169] fix(lane_change): modify lane change requested condition (#8510) * modify lane change requested condition Signed-off-by: Muhammad Zulfaqar Azmi * Update planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/calculation.cpp Co-authored-by: mkquda <168697710+mkquda@users.noreply.github.com> * style(pre-commit): autofix * fix docstring Signed-off-by: Muhammad Zulfaqar Azmi --------- Signed-off-by: Muhammad Zulfaqar Azmi Co-authored-by: mkquda <168697710+mkquda@users.noreply.github.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- .../utils/calculation.hpp | 38 ++++++++++++++++++ .../src/scene.cpp | 12 +++++- .../src/utils/calculation.cpp | 40 +++++++++++++++++++ 3 files changed, 89 insertions(+), 1 deletion(-) diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/calculation.hpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/calculation.hpp index 6c48445b47567..66c454f795ebb 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/calculation.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/calculation.hpp @@ -75,6 +75,44 @@ double calc_stopping_distance(const LCParamPtr & lc_param_ptr); double calc_dist_to_last_fit_width( const lanelet::ConstLanelets lanelets, const Pose & src_pose, const BehaviorPathPlannerParameters & bpp_param, const double margin = 0.1); + +/** + * @brief Calculates the maximum preparation longitudinal distance for lane change. + * + * This function computes the maximum distance that the ego vehicle can travel during + * the preparation phase of a lane change. The distance is calculated as the product + * of the maximum lane change preparation duration and the maximum velocity of the ego vehicle. + * + * @param common_data_ptr Shared pointer to a CommonData structure, which should include: + * - `lc_param_ptr->lane_change_prepare_duration`: The duration allowed for lane change + * preparation. + * - `bpp_param_ptr->max_vel`: The maximum velocity of the ego vehicle. + * + * @return The maximum preparation longitudinal distance in meters. + */ +double calc_maximum_prepare_length(const CommonDataPtr & common_data_ptr); + +/** + * @brief Calculates the distance from the ego vehicle to the start of the target lanes. + * + * This function computes the shortest distance from the current position of the ego vehicle + * to the start of the target lanes by measuring the arc length to the front points of + * the left and right boundaries of the target lane. If the target lanes are empty or other + * required data is unavailable, the function returns numeric_limits::max() preventing lane + * change being executed. + * + * @param common_data_ptr Shared pointer to a CommonData structure, which should include: + * - `route_handler_ptr`: Pointer to the route handler that manages the route. + * - Other necessary parameters for ego vehicle positioning. + * @param current_lanes The set of lanelets representing the current lanes of the ego vehicle. + * @param target_lanes The set of lanelets representing the target lanes for lane changing. + * + * @return The distance from the ego vehicle to the start of the target lanes in meters, + * or numeric_limits::max() if the target lanes are empty or data is unavailable. + */ +double calc_ego_dist_to_lanes_start( + const CommonDataPtr & common_data_ptr, const lanelet::ConstLanelets & current_lanes, + const lanelet::ConstLanelets & target_lanes); } // namespace autoware::behavior_path_planner::utils::lane_change::calculation #endif // AUTOWARE__BEHAVIOR_PATH_LANE_CHANGE_MODULE__UTILS__CALCULATION_HPP_ diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/scene.cpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/scene.cpp index e3faf8f4293c7..c6d05f90fe138 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/scene.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/scene.cpp @@ -152,6 +152,8 @@ std::pair NormalLaneChange::getSafePath(LaneChangePath & safe_path) bool NormalLaneChange::isLaneChangeRequired() { + universe_utils::ScopedTimeTrack st(__func__, *time_keeper_); + const auto current_lanes = utils::getCurrentLanesFromPath(prev_module_output_.path, planner_data_); @@ -161,7 +163,15 @@ bool NormalLaneChange::isLaneChangeRequired() const auto target_lanes = getLaneChangeLanes(current_lanes, direction_); - return !target_lanes.empty(); + if (target_lanes.empty()) { + return false; + } + + const auto ego_dist_to_target_start = + calculation::calc_ego_dist_to_lanes_start(common_data_ptr_, current_lanes, target_lanes); + const auto maximum_prepare_length = calculation::calc_maximum_prepare_length(common_data_ptr_); + + return ego_dist_to_target_start <= maximum_prepare_length; } bool NormalLaneChange::isStoppedAtRedTrafficLight() const diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/calculation.cpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/calculation.cpp index 8f04395be572a..9585449b8e0e2 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/calculation.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/calculation.cpp @@ -101,4 +101,44 @@ double calc_dist_to_last_fit_width( return std::max(distance - (bpp_param.base_link2front + margin), 0.0); } + +double calc_maximum_prepare_length(const CommonDataPtr & common_data_ptr) +{ + const auto max_prepare_duration = common_data_ptr->lc_param_ptr->lane_change_prepare_duration; + const auto ego_max_speed = common_data_ptr->bpp_param_ptr->max_vel; + + return max_prepare_duration * ego_max_speed; +} + +double calc_ego_dist_to_lanes_start( + const CommonDataPtr & common_data_ptr, const lanelet::ConstLanelets & current_lanes, + const lanelet::ConstLanelets & target_lanes) +{ + const auto & route_handler_ptr = common_data_ptr->route_handler_ptr; + + if (!route_handler_ptr || target_lanes.empty() || current_lanes.empty()) { + return std::numeric_limits::max(); + } + + const auto & target_bound = + common_data_ptr->direction == autoware::route_handler::Direction::RIGHT + ? target_lanes.front().leftBound() + : target_lanes.front().rightBound(); + + if (target_bound.empty()) { + return std::numeric_limits::max(); + } + + const auto path = + route_handler_ptr->getCenterLinePath(current_lanes, 0.0, std::numeric_limits::max()); + + if (path.points.empty()) { + return std::numeric_limits::max(); + } + + const auto target_front_pt = lanelet::utils::conversion::toGeomMsgPt(target_bound.front()); + const auto ego_position = common_data_ptr->get_ego_pose().position; + + return motion_utils::calcSignedArcLength(path.points, ego_position, target_front_pt); +} } // namespace autoware::behavior_path_planner::utils::lane_change::calculation From d95cfaecd0e46cabe121a3bd3edc3f56fab2ef73 Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Thu, 22 Aug 2024 13:59:52 +0900 Subject: [PATCH 005/169] feat(raw_vehicle_cmd_converter): add steer command conversion with VGR (#8504) * feat(raw_vehicle_cmd_converter): add steer command conversion with VGR Signed-off-by: kosuke55 * make class and add test Signed-off-by: kosuke55 * remove member vgr_coef from node Signed-off-by: kosuke55 * update readme Signed-off-by: kosuke55 * add svg Signed-off-by: kosuke55 * add plot scripts Signed-off-by: kosuke55 * Update vehicle/autoware_raw_vehicle_cmd_converter/README.md Co-authored-by: Takamasa Horibe * not always subscribe actuation_status Signed-off-by: kosuke55 * add comment for using normal sub for steering status Signed-off-by: kosuke55 --------- Signed-off-by: kosuke55 Co-authored-by: Takamasa Horibe --- .../CMakeLists.txt | 1 + .../README.md | 39 +- .../raw_vehicle_cmd_converter.param.yaml | 5 + .../figure/vgr.svg | 3541 +++++++++++++++++ .../node.hpp | 26 +- .../vgr.hpp | 39 + .../launch/raw_vehicle_converter.launch.xml | 4 + .../raw_vehicle_cmd_converter.schema.json | 33 +- .../scripts/plot_variable_gear_ratio.py | 107 + .../src/node.cpp | 147 +- .../src/vgr.cpp | 41 + ...est_autoware_raw_vehicle_cmd_converter.cpp | 48 + 12 files changed, 3982 insertions(+), 49 deletions(-) create mode 100644 vehicle/autoware_raw_vehicle_cmd_converter/figure/vgr.svg create mode 100644 vehicle/autoware_raw_vehicle_cmd_converter/include/autoware_raw_vehicle_cmd_converter/vgr.hpp create mode 100755 vehicle/autoware_raw_vehicle_cmd_converter/scripts/plot_variable_gear_ratio.py create mode 100644 vehicle/autoware_raw_vehicle_cmd_converter/src/vgr.cpp diff --git a/vehicle/autoware_raw_vehicle_cmd_converter/CMakeLists.txt b/vehicle/autoware_raw_vehicle_cmd_converter/CMakeLists.txt index fc54b302512fa..9e5b7439e1de2 100644 --- a/vehicle/autoware_raw_vehicle_cmd_converter/CMakeLists.txt +++ b/vehicle/autoware_raw_vehicle_cmd_converter/CMakeLists.txt @@ -10,6 +10,7 @@ ament_auto_add_library(actuation_map_converter SHARED src/steer_map.cpp src/csv_loader.cpp src/pid.cpp + src/vgr.cpp ) ament_auto_add_library(autoware_raw_vehicle_cmd_converter_node_component SHARED diff --git a/vehicle/autoware_raw_vehicle_cmd_converter/README.md b/vehicle/autoware_raw_vehicle_cmd_converter/README.md index 858db3cbaa768..1df083f5c5370 100644 --- a/vehicle/autoware_raw_vehicle_cmd_converter/README.md +++ b/vehicle/autoware_raw_vehicle_cmd_converter/README.md @@ -24,19 +24,42 @@ Once the acceleration map is crafted, it should be loaded when the RawVehicleCmd For ease of calibration and adjustments to the lookup table, an auto-calibration tool is available. More information and instructions for this tool can be found [here](https://github.com/autowarefoundation/autoware.universe/blob/main/vehicle/autoware_accel_brake_map_calibrator/README.md). +### Variable Gear Ratio (VGR) + +This is a gear ratio for converting tire angle to steering angle. Generally, to improve operability, the gear ratio becomes dynamically larger as the speed increases or the steering angle becomes smaller. For a certain vehicle, data was acquired and the gear ratio was approximated by the following formula. + +$$ +a + b \times v^2 - c \times \lvert \delta \rvert +$$ + +For that vehicle, the coefficients were as follows. + +```yaml +vgr_coef_a: 15.713 +vgr_coef_b: 0.053 +vgr_coef_c: 0.042 +``` + +![vgr](./figure/vgr.svg) + +When `convert_steer_cmd_method: "vgr"` is selected, the node receives the control command from the controller as the desired tire angle and calculates the desired steering angle to output. +Also, when `convert_actuation_to_steering_status: true`, this node receives the `actuation_status` topic and calculates the steer tire angle from the `steer_wheel_angle` and publishes it. + ## Input topics -| Name | Type | Description | -| --------------------- | ------------------------------------------ | ------------------------------------------------------------------------------------------------------------------ | -| `~/input/control_cmd` | autoware_control_msgs::msg::Control | target `velocity/acceleration/steering_angle/steering_angle_velocity` is necessary to calculate actuation command. | -| `~/input/steering"` | autoware_vehicle_msgs::msg::SteeringReport | current status of steering used for steering feed back control | -| `~/input/odometry` | navigation_msgs::Odometry | twist topic in odometry is used. | +| Name | Type | Description | +| -------------------------- | ------------------------------------------ | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| `~/input/control_cmd` | autoware_control_msgs::msg::Control | target `velocity/acceleration/steering_angle/steering_angle_velocity` is necessary to calculate actuation command. | +| `~/input/steering"` | autoware_vehicle_msgs::msg::SteeringReport | subscribe only when `convert_actuation_to_steering_status: false`. current status of steering used for steering feed back control | +| `~/input/odometry` | navigation_msgs::Odometry | twist topic in odometry is used. | +| `~/input/actuation_status` | tier4_vehicle_msgs::msg::ActuationStatus | actuation status is assumed to receive the same type of status as sent to the vehicle side. For example, if throttle/brake pedal/steer_wheel_angle is sent, the same type of status is received. In the case of steer_wheel_angle, it is used to calculate steer_tire_angle and VGR in this node. | ## Output topics -| Name | Type | Description | -| ------------------------ | ------------------------------------------------ | ------------------------------------------------------- | -| `~/output/actuation_cmd` | tier4_vehicle_msgs::msg::ActuationCommandStamped | actuation command for vehicle to apply mechanical input | +| Name | Type | Description | +| -------------------------- | ------------------------------------------------ | ------------------------------------------------------------------------------------------------------------------------------------ | +| `~/output/actuation_cmd` | tier4_vehicle_msgs::msg::ActuationCommandStamped | actuation command for vehicle to apply mechanical input | +| `~/output/steering_status` | autoware_vehicle_msgs::msg::SteeringReport | publish only when `convert_actuation_to_steering_status: true`. steer tire angle is calculated from steer wheel angle and published. | ## Parameters diff --git a/vehicle/autoware_raw_vehicle_cmd_converter/config/raw_vehicle_cmd_converter.param.yaml b/vehicle/autoware_raw_vehicle_cmd_converter/config/raw_vehicle_cmd_converter.param.yaml index b53b0d7622198..e7e503d6d7eee 100644 --- a/vehicle/autoware_raw_vehicle_cmd_converter/config/raw_vehicle_cmd_converter.param.yaml +++ b/vehicle/autoware_raw_vehicle_cmd_converter/config/raw_vehicle_cmd_converter.param.yaml @@ -26,3 +26,8 @@ max_d: 0.0 min_d: 0.0 invalid_integration_decay: 0.97 + convert_steer_cmd_method: "vgr" # "vgr" or "steer_map" + vgr_coef_a: 15.713 + vgr_coef_b: 0.053 + vgr_coef_c: 0.042 + convert_actuation_to_steering_status: true diff --git a/vehicle/autoware_raw_vehicle_cmd_converter/figure/vgr.svg b/vehicle/autoware_raw_vehicle_cmd_converter/figure/vgr.svg new file mode 100644 index 0000000000000..51bf3e56d2e6a --- /dev/null +++ b/vehicle/autoware_raw_vehicle_cmd_converter/figure/vgr.svg @@ -0,0 +1,3541 @@ + + + + + + + + 2024-08-19T15:08:36.202767 + image/svg+xml + + + Matplotlib v3.5.1, https://matplotlib.org/ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/vehicle/autoware_raw_vehicle_cmd_converter/include/autoware_raw_vehicle_cmd_converter/node.hpp b/vehicle/autoware_raw_vehicle_cmd_converter/include/autoware_raw_vehicle_cmd_converter/node.hpp index 181b7926337dc..b5e13985c036e 100644 --- a/vehicle/autoware_raw_vehicle_cmd_converter/include/autoware_raw_vehicle_cmd_converter/node.hpp +++ b/vehicle/autoware_raw_vehicle_cmd_converter/include/autoware_raw_vehicle_cmd_converter/node.hpp @@ -21,6 +21,7 @@ #include "autoware_raw_vehicle_cmd_converter/brake_map.hpp" #include "autoware_raw_vehicle_cmd_converter/pid.hpp" #include "autoware_raw_vehicle_cmd_converter/steer_map.hpp" +#include "autoware_raw_vehicle_cmd_converter/vgr.hpp" #include @@ -30,6 +31,7 @@ #include #include #include +#include #include #include @@ -40,6 +42,7 @@ namespace autoware::raw_vehicle_cmd_converter using Control = autoware_control_msgs::msg::Control; using tier4_debug_msgs::msg::Float32MultiArrayStamped; using tier4_vehicle_msgs::msg::ActuationCommandStamped; +using tier4_vehicle_msgs::msg::ActuationStatusStamped; using TwistStamped = geometry_msgs::msg::TwistStamped; using Odometry = nav_msgs::msg::Odometry; using Steering = autoware_vehicle_msgs::msg::SteeringReport; @@ -75,22 +78,25 @@ class RawVehicleCommandConverterNode : public rclcpp::Node //!< @brief topic publisher for low level vehicle command rclcpp::Publisher::SharedPtr pub_actuation_cmd_; + rclcpp::Publisher::SharedPtr pub_steering_status_; //!< @brief subscriber for vehicle command rclcpp::Subscription::SharedPtr sub_control_cmd_; + rclcpp::Subscription::SharedPtr sub_actuation_status_; + rclcpp::Subscription::SharedPtr sub_steering_; // polling subscribers autoware::universe_utils::InterProcessPollingSubscriber sub_odometry_{ this, "~/input/odometry"}; - autoware::universe_utils::InterProcessPollingSubscriber sub_steering_{ - this, "~/input/steering"}; rclcpp::TimerBase::SharedPtr timer_; std::unique_ptr current_twist_ptr_; // [m/s] std::unique_ptr current_steer_ptr_; + ActuationStatusStamped::ConstSharedPtr actuation_status_ptr_; Control::ConstSharedPtr control_cmd_ptr_; AccelMap accel_map_; BrakeMap brake_map_; SteerMap steer_map_; + VGR vgr_; // TODO(tanaka): consider accel/brake pid too PIDController steer_pid_; bool ff_map_initialized_; @@ -102,16 +108,24 @@ class RawVehicleCommandConverterNode : public rclcpp::Node bool use_steer_ff_; bool use_steer_fb_; bool is_debugging_; - bool convert_accel_cmd_; //!< @brief use accel or not - bool convert_brake_cmd_; //!< @brief use brake or not - bool convert_steer_cmd_; //!< @brief use steer or not + bool convert_accel_cmd_; //!< @brief use accel or not + bool convert_brake_cmd_; //!< @brief use brake or not + std::optional convert_steer_cmd_method_{std::nullopt}; //!< @brief method to convert + bool need_to_subscribe_actuation_status_{false}; rclcpp::Time prev_time_steer_calculation_{0, 0, RCL_ROS_TIME}; + // Whether to subscribe to actuation_status and calculate and publish steering_status + // For example, receive the steering wheel angle and calculate the steering wheel angle based on + // the gear ratio. If false, the vehicle interface must publish steering_status. + bool convert_actuation_to_steering_status_{false}; // !< @brief use actuation_status or not + double calculateAccelMap( const double current_velocity, const double desired_acc, bool & accel_cmd_is_zero); double calculateBrakeMap(const double current_velocity, const double desired_acc); - double calculateSteer(const double vel, const double steering, const double steer_rate); + double calculateSteerFromMap(const double vel, const double steering, const double steer_rate); void onControlCmd(const Control::ConstSharedPtr msg); + void onSteering(const Steering::ConstSharedPtr msg); + void onActuationStatus(const ActuationStatusStamped::ConstSharedPtr msg); void publishActuationCmd(); // for debugging rclcpp::Publisher::SharedPtr debug_pub_steer_pid_; diff --git a/vehicle/autoware_raw_vehicle_cmd_converter/include/autoware_raw_vehicle_cmd_converter/vgr.hpp b/vehicle/autoware_raw_vehicle_cmd_converter/include/autoware_raw_vehicle_cmd_converter/vgr.hpp new file mode 100644 index 0000000000000..3b795c4d51036 --- /dev/null +++ b/vehicle/autoware_raw_vehicle_cmd_converter/include/autoware_raw_vehicle_cmd_converter/vgr.hpp @@ -0,0 +1,39 @@ +// Copyright 2024 Tier IV, Inc. All rights reserved. +// +// 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 AUTOWARE_RAW_VEHICLE_CMD_CONVERTER__VGR_HPP_ +#define AUTOWARE_RAW_VEHICLE_CMD_CONVERTER__VGR_HPP_ + +namespace autoware::raw_vehicle_cmd_converter +{ +class VGR +{ +public: + VGR() = default; + VGR(const double vgr_coef_a, const double vgr_coef_b, const double vgr_coef_c) + : vgr_coef_a_(vgr_coef_a), vgr_coef_b_(vgr_coef_b), vgr_coef_c_(vgr_coef_c) + { + } + void setCoefficients(double a, double b, double c); + double calculateVariableGearRatio(double vel, double steer_wheel) const; + double calculateSteeringTireState(double vel, double steer_wheel) const; + +private: + double vgr_coef_a_{0.0}; + double vgr_coef_b_{0.0}; + double vgr_coef_c_{0.0}; +}; +} // namespace autoware::raw_vehicle_cmd_converter + +#endif // AUTOWARE_RAW_VEHICLE_CMD_CONVERTER__VGR_HPP_ diff --git a/vehicle/autoware_raw_vehicle_cmd_converter/launch/raw_vehicle_converter.launch.xml b/vehicle/autoware_raw_vehicle_cmd_converter/launch/raw_vehicle_converter.launch.xml index 735d51e80d5d4..441d924a0e6c3 100644 --- a/vehicle/autoware_raw_vehicle_cmd_converter/launch/raw_vehicle_converter.launch.xml +++ b/vehicle/autoware_raw_vehicle_cmd_converter/launch/raw_vehicle_converter.launch.xml @@ -3,7 +3,9 @@ + + @@ -12,6 +14,8 @@ + + diff --git a/vehicle/autoware_raw_vehicle_cmd_converter/schema/raw_vehicle_cmd_converter.schema.json b/vehicle/autoware_raw_vehicle_cmd_converter/schema/raw_vehicle_cmd_converter.schema.json index 1903f8252d656..30642663a39f5 100644 --- a/vehicle/autoware_raw_vehicle_cmd_converter/schema/raw_vehicle_cmd_converter.schema.json +++ b/vehicle/autoware_raw_vehicle_cmd_converter/schema/raw_vehicle_cmd_converter.schema.json @@ -154,6 +154,32 @@ "min_d", "invalid_integration_decay" ] + }, + "convert_steer_cmd_method": { + "type": "string", + "description": "method for converting steer command", + "default": "vgr", + "enum": ["vgr", "steer_map"] + }, + "vgr_coef_a": { + "type": "number", + "default": "15.713", + "description": "coefficient a for variable gear ratio" + }, + "vgr_coef_b": { + "type": "number", + "default": "0.053", + "description": "coefficient b for variable gear ratio" + }, + "vgr_coef_c": { + "type": "number", + "default": "0.042", + "description": "coefficient c for variable gear ratio" + }, + "convert_actuation_to_steering_status": { + "type": "boolean", + "default": "true", + "description": "convert actuation to steering status or not. Whether to subscribe to actuation_status and calculate and publish steering_status For example, receive the steering wheel angle and calculate the steering wheel angle based on the gear ratio. If false, the vehicle interface must publish steering_status." } }, "required": [ @@ -169,7 +195,12 @@ "max_throttle", "max_brake", "max_steer", - "steer_pid" + "steer_pid", + "convert_steer_cmd_method", + "vgr_coef_a", + "vgr_coef_b", + "vgr_coef_c", + "convert_actuation_to_steering_status" ] } }, diff --git a/vehicle/autoware_raw_vehicle_cmd_converter/scripts/plot_variable_gear_ratio.py b/vehicle/autoware_raw_vehicle_cmd_converter/scripts/plot_variable_gear_ratio.py new file mode 100755 index 0000000000000..f7f8cd6cb3395 --- /dev/null +++ b/vehicle/autoware_raw_vehicle_cmd_converter/scripts/plot_variable_gear_ratio.py @@ -0,0 +1,107 @@ +#!/usr/bin/env python3 + +# Copyright 2024 Tier IV, Inc. All rights reserved. +# +# 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 + +import matplotlib.pyplot as plt +import numpy as np + + +def calculate_variable_gear_ratio(vel, steer_wheel, a, b, c): + return max(1e-5, a + b * vel * vel - c * abs(steer_wheel)) + + +def plot_vgr_vs_steer_wheel(ax, velocity, a, b, c): + steer_wheel_values = np.linspace(-10.0, 10.0, 100) + vgr_values = [ + calculate_variable_gear_ratio(velocity, steer_wheel, a, b, c) + for steer_wheel in steer_wheel_values + ] + + ax.plot( + steer_wheel_values, + vgr_values, + linewidth=2, + ) + ax.set_xlabel("Steer Wheel [rad]", fontsize=14) + ax.set_ylabel("Variable Gear Ratio", fontsize=14) + ax.set_title( + f"VGR vs Steer Wheel\n(Velocity = {velocity} m/s, a = {a}, b = {b}, c = {c})", + fontsize=16, + fontweight="bold", + ) + ax.grid(True, linestyle="--", alpha=0.7) + ax.tick_params(axis="both", which="major", labelsize=12) + + +def plot_vgr_vs_velocity(ax, steer_wheel, a, b, c): + velocity_values = np.linspace(0, 16.66, 100) + vgr_values = [ + calculate_variable_gear_ratio(velocity, steer_wheel, a, b, c) + for velocity in velocity_values + ] + + ax.plot(velocity_values, vgr_values, linewidth=2) + ax.set_xlabel("Velocity [m/s]", fontsize=14) + ax.set_ylabel("Variable Gear Ratio", fontsize=14) + ax.set_title( + f"VGR vs Velocity\n(Steer Wheel = {steer_wheel} rad, a = {a}, b = {b}, c = {c})", + fontsize=16, + fontweight="bold", + ) + ax.grid(True, linestyle="--", alpha=0.7) + ax.tick_params(axis="both", which="major", labelsize=12) + + +def main(): + parser = argparse.ArgumentParser( + description="Plot Variable Gear Ratio (VGR) based on velocity and steer wheel angle." + ) + parser.add_argument("--vgr_coef_a", type=float, default=15.713, help="Coefficient a for VGR") + parser.add_argument("--vgr_coef_b", type=float, default=0.053, help="Coefficient b for VGR") + parser.add_argument("--vgr_coef_c", type=float, default=0.042, help="Coefficient c for VGR") + parser.add_argument( + "--velocity", + type=float, + default=8.33, + help="Fixed velocity value for plotting VGR vs Steer Wheel", + ) + parser.add_argument( + "--steer_wheel", + type=float, + default=0.0, + help="Fixed steer wheel value for plotting VGR vs Velocity", + ) + + args = parser.parse_args() + + plt.style.use("seaborn-whitegrid") + + fig, axs = plt.subplots(1, 2, figsize=(16, 8)) + + plot_vgr_vs_steer_wheel( + axs[0], args.velocity, args.vgr_coef_a, args.vgr_coef_b, args.vgr_coef_c + ) + plot_vgr_vs_velocity( + axs[1], args.steer_wheel, args.vgr_coef_a, args.vgr_coef_b, args.vgr_coef_c + ) + + plt.tight_layout() + plt.show() + + +if __name__ == "__main__": + main() diff --git a/vehicle/autoware_raw_vehicle_cmd_converter/src/node.cpp b/vehicle/autoware_raw_vehicle_cmd_converter/src/node.cpp index c4d7ea11bbcf3..6fb8f4dff44f6 100644 --- a/vehicle/autoware_raw_vehicle_cmd_converter/src/node.cpp +++ b/vehicle/autoware_raw_vehicle_cmd_converter/src/node.cpp @@ -29,10 +29,8 @@ RawVehicleCommandConverterNode::RawVehicleCommandConverterNode( /* parameters for accel/brake map */ const auto csv_path_accel_map = declare_parameter("csv_path_accel_map"); const auto csv_path_brake_map = declare_parameter("csv_path_brake_map"); - const auto csv_path_steer_map = declare_parameter("csv_path_steer_map"); convert_accel_cmd_ = declare_parameter("convert_accel_cmd"); convert_brake_cmd_ = declare_parameter("convert_brake_cmd"); - convert_steer_cmd_ = declare_parameter("convert_steer_cmd"); max_accel_cmd_ = declare_parameter("max_throttle"); max_brake_cmd_ = declare_parameter("max_brake"); max_steer_cmd_ = declare_parameter("max_steer"); @@ -51,33 +49,68 @@ RawVehicleCommandConverterNode::RawVehicleCommandConverterNode( throw std::invalid_argument("Brake map is invalid."); } } - if (convert_steer_cmd_) { - if (!steer_map_.readSteerMapFromCSV(csv_path_steer_map, true)) { - throw std::invalid_argument("Steer map is invalid."); + if (declare_parameter("convert_steer_cmd")) { + convert_steer_cmd_method_ = declare_parameter("convert_steer_cmd_method", "vgr"); + if (convert_steer_cmd_method_.value() == "vgr") { + const double a = declare_parameter("vgr_coef_a"); + const double b = declare_parameter("vgr_coef_b"); + const double c = declare_parameter("vgr_coef_c"); + vgr_.setCoefficients(a, b, c); + } else if (convert_steer_cmd_method_.value() == "steer_map") { + const auto csv_path_steer_map = declare_parameter("csv_path_steer_map"); + if (!steer_map_.readSteerMapFromCSV(csv_path_steer_map, true)) { + throw std::invalid_argument("Steer map is invalid."); + } + const auto kp_steer{declare_parameter("steer_pid.kp")}; + const auto ki_steer{declare_parameter("steer_pid.ki")}; + const auto kd_steer{declare_parameter("steer_pid.kd")}; + const auto max_ret_steer{declare_parameter("steer_pid.max")}; + const auto min_ret_steer{declare_parameter("steer_pid.min")}; + const auto max_ret_p_steer{declare_parameter("steer_pid.max_p")}; + const auto min_ret_p_steer{declare_parameter("steer_pid.min_p")}; + const auto max_ret_i_steer{declare_parameter("steer_pid.max_i")}; + const auto min_ret_i_steer{declare_parameter("steer_pid.min_i")}; + const auto max_ret_d_steer{declare_parameter("steer_pid.max_d")}; + const auto min_ret_d_steer{declare_parameter("steer_pid.min_d")}; + const auto invalid_integration_decay{ + declare_parameter("steer_pid.invalid_integration_decay")}; + steer_pid_.setDecay(invalid_integration_decay); + steer_pid_.setGains(kp_steer, ki_steer, kd_steer); + steer_pid_.setLimits( + max_ret_steer, min_ret_steer, max_ret_p_steer, min_ret_p_steer, max_ret_i_steer, + min_ret_i_steer, max_ret_d_steer, min_ret_d_steer); + steer_pid_.setInitialized(); + } else { + throw std::invalid_argument("Invalid steer conversion method."); } - const auto kp_steer{declare_parameter("steer_pid.kp")}; - const auto ki_steer{declare_parameter("steer_pid.ki")}; - const auto kd_steer{declare_parameter("steer_pid.kd")}; - const auto max_ret_steer{declare_parameter("steer_pid.max")}; - const auto min_ret_steer{declare_parameter("steer_pid.min")}; - const auto max_ret_p_steer{declare_parameter("steer_pid.max_p")}; - const auto min_ret_p_steer{declare_parameter("steer_pid.min_p")}; - const auto max_ret_i_steer{declare_parameter("steer_pid.max_i")}; - const auto min_ret_i_steer{declare_parameter("steer_pid.min_i")}; - const auto max_ret_d_steer{declare_parameter("steer_pid.max_d")}; - const auto min_ret_d_steer{declare_parameter("steer_pid.min_d")}; - const auto invalid_integration_decay{ - declare_parameter("steer_pid.invalid_integration_decay")}; - steer_pid_.setDecay(invalid_integration_decay); - steer_pid_.setGains(kp_steer, ki_steer, kd_steer); - steer_pid_.setLimits( - max_ret_steer, min_ret_steer, max_ret_p_steer, min_ret_p_steer, max_ret_i_steer, - min_ret_i_steer, max_ret_d_steer, min_ret_d_steer); - steer_pid_.setInitialized(); } - pub_actuation_cmd_ = create_publisher("~/output/actuation_cmd", 1); + + // NOTE: The steering status can be published from the vehicle side or converted in this node. + convert_actuation_to_steering_status_ = + declare_parameter("convert_actuation_to_steering_status"); + if (convert_actuation_to_steering_status_) { + pub_steering_status_ = create_publisher("~/output/steering_status", 1); + } else { + // NOTE: Polling subscriber requires specifying the topic name at declaration, + // so use a normal callback subscriber. + sub_steering_ = create_subscription( + "~/input/steering", 1, std::bind(&RawVehicleCommandConverterNode::onSteering, this, _1)); + } + + // NOTE: some vehicles do not publish actuation status. To handle this, subscribe only when the + // option is specified. + need_to_subscribe_actuation_status_ = + convert_actuation_to_steering_status_ || convert_steer_cmd_method_.value() == "vgr"; + if (need_to_subscribe_actuation_status_) { + sub_actuation_status_ = create_subscription( + "~/input/actuation_status", 1, + std::bind(&RawVehicleCommandConverterNode::onActuationStatus, this, _1)); + } + sub_control_cmd_ = create_subscription( "~/input/control_cmd", 1, std::bind(&RawVehicleCommandConverterNode::onControlCmd, this, _1)); + + pub_actuation_cmd_ = create_publisher("~/output/actuation_cmd", 1); debug_pub_steer_pid_ = create_publisher( "/vehicle/raw_vehicle_cmd_converter/debug/steer_pid", 1); @@ -86,13 +119,21 @@ RawVehicleCommandConverterNode::RawVehicleCommandConverterNode( void RawVehicleCommandConverterNode::publishActuationCmd() { - if (!current_twist_ptr_ || !control_cmd_ptr_ || !current_steer_ptr_) { + if (!current_twist_ptr_ || !control_cmd_ptr_ || !current_steer_ptr_ || !actuation_status_ptr_) { RCLCPP_WARN_EXPRESSION( get_logger(), is_debugging_, "some pointers are null: %s, %s, %s", !current_twist_ptr_ ? "twist" : "", !control_cmd_ptr_ ? "cmd" : "", !current_steer_ptr_ ? "steer" : ""); return; } + + if (need_to_subscribe_actuation_status_) { + if (!actuation_status_ptr_) { + RCLCPP_WARN_EXPRESSION(get_logger(), is_debugging_, "actuation status is null"); + return; + } + } + double desired_accel_cmd = 0.0; double desired_brake_cmd = 0.0; double desired_steer_cmd = 0.0; @@ -116,11 +157,18 @@ void RawVehicleCommandConverterNode::publishActuationCmd() // if conversion is disabled use negative acceleration as brake cmd desired_brake_cmd = -acc; } - if (convert_steer_cmd_) { - desired_steer_cmd = calculateSteer(vel, steer, steer_rate); - } else { + if (!convert_steer_cmd_method_.has_value()) { // if conversion is disabled use steering angle as steer cmd desired_steer_cmd = steer; + } else if (convert_steer_cmd_method_.value() == "vgr") { + // NOTE: When using variable gear ratio, + // the actuation cmd is the steering wheel angle, + // and the actuation_status is also the steering wheel angle. + const double current_steer_wheel = actuation_status_ptr_->status.steer_status; + const double adaptive_gear_ratio = vgr_.calculateVariableGearRatio(vel, current_steer_wheel); + desired_steer_cmd = steer * adaptive_gear_ratio; + } else if (convert_steer_cmd_method_.value() == "steer_map") { + desired_steer_cmd = calculateSteerFromMap(vel, steer, steer_rate); } actuation_cmd.header.frame_id = "base_link"; actuation_cmd.header.stamp = control_cmd_ptr_->stamp; @@ -130,7 +178,7 @@ void RawVehicleCommandConverterNode::publishActuationCmd() pub_actuation_cmd_->publish(actuation_cmd); } -double RawVehicleCommandConverterNode::calculateSteer( +double RawVehicleCommandConverterNode::calculateSteerFromMap( const double vel, const double steering, const double steer_rate) { double steering_output = 0; @@ -203,10 +251,6 @@ double RawVehicleCommandConverterNode::calculateBrakeMap( void RawVehicleCommandConverterNode::onControlCmd(const Control::ConstSharedPtr msg) { const auto odometry_msg = sub_odometry_.takeData(); - const auto steering_msg = sub_steering_.takeData(); - if (steering_msg) { - current_steer_ptr_ = std::make_unique(steering_msg->steering_tire_angle); - } if (odometry_msg) { current_twist_ptr_ = std::make_unique(); current_twist_ptr_->header = odometry_msg->header; @@ -215,6 +259,41 @@ void RawVehicleCommandConverterNode::onControlCmd(const Control::ConstSharedPtr control_cmd_ptr_ = msg; publishActuationCmd(); } + +void RawVehicleCommandConverterNode::onSteering(const Steering::ConstSharedPtr msg) +{ + current_steer_ptr_ = std::make_unique(msg->steering_tire_angle); +} + +void RawVehicleCommandConverterNode::onActuationStatus( + const ActuationStatusStamped::ConstSharedPtr msg) +{ + actuation_status_ptr_ = msg; + + if (!convert_actuation_to_steering_status_) { + return; + } + + // calculate steering status from actuation status + const auto odometry_msg = sub_odometry_.takeData(); + if (odometry_msg) { + if (convert_steer_cmd_method_.value() == "vgr") { + current_twist_ptr_ = std::make_unique(); + current_twist_ptr_->header = odometry_msg->header; + current_twist_ptr_->twist = odometry_msg->twist.twist; + current_steer_ptr_ = std::make_unique(vgr_.calculateSteeringTireState( + current_twist_ptr_->twist.linear.x, actuation_status_ptr_->status.steer_status)); + Steering steering_msg{}; + steering_msg.steering_tire_angle = *current_steer_ptr_; + pub_steering_status_->publish(steering_msg); + } else if (convert_steer_cmd_method_.value() == "steer_map") { + throw std::domain_error( + "Steer map conversion is not supported for actuation status. Please " + "use vgr conversion method or set convert_actuation_to_steering to " + "false."); + } + } +} } // namespace autoware::raw_vehicle_cmd_converter #include diff --git a/vehicle/autoware_raw_vehicle_cmd_converter/src/vgr.cpp b/vehicle/autoware_raw_vehicle_cmd_converter/src/vgr.cpp new file mode 100644 index 0000000000000..13463d1678ac8 --- /dev/null +++ b/vehicle/autoware_raw_vehicle_cmd_converter/src/vgr.cpp @@ -0,0 +1,41 @@ +// Copyright 2024 Tier IV, Inc. All rights reserved. +// +// 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 "autoware_raw_vehicle_cmd_converter/vgr.hpp" + +#include +#include + +namespace autoware::raw_vehicle_cmd_converter +{ + +void VGR::setCoefficients(const double a, const double b, const double c) +{ + vgr_coef_a_ = a; + vgr_coef_b_ = b; + vgr_coef_c_ = c; +} + +double VGR::calculateVariableGearRatio(const double vel, const double steer_wheel) const +{ + return std::max( + 1e-5, vgr_coef_a_ + vgr_coef_b_ * vel * vel - vgr_coef_c_ * std::fabs(steer_wheel)); +} + +double VGR::calculateSteeringTireState(const double vel, const double steer_wheel) const +{ + const double adaptive_gear_ratio = calculateVariableGearRatio(vel, steer_wheel); + return steer_wheel / adaptive_gear_ratio; +} +} // namespace autoware::raw_vehicle_cmd_converter diff --git a/vehicle/autoware_raw_vehicle_cmd_converter/test/test_autoware_raw_vehicle_cmd_converter.cpp b/vehicle/autoware_raw_vehicle_cmd_converter/test/test_autoware_raw_vehicle_cmd_converter.cpp index 746f872789b07..59ab3a880fabd 100644 --- a/vehicle/autoware_raw_vehicle_cmd_converter/test/test_autoware_raw_vehicle_cmd_converter.cpp +++ b/vehicle/autoware_raw_vehicle_cmd_converter/test/test_autoware_raw_vehicle_cmd_converter.cpp @@ -17,6 +17,7 @@ #include "autoware_raw_vehicle_cmd_converter/brake_map.hpp" #include "autoware_raw_vehicle_cmd_converter/pid.hpp" #include "autoware_raw_vehicle_cmd_converter/steer_map.hpp" +#include "autoware_raw_vehicle_cmd_converter/vgr.hpp" #include "gtest/gtest.h" #include @@ -52,6 +53,7 @@ using autoware::raw_vehicle_cmd_converter::AccelMap; using autoware::raw_vehicle_cmd_converter::BrakeMap; using autoware::raw_vehicle_cmd_converter::PIDController; using autoware::raw_vehicle_cmd_converter::SteerMap; +using autoware::raw_vehicle_cmd_converter::VGR; double epsilon = 1e-4; // may throw PackageNotFoundError exception for invalid package const auto map_path = @@ -297,3 +299,49 @@ TEST(PIDTests, calculateFB) EXPECT_NEAR(pid_contributions.at(1), 0.21825, epsilon); EXPECT_NEAR(pid_contributions.at(2), -0.15, epsilon); } + +TEST(VGRTests, roundTrip) +{ + VGR vgr; + vgr.setCoefficients(15.713, 0.053, 0.042); + double vel = 5.0; + double steer_wheel = 0.1; + double gear_ratio = vgr.calculateVariableGearRatio(vel, steer_wheel); + double steer = vgr.calculateSteeringTireState(vel, steer_wheel); + double steer_wheel2 = steer * gear_ratio; + EXPECT_NEAR(steer_wheel, steer_wheel2, epsilon); +} + +TEST(VGRTests, boundaryValues) +{ + VGR vgr; + vgr.setCoefficients(15.713, 0.053, 0.042); + + const double vel = 0.0; + const double steer_wheel = 0.0; + const double gear_ratio = vgr.calculateVariableGearRatio(vel, steer_wheel); + EXPECT_NEAR(gear_ratio, 15.713, epsilon); + + const double steer_wheel_small = 1e-5; + const double steer = vgr.calculateSteeringTireState(vel, steer_wheel_small); + const double steer_wheel2 = steer * gear_ratio; + EXPECT_NEAR(steer_wheel, steer_wheel2, epsilon); +} + +TEST(VGRTests, zeroCoefficients) +{ + VGR vgr; + vgr.setCoefficients(0.0, 0.0, 0.0); + + const double vel = 10.0; + const double steer_wheel = 0.5; + + // Gear ratio should return the minimum value since all coefficients are zero + const double gear_ratio = vgr.calculateVariableGearRatio(vel, steer_wheel); + EXPECT_EQ(gear_ratio, 1e-5); + + // Steering tire state calculation is also performed with the minimum gear ratio + const double steer = vgr.calculateSteeringTireState(vel, steer_wheel); + const double steer_wheel2 = steer * gear_ratio; + EXPECT_NEAR(steer_wheel, steer_wheel2, epsilon); +} From 6988233252205bc06d70494e3e3498f4da38dbde Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Thu, 22 Aug 2024 14:00:09 +0900 Subject: [PATCH 006/169] feat(simple_planning_simulator): add VGR sim model (#8415) * feat(simple_planning_simulator): add VGR sim model Signed-off-by: kosuke55 * Update simulator/simple_planning_simulator/test/test_simple_planning_simulator.cpp * move to interface Signed-off-by: kosuke55 * add const Signed-off-by: kosuke55 --------- Signed-off-by: kosuke55 --- simulator/simple_planning_simulator/README.md | 31 +- .../simple_planning_simulator_core.hpp | 9 + .../vehicle_model/sim_model_actuation_cmd.hpp | 137 +++- .../vehicle_model/sim_model_interface.hpp | 15 + .../simple_planning_simulator.launch.py | 3 +- .../media/vgr_sim.drawio.svg | 691 ++++++++++++++++++ .../simple_planning_simulator_core.cpp | 60 +- .../vehicle_model/sim_model_actuation_cmd.cpp | 167 ++++- .../test/test_simple_planning_simulator.cpp | 53 +- 9 files changed, 1127 insertions(+), 39 deletions(-) create mode 100644 simulator/simple_planning_simulator/media/vgr_sim.drawio.svg diff --git a/simulator/simple_planning_simulator/README.md b/simulator/simple_planning_simulator/README.md index d44264035ecc4..1d91d5e6149b4 100644 --- a/simulator/simple_planning_simulator/README.md +++ b/simulator/simple_planning_simulator/README.md @@ -127,17 +127,30 @@ default, 0.00, 1.39, 2.78, 4.17, 5.56, 6.94, 8.33, 9.72, 11.11, 12.50, 1 The simple_planning_simulator usually operates by receiving Control commands, but when the `ACTUATION_CMD` model is selected, it receives Actuation commands instead of Control commands. This model can simulate the motion using the vehicle command that is actually sent to the real vehicle. Therefore, when this model is selected, the `raw_vehicle_cmd_converter` is also launched. +`convert_steer_cmd_method` has two options: "vgr" and "steer_map". If you choose "vgr" (variable gear ratio), it is assumed that the steering wheel angle is sent as the actuation command, and the value is converted to the steering tire angle to move the model. If you choose "steer_map", it is assumed that an arbitrary value is sent as the actuation command, and the value is converted to the steering tire rate to move the model. An arbitrary value is like EPS (Electric Power Steering) Voltage . `enable_pub_steer` determines whether to publish the steering tire angle. If false, it is expected to be converted and published from actuation_status in other nodes (e.g. raw_vehicle_cmd_converter). + +![vgr_sim](./media/vgr_sim.drawio.svg) + +```yaml + +``` + The parameters used in the ACTUATION_CMD are as follows. -| Name | Type | Description | unit | -| :------------------ | :----- | :-------------------------------------------------------------------------------------------------------------------------------------------------------------- | :--- | -| accel_time_delay | double | dead time for the acceleration input | [s] | -| accel_time_constant | double | time constant of the 1st-order acceleration dynamics | [s] | -| brake_time_delay | double | dead time for the brake input | [s] | -| brake_time_constant | double | time constant of the 1st-order brake dynamics | [s] | -| convert_accel_cmd | bool | If true, it is assumed that the command is received converted to an accel actuation value, and it is converted back to acceleration value inside the simulator. | [-] | -| convert_brake_cmd | bool | If true, it is assumed that the command is received converted to a brake actuation value, and it is converted back to acceleration value inside the simulator. | [-] | -| convert_steer_cmd | bool | If true, it is assumed that the command is received converted to a steer actuation value, and it is converted back to steer rate value inside the simulator. | [-] | +| Name | Type | Description | unit | +| :----------------------- | :----- | :----------------------------------------------------------------------------------------------------------------------------------------------------------------------- | :--- | +| accel_time_delay | double | dead time for the acceleration input | [s] | +| accel_time_constant | double | time constant of the 1st-order acceleration dynamics | [s] | +| brake_time_delay | double | dead time for the brake input | [s] | +| brake_time_constant | double | time constant of the 1st-order brake dynamics | [s] | +| convert_accel_cmd | bool | If true, it is assumed that the command is received converted to an accel actuation value, and it is converted back to acceleration value inside the simulator. | [-] | +| convert_brake_cmd | bool | If true, it is assumed that the command is received converted to a brake actuation value, and it is converted back to acceleration value inside the simulator. | [-] | +| convert_steer_cmd | bool | If true, it is assumed that the command is received converted to a steer actuation value, and it is converted back to steer rate value inside the simulator. | [-] | +| convert_steer_cmd_method | bool | method to convert steer command. You can choose from "vgr" and "steer_map". | [-] | +| vgr_coef_a | double | the value of the coefficient a of the variable gear ratio | [-] | +| vgr_coef_b | double | the value of the coefficient b of the variable gear ratio | [-] | +| vgr_coef_c | double | the value of the coefficient c of the variable gear ratio | [-] | +| enable_pub_steer | bool | whether to publish the steering tire angle. if false, it is expected to be converted and published from actuation_status in other nodes (e.g. raw_vehicle_cmd_converter) | [-] | diff --git a/simulator/simple_planning_simulator/include/simple_planning_simulator/simple_planning_simulator_core.hpp b/simulator/simple_planning_simulator/include/simple_planning_simulator/simple_planning_simulator_core.hpp index 547689dc847a0..76fdf5bdda6c9 100644 --- a/simulator/simple_planning_simulator/include/simple_planning_simulator/simple_planning_simulator_core.hpp +++ b/simulator/simple_planning_simulator/include/simple_planning_simulator/simple_planning_simulator_core.hpp @@ -45,6 +45,7 @@ #include "sensor_msgs/msg/imu.hpp" #include "tier4_external_api_msgs/srv/initialize_pose.hpp" #include "tier4_vehicle_msgs/msg/actuation_command_stamped.hpp" +#include "tier4_vehicle_msgs/msg/actuation_status_stamped.hpp" #include #include @@ -86,6 +87,7 @@ using nav_msgs::msg::Odometry; using sensor_msgs::msg::Imu; using tier4_external_api_msgs::srv::InitializePose; using tier4_vehicle_msgs::msg::ActuationCommandStamped; +using tier4_vehicle_msgs::msg::ActuationStatusStamped; class DeltaTime { @@ -138,6 +140,7 @@ class PLANNING_SIMULATOR_PUBLIC SimplePlanningSimulator : public rclcpp::Node rclcpp::Publisher::SharedPtr pub_hazard_lights_report_; rclcpp::Publisher::SharedPtr pub_tf_; rclcpp::Publisher::SharedPtr pub_current_pose_; + rclcpp::Publisher::SharedPtr pub_actuation_status_; rclcpp::Subscription::SharedPtr sub_gear_cmd_; rclcpp::Subscription::SharedPtr sub_manual_gear_cmd_; @@ -189,6 +192,10 @@ class PLANNING_SIMULATOR_PUBLIC SimplePlanningSimulator : public rclcpp::Node ControlModeReport current_control_mode_{}; bool enable_road_slope_simulation_ = true; + // if false, it is expected to be converted and published from actuation_status in other nodes + // (e.g. raw_vehicle_cmd_converter) + bool enable_pub_steer_ = true; //!< @brief flag to publish steering report. + /* frame_id */ std::string simulated_frame_id_ = ""; //!< @brief simulated vehicle frame id std::string origin_frame_id_ = ""; //!< @brief map frame_id @@ -388,6 +395,8 @@ class PLANNING_SIMULATOR_PUBLIC SimplePlanningSimulator : public rclcpp::Node */ void publish_hazard_lights_report(); + void publish_actuation_status(); + /** * @brief publish tf * @param [in] state The kinematic state to publish as a TF diff --git a/simulator/simple_planning_simulator/include/simple_planning_simulator/vehicle_model/sim_model_actuation_cmd.hpp b/simulator/simple_planning_simulator/include/simple_planning_simulator/vehicle_model/sim_model_actuation_cmd.hpp index 1385a509b8dca..5615f5c118165 100644 --- a/simulator/simple_planning_simulator/include/simple_planning_simulator/vehicle_model/sim_model_actuation_cmd.hpp +++ b/simulator/simple_planning_simulator/include/simple_planning_simulator/vehicle_model/sim_model_actuation_cmd.hpp @@ -23,13 +23,22 @@ #include #include +#include #include #include #include /** * @class ActuationMap - * @brief class to convert actuation command + * @brief class to convert from actuation command to control command + * + * ------- state -------> + * | + * | + * actuation control + * | + * | + * V */ class ActuationMap { @@ -43,12 +52,48 @@ class ActuationMap bool readActuationMapFromCSV(const std::string & csv_path, const bool validation = false); double getControlCommand(const double actuation, const double state) const; -private: +protected: std::vector state_index_; // e.g. velocity, steering std::vector actuation_index_; std::vector> actuation_map_; }; +/** + * @class AccelMap + * @brief class to get throttle from acceleration + * + * ------- vel ------> + * | + * | + * throttle acc + * | + * | + * V + */ +class AccelMap : public ActuationMap +{ +public: + std::optional getThrottle(const double acc, const double vel) const; +}; + +/** + * @class BrakeMap + * @brief class to get brake from acceleration + * + * ------- vel ------> + * | + * | + * brake acc + * | + * | + * V + */ +class BrakeMap : public ActuationMap +{ +public: + double getBrake(const double acc, const double vel) const; +}; + /** * @class SimModelActuationCmd * @brief class to handle vehicle model with actuation command @@ -56,8 +101,42 @@ class ActuationMap class SimModelActuationCmd : public SimModelInterface { public: + enum class ActuationSimType { VGR, STEER_MAP }; + /** - * @brief constructor + * @brief constructor (adaptive gear ratio conversion model) + * @param [in] vx_lim velocity limit [m/s] + * @param [in] steer_lim steering limit [rad] + * @param [in] vx_rate_lim acceleration limit [m/ss] + * @param [in] steer_rate_lim steering angular velocity limit [rad/ss] + * @param [in] wheelbase vehicle wheelbase length [m] + * @param [in] dt delta time information to set input buffer for delay + * @param [in] accel_delay time delay for accel command [s] + * @param [in] acc_time_constant time constant for 1D model of accel dynamics + * @param [in] brake_delay time delay for brake command [s] + * @param [in] brake_time_constant time constant for 1D model of brake dynamics + * @param [in] steer_delay time delay for steering command [s] + * @param [in] steer_time_constant time constant for 1D model of steering dynamics + * @param [in] steer_bias steering bias [rad] + * @param [in] convert_accel_cmd flag to convert accel command + * @param [in] convert_brake_cmd flag to convert brake command + * @param [in] convert_steer_cmd flag to convert steer command + * @param [in] accel_map_path path to csv file for accel conversion map + * @param [in] brake_map_path path to csv file for brake conversion map + * @param [in] vgr_coef_a coefficient for variable gear ratio + * @param [in] vgr_coef_b coefficient for variable gear ratio + * @param [in] vgr_coef_c coefficient for variable gear ratio + */ + SimModelActuationCmd( + double vx_lim, double steer_lim, double vx_rate_lim, double steer_rate_lim, double wheelbase, + double dt, double accel_delay, double accel_time_constant, double brake_delay, + double brake_time_constant, double steer_delay, double steer_time_constant, double steer_bias, + bool convert_accel_cmd, bool convert_brake_cmd, bool convert_steer_cmd, + std::string accel_map_path, std::string brake_map_path, double vgr_coef_a, double vgr_coef_b, + double vgr_coef_c); + + /** + * @brief constructor (steer map conversion model) * @param [in] vx_lim velocity limit [m/s] * @param [in] steer_lim steering limit [rad] * @param [in] vx_rate_lim acceleration limit [m/ss] @@ -90,13 +169,15 @@ class SimModelActuationCmd : public SimModelInterface */ ~SimModelActuationCmd() = default; - ActuationMap accel_map_; - ActuationMap brake_map_; - ActuationMap steer_map_; + /* + * @brief get actuation status + */ + std::optional getActuationStatus() const override; - bool convert_accel_cmd_; - bool convert_brake_cmd_; - bool convert_steer_cmd_; + /** + * @brief is publish actuation status enabled + */ + bool shouldPublishActuationStatus() const override { return true; } private: const double MIN_TIME_CONSTANT; //!< @brief minimum time constant @@ -133,7 +214,23 @@ class SimModelActuationCmd : public SimModelInterface const double steer_delay_; //!< @brief time delay for steering command [s] const double steer_time_constant_; //!< @brief time constant for steering dynamics const double steer_bias_; //!< @brief steering angle bias [rad] - const std::string path_; //!< @brief conversion map path + + bool convert_accel_cmd_; + bool convert_brake_cmd_; + bool convert_steer_cmd_; + + AccelMap accel_map_; + BrakeMap brake_map_; + ActuationMap steer_map_; + + // steer map conversion model + + // adaptive gear ratio conversion model + double vgr_coef_a_; + double vgr_coef_b_; + double vgr_coef_c_; + + ActuationSimType actuation_sim_type_{ActuationSimType::VGR}; /** * @brief set queue buffer for input command @@ -204,6 +301,26 @@ class SimModelActuationCmd : public SimModelInterface void updateStateWithGear( Eigen::VectorXd & state, const Eigen::VectorXd & prev_state, const uint8_t gear, const double dt); + + /** + * @brief calculate steering tire command + * @param [in] vel current velocity [m/s] + * @param [in] steer current steering angle [rad] + * @param [in] steer_wheel_des desired steering wheel angle [rad] + * @return steering tire command + */ + double calculateSteeringTireCommand( + const double vel, const double steer, const double steer_wheel_des) const; + + double calculateSteeringWheelState(const double target_tire_angle, const double vel) const; + + /** + * @brief calculate variable gear ratio + * @param [in] vel current velocity [m/s] + * @param [in] steer_wheel current steering wheel angle [rad] + * @return variable gear ratio + */ + double calculateVariableGearRatio(const double vel, const double steer_wheel) const; }; #endif // SIMPLE_PLANNING_SIMULATOR__VEHICLE_MODEL__SIM_MODEL_ACTUATION_CMD_HPP_ diff --git a/simulator/simple_planning_simulator/include/simple_planning_simulator/vehicle_model/sim_model_interface.hpp b/simulator/simple_planning_simulator/include/simple_planning_simulator/vehicle_model/sim_model_interface.hpp index 1274a1ec28a07..f8d682a6e851c 100644 --- a/simulator/simple_planning_simulator/include/simple_planning_simulator/vehicle_model/sim_model_interface.hpp +++ b/simulator/simple_planning_simulator/include/simple_planning_simulator/vehicle_model/sim_model_interface.hpp @@ -18,6 +18,9 @@ #include #include "autoware_vehicle_msgs/msg/gear_command.hpp" +#include "tier4_vehicle_msgs/msg/actuation_status_stamped.hpp" + +#include /** * @class SimModelInterface @@ -26,6 +29,8 @@ class SimModelInterface { protected: + using ActuationStatusStamped = tier4_vehicle_msgs::msg::ActuationStatusStamped; + const int dim_x_; //!< @brief dimension of state x const int dim_u_; //!< @brief dimension of input u Eigen::VectorXd state_; //!< @brief vehicle state vector @@ -152,6 +157,16 @@ class SimModelInterface */ inline int getDimU() { return dim_u_; } + /** + * @brief is publish actuation status enabled + */ + virtual bool shouldPublishActuationStatus() const { return false; } + + /* + * @brief get actuation status + */ + virtual std::optional getActuationStatus() const { return std::nullopt; } + /** * @brief calculate derivative of states with vehicle model * @param [in] state current model state diff --git a/simulator/simple_planning_simulator/launch/simple_planning_simulator.launch.py b/simulator/simple_planning_simulator/launch/simple_planning_simulator.launch.py index e6a35bd420bf3..9b31926a53d57 100644 --- a/simulator/simple_planning_simulator/launch/simple_planning_simulator.launch.py +++ b/simulator/simple_planning_simulator/launch/simple_planning_simulator.launch.py @@ -62,6 +62,7 @@ def launch_setup(context, *args, **kwargs): ("output/turn_indicators_report", "/vehicle/status/turn_indicators_status"), ("output/hazard_lights_report", "/vehicle/status/hazard_lights_status"), ("output/control_mode_report", "/vehicle/status/control_mode"), + ("output/actuation_status", "/vehicle/status/actuation_status"), ] # Additional remappings @@ -110,8 +111,6 @@ def launch_setup(context, *args, **kwargs): == "ACTUATION_CMD" ) - # launch_vehicle_cmd_converter = False # tmp - # 1) Launch only simple_planning_simulator_node if not launch_vehicle_cmd_converter: return [simple_planning_simulator_node] diff --git a/simulator/simple_planning_simulator/media/vgr_sim.drawio.svg b/simulator/simple_planning_simulator/media/vgr_sim.drawio.svg new file mode 100644 index 0000000000000..dea871dd73797 --- /dev/null +++ b/simulator/simple_planning_simulator/media/vgr_sim.drawio.svg @@ -0,0 +1,691 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
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  • + accel_des +
    • +
  • brake_des
    • +
  • steer_wheel_des
    • +
+
+
+
+
+ + + + + + + + + + + + + + + + + + + + + + + + + +
+
+
+ MAP/VGR +
+
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + +
+
+
+ sim model +
+
+
+ + + + + + + + + + + + + + +
+
+
+
    +
  • acc_des
    • +
  • steer_des
    • +
+
+
+
+ + + + + + + + + + + + + + + + + + + + +
+
+
+ MAP/VGR +
+
+
+ + + + + + + + + + + + + + +
+
+
+
+
    +
  • acc_stater
    • +
  • steer_state
    • +
+
+
+
+
+ + + + + + + + + + + + + + +
+
+
+ actuation status +
+
    +
  • accel_status
    • +
  • brake_status
    • +
  • steer_wheel_status
    • +
+
+
+
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + +
+
+
+ controller +
+
+
+ + + + + + + + + + + + + + +
+
+
+ MAP/VGR +
+
+
+ + + + + + + + + + + + + + +
+
+
+ raw_vehicle_cmd_converter +
+
+
+ + + + + + + + + + + + + + +
+
+
+ (MAP)/VGR +
+
+
+ + + + + + + + + + + + + + +
+
+
+ control cmd +
+
+
+
+
+
+ + + + + + + + + + + + + + +
+
+
+ + steering_state + +
+
+
+ + + + + + + + + + + + + + + +
+
+
+ + steering_state + +
+
+
+ + + + + + + + + + + + + + +
+
+
+ ( + convert_actuation_to_steering_status + =true) +
+
+
+ + + + + + + + + + diff --git a/simulator/simple_planning_simulator/src/simple_planning_simulator/simple_planning_simulator_core.cpp b/simulator/simple_planning_simulator/src/simple_planning_simulator/simple_planning_simulator_core.cpp index 4252ace6c1920..96cfa1587e646 100644 --- a/simulator/simple_planning_simulator/src/simple_planning_simulator/simple_planning_simulator_core.cpp +++ b/simulator/simple_planning_simulator/src/simple_planning_simulator/simple_planning_simulator_core.cpp @@ -103,6 +103,7 @@ SimplePlanningSimulator::SimplePlanningSimulator(const rclcpp::NodeOptions & opt add_measurement_noise_ = declare_parameter("add_measurement_noise", false); simulate_motion_ = declare_parameter("initial_engage_state"); enable_road_slope_simulation_ = declare_parameter("enable_road_slope_simulation", false); + enable_pub_steer_ = declare_parameter("enable_pub_steer", true); using rclcpp::QoS; using std::placeholders::_1; @@ -168,10 +169,14 @@ SimplePlanningSimulator::SimplePlanningSimulator(const rclcpp::NodeOptions & opt pub_current_pose_ = create_publisher("output/pose", QoS{1}); pub_velocity_ = create_publisher("output/twist", QoS{1}); pub_odom_ = create_publisher("output/odometry", QoS{1}); - pub_steer_ = create_publisher("output/steering", QoS{1}); pub_acc_ = create_publisher("output/acceleration", QoS{1}); pub_imu_ = create_publisher("output/imu", QoS{1}); pub_tf_ = create_publisher("/tf", QoS{1}); + pub_actuation_status_ = + create_publisher("output/actuation_status", QoS{1}); + if (enable_pub_steer_) { + pub_steer_ = create_publisher("output/steering", QoS{1}); + } /* set param callback */ set_param_res_ = this->add_on_set_parameters_callback( @@ -323,13 +328,33 @@ void SimplePlanningSimulator::initialize_vehicle_model(const std::string & vehic // actuation conversion map const std::string accel_map_path = declare_parameter("accel_map_path"); const std::string brake_map_path = declare_parameter("brake_map_path"); - const std::string steer_map_path = declare_parameter("steer_map_path"); - vehicle_model_ptr_ = std::make_shared( - vel_lim, steer_lim, vel_rate_lim, steer_rate_lim, wheelbase, timer_sampling_time_ms_ / 1000.0, - accel_time_delay, accel_time_constant, brake_time_delay, brake_time_constant, - steer_time_delay, steer_time_constant, steer_bias, convert_accel_cmd, convert_brake_cmd, - convert_steer_cmd, accel_map_path, brake_map_path, steer_map_path); + // init vehicle model depending on convert_steer_cmd_method + if (convert_steer_cmd) { + const std::string convert_steer_cmd_method = + declare_parameter("convert_steer_cmd_method"); + if (convert_steer_cmd_method == "vgr") { + const double vgr_coef_a = declare_parameter("vgr_coef_a"); + const double vgr_coef_b = declare_parameter("vgr_coef_b"); + const double vgr_coef_c = declare_parameter("vgr_coef_c"); + vehicle_model_ptr_ = std::make_shared( + vel_lim, steer_lim, vel_rate_lim, steer_rate_lim, wheelbase, + timer_sampling_time_ms_ / 1000.0, accel_time_delay, accel_time_constant, brake_time_delay, + brake_time_constant, steer_time_delay, steer_time_constant, steer_bias, convert_accel_cmd, + convert_brake_cmd, convert_steer_cmd, accel_map_path, brake_map_path, vgr_coef_a, + vgr_coef_b, vgr_coef_c); + } else if (convert_steer_cmd_method == "steer_map") { + const std::string steer_map_path = declare_parameter("steer_map_path"); + vehicle_model_ptr_ = std::make_shared( + vel_lim, steer_lim, vel_rate_lim, steer_rate_lim, wheelbase, + timer_sampling_time_ms_ / 1000.0, accel_time_delay, accel_time_constant, brake_time_delay, + brake_time_constant, steer_time_delay, steer_time_constant, steer_bias, convert_accel_cmd, + convert_brake_cmd, convert_steer_cmd, accel_map_path, brake_map_path, steer_map_path); + } else { + throw std::invalid_argument( + "Invalid convert_steer_cmd_method: " + convert_steer_cmd_method); + } + } } else { throw std::invalid_argument("Invalid vehicle_model_type: " + vehicle_model_type_str); } @@ -446,7 +471,6 @@ void SimplePlanningSimulator::on_timer() publish_odometry(current_odometry_); publish_pose(current_odometry_); publish_velocity(current_velocity_); - publish_steering(current_steer_); publish_acceleration(); publish_imu(); @@ -455,6 +479,14 @@ void SimplePlanningSimulator::on_timer() publish_turn_indicators_report(); publish_hazard_lights_report(); publish_tf(current_odometry_); + + if (enable_pub_steer_) { + publish_steering(current_steer_); + } + + if (vehicle_model_ptr_->shouldPublishActuationStatus()) { + publish_actuation_status(); + } } void SimplePlanningSimulator::on_map(const LaneletMapBin::ConstSharedPtr msg) @@ -871,6 +903,18 @@ void SimplePlanningSimulator::publish_tf(const Odometry & odometry) tf_msg.transforms.emplace_back(std::move(tf)); pub_tf_->publish(tf_msg); } + +void SimplePlanningSimulator::publish_actuation_status() +{ + auto actuation_status = vehicle_model_ptr_->getActuationStatus(); + if (!actuation_status.has_value()) { + return; + } + + actuation_status.value().header.stamp = get_clock()->now(); + actuation_status.value().header.frame_id = simulated_frame_id_; + pub_actuation_status_->publish(actuation_status.value()); +} } // namespace simple_planning_simulator } // namespace simulation diff --git a/simulator/simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_actuation_cmd.cpp b/simulator/simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_actuation_cmd.cpp index d550e335e2076..19794c04750fd 100644 --- a/simulator/simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_actuation_cmd.cpp +++ b/simulator/simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_actuation_cmd.cpp @@ -50,6 +50,60 @@ double ActuationMap::getControlCommand(const double actuation, const double stat return interpolation::lerp(actuation_index_, interpolated_control_vec, clamped_actuation); } +std::optional AccelMap::getThrottle(const double acc, double vel) const +{ + const std::vector & vel_indices = state_index_; + const std::vector & throttle_indices = actuation_index_; + const std::vector> & accel_map = actuation_map_; + + std::vector interpolated_acc_vec; + const double clamped_vel = CSVLoader::clampValue(vel, vel_indices); + + // (throttle, vel, acc) map => (throttle, acc) map by fixing vel + for (std::vector accelerations : accel_map) { + interpolated_acc_vec.push_back(interpolation::lerp(vel_indices, accelerations, clamped_vel)); + } + + // calculate throttle + // When the desired acceleration is smaller than the throttle area, return null => brake sequence + // When the desired acceleration is greater than the throttle area, return max throttle + if (acc < interpolated_acc_vec.front()) { + return std::nullopt; + } else if (interpolated_acc_vec.back() < acc) { + return throttle_indices.back(); + } + + return interpolation::lerp(interpolated_acc_vec, throttle_indices, acc); +} + +double BrakeMap::getBrake(const double acc, double vel) const +{ + const std::vector & vel_indices = state_index_; + const std::vector & brake_indices = actuation_index_; + const std::vector> & brake_map = actuation_map_; + + std::vector interpolated_acc_vec; + const double clamped_vel = CSVLoader::clampValue(vel, vel_indices); + + // (brake, vel, acc) map => (brake, acc) map by fixing vel + for (std::vector accelerations : brake_map) { + interpolated_acc_vec.push_back(interpolation::lerp(vel_indices, accelerations, clamped_vel)); + } + + // calculate brake + // When the desired acceleration is smaller than the brake area, return max brake on the map + // When the desired acceleration is greater than the brake area, return min brake on the map + if (acc < interpolated_acc_vec.back()) { + return brake_indices.back(); + } else if (interpolated_acc_vec.front() < acc) { + return brake_indices.front(); + } + + std::reverse(std::begin(interpolated_acc_vec), std::end(interpolated_acc_vec)); + return interpolation::lerp(interpolated_acc_vec, brake_indices, acc); +} + +// steer map sim model SimModelActuationCmd::SimModelActuationCmd( double vx_lim, double steer_lim, double vx_rate_lim, double steer_rate_lim, double wheelbase, double dt, double accel_delay, double accel_time_constant, double brake_delay, @@ -75,6 +129,40 @@ SimModelActuationCmd::SimModelActuationCmd( convert_accel_cmd_ = convert_accel_cmd && accel_map_.readActuationMapFromCSV(accel_map_path); convert_brake_cmd_ = convert_brake_cmd && brake_map_.readActuationMapFromCSV(brake_map_path); convert_steer_cmd_ = convert_steer_cmd && steer_map_.readActuationMapFromCSV(steer_map_path); + actuation_sim_type_ = ActuationSimType::STEER_MAP; +} + +// VGR sim model +SimModelActuationCmd::SimModelActuationCmd( + double vx_lim, double steer_lim, double vx_rate_lim, double steer_rate_lim, double wheelbase, + double dt, double accel_delay, double accel_time_constant, double brake_delay, + double brake_time_constant, double steer_delay, double steer_time_constant, double steer_bias, + bool convert_accel_cmd, bool convert_brake_cmd, bool convert_steer_cmd, + std::string accel_map_path, std::string brake_map_path, double vgr_coef_a, double vgr_coef_b, + double vgr_coef_c) +: SimModelInterface(6 /* dim x */, 5 /* dim u */), + MIN_TIME_CONSTANT(0.03), + vx_lim_(vx_lim), + vx_rate_lim_(vx_rate_lim), + steer_lim_(steer_lim), + steer_rate_lim_(steer_rate_lim), + wheelbase_(wheelbase), + accel_delay_(accel_delay), + accel_time_constant_(std::max(accel_time_constant, MIN_TIME_CONSTANT)), + brake_delay_(brake_delay), + brake_time_constant_(std::max(brake_time_constant, MIN_TIME_CONSTANT)), + steer_delay_(steer_delay), + steer_time_constant_(std::max(steer_time_constant, MIN_TIME_CONSTANT)), + steer_bias_(steer_bias), + convert_steer_cmd_(convert_steer_cmd), + vgr_coef_a_(vgr_coef_a), + vgr_coef_b_(vgr_coef_b), + vgr_coef_c_(vgr_coef_c) +{ + initializeInputQueue(dt); + convert_accel_cmd_ = convert_accel_cmd && accel_map_.readActuationMapFromCSV(accel_map_path); + convert_brake_cmd_ = convert_brake_cmd && brake_map_.readActuationMapFromCSV(brake_map_path); + actuation_sim_type_ = ActuationSimType::VGR; } double SimModelActuationCmd::getX() @@ -131,8 +219,9 @@ void SimModelActuationCmd::update(const double & dt) const auto prev_state = state_; updateRungeKutta(dt, delayed_input); - // take velocity limit explicitly - state_(IDX::VX) = std::max(-vx_lim_, std::min(state_(IDX::VX), vx_lim_)); + // take velocity/steer limit explicitly + state_(IDX::VX) = std::clamp(state_(IDX::VX), -vx_lim_, vx_lim_); + state_(IDX::STEER) = std::clamp(state_(IDX::STEER), -steer_lim_, steer_lim_); // consider gear // update position and velocity first, and then acceleration is calculated naturally @@ -201,8 +290,15 @@ Eigen::VectorXd SimModelActuationCmd::calcModel( std::invoke([&]() -> double { // if conversion is enabled, calculate steering rate from steer command if (convert_steer_cmd_) { - // convert steer command to steer rate - return steer_map_.getControlCommand(input(IDX_U::STEER_DES), steer) / steer_time_constant_; + if (actuation_sim_type_ == ActuationSimType::VGR) { + // convert steer wheel command to steer rate + const double steer_des = + calculateSteeringTireCommand(vel, steer, input(IDX_U::STEER_DES)); + return -(getSteer() - steer_des) / steer_time_constant_; + } else if (actuation_sim_type_ == ActuationSimType::STEER_MAP) { + // convert steer command to steer rate + return steer_map_.getControlCommand(input(IDX_U::STEER_DES), vel) / steer_time_constant_; + } } // otherwise, steer command is desired steering angle, so calculate steering rate from the // difference between the desired steering angle and the current steering angle. @@ -258,3 +354,66 @@ void SimModelActuationCmd::updateStateWithGear( state(IDX::ACCX) = (state(IDX::VX) - prev_state(IDX::VX)) / std::max(dt, 1.0e-5); } } + +std::optional +SimModelActuationCmd::getActuationStatus() const +{ + if (!convert_accel_cmd_ && !convert_brake_cmd_ && !convert_steer_cmd_) { + return std::nullopt; + } + + tier4_vehicle_msgs::msg::ActuationStatusStamped actuation_status; + + const double acc_state = std::clamp(state_(IDX::ACCX), -vx_rate_lim_, vx_rate_lim_); + const double vel_state = std::clamp(state_(IDX::VX), -vx_lim_, vx_lim_); + + if (convert_accel_cmd_) { + const auto throttle = accel_map_.getThrottle(acc_state, vel_state); + if (throttle.has_value()) { + actuation_status.status.accel_status = throttle.value(); + } + } + + if (convert_brake_cmd_) { + actuation_status.status.brake_status = brake_map_.getBrake(acc_state, vel_state); + } + + if (convert_steer_cmd_) { + if (actuation_sim_type_ == ActuationSimType::VGR) { + actuation_status.status.steer_status = + calculateSteeringWheelState(vel_state, state_(IDX::STEER)); + } + // NOTE: Conversion by steer map is not supported + // else if (actuation_sim_type_ == ActuationSimType::STEER_MAP) {} + } + + return actuation_status; +} + +/* ------ Functions for VGR sim model ----- */ +double SimModelActuationCmd::calculateSteeringTireCommand( + const double vel, const double steer, const double steer_wheel_des) const +{ + // steer_tire_state -> steer_wheel_state + const double steer_wheel = calculateSteeringWheelState(vel, steer); + + // steer_wheel_des -> steer_tire_des + const double adaptive_gear_ratio = calculateVariableGearRatio(vel, steer_wheel); + + return steer_wheel_des / adaptive_gear_ratio; +} + +double SimModelActuationCmd::calculateSteeringWheelState( + const double vel, const double steer_state) const +{ + return (vgr_coef_a_ + vgr_coef_b_ * vel * vel) * steer_state / + (1.0 + vgr_coef_c_ * std::abs(steer_state)); +} + +double SimModelActuationCmd::calculateVariableGearRatio( + const double vel, const double steer_wheel) const +{ + return std::max( + 1e-5, vgr_coef_a_ + vgr_coef_b_ * vel * vel - vgr_coef_c_ * std::fabs(steer_wheel)); +} +/* ---------------------------------------- */ diff --git a/simulator/simple_planning_simulator/test/test_simple_planning_simulator.cpp b/simulator/simple_planning_simulator/test/test_simple_planning_simulator.cpp index 73762150f8e1d..cb58628121de2 100644 --- a/simulator/simple_planning_simulator/test/test_simple_planning_simulator.cpp +++ b/simulator/simple_planning_simulator/test/test_simple_planning_simulator.cpp @@ -265,10 +265,31 @@ void declareVehicleInfoParams(rclcpp::NodeOptions & node_options) node_options.append_parameter_override("max_steer_angle", 0.7); } +using DefaultParamType = std::tuple; +using ActuationCmdParamType = std::tuple; +using ParamType = std::variant; +std::unordered_map vehicle_model_type_map = { + {"IDEAL_STEER_VEL", typeid(DefaultParamType)}, + {"IDEAL_STEER_ACC", typeid(DefaultParamType)}, + {"IDEAL_STEER_ACC_GEARED", typeid(DefaultParamType)}, + {"DELAY_STEER_VEL", typeid(DefaultParamType)}, + {"DELAY_STEER_ACC", typeid(DefaultParamType)}, + {"DELAY_STEER_ACC_GEARED", typeid(DefaultParamType)}, + {"DELAY_STEER_ACC_GEARED_WO_FALL_GUARD", typeid(DefaultParamType)}, + {"ACTUATION_CMD", typeid(ActuationCmdParamType)}}; + +std::pair get_common_params(const ParamType & params) +{ + return std::visit( + [](const auto & param) -> std::pair { + return std::make_pair(std::get<0>(param), std::get<1>(param)); + }, + params); +} + // Send a control command and run the simulation. // Then check if the vehicle is moving in the desired direction. -class TestSimplePlanningSimulator -: public ::testing::TestWithParam> +class TestSimplePlanningSimulator : public ::testing::TestWithParam { }; @@ -277,10 +298,23 @@ TEST_P(TestSimplePlanningSimulator, TestIdealSteerVel) rclcpp::init(0, nullptr); const auto params = GetParam(); - const auto command_type = std::get<0>(params); - const auto vehicle_model_type = std::get<1>(params); - + // common parameters + const auto common_params = get_common_params(params); + const auto command_type = common_params.first; + const auto vehicle_model_type = common_params.second; std::cout << "\n\n vehicle model = " << vehicle_model_type << std::endl << std::endl; + // optional parameters + std::optional conversion_type{}; // for ActuationCmdParamType + + // Determine the ParamType corresponding to vehicle_model_type and get the specific parameters. + const auto iter = vehicle_model_type_map.find(vehicle_model_type); + if (iter == vehicle_model_type_map.end()) { + throw std::invalid_argument("Unexpected vehicle_model_type."); + } + if (iter->second == typeid(ActuationCmdParamType)) { + conversion_type = std::get<2>(std::get(params)); + } + rclcpp::NodeOptions node_options; node_options.append_parameter_override("initialize_source", "INITIAL_POSE_TOPIC"); node_options.append_parameter_override("vehicle_model_type", vehicle_model_type); @@ -300,6 +334,12 @@ TEST_P(TestSimplePlanningSimulator, TestIdealSteerVel) node_options.append_parameter_override("accel_map_path", accel_map_path); node_options.append_parameter_override("brake_map_path", brake_map_path); node_options.append_parameter_override("steer_map_path", steer_map_path); + node_options.append_parameter_override("vgr_coef_a", 15.713); + node_options.append_parameter_override("vgr_coef_b", 0.053); + node_options.append_parameter_override("vgr_coef_c", 0.042); + if (conversion_type.has_value()) { + node_options.append_parameter_override("convert_steer_cmd_method", conversion_type.value()); + } declareVehicleInfoParams(node_options); const auto sim_node = std::make_shared(node_options); @@ -393,4 +433,5 @@ INSTANTIATE_TEST_SUITE_P( std::make_tuple(CommandType::Ackermann, "DELAY_STEER_ACC_GEARED"), std::make_tuple(CommandType::Ackermann, "DELAY_STEER_ACC_GEARED_WO_FALL_GUARD"), /* Actuation type */ - std::make_tuple(CommandType::Actuation, "ACTUATION_CMD"))); + std::make_tuple(CommandType::Actuation, "ACTUATION_CMD", "steer_map"), + std::make_tuple(CommandType::Actuation, "ACTUATION_CMD", "vgr"))); From ecc9586c5c00a767fb891caa8c7341e4995fdea5 Mon Sep 17 00:00:00 2001 From: Yukinari Hisaki <42021302+yhisaki@users.noreply.github.com> Date: Thu, 22 Aug 2024 14:23:05 +0900 Subject: [PATCH 007/169] feat(build-and-test-differential): skip cuda build when tag:require-cuda-build-and-test is not attached (#8562) * feat(build-and-test-differential): skip cuda build when tag:require-cuda-build-and-test is not attached Signed-off-by: Y.Hisaki * fix miss Signed-off-by: Y.Hisaki * for debugging Signed-off-by: Y.Hisaki * fix bug Signed-off-by: Y.Hisaki * remove debug code Signed-off-by: Y.Hisaki --------- Signed-off-by: Y.Hisaki --- .github/workflows/build-and-test-differential.yaml | 8 +++++++- 1 file changed, 7 insertions(+), 1 deletion(-) diff --git a/.github/workflows/build-and-test-differential.yaml b/.github/workflows/build-and-test-differential.yaml index 48d432861f1de..5e1f3e2c093a5 100644 --- a/.github/workflows/build-and-test-differential.yaml +++ b/.github/workflows/build-and-test-differential.yaml @@ -22,8 +22,13 @@ jobs: with: label: tag:run-build-and-test-differential + make-sure-require-cuda-label-is-present: + uses: autowarefoundation/autoware-github-actions/.github/workflows/make-sure-label-is-present.yaml@v1 + with: + label: tag:require-cuda-build-and-test + build-and-test-differential: - needs: make-sure-label-is-present + needs: [make-sure-label-is-present, make-sure-require-cuda-label-is-present] if: ${{ needs.make-sure-label-is-present.outputs.result == 'true' }} runs-on: ${{ matrix.runner }} container: ${{ matrix.container }}${{ matrix.container-suffix }} @@ -57,6 +62,7 @@ jobs: fetch-depth: ${{ env.PR_FETCH_DEPTH }} - name: Run build-and-test-differential action + if: ${{ !(matrix.container-suffix == '-cuda') || needs.make-sure-require-cuda-label-is-present.outputs.result == 'true' }} uses: ./.github/actions/build-and-test-differential with: rosdistro: ${{ matrix.rosdistro }} From 9819971f6631af950f5cb9fc70b27aadd13dfe29 Mon Sep 17 00:00:00 2001 From: "Yi-Hsiang Fang (Vivid)" <146902905+vividf@users.noreply.github.com> Date: Thu, 22 Aug 2024 15:11:19 +0900 Subject: [PATCH 008/169] refactor(autoware_pointcloud_preprocessor): rework concatenate_pointcloud and time_synchronizer_node parameters (#8509) * feat: rewort concatenate pointclouds and time synchronizer parameter Signed-off-by: vividf * chore: fix launch files Signed-off-by: vividf * chore: fix schema Signed-off-by: vividf * chore: fix schema Signed-off-by: vividf * chore: fix integer and number default value in schema Signed-off-by: vividf * chore: add boundary Signed-off-by: vividf --------- Signed-off-by: vividf --- .../CMakeLists.txt | 2 +- .../config/concatenate_pointclouds.param.yaml | 11 +++ .../config/time_synchronizer_node.param.yaml | 14 ++++ .../concatenate_pointclouds.hpp | 2 +- ...nodelet.hpp => time_synchronizer_node.hpp} | 8 +- .../launch/concatenate_pointcloud.launch.xml | 9 ++ .../launch/time_synchronizer_node.launch.xml | 9 ++ .../concatenate_pointclouds.schema.json | 58 +++++++++++++ .../schema/time_synchronizer_node.schema.json | 83 +++++++++++++++++++ .../concatenate_pointclouds.cpp | 12 +-- ...nodelet.cpp => time_synchronizer_node.cpp} | 19 ++--- 11 files changed, 205 insertions(+), 22 deletions(-) create mode 100644 sensing/autoware_pointcloud_preprocessor/config/concatenate_pointclouds.param.yaml create mode 100644 sensing/autoware_pointcloud_preprocessor/config/time_synchronizer_node.param.yaml rename sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/time_synchronizer/{time_synchronizer_nodelet.hpp => time_synchronizer_node.hpp} (98%) create mode 100644 sensing/autoware_pointcloud_preprocessor/launch/concatenate_pointcloud.launch.xml create mode 100644 sensing/autoware_pointcloud_preprocessor/launch/time_synchronizer_node.launch.xml create mode 100644 sensing/autoware_pointcloud_preprocessor/schema/concatenate_pointclouds.schema.json create mode 100644 sensing/autoware_pointcloud_preprocessor/schema/time_synchronizer_node.schema.json rename sensing/autoware_pointcloud_preprocessor/src/time_synchronizer/{time_synchronizer_nodelet.cpp => time_synchronizer_node.cpp} (97%) diff --git a/sensing/autoware_pointcloud_preprocessor/CMakeLists.txt b/sensing/autoware_pointcloud_preprocessor/CMakeLists.txt index f39e45d4ea72e..11d774bffbccf 100644 --- a/sensing/autoware_pointcloud_preprocessor/CMakeLists.txt +++ b/sensing/autoware_pointcloud_preprocessor/CMakeLists.txt @@ -64,7 +64,7 @@ ament_target_dependencies(faster_voxel_grid_downsample_filter ament_auto_add_library(pointcloud_preprocessor_filter SHARED src/concatenate_data/concatenate_and_time_sync_nodelet.cpp src/concatenate_data/concatenate_pointclouds.cpp - src/time_synchronizer/time_synchronizer_nodelet.cpp + src/time_synchronizer/time_synchronizer_node.cpp src/crop_box_filter/crop_box_filter_nodelet.cpp src/downsample_filter/voxel_grid_downsample_filter_node.cpp src/downsample_filter/random_downsample_filter_nodelet.cpp diff --git a/sensing/autoware_pointcloud_preprocessor/config/concatenate_pointclouds.param.yaml b/sensing/autoware_pointcloud_preprocessor/config/concatenate_pointclouds.param.yaml new file mode 100644 index 0000000000000..5d38186840057 --- /dev/null +++ b/sensing/autoware_pointcloud_preprocessor/config/concatenate_pointclouds.param.yaml @@ -0,0 +1,11 @@ +/**: + ros__parameters: + output_frame: base_link + input_topics: [ + "/sensing/lidar/left/pointcloud_before_sync", + "/sensing/lidar/right/pointcloud_before_sync", + "/sensing/lidar/top/pointcloud_before_sync" + ] + max_queue_size: 5 + timeout_sec: 0.033 + input_offset: [0.0 ,0.0 ,0.0] diff --git a/sensing/autoware_pointcloud_preprocessor/config/time_synchronizer_node.param.yaml b/sensing/autoware_pointcloud_preprocessor/config/time_synchronizer_node.param.yaml new file mode 100644 index 0000000000000..9add0be3f8809 --- /dev/null +++ b/sensing/autoware_pointcloud_preprocessor/config/time_synchronizer_node.param.yaml @@ -0,0 +1,14 @@ +/**: + ros__parameters: + input_twist_topic_type: twist + output_frame: base_link + keep_input_frame_in_synchronized_pointcloud: false + input_topics: [ + "/sensing/lidar/left/pointcloud_before_sync", + "/sensing/lidar/right/pointcloud_before_sync", + "/sensing/lidar/top/pointcloud_before_sync" + ] + synchronized_pointcloud_postfix: pointcloud + max_queue_size: 5 + timeout_sec: 0.033 + input_offset: [0.0, 0.0, 0.0] diff --git a/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/concatenate_data/concatenate_pointclouds.hpp b/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/concatenate_data/concatenate_pointclouds.hpp index b982553a8c920..9711025b713df 100644 --- a/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/concatenate_data/concatenate_pointclouds.hpp +++ b/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/concatenate_data/concatenate_pointclouds.hpp @@ -1,4 +1,4 @@ -// Copyright 2023 TIER IV, Inc. +// 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. diff --git a/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/time_synchronizer/time_synchronizer_nodelet.hpp b/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/time_synchronizer/time_synchronizer_node.hpp similarity index 98% rename from sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/time_synchronizer/time_synchronizer_nodelet.hpp rename to sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/time_synchronizer/time_synchronizer_node.hpp index 4f08ae3a3ce67..ad5cde3056ef0 100644 --- a/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/time_synchronizer/time_synchronizer_nodelet.hpp +++ b/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/time_synchronizer/time_synchronizer_node.hpp @@ -1,4 +1,4 @@ -// Copyright 2023 TIER IV, Inc. +// 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. @@ -49,8 +49,8 @@ * */ -#ifndef AUTOWARE__POINTCLOUD_PREPROCESSOR__TIME_SYNCHRONIZER__TIME_SYNCHRONIZER_NODELET_HPP_ -#define AUTOWARE__POINTCLOUD_PREPROCESSOR__TIME_SYNCHRONIZER__TIME_SYNCHRONIZER_NODELET_HPP_ +#ifndef AUTOWARE__POINTCLOUD_PREPROCESSOR__TIME_SYNCHRONIZER__TIME_SYNCHRONIZER_NODE_HPP_ +#define AUTOWARE__POINTCLOUD_PREPROCESSOR__TIME_SYNCHRONIZER__TIME_SYNCHRONIZER_NODE_HPP_ #include #include @@ -182,4 +182,4 @@ class PointCloudDataSynchronizerComponent : public rclcpp::Node } // namespace autoware::pointcloud_preprocessor -#endif // AUTOWARE__POINTCLOUD_PREPROCESSOR__TIME_SYNCHRONIZER__TIME_SYNCHRONIZER_NODELET_HPP_ +#endif // AUTOWARE__POINTCLOUD_PREPROCESSOR__TIME_SYNCHRONIZER__TIME_SYNCHRONIZER_NODE_HPP_ diff --git a/sensing/autoware_pointcloud_preprocessor/launch/concatenate_pointcloud.launch.xml b/sensing/autoware_pointcloud_preprocessor/launch/concatenate_pointcloud.launch.xml new file mode 100644 index 0000000000000..e4fbc68ea4dd8 --- /dev/null +++ b/sensing/autoware_pointcloud_preprocessor/launch/concatenate_pointcloud.launch.xml @@ -0,0 +1,9 @@ + + + + + + + + + diff --git a/sensing/autoware_pointcloud_preprocessor/launch/time_synchronizer_node.launch.xml b/sensing/autoware_pointcloud_preprocessor/launch/time_synchronizer_node.launch.xml new file mode 100644 index 0000000000000..aeb9233837e3b --- /dev/null +++ b/sensing/autoware_pointcloud_preprocessor/launch/time_synchronizer_node.launch.xml @@ -0,0 +1,9 @@ + + + + + + + + + diff --git a/sensing/autoware_pointcloud_preprocessor/schema/concatenate_pointclouds.schema.json b/sensing/autoware_pointcloud_preprocessor/schema/concatenate_pointclouds.schema.json new file mode 100644 index 0000000000000..916650c69a68b --- /dev/null +++ b/sensing/autoware_pointcloud_preprocessor/schema/concatenate_pointclouds.schema.json @@ -0,0 +1,58 @@ +{ + "$schema": "http://json-schema.org/draft-07/schema#", + "title": "Parameters for Concatenate Pointclouds Node", + "type": "object", + "definitions": { + "concatenate_pointclouds": { + "type": "object", + "properties": { + "timeout_sec": { + "type": "number", + "default": "0.1", + "minimum": 0, + "description": "Tolerance of time to publish the next pointcloud [s]. When this time limit is exceeded, the filter concatenates and publishes pointcloud, even if not all the point clouds are subscribed." + }, + "input_offset": { + "type": "array", + "items": { + "type": "number" + }, + "default": [], + "description": "This parameter can control waiting time for each input sensor pointcloud [s]. You must to set the same length of offsets with input pointclouds numbers." + }, + "output_frame": { + "type": "string", + "default": "base_link", + "description": "Output frame id." + }, + "input_topics": { + "type": "array", + "items": { + "type": "string" + }, + "default": [], + "description": "List of input topics." + }, + "max_queue_size": { + "type": "integer", + "default": "5", + "minimum": 1, + "description": "Max queue size of input/output topics." + } + }, + "required": ["timeout_sec", "input_offset", "output_frame", "input_topics", "max_queue_size"] + } + }, + "properties": { + "/**": { + "type": "object", + "properties": { + "ros__parameters": { + "$ref": "#/definitions/concatenate_pointclouds" + } + }, + "required": ["ros__parameters"] + } + }, + "required": ["/**"] +} diff --git a/sensing/autoware_pointcloud_preprocessor/schema/time_synchronizer_node.schema.json b/sensing/autoware_pointcloud_preprocessor/schema/time_synchronizer_node.schema.json new file mode 100644 index 0000000000000..8954fcaf6d814 --- /dev/null +++ b/sensing/autoware_pointcloud_preprocessor/schema/time_synchronizer_node.schema.json @@ -0,0 +1,83 @@ +{ + "$schema": "http://json-schema.org/draft-07/schema#", + "title": "Parameters for Time synchronizer Node", + "type": "object", + "definitions": { + "time_synchronizer": { + "type": "object", + "properties": { + "timeout_sec": { + "type": "number", + "default": "0.033", + "minimum": 0, + "description": "Tolerance of time to publish the next pointcloud [s]. When this time limit is exceeded, the filter concatenates and publishes pointcloud, even if not all the point clouds are subscribed." + }, + "input_offset": { + "type": "array", + "items": { + "type": "number" + }, + "default": [], + "description": "This parameter can control waiting time for each input sensor pointcloud [s]. You must to set the same length of offsets with input pointclouds numbers." + }, + "input_twist_topic_type": { + "type": "string", + "enum": ["twist", "odom"], + "default": "twist", + "description": "Topic type for twist. Currently supports 'twist' or 'odom'." + }, + "output_frame": { + "type": "string", + "default": "base_link", + "description": "Output frame." + }, + "keep_input_frame_in_synchronized_pointcloud": { + "type": "boolean", + "default": true, + "description": "Flag to indicate if input frame should be kept in synchronized point cloud." + }, + "input_topics": { + "type": "array", + "items": { + "type": "string" + }, + "default": [], + "description": "List of input topics." + }, + "synchronized_pointcloud_postfix": { + "type": "string", + "default": "pointcloud", + "description": "Postfix for the synchronized point cloud." + }, + "max_queue_size": { + "type": "integer", + "default": "5", + "minimum": 1, + "description": "Max queue size of input/output topics." + } + }, + "required": [ + "timeout_sec", + "input_offset", + "input_twist_topic_type", + "output_frame", + "keep_input_frame_in_synchronized_pointcloud", + "input_topics", + "synchronized_pointcloud_postfix", + "max_queue_size" + ] + } + }, + "properties": { + "/**": { + "type": "object", + "properties": { + "ros__parameters": { + "$ref": "#/definitions/time_synchronizer" + } + }, + "required": ["ros__parameters"] + } + }, + "required": ["/**"] +} diff --git a/sensing/autoware_pointcloud_preprocessor/src/concatenate_data/concatenate_pointclouds.cpp b/sensing/autoware_pointcloud_preprocessor/src/concatenate_data/concatenate_pointclouds.cpp index 2c5d7f24cb80c..e9078cbe717cb 100644 --- a/sensing/autoware_pointcloud_preprocessor/src/concatenate_data/concatenate_pointclouds.cpp +++ b/sensing/autoware_pointcloud_preprocessor/src/concatenate_data/concatenate_pointclouds.cpp @@ -1,4 +1,4 @@ -// Copyright 2023 TIER IV, Inc. +// 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. @@ -49,12 +49,12 @@ PointCloudConcatenationComponent::PointCloudConcatenationComponent( // Set parameters { - output_frame_ = static_cast(declare_parameter("output_frame", "")); + output_frame_ = declare_parameter("output_frame"); if (output_frame_.empty()) { RCLCPP_ERROR(get_logger(), "Need an 'output_frame' parameter to be set before continuing!"); return; } - declare_parameter("input_topics", std::vector()); + declare_parameter>("input_topics"); input_topics_ = get_parameter("input_topics").as_string_array(); if (input_topics_.empty()) { RCLCPP_ERROR(get_logger(), "Need a 'input_topics' parameter to be set before continuing!"); @@ -66,11 +66,11 @@ PointCloudConcatenationComponent::PointCloudConcatenationComponent( } // Optional parameters - maximum_queue_size_ = static_cast(declare_parameter("max_queue_size", 5)); + maximum_queue_size_ = declare_parameter("max_queue_size"); /** input pointclouds should be */ - timeout_sec_ = static_cast(declare_parameter("timeout_sec", 0.033)); + timeout_sec_ = declare_parameter("timeout_sec"); - input_offset_ = declare_parameter("input_offset", std::vector{}); + input_offset_ = declare_parameter>("input_offset"); if (!input_offset_.empty() && input_topics_.size() != input_offset_.size()) { RCLCPP_ERROR(get_logger(), "The number of topics does not match the number of offsets."); return; diff --git a/sensing/autoware_pointcloud_preprocessor/src/time_synchronizer/time_synchronizer_nodelet.cpp b/sensing/autoware_pointcloud_preprocessor/src/time_synchronizer/time_synchronizer_node.cpp similarity index 97% rename from sensing/autoware_pointcloud_preprocessor/src/time_synchronizer/time_synchronizer_nodelet.cpp rename to sensing/autoware_pointcloud_preprocessor/src/time_synchronizer/time_synchronizer_node.cpp index 121e983f152c8..3f6f37fd31720 100644 --- a/sensing/autoware_pointcloud_preprocessor/src/time_synchronizer/time_synchronizer_nodelet.cpp +++ b/sensing/autoware_pointcloud_preprocessor/src/time_synchronizer/time_synchronizer_node.cpp @@ -1,4 +1,4 @@ -// Copyright 2023 TIER IV, Inc. +// 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. @@ -21,7 +21,7 @@ * @author Yoshi Ri */ -#include "autoware/pointcloud_preprocessor/time_synchronizer/time_synchronizer_nodelet.hpp" +#include "autoware/pointcloud_preprocessor/time_synchronizer/time_synchronizer_node.hpp" #include @@ -57,14 +57,14 @@ PointCloudDataSynchronizerComponent::PointCloudDataSynchronizerComponent( // Set parameters std::string synchronized_pointcloud_postfix; { - output_frame_ = static_cast(declare_parameter("output_frame", "")); + output_frame_ = declare_parameter("output_frame"); keep_input_frame_in_synchronized_pointcloud_ = - static_cast(declare_parameter("keep_input_frame_in_synchronized_pointcloud", false)); + declare_parameter("keep_input_frame_in_synchronized_pointcloud"); if (output_frame_.empty() && !keep_input_frame_in_synchronized_pointcloud_) { RCLCPP_ERROR(get_logger(), "Need an 'output_frame' parameter to be set before continuing!"); return; } - declare_parameter("input_topics", std::vector()); + declare_parameter>("input_topics"); input_topics_ = get_parameter("input_topics").as_string_array(); if (input_topics_.empty()) { RCLCPP_ERROR(get_logger(), "Need a 'input_topics' parameter to be set before continuing!"); @@ -76,13 +76,12 @@ PointCloudDataSynchronizerComponent::PointCloudDataSynchronizerComponent( } // output topic name postfix synchronized_pointcloud_postfix = - declare_parameter("synchronized_pointcloud_postfix", "pointcloud"); + declare_parameter("synchronized_pointcloud_postfix"); // Optional parameters - maximum_queue_size_ = static_cast(declare_parameter("max_queue_size", 5)); - timeout_sec_ = static_cast(declare_parameter("timeout_sec", 0.1)); - - input_offset_ = declare_parameter("input_offset", std::vector{}); + maximum_queue_size_ = declare_parameter("max_queue_size"); + timeout_sec_ = declare_parameter("timeout_sec"); + input_offset_ = declare_parameter>("input_offset"); // If input_offset_ is not defined, set all offsets to 0 if (input_offset_.empty()) { From a9ecfc41b8ebbabf4dfdc20707bf2e383c816b22 Mon Sep 17 00:00:00 2001 From: "Yi-Hsiang Fang (Vivid)" <146902905+vividf@users.noreply.github.com> Date: Thu, 22 Aug 2024 15:12:17 +0900 Subject: [PATCH 009/169] refactor(autoware_pointcloud_preprocessor): rework vector map inside area filter parameters (#8493) * feat: rework vector map inside area filter parameter Signed-off-by: vividf * chore: fix launcher Signed-off-by: vividf * chore: fix launcher input and output Signed-off-by: vividf --------- Signed-off-by: vividf --- .../CMakeLists.txt | 2 +- ...tor_map_inside_area_filter_node.param.yaml | 5 +++ .../docs/vector-map-inside-area-filter.md | 6 +-- ...=> vector_map_inside_area_filter_node.hpp} | 8 ++-- ...tor_map_inside_area_filter_node.launch.xml | 14 ++++++ ...or_map_inside_area_filter_node.schema.json | 43 +++++++++++++++++++ ...=> vector_map_inside_area_filter_node.cpp} | 11 +++-- 7 files changed, 74 insertions(+), 15 deletions(-) create mode 100644 sensing/autoware_pointcloud_preprocessor/config/vector_map_inside_area_filter_node.param.yaml rename sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/vector_map_filter/{vector_map_inside_area_filter.hpp => vector_map_inside_area_filter_node.hpp} (91%) create mode 100644 sensing/autoware_pointcloud_preprocessor/launch/vector_map_inside_area_filter_node.launch.xml create mode 100644 sensing/autoware_pointcloud_preprocessor/schema/vector_map_inside_area_filter_node.schema.json rename sensing/autoware_pointcloud_preprocessor/src/vector_map_filter/{vector_map_inside_area_filter.cpp => vector_map_inside_area_filter_node.cpp} (94%) diff --git a/sensing/autoware_pointcloud_preprocessor/CMakeLists.txt b/sensing/autoware_pointcloud_preprocessor/CMakeLists.txt index 11d774bffbccf..60c082cba53da 100644 --- a/sensing/autoware_pointcloud_preprocessor/CMakeLists.txt +++ b/sensing/autoware_pointcloud_preprocessor/CMakeLists.txt @@ -83,7 +83,7 @@ ament_auto_add_library(pointcloud_preprocessor_filter SHARED src/distortion_corrector/distortion_corrector_node.cpp src/blockage_diag/blockage_diag_node.cpp src/polygon_remover/polygon_remover.cpp - src/vector_map_filter/vector_map_inside_area_filter.cpp + src/vector_map_filter/vector_map_inside_area_filter_node.cpp src/utility/geometry.cpp ) diff --git a/sensing/autoware_pointcloud_preprocessor/config/vector_map_inside_area_filter_node.param.yaml b/sensing/autoware_pointcloud_preprocessor/config/vector_map_inside_area_filter_node.param.yaml new file mode 100644 index 0000000000000..e7df8c9641a8b --- /dev/null +++ b/sensing/autoware_pointcloud_preprocessor/config/vector_map_inside_area_filter_node.param.yaml @@ -0,0 +1,5 @@ +/**: + ros__parameters: + polygon_type: "no_obstacle_segmentation_area" + use_z_filter: false + z_threshold: 0.0 diff --git a/sensing/autoware_pointcloud_preprocessor/docs/vector-map-inside-area-filter.md b/sensing/autoware_pointcloud_preprocessor/docs/vector-map-inside-area-filter.md index 1b6f86a7e4f27..64310ed56f0c3 100644 --- a/sensing/autoware_pointcloud_preprocessor/docs/vector-map-inside-area-filter.md +++ b/sensing/autoware_pointcloud_preprocessor/docs/vector-map-inside-area-filter.md @@ -33,10 +33,6 @@ This implementation inherits `autoware::pointcloud_preprocessor::Filter` class, ### Core Parameters -| Name | Type | Description | -| -------------- | ------ | --------------------------- | -| `polygon_type` | string | polygon type to be filtered | -| `use_z` | bool | use z value for filtering | -| `z_threshold` | float | z threshold for filtering | +{{ json_to_markdown("sensing/autoware_pointcloud_preprocessor/schema/vector_map_inside_area_filter_node.schema.json") }} ## Assumptions / Known limits diff --git a/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/vector_map_filter/vector_map_inside_area_filter.hpp b/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/vector_map_filter/vector_map_inside_area_filter_node.hpp similarity index 91% rename from sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/vector_map_filter/vector_map_inside_area_filter.hpp rename to sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/vector_map_filter/vector_map_inside_area_filter_node.hpp index fef3c8da79714..690be042dcd37 100644 --- a/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/vector_map_filter/vector_map_inside_area_filter.hpp +++ b/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/vector_map_filter/vector_map_inside_area_filter_node.hpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef AUTOWARE__POINTCLOUD_PREPROCESSOR__VECTOR_MAP_FILTER__VECTOR_MAP_INSIDE_AREA_FILTER_HPP_ -#define AUTOWARE__POINTCLOUD_PREPROCESSOR__VECTOR_MAP_FILTER__VECTOR_MAP_INSIDE_AREA_FILTER_HPP_ +#ifndef AUTOWARE__POINTCLOUD_PREPROCESSOR__VECTOR_MAP_FILTER__VECTOR_MAP_INSIDE_AREA_FILTER_NODE_HPP_ // NOLINT +#define AUTOWARE__POINTCLOUD_PREPROCESSOR__VECTOR_MAP_FILTER__VECTOR_MAP_INSIDE_AREA_FILTER_NODE_HPP_ // NOLINT #include "autoware/pointcloud_preprocessor/filter.hpp" #include "autoware/pointcloud_preprocessor/utility/geometry.hpp" @@ -58,4 +58,6 @@ class VectorMapInsideAreaFilterComponent : public autoware::pointcloud_preproces } // namespace autoware::pointcloud_preprocessor -#endif // AUTOWARE__POINTCLOUD_PREPROCESSOR__VECTOR_MAP_FILTER__VECTOR_MAP_INSIDE_AREA_FILTER_HPP_ +// clang-format off +#endif // AUTOWARE__POINTCLOUD_PREPROCESSOR__VECTOR_MAP_FILTER__VECTOR_MAP_INSIDE_AREA_FILTER_NODE_HPP_ // NOLINT +// clang-format on diff --git a/sensing/autoware_pointcloud_preprocessor/launch/vector_map_inside_area_filter_node.launch.xml b/sensing/autoware_pointcloud_preprocessor/launch/vector_map_inside_area_filter_node.launch.xml new file mode 100644 index 0000000000000..21eded98595ba --- /dev/null +++ b/sensing/autoware_pointcloud_preprocessor/launch/vector_map_inside_area_filter_node.launch.xml @@ -0,0 +1,14 @@ + + + + + + + + + + + + + + diff --git a/sensing/autoware_pointcloud_preprocessor/schema/vector_map_inside_area_filter_node.schema.json b/sensing/autoware_pointcloud_preprocessor/schema/vector_map_inside_area_filter_node.schema.json new file mode 100644 index 0000000000000..a7e971583f72a --- /dev/null +++ b/sensing/autoware_pointcloud_preprocessor/schema/vector_map_inside_area_filter_node.schema.json @@ -0,0 +1,43 @@ +{ + "$schema": "http://json-schema.org/draft-07/schema#", + "title": "Parameters for Vector Map Inside Area Filter Node", + "type": "object", + "definitions": { + "vector_map_inside_area_filter": { + "type": "object", + "properties": { + "polygon_type": { + "type": "string", + "description": "polygon type to be filtered", + "default": "no_obstacle_segmentation_area" + }, + "use_z_filter": { + "type": "boolean", + "description": "use z value for filtering", + "default": "false" + }, + "z_threshold": { + "type": "number", + "description": "z threshold for filtering", + "default": "0.0" + } + }, + "required": ["polygon_type", "use_z_filter", "z_threshold"], + "additionalProperties": false + } + }, + "properties": { + "/**": { + "type": "object", + "properties": { + "ros__parameters": { + "$ref": "#/definitions/vector_map_inside_area_filter" + } + }, + "required": ["ros__parameters"], + "additionalProperties": false + } + }, + "required": ["/**"], + "additionalProperties": false +} diff --git a/sensing/autoware_pointcloud_preprocessor/src/vector_map_filter/vector_map_inside_area_filter.cpp b/sensing/autoware_pointcloud_preprocessor/src/vector_map_filter/vector_map_inside_area_filter_node.cpp similarity index 94% rename from sensing/autoware_pointcloud_preprocessor/src/vector_map_filter/vector_map_inside_area_filter.cpp rename to sensing/autoware_pointcloud_preprocessor/src/vector_map_filter/vector_map_inside_area_filter_node.cpp index 81baa173e76ce..6fdf7791601cf 100644 --- a/sensing/autoware_pointcloud_preprocessor/src/vector_map_filter/vector_map_inside_area_filter.cpp +++ b/sensing/autoware_pointcloud_preprocessor/src/vector_map_filter/vector_map_inside_area_filter_node.cpp @@ -1,4 +1,4 @@ -// Copyright 2022 Tier IV, Inc. +// 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. @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "autoware/pointcloud_preprocessor/vector_map_filter/vector_map_inside_area_filter.hpp" +#include "autoware/pointcloud_preprocessor/vector_map_filter/vector_map_inside_area_filter_node.hpp" namespace { @@ -67,8 +67,7 @@ VectorMapInsideAreaFilterComponent::VectorMapInsideAreaFilterComponent( const rclcpp::NodeOptions & node_options) : Filter("VectorMapInsideAreaFilter", node_options) { - polygon_type_ = - static_cast(declare_parameter("polygon_type", "no_obstacle_segmentation_area")); + polygon_type_ = declare_parameter("polygon_type"); using std::placeholders::_1; // Set subscriber @@ -77,8 +76,8 @@ VectorMapInsideAreaFilterComponent::VectorMapInsideAreaFilterComponent( std::bind(&VectorMapInsideAreaFilterComponent::mapCallback, this, _1)); // Set parameters - use_z_filter_ = declare_parameter("use_z_filter", false); - z_threshold_ = declare_parameter("z_threshold", 0.0f); // defined in the base_link frame + use_z_filter_ = declare_parameter("use_z_filter"); + z_threshold_ = declare_parameter("z_threshold"); // defined in the base_link frame // Set tf { From bd39afe1fc10face17785a4209e6967997777637 Mon Sep 17 00:00:00 2001 From: kobayu858 <129580202+kobayu858@users.noreply.github.com> Date: Thu, 22 Aug 2024 15:28:17 +0900 Subject: [PATCH 010/169] fix(autoware_pure_pursuit): fix unusedFunction (#8552) fix:unusedFunction Signed-off-by: kobayu858 --- .../pure_pursuit/util/planning_utils.hpp | 5 ----- .../planning_utils.cpp | 19 ------------------- 2 files changed, 24 deletions(-) diff --git a/control/autoware_pure_pursuit/include/autoware/pure_pursuit/util/planning_utils.hpp b/control/autoware_pure_pursuit/include/autoware/pure_pursuit/util/planning_utils.hpp index 229cc6654c868..15a67e0e6e7fd 100644 --- a/control/autoware_pure_pursuit/include/autoware/pure_pursuit/util/planning_utils.hpp +++ b/control/autoware_pure_pursuit/include/autoware/pure_pursuit/util/planning_utils.hpp @@ -55,7 +55,6 @@ double calcArcLengthFromWayPoint( const size_t dst_idx); double calcCurvature( const geometry_msgs::msg::Point & target, const geometry_msgs::msg::Pose & curr_pose); -double calcDistance2D(const geometry_msgs::msg::Point & p, const geometry_msgs::msg::Point & q); double calcDistSquared2D(const geometry_msgs::msg::Point & p, const geometry_msgs::msg::Point & q); double calcStopDistanceWithConstantJerk(const double & v_init, const double & j); double calcLateralError2D( @@ -74,10 +73,6 @@ std::pair findClosestIdxWithDistAngThr( const double th_yaw = M_PI_2); int8_t getLaneDirection(const std::vector & poses, double th_dist = 0.5); -bool isDirectionForward( - const geometry_msgs::msg::Pose & prev, const geometry_msgs::msg::Pose & next); -bool isDirectionForward( - const geometry_msgs::msg::Pose & prev, const geometry_msgs::msg::Point & next); // cspell: ignore pointinpoly // refer from apache's pointinpoly in http://www.visibone.com/inpoly/ diff --git a/control/autoware_pure_pursuit/src/autoware_pure_pursuit_core/planning_utils.cpp b/control/autoware_pure_pursuit/src/autoware_pure_pursuit_core/planning_utils.cpp index 71c48fb35e998..c228f824970a8 100644 --- a/control/autoware_pure_pursuit/src/autoware_pure_pursuit_core/planning_utils.cpp +++ b/control/autoware_pure_pursuit/src/autoware_pure_pursuit_core/planning_utils.cpp @@ -50,13 +50,6 @@ double calcCurvature( } } -double calcDistance2D(const geometry_msgs::msg::Point & p, const geometry_msgs::msg::Point & q) -{ - const double dx = p.x - q.x; - const double dy = p.y - q.y; - return sqrt(dx * dx + dy * dy); -} - double calcDistSquared2D(const geometry_msgs::msg::Point & p, const geometry_msgs::msg::Point & q) { const double dx = p.x - q.x; @@ -171,18 +164,6 @@ int8_t getLaneDirection(const std::vector & poses, dou return 2; } -bool isDirectionForward( - const geometry_msgs::msg::Pose & prev, const geometry_msgs::msg::Pose & next) -{ - return (transformToRelativeCoordinate2D(next.position, prev).x > 0.0) ? true : false; -} - -bool isDirectionForward( - const geometry_msgs::msg::Pose & prev, const geometry_msgs::msg::Point & next) -{ - return transformToRelativeCoordinate2D(next, prev).x > 0.0; -} - template <> bool isInPolygon( const std::vector & polygon, const geometry_msgs::msg::Point & point) From 60cc9c7e392d2bca87a0d143732d11fd14e94dc9 Mon Sep 17 00:00:00 2001 From: kobayu858 <129580202+kobayu858@users.noreply.github.com> Date: Thu, 22 Aug 2024 15:28:41 +0900 Subject: [PATCH 011/169] fix(autoware_vehicle_cmd_gate): fix unusedFunction (#8556) fix:unusedFunction Signed-off-by: kobayu858 --- .../src/vehicle_cmd_filter.cpp | 42 ------------------- .../src/vehicle_cmd_filter.hpp | 10 ----- 2 files changed, 52 deletions(-) diff --git a/control/autoware_vehicle_cmd_gate/src/vehicle_cmd_filter.cpp b/control/autoware_vehicle_cmd_gate/src/vehicle_cmd_filter.cpp index 60845788adcf5..a18571144792a 100644 --- a/control/autoware_vehicle_cmd_gate/src/vehicle_cmd_filter.cpp +++ b/control/autoware_vehicle_cmd_gate/src/vehicle_cmd_filter.cpp @@ -40,48 +40,6 @@ bool VehicleCmdFilter::setParameterWithValidation(const VehicleCmdFilterParam & param_ = p; return true; } -void VehicleCmdFilter::setSteerLim(const LimitArray & v) -{ - auto tmp = param_; - tmp.steer_lim = v; - setParameterWithValidation(tmp); -} -void VehicleCmdFilter::setSteerRateLim(const LimitArray & v) -{ - auto tmp = param_; - tmp.steer_rate_lim = v; - setParameterWithValidation(tmp); -} -void VehicleCmdFilter::setLonAccLim(const LimitArray & v) -{ - auto tmp = param_; - tmp.lon_acc_lim = v; - setParameterWithValidation(tmp); -} -void VehicleCmdFilter::setLonJerkLim(const LimitArray & v) -{ - auto tmp = param_; - tmp.lon_jerk_lim = v; - setParameterWithValidation(tmp); -} -void VehicleCmdFilter::setLatAccLim(const LimitArray & v) -{ - auto tmp = param_; - tmp.lat_acc_lim = v; - setParameterWithValidation(tmp); -} -void VehicleCmdFilter::setLatJerkLim(const LimitArray & v) -{ - auto tmp = param_; - tmp.lat_jerk_lim = v; - setParameterWithValidation(tmp); -} -void VehicleCmdFilter::setActualSteerDiffLim(const LimitArray & v) -{ - auto tmp = param_; - tmp.actual_steer_diff_lim = v; - setParameterWithValidation(tmp); -} void VehicleCmdFilter::setParam(const VehicleCmdFilterParam & p) { diff --git a/control/autoware_vehicle_cmd_gate/src/vehicle_cmd_filter.hpp b/control/autoware_vehicle_cmd_gate/src/vehicle_cmd_filter.hpp index a4877692b6dac..086d45cf1fc46 100644 --- a/control/autoware_vehicle_cmd_gate/src/vehicle_cmd_filter.hpp +++ b/control/autoware_vehicle_cmd_gate/src/vehicle_cmd_filter.hpp @@ -48,14 +48,6 @@ class VehicleCmdFilter ~VehicleCmdFilter() = default; void setWheelBase(double v) { param_.wheel_base = v; } - void setVelLim(double v) { param_.vel_lim = v; } - void setSteerLim(const LimitArray & v); - void setSteerRateLim(const LimitArray & v); - void setLonAccLim(const LimitArray & v); - void setLonJerkLim(const LimitArray & v); - void setLatAccLim(const LimitArray & v); - void setLatJerkLim(const LimitArray & v); - void setActualSteerDiffLim(const LimitArray & v); void setCurrentSpeed(double v) { current_speed_ = v; } void setParam(const VehicleCmdFilterParam & p); VehicleCmdFilterParam getParam() const; @@ -75,8 +67,6 @@ class VehicleCmdFilter static IsFilterActivated checkIsActivated( const Control & c1, const Control & c2, const double tol = 1.0e-3); - Control getPrevCmd() const { return prev_cmd_; } - private: VehicleCmdFilterParam param_; Control prev_cmd_; From 35615358eb936aab3520bdb8a233b5b52c8529b8 Mon Sep 17 00:00:00 2001 From: Masaki Baba Date: Thu, 22 Aug 2024 16:13:54 +0900 Subject: [PATCH 012/169] refactor(map_tf_generator)!: prefix package and namespace with autoware (#8422) * add autoware_ prefix Signed-off-by: a-maumau * add autoware_ prefix Signed-off-by: a-maumau --------- Signed-off-by: a-maumau Co-authored-by: SakodaShintaro --- .github/CODEOWNERS | 2 +- launch/tier4_map_launch/package.xml | 2 +- .../CMakeLists.txt | 12 ++++++------ .../README.md | 8 ++++---- .../config/map_tf_generator.param.yaml | 0 .../launch/map_tf_generator.launch.xml | 11 +++++++++++ .../package.xml | 2 +- .../schema/map_tf_generator.schema.json | 0 .../src/pcd_map_tf_generator_node.cpp | 7 +++++-- .../src}/uniform_random.hpp | 9 ++++++--- .../src/vector_map_tf_generator_node.cpp | 5 ++++- .../test/test_uniform_random.cpp | 6 +++--- .../launch/map_tf_generator.launch.xml | 11 ----------- 13 files changed, 42 insertions(+), 33 deletions(-) rename map/{map_tf_generator => autoware_map_tf_generator}/CMakeLists.txt (80%) rename map/{map_tf_generator => autoware_map_tf_generator}/README.md (89%) rename map/{map_tf_generator => autoware_map_tf_generator}/config/map_tf_generator.param.yaml (100%) create mode 100644 map/autoware_map_tf_generator/launch/map_tf_generator.launch.xml rename map/{map_tf_generator => autoware_map_tf_generator}/package.xml (97%) rename map/{map_tf_generator => autoware_map_tf_generator}/schema/map_tf_generator.schema.json (100%) rename map/{map_tf_generator => autoware_map_tf_generator}/src/pcd_map_tf_generator_node.cpp (95%) rename map/{map_tf_generator/include/map_tf_generator => autoware_map_tf_generator/src}/uniform_random.hpp (84%) rename map/{map_tf_generator => autoware_map_tf_generator}/src/vector_map_tf_generator_node.cpp (95%) rename map/{map_tf_generator => autoware_map_tf_generator}/test/test_uniform_random.cpp (85%) delete mode 100644 map/map_tf_generator/launch/map_tf_generator.launch.xml diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS index 08fa500a8d546..d97b3fd904d7c 100644 --- a/.github/CODEOWNERS +++ b/.github/CODEOWNERS @@ -102,7 +102,7 @@ localization/yabloc/yabloc_pose_initializer/** anh.nguyen.2@tier4.jp kento.yabuu map/map_height_fitter/** anh.nguyen.2@tier4.jp isamu.takagi@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp map/map_loader/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp map/map_projection_loader/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp -map/map_tf_generator/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp +map/autoware_map_tf_generator/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp map/util/lanelet2_map_preprocessor/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp perception/autoware_bytetrack/** manato.hirabayashi@tier4.jp yoshi.ri@tier4.jp perception/autoware_cluster_merger/** dai.nguyen@tier4.jp shunsuke.miura@tier4.jp yukihiro.saito@tier4.jp diff --git a/launch/tier4_map_launch/package.xml b/launch/tier4_map_launch/package.xml index bca5a853d69f7..b364d8eaffebc 100644 --- a/launch/tier4_map_launch/package.xml +++ b/launch/tier4_map_launch/package.xml @@ -18,9 +18,9 @@ ament_cmake_auto autoware_cmake + autoware_map_tf_generator map_loader map_projection_loader - map_tf_generator ament_lint_auto autoware_lint_common diff --git a/map/map_tf_generator/CMakeLists.txt b/map/autoware_map_tf_generator/CMakeLists.txt similarity index 80% rename from map/map_tf_generator/CMakeLists.txt rename to map/autoware_map_tf_generator/CMakeLists.txt index e20289766cdda..eb67ea7330312 100644 --- a/map/map_tf_generator/CMakeLists.txt +++ b/map/autoware_map_tf_generator/CMakeLists.txt @@ -1,5 +1,5 @@ cmake_minimum_required(VERSION 3.14) -project(map_tf_generator) +project(autoware_map_tf_generator) find_package(autoware_cmake REQUIRED) autoware_package() @@ -18,8 +18,8 @@ ament_auto_add_library(pcd_map_tf_generator_node SHARED target_link_libraries(pcd_map_tf_generator_node ${PCL_LIBRARIES}) rclcpp_components_register_node(pcd_map_tf_generator_node - PLUGIN "PcdMapTFGeneratorNode" - EXECUTABLE pcd_map_tf_generator + PLUGIN "autoware::map_tf_generator::PcdMapTFGeneratorNode" + EXECUTABLE autoware_pcd_map_tf_generator ) ament_auto_add_library(vector_map_tf_generator_node SHARED @@ -27,8 +27,8 @@ ament_auto_add_library(vector_map_tf_generator_node SHARED ) rclcpp_components_register_node(vector_map_tf_generator_node - PLUGIN "VectorMapTFGeneratorNode" - EXECUTABLE vector_map_tf_generator + PLUGIN "autoware::map_tf_generator::VectorMapTFGeneratorNode" + EXECUTABLE autoware_vector_map_tf_generator ) if(BUILD_TESTING) @@ -37,7 +37,7 @@ if(BUILD_TESTING) string(REGEX REPLACE ".cpp" "" test_name ${filename}) ament_add_gmock(${test_name} ${filepath}) - target_include_directories(${test_name} PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}/include) + target_include_directories(${test_name} PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}/src) ament_target_dependencies(${test_name} ${${PROJECT_NAME}_FOUND_BUILD_DEPENDS}) endfunction() diff --git a/map/map_tf_generator/README.md b/map/autoware_map_tf_generator/README.md similarity index 89% rename from map/map_tf_generator/README.md rename to map/autoware_map_tf_generator/README.md index eef36c34750ca..ed63e35e37b85 100644 --- a/map/map_tf_generator/README.md +++ b/map/autoware_map_tf_generator/README.md @@ -1,4 +1,4 @@ -# map_tf_generator +# autoware_map_tf_generator ## Purpose @@ -17,13 +17,13 @@ The following are the supported methods to calculate the position of the `viewer ### Input -#### pcd_map_tf_generator +#### autoware_pcd_map_tf_generator | Name | Type | Description | | --------------------- | ------------------------------- | ----------------------------------------------------------------- | | `/map/pointcloud_map` | `sensor_msgs::msg::PointCloud2` | Subscribe pointcloud map to calculate position of `viewer` frames | -#### vector_map_tf_generator +#### autoware_vector_map_tf_generator | Name | Type | Description | | ----------------- | --------------------------------------- | ------------------------------------------------------------- | @@ -43,7 +43,7 @@ None ### Core Parameters -{{ json_to_markdown("map/map_tf_generator/schema/map_tf_generator.schema.json") }} +{{ json_to_markdown("map/autoware_map_tf_generator/schema/map_tf_generator.schema.json") }} ## Assumptions / Known limits diff --git a/map/map_tf_generator/config/map_tf_generator.param.yaml b/map/autoware_map_tf_generator/config/map_tf_generator.param.yaml similarity index 100% rename from map/map_tf_generator/config/map_tf_generator.param.yaml rename to map/autoware_map_tf_generator/config/map_tf_generator.param.yaml diff --git a/map/autoware_map_tf_generator/launch/map_tf_generator.launch.xml b/map/autoware_map_tf_generator/launch/map_tf_generator.launch.xml new file mode 100644 index 0000000000000..00a90f10a17b0 --- /dev/null +++ b/map/autoware_map_tf_generator/launch/map_tf_generator.launch.xml @@ -0,0 +1,11 @@ + + + + + + + + + + + diff --git a/map/map_tf_generator/package.xml b/map/autoware_map_tf_generator/package.xml similarity index 97% rename from map/map_tf_generator/package.xml rename to map/autoware_map_tf_generator/package.xml index 41c3364358f74..eff7ec88adfa0 100644 --- a/map/map_tf_generator/package.xml +++ b/map/autoware_map_tf_generator/package.xml @@ -1,7 +1,7 @@ - map_tf_generator + autoware_map_tf_generator 0.1.0 map_tf_generator package as a ROS 2 node Yamato Ando diff --git a/map/map_tf_generator/schema/map_tf_generator.schema.json b/map/autoware_map_tf_generator/schema/map_tf_generator.schema.json similarity index 100% rename from map/map_tf_generator/schema/map_tf_generator.schema.json rename to map/autoware_map_tf_generator/schema/map_tf_generator.schema.json diff --git a/map/map_tf_generator/src/pcd_map_tf_generator_node.cpp b/map/autoware_map_tf_generator/src/pcd_map_tf_generator_node.cpp similarity index 95% rename from map/map_tf_generator/src/pcd_map_tf_generator_node.cpp rename to map/autoware_map_tf_generator/src/pcd_map_tf_generator_node.cpp index d4b8ccb797224..e6edbe99dd210 100644 --- a/map/map_tf_generator/src/pcd_map_tf_generator_node.cpp +++ b/map/autoware_map_tf_generator/src/pcd_map_tf_generator_node.cpp @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "map_tf_generator/uniform_random.hpp" +#include "uniform_random.hpp" #include @@ -28,6 +28,8 @@ #include #include +namespace autoware::map_tf_generator +{ constexpr size_t n_samples = 20; class PcdMapTFGeneratorNode : public rclcpp::Node @@ -95,6 +97,7 @@ class PcdMapTFGeneratorNode : public rclcpp::Node << ", y:" << coordinate[1] << ", z:" << coordinate[2]); } }; +} // namespace autoware::map_tf_generator #include -RCLCPP_COMPONENTS_REGISTER_NODE(PcdMapTFGeneratorNode) +RCLCPP_COMPONENTS_REGISTER_NODE(autoware::map_tf_generator::PcdMapTFGeneratorNode) diff --git a/map/map_tf_generator/include/map_tf_generator/uniform_random.hpp b/map/autoware_map_tf_generator/src/uniform_random.hpp similarity index 84% rename from map/map_tf_generator/include/map_tf_generator/uniform_random.hpp rename to map/autoware_map_tf_generator/src/uniform_random.hpp index cda3bc5c49a0c..73de77458d09d 100644 --- a/map/map_tf_generator/include/map_tf_generator/uniform_random.hpp +++ b/map/autoware_map_tf_generator/src/uniform_random.hpp @@ -12,12 +12,14 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef MAP_TF_GENERATOR__UNIFORM_RANDOM_HPP_ -#define MAP_TF_GENERATOR__UNIFORM_RANDOM_HPP_ +#ifndef UNIFORM_RANDOM_HPP_ +#define UNIFORM_RANDOM_HPP_ #include #include +namespace autoware::map_tf_generator +{ std::vector inline uniform_random(const size_t max_exclusive, const size_t n) { std::default_random_engine generator; @@ -29,5 +31,6 @@ std::vector inline uniform_random(const size_t max_exclusive, const size } return v; } +} // namespace autoware::map_tf_generator -#endif // MAP_TF_GENERATOR__UNIFORM_RANDOM_HPP_ +#endif // UNIFORM_RANDOM_HPP_ diff --git a/map/map_tf_generator/src/vector_map_tf_generator_node.cpp b/map/autoware_map_tf_generator/src/vector_map_tf_generator_node.cpp similarity index 95% rename from map/map_tf_generator/src/vector_map_tf_generator_node.cpp rename to map/autoware_map_tf_generator/src/vector_map_tf_generator_node.cpp index 093b42037ed72..e4c397bd04cf1 100644 --- a/map/map_tf_generator/src/vector_map_tf_generator_node.cpp +++ b/map/autoware_map_tf_generator/src/vector_map_tf_generator_node.cpp @@ -25,6 +25,8 @@ #include #include +namespace autoware::map_tf_generator +{ class VectorMapTFGeneratorNode : public rclcpp::Node { public: @@ -93,6 +95,7 @@ class VectorMapTFGeneratorNode : public rclcpp::Node << ", y:" << coordinate_y << ", z:" << coordinate_z); } }; +} // namespace autoware::map_tf_generator #include -RCLCPP_COMPONENTS_REGISTER_NODE(VectorMapTFGeneratorNode) +RCLCPP_COMPONENTS_REGISTER_NODE(autoware::map_tf_generator::VectorMapTFGeneratorNode) diff --git a/map/map_tf_generator/test/test_uniform_random.cpp b/map/autoware_map_tf_generator/test/test_uniform_random.cpp similarity index 85% rename from map/map_tf_generator/test/test_uniform_random.cpp rename to map/autoware_map_tf_generator/test/test_uniform_random.cpp index 19e558ebb2add..481f5c6d86859 100644 --- a/map/map_tf_generator/test/test_uniform_random.cpp +++ b/map/autoware_map_tf_generator/test/test_uniform_random.cpp @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "map_tf_generator/uniform_random.hpp" +#include "uniform_random.hpp" #include @@ -24,7 +24,7 @@ using testing::Lt; TEST(uniform_random, uniform_random) { { - const std::vector random = uniform_random(4, 0); + const std::vector random = autoware::map_tf_generator::uniform_random(4, 0); ASSERT_EQ(random.size(), static_cast(0)); } @@ -35,7 +35,7 @@ TEST(uniform_random, uniform_random) const size_t max_exclusive = 4; for (int i = 0; i < 50; i++) { - const std::vector random = uniform_random(4, 10); + const std::vector random = autoware::map_tf_generator::uniform_random(4, 10); ASSERT_EQ(random.size(), 10U); ASSERT_THAT(random, Each(AllOf(Ge(min_inclusive), Lt(max_exclusive)))); // in range [0, 4) } diff --git a/map/map_tf_generator/launch/map_tf_generator.launch.xml b/map/map_tf_generator/launch/map_tf_generator.launch.xml deleted file mode 100644 index 197085f31d9c4..0000000000000 --- a/map/map_tf_generator/launch/map_tf_generator.launch.xml +++ /dev/null @@ -1,11 +0,0 @@ - - - - - - - - - - - From f787f552f0ff0bca477b37ed3e00894119ba23c5 Mon Sep 17 00:00:00 2001 From: Autumn60 <37181352+Autumn60@users.noreply.github.com> Date: Thu, 22 Aug 2024 16:17:23 +0900 Subject: [PATCH 013/169] chore(vehicle_cmd_gate): delete deprecated parameters (#8537) delete deprecated params in vehicle_cmd_gate.param.yaml Signed-off-by: Autumn60 --- .../config/vehicle_cmd_gate.param.yaml | 2 -- 1 file changed, 2 deletions(-) diff --git a/control/autoware_vehicle_cmd_gate/config/vehicle_cmd_gate.param.yaml b/control/autoware_vehicle_cmd_gate/config/vehicle_cmd_gate.param.yaml index 74affea696893..526c4bb4b3d52 100644 --- a/control/autoware_vehicle_cmd_gate/config/vehicle_cmd_gate.param.yaml +++ b/control/autoware_vehicle_cmd_gate/config/vehicle_cmd_gate.param.yaml @@ -4,7 +4,6 @@ system_emergency_heartbeat_timeout: 0.5 use_emergency_handling: false check_external_emergency_heartbeat: $(var check_external_emergency_heartbeat) - use_start_request: false enable_cmd_limit_filter: true filter_activated_count_threshold: 5 filter_activated_velocity_threshold: 1.0 @@ -12,7 +11,6 @@ stop_hold_acceleration: -1.5 emergency_acceleration: -2.4 moderate_stop_service_acceleration: -1.5 - stopped_state_entry_duration_time: 0.1 stop_check_duration: 1.0 nominal: vel_lim: 25.0 From b247c43626871f44b21a77a7b6ef53259a5a9794 Mon Sep 17 00:00:00 2001 From: "Takagi, Isamu" <43976882+isamu-takagi@users.noreply.github.com> Date: Thu, 22 Aug 2024 16:21:17 +0900 Subject: [PATCH 014/169] docs: fix repository readme (#8570) Signed-off-by: Takagi, Isamu --- .github/{README.md => overall-ci-infrastructure.md} | 0 1 file changed, 0 insertions(+), 0 deletions(-) rename .github/{README.md => overall-ci-infrastructure.md} (100%) diff --git a/.github/README.md b/.github/overall-ci-infrastructure.md similarity index 100% rename from .github/README.md rename to .github/overall-ci-infrastructure.md From 257b73c7d0822118e9516fdd923aa059ccde2ddd Mon Sep 17 00:00:00 2001 From: Yamato Ando Date: Thu, 22 Aug 2024 16:26:31 +0900 Subject: [PATCH 015/169] feat(ekf_lolcalizer): output variance for z, roll and pitch (#8554) publish covariance of z,roll.pitch Signed-off-by: Yamato Ando --- .../ekf_localizer/include/ekf_localizer/ekf_localizer.hpp | 1 + localization/ekf_localizer/src/ekf_localizer.cpp | 6 ++++++ 2 files changed, 7 insertions(+) diff --git a/localization/ekf_localizer/include/ekf_localizer/ekf_localizer.hpp b/localization/ekf_localizer/include/ekf_localizer/ekf_localizer.hpp index 0b3f64caabe41..7e091a0e88a19 100644 --- a/localization/ekf_localizer/include/ekf_localizer/ekf_localizer.hpp +++ b/localization/ekf_localizer/include/ekf_localizer/ekf_localizer.hpp @@ -87,6 +87,7 @@ class Simple1DFilter }; void set_proc_dev(const double proc_dev) { proc_dev_x_c_ = proc_dev; } [[nodiscard]] double get_x() const { return x_; } + [[nodiscard]] double get_dev() const { return dev_; } private: bool initialized_; diff --git a/localization/ekf_localizer/src/ekf_localizer.cpp b/localization/ekf_localizer/src/ekf_localizer.cpp index 37880f4e4139a..090395398026e 100644 --- a/localization/ekf_localizer/src/ekf_localizer.cpp +++ b/localization/ekf_localizer/src/ekf_localizer.cpp @@ -365,6 +365,12 @@ void EKFLocalizer::publish_estimate_result( pose_cov.header.frame_id = current_ekf_pose.header.frame_id; pose_cov.pose.pose = current_ekf_pose.pose; pose_cov.pose.covariance = ekf_module_->get_current_pose_covariance(); + + using COV_IDX = autoware::universe_utils::xyzrpy_covariance_index::XYZRPY_COV_IDX; + pose_cov.pose.covariance[COV_IDX::Z_Z] = z_filter_.get_dev(); + pose_cov.pose.covariance[COV_IDX::ROLL_ROLL] = roll_filter_.get_dev(); + pose_cov.pose.covariance[COV_IDX::PITCH_PITCH] = pitch_filter_.get_dev(); + pub_pose_cov_->publish(pose_cov); geometry_msgs::msg::PoseWithCovarianceStamped biased_pose_cov = pose_cov; From c5e8062b7a4ddb71ed86a1432e88833ec0ee6ec7 Mon Sep 17 00:00:00 2001 From: kobayu858 <129580202+kobayu858@users.noreply.github.com> Date: Thu, 22 Aug 2024 16:58:57 +0900 Subject: [PATCH 016/169] fix(autoware_lidar_centerpoint): fix unusedFunction (#8572) fix:unusedFunction Signed-off-by: kobayu858 --- perception/autoware_lidar_centerpoint/lib/utils.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/perception/autoware_lidar_centerpoint/lib/utils.cpp b/perception/autoware_lidar_centerpoint/lib/utils.cpp index a9e7a68f6adaa..0abdf0f452fe4 100644 --- a/perception/autoware_lidar_centerpoint/lib/utils.cpp +++ b/perception/autoware_lidar_centerpoint/lib/utils.cpp @@ -19,7 +19,7 @@ namespace autoware::lidar_centerpoint { // cspell: ignore divup -std::size_t divup(const std::size_t a, const std::size_t b) +std::size_t divup(const std::size_t a, const std::size_t b) // cppcheck-suppress unusedFunction { if (a == 0) { throw std::runtime_error("A dividend of divup isn't positive."); From cf6859e5afb432a50fcd7ce84708980dd76d1e6c Mon Sep 17 00:00:00 2001 From: Masaki Baba Date: Thu, 22 Aug 2024 17:26:59 +0900 Subject: [PATCH 017/169] refactor(gyro_odometer)!: prefix package and namespace with autoware (#8340) * add autoware_ prefix Signed-off-by: a-maumau * add missing header Signed-off-by: a-maumau * use target_include_directories instead Signed-off-by: a-maumau * add autoware_ prefix Signed-off-by: a-maumau --------- Signed-off-by: a-maumau --- .github/CODEOWNERS | 2 +- .../pose_twist_estimator/gyro_odometer.launch.xml | 2 +- launch/tier4_localization_launch/package.xml | 2 +- .../CMakeLists.txt | 5 ++++- .../README.md | 6 +++--- .../config/gyro_odometer.param.yaml | 0 .../launch/gyro_odometer.launch.xml | 4 ++-- .../media/diagnostic.png | Bin .../package.xml | 4 ++-- .../schema/gyro_odometer.schema.json | 0 .../src/gyro_odometer_core.cpp | 3 ++- .../src}/gyro_odometer_core.hpp | 6 +++--- .../test/test_gyro_odometer_helper.cpp | 0 .../test/test_gyro_odometer_helper.hpp | 0 .../test/test_gyro_odometer_pubsub.cpp | 2 +- .../test/test_main.cpp | 0 16 files changed, 20 insertions(+), 16 deletions(-) rename localization/{gyro_odometer => autoware_gyro_odometer}/CMakeLists.txt (88%) rename localization/{gyro_odometer => autoware_gyro_odometer}/README.md (94%) rename localization/{gyro_odometer => autoware_gyro_odometer}/config/gyro_odometer.param.yaml (100%) rename localization/{gyro_odometer => autoware_gyro_odometer}/launch/gyro_odometer.launch.xml (87%) rename localization/{gyro_odometer => autoware_gyro_odometer}/media/diagnostic.png (100%) rename localization/{gyro_odometer => autoware_gyro_odometer}/package.xml (92%) rename localization/{gyro_odometer => autoware_gyro_odometer}/schema/gyro_odometer.schema.json (100%) rename localization/{gyro_odometer => autoware_gyro_odometer}/src/gyro_odometer_core.cpp (99%) rename localization/{gyro_odometer/include/gyro_odometer => autoware_gyro_odometer/src}/gyro_odometer_core.hpp (95%) rename localization/{gyro_odometer => autoware_gyro_odometer}/test/test_gyro_odometer_helper.cpp (100%) rename localization/{gyro_odometer => autoware_gyro_odometer}/test/test_gyro_odometer_helper.hpp (100%) rename localization/{gyro_odometer => autoware_gyro_odometer}/test/test_gyro_odometer_pubsub.cpp (99%) rename localization/{gyro_odometer => autoware_gyro_odometer}/test/test_main.cpp (100%) diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS index d97b3fd904d7c..6333b479b5696 100644 --- a/.github/CODEOWNERS +++ b/.github/CODEOWNERS @@ -87,7 +87,7 @@ localization/autoware_stop_filter/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier localization/autoware_twist2accel/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp localization/ekf_localizer/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp takamasa.horibe@tier4.jp takeshi.ishita@tier4.jp yamato.ando@tier4.jp localization/autoware_geo_pose_projector/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp -localization/gyro_odometer/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp +localization/autoware_gyro_odometer/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp localization/autoware_localization_error_monitor/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp localization/localization_util/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp localization/ndt_scan_matcher/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp diff --git a/launch/tier4_localization_launch/launch/pose_twist_estimator/gyro_odometer.launch.xml b/launch/tier4_localization_launch/launch/pose_twist_estimator/gyro_odometer.launch.xml index 3627c6698f4bd..e78101b0a1809 100644 --- a/launch/tier4_localization_launch/launch/pose_twist_estimator/gyro_odometer.launch.xml +++ b/launch/tier4_localization_launch/launch/pose_twist_estimator/gyro_odometer.launch.xml @@ -1,7 +1,7 @@ - + diff --git a/launch/tier4_localization_launch/package.xml b/launch/tier4_localization_launch/package.xml index 2f02be72ec5ad..19d15b43e5d14 100644 --- a/launch/tier4_localization_launch/package.xml +++ b/launch/tier4_localization_launch/package.xml @@ -20,12 +20,12 @@ automatic_pose_initializer autoware_ar_tag_based_localizer autoware_geo_pose_projector + autoware_gyro_odometer autoware_pointcloud_preprocessor eagleye_geo_pose_fusion eagleye_gnss_converter eagleye_rt ekf_localizer - gyro_odometer ndt_scan_matcher pose_estimator_arbiter pose_initializer diff --git a/localization/gyro_odometer/CMakeLists.txt b/localization/autoware_gyro_odometer/CMakeLists.txt similarity index 88% rename from localization/gyro_odometer/CMakeLists.txt rename to localization/autoware_gyro_odometer/CMakeLists.txt index a832383ff4761..b4d092531e6af 100644 --- a/localization/gyro_odometer/CMakeLists.txt +++ b/localization/autoware_gyro_odometer/CMakeLists.txt @@ -1,5 +1,5 @@ cmake_minimum_required(VERSION 3.14) -project(gyro_odometer) +project(autoware_gyro_odometer) find_package(autoware_cmake REQUIRED) autoware_package() @@ -22,6 +22,9 @@ if(BUILD_TESTING) target_link_libraries(test_gyro_odometer ${PROJECT_NAME} ) + target_include_directories(test_gyro_odometer PRIVATE + src + ) endif() rclcpp_components_register_node(${PROJECT_NAME} diff --git a/localization/gyro_odometer/README.md b/localization/autoware_gyro_odometer/README.md similarity index 94% rename from localization/gyro_odometer/README.md rename to localization/autoware_gyro_odometer/README.md index aa6f2a96f4838..d2ff600ae4bf0 100644 --- a/localization/gyro_odometer/README.md +++ b/localization/autoware_gyro_odometer/README.md @@ -1,8 +1,8 @@ -# gyro_odometer +# autoware_gyro_odometer ## Purpose -`gyro_odometer` is the package to estimate twist by combining imu and vehicle speed. +`autoware_gyro_odometer` is the package to estimate twist by combining imu and vehicle speed. ## Inputs / Outputs @@ -21,7 +21,7 @@ ## Parameters -{{ json_to_markdown("localization/gyro_odometer/schema/gyro_odometer.schema.json") }} +{{ json_to_markdown("localization/autoware_gyro_odometer/schema/gyro_odometer.schema.json") }} ## Assumptions / Known limits diff --git a/localization/gyro_odometer/config/gyro_odometer.param.yaml b/localization/autoware_gyro_odometer/config/gyro_odometer.param.yaml similarity index 100% rename from localization/gyro_odometer/config/gyro_odometer.param.yaml rename to localization/autoware_gyro_odometer/config/gyro_odometer.param.yaml diff --git a/localization/gyro_odometer/launch/gyro_odometer.launch.xml b/localization/autoware_gyro_odometer/launch/gyro_odometer.launch.xml similarity index 87% rename from localization/gyro_odometer/launch/gyro_odometer.launch.xml rename to localization/autoware_gyro_odometer/launch/gyro_odometer.launch.xml index aed6050858fe1..b9f30a4389df7 100644 --- a/localization/gyro_odometer/launch/gyro_odometer.launch.xml +++ b/localization/autoware_gyro_odometer/launch/gyro_odometer.launch.xml @@ -9,9 +9,9 @@ - + - + diff --git a/localization/gyro_odometer/media/diagnostic.png b/localization/autoware_gyro_odometer/media/diagnostic.png similarity index 100% rename from localization/gyro_odometer/media/diagnostic.png rename to localization/autoware_gyro_odometer/media/diagnostic.png diff --git a/localization/gyro_odometer/package.xml b/localization/autoware_gyro_odometer/package.xml similarity index 92% rename from localization/gyro_odometer/package.xml rename to localization/autoware_gyro_odometer/package.xml index ba08a8852eca5..0e78d0dea51b6 100644 --- a/localization/gyro_odometer/package.xml +++ b/localization/autoware_gyro_odometer/package.xml @@ -1,9 +1,9 @@ - gyro_odometer + autoware_gyro_odometer 0.1.0 - The gyro_odometer package as a ROS 2 node + The autoware_gyro_odometer package as a ROS 2 node Yamato Ando Masahiro Sakamoto Kento Yabuuchi diff --git a/localization/gyro_odometer/schema/gyro_odometer.schema.json b/localization/autoware_gyro_odometer/schema/gyro_odometer.schema.json similarity index 100% rename from localization/gyro_odometer/schema/gyro_odometer.schema.json rename to localization/autoware_gyro_odometer/schema/gyro_odometer.schema.json diff --git a/localization/gyro_odometer/src/gyro_odometer_core.cpp b/localization/autoware_gyro_odometer/src/gyro_odometer_core.cpp similarity index 99% rename from localization/gyro_odometer/src/gyro_odometer_core.cpp rename to localization/autoware_gyro_odometer/src/gyro_odometer_core.cpp index c661f63d91535..bc2abb4a8a321 100644 --- a/localization/gyro_odometer/src/gyro_odometer_core.cpp +++ b/localization/autoware_gyro_odometer/src/gyro_odometer_core.cpp @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "gyro_odometer/gyro_odometer_core.hpp" +#include "gyro_odometer_core.hpp" #include @@ -23,6 +23,7 @@ #endif #include +#include #include #include #include diff --git a/localization/gyro_odometer/include/gyro_odometer/gyro_odometer_core.hpp b/localization/autoware_gyro_odometer/src/gyro_odometer_core.hpp similarity index 95% rename from localization/gyro_odometer/include/gyro_odometer/gyro_odometer_core.hpp rename to localization/autoware_gyro_odometer/src/gyro_odometer_core.hpp index f569ed25a0c7f..1b2c4246a037a 100644 --- a/localization/gyro_odometer/include/gyro_odometer/gyro_odometer_core.hpp +++ b/localization/autoware_gyro_odometer/src/gyro_odometer_core.hpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef GYRO_ODOMETER__GYRO_ODOMETER_CORE_HPP_ -#define GYRO_ODOMETER__GYRO_ODOMETER_CORE_HPP_ +#ifndef GYRO_ODOMETER_CORE_HPP_ +#define GYRO_ODOMETER_CORE_HPP_ #include "autoware/universe_utils/ros/logger_level_configure.hpp" #include "autoware/universe_utils/ros/msg_covariance.hpp" @@ -85,4 +85,4 @@ class GyroOdometerNode : public rclcpp::Node } // namespace autoware::gyro_odometer -#endif // GYRO_ODOMETER__GYRO_ODOMETER_CORE_HPP_ +#endif // GYRO_ODOMETER_CORE_HPP_ diff --git a/localization/gyro_odometer/test/test_gyro_odometer_helper.cpp b/localization/autoware_gyro_odometer/test/test_gyro_odometer_helper.cpp similarity index 100% rename from localization/gyro_odometer/test/test_gyro_odometer_helper.cpp rename to localization/autoware_gyro_odometer/test/test_gyro_odometer_helper.cpp diff --git a/localization/gyro_odometer/test/test_gyro_odometer_helper.hpp b/localization/autoware_gyro_odometer/test/test_gyro_odometer_helper.hpp similarity index 100% rename from localization/gyro_odometer/test/test_gyro_odometer_helper.hpp rename to localization/autoware_gyro_odometer/test/test_gyro_odometer_helper.hpp diff --git a/localization/gyro_odometer/test/test_gyro_odometer_pubsub.cpp b/localization/autoware_gyro_odometer/test/test_gyro_odometer_pubsub.cpp similarity index 99% rename from localization/gyro_odometer/test/test_gyro_odometer_pubsub.cpp rename to localization/autoware_gyro_odometer/test/test_gyro_odometer_pubsub.cpp index fc331a638a1dd..21211072054d4 100644 --- a/localization/gyro_odometer/test/test_gyro_odometer_pubsub.cpp +++ b/localization/autoware_gyro_odometer/test/test_gyro_odometer_pubsub.cpp @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "gyro_odometer/gyro_odometer_core.hpp" +#include "gyro_odometer_core.hpp" #include "test_gyro_odometer_helper.hpp" #include diff --git a/localization/gyro_odometer/test/test_main.cpp b/localization/autoware_gyro_odometer/test/test_main.cpp similarity index 100% rename from localization/gyro_odometer/test/test_main.cpp rename to localization/autoware_gyro_odometer/test/test_main.cpp From 44e0535d82cd333134c7404e9ddf9811adde74e7 Mon Sep 17 00:00:00 2001 From: "Yi-Hsiang Fang (Vivid)" <146902905+vividf@users.noreply.github.com> Date: Thu, 22 Aug 2024 17:50:05 +0900 Subject: [PATCH 018/169] refactor(autoware_pointcloud_preprocessor): rework lanelet2 map filter parameters (#8491) * feat: rework lanelet2 map filter parameters Signed-off-by: vividf * chore: remove unrelated files Signed-off-by: vividf * fix: fix node name in launch Signed-off-by: vividf * chore: fix launcher Signed-off-by: vividf * chore: fix spell error Signed-off-by: vividf * chore: add boundary Signed-off-by: vividf --------- Signed-off-by: vividf --- .../CMakeLists.txt | 2 +- .../lanelet2_map_filter_node.param.yaml | 4 ++ .../docs/vector-map-filter.md | 5 +-- ...delet.hpp => lanelet2_map_filter_node.hpp} | 8 ++-- .../lanelet2_map_filter_node.launch.xml | 12 ++++++ .../lanelet2_map_filter_node.schema.json | 40 +++++++++++++++++++ ...delet.cpp => lanelet2_map_filter_node.cpp} | 8 ++-- 7 files changed, 66 insertions(+), 13 deletions(-) create mode 100644 sensing/autoware_pointcloud_preprocessor/config/lanelet2_map_filter_node.param.yaml rename sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/vector_map_filter/{lanelet2_map_filter_nodelet.hpp => lanelet2_map_filter_node.hpp} (96%) create mode 100644 sensing/autoware_pointcloud_preprocessor/launch/lanelet2_map_filter_node.launch.xml create mode 100644 sensing/autoware_pointcloud_preprocessor/schema/lanelet2_map_filter_node.schema.json rename sensing/autoware_pointcloud_preprocessor/src/vector_map_filter/{lanelet2_map_filter_nodelet.cpp => lanelet2_map_filter_node.cpp} (98%) diff --git a/sensing/autoware_pointcloud_preprocessor/CMakeLists.txt b/sensing/autoware_pointcloud_preprocessor/CMakeLists.txt index 60c082cba53da..56c0238f104ad 100644 --- a/sensing/autoware_pointcloud_preprocessor/CMakeLists.txt +++ b/sensing/autoware_pointcloud_preprocessor/CMakeLists.txt @@ -78,7 +78,7 @@ ament_auto_add_library(pointcloud_preprocessor_filter SHARED src/passthrough_filter/passthrough_filter_uint16_nodelet.cpp src/passthrough_filter/passthrough_uint16.cpp src/pointcloud_accumulator/pointcloud_accumulator_nodelet.cpp - src/vector_map_filter/lanelet2_map_filter_nodelet.cpp + src/vector_map_filter/lanelet2_map_filter_node.cpp src/distortion_corrector/distortion_corrector.cpp src/distortion_corrector/distortion_corrector_node.cpp src/blockage_diag/blockage_diag_node.cpp diff --git a/sensing/autoware_pointcloud_preprocessor/config/lanelet2_map_filter_node.param.yaml b/sensing/autoware_pointcloud_preprocessor/config/lanelet2_map_filter_node.param.yaml new file mode 100644 index 0000000000000..2aae4c5e886ea --- /dev/null +++ b/sensing/autoware_pointcloud_preprocessor/config/lanelet2_map_filter_node.param.yaml @@ -0,0 +1,4 @@ +/**: + ros__parameters: + voxel_size_x: 0.04 + voxel_size_y: 0.04 diff --git a/sensing/autoware_pointcloud_preprocessor/docs/vector-map-filter.md b/sensing/autoware_pointcloud_preprocessor/docs/vector-map-filter.md index c38a4c719fcf3..8e978adb81657 100644 --- a/sensing/autoware_pointcloud_preprocessor/docs/vector-map-filter.md +++ b/sensing/autoware_pointcloud_preprocessor/docs/vector-map-filter.md @@ -25,10 +25,7 @@ The `vector_map_filter` is a node that removes points on the outside of lane by ### Core Parameters -| Name | Type | Default Value | Description | -| -------------- | ------ | ------------- | ----------- | -| `voxel_size_x` | double | 0.04 | voxel size | -| `voxel_size_y` | double | 0.04 | voxel size | +{{ json_to_markdown("sensing/autoware_pointcloud_preprocessor/schema/lanelet2_map_filter_node.schema.json") }} ## Assumptions / Known limits diff --git a/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/vector_map_filter/lanelet2_map_filter_nodelet.hpp b/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/vector_map_filter/lanelet2_map_filter_node.hpp similarity index 96% rename from sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/vector_map_filter/lanelet2_map_filter_nodelet.hpp rename to sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/vector_map_filter/lanelet2_map_filter_node.hpp index 4ba773ed618ac..5572a9a6f4588 100644 --- a/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/vector_map_filter/lanelet2_map_filter_nodelet.hpp +++ b/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/vector_map_filter/lanelet2_map_filter_node.hpp @@ -1,4 +1,4 @@ -// Copyright 2020 Tier IV, Inc. +// 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. @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef AUTOWARE__POINTCLOUD_PREPROCESSOR__VECTOR_MAP_FILTER__LANELET2_MAP_FILTER_NODELET_HPP_ -#define AUTOWARE__POINTCLOUD_PREPROCESSOR__VECTOR_MAP_FILTER__LANELET2_MAP_FILTER_NODELET_HPP_ +#ifndef AUTOWARE__POINTCLOUD_PREPROCESSOR__VECTOR_MAP_FILTER__LANELET2_MAP_FILTER_NODE_HPP_ +#define AUTOWARE__POINTCLOUD_PREPROCESSOR__VECTOR_MAP_FILTER__LANELET2_MAP_FILTER_NODE_HPP_ #include #include @@ -97,4 +97,4 @@ class Lanelet2MapFilterComponent : public rclcpp::Node } // namespace autoware::pointcloud_preprocessor -#endif // AUTOWARE__POINTCLOUD_PREPROCESSOR__VECTOR_MAP_FILTER__LANELET2_MAP_FILTER_NODELET_HPP_ +#endif // AUTOWARE__POINTCLOUD_PREPROCESSOR__VECTOR_MAP_FILTER__LANELET2_MAP_FILTER_NODE_HPP_ diff --git a/sensing/autoware_pointcloud_preprocessor/launch/lanelet2_map_filter_node.launch.xml b/sensing/autoware_pointcloud_preprocessor/launch/lanelet2_map_filter_node.launch.xml new file mode 100644 index 0000000000000..745bda3119404 --- /dev/null +++ b/sensing/autoware_pointcloud_preprocessor/launch/lanelet2_map_filter_node.launch.xml @@ -0,0 +1,12 @@ + + + + + + + + + + + + diff --git a/sensing/autoware_pointcloud_preprocessor/schema/lanelet2_map_filter_node.schema.json b/sensing/autoware_pointcloud_preprocessor/schema/lanelet2_map_filter_node.schema.json new file mode 100644 index 0000000000000..be7c90b5fd4f7 --- /dev/null +++ b/sensing/autoware_pointcloud_preprocessor/schema/lanelet2_map_filter_node.schema.json @@ -0,0 +1,40 @@ +{ + "$schema": "http://json-schema.org/draft-07/schema#", + "title": "Parameters for Lanelet2 Map Filter Node", + "type": "object", + "definitions": { + "lanelet2_map_filter": { + "type": "object", + "properties": { + "voxel_size_x": { + "type": "number", + "description": "voxel size along x-axis [m]", + "default": "0.04", + "minimum": 0 + }, + "voxel_size_y": { + "type": "number", + "description": "voxel size along y-axis [m]", + "default": "0.04", + "minimum": 0 + } + }, + "required": ["voxel_size_x", "voxel_size_y"], + "additionalProperties": false + } + }, + "properties": { + "/**": { + "type": "object", + "properties": { + "ros__parameters": { + "$ref": "#/definitions/lanelet2_map_filter" + } + }, + "required": ["ros__parameters"], + "additionalProperties": false + } + }, + "required": ["/**"], + "additionalProperties": false +} diff --git a/sensing/autoware_pointcloud_preprocessor/src/vector_map_filter/lanelet2_map_filter_nodelet.cpp b/sensing/autoware_pointcloud_preprocessor/src/vector_map_filter/lanelet2_map_filter_node.cpp similarity index 98% rename from sensing/autoware_pointcloud_preprocessor/src/vector_map_filter/lanelet2_map_filter_nodelet.cpp rename to sensing/autoware_pointcloud_preprocessor/src/vector_map_filter/lanelet2_map_filter_node.cpp index b6de8bb87d5b1..ee788a2fc807a 100644 --- a/sensing/autoware_pointcloud_preprocessor/src/vector_map_filter/lanelet2_map_filter_nodelet.cpp +++ b/sensing/autoware_pointcloud_preprocessor/src/vector_map_filter/lanelet2_map_filter_node.cpp @@ -1,4 +1,4 @@ -// Copyright 2020 Tier IV, Inc. +// 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. @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "autoware/pointcloud_preprocessor/vector_map_filter/lanelet2_map_filter_nodelet.hpp" +#include "autoware/pointcloud_preprocessor/vector_map_filter/lanelet2_map_filter_node.hpp" #include "autoware/pointcloud_preprocessor/filter.hpp" @@ -39,8 +39,8 @@ Lanelet2MapFilterComponent::Lanelet2MapFilterComponent(const rclcpp::NodeOptions // Set parameters { - voxel_size_x_ = declare_parameter("voxel_size_x", 0.04); - voxel_size_y_ = declare_parameter("voxel_size_y", 0.04); + voxel_size_x_ = declare_parameter("voxel_size_x"); + voxel_size_y_ = declare_parameter("voxel_size_y"); } // Set publisher From 68f2b9545c7148182a8506852f33372eacaf4b0c Mon Sep 17 00:00:00 2001 From: Masaki Baba Date: Thu, 22 Aug 2024 18:43:19 +0900 Subject: [PATCH 019/169] refactor(pose_estimator_arbiter)!: prefix package and namespace with autoware (#8386) * add autoware_ prefix Signed-off-by: a-maumau * add autoware_ prefix Signed-off-by: a-maumau * fix link for landmark_based_localizer Signed-off-by: a-maumau * remove Shadowing Signed-off-by: a-maumau --------- Signed-off-by: a-maumau Co-authored-by: SakodaShintaro --- .../pose_twist_estimator.launch.xml | 2 +- launch/tier4_localization_launch/package.xml | 2 +- .../CMakeLists.txt | 13 ++++--- .../README.md | 26 ++++++------- .../example_rule/CMakeLists.txt | 12 +++--- .../example_rule/README.md | 0 .../src}/rule_helper/grid_key.hpp | 14 +++---- .../src}/rule_helper/pcd_occupancy.cpp | 8 ++-- .../src}/rule_helper/pcd_occupancy.hpp | 10 ++--- .../src}/rule_helper/pose_estimator_area.cpp | 6 +-- .../src}/rule_helper/pose_estimator_area.hpp | 10 ++--- .../src}/switch_rule/pcd_map_based_rule.cpp | 6 +-- .../src}/switch_rule/pcd_map_based_rule.hpp | 18 ++++----- .../switch_rule/vector_map_based_rule.cpp | 6 +-- .../switch_rule/vector_map_based_rule.hpp | 18 ++++----- .../test/test_pcd_map_based_rule.cpp | 36 +++++++++--------- .../example_rule/test/test_rule_helper.cpp | 14 +++---- .../test/test_vector_map_based_rule.cpp | 36 +++++++++--------- .../launch/pose_estimator_arbiter.launch.xml | 2 +- .../media/architecture.drawio.svg | 0 .../media/pcd_occupancy.drawio.svg | 0 .../pose_estimator_area_in_vector_map.png | Bin .../media/single_pose_estimator.drawio.svg | 0 .../package.xml | 2 +- .../src}/pose_estimator_arbiter.hpp | 16 ++++---- .../src}/pose_estimator_arbiter_core.cpp | 26 ++++++------- .../src}/pose_estimator_type.hpp | 10 ++--- .../src}/shared_data.hpp | 10 ++--- .../src}/stopper/base_stopper.hpp | 12 +++--- .../src}/stopper/stopper_artag.hpp | 12 +++--- .../src}/stopper/stopper_eagleye.hpp | 12 +++--- .../src}/stopper/stopper_ndt.hpp | 12 +++--- .../src}/stopper/stopper_yabloc.hpp | 12 +++--- .../src}/switch_rule/base_switch_rule.hpp | 15 ++++---- .../src}/switch_rule/enable_all_rule.cpp | 6 +-- .../src}/switch_rule/enable_all_rule.hpp | 14 +++---- .../test/test_pose_estimator_arbiter.py | 2 +- .../test/test_shared_data.cpp | 6 +-- 38 files changed, 205 insertions(+), 201 deletions(-) rename localization/{pose_estimator_arbiter => autoware_pose_estimator_arbiter}/CMakeLists.txt (83%) rename localization/{pose_estimator_arbiter => autoware_pose_estimator_arbiter}/README.md (94%) rename localization/{pose_estimator_arbiter => autoware_pose_estimator_arbiter}/example_rule/CMakeLists.txt (67%) rename localization/{pose_estimator_arbiter => autoware_pose_estimator_arbiter}/example_rule/README.md (100%) rename localization/{pose_estimator_arbiter/example_rule/src/pose_estimator_arbiter => autoware_pose_estimator_arbiter/example_rule/src}/rule_helper/grid_key.hpp (78%) rename localization/{pose_estimator_arbiter/example_rule/src/pose_estimator_arbiter => autoware_pose_estimator_arbiter/example_rule/src}/rule_helper/pcd_occupancy.cpp (93%) rename localization/{pose_estimator_arbiter/example_rule/src/pose_estimator_arbiter => autoware_pose_estimator_arbiter/example_rule/src}/rule_helper/pcd_occupancy.hpp (83%) rename localization/{pose_estimator_arbiter/example_rule/src/pose_estimator_arbiter => autoware_pose_estimator_arbiter/example_rule/src}/rule_helper/pose_estimator_area.cpp (96%) rename localization/{pose_estimator_arbiter/example_rule/src/pose_estimator_arbiter => autoware_pose_estimator_arbiter/example_rule/src}/rule_helper/pose_estimator_area.hpp (83%) rename localization/{pose_estimator_arbiter/example_rule/src/pose_estimator_arbiter => autoware_pose_estimator_arbiter/example_rule/src}/switch_rule/pcd_map_based_rule.cpp (93%) rename localization/{pose_estimator_arbiter/example_rule/src/pose_estimator_arbiter => autoware_pose_estimator_arbiter/example_rule/src}/switch_rule/pcd_map_based_rule.hpp (71%) rename localization/{pose_estimator_arbiter/example_rule/src/pose_estimator_arbiter => autoware_pose_estimator_arbiter/example_rule/src}/switch_rule/vector_map_based_rule.cpp (93%) rename localization/{pose_estimator_arbiter/example_rule/src/pose_estimator_arbiter => autoware_pose_estimator_arbiter/example_rule/src}/switch_rule/vector_map_based_rule.hpp (71%) rename localization/{pose_estimator_arbiter => autoware_pose_estimator_arbiter}/example_rule/test/test_pcd_map_based_rule.cpp (62%) rename localization/{pose_estimator_arbiter => autoware_pose_estimator_arbiter}/example_rule/test/test_rule_helper.cpp (87%) rename localization/{pose_estimator_arbiter => autoware_pose_estimator_arbiter}/example_rule/test/test_vector_map_based_rule.cpp (65%) rename localization/{pose_estimator_arbiter => autoware_pose_estimator_arbiter}/launch/pose_estimator_arbiter.launch.xml (93%) rename localization/{pose_estimator_arbiter => autoware_pose_estimator_arbiter}/media/architecture.drawio.svg (100%) rename localization/{pose_estimator_arbiter => autoware_pose_estimator_arbiter}/media/pcd_occupancy.drawio.svg (100%) rename localization/{pose_estimator_arbiter => autoware_pose_estimator_arbiter}/media/pose_estimator_area_in_vector_map.png (100%) rename localization/{pose_estimator_arbiter => autoware_pose_estimator_arbiter}/media/single_pose_estimator.drawio.svg (100%) rename localization/{pose_estimator_arbiter => autoware_pose_estimator_arbiter}/package.xml (97%) rename localization/{pose_estimator_arbiter/src/pose_estimator_arbiter => autoware_pose_estimator_arbiter/src}/pose_estimator_arbiter.hpp (89%) rename localization/{pose_estimator_arbiter/src/pose_estimator_arbiter => autoware_pose_estimator_arbiter/src}/pose_estimator_arbiter_core.cpp (90%) rename localization/{pose_estimator_arbiter/src/pose_estimator_arbiter => autoware_pose_estimator_arbiter/src}/pose_estimator_type.hpp (73%) rename localization/{pose_estimator_arbiter/src/pose_estimator_arbiter => autoware_pose_estimator_arbiter/src}/shared_data.hpp (93%) rename localization/{pose_estimator_arbiter/src/pose_estimator_arbiter => autoware_pose_estimator_arbiter/src}/stopper/base_stopper.hpp (81%) rename localization/{pose_estimator_arbiter/src/pose_estimator_arbiter => autoware_pose_estimator_arbiter/src}/stopper/stopper_artag.hpp (82%) rename localization/{pose_estimator_arbiter/src/pose_estimator_arbiter => autoware_pose_estimator_arbiter/src}/stopper/stopper_eagleye.hpp (81%) rename localization/{pose_estimator_arbiter/src/pose_estimator_arbiter => autoware_pose_estimator_arbiter/src}/stopper/stopper_ndt.hpp (81%) rename localization/{pose_estimator_arbiter/src/pose_estimator_arbiter => autoware_pose_estimator_arbiter/src}/stopper/stopper_yabloc.hpp (89%) rename localization/{pose_estimator_arbiter/src/pose_estimator_arbiter => autoware_pose_estimator_arbiter/src}/switch_rule/base_switch_rule.hpp (78%) rename localization/{pose_estimator_arbiter/src/pose_estimator_arbiter => autoware_pose_estimator_arbiter/src}/switch_rule/enable_all_rule.cpp (88%) rename localization/{pose_estimator_arbiter/src/pose_estimator_arbiter => autoware_pose_estimator_arbiter/src}/switch_rule/enable_all_rule.hpp (71%) rename localization/{pose_estimator_arbiter => autoware_pose_estimator_arbiter}/test/test_pose_estimator_arbiter.py (98%) rename localization/{pose_estimator_arbiter => autoware_pose_estimator_arbiter}/test/test_shared_data.cpp (90%) diff --git a/launch/tier4_localization_launch/launch/pose_twist_estimator/pose_twist_estimator.launch.xml b/launch/tier4_localization_launch/launch/pose_twist_estimator/pose_twist_estimator.launch.xml index fa6bce0e38e55..f06c9f83efb35 100644 --- a/launch/tier4_localization_launch/launch/pose_twist_estimator/pose_twist_estimator.launch.xml +++ b/launch/tier4_localization_launch/launch/pose_twist_estimator/pose_twist_estimator.launch.xml @@ -93,7 +93,7 @@ - + diff --git a/launch/tier4_localization_launch/package.xml b/launch/tier4_localization_launch/package.xml index 19d15b43e5d14..efeecd3e37f61 100644 --- a/launch/tier4_localization_launch/package.xml +++ b/launch/tier4_localization_launch/package.xml @@ -22,12 +22,12 @@ autoware_geo_pose_projector autoware_gyro_odometer autoware_pointcloud_preprocessor + autoware_pose_estimator_arbiter eagleye_geo_pose_fusion eagleye_gnss_converter eagleye_rt ekf_localizer ndt_scan_matcher - pose_estimator_arbiter pose_initializer pose_instability_detector topic_tools diff --git a/localization/pose_estimator_arbiter/CMakeLists.txt b/localization/autoware_pose_estimator_arbiter/CMakeLists.txt similarity index 83% rename from localization/pose_estimator_arbiter/CMakeLists.txt rename to localization/autoware_pose_estimator_arbiter/CMakeLists.txt index eefb7fc9a6879..a45da8767b72b 100644 --- a/localization/pose_estimator_arbiter/CMakeLists.txt +++ b/localization/autoware_pose_estimator_arbiter/CMakeLists.txt @@ -1,22 +1,25 @@ cmake_minimum_required(VERSION 3.14) -project(pose_estimator_arbiter) +project(autoware_pose_estimator_arbiter) find_package(autoware_cmake REQUIRED) autoware_package() find_package(PCL REQUIRED COMPONENTS common) -include_directories(SYSTEM ${PCL_INCLUDE_DIRS}) +include_directories( + SYSTEM ${PCL_INCLUDE_DIRS} + src +) # ============================== # pose estimator arbiter node ament_auto_add_library(${PROJECT_NAME} SHARED - src/pose_estimator_arbiter/pose_estimator_arbiter_core.cpp - src/pose_estimator_arbiter/switch_rule/enable_all_rule.cpp + src/pose_estimator_arbiter_core.cpp + src/switch_rule/enable_all_rule.cpp ) target_include_directories(${PROJECT_NAME} PUBLIC src) rclcpp_components_register_node(${PROJECT_NAME} - PLUGIN "pose_estimator_arbiter::PoseEstimatorArbiter" + PLUGIN "autoware::pose_estimator_arbiter::PoseEstimatorArbiter" EXECUTABLE ${PROJECT_NAME}_node EXECUTOR MultiThreadedExecutor ) diff --git a/localization/pose_estimator_arbiter/README.md b/localization/autoware_pose_estimator_arbiter/README.md similarity index 94% rename from localization/pose_estimator_arbiter/README.md rename to localization/autoware_pose_estimator_arbiter/README.md index 7b9397dfdba47..938bb20e252ac 100644 --- a/localization/pose_estimator_arbiter/README.md +++ b/localization/autoware_pose_estimator_arbiter/README.md @@ -1,4 +1,4 @@ -# pose_estimator_arbiter +# autoware_pose_estimator_arbiter Table of contents: @@ -35,7 +35,7 @@ Also, even if both can be activated at the same time, the Kalman Filter may be a - [ndt_scan_matcher](https://github.com/autowarefoundation/autoware.universe/tree/main/localization/ndt_scan_matcher) - [eagleye](https://autowarefoundation.github.io/autoware-documentation/main/how-to-guides/integrating-autoware/launch-autoware/localization/eagleye/) - [yabloc](https://github.com/autowarefoundation/autoware.universe/tree/main/localization/yabloc) -- [landmark_based_localizer](https://github.com/autowarefoundation/autoware.universe/tree/main/localization/landmark_based_localizer) +- [landmark_based_localizer](https://github.com/autowarefoundation/autoware.universe/tree/main/localization/autoware_landmark_based_localizer) ### Demonstration @@ -117,8 +117,8 @@ If it does not seems to work, users can get more information in the following wa > [!TIP] > > ```bash -> ros2 service call /localization/pose_estimator_arbiter/config_logger logging_demo/srv/ConfigLogger \ -> '{logger_name: localization.pose_estimator_arbiter, level: debug}' +> ros2 service call /localization/autoware_pose_estimator_arbiter/config_logger logging_demo/srv/ConfigLogger \ +> '{logger_name: localization.autoware_pose_estimator_arbiter, level: debug}' > ``` ## Architecture @@ -135,7 +135,7 @@ Following figure shows the node configuration when NDT, YabLoc Eagleye and AR-Ta ### Case of running multiple pose estimators -When running multiple pose_estimators, pose_estimator_arbiter is executed. +When running multiple pose_estimators, autoware_pose_estimator_arbiter is executed. It comprises a **switching rule** and **stoppers** corresponding to each pose_estimator. - Stoppers control the pose_estimator activity by relaying inputs or outputs, or by requesting a suspend service. @@ -187,14 +187,14 @@ ros2 launch autoware_launch logging_simulator.launch.xml \ Even if `pose_source` includes an unexpected string, it will be filtered appropriately. Please see the table below for details. -| given runtime argument | parsed pose_estimator_arbiter's param (pose_sources) | -| ------------------------------------------- | ---------------------------------------------------- | -| `pose_source:=ndt` | `["ndt"]` | -| `pose_source:=nan` | `[]` | -| `pose_source:=yabloc_ndt` | `["ndt","yabloc"]` | -| `pose_source:=yabloc_ndt_ndt_ndt` | `["ndt","yabloc"]` | -| `pose_source:=ndt_yabloc_eagleye` | `["ndt","yabloc","eagleye"]` | -| `pose_source:=ndt_yabloc_nan_eagleye_artag` | `["ndt","yabloc","eagleye","artag"]` | +| given runtime argument | parsed autoware_pose_estimator_arbiter's param (pose_sources) | +| ------------------------------------------- | ------------------------------------------------------------- | +| `pose_source:=ndt` | `["ndt"]` | +| `pose_source:=nan` | `[]` | +| `pose_source:=yabloc_ndt` | `["ndt","yabloc"]` | +| `pose_source:=yabloc_ndt_ndt_ndt` | `["ndt","yabloc"]` | +| `pose_source:=ndt_yabloc_eagleye` | `["ndt","yabloc","eagleye"]` | +| `pose_source:=ndt_yabloc_nan_eagleye_artag` | `["ndt","yabloc","eagleye","artag"]` | diff --git a/localization/pose_estimator_arbiter/example_rule/CMakeLists.txt b/localization/autoware_pose_estimator_arbiter/example_rule/CMakeLists.txt similarity index 67% rename from localization/pose_estimator_arbiter/example_rule/CMakeLists.txt rename to localization/autoware_pose_estimator_arbiter/example_rule/CMakeLists.txt index b2b5a828e42e7..5125829ffd69c 100644 --- a/localization/pose_estimator_arbiter/example_rule/CMakeLists.txt +++ b/localization/autoware_pose_estimator_arbiter/example_rule/CMakeLists.txt @@ -1,13 +1,13 @@ # example switch rule library ament_auto_add_library(example_rule SHARED - src/pose_estimator_arbiter/switch_rule/pcd_map_based_rule.cpp - src/pose_estimator_arbiter/switch_rule/vector_map_based_rule.cpp - src/pose_estimator_arbiter/rule_helper/pcd_occupancy.cpp - src/pose_estimator_arbiter/rule_helper/pose_estimator_area.cpp + src/switch_rule/pcd_map_based_rule.cpp + src/switch_rule/vector_map_based_rule.cpp + src/rule_helper/pcd_occupancy.cpp + src/rule_helper/pose_estimator_area.cpp ) target_include_directories(example_rule PUBLIC src example_rule/src) -target_link_libraries(example_rule pose_estimator_arbiter) +target_link_libraries(example_rule autoware_pose_estimator_arbiter) # ============================== # define test definition macro @@ -16,7 +16,7 @@ function(add_testcase filepath) string(REGEX REPLACE ".cpp" "" test_name ${filename}) ament_add_gtest(${test_name} ${filepath}) - target_link_libraries("${test_name}" pose_estimator_arbiter example_rule) + target_link_libraries("${test_name}" autoware_pose_estimator_arbiter example_rule) target_include_directories(${test_name} PUBLIC src) ament_target_dependencies(${test_name} ${${PROJECT_NAME}_FOUND_BUILD_DEPENDS}) endfunction() diff --git a/localization/pose_estimator_arbiter/example_rule/README.md b/localization/autoware_pose_estimator_arbiter/example_rule/README.md similarity index 100% rename from localization/pose_estimator_arbiter/example_rule/README.md rename to localization/autoware_pose_estimator_arbiter/example_rule/README.md diff --git a/localization/pose_estimator_arbiter/example_rule/src/pose_estimator_arbiter/rule_helper/grid_key.hpp b/localization/autoware_pose_estimator_arbiter/example_rule/src/rule_helper/grid_key.hpp similarity index 78% rename from localization/pose_estimator_arbiter/example_rule/src/pose_estimator_arbiter/rule_helper/grid_key.hpp rename to localization/autoware_pose_estimator_arbiter/example_rule/src/rule_helper/grid_key.hpp index b4ad7111e4ba0..d4d4409ade979 100644 --- a/localization/pose_estimator_arbiter/example_rule/src/pose_estimator_arbiter/rule_helper/grid_key.hpp +++ b/localization/autoware_pose_estimator_arbiter/example_rule/src/rule_helper/grid_key.hpp @@ -12,15 +12,15 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef POSE_ESTIMATOR_ARBITER__RULE_HELPER__GRID_KEY_HPP_ -#define POSE_ESTIMATOR_ARBITER__RULE_HELPER__GRID_KEY_HPP_ +#ifndef RULE_HELPER__GRID_KEY_HPP_ +#define RULE_HELPER__GRID_KEY_HPP_ #include #include #include -namespace pose_estimator_arbiter::rule_helper +namespace autoware::pose_estimator_arbiter::rule_helper { struct GridKey { @@ -46,16 +46,16 @@ struct GridKey friend bool operator!=(const GridKey & one, const GridKey & other) { return !(one == other); } }; -} // namespace pose_estimator_arbiter::rule_helper +} // namespace autoware::pose_estimator_arbiter::rule_helper // This is for unordered_map and unordered_set namespace std { template <> -struct hash +struct hash { public: - size_t operator()(const pose_estimator_arbiter::rule_helper::GridKey & grid) const + size_t operator()(const autoware::pose_estimator_arbiter::rule_helper::GridKey & grid) const { std::size_t seed = 0; boost::hash_combine(seed, grid.x); @@ -65,4 +65,4 @@ struct hash }; } // namespace std -#endif // POSE_ESTIMATOR_ARBITER__RULE_HELPER__GRID_KEY_HPP_ +#endif // RULE_HELPER__GRID_KEY_HPP_ diff --git a/localization/pose_estimator_arbiter/example_rule/src/pose_estimator_arbiter/rule_helper/pcd_occupancy.cpp b/localization/autoware_pose_estimator_arbiter/example_rule/src/rule_helper/pcd_occupancy.cpp similarity index 93% rename from localization/pose_estimator_arbiter/example_rule/src/pose_estimator_arbiter/rule_helper/pcd_occupancy.cpp rename to localization/autoware_pose_estimator_arbiter/example_rule/src/rule_helper/pcd_occupancy.cpp index 4b0188a1638f6..197bff459530d 100644 --- a/localization/pose_estimator_arbiter/example_rule/src/pose_estimator_arbiter/rule_helper/pcd_occupancy.cpp +++ b/localization/autoware_pose_estimator_arbiter/example_rule/src/rule_helper/pcd_occupancy.cpp @@ -12,9 +12,9 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "pose_estimator_arbiter/rule_helper/pcd_occupancy.hpp" +#include "rule_helper/pcd_occupancy.hpp" -#include "pose_estimator_arbiter/rule_helper/grid_key.hpp" +#include "rule_helper/grid_key.hpp" #include @@ -25,7 +25,7 @@ #include #include -namespace pose_estimator_arbiter::rule_helper +namespace autoware::pose_estimator_arbiter::rule_helper { PcdOccupancy::PcdOccupancy(int pcd_density_upper_threshold, int pcd_density_lower_threshold) : pcd_density_upper_threshold_(pcd_density_upper_threshold), @@ -114,4 +114,4 @@ void PcdOccupancy::init(PointCloud2::ConstSharedPtr msg) kdtree_->setInputCloud(occupied_areas_); } -} // namespace pose_estimator_arbiter::rule_helper +} // namespace autoware::pose_estimator_arbiter::rule_helper diff --git a/localization/pose_estimator_arbiter/example_rule/src/pose_estimator_arbiter/rule_helper/pcd_occupancy.hpp b/localization/autoware_pose_estimator_arbiter/example_rule/src/rule_helper/pcd_occupancy.hpp similarity index 83% rename from localization/pose_estimator_arbiter/example_rule/src/pose_estimator_arbiter/rule_helper/pcd_occupancy.hpp rename to localization/autoware_pose_estimator_arbiter/example_rule/src/rule_helper/pcd_occupancy.hpp index 098704e11aba9..e38cb1bd1ee38 100644 --- a/localization/pose_estimator_arbiter/example_rule/src/pose_estimator_arbiter/rule_helper/pcd_occupancy.hpp +++ b/localization/autoware_pose_estimator_arbiter/example_rule/src/rule_helper/pcd_occupancy.hpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef POSE_ESTIMATOR_ARBITER__RULE_HELPER__PCD_OCCUPANCY_HPP_ -#define POSE_ESTIMATOR_ARBITER__RULE_HELPER__PCD_OCCUPANCY_HPP_ +#ifndef RULE_HELPER__PCD_OCCUPANCY_HPP_ +#define RULE_HELPER__PCD_OCCUPANCY_HPP_ #include @@ -26,7 +26,7 @@ #include -namespace pose_estimator_arbiter::rule_helper +namespace autoware::pose_estimator_arbiter::rule_helper { class PcdOccupancy { @@ -49,6 +49,6 @@ class PcdOccupancy pcl::KdTreeFLANN::Ptr kdtree_{nullptr}; }; -} // namespace pose_estimator_arbiter::rule_helper +} // namespace autoware::pose_estimator_arbiter::rule_helper -#endif // POSE_ESTIMATOR_ARBITER__RULE_HELPER__PCD_OCCUPANCY_HPP_ +#endif // RULE_HELPER__PCD_OCCUPANCY_HPP_ diff --git a/localization/pose_estimator_arbiter/example_rule/src/pose_estimator_arbiter/rule_helper/pose_estimator_area.cpp b/localization/autoware_pose_estimator_arbiter/example_rule/src/rule_helper/pose_estimator_area.cpp similarity index 96% rename from localization/pose_estimator_arbiter/example_rule/src/pose_estimator_arbiter/rule_helper/pose_estimator_area.cpp rename to localization/autoware_pose_estimator_arbiter/example_rule/src/rule_helper/pose_estimator_area.cpp index 1bf359b6ab54d..41ad45430d238 100644 --- a/localization/pose_estimator_arbiter/example_rule/src/pose_estimator_arbiter/rule_helper/pose_estimator_area.cpp +++ b/localization/autoware_pose_estimator_arbiter/example_rule/src/rule_helper/pose_estimator_area.cpp @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "pose_estimator_arbiter/rule_helper/pose_estimator_area.hpp" +#include "rule_helper/pose_estimator_area.hpp" #include #include @@ -26,7 +26,7 @@ #include #include -namespace pose_estimator_arbiter::rule_helper +namespace autoware::pose_estimator_arbiter::rule_helper { using BoostPoint = boost::geometry::model::d2::point_xy; using BoostPolygon = boost::geometry::model::polygon; @@ -141,4 +141,4 @@ bool PoseEstimatorArea::Impl::within( } return false; } -} // namespace pose_estimator_arbiter::rule_helper +} // namespace autoware::pose_estimator_arbiter::rule_helper diff --git a/localization/pose_estimator_arbiter/example_rule/src/pose_estimator_arbiter/rule_helper/pose_estimator_area.hpp b/localization/autoware_pose_estimator_arbiter/example_rule/src/rule_helper/pose_estimator_area.hpp similarity index 83% rename from localization/pose_estimator_arbiter/example_rule/src/pose_estimator_arbiter/rule_helper/pose_estimator_area.hpp rename to localization/autoware_pose_estimator_arbiter/example_rule/src/rule_helper/pose_estimator_area.hpp index 74843c66a4eba..262b064615bc1 100644 --- a/localization/pose_estimator_arbiter/example_rule/src/pose_estimator_arbiter/rule_helper/pose_estimator_area.hpp +++ b/localization/autoware_pose_estimator_arbiter/example_rule/src/rule_helper/pose_estimator_area.hpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef POSE_ESTIMATOR_ARBITER__RULE_HELPER__POSE_ESTIMATOR_AREA_HPP_ -#define POSE_ESTIMATOR_ARBITER__RULE_HELPER__POSE_ESTIMATOR_AREA_HPP_ +#ifndef RULE_HELPER__POSE_ESTIMATOR_AREA_HPP_ +#define RULE_HELPER__POSE_ESTIMATOR_AREA_HPP_ #include #include @@ -25,7 +25,7 @@ #include #include -namespace pose_estimator_arbiter::rule_helper +namespace autoware::pose_estimator_arbiter::rule_helper { class PoseEstimatorArea { @@ -51,6 +51,6 @@ class PoseEstimatorArea rclcpp::Logger logger_; }; -} // namespace pose_estimator_arbiter::rule_helper +} // namespace autoware::pose_estimator_arbiter::rule_helper -#endif // POSE_ESTIMATOR_ARBITER__RULE_HELPER__POSE_ESTIMATOR_AREA_HPP_ +#endif // RULE_HELPER__POSE_ESTIMATOR_AREA_HPP_ diff --git a/localization/pose_estimator_arbiter/example_rule/src/pose_estimator_arbiter/switch_rule/pcd_map_based_rule.cpp b/localization/autoware_pose_estimator_arbiter/example_rule/src/switch_rule/pcd_map_based_rule.cpp similarity index 93% rename from localization/pose_estimator_arbiter/example_rule/src/pose_estimator_arbiter/switch_rule/pcd_map_based_rule.cpp rename to localization/autoware_pose_estimator_arbiter/example_rule/src/switch_rule/pcd_map_based_rule.cpp index 3a565e7f2e4df..cc5414ebd0a68 100644 --- a/localization/pose_estimator_arbiter/example_rule/src/pose_estimator_arbiter/switch_rule/pcd_map_based_rule.cpp +++ b/localization/autoware_pose_estimator_arbiter/example_rule/src/switch_rule/pcd_map_based_rule.cpp @@ -12,13 +12,13 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "pose_estimator_arbiter/switch_rule/pcd_map_based_rule.hpp" +#include "switch_rule/pcd_map_based_rule.hpp" #include #include -namespace pose_estimator_arbiter::switch_rule +namespace autoware::pose_estimator_arbiter::switch_rule { PcdMapBasedRule::PcdMapBasedRule( rclcpp::Node & node, std::unordered_set running_estimator_list, @@ -77,4 +77,4 @@ std::unordered_map PcdMapBasedRule::update() {PoseEstimatorType::artag, false}}; } -} // namespace pose_estimator_arbiter::switch_rule +} // namespace autoware::pose_estimator_arbiter::switch_rule diff --git a/localization/pose_estimator_arbiter/example_rule/src/pose_estimator_arbiter/switch_rule/pcd_map_based_rule.hpp b/localization/autoware_pose_estimator_arbiter/example_rule/src/switch_rule/pcd_map_based_rule.hpp similarity index 71% rename from localization/pose_estimator_arbiter/example_rule/src/pose_estimator_arbiter/switch_rule/pcd_map_based_rule.hpp rename to localization/autoware_pose_estimator_arbiter/example_rule/src/switch_rule/pcd_map_based_rule.hpp index ab4d18dcad66a..45559fe37e606 100644 --- a/localization/pose_estimator_arbiter/example_rule/src/pose_estimator_arbiter/switch_rule/pcd_map_based_rule.hpp +++ b/localization/autoware_pose_estimator_arbiter/example_rule/src/switch_rule/pcd_map_based_rule.hpp @@ -12,20 +12,20 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef POSE_ESTIMATOR_ARBITER__SWITCH_RULE__PCD_MAP_BASED_RULE_HPP_ -#define POSE_ESTIMATOR_ARBITER__SWITCH_RULE__PCD_MAP_BASED_RULE_HPP_ +#ifndef SWITCH_RULE__PCD_MAP_BASED_RULE_HPP_ +#define SWITCH_RULE__PCD_MAP_BASED_RULE_HPP_ -#include "pose_estimator_arbiter/pose_estimator_type.hpp" -#include "pose_estimator_arbiter/rule_helper/pcd_occupancy.hpp" -#include "pose_estimator_arbiter/shared_data.hpp" -#include "pose_estimator_arbiter/switch_rule/base_switch_rule.hpp" +#include "pose_estimator_type.hpp" +#include "rule_helper/pcd_occupancy.hpp" +#include "shared_data.hpp" +#include "switch_rule/base_switch_rule.hpp" #include #include #include #include -namespace pose_estimator_arbiter::switch_rule +namespace autoware::pose_estimator_arbiter::switch_rule { class PcdMapBasedRule : public BaseSwitchRule { @@ -49,6 +49,6 @@ class PcdMapBasedRule : public BaseSwitchRule // Store the reason why which pose estimator is enabled mutable std::string debug_string_; }; -} // namespace pose_estimator_arbiter::switch_rule +} // namespace autoware::pose_estimator_arbiter::switch_rule -#endif // POSE_ESTIMATOR_ARBITER__SWITCH_RULE__PCD_MAP_BASED_RULE_HPP_ +#endif // SWITCH_RULE__PCD_MAP_BASED_RULE_HPP_ diff --git a/localization/pose_estimator_arbiter/example_rule/src/pose_estimator_arbiter/switch_rule/vector_map_based_rule.cpp b/localization/autoware_pose_estimator_arbiter/example_rule/src/switch_rule/vector_map_based_rule.cpp similarity index 93% rename from localization/pose_estimator_arbiter/example_rule/src/pose_estimator_arbiter/switch_rule/vector_map_based_rule.cpp rename to localization/autoware_pose_estimator_arbiter/example_rule/src/switch_rule/vector_map_based_rule.cpp index dffb738e87685..58cf9ab09e9a7 100644 --- a/localization/pose_estimator_arbiter/example_rule/src/pose_estimator_arbiter/switch_rule/vector_map_based_rule.cpp +++ b/localization/autoware_pose_estimator_arbiter/example_rule/src/switch_rule/vector_map_based_rule.cpp @@ -12,13 +12,13 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "pose_estimator_arbiter/switch_rule/vector_map_based_rule.hpp" +#include "switch_rule/vector_map_based_rule.hpp" #include #include -namespace pose_estimator_arbiter::switch_rule +namespace autoware::pose_estimator_arbiter::switch_rule { VectorMapBasedRule::VectorMapBasedRule( rclcpp::Node & node, std::unordered_set running_estimator_list, @@ -76,4 +76,4 @@ std::unordered_map VectorMapBasedRule::update() return enable_list; } -} // namespace pose_estimator_arbiter::switch_rule +} // namespace autoware::pose_estimator_arbiter::switch_rule diff --git a/localization/pose_estimator_arbiter/example_rule/src/pose_estimator_arbiter/switch_rule/vector_map_based_rule.hpp b/localization/autoware_pose_estimator_arbiter/example_rule/src/switch_rule/vector_map_based_rule.hpp similarity index 71% rename from localization/pose_estimator_arbiter/example_rule/src/pose_estimator_arbiter/switch_rule/vector_map_based_rule.hpp rename to localization/autoware_pose_estimator_arbiter/example_rule/src/switch_rule/vector_map_based_rule.hpp index 83723a346054b..356651af223f3 100644 --- a/localization/pose_estimator_arbiter/example_rule/src/pose_estimator_arbiter/switch_rule/vector_map_based_rule.hpp +++ b/localization/autoware_pose_estimator_arbiter/example_rule/src/switch_rule/vector_map_based_rule.hpp @@ -12,13 +12,13 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef POSE_ESTIMATOR_ARBITER__SWITCH_RULE__VECTOR_MAP_BASED_RULE_HPP_ -#define POSE_ESTIMATOR_ARBITER__SWITCH_RULE__VECTOR_MAP_BASED_RULE_HPP_ +#ifndef SWITCH_RULE__VECTOR_MAP_BASED_RULE_HPP_ +#define SWITCH_RULE__VECTOR_MAP_BASED_RULE_HPP_ -#include "pose_estimator_arbiter/pose_estimator_type.hpp" -#include "pose_estimator_arbiter/rule_helper/pose_estimator_area.hpp" -#include "pose_estimator_arbiter/shared_data.hpp" -#include "pose_estimator_arbiter/switch_rule/base_switch_rule.hpp" +#include "pose_estimator_type.hpp" +#include "rule_helper/pose_estimator_area.hpp" +#include "shared_data.hpp" +#include "switch_rule/base_switch_rule.hpp" #include #include @@ -26,7 +26,7 @@ #include #include -namespace pose_estimator_arbiter::switch_rule +namespace autoware::pose_estimator_arbiter::switch_rule { class VectorMapBasedRule : public BaseSwitchRule { @@ -50,6 +50,6 @@ class VectorMapBasedRule : public BaseSwitchRule std::unique_ptr pose_estimator_area_{nullptr}; }; -} // namespace pose_estimator_arbiter::switch_rule +} // namespace autoware::pose_estimator_arbiter::switch_rule -#endif // POSE_ESTIMATOR_ARBITER__SWITCH_RULE__VECTOR_MAP_BASED_RULE_HPP_ +#endif // SWITCH_RULE__VECTOR_MAP_BASED_RULE_HPP_ diff --git a/localization/pose_estimator_arbiter/example_rule/test/test_pcd_map_based_rule.cpp b/localization/autoware_pose_estimator_arbiter/example_rule/test/test_pcd_map_based_rule.cpp similarity index 62% rename from localization/pose_estimator_arbiter/example_rule/test/test_pcd_map_based_rule.cpp rename to localization/autoware_pose_estimator_arbiter/example_rule/test/test_pcd_map_based_rule.cpp index f53e01dc9c548..0d1f245123806 100644 --- a/localization/pose_estimator_arbiter/example_rule/test/test_pcd_map_based_rule.cpp +++ b/localization/autoware_pose_estimator_arbiter/example_rule/test/test_pcd_map_based_rule.cpp @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "pose_estimator_arbiter/switch_rule/pcd_map_based_rule.hpp" +#include "switch_rule/pcd_map_based_rule.hpp" #include #include @@ -30,21 +30,21 @@ class PcdMapBasedRuleMockNode : public ::testing::Test node->declare_parameter("pcd_density_upper_threshold", 5); const auto running_estimator_list = - std::unordered_set{ - pose_estimator_arbiter::PoseEstimatorType::ndt, - pose_estimator_arbiter::PoseEstimatorType::yabloc, - pose_estimator_arbiter::PoseEstimatorType::eagleye, - pose_estimator_arbiter::PoseEstimatorType::artag}; + std::unordered_set{ + autoware::pose_estimator_arbiter::PoseEstimatorType::ndt, + autoware::pose_estimator_arbiter::PoseEstimatorType::yabloc, + autoware::pose_estimator_arbiter::PoseEstimatorType::eagleye, + autoware::pose_estimator_arbiter::PoseEstimatorType::artag}; - shared_data_ = std::make_shared(); + shared_data_ = std::make_shared(); - rule_ = std::make_shared( + rule_ = std::make_shared( *node, running_estimator_list, shared_data_); } std::shared_ptr node; - std::shared_ptr shared_data_; - std::shared_ptr rule_; + std::shared_ptr shared_data_; + std::shared_ptr rule_; void TearDown() override { rclcpp::shutdown(); } }; @@ -81,10 +81,10 @@ TEST_F(PcdMapBasedRuleMockNode, pcdMapBasedRule) shared_data_->localization_pose_cov.set_and_invoke( std::make_shared(position)); auto ret = rule_->update(); - EXPECT_TRUE(ret.at(pose_estimator_arbiter::PoseEstimatorType::ndt)); - EXPECT_FALSE(ret.at(pose_estimator_arbiter::PoseEstimatorType::yabloc)); - EXPECT_FALSE(ret.at(pose_estimator_arbiter::PoseEstimatorType::eagleye)); - EXPECT_FALSE(ret.at(pose_estimator_arbiter::PoseEstimatorType::artag)); + EXPECT_TRUE(ret.at(autoware::pose_estimator_arbiter::PoseEstimatorType::ndt)); + EXPECT_FALSE(ret.at(autoware::pose_estimator_arbiter::PoseEstimatorType::yabloc)); + EXPECT_FALSE(ret.at(autoware::pose_estimator_arbiter::PoseEstimatorType::eagleye)); + EXPECT_FALSE(ret.at(autoware::pose_estimator_arbiter::PoseEstimatorType::artag)); } { @@ -92,9 +92,9 @@ TEST_F(PcdMapBasedRuleMockNode, pcdMapBasedRule) shared_data_->localization_pose_cov.set_and_invoke( std::make_shared(position)); auto ret = rule_->update(); - EXPECT_FALSE(ret.at(pose_estimator_arbiter::PoseEstimatorType::ndt)); - EXPECT_TRUE(ret.at(pose_estimator_arbiter::PoseEstimatorType::yabloc)); - EXPECT_FALSE(ret.at(pose_estimator_arbiter::PoseEstimatorType::eagleye)); - EXPECT_FALSE(ret.at(pose_estimator_arbiter::PoseEstimatorType::artag)); + EXPECT_FALSE(ret.at(autoware::pose_estimator_arbiter::PoseEstimatorType::ndt)); + EXPECT_TRUE(ret.at(autoware::pose_estimator_arbiter::PoseEstimatorType::yabloc)); + EXPECT_FALSE(ret.at(autoware::pose_estimator_arbiter::PoseEstimatorType::eagleye)); + EXPECT_FALSE(ret.at(autoware::pose_estimator_arbiter::PoseEstimatorType::artag)); } } diff --git a/localization/pose_estimator_arbiter/example_rule/test/test_rule_helper.cpp b/localization/autoware_pose_estimator_arbiter/example_rule/test/test_rule_helper.cpp similarity index 87% rename from localization/pose_estimator_arbiter/example_rule/test/test_rule_helper.cpp rename to localization/autoware_pose_estimator_arbiter/example_rule/test/test_rule_helper.cpp index 3258a1be34fda..10833b5498b89 100644 --- a/localization/pose_estimator_arbiter/example_rule/test/test_rule_helper.cpp +++ b/localization/autoware_pose_estimator_arbiter/example_rule/test/test_rule_helper.cpp @@ -12,9 +12,9 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "pose_estimator_arbiter/rule_helper/grid_key.hpp" -#include "pose_estimator_arbiter/rule_helper/pcd_occupancy.hpp" -#include "pose_estimator_arbiter/rule_helper/pose_estimator_area.hpp" +#include "rule_helper/grid_key.hpp" +#include "rule_helper/pcd_occupancy.hpp" +#include "rule_helper/pose_estimator_area.hpp" #include @@ -64,7 +64,7 @@ TEST_F(RuleHelperMockNode, poseEstimatorArea) HADMapBin msg; lanelet::utils::conversion::toBinMsg(lanelet_map, &msg); - pose_estimator_arbiter::rule_helper::PoseEstimatorArea pose_estimator_area(&(*node)); + autoware::pose_estimator_arbiter::rule_helper::PoseEstimatorArea pose_estimator_area(&(*node)); pose_estimator_area.init(std::make_shared(msg)); EXPECT_TRUE(pose_estimator_area.within(Point().set__x(5).set__y(5).set__z(0), "ndt")); @@ -75,11 +75,11 @@ TEST_F(RuleHelperMockNode, poseEstimatorArea) TEST_F(RuleHelperMockNode, pcdOccupancy) { - using pose_estimator_arbiter::rule_helper::PcdOccupancy; + using autoware::pose_estimator_arbiter::rule_helper::PcdOccupancy; const int pcd_density_upper_threshold = 20; const int pcd_density_lower_threshold = 10; - pose_estimator_arbiter::rule_helper::PcdOccupancy pcd_occupancy( + autoware::pose_estimator_arbiter::rule_helper::PcdOccupancy pcd_occupancy( pcd_density_upper_threshold, pcd_density_lower_threshold); geometry_msgs::msg::Point point; @@ -91,7 +91,7 @@ TEST_F(RuleHelperMockNode, pcdOccupancy) TEST_F(RuleHelperMockNode, gridKey) { - using pose_estimator_arbiter::rule_helper::GridKey; + using autoware::pose_estimator_arbiter::rule_helper::GridKey; EXPECT_TRUE(GridKey(10., -5.) == GridKey(10., -10.)); EXPECT_TRUE(GridKey(10., -5.) != GridKey(10., -15.)); diff --git a/localization/pose_estimator_arbiter/example_rule/test/test_vector_map_based_rule.cpp b/localization/autoware_pose_estimator_arbiter/example_rule/test/test_vector_map_based_rule.cpp similarity index 65% rename from localization/pose_estimator_arbiter/example_rule/test/test_vector_map_based_rule.cpp rename to localization/autoware_pose_estimator_arbiter/example_rule/test/test_vector_map_based_rule.cpp index ec8c905bf8311..9d537f2048176 100644 --- a/localization/pose_estimator_arbiter/example_rule/test/test_vector_map_based_rule.cpp +++ b/localization/autoware_pose_estimator_arbiter/example_rule/test/test_vector_map_based_rule.cpp @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "pose_estimator_arbiter/switch_rule/vector_map_based_rule.hpp" +#include "switch_rule/vector_map_based_rule.hpp" #include @@ -33,21 +33,21 @@ class VectorMapBasedRuleMockNode : public ::testing::Test node = std::make_shared("test_node"); const auto running_estimator_list = - std::unordered_set{ - pose_estimator_arbiter::PoseEstimatorType::ndt, - pose_estimator_arbiter::PoseEstimatorType::yabloc, - pose_estimator_arbiter::PoseEstimatorType::eagleye, - pose_estimator_arbiter::PoseEstimatorType::artag}; + std::unordered_set{ + autoware::pose_estimator_arbiter::PoseEstimatorType::ndt, + autoware::pose_estimator_arbiter::PoseEstimatorType::yabloc, + autoware::pose_estimator_arbiter::PoseEstimatorType::eagleye, + autoware::pose_estimator_arbiter::PoseEstimatorType::artag}; - shared_data_ = std::make_shared(); + shared_data_ = std::make_shared(); - rule_ = std::make_shared( + rule_ = std::make_shared( *node, running_estimator_list, shared_data_); } std::shared_ptr node; - std::shared_ptr shared_data_; - std::shared_ptr rule_; + std::shared_ptr shared_data_; + std::shared_ptr rule_; void TearDown() override { rclcpp::shutdown(); } }; @@ -90,17 +90,17 @@ TEST_F(VectorMapBasedRuleMockNode, vectorMapBasedRule) { shared_data_->localization_pose_cov.set_and_invoke(create_pose(5, 5)); auto ret = rule_->update(); - EXPECT_TRUE(ret.at(pose_estimator_arbiter::PoseEstimatorType::ndt)); - EXPECT_FALSE(ret.at(pose_estimator_arbiter::PoseEstimatorType::yabloc)); - EXPECT_FALSE(ret.at(pose_estimator_arbiter::PoseEstimatorType::eagleye)); - EXPECT_FALSE(ret.at(pose_estimator_arbiter::PoseEstimatorType::artag)); + EXPECT_TRUE(ret.at(autoware::pose_estimator_arbiter::PoseEstimatorType::ndt)); + EXPECT_FALSE(ret.at(autoware::pose_estimator_arbiter::PoseEstimatorType::yabloc)); + EXPECT_FALSE(ret.at(autoware::pose_estimator_arbiter::PoseEstimatorType::eagleye)); + EXPECT_FALSE(ret.at(autoware::pose_estimator_arbiter::PoseEstimatorType::artag)); } { shared_data_->localization_pose_cov.set_and_invoke(create_pose(15, 15)); auto ret = rule_->update(); - EXPECT_FALSE(ret.at(pose_estimator_arbiter::PoseEstimatorType::ndt)); - EXPECT_FALSE(ret.at(pose_estimator_arbiter::PoseEstimatorType::yabloc)); - EXPECT_FALSE(ret.at(pose_estimator_arbiter::PoseEstimatorType::eagleye)); - EXPECT_FALSE(ret.at(pose_estimator_arbiter::PoseEstimatorType::artag)); + EXPECT_FALSE(ret.at(autoware::pose_estimator_arbiter::PoseEstimatorType::ndt)); + EXPECT_FALSE(ret.at(autoware::pose_estimator_arbiter::PoseEstimatorType::yabloc)); + EXPECT_FALSE(ret.at(autoware::pose_estimator_arbiter::PoseEstimatorType::eagleye)); + EXPECT_FALSE(ret.at(autoware::pose_estimator_arbiter::PoseEstimatorType::artag)); } } diff --git a/localization/pose_estimator_arbiter/launch/pose_estimator_arbiter.launch.xml b/localization/autoware_pose_estimator_arbiter/launch/pose_estimator_arbiter.launch.xml similarity index 93% rename from localization/pose_estimator_arbiter/launch/pose_estimator_arbiter.launch.xml rename to localization/autoware_pose_estimator_arbiter/launch/pose_estimator_arbiter.launch.xml index b5be96fc3ce44..d38f0e2a104a8 100644 --- a/localization/pose_estimator_arbiter/launch/pose_estimator_arbiter.launch.xml +++ b/localization/autoware_pose_estimator_arbiter/launch/pose_estimator_arbiter.launch.xml @@ -3,7 +3,7 @@ - + diff --git a/localization/pose_estimator_arbiter/media/architecture.drawio.svg b/localization/autoware_pose_estimator_arbiter/media/architecture.drawio.svg similarity index 100% rename from localization/pose_estimator_arbiter/media/architecture.drawio.svg rename to localization/autoware_pose_estimator_arbiter/media/architecture.drawio.svg diff --git a/localization/pose_estimator_arbiter/media/pcd_occupancy.drawio.svg b/localization/autoware_pose_estimator_arbiter/media/pcd_occupancy.drawio.svg similarity index 100% rename from localization/pose_estimator_arbiter/media/pcd_occupancy.drawio.svg rename to localization/autoware_pose_estimator_arbiter/media/pcd_occupancy.drawio.svg diff --git a/localization/pose_estimator_arbiter/media/pose_estimator_area_in_vector_map.png b/localization/autoware_pose_estimator_arbiter/media/pose_estimator_area_in_vector_map.png similarity index 100% rename from localization/pose_estimator_arbiter/media/pose_estimator_area_in_vector_map.png rename to localization/autoware_pose_estimator_arbiter/media/pose_estimator_area_in_vector_map.png diff --git a/localization/pose_estimator_arbiter/media/single_pose_estimator.drawio.svg b/localization/autoware_pose_estimator_arbiter/media/single_pose_estimator.drawio.svg similarity index 100% rename from localization/pose_estimator_arbiter/media/single_pose_estimator.drawio.svg rename to localization/autoware_pose_estimator_arbiter/media/single_pose_estimator.drawio.svg diff --git a/localization/pose_estimator_arbiter/package.xml b/localization/autoware_pose_estimator_arbiter/package.xml similarity index 97% rename from localization/pose_estimator_arbiter/package.xml rename to localization/autoware_pose_estimator_arbiter/package.xml index d97c9f15fc8ae..f3aa30a2c6425 100644 --- a/localization/pose_estimator_arbiter/package.xml +++ b/localization/autoware_pose_estimator_arbiter/package.xml @@ -1,7 +1,7 @@ - pose_estimator_arbiter + autoware_pose_estimator_arbiter 0.1.0 The arbiter of multiple pose estimators Yamato Ando diff --git a/localization/pose_estimator_arbiter/src/pose_estimator_arbiter/pose_estimator_arbiter.hpp b/localization/autoware_pose_estimator_arbiter/src/pose_estimator_arbiter.hpp similarity index 89% rename from localization/pose_estimator_arbiter/src/pose_estimator_arbiter/pose_estimator_arbiter.hpp rename to localization/autoware_pose_estimator_arbiter/src/pose_estimator_arbiter.hpp index 013b4b38f9ef6..b70ab378eac67 100644 --- a/localization/pose_estimator_arbiter/src/pose_estimator_arbiter/pose_estimator_arbiter.hpp +++ b/localization/autoware_pose_estimator_arbiter/src/pose_estimator_arbiter.hpp @@ -12,12 +12,12 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef POSE_ESTIMATOR_ARBITER__POSE_ESTIMATOR_ARBITER_HPP_ -#define POSE_ESTIMATOR_ARBITER__POSE_ESTIMATOR_ARBITER_HPP_ +#ifndef POSE_ESTIMATOR_ARBITER_HPP_ +#define POSE_ESTIMATOR_ARBITER_HPP_ -#include "pose_estimator_arbiter/shared_data.hpp" -#include "pose_estimator_arbiter/stopper/base_stopper.hpp" -#include "pose_estimator_arbiter/switch_rule/base_switch_rule.hpp" +#include "shared_data.hpp" +#include "stopper/base_stopper.hpp" +#include "switch_rule/base_switch_rule.hpp" #include #include @@ -32,7 +32,7 @@ #include #include -namespace pose_estimator_arbiter +namespace autoware::pose_estimator_arbiter { class PoseEstimatorArbiter : public rclcpp::Node { @@ -95,6 +95,6 @@ class PoseEstimatorArbiter : public rclcpp::Node // Timer callback void on_timer(); }; -} // namespace pose_estimator_arbiter +} // namespace autoware::pose_estimator_arbiter -#endif // POSE_ESTIMATOR_ARBITER__POSE_ESTIMATOR_ARBITER_HPP_ +#endif // POSE_ESTIMATOR_ARBITER_HPP_ diff --git a/localization/pose_estimator_arbiter/src/pose_estimator_arbiter/pose_estimator_arbiter_core.cpp b/localization/autoware_pose_estimator_arbiter/src/pose_estimator_arbiter_core.cpp similarity index 90% rename from localization/pose_estimator_arbiter/src/pose_estimator_arbiter/pose_estimator_arbiter_core.cpp rename to localization/autoware_pose_estimator_arbiter/src/pose_estimator_arbiter_core.cpp index 8e25628d6e0fc..9108d44e82fb5 100644 --- a/localization/pose_estimator_arbiter/src/pose_estimator_arbiter/pose_estimator_arbiter_core.cpp +++ b/localization/autoware_pose_estimator_arbiter/src/pose_estimator_arbiter_core.cpp @@ -12,17 +12,17 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "pose_estimator_arbiter/pose_estimator_arbiter.hpp" -#include "pose_estimator_arbiter/pose_estimator_type.hpp" -#include "pose_estimator_arbiter/stopper/stopper_artag.hpp" -#include "pose_estimator_arbiter/stopper/stopper_eagleye.hpp" -#include "pose_estimator_arbiter/stopper/stopper_ndt.hpp" -#include "pose_estimator_arbiter/stopper/stopper_yabloc.hpp" -#include "pose_estimator_arbiter/switch_rule/enable_all_rule.hpp" +#include "pose_estimator_arbiter.hpp" +#include "pose_estimator_type.hpp" +#include "stopper/stopper_artag.hpp" +#include "stopper/stopper_eagleye.hpp" +#include "stopper/stopper_ndt.hpp" +#include "stopper/stopper_yabloc.hpp" +#include "switch_rule/enable_all_rule.hpp" #include -namespace pose_estimator_arbiter +namespace autoware::pose_estimator_arbiter { // Parses ros param to get the estimator set that is running static std::unordered_set parse_estimator_name_args( @@ -111,9 +111,9 @@ PoseEstimatorArbiter::PoseEstimatorArbiter(const rclcpp::NodeOptions & options) load_switch_rule(); // Timer callback - auto on_timer = std::bind(&PoseEstimatorArbiter::on_timer, this); - timer_ = - rclcpp::create_timer(this, this->get_clock(), rclcpp::Rate(1).period(), std::move(on_timer)); + auto on_timer_callback = std::bind(&PoseEstimatorArbiter::on_timer, this); + timer_ = rclcpp::create_timer( + this, this->get_clock(), rclcpp::Rate(1).period(), std::move(on_timer_callback)); // Enable all pose estimators at the first toggle_all(true); @@ -210,7 +210,7 @@ void PoseEstimatorArbiter::on_timer() publish_diagnostics(); } -} // namespace pose_estimator_arbiter +} // namespace autoware::pose_estimator_arbiter #include -RCLCPP_COMPONENTS_REGISTER_NODE(pose_estimator_arbiter::PoseEstimatorArbiter) +RCLCPP_COMPONENTS_REGISTER_NODE(autoware::pose_estimator_arbiter::PoseEstimatorArbiter) diff --git a/localization/pose_estimator_arbiter/src/pose_estimator_arbiter/pose_estimator_type.hpp b/localization/autoware_pose_estimator_arbiter/src/pose_estimator_type.hpp similarity index 73% rename from localization/pose_estimator_arbiter/src/pose_estimator_arbiter/pose_estimator_type.hpp rename to localization/autoware_pose_estimator_arbiter/src/pose_estimator_type.hpp index d78bfeb05b4f0..98f92612f8bc7 100644 --- a/localization/pose_estimator_arbiter/src/pose_estimator_arbiter/pose_estimator_type.hpp +++ b/localization/autoware_pose_estimator_arbiter/src/pose_estimator_type.hpp @@ -12,12 +12,12 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef POSE_ESTIMATOR_ARBITER__POSE_ESTIMATOR_TYPE_HPP_ -#define POSE_ESTIMATOR_ARBITER__POSE_ESTIMATOR_TYPE_HPP_ +#ifndef POSE_ESTIMATOR_TYPE_HPP_ +#define POSE_ESTIMATOR_TYPE_HPP_ -namespace pose_estimator_arbiter +namespace autoware::pose_estimator_arbiter { enum class PoseEstimatorType : int { ndt = 1, yabloc = 2, eagleye = 4, artag = 8 }; -} // namespace pose_estimator_arbiter +} // namespace autoware::pose_estimator_arbiter -#endif // POSE_ESTIMATOR_ARBITER__POSE_ESTIMATOR_TYPE_HPP_ +#endif // POSE_ESTIMATOR_TYPE_HPP_ diff --git a/localization/pose_estimator_arbiter/src/pose_estimator_arbiter/shared_data.hpp b/localization/autoware_pose_estimator_arbiter/src/shared_data.hpp similarity index 93% rename from localization/pose_estimator_arbiter/src/pose_estimator_arbiter/shared_data.hpp rename to localization/autoware_pose_estimator_arbiter/src/shared_data.hpp index 0d3dbfab11cbe..6332b77a9ed31 100644 --- a/localization/pose_estimator_arbiter/src/pose_estimator_arbiter/shared_data.hpp +++ b/localization/autoware_pose_estimator_arbiter/src/shared_data.hpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef POSE_ESTIMATOR_ARBITER__SHARED_DATA_HPP_ -#define POSE_ESTIMATOR_ARBITER__SHARED_DATA_HPP_ +#ifndef SHARED_DATA_HPP_ +#define SHARED_DATA_HPP_ #include #include @@ -25,7 +25,7 @@ #include #include -namespace pose_estimator_arbiter +namespace autoware::pose_estimator_arbiter { template struct CallbackInvokingVariable @@ -97,5 +97,5 @@ struct SharedData InitializationState{}.set__state(InitializationState::UNINITIALIZED))}; }; -} // namespace pose_estimator_arbiter -#endif // POSE_ESTIMATOR_ARBITER__SHARED_DATA_HPP_ +} // namespace autoware::pose_estimator_arbiter +#endif // SHARED_DATA_HPP_ diff --git a/localization/pose_estimator_arbiter/src/pose_estimator_arbiter/stopper/base_stopper.hpp b/localization/autoware_pose_estimator_arbiter/src/stopper/base_stopper.hpp similarity index 81% rename from localization/pose_estimator_arbiter/src/pose_estimator_arbiter/stopper/base_stopper.hpp rename to localization/autoware_pose_estimator_arbiter/src/stopper/base_stopper.hpp index d64592a12308e..8b47b0e3b3a9a 100644 --- a/localization/pose_estimator_arbiter/src/pose_estimator_arbiter/stopper/base_stopper.hpp +++ b/localization/autoware_pose_estimator_arbiter/src/stopper/base_stopper.hpp @@ -12,17 +12,17 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef POSE_ESTIMATOR_ARBITER__STOPPER__BASE_STOPPER_HPP_ -#define POSE_ESTIMATOR_ARBITER__STOPPER__BASE_STOPPER_HPP_ +#ifndef STOPPER__BASE_STOPPER_HPP_ +#define STOPPER__BASE_STOPPER_HPP_ -#include "pose_estimator_arbiter/shared_data.hpp" +#include "shared_data.hpp" #include #include #include -namespace pose_estimator_arbiter::stopper +namespace autoware::pose_estimator_arbiter::stopper { class BaseStopper { @@ -48,6 +48,6 @@ class BaseStopper rclcpp::Logger logger_; std::shared_ptr shared_data_{nullptr}; }; -} // namespace pose_estimator_arbiter::stopper +} // namespace autoware::pose_estimator_arbiter::stopper -#endif // POSE_ESTIMATOR_ARBITER__STOPPER__BASE_STOPPER_HPP_ +#endif // STOPPER__BASE_STOPPER_HPP_ diff --git a/localization/pose_estimator_arbiter/src/pose_estimator_arbiter/stopper/stopper_artag.hpp b/localization/autoware_pose_estimator_arbiter/src/stopper/stopper_artag.hpp similarity index 82% rename from localization/pose_estimator_arbiter/src/pose_estimator_arbiter/stopper/stopper_artag.hpp rename to localization/autoware_pose_estimator_arbiter/src/stopper/stopper_artag.hpp index f334983f33aad..3635ebd39c545 100644 --- a/localization/pose_estimator_arbiter/src/pose_estimator_arbiter/stopper/stopper_artag.hpp +++ b/localization/autoware_pose_estimator_arbiter/src/stopper/stopper_artag.hpp @@ -12,16 +12,16 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef POSE_ESTIMATOR_ARBITER__STOPPER__STOPPER_ARTAG_HPP_ -#define POSE_ESTIMATOR_ARBITER__STOPPER__STOPPER_ARTAG_HPP_ +#ifndef STOPPER__STOPPER_ARTAG_HPP_ +#define STOPPER__STOPPER_ARTAG_HPP_ -#include "pose_estimator_arbiter/stopper/base_stopper.hpp" +#include "stopper/base_stopper.hpp" #include #include #include -namespace pose_estimator_arbiter::stopper +namespace autoware::pose_estimator_arbiter::stopper { class StopperArTag : public BaseStopper { @@ -52,6 +52,6 @@ class StopperArTag : public BaseStopper bool ar_tag_is_enabled_; rclcpp::Publisher::SharedPtr pub_image_; }; -} // namespace pose_estimator_arbiter::stopper +} // namespace autoware::pose_estimator_arbiter::stopper -#endif // POSE_ESTIMATOR_ARBITER__STOPPER__STOPPER_ARTAG_HPP_ +#endif // STOPPER__STOPPER_ARTAG_HPP_ diff --git a/localization/pose_estimator_arbiter/src/pose_estimator_arbiter/stopper/stopper_eagleye.hpp b/localization/autoware_pose_estimator_arbiter/src/stopper/stopper_eagleye.hpp similarity index 81% rename from localization/pose_estimator_arbiter/src/pose_estimator_arbiter/stopper/stopper_eagleye.hpp rename to localization/autoware_pose_estimator_arbiter/src/stopper/stopper_eagleye.hpp index cc800ad6bdee4..cfddf3e13014f 100644 --- a/localization/pose_estimator_arbiter/src/pose_estimator_arbiter/stopper/stopper_eagleye.hpp +++ b/localization/autoware_pose_estimator_arbiter/src/stopper/stopper_eagleye.hpp @@ -12,15 +12,15 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef POSE_ESTIMATOR_ARBITER__STOPPER__STOPPER_EAGLEYE_HPP_ -#define POSE_ESTIMATOR_ARBITER__STOPPER__STOPPER_EAGLEYE_HPP_ -#include "pose_estimator_arbiter/stopper/base_stopper.hpp" +#ifndef STOPPER__STOPPER_EAGLEYE_HPP_ +#define STOPPER__STOPPER_EAGLEYE_HPP_ +#include "stopper/base_stopper.hpp" #include #include -namespace pose_estimator_arbiter::stopper +namespace autoware::pose_estimator_arbiter::stopper { class StopperEagleye : public BaseStopper { @@ -49,6 +49,6 @@ class StopperEagleye : public BaseStopper bool eagleye_is_enabled_; rclcpp::Publisher::SharedPtr pub_pose_; }; -} // namespace pose_estimator_arbiter::stopper +} // namespace autoware::pose_estimator_arbiter::stopper -#endif // POSE_ESTIMATOR_ARBITER__STOPPER__STOPPER_EAGLEYE_HPP_ +#endif // STOPPER__STOPPER_EAGLEYE_HPP_ diff --git a/localization/pose_estimator_arbiter/src/pose_estimator_arbiter/stopper/stopper_ndt.hpp b/localization/autoware_pose_estimator_arbiter/src/stopper/stopper_ndt.hpp similarity index 81% rename from localization/pose_estimator_arbiter/src/pose_estimator_arbiter/stopper/stopper_ndt.hpp rename to localization/autoware_pose_estimator_arbiter/src/stopper/stopper_ndt.hpp index 3b7c083ea31e3..eba43118c7860 100644 --- a/localization/pose_estimator_arbiter/src/pose_estimator_arbiter/stopper/stopper_ndt.hpp +++ b/localization/autoware_pose_estimator_arbiter/src/stopper/stopper_ndt.hpp @@ -12,15 +12,15 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef POSE_ESTIMATOR_ARBITER__STOPPER__STOPPER_NDT_HPP_ -#define POSE_ESTIMATOR_ARBITER__STOPPER__STOPPER_NDT_HPP_ -#include "pose_estimator_arbiter/stopper/base_stopper.hpp" +#ifndef STOPPER__STOPPER_NDT_HPP_ +#define STOPPER__STOPPER_NDT_HPP_ +#include "stopper/base_stopper.hpp" #include #include -namespace pose_estimator_arbiter::stopper +namespace autoware::pose_estimator_arbiter::stopper { class StopperNdt : public BaseStopper { @@ -49,6 +49,6 @@ class StopperNdt : public BaseStopper rclcpp::Publisher::SharedPtr pub_pointcloud_; bool ndt_is_enabled_; }; -} // namespace pose_estimator_arbiter::stopper +} // namespace autoware::pose_estimator_arbiter::stopper -#endif // POSE_ESTIMATOR_ARBITER__STOPPER__STOPPER_NDT_HPP_ +#endif // STOPPER__STOPPER_NDT_HPP_ diff --git a/localization/pose_estimator_arbiter/src/pose_estimator_arbiter/stopper/stopper_yabloc.hpp b/localization/autoware_pose_estimator_arbiter/src/stopper/stopper_yabloc.hpp similarity index 89% rename from localization/pose_estimator_arbiter/src/pose_estimator_arbiter/stopper/stopper_yabloc.hpp rename to localization/autoware_pose_estimator_arbiter/src/stopper/stopper_yabloc.hpp index 808a5bf9407ca..77aa9603ac06a 100644 --- a/localization/pose_estimator_arbiter/src/pose_estimator_arbiter/stopper/stopper_yabloc.hpp +++ b/localization/autoware_pose_estimator_arbiter/src/stopper/stopper_yabloc.hpp @@ -12,16 +12,16 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef POSE_ESTIMATOR_ARBITER__STOPPER__STOPPER_YABLOC_HPP_ -#define POSE_ESTIMATOR_ARBITER__STOPPER__STOPPER_YABLOC_HPP_ -#include "pose_estimator_arbiter/stopper/base_stopper.hpp" +#ifndef STOPPER__STOPPER_YABLOC_HPP_ +#define STOPPER__STOPPER_YABLOC_HPP_ +#include "stopper/base_stopper.hpp" #include #include #include -namespace pose_estimator_arbiter::stopper +namespace autoware::pose_estimator_arbiter::stopper { class StopperYabLoc : public BaseStopper { @@ -86,5 +86,5 @@ class StopperYabLoc : public BaseStopper rclcpp::Client::SharedPtr enable_service_client_; rclcpp::Publisher::SharedPtr pub_image_; }; -} // namespace pose_estimator_arbiter::stopper -#endif // POSE_ESTIMATOR_ARBITER__STOPPER__STOPPER_YABLOC_HPP_ +} // namespace autoware::pose_estimator_arbiter::stopper +#endif // STOPPER__STOPPER_YABLOC_HPP_ diff --git a/localization/pose_estimator_arbiter/src/pose_estimator_arbiter/switch_rule/base_switch_rule.hpp b/localization/autoware_pose_estimator_arbiter/src/switch_rule/base_switch_rule.hpp similarity index 78% rename from localization/pose_estimator_arbiter/src/pose_estimator_arbiter/switch_rule/base_switch_rule.hpp rename to localization/autoware_pose_estimator_arbiter/src/switch_rule/base_switch_rule.hpp index 95d10c2b741a8..0462ce6e7d340 100644 --- a/localization/pose_estimator_arbiter/src/pose_estimator_arbiter/switch_rule/base_switch_rule.hpp +++ b/localization/autoware_pose_estimator_arbiter/src/switch_rule/base_switch_rule.hpp @@ -12,10 +12,10 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef POSE_ESTIMATOR_ARBITER__SWITCH_RULE__BASE_SWITCH_RULE_HPP_ -#define POSE_ESTIMATOR_ARBITER__SWITCH_RULE__BASE_SWITCH_RULE_HPP_ +#ifndef SWITCH_RULE__BASE_SWITCH_RULE_HPP_ +#define SWITCH_RULE__BASE_SWITCH_RULE_HPP_ -#include "pose_estimator_arbiter/pose_estimator_type.hpp" +#include "pose_estimator_type.hpp" #include @@ -26,7 +26,7 @@ #include #include -namespace pose_estimator_arbiter::switch_rule +namespace autoware::pose_estimator_arbiter::switch_rule { class BaseSwitchRule { @@ -44,7 +44,8 @@ class BaseSwitchRule BaseSwitchRule(BaseSwitchRule && other) noexcept = default; BaseSwitchRule & operator=(const BaseSwitchRule & other) = default; BaseSwitchRule & operator=(BaseSwitchRule && other) noexcept = default; - virtual std::unordered_map update() = 0; + virtual std::unordered_map + update() = 0; virtual std::string debug_string() { return std::string{}; } virtual MarkerArray debug_marker_array() { return MarkerArray{}; } @@ -53,6 +54,6 @@ class BaseSwitchRule std::shared_ptr logger_ptr_{nullptr}; }; -} // namespace pose_estimator_arbiter::switch_rule +} // namespace autoware::pose_estimator_arbiter::switch_rule -#endif // POSE_ESTIMATOR_ARBITER__SWITCH_RULE__BASE_SWITCH_RULE_HPP_ +#endif // SWITCH_RULE__BASE_SWITCH_RULE_HPP_ diff --git a/localization/pose_estimator_arbiter/src/pose_estimator_arbiter/switch_rule/enable_all_rule.cpp b/localization/autoware_pose_estimator_arbiter/src/switch_rule/enable_all_rule.cpp similarity index 88% rename from localization/pose_estimator_arbiter/src/pose_estimator_arbiter/switch_rule/enable_all_rule.cpp rename to localization/autoware_pose_estimator_arbiter/src/switch_rule/enable_all_rule.cpp index aebad094a0eca..9767e9ef4fba4 100644 --- a/localization/pose_estimator_arbiter/src/pose_estimator_arbiter/switch_rule/enable_all_rule.cpp +++ b/localization/autoware_pose_estimator_arbiter/src/switch_rule/enable_all_rule.cpp @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "pose_estimator_arbiter/switch_rule/enable_all_rule.hpp" +#include "switch_rule/enable_all_rule.hpp" #include @@ -22,7 +22,7 @@ #include #include -namespace pose_estimator_arbiter::switch_rule +namespace autoware::pose_estimator_arbiter::switch_rule { EnableAllRule::EnableAllRule( rclcpp::Node & node, std::unordered_set running_estimator_list, @@ -41,4 +41,4 @@ std::unordered_map EnableAllRule::update() }; } -} // namespace pose_estimator_arbiter::switch_rule +} // namespace autoware::pose_estimator_arbiter::switch_rule diff --git a/localization/pose_estimator_arbiter/src/pose_estimator_arbiter/switch_rule/enable_all_rule.hpp b/localization/autoware_pose_estimator_arbiter/src/switch_rule/enable_all_rule.hpp similarity index 71% rename from localization/pose_estimator_arbiter/src/pose_estimator_arbiter/switch_rule/enable_all_rule.hpp rename to localization/autoware_pose_estimator_arbiter/src/switch_rule/enable_all_rule.hpp index 63142b0e662e1..bf2aa68df35d5 100644 --- a/localization/pose_estimator_arbiter/src/pose_estimator_arbiter/switch_rule/enable_all_rule.hpp +++ b/localization/autoware_pose_estimator_arbiter/src/switch_rule/enable_all_rule.hpp @@ -12,18 +12,18 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef POSE_ESTIMATOR_ARBITER__SWITCH_RULE__ENABLE_ALL_RULE_HPP_ -#define POSE_ESTIMATOR_ARBITER__SWITCH_RULE__ENABLE_ALL_RULE_HPP_ +#ifndef SWITCH_RULE__ENABLE_ALL_RULE_HPP_ +#define SWITCH_RULE__ENABLE_ALL_RULE_HPP_ -#include "pose_estimator_arbiter/shared_data.hpp" -#include "pose_estimator_arbiter/switch_rule/base_switch_rule.hpp" +#include "shared_data.hpp" +#include "switch_rule/base_switch_rule.hpp" #include #include #include #include -namespace pose_estimator_arbiter::switch_rule +namespace autoware::pose_estimator_arbiter::switch_rule { class EnableAllRule : public BaseSwitchRule { @@ -38,6 +38,6 @@ class EnableAllRule : public BaseSwitchRule const std::unordered_set running_estimator_list_; }; -} // namespace pose_estimator_arbiter::switch_rule +} // namespace autoware::pose_estimator_arbiter::switch_rule -#endif // POSE_ESTIMATOR_ARBITER__SWITCH_RULE__ENABLE_ALL_RULE_HPP_ +#endif // SWITCH_RULE__ENABLE_ALL_RULE_HPP_ diff --git a/localization/pose_estimator_arbiter/test/test_pose_estimator_arbiter.py b/localization/autoware_pose_estimator_arbiter/test/test_pose_estimator_arbiter.py similarity index 98% rename from localization/pose_estimator_arbiter/test/test_pose_estimator_arbiter.py rename to localization/autoware_pose_estimator_arbiter/test/test_pose_estimator_arbiter.py index c419fb68e0571..a5ff04c002004 100644 --- a/localization/pose_estimator_arbiter/test/test_pose_estimator_arbiter.py +++ b/localization/autoware_pose_estimator_arbiter/test/test_pose_estimator_arbiter.py @@ -38,7 +38,7 @@ @pytest.mark.launch_test def generate_test_description(): test_pose_estimator_arbiter_launch_file = os.path.join( - get_package_share_directory("pose_estimator_arbiter"), + get_package_share_directory("autoware_pose_estimator_arbiter"), "launch", "pose_estimator_arbiter.launch.xml", ) diff --git a/localization/pose_estimator_arbiter/test/test_shared_data.cpp b/localization/autoware_pose_estimator_arbiter/test/test_shared_data.cpp similarity index 90% rename from localization/pose_estimator_arbiter/test/test_shared_data.cpp rename to localization/autoware_pose_estimator_arbiter/test/test_shared_data.cpp index 3c1fa50b502a1..c0f7044442d71 100644 --- a/localization/pose_estimator_arbiter/test/test_shared_data.cpp +++ b/localization/autoware_pose_estimator_arbiter/test/test_shared_data.cpp @@ -12,13 +12,13 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "pose_estimator_arbiter/shared_data.hpp" +#include "shared_data.hpp" #include TEST(SharedData, callback_invoked_correctly) { - pose_estimator_arbiter::CallbackInvokingVariable variable; + autoware::pose_estimator_arbiter::CallbackInvokingVariable variable; // register callback bool callback_invoked = false; @@ -44,7 +44,7 @@ TEST(SharedData, callback_invoked_correctly) TEST(SharedData, multiple_callback_invoked_correctly) { - pose_estimator_arbiter::CallbackInvokingVariable variable; + autoware::pose_estimator_arbiter::CallbackInvokingVariable variable; // register callback int callback_invoked_num = 0; From 201f1647a97c9a16ed4d16c69d17bdc4faabf8ea Mon Sep 17 00:00:00 2001 From: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> Date: Thu, 22 Aug 2024 23:27:21 +0900 Subject: [PATCH 020/169] feat(lane_change): fix delay logic that caused timing to be late (#8549) * RT1-5067 fix delay logic that caused timing to be late Signed-off-by: Muhammad Zulfaqar Azmi * remove autoware namespace Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> --------- Signed-off-by: Muhammad Zulfaqar Azmi Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> --- .../src/utils/utils.cpp | 48 ++++++++++++------- 1 file changed, 30 insertions(+), 18 deletions(-) diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/utils.cpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/utils.cpp index 79c422ac283d1..e4a482def7b3d 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/utils.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/utils.cpp @@ -14,6 +14,7 @@ #include "autoware/behavior_path_lane_change_module/utils/utils.hpp" +#include "autoware/behavior_path_lane_change_module/utils/calculation.hpp" #include "autoware/behavior_path_lane_change_module/utils/data_structs.hpp" #include "autoware/behavior_path_lane_change_module/utils/path.hpp" #include "autoware/behavior_path_planner_common/marker_utils/utils.hpp" @@ -988,30 +989,41 @@ bool passed_parked_objects( } const auto & current_path_end = current_lane_path.points.back().point.pose.position; - double min_dist_to_end_of_current_lane = std::numeric_limits::max(); - const auto & target_lanes = common_data_ptr->lanes_ptr->target; - const auto is_goal_in_route = route_handler.isInGoalRouteSection(target_lanes.back()); - for (const auto & point : leading_obj_poly.outer()) { - const auto obj_p = autoware::universe_utils::createPoint(point.x(), point.y(), 0.0); - const double dist = autoware::motion_utils::calcSignedArcLength( - current_lane_path.points, obj_p, current_path_end); - min_dist_to_end_of_current_lane = std::min(dist, min_dist_to_end_of_current_lane); - if (is_goal_in_route) { + const auto dist_to_path_end = [&](const auto & src_point) { + if (common_data_ptr->lanes_ptr->current_lane_in_goal_section) { const auto goal_pose = route_handler.getGoalPose(); - const double dist_to_goal = autoware::motion_utils::calcSignedArcLength( - current_lane_path.points, obj_p, goal_pose.position); - min_dist_to_end_of_current_lane = std::min(min_dist_to_end_of_current_lane, dist_to_goal); + return motion_utils::calcSignedArcLength( + current_lane_path.points, src_point, goal_pose.position); } - } + return motion_utils::calcSignedArcLength(current_lane_path.points, src_point, current_path_end); + }; + + const auto min_dist_to_end_of_current_lane = std::invoke([&]() { + auto min_dist_to_end_of_current_lane = std::numeric_limits::max(); + for (const auto & point : leading_obj_poly.outer()) { + const auto obj_p = universe_utils::createPoint(point.x(), point.y(), 0.0); + const auto dist = dist_to_path_end(obj_p); + min_dist_to_end_of_current_lane = std::min(dist, min_dist_to_end_of_current_lane); + } + return min_dist_to_end_of_current_lane; + }); // If there are still enough length after the target object, we delay the lane change - if (min_dist_to_end_of_current_lane > minimum_lane_change_length) { - debug.second.unsafe_reason = "delay lane change"; - utils::path_safety_checker::updateCollisionCheckDebugMap(object_debug, debug, false); - return false; + if (min_dist_to_end_of_current_lane <= minimum_lane_change_length) { + return true; } - return true; + const auto current_pose = common_data_ptr->get_ego_pose(); + const auto dist_ego_to_obj = motion_utils::calcSignedArcLength( + current_lane_path.points, current_pose.position, leading_obj.initial_pose.pose.position); + + if (dist_ego_to_obj < lane_change_path.info.length.lane_changing) { + return true; + } + + debug.second.unsafe_reason = "delay lane change"; + utils::path_safety_checker::updateCollisionCheckDebugMap(object_debug, debug, false); + return false; } std::optional getLeadingStaticObjectIdx( From 53f7d82f8c20ec2376fcb0e6bc3763407fb271f4 Mon Sep 17 00:00:00 2001 From: Yuxin Wang <87698138+Ariiees@users.noreply.github.com> Date: Thu, 22 Aug 2024 10:29:33 -0400 Subject: [PATCH 021/169] refactor(autoware_obstacle_stop_planner): rework parameters (#7795) Signed-off-by: Ariiees --- .../autoware_obstacle_stop_planner/README.md | 6 + .../adaptive_cruise_control.schema.json | 216 ++++++++++++ .../schema/common.schema.json | 85 +++++ .../schema/obstacle_stop_planner.schema.json | 322 ++++++++++++++++++ 4 files changed, 629 insertions(+) create mode 100644 planning/autoware_obstacle_stop_planner/schema/adaptive_cruise_control.schema.json create mode 100644 planning/autoware_obstacle_stop_planner/schema/common.schema.json create mode 100644 planning/autoware_obstacle_stop_planner/schema/obstacle_stop_planner.schema.json diff --git a/planning/autoware_obstacle_stop_planner/README.md b/planning/autoware_obstacle_stop_planner/README.md index 10870222aee09..d3965192cd4c3 100644 --- a/planning/autoware_obstacle_stop_planner/README.md +++ b/planning/autoware_obstacle_stop_planner/README.md @@ -31,6 +31,8 @@ ### Common Parameter +{{ json_to_markdown("planning/autoware_obstacle_stop_planner/schema/common.schema.json") }} + | Parameter | Type | Description | | -------------------------------------- | ------ | ----------------------------------------------------------------------------------------- | | `enable_slow_down` | bool | enable slow down planner [-] | @@ -103,6 +105,8 @@ stopped due to other factors. ### Parameters +{{ json_to_markdown("planning/autoware_obstacle_stop_planner/schema/obstacle_stop_planner.schema.json") }} + #### Stop position | Parameter | Type | Description | @@ -186,6 +190,8 @@ down section. ### Parameters +{{ json_to_markdown("planning/autoware_obstacle_stop_planner/schema/adaptive_cruise_control.schema.json") }} + #### Slow down section | Parameter | Type | Description | diff --git a/planning/autoware_obstacle_stop_planner/schema/adaptive_cruise_control.schema.json b/planning/autoware_obstacle_stop_planner/schema/adaptive_cruise_control.schema.json new file mode 100644 index 0000000000000..25a6a9338987b --- /dev/null +++ b/planning/autoware_obstacle_stop_planner/schema/adaptive_cruise_control.schema.json @@ -0,0 +1,216 @@ +{ + "$schema": "http://json-schema.org/draft-07/schema#", + "title": "Parameter for adaptive cruise control", + "type": "object", + "definitions": { + "adaptive_cruise_control": { + "type": "object", + "properties": { + "adaptive_cruise_control": { + "type": "object", + "properties": { + "use_object_to_estimate_vel": { + "type": "boolean", + "description": "use tracking objects for estimating object velocity or not", + "default": "true" + }, + "use_pcl_to_estimate_vel": { + "type": "boolean", + "description": "use pcl for estimating object velocity or not", + "default": "true" + }, + "consider_obj_velocity": { + "type": "boolean", + "description": "consider forward vehicle velocity to ACC or not", + "default": "true" + }, + "obstacle_velocity_thresh_to_start_acc": { + "type": "number", + "description": "start adaptive cruise control when the velocity of the forward obstacle exceeds this value [m/s]", + "default": "1.5" + }, + "obstacle_velocity_thresh_to_stop_acc": { + "type": "number", + "description": "stop adaptive cruise control when the velocity of the forward obstacle falls below this value [m/s]", + "default": "1.0" + }, + "emergency_stop_acceleration": { + "type": "number", + "description": "supposed minimum acceleration (deceleration) in emergency stop [m/ss]", + "default": "-5.0" + }, + "emergency_stop_idling_time": { + "type": "number", + "description": "supposed idling time to start emergency stop [s]", + "default": "0.5" + }, + "min_dist_stop": { + "type": "number", + "description": "minimum distance of emergency stop [m]", + "default": "4.0" + }, + "obstacle_emergency_stop_acceleration": { + "type": "number", + "description": "supposed minimum acceleration (deceleration) in emergency stop [m/ss]", + "default": "-5.0" + }, + "max_standard_acceleration": { + "type": "number", + "description": "supposed maximum acceleration in active cruise control [m/ss]", + "default": "0.5" + }, + "min_standard_acceleration": { + "type": "number", + "description": "supposed minimum acceleration (deceleration) in active cruise control", + "default": "-1.0" + }, + "standard_idling_time": { + "type": "number", + "description": "supposed idling time to react object in active cruise control [s]", + "default": "0.5" + }, + "min_dist_standard": { + "type": "number", + "description": "minimum distance in active cruise control [m]", + "default": "4.0" + }, + "obstacle_min_standard_acceleration": { + "type": "number", + "description": "supposed minimum acceleration of forward obstacle [m/ss]", + "default": "-1.5" + }, + "margin_rate_to_change_vel": { + "type": "number", + "description": "margin to insert upper velocity [-]", + "default": "0.3" + }, + "use_time_compensation_to_calc_distance": { + "type": "boolean", + "description": "use time-compensation to calculate distance to forward vehicle", + "default": "true" + }, + "p_coefficient_positive": { + "type": "number", + "description": "coefficient P in PID control (used when target dist -current_dist >=0) [-]", + "default": "0.1" + }, + "p_coefficient_negative": { + "type": "number", + "description": "coefficient P in PID control (used when target dist -current_dist <0) [-]", + "default": "0.3" + }, + "d_coefficient_positive": { + "type": "number", + "description": "coefficient D in PID control (used when delta_dist >=0) [-]", + "default": "0.0" + }, + "d_coefficient_negative": { + "type": "number", + "description": "coefficient D in PID control (used when delta_dist <0) [-]", + "default": "0.2" + }, + "object_polygon_length_margin": { + "type": "number", + "description": "The distance to extend the polygon length the object in pointcloud-object matching [m]", + "default": "2.0" + }, + "object_polygon_width_margin": { + "type": "number", + "description": "The distance to extend the polygon width the object in pointcloud-object matching [m]", + "default": "0.5" + }, + "valid_estimated_vel_diff_time": { + "type": "number", + "description": "Maximum time difference treated as continuous points in speed estimation using a point cloud [s]", + "default": "1.0" + }, + "valid_vel_que_time": { + "type": "number", + "description": "Time width of information used for speed estimation in speed estimation using a point cloud [s]", + "default": "0.5" + }, + "valid_estimated_vel_max": { + "type": "number", + "description": "Maximum value of valid speed estimation results in speed estimation using a point cloud [m/s]", + "default": "20.0" + }, + "valid_estimated_vel_min": { + "type": "number", + "description": "Minimum value of valid speed estimation results in speed estimation using a point cloud [m/s]", + "default": "-20.0" + }, + "thresh_vel_to_stop": { + "type": "number", + "description": "Embed a stop line if the maximum speed calculated by ACC is lower than this speed [m/s]", + "default": "1.5" + }, + "lowpass_gain_of_upper_velocity": { + "type": "number", + "description": "Lowpass-gain of upper velocity", + "default": "0.75" + }, + "use_rough_velocity_estimation": { + "type": "boolean", + "description": "Use rough estimated velocity if the velocity estimation is failed (#### If this parameter is true, the vehicle may collide with the front car. Be careful. ####)", + "default": "false" + }, + "rough_velocity_rate": { + "type": "number", + "description": "In the rough velocity estimation, the velocity of front car is estimated as self current velocity * this value", + "default": "0.9" + } + }, + "required": [ + "use_object_to_estimate_vel", + "use_pcl_to_estimate_vel", + "consider_obj_velocity", + "obstacle_velocity_thresh_to_start_acc", + "obstacle_velocity_thresh_to_stop_acc", + "emergency_stop_acceleration", + "emergency_stop_idling_time", + "min_dist_stop", + "obstacle_emergency_stop_acceleration", + "max_standard_acceleration", + "min_standard_acceleration", + "standard_idling_time", + "min_dist_standard", + "obstacle_min_standard_acceleration", + "margin_rate_to_change_vel", + "use_time_compensation_to_calc_distance", + "p_coefficient_positive", + "p_coefficient_negative", + "d_coefficient_positive", + "d_coefficient_negative", + "object_polygon_length_margin", + "object_polygon_width_margin", + "valid_estimated_vel_diff_time", + "valid_vel_que_time", + "valid_estimated_vel_max", + "valid_estimated_vel_min", + "thresh_vel_to_stop", + "lowpass_gain_of_upper_velocity", + "use_rough_velocity_estimation", + "rough_velocity_rate" + ], + "additionalProperties": false + } + }, + "required": ["adaptive_cruise_control"], + "additionalProperties": false + } + }, + "properties": { + "/**": { + "type": "object", + "properties": { + "ros__parameters": { + "$ref": "#/definitions/adaptive_cruise_control" + } + }, + "required": ["ros__parameters"], + "additionalProperties": false + } + }, + "required": ["/**"], + "additionalProperties": false +} diff --git a/planning/autoware_obstacle_stop_planner/schema/common.schema.json b/planning/autoware_obstacle_stop_planner/schema/common.schema.json new file mode 100644 index 0000000000000..d8360f48c1617 --- /dev/null +++ b/planning/autoware_obstacle_stop_planner/schema/common.schema.json @@ -0,0 +1,85 @@ +{ + "$schema": "http://json-schema.org/draft-07/schema#", + "title": "Parameter for common in autoware_obstacle_stop_planner", + "type": "object", + "definitions": { + "common": { + "type": "object", + "properties": { + "max_vel": { + "type": "number", + "description": "max velocity limit [m/s]", + "default": "11.1" + }, + "normal": { + "type": "object", + "properties": { + "min_acc": { + "type": "number", + "description": "min deceleration [m/ss]", + "default": "-0.5" + }, + "max_acc": { + "type": "number", + "description": "max acceleration [m/ss]", + "default": "1.0" + }, + "min_jerk": { + "type": "number", + "description": "min jerk [m/sss]", + "default": "-0.5" + }, + "max_jerk": { + "type": "number", + "description": "max jerk [m/sss]", + "default": "1.0" + } + }, + "required": ["min_acc", "max_acc", "min_jerk", "max_jerk"] + }, + "limit": { + "type": "object", + "properties": { + "min_acc": { + "type": "number", + "description": "min deceleration limit [m/ss]", + "default": "-2.5" + }, + "max_acc": { + "type": "number", + "description": "max acceleration [m/ss]", + "default": "1.0" + }, + "min_jerk": { + "type": "number", + "description": "min jerk [m/sss]", + "default": "-1.5" + }, + "max_jerk": { + "type": "number", + "description": "max jerk [m/sss]", + "default": "1.5" + } + }, + "required": ["min_acc", "max_acc", "min_jerk", "max_jerk"] + } + }, + "required": ["max_vel", "normal", "limit"], + "additionalProperties": false + } + }, + "properties": { + "/**": { + "type": "object", + "properties": { + "ros__parameters": { + "$ref": "#/definitions/common" + } + }, + "required": ["ros__parameters"], + "additionalProperties": false + } + }, + "required": ["/**"], + "additionalProperties": false +} diff --git a/planning/autoware_obstacle_stop_planner/schema/obstacle_stop_planner.schema.json b/planning/autoware_obstacle_stop_planner/schema/obstacle_stop_planner.schema.json new file mode 100644 index 0000000000000..868f669ad2004 --- /dev/null +++ b/planning/autoware_obstacle_stop_planner/schema/obstacle_stop_planner.schema.json @@ -0,0 +1,322 @@ +{ + "$schema": "http://json-schema.org/draft-07/schema#", + "title": "Parameter for obstacle stop planner", + "type": "object", + "definitions": { + "obstacle_stop_planner": { + "type": "object", + "properties": { + "chattering_threshold": { + "type": "number", + "description": "even if the obstacle disappears, the stop judgment continues for chattering_threshold [s]", + "default": "0.5" + }, + "max_velocity": { + "type": "number", + "description": "max velocity [m/s]", + "default": "20.0" + }, + "ego_nearest_dist_threshold": { + "type": "number", + "description": "[m]", + "default": "3.0" + }, + "ego_nearest_yaw_threshold": { + "type": "number", + "description": "[rad] = 60 [deg]", + "default": "1.046" + }, + "enable_slow_down": { + "type": "boolean", + "description": "whether to use slow down planner [-]", + "default": "false" + }, + "enable_z_axis_obstacle_filtering": { + "type": "boolean", + "description": "filter obstacles in z axis (height) [-]", + "default": "true" + }, + "z_axis_filtering_buffer": { + "type": "number", + "description": "additional buffer for z axis filtering [m]", + "default": "0.0" + }, + "voxel_grid_x": { + "type": "number", + "description": "voxel grid x parameter for filtering pointcloud [m]", + "default": "0.05" + }, + "voxel_grid_y": { + "type": "number", + "description": "voxel grid y parameter for filtering pointcloud [m]", + "default": "0.05" + }, + "voxel_grid_z": { + "type": "number", + "description": "voxel grid z parameter for filtering pointcloud [m]", + "default": "100000.0" + }, + "use_predicted_objects": { + "type": "boolean", + "description": "whether to use predicted objects [-]", + "default": "false" + }, + "publish_obstacle_polygon": { + "type": "boolean", + "description": "whether to publish obstacle polygon [-]", + "default": "false" + }, + "predicted_object_filtering_threshold": { + "type": "number", + "description": "threshold for filtering predicted objects (valid only publish_obstacle_polygon true) [m]", + "default": "1.5" + }, + "stop_planner": { + "type": "object", + "properties": { + "stop_position": { + "type": "object", + "properties": { + "max_longitudinal_margin": { + "type": "number", + "description": "stop margin distance from obstacle on the path [m]", + "default": "5.0" + }, + "max_longitudinal_margin_behind_goal": { + "type": "number", + "description": "stop margin distance from obstacle behind the goal on the path [m]", + "default": "3.0" + }, + "min_longitudinal_margin": { + "type": "number", + "description": "stop margin distance when any other stop point is inserted in stop margin [m]", + "default": "2.0" + }, + "hold_stop_margin_distance": { + "type": "number", + "description": "the ego keeps stopping if the ego is in this margin [m]", + "default": "0.0" + } + }, + "required": [ + "max_longitudinal_margin", + "max_longitudinal_margin_behind_goal", + "min_longitudinal_margin", + "hold_stop_margin_distance" + ] + }, + "detection_area": { + "type": "object", + "properties": { + "lateral_margin": { + "type": "number", + "description": "margin [m]", + "default": "0.0" + }, + "vehicle_lateral_margin": { + "type": "number", + "description": "margin of vehicle footprint [m]", + "default": "0.0" + }, + "pedestrian_lateral_margin": { + "type": "number", + "description": "margin of pedestrian footprint [m]", + "default": "0.0" + }, + "unknown_lateral_margin": { + "type": "number", + "description": "margin of unknown footprint [m]", + "default": "0.0" + }, + "step_length": { + "type": "number", + "description": "step length for pointcloud search range [m]", + "default": "1.0" + }, + "enable_stop_behind_goal_for_obstacle": { + "type": "boolean", + "description": "enable extend trajectory after goal lane for obstacle detection", + "default": "true" + } + }, + "required": [ + "lateral_margin", + "vehicle_lateral_margin", + "pedestrian_lateral_margin", + "unknown_lateral_margin", + "step_length", + "enable_stop_behind_goal_for_obstacle" + ] + } + }, + "required": ["stop_position", "detection_area"] + }, + "slow_down_planner": { + "type": "object", + "properties": { + "slow_down_section": { + "type": "object", + "properties": { + "longitudinal_forward_margin": { + "type": "number", + "description": "margin distance from slow down point to vehicle front [m]", + "default": "5.0" + }, + "longitudinal_backward_margin": { + "type": "number", + "description": "margin distance from slow down point to vehicle rear [m]", + "default": "5.0" + }, + "longitudinal_margin_span": { + "type": "number", + "description": "fineness param for relaxing slow down margin (use this param if consider_constraints is True) [m/s]", + "default": "-0.1" + }, + "min_longitudinal_forward_margin": { + "type": "number", + "description": "min margin for relaxing slow down margin (use this param if consider_constraints is True) [m/s]", + "default": "1.0" + } + }, + "required": [ + "longitudinal_forward_margin", + "longitudinal_backward_margin", + "longitudinal_margin_span", + "min_longitudinal_forward_margin" + ] + }, + "detection_area": { + "type": "object", + "properties": { + "lateral_margin": { + "type": "number", + "description": "offset from vehicle side edge for expanding the search area of the surrounding point cloud [m]", + "default": "1.0" + }, + "vehicle_lateral_margin": { + "type": "number", + "description": "offset from vehicle side edge for expanding the search area of the surrounding point cloud [m]", + "default": "1.0" + }, + "pedestrian_lateral_margin": { + "type": "number", + "description": "offset from pedestrian side edge for expanding the search area of the surrounding point cloud [m]", + "default": "1.0" + }, + "unknown_lateral_margin": { + "type": "number", + "description": "offset from unknown side edge for expanding the search area of the surrounding point cloud [m]", + "default": "1.0" + } + }, + "required": [ + "lateral_margin", + "vehicle_lateral_margin", + "pedestrian_lateral_margin", + "unknown_lateral_margin" + ] + }, + "target_velocity": { + "type": "object", + "properties": { + "max_slow_down_velocity": { + "type": "number", + "description": "max slow down velocity (use this param if consider_constraints is False)[m/s]", + "default": "1.38" + }, + "min_slow_down_velocity": { + "type": "number", + "description": "offset from vehicle side edge for expanding the search area of the surrounding point cloud [m]", + "default": "0.28" + }, + "slow_down_velocity": { + "type": "number", + "description": "target slow down velocity (use this param if consider_constraints is True)[m/s]", + "default": "1.38" + } + }, + "required": ["max_slow_down_velocity", "min_slow_down_velocity", "slow_down_velocity"] + }, + "constraints": { + "type": "object", + "properties": { + "jerk_min_slow_down": { + "type": "number", + "description": "min slow down jerk constraint [m/sss]", + "default": "-0.3" + }, + "jerk_span": { + "type": "number", + "description": "fineness param for planning deceleration jerk [m/sss]", + "default": "-0.01" + }, + "jerk_start": { + "type": "number", + "description": "init jerk used for deceleration planning [m/sss]", + "default": "-0.1" + } + }, + "required": ["jerk_min_slow_down", "jerk_span", "jerk_start"] + }, + "consider_constraints": { + "type": "boolean", + "description": "set 'True', if no decel plan found under jerk/dec constrains, relax target slow down vel [-]", + "default": "false" + }, + "velocity_threshold_decel_complete": { + "type": "number", + "description": "use for judge whether the ego velocity converges the target slow down velocity [m/s]", + "default": "0.2" + }, + "acceleration_threshold_decel_complete": { + "type": "number", + "description": "use for judge whether the ego velocity converges the target slow down velocity [m/ss]", + "default": "0.1" + } + }, + "required": [ + "slow_down_section", + "detection_area", + "target_velocity", + "constraints", + "consider_constraints", + "velocity_threshold_decel_complete", + "acceleration_threshold_decel_complete" + ] + } + }, + "required": [ + "chattering_threshold", + "max_velocity", + "ego_nearest_dist_threshold", + "ego_nearest_yaw_threshold", + "enable_slow_down", + "enable_z_axis_obstacle_filtering", + "z_axis_filtering_buffer", + "voxel_grid_x", + "voxel_grid_y", + "voxel_grid_z", + "use_predicted_objects", + "publish_obstacle_polygon", + "predicted_object_filtering_threshold", + "stop_planner", + "slow_down_planner" + ], + "additionalProperties": false + } + }, + "properties": { + "/**": { + "type": "object", + "properties": { + "ros__parameters": { + "$ref": "#/definitions/obstacle_stop_planner" + } + }, + "required": ["ros__parameters"], + "additionalProperties": false + } + }, + "required": ["/**"], + "additionalProperties": false +} From d75f87520e6af854ee3cf2a05738afe88254c2f3 Mon Sep 17 00:00:00 2001 From: danielsanchezaran Date: Fri, 23 Aug 2024 09:38:44 +0900 Subject: [PATCH 022/169] feat(autonomous_emergency_braking): enable aeb with only one req path (#8569) * make it so AEB works with only one req path type (imu or MPC) Signed-off-by: Daniel Sanchez * fix missing mpc path return Signed-off-by: Daniel Sanchez * add check Signed-off-by: Daniel Sanchez * modify no path msg Signed-off-by: Daniel Sanchez --------- Signed-off-by: Daniel Sanchez --- .../src/node.cpp | 29 ++++++++++++------- 1 file changed, 19 insertions(+), 10 deletions(-) diff --git a/control/autoware_autonomous_emergency_braking/src/node.cpp b/control/autoware_autonomous_emergency_braking/src/node.cpp index cd97a8301ad9d..dc8c876bd56f6 100644 --- a/control/autoware_autonomous_emergency_braking/src/node.cpp +++ b/control/autoware_autonomous_emergency_braking/src/node.cpp @@ -348,21 +348,30 @@ bool AEB::fetchLatestData() return missing("object detection method (pointcloud or predicted objects)"); } - const auto imu_ptr = sub_imu_.takeData(); - if (use_imu_path_) { + const bool has_imu_path = std::invoke([&]() { + if (!use_imu_path_) return false; + const auto imu_ptr = sub_imu_.takeData(); if (!imu_ptr) { return missing("imu message"); } // imu_ptr is valid onImu(imu_ptr); - } - if (use_imu_path_ && !angular_velocity_ptr_) { - return missing("imu"); - } + return (!angular_velocity_ptr_) ? missing("imu") : true; + }); - predicted_traj_ptr_ = sub_predicted_traj_.takeData(); - if (use_predicted_trajectory_ && !predicted_traj_ptr_) { - return missing("control predicted trajectory"); + const bool has_predicted_path = std::invoke([&]() { + if (!use_predicted_trajectory_) { + return false; + } + predicted_traj_ptr_ = sub_predicted_traj_.takeData(); + return (!predicted_traj_ptr_) ? missing("control predicted trajectory") : true; + }); + + if (!has_imu_path && !has_predicted_path) { + RCLCPP_INFO_SKIPFIRST_THROTTLE( + get_logger(), *get_clock(), 5000, + "[AEB] At least one path (IMU or predicted trajectory) is required for operation"); + return false; } autoware_state_ = sub_autoware_state_.takeData(); @@ -482,7 +491,7 @@ bool AEB::checkCollision(MarkerArray & debug_markers) // step3. make function to check collision with ego path created with sensor data const auto has_collision_ego = [&](pcl::PointCloud::Ptr filtered_objects) -> bool { - if (!use_imu_path_) return false; + if (!use_imu_path_ || !angular_velocity_ptr_) return false; const double current_w = angular_velocity_ptr_->z; constexpr colorTuple debug_color = {0.0 / 256.0, 148.0 / 256.0, 205.0 / 256.0, 0.999}; const std::string ns = "ego"; From 8abbc2d546e0bc2220bccbb096552c800880e88f Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Fri, 23 Aug 2024 11:16:29 +0900 Subject: [PATCH 023/169] feat(raw_vehicle_cmd_converter): disable actuation to steering (#8588) Signed-off-by: kosuke55 --- .../config/raw_vehicle_cmd_converter.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/vehicle/autoware_raw_vehicle_cmd_converter/config/raw_vehicle_cmd_converter.param.yaml b/vehicle/autoware_raw_vehicle_cmd_converter/config/raw_vehicle_cmd_converter.param.yaml index e7e503d6d7eee..4eb9f0ab6d442 100644 --- a/vehicle/autoware_raw_vehicle_cmd_converter/config/raw_vehicle_cmd_converter.param.yaml +++ b/vehicle/autoware_raw_vehicle_cmd_converter/config/raw_vehicle_cmd_converter.param.yaml @@ -30,4 +30,4 @@ vgr_coef_a: 15.713 vgr_coef_b: 0.053 vgr_coef_c: 0.042 - convert_actuation_to_steering_status: true + convert_actuation_to_steering_status: false From be5e16b1dd12e41da989b08232b7bfea58df93fa Mon Sep 17 00:00:00 2001 From: mkquda <168697710+mkquda@users.noreply.github.com> Date: Fri, 23 Aug 2024 11:25:52 +0900 Subject: [PATCH 024/169] feat(freespace_planning_algorithms): implement support for multiple goal candidates in A star planner (#8092) * refactor freespace planning algorithms Signed-off-by: mohammad alqudah * fix error Signed-off-by: mohammad alqudah * use vector instead of map for a-star node graph Signed-off-by: mohammad alqudah * remove unnecessary parameters Signed-off-by: mohammad alqudah * precompute average turning radius Signed-off-by: mohammad alqudah * add threshold for minimum distance between direction changes Signed-off-by: mohammad alqudah * apply curvature weight and change in curvature weight Signed-off-by: mohammad alqudah * store total cost instead of heuristic cost Signed-off-by: mohammad alqudah * fix reverse weight application Signed-off-by: mohammad alqudah * fix parameter description in README Signed-off-by: mohammad alqudah * implement edt map to store distance to nearest obstacle for each grid cell Signed-off-by: mohammad alqudah * use obstacle edt in collision check Signed-off-by: mohammad alqudah * add cost for distance to obstacle Signed-off-by: mohammad alqudah * fix formats Signed-off-by: mohammad alqudah * add missing include Signed-off-by: mohammad alqudah * refactor functions Signed-off-by: mohammad alqudah * add missing include Signed-off-by: mohammad alqudah * implement backward search option Signed-off-by: mohammad alqudah * precompute number of margin cells to reduce out of range vertices check necessity Signed-off-by: mohammad alqudah * add reset data function Signed-off-by: mohammad alqudah * remove unnecessary code Signed-off-by: mohammad alqudah * make A-star search work with multiple goal candidates as input Signed-off-by: mohammad alqudah * fix is_back flag logic Signed-off-by: mohammad alqudah * add member function set() to AstarNode struct Signed-off-by: mohammad alqudah * implement adaptive expansion distance Signed-off-by: mohammad alqudah * remove unnecessary code Signed-off-by: mohammad alqudah * interpolate nodes with large expansion distance Signed-off-by: mohammad alqudah * minor refactor Signed-off-by: mohammad alqudah * fix interpolation for backward search Signed-off-by: mohammad alqudah * ensure expansion distance is larger than grid cell diagonal Signed-off-by: mohammad alqudah * compute collision free distance to goal map Signed-off-by: mohammad alqudah * use obstacle edt when computing collision free distance map Signed-off-by: mohammad alqudah * minor refactor Signed-off-by: mohammad alqudah * fix expansion cost function Signed-off-by: mohammad alqudah * set distance map before setting start node Signed-off-by: mohammad alqudah * refactor detect collision function Signed-off-by: mohammad alqudah * use flag instead of enum Signed-off-by: mohammad alqudah * add missing variable initialization Signed-off-by: mohammad alqudah * remove declared but undefined function Signed-off-by: mohammad alqudah * refactor makePlan() function Signed-off-by: mohammad alqudah * remove bool return statement for void function Signed-off-by: mohammad alqudah * remove unnecessary checks Signed-off-by: mohammad alqudah * minor fix Signed-off-by: mohammad alqudah * refactor computeEDTMap function Signed-off-by: mohammad alqudah * enable both forward and backward search options for multiple goal candidates Signed-off-by: mohammad alqudah * remove unnecessary code Signed-off-by: mohammad alqudah * set min and max expansion distance after setting costmap Signed-off-by: mohammad alqudah * refactor detectCollision function Signed-off-by: mohammad alqudah * remove unused function Signed-off-by: mohammad alqudah * change default parameter values Signed-off-by: mohammad alqudah * add missing last waypoint Signed-off-by: mohammad alqudah * fix computeEDTMap function Signed-off-by: mohammad alqudah * rename parameter Signed-off-by: mohammad alqudah * use linear function for obstacle distance cost Signed-off-by: mohammad alqudah * fix rrtstar obstacle check Signed-off-by: mohammad alqudah * add public access function to get distance to nearest obstacle Signed-off-by: mohammad alqudah * compare node index with goal index in isGoal check Signed-off-by: mohammad alqudah * append shifted goal pose to waypoints for more accurate arrival Signed-off-by: mohammad alqudah * remove redundant return statements Signed-off-by: mohammad alqudah * check goal pose validity before setting collision free distance map Signed-off-by: mohammad alqudah * declare variables as const where necessary Signed-off-by: mohammad alqudah * initialize vectors using assign function Signed-off-by: mohammad alqudah * compare front and back lengths when setting min and max dimension Signed-off-by: mohammad alqudah * add docstring and citation for computeEDTMap function Signed-off-by: mohammad alqudah * fix shifted goal pose for backward search Signed-off-by: mohammad alqudah * transform pose to local frame in getDistanceToObstacle funcion Signed-off-by: mohammad alqudah * add cost for lateral distance near goal Signed-off-by: mohammad alqudah * compute distance to obstacle from ego frame instead of base Signed-off-by: mohammad alqudah * update freespace planner parameter schema Signed-off-by: mohammad alqudah * update freespace planner parameter schema Signed-off-by: mohammad alqudah * refactor setPath function Signed-off-by: mohammad alqudah * fix function setPath Signed-off-by: mohammad alqudah * declare bool var as constant Signed-off-by: mohammad alqudah * remove unnecessary includes Signed-off-by: mohammad alqudah * minor refactor Signed-off-by: mohammad alqudah --------- Signed-off-by: mohammad alqudah Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> --- planning/autoware_freespace_planner/README.md | 2 + .../config/freespace_planner.param.yaml | 4 +- .../schema/freespace_planner.schema.json | 10 + .../freespace_planner_node.cpp | 3 +- .../abstract_algorithm.hpp | 38 +++- .../astar_search.hpp | 28 ++- .../freespace_planning_algorithms/rrtstar.hpp | 3 + .../scripts/bind/astar_search_pybind.cpp | 7 +- .../scripts/example/example.py | 2 + .../src/abstract_algorithm.cpp | 40 ++-- .../src/astar_search.cpp | 204 ++++++++++++++---- .../src/rrtstar.cpp | 7 + .../test_freespace_planning_algorithms.cpp | 14 +- 13 files changed, 290 insertions(+), 72 deletions(-) diff --git a/planning/autoware_freespace_planner/README.md b/planning/autoware_freespace_planner/README.md index db48154ffa214..56e096944e739 100644 --- a/planning/autoware_freespace_planner/README.md +++ b/planning/autoware_freespace_planner/README.md @@ -82,9 +82,11 @@ None | `use_back` | bool | whether using backward trajectory | | `adapt_expansion_distance` | bool | if true, adapt expansion distance based on environment | | `expansion_distance` | double | length of expansion for node transitions | +| `near_goal_distance` | double | near goal distance threshold | | `distance_heuristic_weight` | double | heuristic weight for estimating node's cost | | `smoothness_weight` | double | cost factor for change in curvature | | `obstacle_distance_weight` | double | cost factor for distance to obstacle | +| `goal_lat_distance_weight` | double | cost factor for lateral distance from goal | #### RRT\* search parameters diff --git a/planning/autoware_freespace_planner/config/freespace_planner.param.yaml b/planning/autoware_freespace_planner/config/freespace_planner.param.yaml index 6ea99b2c0c061..b34ffe698aa36 100644 --- a/planning/autoware_freespace_planner/config/freespace_planner.param.yaml +++ b/planning/autoware_freespace_planner/config/freespace_planner.param.yaml @@ -22,7 +22,7 @@ theta_size: 144 angle_goal_range: 6.0 lateral_goal_range: 0.5 - longitudinal_goal_range: 2.0 + longitudinal_goal_range: 1.0 curve_weight: 0.5 reverse_weight: 1.0 direction_change_weight: 1.5 @@ -36,9 +36,11 @@ use_back: true adapt_expansion_distance: true expansion_distance: 0.5 + near_goal_distance: 4.0 distance_heuristic_weight: 1.5 smoothness_weight: 0.5 obstacle_distance_weight: 1.5 + goal_lat_distance_weight: 5.0 # -- RRT* search Configurations -- rrtstar: diff --git a/planning/autoware_freespace_planner/schema/freespace_planner.schema.json b/planning/autoware_freespace_planner/schema/freespace_planner.schema.json index 4494878849897..e42995718974a 100644 --- a/planning/autoware_freespace_planner/schema/freespace_planner.schema.json +++ b/planning/autoware_freespace_planner/schema/freespace_planner.schema.json @@ -146,6 +146,11 @@ "default": 0.5, "description": "Distance for expanding nodes in A* search." }, + "near_goal_distance": { + "type": "number", + "default": 4.0, + "description": "Distance threshold to consider near goal." + }, "distance_heuristic_weight": { "type": "number", "default": 1.0, @@ -160,6 +165,11 @@ "type": "number", "default": 0.5, "description": "Weight for distance to obstacle in A* search." + }, + "goal_lat_distance_weight": { + "type": "number", + "default": 0.5, + "description": "Weight for lateral distance from original goal." } }, "required": [ diff --git a/planning/autoware_freespace_planner/src/autoware_freespace_planner/freespace_planner_node.cpp b/planning/autoware_freespace_planner/src/autoware_freespace_planner/freespace_planner_node.cpp index 9bff2cfddd2c6..8e8a962ed1071 100644 --- a/planning/autoware_freespace_planner/src/autoware_freespace_planner/freespace_planner_node.cpp +++ b/planning/autoware_freespace_planner/src/autoware_freespace_planner/freespace_planner_node.cpp @@ -377,8 +377,7 @@ void FreespacePlannerNode::updateTargetIndex() } else { // Switch to next partial trajectory prev_target_index_ = target_index_; - target_index_ = - getNextTargetIndex(trajectory_.points.size(), reversing_indices_, target_index_); + target_index_ = new_target_index; } } } diff --git a/planning/autoware_freespace_planning_algorithms/include/autoware/freespace_planning_algorithms/abstract_algorithm.hpp b/planning/autoware_freespace_planning_algorithms/include/autoware/freespace_planning_algorithms/abstract_algorithm.hpp index 911144f3796e5..8a4d6bf2e42b5 100644 --- a/planning/autoware_freespace_planning_algorithms/include/autoware/freespace_planning_algorithms/abstract_algorithm.hpp +++ b/planning/autoware_freespace_planning_algorithms/include/autoware/freespace_planning_algorithms/abstract_algorithm.hpp @@ -16,6 +16,7 @@ #define AUTOWARE__FREESPACE_PLANNING_ALGORITHMS__ABSTRACT_ALGORITHM_HPP_ #include +#include #include #include @@ -29,6 +30,10 @@ namespace autoware::freespace_planning_algorithms { +using autoware::universe_utils::normalizeRadian; + +geometry_msgs::msg::Pose transformPose( + const geometry_msgs::msg::Pose & pose, const geometry_msgs::msg::TransformStamped & transform); int discretizeAngle(const double theta, const int theta_size); struct IndexXYT @@ -36,6 +41,11 @@ struct IndexXYT int x; int y; int theta; + + bool operator==(const IndexXYT & index) const + { + return (x == index.x && y == index.y && theta == index.theta); + } }; struct IndexXY @@ -138,6 +148,12 @@ struct PlannerWaypoints double compute_length() const; }; +struct EDTData +{ + double distance; + double angle; +}; + class AbstractPlanningAlgorithm { public: @@ -162,6 +178,9 @@ class AbstractPlanningAlgorithm virtual void setMap(const nav_msgs::msg::OccupancyGrid & costmap); virtual bool makePlan( const geometry_msgs::msg::Pose & start_pose, const geometry_msgs::msg::Pose & goal_pose) = 0; + virtual bool makePlan( + const geometry_msgs::msg::Pose & start_pose, + const std::vector & goal_candidates) = 0; virtual bool hasObstacleOnTrajectory(const geometry_msgs::msg::PoseArray & trajectory) const; const PlannerWaypoints & getWaypoints() const { return waypoints_; } double getDistanceToObstacle(const geometry_msgs::msg::Pose & pose) const; @@ -223,7 +242,7 @@ class AbstractPlanningAlgorithm } template - inline double getObstacleEDT(const IndexType & index) const + inline EDTData getObstacleEDT(const IndexType & index) const { return edt_map_[indexToId(index)]; } @@ -235,6 +254,19 @@ class AbstractPlanningAlgorithm return index.y * costmap_.info.width + index.x; } + inline double getVehicleBaseToFrameDistance(const double angle) const + { + const double normalized_angle = std::abs(normalizeRadian(angle)); + const double w = 0.5 * collision_vehicle_shape_.width; + const double l_b = collision_vehicle_shape_.base2back; + const double l_f = collision_vehicle_shape_.length - l_b; + + if (normalized_angle < atan(w / l_f)) return l_f / cos(normalized_angle); + if (normalized_angle < M_PI_2) return w / sin(normalized_angle); + if (normalized_angle < M_PI_2 + atan(l_b / w)) return w / cos(normalized_angle - M_PI_2); + return l_b / cos(M_PI - normalized_angle); + } + PlannerCommonParam planner_common_param_; VehicleShape collision_vehicle_shape_; @@ -250,8 +282,8 @@ class AbstractPlanningAlgorithm // is_obstacle's table std::vector is_obstacle_table_; - // Euclidean distance transform map (distance to nearest obstacle cell) - std::vector edt_map_; + // Euclidean distance transform map (distance & angle info to nearest obstacle cell) + std::vector edt_map_; // pose in costmap frame geometry_msgs::msg::Pose start_pose_; diff --git a/planning/autoware_freespace_planning_algorithms/include/autoware/freespace_planning_algorithms/astar_search.hpp b/planning/autoware_freespace_planning_algorithms/include/autoware/freespace_planning_algorithms/astar_search.hpp index 8ac7c60e7ca4f..65ef53d820cba 100644 --- a/planning/autoware_freespace_planning_algorithms/include/autoware/freespace_planning_algorithms/astar_search.hpp +++ b/planning/autoware_freespace_planning_algorithms/include/autoware/freespace_planning_algorithms/astar_search.hpp @@ -23,6 +23,8 @@ #include #include +#include + #include #include #include @@ -46,11 +48,13 @@ struct AstarParam bool use_back; // backward search bool adapt_expansion_distance; double expansion_distance; + double near_goal_distance; // search configs double distance_heuristic_weight; // obstacle threshold on grid [0,255] double smoothness_weight; double obstacle_distance_weight; + double goal_lat_distance_weight; }; struct AstarNode @@ -105,15 +109,19 @@ class AstarSearch : public AbstractPlanningAlgorithm node.declare_parameter("astar.use_back"), node.declare_parameter("astar.adapt_expansion_distance"), node.declare_parameter("astar.expansion_distance"), + node.declare_parameter("astar.near_goal_distance"), node.declare_parameter("astar.distance_heuristic_weight"), node.declare_parameter("astar.smoothness_weight"), - node.declare_parameter("astar.obstacle_distance_weight")}) + node.declare_parameter("astar.obstacle_distance_weight"), + node.declare_parameter("astar.goal_lat_distance_weight")}) { } void setMap(const nav_msgs::msg::OccupancyGrid & costmap) override; bool makePlan(const Pose & start_pose, const Pose & goal_pose) override; + bool makePlan(const Pose & start_pose, const std::vector & goal_candidates) override; + const PlannerWaypoints & getWaypoints() const { return waypoints_; } inline int getKey(const IndexXYT & index) @@ -127,16 +135,18 @@ class AstarSearch : public AbstractPlanningAlgorithm void expandNodes(AstarNode & current_node, const bool is_back = false); void resetData(); void setPath(const AstarNode & goal); - void setStartNode(); + void setStartNode(const double cost_offset = 0.0); double estimateCost(const Pose & pose, const IndexXYT & index) const; bool isGoal(const AstarNode & node) const; + void setShiftedGoalPose(const Pose & goal_pose, const double lat_offset) const; Pose node2pose(const AstarNode & node) const; double getExpansionDistance(const AstarNode & current_node) const; double getSteeringCost(const int steering_index) const; double getSteeringChangeCost(const int steering_index, const int prev_steering_index) const; double getDirectionChangeCost(const double dir_distance) const; - double getObsDistanceCost(const double obs_distance) const; + double getObsDistanceCost(const IndexXYT & index, const EDTData & obs_edt) const; + double getLatDistanceCost(const Pose & pose) const; // Algorithm specific param AstarParam astar_param_; @@ -150,6 +160,11 @@ class AstarSearch : public AbstractPlanningAlgorithm // goal node, which may helpful in testing and debugging AstarNode * goal_node_; + mutable boost::optional shifted_goal_pose_; + + // alternate goals for when multiple goal candidates are given + std::vector alternate_goals_; + // distance metric option (removed when the reeds_shepp gets stable) bool use_reeds_shepp_; @@ -158,7 +173,9 @@ class AstarSearch : public AbstractPlanningAlgorithm double avg_turning_radius_; double min_expansion_dist_; double max_expansion_dist_; + double near_goal_dist_; bool is_backward_search_; + bool is_multiple_goals_; // the following constexpr values were found to be best by trial and error, through multiple // tests, and are not expected to be changed regularly, therefore they were not made into ros @@ -169,8 +186,11 @@ class AstarSearch : public AbstractPlanningAlgorithm static constexpr double dist_to_goal_expansion_factor_ = 0.15; static constexpr double dist_to_obs_expansion_factor_ = 0.3; + // initial cost offset for multi goal backward search + static constexpr double multi_goal_backward_cost_offset = 5.0; + // cost free obstacle distance - static constexpr double cost_free_obs_dist = 5.0; + static constexpr double cost_free_obs_dist = 1.0; }; } // namespace autoware::freespace_planning_algorithms diff --git a/planning/autoware_freespace_planning_algorithms/include/autoware/freespace_planning_algorithms/rrtstar.hpp b/planning/autoware_freespace_planning_algorithms/include/autoware/freespace_planning_algorithms/rrtstar.hpp index 17e7f1f1ebf56..b30692ce8da2d 100644 --- a/planning/autoware_freespace_planning_algorithms/include/autoware/freespace_planning_algorithms/rrtstar.hpp +++ b/planning/autoware_freespace_planning_algorithms/include/autoware/freespace_planning_algorithms/rrtstar.hpp @@ -58,6 +58,9 @@ class RRTStar : public AbstractPlanningAlgorithm bool makePlan( const geometry_msgs::msg::Pose & start_pose, const geometry_msgs::msg::Pose & goal_pose) override; + bool makePlan( + const geometry_msgs::msg::Pose & start_pose, + const std::vector & goal_candidates) override; bool hasObstacleOnTrajectory(const geometry_msgs::msg::PoseArray & trajectory) const override; private: diff --git a/planning/autoware_freespace_planning_algorithms/scripts/bind/astar_search_pybind.cpp b/planning/autoware_freespace_planning_algorithms/scripts/bind/astar_search_pybind.cpp index 1c04fd65447b2..c35081bd97f84 100644 --- a/planning/autoware_freespace_planning_algorithms/scripts/bind/astar_search_pybind.cpp +++ b/planning/autoware_freespace_planning_algorithms/scripts/bind/astar_search_pybind.cpp @@ -120,6 +120,8 @@ PYBIND11_MODULE(autoware_freespace_planning_algorithms_pybind, p) &freespace_planning_algorithms::AstarParam::adapt_expansion_distance) .def_readwrite( "expansion_distance", &freespace_planning_algorithms::AstarParam::expansion_distance) + .def_readwrite( + "near_goal_distance", &freespace_planning_algorithms::AstarParam::near_goal_distance) .def_readwrite( "distance_heuristic_weight", &freespace_planning_algorithms::AstarParam::distance_heuristic_weight) @@ -127,7 +129,10 @@ PYBIND11_MODULE(autoware_freespace_planning_algorithms_pybind, p) "smoothness_weight", &freespace_planning_algorithms::AstarParam::smoothness_weight) .def_readwrite( "obstacle_distance_weight", - &freespace_planning_algorithms::AstarParam::obstacle_distance_weight); + &freespace_planning_algorithms::AstarParam::obstacle_distance_weight) + .def_readwrite( + "goal_lat_distance_weight", + &freespace_planning_algorithms::AstarParam::goal_lat_distance_weight); auto pyPlannerCommonParam = py::class_( p, "PlannerCommonParam", py::dynamic_attr()) diff --git a/planning/autoware_freespace_planning_algorithms/scripts/example/example.py b/planning/autoware_freespace_planning_algorithms/scripts/example/example.py index b4af9ed87a3b9..9f18dc799c9d0 100644 --- a/planning/autoware_freespace_planning_algorithms/scripts/example/example.py +++ b/planning/autoware_freespace_planning_algorithms/scripts/example/example.py @@ -49,9 +49,11 @@ astar_param.use_back = True astar_param.adapt_expansion_distance = True astar_param.expansion_distance = 0.4 +astar_param.near_goal_distance = 3.0 astar_param.distance_heuristic_weight = 1.0 astar_param.smoothness_weight = 1.0 astar_param.obstacle_distance_weight = 1.0 +astar_param.goal_lat_distance_weight = 1.0 astar = fp.AstarSearch(planner_param, vehicle_shape, astar_param) diff --git a/planning/autoware_freespace_planning_algorithms/src/abstract_algorithm.cpp b/planning/autoware_freespace_planning_algorithms/src/abstract_algorithm.cpp index 97fd93e31d5cd..b968e70bd2c01 100644 --- a/planning/autoware_freespace_planning_algorithms/src/abstract_algorithm.cpp +++ b/planning/autoware_freespace_planning_algorithms/src/abstract_algorithm.cpp @@ -19,12 +19,12 @@ #include #include +#include #include namespace autoware::freespace_planning_algorithms { using autoware::universe_utils::createQuaternionFromYaw; -using autoware::universe_utils::normalizeRadian; geometry_msgs::msg::Pose transformPose( const geometry_msgs::msg::Pose & pose, const geometry_msgs::msg::TransformStamped & transform) @@ -145,19 +145,19 @@ double AbstractPlanningAlgorithm::getDistanceToObstacle(const geometry_msgs::msg if (indexToId(index) >= static_cast(edt_map_.size())) { return std::numeric_limits::max(); } - return getObstacleEDT(index); + return getObstacleEDT(index).distance; } void AbstractPlanningAlgorithm::computeEDTMap() { + edt_map_.clear(); const int height = costmap_.info.height; const int width = costmap_.info.width; const double resolution_m = costmap_.info.resolution; - const double diagonal_m = std::hypot(resolution_m * height, resolution_m * width); - std::vector edt_map; + std::vector> edt_map; edt_map.reserve(costmap_.data.size()); - std::vector temporary_storage(width); + std::vector> temporary_storage(width); // scan rows for (int i = 0; i < height; ++i) { double distance = resolution_m; @@ -165,14 +165,16 @@ void AbstractPlanningAlgorithm::computeEDTMap() // forward scan for (int j = 0; j < width; ++j) { if (isObs(IndexXY{j, i})) { - temporary_storage[j] = 0.0; + temporary_storage[j].first = 0.0; + temporary_storage[j].second.x = 0.0; distance = resolution_m; found_obstacle = true; } else if (found_obstacle) { - temporary_storage[j] = distance; + temporary_storage[j].first = distance; + temporary_storage[j].second.x = -distance; distance += resolution_m; } else { - temporary_storage[j] = diagonal_m; + temporary_storage[j].first = std::numeric_limits::infinity(); } } @@ -183,8 +185,9 @@ void AbstractPlanningAlgorithm::computeEDTMap() if (isObs(IndexXY{j, i})) { distance = resolution_m; found_obstacle = true; - } else if (found_obstacle && temporary_storage[j] > distance) { - temporary_storage[j] = distance; + } else if (found_obstacle && temporary_storage[j].first > distance) { + temporary_storage[j].first = distance; + temporary_storage[j].second.x = distance; distance += resolution_m; } } @@ -197,22 +200,29 @@ void AbstractPlanningAlgorithm::computeEDTMap() for (int j = 0; j < width; ++j) { for (int i = 0; i < height; ++i) { int id = indexToId(IndexXY{j, i}); - double min_value = edt_map[id] * edt_map[id]; + double min_value = edt_map[id].first * edt_map[id].first; + geometry_msgs::msg::Point rel_pos = edt_map[id].second; for (int k = 0; k < height; ++k) { id = indexToId(IndexXY{j, k}); double dist = resolution_m * std::abs(static_cast(i - k)); - double value = edt_map[id] * edt_map[id] + dist * dist; + double value = edt_map[id].first * edt_map[id].first + dist * dist; if (value < min_value) { min_value = value; + rel_pos.x = edt_map[id].second.x; + rel_pos.y = dist; } } - temporary_storage[i] = sqrt(min_value); + temporary_storage[i].first = sqrt(min_value); + temporary_storage[i].second = rel_pos; } for (int i = 0; i < height; ++i) { edt_map[indexToId(IndexXY{j, i})] = temporary_storage[i]; } } - edt_map_ = edt_map; + for (const auto & edt : edt_map) { + const double angle = std::atan2(edt.second.y, edt.second.x); + edt_map_.push_back({edt.first, angle}); + } } void AbstractPlanningAlgorithm::computeCollisionIndexes( @@ -312,7 +322,7 @@ bool AbstractPlanningAlgorithm::detectCollision(const IndexXYT & base_index) con if (detectBoundaryExit(base_index)) return true; - double obstacle_edt = getObstacleEDT(base_index); + double obstacle_edt = getObstacleEDT(base_index).distance; // if nearest obstacle is further than largest dimension, no collision is guaranteed // if nearest obstacle is closer than smallest dimension, collision is guaranteed diff --git a/planning/autoware_freespace_planning_algorithms/src/astar_search.cpp b/planning/autoware_freespace_planning_algorithms/src/astar_search.cpp index b0be1da75caec..805f375af4276 100644 --- a/planning/autoware_freespace_planning_algorithms/src/astar_search.cpp +++ b/planning/autoware_freespace_planning_algorithms/src/astar_search.cpp @@ -14,11 +14,13 @@ #include "autoware/freespace_planning_algorithms/astar_search.hpp" +#include "autoware/freespace_planning_algorithms/abstract_algorithm.hpp" #include "autoware/freespace_planning_algorithms/kinematic_bicycle_model.hpp" #include #include +#include #include #include @@ -88,6 +90,9 @@ AstarSearch::AstarSearch( min_expansion_dist_ = astar_param_.expansion_distance; max_expansion_dist_ = collision_vehicle_shape_.base_length * base_length_max_expansion_factor_; + + near_goal_dist_ = + std::max(astar_param.near_goal_distance, planner_common_param.longitudinal_goal_range); } void AstarSearch::setMap(const nav_msgs::msg::OccupancyGrid & costmap) @@ -100,6 +105,18 @@ void AstarSearch::setMap(const nav_msgs::msg::OccupancyGrid & costmap) collision_vehicle_shape_.base_length * base_length_max_expansion_factor_, min_expansion_dist_); } +void AstarSearch::resetData() +{ + // clearing openlist is necessary because otherwise remaining elements of openlist + // point to deleted node. + openlist_ = std::priority_queue, NodeComparison>(); + const int nb_of_grid_nodes = costmap_.info.width * costmap_.info.height; + const int total_astar_node_count = nb_of_grid_nodes * planner_common_param_.theta_size; + graph_.assign(total_astar_node_count, AstarNode{}); + col_free_distance_map_.assign(nb_of_grid_nodes, std::numeric_limits::max()); + shifted_goal_pose_ = {}; +} + bool AstarSearch::makePlan(const Pose & start_pose, const Pose & goal_pose) { resetData(); @@ -115,6 +132,8 @@ bool AstarSearch::makePlan(const Pose & start_pose, const Pose & goal_pose) setCollisionFreeDistanceMap(); + is_multiple_goals_ = false; + setStartNode(); if (!search()) { @@ -124,16 +143,54 @@ bool AstarSearch::makePlan(const Pose & start_pose, const Pose & goal_pose) return true; } -void AstarSearch::resetData() +bool AstarSearch::makePlan( + const geometry_msgs::msg::Pose & start_pose, + const std::vector & goal_candidates) { - // clearing openlist is necessary because otherwise remaining elements of openlist - // point to deleted node. - openlist_ = std::priority_queue, NodeComparison>(); - const int nb_of_grid_nodes = costmap_.info.width * costmap_.info.height; - const int total_astar_node_count = nb_of_grid_nodes * planner_common_param_.theta_size; - graph_ = std::vector(total_astar_node_count); - col_free_distance_map_ = - std::vector(nb_of_grid_nodes, std::numeric_limits::max()); + if (goal_candidates.empty()) return false; + + if (goal_candidates.size() == 1) { + return makePlan(start_pose, goal_candidates.front()); + } + + resetData(); + + start_pose_ = global2local(costmap_, start_pose); + + std::vector goals_local; + for (const auto & goal : goal_candidates) { + const auto goal_local = global2local(costmap_, goal); + if (detectCollision(goal_local)) continue; + goals_local.push_back(goal_local); + } + + if (detectCollision(start_pose_) || goals_local.empty()) { + throw std::logic_error("Invalid start or goal pose"); + } + + goal_pose_ = is_backward_search_ ? start_pose_ : goals_local.front(); + + setCollisionFreeDistanceMap(); + + is_multiple_goals_ = true; + + if (is_backward_search_) { + double cost_offset = 0.0; + for (const auto & pose : goals_local) { + start_pose_ = pose; + setStartNode(cost_offset); + cost_offset += multi_goal_backward_cost_offset; + } + } else { + setStartNode(); + alternate_goals_ = goals_local; + } + + if (!search()) { + throw std::logic_error("HA* failed to find path to goal"); + } + + return true; } void AstarSearch::setCollisionFreeDistanceMap() @@ -166,7 +223,7 @@ void AstarSearch::setCollisionFreeDistanceMap() const IndexXY n_index{x, y}; const double offset = std::abs(offset_x) + std::abs(offset_y); if (isOutOfRange(n_index) || isObs(n_index) || offset < 1) continue; - if (getObstacleEDT(n_index) < 0.5 * collision_vehicle_shape_.width) continue; + if (getObstacleEDT(n_index).distance < 0.5 * collision_vehicle_shape_.width) continue; const int n_id = indexToId(n_index); const double dist = current.second + (sqrt(offset) * costmap_.info.resolution); if (closed[n_id] || col_free_distance_map_[n_id] < dist) continue; @@ -177,15 +234,16 @@ void AstarSearch::setCollisionFreeDistanceMap() } } -void AstarSearch::setStartNode() +void AstarSearch::setStartNode(const double cost_offset) { const auto index = pose2index(costmap_, start_pose_, planner_common_param_.theta_size); // Set start node AstarNode * start_node = &graph_[getKey(index)]; - start_node->set(start_pose_, 0.0, estimateCost(start_pose_, index), 0, false); + const double initial_cost = estimateCost(start_pose_, index) + cost_offset; + start_node->set(start_pose_, 0.0, initial_cost, 0, false); start_node->dir_distance = 0.0; start_node->dist_to_goal = calcDistance2d(start_pose_, goal_pose_); - start_node->dist_to_obs = getObstacleEDT(index); + start_node->dist_to_obs = getObstacleEDT(index).distance; start_node->status = NodeStatus::Open; start_node->parent = nullptr; @@ -261,7 +319,7 @@ void AstarSearch::expandNodes(AstarNode & current_node, const bool is_back) AstarNode * next_node = &graph_[getKey(next_index)]; if (next_node->status == NodeStatus::Closed || detectCollision(next_index)) continue; - const double distance_to_obs = getObstacleEDT(next_index); + const auto obs_edt = getObstacleEDT(next_index); const bool is_direction_switch = (current_node.parent != nullptr) && (is_back != current_node.is_back); @@ -271,7 +329,8 @@ void AstarSearch::expandNodes(AstarNode & current_node, const bool is_back) double move_cost = current_node.gc + (total_weight * std::abs(distance)); move_cost += getSteeringChangeCost(steering_index, current_node.steering_index); - move_cost += getObsDistanceCost(distance_to_obs); + move_cost += getObsDistanceCost(next_index, obs_edt); + move_cost += getLatDistanceCost(next_pose); if (is_direction_switch) move_cost += getDirectionChangeCost(current_node.dir_distance); double total_cost = move_cost + estimateCost(next_pose, next_index); @@ -282,7 +341,7 @@ void AstarSearch::expandNodes(AstarNode & current_node, const bool is_back) next_node->dir_distance = std::abs(distance) + (is_direction_switch ? 0.0 : current_node.dir_distance); next_node->dist_to_goal = calcDistance2d(next_pose, goal_pose_); - next_node->dist_to_obs = distance_to_obs; + next_node->dist_to_obs = obs_edt.distance; next_node->parent = ¤t_node; openlist_.push(next_node); continue; @@ -320,10 +379,26 @@ double AstarSearch::getDirectionChangeCost(const double dir_distance) const return planner_common_param_.direction_change_weight * (1.0 + (1.0 / (1.0 + dir_distance))); } -double AstarSearch::getObsDistanceCost(const double obs_distance) const +double AstarSearch::getObsDistanceCost(const IndexXYT & index, const EDTData & obs_edt) const { + if (obs_edt.distance > collision_vehicle_shape_.max_dimension + cost_free_obs_dist) { + return 0.0; + } + const double yaw = index.theta * (2.0 * M_PI / planner_common_param_.theta_size); + const double base_to_frame_dist = getVehicleBaseToFrameDistance(yaw - obs_edt.angle); + const double vehicle_to_obs_dist = std::max(obs_edt.distance - base_to_frame_dist, 0.0); return astar_param_.obstacle_distance_weight * - std::max(1.0 - (obs_distance / cost_free_obs_dist), 0.0); + std::max(1.0 - (vehicle_to_obs_dist / cost_free_obs_dist), 0.0); +} + +double AstarSearch::getLatDistanceCost(const Pose & pose) const +{ + if (is_multiple_goals_) return 0.0; + const auto ref_pose = is_backward_search_ ? start_pose_ : goal_pose_; + const double distance_to_goal = calcDistance2d(pose, ref_pose); + if (distance_to_goal > near_goal_dist_) return 0.0; + const double lat_distance = std::abs(calcRelativePose(ref_pose, pose).position.y); + return astar_param_.goal_lat_distance_weight * lat_distance; } void AstarSearch::setPath(const AstarNode & goal_node) @@ -340,6 +415,11 @@ void AstarSearch::setPath(const AstarNode & goal_node) geometry_msgs::msg::PoseStamped pose; pose.header = header; + if (shifted_goal_pose_) { + pose.pose = local2global(costmap_, shifted_goal_pose_.get()); + waypoints.push_back({pose, goal_node.is_back}); + } + const auto interpolate = [this, &waypoints, &pose](const AstarNode & node) { if (node.parent == nullptr || !astar_param_.adapt_expansion_distance) return; const auto parent_pose = node2pose(*node.parent); @@ -375,22 +455,19 @@ void AstarSearch::setPath(const AstarNode & goal_node) } waypoints_.header = header; - waypoints_.waypoints.clear(); + waypoints_.waypoints = waypoints; - for (size_t i = 0; i < waypoints.size() - 1; ++i) { - const auto & current = waypoints[i]; - const auto & next = waypoints[i + 1]; + if (!is_backward_search_) return; - waypoints_.waypoints.push_back(current); + for (size_t i = 0; i < waypoints_.waypoints.size() - 1; ++i) { + const auto & current = waypoints_.waypoints[i]; + auto & next = waypoints_.waypoints[i + 1]; if (current.is_back != next.is_back) { - waypoints_.waypoints.push_back( - {is_backward_search_ ? next.pose : current.pose, - is_backward_search_ ? current.is_back : next.is_back}); + next.is_back = current.is_back; + ++i; // skip next waypoint } } - - waypoints_.waypoints.push_back(waypoints.back()); } bool AstarSearch::isGoal(const AstarNode & node) const @@ -400,26 +477,65 @@ bool AstarSearch::isGoal(const AstarNode & node) const const double goal_angle = autoware::universe_utils::deg2rad(planner_common_param_.angle_goal_range / 2.0); - const auto relative_pose = calcRelativePose(goal_pose_, node2pose(node)); + const auto node_pose = node2pose(node); - // Check conditions - if (astar_param_.only_behind_solutions && relative_pose.position.x > 0) { - return false; - } + auto checkGoal = [this, &node_pose, &lateral_goal_range, &longitudinal_goal_range, &goal_angle, + &is_back = node.is_back](const Pose & pose) { + const auto node_index = pose2index(costmap_, node_pose, planner_common_param_.theta_size); + const auto goal_index = pose2index(costmap_, pose, planner_common_param_.theta_size); - if ( - std::fabs(relative_pose.position.x) > longitudinal_goal_range || - std::fabs(relative_pose.position.y) > lateral_goal_range) { - return false; - } + if (node_index == goal_index) return true; - const auto angle_diff = - autoware::universe_utils::normalizeRadian(tf2::getYaw(relative_pose.orientation)); - if (std::abs(angle_diff) > goal_angle) { - return false; - } + const auto relative_pose = calcRelativePose(pose, node_pose); - return true; + bool is_behind_goal = relative_pose.position.x <= 0.0; + + if (astar_param_.only_behind_solutions && !is_behind_goal) { + return false; + } + + if ( + std::fabs(relative_pose.position.x) > longitudinal_goal_range || + std::fabs(relative_pose.position.y) > lateral_goal_range) { + return false; + } + + const auto angle_diff = + autoware::universe_utils::normalizeRadian(tf2::getYaw(relative_pose.orientation)); + if (std::abs(angle_diff) > goal_angle) { + return false; + } + + const bool is_set_shifted_goal_pose = + is_backward_search_ ? is_behind_goal == is_back : is_behind_goal != is_back; + if (is_set_shifted_goal_pose) { + setShiftedGoalPose(pose, relative_pose.position.y); + } + + return true; + }; + + if (checkGoal(goal_pose_)) return true; + + return std::any_of( + alternate_goals_.begin(), alternate_goals_.end(), + [&checkGoal](const Pose & pose) { return checkGoal(pose); }); +} + +void AstarSearch::setShiftedGoalPose(const Pose & goal_pose, const double lat_offset) const +{ + tf2::Transform tf; + tf2::convert(goal_pose, tf); + + geometry_msgs::msg::TransformStamped transform; + transform.transform = tf2::toMsg(tf); + + Pose lat_pose; + lat_pose.position = geometry_msgs::build().x(0.0).y(lat_offset).z(0.0); + lat_pose.orientation = + geometry_msgs::build().x(0.0).y(0.0).z(0.0).w(1.0); + + shifted_goal_pose_ = transformPose(lat_pose, transform); } Pose AstarSearch::node2pose(const AstarNode & node) const diff --git a/planning/autoware_freespace_planning_algorithms/src/rrtstar.cpp b/planning/autoware_freespace_planning_algorithms/src/rrtstar.cpp index 20a59048e59d1..b9343f680fa1a 100644 --- a/planning/autoware_freespace_planning_algorithms/src/rrtstar.cpp +++ b/planning/autoware_freespace_planning_algorithms/src/rrtstar.cpp @@ -41,6 +41,13 @@ RRTStar::RRTStar( } } +bool RRTStar::makePlan( + const geometry_msgs::msg::Pose & start_pose, + const std::vector & goal_candidates) +{ + return makePlan(start_pose, goal_candidates.front()); +} + bool RRTStar::makePlan( const geometry_msgs::msg::Pose & start_pose, const geometry_msgs::msg::Pose & goal_pose) { diff --git a/planning/autoware_freespace_planning_algorithms/test/src/test_freespace_planning_algorithms.cpp b/planning/autoware_freespace_planning_algorithms/test/src/test_freespace_planning_algorithms.cpp index 82806bb500b0e..2b2254d66c844 100644 --- a/planning/autoware_freespace_planning_algorithms/test/src/test_freespace_planning_algorithms.cpp +++ b/planning/autoware_freespace_planning_algorithms/test/src/test_freespace_planning_algorithms.cpp @@ -214,12 +214,22 @@ std::unique_ptr configure_astar(bool use_multi) const bool use_back = true; const bool adapt_expansion_distance = true; const double expansion_distance = 0.4; + const double near_goal_distance = 4.0; const double distance_heuristic_weight = 2.0; const double smoothness_weight = 0.5; const double obstacle_distance_weight = 1.7; + const double goal_lat_distance_weight = 1.0; const auto astar_param = fpa::AstarParam{ - search_method, only_behind_solutions, use_back, adapt_expansion_distance, - expansion_distance, distance_heuristic_weight, smoothness_weight, obstacle_distance_weight}; + search_method, + only_behind_solutions, + use_back, + adapt_expansion_distance, + expansion_distance, + near_goal_distance, + distance_heuristic_weight, + smoothness_weight, + obstacle_distance_weight, + goal_lat_distance_weight}; auto algo = std::make_unique(planner_common_param, vehicle_shape, astar_param); return algo; From babadcf889a8112fc2debe17dd1c38de07cf89e5 Mon Sep 17 00:00:00 2001 From: kobayu858 <129580202+kobayu858@users.noreply.github.com> Date: Fri, 23 Aug 2024 11:41:14 +0900 Subject: [PATCH 025/169] fix(autoware_image_projection_based_fusion): fix unusedFunction (#8567) fix:unusedFunction Signed-off-by: kobayu858 --- .../utils/utils.hpp | 8 -- .../src/utils/utils.cpp | 95 ------------------- 2 files changed, 103 deletions(-) diff --git a/perception/autoware_image_projection_based_fusion/include/autoware/image_projection_based_fusion/utils/utils.hpp b/perception/autoware_image_projection_based_fusion/include/autoware/image_projection_based_fusion/utils/utils.hpp index 9a0f4838d1fac..058a5994ab8ad 100644 --- a/perception/autoware_image_projection_based_fusion/include/autoware/image_projection_based_fusion/utils/utils.hpp +++ b/perception/autoware_image_projection_based_fusion/include/autoware/image_projection_based_fusion/utils/utils.hpp @@ -74,9 +74,6 @@ std::optional getTransformStamped( Eigen::Affine3d transformToEigen(const geometry_msgs::msg::Transform & t); -void convertCluster2FeatureObject( - const std_msgs::msg::Header & header, const PointCloud & cluster, - DetectedObjectWithFeature & feature_obj); void closest_cluster( const PointCloud2 & cluster, const double cluster_2d_tolerance, const int min_cluster_size, const pcl::PointXYZ & center, PointCloud2 & out_cluster); @@ -90,11 +87,6 @@ void updateOutputFusedObjects( geometry_msgs::msg::Point getCentroid(const sensor_msgs::msg::PointCloud2 & pointcloud); -pcl::PointXYZ getClosestPoint(const pcl::PointCloud & cluster); -void addShapeAndKinematic( - const pcl::PointCloud & cluster, - tier4_perception_msgs::msg::DetectedObjectWithFeature & feature_obj); - } // namespace autoware::image_projection_based_fusion #endif // AUTOWARE__IMAGE_PROJECTION_BASED_FUSION__UTILS__UTILS_HPP_ diff --git a/perception/autoware_image_projection_based_fusion/src/utils/utils.cpp b/perception/autoware_image_projection_based_fusion/src/utils/utils.cpp index 1b303e3f01ff5..1f67d2e1cc86f 100644 --- a/perception/autoware_image_projection_based_fusion/src/utils/utils.cpp +++ b/perception/autoware_image_projection_based_fusion/src/utils/utils.cpp @@ -72,18 +72,6 @@ Eigen::Affine3d transformToEigen(const geometry_msgs::msg::Transform & t) return a; } -void convertCluster2FeatureObject( - const std_msgs::msg::Header & header, const PointCloud & cluster, - DetectedObjectWithFeature & feature_obj) -{ - PointCloud2 ros_cluster; - pcl::toROSMsg(cluster, ros_cluster); - ros_cluster.header = header; - feature_obj.feature.cluster = ros_cluster; - feature_obj.object.kinematics.pose_with_covariance.pose.position = getCentroid(ros_cluster); - feature_obj.object.existence_probability = 1.0f; -} - void closest_cluster( const PointCloud2 & cluster, const double cluster_2d_tolerance, const int min_cluster_size, const pcl::PointXYZ & center, PointCloud2 & out_cluster) @@ -198,73 +186,6 @@ void updateOutputFusedObjects( } } -void addShapeAndKinematic( - const pcl::PointCloud & cluster, - tier4_perception_msgs::msg::DetectedObjectWithFeature & feature_obj) -{ - if (cluster.empty()) { - return; - } - pcl::PointXYZ centroid = pcl::PointXYZ(0.0, 0.0, 0.0); - float max_z = -1e6; - float min_z = 1e6; - for (const auto & point : cluster) { - centroid.x += point.x; - centroid.y += point.y; - centroid.z += point.z; - max_z = max_z < point.z ? point.z : max_z; - min_z = min_z > point.z ? point.z : min_z; - } - centroid.x = centroid.x / static_cast(cluster.size()); - centroid.y = centroid.y / static_cast(cluster.size()); - centroid.z = centroid.z / static_cast(cluster.size()); - - std::vector cluster2d; - std::vector cluster2d_convex; - - for (size_t i = 0; i < cluster.size(); ++i) { - cluster2d.push_back( - cv::Point((cluster.at(i).x - centroid.x) * 1000.0, (cluster.at(i).y - centroid.y) * 1000.)); - } - cv::convexHull(cluster2d, cluster2d_convex); - if (cluster2d_convex.empty()) { - return; - } - pcl::PointXYZ polygon_centroid = pcl::PointXYZ(0.0, 0.0, 0.0); - for (size_t i = 0; i < cluster2d_convex.size(); ++i) { - polygon_centroid.x += static_cast(cluster2d_convex.at(i).x) / 1000.0; - polygon_centroid.y += static_cast(cluster2d_convex.at(i).y) / 1000.0; - } - polygon_centroid.x = polygon_centroid.x / static_cast(cluster2d_convex.size()); - polygon_centroid.y = polygon_centroid.y / static_cast(cluster2d_convex.size()); - - autoware_perception_msgs::msg::Shape shape; - for (size_t i = 0; i < cluster2d_convex.size(); ++i) { - geometry_msgs::msg::Point32 point; - point.x = cluster2d_convex.at(i).x / 1000.0; - point.y = cluster2d_convex.at(i).y / 1000.0; - point.z = 0.0; - shape.footprint.points.push_back(point); - } - shape.type = autoware_perception_msgs::msg::Shape::POLYGON; - constexpr float eps = 0.01; - shape.dimensions.x = 0; - shape.dimensions.y = 0; - shape.dimensions.z = std::max((max_z - min_z), eps); - feature_obj.object.shape = shape; - feature_obj.object.kinematics.pose_with_covariance.pose.position.x = - centroid.x + polygon_centroid.x; - feature_obj.object.kinematics.pose_with_covariance.pose.position.y = - centroid.y + polygon_centroid.y; - feature_obj.object.kinematics.pose_with_covariance.pose.position.z = - min_z + shape.dimensions.z * 0.5; - feature_obj.object.existence_probability = 1.0; - feature_obj.object.kinematics.pose_with_covariance.pose.orientation.x = 0; - feature_obj.object.kinematics.pose_with_covariance.pose.orientation.y = 0; - feature_obj.object.kinematics.pose_with_covariance.pose.orientation.z = 0; - feature_obj.object.kinematics.pose_with_covariance.pose.orientation.w = 1; -} - geometry_msgs::msg::Point getCentroid(const sensor_msgs::msg::PointCloud2 & pointcloud) { geometry_msgs::msg::Point centroid; @@ -285,20 +206,4 @@ geometry_msgs::msg::Point getCentroid(const sensor_msgs::msg::PointCloud2 & poin return centroid; } -pcl::PointXYZ getClosestPoint(const pcl::PointCloud & cluster) -{ - pcl::PointXYZ closest_point; - double min_dist = 1e6; - pcl::PointXYZ orig_point = pcl::PointXYZ(0.0, 0.0, 0.0); - for (std::size_t i = 0; i < cluster.points.size(); ++i) { - pcl::PointXYZ point = cluster.points.at(i); - double dist_closest_point = autoware::universe_utils::calcDistance2d(point, orig_point); - if (min_dist > dist_closest_point) { - min_dist = dist_closest_point; - closest_point = pcl::PointXYZ(point.x, point.y, point.z); - } - } - return closest_point; -} - } // namespace autoware::image_projection_based_fusion From 103e086573c6a12ae352d19146bd9e561d40fc6f Mon Sep 17 00:00:00 2001 From: Masaki Baba Date: Fri, 23 Aug 2024 13:01:56 +0900 Subject: [PATCH 026/169] refactor(map_height_fitter)!: prefix package and namespace with autoware (#8421) * add autoware_ prefix Signed-off-by: a-maumau * style(pre-commit): autofix * remove duplicated dependency Signed-off-by: a-maumau --------- Signed-off-by: a-maumau Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: SakodaShintaro --- .github/CODEOWNERS | 2 +- localization/pose_initializer/README.md | 2 +- localization/pose_initializer/package.xml | 2 +- .../src/pose_initializer/gnss_module.hpp | 4 ++-- .../CMakeLists.txt | 8 ++++---- .../README.md | 4 ++-- .../config/map_height_fitter.param.yaml | 0 .../autoware}/map_height_fitter/map_height_fitter.hpp | 10 +++++----- .../launch/map_height_fitter.launch.xml | 4 ++-- .../package.xml | 4 ++-- .../schema/map_height_fitter.schema.json | 0 .../src/map_height_fitter.cpp | 6 +++--- .../src/map_height_fitter_node.cpp | 7 +++++-- .../default_ad_api_helpers/ad_api_adaptors/README.md | 2 +- .../default_ad_api_helpers/ad_api_adaptors/package.xml | 2 +- .../ad_api_adaptors/src/initial_pose_adaptor.hpp | 4 ++-- 16 files changed, 32 insertions(+), 29 deletions(-) rename map/{map_height_fitter => autoware_map_height_fitter}/CMakeLists.txt (74%) rename map/{map_height_fitter => autoware_map_height_fitter}/README.md (87%) rename map/{map_height_fitter => autoware_map_height_fitter}/config/map_height_fitter.param.yaml (100%) rename map/{map_height_fitter/include => autoware_map_height_fitter/include/autoware}/map_height_fitter/map_height_fitter.hpp (82%) rename map/{map_height_fitter => autoware_map_height_fitter}/launch/map_height_fitter.launch.xml (60%) rename map/{map_height_fitter => autoware_map_height_fitter}/package.xml (93%) rename map/{map_height_fitter => autoware_map_height_fitter}/schema/map_height_fitter.schema.json (100%) rename map/{map_height_fitter => autoware_map_height_fitter}/src/map_height_fitter.cpp (98%) rename map/{map_height_fitter => autoware_map_height_fitter}/src/map_height_fitter_node.cpp (88%) diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS index 6333b479b5696..277255d529fe7 100644 --- a/.github/CODEOWNERS +++ b/.github/CODEOWNERS @@ -99,7 +99,7 @@ localization/yabloc/yabloc_image_processing/** anh.nguyen.2@tier4.jp kento.yabuu localization/yabloc/yabloc_monitor/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp localization/yabloc/yabloc_particle_filter/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp localization/yabloc/yabloc_pose_initializer/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp -map/map_height_fitter/** anh.nguyen.2@tier4.jp isamu.takagi@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp +map/autoware_map_height_fitter/** anh.nguyen.2@tier4.jp isamu.takagi@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp map/map_loader/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp map/map_projection_loader/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp map/autoware_map_tf_generator/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp diff --git a/localization/pose_initializer/README.md b/localization/pose_initializer/README.md index 9083a6570d33b..94bf98f272487 100644 --- a/localization/pose_initializer/README.md +++ b/localization/pose_initializer/README.md @@ -7,7 +7,7 @@ It receives roughly estimated initial pose from GNSS/user. Passing the pose to `ndt_scan_matcher`, and it gets a calculated ego pose from `ndt_scan_matcher` via service. Finally, it publishes the initial pose to `ekf_localizer`. This node depends on the map height fitter library. -[See here for more details.](../../map/map_height_fitter/README.md) +[See here for more details.](../../map/autoware_map_height_fitter/README.md) ## Interfaces diff --git a/localization/pose_initializer/package.xml b/localization/pose_initializer/package.xml index ca4aa032fc7f9..e1f1233b8b4f5 100644 --- a/localization/pose_initializer/package.xml +++ b/localization/pose_initializer/package.xml @@ -19,13 +19,13 @@ ament_cmake autoware_cmake + autoware_map_height_fitter autoware_motion_utils autoware_universe_utils component_interface_specs component_interface_utils geometry_msgs localization_util - map_height_fitter rclcpp rclcpp_components std_srvs diff --git a/localization/pose_initializer/src/pose_initializer/gnss_module.hpp b/localization/pose_initializer/src/pose_initializer/gnss_module.hpp index fd490b00d0f70..bb3f6933c2aaa 100644 --- a/localization/pose_initializer/src/pose_initializer/gnss_module.hpp +++ b/localization/pose_initializer/src/pose_initializer/gnss_module.hpp @@ -15,7 +15,7 @@ #ifndef POSE_INITIALIZER__GNSS_MODULE_HPP_ #define POSE_INITIALIZER__GNSS_MODULE_HPP_ -#include +#include #include #include @@ -32,7 +32,7 @@ class GnssModule private: void on_pose(PoseWithCovarianceStamped::ConstSharedPtr msg); - map_height_fitter::MapHeightFitter fitter_; + autoware::map_height_fitter::MapHeightFitter fitter_; rclcpp::Clock::SharedPtr clock_; rclcpp::Subscription::SharedPtr sub_gnss_pose_; PoseWithCovarianceStamped::ConstSharedPtr pose_; diff --git a/map/map_height_fitter/CMakeLists.txt b/map/autoware_map_height_fitter/CMakeLists.txt similarity index 74% rename from map/map_height_fitter/CMakeLists.txt rename to map/autoware_map_height_fitter/CMakeLists.txt index 9485ed3fa54cd..5e26a25af3a1d 100644 --- a/map/map_height_fitter/CMakeLists.txt +++ b/map/autoware_map_height_fitter/CMakeLists.txt @@ -1,5 +1,5 @@ cmake_minimum_required(VERSION 3.14) -project(map_height_fitter) +project(autoware_map_height_fitter) find_package(autoware_cmake REQUIRED) find_package(PCL REQUIRED COMPONENTS common) @@ -9,14 +9,14 @@ ament_auto_add_library(${PROJECT_NAME} SHARED src/map_height_fitter.cpp src/map_height_fitter_node.cpp ) -target_link_libraries(map_height_fitter ${PCL_LIBRARIES}) +target_link_libraries(${PROJECT_NAME} ${PCL_LIBRARIES}) # When adding `autoware_lanelet2_extension` to package.xml, many warnings are generated. # These are treated as errors in compile, so pedantic warnings are disabled for this package. -target_compile_options(map_height_fitter PRIVATE -Wno-pedantic) +target_compile_options(${PROJECT_NAME} PRIVATE -Wno-pedantic) rclcpp_components_register_node(${PROJECT_NAME} - PLUGIN "MapHeightFitterNode" + PLUGIN "autoware::map_height_fitter::MapHeightFitterNode" EXECUTABLE ${PROJECT_NAME}_node EXECUTOR MultiThreadedExecutor ) diff --git a/map/map_height_fitter/README.md b/map/autoware_map_height_fitter/README.md similarity index 87% rename from map/map_height_fitter/README.md rename to map/autoware_map_height_fitter/README.md index 7da70a0ff7766..a61760b142615 100644 --- a/map/map_height_fitter/README.md +++ b/map/autoware_map_height_fitter/README.md @@ -1,4 +1,4 @@ -# map_height_fitter +# autoware_map_height_fitter This library fits the given point with the ground of the point cloud map. The map loading operation is switched by the parameter `enable_partial_load` of the node specified by `map_loader_name`. @@ -6,7 +6,7 @@ The node using this library must use multi thread executor. ## Parameters -{{ json_to_markdown("map/map_height_fitter/schema/map_height_fitter.schema.json") }} +{{ json_to_markdown("map/autoware_map_height_fitter/schema/map_height_fitter.schema.json") }} ## Topic subscription diff --git a/map/map_height_fitter/config/map_height_fitter.param.yaml b/map/autoware_map_height_fitter/config/map_height_fitter.param.yaml similarity index 100% rename from map/map_height_fitter/config/map_height_fitter.param.yaml rename to map/autoware_map_height_fitter/config/map_height_fitter.param.yaml diff --git a/map/map_height_fitter/include/map_height_fitter/map_height_fitter.hpp b/map/autoware_map_height_fitter/include/autoware/map_height_fitter/map_height_fitter.hpp similarity index 82% rename from map/map_height_fitter/include/map_height_fitter/map_height_fitter.hpp rename to map/autoware_map_height_fitter/include/autoware/map_height_fitter/map_height_fitter.hpp index 46baffa270108..e8ab0eef931a3 100644 --- a/map/map_height_fitter/include/map_height_fitter/map_height_fitter.hpp +++ b/map/autoware_map_height_fitter/include/autoware/map_height_fitter/map_height_fitter.hpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef MAP_HEIGHT_FITTER__MAP_HEIGHT_FITTER_HPP_ -#define MAP_HEIGHT_FITTER__MAP_HEIGHT_FITTER_HPP_ +#ifndef AUTOWARE__MAP_HEIGHT_FITTER__MAP_HEIGHT_FITTER_HPP_ +#define AUTOWARE__MAP_HEIGHT_FITTER__MAP_HEIGHT_FITTER_HPP_ #include @@ -23,7 +23,7 @@ #include #include -namespace map_height_fitter +namespace autoware::map_height_fitter { using geometry_msgs::msg::Point; @@ -44,6 +44,6 @@ class MapHeightFitter final std::unique_ptr impl_; }; -} // namespace map_height_fitter +} // namespace autoware::map_height_fitter -#endif // MAP_HEIGHT_FITTER__MAP_HEIGHT_FITTER_HPP_ +#endif // AUTOWARE__MAP_HEIGHT_FITTER__MAP_HEIGHT_FITTER_HPP_ diff --git a/map/map_height_fitter/launch/map_height_fitter.launch.xml b/map/autoware_map_height_fitter/launch/map_height_fitter.launch.xml similarity index 60% rename from map/map_height_fitter/launch/map_height_fitter.launch.xml rename to map/autoware_map_height_fitter/launch/map_height_fitter.launch.xml index 3e01a35a8e519..fa613d102b496 100644 --- a/map/map_height_fitter/launch/map_height_fitter.launch.xml +++ b/map/autoware_map_height_fitter/launch/map_height_fitter.launch.xml @@ -1,9 +1,9 @@ - + - + diff --git a/map/map_height_fitter/package.xml b/map/autoware_map_height_fitter/package.xml similarity index 93% rename from map/map_height_fitter/package.xml rename to map/autoware_map_height_fitter/package.xml index 36e5814365c3f..17f2e95edb159 100644 --- a/map/map_height_fitter/package.xml +++ b/map/autoware_map_height_fitter/package.xml @@ -1,9 +1,9 @@ - map_height_fitter + autoware_map_height_fitter 0.1.0 - The map_height_fitter package + The autoware_map_height_fitter package Takagi, Isamu Yamato Ando Masahiro Sakamoto diff --git a/map/map_height_fitter/schema/map_height_fitter.schema.json b/map/autoware_map_height_fitter/schema/map_height_fitter.schema.json similarity index 100% rename from map/map_height_fitter/schema/map_height_fitter.schema.json rename to map/autoware_map_height_fitter/schema/map_height_fitter.schema.json diff --git a/map/map_height_fitter/src/map_height_fitter.cpp b/map/autoware_map_height_fitter/src/map_height_fitter.cpp similarity index 98% rename from map/map_height_fitter/src/map_height_fitter.cpp rename to map/autoware_map_height_fitter/src/map_height_fitter.cpp index c9e199ad88422..732f13e375f05 100644 --- a/map/map_height_fitter/src/map_height_fitter.cpp +++ b/map/autoware_map_height_fitter/src/map_height_fitter.cpp @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "map_height_fitter/map_height_fitter.hpp" +#include "autoware/map_height_fitter/map_height_fitter.hpp" #include #include @@ -31,7 +31,7 @@ #include -namespace map_height_fitter +namespace autoware::map_height_fitter { struct MapHeightFitter::Impl @@ -285,4 +285,4 @@ std::optional MapHeightFitter::fit(const Point & position, const std::str return impl_->fit(position, frame); } -} // namespace map_height_fitter +} // namespace autoware::map_height_fitter diff --git a/map/map_height_fitter/src/map_height_fitter_node.cpp b/map/autoware_map_height_fitter/src/map_height_fitter_node.cpp similarity index 88% rename from map/map_height_fitter/src/map_height_fitter_node.cpp rename to map/autoware_map_height_fitter/src/map_height_fitter_node.cpp index fdc7604b68855..99e55c26094b7 100644 --- a/map/map_height_fitter/src/map_height_fitter_node.cpp +++ b/map/autoware_map_height_fitter/src/map_height_fitter_node.cpp @@ -12,12 +12,14 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "map_height_fitter/map_height_fitter.hpp" +#include "autoware/map_height_fitter/map_height_fitter.hpp" #include #include +namespace autoware::map_height_fitter +{ using tier4_localization_msgs::srv::PoseWithCovarianceStamped; class MapHeightFitterNode : public rclcpp::Node @@ -46,6 +48,7 @@ class MapHeightFitterNode : public rclcpp::Node map_height_fitter::MapHeightFitter fitter_; rclcpp::Service::SharedPtr srv_; }; +} // namespace autoware::map_height_fitter #include -RCLCPP_COMPONENTS_REGISTER_NODE(MapHeightFitterNode) +RCLCPP_COMPONENTS_REGISTER_NODE(autoware::map_height_fitter::MapHeightFitterNode) diff --git a/system/default_ad_api_helpers/ad_api_adaptors/README.md b/system/default_ad_api_helpers/ad_api_adaptors/README.md index 2e299fd7a2e51..c04503bee70fd 100644 --- a/system/default_ad_api_helpers/ad_api_adaptors/README.md +++ b/system/default_ad_api_helpers/ad_api_adaptors/README.md @@ -5,7 +5,7 @@ This node makes it easy to use the localization AD API from RViz. When a initial pose topic is received, call the localization initialize API. This node depends on the map height fitter library. -[See here for more details.](../../../map/map_height_fitter/README.md) +[See here for more details.](../../../map/autoware_map_height_fitter/README.md) | Interface | Local Name | Global Name | Description | | ------------ | ----------- | ---------------------------- | ----------------------------------------- | diff --git a/system/default_ad_api_helpers/ad_api_adaptors/package.xml b/system/default_ad_api_helpers/ad_api_adaptors/package.xml index b070131f1d567..a395eadbe3d2d 100644 --- a/system/default_ad_api_helpers/ad_api_adaptors/package.xml +++ b/system/default_ad_api_helpers/ad_api_adaptors/package.xml @@ -14,8 +14,8 @@ autoware_ad_api_specs autoware_adapi_v1_msgs + autoware_map_height_fitter component_interface_utils - map_height_fitter rclcpp rclcpp_components diff --git a/system/default_ad_api_helpers/ad_api_adaptors/src/initial_pose_adaptor.hpp b/system/default_ad_api_helpers/ad_api_adaptors/src/initial_pose_adaptor.hpp index 340bc3b0a3058..e5b8d0e33dd3b 100644 --- a/system/default_ad_api_helpers/ad_api_adaptors/src/initial_pose_adaptor.hpp +++ b/system/default_ad_api_helpers/ad_api_adaptors/src/initial_pose_adaptor.hpp @@ -15,9 +15,9 @@ #ifndef INITIAL_POSE_ADAPTOR_HPP_ #define INITIAL_POSE_ADAPTOR_HPP_ +#include #include #include -#include #include #include @@ -36,7 +36,7 @@ class InitialPoseAdaptor : public rclcpp::Node rclcpp::Subscription::SharedPtr sub_initial_pose_; component_interface_utils::Client::SharedPtr cli_initialize_; std::array rviz_particle_covariance_; - map_height_fitter::MapHeightFitter fitter_; + autoware::map_height_fitter::MapHeightFitter fitter_; void on_initial_pose(const PoseWithCovarianceStamped::ConstSharedPtr msg); }; From f58bac6cc1d432d55d4328fb46a1a5e788766243 Mon Sep 17 00:00:00 2001 From: Masaki Baba Date: Fri, 23 Aug 2024 13:44:45 +0900 Subject: [PATCH 027/169] refactor(pose_instability_detector)!: prefix package and namespace with autoware (#8568) * add autoware_ prefix Signed-off-by: a-maumau * add autoware_ prefix Signed-off-by: a-maumau --------- Signed-off-by: a-maumau Co-authored-by: SakodaShintaro --- .github/CODEOWNERS | 2 +- .../pose_twist_fusion_filter.launch.xml | 4 ++-- launch/tier4_localization_launch/package.xml | 2 +- .../CMakeLists.txt | 4 ++-- .../README.md | 4 ++-- .../config/pose_instability_detector.param.yaml | 0 .../pose_instability_detector.hpp | 3 +++ .../launch/pose_instability_detector.launch.xml | 4 ++-- .../media/how_to_snip_twist.png | Bin .../media/lateral_threshold_calculation.png | Bin .../media/pose_instability_detector_overview.png | Bin .../media/pose_instabilty_detector_procedure.svg | 0 .../media/rqt_runtime_monitor.png | Bin .../media/timeline.drawio.svg | 0 .../package.xml | 4 ++-- .../schema/pose_instability_detector.schema.json | 0 .../src/pose_instability_detector.cpp | 5 ++++- .../test/test.cpp | 7 ++++--- .../test/test_message_helper_node.hpp | 0 19 files changed, 23 insertions(+), 16 deletions(-) rename localization/{pose_instability_detector => autoware_pose_instability_detector}/CMakeLists.txt (82%) rename localization/{pose_instability_detector => autoware_pose_instability_detector}/README.md (98%) rename localization/{pose_instability_detector => autoware_pose_instability_detector}/config/pose_instability_detector.param.yaml (100%) rename localization/{pose_instability_detector => autoware_pose_instability_detector}/include/autoware/pose_instability_detector/pose_instability_detector.hpp (97%) rename localization/{pose_instability_detector => autoware_pose_instability_detector}/launch/pose_instability_detector.launch.xml (58%) rename localization/{pose_instability_detector => autoware_pose_instability_detector}/media/how_to_snip_twist.png (100%) rename localization/{pose_instability_detector => autoware_pose_instability_detector}/media/lateral_threshold_calculation.png (100%) rename localization/{pose_instability_detector => autoware_pose_instability_detector}/media/pose_instability_detector_overview.png (100%) rename localization/{pose_instability_detector => autoware_pose_instability_detector}/media/pose_instabilty_detector_procedure.svg (100%) rename localization/{pose_instability_detector => autoware_pose_instability_detector}/media/rqt_runtime_monitor.png (100%) rename localization/{pose_instability_detector => autoware_pose_instability_detector}/media/timeline.drawio.svg (100%) rename localization/{pose_instability_detector => autoware_pose_instability_detector}/package.xml (91%) rename localization/{pose_instability_detector => autoware_pose_instability_detector}/schema/pose_instability_detector.schema.json (100%) rename localization/{pose_instability_detector => autoware_pose_instability_detector}/src/pose_instability_detector.cpp (98%) rename localization/{pose_instability_detector => autoware_pose_instability_detector}/test/test.cpp (96%) rename localization/{pose_instability_detector => autoware_pose_instability_detector}/test/test_message_helper_node.hpp (100%) diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS index 277255d529fe7..403fe7e0f728f 100644 --- a/.github/CODEOWNERS +++ b/.github/CODEOWNERS @@ -93,7 +93,7 @@ localization/localization_util/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.j localization/ndt_scan_matcher/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp localization/pose_estimator_arbiter/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp localization/pose_initializer/** anh.nguyen.2@tier4.jp isamu.takagi@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp -localization/pose_instability_detector/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp +localization/autoware_pose_instability_detector/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp localization/yabloc/yabloc_common/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp localization/yabloc/yabloc_image_processing/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp localization/yabloc/yabloc_monitor/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp diff --git a/launch/tier4_localization_launch/launch/pose_twist_fusion_filter/pose_twist_fusion_filter.launch.xml b/launch/tier4_localization_launch/launch/pose_twist_fusion_filter/pose_twist_fusion_filter.launch.xml index fa479c71dcbac..dda9c1f2c97ce 100644 --- a/launch/tier4_localization_launch/launch/pose_twist_fusion_filter/pose_twist_fusion_filter.launch.xml +++ b/launch/tier4_localization_launch/launch/pose_twist_fusion_filter/pose_twist_fusion_filter.launch.xml @@ -35,10 +35,10 @@ - + - + diff --git a/launch/tier4_localization_launch/package.xml b/launch/tier4_localization_launch/package.xml index efeecd3e37f61..870fc66c1e2e4 100644 --- a/launch/tier4_localization_launch/package.xml +++ b/launch/tier4_localization_launch/package.xml @@ -23,13 +23,13 @@ autoware_gyro_odometer autoware_pointcloud_preprocessor autoware_pose_estimator_arbiter + autoware_pose_instability_detector eagleye_geo_pose_fusion eagleye_gnss_converter eagleye_rt ekf_localizer ndt_scan_matcher pose_initializer - pose_instability_detector topic_tools yabloc_common yabloc_image_processing diff --git a/localization/pose_instability_detector/CMakeLists.txt b/localization/autoware_pose_instability_detector/CMakeLists.txt similarity index 82% rename from localization/pose_instability_detector/CMakeLists.txt rename to localization/autoware_pose_instability_detector/CMakeLists.txt index c6f94ab7df16e..9e7a1d15ee0f2 100644 --- a/localization/pose_instability_detector/CMakeLists.txt +++ b/localization/autoware_pose_instability_detector/CMakeLists.txt @@ -1,5 +1,5 @@ cmake_minimum_required(VERSION 3.14) -project(pose_instability_detector) +project(autoware_pose_instability_detector) find_package(autoware_cmake REQUIRED) autoware_package() @@ -9,7 +9,7 @@ ament_auto_add_library(${PROJECT_NAME} SHARED ) rclcpp_components_register_node(${PROJECT_NAME} - PLUGIN "PoseInstabilityDetector" + PLUGIN "autoware::pose_instability_detector::PoseInstabilityDetector" EXECUTABLE ${PROJECT_NAME}_node EXECUTOR SingleThreadedExecutor ) diff --git a/localization/pose_instability_detector/README.md b/localization/autoware_pose_instability_detector/README.md similarity index 98% rename from localization/pose_instability_detector/README.md rename to localization/autoware_pose_instability_detector/README.md index 4ced0fa8eb97b..5beb796f46e12 100644 --- a/localization/pose_instability_detector/README.md +++ b/localization/autoware_pose_instability_detector/README.md @@ -1,4 +1,4 @@ -# pose_instability_detector +# autoware_pose_instability_detector The `pose_instability_detector` is a node designed to monitor the stability of `/localization/kinematic_state`, which is an output topic of the Extended Kalman Filter (EKF). @@ -109,7 +109,7 @@ $$ ## Parameters -{{ json_to_markdown("localization/pose_instability_detector/schema/pose_instability_detector.schema.json") }} +{{ json_to_markdown("localization/autoware_pose_instability_detector/schema/pose_instability_detector.schema.json") }} ## Input diff --git a/localization/pose_instability_detector/config/pose_instability_detector.param.yaml b/localization/autoware_pose_instability_detector/config/pose_instability_detector.param.yaml similarity index 100% rename from localization/pose_instability_detector/config/pose_instability_detector.param.yaml rename to localization/autoware_pose_instability_detector/config/pose_instability_detector.param.yaml diff --git a/localization/pose_instability_detector/include/autoware/pose_instability_detector/pose_instability_detector.hpp b/localization/autoware_pose_instability_detector/include/autoware/pose_instability_detector/pose_instability_detector.hpp similarity index 97% rename from localization/pose_instability_detector/include/autoware/pose_instability_detector/pose_instability_detector.hpp rename to localization/autoware_pose_instability_detector/include/autoware/pose_instability_detector/pose_instability_detector.hpp index febff8c2ee244..615b818a2bde0 100644 --- a/localization/pose_instability_detector/include/autoware/pose_instability_detector/pose_instability_detector.hpp +++ b/localization/autoware_pose_instability_detector/include/autoware/pose_instability_detector/pose_instability_detector.hpp @@ -26,6 +26,8 @@ #include #include +namespace autoware::pose_instability_detector +{ class PoseInstabilityDetector : public rclcpp::Node { using Quaternion = geometry_msgs::msg::Quaternion; @@ -93,5 +95,6 @@ class PoseInstabilityDetector : public rclcpp::Node std::optional prev_odometry_ = std::nullopt; std::deque twist_buffer_; }; +} // namespace autoware::pose_instability_detector #endif // AUTOWARE__POSE_INSTABILITY_DETECTOR__POSE_INSTABILITY_DETECTOR_HPP_ diff --git a/localization/pose_instability_detector/launch/pose_instability_detector.launch.xml b/localization/autoware_pose_instability_detector/launch/pose_instability_detector.launch.xml similarity index 58% rename from localization/pose_instability_detector/launch/pose_instability_detector.launch.xml rename to localization/autoware_pose_instability_detector/launch/pose_instability_detector.launch.xml index 5ebe7d7e429e0..716f2b165bb9b 100644 --- a/localization/pose_instability_detector/launch/pose_instability_detector.launch.xml +++ b/localization/autoware_pose_instability_detector/launch/pose_instability_detector.launch.xml @@ -1,12 +1,12 @@ - + - + diff --git a/localization/pose_instability_detector/media/how_to_snip_twist.png b/localization/autoware_pose_instability_detector/media/how_to_snip_twist.png similarity index 100% rename from localization/pose_instability_detector/media/how_to_snip_twist.png rename to localization/autoware_pose_instability_detector/media/how_to_snip_twist.png diff --git a/localization/pose_instability_detector/media/lateral_threshold_calculation.png b/localization/autoware_pose_instability_detector/media/lateral_threshold_calculation.png similarity index 100% rename from localization/pose_instability_detector/media/lateral_threshold_calculation.png rename to localization/autoware_pose_instability_detector/media/lateral_threshold_calculation.png diff --git a/localization/pose_instability_detector/media/pose_instability_detector_overview.png b/localization/autoware_pose_instability_detector/media/pose_instability_detector_overview.png similarity index 100% rename from localization/pose_instability_detector/media/pose_instability_detector_overview.png rename to localization/autoware_pose_instability_detector/media/pose_instability_detector_overview.png diff --git a/localization/pose_instability_detector/media/pose_instabilty_detector_procedure.svg b/localization/autoware_pose_instability_detector/media/pose_instabilty_detector_procedure.svg similarity index 100% rename from localization/pose_instability_detector/media/pose_instabilty_detector_procedure.svg rename to localization/autoware_pose_instability_detector/media/pose_instabilty_detector_procedure.svg diff --git a/localization/pose_instability_detector/media/rqt_runtime_monitor.png b/localization/autoware_pose_instability_detector/media/rqt_runtime_monitor.png similarity index 100% rename from localization/pose_instability_detector/media/rqt_runtime_monitor.png rename to localization/autoware_pose_instability_detector/media/rqt_runtime_monitor.png diff --git a/localization/pose_instability_detector/media/timeline.drawio.svg b/localization/autoware_pose_instability_detector/media/timeline.drawio.svg similarity index 100% rename from localization/pose_instability_detector/media/timeline.drawio.svg rename to localization/autoware_pose_instability_detector/media/timeline.drawio.svg diff --git a/localization/pose_instability_detector/package.xml b/localization/autoware_pose_instability_detector/package.xml similarity index 91% rename from localization/pose_instability_detector/package.xml rename to localization/autoware_pose_instability_detector/package.xml index 7e0237cbaf780..d59baf5817233 100644 --- a/localization/pose_instability_detector/package.xml +++ b/localization/autoware_pose_instability_detector/package.xml @@ -1,9 +1,9 @@ - pose_instability_detector + autoware_pose_instability_detector 0.1.0 - The pose_instability_detector package + The autoware_pose_instability_detector package Yamato Ando Kento Yabuuchi Masahiro Sakamoto diff --git a/localization/pose_instability_detector/schema/pose_instability_detector.schema.json b/localization/autoware_pose_instability_detector/schema/pose_instability_detector.schema.json similarity index 100% rename from localization/pose_instability_detector/schema/pose_instability_detector.schema.json rename to localization/autoware_pose_instability_detector/schema/pose_instability_detector.schema.json diff --git a/localization/pose_instability_detector/src/pose_instability_detector.cpp b/localization/autoware_pose_instability_detector/src/pose_instability_detector.cpp similarity index 98% rename from localization/pose_instability_detector/src/pose_instability_detector.cpp rename to localization/autoware_pose_instability_detector/src/pose_instability_detector.cpp index 23362dd13c6bc..36aa4f6d7d73e 100644 --- a/localization/pose_instability_detector/src/pose_instability_detector.cpp +++ b/localization/autoware_pose_instability_detector/src/pose_instability_detector.cpp @@ -25,6 +25,8 @@ #include #include +namespace autoware::pose_instability_detector +{ PoseInstabilityDetector::PoseInstabilityDetector(const rclcpp::NodeOptions & options) : rclcpp::Node("pose_instability_detector", options), timer_period_(this->declare_parameter("timer_period")), @@ -409,6 +411,7 @@ PoseInstabilityDetector::clip_out_necessary_twist( } return result_deque; } +} // namespace autoware::pose_instability_detector #include -RCLCPP_COMPONENTS_REGISTER_NODE(PoseInstabilityDetector) +RCLCPP_COMPONENTS_REGISTER_NODE(autoware::pose_instability_detector::PoseInstabilityDetector) diff --git a/localization/pose_instability_detector/test/test.cpp b/localization/autoware_pose_instability_detector/test/test.cpp similarity index 96% rename from localization/pose_instability_detector/test/test.cpp rename to localization/autoware_pose_instability_detector/test/test.cpp index 482e659e7a13c..bd663a2406903 100644 --- a/localization/pose_instability_detector/test/test.cpp +++ b/localization/autoware_pose_instability_detector/test/test.cpp @@ -36,7 +36,7 @@ class TestPoseInstabilityDetector : public ::testing::Test void SetUp() override { const std::string yaml_path = - ament_index_cpp::get_package_share_directory("pose_instability_detector") + + ament_index_cpp::get_package_share_directory("autoware_pose_instability_detector") + "/config/pose_instability_detector.param.yaml"; rcl_params_t * params_st = rcl_yaml_node_struct_init(rcl_get_default_allocator()); @@ -53,7 +53,8 @@ class TestPoseInstabilityDetector : public ::testing::Test } } - subject_ = std::make_shared(node_options); + subject_ = + std::make_shared(node_options); executor_.add_node(subject_); helper_ = std::make_shared(); @@ -69,7 +70,7 @@ class TestPoseInstabilityDetector : public ::testing::Test } rclcpp::executors::SingleThreadedExecutor executor_; - std::shared_ptr subject_; + std::shared_ptr subject_; std::shared_ptr helper_; }; diff --git a/localization/pose_instability_detector/test/test_message_helper_node.hpp b/localization/autoware_pose_instability_detector/test/test_message_helper_node.hpp similarity index 100% rename from localization/pose_instability_detector/test/test_message_helper_node.hpp rename to localization/autoware_pose_instability_detector/test/test_message_helper_node.hpp From 490cd186e7ce4443177234aa3574cfd79b51640e Mon Sep 17 00:00:00 2001 From: "Yi-Hsiang Fang (Vivid)" <146902905+vividf@users.noreply.github.com> Date: Fri, 23 Aug 2024 14:05:27 +0900 Subject: [PATCH 028/169] refactor(autoware_pointcloud_preprocessor): rework voxel grid outlier filter parameters (#8476) * feat: rework voxel grid outlier filter parameters Signed-off-by: vividf * chore: add boundary Signed-off-by: vividf --------- Signed-off-by: vividf --- .../CMakeLists.txt | 2 +- .../voxel_grid_outlier_filter_node.param.yaml | 6 +++ .../docs/voxel-grid-outlier-filter.md | 7 +-- ...hpp => voxel_grid_outlier_filter_node.hpp} | 8 +-- .../voxel_grid_outlier_filter_node.launch.xml | 16 ++++++ ...voxel_grid_outlier_filter_node.schema.json | 52 +++++++++++++++++++ ...cpp => voxel_grid_outlier_filter_node.cpp} | 12 ++--- 7 files changed, 86 insertions(+), 17 deletions(-) create mode 100644 sensing/autoware_pointcloud_preprocessor/config/voxel_grid_outlier_filter_node.param.yaml rename sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/outlier_filter/{voxel_grid_outlier_filter_nodelet.hpp => voxel_grid_outlier_filter_node.hpp} (92%) create mode 100644 sensing/autoware_pointcloud_preprocessor/launch/voxel_grid_outlier_filter_node.launch.xml create mode 100644 sensing/autoware_pointcloud_preprocessor/schema/voxel_grid_outlier_filter_node.schema.json rename sensing/autoware_pointcloud_preprocessor/src/outlier_filter/{voxel_grid_outlier_filter_nodelet.cpp => voxel_grid_outlier_filter_node.cpp} (90%) diff --git a/sensing/autoware_pointcloud_preprocessor/CMakeLists.txt b/sensing/autoware_pointcloud_preprocessor/CMakeLists.txt index 56c0238f104ad..5d7aba4d0567b 100644 --- a/sensing/autoware_pointcloud_preprocessor/CMakeLists.txt +++ b/sensing/autoware_pointcloud_preprocessor/CMakeLists.txt @@ -71,7 +71,7 @@ ament_auto_add_library(pointcloud_preprocessor_filter SHARED src/downsample_filter/approximate_downsample_filter_nodelet.cpp src/downsample_filter/pickup_based_voxel_grid_downsample_filter.cpp src/outlier_filter/ring_outlier_filter_nodelet.cpp - src/outlier_filter/voxel_grid_outlier_filter_nodelet.cpp + src/outlier_filter/voxel_grid_outlier_filter_node.cpp src/outlier_filter/radius_search_2d_outlier_filter_nodelet.cpp src/outlier_filter/dual_return_outlier_filter_nodelet.cpp src/passthrough_filter/passthrough_filter_nodelet.cpp diff --git a/sensing/autoware_pointcloud_preprocessor/config/voxel_grid_outlier_filter_node.param.yaml b/sensing/autoware_pointcloud_preprocessor/config/voxel_grid_outlier_filter_node.param.yaml new file mode 100644 index 0000000000000..2ff4c64d5f835 --- /dev/null +++ b/sensing/autoware_pointcloud_preprocessor/config/voxel_grid_outlier_filter_node.param.yaml @@ -0,0 +1,6 @@ +/**: + ros__parameters: + voxel_size_x: 0.3 + voxel_size_y: 0.3 + voxel_size_z: 0.1 + voxel_points_threshold: 2 diff --git a/sensing/autoware_pointcloud_preprocessor/docs/voxel-grid-outlier-filter.md b/sensing/autoware_pointcloud_preprocessor/docs/voxel-grid-outlier-filter.md index d99b54ef09a73..920d550c2426b 100644 --- a/sensing/autoware_pointcloud_preprocessor/docs/voxel-grid-outlier-filter.md +++ b/sensing/autoware_pointcloud_preprocessor/docs/voxel-grid-outlier-filter.md @@ -23,12 +23,7 @@ This implementation inherits `autoware::pointcloud_preprocessor::Filter` class, ### Core Parameters -| Name | Type | Default Value | Description | -| ------------------------ | ------ | ------------- | ------------------------------------------ | -| `voxel_size_x` | double | 0.3 | the voxel size along x-axis [m] | -| `voxel_size_y` | double | 0.3 | the voxel size along y-axis [m] | -| `voxel_size_z` | double | 0.1 | the voxel size along z-axis [m] | -| `voxel_points_threshold` | int | 2 | the minimum number of points in each voxel | +{{ json_to_markdown("sensing/autoware_pointcloud_preprocessor/schema/voxel_grid_outlier_filter_node.schema.json") }} ## Assumptions / Known limits diff --git a/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/outlier_filter/voxel_grid_outlier_filter_nodelet.hpp b/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/outlier_filter/voxel_grid_outlier_filter_node.hpp similarity index 92% rename from sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/outlier_filter/voxel_grid_outlier_filter_nodelet.hpp rename to sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/outlier_filter/voxel_grid_outlier_filter_node.hpp index 4ec50c53c2393..c9c6d1fd2dbad 100644 --- a/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/outlier_filter/voxel_grid_outlier_filter_nodelet.hpp +++ b/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/outlier_filter/voxel_grid_outlier_filter_node.hpp @@ -1,4 +1,4 @@ -// Copyright 2020 Tier IV, Inc. +// 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. @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef AUTOWARE__POINTCLOUD_PREPROCESSOR__OUTLIER_FILTER__VOXEL_GRID_OUTLIER_FILTER_NODELET_HPP_ -#define AUTOWARE__POINTCLOUD_PREPROCESSOR__OUTLIER_FILTER__VOXEL_GRID_OUTLIER_FILTER_NODELET_HPP_ +#ifndef AUTOWARE__POINTCLOUD_PREPROCESSOR__OUTLIER_FILTER__VOXEL_GRID_OUTLIER_FILTER_NODE_HPP_ +#define AUTOWARE__POINTCLOUD_PREPROCESSOR__OUTLIER_FILTER__VOXEL_GRID_OUTLIER_FILTER_NODE_HPP_ #include "autoware/pointcloud_preprocessor/filter.hpp" @@ -50,4 +50,4 @@ class VoxelGridOutlierFilterComponent : public autoware::pointcloud_preprocessor }; } // namespace autoware::pointcloud_preprocessor -#endif // AUTOWARE__POINTCLOUD_PREPROCESSOR__OUTLIER_FILTER__VOXEL_GRID_OUTLIER_FILTER_NODELET_HPP_ +#endif // AUTOWARE__POINTCLOUD_PREPROCESSOR__OUTLIER_FILTER__VOXEL_GRID_OUTLIER_FILTER_NODE_HPP_ diff --git a/sensing/autoware_pointcloud_preprocessor/launch/voxel_grid_outlier_filter_node.launch.xml b/sensing/autoware_pointcloud_preprocessor/launch/voxel_grid_outlier_filter_node.launch.xml new file mode 100644 index 0000000000000..380a46eed3159 --- /dev/null +++ b/sensing/autoware_pointcloud_preprocessor/launch/voxel_grid_outlier_filter_node.launch.xml @@ -0,0 +1,16 @@ + + + + + + + + + + + + + + + + diff --git a/sensing/autoware_pointcloud_preprocessor/schema/voxel_grid_outlier_filter_node.schema.json b/sensing/autoware_pointcloud_preprocessor/schema/voxel_grid_outlier_filter_node.schema.json new file mode 100644 index 0000000000000..586b577f8540d --- /dev/null +++ b/sensing/autoware_pointcloud_preprocessor/schema/voxel_grid_outlier_filter_node.schema.json @@ -0,0 +1,52 @@ +{ + "$schema": "http://json-schema.org/draft-07/schema#", + "title": "Parameters for Voxel Grid Outlier Filter Node", + "type": "object", + "definitions": { + "voxel_grid_outlier_filter": { + "type": "object", + "properties": { + "voxel_size_x": { + "type": "number", + "description": "the voxel size along x-axis [m]", + "default": "0.3", + "minimum": 0 + }, + "voxel_size_y": { + "type": "number", + "description": "the voxel size along y-axis [m]", + "default": "0.3", + "minimum": 0 + }, + "voxel_size_z": { + "type": "number", + "description": "the voxel size along z-axis [m]", + "default": "0.1", + "minimum": 0 + }, + "voxel_points_threshold": { + "type": "integer", + "description": "the minimum number of points in each voxel", + "default": "2", + "minimum": 1 + } + }, + "required": ["voxel_size_x", "voxel_size_y", "voxel_size_z", "voxel_points_threshold"], + "additionalProperties": false + } + }, + "properties": { + "/**": { + "type": "object", + "properties": { + "ros__parameters": { + "$ref": "#/definitions/voxel_grid_outlier_filter" + } + }, + "required": ["ros__parameters"], + "additionalProperties": false + } + }, + "required": ["/**"], + "additionalProperties": false +} diff --git a/sensing/autoware_pointcloud_preprocessor/src/outlier_filter/voxel_grid_outlier_filter_nodelet.cpp b/sensing/autoware_pointcloud_preprocessor/src/outlier_filter/voxel_grid_outlier_filter_node.cpp similarity index 90% rename from sensing/autoware_pointcloud_preprocessor/src/outlier_filter/voxel_grid_outlier_filter_nodelet.cpp rename to sensing/autoware_pointcloud_preprocessor/src/outlier_filter/voxel_grid_outlier_filter_node.cpp index 94dabf7ee5d9b..1f5cdc80a9c2c 100644 --- a/sensing/autoware_pointcloud_preprocessor/src/outlier_filter/voxel_grid_outlier_filter_nodelet.cpp +++ b/sensing/autoware_pointcloud_preprocessor/src/outlier_filter/voxel_grid_outlier_filter_node.cpp @@ -1,4 +1,4 @@ -// Copyright 2020 Tier IV, Inc. +// 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. @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "autoware/pointcloud_preprocessor/outlier_filter/voxel_grid_outlier_filter_nodelet.hpp" +#include "autoware/pointcloud_preprocessor/outlier_filter/voxel_grid_outlier_filter_node.hpp" #include #include @@ -28,10 +28,10 @@ VoxelGridOutlierFilterComponent::VoxelGridOutlierFilterComponent( { // set initial parameters { - voxel_size_x_ = static_cast(declare_parameter("voxel_size_x", 0.3)); - voxel_size_y_ = static_cast(declare_parameter("voxel_size_y", 0.3)); - voxel_size_z_ = static_cast(declare_parameter("voxel_size_z", 0.1)); - voxel_points_threshold_ = static_cast(declare_parameter("voxel_points_threshold", 2)); + voxel_size_x_ = declare_parameter("voxel_size_x"); + voxel_size_y_ = declare_parameter("voxel_size_y"); + voxel_size_z_ = declare_parameter("voxel_size_z"); + voxel_points_threshold_ = declare_parameter("voxel_points_threshold"); } using std::placeholders::_1; From 27bc0a995b747ceacd179368d8ff61de8cb28ebf Mon Sep 17 00:00:00 2001 From: Hayate TOBA <105347690+bathteayo@users.noreply.github.com> Date: Fri, 23 Aug 2024 14:59:41 +0900 Subject: [PATCH 029/169] fix(diagnostic_graph_aggregator): fix unusedFunction (#8580) fix: unusedFunction Signed-off-by: bathteayo <105347690+bathteayo@users.noreply.github.com> Co-authored-by: kobayu858 <129580202+kobayu858@users.noreply.github.com> --- system/diagnostic_graph_aggregator/src/common/graph/graph.hpp | 1 - 1 file changed, 1 deletion(-) diff --git a/system/diagnostic_graph_aggregator/src/common/graph/graph.hpp b/system/diagnostic_graph_aggregator/src/common/graph/graph.hpp index 0e64f25860fda..14a27dae9a539 100644 --- a/system/diagnostic_graph_aggregator/src/common/graph/graph.hpp +++ b/system/diagnostic_graph_aggregator/src/common/graph/graph.hpp @@ -34,7 +34,6 @@ class Graph void update(const rclcpp::Time & stamp); // cppcheck-suppress functionConst bool update(const rclcpp::Time & stamp, const DiagnosticStatus & status); const auto & nodes() const { return nodes_; } - const auto & diags() const { return diags_; } const auto & units() const { return units_; } DiagGraphStruct create_struct(const rclcpp::Time & stamp) const; DiagGraphStatus create_status(const rclcpp::Time & stamp) const; From e47f8097a8696426402168d5fa941f7ca6c8284d Mon Sep 17 00:00:00 2001 From: Hayate TOBA <105347690+bathteayo@users.noreply.github.com> Date: Fri, 23 Aug 2024 15:00:19 +0900 Subject: [PATCH 030/169] fix(duplicated_node_checker): fix unusedFunction (#8579) fix: unusedFunction Signed-off-by: bathteayo <105347690+bathteayo@users.noreply.github.com> Co-authored-by: kobayu858 <129580202+kobayu858@users.noreply.github.com> --- .../src/duplicated_node_checker_core.cpp | 13 ------------- 1 file changed, 13 deletions(-) diff --git a/system/duplicated_node_checker/src/duplicated_node_checker_core.cpp b/system/duplicated_node_checker/src/duplicated_node_checker_core.cpp index c9bc07cffde72..5c698a0a01860 100644 --- a/system/duplicated_node_checker/src/duplicated_node_checker_core.cpp +++ b/system/duplicated_node_checker/src/duplicated_node_checker_core.cpp @@ -42,19 +42,6 @@ DuplicatedNodeChecker::DuplicatedNodeChecker(const rclcpp::NodeOptions & node_op this, get_clock(), period_ns, std::bind(&DuplicatedNodeChecker::onTimer, this)); } -std::string get_fullname_from_name_ns_pair(std::pair name_and_ns_pair) -{ - std::string full_name; - const std::string & name = name_and_ns_pair.first; - const std::string & ns = name_and_ns_pair.second; - if (ns.back() == '/') { - full_name = ns + name; - } else { - full_name = ns + "/" + name; - } - return full_name; -} - void DuplicatedNodeChecker::onTimer() { updater_.force_update(); From d913e318fe18ba8433ed8db205dd2383d392f348 Mon Sep 17 00:00:00 2001 From: kobayu858 <129580202+kobayu858@users.noreply.github.com> Date: Fri, 23 Aug 2024 15:01:07 +0900 Subject: [PATCH 031/169] fix(control_performance_analysis): fix unusedFunction (#8557) fix:unusedFunction Signed-off-by: kobayu858 --- .../control_performance_analysis_utils.hpp | 4 ---- .../src/control_performance_analysis_utils.cpp | 10 ---------- 2 files changed, 14 deletions(-) diff --git a/control/control_performance_analysis/include/control_performance_analysis/control_performance_analysis_utils.hpp b/control/control_performance_analysis/include/control_performance_analysis/control_performance_analysis_utils.hpp index 87f331c5ff2af..fb939d825b653 100644 --- a/control/control_performance_analysis/include/control_performance_analysis/control_performance_analysis_utils.hpp +++ b/control/control_performance_analysis/include/control_performance_analysis/control_performance_analysis_utils.hpp @@ -79,10 +79,6 @@ inline geometry_msgs::msg::Quaternion createOrientationMsgFromYaw(double yaw_ang // p-points a, b contains [x, y] coordinates. double determinant(std::array const & a, std::array const & b); -double triangleArea( - std::array const & a, std::array const & b, - std::array const & c); - double curvatureFromThreePoints( std::array const & a, std::array const & b, std::array const & c); diff --git a/control/control_performance_analysis/src/control_performance_analysis_utils.cpp b/control/control_performance_analysis/src/control_performance_analysis_utils.cpp index 467d26bbb69a0..f96aba2b54547 100644 --- a/control/control_performance_analysis/src/control_performance_analysis_utils.cpp +++ b/control/control_performance_analysis/src/control_performance_analysis_utils.cpp @@ -25,15 +25,5 @@ double determinant(std::array const & a, std::array const return a[0] * b[1] - b[0] * a[1]; } -double triangleArea( - std::array const & a, std::array const & b, std::array const & c) -{ - double m1 = determinant(a, b); - double m2 = determinant(b, c); - double m3 = determinant(c, a); - - return 0.5 * (m1 + m2 + m3); -} - } // namespace utils } // namespace control_performance_analysis From efa1b4aa5992d7e6e1c858c84dc3cdfdd23aad25 Mon Sep 17 00:00:00 2001 From: kobayu858 <129580202+kobayu858@users.noreply.github.com> Date: Fri, 23 Aug 2024 15:01:22 +0900 Subject: [PATCH 032/169] fix(autoware_compare_map_segmentation): fix unusedFunction (#8565) fix:unusedFunction Signed-off-by: kobayu858 --- .../src/voxel_grid_map_loader/voxel_grid_map_loader.cpp | 9 --------- .../src/voxel_grid_map_loader/voxel_grid_map_loader.hpp | 3 --- 2 files changed, 12 deletions(-) diff --git a/perception/autoware_compare_map_segmentation/src/voxel_grid_map_loader/voxel_grid_map_loader.cpp b/perception/autoware_compare_map_segmentation/src/voxel_grid_map_loader/voxel_grid_map_loader.cpp index 4e3728be53171..195e09e4b406e 100644 --- a/perception/autoware_compare_map_segmentation/src/voxel_grid_map_loader/voxel_grid_map_loader.cpp +++ b/perception/autoware_compare_map_segmentation/src/voxel_grid_map_loader/voxel_grid_map_loader.cpp @@ -31,15 +31,6 @@ VoxelGridMapLoader::VoxelGridMapLoader( debug_ = node->declare_parameter("publish_debug_pcd"); } -bool VoxelGridMapLoader::is_close_points( - const pcl::PointXYZ point, const pcl::PointXYZ target_point, const double distance_threshold) -{ - if (distance3D(point, target_point) < distance_threshold * distance_threshold) { - return true; - } - return false; -} - void VoxelGridMapLoader::publish_downsampled_map( const pcl::PointCloud & downsampled_pc) { diff --git a/perception/autoware_compare_map_segmentation/src/voxel_grid_map_loader/voxel_grid_map_loader.hpp b/perception/autoware_compare_map_segmentation/src/voxel_grid_map_loader/voxel_grid_map_loader.hpp index 6560ae82f8bce..1bcdff228f40b 100644 --- a/perception/autoware_compare_map_segmentation/src/voxel_grid_map_loader/voxel_grid_map_loader.hpp +++ b/perception/autoware_compare_map_segmentation/src/voxel_grid_map_loader/voxel_grid_map_loader.hpp @@ -88,7 +88,6 @@ class VoxelGridEx : public pcl::VoxelGrid inline Eigen::Vector4i get_max_b() const { return max_b_; } inline Eigen::Vector4i get_div_b() const { return div_b_; } inline Eigen::Array4f get_inverse_leaf_size() const { return inverse_leaf_size_; } - inline std::vector getLeafLayout() { return (leaf_layout_); } }; class VoxelGridMapLoader @@ -122,8 +121,6 @@ class VoxelGridMapLoader const double distance_threshold, const PointCloudPtr & map, VoxelGridPointXYZ & voxel) const; void publish_downsampled_map(const pcl::PointCloud & downsampled_pc); - static bool is_close_points( - const pcl::PointXYZ point, const pcl::PointXYZ target_point, const double distance_threshold); std::string * tf_map_input_frame_; }; From 3bc7897adcf2967980b95c996f60ae4935ce9e9d Mon Sep 17 00:00:00 2001 From: kobayu858 <129580202+kobayu858@users.noreply.github.com> Date: Fri, 23 Aug 2024 15:01:53 +0900 Subject: [PATCH 033/169] fix(autoware_ground_segmentation): fix unusedFunction (#8566) fix:unusedFunction Signed-off-by: kobayu858 --- .../src/scan_ground_filter/node.hpp | 5 ----- 1 file changed, 5 deletions(-) diff --git a/perception/autoware_ground_segmentation/src/scan_ground_filter/node.hpp b/perception/autoware_ground_segmentation/src/scan_ground_filter/node.hpp index 94ef16042ff33..e87fd0c341a6f 100644 --- a/perception/autoware_ground_segmentation/src/scan_ground_filter/node.hpp +++ b/perception/autoware_ground_segmentation/src/scan_ground_filter/node.hpp @@ -143,11 +143,6 @@ class ScanGroundFilterComponent : public autoware::pointcloud_preprocessor::Filt float getMinHeight() const { return height_min; } - uint16_t getGridId() const { return grid_id; } - - pcl::PointIndices getIndices() const { return pcl_indices; } - std::vector getHeightList() const { return height_list; } - pcl::PointIndices & getIndicesRef() { return pcl_indices; } std::vector & getHeightListRef() { return height_list; } }; From e34d7edcb706da39328bc69349ff91e8fc73add4 Mon Sep 17 00:00:00 2001 From: kobayu858 <129580202+kobayu858@users.noreply.github.com> Date: Fri, 23 Aug 2024 15:02:24 +0900 Subject: [PATCH 034/169] fix(autoware_multi_object_tracker): fix unusedFunction (#8573) fix:unusedFunction Signed-off-by: kobayu858 --- .../src/processor/input_manager.cpp | 11 ----------- .../src/processor/input_manager.hpp | 15 --------------- 2 files changed, 26 deletions(-) diff --git a/perception/autoware_multi_object_tracker/src/processor/input_manager.cpp b/perception/autoware_multi_object_tracker/src/processor/input_manager.cpp index 5172cc5062450..decd2139c5b81 100644 --- a/perception/autoware_multi_object_tracker/src/processor/input_manager.cpp +++ b/perception/autoware_multi_object_tracker/src/processor/input_manager.cpp @@ -46,17 +46,6 @@ void InputStream::init(const InputChannel & input_channel) latest_message_time_ = node_.now(); } -bool InputStream::getTimestamps( - rclcpp::Time & latest_measurement_time, rclcpp::Time & latest_message_time) const -{ - if (!isTimeInitialized()) { - return false; - } - latest_measurement_time = latest_measurement_time_; - latest_message_time = latest_message_time_; - return true; -} - void InputStream::onMessage( const autoware_perception_msgs::msg::DetectedObjects::ConstSharedPtr msg) { diff --git a/perception/autoware_multi_object_tracker/src/processor/input_manager.hpp b/perception/autoware_multi_object_tracker/src/processor/input_manager.hpp index ee2c6910159b5..f8b221f733faa 100644 --- a/perception/autoware_multi_object_tracker/src/processor/input_manager.hpp +++ b/perception/autoware_multi_object_tracker/src/processor/input_manager.hpp @@ -46,7 +46,6 @@ class InputStream void init(const InputChannel & input_channel); - void setQueueSize(size_t que_size) { que_size_ = que_size; } void setTriggerFunction(std::function func_trigger) { func_trigger_ = func_trigger; @@ -60,15 +59,8 @@ class InputStream void getObjectsOlderThan( const rclcpp::Time & object_latest_time, const rclcpp::Time & object_oldest_time, ObjectsList & objects_list); - void getNames(std::string & long_name, std::string & short_name) const - { - long_name = long_name_; - short_name = short_name_; - } bool isSpawnEnabled() const { return is_spawn_enabled_; } - std::string getLongName() const { return long_name_; } - size_t getObjectsCount() const { return objects_que_.size(); } void getTimeStatistics( double & latency_mean, double & latency_var, double & interval_mean, double & interval_var) const @@ -78,13 +70,6 @@ class InputStream interval_mean = interval_mean_; interval_var = interval_var_; } - void getLatencyStatistics(double & latency_mean, double & latency_var) const - { - latency_mean = latency_mean_; - latency_var = latency_var_; - } - bool getTimestamps( - rclcpp::Time & latest_measurement_time, rclcpp::Time & latest_message_time) const; rclcpp::Time getLatestMeasurementTime() const { return latest_measurement_time_; } private: From 18063a5f8b30b9cb7804831e5886922774006fd4 Mon Sep 17 00:00:00 2001 From: kobayu858 <129580202+kobayu858@users.noreply.github.com> Date: Fri, 23 Aug 2024 15:25:23 +0900 Subject: [PATCH 035/169] fix(autoware_traffic_light_fine_detector): fix unusedFunction (#8583) fix:unusedFunction Signed-off-by: kobayu858 --- .../src/traffic_light_fine_detector_node.cpp | 5 ----- 1 file changed, 5 deletions(-) diff --git a/perception/autoware_traffic_light_fine_detector/src/traffic_light_fine_detector_node.cpp b/perception/autoware_traffic_light_fine_detector/src/traffic_light_fine_detector_node.cpp index 381fa79ed090c..fec26b762dfe9 100644 --- a/perception/autoware_traffic_light_fine_detector/src/traffic_light_fine_detector_node.cpp +++ b/perception/autoware_traffic_light_fine_detector/src/traffic_light_fine_detector_node.cpp @@ -49,11 +49,6 @@ float calWeightedIou( namespace autoware::traffic_light { -inline std::vector toFloatVector(const std::vector & double_vector) -{ - return std::vector(double_vector.begin(), double_vector.end()); -} - TrafficLightFineDetectorNode::TrafficLightFineDetectorNode(const rclcpp::NodeOptions & options) : Node("traffic_light_fine_detector_node", options) { From f656a122039adca416241857bef11eff2a8b59c0 Mon Sep 17 00:00:00 2001 From: SakodaShintaro Date: Fri, 23 Aug 2024 16:14:35 +0900 Subject: [PATCH 036/169] feat(localization): add `lidar_marker_localizer` (#5573) * Added lidar_marker_localizer Signed-off-by: Shintaro Sakoda * style(pre-commit): autofix * fix launch file Signed-off-by: yamato-ando * style(pre-commit): autofix * Removed subscriber_member_function.cpp Signed-off-by: Shintaro Sakoda * Renamed the package and the node Signed-off-by: Shintaro Sakoda * style(pre-commit): autofix * Removed pose_array_interpolator Signed-off-by: Shintaro Sakoda * Removed unused files Signed-off-by: Shintaro Sakoda * Removed include dir Signed-off-by: Shintaro Sakoda * style(pre-commit): autofix * Renamed wrong names Signed-off-by: Shintaro Sakoda * fix magic number Signed-off-by: yamato-ando * style(pre-commit): autofix * fix bug Signed-off-by: yamato-ando * parameterized Signed-off-by: yamato-ando * style(pre-commit): autofix * add base_covariance Signed-off-by: yamato-ando * style(pre-commit): autofix * Removed std::cerr Signed-off-by: Shintaro Sakoda * Removed unused code Signed-off-by: Shintaro Sakoda * Removed unnecessary publishers Signed-off-by: Shintaro Sakoda * Changed to use alias Signed-off-by: Shintaro Sakoda * Fixed result_base_link_on_map Signed-off-by: Shintaro Sakoda * Changed to use "using std::placeholders" Signed-off-by: Shintaro Sakoda * Refactored points_callback Signed-off-by: Shintaro Sakoda * Fixed as pointed out by linter Signed-off-by: Shintaro Sakoda * Refactored lidar_marker_localizer Signed-off-by: Shintaro Sakoda * Fixed const reference Signed-off-by: Shintaro Sakoda * Refactor point variables Signed-off-by: Shintaro Sakoda * Added detect_landmarks Signed-off-by: Shintaro Sakoda * rework filering params Signed-off-by: yamato-ando * fix marker position Signed-off-by: yamato-ando * style(pre-commit): autofix * fix build error Signed-off-by: yamato-ando * fix marker position Signed-off-by: yamato-ando * style(pre-commit): autofix * update readme Signed-off-by: yamato-ando * style(pre-commit): autofix * Added calculate_diff_pose Signed-off-by: Shintaro Sakoda * Fixed to pass linter Signed-off-by: Shintaro Sakoda * update package.xml Signed-off-by: yamato-ando * Fixed to use SmartPoseBuffer Signed-off-by: Shintaro Sakoda * Fixed function calculate_diff_pose to calculate_new_self_pose Signed-off-by: Shintaro Sakoda * Compatible with the latest landmark_manager Signed-off-by: Shintaro Sakoda * Fixed pub_marker Signed-off-by: Shintaro Sakoda * Fixed launch Signed-off-by: Shintaro Sakoda * Removed unused arg Signed-off-by: Shintaro Sakoda * Removed limit_distance_from_self_pose_to_marker_from_lanelet2 Signed-off-by: Shintaro Sakoda * Fixed parse_landmarks Signed-off-by: Shintaro Sakoda * Fixed parameter type Signed-off-by: Shintaro Sakoda * Fixed typo Signed-off-by: Shintaro Sakoda * rework diagnostics Signed-off-by: yamato-ando * style(pre-commit): autofix * rotate covariance Signed-off-by: yamato-ando * style(pre-commit): autofix * add json schema Signed-off-by: yamato-ando * style(pre-commit): autofix * parameterize marker name Signed-off-by: Yamato Ando * python to xml Signed-off-by: Yamato Ando * update launch files Signed-off-by: Yamato Ando * style(pre-commit): autofix * add debug/pose_with_covariance Signed-off-by: Yamato Ando * style(pre-commit): autofix * update readme Signed-off-by: Yamato Ando * update readme Signed-off-by: Yamato Ando * add depend Signed-off-by: Yamato Ando * add sample dataset Signed-off-by: Yamato Ando * add param marker_height_from_ground Signed-off-by: Yamato Ando * style(pre-commit): autofix * fix typo Signed-off-by: Yamato Ando * add includes Signed-off-by: Yamato Ando * add name to TODO comment Signed-off-by: Yamato Ando * style(pre-commit): autofix * rename lidar-marker Signed-off-by: Yamato Ando * modify sample dataset url Signed-off-by: Yamato Ando * add flowchat to readme Signed-off-by: Yamato Ando * fix callbackgroup Signed-off-by: Yamato Ando * add TODO comment Signed-off-by: Yamato Ando * fix throttle timer Signed-off-by: Yamato Ando * delete unused valriable Signed-off-by: Yamato Ando * delete unused line Signed-off-by: Yamato Ando * style(pre-commit): autofix * fix the duplicated code Signed-off-by: Yamato Ando * style(pre-commit): autofix * avoid division by zero Signed-off-by: Yamato Ando * fix TODO comment Signed-off-by: Yamato Ando * fix uncrustify failed Signed-off-by: Yamato Ando * style(pre-commit): autofix * Update localization/landmark_based_localizer/lidar_marker_localizer/src/lidar_marker_localizer.cpp Co-authored-by: SakodaShintaro * change lint_common Signed-off-by: Yamato Ando * update CMakeLists Signed-off-by: Yamato Ando * save intensity func Signed-off-by: Yamato Ando * style(pre-commit): autofix * style(pre-commit): autofix * fix build error Signed-off-by: Yamato Ando * style(pre-commit): autofix * apply PointXYZIRC Signed-off-by: Yamato Ando * add autoware prefix Signed-off-by: Yamato Ando * componentize Signed-off-by: Yamato Ando * move directory Signed-off-by: Yamato Ando * use localization_util's diagnostics lib Signed-off-by: Yamato Ando * style(pre-commit): autofix * applay linter Signed-off-by: Yamato Ando * style(pre-commit): autofix * to pass spell-check Signed-off-by: Yamato Ando * remove _ex Signed-off-by: Yamato Ando * refactor Signed-off-by: Yamato Ando * style(pre-commit): autofix * remove unused depend Signed-off-by: Yamato Ando * update readme Signed-off-by: Yamato Ando * fix typo Signed-off-by: Yamato Ando * fix json Signed-off-by: Yamato Ando * fix autoware prefix Signed-off-by: Yamato Ando * style(pre-commit): autofix --------- Signed-off-by: Shintaro Sakoda Signed-off-by: yamato-ando Signed-off-by: yamato-ando Signed-off-by: Yamato Ando Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: yamato-ando Co-authored-by: Yamato Ando Co-authored-by: yamato-ando --- .../launch/localization.launch.xml | 5 + .../lidar_marker_localizer.launch.xml | 43 ++ .../pose_twist_estimator.launch.xml | 13 +- launch/tier4_localization_launch/package.xml | 1 + .../CMakeLists.txt | 35 + .../autoware_lidar_marker_localizer/README.md | 114 ++++ .../config/lidar_marker_localizer.param.yaml | 42 ++ .../doc_image/detection_algorithm.png | Bin 0 -> 77739 bytes .../launch/lidar_marker_localizer.launch.xml | 24 + .../package.xml | 40 ++ .../schema/lidar_marker_localizer.schema.json | 149 +++++ .../src/lidar_marker_localizer.cpp | 618 ++++++++++++++++++ .../src/lidar_marker_localizer.hpp | 148 +++++ 13 files changed, 1231 insertions(+), 1 deletion(-) create mode 100644 launch/tier4_localization_launch/launch/pose_twist_estimator/lidar_marker_localizer.launch.xml create mode 100755 localization/autoware_landmark_based_localizer/autoware_lidar_marker_localizer/CMakeLists.txt create mode 100644 localization/autoware_landmark_based_localizer/autoware_lidar_marker_localizer/README.md create mode 100644 localization/autoware_landmark_based_localizer/autoware_lidar_marker_localizer/config/lidar_marker_localizer.param.yaml create mode 100644 localization/autoware_landmark_based_localizer/autoware_lidar_marker_localizer/doc_image/detection_algorithm.png create mode 100644 localization/autoware_landmark_based_localizer/autoware_lidar_marker_localizer/launch/lidar_marker_localizer.launch.xml create mode 100755 localization/autoware_landmark_based_localizer/autoware_lidar_marker_localizer/package.xml create mode 100644 localization/autoware_landmark_based_localizer/autoware_lidar_marker_localizer/schema/lidar_marker_localizer.schema.json create mode 100644 localization/autoware_landmark_based_localizer/autoware_lidar_marker_localizer/src/lidar_marker_localizer.cpp create mode 100644 localization/autoware_landmark_based_localizer/autoware_lidar_marker_localizer/src/lidar_marker_localizer.hpp diff --git a/launch/tier4_localization_launch/launch/localization.launch.xml b/launch/tier4_localization_launch/launch/localization.launch.xml index cfc09459a5cb1..dd274ce247064 100644 --- a/launch/tier4_localization_launch/launch/localization.launch.xml +++ b/launch/tier4_localization_launch/launch/localization.launch.xml @@ -18,6 +18,11 @@ + + + + + diff --git a/launch/tier4_localization_launch/launch/pose_twist_estimator/lidar_marker_localizer.launch.xml b/launch/tier4_localization_launch/launch/pose_twist_estimator/lidar_marker_localizer.launch.xml new file mode 100644 index 0000000000000..301e961a94012 --- /dev/null +++ b/launch/tier4_localization_launch/launch/pose_twist_estimator/lidar_marker_localizer.launch.xml @@ -0,0 +1,43 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/launch/tier4_localization_launch/launch/pose_twist_estimator/pose_twist_estimator.launch.xml b/launch/tier4_localization_launch/launch/pose_twist_estimator/pose_twist_estimator.launch.xml index f06c9f83efb35..00f2406aa82d6 100644 --- a/launch/tier4_localization_launch/launch/pose_twist_estimator/pose_twist_estimator.launch.xml +++ b/launch/tier4_localization_launch/launch/pose_twist_estimator/pose_twist_estimator.launch.xml @@ -9,7 +9,7 @@ - + @@ -18,6 +18,7 @@ + @@ -91,6 +92,16 @@ + + + + + + + + + + diff --git a/launch/tier4_localization_launch/package.xml b/launch/tier4_localization_launch/package.xml index 870fc66c1e2e4..70e09bb9072d8 100644 --- a/launch/tier4_localization_launch/package.xml +++ b/launch/tier4_localization_launch/package.xml @@ -21,6 +21,7 @@ autoware_ar_tag_based_localizer autoware_geo_pose_projector autoware_gyro_odometer + autoware_lidar_marker_localizer autoware_pointcloud_preprocessor autoware_pose_estimator_arbiter autoware_pose_instability_detector diff --git a/localization/autoware_landmark_based_localizer/autoware_lidar_marker_localizer/CMakeLists.txt b/localization/autoware_landmark_based_localizer/autoware_lidar_marker_localizer/CMakeLists.txt new file mode 100755 index 0000000000000..d352cb2f0fa96 --- /dev/null +++ b/localization/autoware_landmark_based_localizer/autoware_lidar_marker_localizer/CMakeLists.txt @@ -0,0 +1,35 @@ +cmake_minimum_required(VERSION 3.14) +project(autoware_lidar_marker_localizer) + +# find dependencies +find_package(autoware_cmake REQUIRED) +autoware_package() + +find_package(PCL REQUIRED COMPONENTS common io) +include_directories(${PCL_INCLUDE_DIRS}) +link_directories(${PCL_LIBRARY_DIRS}) + +ament_auto_add_library(${PROJECT_NAME} SHARED + src/lidar_marker_localizer.cpp +) + +target_link_libraries(${PROJECT_NAME} + ${PCL_LIBRARIES} +) + +rclcpp_components_register_node(${PROJECT_NAME} + PLUGIN "autoware::lidar_marker_localizer::LidarMarkerLocalizer" + EXECUTABLE ${PROJECT_NAME}_node + EXECUTOR SingleThreadedExecutor +) + + +if(BUILD_TESTING) + find_package(ament_lint_auto REQUIRED) + ament_lint_auto_find_test_dependencies() +endif() + +ament_auto_package(INSTALL_TO_SHARE + config + launch +) diff --git a/localization/autoware_landmark_based_localizer/autoware_lidar_marker_localizer/README.md b/localization/autoware_landmark_based_localizer/autoware_lidar_marker_localizer/README.md new file mode 100644 index 0000000000000..15afefaf20ee4 --- /dev/null +++ b/localization/autoware_landmark_based_localizer/autoware_lidar_marker_localizer/README.md @@ -0,0 +1,114 @@ +# LiDAR Marker Localizer + +**LiDARMarkerLocalizer** is a detect-reflector-based localization node . + +## Inputs / Outputs + +### `lidar_marker_localizer` node + +#### Input + +| Name | Type | Description | +| :--------------------- | :---------------------------------------------- | :--------------- | +| `~/input/lanelet2_map` | `autoware_map_msgs::msg::HADMapBin` | Data of lanelet2 | +| `~/input/pointcloud` | `sensor_msgs::msg::PointCloud2` | PointCloud | +| `~/input/ekf_pose` | `geometry_msgs::msg::PoseWithCovarianceStamped` | EKF Pose | + +#### Output + +| Name | Type | Description | +| :------------------------------ | :---------------------------------------------- | :----------------------------------------------------------------- | +| `~/output/pose_with_covariance` | `geometry_msgs::msg::PoseWithCovarianceStamped` | Estimated pose | +| `~/debug/pose_with_covariance` | `geometry_msgs::msg::PoseWithCovarianceStamped` | [debug topic] Estimated pose | +| `~/debug/marker_detected` | `geometry_msgs::msg::PoseArray` | [debug topic] Detected marker poses | +| `~/debug/marker_mapped` | `visualization_msgs::msg::MarkerArray` | [debug topic] Loaded landmarks to visualize in Rviz as thin boards | +| `~/debug/marker_pointcloud` | `sensor_msgs::msg::PointCloud2` | [debug topic] PointCloud of the detected marker | +| `/diagnostics` | `diagnostic_msgs::msg::DiagnosticArray` | Diagnostics outputs | + +## Parameters + +{{ json_to_markdown("localization/autoware_landmark_based_localizer/autoware_lidar_marker_localizer/schema/lidar_marker_localizer.schema.json") }} + +## How to launch + +When launching Autoware, set `lidar-marker` for `pose_source`. + +```bash +ros2 launch autoware_launch ... \ + pose_source:=lidar-marker \ + ... +``` + +## Design + +### Flowchart + +```plantuml +@startuml + +group main process + start + if (Receive a map?) then (yes) + else (no) + stop + endif + + :Interpolate based on the received ego-vehicle's positions to align with sensor time; + + if (Could interpolate?) then (yes) + else (no) + stop + endif + + :Detect markers (see "Detection Algorithm"); + + :Calculate the distance from the ego-vehicle's positions to the nearest marker's position on the lanelet2 map; + + if (Find markers?) then (yes) + else (no) + if (the distance is nearby?) then (yes) + stop + note : Error. It should have been able to detect marker + else (no) + stop + note : Not Error. There are no markers around the ego-vehicle + endif + endif + + :Calculate the correction amount from the ego-vehicle's position; + + if (Is the found marker's position close to the one on the lanelet2 map?) then (yes) + else (no) + stop + note : Detected something that isn't a marker + endif + + :Publish result; + + stop +end group + +@enduml + +``` + +## Detection Algorithm + +![detection_algorithm](./doc_image/detection_algorithm.png) + +1. Split the LiDAR point cloud into rings along the x-axis of the base_link coordinate system at intervals of the `resolution` size. +2. Find the portion of intensity that matches the `intensity_pattern`. +3. Perform steps 1 and 2 for each ring, accumulate the matching indices, and detect portions where the count exceeds the `vote_threshold_for_detect_marker` as markers. + +## Sample Dataset + +- [Sample rosbag and map](https://drive.google.com/file/d/1FuGKbkWrvL_iKmtb45PO9SZl1vAaJFVG/view?usp=sharing) + +This dataset was acquired in National Institute for Land and Infrastructure Management, Full-scale tunnel experiment facility. +The reflectors were installed by [Taisei Corporation](https://www.taisei.co.jp/english/). + +## Collaborators + +- [TIER IV](https://tier4.jp/en/) +- [Taisei Corporation](https://www.taisei.co.jp/english/) +- [Yuri Shimizu](https://github.com/YuriShimizu824) diff --git a/localization/autoware_landmark_based_localizer/autoware_lidar_marker_localizer/config/lidar_marker_localizer.param.yaml b/localization/autoware_landmark_based_localizer/autoware_lidar_marker_localizer/config/lidar_marker_localizer.param.yaml new file mode 100644 index 0000000000000..1c04d51e5df0c --- /dev/null +++ b/localization/autoware_landmark_based_localizer/autoware_lidar_marker_localizer/config/lidar_marker_localizer.param.yaml @@ -0,0 +1,42 @@ +/**: + ros__parameters: + + # marker name + marker_name: "reflector" + + # for marker detection algorithm + resolution: 0.05 + # A sequence of high/low intensity to perform pattern matching. + # 1: high intensity (positive match), 0: not consider, -1: low intensity (negative match) + intensity_pattern: [-1, -1, 0, 1, 1, 1, 1, 1, 0, -1, -1] + match_intensity_difference_threshold: 20 + positive_match_num_threshold: 3 + negative_match_num_threshold: 3 + vote_threshold_for_detect_marker: 20 + marker_height_from_ground: 1.075 + + # for interpolate algorithm + self_pose_timeout_sec: 1.0 + self_pose_distance_tolerance_m: 1.0 + + # for validation + limit_distance_from_self_pose_to_nearest_marker: 2.0 + limit_distance_from_self_pose_to_marker: 2.0 + + # base_covariance + # [TBD] This value is dynamically scaled according to the distance at which markers are detected. + base_covariance: [0.04, 0.0, 0.0, 0.0, 0.0, 0.0, + 0.0, 0.04, 0.0, 0.0, 0.0, 0.0, + 0.0, 0.0, 0.01, 0.0, 0.0, 0.0, + 0.0, 0.0, 0.0, 0.00007569, 0.0, 0.0, + 0.0, 0.0, 0.0, 0.0, 0.00007569, 0.0, + 0.0, 0.0, 0.0, 0.0, 0.0, 0.00030625] + + # for visualize the detected marker pointcloud + marker_width: 0.8 + + # for save log + enable_save_log: false + save_file_directory_path: detected_reflector_intensity + save_file_name: detected_reflector_intensity + save_frame_id: velodyne_top diff --git a/localization/autoware_landmark_based_localizer/autoware_lidar_marker_localizer/doc_image/detection_algorithm.png b/localization/autoware_landmark_based_localizer/autoware_lidar_marker_localizer/doc_image/detection_algorithm.png new file mode 100644 index 0000000000000000000000000000000000000000..905b432053078ac8a6de1209fa7a53988876b68a GIT binary patch literal 77739 zcmdSBby$;c_%}SoMB=Mb5+Z^kOuD2IkZ#!Mk_HD#_do>{1O%i@8a7hcXiyMokQf~z z9b@$9z4!3>5BQ!f zCBGHmU;Gd%B)D77xX 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--git a/localization/autoware_landmark_based_localizer/autoware_lidar_marker_localizer/launch/lidar_marker_localizer.launch.xml b/localization/autoware_landmark_based_localizer/autoware_lidar_marker_localizer/launch/lidar_marker_localizer.launch.xml new file mode 100644 index 0000000000000..78c5958df4775 --- /dev/null +++ b/localization/autoware_landmark_based_localizer/autoware_lidar_marker_localizer/launch/lidar_marker_localizer.launch.xml @@ -0,0 +1,24 @@ + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/localization/autoware_landmark_based_localizer/autoware_lidar_marker_localizer/package.xml b/localization/autoware_landmark_based_localizer/autoware_lidar_marker_localizer/package.xml new file mode 100755 index 0000000000000..bf60d96311ff1 --- /dev/null +++ b/localization/autoware_landmark_based_localizer/autoware_lidar_marker_localizer/package.xml @@ -0,0 +1,40 @@ + + + + autoware_lidar_marker_localizer + 0.0.0 + The autoware_lidar_marker_localizer package + Yamato Ando + Shintaro Sakoda + Apache License 2.0 + Eijiro Takeuchi + Yamato Ando + Shintaro Sakoda + + ament_cmake_auto + autoware_cmake + + autoware_landmark_manager + autoware_map_msgs + autoware_point_types + autoware_universe_utils + localization_util + pcl_conversions + pcl_ros + rclcpp + rclcpp_components + sensor_msgs + std_srvs + tf2 + tf2_eigen + tf2_geometry_msgs + tf2_ros + tf2_sensor_msgs + + ament_lint_auto + autoware_lint_common + + + ament_cmake + + diff --git a/localization/autoware_landmark_based_localizer/autoware_lidar_marker_localizer/schema/lidar_marker_localizer.schema.json b/localization/autoware_landmark_based_localizer/autoware_lidar_marker_localizer/schema/lidar_marker_localizer.schema.json new file mode 100644 index 0000000000000..31a1a8add8cab --- /dev/null +++ b/localization/autoware_landmark_based_localizer/autoware_lidar_marker_localizer/schema/lidar_marker_localizer.schema.json @@ -0,0 +1,149 @@ +{ + "$schema": "http://json-schema.org/draft-07/schema#", + "title": "Parameters for Lidar Marker Localizer Node", + "type": "object", + "definitions": { + "lidar_marker_localizer": { + "type": "object", + "properties": { + "marker_name": { + "type": "string", + "description": "The name of the markers listed in the HD map.", + "default": "reflector" + }, + "resolution": { + "type": "number", + "description": "Grid size for marker detection algorithm. [m]", + "default": 0.05, + "minimum": 0.0 + }, + "intensity_pattern": { + "type": "array", + "description": "A sequence of high/low intensity to perform pattern matching. 1: high intensity (positive match), 0: not consider, -1: low intensity (negative match)", + "default": [-1, -1, 0, 1, 1, 1, 1, 1, 0, -1, -1] + }, + "match_intensity_difference_threshold": { + "type": "number", + "description": "Threshold for determining high/low.", + "default": 20, + "minimum": 0 + }, + "positive_match_num_threshold": { + "type": "number", + "description": "Threshold for the number of required matches with the pattern.", + "default": 3, + "minimum": 0 + }, + "negative_match_num_threshold": { + "type": "number", + "description": "Threshold for the number of required matches with the pattern.", + "default": 3, + "minimum": 0 + }, + "vote_threshold_for_detect_marker": { + "type": "number", + "description": "Threshold for the number of rings matching the pattern needed to detect it as a marker.", + "default": 20, + "minimum": 0 + }, + "marker_height_from_ground": { + "type": "number", + "description": "Height from the ground to the center of the marker. [m]", + "default": 1.075 + }, + "self_pose_timeout_sec": { + "type": "number", + "description": "Timeout for self pose. [sec]", + "default": 1.0, + "minimum": 0.0 + }, + "self_pose_distance_tolerance_m": { + "type": "number", + "description": "Tolerance for the distance between two points when performing linear interpolation. [m]", + "default": 1.0, + "minimum": 0.0 + }, + "limit_distance_from_self_pose_to_nearest_marker": { + "type": "number", + "description": "Distance limit for the purpose of determining whether the node should detect a marker. [m]", + "default": 2.0, + "minimum": 0.0 + }, + "limit_distance_from_self_pose_to_marker": { + "type": "number", + "description": "Distance limit for avoiding miss detection. [m]", + "default": 2.0, + "minimum": 0.0 + }, + "base_covariance": { + "type": "array", + "description": "Output covariance in the base_link coordinate.", + "default": [ + 0.04, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.04, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.01, 0.0, 0.0, + 0.0, 0.0, 0.0, 0.0, 0.00007569, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.00007569, 0.0, 0.0, 0.0, + 0.0, 0.0, 0.0, 0.00030625 + ] + }, + "marker_width": { + "type": "number", + "description": "Width of a marker. This param is used for visualizing the detected marker pointcloud[m]", + "default": 0.8, + "minimum": 0.0 + }, + "enable_save_log": { + "type": "boolean", + "description": "", + "default": false + }, + "save_file_directory_path": { + "type": "string", + "description": "", + "default": "$(env HOME)/detected_reflector_intensity" + }, + "save_file_name": { + "type": "string", + "description": "", + "default": "detected_reflector_intensity" + }, + "save_frame_id": { + "type": "string", + "description": "", + "default": "velodyne_top" + } + }, + "required": [ + "resolution", + "intensity_pattern", + "match_intensity_difference_threshold", + "positive_match_num_threshold", + "negative_match_num_threshold", + "vote_threshold_for_detect_marker", + "self_pose_timeout_sec", + "self_pose_distance_tolerance_m", + "limit_distance_from_self_pose_to_nearest_marker", + "limit_distance_from_self_pose_to_marker", + "base_covariance", + "marker_width", + "enable_save_log", + "save_file_directory_path", + "save_file_name", + "save_frame_id" + ], + "additionalProperties": false + } + }, + "properties": { + "/**": { + "type": "object", + "properties": { + "ros__parameters": { + "$ref": "#/definitions/lidar_marker_localizer" + } + }, + "required": ["ros__parameters"], + "additionalProperties": false + } + }, + "required": ["/**"], + "additionalProperties": false +} diff --git a/localization/autoware_landmark_based_localizer/autoware_lidar_marker_localizer/src/lidar_marker_localizer.cpp b/localization/autoware_landmark_based_localizer/autoware_lidar_marker_localizer/src/lidar_marker_localizer.cpp new file mode 100644 index 0000000000000..83fcae2352f51 --- /dev/null +++ b/localization/autoware_landmark_based_localizer/autoware_lidar_marker_localizer/src/lidar_marker_localizer.cpp @@ -0,0 +1,618 @@ +// Copyright 2023 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 "lidar_marker_localizer.hpp" + +#include +#include +#include +#include +#include + +#include + +#include +#include + +#include +#include +#include +#include +#include +#include +#include +#include +#include + +namespace autoware::lidar_marker_localizer +{ + +landmark_manager::Landmark get_nearest_landmark( + const geometry_msgs::msg::Pose & self_pose, + const std::vector & landmarks); +std::array rotate_covariance( + const std::array & src_covariance, const Eigen::Matrix3d & rotation); + +LidarMarkerLocalizer::LidarMarkerLocalizer(const rclcpp::NodeOptions & node_options) +: Node("lidar_marker_localizer", node_options), is_activated_(false) +{ + using std::placeholders::_1; + using std::placeholders::_2; + + param_.marker_name = this->declare_parameter("marker_name"); + param_.resolution = this->declare_parameter("resolution"); + param_.intensity_pattern = this->declare_parameter>("intensity_pattern"); + param_.match_intensity_difference_threshold = + this->declare_parameter("match_intensity_difference_threshold"); + param_.positive_match_num_threshold = + this->declare_parameter("positive_match_num_threshold"); + param_.negative_match_num_threshold = + this->declare_parameter("negative_match_num_threshold"); + param_.vote_threshold_for_detect_marker = + this->declare_parameter("vote_threshold_for_detect_marker"); + param_.marker_height_from_ground = this->declare_parameter("marker_height_from_ground"); + param_.self_pose_timeout_sec = this->declare_parameter("self_pose_timeout_sec"); + param_.self_pose_distance_tolerance_m = + this->declare_parameter("self_pose_distance_tolerance_m"); + param_.limit_distance_from_self_pose_to_nearest_marker = + this->declare_parameter("limit_distance_from_self_pose_to_nearest_marker"); + param_.limit_distance_from_self_pose_to_marker = + this->declare_parameter("limit_distance_from_self_pose_to_marker"); + std::vector base_covariance = + this->declare_parameter>("base_covariance"); + for (std::size_t i = 0; i < base_covariance.size(); ++i) { + param_.base_covariance[i] = base_covariance[i]; + } + param_.marker_width = this->declare_parameter("marker_width"); + param_.enable_save_log = this->declare_parameter("enable_save_log"); + param_.save_file_directory_path = + this->declare_parameter("save_file_directory_path"); + param_.save_file_name = this->declare_parameter("save_file_name"); + param_.save_frame_id = this->declare_parameter("save_frame_id"); + + ekf_pose_buffer_ = std::make_unique( + this->get_logger(), param_.self_pose_timeout_sec, param_.self_pose_distance_tolerance_m); + + rclcpp::CallbackGroup::SharedPtr points_callback_group; + points_callback_group = this->create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive); + auto points_sub_opt = rclcpp::SubscriptionOptions(); + points_sub_opt.callback_group = points_callback_group; + sub_points_ = this->create_subscription( + "~/input/pointcloud", rclcpp::QoS(1).best_effort(), + std::bind(&LidarMarkerLocalizer::points_callback, this, _1), points_sub_opt); + + rclcpp::CallbackGroup::SharedPtr self_pose_callback_group; + self_pose_callback_group = + this->create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive); + auto self_pose_sub_opt = rclcpp::SubscriptionOptions(); + self_pose_sub_opt.callback_group = self_pose_callback_group; + sub_self_pose_ = this->create_subscription( + "~/input/ekf_pose", rclcpp::QoS(1), + std::bind(&LidarMarkerLocalizer::self_pose_callback, this, _1), self_pose_sub_opt); + sub_map_bin_ = this->create_subscription( + "~/input/lanelet2_map", rclcpp::QoS(10).durability(rclcpp::DurabilityPolicy::TransientLocal), + std::bind(&LidarMarkerLocalizer::map_bin_callback, this, _1)); + + pub_base_link_pose_with_covariance_on_map_ = + this->create_publisher("~/output/pose_with_covariance", 10); + rclcpp::QoS qos_marker = rclcpp::QoS(rclcpp::KeepLast(10)); + qos_marker.transient_local(); + qos_marker.reliable(); + pub_marker_mapped_ = this->create_publisher("~/debug/marker_mapped", qos_marker); + pub_marker_detected_ = this->create_publisher("~/debug/marker_detected", 10); + pub_debug_pose_with_covariance_ = + this->create_publisher("~/debug/pose_with_covariance", 10); + pub_marker_pointcloud_ = this->create_publisher("~/debug/marker_pointcloud", 10); + service_trigger_node_ = this->create_service( + "~/service/trigger_node_srv", + std::bind(&LidarMarkerLocalizer::service_trigger_node, this, _1, _2), + rclcpp::ServicesQoS().get_rmw_qos_profile(), points_callback_group); + + tf_buffer_ = std::make_shared(this->get_clock()); + tf_listener_ = std::make_shared(*tf_buffer_, this, false); + + diagnostics_module_.reset(new DiagnosticsModule(this, "marker_detection_status")); +} + +void LidarMarkerLocalizer::initialize_diagnostics() +{ + diagnostics_module_->clear(); + diagnostics_module_->add_key_value("is_received_map", false); + diagnostics_module_->add_key_value("is_received_self_pose", false); + diagnostics_module_->add_key_value("detect_marker_num", 0); + diagnostics_module_->add_key_value("distance_self_pose_to_nearest_marker", 0.0); + diagnostics_module_->add_key_value( + "limit_distance_from_self_pose_to_nearest_marker", + param_.limit_distance_from_self_pose_to_nearest_marker); + diagnostics_module_->add_key_value("distance_lanelet2_marker_to_detected_marker", 0.0); + diagnostics_module_->add_key_value( + "limit_distance_from_lanelet2_marker_to_detected_marker", + param_.limit_distance_from_self_pose_to_marker); +} + +void LidarMarkerLocalizer::map_bin_callback(const HADMapBin::ConstSharedPtr & map_bin_msg_ptr) +{ + landmark_manager_.parse_landmarks(map_bin_msg_ptr, param_.marker_name); + const MarkerArray marker_msg = landmark_manager_.get_landmarks_as_marker_array_msg(); + pub_marker_mapped_->publish(marker_msg); +} + +void LidarMarkerLocalizer::self_pose_callback( + const PoseWithCovarianceStamped::ConstSharedPtr & self_pose_msg_ptr) +{ + // TODO(YamatoAndo) + // if (!is_activated_) return; + + if (self_pose_msg_ptr->header.frame_id == "map") { + ekf_pose_buffer_->push_back(self_pose_msg_ptr); + } else { + RCLCPP_ERROR_STREAM_THROTTLE( + get_logger(), *this->get_clock(), 1000, + "Received initial pose message with frame_id " + << self_pose_msg_ptr->header.frame_id << ", but expected map. " + << "Please check the frame_id in the input topic and ensure it is correct."); + } +} + +void LidarMarkerLocalizer::points_callback(const PointCloud2::ConstSharedPtr & points_msg_ptr) +{ + const auto sensor_ros_time = points_msg_ptr->header.stamp; + + initialize_diagnostics(); + + main_process(points_msg_ptr); + + diagnostics_module_->publish(sensor_ros_time); +} + +void LidarMarkerLocalizer::main_process(const PointCloud2::ConstSharedPtr & points_msg_ptr) +{ + const builtin_interfaces::msg::Time sensor_ros_time = points_msg_ptr->header.stamp; + + // (1) check if the map have be received + const std::vector map_landmarks = landmark_manager_.get_landmarks(); + const bool is_received_map = !map_landmarks.empty(); + diagnostics_module_->add_key_value("is_received_map", is_received_map); + if (!is_received_map) { + std::stringstream message; + message << "Not receive the landmark information. Please check if the vector map is being " + << "published and if the landmark information is correctly specified."; + RCLCPP_INFO_STREAM_THROTTLE(this->get_logger(), *this->get_clock(), 1000, message.str()); + diagnostics_module_->update_level_and_message( + diagnostic_msgs::msg::DiagnosticStatus::WARN, message.str()); + return; + } + + // (2) get Self Pose + const std::optional interpolate_result = + ekf_pose_buffer_->interpolate(sensor_ros_time); + + const bool is_received_self_pose = interpolate_result != std::nullopt; + diagnostics_module_->add_key_value("is_received_self_pose", is_received_self_pose); + if (!is_received_self_pose) { + std::stringstream message; + message << "Could not get self_pose. Please check if the self pose is being published and if " + << "the timestamp of the self pose is correctly specified"; + RCLCPP_INFO_STREAM_THROTTLE(this->get_logger(), *this->get_clock(), 1000, message.str()); + diagnostics_module_->update_level_and_message( + diagnostic_msgs::msg::DiagnosticStatus::WARN, message.str()); + return; + } + + ekf_pose_buffer_->pop_old(sensor_ros_time); + const Pose self_pose = interpolate_result.value().interpolated_pose.pose.pose; + + // (3) detect marker + const std::vector detected_landmarks = + detect_landmarks(points_msg_ptr); + + const bool is_detected_marker = !detected_landmarks.empty(); + diagnostics_module_->add_key_value("detect_marker_num", detected_landmarks.size()); + + // (4) check distance to the nearest marker + const landmark_manager::Landmark nearest_marker = get_nearest_landmark(self_pose, map_landmarks); + const Pose nearest_marker_pose_on_base_link = + autoware::universe_utils::inverseTransformPose(nearest_marker.pose, self_pose); + + const double distance_from_self_pose_to_nearest_marker = + std::abs(nearest_marker_pose_on_base_link.position.x); + diagnostics_module_->add_key_value( + "distance_self_pose_to_nearest_marker", distance_from_self_pose_to_nearest_marker); + + const bool is_exist_marker_within_self_pose = + distance_from_self_pose_to_nearest_marker < + param_.limit_distance_from_self_pose_to_nearest_marker; + + if (!is_detected_marker) { + if (!is_exist_marker_within_self_pose) { + std::stringstream message; + message << "Could not detect marker, because the distance from self_pose to nearest_marker " + << "is too far (" << distance_from_self_pose_to_nearest_marker << " [m])."; + diagnostics_module_->update_level_and_message( + diagnostic_msgs::msg::DiagnosticStatus::OK, message.str()); + } else { + std::stringstream message; + message << "Could not detect marker, although the distance from self_pose to nearest_marker " + << "is near (" << distance_from_self_pose_to_nearest_marker << " [m])."; + RCLCPP_INFO_STREAM_THROTTLE(this->get_logger(), *this->get_clock(), 1000, message.str()); + diagnostics_module_->update_level_and_message( + diagnostic_msgs::msg::DiagnosticStatus::WARN, message.str()); + } + return; + } + + // for debug + if (pub_marker_detected_->get_subscription_count() > 0) { + PoseArray pose_array_msg; + pose_array_msg.header.stamp = sensor_ros_time; + pose_array_msg.header.frame_id = "map"; + for (const landmark_manager::Landmark & landmark : detected_landmarks) { + const Pose detected_marker_on_map = + autoware::universe_utils::transformPose(landmark.pose, self_pose); + pose_array_msg.poses.push_back(detected_marker_on_map); + } + pub_marker_detected_->publish(pose_array_msg); + } + + // (4) calculate diff pose + const Pose new_self_pose = + landmark_manager_.calculate_new_self_pose(detected_landmarks, self_pose, false); + + const double diff_x = new_self_pose.position.x - self_pose.position.x; + const double diff_y = new_self_pose.position.y - self_pose.position.y; + + const double diff_norm = std::hypot(diff_x, diff_y); + const bool is_exist_marker_within_lanelet2_map = + diff_norm < param_.limit_distance_from_self_pose_to_marker; + + diagnostics_module_->add_key_value("distance_lanelet2_marker_to_detected_marker", diff_norm); + if (!is_exist_marker_within_lanelet2_map) { + std::stringstream message; + message << "The distance from lanelet2 to the detect marker is too far(" << diff_norm + << " [m]). The limit is " << param_.limit_distance_from_self_pose_to_marker << "."; + RCLCPP_INFO_STREAM_THROTTLE(this->get_logger(), *this->get_clock(), 1000, message.str()); + diagnostics_module_->update_level_and_message( + diagnostic_msgs::msg::DiagnosticStatus::WARN, message.str()); + return; + } + + // (5) Apply diff pose to self pose + // only x and y is changed + PoseWithCovarianceStamped result; + result.header.stamp = sensor_ros_time; + result.header.frame_id = "map"; + result.pose.pose.position.x = new_self_pose.position.x; + result.pose.pose.position.y = new_self_pose.position.y; + result.pose.pose.position.z = self_pose.position.z; + result.pose.pose.orientation = self_pose.orientation; + + // set covariance + const Eigen::Quaterniond map_to_base_link_quat = Eigen::Quaterniond( + result.pose.pose.orientation.w, result.pose.pose.orientation.x, result.pose.pose.orientation.y, + result.pose.pose.orientation.z); + const Eigen::Matrix3d map_to_base_link_rotation = + map_to_base_link_quat.normalized().toRotationMatrix(); + result.pose.covariance = rotate_covariance(param_.base_covariance, map_to_base_link_rotation); + + pub_base_link_pose_with_covariance_on_map_->publish(result); + pub_debug_pose_with_covariance_->publish(result); + + // for debug + const landmark_manager::Landmark nearest_detected_landmark = + get_nearest_landmark(self_pose, detected_landmarks); + const auto marker_pointcloud_msg_ptr = + extract_marker_pointcloud(points_msg_ptr, nearest_detected_landmark.pose); + pub_marker_pointcloud_->publish(*marker_pointcloud_msg_ptr); + + // save log + if (param_.enable_save_log) { + save_detected_marker_log(marker_pointcloud_msg_ptr); + } +} + +void LidarMarkerLocalizer::service_trigger_node( + const SetBool::Request::SharedPtr req, SetBool::Response::SharedPtr res) +{ + is_activated_ = req->data; + if (is_activated_) { + ekf_pose_buffer_->clear(); + } + res->success = true; +} + +std::vector LidarMarkerLocalizer::detect_landmarks( + const PointCloud2::ConstSharedPtr & points_msg_ptr) +{ + // TODO(YamatoAndo) + // Transform sensor_frame to base_link + + pcl::PointCloud::Ptr points_ptr( + new pcl::PointCloud); + pcl::fromROSMsg(*points_msg_ptr, *points_ptr); + + if (points_ptr->empty()) { + RCLCPP_WARN_STREAM_THROTTLE(this->get_logger(), *this->get_clock(), 1000, "No points!"); + return std::vector{}; + } + + std::vector> ring_points(128); + + float min_x = std::numeric_limits::max(); + float max_x = std::numeric_limits::lowest(); + for (const autoware_point_types::PointXYZIRC & point : points_ptr->points) { + ring_points[point.channel].push_back(point); + min_x = std::min(min_x, point.x); + max_x = std::max(max_x, point.x); + } + + // Check that the leaf size is not too small, given the size of the data + const int bin_num = static_cast((max_x - min_x) / param_.resolution + 1); + + // initialize variables + std::vector vote(bin_num, 0); + std::vector min_y(bin_num, std::numeric_limits::max()); + + // for each channel + for (const pcl::PointCloud & one_ring : ring_points) { + std::vector intensity_sum(bin_num, 0.0); + std::vector intensity_num(bin_num, 0); + std::vector average_intensity(bin_num, 0.0); + + for (const autoware_point_types::PointXYZIRC & point : one_ring.points) { + const int bin_index = static_cast((point.x - min_x) / param_.resolution); + intensity_sum[bin_index] += point.intensity; + intensity_num[bin_index]++; + min_y[bin_index] = std::min(min_y[bin_index], point.y); + } + + // calc average + for (int bin_index = 0; bin_index < bin_num; bin_index++) { + if (intensity_num[bin_index] == 0) { + continue; + } + + average_intensity[bin_index] = intensity_sum[bin_index] / intensity_num[bin_index]; + } + + // pattern matching + for (size_t i = 0; i <= bin_num - param_.intensity_pattern.size(); i++) { + int64_t pos = 0; + int64_t neg = 0; + double min_intensity = std::numeric_limits::max(); + double max_intensity = std::numeric_limits::lowest(); + + // find max_min + for (size_t j = 0; j < param_.intensity_pattern.size(); j++) { + if (intensity_num[i + j] == 0) { + continue; + } + + min_intensity = std::min(min_intensity, average_intensity[i + j]); + max_intensity = std::max(max_intensity, average_intensity[i + j]); + } + + if (max_intensity <= min_intensity) { + continue; + } + + const double center_intensity = (max_intensity - min_intensity) / 2.0 + min_intensity; + + for (size_t j = 0; j < param_.intensity_pattern.size(); j++) { + if (intensity_num[i + j] == 0) { + continue; + } + + if (param_.intensity_pattern[j] == 1) { + // check positive + if ( + average_intensity[i + j] > + center_intensity + static_cast(param_.match_intensity_difference_threshold)) { + pos++; + } + } else if (param_.intensity_pattern[j] == -1) { + // check negative + if ( + average_intensity[i + j] < + center_intensity - static_cast(param_.match_intensity_difference_threshold)) { + neg++; + } + } else { + // ignore param_.intensity_pattern[j] == 0 + } + } + + if ( + pos >= param_.positive_match_num_threshold && neg >= param_.negative_match_num_threshold) { + vote[i]++; + } + } + } + + std::vector detected_landmarks; + + for (size_t i = 0; i < bin_num - param_.intensity_pattern.size(); i++) { + if (vote[i] > param_.vote_threshold_for_detect_marker) { + const double bin_position = + static_cast(i) + static_cast(param_.intensity_pattern.size()) / 2.0; + Pose marker_pose_on_base_link; + marker_pose_on_base_link.position.x = bin_position * param_.resolution + min_x; + marker_pose_on_base_link.position.y = min_y[i]; + marker_pose_on_base_link.position.z = param_.marker_height_from_ground; + marker_pose_on_base_link.orientation = + autoware::universe_utils::createQuaternionFromRPY(M_PI_2, 0.0, 0.0); // TODO(YamatoAndo) + detected_landmarks.push_back(landmark_manager::Landmark{"0", marker_pose_on_base_link}); + } + } + + return detected_landmarks; +} + +landmark_manager::Landmark get_nearest_landmark( + const geometry_msgs::msg::Pose & self_pose, + const std::vector & landmarks) +{ + landmark_manager::Landmark nearest_landmark; + double min_distance = std::numeric_limits::max(); + + for (const auto & landmark : landmarks) { + const double curr_distance = + autoware::universe_utils::calcDistance3d(landmark.pose.position, self_pose.position); + + if (curr_distance > min_distance) { + continue; + } + + min_distance = curr_distance; + nearest_landmark = landmark; + } + return nearest_landmark; +} + +std::array rotate_covariance( + const std::array & src_covariance, const Eigen::Matrix3d & rotation) +{ + std::array ret_covariance = src_covariance; + + Eigen::Matrix3d src_cov; + src_cov << src_covariance[0], src_covariance[1], src_covariance[2], src_covariance[6], + src_covariance[7], src_covariance[8], src_covariance[12], src_covariance[13], + src_covariance[14]; + + Eigen::Matrix3d ret_cov; + ret_cov = rotation * src_cov * rotation.transpose(); + + for (Eigen::Index i = 0; i < 3; ++i) { + ret_covariance[i] = ret_cov(0, i); + ret_covariance[i + 6] = ret_cov(1, i); + ret_covariance[i + 12] = ret_cov(2, i); + } + + return ret_covariance; +} + +sensor_msgs::msg::PointCloud2::SharedPtr LidarMarkerLocalizer::extract_marker_pointcloud( + const sensor_msgs::msg::PointCloud2::ConstSharedPtr & points_msg_ptr, + const geometry_msgs::msg::Pose marker_pose) const +{ + // convert from ROSMsg to PCL + pcl::shared_ptr> points_ptr( + new pcl::PointCloud); + pcl::fromROSMsg(*points_msg_ptr, *points_ptr); + + pcl::shared_ptr> marker_points_ptr( + new pcl::PointCloud); + + // extract marker pointcloud + for (const autoware_point_types::PointXYZIRC & point : points_ptr->points) { + const double xy_distance = std::sqrt( + std::pow(point.x - marker_pose.position.x, 2.0) + + std::pow(point.y - marker_pose.position.y, 2.0)); + if (xy_distance < param_.marker_width / 2.0) { + marker_points_ptr->push_back(point); + } + } + + marker_points_ptr->width = marker_points_ptr->size(); + marker_points_ptr->height = 1; + marker_points_ptr->is_dense = false; + + sensor_msgs::msg::PointCloud2::SharedPtr marker_points_msg_ptr(new sensor_msgs::msg::PointCloud2); + pcl::toROSMsg(*marker_points_ptr, *marker_points_msg_ptr); + marker_points_msg_ptr->header = points_msg_ptr->header; + + return marker_points_msg_ptr; +} + +void LidarMarkerLocalizer::save_detected_marker_log( + const sensor_msgs::msg::PointCloud2::SharedPtr & points_msg_ptr) +{ + // transform input_frame to save_frame_id + sensor_msgs::msg::PointCloud2::SharedPtr marker_points_msg_sensor_frame_ptr( + new sensor_msgs::msg::PointCloud2); + transform_sensor_measurement( + param_.save_frame_id, points_msg_ptr->header.frame_id, points_msg_ptr, + marker_points_msg_sensor_frame_ptr); + + // convert from ROSMsg to PCL + pcl::shared_ptr> + marker_points_sensor_frame_ptr(new pcl::PointCloud); + pcl::fromROSMsg(*marker_points_msg_sensor_frame_ptr, *marker_points_sensor_frame_ptr); + + // to csv format + std::stringstream log_message; + log_message << "point.position.x,point.position.y,point.position.z,point.intensity,point.ring" + << std::endl; + for (const auto & point : marker_points_sensor_frame_ptr->points) { + log_message << point.x; + log_message << "," << point.y; + log_message << "," << point.z; + log_message << "," << point.intensity; + log_message << "," << point.channel; + log_message << std::endl; + } + + // create file name + const double times_seconds = rclcpp::Time(points_msg_ptr->header.stamp).seconds(); + double time_integer_tmp = 0.0; + double time_decimal = std::modf(times_seconds, &time_integer_tmp); + auto time_integer = static_cast(time_integer_tmp); + struct tm * time_info{}; + time_info = std::localtime(&time_integer); + std::stringstream file_name; + file_name << param_.save_file_name << std::put_time(time_info, "%Y%m%d-%H%M%S") << "-" + << std::setw(3) << std::setfill('0') << static_cast((time_decimal) * 1000) + << ".csv"; + + // write log_message to file + std::filesystem::path save_file_directory_path = param_.save_file_directory_path; + std::filesystem::create_directories(save_file_directory_path); + std::ofstream csv_file(save_file_directory_path.append(file_name.str())); + csv_file << log_message.str(); + csv_file.close(); +} + +void LidarMarkerLocalizer::transform_sensor_measurement( + const std::string & source_frame, const std::string & target_frame, + const sensor_msgs::msg::PointCloud2::SharedPtr & sensor_points_input_ptr, + sensor_msgs::msg::PointCloud2::SharedPtr & sensor_points_output_ptr) +{ + if (source_frame == target_frame) { + sensor_points_output_ptr = sensor_points_input_ptr; + return; + } + + geometry_msgs::msg::TransformStamped transform; + try { + transform = tf_buffer_->lookupTransform(source_frame, target_frame, tf2::TimePointZero); + } catch (tf2::TransformException & ex) { + RCLCPP_WARN(this->get_logger(), "%s", ex.what()); + RCLCPP_WARN( + this->get_logger(), "Please publish TF %s to %s", target_frame.c_str(), source_frame.c_str()); + // Since there is no clear error handling policy, temporarily return as is. + sensor_points_output_ptr = sensor_points_input_ptr; + return; + } + + const geometry_msgs::msg::PoseStamped target_to_source_pose_stamped = + autoware::universe_utils::transform2pose(transform); + const Eigen::Matrix4f base_to_sensor_matrix = + pose_to_matrix4f(target_to_source_pose_stamped.pose); + pcl_ros::transformPointCloud( + base_to_sensor_matrix, *sensor_points_input_ptr, *sensor_points_output_ptr); +} + +} // namespace autoware::lidar_marker_localizer + +#include +RCLCPP_COMPONENTS_REGISTER_NODE(autoware::lidar_marker_localizer::LidarMarkerLocalizer) diff --git a/localization/autoware_landmark_based_localizer/autoware_lidar_marker_localizer/src/lidar_marker_localizer.hpp b/localization/autoware_landmark_based_localizer/autoware_lidar_marker_localizer/src/lidar_marker_localizer.hpp new file mode 100644 index 0000000000000..11a6e0b34abdc --- /dev/null +++ b/localization/autoware_landmark_based_localizer/autoware_lidar_marker_localizer/src/lidar_marker_localizer.hpp @@ -0,0 +1,148 @@ +// Copyright 2023 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. + +#ifndef LIDAR_MARKER_LOCALIZER_HPP_ +#define LIDAR_MARKER_LOCALIZER_HPP_ + +#include "localization_util/diagnostics_module.hpp" +#include "localization_util/smart_pose_buffer.hpp" + +#include + +#include +#include +#include + +#include +#include + +#include +#include +#include +#include +#include + +#ifdef ROS_DISTRO_GALACTIC +#include +#include +#include +#else +#include + +#include +#include +#endif +#include + +#include + +#include +#include +#include + +namespace autoware::lidar_marker_localizer +{ + +class LidarMarkerLocalizer : public rclcpp::Node +{ + using HADMapBin = autoware_map_msgs::msg::LaneletMapBin; + using MarkerArray = visualization_msgs::msg::MarkerArray; + using Pose = geometry_msgs::msg::Pose; + using PoseStamped = geometry_msgs::msg::PoseStamped; + using PoseWithCovarianceStamped = geometry_msgs::msg::PoseWithCovarianceStamped; + using PoseArray = geometry_msgs::msg::PoseArray; + using TransformStamped = geometry_msgs::msg::TransformStamped; + using Vector3 = geometry_msgs::msg::Vector3; + using PointCloud2 = sensor_msgs::msg::PointCloud2; + using SetBool = std_srvs::srv::SetBool; + using DiagnosticStatus = diagnostic_msgs::msg::DiagnosticStatus; + + struct Param + { + std::string marker_name; + + double resolution; + std::vector intensity_pattern; + int64_t match_intensity_difference_threshold; + int64_t positive_match_num_threshold; + int64_t negative_match_num_threshold; + int64_t vote_threshold_for_detect_marker; + double marker_height_from_ground; + + double self_pose_timeout_sec; + double self_pose_distance_tolerance_m; + + double limit_distance_from_self_pose_to_nearest_marker; + double limit_distance_from_self_pose_to_marker; + std::array base_covariance; + + double marker_width; + + bool enable_save_log; + std::string save_file_directory_path; + std::string save_file_name; + std::string save_frame_id; + }; + +public: + explicit LidarMarkerLocalizer(const rclcpp::NodeOptions & node_options); + +private: + void self_pose_callback(const PoseWithCovarianceStamped::ConstSharedPtr & self_pose_msg_ptr); + void points_callback(const PointCloud2::ConstSharedPtr & points_msg_ptr); + void map_bin_callback(const HADMapBin::ConstSharedPtr & map_bin_msg_ptr); + void service_trigger_node( + const SetBool::Request::SharedPtr req, SetBool::Response::SharedPtr res); + + void initialize_diagnostics(); + void main_process(const PointCloud2::ConstSharedPtr & points_msg_ptr); + std::vector detect_landmarks( + const PointCloud2::ConstSharedPtr & points_msg_ptr); + sensor_msgs::msg::PointCloud2::SharedPtr extract_marker_pointcloud( + const sensor_msgs::msg::PointCloud2::ConstSharedPtr & points_msg_ptr, + const geometry_msgs::msg::Pose marker_pose) const; + void save_detected_marker_log(const sensor_msgs::msg::PointCloud2::SharedPtr & points_msg_ptr); + + void transform_sensor_measurement( + const std::string & source_frame, const std::string & target_frame, + const sensor_msgs::msg::PointCloud2::SharedPtr & sensor_points_input_ptr, + sensor_msgs::msg::PointCloud2::SharedPtr & sensor_points_output_ptr); + + std::shared_ptr tf_listener_; + std::shared_ptr tf_buffer_; + + rclcpp::Subscription::SharedPtr sub_points_; + rclcpp::Subscription::SharedPtr sub_self_pose_; + rclcpp::Subscription::SharedPtr sub_map_bin_; + + rclcpp::Publisher::SharedPtr + pub_base_link_pose_with_covariance_on_map_; + rclcpp::Service::SharedPtr service_trigger_node_; + rclcpp::Publisher::SharedPtr pub_marker_mapped_; + rclcpp::Publisher::SharedPtr pub_marker_detected_; + rclcpp::Publisher::SharedPtr pub_debug_pose_with_covariance_; + rclcpp::Publisher::SharedPtr pub_marker_pointcloud_; + + std::shared_ptr diagnostics_module_; + + Param param_; + bool is_activated_; + std::unique_ptr ekf_pose_buffer_; + + landmark_manager::LandmarkManager landmark_manager_; +}; + +} // namespace autoware::lidar_marker_localizer + +#endif // LIDAR_MARKER_LOCALIZER_HPP_ From a079c20f8661db47cf6f2f6f0b9e38b68aac45b5 Mon Sep 17 00:00:00 2001 From: Shintaro Tomie <58775300+Shin-kyoto@users.noreply.github.com> Date: Fri, 23 Aug 2024 16:15:47 +0900 Subject: [PATCH 037/169] chore(cspell): update prefix and path in cspell (#8524) --- .cspell.json | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/.cspell.json b/.cspell.json index 94b509370e688..b0d572db8726b 100644 --- a/.cspell.json +++ b/.cspell.json @@ -1,7 +1,7 @@ { "ignorePaths": [ - "perception/bytetrack/lib/**", - "planning/behavior_velocity_intersection_module/scripts/**" + "perception/autoware_bytetrack/lib/**", + "planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/scripts/**" ], "ignoreRegExpList": [], "words": ["dltype", "tvmgen", "fromarray"] From 23e13fde3617938ab7e65c968d98470b9ec20274 Mon Sep 17 00:00:00 2001 From: Yamato Ando Date: Fri, 23 Aug 2024 16:17:00 +0900 Subject: [PATCH 038/169] refactor(ekf_localizer): rename dev to var in the Simple1DFilter class (#8576) rename dev to var Signed-off-by: Yamato Ando --- .../include/ekf_localizer/ekf_localizer.hpp | 30 ++++++++-------- .../ekf_localizer/src/ekf_localizer.cpp | 36 +++++++++---------- 2 files changed, 33 insertions(+), 33 deletions(-) diff --git a/localization/ekf_localizer/include/ekf_localizer/ekf_localizer.hpp b/localization/ekf_localizer/include/ekf_localizer/ekf_localizer.hpp index 7e091a0e88a19..f3830c303ab48 100644 --- a/localization/ekf_localizer/include/ekf_localizer/ekf_localizer.hpp +++ b/localization/ekf_localizer/include/ekf_localizer/ekf_localizer.hpp @@ -56,44 +56,44 @@ class Simple1DFilter { initialized_ = false; x_ = 0; - dev_ = 1e9; - proc_dev_x_c_ = 0.0; + var_ = 1e9; + proc_var_x_c_ = 0.0; }; - void init(const double init_obs, const double obs_dev, const rclcpp::Time & time) + void init(const double init_obs, const double obs_var, const rclcpp::Time & time) { x_ = init_obs; - dev_ = obs_dev; + var_ = obs_var; latest_time_ = time; initialized_ = true; }; - void update(const double obs, const double obs_dev, const rclcpp::Time & time) + void update(const double obs, const double obs_var, const rclcpp::Time & time) { if (!initialized_) { - init(obs, obs_dev, time); + init(obs, obs_var, time); return; } - // Prediction step (current stddev_) + // Prediction step (current variance) double dt = (time - latest_time_).seconds(); - double proc_dev_x_d = proc_dev_x_c_ * dt * dt; - dev_ = dev_ + proc_dev_x_d; + double proc_var_x_d = proc_var_x_c_ * dt * dt; + var_ = var_ + proc_var_x_d; // Update step - double kalman_gain = dev_ / (dev_ + obs_dev); + double kalman_gain = var_ / (var_ + obs_var); x_ = x_ + kalman_gain * (obs - x_); - dev_ = (1 - kalman_gain) * dev_; + var_ = (1 - kalman_gain) * var_; latest_time_ = time; }; - void set_proc_dev(const double proc_dev) { proc_dev_x_c_ = proc_dev; } + void set_proc_var(const double proc_var) { proc_var_x_c_ = proc_var; } [[nodiscard]] double get_x() const { return x_; } - [[nodiscard]] double get_dev() const { return dev_; } + [[nodiscard]] double get_var() const { return var_; } private: bool initialized_; double x_; - double dev_; - double proc_dev_x_c_; + double var_; + double proc_var_x_c_; rclcpp::Time latest_time_; }; diff --git a/localization/ekf_localizer/src/ekf_localizer.cpp b/localization/ekf_localizer/src/ekf_localizer.cpp index 090395398026e..707d5e585cb0c 100644 --- a/localization/ekf_localizer/src/ekf_localizer.cpp +++ b/localization/ekf_localizer/src/ekf_localizer.cpp @@ -100,9 +100,9 @@ EKFLocalizer::EKFLocalizer(const rclcpp::NodeOptions & node_options) ekf_module_ = std::make_unique(warning_, params_); logger_configure_ = std::make_unique(this); - z_filter_.set_proc_dev(params_.z_filter_proc_dev); - roll_filter_.set_proc_dev(params_.roll_filter_proc_dev); - pitch_filter_.set_proc_dev(params_.pitch_filter_proc_dev); + z_filter_.set_proc_var(params_.z_filter_proc_dev * params_.z_filter_proc_dev); + roll_filter_.set_proc_var(params_.roll_filter_proc_dev * params_.roll_filter_proc_dev); + pitch_filter_.set_proc_var(params_.pitch_filter_proc_dev * params_.pitch_filter_proc_dev); } /* @@ -367,9 +367,9 @@ void EKFLocalizer::publish_estimate_result( pose_cov.pose.covariance = ekf_module_->get_current_pose_covariance(); using COV_IDX = autoware::universe_utils::xyzrpy_covariance_index::XYZRPY_COV_IDX; - pose_cov.pose.covariance[COV_IDX::Z_Z] = z_filter_.get_dev(); - pose_cov.pose.covariance[COV_IDX::ROLL_ROLL] = roll_filter_.get_dev(); - pose_cov.pose.covariance[COV_IDX::PITCH_PITCH] = pitch_filter_.get_dev(); + pose_cov.pose.covariance[COV_IDX::Z_Z] = z_filter_.get_var(); + pose_cov.pose.covariance[COV_IDX::ROLL_ROLL] = roll_filter_.get_var(); + pose_cov.pose.covariance[COV_IDX::PITCH_PITCH] = pitch_filter_.get_var(); pub_pose_cov_->publish(pose_cov); @@ -466,14 +466,14 @@ void EKFLocalizer::update_simple_1d_filters( const auto rpy = autoware::universe_utils::getRPY(pose.pose.pose.orientation); using COV_IDX = autoware::universe_utils::xyzrpy_covariance_index::XYZRPY_COV_IDX; - double z_dev = pose.pose.covariance[COV_IDX::Z_Z] * static_cast(smoothing_step); - double roll_dev = pose.pose.covariance[COV_IDX::ROLL_ROLL] * static_cast(smoothing_step); - double pitch_dev = + double z_var = pose.pose.covariance[COV_IDX::Z_Z] * static_cast(smoothing_step); + double roll_var = pose.pose.covariance[COV_IDX::ROLL_ROLL] * static_cast(smoothing_step); + double pitch_var = pose.pose.covariance[COV_IDX::PITCH_PITCH] * static_cast(smoothing_step); - z_filter_.update(z, z_dev, pose.header.stamp); - roll_filter_.update(rpy.x, roll_dev, pose.header.stamp); - pitch_filter_.update(rpy.y, pitch_dev, pose.header.stamp); + z_filter_.update(z, z_var, pose.header.stamp); + roll_filter_.update(rpy.x, roll_var, pose.header.stamp); + pitch_filter_.update(rpy.y, pitch_var, pose.header.stamp); } void EKFLocalizer::init_simple_1d_filters( @@ -484,13 +484,13 @@ void EKFLocalizer::init_simple_1d_filters( const auto rpy = autoware::universe_utils::getRPY(pose.pose.pose.orientation); using COV_IDX = autoware::universe_utils::xyzrpy_covariance_index::XYZRPY_COV_IDX; - double z_dev = pose.pose.covariance[COV_IDX::Z_Z]; - double roll_dev = pose.pose.covariance[COV_IDX::ROLL_ROLL]; - double pitch_dev = pose.pose.covariance[COV_IDX::PITCH_PITCH]; + double z_var = pose.pose.covariance[COV_IDX::Z_Z]; + double roll_var = pose.pose.covariance[COV_IDX::ROLL_ROLL]; + double pitch_var = pose.pose.covariance[COV_IDX::PITCH_PITCH]; - z_filter_.init(z, z_dev, pose.header.stamp); - roll_filter_.init(rpy.x, roll_dev, pose.header.stamp); - pitch_filter_.init(rpy.y, pitch_dev, pose.header.stamp); + z_filter_.init(z, z_var, pose.header.stamp); + roll_filter_.init(rpy.x, roll_var, pose.header.stamp); + pitch_filter_.init(rpy.y, pitch_var, pose.header.stamp); } /** From a6e0ca7cc973fec1adb25c5d79506ee6ba91e0c8 Mon Sep 17 00:00:00 2001 From: Mehmet Dogru <48479081+mehmetdogru@users.noreply.github.com> Date: Fri, 23 Aug 2024 11:09:32 +0300 Subject: [PATCH 039/169] fix(crosswalk): fix findEgoPassageDirectionAlongPath finding front and back point logic (#8459) * fix(crosswalk): fix findEgoPassageDirectionAlongPath finding front and back point logic Signed-off-by: Mehmet Dogru * define ego_crosswalk_passage_direction later Signed-off-by: Mehmet Dogru --------- Signed-off-by: Mehmet Dogru --- .../src/scene_crosswalk.cpp | 18 +++++++++++++----- 1 file changed, 13 insertions(+), 5 deletions(-) diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/scene_crosswalk.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/scene_crosswalk.cpp index ca476481ddde5..f30ed9d7a68da 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/scene_crosswalk.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/scene_crosswalk.cpp @@ -320,8 +320,6 @@ std::optional CrosswalkModule::checkStopForCrosswalkUsers( const double ego_vel = planner_data_->current_velocity->twist.linear.x; const double ego_acc = planner_data_->current_acceleration->accel.accel.linear.x; - const std::optional ego_crosswalk_passage_direction = - findEgoPassageDirectionAlongPath(sparse_resample_path); const auto base_link2front = planner_data_->vehicle_info_.max_longitudinal_offset_m; const auto dist_ego_to_stop = calcSignedArcLength(ego_path.points, ego_pos, default_stop_pose->position); @@ -357,6 +355,8 @@ std::optional CrosswalkModule::checkStopForCrosswalkUsers( }; std::optional> nearest_stop_info; std::vector stop_factor_points; + const std::optional ego_crosswalk_passage_direction = + findEgoPassageDirectionAlongPath(sparse_resample_path); for (const auto & object : object_info_manager_.getObject()) { const auto & collision_point_opt = object.collision_point; if (collision_point_opt) { @@ -618,9 +618,17 @@ std::optional CrosswalkModule::findEgoPassageDirectionAlongPath( if (!intersect_pt1 || !intersect_pt2) { return std::nullopt; } - const auto idx1 = intersect_pt1.value().first, idx2 = intersect_pt2.value().first; - const auto & front = idx1 > idx2 ? intersect_pt2.value().second : intersect_pt1.value().second; - const auto & back = idx1 > idx2 ? intersect_pt1.value().second : intersect_pt2.value().second; + + const auto idx1 = intersect_pt1.value().first; + const auto idx2 = intersect_pt2.value().first; + + const auto min_idx = std::min(idx1, idx2); + const auto dist1 = calcSignedArcLength(path.points, min_idx, intersect_pt1.value().second); + const auto dist2 = calcSignedArcLength(path.points, min_idx, intersect_pt2.value().second); + + const auto & front = dist1 > dist2 ? intersect_pt2.value().second : intersect_pt1.value().second; + const auto & back = dist1 > dist2 ? intersect_pt1.value().second : intersect_pt2.value().second; + return std::atan2(back.y - front.y, back.x - front.x); } From 18b5ee13c446cd8cb2e172214ac49ea6f29bbc84 Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Fri, 23 Aug 2024 17:11:37 +0900 Subject: [PATCH 040/169] fix(map_tf_genrator): fix map launch prefix (#8598) fix(map_tf_geenrator): fix map launch prefix Signed-off-by: kosuke55 --- launch/tier4_map_launch/launch/map.launch.xml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/launch/tier4_map_launch/launch/map.launch.xml b/launch/tier4_map_launch/launch/map.launch.xml index c58c0848eb5b3..051cf64d7752e 100644 --- a/launch/tier4_map_launch/launch/map.launch.xml +++ b/launch/tier4_map_launch/launch/map.launch.xml @@ -48,7 +48,7 @@ - + From b9b0fa9dbb4e141519dc8de13d37827763b481f2 Mon Sep 17 00:00:00 2001 From: Yukinari Hisaki <42021302+yhisaki@users.noreply.github.com> Date: Fri, 23 Aug 2024 17:51:51 +0900 Subject: [PATCH 041/169] feat(autoware_motion_utils): add interpolator (#8517) * feat(autoware_motion_utils): add interpolator Signed-off-by: Y.Hisaki * use int32_t instead of int Signed-off-by: Y.Hisaki * use int32_t instead of int Signed-off-by: Y.Hisaki * use int32_t instead of int Signed-off-by: Y.Hisaki * add const as much as possible and use `at()` in `vector` Signed-off-by: Y.Hisaki * fix directory name Signed-off-by: Y.Hisaki * refactor code and add example Signed-off-by: Y.Hisaki * update Signed-off-by: Y.Hisaki * remove unused include Signed-off-by: Y.Hisaki * refactor code Signed-off-by: Y.Hisaki --------- Signed-off-by: Y.Hisaki --- common/autoware_motion_utils/CMakeLists.txt | 30 ++++ .../examples/example_interpolator.cpp | 115 ++++++++++++++ .../trajectory_container/interpolator.hpp | 23 +++ .../interpolator/akima_spline.hpp | 98 ++++++++++++ .../interpolator/cubic_spline.hpp | 100 ++++++++++++ .../detail/interpolator_common_impl.hpp | 145 ++++++++++++++++++ .../detail/nearest_neighbor_common_impl.hpp | 80 ++++++++++ .../detail/stairstep_common_impl.hpp | 80 ++++++++++ .../interpolator/interpolator.hpp | 91 +++++++++++ .../interpolator/interpolator_creator.hpp | 77 ++++++++++ .../interpolator/linear.hpp | 90 +++++++++++ .../interpolator/nearest_neighbor.hpp | 83 ++++++++++ .../interpolator/stairstep.hpp | 82 ++++++++++ .../interpolator/akima_spline.cpp | 93 +++++++++++ .../interpolator/cubic_spline.cpp | 94 ++++++++++++ .../interpolator/linear.cpp | 62 ++++++++ .../test_interpolator.cpp | 75 +++++++++ 17 files changed, 1418 insertions(+) create mode 100644 common/autoware_motion_utils/examples/example_interpolator.cpp create mode 100644 common/autoware_motion_utils/include/autoware/motion_utils/trajectory_container/interpolator.hpp create mode 100644 common/autoware_motion_utils/include/autoware/motion_utils/trajectory_container/interpolator/akima_spline.hpp create mode 100644 common/autoware_motion_utils/include/autoware/motion_utils/trajectory_container/interpolator/cubic_spline.hpp create mode 100644 common/autoware_motion_utils/include/autoware/motion_utils/trajectory_container/interpolator/detail/interpolator_common_impl.hpp create mode 100644 common/autoware_motion_utils/include/autoware/motion_utils/trajectory_container/interpolator/detail/nearest_neighbor_common_impl.hpp create mode 100644 common/autoware_motion_utils/include/autoware/motion_utils/trajectory_container/interpolator/detail/stairstep_common_impl.hpp create mode 100644 common/autoware_motion_utils/include/autoware/motion_utils/trajectory_container/interpolator/interpolator.hpp create mode 100644 common/autoware_motion_utils/include/autoware/motion_utils/trajectory_container/interpolator/interpolator_creator.hpp create mode 100644 common/autoware_motion_utils/include/autoware/motion_utils/trajectory_container/interpolator/linear.hpp create mode 100644 common/autoware_motion_utils/include/autoware/motion_utils/trajectory_container/interpolator/nearest_neighbor.hpp create mode 100644 common/autoware_motion_utils/include/autoware/motion_utils/trajectory_container/interpolator/stairstep.hpp create mode 100644 common/autoware_motion_utils/src/trajectory_container/interpolator/akima_spline.cpp create mode 100644 common/autoware_motion_utils/src/trajectory_container/interpolator/cubic_spline.cpp create mode 100644 common/autoware_motion_utils/src/trajectory_container/interpolator/linear.cpp create mode 100644 common/autoware_motion_utils/test/src/trajectory_container/test_interpolator.cpp diff --git a/common/autoware_motion_utils/CMakeLists.txt b/common/autoware_motion_utils/CMakeLists.txt index 4c36ef2f4e70d..e7f1f56a451f4 100644 --- a/common/autoware_motion_utils/CMakeLists.txt +++ b/common/autoware_motion_utils/CMakeLists.txt @@ -1,15 +1,22 @@ cmake_minimum_required(VERSION 3.14) project(autoware_motion_utils) +option(BUILD_EXAMPLES "Build examples" OFF) + find_package(autoware_cmake REQUIRED) autoware_package() find_package(Boost REQUIRED) +find_package(fmt REQUIRED) ament_auto_add_library(autoware_motion_utils SHARED DIRECTORY src ) +target_link_libraries(autoware_motion_utils + fmt::fmt +) + if(BUILD_TESTING) find_package(ament_cmake_ros REQUIRED) @@ -22,4 +29,27 @@ if(BUILD_TESTING) ) endif() +if(BUILD_EXAMPLES) + message(STATUS "Building examples") + + include(FetchContent) + fetchcontent_declare( + matplotlibcpp17 + GIT_REPOSITORY https://github.com/soblin/matplotlibcpp17.git + GIT_TAG master + ) + fetchcontent_makeavailable(matplotlibcpp17) + + file(GLOB_RECURSE example_files examples/*.cpp) + + foreach(example_file ${example_files}) + get_filename_component(example_name ${example_file} NAME_WE) + ament_auto_add_executable(${example_name} ${example_file}) + target_link_libraries(${example_name} + autoware_motion_utils + matplotlibcpp17::matplotlibcpp17 + ) + endforeach() +endif() + ament_auto_package() diff --git a/common/autoware_motion_utils/examples/example_interpolator.cpp b/common/autoware_motion_utils/examples/example_interpolator.cpp new file mode 100644 index 0000000000000..8c98143af7e28 --- /dev/null +++ b/common/autoware_motion_utils/examples/example_interpolator.cpp @@ -0,0 +1,115 @@ +// 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 "autoware/motion_utils/trajectory_container/interpolator/linear.hpp" + +#include + +#include + +#include +#include + +int main() +{ + pybind11::scoped_interpreter guard{}; + auto plt = matplotlibcpp17::pyplot::import(); + + // create random values + std::vector axis = {0.0, 1.0, 2.0, 3.0, 4.0, 5.0, 6.0, 7.0, 8.0}; + std::vector values; + std::random_device seed_gen; + std::mt19937 engine(seed_gen()); + std::uniform_real_distribution<> dist(-1.0, 1.0); + for (size_t i = 0; i < axis.size(); ++i) { + values.push_back(dist(engine)); + } + // Scatter Data + plt.scatter(Args(axis, values)); + + using autoware::motion_utils::trajectory_container::interpolator::Interpolator; + using autoware::motion_utils::trajectory_container::interpolator::InterpolatorCreator; + // Linear Interpolator + { + using autoware::motion_utils::trajectory_container::interpolator::Linear; + auto interpolator = *InterpolatorCreator().set_axis(axis).set_values(values).create(); + std::vector x; + std::vector y; + for (double i = axis.front(); i < axis.back(); i += 0.01) { + x.push_back(i); + y.push_back(interpolator.compute(i)); + } + plt.plot(Args(x, y), Kwargs("label"_a = "Linear")); + } + + // AkimaSpline Interpolator + { + using autoware::motion_utils::trajectory_container::interpolator::AkimaSpline; + auto interpolator = + *InterpolatorCreator().set_axis(axis).set_values(values).create(); + std::vector x; + std::vector y; + for (double i = axis.front(); i < axis.back(); i += 0.01) { + x.push_back(i); + y.push_back(interpolator.compute(i)); + } + plt.plot(Args(x, y), Kwargs("label"_a = "AkimaSpline")); + } + + // CubicSpline Interpolator + { + using autoware::motion_utils::trajectory_container::interpolator::CubicSpline; + auto interpolator = + *InterpolatorCreator().set_axis(axis).set_values(values).create(); + std::vector x; + std::vector y; + for (double i = axis.front(); i < axis.back(); i += 0.01) { + x.push_back(i); + y.push_back(interpolator.compute(i)); + } + plt.plot(Args(x, y), Kwargs("label"_a = "CubicSpline")); + } + + // NearestNeighbor Interpolator + { + using autoware::motion_utils::trajectory_container::interpolator::NearestNeighbor; + auto interpolator = + *InterpolatorCreator>().set_axis(axis).set_values(values).create(); + std::vector x; + std::vector y; + for (double i = axis.front(); i < axis.back(); i += 0.01) { + x.push_back(i); + y.push_back(interpolator.compute(i)); + } + plt.plot(Args(x, y), Kwargs("label"_a = "NearestNeighbor")); + } + + // Stairstep Interpolator + { + using autoware::motion_utils::trajectory_container::interpolator::Stairstep; + auto interpolator = + *InterpolatorCreator>().set_axis(axis).set_values(values).create(); + std::vector x; + std::vector y; + for (double i = axis.front(); i < axis.back(); i += 0.01) { + x.push_back(i); + y.push_back(interpolator.compute(i)); + } + plt.plot(Args(x, y), Kwargs("label"_a = "Stairstep")); + } + + plt.legend(); + plt.show(); + return 0; +} diff --git a/common/autoware_motion_utils/include/autoware/motion_utils/trajectory_container/interpolator.hpp b/common/autoware_motion_utils/include/autoware/motion_utils/trajectory_container/interpolator.hpp new file mode 100644 index 0000000000000..a6542d1fc212f --- /dev/null +++ b/common/autoware_motion_utils/include/autoware/motion_utils/trajectory_container/interpolator.hpp @@ -0,0 +1,23 @@ +// 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 AUTOWARE__MOTION_UTILS__TRAJECTORY_CONTAINER__INTERPOLATOR_HPP_ +#define AUTOWARE__MOTION_UTILS__TRAJECTORY_CONTAINER__INTERPOLATOR_HPP_ +#include +#include +#include +#include +#include +#include +#endif // AUTOWARE__MOTION_UTILS__TRAJECTORY_CONTAINER__INTERPOLATOR_HPP_ diff --git a/common/autoware_motion_utils/include/autoware/motion_utils/trajectory_container/interpolator/akima_spline.hpp b/common/autoware_motion_utils/include/autoware/motion_utils/trajectory_container/interpolator/akima_spline.hpp new file mode 100644 index 0000000000000..42cd1aa6759a3 --- /dev/null +++ b/common/autoware_motion_utils/include/autoware/motion_utils/trajectory_container/interpolator/akima_spline.hpp @@ -0,0 +1,98 @@ +// 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 AUTOWARE__MOTION_UTILS__TRAJECTORY_CONTAINER__INTERPOLATOR__AKIMA_SPLINE_HPP_ +#define AUTOWARE__MOTION_UTILS__TRAJECTORY_CONTAINER__INTERPOLATOR__AKIMA_SPLINE_HPP_ + +#include "autoware/motion_utils/trajectory_container/interpolator/interpolator.hpp" + +#include + +#include + +namespace autoware::motion_utils::trajectory_container::interpolator +{ + +/** + * @brief Class for Akima spline interpolation. + * + * This class provides methods to perform Akima spline interpolation on a set of data points. + */ +class AkimaSpline : public Interpolator +{ + template + friend class InterpolatorCreator; + +private: + Eigen::VectorXd a_, b_, c_, d_; ///< Coefficients for the Akima spline. + + AkimaSpline() = default; + + /** + * @brief Compute the spline parameters. + * + * This method computes the coefficients for the Akima spline. + * + * @param axis The axis values. + * @param values The values to interpolate. + */ + void compute_parameters( + const Eigen::Ref & axis, + const Eigen::Ref & values); + + /** + * @brief Build the interpolator with the given values. + * + * @param axis The axis values. + * @param values The values to interpolate. + */ + void build_impl( + const Eigen::Ref & axis, const std::vector & values) override; + + /** + * @brief Compute the interpolated value at the given point. + * + * @param s The point at which to compute the interpolated value. + * @return The interpolated value. + */ + [[nodiscard]] double compute_impl(const double & s) const override; + + /** + * @brief Compute the first derivative at the given point. + * + * @param s The point at which to compute the first derivative. + * @return The first derivative. + */ + [[nodiscard]] double compute_first_derivative_impl(const double & s) const override; + + /** + * @brief Compute the second derivative at the given point. + * + * @param s The point at which to compute the second derivative. + * @return The second derivative. + */ + [[nodiscard]] double compute_second_derivative_impl(const double & s) const override; + +public: + /** + * @brief Get the minimum number of required points for the interpolator. + * + * @return The minimum number of required points. + */ + [[nodiscard]] size_t minimum_required_points() const override { return 5; } +}; + +} // namespace autoware::motion_utils::trajectory_container::interpolator + +#endif // AUTOWARE__MOTION_UTILS__TRAJECTORY_CONTAINER__INTERPOLATOR__AKIMA_SPLINE_HPP_ diff --git a/common/autoware_motion_utils/include/autoware/motion_utils/trajectory_container/interpolator/cubic_spline.hpp b/common/autoware_motion_utils/include/autoware/motion_utils/trajectory_container/interpolator/cubic_spline.hpp new file mode 100644 index 0000000000000..43f1102fd0f73 --- /dev/null +++ b/common/autoware_motion_utils/include/autoware/motion_utils/trajectory_container/interpolator/cubic_spline.hpp @@ -0,0 +1,100 @@ +// 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 AUTOWARE__MOTION_UTILS__TRAJECTORY_CONTAINER__INTERPOLATOR__CUBIC_SPLINE_HPP_ +#define AUTOWARE__MOTION_UTILS__TRAJECTORY_CONTAINER__INTERPOLATOR__CUBIC_SPLINE_HPP_ + +#include "autoware/motion_utils/trajectory_container/interpolator/interpolator.hpp" + +#include + +#include + +namespace autoware::motion_utils::trajectory_container::interpolator +{ + +/** + * @brief Class for cubic spline interpolation. + * + * This class provides methods to perform cubic spline interpolation on a set of data points. + */ +class CubicSpline : public Interpolator +{ + template + friend class InterpolatorCreator; + +private: + Eigen::VectorXd a_, b_, c_, d_; ///< Coefficients for the cubic spline. + Eigen::VectorXd h_; ///< Interval sizes between axis points. + + CubicSpline() = default; + + /** + * @brief Compute the spline parameters. + * + * This method computes the coefficients for the cubic spline. + * + * @param axis The axis values. + * @param values The values to interpolate. + */ + void compute_parameters( + const Eigen::Ref & axis, + const Eigen::Ref & values); + + /** + * @brief Build the interpolator with the given values. + * + * @param axis The axis values. + * @param values The values to interpolate. + * @return True if the interpolator was built successfully, false otherwise. + */ + void build_impl( + const Eigen::Ref & axis, const std::vector & values) override; + + /** + * @brief Compute the interpolated value at the given point. + * + * @param s The point at which to compute the interpolated value. + * @return The interpolated value. + */ + [[nodiscard]] double compute_impl(const double & s) const override; + + /** + * @brief Compute the first derivative at the given point. + * + * @param s The point at which to compute the first derivative. + * @return The first derivative. + */ + [[nodiscard]] double compute_first_derivative_impl(const double & s) const override; + + /** + * @brief Compute the second derivative at the given point. + * + * @param s The point at which to compute the second derivative. + * @return The second derivative. + */ + [[nodiscard]] double compute_second_derivative_impl(const double & s) const override; + +public: + /** + * @brief Get the minimum number of required points for the interpolator. + * + * @return The minimum number of required points. + */ + [[nodiscard]] size_t minimum_required_points() const override { return 4; } +}; + +} // namespace autoware::motion_utils::trajectory_container::interpolator + +#endif // AUTOWARE__MOTION_UTILS__TRAJECTORY_CONTAINER__INTERPOLATOR__CUBIC_SPLINE_HPP_ diff --git a/common/autoware_motion_utils/include/autoware/motion_utils/trajectory_container/interpolator/detail/interpolator_common_impl.hpp b/common/autoware_motion_utils/include/autoware/motion_utils/trajectory_container/interpolator/detail/interpolator_common_impl.hpp new file mode 100644 index 0000000000000..f7de456b736a4 --- /dev/null +++ b/common/autoware_motion_utils/include/autoware/motion_utils/trajectory_container/interpolator/detail/interpolator_common_impl.hpp @@ -0,0 +1,145 @@ +// 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. + +// clang-format off +#ifndef AUTOWARE__MOTION_UTILS__TRAJECTORY_CONTAINER__INTERPOLATOR__DETAIL__INTERPOLATOR_COMMON_IMPL_HPP_ // NOLINT +#define AUTOWARE__MOTION_UTILS__TRAJECTORY_CONTAINER__INTERPOLATOR__DETAIL__INTERPOLATOR_COMMON_IMPL_HPP_ // NOLINT +// clang-format on + +#include +#include + +#include + +#include + +namespace autoware::motion_utils::trajectory_container::interpolator::detail +{ +/** + * @brief Base class for interpolation implementations. + * + * This class provides the basic interface and common functionality for different types + * of interpolation. It is intended to be subclassed by specific interpolation algorithms. + * + * @tparam T The type of the values being interpolated. + */ +template +class InterpolatorCommonImpl +{ +protected: + Eigen::VectorXd axis_; ///< Axis values for the interpolation. + + /** + * @brief Get the start of the interpolation range. + */ + [[nodiscard]] double start() const { return axis_(0); } + + /** + * @brief Get the end of the interpolation range. + */ + [[nodiscard]] double end() const { return axis_(axis_.size() - 1); } + + /** + * @brief Compute the interpolated value at the given point. + * + * This method should be overridden by subclasses to provide the specific interpolation logic. + * + * @param s The point at which to compute the interpolated value. + * @return The interpolated value. + */ + [[nodiscard]] virtual T compute_impl(const double & s) const = 0; + + /** + * @brief Build the interpolator with the given values. + * + * This method should be overridden by subclasses to provide the specific build logic. + * + * @param axis The axis values. + * @param values The values to interpolate. + */ + virtual void build_impl( + const Eigen::Ref & axis, const std::vector & values) = 0; + + /** + * @brief Validate the input to the compute method. + * + * Checks that the interpolator has been built and that the input value is within range. + * + * @param s The input value. + * @throw std::runtime_error if the interpolator has not been built. + */ + void validate_compute_input(const double & s) const + { + if (s < start() || s > end()) { + RCLCPP_WARN( + rclcpp::get_logger("Interpolator"), + "Input value %f is outside the range of the interpolator [%f, %f].", s, start(), end()); + } + } + + [[nodiscard]] int32_t get_index(const double & s, bool end_inclusive = true) const + { + if (end_inclusive && s == end()) { + return static_cast(axis_.size()) - 2; + } + auto comp = [](const double & a, const double & b) { return a <= b; }; + return std::distance(axis_.begin(), std::lower_bound(axis_.begin(), axis_.end(), s, comp)) - 1; + } + +public: + /** + * @brief Build the interpolator with the given axis and values. + * + * @param axis The axis values. + * @param values The values to interpolate. + * @return True if the interpolator was built successfully, false otherwise. + */ + bool build(const Eigen::Ref & axis, const std::vector & values) + { + if (axis.size() != static_cast(values.size())) { + return false; + } + if (axis.size() < static_cast(minimum_required_points())) { + return false; + } + build_impl(axis, values); + return true; + } + + /** + * @brief Get the minimum number of required points for the interpolator. + * + * This method should be overridden by subclasses to return the specific requirement. + * + * @return The minimum number of required points. + */ + [[nodiscard]] virtual size_t minimum_required_points() const = 0; + + /** + * @brief Compute the interpolated value at the given point. + * + * @param s The point at which to compute the interpolated value. + * @return The interpolated value. + */ + [[nodiscard]] T compute(const double & s) const + { + validate_compute_input(s); + return compute_impl(s); + } +}; +} // namespace autoware::motion_utils::trajectory_container::interpolator::detail + +// clang-format off +#endif // AUTOWARE__MOTION_UTILS__TRAJECTORY_CONTAINER__INTERPOLATOR__DETAIL__INTERPOLATOR_COMMON_IMPL_HPP_ // NOLINT +// clang-format on diff --git a/common/autoware_motion_utils/include/autoware/motion_utils/trajectory_container/interpolator/detail/nearest_neighbor_common_impl.hpp b/common/autoware_motion_utils/include/autoware/motion_utils/trajectory_container/interpolator/detail/nearest_neighbor_common_impl.hpp new file mode 100644 index 0000000000000..9fd451bcdcf6e --- /dev/null +++ b/common/autoware_motion_utils/include/autoware/motion_utils/trajectory_container/interpolator/detail/nearest_neighbor_common_impl.hpp @@ -0,0 +1,80 @@ +// 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. + +// clang-format off +#ifndef AUTOWARE__MOTION_UTILS__TRAJECTORY_CONTAINER__INTERPOLATOR__DETAIL__NEAREST_NEIGHBOR_COMMON_IMPL_HPP_ // NOLINT +#define AUTOWARE__MOTION_UTILS__TRAJECTORY_CONTAINER__INTERPOLATOR__DETAIL__NEAREST_NEIGHBOR_COMMON_IMPL_HPP_ // NOLINT +// clang-format on + +#include "autoware/motion_utils/trajectory_container/interpolator/interpolator.hpp" + +#include + +namespace autoware::motion_utils::trajectory_container::interpolator::detail +{ +/** + * @brief Common Implementation of nearest neighbor. + * + * This class implements the core functionality for nearest neighbor interpolation. + * + * @tparam T The type of the values being interpolated. + */ +template +class NearestNeighborCommonImpl : public Interpolator +{ +protected: + std::vector values_; ///< Interpolation values. + + /** + * @brief Compute the interpolated value at the given point. + * + * @param s The point at which to compute the interpolated value. + * @return The interpolated value. + */ + [[nodiscard]] T compute_impl(const double & s) const override + { + const int32_t idx = this->get_index(s); + return (std::abs(s - this->axis_[idx]) <= std::abs(s - this->axis_[idx + 1])) + ? this->values_.at(idx) + : this->values_.at(idx + 1); + } + + /** + * @brief Build the interpolator with the given values. + * + * @param axis The axis values. + * @param values The values to interpolate. + * @return True if the interpolator was built successfully, false otherwise. + */ + void build_impl( + const Eigen::Ref & axis, const std::vector & values) override + { + this->axis_ = axis; + this->values_ = values; + } + +public: + /** + * @brief Get the minimum number of required points for the interpolator. + * + * @return The minimum number of required points. + */ + [[nodiscard]] size_t minimum_required_points() const override { return 1; } +}; + +} // namespace autoware::motion_utils::trajectory_container::interpolator::detail + +// clang-format off +#endif // AUTOWARE__MOTION_UTILS__TRAJECTORY_CONTAINER__INTERPOLATOR__DETAIL__NEAREST_NEIGHBOR_COMMON_IMPL_HPP_ // NOLINT +// clang-format on diff --git a/common/autoware_motion_utils/include/autoware/motion_utils/trajectory_container/interpolator/detail/stairstep_common_impl.hpp b/common/autoware_motion_utils/include/autoware/motion_utils/trajectory_container/interpolator/detail/stairstep_common_impl.hpp new file mode 100644 index 0000000000000..9ac5282429353 --- /dev/null +++ b/common/autoware_motion_utils/include/autoware/motion_utils/trajectory_container/interpolator/detail/stairstep_common_impl.hpp @@ -0,0 +1,80 @@ +// 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. + +// clang-format off +#ifndef AUTOWARE__MOTION_UTILS__TRAJECTORY_CONTAINER__INTERPOLATOR__DETAIL__STAIRSTEP_COMMON_IMPL_HPP_ // NOLINT +#define AUTOWARE__MOTION_UTILS__TRAJECTORY_CONTAINER__INTERPOLATOR__DETAIL__STAIRSTEP_COMMON_IMPL_HPP_ // NOLINT +// clang-format on + +#include "autoware/motion_utils/trajectory_container/interpolator/interpolator.hpp" + +#include + +namespace autoware::motion_utils::trajectory_container::interpolator::detail +{ + +/** + * @brief Base class for stairstep interpolation. + * + * This class implements the core functionality for stairstep interpolation. + * + * @tparam T The type of the values being interpolated. + */ +template +class StairstepCommonImpl : public Interpolator +{ +protected: + std::vector values_; ///< Interpolation values. + + /** + * @brief Compute the interpolated value at the given point. + * + * @param s The point at which to compute the interpolated value. + * @return The interpolated value. + */ + [[nodiscard]] T compute_impl(const double & s) const override + { + const int32_t idx = this->get_index(s, false); + return this->values_.at(idx); + } + /** + * @brief Build the interpolator with the given values. + * + * @param axis The axis values. + * @param values The values to interpolate. + */ + void build_impl( + const Eigen::Ref & axis, const std::vector & values) override + { + this->axis_ = axis; + this->values_ = values; + } + +public: + /** + * @brief Default constructor. + */ + StairstepCommonImpl() = default; + + /** + * @brief Get the minimum number of required points for the interpolator. + */ + [[nodiscard]] size_t minimum_required_points() const override { return 2; } +}; + +} // namespace autoware::motion_utils::trajectory_container::interpolator::detail + +// clang-format off +#endif // AUTOWARE__MOTION_UTILS__TRAJECTORY_CONTAINER__INTERPOLATOR__DETAIL__STAIRSTEP_COMMON_IMPL_HPP_ // NOLINT +// clang-format on diff --git a/common/autoware_motion_utils/include/autoware/motion_utils/trajectory_container/interpolator/interpolator.hpp b/common/autoware_motion_utils/include/autoware/motion_utils/trajectory_container/interpolator/interpolator.hpp new file mode 100644 index 0000000000000..18dce8b46c2c7 --- /dev/null +++ b/common/autoware_motion_utils/include/autoware/motion_utils/trajectory_container/interpolator/interpolator.hpp @@ -0,0 +1,91 @@ +// 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 AUTOWARE__MOTION_UTILS__TRAJECTORY_CONTAINER__INTERPOLATOR__INTERPOLATOR_HPP_ +#define AUTOWARE__MOTION_UTILS__TRAJECTORY_CONTAINER__INTERPOLATOR__INTERPOLATOR_HPP_ + +#include "autoware/motion_utils/trajectory_container/interpolator/detail/interpolator_common_impl.hpp" + +namespace autoware::motion_utils::trajectory_container::interpolator +{ +/** + * @brief Template class for interpolation. + * + * This class serves as the base class for specific interpolation types. + * + * @tparam T The type of the values being interpolated. (e.g. double, int, etc.) + */ +template +class Interpolator : public detail::InterpolatorCommonImpl +{ +}; + +/** + * @brief Specialization of Interpolator for double values. + * + * This class adds methods for computing first and second derivatives. + */ +template <> +class Interpolator : public detail::InterpolatorCommonImpl +{ +protected: + /** + * @brief Compute the first derivative at the given point. + * + * This method should be overridden by subclasses to provide the specific logic. + * + * @param s The point at which to compute the first derivative. + * @return The first derivative. + */ + [[nodiscard]] virtual double compute_first_derivative_impl(const double & s) const = 0; + + /** + * @brief Compute the second derivative at the given point. + * + * This method should be overridden by subclasses to provide the specific logic. + * + * @param s The point at which to compute the second derivative. + * @return The second derivative. + */ + [[nodiscard]] virtual double compute_second_derivative_impl(const double & s) const = 0; + +public: + /** + * @brief Compute the first derivative at the given point. + * + * @param s The point at which to compute the first derivative. + * @return The first derivative. + */ + [[nodiscard]] double compute_first_derivative(const double & s) const + { + this->validate_compute_input(s); + return compute_first_derivative_impl(s); + } + + /** + * @brief Compute the second derivative at the given point. + * + * @param s The point at which to compute the second derivative. + * @return The second derivative. + */ + [[nodiscard]] double compute_second_derivative(const double & s) const + { + this->validate_compute_input(s); + return compute_second_derivative_impl(s); + } +}; + +} // namespace autoware::motion_utils::trajectory_container::interpolator + +#endif // AUTOWARE__MOTION_UTILS__TRAJECTORY_CONTAINER__INTERPOLATOR__INTERPOLATOR_HPP_ diff --git a/common/autoware_motion_utils/include/autoware/motion_utils/trajectory_container/interpolator/interpolator_creator.hpp b/common/autoware_motion_utils/include/autoware/motion_utils/trajectory_container/interpolator/interpolator_creator.hpp new file mode 100644 index 0000000000000..911adcb6545b6 --- /dev/null +++ b/common/autoware_motion_utils/include/autoware/motion_utils/trajectory_container/interpolator/interpolator_creator.hpp @@ -0,0 +1,77 @@ +// 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 AUTOWARE__MOTION_UTILS__TRAJECTORY_CONTAINER__INTERPOLATOR__INTERPOLATOR_CREATOR_HPP_ +#define AUTOWARE__MOTION_UTILS__TRAJECTORY_CONTAINER__INTERPOLATOR__INTERPOLATOR_CREATOR_HPP_ + +#include + +#include +#include +#include + +namespace autoware::motion_utils::trajectory_container::interpolator +{ + +// Forward declaration +template +class Interpolator; + +template +class InterpolatorCreator +{ +private: + Eigen::VectorXd axis_; + std::vector values_; + +public: + [[nodiscard]] InterpolatorCreator & set_axis(const Eigen::Ref & axis) + { + axis_ = axis; + return *this; + } + + [[nodiscard]] InterpolatorCreator & set_axis(const std::vector & axis) + { + axis_ = Eigen::Map(axis.data(), static_cast(axis.size())); + return *this; + } + + [[nodiscard]] InterpolatorCreator & set_values(const std::vector & values) + { + values_ = values; + return *this; + } + + [[nodiscard]] InterpolatorCreator & set_values(const Eigen::Ref & values) + { + values_ = std::vector(values.begin(), values.end()); + return *this; + } + + template + [[nodiscard]] std::optional create(Args &&... args) + { + auto interpolator = InterpolatorType(std::forward(args)...); + bool success = interpolator.build(axis_, values_); + if (!success) { + return std::nullopt; + } + return interpolator; + } +}; + +} // namespace autoware::motion_utils::trajectory_container::interpolator + +#endif // AUTOWARE__MOTION_UTILS__TRAJECTORY_CONTAINER__INTERPOLATOR__INTERPOLATOR_CREATOR_HPP_ diff --git a/common/autoware_motion_utils/include/autoware/motion_utils/trajectory_container/interpolator/linear.hpp b/common/autoware_motion_utils/include/autoware/motion_utils/trajectory_container/interpolator/linear.hpp new file mode 100644 index 0000000000000..df0806f285339 --- /dev/null +++ b/common/autoware_motion_utils/include/autoware/motion_utils/trajectory_container/interpolator/linear.hpp @@ -0,0 +1,90 @@ +// 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 AUTOWARE__MOTION_UTILS__TRAJECTORY_CONTAINER__INTERPOLATOR__LINEAR_HPP_ +#define AUTOWARE__MOTION_UTILS__TRAJECTORY_CONTAINER__INTERPOLATOR__LINEAR_HPP_ + +#include "autoware/motion_utils/trajectory_container/interpolator/interpolator.hpp" + +#include + +#include + +namespace autoware::motion_utils::trajectory_container::interpolator +{ + +/** + * @brief Class for linear interpolation. + * + * This class provides methods to perform linear interpolation on a set of data points. + */ +class Linear : public Interpolator +{ + template + friend class InterpolatorCreator; + +private: + Eigen::VectorXd values_; ///< Interpolation values. + + /** + * @brief Default constructor. + */ + Linear() = default; + + /** + * @brief Build the interpolator with the given values. + * + * @param axis The axis values. + * @param values The values to interpolate. + * @return True if the interpolator was built successfully, false otherwise. + */ + void build_impl( + const Eigen::Ref & axis, const std::vector & values) override; + + /** + * @brief Compute the interpolated value at the given point. + * + * @param s The point at which to compute the interpolated value. + * @return The interpolated value. + */ + [[nodiscard]] double compute_impl(const double & s) const override; + + /** + * @brief Compute the first derivative at the given point. + * + * @param s The point at which to compute the first derivative. + * @return The first derivative. + */ + [[nodiscard]] double compute_first_derivative_impl(const double & s) const override; + + /** + * @brief Compute the second derivative at the given point. + * + * @param s The point at which to compute the second derivative. + * @return The second derivative. + */ + [[nodiscard]] double compute_second_derivative_impl(const double &) const override; + +public: + /** + * @brief Get the minimum number of required points for the interpolator. + * + * @return The minimum number of required points. + */ + [[nodiscard]] size_t minimum_required_points() const override; +}; + +} // namespace autoware::motion_utils::trajectory_container::interpolator + +#endif // AUTOWARE__MOTION_UTILS__TRAJECTORY_CONTAINER__INTERPOLATOR__LINEAR_HPP_ diff --git a/common/autoware_motion_utils/include/autoware/motion_utils/trajectory_container/interpolator/nearest_neighbor.hpp b/common/autoware_motion_utils/include/autoware/motion_utils/trajectory_container/interpolator/nearest_neighbor.hpp new file mode 100644 index 0000000000000..c433607902b38 --- /dev/null +++ b/common/autoware_motion_utils/include/autoware/motion_utils/trajectory_container/interpolator/nearest_neighbor.hpp @@ -0,0 +1,83 @@ +// 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 AUTOWARE__MOTION_UTILS__TRAJECTORY_CONTAINER__INTERPOLATOR__NEAREST_NEIGHBOR_HPP_ +#define AUTOWARE__MOTION_UTILS__TRAJECTORY_CONTAINER__INTERPOLATOR__NEAREST_NEIGHBOR_HPP_ + +#include "autoware/motion_utils/trajectory_container/interpolator/detail/nearest_neighbor_common_impl.hpp" + +namespace autoware::motion_utils::trajectory_container::interpolator +{ + +/** + * @brief Template class for nearest neighbor interpolation. + * + * This class provides methods to perform nearest neighbor interpolation on a set of data points. + * + * @tparam T The type of the values being interpolated. + */ +template +class NearestNeighbor; + +/** + * @brief Template class for nearest neighbor interpolation. + * + * This class provides the interface for nearest neighbor interpolation. + * + * @tparam T The type of the values being interpolated. + */ +template +class NearestNeighbor : public detail::NearestNeighborCommonImpl +{ + template + friend class InterpolatorCreator; + +private: + NearestNeighbor() = default; +}; + +/** + * @brief Specialization of NearestNeighbor for double values. + * + * This class provides methods to perform nearest neighbor interpolation on double values. + */ +template <> +class NearestNeighbor : public detail::NearestNeighborCommonImpl +{ + template + friend class InterpolatorCreator; + +private: + NearestNeighbor() = default; + + /** + * @brief Compute the first derivative at the given point. + * + * @param s The point at which to compute the first derivative. + * @return The first derivative. + */ + [[nodiscard]] double compute_first_derivative_impl(const double &) const override { return 0.0; } + + /** + * @brief Compute the second derivative at the given point. + * + * @param s The point at which to compute the second derivative. + * @return The second derivative. + */ + [[nodiscard]] double compute_second_derivative_impl(const double &) const override { return 0.0; } +}; + +} // namespace autoware::motion_utils::trajectory_container::interpolator + +#endif // AUTOWARE__MOTION_UTILS__TRAJECTORY_CONTAINER__INTERPOLATOR__NEAREST_NEIGHBOR_HPP_ diff --git a/common/autoware_motion_utils/include/autoware/motion_utils/trajectory_container/interpolator/stairstep.hpp b/common/autoware_motion_utils/include/autoware/motion_utils/trajectory_container/interpolator/stairstep.hpp new file mode 100644 index 0000000000000..e8c8f8c015b63 --- /dev/null +++ b/common/autoware_motion_utils/include/autoware/motion_utils/trajectory_container/interpolator/stairstep.hpp @@ -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. + +#ifndef AUTOWARE__MOTION_UTILS__TRAJECTORY_CONTAINER__INTERPOLATOR__STAIRSTEP_HPP_ +#define AUTOWARE__MOTION_UTILS__TRAJECTORY_CONTAINER__INTERPOLATOR__STAIRSTEP_HPP_ + +#include "autoware/motion_utils/trajectory_container/interpolator/detail/stairstep_common_impl.hpp" + +namespace autoware::motion_utils::trajectory_container::interpolator +{ + +/** + * @brief Template class for stairstep interpolation. + * + * This class provides methods to perform stairstep interpolation on a set of data points. + * + * @tparam T The type of the values being interpolated. + */ +template +class Stairstep; + +/** + * @brief Template class for stairstep interpolation. + * + * This class provides the interface for stairstep interpolation. + * + * @tparam T The type of the values being interpolated. + */ +template +class Stairstep : public detail::StairstepCommonImpl +{ + template + friend class InterpolatorCreator; + +private: + Stairstep() = default; +}; + +/** + * @brief Specialization of Stairstep for double values. + * + * This class provides methods to perform stairstep interpolation on double values. + */ +template <> +class Stairstep : public detail::StairstepCommonImpl +{ + template + friend class InterpolatorCreator; + +private: + Stairstep() = default; + /** + * @brief Compute the first derivative at the given point. + * + * @param s The point at which to compute the first derivative. + * @return The first derivative. + */ + [[nodiscard]] double compute_first_derivative_impl(const double &) const override { return 0.0; } + + /** + * @brief Compute the second derivative at the given point. + * + * @param s The point at which to compute the second derivative. + * @return The second derivative. + */ + [[nodiscard]] double compute_second_derivative_impl(const double &) const override { return 0.0; } +}; + +} // namespace autoware::motion_utils::trajectory_container::interpolator + +#endif // AUTOWARE__MOTION_UTILS__TRAJECTORY_CONTAINER__INTERPOLATOR__STAIRSTEP_HPP_ diff --git a/common/autoware_motion_utils/src/trajectory_container/interpolator/akima_spline.cpp b/common/autoware_motion_utils/src/trajectory_container/interpolator/akima_spline.cpp new file mode 100644 index 0000000000000..283f46dd5d3e9 --- /dev/null +++ b/common/autoware_motion_utils/src/trajectory_container/interpolator/akima_spline.cpp @@ -0,0 +1,93 @@ +// 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 "autoware/motion_utils/trajectory_container/interpolator/akima_spline.hpp" + +#include + +#include +#include + +namespace autoware::motion_utils::trajectory_container::interpolator +{ + +void AkimaSpline::compute_parameters( + const Eigen::Ref & axis, const Eigen::Ref & values) +{ + const auto n = static_cast(axis.size()); + + Eigen::VectorXd h = axis.tail(n - 1) - axis.head(n - 1); + + Eigen::VectorXd m(n - 1); + for (int32_t i = 0; i < n - 1; ++i) { + m[i] = (values[i + 1] - values[i]) / h[i]; + } + + Eigen::VectorXd s(n); + s[0] = m[0]; + s[1] = (m[0] + m[1]) / 2; + for (int32_t i = 2; i < n - 2; ++i) { + if ((std::abs(m[i + 1] - m[i]) + std::abs(m[i - 1] - m[i - 2])) == 0) { + s[i] = (m[i] + m[i - 1]) / 2; + } else { + s[i] = (std::abs(m[i + 1] - m[i]) * m[i - 1] + std::abs(m[i - 1] - m[i - 2]) * m[i]) / + (std::abs(m[i + 1] - m[i]) + std::abs(m[i - 1] - m[i - 2])); + } + } + s[n - 2] = (m[n - 2] + m[n - 3]) / 2; + s[n - 1] = m[n - 2]; + + a_.resize(n - 1); + b_.resize(n - 1); + c_.resize(n - 1); + d_.resize(n - 1); + for (int32_t i = 0; i < n - 1; ++i) { + a_[i] = values[i]; + b_[i] = s[i]; + c_[i] = (3 * m[i] - 2 * s[i] - s[i + 1]) / h[i]; + d_[i] = (s[i] + s[i + 1] - 2 * m[i]) / (h[i] * h[i]); + } +} + +void AkimaSpline::build_impl( + const Eigen::Ref & axis, const std::vector & values) +{ + this->axis_ = axis; + compute_parameters( + this->axis_, + Eigen::Map(values.data(), static_cast(values.size()))); +} + +double AkimaSpline::compute_impl(const double & s) const +{ + const int32_t i = this->get_index(s); + const double dx = s - this->axis_[i]; + return a_[i] + b_[i] * dx + c_[i] * dx * dx + d_[i] * dx * dx * dx; +} + +double AkimaSpline::compute_first_derivative_impl(const double & s) const +{ + const int32_t i = this->get_index(s); + const double dx = s - this->axis_[i]; + return b_[i] + 2 * c_[i] * dx + 3 * d_[i] * dx * dx; +} + +double AkimaSpline::compute_second_derivative_impl(const double & s) const +{ + const int32_t i = this->get_index(s); + const double dx = s - this->axis_[i]; + return 2 * c_[i] + 6 * d_[i] * dx; +} + +} // namespace autoware::motion_utils::trajectory_container::interpolator diff --git a/common/autoware_motion_utils/src/trajectory_container/interpolator/cubic_spline.cpp b/common/autoware_motion_utils/src/trajectory_container/interpolator/cubic_spline.cpp new file mode 100644 index 0000000000000..9f262b6a702f9 --- /dev/null +++ b/common/autoware_motion_utils/src/trajectory_container/interpolator/cubic_spline.cpp @@ -0,0 +1,94 @@ +// 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 "autoware/motion_utils/trajectory_container/interpolator/cubic_spline.hpp" + +#include + +namespace autoware::motion_utils::trajectory_container::interpolator +{ + +void CubicSpline::compute_parameters( + const Eigen::Ref & axis, const Eigen::Ref & values) +{ + const int32_t n = static_cast(axis.size()) - 1; + + h_ = axis.tail(n) - axis.head(n); + a_ = values.transpose(); + + for (int32_t i = 0; i < n; ++i) { + h_(i) = axis(i + 1) - axis(i); + } + + Eigen::VectorXd alpha(n - 1); + for (int32_t i = 1; i < n; ++i) { + alpha(i - 1) = (3.0 / h_(i)) * (a_(i + 1) - a_(i)) - (3.0 / h_(i - 1)) * (a_(i) - a_(i - 1)); + } + + Eigen::VectorXd l(n + 1); + Eigen::VectorXd mu(n + 1); + Eigen::VectorXd z(n + 1); + l(0) = 1.0; + mu(0) = z(0) = 0.0; + + for (int32_t i = 1; i < n; ++i) { + l(i) = 2.0 * (axis(i + 1) - axis(i - 1)) - h_(i - 1) * mu(i - 1); + mu(i) = h_(i) / l(i); + z(i) = (alpha(i - 1) - h_(i - 1) * z(i - 1)) / l(i); + } + b_.resize(n); + d_.resize(n); + c_.resize(n + 1); + + l(n) = 1.0; + z(n) = c_(n) = 0.0; + + for (int32_t j = n - 1; j >= 0; --j) { + c_(j) = z(j) - mu(j) * c_(j + 1); + b_(j) = (a_(j + 1) - a_(j)) / h_(j) - h_(j) * (c_(j + 1) + 2.0 * c_(j)) / 3.0; + d_(j) = (c_(j + 1) - c_(j)) / (3.0 * h_(j)); + } +} + +void CubicSpline::build_impl( + const Eigen::Ref & axis, const std::vector & values) +{ + this->axis_ = axis; + compute_parameters( + this->axis_, + Eigen::Map(values.data(), static_cast(values.size()))); +} + +double CubicSpline::compute_impl(const double & s) const +{ + const int32_t i = this->get_index(s); + const double dx = s - this->axis_(i); + return a_(i) + b_(i) * dx + c_(i) * dx * dx + d_(i) * dx * dx * dx; +} + +double CubicSpline::compute_first_derivative_impl(const double & s) const +{ + const int32_t i = this->get_index(s); + const double dx = s - this->axis_(i); + return b_(i) + 2 * c_(i) * dx + 3 * d_(i) * dx * dx; +} + +double CubicSpline::compute_second_derivative_impl(const double & s) const +{ + const int32_t i = this->get_index(s); + const double dx = s - this->axis_(i); + return 2 * c_(i) + 6 * d_(i) * dx; +} + +} // namespace autoware::motion_utils::trajectory_container::interpolator diff --git a/common/autoware_motion_utils/src/trajectory_container/interpolator/linear.cpp b/common/autoware_motion_utils/src/trajectory_container/interpolator/linear.cpp new file mode 100644 index 0000000000000..4897ba4d2a56c --- /dev/null +++ b/common/autoware_motion_utils/src/trajectory_container/interpolator/linear.cpp @@ -0,0 +1,62 @@ +// 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 "autoware/motion_utils/trajectory_container/interpolator/linear.hpp" + +#include + +#include + +namespace autoware::motion_utils::trajectory_container::interpolator +{ + +void Linear::build_impl( + const Eigen::Ref & axis, const std::vector & values) +{ + this->axis_ = axis; + this->values_ = + Eigen::Map(values.data(), static_cast(values.size())); +} + +double Linear::compute_impl(const double & s) const +{ + const int32_t idx = this->get_index(s); + const double x0 = this->axis_(idx); + const double x1 = this->axis_(idx + 1); + const double y0 = this->values_(idx); + const double y1 = this->values_(idx + 1); + return y0 + (y1 - y0) * (s - x0) / (x1 - x0); +} + +double Linear::compute_first_derivative_impl(const double & s) const +{ + const int32_t idx = this->get_index(s); + const double x0 = this->axis_(idx); + const double x1 = this->axis_(idx + 1); + const double y0 = this->values_(idx); + const double y1 = this->values_(idx + 1); + return (y1 - y0) / (x1 - x0); +} + +double Linear::compute_second_derivative_impl(const double &) const +{ + return 0.0; +} + +size_t Linear::minimum_required_points() const +{ + return 2; +} + +} // namespace autoware::motion_utils::trajectory_container::interpolator diff --git a/common/autoware_motion_utils/test/src/trajectory_container/test_interpolator.cpp b/common/autoware_motion_utils/test/src/trajectory_container/test_interpolator.cpp new file mode 100644 index 0000000000000..77f7af0eae93f --- /dev/null +++ b/common/autoware_motion_utils/test/src/trajectory_container/test_interpolator.cpp @@ -0,0 +1,75 @@ +// 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 + +#include +#include + +#include +#include +#include + +template +class TestInterpolator : public ::testing::Test +{ +public: + std::optional interpolator; + std::vector axis; + std::vector values; + + void SetUp() override + { + // generate random values -1 to 1 + std::random_device rd; + std::mt19937 gen(rd()); + std::uniform_real_distribution<> dis(-1, 1); + axis.resize(10); + values.resize(10); + for (size_t i = 0; i < axis.size(); ++i) { + axis[i] = static_cast(i); + values[i] = dis(gen); + } + } +}; + +using Interpolators = testing::Types< + autoware::motion_utils::trajectory_container::interpolator::CubicSpline, + autoware::motion_utils::trajectory_container::interpolator::AkimaSpline, + autoware::motion_utils::trajectory_container::interpolator::Linear, + autoware::motion_utils::trajectory_container::interpolator::NearestNeighbor, + autoware::motion_utils::trajectory_container::interpolator::Stairstep>; + +TYPED_TEST_SUITE(TestInterpolator, Interpolators, ); + +TYPED_TEST(TestInterpolator, compute) +{ + using autoware::motion_utils::trajectory_container::interpolator::InterpolatorCreator; + this->interpolator = + InterpolatorCreator().set_axis(this->axis).set_values(this->values).create(); + for (size_t i = 0; i < this->axis.size(); ++i) { + EXPECT_NEAR(this->values[i], this->interpolator->compute(this->axis[i]), 1e-6); + } +} + +// Instantiate test cases for all interpolators +template class TestInterpolator< + autoware::motion_utils::trajectory_container::interpolator::CubicSpline>; +template class TestInterpolator< + autoware::motion_utils::trajectory_container::interpolator::AkimaSpline>; +template class TestInterpolator; +template class TestInterpolator< + autoware::motion_utils::trajectory_container::interpolator::NearestNeighbor>; +template class TestInterpolator< + autoware::motion_utils::trajectory_container::interpolator::Stairstep>; From 1bfb4c055cbe265849a400ba60bf0e7122c19685 Mon Sep 17 00:00:00 2001 From: mkquda <168697710+mkquda@users.noreply.github.com> Date: Mon, 26 Aug 2024 10:37:36 +0900 Subject: [PATCH 042/169] fix(lane_change): activate turn signal as soon as we have the intention to change lanes (#8571) * modify lane change requested condition Signed-off-by: Muhammad Zulfaqar Azmi Signed-off-by: mohammad alqudah * modify lane change requested condition Signed-off-by: Muhammad Zulfaqar Azmi * Update planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/calculation.cpp Co-authored-by: mkquda <168697710+mkquda@users.noreply.github.com> * style(pre-commit): autofix * fix docstring Signed-off-by: Muhammad Zulfaqar Azmi * modify LC turn signal logic Signed-off-by: mohammad alqudah * Update planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/scene.hpp Co-authored-by: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> * minor change Signed-off-by: mohammad alqudah --------- Signed-off-by: Muhammad Zulfaqar Azmi Signed-off-by: mohammad alqudah Co-authored-by: Muhammad Zulfaqar Azmi Co-authored-by: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- .../scene.hpp | 4 +- .../utils/base_class.hpp | 29 +++++- .../utils/calculation.hpp | 2 +- .../src/scene.cpp | 98 ++++++++----------- .../src/utils/calculation.cpp | 2 +- 5 files changed, 73 insertions(+), 62 deletions(-) diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/scene.hpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/scene.hpp index e3ef44f1081ed..24257e8855e33 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/scene.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/scene.hpp @@ -109,7 +109,7 @@ class NormalLaneChange : public LaneChangeBase bool isStoppedAtRedTrafficLight() const override; - TurnSignalInfo get_current_turn_signal_info() override; + TurnSignalInfo get_current_turn_signal_info() const final; protected: lanelet::ConstLanelets getLaneChangeLanes( @@ -117,6 +117,8 @@ class NormalLaneChange : public LaneChangeBase int getNumToPreferredLane(const lanelet::ConstLanelet & lane) const override; + TurnSignalInfo get_terminal_turn_signal_info() const final; + std::vector sampleLongitudinalAccValues( const lanelet::ConstLanelets & current_lanes, const lanelet::ConstLanelets & target_lanes) const; diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/base_class.hpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/base_class.hpp index 6c7dc31e857e5..51d5dbe0f195c 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/base_class.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/base_class.hpp @@ -213,7 +213,7 @@ class LaneChangeBase LaneChangeModuleType getModuleType() const { return type_; } - TurnSignalDecider getTurnSignalDecider() { return planner_data_->turn_signal_decider; } + TurnSignalDecider getTurnSignalDecider() const { return planner_data_->turn_signal_decider; } Direction getDirection() const { @@ -229,7 +229,7 @@ class LaneChangeBase void resetStopPose() { lane_change_stop_pose_ = std::nullopt; } - virtual TurnSignalInfo get_current_turn_signal_info() = 0; + virtual TurnSignalInfo get_current_turn_signal_info() const = 0; protected: virtual int getNumToPreferredLane(const lanelet::ConstLanelet & lane) const = 0; @@ -245,6 +245,31 @@ class LaneChangeBase virtual lanelet::ConstLanelets getLaneChangeLanes( const lanelet::ConstLanelets & current_lanes, Direction direction) const = 0; + virtual TurnSignalInfo get_terminal_turn_signal_info() const = 0; + + TurnSignalInfo get_turn_signal(const Pose & start, const Pose & end) const + { + TurnSignalInfo turn_signal; + switch (direction_) { + case Direction::LEFT: + turn_signal.turn_signal.command = TurnIndicatorsCommand::ENABLE_LEFT; + break; + case Direction::RIGHT: + turn_signal.turn_signal.command = TurnIndicatorsCommand::ENABLE_RIGHT; + break; + default: + turn_signal.turn_signal.command = TurnIndicatorsCommand::NO_COMMAND; + break; + } + + turn_signal.desired_start_point = start; + turn_signal.desired_end_point = end; + turn_signal.required_start_point = turn_signal.desired_start_point; + turn_signal.required_end_point = turn_signal.desired_end_point; + + return turn_signal; + } + LaneChangeStatus status_{}; PathShifter path_shifter_{}; diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/calculation.hpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/calculation.hpp index 66c454f795ebb..819cccd9365b6 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/calculation.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/utils/calculation.hpp @@ -73,7 +73,7 @@ double calc_stopping_distance(const LCParamPtr & lc_param_ptr); * @return distance to last fit width position along the lane */ double calc_dist_to_last_fit_width( - const lanelet::ConstLanelets lanelets, const Pose & src_pose, + const lanelet::ConstLanelets & lanelets, const Pose & src_pose, const BehaviorPathPlannerParameters & bpp_param, const double margin = 0.1); /** diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/scene.cpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/scene.cpp index c6d05f90fe138..01bdbe77f1c99 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/scene.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/scene.cpp @@ -181,81 +181,64 @@ bool NormalLaneChange::isStoppedAtRedTrafficLight() const status_.lane_change_path.info.length.sum()); } -TurnSignalInfo NormalLaneChange::get_current_turn_signal_info() +TurnSignalInfo NormalLaneChange::get_current_turn_signal_info() const { const auto original_turn_signal_info = prev_module_output_.turn_signal_info; - const auto & current_lanes = get_current_lanes(); - const auto is_valid = getLaneChangeStatus().is_valid_path; - const auto & lane_change_path = getLaneChangeStatus().lane_change_path; - const auto & lane_change_param = getLaneChangeParam(); - - if (getModuleType() != LaneChangeModuleType::NORMAL || current_lanes.empty() || !is_valid) { + if (getModuleType() != LaneChangeModuleType::NORMAL || get_current_lanes().empty()) { return original_turn_signal_info; } - // check direction - TurnSignalInfo current_turn_signal_info; - const auto & current_pose = getEgoPose(); - const auto direction = getDirection(); - if (direction == Direction::LEFT) { - current_turn_signal_info.turn_signal.command = TurnIndicatorsCommand::ENABLE_LEFT; - } else if (direction == Direction::RIGHT) { - current_turn_signal_info.turn_signal.command = TurnIndicatorsCommand::ENABLE_RIGHT; + if (direction_ != Direction::LEFT && direction_ != Direction::RIGHT) { + return original_turn_signal_info; } const auto & path = prev_module_output_.path; - if (path.points.empty()) { - current_turn_signal_info.desired_start_point = current_pose; - current_turn_signal_info.required_start_point = current_pose; - current_turn_signal_info.desired_end_point = lane_change_path.info.lane_changing_end; - current_turn_signal_info.required_end_point = lane_change_path.info.lane_changing_end; - return current_turn_signal_info; + const auto & original_command = original_turn_signal_info.turn_signal.command; + if ( + !path.points.empty() && original_command != TurnIndicatorsCommand::DISABLE && + original_command != TurnIndicatorsCommand::NO_COMMAND) { + return get_terminal_turn_signal_info(); } - const auto min_length_for_turn_signal_activation = - lane_change_param.min_length_for_turn_signal_activation; - const auto & route_handler = getRouteHandler(); - const auto & common_parameter = getCommonParam(); + return get_turn_signal(getEgoPose(), getLaneChangePath().info.lane_changing_end); +} + +TurnSignalInfo NormalLaneChange::get_terminal_turn_signal_info() const +{ + const auto & lane_change_param = getLaneChangeParam(); + const auto & common_param = getCommonParam(); + const auto & current_pose = getEgoPose(); + const auto & path = prev_module_output_.path; + + const auto original_turn_signal_info = prev_module_output_.turn_signal_info; + const auto shift_intervals = - route_handler->getLateralIntervalsToPreferredLane(current_lanes.back()); + getRouteHandler()->getLateralIntervalsToPreferredLane(get_current_lanes().back()); const double next_lane_change_buffer = utils::lane_change::calcMinimumLaneChangeLength(lane_change_param, shift_intervals); - const double nearest_dist_threshold = common_parameter.ego_nearest_dist_threshold; - const double nearest_yaw_threshold = common_parameter.ego_nearest_yaw_threshold; - const double base_to_front = common_parameter.base_link2front; - const double buffer = - next_lane_change_buffer + min_length_for_turn_signal_activation + base_to_front; + const double buffer = next_lane_change_buffer + + lane_change_param.min_length_for_turn_signal_activation + + common_param.base_link2front; const double path_length = autoware::motion_utils::calcArcLength(path.points); - const size_t current_nearest_seg_idx = - autoware::motion_utils::findFirstNearestSegmentIndexWithSoftConstraints( - path.points, current_pose, nearest_dist_threshold, nearest_yaw_threshold); - const double dist_to_terminal = utils::getDistanceToEndOfLane(current_pose, current_lanes); const auto start_pose = autoware::motion_utils::calcLongitudinalOffsetPose( path.points, 0, std::max(path_length - buffer, 0.0)); - if (dist_to_terminal - base_to_front < buffer && start_pose) { - // modify turn signal - current_turn_signal_info.desired_start_point = *start_pose; - current_turn_signal_info.desired_end_point = lane_change_path.info.lane_changing_end; - current_turn_signal_info.required_start_point = current_turn_signal_info.desired_start_point; - current_turn_signal_info.required_end_point = current_turn_signal_info.desired_end_point; - - const auto & original_command = original_turn_signal_info.turn_signal.command; - if ( - original_command == TurnIndicatorsCommand::DISABLE || - original_command == TurnIndicatorsCommand::NO_COMMAND) { - return current_turn_signal_info; - } - // check the priority of turn signals - return getTurnSignalDecider().overwrite_turn_signal( - path, current_pose, current_nearest_seg_idx, original_turn_signal_info, - current_turn_signal_info, nearest_dist_threshold, nearest_yaw_threshold); - } + if (!start_pose) return original_turn_signal_info; + + const auto terminal_turn_signal_info = + get_turn_signal(*start_pose, getLaneChangePath().info.lane_changing_end); + + const double nearest_dist_threshold = common_param.ego_nearest_dist_threshold; + const double nearest_yaw_threshold = common_param.ego_nearest_yaw_threshold; + const size_t current_nearest_seg_idx = + autoware::motion_utils::findFirstNearestSegmentIndexWithSoftConstraints( + path.points, current_pose, nearest_dist_threshold, nearest_yaw_threshold); - // not in the vicinity of the end of the path. return original - return original_turn_signal_info; + return getTurnSignalDecider().overwrite_turn_signal( + path, current_pose, current_nearest_seg_idx, original_turn_signal_info, + terminal_turn_signal_info, nearest_dist_threshold, nearest_yaw_threshold); } LaneChangePath NormalLaneChange::getLaneChangePath() const @@ -319,14 +302,15 @@ BehaviorModuleOutput NormalLaneChange::generateOutput() output.path = abort_path_->path; insertStopPoint(get_current_lanes(), output.path); } else { - output.path = getLaneChangePath().path; + output.path = status_.lane_change_path.path; const auto found_extended_path = extendPath(); if (found_extended_path) { output.path = utils::combinePath(output.path, *found_extended_path); } output.reference_path = getReferencePath(); - output.turn_signal_info = updateOutputTurnSignal(); + output.turn_signal_info = + get_turn_signal(getEgoPose(), status_.lane_change_path.info.lane_changing_end); if (isStopState()) { const auto current_velocity = getEgoVelocity(); diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/calculation.cpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/calculation.cpp index 9585449b8e0e2..ef1648103ddde 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/calculation.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/utils/calculation.cpp @@ -58,7 +58,7 @@ double calc_stopping_distance(const LCParamPtr & lc_param_ptr) } double calc_dist_to_last_fit_width( - const lanelet::ConstLanelets lanelets, const Pose & src_pose, + const lanelet::ConstLanelets & lanelets, const Pose & src_pose, const BehaviorPathPlannerParameters & bpp_param, const double margin) { if (lanelets.empty()) return 0.0; From c9bb1e1a043c85a278aabf8c7c104029e5268131 Mon Sep 17 00:00:00 2001 From: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> Date: Mon, 26 Aug 2024 11:20:01 +0900 Subject: [PATCH 043/169] feat(out_of_lane): redesign to improve accuracy and performance (#8453) Signed-off-by: Maxime CLEMENT --- .../motion_utils/trajectory/trajectory.hpp | 9 + .../src/trajectory/trajectory.cpp | 23 ++ .../src/obstacle_velocity_limiter_module.cpp | 1 - .../README.md | 37 +- .../config/out_of_lane.param.yaml | 25 +- .../package.xml | 1 - .../src/calculate_slowdown_points.cpp | 131 ++++-- .../src/calculate_slowdown_points.hpp | 45 +- .../src/debug.cpp | 280 ++++++------- .../src/debug.hpp | 8 +- .../src/decisions.cpp | 389 ------------------ .../src/decisions.hpp | 116 ------ .../src/filter_predicted_objects.cpp | 46 +-- .../src/filter_predicted_objects.hpp | 4 +- .../src/footprint.cpp | 23 +- .../src/footprint.hpp | 12 +- .../src/lanelets_selection.cpp | 116 ++++-- .../src/lanelets_selection.hpp | 37 +- .../src/out_of_lane_collisions.cpp | 166 ++++++++ .../src/out_of_lane_collisions.hpp | 55 +++ .../src/out_of_lane_module.cpp | 317 +++++++------- .../src/out_of_lane_module.hpp | 18 +- .../src/overlapping_range.cpp | 127 ------ .../src/overlapping_range.hpp | 63 --- .../src/types.hpp | 216 +++------- .../CMakeLists.txt | 17 +- .../collision_checker.hpp | 69 ++++ .../planner_data.hpp | 29 +- .../package.xml | 1 - .../src/collision_checker.cpp | 70 ++++ .../test/test_collision_checker.cpp | 176 ++++++++ .../package.xml | 1 - .../src/node.cpp | 35 +- 33 files changed, 1236 insertions(+), 1427 deletions(-) delete mode 100644 planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/decisions.cpp delete mode 100644 planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/decisions.hpp create mode 100644 planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/out_of_lane_collisions.cpp create mode 100644 planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/out_of_lane_collisions.hpp delete mode 100644 planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/overlapping_range.cpp delete mode 100644 planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/overlapping_range.hpp create mode 100644 planning/motion_velocity_planner/autoware_motion_velocity_planner_common/include/autoware/motion_velocity_planner_common/collision_checker.hpp create mode 100644 planning/motion_velocity_planner/autoware_motion_velocity_planner_common/src/collision_checker.cpp create mode 100644 planning/motion_velocity_planner/autoware_motion_velocity_planner_common/test/test_collision_checker.cpp diff --git a/common/autoware_motion_utils/include/autoware/motion_utils/trajectory/trajectory.hpp b/common/autoware_motion_utils/include/autoware/motion_utils/trajectory/trajectory.hpp index 126e66772920a..0ce42fbe1080f 100644 --- a/common/autoware_motion_utils/include/autoware/motion_utils/trajectory/trajectory.hpp +++ b/common/autoware_motion_utils/include/autoware/motion_utils/trajectory/trajectory.hpp @@ -2504,6 +2504,15 @@ extern template bool isTargetPointFront & trajectory, + const geometry_msgs::msg::Point & current_ego_point, const float min_velocity = 1.0f); + } // namespace autoware::motion_utils #endif // AUTOWARE__MOTION_UTILS__TRAJECTORY__TRAJECTORY_HPP_ diff --git a/common/autoware_motion_utils/src/trajectory/trajectory.cpp b/common/autoware_motion_utils/src/trajectory/trajectory.cpp index ce26952c3d634..080d8ca8c7437 100644 --- a/common/autoware_motion_utils/src/trajectory/trajectory.cpp +++ b/common/autoware_motion_utils/src/trajectory/trajectory.cpp @@ -599,4 +599,27 @@ template bool isTargetPointFront & trajectory, + const geometry_msgs::msg::Point & current_ego_point, const float min_velocity) +{ + const auto nearest_segment_idx = findNearestSegmentIndex(trajectory, current_ego_point); + if (nearest_segment_idx + 1 == trajectory.size()) { + return; + } + for (auto & p : trajectory) { + p.time_from_start = rclcpp::Duration::from_seconds(0); + } + // TODO(Maxime): some points can have very low velocities which introduce huge time errors + // Temporary solution: use a minimum velocity + for (auto idx = nearest_segment_idx + 1; idx < trajectory.size(); ++idx) { + const auto & from = trajectory[idx - 1]; + const auto velocity = std::max(min_velocity, from.longitudinal_velocity_mps); + if (velocity != 0.0) { + auto & to = trajectory[idx]; + const auto t = universe_utils::calcDistance2d(from, to) / velocity; + to.time_from_start = rclcpp::Duration::from_seconds(t) + from.time_from_start; + } + } +} } // namespace autoware::motion_utils diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/src/obstacle_velocity_limiter_module.cpp b/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/src/obstacle_velocity_limiter_module.cpp index 86bcf9df318bd..acf1dc1878087 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/src/obstacle_velocity_limiter_module.cpp +++ b/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/src/obstacle_velocity_limiter_module.cpp @@ -25,7 +25,6 @@ #include #include #include -#include #include #include #include diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/README.md b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/README.md index 99396eb0edf22..54b7cebb7c8ff 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/README.md +++ b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/README.md @@ -129,33 +129,24 @@ Moreover, parameter `action.distance_buffer` adds an extra distance between the | -------------------- | ------ | ---------------------------------------------------------------- | | `time_threshold` | double | [s] consider objects that will reach an overlap within this time | -| Parameter /intervals | Type | Description | -| --------------------- | ------ | ------------------------------------------------------- | -| `ego_time_buffer` | double | [s] extend the ego time interval by this buffer | -| `objects_time_buffer` | double | [s] extend the time intervals of objects by this buffer | - | Parameter /ttc | Type | Description | | -------------- | ------ | ------------------------------------------------------------------------------------------------------ | | `threshold` | double | [s] consider objects with an estimated time to collision bellow this value while ego is on the overlap | -| Parameter /objects | Type | Description | -| ------------------------------- | ------ | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -| `minimum_velocity` | double | [m/s] ignore objects with a velocity lower than this value | -| `predicted_path_min_confidence` | double | [-] minimum confidence required for a predicted path to be considered | -| `use_predicted_paths` | bool | [-] if true, use the predicted paths to estimate future positions; if false, assume the object moves at constant velocity along _all_ lanelets it currently is located in | - -| Parameter /overlap | Type | Description | -| ------------------ | ------ | ---------------------------------------------------------------------------------------------------- | -| `minimum_distance` | double | [m] minimum distance inside a lanelet for an overlap to be considered | -| `extra_length` | double | [m] extra arc length to add to the front and back of an overlap (used to calculate enter/exit times) | - -| Parameter /action | Type | Description | -| ----------------------------- | ------ | ---------------------------------------------------------------------------------------------- | -| `skip_if_over_max_decel` | bool | [-] if true, do not take an action that would cause more deceleration than the maximum allowed | -| `distance_buffer` | double | [m] buffer distance to try to keep between the ego footprint and lane | -| `slowdown.distance_threshold` | double | [m] insert a slow down when closer than this distance from an overlap | -| `slowdown.velocity` | double | [m] slow down velocity | -| `stop.distance_threshold` | double | [m] insert a stop when closer than this distance from an overlap | +| Parameter /objects | Type | Description | +| ------------------------------- | ------ | --------------------------------------------------------------------- | +| `minimum_velocity` | double | [m/s] ignore objects with a velocity lower than this value | +| `predicted_path_min_confidence` | double | [-] minimum confidence required for a predicted path to be considered | + +| Parameter /overlap | Type | Description | +| ------------------ | ------ | --------------------------------------------------------------------- | +| `minimum_distance` | double | [m] minimum distance inside a lanelet for an overlap to be considered | + +| Parameter /action | Type | Description | +| ----------------------------- | ------ | --------------------------------------------------------------------- | +| `slowdown.distance_threshold` | double | [m] insert a slow down when closer than this distance from an overlap | +| `slowdown.velocity` | double | [m] slow down velocity | +| `stop.distance_threshold` | double | [m] insert a stop when closer than this distance from an overlap | | Parameter /ego | Type | Description | | -------------------- | ------ | ---------------------------------------------------- | diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/config/out_of_lane.param.yaml b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/config/out_of_lane.param.yaml index a0cf69ee71027..67db597d80752 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/config/out_of_lane.param.yaml +++ b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/config/out_of_lane.param.yaml @@ -1,32 +1,23 @@ /**: ros__parameters: out_of_lane: # module to stop or slowdown before overlapping another lane with other objects - mode: ttc # mode used to consider a conflict with an object. "threshold", "intervals", or "ttc" + mode: ttc # mode used to consider a conflict with an object. "threshold", or "ttc" skip_if_already_overlapping: true # do not run this module when ego already overlaps another lane + ignore_overlaps_over_lane_changeable_lanelets: true # if true, overlaps on lane changeable lanelets are ignored + max_arc_length: 100.0 # [m] maximum trajectory arc length that is checked for out_of_lane collisions threshold: time_threshold: 5.0 # [s] consider objects that will reach an overlap within this time - intervals: # consider objects if their estimated time interval spent on the overlap intersect the estimated time interval of ego - ego_time_buffer: 0.5 # [s] extend the ego time interval by this buffer - objects_time_buffer: 0.5 # [s] extend the time intervals of objects by this buffer ttc: threshold: 3.0 # [s] consider objects with an estimated time to collision bellow this value while on the overlap objects: minimum_velocity: 0.5 # [m/s] objects lower than this velocity will be ignored - use_predicted_paths: true # if true, use the predicted paths to estimate future positions. - # if false, assume the object moves at constant velocity along *all* lanelets it currently is located in. predicted_path_min_confidence : 0.1 # when using predicted paths, ignore the ones whose confidence is lower than this value. - distance_buffer: 1.0 # [m] distance buffer used to determine if a collision will occur in the other lane cut_predicted_paths_beyond_red_lights: true # if true, predicted paths are cut beyond the stop line of red traffic lights ignore_behind_ego: true # if true, objects behind the ego vehicle are ignored - overlap: - minimum_distance: 0.0 # [m] minimum distance inside a lanelet for an overlap to be considered - extra_length: 0.0 # [m] extra arc length to add to the front and back of an overlap (used to calculate enter/exit times) - action: # action to insert in the trajectory if an object causes a conflict at an overlap - skip_if_over_max_decel: true # if true, do not take an action that would cause more deceleration than the maximum allowed precision: 0.1 # [m] precision when inserting a stop pose in the trajectory longitudinal_distance_buffer: 1.5 # [m] safety distance buffer to keep in front of the ego vehicle lateral_distance_buffer: 1.0 # [m] safety distance buffer to keep on the side of the ego vehicle @@ -38,8 +29,8 @@ distance_threshold: 15.0 # [m] insert a stop when closer than this distance from an overlap ego: - min_assumed_velocity: 2.0 # [m/s] minimum velocity used to calculate the enter and exit times of ego - extra_front_offset: 0.0 # [m] extra front distance - extra_rear_offset: 0.0 # [m] extra rear distance - extra_right_offset: 0.0 # [m] extra right distance - extra_left_offset: 0.0 # [m] extra left distance + # extra footprint offsets to calculate out of lane collisions + extra_front_offset: 0.0 # [m] extra footprint front distance + extra_rear_offset: 0.0 # [m] extra footprint rear distance + extra_right_offset: 0.0 # [m] extra footprint right distance + extra_left_offset: 0.0 # [m] extra footprint left distance diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/package.xml b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/package.xml index 4908dbb4467be..3336278c761c6 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/package.xml +++ b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/package.xml @@ -15,7 +15,6 @@ autoware_cmake - autoware_lanelet2_extension autoware_motion_utils autoware_motion_velocity_planner_common autoware_perception_msgs diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/calculate_slowdown_points.cpp b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/calculate_slowdown_points.cpp index 8b03fa66eab55..b7cd55ce2e642 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/calculate_slowdown_points.cpp +++ b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/calculate_slowdown_points.cpp @@ -15,74 +15,117 @@ #include "calculate_slowdown_points.hpp" #include "footprint.hpp" +#include "types.hpp" #include #include +#include -#include +#include +#include +#include +#include + +#include #include +#include +#include +#include + namespace autoware::motion_velocity_planner::out_of_lane { -bool can_decelerate( - const EgoData & ego_data, const TrajectoryPoint & point, const double target_vel) +std::optional calculate_last_avoiding_pose( + const std::vector & trajectory, + const universe_utils::Polygon2d & footprint, const lanelet::BasicPolygons2d & polygons_to_avoid, + const double min_arc_length, const double max_arc_length, const double precision) { - // TODO(Maxime): use the library function - const auto dist_ahead_of_ego = autoware::motion_utils::calcSignedArcLength( - ego_data.trajectory_points, ego_data.pose.position, point.pose.position); - const auto acc_to_target_vel = - (ego_data.velocity * ego_data.velocity - target_vel * target_vel) / (2 * dist_ahead_of_ego); - return acc_to_target_vel < std::abs(ego_data.max_decel); + geometry_msgs::msg::Pose interpolated_pose{}; + bool is_avoiding_pose = false; + + auto from = min_arc_length; + auto to = max_arc_length; + while (to - from > precision) { + auto l = from + 0.5 * (to - from); + interpolated_pose = motion_utils::calcInterpolatedPose(trajectory, l); + const auto interpolated_footprint = project_to_pose(footprint, interpolated_pose); + is_avoiding_pose = + std::all_of(polygons_to_avoid.begin(), polygons_to_avoid.end(), [&](const auto & polygon) { + return boost::geometry::disjoint(interpolated_footprint, polygon); + }); + if (is_avoiding_pose) { + from = l; + } else { + to = l; + } + } + if (is_avoiding_pose) { + return interpolated_pose; + } + return std::nullopt; } -std::optional calculate_last_in_lane_pose( - const EgoData & ego_data, const Slowdown & decision, - const autoware::universe_utils::Polygon2d & footprint, - const std::optional & prev_slowdown_point, const PlannerParam & params) +std::optional calculate_pose_ahead_of_collision( + const EgoData & ego_data, const OutOfLanePoint & point_to_avoid, + const universe_utils::Polygon2d & footprint, const double precision) { - const auto from_arc_length = autoware::motion_utils::calcSignedArcLength( - ego_data.trajectory_points, 0, ego_data.first_trajectory_idx); - const auto to_arc_length = autoware::motion_utils::calcSignedArcLength( - ego_data.trajectory_points, 0, decision.target_trajectory_idx); - TrajectoryPoint interpolated_point; - for (auto l = to_arc_length - params.precision; l > from_arc_length; l -= params.precision) { - // TODO(Maxime): binary search - interpolated_point.pose = - autoware::motion_utils::calcInterpolatedPose(ego_data.trajectory_points, l); - const auto respect_decel_limit = - !params.skip_if_over_max_decel || prev_slowdown_point || - can_decelerate(ego_data, interpolated_point, decision.velocity); - const auto interpolated_footprint = project_to_pose(footprint, interpolated_point.pose); - const auto is_overlap_lane = boost::geometry::overlaps( - interpolated_footprint, decision.lane_to_avoid.polygon2d().basicPolygon()); - const auto is_overlap_extra_lane = - prev_slowdown_point && - boost::geometry::overlaps( - interpolated_footprint, - prev_slowdown_point->slowdown.lane_to_avoid.polygon2d().basicPolygon()); - if (respect_decel_limit && !is_overlap_lane && !is_overlap_extra_lane) - return interpolated_point; + const auto first_avoid_arc_length = motion_utils::calcSignedArcLength( + ego_data.trajectory_points, 0UL, point_to_avoid.trajectory_index); + for (auto l = first_avoid_arc_length - precision; l >= ego_data.min_stop_arc_length; + l -= precision) { + const auto interpolated_pose = + motion_utils::calcInterpolatedPose(ego_data.trajectory_points, l); + const auto interpolated_footprint = project_to_pose(footprint, interpolated_pose); + if (boost::geometry::intersects(interpolated_footprint, point_to_avoid.outside_ring)) { + return interpolated_pose; + } } return std::nullopt; } -std::optional calculate_slowdown_point( - const EgoData & ego_data, const std::vector & decisions, - const std::optional & prev_slowdown_point, PlannerParam params) +std::optional calculate_slowdown_point( + const EgoData & ego_data, const OutOfLaneData & out_of_lane_data, PlannerParam params) { + const auto point_to_avoid_it = std::find_if( + out_of_lane_data.outside_points.cbegin(), out_of_lane_data.outside_points.cend(), + [&](const auto & p) { return p.to_avoid; }); + if (point_to_avoid_it == out_of_lane_data.outside_points.cend()) { + return std::nullopt; + } + const auto raw_footprint = make_base_footprint(params, true); // ignore extra footprint offsets + const auto base_footprint = make_base_footprint(params); params.extra_front_offset += params.lon_dist_buffer; params.extra_right_offset += params.lat_dist_buffer; params.extra_left_offset += params.lat_dist_buffer; - const auto base_footprint = make_base_footprint(params); + const auto expanded_footprint = make_base_footprint(params); // with added distance buffers + lanelet::BasicPolygons2d polygons_to_avoid; + for (const auto & ll : point_to_avoid_it->overlapped_lanelets) { + polygons_to_avoid.push_back(ll.polygon2d().basicPolygon()); + } + // points are ordered by trajectory index so the first one has the smallest index and arc length + const auto first_outside_idx = out_of_lane_data.outside_points.front().trajectory_index; + const auto first_outside_arc_length = + motion_utils::calcSignedArcLength(ego_data.trajectory_points, 0UL, first_outside_idx); + std::optional slowdown_point; // search for the first slowdown decision for which a stop point can be inserted - for (const auto & decision : decisions) { - const auto last_in_lane_pose = - calculate_last_in_lane_pose(ego_data, decision, base_footprint, prev_slowdown_point, params); - if (last_in_lane_pose) return SlowdownToInsert{decision, *last_in_lane_pose}; + // we first try to use the expanded footprint (distance buffers + extra footprint offsets) + for (const auto & footprint : {expanded_footprint, base_footprint, raw_footprint}) { + slowdown_point = calculate_last_avoiding_pose( + ego_data.trajectory_points, footprint, polygons_to_avoid, ego_data.min_stop_arc_length, + first_outside_arc_length, params.precision); + if (slowdown_point) { + break; + } } - return std::nullopt; + // fallback to simply stopping ahead of the collision to avoid (regardless of being out of lane or + // not) + if (!slowdown_point) { + slowdown_point = calculate_pose_ahead_of_collision( + ego_data, *point_to_avoid_it, expanded_footprint, params.precision); + } + return slowdown_point; } } // namespace autoware::motion_velocity_planner::out_of_lane diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/calculate_slowdown_points.hpp b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/calculate_slowdown_points.hpp index 145f21c94c0d0..394334d434558 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/calculate_slowdown_points.hpp +++ b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/calculate_slowdown_points.hpp @@ -19,40 +19,39 @@ #include +#include + #include -#include namespace autoware::motion_velocity_planner::out_of_lane { - -/// @brief estimate whether ego can decelerate without breaking the deceleration limit -/// @details assume ego wants to reach the target point at the target velocity -/// @param [in] ego_data ego data -/// @param [in] point target point -/// @param [in] target_vel target_velocity -bool can_decelerate( - const EgoData & ego_data, const TrajectoryPoint & point, const double target_vel); - -/// @brief calculate the last pose along the trajectory where ego does not overlap the lane to avoid +/// @brief calculate the last pose along the trajectory where ego does not go out of lane /// @param [in] ego_data ego data -/// @param [in] decision the input decision (i.e., which lane to avoid and at what speed) /// @param [in] footprint the ego footprint -/// @param [in] prev_slowdown_point previous slowdown point. If set, ignore deceleration limits -/// @param [in] params parameters +/// @param [in] min_arc_length minimum arc length for the search +/// @param [in] max_arc_length maximum arc length for the search +/// @param [in] precision [m] search precision /// @return the last pose that is not out of lane (if found) -std::optional calculate_last_in_lane_pose( - const EgoData & ego_data, const Slowdown & decision, - const autoware::universe_utils::Polygon2d & footprint, - const std::optional & prev_slowdown_point, const PlannerParam & params); +std::optional calculate_last_in_lane_pose( + const EgoData & ego_data, const autoware::universe_utils::Polygon2d & footprint, + const double min_arc_length, const double max_arc_length, const double precision); + +/// @brief calculate the slowdown pose just ahead of a point to avoid +/// @param ego_data ego data (trajectory, velocity, etc) +/// @param point_to_avoid the point to avoid +/// @param footprint the ego footprint +/// @param params parameters +/// @return optional slowdown point to insert in the trajectory +std::optional calculate_pose_ahead_of_collision( + const EgoData & ego_data, const OutOfLanePoint & point_to_avoid, + const universe_utils::Polygon2d & footprint, const double precision); /// @brief calculate the slowdown point to insert in the trajectory /// @param ego_data ego data (trajectory, velocity, etc) -/// @param decisions decision (before which point to stop, what lane to avoid entering, etc) -/// @param prev_slowdown_point previously calculated slowdown point +/// @param out_of_lane_data data about out of lane areas /// @param params parameters /// @return optional slowdown point to insert in the trajectory -std::optional calculate_slowdown_point( - const EgoData & ego_data, const std::vector & decisions, - const std::optional & prev_slowdown_point, PlannerParam params); +std::optional calculate_slowdown_point( + const EgoData & ego_data, const OutOfLaneData & out_of_lane_data, PlannerParam params); } // namespace autoware::motion_velocity_planner::out_of_lane #endif // CALCULATE_SLOWDOWN_POINTS_HPP_ diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/debug.cpp b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/debug.cpp index d9a85e266f790..cb29f9b3b42ea 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/debug.cpp +++ b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/debug.cpp @@ -16,12 +16,22 @@ #include "types.hpp" +#include +#include +#include #include +#include +#include #include +#include + +#include +#include +#include + #include -#include namespace autoware::motion_velocity_planner::out_of_lane::debug { @@ -36,209 +46,167 @@ visualization_msgs::msg::Marker get_base_marker() base_marker.id = 0; base_marker.type = visualization_msgs::msg::Marker::LINE_STRIP; base_marker.action = visualization_msgs::msg::Marker::ADD; - base_marker.pose.position = autoware::universe_utils::createMarkerPosition(0.0, 0.0, 0); - base_marker.pose.orientation = autoware::universe_utils::createMarkerOrientation(0, 0, 0, 1.0); - base_marker.scale = autoware::universe_utils::createMarkerScale(0.1, 0.1, 0.1); - base_marker.color = autoware::universe_utils::createMarkerColor(1.0, 0.1, 0.1, 0.5); + base_marker.pose.position = universe_utils::createMarkerPosition(0.0, 0.0, 0); + base_marker.pose.orientation = universe_utils::createMarkerOrientation(0, 0, 0, 1.0); + base_marker.scale = universe_utils::createMarkerScale(0.1, 0.1, 0.1); + base_marker.color = universe_utils::createMarkerColor(1.0, 0.1, 0.1, 0.5); return base_marker; } -void add_footprint_markers( +void add_polygons_markers( visualization_msgs::msg::MarkerArray & debug_marker_array, - const lanelet::BasicPolygons2d & footprints, const double z, const size_t prev_nb) + const lanelet::BasicPolygons2d & polygons, const double z, const std::string & ns) { auto debug_marker = get_base_marker(); - debug_marker.ns = "footprints"; - for (const auto & f : footprints) { - debug_marker.points.clear(); - for (const auto & p : f) - debug_marker.points.push_back( - autoware::universe_utils::createMarkerPosition(p.x(), p.y(), z + 0.5)); - debug_marker.points.push_back(debug_marker.points.front()); - debug_marker_array.markers.push_back(debug_marker); - debug_marker.id++; - debug_marker.points.clear(); + debug_marker.ns = ns; + debug_marker.type = visualization_msgs::msg::Marker::LINE_LIST; + for (const auto & f : polygons) { + boost::geometry::for_each_segment(f, [&](const auto & s) { + const auto & [p1, p2] = s; + debug_marker.points.push_back(universe_utils::createMarkerPosition(p1.x(), p1.y(), z + 0.5)); + debug_marker.points.push_back(universe_utils::createMarkerPosition(p2.x(), p2.y(), z + 0.5)); + }); } - for (; debug_marker.id < static_cast(prev_nb); ++debug_marker.id) - debug_marker_array.markers.push_back(debug_marker); + debug_marker_array.markers.push_back(debug_marker); } void add_current_overlap_marker( visualization_msgs::msg::MarkerArray & debug_marker_array, - const lanelet::BasicPolygon2d & current_footprint, - const lanelet::ConstLanelets & current_overlapped_lanelets, const double z, const size_t prev_nb) + const lanelet::BasicPolygon2d & current_footprint, const double z) { auto debug_marker = get_base_marker(); debug_marker.ns = "current_overlap"; debug_marker.points.clear(); for (const auto & p : current_footprint) - debug_marker.points.push_back(autoware::universe_utils::createMarkerPosition(p.x(), p.y(), z)); + debug_marker.points.push_back(universe_utils::createMarkerPosition(p.x(), p.y(), z)); if (!debug_marker.points.empty()) debug_marker.points.push_back(debug_marker.points.front()); - if (current_overlapped_lanelets.empty()) - debug_marker.color = autoware::universe_utils::createMarkerColor(0.1, 1.0, 0.1, 0.5); - else - debug_marker.color = autoware::universe_utils::createMarkerColor(1.0, 0.1, 0.1, 0.5); + debug_marker.color = universe_utils::createMarkerColor(1.0, 0.1, 0.1, 0.5); debug_marker_array.markers.push_back(debug_marker); debug_marker.id++; - for (const auto & ll : current_overlapped_lanelets) { - debug_marker.points.clear(); - for (const auto & p : ll.polygon3d()) - debug_marker.points.push_back( - autoware::universe_utils::createMarkerPosition(p.x(), p.y(), p.z() + 0.5)); - debug_marker.points.push_back(debug_marker.points.front()); - debug_marker_array.markers.push_back(debug_marker); - debug_marker.id++; - } - for (; debug_marker.id < static_cast(prev_nb); ++debug_marker.id) - debug_marker_array.markers.push_back(debug_marker); -} - -void add_lanelet_markers( - visualization_msgs::msg::MarkerArray & debug_marker_array, - const lanelet::ConstLanelets & lanelets, const std::string & ns, - const std_msgs::msg::ColorRGBA & color, const size_t prev_nb) -{ - auto debug_marker = get_base_marker(); - debug_marker.ns = ns; - debug_marker.color = color; - for (const auto & ll : lanelets) { - debug_marker.points.clear(); - - // add a small z offset to draw above the lanelet map - for (const auto & p : ll.polygon3d()) - debug_marker.points.push_back( - autoware::universe_utils::createMarkerPosition(p.x(), p.y(), p.z() + 0.1)); - debug_marker.points.push_back(debug_marker.points.front()); - debug_marker_array.markers.push_back(debug_marker); - debug_marker.id++; - } - debug_marker.action = debug_marker.DELETE; - for (; debug_marker.id < static_cast(prev_nb); ++debug_marker.id) - debug_marker_array.markers.push_back(debug_marker); } -void add_range_markers( - visualization_msgs::msg::MarkerArray & debug_marker_array, const OverlapRanges & ranges, - const std::vector & trajectory_points, - const size_t first_ego_idx, const double z, const size_t prev_nb) +void add_ttc_markers( + visualization_msgs::msg::MarkerArray & debug_marker_array, const EgoData & ego_data, + const OutOfLaneData & out_of_lane_data, const size_t prev_nb) { auto debug_marker = get_base_marker(); - debug_marker.ns = "ranges"; - debug_marker.color = autoware::universe_utils::createMarkerColor(0.2, 0.9, 0.1, 0.5); - for (const auto & range : ranges) { - debug_marker.points.clear(); - debug_marker.points.push_back( - trajectory_points[first_ego_idx + range.entering_trajectory_idx].pose.position); - debug_marker.points.push_back(autoware::universe_utils::createMarkerPosition( - range.entering_point.x(), range.entering_point.y(), z)); - for (const auto & overlap : range.debug.overlaps) { - debug_marker.points.push_back(autoware::universe_utils::createMarkerPosition( - overlap.min_overlap_point.x(), overlap.min_overlap_point.y(), z)); - debug_marker.points.push_back(autoware::universe_utils::createMarkerPosition( - overlap.max_overlap_point.x(), overlap.max_overlap_point.y(), z)); + debug_marker.type = visualization_msgs::msg::Marker::TEXT_VIEW_FACING; + debug_marker.scale.z = 0.5; + debug_marker.ns = "ttcs"; + for (const auto & p : out_of_lane_data.outside_points) { + if (p.to_avoid) { + debug_marker.color.r = 1.0; + debug_marker.color.g = 0.0; + } else { + debug_marker.color.r = 0.0; + debug_marker.color.g = 1.0; + } + if (p.ttc) { + debug_marker.pose = ego_data.trajectory_points[p.trajectory_index].pose; + debug_marker.text = std::to_string(*p.ttc); + debug_marker_array.markers.push_back(debug_marker); + debug_marker.id++; } - debug_marker.points.push_back(autoware::universe_utils::createMarkerPosition( - range.exiting_point.x(), range.exiting_point.y(), z)); - debug_marker.points.push_back( - trajectory_points[first_ego_idx + range.exiting_trajectory_idx].pose.position); - debug_marker_array.markers.push_back(debug_marker); - debug_marker.id++; } - debug_marker.action = debug_marker.DELETE; - for (; debug_marker.id < static_cast(prev_nb); ++debug_marker.id) + debug_marker.action = visualization_msgs::msg::Marker::DELETE; + for (; debug_marker.id < static_cast(prev_nb); ++debug_marker.id) { debug_marker_array.markers.push_back(debug_marker); + } } - -void add_decision_markers( - visualization_msgs::msg::MarkerArray & debug_marker_array, const OverlapRanges & ranges, +size_t add_stop_line_markers( + visualization_msgs::msg::MarkerArray & debug_marker_array, const StopLinesRtree & rtree, const double z, const size_t prev_nb) { auto debug_marker = get_base_marker(); - debug_marker.action = debug_marker.ADD; - debug_marker.id = 0; - debug_marker.ns = "decisions"; - debug_marker.color = autoware::universe_utils::createMarkerColor(0.9, 0.1, 0.1, 1.0); - debug_marker.points.clear(); - for (const auto & range : ranges) { - debug_marker.type = debug_marker.LINE_STRIP; - if (range.debug.decision) { - debug_marker.points.push_back(autoware::universe_utils::createMarkerPosition( - range.entering_point.x(), range.entering_point.y(), z)); - debug_marker.points.push_back( - range.debug.object->kinematics.initial_pose_with_covariance.pose.position); + debug_marker.type = visualization_msgs::msg::Marker::LINE_STRIP; + debug_marker.ns = "stop_lines"; + const auto & add_lanelets_markers = [&](const auto & lanelets) { + for (const auto & ll : lanelets) { + debug_marker.points.clear(); + for (const auto & p : ll.polygon2d().basicPolygon()) { + debug_marker.points.push_back(universe_utils::createMarkerPosition(p.x(), p.y(), z + 0.5)); + } + debug_marker.points.push_back(debug_marker.points.front()); + debug_marker_array.markers.push_back(debug_marker); + ++debug_marker.id; } - debug_marker_array.markers.push_back(debug_marker); + }; + for (const auto & [_, stop_line] : rtree) { debug_marker.points.clear(); - debug_marker.id++; - - debug_marker.type = debug_marker.TEXT_VIEW_FACING; - debug_marker.pose.position.x = range.entering_point.x(); - debug_marker.pose.position.y = range.entering_point.y(); - debug_marker.pose.position.z = z; - std::stringstream ss; - ss << "Ego: " << range.debug.times.ego.enter_time << " - " << range.debug.times.ego.exit_time - << "\n"; - if (range.debug.object) { - debug_marker.pose.position.x += - range.debug.object->kinematics.initial_pose_with_covariance.pose.position.x; - debug_marker.pose.position.y += - range.debug.object->kinematics.initial_pose_with_covariance.pose.position.y; - debug_marker.pose.position.x /= 2; - debug_marker.pose.position.y /= 2; - ss << "Obj: " << range.debug.times.object.enter_time << " - " - << range.debug.times.object.exit_time << "\n"; + debug_marker.color.r = 1.0; + for (const auto & p : stop_line.stop_line) { + debug_marker.points.push_back(universe_utils::createMarkerPosition(p.x(), p.y(), z + 0.5)); } - debug_marker.scale.z = 1.0; - debug_marker.text = ss.str(); debug_marker_array.markers.push_back(debug_marker); - debug_marker.id++; + ++debug_marker.id; + debug_marker.color.r = 0.0; + add_lanelets_markers(stop_line.lanelets); } - debug_marker.action = debug_marker.DELETE; + const auto max_id = debug_marker.id; + debug_marker.action = visualization_msgs::msg::Marker::DELETE; for (; debug_marker.id < static_cast(prev_nb); ++debug_marker.id) { debug_marker_array.markers.push_back(debug_marker); } + return max_id; } } // namespace -visualization_msgs::msg::MarkerArray create_debug_marker_array(const DebugData & debug_data) + +visualization_msgs::msg::MarkerArray create_debug_marker_array( + const EgoData & ego_data, const OutOfLaneData & out_of_lane_data, + const autoware_perception_msgs::msg::PredictedObjects & objects, DebugData & debug_data) { - constexpr auto z = 0.0; + const auto z = ego_data.pose.position.z; visualization_msgs::msg::MarkerArray debug_marker_array; - debug::add_footprint_markers( - debug_marker_array, debug_data.footprints, z, debug_data.prev_footprints); - debug::add_current_overlap_marker( - debug_marker_array, debug_data.current_footprint, debug_data.current_overlapped_lanelets, z, - debug_data.prev_current_overlapped_lanelets); - debug::add_lanelet_markers( - debug_marker_array, debug_data.trajectory_lanelets, "trajectory_lanelets", - autoware::universe_utils::createMarkerColor(0.1, 0.1, 1.0, 0.5), - debug_data.prev_trajectory_lanelets); - debug::add_lanelet_markers( - debug_marker_array, debug_data.ignored_lanelets, "ignored_lanelets", - autoware::universe_utils::createMarkerColor(0.7, 0.7, 0.2, 0.5), - debug_data.prev_ignored_lanelets); - debug::add_lanelet_markers( - debug_marker_array, debug_data.other_lanelets, "other_lanelets", - autoware::universe_utils::createMarkerColor(0.4, 0.4, 0.7, 0.5), - debug_data.prev_other_lanelets); - debug::add_range_markers( - debug_marker_array, debug_data.ranges, debug_data.trajectory_points, - debug_data.first_trajectory_idx, z, debug_data.prev_ranges); - debug::add_decision_markers(debug_marker_array, debug_data.ranges, z, debug_data.prev_ranges); + // add_polygons_markers(debug_marker_array, ego_data.trajectory_footprints, z, "footprints"); + + lanelet::BasicPolygons2d drivable_lane_polygons; + for (const auto & poly : ego_data.drivable_lane_polygons) { + drivable_lane_polygons.push_back(poly.outer); + } + add_polygons_markers(debug_marker_array, drivable_lane_polygons, z, "ego_lane"); + + lanelet::BasicPolygons2d out_of_lane_areas; + for (const auto & p : out_of_lane_data.outside_points) { + out_of_lane_areas.push_back(p.outside_ring); + } + add_polygons_markers(debug_marker_array, out_of_lane_areas, z, "out_of_lane_areas"); + + lanelet::BasicPolygons2d object_polygons; + for (const auto & o : objects.objects) { + for (const auto & path : o.kinematics.predicted_paths) { + for (const auto & pose : path.path) { + // limit the draw distance to improve performance + if (universe_utils::calcDistance2d(pose, ego_data.pose) < 50.0) { + const auto poly = universe_utils::toPolygon2d(pose, o.shape).outer(); + lanelet::BasicPolygon2d ll_poly(poly.begin(), poly.end()); + object_polygons.push_back(ll_poly); + } + } + } + } + add_polygons_markers(debug_marker_array, object_polygons, z, "objects"); + + add_current_overlap_marker(debug_marker_array, ego_data.current_footprint, z); + + add_ttc_markers(debug_marker_array, ego_data, out_of_lane_data, debug_data.prev_ttcs); + debug_data.prev_ttcs = out_of_lane_data.outside_points.size(); + + debug_data.prev_stop_line = add_stop_line_markers( + debug_marker_array, ego_data.stop_lines_rtree, z, debug_data.prev_stop_line); + return debug_marker_array; } -autoware::motion_utils::VirtualWalls create_virtual_walls( - const DebugData & debug_data, const PlannerParam & params) +motion_utils::VirtualWalls create_virtual_walls( + const geometry_msgs::msg::Pose & pose, const bool stop, const PlannerParam & params) { - autoware::motion_utils::VirtualWalls virtual_walls; - autoware::motion_utils::VirtualWall wall; + motion_utils::VirtualWalls virtual_walls; + motion_utils::VirtualWall wall; wall.text = "out_of_lane"; wall.longitudinal_offset = params.front_offset; - wall.style = autoware::motion_utils::VirtualWallType::slowdown; - for (const auto & slowdown : debug_data.slowdowns) { - wall.pose = slowdown.point.pose; - virtual_walls.push_back(wall); - } + wall.style = stop ? motion_utils::VirtualWallType::stop : motion_utils::VirtualWallType::slowdown; + wall.pose = pose; + virtual_walls.push_back(wall); return virtual_walls; } } // namespace autoware::motion_velocity_planner::out_of_lane::debug diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/debug.hpp b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/debug.hpp index ea225442443c8..dc1f942655612 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/debug.hpp +++ b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/debug.hpp @@ -23,9 +23,11 @@ namespace autoware::motion_velocity_planner::out_of_lane::debug { -visualization_msgs::msg::MarkerArray create_debug_marker_array(const DebugData & debug_data); -autoware::motion_utils::VirtualWalls create_virtual_walls( - const DebugData & debug_data, const PlannerParam & params); +visualization_msgs::msg::MarkerArray create_debug_marker_array( + const EgoData & ego_data, const OutOfLaneData & out_of_lane_data, + const autoware_perception_msgs::msg::PredictedObjects & objects, DebugData & debug_data); +motion_utils::VirtualWalls create_virtual_walls( + const geometry_msgs::msg::Pose & pose, const bool stop, const PlannerParam & params); } // namespace autoware::motion_velocity_planner::out_of_lane::debug #endif // DEBUG_HPP_ diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/decisions.cpp b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/decisions.cpp deleted file mode 100644 index 2be4c89b02779..0000000000000 --- a/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/decisions.cpp +++ /dev/null @@ -1,389 +0,0 @@ -// 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 "decisions.hpp" - -#include -#include -#include -#include - -#include - -#include -#include -#include - -#include -#include -#include -#include -namespace autoware::motion_velocity_planner::out_of_lane -{ -double distance_along_trajectory(const EgoData & ego_data, const size_t target_idx) -{ - return autoware::motion_utils::calcSignedArcLength( - ego_data.trajectory_points, ego_data.pose.position, ego_data.first_trajectory_idx + target_idx); -} - -double time_along_trajectory( - const EgoData & ego_data, const size_t target_idx, const double min_velocity) -{ - const auto dist = distance_along_trajectory(ego_data, target_idx); - const auto v = std::max( - std::max(ego_data.velocity, min_velocity), - ego_data.trajectory_points[ego_data.first_trajectory_idx + target_idx] - .longitudinal_velocity_mps * - 0.5); - return dist / v; -} - -bool object_is_incoming( - const lanelet::BasicPoint2d & object_position, - const std::shared_ptr route_handler, - const lanelet::ConstLanelet & lane) -{ - const auto lanelets = route_handler->getPrecedingLaneletSequence(lane, 50.0); - if (boost::geometry::within(object_position, lane.polygon2d().basicPolygon())) return true; - for (const auto & lls : lanelets) - for (const auto & ll : lls) - if (boost::geometry::within(object_position, ll.polygon2d().basicPolygon())) return true; - return false; -} - -std::optional> object_time_to_range( - const autoware_perception_msgs::msg::PredictedObject & object, const OverlapRange & range, - const std::shared_ptr route_handler, const double dist_buffer, - const rclcpp::Logger & logger) -{ - // skip the dynamic object if it is not in a lane preceding the overlapped lane - // lane changes are intentionally not considered - const auto object_point = lanelet::BasicPoint2d( - object.kinematics.initial_pose_with_covariance.pose.position.x, - object.kinematics.initial_pose_with_covariance.pose.position.y); - if (!object_is_incoming(object_point, route_handler, range.lane)) return {}; - - const auto max_deviation = object.shape.dimensions.y + range.inside_distance + dist_buffer; - const auto max_lon_deviation = object.shape.dimensions.x / 2.0; - auto worst_enter_time = std::optional(); - auto worst_exit_time = std::optional(); - - for (const auto & predicted_path : object.kinematics.predicted_paths) { - const auto unique_path_points = - autoware::motion_utils::removeOverlapPoints(predicted_path.path); - if (unique_path_points.size() < 2) continue; - const auto time_step = rclcpp::Duration(predicted_path.time_step).seconds(); - const auto enter_point = - geometry_msgs::msg::Point().set__x(range.entering_point.x()).set__y(range.entering_point.y()); - const auto enter_segment_idx = - autoware::motion_utils::findNearestSegmentIndex(unique_path_points, enter_point); - const auto enter_offset = autoware::motion_utils::calcLongitudinalOffsetToSegment( - unique_path_points, enter_segment_idx, enter_point); - const auto enter_lat_dist = std::abs(autoware::motion_utils::calcLateralOffset( - unique_path_points, enter_point, enter_segment_idx)); - const auto enter_segment_length = autoware::universe_utils::calcDistance2d( - unique_path_points[enter_segment_idx], unique_path_points[enter_segment_idx + 1]); - const auto enter_offset_ratio = enter_offset / enter_segment_length; - const auto enter_time = - static_cast(enter_segment_idx) * time_step + enter_offset_ratio * time_step; - - const auto exit_point = - geometry_msgs::msg::Point().set__x(range.exiting_point.x()).set__y(range.exiting_point.y()); - const auto exit_segment_idx = - autoware::motion_utils::findNearestSegmentIndex(unique_path_points, exit_point); - const auto exit_offset = autoware::motion_utils::calcLongitudinalOffsetToSegment( - unique_path_points, exit_segment_idx, exit_point); - const auto exit_lat_dist = std::abs( - autoware::motion_utils::calcLateralOffset(unique_path_points, exit_point, exit_segment_idx)); - const auto exit_segment_length = autoware::universe_utils::calcDistance2d( - unique_path_points[exit_segment_idx], unique_path_points[exit_segment_idx + 1]); - const auto exit_offset_ratio = exit_offset / static_cast(exit_segment_length); - const auto exit_time = - static_cast(exit_segment_idx) * time_step + exit_offset_ratio * time_step; - - RCLCPP_DEBUG( - logger, "\t\t\tPredicted path (time step = %2.2fs): enter @ %2.2fs, exit @ %2.2fs", time_step, - enter_time, exit_time); - // predicted path is too far from the overlapping range to be relevant - const auto is_far_from_entering_point = enter_lat_dist > max_deviation; - const auto is_far_from_exiting_point = exit_lat_dist > max_deviation; - if (is_far_from_entering_point && is_far_from_exiting_point) { - RCLCPP_DEBUG( - logger, - " * far_from_enter (%d) = %2.2fm | far_from_exit (%d) = %2.2fm | max_dev = %2.2fm\n", - is_far_from_entering_point, enter_lat_dist, is_far_from_exiting_point, exit_lat_dist, - max_deviation); - continue; - } - const auto is_last_predicted_path_point = - (exit_segment_idx + 2 == unique_path_points.size() || - enter_segment_idx + 2 == unique_path_points.size()); - const auto does_not_reach_overlap = - is_last_predicted_path_point && (std::min(exit_offset, enter_offset) > max_lon_deviation); - if (does_not_reach_overlap) { - RCLCPP_DEBUG( - logger, " * does not reach the overlap = %2.2fm | max_dev = %2.2fm\n", - std::min(exit_offset, enter_offset), max_lon_deviation); - continue; - } - - const auto same_driving_direction_as_ego = enter_time < exit_time; - if (same_driving_direction_as_ego) { - worst_enter_time = worst_enter_time ? std::min(*worst_enter_time, enter_time) : enter_time; - worst_exit_time = worst_exit_time ? std::max(*worst_exit_time, exit_time) : exit_time; - } else { - worst_enter_time = worst_enter_time ? std::max(*worst_enter_time, enter_time) : enter_time; - worst_exit_time = worst_exit_time ? std::min(*worst_exit_time, exit_time) : exit_time; - } - } - if (worst_enter_time && worst_exit_time) { - RCLCPP_DEBUG( - logger, "\t\t\t * found enter/exit time [%2.2f, %2.2f]\n", *worst_enter_time, - *worst_exit_time); - return std::make_pair(*worst_enter_time, *worst_exit_time); - } - RCLCPP_DEBUG(logger, "\t\t\t * enter/exit time not found\n"); - return {}; -} - -std::optional> object_time_to_range( - const autoware_perception_msgs::msg::PredictedObject & object, const OverlapRange & range, - const DecisionInputs & inputs, const rclcpp::Logger & logger) -{ - const auto & p = object.kinematics.initial_pose_with_covariance.pose.position; - const auto object_point = lanelet::BasicPoint2d(p.x, p.y); - const auto half_size = object.shape.dimensions.x / 2.0; - lanelet::ConstLanelets object_lanelets; - for (const auto & ll : inputs.lanelets) - if (boost::geometry::within(object_point, ll.polygon2d().basicPolygon())) - object_lanelets.push_back(ll); - - geometry_msgs::msg::Pose pose; - pose.position.set__x(range.entering_point.x()).set__y(range.entering_point.y()); - const auto range_enter_length = lanelet::utils::getArcCoordinates({range.lane}, pose).length; - pose.position.set__x(range.exiting_point.x()).set__y(range.exiting_point.y()); - const auto range_exit_length = lanelet::utils::getArcCoordinates({range.lane}, pose).length; - const auto range_size = std::abs(range_enter_length - range_exit_length); - auto worst_enter_dist = std::optional(); - auto worst_exit_dist = std::optional(); - for (const auto & lane : object_lanelets) { - const auto path = inputs.route_handler->getRoutingGraphPtr()->shortestPath(lane, range.lane); - RCLCPP_DEBUG( - logger, "\t\t\tPath ? %d [from %ld to %ld]\n", path.has_value(), lane.id(), range.lane.id()); - if (path) { - lanelet::ConstLanelets lls; - for (const auto & ll : *path) lls.push_back(ll); - pose.position.set__x(object_point.x()).set__y(object_point.y()); - const auto object_curr_length = lanelet::utils::getArcCoordinates(lls, pose).length; - pose.position.set__x(range.entering_point.x()).set__y(range.entering_point.y()); - const auto enter_dist = - lanelet::utils::getArcCoordinates(lls, pose).length - object_curr_length; - pose.position.set__x(range.exiting_point.x()).set__y(range.exiting_point.y()); - const auto exit_dist = - lanelet::utils::getArcCoordinates(lls, pose).length - object_curr_length; - RCLCPP_DEBUG( - logger, "\t\t\t%2.2f -> [%2.2f(%2.2f, %2.2f) - %2.2f(%2.2f, %2.2f)]\n", object_curr_length, - enter_dist, range.entering_point.x(), range.entering_point.y(), exit_dist, - range.exiting_point.x(), range.exiting_point.y()); - const auto already_entered_range = std::abs(enter_dist - exit_dist) > range_size * 2.0; - if (already_entered_range) continue; - // multiple paths to the overlap -> be conservative and use the "worst" case - // "worst" = min/max arc length depending on if the lane is running opposite to the ego - // trajectory - const auto is_opposite = enter_dist > exit_dist; - if (!worst_enter_dist) - worst_enter_dist = enter_dist; - else if (is_opposite) - worst_enter_dist = std::max(*worst_enter_dist, enter_dist); - else - worst_enter_dist = std::min(*worst_enter_dist, enter_dist); - if (!worst_exit_dist) - worst_exit_dist = exit_dist; - else if (is_opposite) - worst_exit_dist = std::max(*worst_exit_dist, exit_dist); - else - worst_exit_dist = std::min(*worst_exit_dist, exit_dist); - } - } - if (worst_enter_dist && worst_exit_dist) { - const auto v = object.kinematics.initial_twist_with_covariance.twist.linear.x; - return std::make_pair((*worst_enter_dist - half_size) / v, (*worst_exit_dist + half_size) / v); - } - return {}; -} - -bool threshold_condition(const RangeTimes & range_times, const PlannerParam & params) -{ - const auto enter_within_threshold = - range_times.object.enter_time > 0.0 && range_times.object.enter_time < params.time_threshold; - const auto exit_within_threshold = - range_times.object.exit_time > 0.0 && range_times.object.exit_time < params.time_threshold; - return enter_within_threshold || exit_within_threshold; -} - -bool intervals_condition( - const RangeTimes & range_times, const PlannerParam & params, const rclcpp::Logger & logger) -{ - const auto opposite_way_condition = [&]() -> bool { - const auto ego_exits_before_object_enters = - range_times.ego.exit_time + params.intervals_ego_buffer < - range_times.object.enter_time + params.intervals_obj_buffer; - RCLCPP_DEBUG( - logger, - "\t\t\t[Intervals] (opposite way) ego exit %2.2fs < obj enter %2.2fs ? -> should not " - "enter = %d\n", - range_times.ego.exit_time + params.intervals_ego_buffer, - range_times.object.enter_time + params.intervals_obj_buffer, ego_exits_before_object_enters); - return ego_exits_before_object_enters; - }; - const auto same_way_condition = [&]() -> bool { - const auto object_enters_during_overlap = - range_times.ego.enter_time - params.intervals_ego_buffer < - range_times.object.enter_time + params.intervals_obj_buffer && - range_times.object.enter_time - params.intervals_obj_buffer - range_times.ego.exit_time < - range_times.ego.exit_time + params.intervals_ego_buffer; - const auto object_exits_during_overlap = - range_times.ego.enter_time - params.intervals_ego_buffer < - range_times.object.exit_time + params.intervals_obj_buffer && - range_times.object.exit_time - params.intervals_obj_buffer - range_times.ego.exit_time < - range_times.ego.exit_time + params.intervals_ego_buffer; - RCLCPP_DEBUG( - logger, - "\t\t\t[Intervals] obj enters during overlap ? %d OR obj exits during overlap %d ? -> should " - "not " - "enter = %d\n", - object_enters_during_overlap, object_exits_during_overlap, - object_enters_during_overlap || object_exits_during_overlap); - return object_enters_during_overlap || object_exits_during_overlap; - }; - - const auto object_is_going_same_way = - range_times.object.enter_time < range_times.object.exit_time; - return (object_is_going_same_way && same_way_condition()) || - (!object_is_going_same_way && opposite_way_condition()); -} - -bool ttc_condition( - const RangeTimes & range_times, const PlannerParam & params, const rclcpp::Logger & logger) -{ - const auto ttc_at_enter = range_times.ego.enter_time - range_times.object.enter_time; - const auto ttc_at_exit = range_times.ego.exit_time - range_times.object.exit_time; - const auto collision_during_overlap = (ttc_at_enter < 0.0) != (ttc_at_exit < 0.0); - const auto ttc_is_bellow_threshold = - std::min(std::abs(ttc_at_enter), std::abs(ttc_at_exit)) <= params.ttc_threshold; - RCLCPP_DEBUG( - logger, "\t\t\t[TTC] (%2.2fs - %2.2fs) -> %d\n", ttc_at_enter, ttc_at_exit, - (collision_during_overlap || ttc_is_bellow_threshold)); - return collision_during_overlap || ttc_is_bellow_threshold; -} - -bool will_collide_on_range( - const RangeTimes & range_times, const PlannerParam & params, const rclcpp::Logger & logger) -{ - RCLCPP_DEBUG( - logger, " enter at %2.2fs, exits at %2.2fs\n", range_times.object.enter_time, - range_times.object.exit_time); - return (params.mode == "threshold" && threshold_condition(range_times, params)) || - (params.mode == "intervals" && intervals_condition(range_times, params, logger)) || - (params.mode == "ttc" && ttc_condition(range_times, params, logger)); -} - -bool should_not_enter( - const OverlapRange & range, const DecisionInputs & inputs, const PlannerParam & params, - const rclcpp::Logger & logger) -{ - RangeTimes range_times{}; - range_times.ego.enter_time = - time_along_trajectory(inputs.ego_data, range.entering_trajectory_idx, params.ego_min_velocity); - range_times.ego.exit_time = - time_along_trajectory(inputs.ego_data, range.exiting_trajectory_idx, params.ego_min_velocity); - RCLCPP_DEBUG( - logger, "\t[%lu -> %lu] %ld | ego enters at %2.2f, exits at %2.2f\n", - range.entering_trajectory_idx, range.exiting_trajectory_idx, range.lane.id(), - range_times.ego.enter_time, range_times.ego.exit_time); - for (const auto & object : inputs.objects.objects) { - RCLCPP_DEBUG( - logger, "\t\t[%s] going at %2.2fm/s", - autoware::universe_utils::toHexString(object.object_id).c_str(), - object.kinematics.initial_twist_with_covariance.twist.linear.x); - if (object.kinematics.initial_twist_with_covariance.twist.linear.x < params.objects_min_vel) { - RCLCPP_DEBUG(logger, " SKIP (velocity bellow threshold %2.2fm/s)\n", params.objects_min_vel); - continue; // skip objects with velocity bellow a threshold - } - // skip objects that are already on the interval - const auto enter_exit_time = - params.objects_use_predicted_paths - ? object_time_to_range( - object, range, inputs.route_handler, params.objects_dist_buffer, logger) - : object_time_to_range(object, range, inputs, logger); - if (!enter_exit_time) { - RCLCPP_DEBUG(logger, " SKIP (no enter/exit times found)\n"); - continue; // skip objects that are not driving towards the overlapping range - } - - range_times.object.enter_time = enter_exit_time->first; - range_times.object.exit_time = enter_exit_time->second; - if (will_collide_on_range(range_times, params, logger)) { - range.debug.times = range_times; - range.debug.object = object; - return true; - } - } - range.debug.times = range_times; - return false; -} - -void set_decision_velocity( - std::optional & decision, const double distance, const PlannerParam & params) -{ - if (distance < params.stop_dist_threshold) { - decision->velocity = 0.0; - } else if (distance < params.slow_dist_threshold) { - decision->velocity = params.slow_velocity; - } else { - decision.reset(); - } -} - -std::optional calculate_decision( - const OverlapRange & range, const DecisionInputs & inputs, const PlannerParam & params, - const rclcpp::Logger & logger) -{ - std::optional decision; - if (should_not_enter(range, inputs, params, logger)) { - decision.emplace(); - decision->target_trajectory_idx = inputs.ego_data.first_trajectory_idx + - range.entering_trajectory_idx; // add offset from curr pose - decision->lane_to_avoid = range.lane; - const auto ego_dist_to_range = - distance_along_trajectory(inputs.ego_data, range.entering_trajectory_idx); - set_decision_velocity(decision, ego_dist_to_range, params); - } - return decision; -} - -std::vector calculate_decisions( - const DecisionInputs & inputs, const PlannerParam & params, const rclcpp::Logger & logger) -{ - std::vector decisions; - for (const auto & range : inputs.ranges) { - if (range.entering_trajectory_idx == 0UL) continue; // skip if we already entered the range - const auto optional_decision = calculate_decision(range, inputs, params, logger); - range.debug.decision = optional_decision; - if (optional_decision) decisions.push_back(*optional_decision); - } - return decisions; -} - -} // namespace autoware::motion_velocity_planner::out_of_lane diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/decisions.hpp b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/decisions.hpp deleted file mode 100644 index 455cee272f7be..0000000000000 --- a/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/decisions.hpp +++ /dev/null @@ -1,116 +0,0 @@ -// 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 DECISIONS_HPP_ -#define DECISIONS_HPP_ - -#include "types.hpp" - -#include -#include - -#include - -#include - -#include -#include -#include -#include - -namespace autoware::motion_velocity_planner::out_of_lane -{ -/// @brief calculate the distance along the ego trajectory between ego and some target trajectory -/// index -/// @param [in] ego_data data related to the ego vehicle -/// @param [in] target_idx target ego trajectory index -/// @return distance between ego and the target [m] -double distance_along_trajectory(const EgoData & ego_data, const size_t target_idx); -/// @brief estimate the time when ego will reach some target trajectory index -/// @param [in] ego_data data related to the ego vehicle -/// @param [in] target_idx target ego trajectory index -/// @param [in] min_velocity minimum ego velocity used to estimate the time -/// @return time taken by ego to reach the target [s] -double time_along_trajectory(const EgoData & ego_data, const size_t target_idx); -/// @brief use an object's predicted paths to estimate the times it will reach the enter and exit -/// points of an overlapping range -/// @details times when the predicted paths of the object enters/exits the range are calculated -/// but may not exist (e.g,, predicted path ends before reaching the end of the range) -/// @param [in] object dynamic object -/// @param [in] range overlapping range -/// @param [in] route_handler route handler used to estimate the path of the dynamic object -/// @param [in] logger ros logger -/// @return an optional pair (time at enter [s], time at exit [s]). If the dynamic object drives in -/// the opposite direction, time at enter > time at exit -std::optional> object_time_to_range( - const autoware_perception_msgs::msg::PredictedObject & object, const OverlapRange & range, - const std::shared_ptr route_handler, const double dist_buffer, - const rclcpp::Logger & logger); -/// @brief use the lanelet map to estimate the times when an object will reach the enter and exit -/// points of an overlapping range -/// @param [in] object dynamic object -/// @param [in] range overlapping range -/// @param [in] inputs information used to take decisions (ranges, ego and objects data, route -/// handler, lanelets) -/// @param [in] dist_buffer extra distance used to estimate if a collision will occur on the range -/// @param [in] logger ros logger -/// @return an optional pair (time at enter [s], time at exit [s]). If the dynamic object drives in -/// the opposite direction, time at enter > time at exit. -std::optional> object_time_to_range( - const autoware_perception_msgs::msg::PredictedObject & object, const OverlapRange & range, - const DecisionInputs & inputs, const rclcpp::Logger & logger); -/// @brief decide whether an object is coming in the range at the same time as ego -/// @details the condition depends on the mode (threshold, intervals, ttc) -/// @param [in] range_times times when ego and the object enter/exit the range -/// @param [in] params parameters -/// @param [in] logger ros logger -bool will_collide_on_range( - const RangeTimes & range_times, const PlannerParam & params, const rclcpp::Logger & logger); -/// @brief check whether we should avoid entering the given range -/// @param [in] range the range to check -/// @param [in] inputs information used to take decisions (ranges, ego and objects data, route -/// handler, lanelets) -/// @param [in] params parameters -/// @param [in] logger ros logger -/// @return return true if we should avoid entering the range -bool should_not_enter( - const OverlapRange & range, const DecisionInputs & inputs, const PlannerParam & params, - const rclcpp::Logger & logger); -/// @brief set the velocity of a decision (or unset it) based on the distance away from the range -/// @param [out] decision decision to update (either set its velocity or unset the decision) -/// @param [in] distance distance between ego and the range corresponding to the decision -/// @param [in] params parameters -void set_decision_velocity( - std::optional & decision, const double distance, const PlannerParam & params); -/// @brief calculate the decision to slowdown or stop before an overlapping range -/// @param [in] range the range to check -/// @param [in] inputs information used to take decisions (ranges, ego and objects data, route -/// handler, lanelets) -/// @param [in] params parameters -/// @param [in] logger ros logger -/// @return return an optional decision to slowdown or stop -std::optional calculate_decision( - const OverlapRange & range, const DecisionInputs & inputs, const PlannerParam & params, - const rclcpp::Logger & logger); -/// @brief calculate decisions to slowdown or stop before some overlapping ranges -/// @param [in] inputs information used to take decisions (ranges, ego and objects data, route -/// handler, lanelets) -/// @param [in] params parameters -/// @param [in] logger ros logger -/// @return return the calculated decisions to slowdown or stop -std::vector calculate_decisions( - const DecisionInputs & inputs, const PlannerParam & params, const rclcpp::Logger & logger); -} // namespace autoware::motion_velocity_planner::out_of_lane - -#endif // DECISIONS_HPP_ diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/filter_predicted_objects.cpp b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/filter_predicted_objects.cpp index a53129f372e3d..79bdefee4c4c7 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/filter_predicted_objects.cpp +++ b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/filter_predicted_objects.cpp @@ -18,6 +18,7 @@ #include #include +#include #include #include @@ -53,7 +54,7 @@ void cut_predicted_path_beyond_line( auto cut_idx = stop_line_idx; double arc_length = 0; while (cut_idx > 0 && arc_length < object_front_overhang) { - arc_length += autoware::universe_utils::calcDistance2d( + arc_length += universe_utils::calcDistance2d( predicted_path.path[cut_idx], predicted_path.path[cut_idx - 1]); --cut_idx; } @@ -102,12 +103,11 @@ void cut_predicted_path_beyond_red_lights( } autoware_perception_msgs::msg::PredictedObjects filter_predicted_objects( - const std::shared_ptr planner_data, const EgoData & ego_data, - const PlannerParam & params) + const PlannerData & planner_data, const EgoData & ego_data, const PlannerParam & params) { autoware_perception_msgs::msg::PredictedObjects filtered_objects; - filtered_objects.header = planner_data->predicted_objects.header; - for (const auto & object : planner_data->predicted_objects.objects) { + filtered_objects.header = planner_data.predicted_objects.header; + for (const auto & object : planner_data.predicted_objects.objects) { const auto is_pedestrian = std::find_if(object.classification.begin(), object.classification.end(), [](const auto & c) { return c.label == autoware_perception_msgs::msg::ObjectClassification::PEDESTRIAN; @@ -125,10 +125,10 @@ autoware_perception_msgs::msg::PredictedObjects filter_predicted_objects( auto filtered_object = object; const auto is_invalid_predicted_path = [&](const auto & predicted_path) { const auto is_low_confidence = predicted_path.confidence < params.objects_min_confidence; - const auto no_overlap_path = autoware::motion_utils::removeOverlapPoints(predicted_path.path); + const auto no_overlap_path = motion_utils::removeOverlapPoints(predicted_path.path); if (no_overlap_path.size() <= 1) return true; - const auto lat_offset_to_current_ego = std::abs( - autoware::motion_utils::calcLateralOffset(no_overlap_path, ego_data.pose.position)); + const auto lat_offset_to_current_ego = + std::abs(motion_utils::calcLateralOffset(no_overlap_path, ego_data.pose.position)); const auto is_crossing_ego = lat_offset_to_current_ego <= object.shape.dimensions.y / 2.0 + std::max( @@ -136,23 +136,21 @@ autoware_perception_msgs::msg::PredictedObjects filter_predicted_objects( params.right_offset + params.extra_right_offset); return is_low_confidence || is_crossing_ego; }; - if (params.objects_use_predicted_paths) { - auto & predicted_paths = filtered_object.kinematics.predicted_paths; - const auto new_end = - std::remove_if(predicted_paths.begin(), predicted_paths.end(), is_invalid_predicted_path); - predicted_paths.erase(new_end, predicted_paths.end()); - if (params.objects_cut_predicted_paths_beyond_red_lights) - for (auto & predicted_path : predicted_paths) - cut_predicted_path_beyond_red_lights( - predicted_path, ego_data, filtered_object.shape.dimensions.x); - predicted_paths.erase( - std::remove_if( - predicted_paths.begin(), predicted_paths.end(), - [](const auto & p) { return p.path.empty(); }), - predicted_paths.end()); - } + auto & predicted_paths = filtered_object.kinematics.predicted_paths; + const auto new_end = + std::remove_if(predicted_paths.begin(), predicted_paths.end(), is_invalid_predicted_path); + predicted_paths.erase(new_end, predicted_paths.end()); + if (params.objects_cut_predicted_paths_beyond_red_lights) + for (auto & predicted_path : predicted_paths) + cut_predicted_path_beyond_red_lights( + predicted_path, ego_data, filtered_object.shape.dimensions.x); + predicted_paths.erase( + std::remove_if( + predicted_paths.begin(), predicted_paths.end(), + [](const auto & p) { return p.path.empty(); }), + predicted_paths.end()); - if (!params.objects_use_predicted_paths || !filtered_object.kinematics.predicted_paths.empty()) + if (!filtered_object.kinematics.predicted_paths.empty()) filtered_objects.objects.push_back(filtered_object); } return filtered_objects; diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/filter_predicted_objects.hpp b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/filter_predicted_objects.hpp index baf07e4b06ea5..3b2ae11718810 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/filter_predicted_objects.hpp +++ b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/filter_predicted_objects.hpp @@ -19,7 +19,6 @@ #include -#include #include namespace autoware::motion_velocity_planner::out_of_lane @@ -52,8 +51,7 @@ void cut_predicted_path_beyond_red_lights( /// @param [in] params parameters /// @return filtered predicted objects autoware_perception_msgs::msg::PredictedObjects filter_predicted_objects( - const std::shared_ptr planner_data, const EgoData & ego_data, - const PlannerParam & params); + const PlannerData & planner_data, const EgoData & ego_data, const PlannerParam & params); } // namespace autoware::motion_velocity_planner::out_of_lane #endif // FILTER_PREDICTED_OBJECTS_HPP_ diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/footprint.cpp b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/footprint.cpp index f5d68c4fa9bba..564bf5de7ef2e 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/footprint.cpp +++ b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/footprint.cpp @@ -21,15 +21,13 @@ #include #include -#include #include namespace autoware::motion_velocity_planner::out_of_lane { -autoware::universe_utils::Polygon2d make_base_footprint( - const PlannerParam & p, const bool ignore_offset) +universe_utils::Polygon2d make_base_footprint(const PlannerParam & p, const bool ignore_offset) { - autoware::universe_utils::Polygon2d base_footprint; + universe_utils::Polygon2d base_footprint; const auto front_offset = ignore_offset ? 0.0 : p.extra_front_offset; const auto rear_offset = ignore_offset ? 0.0 : p.extra_rear_offset; const auto right_offset = ignore_offset ? 0.0 : p.extra_right_offset; @@ -43,10 +41,10 @@ autoware::universe_utils::Polygon2d make_base_footprint( } lanelet::BasicPolygon2d project_to_pose( - const autoware::universe_utils::Polygon2d & base_footprint, const geometry_msgs::msg::Pose & pose) + const universe_utils::Polygon2d & base_footprint, const geometry_msgs::msg::Pose & pose) { const auto angle = tf2::getYaw(pose.orientation); - const auto rotated_footprint = autoware::universe_utils::rotatePolygon(base_footprint, angle); + const auto rotated_footprint = universe_utils::rotatePolygon(base_footprint, angle); lanelet::BasicPolygon2d footprint; for (const auto & p : rotated_footprint.outer()) footprint.emplace_back(p.x() + pose.position.x, p.y() + pose.position.y); @@ -59,22 +57,15 @@ std::vector calculate_trajectory_footprints( const auto base_footprint = make_base_footprint(params); std::vector trajectory_footprints; trajectory_footprints.reserve(ego_data.trajectory_points.size()); - double length = 0.0; - const auto range = std::max(params.slow_dist_threshold, params.stop_dist_threshold) + - params.front_offset + params.extra_front_offset; - for (auto i = ego_data.first_trajectory_idx; - i < ego_data.trajectory_points.size() && length < range; ++i) { + for (auto i = ego_data.first_trajectory_idx; i < ego_data.trajectory_points.size(); ++i) { const auto & trajectory_pose = ego_data.trajectory_points[i].pose; const auto angle = tf2::getYaw(trajectory_pose.orientation); - const auto rotated_footprint = autoware::universe_utils::rotatePolygon(base_footprint, angle); + const auto rotated_footprint = universe_utils::rotatePolygon(base_footprint, angle); lanelet::BasicPolygon2d footprint; for (const auto & p : rotated_footprint.outer()) footprint.emplace_back( p.x() + trajectory_pose.position.x, p.y() + trajectory_pose.position.y); trajectory_footprints.push_back(footprint); - if (i + 1 < ego_data.trajectory_points.size()) - length += autoware::universe_utils::calcDistance2d( - trajectory_pose, ego_data.trajectory_points[i + 1].pose); } return trajectory_footprints; } @@ -84,7 +75,7 @@ lanelet::BasicPolygon2d calculate_current_ego_footprint( { const auto base_footprint = make_base_footprint(params, ignore_offset); const auto angle = tf2::getYaw(ego_data.pose.orientation); - const auto rotated_footprint = autoware::universe_utils::rotatePolygon(base_footprint, angle); + const auto rotated_footprint = universe_utils::rotatePolygon(base_footprint, angle); lanelet::BasicPolygon2d footprint; for (const auto & p : rotated_footprint.outer()) footprint.emplace_back(p.x() + ego_data.pose.position.x, p.y() + ego_data.pose.position.y); diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/footprint.hpp b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/footprint.hpp index ebe7ab0fa9d7f..88baeefba6f40 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/footprint.hpp +++ b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/footprint.hpp @@ -21,24 +21,21 @@ #include -namespace autoware::motion_velocity_planner -{ -namespace out_of_lane +namespace autoware::motion_velocity_planner::out_of_lane { /// @brief create the base footprint of ego /// @param [in] p parameters used to create the footprint /// @param [in] ignore_offset optional parameter, if true, ignore the "extra offsets" to build the /// footprint /// @return base ego footprint -autoware::universe_utils::Polygon2d make_base_footprint( +universe_utils::Polygon2d make_base_footprint( const PlannerParam & p, const bool ignore_offset = false); /// @brief project a footprint to the given pose /// @param [in] base_footprint footprint to project /// @param [in] pose projection pose /// @return footprint projected to the given pose lanelet::BasicPolygon2d project_to_pose( - const autoware::universe_utils::Polygon2d & base_footprint, - const geometry_msgs::msg::Pose & pose); + const universe_utils::Polygon2d & base_footprint, const geometry_msgs::msg::Pose & pose); /// @brief calculate the trajectory footprints /// @details the resulting polygon follows the format used by the lanelet library: clockwise order /// and implicit closing edge @@ -54,7 +51,6 @@ std::vector calculate_trajectory_footprints( /// footprint lanelet::BasicPolygon2d calculate_current_ego_footprint( const EgoData & ego_data, const PlannerParam & params, const bool ignore_offset = false); -} // namespace out_of_lane -} // namespace autoware::motion_velocity_planner +} // namespace autoware::motion_velocity_planner::out_of_lane #endif // FOOTPRINT_HPP_ diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/lanelets_selection.cpp b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/lanelets_selection.cpp index 853f2bb3ec9d8..f520a564519f0 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/lanelets_selection.cpp +++ b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/lanelets_selection.cpp @@ -14,36 +14,46 @@ #include "lanelets_selection.hpp" +#include "types.hpp" + #include #include +#include +#include #include -#include #include #include -#include namespace autoware::motion_velocity_planner::out_of_lane { +namespace +{ +bool is_road_lanelet(const lanelet::ConstLanelet & lanelet) +{ + return lanelet.hasAttribute(lanelet::AttributeName::Subtype) && + lanelet.attribute(lanelet::AttributeName::Subtype) == lanelet::AttributeValueString::Road; +} +} // namespace + lanelet::ConstLanelets consecutive_lanelets( - const std::shared_ptr route_handler, - const lanelet::ConstLanelet & lanelet) + const route_handler::RouteHandler & route_handler, const lanelet::ConstLanelet & lanelet) { - lanelet::ConstLanelets consecutives = route_handler->getRoutingGraphPtr()->following(lanelet); - const auto previous = route_handler->getRoutingGraphPtr()->previous(lanelet); + lanelet::ConstLanelets consecutives = route_handler.getRoutingGraphPtr()->following(lanelet); + const auto previous = route_handler.getRoutingGraphPtr()->previous(lanelet); consecutives.insert(consecutives.end(), previous.begin(), previous.end()); return consecutives; } lanelet::ConstLanelets get_missing_lane_change_lanelets( const lanelet::ConstLanelets & trajectory_lanelets, - const std::shared_ptr route_handler) + const route_handler::RouteHandler & route_handler) { lanelet::ConstLanelets missing_lane_change_lanelets; - const auto & routing_graph = *route_handler->getRoutingGraphPtr(); + const auto & routing_graph = *route_handler.getRoutingGraphPtr(); lanelet::ConstLanelets adjacents; lanelet::ConstLanelets consecutives; for (const auto & ll : trajectory_lanelets) { @@ -67,9 +77,9 @@ lanelet::ConstLanelets get_missing_lane_change_lanelets( } lanelet::ConstLanelets calculate_trajectory_lanelets( - const EgoData & ego_data, const std::shared_ptr route_handler) + const EgoData & ego_data, const route_handler::RouteHandler & route_handler) { - const auto lanelet_map_ptr = route_handler->getLaneletMapPtr(); + const auto lanelet_map_ptr = route_handler.getLaneletMapPtr(); lanelet::ConstLanelets trajectory_lanelets; lanelet::BasicLineString2d trajectory_ls; for (const auto & p : ego_data.trajectory_points) @@ -77,7 +87,9 @@ lanelet::ConstLanelets calculate_trajectory_lanelets( const auto candidates = lanelet_map_ptr->laneletLayer.search(lanelet::geometry::boundingBox2d(trajectory_ls)); for (const auto & ll : candidates) { - if (!boost::geometry::disjoint(trajectory_ls, ll.polygon2d().basicPolygon())) { + if ( + is_road_lanelet(ll) && + !boost::geometry::disjoint(trajectory_ls, ll.polygon2d().basicPolygon())) { trajectory_lanelets.push_back(ll); } } @@ -89,43 +101,65 @@ lanelet::ConstLanelets calculate_trajectory_lanelets( } lanelet::ConstLanelets calculate_ignored_lanelets( - const EgoData & ego_data, const lanelet::ConstLanelets & trajectory_lanelets, - const std::shared_ptr route_handler, - const PlannerParam & params) + const lanelet::ConstLanelets & trajectory_lanelets, + const route_handler::RouteHandler & route_handler) { lanelet::ConstLanelets ignored_lanelets; - // ignore lanelets directly behind ego - const auto behind = - autoware::universe_utils::calcOffsetPose(ego_data.pose, params.rear_offset, 0.0, 0.0); - const lanelet::BasicPoint2d behind_point(behind.position.x, behind.position.y); - const auto behind_lanelets = lanelet::geometry::findWithin2d( - route_handler->getLaneletMapPtr()->laneletLayer, behind_point, 0.0); - for (const auto & l : behind_lanelets) { - const auto is_trajectory_lanelet = contains_lanelet(trajectory_lanelets, l.second.id()); - if (!is_trajectory_lanelet) ignored_lanelets.push_back(l.second); + // ignore lanelets directly preceding a trajectory lanelet + for (const auto & trajectory_lanelet : trajectory_lanelets) { + for (const auto & ll : route_handler.getPreviousLanelets(trajectory_lanelet)) { + const auto is_trajectory_lanelet = contains_lanelet(trajectory_lanelets, ll.id()); + if (!is_trajectory_lanelet) ignored_lanelets.push_back(ll); + } } return ignored_lanelets; } -lanelet::ConstLanelets calculate_other_lanelets( - const EgoData & ego_data, const lanelet::ConstLanelets & trajectory_lanelets, - const lanelet::ConstLanelets & ignored_lanelets, - const std::shared_ptr route_handler, - const PlannerParam & params) +void calculate_drivable_lane_polygons( + EgoData & ego_data, const route_handler::RouteHandler & route_handler) { - lanelet::ConstLanelets other_lanelets; - const lanelet::BasicPoint2d ego_point(ego_data.pose.position.x, ego_data.pose.position.y); - const auto lanelets_within_range = lanelet::geometry::findWithin2d( - route_handler->getLaneletMapPtr()->laneletLayer, ego_point, - std::max(params.slow_dist_threshold, params.stop_dist_threshold) + params.front_offset + - params.extra_front_offset); - for (const auto & ll : lanelets_within_range) { - if (std::string(ll.second.attributeOr(lanelet::AttributeName::Subtype, "none")) != "road") - continue; - const auto is_trajectory_lanelet = contains_lanelet(trajectory_lanelets, ll.second.id()); - const auto is_ignored_lanelet = contains_lanelet(ignored_lanelets, ll.second.id()); - if (!is_trajectory_lanelet && !is_ignored_lanelet) other_lanelets.push_back(ll.second); + const auto route_lanelets = calculate_trajectory_lanelets(ego_data, route_handler); + const auto ignored_lanelets = + out_of_lane::calculate_ignored_lanelets(route_lanelets, route_handler); + for (const auto & ll : route_lanelets) { + out_of_lane::Polygons tmp; + boost::geometry::union_(ego_data.drivable_lane_polygons, ll.polygon2d().basicPolygon(), tmp); + ego_data.drivable_lane_polygons = tmp; + } + for (const auto & ll : ignored_lanelets) { + out_of_lane::Polygons tmp; + boost::geometry::union_(ego_data.drivable_lane_polygons, ll.polygon2d().basicPolygon(), tmp); + ego_data.drivable_lane_polygons = tmp; + } +} + +void calculate_overlapped_lanelets( + OutOfLanePoint & out_of_lane_point, const route_handler::RouteHandler & route_handler) +{ + out_of_lane_point.overlapped_lanelets = lanelet::ConstLanelets(); + const auto candidates = route_handler.getLaneletMapPtr()->laneletLayer.search( + lanelet::geometry::boundingBox2d(out_of_lane_point.outside_ring)); + for (const auto & ll : candidates) { + if ( + is_road_lanelet(ll) && !contains_lanelet(out_of_lane_point.overlapped_lanelets, ll.id()) && + boost::geometry::within(out_of_lane_point.outside_ring, ll.polygon2d().basicPolygon())) { + out_of_lane_point.overlapped_lanelets.push_back(ll); + } + } +} + +void calculate_overlapped_lanelets( + OutOfLaneData & out_of_lane_data, const route_handler::RouteHandler & route_handler) +{ + for (auto it = out_of_lane_data.outside_points.begin(); + it != out_of_lane_data.outside_points.end();) { + calculate_overlapped_lanelets(*it, route_handler); + if (it->overlapped_lanelets.empty()) { + // do not keep out of lane points that do not overlap any lanelet + out_of_lane_data.outside_points.erase(it); + } else { + ++it; + } } - return other_lanelets; } } // namespace autoware::motion_velocity_planner::out_of_lane diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/lanelets_selection.hpp b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/lanelets_selection.hpp index 94023ae08ad99..a7729deb539b6 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/lanelets_selection.hpp +++ b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/lanelets_selection.hpp @@ -44,6 +44,7 @@ inline bool contains_lanelet(const lanelet::ConstLanelets & lanelets, const lane /// @return lanelets crossed by the ego vehicle lanelet::ConstLanelets calculate_trajectory_lanelets( const EgoData & ego_data, const std::shared_ptr route_handler); + /// @brief calculate lanelets that may not be crossed by the trajectory but may be overlapped during /// a lane change /// @param [in] trajectory_lanelets lanelets driven by the ego vehicle @@ -52,29 +53,27 @@ lanelet::ConstLanelets calculate_trajectory_lanelets( /// trajectory_lanelets) lanelet::ConstLanelets get_missing_lane_change_lanelets( const lanelet::ConstLanelets & trajectory_lanelets, - const std::shared_ptr route_handler); + const std::shared_ptr & route_handler); + /// @brief calculate lanelets that should be ignored -/// @param [in] ego_data data about the ego vehicle -/// @param [in] trajectory_lanelets lanelets driven by the ego vehicle +/// @param [in] trajectory_lanelets lanelets followed by the ego vehicle /// @param [in] route_handler route handler -/// @param [in] params parameters /// @return lanelets to ignore lanelet::ConstLanelets calculate_ignored_lanelets( - const EgoData & ego_data, const lanelet::ConstLanelets & trajectory_lanelets, - const std::shared_ptr route_handler, - const PlannerParam & params); -/// @brief calculate lanelets that should be checked by the module -/// @param [in] ego_data data about the ego vehicle -/// @param [in] trajectory_lanelets lanelets driven by the ego vehicle -/// @param [in] ignored_lanelets lanelets to ignore -/// @param [in] route_handler route handler -/// @param [in] params parameters -/// @return lanelets to check for overlaps -lanelet::ConstLanelets calculate_other_lanelets( - const EgoData & ego_data, const lanelet::ConstLanelets & trajectory_lanelets, - const lanelet::ConstLanelets & ignored_lanelets, - const std::shared_ptr route_handler, - const PlannerParam & params); + const lanelet::ConstLanelets & trajectory_lanelets, + const std::shared_ptr & route_handler); + +/// @brief calculate the polygons representing the ego lane and add it to the ego data +/// @param [inout] ego_data ego data +/// @param [in] route_handler route handler with map information +void calculate_drivable_lane_polygons( + EgoData & ego_data, const route_handler::RouteHandler & route_handler); + +/// @brief calculate the lanelets overlapped at each out of lane point +/// @param [out] out_of_lane_data data with the out of lane points +/// @param [in] route_handler route handler with the lanelet map +void calculate_overlapped_lanelets( + OutOfLaneData & out_of_lane_data, const route_handler::RouteHandler & route_handler); } // namespace autoware::motion_velocity_planner::out_of_lane #endif // LANELETS_SELECTION_HPP_ diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/out_of_lane_collisions.cpp b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/out_of_lane_collisions.cpp new file mode 100644 index 0000000000000..c375bcc35c1ee --- /dev/null +++ b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/out_of_lane_collisions.cpp @@ -0,0 +1,166 @@ +// 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 "out_of_lane_collisions.hpp" + +#include "types.hpp" + +#include +#include +#include + +#include + +#include +#include +#include +#include + +#include +#include + +#include +#include +#include +#include +#include + +namespace autoware::motion_velocity_planner::out_of_lane +{ + +void update_collision_times( + OutOfLaneData & out_of_lane_data, const std::unordered_set & potential_collision_indexes, + const universe_utils::Polygon2d & object_footprint, const double time) +{ + for (const auto index : potential_collision_indexes) { + auto & out_of_lane_point = out_of_lane_data.outside_points[index]; + if (out_of_lane_point.collision_times.count(time) == 0UL) { + const auto has_collision = + !boost::geometry::disjoint(out_of_lane_point.outside_ring, object_footprint.outer()); + if (has_collision) { + out_of_lane_point.collision_times.insert(time); + } + } + } +} + +void calculate_object_path_time_collisions( + OutOfLaneData & out_of_lane_data, + const autoware_perception_msgs::msg::PredictedPath & object_path, + const autoware_perception_msgs::msg::Shape & object_shape) +{ + const auto time_step = rclcpp::Duration(object_path.time_step).seconds(); + auto time = time_step; + for (const auto & object_pose : object_path.path) { + time += time_step; + const auto object_footprint = universe_utils::toPolygon2d(object_pose, object_shape); + std::vector query_results; + out_of_lane_data.outside_areas_rtree.query( + boost::geometry::index::intersects(object_footprint.outer()), + std::back_inserter(query_results)); + std::unordered_set potential_collision_indexes; + for (const auto & [_, index] : query_results) { + potential_collision_indexes.insert(index); + } + update_collision_times(out_of_lane_data, potential_collision_indexes, object_footprint, time); + } +} + +void calculate_objects_time_collisions( + OutOfLaneData & out_of_lane_data, + const std::vector & objects) +{ + for (const auto & object : objects) { + for (const auto & path : object.kinematics.predicted_paths) { + calculate_object_path_time_collisions(out_of_lane_data, path, object.shape); + } + } +} + +void calculate_min_max_arrival_times( + OutOfLanePoint & out_of_lane_point, + const std::vector & trajectory) +{ + auto min_time = std::numeric_limits::infinity(); + auto max_time = -std::numeric_limits::infinity(); + for (const auto & t : out_of_lane_point.collision_times) { + min_time = std::min(t, min_time); + max_time = std::max(t, max_time); + } + if (min_time <= max_time) { + out_of_lane_point.min_object_arrival_time = min_time; + out_of_lane_point.max_object_arrival_time = max_time; + const auto & ego_time = + rclcpp::Duration(trajectory[out_of_lane_point.trajectory_index].time_from_start).seconds(); + if (ego_time >= min_time && ego_time <= max_time) { + out_of_lane_point.ttc = 0.0; + } else { + out_of_lane_point.ttc = + std::min(std::abs(ego_time - min_time), std::abs(ego_time - max_time)); + } + } +}; + +void calculate_collisions_to_avoid( + OutOfLaneData & out_of_lane_data, + const std::vector & trajectory, + const PlannerParam & params) +{ + for (auto & out_of_lane_point : out_of_lane_data.outside_points) { + calculate_min_max_arrival_times(out_of_lane_point, trajectory); + } + for (auto & p : out_of_lane_data.outside_points) { + if (params.mode == "ttc") { + p.to_avoid = p.ttc && p.ttc <= params.ttc_threshold; + } else { + p.to_avoid = p.min_object_arrival_time && p.min_object_arrival_time <= params.time_threshold; + } + } +} + +OutOfLaneData calculate_outside_points(const EgoData & ego_data) +{ + OutOfLaneData out_of_lane_data; + out_of_lane::OutOfLanePoint p; + for (auto i = 0UL; i < ego_data.trajectory_footprints.size(); ++i) { + p.trajectory_index = i + ego_data.first_trajectory_idx; + const auto & footprint = ego_data.trajectory_footprints[i]; + out_of_lane::Polygons out_of_lane_polygons; + boost::geometry::difference(footprint, ego_data.drivable_lane_polygons, out_of_lane_polygons); + for (const auto & area : out_of_lane_polygons) { + if (!area.outer.empty()) { + p.outside_ring = area.outer; + out_of_lane_data.outside_points.push_back(p); + } + } + } + return out_of_lane_data; +} + +OutOfLaneData calculate_out_of_lane_areas(const EgoData & ego_data) +{ + auto out_of_lane_data = calculate_outside_points(ego_data); + std::vector rtree_nodes; + for (auto i = 0UL; i < out_of_lane_data.outside_points.size(); ++i) { + OutAreaNode n; + n.first = boost::geometry::return_envelope( + out_of_lane_data.outside_points[i].outside_ring); + n.second = i; + rtree_nodes.push_back(n); + } + out_of_lane_data.outside_areas_rtree = {rtree_nodes.begin(), rtree_nodes.end()}; + return out_of_lane_data; +} + +} // namespace autoware::motion_velocity_planner::out_of_lane diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/out_of_lane_collisions.hpp b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/out_of_lane_collisions.hpp new file mode 100644 index 0000000000000..b9048cc358a07 --- /dev/null +++ b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/out_of_lane_collisions.hpp @@ -0,0 +1,55 @@ +// 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 OUT_OF_LANE_COLLISIONS_HPP_ +#define OUT_OF_LANE_COLLISIONS_HPP_ + +#include "types.hpp" + +#include + +#include +#include + +#include + +namespace autoware::motion_velocity_planner::out_of_lane +{ + +/// @brief calculate the times and points where ego collides with an object's path outside of its +/// lane +void calculate_object_path_time_collisions( + OutOfLaneData & out_of_lane_data, + const autoware_perception_msgs::msg::PredictedPath & object_path, + const autoware_perception_msgs::msg::Shape & object_shape); + +/// @brief calculate the times and points where ego collides with an object outside of its lane +void calculate_objects_time_collisions( + OutOfLaneData & out_of_lane_data, + const std::vector & objects); + +/// @brief calculate the collisions to avoid +/// @details either uses the time to collision or just the time when the object will arrive at the +/// point +void calculate_collisions_to_avoid( + OutOfLaneData & out_of_lane_data, + const std::vector & trajectory, + const PlannerParam & params); + +/// @brief calculate the areas where ego will drive outside of its lane +/// @details the OutOfLaneData points and rtree are filled +OutOfLaneData calculate_out_of_lane_areas(const EgoData & ego_data); +} // namespace autoware::motion_velocity_planner::out_of_lane + +#endif // OUT_OF_LANE_COLLISIONS_HPP_ diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/out_of_lane_module.cpp b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/out_of_lane_module.cpp index a6b34a1566e19..ca7ed3b9dc7bd 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/out_of_lane_module.cpp +++ b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/out_of_lane_module.cpp @@ -16,11 +16,10 @@ #include "calculate_slowdown_points.hpp" #include "debug.hpp" -#include "decisions.hpp" #include "filter_predicted_objects.hpp" #include "footprint.hpp" #include "lanelets_selection.hpp" -#include "overlapping_range.hpp" +#include "out_of_lane_collisions.hpp" #include "types.hpp" #include @@ -34,11 +33,13 @@ #include #include +#include #include #include #include +#include #include #include #include @@ -56,65 +57,54 @@ void OutOfLaneModule::init(rclcpp::Node & node, const std::string & module_name) logger_ = node.get_logger(); clock_ = node.get_clock(); init_parameters(node); - velocity_factor_interface_.init(autoware::motion_utils::PlanningBehavior::ROUTE_OBSTACLE); + velocity_factor_interface_.init(motion_utils::PlanningBehavior::ROUTE_OBSTACLE); debug_publisher_ = node.create_publisher("~/" + ns_ + "/debug_markers", 1); virtual_wall_publisher_ = node.create_publisher("~/" + ns_ + "/virtual_walls", 1); - processing_diag_publisher_ = std::make_shared( + processing_diag_publisher_ = std::make_shared( &node, "~/debug/" + ns_ + "/processing_time_ms_diag"); processing_time_publisher_ = node.create_publisher( "~/debug/" + ns_ + "/processing_time_ms", 1); } void OutOfLaneModule::init_parameters(rclcpp::Node & node) { - using autoware::universe_utils::getOrDeclareParameter; + using universe_utils::getOrDeclareParameter; auto & pp = params_; pp.mode = getOrDeclareParameter(node, ns_ + ".mode"); pp.skip_if_already_overlapping = getOrDeclareParameter(node, ns_ + ".skip_if_already_overlapping"); + pp.ignore_lane_changeable_lanelets = + getOrDeclareParameter(node, ns_ + ".ignore_overlaps_over_lane_changeable_lanelets"); + pp.max_arc_length = getOrDeclareParameter(node, ns_ + ".max_arc_length"); pp.time_threshold = getOrDeclareParameter(node, ns_ + ".threshold.time_threshold"); - pp.intervals_ego_buffer = getOrDeclareParameter(node, ns_ + ".intervals.ego_time_buffer"); - pp.intervals_obj_buffer = - getOrDeclareParameter(node, ns_ + ".intervals.objects_time_buffer"); pp.ttc_threshold = getOrDeclareParameter(node, ns_ + ".ttc.threshold"); pp.objects_min_vel = getOrDeclareParameter(node, ns_ + ".objects.minimum_velocity"); - pp.objects_use_predicted_paths = - getOrDeclareParameter(node, ns_ + ".objects.use_predicted_paths"); pp.objects_min_confidence = getOrDeclareParameter(node, ns_ + ".objects.predicted_path_min_confidence"); - pp.objects_dist_buffer = getOrDeclareParameter(node, ns_ + ".objects.distance_buffer"); pp.objects_cut_predicted_paths_beyond_red_lights = getOrDeclareParameter(node, ns_ + ".objects.cut_predicted_paths_beyond_red_lights"); pp.objects_ignore_behind_ego = getOrDeclareParameter(node, ns_ + ".objects.ignore_behind_ego"); - pp.overlap_min_dist = getOrDeclareParameter(node, ns_ + ".overlap.minimum_distance"); - pp.overlap_extra_length = getOrDeclareParameter(node, ns_ + ".overlap.extra_length"); - - pp.skip_if_over_max_decel = - getOrDeclareParameter(node, ns_ + ".action.skip_if_over_max_decel"); pp.precision = getOrDeclareParameter(node, ns_ + ".action.precision"); pp.min_decision_duration = getOrDeclareParameter(node, ns_ + ".action.min_duration"); pp.lon_dist_buffer = getOrDeclareParameter(node, ns_ + ".action.longitudinal_distance_buffer"); pp.lat_dist_buffer = getOrDeclareParameter(node, ns_ + ".action.lateral_distance_buffer"); pp.slow_velocity = getOrDeclareParameter(node, ns_ + ".action.slowdown.velocity"); - pp.slow_dist_threshold = - getOrDeclareParameter(node, ns_ + ".action.slowdown.distance_threshold"); pp.stop_dist_threshold = getOrDeclareParameter(node, ns_ + ".action.stop.distance_threshold"); - pp.ego_min_velocity = getOrDeclareParameter(node, ns_ + ".ego.min_assumed_velocity"); pp.extra_front_offset = getOrDeclareParameter(node, ns_ + ".ego.extra_front_offset"); pp.extra_rear_offset = getOrDeclareParameter(node, ns_ + ".ego.extra_rear_offset"); pp.extra_left_offset = getOrDeclareParameter(node, ns_ + ".ego.extra_left_offset"); pp.extra_right_offset = getOrDeclareParameter(node, ns_ + ".ego.extra_right_offset"); - const auto vehicle_info = autoware::vehicle_info_utils::VehicleInfoUtils(node).getVehicleInfo(); + const auto vehicle_info = vehicle_info_utils::VehicleInfoUtils(node).getVehicleInfo(); pp.front_offset = vehicle_info.max_longitudinal_offset_m; pp.rear_offset = vehicle_info.min_longitudinal_offset_m; pp.left_offset = vehicle_info.max_lateral_offset_m; @@ -123,44 +113,82 @@ void OutOfLaneModule::init_parameters(rclcpp::Node & node) void OutOfLaneModule::update_parameters(const std::vector & parameters) { - using autoware::universe_utils::updateParam; + using universe_utils::updateParam; auto & pp = params_; updateParam(parameters, ns_ + ".mode", pp.mode); updateParam(parameters, ns_ + ".skip_if_already_overlapping", pp.skip_if_already_overlapping); + updateParam(parameters, ns_ + ".max_arc_length", pp.max_arc_length); + updateParam( + parameters, ns_ + ".ignore_overlaps_over_lane_changeable_lanelets", + pp.ignore_lane_changeable_lanelets); updateParam(parameters, ns_ + ".threshold.time_threshold", pp.time_threshold); - updateParam(parameters, ns_ + ".intervals.ego_time_buffer", pp.intervals_ego_buffer); - updateParam(parameters, ns_ + ".intervals.objects_time_buffer", pp.intervals_obj_buffer); updateParam(parameters, ns_ + ".ttc.threshold", pp.ttc_threshold); updateParam(parameters, ns_ + ".objects.minimum_velocity", pp.objects_min_vel); - updateParam(parameters, ns_ + ".objects.use_predicted_paths", pp.objects_use_predicted_paths); updateParam( parameters, ns_ + ".objects.predicted_path_min_confidence", pp.objects_min_confidence); - updateParam(parameters, ns_ + ".objects.distance_buffer", pp.objects_dist_buffer); updateParam( parameters, ns_ + ".objects.cut_predicted_paths_beyond_red_lights", pp.objects_cut_predicted_paths_beyond_red_lights); updateParam(parameters, ns_ + ".objects.ignore_behind_ego", pp.objects_ignore_behind_ego); - updateParam(parameters, ns_ + ".overlap.minimum_distance", pp.overlap_min_dist); - updateParam(parameters, ns_ + ".overlap.extra_length", pp.overlap_extra_length); - updateParam(parameters, ns_ + ".action.skip_if_over_max_decel", pp.skip_if_over_max_decel); updateParam(parameters, ns_ + ".action.precision", pp.precision); updateParam(parameters, ns_ + ".action.min_duration", pp.min_decision_duration); updateParam(parameters, ns_ + ".action.longitudinal_distance_buffer", pp.lon_dist_buffer); updateParam(parameters, ns_ + ".action.lateral_distance_buffer", pp.lat_dist_buffer); updateParam(parameters, ns_ + ".action.slowdown.velocity", pp.slow_velocity); - updateParam(parameters, ns_ + ".action.slowdown.distance_threshold", pp.slow_dist_threshold); updateParam(parameters, ns_ + ".action.stop.distance_threshold", pp.stop_dist_threshold); - updateParam(parameters, ns_ + ".ego.min_assumed_velocity", pp.ego_min_velocity); updateParam(parameters, ns_ + ".ego.extra_front_offset", pp.extra_front_offset); updateParam(parameters, ns_ + ".ego.extra_rear_offset", pp.extra_rear_offset); updateParam(parameters, ns_ + ".ego.extra_left_offset", pp.extra_left_offset); updateParam(parameters, ns_ + ".ego.extra_right_offset", pp.extra_right_offset); } +void OutOfLaneModule::limit_trajectory_size( + out_of_lane::EgoData & ego_data, + const std::vector & ego_trajectory_points, + const double max_arc_length) +{ + ego_data.first_trajectory_idx = + motion_utils::findNearestSegmentIndex(ego_trajectory_points, ego_data.pose.position); + ego_data.longitudinal_offset_to_first_trajectory_index = + motion_utils::calcLongitudinalOffsetToSegment( + ego_trajectory_points, ego_data.first_trajectory_idx, ego_data.pose.position); + auto l = -ego_data.longitudinal_offset_to_first_trajectory_index; + ego_data.trajectory_points.push_back(ego_trajectory_points[ego_data.first_trajectory_idx]); + for (auto i = ego_data.first_trajectory_idx + 1; i < ego_trajectory_points.size(); ++i) { + l += universe_utils::calcDistance2d(ego_trajectory_points[i - 1], ego_trajectory_points[i]); + if (l >= max_arc_length) { + break; + } + ego_data.trajectory_points.push_back(ego_trajectory_points[i]); + } +} + +void OutOfLaneModule::calculate_min_stop_and_slowdown_distances( + out_of_lane::EgoData & ego_data, const PlannerData & planner_data, + std::optional & previous_slowdown_pose_, const double slow_velocity) +{ + ego_data.min_stop_distance = planner_data.calculate_min_deceleration_distance(0.0).value_or(0.0); + ego_data.min_slowdown_distance = + planner_data.calculate_min_deceleration_distance(slow_velocity).value_or(0.0); + if (previous_slowdown_pose_) { + // Ensure we do not remove the previous slowdown point due to the min distance limit + const auto previous_slowdown_pose_arc_length = motion_utils::calcSignedArcLength( + ego_data.trajectory_points, ego_data.first_trajectory_idx, previous_slowdown_pose_->position); + ego_data.min_stop_distance = + std::min(previous_slowdown_pose_arc_length, ego_data.min_stop_distance); + ego_data.min_slowdown_distance = + std::min(previous_slowdown_pose_arc_length, ego_data.min_slowdown_distance); + } + ego_data.min_stop_arc_length = motion_utils::calcSignedArcLength( + ego_data.trajectory_points, 0UL, ego_data.first_trajectory_idx) + + ego_data.longitudinal_offset_to_first_trajectory_index + + ego_data.min_stop_distance; +} + void prepare_stop_lines_rtree( out_of_lane::EgoData & ego_data, const PlannerData & planner_data, const double search_distance) { @@ -202,163 +230,140 @@ VelocityPlanningResult OutOfLaneModule::plan( const std::shared_ptr planner_data) { VelocityPlanningResult result; - autoware::universe_utils::StopWatch stopwatch; + universe_utils::StopWatch stopwatch; stopwatch.tic(); + + stopwatch.tic("preprocessing"); out_of_lane::EgoData ego_data; ego_data.pose = planner_data->current_odometry.pose.pose; - ego_data.trajectory_points = ego_trajectory_points; - ego_data.first_trajectory_idx = - autoware::motion_utils::findNearestSegmentIndex(ego_trajectory_points, ego_data.pose.position); - ego_data.velocity = planner_data->current_odometry.twist.twist.linear.x; - ego_data.max_decel = planner_data->velocity_smoother_->getMinDecel(); - stopwatch.tic("preprocessing"); - prepare_stop_lines_rtree(ego_data, *planner_data, 100.0); + limit_trajectory_size(ego_data, ego_trajectory_points, params_.max_arc_length); + calculate_min_stop_and_slowdown_distances( + ego_data, *planner_data, previous_slowdown_pose_, params_.slow_velocity); + prepare_stop_lines_rtree(ego_data, *planner_data, params_.max_arc_length); const auto preprocessing_us = stopwatch.toc("preprocessing"); stopwatch.tic("calculate_trajectory_footprints"); - const auto current_ego_footprint = + ego_data.current_footprint = out_of_lane::calculate_current_ego_footprint(ego_data, params_, true); - const auto trajectory_footprints = - out_of_lane::calculate_trajectory_footprints(ego_data, params_); + ego_data.trajectory_footprints = out_of_lane::calculate_trajectory_footprints(ego_data, params_); const auto calculate_trajectory_footprints_us = stopwatch.toc("calculate_trajectory_footprints"); - // Calculate lanelets to ignore and consider + stopwatch.tic("calculate_lanelets"); - const auto trajectory_lanelets = - out_of_lane::calculate_trajectory_lanelets(ego_data, planner_data->route_handler); - const auto ignored_lanelets = out_of_lane::calculate_ignored_lanelets( - ego_data, trajectory_lanelets, planner_data->route_handler, params_); - const auto other_lanelets = out_of_lane::calculate_other_lanelets( - ego_data, trajectory_lanelets, ignored_lanelets, planner_data->route_handler, params_); + out_of_lane::calculate_drivable_lane_polygons(ego_data, *planner_data->route_handler); const auto calculate_lanelets_us = stopwatch.toc("calculate_lanelets"); - debug_data_.reset_data(); - debug_data_.trajectory_points = ego_trajectory_points; - debug_data_.footprints = trajectory_footprints; - debug_data_.trajectory_lanelets = trajectory_lanelets; - debug_data_.ignored_lanelets = ignored_lanelets; - debug_data_.other_lanelets = other_lanelets; - debug_data_.first_trajectory_idx = ego_data.first_trajectory_idx; - - if (params_.skip_if_already_overlapping) { - debug_data_.current_footprint = current_ego_footprint; - const auto overlapped_lanelet_it = - std::find_if(other_lanelets.begin(), other_lanelets.end(), [&](const auto & ll) { - return boost::geometry::intersects(ll.polygon2d().basicPolygon(), current_ego_footprint); - }); - if (overlapped_lanelet_it != other_lanelets.end()) { - debug_data_.current_overlapped_lanelets.push_back(*overlapped_lanelet_it); - RCLCPP_DEBUG(logger_, "Ego is already overlapping a lane, skipping the module\n"); - return result; - } - } - // Calculate overlapping ranges - stopwatch.tic("calculate_overlapping_ranges"); - const auto ranges = out_of_lane::calculate_overlapping_ranges( - trajectory_footprints, trajectory_lanelets, other_lanelets, params_); - const auto calculate_overlapping_ranges_us = stopwatch.toc("calculate_overlapping_ranges"); - // Calculate stop and slowdown points - out_of_lane::DecisionInputs inputs; - inputs.ranges = ranges; - inputs.ego_data = ego_data; + stopwatch.tic("calculate_out_of_lane_areas"); + auto out_of_lane_data = calculate_out_of_lane_areas(ego_data); + out_of_lane::calculate_overlapped_lanelets(out_of_lane_data, *planner_data->route_handler); + const auto calculate_out_of_lane_areas_us = stopwatch.toc("calculate_out_of_lane_areas"); + stopwatch.tic("filter_predicted_objects"); - inputs.objects = out_of_lane::filter_predicted_objects(planner_data, ego_data, params_); + const auto objects = out_of_lane::filter_predicted_objects(*planner_data, ego_data, params_); const auto filter_predicted_objects_us = stopwatch.toc("filter_predicted_objects"); - inputs.route_handler = planner_data->route_handler; - inputs.lanelets = other_lanelets; - stopwatch.tic("calculate_decisions"); - const auto decisions = out_of_lane::calculate_decisions(inputs, params_, logger_); - const auto calculate_decisions_us = stopwatch.toc("calculate_decisions"); - stopwatch.tic("calc_slowdown_points"); + + stopwatch.tic("calculate_time_collisions"); + out_of_lane::calculate_objects_time_collisions(out_of_lane_data, objects.objects); + const auto calculate_time_collisions_us = stopwatch.toc("calculate_time_collisions"); + + stopwatch.tic("calculate_times"); + // calculate times + out_of_lane::calculate_collisions_to_avoid(out_of_lane_data, ego_data.trajectory_points, params_); + const auto calculate_times_us = stopwatch.toc("calculate_times"); + + if ( + params_.skip_if_already_overlapping && !ego_data.drivable_lane_polygons.empty() && + !lanelet::geometry::within(ego_data.current_footprint, ego_data.drivable_lane_polygons)) { + RCLCPP_WARN(logger_, "Ego is already out of lane, skipping the module\n"); + debug_publisher_->publish(out_of_lane::debug::create_debug_marker_array( + ego_data, out_of_lane_data, objects, debug_data_)); + return result; + } + if ( // reset the previous inserted point if the timer expired - prev_inserted_point_ && - (clock_->now() - prev_inserted_point_time_).seconds() > params_.min_decision_duration) - prev_inserted_point_.reset(); - auto point_to_insert = - out_of_lane::calculate_slowdown_point(ego_data, decisions, prev_inserted_point_, params_); - const auto calc_slowdown_points_us = stopwatch.toc("calc_slowdown_points"); - stopwatch.tic("insert_slowdown_points"); - debug_data_.slowdowns.clear(); - if ( // reset the timer if there is no previous inserted point or if we avoid the same lane - point_to_insert && - (!prev_inserted_point_ || prev_inserted_point_->slowdown.lane_to_avoid.id() == - point_to_insert->slowdown.lane_to_avoid.id())) - prev_inserted_point_time_ = clock_->now(); - // reuse previous stop point if there is no new one or if its velocity is not higher than the new + previous_slowdown_pose_ && + (clock_->now() - previous_slowdown_time_).seconds() > params_.min_decision_duration) { + previous_slowdown_pose_.reset(); + } + + stopwatch.tic("calculate_slowdown_point"); + auto slowdown_pose = out_of_lane::calculate_slowdown_point(ego_data, out_of_lane_data, params_); + const auto calculate_slowdown_point_us = stopwatch.toc("calculate_slowdown_point"); + + if ( // reset the timer if there is no previous inserted point + slowdown_pose && (!previous_slowdown_pose_)) { + previous_slowdown_time_ = clock_->now(); + } + // reuse previous stop pose if there is no new one or if its velocity is not higher than the new // one and its arc length is lower - const auto should_use_prev_inserted_point = [&]() { - if ( - point_to_insert && prev_inserted_point_ && - prev_inserted_point_->slowdown.velocity <= point_to_insert->slowdown.velocity) { - const auto arc_length = autoware::motion_utils::calcSignedArcLength( - ego_trajectory_points, 0LU, point_to_insert->point.pose.position); - const auto prev_arc_length = autoware::motion_utils::calcSignedArcLength( - ego_trajectory_points, 0LU, prev_inserted_point_->point.pose.position); + const auto should_use_previous_pose = [&]() { + if (slowdown_pose && previous_slowdown_pose_) { + const auto arc_length = + motion_utils::calcSignedArcLength(ego_trajectory_points, 0LU, slowdown_pose->position); + const auto prev_arc_length = motion_utils::calcSignedArcLength( + ego_trajectory_points, 0LU, previous_slowdown_pose_->position); return prev_arc_length < arc_length; } - return !point_to_insert && prev_inserted_point_; + return !slowdown_pose && previous_slowdown_pose_; }(); - if (should_use_prev_inserted_point) { + if (should_use_previous_pose) { // if the trajectory changed the prev point is no longer on the trajectory so we project it - const auto insert_arc_length = autoware::motion_utils::calcSignedArcLength( - ego_trajectory_points, 0LU, prev_inserted_point_->point.pose.position); - prev_inserted_point_->point.pose = - autoware::motion_utils::calcInterpolatedPose(ego_trajectory_points, insert_arc_length); - point_to_insert = prev_inserted_point_; + const auto new_arc_length = motion_utils::calcSignedArcLength( + ego_trajectory_points, ego_data.first_trajectory_idx, previous_slowdown_pose_->position); + slowdown_pose = motion_utils::calcInterpolatedPose(ego_trajectory_points, new_arc_length); } - if (point_to_insert) { - prev_inserted_point_ = point_to_insert; - RCLCPP_DEBUG(logger_, "Avoiding lane %lu", point_to_insert->slowdown.lane_to_avoid.id()); - debug_data_.slowdowns = {*point_to_insert}; - if (point_to_insert->slowdown.velocity == 0.0) - result.stop_points.push_back(point_to_insert->point.pose.position); - else + if (slowdown_pose) { + const auto arc_length = + motion_utils::calcSignedArcLength( + ego_trajectory_points, ego_data.first_trajectory_idx, slowdown_pose->position) - + ego_data.longitudinal_offset_to_first_trajectory_index; + const auto slowdown_velocity = + arc_length <= params_.stop_dist_threshold ? 0.0 : params_.slow_velocity; + previous_slowdown_pose_ = slowdown_pose; + if (slowdown_velocity == 0.0) { + result.stop_points.push_back(slowdown_pose->position); + } else { result.slowdown_intervals.emplace_back( - point_to_insert->point.pose.position, point_to_insert->point.pose.position, - point_to_insert->slowdown.velocity); - - const auto is_approaching = autoware::motion_utils::calcSignedArcLength( - ego_trajectory_points, ego_data.pose.position, - point_to_insert->point.pose.position) > 0.1 && - ego_data.velocity > 0.1; - const auto status = is_approaching ? autoware::motion_utils::VelocityFactor::APPROACHING - : autoware::motion_utils::VelocityFactor::STOPPED; + slowdown_pose->position, slowdown_pose->position, slowdown_velocity); + } + + const auto is_approaching = + motion_utils::calcSignedArcLength( + ego_trajectory_points, ego_data.pose.position, slowdown_pose->position) > 0.1 && + planner_data->current_odometry.twist.twist.linear.x > 0.1; + const auto status = is_approaching ? motion_utils::VelocityFactor::APPROACHING + : motion_utils::VelocityFactor::STOPPED; velocity_factor_interface_.set( - ego_trajectory_points, ego_data.pose, point_to_insert->point.pose, status, "out_of_lane"); + ego_trajectory_points, ego_data.pose, *slowdown_pose, status, "out_of_lane"); result.velocity_factor = velocity_factor_interface_.get(); - } else if (!decisions.empty()) { - RCLCPP_WARN(logger_, "Could not insert stop point (would violate max deceleration limits)"); + virtual_wall_marker_creator.add_virtual_walls( + out_of_lane::debug::create_virtual_walls(*slowdown_pose, slowdown_velocity == 0.0, params_)); + virtual_wall_publisher_->publish(virtual_wall_marker_creator.create_markers(clock_->now())); + } else if (std::any_of( + out_of_lane_data.outside_points.begin(), out_of_lane_data.outside_points.end(), + [](const auto & p) { return p.to_avoid; })) { + RCLCPP_WARN( + logger_, "[out_of_lane] Could not insert slowdown point because of deceleration limits"); } - const auto insert_slowdown_points_us = stopwatch.toc("insert_slowdown_points"); - debug_data_.ranges = inputs.ranges; + stopwatch.tic("gen_debug"); + const auto markers = + out_of_lane::debug::create_debug_marker_array(ego_data, out_of_lane_data, objects, debug_data_); + const auto markers_us = stopwatch.toc("gen_debug"); + stopwatch.tic("pub"); + debug_publisher_->publish(markers); + const auto pub_markers_us = stopwatch.toc("pub"); const auto total_time_us = stopwatch.toc(); - RCLCPP_DEBUG( - logger_, - "Total time = %2.2fus\n" - "\tpreprocessing = %2.0fus\n" - "\tcalculate_lanelets = %2.0fus\n" - "\tcalculate_trajectory_footprints = %2.0fus\n" - "\tcalculate_overlapping_ranges = %2.0fus\n" - "\tfilter_pred_objects = %2.0fus\n" - "\tcalculate_decisions = %2.0fus\n" - "\tcalc_slowdown_points = %2.0fus\n" - "\tinsert_slowdown_points = %2.0fus\n", - preprocessing_us, total_time_us, calculate_lanelets_us, calculate_trajectory_footprints_us, - calculate_overlapping_ranges_us, filter_predicted_objects_us, calculate_decisions_us, - calc_slowdown_points_us, insert_slowdown_points_us); - debug_publisher_->publish(out_of_lane::debug::create_debug_marker_array(debug_data_)); - virtual_wall_marker_creator.add_virtual_walls( - out_of_lane::debug::create_virtual_walls(debug_data_, params_)); - virtual_wall_publisher_->publish(virtual_wall_marker_creator.create_markers(clock_->now())); std::map processing_times; processing_times["preprocessing"] = preprocessing_us / 1000; processing_times["calculate_lanelets"] = calculate_lanelets_us / 1000; processing_times["calculate_trajectory_footprints"] = calculate_trajectory_footprints_us / 1000; - processing_times["calculate_overlapping_ranges"] = calculate_overlapping_ranges_us / 1000; + processing_times["calculate_out_of_lane_areas"] = calculate_out_of_lane_areas_us / 1000; processing_times["filter_pred_objects"] = filter_predicted_objects_us / 1000; - processing_times["calculate_decision"] = calculate_decisions_us / 1000; - processing_times["calc_slowdown_points"] = calc_slowdown_points_us / 1000; - processing_times["insert_slowdown_points"] = insert_slowdown_points_us / 1000; + processing_times["calculate_time_collisions"] = calculate_time_collisions_us / 1000; + processing_times["calculate_times"] = calculate_times_us / 1000; + processing_times["calculate_slowdown_point"] = calculate_slowdown_point_us / 1000; + processing_times["generate_markers"] = markers_us / 1000; + processing_times["publish_markers"] = pub_markers_us / 1000; processing_times["Total"] = total_time_us / 1000; processing_diag_publisher_->publish(processing_times); tier4_debug_msgs::msg::Float64Stamped processing_time_msg; diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/out_of_lane_module.hpp b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/out_of_lane_module.hpp index 310a73c04d643..5225a6dd4abd9 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/out_of_lane_module.hpp +++ b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/out_of_lane_module.hpp @@ -23,6 +23,7 @@ #include #include +#include #include #include @@ -46,13 +47,24 @@ class OutOfLaneModule : public PluginModuleInterface private: void init_parameters(rclcpp::Node & node); + /// @brief resize the trajectory to start from the segment closest to ego and to have at most the + /// given length + static void limit_trajectory_size( + out_of_lane::EgoData & ego_data, + const std::vector & ego_trajectory_points, + const double max_arc_length); + /// @brief calculate the minimum stop and slowdown distances of ego + static void calculate_min_stop_and_slowdown_distances( + out_of_lane::EgoData & ego_data, const PlannerData & planner_data, + std::optional & previous_slowdown_pose_, const double slow_velocity); + out_of_lane::PlannerParam params_; inline static const std::string ns_ = "out_of_lane"; std::string module_name_; - std::optional prev_inserted_point_{}; - rclcpp::Clock::SharedPtr clock_{}; - rclcpp::Time prev_inserted_point_time_{}; + rclcpp::Clock::SharedPtr clock_; + std::optional previous_slowdown_pose_; + rclcpp::Time previous_slowdown_time_; protected: // Debug diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/overlapping_range.cpp b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/overlapping_range.cpp deleted file mode 100644 index 097e71a51bfaf..0000000000000 --- a/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/overlapping_range.cpp +++ /dev/null @@ -1,127 +0,0 @@ -// 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 "overlapping_range.hpp" - -#include -#include - -#include - -#include -#include - -#include - -namespace autoware::motion_velocity_planner::out_of_lane -{ - -Overlap calculate_overlap( - const lanelet::BasicPolygon2d & trajectory_footprint, - const lanelet::ConstLanelets & trajectory_lanelets, const lanelet::ConstLanelet & lanelet) -{ - Overlap overlap; - const auto & left_bound = lanelet.leftBound2d().basicLineString(); - const auto & right_bound = lanelet.rightBound2d().basicLineString(); - // TODO(Maxime): these intersects (for each trajectory footprint, for each lanelet) are too - // expensive - const auto overlap_left = boost::geometry::intersects(trajectory_footprint, left_bound); - const auto overlap_right = boost::geometry::intersects(trajectory_footprint, right_bound); - - lanelet::BasicPolygons2d overlapping_polygons; - if (overlap_left || overlap_right) - boost::geometry::intersection( - trajectory_footprint, lanelet.polygon2d().basicPolygon(), overlapping_polygons); - for (const auto & overlapping_polygon : overlapping_polygons) { - for (const auto & point : overlapping_polygon) { - if (overlap_left && overlap_right) - overlap.inside_distance = boost::geometry::distance(left_bound, right_bound); - else if (overlap_left) - overlap.inside_distance = - std::max(overlap.inside_distance, boost::geometry::distance(point, left_bound)); - else if (overlap_right) - overlap.inside_distance = - std::max(overlap.inside_distance, boost::geometry::distance(point, right_bound)); - geometry_msgs::msg::Pose p; - p.position.x = point.x(); - p.position.y = point.y(); - const auto length = lanelet::utils::getArcCoordinates(trajectory_lanelets, p).length; - if (length > overlap.max_arc_length) { - overlap.max_arc_length = length; - overlap.max_overlap_point = point; - } - if (length < overlap.min_arc_length) { - overlap.min_arc_length = length; - overlap.min_overlap_point = point; - } - } - } - return overlap; -} - -OverlapRanges calculate_overlapping_ranges( - const std::vector & trajectory_footprints, - const lanelet::ConstLanelets & trajectory_lanelets, const lanelet::ConstLanelet & lanelet, - const PlannerParam & params) -{ - OverlapRanges ranges; - OtherLane other_lane(lanelet); - std::vector overlaps; - for (auto i = 0UL; i < trajectory_footprints.size(); ++i) { - const auto overlap = calculate_overlap(trajectory_footprints[i], trajectory_lanelets, lanelet); - const auto has_overlap = overlap.inside_distance > params.overlap_min_dist; - if (has_overlap) { // open/update the range - overlaps.push_back(overlap); - if (!other_lane.range_is_open) { - other_lane.first_range_bound.index = i; - other_lane.first_range_bound.point = overlap.min_overlap_point; - other_lane.first_range_bound.arc_length = - overlap.min_arc_length - params.overlap_extra_length; - other_lane.first_range_bound.inside_distance = overlap.inside_distance; - other_lane.range_is_open = true; - } - other_lane.last_range_bound.index = i; - other_lane.last_range_bound.point = overlap.max_overlap_point; - other_lane.last_range_bound.arc_length = overlap.max_arc_length + params.overlap_extra_length; - other_lane.last_range_bound.inside_distance = overlap.inside_distance; - } else if (other_lane.range_is_open) { // !has_overlap: close the range if it is open - ranges.push_back(other_lane.close_range()); - ranges.back().debug.overlaps = overlaps; - overlaps.clear(); - } - } - // close the range if it is still open - if (other_lane.range_is_open) { - ranges.push_back(other_lane.close_range()); - ranges.back().debug.overlaps = overlaps; - overlaps.clear(); - } - return ranges; -} - -OverlapRanges calculate_overlapping_ranges( - const std::vector & trajectory_footprints, - const lanelet::ConstLanelets & trajectory_lanelets, const lanelet::ConstLanelets & lanelets, - const PlannerParam & params) -{ - OverlapRanges ranges; - for (auto & lanelet : lanelets) { - const auto lanelet_ranges = - calculate_overlapping_ranges(trajectory_footprints, trajectory_lanelets, lanelet, params); - ranges.insert(ranges.end(), lanelet_ranges.begin(), lanelet_ranges.end()); - } - return ranges; -} - -} // namespace autoware::motion_velocity_planner::out_of_lane diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/overlapping_range.hpp b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/overlapping_range.hpp deleted file mode 100644 index bc5872db16e03..0000000000000 --- a/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/overlapping_range.hpp +++ /dev/null @@ -1,63 +0,0 @@ -// 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 OVERLAPPING_RANGE_HPP_ -#define OVERLAPPING_RANGE_HPP_ - -#include "types.hpp" - -#include - -#include - -#include - -namespace autoware::motion_velocity_planner::out_of_lane -{ - -/// @brief calculate the overlap between the given footprint and lanelet -/// @param [in] path_footprint footprint used to calculate the overlap -/// @param [in] trajectory_lanelets trajectory lanelets used to calculate arc length along the ego -/// trajectory -/// @param [in] lanelet lanelet used to calculate the overlap -/// @return the found overlap between the footprint and the lanelet -Overlap calculate_overlap( - const lanelet::BasicPolygon2d & trajectory_footprint, - const lanelet::ConstLanelets & trajectory_lanelets, const lanelet::ConstLanelet & lanelet); -/// @brief calculate the overlapping ranges between the trajectory footprints and a lanelet -/// @param [in] trajectory_footprints footprints used to calculate the overlaps -/// @param [in] trajectory_lanelets trajectory lanelets used to calculate arc length along the ego -/// trajectory -/// @param [in] lanelet lanelet used to calculate the overlaps -/// @param [in] params parameters -/// @return the overlapping ranges found between the footprints and the lanelet -OverlapRanges calculate_overlapping_ranges( - const std::vector & trajectory_footprints, - const lanelet::ConstLanelets & trajectory_lanelets, const lanelet::ConstLanelet & lanelet, - const PlannerParam & params); -/// @brief calculate the overlapping ranges between the trajectory footprints and some lanelets -/// @param [in] trajectory_footprints footprints used to calculate the overlaps -/// @param [in] trajectory_lanelets trajectory lanelets used to calculate arc length along the ego -/// trajectory -/// @param [in] lanelets lanelets used to calculate the overlaps -/// @param [in] params parameters -/// @return the overlapping ranges found between the footprints and the lanelets, sorted by -/// increasing arc length along the trajectory -OverlapRanges calculate_overlapping_ranges( - const std::vector & trajectory_footprints, - const lanelet::ConstLanelets & trajectory_lanelets, const lanelet::ConstLanelets & lanelets, - const PlannerParam & params); -} // namespace autoware::motion_velocity_planner::out_of_lane - -#endif // OVERLAPPING_RANGE_HPP_ diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/types.hpp b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/types.hpp index 96c54064e296c..8067d9e8b3410 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/types.hpp +++ b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/types.hpp @@ -28,52 +28,46 @@ #include #include +#include -#include -#include -#include #include +#include #include #include #include namespace autoware::motion_velocity_planner::out_of_lane { -using autoware_planning_msgs::msg::TrajectoryPoint; +using Polygons = boost::geometry::model::multi_polygon; -/// @brief parameters for the "out of lane" module +/// @brief parameters for the out_of_lane module struct PlannerParam { std::string mode; // mode used to consider a conflict with an object bool skip_if_already_overlapping; // if true, do not run the module when ego already overlaps // another lane + double max_arc_length; // [m] maximum arc length along the trajectory to check for collision + bool ignore_lane_changeable_lanelets; // if true, ignore overlaps on lane changeable lanelets - double time_threshold; // [s](mode="threshold") objects time threshold - double intervals_ego_buffer; // [s](mode="intervals") buffer to extend the ego time range - double intervals_obj_buffer; // [s](mode="intervals") buffer to extend the objects time range + double time_threshold; // [s](mode="threshold") objects time threshold double ttc_threshold; // [s](mode="ttc") threshold on time to collision between ego and an object - double ego_min_velocity; // [m/s] minimum velocity of ego used to calculate its ttc or time range - bool objects_use_predicted_paths; // whether to use the objects' predicted paths bool objects_cut_predicted_paths_beyond_red_lights; // whether to cut predicted paths beyond red // lights' stop lines - double objects_min_vel; // [m/s] objects lower than this velocity will be ignored - double objects_min_confidence; // minimum confidence to consider a predicted path - double objects_dist_buffer; // [m] distance buffer used to determine if a collision will occur in - // the other lane + double objects_min_vel; // [m/s] objects lower than this velocity will be ignored + double objects_min_confidence; // minimum confidence to consider a predicted path bool objects_ignore_behind_ego; // if true, objects behind the ego vehicle are ignored - double overlap_extra_length; // [m] extra length to add around an overlap range - double overlap_min_dist; // [m] min distance inside another lane to consider an overlap - // action to insert in the trajectory if an object causes a conflict at an overlap - bool skip_if_over_max_decel; // if true, skip the action if it causes more than the max decel - double lon_dist_buffer; // [m] safety distance buffer to keep in front of the ego vehicle - double lat_dist_buffer; // [m] safety distance buffer to keep on the side of the ego vehicle - double slow_velocity; - double slow_dist_threshold; - double stop_dist_threshold; - double precision; // [m] precision when inserting a stop pose in the trajectory - double min_decision_duration; // [s] minimum duration needed a decision can be canceled + // action to insert in the trajectory if an object causes a collision at an overlap + double lon_dist_buffer; // [m] safety distance buffer to keep in front of the ego vehicle + double lat_dist_buffer; // [m] safety distance buffer to keep on the side of the ego vehicle + double slow_velocity; // [m/s] slowdown velocity + double stop_dist_threshold; // [m] if a collision is detected bellow this distance ahead of ego, + // try to insert a stop point + double precision; // [m] precision when inserting a stop pose in the trajectory + double + min_decision_duration; // [s] duration needed before a stop or slowdown point can be removed + // ego dimensions used to create its polygon footprint double front_offset; // [m] front offset (from vehicle info) double rear_offset; // [m] rear offset (from vehicle info) @@ -85,98 +79,6 @@ struct PlannerParam double extra_left_offset; // [m] extra left distance }; -struct EnterExitTimes -{ - double enter_time{}; - double exit_time{}; -}; -struct RangeTimes -{ - EnterExitTimes ego{}; - EnterExitTimes object{}; -}; - -/// @brief action taken by the "out of lane" module -struct Slowdown -{ - size_t target_trajectory_idx{}; // we want to slowdown before this trajectory index - double velocity{}; // desired slow down velocity - lanelet::ConstLanelet lane_to_avoid{}; // we want to slowdown before entering this lane -}; -/// @brief slowdown to insert in a trajectory -struct SlowdownToInsert -{ - Slowdown slowdown{}; - autoware_planning_msgs::msg::TrajectoryPoint point{}; -}; - -/// @brief bound of an overlap range (either the first, or last bound) -struct RangeBound -{ - size_t index{}; - lanelet::BasicPoint2d point{}; - double arc_length{}; - double inside_distance{}; -}; - -/// @brief representation of an overlap between the ego footprint and some other lane -struct Overlap -{ - double inside_distance = 0.0; ///!< distance inside the overlap - double min_arc_length = std::numeric_limits::infinity(); - double max_arc_length = 0.0; - lanelet::BasicPoint2d min_overlap_point{}; ///!< point with min arc length - lanelet::BasicPoint2d max_overlap_point{}; ///!< point with max arc length -}; - -/// @brief range along the trajectory where ego overlaps another lane -struct OverlapRange -{ - lanelet::ConstLanelet lane{}; - size_t entering_trajectory_idx{}; - size_t exiting_trajectory_idx{}; - lanelet::BasicPoint2d entering_point{}; // pose of the overlapping point closest along the lane - lanelet::BasicPoint2d exiting_point{}; // pose of the overlapping point furthest along the lane - double inside_distance{}; // [m] how much ego footprint enters the lane - mutable struct - { - std::vector overlaps{}; - std::optional decision{}; - RangeTimes times{}; - std::optional object{}; - } debug; -}; -using OverlapRanges = std::vector; -/// @brief representation of a lane and its current overlap range -struct OtherLane -{ - bool range_is_open = false; - RangeBound first_range_bound{}; - RangeBound last_range_bound{}; - lanelet::ConstLanelet lanelet{}; - lanelet::BasicPolygon2d polygon{}; - - explicit OtherLane(lanelet::ConstLanelet ll) : lanelet(std::move(ll)) - { - polygon = lanelet.polygon2d().basicPolygon(); - } - - [[nodiscard]] OverlapRange close_range() - { - OverlapRange range; - range.lane = lanelet; - range.entering_trajectory_idx = first_range_bound.index; - range.entering_point = first_range_bound.point; - range.exiting_trajectory_idx = last_range_bound.index; - range.exiting_point = last_range_bound.point; - range.inside_distance = - std::max(first_range_bound.inside_distance, last_range_bound.inside_distance); - range_is_open = false; - last_range_bound = {}; - return range; - } -}; - namespace bgi = boost::geometry::index; struct StopLine { @@ -185,68 +87,52 @@ struct StopLine }; using StopLineNode = std::pair; using StopLinesRtree = bgi::rtree>; -using OutAreaRtree = bgi::rtree, bgi::rstar<16>>; +using OutAreaNode = std::pair; +using OutAreaRtree = bgi::rtree>; /// @brief data related to the ego vehicle struct EgoData { - std::vector trajectory_points{}; + std::vector trajectory_points; + geometry_msgs::msg::Pose pose; size_t first_trajectory_idx{}; - double velocity{}; // [m/s] - double max_decel{}; // [m/s²] - geometry_msgs::msg::Pose pose{}; + double longitudinal_offset_to_first_trajectory_index{}; + double min_stop_distance{}; + double min_slowdown_distance{}; + double min_stop_arc_length{}; + + Polygons drivable_lane_polygons; + + lanelet::BasicPolygon2d current_footprint; + std::vector trajectory_footprints; + StopLinesRtree stop_lines_rtree; }; -/// @brief data needed to make decisions -struct DecisionInputs +struct OutOfLanePoint { - OverlapRanges ranges; - EgoData ego_data; - autoware_perception_msgs::msg::PredictedObjects objects; - std::shared_ptr route_handler; - lanelet::ConstLanelets lanelets; + size_t trajectory_index; + lanelet::BasicPolygon2d outside_ring; + std::set collision_times; + std::optional min_object_arrival_time; + std::optional max_object_arrival_time; + std::optional ttc; + lanelet::ConstLanelets overlapped_lanelets; + bool to_avoid = false; +}; +struct OutOfLaneData +{ + std::vector outside_points; + OutAreaRtree outside_areas_rtree; }; /// @brief debug data struct DebugData { - std::vector footprints; - std::vector slowdowns; - geometry_msgs::msg::Pose ego_pose; - OverlapRanges ranges; - lanelet::BasicPolygon2d current_footprint; - lanelet::ConstLanelets current_overlapped_lanelets; - lanelet::ConstLanelets trajectory_lanelets; - lanelet::ConstLanelets ignored_lanelets; - lanelet::ConstLanelets other_lanelets; - std::vector trajectory_points; - size_t first_trajectory_idx; - - size_t prev_footprints = 0; - size_t prev_slowdowns = 0; - size_t prev_ranges = 0; - size_t prev_current_overlapped_lanelets = 0; - size_t prev_ignored_lanelets = 0; - size_t prev_trajectory_lanelets = 0; - size_t prev_other_lanelets = 0; - void reset_data() - { - prev_footprints = footprints.size(); - footprints.clear(); - prev_slowdowns = slowdowns.size(); - slowdowns.clear(); - prev_ranges = ranges.size(); - ranges.clear(); - prev_current_overlapped_lanelets = current_overlapped_lanelets.size(); - current_overlapped_lanelets.clear(); - prev_ignored_lanelets = ignored_lanelets.size(); - ignored_lanelets.clear(); - prev_trajectory_lanelets = trajectory_lanelets.size(); - trajectory_lanelets.clear(); - prev_other_lanelets = other_lanelets.size(); - other_lanelets.clear(); - } + size_t prev_out_of_lane_areas = 0; + size_t prev_ttcs = 0; + size_t prev_objects = 0; + size_t prev_stop_line = 0; }; } // namespace autoware::motion_velocity_planner::out_of_lane diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_planner_common/CMakeLists.txt b/planning/motion_velocity_planner/autoware_motion_velocity_planner_common/CMakeLists.txt index f1eb7ff047fdc..ffc06aa8cc2f8 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_planner_common/CMakeLists.txt +++ b/planning/motion_velocity_planner/autoware_motion_velocity_planner_common/CMakeLists.txt @@ -5,9 +5,20 @@ find_package(autoware_cmake REQUIRED) autoware_package() -# ament_auto_add_library(${PROJECT_NAME}_lib SHARED -# DIRECTORY src -# ) +ament_auto_add_library(${PROJECT_NAME}_lib SHARED + DIRECTORY src +) + +if(BUILD_TESTING) + ament_add_ros_isolated_gtest(test_${PROJECT_NAME} + test/test_collision_checker.cpp + ) + target_link_libraries(test_${PROJECT_NAME} + gtest_main + ${PROJECT_NAME}_lib + ) + target_include_directories(test_${PROJECT_NAME} PRIVATE src) +endif() ament_auto_package(INSTALL_TO_SHARE include diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_planner_common/include/autoware/motion_velocity_planner_common/collision_checker.hpp b/planning/motion_velocity_planner/autoware_motion_velocity_planner_common/include/autoware/motion_velocity_planner_common/collision_checker.hpp new file mode 100644 index 0000000000000..bf471c62af969 --- /dev/null +++ b/planning/motion_velocity_planner/autoware_motion_velocity_planner_common/include/autoware/motion_velocity_planner_common/collision_checker.hpp @@ -0,0 +1,69 @@ +// Copyright 2024 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. + +#ifndef AUTOWARE__MOTION_VELOCITY_PLANNER_COMMON__COLLISION_CHECKER_HPP_ +#define AUTOWARE__MOTION_VELOCITY_PLANNER_COMMON__COLLISION_CHECKER_HPP_ + +#include + +#include +#include +#include + +#include +#include +#include + +namespace autoware::motion_velocity_planner +{ +namespace bgi = boost::geometry::index; +using RtreeNode = std::pair; +using Rtree = bgi::rtree>; + +/// @brief collision as a trajectory index and corresponding collision points +struct Collision +{ + size_t trajectory_index{}; + autoware::universe_utils::MultiPoint2d collision_points; +}; + +/// @brief collision checker for a trajectory as a sequence of 2D footprints +class CollisionChecker +{ + const autoware::universe_utils::MultiPolygon2d trajectory_footprints_; + std::shared_ptr rtree_; + +public: + /// @brief construct the collisions checker + /// @param trajectory_footprints footprints of the trajectory to be used for collision checking + /// @details internally, the rtree is built with the packing algorithm + explicit CollisionChecker(autoware::universe_utils::MultiPolygon2d trajectory_footprints); + + /// @brief efficiently calculate collisions with a geometry + /// @tparam Geometry boost geometry type + /// @param geometry geometry to check for collisions + /// @return collisions between the trajectory footprints and the input geometry + template + [[nodiscard]] std::vector get_collisions(const Geometry & geometry) const; + + /// @brief direct access to the rtree storing the polygon footprints + /// @return rtree of the polygon footprints + [[nodiscard]] std::shared_ptr get_rtree() const { return rtree_; } + + /// @brief get the size of the trajectory used by this collision checker + [[nodiscard]] size_t trajectory_size() const { return trajectory_footprints_.size(); } +}; +} // namespace autoware::motion_velocity_planner + +#endif // AUTOWARE__MOTION_VELOCITY_PLANNER_COMMON__COLLISION_CHECKER_HPP_ diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_planner_common/include/autoware/motion_velocity_planner_common/planner_data.hpp b/planning/motion_velocity_planner/autoware_motion_velocity_planner_common/include/autoware/motion_velocity_planner_common/planner_data.hpp index 5dbb872d99ca9..a96587c4465d6 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_planner_common/include/autoware/motion_velocity_planner_common/planner_data.hpp +++ b/planning/motion_velocity_planner/autoware_motion_velocity_planner_common/include/autoware/motion_velocity_planner_common/planner_data.hpp @@ -15,7 +15,10 @@ #ifndef AUTOWARE__MOTION_VELOCITY_PLANNER_COMMON__PLANNER_DATA_HPP_ #define AUTOWARE__MOTION_VELOCITY_PLANNER_COMMON__PLANNER_DATA_HPP_ +#include +#include #include +#include #include #include @@ -37,12 +40,9 @@ #include #include -#include -#include #include #include #include -#include namespace autoware::motion_velocity_planner { @@ -59,11 +59,11 @@ struct PlannerData } // msgs from callbacks that are used for data-ready - nav_msgs::msg::Odometry current_odometry{}; - geometry_msgs::msg::AccelWithCovarianceStamped current_acceleration{}; - autoware_perception_msgs::msg::PredictedObjects predicted_objects{}; - pcl::PointCloud no_ground_pointcloud{}; - nav_msgs::msg::OccupancyGrid occupancy_grid{}; + nav_msgs::msg::Odometry current_odometry; + geometry_msgs::msg::AccelWithCovarianceStamped current_acceleration; + autoware_perception_msgs::msg::PredictedObjects predicted_objects; + pcl::PointCloud no_ground_pointcloud; + nav_msgs::msg::OccupancyGrid occupancy_grid; std::shared_ptr route_handler; // nearest search @@ -79,7 +79,7 @@ struct PlannerData tier4_v2x_msgs::msg::VirtualTrafficLightStateArray virtual_traffic_light_states; // velocity smoother - std::shared_ptr velocity_smoother_{}; + std::shared_ptr velocity_smoother_; // parameters autoware::vehicle_info_utils::VehicleInfo vehicle_info_; @@ -88,7 +88,7 @@ struct PlannerData *@brief queries the traffic signal information of given Id. if keep_last_observation = true, *recent UNKNOWN observation is overwritten as the last non-UNKNOWN observation */ - std::optional get_traffic_signal( + [[nodiscard]] std::optional get_traffic_signal( const lanelet::Id id, const bool keep_last_observation = false) const { const auto & traffic_light_id_map = @@ -98,6 +98,15 @@ struct PlannerData } return std::make_optional(traffic_light_id_map.at(id)); } + + [[nodiscard]] std::optional calculate_min_deceleration_distance( + const double target_velocity) const + { + return motion_utils::calcDecelDistWithJerkAndAccConstraints( + current_odometry.twist.twist.linear.x, target_velocity, + current_acceleration.accel.accel.linear.x, velocity_smoother_->getMinDecel(), + std::abs(velocity_smoother_->getMinJerk()), velocity_smoother_->getMinJerk()); + } }; } // namespace autoware::motion_velocity_planner diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_planner_common/package.xml b/planning/motion_velocity_planner/autoware_motion_velocity_planner_common/package.xml index 062e6a4cb2fc0..515a30348cbee 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_planner_common/package.xml +++ b/planning/motion_velocity_planner/autoware_motion_velocity_planner_common/package.xml @@ -16,7 +16,6 @@ eigen3_cmake_module autoware_behavior_velocity_planner_common - autoware_lanelet2_extension autoware_motion_utils autoware_perception_msgs autoware_planning_msgs diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_planner_common/src/collision_checker.cpp b/planning/motion_velocity_planner/autoware_motion_velocity_planner_common/src/collision_checker.cpp new file mode 100644 index 0000000000000..6e84b63a3c7fc --- /dev/null +++ b/planning/motion_velocity_planner/autoware_motion_velocity_planner_common/src/collision_checker.cpp @@ -0,0 +1,70 @@ +// Copyright 2024 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 "autoware/motion_velocity_planner_common/collision_checker.hpp" + +namespace autoware::motion_velocity_planner +{ +CollisionChecker::CollisionChecker(autoware::universe_utils::MultiPolygon2d trajectory_footprints) +: trajectory_footprints_(std::move(trajectory_footprints)) +{ + std::vector nodes; + nodes.reserve(trajectory_footprints_.size()); + for (auto i = 0UL; i < trajectory_footprints_.size(); ++i) { + nodes.emplace_back( + boost::geometry::return_envelope(trajectory_footprints_[i]), + i); + } + rtree_ = std::make_shared(nodes.begin(), nodes.end()); +} + +template +std::vector CollisionChecker::get_collisions(const Geometry & geometry) const +{ + std::vector collisions; + std::vector approximate_results; + autoware::universe_utils::MultiPoint2d intersections; + ; + rtree_->query(bgi::intersects(geometry), std::back_inserter(approximate_results)); + for (const auto & result : approximate_results) { + intersections.clear(); + boost::geometry::intersection(trajectory_footprints_[result.second], geometry, intersections); + if (!intersections.empty()) { + Collision c; + c.trajectory_index = result.second; + c.collision_points = intersections; + collisions.push_back(c); + } + } + return collisions; +} + +template std::vector CollisionChecker::get_collisions( + const autoware::universe_utils::Point2d & geometry) const; +template std::vector CollisionChecker::get_collisions( + const autoware::universe_utils::Line2d & geometry) const; +template std::vector +CollisionChecker::get_collisions( + const autoware::universe_utils::MultiPolygon2d & geometry) const; + +// @warn Multi geometries usually lead to very inefficient queries +template std::vector +CollisionChecker::get_collisions( + const autoware::universe_utils::MultiPoint2d & geometry) const; +template std::vector +CollisionChecker::get_collisions( + const autoware::universe_utils::MultiLineString2d & geometry) const; +template std::vector CollisionChecker::get_collisions< + autoware::universe_utils::Polygon2d>(const autoware::universe_utils::Polygon2d & geometry) const; +} // namespace autoware::motion_velocity_planner diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_planner_common/test/test_collision_checker.cpp b/planning/motion_velocity_planner/autoware_motion_velocity_planner_common/test/test_collision_checker.cpp new file mode 100644 index 0000000000000..df813db336a9d --- /dev/null +++ b/planning/motion_velocity_planner/autoware_motion_velocity_planner_common/test/test_collision_checker.cpp @@ -0,0 +1,176 @@ +// 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 "autoware/motion_velocity_planner_common/collision_checker.hpp" + +#include + +#include + +#include +#include + +using autoware::motion_velocity_planner::CollisionChecker; +using autoware::universe_utils::Line2d; +using autoware::universe_utils::MultiLineString2d; +using autoware::universe_utils::MultiPoint2d; +using autoware::universe_utils::MultiPolygon2d; +using autoware::universe_utils::Point2d; +using autoware::universe_utils::Polygon2d; + +Point2d random_point() +{ + static std::random_device r; + static std::default_random_engine e1(r()); + static std::uniform_real_distribution uniform_dist(-100, 100); + return {uniform_dist(e1), uniform_dist(e1)}; +} + +Line2d random_line() +{ + const auto point = random_point(); + const auto point2 = Point2d{point.x() + 1, point.y() + 1}; + const auto point3 = Point2d{point2.x() - 1, point2.y() + 1}; + const auto point4 = Point2d{point3.x() + 1, point3.y() + 1}; + return {point, point2, point3, point4}; +} + +Polygon2d random_polygon() +{ + Polygon2d polygon; + const auto point = random_point(); + const auto point2 = Point2d{point.x() + 1, point.y() + 4}; + const auto point3 = Point2d{point.x() + 4, point.y() + 4}; + const auto point4 = Point2d{point.x() + 3, point.y() + 1}; + polygon.outer() = {point, point2, point3, point4, point}; + return polygon; +} + +bool all_within(const MultiPoint2d & pts1, const MultiPoint2d & pts2) +{ + // results from the collision checker and the direct checks can have some small precision errors + constexpr auto eps = 1e-3; + for (const auto & p1 : pts1) { + bool found = false; + for (const auto & p2 : pts2) { + if (boost::geometry::comparable_distance(p1, p2) < eps) { + found = true; + break; + } + } + if (!found) return false; + } + return true; +} + +TEST(TestCollisionChecker, Benchmark) +{ + constexpr auto nb_ego_footprints = 1000; + constexpr auto nb_obstacles = 1000; + MultiPolygon2d ego_footprints; + ego_footprints.reserve(nb_ego_footprints); + for (auto i = 0; i < nb_ego_footprints; ++i) { + ego_footprints.push_back(random_polygon()); + } + const auto cc_constr_start = std::chrono::system_clock::now(); + CollisionChecker collision_checker(ego_footprints); + const auto cc_constr_end = std::chrono::system_clock::now(); + const auto cc_constr_ns = + std::chrono::duration_cast(cc_constr_end - cc_constr_start).count(); + std::printf( + "Collision checker construction (with %d footprints): %ld ns\n", nb_ego_footprints, + cc_constr_ns); + MultiPolygon2d poly_obstacles; + MultiPoint2d point_obstacles; + MultiLineString2d line_obstacles; + for (auto i = 0; i < nb_obstacles; ++i) { + poly_obstacles.push_back(random_polygon()); + point_obstacles.push_back(random_point()); + line_obstacles.push_back(random_line()); + } + const auto check_obstacles_one_by_one = [&](const auto & obstacles) { + std::chrono::nanoseconds collision_checker_ns{}; + std::chrono::nanoseconds naive_ns{}; + for (const auto & obs : obstacles) { + const auto cc_start = std::chrono::system_clock::now(); + const auto collisions = collision_checker.get_collisions(obs); + MultiPoint2d cc_collision_points; + for (const auto & c : collisions) + cc_collision_points.insert( + cc_collision_points.end(), c.collision_points.begin(), c.collision_points.end()); + const auto cc_end = std::chrono::system_clock::now(); + const auto naive_start = std::chrono::system_clock::now(); + MultiPoint2d naive_collision_points; + for (const auto & ego_footprint : ego_footprints) { + MultiPoint2d points; + boost::geometry::intersection(ego_footprint, obs, points); + naive_collision_points.insert(naive_collision_points.end(), points.begin(), points.end()); + } + const auto naive_end = std::chrono::system_clock::now(); + const auto equal = all_within(cc_collision_points, naive_collision_points) && + all_within(naive_collision_points, cc_collision_points); + EXPECT_TRUE(equal); + if (!equal) { + std::cout << "cc: " << boost::geometry::wkt(cc_collision_points) << std::endl; + std::cout << "naive: " << boost::geometry::wkt(naive_collision_points) << std::endl; + } + collision_checker_ns += + std::chrono::duration_cast(cc_end - cc_start); + naive_ns += std::chrono::duration_cast(naive_end - naive_start); + } + std::printf("%20s%10ld ns\n", "collision checker : ", collision_checker_ns.count()); + std::printf("%20s%10ld ns\n", "naive : ", naive_ns.count()); + }; + const auto check_obstacles = [&](const auto & obstacles) { + std::chrono::nanoseconds collision_checker_ns{}; + std::chrono::nanoseconds naive_ns{}; + const auto cc_start = std::chrono::system_clock::now(); + const auto collisions = collision_checker.get_collisions(obstacles); + MultiPoint2d cc_collision_points; + for (const auto & c : collisions) + cc_collision_points.insert( + cc_collision_points.end(), c.collision_points.begin(), c.collision_points.end()); + const auto cc_end = std::chrono::system_clock::now(); + const auto naive_start = std::chrono::system_clock::now(); + MultiPoint2d naive_collision_points; + boost::geometry::intersection(ego_footprints, obstacles, naive_collision_points); + const auto naive_end = std::chrono::system_clock::now(); + const auto equal = all_within(cc_collision_points, naive_collision_points) && + all_within(naive_collision_points, cc_collision_points); + EXPECT_TRUE(equal); + if (!equal) { + std::cout << "cc: " << boost::geometry::wkt(cc_collision_points) << std::endl; + std::cout << "naive: " << boost::geometry::wkt(naive_collision_points) << std::endl; + } + collision_checker_ns += std::chrono::duration_cast(cc_end - cc_start); + naive_ns += std::chrono::duration_cast(naive_end - naive_start); + std::printf("%20s%10ld ns\n", "collision checker : ", collision_checker_ns.count()); + std::printf("%20s%10ld ns\n", "naive : ", naive_ns.count()); + }; + + std::cout << "* check one by one\n"; + std::printf("%d Polygons:\n", nb_obstacles); + check_obstacles_one_by_one(poly_obstacles); + std::printf("%d Lines:\n", nb_obstacles); + check_obstacles_one_by_one(line_obstacles); + std::printf("%d Points:\n", nb_obstacles); + check_obstacles_one_by_one(point_obstacles); + std::cout << "* check all at once\n"; + std::printf("%d Polygons:\n", nb_obstacles); + check_obstacles(poly_obstacles); + std::printf("%d Lines:\n", nb_obstacles); + check_obstacles(line_obstacles); + std::printf("%d Points:\n", nb_obstacles); + check_obstacles(point_obstacles); +} diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/package.xml b/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/package.xml index 373eebbbd93b5..c1e68a232c55d 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/package.xml +++ b/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/package.xml @@ -17,7 +17,6 @@ rosidl_default_generators - autoware_lanelet2_extension autoware_map_msgs autoware_motion_utils autoware_motion_velocity_planner_common diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/src/node.cpp b/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/src/node.cpp index be9eab56d2320..9a08616b8fe7b 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/src/node.cpp +++ b/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/src/node.cpp @@ -22,7 +22,6 @@ #include #include #include -#include #include #include @@ -85,6 +84,8 @@ MotionVelocityPlannerNode::MotionVelocityPlannerNode(const rclcpp::NodeOptions & "~/output/velocity_factors", 1); processing_time_publisher_ = this->create_publisher("~/debug/processing_time_ms", 1); + debug_viz_pub_ = + this->create_publisher("~/debug/markers", 1); diagnostics_pub_ = this->create_publisher("/diagnostics", 10); // Parameters @@ -99,7 +100,7 @@ MotionVelocityPlannerNode::MotionVelocityPlannerNode(const rclcpp::NodeOptions & // Initialize PlannerManager for (const auto & name : declare_parameter>("launch_modules")) { // workaround: Since ROS 2 can't get empty list, launcher set [''] on the parameter. - if (name == "") { + if (name.empty()) { break; } planner_manager_.load_module_plugin(*this, name); @@ -135,7 +136,7 @@ bool MotionVelocityPlannerNode::update_planner_data() const auto check_with_log = [&](const auto ptr, const auto & log) { constexpr auto throttle_duration = 3000; // [ms] if (!ptr) { - RCLCPP_INFO_THROTTLE(get_logger(), clock, throttle_duration, log); + RCLCPP_INFO_THROTTLE(get_logger(), clock, throttle_duration, "%s", log); is_ready = false; return false; } @@ -278,7 +279,6 @@ void MotionVelocityPlannerNode::on_trajectory( autoware::motion_velocity_planner::TrajectoryPoints input_trajectory_points{ input_trajectory_msg->points.begin(), input_trajectory_msg->points.end()}; - auto output_trajectory_msg = generate_trajectory(input_trajectory_points); output_trajectory_msg.header = input_trajectory_msg->header; processing_times["generate_trajectory"] = stop_watch.toc(true); @@ -333,7 +333,8 @@ void MotionVelocityPlannerNode::insert_slowdown( autoware::motion_utils::insertTargetPoint(to_seg_idx, slowdown_interval.to, trajectory.points); if (from_insert_idx && to_insert_idx) { for (auto idx = *from_insert_idx; idx <= *to_insert_idx; ++idx) - trajectory.points[idx].longitudinal_velocity_mps = slowdown_interval.velocity; + trajectory.points[idx].longitudinal_velocity_mps = + static_cast(slowdown_interval.velocity); } else { RCLCPP_WARN(get_logger(), "Failed to insert slowdown point"); } @@ -368,16 +369,14 @@ autoware::motion_velocity_planner::TrajectoryPoints MotionVelocityPlannerNode::s autoware::motion_velocity_planner::TrajectoryPoints clipped; autoware::motion_velocity_planner::TrajectoryPoints traj_smoothed; clipped.insert( - clipped.end(), traj_resampled.begin() + traj_resampled_closest, traj_resampled.end()); + clipped.end(), std::next(traj_resampled.begin(), static_cast(traj_resampled_closest)), + traj_resampled.end()); if (!smoother->apply(v0, a0, clipped, traj_smoothed, debug_trajectories, false)) { RCLCPP_ERROR(get_logger(), "failed to smooth"); } - traj_smoothed.insert( - traj_smoothed.begin(), traj_resampled.begin(), traj_resampled.begin() + traj_resampled_closest); - if (external_v_limit) { autoware::velocity_smoother::trajectory_utils::applyMaximumVelocityLimit( - traj_resampled_closest, traj_smoothed.size(), external_v_limit->max_velocity, traj_smoothed); + 0LU, traj_smoothed.size(), external_v_limit->max_velocity, traj_smoothed); } return traj_smoothed; } @@ -385,13 +384,21 @@ autoware::motion_velocity_planner::TrajectoryPoints MotionVelocityPlannerNode::s autoware_planning_msgs::msg::Trajectory MotionVelocityPlannerNode::generate_trajectory( autoware::motion_velocity_planner::TrajectoryPoints input_trajectory_points) { + universe_utils::StopWatch stop_watch; autoware_planning_msgs::msg::Trajectory output_trajectory_msg; output_trajectory_msg.points = {input_trajectory_points.begin(), input_trajectory_points.end()}; - if (smooth_velocity_before_planning_) + if (smooth_velocity_before_planning_) { + stop_watch.tic("smooth"); input_trajectory_points = smooth_trajectory(input_trajectory_points, planner_data_); - const auto resampled_trajectory = - autoware::motion_utils::resampleTrajectory(output_trajectory_msg, 0.5); - + RCLCPP_DEBUG(get_logger(), "smooth: %2.2f us", stop_watch.toc("smooth")); + } + autoware_planning_msgs::msg::Trajectory smooth_velocity_trajectory; + smooth_velocity_trajectory.points = { + input_trajectory_points.begin(), input_trajectory_points.end()}; + auto resampled_trajectory = + autoware::motion_utils::resampleTrajectory(smooth_velocity_trajectory, 0.5); + motion_utils::calculate_time_from_start( + resampled_trajectory.points, planner_data_.current_odometry.pose.pose.position); const auto planning_results = planner_manager_.plan_velocities( resampled_trajectory.points, std::make_shared(planner_data_)); From 87cfc7fb587298bb3363895c5aff4ca2b0d422fd Mon Sep 17 00:00:00 2001 From: "Yi-Hsiang Fang (Vivid)" <146902905+vividf@users.noreply.github.com> Date: Mon, 26 Aug 2024 12:05:19 +0900 Subject: [PATCH 044/169] chore(autoware_pointcloud_preprocessor): change unnecessary warning message to debug (#8525) --- .../src/concatenate_data/concatenate_and_time_sync_nodelet.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/sensing/autoware_pointcloud_preprocessor/src/concatenate_data/concatenate_and_time_sync_nodelet.cpp b/sensing/autoware_pointcloud_preprocessor/src/concatenate_data/concatenate_and_time_sync_nodelet.cpp index 2410a9dccebea..0a051d780f5f7 100644 --- a/sensing/autoware_pointcloud_preprocessor/src/concatenate_data/concatenate_and_time_sync_nodelet.cpp +++ b/sensing/autoware_pointcloud_preprocessor/src/concatenate_data/concatenate_and_time_sync_nodelet.cpp @@ -273,7 +273,7 @@ PointCloudConcatenateDataSynchronizerComponent::computeTransformToAdjustForOldTi // return identity if old_stamp is newer than new_stamp if (old_stamp > new_stamp) { - RCLCPP_WARN_STREAM_THROTTLE( + RCLCPP_DEBUG_STREAM_THROTTLE( get_logger(), *get_clock(), std::chrono::milliseconds(10000).count(), "old_stamp is newer than new_stamp,"); return Eigen::Matrix4f::Identity(); From 43efc6fd61994086d03b4adca9fa90fb7f6e9e0c Mon Sep 17 00:00:00 2001 From: Yuki TAKAGI <141538661+yuki-takagi-66@users.noreply.github.com> Date: Mon, 26 Aug 2024 12:07:48 +0900 Subject: [PATCH 045/169] fix(simple_planning_simulator): fix acc output for the model sim_model_delay_steer_acc_geared_wo_fall_guard (#8607) fix acceleration output Signed-off-by: Yuki Takagi --- .../sim_model_delay_steer_acc_geared_wo_fall_guard.hpp | 1 + .../sim_model_delay_steer_acc_geared_wo_fall_guard.cpp | 4 +++- 2 files changed, 4 insertions(+), 1 deletion(-) diff --git a/simulator/simple_planning_simulator/include/simple_planning_simulator/vehicle_model/sim_model_delay_steer_acc_geared_wo_fall_guard.hpp b/simulator/simple_planning_simulator/include/simple_planning_simulator/vehicle_model/sim_model_delay_steer_acc_geared_wo_fall_guard.hpp index d7a6a8284d704..5d9c3ec74115a 100644 --- a/simulator/simple_planning_simulator/include/simple_planning_simulator/vehicle_model/sim_model_delay_steer_acc_geared_wo_fall_guard.hpp +++ b/simulator/simple_planning_simulator/include/simple_planning_simulator/vehicle_model/sim_model_delay_steer_acc_geared_wo_fall_guard.hpp @@ -64,6 +64,7 @@ class SimModelDelaySteerAccGearedWoFallGuard : public SimModelInterface VX, STEER, PEDAL_ACCX, + ACCX, }; enum IDX_U { PEDAL_ACCX_DES = 0, GEAR, SLOPE_ACCX, STEER_DES }; diff --git a/simulator/simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_delay_steer_acc_geared_wo_fall_guard.cpp b/simulator/simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_delay_steer_acc_geared_wo_fall_guard.cpp index c699d704724f5..69a311b780ad8 100644 --- a/simulator/simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_delay_steer_acc_geared_wo_fall_guard.cpp +++ b/simulator/simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_delay_steer_acc_geared_wo_fall_guard.cpp @@ -64,7 +64,7 @@ double SimModelDelaySteerAccGearedWoFallGuard::getVy() } double SimModelDelaySteerAccGearedWoFallGuard::getAx() { - return state_(IDX::PEDAL_ACCX); + return state_(IDX::ACCX); } double SimModelDelaySteerAccGearedWoFallGuard::getWz() { @@ -103,6 +103,8 @@ void SimModelDelaySteerAccGearedWoFallGuard::update(const double & dt) // stop condition is satisfied state_(IDX::VX) = 0.0; } + + state_(IDX::ACCX) = (state_(IDX::VX) - prev_state(IDX::VX)) / dt; } void SimModelDelaySteerAccGearedWoFallGuard::initializeInputQueue(const double & dt) From b35ad4b2868f47b33c58af493093e5d0a078fc9a Mon Sep 17 00:00:00 2001 From: danielsanchezaran Date: Mon, 26 Aug 2024 14:26:00 +0900 Subject: [PATCH 046/169] fix(autonomous_emergency_braking): fix debug marker visual bug (#8611) fix bug by using the collision data keeper Signed-off-by: Daniel Sanchez --- .../autonomous_emergency_braking/node.hpp | 5 +--- .../src/node.cpp | 25 +++++++++++-------- 2 files changed, 16 insertions(+), 14 deletions(-) diff --git a/control/autoware_autonomous_emergency_braking/include/autoware/autonomous_emergency_braking/node.hpp b/control/autoware_autonomous_emergency_braking/include/autoware/autonomous_emergency_braking/node.hpp index 24eaa8516a732..c29247a978c73 100644 --- a/control/autoware_autonomous_emergency_braking/include/autoware/autonomous_emergency_braking/node.hpp +++ b/control/autoware_autonomous_emergency_braking/include/autoware/autonomous_emergency_braking/node.hpp @@ -156,10 +156,7 @@ class CollisionDataKeeper * @brief Get the closest object data * @return Object data of the closest object */ - [[nodiscard]] ObjectData get() const - { - return (closest_object_.has_value()) ? closest_object_.value() : ObjectData(); - } + [[nodiscard]] std::optional get() const { return closest_object_; } /** * @brief Get the previous closest object data diff --git a/control/autoware_autonomous_emergency_braking/src/node.cpp b/control/autoware_autonomous_emergency_braking/src/node.cpp index dc8c876bd56f6..e8744d85dc11a 100644 --- a/control/autoware_autonomous_emergency_braking/src/node.cpp +++ b/control/autoware_autonomous_emergency_braking/src/node.cpp @@ -393,12 +393,15 @@ void AEB::onCheckCollision(DiagnosticStatusWrapper & stat) const auto diag_level = DiagnosticStatus::ERROR; stat.summary(diag_level, error_msg); const auto & data = collision_data_keeper_.get(); - stat.addf("RSS", "%.2f", data.rss); - stat.addf("Distance", "%.2f", data.distance_to_object); - stat.addf("Object Speed", "%.2f", data.velocity); - if (publish_debug_markers_) { - addCollisionMarker(data, debug_markers); + if (data.has_value()) { + stat.addf("RSS", "%.2f", data.value().rss); + stat.addf("Distance", "%.2f", data.value().distance_to_object); + stat.addf("Object Speed", "%.2f", data.value().velocity); + if (publish_debug_markers_) { + addCollisionMarker(data.value(), debug_markers); + } } + addVirtualStopWallMarker(info_markers); } else { const std::string error_msg = "[AEB]: No Collision"; @@ -476,17 +479,19 @@ bool AEB::checkCollision(MarkerArray & debug_markers) return std::make_optional(*closest_object_point_itr); }); + const bool has_collision = (closest_object_point.has_value()) + ? hasCollision(current_v, closest_object_point.value()) + : false; + // Add debug markers if (publish_debug_markers_) { const auto [color_r, color_g, color_b, color_a] = debug_colors; addMarker( - this->get_clock()->now(), path, ego_polys, objects, closest_object_point, color_r, color_g, - color_b, color_a, debug_ns, debug_markers); + this->get_clock()->now(), path, ego_polys, objects, collision_data_keeper_.get(), color_r, + color_g, color_b, color_a, debug_ns, debug_markers); } // check collision using rss distance - return (closest_object_point.has_value()) - ? hasCollision(current_v, closest_object_point.value()) - : false; + return has_collision; }; // step3. make function to check collision with ego path created with sensor data From f021d06ee5a16e625d7d2646b2497d9d69f0afd1 Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Mon, 26 Aug 2024 14:36:34 +0900 Subject: [PATCH 047/169] fix(goal_planner): remove time keeper in non main thread (#8610) Signed-off-by: kosuke55 --- .../src/goal_planner_module.cpp | 4 ---- 1 file changed, 4 deletions(-) diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp index ff248fbe02a1c..c67983993de01 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp @@ -1206,8 +1206,6 @@ bool GoalPlannerModule::hasDecidedPath( const std::shared_ptr & safety_check_params, const std::shared_ptr goal_searcher) const { - universe_utils::ScopedTimeTrack st(__func__, *time_keeper_); - return checkDecidingPathStatus( planner_data, occupancy_grid_map, parameters, ego_predicted_path_params, objects_filtering_params, safety_check_params, goal_searcher) @@ -1240,8 +1238,6 @@ DecidingPathStatusWithStamp GoalPlannerModule::checkDecidingPathStatus( const std::shared_ptr & safety_check_params, const std::shared_ptr goal_searcher) const { - universe_utils::ScopedTimeTrack st(__func__, *time_keeper_); - 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; From c80eddc26daf25d975dd294c5cb428d42ed7e600 Mon Sep 17 00:00:00 2001 From: Go Sakayori Date: Mon, 26 Aug 2024 15:05:12 +0900 Subject: [PATCH 048/169] fix(lane_change): update rtc status for some failure condition (#8604) update rtc status for some failure condition Signed-off-by: Go Sakayori --- .../src/interface.cpp | 6 ++++++ 1 file changed, 6 insertions(+) diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/interface.cpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/interface.cpp index a7cf89193b37f..979004d439bdc 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/interface.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/interface.cpp @@ -258,11 +258,17 @@ bool LaneChangeInterface::canTransitFailureState() if (!module_type_->isValidPath()) { log_debug_throttled("Transit to failure state due not to find valid path"); + updateRTCStatus( + std::numeric_limits::lowest(), std::numeric_limits::lowest(), true, + State::FAILED); return true; } if (module_type_->isAbortState() && module_type_->hasFinishedAbort()) { log_debug_throttled("Abort process has completed."); + updateRTCStatus( + std::numeric_limits::lowest(), std::numeric_limits::lowest(), true, + State::FAILED); return true; } From 1db4a65d5c6963b0430df7d7f24ec34eeed6bc3d Mon Sep 17 00:00:00 2001 From: mkquda <168697710+mkquda@users.noreply.github.com> Date: Mon, 26 Aug 2024 15:26:26 +0900 Subject: [PATCH 049/169] fix(freespace_planner): fix free space planner spamming message (#8614) check data availability only when scenario is active Signed-off-by: mohammad alqudah --- .../freespace_planner_node.cpp | 17 ++++++----------- 1 file changed, 6 insertions(+), 11 deletions(-) diff --git a/planning/autoware_freespace_planner/src/autoware_freespace_planner/freespace_planner_node.cpp b/planning/autoware_freespace_planner/src/autoware_freespace_planner/freespace_planner_node.cpp index 8e8a962ed1071..267fd9932e781 100644 --- a/planning/autoware_freespace_planner/src/autoware_freespace_planner/freespace_planner_node.cpp +++ b/planning/autoware_freespace_planner/src/autoware_freespace_planner/freespace_planner_node.cpp @@ -416,7 +416,6 @@ void FreespacePlannerNode::onOdometry(const Odometry::ConstSharedPtr msg) void FreespacePlannerNode::updateData() { occupancy_grid_ = occupancy_grid_sub_.takeData(); - scenario_ = scenario_sub_.takeData(); { auto msgs = odom_sub_.takeData(); @@ -440,11 +439,6 @@ bool FreespacePlannerNode::isDataReady() is_ready = false; } - if (!scenario_) { - RCLCPP_INFO_THROTTLE(get_logger(), *get_clock(), 5000, "Waiting for scenario."); - is_ready = false; - } - if (!odom_) { RCLCPP_INFO_THROTTLE(get_logger(), *get_clock(), 5000, "Waiting for odometry."); is_ready = false; @@ -455,14 +449,15 @@ bool FreespacePlannerNode::isDataReady() void FreespacePlannerNode::onTimer() { - updateData(); - - if (!isDataReady()) { + scenario_ = scenario_sub_.takeData(); + if (!isActive(scenario_)) { + reset(); return; } - if (!isActive(scenario_)) { - reset(); + updateData(); + + if (!isDataReady()) { return; } From 3f015666774c42ed9bdeb3568ab34a563595448d Mon Sep 17 00:00:00 2001 From: Yamato Ando Date: Mon, 26 Aug 2024 16:29:11 +0900 Subject: [PATCH 050/169] refactor(ekf_localizer): fix tf2 listener (#8584) * fix tf2 listener Signed-off-by: Yamato Ando * style(pre-commit): autofix --------- Signed-off-by: Yamato Ando Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- .../include/ekf_localizer/ekf_localizer.hpp | 5 +++++ .../ekf_localizer/src/ekf_localizer.cpp | 19 +++++++------------ 2 files changed, 12 insertions(+), 12 deletions(-) diff --git a/localization/ekf_localizer/include/ekf_localizer/ekf_localizer.hpp b/localization/ekf_localizer/include/ekf_localizer/ekf_localizer.hpp index f3830c303ab48..650eca26d4e96 100644 --- a/localization/ekf_localizer/include/ekf_localizer/ekf_localizer.hpp +++ b/localization/ekf_localizer/include/ekf_localizer/ekf_localizer.hpp @@ -39,6 +39,7 @@ #include #include +#include #include #include @@ -141,6 +142,10 @@ class EKFLocalizer : public rclcpp::Node rclcpp::TimerBase::SharedPtr timer_tf_; //!< @brief tf broadcaster std::shared_ptr tf_br_; + //!< @brief tf buffer + tf2_ros::Buffer tf2_buffer_; + //!< @brief tf listener + tf2_ros::TransformListener tf2_listener_; //!< @brief logger configure module std::unique_ptr logger_configure_; diff --git a/localization/ekf_localizer/src/ekf_localizer.cpp b/localization/ekf_localizer/src/ekf_localizer.cpp index 707d5e585cb0c..f1e4d0c958c77 100644 --- a/localization/ekf_localizer/src/ekf_localizer.cpp +++ b/localization/ekf_localizer/src/ekf_localizer.cpp @@ -44,6 +44,8 @@ using std::placeholders::_1; EKFLocalizer::EKFLocalizer(const rclcpp::NodeOptions & node_options) : rclcpp::Node("ekf_localizer", node_options), warning_(std::make_shared(this)), + tf2_buffer_(this->get_clock()), + tf2_listener_(tf2_buffer_), params_(this), ekf_dt_(params_.ekf_dt), pose_queue_(params_.pose_smoothing_steps), @@ -285,21 +287,14 @@ bool EKFLocalizer::get_transform_from_tf( std::string parent_frame, std::string child_frame, geometry_msgs::msg::TransformStamped & transform) { - tf2::BufferCore tf_buffer; - tf2_ros::TransformListener tf_listener(tf_buffer); - rclcpp::sleep_for(std::chrono::milliseconds(100)); - parent_frame = erase_leading_slash(parent_frame); child_frame = erase_leading_slash(child_frame); - for (int i = 0; i < 50; ++i) { - try { - transform = tf_buffer.lookupTransform(parent_frame, child_frame, tf2::TimePointZero); - return true; - } catch (tf2::TransformException & ex) { - warning_->warn(ex.what()); - rclcpp::sleep_for(std::chrono::milliseconds(100)); - } + try { + transform = tf2_buffer_.lookupTransform(parent_frame, child_frame, tf2::TimePointZero); + return true; + } catch (tf2::TransformException & ex) { + warning_->warn(ex.what()); } return false; } From f64c4ed448c88c83e200d45f6c4e1eb196142578 Mon Sep 17 00:00:00 2001 From: Yamato Ando Date: Mon, 26 Aug 2024 16:29:26 +0900 Subject: [PATCH 051/169] fix(ndt_scan_matcher): fix timestamp in service_ndt_align func (#8599) fix timestamp Signed-off-by: Yamato Ando --- localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp b/localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp index 3e8b9b99737c0..b59686c211b53 100644 --- a/localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp +++ b/localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp @@ -961,7 +961,8 @@ void NDTScanMatcher::service_ndt_align_main( diagnostics_ndt_align_->add_key_value("is_succeed_transform_initial_pose", true); // transform pose_frame to map_frame - const auto initial_pose_msg_in_map_frame = transform(req->pose_with_covariance, transform_s2t); + auto initial_pose_msg_in_map_frame = transform(req->pose_with_covariance, transform_s2t); + initial_pose_msg_in_map_frame.header.stamp = req->pose_with_covariance.header.stamp; map_update_module_->update_map( initial_pose_msg_in_map_frame.pose.pose.position, diagnostics_ndt_align_); From f99aa3a79b30ea39c1b160a565223d455fef3fb6 Mon Sep 17 00:00:00 2001 From: Yamato Ando Date: Mon, 26 Aug 2024 17:18:30 +0900 Subject: [PATCH 052/169] fix(ekf_localizer): change roll, pitch proc dev (#8619) change roll, pitch proc dev Signed-off-by: Yamato Ando --- localization/ekf_localizer/config/ekf_localizer.param.yaml | 4 ++-- .../schema/sub/simple_1d_filter_parameters.sub_schema.json | 4 ++-- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/localization/ekf_localizer/config/ekf_localizer.param.yaml b/localization/ekf_localizer/config/ekf_localizer.param.yaml index 4a7696ec9e65e..13319521e35ab 100644 --- a/localization/ekf_localizer/config/ekf_localizer.param.yaml +++ b/localization/ekf_localizer/config/ekf_localizer.param.yaml @@ -30,8 +30,8 @@ simple_1d_filter_parameters: #Simple1DFilter parameters z_filter_proc_dev: 1.0 - roll_filter_proc_dev: 0.01 - pitch_filter_proc_dev: 0.01 + roll_filter_proc_dev: 0.1 + pitch_filter_proc_dev: 0.1 diagnostics: # for diagnostics diff --git a/localization/ekf_localizer/schema/sub/simple_1d_filter_parameters.sub_schema.json b/localization/ekf_localizer/schema/sub/simple_1d_filter_parameters.sub_schema.json index ad2f638a18d5f..00679ee92ad24 100644 --- a/localization/ekf_localizer/schema/sub/simple_1d_filter_parameters.sub_schema.json +++ b/localization/ekf_localizer/schema/sub/simple_1d_filter_parameters.sub_schema.json @@ -13,12 +13,12 @@ "roll_filter_proc_dev": { "type": "number", "description": "Simple1DFilter - Roll filter process deviation", - "default": 0.01 + "default": 0.1 }, "pitch_filter_proc_dev": { "type": "number", "description": "Simple1DFilter - Pitch filter process deviation", - "default": 0.01 + "default": 0.1 } }, "required": ["z_filter_proc_dev", "roll_filter_proc_dev", "pitch_filter_proc_dev"], From fe953a40cd4a2c09a7cd82d6f25c1d09b2a9d86c Mon Sep 17 00:00:00 2001 From: Kyoichi Sugahara Date: Mon, 26 Aug 2024 17:21:19 +0900 Subject: [PATCH 053/169] docs(autoware_autonomous_emergency_braking): improve AEB module's README (#8612) * docs: improve AEB module's README Signed-off-by: Kyoichi Sugahara * update rss distance length Signed-off-by: Kyoichi Sugahara --------- Signed-off-by: Kyoichi Sugahara --- .../README.md | 8 +- .../image/rss_check.drawio.svg | 183 ++++++------------ 2 files changed, 65 insertions(+), 126 deletions(-) diff --git a/control/autoware_autonomous_emergency_braking/README.md b/control/autoware_autonomous_emergency_braking/README.md index 1382a24d98b0a..66d4483fbdf84 100644 --- a/control/autoware_autonomous_emergency_braking/README.md +++ b/control/autoware_autonomous_emergency_braking/README.md @@ -8,8 +8,6 @@ This module has following assumptions. -- It is used when driving at low speeds (about 15 km/h). - - The predicted path of the ego vehicle can be made from either the path created from sensors or the path created from a control module, or both. - The current speed and angular velocity can be obtained from the sensors of the ego vehicle, and it uses points as obstacles. @@ -25,7 +23,7 @@ The pros and cons of both approaches are: IMU angular velocity: - (+) Usually, it has high accuracy -- (-)Vehicle vibration might introduce noise. +- (-) Vehicle vibration might introduce noise. Steering angle: @@ -186,7 +184,7 @@ The AEB module can also prevent collisions when the ego vehicle is moving backwa When vehicle odometry information is faulty, it is possible that the MPC fails to predict a correct path for the ego vehicle. If the MPC predicted path is wrong, collision avoidance will not work as intended on the planning modules. However, the AEB’s IMU path does not depend on the MPC and could be able to predict a collision when the other modules cannot. As an example you can see a figure of a hypothetical case in which the MPC path is wrong and only the AEB’s IMU path detects a collision. -![backward driving](./image/wrong-mpc.drawio.svg) +![wrong mpc](./image/wrong-mpc.drawio.svg) ## Parameters @@ -217,6 +215,8 @@ When vehicle odometry information is faulty, it is possible that the MPC fails t ## Limitations +- The distance required to stop after collision detection depends on the ego vehicle's speed and deceleration performance. To avoid collisions, it's necessary to increase the detection distance and set a higher deceleration rate. However, this creates a trade-off as it may also increase the number of unnecessary activations. Therefore, it's essential to consider what role this module should play and adjust the parameters accordingly. + - AEB might not be able to react with obstacles that are close to the ground. It depends on the performance of the pre-processing methods applied to the point cloud. - Longitudinal acceleration information obtained from sensors is not used due to the high amount of noise. diff --git a/control/autoware_autonomous_emergency_braking/image/rss_check.drawio.svg b/control/autoware_autonomous_emergency_braking/image/rss_check.drawio.svg index 2d1716519631d..1d3dd824df5f0 100644 --- a/control/autoware_autonomous_emergency_braking/image/rss_check.drawio.svg +++ b/control/autoware_autonomous_emergency_braking/image/rss_check.drawio.svg @@ -1,134 +1,73 @@ - - - - - - - + + + + + + + + + + + + + + + + +
+
+ + Closest point distance +
+ +
+
+ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
-
-
- - Closest Point Distance -
-
-
- - - - - - - - - - - - - - - - - -
-
-
RSS distance
-
-
- - - - + + + + + + +
+
+ RSS distance +
+
+ From 1a58707d3a6fda9ad32d84a7940a1544a71f7af4 Mon Sep 17 00:00:00 2001 From: kminoda <44218668+kminoda@users.noreply.github.com> Date: Mon, 26 Aug 2024 19:32:54 +0900 Subject: [PATCH 054/169] fix(autoware_traffic_light_map_based_detector): output from screen to both (#8411) --- .../launch/traffic_light_map_based_detector.launch.xml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/perception/autoware_traffic_light_map_based_detector/launch/traffic_light_map_based_detector.launch.xml b/perception/autoware_traffic_light_map_based_detector/launch/traffic_light_map_based_detector.launch.xml index 9f035e7f1ae6c..39026c85c1cef 100644 --- a/perception/autoware_traffic_light_map_based_detector/launch/traffic_light_map_based_detector.launch.xml +++ b/perception/autoware_traffic_light_map_based_detector/launch/traffic_light_map_based_detector.launch.xml @@ -12,7 +12,7 @@ - + From a24e2069fa255f5bb3e35a5c6ab2dcad73eb8739 Mon Sep 17 00:00:00 2001 From: kminoda <44218668+kminoda@users.noreply.github.com> Date: Mon, 26 Aug 2024 19:33:34 +0900 Subject: [PATCH 055/169] fix(autoware_multi_object_tracker): output from screen to both (#8407) --- .../launch/multi_object_tracker.launch.xml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/perception/autoware_multi_object_tracker/launch/multi_object_tracker.launch.xml b/perception/autoware_multi_object_tracker/launch/multi_object_tracker.launch.xml index db76e181a6afa..88f63e00ed511 100644 --- a/perception/autoware_multi_object_tracker/launch/multi_object_tracker.launch.xml +++ b/perception/autoware_multi_object_tracker/launch/multi_object_tracker.launch.xml @@ -6,7 +6,7 @@ - + From ac95a1fc6492d874113e3ae3f70ab8adf70a3086 Mon Sep 17 00:00:00 2001 From: kminoda <44218668+kminoda@users.noreply.github.com> Date: Mon, 26 Aug 2024 19:39:58 +0900 Subject: [PATCH 056/169] fix(autoware_map_based_prediction): output from screen to both (#8408) --- .../launch/map_based_prediction.launch.xml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/perception/autoware_map_based_prediction/launch/map_based_prediction.launch.xml b/perception/autoware_map_based_prediction/launch/map_based_prediction.launch.xml index b65f0de892dcc..2c668639c2a56 100644 --- a/perception/autoware_map_based_prediction/launch/map_based_prediction.launch.xml +++ b/perception/autoware_map_based_prediction/launch/map_based_prediction.launch.xml @@ -7,7 +7,7 @@ - + From a3cf7bda38e1dba1c5b2aecab081ca8fd1398671 Mon Sep 17 00:00:00 2001 From: kobayu858 <129580202+kobayu858@users.noreply.github.com> Date: Tue, 27 Aug 2024 07:58:40 +0900 Subject: [PATCH 057/169] fix(traffic_light_utils): fix unusedFunction (#8605) * fix:unusedFunction Signed-off-by: kobayu858 * fix:unusedFunction Signed-off-by: kobayu858 --------- Signed-off-by: kobayu858 --- .../traffic_light_utils.hpp | 7 ---- .../src/traffic_light_utils.cpp | 23 ----------- .../test/test_traffic_light_utils.cpp | 40 ------------------- 3 files changed, 70 deletions(-) diff --git a/common/traffic_light_utils/include/traffic_light_utils/traffic_light_utils.hpp b/common/traffic_light_utils/include/traffic_light_utils/traffic_light_utils.hpp index cf4ecdd9774b8..3a40c0c3b1d51 100644 --- a/common/traffic_light_utils/include/traffic_light_utils/traffic_light_utils.hpp +++ b/common/traffic_light_utils/include/traffic_light_utils/traffic_light_utils.hpp @@ -30,13 +30,6 @@ namespace traffic_light_utils { -bool isRoiValid( - const tier4_perception_msgs::msg::TrafficLightRoi & roi, uint32_t width, uint32_t height); - -void setRoiInvalid(tier4_perception_msgs::msg::TrafficLightRoi & roi); - -bool isSignalUnknown(const tier4_perception_msgs::msg::TrafficLight & signal); - void setSignalUnknown(tier4_perception_msgs::msg::TrafficLight & signal, float confidence = -1); /** diff --git a/common/traffic_light_utils/src/traffic_light_utils.cpp b/common/traffic_light_utils/src/traffic_light_utils.cpp index 8aea884510ec2..a3da21c1bb578 100644 --- a/common/traffic_light_utils/src/traffic_light_utils.cpp +++ b/common/traffic_light_utils/src/traffic_light_utils.cpp @@ -17,29 +17,6 @@ namespace traffic_light_utils { -bool isRoiValid( - const tier4_perception_msgs::msg::TrafficLightRoi & roi, uint32_t width, uint32_t height) -{ - uint32_t x1 = roi.roi.x_offset; - uint32_t x2 = roi.roi.x_offset + roi.roi.width; - uint32_t y1 = roi.roi.y_offset; - uint32_t y2 = roi.roi.y_offset + roi.roi.height; - return roi.roi.width > 0 && roi.roi.height > 0 && x1 < width && y1 < height && x2 < width && - y2 < height; -} - -void setRoiInvalid(tier4_perception_msgs::msg::TrafficLightRoi & roi) -{ - roi.roi.height = roi.roi.width = 0; -} - -bool isSignalUnknown(const tier4_perception_msgs::msg::TrafficLight & signal) -{ - return signal.elements.size() == 1 && - signal.elements[0].shape == tier4_perception_msgs::msg::TrafficLightElement::UNKNOWN && - signal.elements[0].color == tier4_perception_msgs::msg::TrafficLightElement::UNKNOWN; -} - void setSignalUnknown(tier4_perception_msgs::msg::TrafficLight & signal, float confidence) { signal.elements.resize(1); diff --git a/common/traffic_light_utils/test/test_traffic_light_utils.cpp b/common/traffic_light_utils/test/test_traffic_light_utils.cpp index a80510693c487..a9e601370945d 100644 --- a/common/traffic_light_utils/test/test_traffic_light_utils.cpp +++ b/common/traffic_light_utils/test/test_traffic_light_utils.cpp @@ -18,46 +18,6 @@ namespace traffic_light_utils { -TEST(isRoiValid, roi_validity) -{ - tier4_perception_msgs::msg::TrafficLightRoi test_roi; - test_roi.roi.x_offset = 300; - test_roi.roi.y_offset = 200; - test_roi.roi.width = 340; - test_roi.roi.height = 200; - uint32_t img_width = 640; - uint32_t img_heigh = 480; - EXPECT_FALSE(isRoiValid(test_roi, img_width, img_heigh)); - test_roi.roi.width = 339; - EXPECT_TRUE(isRoiValid(test_roi, img_width, img_heigh)); -} - -TEST(setRoiInvalid, set_roi_size) -{ - tier4_perception_msgs::msg::TrafficLightRoi test_roi; - test_roi.roi.x_offset = 300; - test_roi.roi.y_offset = 200; - test_roi.roi.width = 300; - test_roi.roi.height = 200; - EXPECT_EQ(test_roi.roi.width, (uint32_t)300); - EXPECT_EQ(test_roi.roi.height, (uint32_t)200); - setRoiInvalid(test_roi); - EXPECT_EQ(test_roi.roi.width, (uint32_t)0); - EXPECT_EQ(test_roi.roi.height, (uint32_t)0); -} - -TEST(isSignalUnknown, signal_element) -{ - tier4_perception_msgs::msg::TrafficLight test_signal; - tier4_perception_msgs::msg::TrafficLightElement element; - element.color = tier4_perception_msgs::msg::TrafficLightElement::UNKNOWN; - element.shape = tier4_perception_msgs::msg::TrafficLightElement::UNKNOWN; - test_signal.elements.push_back(element); - EXPECT_TRUE(isSignalUnknown(test_signal)); - test_signal.elements[0].color = tier4_perception_msgs::msg::TrafficLightElement::RED; - EXPECT_FALSE(isSignalUnknown(test_signal)); -} - TEST(setSignalUnknown, set_signal_element) { tier4_perception_msgs::msg::TrafficLight test_signal; From e0ecdda1f7c7712b623fdbbe497fa23dca9cfbcd Mon Sep 17 00:00:00 2001 From: Kenzo Lobos Tsunekawa Date: Tue, 27 Aug 2024 08:11:18 +0900 Subject: [PATCH 058/169] chore(autoware_imu_corrector): refactored the imu corrector into the autoware namespace (#8222) * chore: refactored the imu corrector into the autoware namespace Signed-off-by: Kenzo Lobos-Tsunekawa * chore: reverted to non-exported includes Signed-off-by: Kenzo Lobos-Tsunekawa --------- Signed-off-by: Kenzo Lobos-Tsunekawa Co-authored-by: Yamato Ando --- .github/CODEOWNERS | 1 + .../CMakeLists.txt | 12 ++++++------ .../README.md | 2 +- .../config/gyro_bias_estimator.param.yaml | 0 .../config/imu_corrector.param.yaml | 0 .../launch/gyro_bias_estimator.launch.xml | 6 +++--- .../launch/imu_corrector.launch.xml | 4 ++-- .../package.xml | 4 ++-- .../schema/imu_corrector.json | 0 .../src/gyro_bias_estimation_module.cpp | 7 +++---- .../src/gyro_bias_estimation_module.hpp | 4 ++-- .../src/gyro_bias_estimator.cpp | 8 ++++---- .../src/gyro_bias_estimator.hpp | 6 +++--- .../src/imu_corrector_core.cpp | 6 +++--- .../src/imu_corrector_core.hpp | 9 ++++----- .../test/test_gyro_bias_estimation_module.cpp | 4 ++-- 16 files changed, 36 insertions(+), 37 deletions(-) rename sensing/{imu_corrector => autoware_imu_corrector}/CMakeLists.txt (79%) rename sensing/{imu_corrector => autoware_imu_corrector}/README.md (99%) rename sensing/{imu_corrector => autoware_imu_corrector}/config/gyro_bias_estimator.param.yaml (100%) rename sensing/{imu_corrector => autoware_imu_corrector}/config/imu_corrector.param.yaml (100%) rename sensing/{imu_corrector => autoware_imu_corrector}/launch/gyro_bias_estimator.launch.xml (74%) rename sensing/{imu_corrector => autoware_imu_corrector}/launch/imu_corrector.launch.xml (61%) rename sensing/{imu_corrector => autoware_imu_corrector}/package.xml (90%) rename sensing/{imu_corrector => autoware_imu_corrector}/schema/imu_corrector.json (100%) rename sensing/{imu_corrector => autoware_imu_corrector}/src/gyro_bias_estimation_module.cpp (97%) rename sensing/{imu_corrector => autoware_imu_corrector}/src/gyro_bias_estimation_module.hpp (94%) rename sensing/{imu_corrector => autoware_imu_corrector}/src/gyro_bias_estimator.cpp (98%) rename sensing/{imu_corrector => autoware_imu_corrector}/src/gyro_bias_estimator.hpp (95%) rename sensing/{imu_corrector => autoware_imu_corrector}/src/imu_corrector_core.cpp (97%) rename sensing/{imu_corrector => autoware_imu_corrector}/src/imu_corrector_core.hpp (89%) rename sensing/{imu_corrector => autoware_imu_corrector}/test/test_gyro_bias_estimation_module.cpp (97%) diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS index 403fe7e0f728f..f0fdae85b78ee 100644 --- a/.github/CODEOWNERS +++ b/.github/CODEOWNERS @@ -200,6 +200,7 @@ planning/sampling_based_planner/autoware_frenet_planner/** maxime.clement@tier4. planning/sampling_based_planner/autoware_path_sampler/** maxime.clement@tier4.jp planning/sampling_based_planner/autoware_sampler_common/** maxime.clement@tier4.jp sensing/autoware_image_diagnostics/** dai.nguyen@tier4.jp yoshi.ri@tier4.jp +sensing/autoware_imu_corrector/** taiki.yamada@tier4.jp yamato.ando@tier4.jp sensing/autoware_image_transport_decompressor/** kenzo.lobos@tier4.jp yukihiro.saito@tier4.jp sensing/autoware_pcl_extensions/** david.wong@tier4.jp kenzo.lobos@tier4.jp ryu.yamamoto@tier4.jp sensing/autoware_pointcloud_preprocessor/** abrahammonrroy@yahoo.com dai.nguyen@tier4.jp david.wong@tier4.jp kenzo.lobos@tier4.jp kyoichi.sugahara@tier4.jp melike@leodrive.ai shunsuke.miura@tier4.jp yihsiang.fang@tier4.jp yoshi.ri@tier4.jp yukihiro.saito@tier4.jp diff --git a/sensing/imu_corrector/CMakeLists.txt b/sensing/autoware_imu_corrector/CMakeLists.txt similarity index 79% rename from sensing/imu_corrector/CMakeLists.txt rename to sensing/autoware_imu_corrector/CMakeLists.txt index b3be5be12b75d..5e417ce94597a 100644 --- a/sensing/imu_corrector/CMakeLists.txt +++ b/sensing/autoware_imu_corrector/CMakeLists.txt @@ -1,10 +1,10 @@ cmake_minimum_required(VERSION 3.14) -project(imu_corrector) +project(autoware_imu_corrector) find_package(autoware_cmake REQUIRED) autoware_package() -ament_auto_add_library(${PROJECT_NAME} SHARED +ament_auto_add_library(imu_corrector SHARED src/imu_corrector_core.cpp ) @@ -13,14 +13,14 @@ ament_auto_add_library(gyro_bias_estimator SHARED src/gyro_bias_estimation_module.cpp ) -rclcpp_components_register_node(${PROJECT_NAME} - PLUGIN "imu_corrector::ImuCorrector" - EXECUTABLE ${PROJECT_NAME}_node +rclcpp_components_register_node(imu_corrector + PLUGIN "autoware::imu_corrector::ImuCorrector" + EXECUTABLE imu_corrector_node EXECUTOR SingleThreadedExecutor ) rclcpp_components_register_node(gyro_bias_estimator - PLUGIN "imu_corrector::GyroBiasEstimator" + PLUGIN "autoware::imu_corrector::GyroBiasEstimator" EXECUTABLE gyro_bias_estimator_node EXECUTOR SingleThreadedExecutor ) diff --git a/sensing/imu_corrector/README.md b/sensing/autoware_imu_corrector/README.md similarity index 99% rename from sensing/imu_corrector/README.md rename to sensing/autoware_imu_corrector/README.md index 2df12c94b7d3b..805c20c0cb35c 100644 --- a/sensing/imu_corrector/README.md +++ b/sensing/autoware_imu_corrector/README.md @@ -1,4 +1,4 @@ -# imu_corrector +# autoware_imu_corrector ## imu_corrector diff --git a/sensing/imu_corrector/config/gyro_bias_estimator.param.yaml b/sensing/autoware_imu_corrector/config/gyro_bias_estimator.param.yaml similarity index 100% rename from sensing/imu_corrector/config/gyro_bias_estimator.param.yaml rename to sensing/autoware_imu_corrector/config/gyro_bias_estimator.param.yaml diff --git a/sensing/imu_corrector/config/imu_corrector.param.yaml b/sensing/autoware_imu_corrector/config/imu_corrector.param.yaml similarity index 100% rename from sensing/imu_corrector/config/imu_corrector.param.yaml rename to sensing/autoware_imu_corrector/config/imu_corrector.param.yaml diff --git a/sensing/imu_corrector/launch/gyro_bias_estimator.launch.xml b/sensing/autoware_imu_corrector/launch/gyro_bias_estimator.launch.xml similarity index 74% rename from sensing/imu_corrector/launch/gyro_bias_estimator.launch.xml rename to sensing/autoware_imu_corrector/launch/gyro_bias_estimator.launch.xml index 100168b17171a..774b8f14f9501 100644 --- a/sensing/imu_corrector/launch/gyro_bias_estimator.launch.xml +++ b/sensing/autoware_imu_corrector/launch/gyro_bias_estimator.launch.xml @@ -3,10 +3,10 @@ - - + + - + diff --git a/sensing/imu_corrector/launch/imu_corrector.launch.xml b/sensing/autoware_imu_corrector/launch/imu_corrector.launch.xml similarity index 61% rename from sensing/imu_corrector/launch/imu_corrector.launch.xml rename to sensing/autoware_imu_corrector/launch/imu_corrector.launch.xml index 8430f2a50a85c..456ce58750658 100755 --- a/sensing/imu_corrector/launch/imu_corrector.launch.xml +++ b/sensing/autoware_imu_corrector/launch/imu_corrector.launch.xml @@ -2,9 +2,9 @@ - + - + diff --git a/sensing/imu_corrector/package.xml b/sensing/autoware_imu_corrector/package.xml similarity index 90% rename from sensing/imu_corrector/package.xml rename to sensing/autoware_imu_corrector/package.xml index f5c719d2b4f7e..4869b5566ea05 100644 --- a/sensing/imu_corrector/package.xml +++ b/sensing/autoware_imu_corrector/package.xml @@ -1,9 +1,9 @@ - imu_corrector + autoware_imu_corrector 1.0.0 - The ROS 2 imu_corrector package + The ROS 2 autoware_imu_corrector package Yamato Ando Taiki Yamada Apache License 2.0 diff --git a/sensing/imu_corrector/schema/imu_corrector.json b/sensing/autoware_imu_corrector/schema/imu_corrector.json similarity index 100% rename from sensing/imu_corrector/schema/imu_corrector.json rename to sensing/autoware_imu_corrector/schema/imu_corrector.json diff --git a/sensing/imu_corrector/src/gyro_bias_estimation_module.cpp b/sensing/autoware_imu_corrector/src/gyro_bias_estimation_module.cpp similarity index 97% rename from sensing/imu_corrector/src/gyro_bias_estimation_module.cpp rename to sensing/autoware_imu_corrector/src/gyro_bias_estimation_module.cpp index 7bd6b38490495..18d7965470f05 100644 --- a/sensing/imu_corrector/src/gyro_bias_estimation_module.cpp +++ b/sensing/autoware_imu_corrector/src/gyro_bias_estimation_module.cpp @@ -14,11 +14,10 @@ #include "gyro_bias_estimation_module.hpp" -#include "autoware/universe_utils/geometry/geometry.hpp" - +#include #include -namespace imu_corrector +namespace autoware::imu_corrector { /** @@ -116,4 +115,4 @@ geometry_msgs::msg::Vector3 GyroBiasEstimationModule::get_bias_base_link() const return gyro_bias_base; } -} // namespace imu_corrector +} // namespace autoware::imu_corrector diff --git a/sensing/imu_corrector/src/gyro_bias_estimation_module.hpp b/sensing/autoware_imu_corrector/src/gyro_bias_estimation_module.hpp similarity index 94% rename from sensing/imu_corrector/src/gyro_bias_estimation_module.hpp rename to sensing/autoware_imu_corrector/src/gyro_bias_estimation_module.hpp index 9eff50d296a95..ed166e4daf63c 100644 --- a/sensing/imu_corrector/src/gyro_bias_estimation_module.hpp +++ b/sensing/autoware_imu_corrector/src/gyro_bias_estimation_module.hpp @@ -22,7 +22,7 @@ #include #include -namespace imu_corrector +namespace autoware::imu_corrector { class GyroBiasEstimationModule { @@ -36,6 +36,6 @@ class GyroBiasEstimationModule private: std::pair gyro_bias_pair_; }; -} // namespace imu_corrector +} // namespace autoware::imu_corrector #endif // GYRO_BIAS_ESTIMATION_MODULE_HPP_ diff --git a/sensing/imu_corrector/src/gyro_bias_estimator.cpp b/sensing/autoware_imu_corrector/src/gyro_bias_estimator.cpp similarity index 98% rename from sensing/imu_corrector/src/gyro_bias_estimator.cpp rename to sensing/autoware_imu_corrector/src/gyro_bias_estimator.cpp index 6882fbf068fd1..ec91311455911 100644 --- a/sensing/imu_corrector/src/gyro_bias_estimator.cpp +++ b/sensing/autoware_imu_corrector/src/gyro_bias_estimator.cpp @@ -14,14 +14,14 @@ #include "gyro_bias_estimator.hpp" -#include "autoware/universe_utils/geometry/geometry.hpp" +#include #include #include #include -namespace imu_corrector +namespace autoware::imu_corrector { GyroBiasEstimator::GyroBiasEstimator(const rclcpp::NodeOptions & options) : rclcpp::Node("gyro_bias_validator", options), @@ -243,7 +243,7 @@ void GyroBiasEstimator::update_diagnostics(diagnostic_updater::DiagnosticStatusW stat.add("gyro_bias_threshold", f(gyro_bias_threshold_)); } -} // namespace imu_corrector +} // namespace autoware::imu_corrector #include -RCLCPP_COMPONENTS_REGISTER_NODE(imu_corrector::GyroBiasEstimator) +RCLCPP_COMPONENTS_REGISTER_NODE(autoware::imu_corrector::GyroBiasEstimator) diff --git a/sensing/imu_corrector/src/gyro_bias_estimator.hpp b/sensing/autoware_imu_corrector/src/gyro_bias_estimator.hpp similarity index 95% rename from sensing/imu_corrector/src/gyro_bias_estimator.hpp rename to sensing/autoware_imu_corrector/src/gyro_bias_estimator.hpp index 1313f2cb06507..68539a2181fd3 100644 --- a/sensing/imu_corrector/src/gyro_bias_estimator.hpp +++ b/sensing/autoware_imu_corrector/src/gyro_bias_estimator.hpp @@ -14,9 +14,9 @@ #ifndef GYRO_BIAS_ESTIMATOR_HPP_ #define GYRO_BIAS_ESTIMATOR_HPP_ -#include "autoware/universe_utils/ros/transform_listener.hpp" #include "gyro_bias_estimation_module.hpp" +#include #include #include @@ -30,7 +30,7 @@ #include #include -namespace imu_corrector +namespace autoware::imu_corrector { class GyroBiasEstimator : public rclcpp::Node { @@ -97,6 +97,6 @@ class GyroBiasEstimator : public rclcpp::Node DiagnosticsInfo diagnostics_info_; }; -} // namespace imu_corrector +} // namespace autoware::imu_corrector #endif // GYRO_BIAS_ESTIMATOR_HPP_ diff --git a/sensing/imu_corrector/src/imu_corrector_core.cpp b/sensing/autoware_imu_corrector/src/imu_corrector_core.cpp similarity index 97% rename from sensing/imu_corrector/src/imu_corrector_core.cpp rename to sensing/autoware_imu_corrector/src/imu_corrector_core.cpp index c6e12d2481f89..a9acb45888945 100644 --- a/sensing/imu_corrector/src/imu_corrector_core.cpp +++ b/sensing/autoware_imu_corrector/src/imu_corrector_core.cpp @@ -51,7 +51,7 @@ geometry_msgs::msg::Vector3 transform_vector3( return vec_stamped_transformed.vector; } -namespace imu_corrector +namespace autoware::imu_corrector { ImuCorrector::ImuCorrector(const rclcpp::NodeOptions & options) : rclcpp::Node("imu_corrector", options), @@ -124,7 +124,7 @@ void ImuCorrector::callback_imu(const sensor_msgs::msg::Imu::ConstSharedPtr imu_ imu_pub_->publish(imu_msg_base_link); } -} // namespace imu_corrector +} // namespace autoware::imu_corrector #include -RCLCPP_COMPONENTS_REGISTER_NODE(imu_corrector::ImuCorrector) +RCLCPP_COMPONENTS_REGISTER_NODE(autoware::imu_corrector::ImuCorrector) diff --git a/sensing/imu_corrector/src/imu_corrector_core.hpp b/sensing/autoware_imu_corrector/src/imu_corrector_core.hpp similarity index 89% rename from sensing/imu_corrector/src/imu_corrector_core.hpp rename to sensing/autoware_imu_corrector/src/imu_corrector_core.hpp index c02aa88a313a7..0c4839f6b5290 100644 --- a/sensing/imu_corrector/src/imu_corrector_core.hpp +++ b/sensing/autoware_imu_corrector/src/imu_corrector_core.hpp @@ -14,9 +14,8 @@ #ifndef IMU_CORRECTOR_CORE_HPP_ #define IMU_CORRECTOR_CORE_HPP_ -#include "autoware/universe_utils/ros/msg_covariance.hpp" -#include "autoware/universe_utils/ros/transform_listener.hpp" - +#include +#include #include #include @@ -27,7 +26,7 @@ #include #include -namespace imu_corrector +namespace autoware::imu_corrector { class ImuCorrector : public rclcpp::Node { @@ -57,6 +56,6 @@ class ImuCorrector : public rclcpp::Node std::string output_frame_; }; -} // namespace imu_corrector +} // namespace autoware::imu_corrector #endif // IMU_CORRECTOR_CORE_HPP_ diff --git a/sensing/imu_corrector/test/test_gyro_bias_estimation_module.cpp b/sensing/autoware_imu_corrector/test/test_gyro_bias_estimation_module.cpp similarity index 97% rename from sensing/imu_corrector/test/test_gyro_bias_estimation_module.cpp rename to sensing/autoware_imu_corrector/test/test_gyro_bias_estimation_module.cpp index 257552e15cbab..573dbe84d6027 100644 --- a/sensing/imu_corrector/test/test_gyro_bias_estimation_module.cpp +++ b/sensing/autoware_imu_corrector/test/test_gyro_bias_estimation_module.cpp @@ -18,7 +18,7 @@ #include -namespace imu_corrector +namespace autoware::imu_corrector { class GyroBiasEstimationModuleTest : public ::testing::Test { @@ -88,4 +88,4 @@ TEST_F(GyroBiasEstimationModuleTest, GetInsufficientDataExceptionWhenVehicleMovi ASSERT_THROW(module.update_bias(pose_list, gyro_list), std::runtime_error); } } -} // namespace imu_corrector +} // namespace autoware::imu_corrector From 88b1658ec9e6ec991c19438487aa652e34d532ce Mon Sep 17 00:00:00 2001 From: Yoshi Ri Date: Tue, 27 Aug 2024 09:13:28 +0900 Subject: [PATCH 059/169] fix(image_projection_based_fusion): remove unused variable (#8634) fix: remove unused variable Signed-off-by: yoshiri --- .../src/pointpainting_fusion/node.cpp | 1 - 1 file changed, 1 deletion(-) diff --git a/perception/autoware_image_projection_based_fusion/src/pointpainting_fusion/node.cpp b/perception/autoware_image_projection_based_fusion/src/pointpainting_fusion/node.cpp index 3d9b51ae7add7..f999dcd8b0f3f 100644 --- a/perception/autoware_image_projection_based_fusion/src/pointpainting_fusion/node.cpp +++ b/perception/autoware_image_projection_based_fusion/src/pointpainting_fusion/node.cpp @@ -351,7 +351,6 @@ dc | dc dc dc dc ||zc| // paint current point if it is inside bbox int label2d = feature_object.object.classification.front().label; if (!isUnknown(label2d) && isInsideBbox(projected_point.x(), projected_point.y(), roi, p_z)) { - data = &painted_pointcloud_msg.data[0]; // cppcheck-suppress invalidPointerCast auto p_class = reinterpret_cast(&output[stride + class_offset]); for (const auto & cls : isClassTable_) { From 4cd89392228dfd5c08618401d41365c4099a43ae Mon Sep 17 00:00:00 2001 From: Yukinari Hisaki <42021302+yhisaki@users.noreply.github.com> Date: Tue, 27 Aug 2024 10:11:14 +0900 Subject: [PATCH 060/169] feat(autoware_universe_utils): add thread_id check to time_keeper (#8628) add thread_id check Signed-off-by: Y.Hisaki --- .../universe_utils/system/time_keeper.hpp | 2 + .../src/system/time_keeper.cpp | 15 +++- .../test/src/system/test_time_keeper.cpp | 81 ++++++++++++++----- 3 files changed, 76 insertions(+), 22 deletions(-) diff --git a/common/autoware_universe_utils/include/autoware/universe_utils/system/time_keeper.hpp b/common/autoware_universe_utils/include/autoware/universe_utils/system/time_keeper.hpp index 6ae9ec8a4d4cb..e983d9be77e36 100644 --- a/common/autoware_universe_utils/include/autoware/universe_utils/system/time_keeper.hpp +++ b/common/autoware_universe_utils/include/autoware/universe_utils/system/time_keeper.hpp @@ -25,6 +25,7 @@ #include #include #include +#include #include namespace autoware::universe_utils @@ -169,6 +170,7 @@ class TimeKeeper std::shared_ptr current_time_node_; //!< Shared pointer to the current time node std::shared_ptr root_node_; //!< Shared pointer to the root time node + std::thread::id root_node_thread_id_; //!< ID of the thread that started the tracking autoware::universe_utils::StopWatch< std::chrono::milliseconds, std::chrono::microseconds, std::chrono::steady_clock> stop_watch_; //!< StopWatch object for tracking the processing time diff --git a/common/autoware_universe_utils/src/system/time_keeper.cpp b/common/autoware_universe_utils/src/system/time_keeper.cpp index 64f4e95f2a46e..8c715c5ccd7e3 100644 --- a/common/autoware_universe_utils/src/system/time_keeper.cpp +++ b/common/autoware_universe_utils/src/system/time_keeper.cpp @@ -14,6 +14,9 @@ #include "autoware/universe_utils/system/time_keeper.hpp" +#include +#include + #include #include @@ -129,7 +132,14 @@ void TimeKeeper::start_track(const std::string & func_name) if (current_time_node_ == nullptr) { current_time_node_ = std::make_shared(func_name); root_node_ = current_time_node_; + root_node_thread_id_ = std::this_thread::get_id(); } else { + if (root_node_thread_id_ != std::this_thread::get_id()) { + RCLCPP_WARN( + rclcpp::get_logger("TimeKeeper"), + "TimeKeeper::start_track() is called from a different thread. Ignoring the call."); + return; + } current_time_node_ = current_time_node_->add_child(func_name); } stop_watch_.tic(func_name); @@ -145,6 +155,9 @@ void TimeKeeper::comment(const std::string & comment) void TimeKeeper::end_track(const std::string & func_name) { + if (root_node_thread_id_ != std::this_thread::get_id()) { + return; + } if (current_time_node_->get_name() != func_name) { throw std::runtime_error(fmt::format( "You must call end_track({}) first, but end_track({}) is called", @@ -178,7 +191,7 @@ ScopedTimeTrack::ScopedTimeTrack(const std::string & func_name, TimeKeeper & tim time_keeper_.start_track(func_name_); } -ScopedTimeTrack::~ScopedTimeTrack() +ScopedTimeTrack::~ScopedTimeTrack() // NOLINT { time_keeper_.end_track(func_name_); } diff --git a/common/autoware_universe_utils/test/src/system/test_time_keeper.cpp b/common/autoware_universe_utils/test/src/system/test_time_keeper.cpp index 71ca7cc74bec5..0540fa8a283ad 100644 --- a/common/autoware_universe_utils/test/src/system/test_time_keeper.cpp +++ b/common/autoware_universe_utils/test/src/system/test_time_keeper.cpp @@ -11,7 +11,6 @@ // 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 "autoware/universe_utils/system/time_keeper.hpp" #include @@ -20,34 +19,74 @@ #include #include -#include +#include #include -TEST(system, TimeKeeper) +class TimeKeeperTest : public ::testing::Test { - using autoware::universe_utils::ScopedTimeTrack; - using autoware::universe_utils::TimeKeeper; +protected: + std::ostringstream oss; + rclcpp::Node::SharedPtr node; + rclcpp::Publisher::SharedPtr publisher; + std::unique_ptr time_keeper; - rclcpp::Node node{"sample_node"}; - - auto publisher = node.create_publisher( - "~/debug/processing_time_tree", 1); + void SetUp() override + { + node = std::make_shared("test_node"); + publisher = node->create_publisher( + "~/debug/processing_time_tree", 1); + time_keeper = std::make_unique(&oss, publisher); + } +}; - TimeKeeper time_keeper(&std::cerr, publisher); +TEST_F(TimeKeeperTest, BasicFunctionality) +{ + using autoware::universe_utils::ScopedTimeTrack; - ScopedTimeTrack st{"main_func", time_keeper}; + { + ScopedTimeTrack st{"main_func", *time_keeper}; - { // funcA - ScopedTimeTrack st{"funcA", time_keeper}; - std::this_thread::sleep_for(std::chrono::seconds(1)); - } + { // funcA + ScopedTimeTrack st{"funcA", *time_keeper}; + std::this_thread::sleep_for(std::chrono::milliseconds(100)); + } - { // funcB - ScopedTimeTrack st{"funcB", time_keeper}; - std::this_thread::sleep_for(std::chrono::seconds(1)); - { // funcC - ScopedTimeTrack st{"funcC", time_keeper}; - std::this_thread::sleep_for(std::chrono::seconds(1)); + { // funcB + ScopedTimeTrack st{"funcB", *time_keeper}; + std::this_thread::sleep_for(std::chrono::milliseconds(100)); + { // funcC + ScopedTimeTrack st{"funcC", *time_keeper}; + std::this_thread::sleep_for(std::chrono::milliseconds(100)); + } } } + + // Check if the output contains all function names + std::string output = oss.str(); + EXPECT_TRUE(output.find("main_func") != std::string::npos); + EXPECT_TRUE(output.find("funcA") != std::string::npos); + EXPECT_TRUE(output.find("funcB") != std::string::npos); + EXPECT_TRUE(output.find("funcC") != std::string::npos); +} + +TEST_F(TimeKeeperTest, MultiThreadWarning) +{ + testing::internal::CaptureStderr(); + + std::thread t([this]() { + time_keeper->start_track("ThreadFunction"); + std::this_thread::sleep_for(std::chrono::milliseconds(10)); + time_keeper->end_track("ThreadFunction"); + }); + + time_keeper->start_track("MainFunction"); + std::this_thread::sleep_for(std::chrono::milliseconds(20)); + time_keeper->end_track("MainFunction"); + + t.join(); + + std::string err = testing::internal::GetCapturedStderr(); + EXPECT_TRUE( + err.find("TimeKeeper::start_track() is called from a different thread. Ignoring the call.") != + std::string::npos); } From 1b64c31208022625ff58e16fb77c6b399ba41387 Mon Sep 17 00:00:00 2001 From: eiki <53928021+N-Eiki@users.noreply.github.com> Date: Tue, 27 Aug 2024 10:13:26 +0900 Subject: [PATCH 061/169] feat(autoware_accel_brake_map_calibrator): conditional actuation data processing based on source (#8593) * fix: Conditional Actuation Data Processing Based on Source Signed-off-by: N-Eiki * style(pre-commit): autofix * delete extra comentout, indent Signed-off-by: N-Eiki * add take validation Signed-off-by: N-Eiki * style(pre-commit): autofix --------- Signed-off-by: N-Eiki Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- .../src/accel_brake_map_calibrator_node.cpp | 15 ++++++++------- 1 file changed, 8 insertions(+), 7 deletions(-) diff --git a/vehicle/autoware_accel_brake_map_calibrator/src/accel_brake_map_calibrator_node.cpp b/vehicle/autoware_accel_brake_map_calibrator/src/accel_brake_map_calibrator_node.cpp index b361a0d2725c7..3750fdb77b258 100644 --- a/vehicle/autoware_accel_brake_map_calibrator/src/accel_brake_map_calibrator_node.cpp +++ b/vehicle/autoware_accel_brake_map_calibrator/src/accel_brake_map_calibrator_node.cpp @@ -266,15 +266,16 @@ bool AccelBrakeMapCalibrator::get_current_pitch_from_tf(double * pitch) bool AccelBrakeMapCalibrator::take_data() { // take data from subscribers - // take actuation data - ActuationStatusStamped::ConstSharedPtr actuation_status_ptr = actuation_status_sub_.takeData(); - ActuationCommandStamped::ConstSharedPtr actuation_cmd_ptr = actuation_cmd_sub_.takeData(); - if (actuation_status_ptr) { + if (accel_brake_value_source_ == ACCEL_BRAKE_SOURCE::STATUS) { + ActuationStatusStamped::ConstSharedPtr actuation_status_ptr = actuation_status_sub_.takeData(); + if (!actuation_status_ptr) return false; take_actuation_status(actuation_status_ptr); - } else if (actuation_cmd_ptr) { + } + // take actuation data + if (accel_brake_value_source_ == ACCEL_BRAKE_SOURCE::COMMAND) { + ActuationCommandStamped::ConstSharedPtr actuation_cmd_ptr = actuation_cmd_sub_.takeData(); + if (!actuation_cmd_ptr) return false; take_actuation_command(actuation_cmd_ptr); - } else { - return false; } // take velocity data From 05b15541fb5ac964bd1545a74eaa36a51e9a605c Mon Sep 17 00:00:00 2001 From: Ryuta Kambe Date: Tue, 27 Aug 2024 10:36:17 +0900 Subject: [PATCH 062/169] ci(cppcheck): remove unnecessary unreadVariable suppression (#8635) Signed-off-by: Ryuta Kambe --- .cppcheck_suppressions | 1 - 1 file changed, 1 deletion(-) diff --git a/.cppcheck_suppressions b/.cppcheck_suppressions index 162c0394cc4d9..58002c148870c 100644 --- a/.cppcheck_suppressions +++ b/.cppcheck_suppressions @@ -6,7 +6,6 @@ missingIncludeSystem noConstructor unknownMacro unmatchedSuppression -unreadVariable unusedFunction useInitializationList useStlAlgorithm From 93802fde83be4aa7e7eae6f1c72176a6aef86d39 Mon Sep 17 00:00:00 2001 From: "Takagi, Isamu" <43976882+isamu-takagi@users.noreply.github.com> Date: Tue, 27 Aug 2024 11:17:07 +0900 Subject: [PATCH 063/169] chore(autoware_default_adapi)!: prefix autoware to package name (#8533) Signed-off-by: Takagi, Isamu --- .github/CODEOWNERS | 2 +- .../launch/autoware_api.launch.xml | 4 +-- launch/tier4_autoware_api_launch/package.xml | 2 +- localization/pose_initializer/README.md | 6 ++-- .../autoware_behavior_path_planner/README.md | 24 +++++++-------- .../CMakeLists.txt | 30 +++++++++---------- .../README.md | 4 +-- .../config/default_adapi.param.yaml} | 4 +-- .../document/autoware-state.md | 4 +-- .../document/fail-safe.md | 0 .../autoware-state-architecture.drawio.svg | 12 ++++---- .../images/autoware-state-table.drawio.svg | 0 .../document/images/localization.drawio.svg | 0 .../images/motion-architecture.drawio.svg | 0 .../document/images/motion-state.drawio.svg | 0 .../operation-mode-architecture.drawio.svg | 0 .../images/operation-mode-state.drawio.svg | 0 .../images/operation-mode-table.drawio.svg | 0 .../document/images/routing.drawio.svg | 0 .../document/interface.md | 0 .../document/localization.md | 0 .../document/motion.md | 0 .../document/operation-mode.md | 0 .../document/routing.md | 0 .../launch/default_adapi.launch.py} | 18 +++++------ .../package.xml | 4 +-- .../script/guide.py | 0 .../script/web_server.py | 0 .../src/compatibility/autoware_state.cpp | 6 ++-- .../src/compatibility/autoware_state.hpp | 4 +-- .../src/diagnostics.cpp | 6 ++-- .../src/diagnostics.hpp | 4 +-- .../src/fail_safe.cpp | 6 ++-- .../src/fail_safe.hpp | 4 +-- .../src/heartbeat.cpp | 6 ++-- .../src/heartbeat.hpp | 4 +-- .../src/interface.cpp | 6 ++-- .../src/interface.hpp | 4 +-- .../src/localization.cpp | 6 ++-- .../src/localization.hpp | 4 +-- .../src/motion.cpp | 6 ++-- .../src/motion.hpp | 4 +-- .../src/operation_mode.cpp | 6 ++-- .../src/operation_mode.hpp | 4 +-- .../src/perception.cpp | 6 ++-- .../src/perception.hpp | 4 +-- .../src/planning.cpp | 6 ++-- .../src/planning.hpp | 4 +-- .../src/routing.cpp | 6 ++-- .../src/routing.hpp | 4 +-- .../src/utils/localization_conversion.cpp | 4 +-- .../src/utils/localization_conversion.hpp | 4 +-- .../src/utils/route_conversion.cpp | 4 +-- .../src/utils/route_conversion.hpp | 4 +-- .../src/utils/topics.hpp | 4 +-- .../src/utils/types.hpp | 4 +-- .../src/vehicle.cpp | 6 ++-- .../src/vehicle.hpp | 4 +-- .../src/vehicle_door.cpp | 6 ++-- .../src/vehicle_door.hpp | 4 +-- .../src/vehicle_info.cpp | 6 ++-- .../src/vehicle_info.hpp | 4 +-- .../test/main.test.py | 4 +-- .../test/node/interface_version.py | 0 64 files changed, 141 insertions(+), 141 deletions(-) rename system/{default_ad_api => autoware_default_adapi}/CMakeLists.txt (55%) rename system/{default_ad_api => autoware_default_adapi}/README.md (93%) rename system/{default_ad_api/config/default_ad_api.param.yaml => autoware_default_adapi/config/default_adapi.param.yaml} (64%) rename system/{default_ad_api => autoware_default_adapi}/document/autoware-state.md (71%) rename system/{default_ad_api => autoware_default_adapi}/document/fail-safe.md (100%) rename system/{default_ad_api => autoware_default_adapi}/document/images/autoware-state-architecture.drawio.svg (92%) rename system/{default_ad_api => autoware_default_adapi}/document/images/autoware-state-table.drawio.svg (100%) rename system/{default_ad_api => autoware_default_adapi}/document/images/localization.drawio.svg (100%) rename system/{default_ad_api => autoware_default_adapi}/document/images/motion-architecture.drawio.svg (100%) rename system/{default_ad_api => autoware_default_adapi}/document/images/motion-state.drawio.svg (100%) rename system/{default_ad_api => autoware_default_adapi}/document/images/operation-mode-architecture.drawio.svg (100%) rename system/{default_ad_api => autoware_default_adapi}/document/images/operation-mode-state.drawio.svg (100%) rename system/{default_ad_api => autoware_default_adapi}/document/images/operation-mode-table.drawio.svg (100%) rename system/{default_ad_api => autoware_default_adapi}/document/images/routing.drawio.svg (100%) rename system/{default_ad_api => autoware_default_adapi}/document/interface.md (100%) rename system/{default_ad_api => autoware_default_adapi}/document/localization.md (100%) rename system/{default_ad_api => autoware_default_adapi}/document/motion.md (100%) rename system/{default_ad_api => autoware_default_adapi}/document/operation-mode.md (100%) rename system/{default_ad_api => autoware_default_adapi}/document/routing.md (100%) rename system/{default_ad_api/launch/default_ad_api.launch.py => autoware_default_adapi/launch/default_adapi.launch.py} (85%) rename system/{default_ad_api => autoware_default_adapi}/package.xml (94%) rename system/{default_ad_api => autoware_default_adapi}/script/guide.py (100%) rename system/{default_ad_api => autoware_default_adapi}/script/web_server.py (100%) rename system/{default_ad_api => autoware_default_adapi}/src/compatibility/autoware_state.cpp (97%) rename system/{default_ad_api => autoware_default_adapi}/src/compatibility/autoware_state.hpp (97%) rename system/{default_ad_api => autoware_default_adapi}/src/diagnostics.cpp (94%) rename system/{default_ad_api => autoware_default_adapi}/src/diagnostics.hpp (95%) rename system/{default_ad_api => autoware_default_adapi}/src/fail_safe.cpp (89%) rename system/{default_ad_api => autoware_default_adapi}/src/fail_safe.hpp (94%) rename system/{default_ad_api => autoware_default_adapi}/src/heartbeat.cpp (90%) rename system/{default_ad_api => autoware_default_adapi}/src/heartbeat.hpp (93%) rename system/{default_ad_api => autoware_default_adapi}/src/interface.cpp (87%) rename system/{default_ad_api => autoware_default_adapi}/src/interface.hpp (93%) rename system/{default_ad_api => autoware_default_adapi}/src/localization.cpp (90%) rename system/{default_ad_api => autoware_default_adapi}/src/localization.hpp (95%) rename system/{default_ad_api => autoware_default_adapi}/src/motion.cpp (97%) rename system/{default_ad_api => autoware_default_adapi}/src/motion.hpp (96%) rename system/{default_ad_api => autoware_default_adapi}/src/operation_mode.cpp (97%) rename system/{default_ad_api => autoware_default_adapi}/src/operation_mode.hpp (98%) rename system/{default_ad_api => autoware_default_adapi}/src/perception.cpp (96%) rename system/{default_ad_api => autoware_default_adapi}/src/perception.hpp (95%) rename system/{default_ad_api => autoware_default_adapi}/src/planning.cpp (97%) rename system/{default_ad_api => autoware_default_adapi}/src/planning.hpp (97%) rename system/{default_ad_api => autoware_default_adapi}/src/routing.cpp (97%) rename system/{default_ad_api => autoware_default_adapi}/src/routing.hpp (97%) rename system/{default_ad_api => autoware_default_adapi}/src/utils/localization_conversion.cpp (91%) rename system/{default_ad_api => autoware_default_adapi}/src/utils/localization_conversion.hpp (92%) rename system/{default_ad_api => autoware_default_adapi}/src/utils/route_conversion.cpp (98%) rename system/{default_ad_api => autoware_default_adapi}/src/utils/route_conversion.hpp (96%) rename system/{default_ad_api => autoware_default_adapi}/src/utils/topics.hpp (92%) rename system/{default_ad_api => autoware_default_adapi}/src/utils/types.hpp (93%) rename system/{default_ad_api => autoware_default_adapi}/src/vehicle.cpp (98%) rename system/{default_ad_api => autoware_default_adapi}/src/vehicle.hpp (98%) rename system/{default_ad_api => autoware_default_adapi}/src/vehicle_door.cpp (90%) rename system/{default_ad_api => autoware_default_adapi}/src/vehicle_door.hpp (95%) rename system/{default_ad_api => autoware_default_adapi}/src/vehicle_info.cpp (94%) rename system/{default_ad_api => autoware_default_adapi}/src/vehicle_info.hpp (93%) rename system/{default_ad_api => autoware_default_adapi}/test/main.test.py (91%) rename system/{default_ad_api => autoware_default_adapi}/test/node/interface_version.py (100%) diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS index f0fdae85b78ee..c3774f0485153 100644 --- a/.github/CODEOWNERS +++ b/.github/CODEOWNERS @@ -222,7 +222,7 @@ system/autoware_component_monitor/** memin@leodrive.ai system/autoware_processing_time_checker/** kosuke.takeuchi@tier4.jp takayuki.murooka@tier4.jp system/bluetooth_monitor/** fumihito.ito@tier4.jp system/component_state_monitor/** isamu.takagi@tier4.jp -system/default_ad_api/** isamu.takagi@tier4.jp ryohsuke.mitsudome@tier4.jp yukihiro.saito@tier4.jp +system/autoware_default_adapi/** isamu.takagi@tier4.jp ryohsuke.mitsudome@tier4.jp yukihiro.saito@tier4.jp system/default_ad_api_helpers/ad_api_adaptors/** isamu.takagi@tier4.jp ryohsuke.mitsudome@tier4.jp yukihiro.saito@tier4.jp system/default_ad_api_helpers/ad_api_visualizers/** isamu.takagi@tier4.jp ryohsuke.mitsudome@tier4.jp yukihiro.saito@tier4.jp system/default_ad_api_helpers/automatic_pose_initializer/** isamu.takagi@tier4.jp ryohsuke.mitsudome@tier4.jp yukihiro.saito@tier4.jp diff --git a/launch/tier4_autoware_api_launch/launch/autoware_api.launch.xml b/launch/tier4_autoware_api_launch/launch/autoware_api.launch.xml index 2efd1a595b2f4..143fbc9be5bfb 100644 --- a/launch/tier4_autoware_api_launch/launch/autoware_api.launch.xml +++ b/launch/tier4_autoware_api_launch/launch/autoware_api.launch.xml @@ -1,7 +1,7 @@ - + @@ -16,7 +16,7 @@ - + diff --git a/launch/tier4_autoware_api_launch/package.xml b/launch/tier4_autoware_api_launch/package.xml index d45d21b3ed949..dbf5d16834681 100644 --- a/launch/tier4_autoware_api_launch/package.xml +++ b/launch/tier4_autoware_api_launch/package.xml @@ -12,11 +12,11 @@ autoware_cmake ad_api_adaptors + autoware_default_adapi autoware_iv_external_api_adaptor autoware_iv_internal_api_adaptor autoware_path_distance_calculator awapi_awiv_adapter - default_ad_api rosbridge_server topic_tools diff --git a/localization/pose_initializer/README.md b/localization/pose_initializer/README.md index 94bf98f272487..2928f51f7256d 100644 --- a/localization/pose_initializer/README.md +++ b/localization/pose_initializer/README.md @@ -51,9 +51,9 @@ If the score of initial pose estimation result is lower than score threshold, ER ## Connection with Default AD API -This `pose_initializer` is used via default AD API. For detailed description of the API description, please refer to [the description of `default_ad_api`](https://github.com/autowarefoundation/autoware.universe/blob/main/system/default_ad_api/document/localization.md). +This `pose_initializer` is used via default AD API. For detailed description of the API description, please refer to [the description of `autoware_default_adapi`](https://github.com/autowarefoundation/autoware.universe/blob/main/system/autoware_default_adapi/document/localization.md). -drawing +drawing ## Initialize pose via CLI @@ -136,4 +136,4 @@ pose: ``` It behaves the same as "initialpose (from rviz)". -The position.z and the covariance will be overwritten by [ad_api_adaptors](https://github.com/autowarefoundation/autoware.universe/tree/main/system/default_ad_api_helpers/ad_api_adaptors), so there is no need to input them. +The position.z and the covariance will be overwritten by [ad_api_adaptors](https://github.com/autowarefoundation/autoware.universe/tree/main/system/autoware_default_adapi_helpers/ad_api_adaptors), so there is no need to input them. diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner/README.md b/planning/behavior_path_planner/autoware_behavior_path_planner/README.md index 658edce2ccb3c..b6282e39e3910 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner/README.md +++ b/planning/behavior_path_planner/autoware_behavior_path_planner/README.md @@ -89,18 +89,18 @@ The Planner Manager's responsibilities include: ### Input -| Name | Required? | Type | Description | -| :---------------------------- | :-------: | :------------------------------------------------------ | :----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -| ~/input/odometry | â—‹ | `nav_msgs::msg::Odometry` | for ego velocity. | -| ~/input/accel | â—‹ | `geometry_msgs::msg::AccelWithCovarianceStamped` | for ego acceleration. | -| ~/input/objects | â—‹ | `autoware_perception_msgs::msg::PredictedObjects` | dynamic objects from perception module. | -| ~/input/occupancy_grid_map | â—‹ | `nav_msgs::msg::OccupancyGrid` | occupancy grid map from perception module. This is used for only Goal Planner module. | -| ~/input/traffic_signals | â—‹ | `autoware_perception_msgs::msg::TrafficLightGroupArray` | traffic signals information from the perception module | -| ~/input/vector_map | â—‹ | `autoware_map_msgs::msg::LaneletMapBin` | vector map information. | -| ~/input/route | â—‹ | `autoware_planning_msgs::msg::LaneletRoute` | current route from start to goal. | -| ~/input/scenario | â—‹ | `tier4_planning_msgs::msg::Scenario` | Launches behavior path planner if current scenario == `Scenario:LaneDriving`. | -| ~/input/lateral_offset | â–³ | `tier4_planning_msgs::msg::LateralOffset` | lateral offset to trigger side shift | -| ~/system/operation_mode/state | â—‹ | `autoware_adapi_v1_msgs::msg::OperationModeState` | Allows planning module to know if vehicle is in autonomous mode or can be controlled[ref](https://github.com/autowarefoundation/autoware.universe/blob/main/system/default_ad_api/document/operation-mode.md) | +| Name | Required? | Type | Description | +| :---------------------------- | :-------: | :------------------------------------------------------ | :------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| ~/input/odometry | â—‹ | `nav_msgs::msg::Odometry` | for ego velocity. | +| ~/input/accel | â—‹ | `geometry_msgs::msg::AccelWithCovarianceStamped` | for ego acceleration. | +| ~/input/objects | â—‹ | `autoware_perception_msgs::msg::PredictedObjects` | dynamic objects from perception module. | +| ~/input/occupancy_grid_map | â—‹ | `nav_msgs::msg::OccupancyGrid` | occupancy grid map from perception module. This is used for only Goal Planner module. | +| ~/input/traffic_signals | â—‹ | `autoware_perception_msgs::msg::TrafficLightGroupArray` | traffic signals information from the perception module | +| ~/input/vector_map | â—‹ | `autoware_map_msgs::msg::LaneletMapBin` | vector map information. | +| ~/input/route | â—‹ | `autoware_planning_msgs::msg::LaneletRoute` | current route from start to goal. | +| ~/input/scenario | â—‹ | `tier4_planning_msgs::msg::Scenario` | Launches behavior path planner if current scenario == `Scenario:LaneDriving`. | +| ~/input/lateral_offset | â–³ | `tier4_planning_msgs::msg::LateralOffset` | lateral offset to trigger side shift | +| ~/system/operation_mode/state | â—‹ | `autoware_adapi_v1_msgs::msg::OperationModeState` | Allows planning module to know if vehicle is in autonomous mode or can be controlled[ref](https://github.com/autowarefoundation/autoware.universe/blob/main/system/autoware_default_adapi/document/operation-mode.md) | - â—‹ Mandatory: Planning Module would not work if anyone of this is not present. - â–³ Optional: Some module would not work, but Planning Module can still be operated. diff --git a/system/default_ad_api/CMakeLists.txt b/system/autoware_default_adapi/CMakeLists.txt similarity index 55% rename from system/default_ad_api/CMakeLists.txt rename to system/autoware_default_adapi/CMakeLists.txt index 799a73508a061..2dd39b455d2d2 100644 --- a/system/default_ad_api/CMakeLists.txt +++ b/system/autoware_default_adapi/CMakeLists.txt @@ -1,5 +1,5 @@ cmake_minimum_required(VERSION 3.14) -project(default_ad_api) +project(autoware_default_adapi) find_package(autoware_cmake REQUIRED) autoware_package() @@ -24,20 +24,20 @@ ament_auto_add_library(${PROJECT_NAME} SHARED ) rclcpp_components_register_nodes(${PROJECT_NAME} - "default_ad_api::AutowareStateNode" - "default_ad_api::DiagnosticsNode" - "default_ad_api::FailSafeNode" - "default_ad_api::HeartbeatNode" - "default_ad_api::InterfaceNode" - "default_ad_api::LocalizationNode" - "default_ad_api::MotionNode" - "default_ad_api::OperationModeNode" - "default_ad_api::PerceptionNode" - "default_ad_api::PlanningNode" - "default_ad_api::RoutingNode" - "default_ad_api::VehicleNode" - "default_ad_api::VehicleInfoNode" - "default_ad_api::VehicleDoorNode" + "autoware::default_adapi::AutowareStateNode" + "autoware::default_adapi::DiagnosticsNode" + "autoware::default_adapi::FailSafeNode" + "autoware::default_adapi::HeartbeatNode" + "autoware::default_adapi::InterfaceNode" + "autoware::default_adapi::LocalizationNode" + "autoware::default_adapi::MotionNode" + "autoware::default_adapi::OperationModeNode" + "autoware::default_adapi::PerceptionNode" + "autoware::default_adapi::PlanningNode" + "autoware::default_adapi::RoutingNode" + "autoware::default_adapi::VehicleNode" + "autoware::default_adapi::VehicleInfoNode" + "autoware::default_adapi::VehicleDoorNode" ) if(BUILD_TESTING) diff --git a/system/default_ad_api/README.md b/system/autoware_default_adapi/README.md similarity index 93% rename from system/default_ad_api/README.md rename to system/autoware_default_adapi/README.md index 7bc496010eee9..e638c335ab8f2 100644 --- a/system/default_ad_api/README.md +++ b/system/autoware_default_adapi/README.md @@ -1,4 +1,4 @@ -# default_ad_api +# autoware_default_adapi ## Notes @@ -25,7 +25,7 @@ This is a sample to call API using HTTP. This is a debug script to check the conditions for transition to autonomous mode. ```bash -$ ros2 run default_ad_api guide.py +$ ros2 run autoware_default_adapi guide.py The vehicle pose is not estimated. Please set an initial pose or check GNSS. The route is not set. Please set a goal pose. diff --git a/system/default_ad_api/config/default_ad_api.param.yaml b/system/autoware_default_adapi/config/default_adapi.param.yaml similarity index 64% rename from system/default_ad_api/config/default_ad_api.param.yaml rename to system/autoware_default_adapi/config/default_adapi.param.yaml index a15abe091764c..ddbf103878953 100644 --- a/system/default_ad_api/config/default_ad_api.param.yaml +++ b/system/autoware_default_adapi/config/default_adapi.param.yaml @@ -1,8 +1,8 @@ -/default_ad_api/node/autoware_state: +/adapi/node/autoware_state: ros__parameters: update_rate: 10.0 -/default_ad_api/node/motion: +/adapi/node/motion: ros__parameters: require_accept_start: false stop_check_duration: 1.0 diff --git a/system/default_ad_api/document/autoware-state.md b/system/autoware_default_adapi/document/autoware-state.md similarity index 71% rename from system/default_ad_api/document/autoware-state.md rename to system/autoware_default_adapi/document/autoware-state.md index e26756de1f4ba..eb31a4d41bc1d 100644 --- a/system/default_ad_api/document/autoware-state.md +++ b/system/autoware_default_adapi/document/autoware-state.md @@ -2,7 +2,7 @@ ## Overview -Since `/autoware/state` was so widely used, default_ad_api creates it from the states of AD API for backwards compatibility. +Since `/autoware/state` was so widely used, this packages creates it from the states of AD API for backwards compatibility. The diagnostic checks that ad_service_state_monitor used to perform have been replaced by component_state_monitor. The service `/autoware/shutdown` to change autoware state to finalizing is also supported for compatibility. @@ -11,6 +11,6 @@ The service `/autoware/shutdown` to change autoware state to finalizing is also ## Conversion This is the correspondence between AD API states and autoware states. -The launch state is the data that default_ad_api node holds internally. +The launch state is the data that this node holds internally. ![autoware-state-table](images/autoware-state-table.drawio.svg) diff --git a/system/default_ad_api/document/fail-safe.md b/system/autoware_default_adapi/document/fail-safe.md similarity index 100% rename from system/default_ad_api/document/fail-safe.md rename to system/autoware_default_adapi/document/fail-safe.md diff --git a/system/default_ad_api/document/images/autoware-state-architecture.drawio.svg b/system/autoware_default_adapi/document/images/autoware-state-architecture.drawio.svg similarity index 92% rename from system/default_ad_api/document/images/autoware-state-architecture.drawio.svg rename to system/autoware_default_adapi/document/images/autoware-state-architecture.drawio.svg index 40aebd20ae43f..f3e0129a2f3f2 100644 --- a/system/default_ad_api/document/images/autoware-state-architecture.drawio.svg +++ b/system/autoware_default_adapi/document/images/autoware-state-architecture.drawio.svg @@ -6,7 +6,7 @@ width="761px" height="381px" viewBox="-0.5 -0.5 761 381" - content="<mxfile><diagram id="X9Q9Zxk0nsySa-CThXZE" name="Page-1">5Vvfb5swEP5rIm0vUzA/kjxuWbe9TJrUh21PlQsOWAOMjGmS/fWzgx0Mpk1oEqAslVp8PhNz333nO+PO7HWy+0phFn0nAYpnYB7sZvbnGQCLhct/C8G+FDgLrxSEFAelyKoE9/gvksK5lBY4QHlNkRESM5zVhT5JU+SzmgxSSrZ1tQ2J69+awRAZgnsfxqb0Jw5YJKWWt6o6viEcRvKrl2BRdiRQKcsnySMYkK0msu9m9poSwsqrZLdGsbCdsks57sszvceJUZSyswbIieVsrx4OBfxZZZNQFpGQpDC+q6SfIpbEvNPil5QUaYDEzea8ZX67nFBOCuo3QGSQhkipOaVMfLc2UM75KyIJYnTPFSiKIcNPdRyghDM86smhHymFe00hIzhluXbnH0LAFaRjuks5N+mXYNWwXjd9flHOQLW0R6lEB0SeQWf5CnTqkGhYvR4ddxToLJxu6JzQvxwdefsnGBfykX2SZCRFh1nkDDIkOE9SzAg1kKzjtI0wQ/cZPOCw5VGzjt0Gx/GaxPw2Yqy9ccWPkJOUafLyw+U5o+QP0nq8w+clL3hClKHdi/gqtwd1w9pz2d5WwRAoakRaHFSAtLmEBsuLVrcHiFhqjdE4AbxRcMKa16Gwli9z4oT+5ZxQzlRxYga8mAmXzGDKr0NxHRO+mOK/3DAkVf381rqKEj/SpkTXwpxbWLuVYt0zt2w6ThzzlAG9Mfo1wxow2WeBW7FvgBUJjJZ9wOvGvhP6l7MPGOzjtmc4DStmTIICYD4gBxzLtOKtOWD3wYFzDaBmo7kZyRBVITjh5d5E/Mz2hoy1q/79zBltrDVqLatjbWZdOdY6BgkYybDPRX6E/D8y4ha5mchsRDUgeikrsokwpVkT9BuR56YVb80Ud7RMada9Vsc62bp2nexeyBRYMJKShBT5RMjiNWNTn2SxBlhWPJMsKlftP30BV40W/Lnp/peQf3BV87fe93knB5Wt/azLzkOb4exRRBmnGfBPRJkT+hdHGTBAVt6GjjUKdJr7PKfQOaF/+RrgGWtAgDawiNkDDB5ghs3Y/66+SbQWNlPFrGg0S473Bv5vd4e1sSK3bbA6zo3WB2D3TiTQssWjdtdHlkypivDcZKqhf3mYM7d4AgzDlOQM+1PNj+xlj/kRcPv3/7aye7j86PnK9j96p9Wry111Vx3tMCsT0oWl2r9VDsqvq4RUNPZa4weimE8e0S45KmjJgtR5hwGc9xWJhqgvt/whlYNPOJOwHNOtF96t3HphYFGZuonClF5PNIOJ12MssfvfCwOrlggw0r0wp+NemHPl9G3VhRJRwQKyTQ1A8whm4jJCO8ix5KqZFrml9BjMwTns2SF1zm50bGpmg72yCfTOJrvttMnVz8edbQDzQMchGczFDCPIqePBRHhT+piLP3yRzRF9wj56OET0h2OqON9CMeiw5Xso4usDH9GG0KksAM0isCWZvFn9bptvZy/MZ7gFVWwAN7FPS1Jy3PLQzeNewzxmdZO2vbB+uymfWzeuaxq37WyefQ3bmm96ZDD4z5ewITExCyJZzU8i0lq9WZY3q3P5ZepX/XODffcP</diagram></mxfile>" + content="<mxfile><diagram id="X9Q9Zxk0nsySa-CThXZE" name="Page-1">5VvNkps4EH4aV20uKSN+bB8TZ5K9bFWq5rCbk0sDMqgCiBJibOfpVzKSEQiPTbCBcTwHS62WLLr7a3U3mpm9TvbfKMyif0iA4hmYB/uZ/WUGgOU6Lv8SlENJ8Sy7JIQUB5KpIjzjX0gS55Ja4ADlNUZGSMxwVif6JE2Rz2o0SCnZ1dm2JK7/agZDZBCefRib1H9xwCJJtbxVNfA3wmEkf3oJFuVAAhWzfJI8ggHZaST7aWavKSGsbCX7NYqF8JRcynlfz4yeNkZRyq6aIDeWs4N6OBTwZ5VdQllEQpLC+Kmifo5YEvNBizcpKdIAicXmvGf+utxQTgrqN5TIIA2RYnNKmvhtbaLc8zdEEsTogTNQFEOGX+t6gFKd4YlPTv1EKTxoDBnBKcu1lb8LAmeQluku5d6kXYJVQ3rd+Hmj3IHqaY9SkY4aOaOd5W9op64STVe/rx13EtpZON20c4G/v3bk8q8wLuQj+yTJSIqOu8gZZEhgnqSYEWposq6nXYQZes7gUQ877jbrutviOF6TmC8j5tpbV/wJOkmZRi8/nJ4zSn4ibcQ7ft6ygldEGdq/qV9l9qAuWHsu+7vKGQIFjUjzg0ohbSahqeVNqdsjeCx1xmiYAN4kMGHN66qwlm9j4gJ/f0woY6owMQNezIRJZjDl7VC0Y8IPU/yLC4akapwvrbMo8gttUnQuzLGFtaUU6s4s2TScOOYhA3pn8Gu6NWCizwL3Qt8IJxKYLPqA1w19F/j7ow8Y6OOyZzgNK2Q8BATAfEQMOJYpxXtjwB4CA9cKQO1GMzOSIapccMLzvQexM9sb09euhrczZ7K+1si1rI65mXVjX+sYIGAkwz4n+RHyf0qPW+RmILMV2YAYpazIHgQpzZxgWI88N6V4b6S4k0VKM++1OubJ1q3zZLcnUmDBSEoSUuQPAhav6ZuGBIs1wrHimWBRserw4Qu4qbfgz00P/wn6R1d1f+hjX/ZyUtk7zLpUHtoEZ0/CyzhNh3/By1zg7+1lwAhReZt2rElop1nnuaSdC/z9zwDPOAOEV99xAW8CtIVFzDYwgBk2z4C/6sWitZCdSmpFp5l6fDDs4P1WWhsnc1uh1XHudE4Ae3BAgZZSj6qyTyyoUpnhtUFVg7+/uzNLPQGGYUpyhv1HjZPs5YBxEnCHt/+29Hu8OOl8hvsHvdsa1ORuWl1He8zKwHRhqf4PFYvydhWYis5B63xHFPPNI9olVgUt0ZC69zCC8fYIOBSjMvQHjigsxzTvhXcv816c1YmphUd6XdF0Kt6APsUevjYGVi2eYKK1Madjbcy5cRi36gKJqGAB2aWGQvMIZqIZoT3kuuSsmebBJfXk1ME16Nkjde9ucmhqRoWDogkMjia77fbJze/LXS0A84LHMSjMxQ4jyKHjwURYU/qSiy8YbHJEX7GPNkePvjmFjPMdFJOOJeBjMl+f+IK2hD7KAdBMBluCyrvl8bb5trZnPMMlqHwDuIt8WoKSU+lDF497C/GYWU7a9gL7/YZ8bl24rinctrt69i1ka775kc7gDz/CxtSJmRjJrP4hPK01mGR5t7qnX4Z+1X872E//Aw==</diagram></mxfile>" > @@ -148,14 +148,14 @@
- default_ad_api + autoware_default_adapi
(localization, routing, operation mode)
- default_ad_api... + autoware_default_adapi... @@ -207,14 +207,14 @@
- default_ad_api + autoware_default_adapi
(autoware state)
- default_ad_api... + autoware_default_adapi... @@ -326,7 +326,7 @@ - Viewer does not support full SVG 1.1 + Text is not SVG - cannot display diff --git a/system/default_ad_api/document/images/autoware-state-table.drawio.svg b/system/autoware_default_adapi/document/images/autoware-state-table.drawio.svg similarity index 100% rename from system/default_ad_api/document/images/autoware-state-table.drawio.svg rename to system/autoware_default_adapi/document/images/autoware-state-table.drawio.svg diff --git a/system/default_ad_api/document/images/localization.drawio.svg b/system/autoware_default_adapi/document/images/localization.drawio.svg similarity index 100% rename from system/default_ad_api/document/images/localization.drawio.svg rename to system/autoware_default_adapi/document/images/localization.drawio.svg diff --git a/system/default_ad_api/document/images/motion-architecture.drawio.svg b/system/autoware_default_adapi/document/images/motion-architecture.drawio.svg similarity index 100% rename from system/default_ad_api/document/images/motion-architecture.drawio.svg rename to system/autoware_default_adapi/document/images/motion-architecture.drawio.svg diff --git a/system/default_ad_api/document/images/motion-state.drawio.svg b/system/autoware_default_adapi/document/images/motion-state.drawio.svg similarity index 100% rename from system/default_ad_api/document/images/motion-state.drawio.svg rename to system/autoware_default_adapi/document/images/motion-state.drawio.svg diff --git a/system/default_ad_api/document/images/operation-mode-architecture.drawio.svg b/system/autoware_default_adapi/document/images/operation-mode-architecture.drawio.svg similarity index 100% rename from system/default_ad_api/document/images/operation-mode-architecture.drawio.svg rename to system/autoware_default_adapi/document/images/operation-mode-architecture.drawio.svg diff --git a/system/default_ad_api/document/images/operation-mode-state.drawio.svg b/system/autoware_default_adapi/document/images/operation-mode-state.drawio.svg similarity index 100% rename from system/default_ad_api/document/images/operation-mode-state.drawio.svg rename to system/autoware_default_adapi/document/images/operation-mode-state.drawio.svg diff --git a/system/default_ad_api/document/images/operation-mode-table.drawio.svg b/system/autoware_default_adapi/document/images/operation-mode-table.drawio.svg similarity index 100% rename from system/default_ad_api/document/images/operation-mode-table.drawio.svg rename to system/autoware_default_adapi/document/images/operation-mode-table.drawio.svg diff --git a/system/default_ad_api/document/images/routing.drawio.svg b/system/autoware_default_adapi/document/images/routing.drawio.svg similarity index 100% rename from system/default_ad_api/document/images/routing.drawio.svg rename to system/autoware_default_adapi/document/images/routing.drawio.svg diff --git a/system/default_ad_api/document/interface.md b/system/autoware_default_adapi/document/interface.md similarity index 100% rename from system/default_ad_api/document/interface.md rename to system/autoware_default_adapi/document/interface.md diff --git a/system/default_ad_api/document/localization.md b/system/autoware_default_adapi/document/localization.md similarity index 100% rename from system/default_ad_api/document/localization.md rename to system/autoware_default_adapi/document/localization.md diff --git a/system/default_ad_api/document/motion.md b/system/autoware_default_adapi/document/motion.md similarity index 100% rename from system/default_ad_api/document/motion.md rename to system/autoware_default_adapi/document/motion.md diff --git a/system/default_ad_api/document/operation-mode.md b/system/autoware_default_adapi/document/operation-mode.md similarity index 100% rename from system/default_ad_api/document/operation-mode.md rename to system/autoware_default_adapi/document/operation-mode.md diff --git a/system/default_ad_api/document/routing.md b/system/autoware_default_adapi/document/routing.md similarity index 100% rename from system/default_ad_api/document/routing.md rename to system/autoware_default_adapi/document/routing.md diff --git a/system/default_ad_api/launch/default_ad_api.launch.py b/system/autoware_default_adapi/launch/default_adapi.launch.py similarity index 85% rename from system/default_ad_api/launch/default_ad_api.launch.py rename to system/autoware_default_adapi/launch/default_adapi.launch.py index ca1575a528db2..9f95b16ab640b 100644 --- a/system/default_ad_api/launch/default_ad_api.launch.py +++ b/system/autoware_default_adapi/launch/default_adapi.launch.py @@ -25,17 +25,17 @@ def create_api_node(node_name, class_name, **kwargs): return ComposableNode( - namespace="default_ad_api/node", + namespace="adapi/node", name=node_name, - package="default_ad_api", - plugin="default_ad_api::" + class_name, + package="autoware_default_adapi", + plugin="autoware::default_adapi::" + class_name, parameters=[ParameterFile(LaunchConfiguration("config"))], ) def get_default_config(): - path = FindPackageShare("default_ad_api") - path = PathJoinSubstitution([path, "config/default_ad_api.param.yaml"]) + path = FindPackageShare("autoware_default_adapi") + path = PathJoinSubstitution([path, "config/default_adapi.param.yaml"]) return path @@ -57,16 +57,16 @@ def generate_launch_description(): create_api_node("vehicle_door", "VehicleDoorNode"), ] container = ComposableNodeContainer( - namespace="default_ad_api", + namespace="adapi", name="container", package="rclcpp_components", executable="component_container_mt", - ros_arguments=["--log-level", "default_ad_api.container:=WARN"], + ros_arguments=["--log-level", "adapi.container:=WARN"], composable_node_descriptions=components, ) web_server = Node( - namespace="default_ad_api", - package="default_ad_api", + namespace="adapi", + package="autoware_default_adapi", name="web_server", executable="web_server.py", ) diff --git a/system/default_ad_api/package.xml b/system/autoware_default_adapi/package.xml similarity index 94% rename from system/default_ad_api/package.xml rename to system/autoware_default_adapi/package.xml index c2751c96e995c..5c6e10a73fa9c 100644 --- a/system/default_ad_api/package.xml +++ b/system/autoware_default_adapi/package.xml @@ -1,9 +1,9 @@ - default_ad_api + autoware_default_adapi 0.1.0 - The default_ad_api package + The autoware_default_adapi package Takagi, Isamu Ryohsuke Mitsudome Yukihiro Saito diff --git a/system/default_ad_api/script/guide.py b/system/autoware_default_adapi/script/guide.py similarity index 100% rename from system/default_ad_api/script/guide.py rename to system/autoware_default_adapi/script/guide.py diff --git a/system/default_ad_api/script/web_server.py b/system/autoware_default_adapi/script/web_server.py similarity index 100% rename from system/default_ad_api/script/web_server.py rename to system/autoware_default_adapi/script/web_server.py diff --git a/system/default_ad_api/src/compatibility/autoware_state.cpp b/system/autoware_default_adapi/src/compatibility/autoware_state.cpp similarity index 97% rename from system/default_ad_api/src/compatibility/autoware_state.cpp rename to system/autoware_default_adapi/src/compatibility/autoware_state.cpp index 1aa49383aa48f..da110a711e35a 100644 --- a/system/default_ad_api/src/compatibility/autoware_state.cpp +++ b/system/autoware_default_adapi/src/compatibility/autoware_state.cpp @@ -17,7 +17,7 @@ #include #include -namespace default_ad_api +namespace autoware::default_adapi { AutowareStateNode::AutowareStateNode(const rclcpp::NodeOptions & options) @@ -140,7 +140,7 @@ void AutowareStateNode::on_timer() pub_autoware_state_->publish(msg); } -} // namespace default_ad_api +} // namespace autoware::default_adapi #include -RCLCPP_COMPONENTS_REGISTER_NODE(default_ad_api::AutowareStateNode) +RCLCPP_COMPONENTS_REGISTER_NODE(autoware::default_adapi::AutowareStateNode) diff --git a/system/default_ad_api/src/compatibility/autoware_state.hpp b/system/autoware_default_adapi/src/compatibility/autoware_state.hpp similarity index 97% rename from system/default_ad_api/src/compatibility/autoware_state.hpp rename to system/autoware_default_adapi/src/compatibility/autoware_state.hpp index eff74728efcb0..d4707ea55fd87 100644 --- a/system/default_ad_api/src/compatibility/autoware_state.hpp +++ b/system/autoware_default_adapi/src/compatibility/autoware_state.hpp @@ -28,7 +28,7 @@ // This file should be included after messages. #include "../utils/types.hpp" -namespace default_ad_api +namespace autoware::default_adapi { class AutowareStateNode : public rclcpp::Node @@ -67,6 +67,6 @@ class AutowareStateNode : public rclcpp::Node void on_shutdown(const Trigger::Request::SharedPtr, const Trigger::Response::SharedPtr); }; -} // namespace default_ad_api +} // namespace autoware::default_adapi #endif // COMPATIBILITY__AUTOWARE_STATE_HPP_ diff --git a/system/default_ad_api/src/diagnostics.cpp b/system/autoware_default_adapi/src/diagnostics.cpp similarity index 94% rename from system/default_ad_api/src/diagnostics.cpp rename to system/autoware_default_adapi/src/diagnostics.cpp index 6eaaa5bf614a6..0c1550690f1b5 100644 --- a/system/default_ad_api/src/diagnostics.cpp +++ b/system/autoware_default_adapi/src/diagnostics.cpp @@ -17,7 +17,7 @@ #include #include -namespace default_ad_api +namespace autoware::default_adapi { DiagnosticsNode::DiagnosticsNode(const rclcpp::NodeOptions & options) : Node("diagnostics", options) @@ -75,7 +75,7 @@ void DiagnosticsNode::on_update(DiagGraph::ConstSharedPtr graph) pub_status_->publish(msg); } -} // namespace default_ad_api +} // namespace autoware::default_adapi #include -RCLCPP_COMPONENTS_REGISTER_NODE(default_ad_api::DiagnosticsNode) +RCLCPP_COMPONENTS_REGISTER_NODE(autoware::default_adapi::DiagnosticsNode) diff --git a/system/default_ad_api/src/diagnostics.hpp b/system/autoware_default_adapi/src/diagnostics.hpp similarity index 95% rename from system/default_ad_api/src/diagnostics.hpp rename to system/autoware_default_adapi/src/diagnostics.hpp index 302ffe39159df..b382887aaa694 100644 --- a/system/default_ad_api/src/diagnostics.hpp +++ b/system/autoware_default_adapi/src/diagnostics.hpp @@ -22,7 +22,7 @@ #include #include -namespace default_ad_api +namespace autoware::default_adapi { class DiagnosticsNode : public rclcpp::Node @@ -41,6 +41,6 @@ class DiagnosticsNode : public rclcpp::Node diagnostic_graph_utils::DiagGraphSubscription sub_graph_; }; -} // namespace default_ad_api +} // namespace autoware::default_adapi #endif // DIAGNOSTICS_HPP_ diff --git a/system/default_ad_api/src/fail_safe.cpp b/system/autoware_default_adapi/src/fail_safe.cpp similarity index 89% rename from system/default_ad_api/src/fail_safe.cpp rename to system/autoware_default_adapi/src/fail_safe.cpp index 92191a3d65bc9..130e2f523477c 100644 --- a/system/default_ad_api/src/fail_safe.cpp +++ b/system/autoware_default_adapi/src/fail_safe.cpp @@ -14,7 +14,7 @@ #include "fail_safe.hpp" -namespace default_ad_api +namespace autoware::default_adapi { FailSafeNode::FailSafeNode(const rclcpp::NodeOptions & options) : Node("fail_safe", options) @@ -35,7 +35,7 @@ void FailSafeNode::on_state(const MrmState::ConstSharedPtr msg) } } -} // namespace default_ad_api +} // namespace autoware::default_adapi #include -RCLCPP_COMPONENTS_REGISTER_NODE(default_ad_api::FailSafeNode) +RCLCPP_COMPONENTS_REGISTER_NODE(autoware::default_adapi::FailSafeNode) diff --git a/system/default_ad_api/src/fail_safe.hpp b/system/autoware_default_adapi/src/fail_safe.hpp similarity index 94% rename from system/default_ad_api/src/fail_safe.hpp rename to system/autoware_default_adapi/src/fail_safe.hpp index 6ae20b1b46e61..268fc6d4d95e4 100644 --- a/system/default_ad_api/src/fail_safe.hpp +++ b/system/autoware_default_adapi/src/fail_safe.hpp @@ -23,7 +23,7 @@ // This file should be included after messages. #include "utils/types.hpp" -namespace default_ad_api +namespace autoware::default_adapi { class FailSafeNode : public rclcpp::Node @@ -39,6 +39,6 @@ class FailSafeNode : public rclcpp::Node void on_state(const MrmState::ConstSharedPtr msg); }; -} // namespace default_ad_api +} // namespace autoware::default_adapi #endif // FAIL_SAFE_HPP_ diff --git a/system/default_ad_api/src/heartbeat.cpp b/system/autoware_default_adapi/src/heartbeat.cpp similarity index 90% rename from system/default_ad_api/src/heartbeat.cpp rename to system/autoware_default_adapi/src/heartbeat.cpp index 4550302bb8bae..e048c347f3678 100644 --- a/system/default_ad_api/src/heartbeat.cpp +++ b/system/autoware_default_adapi/src/heartbeat.cpp @@ -16,7 +16,7 @@ #include -namespace default_ad_api +namespace autoware::default_adapi { HeartbeatNode::HeartbeatNode(const rclcpp::NodeOptions & options) : Node("heartbeat", options) @@ -36,7 +36,7 @@ HeartbeatNode::HeartbeatNode(const rclcpp::NodeOptions & options) : Node("heartb timer_ = rclcpp::create_timer(this, get_clock(), period, std::move(on_timer)); } -} // namespace default_ad_api +} // namespace autoware::default_adapi #include -RCLCPP_COMPONENTS_REGISTER_NODE(default_ad_api::HeartbeatNode) +RCLCPP_COMPONENTS_REGISTER_NODE(autoware::default_adapi::HeartbeatNode) diff --git a/system/default_ad_api/src/heartbeat.hpp b/system/autoware_default_adapi/src/heartbeat.hpp similarity index 93% rename from system/default_ad_api/src/heartbeat.hpp rename to system/autoware_default_adapi/src/heartbeat.hpp index d922b88489639..8b1108d7b1bd3 100644 --- a/system/default_ad_api/src/heartbeat.hpp +++ b/system/autoware_default_adapi/src/heartbeat.hpp @@ -21,7 +21,7 @@ // This file should be included after messages. #include "utils/types.hpp" -namespace default_ad_api +namespace autoware::default_adapi { class HeartbeatNode : public rclcpp::Node @@ -35,6 +35,6 @@ class HeartbeatNode : public rclcpp::Node uint16_t sequence_ = 0; }; -} // namespace default_ad_api +} // namespace autoware::default_adapi #endif // HEARTBEAT_HPP_ diff --git a/system/default_ad_api/src/interface.cpp b/system/autoware_default_adapi/src/interface.cpp similarity index 87% rename from system/default_ad_api/src/interface.cpp rename to system/autoware_default_adapi/src/interface.cpp index 997f9e01fc6a9..0d9134102c42a 100644 --- a/system/default_ad_api/src/interface.cpp +++ b/system/autoware_default_adapi/src/interface.cpp @@ -14,7 +14,7 @@ #include "interface.hpp" -namespace default_ad_api +namespace autoware::default_adapi { InterfaceNode::InterfaceNode(const rclcpp::NodeOptions & options) : Node("interface", options) @@ -29,7 +29,7 @@ InterfaceNode::InterfaceNode(const rclcpp::NodeOptions & options) : Node("interf adaptor.init_srv(srv_, on_interface_version); } -} // namespace default_ad_api +} // namespace autoware::default_adapi #include -RCLCPP_COMPONENTS_REGISTER_NODE(default_ad_api::InterfaceNode) +RCLCPP_COMPONENTS_REGISTER_NODE(autoware::default_adapi::InterfaceNode) diff --git a/system/default_ad_api/src/interface.hpp b/system/autoware_default_adapi/src/interface.hpp similarity index 93% rename from system/default_ad_api/src/interface.hpp rename to system/autoware_default_adapi/src/interface.hpp index 46c70abf17f36..ce0bdb04e2d2e 100644 --- a/system/default_ad_api/src/interface.hpp +++ b/system/autoware_default_adapi/src/interface.hpp @@ -21,7 +21,7 @@ // This file should be included after messages. #include "utils/types.hpp" -namespace default_ad_api +namespace autoware::default_adapi { class InterfaceNode : public rclcpp::Node @@ -33,6 +33,6 @@ class InterfaceNode : public rclcpp::Node Srv srv_; }; -} // namespace default_ad_api +} // namespace autoware::default_adapi #endif // INTERFACE_HPP_ diff --git a/system/default_ad_api/src/localization.cpp b/system/autoware_default_adapi/src/localization.cpp similarity index 90% rename from system/default_ad_api/src/localization.cpp rename to system/autoware_default_adapi/src/localization.cpp index 97544a7868d9c..7e6a094fb0fd2 100644 --- a/system/default_ad_api/src/localization.cpp +++ b/system/autoware_default_adapi/src/localization.cpp @@ -16,7 +16,7 @@ #include "utils/localization_conversion.hpp" -namespace default_ad_api +namespace autoware::default_adapi { LocalizationNode::LocalizationNode(const rclcpp::NodeOptions & options) @@ -36,7 +36,7 @@ void LocalizationNode::on_initialize( res->status = localization_conversion::convert_call(cli_initialize_, req); } -} // namespace default_ad_api +} // namespace autoware::default_adapi #include -RCLCPP_COMPONENTS_REGISTER_NODE(default_ad_api::LocalizationNode) +RCLCPP_COMPONENTS_REGISTER_NODE(autoware::default_adapi::LocalizationNode) diff --git a/system/default_ad_api/src/localization.hpp b/system/autoware_default_adapi/src/localization.hpp similarity index 95% rename from system/default_ad_api/src/localization.hpp rename to system/autoware_default_adapi/src/localization.hpp index a24e2110fabd1..d9104f393f712 100644 --- a/system/default_ad_api/src/localization.hpp +++ b/system/autoware_default_adapi/src/localization.hpp @@ -22,7 +22,7 @@ // This file should be included after messages. #include "utils/types.hpp" -namespace default_ad_api +namespace autoware::default_adapi { class LocalizationNode : public rclcpp::Node @@ -42,6 +42,6 @@ class LocalizationNode : public rclcpp::Node const autoware_ad_api::localization::Initialize::Service::Response::SharedPtr res); }; -} // namespace default_ad_api +} // namespace autoware::default_adapi #endif // LOCALIZATION_HPP_ diff --git a/system/default_ad_api/src/motion.cpp b/system/autoware_default_adapi/src/motion.cpp similarity index 97% rename from system/default_ad_api/src/motion.cpp rename to system/autoware_default_adapi/src/motion.cpp index 9d4461fc76f1e..87d4df371abb7 100644 --- a/system/default_ad_api/src/motion.cpp +++ b/system/autoware_default_adapi/src/motion.cpp @@ -17,7 +17,7 @@ #include #include -namespace default_ad_api +namespace autoware::default_adapi { MotionNode::MotionNode(const rclcpp::NodeOptions & options) @@ -159,7 +159,7 @@ void MotionNode::on_accept( res->status.success = true; } -} // namespace default_ad_api +} // namespace autoware::default_adapi #include -RCLCPP_COMPONENTS_REGISTER_NODE(default_ad_api::MotionNode) +RCLCPP_COMPONENTS_REGISTER_NODE(autoware::default_adapi::MotionNode) diff --git a/system/default_ad_api/src/motion.hpp b/system/autoware_default_adapi/src/motion.hpp similarity index 96% rename from system/default_ad_api/src/motion.hpp rename to system/autoware_default_adapi/src/motion.hpp index 053e9b2427a10..043eb6568e141 100644 --- a/system/default_ad_api/src/motion.hpp +++ b/system/autoware_default_adapi/src/motion.hpp @@ -25,7 +25,7 @@ // This file should be included after messages. #include "utils/types.hpp" -namespace default_ad_api +namespace autoware::default_adapi { class MotionNode : public rclcpp::Node @@ -65,6 +65,6 @@ class MotionNode : public rclcpp::Node const autoware_ad_api::motion::AcceptStart::Service::Response::SharedPtr res); }; -} // namespace default_ad_api +} // namespace autoware::default_adapi #endif // MOTION_HPP_ diff --git a/system/default_ad_api/src/operation_mode.cpp b/system/autoware_default_adapi/src/operation_mode.cpp similarity index 97% rename from system/default_ad_api/src/operation_mode.cpp rename to system/autoware_default_adapi/src/operation_mode.cpp index 510788dd09d08..cd452f2fa83a7 100644 --- a/system/default_ad_api/src/operation_mode.cpp +++ b/system/autoware_default_adapi/src/operation_mode.cpp @@ -18,7 +18,7 @@ #include #include -namespace default_ad_api +namespace autoware::default_adapi { using ServiceResponse = autoware_adapi_v1_msgs::srv::ChangeOperationMode::Response; @@ -157,7 +157,7 @@ void OperationModeNode::update_state() } } -} // namespace default_ad_api +} // namespace autoware::default_adapi #include -RCLCPP_COMPONENTS_REGISTER_NODE(default_ad_api::OperationModeNode) +RCLCPP_COMPONENTS_REGISTER_NODE(autoware::default_adapi::OperationModeNode) diff --git a/system/default_ad_api/src/operation_mode.hpp b/system/autoware_default_adapi/src/operation_mode.hpp similarity index 98% rename from system/default_ad_api/src/operation_mode.hpp rename to system/autoware_default_adapi/src/operation_mode.hpp index 7cd609b5eb852..3b139ad875b8d 100644 --- a/system/default_ad_api/src/operation_mode.hpp +++ b/system/autoware_default_adapi/src/operation_mode.hpp @@ -30,7 +30,7 @@ // This file should be included after messages. #include "utils/types.hpp" -namespace default_ad_api +namespace autoware::default_adapi { class OperationModeNode : public rclcpp::Node { @@ -94,6 +94,6 @@ class OperationModeNode : public rclcpp::Node void change_mode(const ResponseT res, const OperationModeRequest::_mode_type mode); }; -} // namespace default_ad_api +} // namespace autoware::default_adapi #endif // OPERATION_MODE_HPP_ diff --git a/system/default_ad_api/src/perception.cpp b/system/autoware_default_adapi/src/perception.cpp similarity index 96% rename from system/default_ad_api/src/perception.cpp rename to system/autoware_default_adapi/src/perception.cpp index 794bbf141ca8b..c92bac2f5f139 100644 --- a/system/default_ad_api/src/perception.cpp +++ b/system/autoware_default_adapi/src/perception.cpp @@ -16,7 +16,7 @@ #include -namespace default_ad_api +namespace autoware::default_adapi { using DynamicObjectArray = autoware_ad_api::perception::DynamicObjectArray; @@ -87,7 +87,7 @@ void PerceptionNode::object_recognize( pub_object_recognized_->publish(objects); } -} // namespace default_ad_api +} // namespace autoware::default_adapi #include -RCLCPP_COMPONENTS_REGISTER_NODE(default_ad_api::PerceptionNode) +RCLCPP_COMPONENTS_REGISTER_NODE(autoware::default_adapi::PerceptionNode) diff --git a/system/default_ad_api/src/perception.hpp b/system/autoware_default_adapi/src/perception.hpp similarity index 95% rename from system/default_ad_api/src/perception.hpp rename to system/autoware_default_adapi/src/perception.hpp index ff3e4801b07ac..4eb83c57293ba 100644 --- a/system/default_ad_api/src/perception.hpp +++ b/system/autoware_default_adapi/src/perception.hpp @@ -31,7 +31,7 @@ // This file should be included after messages. #include "utils/types.hpp" -namespace default_ad_api +namespace autoware::default_adapi { class PerceptionNode : public rclcpp::Node @@ -47,6 +47,6 @@ class PerceptionNode : public rclcpp::Node std::unordered_map hash_map, uint8_t input, uint8_t default_value); }; -} // namespace default_ad_api +} // namespace autoware::default_adapi #endif // PERCEPTION_HPP_ diff --git a/system/default_ad_api/src/planning.cpp b/system/autoware_default_adapi/src/planning.cpp similarity index 97% rename from system/default_ad_api/src/planning.cpp rename to system/autoware_default_adapi/src/planning.cpp index 374316e19e6b1..b81e48fada790 100644 --- a/system/default_ad_api/src/planning.cpp +++ b/system/autoware_default_adapi/src/planning.cpp @@ -22,7 +22,7 @@ #include #include -namespace default_ad_api +namespace autoware::default_adapi { template @@ -155,7 +155,7 @@ void PlanningNode::on_timer() pub_steering_factors_->publish(steering); } -} // namespace default_ad_api +} // namespace autoware::default_adapi #include -RCLCPP_COMPONENTS_REGISTER_NODE(default_ad_api::PlanningNode) +RCLCPP_COMPONENTS_REGISTER_NODE(autoware::default_adapi::PlanningNode) diff --git a/system/default_ad_api/src/planning.hpp b/system/autoware_default_adapi/src/planning.hpp similarity index 97% rename from system/default_ad_api/src/planning.hpp rename to system/autoware_default_adapi/src/planning.hpp index 929eb517afa2e..f67de9f7b9221 100644 --- a/system/default_ad_api/src/planning.hpp +++ b/system/autoware_default_adapi/src/planning.hpp @@ -27,7 +27,7 @@ // This file should be included after messages. #include "utils/types.hpp" -namespace default_ad_api +namespace autoware::default_adapi { class PlanningNode : public rclcpp::Node @@ -62,6 +62,6 @@ class PlanningNode : public rclcpp::Node KinematicState::ConstSharedPtr kinematic_state_; }; -} // namespace default_ad_api +} // namespace autoware::default_adapi #endif // PLANNING_HPP_ diff --git a/system/default_ad_api/src/routing.cpp b/system/autoware_default_adapi/src/routing.cpp similarity index 97% rename from system/default_ad_api/src/routing.cpp rename to system/autoware_default_adapi/src/routing.cpp index 0f2247c3aada8..767cfc37d3f25 100644 --- a/system/default_ad_api/src/routing.cpp +++ b/system/autoware_default_adapi/src/routing.cpp @@ -45,7 +45,7 @@ ResponseStatus route_is_not_set() } // namespace -namespace default_ad_api +namespace autoware::default_adapi { RoutingNode::RoutingNode(const rclcpp::NodeOptions & options) : Node("routing", options) @@ -166,7 +166,7 @@ void RoutingNode::on_change_route( res->status = conversion::convert_call(cli_set_lanelet_route_, req); } -} // namespace default_ad_api +} // namespace autoware::default_adapi #include -RCLCPP_COMPONENTS_REGISTER_NODE(default_ad_api::RoutingNode) +RCLCPP_COMPONENTS_REGISTER_NODE(autoware::default_adapi::RoutingNode) diff --git a/system/default_ad_api/src/routing.hpp b/system/autoware_default_adapi/src/routing.hpp similarity index 97% rename from system/default_ad_api/src/routing.hpp rename to system/autoware_default_adapi/src/routing.hpp index 406569aa0a36b..9033373c3a064 100644 --- a/system/default_ad_api/src/routing.hpp +++ b/system/autoware_default_adapi/src/routing.hpp @@ -24,7 +24,7 @@ // This file should be included after messages. #include "utils/types.hpp" -namespace default_ad_api +namespace autoware::default_adapi { class RoutingNode : public rclcpp::Node @@ -76,6 +76,6 @@ class RoutingNode : public rclcpp::Node const autoware_ad_api::routing::SetRoute::Service::Response::SharedPtr res); }; -} // namespace default_ad_api +} // namespace autoware::default_adapi #endif // ROUTING_HPP_ diff --git a/system/default_ad_api/src/utils/localization_conversion.cpp b/system/autoware_default_adapi/src/utils/localization_conversion.cpp similarity index 91% rename from system/default_ad_api/src/utils/localization_conversion.cpp rename to system/autoware_default_adapi/src/utils/localization_conversion.cpp index 3ddf259a4a590..1b327e2d2fc06 100644 --- a/system/default_ad_api/src/utils/localization_conversion.cpp +++ b/system/autoware_default_adapi/src/utils/localization_conversion.cpp @@ -16,7 +16,7 @@ #include -namespace default_ad_api::localization_conversion +namespace autoware::default_adapi::localization_conversion { InternalInitializeRequest convert_request(const ExternalInitializeRequest & external) @@ -37,4 +37,4 @@ ExternalResponse convert_response(const InternalResponse & internal) return external; } -} // namespace default_ad_api::localization_conversion +} // namespace autoware::default_adapi::localization_conversion diff --git a/system/default_ad_api/src/utils/localization_conversion.hpp b/system/autoware_default_adapi/src/utils/localization_conversion.hpp similarity index 92% rename from system/default_ad_api/src/utils/localization_conversion.hpp rename to system/autoware_default_adapi/src/utils/localization_conversion.hpp index 85b6e81e6cd91..d8e66a6ae44aa 100644 --- a/system/default_ad_api/src/utils/localization_conversion.hpp +++ b/system/autoware_default_adapi/src/utils/localization_conversion.hpp @@ -20,7 +20,7 @@ #include #include -namespace default_ad_api::localization_conversion +namespace autoware::default_adapi::localization_conversion { using ExternalInitializeRequest = @@ -39,6 +39,6 @@ ExternalResponse convert_call(ClientT & client, RequestT & req) return convert_response(client->call(convert_request(req))->status); } -} // namespace default_ad_api::localization_conversion +} // namespace autoware::default_adapi::localization_conversion #endif // UTILS__LOCALIZATION_CONVERSION_HPP_ diff --git a/system/default_ad_api/src/utils/route_conversion.cpp b/system/autoware_default_adapi/src/utils/route_conversion.cpp similarity index 98% rename from system/default_ad_api/src/utils/route_conversion.cpp rename to system/autoware_default_adapi/src/utils/route_conversion.cpp index 70951fc337b68..e8a748d52edee 100644 --- a/system/default_ad_api/src/utils/route_conversion.cpp +++ b/system/autoware_default_adapi/src/utils/route_conversion.cpp @@ -86,7 +86,7 @@ LaneletSegment convert(const RouteSegment & in) } // namespace -namespace default_ad_api::conversion +namespace autoware::default_adapi::conversion { ExternalRoute create_empty_route(const rclcpp::Time & stamp) @@ -170,4 +170,4 @@ ExternalResponse convert_response(const InternalResponse & internal) return external; } -} // namespace default_ad_api::conversion +} // namespace autoware::default_adapi::conversion diff --git a/system/default_ad_api/src/utils/route_conversion.hpp b/system/autoware_default_adapi/src/utils/route_conversion.hpp similarity index 96% rename from system/default_ad_api/src/utils/route_conversion.hpp rename to system/autoware_default_adapi/src/utils/route_conversion.hpp index 9a31b9e80c064..053dfd697c967 100644 --- a/system/default_ad_api/src/utils/route_conversion.hpp +++ b/system/autoware_default_adapi/src/utils/route_conversion.hpp @@ -28,7 +28,7 @@ #include #include -namespace default_ad_api::conversion +namespace autoware::default_adapi::conversion { using ExternalRoute = autoware_adapi_v1_msgs::msg::Route; @@ -62,6 +62,6 @@ ExternalResponse convert_call(ClientT & client, RequestT & req) return convert_response(client->call(convert_request(req))->status); } -} // namespace default_ad_api::conversion +} // namespace autoware::default_adapi::conversion #endif // UTILS__ROUTE_CONVERSION_HPP_ diff --git a/system/default_ad_api/src/utils/topics.hpp b/system/autoware_default_adapi/src/utils/topics.hpp similarity index 92% rename from system/default_ad_api/src/utils/topics.hpp rename to system/autoware_default_adapi/src/utils/topics.hpp index 97d91b33c9fa3..6018abb877285 100644 --- a/system/default_ad_api/src/utils/topics.hpp +++ b/system/autoware_default_adapi/src/utils/topics.hpp @@ -20,7 +20,7 @@ #include -namespace default_ad_api::utils +namespace autoware::default_adapi::utils { template @@ -39,6 +39,6 @@ void notify(PubT & pub, std::optional & prev, const MsgT & curr, FuncT && } } -} // namespace default_ad_api::utils +} // namespace autoware::default_adapi::utils #endif // UTILS__TOPICS_HPP_ diff --git a/system/default_ad_api/src/utils/types.hpp b/system/autoware_default_adapi/src/utils/types.hpp similarity index 93% rename from system/default_ad_api/src/utils/types.hpp rename to system/autoware_default_adapi/src/utils/types.hpp index 693e64a0dce55..ac4acb5fb19d6 100644 --- a/system/default_ad_api/src/utils/types.hpp +++ b/system/autoware_default_adapi/src/utils/types.hpp @@ -17,7 +17,7 @@ #include -namespace default_ad_api +namespace autoware::default_adapi { template @@ -29,6 +29,6 @@ using Cli = typename component_interface_utils::Client::SharedPtr; template using Srv = typename component_interface_utils::Service::SharedPtr; -} // namespace default_ad_api +} // namespace autoware::default_adapi #endif // UTILS__TYPES_HPP_ diff --git a/system/default_ad_api/src/vehicle.cpp b/system/autoware_default_adapi/src/vehicle.cpp similarity index 98% rename from system/default_ad_api/src/vehicle.cpp rename to system/autoware_default_adapi/src/vehicle.cpp index 053e1258c7bef..5421f382795ef 100644 --- a/system/default_ad_api/src/vehicle.cpp +++ b/system/autoware_default_adapi/src/vehicle.cpp @@ -21,7 +21,7 @@ #include -namespace default_ad_api +namespace autoware::default_adapi { using GearReport = vehicle_interface::GearStatus::Message; @@ -189,7 +189,7 @@ void VehicleNode::on_timer() publish_status(); } -} // namespace default_ad_api +} // namespace autoware::default_adapi #include -RCLCPP_COMPONENTS_REGISTER_NODE(default_ad_api::VehicleNode) +RCLCPP_COMPONENTS_REGISTER_NODE(autoware::default_adapi::VehicleNode) diff --git a/system/default_ad_api/src/vehicle.hpp b/system/autoware_default_adapi/src/vehicle.hpp similarity index 98% rename from system/default_ad_api/src/vehicle.hpp rename to system/autoware_default_adapi/src/vehicle.hpp index 56012152a132b..5e3818340b819 100644 --- a/system/default_ad_api/src/vehicle.hpp +++ b/system/autoware_default_adapi/src/vehicle.hpp @@ -30,7 +30,7 @@ // This file should be included after messages. #include "utils/types.hpp" -namespace default_ad_api +namespace autoware::default_adapi { class VehicleNode : public rclcpp::Node @@ -80,6 +80,6 @@ class VehicleNode : public rclcpp::Node void on_timer(); }; -} // namespace default_ad_api +} // namespace autoware::default_adapi #endif // VEHICLE_HPP_ diff --git a/system/default_ad_api/src/vehicle_door.cpp b/system/autoware_default_adapi/src/vehicle_door.cpp similarity index 90% rename from system/default_ad_api/src/vehicle_door.cpp rename to system/autoware_default_adapi/src/vehicle_door.cpp index e37e91bdda8e2..e897bc37eff42 100644 --- a/system/default_ad_api/src/vehicle_door.cpp +++ b/system/autoware_default_adapi/src/vehicle_door.cpp @@ -16,7 +16,7 @@ #include "utils/topics.hpp" -namespace default_ad_api +namespace autoware::default_adapi { VehicleDoorNode::VehicleDoorNode(const rclcpp::NodeOptions & options) @@ -36,7 +36,7 @@ void VehicleDoorNode::on_status(vehicle_interface::DoorStatus::Message::ConstSha pub_status_, status_, *msg, utils::ignore_stamp); } -} // namespace default_ad_api +} // namespace autoware::default_adapi #include -RCLCPP_COMPONENTS_REGISTER_NODE(default_ad_api::VehicleDoorNode) +RCLCPP_COMPONENTS_REGISTER_NODE(autoware::default_adapi::VehicleDoorNode) diff --git a/system/default_ad_api/src/vehicle_door.hpp b/system/autoware_default_adapi/src/vehicle_door.hpp similarity index 95% rename from system/default_ad_api/src/vehicle_door.hpp rename to system/autoware_default_adapi/src/vehicle_door.hpp index e83e0a164d3f6..8f6c2da83247d 100644 --- a/system/default_ad_api/src/vehicle_door.hpp +++ b/system/autoware_default_adapi/src/vehicle_door.hpp @@ -24,7 +24,7 @@ // This file should be included after messages. #include "utils/types.hpp" -namespace default_ad_api +namespace autoware::default_adapi { class VehicleDoorNode : public rclcpp::Node @@ -44,6 +44,6 @@ class VehicleDoorNode : public rclcpp::Node std::optional status_; }; -} // namespace default_ad_api +} // namespace autoware::default_adapi #endif // VEHICLE_DOOR_HPP_ diff --git a/system/default_ad_api/src/vehicle_info.cpp b/system/autoware_default_adapi/src/vehicle_info.cpp similarity index 94% rename from system/default_ad_api/src/vehicle_info.cpp rename to system/autoware_default_adapi/src/vehicle_info.cpp index 8bf7da65f6e33..810290d1e8814 100644 --- a/system/default_ad_api/src/vehicle_info.cpp +++ b/system/autoware_default_adapi/src/vehicle_info.cpp @@ -30,7 +30,7 @@ auto create_point(double x, double y) } // namespace -namespace default_ad_api +namespace autoware::default_adapi { VehicleInfoNode::VehicleInfoNode(const rclcpp::NodeOptions & options) @@ -65,7 +65,7 @@ VehicleInfoNode::VehicleInfoNode(const rclcpp::NodeOptions & options) adaptor.init_srv(srv_dimensions_, on_vehicle_dimensions); } -} // namespace default_ad_api +} // namespace autoware::default_adapi #include -RCLCPP_COMPONENTS_REGISTER_NODE(default_ad_api::VehicleInfoNode) +RCLCPP_COMPONENTS_REGISTER_NODE(autoware::default_adapi::VehicleInfoNode) diff --git a/system/default_ad_api/src/vehicle_info.hpp b/system/autoware_default_adapi/src/vehicle_info.hpp similarity index 93% rename from system/default_ad_api/src/vehicle_info.hpp rename to system/autoware_default_adapi/src/vehicle_info.hpp index c7171ddf52485..f13f222fc269e 100644 --- a/system/default_ad_api/src/vehicle_info.hpp +++ b/system/autoware_default_adapi/src/vehicle_info.hpp @@ -21,7 +21,7 @@ // This file should be included after messages. #include "utils/types.hpp" -namespace default_ad_api +namespace autoware::default_adapi { class VehicleInfoNode : public rclcpp::Node @@ -34,6 +34,6 @@ class VehicleInfoNode : public rclcpp::Node autoware_adapi_v1_msgs::msg::VehicleDimensions dimensions_; }; -} // namespace default_ad_api +} // namespace autoware::default_adapi #endif // VEHICLE_INFO_HPP_ diff --git a/system/default_ad_api/test/main.test.py b/system/autoware_default_adapi/test/main.test.py similarity index 91% rename from system/default_ad_api/test/main.test.py rename to system/autoware_default_adapi/test/main.test.py index 728f8a3604ada..3f7f7083ac46e 100644 --- a/system/default_ad_api/test/main.test.py +++ b/system/autoware_default_adapi/test/main.test.py @@ -26,7 +26,7 @@ @pytest.mark.launch_test @launch_testing.markers.keep_alive def generate_test_description(): - path = get_package_share_directory("default_ad_api") + "/launch/default_ad_api.launch.py" + path = get_package_share_directory("autoware_default_adapi") + "/launch/default_adapi.launch.py" specification = importlib.util.spec_from_file_location("launch_script", path) launch_script = importlib.util.module_from_spec(specification) specification.loader.exec_module(launch_script) @@ -40,7 +40,7 @@ def generate_test_description(): class TestMain(unittest.TestCase): def test_interface_version(self, launch_service, proc_info, proc_output): - prefix = get_package_share_directory("default_ad_api") + prefix = get_package_share_directory("autoware_default_adapi") target = prefix + "/test/node/interface_version.py" action = launch.actions.ExecuteProcess(cmd=["python3", target]) with launch_testing.tools.launch_process(launch_service, action, proc_info, proc_output): diff --git a/system/default_ad_api/test/node/interface_version.py b/system/autoware_default_adapi/test/node/interface_version.py similarity index 100% rename from system/default_ad_api/test/node/interface_version.py rename to system/autoware_default_adapi/test/node/interface_version.py From 603dd13ed522e3719393ed0acbd396dc98bcbc2d Mon Sep 17 00:00:00 2001 From: Yuki TAKAGI <141538661+yuki-takagi-66@users.noreply.github.com> Date: Tue, 27 Aug 2024 12:02:07 +0900 Subject: [PATCH 064/169] feat(pid_longitudinal_controller)!: add acceleration feedback block (#8325) Signed-off-by: Yuki Takagi --- ...are_pid_longitudinal_controller.param.yaml | 4 + .../debug_values.hpp | 4 + .../lowpass_filter.hpp | 2 + .../pid_longitudinal_controller.hpp | 4 + ...re_pid_longitudinal_controller.schema.json | 10 + .../src/pid_longitudinal_controller.cpp | 34 ++- .../plot_juggler_trajectory_follower.xml | 249 +++++++++--------- .../param/longitudinal/pid.param.yaml | 4 + 8 files changed, 192 insertions(+), 119 deletions(-) diff --git a/control/autoware_pid_longitudinal_controller/config/autoware_pid_longitudinal_controller.param.yaml b/control/autoware_pid_longitudinal_controller/config/autoware_pid_longitudinal_controller.param.yaml index f683d8b4f0736..6d9b93ab98870 100644 --- a/control/autoware_pid_longitudinal_controller/config/autoware_pid_longitudinal_controller.param.yaml +++ b/control/autoware_pid_longitudinal_controller/config/autoware_pid_longitudinal_controller.param.yaml @@ -61,6 +61,10 @@ emergency_acc: -5.0 # denotes acceleration emergency_jerk: -3.0 + # acceleration feedback + lpf_acc_error_gain: 0.98 + acc_feedback_gain: 0.0 + # acceleration limit max_acc: 3.0 min_acc: -5.0 diff --git a/control/autoware_pid_longitudinal_controller/include/autoware/pid_longitudinal_controller/debug_values.hpp b/control/autoware_pid_longitudinal_controller/include/autoware/pid_longitudinal_controller/debug_values.hpp index e8834665de3ec..a0bceda625b21 100644 --- a/control/autoware_pid_longitudinal_controller/include/autoware/pid_longitudinal_controller/debug_values.hpp +++ b/control/autoware_pid_longitudinal_controller/include/autoware/pid_longitudinal_controller/debug_values.hpp @@ -58,6 +58,10 @@ class DebugValues STOP_DIST = 28, FF_SCALE = 29, ACC_CMD_FF = 30, + ERROR_ACC = 31, + ERROR_ACC_FILTERED = 32, + ACC_CMD_ACC_FB_APPLIED = 33, + SIZE // this is the number of enum elements }; diff --git a/control/autoware_pid_longitudinal_controller/include/autoware/pid_longitudinal_controller/lowpass_filter.hpp b/control/autoware_pid_longitudinal_controller/include/autoware/pid_longitudinal_controller/lowpass_filter.hpp index 081e78e2de214..1ec43282ca4d3 100644 --- a/control/autoware_pid_longitudinal_controller/include/autoware/pid_longitudinal_controller/lowpass_filter.hpp +++ b/control/autoware_pid_longitudinal_controller/include/autoware/pid_longitudinal_controller/lowpass_filter.hpp @@ -61,6 +61,8 @@ class LowpassFilter1d m_x = ret; return ret; } + + void setGain(const double g) { m_gain = g; } }; } // namespace autoware::motion::control::pid_longitudinal_controller #endif // AUTOWARE__PID_LONGITUDINAL_CONTROLLER__LOWPASS_FILTER_HPP_ diff --git a/control/autoware_pid_longitudinal_controller/include/autoware/pid_longitudinal_controller/pid_longitudinal_controller.hpp b/control/autoware_pid_longitudinal_controller/include/autoware/pid_longitudinal_controller/pid_longitudinal_controller.hpp index 57999372dceed..1d4192d51d98d 100644 --- a/control/autoware_pid_longitudinal_controller/include/autoware/pid_longitudinal_controller/pid_longitudinal_controller.hpp +++ b/control/autoware_pid_longitudinal_controller/include/autoware/pid_longitudinal_controller/pid_longitudinal_controller.hpp @@ -196,6 +196,10 @@ class PidLongitudinalController : public trajectory_follower::LongitudinalContro }; EmergencyStateParams m_emergency_state_params; + // acc feedback + double m_acc_feedback_gain; + std::shared_ptr m_lpf_acc_error{nullptr}; + // acceleration limit double m_max_acc; double m_min_acc; diff --git a/control/autoware_pid_longitudinal_controller/schema/autoware_pid_longitudinal_controller.schema.json b/control/autoware_pid_longitudinal_controller/schema/autoware_pid_longitudinal_controller.schema.json index fbbd2dfc7a59f..ef1272582e52b 100644 --- a/control/autoware_pid_longitudinal_controller/schema/autoware_pid_longitudinal_controller.schema.json +++ b/control/autoware_pid_longitudinal_controller/schema/autoware_pid_longitudinal_controller.schema.json @@ -251,6 +251,16 @@ "description": "target jerk in an EMERGENCY state [m/s^3]", "default": "-3.0" }, + "lpf_acc_error_gain": { + "type": "number", + "description": "gain of low-pass filter for acceleration", + "default": "0.98" + }, + "acc_feedback_gain": { + "type": "number", + "description": "acceleration feedback gain", + "default": "0.0" + }, "max_acc": { "type": "number", "description": "max value of output acceleration [m/s^2]", diff --git a/control/autoware_pid_longitudinal_controller/src/pid_longitudinal_controller.cpp b/control/autoware_pid_longitudinal_controller/src/pid_longitudinal_controller.cpp index 9190c065eca3c..96e2796a91d22 100644 --- a/control/autoware_pid_longitudinal_controller/src/pid_longitudinal_controller.cpp +++ b/control/autoware_pid_longitudinal_controller/src/pid_longitudinal_controller.cpp @@ -164,6 +164,13 @@ PidLongitudinalController::PidLongitudinalController( p.jerk = node.declare_parameter("emergency_jerk"); // [m/s^3] } + // parameters for acc feedback + { + const double lpf_acc_error_gain{node.declare_parameter("lpf_acc_error_gain")}; + m_lpf_acc_error = std::make_shared(0.0, lpf_acc_error_gain); + m_acc_feedback_gain = node.declare_parameter("acc_feedback_gain"); + } + // parameters for acceleration limit m_max_acc = node.declare_parameter("max_acc"); // [m/s^2] m_min_acc = node.declare_parameter("min_acc"); // [m/s^2] @@ -291,6 +298,10 @@ rcl_interfaces::msg::SetParametersResult PidLongitudinalController::paramCallbac update_param("kd", kd); m_pid_vel.setGains(kp, ki, kd); + double lpf_vel_error_gain{node_parameters_->get_parameter("lpf_vel_error_gain").as_double()}; + update_param("lpf_vel_error_gain", lpf_vel_error_gain); + m_lpf_vel_error->setGain(lpf_vel_error_gain); + double max_pid{node_parameters_->get_parameter("max_out").as_double()}; double min_pid{node_parameters_->get_parameter("min_out").as_double()}; double max_p{node_parameters_->get_parameter("max_p_effort").as_double()}; @@ -365,6 +376,12 @@ rcl_interfaces::msg::SetParametersResult PidLongitudinalController::paramCallbac update_param("emergency_jerk", p.jerk); } + // acceleration feedback + update_param("acc_feedback_gain", m_acc_feedback_gain); + double lpf_acc_error_gain{node_parameters_->get_parameter("lpf_acc_error_gain").as_double()}; + update_param("lpf_acc_error_gain", lpf_acc_error_gain); + m_lpf_acc_error->setGain(lpf_acc_error_gain); + // acceleration limit update_param("min_acc", m_min_acc); @@ -753,6 +770,7 @@ void PidLongitudinalController::updateControlState(const ControlData & control_d m_pid_vel.reset(); m_lpf_vel_error->reset(0.0); + m_lpf_acc_error->reset(0.0); return changeState(ControlState::DRIVE); } @@ -844,8 +862,22 @@ PidLongitudinalController::Motion PidLongitudinalController::calcCtrlCmd( // store acceleration without slope compensation m_prev_raw_ctrl_cmd = raw_ctrl_cmd; + // calc acc feedback + const double acc_err = control_data.current_motion.acc - raw_ctrl_cmd.acc; + m_debug_values.setValues(DebugValues::TYPE::ERROR_ACC, acc_err); + m_lpf_acc_error->filter(acc_err); + m_debug_values.setValues(DebugValues::TYPE::ERROR_ACC_FILTERED, m_lpf_acc_error->getValue()); + + const double acc_cmd = raw_ctrl_cmd.acc - m_lpf_acc_error->getValue() * m_acc_feedback_gain; + m_debug_values.setValues(DebugValues::TYPE::ACC_CMD_ACC_FB_APPLIED, acc_cmd); + RCLCPP_DEBUG( + logger_, + "[acc feedback]: raw_ctrl_cmd.acc: %1.3f, control_data.current_motion.acc: %1.3f, acc_cmd: " + "%1.3f", + raw_ctrl_cmd.acc, control_data.current_motion.acc, acc_cmd); + ctrl_cmd_as_pedal_pos.acc = - applySlopeCompensation(raw_ctrl_cmd.acc, control_data.slope_angle, control_data.shift); + applySlopeCompensation(acc_cmd, control_data.slope_angle, control_data.shift); m_debug_values.setValues(DebugValues::TYPE::ACC_CMD_SLOPE_APPLIED, ctrl_cmd_as_pedal_pos.acc); ctrl_cmd_as_pedal_pos.vel = raw_ctrl_cmd.vel; } diff --git a/control/autoware_trajectory_follower_node/config/plot_juggler_trajectory_follower.xml b/control/autoware_trajectory_follower_node/config/plot_juggler_trajectory_follower.xml index ab127c2d47b97..e458edaf6c471 100644 --- a/control/autoware_trajectory_follower_node/config/plot_juggler_trajectory_follower.xml +++ b/control/autoware_trajectory_follower_node/config/plot_juggler_trajectory_follower.xml @@ -1,130 +1,130 @@ - - + + - - + + - - + + - + - + - + - + - + - + - + - - + + - + - + - - + + - + - + - + - - + + - + - + - + - + - - + + - + - + - - + + @@ -133,100 +133,114 @@ - + - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - + - - + + - + - + - + - + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + @@ -234,17 +248,17 @@ - + - + - + @@ -254,13 +268,13 @@ - + - + @@ -272,11 +286,10 @@ - + - diff --git a/control/autoware_trajectory_follower_node/param/longitudinal/pid.param.yaml b/control/autoware_trajectory_follower_node/param/longitudinal/pid.param.yaml index 5027c94afe7c1..68fb172b19d2a 100644 --- a/control/autoware_trajectory_follower_node/param/longitudinal/pid.param.yaml +++ b/control/autoware_trajectory_follower_node/param/longitudinal/pid.param.yaml @@ -60,6 +60,10 @@ emergency_acc: -5.0 # denotes acceleration emergency_jerk: -3.0 + # acceleration feedback + lpf_acc_error_gain: 0.98 + acc_feedback_gain: 0.0 + # acceleration limit max_acc: 3.0 min_acc: -5.0 From 98d86b2f29d70329ebf5e84f3fc324c8c8b02fb3 Mon Sep 17 00:00:00 2001 From: kobayu858 <129580202+kobayu858@users.noreply.github.com> Date: Tue, 27 Aug 2024 12:55:03 +0900 Subject: [PATCH 065/169] fix(autoware_tracking_object_merger): fix unusedFunction (#8578) fix:unusedFunction Signed-off-by: kobayu858 --- .../tracking_object_merger/utils/utils.hpp | 7 -- .../src/utils/utils.cpp | 85 ------------------- 2 files changed, 92 deletions(-) diff --git a/perception/autoware_tracking_object_merger/include/autoware/tracking_object_merger/utils/utils.hpp b/perception/autoware_tracking_object_merger/include/autoware/tracking_object_merger/utils/utils.hpp index 17a385da7cb41..f40767274ebfd 100644 --- a/perception/autoware_tracking_object_merger/include/autoware/tracking_object_merger/utils/utils.hpp +++ b/perception/autoware_tracking_object_merger/include/autoware/tracking_object_merger/utils/utils.hpp @@ -80,13 +80,6 @@ autoware_perception_msgs::msg::TrackedObjectKinematics objectKinematicsVXMerger( TrackedObject objectClassificationMerger( const TrackedObject & main_obj, const TrackedObject & sub_obj, const MergePolicy policy); -// probability merger -float probabilityMerger(const float main_prob, const float sub_prob, const MergePolicy policy); - -// shape merger -autoware_perception_msgs::msg::Shape shapeMerger( - const TrackedObject & main_obj, const TrackedObject & sub_obj, const MergePolicy policy); - // update tracked object void updateExceptVelocity(TrackedObject & main_obj, const TrackedObject & sub_obj); diff --git a/perception/autoware_tracking_object_merger/src/utils/utils.cpp b/perception/autoware_tracking_object_merger/src/utils/utils.cpp index 3a24cc0f8321d..04d7f94f2886c 100644 --- a/perception/autoware_tracking_object_merger/src/utils/utils.cpp +++ b/perception/autoware_tracking_object_merger/src/utils/utils.cpp @@ -290,31 +290,6 @@ bool objectsHaveSameMotionDirections(const TrackedObject & main_obj, const Track } } -/** - * @brief compare two tracked objects yaw is reverted or not - * - * @param main_obj - * @param sub_obj - * @return true - * @return false - */ -bool objectsYawIsReverted(const TrackedObject & main_obj, const TrackedObject & sub_obj) -{ - // get yaw - const auto main_yaw = tf2::getYaw(main_obj.kinematics.pose_with_covariance.pose.orientation); - const auto sub_yaw = tf2::getYaw(sub_obj.kinematics.pose_with_covariance.pose.orientation); - // calc yaw diff - const auto yaw_diff = std::fabs(main_yaw - sub_yaw); - const auto normalized_yaw_diff = autoware::universe_utils::normalizeRadian(yaw_diff); // -pi ~ pi - // evaluate if yaw is reverted - constexpr double yaw_threshold = M_PI / 2.0; // 90 deg - if (std::abs(normalized_yaw_diff) >= yaw_threshold) { - return true; - } else { - return false; - } -} - // object kinematics merger // currently only support velocity fusion autoware_perception_msgs::msg::TrackedObjectKinematics objectKinematicsVXMerger( @@ -409,66 +384,6 @@ TrackedObject objectClassificationMerger( } } -// probability merger -float probabilityMerger(const float main_prob, const float sub_prob, const MergePolicy policy) -{ - if (policy == MergePolicy::SKIP) { - return main_prob; - } else if (policy == MergePolicy::OVERWRITE) { - return sub_prob; - } else if (policy == MergePolicy::FUSION) { - return static_cast(mean(main_prob, sub_prob)); - } else { - std::cerr << "unknown merge policy in probabilityMerger function." << std::endl; - return main_prob; - } -} - -// shape merger -autoware_perception_msgs::msg::Shape shapeMerger( - const autoware_perception_msgs::msg::Shape & main_obj_shape, - const autoware_perception_msgs::msg::Shape & sub_obj_shape, const MergePolicy policy) -{ - autoware_perception_msgs::msg::Shape output_shape; - // copy main object at first - output_shape = main_obj_shape; - - if (main_obj_shape.type != sub_obj_shape.type) { - // if shape type is different, return main object - return output_shape; - } - - if (policy == MergePolicy::SKIP) { - return output_shape; - } else if (policy == MergePolicy::OVERWRITE) { - return sub_obj_shape; - } else if (policy == MergePolicy::FUSION) { - // write down fusion method for each shape type - if (main_obj_shape.type == autoware_perception_msgs::msg::Shape::BOUNDING_BOX) { - // if shape type is bounding box, merge bounding box - output_shape.dimensions.x = mean(main_obj_shape.dimensions.x, sub_obj_shape.dimensions.x); - output_shape.dimensions.y = mean(main_obj_shape.dimensions.y, sub_obj_shape.dimensions.y); - output_shape.dimensions.z = mean(main_obj_shape.dimensions.z, sub_obj_shape.dimensions.z); - return output_shape; - } else if (main_obj_shape.type == autoware_perception_msgs::msg::Shape::CYLINDER) { - // if shape type is cylinder, merge cylinder - // (TODO) implement - return output_shape; - } else if (main_obj_shape.type == autoware_perception_msgs::msg::Shape::POLYGON) { - // if shape type is polygon, merge polygon - // (TODO) - return output_shape; - } else { - // when type is unknown, print warning and do nothing - std::cerr << "unknown shape type in shapeMerger function." << std::endl; - return output_shape; - } - } else { - std::cerr << "unknown merge policy in shapeMerger function." << std::endl; - return output_shape; - } -} - void updateExceptVelocity(TrackedObject & main_obj, const TrackedObject & sub_obj) { // do not update if motion direction is different From f3f7a1b6801f3226acf9ddd06ffb4e827f2b468a Mon Sep 17 00:00:00 2001 From: Yuki TAKAGI <141538661+yuki-takagi-66@users.noreply.github.com> Date: Tue, 27 Aug 2024 12:57:29 +0900 Subject: [PATCH 066/169] fix(simple_planning_simulator): fix dimension (#8629) Signed-off-by: Yuki Takagi --- .../sim_model_delay_steer_acc_geared_wo_fall_guard.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/simulator/simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_delay_steer_acc_geared_wo_fall_guard.cpp b/simulator/simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_delay_steer_acc_geared_wo_fall_guard.cpp index 69a311b780ad8..ce962eba9275a 100644 --- a/simulator/simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_delay_steer_acc_geared_wo_fall_guard.cpp +++ b/simulator/simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_delay_steer_acc_geared_wo_fall_guard.cpp @@ -23,7 +23,7 @@ SimModelDelaySteerAccGearedWoFallGuard::SimModelDelaySteerAccGearedWoFallGuard( double dt, double acc_delay, double acc_time_constant, double steer_delay, double steer_time_constant, double steer_dead_band, double steer_bias, double debug_acc_scaling_factor, double debug_steer_scaling_factor) -: SimModelInterface(6 /* dim x */, 4 /* dim u */), +: SimModelInterface(7 /* dim x */, 4 /* dim u */), MIN_TIME_CONSTANT(0.03), vx_lim_(vx_lim), vx_rate_lim_(vx_rate_lim), From 61f317e08339798963e40431b30126c1a220dd94 Mon Sep 17 00:00:00 2001 From: Abraham Monrroy Cano Date: Tue, 27 Aug 2024 13:06:46 +0900 Subject: [PATCH 067/169] fix: cpp17 namespaces (#8526) Use traditional-style nameplace nesting for nvcc Signed-off-by: Yuri Guimaraes Co-authored-by: Yuri Guimaraes --- .../include/autoware/tensorrt_yolox/preprocess.hpp | 7 +++++-- perception/autoware_tensorrt_yolox/src/preprocess.cu | 7 +++++-- 2 files changed, 10 insertions(+), 4 deletions(-) diff --git a/perception/autoware_tensorrt_yolox/include/autoware/tensorrt_yolox/preprocess.hpp b/perception/autoware_tensorrt_yolox/include/autoware/tensorrt_yolox/preprocess.hpp index 947d6cc6ecc95..7971fbd815deb 100644 --- a/perception/autoware_tensorrt_yolox/include/autoware/tensorrt_yolox/preprocess.hpp +++ b/perception/autoware_tensorrt_yolox/include/autoware/tensorrt_yolox/preprocess.hpp @@ -21,7 +21,9 @@ #include #include -namespace autoware::tensorrt_yolox +namespace autoware +{ +namespace tensorrt_yolox { struct Roi { @@ -195,5 +197,6 @@ extern void multi_scale_resize_bilinear_letterbox_nhwc_to_nchw32_batch_gpu( extern void argmax_gpu( unsigned char * dst, float * src, int d_w, int d_h, int s_w, int s_h, int s_c, int batch, cudaStream_t stream); -} // namespace autoware::tensorrt_yolox +} // namespace tensorrt_yolox +} // namespace autoware #endif // AUTOWARE__TENSORRT_YOLOX__PREPROCESS_HPP_ diff --git a/perception/autoware_tensorrt_yolox/src/preprocess.cu b/perception/autoware_tensorrt_yolox/src/preprocess.cu index ba9d456f32749..6e8ded20df709 100644 --- a/perception/autoware_tensorrt_yolox/src/preprocess.cu +++ b/perception/autoware_tensorrt_yolox/src/preprocess.cu @@ -21,7 +21,9 @@ #define MIN(x, y) x < y ? x : y -namespace autoware::tensorrt_yolox +namespace autoware +{ +namespace tensorrt_yolox { constexpr size_t block = 512; @@ -629,4 +631,5 @@ void argmax_gpu( N, dst, src, d_h, d_w, s_c, s_h, s_w, batch); } -} // namespace autoware::tensorrt_yolox +} // namespace tensorrt_yolox +} // namespace autoware From 62e71e1a5361581e33668bbd11295333d6906a3d Mon Sep 17 00:00:00 2001 From: Kotaro Uetake <60615504+ktro2828@users.noreply.github.com> Date: Tue, 27 Aug 2024 13:10:52 +0900 Subject: [PATCH 068/169] chore(autoware_tensorrt_yolox): add Kotaro Uetake as maintainer (#8595) chore: add Kotaro Uetake as maintainer Signed-off-by: ktro2828 --- .github/CODEOWNERS | 2 +- perception/autoware_tensorrt_yolox/package.xml | 1 + 2 files changed, 2 insertions(+), 1 deletion(-) diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS index c3774f0485153..6de0c3251696b 100644 --- a/.github/CODEOWNERS +++ b/.github/CODEOWNERS @@ -134,7 +134,7 @@ perception/autoware_raindrop_cluster_filter/** dai.nguyen@tier4.jp yoshi.ri@tier perception/autoware_shape_estimation/** kcolak@leodrive.ai yoshi.ri@tier4.jp yukihiro.saito@tier4.jp perception/autoware_simple_object_merger/** satoshi.tanaka@tier4.jp shunsuke.miura@tier4.jp yoshi.ri@tier4.jp perception/autoware_tensorrt_classifier/** kotaro.uetake@tier4.jp shunsuke.miura@tier4.jp -perception/autoware_tensorrt_yolox/** dan.umeda@tier4.jp manato.hirabayashi@tier4.jp +perception/autoware_tensorrt_yolox/** dan.umeda@tier4.jp manato.hirabayashi@tier4.jp kotaro.uetake@tier4.jp perception/autoware_tracking_object_merger/** taekjin.lee@tier4.jp yoshi.ri@tier4.jp yukihiro.saito@tier4.jp perception/autoware_traffic_light_arbiter/** kenzo.lobos@tier4.jp shunsuke.miura@tier4.jp perception/autoware_traffic_light_classifier/** shunsuke.miura@tier4.jp tao.zhong@tier4.jp yukihiro.saito@tier4.jp diff --git a/perception/autoware_tensorrt_yolox/package.xml b/perception/autoware_tensorrt_yolox/package.xml index 3373a07d8b434..cd9dc6bac015d 100644 --- a/perception/autoware_tensorrt_yolox/package.xml +++ b/perception/autoware_tensorrt_yolox/package.xml @@ -7,6 +7,7 @@ Daisuke Nishimatsu Dan Umeda Manato Hirabayashi + Kotaro Uetake Apache License 2.0 From 6cd87782235755bc74261dc6dac558fabfccb97e Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Tue, 27 Aug 2024 13:24:06 +0900 Subject: [PATCH 069/169] feat(simple_planning_simulator): print actual and expected value in test (#8630) Signed-off-by: kosuke55 --- .../test/test_simple_planning_simulator.cpp | 12 +++++++++++- 1 file changed, 11 insertions(+), 1 deletion(-) diff --git a/simulator/simple_planning_simulator/test/test_simple_planning_simulator.cpp b/simulator/simple_planning_simulator/test/test_simple_planning_simulator.cpp index cb58628121de2..d774617dc77f1 100644 --- a/simulator/simple_planning_simulator/test/test_simple_planning_simulator.cpp +++ b/simulator/simple_planning_simulator/test/test_simple_planning_simulator.cpp @@ -221,6 +221,7 @@ void isOnForward(const Odometry & state, const Odometry & init) { double forward_thr = 1.0; double dx = state.pose.pose.position.x - init.pose.pose.position.x; + std::cout << "isOnForward: dx: " << dx << ", forward_thr: " << forward_thr << std::endl; EXPECT_GT(dx, forward_thr) << "[curr] " << toStrInfo(state) << ", [init] " << toStrInfo(init); } @@ -228,6 +229,7 @@ void isOnBackward(const Odometry & state, const Odometry & init) { double backward_thr = -1.0; double dx = state.pose.pose.position.x - init.pose.pose.position.x; + std::cout << "isOnBackward: dx: " << dx << ", backward_thr: " << backward_thr << std::endl; EXPECT_LT(dx, backward_thr) << "[curr] " << toStrInfo(state) << ", [init] " << toStrInfo(init); } @@ -237,6 +239,8 @@ void isOnForwardLeft(const Odometry & state, const Odometry & init) double left_thr = 0.1f; double dx = state.pose.pose.position.x - init.pose.pose.position.x; double dy = state.pose.pose.position.y - init.pose.pose.position.y; + std::cout << "isOnForwardLeft: dx: " << dx << ", forward_thr: " << forward_thr << ", dy: " << dy + << ", left_thr: " << left_thr << std::endl; EXPECT_GT(dx, forward_thr) << "[curr] " << toStrInfo(state) << ", [init] " << toStrInfo(init); EXPECT_GT(dy, left_thr) << "[curr] " << toStrInfo(state) << ", [init] " << toStrInfo(init); } @@ -247,6 +251,8 @@ void isOnBackwardRight(const Odometry & state, const Odometry & init) double right_thr = -0.1; double dx = state.pose.pose.position.x - init.pose.pose.position.x; double dy = state.pose.pose.position.y - init.pose.pose.position.y; + std::cout << "isOnBackwardRight: dx: " << dx << ", backward_thr: " << backward_thr + << ", dy: " << dy << ", right_thr: " << right_thr << std::endl; EXPECT_LT(dx, backward_thr) << "[curr] " << toStrInfo(state) << ", [init] " << toStrInfo(init); EXPECT_LT(dy, right_thr) << "[curr] " << toStrInfo(state) << ", [init] " << toStrInfo(init); } @@ -302,7 +308,6 @@ TEST_P(TestSimplePlanningSimulator, TestIdealSteerVel) const auto common_params = get_common_params(params); const auto command_type = common_params.first; const auto vehicle_model_type = common_params.second; - std::cout << "\n\n vehicle model = " << vehicle_model_type << std::endl << std::endl; // optional parameters std::optional conversion_type{}; // for ActuationCmdParamType @@ -338,7 +343,12 @@ TEST_P(TestSimplePlanningSimulator, TestIdealSteerVel) node_options.append_parameter_override("vgr_coef_b", 0.053); node_options.append_parameter_override("vgr_coef_c", 0.042); if (conversion_type.has_value()) { + std::cout << "\n\n vehicle model = " << vehicle_model_type + << ", conversion_type = " << conversion_type.value() << std::endl + << std::endl; node_options.append_parameter_override("convert_steer_cmd_method", conversion_type.value()); + } else { + std::cout << "\n\n vehicle model = " << vehicle_model_type << std::endl << std::endl; } declareVehicleInfoParams(node_options); From 05bdb5a49e4f76bc6757ed7b7f97472cc685f93f Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Tue, 27 Aug 2024 13:47:08 +0900 Subject: [PATCH 070/169] fix(simple_planning_simulator): increase test_steer_map values (#8631) Signed-off-by: kosuke55 --- .../test/actuation_cmd_map/steer_map.csv | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/simulator/simple_planning_simulator/test/actuation_cmd_map/steer_map.csv b/simulator/simple_planning_simulator/test/actuation_cmd_map/steer_map.csv index 7adb0f6a9e583..1562a7b346677 100644 --- a/simulator/simple_planning_simulator/test/actuation_cmd_map/steer_map.csv +++ b/simulator/simple_planning_simulator/test/actuation_cmd_map/steer_map.csv @@ -1,4 +1,4 @@ default,-0.6,0,0.6 --10,-0.03,-0.03,-0.03 +-10,-0.5,-0.5,-0.5 0,0.0,0.0,0.0 -10,0.03,0.03,0.03 +10,0.5,0.5,0.5 From 0a6f7441857f88f6f09bc48cdb1ab23d07a73e2d Mon Sep 17 00:00:00 2001 From: kobayu858 <129580202+kobayu858@users.noreply.github.com> Date: Tue, 27 Aug 2024 13:50:56 +0900 Subject: [PATCH 071/169] fix(autoware_probabilistic_occupancy_grid_map): fix unusedFunction (#8574) fix:unusedFunction Signed-off-by: kobayu858 --- .../utils/utils.hpp | 2 -- .../lib/utils/utils.cpp | 16 --------- .../synchronized_grid_map_fusion_node.cpp | 36 ------------------- .../synchronized_grid_map_fusion_node.hpp | 4 --- 4 files changed, 58 deletions(-) diff --git a/perception/autoware_probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/utils/utils.hpp b/perception/autoware_probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/utils/utils.hpp index a8288d2720f48..41c7294ded849 100644 --- a/perception/autoware_probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/utils/utils.hpp +++ b/perception/autoware_probabilistic_occupancy_grid_map/include/autoware/probabilistic_occupancy_grid_map/utils/utils.hpp @@ -120,8 +120,6 @@ bool extractCommonPointCloud( const sensor_msgs::msg::PointCloud2 & obstacle_pc, const sensor_msgs::msg::PointCloud2 & raw_pc, sensor_msgs::msg::PointCloud2 & output_obstacle_pc); -unsigned char getApproximateOccupancyState(const unsigned char & value); - } // namespace utils } // namespace autoware::occupancy_grid_map diff --git a/perception/autoware_probabilistic_occupancy_grid_map/lib/utils/utils.cpp b/perception/autoware_probabilistic_occupancy_grid_map/lib/utils/utils.cpp index 902de2148cffe..9d190664b8858 100644 --- a/perception/autoware_probabilistic_occupancy_grid_map/lib/utils/utils.cpp +++ b/perception/autoware_probabilistic_occupancy_grid_map/lib/utils/utils.cpp @@ -191,21 +191,5 @@ bool extractCommonPointCloud( return true; } -/** - * @brief Convert unsigned char value to closest cost value - * @param cost Cost value - * @return Probability - */ -unsigned char getApproximateOccupancyState(const unsigned char & value) -{ - if (value >= cost_value::OCCUPIED_THRESHOLD) { - return cost_value::LETHAL_OBSTACLE; - } else if (value <= cost_value::FREE_THRESHOLD) { - return cost_value::FREE_SPACE; - } else { - return cost_value::NO_INFORMATION; - } -} - } // namespace utils } // namespace autoware::occupancy_grid_map diff --git a/perception/autoware_probabilistic_occupancy_grid_map/src/fusion/synchronized_grid_map_fusion_node.cpp b/perception/autoware_probabilistic_occupancy_grid_map/src/fusion/synchronized_grid_map_fusion_node.cpp index 0a78b10055dd0..28a5759eeb7b0 100644 --- a/perception/autoware_probabilistic_occupancy_grid_map/src/fusion/synchronized_grid_map_fusion_node.cpp +++ b/perception/autoware_probabilistic_occupancy_grid_map/src/fusion/synchronized_grid_map_fusion_node.cpp @@ -369,42 +369,6 @@ OccupancyGridMapFixedBlindSpot GridMapFusionNode::SingleFrameOccupancyFusion( return fused_map; } -/** - * @brief Update occupancy grid map with asynchronous input (currently unused) - * - * @param occupancy_grid_msg - */ -void GridMapFusionNode::updateGridMap( - const nav_msgs::msg::OccupancyGrid::ConstSharedPtr & occupancy_grid_msg) -{ - // get updater map origin - - // origin is set to current updater map - auto map_for_update = OccupancyGridMsgToCostmap2D(*occupancy_grid_msg); - - // update - occupancy_grid_map_updater_ptr_->update(map_for_update); -} - -nav2_costmap_2d::Costmap2D GridMapFusionNode::OccupancyGridMsgToCostmap2D( - const nav_msgs::msg::OccupancyGrid & occupancy_grid_map) -{ - nav2_costmap_2d::Costmap2D costmap2d( - occupancy_grid_map.info.width, occupancy_grid_map.info.height, - occupancy_grid_map.info.resolution, occupancy_grid_map.info.origin.position.x, - occupancy_grid_map.info.origin.position.y, 0); - - for (unsigned int i = 0; i < occupancy_grid_map.info.width; i++) { - for (unsigned int j = 0; j < occupancy_grid_map.info.height; j++) { - const unsigned int index = i + j * occupancy_grid_map.info.width; - costmap2d.setCost( - i, j, cost_value::inverse_cost_translation_table[occupancy_grid_map.data[index]]); - } - } - - return costmap2d; -} - OccupancyGridMapFixedBlindSpot GridMapFusionNode::OccupancyGridMsgToGridMap( const nav_msgs::msg::OccupancyGrid & occupancy_grid_map) { diff --git a/perception/autoware_probabilistic_occupancy_grid_map/src/fusion/synchronized_grid_map_fusion_node.hpp b/perception/autoware_probabilistic_occupancy_grid_map/src/fusion/synchronized_grid_map_fusion_node.hpp index 691575299a8c7..23aeb76826e5f 100644 --- a/perception/autoware_probabilistic_occupancy_grid_map/src/fusion/synchronized_grid_map_fusion_node.hpp +++ b/perception/autoware_probabilistic_occupancy_grid_map/src/fusion/synchronized_grid_map_fusion_node.hpp @@ -66,16 +66,12 @@ class GridMapFusionNode : public rclcpp::Node const std::string & frame_id, const builtin_interfaces::msg::Time & stamp, const float & robot_pose_z, const nav2_costmap_2d::Costmap2D & occupancy_grid_map); - nav2_costmap_2d::Costmap2D OccupancyGridMsgToCostmap2D( - const nav_msgs::msg::OccupancyGrid & occupancy_grid_map); OccupancyGridMapFixedBlindSpot OccupancyGridMsgToGridMap( const nav_msgs::msg::OccupancyGrid & occupancy_grid_map); OccupancyGridMapFixedBlindSpot SingleFrameOccupancyFusion( std::vector & occupancy_grid_maps, const builtin_interfaces::msg::Time latest_stamp, const std::vector & weights); - void updateGridMap(const nav_msgs::msg::OccupancyGrid::ConstSharedPtr & occupancy_grid_msg); - void setPeriod(const int64_t new_period); void timer_callback(); void publish(); From b90556255030cd4e64fb0a3336152f84011adcab Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Tue, 27 Aug 2024 14:04:32 +0900 Subject: [PATCH 072/169] fix(goal_planner): fix zero velocity in middle of path (#8563) * fix(goal_planner): fix zero velocity in middle of path Signed-off-by: kosuke55 * add comment Signed-off-by: kosuke55 --------- Signed-off-by: kosuke55 --- .../util.hpp | 27 ++++++++++++++++--- .../src/goal_planner_module.cpp | 10 ++++++- .../src/shift_pull_over.cpp | 6 ++++- .../src/util.cpp | 11 +++++--- 4 files changed, 45 insertions(+), 9 deletions(-) diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/util.hpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/util.hpp index 9e4d6d2f85f50..b527fa3e1dac0 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/util.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/util.hpp @@ -84,12 +84,31 @@ bool isReferencePath( std::optional cropPath(const PathWithLaneId & path, const Pose & end_pose); PathWithLaneId cropForwardPoints( const PathWithLaneId & path, const size_t target_seg_idx, const double forward_length); + +/** + * @brief extend target_path by extend_length + * @param target_path original target path to extend + * @param reference_path reference path to extend + * @param extend_length length to extend + * @param remove_connected_zero_velocity flag to remove zero velocity if the last point of + * target_path has zero velocity + * @return extended path + */ PathWithLaneId extendPath( - const PathWithLaneId & prev_module_path, const PathWithLaneId & reference_path, - const double extend_length); + const PathWithLaneId & target_path, const PathWithLaneId & reference_path, + const double extend_length, const bool remove_connected_zero_velocity); +/** + * @brief extend target_path to extend_pose + * @param target_path original target path to extend + * @param reference_path reference path to extend + * @param extend_pose pose to extend + * @param remove_connected_zero_velocity flag to remove zero velocity if the last point of + * target_path has zero velocity + * @return extended path + */ PathWithLaneId extendPath( - const PathWithLaneId & prev_module_path, const PathWithLaneId & reference_path, - const Pose & extend_pose); + const PathWithLaneId & target_path, const PathWithLaneId & reference_path, + const Pose & extend_pose, const bool remove_connected_zero_velocity); std::vector createPathFootPrints( const PathWithLaneId & path, const double base_to_front, const double base_to_rear, diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp index c67983993de01..4d4d31446aa3f 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp @@ -283,6 +283,10 @@ void GoalPlannerModule::onTimer() RCLCPP_DEBUG(getLogger(), "has deviated from last previous module path"); return true; } + // TODO(someone): The generated path inherits the velocity of the path of the previous module. + // Therefore, if the velocity of the path of the previous module changes (e.g. stop points are + // inserted, deleted), the path should be regenerated. + return false; }); if (!need_update) { @@ -1628,8 +1632,12 @@ PathWithLaneId GoalPlannerModule::generateStopPath() const const double s_end = s_current + common_parameters.forward_path_length; return route_handler->getCenterLinePath(current_lanes, s_start, s_end, true); }); + + // NOTE: The previous module may insert a zero velocity at the end of the path, so remove it by + // setting remove_connected_zero_velocity=true. Inserting a velocity of 0 into the goal is the + // role of the goal planner, and the intermediate zero velocity after extension is unnecessary. const auto extended_prev_path = goal_planner_utils::extendPath( - getPreviousModuleOutput().path, reference_path, common_parameters.forward_path_length); + getPreviousModuleOutput().path, reference_path, common_parameters.forward_path_length, true); // 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 diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/shift_pull_over.cpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/shift_pull_over.cpp index 23ca76432859d..fd6b0cb639387 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/shift_pull_over.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/shift_pull_over.cpp @@ -148,8 +148,12 @@ std::optional ShiftPullOver::generatePullOverPath( lanelet::utils::getArcCoordinates(road_lanes, shift_end_pose).length > lanelet::utils::getArcCoordinates(road_lanes, prev_module_path_terminal_pose).length; if (extend_previous_module_path) { // case1 + // NOTE: The previous module may insert a zero velocity at the end of the path, so remove it + // by setting remove_connected_zero_velocity=true. Inserting a velocity of 0 into the goal is + // the role of the goal planner, and the intermediate zero velocity after extension is + // unnecessary. return goal_planner_utils::extendPath( - prev_module_path, road_lane_reference_path_to_shift_end, shift_end_pose); + prev_module_path, road_lane_reference_path_to_shift_end, shift_end_pose, true); } else { // case2 return goal_planner_utils::cropPath(prev_module_path, shift_end_pose); } diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/util.cpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/util.cpp index f4b11f4f8e46d..6bceec531b653 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/util.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/util.cpp @@ -389,7 +389,7 @@ PathWithLaneId cropForwardPoints( PathWithLaneId extendPath( const PathWithLaneId & target_path, const PathWithLaneId & reference_path, - const double extend_length) + const double extend_length, const bool remove_connected_zero_velocity) { const auto & target_terminal_pose = target_path.points.back().point.pose; @@ -409,6 +409,11 @@ PathWithLaneId extendPath( } auto extended_path = target_path; + auto & target_terminal_vel = extended_path.points.back().point.longitudinal_velocity_mps; + if (remove_connected_zero_velocity && target_terminal_vel < 0.01) { + target_terminal_vel = clipped_path.points.front().point.longitudinal_velocity_mps; + } + const auto start_point = std::find_if(clipped_path.points.begin(), clipped_path.points.end(), [&](const auto & p) { const bool is_forward = @@ -427,7 +432,7 @@ PathWithLaneId extendPath( PathWithLaneId extendPath( const PathWithLaneId & target_path, const PathWithLaneId & reference_path, - const Pose & extend_pose) + const Pose & extend_pose, const bool remove_connected_zero_velocity) { const auto & target_terminal_pose = target_path.points.back().point.pose; const size_t target_path_terminal_idx = autoware::motion_utils::findNearestSegmentIndex( @@ -435,7 +440,7 @@ PathWithLaneId extendPath( const double extend_distance = autoware::motion_utils::calcSignedArcLength( reference_path.points, target_path_terminal_idx, extend_pose.position); - return extendPath(target_path, reference_path, extend_distance); + return extendPath(target_path, reference_path, extend_distance, remove_connected_zero_velocity); } std::vector createPathFootPrints( From a64566ee7437075c75f30d128940dd4823e9d27a Mon Sep 17 00:00:00 2001 From: kobayu858 <129580202+kobayu858@users.noreply.github.com> Date: Tue, 27 Aug 2024 15:34:21 +0900 Subject: [PATCH 073/169] fix(tier4_camera_view_rviz_plugin): fix unusedFunction (#8639) * fix:unusedFunction Signed-off-by: kobayu858 * fix:clang format Signed-off-by: kobayu858 * fix:unusedFunction Signed-off-by: kobayu858 --------- Signed-off-by: kobayu858 --- .../src/bird_eye_view_controller.cpp | 3 +++ .../src/third_person_view_controller.cpp | 1 + 2 files changed, 4 insertions(+) diff --git a/common/tier4_camera_view_rviz_plugin/src/bird_eye_view_controller.cpp b/common/tier4_camera_view_rviz_plugin/src/bird_eye_view_controller.cpp index 16c3f4b5def96..2368e07432031 100644 --- a/common/tier4_camera_view_rviz_plugin/src/bird_eye_view_controller.cpp +++ b/common/tier4_camera_view_rviz_plugin/src/bird_eye_view_controller.cpp @@ -99,6 +99,7 @@ void BirdEyeViewController::reset() y_property_->setFloat(0); } +// cppcheck-suppress unusedFunction void BirdEyeViewController::handleMouseEvent(rviz_common::ViewportMouseEvent & event) { if (event.shift()) { @@ -178,11 +179,13 @@ void BirdEyeViewController::update(float dt, float ros_dt) updateCamera(); } +// cppcheck-suppress unusedFunction void BirdEyeViewController::lookAt(const Ogre::Vector3 & point) { setPosition(point - target_scene_node_->getPosition()); } +// cppcheck-suppress unusedFunction void BirdEyeViewController::onTargetFrameChanged( const Ogre::Vector3 & old_reference_position, const Ogre::Quaternion & /*old_reference_orientation*/) diff --git a/common/tier4_camera_view_rviz_plugin/src/third_person_view_controller.cpp b/common/tier4_camera_view_rviz_plugin/src/third_person_view_controller.cpp index ed47a15270c3a..97216f238d593 100644 --- a/common/tier4_camera_view_rviz_plugin/src/third_person_view_controller.cpp +++ b/common/tier4_camera_view_rviz_plugin/src/third_person_view_controller.cpp @@ -226,6 +226,7 @@ void ThirdPersonViewController::updateCamera() distance_property_->getFloat() * CAMERA_OFFSET); } +// cppcheck-suppress unusedFunction void ThirdPersonViewController::updateTargetSceneNode() { if (FramePositionTrackingViewController::getNewTransform()) { From d08dcfe995a3797d69791aaadb93be6082c3b574 Mon Sep 17 00:00:00 2001 From: "Yi-Hsiang Fang (Vivid)" <146902905+vividf@users.noreply.github.com> Date: Tue, 27 Aug 2024 17:48:02 +0900 Subject: [PATCH 074/169] fix(autoware_pointcloud_preprocessor): blockage diag node add runtime error when the parameter is wrong (#8564) * fix: add runtime error Signed-off-by: vividf * Update blockage_diag_node.cpp Co-authored-by: badai nguyen <94814556+badai-nguyen@users.noreply.github.com> * fix: add RCLCPP error logging Signed-off-by: vividf * chore: remove unused variable Signed-off-by: vividf --------- Signed-off-by: vividf Co-authored-by: badai nguyen <94814556+badai-nguyen@users.noreply.github.com> --- .../src/blockage_diag/blockage_diag_node.cpp | 8 ++++++++ 1 file changed, 8 insertions(+) diff --git a/sensing/autoware_pointcloud_preprocessor/src/blockage_diag/blockage_diag_node.cpp b/sensing/autoware_pointcloud_preprocessor/src/blockage_diag/blockage_diag_node.cpp index 2f34d78b8e9a0..6703eb6b70741 100644 --- a/sensing/autoware_pointcloud_preprocessor/src/blockage_diag/blockage_diag_node.cpp +++ b/sensing/autoware_pointcloud_preprocessor/src/blockage_diag/blockage_diag_node.cpp @@ -190,6 +190,14 @@ void BlockageDiagComponent::filter( sky_blockage_range_deg_[1] = angle_range_deg_[1]; } else { for (const auto p : pcl_input->points) { + if (p.channel >= vertical_bins) { + RCLCPP_ERROR( + this->get_logger(), + "p.channel: %d is larger than vertical_bins: %d .Please check the parameter " + "'vertical_bins'.", + p.channel, vertical_bins); + throw std::runtime_error("Parameter is not valid"); + } double azimuth_deg = p.azimuth * (180.0 / M_PI); if ( ((azimuth_deg > angle_range_deg_[0]) && From bfaeb63f2147d27fd7cb42fab0d742d229035176 Mon Sep 17 00:00:00 2001 From: kobayu858 <129580202+kobayu858@users.noreply.github.com> Date: Tue, 27 Aug 2024 18:07:12 +0900 Subject: [PATCH 075/169] fix(tier4_localization_rviz_plugin): fix unusedFunction (#8637) fix:unusedFunction Signed-off-by: kobayu858 --- .../src/pose_history/pose_history_display.cpp | 2 ++ 1 file changed, 2 insertions(+) diff --git a/common/tier4_localization_rviz_plugin/src/pose_history/pose_history_display.cpp b/common/tier4_localization_rviz_plugin/src/pose_history/pose_history_display.cpp index 9e65b117b3f3f..931c675a23e7f 100644 --- a/common/tier4_localization_rviz_plugin/src/pose_history/pose_history_display.cpp +++ b/common/tier4_localization_rviz_plugin/src/pose_history/pose_history_display.cpp @@ -50,11 +50,13 @@ void PoseHistory::onInitialize() lines_ = std::make_unique(scene_manager_, scene_node_); } +// cppcheck-suppress unusedFunction void PoseHistory::onEnable() { subscribe(); } +// cppcheck-suppress unusedFunction void PoseHistory::onDisable() { unsubscribe(); From e434372ebada975adb0e0132ba41d645af862c65 Mon Sep 17 00:00:00 2001 From: Ismet Atabay <56237550+ismetatabay@users.noreply.github.com> Date: Tue, 27 Aug 2024 12:16:07 +0300 Subject: [PATCH 076/169] feat(autoware_tensorrt_yolox): add GPU - CUDA device option (#8245) * init CUDA device option Signed-off-by: ismetatabay Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- .../config/yolox_s_plus_opt.param.yaml | 1 + .../config/yolox_tiny.param.yaml | 1 + .../tensorrt_yolox/tensorrt_yolox.hpp | 22 ++++++++++++-- .../launch/multiple_yolox.launch.xml | 24 --------------- .../schema/yolox_s_plus_opt.schema.json | 8 ++++- .../schema/yolox_tiny.schema.json | 8 ++++- .../src/tensorrt_yolox.cpp | 30 +++++++++++++++---- .../src/tensorrt_yolox_node.cpp | 10 ++++++- .../README.md | 15 +++++----- .../traffic_light_fine_detector.param.yaml | 1 + .../src/traffic_light_fine_detector_node.cpp | 10 ++++++- 11 files changed, 87 insertions(+), 43 deletions(-) diff --git a/perception/autoware_tensorrt_yolox/config/yolox_s_plus_opt.param.yaml b/perception/autoware_tensorrt_yolox/config/yolox_s_plus_opt.param.yaml index d963074e51840..df01e2cb6eec6 100644 --- a/perception/autoware_tensorrt_yolox/config/yolox_s_plus_opt.param.yaml +++ b/perception/autoware_tensorrt_yolox/config/yolox_s_plus_opt.param.yaml @@ -36,4 +36,5 @@ profile_per_layer: false # If true, profiler function will be enabled. Since the profile function may affect execution speed, it is recommended to set this flag true only for development purpose. clip_value: 6.0 # If positive value is specified, the value of each layer output will be clipped between [0.0, clip_value]. This option is valid only when precision==int8 and used to manually specify the dynamic range instead of using any calibration. preprocess_on_gpu: true # If true, pre-processing is performed on GPU. + gpu_id: 0 # GPU ID to select CUDA Device calibration_image_list_path: "" # Path to a file which contains path to images. Those images will be used for int8 quantization. diff --git a/perception/autoware_tensorrt_yolox/config/yolox_tiny.param.yaml b/perception/autoware_tensorrt_yolox/config/yolox_tiny.param.yaml index e1ece63a4940f..e8b5b38503c9b 100644 --- a/perception/autoware_tensorrt_yolox/config/yolox_tiny.param.yaml +++ b/perception/autoware_tensorrt_yolox/config/yolox_tiny.param.yaml @@ -36,4 +36,5 @@ profile_per_layer: false # If true, profiler function will be enabled. Since the profile function may affect execution speed, it is recommended to set this flag true only for development purpose. clip_value: 0.0 # If positive value is specified, the value of each layer output will be clipped between [0.0, clip_value]. This option is valid only when precision==int8 and used to manually specify the dynamic range instead of using any calibration. preprocess_on_gpu: true # If true, pre-processing is performed on GPU. + gpu_id: 0 # GPU ID to select CUDA Device calibration_image_list_path: "" # Path to a file which contains path to images. Those images will be used for int8 quantization. diff --git a/perception/autoware_tensorrt_yolox/include/autoware/tensorrt_yolox/tensorrt_yolox.hpp b/perception/autoware_tensorrt_yolox/include/autoware/tensorrt_yolox/tensorrt_yolox.hpp index 6610476dc33fc..6fba801d1072b 100644 --- a/perception/autoware_tensorrt_yolox/include/autoware/tensorrt_yolox/tensorrt_yolox.hpp +++ b/perception/autoware_tensorrt_yolox/include/autoware/tensorrt_yolox/tensorrt_yolox.hpp @@ -89,8 +89,9 @@ class TrtYoloX const std::string & model_path, const std::string & precision, const int num_class = 8, const float score_threshold = 0.3, const float nms_threshold = 0.7, const tensorrt_common::BuildConfig build_config = tensorrt_common::BuildConfig(), - const bool use_gpu_preprocess = false, std::string calibration_image_list_file = std::string(), - const double norm_factor = 1.0, [[maybe_unused]] const std::string & cache_dir = "", + const bool use_gpu_preprocess = false, const uint8_t gpu_id = 0, + std::string calibration_image_list_file = std::string(), const double norm_factor = 1.0, + [[maybe_unused]] const std::string & cache_dir = "", const tensorrt_common::BatchConfig & batch_config = {1, 1, 1}, const size_t max_workspace_size = (1 << 30), const std::string & color_map_path = ""); /** @@ -98,6 +99,17 @@ class TrtYoloX */ ~TrtYoloX(); + /** + * @brief select cuda device for a inference + * @param[in] GPU id + */ + bool setCudaDeviceId(const uint8_t gpu_id); + + /** + * @brief return a flag for gpu initialization + */ + bool isGPUInitialized() const { return is_gpu_initialized_; } + /** * @brief run inference including pre-process and post-process * @param[out] objects results for object detection @@ -267,7 +279,7 @@ class TrtYoloX size_t out_elem_num_per_batch_; CudaUniquePtr out_prob_d_; - StreamUniquePtr stream_{makeCudaStream()}; + StreamUniquePtr stream_; int32_t max_detections_; std::vector scales_; @@ -280,6 +292,10 @@ class TrtYoloX // flag whether preprocess are performed on GPU bool use_gpu_preprocess_; + // GPU id for inference + const uint8_t gpu_id_; + // flag for gpu initialization + bool is_gpu_initialized_; // host buffer for preprocessing on GPU CudaUniquePtrHost image_buf_h_; // device buffer for preprocessing on GPU diff --git a/perception/autoware_tensorrt_yolox/launch/multiple_yolox.launch.xml b/perception/autoware_tensorrt_yolox/launch/multiple_yolox.launch.xml index a039d25222490..a7952b12414b1 100644 --- a/perception/autoware_tensorrt_yolox/launch/multiple_yolox.launch.xml +++ b/perception/autoware_tensorrt_yolox/launch/multiple_yolox.launch.xml @@ -1,69 +1,45 @@ - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/perception/autoware_tensorrt_yolox/schema/yolox_s_plus_opt.schema.json b/perception/autoware_tensorrt_yolox/schema/yolox_s_plus_opt.schema.json index ce1ad6c2d0caf..a55158be80b7c 100644 --- a/perception/autoware_tensorrt_yolox/schema/yolox_s_plus_opt.schema.json +++ b/perception/autoware_tensorrt_yolox/schema/yolox_s_plus_opt.schema.json @@ -70,6 +70,11 @@ "default": true, "description": "If true, pre-processing is performed on GPU." }, + "gpu_id": { + "type": "integer", + "default": 0, + "description": "GPU ID for selecting CUDA device" + }, "calibration_image_list_path": { "type": "string", "default": "", @@ -88,7 +93,8 @@ "quantize_last_layer", "profile_per_layer", "clip_value", - "preprocess_on_gpu" + "preprocess_on_gpu", + "gpu_id" ] } }, diff --git a/perception/autoware_tensorrt_yolox/schema/yolox_tiny.schema.json b/perception/autoware_tensorrt_yolox/schema/yolox_tiny.schema.json index f47b28e47a3f8..707cd393d6828 100644 --- a/perception/autoware_tensorrt_yolox/schema/yolox_tiny.schema.json +++ b/perception/autoware_tensorrt_yolox/schema/yolox_tiny.schema.json @@ -70,6 +70,11 @@ "default": true, "description": "If true, pre-processing is performed on GPU." }, + "gpu_id": { + "type": "integer", + "default": 0, + "description": "GPU ID for selecting CUDA device" + }, "calibration_image_list_path": { "type": "string", "default": "", @@ -88,7 +93,8 @@ "quantize_last_layer", "profile_per_layer", "clip_value", - "preprocess_on_gpu" + "preprocess_on_gpu", + "gpu_id" ] } }, diff --git a/perception/autoware_tensorrt_yolox/src/tensorrt_yolox.cpp b/perception/autoware_tensorrt_yolox/src/tensorrt_yolox.cpp index 675fee64812a2..b6da363a9a237 100644 --- a/perception/autoware_tensorrt_yolox/src/tensorrt_yolox.cpp +++ b/perception/autoware_tensorrt_yolox/src/tensorrt_yolox.cpp @@ -156,16 +156,25 @@ namespace autoware::tensorrt_yolox TrtYoloX::TrtYoloX( const std::string & model_path, const std::string & precision, const int num_class, const float score_threshold, const float nms_threshold, tensorrt_common::BuildConfig build_config, - const bool use_gpu_preprocess, std::string calibration_image_list_path, const double norm_factor, - [[maybe_unused]] const std::string & cache_dir, const tensorrt_common::BatchConfig & batch_config, - const size_t max_workspace_size, const std::string & color_map_path) + const bool use_gpu_preprocess, const uint8_t gpu_id, std::string calibration_image_list_path, + const double norm_factor, [[maybe_unused]] const std::string & cache_dir, + const tensorrt_common::BatchConfig & batch_config, const size_t max_workspace_size, + const std::string & color_map_path) +: gpu_id_(gpu_id), is_gpu_initialized_(false) { + if (!setCudaDeviceId(gpu_id_)) { + return; + } + is_gpu_initialized_ = true; + src_width_ = -1; src_height_ = -1; norm_factor_ = norm_factor; batch_size_ = batch_config[2]; multitask_ = 0; sematic_color_map_ = get_seg_colormap(color_map_path); + stream_ = makeCudaStream(); + if (precision == "int8") { if (build_config.clip_value <= 0.0) { if (calibration_image_list_path.empty()) { @@ -217,7 +226,6 @@ TrtYoloX::TrtYoloX( calibrator.reset( new tensorrt_yolox::Int8MinMaxCalibrator(stream, calibration_table, norm_factor_)); } - trt_common_ = std::make_unique( model_path, precision, std::move(calibrator), batch_config, max_workspace_size, build_config); } else { @@ -262,7 +270,6 @@ TrtYoloX::TrtYoloX( throw std::runtime_error{s.str()}; */ } - // GPU memory allocation const auto input_dims = trt_common_->getBindingDimensions(0); const auto input_size = @@ -341,6 +348,16 @@ TrtYoloX::~TrtYoloX() } } +bool TrtYoloX::setCudaDeviceId(const uint8_t gpu_id) +{ + cudaError_t cuda_err = cudaSetDevice(gpu_id); + if (cuda_err != cudaSuccess) { + return false; + } else { + return true; + } +} + void TrtYoloX::initPreprocessBuffer(int width, int height) { // if size of source input has been changed... @@ -534,6 +551,9 @@ bool TrtYoloX::doInference( const std::vector & images, ObjectArrays & objects, std::vector & masks, [[maybe_unused]] std::vector & color_masks) { + if (!setCudaDeviceId(gpu_id_)) { + return false; + } if (!trt_common_->isInitialized()) { return false; } diff --git a/perception/autoware_tensorrt_yolox/src/tensorrt_yolox_node.cpp b/perception/autoware_tensorrt_yolox/src/tensorrt_yolox_node.cpp index c613e7d1df52f..2455411618ceb 100644 --- a/perception/autoware_tensorrt_yolox/src/tensorrt_yolox_node.cpp +++ b/perception/autoware_tensorrt_yolox/src/tensorrt_yolox_node.cpp @@ -57,6 +57,7 @@ TrtYoloXNode::TrtYoloXNode(const rclcpp::NodeOptions & node_options) const bool preprocess_on_gpu = this->declare_parameter("preprocess_on_gpu"); const std::string calibration_image_list_path = this->declare_parameter("calibration_image_list_path"); + const uint8_t gpu_id = this->declare_parameter("gpu_id"); std::string color_map_path = this->declare_parameter("color_map_path"); @@ -93,9 +94,16 @@ TrtYoloXNode::TrtYoloXNode(const rclcpp::NodeOptions & node_options) trt_yolox_ = std::make_unique( model_path, precision, label_map_.size(), score_threshold, nms_threshold, build_config, - preprocess_on_gpu, calibration_image_list_path, norm_factor, cache_dir, batch_config, + preprocess_on_gpu, gpu_id, calibration_image_list_path, norm_factor, cache_dir, batch_config, max_workspace_size, color_map_path); + if (!trt_yolox_->isGPUInitialized()) { + RCLCPP_ERROR(this->get_logger(), "GPU %d does not exist or is not suitable.", gpu_id); + rclcpp::shutdown(); + return; + } + RCLCPP_INFO(this->get_logger(), "GPU %d is selected for the inference!", gpu_id); + timer_ = rclcpp::create_timer(this, get_clock(), 100ms, std::bind(&TrtYoloXNode::onConnect, this)); diff --git a/perception/autoware_traffic_light_fine_detector/README.md b/perception/autoware_traffic_light_fine_detector/README.md index 9e69c22fdc17b..35b55c84aa087 100644 --- a/perception/autoware_traffic_light_fine_detector/README.md +++ b/perception/autoware_traffic_light_fine_detector/README.md @@ -51,13 +51,14 @@ Based on the camera image and the global ROI array detected by `map_based_detect ### Node Parameters -| Name | Type | Default Value | Description | -| -------------------------- | ------ | --------------------------- | ------------------------------------------------------------------ | -| `data_path` | string | "$(env HOME)/autoware_data" | packages data and artifacts directory path | -| `fine_detector_model_path` | string | "" | The onnx file name for yolo model | -| `fine_detector_label_path` | string | "" | The label file with label names for detected objects written on it | -| `fine_detector_precision` | string | "fp32" | The inference mode: "fp32", "fp16" | -| `approximate_sync` | bool | false | Flag for whether to ues approximate sync policy | +| Name | Type | Default Value | Description | +| -------------------------- | ------- | --------------------------- | ------------------------------------------------------------------ | +| `data_path` | string | "$(env HOME)/autoware_data" | packages data and artifacts directory path | +| `fine_detector_model_path` | string | "" | The onnx file name for yolo model | +| `fine_detector_label_path` | string | "" | The label file with label names for detected objects written on it | +| `fine_detector_precision` | string | "fp32" | The inference mode: "fp32", "fp16" | +| `approximate_sync` | bool | false | Flag for whether to ues approximate sync policy | +| `gpu_id` | integer | 0 | ID for the selecting CUDA GPU device | ## Assumptions / Known limits diff --git a/perception/autoware_traffic_light_fine_detector/config/traffic_light_fine_detector.param.yaml b/perception/autoware_traffic_light_fine_detector/config/traffic_light_fine_detector.param.yaml index 0265d0c4c7abb..36d4413472a0b 100644 --- a/perception/autoware_traffic_light_fine_detector/config/traffic_light_fine_detector.param.yaml +++ b/perception/autoware_traffic_light_fine_detector/config/traffic_light_fine_detector.param.yaml @@ -5,3 +5,4 @@ fine_detector_precision: fp16 fine_detector_score_thresh: 0.3 fine_detector_nms_thresh: 0.65 + gpu_id: 0 diff --git a/perception/autoware_traffic_light_fine_detector/src/traffic_light_fine_detector_node.cpp b/perception/autoware_traffic_light_fine_detector/src/traffic_light_fine_detector_node.cpp index fec26b762dfe9..5963efe611c00 100644 --- a/perception/autoware_traffic_light_fine_detector/src/traffic_light_fine_detector_node.cpp +++ b/perception/autoware_traffic_light_fine_detector/src/traffic_light_fine_detector_node.cpp @@ -60,6 +60,7 @@ TrafficLightFineDetectorNode::TrafficLightFineDetectorNode(const rclcpp::NodeOpt std::string model_path = declare_parameter("fine_detector_model_path", ""); std::string label_path = declare_parameter("fine_detector_label_path", ""); std::string precision = declare_parameter("fine_detector_precision", "fp32"); + const uint8_t gpu_id = declare_parameter("gpu_id", 0); // Objects with a score lower than this value will be ignored. // This threshold will be ignored if specified model contains EfficientNMS_TRT module in it score_thresh_ = declare_parameter("fine_detector_score_thresh", 0.3); @@ -86,7 +87,14 @@ TrafficLightFineDetectorNode::TrafficLightFineDetectorNode(const rclcpp::NodeOpt trt_yolox_ = std::make_unique( model_path, precision, num_class, score_thresh_, nms_threshold, build_config, cuda_preprocess, - calib_image_list, scale, cache_dir, batch_config); + gpu_id, calib_image_list, scale, cache_dir, batch_config); + + if (!trt_yolox_->isGPUInitialized()) { + RCLCPP_ERROR(this->get_logger(), "GPU %d does not exist or is not suitable.", gpu_id); + rclcpp::shutdown(); + return; + } + RCLCPP_INFO(this->get_logger(), "GPU %d is selected for the inference!", gpu_id); using std::chrono_literals::operator""ms; timer_ = rclcpp::create_timer( From 94b5c33387176e28d17173a365b6dd1bfc12f227 Mon Sep 17 00:00:00 2001 From: SakodaShintaro Date: Tue, 27 Aug 2024 18:51:41 +0900 Subject: [PATCH 077/169] refactor(ekf_localizer): removed proc_cov_*_d_ from EKFLocalizer (#8640) Removed proc_cov_*_d_ from EKFLocalizer Signed-off-by: Shintaro Sakoda --- .../include/ekf_localizer/ekf_localizer.hpp | 5 ----- localization/ekf_localizer/src/ekf_localizer.cpp | 10 ---------- 2 files changed, 15 deletions(-) diff --git a/localization/ekf_localizer/include/ekf_localizer/ekf_localizer.hpp b/localization/ekf_localizer/include/ekf_localizer/ekf_localizer.hpp index 650eca26d4e96..332d4e0837e54 100644 --- a/localization/ekf_localizer/include/ekf_localizer/ekf_localizer.hpp +++ b/localization/ekf_localizer/include/ekf_localizer/ekf_localizer.hpp @@ -160,11 +160,6 @@ class EKFLocalizer : public rclcpp::Node double ekf_dt_; - /* process noise variance for discrete model */ - double proc_cov_yaw_d_; //!< @brief discrete yaw process noise - double proc_cov_vx_d_; //!< @brief discrete process noise in d_vx=0 - double proc_cov_wz_d_; //!< @brief discrete process noise in d_wz=0 - bool is_activated_; EKFDiagnosticInfo pose_diag_info_; diff --git a/localization/ekf_localizer/src/ekf_localizer.cpp b/localization/ekf_localizer/src/ekf_localizer.cpp index f1e4d0c958c77..10c706f4032b6 100644 --- a/localization/ekf_localizer/src/ekf_localizer.cpp +++ b/localization/ekf_localizer/src/ekf_localizer.cpp @@ -52,11 +52,6 @@ EKFLocalizer::EKFLocalizer(const rclcpp::NodeOptions & node_options) twist_queue_(params_.twist_smoothing_steps), last_angular_velocity_(0.0, 0.0, 0.0) { - /* convert to continuous to discrete */ - proc_cov_vx_d_ = std::pow(params_.proc_stddev_vx_c * ekf_dt_, 2.0); - proc_cov_wz_d_ = std::pow(params_.proc_stddev_wz_c * ekf_dt_, 2.0); - proc_cov_yaw_d_ = std::pow(params_.proc_stddev_yaw_c * ekf_dt_, 2.0); - is_activated_ = false; /* initialize ros system */ @@ -132,11 +127,6 @@ void EKFLocalizer::update_predict_frequency(const rclcpp::Time & current_time) /* Register dt and accumulate time delay */ ekf_module_->accumulate_delay_time(ekf_dt_); - - /* Update discrete proc_cov*/ - proc_cov_vx_d_ = std::pow(params_.proc_stddev_vx_c * ekf_dt_, 2.0); - proc_cov_wz_d_ = std::pow(params_.proc_stddev_wz_c * ekf_dt_, 2.0); - proc_cov_yaw_d_ = std::pow(params_.proc_stddev_yaw_c * ekf_dt_, 2.0); } } last_predict_time_ = std::make_shared(current_time); From 1458bbc99c569393c42467b73f73944a0065a5f5 Mon Sep 17 00:00:00 2001 From: kobayu858 <129580202+kobayu858@users.noreply.github.com> Date: Tue, 27 Aug 2024 19:32:02 +0900 Subject: [PATCH 078/169] fix(autoware_mission_planner): fix unusedFunction (#8642) fix:unusedFunction Signed-off-by: kobayu858 --- .../src/mission_planner/arrival_checker.cpp | 11 ----------- .../src/mission_planner/arrival_checker.hpp | 1 - 2 files changed, 12 deletions(-) diff --git a/planning/autoware_mission_planner/src/mission_planner/arrival_checker.cpp b/planning/autoware_mission_planner/src/mission_planner/arrival_checker.cpp index da14712dd6c64..41502d8c3c2c3 100644 --- a/planning/autoware_mission_planner/src/mission_planner/arrival_checker.cpp +++ b/planning/autoware_mission_planner/src/mission_planner/arrival_checker.cpp @@ -43,17 +43,6 @@ void ArrivalChecker::set_goal(const PoseWithUuidStamped & goal) goal_with_uuid_ = goal; } -void ArrivalChecker::modify_goal(const PoseWithUuidStamped & modified_goal) -{ - if (!goal_with_uuid_) { - return; - } - if (goal_with_uuid_.value().uuid.uuid != modified_goal.uuid.uuid) { - return; - } - set_goal(modified_goal); -} - bool ArrivalChecker::is_arrived(const PoseStamped & pose) const { if (!goal_with_uuid_) { diff --git a/planning/autoware_mission_planner/src/mission_planner/arrival_checker.hpp b/planning/autoware_mission_planner/src/mission_planner/arrival_checker.hpp index 708b3de40bdab..d2e9a7408b791 100644 --- a/planning/autoware_mission_planner/src/mission_planner/arrival_checker.hpp +++ b/planning/autoware_mission_planner/src/mission_planner/arrival_checker.hpp @@ -33,7 +33,6 @@ class ArrivalChecker explicit ArrivalChecker(rclcpp::Node * node); void set_goal(); void set_goal(const PoseWithUuidStamped & goal); - void modify_goal(const PoseWithUuidStamped & modified_goal); bool is_arrived(const PoseStamped & pose) const; private: From 7fea75b9cc5441f8ba26246cc58cee7956161336 Mon Sep 17 00:00:00 2001 From: kobayu858 <129580202+kobayu858@users.noreply.github.com> Date: Tue, 27 Aug 2024 19:32:47 +0900 Subject: [PATCH 079/169] fix(autoware_costmap_generator): fix unusedFunction (#8641) fix:unusedFunction Signed-off-by: kobayu858 --- .../object_map_utils.hpp | 23 ------------------- .../object_map_utils.cpp | 19 --------------- 2 files changed, 42 deletions(-) diff --git a/planning/autoware_costmap_generator/include/autoware_costmap_generator/object_map_utils.hpp b/planning/autoware_costmap_generator/include/autoware_costmap_generator/object_map_utils.hpp index f4911cc428d36..55a032fc8bb5a 100644 --- a/planning/autoware_costmap_generator/include/autoware_costmap_generator/object_map_utils.hpp +++ b/planning/autoware_costmap_generator/include/autoware_costmap_generator/object_map_utils.hpp @@ -52,29 +52,6 @@ namespace object_map { -/*! - * Publishes in_gridmap using the specified in_publisher - * @param[in] in_gridmap GridMap object to publish - * @param[in] in_publisher Valid Publisher object to use - */ -void PublishGridMap( - const grid_map::GridMap & in_gridmap, - const rclcpp::Publisher::SharedPtr in_publisher); - -/*! - * Convert and publishes a GridMap layer to a standard Ros OccupancyGrid - * @param[in] in_gridmap GridMap object to extract the layer - * @param[in] in_publisher ROS Publisher to use to publish the occupancy grid - * @param[in] in_layer Name of the layer to convert - * @param[in] in_min_value Minimum value in the layer - * @param[in] in_max_value Maximum value in the layer - */ - -void PublishOccupancyGrid( - const grid_map::GridMap & in_gridmap, - const rclcpp::Publisher::SharedPtr in_publisher, - const std::string & in_layer, double in_min_value, double in_max_value, double in_height); - /*! * Projects the in_area_points forming the road, stores the result in out_grid_map. * @param[out] out_grid_map GridMap object to add the road grid diff --git a/planning/autoware_costmap_generator/nodes/autoware_costmap_generator/object_map_utils.cpp b/planning/autoware_costmap_generator/nodes/autoware_costmap_generator/object_map_utils.cpp index 4ce452814008c..f719f7a81cbf2 100644 --- a/planning/autoware_costmap_generator/nodes/autoware_costmap_generator/object_map_utils.cpp +++ b/planning/autoware_costmap_generator/nodes/autoware_costmap_generator/object_map_utils.cpp @@ -37,25 +37,6 @@ namespace object_map { -void PublishGridMap( - const grid_map::GridMap & in_gridmap, - const rclcpp::Publisher::SharedPtr in_publisher) -{ - auto message = grid_map::GridMapRosConverter::toMessage(in_gridmap); - in_publisher->publish(*message); -} - -void PublishOccupancyGrid( - const grid_map::GridMap & in_gridmap, - const rclcpp::Publisher::SharedPtr in_publisher, - const std::string & in_layer, double in_min_value, double in_max_value, double in_height) -{ - nav_msgs::msg::OccupancyGrid message; - grid_map::GridMapRosConverter::toOccupancyGrid( - in_gridmap, in_layer, in_min_value, in_max_value, message); - message.info.origin.position.z = in_height; - in_publisher->publish(message); -} void FillPolygonAreas( grid_map::GridMap & out_grid_map, From d6610284d08b9f2a42a01fba9538ab5abeaee074 Mon Sep 17 00:00:00 2001 From: kobayu858 <129580202+kobayu858@users.noreply.github.com> Date: Wed, 28 Aug 2024 01:02:09 +0900 Subject: [PATCH 080/169] fix(autoware_planning_validator): fix unusedFunction (#8646) fix:unusedFunction Signed-off-by: kobayu858 --- .../include/autoware/planning_validator/utils.hpp | 4 ---- planning/autoware_planning_validator/src/utils.cpp | 14 -------------- 2 files changed, 18 deletions(-) diff --git a/planning/autoware_planning_validator/include/autoware/planning_validator/utils.hpp b/planning/autoware_planning_validator/include/autoware/planning_validator/utils.hpp index 04cfed07a1671..7d8aca14aff77 100644 --- a/planning/autoware_planning_validator/include/autoware/planning_validator/utils.hpp +++ b/planning/autoware_planning_validator/include/autoware/planning_validator/utils.hpp @@ -28,10 +28,6 @@ namespace autoware::planning_validator using autoware_planning_msgs::msg::Trajectory; using autoware_planning_msgs::msg::TrajectoryPoint; -std::pair getMaxValAndIdx(const std::vector & v); - -std::pair getMinValAndIdx(const std::vector & v); - std::pair getAbsMaxValAndIdx(const std::vector & v); Trajectory resampleTrajectory(const Trajectory & trajectory, const double min_interval); diff --git a/planning/autoware_planning_validator/src/utils.cpp b/planning/autoware_planning_validator/src/utils.cpp index ae580a7a7c6f1..0a70b4d415dcb 100644 --- a/planning/autoware_planning_validator/src/utils.cpp +++ b/planning/autoware_planning_validator/src/utils.cpp @@ -46,20 +46,6 @@ void takeSmaller(double & v_min, size_t & i_min, double v, size_t i) } } // namespace -std::pair getMaxValAndIdx(const std::vector & v) -{ - const auto iter = std::max_element(v.begin(), v.end()); - const auto idx = std::distance(v.begin(), iter); - return {*iter, idx}; -} - -std::pair getMinValAndIdx(const std::vector & v) -{ - const auto iter = std::min_element(v.begin(), v.end()); - const auto idx = std::distance(v.begin(), iter); - return {*iter, idx}; -} - std::pair getAbsMaxValAndIdx(const std::vector & v) { const auto iter = std::max_element( From 2f4a26a328c256f36aedc9016bd9f26e8c7f9893 Mon Sep 17 00:00:00 2001 From: kobayu858 <129580202+kobayu858@users.noreply.github.com> Date: Wed, 28 Aug 2024 10:12:25 +0900 Subject: [PATCH 081/169] fix(autoware_path_optimizer): fix unusedFunction (#8644) fix:unusedFunction Signed-off-by: kobayu858 --- .../path_optimizer/utils/trajectory_utils.hpp | 4 ---- .../src/utils/trajectory_utils.cpp | 23 ------------------- 2 files changed, 27 deletions(-) diff --git a/planning/autoware_path_optimizer/include/autoware/path_optimizer/utils/trajectory_utils.hpp b/planning/autoware_path_optimizer/include/autoware/path_optimizer/utils/trajectory_utils.hpp index 3cacdc2e1ecaf..c9900d2ce8225 100644 --- a/planning/autoware_path_optimizer/include/autoware/path_optimizer/utils/trajectory_utils.hpp +++ b/planning/autoware_path_optimizer/include/autoware/path_optimizer/utils/trajectory_utils.hpp @@ -132,10 +132,6 @@ std::vector convertToReferencePoints( std::vector sanitizePoints(const std::vector & points); -void compensateLastPose( - const PathPoint & last_path_point, std::vector & traj_points, - const double delta_dist_threshold, const double delta_yaw_threshold); - geometry_msgs::msg::Point getNearestPosition( const std::vector & points, const int target_idx, const double offset); diff --git a/planning/autoware_path_optimizer/src/utils/trajectory_utils.cpp b/planning/autoware_path_optimizer/src/utils/trajectory_utils.cpp index 8e15cdb852893..bcfc7e53ee67d 100644 --- a/planning/autoware_path_optimizer/src/utils/trajectory_utils.cpp +++ b/planning/autoware_path_optimizer/src/utils/trajectory_utils.cpp @@ -97,29 +97,6 @@ std::vector sanitizePoints(const std::vector & p return output; } -void compensateLastPose( - const PathPoint & last_path_point, std::vector & traj_points, - const double delta_dist_threshold, const double delta_yaw_threshold) -{ - if (traj_points.empty()) { - traj_points.push_back(convertToTrajectoryPoint(last_path_point)); - return; - } - - const geometry_msgs::msg::Pose last_traj_pose = traj_points.back().pose; - - const double dist = autoware::universe_utils::calcDistance2d( - last_path_point.pose.position, last_traj_pose.position); - const double norm_diff_yaw = [&]() { - const double diff_yaw = - tf2::getYaw(last_path_point.pose.orientation) - tf2::getYaw(last_traj_pose.orientation); - return autoware::universe_utils::normalizeRadian(diff_yaw); - }(); - if (dist > delta_dist_threshold || std::fabs(norm_diff_yaw) > delta_yaw_threshold) { - traj_points.push_back(convertToTrajectoryPoint(last_path_point)); - } -} - geometry_msgs::msg::Point getNearestPosition( const std::vector & points, const int target_idx, const double offset) { From 93237800734bfcfa236564252a26fb6760c37e7d Mon Sep 17 00:00:00 2001 From: kobayu858 <129580202+kobayu858@users.noreply.github.com> Date: Wed, 28 Aug 2024 13:23:40 +0900 Subject: [PATCH 082/169] fix(autoware_static_centerline_generator): fix unusedFunction (#8647) * fix:unusedFunction Signed-off-by: kobayu858 * fix:unusedFunction Signed-off-by: kobayu858 * fix:compile error Signed-off-by: kobayu858 --------- Signed-off-by: kobayu858 --- .../src/static_centerline_generator_node.cpp | 121 ------------------ .../src/static_centerline_generator_node.hpp | 1 - .../src/utils.cpp | 23 ---- .../src/utils.hpp | 2 - 4 files changed, 147 deletions(-) diff --git a/planning/autoware_static_centerline_generator/src/static_centerline_generator_node.cpp b/planning/autoware_static_centerline_generator/src/static_centerline_generator_node.cpp index e9958b74059a5..5e2ddc6579bf3 100644 --- a/planning/autoware_static_centerline_generator/src/static_centerline_generator_node.cpp +++ b/planning/autoware_static_centerline_generator/src/static_centerline_generator_node.cpp @@ -177,20 +177,6 @@ std::vector resample_trajectory_points( return autoware::motion_utils::convertToTrajectoryPointArray(resampled_input_traj); } -bool arePointsClose( - const geometry_msgs::msg::Point & p1, const geometry_msgs::msg::Point & p2, const double epsilon) -{ - return std::abs(p1.x - p2.x) < epsilon && std::abs(p1.y - p2.y) < epsilon; -} - -bool areSameDirection( - const double yaw, const geometry_msgs::msg::Point & start_point, - const geometry_msgs::msg::Point & end_point) -{ - return autoware::universe_utils::normalizeRadian( - yaw - std::atan2(end_point.y - start_point.y, end_point.x - start_point.x)) < M_PI_2; -} - std::vector convertToGeometryPoints(const LineString2d & lanelet_points) { std::vector points; @@ -597,115 +583,8 @@ void StaticCenterlineGeneratorNode::on_plan_path( response->message = ""; } -RoadBounds StaticCenterlineGeneratorNode::update_road_boundary( - const std::vector & centerline) -{ - const double max_ego_lon_offset = vehicle_info_.front_overhang_m + vehicle_info_.wheel_base_m; - const double min_ego_lon_offset = -vehicle_info_.rear_overhang_m; - const double max_ego_lat_offset = - vehicle_info_.wheel_tread_m / 2.0 + vehicle_info_.left_overhang_m; - const double ego_lat_offset = max_ego_lat_offset + footprint_margin_for_road_bound_; - - std::vector ego_left_bound; - std::vector ego_right_bound; - for (size_t i = 0; i < centerline.size(); ++i) { - const auto & centerline_point = centerline.at(i).pose; - if (i == 0) { - // Add the first bound point - ego_left_bound.push_back(autoware::universe_utils::calcOffsetPose( - centerline_point, min_ego_lon_offset, ego_lat_offset, 0.0) - .position); - ego_right_bound.push_back(autoware::universe_utils::calcOffsetPose( - centerline_point, min_ego_lon_offset, -ego_lat_offset, 0.0) - .position); - } - - if (i == centerline.size() - 1) { - // Add the last bound point - const auto ego_left_bound_last_point = - autoware::universe_utils::calcOffsetPose( - centerline_point, max_ego_lon_offset, ego_lat_offset, 0.0) - .position; - if (!arePointsClose(ego_left_bound.back(), ego_left_bound_last_point, 1e-6)) { - ego_left_bound.push_back(ego_left_bound_last_point); - } - const auto ego_right_bound_last_point = - autoware::universe_utils::calcOffsetPose( - centerline_point, max_ego_lon_offset, -ego_lat_offset, 0.0) - .position; - if (!arePointsClose(ego_right_bound.back(), ego_right_bound_last_point, 1e-6)) { - ego_right_bound.push_back(ego_right_bound_last_point); - } - } else { - // Calculate new bound point depending on the orientation - const auto & next_centerline_point = centerline.at(i + 1).pose; - const double diff_yaw = autoware::universe_utils::normalizeRadian( - tf2::getYaw(next_centerline_point.orientation) - tf2::getYaw(centerline_point.orientation)); - const auto [ego_left_bound_new_point, ego_right_bound_new_point] = [&]() { - if (0 < diff_yaw) { - return std::make_pair( - autoware::universe_utils::calcOffsetPose(centerline_point, 0.0, ego_lat_offset, 0.0) - .position, - autoware::universe_utils::calcOffsetPose( - centerline_point, max_ego_lon_offset, -ego_lat_offset, 0.0) - .position); - } - return std::make_pair( - autoware::universe_utils::calcOffsetPose( - centerline_point, max_ego_lon_offset, ego_lat_offset, 0.0) - .position, - autoware::universe_utils::calcOffsetPose(centerline_point, 0.0, -ego_lat_offset, 0.0) - .position); - }(); - - // Check if the bound will be longitudinally monotonic. - if (areSameDirection( - tf2::getYaw(centerline_point.orientation), ego_left_bound.back(), - ego_left_bound_new_point)) { - ego_left_bound.push_back(ego_left_bound_new_point); - } - if (areSameDirection( - tf2::getYaw(centerline_point.orientation), ego_right_bound.back(), - ego_right_bound_new_point)) { - ego_right_bound.push_back(ego_right_bound_new_point); - } - } - } - - // Publish marker - MarkerArray ego_footprint_bounds_marker_array; - { - auto left_bound_marker = autoware::universe_utils::createDefaultMarker( - "map", now(), "road_bounds", 0, Marker::LINE_STRIP, - autoware::universe_utils::createMarkerScale(0.05, 0.0, 0.0), - autoware::universe_utils::createMarkerColor(1.0, 0.5, 0.7, 0.8)); - left_bound_marker.lifetime = rclcpp::Duration(0, 0); - for (const auto & ego_left_bound_point : ego_left_bound) { - left_bound_marker.points.push_back(ego_left_bound_point); - } - ego_footprint_bounds_marker_array.markers.push_back(left_bound_marker); - } - { - auto right_bound_marker = autoware::universe_utils::createDefaultMarker( - "map", now(), "road_bounds", 1, Marker::LINE_STRIP, - autoware::universe_utils::createMarkerScale(0.05, 0.0, 0.0), - autoware::universe_utils::createMarkerColor(1.0, 0.5, 0.7, 0.8)); - right_bound_marker.lifetime = rclcpp::Duration(0, 0); - for (const auto & ego_right_bound_point : ego_right_bound) { - right_bound_marker.points.push_back(ego_right_bound_point); - } - ego_footprint_bounds_marker_array.markers.push_back(right_bound_marker); - } - pub_debug_ego_footprint_bounds_->publish(ego_footprint_bounds_marker_array); - - return RoadBounds{ego_left_bound, ego_right_bound}; -} - void StaticCenterlineGeneratorNode::validate() { - // const auto selected_centerline = centerline_handler_.get_selected_centerline(); - // const auto road_bounds = update_road_boundary(selected_centerline); - std::cerr << std::endl << "############################################## Validation Results " "##############################################" diff --git a/planning/autoware_static_centerline_generator/src/static_centerline_generator_node.hpp b/planning/autoware_static_centerline_generator/src/static_centerline_generator_node.hpp index fd2314d42e46f..17abb3e446994 100644 --- a/planning/autoware_static_centerline_generator/src/static_centerline_generator_node.hpp +++ b/planning/autoware_static_centerline_generator/src/static_centerline_generator_node.hpp @@ -132,7 +132,6 @@ class StaticCenterlineGeneratorNode : public rclcpp::Node const PlanPath::Request::SharedPtr request, const PlanPath::Response::SharedPtr response); void visualize_selected_centerline(); - RoadBounds update_road_boundary(const std::vector & centerline); // parameter template diff --git a/planning/autoware_static_centerline_generator/src/utils.cpp b/planning/autoware_static_centerline_generator/src/utils.cpp index 1a8e0eae2fbd9..c045a50fec0d7 100644 --- a/planning/autoware_static_centerline_generator/src/utils.cpp +++ b/planning/autoware_static_centerline_generator/src/utils.cpp @@ -256,28 +256,5 @@ MarkerArray create_delete_all_marker_array( return marker_array; } -std::pair, std::vector> -calcBoundsFromLanelets(const lanelet::ConstLanelets lanelets) -{ - std::vector left_bound; - std::vector right_bound; - for (const auto & lanelet : lanelets) { - for (const auto & lanelet_left_bound_point : lanelet.leftBound()) { - geometry_msgs::msg::Point left_bound_point; - left_bound_point.x = lanelet_left_bound_point.x(); - left_bound_point.y = lanelet_left_bound_point.y(); - left_bound_point.z = lanelet_left_bound_point.z(); - left_bound.push_back(left_bound_point); - } - for (const auto & lanelet_right_bound_point : lanelet.rightBound()) { - geometry_msgs::msg::Point right_bound_point; - right_bound_point.x = lanelet_right_bound_point.x(); - right_bound_point.y = lanelet_right_bound_point.y(); - right_bound_point.z = lanelet_right_bound_point.z(); - right_bound.push_back(right_bound_point); - } - } - return std::make_pair(left_bound, right_bound); -} } // namespace utils } // namespace autoware::static_centerline_generator diff --git a/planning/autoware_static_centerline_generator/src/utils.hpp b/planning/autoware_static_centerline_generator/src/utils.hpp index be60f6249e93f..f4d15d3dcfd4f 100644 --- a/planning/autoware_static_centerline_generator/src/utils.hpp +++ b/planning/autoware_static_centerline_generator/src/utils.hpp @@ -61,8 +61,6 @@ Marker create_points_marker( MarkerArray create_delete_all_marker_array( const std::vector & ns_vec, const rclcpp::Time & now); -std::pair, std::vector> -calcBoundsFromLanelets(const lanelet::ConstLanelets lanelets); } // namespace utils } // namespace autoware::static_centerline_generator From bda870618b97e78b278a0910576145ba84b402d6 Mon Sep 17 00:00:00 2001 From: kobayu858 <129580202+kobayu858@users.noreply.github.com> Date: Wed, 28 Aug 2024 13:24:03 +0900 Subject: [PATCH 083/169] fix(tier4_state_rviz_plugin): fix unusedFunction (#8608) * fix:unusedFunction Signed-off-by: kobayu858 * fix:clang format Signed-off-by: kobayu858 * fix:revert custom button Signed-off-by: kobayu858 * fix:revert custom container Signed-off-by: kobayu858 * fix:revert custom icon label Signed-off-by: kobayu858 * fix:revert custom label Signed-off-by: kobayu858 * fix:revert custom segment button Signed-off-by: kobayu858 * fix:revert custom slider Signed-off-by: kobayu858 * fix:revert custom toggle switch Signed-off-by: kobayu858 * fix:revert custom label Signed-off-by: kobayu858 * fix:add blank line Signed-off-by: kobayu858 * fix:revert custom botton item Signed-off-by: kobayu858 * fix:remove declaration Signed-off-by: kobayu858 --------- Signed-off-by: kobayu858 --- .../src/custom_button.cpp | 3 +++ .../src/custom_container.cpp | 13 ++----------- .../src/custom_icon_label.cpp | 2 ++ .../tier4_state_rviz_plugin/src/custom_label.cpp | 2 ++ .../src/custom_segmented_button.cpp | 3 +++ .../src/custom_segmented_button_item.cpp | 16 +++++----------- .../src/custom_slider.cpp | 1 + .../src/custom_toggle_switch.cpp | 1 + .../src/include/custom_container.hpp | 2 -- .../src/include/custom_segmented_button_item.hpp | 3 --- 10 files changed, 19 insertions(+), 27 deletions(-) diff --git a/common/tier4_state_rviz_plugin/src/custom_button.cpp b/common/tier4_state_rviz_plugin/src/custom_button.cpp index 0ef2628577135..26d9d699038d8 100644 --- a/common/tier4_state_rviz_plugin/src/custom_button.cpp +++ b/common/tier4_state_rviz_plugin/src/custom_button.cpp @@ -53,11 +53,13 @@ QSize CustomElevatedButton::sizeHint() const return QSize(width, height); } +// cppcheck-suppress unusedFunction QSize CustomElevatedButton::minimumSizeHint() const { return sizeHint(); } +// cppcheck-suppress unusedFunction void CustomElevatedButton::updateStyle( const QString & text, const QColor & bgColor, const QColor & textColor, const QColor & hoverColor, const QColor & disabledBgColor, const QColor & disabledTextColor) @@ -71,6 +73,7 @@ void CustomElevatedButton::updateStyle( update(); // Force repaint } +// cppcheck-suppress unusedFunction void CustomElevatedButton::paintEvent(QPaintEvent *) { QPainter painter(this); diff --git a/common/tier4_state_rviz_plugin/src/custom_container.cpp b/common/tier4_state_rviz_plugin/src/custom_container.cpp index 0b0aa1ccd6ed5..c82ca685ca9ba 100644 --- a/common/tier4_state_rviz_plugin/src/custom_container.cpp +++ b/common/tier4_state_rviz_plugin/src/custom_container.cpp @@ -26,17 +26,7 @@ CustomContainer::CustomContainer(QWidget * parent) : QFrame(parent), cornerRadiu setLayout(layout); } -void CustomContainer::setCornerRadius(int radius) -{ - cornerRadius = radius; - update(); -} - -int CustomContainer::getCornerRadius() const -{ - return cornerRadius; -} - +// cppcheck-suppress unusedFunction QGridLayout * CustomContainer::getLayout() const { return layout; // Provide access to the layout @@ -50,6 +40,7 @@ QSize CustomContainer::sizeHint() const return QSize(width, height); } +// cppcheck-suppress unusedFunction QSize CustomContainer::minimumSizeHint() const { return sizeHint(); diff --git a/common/tier4_state_rviz_plugin/src/custom_icon_label.cpp b/common/tier4_state_rviz_plugin/src/custom_icon_label.cpp index 6e4d32d40f7fb..28458d7c79d71 100644 --- a/common/tier4_state_rviz_plugin/src/custom_icon_label.cpp +++ b/common/tier4_state_rviz_plugin/src/custom_icon_label.cpp @@ -50,11 +50,13 @@ QSize CustomIconLabel::sizeHint() const return QSize(size, size); } +// cppcheck-suppress unusedFunction QSize CustomIconLabel::minimumSizeHint() const { return sizeHint(); } +// cppcheck-suppress unusedFunction void CustomIconLabel::paintEvent(QPaintEvent *) { QPainter painter(this); diff --git a/common/tier4_state_rviz_plugin/src/custom_label.cpp b/common/tier4_state_rviz_plugin/src/custom_label.cpp index 1f96fc0d45095..59df84138b890 100644 --- a/common/tier4_state_rviz_plugin/src/custom_label.cpp +++ b/common/tier4_state_rviz_plugin/src/custom_label.cpp @@ -46,11 +46,13 @@ QSize CustomLabel::sizeHint() const return QSize(width, height); } +// cppcheck-suppress unusedFunction QSize CustomLabel::minimumSizeHint() const { return sizeHint(); } +// cppcheck-suppress unusedFunction void CustomLabel::paintEvent(QPaintEvent *) { QPainter painter(this); diff --git a/common/tier4_state_rviz_plugin/src/custom_segmented_button.cpp b/common/tier4_state_rviz_plugin/src/custom_segmented_button.cpp index 8063bdc0fbc28..3f93df006415e 100644 --- a/common/tier4_state_rviz_plugin/src/custom_segmented_button.cpp +++ b/common/tier4_state_rviz_plugin/src/custom_segmented_button.cpp @@ -40,6 +40,7 @@ CustomSegmentedButtonItem * CustomSegmentedButton::addButton(const QString & tex return button; } +// cppcheck-suppress unusedFunction QButtonGroup * CustomSegmentedButton::getButtonGroup() const { return buttonGroup; @@ -54,11 +55,13 @@ QSize CustomSegmentedButton::sizeHint() const // layout->itemAt(0)->widget()->height() + 10); } +// cppcheck-suppress unusedFunction QSize CustomSegmentedButton::minimumSizeHint() const { return sizeHint(); } +// cppcheck-suppress unusedFunction void CustomSegmentedButton::paintEvent(QPaintEvent *) { QPainter painter(this); diff --git a/common/tier4_state_rviz_plugin/src/custom_segmented_button_item.cpp b/common/tier4_state_rviz_plugin/src/custom_segmented_button_item.cpp index f2d15260c4e41..3c671c988f936 100644 --- a/common/tier4_state_rviz_plugin/src/custom_segmented_button_item.cpp +++ b/common/tier4_state_rviz_plugin/src/custom_segmented_button_item.cpp @@ -32,17 +32,6 @@ CustomSegmentedButtonItem::CustomSegmentedButtonItem(const QString & text, QWidg setCursor(Qt::PointingHandCursor); } -void CustomSegmentedButtonItem::setColors( - const QColor & bg, const QColor & checkedBg, const QColor & activeText, - const QColor & inactiveText) -{ - bgColor = bg; - checkedBgColor = checkedBg; - activeTextColor = activeText; - inactiveTextColor = inactiveText; - update(); -} - // void CustomSegmentedButtonItem::updateSize() // { // QFontMetrics fm(font()); @@ -51,12 +40,14 @@ void CustomSegmentedButtonItem::setColors( // setFixedSize(width, height); // } +// cppcheck-suppress unusedFunction void CustomSegmentedButtonItem::setHovered(bool hovered) { isHovered = hovered; updateCheckableState(); } +// cppcheck-suppress unusedFunction void CustomSegmentedButtonItem::setCheckableButton(bool checkable) { setCheckable(checkable); @@ -71,18 +62,21 @@ void CustomSegmentedButtonItem::updateCheckableState() update(); } +// cppcheck-suppress unusedFunction void CustomSegmentedButtonItem::setDisabledButton(bool disabled) { isDisabled = disabled; updateCheckableState(); } +// cppcheck-suppress unusedFunction void CustomSegmentedButtonItem::setActivated(bool activated) { isActivated = activated; update(); } +// cppcheck-suppress unusedFunction void CustomSegmentedButtonItem::paintEvent(QPaintEvent *) { QPainter painter(this); diff --git a/common/tier4_state_rviz_plugin/src/custom_slider.cpp b/common/tier4_state_rviz_plugin/src/custom_slider.cpp index cf3f7c3d4638f..16dfda19a87bf 100644 --- a/common/tier4_state_rviz_plugin/src/custom_slider.cpp +++ b/common/tier4_state_rviz_plugin/src/custom_slider.cpp @@ -19,6 +19,7 @@ CustomSlider::CustomSlider(Qt::Orientation orientation, QWidget * parent) setMinimumHeight(40); // Ensure there's enough space for the custom track } +// cppcheck-suppress unusedFunction void CustomSlider::paintEvent(QPaintEvent *) { QPainter painter(this); diff --git a/common/tier4_state_rviz_plugin/src/custom_toggle_switch.cpp b/common/tier4_state_rviz_plugin/src/custom_toggle_switch.cpp index 3b58ded626439..b171fa554cd01 100644 --- a/common/tier4_state_rviz_plugin/src/custom_toggle_switch.cpp +++ b/common/tier4_state_rviz_plugin/src/custom_toggle_switch.cpp @@ -30,6 +30,7 @@ QSize CustomToggleSwitch::sizeHint() const return QSize(50, 30); // Preferred size of the toggle switch } +// cppcheck-suppress unusedFunction void CustomToggleSwitch::paintEvent(QPaintEvent *) { QPainter p(this); diff --git a/common/tier4_state_rviz_plugin/src/include/custom_container.hpp b/common/tier4_state_rviz_plugin/src/include/custom_container.hpp index 5142b409ebc88..ef81ef2417d52 100644 --- a/common/tier4_state_rviz_plugin/src/include/custom_container.hpp +++ b/common/tier4_state_rviz_plugin/src/include/custom_container.hpp @@ -31,12 +31,10 @@ class CustomContainer : public QFrame // Methods to set dimensions and corner radius void setContainerHeight(int height); void setContainerWidth(int width); - void setCornerRadius(int radius); // Getters int getContainerHeight() const; int getContainerWidth() const; - int getCornerRadius() const; QGridLayout * getLayout() const; // Add a method to access the layout protected: diff --git a/common/tier4_state_rviz_plugin/src/include/custom_segmented_button_item.hpp b/common/tier4_state_rviz_plugin/src/include/custom_segmented_button_item.hpp index 33eb9fe16aa31..ee6f48e285975 100644 --- a/common/tier4_state_rviz_plugin/src/include/custom_segmented_button_item.hpp +++ b/common/tier4_state_rviz_plugin/src/include/custom_segmented_button_item.hpp @@ -30,9 +30,6 @@ class CustomSegmentedButtonItem : public QPushButton public: explicit CustomSegmentedButtonItem(const QString & text, QWidget * parent = nullptr); - void setColors( - const QColor & bg, const QColor & checkedBg, const QColor & activeText, - const QColor & inactiveText); void setActivated(bool activated); void setCheckableButton(bool checkable); void setDisabledButton(bool disabled); From 75706db18fe2f83c5c138d77269fa90b6467f37b Mon Sep 17 00:00:00 2001 From: Go Sakayori Date: Wed, 28 Aug 2024 16:53:34 +0900 Subject: [PATCH 084/169] refactor(start_planner): remove redundant calculation in shift pull out (#8623) * fix redundant calculation Signed-off-by: Go Sakayori * fix unneccesary modification for comment Signed-off-by: Go Sakayori --------- Signed-off-by: Go Sakayori Signed-off-by: Go Sakayori --- .../src/shift_pull_out.cpp | 65 ++++++++++--------- 1 file changed, 33 insertions(+), 32 deletions(-) diff --git a/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/src/shift_pull_out.cpp b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/src/shift_pull_out.cpp index 2b63ff6df0db2..712b8c3ce265d 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/src/shift_pull_out.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/src/shift_pull_out.cpp @@ -61,6 +61,8 @@ std::optional ShiftPullOut::plan( return std::nullopt; } + const auto lanelet_map_ptr = planner_data_->route_handler->getLaneletMapPtr(); + // get safe path for (auto & pull_out_path : pull_out_paths) { universe_utils::ScopedTimeTrack st("get safe path", *time_keeper_); @@ -79,8 +81,6 @@ std::optional ShiftPullOut::plan( shift_path.points.begin() + pull_out_end_idx + 1); } - const auto lanelet_map_ptr = planner_data_->route_handler->getLaneletMapPtr(); - // if lane departure check override is true, and if the initial pose is not fully within a lane, // cancel lane departure check const bool is_lane_departure_check_required = std::invoke([&]() -> bool { @@ -269,26 +269,38 @@ std::vector ShiftPullOut::calcPullOutPaths( }); bool has_non_shifted_path = false; + + // if shift length is too short, add non sifted path + constexpr double MINIMUM_SHIFT_LENGTH = 0.01; + const double shift_length = arc_position_start.distance; + const bool is_smaller_than_minimum = std::abs(shift_length) < MINIMUM_SHIFT_LENGTH; + + if (is_smaller_than_minimum) { + candidate_paths.push_back(non_shifted_path); + has_non_shifted_path = true; + } + + // calculate pull out distance, longitudinal acc, terminal velocity + const size_t shift_start_idx = + findNearestIndex(road_lane_reference_path.points, start_pose.position); + const double road_velocity = + road_lane_reference_path.points.at(shift_start_idx).point.longitudinal_velocity_mps; + + // clip from ego pose + PathWithLaneId road_lane_reference_path_from_ego = road_lane_reference_path; + road_lane_reference_path_from_ego.points.erase( + road_lane_reference_path_from_ego.points.begin(), + road_lane_reference_path_from_ego.points.begin() + shift_start_idx); + + const auto curvatures_and_segment_lengths = + autoware::motion_utils::calcCurvatureAndSegmentLength(road_lane_reference_path_from_ego.points); + for (double lateral_acc = minimum_lateral_acc; lateral_acc <= maximum_lateral_acc; lateral_acc += acc_resolution) { PathShifter path_shifter{}; path_shifter.setPath(road_lane_reference_path); - // if shift length is too short, add non sifted path - constexpr double MINIMUM_SHIFT_LENGTH = 0.01; - const double shift_length = getArcCoordinates(road_lanes, start_pose).distance; - if (std::abs(shift_length) < MINIMUM_SHIFT_LENGTH && !has_non_shifted_path) { - candidate_paths.push_back(non_shifted_path); - has_non_shifted_path = true; - continue; - } - - // calculate pull out distance, longitudinal acc, terminal velocity - const size_t shift_start_idx = - findNearestIndex(road_lane_reference_path.points, start_pose.position); - const double road_velocity = - road_lane_reference_path.points.at(shift_start_idx).point.longitudinal_velocity_mps; const double shift_time = PathShifter::calcShiftTimeFromJerk(shift_length, lateral_jerk, lateral_acc); const double longitudinal_acc = std::clamp(road_velocity / shift_time, 0.0, /* max acc */ 1.0); @@ -297,17 +309,12 @@ std::vector ShiftPullOut::calcPullOutPaths( minimum_shift_pull_out_distance); const double terminal_velocity = longitudinal_acc * shift_time; - // clip from ego pose - PathWithLaneId road_lane_reference_path_from_ego = road_lane_reference_path; - road_lane_reference_path_from_ego.points.erase( - road_lane_reference_path_from_ego.points.begin(), - road_lane_reference_path_from_ego.points.begin() + shift_start_idx); // before means distance on road lane // Note: the pull_out_distance is the required distance on the shifted path. Now we need to - // calculate the distance on the center line used for the shift path generation. However, since - // the calcBeforeShiftedArcLength is an approximate conversion from center line to center line - // (not shift path to centerline), the conversion result may too long or short. To prevent too - // short length, take maximum with the original distance. + // calculate the distance on the center line used for the shift path_shifter generation. + // However, since the calcBeforeShiftedArcLength is an approximate conversion from center line + // to center line (not shift path to centerline), the conversion result may too long or short. + // To prevent too short length, take maximum with the original distance. // TODO(kosuke55): update the conversion function and get rid of the comparison with original // distance. const double pull_out_distance_converted = std::max( @@ -326,10 +333,6 @@ std::vector ShiftPullOut::calcPullOutPaths( double pull_out_distance = pull_out_distance_converted; double min_curvature_after_distance_converted = std::numeric_limits::max(); - const auto curvatures_and_segment_lengths = - autoware::motion_utils::calcCurvatureAndSegmentLength( - road_lane_reference_path_from_ego.points); - const auto update_arc_length = [&](size_t i, const auto & segment_length) { arc_length += (i == curvatures_and_segment_lengths.size() - 1) ? segment_length.first + segment_length.second @@ -374,9 +377,7 @@ std::vector ShiftPullOut::calcPullOutPaths( // get shift end pose const auto shift_end_pose_ptr = std::invoke([&]() { - const auto arc_position_shift_start = - lanelet::utils::getArcCoordinates(road_lanes, start_pose); - const double s_start = arc_position_shift_start.length + before_shifted_pull_out_distance; + const double s_start = arc_position_start.length + before_shifted_pull_out_distance; const double s_end = s_start + std::numeric_limits::epsilon(); const auto path = route_handler.getCenterLinePath(road_lanes, s_start, s_end, true); return path.points.empty() From e5ac1a55a431adc9cf60ac549eb2b1927ff5e475 Mon Sep 17 00:00:00 2001 From: Giovanni Muhammad Raditya Date: Wed, 28 Aug 2024 17:15:29 +0900 Subject: [PATCH 085/169] feat(universe_utils): add SAT implementation for 2D convex polygon collision check (#8239) --- common/autoware_universe_utils/CMakeLists.txt | 1 + .../universe_utils/geometry/sat_2d.hpp | 30 +++++++ .../src/geometry/sat_2d.cpp | 80 +++++++++++++++++++ .../test/src/geometry/test_geometry.cpp | 56 ++++++++++--- 4 files changed, 158 insertions(+), 9 deletions(-) create mode 100644 common/autoware_universe_utils/include/autoware/universe_utils/geometry/sat_2d.hpp create mode 100644 common/autoware_universe_utils/src/geometry/sat_2d.cpp diff --git a/common/autoware_universe_utils/CMakeLists.txt b/common/autoware_universe_utils/CMakeLists.txt index 526ffd8dcc83a..5ffd313b7e03b 100644 --- a/common/autoware_universe_utils/CMakeLists.txt +++ b/common/autoware_universe_utils/CMakeLists.txt @@ -16,6 +16,7 @@ ament_auto_add_library(autoware_universe_utils SHARED src/geometry/boost_polygon_utils.cpp src/geometry/random_convex_polygon.cpp src/geometry/gjk_2d.cpp + src/geometry/sat_2d.cpp src/math/sin_table.cpp src/math/trigonometry.cpp src/ros/msg_operation.cpp diff --git a/common/autoware_universe_utils/include/autoware/universe_utils/geometry/sat_2d.hpp b/common/autoware_universe_utils/include/autoware/universe_utils/geometry/sat_2d.hpp new file mode 100644 index 0000000000000..c79322f554fe3 --- /dev/null +++ b/common/autoware_universe_utils/include/autoware/universe_utils/geometry/sat_2d.hpp @@ -0,0 +1,30 @@ +// 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 AUTOWARE__UNIVERSE_UTILS__GEOMETRY__SAT_2D_HPP_ +#define AUTOWARE__UNIVERSE_UTILS__GEOMETRY__SAT_2D_HPP_ + +#include "autoware/universe_utils/geometry/boost_geometry.hpp" + +namespace autoware::universe_utils::sat +{ +/** + * @brief Check if 2 convex polygons intersect using the SAT algorithm + * @details faster than boost::geometry::overlap() but speed decline sharply as vertices increase + */ +bool intersects(const Polygon2d & convex_polygon1, const Polygon2d & convex_polygon2); + +} // namespace autoware::universe_utils::sat + +#endif // AUTOWARE__UNIVERSE_UTILS__GEOMETRY__SAT_2D_HPP_ diff --git a/common/autoware_universe_utils/src/geometry/sat_2d.cpp b/common/autoware_universe_utils/src/geometry/sat_2d.cpp new file mode 100644 index 0000000000000..eae1de39bb589 --- /dev/null +++ b/common/autoware_universe_utils/src/geometry/sat_2d.cpp @@ -0,0 +1,80 @@ +// 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 "autoware/universe_utils/geometry/sat_2d.hpp" + +namespace autoware::universe_utils::sat +{ + +namespace +{ +/// @brief calculate the edge normal of two points +Point2d edge_normal(const Point2d & p1, const Point2d & p2) +{ + return {p2.y() - p1.y(), p1.x() - p2.x()}; +} + +/// @brief project a polygon onto an axis and return the minimum and maximum values +std::pair project_polygon(const Polygon2d & poly, const Point2d & axis) +{ + double min = poly.outer()[0].dot(axis); + double max = min; + for (const auto & point : poly.outer()) { + double projection = point.dot(axis); + if (projection < min) { + min = projection; + } + if (projection > max) { + max = projection; + } + } + return {min, max}; +} + +/// @brief check if two projections overlap +bool projections_overlap( + const std::pair & proj1, const std::pair & proj2) +{ + return proj1.second >= proj2.first && proj2.second >= proj1.first; +} + +/// @brief check is all edges of a polygon can be separated from the other polygon with a separating +/// axis +bool has_no_separating_axis(const Polygon2d & polygon, const Polygon2d & other) +{ + for (size_t i = 0; i < polygon.outer().size(); ++i) { + const size_t next_i = (i + 1) % polygon.outer().size(); + const Point2d edge = edge_normal(polygon.outer()[i], polygon.outer()[next_i]); + const auto projection1 = project_polygon(polygon, edge); + const auto projection2 = project_polygon(other, edge); + if (!projections_overlap(projection1, projection2)) { + return false; + } + } + return true; +} +} // namespace + +/// @brief check if two convex polygons intersect using the SAT algorithm +/// @details this function uses the Separating Axis Theorem (SAT) to determine if two convex +/// polygons intersect. If projections overlap on all tested axes, the function returns `true`; +/// otherwise, it returns `false`. Note that touching polygons (e.g., at a point or along an edge) +/// will be considered as not intersecting. +bool intersects(const Polygon2d & convex_polygon1, const Polygon2d & convex_polygon2) +{ + return has_no_separating_axis(convex_polygon1, convex_polygon2) && + has_no_separating_axis(convex_polygon2, convex_polygon1); +} + +} // namespace autoware::universe_utils::sat diff --git a/common/autoware_universe_utils/test/src/geometry/test_geometry.cpp b/common/autoware_universe_utils/test/src/geometry/test_geometry.cpp index f36ea8d169e4a..55d70307f1314 100644 --- a/common/autoware_universe_utils/test/src/geometry/test_geometry.cpp +++ b/common/autoware_universe_utils/test/src/geometry/test_geometry.cpp @@ -15,6 +15,7 @@ #include "autoware/universe_utils/geometry/boost_geometry.hpp" #include "autoware/universe_utils/geometry/geometry.hpp" #include "autoware/universe_utils/geometry/random_convex_polygon.hpp" +#include "autoware/universe_utils/geometry/sat_2d.hpp" #include "autoware/universe_utils/math/unit_conversion.hpp" #include "autoware/universe_utils/system/stop_watch.hpp" @@ -1840,7 +1841,10 @@ TEST(geometry, intersect) } } -TEST(geometry, intersectPolygon) +TEST( + geometry, + DISABLED_intersectPolygon) // GJK give different result for edge test (point sharing and edge + // sharing) compared to SAT and boost::geometry::intersect { { // 2 triangles with intersection autoware::universe_utils::Polygon2d poly1; @@ -1854,6 +1858,7 @@ TEST(geometry, intersectPolygon) boost::geometry::correct(poly1); boost::geometry::correct(poly2); EXPECT_TRUE(autoware::universe_utils::intersects_convex(poly1, poly2)); + EXPECT_TRUE(autoware::universe_utils::sat::intersects(poly1, poly2)); } { // 2 triangles with no intersection (but they share an edge) autoware::universe_utils::Polygon2d poly1; @@ -1867,6 +1872,7 @@ TEST(geometry, intersectPolygon) boost::geometry::correct(poly1); boost::geometry::correct(poly2); EXPECT_FALSE(autoware::universe_utils::intersects_convex(poly1, poly2)); + EXPECT_FALSE(autoware::universe_utils::sat::intersects(poly1, poly2)); } { // 2 triangles with no intersection (but they share a point) autoware::universe_utils::Polygon2d poly1; @@ -1880,6 +1886,7 @@ TEST(geometry, intersectPolygon) boost::geometry::correct(poly1); boost::geometry::correct(poly2); EXPECT_FALSE(autoware::universe_utils::intersects_convex(poly1, poly2)); + EXPECT_FALSE(autoware::universe_utils::sat::intersects(poly1, poly2)); } { // 2 triangles sharing a point and then with very small intersection autoware::universe_utils::Polygon2d poly1; @@ -1895,6 +1902,7 @@ TEST(geometry, intersectPolygon) EXPECT_FALSE(autoware::universe_utils::intersects_convex(poly1, poly2)); poly1.outer()[1].y() += 1e-12; EXPECT_TRUE(autoware::universe_utils::intersects_convex(poly1, poly2)); + EXPECT_TRUE(autoware::universe_utils::sat::intersects(poly1, poly2)); } { // 2 triangles with no intersection and no touching autoware::universe_utils::Polygon2d poly1; @@ -1908,6 +1916,7 @@ TEST(geometry, intersectPolygon) boost::geometry::correct(poly1); boost::geometry::correct(poly2); EXPECT_FALSE(autoware::universe_utils::intersects_convex(poly1, poly2)); + EXPECT_FALSE(autoware::universe_utils::sat::intersects(poly1, poly2)); } { // triangle and quadrilateral with intersection autoware::universe_utils::Polygon2d poly1; @@ -1922,6 +1931,7 @@ TEST(geometry, intersectPolygon) boost::geometry::correct(poly1); boost::geometry::correct(poly2); EXPECT_TRUE(autoware::universe_utils::intersects_convex(poly1, poly2)); + EXPECT_TRUE(autoware::universe_utils::sat::intersects(poly1, poly2)); } } @@ -1933,16 +1943,21 @@ TEST(geometry, intersectPolygonRand) constexpr auto max_values = 1000; autoware::universe_utils::StopWatch sw; + for (auto vertices = 3UL; vertices < max_vertices; ++vertices) { double ground_truth_intersect_ns = 0.0; double ground_truth_no_intersect_ns = 0.0; double gjk_intersect_ns = 0.0; double gjk_no_intersect_ns = 0.0; + double sat_intersect_ns = 0.0; + double sat_no_intersect_ns = 0.0; int intersect_count = 0; polygons.clear(); + for (auto i = 0; i < polygons_nb; ++i) { polygons.push_back(autoware::universe_utils::random_convex_polygon(vertices, max_values)); } + for (auto i = 0UL; i < polygons.size(); ++i) { for (auto j = 0UL; j < polygons.size(); ++j) { sw.tic(); @@ -1953,6 +1968,7 @@ TEST(geometry, intersectPolygonRand) } else { ground_truth_no_intersect_ns += sw.toc(); } + sw.tic(); const auto gjk = autoware::universe_utils::intersects_convex(polygons[i], polygons[j]); if (gjk) { @@ -1960,27 +1976,49 @@ TEST(geometry, intersectPolygonRand) } else { gjk_no_intersect_ns += sw.toc(); } + + sw.tic(); + const auto sat = autoware::universe_utils::sat::intersects(polygons[i], polygons[j]); + if (sat) { + sat_intersect_ns += sw.toc(); + } else { + sat_no_intersect_ns += sw.toc(); + } + + EXPECT_EQ(ground_truth, gjk); + EXPECT_EQ(ground_truth, sat); + if (ground_truth != gjk) { - std::cout << "Failed for the 2 polygons: "; + std::cout << "Failed for the 2 polygons with GJK: "; + std::cout << boost::geometry::wkt(polygons[i]) << boost::geometry::wkt(polygons[j]) + << std::endl; + } + + if (ground_truth != sat) { + std::cout << "Failed for the 2 polygons with SAT: "; std::cout << boost::geometry::wkt(polygons[i]) << boost::geometry::wkt(polygons[j]) << std::endl; } - EXPECT_EQ(ground_truth, gjk); } } + std::printf( "polygons_nb = %d, vertices = %ld, %d / %d pairs with intersects\n", polygons_nb, vertices, intersect_count, polygons_nb * polygons_nb); + std::printf( - "\tIntersect:\n\t\tBoost::geometry = %2.2f ms\n\t\tGJK = %2.2f ms\n", - ground_truth_intersect_ns / 1e6, gjk_intersect_ns / 1e6); + "\tIntersect:\n\t\tBoost::geometry = %2.2f ms\n\t\tGJK = %2.2f ms\n\t\tSAT = %2.2f ms\n", + ground_truth_intersect_ns / 1e6, gjk_intersect_ns / 1e6, sat_intersect_ns / 1e6); + std::printf( - "\tNo Intersect:\n\t\tBoost::geometry = %2.2f ms\n\t\tGJK = %2.2f ms\n", - ground_truth_no_intersect_ns / 1e6, gjk_no_intersect_ns / 1e6); + "\tNo Intersect:\n\t\tBoost::geometry = %2.2f ms\n\t\tGJK = %2.2f ms\n\t\tSAT = %2.2f ms\n", + ground_truth_no_intersect_ns / 1e6, gjk_no_intersect_ns / 1e6, sat_no_intersect_ns / 1e6); + std::printf( - "\tTotal:\n\t\tBoost::geometry = %2.2f ms\n\t\tGJK = %2.2f ms\n", + "\tTotal:\n\t\tBoost::geometry = %2.2f ms\n\t\tGJK = %2.2f ms\n\t\tSAT = %2.2f ms\n", (ground_truth_no_intersect_ns + ground_truth_intersect_ns) / 1e6, - (gjk_no_intersect_ns + gjk_intersect_ns) / 1e6); + (gjk_no_intersect_ns + gjk_intersect_ns) / 1e6, + (sat_no_intersect_ns + sat_intersect_ns) / 1e6); } } From 441bfcfe01a2f09f82810f4f741faff525ce6011 Mon Sep 17 00:00:00 2001 From: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> Date: Wed, 28 Aug 2024 17:16:21 +0900 Subject: [PATCH 086/169] fix(out_of_lane): fix noConstructor cppcheck warning (#8636) Signed-off-by: Maxime CLEMENT --- .../src/out_of_lane_module.hpp | 13 +++++++------ 1 file changed, 7 insertions(+), 6 deletions(-) diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/out_of_lane_module.hpp b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/out_of_lane_module.hpp index 5225a6dd4abd9..fc0cd4ac539ca 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/out_of_lane_module.hpp +++ b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/out_of_lane_module.hpp @@ -30,6 +30,7 @@ #include #include +#include #include #include @@ -58,17 +59,17 @@ class OutOfLaneModule : public PluginModuleInterface out_of_lane::EgoData & ego_data, const PlannerData & planner_data, std::optional & previous_slowdown_pose_, const double slow_velocity); - out_of_lane::PlannerParam params_; + out_of_lane::PlannerParam params_{}; inline static const std::string ns_ = "out_of_lane"; - std::string module_name_; - rclcpp::Clock::SharedPtr clock_; - std::optional previous_slowdown_pose_; - rclcpp::Time previous_slowdown_time_; + std::string module_name_{"uninitialized"}; + rclcpp::Clock::SharedPtr clock_{nullptr}; + std::optional previous_slowdown_pose_{std::nullopt}; + rclcpp::Time previous_slowdown_time_{0}; protected: // Debug - mutable out_of_lane::DebugData debug_data_; + mutable out_of_lane::DebugData debug_data_{}; }; } // namespace autoware::motion_velocity_planner From a91af79f23ac27e9c436b18b1251821ed42db247 Mon Sep 17 00:00:00 2001 From: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> Date: Wed, 28 Aug 2024 17:17:14 +0900 Subject: [PATCH 087/169] fix(obstacle_velocity_limiter): more stable virtual wall (#8499) Signed-off-by: Maxime CLEMENT --- .../src/obstacle_velocity_limiter.cpp | 48 ++++++++----------- .../src/obstacle_velocity_limiter.hpp | 20 +------- .../src/obstacle_velocity_limiter_module.cpp | 11 +++-- .../src/obstacle_velocity_limiter_module.hpp | 11 ++--- .../src/parameters.hpp | 15 +++--- .../src/trajectory_preprocessing.cpp | 33 ++++++++----- .../src/trajectory_preprocessing.hpp | 17 +++---- .../src/node.cpp | 7 ++- 8 files changed, 72 insertions(+), 90 deletions(-) diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/src/obstacle_velocity_limiter.cpp b/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/src/obstacle_velocity_limiter.cpp index 945b94782023b..1f788a73a3f42 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/src/obstacle_velocity_limiter.cpp +++ b/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/src/obstacle_velocity_limiter.cpp @@ -1,4 +1,4 @@ -// Copyright 2022 TIER IV, Inc. +// Copyright 2022-2024 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. @@ -27,15 +27,6 @@ namespace autoware::motion_velocity_planner::obstacle_velocity_limiter { -double calculateSafeVelocity( - const TrajectoryPoint & trajectory_point, const double dist_to_collision, - const double time_buffer, const double min_adjusted_velocity) -{ - return std::min( - static_cast(trajectory_point.longitudinal_velocity_mps), - std::max(min_adjusted_velocity, dist_to_collision / time_buffer)); -} - multi_polygon_t createPolygonMasks( const autoware_perception_msgs::msg::PredictedObjects & dynamic_obstacles, const double buffer, const double min_vel) @@ -123,15 +114,9 @@ std::vector calculate_slowd autoware::motion_utils::VirtualWalls & virtual_walls) { std::vector slowdown_intervals; - double time = 0.0; + size_t previous_slowdown_index = trajectory.size(); for (size_t i = 0; i < trajectory.size(); ++i) { auto & trajectory_point = trajectory[i]; - if (i > 0) { - const auto & prev_point = trajectory[i - 1]; - time += static_cast( - autoware::universe_utils::calcDistance2d(prev_point, trajectory_point) / - prev_point.longitudinal_velocity_mps); - } // First linestring is used to calculate distance if (projections[i].empty()) continue; projection_params.update(trajectory_point); @@ -139,20 +124,25 @@ std::vector calculate_slowd projections[i][0], footprints[i], collision_checker, projection_params); if (dist_to_collision) { const auto min_feasible_velocity = - velocity_params.current_ego_velocity - velocity_params.max_deceleration * time; - + velocity_params.current_ego_velocity - + velocity_params.max_deceleration * + rclcpp::Duration(trajectory_point.time_from_start).seconds(); + + const auto safe_velocity = std::max( + static_cast(*dist_to_collision - projection_params.extra_length) / + static_cast(projection_params.duration), + velocity_params.min_velocity); slowdown_intervals.emplace_back( trajectory_point.pose.position, trajectory_point.pose.position, - std::max( - min_feasible_velocity, - calculateSafeVelocity( - trajectory_point, - static_cast(*dist_to_collision - projection_params.extra_length), - static_cast(projection_params.duration), velocity_params.min_velocity))); - - autoware::motion_utils::VirtualWall wall; - wall.pose = trajectory_point.pose; - virtual_walls.push_back(wall); + std::max(min_feasible_velocity, safe_velocity)); + + // with consecutive slowdowns only add a virtual wall for the first one + if (previous_slowdown_index + 1 != i) { + autoware::motion_utils::VirtualWall wall; + wall.pose = trajectory_point.pose; + virtual_walls.push_back(wall); + } + previous_slowdown_index = i; } } return slowdown_intervals; diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/src/obstacle_velocity_limiter.hpp b/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/src/obstacle_velocity_limiter.hpp index aeeaabeb9b510..d7d2de63b33f8 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/src/obstacle_velocity_limiter.hpp +++ b/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/src/obstacle_velocity_limiter.hpp @@ -1,4 +1,4 @@ -// Copyright 2022 TIER IV, Inc. +// Copyright 2022-2024 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. @@ -24,19 +24,10 @@ #include #include -#include #include namespace autoware::motion_velocity_planner::obstacle_velocity_limiter { - -/// @brief calculate the apparent safe velocity -/// @param[in] trajectory_point trajectory point for which to calculate the apparent safe velocity -/// @param[in] dist_to_collision distance from the trajectory point to the apparent collision -/// @return apparent safe velocity -double calculateSafeVelocity( - const TrajectoryPoint & trajectory_point, const double dist_to_collision); - /// @brief calculate trajectory index that is ahead of the given index by the given distance /// @param[in] trajectory trajectory /// @param[in] ego_idx index closest to the current ego position in the trajectory @@ -124,15 +115,6 @@ std::vector calculate_slowd ProjectionParameters & projection_params, const VelocityParameters & velocity_params, autoware::motion_utils::VirtualWalls & virtual_walls); -/// @brief copy the velocity profile of a downsampled trajectory to the original trajectory -/// @param[in] downsampled_trajectory downsampled trajectory -/// @param[in] trajectory input trajectory -/// @param[in] start_idx starting index of the downsampled trajectory relative to the input -/// @param[in] factor downsampling factor -/// @return input trajectory with the velocity profile of the downsampled trajectory -TrajectoryPoints copyDownsampledVelocity( - const TrajectoryPoints & downsampled_traj, TrajectoryPoints trajectory, const size_t start_idx, - const int factor); } // namespace autoware::motion_velocity_planner::obstacle_velocity_limiter #endif // OBSTACLE_VELOCITY_LIMITER_HPP_ diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/src/obstacle_velocity_limiter_module.cpp b/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/src/obstacle_velocity_limiter_module.cpp index acf1dc1878087..35135089c0c8c 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/src/obstacle_velocity_limiter_module.cpp +++ b/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/src/obstacle_velocity_limiter_module.cpp @@ -1,4 +1,4 @@ -// Copyright 2022 TIER IV, Inc. +// Copyright 2022-2024 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. @@ -15,7 +15,6 @@ #include "obstacle_velocity_limiter_module.hpp" #include "debug.hpp" -#include "forward_projection.hpp" #include "map_utils.hpp" #include "obstacle_velocity_limiter.hpp" #include "parameters.hpp" @@ -23,6 +22,7 @@ #include #include +#include #include #include #include @@ -31,7 +31,6 @@ #include -#include #include #include @@ -160,6 +159,9 @@ VelocityPlanningResult ObstacleVelocityLimiterModule::plan( preprocessing_params_.max_duration); auto downsampled_traj_points = obstacle_velocity_limiter::downsampleTrajectory( original_traj_points, start_idx, end_idx, preprocessing_params_.downsample_factor); + if (prev_inserted_point_) { + obstacle_velocity_limiter::add_trajectory_point(downsampled_traj_points, *prev_inserted_point_); + } obstacle_velocity_limiter::ObstacleMasks obstacle_masks; const auto preprocessing_us = stopwatch.toc("preprocessing"); stopwatch.tic("obstacles"); @@ -203,6 +205,9 @@ VelocityPlanningResult ObstacleVelocityLimiterModule::plan( } virtual_wall_marker_creator.add_virtual_walls(virtual_walls); virtual_wall_publisher_->publish(virtual_wall_marker_creator.create_markers(clock_->now())); + if (!result.slowdown_intervals.empty()) { + prev_inserted_point_ = result.slowdown_intervals.front().from; + } const auto total_us = stopwatch.toc(); RCLCPP_DEBUG( diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/src/obstacle_velocity_limiter_module.hpp b/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/src/obstacle_velocity_limiter_module.hpp index e06ca4fffae28..65e24c2dff349 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/src/obstacle_velocity_limiter_module.hpp +++ b/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/src/obstacle_velocity_limiter_module.hpp @@ -1,4 +1,4 @@ -// Copyright 2022 TIER IV, Inc. +// Copyright 2022-2024 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. @@ -15,9 +15,7 @@ #ifndef OBSTACLE_VELOCITY_LIMITER_MODULE_HPP_ #define OBSTACLE_VELOCITY_LIMITER_MODULE_HPP_ -#include "obstacles.hpp" #include "parameters.hpp" -#include "types.hpp" #include #include @@ -29,6 +27,7 @@ #include #include #include +#include #include #include #include @@ -38,8 +37,6 @@ #include #include -#include -#include #include #include @@ -59,8 +56,8 @@ class ObstacleVelocityLimiterModule : public PluginModuleInterface private: inline static const std::string ns_ = "obstacle_velocity_limiter"; std::string module_name_; - rclcpp::Clock::SharedPtr clock_{}; - rclcpp::Time prev_inserted_point_time_{}; + rclcpp::Clock::SharedPtr clock_; + std::optional prev_inserted_point_; // parameters obstacle_velocity_limiter::PreprocessingParameters preprocessing_params_; diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/src/parameters.hpp b/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/src/parameters.hpp index 30ed9ae65a8a0..1824bf128e63e 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/src/parameters.hpp +++ b/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/src/parameters.hpp @@ -1,4 +1,4 @@ -// Copyright 2022 TIER IV, Inc. +// Copyright 2022-2024 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. @@ -22,6 +22,7 @@ #include +#include #include #include @@ -45,7 +46,7 @@ struct ObstacleParameters int8_t occupancy_grid_threshold{}; double dynamic_obstacles_buffer{}; double dynamic_obstacles_min_vel{}; - std::vector static_map_tags{}; + std::vector static_map_tags; bool filter_envelope{}; bool ignore_on_path{}; double ignore_extra_distance{}; @@ -125,7 +126,7 @@ struct ProjectionParameters double velocity{}; double heading{}; // parameters specific to the bicycle model - int points_per_projection = 5; + int64_t points_per_projection = 5; double wheel_base{}; double steering_angle{}; double steering_angle_offset{}; @@ -172,11 +173,11 @@ struct ProjectionParameters return true; } - bool updateNbPoints(const rclcpp::Logger & logger, const int nb_points) + bool updateNbPoints(const rclcpp::Logger & logger, const int64_t nb_points) { if (nb_points < 2) { RCLCPP_WARN( - logger, "Cannot use less than 2 points per projection. Using value %d instead.", + logger, "Cannot use less than 2 points per projection. Using value %ld instead.", points_per_projection); return false; } @@ -217,7 +218,7 @@ struct PreprocessingParameters static constexpr auto MAX_LENGTH_PARAM = "trajectory_preprocessing.max_length"; static constexpr auto MAX_DURATION_PARAM = "trajectory_preprocessing.max_duration"; - int downsample_factor{}; + int64_t downsample_factor{}; double start_distance{}; bool calculate_steering_angles{}; double max_length{}; @@ -232,7 +233,7 @@ struct PreprocessingParameters max_length = node.declare_parameter(MAX_LENGTH_PARAM); max_duration = node.declare_parameter(MAX_DURATION_PARAM); } - bool updateDownsampleFactor(const int new_downsample_factor) + bool updateDownsampleFactor(const int64_t new_downsample_factor) { if (new_downsample_factor > 0) { downsample_factor = new_downsample_factor; diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/src/trajectory_preprocessing.cpp b/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/src/trajectory_preprocessing.cpp index f56b50635c96e..c064f2c717625 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/src/trajectory_preprocessing.cpp +++ b/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/src/trajectory_preprocessing.cpp @@ -1,4 +1,4 @@ -// Copyright 2022 TIER IV, Inc. +// Copyright 2022-2024 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. @@ -14,13 +14,17 @@ #include "trajectory_preprocessing.hpp" +#include "types.hpp" + +#include #include +#include #include #include -#include +#include namespace autoware::motion_velocity_planner::obstacle_velocity_limiter { @@ -57,7 +61,7 @@ size_t calculateEndIndex( TrajectoryPoints downsampleTrajectory( const TrajectoryPoints & trajectory, const size_t start_idx, const size_t end_idx, - const int factor) + const int64_t factor) { if (factor < 1) return trajectory; TrajectoryPoints downsampled_traj; @@ -79,19 +83,24 @@ void calculateSteeringAngles(TrajectoryPoints & trajectory, const double wheel_b const auto d_heading = heading - prev_heading; prev_heading = heading; point.front_wheel_angle_rad = - std::atan2(wheel_base * d_heading, point.longitudinal_velocity_mps * dt); + static_cast(std::atan2(wheel_base * d_heading, point.longitudinal_velocity_mps * dt)); } } -TrajectoryPoints copyDownsampledVelocity( - const TrajectoryPoints & downsampled_traj, TrajectoryPoints trajectory, const size_t start_idx, - const int factor) +void add_trajectory_point(TrajectoryPoints & trajectory, const geometry_msgs::msg::Point & point) { - const auto size = std::min(downsampled_traj.size(), trajectory.size()); - for (size_t i = 0; i < size; ++i) { - trajectory[start_idx + i * factor].longitudinal_velocity_mps = - downsampled_traj[i].longitudinal_velocity_mps; + const auto segment_idx = motion_utils::findNearestSegmentIndex(trajectory, point); + const auto lat_offset = motion_utils::calcLateralOffset(trajectory, point, segment_idx); + if (lat_offset < 1.0) { + const auto lon_offset_to_segment = + motion_utils::calcLongitudinalOffsetToSegment(trajectory, segment_idx, point); + const auto inserted_idx = + motion_utils::insertTargetPoint(segment_idx, lon_offset_to_segment, trajectory); + if (inserted_idx) { + trajectory[*inserted_idx].longitudinal_velocity_mps = + trajectory[segment_idx].longitudinal_velocity_mps; + trajectory[*inserted_idx].acceleration_mps2 = trajectory[segment_idx].acceleration_mps2; + } } - return trajectory; } } // namespace autoware::motion_velocity_planner::obstacle_velocity_limiter diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/src/trajectory_preprocessing.hpp b/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/src/trajectory_preprocessing.hpp index cb9fe40e64907..b328b552c6862 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/src/trajectory_preprocessing.hpp +++ b/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/src/trajectory_preprocessing.hpp @@ -1,4 +1,4 @@ -// Copyright 2022 TIER IV, Inc. +// Copyright 2022-2024 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. @@ -45,7 +45,7 @@ size_t calculateEndIndex( /// @return downsampled trajectory TrajectoryPoints downsampleTrajectory( const TrajectoryPoints & trajectory, const size_t start_idx, const size_t end_idx, - const int factor); + const int64_t factor); /// @brief recalculate the steering angle of the trajectory /// @details uses the change in headings for calculation @@ -53,15 +53,10 @@ TrajectoryPoints downsampleTrajectory( /// @param[in] wheel_base wheel base of the vehicle void calculateSteeringAngles(TrajectoryPoints & trajectory, const double wheel_base); -/// @brief copy the velocity profile of a downsampled trajectory to the original trajectory -/// @param[in] downsampled_trajectory downsampled trajectory -/// @param[in] trajectory input trajectory -/// @param[in] start_idx starting index of the downsampled trajectory relative to the input -/// @param[in] factor downsampling factor -/// @return input trajectory with the velocity profile of the downsampled trajectory -TrajectoryPoints copyDownsampledVelocity( - const TrajectoryPoints & downsampled_traj, TrajectoryPoints trajectory, const size_t start_idx, - const int factor); +/// @brief insert a point in the trajectory and fill its velocity and acceleration data +/// @param[inout] trajectory input trajectory +/// @param[in] point point to insert in the trajectory +void add_trajectory_point(TrajectoryPoints & trajectory, const geometry_msgs::msg::Point & point); } // namespace autoware::motion_velocity_planner::obstacle_velocity_limiter #endif // TRAJECTORY_PREPROCESSING_HPP_ diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/src/node.cpp b/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/src/node.cpp index 9a08616b8fe7b..9aa376ed5f26a 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/src/node.cpp +++ b/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/src/node.cpp @@ -332,9 +332,12 @@ void MotionVelocityPlannerNode::insert_slowdown( const auto to_insert_idx = autoware::motion_utils::insertTargetPoint(to_seg_idx, slowdown_interval.to, trajectory.points); if (from_insert_idx && to_insert_idx) { - for (auto idx = *from_insert_idx; idx <= *to_insert_idx; ++idx) + for (auto idx = *from_insert_idx; idx <= *to_insert_idx; ++idx) { trajectory.points[idx].longitudinal_velocity_mps = - static_cast(slowdown_interval.velocity); + std::min( // prevent the node from increasing the velocity + trajectory.points[idx].longitudinal_velocity_mps, + static_cast(slowdown_interval.velocity)); + } } else { RCLCPP_WARN(get_logger(), "Failed to insert slowdown point"); } From 0d99cae619d6a224032afc5a1860cb92adffce2b Mon Sep 17 00:00:00 2001 From: Ryuta Kambe Date: Wed, 28 Aug 2024 17:50:15 +0900 Subject: [PATCH 088/169] ci(cppcheck): remove unnecessary noConstructor suppression (#8632) Signed-off-by: Ryuta Kambe --- .cppcheck_suppressions | 1 - 1 file changed, 1 deletion(-) diff --git a/.cppcheck_suppressions b/.cppcheck_suppressions index 58002c148870c..a0e7bcce350f5 100644 --- a/.cppcheck_suppressions +++ b/.cppcheck_suppressions @@ -3,7 +3,6 @@ checkersReport missingInclude missingIncludeSystem -noConstructor unknownMacro unmatchedSuppression unusedFunction From 6d0262bbddbebdcd05c1174f725e9aabbf9a9821 Mon Sep 17 00:00:00 2001 From: Nagi70 <114723428+Nagi70@users.noreply.github.com> Date: Thu, 29 Aug 2024 07:01:23 +0900 Subject: [PATCH 089/169] fix(object_recognition_utils): fix unusedFunction (#8523) fix: unusedFunction Signed-off-by: Nagi70 --- .../include/object_recognition_utils/conversion.hpp | 1 - common/object_recognition_utils/src/conversion.cpp | 11 ----------- 2 files changed, 12 deletions(-) diff --git a/common/object_recognition_utils/include/object_recognition_utils/conversion.hpp b/common/object_recognition_utils/include/object_recognition_utils/conversion.hpp index 6d07d161bf069..207f76a1c31a8 100644 --- a/common/object_recognition_utils/include/object_recognition_utils/conversion.hpp +++ b/common/object_recognition_utils/include/object_recognition_utils/conversion.hpp @@ -28,7 +28,6 @@ using autoware_perception_msgs::msg::TrackedObjects; DetectedObject toDetectedObject(const TrackedObject & tracked_object); DetectedObjects toDetectedObjects(const TrackedObjects & tracked_objects); TrackedObject toTrackedObject(const DetectedObject & detected_object); -TrackedObjects toTrackedObjects(const DetectedObjects & detected_objects); } // namespace object_recognition_utils #endif // OBJECT_RECOGNITION_UTILS__CONVERSION_HPP_ diff --git a/common/object_recognition_utils/src/conversion.cpp b/common/object_recognition_utils/src/conversion.cpp index ac65b35c6809a..c9c057ad93644 100644 --- a/common/object_recognition_utils/src/conversion.cpp +++ b/common/object_recognition_utils/src/conversion.cpp @@ -68,15 +68,4 @@ TrackedObject toTrackedObject(const DetectedObject & detected_object) tracked_object.shape = detected_object.shape; return tracked_object; } - -TrackedObjects toTrackedObjects(const DetectedObjects & detected_objects) -{ - TrackedObjects tracked_objects; - tracked_objects.header = detected_objects.header; - - for (const auto & detected_object : detected_objects.objects) { - tracked_objects.objects.push_back(toTrackedObject(detected_object)); - } - return tracked_objects; -} } // namespace object_recognition_utils From cfe319c547f123bf42e4f33c61594d8be8eaef1f Mon Sep 17 00:00:00 2001 From: kobayu858 <129580202+kobayu858@users.noreply.github.com> Date: Thu, 29 Aug 2024 07:02:45 +0900 Subject: [PATCH 090/169] fix(autoware_velocity_smoother): fix unusedFunction (#8649) fix:unusedFunction Signed-off-by: kobayu858 --- .../velocity_smoother/trajectory_utils.hpp | 11 -- .../src/trajectory_utils.cpp | 136 ------------------ 2 files changed, 147 deletions(-) diff --git a/planning/autoware_velocity_smoother/include/autoware/velocity_smoother/trajectory_utils.hpp b/planning/autoware_velocity_smoother/include/autoware/velocity_smoother/trajectory_utils.hpp index 29033b69d7a66..d20f82538e4d5 100644 --- a/planning/autoware_velocity_smoother/include/autoware/velocity_smoother/trajectory_utils.hpp +++ b/planning/autoware_velocity_smoother/include/autoware/velocity_smoother/trajectory_utils.hpp @@ -43,12 +43,6 @@ std::vector calcTrajectoryIntervalDistance(const TrajectoryPoints & traj std::vector calcTrajectoryCurvatureFrom3Points( const TrajectoryPoints & trajectory, size_t idx_dist); -void setZeroVelocity(TrajectoryPoints & trajectory); - -double getMaxVelocity(const TrajectoryPoints & trajectory); - -double getMaxAbsVelocity(const TrajectoryPoints & trajectory); - void applyMaximumVelocityLimit( const size_t from, const size_t to, const double max_vel, TrajectoryPoints & trajectory); @@ -63,11 +57,6 @@ bool isValidStopDist( const double v_end, const double a_end, const double v_target, const double a_target, const double v_margin, const double a_margin); -std::optional applyDecelFilterWithJerkConstraint( - const TrajectoryPoints & input, const size_t start_index, const double v0, const double a0, - const double min_acc, const double decel_target_vel, - const std::map & jerk_profile); - std::optional> updateStateWithJerkConstraint( const double v0, const double a0, const std::map & jerk_profile, const double t); diff --git a/planning/autoware_velocity_smoother/src/trajectory_utils.cpp b/planning/autoware_velocity_smoother/src/trajectory_utils.cpp index b796e2aeb91de..68f05438d38c8 100644 --- a/planning/autoware_velocity_smoother/src/trajectory_utils.cpp +++ b/planning/autoware_velocity_smoother/src/trajectory_utils.cpp @@ -219,36 +219,6 @@ std::vector calcTrajectoryCurvatureFrom3Points( return k_arr; } -void setZeroVelocity(TrajectoryPoints & trajectory) -{ - for (auto & tp : trajectory) { - tp.longitudinal_velocity_mps = 0.0; - } -} - -double getMaxVelocity(const TrajectoryPoints & trajectory) -{ - double max_vel = 0.0; - for (const auto & tp : trajectory) { - if (tp.longitudinal_velocity_mps > max_vel) { - max_vel = tp.longitudinal_velocity_mps; - } - } - return max_vel; -} - -double getMaxAbsVelocity(const TrajectoryPoints & trajectory) -{ - double max_vel = 0.0; - for (const auto & tp : trajectory) { - double abs_vel = std::fabs(tp.longitudinal_velocity_mps); - if (abs_vel > max_vel) { - max_vel = abs_vel; - } - } - return max_vel; -} - void applyMaximumVelocityLimit( const size_t begin, const size_t end, const double max_vel, TrajectoryPoints & trajectory) { @@ -428,112 +398,6 @@ bool isValidStopDist( return true; } -std::optional applyDecelFilterWithJerkConstraint( - const TrajectoryPoints & input, const size_t start_index, const double v0, const double a0, - const double min_acc, const double decel_target_vel, - const std::map & jerk_profile) -{ - double t_total{0.0}; - for (const auto & it : jerk_profile) { - t_total += it.second; - } - - std::vector ts; - std::vector xs; - std::vector vs; - std::vector as; - std::vector js; - const double dt{0.1}; - double x{0.0}; - double v{0.0}; - double a{0.0}; - double j{0.0}; - - for (double t = 0.0; t < t_total; t += dt) { - // Calculate state = (x, v, a, j) at t - const auto state = updateStateWithJerkConstraint(v0, a0, jerk_profile, t_total); - if (!state) { - return {}; - } - std::tie(x, v, a, j) = *state; - if (v > 0.0) { - a = std::max(a, min_acc); - ts.push_back(t); - xs.push_back(x); - vs.push_back(v); - as.push_back(a); - js.push_back(j); - } - } - // Calculate state = (x, v, a, j) at t_total - const auto state = updateStateWithJerkConstraint(v0, a0, jerk_profile, t_total); - if (!state) { - return {}; - } - std::tie(x, v, a, j) = *state; - if (v > 0.0 && !xs.empty() && xs.back() < x) { - a = std::max(a, min_acc); - ts.push_back(t_total); - xs.push_back(x); - vs.push_back(v); - as.push_back(a); - js.push_back(j); - } - - const double a_target{0.0}; - const double v_margin{0.3}; - const double a_margin{0.1}; - if (!isValidStopDist(v, a, decel_target_vel, a_target, v_margin, a_margin)) { - RCLCPP_WARN_STREAM( - rclcpp::get_logger("autoware_velocity_smoother").get_child("trajectory_utils"), - "validation check error"); - return {}; - } - - TrajectoryPoints output_trajectory{input}; - - if (xs.empty()) { - output_trajectory.at(start_index).longitudinal_velocity_mps = decel_target_vel; - output_trajectory.at(start_index).acceleration_mps2 = 0.0; - for (unsigned int i = start_index + 1; i < output_trajectory.size(); ++i) { - output_trajectory.at(i).longitudinal_velocity_mps = decel_target_vel; - output_trajectory.at(i).acceleration_mps2 = 0.0; - } - return output_trajectory; - } - - const std::vector distance_all = calcArclengthArray(output_trajectory); - const auto it_end = std::find_if( - distance_all.begin(), distance_all.end(), [&xs](double x) { return x > xs.back(); }); - const std::vector distance{distance_all.begin() + start_index, it_end}; - - if ( - !interpolation_utils::isIncreasing(xs) || !interpolation_utils::isIncreasing(distance) || - !interpolation_utils::isNotDecreasing(xs) || !interpolation_utils::isNotDecreasing(distance)) { - return {}; - } - - if ( - xs.size() < 2 || vs.size() < 2 || as.size() < 2 || distance.empty() || - distance.front() < xs.front() || xs.back() < distance.back()) { - return {}; - } - - const auto vel_at_wp = interpolation::lerp(xs, vs, distance); - const auto acc_at_wp = interpolation::lerp(xs, as, distance); - - for (unsigned int i = 0; i < vel_at_wp.size(); ++i) { - output_trajectory.at(start_index + i).longitudinal_velocity_mps = vel_at_wp.at(i); - output_trajectory.at(start_index + i).acceleration_mps2 = acc_at_wp.at(i); - } - for (unsigned int i = start_index + vel_at_wp.size(); i < output_trajectory.size(); ++i) { - output_trajectory.at(i).longitudinal_velocity_mps = decel_target_vel; - output_trajectory.at(i).acceleration_mps2 = 0.0; - } - - return output_trajectory; -} - std::optional> updateStateWithJerkConstraint( const double v0, const double a0, const std::map & jerk_profile, const double t) { From f7f4e6c166cce14048e109efda4359e6cb2e4929 Mon Sep 17 00:00:00 2001 From: kobayu858 <129580202+kobayu858@users.noreply.github.com> Date: Thu, 29 Aug 2024 07:03:03 +0900 Subject: [PATCH 091/169] fix(autoware_behavior_path_dynamic_obstacle_avoidance_module): fix unusedFunction (#8652) fix:unusedFunction Signed-off-by: kobayu858 --- .../src/scene.cpp | 19 ------------------- 1 file changed, 19 deletions(-) diff --git a/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/src/scene.cpp b/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/src/scene.cpp index 4d8cdef20a67a..8f7deffebf5ac 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/src/scene.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/src/scene.cpp @@ -179,25 +179,6 @@ double calcDiffAngleAgainstPath( return diff_yaw; } -[[maybe_unused]] double calcDiffAngleBetweenPaths( - const std::vector & path_points, const PredictedPath & predicted_path) -{ - const size_t nearest_idx = autoware::motion_utils::findNearestSegmentIndex( - path_points, predicted_path.path.front().position); - const double ego_yaw = tf2::getYaw(path_points.at(nearest_idx).point.pose.orientation); - - constexpr size_t max_predicted_path_size = 5; - double signed_max_angle{0.0}; - for (size_t i = 0; i < std::min(max_predicted_path_size, predicted_path.path.size()); ++i) { - const double obj_yaw = tf2::getYaw(predicted_path.path.at(i).orientation); - const double diff_yaw = autoware::universe_utils::normalizeRadian(obj_yaw - ego_yaw); - if (std::abs(signed_max_angle) < std::abs(diff_yaw)) { - signed_max_angle = diff_yaw; - } - } - return signed_max_angle; -} - double calcDistanceToPath( const std::vector & points, const geometry_msgs::msg::Point & target_pos, const size_t target_idx) From b007acf10eb52d7851c9e0cf762f16ca9fb53e0f Mon Sep 17 00:00:00 2001 From: kobayu858 <129580202+kobayu858@users.noreply.github.com> Date: Thu, 29 Aug 2024 07:03:39 +0900 Subject: [PATCH 092/169] fix(autoware_behavior_path_side_shift_module): fix unusedFunction (#8655) fix:unusedFunction Signed-off-by: kobayu858 --- .../behavior_path_side_shift_module/utils.hpp | 8 ---- .../src/utils.cpp | 40 ------------------- 2 files changed, 48 deletions(-) diff --git a/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/include/autoware/behavior_path_side_shift_module/utils.hpp b/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/include/autoware/behavior_path_side_shift_module/utils.hpp index a36eaabcf928c..d5888ab6a79d1 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/include/autoware/behavior_path_side_shift_module/utils.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/include/autoware/behavior_path_side_shift_module/utils.hpp @@ -29,16 +29,8 @@ using tier4_planning_msgs::msg::PathWithLaneId; void setOrientation(PathWithLaneId * path); -bool getStartAvoidPose( - const PathWithLaneId & path, const double start_distance, const size_t nearest_idx, - Pose * start_avoid_pose); - bool isAlmostZero(double v); -Point transformToGrid( - const Point & pt, const double longitudinal_offset, const double lateral_offset, const double yaw, - const TransformStamped & geom_tf); - } // namespace autoware::behavior_path_planner #endif // AUTOWARE__BEHAVIOR_PATH_SIDE_SHIFT_MODULE__UTILS_HPP_ diff --git a/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/src/utils.cpp b/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/src/utils.cpp index 60fc5f74a3e1a..f30895c10d64d 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/src/utils.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/src/utils.cpp @@ -53,49 +53,9 @@ void setOrientation(PathWithLaneId * path) } } -bool getStartAvoidPose( - const PathWithLaneId & path, const double start_distance, const size_t nearest_idx, - Pose * start_avoid_pose) -{ - if (!start_avoid_pose) { - return false; - } - if (nearest_idx >= path.points.size()) { - return false; - } - - double arclength = 0.0; - for (size_t idx = nearest_idx + 1; idx < path.points.size(); ++idx) { - const auto pt = path.points.at(idx).point; - const auto pt_prev = path.points.at(idx - 1).point; - const double dx = pt.pose.position.x - pt_prev.pose.position.x; - const double dy = pt.pose.position.y - pt_prev.pose.position.y; - arclength += std::hypot(dx, dy); - - if (arclength > start_distance) { - *start_avoid_pose = pt.pose; - return true; - } - } - - return false; -} - bool isAlmostZero(double v) { return std::fabs(v) < 1.0e-4; } -Point transformToGrid( - const Point & pt, const double longitudinal_offset, const double lateral_offset, const double yaw, - const TransformStamped & geom_tf) -{ - Point offset_pt, grid_pt; - offset_pt = pt; - offset_pt.x += longitudinal_offset * cos(yaw) - lateral_offset * sin(yaw); - offset_pt.y += longitudinal_offset * sin(yaw) + lateral_offset * cos(yaw); - tf2::doTransform(offset_pt, grid_pt, geom_tf); - return grid_pt; -} - } // namespace autoware::behavior_path_planner From cf3ba7f9dc49b597f51b677fce9f56d5a8bf1820 Mon Sep 17 00:00:00 2001 From: kobayu858 <129580202+kobayu858@users.noreply.github.com> Date: Thu, 29 Aug 2024 07:04:22 +0900 Subject: [PATCH 093/169] fix(autoware_behavior_path_start_planner_module): fix unusedFunction (#8659) fix:unusedFunction Signed-off-by: kobayu858 --- .../debug.hpp | 39 ------------------- .../util.hpp | 2 - .../src/debug.cpp | 30 -------------- .../src/start_planner_module.cpp | 1 - .../src/util.cpp | 12 +----- 5 files changed, 1 insertion(+), 83 deletions(-) delete mode 100644 planning/behavior_path_planner/autoware_behavior_path_start_planner_module/include/autoware/behavior_path_start_planner_module/debug.hpp delete mode 100644 planning/behavior_path_planner/autoware_behavior_path_start_planner_module/src/debug.cpp diff --git a/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/include/autoware/behavior_path_start_planner_module/debug.hpp b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/include/autoware/behavior_path_start_planner_module/debug.hpp deleted file mode 100644 index 81358f37132f5..0000000000000 --- a/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/include/autoware/behavior_path_start_planner_module/debug.hpp +++ /dev/null @@ -1,39 +0,0 @@ -// Copyright 2023 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 AUTOWARE__BEHAVIOR_PATH_START_PLANNER_MODULE__DEBUG_HPP_ -#define AUTOWARE__BEHAVIOR_PATH_START_PLANNER_MODULE__DEBUG_HPP_ - -#include "autoware/behavior_path_start_planner_module/data_structs.hpp" - -#include -#include - -namespace autoware::behavior_path_planner -{ -using autoware::behavior_path_planner::StartPlannerDebugData; - -void updateSafetyCheckDebugData( - StartPlannerDebugData & data, const PredictedObjects & filtered_objects, - const TargetObjectsOnLane & target_objects_on_lane, - const std::vector & ego_predicted_path) -{ - data.filtered_objects = filtered_objects; - data.target_objects_on_lane = target_objects_on_lane; - data.ego_predicted_path = ego_predicted_path; -} - -} // namespace autoware::behavior_path_planner - -#endif // AUTOWARE__BEHAVIOR_PATH_START_PLANNER_MODULE__DEBUG_HPP_ diff --git a/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/include/autoware/behavior_path_start_planner_module/util.hpp b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/include/autoware/behavior_path_start_planner_module/util.hpp index 09485e68852a3..60c5ccedd93f5 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/include/autoware/behavior_path_start_planner_module/util.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/include/autoware/behavior_path_start_planner_module/util.hpp @@ -49,8 +49,6 @@ PathWithLaneId getBackwardPath( const Pose & current_pose, const Pose & backed_pose, const double velocity); lanelet::ConstLanelets getPullOutLanes( const std::shared_ptr & planner_data, const double backward_length); -Pose getBackedPose( - const Pose & current_pose, const double & yaw_shoulder_lane, const double & back_distance); std::optional extractCollisionCheckSection( const PullOutPath & path, const double collision_check_distance_from_end); } // namespace autoware::behavior_path_planner::start_planner_utils diff --git a/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/src/debug.cpp b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/src/debug.cpp deleted file mode 100644 index 1b25d8eac8846..0000000000000 --- a/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/src/debug.cpp +++ /dev/null @@ -1,30 +0,0 @@ -// Copyright 2023 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 "autoware/behavior_path_start_planner_module/debug.hpp" - -namespace autoware::behavior_path_planner -{ - -void updateSafetyCheckDebugData( - StartPlannerDebugData & data, const PredictedObjects & filtered_objects, - const TargetObjectsOnLane & target_objects_on_lane, - const std::vector & ego_predicted_path) -{ - data.filtered_objects = filtered_objects; - data.target_objects_on_lane = target_objects_on_lane; - data.ego_predicted_path = ego_predicted_path; -} - -} // namespace autoware::behavior_path_planner diff --git a/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/src/start_planner_module.cpp b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/src/start_planner_module.cpp index 5c3c62b947af2..6c88bf006b5d3 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/src/start_planner_module.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/src/start_planner_module.cpp @@ -18,7 +18,6 @@ #include "autoware/behavior_path_planner_common/utils/path_safety_checker/objects_filtering.hpp" #include "autoware/behavior_path_planner_common/utils/path_safety_checker/path_safety_checker_parameters.hpp" #include "autoware/behavior_path_planner_common/utils/path_utils.hpp" -#include "autoware/behavior_path_start_planner_module/debug.hpp" #include "autoware/behavior_path_start_planner_module/util.hpp" #include "autoware/motion_utils/trajectory/trajectory.hpp" diff --git a/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/src/util.cpp b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/src/util.cpp index 0d4a4366b2714..219efb3084f1c 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/src/util.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/src/util.cpp @@ -72,17 +72,6 @@ PathWithLaneId getBackwardPath( return backward_path; } -Pose getBackedPose( - const Pose & current_pose, const double & yaw_shoulder_lane, const double & back_distance) -{ - Pose backed_pose; - backed_pose = current_pose; - backed_pose.position.x -= std::cos(yaw_shoulder_lane) * back_distance; - backed_pose.position.y -= std::sin(yaw_shoulder_lane) * back_distance; - - return backed_pose; -} - lanelet::ConstLanelets getPullOutLanes( const std::shared_ptr & planner_data, const double backward_length) { @@ -103,6 +92,7 @@ lanelet::ConstLanelets getPullOutLanes( /*forward_only_in_route*/ true); } +// cppcheck-suppress unusedFunction std::optional extractCollisionCheckSection( const PullOutPath & path, const double collision_check_distance_from_end) { From 7011ea141952790a53dc02ff1b48ef17d1f5a228 Mon Sep 17 00:00:00 2001 From: kobayu858 <129580202+kobayu858@users.noreply.github.com> Date: Thu, 29 Aug 2024 07:05:36 +0900 Subject: [PATCH 094/169] fix(autoware_behavior_path_planner_common): fix unusedFunction (#8654) * fix:unusedFunction 0-2 Signed-off-by: kobayu858 * fix:unusedFunction 3-5 Signed-off-by: kobayu858 * fix:unusedFunction Signed-off-by: kobayu858 --------- Signed-off-by: kobayu858 --- .../utils/path_utils.hpp | 9 - .../utils/utils.hpp | 21 --- .../src/marker_utils/utils.cpp | 1 + .../static_drivable_area.cpp | 14 -- .../src/utils/parking_departure/utils.cpp | 10 -- .../src/utils/path_utils.cpp | 143 ---------------- .../src/utils/utils.cpp | 155 +----------------- 7 files changed, 4 insertions(+), 349 deletions(-) diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/path_utils.hpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/path_utils.hpp index 45bdb296f6575..dc371e3063822 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/path_utils.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/path_utils.hpp @@ -67,11 +67,6 @@ void clipPathLength( void clipPathLength( PathWithLaneId & path, const size_t target_idx, const BehaviorPathPlannerParameters & params); -std::pair getPathTurnSignal( - const lanelet::ConstLanelets & current_lanes, const ShiftedPath & path, - const ShiftLine & shift_line, const Pose & pose, const double & velocity, - const BehaviorPathPlannerParameters & common_parameter); - PathWithLaneId convertWayPointsToPathWithLaneId( const autoware::freespace_planning_algorithms::PlannerWaypoints & waypoints, const double velocity, const lanelet::ConstLanelets & lanelets); @@ -83,8 +78,6 @@ std::vector dividePath( void correctDividedPathVelocity(std::vector & divided_paths); -bool isCloseToPath(const PathWithLaneId & path, const Pose & pose, const double distance_threshold); - // only two points is supported std::vector splineTwoPoints( const std::vector & base_s, const std::vector & base_x, const double begin_diff, @@ -103,8 +96,6 @@ PathWithLaneId calcCenterLinePath( PathWithLaneId combinePath(const PathWithLaneId & path1, const PathWithLaneId & path2); -std::optional getFirstStopPoseFromPath(const PathWithLaneId & path); - BehaviorModuleOutput getReferencePath( const lanelet::ConstLanelet & current_lane, const std::shared_ptr & planner_data); diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/utils.hpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/utils.hpp index 03e6c2d7f8167..7ac9993ee8b01 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/utils.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/utils.hpp @@ -104,8 +104,6 @@ FrenetPoint convertToFrenetPoint( return frenet_point; } -std::vector getIds(const lanelet::ConstLanelets & lanelets); - // distance (arclength) calculation double l2Norm(const Vector3 vector); @@ -126,14 +124,6 @@ double getArcLengthToTargetLanelet( const lanelet::ConstLanelets & current_lanes, const lanelet::ConstLanelet & target_lane, const Pose & pose); -double getDistanceBetweenPredictedPaths( - const PredictedPath & path1, const PredictedPath & path2, const double start_time, - const double end_time, const double resolution); - -double getDistanceBetweenPredictedPathAndObject( - const PredictedObject & object, const PredictedPath & path, const double start_time, - const double end_time, const double resolution); - /** * @brief Check collision between ego path footprints with extra longitudinal stopping margin and * objects. @@ -223,8 +213,6 @@ PathWithLaneId refinePathForGoal( const double search_radius_range, const double search_rad_range, const PathWithLaneId & input, const Pose & goal, const int64_t goal_lane_id); -bool containsGoal(const lanelet::ConstLanelets & lanes, const lanelet::Id & goal_id); - bool isAllowedGoalModification(const std::shared_ptr & route_handler); bool checkOriginalGoalIsInShoulder(const std::shared_ptr & route_handler); @@ -269,10 +257,6 @@ Polygon2d toPolygon2d(const lanelet::ConstLanelet & lanelet); Polygon2d toPolygon2d(const lanelet::BasicPolygon2d & polygon); -std::vector getTargetLaneletPolygons( - const lanelet::ConstLanelets & lanelets, const Pose & pose, const double check_length, - const std::string & target_type); - PathWithLaneId getCenterLinePathFromLanelet( const lanelet::ConstLanelet & current_route_lanelet, const std::shared_ptr & planner_data); @@ -283,11 +267,6 @@ PathWithLaneId getCenterLinePath( const Pose & pose, const double backward_path_length, const double forward_path_length, const BehaviorPathPlannerParameters & parameter); -PathWithLaneId setDecelerationVelocity( - const RouteHandler & route_handler, const PathWithLaneId & input, - const lanelet::ConstLanelets & lanelet_sequence, const double lane_change_prepare_duration, - const double lane_change_buffer); - // object label std::uint8_t getHighestProbLabel(const std::vector & classification); diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/marker_utils/utils.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/marker_utils/utils.cpp index d57c2339041f4..09a23197d8092 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/marker_utils/utils.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/marker_utils/utils.cpp @@ -341,6 +341,7 @@ MarkerArray createObjectsMarkerArray( return msg; } +// cppcheck-suppress unusedFunction MarkerArray createDrivableLanesMarkerArray( const std::vector & drivable_lanes, std::string && ns) { diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/drivable_area_expansion/static_drivable_area.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/drivable_area_expansion/static_drivable_area.cpp index d861f3459a3e6..3d5908bc4e02f 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/drivable_area_expansion/static_drivable_area.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/drivable_area_expansion/static_drivable_area.cpp @@ -622,20 +622,6 @@ std::vector updateBoundary( return updated_bound; } -[[maybe_unused]] geometry_msgs::msg::Point calcCenterOfGeometry(const Polygon2d & obj_poly) -{ - geometry_msgs::msg::Point center_pos; - for (const auto & point : obj_poly.outer()) { - center_pos.x += point.x(); - center_pos.y += point.y(); - } - - center_pos.x = center_pos.x / obj_poly.outer().size(); - center_pos.y = center_pos.y / obj_poly.outer().size(); - center_pos.z = center_pos.z / obj_poly.outer().size(); - - return center_pos; -} } // namespace autoware::behavior_path_planner::utils::drivable_area_processing namespace autoware::behavior_path_planner::utils diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/parking_departure/utils.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/parking_departure/utils.cpp index 4301742a18fa7..5fea6b501ba24 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/parking_departure/utils.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/parking_departure/utils.cpp @@ -104,16 +104,6 @@ void initializeCollisionCheckDebugMap(CollisionCheckDebugMap & collision_check_d collision_check_debug_map.clear(); } -void updateSafetyCheckTargetObjectsData( - StartGoalPlannerData & data, const PredictedObjects & filtered_objects, - const TargetObjectsOnLane & target_objects_on_lane, - const std::vector & ego_predicted_path) -{ - data.filtered_objects = filtered_objects; - data.target_objects_on_lane = target_objects_on_lane; - data.ego_predicted_path = ego_predicted_path; -} - std::pair getPairsTerminalVelocityAndAccel( const std::vector> & pairs_terminal_velocity_and_accel, const size_t current_path_idx) diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/path_utils.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/path_utils.cpp index 7873a4b421297..5b234198d9137 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/path_utils.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/path_utils.cpp @@ -209,127 +209,6 @@ void clipPathLength( clipPathLength(path, target_idx, params.forward_path_length, params.backward_path_length); } -std::pair getPathTurnSignal( - const lanelet::ConstLanelets & current_lanes, const ShiftedPath & path, - const ShiftLine & shift_line, const Pose & pose, const double & velocity, - const BehaviorPathPlannerParameters & common_parameter) -{ - TurnIndicatorsCommand turn_signal; - turn_signal.command = TurnIndicatorsCommand::NO_COMMAND; - const double max_time = std::numeric_limits::max(); - const double max_distance = std::numeric_limits::max(); - if (path.shift_length.size() < shift_line.end_idx + 1) { - return std::make_pair(turn_signal, max_distance); - } - const auto base_link2front = common_parameter.base_link2front; - const auto vehicle_width = common_parameter.vehicle_width; - const auto shift_to_outside = vehicle_width / 2; - const auto turn_signal_shift_length_threshold = - common_parameter.turn_signal_shift_length_threshold; - const auto turn_signal_minimum_search_distance = - common_parameter.turn_signal_minimum_search_distance; - const auto turn_signal_search_time = common_parameter.turn_signal_search_time; - constexpr double epsilon = 1e-6; - const auto arc_position_current_pose = lanelet::utils::getArcCoordinates(current_lanes, pose); - - // Start turn signal when 1 or 2 is satisfied - // 1. time to shift start point is less than prev_sec - // 2. distance to shift point is shorter than tl_on_threshold_long - - // Turn signal on when conditions below are satisfied - // 1. lateral offset is larger than tl_on_threshold_lat for left signal - // smaller than tl_on_threshold_lat for right signal - // 2. side point at shift start/end point cross the line - const double distance_to_shift_start = - std::invoke([¤t_lanes, &shift_line, &arc_position_current_pose]() { - const auto arc_position_shift_start = - lanelet::utils::getArcCoordinates(current_lanes, shift_line.start); - return arc_position_shift_start.length - arc_position_current_pose.length; - }); - - const auto time_to_shift_start = - (std::abs(velocity) < epsilon) ? max_time : distance_to_shift_start / velocity; - - const double diff = - path.shift_length.at(shift_line.end_idx) - path.shift_length.at(shift_line.start_idx); - - Pose shift_start_point = path.path.points.at(shift_line.start_idx).point.pose; - Pose shift_end_point = path.path.points.at(shift_line.end_idx).point.pose; - Pose left_start_point = shift_start_point; - Pose right_start_point = shift_start_point; - Pose left_end_point = shift_end_point; - Pose right_end_point = shift_end_point; - { - const double start_yaw = tf2::getYaw(shift_line.start.orientation); - const double end_yaw = tf2::getYaw(shift_line.end.orientation); - left_start_point.position.x -= std::sin(start_yaw) * (shift_to_outside); - left_start_point.position.y += std::cos(start_yaw) * (shift_to_outside); - right_start_point.position.x -= std::sin(start_yaw) * (-shift_to_outside); - right_start_point.position.y += std::cos(start_yaw) * (-shift_to_outside); - left_end_point.position.x -= std::sin(end_yaw) * (shift_to_outside); - left_end_point.position.y += std::cos(end_yaw) * (shift_to_outside); - right_end_point.position.x -= std::sin(end_yaw) * (-shift_to_outside); - right_end_point.position.y += std::cos(end_yaw) * (-shift_to_outside); - } - - bool left_start_point_is_in_lane = false; - bool right_start_point_is_in_lane = false; - bool left_end_point_is_in_lane = false; - bool right_end_point_is_in_lane = false; - { - for (const auto & llt : current_lanes) { - if (lanelet::utils::isInLanelet(left_start_point, llt, 0.1)) { - left_start_point_is_in_lane = true; - } - if (lanelet::utils::isInLanelet(right_start_point, llt, 0.1)) { - right_start_point_is_in_lane = true; - } - if (lanelet::utils::isInLanelet(left_end_point, llt, 0.1)) { - left_end_point_is_in_lane = true; - } - if (lanelet::utils::isInLanelet(right_end_point, llt, 0.1)) { - right_end_point_is_in_lane = true; - } - } - } - - const bool cross_line = std::invoke([&]() { - constexpr bool temporary_set_cross_line_true = - true; // due to a bug. See link: - // https://github.com/autowarefoundation/autoware.universe/pull/748 - if (temporary_set_cross_line_true) { - return true; - } - return ( - left_start_point_is_in_lane != left_end_point_is_in_lane || - right_start_point_is_in_lane != right_end_point_is_in_lane); - }); - - if ( - time_to_shift_start < turn_signal_search_time || - distance_to_shift_start < turn_signal_minimum_search_distance) { - if (diff > turn_signal_shift_length_threshold && cross_line) { - turn_signal.command = TurnIndicatorsCommand::ENABLE_LEFT; - } else if (diff < -turn_signal_shift_length_threshold && cross_line) { - turn_signal.command = TurnIndicatorsCommand::ENABLE_RIGHT; - } - } - - // calc distance from ego vehicle front to shift end point. - const double distance_from_vehicle_front = - std::invoke([¤t_lanes, &shift_line, &arc_position_current_pose, &base_link2front]() { - const auto arc_position_shift_end = - lanelet::utils::getArcCoordinates(current_lanes, shift_line.end); - return arc_position_shift_end.length - arc_position_current_pose.length - base_link2front; - }); - - if (distance_from_vehicle_front >= 0.0) { - return std::make_pair(turn_signal, distance_from_vehicle_front); - } - - return std::make_pair(turn_signal, max_distance); -} - PathWithLaneId convertWayPointsToPathWithLaneId( const autoware::freespace_planning_algorithms::PlannerWaypoints & waypoints, const double velocity, const lanelet::ConstLanelets & lanelets) @@ -431,18 +310,6 @@ void correctDividedPathVelocity(std::vector & divided_paths) } } -bool isCloseToPath(const PathWithLaneId & path, const Pose & pose, const double distance_threshold) -{ - for (const auto & point : path.points) { - const auto & p = point.point.pose.position; - const double dist = std::hypot(pose.position.x - p.x, pose.position.y - p.y); - if (dist < distance_threshold) { - return true; - } - } - return false; -} - // only two points is supported std::vector splineTwoPoints( const std::vector & base_s, const std::vector & base_x, const double begin_diff, @@ -579,16 +446,6 @@ PathWithLaneId combinePath(const PathWithLaneId & path1, const PathWithLaneId & return filtered_path; } -std::optional getFirstStopPoseFromPath(const PathWithLaneId & path) -{ - for (const auto & p : path.points) { - if (std::abs(p.point.longitudinal_velocity_mps) < 0.01) { - return p.point.pose; - } - } - return std::nullopt; -} - BehaviorModuleOutput getReferencePath( const lanelet::ConstLanelet & current_lane, const std::shared_ptr & planner_data) diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/utils.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/utils.cpp index fd55d38518cda..0785a639034d7 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/utils.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/utils.cpp @@ -99,53 +99,7 @@ double l2Norm(const Vector3 vector) return std::sqrt(std::pow(vector.x, 2) + std::pow(vector.y, 2) + std::pow(vector.z, 2)); } -double getDistanceBetweenPredictedPaths( - const PredictedPath & object_path, const PredictedPath & ego_path, const double start_time, - const double end_time, const double resolution) -{ - double min_distance = std::numeric_limits::max(); - for (double t = start_time; t < end_time; t += resolution) { - const auto object_pose = object_recognition_utils::calcInterpolatedPose(object_path, t); - if (!object_pose) { - continue; - } - const auto ego_pose = object_recognition_utils::calcInterpolatedPose(ego_path, t); - if (!ego_pose) { - continue; - } - double distance = autoware::universe_utils::calcDistance3d(*object_pose, *ego_pose); - if (distance < min_distance) { - min_distance = distance; - } - } - return min_distance; -} - -double getDistanceBetweenPredictedPathAndObject( - const PredictedObject & object, const PredictedPath & ego_path, const double start_time, - const double end_time, const double resolution) -{ - auto clock{rclcpp::Clock{RCL_ROS_TIME}}; - auto t_delta{rclcpp::Duration::from_seconds(resolution)}; - double min_distance = std::numeric_limits::max(); - rclcpp::Time ros_start_time = clock.now() + rclcpp::Duration::from_seconds(start_time); - rclcpp::Time ros_end_time = clock.now() + rclcpp::Duration::from_seconds(end_time); - const auto obj_polygon = autoware::universe_utils::toPolygon2d(object); - for (double t = start_time; t < end_time; t += resolution) { - const auto ego_pose = object_recognition_utils::calcInterpolatedPose(ego_path, t); - if (!ego_pose) { - continue; - } - Point2d ego_point{ego_pose->position.x, ego_pose->position.y}; - - double distance = boost::geometry::distance(obj_polygon, ego_point); - if (distance < min_distance) { - min_distance = distance; - } - } - return min_distance; -} - +// cppcheck-suppress unusedFunction bool checkCollisionBetweenPathFootprintsAndObjects( const autoware::universe_utils::LinearRing2d & local_vehicle_footprint, const PathWithLaneId & ego_path, const PredictedObjects & dynamic_objects, const double margin) @@ -249,24 +203,6 @@ double calcLongitudinalDistanceFromEgoToObjects( return min_distance; } -std::vector calcObjectsDistanceToPath( - const PredictedObjects & objects, const PathWithLaneId & ego_path) -{ - std::vector distance_array; - for (const auto & obj : objects.objects) { - const auto obj_polygon = autoware::universe_utils::toPolygon2d(obj); - LineString2d ego_path_line; - ego_path_line.reserve(ego_path.points.size()); - for (const auto & p : ego_path.points) { - boost::geometry::append( - ego_path_line, Point2d(p.point.pose.position.x, p.point.pose.position.y)); - } - const double distance = boost::geometry::distance(obj_polygon, ego_path_line); - distance_array.push_back(distance); - } - return distance_array; -} - template bool exists(std::vector vec, T element) { @@ -457,16 +393,6 @@ PathWithLaneId refinePathForGoal( } } -bool containsGoal(const lanelet::ConstLanelets & lanes, const lanelet::Id & goal_id) -{ - for (const auto & lane : lanes) { - if (lane.id() == goal_id) { - return true; - } - } - return false; -} - bool isInLanelets(const Pose & pose, const lanelet::ConstLanelets & lanes) { for (const auto & lane : lanes) { @@ -771,16 +697,6 @@ double getSignedDistance( return arc_goal.length - arc_current.length; } -std::vector getIds(const lanelet::ConstLanelets & lanelets) -{ - std::vector ids; - ids.reserve(lanelets.size()); - for (const auto & llt : lanelets) { - ids.push_back(llt.id()); - } - return ids; -} - PathPointWithLaneId insertStopPoint(const double length, PathWithLaneId & path) { const size_t original_size = path.points.size(); @@ -1034,50 +950,6 @@ Polygon2d toPolygon2d(const lanelet::BasicPolygon2d & polygon) : autoware::universe_utils::inverseClockwise(ret); } -std::vector getTargetLaneletPolygons( - const lanelet::PolygonLayer & map_polygons, lanelet::ConstLanelets & lanelets, const Pose & pose, - const double check_length, const std::string & target_type) -{ - std::vector polygons; - - // create lanelet polygon - const auto arclength = lanelet::utils::getArcCoordinates(lanelets, pose); - const auto llt_polygon = lanelet::utils::getPolygonFromArcLength( - lanelets, arclength.length, arclength.length + check_length); - const auto llt_polygon_2d = lanelet::utils::to2D(llt_polygon).basicPolygon(); - - // If the number of vertices is not enough to create polygon, return empty polygon container - if (llt_polygon_2d.size() < 3) { - return polygons; - } - - Polygon2d llt_polygon_bg; - llt_polygon_bg.outer().reserve(llt_polygon_2d.size() + 1); - for (const auto & llt_pt : llt_polygon_2d) { - llt_polygon_bg.outer().emplace_back(llt_pt.x(), llt_pt.y()); - } - llt_polygon_bg.outer().push_back(llt_polygon_bg.outer().front()); - - for (const auto & map_polygon : map_polygons) { - const std::string type = map_polygon.attributeOr(lanelet::AttributeName::Type, ""); - // If the target_type is different - // or the number of vertices is not enough to create polygon, skip the loop - if (type == target_type && map_polygon.size() > 2) { - // create map polygon - Polygon2d map_polygon_bg; - map_polygon_bg.outer().reserve(map_polygon.size() + 1); - for (const auto & pt : map_polygon) { - map_polygon_bg.outer().emplace_back(pt.x(), pt.y()); - } - map_polygon_bg.outer().push_back(map_polygon_bg.outer().front()); - if (boost::geometry::intersects(llt_polygon_bg, map_polygon_bg)) { - polygons.push_back(map_polygon_bg); - } - } - } - return polygons; -} - // TODO(Horibe) There is a similar function in route_handler. std::shared_ptr generateCenterLinePath( const std::shared_ptr & planner_data) @@ -1172,31 +1044,9 @@ PathWithLaneId getCenterLinePath( return resampled_path_with_lane_id; } -// for lane following -PathWithLaneId setDecelerationVelocity( - const RouteHandler & route_handler, const PathWithLaneId & input, - const lanelet::ConstLanelets & lanelet_sequence, const double lane_change_prepare_duration, - const double lane_change_buffer) -{ - auto reference_path = input; - if ( - route_handler.isDeadEndLanelet(lanelet_sequence.back()) && - lane_change_prepare_duration > std::numeric_limits::epsilon()) { - for (auto & point : reference_path.points) { - const double lane_length = lanelet::utils::getLaneletLength2d(lanelet_sequence); - const auto arclength = lanelet::utils::getArcCoordinates(lanelet_sequence, point.point.pose); - const double distance_to_end = - std::max(0.0, lane_length - std::abs(lane_change_buffer) - arclength.length); - point.point.longitudinal_velocity_mps = std::min( - point.point.longitudinal_velocity_mps, - static_cast(distance_to_end / lane_change_prepare_duration)); - } - } - return reference_path; -} - // TODO(murooka) remove calcSignedArcLength using findNearestSegmentIndex inside the // function +// cppcheck-suppress unusedFunction PathWithLaneId setDecelerationVelocity( const PathWithLaneId & input, const double target_velocity, const Pose target_pose, const double buffer, const double deceleration_interval) @@ -1643,6 +1493,7 @@ lanelet::ConstLanelets getLaneletsFromPath( return lanelets; } +// cppcheck-suppress unusedFunction std::string convertToSnakeCase(const std::string & input_str) { std::string output_str = std::string{static_cast(std::tolower(input_str.at(0)))}; From 47275fb594e5fa322b7bfbdf1ff4470a08e326d6 Mon Sep 17 00:00:00 2001 From: kobayu858 <129580202+kobayu858@users.noreply.github.com> Date: Thu, 29 Aug 2024 10:15:27 +0900 Subject: [PATCH 095/169] fix(autoware_behavior_velocity_crosswalk_module): fix unusedFunction (#8665) fix:unusedFunction Signed-off-by: kobayu858 --- .../autoware/behavior_velocity_crosswalk_module/util.hpp | 2 -- .../src/util.cpp | 6 ------ 2 files changed, 8 deletions(-) diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/include/autoware/behavior_velocity_crosswalk_module/util.hpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/include/autoware/behavior_velocity_crosswalk_module/util.hpp index 260ba58fd7d93..34e67cee12af2 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/include/autoware/behavior_velocity_crosswalk_module/util.hpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/include/autoware/behavior_velocity_crosswalk_module/util.hpp @@ -95,8 +95,6 @@ std::set getCrosswalkIdSetOnPath( const tier4_planning_msgs::msg::PathWithLaneId & path, const lanelet::LaneletMapPtr lanelet_map, const std::shared_ptr & overall_graphs); -bool checkRegulatoryElementExistence(const lanelet::LaneletMapPtr & lanelet_map_ptr); - std::optional> getPathEndPointsOnCrosswalk( const PathWithLaneId & ego_path, const lanelet::BasicPolygon2d & polygon, diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/util.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/util.cpp index 755a32b08e024..a72c866a85cef 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/util.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/util.cpp @@ -105,12 +105,6 @@ std::set getCrosswalkIdSetOnPath( return crosswalk_id_set; } -bool checkRegulatoryElementExistence(const lanelet::LaneletMapPtr & lanelet_map_ptr) -{ - const auto all_lanelets = lanelet::utils::query::laneletLayer(lanelet_map_ptr); - return !lanelet::utils::query::crosswalks(all_lanelets).empty(); -} - /** * @brief Calculate path end (= first and last) points on the crosswalk * From e6792028765d2c6de914d04361087c8310488ba3 Mon Sep 17 00:00:00 2001 From: SakodaShintaro Date: Thu, 29 Aug 2024 10:18:25 +0900 Subject: [PATCH 096/169] fix(reaction_analyzer): fix include hierarchy of tf2_eigen (#8663) Fixed include hierarchy of tf2_eigen Signed-off-by: Shintaro Sakoda --- tools/reaction_analyzer/include/subscriber.hpp | 2 +- tools/reaction_analyzer/include/topic_publisher.hpp | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/tools/reaction_analyzer/include/subscriber.hpp b/tools/reaction_analyzer/include/subscriber.hpp index ff251251373e2..d2a8363e15bf3 100644 --- a/tools/reaction_analyzer/include/subscriber.hpp +++ b/tools/reaction_analyzer/include/subscriber.hpp @@ -16,7 +16,7 @@ #define SUBSCRIBER_HPP_ #include #include -#include +#include #include #include diff --git a/tools/reaction_analyzer/include/topic_publisher.hpp b/tools/reaction_analyzer/include/topic_publisher.hpp index 0c01561fec508..4517b1f793e6c 100644 --- a/tools/reaction_analyzer/include/topic_publisher.hpp +++ b/tools/reaction_analyzer/include/topic_publisher.hpp @@ -17,7 +17,7 @@ #include #include -#include +#include #include #include From 81934e4b6beb00a443edfc03380e1c25b2321056 Mon Sep 17 00:00:00 2001 From: Masaki Baba Date: Thu, 29 Aug 2024 10:42:58 +0900 Subject: [PATCH 097/169] refactor(map_projection_loader)!: prefix package and namespace with autoware (#8420) * add autoware_ prefix Signed-off-by: a-maumau * add autoware_ prefix Signed-off-by: a-maumau --------- Signed-off-by: a-maumau Co-authored-by: SakodaShintaro --- .github/CODEOWNERS | 2 +- launch/tier4_map_launch/launch/map.launch.xml | 2 +- launch/tier4_map_launch/package.xml | 2 +- .../CMakeLists.txt | 4 ++-- .../README.md | 6 +++--- .../config/map_projection_loader.param.yaml | 0 .../docs/map_projector_type.svg | 0 .../load_info_from_lanelet2_map.hpp | 9 ++++++--- .../map_projection_loader/map_projection_loader.hpp | 9 ++++++--- .../launch/map_projection_loader.launch.xml | 4 ++-- .../package.xml | 4 ++-- .../schema/map_projection_loader.schema.json | 0 .../src/load_info_from_lanelet2_map.cpp | 5 ++++- .../src/map_projection_loader.cpp | 9 ++++++--- .../test/data/map_projector_info_local.yaml | 0 .../data/map_projector_info_local_cartesian_utm.yaml | 0 .../test/data/map_projector_info_mgrs.yaml | 0 .../data/map_projector_info_transverse_mercator.yaml | 0 .../test/test_load_info_from_lanelet2_map.cpp | 11 +++++++---- ...st_node_load_local_cartesian_utm_from_yaml.test.py | 8 ++++---- .../test/test_node_load_local_from_yaml.test.py | 8 ++++---- .../test/test_node_load_mgrs_from_yaml.test.py | 8 ++++---- ...st_node_load_transverse_mercator_from_yaml.test.py | 8 ++++---- .../autoware_static_centerline_generator/package.xml | 2 +- .../src/static_centerline_generator_node.cpp | 8 ++++---- 25 files changed, 62 insertions(+), 47 deletions(-) rename map/{map_projection_loader => autoware_map_projection_loader}/CMakeLists.txt (93%) rename map/{map_projection_loader => autoware_map_projection_loader}/README.md (90%) rename map/{map_projection_loader => autoware_map_projection_loader}/config/map_projection_loader.param.yaml (100%) rename map/{map_projection_loader => autoware_map_projection_loader}/docs/map_projector_type.svg (100%) rename map/{map_projection_loader/include => autoware_map_projection_loader/include/autoware}/map_projection_loader/load_info_from_lanelet2_map.hpp (76%) rename map/{map_projection_loader/include => autoware_map_projection_loader/include/autoware}/map_projection_loader/map_projection_loader.hpp (80%) rename map/{map_projection_loader => autoware_map_projection_loader}/launch/map_projection_loader.launch.xml (51%) rename map/{map_projection_loader => autoware_map_projection_loader}/package.xml (91%) rename map/{map_projection_loader => autoware_map_projection_loader}/schema/map_projection_loader.schema.json (100%) rename map/{map_projection_loader => autoware_map_projection_loader}/src/load_info_from_lanelet2_map.cpp (93%) rename map/{map_projection_loader => autoware_map_projection_loader}/src/map_projection_loader.cpp (91%) rename map/{map_projection_loader => autoware_map_projection_loader}/test/data/map_projector_info_local.yaml (100%) rename map/{map_projection_loader => autoware_map_projection_loader}/test/data/map_projector_info_local_cartesian_utm.yaml (100%) rename map/{map_projection_loader => autoware_map_projection_loader}/test/data/map_projector_info_mgrs.yaml (100%) rename map/{map_projection_loader => autoware_map_projection_loader}/test/data/map_projector_info_transverse_mercator.yaml (100%) rename map/{map_projection_loader => autoware_map_projection_loader}/test/test_load_info_from_lanelet2_map.cpp (90%) rename map/{map_projection_loader => autoware_map_projection_loader}/test/test_node_load_local_cartesian_utm_from_yaml.test.py (94%) rename map/{map_projection_loader => autoware_map_projection_loader}/test/test_node_load_local_from_yaml.test.py (93%) rename map/{map_projection_loader => autoware_map_projection_loader}/test/test_node_load_mgrs_from_yaml.test.py (93%) rename map/{map_projection_loader => autoware_map_projection_loader}/test/test_node_load_transverse_mercator_from_yaml.test.py (94%) diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS index 6de0c3251696b..89b9fa0eb8f38 100644 --- a/.github/CODEOWNERS +++ b/.github/CODEOWNERS @@ -101,7 +101,7 @@ localization/yabloc/yabloc_particle_filter/** anh.nguyen.2@tier4.jp kento.yabuuc localization/yabloc/yabloc_pose_initializer/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp map/autoware_map_height_fitter/** anh.nguyen.2@tier4.jp isamu.takagi@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp map/map_loader/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp -map/map_projection_loader/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp +map/autoware_map_projection_loader/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp map/autoware_map_tf_generator/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp map/util/lanelet2_map_preprocessor/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp perception/autoware_bytetrack/** manato.hirabayashi@tier4.jp yoshi.ri@tier4.jp diff --git a/launch/tier4_map_launch/launch/map.launch.xml b/launch/tier4_map_launch/launch/map.launch.xml index 051cf64d7752e..bd97963bd1268 100644 --- a/launch/tier4_map_launch/launch/map.launch.xml +++ b/launch/tier4_map_launch/launch/map.launch.xml @@ -59,7 +59,7 @@ - + diff --git a/launch/tier4_map_launch/package.xml b/launch/tier4_map_launch/package.xml index b364d8eaffebc..76ff341b56cf9 100644 --- a/launch/tier4_map_launch/package.xml +++ b/launch/tier4_map_launch/package.xml @@ -18,9 +18,9 @@ ament_cmake_auto autoware_cmake + autoware_map_projection_loader autoware_map_tf_generator map_loader - map_projection_loader ament_lint_auto autoware_lint_common diff --git a/map/map_projection_loader/CMakeLists.txt b/map/autoware_map_projection_loader/CMakeLists.txt similarity index 93% rename from map/map_projection_loader/CMakeLists.txt rename to map/autoware_map_projection_loader/CMakeLists.txt index 87f519ab22572..19c5a98ec8b46 100644 --- a/map/map_projection_loader/CMakeLists.txt +++ b/map/autoware_map_projection_loader/CMakeLists.txt @@ -1,5 +1,5 @@ cmake_minimum_required(VERSION 3.14) -project(map_projection_loader) +project(autoware_map_projection_loader) find_package(autoware_cmake REQUIRED) autoware_package() @@ -12,7 +12,7 @@ ament_auto_add_library(${PROJECT_NAME} SHARED ) rclcpp_components_register_node(${PROJECT_NAME} - PLUGIN "MapProjectionLoader" + PLUGIN "autoware::map_projection_loader::MapProjectionLoader" EXECUTABLE ${PROJECT_NAME}_node EXECUTOR SingleThreadedExecutor ) diff --git a/map/map_projection_loader/README.md b/map/autoware_map_projection_loader/README.md similarity index 90% rename from map/map_projection_loader/README.md rename to map/autoware_map_projection_loader/README.md index aa620256d977b..11246c092231e 100644 --- a/map/map_projection_loader/README.md +++ b/map/autoware_map_projection_loader/README.md @@ -1,8 +1,8 @@ -# map_projection_loader +# autoware_map_projection_loader ## Feature -`map_projection_loader` is responsible for publishing `map_projector_info` that defines in which kind of coordinate Autoware is operating. +`autoware_map_projection_loader` is responsible for publishing `map_projector_info` that defines in which kind of coordinate Autoware is operating. This is necessary information especially when you want to convert from global (geoid) to local coordinate or the other way around. - If `map_projector_info_path` DOES exist, this node loads it and publishes the map projection information accordingly. @@ -92,4 +92,4 @@ map_origin: Note that these parameters are assumed to be passed from launch arguments, and it is not recommended to directly write them in `map_projection_loader.param.yaml`. -{{ json_to_markdown("map/map_projection_loader/schema/map_projection_loader.schema.json") }} +{{ json_to_markdown("map/autoware_map_projection_loader/schema/map_projection_loader.schema.json") }} diff --git a/map/map_projection_loader/config/map_projection_loader.param.yaml b/map/autoware_map_projection_loader/config/map_projection_loader.param.yaml similarity index 100% rename from map/map_projection_loader/config/map_projection_loader.param.yaml rename to map/autoware_map_projection_loader/config/map_projection_loader.param.yaml diff --git a/map/map_projection_loader/docs/map_projector_type.svg b/map/autoware_map_projection_loader/docs/map_projector_type.svg similarity index 100% rename from map/map_projection_loader/docs/map_projector_type.svg rename to map/autoware_map_projection_loader/docs/map_projector_type.svg diff --git a/map/map_projection_loader/include/map_projection_loader/load_info_from_lanelet2_map.hpp b/map/autoware_map_projection_loader/include/autoware/map_projection_loader/load_info_from_lanelet2_map.hpp similarity index 76% rename from map/map_projection_loader/include/map_projection_loader/load_info_from_lanelet2_map.hpp rename to map/autoware_map_projection_loader/include/autoware/map_projection_loader/load_info_from_lanelet2_map.hpp index 750b90fe495bd..2f1db14529ad0 100644 --- a/map/map_projection_loader/include/map_projection_loader/load_info_from_lanelet2_map.hpp +++ b/map/autoware_map_projection_loader/include/autoware/map_projection_loader/load_info_from_lanelet2_map.hpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef MAP_PROJECTION_LOADER__LOAD_INFO_FROM_LANELET2_MAP_HPP_ -#define MAP_PROJECTION_LOADER__LOAD_INFO_FROM_LANELET2_MAP_HPP_ +#ifndef AUTOWARE__MAP_PROJECTION_LOADER__LOAD_INFO_FROM_LANELET2_MAP_HPP_ +#define AUTOWARE__MAP_PROJECTION_LOADER__LOAD_INFO_FROM_LANELET2_MAP_HPP_ #include #include @@ -24,6 +24,9 @@ #include +namespace autoware::map_projection_loader +{ tier4_map_msgs::msg::MapProjectorInfo load_info_from_lanelet2_map(const std::string & filename); +} // namespace autoware::map_projection_loader -#endif // MAP_PROJECTION_LOADER__LOAD_INFO_FROM_LANELET2_MAP_HPP_ +#endif // AUTOWARE__MAP_PROJECTION_LOADER__LOAD_INFO_FROM_LANELET2_MAP_HPP_ diff --git a/map/map_projection_loader/include/map_projection_loader/map_projection_loader.hpp b/map/autoware_map_projection_loader/include/autoware/map_projection_loader/map_projection_loader.hpp similarity index 80% rename from map/map_projection_loader/include/map_projection_loader/map_projection_loader.hpp rename to map/autoware_map_projection_loader/include/autoware/map_projection_loader/map_projection_loader.hpp index 05bc6e64e1675..feb7483f37811 100644 --- a/map/map_projection_loader/include/map_projection_loader/map_projection_loader.hpp +++ b/map/autoware_map_projection_loader/include/autoware/map_projection_loader/map_projection_loader.hpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef MAP_PROJECTION_LOADER__MAP_PROJECTION_LOADER_HPP_ -#define MAP_PROJECTION_LOADER__MAP_PROJECTION_LOADER_HPP_ +#ifndef AUTOWARE__MAP_PROJECTION_LOADER__MAP_PROJECTION_LOADER_HPP_ +#define AUTOWARE__MAP_PROJECTION_LOADER__MAP_PROJECTION_LOADER_HPP_ #include "rclcpp/rclcpp.hpp" @@ -22,6 +22,8 @@ #include +namespace autoware::map_projection_loader +{ tier4_map_msgs::msg::MapProjectorInfo load_info_from_yaml(const std::string & filename); tier4_map_msgs::msg::MapProjectorInfo load_map_projector_info( const std::string & yaml_filename, const std::string & lanelet2_map_filename); @@ -35,5 +37,6 @@ class MapProjectionLoader : public rclcpp::Node using MapProjectorInfo = map_interface::MapProjectorInfo; component_interface_utils::Publisher::SharedPtr publisher_; }; +} // namespace autoware::map_projection_loader -#endif // MAP_PROJECTION_LOADER__MAP_PROJECTION_LOADER_HPP_ +#endif // AUTOWARE__MAP_PROJECTION_LOADER__MAP_PROJECTION_LOADER_HPP_ diff --git a/map/map_projection_loader/launch/map_projection_loader.launch.xml b/map/autoware_map_projection_loader/launch/map_projection_loader.launch.xml similarity index 51% rename from map/map_projection_loader/launch/map_projection_loader.launch.xml rename to map/autoware_map_projection_loader/launch/map_projection_loader.launch.xml index 13418a7e97423..224598e23d048 100644 --- a/map/map_projection_loader/launch/map_projection_loader.launch.xml +++ b/map/autoware_map_projection_loader/launch/map_projection_loader.launch.xml @@ -1,10 +1,10 @@ - + - + diff --git a/map/map_projection_loader/package.xml b/map/autoware_map_projection_loader/package.xml similarity index 91% rename from map/map_projection_loader/package.xml rename to map/autoware_map_projection_loader/package.xml index c36c22c29a0fd..ca25cbf728d26 100644 --- a/map/map_projection_loader/package.xml +++ b/map/autoware_map_projection_loader/package.xml @@ -1,9 +1,9 @@ - map_projection_loader + autoware_map_projection_loader 0.1.0 - map_projection_loader package as a ROS 2 node + autoware_map_projection_loader package as a ROS 2 node Yamato Ando Masahiro Sakamoto Kento Yabuuchi diff --git a/map/map_projection_loader/schema/map_projection_loader.schema.json b/map/autoware_map_projection_loader/schema/map_projection_loader.schema.json similarity index 100% rename from map/map_projection_loader/schema/map_projection_loader.schema.json rename to map/autoware_map_projection_loader/schema/map_projection_loader.schema.json diff --git a/map/map_projection_loader/src/load_info_from_lanelet2_map.cpp b/map/autoware_map_projection_loader/src/load_info_from_lanelet2_map.cpp similarity index 93% rename from map/map_projection_loader/src/load_info_from_lanelet2_map.cpp rename to map/autoware_map_projection_loader/src/load_info_from_lanelet2_map.cpp index 18306e8d39e25..ce4cda5c2c677 100644 --- a/map/map_projection_loader/src/load_info_from_lanelet2_map.cpp +++ b/map/autoware_map_projection_loader/src/load_info_from_lanelet2_map.cpp @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "map_projection_loader/load_info_from_lanelet2_map.hpp" +#include "autoware/map_projection_loader/load_info_from_lanelet2_map.hpp" #include "tier4_map_msgs/msg/map_projector_info.hpp" @@ -23,6 +23,8 @@ #include +namespace autoware::map_projection_loader +{ tier4_map_msgs::msg::MapProjectorInfo load_info_from_lanelet2_map(const std::string & filename) { lanelet::ErrorMessages errors{}; @@ -58,3 +60,4 @@ tier4_map_msgs::msg::MapProjectorInfo load_info_from_lanelet2_map(const std::str msg.vertical_datum = tier4_map_msgs::msg::MapProjectorInfo::WGS84; return msg; } +} // namespace autoware::map_projection_loader diff --git a/map/map_projection_loader/src/map_projection_loader.cpp b/map/autoware_map_projection_loader/src/map_projection_loader.cpp similarity index 91% rename from map/map_projection_loader/src/map_projection_loader.cpp rename to map/autoware_map_projection_loader/src/map_projection_loader.cpp index e5b95b613b0d1..18ad425c1fd9a 100644 --- a/map/map_projection_loader/src/map_projection_loader.cpp +++ b/map/autoware_map_projection_loader/src/map_projection_loader.cpp @@ -12,9 +12,9 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "map_projection_loader/map_projection_loader.hpp" +#include "autoware/map_projection_loader/map_projection_loader.hpp" -#include "map_projection_loader/load_info_from_lanelet2_map.hpp" +#include "autoware/map_projection_loader/load_info_from_lanelet2_map.hpp" #include @@ -23,6 +23,8 @@ #include #include +namespace autoware::map_projection_loader +{ tier4_map_msgs::msg::MapProjectorInfo load_info_from_yaml(const std::string & filename) { YAML::Node data = YAML::LoadFile(filename); @@ -93,6 +95,7 @@ MapProjectionLoader::MapProjectionLoader(const rclcpp::NodeOptions & options) adaptor.init_pub(publisher_); publisher_->publish(msg); } +} // namespace autoware::map_projection_loader #include -RCLCPP_COMPONENTS_REGISTER_NODE(MapProjectionLoader) +RCLCPP_COMPONENTS_REGISTER_NODE(autoware::map_projection_loader::MapProjectionLoader) diff --git a/map/map_projection_loader/test/data/map_projector_info_local.yaml b/map/autoware_map_projection_loader/test/data/map_projector_info_local.yaml similarity index 100% rename from map/map_projection_loader/test/data/map_projector_info_local.yaml rename to map/autoware_map_projection_loader/test/data/map_projector_info_local.yaml diff --git a/map/map_projection_loader/test/data/map_projector_info_local_cartesian_utm.yaml b/map/autoware_map_projection_loader/test/data/map_projector_info_local_cartesian_utm.yaml similarity index 100% rename from map/map_projection_loader/test/data/map_projector_info_local_cartesian_utm.yaml rename to map/autoware_map_projection_loader/test/data/map_projector_info_local_cartesian_utm.yaml diff --git a/map/map_projection_loader/test/data/map_projector_info_mgrs.yaml b/map/autoware_map_projection_loader/test/data/map_projector_info_mgrs.yaml similarity index 100% rename from map/map_projection_loader/test/data/map_projector_info_mgrs.yaml rename to map/autoware_map_projection_loader/test/data/map_projector_info_mgrs.yaml diff --git a/map/map_projection_loader/test/data/map_projector_info_transverse_mercator.yaml b/map/autoware_map_projection_loader/test/data/map_projector_info_transverse_mercator.yaml similarity index 100% rename from map/map_projection_loader/test/data/map_projector_info_transverse_mercator.yaml rename to map/autoware_map_projection_loader/test/data/map_projector_info_transverse_mercator.yaml diff --git a/map/map_projection_loader/test/test_load_info_from_lanelet2_map.cpp b/map/autoware_map_projection_loader/test/test_load_info_from_lanelet2_map.cpp similarity index 90% rename from map/map_projection_loader/test/test_load_info_from_lanelet2_map.cpp rename to map/autoware_map_projection_loader/test/test_load_info_from_lanelet2_map.cpp index 7d66388c1a91e..26658e88682a2 100644 --- a/map/map_projection_loader/test/test_load_info_from_lanelet2_map.cpp +++ b/map/autoware_map_projection_loader/test/test_load_info_from_lanelet2_map.cpp @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "map_projection_loader/load_info_from_lanelet2_map.hpp" +#include "autoware/map_projection_loader/load_info_from_lanelet2_map.hpp" #include #include @@ -92,7 +92,8 @@ TEST(TestLoadFromLanelet2Map, LoadMGRSGrid) save_dummy_mgrs_lanelet2_map(mgrs_coord, output_path); // Test the function - const auto projector_info = load_info_from_lanelet2_map(output_path); + const auto projector_info = + autoware::map_projection_loader::load_info_from_lanelet2_map(output_path); // Check the result EXPECT_EQ(projector_info.projector_type, "MGRS"); @@ -106,7 +107,8 @@ TEST(TestLoadFromLanelet2Map, LoadLocalGrid) save_dummy_local_lanelet2_map(output_path); // Test the function - const auto projector_info = load_info_from_lanelet2_map(output_path); + const auto projector_info = + autoware::map_projection_loader::load_info_from_lanelet2_map(output_path); // Check the result EXPECT_EQ(projector_info.projector_type, "local"); @@ -119,7 +121,8 @@ TEST(TestLoadFromLanelet2Map, LoadNoLocalGrid) save_dummy_mgrs_lanelet2_map_with_one_zero_point(output_path); // Test the function - const auto projector_info = load_info_from_lanelet2_map(output_path); + const auto projector_info = + autoware::map_projection_loader::load_info_from_lanelet2_map(output_path); // Check the result EXPECT_EQ(projector_info.projector_type, "MGRS"); diff --git a/map/map_projection_loader/test/test_node_load_local_cartesian_utm_from_yaml.test.py b/map/autoware_map_projection_loader/test/test_node_load_local_cartesian_utm_from_yaml.test.py similarity index 94% rename from map/map_projection_loader/test/test_node_load_local_cartesian_utm_from_yaml.test.py rename to map/autoware_map_projection_loader/test/test_node_load_local_cartesian_utm_from_yaml.test.py index 0d0b5cb31afba..495f0092bb01f 100644 --- a/map/map_projection_loader/test/test_node_load_local_cartesian_utm_from_yaml.test.py +++ b/map/autoware_map_projection_loader/test/test_node_load_local_cartesian_utm_from_yaml.test.py @@ -39,12 +39,12 @@ @pytest.mark.launch_test def generate_test_description(): map_projector_info_path = os.path.join( - get_package_share_directory("map_projection_loader"), YAML_FILE_PATH + get_package_share_directory("autoware_map_projection_loader"), YAML_FILE_PATH ) map_projection_loader_node = Node( - package="map_projection_loader", - executable="map_projection_loader_node", + package="autoware_map_projection_loader", + executable="autoware_map_projection_loader_node", output="screen", parameters=[ { @@ -122,7 +122,7 @@ def test_node_link(self): # Load the yaml file directly map_projector_info_path = os.path.join( - get_package_share_directory("map_projection_loader"), YAML_FILE_PATH + get_package_share_directory("autoware_map_projection_loader"), YAML_FILE_PATH ) with open(map_projector_info_path) as f: yaml_data = yaml.load(f, Loader=yaml.FullLoader) diff --git a/map/map_projection_loader/test/test_node_load_local_from_yaml.test.py b/map/autoware_map_projection_loader/test/test_node_load_local_from_yaml.test.py similarity index 93% rename from map/map_projection_loader/test/test_node_load_local_from_yaml.test.py rename to map/autoware_map_projection_loader/test/test_node_load_local_from_yaml.test.py index 6a17ff340b19f..8517f09e2006b 100644 --- a/map/map_projection_loader/test/test_node_load_local_from_yaml.test.py +++ b/map/autoware_map_projection_loader/test/test_node_load_local_from_yaml.test.py @@ -39,12 +39,12 @@ @pytest.mark.launch_test def generate_test_description(): map_projector_info_path = os.path.join( - get_package_share_directory("map_projection_loader"), YAML_FILE_PATH + get_package_share_directory("autoware_map_projection_loader"), YAML_FILE_PATH ) map_projection_loader_node = Node( - package="map_projection_loader", - executable="map_projection_loader_node", + package="autoware_map_projection_loader", + executable="autoware_map_projection_loader_node", output="screen", parameters=[ { @@ -122,7 +122,7 @@ def test_node_link(self): # Load the yaml file directly map_projector_info_path = os.path.join( - get_package_share_directory("map_projection_loader"), YAML_FILE_PATH + get_package_share_directory("autoware_map_projection_loader"), YAML_FILE_PATH ) with open(map_projector_info_path) as f: yaml_data = yaml.load(f, Loader=yaml.FullLoader) diff --git a/map/map_projection_loader/test/test_node_load_mgrs_from_yaml.test.py b/map/autoware_map_projection_loader/test/test_node_load_mgrs_from_yaml.test.py similarity index 93% rename from map/map_projection_loader/test/test_node_load_mgrs_from_yaml.test.py rename to map/autoware_map_projection_loader/test/test_node_load_mgrs_from_yaml.test.py index 37cfd9936bf20..ad19e61f9f111 100644 --- a/map/map_projection_loader/test/test_node_load_mgrs_from_yaml.test.py +++ b/map/autoware_map_projection_loader/test/test_node_load_mgrs_from_yaml.test.py @@ -39,12 +39,12 @@ @pytest.mark.launch_test def generate_test_description(): map_projector_info_path = os.path.join( - get_package_share_directory("map_projection_loader"), YAML_FILE_PATH + get_package_share_directory("autoware_map_projection_loader"), YAML_FILE_PATH ) map_projection_loader_node = Node( - package="map_projection_loader", - executable="map_projection_loader_node", + package="autoware_map_projection_loader", + executable="autoware_map_projection_loader_node", output="screen", parameters=[ { @@ -122,7 +122,7 @@ def test_node_link(self): # Load the yaml file directly map_projector_info_path = os.path.join( - get_package_share_directory("map_projection_loader"), YAML_FILE_PATH + get_package_share_directory("autoware_map_projection_loader"), YAML_FILE_PATH ) with open(map_projector_info_path) as f: yaml_data = yaml.load(f, Loader=yaml.FullLoader) diff --git a/map/map_projection_loader/test/test_node_load_transverse_mercator_from_yaml.test.py b/map/autoware_map_projection_loader/test/test_node_load_transverse_mercator_from_yaml.test.py similarity index 94% rename from map/map_projection_loader/test/test_node_load_transverse_mercator_from_yaml.test.py rename to map/autoware_map_projection_loader/test/test_node_load_transverse_mercator_from_yaml.test.py index 7bccdc7875454..ed2eb45535089 100644 --- a/map/map_projection_loader/test/test_node_load_transverse_mercator_from_yaml.test.py +++ b/map/autoware_map_projection_loader/test/test_node_load_transverse_mercator_from_yaml.test.py @@ -39,12 +39,12 @@ @pytest.mark.launch_test def generate_test_description(): map_projector_info_path = os.path.join( - get_package_share_directory("map_projection_loader"), YAML_FILE_PATH + get_package_share_directory("autoware_map_projection_loader"), YAML_FILE_PATH ) map_projection_loader_node = Node( - package="map_projection_loader", - executable="map_projection_loader_node", + package="autoware_map_projection_loader", + executable="autoware_map_projection_loader_node", output="screen", parameters=[ { @@ -122,7 +122,7 @@ def test_node_link(self): # Load the yaml file directly map_projector_info_path = os.path.join( - get_package_share_directory("map_projection_loader"), YAML_FILE_PATH + get_package_share_directory("autoware_map_projection_loader"), YAML_FILE_PATH ) with open(map_projector_info_path) as f: yaml_data = yaml.load(f, Loader=yaml.FullLoader) diff --git a/planning/autoware_static_centerline_generator/package.xml b/planning/autoware_static_centerline_generator/package.xml index 2480c4bd02753..931b815b176c3 100644 --- a/planning/autoware_static_centerline_generator/package.xml +++ b/planning/autoware_static_centerline_generator/package.xml @@ -19,6 +19,7 @@ autoware_geography_utils autoware_lanelet2_extension autoware_map_msgs + autoware_map_projection_loader autoware_mission_planner autoware_motion_utils autoware_path_optimizer @@ -32,7 +33,6 @@ global_parameter_loader interpolation map_loader - map_projection_loader osqp_interface rclcpp rclcpp_components diff --git a/planning/autoware_static_centerline_generator/src/static_centerline_generator_node.cpp b/planning/autoware_static_centerline_generator/src/static_centerline_generator_node.cpp index 5e2ddc6579bf3..256cd2386c431 100644 --- a/planning/autoware_static_centerline_generator/src/static_centerline_generator_node.cpp +++ b/planning/autoware_static_centerline_generator/src/static_centerline_generator_node.cpp @@ -14,6 +14,8 @@ #include "static_centerline_generator_node.hpp" +#include "autoware/map_projection_loader/load_info_from_lanelet2_map.hpp" +#include "autoware/map_projection_loader/map_projection_loader.hpp" #include "autoware/motion_utils/resample/resample.hpp" #include "autoware/motion_utils/trajectory/conversion.hpp" #include "autoware/universe_utils/geometry/geometry.hpp" @@ -25,8 +27,6 @@ #include "centerline_source/bag_ego_trajectory_based_centerline.hpp" #include "interpolation/spline_interpolation_points_2d.hpp" #include "map_loader/lanelet2_map_loader_node.hpp" -#include "map_projection_loader/load_info_from_lanelet2_map.hpp" -#include "map_projection_loader/map_projection_loader.hpp" #include "type_alias.hpp" #include "utils.hpp" @@ -356,8 +356,8 @@ void StaticCenterlineGeneratorNode::load_map(const std::string & lanelet2_input_ // load map by the map_loader package map_bin_ptr_ = [&]() -> LaneletMapBin::ConstSharedPtr { // load map - map_projector_info_ = - std::make_unique(load_info_from_lanelet2_map(lanelet2_input_file_path)); + map_projector_info_ = std::make_unique( + autoware::map_projection_loader::load_info_from_lanelet2_map(lanelet2_input_file_path)); const auto map_ptr = Lanelet2MapLoaderNode::load_map(lanelet2_input_file_path, *map_projector_info_); if (!map_ptr) { From e709b1019d27af1083b23a2334ebcb11fff9de5d Mon Sep 17 00:00:00 2001 From: Rein Appeldoorn Date: Thu, 29 Aug 2024 04:19:52 +0200 Subject: [PATCH 098/169] fix(autoware_pointcloud_preprocessor): resolve issue with FLT_MAX not declared on Jazzy (#8586) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit fix(pointcloud-preprocessor): FLT_MAX not declared Fixes compilation error on Jazzy: error: ‘FLT_MAX’ was not declared in this scope Signed-off-by: Rein Appeldoorn --- .../downsample_filter/faster_voxel_grid_downsample_filter.cpp | 2 ++ 1 file changed, 2 insertions(+) diff --git a/sensing/autoware_pointcloud_preprocessor/src/downsample_filter/faster_voxel_grid_downsample_filter.cpp b/sensing/autoware_pointcloud_preprocessor/src/downsample_filter/faster_voxel_grid_downsample_filter.cpp index c0e41239057f0..9a01ba3ddc1b1 100644 --- a/sensing/autoware_pointcloud_preprocessor/src/downsample_filter/faster_voxel_grid_downsample_filter.cpp +++ b/sensing/autoware_pointcloud_preprocessor/src/downsample_filter/faster_voxel_grid_downsample_filter.cpp @@ -14,6 +14,8 @@ #include "autoware/pointcloud_preprocessor/downsample_filter/faster_voxel_grid_downsample_filter.hpp" +#include + namespace autoware::pointcloud_preprocessor { From 09eda6223566a2448ed2401eddf556c3d545024a Mon Sep 17 00:00:00 2001 From: Yamato Ando Date: Thu, 29 Aug 2024 15:04:04 +0900 Subject: [PATCH 099/169] feat(ekf_localizer): input ekf_dt to simple1dfilter (#8622) input ekf_dt to simple1dfilter Signed-off-by: Yamato Ando Co-authored-by: TaikiYamada4 <129915538+TaikiYamada4@users.noreply.github.com> --- .../include/ekf_localizer/ekf_localizer.hpp | 11 +++-------- localization/ekf_localizer/src/ekf_localizer.cpp | 12 ++++++------ 2 files changed, 9 insertions(+), 14 deletions(-) diff --git a/localization/ekf_localizer/include/ekf_localizer/ekf_localizer.hpp b/localization/ekf_localizer/include/ekf_localizer/ekf_localizer.hpp index 332d4e0837e54..d247c817874fb 100644 --- a/localization/ekf_localizer/include/ekf_localizer/ekf_localizer.hpp +++ b/localization/ekf_localizer/include/ekf_localizer/ekf_localizer.hpp @@ -60,22 +60,20 @@ class Simple1DFilter var_ = 1e9; proc_var_x_c_ = 0.0; }; - void init(const double init_obs, const double obs_var, const rclcpp::Time & time) + void init(const double init_obs, const double obs_var) { x_ = init_obs; var_ = obs_var; - latest_time_ = time; initialized_ = true; }; - void update(const double obs, const double obs_var, const rclcpp::Time & time) + void update(const double obs, const double obs_var, const double dt) { if (!initialized_) { - init(obs, obs_var, time); + init(obs, obs_var); return; } // Prediction step (current variance) - double dt = (time - latest_time_).seconds(); double proc_var_x_d = proc_var_x_c_ * dt * dt; var_ = var_ + proc_var_x_d; @@ -83,8 +81,6 @@ class Simple1DFilter double kalman_gain = var_ / (var_ + obs_var); x_ = x_ + kalman_gain * (obs - x_); var_ = (1 - kalman_gain) * var_; - - latest_time_ = time; }; void set_proc_var(const double proc_var) { proc_var_x_c_ = proc_var; } [[nodiscard]] double get_x() const { return x_; } @@ -95,7 +91,6 @@ class Simple1DFilter double x_; double var_; double proc_var_x_c_; - rclcpp::Time latest_time_; }; class EKFLocalizer : public rclcpp::Node diff --git a/localization/ekf_localizer/src/ekf_localizer.cpp b/localization/ekf_localizer/src/ekf_localizer.cpp index 10c706f4032b6..e77a1156bf049 100644 --- a/localization/ekf_localizer/src/ekf_localizer.cpp +++ b/localization/ekf_localizer/src/ekf_localizer.cpp @@ -456,9 +456,9 @@ void EKFLocalizer::update_simple_1d_filters( double pitch_var = pose.pose.covariance[COV_IDX::PITCH_PITCH] * static_cast(smoothing_step); - z_filter_.update(z, z_var, pose.header.stamp); - roll_filter_.update(rpy.x, roll_var, pose.header.stamp); - pitch_filter_.update(rpy.y, pitch_var, pose.header.stamp); + z_filter_.update(z, z_var, ekf_dt_); + roll_filter_.update(rpy.x, roll_var, ekf_dt_); + pitch_filter_.update(rpy.y, pitch_var, ekf_dt_); } void EKFLocalizer::init_simple_1d_filters( @@ -473,9 +473,9 @@ void EKFLocalizer::init_simple_1d_filters( double roll_var = pose.pose.covariance[COV_IDX::ROLL_ROLL]; double pitch_var = pose.pose.covariance[COV_IDX::PITCH_PITCH]; - z_filter_.init(z, z_var, pose.header.stamp); - roll_filter_.init(rpy.x, roll_var, pose.header.stamp); - pitch_filter_.init(rpy.y, pitch_var, pose.header.stamp); + z_filter_.init(z, z_var); + roll_filter_.init(rpy.x, roll_var); + pitch_filter_.init(rpy.y, pitch_var); } /** From 50d92d6b12e537533ccdcc4fa18c16fe042a2edf Mon Sep 17 00:00:00 2001 From: SaltUhey <111027815+SaltUhey@users.noreply.github.com> Date: Thu, 29 Aug 2024 15:13:57 +0900 Subject: [PATCH 100/169] feat(tier4_localization_rviz_plugin): add visualization of pose with covariance history (#8191) * display PoseWithCovariance History Signed-off-by: yuhei * Correct spelling errors and year Signed-off-by: yuhei * Add arrows clear() Signed-off-by: yuhei * Extension to 3D in matrix calculations Signed-off-by: yuhei * style(pre-commit): autofix * Correcting spelling mistakes and adding includes Signed-off-by: yuhei --------- Signed-off-by: yuhei Co-authored-by: Yamato Ando Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- .../CMakeLists.txt | 2 + .../tier4_localization_rviz_plugin/README.md | 45 ++- .../classes/PoseWithCovarianceHistory.png | Bin 0 -> 18815 bytes .../ex_pose_with_covariance_history.png | Bin 0 -> 300066 bytes .../package.xml | 1 + .../plugins/plugin_description.xml | 5 + .../pose_with_covariance_history_display.cpp | 285 ++++++++++++++++++ .../pose_with_covariance_history_display.hpp | 109 +++++++ 8 files changed, 441 insertions(+), 6 deletions(-) create mode 100644 common/tier4_localization_rviz_plugin/icons/classes/PoseWithCovarianceHistory.png create mode 100644 common/tier4_localization_rviz_plugin/images/ex_pose_with_covariance_history.png create mode 100644 common/tier4_localization_rviz_plugin/src/pose_with_covariance_history/pose_with_covariance_history_display.cpp create mode 100644 common/tier4_localization_rviz_plugin/src/pose_with_covariance_history/pose_with_covariance_history_display.hpp diff --git a/common/tier4_localization_rviz_plugin/CMakeLists.txt b/common/tier4_localization_rviz_plugin/CMakeLists.txt index 847c5e8af5fbc..eba48f27635e3 100644 --- a/common/tier4_localization_rviz_plugin/CMakeLists.txt +++ b/common/tier4_localization_rviz_plugin/CMakeLists.txt @@ -15,6 +15,8 @@ ament_auto_add_library(${PROJECT_NAME} SHARED src/pose_history/pose_history_display.cpp src/pose_history_footprint/display.hpp src/pose_history_footprint/display.cpp + src/pose_with_covariance_history/pose_with_covariance_history_display.hpp + src/pose_with_covariance_history/pose_with_covariance_history_display.cpp ) target_link_libraries(${PROJECT_NAME} diff --git a/common/tier4_localization_rviz_plugin/README.md b/common/tier4_localization_rviz_plugin/README.md index 60a923f15b563..5f5e35ea3dc19 100644 --- a/common/tier4_localization_rviz_plugin/README.md +++ b/common/tier4_localization_rviz_plugin/README.md @@ -2,20 +2,31 @@ ## Purpose -This plugin can display the history of the localization obtained by ekf_localizer or ndt_scan_matching. +This plugin can display the localization history obtained by ekf_localizer, ndt_scan_matching, and GNSS. +If the uncertainty of the estimated pose is given, it can also be displayed. ## Inputs / Outputs ### Input -| Name | Type | Description | -| ------------ | --------------------------------- | ---------------------------------------------------------------------------------------------- | -| `input/pose` | `geometry_msgs::msg::PoseStamped` | In input/pose, put the result of localization calculated by ekf_localizer or ndt_scan_matching | +### Pose History + +| Name | Type | Description | +| ------------ | --------------------------------- | ----------------------------------------------------------------------------------------------------- | +| `input/pose` | `geometry_msgs::msg::PoseStamped` | In input/pose, put the result of localization calculated by ekf_localizer, ndt_scan_matching, or GNSS | + +### Pose With Covariance History + +| Name | Type | Description | +| ---------------------------- | ----------------------------------------------- | --------------------------------------------------------------------------------------------------------------------- | +| `input/pose_with_covariance` | `geometry_msgs::msg::PoseWithCovarianceStamped` | In input/pose_with_covariance, put the result of localization calculated by ekf_localizer, ndt_scan_matching, or GNSS | ## Parameters ### Core Parameters +### Pose History + | Name | Type | Default Value | Description | | ----------------------- | ------ | ------------- | -------------------------- | | `property_buffer_size_` | int | 100 | Buffer size of topic | @@ -24,6 +35,26 @@ This plugin can display the history of the localization obtained by ekf_localize | `property_line_alpha_` | float | 1.0 | Alpha of Line property | | `property_line_color_` | QColor | Qt::white | Color of Line property | +### Pose With Covariance History + +| Name | Type | Default Value | Description | +| ------------------------------- | ------ | -------------- | -------------------------------- | +| `property_buffer_size_` | int | 100 | Buffer size of topic | +| `property_path_view_` | bool | true | Use path property or not | +| `property_shape_type_` | string | Line | Line or Arrow | +| `property_line_width_` | float | 0.1 | Width of Line property [m] | +| `property_line_alpha_` | float | 1.0 | Alpha of Line property | +| `property_line_color_` | QColor | Qt::white | Color of Line property | +| `property_arrow_shaft_length` | float | 0.3 | Shaft length of Arrow property | +| `property_arrow_shaft_diameter` | float | 0.15 | Shaft diameter of Arrow property | +| `property_arrow_head_length` | float | 0.2 | Head length of Arrow property | +| `property_arrow_head_diameter` | float | 0.3 | Head diameter of Arrow property | +| `property_arrow_alpha_` | float | 1.0 | Alpha of Arrow property | +| `property_arrow_color_` | QColor | Qt::white | Color of Arrow property | +| `property_sphere_scale_` | float | 1.0 | Scale of Sphere property | +| `property_sphere_alpha_` | float | 0.5 | Alpha of Sphere property | +| `property_sphere_color_` | QColor | (204, 51, 204) | Color of Sphere property | + ## Assumptions / Known limits TBD. @@ -32,7 +63,9 @@ TBD. 1. Start rviz and select Add under the Displays panel. ![select_add](./images/select_add.png) -2. Select tier4_localization_rviz_plugin/PoseHistory and press OK. +2. Select tier4_localization_rviz_plugin/PoseHistory or PoseWithCovarianceHistory. Next, press OK. ![select_localization_plugin](./images/select_localization_plugin.png) -3. Enter the name of the topic where you want to view the trajectory. +3. Enter the name of the topic where you want to view the trajectory and the covariance. ![select_topic_name](./images/select_topic_name.png) +4. You can view the trajectory and the covariance. + ![ex_pose_with_covariance_history](./images/ex_pose_with_covariance_history.png) diff --git a/common/tier4_localization_rviz_plugin/icons/classes/PoseWithCovarianceHistory.png b/common/tier4_localization_rviz_plugin/icons/classes/PoseWithCovarianceHistory.png new file mode 100644 index 0000000000000000000000000000000000000000..6a67573717ae18b6008e00077defb27256415663 GIT binary patch literal 18815 zcmc#)ig}7!VL~0BI3P>4u>jX{5WQyQGE==@gXiZcsv`yJ3)ShVHnpzyIKV zx%UIl!@PCQ*=Oy&*IwtGaAid)9L!gkAP@*gMjEOL0wKly`$K;YTnXsp8Ulf2BxRtY zY95&f%V-`irs2ZJD-E_>W|QJ#$f(lDGUzn9FhfdJ6ls+f7g13tl1h)8=nGVpD&-eU zEXJbkUMvxiN-bt%sdy?0Ws#;2U}Tww$D9k?tJrv3b90N4w6q7mY>Vu>j)cq`Gq>&g ztxVotd7x=_%0QrfCTU6#h!Tqc9R&LG1r-?ts`)>?Y`h5pRS_lWag8OXawfXJHk9@r zwSCxzbPRm-g9n1hq$!Q)8a9)#!i(M_cz&h|6vnpsyKVD7twGSL0-4KL6Q=BD1ZeP- zzfzYzWVM-q+?d)>KwJl;5;rOeaVP-p8?mb$R~c z!r4STVAB1bJ?W`Q1N^wk6a>;QVI%JxOu}Vf{^G|)Co3MGH{(9RMV<;nHU4Za)%KSC 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a/common/tier4_localization_rviz_plugin/plugins/plugin_description.xml b/common/tier4_localization_rviz_plugin/plugins/plugin_description.xml index 2a58895354cad..01fc1a0ee488d 100644 --- a/common/tier4_localization_rviz_plugin/plugins/plugin_description.xml +++ b/common/tier4_localization_rviz_plugin/plugins/plugin_description.xml @@ -10,4 +10,9 @@ base_class_type="rviz_common::Display"> Display footprint of geometry_msgs::Pose + + Display geometry_msgs::PoseWithCovarianceStamped + diff --git a/common/tier4_localization_rviz_plugin/src/pose_with_covariance_history/pose_with_covariance_history_display.cpp b/common/tier4_localization_rviz_plugin/src/pose_with_covariance_history/pose_with_covariance_history_display.cpp new file mode 100644 index 0000000000000..7708e6efaa104 --- /dev/null +++ b/common/tier4_localization_rviz_plugin/src/pose_with_covariance_history/pose_with_covariance_history_display.cpp @@ -0,0 +1,285 @@ +// 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 "pose_with_covariance_history_display.hpp" + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include + +namespace rviz_plugins +{ +PoseWithCovarianceHistory::PoseWithCovarianceHistory() : last_stamp_(0, 0, RCL_ROS_TIME) +{ + property_buffer_size_ = new rviz_common::properties::IntProperty("Buffer Size", 100, "", this); + + property_path_view_ = new rviz_common::properties::BoolProperty("Path", true, "", this); + property_shape_type_ = new rviz_common::properties::EnumProperty( + "Shape Type", "Line", "", property_path_view_, SLOT(updateShapeType())); + property_shape_type_->addOption("Line", 0); + property_shape_type_->addOption("Arrow", 1); + + property_line_width_ = + new rviz_common::properties::FloatProperty("Width", 0.1, "", property_shape_type_); + property_line_alpha_ = + new rviz_common::properties::FloatProperty("Alpha", 1.0, "", property_shape_type_); + property_line_alpha_->setMin(0.0); + property_line_alpha_->setMax(1.0); + property_line_color_ = + new rviz_common::properties::ColorProperty("Color", Qt::white, "", property_shape_type_); + + property_arrow_shaft_length_ = + new rviz_common::properties::FloatProperty("Shaft Length", 0.3, "", property_shape_type_); + property_arrow_shaft_diameter_ = + new rviz_common::properties::FloatProperty("Shaft diameter", 0.15, "", property_shape_type_); + property_arrow_head_length_ = + new rviz_common::properties::FloatProperty("Head Length", 0.2, "", property_shape_type_); + property_arrow_head_diameter_ = + new rviz_common::properties::FloatProperty("Head diameter", 0.3, "", property_shape_type_); + property_arrow_alpha_ = + new rviz_common::properties::FloatProperty("Alpha", 1.0, "", property_shape_type_); + property_arrow_alpha_->setMin(0.0); + property_arrow_alpha_->setMax(1.0); + property_arrow_color_ = + new rviz_common::properties::ColorProperty("Color", Qt::white, "", property_shape_type_); + + property_sphere_view_ = new rviz_common::properties::BoolProperty("Covariance", true, "", this); + property_sphere_scale_ = + new rviz_common::properties::FloatProperty("Scale", 1.0, "", property_sphere_view_); + property_sphere_alpha_ = + new rviz_common::properties::FloatProperty("Alpha", 0.5, "", property_sphere_view_); + property_sphere_alpha_->setMin(0.0); + property_sphere_alpha_->setMax(1.0); + property_sphere_color_ = new rviz_common::properties::ColorProperty( + "Color", QColor(204, 51, 204), "", property_sphere_view_); + + property_buffer_size_->setMin(0); + property_buffer_size_->setMax(10000); + property_line_width_->setMin(0.0); + property_sphere_scale_->setMin(0.0); + property_sphere_scale_->setMax(1000); + property_arrow_shaft_length_->setMin(0.0); + property_arrow_shaft_diameter_->setMin(0.0); + property_arrow_head_length_->setMin(0.0); + property_arrow_head_diameter_->setMin(0.0); +} + +PoseWithCovarianceHistory::~PoseWithCovarianceHistory() = default; // Properties are deleted by Qt + +void PoseWithCovarianceHistory::onInitialize() +{ + MFDClass::onInitialize(); + lines_ = std::make_unique(scene_manager_, scene_node_); +} + +void PoseWithCovarianceHistory::onEnable() +{ + subscribe(); +} + +void PoseWithCovarianceHistory::onDisable() +{ + unsubscribe(); +} + +void PoseWithCovarianceHistory::update(float wall_dt, float ros_dt) +{ + (void)wall_dt; + (void)ros_dt; + + if (!history_.empty()) { + lines_->clear(); + arrows_.clear(); + spheres_.clear(); + updateShapeType(); + updateShapes(); + } +} + +void PoseWithCovarianceHistory::subscribe() +{ + MFDClass::subscribe(); +} + +void PoseWithCovarianceHistory::unsubscribe() +{ + MFDClass::unsubscribe(); + + history_.clear(); + lines_->clear(); + arrows_.clear(); + spheres_.clear(); +} + +void PoseWithCovarianceHistory::updateShapeType() +{ + bool is_line = property_shape_type_->getOptionInt() == 0; + bool is_arrow = property_shape_type_->getOptionInt() == 1; + + property_line_width_->setHidden(!is_line); + property_line_alpha_->setHidden(!is_line); + property_line_color_->setHidden(!is_line); + + property_arrow_shaft_length_->setHidden(!is_arrow); + property_arrow_shaft_diameter_->setHidden(!is_arrow); + property_arrow_head_length_->setHidden(!is_arrow); + property_arrow_head_diameter_->setHidden(!is_arrow); + property_arrow_alpha_->setHidden(!is_arrow); + property_arrow_color_->setHidden(!is_arrow); +} + +void PoseWithCovarianceHistory::processMessage( + const geometry_msgs::msg::PoseWithCovarianceStamped::ConstSharedPtr message) +{ + if ( + !rviz_common::validateFloats(message->pose.pose) || + !rviz_common::validateFloats(message->pose.covariance)) { + setStatus( + rviz_common::properties::StatusProperty::Error, "Topic", + "Message contained invalid floating point values (nans or infs)"); + return; + } + if (target_frame_ != message->header.frame_id) { + history_.clear(); + spheres_.clear(); + target_frame_ = message->header.frame_id; + } + history_.emplace_back(message); + last_stamp_ = message->header.stamp; + updateHistory(); +} + +void PoseWithCovarianceHistory::updateHistory() +{ + const auto buffer_size = static_cast(property_buffer_size_->getInt()); + while (buffer_size < history_.size()) { + history_.pop_front(); + } +} + +void PoseWithCovarianceHistory::updateShapes() +{ + int shape_type = property_shape_type_->getOptionInt(); + Ogre::ColourValue color_line = + rviz_common::properties::qtToOgre(property_line_color_->getColor()); + color_line.a = property_line_alpha_->getFloat(); + Ogre::ColourValue color_sphere = + rviz_common::properties::qtToOgre(property_sphere_color_->getColor()); + color_sphere.a = property_sphere_alpha_->getFloat(); + Ogre::ColourValue color_arrow = + rviz_common::properties::qtToOgre(property_arrow_color_->getColor()); + color_arrow.a = property_arrow_alpha_->getFloat(); + + Ogre::Vector3 line_position; + Ogre::Quaternion line_orientation; + + auto frame_manager = context_->getFrameManager(); + if (!frame_manager->getTransform(target_frame_, last_stamp_, line_position, line_orientation)) { + setMissingTransformToFixedFrame(target_frame_); + return; + } + + setTransformOk(); + lines_->setMaxPointsPerLine(history_.size()); + lines_->setLineWidth(property_line_width_->getFloat()); + lines_->setPosition(line_position); + lines_->setOrientation(line_orientation); + lines_->setColor(color_line.r, color_line.g, color_line.b, color_line.a); + + while (spheres_.size() < history_.size()) { + spheres_.emplace_back(std::make_unique( + rviz_rendering::Shape::Sphere, scene_manager_, scene_node_)); + } + while (arrows_.size() < history_.size()) { + arrows_.emplace_back(std::make_unique(scene_manager_, scene_node_)); + } + + for (size_t i = 0; i < history_.size(); ++i) { + const auto & message = history_[i]; + + Ogre::Vector3 position; + position.x = message->pose.pose.position.x; + position.y = message->pose.pose.position.y; + position.z = message->pose.pose.position.z; + + Ogre::Quaternion orientation; + orientation.w = message->pose.pose.orientation.w; + orientation.x = message->pose.pose.orientation.x; + orientation.y = message->pose.pose.orientation.y; + orientation.z = message->pose.pose.orientation.z; + + Eigen::Matrix3d covariance_3d_map; + covariance_3d_map(0, 0) = message->pose.covariance[0]; + covariance_3d_map(0, 1) = message->pose.covariance[1 + 6 * 0]; + covariance_3d_map(0, 2) = message->pose.covariance[2 + 6 * 0]; + covariance_3d_map(1, 0) = message->pose.covariance[1 + 6 * 0]; + covariance_3d_map(1, 1) = message->pose.covariance[1 + 6 * 1]; + covariance_3d_map(1, 2) = message->pose.covariance[2 + 6 * 1]; + covariance_3d_map(2, 0) = message->pose.covariance[0 + 6 * 2]; + covariance_3d_map(2, 1) = message->pose.covariance[1 + 6 * 2]; + covariance_3d_map(2, 2) = message->pose.covariance[2 + 6 * 2]; + + if (property_sphere_view_->getBool()) { + Eigen::Matrix3d covariance_3d_base_link; + Eigen::Translation3f translation( + message->pose.pose.position.x, message->pose.pose.position.y, + message->pose.pose.position.z); + Eigen::Quaternionf rotation( + message->pose.pose.orientation.w, message->pose.pose.orientation.x, + message->pose.pose.orientation.y, message->pose.pose.orientation.z); + Eigen::Matrix4f pose_matrix4f = (translation * rotation).matrix(); + const Eigen::Matrix3d rot = pose_matrix4f.topLeftCorner<3, 3>().cast(); + covariance_3d_base_link = rot.transpose() * covariance_3d_map * rot; + + auto & sphere = spheres_[i]; + sphere->setPosition(position); + sphere->setOrientation(orientation); + sphere->setColor(color_sphere.r, color_sphere.g, color_sphere.b, color_sphere.a); + sphere->setScale(Ogre::Vector3( + property_sphere_scale_->getFloat() * 2 * std::sqrt(covariance_3d_base_link(0, 0)), + property_sphere_scale_->getFloat() * 2 * std::sqrt(covariance_3d_base_link(1, 1)), + property_sphere_scale_->getFloat() * 2 * std::sqrt(covariance_3d_base_link(2, 2)))); + } + + if (property_path_view_->getBool()) { + if (shape_type == 0) { + lines_->addPoint(position); + } + if (shape_type == 1) { + auto & arrow = arrows_[i]; + arrow->set( + property_arrow_shaft_length_->getFloat(), property_arrow_shaft_diameter_->getFloat(), + property_arrow_head_length_->getFloat(), property_arrow_head_diameter_->getFloat()); + arrow->setPosition(position); + Ogre::Quaternion y90(Ogre::Degree(-90), Ogre::Vector3::UNIT_Y); + arrow->setOrientation(orientation * y90); + arrow->setColor(color_arrow.r, color_arrow.g, color_arrow.b, color_arrow.a); + } + } + } +} + +} // namespace rviz_plugins + +#include +PLUGINLIB_EXPORT_CLASS(rviz_plugins::PoseWithCovarianceHistory, rviz_common::Display) diff --git a/common/tier4_localization_rviz_plugin/src/pose_with_covariance_history/pose_with_covariance_history_display.hpp b/common/tier4_localization_rviz_plugin/src/pose_with_covariance_history/pose_with_covariance_history_display.hpp new file mode 100644 index 0000000000000..172124ba176ee --- /dev/null +++ b/common/tier4_localization_rviz_plugin/src/pose_with_covariance_history/pose_with_covariance_history_display.hpp @@ -0,0 +1,109 @@ +// 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 POSE_WITH_COVARIANCE_HISTORY__POSE_WITH_COVARIANCE_HISTORY_DISPLAY_HPP_ +#define POSE_WITH_COVARIANCE_HISTORY__POSE_WITH_COVARIANCE_HISTORY_DISPLAY_HPP_ + +#include +#include +#include + +#include + +#include +#include +#include +#include + +namespace rviz_rendering +{ +class Shape; +class BillboardLine; +class Arrow; +} // namespace rviz_rendering +namespace rviz_common::properties +{ +class ColorProperty; +class FloatProperty; +class IntProperty; +class BoolProperty; +class EnumProperty; +} // namespace rviz_common::properties + +namespace rviz_plugins +{ +class PoseWithCovarianceHistory +: public rviz_common::MessageFilterDisplay +{ + Q_OBJECT + +public: + PoseWithCovarianceHistory(); + ~PoseWithCovarianceHistory() override; + PoseWithCovarianceHistory(const PoseWithCovarianceHistory &) = delete; + PoseWithCovarianceHistory(const PoseWithCovarianceHistory &&) = delete; + PoseWithCovarianceHistory & operator=(const PoseWithCovarianceHistory &) = delete; + PoseWithCovarianceHistory & operator=(const PoseWithCovarianceHistory &&) = delete; + +protected: + void onInitialize() override; + void onEnable() override; + void onDisable() override; + void update(float wall_dt, float ros_dt) override; + +private Q_SLOTS: + void updateShapeType(); + +private: + void subscribe() override; + void unsubscribe() override; + void processMessage( + const geometry_msgs::msg::PoseWithCovarianceStamped::ConstSharedPtr message) override; + void updateHistory(); + void updateShapes(); + + std::string target_frame_; + std::deque history_; + std::unique_ptr lines_; + std::vector> spheres_; + std::vector> arrows_; + rclcpp::Time last_stamp_; + + rviz_common::properties::BoolProperty * property_line_view_; + rviz_common::properties::FloatProperty * property_line_width_; + rviz_common::properties::FloatProperty * property_line_alpha_; + rviz_common::properties::ColorProperty * property_line_color_; + rviz_common::properties::IntProperty * property_buffer_size_; + + rviz_common::properties::BoolProperty * property_sphere_view_; + rviz_common::properties::FloatProperty * property_sphere_width_; + rviz_common::properties::FloatProperty * property_sphere_alpha_; + rviz_common::properties::ColorProperty * property_sphere_color_; + rviz_common::properties::FloatProperty * property_sphere_scale_; + + rviz_common::properties::BoolProperty * property_arrow_view_; + rviz_common::properties::FloatProperty * property_arrow_shaft_length_; + rviz_common::properties::FloatProperty * property_arrow_shaft_diameter_; + rviz_common::properties::FloatProperty * property_arrow_head_length_; + rviz_common::properties::FloatProperty * property_arrow_head_diameter_; + rviz_common::properties::FloatProperty * property_arrow_alpha_; + rviz_common::properties::ColorProperty * property_arrow_color_; + + rviz_common::properties::BoolProperty * property_path_view_; + rviz_common::properties::EnumProperty * property_shape_type_; +}; + +} // namespace rviz_plugins + +#endif // POSE_WITH_COVARIANCE_HISTORY__POSE_WITH_COVARIANCE_HISTORY_DISPLAY_HPP_ From 769d6c874c122ddec5c05c6be20d5a1664244bfe Mon Sep 17 00:00:00 2001 From: TaikiYamada4 <129915538+TaikiYamada4@users.noreply.github.com> Date: Thu, 29 Aug 2024 16:53:18 +0900 Subject: [PATCH 101/169] chore(gnss_poser): add autoware prefix to gnss_poser (#8323) * add "autoware" prefix to gnss_poser Signed-off-by: TaikiYamada4 * Fixed typos and left overs Signed-off-by: TaikiYamada4 * Fixed directory mistake Signed-off-by: TaikiYamada4 * style(pre-commit): autofix * Removed gnss_poser line from CODEOWNERS Signed-off-by: TaikiYamada4 --------- Signed-off-by: TaikiYamada4 Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Yi-Hsiang Fang (Vivid) <146902905+vividf@users.noreply.github.com> --- .github/CODEOWNERS | 2 +- .../{gnss_poser => autoware_gnss_poser}/CMakeLists.txt | 6 +++--- sensing/{gnss_poser => autoware_gnss_poser}/README.md | 2 +- .../config/gnss_poser.param.yaml | 0 .../include/autoware}/gnss_poser/gnss_poser_core.hpp | 10 +++++----- .../launch/gnss_poser.launch.xml | 4 ++-- .../{gnss_poser => autoware_gnss_poser}/package.xml | 4 ++-- .../schema/gnss_poser.schema.json | 0 .../src/gnss_poser_core.cpp | 8 ++++---- 9 files changed, 18 insertions(+), 18 deletions(-) rename sensing/{gnss_poser => autoware_gnss_poser}/CMakeLists.txt (84%) rename sensing/{gnss_poser => autoware_gnss_poser}/README.md (97%) rename sensing/{gnss_poser => autoware_gnss_poser}/config/gnss_poser.param.yaml (100%) rename sensing/{gnss_poser/include => autoware_gnss_poser/include/autoware}/gnss_poser/gnss_poser_core.hpp (94%) rename sensing/{gnss_poser => autoware_gnss_poser}/launch/gnss_poser.launch.xml (79%) rename sensing/{gnss_poser => autoware_gnss_poser}/package.xml (94%) rename sensing/{gnss_poser => autoware_gnss_poser}/schema/gnss_poser.schema.json (100%) rename sensing/{gnss_poser => autoware_gnss_poser}/src/gnss_poser_core.cpp (98%) diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS index 89b9fa0eb8f38..8e285671ec21b 100644 --- a/.github/CODEOWNERS +++ b/.github/CODEOWNERS @@ -199,6 +199,7 @@ planning/sampling_based_planner/autoware_bezier_sampler/** maxime.clement@tier4. planning/sampling_based_planner/autoware_frenet_planner/** maxime.clement@tier4.jp planning/sampling_based_planner/autoware_path_sampler/** maxime.clement@tier4.jp planning/sampling_based_planner/autoware_sampler_common/** maxime.clement@tier4.jp +sensing/autoware_gnss_poser/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp sensing/autoware_image_diagnostics/** dai.nguyen@tier4.jp yoshi.ri@tier4.jp sensing/autoware_imu_corrector/** taiki.yamada@tier4.jp yamato.ando@tier4.jp sensing/autoware_image_transport_decompressor/** kenzo.lobos@tier4.jp yukihiro.saito@tier4.jp @@ -208,7 +209,6 @@ sensing/autoware_radar_scan_to_pointcloud2/** satoshi.tanaka@tier4.jp shunsuke.m sensing/autoware_radar_static_pointcloud_filter/** satoshi.tanaka@tier4.jp shunsuke.miura@tier4.jp taekjin.lee@tier4.jp yoshi.ri@tier4.jp sensing/autoware_radar_threshold_filter/** satoshi.tanaka@tier4.jp shunsuke.miura@tier4.jp taekjin.lee@tier4.jp yoshi.ri@tier4.jp sensing/autoware_radar_tracks_noise_filter/** satoshi.tanaka@tier4.jp shunsuke.miura@tier4.jp taekjin.lee@tier4.jp yoshi.ri@tier4.jp -sensing/gnss_poser/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp sensing/imu_corrector/** taiki.yamada@tier4.jp yamato.ando@tier4.jp sensing/livox/autoware_livox_tag_filter/** kenzo.lobos@tier4.jp ryohsuke.mitsudome@tier4.jp sensing/vehicle_velocity_converter/** ryu.yamamoto@tier4.jp diff --git a/sensing/gnss_poser/CMakeLists.txt b/sensing/autoware_gnss_poser/CMakeLists.txt similarity index 84% rename from sensing/gnss_poser/CMakeLists.txt rename to sensing/autoware_gnss_poser/CMakeLists.txt index 775cde514945f..6baf468e289f3 100644 --- a/sensing/gnss_poser/CMakeLists.txt +++ b/sensing/autoware_gnss_poser/CMakeLists.txt @@ -1,5 +1,5 @@ cmake_minimum_required(VERSION 3.14) -project(gnss_poser) +project(autoware_gnss_poser) find_package(autoware_cmake REQUIRED) autoware_package() @@ -16,7 +16,7 @@ find_library(GeographicLib_LIBRARIES ) set(GNSS_POSER_HEADERS - include/gnss_poser/gnss_poser_core.hpp + include/autoware/gnss_poser/gnss_poser_core.hpp ) ament_auto_add_library(gnss_poser_node SHARED @@ -29,7 +29,7 @@ target_link_libraries(gnss_poser_node ) rclcpp_components_register_node(gnss_poser_node - PLUGIN "gnss_poser::GNSSPoser" + PLUGIN "autoware::gnss_poser::GNSSPoser" EXECUTABLE gnss_poser ) diff --git a/sensing/gnss_poser/README.md b/sensing/autoware_gnss_poser/README.md similarity index 97% rename from sensing/gnss_poser/README.md rename to sensing/autoware_gnss_poser/README.md index 6799a1f79ae89..9619038492af0 100644 --- a/sensing/gnss_poser/README.md +++ b/sensing/autoware_gnss_poser/README.md @@ -33,7 +33,7 @@ If the transformation from `base_link` to the antenna cannot be obtained, it out ### Core Parameters -{{ json_to_markdown("sensing/gnss_poser/schema/gnss_poser.schema.json") }} +{{ json_to_markdown("sensing/autoware_gnss_poser/schema/gnss_poser.schema.json") }} ## Assumptions / Known limits diff --git a/sensing/gnss_poser/config/gnss_poser.param.yaml b/sensing/autoware_gnss_poser/config/gnss_poser.param.yaml similarity index 100% rename from sensing/gnss_poser/config/gnss_poser.param.yaml rename to sensing/autoware_gnss_poser/config/gnss_poser.param.yaml diff --git a/sensing/gnss_poser/include/gnss_poser/gnss_poser_core.hpp b/sensing/autoware_gnss_poser/include/autoware/gnss_poser/gnss_poser_core.hpp similarity index 94% rename from sensing/gnss_poser/include/gnss_poser/gnss_poser_core.hpp rename to sensing/autoware_gnss_poser/include/autoware/gnss_poser/gnss_poser_core.hpp index 033abf04f1255..88a4a87fa636e 100644 --- a/sensing/gnss_poser/include/gnss_poser/gnss_poser_core.hpp +++ b/sensing/autoware_gnss_poser/include/autoware/gnss_poser/gnss_poser_core.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 GNSS_POSER__GNSS_POSER_CORE_HPP_ -#define GNSS_POSER__GNSS_POSER_CORE_HPP_ +#ifndef AUTOWARE__GNSS_POSER__GNSS_POSER_CORE_HPP_ +#define AUTOWARE__GNSS_POSER__GNSS_POSER_CORE_HPP_ #include #include @@ -39,7 +39,7 @@ #include -namespace gnss_poser +namespace autoware::gnss_poser { class GNSSPoser : public rclcpp::Node { @@ -101,6 +101,6 @@ class GNSSPoser : public rclcpp::Node msg_gnss_ins_orientation_stamped_; int gnss_pose_pub_method_; }; -} // namespace gnss_poser +} // namespace autoware::gnss_poser -#endif // GNSS_POSER__GNSS_POSER_CORE_HPP_ +#endif // AUTOWARE__GNSS_POSER__GNSS_POSER_CORE_HPP_ diff --git a/sensing/gnss_poser/launch/gnss_poser.launch.xml b/sensing/autoware_gnss_poser/launch/gnss_poser.launch.xml similarity index 79% rename from sensing/gnss_poser/launch/gnss_poser.launch.xml rename to sensing/autoware_gnss_poser/launch/gnss_poser.launch.xml index c33f9a7589812..ef2e2661a16c0 100755 --- a/sensing/gnss_poser/launch/gnss_poser.launch.xml +++ b/sensing/autoware_gnss_poser/launch/gnss_poser.launch.xml @@ -1,13 +1,13 @@ - + - + diff --git a/sensing/gnss_poser/package.xml b/sensing/autoware_gnss_poser/package.xml similarity index 94% rename from sensing/gnss_poser/package.xml rename to sensing/autoware_gnss_poser/package.xml index e43013cfc37ec..7d7fb27777fed 100644 --- a/sensing/gnss_poser/package.xml +++ b/sensing/autoware_gnss_poser/package.xml @@ -1,9 +1,9 @@ - gnss_poser + autoware_gnss_poser 1.0.0 - The ROS 2 gnss_poser package + The ROS 2 autoware_gnss_poser package Yamato Ando Masahiro Sakamoto Kento Yabuuchi diff --git a/sensing/gnss_poser/schema/gnss_poser.schema.json b/sensing/autoware_gnss_poser/schema/gnss_poser.schema.json similarity index 100% rename from sensing/gnss_poser/schema/gnss_poser.schema.json rename to sensing/autoware_gnss_poser/schema/gnss_poser.schema.json diff --git a/sensing/gnss_poser/src/gnss_poser_core.cpp b/sensing/autoware_gnss_poser/src/gnss_poser_core.cpp similarity index 98% rename from sensing/gnss_poser/src/gnss_poser_core.cpp rename to sensing/autoware_gnss_poser/src/gnss_poser_core.cpp index 4cd3661edeb50..f4047af75dada 100644 --- a/sensing/gnss_poser/src/gnss_poser_core.cpp +++ b/sensing/autoware_gnss_poser/src/gnss_poser_core.cpp @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "gnss_poser/gnss_poser_core.hpp" +#include "autoware/gnss_poser/gnss_poser_core.hpp" #include #include @@ -24,7 +24,7 @@ #include #include -namespace gnss_poser +namespace autoware::gnss_poser { GNSSPoser::GNSSPoser(const rclcpp::NodeOptions & node_options) : rclcpp::Node("gnss_poser", node_options), @@ -411,7 +411,7 @@ void GNSSPoser::publish_tf( tf2_broadcaster_.sendTransform(transform_stamped); } -} // namespace gnss_poser +} // namespace autoware::gnss_poser #include -RCLCPP_COMPONENTS_REGISTER_NODE(gnss_poser::GNSSPoser) +RCLCPP_COMPONENTS_REGISTER_NODE(autoware::gnss_poser::GNSSPoser) From 67d5e68e615ef882944902a907b6329820cfce57 Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Thu, 29 Aug 2024 17:09:22 +0900 Subject: [PATCH 102/169] feat(raw_vehicle_cmd_converter): set convert_actuation_to_steering_status false by default (#8668) Signed-off-by: kosuke55 --- vehicle/autoware_raw_vehicle_cmd_converter/src/node.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/vehicle/autoware_raw_vehicle_cmd_converter/src/node.cpp b/vehicle/autoware_raw_vehicle_cmd_converter/src/node.cpp index 6fb8f4dff44f6..696225db60609 100644 --- a/vehicle/autoware_raw_vehicle_cmd_converter/src/node.cpp +++ b/vehicle/autoware_raw_vehicle_cmd_converter/src/node.cpp @@ -87,7 +87,7 @@ RawVehicleCommandConverterNode::RawVehicleCommandConverterNode( // NOTE: The steering status can be published from the vehicle side or converted in this node. convert_actuation_to_steering_status_ = - declare_parameter("convert_actuation_to_steering_status"); + declare_parameter("convert_actuation_to_steering_status", false); if (convert_actuation_to_steering_status_) { pub_steering_status_ = create_publisher("~/output/steering_status", 1); } else { From ee600a78ba4e9ff49d0969d5e4ef4f2904c3cdad Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Thu, 29 Aug 2024 17:10:55 +0900 Subject: [PATCH 103/169] chore(raw_vehicle_cmd_converter): add maintainer (#8671) Signed-off-by: kosuke55 --- vehicle/autoware_raw_vehicle_cmd_converter/package.xml | 3 +++ 1 file changed, 3 insertions(+) diff --git a/vehicle/autoware_raw_vehicle_cmd_converter/package.xml b/vehicle/autoware_raw_vehicle_cmd_converter/package.xml index 973af0dc112fb..4ed4fbee7ac81 100644 --- a/vehicle/autoware_raw_vehicle_cmd_converter/package.xml +++ b/vehicle/autoware_raw_vehicle_cmd_converter/package.xml @@ -8,6 +8,9 @@ Tanaka Taiki Makoto Kurihara Sho Iwasawa + Kosuke Takeuchi + Takayuki Murooka + Kyoichi Sugahara Apache License 2.0 From 0cb309e3b6c3231ab30ba02fd1e02d2948766c56 Mon Sep 17 00:00:00 2001 From: kobayu858 <129580202+kobayu858@users.noreply.github.com> Date: Thu, 29 Aug 2024 17:20:20 +0900 Subject: [PATCH 104/169] fix(autoware_behavior_velocity_virtual_traffic_light_module): fix unusedFunction (#8670) fix:unusedFunction Signed-off-by: kobayu858 --- .../src/debug.cpp | 20 ------------------- 1 file changed, 20 deletions(-) diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/src/debug.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/src/debug.cpp index 1ad24cb48409d..2be77b2731fe0 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/src/debug.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/src/debug.cpp @@ -30,26 +30,6 @@ using namespace std::literals::string_literals; namespace autoware::behavior_velocity_planner { -namespace -{ -[[maybe_unused]] autoware::universe_utils::LinearRing3d createCircle( - const autoware::universe_utils::Point3d & p, const double radius, const size_t num_points = 50) -{ - autoware::universe_utils::LinearRing3d ring; // clockwise and closed - - for (size_t i = 0; i < num_points; ++i) { - const double theta = i * (2 * autoware::universe_utils::pi / num_points); - const double x = p.x() + radius * std::sin(theta); - const double y = p.y() + radius * std::cos(theta); - ring.emplace_back(x, y, p.z()); - } - - // Make closed - ring.emplace_back(p.x(), p.y() + radius, p.z()); - - return ring; -} -} // namespace autoware::motion_utils::VirtualWalls VirtualTrafficLightModule::createVirtualWalls() { From 1827117dd786938be38891f4bd3647b8d5ff32a1 Mon Sep 17 00:00:00 2001 From: "awf-autoware-bot[bot]" <94889083+awf-autoware-bot[bot]@users.noreply.github.com> Date: Thu, 29 Aug 2024 08:25:02 +0000 Subject: [PATCH 105/169] chore: update CODEOWNERS (#8434) Signed-off-by: github-actions[bot] <41898282+github-actions[bot]@users.noreply.github.com> Co-authored-by: github-actions --- .github/CODEOWNERS | 28 ++++++++++++++-------------- 1 file changed, 14 insertions(+), 14 deletions(-) diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS index 8e285671ec21b..85f0c68a35f29 100644 --- a/.github/CODEOWNERS +++ b/.github/CODEOWNERS @@ -79,30 +79,31 @@ launch/tier4_sensing_launch/** yukihiro.saito@tier4.jp launch/tier4_simulator_launch/** keisuke.shima@tier4.jp taiki.tanaka@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp launch/tier4_system_launch/** fumihito.ito@tier4.jp tetsuhiro.kawaguchi@tier4.jp launch/tier4_vehicle_launch/** yukihiro.saito@tier4.jp +localization/autoware_geo_pose_projector/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp +localization/autoware_gyro_odometer/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp localization/autoware_landmark_based_localizer/autoware_ar_tag_based_localizer/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp localization/autoware_landmark_based_localizer/autoware_landmark_manager/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp +localization/autoware_landmark_based_localizer/autoware_lidar_marker_localizer/** shintaro.sakoda@tier4.jp yamato.ando@tier4.jp +localization/autoware_localization_error_monitor/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp localization/autoware_pose2twist/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp localization/autoware_pose_covariance_modifier/** melike@leodrive.ai +localization/autoware_pose_estimator_arbiter/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp +localization/autoware_pose_instability_detector/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp localization/autoware_stop_filter/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp localization/autoware_twist2accel/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp localization/ekf_localizer/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp takamasa.horibe@tier4.jp takeshi.ishita@tier4.jp yamato.ando@tier4.jp -localization/autoware_geo_pose_projector/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp -localization/autoware_gyro_odometer/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp -localization/autoware_localization_error_monitor/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp localization/localization_util/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp localization/ndt_scan_matcher/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp -localization/pose_estimator_arbiter/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp localization/pose_initializer/** anh.nguyen.2@tier4.jp isamu.takagi@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp -localization/autoware_pose_instability_detector/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp localization/yabloc/yabloc_common/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp localization/yabloc/yabloc_image_processing/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp localization/yabloc/yabloc_monitor/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp localization/yabloc/yabloc_particle_filter/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp localization/yabloc/yabloc_pose_initializer/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp map/autoware_map_height_fitter/** anh.nguyen.2@tier4.jp isamu.takagi@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp -map/map_loader/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp map/autoware_map_projection_loader/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp map/autoware_map_tf_generator/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp +map/map_loader/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp map/util/lanelet2_map_preprocessor/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp perception/autoware_bytetrack/** manato.hirabayashi@tier4.jp yoshi.ri@tier4.jp perception/autoware_cluster_merger/** dai.nguyen@tier4.jp shunsuke.miura@tier4.jp yukihiro.saito@tier4.jp @@ -134,7 +135,7 @@ perception/autoware_raindrop_cluster_filter/** dai.nguyen@tier4.jp yoshi.ri@tier perception/autoware_shape_estimation/** kcolak@leodrive.ai yoshi.ri@tier4.jp yukihiro.saito@tier4.jp perception/autoware_simple_object_merger/** satoshi.tanaka@tier4.jp shunsuke.miura@tier4.jp yoshi.ri@tier4.jp perception/autoware_tensorrt_classifier/** kotaro.uetake@tier4.jp shunsuke.miura@tier4.jp -perception/autoware_tensorrt_yolox/** dan.umeda@tier4.jp manato.hirabayashi@tier4.jp kotaro.uetake@tier4.jp +perception/autoware_tensorrt_yolox/** dan.umeda@tier4.jp kotaro.uetake@tier4.jp manato.hirabayashi@tier4.jp perception/autoware_tracking_object_merger/** taekjin.lee@tier4.jp yoshi.ri@tier4.jp yukihiro.saito@tier4.jp perception/autoware_traffic_light_arbiter/** kenzo.lobos@tier4.jp shunsuke.miura@tier4.jp perception/autoware_traffic_light_classifier/** shunsuke.miura@tier4.jp tao.zhong@tier4.jp yukihiro.saito@tier4.jp @@ -177,7 +178,7 @@ planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_ planning/behavior_velocity_planner/autoware_behavior_velocity_blind_spot_module/** mamoru.sobue@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/** kyoichi.sugahara@tier4.jp mamoru.sobue@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp yuki.takagi@tier4.jp planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/** kyoichi.sugahara@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp -planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/** kyoichi.sugahara@tier4.jp mamoru.sobue@tier4.jp shumpei.wakabayashi@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp +planning/behavior_velocity_planner/autoware_behavior_velocity_intersection_module/** kyoichi.sugahara@tier4.jp mamoru.sobue@tier4.jp shumpei.wakabayashi@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp yukinari.hisaki.2@tier4.jp planning/behavior_velocity_planner/autoware_behavior_velocity_no_drivable_lane_module/** ahmed.ebrahim@leodrive.ai fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp planning/behavior_velocity_planner/autoware_behavior_velocity_no_stopping_area_module/** kosuke.takeuchi@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp planning/behavior_velocity_planner/autoware_behavior_velocity_occlusion_spot_module/** shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp tomoya.kimura@tier4.jp @@ -191,8 +192,8 @@ planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_modu planning/behavior_velocity_planner/autoware_behavior_velocity_virtual_traffic_light_module/** kosuke.takeuchi@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp planning/behavior_velocity_planner/autoware_behavior_velocity_walkway_module/** satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp planning/motion_velocity_planner/autoware_motion_velocity_dynamic_obstacle_stop_module/** mamoru.sobue@tier4.jp maxime.clement@tier4.jp -planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/** maxime.clement@tier4.jp -planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/** maxime.clement@tier4.jp shumpei.wakabayashi@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp +planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/** alqudah.mohammad@tier4.jp maxime.clement@tier4.jp +planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/** mamoru.sobue@tier4.jp maxime.clement@tier4.jp shumpei.wakabayashi@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp planning/motion_velocity_planner/autoware_motion_velocity_planner_common/** maxime.clement@tier4.jp planning/motion_velocity_planner/autoware_motion_velocity_planner_node/** maxime.clement@tier4.jp planning/sampling_based_planner/autoware_bezier_sampler/** maxime.clement@tier4.jp @@ -201,15 +202,14 @@ planning/sampling_based_planner/autoware_path_sampler/** maxime.clement@tier4.jp planning/sampling_based_planner/autoware_sampler_common/** maxime.clement@tier4.jp sensing/autoware_gnss_poser/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp sensing/autoware_image_diagnostics/** dai.nguyen@tier4.jp yoshi.ri@tier4.jp -sensing/autoware_imu_corrector/** taiki.yamada@tier4.jp yamato.ando@tier4.jp sensing/autoware_image_transport_decompressor/** kenzo.lobos@tier4.jp yukihiro.saito@tier4.jp +sensing/autoware_imu_corrector/** taiki.yamada@tier4.jp yamato.ando@tier4.jp sensing/autoware_pcl_extensions/** david.wong@tier4.jp kenzo.lobos@tier4.jp ryu.yamamoto@tier4.jp sensing/autoware_pointcloud_preprocessor/** abrahammonrroy@yahoo.com dai.nguyen@tier4.jp david.wong@tier4.jp kenzo.lobos@tier4.jp kyoichi.sugahara@tier4.jp melike@leodrive.ai shunsuke.miura@tier4.jp yihsiang.fang@tier4.jp yoshi.ri@tier4.jp yukihiro.saito@tier4.jp sensing/autoware_radar_scan_to_pointcloud2/** satoshi.tanaka@tier4.jp shunsuke.miura@tier4.jp taekjin.lee@tier4.jp yoshi.ri@tier4.jp sensing/autoware_radar_static_pointcloud_filter/** satoshi.tanaka@tier4.jp shunsuke.miura@tier4.jp taekjin.lee@tier4.jp yoshi.ri@tier4.jp sensing/autoware_radar_threshold_filter/** satoshi.tanaka@tier4.jp shunsuke.miura@tier4.jp taekjin.lee@tier4.jp yoshi.ri@tier4.jp sensing/autoware_radar_tracks_noise_filter/** satoshi.tanaka@tier4.jp shunsuke.miura@tier4.jp taekjin.lee@tier4.jp yoshi.ri@tier4.jp -sensing/imu_corrector/** taiki.yamada@tier4.jp yamato.ando@tier4.jp sensing/livox/autoware_livox_tag_filter/** kenzo.lobos@tier4.jp ryohsuke.mitsudome@tier4.jp sensing/vehicle_velocity_converter/** ryu.yamamoto@tier4.jp simulator/autoware_carla_interface/** maxime.clement@tier4.jp mradityagio@gmail.com @@ -219,10 +219,10 @@ simulator/learning_based_vehicle_model/** maxime.clement@tier4.jp nagy.tomas@tie simulator/simple_planning_simulator/** mamoru.sobue@tier4.jp maxime.clement@tier4.jp takamasa.horibe@tier4.jp temkei.kem@tier4.jp tomoya.kimura@tier4.jp zulfaqar.azmi@tier4.jp simulator/vehicle_door_simulator/** isamu.takagi@tier4.jp system/autoware_component_monitor/** memin@leodrive.ai +system/autoware_default_adapi/** isamu.takagi@tier4.jp ryohsuke.mitsudome@tier4.jp yukihiro.saito@tier4.jp system/autoware_processing_time_checker/** kosuke.takeuchi@tier4.jp takayuki.murooka@tier4.jp system/bluetooth_monitor/** fumihito.ito@tier4.jp system/component_state_monitor/** isamu.takagi@tier4.jp -system/autoware_default_adapi/** isamu.takagi@tier4.jp ryohsuke.mitsudome@tier4.jp yukihiro.saito@tier4.jp system/default_ad_api_helpers/ad_api_adaptors/** isamu.takagi@tier4.jp ryohsuke.mitsudome@tier4.jp yukihiro.saito@tier4.jp system/default_ad_api_helpers/ad_api_visualizers/** isamu.takagi@tier4.jp ryohsuke.mitsudome@tier4.jp yukihiro.saito@tier4.jp system/default_ad_api_helpers/automatic_pose_initializer/** isamu.takagi@tier4.jp ryohsuke.mitsudome@tier4.jp yukihiro.saito@tier4.jp @@ -244,7 +244,7 @@ system/velodyne_monitor/** fumihito.ito@tier4.jp tools/reaction_analyzer/** berkay@leodrive.ai vehicle/autoware_accel_brake_map_calibrator/** eiki.nagata.2@tier4.jp taiki.tanaka@tier4.jp takeshi.miura@tier4.jp tomoya.kimura@tier4.jp vehicle/autoware_external_cmd_converter/** eiki.nagata.2@tier4.jp takamasa.horibe@tier4.jp -vehicle/autoware_raw_vehicle_cmd_converter/** makoto.kurihara@tier4.jp sho.iwasawa.2@tier4.jp taiki.tanaka@tier4.jp takamasa.horibe@tier4.jp +vehicle/autoware_raw_vehicle_cmd_converter/** kosuke.takeuchi@tier4.jp kyoichi.sugahara@tier4.jp makoto.kurihara@tier4.jp sho.iwasawa.2@tier4.jp taiki.tanaka@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp vehicle/autoware_steer_offset_estimator/** taiki.tanaka@tier4.jp vehicle/autoware_vehicle_info_utils/** shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp tomoya.kimura@tier4.jp From fb6fd8d82a365ee12157670dce8db3e7ba93659f Mon Sep 17 00:00:00 2001 From: Hayate TOBA <105347690+bathteayo@users.noreply.github.com> Date: Thu, 29 Aug 2024 17:46:15 +0900 Subject: [PATCH 106/169] fix(default_ad_api): fix unusedFunction (#8581) * fix: unusedFunction Signed-off-by: bathteayo <105347690+bathteayo@users.noreply.github.com> * Revert "fix: unusedFunction" This reverts commit c70a36d4d29668f02dae9416f202ccd05abee552. Signed-off-by: bathteayo <105347690+bathteayo@users.noreply.github.com> * fix: unusedFunction Signed-off-by: bathteayo <105347690+bathteayo@users.noreply.github.com> --------- Signed-off-by: bathteayo <105347690+bathteayo@users.noreply.github.com> Co-authored-by: kobayu858 <129580202+kobayu858@users.noreply.github.com> --- system/autoware_default_adapi/src/utils/topics.hpp | 2 ++ 1 file changed, 2 insertions(+) diff --git a/system/autoware_default_adapi/src/utils/topics.hpp b/system/autoware_default_adapi/src/utils/topics.hpp index 6018abb877285..e0f57de89bac3 100644 --- a/system/autoware_default_adapi/src/utils/topics.hpp +++ b/system/autoware_default_adapi/src/utils/topics.hpp @@ -23,12 +23,14 @@ namespace autoware::default_adapi::utils { +// cppcheck-suppress-begin unusedFunction template MsgT ignore_stamp(MsgT msg) { msg.stamp = rclcpp::Time(0, 0); return msg; }; +// cppcheck-suppress-end unusedFunction template void notify(PubT & pub, std::optional & prev, const MsgT & curr, FuncT && ignore) From 7e4cd9d40bbd0f10a60985b3e8481e7ef04af0b2 Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Thu, 29 Aug 2024 23:42:05 +0900 Subject: [PATCH 107/169] fix(raw_vehicle_cmd_converter): fix null check (#8677) Signed-off-by: kosuke55 --- vehicle/autoware_raw_vehicle_cmd_converter/src/node.cpp | 9 +++++---- 1 file changed, 5 insertions(+), 4 deletions(-) diff --git a/vehicle/autoware_raw_vehicle_cmd_converter/src/node.cpp b/vehicle/autoware_raw_vehicle_cmd_converter/src/node.cpp index 696225db60609..0530840655816 100644 --- a/vehicle/autoware_raw_vehicle_cmd_converter/src/node.cpp +++ b/vehicle/autoware_raw_vehicle_cmd_converter/src/node.cpp @@ -99,8 +99,9 @@ RawVehicleCommandConverterNode::RawVehicleCommandConverterNode( // NOTE: some vehicles do not publish actuation status. To handle this, subscribe only when the // option is specified. - need_to_subscribe_actuation_status_ = - convert_actuation_to_steering_status_ || convert_steer_cmd_method_.value() == "vgr"; + const bool use_vgr = + convert_steer_cmd_method_.has_value() && convert_steer_cmd_method_.value() == "vgr"; + need_to_subscribe_actuation_status_ = convert_actuation_to_steering_status_ || use_vgr; if (need_to_subscribe_actuation_status_) { sub_actuation_status_ = create_subscription( "~/input/actuation_status", 1, @@ -119,7 +120,7 @@ RawVehicleCommandConverterNode::RawVehicleCommandConverterNode( void RawVehicleCommandConverterNode::publishActuationCmd() { - if (!current_twist_ptr_ || !control_cmd_ptr_ || !current_steer_ptr_ || !actuation_status_ptr_) { + if (!current_twist_ptr_ || !control_cmd_ptr_ || !current_steer_ptr_) { RCLCPP_WARN_EXPRESSION( get_logger(), is_debugging_, "some pointers are null: %s, %s, %s", !current_twist_ptr_ ? "twist" : "", !control_cmd_ptr_ ? "cmd" : "", @@ -270,7 +271,7 @@ void RawVehicleCommandConverterNode::onActuationStatus( { actuation_status_ptr_ = msg; - if (!convert_actuation_to_steering_status_) { + if (!convert_actuation_to_steering_status_ || convert_steer_cmd_method_.has_value()) { return; } From 21ce55f425ebb3a03f50fd179a68f2410a45f641 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Fri, 30 Aug 2024 02:04:56 +0900 Subject: [PATCH 108/169] feat(traffic_light): add dilemma_zone_plotter.py (#8638) * feat(traffic_light): add dilemma_zone_plotter.py Signed-off-by: Takayuki Murooka * fix typo Signed-off-by: Takayuki Murooka * fix typo Signed-off-by: Takayuki Murooka --------- Signed-off-by: Takayuki Murooka --- .../CMakeLists.txt | 5 + .../scripts/dilemma_zone_plotter.py | 116 ++++++++++++++++++ 2 files changed, 121 insertions(+) create mode 100644 planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/scripts/dilemma_zone_plotter.py diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/CMakeLists.txt b/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/CMakeLists.txt index 60cc9f93a02a5..db5b02916a103 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/CMakeLists.txt +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/CMakeLists.txt @@ -12,3 +12,8 @@ ament_auto_add_library(${PROJECT_NAME} SHARED ) ament_auto_package(INSTALL_TO_SHARE config) + +install(PROGRAMS + scripts/dilemma_zone_plotter.py + DESTINATION lib/${PROJECT_NAME} +) diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/scripts/dilemma_zone_plotter.py b/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/scripts/dilemma_zone_plotter.py new file mode 100644 index 0000000000000..55bfbeff893b1 --- /dev/null +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/scripts/dilemma_zone_plotter.py @@ -0,0 +1,116 @@ +#!/usr/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 +import os + +from ament_index_python.packages import get_package_share_directory +import matplotlib.pyplot as plt +import numpy as np +import yaml + + +def get_params_from_yaml(): + autoware_launch_package_path = get_package_share_directory("autoware_launch") + + # get parameters from traffic light + traffic_light_yaml_file_path = os.path.join( + autoware_launch_package_path, + "config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/traffic_light.param.yaml", + ) + with open(traffic_light_yaml_file_path, "r") as yaml_file: + params = yaml.safe_load(yaml_file) + yellow_lamp_period = params["/**"]["ros__parameters"]["traffic_light"]["yellow_lamp_period"] + + # get parameters from behavior velocity planner + behavior_vel_yaml_file_path = os.path.join( + autoware_launch_package_path, + "config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/behavior_velocity_planner.param.yaml", + ) + with open(behavior_vel_yaml_file_path, "r") as yaml_file: + params = yaml.safe_load(yaml_file) + max_accel = params["/**"]["ros__parameters"]["max_accel"] + delay_response_time = params["/**"]["ros__parameters"]["delay_response_time"] + + return yellow_lamp_period, max_accel, delay_response_time + + +def plot(max_ego_vel, params): + yellow_lamp_period, max_accel, delay_response_time = params + + # create data to plot + ego_vel = np.linspace(0, round(max_ego_vel), 100) + moving_distance_during_yellow_light = yellow_lamp_period * ego_vel + stop_distance = delay_response_time * ego_vel - ego_vel**2 / (2 * max_accel) + + # plot + fig, ax = plt.subplots() + ax.plot(moving_distance_during_yellow_light, ego_vel, color="blue") + ax.plot(stop_distance, ego_vel, color="red") + + # label for the plot + ax.set_xlabel("moving distance [m]") + ax.set_ylabel("ego velocity [m/s]") + + # colorize the regions + min_distance = np.minimum(moving_distance_during_yellow_light, stop_distance) + max_distance = np.maximum(moving_distance_during_yellow_light, stop_distance) + ax.fill_betweenx( + ego_vel, + stop_distance, + moving_distance_during_yellow_light, + where=(moving_distance_during_yellow_light >= stop_distance), + facecolor="lightgreen", + interpolate=True, + alpha=0.3, + ) + ax.fill_betweenx( + ego_vel, + stop_distance, + moving_distance_during_yellow_light, + where=(moving_distance_during_yellow_light < stop_distance), + facecolor="orange", + interpolate=True, + alpha=0.3, + ) + ax.fill_betweenx(ego_vel, min_distance, facecolor="yellow", interpolate=True, alpha=0.1) + ax.fill_between(max_distance, ego_vel, facecolor="red", interpolate=True, alpha=0.05) + + # init dot lines for the cursor + hline = ax.axhline(y=0, color="gray", linestyle="--") + vline = ax.axvline(x=0, color="gray", linestyle="--") + + # capture the cursor + def on_mouse_move(event): + if event.inaxes: + hline.set_ydata(event.ydata) + vline.set_xdata(event.xdata) + fig.canvas.draw_idle() + + fig.canvas.mpl_connect("motion_notify_event", on_mouse_move) + + plt.show() + + +if __name__ == "__main__": + parser = argparse.ArgumentParser() + parser.add_argument("-v", "--vel", default=16.7, type=float, help="maximum ego velocity [m/s]") + args = parser.parse_args() + + params = get_params_from_yaml() + + max_ego_vel = args.vel + plot(max_ego_vel, params) From 471d0796ffe2eb4d0ae300194e3ca29899740b35 Mon Sep 17 00:00:00 2001 From: kobayu858 <129580202+kobayu858@users.noreply.github.com> Date: Fri, 30 Aug 2024 10:38:37 +0900 Subject: [PATCH 109/169] fix(autoware_pointcloud_preprocessor): fix unusedFunction (#8673) fix:unusedFunction Signed-off-by: kobayu858 --- .../src/downsample_filter/robin_hood.h | 56 ------------------- 1 file changed, 56 deletions(-) diff --git a/sensing/autoware_pointcloud_preprocessor/src/downsample_filter/robin_hood.h b/sensing/autoware_pointcloud_preprocessor/src/downsample_filter/robin_hood.h index 51f40765e9ea1..dd5cc9d60dd76 100644 --- a/sensing/autoware_pointcloud_preprocessor/src/downsample_filter/robin_hood.h +++ b/sensing/autoware_pointcloud_preprocessor/src/downsample_filter/robin_hood.h @@ -340,12 +340,6 @@ using SizeT = uint64_t; using SizeT = uint32_t; #endif -template -T rotr(T x, unsigned k) -{ - return (x >> k) | (x << (8U * sizeof(T) - k)); -} - // This cast gets rid of warnings like "cast from 'uint8_t*' {aka 'unsigned char*'} to // 'uint64_t*' {aka 'long unsigned int*'} increases required alignment of target type". Use with // care! @@ -1931,13 +1925,6 @@ class Table InsertionState::key_found != idxAndState.second); } - template - iterator emplace_hint(const const_iterator & position, Args &&... args) - { - (void)position; - return emplace(std::forward(args)...).first; - } - template std::pair try_emplace(const key_type & key, Args &&... args) { @@ -2175,14 +2162,6 @@ class Table return 0; } - // reserves space for the specified number of elements. Makes sure the old data fits. - // exactly the same as reserve(c). - void rehash(size_t c) - { - // forces a reserve - reserve(c, true); - } - // reserves space for the specified number of elements. Makes sure the old data fits. // Exactly the same as rehash(c). Use rehash(0) to shrink to fit. void reserve(size_t c) @@ -2191,28 +2170,6 @@ class Table reserve(c, false); } - // If possible reallocates the map to a smaller one. This frees the underlying table. - // Does not do anything if load_factor is too large for decreasing the table's size. - void compact() - { - ROBIN_HOOD_TRACE(this) - auto newSize = InitialNumElements; - while (calcMaxNumElementsAllowed(newSize) < mNumElements && newSize != 0) { - newSize *= 2; - } - if (ROBIN_HOOD_UNLIKELY(newSize == 0)) { - throwOverflowError(); - } - - ROBIN_HOOD_LOG("newSize > mMask + 1: " << newSize << " > " << mMask << " + 1") - - // only actually do anything when the new size is bigger than the old one. This prevents to - // continuously allocate for each reserve() call. - if (newSize < mMask + 1) { - rehashPowerOfTwo(newSize, true); - } - } - size_type size() const noexcept { // NOLINT (modernize-use-nodiscard) ROBIN_HOOD_TRACE(this) @@ -2231,19 +2188,6 @@ class Table return 0 == mNumElements; } - float max_load_factor() const noexcept - { // NOLINT (modernize-use-nodiscard) - ROBIN_HOOD_TRACE(this) - return MaxLoadFactor100 / 100.0F; - } - - // Average number of elements per bucket. Since we allow only 1 per bucket - float load_factor() const noexcept - { // NOLINT (modernize-use-nodiscard) - ROBIN_HOOD_TRACE(this) - return static_cast(size()) / static_cast(mMask + 1); - } - ROBIN_HOOD(NODISCARD) size_t mask() const noexcept { ROBIN_HOOD_TRACE(this) From 6a2b0069e74b25b3bfe26f6149185a174d3fa0ec Mon Sep 17 00:00:00 2001 From: kobayu858 <129580202+kobayu858@users.noreply.github.com> Date: Fri, 30 Aug 2024 10:41:15 +0900 Subject: [PATCH 110/169] fix(autoware_behavior_path_static_obstacle_avoidance_module): fix unusedFunction (#8664) fix:unusedFunction Signed-off-by: kobayu858 --- .../debug.hpp | 5 - .../src/debug.cpp | 97 ------------------- .../src/utils.cpp | 25 ----- 3 files changed, 127 deletions(-) diff --git a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/debug.hpp b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/debug.hpp index b205838896038..29014105dab6e 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/debug.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/debug.hpp @@ -33,15 +33,10 @@ using autoware::behavior_path_planner::ObjectInfo; using autoware::behavior_path_planner::PathShifter; using autoware::behavior_path_planner::ShiftLineArray; -MarkerArray createEgoStatusMarkerArray( - const AvoidancePlanningData & data, const Pose & p_ego, std::string && ns); - MarkerArray createAvoidLineMarkerArray( const AvoidLineArray & shift_lines, std::string && ns, const float & r, const float & g, const float & b, const double & w); -MarkerArray createPredictedVehiclePositions(const PathWithLaneId & path, std::string && ns); - MarkerArray createTargetObjectsMarkerArray(const ObjectDataArray & objects, const std::string & ns); MarkerArray createOtherObjectsMarkerArray( diff --git a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/debug.cpp b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/debug.cpp index fb4e5c7b9a25e..536e350e50bf1 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/debug.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/debug.cpp @@ -231,41 +231,6 @@ MarkerArray unAvoidableObjectsMarkerArray(const ObjectDataArray & objects, std:: } // namespace -MarkerArray createEgoStatusMarkerArray( - const AvoidancePlanningData & data, const Pose & p_ego, std::string && ns) -{ - MarkerArray msg; - - auto marker = createDefaultMarker( - "map", rclcpp::Clock{RCL_ROS_TIME}.now(), ns, 0L, Marker::TEXT_VIEW_FACING, - createMarkerScale(0.5, 0.5, 0.5), createMarkerColor(1.0, 1.0, 1.0, 0.999)); - marker.pose = p_ego; - - { - std::ostringstream string_stream; - string_stream << std::fixed << std::setprecision(2) << std::boolalpha; - string_stream << "avoid_req:" << data.avoid_required << "," - << "yield_req:" << data.yield_required << "," - << "safe:" << data.safe; - marker.text = string_stream.str(); - - msg.markers.push_back(marker); - } - - { - std::ostringstream string_stream; - string_stream << "ego_state:"; - string_stream << magic_enum::enum_name(data.state); - marker.text = string_stream.str(); - marker.pose.position.z += 2.0; - marker.id++; - - msg.markers.push_back(marker); - } - - return msg; -} - MarkerArray createAvoidLineMarkerArray( const AvoidLineArray & shift_lines, std::string && ns, const float & r, const float & g, const float & b, const double & w) @@ -346,68 +311,6 @@ MarkerArray createAvoidLineMarkerArray( return msg; } -MarkerArray createPredictedVehiclePositions(const PathWithLaneId & path, std::string && ns) -{ - const auto current_time = rclcpp::Clock{RCL_ROS_TIME}.now(); - MarkerArray msg; - - auto p_marker = createDefaultMarker( - "map", current_time, ns, 0L, Marker::POINTS, createMarkerScale(0.4, 0.4, 0.0), - createMarkerColor(1.0, 0.0, 0.0, 0.999)); - - const auto pushPointMarker = [&](const Pose & p, const double t) { - const auto r = t > 10.0 ? 1.0 : t / 10.0; - p_marker.points.push_back(p.position); - p_marker.colors.push_back(createMarkerColor(r, 1.0 - r, 0.0, 0.999)); - }; - - auto t_marker = createDefaultMarker( - "map", current_time, ns + "_text", 0L, Marker::TEXT_VIEW_FACING, - createMarkerScale(0.3, 0.3, 0.3), createMarkerColor(1.0, 1.0, 0.0, 1.0)); - - const auto pushTextMarker = [&](const Pose & p, const double t, const double d, const double v) { - t_marker.id++; - t_marker.pose = p; - std::ostringstream string_stream; - string_stream << std::fixed << std::setprecision(2); - string_stream << "t[s]: " << t << "\n" - << "d[m]: " << d << "\n" - << "v[m/s]: " << v; - t_marker.text = string_stream.str(); - msg.markers.push_back(t_marker); - }; - - constexpr double dt_save = 1.0; - double t_save = 0.0; - double t_sum = 0.0; - double d_sum = 0.0; - - if (path.points.empty()) { - return msg; - } - - for (size_t i = 1; i < path.points.size(); ++i) { - const auto & p1 = path.points.at(i - 1); - const auto & p2 = path.points.at(i); - const auto ds = calcDistance2d(p1, p2); - - if (t_save < t_sum + 1e-3) { - pushPointMarker(getPose(p1), t_sum); - pushTextMarker(getPose(p1), t_sum, d_sum, p1.point.longitudinal_velocity_mps); - t_save += dt_save; - } - - const auto v = std::max(p1.point.longitudinal_velocity_mps, float{1.0}); - - t_sum += ds / v; - d_sum += ds; - } - - msg.markers.push_back(p_marker); - - return msg; -} - MarkerArray createTargetObjectsMarkerArray(const ObjectDataArray & objects, const std::string & ns) { ObjectDataArray avoidable; diff --git a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/utils.cpp b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/utils.cpp index dab8eb8fb35e2..0f3e3da5b2171 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/utils.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/utils.cpp @@ -114,31 +114,6 @@ size_t findFirstNearestSegmentIndex(const T & points, const geometry_msgs::msg:: return nearest_idx; } -template -double calcSignedArcLengthToFirstNearestPoint( - const T & points, const geometry_msgs::msg::Point & src_point, - const geometry_msgs::msg::Point & dst_point) -{ - try { - autoware::motion_utils::validateNonEmpty(points); - } catch (const std::exception & e) { - std::cerr << e.what() << std::endl; - return 0.0; - } - - const size_t src_seg_idx = findFirstNearestSegmentIndex(points, src_point); - const size_t dst_seg_idx = findFirstNearestSegmentIndex(points, dst_point); - - const double signed_length_on_traj = - autoware::motion_utils::calcSignedArcLength(points, src_seg_idx, dst_seg_idx); - const double signed_length_src_offset = - autoware::motion_utils::calcLongitudinalOffsetToSegment(points, src_seg_idx, src_point); - const double signed_length_dst_offset = - autoware::motion_utils::calcLongitudinalOffsetToSegment(points, dst_seg_idx, dst_point); - - return signed_length_on_traj - signed_length_src_offset + signed_length_dst_offset; -} - geometry_msgs::msg::Polygon createVehiclePolygon( const autoware::vehicle_info_utils::VehicleInfo & vehicle_info, const double offset) { From ee38d9541afead023b5e629a0cddd33881d70802 Mon Sep 17 00:00:00 2001 From: "Yi-Hsiang Fang (Vivid)" <146902905+vividf@users.noreply.github.com> Date: Fri, 30 Aug 2024 10:42:06 +0900 Subject: [PATCH 111/169] fix(object_association_merger_node): fix the frame id of output object msg (#8674) fix: fix the object msg header Signed-off-by: vividf --- .../src/object_association_merger_node.cpp | 1 + 1 file changed, 1 insertion(+) diff --git a/perception/autoware_object_merger/src/object_association_merger_node.cpp b/perception/autoware_object_merger/src/object_association_merger_node.cpp index cd5e96d2374fc..663a338649d3c 100644 --- a/perception/autoware_object_merger/src/object_association_merger_node.cpp +++ b/perception/autoware_object_merger/src/object_association_merger_node.cpp @@ -152,6 +152,7 @@ void ObjectAssociationMergerNode::objectsCallback( // build output msg autoware_perception_msgs::msg::DetectedObjects output_msg; output_msg.header = input_objects0_msg->header; + output_msg.header.frame_id = base_link_frame_id_; /* global nearest neighbor */ std::unordered_map direct_assignment, reverse_assignment; From 17ad4253014bc753afcb00dbbd687181a83419b3 Mon Sep 17 00:00:00 2001 From: kobayu858 <129580202+kobayu858@users.noreply.github.com> Date: Fri, 30 Aug 2024 10:45:29 +0900 Subject: [PATCH 112/169] fix(tier4_state_rviz_plugin): fix unmatchedSuppression (#8658) fix:unmatchedSuppression Signed-off-by: kobayu858 --- common/tier4_state_rviz_plugin/src/custom_container.cpp | 1 - common/tier4_state_rviz_plugin/src/custom_icon_label.cpp | 2 -- common/tier4_state_rviz_plugin/src/custom_label.cpp | 2 -- common/tier4_state_rviz_plugin/src/custom_segmented_button.cpp | 2 -- .../src/custom_segmented_button_item.cpp | 1 - common/tier4_state_rviz_plugin/src/custom_slider.cpp | 1 - common/tier4_state_rviz_plugin/src/custom_toggle_switch.cpp | 1 - 7 files changed, 10 deletions(-) diff --git a/common/tier4_state_rviz_plugin/src/custom_container.cpp b/common/tier4_state_rviz_plugin/src/custom_container.cpp index c82ca685ca9ba..4e7bafd044897 100644 --- a/common/tier4_state_rviz_plugin/src/custom_container.cpp +++ b/common/tier4_state_rviz_plugin/src/custom_container.cpp @@ -40,7 +40,6 @@ QSize CustomContainer::sizeHint() const return QSize(width, height); } -// cppcheck-suppress unusedFunction QSize CustomContainer::minimumSizeHint() const { return sizeHint(); diff --git a/common/tier4_state_rviz_plugin/src/custom_icon_label.cpp b/common/tier4_state_rviz_plugin/src/custom_icon_label.cpp index 28458d7c79d71..6e4d32d40f7fb 100644 --- a/common/tier4_state_rviz_plugin/src/custom_icon_label.cpp +++ b/common/tier4_state_rviz_plugin/src/custom_icon_label.cpp @@ -50,13 +50,11 @@ QSize CustomIconLabel::sizeHint() const return QSize(size, size); } -// cppcheck-suppress unusedFunction QSize CustomIconLabel::minimumSizeHint() const { return sizeHint(); } -// cppcheck-suppress unusedFunction void CustomIconLabel::paintEvent(QPaintEvent *) { QPainter painter(this); diff --git a/common/tier4_state_rviz_plugin/src/custom_label.cpp b/common/tier4_state_rviz_plugin/src/custom_label.cpp index 59df84138b890..1f96fc0d45095 100644 --- a/common/tier4_state_rviz_plugin/src/custom_label.cpp +++ b/common/tier4_state_rviz_plugin/src/custom_label.cpp @@ -46,13 +46,11 @@ QSize CustomLabel::sizeHint() const return QSize(width, height); } -// cppcheck-suppress unusedFunction QSize CustomLabel::minimumSizeHint() const { return sizeHint(); } -// cppcheck-suppress unusedFunction void CustomLabel::paintEvent(QPaintEvent *) { QPainter painter(this); diff --git a/common/tier4_state_rviz_plugin/src/custom_segmented_button.cpp b/common/tier4_state_rviz_plugin/src/custom_segmented_button.cpp index 3f93df006415e..786b58ecf1d2e 100644 --- a/common/tier4_state_rviz_plugin/src/custom_segmented_button.cpp +++ b/common/tier4_state_rviz_plugin/src/custom_segmented_button.cpp @@ -55,13 +55,11 @@ QSize CustomSegmentedButton::sizeHint() const // layout->itemAt(0)->widget()->height() + 10); } -// cppcheck-suppress unusedFunction QSize CustomSegmentedButton::minimumSizeHint() const { return sizeHint(); } -// cppcheck-suppress unusedFunction void CustomSegmentedButton::paintEvent(QPaintEvent *) { QPainter painter(this); diff --git a/common/tier4_state_rviz_plugin/src/custom_segmented_button_item.cpp b/common/tier4_state_rviz_plugin/src/custom_segmented_button_item.cpp index 3c671c988f936..70f21ca1fec84 100644 --- a/common/tier4_state_rviz_plugin/src/custom_segmented_button_item.cpp +++ b/common/tier4_state_rviz_plugin/src/custom_segmented_button_item.cpp @@ -76,7 +76,6 @@ void CustomSegmentedButtonItem::setActivated(bool activated) update(); } -// cppcheck-suppress unusedFunction void CustomSegmentedButtonItem::paintEvent(QPaintEvent *) { QPainter painter(this); diff --git a/common/tier4_state_rviz_plugin/src/custom_slider.cpp b/common/tier4_state_rviz_plugin/src/custom_slider.cpp index 16dfda19a87bf..cf3f7c3d4638f 100644 --- a/common/tier4_state_rviz_plugin/src/custom_slider.cpp +++ b/common/tier4_state_rviz_plugin/src/custom_slider.cpp @@ -19,7 +19,6 @@ CustomSlider::CustomSlider(Qt::Orientation orientation, QWidget * parent) setMinimumHeight(40); // Ensure there's enough space for the custom track } -// cppcheck-suppress unusedFunction void CustomSlider::paintEvent(QPaintEvent *) { QPainter painter(this); diff --git a/common/tier4_state_rviz_plugin/src/custom_toggle_switch.cpp b/common/tier4_state_rviz_plugin/src/custom_toggle_switch.cpp index b171fa554cd01..3b58ded626439 100644 --- a/common/tier4_state_rviz_plugin/src/custom_toggle_switch.cpp +++ b/common/tier4_state_rviz_plugin/src/custom_toggle_switch.cpp @@ -30,7 +30,6 @@ QSize CustomToggleSwitch::sizeHint() const return QSize(50, 30); // Preferred size of the toggle switch } -// cppcheck-suppress unusedFunction void CustomToggleSwitch::paintEvent(QPaintEvent *) { QPainter p(this); From 0cee96143239e16ead4a464d83662bca7a5aef1e Mon Sep 17 00:00:00 2001 From: Taekjin LEE Date: Fri, 30 Aug 2024 11:59:31 +0900 Subject: [PATCH 113/169] feat(autoware_perception_rviz_plugin): rviz predicted path mark as triangle (#8536) * refactor: predicted path mark replace to triangle Signed-off-by: Taekjin LEE * chore: clean up Signed-off-by: Taekjin LEE --------- Signed-off-by: Taekjin LEE --- .../object_polygon_detail.cpp | 26 ++++++++++++++++--- 1 file changed, 22 insertions(+), 4 deletions(-) diff --git a/common/autoware_perception_rviz_plugin/src/object_detection/object_polygon_detail.cpp b/common/autoware_perception_rviz_plugin/src/object_detection/object_polygon_detail.cpp index 9c25c2dc3781e..28ff67433efe5 100644 --- a/common/autoware_perception_rviz_plugin/src/object_detection/object_polygon_detail.cpp +++ b/common/autoware_perception_rviz_plugin/src/object_detection/object_polygon_detail.cpp @@ -701,7 +701,7 @@ void calc_2d_bounding_box_bottom_direction_line_list( geometry_msgs::msg::Point point; // triangle-shaped direction indicator - const double point_list[6][3] = { + const double point_list[3][3] = { {length_half, 0, -height_half}, {length_half - triangle_size_half, width_half, -height_half}, {length_half - triangle_size_half, -width_half, -height_half}, @@ -914,9 +914,8 @@ void calc_path_line_list( const autoware_perception_msgs::msg::PredictedPath & paths, std::vector & points, const bool is_simple) { - const int circle_line_num = is_simple ? 5 : 10; - for (int i = 0; i < static_cast(paths.path.size()) - 1; ++i) { + // draw line geometry_msgs::msg::Point point; point.x = paths.path.at(i).position.x; point.y = paths.path.at(i).position.y; @@ -926,8 +925,27 @@ void calc_path_line_list( point.y = paths.path.at(i + 1).position.y; point.z = paths.path.at(i + 1).position.z; points.push_back(point); + if (!is_simple || i % 2 == 0) { - calc_circle_line_list(point, 0.25, points, circle_line_num); + // get yaw from the line + const double yaw = + std::atan2(point.y - paths.path.at(i).position.y, point.x - paths.path.at(i).position.x); + // draw triangle + constexpr double length = 0.5; + const double arrow_angle = M_PI * 5.0 / 6.0; + const double point_list[3][3] = { + {point.x, point.y, point.z}, + {point.x + length * std::cos(yaw + arrow_angle), + point.y + length * std::sin(yaw + arrow_angle), point.z}, + {point.x + length * std::cos(yaw - arrow_angle), + point.y + length * std::sin(yaw - arrow_angle), point.z}, + }; + const int point_pairs[3][2] = { + {0, 1}, + {1, 2}, + {2, 0}, + }; + calc_line_list_from_points(point_list, point_pairs, 3, points); } } } From c758c81143ea386f4bcdae56f788357f981a256b Mon Sep 17 00:00:00 2001 From: Yuki TAKAGI <141538661+yuki-takagi-66@users.noreply.github.com> Date: Fri, 30 Aug 2024 16:24:22 +0900 Subject: [PATCH 114/169] fix(simple_planning_simulator): delete velocity dead band for brake (#8685) * delete dead band Signed-off-by: Yuki Takagi --- .../sim_model_delay_steer_acc_geared_wo_fall_guard.cpp | 5 ++--- 1 file changed, 2 insertions(+), 3 deletions(-) diff --git a/simulator/simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_delay_steer_acc_geared_wo_fall_guard.cpp b/simulator/simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_delay_steer_acc_geared_wo_fall_guard.cpp index ce962eba9275a..6b993b8b24409 100644 --- a/simulator/simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_delay_steer_acc_geared_wo_fall_guard.cpp +++ b/simulator/simple_planning_simulator/src/simple_planning_simulator/vehicle_model/sim_model_delay_steer_acc_geared_wo_fall_guard.cpp @@ -166,10 +166,9 @@ Eigen::VectorXd SimModelDelaySteerAccGearedWoFallGuard::calcModel( return pedal_acc + input(IDX_U::SLOPE_ACCX); } } else { - constexpr double brake_dead_band = 1e-3; - if (vel > brake_dead_band) { + if (vel > 0.0) { return pedal_acc + input(IDX_U::SLOPE_ACCX); - } else if (vel < -brake_dead_band) { + } else if (vel < 0.0) { return -pedal_acc + input(IDX_U::SLOPE_ACCX); } else if (-pedal_acc >= std::abs(input(IDX_U::SLOPE_ACCX))) { return 0.0; From eac633255c7327f91d46110f67dce0ea1bf1b990 Mon Sep 17 00:00:00 2001 From: Yukinari Hisaki <42021302+yhisaki@users.noreply.github.com> Date: Fri, 30 Aug 2024 16:35:47 +0900 Subject: [PATCH 115/169] feat(autoware_motion_utils): add clone function and make the constructor public (#8688) * feat(autoware_motion_utils): add interpolator Signed-off-by: Y.Hisaki * use int32_t instead of int Signed-off-by: Y.Hisaki * use int32_t instead of int Signed-off-by: Y.Hisaki * use int32_t instead of int Signed-off-by: Y.Hisaki * add const as much as possible and use `at()` in `vector` Signed-off-by: Y.Hisaki * fix directory name Signed-off-by: Y.Hisaki * refactor code and add example Signed-off-by: Y.Hisaki * update Signed-off-by: Y.Hisaki * remove unused include Signed-off-by: Y.Hisaki * refactor code Signed-off-by: Y.Hisaki * add clone function Signed-off-by: Y.Hisaki * fix stairstep Signed-off-by: Y.Hisaki * make constructor to public Signed-off-by: Y.Hisaki --------- Signed-off-by: Y.Hisaki --- .../interpolator/akima_spline.hpp | 15 +++++--- .../interpolator/cubic_spline.hpp | 14 +++++--- .../interpolator/interpolator.hpp | 6 ++++ .../interpolator/linear.hpp | 21 ++++++----- .../interpolator/nearest_neighbor.hpp | 35 ++++++++++++++----- .../interpolator/stairstep.hpp | 34 +++++++++++++----- .../interpolator/akima_spline.cpp | 6 ++++ .../interpolator/cubic_spline.cpp | 5 +++ .../interpolator/linear.cpp | 6 ++++ 9 files changed, 107 insertions(+), 35 deletions(-) diff --git a/common/autoware_motion_utils/include/autoware/motion_utils/trajectory_container/interpolator/akima_spline.hpp b/common/autoware_motion_utils/include/autoware/motion_utils/trajectory_container/interpolator/akima_spline.hpp index 42cd1aa6759a3..363d046534399 100644 --- a/common/autoware_motion_utils/include/autoware/motion_utils/trajectory_container/interpolator/akima_spline.hpp +++ b/common/autoware_motion_utils/include/autoware/motion_utils/trajectory_container/interpolator/akima_spline.hpp @@ -19,6 +19,7 @@ #include +#include #include namespace autoware::motion_utils::trajectory_container::interpolator @@ -31,14 +32,9 @@ namespace autoware::motion_utils::trajectory_container::interpolator */ class AkimaSpline : public Interpolator { - template - friend class InterpolatorCreator; - private: Eigen::VectorXd a_, b_, c_, d_; ///< Coefficients for the Akima spline. - AkimaSpline() = default; - /** * @brief Compute the spline parameters. * @@ -85,12 +81,21 @@ class AkimaSpline : public Interpolator [[nodiscard]] double compute_second_derivative_impl(const double & s) const override; public: + AkimaSpline() = default; + /** * @brief Get the minimum number of required points for the interpolator. * * @return The minimum number of required points. */ [[nodiscard]] size_t minimum_required_points() const override { return 5; } + + /** + * @brief Clone the interpolator. + * + * @return A shared pointer to a new instance of the interpolator. + */ + [[nodiscard]] std::shared_ptr> clone() const override; }; } // namespace autoware::motion_utils::trajectory_container::interpolator diff --git a/common/autoware_motion_utils/include/autoware/motion_utils/trajectory_container/interpolator/cubic_spline.hpp b/common/autoware_motion_utils/include/autoware/motion_utils/trajectory_container/interpolator/cubic_spline.hpp index 43f1102fd0f73..50cff1dde3f35 100644 --- a/common/autoware_motion_utils/include/autoware/motion_utils/trajectory_container/interpolator/cubic_spline.hpp +++ b/common/autoware_motion_utils/include/autoware/motion_utils/trajectory_container/interpolator/cubic_spline.hpp @@ -31,15 +31,10 @@ namespace autoware::motion_utils::trajectory_container::interpolator */ class CubicSpline : public Interpolator { - template - friend class InterpolatorCreator; - private: Eigen::VectorXd a_, b_, c_, d_; ///< Coefficients for the cubic spline. Eigen::VectorXd h_; ///< Interval sizes between axis points. - CubicSpline() = default; - /** * @brief Compute the spline parameters. * @@ -87,12 +82,21 @@ class CubicSpline : public Interpolator [[nodiscard]] double compute_second_derivative_impl(const double & s) const override; public: + CubicSpline() = default; + /** * @brief Get the minimum number of required points for the interpolator. * * @return The minimum number of required points. */ [[nodiscard]] size_t minimum_required_points() const override { return 4; } + + /** + * @brief Clone the interpolator. + * + * @return A shared pointer to a new instance of the interpolator. + */ + [[nodiscard]] std::shared_ptr> clone() const override; }; } // namespace autoware::motion_utils::trajectory_container::interpolator diff --git a/common/autoware_motion_utils/include/autoware/motion_utils/trajectory_container/interpolator/interpolator.hpp b/common/autoware_motion_utils/include/autoware/motion_utils/trajectory_container/interpolator/interpolator.hpp index 18dce8b46c2c7..f0b12a47819e8 100644 --- a/common/autoware_motion_utils/include/autoware/motion_utils/trajectory_container/interpolator/interpolator.hpp +++ b/common/autoware_motion_utils/include/autoware/motion_utils/trajectory_container/interpolator/interpolator.hpp @@ -17,6 +17,8 @@ #include "autoware/motion_utils/trajectory_container/interpolator/detail/interpolator_common_impl.hpp" +#include + namespace autoware::motion_utils::trajectory_container::interpolator { /** @@ -29,6 +31,8 @@ namespace autoware::motion_utils::trajectory_container::interpolator template class Interpolator : public detail::InterpolatorCommonImpl { +public: + [[nodiscard]] virtual std::shared_ptr> clone() const = 0; }; /** @@ -84,6 +88,8 @@ class Interpolator : public detail::InterpolatorCommonImpl this->validate_compute_input(s); return compute_second_derivative_impl(s); } + + [[nodiscard]] virtual std::shared_ptr> clone() const = 0; }; } // namespace autoware::motion_utils::trajectory_container::interpolator diff --git a/common/autoware_motion_utils/include/autoware/motion_utils/trajectory_container/interpolator/linear.hpp b/common/autoware_motion_utils/include/autoware/motion_utils/trajectory_container/interpolator/linear.hpp index df0806f285339..9854b100f3742 100644 --- a/common/autoware_motion_utils/include/autoware/motion_utils/trajectory_container/interpolator/linear.hpp +++ b/common/autoware_motion_utils/include/autoware/motion_utils/trajectory_container/interpolator/linear.hpp @@ -19,6 +19,7 @@ #include +#include #include namespace autoware::motion_utils::trajectory_container::interpolator @@ -31,17 +32,9 @@ namespace autoware::motion_utils::trajectory_container::interpolator */ class Linear : public Interpolator { - template - friend class InterpolatorCreator; - private: Eigen::VectorXd values_; ///< Interpolation values. - /** - * @brief Default constructor. - */ - Linear() = default; - /** * @brief Build the interpolator with the given values. * @@ -77,12 +70,24 @@ class Linear : public Interpolator [[nodiscard]] double compute_second_derivative_impl(const double &) const override; public: + /** + * @brief Default constructor. + */ + Linear() = default; + /** * @brief Get the minimum number of required points for the interpolator. * * @return The minimum number of required points. */ [[nodiscard]] size_t minimum_required_points() const override; + + /** + * @brief Clone the interpolator. + * + * @return A shared pointer to the cloned interpolator. + */ + [[nodiscard]] std::shared_ptr> clone() const override; }; } // namespace autoware::motion_utils::trajectory_container::interpolator diff --git a/common/autoware_motion_utils/include/autoware/motion_utils/trajectory_container/interpolator/nearest_neighbor.hpp b/common/autoware_motion_utils/include/autoware/motion_utils/trajectory_container/interpolator/nearest_neighbor.hpp index c433607902b38..32bff2d30b41d 100644 --- a/common/autoware_motion_utils/include/autoware/motion_utils/trajectory_container/interpolator/nearest_neighbor.hpp +++ b/common/autoware_motion_utils/include/autoware/motion_utils/trajectory_container/interpolator/nearest_neighbor.hpp @@ -17,6 +17,8 @@ #include "autoware/motion_utils/trajectory_container/interpolator/detail/nearest_neighbor_common_impl.hpp" +#include + namespace autoware::motion_utils::trajectory_container::interpolator { @@ -40,11 +42,18 @@ class NearestNeighbor; template class NearestNeighbor : public detail::NearestNeighborCommonImpl { - template - friend class InterpolatorCreator; - -private: +public: NearestNeighbor() = default; + + /** + * @brief Clone the interpolator. + * + * @return A shared pointer to a new instance of the interpolator. + */ + [[nodiscard]] std::shared_ptr> clone() const override + { + return std::make_shared>(*this); + } }; /** @@ -55,12 +64,7 @@ class NearestNeighbor : public detail::NearestNeighborCommonImpl template <> class NearestNeighbor : public detail::NearestNeighborCommonImpl { - template - friend class InterpolatorCreator; - private: - NearestNeighbor() = default; - /** * @brief Compute the first derivative at the given point. * @@ -76,6 +80,19 @@ class NearestNeighbor : public detail::NearestNeighborCommonImpl * @return The second derivative. */ [[nodiscard]] double compute_second_derivative_impl(const double &) const override { return 0.0; } + +public: + NearestNeighbor() = default; + + /** + * @brief Clone the interpolator. + * + * @return A shared pointer to a new instance of the interpolator. + */ + [[nodiscard]] std::shared_ptr> clone() const override + { + return std::make_shared>(*this); + } }; } // namespace autoware::motion_utils::trajectory_container::interpolator diff --git a/common/autoware_motion_utils/include/autoware/motion_utils/trajectory_container/interpolator/stairstep.hpp b/common/autoware_motion_utils/include/autoware/motion_utils/trajectory_container/interpolator/stairstep.hpp index e8c8f8c015b63..21bf57b46e3b7 100644 --- a/common/autoware_motion_utils/include/autoware/motion_utils/trajectory_container/interpolator/stairstep.hpp +++ b/common/autoware_motion_utils/include/autoware/motion_utils/trajectory_container/interpolator/stairstep.hpp @@ -17,6 +17,8 @@ #include "autoware/motion_utils/trajectory_container/interpolator/detail/stairstep_common_impl.hpp" +#include + namespace autoware::motion_utils::trajectory_container::interpolator { @@ -40,11 +42,18 @@ class Stairstep; template class Stairstep : public detail::StairstepCommonImpl { - template - friend class InterpolatorCreator; - -private: +public: Stairstep() = default; + + /** + * @brief Clone the interpolator. + * + * @return A shared pointer to a new instance of the interpolator. + */ + [[nodiscard]] std::shared_ptr> clone() const override + { + return std::make_shared>(*this); + } }; /** @@ -55,11 +64,7 @@ class Stairstep : public detail::StairstepCommonImpl template <> class Stairstep : public detail::StairstepCommonImpl { - template - friend class InterpolatorCreator; - private: - Stairstep() = default; /** * @brief Compute the first derivative at the given point. * @@ -75,6 +80,19 @@ class Stairstep : public detail::StairstepCommonImpl * @return The second derivative. */ [[nodiscard]] double compute_second_derivative_impl(const double &) const override { return 0.0; } + +public: + Stairstep() = default; + + /** + * @brief Clone the interpolator. + * + * @return A shared pointer to a new instance of the interpolator. + */ + [[nodiscard]] std::shared_ptr> clone() const override + { + return std::make_shared>(*this); + } }; } // namespace autoware::motion_utils::trajectory_container::interpolator diff --git a/common/autoware_motion_utils/src/trajectory_container/interpolator/akima_spline.cpp b/common/autoware_motion_utils/src/trajectory_container/interpolator/akima_spline.cpp index 283f46dd5d3e9..eb2fe2ab8deed 100644 --- a/common/autoware_motion_utils/src/trajectory_container/interpolator/akima_spline.cpp +++ b/common/autoware_motion_utils/src/trajectory_container/interpolator/akima_spline.cpp @@ -17,6 +17,7 @@ #include #include +#include #include namespace autoware::motion_utils::trajectory_container::interpolator @@ -90,4 +91,9 @@ double AkimaSpline::compute_second_derivative_impl(const double & s) const return 2 * c_[i] + 6 * d_[i] * dx; } +std::shared_ptr> AkimaSpline::clone() const +{ + return std::make_shared(*this); +} + } // namespace autoware::motion_utils::trajectory_container::interpolator diff --git a/common/autoware_motion_utils/src/trajectory_container/interpolator/cubic_spline.cpp b/common/autoware_motion_utils/src/trajectory_container/interpolator/cubic_spline.cpp index 9f262b6a702f9..db25816d1d457 100644 --- a/common/autoware_motion_utils/src/trajectory_container/interpolator/cubic_spline.cpp +++ b/common/autoware_motion_utils/src/trajectory_container/interpolator/cubic_spline.cpp @@ -91,4 +91,9 @@ double CubicSpline::compute_second_derivative_impl(const double & s) const return 2 * c_(i) + 6 * d_(i) * dx; } +std::shared_ptr> CubicSpline::clone() const +{ + return std::make_shared(*this); +} + } // namespace autoware::motion_utils::trajectory_container::interpolator diff --git a/common/autoware_motion_utils/src/trajectory_container/interpolator/linear.cpp b/common/autoware_motion_utils/src/trajectory_container/interpolator/linear.cpp index 4897ba4d2a56c..c3e4ec99c4357 100644 --- a/common/autoware_motion_utils/src/trajectory_container/interpolator/linear.cpp +++ b/common/autoware_motion_utils/src/trajectory_container/interpolator/linear.cpp @@ -16,6 +16,7 @@ #include +#include #include namespace autoware::motion_utils::trajectory_container::interpolator @@ -59,4 +60,9 @@ size_t Linear::minimum_required_points() const return 2; } +std::shared_ptr> Linear::clone() const +{ + return std::make_shared(*this); +} + } // namespace autoware::motion_utils::trajectory_container::interpolator From ba6f68945cd37a39408d2067f19384e27d99abb5 Mon Sep 17 00:00:00 2001 From: TaikiYamada4 <129915538+TaikiYamada4@users.noreply.github.com> Date: Fri, 30 Aug 2024 16:55:12 +0900 Subject: [PATCH 116/169] chore(stop_filter): extract stop_filter.param.yaml to autoware_launch (#8681) Extract stop_filter.param.yaml to autoware_launch Signed-off-by: TaikiYamada4 --- launch/tier4_localization_launch/launch/localization.launch.xml | 1 + .../pose_twist_fusion_filter/pose_twist_fusion_filter.launch.xml | 1 + 2 files changed, 2 insertions(+) diff --git a/launch/tier4_localization_launch/launch/localization.launch.xml b/launch/tier4_localization_launch/launch/localization.launch.xml index dd274ce247064..45bb2d3cb38dd 100644 --- a/launch/tier4_localization_launch/launch/localization.launch.xml +++ b/launch/tier4_localization_launch/launch/localization.launch.xml @@ -14,6 +14,7 @@ + diff --git a/launch/tier4_localization_launch/launch/pose_twist_fusion_filter/pose_twist_fusion_filter.launch.xml b/launch/tier4_localization_launch/launch/pose_twist_fusion_filter/pose_twist_fusion_filter.launch.xml index dda9c1f2c97ce..b162a3851e1b9 100644 --- a/launch/tier4_localization_launch/launch/pose_twist_fusion_filter/pose_twist_fusion_filter.launch.xml +++ b/launch/tier4_localization_launch/launch/pose_twist_fusion_filter/pose_twist_fusion_filter.launch.xml @@ -22,6 +22,7 @@ + From 5020617a55ed78936bc173cfc2320e4efb30cfc1 Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Fri, 30 Aug 2024 22:13:46 +0900 Subject: [PATCH 117/169] refactor(goal_planner): move pull_over_planner directory (#8696) Signed-off-by: Mamoru Sobue --- .../CMakeLists.txt | 6 +++--- .../goal_planner_module.hpp | 6 +++--- .../{ => pull_over_planner}/freespace_pull_over.hpp | 8 ++++---- .../{ => pull_over_planner}/geometric_pull_over.hpp | 8 ++++---- .../{ => pull_over_planner}/pull_over_planner_base.hpp | 5 +---- .../{ => pull_over_planner}/shift_pull_over.hpp | 8 ++++---- .../autoware/behavior_path_goal_planner_module/util.hpp | 2 +- .../src/{ => pull_over_planner}/freespace_pull_over.cpp | 2 +- .../src/{ => pull_over_planner}/geometric_pull_over.cpp | 2 +- .../src/{ => pull_over_planner}/shift_pull_over.cpp | 2 +- 10 files changed, 23 insertions(+), 26 deletions(-) rename planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/{ => pull_over_planner}/freespace_pull_over.hpp (84%) rename planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/{ => pull_over_planner}/geometric_pull_over.hpp (88%) rename planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/{ => pull_over_planner}/pull_over_planner_base.hpp (96%) rename planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/{ => pull_over_planner}/shift_pull_over.hpp (88%) rename planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/{ => pull_over_planner}/freespace_pull_over.cpp (98%) rename planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/{ => pull_over_planner}/geometric_pull_over.cpp (97%) rename planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/{ => pull_over_planner}/shift_pull_over.cpp (99%) diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/CMakeLists.txt b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/CMakeLists.txt index 670a61479e875..5d3af19c51dbf 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/CMakeLists.txt +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/CMakeLists.txt @@ -6,11 +6,11 @@ autoware_package() pluginlib_export_plugin_description_file(autoware_behavior_path_planner plugins.xml) ament_auto_add_library(${PROJECT_NAME} SHARED + src/pull_over_planner/freespace_pull_over.cpp + src/pull_over_planner/geometric_pull_over.cpp + src/pull_over_planner/shift_pull_over.cpp src/default_fixed_goal_planner.cpp - src/freespace_pull_over.cpp - src/geometric_pull_over.cpp src/goal_searcher.cpp - src/shift_pull_over.cpp src/util.cpp src/goal_planner_module.cpp src/manager.cpp diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/goal_planner_module.hpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/goal_planner_module.hpp index 7462ec519b503..2dc4788be9ce2 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/goal_planner_module.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/goal_planner_module.hpp @@ -16,11 +16,11 @@ #define AUTOWARE__BEHAVIOR_PATH_GOAL_PLANNER_MODULE__GOAL_PLANNER_MODULE_HPP_ #include "autoware/behavior_path_goal_planner_module/default_fixed_goal_planner.hpp" -#include "autoware/behavior_path_goal_planner_module/freespace_pull_over.hpp" -#include "autoware/behavior_path_goal_planner_module/geometric_pull_over.hpp" #include "autoware/behavior_path_goal_planner_module/goal_planner_parameters.hpp" #include "autoware/behavior_path_goal_planner_module/goal_searcher.hpp" -#include "autoware/behavior_path_goal_planner_module/shift_pull_over.hpp" +#include "autoware/behavior_path_goal_planner_module/pull_over_planner/freespace_pull_over.hpp" +#include "autoware/behavior_path_goal_planner_module/pull_over_planner/geometric_pull_over.hpp" +#include "autoware/behavior_path_goal_planner_module/pull_over_planner/shift_pull_over.hpp" #include "autoware/behavior_path_planner_common/interface/scene_module_interface.hpp" #include "autoware/behavior_path_planner_common/utils/occupancy_grid_based_collision_detector/occupancy_grid_based_collision_detector.hpp" #include "autoware/behavior_path_planner_common/utils/parking_departure/common_module_data.hpp" diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/freespace_pull_over.hpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/pull_over_planner/freespace_pull_over.hpp similarity index 84% rename from planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/freespace_pull_over.hpp rename to planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/pull_over_planner/freespace_pull_over.hpp index bb968fe10cba2..0b27b4adb737b 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/freespace_pull_over.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/pull_over_planner/freespace_pull_over.hpp @@ -12,10 +12,10 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef AUTOWARE__BEHAVIOR_PATH_GOAL_PLANNER_MODULE__FREESPACE_PULL_OVER_HPP_ -#define AUTOWARE__BEHAVIOR_PATH_GOAL_PLANNER_MODULE__FREESPACE_PULL_OVER_HPP_ +#ifndef AUTOWARE__BEHAVIOR_PATH_GOAL_PLANNER_MODULE__PULL_OVER_PLANNER__FREESPACE_PULL_OVER_HPP_ +#define AUTOWARE__BEHAVIOR_PATH_GOAL_PLANNER_MODULE__PULL_OVER_PLANNER__FREESPACE_PULL_OVER_HPP_ -#include "autoware/behavior_path_goal_planner_module/pull_over_planner_base.hpp" +#include "autoware/behavior_path_goal_planner_module/pull_over_planner/pull_over_planner_base.hpp" #include #include @@ -51,4 +51,4 @@ class FreespacePullOver : public PullOverPlannerBase }; } // namespace autoware::behavior_path_planner -#endif // AUTOWARE__BEHAVIOR_PATH_GOAL_PLANNER_MODULE__FREESPACE_PULL_OVER_HPP_ +#endif // AUTOWARE__BEHAVIOR_PATH_GOAL_PLANNER_MODULE__PULL_OVER_PLANNER__FREESPACE_PULL_OVER_HPP_ diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/geometric_pull_over.hpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/pull_over_planner/geometric_pull_over.hpp similarity index 88% rename from planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/geometric_pull_over.hpp rename to planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/pull_over_planner/geometric_pull_over.hpp index 589379167b80c..6a2f0a57d67cf 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/geometric_pull_over.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/pull_over_planner/geometric_pull_over.hpp @@ -12,10 +12,10 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef AUTOWARE__BEHAVIOR_PATH_GOAL_PLANNER_MODULE__GEOMETRIC_PULL_OVER_HPP_ -#define AUTOWARE__BEHAVIOR_PATH_GOAL_PLANNER_MODULE__GEOMETRIC_PULL_OVER_HPP_ +#ifndef AUTOWARE__BEHAVIOR_PATH_GOAL_PLANNER_MODULE__PULL_OVER_PLANNER__GEOMETRIC_PULL_OVER_HPP_ +#define AUTOWARE__BEHAVIOR_PATH_GOAL_PLANNER_MODULE__PULL_OVER_PLANNER__GEOMETRIC_PULL_OVER_HPP_ -#include "autoware/behavior_path_goal_planner_module/pull_over_planner_base.hpp" +#include "autoware/behavior_path_goal_planner_module/pull_over_planner/pull_over_planner_base.hpp" #include "autoware/behavior_path_planner_common/utils/parking_departure/geometric_parallel_parking.hpp" #include @@ -65,4 +65,4 @@ class GeometricPullOver : public PullOverPlannerBase }; } // namespace autoware::behavior_path_planner -#endif // AUTOWARE__BEHAVIOR_PATH_GOAL_PLANNER_MODULE__GEOMETRIC_PULL_OVER_HPP_ +#endif // AUTOWARE__BEHAVIOR_PATH_GOAL_PLANNER_MODULE__PULL_OVER_PLANNER__GEOMETRIC_PULL_OVER_HPP_ diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/pull_over_planner_base.hpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/pull_over_planner/pull_over_planner_base.hpp similarity index 96% rename from planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/pull_over_planner_base.hpp rename to planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/pull_over_planner/pull_over_planner_base.hpp index 9899f4a5fad1e..7cdb249463e08 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/pull_over_planner_base.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/pull_over_planner/pull_over_planner_base.hpp @@ -12,8 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef AUTOWARE__BEHAVIOR_PATH_GOAL_PLANNER_MODULE__PULL_OVER_PLANNER_BASE_HPP_ -#define AUTOWARE__BEHAVIOR_PATH_GOAL_PLANNER_MODULE__PULL_OVER_PLANNER_BASE_HPP_ +#pragma once #include "autoware/behavior_path_goal_planner_module/goal_planner_parameters.hpp" #include "autoware/behavior_path_planner_common/data_manager.hpp" @@ -207,5 +206,3 @@ class PullOverPlannerBase BehaviorModuleOutput previous_module_output_; }; } // namespace autoware::behavior_path_planner - -#endif // AUTOWARE__BEHAVIOR_PATH_GOAL_PLANNER_MODULE__PULL_OVER_PLANNER_BASE_HPP_ diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/shift_pull_over.hpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/pull_over_planner/shift_pull_over.hpp similarity index 88% rename from planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/shift_pull_over.hpp rename to planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/pull_over_planner/shift_pull_over.hpp index 15b8d7ac81fae..8ebc3579a9272 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/shift_pull_over.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/pull_over_planner/shift_pull_over.hpp @@ -12,10 +12,10 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef AUTOWARE__BEHAVIOR_PATH_GOAL_PLANNER_MODULE__SHIFT_PULL_OVER_HPP_ -#define AUTOWARE__BEHAVIOR_PATH_GOAL_PLANNER_MODULE__SHIFT_PULL_OVER_HPP_ +#ifndef AUTOWARE__BEHAVIOR_PATH_GOAL_PLANNER_MODULE__PULL_OVER_PLANNER__SHIFT_PULL_OVER_HPP_ +#define AUTOWARE__BEHAVIOR_PATH_GOAL_PLANNER_MODULE__PULL_OVER_PLANNER__SHIFT_PULL_OVER_HPP_ -#include "autoware/behavior_path_goal_planner_module/pull_over_planner_base.hpp" +#include "autoware/behavior_path_goal_planner_module/pull_over_planner/pull_over_planner_base.hpp" #include @@ -59,4 +59,4 @@ class ShiftPullOver : public PullOverPlannerBase }; } // namespace autoware::behavior_path_planner -#endif // AUTOWARE__BEHAVIOR_PATH_GOAL_PLANNER_MODULE__SHIFT_PULL_OVER_HPP_ +#endif // AUTOWARE__BEHAVIOR_PATH_GOAL_PLANNER_MODULE__PULL_OVER_PLANNER__SHIFT_PULL_OVER_HPP_ diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/util.hpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/util.hpp index b527fa3e1dac0..2a48db97b1977 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/util.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/util.hpp @@ -16,7 +16,7 @@ #define AUTOWARE__BEHAVIOR_PATH_GOAL_PLANNER_MODULE__UTIL_HPP_ #include "autoware/behavior_path_goal_planner_module/goal_searcher_base.hpp" -#include "autoware/behavior_path_goal_planner_module/pull_over_planner_base.hpp" +#include "autoware/behavior_path_goal_planner_module/pull_over_planner/pull_over_planner_base.hpp" #include "autoware/universe_utils/geometry/boost_polygon_utils.hpp" #include diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/freespace_pull_over.cpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/pull_over_planner/freespace_pull_over.cpp similarity index 98% rename from planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/freespace_pull_over.cpp rename to planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/pull_over_planner/freespace_pull_over.cpp index 57c35fc4dd8ba..a49cd7a279e7e 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/freespace_pull_over.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/pull_over_planner/freespace_pull_over.cpp @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "autoware/behavior_path_goal_planner_module/freespace_pull_over.hpp" +#include "autoware/behavior_path_goal_planner_module/pull_over_planner/freespace_pull_over.hpp" #include "autoware/behavior_path_goal_planner_module/util.hpp" #include "autoware/behavior_path_planner_common/utils/drivable_area_expansion/static_drivable_area.hpp" diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/geometric_pull_over.cpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/pull_over_planner/geometric_pull_over.cpp similarity index 97% rename from planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/geometric_pull_over.cpp rename to planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/pull_over_planner/geometric_pull_over.cpp index 3baa603f4d00c..c5df07c0e9176 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/geometric_pull_over.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/pull_over_planner/geometric_pull_over.cpp @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "autoware/behavior_path_goal_planner_module/geometric_pull_over.hpp" +#include "autoware/behavior_path_goal_planner_module/pull_over_planner/geometric_pull_over.hpp" #include "autoware/behavior_path_goal_planner_module/util.hpp" #include "autoware/behavior_path_planner_common/utils/drivable_area_expansion/static_drivable_area.hpp" diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/shift_pull_over.cpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/pull_over_planner/shift_pull_over.cpp similarity index 99% rename from planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/shift_pull_over.cpp rename to planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/pull_over_planner/shift_pull_over.cpp index fd6b0cb639387..1e4cb0e8d84f9 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/shift_pull_over.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/pull_over_planner/shift_pull_over.cpp @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "autoware/behavior_path_goal_planner_module/shift_pull_over.hpp" +#include "autoware/behavior_path_goal_planner_module/pull_over_planner/shift_pull_over.hpp" #include "autoware/behavior_path_goal_planner_module/util.hpp" #include "autoware/behavior_path_planner_common/utils/drivable_area_expansion/static_drivable_area.hpp" From 3e4a94597954d0d762f11cd77e213286bd1d925c Mon Sep 17 00:00:00 2001 From: oguzkaganozt Date: Fri, 30 Aug 2024 20:00:46 +0300 Subject: [PATCH 118/169] refactor(perception/occupancy_grid_map_outlier_filter): rework parameters (#6745) * add param and schema file, edit readme Signed-off-by: oguzkaganozt * . Signed-off-by: Oguz Ozturk * correct linter errors Signed-off-by: oguzkaganozt --------- Signed-off-by: oguzkaganozt Signed-off-by: Oguz Ozturk --- .../ground_segmentation.launch.py | 16 +++- .../CMakeLists.txt | 5 +- .../README.md | 12 +-- ...cupancy_grid_map_outlier_filter.param.yaml | 12 +++ ...upancy_grid_map_outlier_filter.schema.json | 86 +++++++++++++++++++ ...occupancy_grid_map_outlier_filter_node.cpp | 20 ++--- 6 files changed, 128 insertions(+), 23 deletions(-) create mode 100644 perception/autoware_occupancy_grid_map_outlier_filter/config/occupancy_grid_map_outlier_filter.param.yaml create mode 100644 perception/autoware_occupancy_grid_map_outlier_filter/schema/occupancy_grid_map_outlier_filter.schema.json 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 541d4e4d4c920..b25c8f3de9a5b 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 @@ -23,6 +23,7 @@ from launch.substitutions import PathJoinSubstitution from launch_ros.actions import LoadComposableNodes from launch_ros.descriptions import ComposableNode +from launch_ros.parameter_descriptions import ParameterFile from launch_ros.substitutions import FindPackageShare import yaml @@ -327,7 +328,9 @@ def create_single_frame_obstacle_segmentation_components(self, input_topic, outp return components @staticmethod - def create_time_series_outlier_filter_components(input_topic, output_topic): + def create_time_series_outlier_filter_components( + input_topic, output_topic, ogm_outlier_filter_param + ): components = [] components.append( ComposableNode( @@ -339,6 +342,7 @@ def create_time_series_outlier_filter_components(input_topic, output_topic): ("~/input/pointcloud", input_topic), ("~/output/pointcloud", output_topic), ], + parameters=[ogm_outlier_filter_param], extra_arguments=[ {"use_intra_process_comms": LaunchConfiguration("use_intra_process")} ], @@ -545,6 +549,9 @@ def launch_setup(context, *args, **kwargs): else pipeline.single_frame_obstacle_seg_output ), output_topic=pipeline.output_topic, + ogm_outlier_filter_param=ParameterFile( + LaunchConfiguration("ogm_outlier_filter_param_path").perform(context) + ), ) ) pointcloud_container_loader = LoadComposableNodes( @@ -565,6 +572,13 @@ def add_launch_arg(name: str, default_value=None): add_launch_arg("use_intra_process", "True") add_launch_arg("pointcloud_container_name", "pointcloud_container") add_launch_arg("input/pointcloud", "/sensing/lidar/concatenated/pointcloud") + add_launch_arg( + "ogm_outlier_filter_param_path", + [ + FindPackageShare("autoware_launch"), + "/config/perception/obstacle_segmentation/occupancy_grid_based_outlier_filter/occupancy_grid_map_outlier_filter.param.yaml", + ], + ) set_container_executable = SetLaunchConfiguration( "container_executable", diff --git a/perception/autoware_occupancy_grid_map_outlier_filter/CMakeLists.txt b/perception/autoware_occupancy_grid_map_outlier_filter/CMakeLists.txt index 0fc73d43e54c9..29eb1bea67e73 100644 --- a/perception/autoware_occupancy_grid_map_outlier_filter/CMakeLists.txt +++ b/perception/autoware_occupancy_grid_map_outlier_filter/CMakeLists.txt @@ -43,4 +43,7 @@ rclcpp_components_register_node(${PROJECT_NAME} PLUGIN "autoware::occupancy_grid_map_outlier_filter::OccupancyGridMapOutlierFilterComponent" EXECUTABLE ${PROJECT_NAME}_node) -ament_auto_package(INSTALL_TO_SHARE) +ament_auto_package( + INSTALL_TO_SHARE + config +) diff --git a/perception/autoware_occupancy_grid_map_outlier_filter/README.md b/perception/autoware_occupancy_grid_map_outlier_filter/README.md index 28974edf65053..7de2cc1dce92c 100644 --- a/perception/autoware_occupancy_grid_map_outlier_filter/README.md +++ b/perception/autoware_occupancy_grid_map_outlier_filter/README.md @@ -40,17 +40,7 @@ The following video is a sample. Yellow points are high occupancy probability, g ## Parameters -| Name | Type | Description | -| ------------------------------------------------------- | ------ | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | -| `map_frame` | string | map frame id | -| `base_link_frame` | string | base link frame id | -| `cost_threshold` | int | Cost threshold of occupancy grid map (0~100). 100 means 100% probability that there is an obstacle, close to 50 means that it is indistinguishable whether it is an obstacle or free space, 0 means that there is no obstacle. | -| `enable_debugger` | bool | Whether to output the point cloud for debugging. | -| `use_radius_search_2d_filter` | bool | Whether or not to apply density-based outlier filters to objects that are judged to have low probability of occupancy on the occupancy grid map. | -| `radius_search_2d_filter/search_radius` | float | Radius when calculating the density | -| `radius_search_2d_filter/min_points_and_distance_ratio` | float | Threshold value of the number of point clouds per radius when the distance from baselink is 1m, because the number of point clouds varies with the distance from baselink. | -| `radius_search_2d_filter/min_points` | int | Minimum number of point clouds per radius | -| `radius_search_2d_filter/max_points` | int | Maximum number of point clouds per radius | +{{ json_to_markdown("perception/occupancy_grid_map_outlier_filter/schema/occupancy_grid_map_outlier_filter.schema.json") }} ## Assumptions / Known limits diff --git a/perception/autoware_occupancy_grid_map_outlier_filter/config/occupancy_grid_map_outlier_filter.param.yaml b/perception/autoware_occupancy_grid_map_outlier_filter/config/occupancy_grid_map_outlier_filter.param.yaml new file mode 100644 index 0000000000000..61cd3a2dc19e2 --- /dev/null +++ b/perception/autoware_occupancy_grid_map_outlier_filter/config/occupancy_grid_map_outlier_filter.param.yaml @@ -0,0 +1,12 @@ +/**: + ros__parameters: + radius_search_2d_filter.search_radius: 1.0 + radius_search_2d_filter.min_points_and_distance_ratio: 400.0 + radius_search_2d_filter.min_points: 4 + radius_search_2d_filter.max_points: 70 + radius_search_2d_filter.max_filter_points_nb: 15000 + map_frame: "map" + base_link_frame: "base_link" + cost_threshold: 45 + use_radius_search_2d_filter: true + enable_debugger: false diff --git a/perception/autoware_occupancy_grid_map_outlier_filter/schema/occupancy_grid_map_outlier_filter.schema.json b/perception/autoware_occupancy_grid_map_outlier_filter/schema/occupancy_grid_map_outlier_filter.schema.json new file mode 100644 index 0000000000000..d31f77bf27968 --- /dev/null +++ b/perception/autoware_occupancy_grid_map_outlier_filter/schema/occupancy_grid_map_outlier_filter.schema.json @@ -0,0 +1,86 @@ +{ + "$schema": "http://json-schema.org/draft-07/schema#", + "title": "Parameters for occupancy_grid_map_outlier", + "type": "object", + "definitions": { + "occupancy_grid_map_outlier": { + "type": "object", + "properties": { + "radius_search_2d_filter.search_radius": { + "type": "number", + "default": 1.0, + "description": "Radius when calculating the density" + }, + "radius_search_2d_filter.min_points_and_distance_ratio": { + "type": "number", + "default": 400.0, + "description": "Threshold value of the number of point clouds per radius when the distance from baselink is 1m, because the number of point clouds varies with the distance from baselink" + }, + "radius_search_2d_filter.min_points": { + "type": "number", + "default": 4, + "description": "Minimum number of point clouds per radius" + }, + "radius_search_2d_filter.max_points": { + "type": "number", + "default": 70, + "description": "Maximum number of point clouds per radius" + }, + "radius_search_2d_filter.max_filter_points_nb": { + "type": "number", + "default": 15000, + "description": "Maximum number of point clouds to be filtered" + }, + "map_frame": { + "type": "string", + "default": "map", + "description": "map frame id" + }, + "base_link_frame": { + "type": "string", + "default": "base_link", + "description": "base link frame id" + }, + "cost_threshold": { + "type": "number", + "default": 45, + "description": "Cost threshold of occupancy grid map (0~100). 100 means 100% probability that there is an obstacle, close to 50 means that it is indistinguishable whether it is an obstacle or free space, 0 means that there is no obstacle" + }, + "use_radius_search_2d_filter": { + "type": "boolean", + "default": true, + "description": "Whether or not to apply density-based outlier filters to objects that are judged to have low probability of occupancy on the occupancy grid map" + }, + "enable_debugger": { + "type": "boolean", + "default": false, + "description": "Whether to output the point cloud for debugging" + } + }, + "required": [ + "radius_search_2d_filter.search_radius", + "radius_search_2d_filter.min_points_and_distance_ratio", + "radius_search_2d_filter.min_points", + "radius_search_2d_filter.max_points", + "radius_search_2d_filter.max_filter_points_nb", + "map_frame", + "base_link_frame", + "cost_threshold", + "use_radius_search_2d_filter", + "enable_debugger" + ] + } + }, + "properties": { + "/**": { + "type": "object", + "properties": { + "ros__parameters": { + "$ref": "#/definitions/occupancy_grid_map_outlier" + } + }, + "required": ["ros__parameters"] + } + }, + "required": ["/**"] +} diff --git a/perception/autoware_occupancy_grid_map_outlier_filter/src/occupancy_grid_map_outlier_filter_node.cpp b/perception/autoware_occupancy_grid_map_outlier_filter/src/occupancy_grid_map_outlier_filter_node.cpp index 1536db8610b76..046598e445ba8 100644 --- a/perception/autoware_occupancy_grid_map_outlier_filter/src/occupancy_grid_map_outlier_filter_node.cpp +++ b/perception/autoware_occupancy_grid_map_outlier_filter/src/occupancy_grid_map_outlier_filter_node.cpp @@ -106,13 +106,13 @@ namespace autoware::occupancy_grid_map_outlier_filter { RadiusSearch2dFilter::RadiusSearch2dFilter(rclcpp::Node & node) { - search_radius_ = node.declare_parameter("radius_search_2d_filter.search_radius", 1.0f); + search_radius_ = node.declare_parameter("radius_search_2d_filter.search_radius"); min_points_and_distance_ratio_ = - node.declare_parameter("radius_search_2d_filter.min_points_and_distance_ratio", 400.0f); - min_points_ = node.declare_parameter("radius_search_2d_filter.min_points", 4); - max_points_ = node.declare_parameter("radius_search_2d_filter.max_points", 70); + node.declare_parameter("radius_search_2d_filter.min_points_and_distance_ratio"); + min_points_ = node.declare_parameter("radius_search_2d_filter.min_points"); + max_points_ = node.declare_parameter("radius_search_2d_filter.max_points"); max_filter_points_nb_ = - node.declare_parameter("radius_search_2d_filter.max_filter_points_nb", 15000); + node.declare_parameter("radius_search_2d_filter.max_filter_points_nb"); kd_tree_ = pcl::make_shared>(false); } @@ -235,11 +235,11 @@ OccupancyGridMapOutlierFilterComponent::OccupancyGridMapOutlierFilterComponent( } /* params */ - map_frame_ = declare_parameter("map_frame", "map"); - base_link_frame_ = declare_parameter("base_link_frame", "base_link"); - cost_threshold_ = declare_parameter("cost_threshold", 45); - auto use_radius_search_2d_filter = declare_parameter("use_radius_search_2d_filter", true); - auto enable_debugger = declare_parameter("enable_debugger", false); + map_frame_ = declare_parameter("map_frame"); + base_link_frame_ = declare_parameter("base_link_frame"); + cost_threshold_ = declare_parameter("cost_threshold"); + auto use_radius_search_2d_filter = declare_parameter("use_radius_search_2d_filter"); + auto enable_debugger = declare_parameter("enable_debugger"); /* tf */ tf2_ = std::make_shared(get_clock()); From 5347f93903c3b3b056c68411ea73b90cd4357fd3 Mon Sep 17 00:00:00 2001 From: Rein Appeldoorn Date: Mon, 2 Sep 2024 01:18:02 +0200 Subject: [PATCH 119/169] fix(ground-segmentation): missing ament_index_cpp dependency (#8587) Signed-off-by: Rein Appeldoorn --- perception/autoware_ground_segmentation/package.xml | 1 + 1 file changed, 1 insertion(+) diff --git a/perception/autoware_ground_segmentation/package.xml b/perception/autoware_ground_segmentation/package.xml index 1a2f1d481a6c8..ff61a6b600f54 100644 --- a/perception/autoware_ground_segmentation/package.xml +++ b/perception/autoware_ground_segmentation/package.xml @@ -19,6 +19,7 @@ ament_cmake_auto autoware_cmake + ament_index_cpp autoware_pointcloud_preprocessor autoware_vehicle_info_utils libopencv-dev From 544b06eea2d6f9517f3ae8005146f557d3994a70 Mon Sep 17 00:00:00 2001 From: Taekjin LEE Date: Mon, 2 Sep 2024 09:40:27 +0900 Subject: [PATCH 120/169] feat(autoware_multi_object_tracker): reduce trigger latency (#8657) * feat: timer-based trigger with phase compensation Signed-off-by: Taekjin LEE * chore: update comments, name of variable Signed-off-by: Taekjin LEE * chore: declare min and max publish interval ratios 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> --- .../src/multi_object_tracker_node.cpp | 30 +++++++++++++------ .../src/multi_object_tracker_node.hpp | 4 +++ 2 files changed, 25 insertions(+), 9 deletions(-) diff --git a/perception/autoware_multi_object_tracker/src/multi_object_tracker_node.cpp b/perception/autoware_multi_object_tracker/src/multi_object_tracker_node.cpp index 4b3240d81e68f..ce7f8157a31b6 100644 --- a/perception/autoware_multi_object_tracker/src/multi_object_tracker_node.cpp +++ b/perception/autoware_multi_object_tracker/src/multi_object_tracker_node.cpp @@ -73,7 +73,8 @@ MultiObjectTracker::MultiObjectTracker(const rclcpp::NodeOptions & node_options) : rclcpp::Node("multi_object_tracker", node_options), tf_buffer_(this->get_clock()), tf_listener_(tf_buffer_), - last_published_time_(this->now()) + last_published_time_(this->now()), + last_updated_time_(this->now()) { // glog for debug if (!google::IsGoogleLoggingInitialized()) { @@ -153,7 +154,9 @@ MultiObjectTracker::MultiObjectTracker(const rclcpp::NodeOptions & node_options) // If the delay compensation is enabled, the timer is used to publish the output at the correct // time. if (enable_delay_compensation) { - const auto timer_period = rclcpp::Rate(publish_rate).period(); + publisher_period_ = 1.0 / publish_rate; // [s] + constexpr double timer_multiplier = 10.0; // 10 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(), timer_period, std::bind(&MultiObjectTracker::onTimer, this)); } @@ -221,21 +224,30 @@ void MultiObjectTracker::onTimer() { const rclcpp::Time current_time = this->now(); - // get objects from the input manager and run process - ObjectsList objects_list; - const bool is_objects_ready = input_manager_->getObjects(current_time, objects_list); - if (is_objects_ready) { - onMessage(objects_list); + // ensure minimum interval: room for the next process(prediction) + const double minimum_publish_interval = publisher_period_ * minimum_publish_interval_ratio; + const auto elapsed_time = (current_time - last_published_time_).seconds(); + if (elapsed_time < minimum_publish_interval) { + return; } - // Publish with delay compensation - checkAndPublish(current_time); + // if there was update after publishing, publish new messages + bool should_publish = last_published_time_ < last_updated_time_; + + // if there was no update, publish if the elapsed time is longer than the maximum publish latency + // in this case, it will perform extrapolate/remove old objects + const double maximum_publish_interval = publisher_period_ * maximum_publish_interval_ratio; + should_publish = should_publish || elapsed_time > maximum_publish_interval; + + // Publish with delay compensation to the current time + if (should_publish) checkAndPublish(current_time); } void MultiObjectTracker::onMessage(const ObjectsList & objects_list) { const rclcpp::Time current_time = this->now(); const rclcpp::Time oldest_time(objects_list.front().second.header.stamp); + last_updated_time_ = current_time; // process start debugger_->startMeasurementTime(this->now(), oldest_time); diff --git a/perception/autoware_multi_object_tracker/src/multi_object_tracker_node.hpp b/perception/autoware_multi_object_tracker/src/multi_object_tracker_node.hpp index e917acbda9fcc..3c23e3f066488 100644 --- a/perception/autoware_multi_object_tracker/src/multi_object_tracker_node.hpp +++ b/perception/autoware_multi_object_tracker/src/multi_object_tracker_node.hpp @@ -78,6 +78,10 @@ class MultiObjectTracker : public rclcpp::Node // publish timer rclcpp::TimerBase::SharedPtr publish_timer_; rclcpp::Time last_published_time_; + rclcpp::Time last_updated_time_; + double publisher_period_; + static constexpr double minimum_publish_interval_ratio = 0.85; + static constexpr double maximum_publish_interval_ratio = 1.05; // internal states std::string world_frame_id_; // tracking frame From 0a364d21ccbde7a68d7e5cf6bf8090dc660295c2 Mon Sep 17 00:00:00 2001 From: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> Date: Mon, 2 Sep 2024 11:05:32 +0900 Subject: [PATCH 121/169] fix(out_of_lane): fix a bug with the rtree reference deleted nodes (#8679) Signed-off-by: Maxime CLEMENT --- .../src/out_of_lane_collisions.cpp | 16 +++++++--------- .../src/out_of_lane_collisions.hpp | 8 +++++--- .../src/out_of_lane_module.cpp | 14 ++++++++++++-- 3 files changed, 24 insertions(+), 14 deletions(-) diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/out_of_lane_collisions.cpp b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/out_of_lane_collisions.cpp index c375bcc35c1ee..aef035200b6cc 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/out_of_lane_collisions.cpp +++ b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/out_of_lane_collisions.cpp @@ -129,28 +129,27 @@ void calculate_collisions_to_avoid( } } -OutOfLaneData calculate_outside_points(const EgoData & ego_data) +std::vector calculate_out_of_lane_points(const EgoData & ego_data) { - OutOfLaneData out_of_lane_data; - out_of_lane::OutOfLanePoint p; + std::vector out_of_lane_points; + OutOfLanePoint p; for (auto i = 0UL; i < ego_data.trajectory_footprints.size(); ++i) { p.trajectory_index = i + ego_data.first_trajectory_idx; const auto & footprint = ego_data.trajectory_footprints[i]; - out_of_lane::Polygons out_of_lane_polygons; + Polygons out_of_lane_polygons; boost::geometry::difference(footprint, ego_data.drivable_lane_polygons, out_of_lane_polygons); for (const auto & area : out_of_lane_polygons) { if (!area.outer.empty()) { p.outside_ring = area.outer; - out_of_lane_data.outside_points.push_back(p); + out_of_lane_points.push_back(p); } } } - return out_of_lane_data; + return out_of_lane_points; } -OutOfLaneData calculate_out_of_lane_areas(const EgoData & ego_data) +void prepare_out_of_lane_areas_rtree(OutOfLaneData & out_of_lane_data) { - auto out_of_lane_data = calculate_outside_points(ego_data); std::vector rtree_nodes; for (auto i = 0UL; i < out_of_lane_data.outside_points.size(); ++i) { OutAreaNode n; @@ -160,7 +159,6 @@ OutOfLaneData calculate_out_of_lane_areas(const EgoData & ego_data) rtree_nodes.push_back(n); } out_of_lane_data.outside_areas_rtree = {rtree_nodes.begin(), rtree_nodes.end()}; - return out_of_lane_data; } } // namespace autoware::motion_velocity_planner::out_of_lane diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/out_of_lane_collisions.hpp b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/out_of_lane_collisions.hpp index b9048cc358a07..33f0842c56d36 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/out_of_lane_collisions.hpp +++ b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/out_of_lane_collisions.hpp @@ -47,9 +47,11 @@ void calculate_collisions_to_avoid( const std::vector & trajectory, const PlannerParam & params); -/// @brief calculate the areas where ego will drive outside of its lane -/// @details the OutOfLaneData points and rtree are filled -OutOfLaneData calculate_out_of_lane_areas(const EgoData & ego_data); +/// @brief calculate the out of lane points +std::vector calculate_out_of_lane_points(const EgoData & ego_data); + +/// @brief prepare the rtree of out of lane points for the given data +void prepare_out_of_lane_areas_rtree(OutOfLaneData & out_of_lane_data); } // namespace autoware::motion_velocity_planner::out_of_lane #endif // OUT_OF_LANE_COLLISIONS_HPP_ diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/out_of_lane_module.cpp b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/out_of_lane_module.cpp index ca7ed3b9dc7bd..e51980d60dbba 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/out_of_lane_module.cpp +++ b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/out_of_lane_module.cpp @@ -25,6 +25,7 @@ #include #include #include +#include #include #include #include @@ -225,6 +226,16 @@ void prepare_stop_lines_rtree( ego_data.stop_lines_rtree = {rtree_nodes.begin(), rtree_nodes.end()}; } +out_of_lane::OutOfLaneData prepare_out_of_lane_data( + const out_of_lane::EgoData & ego_data, const route_handler::RouteHandler & route_handler) +{ + out_of_lane::OutOfLaneData out_of_lane_data; + out_of_lane_data.outside_points = out_of_lane::calculate_out_of_lane_points(ego_data); + out_of_lane::calculate_overlapped_lanelets(out_of_lane_data, route_handler); + out_of_lane::prepare_out_of_lane_areas_rtree(out_of_lane_data); + return out_of_lane_data; +} + VelocityPlanningResult OutOfLaneModule::plan( const std::vector & ego_trajectory_points, const std::shared_ptr planner_data) @@ -253,8 +264,7 @@ VelocityPlanningResult OutOfLaneModule::plan( const auto calculate_lanelets_us = stopwatch.toc("calculate_lanelets"); stopwatch.tic("calculate_out_of_lane_areas"); - auto out_of_lane_data = calculate_out_of_lane_areas(ego_data); - out_of_lane::calculate_overlapped_lanelets(out_of_lane_data, *planner_data->route_handler); + auto out_of_lane_data = prepare_out_of_lane_data(ego_data, *planner_data->route_handler); const auto calculate_out_of_lane_areas_us = stopwatch.toc("calculate_out_of_lane_areas"); stopwatch.tic("filter_predicted_objects"); From 38c6e0e4074b51051d21ff4fc86095613bab01f1 Mon Sep 17 00:00:00 2001 From: Go Sakayori Date: Mon, 2 Sep 2024 13:13:32 +0900 Subject: [PATCH 122/169] refactor(start_planner, lane_departure_checker): remove redundant calculation in fuseLaneletPolygon (#8682) * remove redundant fused lanelet calculation Signed-off-by: Go Sakayori * remove unnecessary change Signed-off-by: Go Sakayori * add new function Signed-off-by: Go Sakayori * fix spelling mistake Signed-off-by: Go Sakayori * fix spelling mistake Signed-off-by: Go Sakayori * use std::move and lambda funcion for better code Signed-off-by: Go Sakayori * add comment for better understanding Signed-off-by: Go Sakayori * fix cppcheck Signed-off-by: Go Sakayori --------- Signed-off-by: Go Sakayori --- .../lane_departure_checker.hpp | 13 ++ .../lane_departure_checker.cpp | 151 +++++++++++++----- .../src/shift_pull_out.cpp | 8 +- 3 files changed, 131 insertions(+), 41 deletions(-) diff --git a/control/autoware_lane_departure_checker/include/autoware/lane_departure_checker/lane_departure_checker.hpp b/control/autoware_lane_departure_checker/include/autoware/lane_departure_checker/lane_departure_checker.hpp index 4bcc3f1b7baee..4c3c32eaa321a 100644 --- a/control/autoware_lane_departure_checker/include/autoware/lane_departure_checker/lane_departure_checker.hpp +++ b/control/autoware_lane_departure_checker/include/autoware/lane_departure_checker/lane_departure_checker.hpp @@ -132,9 +132,19 @@ class LaneDepartureChecker std::optional getFusedLaneletPolygonForPath( const lanelet::LaneletMapPtr lanelet_map_ptr, const PathWithLaneId & path) const; + bool updateFusedLaneletPolygonForPath( + const lanelet::LaneletMapPtr lanelet_map_ptr, const PathWithLaneId & path, + std::vector & fused_lanelets_id, + std::optional & fused_lanelets_polygon) const; + bool checkPathWillLeaveLane( const lanelet::LaneletMapPtr lanelet_map_ptr, const PathWithLaneId & path) const; + bool checkPathWillLeaveLane( + const lanelet::LaneletMapPtr lanelet_map_ptr, const PathWithLaneId & path, + std::vector & fused_lanelets_id, + std::optional & fused_lanelets_polygon) const; + PathWithLaneId cropPointsOutsideOfLanes( const lanelet::LaneletMapPtr lanelet_map_ptr, const PathWithLaneId & path, const size_t end_index); @@ -177,6 +187,9 @@ class LaneDepartureChecker const std::vector & vehicle_footprints, const SegmentRtree & uncrossable_segments) const; + lanelet::BasicPolygon2d toBasicPolygon2D(const LinearRing2d & footprint_hull) const; + autoware::universe_utils::Polygon2d toPolygon2D(const lanelet::BasicPolygon2d & poly) const; + mutable std::shared_ptr time_keeper_; }; } // namespace autoware::lane_departure_checker diff --git a/control/autoware_lane_departure_checker/src/lane_departure_checker_node/lane_departure_checker.cpp b/control/autoware_lane_departure_checker/src/lane_departure_checker_node/lane_departure_checker.cpp index fcb64607f6d46..ea678ec26941b 100644 --- a/control/autoware_lane_departure_checker/src/lane_departure_checker_node/lane_departure_checker.cpp +++ b/control/autoware_lane_departure_checker/src/lane_departure_checker_node/lane_departure_checker.cpp @@ -313,15 +313,8 @@ std::vector> LaneDepartureChecker::getLanele // Get Footprint Hull basic polygon std::vector vehicle_footprints = createVehicleFootprints(path); LinearRing2d footprint_hull = createHullFromFootprints(vehicle_footprints); - auto to_basic_polygon = [](const LinearRing2d & footprint_hull) -> lanelet::BasicPolygon2d { - lanelet::BasicPolygon2d basic_polygon; - for (const auto & point : footprint_hull) { - Eigen::Vector2d p(point.x(), point.y()); - basic_polygon.push_back(p); - } - return basic_polygon; - }; - lanelet::BasicPolygon2d footprint_hull_basic_polygon = to_basic_polygon(footprint_hull); + + lanelet::BasicPolygon2d footprint_hull_basic_polygon = toBasicPolygon2D(footprint_hull); // Find all lanelets that intersect the footprint hull return lanelet::geometry::findWithin2d( @@ -335,39 +328,63 @@ LaneDepartureChecker::getFusedLaneletPolygonForPath( universe_utils::ScopedTimeTrack st(__func__, *time_keeper_); const auto lanelets_distance_pair = getLaneletsFromPath(lanelet_map_ptr, path); - auto to_polygon2d = - [](const lanelet::BasicPolygon2d & poly) -> autoware::universe_utils::Polygon2d { - autoware::universe_utils::Polygon2d polygon; - auto & outer = polygon.outer(); - - for (const auto & p : poly) { - autoware::universe_utils::Point2d p2d(p.x(), p.y()); - outer.push_back(p2d); - } - boost::geometry::correct(polygon); - return polygon; - }; + if (lanelets_distance_pair.empty()) return std::nullopt; // Fuse lanelets into a single BasicPolygon2d - auto fused_lanelets = [&]() -> std::optional { - if (lanelets_distance_pair.empty()) return std::nullopt; - autoware::universe_utils::MultiPolygon2d lanelet_unions; - autoware::universe_utils::MultiPolygon2d result; - - for (size_t i = 0; i < lanelets_distance_pair.size(); ++i) { - const auto & route_lanelet = lanelets_distance_pair.at(i).second; - const auto & p = route_lanelet.polygon2d().basicPolygon(); - autoware::universe_utils::Polygon2d poly = to_polygon2d(p); - boost::geometry::union_(lanelet_unions, poly, result); - lanelet_unions = result; - result.clear(); - } + autoware::universe_utils::MultiPolygon2d lanelet_unions; + autoware::universe_utils::MultiPolygon2d result; + + for (size_t i = 0; i < lanelets_distance_pair.size(); ++i) { + const auto & route_lanelet = lanelets_distance_pair.at(i).second; + const auto & p = route_lanelet.polygon2d().basicPolygon(); + autoware::universe_utils::Polygon2d poly = toPolygon2D(p); + boost::geometry::union_(lanelet_unions, poly, result); + lanelet_unions = result; + result.clear(); + } + + if (lanelet_unions.empty()) return std::nullopt; + return lanelet_unions.front(); +} + +bool LaneDepartureChecker::updateFusedLaneletPolygonForPath( + const lanelet::LaneletMapPtr lanelet_map_ptr, const PathWithLaneId & path, + std::vector & fused_lanelets_id, + std::optional & fused_lanelets_polygon) const +{ + universe_utils::ScopedTimeTrack st(__func__, *time_keeper_); + + const auto lanelets_distance_pair = getLaneletsFromPath(lanelet_map_ptr, path); + if (lanelets_distance_pair.empty()) return false; + + autoware::universe_utils::MultiPolygon2d lanelet_unions; + autoware::universe_utils::MultiPolygon2d result; + + if (fused_lanelets_polygon) lanelet_unions.push_back(fused_lanelets_polygon.value()); + + for (size_t i = 0; i < lanelets_distance_pair.size(); ++i) { + const auto & route_lanelet = lanelets_distance_pair.at(i).second; + bool id_exist = std::any_of( + fused_lanelets_id.begin(), fused_lanelets_id.end(), + [&](const auto & id) { return id == route_lanelet.id(); }); - if (lanelet_unions.empty()) return std::nullopt; - return lanelet_unions.front(); - }(); + if (id_exist) continue; - return fused_lanelets; + const auto & p = route_lanelet.polygon2d().basicPolygon(); + autoware::universe_utils::Polygon2d poly = toPolygon2D(p); + boost::geometry::union_(lanelet_unions, poly, result); + lanelet_unions = result; + result.clear(); + fused_lanelets_id.push_back(route_lanelet.id()); + } + + if (lanelet_unions.empty()) { + fused_lanelets_polygon = std::nullopt; + return false; + } + + fused_lanelets_polygon = lanelet_unions.front(); + return true; } bool LaneDepartureChecker::checkPathWillLeaveLane( @@ -386,6 +403,37 @@ bool LaneDepartureChecker::checkPathWillLeaveLane( }); } +bool LaneDepartureChecker::checkPathWillLeaveLane( + const lanelet::LaneletMapPtr lanelet_map_ptr, const PathWithLaneId & path, + std::vector & fused_lanelets_id, + std::optional & fused_lanelets_polygon) const +{ + universe_utils::ScopedTimeTrack st(__func__, *time_keeper_); + + const std::vector vehicle_footprints = createVehicleFootprints(path); + + auto is_all_footprints_within = [&](const auto & polygon) { + return std::all_of( + vehicle_footprints.begin(), vehicle_footprints.end(), + [&polygon](const auto & footprint) { return boost::geometry::within(footprint, polygon); }); + }; + + // If lanelets polygon exists and all footprints are within it, the path doesn't leave the lane + if (fused_lanelets_polygon && is_all_footprints_within(fused_lanelets_polygon.value())) { + return false; + } + + // Update the lanelet polygon for the current path + if (!updateFusedLaneletPolygonForPath( + lanelet_map_ptr, path, fused_lanelets_id, fused_lanelets_polygon)) { + // If update fails, assume the path leaves the lane + return true; + } + + // Check if any footprint is outside the updated lanelets polygon + return !is_all_footprints_within(fused_lanelets_polygon.value()); +} + PathWithLaneId LaneDepartureChecker::cropPointsOutsideOfLanes( const lanelet::LaneletMapPtr lanelet_map_ptr, const PathWithLaneId & path, const size_t end_index) { @@ -398,7 +446,7 @@ PathWithLaneId LaneDepartureChecker::cropPointsOutsideOfLanes( { universe_utils::ScopedTimeTrack st2( - "check if footprint is within fused_lanlets_polygon", *time_keeper_); + "check if footprint is within fused_lanelets_polygon", *time_keeper_); size_t idx = 0; std::for_each( @@ -484,4 +532,29 @@ bool LaneDepartureChecker::willCrossBoundary( return false; } +lanelet::BasicPolygon2d LaneDepartureChecker::toBasicPolygon2D( + const LinearRing2d & footprint_hull) const +{ + lanelet::BasicPolygon2d basic_polygon; + for (const auto & point : footprint_hull) { + Eigen::Vector2d p(point.x(), point.y()); + basic_polygon.push_back(p); + } + return basic_polygon; +} + +autoware::universe_utils::Polygon2d LaneDepartureChecker::toPolygon2D( + const lanelet::BasicPolygon2d & poly) const +{ + autoware::universe_utils::Polygon2d polygon; + auto & outer = polygon.outer(); + + for (const auto & p : poly) { + autoware::universe_utils::Point2d p2d(p.x(), p.y()); + outer.push_back(p2d); + } + boost::geometry::correct(polygon); + return polygon; +} + } // namespace autoware::lane_departure_checker diff --git a/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/src/shift_pull_out.cpp b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/src/shift_pull_out.cpp index 712b8c3ce265d..3f750a7f1a87b 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/src/shift_pull_out.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/src/shift_pull_out.cpp @@ -63,6 +63,9 @@ std::optional ShiftPullOut::plan( const auto lanelet_map_ptr = planner_data_->route_handler->getLaneletMapPtr(); + std::vector fused_id_start_to_end{}; + std::optional fused_polygon_start_to_end = std::nullopt; + // get safe path for (auto & pull_out_path : pull_out_paths) { universe_utils::ScopedTimeTrack st("get safe path", *time_keeper_); @@ -99,8 +102,9 @@ std::optional ShiftPullOut::plan( // computational cost. if ( - is_lane_departure_check_required && - lane_departure_checker_->checkPathWillLeaveLane(lanelet_map_ptr, path_shift_start_to_end)) { + is_lane_departure_check_required && lane_departure_checker_->checkPathWillLeaveLane( + lanelet_map_ptr, path_shift_start_to_end, + fused_id_start_to_end, fused_polygon_start_to_end)) { planner_debug_data.conditions_evaluation.emplace_back("lane departure"); continue; } From 482d0ffe58a7fb5f9f36a9b0c6887a740822322f Mon Sep 17 00:00:00 2001 From: TaikiYamada4 <129915538+TaikiYamada4@users.noreply.github.com> Date: Mon, 2 Sep 2024 13:23:43 +0900 Subject: [PATCH 123/169] chore(autoware_gnss_poser): make source codes follow the coding rules (#8703) * Follow the coding rules in autoware_gnss_poser Signed-off-by: TaikiYamada4 * Edit _core to _node inside files Signed-off-by: TaikiYamada4 * Fixed AUTOWARE__GNSS_POSER__GNSS_POSER_NODE_HPP_ part Signed-off-by: TaikiYamada4 --------- Signed-off-by: TaikiYamada4 --- sensing/autoware_gnss_poser/CMakeLists.txt | 4 ++-- .../gnss_poser/{gnss_poser_core.hpp => gnss_poser_node.hpp} | 6 +++--- .../src/{gnss_poser_core.cpp => gnss_poser_node.cpp} | 2 +- 3 files changed, 6 insertions(+), 6 deletions(-) rename sensing/autoware_gnss_poser/include/autoware/gnss_poser/{gnss_poser_core.hpp => gnss_poser_node.hpp} (96%) rename sensing/autoware_gnss_poser/src/{gnss_poser_core.cpp => gnss_poser_node.cpp} (99%) diff --git a/sensing/autoware_gnss_poser/CMakeLists.txt b/sensing/autoware_gnss_poser/CMakeLists.txt index 6baf468e289f3..94317dd21a238 100644 --- a/sensing/autoware_gnss_poser/CMakeLists.txt +++ b/sensing/autoware_gnss_poser/CMakeLists.txt @@ -16,11 +16,11 @@ find_library(GeographicLib_LIBRARIES ) set(GNSS_POSER_HEADERS - include/autoware/gnss_poser/gnss_poser_core.hpp + include/autoware/gnss_poser/gnss_poser_node.hpp ) ament_auto_add_library(gnss_poser_node SHARED - src/gnss_poser_core.cpp + src/gnss_poser_node.cpp ${GNSS_POSER_HEADERS} ) diff --git a/sensing/autoware_gnss_poser/include/autoware/gnss_poser/gnss_poser_core.hpp b/sensing/autoware_gnss_poser/include/autoware/gnss_poser/gnss_poser_node.hpp similarity index 96% rename from sensing/autoware_gnss_poser/include/autoware/gnss_poser/gnss_poser_core.hpp rename to sensing/autoware_gnss_poser/include/autoware/gnss_poser/gnss_poser_node.hpp index 88a4a87fa636e..e551aedab8cf5 100644 --- a/sensing/autoware_gnss_poser/include/autoware/gnss_poser/gnss_poser_core.hpp +++ b/sensing/autoware_gnss_poser/include/autoware/gnss_poser/gnss_poser_node.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 AUTOWARE__GNSS_POSER__GNSS_POSER_CORE_HPP_ -#define AUTOWARE__GNSS_POSER__GNSS_POSER_CORE_HPP_ +#ifndef AUTOWARE__GNSS_POSER__GNSS_POSER_NODE_HPP_ +#define AUTOWARE__GNSS_POSER__GNSS_POSER_NODE_HPP_ #include #include @@ -103,4 +103,4 @@ class GNSSPoser : public rclcpp::Node }; } // namespace autoware::gnss_poser -#endif // AUTOWARE__GNSS_POSER__GNSS_POSER_CORE_HPP_ +#endif // AUTOWARE__GNSS_POSER__GNSS_POSER_NODE_HPP_ diff --git a/sensing/autoware_gnss_poser/src/gnss_poser_core.cpp b/sensing/autoware_gnss_poser/src/gnss_poser_node.cpp similarity index 99% rename from sensing/autoware_gnss_poser/src/gnss_poser_core.cpp rename to sensing/autoware_gnss_poser/src/gnss_poser_node.cpp index f4047af75dada..4a5ff71e3df58 100644 --- a/sensing/autoware_gnss_poser/src/gnss_poser_core.cpp +++ b/sensing/autoware_gnss_poser/src/gnss_poser_node.cpp @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "autoware/gnss_poser/gnss_poser_core.hpp" +#include "autoware/gnss_poser/gnss_poser_node.hpp" #include #include From d92b054c646734c70647375d754e0b96bb4d4c81 Mon Sep 17 00:00:00 2001 From: SakodaShintaro Date: Mon, 2 Sep 2024 15:46:37 +0900 Subject: [PATCH 124/169] refactor(ekf_localizer): add namespace "autoware::ekf_localizer::" (#8680) Added namespace "autoware::ekf_localizer::" Signed-off-by: Shintaro Sakoda --- localization/ekf_localizer/CMakeLists.txt | 2 +- .../include/ekf_localizer/aged_object_queue.hpp | 5 +++++ .../ekf_localizer/include/ekf_localizer/covariance.hpp | 5 +++++ .../ekf_localizer/include/ekf_localizer/diagnostics.hpp | 5 +++++ .../ekf_localizer/include/ekf_localizer/ekf_localizer.hpp | 6 ++++++ .../ekf_localizer/include/ekf_localizer/ekf_module.hpp | 4 ++++ .../include/ekf_localizer/hyper_parameters.hpp | 5 +++++ .../ekf_localizer/include/ekf_localizer/mahalanobis.hpp | 5 +++++ .../ekf_localizer/include/ekf_localizer/matrix_types.hpp | 5 +++++ .../ekf_localizer/include/ekf_localizer/measurement.hpp | 5 +++++ .../ekf_localizer/include/ekf_localizer/numeric.hpp | 5 +++++ .../ekf_localizer/include/ekf_localizer/state_index.hpp | 5 +++++ .../include/ekf_localizer/state_transition.hpp | 5 +++++ .../ekf_localizer/include/ekf_localizer/string.hpp | 5 +++++ .../ekf_localizer/include/ekf_localizer/warning.hpp | 5 +++++ .../include/ekf_localizer/warning_message.hpp | 5 +++++ localization/ekf_localizer/src/covariance.cpp | 5 +++++ localization/ekf_localizer/src/diagnostics.cpp | 5 +++++ localization/ekf_localizer/src/ekf_localizer.cpp | 7 ++++++- localization/ekf_localizer/src/ekf_module.cpp | 5 +++++ localization/ekf_localizer/src/mahalanobis.cpp | 5 +++++ localization/ekf_localizer/src/measurement.cpp | 5 +++++ localization/ekf_localizer/src/state_transition.cpp | 5 +++++ localization/ekf_localizer/src/warning_message.cpp | 5 +++++ localization/ekf_localizer/test/test_aged_object_queue.cpp | 5 +++++ localization/ekf_localizer/test/test_covariance.cpp | 5 +++++ localization/ekf_localizer/test/test_diagnostics.cpp | 5 +++++ localization/ekf_localizer/test/test_mahalanobis.cpp | 5 +++++ localization/ekf_localizer/test/test_measurement.cpp | 5 +++++ localization/ekf_localizer/test/test_numeric.cpp | 5 +++++ localization/ekf_localizer/test/test_state_transition.cpp | 5 +++++ localization/ekf_localizer/test/test_string.cpp | 5 +++++ localization/ekf_localizer/test/test_warning_message.cpp | 5 +++++ 33 files changed, 162 insertions(+), 2 deletions(-) diff --git a/localization/ekf_localizer/CMakeLists.txt b/localization/ekf_localizer/CMakeLists.txt index 13e63ddf3c170..cf82d6f7798dc 100644 --- a/localization/ekf_localizer/CMakeLists.txt +++ b/localization/ekf_localizer/CMakeLists.txt @@ -25,7 +25,7 @@ ament_auto_add_library(${PROJECT_NAME} SHARED ) rclcpp_components_register_node(${PROJECT_NAME} - PLUGIN "EKFLocalizer" + PLUGIN "autoware::ekf_localizer::EKFLocalizer" EXECUTABLE ${PROJECT_NAME}_node EXECUTOR SingleThreadedExecutor ) diff --git a/localization/ekf_localizer/include/ekf_localizer/aged_object_queue.hpp b/localization/ekf_localizer/include/ekf_localizer/aged_object_queue.hpp index 880ab82418e06..44834de01ddfc 100644 --- a/localization/ekf_localizer/include/ekf_localizer/aged_object_queue.hpp +++ b/localization/ekf_localizer/include/ekf_localizer/aged_object_queue.hpp @@ -18,6 +18,9 @@ #include #include +namespace autoware::ekf_localizer +{ + template class AgedObjectQueue { @@ -63,4 +66,6 @@ class AgedObjectQueue std::queue ages_; }; +} // namespace autoware::ekf_localizer + #endif // EKF_LOCALIZER__AGED_OBJECT_QUEUE_HPP_ diff --git a/localization/ekf_localizer/include/ekf_localizer/covariance.hpp b/localization/ekf_localizer/include/ekf_localizer/covariance.hpp index 713877c1307d2..460d38429d056 100644 --- a/localization/ekf_localizer/include/ekf_localizer/covariance.hpp +++ b/localization/ekf_localizer/include/ekf_localizer/covariance.hpp @@ -17,7 +17,12 @@ #include "ekf_localizer/matrix_types.hpp" +namespace autoware::ekf_localizer +{ + std::array ekf_covariance_to_pose_message_covariance(const Matrix6d & P); std::array ekf_covariance_to_twist_message_covariance(const Matrix6d & P); +} // namespace autoware::ekf_localizer + #endif // EKF_LOCALIZER__COVARIANCE_HPP_ diff --git a/localization/ekf_localizer/include/ekf_localizer/diagnostics.hpp b/localization/ekf_localizer/include/ekf_localizer/diagnostics.hpp index 8815a1758de01..c02cd6e2944d6 100644 --- a/localization/ekf_localizer/include/ekf_localizer/diagnostics.hpp +++ b/localization/ekf_localizer/include/ekf_localizer/diagnostics.hpp @@ -20,6 +20,9 @@ #include #include +namespace autoware::ekf_localizer +{ + diagnostic_msgs::msg::DiagnosticStatus check_process_activated(const bool is_activated); diagnostic_msgs::msg::DiagnosticStatus check_measurement_updated( @@ -40,4 +43,6 @@ diagnostic_msgs::msg::DiagnosticStatus check_covariance_ellipse( diagnostic_msgs::msg::DiagnosticStatus merge_diagnostic_status( const std::vector & stat_array); +} // namespace autoware::ekf_localizer + #endif // EKF_LOCALIZER__DIAGNOSTICS_HPP_ diff --git a/localization/ekf_localizer/include/ekf_localizer/ekf_localizer.hpp b/localization/ekf_localizer/include/ekf_localizer/ekf_localizer.hpp index d247c817874fb..d6feb17367b10 100644 --- a/localization/ekf_localizer/include/ekf_localizer/ekf_localizer.hpp +++ b/localization/ekf_localizer/include/ekf_localizer/ekf_localizer.hpp @@ -50,6 +50,9 @@ #include #include +namespace autoware::ekf_localizer +{ + class Simple1DFilter { public: @@ -242,4 +245,7 @@ class EKFLocalizer : public rclcpp::Node friend class EKFLocalizerTestSuite; // for test code }; + +} // namespace autoware::ekf_localizer + #endif // EKF_LOCALIZER__EKF_LOCALIZER_HPP_ diff --git a/localization/ekf_localizer/include/ekf_localizer/ekf_module.hpp b/localization/ekf_localizer/include/ekf_localizer/ekf_module.hpp index a127d2ae81433..5cf13dfb309b1 100644 --- a/localization/ekf_localizer/include/ekf_localizer/ekf_module.hpp +++ b/localization/ekf_localizer/include/ekf_localizer/ekf_module.hpp @@ -34,6 +34,8 @@ #include #include +namespace autoware::ekf_localizer +{ using autoware::kalman_filter::TimeDelayKalmanFilter; struct EKFDiagnosticInfo @@ -93,4 +95,6 @@ class EKFModule const HyperParameters params_; }; +} // namespace autoware::ekf_localizer + #endif // EKF_LOCALIZER__EKF_MODULE_HPP_ diff --git a/localization/ekf_localizer/include/ekf_localizer/hyper_parameters.hpp b/localization/ekf_localizer/include/ekf_localizer/hyper_parameters.hpp index 7c3c03c83b778..db1f59984adca 100644 --- a/localization/ekf_localizer/include/ekf_localizer/hyper_parameters.hpp +++ b/localization/ekf_localizer/include/ekf_localizer/hyper_parameters.hpp @@ -20,6 +20,9 @@ #include #include +namespace autoware::ekf_localizer +{ + class HyperParameters { public: @@ -102,4 +105,6 @@ class HyperParameters const double threshold_observable_velocity_mps; }; +} // namespace autoware::ekf_localizer + #endif // EKF_LOCALIZER__HYPER_PARAMETERS_HPP_ diff --git a/localization/ekf_localizer/include/ekf_localizer/mahalanobis.hpp b/localization/ekf_localizer/include/ekf_localizer/mahalanobis.hpp index 1f0d75c5958d4..abb98b95d329e 100644 --- a/localization/ekf_localizer/include/ekf_localizer/mahalanobis.hpp +++ b/localization/ekf_localizer/include/ekf_localizer/mahalanobis.hpp @@ -18,9 +18,14 @@ #include #include +namespace autoware::ekf_localizer +{ + double squared_mahalanobis( const Eigen::VectorXd & x, const Eigen::VectorXd & y, const Eigen::MatrixXd & C); double mahalanobis(const Eigen::VectorXd & x, const Eigen::VectorXd & y, const Eigen::MatrixXd & C); +} // namespace autoware::ekf_localizer + #endif // EKF_LOCALIZER__MAHALANOBIS_HPP_ diff --git a/localization/ekf_localizer/include/ekf_localizer/matrix_types.hpp b/localization/ekf_localizer/include/ekf_localizer/matrix_types.hpp index 732abd6c8e2e7..ccfa9f3679f94 100644 --- a/localization/ekf_localizer/include/ekf_localizer/matrix_types.hpp +++ b/localization/ekf_localizer/include/ekf_localizer/matrix_types.hpp @@ -17,7 +17,12 @@ #include +namespace autoware::ekf_localizer +{ + using Vector6d = Eigen::Matrix; using Matrix6d = Eigen::Matrix; +} // namespace autoware::ekf_localizer + #endif // EKF_LOCALIZER__MATRIX_TYPES_HPP_ diff --git a/localization/ekf_localizer/include/ekf_localizer/measurement.hpp b/localization/ekf_localizer/include/ekf_localizer/measurement.hpp index 396aaf7b9a1b4..f38d291d41c62 100644 --- a/localization/ekf_localizer/include/ekf_localizer/measurement.hpp +++ b/localization/ekf_localizer/include/ekf_localizer/measurement.hpp @@ -17,6 +17,9 @@ #include +namespace autoware::ekf_localizer +{ + Eigen::Matrix pose_measurement_matrix(); Eigen::Matrix twist_measurement_matrix(); Eigen::Matrix3d pose_measurement_covariance( @@ -24,4 +27,6 @@ Eigen::Matrix3d pose_measurement_covariance( Eigen::Matrix2d twist_measurement_covariance( const std::array & covariance, const size_t smoothing_step); +} // namespace autoware::ekf_localizer + #endif // EKF_LOCALIZER__MEASUREMENT_HPP_ diff --git a/localization/ekf_localizer/include/ekf_localizer/numeric.hpp b/localization/ekf_localizer/include/ekf_localizer/numeric.hpp index 358a2750bd3a8..d69c22263190f 100644 --- a/localization/ekf_localizer/include/ekf_localizer/numeric.hpp +++ b/localization/ekf_localizer/include/ekf_localizer/numeric.hpp @@ -19,6 +19,9 @@ #include +namespace autoware::ekf_localizer +{ + inline bool has_inf(const Eigen::MatrixXd & v) { return v.array().isInf().any(); @@ -29,4 +32,6 @@ inline bool has_nan(const Eigen::MatrixXd & v) return v.array().isNaN().any(); } +} // namespace autoware::ekf_localizer + #endif // EKF_LOCALIZER__NUMERIC_HPP_ diff --git a/localization/ekf_localizer/include/ekf_localizer/state_index.hpp b/localization/ekf_localizer/include/ekf_localizer/state_index.hpp index b2bfdb0bd9e2e..d09fa6e31a36c 100644 --- a/localization/ekf_localizer/include/ekf_localizer/state_index.hpp +++ b/localization/ekf_localizer/include/ekf_localizer/state_index.hpp @@ -15,6 +15,9 @@ #ifndef EKF_LOCALIZER__STATE_INDEX_HPP_ #define EKF_LOCALIZER__STATE_INDEX_HPP_ +namespace autoware::ekf_localizer +{ + enum IDX { X = 0, Y = 1, @@ -24,4 +27,6 @@ enum IDX { WZ = 5, }; +} // namespace autoware::ekf_localizer + #endif // EKF_LOCALIZER__STATE_INDEX_HPP_ diff --git a/localization/ekf_localizer/include/ekf_localizer/state_transition.hpp b/localization/ekf_localizer/include/ekf_localizer/state_transition.hpp index 09a87e5fe154b..22f38924ab31e 100644 --- a/localization/ekf_localizer/include/ekf_localizer/state_transition.hpp +++ b/localization/ekf_localizer/include/ekf_localizer/state_transition.hpp @@ -17,10 +17,15 @@ #include "ekf_localizer/matrix_types.hpp" +namespace autoware::ekf_localizer +{ + double normalize_yaw(const double & yaw); Vector6d predict_next_state(const Vector6d & X_curr, const double dt); Matrix6d create_state_transition_matrix(const Vector6d & X_curr, const double dt); Matrix6d process_noise_covariance( const double proc_cov_yaw_d, const double proc_cov_vx_d, const double proc_cov_wz_d); +} // namespace autoware::ekf_localizer + #endif // EKF_LOCALIZER__STATE_TRANSITION_HPP_ diff --git a/localization/ekf_localizer/include/ekf_localizer/string.hpp b/localization/ekf_localizer/include/ekf_localizer/string.hpp index 0154e84b88004..e4ac56b55b791 100644 --- a/localization/ekf_localizer/include/ekf_localizer/string.hpp +++ b/localization/ekf_localizer/include/ekf_localizer/string.hpp @@ -17,6 +17,9 @@ #include +namespace autoware::ekf_localizer +{ + inline std::string erase_leading_slash(const std::string & s) { std::string a = s; @@ -26,4 +29,6 @@ inline std::string erase_leading_slash(const std::string & s) return a; } +} // namespace autoware::ekf_localizer + #endif // EKF_LOCALIZER__STRING_HPP_ diff --git a/localization/ekf_localizer/include/ekf_localizer/warning.hpp b/localization/ekf_localizer/include/ekf_localizer/warning.hpp index e7456d73ecfdd..4ec57d3541a42 100644 --- a/localization/ekf_localizer/include/ekf_localizer/warning.hpp +++ b/localization/ekf_localizer/include/ekf_localizer/warning.hpp @@ -19,6 +19,9 @@ #include +namespace autoware::ekf_localizer +{ + class Warning { public: @@ -40,4 +43,6 @@ class Warning rclcpp::Node * node_; }; +} // namespace autoware::ekf_localizer + #endif // EKF_LOCALIZER__WARNING_HPP_ diff --git a/localization/ekf_localizer/include/ekf_localizer/warning_message.hpp b/localization/ekf_localizer/include/ekf_localizer/warning_message.hpp index 36c0eabd588fa..579e845cc1c5e 100644 --- a/localization/ekf_localizer/include/ekf_localizer/warning_message.hpp +++ b/localization/ekf_localizer/include/ekf_localizer/warning_message.hpp @@ -17,6 +17,9 @@ #include +namespace autoware::ekf_localizer +{ + std::string pose_delay_step_warning_message( const double delay_time, const double delay_time_threshold); std::string twist_delay_step_warning_message( @@ -25,4 +28,6 @@ std::string pose_delay_time_warning_message(const double delay_time); std::string twist_delay_time_warning_message(const double delay_time); std::string mahalanobis_warning_message(const double distance, const double max_distance); +} // namespace autoware::ekf_localizer + #endif // EKF_LOCALIZER__WARNING_MESSAGE_HPP_ diff --git a/localization/ekf_localizer/src/covariance.cpp b/localization/ekf_localizer/src/covariance.cpp index 4655ea8a89855..14bc57b869be6 100644 --- a/localization/ekf_localizer/src/covariance.cpp +++ b/localization/ekf_localizer/src/covariance.cpp @@ -17,6 +17,9 @@ #include "autoware/universe_utils/ros/msg_covariance.hpp" #include "ekf_localizer/state_index.hpp" +namespace autoware::ekf_localizer +{ + using COV_IDX = autoware::universe_utils::xyzrpy_covariance_index::XYZRPY_COV_IDX; std::array ekf_covariance_to_pose_message_covariance(const Matrix6d & P) @@ -49,3 +52,5 @@ std::array ekf_covariance_to_twist_message_covariance(const Matrix6d return covariance; } + +} // namespace autoware::ekf_localizer diff --git a/localization/ekf_localizer/src/diagnostics.cpp b/localization/ekf_localizer/src/diagnostics.cpp index 902efeafacdb3..7e6b2b83f3025 100644 --- a/localization/ekf_localizer/src/diagnostics.cpp +++ b/localization/ekf_localizer/src/diagnostics.cpp @@ -19,6 +19,9 @@ #include #include +namespace autoware::ekf_localizer +{ + diagnostic_msgs::msg::DiagnosticStatus check_process_activated(const bool is_activated) { diagnostic_msgs::msg::DiagnosticStatus stat; @@ -200,3 +203,5 @@ diagnostic_msgs::msg::DiagnosticStatus merge_diagnostic_status( return merged_stat; } + +} // namespace autoware::ekf_localizer diff --git a/localization/ekf_localizer/src/ekf_localizer.cpp b/localization/ekf_localizer/src/ekf_localizer.cpp index e77a1156bf049..3362ce3a0c01e 100644 --- a/localization/ekf_localizer/src/ekf_localizer.cpp +++ b/localization/ekf_localizer/src/ekf_localizer.cpp @@ -34,6 +34,9 @@ #include #include +namespace autoware::ekf_localizer +{ + // clang-format off #define PRINT_MAT(X) std::cout << #X << ":\n" << X << std::endl << std::endl // NOLINT #define DEBUG_INFO(...) {if (params_.show_debug_info) {RCLCPP_INFO(__VA_ARGS__);}} // NOLINT @@ -495,5 +498,7 @@ void EKFLocalizer::service_trigger_node( res->success = true; } +} // namespace autoware::ekf_localizer + #include -RCLCPP_COMPONENTS_REGISTER_NODE(EKFLocalizer) +RCLCPP_COMPONENTS_REGISTER_NODE(autoware::ekf_localizer::EKFLocalizer) diff --git a/localization/ekf_localizer/src/ekf_module.cpp b/localization/ekf_localizer/src/ekf_module.cpp index 5c804afdc8cda..d2c29c458572e 100644 --- a/localization/ekf_localizer/src/ekf_module.cpp +++ b/localization/ekf_localizer/src/ekf_module.cpp @@ -29,6 +29,9 @@ #include #include +namespace autoware::ekf_localizer +{ + // clang-format off #define DEBUG_PRINT_MAT(X) {if (params_.show_debug_info) {std::cout << #X << ": " << X << std::endl;}} // NOLINT // clang-format on @@ -392,3 +395,5 @@ bool EKFModule::measurement_update_twist( return true; } + +} // namespace autoware::ekf_localizer diff --git a/localization/ekf_localizer/src/mahalanobis.cpp b/localization/ekf_localizer/src/mahalanobis.cpp index a71482ab696f6..be3bcb982f7b9 100644 --- a/localization/ekf_localizer/src/mahalanobis.cpp +++ b/localization/ekf_localizer/src/mahalanobis.cpp @@ -14,6 +14,9 @@ #include "ekf_localizer/mahalanobis.hpp" +namespace autoware::ekf_localizer +{ + double squared_mahalanobis( const Eigen::VectorXd & x, const Eigen::VectorXd & y, const Eigen::MatrixXd & C) { @@ -25,3 +28,5 @@ double mahalanobis(const Eigen::VectorXd & x, const Eigen::VectorXd & y, const E { return std::sqrt(squared_mahalanobis(x, y, C)); } + +} // namespace autoware::ekf_localizer diff --git a/localization/ekf_localizer/src/measurement.cpp b/localization/ekf_localizer/src/measurement.cpp index faf8768938b7d..9d6f4f7d5a4db 100644 --- a/localization/ekf_localizer/src/measurement.cpp +++ b/localization/ekf_localizer/src/measurement.cpp @@ -17,6 +17,9 @@ #include "autoware/universe_utils/ros/msg_covariance.hpp" #include "ekf_localizer/state_index.hpp" +namespace autoware::ekf_localizer +{ + Eigen::Matrix pose_measurement_matrix() { Eigen::Matrix c = Eigen::Matrix::Zero(); @@ -54,3 +57,5 @@ Eigen::Matrix2d twist_measurement_covariance( covariance.at(COV_IDX::YAW_YAW); return r * static_cast(smoothing_step); } + +} // namespace autoware::ekf_localizer diff --git a/localization/ekf_localizer/src/state_transition.cpp b/localization/ekf_localizer/src/state_transition.cpp index 22b1f2f8a1c67..e46fbd11c6629 100644 --- a/localization/ekf_localizer/src/state_transition.cpp +++ b/localization/ekf_localizer/src/state_transition.cpp @@ -17,6 +17,9 @@ #include +namespace autoware::ekf_localizer +{ + double normalize_yaw(const double & yaw) { // FIXME(IshitaTakeshi) I think the computation here can be simplified @@ -93,3 +96,5 @@ Matrix6d process_noise_covariance( q(IDX::WZ, IDX::WZ) = proc_cov_wz_d; // for wz return q; } + +} // namespace autoware::ekf_localizer diff --git a/localization/ekf_localizer/src/warning_message.cpp b/localization/ekf_localizer/src/warning_message.cpp index ae74c6bfb5fbc..0d92f1456ba54 100644 --- a/localization/ekf_localizer/src/warning_message.cpp +++ b/localization/ekf_localizer/src/warning_message.cpp @@ -18,6 +18,9 @@ #include +namespace autoware::ekf_localizer +{ + std::string pose_delay_step_warning_message( const double delay_time, const double delay_time_threshold) { @@ -53,3 +56,5 @@ std::string mahalanobis_warning_message(const double distance, const double max_ const std::string s = "The Mahalanobis distance {:.4f} is over the limit {:.4f}."; return fmt::format(s, distance, max_distance); } + +} // namespace autoware::ekf_localizer diff --git a/localization/ekf_localizer/test/test_aged_object_queue.cpp b/localization/ekf_localizer/test/test_aged_object_queue.cpp index 9be834bf0612e..f0035fb111e0f 100644 --- a/localization/ekf_localizer/test/test_aged_object_queue.cpp +++ b/localization/ekf_localizer/test/test_aged_object_queue.cpp @@ -16,6 +16,9 @@ #include +namespace autoware::ekf_localizer +{ + TEST(AgedObjectQueue, DiscardsObjectWhenAgeReachesMaximum) { AgedObjectQueue queue(3); @@ -99,3 +102,5 @@ TEST(AgedObjectQueue, Back) EXPECT_EQ(queue.back(), std::string{"b"}); } + +} // namespace autoware::ekf_localizer diff --git a/localization/ekf_localizer/test/test_covariance.cpp b/localization/ekf_localizer/test/test_covariance.cpp index ed87ebdea029b..a382bcc82e851 100644 --- a/localization/ekf_localizer/test/test_covariance.cpp +++ b/localization/ekf_localizer/test/test_covariance.cpp @@ -16,6 +16,9 @@ #include +namespace autoware::ekf_localizer +{ + TEST(EKFCovarianceToPoseMessageCovariance, SmokeTest) { { @@ -77,3 +80,5 @@ TEST(EKFCovarianceToTwistMessageCovariance, SmokeTest) } } } + +} // namespace autoware::ekf_localizer diff --git a/localization/ekf_localizer/test/test_diagnostics.cpp b/localization/ekf_localizer/test/test_diagnostics.cpp index ef0d7a6493756..bdde47b9c79f6 100644 --- a/localization/ekf_localizer/test/test_diagnostics.cpp +++ b/localization/ekf_localizer/test/test_diagnostics.cpp @@ -16,6 +16,9 @@ #include +namespace autoware::ekf_localizer +{ + TEST(TestEkfDiagnostics, check_process_activated) { diagnostic_msgs::msg::DiagnosticStatus stat; @@ -190,3 +193,5 @@ TEST(TestLocalizationErrorMonitorDiagnostics, merge_diagnostic_status) EXPECT_EQ(merged_stat.level, diagnostic_msgs::msg::DiagnosticStatus::ERROR); EXPECT_EQ(merged_stat.message, "ERROR0; ERROR1"); } + +} // namespace autoware::ekf_localizer diff --git a/localization/ekf_localizer/test/test_mahalanobis.cpp b/localization/ekf_localizer/test/test_mahalanobis.cpp index db7d538b533c3..894af29f61e96 100644 --- a/localization/ekf_localizer/test/test_mahalanobis.cpp +++ b/localization/ekf_localizer/test/test_mahalanobis.cpp @@ -16,6 +16,9 @@ #include +namespace autoware::ekf_localizer +{ + constexpr double tolerance = 1e-8; TEST(squared_mahalanobis, SmokeTest) @@ -59,3 +62,5 @@ TEST(mahalanobis, SmokeTest) EXPECT_NEAR(mahalanobis(x, y, c), std::sqrt(5.0), tolerance); } } + +} // namespace autoware::ekf_localizer diff --git a/localization/ekf_localizer/test/test_measurement.cpp b/localization/ekf_localizer/test/test_measurement.cpp index c77e39a67d15c..ec4be9f121450 100644 --- a/localization/ekf_localizer/test/test_measurement.cpp +++ b/localization/ekf_localizer/test/test_measurement.cpp @@ -16,6 +16,9 @@ #include +namespace autoware::ekf_localizer +{ + TEST(Measurement, pose_measurement_matrix) { const Eigen::Matrix m = pose_measurement_matrix(); @@ -79,3 +82,5 @@ TEST(Measurement, twist_measurement_covariance) EXPECT_EQ(m.norm(), 0); } } + +} // namespace autoware::ekf_localizer diff --git a/localization/ekf_localizer/test/test_numeric.cpp b/localization/ekf_localizer/test/test_numeric.cpp index f84c9aa1d0bf2..c68aaffc4b6c7 100644 --- a/localization/ekf_localizer/test/test_numeric.cpp +++ b/localization/ekf_localizer/test/test_numeric.cpp @@ -18,6 +18,9 @@ #include +namespace autoware::ekf_localizer +{ + TEST(Numeric, has_nan) { const Eigen::VectorXd empty(0); @@ -45,3 +48,5 @@ TEST(Numeric, has_inf) EXPECT_TRUE(has_inf(Eigen::Vector3d(0., 1., inf))); } + +} // namespace autoware::ekf_localizer diff --git a/localization/ekf_localizer/test/test_state_transition.cpp b/localization/ekf_localizer/test/test_state_transition.cpp index 3b6bd93fd3dd8..533075e4ac8f4 100644 --- a/localization/ekf_localizer/test/test_state_transition.cpp +++ b/localization/ekf_localizer/test/test_state_transition.cpp @@ -20,6 +20,9 @@ #include +namespace autoware::ekf_localizer +{ + TEST(StateTransition, normalize_yaw) { const double tolerance = 1e-6; @@ -94,3 +97,5 @@ TEST(process_noise_covariance, process_noise_covariance) // Make sure other elements are zero EXPECT_EQ(process_noise_covariance(0, 0, 0).norm(), 0.); } + +} // namespace autoware::ekf_localizer diff --git a/localization/ekf_localizer/test/test_string.cpp b/localization/ekf_localizer/test/test_string.cpp index 013072e5145c7..6bd38db1f3c21 100644 --- a/localization/ekf_localizer/test/test_string.cpp +++ b/localization/ekf_localizer/test/test_string.cpp @@ -16,6 +16,9 @@ #include +namespace autoware::ekf_localizer +{ + TEST(erase_leading_slash, SmokeTest) { EXPECT_EQ(erase_leading_slash("/topic"), "topic"); @@ -24,3 +27,5 @@ TEST(erase_leading_slash, SmokeTest) EXPECT_EQ(erase_leading_slash(""), ""); EXPECT_EQ(erase_leading_slash("/"), ""); } + +} // namespace autoware::ekf_localizer diff --git a/localization/ekf_localizer/test/test_warning_message.cpp b/localization/ekf_localizer/test/test_warning_message.cpp index ec7d3420d7f79..2fffecf63fa1b 100644 --- a/localization/ekf_localizer/test/test_warning_message.cpp +++ b/localization/ekf_localizer/test/test_warning_message.cpp @@ -18,6 +18,9 @@ #include +namespace autoware::ekf_localizer +{ + TEST(pose_delay_step_warning_message, SmokeTest) { EXPECT_STREQ( @@ -60,3 +63,5 @@ TEST(mahalanobis_warning_message, SmokeTest) mahalanobis_warning_message(1.0, 0.5).c_str(), "The Mahalanobis distance 1.0000 is over the limit 0.5000."); } + +} // namespace autoware::ekf_localizer From 978ab43a74df660a6ad4022d997a27ae3878d7e3 Mon Sep 17 00:00:00 2001 From: kobayu858 <129580202+kobayu858@users.noreply.github.com> Date: Mon, 2 Sep 2024 16:40:31 +0900 Subject: [PATCH 125/169] fix(time_utils): fix unusedFunction (#8606) fix:unusedFunction Signed-off-by: kobayu858 --- .../include/time_utils/time_utils.hpp | 16 ---- .../time_utils/src/time_utils/time_utils.cpp | 73 ------------------- 2 files changed, 89 deletions(-) diff --git a/common/time_utils/include/time_utils/time_utils.hpp b/common/time_utils/include/time_utils/time_utils.hpp index e69fcd1009db1..cb369b4874872 100644 --- a/common/time_utils/include/time_utils/time_utils.hpp +++ b/common/time_utils/include/time_utils/time_utils.hpp @@ -24,25 +24,9 @@ namespace time_utils { -/// Convert from std::chrono::time_point to time message -TIME_UTILS_PUBLIC builtin_interfaces::msg::Time to_message(std::chrono::system_clock::time_point t); -/// Convert from std::chrono::duration to duration message -TIME_UTILS_PUBLIC builtin_interfaces::msg::Duration to_message(std::chrono::nanoseconds dt); -/// Convert from std::chrono::time_point from time message -TIME_UTILS_PUBLIC -std::chrono::system_clock::time_point from_message(builtin_interfaces::msg::Time t) noexcept; -/// Convert from std::chrono::duration from duration message -TIME_UTILS_PUBLIC -std::chrono::nanoseconds from_message(builtin_interfaces::msg::Duration dt) noexcept; /// Standard interpolation TIME_UTILS_PUBLIC std::chrono::nanoseconds interpolate( std::chrono::nanoseconds a, std::chrono::nanoseconds b, float t) noexcept; - -namespace details -{ -template -TimeT duration_to_msg(std::chrono::nanoseconds dt); -} // namespace details } // namespace time_utils #endif // TIME_UTILS__TIME_UTILS_HPP_ diff --git a/common/time_utils/src/time_utils/time_utils.cpp b/common/time_utils/src/time_utils/time_utils.cpp index c8e394b98ece0..fa1516c4bfef0 100644 --- a/common/time_utils/src/time_utils/time_utils.cpp +++ b/common/time_utils/src/time_utils/time_utils.cpp @@ -19,79 +19,6 @@ namespace time_utils { -namespace details -{ -template -TimeT duration_to_msg(std::chrono::nanoseconds dt) -{ - // Round down seconds - const auto negative = decltype(dt)::zero() > dt; - if (negative) { - dt -= std::chrono::seconds(1); - } - // rounds towards zero - const auto dt_sec = std::chrono::duration_cast(dt); - TimeT ret{rosidl_runtime_cpp::MessageInitialization::ALL}; - // Clamp value to receptive field of retval seconds - { - using SecT = decltype(ret.sec); - using Rep = decltype(dt_sec)::rep; - const auto sec_max = static_cast(std::numeric_limits::max()); - const auto sec_min = static_cast(std::numeric_limits::min()); - const auto secs = std::min(std::max(sec_min, dt_sec.count()), sec_max); - ret.sec = static_cast(secs); - } - // Get raw nanoseconds - const auto dt_nsec = std::chrono::duration_cast(dt); - auto nanosec = dt_nsec - std::chrono::duration_cast(dt_sec); - if (negative) { - nanosec += std::chrono::seconds(1); - if (0 > nanosec.count()) { - throw std::logic_error{"Bug: Nanosec should never be negative"}; - } - } - // Clamp down to receptive field of retval nanoseconds - { - using NsecT = decltype(ret.nanosec); - using Rep = decltype(nanosec)::rep; - const auto nsec_max = static_cast(std::numeric_limits::max()); - const auto nsec_min = static_cast(std::numeric_limits::min()); - const auto nanosec_clamp = std::min(std::max(nsec_min, nanosec.count()), nsec_max); - ret.nanosec = static_cast(nanosec_clamp); - } - return ret; -} -} // namespace details - -//////////////////////////////////////////////////////////////////////////////// -builtin_interfaces::msg::Time to_message(const std::chrono::system_clock::time_point t) -{ - const auto dt = t.time_since_epoch(); - return details::duration_to_msg(dt); -} - -//////////////////////////////////////////////////////////////////////////////// -builtin_interfaces::msg::Duration to_message(std::chrono::nanoseconds dt) -{ - return details::duration_to_msg(dt); -} - -//////////////////////////////////////////////////////////////////////////////// -std::chrono::system_clock::time_point from_message(builtin_interfaces::msg::Time t) noexcept -{ - const auto dt_ns = std::chrono::seconds(t.sec) + std::chrono::nanoseconds(t.nanosec); - const auto dt = std::chrono::duration_cast(dt_ns); - return std::chrono::system_clock::time_point{} + dt; -} - -//////////////////////////////////////////////////////////////////////////////// -std::chrono::nanoseconds from_message(builtin_interfaces::msg::Duration dt) noexcept -{ - const auto ns = std::chrono::nanoseconds{dt.nanosec}; - const auto us = std::chrono::duration_cast(ns); - return std::chrono::seconds{dt.sec} + us; -} - //////////////////////////////////////////////////////////////////////////////// std::chrono::nanoseconds interpolate( std::chrono::nanoseconds a, std::chrono::nanoseconds b, float t) noexcept From 980890f531781c2c40c9f9a3bb1e7adb7b6339c7 Mon Sep 17 00:00:00 2001 From: danielsanchezaran Date: Mon, 2 Sep 2024 16:55:00 +0900 Subject: [PATCH 126/169] feat(autonomous_emergency_braking): add timekeeper to AEB (#8706) * add timekeeper to AEB Signed-off-by: Daniel Sanchez * add more info to output Signed-off-by: Daniel Sanchez --------- Signed-off-by: Daniel Sanchez --- .../autonomous_emergency_braking/node.hpp | 7 ++- .../src/node.cpp | 54 +++++++++++++------ 2 files changed, 45 insertions(+), 16 deletions(-) diff --git a/control/autoware_autonomous_emergency_braking/include/autoware/autonomous_emergency_braking/node.hpp b/control/autoware_autonomous_emergency_braking/include/autoware/autonomous_emergency_braking/node.hpp index c29247a978c73..3f9a793acb200 100644 --- a/control/autoware_autonomous_emergency_braking/include/autoware/autonomous_emergency_braking/node.hpp +++ b/control/autoware_autonomous_emergency_braking/include/autoware/autonomous_emergency_braking/node.hpp @@ -15,6 +15,8 @@ #ifndef AUTOWARE__AUTONOMOUS_EMERGENCY_BRAKING__NODE_HPP_ #define AUTOWARE__AUTONOMOUS_EMERGENCY_BRAKING__NODE_HPP_ +#include "autoware/universe_utils/system/time_keeper.hpp" + #include #include #include @@ -334,9 +336,11 @@ class AEB : public rclcpp::Node rclcpp::Publisher::SharedPtr pub_obstacle_pointcloud_; rclcpp::Publisher::SharedPtr debug_marker_publisher_; rclcpp::Publisher::SharedPtr info_marker_publisher_; - + rclcpp::Publisher::SharedPtr + debug_processing_time_detail_pub_; // timer rclcpp::TimerBase::SharedPtr timer_; + mutable std::shared_ptr time_keeper_{nullptr}; // callback /** @@ -508,6 +512,7 @@ class AEB : public rclcpp::Node // Member variables bool publish_debug_pointcloud_; bool publish_debug_markers_; + bool publish_debug_time_; bool use_predicted_trajectory_; bool use_imu_path_; bool use_pointcloud_data_; diff --git a/control/autoware_autonomous_emergency_braking/src/node.cpp b/control/autoware_autonomous_emergency_braking/src/node.cpp index e8744d85dc11a..49bf307db0f23 100644 --- a/control/autoware_autonomous_emergency_braking/src/node.cpp +++ b/control/autoware_autonomous_emergency_braking/src/node.cpp @@ -181,6 +181,12 @@ AEB::AEB(const rclcpp::NodeOptions & node_options) const double aeb_hz = declare_parameter("aeb_hz"); const auto period_ns = rclcpp::Rate(aeb_hz).period(); timer_ = rclcpp::create_timer(this, this->get_clock(), period_ns, std::bind(&AEB::onTimer, this)); + + debug_processing_time_detail_pub_ = + create_publisher( + "~/debug/processing_time_detail_ms", 1); + time_keeper_ = + std::make_shared(debug_processing_time_detail_pub_); } rcl_interfaces::msg::SetParametersResult AEB::onParameter( @@ -259,6 +265,7 @@ void AEB::onImu(const Imu::ConstSharedPtr input_msg) void AEB::onPointCloud(const PointCloud2::ConstSharedPtr input_msg) { + autoware::universe_utils::ScopedTimeTrack st(__func__, *time_keeper_); PointCloud::Ptr pointcloud_ptr(new PointCloud); pcl::fromROSMsg(*input_msg, *pointcloud_ptr); @@ -401,7 +408,6 @@ void AEB::onCheckCollision(DiagnosticStatusWrapper & stat) addCollisionMarker(data.value(), debug_markers); } } - addVirtualStopWallMarker(info_markers); } else { const std::string error_msg = "[AEB]: No Collision"; @@ -416,6 +422,7 @@ void AEB::onCheckCollision(DiagnosticStatusWrapper & stat) bool AEB::checkCollision(MarkerArray & debug_markers) { + autoware::universe_utils::ScopedTimeTrack st(__func__, *time_keeper_); using colorTuple = std::tuple; // step1. check data @@ -495,6 +502,7 @@ bool AEB::checkCollision(MarkerArray & debug_markers) }; // step3. make function to check collision with ego path created with sensor data + time_keeper_->start_track("has_collision_imu_path"); const auto has_collision_ego = [&](pcl::PointCloud::Ptr filtered_objects) -> bool { if (!use_imu_path_ || !angular_velocity_ptr_) return false; const double current_w = angular_velocity_ptr_->z; @@ -504,8 +512,10 @@ bool AEB::checkCollision(MarkerArray & debug_markers) return check_collision(ego_path, debug_color, ns, filtered_objects); }; + time_keeper_->end_track("has_collision_imu_path"); // step4. make function to check collision with predicted trajectory from control module + time_keeper_->start_track("has_collision_mpc_path"); const auto has_collision_predicted = [&](pcl::PointCloud::Ptr filtered_objects) -> bool { if (!use_predicted_trajectory_ || !predicted_traj_ptr_) return false; @@ -519,6 +529,7 @@ bool AEB::checkCollision(MarkerArray & debug_markers) return check_collision(predicted_path, debug_color, ns, filtered_objects); }; + time_keeper_->end_track("has_collision_mpc_path"); // Data of filtered point cloud pcl::PointCloud::Ptr filtered_objects = @@ -538,10 +549,10 @@ bool AEB::checkCollision(MarkerArray & debug_markers) bool AEB::hasCollision(const double current_v, const ObjectData & closest_object) { - const double & obj_v = closest_object.velocity; - const double & t = t_response_; - + autoware::universe_utils::ScopedTimeTrack st(__func__, *time_keeper_); const double rss_dist = std::invoke([&]() { + const double & obj_v = closest_object.velocity; + const double & t = t_response_; const double pre_braking_covered_distance = std::abs(current_v) * t; const double braking_distance = (current_v * current_v) / (2 * std::fabs(a_ego_min_)); const double ego_stopping_distance = pre_braking_covered_distance + braking_distance; @@ -551,19 +562,19 @@ bool AEB::hasCollision(const double current_v, const ObjectData & closest_object return ego_stopping_distance + obj_braking_distance + longitudinal_offset_; }); - if (closest_object.distance_to_object < rss_dist) { - // collision happens - ObjectData collision_data = closest_object; - collision_data.rss = rss_dist; - collision_data.distance_to_object = closest_object.distance_to_object; - collision_data_keeper_.setCollisionData(collision_data); - return true; - } - return false; + if (closest_object.distance_to_object > rss_dist) return false; + + // collision happens + ObjectData collision_data = closest_object; + collision_data.rss = rss_dist; + collision_data.distance_to_object = closest_object.distance_to_object; + collision_data_keeper_.setCollisionData(collision_data); + return true; } Path AEB::generateEgoPath(const double curr_v, const double curr_w) { + autoware::universe_utils::ScopedTimeTrack st(std::string(__func__) + "(IMU)", *time_keeper_); Path path; double curr_x = 0.0; double curr_y = 0.0; @@ -612,21 +623,26 @@ Path AEB::generateEgoPath(const double curr_v, const double curr_w) std::optional AEB::generateEgoPath(const Trajectory & predicted_traj) { + autoware::universe_utils::ScopedTimeTrack st(std::string(__func__) + "(MPC)", *time_keeper_); if (predicted_traj.points.empty()) { return std::nullopt; } - + time_keeper_->start_track("lookUpTransform"); geometry_msgs::msg::TransformStamped transform_stamped{}; try { transform_stamped = tf_buffer_.lookupTransform( "base_link", predicted_traj.header.frame_id, predicted_traj.header.stamp, rclcpp::Duration::from_seconds(0.5)); } catch (tf2::TransformException & ex) { - RCLCPP_ERROR_STREAM(get_logger(), "[AEB] Failed to look up transform from base_link to map"); + RCLCPP_ERROR_STREAM( + get_logger(), + "[AEB] Failed to look up transform from base_link to " + predicted_traj.header.frame_id); return std::nullopt; } + time_keeper_->end_track("lookUpTransform"); // create path + time_keeper_->start_track("createPath"); Path path; path.reserve(predicted_traj.points.size()); for (size_t i = 0; i < predicted_traj.points.size(); ++i) { @@ -638,12 +654,14 @@ std::optional AEB::generateEgoPath(const Trajectory & predicted_traj) break; } } + time_keeper_->end_track("createPath"); return path; } std::vector AEB::generatePathFootprint( const Path & path, const double extra_width_margin) { + autoware::universe_utils::ScopedTimeTrack st(__func__, *time_keeper_); std::vector polygons; for (size_t i = 0; i < path.size() - 1; ++i) { polygons.push_back( @@ -656,6 +674,7 @@ void AEB::createObjectDataUsingPredictedObjects( const Path & ego_path, const std::vector & ego_polys, std::vector & object_data_vector) { + autoware::universe_utils::ScopedTimeTrack st(__func__, *time_keeper_); if (predicted_objects_ptr_->objects.empty()) return; const double current_ego_speed = current_velocity_ptr_->longitudinal_velocity; @@ -743,6 +762,7 @@ void AEB::createObjectDataUsingPointCloudClusters( const Path & ego_path, const std::vector & ego_polys, const rclcpp::Time & stamp, std::vector & objects, const pcl::PointCloud::Ptr obstacle_points_ptr) { + autoware::universe_utils::ScopedTimeTrack st(__func__, *time_keeper_); // check if the predicted path has valid number of points if (ego_path.size() < 2 || ego_polys.empty() || obstacle_points_ptr->empty()) { return; @@ -827,6 +847,7 @@ void AEB::createObjectDataUsingPointCloudClusters( void AEB::cropPointCloudWithEgoFootprintPath( const std::vector & ego_polys, pcl::PointCloud::Ptr filtered_objects) { + autoware::universe_utils::ScopedTimeTrack st(__func__, *time_keeper_); PointCloud::Ptr full_points_ptr(new PointCloud); pcl::fromROSMsg(*obstacle_ros_pointcloud_ptr_, *full_points_ptr); // Create a Point cloud with the points of the ego footprint @@ -860,6 +881,7 @@ void AEB::addMarker( const double color_r, const double color_g, const double color_b, const double color_a, const std::string & ns, MarkerArray & debug_markers) { + autoware::universe_utils::ScopedTimeTrack st(__func__, *time_keeper_); auto path_marker = autoware::universe_utils::createDefaultMarker( "base_link", current_time, ns + "_path", 0L, Marker::LINE_STRIP, autoware::universe_utils::createMarkerScale(0.2, 0.2, 0.2), @@ -922,6 +944,7 @@ void AEB::addMarker( void AEB::addVirtualStopWallMarker(MarkerArray & markers) { + autoware::universe_utils::ScopedTimeTrack st(__func__, *time_keeper_); const auto ego_map_pose = std::invoke([this]() -> std::optional { geometry_msgs::msg::TransformStamped tf_current_pose; geometry_msgs::msg::Pose p; @@ -952,6 +975,7 @@ void AEB::addVirtualStopWallMarker(MarkerArray & markers) void AEB::addCollisionMarker(const ObjectData & data, MarkerArray & debug_markers) { + autoware::universe_utils::ScopedTimeTrack st(__func__, *time_keeper_); auto point_marker = autoware::universe_utils::createDefaultMarker( "base_link", data.stamp, "collision_point", 0, Marker::SPHERE, autoware::universe_utils::createMarkerScale(0.3, 0.3, 0.3), From c53ecc64414048cf9896207e1a89b1916f03bc64 Mon Sep 17 00:00:00 2001 From: kobayu858 <129580202+kobayu858@users.noreply.github.com> Date: Mon, 2 Sep 2024 17:35:56 +0900 Subject: [PATCH 127/169] fix(tier4_planning_rviz_plugin): fix unusedFunction (#8616) fix:unusedFunction Signed-off-by: kobayu858 --- .../src/tools/jsk_overlay_utils.cpp | 5 ----- .../src/tools/jsk_overlay_utils.hpp | 1 - 2 files changed, 6 deletions(-) diff --git a/common/tier4_planning_rviz_plugin/src/tools/jsk_overlay_utils.cpp b/common/tier4_planning_rviz_plugin/src/tools/jsk_overlay_utils.cpp index f6eaf3ad883f1..e74f43b1f3319 100644 --- a/common/tier4_planning_rviz_plugin/src/tools/jsk_overlay_utils.cpp +++ b/common/tier4_planning_rviz_plugin/src/tools/jsk_overlay_utils.cpp @@ -62,11 +62,6 @@ ScopedPixelBuffer::~ScopedPixelBuffer() pixel_buffer_->unlock(); } -Ogre::HardwarePixelBufferSharedPtr ScopedPixelBuffer::getPixelBuffer() -{ - return pixel_buffer_; -} - QImage ScopedPixelBuffer::getQImage(unsigned int width, unsigned int height) { const Ogre::PixelBox & pixelBox = pixel_buffer_->getCurrentLock(); diff --git a/common/tier4_planning_rviz_plugin/src/tools/jsk_overlay_utils.hpp b/common/tier4_planning_rviz_plugin/src/tools/jsk_overlay_utils.hpp index f2b6fbdce0b14..dda1d05c2a0b5 100644 --- a/common/tier4_planning_rviz_plugin/src/tools/jsk_overlay_utils.hpp +++ b/common/tier4_planning_rviz_plugin/src/tools/jsk_overlay_utils.hpp @@ -89,7 +89,6 @@ class ScopedPixelBuffer public: explicit ScopedPixelBuffer(Ogre::HardwarePixelBufferSharedPtr pixel_buffer); virtual ~ScopedPixelBuffer(); - virtual Ogre::HardwarePixelBufferSharedPtr getPixelBuffer(); virtual QImage getQImage(unsigned int width, unsigned int height); virtual QImage getQImage(OverlayObject & overlay); virtual QImage getQImage(unsigned int width, unsigned int height, QColor & bg_color); From a4ed8eb16d756d32b800b837dc58e0e4f75136ca Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Mon, 2 Sep 2024 17:43:20 +0900 Subject: [PATCH 128/169] refactor(goal_planner): remove unnecessary member from pull_over_planner (#8697) Signed-off-by: Mamoru Sobue --- .../pull_over_planner/freespace_pull_over.hpp | 10 +++-- .../pull_over_planner/geometric_pull_over.hpp | 12 +++--- .../pull_over_planner_base.hpp | 29 +++++--------- .../pull_over_planner/shift_pull_over.hpp | 15 ++++--- .../src/goal_planner_module.cpp | 10 ++--- .../pull_over_planner/freespace_pull_over.cpp | 21 ++++++---- .../pull_over_planner/geometric_pull_over.cpp | 12 +++--- .../src/pull_over_planner/shift_pull_over.cpp | 40 +++++++++++-------- 8 files changed, 80 insertions(+), 69 deletions(-) diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/pull_over_planner/freespace_pull_over.hpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/pull_over_planner/freespace_pull_over.hpp index 0b27b4adb737b..e3dccb3fc57ec 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/pull_over_planner/freespace_pull_over.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/pull_over_planner/freespace_pull_over.hpp @@ -41,13 +41,15 @@ class FreespacePullOver : public PullOverPlannerBase PullOverPlannerType getPlannerType() const override { return PullOverPlannerType::FREESPACE; } - std::optional plan(const Pose & goal_pose) override; + std::optional plan( + const std::shared_ptr planner_data, + const BehaviorModuleOutput & previous_module_output, const Pose & goal_pose) override; protected: + const double velocity_; + const bool left_side_parking_; + const bool use_back_; std::unique_ptr planner_; - double velocity_; - bool use_back_; - bool left_side_parking_; }; } // namespace autoware::behavior_path_planner diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/pull_over_planner/geometric_pull_over.hpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/pull_over_planner/geometric_pull_over.hpp index 6a2f0a57d67cf..2d7872707dd28 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/pull_over_planner/geometric_pull_over.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/pull_over_planner/geometric_pull_over.hpp @@ -42,7 +42,9 @@ class GeometricPullOver : public PullOverPlannerBase Pose getCr() const { return planner_.getCr(); } Pose getCl() const { return planner_.getCl(); } - std::optional plan(const Pose & goal_pose) override; + std::optional plan( + const std::shared_ptr planner_data, + const BehaviorModuleOutput & previous_module_output, const Pose & goal_pose) override; std::vector generatePullOverPaths( const lanelet::ConstLanelets & road_lanes, const lanelet::ConstLanelets & shoulder_lanes, @@ -56,10 +58,10 @@ class GeometricPullOver : public PullOverPlannerBase const bool is_in_goal_route_section, const Pose & goal_pose) const; protected: - ParallelParkingParameters parallel_parking_parameters_; - LaneDepartureChecker lane_departure_checker_{}; - bool is_forward_{true}; - bool left_side_parking_{true}; + const ParallelParkingParameters parallel_parking_parameters_; + const LaneDepartureChecker lane_departure_checker_; + const bool is_forward_; + const bool left_side_parking_; GeometricParallelParking planner_; }; diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/pull_over_planner/pull_over_planner_base.hpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/pull_over_planner/pull_over_planner_base.hpp index 7cdb249463e08..e9332041a8321 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/pull_over_planner/pull_over_planner_base.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/pull_over_planner/pull_over_planner_base.hpp @@ -177,32 +177,21 @@ class PullOverPlannerBase { public: PullOverPlannerBase(rclcpp::Node & node, const GoalPlannerParameters & parameters) + : vehicle_info_{autoware::vehicle_info_utils::VehicleInfoUtils(node).getVehicleInfo()}, + vehicle_footprint_{vehicle_info_.createFootprint()}, + parameters_{parameters} { - vehicle_info_ = autoware::vehicle_info_utils::VehicleInfoUtils(node).getVehicleInfo(); - vehicle_footprint_ = vehicle_info_.createFootprint(); - parameters_ = parameters; } virtual ~PullOverPlannerBase() = default; - void setPreviousModuleOutput(const BehaviorModuleOutput & previous_module_output) - { - previous_module_output_ = previous_module_output; - } - - void setPlannerData(const std::shared_ptr planner_data) - { - planner_data_ = planner_data; - } - virtual PullOverPlannerType getPlannerType() const = 0; - virtual std::optional plan(const Pose & goal_pose) = 0; + virtual std::optional plan( + const std::shared_ptr planner_data, + const BehaviorModuleOutput & previous_module_output, const Pose & goal_pose) = 0; protected: - std::shared_ptr planner_data_; - autoware::vehicle_info_utils::VehicleInfo vehicle_info_; - LinearRing2d vehicle_footprint_; - GoalPlannerParameters parameters_; - - BehaviorModuleOutput previous_module_output_; + const autoware::vehicle_info_utils::VehicleInfo vehicle_info_; + const LinearRing2d vehicle_footprint_; + const GoalPlannerParameters parameters_; }; } // namespace autoware::behavior_path_planner diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/pull_over_planner/shift_pull_over.hpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/pull_over_planner/shift_pull_over.hpp index 8ebc3579a9272..c5640d9b4949f 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/pull_over_planner/shift_pull_over.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/pull_over_planner/shift_pull_over.hpp @@ -35,16 +35,21 @@ class ShiftPullOver : public PullOverPlannerBase rclcpp::Node & node, const GoalPlannerParameters & parameters, const LaneDepartureChecker & lane_departure_checker); PullOverPlannerType getPlannerType() const override { return PullOverPlannerType::SHIFT; }; - std::optional plan(const Pose & goal_pose) override; + std::optional plan( + const std::shared_ptr planner_data, + const BehaviorModuleOutput & previous_module_output, const Pose & goal_pose) override; protected: PathWithLaneId generateReferencePath( + const std::shared_ptr planner_data, const lanelet::ConstLanelets & road_lanes, const Pose & end_pose) const; std::optional cropPrevModulePath( const PathWithLaneId & prev_module_path, const Pose & shift_end_pose) const; std::optional generatePullOverPath( - const lanelet::ConstLanelets & road_lanes, const lanelet::ConstLanelets & shoulder_lanes, - const Pose & goal_pose, const double lateral_jerk) const; + const std::shared_ptr planner_data, + const BehaviorModuleOutput & previous_module_output, const lanelet::ConstLanelets & road_lanes, + const lanelet::ConstLanelets & shoulder_lanes, const Pose & goal_pose, + const double lateral_jerk) const; static double calcBeforeShiftedArcLength( const PathWithLaneId & path, const double after_shifted_arc_length, const double dr); static std::vector splineTwoPoints( @@ -53,9 +58,9 @@ class ShiftPullOver : public PullOverPlannerBase static std::vector interpolatePose( const Pose & start_pose, const Pose & end_pose, const double resample_interval); - LaneDepartureChecker lane_departure_checker_{}; + const LaneDepartureChecker lane_departure_checker_; - bool left_side_parking_{true}; + const bool left_side_parking_; }; } // namespace autoware::behavior_path_planner diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp index 4d4d31446aa3f..674cfbb6f152e 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp @@ -306,9 +306,8 @@ void GoalPlannerModule::onTimer() const auto planCandidatePaths = [&]( const std::shared_ptr & planner, const GoalCandidate & goal_candidate) { - planner->setPlannerData(local_planner_data); - planner->setPreviousModuleOutput(previous_module_output); - auto pull_over_path = planner->plan(goal_candidate.goal_pose); + auto pull_over_path = + planner->plan(local_planner_data, previous_module_output, goal_candidate.goal_pose); if (pull_over_path && pull_over_path->getParkingPath().points.size() >= 3) { pull_over_path->goal_id = goal_candidate.id; pull_over_path->id = path_candidates.size(); @@ -754,8 +753,9 @@ bool GoalPlannerModule::planFreespacePath( if (!goal_candidate.is_safe) { continue; } - freespace_planner_->setPlannerData(planner_data); - auto freespace_path = freespace_planner_->plan(goal_candidate.goal_pose); + auto freespace_path = freespace_planner_->plan( + planner_data, BehaviorModuleOutput{}, // NOTE: not used so passing {} is OK + goal_candidate.goal_pose); freespace_path->goal_id = goal_candidate.id; if (!freespace_path) { continue; diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/pull_over_planner/freespace_pull_over.cpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/pull_over_planner/freespace_pull_over.cpp index a49cd7a279e7e..4b377aed46f7c 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/pull_over_planner/freespace_pull_over.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/pull_over_planner/freespace_pull_over.cpp @@ -30,27 +30,32 @@ FreespacePullOver::FreespacePullOver( const autoware::vehicle_info_utils::VehicleInfo & vehicle_info) : PullOverPlannerBase{node, parameters}, velocity_{parameters.freespace_parking_velocity}, - left_side_parking_{parameters.parking_policy == ParkingPolicy::LEFT_SIDE} + left_side_parking_{parameters.parking_policy == ParkingPolicy::LEFT_SIDE}, + use_back_{ + parameters.freespace_parking_algorithm == "astar" + ? parameters.astar_parameters.use_back + : true // no option for disabling back in rrtstar + } { autoware::freespace_planning_algorithms::VehicleShape vehicle_shape( vehicle_info, parameters.vehicle_shape_margin); if (parameters.freespace_parking_algorithm == "astar") { - use_back_ = parameters.astar_parameters.use_back; planner_ = std::make_unique( parameters.freespace_parking_common_parameters, vehicle_shape, parameters.astar_parameters); } else if (parameters.freespace_parking_algorithm == "rrtstar") { - use_back_ = true; // no option for disabling back in rrtstar planner_ = std::make_unique( parameters.freespace_parking_common_parameters, vehicle_shape, parameters.rrt_star_parameters); } } -std::optional FreespacePullOver::plan(const Pose & goal_pose) +std::optional FreespacePullOver::plan( + const std::shared_ptr planner_data, + [[maybe_unused]] const BehaviorModuleOutput & previous_module_output, const Pose & goal_pose) { - const Pose & current_pose = planner_data_->self_odometry->pose.pose; + const Pose & current_pose = planner_data->self_odometry->pose.pose; - planner_->setMap(*planner_data_->costmap); + planner_->setMap(*planner_data->costmap); // offset goal pose to make straight path near goal for improving parking precision // todo: support straight path when using back @@ -68,10 +73,10 @@ std::optional FreespacePullOver::plan(const Pose & goal_pose) } const auto road_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( - *(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); if (road_lanes.empty() || pull_over_lanes.empty()) { return {}; diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/pull_over_planner/geometric_pull_over.cpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/pull_over_planner/geometric_pull_over.cpp index c5df07c0e9176..eecdc11937463 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/pull_over_planner/geometric_pull_over.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/pull_over_planner/geometric_pull_over.cpp @@ -37,13 +37,15 @@ GeometricPullOver::GeometricPullOver( planner_.setParameters(parallel_parking_parameters_); } -std::optional GeometricPullOver::plan(const Pose & goal_pose) +std::optional GeometricPullOver::plan( + const std::shared_ptr planner_data, + [[maybe_unused]] const BehaviorModuleOutput & previous_module_output, const Pose & goal_pose) { - const auto & route_handler = planner_data_->route_handler; + const auto & route_handler = planner_data->route_handler; // prepare road nad shoulder lanes const auto road_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, @@ -56,8 +58,8 @@ std::optional GeometricPullOver::plan(const Pose & goal_pose) const auto & p = parallel_parking_parameters_; const double max_steer_angle = is_forward_ ? p.forward_parking_max_steer_angle : p.backward_parking_max_steer_angle; - planner_.setTurningRadius(planner_data_->parameters, max_steer_angle); - planner_.setPlannerData(planner_data_); + planner_.setTurningRadius(planner_data->parameters, max_steer_angle); + planner_.setPlannerData(planner_data); const bool found_valid_path = planner_.planPullOver(goal_pose, road_lanes, pull_over_lanes, is_forward_, left_side_parking_); diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/pull_over_planner/shift_pull_over.cpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/pull_over_planner/shift_pull_over.cpp index 1e4cb0e8d84f9..4536fc8873b40 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/pull_over_planner/shift_pull_over.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/pull_over_planner/shift_pull_over.cpp @@ -34,9 +34,11 @@ ShiftPullOver::ShiftPullOver( left_side_parking_{parameters.parking_policy == ParkingPolicy::LEFT_SIDE} { } -std::optional ShiftPullOver::plan(const Pose & goal_pose) +std::optional ShiftPullOver::plan( + const std::shared_ptr planner_data, + const BehaviorModuleOutput & previous_module_output, const Pose & goal_pose) { - const auto & route_handler = planner_data_->route_handler; + const auto & route_handler = planner_data->route_handler; const double min_jerk = parameters_.minimum_lateral_jerk; const double max_jerk = parameters_.maximum_lateral_jerk; const double backward_search_length = parameters_.backward_goal_search_length; @@ -45,7 +47,7 @@ std::optional ShiftPullOver::plan(const Pose & goal_pose) const double jerk_resolution = std::abs(max_jerk - min_jerk) / shift_sampling_num; const auto road_lanes = utils::getExtendedCurrentLanesFromPath( - previous_module_output_.path, planner_data_, backward_search_length, forward_search_length, + previous_module_output.path, planner_data, backward_search_length, forward_search_length, /*forward_only_in_route*/ false); const auto pull_over_lanes = goal_planner_utils::getPullOverLanes( @@ -56,8 +58,8 @@ std::optional ShiftPullOver::plan(const Pose & goal_pose) // find safe one from paths with different jerk for (double lateral_jerk = min_jerk; lateral_jerk <= max_jerk; lateral_jerk += jerk_resolution) { - const auto pull_over_path = - generatePullOverPath(road_lanes, pull_over_lanes, goal_pose, lateral_jerk); + const auto pull_over_path = generatePullOverPath( + planner_data, previous_module_output, road_lanes, pull_over_lanes, goal_pose, lateral_jerk); if (!pull_over_path) continue; return *pull_over_path; } @@ -66,11 +68,12 @@ std::optional ShiftPullOver::plan(const Pose & goal_pose) } PathWithLaneId ShiftPullOver::generateReferencePath( - const lanelet::ConstLanelets & road_lanes, const Pose & end_pose) const + const std::shared_ptr planner_data, const lanelet::ConstLanelets & road_lanes, + const Pose & end_pose) const { - const auto & route_handler = planner_data_->route_handler; - const Pose & current_pose = planner_data_->self_odometry->pose.pose; - const double backward_path_length = planner_data_->parameters.backward_path_length; + const auto & route_handler = planner_data->route_handler; + const Pose & current_pose = planner_data->self_odometry->pose.pose; + const double backward_path_length = planner_data->parameters.backward_path_length; const double pull_over_velocity = parameters_.pull_over_velocity; const double deceleration_interval = parameters_.deceleration_interval; @@ -123,8 +126,10 @@ std::optional ShiftPullOver::cropPrevModulePath( } std::optional ShiftPullOver::generatePullOverPath( - const lanelet::ConstLanelets & road_lanes, const lanelet::ConstLanelets & shoulder_lanes, - const Pose & goal_pose, const double lateral_jerk) const + const std::shared_ptr planner_data, + const BehaviorModuleOutput & previous_module_output, const lanelet::ConstLanelets & road_lanes, + const lanelet::ConstLanelets & shoulder_lanes, const Pose & goal_pose, + const double lateral_jerk) const { const double pull_over_velocity = parameters_.pull_over_velocity; const double after_shift_straight_distance = parameters_.after_shift_straight_distance; @@ -135,9 +140,10 @@ std::optional ShiftPullOver::generatePullOverPath( // calculate lateral shift of previous module path terminal pose from road lane reference path const auto road_lane_reference_path_to_shift_end = utils::resamplePathWithSpline( - generateReferencePath(road_lanes, shift_end_pose), parameters_.center_line_path_interval); + generateReferencePath(planner_data, road_lanes, shift_end_pose), + parameters_.center_line_path_interval); const auto prev_module_path = utils::resamplePathWithSpline( - previous_module_output_.path, parameters_.center_line_path_interval); + previous_module_output.path, parameters_.center_line_path_interval); const auto prev_module_path_terminal_pose = prev_module_path.points.back().point.pose; // process previous module path for path shifter input path @@ -265,9 +271,9 @@ std::optional ShiftPullOver::generatePullOverPath( // check if the parking path will leave drivable area and lanes const bool is_in_parking_lots = std::invoke([&]() -> bool { - const auto & p = planner_data_->parameters; + const auto & p = planner_data->parameters; const auto parking_lot_polygons = - lanelet::utils::query::getAllParkingLots(planner_data_->route_handler->getLaneletMapPtr()); + lanelet::utils::query::getAllParkingLots(planner_data->route_handler->getLaneletMapPtr()); const auto path_footprints = goal_planner_utils::createPathFootPrints( pull_over_path.getParkingPath(), p.base_link2front, p.base_link2rear, p.vehicle_width); const auto is_footprint_in_any_polygon = [&parking_lot_polygons](const auto & footprint) { @@ -286,12 +292,12 @@ std::optional ShiftPullOver::generatePullOverPath( const bool is_in_lanes = std::invoke([&]() -> bool { const auto drivable_lanes = utils::generateDrivableLanesWithShoulderLanes(road_lanes, shoulder_lanes); - const auto & dp = planner_data_->drivable_area_expansion_parameters; + const auto & dp = planner_data->drivable_area_expansion_parameters; const auto expanded_lanes = utils::expandLanelets( drivable_lanes, dp.drivable_area_left_bound_offset, dp.drivable_area_right_bound_offset, dp.drivable_area_types_to_skip); const auto combined_drivable = utils::combineDrivableLanes( - expanded_lanes, previous_module_output_.drivable_area_info.drivable_lanes); + expanded_lanes, previous_module_output.drivable_area_info.drivable_lanes); return !lane_departure_checker_.checkPathWillLeaveLane( utils::transformToLanelets(combined_drivable), pull_over_path.getParkingPath()); }); From 01b3c3767cc7c4f9a5412564573239dc25bd5048 Mon Sep 17 00:00:00 2001 From: Taekjin LEE Date: Mon, 2 Sep 2024 17:54:41 +0900 Subject: [PATCH 129/169] fix(tier4_perception_launch): launch namespace of `detection_by_tracker` (#8702) fix: namespace of detection_by_tracker do not need to have the prefix `autoware_` Signed-off-by: Taekjin LEE --- .../detection/detector/tracker_based_detector.launch.xml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/detector/tracker_based_detector.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/detector/tracker_based_detector.launch.xml index 681febf1c5551..754542f65b0ba 100644 --- a/launch/tier4_perception_launch/launch/object_recognition/detection/detector/tracker_based_detector.launch.xml +++ b/launch/tier4_perception_launch/launch/object_recognition/detection/detector/tracker_based_detector.launch.xml @@ -3,7 +3,7 @@ - + From 1e1d2fcb84fd9db2eddd50deba94b0330690a194 Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Mon, 2 Sep 2024 18:53:24 +0900 Subject: [PATCH 130/169] refactor(goal_planner): remove unnecessary member from PreviousPullOverData (#8698) Signed-off-by: Mamoru Sobue --- .../behavior_path_goal_planner_module/goal_planner_module.hpp | 2 -- .../src/goal_planner_module.cpp | 1 - 2 files changed, 3 deletions(-) diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/goal_planner_module.hpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/goal_planner_module.hpp index 2dc4788be9ce2..b4e4abbb9272c 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/goal_planner_module.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/goal_planner_module.hpp @@ -108,12 +108,10 @@ struct PreviousPullOverData void reset() { - found_path = false; safety_status = SafetyStatus{}; deciding_path_status = DecidingPathStatusWithStamp{}; } - bool found_path{false}; SafetyStatus safety_status{}; DecidingPathStatusWithStamp deciding_path_status{}; }; diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp index 674cfbb6f152e..ae7e1a4fcb6e8 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp @@ -1529,7 +1529,6 @@ void GoalPlannerModule::updatePreviousData() // 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.deciding_path_status = checkDecidingPathStatus( planner_data_, occupancy_grid_map_, *parameters_, ego_predicted_path_params_, From 564de2937ce123a321d95fe86949824a20ab132e Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Mon, 2 Sep 2024 19:08:20 +0900 Subject: [PATCH 131/169] fix(bpp): use common steering factor interface for same scene modules (#8675) Signed-off-by: satoshi-ota --- .../src/interface.cpp | 4 +++- .../src/interface.hpp | 3 ++- .../src/manager.cpp | 2 +- .../manager.hpp | 2 +- .../scene.hpp | 3 ++- .../src/scene.cpp | 5 +++-- .../src/manager.cpp | 4 ++-- .../goal_planner_module.hpp | 3 ++- .../behavior_path_goal_planner_module/manager.hpp | 2 +- .../src/goal_planner_module.cpp | 5 +++-- .../behavior_path_lane_change_module/interface.hpp | 1 + .../src/interface.cpp | 4 ++-- .../src/manager.cpp | 2 +- .../interface/scene_module_interface.hpp | 8 ++++---- .../interface/scene_module_manager_interface.hpp | 8 ++++++++ .../behavior_path_sampling_planner_module/manager.hpp | 2 +- .../sampling_planner_module.hpp | 3 ++- .../src/sampling_planner_module.cpp | 5 +++-- .../autoware/behavior_path_side_shift_module/manager.hpp | 2 +- .../autoware/behavior_path_side_shift_module/scene.hpp | 3 ++- .../src/scene.cpp | 5 +++-- .../behavior_path_start_planner_module/manager.hpp | 2 +- .../start_planner_module.hpp | 3 ++- .../src/start_planner_module.cpp | 5 +++-- .../manager.hpp | 2 +- .../scene.hpp | 3 ++- .../src/scene.cpp | 5 +++-- 27 files changed, 60 insertions(+), 36 deletions(-) diff --git a/planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/src/interface.cpp b/planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/src/interface.cpp index 4c9f139365a06..fffb86767b0a8 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/src/interface.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/src/interface.cpp @@ -31,13 +31,15 @@ AvoidanceByLaneChangeInterface::AvoidanceByLaneChangeInterface( const std::shared_ptr & avoidance_by_lane_change_parameters, const std::unordered_map> & rtc_interface_ptr_map, std::unordered_map> & - objects_of_interest_marker_interface_ptr_map) + objects_of_interest_marker_interface_ptr_map, + std::shared_ptr & steering_factor_interface_ptr) : LaneChangeInterface{ name, node, parameters, rtc_interface_ptr_map, objects_of_interest_marker_interface_ptr_map, + steering_factor_interface_ptr, std::make_unique(parameters, avoidance_by_lane_change_parameters)} { } diff --git a/planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/src/interface.hpp b/planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/src/interface.hpp index c7fbba34b1adb..4d200411904b0 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/src/interface.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/src/interface.hpp @@ -40,7 +40,8 @@ class AvoidanceByLaneChangeInterface : public LaneChangeInterface const std::shared_ptr & avoidance_by_lane_change_parameters, const std::unordered_map> & rtc_interface_ptr_map, std::unordered_map> & - objects_of_interest_marker_interface_ptr_map); + objects_of_interest_marker_interface_ptr_map, + std::shared_ptr & steering_factor_interface_ptr); bool isExecutionRequested() const override; diff --git a/planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/src/manager.cpp b/planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/src/manager.cpp index 8096d2944ee2b..ddcfda50d18c4 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/src/manager.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/src/manager.cpp @@ -192,7 +192,7 @@ AvoidanceByLaneChangeModuleManager::createNewSceneModuleInstance() { return std::make_unique( name_, *node_, parameters_, avoidance_parameters_, rtc_interface_ptr_map_, - objects_of_interest_marker_interface_ptr_map_); + objects_of_interest_marker_interface_ptr_map_, steering_factor_interface_ptr_); } } // namespace autoware::behavior_path_planner diff --git a/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/include/autoware/behavior_path_dynamic_obstacle_avoidance_module/manager.hpp b/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/include/autoware/behavior_path_dynamic_obstacle_avoidance_module/manager.hpp index f09196b2cc8e1..c0d2cdbee5c04 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/include/autoware/behavior_path_dynamic_obstacle_avoidance_module/manager.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/include/autoware/behavior_path_dynamic_obstacle_avoidance_module/manager.hpp @@ -42,7 +42,7 @@ class DynamicObstacleAvoidanceModuleManager : public SceneModuleManagerInterface { return std::make_unique( name_, *node_, parameters_, rtc_interface_ptr_map_, - objects_of_interest_marker_interface_ptr_map_); + objects_of_interest_marker_interface_ptr_map_, steering_factor_interface_ptr_); } void updateModuleParams(const std::vector & parameters) override; diff --git a/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/include/autoware/behavior_path_dynamic_obstacle_avoidance_module/scene.hpp b/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/include/autoware/behavior_path_dynamic_obstacle_avoidance_module/scene.hpp index 8f19613b50e6d..48c6084a4f424 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/include/autoware/behavior_path_dynamic_obstacle_avoidance_module/scene.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/include/autoware/behavior_path_dynamic_obstacle_avoidance_module/scene.hpp @@ -343,7 +343,8 @@ class DynamicObstacleAvoidanceModule : public SceneModuleInterface std::shared_ptr parameters, const std::unordered_map> & rtc_interface_ptr_map, std::unordered_map> & - objects_of_interest_marker_interface_ptr_map); + objects_of_interest_marker_interface_ptr_map, + std::shared_ptr & steering_factor_interface_ptr); void updateModuleParams(const std::any & parameters) override { diff --git a/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/src/scene.cpp b/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/src/scene.cpp index 8f7deffebf5ac..8aba7d4f0ae93 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/src/scene.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/src/scene.cpp @@ -312,8 +312,9 @@ DynamicObstacleAvoidanceModule::DynamicObstacleAvoidanceModule( std::shared_ptr parameters, const std::unordered_map> & rtc_interface_ptr_map, std::unordered_map> & - objects_of_interest_marker_interface_ptr_map) -: SceneModuleInterface{name, node, rtc_interface_ptr_map, objects_of_interest_marker_interface_ptr_map}, // NOLINT + objects_of_interest_marker_interface_ptr_map, + std::shared_ptr & steering_factor_interface_ptr) +: SceneModuleInterface{name, node, rtc_interface_ptr_map, objects_of_interest_marker_interface_ptr_map, steering_factor_interface_ptr}, // NOLINT parameters_{std::move(parameters)}, target_objects_manager_{TargetObjectsManager( parameters_->successive_num_to_entry_dynamic_avoidance_condition, diff --git a/planning/behavior_path_planner/autoware_behavior_path_external_request_lane_change_module/src/manager.cpp b/planning/behavior_path_planner/autoware_behavior_path_external_request_lane_change_module/src/manager.cpp index c04914ed1c72b..3c730e6d36376 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_external_request_lane_change_module/src/manager.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_external_request_lane_change_module/src/manager.cpp @@ -26,7 +26,7 @@ ExternalRequestLaneChangeRightModuleManager::createNewSceneModuleInstance() { return std::make_unique( name_, *node_, parameters_, rtc_interface_ptr_map_, - objects_of_interest_marker_interface_ptr_map_, + objects_of_interest_marker_interface_ptr_map_, steering_factor_interface_ptr_, std::make_unique(parameters_, direction_)); } @@ -35,7 +35,7 @@ ExternalRequestLaneChangeLeftModuleManager::createNewSceneModuleInstance() { return std::make_unique( name_, *node_, parameters_, rtc_interface_ptr_map_, - objects_of_interest_marker_interface_ptr_map_, + objects_of_interest_marker_interface_ptr_map_, steering_factor_interface_ptr_, std::make_unique(parameters_, direction_)); } diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/goal_planner_module.hpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/goal_planner_module.hpp index b4e4abbb9272c..222bc4e49ca18 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/goal_planner_module.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/goal_planner_module.hpp @@ -316,7 +316,8 @@ class GoalPlannerModule : public SceneModuleInterface const std::shared_ptr & parameters, const std::unordered_map> & rtc_interface_ptr_map, std::unordered_map> & - objects_of_interest_marker_interface_ptr_map); + objects_of_interest_marker_interface_ptr_map, + std::shared_ptr & steering_factor_interface_ptr); ~GoalPlannerModule() { diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/manager.hpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/manager.hpp index 5408dce9dcdfc..c4db636861c4f 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/manager.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/manager.hpp @@ -38,7 +38,7 @@ class GoalPlannerModuleManager : public SceneModuleManagerInterface { return std::make_unique( name_, *node_, parameters_, rtc_interface_ptr_map_, - objects_of_interest_marker_interface_ptr_map_); + objects_of_interest_marker_interface_ptr_map_, steering_factor_interface_ptr_); } void updateModuleParams(const std::vector & parameters) override; diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp index ae7e1a4fcb6e8..eb7e6e22370aa 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp @@ -58,8 +58,9 @@ GoalPlannerModule::GoalPlannerModule( const std::shared_ptr & parameters, const std::unordered_map> & rtc_interface_ptr_map, std::unordered_map> & - objects_of_interest_marker_interface_ptr_map) -: SceneModuleInterface{name, node, rtc_interface_ptr_map, objects_of_interest_marker_interface_ptr_map}, // NOLINT + objects_of_interest_marker_interface_ptr_map, + std::shared_ptr & steering_factor_interface_ptr) +: SceneModuleInterface{name, node, rtc_interface_ptr_map, objects_of_interest_marker_interface_ptr_map, steering_factor_interface_ptr}, // NOLINT parameters_{parameters}, vehicle_info_{autoware::vehicle_info_utils::VehicleInfoUtils(node).getVehicleInfo()}, thread_safe_data_{mutex_, clock_}, diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/interface.hpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/interface.hpp index bd309dd35a260..fd9375c7e9f75 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/interface.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/include/autoware/behavior_path_lane_change_module/interface.hpp @@ -52,6 +52,7 @@ class LaneChangeInterface : public SceneModuleInterface const std::unordered_map> & rtc_interface_ptr_map, std::unordered_map> & objects_of_interest_marker_interface_ptr_map, + std::shared_ptr & steering_factor_interface_ptr, std::unique_ptr && module_type); LaneChangeInterface(const LaneChangeInterface &) = delete; diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/interface.cpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/interface.cpp index 979004d439bdc..982cdcf3e78a0 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/interface.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/interface.cpp @@ -38,14 +38,14 @@ LaneChangeInterface::LaneChangeInterface( const std::unordered_map> & rtc_interface_ptr_map, std::unordered_map> & objects_of_interest_marker_interface_ptr_map, + std::shared_ptr & steering_factor_interface_ptr, std::unique_ptr && module_type) -: SceneModuleInterface{name, node, rtc_interface_ptr_map, objects_of_interest_marker_interface_ptr_map}, // NOLINT +: SceneModuleInterface{name, node, rtc_interface_ptr_map, objects_of_interest_marker_interface_ptr_map, steering_factor_interface_ptr}, // NOLINT parameters_{std::move(parameters)}, module_type_{std::move(module_type)}, prev_approved_path_{std::make_unique()} { module_type_->setTimeKeeper(getTimeKeeper()); - steering_factor_interface_ptr_ = std::make_unique(&node, name); logger_ = utils::lane_change::getLogger(module_type_->getModuleTypeStr()); } diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/manager.cpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/manager.cpp index 8ae8441c95ad8..69df2fe14317a 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/manager.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/manager.cpp @@ -301,7 +301,7 @@ std::unique_ptr LaneChangeModuleManager::createNewSceneMod { return std::make_unique( name_, *node_, parameters_, rtc_interface_ptr_map_, - objects_of_interest_marker_interface_ptr_map_, + objects_of_interest_marker_interface_ptr_map_, steering_factor_interface_ptr_, std::make_unique(parameters_, LaneChangeModuleType::NORMAL, direction_)); } diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/interface/scene_module_interface.hpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/interface/scene_module_interface.hpp index 09e1382799f01..54254bf13e07f 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/interface/scene_module_interface.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/interface/scene_module_interface.hpp @@ -90,15 +90,15 @@ class SceneModuleInterface const std::string & name, rclcpp::Node & node, std::unordered_map> rtc_interface_ptr_map, std::unordered_map> - objects_of_interest_marker_interface_ptr_map) + objects_of_interest_marker_interface_ptr_map, + std::shared_ptr & steering_factor_interface_ptr) : name_{name}, logger_{node.get_logger().get_child(name)}, clock_{node.get_clock()}, rtc_interface_ptr_map_(std::move(rtc_interface_ptr_map)), objects_of_interest_marker_interface_ptr_map_( std::move(objects_of_interest_marker_interface_ptr_map)), - steering_factor_interface_ptr_( - std::make_unique(&node, utils::convertToSnakeCase(name))), + steering_factor_interface_ptr_{steering_factor_interface_ptr}, time_keeper_(std::make_shared()) { for (const auto & [module_name, ptr] : rtc_interface_ptr_map_) { @@ -640,7 +640,7 @@ class SceneModuleInterface std::unordered_map> objects_of_interest_marker_interface_ptr_map_; - std::unique_ptr steering_factor_interface_ptr_; + std::shared_ptr steering_factor_interface_ptr_; mutable std::optional stop_pose_{std::nullopt}; diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/interface/scene_module_manager_interface.hpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/interface/scene_module_manager_interface.hpp index 9dfd30e15cfbd..adb0fc49c3bd1 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/interface/scene_module_manager_interface.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/interface/scene_module_manager_interface.hpp @@ -298,6 +298,12 @@ class SceneModuleManagerInterface "~/processing_time/" + name_, 20); } + // init steering factor + { + steering_factor_interface_ptr_ = + std::make_shared(node, utils::convertToSnakeCase(name_)); + } + // misc { node_ = node; @@ -322,6 +328,8 @@ class SceneModuleManagerInterface std::shared_ptr planner_data_; + std::shared_ptr steering_factor_interface_ptr_; + std::vector observers_; std::unique_ptr idle_module_ptr_; diff --git a/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/include/autoware/behavior_path_sampling_planner_module/manager.hpp b/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/include/autoware/behavior_path_sampling_planner_module/manager.hpp index 28c310ae20ec2..778afd1698ff2 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/include/autoware/behavior_path_sampling_planner_module/manager.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/include/autoware/behavior_path_sampling_planner_module/manager.hpp @@ -38,7 +38,7 @@ class SamplingPlannerModuleManager : public SceneModuleManagerInterface { return std::make_unique( name_, *node_, parameters_, rtc_interface_ptr_map_, - objects_of_interest_marker_interface_ptr_map_); + objects_of_interest_marker_interface_ptr_map_, steering_factor_interface_ptr_); } void updateModuleParams( diff --git a/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/include/autoware/behavior_path_sampling_planner_module/sampling_planner_module.hpp b/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/include/autoware/behavior_path_sampling_planner_module/sampling_planner_module.hpp index e82c4fd287432..d0d34b5d9a37f 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/include/autoware/behavior_path_sampling_planner_module/sampling_planner_module.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/include/autoware/behavior_path_sampling_planner_module/sampling_planner_module.hpp @@ -86,7 +86,8 @@ class SamplingPlannerModule : public SceneModuleInterface const std::shared_ptr & parameters, const std::unordered_map> & rtc_interface_ptr_map, std::unordered_map> & - objects_of_interest_marker_interface_ptr_map); + objects_of_interest_marker_interface_ptr_map, + std::shared_ptr & steering_factor_interface_ptr); bool isExecutionRequested() const override; bool isExecutionReady() const override; diff --git a/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/src/sampling_planner_module.cpp b/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/src/sampling_planner_module.cpp index 3990a2fbf5475..8fdedf38ed756 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/src/sampling_planner_module.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_sampling_planner_module/src/sampling_planner_module.cpp @@ -33,8 +33,9 @@ SamplingPlannerModule::SamplingPlannerModule( const std::shared_ptr & parameters, const std::unordered_map> & rtc_interface_ptr_map, std::unordered_map> & - objects_of_interest_marker_interface_ptr_map) -: SceneModuleInterface{name, node, rtc_interface_ptr_map, objects_of_interest_marker_interface_ptr_map}, // NOLINT + objects_of_interest_marker_interface_ptr_map, + std::shared_ptr & steering_factor_interface_ptr) +: SceneModuleInterface{name, node, rtc_interface_ptr_map, objects_of_interest_marker_interface_ptr_map, steering_factor_interface_ptr}, // NOLINT vehicle_info_{autoware::vehicle_info_utils::VehicleInfoUtils(node).getVehicleInfo()} { internal_params_ = std::make_shared(); diff --git a/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/include/autoware/behavior_path_side_shift_module/manager.hpp b/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/include/autoware/behavior_path_side_shift_module/manager.hpp index b495e6619a1c7..d1c9c8e2535ec 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/include/autoware/behavior_path_side_shift_module/manager.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/include/autoware/behavior_path_side_shift_module/manager.hpp @@ -39,7 +39,7 @@ class SideShiftModuleManager : public SceneModuleManagerInterface { return std::make_unique( name_, *node_, parameters_, rtc_interface_ptr_map_, - objects_of_interest_marker_interface_ptr_map_); + objects_of_interest_marker_interface_ptr_map_, steering_factor_interface_ptr_); } void updateModuleParams(const std::vector & parameters) override; diff --git a/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/include/autoware/behavior_path_side_shift_module/scene.hpp b/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/include/autoware/behavior_path_side_shift_module/scene.hpp index 543b17aca9352..74953b7927b5d 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/include/autoware/behavior_path_side_shift_module/scene.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/include/autoware/behavior_path_side_shift_module/scene.hpp @@ -45,7 +45,8 @@ class SideShiftModule : public SceneModuleInterface const std::shared_ptr & parameters, const std::unordered_map> & rtc_interface_ptr_map, std::unordered_map> & - objects_of_interest_marker_interface_ptr_map); + objects_of_interest_marker_interface_ptr_map, + std::shared_ptr & steering_factor_interface_ptr); bool isExecutionRequested() const override; bool isExecutionReady() const override; diff --git a/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/src/scene.cpp b/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/src/scene.cpp index 929e890edc204..d831f65b23117 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/src/scene.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/src/scene.cpp @@ -40,8 +40,9 @@ SideShiftModule::SideShiftModule( const std::shared_ptr & parameters, const std::unordered_map> & rtc_interface_ptr_map, std::unordered_map> & - objects_of_interest_marker_interface_ptr_map) -: SceneModuleInterface{name, node, rtc_interface_ptr_map, objects_of_interest_marker_interface_ptr_map}, // NOLINT + objects_of_interest_marker_interface_ptr_map, + std::shared_ptr & steering_factor_interface_ptr) +: SceneModuleInterface{name, node, rtc_interface_ptr_map, objects_of_interest_marker_interface_ptr_map, steering_factor_interface_ptr}, // NOLINT parameters_{parameters} { } diff --git a/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/include/autoware/behavior_path_start_planner_module/manager.hpp b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/include/autoware/behavior_path_start_planner_module/manager.hpp index 5d3d224673124..a26c48ad065c9 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/include/autoware/behavior_path_start_planner_module/manager.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/include/autoware/behavior_path_start_planner_module/manager.hpp @@ -38,7 +38,7 @@ class StartPlannerModuleManager : public SceneModuleManagerInterface { return std::make_unique( name_, *node_, parameters_, rtc_interface_ptr_map_, - objects_of_interest_marker_interface_ptr_map_); + objects_of_interest_marker_interface_ptr_map_, steering_factor_interface_ptr_); } void updateModuleParams(const std::vector & parameters) override; diff --git a/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/include/autoware/behavior_path_start_planner_module/start_planner_module.hpp b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/include/autoware/behavior_path_start_planner_module/start_planner_module.hpp index bb70ae2638056..e0bb5d95f565a 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/include/autoware/behavior_path_start_planner_module/start_planner_module.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/include/autoware/behavior_path_start_planner_module/start_planner_module.hpp @@ -88,7 +88,8 @@ class StartPlannerModule : public SceneModuleInterface const std::shared_ptr & parameters, const std::unordered_map> & rtc_interface_ptr_map, std::unordered_map> & - objects_of_interest_marker_interface_ptr_map); + objects_of_interest_marker_interface_ptr_map, + std::shared_ptr & steering_factor_interface_ptr); ~StartPlannerModule() override { diff --git a/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/src/start_planner_module.cpp b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/src/start_planner_module.cpp index 6c88bf006b5d3..ec0db1e9c0f4b 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/src/start_planner_module.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/src/start_planner_module.cpp @@ -58,8 +58,9 @@ StartPlannerModule::StartPlannerModule( const std::shared_ptr & parameters, const std::unordered_map> & rtc_interface_ptr_map, std::unordered_map> & - objects_of_interest_marker_interface_ptr_map) -: SceneModuleInterface{name, node, rtc_interface_ptr_map, objects_of_interest_marker_interface_ptr_map}, // NOLINT + objects_of_interest_marker_interface_ptr_map, + std::shared_ptr & steering_factor_interface_ptr) +: SceneModuleInterface{name, node, rtc_interface_ptr_map, objects_of_interest_marker_interface_ptr_map, steering_factor_interface_ptr}, // NOLINT parameters_{parameters}, vehicle_info_{autoware::vehicle_info_utils::VehicleInfoUtils(node).getVehicleInfo()}, is_freespace_planner_cb_running_{false} diff --git a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/manager.hpp b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/manager.hpp index 895390f91cc16..fa54ec52203f9 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/manager.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/manager.hpp @@ -41,7 +41,7 @@ class StaticObstacleAvoidanceModuleManager : public SceneModuleManagerInterface { return std::make_unique( name_, *node_, parameters_, rtc_interface_ptr_map_, - objects_of_interest_marker_interface_ptr_map_); + objects_of_interest_marker_interface_ptr_map_, steering_factor_interface_ptr_); } void updateModuleParams(const std::vector & parameters) override; diff --git a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/scene.hpp b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/scene.hpp index ea12c66859a36..a2dbdcc1dadb9 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/scene.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/scene.hpp @@ -46,7 +46,8 @@ class StaticObstacleAvoidanceModule : public SceneModuleInterface const std::string & name, rclcpp::Node & node, std::shared_ptr parameters, const std::unordered_map> & rtc_interface_ptr_map, std::unordered_map> & - objects_of_interest_marker_interface_ptr_map); + objects_of_interest_marker_interface_ptr_map, + std::shared_ptr & steering_factor_interface_ptr); CandidateOutput planCandidate() const override; BehaviorModuleOutput plan() override; diff --git a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/scene.cpp b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/scene.cpp index 58db35f2fc12b..bc8e406a170c9 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/scene.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/scene.cpp @@ -76,8 +76,9 @@ StaticObstacleAvoidanceModule::StaticObstacleAvoidanceModule( const std::string & name, rclcpp::Node & node, std::shared_ptr parameters, const std::unordered_map> & rtc_interface_ptr_map, std::unordered_map> & - objects_of_interest_marker_interface_ptr_map) -: SceneModuleInterface{name, node, rtc_interface_ptr_map, objects_of_interest_marker_interface_ptr_map}, // NOLINT + objects_of_interest_marker_interface_ptr_map, + std::shared_ptr & steering_factor_interface_ptr) +: SceneModuleInterface{name, node, rtc_interface_ptr_map, objects_of_interest_marker_interface_ptr_map, steering_factor_interface_ptr}, // NOLINT helper_{std::make_shared(parameters)}, parameters_{parameters}, generator_{parameters} From abcf3eebca2a3d368059a7abab57c3fd1d465943 Mon Sep 17 00:00:00 2001 From: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> Date: Mon, 2 Sep 2024 19:40:41 +0900 Subject: [PATCH 132/169] docs(out_of_lane): update documentation for the new design (#8692) Signed-off-by: Maxime CLEMENT --- .../README.md | 182 ++++++++---------- .../config/out_of_lane.param.yaml | 1 - .../docs/ego_lane.png | Bin 0 -> 17530 bytes .../docs/footprints.png | Bin 0 -> 28711 bytes .../docs/object_paths.png | Bin 0 -> 26240 bytes ...footprints_other_lanes_overlaps_ranges.png | Bin 127593 -> 0 bytes .../docs/out_of_lane_areas.png | Bin 0 -> 19244 bytes .../docs/out_of_lane_slow.png | Bin 110077 -> 0 bytes .../docs/out_of_lane_stop.png | Bin 183400 -> 0 bytes .../docs/path_green_light.png | Bin 0 -> 23635 bytes .../docs/path_red_light.png | Bin 0 -> 22819 bytes .../docs/ttcs.png | Bin 0 -> 28315 bytes .../docs/ttcs_avoid.png | Bin 0 -> 31503 bytes .../src/debug.cpp | 41 +++- .../src/out_of_lane_module.cpp | 7 +- .../src/types.hpp | 1 - 16 files changed, 117 insertions(+), 115 deletions(-) create mode 100644 planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/docs/ego_lane.png create mode 100644 planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/docs/footprints.png create mode 100644 planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/docs/object_paths.png delete mode 100644 planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/docs/out_of_lane-footprints_other_lanes_overlaps_ranges.png create mode 100644 planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/docs/out_of_lane_areas.png delete mode 100644 planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/docs/out_of_lane_slow.png delete mode 100644 planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/docs/out_of_lane_stop.png create mode 100644 planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/docs/path_green_light.png create mode 100644 planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/docs/path_red_light.png create mode 100644 planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/docs/ttcs.png create mode 100644 planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/docs/ttcs_avoid.png diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/README.md b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/README.md index 54b7cebb7c8ff..0b6aa697fcbef 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/README.md +++ b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/README.md @@ -1,129 +1,113 @@ -## Out of Lane +# Out of Lane -### Role +## Role -`out_of_lane` is the module that decelerates and stops to prevent the ego vehicle from entering another lane with incoming dynamic objects. +There are cases where the ego vehicle footprint goes out of the driving lane, +for example when taking a narrow turn with a large vehicle. +The `out_of_lane` module adds deceleration and stop points to the ego trajectory in order to prevent collisions from occurring in these out of lane cases. -### Activation Timing +## Activation -This module is activated if `launch_out_of_lane` is set to true. +This module is activated if the launch parameter `launch_out_of_lane_module` is set to true. -### Inner-workings / Algorithms +## Inner-workings / Algorithms -The algorithm is made of the following steps. +This module calculates if out of lane collisions occur and insert stop point before the collisions if necessary. -1. Calculate the ego path footprints (red). -2. Calculate the other lanes (magenta). -3. Calculate the overlapping ranges between the ego path footprints and the other lanes (green). -4. For each overlapping range, decide if a stop or slow down action must be taken. -5. For each action, insert the corresponding stop or slow down point in the path. +The algorithm assumes the input ego trajectory contains accurate `time_from_start` +values in order to calculate accurate time to collisions with the predicted objects. -![overview](./docs/out_of_lane-footprints_other_lanes_overlaps_ranges.png) +Next we explain the inner-workings of the module in more details. -#### 1. Ego Path Footprints +### 1. Ego trajectory footprints -In this first step, the ego footprint is projected at each path point and are eventually inflated based on the `extra_..._offset` parameters. +In this first step, the ego footprint is projected at each trajectory point and its size is modified based on the `ego.extra_..._offset` parameters. -#### 2. Other lanes +The length of the trajectory used for generating the footprints is limited by the `max_arc_length` parameter. -In the second step, the set of lanes to consider for overlaps is generated. -This set is built by selecting all lanelets within some distance from the ego vehicle, and then removing non-relevant lanelets. -The selection distance is chosen as the maximum between the `slowdown.distance_threshold` and the `stop.distance_threshold`. +![ego_footprints](./docs/footprints.png) -A lanelet is deemed non-relevant if it meets one of the following conditions. +### 2. Ego lanelets -- It is part of the lanelets followed by the ego path. -- It contains the rear point of the ego footprint. -- It follows one of the ego path lanelets. +In the second step, we calculate the lanelets followed by the ego trajectory. +We select all lanelets crossed by the trajectory linestring (sequence of trajectory points), as well as their preceding lanelets. -#### 3. Overlapping ranges +![ego_lane](./docs/ego_lane.png) -In the third step, overlaps between the ego path footprints and the other lanes are calculated. -For each pair of other lane $l$ and ego path footprint $f$, we calculate the overlapping polygons using `boost::geometry::intersection`. -For each overlapping polygon found, if the distance inside the other lane $l$ is above the `overlap.minimum_distance` threshold, then the overlap is ignored. -Otherwise, the arc length range (relative to the ego path) and corresponding points of the overlapping polygons are stored. -Ultimately, for each other lane $l$, overlapping ranges of successive overlaps are built with the following information: +In the debug visualization the combination of all ego lanelets is shown as a blue polygon. -- overlapped other lane $l$. -- start and end ego path indexes. -- start and end ego path arc lengths. -- start and end overlap points. +### 3. Out of lane areas -#### 4. Decisions +Next, for each trajectory point, we create the corresponding out of lane areas by subtracting the ego lanelets (from step 2) from the trajectory point footprint (from step 1). +Each area is associated with the lanelets overlapped by the area and with the corresponding ego trajectory point. -In the fourth step, a decision to either slow down or stop before each overlapping range is taken based on the dynamic objects. -The conditions for the decision depend on the value of the `mode` parameter. +![out_of_lane_areas](./docs/out_of_lane_areas.png) -Whether it is decided to slow down or stop is determined by the distance between the ego vehicle and the start of the overlapping range (in arc length along the ego path). -If this distance is bellow the `actions.slowdown.threshold`, a velocity of `actions.slowdown.velocity` will be used. -If the distance is bellow the `actions.stop.threshold`, a velocity of `0`m/s will be used. +In the debug visualization, the out of lane area polygon is connected to the corresponding trajectory point by a line. + +### 4. Predicted objects filtering - - - - - -
- - - -
+We filter objects and their predicted paths with the following conditions: -##### Threshold +- ignore objects with a speed bellow the `minimum_velocity` parameter; +- ignore objects coming from behind the ego vehicle if parameter `ignore_behind_ego` is set to true; +- ignore predicted paths whose confidence value is bellow the `predicted_path_min_confidence` parameter; +- cut the points of predicted paths going beyond the stop line of a red traffic light if parameter `cut_predicted_paths_beyond_red_lights` is set to `true`. -With the `mode` set to `"threshold"`, -a decision to stop or slow down before a range is made if -an incoming dynamic object is estimated to reach the overlap within `threshold.time_threshold`. +| `cut_predicted_paths_beyond_red_lights = false` | `cut_predicted_paths_beyond_red_lights = true` | +| :---------------------------------------------: | :--------------------------------------------: | +| ![](./docs/path_green_light.png) | ![](./docs/path_red_light.png) | -##### TTC (time to collision) +In the debug visualization, the filtered predicted paths are shown in green and the stop lines of red traffic lights are shown in red. -With the `mode` set to `"ttc"`, -estimates for the times when ego and the dynamic objects reach the start and end of the overlapping range are calculated. -This is then used to calculate the time to collision over the period where ego crosses the overlap. -If the time to collision is predicted to go bellow the `ttc.threshold`, the decision to stop or slow down is made. +### 5. Time to collisions -##### Intervals +For each out of lane area, we calculate the times when a dynamic object will overlap the area based on its filtered predicted paths. -With the `mode` set to `"intervals"`, -the estimated times when ego and the dynamic objects reach the start and end points of -the overlapping range are used to create time intervals. -These intervals can be made shorter or longer using the -`intervals.ego_time_buffer` and `intervals.objects_time_buffer` parameters. -If the time interval of ego overlaps with the time interval of an object, the decision to stop or slow down is made. +In the case where parameter `mode` is set to `threshold` and the calculated time is less than `threshold.time_threshold` parameter, then we decide to avoid the out of lane area. -##### Time estimates +In the case where parameter `mode` is set to `ttc`, +we calculate the time to collision by comparing the predicted time of the object with the `time_from_start` field contained in the trajectory point. +If the time to collision is bellow the `ttc.threshold` parameter value, we decide to avoid the out of lane area. -###### Ego +![ttcs](./docs/ttcs.png) -To estimate the times when ego will reach an overlap, it is assumed that ego travels along its path -at its current velocity or at half the velocity of the path points, whichever is higher. +In the debug visualization, the ttc (in seconds) is displayed on top of its corresponding trajectory point. +The color of the text is red if the collision should be avoided and green otherwise. -###### Dynamic objects +### 6. Calculate the stop or slowdown point -Two methods are used to estimate the time when a dynamic objects with reach some point. -If `objects.use_predicted_paths` is set to `true`, the predicted paths of the dynamic object are used if their confidence value is higher than the value set by the `objects.predicted_path_min_confidence` parameter. -Otherwise, the lanelet map is used to estimate the distance between the object and the point and the time is calculated assuming the object keeps its current velocity. +First, the minimum stopping distance of the ego vehicle is calculated based on the jerk and deceleration constraints set by the velocity smoother parameters. -#### 5. Path update +We then search for the furthest pose along the trajectory where the ego footprint stays inside of the ego lane (calculate in step 2) and constraint the search to be between the minimum stopping distance and the 1st trajectory point with a collision to avoid (as determined in the previous step). +The search is done by moving backward along the trajectory with a distance step set by the `action.precision` parameter. -Finally, for each decision to stop or slow down before an overlapping range, -a point is inserted in the path. -For a decision taken for an overlapping range with a lane $l$ starting at ego path point index $i$, -a point is inserted in the path between index $i$ and $i-1$ such that the ego footprint projected at the inserted point does not overlap $l$. -Such point with no overlap must exist since, by definition of the overlapping range, -we know that there is no overlap at $i-1$. +We first do this search for a footprint expanded with the `ego.extra_..._offset`, `action.longitudinal_distance_buffer` and `action.lateral_distance_buffer` parameters. +If no valid pose is found, we search again while only considering the extra offsets but without considering the distance buffers. +If still no valid pose is found, we use the base ego footprint without any offset. +In case no pose is found, we fallback to using the pose before the detected collision without caring if it is out of lane or not. -If the point would cause a higher deceleration than allowed by the `max_accel` parameter (node parameter), -it is skipped. +Whether it is decided to slow down or stop is determined by the distance between the ego vehicle and the trajectory point to avoid. +If this distance is bellow the `actions.slowdown.threshold`, a velocity of `actions.slowdown.velocity` will be used. +If the distance is bellow the `actions.stop.threshold`, a velocity of `0`m/s will be used. -Moreover, parameter `action.distance_buffer` adds an extra distance between the ego footprint and the overlap when possible. +![avoid_collision](./docs/ttcs_avoid.png) -### Module Parameters +### About stability of the stop/slowdown pose + +As the input trajectory can change significantly between iterations, +it is expected that the decisions of this module will also change. +To make the decision more stable, a stop or slowdown pose is used for a minimum duration set by the `action.min_duration` parameter. +If during that time a new pose closer to the ego vehicle is generated, then it replaces the previous one. +Otherwise, the stop or slowdown pose will only be discarded after no out of lane collision is detection for the set duration. + +## Module Parameters | Parameter | Type | Description | | ----------------------------- | ------ | --------------------------------------------------------------------------------- | | `mode` | string | [-] mode used to consider a dynamic object. Candidates: threshold, intervals, ttc | | `skip_if_already_overlapping` | bool | [-] if true, do not run this module when ego already overlaps another lane | +| `max_arc_length` | double | [m] maximum trajectory arc length that is checked for out_of_lane collisions | | Parameter /threshold | Type | Description | | -------------------- | ------ | ---------------------------------------------------------------- | @@ -133,20 +117,22 @@ Moreover, parameter `action.distance_buffer` adds an extra distance between the | -------------- | ------ | ------------------------------------------------------------------------------------------------------ | | `threshold` | double | [s] consider objects with an estimated time to collision bellow this value while ego is on the overlap | -| Parameter /objects | Type | Description | -| ------------------------------- | ------ | --------------------------------------------------------------------- | -| `minimum_velocity` | double | [m/s] ignore objects with a velocity lower than this value | -| `predicted_path_min_confidence` | double | [-] minimum confidence required for a predicted path to be considered | - -| Parameter /overlap | Type | Description | -| ------------------ | ------ | --------------------------------------------------------------------- | -| `minimum_distance` | double | [m] minimum distance inside a lanelet for an overlap to be considered | - -| Parameter /action | Type | Description | -| ----------------------------- | ------ | --------------------------------------------------------------------- | -| `slowdown.distance_threshold` | double | [m] insert a slow down when closer than this distance from an overlap | -| `slowdown.velocity` | double | [m] slow down velocity | -| `stop.distance_threshold` | double | [m] insert a stop when closer than this distance from an overlap | +| Parameter /objects | Type | Description | +| --------------------------------------- | ------ | ------------------------------------------------------------------------------- | +| `minimum_velocity` | double | [m/s] ignore objects with a velocity lower than this value | +| `predicted_path_min_confidence` | double | [-] minimum confidence required for a predicted path to be considered | +| `cut_predicted_paths_beyond_red_lights` | bool | [-] if true, predicted paths are cut beyond the stop line of red traffic lights | +| `ignore_behind_ego` | bool | [-] if true, objects behind the ego vehicle are ignored | + +| Parameter /action | Type | Description | +| ------------------------------ | ------ | --------------------------------------------------------------------- | +| `precision` | double | [m] precision when inserting a stop pose in the trajectory | +| `longitudinal_distance_buffer` | double | [m] safety distance buffer to keep in front of the ego vehicle | +| `lateral_distance_buffer` | double | [m] safety distance buffer to keep on the side of the ego vehicle | +| `min_duration` | double | [s] minimum duration needed before a decision can be canceled | +| `slowdown.distance_threshold` | double | [m] insert a slow down when closer than this distance from an overlap | +| `slowdown.velocity` | double | [m] slow down velocity | +| `stop.distance_threshold` | double | [m] insert a stop when closer than this distance from an overlap | | Parameter /ego | Type | Description | | -------------------- | ------ | ---------------------------------------------------- | diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/config/out_of_lane.param.yaml b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/config/out_of_lane.param.yaml index 67db597d80752..5d36aa8d3f018 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/config/out_of_lane.param.yaml +++ b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/config/out_of_lane.param.yaml @@ -3,7 +3,6 @@ out_of_lane: # module to stop or slowdown before overlapping another lane with other objects mode: ttc # mode used to consider a conflict with an object. 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-21,14 +21,18 @@ #include #include +#include #include +#include #include #include +#include #include #include #include +#include #include #include @@ -54,16 +58,15 @@ visualization_msgs::msg::Marker get_base_marker() } void add_polygons_markers( visualization_msgs::msg::MarkerArray & debug_marker_array, - const lanelet::BasicPolygons2d & polygons, const double z, const std::string & ns) + const visualization_msgs::msg::Marker & base_marker, const lanelet::BasicPolygons2d & polygons) { - auto debug_marker = get_base_marker(); - debug_marker.ns = ns; + auto debug_marker = base_marker; debug_marker.type = visualization_msgs::msg::Marker::LINE_LIST; for (const auto & f : polygons) { boost::geometry::for_each_segment(f, [&](const auto & s) { const auto & [p1, p2] = s; - debug_marker.points.push_back(universe_utils::createMarkerPosition(p1.x(), p1.y(), z + 0.5)); - debug_marker.points.push_back(universe_utils::createMarkerPosition(p2.x(), p2.y(), z + 0.5)); + debug_marker.points.push_back(universe_utils::createMarkerPosition(p1.x(), p1.y(), 0.0)); + debug_marker.points.push_back(universe_utils::createMarkerPosition(p2.x(), p2.y(), 0.0)); }); } debug_marker_array.markers.push_back(debug_marker); @@ -157,19 +160,37 @@ visualization_msgs::msg::MarkerArray create_debug_marker_array( const auto z = ego_data.pose.position.z; visualization_msgs::msg::MarkerArray debug_marker_array; - // add_polygons_markers(debug_marker_array, ego_data.trajectory_footprints, z, "footprints"); + auto base_marker = get_base_marker(); + base_marker.pose.position.z = z + 0.5; + base_marker.ns = "footprints"; + base_marker.color = universe_utils::createMarkerColor(1.0, 1.0, 1.0, 1.0); + // TODO(Maxime): move the debug marker publishing AFTER the trajectory generation + // disabled to prevent performance issues when publishing the debug markers + // add_polygons_markers(debug_marker_array, base_marker, ego_data.trajectory_footprints); lanelet::BasicPolygons2d drivable_lane_polygons; for (const auto & poly : ego_data.drivable_lane_polygons) { drivable_lane_polygons.push_back(poly.outer); } - add_polygons_markers(debug_marker_array, drivable_lane_polygons, z, "ego_lane"); + base_marker.ns = "ego_lane"; + base_marker.color = universe_utils::createMarkerColor(0.0, 0.0, 1.0, 1.0); + add_polygons_markers(debug_marker_array, base_marker, drivable_lane_polygons); lanelet::BasicPolygons2d out_of_lane_areas; for (const auto & p : out_of_lane_data.outside_points) { out_of_lane_areas.push_back(p.outside_ring); } - add_polygons_markers(debug_marker_array, out_of_lane_areas, z, "out_of_lane_areas"); + base_marker.ns = "out_of_lane_areas"; + base_marker.color = universe_utils::createMarkerColor(1.0, 0.0, 0.0, 1.0); + add_polygons_markers(debug_marker_array, base_marker, out_of_lane_areas); + for (const auto & [bbox, i] : out_of_lane_data.outside_areas_rtree) { + const auto & a = out_of_lane_data.outside_points[i]; + debug_marker_array.markers.back().points.push_back( + ego_data.trajectory_points[a.trajectory_index].pose.position); + const auto centroid = boost::geometry::return_centroid(a.outside_ring); + debug_marker_array.markers.back().points.push_back( + geometry_msgs::msg::Point().set__x(centroid.x()).set__y(centroid.y())); + } lanelet::BasicPolygons2d object_polygons; for (const auto & o : objects.objects) { @@ -184,7 +205,9 @@ visualization_msgs::msg::MarkerArray create_debug_marker_array( } } } - add_polygons_markers(debug_marker_array, object_polygons, z, "objects"); + base_marker.ns = "objects"; + base_marker.color = universe_utils::createMarkerColor(0.0, 1.0, 0.0, 1.0); + add_polygons_markers(debug_marker_array, base_marker, object_polygons); add_current_overlap_marker(debug_marker_array, ego_data.current_footprint, z); diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/out_of_lane_module.cpp b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/out_of_lane_module.cpp index e51980d60dbba..c97e10cc8706e 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/out_of_lane_module.cpp +++ b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/out_of_lane_module.cpp @@ -77,8 +77,6 @@ void OutOfLaneModule::init_parameters(rclcpp::Node & node) pp.mode = getOrDeclareParameter(node, ns_ + ".mode"); pp.skip_if_already_overlapping = getOrDeclareParameter(node, ns_ + ".skip_if_already_overlapping"); - pp.ignore_lane_changeable_lanelets = - getOrDeclareParameter(node, ns_ + ".ignore_overlaps_over_lane_changeable_lanelets"); pp.max_arc_length = getOrDeclareParameter(node, ns_ + ".max_arc_length"); pp.time_threshold = getOrDeclareParameter(node, ns_ + ".threshold.time_threshold"); @@ -119,9 +117,6 @@ void OutOfLaneModule::update_parameters(const std::vector & p updateParam(parameters, ns_ + ".mode", pp.mode); updateParam(parameters, ns_ + ".skip_if_already_overlapping", pp.skip_if_already_overlapping); updateParam(parameters, ns_ + ".max_arc_length", pp.max_arc_length); - updateParam( - parameters, ns_ + ".ignore_overlaps_over_lane_changeable_lanelets", - pp.ignore_lane_changeable_lanelets); updateParam(parameters, ns_ + ".threshold.time_threshold", pp.time_threshold); updateParam(parameters, ns_ + ".ttc.threshold", pp.ttc_threshold); @@ -318,7 +313,7 @@ VelocityPlanningResult OutOfLaneModule::plan( if (should_use_previous_pose) { // if the trajectory changed the prev point is no longer on the trajectory so we project it const auto new_arc_length = motion_utils::calcSignedArcLength( - ego_trajectory_points, ego_data.first_trajectory_idx, previous_slowdown_pose_->position); + ego_trajectory_points, 0LU, previous_slowdown_pose_->position); slowdown_pose = motion_utils::calcInterpolatedPose(ego_trajectory_points, new_arc_length); } if (slowdown_pose) { diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/types.hpp b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/types.hpp index 8067d9e8b3410..c3714c5609135 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/types.hpp +++ b/planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/src/types.hpp @@ -47,7 +47,6 @@ struct PlannerParam bool skip_if_already_overlapping; // if true, do not run the module when ego already overlaps // another lane double max_arc_length; // [m] maximum arc length along the trajectory to check for collision - bool ignore_lane_changeable_lanelets; // if true, ignore overlaps on lane changeable lanelets double time_threshold; // [s](mode="threshold") objects time threshold double ttc_threshold; // [s](mode="ttc") threshold on time to collision between ego and an object From 1604474d03ac3b91807616ef4aefce96e4203180 Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Mon, 2 Sep 2024 20:38:27 +0900 Subject: [PATCH 133/169] refactor(goal_planner): initialize parameter with free function (#8712) Signed-off-by: Mamoru Sobue --- .../manager.hpp | 3 ++ .../src/manager.cpp | 37 ++++++++++--------- 2 files changed, 23 insertions(+), 17 deletions(-) diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/manager.hpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/manager.hpp index c4db636861c4f..0888f44e054e6 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/manager.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/manager.hpp @@ -29,6 +29,9 @@ namespace autoware::behavior_path_planner class GoalPlannerModuleManager : public SceneModuleManagerInterface { + static GoalPlannerParameters initGoalPlannerParameters( + rclcpp::Node * node, const std::string & base_ns); + public: GoalPlannerModuleManager() : SceneModuleManagerInterface{"goal_planner"} {} diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/manager.cpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/manager.cpp index 9f146f0ad73d0..f9afe28d72d3a 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/manager.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/manager.cpp @@ -25,14 +25,11 @@ namespace autoware::behavior_path_planner { -void GoalPlannerModuleManager::init(rclcpp::Node * node) -{ - // init manager interface - initInterface(node, {""}); +GoalPlannerParameters GoalPlannerModuleManager::initGoalPlannerParameters( + rclcpp::Node * node, const std::string & base_ns) +{ GoalPlannerParameters p; - - const std::string base_ns = "goal_planner."; // general params { p.th_stopped_velocity = node->declare_parameter(base_ns + "th_stopped_velocity"); @@ -71,7 +68,7 @@ void GoalPlannerModuleManager::init(rclcpp::Node * node) p.parking_policy = ParkingPolicy::RIGHT_SIDE; } else { RCLCPP_ERROR_STREAM( - node->get_logger().get_child(name()), + node->get_logger(), "[goal_planner] invalid parking_policy: " << parking_policy_name << std::endl); exit(EXIT_FAILURE); } @@ -115,7 +112,7 @@ void GoalPlannerModuleManager::init(rclcpp::Node * node) p.object_recognition_collision_check_soft_margins.empty() || p.object_recognition_collision_check_hard_margins.empty()) { RCLCPP_FATAL_STREAM( - node->get_logger().get_child(name()), + node->get_logger(), "object_recognition.collision_check_soft_margins and " << "object_recognition.collision_check_hard_margins must not be empty. " << "Terminating the program..."); @@ -400,22 +397,28 @@ void GoalPlannerModuleManager::init(rclcpp::Node * node) // validation of parameters if (p.shift_sampling_num < 1) { RCLCPP_FATAL_STREAM( - node->get_logger().get_child(name()), - "shift_sampling_num must be positive integer. Given parameter: " - << p.shift_sampling_num << std::endl - << "Terminating the program..."); + node->get_logger(), "shift_sampling_num must be positive integer. Given parameter: " + << p.shift_sampling_num << std::endl + << "Terminating the program..."); exit(EXIT_FAILURE); } if (p.maximum_deceleration < 0.0) { RCLCPP_FATAL_STREAM( - node->get_logger().get_child(name()), - "maximum_deceleration cannot be negative value. Given parameter: " - << p.maximum_deceleration << std::endl - << "Terminating the program..."); + node->get_logger(), "maximum_deceleration cannot be negative value. Given parameter: " + << p.maximum_deceleration << std::endl + << "Terminating the program..."); exit(EXIT_FAILURE); } + return p; +} - parameters_ = std::make_shared(p); +void GoalPlannerModuleManager::init(rclcpp::Node * node) +{ + // init manager interface + initInterface(node, {""}); + + const std::string base_ns = "goal_planner."; + parameters_ = std::make_shared(initGoalPlannerParameters(node, base_ns)); } void GoalPlannerModuleManager::updateModuleParams( From 0adbcc2cbf46a0728799d9d9cfac375152bc77e6 Mon Sep 17 00:00:00 2001 From: Ryuta Kambe Date: Mon, 2 Sep 2024 21:48:48 +0900 Subject: [PATCH 134/169] ci(cppcheck): change all cppcheck from daily to weekly (#8713) Signed-off-by: Ryuta Kambe --- .github/workflows/{cppcheck-daily.yaml => cppcheck-weekly.yaml} | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) rename .github/workflows/{cppcheck-daily.yaml => cppcheck-weekly.yaml} (98%) diff --git a/.github/workflows/cppcheck-daily.yaml b/.github/workflows/cppcheck-weekly.yaml similarity index 98% rename from .github/workflows/cppcheck-daily.yaml rename to .github/workflows/cppcheck-weekly.yaml index 6defc8de4894a..493a6c36228ff 100644 --- a/.github/workflows/cppcheck-daily.yaml +++ b/.github/workflows/cppcheck-weekly.yaml @@ -2,7 +2,7 @@ name: cppcheck-daily on: schedule: - - cron: 0 0 * * * + - cron: 0 0 * * 1 workflow_dispatch: jobs: From 58297a09fb448af67ef3c8a82455dabf5c474fba Mon Sep 17 00:00:00 2001 From: Ryuta Kambe Date: Mon, 2 Sep 2024 22:02:57 +0900 Subject: [PATCH 135/169] ci(cppcheck): fix workflow name (#8717) Signed-off-by: Ryuta Kambe --- .github/workflows/cppcheck-weekly.yaml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/.github/workflows/cppcheck-weekly.yaml b/.github/workflows/cppcheck-weekly.yaml index 493a6c36228ff..2022edcc57e93 100644 --- a/.github/workflows/cppcheck-weekly.yaml +++ b/.github/workflows/cppcheck-weekly.yaml @@ -1,4 +1,4 @@ -name: cppcheck-daily +name: cppcheck-weekly on: schedule: @@ -6,7 +6,7 @@ on: workflow_dispatch: jobs: - cppcheck-daily: + cppcheck-weekly: runs-on: ubuntu-latest steps: From 757a5a58046141a085e383d60c8bc1d33c013c1f Mon Sep 17 00:00:00 2001 From: SakodaShintaro Date: Tue, 3 Sep 2024 09:34:55 +0900 Subject: [PATCH 136/169] refactor(ndt_scan_marcher): add namespace "autoware::ndt_scan_matcher::" (#8691) * Added namespace "autoware::ndt_scan_matcher::" Signed-off-by: Shintaro Sakoda * Added namespace "autoware::ndt_scan_matcher::" Signed-off-by: Shintaro Sakoda --------- Signed-off-by: Shintaro Sakoda --- localization/ndt_scan_matcher/CMakeLists.txt | 2 +- .../include/ndt_scan_matcher/hyper_parameters.hpp | 5 +++++ .../include/ndt_scan_matcher/map_update_module.hpp | 5 +++++ .../include/ndt_scan_matcher/ndt_scan_matcher_core.hpp | 5 +++++ .../ndt_scan_matcher/include/ndt_scan_matcher/particle.hpp | 5 +++++ localization/ndt_scan_matcher/src/map_update_module.cpp | 5 +++++ .../ndt_scan_matcher/src/ndt_scan_matcher_core.cpp | 7 ++++++- localization/ndt_scan_matcher/src/particle.cpp | 4 ++++ localization/ndt_scan_matcher/test/test_fixture.hpp | 4 ++-- 9 files changed, 38 insertions(+), 4 deletions(-) diff --git a/localization/ndt_scan_matcher/CMakeLists.txt b/localization/ndt_scan_matcher/CMakeLists.txt index c2ede4da2f543..b7a70b8442458 100644 --- a/localization/ndt_scan_matcher/CMakeLists.txt +++ b/localization/ndt_scan_matcher/CMakeLists.txt @@ -35,7 +35,7 @@ link_directories(${PCL_LIBRARY_DIRS}) target_link_libraries(ndt_scan_matcher ${PCL_LIBRARIES}) rclcpp_components_register_node(${PROJECT_NAME} - PLUGIN "NDTScanMatcher" + PLUGIN "autoware::ndt_scan_matcher::NDTScanMatcher" EXECUTABLE ${PROJECT_NAME}_node EXECUTOR MultiThreadedExecutor ) diff --git a/localization/ndt_scan_matcher/include/ndt_scan_matcher/hyper_parameters.hpp b/localization/ndt_scan_matcher/include/ndt_scan_matcher/hyper_parameters.hpp index 5374e598ba68f..8244bb7ab4b92 100644 --- a/localization/ndt_scan_matcher/include/ndt_scan_matcher/hyper_parameters.hpp +++ b/localization/ndt_scan_matcher/include/ndt_scan_matcher/hyper_parameters.hpp @@ -24,6 +24,9 @@ #include #include +namespace autoware::ndt_scan_matcher +{ + enum class ConvergedParamType { TRANSFORM_PROBABILITY = 0, NEAREST_VOXEL_TRANSFORMATION_LIKELIHOOD = 1 @@ -191,4 +194,6 @@ struct HyperParameters } }; +} // namespace autoware::ndt_scan_matcher + #endif // NDT_SCAN_MATCHER__HYPER_PARAMETERS_HPP_ diff --git a/localization/ndt_scan_matcher/include/ndt_scan_matcher/map_update_module.hpp b/localization/ndt_scan_matcher/include/ndt_scan_matcher/map_update_module.hpp index ddc5e32f782f7..24ecc17ff7af1 100644 --- a/localization/ndt_scan_matcher/include/ndt_scan_matcher/map_update_module.hpp +++ b/localization/ndt_scan_matcher/include/ndt_scan_matcher/map_update_module.hpp @@ -40,6 +40,9 @@ #include #include +namespace autoware::ndt_scan_matcher +{ + class MapUpdateModule { using PointSource = pcl::PointXYZ; @@ -95,4 +98,6 @@ class MapUpdateModule std::mutex last_update_position_mtx_; }; +} // namespace autoware::ndt_scan_matcher + #endif // NDT_SCAN_MATCHER__MAP_UPDATE_MODULE_HPP_ diff --git a/localization/ndt_scan_matcher/include/ndt_scan_matcher/ndt_scan_matcher_core.hpp b/localization/ndt_scan_matcher/include/ndt_scan_matcher/ndt_scan_matcher_core.hpp index aa412fab317a2..eb49711fe9270 100644 --- a/localization/ndt_scan_matcher/include/ndt_scan_matcher/ndt_scan_matcher_core.hpp +++ b/localization/ndt_scan_matcher/include/ndt_scan_matcher/ndt_scan_matcher_core.hpp @@ -69,6 +69,9 @@ #include #include +namespace autoware::ndt_scan_matcher +{ + class NDTScanMatcher : public rclcpp::Node { using PointSource = pcl::PointXYZ; @@ -209,4 +212,6 @@ class NDTScanMatcher : public rclcpp::Node HyperParameters param_; }; +} // namespace autoware::ndt_scan_matcher + #endif // NDT_SCAN_MATCHER__NDT_SCAN_MATCHER_CORE_HPP_ diff --git a/localization/ndt_scan_matcher/include/ndt_scan_matcher/particle.hpp b/localization/ndt_scan_matcher/include/ndt_scan_matcher/particle.hpp index f1c05bfe98551..c5ecc7f2e9837 100644 --- a/localization/ndt_scan_matcher/include/ndt_scan_matcher/particle.hpp +++ b/localization/ndt_scan_matcher/include/ndt_scan_matcher/particle.hpp @@ -20,6 +20,9 @@ #include +namespace autoware::ndt_scan_matcher +{ + struct Particle { Particle( @@ -38,4 +41,6 @@ void push_debug_markers( visualization_msgs::msg::MarkerArray & marker_array, const builtin_interfaces::msg::Time & stamp, const std::string & map_frame_, const Particle & particle, const size_t i); +} // namespace autoware::ndt_scan_matcher + #endif // NDT_SCAN_MATCHER__PARTICLE_HPP_ diff --git a/localization/ndt_scan_matcher/src/map_update_module.cpp b/localization/ndt_scan_matcher/src/map_update_module.cpp index 012c72e6b3a46..611d15783ea38 100644 --- a/localization/ndt_scan_matcher/src/map_update_module.cpp +++ b/localization/ndt_scan_matcher/src/map_update_module.cpp @@ -14,6 +14,9 @@ #include "ndt_scan_matcher/map_update_module.hpp" +namespace autoware::ndt_scan_matcher +{ + MapUpdateModule::MapUpdateModule( rclcpp::Node * node, std::mutex * ndt_ptr_mutex, NdtPtrType & ndt_ptr, HyperParameters::DynamicMapLoading param) @@ -312,3 +315,5 @@ void MapUpdateModule::publish_partial_pcd_map() loaded_pcd_pub_->publish(map_msg); } + +} // namespace autoware::ndt_scan_matcher diff --git a/localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp b/localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp index b59686c211b53..16f297e5a1d48 100644 --- a/localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp +++ b/localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp @@ -37,6 +37,9 @@ #include #include +namespace autoware::ndt_scan_matcher +{ + tier4_debug_msgs::msg::Float32Stamped make_float32_stamped( const builtin_interfaces::msg::Time & stamp, const float data) { @@ -1111,5 +1114,7 @@ std::tuple NDTScanMatcher return std::make_tuple(result_pose_with_cov_msg, best_particle_ptr->score); } +} // namespace autoware::ndt_scan_matcher + #include -RCLCPP_COMPONENTS_REGISTER_NODE(NDTScanMatcher) +RCLCPP_COMPONENTS_REGISTER_NODE(autoware::ndt_scan_matcher::NDTScanMatcher) diff --git a/localization/ndt_scan_matcher/src/particle.cpp b/localization/ndt_scan_matcher/src/particle.cpp index b30703c2761e8..fce6cdce3326c 100644 --- a/localization/ndt_scan_matcher/src/particle.cpp +++ b/localization/ndt_scan_matcher/src/particle.cpp @@ -15,6 +15,8 @@ #include "ndt_scan_matcher/particle.hpp" #include "localization_util/util_func.hpp" +namespace autoware::ndt_scan_matcher +{ void push_debug_markers( visualization_msgs::msg::MarkerArray & marker_array, const builtin_interfaces::msg::Time & stamp, @@ -61,3 +63,5 @@ void push_debug_markers( marker.color = exchange_color_crc(static_cast(i) / 100.0); marker_array.markers.push_back(marker); } + +} // namespace autoware::ndt_scan_matcher diff --git a/localization/ndt_scan_matcher/test/test_fixture.hpp b/localization/ndt_scan_matcher/test/test_fixture.hpp index aff227d4fcfc7..c14c0b2ffe087 100644 --- a/localization/ndt_scan_matcher/test/test_fixture.hpp +++ b/localization/ndt_scan_matcher/test/test_fixture.hpp @@ -53,7 +53,7 @@ class TestNDTScanMatcher : public ::testing::Test node_options.parameter_overrides().push_back(param); } } - node_ = std::make_shared(node_options); + node_ = std::make_shared(node_options); rcl_yaml_node_struct_fini(params_st); // prepare tf_static "base_link -> sensor_frame" @@ -79,7 +79,7 @@ class TestNDTScanMatcher : public ::testing::Test sensor_pcd_publisher_ = std::make_shared(); } - std::shared_ptr node_; + std::shared_ptr node_; std::shared_ptr tf_broadcaster_; std::shared_ptr pcd_loader_; std::shared_ptr initialpose_client_; From 01bde15f76bb2db285e722f29aac759501758627 Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Tue, 3 Sep 2024 11:21:54 +0900 Subject: [PATCH 137/169] fix(static_obstacle_avoidance): use wrong parameter (#8720) Signed-off-by: satoshi-ota --- .../behavior_path_static_obstacle_avoidance_module/helper.hpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/helper.hpp b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/helper.hpp index bfeb942c82be3..0f3536eeb4e7c 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/helper.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/helper.hpp @@ -305,7 +305,7 @@ class AvoidanceHelper { const auto & p = parameters_; return prepare_distance > - std::max(getEgoSpeed() * p->min_prepare_distance, p->min_prepare_distance); + std::max(getEgoSpeed() * p->min_prepare_time, p->min_prepare_distance); } bool isComfortable(const AvoidLineArray & shift_lines) const From 1c2b07b8fea384d78bf772ce5611d1de85ecb41f Mon Sep 17 00:00:00 2001 From: kobayu858 <129580202+kobayu858@users.noreply.github.com> Date: Tue, 3 Sep 2024 12:02:48 +0900 Subject: [PATCH 138/169] fix(autoware_behavior_path_start_planner_module): fix unusedFunction (#8709) * fix:checkCollisionBetweenPathFootprintsAndObjects Signed-off-by: kobayu858 * fix:add const Signed-off-by: kobayu858 * fix:unusedFunction Signed-off-by: kobayu858 --------- Signed-off-by: kobayu858 --- .../CMakeLists.txt | 1 + .../pull_out_planner_base.hpp | 31 +----------- .../src/pull_out_planner_base.cpp | 50 +++++++++++++++++++ .../src/util.cpp | 1 - 4 files changed, 52 insertions(+), 31 deletions(-) create mode 100644 planning/behavior_path_planner/autoware_behavior_path_start_planner_module/src/pull_out_planner_base.cpp diff --git a/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/CMakeLists.txt b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/CMakeLists.txt index 1d0aa23200f96..2da3051702103 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/CMakeLists.txt +++ b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/CMakeLists.txt @@ -8,6 +8,7 @@ pluginlib_export_plugin_description_file(autoware_behavior_path_planner plugins. ament_auto_add_library(${PROJECT_NAME} SHARED src/start_planner_module.cpp src/manager.cpp + src/pull_out_planner_base.cpp src/freespace_pull_out.cpp src/geometric_pull_out.cpp src/shift_pull_out.cpp diff --git a/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/include/autoware/behavior_path_start_planner_module/pull_out_planner_base.hpp b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/include/autoware/behavior_path_start_planner_module/pull_out_planner_base.hpp index de2e57ff23576..f606679e7f2da 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/include/autoware/behavior_path_start_planner_module/pull_out_planner_base.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/include/autoware/behavior_path_start_planner_module/pull_out_planner_base.hpp @@ -65,37 +65,8 @@ class PullOutPlannerBase protected: bool isPullOutPathCollided( autoware::behavior_path_planner::PullOutPath & pull_out_path, - double collision_check_distance_from_end) const - { - universe_utils::ScopedTimeTrack st(__func__, *time_keeper_); - - // check for collisions - const auto & dynamic_objects = planner_data_->dynamic_object; - const auto pull_out_lanes = start_planner_utils::getPullOutLanes( - planner_data_, - planner_data_->parameters.backward_path_length + parameters_.max_back_distance); - const auto & vehicle_footprint = vehicle_info_.createFootprint(); - // extract stop objects in pull out lane for collision check - const auto stop_objects = utils::path_safety_checker::filterObjectsByVelocity( - *dynamic_objects, parameters_.th_moving_object_velocity); - auto [pull_out_lane_stop_objects, others] = - utils::path_safety_checker::separateObjectsByLanelets( - stop_objects, pull_out_lanes, - [](const auto & obj, const auto & lane, const auto yaw_threshold) { - return utils::path_safety_checker::isPolygonOverlapLanelet(obj, lane, yaw_threshold); - }); - utils::path_safety_checker::filterObjectsByClass( - pull_out_lane_stop_objects, parameters_.object_types_to_check_for_path_generation); + double collision_check_distance_from_end) const; - const auto collision_check_section_path = - autoware::behavior_path_planner::start_planner_utils::extractCollisionCheckSection( - pull_out_path, collision_check_distance_from_end); - if (!collision_check_section_path) return true; - - return utils::checkCollisionBetweenPathFootprintsAndObjects( - vehicle_footprint_, collision_check_section_path.value(), pull_out_lane_stop_objects, - collision_check_margin_); - }; std::shared_ptr planner_data_; autoware::vehicle_info_utils::VehicleInfo vehicle_info_; LinearRing2d vehicle_footprint_; diff --git a/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/src/pull_out_planner_base.cpp b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/src/pull_out_planner_base.cpp new file mode 100644 index 0000000000000..e82db8a68740e --- /dev/null +++ b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/src/pull_out_planner_base.cpp @@ -0,0 +1,50 @@ +// 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 "autoware/behavior_path_start_planner_module/pull_out_planner_base.hpp" + +namespace autoware::behavior_path_planner +{ +bool PullOutPlannerBase::isPullOutPathCollided( + autoware::behavior_path_planner::PullOutPath & pull_out_path, + double collision_check_distance_from_end) const +{ + universe_utils::ScopedTimeTrack st(__func__, *time_keeper_); + + // check for collisions + const auto & dynamic_objects = planner_data_->dynamic_object; + const auto pull_out_lanes = start_planner_utils::getPullOutLanes( + planner_data_, planner_data_->parameters.backward_path_length + parameters_.max_back_distance); + const auto & vehicle_footprint = vehicle_info_.createFootprint(); + // extract stop objects in pull out lane for collision check + const auto stop_objects = utils::path_safety_checker::filterObjectsByVelocity( + *dynamic_objects, parameters_.th_moving_object_velocity); + auto [pull_out_lane_stop_objects, others] = utils::path_safety_checker::separateObjectsByLanelets( + stop_objects, pull_out_lanes, + [](const auto & obj, const auto & lane, const auto yaw_threshold) { + return utils::path_safety_checker::isPolygonOverlapLanelet(obj, lane, yaw_threshold); + }); + utils::path_safety_checker::filterObjectsByClass( + pull_out_lane_stop_objects, parameters_.object_types_to_check_for_path_generation); + + const auto collision_check_section_path = + autoware::behavior_path_planner::start_planner_utils::extractCollisionCheckSection( + pull_out_path, collision_check_distance_from_end); + if (!collision_check_section_path) return true; + + return utils::checkCollisionBetweenPathFootprintsAndObjects( + vehicle_footprint_, collision_check_section_path.value(), pull_out_lane_stop_objects, + collision_check_margin_); +}; +} // namespace autoware::behavior_path_planner diff --git a/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/src/util.cpp b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/src/util.cpp index 219efb3084f1c..d386665c181d6 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/src/util.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/src/util.cpp @@ -92,7 +92,6 @@ lanelet::ConstLanelets getPullOutLanes( /*forward_only_in_route*/ true); } -// cppcheck-suppress unusedFunction std::optional extractCollisionCheckSection( const PullOutPath & path, const double collision_check_distance_from_end) { From 631d9672423d8c91d867d06ab24d20dbf0fde7cd Mon Sep 17 00:00:00 2001 From: Amadeusz Szymko Date: Tue, 3 Sep 2024 12:45:36 +0900 Subject: [PATCH 139/169] refactor(autoware_lidar_transfusion): split config (#8205) * refactor(autoware_lidar_transfusion): split config Signed-off-by: Amadeusz Szymko * style(pre-commit): autofix * chore(autoware_lidar_transfusion): bypass schema CI workflow Signed-off-by: amadeuszsz --------- Signed-off-by: Amadeusz Szymko Signed-off-by: amadeuszsz Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenzo Lobos Tsunekawa --- .../detector/lidar_dnn_detector.launch.xml | 3 +- .../autoware_lidar_transfusion/README.md | 8 ++- .../config/transfusion.param.yaml | 5 -- .../config/transfusion_ml_package.param.yaml | 7 ++ .../launch/lidar_transfusion.launch.xml | 6 +- ...ema.json => transfusion.schema.dummy.json} | 55 +------------- .../schema/transfusion_ml_package.schema.json | 71 +++++++++++++++++++ 7 files changed, 93 insertions(+), 62 deletions(-) create mode 100644 perception/autoware_lidar_transfusion/config/transfusion_ml_package.param.yaml rename perception/autoware_lidar_transfusion/schema/{transfusion.schema.json => transfusion.schema.dummy.json} (70%) create mode 100644 perception/autoware_lidar_transfusion/schema/transfusion_ml_package.schema.json 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 ed2d41e95f793..c914723f69e4a 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 @@ -26,7 +26,8 @@ - + + diff --git a/perception/autoware_lidar_transfusion/README.md b/perception/autoware_lidar_transfusion/README.md index 4a55babbcba9f..095170efa66c9 100644 --- a/perception/autoware_lidar_transfusion/README.md +++ b/perception/autoware_lidar_transfusion/README.md @@ -32,9 +32,13 @@ We trained the models using . ## Parameters -### TransFusion +### TransFusion node -{{ json_to_markdown("perception/autoware_lidar_transfusion/schema/transfusion.schema.json") }} +{{ json_to_markdown("perception/autoware_lidar_transfusion/schema/transfusion.schema.dummy.json") }} + +### TransFusion model + +{{ json_to_markdown("perception/autoware_lidar_transfusion/schema/transfusion_ml_package.schema.json") }} ### Detection class remapper diff --git a/perception/autoware_lidar_transfusion/config/transfusion.param.yaml b/perception/autoware_lidar_transfusion/config/transfusion.param.yaml index af1f63c335501..47eaa800e62fc 100644 --- a/perception/autoware_lidar_transfusion/config/transfusion.param.yaml +++ b/perception/autoware_lidar_transfusion/config/transfusion.param.yaml @@ -1,13 +1,8 @@ /**: ros__parameters: # network - class_names: ["CAR", "TRUCK", "BUS", "BICYCLE", "PEDESTRIAN"] trt_precision: fp16 cloud_capacity: 2000000 - voxels_num: [5000, 30000, 60000] # [min, opt, max] - point_cloud_range: [-92.16, -92.16, -3.0, 92.16, 92.16, 7.0] # [x_min, y_min, z_min, x_max, y_max, z_max] - voxel_size: [0.24, 0.24, 10.0] # [x, y, z] - num_proposals: 500 onnx_path: "$(var model_path)/transfusion.onnx" engine_path: "$(var model_path)/transfusion.engine" # pre-process params diff --git a/perception/autoware_lidar_transfusion/config/transfusion_ml_package.param.yaml b/perception/autoware_lidar_transfusion/config/transfusion_ml_package.param.yaml new file mode 100644 index 0000000000000..057fc0ee0db54 --- /dev/null +++ b/perception/autoware_lidar_transfusion/config/transfusion_ml_package.param.yaml @@ -0,0 +1,7 @@ +/**: + ros__parameters: + class_names: ["CAR", "TRUCK", "BUS", "BICYCLE", "PEDESTRIAN"] + voxels_num: [5000, 30000, 60000] # [min, opt, max] + point_cloud_range: [-92.16, -92.16, -3.0, 92.16, 92.16, 7.0] # [x_min, y_min, z_min, x_max, y_max, z_max] + voxel_size: [0.24, 0.24, 10.0] # [x, y, z] + num_proposals: 500 diff --git a/perception/autoware_lidar_transfusion/launch/lidar_transfusion.launch.xml b/perception/autoware_lidar_transfusion/launch/lidar_transfusion.launch.xml index c14802dcddc55..81d9a38941fc4 100644 --- a/perception/autoware_lidar_transfusion/launch/lidar_transfusion.launch.xml +++ b/perception/autoware_lidar_transfusion/launch/lidar_transfusion.launch.xml @@ -3,8 +3,10 @@ + - + + @@ -18,6 +20,7 @@ + @@ -30,6 +33,7 @@ + diff --git a/perception/autoware_lidar_transfusion/schema/transfusion.schema.json b/perception/autoware_lidar_transfusion/schema/transfusion.schema.dummy.json similarity index 70% rename from perception/autoware_lidar_transfusion/schema/transfusion.schema.json rename to perception/autoware_lidar_transfusion/schema/transfusion.schema.dummy.json index b37de5a97e7c0..6d9029f7e6806 100644 --- a/perception/autoware_lidar_transfusion/schema/transfusion.schema.json +++ b/perception/autoware_lidar_transfusion/schema/transfusion.schema.dummy.json @@ -1,20 +1,12 @@ { "$schema": "http://json-schema.org/draft-07/schema#", "title": "Parameters for LiDAR TransFusion Node", + "$comment": "This schema is not considered in CI workflow. See https://github.com/autowarefoundation/autoware.universe/pull/8205#issuecomment-2255074224.", "type": "object", "definitions": { "transfusion": { "type": "object", "properties": { - "class_names": { - "type": "array", - "items": { - "type": "string" - }, - "description": "An array of class names will be predicted.", - "default": ["CAR", "TRUCK", "BUS", "BICYCLE", "PEDESTRIAN"], - "uniqueItems": true - }, "trt_precision": { "type": "string", "description": "A precision of TensorRT engine.", @@ -27,34 +19,6 @@ "default": 2000000, "minimum": 1 }, - "voxels_num": { - "type": "array", - "items": { - "type": "integer" - }, - "description": "A maximum number of voxels [min, opt, max].", - "default": [5000, 30000, 60000] - }, - "point_cloud_range": { - "type": "array", - "items": { - "type": "number" - }, - "description": "An array of distance ranges of each class.", - "default": [-76.8, -76.8, -3.0, 76.8, 76.8, 5.0], - "minItems": 6, - "maxItems": 6 - }, - "voxel_size": { - "type": "array", - "items": { - "type": "number" - }, - "description": "Voxels size [x, y, z].", - "default": [0.3, 0.3, 8.0], - "minItems": 3, - "maxItems": 3 - }, "onnx_path": { "type": "string", "description": "A path to ONNX model file.", @@ -67,18 +31,6 @@ "default": "$(var model_path)/transfusion.engine", "pattern": "\\.engine$" }, - "num_proposals": { - "type": "integer", - "description": "Number of proposals at TransHead.", - "default": 500, - "minimum": 1 - }, - "down_sample_factor": { - "type": "integer", - "description": "A scale factor of downsampling points", - "default": 1, - "minimum": 1 - }, "densification_num_past_frames": { "type": "integer", "description": "A number of past frames to be considered as same input frame.", @@ -136,11 +88,8 @@ } }, "required": [ - "class_names", "trt_precision", - "voxels_num", - "point_cloud_range", - "voxel_size", + "cloud_capacity", "onnx_path", "engine_path", "densification_num_past_frames", diff --git a/perception/autoware_lidar_transfusion/schema/transfusion_ml_package.schema.json b/perception/autoware_lidar_transfusion/schema/transfusion_ml_package.schema.json new file mode 100644 index 0000000000000..f8976213f1dcb --- /dev/null +++ b/perception/autoware_lidar_transfusion/schema/transfusion_ml_package.schema.json @@ -0,0 +1,71 @@ +{ + "$schema": "http://json-schema.org/draft-07/schema#", + "title": "Parameters for LiDAR TransFusion Node", + "type": "object", + "definitions": { + "transfusion": { + "type": "object", + "properties": { + "class_names": { + "type": "array", + "items": { + "type": "string" + }, + "description": "An array of class names will be predicted.", + "default": ["CAR", "TRUCK", "BUS", "BICYCLE", "PEDESTRIAN"], + "uniqueItems": true + }, + "voxels_num": { + "type": "array", + "items": { + "type": "integer" + }, + "description": "A maximum number of voxels [min, opt, max].", + "default": [5000, 30000, 60000] + }, + "point_cloud_range": { + "type": "array", + "items": { + "type": "number" + }, + "description": "An array of distance ranges of each class.", + "default": [-76.8, -76.8, -3.0, 76.8, 76.8, 5.0], + "minItems": 6, + "maxItems": 6 + }, + "voxel_size": { + "type": "array", + "items": { + "type": "number" + }, + "description": "Voxels size [x, y, z].", + "default": [0.3, 0.3, 8.0], + "minItems": 3, + "maxItems": 3 + }, + "num_proposals": { + "type": "integer", + "description": "Number of proposals at TransHead.", + "default": 500, + "minimum": 1 + } + }, + "required": ["class_names", "voxels_num", "point_cloud_range", "voxel_size", "num_proposals"], + "additionalProperties": false + } + }, + "properties": { + "/**": { + "type": "object", + "properties": { + "ros__parameters": { + "$ref": "#/definitions/transfusion" + } + }, + "required": ["ros__parameters"], + "additionalProperties": false + } + }, + "required": ["/**"], + "additionalProperties": false +} From 370fcf166b9eccfe6a21a9168cc24245aa89a6df Mon Sep 17 00:00:00 2001 From: kobayu858 <129580202+kobayu858@users.noreply.github.com> Date: Tue, 3 Sep 2024 12:56:31 +0900 Subject: [PATCH 140/169] fix(autoware_behavior_path_planner_common): fix unusedFunction (#8707) * fix:createDrivableLanesMarkerArray and setDecelerationVelocity Signed-off-by: kobayu858 * fix:convertToSnakeCase Signed-off-by: kobayu858 * fix:clang format Signed-off-by: kobayu858 --------- Signed-off-by: kobayu858 --- .../CMakeLists.txt | 2 + .../interface/scene_module_interface.hpp | 6 +- .../scene_module_manager_interface.hpp | 54 +------------- .../src/interface/scene_module_interface.cpp | 24 ++++++ .../scene_module_manager_interface.cpp | 73 +++++++++++++++++++ .../src/marker_utils/utils.cpp | 1 - .../src/utils/utils.cpp | 35 --------- 7 files changed, 101 insertions(+), 94 deletions(-) create mode 100644 planning/behavior_path_planner/autoware_behavior_path_planner_common/src/interface/scene_module_interface.cpp create mode 100644 planning/behavior_path_planner/autoware_behavior_path_planner_common/src/interface/scene_module_manager_interface.cpp diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/CMakeLists.txt b/planning/behavior_path_planner/autoware_behavior_path_planner_common/CMakeLists.txt index d3774bb004826..2c2dd723d9e3e 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/CMakeLists.txt +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/CMakeLists.txt @@ -10,6 +10,8 @@ ament_auto_add_library(${PROJECT_NAME} SHARED src/turn_signal_decider.cpp src/interface/steering_factor_interface.cpp src/interface/scene_module_visitor.cpp + src/interface/scene_module_interface.cpp + src/interface/scene_module_manager_interface.cpp src/utils/utils.cpp src/utils/path_utils.cpp src/utils/traffic_light_utils.cpp diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/interface/scene_module_interface.hpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/interface/scene_module_interface.hpp index 54254bf13e07f..7c15dd691d56f 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/interface/scene_module_interface.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/interface/scene_module_interface.hpp @@ -583,11 +583,7 @@ class SceneModuleInterface stop_reason_.stop_factors.push_back(stop_factor); } - void setDrivableLanes(const std::vector & drivable_lanes) - { - drivable_lanes_marker_ = - marker_utils::createDrivableLanesMarkerArray(drivable_lanes, "drivable_lanes"); - } + void setDrivableLanes(const std::vector & drivable_lanes); BehaviorModuleOutput getPreviousModuleOutput() const { return previous_module_output_; } diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/interface/scene_module_manager_interface.hpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/interface/scene_module_manager_interface.hpp index adb0fc49c3bd1..5aa413f05a893 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/interface/scene_module_manager_interface.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/interface/scene_module_manager_interface.hpp @@ -256,59 +256,7 @@ class SceneModuleManagerInterface virtual void updateModuleParams(const std::vector & parameters) = 0; protected: - void initInterface(rclcpp::Node * node, const std::vector & rtc_types) - { - using autoware::universe_utils::getOrDeclareParameter; - - // init manager configuration - { - std::string ns = name_ + "."; - try { - config_.enable_rtc = getOrDeclareParameter(*node, "enable_all_modules_auto_mode") - ? false - : getOrDeclareParameter(*node, ns + "enable_rtc"); - } catch (const std::exception & e) { - config_.enable_rtc = getOrDeclareParameter(*node, ns + "enable_rtc"); - } - - config_.enable_simultaneous_execution_as_approved_module = - getOrDeclareParameter(*node, ns + "enable_simultaneous_execution_as_approved_module"); - config_.enable_simultaneous_execution_as_candidate_module = getOrDeclareParameter( - *node, ns + "enable_simultaneous_execution_as_candidate_module"); - } - - // init rtc configuration - for (const auto & rtc_type : rtc_types) { - const auto snake_case_name = utils::convertToSnakeCase(name_); - const auto rtc_interface_name = - rtc_type.empty() ? snake_case_name : snake_case_name + "_" + rtc_type; - rtc_interface_ptr_map_.emplace( - rtc_type, std::make_shared(node, rtc_interface_name, config_.enable_rtc)); - objects_of_interest_marker_interface_ptr_map_.emplace( - rtc_type, std::make_shared(node, rtc_interface_name)); - } - - // init publisher - { - pub_info_marker_ = node->create_publisher("~/info/" + name_, 20); - pub_debug_marker_ = node->create_publisher("~/debug/" + name_, 20); - pub_virtual_wall_ = node->create_publisher("~/virtual_wall/" + name_, 20); - pub_drivable_lanes_ = node->create_publisher("~/drivable_lanes/" + name_, 20); - pub_processing_time_ = node->create_publisher( - "~/processing_time/" + name_, 20); - } - - // init steering factor - { - steering_factor_interface_ptr_ = - std::make_shared(node, utils::convertToSnakeCase(name_)); - } - - // misc - { - node_ = node; - } - } + void initInterface(rclcpp::Node * node, const std::vector & rtc_types); virtual std::unique_ptr createNewSceneModuleInstance() = 0; diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/interface/scene_module_interface.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/interface/scene_module_interface.cpp new file mode 100644 index 0000000000000..b682203d3177f --- /dev/null +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/interface/scene_module_interface.cpp @@ -0,0 +1,24 @@ +// 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 "autoware/behavior_path_planner_common/interface/scene_module_interface.hpp" + +namespace autoware::behavior_path_planner +{ +void SceneModuleInterface::setDrivableLanes(const std::vector & drivable_lanes) +{ + drivable_lanes_marker_ = + marker_utils::createDrivableLanesMarkerArray(drivable_lanes, "drivable_lanes"); +} +} // namespace autoware::behavior_path_planner diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/interface/scene_module_manager_interface.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/interface/scene_module_manager_interface.cpp new file mode 100644 index 0000000000000..b83967f41d3da --- /dev/null +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/interface/scene_module_manager_interface.cpp @@ -0,0 +1,73 @@ +// 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 "autoware/behavior_path_planner_common/interface/scene_module_manager_interface.hpp" + +namespace autoware::behavior_path_planner +{ +void SceneModuleManagerInterface::initInterface( + rclcpp::Node * node, const std::vector & rtc_types) +{ + using autoware::universe_utils::getOrDeclareParameter; + + // init manager configuration + { + std::string ns = name_ + "."; + try { + config_.enable_rtc = getOrDeclareParameter(*node, "enable_all_modules_auto_mode") + ? false + : getOrDeclareParameter(*node, ns + "enable_rtc"); + } catch (const std::exception & e) { + config_.enable_rtc = getOrDeclareParameter(*node, ns + "enable_rtc"); + } + + config_.enable_simultaneous_execution_as_approved_module = + getOrDeclareParameter(*node, ns + "enable_simultaneous_execution_as_approved_module"); + config_.enable_simultaneous_execution_as_candidate_module = + getOrDeclareParameter(*node, ns + "enable_simultaneous_execution_as_candidate_module"); + } + + // init rtc configuration + for (const auto & rtc_type : rtc_types) { + const auto snake_case_name = utils::convertToSnakeCase(name_); + const auto rtc_interface_name = + rtc_type.empty() ? snake_case_name : snake_case_name + "_" + rtc_type; + rtc_interface_ptr_map_.emplace( + rtc_type, std::make_shared(node, rtc_interface_name, config_.enable_rtc)); + objects_of_interest_marker_interface_ptr_map_.emplace( + rtc_type, std::make_shared(node, rtc_interface_name)); + } + + // init publisher + { + pub_info_marker_ = node->create_publisher("~/info/" + name_, 20); + pub_debug_marker_ = node->create_publisher("~/debug/" + name_, 20); + pub_virtual_wall_ = node->create_publisher("~/virtual_wall/" + name_, 20); + pub_drivable_lanes_ = node->create_publisher("~/drivable_lanes/" + name_, 20); + pub_processing_time_ = node->create_publisher( + "~/processing_time/" + name_, 20); + } + + // init steering factor + { + steering_factor_interface_ptr_ = + std::make_shared(node, utils::convertToSnakeCase(name_)); + } + + // misc + { + node_ = node; + } +} +} // namespace autoware::behavior_path_planner diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/marker_utils/utils.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/marker_utils/utils.cpp index 09a23197d8092..d57c2339041f4 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/marker_utils/utils.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/marker_utils/utils.cpp @@ -341,7 +341,6 @@ MarkerArray createObjectsMarkerArray( return msg; } -// cppcheck-suppress unusedFunction MarkerArray createDrivableLanesMarkerArray( const std::vector & drivable_lanes, std::string && ns) { diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/utils.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/utils.cpp index 0785a639034d7..a48e36e3599ac 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/utils.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/utils.cpp @@ -99,7 +99,6 @@ double l2Norm(const Vector3 vector) return std::sqrt(std::pow(vector.x, 2) + std::pow(vector.y, 2) + std::pow(vector.z, 2)); } -// cppcheck-suppress unusedFunction bool checkCollisionBetweenPathFootprintsAndObjects( const autoware::universe_utils::LinearRing2d & local_vehicle_footprint, const PathWithLaneId & ego_path, const PredictedObjects & dynamic_objects, const double margin) @@ -1044,39 +1043,6 @@ PathWithLaneId getCenterLinePath( return resampled_path_with_lane_id; } -// TODO(murooka) remove calcSignedArcLength using findNearestSegmentIndex inside the -// function -// cppcheck-suppress unusedFunction -PathWithLaneId setDecelerationVelocity( - const PathWithLaneId & input, const double target_velocity, const Pose target_pose, - const double buffer, const double deceleration_interval) -{ - auto reference_path = input; - - for (auto & point : reference_path.points) { - const auto arclength_to_target = std::max( - 0.0, autoware::motion_utils::calcSignedArcLength( - reference_path.points, point.point.pose.position, target_pose.position) + - buffer); - if (arclength_to_target > deceleration_interval) continue; - point.point.longitudinal_velocity_mps = std::min( - point.point.longitudinal_velocity_mps, - static_cast( - (arclength_to_target / deceleration_interval) * - (point.point.longitudinal_velocity_mps - target_velocity) + - target_velocity)); - } - - const auto stop_point_length = - autoware::motion_utils::calcSignedArcLength(reference_path.points, 0, target_pose.position) + - buffer; - if (std::abs(target_velocity) < eps && stop_point_length > 0.0) { - const auto stop_point = utils::insertStopPoint(stop_point_length, reference_path); - } - - return reference_path; -} - std::uint8_t getHighestProbLabel(const std::vector & classification) { std::uint8_t label = ObjectClassification::UNKNOWN; @@ -1493,7 +1459,6 @@ lanelet::ConstLanelets getLaneletsFromPath( return lanelets; } -// cppcheck-suppress unusedFunction std::string convertToSnakeCase(const std::string & input_str) { std::string output_str = std::string{static_cast(std::tolower(input_str.at(0)))}; From 602e3d068afb8b0543e579a30683a938331c3d2b Mon Sep 17 00:00:00 2001 From: kobayu858 <129580202+kobayu858@users.noreply.github.com> Date: Tue, 3 Sep 2024 13:01:10 +0900 Subject: [PATCH 141/169] fix(autoware_obstacle_stop_planner): fix unusedFunction (#8643) fix:unusedFunction Signed-off-by: kobayu858 --- .../autoware_obstacle_stop_planner/src/debug_marker.hpp | 6 ------ 1 file changed, 6 deletions(-) diff --git a/planning/autoware_obstacle_stop_planner/src/debug_marker.hpp b/planning/autoware_obstacle_stop_planner/src/debug_marker.hpp index 1b4cdfd87f81b..ac043dd895ea7 100644 --- a/planning/autoware_obstacle_stop_planner/src/debug_marker.hpp +++ b/planning/autoware_obstacle_stop_planner/src/debug_marker.hpp @@ -73,12 +73,6 @@ class DebugValues SIZE }; - /** - * @brief get the index corresponding to the given value TYPE - * @param [in] type the TYPE enum for which to get the index - * @return index of the type - */ - static int getValuesIdx(const TYPE type) { return static_cast(type); } /** * @brief get all the debug values as an std::array * @return array of all debug values From 74bd8edda40df926b437c522b986e27d37e5c451 Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Tue, 3 Sep 2024 13:15:32 +0900 Subject: [PATCH 142/169] fix(static_obstacle_avoidance): change implementation the logic to remove invalid small shift lines (#8721) * Revert "fix(static_obstacle_avoidance): remove invalid small shift lines (#8344)" This reverts commit 2705a63817f02ecfa705960459438763225ea6cf. * fix(static_obstacle_avoidance): remove invalid small shift lines Signed-off-by: satoshi-ota --------- Signed-off-by: satoshi-ota --- .../src/shift_line_generator.cpp | 4 +--- 1 file changed, 1 insertion(+), 3 deletions(-) diff --git a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/shift_line_generator.cpp b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/shift_line_generator.cpp index 57a6e340bf853..e9950b56ce174 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/shift_line_generator.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/shift_line_generator.cpp @@ -812,7 +812,7 @@ AvoidLineArray ShiftLineGenerator::applyFillGapProcess( // fill gap among shift lines. for (size_t i = 0; i < sorted.size() - 1; ++i) { - if (sorted.at(i + 1).start_longitudinal < sorted.at(i).end_longitudinal) { + if (sorted.at(i + 1).start_longitudinal < sorted.at(i).end_longitudinal + 1e-3) { continue; } @@ -827,8 +827,6 @@ AvoidLineArray ShiftLineGenerator::applyFillGapProcess( utils::static_obstacle_avoidance::fillAdditionalInfoFromLongitudinal( data, debug.step1_front_shift_line); - applySmallShiftFilter(ret, 1e-3); - return ret; } From 93e4e7de8e6a4808b656b90240cda262e328e64b Mon Sep 17 00:00:00 2001 From: kobayu858 <129580202+kobayu858@users.noreply.github.com> Date: Tue, 3 Sep 2024 13:18:24 +0900 Subject: [PATCH 143/169] fix(autoware_behavior_velocity_run_out_module): fix unusedFunction (#8669) fix:unusedFunction Signed-off-by: kobayu858 --- .../src/utils.cpp | 14 -------------- .../src/utils.hpp | 4 ---- 2 files changed, 18 deletions(-) diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/utils.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/utils.cpp index 4f03dadc0555a..151d2616da5f9 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/utils.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/utils.cpp @@ -134,20 +134,6 @@ bool isSamePoint(const geometry_msgs::msg::Point & p1, const geometry_msgs::msg: return false; } -// if path points have the same point as target_point, return the index -std::optional haveSamePoint( - const PathPointsWithLaneId & path_points, const geometry_msgs::msg::Point & target_point) -{ - for (size_t i = 0; i < path_points.size(); i++) { - const auto & path_point = path_points.at(i).point.pose.position; - if (isSamePoint(path_point, target_point)) { - return i; - } - } - - return {}; -} - // insert path velocity which doesn't exceed original velocity void insertPathVelocityFromIndexLimited( const size_t & start_idx, const float velocity_mps, PathPointsWithLaneId & path_points) diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/utils.hpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/utils.hpp index f96d9f966265f..af6d9a7bc631b 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/utils.hpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_run_out_module/src/utils.hpp @@ -224,10 +224,6 @@ std::vector findLateralSameSidePoints( bool isSamePoint(const geometry_msgs::msg::Point & p1, const geometry_msgs::msg::Point & p2); -// if path points have the same point as target_point, return the index -std::optional haveSamePoint( - const PathPointsWithLaneId & path_points, const geometry_msgs::msg::Point & target_point); - // insert path velocity which doesn't exceed original velocity void insertPathVelocityFromIndexLimited( const size_t & start_idx, const float velocity_mps, PathPointsWithLaneId & path_points); From 03f675e991e23347a24f79e1166e8b792c8f753f Mon Sep 17 00:00:00 2001 From: Masaki Baba Date: Tue, 3 Sep 2024 14:31:56 +0900 Subject: [PATCH 144/169] refactor(pose_initializer)!: prefix package and namespace with autoware (#8701) * add autoware_ prefix Signed-off-by: a-maumau * fix link Signed-off-by: a-maumau --------- Signed-off-by: a-maumau Co-authored-by: SakodaShintaro --- .github/CODEOWNERS | 2 +- .../pose_twist_estimator.launch.xml | 2 +- launch/tier4_localization_launch/package.xml | 2 +- .../launch/simulator.launch.xml | 4 ++-- .../CMakeLists.txt | 16 ++++++++-------- .../README.md | 10 +++++----- .../config/pose_initializer.param.yaml | 0 .../launch/pose_initializer.launch.xml | 4 ++-- .../media/diagnostic_pose_reliability.png | Bin .../package.xml | 4 ++-- .../schema/pose_initializer.schema.json | 0 .../src}/copy_vector_to_array.hpp | 9 ++++++--- .../src}/ekf_localization_trigger_module.cpp | 3 +++ .../src}/ekf_localization_trigger_module.hpp | 9 ++++++--- .../src}/gnss_module.cpp | 3 +++ .../src}/gnss_module.hpp | 9 ++++++--- .../src}/localization_module.cpp | 3 +++ .../src}/localization_module.hpp | 9 ++++++--- .../src}/ndt_localization_trigger_module.cpp | 3 +++ .../src}/ndt_localization_trigger_module.hpp | 9 ++++++--- .../src}/pose_initializer_core.cpp | 5 ++++- .../src}/pose_initializer_core.hpp | 9 ++++++--- .../src}/stop_check_module.cpp | 3 +++ .../src}/stop_check_module.hpp | 9 ++++++--- .../test/test_copy_vector_to_array.cpp | 8 ++++---- 25 files changed, 87 insertions(+), 48 deletions(-) rename localization/{pose_initializer => autoware_pose_initializer}/CMakeLists.txt (72%) rename localization/{pose_initializer => autoware_pose_initializer}/README.md (89%) rename localization/{pose_initializer => autoware_pose_initializer}/config/pose_initializer.param.yaml (100%) rename localization/{pose_initializer => autoware_pose_initializer}/launch/pose_initializer.launch.xml (86%) rename localization/{pose_initializer => autoware_pose_initializer}/media/diagnostic_pose_reliability.png (100%) rename localization/{pose_initializer => autoware_pose_initializer}/package.xml (94%) rename localization/{pose_initializer => autoware_pose_initializer}/schema/pose_initializer.schema.json (100%) rename localization/{pose_initializer/src/pose_initializer => autoware_pose_initializer/src}/copy_vector_to_array.hpp (89%) rename localization/{pose_initializer/src/pose_initializer => autoware_pose_initializer/src}/ekf_localization_trigger_module.cpp (96%) rename localization/{pose_initializer/src/pose_initializer => autoware_pose_initializer/src}/ekf_localization_trigger_module.hpp (82%) rename localization/{pose_initializer/src/pose_initializer => autoware_pose_initializer/src}/gnss_module.cpp (95%) rename localization/{pose_initializer/src/pose_initializer => autoware_pose_initializer/src}/gnss_module.hpp (88%) rename localization/{pose_initializer/src/pose_initializer => autoware_pose_initializer/src}/localization_module.cpp (95%) rename localization/{pose_initializer/src/pose_initializer => autoware_pose_initializer/src}/localization_module.hpp (87%) rename localization/{pose_initializer/src/pose_initializer => autoware_pose_initializer/src}/ndt_localization_trigger_module.cpp (96%) rename localization/{pose_initializer/src/pose_initializer => autoware_pose_initializer/src}/ndt_localization_trigger_module.hpp (82%) rename localization/{pose_initializer/src/pose_initializer => autoware_pose_initializer/src}/pose_initializer_core.cpp (98%) rename localization/{pose_initializer/src/pose_initializer => autoware_pose_initializer/src}/pose_initializer_core.hpp (93%) rename localization/{pose_initializer/src/pose_initializer => autoware_pose_initializer/src}/stop_check_module.cpp (93%) rename localization/{pose_initializer/src/pose_initializer => autoware_pose_initializer/src}/stop_check_module.hpp (87%) rename localization/{pose_initializer => autoware_pose_initializer}/test/test_copy_vector_to_array.cpp (83%) diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS index 85f0c68a35f29..33e2fc1ab8f5f 100644 --- a/.github/CODEOWNERS +++ b/.github/CODEOWNERS @@ -94,7 +94,7 @@ localization/autoware_twist2accel/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier localization/ekf_localizer/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp takamasa.horibe@tier4.jp takeshi.ishita@tier4.jp yamato.ando@tier4.jp localization/localization_util/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp localization/ndt_scan_matcher/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp -localization/pose_initializer/** anh.nguyen.2@tier4.jp isamu.takagi@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp +localization/autoware_pose_initializer/** anh.nguyen.2@tier4.jp isamu.takagi@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp localization/yabloc/yabloc_common/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp localization/yabloc/yabloc_image_processing/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp localization/yabloc/yabloc_monitor/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp diff --git a/launch/tier4_localization_launch/launch/pose_twist_estimator/pose_twist_estimator.launch.xml b/launch/tier4_localization_launch/launch/pose_twist_estimator/pose_twist_estimator.launch.xml index 00f2406aa82d6..02d4f169cbc0d 100644 --- a/launch/tier4_localization_launch/launch/pose_twist_estimator/pose_twist_estimator.launch.xml +++ b/launch/tier4_localization_launch/launch/pose_twist_estimator/pose_twist_estimator.launch.xml @@ -120,7 +120,7 @@ - + diff --git a/launch/tier4_localization_launch/package.xml b/launch/tier4_localization_launch/package.xml index 70e09bb9072d8..be22d21707cec 100644 --- a/launch/tier4_localization_launch/package.xml +++ b/launch/tier4_localization_launch/package.xml @@ -24,13 +24,13 @@ autoware_lidar_marker_localizer autoware_pointcloud_preprocessor autoware_pose_estimator_arbiter + autoware_pose_initializer autoware_pose_instability_detector eagleye_geo_pose_fusion eagleye_gnss_converter eagleye_rt ekf_localizer ndt_scan_matcher - pose_initializer topic_tools yabloc_common yabloc_image_processing diff --git a/launch/tier4_simulator_launch/launch/simulator.launch.xml b/launch/tier4_simulator_launch/launch/simulator.launch.xml index 5dec24c66f6ca..330abaee3c839 100644 --- a/launch/tier4_simulator_launch/launch/simulator.launch.xml +++ b/launch/tier4_simulator_launch/launch/simulator.launch.xml @@ -141,7 +141,7 @@ - + @@ -159,7 +159,7 @@ - + diff --git a/localization/pose_initializer/CMakeLists.txt b/localization/autoware_pose_initializer/CMakeLists.txt similarity index 72% rename from localization/pose_initializer/CMakeLists.txt rename to localization/autoware_pose_initializer/CMakeLists.txt index 324488bedebfc..d07858d0b704e 100644 --- a/localization/pose_initializer/CMakeLists.txt +++ b/localization/autoware_pose_initializer/CMakeLists.txt @@ -1,20 +1,20 @@ cmake_minimum_required(VERSION 3.14) -project(pose_initializer) +project(autoware_pose_initializer) find_package(autoware_cmake REQUIRED) autoware_package() ament_auto_add_library(${PROJECT_NAME} SHARED - src/pose_initializer/pose_initializer_core.cpp - src/pose_initializer/gnss_module.cpp - src/pose_initializer/localization_module.cpp - src/pose_initializer/stop_check_module.cpp - src/pose_initializer/ekf_localization_trigger_module.cpp - src/pose_initializer/ndt_localization_trigger_module.cpp + src/pose_initializer_core.cpp + src/gnss_module.cpp + src/localization_module.cpp + src/stop_check_module.cpp + src/ekf_localization_trigger_module.cpp + src/ndt_localization_trigger_module.cpp ) rclcpp_components_register_node(${PROJECT_NAME} - PLUGIN "PoseInitializer" + PLUGIN "autoware::pose_initializer::PoseInitializer" EXECUTABLE ${PROJECT_NAME}_node EXECUTOR MultiThreadedExecutor ) diff --git a/localization/pose_initializer/README.md b/localization/autoware_pose_initializer/README.md similarity index 89% rename from localization/pose_initializer/README.md rename to localization/autoware_pose_initializer/README.md index 2928f51f7256d..e4b9bdd28b2c5 100644 --- a/localization/pose_initializer/README.md +++ b/localization/autoware_pose_initializer/README.md @@ -1,8 +1,8 @@ -# pose_initializer +# autoware_pose_initializer ## Purpose -The `pose_initializer` is the package to send an initial pose to `ekf_localizer`. +The `autoware_pose_initializer` is the package to send an initial pose to `ekf_localizer`. It receives roughly estimated initial pose from GNSS/user. Passing the pose to `ndt_scan_matcher`, and it gets a calculated ego pose from `ndt_scan_matcher` via service. Finally, it publishes the initial pose to `ekf_localizer`. @@ -13,7 +13,7 @@ This node depends on the map height fitter library. ### Parameters -{{ json_to_markdown("localization/pose_initializer/schema/pose_initializer.schema.json") }} +{{ json_to_markdown("localization/autoware_pose_initializer/schema/pose_initializer.schema.json") }} ### Services @@ -51,7 +51,7 @@ If the score of initial pose estimation result is lower than score threshold, ER ## Connection with Default AD API -This `pose_initializer` is used via default AD API. For detailed description of the API description, please refer to [the description of `autoware_default_adapi`](https://github.com/autowarefoundation/autoware.universe/blob/main/system/autoware_default_adapi/document/localization.md). +This `autoware_pose_initializer` is used via default AD API. For detailed description of the API description, please refer to [the description of `autoware_default_adapi`](https://github.com/autowarefoundation/autoware.universe/blob/main/system/autoware_default_adapi/document/localization.md). drawing @@ -136,4 +136,4 @@ pose: ``` It behaves the same as "initialpose (from rviz)". -The position.z and the covariance will be overwritten by [ad_api_adaptors](https://github.com/autowarefoundation/autoware.universe/tree/main/system/autoware_default_adapi_helpers/ad_api_adaptors), so there is no need to input them. +The position.z and the covariance will be overwritten by [ad_api_adaptors](https://github.com/autowarefoundation/autoware.universe/tree/main/system/default_ad_api_helpers/ad_api_adaptors), so there is no need to input them. diff --git a/localization/pose_initializer/config/pose_initializer.param.yaml b/localization/autoware_pose_initializer/config/pose_initializer.param.yaml similarity index 100% rename from localization/pose_initializer/config/pose_initializer.param.yaml rename to localization/autoware_pose_initializer/config/pose_initializer.param.yaml diff --git a/localization/pose_initializer/launch/pose_initializer.launch.xml b/localization/autoware_pose_initializer/launch/pose_initializer.launch.xml similarity index 86% rename from localization/pose_initializer/launch/pose_initializer.launch.xml rename to localization/autoware_pose_initializer/launch/pose_initializer.launch.xml index 2ffdebf39c474..e2fb71bdaab06 100644 --- a/localization/pose_initializer/launch/pose_initializer.launch.xml +++ b/localization/autoware_pose_initializer/launch/pose_initializer.launch.xml @@ -1,5 +1,5 @@ - + @@ -9,7 +9,7 @@ - + diff --git a/localization/pose_initializer/media/diagnostic_pose_reliability.png b/localization/autoware_pose_initializer/media/diagnostic_pose_reliability.png similarity index 100% rename from localization/pose_initializer/media/diagnostic_pose_reliability.png rename to localization/autoware_pose_initializer/media/diagnostic_pose_reliability.png diff --git a/localization/pose_initializer/package.xml b/localization/autoware_pose_initializer/package.xml similarity index 94% rename from localization/pose_initializer/package.xml rename to localization/autoware_pose_initializer/package.xml index e1f1233b8b4f5..67079c476ac8a 100644 --- a/localization/pose_initializer/package.xml +++ b/localization/autoware_pose_initializer/package.xml @@ -1,9 +1,9 @@ - pose_initializer + autoware_pose_initializer 0.1.0 - The pose_initializer package + The autoware_pose_initializer package Yamato Ando Takagi, Isamu Masahiro Sakamoto diff --git a/localization/pose_initializer/schema/pose_initializer.schema.json b/localization/autoware_pose_initializer/schema/pose_initializer.schema.json similarity index 100% rename from localization/pose_initializer/schema/pose_initializer.schema.json rename to localization/autoware_pose_initializer/schema/pose_initializer.schema.json diff --git a/localization/pose_initializer/src/pose_initializer/copy_vector_to_array.hpp b/localization/autoware_pose_initializer/src/copy_vector_to_array.hpp similarity index 89% rename from localization/pose_initializer/src/pose_initializer/copy_vector_to_array.hpp rename to localization/autoware_pose_initializer/src/copy_vector_to_array.hpp index 33d95c58a726b..5e9531d72b5aa 100644 --- a/localization/pose_initializer/src/pose_initializer/copy_vector_to_array.hpp +++ b/localization/autoware_pose_initializer/src/copy_vector_to_array.hpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef POSE_INITIALIZER__COPY_VECTOR_TO_ARRAY_HPP_ -#define POSE_INITIALIZER__COPY_VECTOR_TO_ARRAY_HPP_ +#ifndef COPY_VECTOR_TO_ARRAY_HPP_ +#define COPY_VECTOR_TO_ARRAY_HPP_ #include @@ -22,6 +22,8 @@ #include #include +namespace autoware::pose_initializer +{ template void copy_vector_to_array(const std::vector & vector, std::array & array) { @@ -44,5 +46,6 @@ std::array get_covariance_parameter(NodeT * node, const std::string copy_vector_to_array(parameter, covariance); return covariance; } +} // namespace autoware::pose_initializer -#endif // POSE_INITIALIZER__COPY_VECTOR_TO_ARRAY_HPP_ +#endif // COPY_VECTOR_TO_ARRAY_HPP_ diff --git a/localization/pose_initializer/src/pose_initializer/ekf_localization_trigger_module.cpp b/localization/autoware_pose_initializer/src/ekf_localization_trigger_module.cpp similarity index 96% rename from localization/pose_initializer/src/pose_initializer/ekf_localization_trigger_module.cpp rename to localization/autoware_pose_initializer/src/ekf_localization_trigger_module.cpp index 9ba424f8e857f..630635da870b0 100644 --- a/localization/pose_initializer/src/pose_initializer/ekf_localization_trigger_module.cpp +++ b/localization/autoware_pose_initializer/src/ekf_localization_trigger_module.cpp @@ -20,6 +20,8 @@ #include #include +namespace autoware::pose_initializer +{ using ServiceException = component_interface_utils::ServiceException; using Initialize = localization_interface::Initialize; @@ -65,3 +67,4 @@ void EkfLocalizationTriggerModule::send_request(bool flag, bool need_spin) const Initialize::Service::Response::ERROR_ESTIMATION, "EKF " + command_name + " failed"); } } +} // namespace autoware::pose_initializer diff --git a/localization/pose_initializer/src/pose_initializer/ekf_localization_trigger_module.hpp b/localization/autoware_pose_initializer/src/ekf_localization_trigger_module.hpp similarity index 82% rename from localization/pose_initializer/src/pose_initializer/ekf_localization_trigger_module.hpp rename to localization/autoware_pose_initializer/src/ekf_localization_trigger_module.hpp index 901e4ec4414b5..eab455764c040 100644 --- a/localization/pose_initializer/src/pose_initializer/ekf_localization_trigger_module.hpp +++ b/localization/autoware_pose_initializer/src/ekf_localization_trigger_module.hpp @@ -12,13 +12,15 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef POSE_INITIALIZER__EKF_LOCALIZATION_TRIGGER_MODULE_HPP_ -#define POSE_INITIALIZER__EKF_LOCALIZATION_TRIGGER_MODULE_HPP_ +#ifndef EKF_LOCALIZATION_TRIGGER_MODULE_HPP_ +#define EKF_LOCALIZATION_TRIGGER_MODULE_HPP_ #include #include +namespace autoware::pose_initializer +{ class EkfLocalizationTriggerModule { private: @@ -33,5 +35,6 @@ class EkfLocalizationTriggerModule rclcpp::Node * node_; rclcpp::Client::SharedPtr client_ekf_trigger_; }; +} // namespace autoware::pose_initializer -#endif // POSE_INITIALIZER__EKF_LOCALIZATION_TRIGGER_MODULE_HPP_ +#endif // EKF_LOCALIZATION_TRIGGER_MODULE_HPP_ diff --git a/localization/pose_initializer/src/pose_initializer/gnss_module.cpp b/localization/autoware_pose_initializer/src/gnss_module.cpp similarity index 95% rename from localization/pose_initializer/src/pose_initializer/gnss_module.cpp rename to localization/autoware_pose_initializer/src/gnss_module.cpp index b746828e33b1c..c5fd1490b271e 100644 --- a/localization/pose_initializer/src/pose_initializer/gnss_module.cpp +++ b/localization/autoware_pose_initializer/src/gnss_module.cpp @@ -19,6 +19,8 @@ #include +namespace autoware::pose_initializer +{ GnssModule::GnssModule(rclcpp::Node * node) : fitter_(node), clock_(node->get_clock()), @@ -55,3 +57,4 @@ geometry_msgs::msg::PoseWithCovarianceStamped GnssModule::get_pose() } return pose; } +} // namespace autoware::pose_initializer diff --git a/localization/pose_initializer/src/pose_initializer/gnss_module.hpp b/localization/autoware_pose_initializer/src/gnss_module.hpp similarity index 88% rename from localization/pose_initializer/src/pose_initializer/gnss_module.hpp rename to localization/autoware_pose_initializer/src/gnss_module.hpp index bb3f6933c2aaa..59659162c81b0 100644 --- a/localization/pose_initializer/src/pose_initializer/gnss_module.hpp +++ b/localization/autoware_pose_initializer/src/gnss_module.hpp @@ -12,14 +12,16 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef POSE_INITIALIZER__GNSS_MODULE_HPP_ -#define POSE_INITIALIZER__GNSS_MODULE_HPP_ +#ifndef GNSS_MODULE_HPP_ +#define GNSS_MODULE_HPP_ #include #include #include +namespace autoware::pose_initializer +{ class GnssModule { private: @@ -38,5 +40,6 @@ class GnssModule PoseWithCovarianceStamped::ConstSharedPtr pose_; double timeout_; }; +} // namespace autoware::pose_initializer -#endif // POSE_INITIALIZER__GNSS_MODULE_HPP_ +#endif // GNSS_MODULE_HPP_ diff --git a/localization/pose_initializer/src/pose_initializer/localization_module.cpp b/localization/autoware_pose_initializer/src/localization_module.cpp similarity index 95% rename from localization/pose_initializer/src/pose_initializer/localization_module.cpp rename to localization/autoware_pose_initializer/src/localization_module.cpp index 6963e5adbba3e..0b2a63a55447b 100644 --- a/localization/pose_initializer/src/pose_initializer/localization_module.cpp +++ b/localization/autoware_pose_initializer/src/localization_module.cpp @@ -20,6 +20,8 @@ #include #include +namespace autoware::pose_initializer +{ using ServiceException = component_interface_utils::ServiceException; using Initialize = localization_interface::Initialize; using PoseWithCovarianceStamped = geometry_msgs::msg::PoseWithCovarianceStamped; @@ -50,3 +52,4 @@ std::tuple LocalizationModule::align_pose( // Overwrite the covariance. return std::make_tuple(res->pose_with_covariance, res->reliable); } +} // namespace autoware::pose_initializer diff --git a/localization/pose_initializer/src/pose_initializer/localization_module.hpp b/localization/autoware_pose_initializer/src/localization_module.hpp similarity index 87% rename from localization/pose_initializer/src/pose_initializer/localization_module.hpp rename to localization/autoware_pose_initializer/src/localization_module.hpp index dc8bd49a26a79..c84c1cad31b0a 100644 --- a/localization/pose_initializer/src/pose_initializer/localization_module.hpp +++ b/localization/autoware_pose_initializer/src/localization_module.hpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef POSE_INITIALIZER__LOCALIZATION_MODULE_HPP_ -#define POSE_INITIALIZER__LOCALIZATION_MODULE_HPP_ +#ifndef LOCALIZATION_MODULE_HPP_ +#define LOCALIZATION_MODULE_HPP_ #include @@ -23,6 +23,8 @@ #include #include +namespace autoware::pose_initializer +{ class LocalizationModule { private: @@ -37,5 +39,6 @@ class LocalizationModule rclcpp::Logger logger_; rclcpp::Client::SharedPtr cli_align_; }; +} // namespace autoware::pose_initializer -#endif // POSE_INITIALIZER__LOCALIZATION_MODULE_HPP_ +#endif // LOCALIZATION_MODULE_HPP_ diff --git a/localization/pose_initializer/src/pose_initializer/ndt_localization_trigger_module.cpp b/localization/autoware_pose_initializer/src/ndt_localization_trigger_module.cpp similarity index 96% rename from localization/pose_initializer/src/pose_initializer/ndt_localization_trigger_module.cpp rename to localization/autoware_pose_initializer/src/ndt_localization_trigger_module.cpp index 436b1e2df3b21..5acf0909d21cf 100644 --- a/localization/pose_initializer/src/pose_initializer/ndt_localization_trigger_module.cpp +++ b/localization/autoware_pose_initializer/src/ndt_localization_trigger_module.cpp @@ -20,6 +20,8 @@ #include #include +namespace autoware::pose_initializer +{ using ServiceException = component_interface_utils::ServiceException; using Initialize = localization_interface::Initialize; @@ -65,3 +67,4 @@ void NdtLocalizationTriggerModule::send_request(bool flag, bool need_spin) const Initialize::Service::Response::ERROR_ESTIMATION, "NDT " + command_name + " failed"); } } +} // namespace autoware::pose_initializer diff --git a/localization/pose_initializer/src/pose_initializer/ndt_localization_trigger_module.hpp b/localization/autoware_pose_initializer/src/ndt_localization_trigger_module.hpp similarity index 82% rename from localization/pose_initializer/src/pose_initializer/ndt_localization_trigger_module.hpp rename to localization/autoware_pose_initializer/src/ndt_localization_trigger_module.hpp index 1c820557fb8ff..c7cfcbbf20680 100644 --- a/localization/pose_initializer/src/pose_initializer/ndt_localization_trigger_module.hpp +++ b/localization/autoware_pose_initializer/src/ndt_localization_trigger_module.hpp @@ -12,13 +12,15 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef POSE_INITIALIZER__NDT_LOCALIZATION_TRIGGER_MODULE_HPP_ -#define POSE_INITIALIZER__NDT_LOCALIZATION_TRIGGER_MODULE_HPP_ +#ifndef NDT_LOCALIZATION_TRIGGER_MODULE_HPP_ +#define NDT_LOCALIZATION_TRIGGER_MODULE_HPP_ #include #include +namespace autoware::pose_initializer +{ class NdtLocalizationTriggerModule { private: @@ -33,5 +35,6 @@ class NdtLocalizationTriggerModule rclcpp::Node * node_; rclcpp::Client::SharedPtr client_ndt_trigger_; }; +} // namespace autoware::pose_initializer -#endif // POSE_INITIALIZER__NDT_LOCALIZATION_TRIGGER_MODULE_HPP_ +#endif // NDT_LOCALIZATION_TRIGGER_MODULE_HPP_ diff --git a/localization/pose_initializer/src/pose_initializer/pose_initializer_core.cpp b/localization/autoware_pose_initializer/src/pose_initializer_core.cpp similarity index 98% rename from localization/pose_initializer/src/pose_initializer/pose_initializer_core.cpp rename to localization/autoware_pose_initializer/src/pose_initializer_core.cpp index 6535863829fac..777f92826de73 100644 --- a/localization/pose_initializer/src/pose_initializer/pose_initializer_core.cpp +++ b/localization/autoware_pose_initializer/src/pose_initializer_core.cpp @@ -25,6 +25,8 @@ #include #include +namespace autoware::pose_initializer +{ PoseInitializer::PoseInitializer(const rclcpp::NodeOptions & options) : rclcpp::Node("pose_initializer", options) { @@ -221,6 +223,7 @@ geometry_msgs::msg::PoseWithCovarianceStamped PoseInitializer::get_gnss_pose() throw ServiceException( Initialize::Service::Response::ERROR_GNSS_SUPPORT, "GNSS is not supported."); } +} // namespace autoware::pose_initializer #include -RCLCPP_COMPONENTS_REGISTER_NODE(PoseInitializer) +RCLCPP_COMPONENTS_REGISTER_NODE(autoware::pose_initializer::PoseInitializer) diff --git a/localization/pose_initializer/src/pose_initializer/pose_initializer_core.hpp b/localization/autoware_pose_initializer/src/pose_initializer_core.hpp similarity index 93% rename from localization/pose_initializer/src/pose_initializer/pose_initializer_core.hpp rename to localization/autoware_pose_initializer/src/pose_initializer_core.hpp index cd82d522187c2..e8fef885cf577 100644 --- a/localization/pose_initializer/src/pose_initializer/pose_initializer_core.hpp +++ b/localization/autoware_pose_initializer/src/pose_initializer_core.hpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef POSE_INITIALIZER__POSE_INITIALIZER_CORE_HPP_ -#define POSE_INITIALIZER__POSE_INITIALIZER_CORE_HPP_ +#ifndef POSE_INITIALIZER_CORE_HPP_ +#define POSE_INITIALIZER_CORE_HPP_ #include "localization_util/diagnostics_module.hpp" @@ -26,6 +26,8 @@ #include +namespace autoware::pose_initializer +{ class StopCheckModule; class LocalizationModule; class GnssModule; @@ -69,5 +71,6 @@ class PoseInitializer : public rclcpp::Node const Initialize::Service::Response::SharedPtr res); PoseWithCovarianceStamped get_gnss_pose(); }; +} // namespace autoware::pose_initializer -#endif // POSE_INITIALIZER__POSE_INITIALIZER_CORE_HPP_ +#endif // POSE_INITIALIZER_CORE_HPP_ diff --git a/localization/pose_initializer/src/pose_initializer/stop_check_module.cpp b/localization/autoware_pose_initializer/src/stop_check_module.cpp similarity index 93% rename from localization/pose_initializer/src/pose_initializer/stop_check_module.cpp rename to localization/autoware_pose_initializer/src/stop_check_module.cpp index 683b161e14165..0ae7cde9865d4 100644 --- a/localization/pose_initializer/src/pose_initializer/stop_check_module.cpp +++ b/localization/autoware_pose_initializer/src/stop_check_module.cpp @@ -14,6 +14,8 @@ #include "stop_check_module.hpp" +namespace autoware::pose_initializer +{ StopCheckModule::StopCheckModule(rclcpp::Node * node, double buffer_duration) : VehicleStopCheckerBase(node, buffer_duration) { @@ -28,3 +30,4 @@ void StopCheckModule::on_twist(TwistWithCovarianceStamped::ConstSharedPtr msg) twist.twist = msg->twist.twist; addTwist(twist); } +} // namespace autoware::pose_initializer diff --git a/localization/pose_initializer/src/pose_initializer/stop_check_module.hpp b/localization/autoware_pose_initializer/src/stop_check_module.hpp similarity index 87% rename from localization/pose_initializer/src/pose_initializer/stop_check_module.hpp rename to localization/autoware_pose_initializer/src/stop_check_module.hpp index 31f04029bd00e..f1be03a09e4c3 100644 --- a/localization/pose_initializer/src/pose_initializer/stop_check_module.hpp +++ b/localization/autoware_pose_initializer/src/stop_check_module.hpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef POSE_INITIALIZER__STOP_CHECK_MODULE_HPP_ -#define POSE_INITIALIZER__STOP_CHECK_MODULE_HPP_ +#ifndef STOP_CHECK_MODULE_HPP_ +#define STOP_CHECK_MODULE_HPP_ #include #include @@ -21,6 +21,8 @@ #include #include +namespace autoware::pose_initializer +{ class StopCheckModule : public autoware::motion_utils::VehicleStopCheckerBase { public: @@ -32,5 +34,6 @@ class StopCheckModule : public autoware::motion_utils::VehicleStopCheckerBase rclcpp::Subscription::SharedPtr sub_twist_; void on_twist(TwistWithCovarianceStamped::ConstSharedPtr msg); }; +} // namespace autoware::pose_initializer -#endif // POSE_INITIALIZER__STOP_CHECK_MODULE_HPP_ +#endif // STOP_CHECK_MODULE_HPP_ diff --git a/localization/pose_initializer/test/test_copy_vector_to_array.cpp b/localization/autoware_pose_initializer/test/test_copy_vector_to_array.cpp similarity index 83% rename from localization/pose_initializer/test/test_copy_vector_to_array.cpp rename to localization/autoware_pose_initializer/test/test_copy_vector_to_array.cpp index f372a40076ffb..6205eb3b53864 100644 --- a/localization/pose_initializer/test/test_copy_vector_to_array.cpp +++ b/localization/autoware_pose_initializer/test/test_copy_vector_to_array.cpp @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "../src/pose_initializer/copy_vector_to_array.hpp" +#include "../src/copy_vector_to_array.hpp" #include @@ -20,7 +20,7 @@ TEST(CopyVectorToArray, CopyAllElements) { const std::vector vector{0, 1, 2, 3, 4}; std::array array{}; - copy_vector_to_array(vector, array); + autoware::pose_initializer::copy_vector_to_array(vector, array); EXPECT_THAT(array, testing::ElementsAre(0, 1, 2, 3, 4)); } @@ -29,7 +29,7 @@ TEST(CopyVectorToArray, CopyZeroElements) const std::vector vector{}; // just confirm that this works std::array array{}; - copy_vector_to_array(vector, array); + autoware::pose_initializer::copy_vector_to_array(vector, array); } TEST(CopyVectorToArray, ThrowsInvalidArgumentIfMoreElementsExpected) @@ -37,7 +37,7 @@ TEST(CopyVectorToArray, ThrowsInvalidArgumentIfMoreElementsExpected) auto f = [] { const std::vector vector{0, 1, 2, 3, 4}; std::array array{}; - copy_vector_to_array(vector, array); + autoware::pose_initializer::copy_vector_to_array(vector, array); }; EXPECT_THROW( From fcad0fb6fa225530a96b7eea03215ac704d09477 Mon Sep 17 00:00:00 2001 From: kobayu858 <129580202+kobayu858@users.noreply.github.com> Date: Tue, 3 Sep 2024 15:06:08 +0900 Subject: [PATCH 145/169] fix(autoware_universe_utils): fix unusedFunction (#8723) fix:unusedFunction Signed-off-by: kobayu858 --- common/autoware_universe_utils/src/system/backtrace.cpp | 1 + 1 file changed, 1 insertion(+) diff --git a/common/autoware_universe_utils/src/system/backtrace.cpp b/common/autoware_universe_utils/src/system/backtrace.cpp index 7af91bdcc60dc..b21a8cfeedd72 100644 --- a/common/autoware_universe_utils/src/system/backtrace.cpp +++ b/common/autoware_universe_utils/src/system/backtrace.cpp @@ -26,6 +26,7 @@ namespace autoware::universe_utils { +// cppcheck-suppress unusedFunction void print_backtrace() { constexpr size_t max_frames = 100; From 55cb0ccae13a6ca040c99eac4c23bc73730d0613 Mon Sep 17 00:00:00 2001 From: Mitsuhiro Sakamoto <50359861+mitukou1109@users.noreply.github.com> Date: Tue, 3 Sep 2024 15:37:37 +0900 Subject: [PATCH 146/169] refactor(autoware_universe_utils): refactor Boost.Geometry alternatives (#8594) * move alternatives to separate files Signed-off-by: mitukou1109 * style(pre-commit): autofix * include missing headers Signed-off-by: mitukou1109 --------- Signed-off-by: mitukou1109 Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- common/autoware_universe_utils/CMakeLists.txt | 1 + .../universe_utils/geometry/alt_geometry.hpp | 165 +++ .../universe_utils/geometry/geometry.hpp | 141 --- .../src/geometry/alt_geometry.cpp | 442 +++++++ .../src/geometry/geometry.cpp | 426 ------- .../test/src/geometry/test_alt_geometry.cpp | 1084 +++++++++++++++++ .../test/src/geometry/test_geometry.cpp | 1057 ---------------- 7 files changed, 1692 insertions(+), 1624 deletions(-) create mode 100644 common/autoware_universe_utils/include/autoware/universe_utils/geometry/alt_geometry.hpp create mode 100644 common/autoware_universe_utils/src/geometry/alt_geometry.cpp create mode 100644 common/autoware_universe_utils/test/src/geometry/test_alt_geometry.cpp diff --git a/common/autoware_universe_utils/CMakeLists.txt b/common/autoware_universe_utils/CMakeLists.txt index 5ffd313b7e03b..abc7e5050d84a 100644 --- a/common/autoware_universe_utils/CMakeLists.txt +++ b/common/autoware_universe_utils/CMakeLists.txt @@ -11,6 +11,7 @@ find_package(Boost REQUIRED) find_package(fmt REQUIRED) ament_auto_add_library(autoware_universe_utils SHARED + src/geometry/alt_geometry.cpp src/geometry/geometry.cpp src/geometry/pose_deviation.cpp src/geometry/boost_polygon_utils.cpp diff --git a/common/autoware_universe_utils/include/autoware/universe_utils/geometry/alt_geometry.hpp b/common/autoware_universe_utils/include/autoware/universe_utils/geometry/alt_geometry.hpp new file mode 100644 index 0000000000000..38a498f69bbae --- /dev/null +++ b/common/autoware_universe_utils/include/autoware/universe_utils/geometry/alt_geometry.hpp @@ -0,0 +1,165 @@ +// Copyright 2020-2024 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 AUTOWARE__UNIVERSE_UTILS__GEOMETRY__ALT_GEOMETRY_HPP_ +#define AUTOWARE__UNIVERSE_UTILS__GEOMETRY__ALT_GEOMETRY_HPP_ + +#include "autoware/universe_utils/geometry/boost_geometry.hpp" + +#include +#include + +namespace autoware::universe_utils +{ +// Alternatives for Boost.Geometry ---------------------------------------------------------------- +// TODO(mitukou1109): remove namespace +namespace alt +{ +class Vector2d +{ +public: + Vector2d() : x_(0.0), y_(0.0) {} + + Vector2d(const double x, const double y) : x_(x), y_(y) {} + + double cross(const Vector2d & other) const { return x_ * other.y() - y_ * other.x(); } + + double dot(const Vector2d & other) const { return x_ * other.x() + y_ * other.y(); } + + double norm2() const { return x_ * x_ + y_ * y_; } + + double norm() const { return std::sqrt(norm2()); } + + Vector2d vector_triple(const Vector2d & v1, const Vector2d & v2) const + { + const auto tmp = this->cross(v1); + return {-v2.y() * tmp, v2.x() * tmp}; + } + + const double & x() const { return x_; } + + double & x() { return x_; } + + const double & y() const { return y_; } + + double & y() { return y_; } + +private: + double x_; + double y_; +}; + +// We use Vector2d to represent points, but we do not name the class Point2d directly +// as it has some vector operation functions. +using Point2d = Vector2d; +using Points2d = std::vector; + +class ConvexPolygon2d +{ +public: + explicit ConvexPolygon2d(const Points2d & vertices) + { + if (vertices.size() < 3) { + throw std::invalid_argument("At least 3 points are required for vertices."); + } + vertices_ = vertices; + } + + explicit ConvexPolygon2d(Points2d && vertices) + { + if (vertices.size() < 3) { + throw std::invalid_argument("At least 3 points are required for vertices."); + } + vertices_ = std::move(vertices); + } + + const Points2d & vertices() const { return vertices_; } + + Points2d & vertices() { return vertices_; } + +private: + Points2d vertices_; +}; + +inline Vector2d operator+(const Vector2d & v1, const Vector2d & v2) +{ + return {v1.x() + v2.x(), v1.y() + v2.y()}; +} + +inline Vector2d operator-(const Vector2d & v1, const Vector2d & v2) +{ + return {v1.x() - v2.x(), v1.y() - v2.y()}; +} + +inline Vector2d operator-(const Vector2d & v) +{ + return {-v.x(), -v.y()}; +} + +inline Vector2d operator*(const double & s, const Vector2d & v) +{ + return {s * v.x(), s * v.y()}; +} + +Point2d from_boost(const autoware::universe_utils::Point2d & point); + +ConvexPolygon2d from_boost(const autoware::universe_utils::Polygon2d & polygon); + +autoware::universe_utils::Point2d to_boost(const Point2d & point); + +autoware::universe_utils::Polygon2d to_boost(const ConvexPolygon2d & polygon); +} // namespace alt + +double area(const alt::ConvexPolygon2d & poly); + +alt::ConvexPolygon2d convex_hull(const alt::Points2d & points); + +void correct(alt::ConvexPolygon2d & poly); + +bool covered_by(const alt::Point2d & point, const alt::ConvexPolygon2d & poly); + +bool disjoint(const alt::ConvexPolygon2d & poly1, const alt::ConvexPolygon2d & poly2); + +double distance( + const alt::Point2d & point, const alt::Point2d & seg_start, const alt::Point2d & seg_end); + +double distance(const alt::Point2d & point, const alt::ConvexPolygon2d & poly); + +bool equals(const alt::Point2d & point1, const alt::Point2d & point2); + +bool equals(const alt::ConvexPolygon2d & poly1, const alt::ConvexPolygon2d & poly2); + +bool intersects( + const alt::Point2d & seg1_start, const alt::Point2d & seg1_end, const alt::Point2d & seg2_start, + const alt::Point2d & seg2_end); + +bool intersects(const alt::ConvexPolygon2d & poly1, const alt::ConvexPolygon2d & poly2); + +bool is_above( + const alt::Point2d & point, const alt::Point2d & seg_start, const alt::Point2d & seg_end); + +bool is_clockwise(const alt::ConvexPolygon2d & poly); + +bool touches( + const alt::Point2d & point, const alt::Point2d & seg_start, const alt::Point2d & seg_end); + +bool touches(const alt::Point2d & point, const alt::ConvexPolygon2d & poly); + +bool within(const alt::Point2d & point, const alt::ConvexPolygon2d & poly); + +bool within( + const alt::ConvexPolygon2d & poly_contained, const alt::ConvexPolygon2d & poly_containing); +} // namespace autoware::universe_utils + +#endif // AUTOWARE__UNIVERSE_UTILS__GEOMETRY__ALT_GEOMETRY_HPP_ diff --git a/common/autoware_universe_utils/include/autoware/universe_utils/geometry/geometry.hpp b/common/autoware_universe_utils/include/autoware/universe_utils/geometry/geometry.hpp index 8796de72fd1ec..e6d0363846b20 100644 --- a/common/autoware_universe_utils/include/autoware/universe_utils/geometry/geometry.hpp +++ b/common/autoware_universe_utils/include/autoware/universe_utils/geometry/geometry.hpp @@ -22,7 +22,6 @@ #include #include -#include #include #define EIGEN_MPL2_ONLY @@ -584,146 +583,6 @@ std::optional intersect( */ bool intersects_convex(const Polygon2d & convex_polygon1, const Polygon2d & convex_polygon2); -// Alternatives for Boost.Geometry ---------------------------------------------------------------- - -// TODO(mitukou1109): remove namespace when migrating to alternatives -namespace alt -{ -class Vector2d -{ -public: - Vector2d() : x_(0.0), y_(0.0) {} - - Vector2d(const double x, const double y) : x_(x), y_(y) {} - - double cross(const Vector2d & other) const { return x_ * other.y() - y_ * other.x(); } - - double dot(const Vector2d & other) const { return x_ * other.x() + y_ * other.y(); } - - double norm2() const { return x_ * x_ + y_ * y_; } - - double norm() const { return std::sqrt(norm2()); } - - Vector2d vector_triple(const Vector2d & v1, const Vector2d & v2) const - { - const auto tmp = this->cross(v1); - return {-v2.y() * tmp, v2.x() * tmp}; - } - - const double & x() const { return x_; } - - double & x() { return x_; } - - const double & y() const { return y_; } - - double & y() { return y_; } - -private: - double x_; - double y_; -}; - -// We use Vector2d to represent points, but we do not name the class Point2d directly -// as it has some vector operation functions. -using Point2d = Vector2d; -using Points2d = std::vector; - -class ConvexPolygon2d -{ -public: - explicit ConvexPolygon2d(const Points2d & vertices) - { - if (vertices.size() < 3) { - throw std::invalid_argument("At least 3 points are required for vertices."); - } - vertices_ = vertices; - } - - explicit ConvexPolygon2d(Points2d && vertices) - { - if (vertices.size() < 3) { - throw std::invalid_argument("At least 3 points are required for vertices."); - } - vertices_ = std::move(vertices); - } - - const Points2d & vertices() const { return vertices_; } - - Points2d & vertices() { return vertices_; } - -private: - Points2d vertices_; -}; - -inline Vector2d operator+(const Vector2d & v1, const Vector2d & v2) -{ - return {v1.x() + v2.x(), v1.y() + v2.y()}; -} - -inline Vector2d operator-(const Vector2d & v1, const Vector2d & v2) -{ - return {v1.x() - v2.x(), v1.y() - v2.y()}; -} - -inline Vector2d operator-(const Vector2d & v) -{ - return {-v.x(), -v.y()}; -} - -inline Vector2d operator*(const double & s, const Vector2d & v) -{ - return {s * v.x(), s * v.y()}; -} - -Point2d from_boost(const autoware::universe_utils::Point2d & point); - -ConvexPolygon2d from_boost(const autoware::universe_utils::Polygon2d & polygon); - -autoware::universe_utils::Point2d to_boost(const Point2d & point); - -autoware::universe_utils::Polygon2d to_boost(const ConvexPolygon2d & polygon); -} // namespace alt - -double area(const alt::ConvexPolygon2d & poly); - -alt::ConvexPolygon2d convex_hull(const alt::Points2d & points); - -void correct(alt::ConvexPolygon2d & poly); - -bool covered_by(const alt::Point2d & point, const alt::ConvexPolygon2d & poly); - -bool disjoint(const alt::ConvexPolygon2d & poly1, const alt::ConvexPolygon2d & poly2); - -double distance( - const alt::Point2d & point, const alt::Point2d & seg_start, const alt::Point2d & seg_end); - -double distance(const alt::Point2d & point, const alt::ConvexPolygon2d & poly); - -bool equals(const alt::Point2d & point1, const alt::Point2d & point2); - -bool equals(const alt::ConvexPolygon2d & poly1, const alt::ConvexPolygon2d & poly2); - -bool intersects( - const alt::Point2d & seg1_start, const alt::Point2d & seg1_end, const alt::Point2d & seg2_start, - const alt::Point2d & seg2_end); - -bool intersects(const alt::ConvexPolygon2d & poly1, const alt::ConvexPolygon2d & poly2); - -bool is_above( - const alt::Point2d & point, const alt::Point2d & seg_start, const alt::Point2d & seg_end); - -bool is_clockwise(const alt::ConvexPolygon2d & poly); - -bool touches( - const alt::Point2d & point, const alt::Point2d & seg_start, const alt::Point2d & seg_end); - -bool touches(const alt::Point2d & point, const alt::ConvexPolygon2d & poly); - -bool within(const alt::Point2d & point, const alt::ConvexPolygon2d & poly); - -bool within( - const alt::ConvexPolygon2d & poly_contained, const alt::ConvexPolygon2d & poly_containing); - } // namespace autoware::universe_utils #endif // AUTOWARE__UNIVERSE_UTILS__GEOMETRY__GEOMETRY_HPP_ diff --git a/common/autoware_universe_utils/src/geometry/alt_geometry.cpp b/common/autoware_universe_utils/src/geometry/alt_geometry.cpp new file mode 100644 index 0000000000000..3271f6d299d3d --- /dev/null +++ b/common/autoware_universe_utils/src/geometry/alt_geometry.cpp @@ -0,0 +1,442 @@ +// Copyright 2023-2024 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 "autoware/universe_utils/geometry/alt_geometry.hpp" + +namespace autoware::universe_utils +{ +// Alternatives for Boost.Geometry ---------------------------------------------------------------- +namespace alt +{ +Point2d from_boost(const autoware::universe_utils::Point2d & point) +{ + return {point.x(), point.y()}; +} + +ConvexPolygon2d from_boost(const autoware::universe_utils::Polygon2d & polygon) +{ + Points2d points; + for (const auto & point : polygon.outer()) { + points.push_back(from_boost(point)); + } + + ConvexPolygon2d _polygon(points); + correct(_polygon); + return _polygon; +} + +autoware::universe_utils::Point2d to_boost(const Point2d & point) +{ + return {point.x(), point.y()}; +} + +autoware::universe_utils::Polygon2d to_boost(const ConvexPolygon2d & polygon) +{ + autoware::universe_utils::Polygon2d _polygon; + for (const auto & vertex : polygon.vertices()) { + _polygon.outer().push_back(to_boost(vertex)); + } + return _polygon; +} +} // namespace alt + +double area(const alt::ConvexPolygon2d & poly) +{ + const auto & vertices = poly.vertices(); + + double area = 0.; + for (size_t i = 1; i < vertices.size() - 1; ++i) { + area += (vertices[i + 1] - vertices.front()).cross(vertices[i] - vertices.front()) / 2; + } + + return area; +} + +alt::ConvexPolygon2d convex_hull(const alt::Points2d & points) +{ + if (points.size() < 3) { + throw std::invalid_argument("At least 3 points are required for calculating convex hull."); + } + + // QuickHull algorithm + + const auto p_minmax_itr = std::minmax_element( + points.begin(), points.end(), [](const auto & a, const auto & b) { return a.x() < b.x(); }); + const auto & p_min = *p_minmax_itr.first; + const auto & p_max = *p_minmax_itr.second; + + alt::Points2d vertices; + + if (points.size() == 3) { + std::rotate_copy( + points.begin(), p_minmax_itr.first, points.end(), std::back_inserter(vertices)); + } else { + auto make_hull = [&vertices]( + auto self, const alt::Point2d & p1, const alt::Point2d & p2, + const alt::Points2d & points) { + if (points.empty()) { + return; + } + + const auto farthest = + *std::max_element(points.begin(), points.end(), [&](const auto & a, const auto & b) { + const auto seg_vec = p2 - p1; + return seg_vec.cross(a - p1) < seg_vec.cross(b - p1); + }); + + alt::Points2d subset1, subset2; + for (const auto & point : points) { + if (is_above(point, p1, farthest)) { + subset1.push_back(point); + } else if (is_above(point, farthest, p2)) { + subset2.push_back(point); + } + } + + self(self, p1, farthest, subset1); + vertices.push_back(farthest); + self(self, farthest, p2, subset2); + }; + + alt::Points2d above_points, below_points; + for (const auto & point : points) { + if (is_above(point, p_min, p_max)) { + above_points.push_back(point); + } else if (is_above(point, p_max, p_min)) { + below_points.push_back(point); + } + } + + vertices.push_back(p_min); + make_hull(make_hull, p_min, p_max, above_points); + vertices.push_back(p_max); + make_hull(make_hull, p_max, p_min, below_points); + } + + alt::ConvexPolygon2d hull(vertices); + correct(hull); + + return hull; +} + +void correct(alt::ConvexPolygon2d & poly) +{ + auto & vertices = poly.vertices(); + + // sort points in clockwise order with respect to the first point + std::sort(vertices.begin() + 1, vertices.end(), [&](const auto & a, const auto & b) { + return (a - vertices.front()).cross(b - vertices.front()) < 0; + }); + + if (equals(vertices.front(), vertices.back())) { + vertices.pop_back(); + } +} + +bool covered_by(const alt::Point2d & point, const alt::ConvexPolygon2d & poly) +{ + constexpr double epsilon = 1e-6; + + const auto & vertices = poly.vertices(); + const auto num_of_vertices = vertices.size(); + int64_t winding_number = 0; + + const auto [y_min_vertex, y_max_vertex] = std::minmax_element( + vertices.begin(), vertices.end(), [](const auto & a, const auto & b) { return a.y() < b.y(); }); + if (point.y() < y_min_vertex->y() || point.y() > y_max_vertex->y()) { + return false; + } + + double cross; + for (size_t i = 0; i < num_of_vertices; ++i) { + const auto & p1 = vertices[i]; + const auto & p2 = vertices[(i + 1) % num_of_vertices]; + + if (p1.y() <= point.y() && p2.y() >= point.y()) { // upward edge + cross = (p2 - p1).cross(point - p1); + if (cross > 0) { // point is to the left of edge + winding_number++; + continue; + } + } else if (p1.y() >= point.y() && p2.y() <= point.y()) { // downward edge + cross = (p2 - p1).cross(point - p1); + if (cross < 0) { // point is to the left of edge + winding_number--; + continue; + } + } else { + continue; + } + + if (std::abs(cross) < epsilon) { // point is on edge + return true; + } + } + + return winding_number != 0; +} + +bool disjoint(const alt::ConvexPolygon2d & poly1, const alt::ConvexPolygon2d & poly2) +{ + if (equals(poly1, poly2)) { + return false; + } + + if (intersects(poly1, poly2)) { + return false; + } + + for (const auto & vertex : poly1.vertices()) { + if (touches(vertex, poly2)) { + return false; + } + } + + return true; +} + +double distance( + const alt::Point2d & point, const alt::Point2d & seg_start, const alt::Point2d & seg_end) +{ + constexpr double epsilon = 1e-3; + + const auto seg_vec = seg_end - seg_start; + const auto point_vec = point - seg_start; + + const double seg_vec_norm = seg_vec.norm(); + const double seg_point_dot = seg_vec.dot(point_vec); + + if (seg_vec_norm < epsilon || seg_point_dot < 0) { + return point_vec.norm(); + } else if (seg_point_dot > std::pow(seg_vec_norm, 2)) { + return (point - seg_end).norm(); + } else { + return std::abs(seg_vec.cross(point_vec)) / seg_vec_norm; + } +} + +double distance(const alt::Point2d & point, const alt::ConvexPolygon2d & poly) +{ + if (covered_by(point, poly)) { + return 0.0; + } + + // TODO(mitukou1109): Use plane sweep method to improve performance? + const auto & vertices = poly.vertices(); + double min_distance = std::numeric_limits::max(); + for (size_t i = 0; i < vertices.size(); ++i) { + min_distance = + std::min(min_distance, distance(point, vertices[i], vertices[(i + 1) % vertices.size()])); + } + + return min_distance; +} + +bool equals(const alt::Point2d & point1, const alt::Point2d & point2) +{ + constexpr double epsilon = 1e-3; + return std::abs(point1.x() - point2.x()) < epsilon && std::abs(point1.y() - point2.y()) < epsilon; +} + +bool equals(const alt::ConvexPolygon2d & poly1, const alt::ConvexPolygon2d & poly2) +{ + return std::all_of(poly1.vertices().begin(), poly1.vertices().end(), [&](const auto & a) { + return std::any_of(poly2.vertices().begin(), poly2.vertices().end(), [&](const auto & b) { + return equals(a, b); + }); + }); +} + +bool intersects( + const alt::Point2d & seg1_start, const alt::Point2d & seg1_end, const alt::Point2d & seg2_start, + const alt::Point2d & seg2_end) +{ + constexpr double epsilon = 1e-6; + + const auto v1 = seg1_end - seg1_start; + const auto v2 = seg2_end - seg2_start; + + const auto det = v1.cross(v2); + if (std::abs(det) < epsilon) { + return false; + } + + const auto v12 = seg2_end - seg1_end; + const double t = v2.cross(v12) / det; + const double s = v1.cross(v12) / det; + if (t < 0 || 1 < t || s < 0 || 1 < s) { + return false; + } + + return true; +} + +bool intersects(const alt::ConvexPolygon2d & poly1, const alt::ConvexPolygon2d & poly2) +{ + if (equals(poly1, poly2)) { + return true; + } + + // GJK algorithm + + auto find_support_vector = []( + const alt::ConvexPolygon2d & poly1, + const alt::ConvexPolygon2d & poly2, + const alt::Vector2d & direction) { + auto find_farthest_vertex = + [](const alt::ConvexPolygon2d & poly, const alt::Vector2d & direction) { + return std::max_element( + poly.vertices().begin(), poly.vertices().end(), + [&](const auto & a, const auto & b) { return direction.dot(a) <= direction.dot(b); }); + }; + return *find_farthest_vertex(poly1, direction) - *find_farthest_vertex(poly2, -direction); + }; + + alt::Vector2d direction = {1.0, 0.0}; + auto a = find_support_vector(poly1, poly2, direction); + direction = -a; + auto b = find_support_vector(poly1, poly2, direction); + if (b.dot(direction) <= 0.0) { + return false; + } + + direction = (b - a).vector_triple(-a, b - a); + while (true) { + auto c = find_support_vector(poly1, poly2, direction); + if (c.dot(direction) <= 0.0) { + return false; + } + + auto n_ca = (b - c).vector_triple(a - c, a - c); + if (n_ca.dot(-c) > 0.0) { + b = c; + direction = n_ca; + } else { + auto n_cb = (a - c).vector_triple(b - c, b - c); + if (n_cb.dot(-c) > 0.0) { + a = c; + direction = n_cb; + } else { + break; + } + } + } + + return true; +} + +bool is_above( + const alt::Point2d & point, const alt::Point2d & seg_start, const alt::Point2d & seg_end) +{ + return (seg_end - seg_start).cross(point - seg_start) > 0; +} + +bool is_clockwise(const alt::ConvexPolygon2d & poly) +{ + return area(poly) > 0; +} + +bool touches( + const alt::Point2d & point, const alt::Point2d & seg_start, const alt::Point2d & seg_end) +{ + constexpr double epsilon = 1e-6; + + // if the cross product of the vectors from the start point and the end point to the point is 0 + // and the vectors opposite each other, the point is on the segment + const auto start_vec = point - seg_start; + const auto end_vec = point - seg_end; + return std::abs(start_vec.cross(end_vec)) < epsilon && start_vec.dot(end_vec) <= 0; +} + +bool touches(const alt::Point2d & point, const alt::ConvexPolygon2d & poly) +{ + const auto & vertices = poly.vertices(); + const auto num_of_vertices = vertices.size(); + + const auto [y_min_vertex, y_max_vertex] = std::minmax_element( + vertices.begin(), vertices.end(), [](const auto & a, const auto & b) { return a.y() < b.y(); }); + if (point.y() < y_min_vertex->y() || point.y() > y_max_vertex->y()) { + return false; + } + + for (size_t i = 0; i < num_of_vertices; ++i) { + // check if the point is on each edge of the polygon + if (touches(point, vertices[i], vertices[(i + 1) % num_of_vertices])) { + return true; + } + } + + return false; +} + +bool within(const alt::Point2d & point, const alt::ConvexPolygon2d & poly) +{ + constexpr double epsilon = 1e-6; + + const auto & vertices = poly.vertices(); + const auto num_of_vertices = vertices.size(); + int64_t winding_number = 0; + + const auto [y_min_vertex, y_max_vertex] = std::minmax_element( + vertices.begin(), vertices.end(), [](const auto & a, const auto & b) { return a.y() < b.y(); }); + if (point.y() <= y_min_vertex->y() || point.y() >= y_max_vertex->y()) { + return false; + } + + double cross; + for (size_t i = 0; i < num_of_vertices; ++i) { + const auto & p1 = vertices[i]; + const auto & p2 = vertices[(i + 1) % num_of_vertices]; + + if (p1.y() < point.y() && p2.y() > point.y()) { // upward edge + cross = (p2 - p1).cross(point - p1); + if (cross > 0) { // point is to the left of edge + winding_number++; + continue; + } + } else if (p1.y() > point.y() && p2.y() < point.y()) { // downward edge + cross = (p2 - p1).cross(point - p1); + if (cross < 0) { // point is to the left of edge + winding_number--; + continue; + } + } else { + continue; + } + + if (std::abs(cross) < epsilon) { // point is on edge + return false; + } + } + + return winding_number != 0; +} + +bool within( + const alt::ConvexPolygon2d & poly_contained, const alt::ConvexPolygon2d & poly_containing) +{ + if (equals(poly_contained, poly_containing)) { + return true; + } + + // check if all points of poly_contained are within poly_containing + for (const auto & vertex : poly_contained.vertices()) { + if (!within(vertex, poly_containing)) { + return false; + } + } + + return true; +} +} // namespace autoware::universe_utils diff --git a/common/autoware_universe_utils/src/geometry/geometry.cpp b/common/autoware_universe_utils/src/geometry/geometry.cpp index 59bf913972fda..5fda8eb3f4ca4 100644 --- a/common/autoware_universe_utils/src/geometry/geometry.cpp +++ b/common/autoware_universe_utils/src/geometry/geometry.cpp @@ -390,430 +390,4 @@ bool intersects_convex(const Polygon2d & convex_polygon1, const Polygon2d & conv return gjk::intersects(convex_polygon1, convex_polygon2); } -// Alternatives for Boost.Geometry ---------------------------------------------------------------- - -namespace alt -{ - -Point2d from_boost(const autoware::universe_utils::Point2d & point) -{ - return {point.x(), point.y()}; -} - -ConvexPolygon2d from_boost(const autoware::universe_utils::Polygon2d & polygon) -{ - Points2d points; - for (const auto & point : polygon.outer()) { - points.push_back(from_boost(point)); - } - - ConvexPolygon2d _polygon(points); - correct(_polygon); - return _polygon; -} - -autoware::universe_utils::Point2d to_boost(const Point2d & point) -{ - return {point.x(), point.y()}; -} - -autoware::universe_utils::Polygon2d to_boost(const ConvexPolygon2d & polygon) -{ - autoware::universe_utils::Polygon2d _polygon; - for (const auto & vertex : polygon.vertices()) { - _polygon.outer().push_back(to_boost(vertex)); - } - return _polygon; -} -} // namespace alt - -double area(const alt::ConvexPolygon2d & poly) -{ - const auto & vertices = poly.vertices(); - - double area = 0.; - for (size_t i = 1; i < vertices.size() - 1; ++i) { - area += (vertices[i + 1] - vertices.front()).cross(vertices[i] - vertices.front()) / 2; - } - - return area; -} - -alt::ConvexPolygon2d convex_hull(const alt::Points2d & points) -{ - if (points.size() < 3) { - throw std::invalid_argument("At least 3 points are required for calculating convex hull."); - } - - // QuickHull algorithm - - const auto p_minmax_itr = std::minmax_element( - points.begin(), points.end(), [](const auto & a, const auto & b) { return a.x() < b.x(); }); - const auto & p_min = *p_minmax_itr.first; - const auto & p_max = *p_minmax_itr.second; - - alt::Points2d vertices; - - if (points.size() == 3) { - std::rotate_copy( - points.begin(), p_minmax_itr.first, points.end(), std::back_inserter(vertices)); - } else { - auto make_hull = [&vertices]( - auto self, const alt::Point2d & p1, const alt::Point2d & p2, - const alt::Points2d & points) { - if (points.empty()) { - return; - } - - const auto farthest = - *std::max_element(points.begin(), points.end(), [&](const auto & a, const auto & b) { - const auto seg_vec = p2 - p1; - return seg_vec.cross(a - p1) < seg_vec.cross(b - p1); - }); - - alt::Points2d subset1, subset2; - for (const auto & point : points) { - if (is_above(point, p1, farthest)) { - subset1.push_back(point); - } else if (is_above(point, farthest, p2)) { - subset2.push_back(point); - } - } - - self(self, p1, farthest, subset1); - vertices.push_back(farthest); - self(self, farthest, p2, subset2); - }; - - alt::Points2d above_points, below_points; - for (const auto & point : points) { - if (is_above(point, p_min, p_max)) { - above_points.push_back(point); - } else if (is_above(point, p_max, p_min)) { - below_points.push_back(point); - } - } - - vertices.push_back(p_min); - make_hull(make_hull, p_min, p_max, above_points); - vertices.push_back(p_max); - make_hull(make_hull, p_max, p_min, below_points); - } - - alt::ConvexPolygon2d hull(vertices); - correct(hull); - - return hull; -} - -void correct(alt::ConvexPolygon2d & poly) -{ - auto & vertices = poly.vertices(); - - // sort points in clockwise order with respect to the first point - std::sort(vertices.begin() + 1, vertices.end(), [&](const auto & a, const auto & b) { - return (a - vertices.front()).cross(b - vertices.front()) < 0; - }); - - if (equals(vertices.front(), vertices.back())) { - vertices.pop_back(); - } -} - -bool covered_by(const alt::Point2d & point, const alt::ConvexPolygon2d & poly) -{ - constexpr double epsilon = 1e-6; - - const auto & vertices = poly.vertices(); - const auto num_of_vertices = vertices.size(); - int64_t winding_number = 0; - - const auto [y_min_vertex, y_max_vertex] = std::minmax_element( - vertices.begin(), vertices.end(), [](const auto & a, const auto & b) { return a.y() < b.y(); }); - if (point.y() < y_min_vertex->y() || point.y() > y_max_vertex->y()) { - return false; - } - - double cross; - for (size_t i = 0; i < num_of_vertices; ++i) { - const auto & p1 = vertices[i]; - const auto & p2 = vertices[(i + 1) % num_of_vertices]; - - if (p1.y() <= point.y() && p2.y() >= point.y()) { // upward edge - cross = (p2 - p1).cross(point - p1); - if (cross > 0) { // point is to the left of edge - winding_number++; - continue; - } - } else if (p1.y() >= point.y() && p2.y() <= point.y()) { // downward edge - cross = (p2 - p1).cross(point - p1); - if (cross < 0) { // point is to the left of edge - winding_number--; - continue; - } - } else { - continue; - } - - if (std::abs(cross) < epsilon) { // point is on edge - return true; - } - } - - return winding_number != 0; -} - -bool disjoint(const alt::ConvexPolygon2d & poly1, const alt::ConvexPolygon2d & poly2) -{ - if (equals(poly1, poly2)) { - return false; - } - - if (intersects(poly1, poly2)) { - return false; - } - - for (const auto & vertex : poly1.vertices()) { - if (touches(vertex, poly2)) { - return false; - } - } - - return true; -} - -double distance( - const alt::Point2d & point, const alt::Point2d & seg_start, const alt::Point2d & seg_end) -{ - constexpr double epsilon = 1e-3; - - const auto seg_vec = seg_end - seg_start; - const auto point_vec = point - seg_start; - - const double seg_vec_norm = seg_vec.norm(); - const double seg_point_dot = seg_vec.dot(point_vec); - - if (seg_vec_norm < epsilon || seg_point_dot < 0) { - return point_vec.norm(); - } else if (seg_point_dot > std::pow(seg_vec_norm, 2)) { - return (point - seg_end).norm(); - } else { - return std::abs(seg_vec.cross(point_vec)) / seg_vec_norm; - } -} - -double distance(const alt::Point2d & point, const alt::ConvexPolygon2d & poly) -{ - if (covered_by(point, poly)) { - return 0.0; - } - - // TODO(mitukou1109): Use plane sweep method to improve performance? - const auto & vertices = poly.vertices(); - double min_distance = std::numeric_limits::max(); - for (size_t i = 0; i < vertices.size(); ++i) { - min_distance = - std::min(min_distance, distance(point, vertices[i], vertices[(i + 1) % vertices.size()])); - } - - return min_distance; -} - -bool equals(const alt::Point2d & point1, const alt::Point2d & point2) -{ - constexpr double epsilon = 1e-3; - return std::abs(point1.x() - point2.x()) < epsilon && std::abs(point1.y() - point2.y()) < epsilon; -} - -bool equals(const alt::ConvexPolygon2d & poly1, const alt::ConvexPolygon2d & poly2) -{ - return std::all_of(poly1.vertices().begin(), poly1.vertices().end(), [&](const auto & a) { - return std::any_of(poly2.vertices().begin(), poly2.vertices().end(), [&](const auto & b) { - return equals(a, b); - }); - }); -} - -bool intersects( - const alt::Point2d & seg1_start, const alt::Point2d & seg1_end, const alt::Point2d & seg2_start, - const alt::Point2d & seg2_end) -{ - constexpr double epsilon = 1e-6; - - const auto v1 = seg1_end - seg1_start; - const auto v2 = seg2_end - seg2_start; - - const auto det = v1.cross(v2); - if (std::abs(det) < epsilon) { - return false; - } - - const auto v12 = seg2_end - seg1_end; - const double t = v2.cross(v12) / det; - const double s = v1.cross(v12) / det; - if (t < 0 || 1 < t || s < 0 || 1 < s) { - return false; - } - - return true; -} - -bool intersects(const alt::ConvexPolygon2d & poly1, const alt::ConvexPolygon2d & poly2) -{ - if (equals(poly1, poly2)) { - return true; - } - - // GJK algorithm - - auto find_support_vector = []( - const alt::ConvexPolygon2d & poly1, - const alt::ConvexPolygon2d & poly2, - const alt::Vector2d & direction) { - auto find_farthest_vertex = - [](const alt::ConvexPolygon2d & poly, const alt::Vector2d & direction) { - return std::max_element( - poly.vertices().begin(), poly.vertices().end(), - [&](const auto & a, const auto & b) { return direction.dot(a) <= direction.dot(b); }); - }; - return *find_farthest_vertex(poly1, direction) - *find_farthest_vertex(poly2, -direction); - }; - - alt::Vector2d direction = {1.0, 0.0}; - auto a = find_support_vector(poly1, poly2, direction); - direction = -a; - auto b = find_support_vector(poly1, poly2, direction); - if (b.dot(direction) <= 0.0) { - return false; - } - - direction = (b - a).vector_triple(-a, b - a); - while (true) { - auto c = find_support_vector(poly1, poly2, direction); - if (c.dot(direction) <= 0.0) { - return false; - } - - auto n_ca = (b - c).vector_triple(a - c, a - c); - if (n_ca.dot(-c) > 0.0) { - b = c; - direction = n_ca; - } else { - auto n_cb = (a - c).vector_triple(b - c, b - c); - if (n_cb.dot(-c) > 0.0) { - a = c; - direction = n_cb; - } else { - break; - } - } - } - - return true; -} - -bool is_above( - const alt::Point2d & point, const alt::Point2d & seg_start, const alt::Point2d & seg_end) -{ - return (seg_end - seg_start).cross(point - seg_start) > 0; -} - -bool is_clockwise(const alt::ConvexPolygon2d & poly) -{ - return area(poly) > 0; -} - -bool touches( - const alt::Point2d & point, const alt::Point2d & seg_start, const alt::Point2d & seg_end) -{ - constexpr double epsilon = 1e-6; - - // if the cross product of the vectors from the start point and the end point to the point is 0 - // and the vectors opposite each other, the point is on the segment - const auto start_vec = point - seg_start; - const auto end_vec = point - seg_end; - return std::abs(start_vec.cross(end_vec)) < epsilon && start_vec.dot(end_vec) <= 0; -} - -bool touches(const alt::Point2d & point, const alt::ConvexPolygon2d & poly) -{ - const auto & vertices = poly.vertices(); - const auto num_of_vertices = vertices.size(); - - const auto [y_min_vertex, y_max_vertex] = std::minmax_element( - vertices.begin(), vertices.end(), [](const auto & a, const auto & b) { return a.y() < b.y(); }); - if (point.y() < y_min_vertex->y() || point.y() > y_max_vertex->y()) { - return false; - } - - for (size_t i = 0; i < num_of_vertices; ++i) { - // check if the point is on each edge of the polygon - if (touches(point, vertices[i], vertices[(i + 1) % num_of_vertices])) { - return true; - } - } - - return false; -} - -bool within(const alt::Point2d & point, const alt::ConvexPolygon2d & poly) -{ - constexpr double epsilon = 1e-6; - - const auto & vertices = poly.vertices(); - const auto num_of_vertices = vertices.size(); - int64_t winding_number = 0; - - const auto [y_min_vertex, y_max_vertex] = std::minmax_element( - vertices.begin(), vertices.end(), [](const auto & a, const auto & b) { return a.y() < b.y(); }); - if (point.y() <= y_min_vertex->y() || point.y() >= y_max_vertex->y()) { - return false; - } - - double cross; - for (size_t i = 0; i < num_of_vertices; ++i) { - const auto & p1 = vertices[i]; - const auto & p2 = vertices[(i + 1) % num_of_vertices]; - - if (p1.y() < point.y() && p2.y() > point.y()) { // upward edge - cross = (p2 - p1).cross(point - p1); - if (cross > 0) { // point is to the left of edge - winding_number++; - continue; - } - } else if (p1.y() > point.y() && p2.y() < point.y()) { // downward edge - cross = (p2 - p1).cross(point - p1); - if (cross < 0) { // point is to the left of edge - winding_number--; - continue; - } - } else { - continue; - } - - if (std::abs(cross) < epsilon) { // point is on edge - return false; - } - } - - return winding_number != 0; -} - -bool within( - const alt::ConvexPolygon2d & poly_contained, const alt::ConvexPolygon2d & poly_containing) -{ - if (equals(poly_contained, poly_containing)) { - return true; - } - - // check if all points of poly_contained are within poly_containing - for (const auto & vertex : poly_contained.vertices()) { - if (!within(vertex, poly_containing)) { - return false; - } - } - - return true; -} - } // namespace autoware::universe_utils diff --git a/common/autoware_universe_utils/test/src/geometry/test_alt_geometry.cpp b/common/autoware_universe_utils/test/src/geometry/test_alt_geometry.cpp new file mode 100644 index 0000000000000..cc911f8848d03 --- /dev/null +++ b/common/autoware_universe_utils/test/src/geometry/test_alt_geometry.cpp @@ -0,0 +1,1084 @@ +// Copyright 2020-2024 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 "autoware/universe_utils/geometry/alt_geometry.hpp" +#include "autoware/universe_utils/geometry/random_convex_polygon.hpp" +#include "autoware/universe_utils/system/stop_watch.hpp" + +#include +#include +#include +#include +#include + +#include + +#include +#include + +constexpr double epsilon = 1e-6; + +TEST(alt_geometry, area) +{ + using autoware::universe_utils::area; + using autoware::universe_utils::alt::ConvexPolygon2d; + using autoware::universe_utils::alt::Point2d; + + { // Clockwise + const Point2d p1 = {0.0, 0.0}; + const Point2d p2 = {0.0, 7.0}; + const Point2d p3 = {4.0, 2.0}; + const Point2d p4 = {2.0, 0.0}; + const auto result = area(ConvexPolygon2d({p1, p2, p3, p4})); + + EXPECT_NEAR(result, 16.0, epsilon); + } + + { // Counter-clockwise + const Point2d p1 = {0.0, 0.0}; + const Point2d p2 = {2.0, 0.0}; + const Point2d p3 = {4.0, 2.0}; + const Point2d p4 = {0.0, 7.0}; + const auto result = area(ConvexPolygon2d({p1, p2, p3, p4})); + + EXPECT_NEAR(result, -16.0, epsilon); + } +} + +TEST(alt_geometry, convexHull) +{ + using autoware::universe_utils::convex_hull; + using autoware::universe_utils::alt::Points2d; + + { + Points2d points; + points.push_back({2.0, 1.3}); + points.push_back({2.4, 1.7}); + points.push_back({2.8, 1.8}); + points.push_back({3.4, 1.2}); + points.push_back({3.7, 1.6}); + points.push_back({3.4, 2.0}); + points.push_back({4.1, 3.0}); + points.push_back({5.3, 2.6}); + points.push_back({5.4, 1.2}); + points.push_back({4.9, 0.8}); + points.push_back({2.9, 0.7}); + const auto result = convex_hull(points); + + ASSERT_EQ(result.vertices().size(), 7); + EXPECT_NEAR(result.vertices().at(0).x(), 2.0, epsilon); + EXPECT_NEAR(result.vertices().at(0).y(), 1.3, epsilon); + EXPECT_NEAR(result.vertices().at(1).x(), 2.4, epsilon); + EXPECT_NEAR(result.vertices().at(1).y(), 1.7, epsilon); + EXPECT_NEAR(result.vertices().at(2).x(), 4.1, epsilon); + EXPECT_NEAR(result.vertices().at(2).y(), 3.0, epsilon); + EXPECT_NEAR(result.vertices().at(3).x(), 5.3, epsilon); + EXPECT_NEAR(result.vertices().at(3).y(), 2.6, epsilon); + EXPECT_NEAR(result.vertices().at(4).x(), 5.4, epsilon); + EXPECT_NEAR(result.vertices().at(4).y(), 1.2, epsilon); + EXPECT_NEAR(result.vertices().at(5).x(), 4.9, epsilon); + EXPECT_NEAR(result.vertices().at(5).y(), 0.8, epsilon); + EXPECT_NEAR(result.vertices().at(6).x(), 2.9, epsilon); + EXPECT_NEAR(result.vertices().at(6).y(), 0.7, epsilon); + } +} + +TEST(alt_geometry, correct) +{ + using autoware::universe_utils::correct; + using autoware::universe_utils::alt::ConvexPolygon2d; + using autoware::universe_utils::alt::Points2d; + + { // Correctly oriented + Points2d vertices; + vertices.push_back({1.0, 1.0}); + vertices.push_back({1.0, -1.0}); + vertices.push_back({-1.0, -1.0}); + vertices.push_back({-1.0, 1.0}); + ConvexPolygon2d poly(vertices); + correct(poly); + + ASSERT_EQ(poly.vertices().size(), 4); + EXPECT_NEAR(poly.vertices().at(0).x(), 1.0, epsilon); + EXPECT_NEAR(poly.vertices().at(0).y(), 1.0, epsilon); + EXPECT_NEAR(poly.vertices().at(1).x(), 1.0, epsilon); + EXPECT_NEAR(poly.vertices().at(1).y(), -1.0, epsilon); + EXPECT_NEAR(poly.vertices().at(2).x(), -1.0, epsilon); + EXPECT_NEAR(poly.vertices().at(2).y(), -1.0, epsilon); + EXPECT_NEAR(poly.vertices().at(3).x(), -1.0, epsilon); + EXPECT_NEAR(poly.vertices().at(3).y(), 1.0, epsilon); + } + + { // Wrongly oriented + Points2d vertices; + vertices.push_back({1.0, 1.0}); + vertices.push_back({-1.0, 1.0}); + vertices.push_back({1.0, -1.0}); + vertices.push_back({-1.0, -1.0}); + ConvexPolygon2d poly(vertices); + correct(poly); + + ASSERT_EQ(poly.vertices().size(), 4); + EXPECT_NEAR(poly.vertices().at(0).x(), 1.0, epsilon); + EXPECT_NEAR(poly.vertices().at(0).y(), 1.0, epsilon); + EXPECT_NEAR(poly.vertices().at(1).x(), 1.0, epsilon); + EXPECT_NEAR(poly.vertices().at(1).y(), -1.0, epsilon); + EXPECT_NEAR(poly.vertices().at(2).x(), -1.0, epsilon); + EXPECT_NEAR(poly.vertices().at(2).y(), -1.0, epsilon); + EXPECT_NEAR(poly.vertices().at(3).x(), -1.0, epsilon); + EXPECT_NEAR(poly.vertices().at(3).y(), 1.0, epsilon); + } +} + +TEST(alt_geometry, coveredBy) +{ + using autoware::universe_utils::covered_by; + using autoware::universe_utils::alt::ConvexPolygon2d; + using autoware::universe_utils::alt::Point2d; + + { // The point is within the polygon + const Point2d point = {0.0, 0.0}; + const Point2d p1 = {1.0, 1.0}; + const Point2d p2 = {1.0, -1.0}; + const Point2d p3 = {-1.0, -1.0}; + const Point2d p4 = {-1.0, 1.0}; + const auto result = covered_by(point, ConvexPolygon2d({p1, p2, p3, p4})); + + EXPECT_TRUE(result); + } + + { // The point is outside the polygon + const Point2d point = {0.0, 0.0}; + const Point2d p1 = {2.0, 2.0}; + const Point2d p2 = {2.0, 1.0}; + const Point2d p3 = {1.0, 1.0}; + const Point2d p4 = {1.0, 2.0}; + const auto result = covered_by(point, ConvexPolygon2d({p1, p2, p3, p4})); + + EXPECT_FALSE(result); + } + + { // The point is on the edge of the polygon + const Point2d point = {0.0, 0.0}; + const Point2d p1 = {2.0, 1.0}; + const Point2d p2 = {2.0, -1.0}; + const Point2d p3 = {0.0, -1.0}; + const Point2d p4 = {0.0, 1.0}; + const auto result = covered_by(point, ConvexPolygon2d({p1, p2, p3, p4})); + + EXPECT_TRUE(result); + } +} + +TEST(alt_geometry, disjoint) +{ + using autoware::universe_utils::disjoint; + using autoware::universe_utils::alt::ConvexPolygon2d; + using autoware::universe_utils::alt::Point2d; + + { // Disjoint + const Point2d p1 = {0.0, 2.0}; + const Point2d p2 = {-2.0, 0.0}; + const Point2d p3 = {-4.0, 2.0}; + const Point2d p4 = {-2.0, 4.0}; + const Point2d p5 = {2.0, 2.0}; + const Point2d p6 = {4.0, 4.0}; + const Point2d p7 = {6.0, 2.0}; + const Point2d p8 = {4.0, 0.0}; + const auto result = + disjoint(ConvexPolygon2d({p1, p2, p3, p4}), ConvexPolygon2d({p5, p6, p7, p8})); + + EXPECT_TRUE(result); + } + + { // Not disjoint (two polygons share a vertex) + const Point2d p1 = {0.0, 2.0}; + const Point2d p2 = {-2.0, 0.0}; + const Point2d p3 = {-4.0, 2.0}; + const Point2d p4 = {-2.0, 4.0}; + const Point2d p5 = {0.0, 2.0}; + const Point2d p6 = {2.0, 4.0}; + const Point2d p7 = {4.0, 2.0}; + const Point2d p8 = {2.0, 0.0}; + const auto result = + disjoint(ConvexPolygon2d({p1, p2, p3, p4}), ConvexPolygon2d({p5, p6, p7, p8})); + + EXPECT_FALSE(result); + } +} + +TEST(alt_geometry, distance) +{ + using autoware::universe_utils::distance; + using autoware::universe_utils::alt::ConvexPolygon2d; + using autoware::universe_utils::alt::Point2d; + + { // Normal setting + const Point2d p = {0.0, 1.0}; + const Point2d p1 = {-1.0, 0.0}; + const Point2d p2 = {1.0, 0.0}; + const auto result = distance(p, p1, p2); + + EXPECT_NEAR(result, 1.0, epsilon); + } + + { + // The point is out of range of the segment to the start point side + const Point2d p = {-2.0, 1.0}; + const Point2d p1 = {-1.0, 0.0}; + const Point2d p2 = {1.0, 0.0}; + const auto result = distance(p, p1, p2); + + EXPECT_NEAR(result, std::sqrt(2), epsilon); + } + + { + // The point is out of range of the segment to the end point side + const Point2d p = {2.0, 1.0}; + const Point2d p1 = {-1.0, 0.0}; + const Point2d p2 = {1.0, 0.0}; + const auto result = distance(p, p1, p2); + + EXPECT_NEAR(result, std::sqrt(2), epsilon); + } + + { + // The point is on the segment + const Point2d p = {0.0, 0.0}; + const Point2d p1 = {-1.0, 0.0}; + const Point2d p2 = {1.0, 0.0}; + const auto result = distance(p, p1, p2); + + EXPECT_NEAR(result, 0.0, epsilon); + } + + { + // The point is the start point of the segment + const Point2d p = {-1.0, 0.0}; + const Point2d p1 = {-1.0, 0.0}; + const Point2d p2 = {1.0, 0.0}; + const auto result = distance(p, p1, p2); + + EXPECT_NEAR(result, 0.0, epsilon); + } + + { + // The point is the end point of the segment + const Point2d p = {1.0, 0.0}; + const Point2d p1 = {-1.0, 0.0}; + const Point2d p2 = {1.0, 0.0}; + const auto result = distance(p, p1, p2); + + EXPECT_NEAR(result, 0.0, epsilon); + } + + { // The segment is a point + const Point2d p = {0.0, 0.0}; + const Point2d p1 = {1.0, 0.0}; + const Point2d p2 = {1.0, 0.0}; + const auto result = distance(p, p1, p2); + + EXPECT_NEAR(result, 1.0, epsilon); + } + + { // The point is outside the polygon + const Point2d p = {0.0, 0.0}; + const Point2d p1 = {3.0, 1.0}; + const Point2d p2 = {3.0, -1.0}; + const Point2d p3 = {1.0, -1.0}; + const Point2d p4 = {1.0, 1.0}; + const auto result = distance(p, ConvexPolygon2d({p1, p2, p3, p4})); + + EXPECT_NEAR(result, 1.0, epsilon); + } + + { // The point is within the polygon + const Point2d p = {0.0, 0.0}; + const Point2d p1 = {2.0, 1.0}; + const Point2d p2 = {2.0, -1.0}; + const Point2d p3 = {-1.0, -1.0}; + const Point2d p4 = {-1.0, 1.0}; + const auto result = distance(p, ConvexPolygon2d({p1, p2, p3, p4})); + + EXPECT_NEAR(result, 0.0, epsilon); + } +} + +TEST(alt_geometry, intersects) +{ + using autoware::universe_utils::intersects; + using autoware::universe_utils::alt::ConvexPolygon2d; + using autoware::universe_utils::alt::Point2d; + + { // Normally crossing + const Point2d p1 = {0.0, -1.0}; + const Point2d p2 = {0.0, 1.0}; + const Point2d p3 = {-1.0, 0.0}; + const Point2d p4 = {1.0, 0.0}; + const auto result = intersects(p1, p2, p3, p4); + + EXPECT_TRUE(result); + } + + { // No crossing + const Point2d p1 = {0.0, -1.0}; + const Point2d p2 = {0.0, 1.0}; + const Point2d p3 = {1.0, 0.0}; + const Point2d p4 = {3.0, 0.0}; + const auto result = intersects(p1, p2, p3, p4); + + EXPECT_FALSE(result); + } + + { // One segment is the point on the other's segment + const Point2d p1 = {0.0, -1.0}; + const Point2d p2 = {0.0, 1.0}; + const Point2d p3 = {0.0, 0.0}; + const Point2d p4 = {0.0, 0.0}; + const auto result = intersects(p1, p2, p3, p4); + + EXPECT_FALSE(result); + } + + { // One segment is the point not on the other's segment + const Point2d p1 = {0.0, -1.0}; + const Point2d p2 = {0.0, 1.0}; + const Point2d p3 = {1.0, 0.0}; + const Point2d p4 = {1.0, 0.0}; + const auto result = intersects(p1, p2, p3, p4); + + EXPECT_FALSE(result); + } + + { // Both segments are the points which are the same position + const Point2d p1 = {0.0, 0.0}; + const Point2d p2 = {0.0, 0.0}; + const Point2d p3 = {0.0, 0.0}; + const Point2d p4 = {0.0, 0.0}; + const auto result = intersects(p1, p2, p3, p4); + + EXPECT_FALSE(result); + } + + { // Both segments are the points which are different position + const Point2d p1 = {0.0, 1.0}; + const Point2d p2 = {0.0, 1.0}; + const Point2d p3 = {1.0, 0.0}; + const Point2d p4 = {1.0, 0.0}; + const auto result = intersects(p1, p2, p3, p4); + + EXPECT_FALSE(result); + } + + { // Segments are the same + const Point2d p1 = {0.0, -1.0}; + const Point2d p2 = {0.0, 1.0}; + const Point2d p3 = {0.0, -1.0}; + const Point2d p4 = {0.0, 1.0}; + const auto result = intersects(p1, p2, p3, p4); + + EXPECT_FALSE(result); + } + + { // One's edge is on the other's segment + const Point2d p1 = {0.0, -1.0}; + const Point2d p2 = {0.0, 1.0}; + const Point2d p3 = {0.0, 0.0}; + const Point2d p4 = {1.0, 0.0}; + const auto result = intersects(p1, p2, p3, p4); + + EXPECT_TRUE(result); + } + + { // One's edge is the same as the other's edge. + const Point2d p1 = {0.0, -1.0}; + const Point2d p2 = {0.0, 1.0}; + const Point2d p3 = {0.0, -1.0}; + const Point2d p4 = {2.0, -1.0}; + const auto result = intersects(p1, p2, p3, p4); + + EXPECT_TRUE(result); + } + + { // One polygon intersects the other + const Point2d p1 = {1.0, 1.0}; + const Point2d p2 = {1.0, -1.0}; + const Point2d p3 = {-1.0, -1.0}; + const Point2d p4 = {-1.0, 1.0}; + const Point2d p5 = {2.0, 2.0}; + const Point2d p6 = {2.0, 0.0}; + const Point2d p7 = {0.0, 0.0}; + const Point2d p8 = {0.0, 2.0}; + const auto result = + intersects(ConvexPolygon2d({p1, p2, p3, p4}), ConvexPolygon2d({p5, p6, p7, p8})); + + EXPECT_TRUE(result); + } + + { // Two polygons do not intersect each other + const Point2d p1 = {1.0, 1.0}; + const Point2d p2 = {1.0, -1.0}; + const Point2d p3 = {-1.0, -1.0}; + const Point2d p4 = {-1.0, 1.0}; + const Point2d p5 = {3.0, 3.0}; + const Point2d p6 = {3.0, 2.0}; + const Point2d p7 = {2.0, 2.0}; + const Point2d p8 = {2.0, 3.0}; + const auto result = + intersects(ConvexPolygon2d({p1, p2, p3, p4}), ConvexPolygon2d({p5, p6, p7, p8})); + + EXPECT_FALSE(result); + } + + { // Two polygons share a vertex + const Point2d p1 = {1.0, 1.0}; + const Point2d p2 = {1.0, -1.0}; + const Point2d p3 = {-1.0, -1.0}; + const Point2d p4 = {-1.0, 1.0}; + const Point2d p5 = {2.0, 2.0}; + const Point2d p6 = {2.0, 1.0}; + const Point2d p7 = {1.0, 1.0}; + const Point2d p8 = {1.0, 2.0}; + const auto result = + intersects(ConvexPolygon2d({p1, p2, p3, p4}), ConvexPolygon2d({p5, p6, p7, p8})); + + EXPECT_FALSE(result); + } +} + +TEST(alt_geometry, isAbove) +{ + using autoware::universe_utils::is_above; + using autoware::universe_utils::alt::Point2d; + + { // The point is above the line + const Point2d point = {0.0, 1.0}; + const Point2d p1 = {-1.0, 0.0}; + const Point2d p2 = {1.0, 0.0}; + const auto result = is_above(point, p1, p2); + + EXPECT_TRUE(result); + } + + { // The point is below the line + const Point2d point = {0.0, -1.0}; + const Point2d p1 = {-1.0, 0.0}; + const Point2d p2 = {1.0, 0.0}; + const auto result = is_above(point, p1, p2); + + EXPECT_FALSE(result); + } + + { // The point is on the line + const Point2d point = {0.0, 0.0}; + const Point2d p1 = {-1.0, 0.0}; + const Point2d p2 = {1.0, 0.0}; + const auto result = is_above(point, p1, p2); + + EXPECT_FALSE(result); + } +} + +TEST(alt_geometry, isClockwise) +{ + using autoware::universe_utils::is_clockwise; + using autoware::universe_utils::alt::ConvexPolygon2d; + using autoware::universe_utils::alt::Point2d; + + { // Clockwise + const Point2d p1 = {0.0, 0.0}; + const Point2d p2 = {0.0, 7.0}; + const Point2d p3 = {4.0, 2.0}; + const Point2d p4 = {2.0, 0.0}; + const auto result = is_clockwise(ConvexPolygon2d({p1, p2, p3, p4})); + + EXPECT_TRUE(result); + } + + { // Counter-clockwise + const Point2d p1 = {0.0, 0.0}; + const Point2d p2 = {2.0, 0.0}; + const Point2d p3 = {4.0, 2.0}; + const Point2d p4 = {0.0, 7.0}; + const auto result = is_clockwise(ConvexPolygon2d({p1, p2, p3, p4})); + + EXPECT_FALSE(result); + } +} + +TEST(alt_geometry, touches) +{ + using autoware::universe_utils::touches; + using autoware::universe_utils::alt::ConvexPolygon2d; + using autoware::universe_utils::alt::Point2d; + + { + // The point is on the segment + const Point2d p = {0.0, 0.0}; + const Point2d p1 = {-1.0, 0.0}; + const Point2d p2 = {1.0, 0.0}; + const auto result = touches(p, p1, p2); + + EXPECT_TRUE(result); + } + + { + // The point is the start point of the segment + const Point2d p = {-1.0, 0.0}; + const Point2d p1 = {-1.0, 0.0}; + const Point2d p2 = {1.0, 0.0}; + const auto result = touches(p, p1, p2); + + EXPECT_TRUE(result); + } + + { + // The point is the end point of the segment + const Point2d p = {1.0, 0.0}; + const Point2d p1 = {-1.0, 0.0}; + const Point2d p2 = {1.0, 0.0}; + const auto result = touches(p, p1, p2); + + EXPECT_TRUE(result); + } + + { // The point is not on the segment + const Point2d p = {0.0, 1.0}; + const Point2d p1 = {-1.0, 0.0}; + const Point2d p2 = {1.0, 0.0}; + const auto result = touches(p, p1, p2); + + EXPECT_FALSE(result); + } + + { // The point is on the edge of the polygon + const Point2d point = {0.0, 0.0}; + const Point2d p1 = {2.0, 1.0}; + const Point2d p2 = {2.0, -1.0}; + const Point2d p3 = {0.0, -1.0}; + const Point2d p4 = {0.0, 1.0}; + const auto result = touches(point, ConvexPolygon2d({p1, p2, p3, p4})); + + EXPECT_TRUE(result); + } + + { // The point is outside the polygon + const Point2d point = {0.0, 0.0}; + const Point2d p1 = {2.0, 2.0}; + const Point2d p2 = {2.0, 1.0}; + const Point2d p3 = {1.0, 1.0}; + const Point2d p4 = {1.0, 2.0}; + const auto result = touches(point, ConvexPolygon2d({p1, p2, p3, p4})); + + EXPECT_FALSE(result); + } +} + +TEST(alt_geometry, within) +{ + using autoware::universe_utils::within; + using autoware::universe_utils::alt::ConvexPolygon2d; + using autoware::universe_utils::alt::Point2d; + + { // The point is within the polygon + const Point2d point = {0.0, 0.0}; + const Point2d p1 = {1.0, 1.0}; + const Point2d p2 = {1.0, -1.0}; + const Point2d p3 = {-1.0, -1.0}; + const Point2d p4 = {-1.0, 1.0}; + const auto result = within(point, ConvexPolygon2d({p1, p2, p3, p4})); + + EXPECT_TRUE(result); + } + + { // The point is outside the polygon + const Point2d point = {0.0, 0.0}; + const Point2d p1 = {2.0, 2.0}; + const Point2d p2 = {2.0, 1.0}; + const Point2d p3 = {1.0, 1.0}; + const Point2d p4 = {1.0, 2.0}; + const auto result = within(point, ConvexPolygon2d({p1, p2, p3, p4})); + + EXPECT_FALSE(result); + } + + { // The point is on the edge of the polygon + const Point2d point = {0.0, 0.0}; + const Point2d p1 = {2.0, 1.0}; + const Point2d p2 = {2.0, -1.0}; + const Point2d p3 = {0.0, -1.0}; + const Point2d p4 = {0.0, 1.0}; + const auto result = within(point, ConvexPolygon2d({p1, p2, p3, p4})); + + EXPECT_FALSE(result); + } + + { // One polygon is within the other + const Point2d p1 = {1.0, 1.0}; + const Point2d p2 = {1.0, -1.0}; + const Point2d p3 = {-1.0, -1.0}; + const Point2d p4 = {-1.0, 1.0}; + const Point2d p5 = {2.0, 2.0}; + const Point2d p6 = {2.0, -2.0}; + const Point2d p7 = {-2.0, -2.0}; + const Point2d p8 = {-2.0, 2.0}; + const auto result = + within(ConvexPolygon2d({p1, p2, p3, p4}), ConvexPolygon2d({p5, p6, p7, p8})); + + EXPECT_TRUE(result); + } + + { // One polygon is outside the other + const Point2d p1 = {1.0, 1.0}; + const Point2d p2 = {1.0, -1.0}; + const Point2d p3 = {-1.0, -1.0}; + const Point2d p4 = {-1.0, 1.0}; + const Point2d p5 = {3.0, 3.0}; + const Point2d p6 = {3.0, 2.0}; + const Point2d p7 = {2.0, 2.0}; + const Point2d p8 = {2.0, 3.0}; + const auto result = + within(ConvexPolygon2d({p1, p2, p3, p4}), ConvexPolygon2d({p5, p6, p7, p8})); + + EXPECT_FALSE(result); + } + + { // Both polygons are the same + const Point2d p1 = {1.0, 1.0}; + const Point2d p2 = {1.0, -1.0}; + const Point2d p3 = {-1.0, -1.0}; + const Point2d p4 = {-1.0, 1.0}; + const Point2d p5 = {1.0, 1.0}; + const Point2d p6 = {1.0, -1.0}; + const Point2d p7 = {-1.0, -1.0}; + const Point2d p8 = {-1.0, 1.0}; + const auto result = + within(ConvexPolygon2d({p1, p2, p3, p4}), ConvexPolygon2d({p5, p6, p7, p8})); + + EXPECT_TRUE(result); + } +} + +TEST(alt_geometry, areaRand) +{ + std::vector polygons; + constexpr auto polygons_nb = 500; + constexpr auto max_vertices = 10; + constexpr auto max_values = 1000; + + autoware::universe_utils::StopWatch sw; + for (auto vertices = 3UL; vertices < max_vertices; ++vertices) { + double ground_truth_area_ns = 0.0; + double alt_area_ns = 0.0; + + polygons.clear(); + for (auto i = 0; i < polygons_nb; ++i) { + polygons.push_back(autoware::universe_utils::random_convex_polygon(vertices, max_values)); + } + for (auto i = 0UL; i < polygons.size(); ++i) { + sw.tic(); + const auto ground_truth = boost::geometry::area(polygons[i]); + ground_truth_area_ns += sw.toc(); + + const auto alt_poly = autoware::universe_utils::alt::from_boost(polygons[i]); + sw.tic(); + const auto alt = autoware::universe_utils::area(alt_poly); + alt_area_ns += sw.toc(); + + if (std::abs(alt - ground_truth) > epsilon) { + std::cout << "Alt failed for the polygon: "; + std::cout << boost::geometry::wkt(polygons[i]) << std::endl; + } + EXPECT_NEAR(ground_truth, alt, epsilon); + } + std::printf("polygons_nb = %d, vertices = %ld\n", polygons_nb, vertices); + std::printf( + "\tArea:\n\t\tBoost::geometry = %2.2f ms\n\t\tAlt = %2.2f ms\n", ground_truth_area_ns / 1e6, + alt_area_ns / 1e6); + } +} + +TEST(alt_geometry, convexHullRand) +{ + std::vector polygons; + constexpr auto polygons_nb = 500; + constexpr auto max_vertices = 10; + constexpr auto max_values = 1000; + + autoware::universe_utils::StopWatch sw; + for (auto vertices = 3UL; vertices < max_vertices; ++vertices) { + double ground_truth_hull_ns = 0.0; + double alt_hull_ns = 0.0; + + polygons.clear(); + for (auto i = 0; i < polygons_nb; ++i) { + polygons.push_back(autoware::universe_utils::random_convex_polygon(vertices, max_values)); + } + for (auto i = 0UL; i < polygons.size(); ++i) { + autoware::universe_utils::MultiPoint2d outer; + for (const auto & point : polygons[i].outer()) { + outer.push_back(point); + } + autoware::universe_utils::Polygon2d ground_truth; + sw.tic(); + boost::geometry::convex_hull(outer, ground_truth); + ground_truth_hull_ns += sw.toc(); + + const auto vertices = autoware::universe_utils::alt::from_boost(polygons[i]).vertices(); + sw.tic(); + const auto alt = autoware::universe_utils::convex_hull(vertices); + alt_hull_ns += sw.toc(); + + if (ground_truth.outer().size() - 1 != alt.vertices().size()) { + std::cout << "Alt failed for the polygon: "; + std::cout << boost::geometry::wkt(polygons[i]) << std::endl; + } + ASSERT_EQ( + ground_truth.outer().size() - 1, + alt.vertices().size()); // alt::ConvexPolygon2d does not have closing point + for (size_t i = 0; i < alt.vertices().size(); ++i) { + EXPECT_NEAR(ground_truth.outer().at(i).x(), alt.vertices().at(i).x(), epsilon); + EXPECT_NEAR(ground_truth.outer().at(i).y(), alt.vertices().at(i).y(), epsilon); + } + } + std::printf("polygons_nb = %d, vertices = %ld\n", polygons_nb, vertices); + std::printf( + "\tConvex Hull:\n\t\tBoost::geometry = %2.2f ms\n\t\tAlt = %2.2f ms\n", + ground_truth_hull_ns / 1e6, alt_hull_ns / 1e6); + } +} + +TEST(alt_geometry, coveredByRand) +{ + std::vector polygons; + constexpr auto polygons_nb = 500; + constexpr auto max_vertices = 10; + constexpr auto max_values = 1000; + + autoware::universe_utils::StopWatch sw; + for (auto vertices = 3UL; vertices < max_vertices; ++vertices) { + double ground_truth_covered_ns = 0.0; + double ground_truth_not_covered_ns = 0.0; + double alt_covered_ns = 0.0; + double alt_not_covered_ns = 0.0; + int covered_count = 0; + + polygons.clear(); + for (auto i = 0; i < polygons_nb; ++i) { + polygons.push_back(autoware::universe_utils::random_convex_polygon(vertices, max_values)); + } + for (auto i = 0UL; i < polygons.size(); ++i) { + for (const auto & point : polygons[i].outer()) { + for (auto j = 0UL; j < polygons.size(); ++j) { + sw.tic(); + const auto ground_truth = boost::geometry::covered_by(point, polygons[j]); + if (ground_truth) { + ++covered_count; + ground_truth_covered_ns += sw.toc(); + } else { + ground_truth_not_covered_ns += sw.toc(); + } + + const auto alt_point = autoware::universe_utils::alt::from_boost(point); + const auto alt_poly = autoware::universe_utils::alt::from_boost(polygons[j]); + sw.tic(); + const auto alt = autoware::universe_utils::covered_by(alt_point, alt_poly); + if (alt) { + alt_covered_ns += sw.toc(); + } else { + alt_not_covered_ns += sw.toc(); + } + + if (ground_truth != alt) { + std::cout << "Alt failed for the point and polygon: "; + std::cout << boost::geometry::wkt(point) << boost::geometry::wkt(polygons[j]) + << std::endl; + } + EXPECT_EQ(ground_truth, alt); + } + } + } + std::printf( + "polygons_nb = %d, vertices = %ld, %d / %ld covered pairs\n", polygons_nb, vertices, + covered_count, polygons_nb * vertices * polygons_nb); + std::printf( + "\tCovered:\n\t\tBoost::geometry = %2.2f ms\n\t\tAlt = %2.2f ms\n", + ground_truth_covered_ns / 1e6, alt_covered_ns / 1e6); + std::printf( + "\tNot covered:\n\t\tBoost::geometry = %2.2f ms\n\t\tAlt = %2.2f ms\n", + ground_truth_not_covered_ns / 1e6, alt_not_covered_ns / 1e6); + std::printf( + "\tTotal:\n\t\tBoost::geometry = %2.2f ms\n\t\tAlt = %2.2f ms\n", + (ground_truth_not_covered_ns + ground_truth_covered_ns) / 1e6, + (alt_not_covered_ns + alt_covered_ns) / 1e6); + } +} + +TEST(alt_geometry, disjointRand) +{ + std::vector polygons; + constexpr auto polygons_nb = 500; + constexpr auto max_vertices = 10; + constexpr auto max_values = 1000; + + autoware::universe_utils::StopWatch sw; + for (auto vertices = 3UL; vertices < max_vertices; ++vertices) { + double ground_truth_disjoint_ns = 0.0; + double ground_truth_not_disjoint_ns = 0.0; + double alt_disjoint_ns = 0.0; + double alt_not_disjoint_ns = 0.0; + int disjoint_count = 0; + + polygons.clear(); + for (auto i = 0; i < polygons_nb; ++i) { + polygons.push_back(autoware::universe_utils::random_convex_polygon(vertices, max_values)); + } + for (auto i = 0UL; i < polygons.size(); ++i) { + for (auto j = 0UL; j < polygons.size(); ++j) { + sw.tic(); + const auto ground_truth = boost::geometry::disjoint(polygons[i], polygons[j]); + if (ground_truth) { + ++disjoint_count; + ground_truth_disjoint_ns += sw.toc(); + } else { + ground_truth_not_disjoint_ns += sw.toc(); + } + + const auto alt_poly1 = autoware::universe_utils::alt::from_boost(polygons[i]); + const auto alt_poly2 = autoware::universe_utils::alt::from_boost(polygons[j]); + sw.tic(); + const auto alt = autoware::universe_utils::disjoint(alt_poly1, alt_poly2); + if (alt) { + alt_disjoint_ns += sw.toc(); + } else { + alt_not_disjoint_ns += sw.toc(); + } + + if (ground_truth != alt) { + std::cout << "Failed for the 2 polygons: "; + std::cout << boost::geometry::wkt(polygons[i]) << boost::geometry::wkt(polygons[j]) + << std::endl; + } + EXPECT_EQ(ground_truth, alt); + } + } + std::printf( + "polygons_nb = %d, vertices = %ld, %d / %d disjoint pairs\n", polygons_nb, vertices, + disjoint_count, polygons_nb * polygons_nb); + std::printf( + "\tDisjoint:\n\t\tBoost::geometry = %2.2f ms\n\t\tAlt = %2.2f ms\n", + ground_truth_disjoint_ns / 1e6, alt_disjoint_ns / 1e6); + std::printf( + "\tNot disjoint:\n\t\tBoost::geometry = %2.2f ms\n\t\tAlt = %2.2f ms\n", + ground_truth_not_disjoint_ns / 1e6, alt_not_disjoint_ns / 1e6); + std::printf( + "\tTotal:\n\t\tBoost::geometry = %2.2f ms\n\t\tAlt = %2.2f ms\n", + (ground_truth_not_disjoint_ns + ground_truth_disjoint_ns) / 1e6, + (alt_not_disjoint_ns + alt_disjoint_ns) / 1e6); + } +} + +TEST(alt_geometry, intersectsRand) +{ + std::vector polygons; + constexpr auto polygons_nb = 500; + constexpr auto max_vertices = 10; + constexpr auto max_values = 1000; + + autoware::universe_utils::StopWatch sw; + for (auto vertices = 3UL; vertices < max_vertices; ++vertices) { + double ground_truth_intersect_ns = 0.0; + double ground_truth_no_intersect_ns = 0.0; + double alt_intersect_ns = 0.0; + double alt_no_intersect_ns = 0.0; + int intersect_count = 0; + + polygons.clear(); + for (auto i = 0; i < polygons_nb; ++i) { + polygons.push_back(autoware::universe_utils::random_convex_polygon(vertices, max_values)); + } + for (auto i = 0UL; i < polygons.size(); ++i) { + for (auto j = 0UL; j < polygons.size(); ++j) { + sw.tic(); + const auto ground_truth = boost::geometry::intersects(polygons[i], polygons[j]); + if (ground_truth) { + ++intersect_count; + ground_truth_intersect_ns += sw.toc(); + } else { + ground_truth_no_intersect_ns += sw.toc(); + } + + const auto alt_poly1 = autoware::universe_utils::alt::from_boost(polygons[i]); + const auto alt_poly2 = autoware::universe_utils::alt::from_boost(polygons[j]); + sw.tic(); + const auto alt = autoware::universe_utils::intersects(alt_poly1, alt_poly2); + if (alt) { + alt_intersect_ns += sw.toc(); + } else { + alt_no_intersect_ns += sw.toc(); + } + + if (ground_truth != alt) { + std::cout << "Failed for the 2 polygons: "; + std::cout << boost::geometry::wkt(polygons[i]) << boost::geometry::wkt(polygons[j]) + << std::endl; + } + EXPECT_EQ(ground_truth, alt); + } + } + std::printf( + "polygons_nb = %d, vertices = %ld, %d / %d pairs with intersects\n", polygons_nb, vertices, + intersect_count, polygons_nb * polygons_nb); + std::printf( + "\tIntersect:\n\t\tBoost::geometry = %2.2f ms\n\t\tAlt = %2.2f ms\n", + ground_truth_intersect_ns / 1e6, alt_intersect_ns / 1e6); + std::printf( + "\tNo intersect:\n\t\tBoost::geometry = %2.2f ms\n\t\tAlt = %2.2f ms\n", + ground_truth_no_intersect_ns / 1e6, alt_no_intersect_ns / 1e6); + std::printf( + "\tTotal:\n\t\tBoost::geometry = %2.2f ms\n\t\tAlt = %2.2f ms\n", + (ground_truth_no_intersect_ns + ground_truth_intersect_ns) / 1e6, + (alt_no_intersect_ns + alt_intersect_ns) / 1e6); + } +} + +TEST(alt_geometry, touchesRand) +{ + std::vector polygons; + constexpr auto polygons_nb = 500; + constexpr auto max_vertices = 10; + constexpr auto max_values = 1000; + + autoware::universe_utils::StopWatch sw; + for (auto vertices = 3UL; vertices < max_vertices; ++vertices) { + double ground_truth_touching_ns = 0.0; + double ground_truth_not_touching_ns = 0.0; + double alt_touching_ns = 0.0; + double alt_not_touching_ns = 0.0; + int touching_count = 0; + + polygons.clear(); + for (auto i = 0; i < polygons_nb; ++i) { + polygons.push_back(autoware::universe_utils::random_convex_polygon(vertices, max_values)); + } + for (auto i = 0UL; i < polygons.size(); ++i) { + for (const auto & point : polygons[i].outer()) { + for (auto j = 0UL; j < polygons.size(); ++j) { + sw.tic(); + const auto ground_truth = boost::geometry::touches(point, polygons[j]); + if (ground_truth) { + ++touching_count; + ground_truth_touching_ns += sw.toc(); + } else { + ground_truth_not_touching_ns += sw.toc(); + } + + const auto alt_point = autoware::universe_utils::alt::from_boost(point); + const auto alt_poly = autoware::universe_utils::alt::from_boost(polygons[j]); + sw.tic(); + const auto alt = autoware::universe_utils::touches(alt_point, alt_poly); + if (alt) { + alt_touching_ns += sw.toc(); + } else { + alt_not_touching_ns += sw.toc(); + } + + if (ground_truth != alt) { + std::cout << "Alt failed for the point and polygon: "; + std::cout << boost::geometry::wkt(point) << boost::geometry::wkt(polygons[j]) + << std::endl; + } + EXPECT_EQ(ground_truth, alt); + } + } + } + std::printf( + "polygons_nb = %d, vertices = %ld, %d / %ld touching pairs\n", polygons_nb, vertices, + touching_count, polygons_nb * vertices * polygons_nb); + std::printf( + "\tTouching:\n\t\tBoost::geometry = %2.2f ms\n\t\tAlt = %2.2f ms\n", + ground_truth_touching_ns / 1e6, alt_touching_ns / 1e6); + std::printf( + "\tNot touching:\n\t\tBoost::geometry = %2.2f ms\n\t\tAlt = %2.2f ms\n", + ground_truth_not_touching_ns / 1e6, alt_not_touching_ns / 1e6); + std::printf( + "\tTotal:\n\t\tBoost::geometry = %2.2f ms\n\t\tAlt = %2.2f ms\n", + (ground_truth_not_touching_ns + ground_truth_touching_ns) / 1e6, + (alt_not_touching_ns + alt_touching_ns) / 1e6); + } +} + +TEST(alt_geometry, withinPolygonRand) +{ + std::vector polygons; + constexpr auto polygons_nb = 500; + constexpr auto max_vertices = 10; + constexpr auto max_values = 1000; + + autoware::universe_utils::StopWatch sw; + for (auto vertices = 3UL; vertices < max_vertices; ++vertices) { + double ground_truth_within_ns = 0.0; + double ground_truth_not_within_ns = 0.0; + double alt_within_ns = 0.0; + double alt_not_within_ns = 0.0; + int within_count = 0; + + polygons.clear(); + for (auto i = 0; i < polygons_nb; ++i) { + polygons.push_back(autoware::universe_utils::random_convex_polygon(vertices, max_values)); + } + for (auto i = 0UL; i < polygons.size(); ++i) { + for (auto j = 0UL; j < polygons.size(); ++j) { + sw.tic(); + const auto ground_truth = boost::geometry::within(polygons[i], polygons[j]); + if (ground_truth) { + ++within_count; + ground_truth_within_ns += sw.toc(); + } else { + ground_truth_not_within_ns += sw.toc(); + } + + const auto alt_poly1 = autoware::universe_utils::alt::from_boost(polygons[i]); + const auto alt_poly2 = autoware::universe_utils::alt::from_boost(polygons[j]); + sw.tic(); + const auto alt = autoware::universe_utils::within(alt_poly1, alt_poly2); + if (alt) { + alt_within_ns += sw.toc(); + } else { + alt_not_within_ns += sw.toc(); + } + + if (ground_truth != alt) { + std::cout << "Alt failed for the 2 polygons: "; + std::cout << boost::geometry::wkt(polygons[i]) << boost::geometry::wkt(polygons[j]) + << std::endl; + } + EXPECT_EQ(ground_truth, alt); + } + } + std::printf( + "polygons_nb = %d, vertices = %ld, %d / %d pairs either of which is within the other\n", + polygons_nb, vertices, within_count, polygons_nb * polygons_nb); + std::printf( + "\tWithin:\n\t\tBoost::geometry = %2.2f ms\n\t\tAlt = %2.2f ms\n", + ground_truth_within_ns / 1e6, alt_within_ns / 1e6); + std::printf( + "\tNot within:\n\t\tBoost::geometry = %2.2f ms\n\t\tAlt = %2.2f ms\n", + ground_truth_not_within_ns / 1e6, alt_not_within_ns / 1e6); + std::printf( + "\tTotal:\n\t\tBoost::geometry = %2.2f ms\n\t\tAlt = %2.2f ms\n", + (ground_truth_not_within_ns + ground_truth_within_ns) / 1e6, + (alt_not_within_ns + alt_within_ns) / 1e6); + } +} diff --git a/common/autoware_universe_utils/test/src/geometry/test_geometry.cpp b/common/autoware_universe_utils/test/src/geometry/test_geometry.cpp index 55d70307f1314..6cce5d974664c 100644 --- a/common/autoware_universe_utils/test/src/geometry/test_geometry.cpp +++ b/common/autoware_universe_utils/test/src/geometry/test_geometry.cpp @@ -21,11 +21,8 @@ #include -#include #include -#include #include -#include #include @@ -2021,1057 +2018,3 @@ TEST(geometry, intersectPolygonRand) (sat_no_intersect_ns + sat_intersect_ns) / 1e6); } } - -TEST(geometry, area) -{ - using autoware::universe_utils::area; - using autoware::universe_utils::alt::ConvexPolygon2d; - using autoware::universe_utils::alt::Point2d; - - { // Clockwise - const Point2d p1 = {0.0, 0.0}; - const Point2d p2 = {0.0, 7.0}; - const Point2d p3 = {4.0, 2.0}; - const Point2d p4 = {2.0, 0.0}; - const auto result = area(ConvexPolygon2d({p1, p2, p3, p4})); - - EXPECT_NEAR(result, 16.0, epsilon); - } - - { // Counter-clockwise - const Point2d p1 = {0.0, 0.0}; - const Point2d p2 = {2.0, 0.0}; - const Point2d p3 = {4.0, 2.0}; - const Point2d p4 = {0.0, 7.0}; - const auto result = area(ConvexPolygon2d({p1, p2, p3, p4})); - - EXPECT_NEAR(result, -16.0, epsilon); - } -} - -TEST(geometry, convexHull) -{ - using autoware::universe_utils::convex_hull; - using autoware::universe_utils::alt::Points2d; - - { - Points2d points; - points.push_back({2.0, 1.3}); - points.push_back({2.4, 1.7}); - points.push_back({2.8, 1.8}); - points.push_back({3.4, 1.2}); - points.push_back({3.7, 1.6}); - points.push_back({3.4, 2.0}); - points.push_back({4.1, 3.0}); - points.push_back({5.3, 2.6}); - points.push_back({5.4, 1.2}); - points.push_back({4.9, 0.8}); - points.push_back({2.9, 0.7}); - const auto result = convex_hull(points); - - ASSERT_EQ(result.vertices().size(), 7); - EXPECT_NEAR(result.vertices().at(0).x(), 2.0, epsilon); - EXPECT_NEAR(result.vertices().at(0).y(), 1.3, epsilon); - EXPECT_NEAR(result.vertices().at(1).x(), 2.4, epsilon); - EXPECT_NEAR(result.vertices().at(1).y(), 1.7, epsilon); - EXPECT_NEAR(result.vertices().at(2).x(), 4.1, epsilon); - EXPECT_NEAR(result.vertices().at(2).y(), 3.0, epsilon); - EXPECT_NEAR(result.vertices().at(3).x(), 5.3, epsilon); - EXPECT_NEAR(result.vertices().at(3).y(), 2.6, epsilon); - EXPECT_NEAR(result.vertices().at(4).x(), 5.4, epsilon); - EXPECT_NEAR(result.vertices().at(4).y(), 1.2, epsilon); - EXPECT_NEAR(result.vertices().at(5).x(), 4.9, epsilon); - EXPECT_NEAR(result.vertices().at(5).y(), 0.8, epsilon); - EXPECT_NEAR(result.vertices().at(6).x(), 2.9, epsilon); - EXPECT_NEAR(result.vertices().at(6).y(), 0.7, epsilon); - } -} - -TEST(geometry, correct) -{ - using autoware::universe_utils::correct; - using autoware::universe_utils::alt::ConvexPolygon2d; - using autoware::universe_utils::alt::Points2d; - - { // Correctly oriented - Points2d vertices; - vertices.push_back({1.0, 1.0}); - vertices.push_back({1.0, -1.0}); - vertices.push_back({-1.0, -1.0}); - vertices.push_back({-1.0, 1.0}); - ConvexPolygon2d poly(vertices); - correct(poly); - - ASSERT_EQ(poly.vertices().size(), 4); - EXPECT_NEAR(poly.vertices().at(0).x(), 1.0, epsilon); - EXPECT_NEAR(poly.vertices().at(0).y(), 1.0, epsilon); - EXPECT_NEAR(poly.vertices().at(1).x(), 1.0, epsilon); - EXPECT_NEAR(poly.vertices().at(1).y(), -1.0, epsilon); - EXPECT_NEAR(poly.vertices().at(2).x(), -1.0, epsilon); - EXPECT_NEAR(poly.vertices().at(2).y(), -1.0, epsilon); - EXPECT_NEAR(poly.vertices().at(3).x(), -1.0, epsilon); - EXPECT_NEAR(poly.vertices().at(3).y(), 1.0, epsilon); - } - - { // Wrongly oriented - Points2d vertices; - vertices.push_back({1.0, 1.0}); - vertices.push_back({-1.0, 1.0}); - vertices.push_back({1.0, -1.0}); - vertices.push_back({-1.0, -1.0}); - ConvexPolygon2d poly(vertices); - correct(poly); - - ASSERT_EQ(poly.vertices().size(), 4); - EXPECT_NEAR(poly.vertices().at(0).x(), 1.0, epsilon); - EXPECT_NEAR(poly.vertices().at(0).y(), 1.0, epsilon); - EXPECT_NEAR(poly.vertices().at(1).x(), 1.0, epsilon); - EXPECT_NEAR(poly.vertices().at(1).y(), -1.0, epsilon); - EXPECT_NEAR(poly.vertices().at(2).x(), -1.0, epsilon); - EXPECT_NEAR(poly.vertices().at(2).y(), -1.0, epsilon); - EXPECT_NEAR(poly.vertices().at(3).x(), -1.0, epsilon); - EXPECT_NEAR(poly.vertices().at(3).y(), 1.0, epsilon); - } -} - -TEST(geometry, coveredBy) -{ - using autoware::universe_utils::covered_by; - using autoware::universe_utils::alt::ConvexPolygon2d; - using autoware::universe_utils::alt::Point2d; - - { // The point is within the polygon - const Point2d point = {0.0, 0.0}; - const Point2d p1 = {1.0, 1.0}; - const Point2d p2 = {1.0, -1.0}; - const Point2d p3 = {-1.0, -1.0}; - const Point2d p4 = {-1.0, 1.0}; - const auto result = covered_by(point, ConvexPolygon2d({p1, p2, p3, p4})); - - EXPECT_TRUE(result); - } - - { // The point is outside the polygon - const Point2d point = {0.0, 0.0}; - const Point2d p1 = {2.0, 2.0}; - const Point2d p2 = {2.0, 1.0}; - const Point2d p3 = {1.0, 1.0}; - const Point2d p4 = {1.0, 2.0}; - const auto result = covered_by(point, ConvexPolygon2d({p1, p2, p3, p4})); - - EXPECT_FALSE(result); - } - - { // The point is on the edge of the polygon - const Point2d point = {0.0, 0.0}; - const Point2d p1 = {2.0, 1.0}; - const Point2d p2 = {2.0, -1.0}; - const Point2d p3 = {0.0, -1.0}; - const Point2d p4 = {0.0, 1.0}; - const auto result = covered_by(point, ConvexPolygon2d({p1, p2, p3, p4})); - - EXPECT_TRUE(result); - } -} - -TEST(geometry, disjoint) -{ - using autoware::universe_utils::disjoint; - using autoware::universe_utils::alt::ConvexPolygon2d; - using autoware::universe_utils::alt::Point2d; - - { // Disjoint - const Point2d p1 = {0.0, 2.0}; - const Point2d p2 = {-2.0, 0.0}; - const Point2d p3 = {-4.0, 2.0}; - const Point2d p4 = {-2.0, 4.0}; - const Point2d p5 = {2.0, 2.0}; - const Point2d p6 = {4.0, 4.0}; - const Point2d p7 = {6.0, 2.0}; - const Point2d p8 = {4.0, 0.0}; - const auto result = - disjoint(ConvexPolygon2d({p1, p2, p3, p4}), ConvexPolygon2d({p5, p6, p7, p8})); - - EXPECT_TRUE(result); - } - - { // Not disjoint (two polygons share a vertex) - const Point2d p1 = {0.0, 2.0}; - const Point2d p2 = {-2.0, 0.0}; - const Point2d p3 = {-4.0, 2.0}; - const Point2d p4 = {-2.0, 4.0}; - const Point2d p5 = {0.0, 2.0}; - const Point2d p6 = {2.0, 4.0}; - const Point2d p7 = {4.0, 2.0}; - const Point2d p8 = {2.0, 0.0}; - const auto result = - disjoint(ConvexPolygon2d({p1, p2, p3, p4}), ConvexPolygon2d({p5, p6, p7, p8})); - - EXPECT_FALSE(result); - } -} - -TEST(geometry, distance) -{ - using autoware::universe_utils::distance; - using autoware::universe_utils::alt::ConvexPolygon2d; - using autoware::universe_utils::alt::Point2d; - - { // Normal setting - const Point2d p = {0.0, 1.0}; - const Point2d p1 = {-1.0, 0.0}; - const Point2d p2 = {1.0, 0.0}; - const auto result = distance(p, p1, p2); - - EXPECT_NEAR(result, 1.0, epsilon); - } - - { - // The point is out of range of the segment to the start point side - const Point2d p = {-2.0, 1.0}; - const Point2d p1 = {-1.0, 0.0}; - const Point2d p2 = {1.0, 0.0}; - const auto result = distance(p, p1, p2); - - EXPECT_NEAR(result, std::sqrt(2), epsilon); - } - - { - // The point is out of range of the segment to the end point side - const Point2d p = {2.0, 1.0}; - const Point2d p1 = {-1.0, 0.0}; - const Point2d p2 = {1.0, 0.0}; - const auto result = distance(p, p1, p2); - - EXPECT_NEAR(result, std::sqrt(2), epsilon); - } - - { - // The point is on the segment - const Point2d p = {0.0, 0.0}; - const Point2d p1 = {-1.0, 0.0}; - const Point2d p2 = {1.0, 0.0}; - const auto result = distance(p, p1, p2); - - EXPECT_NEAR(result, 0.0, epsilon); - } - - { - // The point is the start point of the segment - const Point2d p = {-1.0, 0.0}; - const Point2d p1 = {-1.0, 0.0}; - const Point2d p2 = {1.0, 0.0}; - const auto result = distance(p, p1, p2); - - EXPECT_NEAR(result, 0.0, epsilon); - } - - { - // The point is the end point of the segment - const Point2d p = {1.0, 0.0}; - const Point2d p1 = {-1.0, 0.0}; - const Point2d p2 = {1.0, 0.0}; - const auto result = distance(p, p1, p2); - - EXPECT_NEAR(result, 0.0, epsilon); - } - - { // The segment is a point - const Point2d p = {0.0, 0.0}; - const Point2d p1 = {1.0, 0.0}; - const Point2d p2 = {1.0, 0.0}; - const auto result = distance(p, p1, p2); - - EXPECT_NEAR(result, 1.0, epsilon); - } - - { // The point is outside the polygon - const Point2d p = {0.0, 0.0}; - const Point2d p1 = {3.0, 1.0}; - const Point2d p2 = {3.0, -1.0}; - const Point2d p3 = {1.0, -1.0}; - const Point2d p4 = {1.0, 1.0}; - const auto result = distance(p, ConvexPolygon2d({p1, p2, p3, p4})); - - EXPECT_NEAR(result, 1.0, epsilon); - } - - { // The point is within the polygon - const Point2d p = {0.0, 0.0}; - const Point2d p1 = {2.0, 1.0}; - const Point2d p2 = {2.0, -1.0}; - const Point2d p3 = {-1.0, -1.0}; - const Point2d p4 = {-1.0, 1.0}; - const auto result = distance(p, ConvexPolygon2d({p1, p2, p3, p4})); - - EXPECT_NEAR(result, 0.0, epsilon); - } -} - -TEST(geometry, intersects) -{ - using autoware::universe_utils::intersects; - using autoware::universe_utils::alt::ConvexPolygon2d; - using autoware::universe_utils::alt::Point2d; - - { // Normally crossing - const Point2d p1 = {0.0, -1.0}; - const Point2d p2 = {0.0, 1.0}; - const Point2d p3 = {-1.0, 0.0}; - const Point2d p4 = {1.0, 0.0}; - const auto result = intersects(p1, p2, p3, p4); - - EXPECT_TRUE(result); - } - - { // No crossing - const Point2d p1 = {0.0, -1.0}; - const Point2d p2 = {0.0, 1.0}; - const Point2d p3 = {1.0, 0.0}; - const Point2d p4 = {3.0, 0.0}; - const auto result = intersects(p1, p2, p3, p4); - - EXPECT_FALSE(result); - } - - { // One segment is the point on the other's segment - const Point2d p1 = {0.0, -1.0}; - const Point2d p2 = {0.0, 1.0}; - const Point2d p3 = {0.0, 0.0}; - const Point2d p4 = {0.0, 0.0}; - const auto result = intersects(p1, p2, p3, p4); - - EXPECT_FALSE(result); - } - - { // One segment is the point not on the other's segment - const Point2d p1 = {0.0, -1.0}; - const Point2d p2 = {0.0, 1.0}; - const Point2d p3 = {1.0, 0.0}; - const Point2d p4 = {1.0, 0.0}; - const auto result = intersects(p1, p2, p3, p4); - - EXPECT_FALSE(result); - } - - { // Both segments are the points which are the same position - const Point2d p1 = {0.0, 0.0}; - const Point2d p2 = {0.0, 0.0}; - const Point2d p3 = {0.0, 0.0}; - const Point2d p4 = {0.0, 0.0}; - const auto result = intersects(p1, p2, p3, p4); - - EXPECT_FALSE(result); - } - - { // Both segments are the points which are different position - const Point2d p1 = {0.0, 1.0}; - const Point2d p2 = {0.0, 1.0}; - const Point2d p3 = {1.0, 0.0}; - const Point2d p4 = {1.0, 0.0}; - const auto result = intersects(p1, p2, p3, p4); - - EXPECT_FALSE(result); - } - - { // Segments are the same - const Point2d p1 = {0.0, -1.0}; - const Point2d p2 = {0.0, 1.0}; - const Point2d p3 = {0.0, -1.0}; - const Point2d p4 = {0.0, 1.0}; - const auto result = intersects(p1, p2, p3, p4); - - EXPECT_FALSE(result); - } - - { // One's edge is on the other's segment - const Point2d p1 = {0.0, -1.0}; - const Point2d p2 = {0.0, 1.0}; - const Point2d p3 = {0.0, 0.0}; - const Point2d p4 = {1.0, 0.0}; - const auto result = intersects(p1, p2, p3, p4); - - EXPECT_TRUE(result); - } - - { // One's edge is the same as the other's edge. - const Point2d p1 = {0.0, -1.0}; - const Point2d p2 = {0.0, 1.0}; - const Point2d p3 = {0.0, -1.0}; - const Point2d p4 = {2.0, -1.0}; - const auto result = intersects(p1, p2, p3, p4); - - EXPECT_TRUE(result); - } - - { // One polygon intersects the other - const Point2d p1 = {1.0, 1.0}; - const Point2d p2 = {1.0, -1.0}; - const Point2d p3 = {-1.0, -1.0}; - const Point2d p4 = {-1.0, 1.0}; - const Point2d p5 = {2.0, 2.0}; - const Point2d p6 = {2.0, 0.0}; - const Point2d p7 = {0.0, 0.0}; - const Point2d p8 = {0.0, 2.0}; - const auto result = - intersects(ConvexPolygon2d({p1, p2, p3, p4}), ConvexPolygon2d({p5, p6, p7, p8})); - - EXPECT_TRUE(result); - } - - { // Two polygons do not intersect each other - const Point2d p1 = {1.0, 1.0}; - const Point2d p2 = {1.0, -1.0}; - const Point2d p3 = {-1.0, -1.0}; - const Point2d p4 = {-1.0, 1.0}; - const Point2d p5 = {3.0, 3.0}; - const Point2d p6 = {3.0, 2.0}; - const Point2d p7 = {2.0, 2.0}; - const Point2d p8 = {2.0, 3.0}; - const auto result = - intersects(ConvexPolygon2d({p1, p2, p3, p4}), ConvexPolygon2d({p5, p6, p7, p8})); - - EXPECT_FALSE(result); - } - - { // Two polygons share a vertex - const Point2d p1 = {1.0, 1.0}; - const Point2d p2 = {1.0, -1.0}; - const Point2d p3 = {-1.0, -1.0}; - const Point2d p4 = {-1.0, 1.0}; - const Point2d p5 = {2.0, 2.0}; - const Point2d p6 = {2.0, 1.0}; - const Point2d p7 = {1.0, 1.0}; - const Point2d p8 = {1.0, 2.0}; - const auto result = - intersects(ConvexPolygon2d({p1, p2, p3, p4}), ConvexPolygon2d({p5, p6, p7, p8})); - - EXPECT_FALSE(result); - } -} - -TEST(geometry, isAbove) -{ - using autoware::universe_utils::is_above; - using autoware::universe_utils::alt::Point2d; - - { // The point is above the line - const Point2d point = {0.0, 1.0}; - const Point2d p1 = {-1.0, 0.0}; - const Point2d p2 = {1.0, 0.0}; - const auto result = is_above(point, p1, p2); - - EXPECT_TRUE(result); - } - - { // The point is below the line - const Point2d point = {0.0, -1.0}; - const Point2d p1 = {-1.0, 0.0}; - const Point2d p2 = {1.0, 0.0}; - const auto result = is_above(point, p1, p2); - - EXPECT_FALSE(result); - } - - { // The point is on the line - const Point2d point = {0.0, 0.0}; - const Point2d p1 = {-1.0, 0.0}; - const Point2d p2 = {1.0, 0.0}; - const auto result = is_above(point, p1, p2); - - EXPECT_FALSE(result); - } -} - -TEST(geometry, isClockwise) -{ - using autoware::universe_utils::is_clockwise; - using autoware::universe_utils::alt::ConvexPolygon2d; - using autoware::universe_utils::alt::Point2d; - - { // Clockwise - const Point2d p1 = {0.0, 0.0}; - const Point2d p2 = {0.0, 7.0}; - const Point2d p3 = {4.0, 2.0}; - const Point2d p4 = {2.0, 0.0}; - const auto result = is_clockwise(ConvexPolygon2d({p1, p2, p3, p4})); - - EXPECT_TRUE(result); - } - - { // Counter-clockwise - const Point2d p1 = {0.0, 0.0}; - const Point2d p2 = {2.0, 0.0}; - const Point2d p3 = {4.0, 2.0}; - const Point2d p4 = {0.0, 7.0}; - const auto result = is_clockwise(ConvexPolygon2d({p1, p2, p3, p4})); - - EXPECT_FALSE(result); - } -} - -TEST(geometry, touches) -{ - using autoware::universe_utils::touches; - using autoware::universe_utils::alt::ConvexPolygon2d; - using autoware::universe_utils::alt::Point2d; - - { - // The point is on the segment - const Point2d p = {0.0, 0.0}; - const Point2d p1 = {-1.0, 0.0}; - const Point2d p2 = {1.0, 0.0}; - const auto result = touches(p, p1, p2); - - EXPECT_TRUE(result); - } - - { - // The point is the start point of the segment - const Point2d p = {-1.0, 0.0}; - const Point2d p1 = {-1.0, 0.0}; - const Point2d p2 = {1.0, 0.0}; - const auto result = touches(p, p1, p2); - - EXPECT_TRUE(result); - } - - { - // The point is the end point of the segment - const Point2d p = {1.0, 0.0}; - const Point2d p1 = {-1.0, 0.0}; - const Point2d p2 = {1.0, 0.0}; - const auto result = touches(p, p1, p2); - - EXPECT_TRUE(result); - } - - { // The point is not on the segment - const Point2d p = {0.0, 1.0}; - const Point2d p1 = {-1.0, 0.0}; - const Point2d p2 = {1.0, 0.0}; - const auto result = touches(p, p1, p2); - - EXPECT_FALSE(result); - } - - { // The point is on the edge of the polygon - const Point2d point = {0.0, 0.0}; - const Point2d p1 = {2.0, 1.0}; - const Point2d p2 = {2.0, -1.0}; - const Point2d p3 = {0.0, -1.0}; - const Point2d p4 = {0.0, 1.0}; - const auto result = touches(point, ConvexPolygon2d({p1, p2, p3, p4})); - - EXPECT_TRUE(result); - } - - { // The point is outside the polygon - const Point2d point = {0.0, 0.0}; - const Point2d p1 = {2.0, 2.0}; - const Point2d p2 = {2.0, 1.0}; - const Point2d p3 = {1.0, 1.0}; - const Point2d p4 = {1.0, 2.0}; - const auto result = touches(point, ConvexPolygon2d({p1, p2, p3, p4})); - - EXPECT_FALSE(result); - } -} - -TEST(geometry, within) -{ - using autoware::universe_utils::within; - using autoware::universe_utils::alt::ConvexPolygon2d; - using autoware::universe_utils::alt::Point2d; - - { // The point is within the polygon - const Point2d point = {0.0, 0.0}; - const Point2d p1 = {1.0, 1.0}; - const Point2d p2 = {1.0, -1.0}; - const Point2d p3 = {-1.0, -1.0}; - const Point2d p4 = {-1.0, 1.0}; - const auto result = within(point, ConvexPolygon2d({p1, p2, p3, p4})); - - EXPECT_TRUE(result); - } - - { // The point is outside the polygon - const Point2d point = {0.0, 0.0}; - const Point2d p1 = {2.0, 2.0}; - const Point2d p2 = {2.0, 1.0}; - const Point2d p3 = {1.0, 1.0}; - const Point2d p4 = {1.0, 2.0}; - const auto result = within(point, ConvexPolygon2d({p1, p2, p3, p4})); - - EXPECT_FALSE(result); - } - - { // The point is on the edge of the polygon - const Point2d point = {0.0, 0.0}; - const Point2d p1 = {2.0, 1.0}; - const Point2d p2 = {2.0, -1.0}; - const Point2d p3 = {0.0, -1.0}; - const Point2d p4 = {0.0, 1.0}; - const auto result = within(point, ConvexPolygon2d({p1, p2, p3, p4})); - - EXPECT_FALSE(result); - } - - { // One polygon is within the other - const Point2d p1 = {1.0, 1.0}; - const Point2d p2 = {1.0, -1.0}; - const Point2d p3 = {-1.0, -1.0}; - const Point2d p4 = {-1.0, 1.0}; - const Point2d p5 = {2.0, 2.0}; - const Point2d p6 = {2.0, -2.0}; - const Point2d p7 = {-2.0, -2.0}; - const Point2d p8 = {-2.0, 2.0}; - const auto result = - within(ConvexPolygon2d({p1, p2, p3, p4}), ConvexPolygon2d({p5, p6, p7, p8})); - - EXPECT_TRUE(result); - } - - { // One polygon is outside the other - const Point2d p1 = {1.0, 1.0}; - const Point2d p2 = {1.0, -1.0}; - const Point2d p3 = {-1.0, -1.0}; - const Point2d p4 = {-1.0, 1.0}; - const Point2d p5 = {3.0, 3.0}; - const Point2d p6 = {3.0, 2.0}; - const Point2d p7 = {2.0, 2.0}; - const Point2d p8 = {2.0, 3.0}; - const auto result = - within(ConvexPolygon2d({p1, p2, p3, p4}), ConvexPolygon2d({p5, p6, p7, p8})); - - EXPECT_FALSE(result); - } - - { // Both polygons are the same - const Point2d p1 = {1.0, 1.0}; - const Point2d p2 = {1.0, -1.0}; - const Point2d p3 = {-1.0, -1.0}; - const Point2d p4 = {-1.0, 1.0}; - const Point2d p5 = {1.0, 1.0}; - const Point2d p6 = {1.0, -1.0}; - const Point2d p7 = {-1.0, -1.0}; - const Point2d p8 = {-1.0, 1.0}; - const auto result = - within(ConvexPolygon2d({p1, p2, p3, p4}), ConvexPolygon2d({p5, p6, p7, p8})); - - EXPECT_TRUE(result); - } -} - -TEST(geometry, areaRand) -{ - std::vector polygons; - constexpr auto polygons_nb = 500; - constexpr auto max_vertices = 10; - constexpr auto max_values = 1000; - - autoware::universe_utils::StopWatch sw; - for (auto vertices = 3UL; vertices < max_vertices; ++vertices) { - double ground_truth_area_ns = 0.0; - double alt_area_ns = 0.0; - - polygons.clear(); - for (auto i = 0; i < polygons_nb; ++i) { - polygons.push_back(autoware::universe_utils::random_convex_polygon(vertices, max_values)); - } - for (auto i = 0UL; i < polygons.size(); ++i) { - sw.tic(); - const auto ground_truth = boost::geometry::area(polygons[i]); - ground_truth_area_ns += sw.toc(); - - const auto alt_poly = autoware::universe_utils::alt::from_boost(polygons[i]); - sw.tic(); - const auto alt = autoware::universe_utils::area(alt_poly); - alt_area_ns += sw.toc(); - - if (std::abs(alt - ground_truth) > epsilon) { - std::cout << "Alt failed for the polygon: "; - std::cout << boost::geometry::wkt(polygons[i]) << std::endl; - } - EXPECT_NEAR(ground_truth, alt, epsilon); - } - std::printf("polygons_nb = %d, vertices = %ld\n", polygons_nb, vertices); - std::printf( - "\tArea:\n\t\tBoost::geometry = %2.2f ms\n\t\tAlt = %2.2f ms\n", ground_truth_area_ns / 1e6, - alt_area_ns / 1e6); - } -} - -TEST(geometry, convexHullRand) -{ - std::vector polygons; - constexpr auto polygons_nb = 500; - constexpr auto max_vertices = 10; - constexpr auto max_values = 1000; - - autoware::universe_utils::StopWatch sw; - for (auto vertices = 3UL; vertices < max_vertices; ++vertices) { - double ground_truth_hull_ns = 0.0; - double alt_hull_ns = 0.0; - - polygons.clear(); - for (auto i = 0; i < polygons_nb; ++i) { - polygons.push_back(autoware::universe_utils::random_convex_polygon(vertices, max_values)); - } - for (auto i = 0UL; i < polygons.size(); ++i) { - autoware::universe_utils::MultiPoint2d outer; - for (const auto & point : polygons[i].outer()) { - outer.push_back(point); - } - autoware::universe_utils::Polygon2d ground_truth; - sw.tic(); - boost::geometry::convex_hull(outer, ground_truth); - ground_truth_hull_ns += sw.toc(); - - const auto vertices = autoware::universe_utils::alt::from_boost(polygons[i]).vertices(); - sw.tic(); - const auto alt = autoware::universe_utils::convex_hull(vertices); - alt_hull_ns += sw.toc(); - - if (ground_truth.outer().size() - 1 != alt.vertices().size()) { - std::cout << "Alt failed for the polygon: "; - std::cout << boost::geometry::wkt(polygons[i]) << std::endl; - } - ASSERT_EQ( - ground_truth.outer().size() - 1, - alt.vertices().size()); // alt::ConvexPolygon2d does not have closing point - for (size_t i = 0; i < alt.vertices().size(); ++i) { - EXPECT_NEAR(ground_truth.outer().at(i).x(), alt.vertices().at(i).x(), epsilon); - EXPECT_NEAR(ground_truth.outer().at(i).y(), alt.vertices().at(i).y(), epsilon); - } - } - std::printf("polygons_nb = %d, vertices = %ld\n", polygons_nb, vertices); - std::printf( - "\tConvex Hull:\n\t\tBoost::geometry = %2.2f ms\n\t\tAlt = %2.2f ms\n", - ground_truth_hull_ns / 1e6, alt_hull_ns / 1e6); - } -} - -TEST(geometry, coveredByRand) -{ - std::vector polygons; - constexpr auto polygons_nb = 500; - constexpr auto max_vertices = 10; - constexpr auto max_values = 1000; - - autoware::universe_utils::StopWatch sw; - for (auto vertices = 3UL; vertices < max_vertices; ++vertices) { - double ground_truth_covered_ns = 0.0; - double ground_truth_not_covered_ns = 0.0; - double alt_covered_ns = 0.0; - double alt_not_covered_ns = 0.0; - int covered_count = 0; - - polygons.clear(); - for (auto i = 0; i < polygons_nb; ++i) { - polygons.push_back(autoware::universe_utils::random_convex_polygon(vertices, max_values)); - } - for (auto i = 0UL; i < polygons.size(); ++i) { - for (const auto & point : polygons[i].outer()) { - for (auto j = 0UL; j < polygons.size(); ++j) { - sw.tic(); - const auto ground_truth = boost::geometry::covered_by(point, polygons[j]); - if (ground_truth) { - ++covered_count; - ground_truth_covered_ns += sw.toc(); - } else { - ground_truth_not_covered_ns += sw.toc(); - } - - const auto alt_point = autoware::universe_utils::alt::from_boost(point); - const auto alt_poly = autoware::universe_utils::alt::from_boost(polygons[j]); - sw.tic(); - const auto alt = autoware::universe_utils::covered_by(alt_point, alt_poly); - if (alt) { - alt_covered_ns += sw.toc(); - } else { - alt_not_covered_ns += sw.toc(); - } - - if (ground_truth != alt) { - std::cout << "Alt failed for the point and polygon: "; - std::cout << boost::geometry::wkt(point) << boost::geometry::wkt(polygons[j]) - << std::endl; - } - EXPECT_EQ(ground_truth, alt); - } - } - } - std::printf( - "polygons_nb = %d, vertices = %ld, %d / %ld covered pairs\n", polygons_nb, vertices, - covered_count, polygons_nb * vertices * polygons_nb); - std::printf( - "\tCovered:\n\t\tBoost::geometry = %2.2f ms\n\t\tAlt = %2.2f ms\n", - ground_truth_covered_ns / 1e6, alt_covered_ns / 1e6); - std::printf( - "\tNot covered:\n\t\tBoost::geometry = %2.2f ms\n\t\tAlt = %2.2f ms\n", - ground_truth_not_covered_ns / 1e6, alt_not_covered_ns / 1e6); - std::printf( - "\tTotal:\n\t\tBoost::geometry = %2.2f ms\n\t\tAlt = %2.2f ms\n", - (ground_truth_not_covered_ns + ground_truth_covered_ns) / 1e6, - (alt_not_covered_ns + alt_covered_ns) / 1e6); - } -} - -TEST(geometry, disjointRand) -{ - std::vector polygons; - constexpr auto polygons_nb = 500; - constexpr auto max_vertices = 10; - constexpr auto max_values = 1000; - - autoware::universe_utils::StopWatch sw; - for (auto vertices = 3UL; vertices < max_vertices; ++vertices) { - double ground_truth_disjoint_ns = 0.0; - double ground_truth_not_disjoint_ns = 0.0; - double alt_disjoint_ns = 0.0; - double alt_not_disjoint_ns = 0.0; - int disjoint_count = 0; - - polygons.clear(); - for (auto i = 0; i < polygons_nb; ++i) { - polygons.push_back(autoware::universe_utils::random_convex_polygon(vertices, max_values)); - } - for (auto i = 0UL; i < polygons.size(); ++i) { - for (auto j = 0UL; j < polygons.size(); ++j) { - sw.tic(); - const auto ground_truth = boost::geometry::disjoint(polygons[i], polygons[j]); - if (ground_truth) { - ++disjoint_count; - ground_truth_disjoint_ns += sw.toc(); - } else { - ground_truth_not_disjoint_ns += sw.toc(); - } - - const auto alt_poly1 = autoware::universe_utils::alt::from_boost(polygons[i]); - const auto alt_poly2 = autoware::universe_utils::alt::from_boost(polygons[j]); - sw.tic(); - const auto alt = autoware::universe_utils::disjoint(alt_poly1, alt_poly2); - if (alt) { - alt_disjoint_ns += sw.toc(); - } else { - alt_not_disjoint_ns += sw.toc(); - } - - if (ground_truth != alt) { - std::cout << "Failed for the 2 polygons: "; - std::cout << boost::geometry::wkt(polygons[i]) << boost::geometry::wkt(polygons[j]) - << std::endl; - } - EXPECT_EQ(ground_truth, alt); - } - } - std::printf( - "polygons_nb = %d, vertices = %ld, %d / %d disjoint pairs\n", polygons_nb, vertices, - disjoint_count, polygons_nb * polygons_nb); - std::printf( - "\tDisjoint:\n\t\tBoost::geometry = %2.2f ms\n\t\tAlt = %2.2f ms\n", - ground_truth_disjoint_ns / 1e6, alt_disjoint_ns / 1e6); - std::printf( - "\tNot disjoint:\n\t\tBoost::geometry = %2.2f ms\n\t\tAlt = %2.2f ms\n", - ground_truth_not_disjoint_ns / 1e6, alt_not_disjoint_ns / 1e6); - std::printf( - "\tTotal:\n\t\tBoost::geometry = %2.2f ms\n\t\tAlt = %2.2f ms\n", - (ground_truth_not_disjoint_ns + ground_truth_disjoint_ns) / 1e6, - (alt_not_disjoint_ns + alt_disjoint_ns) / 1e6); - } -} - -TEST(geometry, intersectsRand) -{ - std::vector polygons; - constexpr auto polygons_nb = 500; - constexpr auto max_vertices = 10; - constexpr auto max_values = 1000; - - autoware::universe_utils::StopWatch sw; - for (auto vertices = 3UL; vertices < max_vertices; ++vertices) { - double ground_truth_intersect_ns = 0.0; - double ground_truth_no_intersect_ns = 0.0; - double alt_intersect_ns = 0.0; - double alt_no_intersect_ns = 0.0; - int intersect_count = 0; - - polygons.clear(); - for (auto i = 0; i < polygons_nb; ++i) { - polygons.push_back(autoware::universe_utils::random_convex_polygon(vertices, max_values)); - } - for (auto i = 0UL; i < polygons.size(); ++i) { - for (auto j = 0UL; j < polygons.size(); ++j) { - sw.tic(); - const auto ground_truth = boost::geometry::intersects(polygons[i], polygons[j]); - if (ground_truth) { - ++intersect_count; - ground_truth_intersect_ns += sw.toc(); - } else { - ground_truth_no_intersect_ns += sw.toc(); - } - - const auto alt_poly1 = autoware::universe_utils::alt::from_boost(polygons[i]); - const auto alt_poly2 = autoware::universe_utils::alt::from_boost(polygons[j]); - sw.tic(); - const auto alt = autoware::universe_utils::intersects(alt_poly1, alt_poly2); - if (alt) { - alt_intersect_ns += sw.toc(); - } else { - alt_no_intersect_ns += sw.toc(); - } - - if (ground_truth != alt) { - std::cout << "Failed for the 2 polygons: "; - std::cout << boost::geometry::wkt(polygons[i]) << boost::geometry::wkt(polygons[j]) - << std::endl; - } - EXPECT_EQ(ground_truth, alt); - } - } - std::printf( - "polygons_nb = %d, vertices = %ld, %d / %d pairs with intersects\n", polygons_nb, vertices, - intersect_count, polygons_nb * polygons_nb); - std::printf( - "\tIntersect:\n\t\tBoost::geometry = %2.2f ms\n\t\tAlt = %2.2f ms\n", - ground_truth_intersect_ns / 1e6, alt_intersect_ns / 1e6); - std::printf( - "\tNo intersect:\n\t\tBoost::geometry = %2.2f ms\n\t\tAlt = %2.2f ms\n", - ground_truth_no_intersect_ns / 1e6, alt_no_intersect_ns / 1e6); - std::printf( - "\tTotal:\n\t\tBoost::geometry = %2.2f ms\n\t\tAlt = %2.2f ms\n", - (ground_truth_no_intersect_ns + ground_truth_intersect_ns) / 1e6, - (alt_no_intersect_ns + alt_intersect_ns) / 1e6); - } -} - -TEST(geometry, touchesRand) -{ - std::vector polygons; - constexpr auto polygons_nb = 500; - constexpr auto max_vertices = 10; - constexpr auto max_values = 1000; - - autoware::universe_utils::StopWatch sw; - for (auto vertices = 3UL; vertices < max_vertices; ++vertices) { - double ground_truth_touching_ns = 0.0; - double ground_truth_not_touching_ns = 0.0; - double alt_touching_ns = 0.0; - double alt_not_touching_ns = 0.0; - int touching_count = 0; - - polygons.clear(); - for (auto i = 0; i < polygons_nb; ++i) { - polygons.push_back(autoware::universe_utils::random_convex_polygon(vertices, max_values)); - } - for (auto i = 0UL; i < polygons.size(); ++i) { - for (const auto & point : polygons[i].outer()) { - for (auto j = 0UL; j < polygons.size(); ++j) { - sw.tic(); - const auto ground_truth = boost::geometry::touches(point, polygons[j]); - if (ground_truth) { - ++touching_count; - ground_truth_touching_ns += sw.toc(); - } else { - ground_truth_not_touching_ns += sw.toc(); - } - - const auto alt_point = autoware::universe_utils::alt::from_boost(point); - const auto alt_poly = autoware::universe_utils::alt::from_boost(polygons[j]); - sw.tic(); - const auto alt = autoware::universe_utils::touches(alt_point, alt_poly); - if (alt) { - alt_touching_ns += sw.toc(); - } else { - alt_not_touching_ns += sw.toc(); - } - - if (ground_truth != alt) { - std::cout << "Alt failed for the point and polygon: "; - std::cout << boost::geometry::wkt(point) << boost::geometry::wkt(polygons[j]) - << std::endl; - } - EXPECT_EQ(ground_truth, alt); - } - } - } - std::printf( - "polygons_nb = %d, vertices = %ld, %d / %ld touching pairs\n", polygons_nb, vertices, - touching_count, polygons_nb * vertices * polygons_nb); - std::printf( - "\tTouching:\n\t\tBoost::geometry = %2.2f ms\n\t\tAlt = %2.2f ms\n", - ground_truth_touching_ns / 1e6, alt_touching_ns / 1e6); - std::printf( - "\tNot touching:\n\t\tBoost::geometry = %2.2f ms\n\t\tAlt = %2.2f ms\n", - ground_truth_not_touching_ns / 1e6, alt_not_touching_ns / 1e6); - std::printf( - "\tTotal:\n\t\tBoost::geometry = %2.2f ms\n\t\tAlt = %2.2f ms\n", - (ground_truth_not_touching_ns + ground_truth_touching_ns) / 1e6, - (alt_not_touching_ns + alt_touching_ns) / 1e6); - } -} - -TEST(geometry, withinPolygonRand) -{ - std::vector polygons; - constexpr auto polygons_nb = 500; - constexpr auto max_vertices = 10; - constexpr auto max_values = 1000; - - autoware::universe_utils::StopWatch sw; - for (auto vertices = 3UL; vertices < max_vertices; ++vertices) { - double ground_truth_within_ns = 0.0; - double ground_truth_not_within_ns = 0.0; - double alt_within_ns = 0.0; - double alt_not_within_ns = 0.0; - int within_count = 0; - - polygons.clear(); - for (auto i = 0; i < polygons_nb; ++i) { - polygons.push_back(autoware::universe_utils::random_convex_polygon(vertices, max_values)); - } - for (auto i = 0UL; i < polygons.size(); ++i) { - for (auto j = 0UL; j < polygons.size(); ++j) { - sw.tic(); - const auto ground_truth = boost::geometry::within(polygons[i], polygons[j]); - if (ground_truth) { - ++within_count; - ground_truth_within_ns += sw.toc(); - } else { - ground_truth_not_within_ns += sw.toc(); - } - - const auto alt_poly1 = autoware::universe_utils::alt::from_boost(polygons[i]); - const auto alt_poly2 = autoware::universe_utils::alt::from_boost(polygons[j]); - sw.tic(); - const auto alt = autoware::universe_utils::within(alt_poly1, alt_poly2); - if (alt) { - alt_within_ns += sw.toc(); - } else { - alt_not_within_ns += sw.toc(); - } - - if (ground_truth != alt) { - std::cout << "Alt failed for the 2 polygons: "; - std::cout << boost::geometry::wkt(polygons[i]) << boost::geometry::wkt(polygons[j]) - << std::endl; - } - EXPECT_EQ(ground_truth, alt); - } - } - std::printf( - "polygons_nb = %d, vertices = %ld, %d / %d pairs either of which is within the other\n", - polygons_nb, vertices, within_count, polygons_nb * polygons_nb); - std::printf( - "\tWithin:\n\t\tBoost::geometry = %2.2f ms\n\t\tAlt = %2.2f ms\n", - ground_truth_within_ns / 1e6, alt_within_ns / 1e6); - std::printf( - "\tNot within:\n\t\tBoost::geometry = %2.2f ms\n\t\tAlt = %2.2f ms\n", - ground_truth_not_within_ns / 1e6, alt_not_within_ns / 1e6); - std::printf( - "\tTotal:\n\t\tBoost::geometry = %2.2f ms\n\t\tAlt = %2.2f ms\n", - (ground_truth_not_within_ns + ground_truth_within_ns) / 1e6, - (alt_not_within_ns + alt_within_ns) / 1e6); - } -} From f189d1ba3ba693024efddef5f7d3d631a2b84049 Mon Sep 17 00:00:00 2001 From: kobayu858 <129580202+kobayu858@users.noreply.github.com> Date: Tue, 3 Sep 2024 15:57:15 +0900 Subject: [PATCH 147/169] fix(autoware_behavior_path_static_obstacle_avoidance_module): fix unusedFunction (#8732) fix:unusedFunction Signed-off-by: kobayu858 --- .../src/utils.cpp | 22 ------------------- 1 file changed, 22 deletions(-) diff --git a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/utils.cpp b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/utils.cpp index 0f3e3da5b2171..58eb16b67e659 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/utils.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/utils.cpp @@ -92,28 +92,6 @@ size_t findFirstNearestIndex(const T & points, const geometry_msgs::msg::Point & return min_idx; } -template -size_t findFirstNearestSegmentIndex(const T & points, const geometry_msgs::msg::Point & point) -{ - const size_t nearest_idx = findFirstNearestIndex(points, point); - - if (nearest_idx == 0) { - return 0; - } - if (nearest_idx == points.size() - 1) { - return points.size() - 2; - } - - const double signed_length = - autoware::motion_utils::calcLongitudinalOffsetToSegment(points, nearest_idx, point); - - if (signed_length <= 0) { - return nearest_idx - 1; - } - - return nearest_idx; -} - geometry_msgs::msg::Polygon createVehiclePolygon( const autoware::vehicle_info_utils::VehicleInfo & vehicle_info, const double offset) { From 9aed21865e6d914625f545403751dfe6d855b081 Mon Sep 17 00:00:00 2001 From: kobayu858 <129580202+kobayu858@users.noreply.github.com> Date: Tue, 3 Sep 2024 16:06:35 +0900 Subject: [PATCH 148/169] fix(autoware_path_sampler): fix unusedFunction (#8730) fix:unusedFunction Signed-off-by: kobayu858 --- .../utils/trajectory_utils.hpp | 4 ---- .../src/utils/trajectory_utils.cpp | 23 ------------------- 2 files changed, 27 deletions(-) diff --git a/planning/sampling_based_planner/autoware_path_sampler/include/autoware_path_sampler/utils/trajectory_utils.hpp b/planning/sampling_based_planner/autoware_path_sampler/include/autoware_path_sampler/utils/trajectory_utils.hpp index c44338aa64ce8..992ad95c72bb1 100644 --- a/planning/sampling_based_planner/autoware_path_sampler/include/autoware_path_sampler/utils/trajectory_utils.hpp +++ b/planning/sampling_based_planner/autoware_path_sampler/include/autoware_path_sampler/utils/trajectory_utils.hpp @@ -117,10 +117,6 @@ inline std::vector convertToTrajectoryPoints( return traj_points; } -void compensateLastPose( - const PathPoint & last_path_point, std::vector & traj_points, - const double delta_dist_threshold, const double delta_yaw_threshold); - template size_t findEgoIndex( const std::vector & points, const geometry_msgs::msg::Pose & ego_pose, diff --git a/planning/sampling_based_planner/autoware_path_sampler/src/utils/trajectory_utils.cpp b/planning/sampling_based_planner/autoware_path_sampler/src/utils/trajectory_utils.cpp index 89120eef0f76a..e8379091615f8 100644 --- a/planning/sampling_based_planner/autoware_path_sampler/src/utils/trajectory_utils.cpp +++ b/planning/sampling_based_planner/autoware_path_sampler/src/utils/trajectory_utils.cpp @@ -35,29 +35,6 @@ namespace autoware::path_sampler { namespace trajectory_utils { -void compensateLastPose( - const PathPoint & last_path_point, std::vector & traj_points, - const double delta_dist_threshold, const double delta_yaw_threshold) -{ - if (traj_points.empty()) { - traj_points.push_back(convertToTrajectoryPoint(last_path_point)); - return; - } - - const geometry_msgs::msg::Pose last_traj_pose = traj_points.back().pose; - - const double dist = autoware::universe_utils::calcDistance2d( - last_path_point.pose.position, last_traj_pose.position); - const double norm_diff_yaw = [&]() { - const double diff_yaw = - tf2::getYaw(last_path_point.pose.orientation) - tf2::getYaw(last_traj_pose.orientation); - return autoware::universe_utils::normalizeRadian(diff_yaw); - }(); - if (dist > delta_dist_threshold || std::fabs(norm_diff_yaw) > delta_yaw_threshold) { - traj_points.push_back(convertToTrajectoryPoint(last_path_point)); - } -} - std::vector resampleTrajectoryPoints( const std::vector & traj_points, const double interval) { From c0fa13742ea38efc2f1c88f04411b194bf5c3dec Mon Sep 17 00:00:00 2001 From: danielsanchezaran Date: Tue, 3 Sep 2024 18:01:37 +0900 Subject: [PATCH 149/169] feat(autonomous_emergency_braking): increase aeb speed by getting last transform (#8734) set stamp to 0 to get the latest stamp instead of waiting for the stamp Signed-off-by: Daniel Sanchez --- control/autoware_autonomous_emergency_braking/src/node.cpp | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/control/autoware_autonomous_emergency_braking/src/node.cpp b/control/autoware_autonomous_emergency_braking/src/node.cpp index 49bf307db0f23..26c6decceaff7 100644 --- a/control/autoware_autonomous_emergency_braking/src/node.cpp +++ b/control/autoware_autonomous_emergency_braking/src/node.cpp @@ -250,7 +250,7 @@ void AEB::onImu(const Imu::ConstSharedPtr input_msg) geometry_msgs::msg::TransformStamped transform_stamped{}; try { transform_stamped = tf_buffer_.lookupTransform( - "base_link", input_msg->header.frame_id, input_msg->header.stamp, + "base_link", input_msg->header.frame_id, rclcpp::Time(0), rclcpp::Duration::from_seconds(0.5)); } catch (tf2::TransformException & ex) { RCLCPP_ERROR_STREAM( @@ -631,7 +631,7 @@ std::optional AEB::generateEgoPath(const Trajectory & predicted_traj) geometry_msgs::msg::TransformStamped transform_stamped{}; try { transform_stamped = tf_buffer_.lookupTransform( - "base_link", predicted_traj.header.frame_id, predicted_traj.header.stamp, + "base_link", predicted_traj.header.frame_id, rclcpp::Time(0), rclcpp::Duration::from_seconds(0.5)); } catch (tf2::TransformException & ex) { RCLCPP_ERROR_STREAM( @@ -705,7 +705,7 @@ void AEB::createObjectDataUsingPredictedObjects( geometry_msgs::msg::TransformStamped transform_stamped{}; try { transform_stamped = tf_buffer_.lookupTransform( - "base_link", predicted_objects_ptr_->header.frame_id, stamp, + "base_link", predicted_objects_ptr_->header.frame_id, rclcpp::Time(0), rclcpp::Duration::from_seconds(0.5)); } catch (tf2::TransformException & ex) { RCLCPP_ERROR_STREAM(get_logger(), "[AEB] Failed to look up transform from base_link to map"); From a5cc3bad97f54f1c72cabeb065e0c375e7638e00 Mon Sep 17 00:00:00 2001 From: Yoshi Ri Date: Tue, 3 Sep 2024 19:26:49 +0900 Subject: [PATCH 150/169] chore(autoware_lidar_centerpoint): add centerpoint sigma parameter (#8731) add centerpoint sigma parameter Signed-off-by: yoshiri --- .../config/centerpoint_sigma.param.yaml | 21 +++++++++++++++++++ 1 file changed, 21 insertions(+) create mode 100644 perception/autoware_lidar_centerpoint/config/centerpoint_sigma.param.yaml diff --git a/perception/autoware_lidar_centerpoint/config/centerpoint_sigma.param.yaml b/perception/autoware_lidar_centerpoint/config/centerpoint_sigma.param.yaml new file mode 100644 index 0000000000000..bd5fc5f3567a5 --- /dev/null +++ b/perception/autoware_lidar_centerpoint/config/centerpoint_sigma.param.yaml @@ -0,0 +1,21 @@ +/**: + ros__parameters: + + # 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" + trt_precision: fp16 + cloud_capacity: 2000000 + post_process_params: + # 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 + densification_params: + world_frame_id: map + num_past_frames: 1 From e90a127ea0c6fcd55d534456af00713a1f4e2ab7 Mon Sep 17 00:00:00 2001 From: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> Date: Tue, 3 Sep 2024 21:04:24 +0900 Subject: [PATCH 151/169] fix(mission_planner): improve condition to check if the goal is within the lane (#8710) Signed-off-by: Maxime CLEMENT --- .../src/lanelet2_plugins/default_planner.cpp | 108 +++++++++--------- .../src/lanelet2_plugins/default_planner.hpp | 22 ++-- .../lanelet2_plugins/utility_functions.cpp | 60 ---------- .../lanelet2_plugins/utility_functions.hpp | 12 -- 4 files changed, 64 insertions(+), 138 deletions(-) diff --git a/planning/autoware_mission_planner/src/lanelet2_plugins/default_planner.cpp b/planning/autoware_mission_planner/src/lanelet2_plugins/default_planner.cpp index 3a9bfc1357798..6c42195812a74 100644 --- a/planning/autoware_mission_planner/src/lanelet2_plugins/default_planner.cpp +++ b/planning/autoware_mission_planner/src/lanelet2_plugins/default_planner.cpp @@ -17,6 +17,7 @@ #include "utility_functions.hpp" #include +#include #include #include #include @@ -27,10 +28,13 @@ #include #include +#include +#include + +#include #include +#include #include -#include -#include #include #include @@ -216,7 +220,7 @@ PlannerPlugin::MarkerArray DefaultPlanner::visualize(const LaneletRoute & route) } visualization_msgs::msg::MarkerArray DefaultPlanner::visualize_debug_footprint( - autoware::universe_utils::LinearRing2d goal_footprint) const + autoware::universe_utils::LinearRing2d goal_footprint) { visualization_msgs::msg::MarkerArray msg; auto marker = autoware::universe_utils::createDefaultMarker( @@ -244,52 +248,58 @@ visualization_msgs::msg::MarkerArray DefaultPlanner::visualize_debug_footprint( return msg; } -bool DefaultPlanner::check_goal_footprint_inside_lanes( - const lanelet::ConstLanelet & current_lanelet, - const lanelet::ConstLanelet & combined_prev_lanelet, - const autoware::universe_utils::Polygon2d & goal_footprint, double & next_lane_length, - const double search_margin) +lanelet::ConstLanelets next_lanelets_up_to( + const lanelet::ConstLanelet & start_lanelet, const double up_to_distance, + const route_handler::RouteHandler & route_handler) { - // check if goal footprint is in current lane - if (boost::geometry::within(goal_footprint, combined_prev_lanelet.polygon2d().basicPolygon())) { - return true; + lanelet::ConstLanelets lanelets; + if (up_to_distance <= 0.0) { + return lanelets; } - const auto following = route_handler_.getNextLanelets(current_lanelet); - // check if goal footprint is in between many lanelets in depth-first search manner - for (const auto & next_lane : following) { - next_lane_length += lanelet::utils::getLaneletLength2d(next_lane); - lanelet::ConstLanelets lanelets; - lanelets.push_back(combined_prev_lanelet); + for (const auto & next_lane : route_handler.getNextLanelets(start_lanelet)) { lanelets.push_back(next_lane); - lanelet::ConstLanelet combined_lanelets = - combine_lanelets_with_shoulder(lanelets, route_handler_); - - // if next lanelet length is longer than vehicle longitudinal offset - if (vehicle_info_.max_longitudinal_offset_m + search_margin < next_lane_length) { - next_lane_length -= lanelet::utils::getLaneletLength2d(next_lane); - // and if the goal_footprint is within the (accumulated) combined_lanelets, terminate the - // query - if (boost::geometry::within(goal_footprint, combined_lanelets.polygon2d().basicPolygon())) { - return true; - } - // if not, iteration continues to next next_lane, and this subtree is terminated - } else { // if next lanelet length is shorter than vehicle longitudinal offset, check the - // overlap with the polygon including the next_lane(s) until the additional lanes get - // longer than ego vehicle length - if (!check_goal_footprint_inside_lanes( - next_lane, combined_lanelets, goal_footprint, next_lane_length)) { - next_lane_length -= lanelet::utils::getLaneletLength2d(next_lane); - continue; - } else { - return true; - } + const auto next_lanelets = next_lanelets_up_to( + next_lane, up_to_distance - lanelet::geometry::length2d(next_lane), route_handler); + lanelets.insert(lanelets.end(), next_lanelets.begin(), next_lanelets.end()); + } + return lanelets; +} + +bool DefaultPlanner::check_goal_footprint_inside_lanes( + const lanelet::ConstLanelet & current_lanelet, const lanelet::ConstLanelets & path_lanelets, + const universe_utils::Polygon2d & goal_footprint) const +{ + universe_utils::MultiPolygon2d ego_lanes; + universe_utils::Polygon2d poly; + for (const auto & ll : path_lanelets) { + const auto left_shoulder = route_handler_.getLeftShoulderLanelet(ll); + if (left_shoulder) { + boost::geometry::convert(left_shoulder->polygon2d().basicPolygon(), poly); + ego_lanes.push_back(poly); + } + const auto right_shoulder = route_handler_.getRightShoulderLanelet(ll); + if (right_shoulder) { + boost::geometry::convert(right_shoulder->polygon2d().basicPolygon(), poly); + ego_lanes.push_back(poly); } + boost::geometry::convert(ll.polygon2d().basicPolygon(), poly); + ego_lanes.push_back(poly); } - return false; + const auto next_lanelets = + next_lanelets_up_to(current_lanelet, vehicle_info_.max_longitudinal_offset_m, route_handler_); + for (const auto & ll : next_lanelets) { + boost::geometry::convert(ll.polygon2d().basicPolygon(), poly); + ego_lanes.push_back(poly); + } + + // check if goal footprint is in the ego lane + universe_utils::MultiPolygon2d difference; + boost::geometry::difference(goal_footprint, ego_lanes, difference); + return boost::geometry::is_empty(difference); } bool DefaultPlanner::is_goal_valid( - const geometry_msgs::msg::Pose & goal, lanelet::ConstLanelets path_lanelets) + const geometry_msgs::msg::Pose & goal, const lanelet::ConstLanelets & path_lanelets) { const auto logger = node_->get_logger(); @@ -337,16 +347,10 @@ bool DefaultPlanner::is_goal_valid( pub_goal_footprint_marker_->publish(visualize_debug_footprint(goal_footprint)); const auto polygon_footprint = convert_linear_ring_to_polygon(goal_footprint); - double next_lane_length = 0.0; - // combine calculated route lanelets - const lanelet::ConstLanelet combined_prev_lanelet = - combine_lanelets_with_shoulder(path_lanelets, route_handler_); - // check if goal footprint exceeds lane when the goal isn't in parking_lot if ( param_.check_footprint_inside_lanes && - !check_goal_footprint_inside_lanes( - closest_lanelet, combined_prev_lanelet, polygon_footprint, next_lane_length) && + !check_goal_footprint_inside_lanes(closest_lanelet, path_lanelets, polygon_footprint) && !is_in_parking_lot( lanelet::utils::query::getAllParkingLots(route_handler_.getLaneletMapPtr()), lanelet::utils::conversion::toLaneletPoint(goal.position))) { @@ -375,11 +379,7 @@ bool DefaultPlanner::is_goal_valid( // check if goal is in parking lot const auto parking_lots = lanelet::utils::query::getAllParkingLots(route_handler_.getLaneletMapPtr()); - if (is_in_parking_lot(parking_lots, goal_lanelet_pt)) { - return true; - } - - return false; + return is_in_parking_lot(parking_lots, goal_lanelet_pt); } PlannerPlugin::LaneletRoute DefaultPlanner::plan(const RoutePoints & points) @@ -429,7 +429,7 @@ PlannerPlugin::LaneletRoute DefaultPlanner::plan(const RoutePoints & points) return route_msg; } - if (route_handler_.isRouteLooped(route_sections)) { + if (route_handler::RouteHandler::isRouteLooped(route_sections)) { RCLCPP_WARN(logger, "Loop detected within route!"); return route_msg; } diff --git a/planning/autoware_mission_planner/src/lanelet2_plugins/default_planner.hpp b/planning/autoware_mission_planner/src/lanelet2_plugins/default_planner.hpp index 5394caf698664..39b7fa8909a6a 100644 --- a/planning/autoware_mission_planner/src/lanelet2_plugins/default_planner.hpp +++ b/planning/autoware_mission_planner/src/lanelet2_plugins/default_planner.hpp @@ -27,7 +27,6 @@ #include #include -#include #include namespace autoware::mission_planner::lanelet2 @@ -44,17 +43,17 @@ struct DefaultPlannerParameters class DefaultPlanner : public mission_planner::PlannerPlugin { public: - DefaultPlanner() : is_graph_ready_(false), route_handler_(), param_(), node_(nullptr) {} + DefaultPlanner() : vehicle_info_(), is_graph_ready_(false), param_(), node_(nullptr) {} void initialize(rclcpp::Node * node) override; void initialize(rclcpp::Node * node, const LaneletMapBin::ConstSharedPtr msg) override; - bool ready() const override; + [[nodiscard]] bool ready() const override; LaneletRoute plan(const RoutePoints & points) override; void updateRoute(const PlannerPlugin::LaneletRoute & route) override; void clearRoute() override; - MarkerArray visualize(const LaneletRoute & route) const override; - MarkerArray visualize_debug_footprint( - autoware::universe_utils::LinearRing2d goal_footprint) const; + [[nodiscard]] MarkerArray visualize(const LaneletRoute & route) const override; + [[nodiscard]] static MarkerArray visualize_debug_footprint( + autoware::universe_utils::LinearRing2d goal_footprint); autoware::vehicle_info_utils::VehicleInfo vehicle_info_; private: @@ -85,17 +84,16 @@ class DefaultPlanner : public mission_planner::PlannerPlugin * @param next_lane_length the accumulated total length from the start lanelet of the search to * the lanelet of current goal query */ - bool check_goal_footprint_inside_lanes( - const lanelet::ConstLanelet & current_lanelet, - const lanelet::ConstLanelet & combined_prev_lanelet, - const autoware::universe_utils::Polygon2d & goal_footprint, double & next_lane_length, - const double search_margin = 2.0); + [[nodiscard]] bool check_goal_footprint_inside_lanes( + const lanelet::ConstLanelet & current_lanelet, const lanelet::ConstLanelets & path_lanelets, + const universe_utils::Polygon2d & goal_footprint) const; /** * @brief return true if (1)the goal is in parking area or (2)the goal is on the lanes and the * footprint around the goal does not overlap the lanes */ - bool is_goal_valid(const geometry_msgs::msg::Pose & goal, lanelet::ConstLanelets path_lanelets); + bool is_goal_valid( + const geometry_msgs::msg::Pose & goal, const lanelet::ConstLanelets & path_lanelets); /** * @brief project the specified goal pose onto the goal lanelet(the last preferred lanelet of diff --git a/planning/autoware_mission_planner/src/lanelet2_plugins/utility_functions.cpp b/planning/autoware_mission_planner/src/lanelet2_plugins/utility_functions.cpp index 5046b81c72b96..34b16ef35f603 100644 --- a/planning/autoware_mission_planner/src/lanelet2_plugins/utility_functions.cpp +++ b/planning/autoware_mission_planner/src/lanelet2_plugins/utility_functions.cpp @@ -18,9 +18,6 @@ #include -#include -#include - autoware::universe_utils::Polygon2d convert_linear_ring_to_polygon( autoware::universe_utils::LinearRing2d footprint) { @@ -41,63 +38,6 @@ void insert_marker_array( a1->markers.insert(a1->markers.end(), a2.markers.begin(), a2.markers.end()); } -lanelet::ConstLanelet combine_lanelets_with_shoulder( - const lanelet::ConstLanelets & lanelets, - const autoware::route_handler::RouteHandler & route_handler) -{ - lanelet::Points3d lefts; - lanelet::Points3d rights; - lanelet::Points3d centers; - std::vector left_bound_ids; - std::vector right_bound_ids; - - for (const auto & llt : lanelets) { - if (llt.id() != lanelet::InvalId) { - left_bound_ids.push_back(llt.leftBound().id()); - right_bound_ids.push_back(llt.rightBound().id()); - } - } - - // lambda to add bound to target_bound - const auto add_bound = [](const auto & bound, auto & target_bound) { - std::transform( - bound.begin(), bound.end(), std::back_inserter(target_bound), - [](const auto & pt) { return lanelet::Point3d(pt); }); - }; - for (const auto & llt : lanelets) { - // check if shoulder lanelets which has RIGHT bound same to LEFT bound of lanelet exist - const auto left_shared_shoulder = route_handler.getLeftShoulderLanelet(llt); - if (left_shared_shoulder) { - // if exist, add left bound of SHOULDER lanelet to lefts - add_bound(left_shared_shoulder->leftBound(), lefts); - } else if ( - // if not exist, add left bound of lanelet to lefts - // if the **left** of this lanelet does not match any of the **right** bounds of `lanelets`, - // then its left bound constitutes the left boundary of the entire merged lanelet - std::count(right_bound_ids.begin(), right_bound_ids.end(), llt.leftBound().id()) < 1) { - add_bound(llt.leftBound(), lefts); - } - - // check if shoulder lanelets which has LEFT bound same to RIGHT bound of lanelet exist - const auto right_shared_shoulder = route_handler.getRightShoulderLanelet(llt); - if (right_shared_shoulder) { - // if exist, add right bound of SHOULDER lanelet to rights - add_bound(right_shared_shoulder->rightBound(), rights); - } else if ( - // if not exist, add right bound of lanelet to rights - // if the **right** of this lanelet does not match any of the **left** bounds of `lanelets`, - // then its right bound constitutes the right boundary of the entire merged lanelet - std::count(left_bound_ids.begin(), left_bound_ids.end(), llt.rightBound().id()) < 1) { - add_bound(llt.rightBound(), rights); - } - } - - const auto left_bound = lanelet::LineString3d(lanelet::InvalId, lefts); - const auto right_bound = lanelet::LineString3d(lanelet::InvalId, rights); - auto combined_lanelet = lanelet::Lanelet(lanelet::InvalId, left_bound, right_bound); - return std::move(combined_lanelet); -} - std::vector convertCenterlineToPoints(const lanelet::Lanelet & lanelet) { std::vector centerline_points; diff --git a/planning/autoware_mission_planner/src/lanelet2_plugins/utility_functions.hpp b/planning/autoware_mission_planner/src/lanelet2_plugins/utility_functions.hpp index c8812e2c76dd6..6e3d2a0e88941 100644 --- a/planning/autoware_mission_planner/src/lanelet2_plugins/utility_functions.hpp +++ b/planning/autoware_mission_planner/src/lanelet2_plugins/utility_functions.hpp @@ -27,8 +27,6 @@ #include #include -#include -#include #include template @@ -47,16 +45,6 @@ autoware::universe_utils::Polygon2d convert_linear_ring_to_polygon( void insert_marker_array( visualization_msgs::msg::MarkerArray * a1, const visualization_msgs::msg::MarkerArray & a2); -/** - * @brief create a single merged lanelet whose left/right bounds consist of the leftmost/rightmost - * bound of the original lanelets or the left/right bound of its adjacent road_shoulder respectively - * @param lanelets topologically sorted sequence of lanelets - * @param route_handler route handler to query the lanelet map - */ -lanelet::ConstLanelet combine_lanelets_with_shoulder( - const lanelet::ConstLanelets & lanelets, - const autoware::route_handler::RouteHandler & route_handler); - std::vector convertCenterlineToPoints(const lanelet::Lanelet & lanelet); geometry_msgs::msg::Pose convertBasicPoint3dToPose( const lanelet::BasicPoint3d & point, const double lane_yaw); From b967b6fd70a8591e17f558aa150e80517e9d53de Mon Sep 17 00:00:00 2001 From: Yoshi Ri Date: Tue, 3 Sep 2024 22:08:13 +0900 Subject: [PATCH 152/169] refactor(cuda_utils): move cuda_utils to sensing (#8729) fix: move cuda_utils to sensing Signed-off-by: yoshiri --- {common => sensing}/cuda_utils/CMakeLists.txt | 0 {common => sensing}/cuda_utils/README.md | 0 .../cuda_utils/include/cuda_utils/cuda_check_error.hpp | 0 .../cuda_utils/include/cuda_utils/cuda_unique_ptr.hpp | 0 .../cuda_utils/include/cuda_utils/stream_unique_ptr.hpp | 0 {common => sensing}/cuda_utils/package.xml | 0 6 files changed, 0 insertions(+), 0 deletions(-) rename {common => sensing}/cuda_utils/CMakeLists.txt (100%) rename {common => sensing}/cuda_utils/README.md (100%) rename {common => sensing}/cuda_utils/include/cuda_utils/cuda_check_error.hpp (100%) rename {common => sensing}/cuda_utils/include/cuda_utils/cuda_unique_ptr.hpp (100%) rename {common => sensing}/cuda_utils/include/cuda_utils/stream_unique_ptr.hpp (100%) rename {common => sensing}/cuda_utils/package.xml (100%) diff --git a/common/cuda_utils/CMakeLists.txt b/sensing/cuda_utils/CMakeLists.txt similarity index 100% rename from common/cuda_utils/CMakeLists.txt rename to sensing/cuda_utils/CMakeLists.txt diff --git a/common/cuda_utils/README.md b/sensing/cuda_utils/README.md similarity index 100% rename from common/cuda_utils/README.md rename to sensing/cuda_utils/README.md diff --git a/common/cuda_utils/include/cuda_utils/cuda_check_error.hpp b/sensing/cuda_utils/include/cuda_utils/cuda_check_error.hpp similarity index 100% rename from common/cuda_utils/include/cuda_utils/cuda_check_error.hpp rename to sensing/cuda_utils/include/cuda_utils/cuda_check_error.hpp diff --git a/common/cuda_utils/include/cuda_utils/cuda_unique_ptr.hpp b/sensing/cuda_utils/include/cuda_utils/cuda_unique_ptr.hpp similarity index 100% rename from common/cuda_utils/include/cuda_utils/cuda_unique_ptr.hpp rename to sensing/cuda_utils/include/cuda_utils/cuda_unique_ptr.hpp diff --git a/common/cuda_utils/include/cuda_utils/stream_unique_ptr.hpp b/sensing/cuda_utils/include/cuda_utils/stream_unique_ptr.hpp similarity index 100% rename from common/cuda_utils/include/cuda_utils/stream_unique_ptr.hpp rename to sensing/cuda_utils/include/cuda_utils/stream_unique_ptr.hpp diff --git a/common/cuda_utils/package.xml b/sensing/cuda_utils/package.xml similarity index 100% rename from common/cuda_utils/package.xml rename to sensing/cuda_utils/package.xml From 4cd1872ed928fedb55eca6b877538f891b2816d5 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Wed, 4 Sep 2024 00:04:32 +0900 Subject: [PATCH 153/169] fix(behavior_velocity_traffic_light): make dilemma_zone_plotter.py executable (#8684) Signed-off-by: Takayuki Murooka --- .../scripts/dilemma_zone_plotter.py | 0 1 file changed, 0 insertions(+), 0 deletions(-) mode change 100644 => 100755 planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/scripts/dilemma_zone_plotter.py diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/scripts/dilemma_zone_plotter.py b/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/scripts/dilemma_zone_plotter.py old mode 100644 new mode 100755 From 69f5b7c6340da0c0eb85d87af56c072905b3a780 Mon Sep 17 00:00:00 2001 From: Esteve Fernandez <33620+esteve@users.noreply.github.com> Date: Tue, 3 Sep 2024 17:55:33 +0200 Subject: [PATCH 154/169] fix(autoware_pointcloud_preprocessor): instantiate templates so that the symbols exist when linking (#8743) Signed-off-by: Esteve Fernandez --- .../src/distortion_corrector/distortion_corrector.cpp | 3 +++ 1 file changed, 3 insertions(+) diff --git a/sensing/autoware_pointcloud_preprocessor/src/distortion_corrector/distortion_corrector.cpp b/sensing/autoware_pointcloud_preprocessor/src/distortion_corrector/distortion_corrector.cpp index 868dd96088a65..affa6d901be2d 100644 --- a/sensing/autoware_pointcloud_preprocessor/src/distortion_corrector/distortion_corrector.cpp +++ b/sensing/autoware_pointcloud_preprocessor/src/distortion_corrector/distortion_corrector.cpp @@ -422,4 +422,7 @@ inline void DistortionCorrector3D::undistortPointImplementation( prev_transformation_matrix_ = transformation_matrix_; } +template class DistortionCorrector; +template class DistortionCorrector; + } // namespace autoware::pointcloud_preprocessor From 155780654f545efc55ca426724b93f8a979bccf7 Mon Sep 17 00:00:00 2001 From: Kotaro Uetake <60615504+ktro2828@users.noreply.github.com> Date: Wed, 4 Sep 2024 01:07:34 +0900 Subject: [PATCH 155/169] fix(autoware_shape_estimation): resolve undefined reference to `~TrtShapeEstimator()` (#8738) fix: resolve undefined reference to `~TrtShapeEstimator()` Signed-off-by: ktro2828 --- .../autoware/shape_estimation/tensorrt_shape_estimator.hpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/perception/autoware_shape_estimation/include/autoware/shape_estimation/tensorrt_shape_estimator.hpp b/perception/autoware_shape_estimation/include/autoware/shape_estimation/tensorrt_shape_estimator.hpp index 5d0b7032445c8..d046e1d717b89 100644 --- a/perception/autoware_shape_estimation/include/autoware/shape_estimation/tensorrt_shape_estimator.hpp +++ b/perception/autoware_shape_estimation/include/autoware/shape_estimation/tensorrt_shape_estimator.hpp @@ -53,7 +53,7 @@ class TrtShapeEstimator const tensorrt_common::BuildConfig build_config = tensorrt_common::BuildConfig("MinMax", -1, false, false, false, 0.0)); - ~TrtShapeEstimator(); + ~TrtShapeEstimator() = default; bool inference(const DetectedObjectsWithFeature & input, DetectedObjectsWithFeature & output); From 799e4f95765a87018125dc3368af723224c50acf Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Wed, 4 Sep 2024 01:37:33 +0900 Subject: [PATCH 156/169] feat(goal_planner): extend pull over lanes inward to extract objects (#8714) * feat(goal_planner): extend pull over lanes inward to extract objects Signed-off-by: kosuke55 * update from review Signed-off-by: kosuke55 * use optionale Signed-off-by: kosuke55 * rename lamda Signed-off-by: kosuke55 * return nullopt Signed-off-by: kosuke55 * Update planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/util.cpp Co-authored-by: Mamoru Sobue * pre-commit Signed-off-by: kosuke55 --------- Signed-off-by: kosuke55 Co-authored-by: Mamoru Sobue --- .../goal_planner_module.hpp | 1 + .../goal_searcher.hpp | 10 +- .../goal_searcher_base.hpp | 10 +- .../util.hpp | 13 ++ .../src/goal_planner_module.cpp | 65 ++++++++-- .../src/goal_searcher.cpp | 34 ++--- .../src/util.cpp | 121 ++++++++++++++++++ 7 files changed, 204 insertions(+), 50 deletions(-) diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/goal_planner_module.hpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/goal_planner_module.hpp index 222bc4e49ca18..2adac879a6bb2 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/goal_planner_module.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/goal_planner_module.hpp @@ -275,6 +275,7 @@ struct GoalPlannerDebugData FreespacePlannerDebugData freespace_planner{}; std::vector ego_polygons_expanded{}; lanelet::ConstLanelet expanded_pull_over_lane_between_ego{}; + Polygon2d objects_extraction_polygon{}; }; struct LastApprovalData diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/goal_searcher.hpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/goal_searcher.hpp index 5d056add4665e..6bdad3a3063ef 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/goal_searcher.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/goal_searcher.hpp @@ -31,13 +31,12 @@ class GoalSearcher : public GoalSearcherBase public: GoalSearcher(const GoalPlannerParameters & parameters, const LinearRing2d & vehicle_footprint); - GoalCandidates search( - const std::shared_ptr occupancy_grid_map, - const std::shared_ptr & planner_data) override; + GoalCandidates search(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; + const std::shared_ptr & planner_data, + const PredictedObjects & objects) 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. @@ -47,7 +46,8 @@ class GoalSearcher : public GoalSearcherBase 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 std::shared_ptr & planner_data, + const PredictedObjects & objects) const override; private: void countObjectsToAvoid( diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/goal_searcher_base.hpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/goal_searcher_base.hpp index baead4c229efd..b7d6ffe0710fe 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/goal_searcher_base.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/goal_searcher_base.hpp @@ -53,13 +53,12 @@ class GoalSearcherBase 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 GoalCandidates search(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 + [[maybe_unused]] const std::shared_ptr & planner_data, + [[maybe_unused]] const PredictedObjects & objects) const { return; } @@ -69,7 +68,8 @@ class GoalSearcherBase 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 std::shared_ptr & planner_data, + const PredictedObjects & objects) const = 0; protected: GoalPlannerParameters parameters_{}; diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/util.hpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/util.hpp index 2a48db97b1977..7d83c598a8227 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/util.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/util.hpp @@ -64,6 +64,19 @@ lanelet::ConstLanelets generateBetweenEgoAndExpandedPullOverLanes( const geometry_msgs::msg::Pose ego_pose, const autoware::vehicle_info_utils::VehicleInfo & vehicle_info, const double outer_road_offset, const double inner_road_offset); + +/* + * @brief generate polygon to extract objects + * @param pull_over_lanes pull over lanes + * @param left_side left side or right side + * @param outer_offset outer offset from pull over lane boundary + * @param inner_offset inner offset from pull over lane boundary + * @return polygon to extract objects + */ +std::optional generateObjectExtractionPolygon( + const lanelet::ConstLanelets & pull_over_lanes, const bool left_side, const double outer_offset, + const double inner_offset); + PredictedObjects extractObjectsInExpandedPullOverLanes( const RouteHandler & route_handler, const bool left_side, const double backward_distance, const double forward_distance, double bound_offset, const PredictedObjects & objects); diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp index eb7e6e22370aa..92e15c2c4aee4 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp @@ -459,18 +459,33 @@ void GoalPlannerModule::updateData() { universe_utils::ScopedTimeTrack st(__func__, *time_keeper_); - // extract static and dynamic objects in expanded pull over lanes + // extract static and dynamic objects in extraction polygon for path coliision check { const auto & p = parameters_; const auto & rh = *(planner_data_->route_handler); const auto objects = *(planner_data_->dynamic_object); - const auto static_target_objects = - 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); - const auto dynamic_target_objects = goal_planner_utils::extractObjectsInExpandedPullOverLanes( - rh, left_side_parking_, p->backward_goal_search_length, p->forward_goal_search_length, - p->detection_bound_offset, objects); + const double vehicle_width = planner_data_->parameters.vehicle_width; + const auto pull_over_lanes = goal_planner_utils::getPullOverLanes( + rh, left_side_parking_, p->backward_goal_search_length, p->forward_goal_search_length); + const auto objects_extraction_polygon = goal_planner_utils::generateObjectExtractionPolygon( + pull_over_lanes, left_side_parking_, p->detection_bound_offset, + p->margin_from_boundary + p->max_lateral_offset + vehicle_width); + if (objects_extraction_polygon.has_value()) { + debug_data_.objects_extraction_polygon = objects_extraction_polygon.value(); + } + PredictedObjects dynamic_target_objects{}; + for (const auto & object : objects.objects) { + const auto object_polygon = universe_utils::toPolygon2d(object); + if ( + objects_extraction_polygon.has_value() && + boost::geometry::intersects(object_polygon, objects_extraction_polygon.value())) { + dynamic_target_objects.objects.push_back(object); + } + } + const auto static_target_objects = utils::path_safety_checker::filterObjectsByVelocity( + dynamic_target_objects, p->th_moving_object_velocity); + + // these objects are used for path collision check not for safety check thread_safe_data_.set_static_target_objects(static_target_objects); thread_safe_data_.set_dynamic_target_objects(dynamic_target_objects); } @@ -739,7 +754,9 @@ bool GoalPlannerModule::planFreespacePath( { GoalCandidates goal_candidates{}; goal_candidates = thread_safe_data_.get_goal_candidates(); - goal_searcher->update(goal_candidates, occupancy_grid_map, planner_data); + goal_searcher->update( + goal_candidates, occupancy_grid_map, planner_data, + thread_safe_data_.get_static_target_objects()); 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; @@ -824,7 +841,7 @@ 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(planner_data_); } // NOTE: @@ -1282,9 +1299,9 @@ DecidingPathStatusWithStamp GoalPlannerModule::checkDecidingPathStatus( // check goal pose collision 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, occupancy_grid_map, + planner_data, thread_safe_data_.get_static_target_objects())) { RCLCPP_DEBUG(getLogger(), "[DecidingPathStatus]: DECIDING->NOT_DECIDED. goal is not safe"); return {DecidingPathStatus::NOT_DECIDED, clock_->now()}; } @@ -1443,7 +1460,9 @@ BehaviorModuleOutput GoalPlannerModule::planPullOverAsOutput() // update goal candidates auto goal_candidates = thread_safe_data_.get_goal_candidates(); - goal_searcher_->update(goal_candidates, occupancy_grid_map_, planner_data_); + goal_searcher_->update( + goal_candidates, occupancy_grid_map_, planner_data_, + thread_safe_data_.get_static_target_objects()); // Select a path that is as safe as possible and has a high priority. const auto pull_over_path_candidates = thread_safe_data_.get_pull_over_path_candidates(); @@ -2518,6 +2537,24 @@ void GoalPlannerModule::setDebugData() // Visualize goal candidates const auto goal_candidates = thread_safe_data_.get_goal_candidates(); add(goal_planner_utils::createGoalCandidatesMarkerArray(goal_candidates, color)); + + // Visualize objects extraction polygon + auto marker = autoware::universe_utils::createDefaultMarker( + "map", rclcpp::Clock{RCL_ROS_TIME}.now(), "objects_extraction_polygon", 0, Marker::LINE_LIST, + autoware::universe_utils::createMarkerScale(0.1, 0.0, 0.0), + autoware::universe_utils::createMarkerColor(0.0, 1.0, 1.0, 0.999)); + const double ego_z = planner_data_->self_odometry->pose.pose.position.z; + for (size_t i = 0; i < debug_data_.objects_extraction_polygon.outer().size(); ++i) { + const auto & current_point = debug_data_.objects_extraction_polygon.outer().at(i); + const auto & next_point = debug_data_.objects_extraction_polygon.outer().at( + (i + 1) % debug_data_.objects_extraction_polygon.outer().size()); + marker.points.push_back( + autoware::universe_utils::createPoint(current_point.x(), current_point.y(), ego_z)); + marker.points.push_back( + autoware::universe_utils::createPoint(next_point.x(), next_point.y(), ego_z)); + } + + debug_marker_.markers.push_back(marker); } // Visualize previous module output diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_searcher.cpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_searcher.cpp index 9137e71accf87..2d49f930c2692 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_searcher.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_searcher.cpp @@ -97,9 +97,7 @@ GoalSearcher::GoalSearcher( { } -GoalCandidates GoalSearcher::search( - const std::shared_ptr occupancy_grid_map, - const std::shared_ptr & planner_data) +GoalCandidates GoalSearcher::search(const std::shared_ptr & planner_data) { GoalCandidates goal_candidates{}; @@ -193,8 +191,6 @@ GoalCandidates GoalSearcher::search( } createAreaPolygons(original_search_poses, planner_data); - update(goal_candidates, occupancy_grid_map, planner_data); - return goal_candidates; } @@ -268,16 +264,10 @@ void GoalSearcher::countObjectsToAvoid( void GoalSearcher::update( GoalCandidates & goal_candidates, const std::shared_ptr occupancy_grid_map, - const std::shared_ptr & planner_data) const + const std::shared_ptr & planner_data, const PredictedObjects & objects) const { - const auto pull_over_lane_stop_objects = - goal_planner_utils::extractStaticObjectsInExpandedPullOverLanes( - *(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); - if (parameters_.prioritize_goals_before_objects) { - countObjectsToAvoid(goal_candidates, pull_over_lane_stop_objects, planner_data); + countObjectsToAvoid(goal_candidates, objects, planner_data); } if (parameters_.goal_priority == "minimum_weighted_distance") { @@ -297,7 +287,7 @@ 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, objects, occupancy_grid_map)) { goal_candidate.is_safe = false; continue; } @@ -305,7 +295,7 @@ 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, objects, parameters_.object_recognition_collision_check_hard_margins.back(), filter_inside); if (checkCollisionWithLongitudinalDistance( goal_pose, target_objects, occupancy_grid_map, planner_data)) { @@ -323,33 +313,25 @@ void GoalSearcher::update( 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 std::shared_ptr & planner_data, const PredictedObjects & objects) const { if (!parameters_.use_object_recognition) { return true; } const Pose goal_pose = goal_candidate.goal_pose; - - const auto pull_over_lane_stop_objects = - goal_planner_utils::extractStaticObjectsInExpandedPullOverLanes( - *(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); - const double margin = parameters_.object_recognition_collision_check_hard_margins.back() * margin_scale_factor; if (utils::checkCollisionBetweenFootprintAndObjects( - vehicle_footprint_, goal_pose, pull_over_lane_stop_objects, margin)) { + vehicle_footprint_, goal_pose, objects, margin)) { return false; } // 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, - filter_inside); + goal_pose, planner_data->parameters.vehicle_width, objects, margin, filter_inside); if (checkCollisionWithLongitudinalDistance( goal_pose, target_objects, occupancy_grid_map, planner_data)) { return false; diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/util.cpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/util.cpp index 6bceec531b653..ecb0b1be4e83e 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/util.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/util.cpp @@ -39,6 +39,7 @@ namespace autoware::behavior_path_planner::goal_planner_utils { +using autoware::universe_utils::calcDistance2d; using autoware::universe_utils::calcOffsetPose; using autoware::universe_utils::createDefaultMarker; using autoware::universe_utils::createMarkerColor; @@ -138,6 +139,126 @@ lanelet::ConstLanelets generateBetweenEgoAndExpandedPullOverLanes( -outer_road_offset); } +std::optional generateObjectExtractionPolygon( + const lanelet::ConstLanelets & pull_over_lanes, const bool left_side, const double outer_offset, + const double inner_offset) +{ + // generate base boundary poses without orientation + std::vector base_boundary_poses{}; + for (const auto & lane : pull_over_lanes) { + const auto & bound = left_side ? lane.leftBound() : lane.rightBound(); + for (const auto & p : bound) { + Pose pose{}; + pose.position = createPoint(p.x(), p.y(), p.z()); + if (std::any_of(base_boundary_poses.begin(), base_boundary_poses.end(), [&](const auto & p) { + return calcDistance2d(p.position, pose.position) < 0.1; + })) { + continue; + } + base_boundary_poses.push_back(pose); + } + } + if (base_boundary_poses.size() < 2) { + return std::nullopt; + } + + // set orientation to next point + for (auto it = base_boundary_poses.begin(); it != std::prev(base_boundary_poses.end()); ++it) { + const auto & p = it->position; + const auto & next_p = std::next(it)->position; + const double yaw = autoware::universe_utils::calcAzimuthAngle(p, next_p); + it->orientation = autoware::universe_utils::createQuaternionFromYaw(yaw); + } + base_boundary_poses.back().orientation = + base_boundary_poses[base_boundary_poses.size() - 2].orientation; + + // generate outer and inner boundary poses + std::vector outer_boundary_points{}; + std::vector inner_boundary_points{}; + const double outer_direction_sign = left_side ? 1.0 : -1.0; + for (const auto & base_pose : base_boundary_poses) { + const Pose outer_pose = calcOffsetPose(base_pose, 0, outer_direction_sign * outer_offset, 0); + const Pose inner_pose = calcOffsetPose(base_pose, 0, -outer_direction_sign * inner_offset, 0); + outer_boundary_points.push_back(outer_pose.position); + inner_boundary_points.push_back(inner_pose.position); + } + + // remove self intersection + // if bound is intersected, remove them and insert intersection point + using BoostPoint = boost::geometry::model::d2::point_xy; + using LineString = boost::geometry::model::linestring; + const auto remove_self_intersection = [](const std::vector & bound) { + constexpr double INTERSECTION_CHECK_DISTANCE = 10.0; + std::vector modified_bound{}; + size_t i = 0; + while (i < bound.size() - 2) { + BoostPoint p1(bound.at(i).x, bound.at(i).y); + BoostPoint p2(bound.at(i + 1).x, bound.at(i + 1).y); + LineString p_line{}; + p_line.push_back(p1); + p_line.push_back(p2); + bool intersection_found = false; + for (size_t j = i + 2; j < bound.size() - 1; j++) { + const double distance = autoware::universe_utils::calcDistance2d(bound.at(i), bound.at(j)); + if (distance > INTERSECTION_CHECK_DISTANCE) { + break; + } + LineString q_line{}; + BoostPoint q1(bound.at(j).x, bound.at(j).y); + BoostPoint q2(bound.at(j + 1).x, bound.at(j + 1).y); + q_line.push_back(q1); + q_line.push_back(q2); + std::vector intersection_points; + boost::geometry::intersection(p_line, q_line, intersection_points); + if (intersection_points.empty()) { + continue; + } + modified_bound.push_back(bound.at(i)); + Point intersection_point{}; + intersection_point.x = intersection_points.at(0).x(); + intersection_point.y = intersection_points.at(0).y(); + intersection_point.z = bound.at(i).z; + modified_bound.push_back(intersection_point); + i = j + 1; + intersection_found = true; + break; + } + if (!intersection_found) { + modified_bound.push_back(bound.at(i)); + i++; + } + } + modified_bound.push_back(bound.back()); + return modified_bound; + }; + outer_boundary_points = remove_self_intersection(outer_boundary_points); + inner_boundary_points = remove_self_intersection(inner_boundary_points); + + // create clockwise polygon + Polygon2d polygon{}; + const auto & left_boundary_points = left_side ? outer_boundary_points : inner_boundary_points; + const auto & right_boundary_points = left_side ? inner_boundary_points : outer_boundary_points; + std::vector reversed_right_boundary_points = right_boundary_points; + std::reverse(reversed_right_boundary_points.begin(), reversed_right_boundary_points.end()); + for (const auto & left_point : left_boundary_points) { + autoware::universe_utils::Point2d point{left_point.x, left_point.y}; + polygon.outer().push_back(point); + } + for (const auto & right_point : reversed_right_boundary_points) { + autoware::universe_utils::Point2d point{right_point.x, right_point.y}; + polygon.outer().push_back(point); + } + autoware::universe_utils::Point2d first_point{ + left_boundary_points.front().x, left_boundary_points.front().y}; + polygon.outer().push_back(first_point); + + if (polygon.outer().size() < 3) { + return std::nullopt; + } + + return polygon; +} + PredictedObjects extractObjectsInExpandedPullOverLanes( const RouteHandler & route_handler, const bool left_side, const double backward_distance, const double forward_distance, double bound_offset, const PredictedObjects & objects) From c0e92510052e5c18270e8087a4741ecad9887e8d Mon Sep 17 00:00:00 2001 From: Yoshi Ri Date: Wed, 4 Sep 2024 01:52:45 +0900 Subject: [PATCH 157/169] fix(compare_map_segmentation): use squared distance to compare threshold (#8744) fix: use square distance to compare threshold Signed-off-by: yoshiri --- .../src/distance_based_compare_map_filter/node.cpp | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/perception/autoware_compare_map_segmentation/src/distance_based_compare_map_filter/node.cpp b/perception/autoware_compare_map_segmentation/src/distance_based_compare_map_filter/node.cpp index 53183cd7dc3f0..e5ff8da4e4da9 100644 --- a/perception/autoware_compare_map_segmentation/src/distance_based_compare_map_filter/node.cpp +++ b/perception/autoware_compare_map_segmentation/src/distance_based_compare_map_filter/node.cpp @@ -59,14 +59,14 @@ bool DistanceBasedStaticMapLoader::is_close_to_map( } std::vector nn_indices(1); - std::vector nn_distances(1); + std::vector nn_sqr_distances(1); if (!isFinite(point)) { return false; } - if (!tree_->nearestKSearch(point, 1, nn_indices, nn_distances)) { + if (!tree_->nearestKSearch(point, 1, nn_indices, nn_sqr_distances)) { return false; } - if (nn_distances[0] > distance_threshold) { + if (nn_sqr_distances[0] > distance_threshold * distance_threshold) { return false; } return true; From 3a6c10ca1874f0eac996417dd70fd48136519fc2 Mon Sep 17 00:00:00 2001 From: kobayu858 <129580202+kobayu858@users.noreply.github.com> Date: Wed, 4 Sep 2024 11:36:03 +0900 Subject: [PATCH 158/169] fix(autoware_behavior_path_planner_common): fix unusedFunction (#8736) fix:unusedFunction Signed-off-by: kobayu858 --- .../interface/scene_module_interface.hpp | 9 +-------- .../interface/scene_module_manager_interface.hpp | 10 +--------- .../src/interface/scene_module_interface.cpp | 9 +++++++++ .../src/interface/scene_module_manager_interface.cpp | 10 ++++++++++ 4 files changed, 21 insertions(+), 17 deletions(-) diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/interface/scene_module_interface.hpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/interface/scene_module_interface.hpp index 7c15dd691d56f..4420fc320daa5 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/interface/scene_module_interface.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/interface/scene_module_interface.hpp @@ -173,14 +173,7 @@ class SceneModuleInterface /** * @brief Called on the first time when the module goes into RUNNING. */ - void onEntry() - { - RCLCPP_DEBUG(getLogger(), "%s %s", name_.c_str(), __func__); - - stop_reason_ = StopReason(); - - processOnEntry(); - } + void onEntry(); /** * @brief Called when the module exit from RUNNING. diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/interface/scene_module_manager_interface.hpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/interface/scene_module_manager_interface.hpp index 5aa413f05a893..0e49fc60920c4 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/interface/scene_module_manager_interface.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/interface/scene_module_manager_interface.hpp @@ -57,15 +57,7 @@ class SceneModuleManagerInterface virtual void init(rclcpp::Node * node) = 0; - void updateIdleModuleInstance() - { - if (idle_module_ptr_) { - idle_module_ptr_->onEntry(); - return; - } - - idle_module_ptr_ = createNewSceneModuleInstance(); - } + void updateIdleModuleInstance(); bool isExecutionRequested(const BehaviorModuleOutput & previous_module_output) const { diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/interface/scene_module_interface.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/interface/scene_module_interface.cpp index b682203d3177f..580b9c73888b6 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/interface/scene_module_interface.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/interface/scene_module_interface.cpp @@ -21,4 +21,13 @@ void SceneModuleInterface::setDrivableLanes(const std::vector & d drivable_lanes_marker_ = marker_utils::createDrivableLanesMarkerArray(drivable_lanes, "drivable_lanes"); } + +void SceneModuleInterface::onEntry() +{ + RCLCPP_DEBUG(getLogger(), "%s %s", name_.c_str(), __func__); + + stop_reason_ = StopReason(); + + processOnEntry(); +} } // namespace autoware::behavior_path_planner diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/interface/scene_module_manager_interface.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/interface/scene_module_manager_interface.cpp index b83967f41d3da..535e5cff43e33 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/interface/scene_module_manager_interface.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/interface/scene_module_manager_interface.cpp @@ -70,4 +70,14 @@ void SceneModuleManagerInterface::initInterface( node_ = node; } } + +void SceneModuleManagerInterface::updateIdleModuleInstance() +{ + if (idle_module_ptr_) { + idle_module_ptr_->onEntry(); + return; + } + + idle_module_ptr_ = createNewSceneModuleInstance(); +} } // namespace autoware::behavior_path_planner From 649aecac92284800ac766e1b46be9bb3a5545859 Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Wed, 4 Sep 2024 11:43:11 +0900 Subject: [PATCH 159/169] fix(static_obstacle_avoidance): ignore objects which has already been decided to avoid (#8754) Signed-off-by: satoshi-ota --- .../src/debug.cpp | 1 + .../src/shift_line_generator.cpp | 12 +++++++++++- 2 files changed, 12 insertions(+), 1 deletion(-) diff --git a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/debug.cpp b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/debug.cpp index 536e350e50bf1..5c1dbd364da90 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/debug.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/debug.cpp @@ -561,6 +561,7 @@ MarkerArray createDebugMarkerArray( addObjects(data.other_objects, ObjectInfo::DEVIATING_FROM_EGO_LANE); addObjects(data.other_objects, ObjectInfo::UNSTABLE_OBJECT); addObjects(data.other_objects, ObjectInfo::AMBIGUOUS_STOPPED_VEHICLE); + addObjects(data.other_objects, ObjectInfo::INVALID_SHIFT_LINE); } if (parameters->enable_shift_line_marker) { diff --git a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/shift_line_generator.cpp b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/shift_line_generator.cpp index e9950b56ce174..10d003fcad90f 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/shift_line_generator.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/shift_line_generator.cpp @@ -248,6 +248,11 @@ AvoidOutlines ShiftLineGenerator::generateAvoidOutline( return s.start_longitudinal > 0.0 && s.start_longitudinal < s.end_longitudinal; }; + const auto is_approved = [this](const auto & object) { + return (helper_->getShift(object.getPosition()) > 0.0 && isOnRight(object)) || + (helper_->getShift(object.getPosition()) < 0.0 && !isOnRight(object)); + }; + ObjectDataArray unavoidable_objects; // target objects are sorted by longitudinal distance. @@ -284,6 +289,11 @@ AvoidOutlines ShiftLineGenerator::generateAvoidOutline( // calculate feasible shift length based on behavior policy const auto feasible_shift_profile = get_shift_profile(o, desire_shift_length); if (!feasible_shift_profile.has_value()) { + if (is_approved(o)) { + // the avoidance path for this object has already approved + o.is_avoidable = true; + continue; + } if (o.avoid_required && is_forward_object(o) && is_on_path(o)) { break; } else { @@ -394,7 +404,7 @@ AvoidOutlines ShiftLineGenerator::generateAvoidOutline( outlines.emplace_back(al_avoid, std::nullopt); } else if (is_valid_shift_line(al_avoid) && is_valid_shift_line(al_return)) { outlines.emplace_back(al_avoid, al_return); - } else { + } else if (!is_approved(o)) { o.info = ObjectInfo::INVALID_SHIFT_LINE; continue; } From a6f218a050f004bd33d90ec72b582da50eafa698 Mon Sep 17 00:00:00 2001 From: Mukunda Bharatheesha Date: Wed, 4 Sep 2024 08:03:37 +0200 Subject: [PATCH 160/169] fix(autoware_obstacle_stop_planner): register obstacle stop planner node with autoware scoping (#8512) Register node plugin with autoware scoping Signed-off-by: Mukunda Bharatheesha --- .../lane_driving/motion_planning/motion_planning.launch.xml | 2 +- planning/autoware_obstacle_stop_planner/CMakeLists.txt | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.xml b/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.xml index 63353459fa16c..b303134ab80c3 100644 --- a/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.xml +++ b/launch/tier4_planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.xml @@ -179,7 +179,7 @@ - + diff --git a/planning/autoware_obstacle_stop_planner/CMakeLists.txt b/planning/autoware_obstacle_stop_planner/CMakeLists.txt index 9e663820b02f1..4026fa1626388 100644 --- a/planning/autoware_obstacle_stop_planner/CMakeLists.txt +++ b/planning/autoware_obstacle_stop_planner/CMakeLists.txt @@ -25,7 +25,7 @@ target_link_libraries(${PROJECT_NAME} ) rclcpp_components_register_node(${PROJECT_NAME} - PLUGIN "motion_planning::ObstacleStopPlannerNode" + PLUGIN "autoware::motion_planning::ObstacleStopPlannerNode" EXECUTABLE ${PROJECT_NAME}_node ) From 6d0a454f667960790fc2b2583699394739e6cf10 Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Wed, 4 Sep 2024 18:31:36 +0900 Subject: [PATCH 161/169] feat(behavior_planning): update test map for BusStopArea and bicycle_lanes (#8694) Signed-off-by: Mamoru Sobue --- .../CMakeLists.txt | 2 +- .../test_map/road_shoulder/lanelet2_map.osm | 93 +- .../test_map/intersection/lanelet2_map.osm | 7112 +++++++++-------- 3 files changed, 3805 insertions(+), 3402 deletions(-) diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/CMakeLists.txt b/planning/behavior_path_planner/autoware_behavior_path_planner_common/CMakeLists.txt index 2c2dd723d9e3e..4a2891e116cc8 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/CMakeLists.txt +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/CMakeLists.txt @@ -58,4 +58,4 @@ if(BUILD_TESTING) ) endif() -ament_auto_package() +ament_auto_package(INSTALL_TO_SHARE test_map) diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/test_map/road_shoulder/lanelet2_map.osm b/planning/behavior_path_planner/autoware_behavior_path_planner_common/test_map/road_shoulder/lanelet2_map.osm index 53954c3ca47aa..8539aec143d67 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/test_map/road_shoulder/lanelet2_map.osm +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/test_map/road_shoulder/lanelet2_map.osm @@ -1,6 +1,6 @@ - + @@ -6793,6 +6793,66 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + @@ -9012,6 +9072,25 @@ + + + + + + + + + + + + + + + + + + + @@ -9042,6 +9121,7 @@ + @@ -9963,6 +10043,7 @@ + @@ -9974,4 +10055,14 @@ + + + + + + + + + + diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/test_map/intersection/lanelet2_map.osm b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/test_map/intersection/lanelet2_map.osm index f6ed497461c2e..70ebd23ae88ee 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/test_map/intersection/lanelet2_map.osm +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/test_map/intersection/lanelet2_map.osm @@ -1,6 +1,6 @@ - + @@ -7139,5793 +7139,5958 @@ - - - + + + - - - + + + - - - + + + - - - + + + - - - + + + - - - + + + - - - + + + - - - + + + - - - + + + - - - + + + - - - + + + - - - + + + - - - + + + - - - + + + - - - + + + - - - + + + - - - + + + - - - + + + - - - + + + - - - + + + - - - + + + - - - + + + - - - + + + - - - + + + - - - + 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From 0efb3159054e736476a3b9a683f4c8f743c0e578 Mon Sep 17 00:00:00 2001 From: Yuki TAKAGI <141538661+yuki-takagi-66@users.noreply.github.com> Date: Wed, 4 Sep 2024 18:36:11 +0900 Subject: [PATCH 162/169] fix(pid_longitudinal_controller): fix the same point error (#8758) * fix same point Signed-off-by: Yuki Takagi --- .../src/pid_longitudinal_controller.cpp | 2 ++ 1 file changed, 2 insertions(+) diff --git a/control/autoware_pid_longitudinal_controller/src/pid_longitudinal_controller.cpp b/control/autoware_pid_longitudinal_controller/src/pid_longitudinal_controller.cpp index 96e2796a91d22..e3cdc4505c037 100644 --- a/control/autoware_pid_longitudinal_controller/src/pid_longitudinal_controller.cpp +++ b/control/autoware_pid_longitudinal_controller/src/pid_longitudinal_controller.cpp @@ -507,6 +507,8 @@ PidLongitudinalController::ControlData PidLongitudinalController::getControlData // calculate the target motion for delay compensation constexpr double min_running_dist = 0.01; if (control_data.state_after_delay.running_distance > min_running_dist) { + control_data.interpolated_traj.points = + autoware::motion_utils::removeOverlapPoints(control_data.interpolated_traj.points); const auto target_pose = longitudinal_utils::findTrajectoryPoseAfterDistance( control_data.nearest_idx, control_data.state_after_delay.running_distance, control_data.interpolated_traj); From 223d06a988e6435cdaa279278632fa92e8a8eb42 Mon Sep 17 00:00:00 2001 From: Shintaro Tomie <58775300+Shin-kyoto@users.noreply.github.com> Date: Wed, 4 Sep 2024 22:50:06 +0900 Subject: [PATCH 163/169] feat(perception_utils)!: move perception_utils from common to perception folder (#8748) feat: move perception utils which is only used in perception Signed-off-by: yoshiri Co-authored-by: yoshiri --- {common => perception}/perception_utils/CMakeLists.txt | 0 {common => perception}/perception_utils/README.md | 0 .../include/perception_utils/prime_synchronizer.hpp | 0 .../include/perception_utils/run_length_encoder.hpp | 0 {common => perception}/perception_utils/package.xml | 0 .../perception_utils/src/run_length_encoder.cpp | 0 6 files changed, 0 insertions(+), 0 deletions(-) rename {common => perception}/perception_utils/CMakeLists.txt (100%) rename {common => perception}/perception_utils/README.md (100%) rename {common => perception}/perception_utils/include/perception_utils/prime_synchronizer.hpp (100%) rename {common => perception}/perception_utils/include/perception_utils/run_length_encoder.hpp (100%) rename {common => perception}/perception_utils/package.xml (100%) rename {common => perception}/perception_utils/src/run_length_encoder.cpp (100%) diff --git a/common/perception_utils/CMakeLists.txt b/perception/perception_utils/CMakeLists.txt similarity index 100% rename from common/perception_utils/CMakeLists.txt rename to perception/perception_utils/CMakeLists.txt diff --git a/common/perception_utils/README.md b/perception/perception_utils/README.md similarity index 100% rename from common/perception_utils/README.md rename to perception/perception_utils/README.md diff --git a/common/perception_utils/include/perception_utils/prime_synchronizer.hpp b/perception/perception_utils/include/perception_utils/prime_synchronizer.hpp similarity index 100% rename from common/perception_utils/include/perception_utils/prime_synchronizer.hpp rename to perception/perception_utils/include/perception_utils/prime_synchronizer.hpp diff --git a/common/perception_utils/include/perception_utils/run_length_encoder.hpp b/perception/perception_utils/include/perception_utils/run_length_encoder.hpp similarity index 100% rename from common/perception_utils/include/perception_utils/run_length_encoder.hpp rename to perception/perception_utils/include/perception_utils/run_length_encoder.hpp diff --git a/common/perception_utils/package.xml b/perception/perception_utils/package.xml similarity index 100% rename from common/perception_utils/package.xml rename to perception/perception_utils/package.xml diff --git a/common/perception_utils/src/run_length_encoder.cpp b/perception/perception_utils/src/run_length_encoder.cpp similarity index 100% rename from common/perception_utils/src/run_length_encoder.cpp rename to perception/perception_utils/src/run_length_encoder.cpp From 1ae6082995d3e66b1662b0e933462881df6a6a36 Mon Sep 17 00:00:00 2001 From: oguzkaganozt Date: Wed, 4 Sep 2024 17:19:04 +0300 Subject: [PATCH 164/169] refactor(evaluator/localization_evaluator): rework parameters (#6744) * add param file and schema Signed-off-by: oguzkaganozt * style(pre-commit): autofix * . Signed-off-by: Oguz Ozturk * . Signed-off-by: Oguz Ozturk * . Signed-off-by: Oguz Ozturk --------- Signed-off-by: oguzkaganozt Signed-off-by: Oguz Ozturk Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- .../localization_evaluator/CMakeLists.txt | 2 +- evaluator/localization_evaluator/README.md | 6 +++- .../localization_evaluator.param.yaml} | 0 .../launch/localization_evaluator.launch.xml | 2 +- .../schema/localization_evaluator.schema.json | 35 +++++++++++++++++++ .../test/test_localization_evaluator_node.cpp | 2 +- 6 files changed, 43 insertions(+), 4 deletions(-) rename evaluator/localization_evaluator/{param/localization_evaluator.defaults.yaml => config/localization_evaluator.param.yaml} (100%) create mode 100644 evaluator/localization_evaluator/schema/localization_evaluator.schema.json diff --git a/evaluator/localization_evaluator/CMakeLists.txt b/evaluator/localization_evaluator/CMakeLists.txt index d465e78801953..0cdcc420eb797 100644 --- a/evaluator/localization_evaluator/CMakeLists.txt +++ b/evaluator/localization_evaluator/CMakeLists.txt @@ -40,6 +40,6 @@ endif() ament_auto_package( INSTALL_TO_SHARE - param + config launch ) diff --git a/evaluator/localization_evaluator/README.md b/evaluator/localization_evaluator/README.md index 1aada473d8e56..18d887e075be1 100644 --- a/evaluator/localization_evaluator/README.md +++ b/evaluator/localization_evaluator/README.md @@ -1,3 +1,7 @@ # Localization Evaluator -TBD +The Localization Evaluator evaluates the performance of the localization system and provides metrics + +## Parameters + +{{ json_to_markdown("evaluator/localization_evaluator/schema/localization_evaluator.schema.json") }} diff --git a/evaluator/localization_evaluator/param/localization_evaluator.defaults.yaml b/evaluator/localization_evaluator/config/localization_evaluator.param.yaml similarity index 100% rename from evaluator/localization_evaluator/param/localization_evaluator.defaults.yaml rename to evaluator/localization_evaluator/config/localization_evaluator.param.yaml diff --git a/evaluator/localization_evaluator/launch/localization_evaluator.launch.xml b/evaluator/localization_evaluator/launch/localization_evaluator.launch.xml index 30232e917bfa6..f8595f9d23c37 100644 --- a/evaluator/localization_evaluator/launch/localization_evaluator.launch.xml +++ b/evaluator/localization_evaluator/launch/localization_evaluator.launch.xml @@ -3,7 +3,7 @@ - + diff --git a/evaluator/localization_evaluator/schema/localization_evaluator.schema.json b/evaluator/localization_evaluator/schema/localization_evaluator.schema.json new file mode 100644 index 0000000000000..f186e569e8f4d --- /dev/null +++ b/evaluator/localization_evaluator/schema/localization_evaluator.schema.json @@ -0,0 +1,35 @@ +{ + "$schema": "http://json-schema.org/draft-07/schema#", + "title": "Parameters for Localization Evaluator", + "type": "object", + "definitions": { + "localization_evaluator": { + "type": "object", + "properties": { + "output_file": { + "type": "string", + "default": "loc_metrics.results", + "description": "if empty, metrics are not written to file" + }, + "selected_metrics": { + "type": "array", + "default": "['lateral_error', 'absolute_error']", + "description": "metrics to be calculated" + } + }, + "required": ["output_file", "selected_metrics"] + } + }, + "properties": { + "/**": { + "type": "object", + "properties": { + "ros__parameters": { + "$ref": "#/definitions/localization_evaluator" + } + }, + "required": ["ros__parameters"] + } + }, + "required": ["/**"] +} diff --git a/evaluator/localization_evaluator/test/test_localization_evaluator_node.cpp b/evaluator/localization_evaluator/test/test_localization_evaluator_node.cpp index 4fbc88294d26c..cd6a7b80fd35b 100644 --- a/evaluator/localization_evaluator/test/test_localization_evaluator_node.cpp +++ b/evaluator/localization_evaluator/test/test_localization_evaluator_node.cpp @@ -47,7 +47,7 @@ class EvalTest : public ::testing::Test rclcpp::NodeOptions options; const auto share_dir = ament_index_cpp::get_package_share_directory("localization_evaluator"); options.arguments( - {"--ros-args", "--params-file", share_dir + "/param/localization_evaluator.defaults.yaml"}); + {"--ros-args", "--params-file", share_dir + "/config/localization_evaluator.param.yaml"}); dummy_node = std::make_shared("localization_evaluator_test_node"); eval_node = std::make_shared(options); From 488e744545aaf6ac0cf396798dba07438681c9c5 Mon Sep 17 00:00:00 2001 From: Fumiya Watanabe Date: Thu, 5 Sep 2024 11:28:24 +0900 Subject: [PATCH 165/169] fix(goal_planner): fix typo (#8763) Signed-off-by: Fumiya Watanabe --- .../src/goal_planner_module.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp index 92e15c2c4aee4..f8195ecfea7ec 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp @@ -459,7 +459,7 @@ void GoalPlannerModule::updateData() { universe_utils::ScopedTimeTrack st(__func__, *time_keeper_); - // extract static and dynamic objects in extraction polygon for path coliision check + // extract static and dynamic objects in extraction polygon for path collision check { const auto & p = parameters_; const auto & rh = *(planner_data_->route_handler); From 6c278826c15b6b4acecebc8b5a15867a871b507c Mon Sep 17 00:00:00 2001 From: Fumiya Watanabe Date: Thu, 5 Sep 2024 11:48:57 +0900 Subject: [PATCH 166/169] fix(pointcloud_preprocessor): fix typo (#8762) Signed-off-by: Fumiya Watanabe --- .../launch/vector_map_inside_area_filter_node.launch.xml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/sensing/autoware_pointcloud_preprocessor/launch/vector_map_inside_area_filter_node.launch.xml b/sensing/autoware_pointcloud_preprocessor/launch/vector_map_inside_area_filter_node.launch.xml index 21eded98595ba..795234e185cdd 100644 --- a/sensing/autoware_pointcloud_preprocessor/launch/vector_map_inside_area_filter_node.launch.xml +++ b/sensing/autoware_pointcloud_preprocessor/launch/vector_map_inside_area_filter_node.launch.xml @@ -1,7 +1,7 @@ - + @@ -9,6 +9,6 @@ - + From 1e34b6a35d9a1c9d976bc16ff3de55f85b2ceb9a Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Thu, 5 Sep 2024 18:00:54 +0900 Subject: [PATCH 167/169] fix(goal_planner): fix object extraction area (#8764) Signed-off-by: kosuke55 --- .../autoware_behavior_path_goal_planner_module/src/util.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/util.cpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/util.cpp index ecb0b1be4e83e..49f70bb8e661b 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/util.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/util.cpp @@ -191,7 +191,7 @@ std::optional generateObjectExtractionPolygon( constexpr double INTERSECTION_CHECK_DISTANCE = 10.0; std::vector modified_bound{}; size_t i = 0; - while (i < bound.size() - 2) { + while (i < bound.size() - 1) { BoostPoint p1(bound.at(i).x, bound.at(i).y); BoostPoint p2(bound.at(i + 1).x, bound.at(i + 1).y); LineString p_line{}; From a7c1dc2bfe06c45392c3661f879ef4bd8dbecceb Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Thu, 5 Sep 2024 22:50:32 +0900 Subject: [PATCH 168/169] fix(goal_planner): fix time_keeper race (#8780) Signed-off-by: Mamoru Sobue --- .../src/goal_planner_module.cpp | 4 ---- 1 file changed, 4 deletions(-) diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp index f8195ecfea7ec..dd37d1b30a2a8 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp @@ -1243,8 +1243,6 @@ bool GoalPlannerModule::hasNotDecidedPath( const std::shared_ptr & safety_check_params, const std::shared_ptr goal_searcher) const { - universe_utils::ScopedTimeTrack st(__func__, *time_keeper_); - return checkDecidingPathStatus( planner_data, occupancy_grid_map, parameters, ego_predicted_path_params, objects_filtering_params, safety_check_params, goal_searcher) @@ -2360,8 +2358,6 @@ std::pair GoalPlannerModule::isSafePath( const std::shared_ptr & objects_filtering_params, const std::shared_ptr & safety_check_params) const { - universe_utils::ScopedTimeTrack st(__func__, *time_keeper_); - if (!thread_safe_data_.get_pull_over_path()) { return {false, false}; } From 0a1e15ed3a1ed477c9962ce42cf6924903bfb644 Mon Sep 17 00:00:00 2001 From: Amadeusz Szymko Date: Mon, 9 Sep 2024 11:22:06 +0900 Subject: [PATCH 169/169] fix(autoware_pointcloud_preprocessor): static TF listener as Filter option (#8678) Signed-off-by: amadeuszsz --- ...uffer.hpp => managed_transform_buffer.hpp} | 139 +++++++++++++----- ....cpp => test_managed_transform_buffer.cpp} | 96 +++++------- .../autoware_ground_segmentation/README.md | 17 ++- .../docs/ransac-ground-filter.md | 1 + .../docs/ray-ground-filter.md | 1 + .../docs/scan-ground-filter.md | 1 + .../src/ransac_ground_filter/node.cpp | 6 +- .../src/ransac_ground_filter/node.hpp | 4 +- .../config/concatenate_pointclouds.param.yaml | 1 + .../distortion_corrector_node.param.yaml | 1 + .../config/time_synchronizer_node.param.yaml | 1 + .../docs/concatenate-data.md | 13 +- .../concatenate_and_time_sync_nodelet.hpp | 7 +- .../concatenate_pointclouds.hpp | 7 +- .../distortion_corrector.hpp | 19 ++- .../pointcloud_preprocessor/filter.hpp | 12 +- .../time_synchronizer_node.hpp | 7 +- .../concatenate_pointclouds.schema.json | 14 +- .../distortion_corrector_node.schema.json | 7 +- .../schema/time_synchronizer_node.schema.json | 6 + .../concatenate_and_time_sync_nodelet.cpp | 11 +- .../concatenate_pointclouds.cpp | 8 +- .../distortion_corrector.cpp | 6 +- .../distortion_corrector_node.cpp | 6 +- .../src/filter.cpp | 26 +++- .../time_synchronizer_node.cpp | 12 +- .../test/test_distortion_corrector_node.cpp | 4 +- 27 files changed, 269 insertions(+), 164 deletions(-) rename common/autoware_universe_utils/include/autoware/universe_utils/ros/{static_transform_buffer.hpp => managed_transform_buffer.hpp} (54%) rename common/autoware_universe_utils/test/src/ros/{test_static_transform_buffer.cpp => test_managed_transform_buffer.cpp} (59%) diff --git a/common/autoware_universe_utils/include/autoware/universe_utils/ros/static_transform_buffer.hpp b/common/autoware_universe_utils/include/autoware/universe_utils/ros/managed_transform_buffer.hpp similarity index 54% rename from common/autoware_universe_utils/include/autoware/universe_utils/ros/static_transform_buffer.hpp rename to common/autoware_universe_utils/include/autoware/universe_utils/ros/managed_transform_buffer.hpp index 175d1934e973d..9d96dc9e6b133 100644 --- a/common/autoware_universe_utils/include/autoware/universe_utils/ros/static_transform_buffer.hpp +++ b/common/autoware_universe_utils/include/autoware/universe_utils/ros/managed_transform_buffer.hpp @@ -12,8 +12,8 @@ // See the License for the specific language governing permissions and // limitations under the License. -#ifndef AUTOWARE__UNIVERSE_UTILS__ROS__STATIC_TRANSFORM_BUFFER_HPP_ -#define AUTOWARE__UNIVERSE_UTILS__ROS__STATIC_TRANSFORM_BUFFER_HPP_ +#ifndef AUTOWARE__UNIVERSE_UTILS__ROS__MANAGED_TRANSFORM_BUFFER_HPP_ +#define AUTOWARE__UNIVERSE_UTILS__ROS__MANAGED_TRANSFORM_BUFFER_HPP_ #include "autoware/universe_utils/ros/transform_listener.hpp" @@ -29,6 +29,7 @@ #include #include #include +#include #include #include @@ -58,12 +59,69 @@ struct PairEqual } }; using TFMap = std::unordered_map, PairEqual>; +constexpr std::array warn_frames = {"map", "odom", "world"}; -class StaticTransformBuffer +class ManagedTransformBuffer { public: - StaticTransformBuffer() = default; + explicit ManagedTransformBuffer(rclcpp::Node * node, const bool & has_static_tf_only) + : node_(node) + { + if (has_static_tf_only) { + get_transform_ = [this]( + const std::string & target_frame, const std::string & source_frame, + Eigen::Matrix4f & eigen_transform) { + return getStaticTransform(target_frame, source_frame, eigen_transform); + }; + } else { + tf_listener_ = std::make_unique(node); + get_transform_ = [this]( + const std::string & target_frame, const std::string & source_frame, + Eigen::Matrix4f & eigen_transform) { + return getDynamicTransform(target_frame, source_frame, eigen_transform); + }; + } + } + + bool getTransform( + const std::string & target_frame, const std::string & source_frame, + Eigen::Matrix4f & eigen_transform) + { + return get_transform_(target_frame, source_frame, eigen_transform); + } + + /** + * Transforms a point cloud from one frame to another. + * + * @param target_frame The target frame to transform the point cloud to. + * @param cloud_in The input point cloud to be transformed. + * @param cloud_out The transformed point cloud. + * @return True if the transformation is successful, false otherwise. + */ + bool transformPointcloud( + const std::string & target_frame, const sensor_msgs::msg::PointCloud2 & cloud_in, + sensor_msgs::msg::PointCloud2 & cloud_out) + { + if ( + pcl::getFieldIndex(cloud_in, "x") == -1 || pcl::getFieldIndex(cloud_in, "y") == -1 || + pcl::getFieldIndex(cloud_in, "z") == -1) { + RCLCPP_ERROR(node_->get_logger(), "Input pointcloud does not have xyz fields"); + return false; + } + if (target_frame == cloud_in.header.frame_id) { + cloud_out = cloud_in; + return true; + } + Eigen::Matrix4f eigen_transform; + if (!getTransform(target_frame, cloud_in.header.frame_id, eigen_transform)) { + return false; + } + pcl_ros::transformPointCloud(eigen_transform, cloud_in, cloud_out); + cloud_out.header.frame_id = target_frame; + return true; + } +private: /** * @brief Retrieves a transform between two static frames. * @@ -72,17 +130,24 @@ class StaticTransformBuffer * Otherwise, transform matrix is set to identity and the function returns false. Transform * Listener is destroyed after function call. * - * @param node A pointer to the ROS node. * @param target_frame The target frame. * @param source_frame The source frame. - * @param eigen_transform The output Eigen transform matrix. Is set to identity if the transform - * is not found. + * @param eigen_transform The output Eigen transform matrix. It is set to the identity if the + * transform is not found. * @return True if the transform was successfully retrieved, false otherwise. */ - bool getTransform( - rclcpp::Node * node, const std::string & target_frame, const std::string & source_frame, + bool getStaticTransform( + const std::string & target_frame, const std::string & source_frame, Eigen::Matrix4f & eigen_transform) { + if ( + std::find(warn_frames.begin(), warn_frames.end(), target_frame) != warn_frames.end() || + std::find(warn_frames.begin(), warn_frames.end(), source_frame) != warn_frames.end()) { + RCLCPP_WARN( + node_->get_logger(), "Using %s -> %s transform. This may not be a static transform.", + target_frame.c_str(), source_frame.c_str()); + } + auto key = std::make_pair(target_frame, source_frame); auto key_inv = std::make_pair(source_frame, target_frame); @@ -109,11 +174,12 @@ class StaticTransformBuffer } // Get the transform from the TF tree - auto tf_listener = std::make_unique(node); - auto tf = tf_listener->getTransform( + tf_listener_ = std::make_unique(node_); + auto tf = tf_listener_->getTransform( target_frame, source_frame, rclcpp::Time(0), rclcpp::Duration(1000ms)); + tf_listener_.reset(); RCLCPP_DEBUG( - node->get_logger(), "Trying to enqueue %s -> %s transform to static TFs buffer...", + node_->get_logger(), "Trying to enqueue %s -> %s transform to static TFs buffer...", target_frame.c_str(), source_frame.c_str()); if (tf == nullptr) { eigen_transform = Eigen::Matrix4f::Identity(); @@ -124,42 +190,39 @@ class StaticTransformBuffer return true; } - /** - * Transforms a point cloud from one frame to another. + /** @brief Retrieves a transform between two dynamic frames. * - * @param node A pointer to the ROS node. - * @param target_frame The target frame to transform the point cloud to. - * @param cloud_in The input point cloud to be transformed. - * @param cloud_out The transformed point cloud. - * @return True if the transformation is successful, false otherwise. + * This function attempts to retrieve a transform between the target frame and the source frame. + * If successful, the transformation matrix is assigned to the output parameter, and the function + * returns true. Otherwise, the transformation matrix is set to the identity and the function + * returns false. + * + * @param target_frame The target frame. + * @param source_frame The source frame. + * @param eigen_transform The output Eigen transformation matrix. It is set to the identity if the + * transform is not found. + * @return True if the transform was successfully retrieved, false otherwise. */ - bool transformPointcloud( - rclcpp::Node * node, const std::string & target_frame, - const sensor_msgs::msg::PointCloud2 & cloud_in, sensor_msgs::msg::PointCloud2 & cloud_out) + bool getDynamicTransform( + const std::string & target_frame, const std::string & source_frame, + Eigen::Matrix4f & eigen_transform) { - if ( - pcl::getFieldIndex(cloud_in, "x") == -1 || pcl::getFieldIndex(cloud_in, "y") == -1 || - pcl::getFieldIndex(cloud_in, "z") == -1) { - RCLCPP_ERROR(node->get_logger(), "Input pointcloud does not have xyz fields"); - return false; - } - if (target_frame == cloud_in.header.frame_id) { - cloud_out = cloud_in; - return true; - } - Eigen::Matrix4f eigen_transform; - if (!getTransform(node, target_frame, cloud_in.header.frame_id, eigen_transform)) { + auto tf = tf_listener_->getTransform( + target_frame, source_frame, rclcpp::Time(0), rclcpp::Duration(1000ms)); + if (tf == nullptr) { + eigen_transform = Eigen::Matrix4f::Identity(); return false; } - pcl_ros::transformPointCloud(eigen_transform, cloud_in, cloud_out); - cloud_out.header.frame_id = target_frame; + pcl_ros::transformAsMatrix(*tf, eigen_transform); return true; } -private: TFMap buffer_; + rclcpp::Node * const node_; + std::unique_ptr tf_listener_; + std::function get_transform_; }; } // namespace autoware::universe_utils -#endif // AUTOWARE__UNIVERSE_UTILS__ROS__STATIC_TRANSFORM_BUFFER_HPP_ +#endif // AUTOWARE__UNIVERSE_UTILS__ROS__MANAGED_TRANSFORM_BUFFER_HPP_ diff --git a/common/autoware_universe_utils/test/src/ros/test_static_transform_buffer.cpp b/common/autoware_universe_utils/test/src/ros/test_managed_transform_buffer.cpp similarity index 59% rename from common/autoware_universe_utils/test/src/ros/test_static_transform_buffer.cpp rename to common/autoware_universe_utils/test/src/ros/test_managed_transform_buffer.cpp index 5200378e3bf52..9df6f9bb2ffef 100644 --- a/common/autoware_universe_utils/test/src/ros/test_static_transform_buffer.cpp +++ b/common/autoware_universe_utils/test/src/ros/test_managed_transform_buffer.cpp @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "autoware/universe_utils/ros/static_transform_buffer.hpp" +#include "autoware/universe_utils/ros/managed_transform_buffer.hpp" #include #include @@ -22,11 +22,11 @@ #include -class TestStaticTransformBuffer : public ::testing::Test +class TestManagedTransformBuffer : public ::testing::Test { protected: std::shared_ptr node_{nullptr}; - std::shared_ptr static_tf_buffer_{nullptr}; + std::shared_ptr managed_tf_buffer_{nullptr}; std::shared_ptr tf_broadcaster_; geometry_msgs::msg::TransformStamped tf_base_to_lidar_; Eigen::Matrix4f eigen_base_to_lidar_; @@ -54,8 +54,9 @@ class TestStaticTransformBuffer : public ::testing::Test void SetUp() override { - node_ = std::make_shared("test_static_transform_buffer"); - static_tf_buffer_ = std::make_shared(); + node_ = std::make_shared("test_managed_transform_buffer"); + managed_tf_buffer_ = + std::make_shared(node_.get(), true); tf_broadcaster_ = std::make_shared(node_); tf_base_to_lidar_ = generateTransformMsg( @@ -91,109 +92,91 @@ class TestStaticTransformBuffer : public ::testing::Test ASSERT_TRUE(rclcpp::ok()); } - void TearDown() override { static_tf_buffer_.reset(); } + void TearDown() override { managed_tf_buffer_.reset(); } }; -TEST_F(TestStaticTransformBuffer, TestTransformNoExist) +TEST_F(TestManagedTransformBuffer, TestTransformNoExist) { Eigen::Matrix4f transform; - auto success = static_tf_buffer_->getTransform(node_.get(), "base_link", "fake_link", transform); + auto success = managed_tf_buffer_->getTransform("base_link", "fake_link", transform); EXPECT_TRUE(transform.isIdentity()); EXPECT_FALSE(success); } -TEST_F(TestStaticTransformBuffer, TestTransformBase) +TEST_F(TestManagedTransformBuffer, TestTransformBase) { Eigen::Matrix4f eigen_base_to_lidar; - auto success = - static_tf_buffer_->getTransform(node_.get(), "base_link", "lidar_top", eigen_base_to_lidar); + auto success = managed_tf_buffer_->getTransform("base_link", "lidar_top", eigen_base_to_lidar); EXPECT_TRUE(eigen_base_to_lidar.isApprox(eigen_base_to_lidar_, 0.001)); EXPECT_TRUE(success); } -TEST_F(TestStaticTransformBuffer, TestTransformSameFrame) +TEST_F(TestManagedTransformBuffer, TestTransformSameFrame) { Eigen::Matrix4f eigen_base_to_base; - auto success = - static_tf_buffer_->getTransform(node_.get(), "base_link", "base_link", eigen_base_to_base); + auto success = managed_tf_buffer_->getTransform("base_link", "base_link", eigen_base_to_base); EXPECT_TRUE(eigen_base_to_base.isApprox(Eigen::Matrix4f::Identity(), 0.001)); EXPECT_TRUE(success); } -TEST_F(TestStaticTransformBuffer, TestTransformInverse) +TEST_F(TestManagedTransformBuffer, TestTransformInverse) { Eigen::Matrix4f eigen_lidar_to_base; - auto success = - static_tf_buffer_->getTransform(node_.get(), "lidar_top", "base_link", eigen_lidar_to_base); + auto success = managed_tf_buffer_->getTransform("lidar_top", "base_link", eigen_lidar_to_base); EXPECT_TRUE(eigen_lidar_to_base.isApprox(eigen_base_to_lidar_.inverse(), 0.001)); EXPECT_TRUE(success); } -TEST_F(TestStaticTransformBuffer, TestTransformMultipleCall) +TEST_F(TestManagedTransformBuffer, TestTransformMultipleCall) { Eigen::Matrix4f eigen_transform; - EXPECT_FALSE( - static_tf_buffer_->getTransform(node_.get(), "base_link", "fake_link", eigen_transform)); + EXPECT_FALSE(managed_tf_buffer_->getTransform("base_link", "fake_link", eigen_transform)); EXPECT_TRUE(eigen_transform.isApprox(Eigen::Matrix4f::Identity(), 0.001)); - EXPECT_TRUE( - static_tf_buffer_->getTransform(node_.get(), "lidar_top", "base_link", eigen_transform)); + EXPECT_TRUE(managed_tf_buffer_->getTransform("lidar_top", "base_link", eigen_transform)); EXPECT_TRUE(eigen_transform.isApprox(eigen_base_to_lidar_.inverse(), 0.001)); - EXPECT_TRUE( - static_tf_buffer_->getTransform(node_.get(), "fake_link", "fake_link", eigen_transform)); + EXPECT_TRUE(managed_tf_buffer_->getTransform("fake_link", "fake_link", eigen_transform)); EXPECT_TRUE(eigen_transform.isApprox(Eigen::Matrix4f::Identity(), 0.001)); - EXPECT_TRUE( - static_tf_buffer_->getTransform(node_.get(), "base_link", "lidar_top", eigen_transform)); + EXPECT_TRUE(managed_tf_buffer_->getTransform("base_link", "lidar_top", eigen_transform)); EXPECT_TRUE(eigen_transform.isApprox(eigen_base_to_lidar_, 0.001)); - EXPECT_FALSE( - static_tf_buffer_->getTransform(node_.get(), "fake_link", "lidar_top", eigen_transform)); + EXPECT_FALSE(managed_tf_buffer_->getTransform("fake_link", "lidar_top", eigen_transform)); EXPECT_TRUE(eigen_transform.isApprox(Eigen::Matrix4f::Identity(), 0.001)); - EXPECT_TRUE( - static_tf_buffer_->getTransform(node_.get(), "base_link", "lidar_top", eigen_transform)); + EXPECT_TRUE(managed_tf_buffer_->getTransform("base_link", "lidar_top", eigen_transform)); EXPECT_TRUE(eigen_transform.isApprox(eigen_base_to_lidar_, 0.001)); } -TEST_F(TestStaticTransformBuffer, TestTransformEmptyPointCloud) +TEST_F(TestManagedTransformBuffer, TestTransformEmptyPointCloud) { auto cloud_in = std::make_unique(); cloud_in->header.frame_id = "lidar_top"; cloud_in->header.stamp = rclcpp::Time(10, 100'000'000); auto cloud_out = std::make_unique(); - EXPECT_FALSE( - static_tf_buffer_->transformPointcloud(node_.get(), "lidar_top", *cloud_in, *cloud_out)); - EXPECT_FALSE( - static_tf_buffer_->transformPointcloud(node_.get(), "base_link", *cloud_in, *cloud_out)); - EXPECT_FALSE( - static_tf_buffer_->transformPointcloud(node_.get(), "fake_link", *cloud_in, *cloud_out)); + EXPECT_FALSE(managed_tf_buffer_->transformPointcloud("lidar_top", *cloud_in, *cloud_out)); + EXPECT_FALSE(managed_tf_buffer_->transformPointcloud("base_link", *cloud_in, *cloud_out)); + EXPECT_FALSE(managed_tf_buffer_->transformPointcloud("fake_link", *cloud_in, *cloud_out)); } -TEST_F(TestStaticTransformBuffer, TestTransformEmptyPointCloudNoHeader) +TEST_F(TestManagedTransformBuffer, TestTransformEmptyPointCloudNoHeader) { auto cloud_in = std::make_unique(); auto cloud_out = std::make_unique(); - EXPECT_FALSE( - static_tf_buffer_->transformPointcloud(node_.get(), "lidar_top", *cloud_in, *cloud_out)); - EXPECT_FALSE( - static_tf_buffer_->transformPointcloud(node_.get(), "base_link", *cloud_in, *cloud_out)); - EXPECT_FALSE( - static_tf_buffer_->transformPointcloud(node_.get(), "fake_link", *cloud_in, *cloud_out)); + EXPECT_FALSE(managed_tf_buffer_->transformPointcloud("lidar_top", *cloud_in, *cloud_out)); + EXPECT_FALSE(managed_tf_buffer_->transformPointcloud("base_link", *cloud_in, *cloud_out)); + EXPECT_FALSE(managed_tf_buffer_->transformPointcloud("fake_link", *cloud_in, *cloud_out)); } -TEST_F(TestStaticTransformBuffer, TestTransformPointCloud) +TEST_F(TestManagedTransformBuffer, TestTransformPointCloud) { auto cloud_out = std::make_unique(); // Transform cloud with header - EXPECT_TRUE( - static_tf_buffer_->transformPointcloud(node_.get(), "lidar_top", *cloud_in_, *cloud_out)); - EXPECT_TRUE( - static_tf_buffer_->transformPointcloud(node_.get(), "base_link", *cloud_in_, *cloud_out)); - EXPECT_FALSE( - static_tf_buffer_->transformPointcloud(node_.get(), "fake_link", *cloud_in_, *cloud_out)); + EXPECT_TRUE(managed_tf_buffer_->transformPointcloud("lidar_top", *cloud_in_, *cloud_out)); + EXPECT_TRUE(managed_tf_buffer_->transformPointcloud("base_link", *cloud_in_, *cloud_out)); + EXPECT_FALSE(managed_tf_buffer_->transformPointcloud("fake_link", *cloud_in_, *cloud_out)); } -TEST_F(TestStaticTransformBuffer, TestTransformPointCloudNoHeader) +TEST_F(TestManagedTransformBuffer, TestTransformPointCloudNoHeader) { auto cloud_out = std::make_unique(); @@ -201,10 +184,7 @@ TEST_F(TestStaticTransformBuffer, TestTransformPointCloudNoHeader) auto cloud_in = std::make_unique(*cloud_in_); cloud_in->header.frame_id = ""; cloud_in->header.stamp = rclcpp::Time(0, 0); - EXPECT_FALSE( - static_tf_buffer_->transformPointcloud(node_.get(), "lidar_top", *cloud_in, *cloud_out)); - EXPECT_FALSE( - static_tf_buffer_->transformPointcloud(node_.get(), "base_link", *cloud_in, *cloud_out)); - EXPECT_FALSE( - static_tf_buffer_->transformPointcloud(node_.get(), "fake_link", *cloud_in, *cloud_out)); + EXPECT_FALSE(managed_tf_buffer_->transformPointcloud("lidar_top", *cloud_in, *cloud_out)); + EXPECT_FALSE(managed_tf_buffer_->transformPointcloud("base_link", *cloud_in, *cloud_out)); + EXPECT_FALSE(managed_tf_buffer_->transformPointcloud("fake_link", *cloud_in, *cloud_out)); } diff --git a/perception/autoware_ground_segmentation/README.md b/perception/autoware_ground_segmentation/README.md index b981b02e0a844..08b8a4f373bcc 100644 --- a/perception/autoware_ground_segmentation/README.md +++ b/perception/autoware_ground_segmentation/README.md @@ -33,14 +33,15 @@ Detail description of each ground segmentation algorithm is in the following lin ### Node Parameters -| Name | Type | Default Value | Description | -| ------------------ | ------ | ------------- | ------------------------------------- | -| `input_frame` | string | " " | input frame id | -| `output_frame` | string | " " | output frame id | -| `max_queue_size` | int | 5 | max queue size of input/output topics | -| `use_indices` | bool | false | flag to use pointcloud indices | -| `latched_indices` | bool | false | flag to latch pointcloud indices | -| `approximate_sync` | bool | false | flag to use approximate sync option | +| Name | Type | Default Value | Description | +| -------------------- | ------ | ------------- | ------------------------------------- | +| `input_frame` | string | " " | input frame id | +| `output_frame` | string | " " | output frame id | +| `has_static_tf_only` | bool | false | flag to listen TF only once | +| `max_queue_size` | int | 5 | max queue size of input/output topics | +| `use_indices` | bool | false | flag to use pointcloud indices | +| `latched_indices` | bool | false | flag to latch pointcloud indices | +| `approximate_sync` | bool | false | flag to use approximate sync option | ## Assumptions / Known limits diff --git a/perception/autoware_ground_segmentation/docs/ransac-ground-filter.md b/perception/autoware_ground_segmentation/docs/ransac-ground-filter.md index a11a35521d173..37388e665eb2c 100644 --- a/perception/autoware_ground_segmentation/docs/ransac-ground-filter.md +++ b/perception/autoware_ground_segmentation/docs/ransac-ground-filter.md @@ -23,6 +23,7 @@ This implementation inherits `autoware::pointcloud_preprocessor::Filter` class, | Name | Type | Description | | ----------------------- | ------ | --------------------------------------------------------------- | | `base_frame` | string | base_link frame | +| `has_static_tf_only` | bool | Flag to listen TF only once | | `unit_axis` | string | The axis which we need to search ground plane | | `max_iterations` | int | The maximum number of iterations | | `outlier_threshold` | double | The distance threshold to the model [m] | diff --git a/perception/autoware_ground_segmentation/docs/ray-ground-filter.md b/perception/autoware_ground_segmentation/docs/ray-ground-filter.md index 9b80b0588f851..ed4f5833b3b3a 100644 --- a/perception/autoware_ground_segmentation/docs/ray-ground-filter.md +++ b/perception/autoware_ground_segmentation/docs/ray-ground-filter.md @@ -28,6 +28,7 @@ This implementation inherits `autoware::pointcloud_preprocessor::Filter` class, | ----------------------------- | ------ | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | | `input_frame` | string | frame id of input pointcloud | | `output_frame` | string | frame id of output pointcloud | +| `has_static_tf_only` | bool | Flag to listen TF only once | | `general_max_slope` | double | The triangle created by `general_max_slope` is called the global cone. If the point is outside the global cone, it is judged to be a point that is no on the ground | | `initial_max_slope` | double | Generally, the point where the object first hits is far from ego-vehicle because of sensor blind spot, so resolution is different from that point and thereafter, so this parameter exists to set a separate `local_max_slope` | | `local_max_slope` | double | The triangle created by `local_max_slope` is called the local cone. This parameter for classification based on the continuity of points | diff --git a/perception/autoware_ground_segmentation/docs/scan-ground-filter.md b/perception/autoware_ground_segmentation/docs/scan-ground-filter.md index bdd46cffb7df4..392bed89ac902 100644 --- a/perception/autoware_ground_segmentation/docs/scan-ground-filter.md +++ b/perception/autoware_ground_segmentation/docs/scan-ground-filter.md @@ -35,6 +35,7 @@ This implementation inherits `autoware::pointcloud_preprocessor::Filter` class, | --------------------------------- | ------ | ------------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | | `input_frame` | string | "base_link" | frame id of input pointcloud | | `output_frame` | string | "base_link" | frame id of output pointcloud | +| `has_static_tf_only` | bool | false | Flag to listen TF only once | | `global_slope_max_angle_deg` | double | 8.0 | The global angle to classify as the ground or object [deg].
A large threshold may reduce false positive of high slope road classification but it may lead to increase false negative of non-ground classification, particularly for small objects. | | `local_slope_max_angle_deg` | double | 10.0 | The local angle to classify as the ground or object [deg] when comparing with adjacent point.
A small value enhance accuracy classification of object with inclined surface. This should be considered together with `split_points_distance_tolerance` value. | | `radial_divider_angle_deg` | double | 1.0 | The angle which divide the whole pointcloud to sliced group [deg] | diff --git a/perception/autoware_ground_segmentation/src/ransac_ground_filter/node.cpp b/perception/autoware_ground_segmentation/src/ransac_ground_filter/node.cpp index 4d45f5df07027..e2f96d862e1a6 100644 --- a/perception/autoware_ground_segmentation/src/ransac_ground_filter/node.cpp +++ b/perception/autoware_ground_segmentation/src/ransac_ground_filter/node.cpp @@ -116,7 +116,8 @@ RANSACGroundFilterComponent::RANSACGroundFilterComponent(const rclcpp::NodeOptio pcl::console::setVerbosityLevel(pcl::console::L_ALWAYS); - static_tf_buffer_ = std::make_unique(); + managed_tf_buffer_ = + std::make_unique(this, has_static_tf_only_); } void RANSACGroundFilterComponent::setDebugPublisher() @@ -163,8 +164,7 @@ bool RANSACGroundFilterComponent::transformPointCloud( return true; } - return static_tf_buffer_->transformPointcloud( - this, in_target_frame, *in_cloud_ptr, *out_cloud_ptr); + return managed_tf_buffer_->transformPointcloud(in_target_frame, *in_cloud_ptr, *out_cloud_ptr); } void RANSACGroundFilterComponent::extractPointsIndices( diff --git a/perception/autoware_ground_segmentation/src/ransac_ground_filter/node.hpp b/perception/autoware_ground_segmentation/src/ransac_ground_filter/node.hpp index bdc217e80650c..b36a7f5e55fc4 100644 --- a/perception/autoware_ground_segmentation/src/ransac_ground_filter/node.hpp +++ b/perception/autoware_ground_segmentation/src/ransac_ground_filter/node.hpp @@ -17,7 +17,7 @@ #include "autoware/pointcloud_preprocessor/filter.hpp" -#include +#include #include #include @@ -83,7 +83,7 @@ class RANSACGroundFilterComponent : public autoware::pointcloud_preprocessor::Fi bool debug_ = false; bool is_initialized_debug_message_ = false; Eigen::Vector3d unit_vec_ = Eigen::Vector3d::UnitZ(); - std::unique_ptr static_tf_buffer_{nullptr}; + std::unique_ptr managed_tf_buffer_{nullptr}; /*! * Output transformed PointCloud from in_cloud_ptr->header.frame_id to in_target_frame diff --git a/sensing/autoware_pointcloud_preprocessor/config/concatenate_pointclouds.param.yaml b/sensing/autoware_pointcloud_preprocessor/config/concatenate_pointclouds.param.yaml index 5d38186840057..449795c328402 100644 --- a/sensing/autoware_pointcloud_preprocessor/config/concatenate_pointclouds.param.yaml +++ b/sensing/autoware_pointcloud_preprocessor/config/concatenate_pointclouds.param.yaml @@ -1,6 +1,7 @@ /**: ros__parameters: output_frame: base_link + has_static_tf_only: true input_topics: [ "/sensing/lidar/left/pointcloud_before_sync", "/sensing/lidar/right/pointcloud_before_sync", diff --git a/sensing/autoware_pointcloud_preprocessor/config/distortion_corrector_node.param.yaml b/sensing/autoware_pointcloud_preprocessor/config/distortion_corrector_node.param.yaml index 3afa4816271cb..eca08c37b6458 100644 --- a/sensing/autoware_pointcloud_preprocessor/config/distortion_corrector_node.param.yaml +++ b/sensing/autoware_pointcloud_preprocessor/config/distortion_corrector_node.param.yaml @@ -3,3 +3,4 @@ base_frame: base_link use_imu: true use_3d_distortion_correction: false + has_static_tf_only: true diff --git a/sensing/autoware_pointcloud_preprocessor/config/time_synchronizer_node.param.yaml b/sensing/autoware_pointcloud_preprocessor/config/time_synchronizer_node.param.yaml index 9add0be3f8809..7e5bd0fd96bcf 100644 --- a/sensing/autoware_pointcloud_preprocessor/config/time_synchronizer_node.param.yaml +++ b/sensing/autoware_pointcloud_preprocessor/config/time_synchronizer_node.param.yaml @@ -3,6 +3,7 @@ input_twist_topic_type: twist output_frame: base_link keep_input_frame_in_synchronized_pointcloud: false + has_static_tf_only: true input_topics: [ "/sensing/lidar/left/pointcloud_before_sync", "/sensing/lidar/right/pointcloud_before_sync", diff --git a/sensing/autoware_pointcloud_preprocessor/docs/concatenate-data.md b/sensing/autoware_pointcloud_preprocessor/docs/concatenate-data.md index 74b4f3df17615..08f7b92f88975 100644 --- a/sensing/autoware_pointcloud_preprocessor/docs/concatenate-data.md +++ b/sensing/autoware_pointcloud_preprocessor/docs/concatenate-data.md @@ -28,12 +28,13 @@ The figure below represents the reception time of each sensor data and how it is ## Parameters -| Name | Type | Default Value | Description | -| ---------------- | ---------------- | ------------- | ------------------------------------------------------------------- | -| `input/points` | vector of string | [] | input topic names that type must be `sensor_msgs::msg::Pointcloud2` | -| `input_frame` | string | "" | input frame id | -| `output_frame` | string | "" | output frame id | -| `max_queue_size` | int | 5 | max queue size of input/output topics | +| Name | Type | Default Value | Description | +| -------------------- | ---------------- | ------------- | ------------------------------------------------------------------- | +| `input/points` | vector of string | [] | input topic names that type must be `sensor_msgs::msg::Pointcloud2` | +| `input_frame` | string | "" | input frame id | +| `output_frame` | string | "" | output frame id | +| `has_static_tf_only` | bool | false | flag to listen TF only once | +| `max_queue_size` | int | 5 | max queue size of input/output topics | ### Core Parameters diff --git a/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/concatenate_data/concatenate_and_time_sync_nodelet.hpp b/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/concatenate_data/concatenate_and_time_sync_nodelet.hpp index 549a60e49d748..977adc59cd7e5 100644 --- a/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/concatenate_data/concatenate_and_time_sync_nodelet.hpp +++ b/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/concatenate_data/concatenate_and_time_sync_nodelet.hpp @@ -64,7 +64,7 @@ #include "autoware_point_types/types.hpp" #include -#include +#include #include #include #include @@ -146,11 +146,14 @@ class PointCloudConcatenateDataSynchronizerComponent : public rclcpp::Node /** \brief Output TF frame the concatenated points should be transformed to. */ std::string output_frame_; + /** \brief The flag to indicate if only static TF are used. */ + bool has_static_tf_only_; + /** \brief Input point cloud topics. */ // XmlRpc::XmlRpcValue input_topics_; std::vector input_topics_; - std::unique_ptr static_tf_buffer_{nullptr}; + std::unique_ptr managed_tf_buffer_{nullptr}; std::deque twist_ptr_queue_; diff --git a/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/concatenate_data/concatenate_pointclouds.hpp b/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/concatenate_data/concatenate_pointclouds.hpp index 9711025b713df..b7e0e86ca1d3a 100644 --- a/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/concatenate_data/concatenate_pointclouds.hpp +++ b/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/concatenate_data/concatenate_pointclouds.hpp @@ -62,7 +62,7 @@ // ROS includes #include -#include +#include #include #include #include @@ -135,11 +135,14 @@ class PointCloudConcatenationComponent : public rclcpp::Node /** \brief Output TF frame the concatenated points should be transformed to. */ std::string output_frame_; + /** \brief The flag to indicate if only static TF are used. */ + bool has_static_tf_only_; + /** \brief Input point cloud topics. */ // XmlRpc::XmlRpcValue input_topics_; std::vector input_topics_; - std::unique_ptr static_tf_buffer_{nullptr}; + std::unique_ptr managed_tf_buffer_{nullptr}; std::deque twist_ptr_queue_; diff --git a/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/distortion_corrector/distortion_corrector.hpp b/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/distortion_corrector/distortion_corrector.hpp index 7ba419770af17..e786bff04b3cd 100644 --- a/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/distortion_corrector/distortion_corrector.hpp +++ b/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/distortion_corrector/distortion_corrector.hpp @@ -16,7 +16,7 @@ #define AUTOWARE__POINTCLOUD_PREPROCESSOR__DISTORTION_CORRECTOR__DISTORTION_CORRECTOR_HPP_ #include -#include +#include #include #include @@ -74,7 +74,7 @@ class DistortionCorrector : public DistortionCorrectorBase bool pointcloud_transform_exists_{false}; bool imu_transform_exists_{false}; rclcpp::Node * node_; - std::unique_ptr static_tf_buffer_{nullptr}; + std::unique_ptr managed_tf_buffer_{nullptr}; std::deque twist_queue_; std::deque angular_velocity_queue_; @@ -99,9 +99,10 @@ class DistortionCorrector : public DistortionCorrectorBase void convertMatrixToTransform(const Eigen::Matrix4f & matrix, tf2::Transform & transform); public: - explicit DistortionCorrector(rclcpp::Node * node) : node_(node) + explicit DistortionCorrector(rclcpp::Node * node, const bool & has_static_tf_only) : node_(node) { - static_tf_buffer_ = std::make_unique(); + managed_tf_buffer_ = + std::make_unique(node, has_static_tf_only); } bool pointcloud_transform_exists(); bool pointcloud_transform_needed(); @@ -133,7 +134,10 @@ class DistortionCorrector2D : public DistortionCorrector tf2::Transform tf2_base_link_to_lidar_; public: - explicit DistortionCorrector2D(rclcpp::Node * node) : DistortionCorrector(node) {} + explicit DistortionCorrector2D(rclcpp::Node * node, const bool & has_static_tf_only) + : DistortionCorrector(node, has_static_tf_only) + { + } void initialize() override; void undistortPointImplementation( sensor_msgs::PointCloud2Iterator & it_x, sensor_msgs::PointCloud2Iterator & it_y, @@ -160,7 +164,10 @@ class DistortionCorrector3D : public DistortionCorrector Eigen::Matrix4f eigen_base_link_to_lidar_; public: - explicit DistortionCorrector3D(rclcpp::Node * node) : DistortionCorrector(node) {} + explicit DistortionCorrector3D(rclcpp::Node * node, const bool & has_static_tf_only) + : DistortionCorrector(node, has_static_tf_only) + { + } void initialize() override; void undistortPointImplementation( sensor_msgs::PointCloud2Iterator & it_x, sensor_msgs::PointCloud2Iterator & it_y, diff --git a/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/filter.hpp b/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/filter.hpp index 789f377e7ec95..b39be3cfaf9e5 100644 --- a/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/filter.hpp +++ b/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/filter.hpp @@ -74,15 +74,10 @@ #include #include -// Include TF -#include -#include -#include - // Include tier4 autoware utils #include +#include #include -#include #include namespace autoware::pointcloud_preprocessor @@ -174,6 +169,9 @@ class Filter : public rclcpp::Node * if input.header.frame_id is different. */ std::string tf_output_frame_; + /** \brief The flag to indicate if only static TF are used. */ + bool has_static_tf_only_; + /** \brief Internal mutex. */ std::mutex mutex_; @@ -240,7 +238,7 @@ class Filter : public rclcpp::Node * versus an exact one (false by default). */ bool approximate_sync_ = false; - std::unique_ptr static_tf_buffer_{nullptr}; + std::unique_ptr managed_tf_buffer_{nullptr}; inline bool isValid( const PointCloud2ConstPtr & cloud, const std::string & /*topic_name*/ = "input") diff --git a/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/time_synchronizer/time_synchronizer_node.hpp b/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/time_synchronizer/time_synchronizer_node.hpp index ad5cde3056ef0..b02860a6f112e 100644 --- a/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/time_synchronizer/time_synchronizer_node.hpp +++ b/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/time_synchronizer/time_synchronizer_node.hpp @@ -62,7 +62,7 @@ // ROS includes #include -#include +#include #include #include #include @@ -140,11 +140,14 @@ class PointCloudDataSynchronizerComponent : public rclcpp::Node std::string output_frame_; bool keep_input_frame_in_synchronized_pointcloud_; + /** \brief The flag to indicate if only static TF are used. */ + bool has_static_tf_only_; + /** \brief Input point cloud topics. */ // XmlRpc::XmlRpcValue input_topics_; std::vector input_topics_; - std::unique_ptr static_tf_buffer_{nullptr}; + std::unique_ptr managed_tf_buffer_{nullptr}; std::deque twist_ptr_queue_; diff --git a/sensing/autoware_pointcloud_preprocessor/schema/concatenate_pointclouds.schema.json b/sensing/autoware_pointcloud_preprocessor/schema/concatenate_pointclouds.schema.json index 916650c69a68b..19044f851bda6 100644 --- a/sensing/autoware_pointcloud_preprocessor/schema/concatenate_pointclouds.schema.json +++ b/sensing/autoware_pointcloud_preprocessor/schema/concatenate_pointclouds.schema.json @@ -25,6 +25,11 @@ "default": "base_link", "description": "Output frame id." }, + "has_static_tf_only": { + "type": "boolean", + "default": false, + "description": "Flag to indicate if only static TF is used." + }, "input_topics": { "type": "array", "items": { @@ -40,7 +45,14 @@ "description": "Max queue size of input/output topics." } }, - "required": ["timeout_sec", "input_offset", "output_frame", "input_topics", "max_queue_size"] + "required": [ + "timeout_sec", + "input_offset", + "output_frame", + "has_static_tf_only", + "input_topics", + "max_queue_size" + ] } }, "properties": { diff --git a/sensing/autoware_pointcloud_preprocessor/schema/distortion_corrector_node.schema.json b/sensing/autoware_pointcloud_preprocessor/schema/distortion_corrector_node.schema.json index acf67fd2746c4..75579227981ac 100644 --- a/sensing/autoware_pointcloud_preprocessor/schema/distortion_corrector_node.schema.json +++ b/sensing/autoware_pointcloud_preprocessor/schema/distortion_corrector_node.schema.json @@ -20,9 +20,14 @@ "type": "boolean", "description": "Use 3d distortion correction algorithm, otherwise, use 2d distortion correction algorithm.", "default": "false" + }, + "has_static_tf_only": { + "type": "boolean", + "description": "Flag to indicate if only static TF is used.", + "default": false } }, - "required": ["base_frame", "use_imu", "use_3d_distortion_correction"] + "required": ["base_frame", "use_imu", "use_3d_distortion_correction", "has_static_tf_only"] } }, "properties": { diff --git a/sensing/autoware_pointcloud_preprocessor/schema/time_synchronizer_node.schema.json b/sensing/autoware_pointcloud_preprocessor/schema/time_synchronizer_node.schema.json index 8954fcaf6d814..90c14b50508db 100644 --- a/sensing/autoware_pointcloud_preprocessor/schema/time_synchronizer_node.schema.json +++ b/sensing/autoware_pointcloud_preprocessor/schema/time_synchronizer_node.schema.json @@ -31,6 +31,11 @@ "default": "base_link", "description": "Output frame." }, + "has_static_tf_only": { + "type": "boolean", + "default": false, + "description": "Flag to indicate if only static TF is used." + }, "keep_input_frame_in_synchronized_pointcloud": { "type": "boolean", "default": true, @@ -61,6 +66,7 @@ "input_offset", "input_twist_topic_type", "output_frame", + "has_static_tf_only", "keep_input_frame_in_synchronized_pointcloud", "input_topics", "synchronized_pointcloud_postfix", diff --git a/sensing/autoware_pointcloud_preprocessor/src/concatenate_data/concatenate_and_time_sync_nodelet.cpp b/sensing/autoware_pointcloud_preprocessor/src/concatenate_data/concatenate_and_time_sync_nodelet.cpp index 0a051d780f5f7..d0911f769d3bd 100644 --- a/sensing/autoware_pointcloud_preprocessor/src/concatenate_data/concatenate_and_time_sync_nodelet.cpp +++ b/sensing/autoware_pointcloud_preprocessor/src/concatenate_data/concatenate_and_time_sync_nodelet.cpp @@ -92,6 +92,7 @@ PointCloudConcatenateDataSynchronizerComponent::PointCloudConcatenateDataSynchro RCLCPP_ERROR(get_logger(), "Need an 'output_frame' parameter to be set before continuing!"); return; } + has_static_tf_only_ = declare_parameter("has_static_tf_only", false); declare_parameter("input_topics", std::vector()); input_topics_ = get_parameter("input_topics").as_string_array(); if (input_topics_.empty()) { @@ -137,7 +138,8 @@ PointCloudConcatenateDataSynchronizerComponent::PointCloudConcatenateDataSynchro // tf2 listener { - static_tf_buffer_ = std::make_unique(); + managed_tf_buffer_ = + std::make_unique(this, has_static_tf_only_); } // Output Publishers @@ -361,8 +363,7 @@ PointCloudConcatenateDataSynchronizerComponent::combineClouds( } sensor_msgs::msg::PointCloud2::SharedPtr transformed_cloud_ptr( new sensor_msgs::msg::PointCloud2()); - static_tf_buffer_->transformPointcloud( - this, output_frame_, *e.second, *transformed_cloud_ptr); + managed_tf_buffer_->transformPointcloud(output_frame_, *e.second, *transformed_cloud_ptr); // calculate transforms to oldest stamp Eigen::Matrix4f adjust_to_old_data_transform = Eigen::Matrix4f::Identity(); @@ -392,8 +393,8 @@ PointCloudConcatenateDataSynchronizerComponent::combineClouds( if (keep_input_frame_in_synchronized_pointcloud_ && need_transform_to_sensor_frame) { sensor_msgs::msg::PointCloud2::SharedPtr transformed_cloud_ptr_in_sensor_frame( new sensor_msgs::msg::PointCloud2()); - static_tf_buffer_->transformPointcloud( - this, e.second->header.frame_id, *transformed_delay_compensated_cloud_ptr, + managed_tf_buffer_->transformPointcloud( + e.second->header.frame_id, *transformed_delay_compensated_cloud_ptr, *transformed_cloud_ptr_in_sensor_frame); transformed_cloud_ptr_in_sensor_frame->header.stamp = oldest_stamp; transformed_cloud_ptr_in_sensor_frame->header.frame_id = e.second->header.frame_id; diff --git a/sensing/autoware_pointcloud_preprocessor/src/concatenate_data/concatenate_pointclouds.cpp b/sensing/autoware_pointcloud_preprocessor/src/concatenate_data/concatenate_pointclouds.cpp index e9078cbe717cb..5e1911c93409d 100644 --- a/sensing/autoware_pointcloud_preprocessor/src/concatenate_data/concatenate_pointclouds.cpp +++ b/sensing/autoware_pointcloud_preprocessor/src/concatenate_data/concatenate_pointclouds.cpp @@ -54,6 +54,8 @@ PointCloudConcatenationComponent::PointCloudConcatenationComponent( RCLCPP_ERROR(get_logger(), "Need an 'output_frame' parameter to be set before continuing!"); return; } + has_static_tf_only_ = declare_parameter( + "has_static_tf_only", false); // TODO(amadeuszsz): remove default value declare_parameter>("input_topics"); input_topics_ = get_parameter("input_topics").as_string_array(); if (input_topics_.empty()) { @@ -93,7 +95,8 @@ PointCloudConcatenationComponent::PointCloudConcatenationComponent( // tf2 listener { - static_tf_buffer_ = std::make_unique(); + managed_tf_buffer_ = + std::make_unique(this, has_static_tf_only_); } // Output Publishers @@ -237,8 +240,7 @@ void PointCloudConcatenationComponent::combineClouds( // transform to output frame sensor_msgs::msg::PointCloud2::SharedPtr transformed_cloud_ptr( new sensor_msgs::msg::PointCloud2()); - static_tf_buffer_->transformPointcloud( - this, output_frame_, *e.second, *transformed_cloud_ptr); + managed_tf_buffer_->transformPointcloud(output_frame_, *e.second, *transformed_cloud_ptr); // concatenate if (concat_cloud_ptr == nullptr) { diff --git a/sensing/autoware_pointcloud_preprocessor/src/distortion_corrector/distortion_corrector.cpp b/sensing/autoware_pointcloud_preprocessor/src/distortion_corrector/distortion_corrector.cpp index affa6d901be2d..d0119fbc44f24 100644 --- a/sensing/autoware_pointcloud_preprocessor/src/distortion_corrector/distortion_corrector.cpp +++ b/sensing/autoware_pointcloud_preprocessor/src/distortion_corrector/distortion_corrector.cpp @@ -90,7 +90,7 @@ void DistortionCorrector::getIMUTransformation( tf2::Transform tf2_imu_to_base_link; Eigen::Matrix4f eigen_imu_to_base_link; imu_transform_exists_ = - static_tf_buffer_->getTransform(node_, base_frame, imu_frame, eigen_imu_to_base_link); + managed_tf_buffer_->getTransform(base_frame, imu_frame, eigen_imu_to_base_link); convertMatrixToTransform(eigen_imu_to_base_link, tf2_imu_to_base_link); geometry_imu_to_base_link_ptr_ = std::make_shared(); @@ -311,7 +311,7 @@ void DistortionCorrector2D::setPointCloudTransform( Eigen::Matrix4f eigen_lidar_to_base_link; pointcloud_transform_exists_ = - static_tf_buffer_->getTransform(node_, base_frame, lidar_frame, eigen_lidar_to_base_link); + managed_tf_buffer_->getTransform(base_frame, lidar_frame, eigen_lidar_to_base_link); convertMatrixToTransform(eigen_lidar_to_base_link, tf2_lidar_to_base_link_); tf2_base_link_to_lidar_ = tf2_lidar_to_base_link_.inverse(); pointcloud_transform_needed_ = base_frame != lidar_frame && pointcloud_transform_exists_; @@ -325,7 +325,7 @@ void DistortionCorrector3D::setPointCloudTransform( } pointcloud_transform_exists_ = - static_tf_buffer_->getTransform(node_, base_frame, lidar_frame, eigen_lidar_to_base_link_); + managed_tf_buffer_->getTransform(base_frame, lidar_frame, eigen_lidar_to_base_link_); eigen_base_link_to_lidar_ = eigen_lidar_to_base_link_.inverse(); pointcloud_transform_needed_ = base_frame != lidar_frame && pointcloud_transform_exists_; } diff --git a/sensing/autoware_pointcloud_preprocessor/src/distortion_corrector/distortion_corrector_node.cpp b/sensing/autoware_pointcloud_preprocessor/src/distortion_corrector/distortion_corrector_node.cpp index 822bb2ba5add5..8e4eaa6ec8f11 100644 --- a/sensing/autoware_pointcloud_preprocessor/src/distortion_corrector/distortion_corrector_node.cpp +++ b/sensing/autoware_pointcloud_preprocessor/src/distortion_corrector/distortion_corrector_node.cpp @@ -35,6 +35,8 @@ DistortionCorrectorComponent::DistortionCorrectorComponent(const rclcpp::NodeOpt base_frame_ = declare_parameter("base_frame"); use_imu_ = declare_parameter("use_imu"); use_3d_distortion_correction_ = declare_parameter("use_3d_distortion_correction"); + auto has_static_tf_only = + declare_parameter("has_static_tf_only", false); // TODO(amadeuszsz): remove default value // Publisher { @@ -59,9 +61,9 @@ DistortionCorrectorComponent::DistortionCorrectorComponent(const rclcpp::NodeOpt // Setup the distortion corrector if (use_3d_distortion_correction_) { - distortion_corrector_ = std::make_unique(this); + distortion_corrector_ = std::make_unique(this, has_static_tf_only); } else { - distortion_corrector_ = std::make_unique(this); + distortion_corrector_ = std::make_unique(this, has_static_tf_only); } } diff --git a/sensing/autoware_pointcloud_preprocessor/src/filter.cpp b/sensing/autoware_pointcloud_preprocessor/src/filter.cpp index de6549463e7ff..62495fc8b70cb 100644 --- a/sensing/autoware_pointcloud_preprocessor/src/filter.cpp +++ b/sensing/autoware_pointcloud_preprocessor/src/filter.cpp @@ -72,6 +72,7 @@ autoware::pointcloud_preprocessor::Filter::Filter( { tf_input_frame_ = static_cast(declare_parameter("input_frame", "")); tf_output_frame_ = static_cast(declare_parameter("output_frame", "")); + has_static_tf_only_ = static_cast(declare_parameter("has_static_tf_only", false)); max_queue_size_ = static_cast(declare_parameter("max_queue_size", 5)); // ---[ Optional parameters @@ -114,7 +115,17 @@ autoware::pointcloud_preprocessor::Filter::Filter( ////////////////////////////////////////////////////////////////////////////////////////////////////////////////// void autoware::pointcloud_preprocessor::Filter::setupTF() { - static_tf_buffer_ = std::make_unique(); + // Always consider static TF if in & out frames are same + if (tf_input_frame_ == tf_output_frame_) { + if (!has_static_tf_only_) { + RCLCPP_INFO( + this->get_logger(), + "Input and output frames are the same. Overriding has_static_tf_only to true."); + } + has_static_tf_only_ = true; + } + managed_tf_buffer_ = + std::make_unique(this, has_static_tf_only_); } ////////////////////////////////////////////////////////////////////////////////////////////////////////////////// @@ -269,7 +280,7 @@ void autoware::pointcloud_preprocessor::Filter::input_indices_callback( // Convert the cloud into the different frame PointCloud2 cloud_transformed; - if (!static_tf_buffer_->transformPointcloud(this, tf_input_frame_, *cloud, cloud_transformed)) { + if (!managed_tf_buffer_->transformPointcloud(tf_input_frame_, *cloud, cloud_transformed)) { return; } cloud_tf = std::make_shared(cloud_transformed); @@ -298,8 +309,8 @@ bool autoware::pointcloud_preprocessor::Filter::calculate_transform_matrix( this->get_logger(), "[get_transform_matrix] Transforming input dataset from %s to %s.", from.header.frame_id.c_str(), target_frame.c_str()); - if (!static_tf_buffer_->getTransform( - this, target_frame, from.header.frame_id, transform_info.eigen_transform)) { + if (!managed_tf_buffer_->getTransform( + target_frame, from.header.frame_id, transform_info.eigen_transform)) { return false; } @@ -321,8 +332,7 @@ bool autoware::pointcloud_preprocessor::Filter::convert_output_costly( // Convert the cloud into the different frame auto cloud_transformed = std::make_unique(); - if (!static_tf_buffer_->transformPointcloud( - this, tf_output_frame_, *output, *cloud_transformed)) { + if (!managed_tf_buffer_->transformPointcloud(tf_output_frame_, *output, *cloud_transformed)) { RCLCPP_ERROR( this->get_logger(), "[convert_output_costly] Error converting output dataset from %s to %s.", @@ -342,8 +352,8 @@ bool autoware::pointcloud_preprocessor::Filter::convert_output_costly( auto cloud_transformed = std::make_unique(); - if (!static_tf_buffer_->transformPointcloud( - this, tf_input_orig_frame_, *output, *cloud_transformed)) { + if (!managed_tf_buffer_->transformPointcloud( + tf_input_orig_frame_, *output, *cloud_transformed)) { return false; } diff --git a/sensing/autoware_pointcloud_preprocessor/src/time_synchronizer/time_synchronizer_node.cpp b/sensing/autoware_pointcloud_preprocessor/src/time_synchronizer/time_synchronizer_node.cpp index 3f6f37fd31720..e34c165383867 100644 --- a/sensing/autoware_pointcloud_preprocessor/src/time_synchronizer/time_synchronizer_node.cpp +++ b/sensing/autoware_pointcloud_preprocessor/src/time_synchronizer/time_synchronizer_node.cpp @@ -58,6 +58,8 @@ PointCloudDataSynchronizerComponent::PointCloudDataSynchronizerComponent( std::string synchronized_pointcloud_postfix; { output_frame_ = declare_parameter("output_frame"); + has_static_tf_only_ = declare_parameter( + "has_static_tf_only", false); // TODO(amadeuszsz): remove default value keep_input_frame_in_synchronized_pointcloud_ = declare_parameter("keep_input_frame_in_synchronized_pointcloud"); if (output_frame_.empty() && !keep_input_frame_in_synchronized_pointcloud_) { @@ -109,7 +111,8 @@ PointCloudDataSynchronizerComponent::PointCloudDataSynchronizerComponent( // tf2 listener { - static_tf_buffer_ = std::make_unique(); + managed_tf_buffer_ = + std::make_unique(this, has_static_tf_only_); } // Subscribers @@ -320,8 +323,7 @@ PointCloudDataSynchronizerComponent::synchronizeClouds() continue; } // transform pointcloud to output frame - static_tf_buffer_->transformPointcloud( - this, output_frame_, *e.second, *transformed_cloud_ptr); + managed_tf_buffer_->transformPointcloud(output_frame_, *e.second, *transformed_cloud_ptr); // calculate transforms to oldest stamp and transform pointcloud to oldest stamp Eigen::Matrix4f adjust_to_old_data_transform = Eigen::Matrix4f::Identity(); @@ -341,8 +343,8 @@ PointCloudDataSynchronizerComponent::synchronizeClouds() sensor_msgs::msg::PointCloud2::SharedPtr transformed_delay_compensated_cloud_ptr_in_input_frame( new sensor_msgs::msg::PointCloud2()); - static_tf_buffer_->transformPointcloud( - this, e.second->header.frame_id, *transformed_delay_compensated_cloud_ptr, + managed_tf_buffer_->transformPointcloud( + e.second->header.frame_id, *transformed_delay_compensated_cloud_ptr, *transformed_delay_compensated_cloud_ptr_in_input_frame); transformed_delay_compensated_cloud_ptr = transformed_delay_compensated_cloud_ptr_in_input_frame; diff --git a/sensing/autoware_pointcloud_preprocessor/test/test_distortion_corrector_node.cpp b/sensing/autoware_pointcloud_preprocessor/test/test_distortion_corrector_node.cpp index f90314a001105..047d021a4c6da 100644 --- a/sensing/autoware_pointcloud_preprocessor/test/test_distortion_corrector_node.cpp +++ b/sensing/autoware_pointcloud_preprocessor/test/test_distortion_corrector_node.cpp @@ -48,9 +48,9 @@ class DistortionCorrectorTest : public ::testing::Test { node_ = std::make_shared("test_node"); distortion_corrector_2d_ = - std::make_shared(node_.get()); + std::make_shared(node_.get(), true); distortion_corrector_3d_ = - std::make_shared(node_.get()); + std::make_shared(node_.get(), true); // Setup TF tf_broadcaster_ = std::make_shared(node_);