From 7f064daea31adff65cfda73085a8757b371d5b85 Mon Sep 17 00:00:00 2001 From: Yutaka Shimizu <43805014+purewater0901@users.noreply.github.com> Date: Thu, 9 Mar 2023 12:05:52 +0900 Subject: [PATCH 001/121] fix(behavior_path_planner): fix lane change velocity (#3028) * fix(behavior_path_planner): fix lane change velocity Signed-off-by: yutaka * update Signed-off-by: yutaka * update Signed-off-by: yutaka --------- Signed-off-by: yutaka --- .../external_request_lane_change_module.cpp | 4 ++-- .../scene_module/lane_change/lane_change_module.cpp | 4 ++-- .../src/util/lane_change/util.cpp | 4 ++-- planning/behavior_path_planner/src/utilities.cpp | 12 +++++------- 4 files changed, 11 insertions(+), 13 deletions(-) diff --git a/planning/behavior_path_planner/src/scene_module/lane_change/external_request_lane_change_module.cpp b/planning/behavior_path_planner/src/scene_module/lane_change/external_request_lane_change_module.cpp index d81942e55cbd2..3a55935b641e1 100644 --- a/planning/behavior_path_planner/src/scene_module/lane_change/external_request_lane_change_module.cpp +++ b/planning/behavior_path_planner/src/scene_module/lane_change/external_request_lane_change_module.cpp @@ -451,7 +451,7 @@ bool ExternalRequestLaneChangeModule::isNearEndOfLane() const bool ExternalRequestLaneChangeModule::isCurrentSpeedLow() const { constexpr double threshold_ms = 10.0 * 1000 / 3600; - return util::l2Norm(getEgoTwist().linear) < threshold_ms; + return getEgoTwist().linear.x < threshold_ms; } bool ExternalRequestLaneChangeModule::isAbortConditionSatisfied() @@ -574,7 +574,7 @@ std::shared_ptr ExternalRequestLaneChangeModule::get_de debug_msg.is_front = debug_data.is_front; debug_msg.relative_distance = debug_data.relative_to_ego; debug_msg.failed_reason = debug_data.failed_reason; - debug_msg.velocity = util::l2Norm(debug_data.object_twist.linear); + debug_msg.velocity = debug_data.object_twist.linear.x; debug_msg_array.lane_change_info.push_back(debug_msg); } lane_change_debug_msg_array_ = debug_msg_array; diff --git a/planning/behavior_path_planner/src/scene_module/lane_change/lane_change_module.cpp b/planning/behavior_path_planner/src/scene_module/lane_change/lane_change_module.cpp index cac2dabf9c92c..1ca530c0d28ee 100644 --- a/planning/behavior_path_planner/src/scene_module/lane_change/lane_change_module.cpp +++ b/planning/behavior_path_planner/src/scene_module/lane_change/lane_change_module.cpp @@ -451,7 +451,7 @@ bool LaneChangeModule::isNearEndOfLane() const bool LaneChangeModule::isCurrentSpeedLow() const { constexpr double threshold_ms = 10.0 * 1000 / 3600; - return util::l2Norm(getEgoTwist().linear) < threshold_ms; + return getEgoTwist().linear.x < threshold_ms; } bool LaneChangeModule::isAbortConditionSatisfied() @@ -573,7 +573,7 @@ std::shared_ptr LaneChangeModule::get_debug_msg_array() debug_msg.is_front = debug_data.is_front; debug_msg.relative_distance = debug_data.relative_to_ego; debug_msg.failed_reason = debug_data.failed_reason; - debug_msg.velocity = util::l2Norm(debug_data.object_twist.linear); + debug_msg.velocity = debug_data.object_twist.linear.x; debug_msg_array.lane_change_info.push_back(debug_msg); } lane_change_debug_msg_array_ = debug_msg_array; diff --git a/planning/behavior_path_planner/src/util/lane_change/util.cpp b/planning/behavior_path_planner/src/util/lane_change/util.cpp index ea74ffdae881b..4c48c16179586 100644 --- a/planning/behavior_path_planner/src/util/lane_change/util.cpp +++ b/planning/behavior_path_planner/src/util/lane_change/util.cpp @@ -294,7 +294,7 @@ std::pair getLaneChangePaths( const auto lane_change_sampling_num = parameter.lane_change_sampling_num; // get velocity - const auto current_velocity = util::l2Norm(twist.linear); + const auto current_velocity = twist.linear.x; const auto acceleration_resolution = std::abs(maximum_deceleration) / lane_change_sampling_num; @@ -840,7 +840,7 @@ std::optional getAbortPaths( [[maybe_unused]] const LaneChangeParameters & lane_change_param) { const auto & route_handler = planner_data->route_handler; - const auto current_speed = util::l2Norm(planner_data->self_odometry->twist.twist.linear); + const auto current_speed = planner_data->self_odometry->twist.twist.linear.x; const auto current_pose = planner_data->self_odometry->pose.pose; const auto reference_lanelets = selected_path.reference_lanelets; diff --git a/planning/behavior_path_planner/src/utilities.cpp b/planning/behavior_path_planner/src/utilities.cpp index 15666080147da..d5a34c8822ff4 100644 --- a/planning/behavior_path_planner/src/utilities.cpp +++ b/planning/behavior_path_planner/src/utilities.cpp @@ -2403,16 +2403,14 @@ bool hasEnoughDistance( const auto [front_vehicle_velocity, rear_vehicle_velocity] = std::invoke([&]() { debug.object_twist.linear = object_current_twist.linear; if (is_obj_in_front) { - return std::make_pair( - util::l2Norm(object_current_twist.linear), util::l2Norm(ego_current_twist.linear)); + return std::make_pair(object_current_twist.linear.x, ego_current_twist.linear.x); } - return std::make_pair( - util::l2Norm(ego_current_twist.linear), util::l2Norm(object_current_twist.linear)); + return std::make_pair(ego_current_twist.linear.x, object_current_twist.linear.x); }); const auto is_unsafe_dist_between_vehicle = std::invoke([&]() { // ignore this for parked vehicle. - if (l2Norm(object_current_twist.linear) < 0.1) { + if (object_current_twist.linear.x < 0.1) { return false; } @@ -2461,7 +2459,7 @@ bool isSafeInLaneletCollisionCheck( Pose expected_obj_pose = target_object.kinematics.initial_pose_with_covariance.pose; const auto & object_twist = target_object.kinematics.initial_twist_with_covariance.twist; - const auto object_speed = l2Norm(object_twist.linear); + const auto object_speed = object_twist.linear.x; const auto ignore_check_at_time = [&](const double current_time) { return ( (current_time < prepare_duration) && @@ -2522,7 +2520,7 @@ bool isSafeInFreeSpaceCollisionCheck( } const auto & object_twist = target_object.kinematics.initial_twist_with_covariance.twist; - const auto object_speed = l2Norm(object_twist.linear); + const auto object_speed = object_twist.linear.x; const auto ignore_check_at_time = [&](const double current_time) { return ( (current_time < prepare_duration) && From de19018ce76e5015e1f7ab0ff091ea42808b06c7 Mon Sep 17 00:00:00 2001 From: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> Date: Thu, 9 Mar 2023 14:38:27 +0900 Subject: [PATCH 002/121] feat(lane_change): support new framework (#3016) * feat(lane_change): support new framework Signed-off-by: Muhammad Zulfaqar Azmi * fix on entry new module idle state Signed-off-by: Muhammad Zulfaqar Azmi * style(pre-commit): autofix * clearWaitingApproval() once plan Signed-off-by: Muhammad Zulfaqar Azmi * set COMPILE_WITH_OLD_ARCHITECTURE to true Signed-off-by: Muhammad Zulfaqar Azmi * fix prev_approved_path Signed-off-by: Muhammad Zulfaqar Azmi --------- Signed-off-by: Muhammad Zulfaqar Azmi Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- planning/behavior_path_planner/CMakeLists.txt | 3 +- .../behavior_path_planner_node.hpp | 1 + .../behavior_path_planner/parameters.hpp | 1 + .../lane_change/lane_change_module.hpp | 63 +++++++++++------- .../scene_module/lane_change/manager.hpp | 57 +++++++++++++++++ .../src/behavior_path_planner_node.cpp | 21 ++++++ .../lane_change/lane_change_module.cpp | 64 ++++++++++++++----- .../src/scene_module/lane_change/manager.cpp | 51 +++++++++++++++ 8 files changed, 219 insertions(+), 42 deletions(-) create mode 100644 planning/behavior_path_planner/include/behavior_path_planner/scene_module/lane_change/manager.hpp create mode 100644 planning/behavior_path_planner/src/scene_module/lane_change/manager.cpp diff --git a/planning/behavior_path_planner/CMakeLists.txt b/planning/behavior_path_planner/CMakeLists.txt index 00550686f3cdd..767c04efeebb8 100644 --- a/planning/behavior_path_planner/CMakeLists.txt +++ b/planning/behavior_path_planner/CMakeLists.txt @@ -17,6 +17,7 @@ set(common_src src/scene_module/scene_module_visitor.cpp src/scene_module/pull_out/pull_out_module.cpp src/scene_module/side_shift/side_shift_module.cpp + src/scene_module/lane_change/lane_change_module.cpp src/turn_signal_decider.cpp src/util/avoidance/util.cpp src/util/lane_change/util.cpp @@ -48,7 +49,6 @@ if(COMPILE_WITH_OLD_ARCHITECTURE) src/scene_module/avoidance/avoidance_module.cpp src/scene_module/lane_following/lane_following_module.cpp src/scene_module/lane_change/external_request_lane_change_module.cpp - src/scene_module/lane_change/lane_change_module.cpp src/scene_module/pull_over/pull_over_module.cpp ${common_src} ) @@ -62,6 +62,7 @@ else() src/planner_manager.cpp src/scene_module/pull_out/manager.cpp src/scene_module/side_shift/manager.cpp + src/scene_module/lane_change/manager.cpp ${common_src} ) diff --git a/planning/behavior_path_planner/include/behavior_path_planner/behavior_path_planner_node.hpp b/planning/behavior_path_planner/include/behavior_path_planner/behavior_path_planner_node.hpp index 09c03782d9040..6d195e27999b4 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/behavior_path_planner_node.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/behavior_path_planner_node.hpp @@ -29,6 +29,7 @@ #include "behavior_path_planner/scene_module/side_shift/side_shift_module.hpp" #else #include "behavior_path_planner/planner_manager.hpp" +#include "behavior_path_planner/scene_module/lane_change/manager.hpp" #include "behavior_path_planner/scene_module/pull_out/manager.hpp" #include "behavior_path_planner/scene_module/side_shift/manager.hpp" #endif diff --git a/planning/behavior_path_planner/include/behavior_path_planner/parameters.hpp b/planning/behavior_path_planner/include/behavior_path_planner/parameters.hpp index fd5d27efda740..b6f8daa40107a 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/parameters.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/parameters.hpp @@ -32,6 +32,7 @@ struct BehaviorPathPlannerParameters ModuleConfigParameters config_avoidance; ModuleConfigParameters config_pull_out; ModuleConfigParameters config_side_shift; + ModuleConfigParameters config_lane_change; double backward_path_length; double forward_path_length; diff --git a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/lane_change/lane_change_module.hpp b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/lane_change/lane_change_module.hpp index e6a00371c898e..489dbfd3b5764 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/lane_change/lane_change_module.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/lane_change/lane_change_module.hpp @@ -51,13 +51,20 @@ using tier4_planning_msgs::msg::LaneChangeDebugMsgArray; class LaneChangeModule : public SceneModuleInterface { public: +#ifdef USE_OLD_ARCHITECTURE LaneChangeModule( const std::string & name, rclcpp::Node & node, std::shared_ptr parameters); - +#else + LaneChangeModule( + const std::string & name, rclcpp::Node & node, + const std::shared_ptr & parameters, + const std::shared_ptr & rtc_interface_left, + const std::shared_ptr & rtc_interface_right); +#endif bool isExecutionRequested() const override; bool isExecutionReady() const override; - BT::NodeStatus updateState() override; + ModuleStatus updateState() override; BehaviorModuleOutput plan() override; BehaviorModuleOutput planWaitingApproval() override; CandidateOutput planCandidate() const override; @@ -68,33 +75,40 @@ class LaneChangeModule : public SceneModuleInterface void acceptVisitor( [[maybe_unused]] const std::shared_ptr & visitor) const override; +#ifndef USE_OLD_ARCHITECTURE + void updateModuleParams(const std::shared_ptr & parameters) + { + parameters_ = parameters; + } +#endif + void publishRTCStatus() override { - rtc_interface_left_.publishCooperateStatus(clock_->now()); - rtc_interface_right_.publishCooperateStatus(clock_->now()); + rtc_interface_left_->publishCooperateStatus(clock_->now()); + rtc_interface_right_->publishCooperateStatus(clock_->now()); } bool isActivated() override { - if (rtc_interface_left_.isRegistered(uuid_left_)) { - return rtc_interface_left_.isActivated(uuid_left_); + if (rtc_interface_left_->isRegistered(uuid_left_)) { + return rtc_interface_left_->isActivated(uuid_left_); } - if (rtc_interface_right_.isRegistered(uuid_right_)) { - return rtc_interface_right_.isActivated(uuid_right_); + if (rtc_interface_right_->isRegistered(uuid_right_)) { + return rtc_interface_right_->isActivated(uuid_right_); } return false; } void lockRTCCommand() override { - rtc_interface_left_.lockCommandUpdate(); - rtc_interface_right_.lockCommandUpdate(); + rtc_interface_left_->lockCommandUpdate(); + rtc_interface_right_->lockCommandUpdate(); } void unlockRTCCommand() override { - rtc_interface_left_.unlockCommandUpdate(); - rtc_interface_right_.unlockCommandUpdate(); + rtc_interface_left_->unlockCommandUpdate(); + rtc_interface_right_->unlockCommandUpdate(); } private: @@ -113,8 +127,8 @@ class LaneChangeModule : public SceneModuleInterface bool is_abort_condition_satisfied_{false}; bool is_activated_ = false; - RTCInterface rtc_interface_left_; - RTCInterface rtc_interface_right_; + std::shared_ptr rtc_interface_left_; + std::shared_ptr rtc_interface_right_; UUID uuid_left_; UUID uuid_right_; UUID candidate_uuid_; @@ -123,14 +137,14 @@ class LaneChangeModule : public SceneModuleInterface void waitApprovalLeft(const double start_distance, const double finish_distance) { - rtc_interface_left_.updateCooperateStatus( + rtc_interface_left_->updateCooperateStatus( uuid_left_, isExecutionReady(), start_distance, finish_distance, clock_->now()); is_waiting_approval_ = true; } void waitApprovalRight(const double start_distance, const double finish_distance) { - rtc_interface_right_.updateCooperateStatus( + rtc_interface_right_->updateCooperateStatus( uuid_right_, isExecutionReady(), start_distance, finish_distance, clock_->now()); is_waiting_approval_ = true; } @@ -138,14 +152,14 @@ class LaneChangeModule : public SceneModuleInterface void updateRTCStatus(const CandidateOutput & candidate) { if (candidate.lateral_shift > 0.0) { - rtc_interface_left_.updateCooperateStatus( + rtc_interface_left_->updateCooperateStatus( uuid_left_, isExecutionReady(), candidate.start_distance_to_path_change, candidate.finish_distance_to_path_change, clock_->now()); candidate_uuid_ = uuid_left_; return; } if (candidate.lateral_shift < 0.0) { - rtc_interface_right_.updateCooperateStatus( + rtc_interface_right_->updateCooperateStatus( uuid_right_, isExecutionReady(), candidate.start_distance_to_path_change, candidate.finish_distance_to_path_change, clock_->now()); candidate_uuid_ = uuid_right_; @@ -159,21 +173,21 @@ class LaneChangeModule : public SceneModuleInterface void removeRTCStatus() override { - rtc_interface_left_.clearCooperateStatus(); - rtc_interface_right_.clearCooperateStatus(); + rtc_interface_left_->clearCooperateStatus(); + rtc_interface_right_->clearCooperateStatus(); } void removePreviousRTCStatusLeft() { - if (rtc_interface_left_.isRegistered(uuid_left_)) { - rtc_interface_left_.removeCooperateStatus(uuid_left_); + if (rtc_interface_left_->isRegistered(uuid_left_)) { + rtc_interface_left_->removeCooperateStatus(uuid_left_); } } void removePreviousRTCStatusRight() { - if (rtc_interface_right_.isRegistered(uuid_right_)) { - rtc_interface_right_.removeCooperateStatus(uuid_right_); + if (rtc_interface_right_->isRegistered(uuid_right_)) { + rtc_interface_right_->removeCooperateStatus(uuid_right_); } } @@ -184,6 +198,7 @@ class LaneChangeModule : public SceneModuleInterface std::pair getSafePath( const lanelet::ConstLanelets & lane_change_lanes, const double check_distance, LaneChangePath & safe_path) const; + PathWithLaneId extendBackwardLength(const PathWithLaneId & original_path) const; void updateLaneChangeStatus(); void generateExtendedDrivableArea(PathWithLaneId & path); diff --git a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/lane_change/manager.hpp b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/lane_change/manager.hpp new file mode 100644 index 0000000000000..87e5d42688d06 --- /dev/null +++ b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/lane_change/manager.hpp @@ -0,0 +1,57 @@ +// 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 BEHAVIOR_PATH_PLANNER__SCENE_MODULE__LANE_CHANGE__MANAGER_HPP_ +#define BEHAVIOR_PATH_PLANNER__SCENE_MODULE__LANE_CHANGE__MANAGER_HPP_ + +#include "behavior_path_planner/scene_module/lane_change/lane_change_module.hpp" +#include "behavior_path_planner/scene_module/scene_module_manager_interface.hpp" + +#include + +#include +#include +#include +#include + +namespace behavior_path_planner +{ + +class LaneChangeModuleManager : public SceneModuleManagerInterface +{ +public: + LaneChangeModuleManager( + rclcpp::Node * node, const std::string & name, const ModuleConfigParameters & config, + std::shared_ptr parameters); + + std::shared_ptr createNewSceneModuleInstance() override + { + return std::make_shared( + name_, *node_, parameters_, rtc_interface_left_, rtc_interface_right_); + } + + void updateModuleParams(const std::vector & parameters) override; + +private: + std::shared_ptr rtc_interface_left_; + std::shared_ptr rtc_interface_right_; + + std::shared_ptr parameters_; + + std::vector> registered_modules_; +}; + +} // namespace behavior_path_planner + +#endif // BEHAVIOR_PATH_PLANNER__SCENE_MODULE__LANE_CHANGE__MANAGER_HPP_ diff --git a/planning/behavior_path_planner/src/behavior_path_planner_node.cpp b/planning/behavior_path_planner/src/behavior_path_planner_node.cpp index 6b45c8f130807..ad011e35a4fac 100644 --- a/planning/behavior_path_planner/src/behavior_path_planner_node.cpp +++ b/planning/behavior_path_planner/src/behavior_path_planner_node.cpp @@ -222,6 +222,17 @@ BehaviorPathPlannerNode::BehaviorPathPlannerNode(const rclcpp::NodeOptions & nod "side_shift", create_publisher(path_reference_name_space + "side_shift", 1)); } + if (p.config_lane_change.enable_module) { + const std::string module_topic = "lane_change"; + auto manager = std::make_shared( + this, module_topic, p.config_lane_change, lane_change_param_ptr_); + planner_manager_->registerSceneModuleManager(manager); + path_candidate_publishers_.emplace( + module_topic, create_publisher(path_candidate_name_space + module_topic, 1)); + path_reference_publishers_.emplace( + module_topic, create_publisher(path_reference_name_space + module_topic, 1)); + } + mutex_bt_.unlock(); } #endif @@ -273,6 +284,16 @@ BehaviorPathPlannerParameters BehaviorPathPlannerNode::getCommonParam() p.config_side_shift.max_module_size = declare_parameter(ns + "max_module_size"); } + { + const std::string ns = "lane_change."; + + p.config_lane_change.enable_module = declare_parameter(ns + "enable_module"); + p.config_lane_change.enable_simultaneous_execution = + declare_parameter(ns + "enable_simultaneous_execution"); + p.config_lane_change.priority = declare_parameter(ns + "priority"); + p.config_lane_change.max_module_size = declare_parameter(ns + "max_module_size"); + } + // vehicle info const auto vehicle_info = VehicleInfoUtil(*this).getVehicleInfo(); p.vehicle_info = vehicle_info; diff --git a/planning/behavior_path_planner/src/scene_module/lane_change/lane_change_module.cpp b/planning/behavior_path_planner/src/scene_module/lane_change/lane_change_module.cpp index 1ca530c0d28ee..93987eaf5a6cd 100644 --- a/planning/behavior_path_planner/src/scene_module/lane_change/lane_change_module.cpp +++ b/planning/behavior_path_planner/src/scene_module/lane_change/lane_change_module.cpp @@ -44,22 +44,43 @@ namespace behavior_path_planner { using autoware_auto_perception_msgs::msg::ObjectClassification; +#ifdef USE_OLD_ARCHITECTURE LaneChangeModule::LaneChangeModule( const std::string & name, rclcpp::Node & node, std::shared_ptr parameters) : SceneModuleInterface{name, node}, parameters_{std::move(parameters)}, - rtc_interface_left_(&node, "lane_change_left"), - rtc_interface_right_(&node, "lane_change_right"), uuid_left_{generateUUID()}, uuid_right_{generateUUID()} { + rtc_interface_left_ = std::make_shared(&node, "lane_change_left"); + rtc_interface_right_ = std::make_shared(&node, "lane_change_right"); steering_factor_interface_ptr_ = std::make_unique(&node, "lane_change"); } +#else +LaneChangeModule::LaneChangeModule( + const std::string & name, rclcpp::Node & node, + const std::shared_ptr & parameters, + const std::shared_ptr & rtc_interface_left, + const std::shared_ptr & rtc_interface_right) +: SceneModuleInterface{name, node}, + parameters_{parameters}, + rtc_interface_left_{rtc_interface_left}, + rtc_interface_right_{rtc_interface_right}, + uuid_left_{generateUUID()}, + uuid_right_{generateUUID()} +{ + steering_factor_interface_ptr_ = std::make_unique(&node, "lane_change"); +} +#endif void LaneChangeModule::onEntry() { RCLCPP_DEBUG(getLogger(), "LANE_CHANGE onEntry"); - current_state_ = BT::NodeStatus::SUCCESS; +#ifdef USE_OLD_ARCHITECTURE + current_state_ = ModuleStatus::SUCCESS; +#else + current_state_ = ModuleStatus::IDLE; +#endif current_lane_change_state_ = LaneChangeStates::Normal; updateLaneChangeStatus(); } @@ -67,13 +88,13 @@ void LaneChangeModule::onEntry() void LaneChangeModule::onExit() { resetParameters(); - current_state_ = BT::NodeStatus::SUCCESS; + current_state_ = ModuleStatus::SUCCESS; RCLCPP_DEBUG(getLogger(), "LANE_CHANGE onExit"); } bool LaneChangeModule::isExecutionRequested() const { - if (current_state_ == BT::NodeStatus::RUNNING) { + if (current_state_ == ModuleStatus::RUNNING) { return true; } @@ -89,7 +110,7 @@ bool LaneChangeModule::isExecutionRequested() const bool LaneChangeModule::isExecutionReady() const { - if (current_state_ == BT::NodeStatus::RUNNING) { + if (current_state_ == ModuleStatus::RUNNING) { return true; } @@ -103,36 +124,36 @@ bool LaneChangeModule::isExecutionReady() const return found_safe_path; } -BT::NodeStatus LaneChangeModule::updateState() +ModuleStatus LaneChangeModule::updateState() { RCLCPP_DEBUG(getLogger(), "LANE_CHANGE updateState"); if (!isValidPath()) { - current_state_ = BT::NodeStatus::SUCCESS; + current_state_ = ModuleStatus::SUCCESS; return current_state_; } const auto is_within_current_lane = lane_change_utils::isEgoWithinOriginalLane( status_.current_lanes, getEgoPose(), planner_data_->parameters); if (isAbortState() && !is_within_current_lane) { - current_state_ = BT::NodeStatus::RUNNING; + current_state_ = ModuleStatus::RUNNING; return current_state_; } if (isAbortConditionSatisfied()) { if ((isNearEndOfLane() && isCurrentSpeedLow()) || !is_within_current_lane) { - current_state_ = BT::NodeStatus::RUNNING; + current_state_ = ModuleStatus::RUNNING; return current_state_; } - current_state_ = BT::NodeStatus::FAILURE; + current_state_ = ModuleStatus::FAILURE; return current_state_; } if (hasFinishedLaneChange()) { - current_state_ = BT::NodeStatus::SUCCESS; + current_state_ = ModuleStatus::SUCCESS; return current_state_; } - current_state_ = BT::NodeStatus::RUNNING; + current_state_ = ModuleStatus::RUNNING; return current_state_; } @@ -162,13 +183,18 @@ BehaviorModuleOutput LaneChangeModule::plan() generateExtendedDrivableArea(path); - prev_approved_path_ = path; - BehaviorModuleOutput output; output.path = std::make_shared(path); + path_reference_ = getPreviousModuleOutput().reference_path; +#ifdef USE_OLD_ARCHITECTURE + prev_approved_path_ = path; +#else + prev_approved_path_ = *getPreviousModuleOutput().path; +#endif updateOutputTurnSignal(output); updateSteeringFactorPtr(output); + clearWaitingApproval(); return output; } @@ -235,18 +261,21 @@ CandidateOutput LaneChangeModule::planCandidate() const BehaviorModuleOutput LaneChangeModule::planWaitingApproval() { +#ifdef USE_OLD_ARCHITECTURE const auto is_within_current_lane = lane_change_utils::isEgoWithinOriginalLane( status_.current_lanes, getEgoPose(), planner_data_->parameters); - if (is_within_current_lane) { prev_approved_path_ = getReferencePath(); } - +#else + prev_approved_path_ = *getPreviousModuleOutput().path; +#endif BehaviorModuleOutput out; out.path = std::make_shared(prev_approved_path_); const auto candidate = planCandidate(); path_candidate_ = std::make_shared(candidate.path_candidate); + path_reference_ = getPreviousModuleOutput().reference_path; updateRTCStatus(candidate); waitApproval(); is_abort_path_approved_ = false; @@ -739,6 +768,7 @@ void LaneChangeModule::resetParameters() abort_path_ = nullptr; clearWaitingApproval(); + unlockNewModuleLaunch(); removeRTCStatus(); steering_factor_interface_ptr_->clearSteeringFactors(); object_debug_.clear(); diff --git a/planning/behavior_path_planner/src/scene_module/lane_change/manager.cpp b/planning/behavior_path_planner/src/scene_module/lane_change/manager.cpp new file mode 100644 index 0000000000000..79bc075de2ffe --- /dev/null +++ b/planning/behavior_path_planner/src/scene_module/lane_change/manager.cpp @@ -0,0 +1,51 @@ +// 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 "behavior_path_planner/scene_module/lane_change/manager.hpp" + +#include + +#include +#include +#include +#include + +namespace behavior_path_planner +{ + +LaneChangeModuleManager::LaneChangeModuleManager( + rclcpp::Node * node, const std::string & name, const ModuleConfigParameters & config, + std::shared_ptr parameters) +: SceneModuleManagerInterface(node, name, config), parameters_{std::move(parameters)} +{ + rtc_interface_left_ = std::make_shared(node, name + "_left"); + rtc_interface_right_ = std::make_shared(node, name + "_right"); +} + +void LaneChangeModuleManager::updateModuleParams( + [[maybe_unused]] const std::vector & parameters) +{ + using tier4_autoware_utils::updateParam; + + [[maybe_unused]] auto p = parameters_; + + [[maybe_unused]] std::string ns = "lane_change."; + // updateParam(parameters, ns + ..., ...); + + std::for_each(registered_modules_.begin(), registered_modules_.end(), [&p](const auto & m) { + m->updateModuleParams(p); + }); +} + +} // namespace behavior_path_planner From 6a766aea0c6a654e02129d799de2520208a67911 Mon Sep 17 00:00:00 2001 From: Kotaro Uetake <60615504+ktro2828@users.noreply.github.com> Date: Thu, 9 Mar 2023 14:58:34 +0900 Subject: [PATCH 003/121] docs(traffic_ligtht_classifier): update document for CNN model customization (#3037) docs: update document for CNN model customization Signed-off-by: ktro2828 --- perception/traffic_light_classifier/README.md | 64 +++++++++++++++++++ 1 file changed, 64 insertions(+) diff --git a/perception/traffic_light_classifier/README.md b/perception/traffic_light_classifier/README.md index 24928c9ee4de0..b598d877d5293 100644 --- a/perception/traffic_light_classifier/README.md +++ b/perception/traffic_light_classifier/README.md @@ -87,6 +87,70 @@ These colors and shapes are assigned to the message as follows: | `red_max_s` | int | the maximum saturation of red color | | `red_max_v` | int | the maximum value (brightness) of red color | +## Customization of CNN model + +Currently, in Autoware, [MobileNetV2](https://arxiv.org/abs/1801.04381v3) is used as CNN classifier by default. The corresponding onnx file is [data/traffic_light_classifier_mobilenetv2.onnx](./data/traffic_light_classifier_mobilenetv2.onnx). +Also, you can apply the following models shown as below, for example. + +- [EfficientNet](https://arxiv.org/abs/1905.11946v5) +- [ResNet](https://openaccess.thecvf.com/content_cvpr_2016/html/He_Deep_Residual_Learning_CVPR_2016_paper.html) +- [MobileNetV3](https://arxiv.org/abs/1905.02244) + ... + +In order to train models and export onnx model, we recommend [open-mmlab/mmclassification](https://github.com/open-mmlab/mmclassification.git). +Please follow the [official document](https://mmclassification.readthedocs.io/en/latest/) to install and experiment with mmclassification. If you get into troubles, [FAQ page](https://mmclassification.readthedocs.io/en/latest/faq.html) would help you. + +The following steps are example of a quick-start. + +### step 0. Install [MMCV](https://github.com/open-mmlab/mmcv.git) and [MIM](https://github.com/open-mmlab/mim.git) + +_NOTE_ : First of all, install [PyTorch](https://pytorch.org/) suitable for your CUDA version (CUDA11.6 is supported in Autoware). + +In order to install mmcv suitable for your CUDA version, install it specifying a url. + +```shell +# Install mim +$ pip install -U openmim + +# Install mmcv on a machine with CUDA11.6 and PyTorch1.13.0 +$ pip install mmcv-full -f https://download.openmmlab.com/mmcv/dist/cu116/torch1.13/index.html +``` + +### step 1. Install MMClassification + +You can install MMClassification as a Python package or from source. + +```shell +# As a Python package +$ pip install mmcls + +# From source +$ git clone https://github.com/open-mmlab/mmclassification.git +$ cd mmclassification +$ pip install -v -e . +``` + +### step 2. Train your model + +Train model with your experiment configuration file. For the details of config file, see [here](https://mmclassification.readthedocs.io/en/latest/tutorials/config.html). + +```shell +# [] is optional, you can start training from pre-trained checkpoint +$ mim train mmcls YOUR_CONFIG.py [--resume-from YOUR_CHECKPOINT.pth] +``` + +### step 3. Export onnx model + +In exporting onnx, use `mmclassificatoin/tools/deployment/pytorch2onnx.py` or [open-mmlab/mmdeploy](https://github.com/open-mmlab/mmdeploy.git). + +```shell +cd ~/mmclassification/tools/deployment +python3 pytorch2onnx.py YOUR_CONFIG.py ... +``` + +After obtaining your onnx model, update parameters defined in the launch file (e.g. `model_file_path`, `label_file_path`, `input_h`, `input_w`...). +Note that, we only support labels defined in [autoware_auto_perception_msgs::msg::TrafficLight](https://github.com/tier4/autoware_auto_msgs/blob/tier4/main/autoware_auto_perception_msgs/msg/TrafficLight.idl). + ## Assumptions / Known limits + + + + + + + + + + diff --git a/planning/planning_evaluator/package.xml b/evaluator/planning_evaluator/package.xml similarity index 91% rename from planning/planning_evaluator/package.xml rename to evaluator/planning_evaluator/package.xml index b288d911b4c3c..73186f6b20e88 100644 --- a/planning/planning_evaluator/package.xml +++ b/evaluator/planning_evaluator/package.xml @@ -5,6 +5,7 @@ 0.1.0 ROS2 node for evaluating planners Maxime CLEMENT + Kyoichi Sugahara Apache License 2.0 Maxime CLEMENT @@ -20,6 +21,7 @@ geometry_msgs motion_utils nav_msgs + pluginlib rclcpp rclcpp_components tf2 diff --git a/planning/planning_evaluator/param/planning_evaluator.defaults.yaml b/evaluator/planning_evaluator/param/planning_evaluator.defaults.yaml similarity index 100% rename from planning/planning_evaluator/param/planning_evaluator.defaults.yaml rename to evaluator/planning_evaluator/param/planning_evaluator.defaults.yaml diff --git a/planning/planning_evaluator/src/metrics/deviation_metrics.cpp b/evaluator/planning_evaluator/src/metrics/deviation_metrics.cpp similarity index 100% rename from planning/planning_evaluator/src/metrics/deviation_metrics.cpp rename to evaluator/planning_evaluator/src/metrics/deviation_metrics.cpp diff --git a/planning/planning_evaluator/src/metrics/metrics_utils.cpp b/evaluator/planning_evaluator/src/metrics/metrics_utils.cpp similarity index 100% rename from planning/planning_evaluator/src/metrics/metrics_utils.cpp rename to evaluator/planning_evaluator/src/metrics/metrics_utils.cpp diff --git a/planning/planning_evaluator/src/metrics/obstacle_metrics.cpp b/evaluator/planning_evaluator/src/metrics/obstacle_metrics.cpp similarity index 100% rename from planning/planning_evaluator/src/metrics/obstacle_metrics.cpp rename to evaluator/planning_evaluator/src/metrics/obstacle_metrics.cpp diff --git a/planning/planning_evaluator/src/metrics/stability_metrics.cpp b/evaluator/planning_evaluator/src/metrics/stability_metrics.cpp similarity index 100% rename from planning/planning_evaluator/src/metrics/stability_metrics.cpp rename to evaluator/planning_evaluator/src/metrics/stability_metrics.cpp diff --git a/planning/planning_evaluator/src/metrics/trajectory_metrics.cpp b/evaluator/planning_evaluator/src/metrics/trajectory_metrics.cpp similarity index 100% rename from planning/planning_evaluator/src/metrics/trajectory_metrics.cpp rename to evaluator/planning_evaluator/src/metrics/trajectory_metrics.cpp diff --git a/planning/planning_evaluator/src/metrics_calculator.cpp b/evaluator/planning_evaluator/src/metrics_calculator.cpp similarity index 100% rename from planning/planning_evaluator/src/metrics_calculator.cpp rename to evaluator/planning_evaluator/src/metrics_calculator.cpp diff --git a/planning/planning_evaluator/src/motion_evaluator_node.cpp b/evaluator/planning_evaluator/src/motion_evaluator_node.cpp similarity index 100% rename from planning/planning_evaluator/src/motion_evaluator_node.cpp rename to evaluator/planning_evaluator/src/motion_evaluator_node.cpp diff --git a/planning/planning_evaluator/src/planning_evaluator_node.cpp b/evaluator/planning_evaluator/src/planning_evaluator_node.cpp similarity index 98% rename from planning/planning_evaluator/src/planning_evaluator_node.cpp rename to evaluator/planning_evaluator/src/planning_evaluator_node.cpp index cca9bbf7c62e3..663f0482cf77b 100644 --- a/planning/planning_evaluator/src/planning_evaluator_node.cpp +++ b/evaluator/planning_evaluator/src/planning_evaluator_node.cpp @@ -156,7 +156,7 @@ void PlanningEvaluatorNode::onTrajectory(const Trajectory::ConstSharedPtr traj_m } metrics_calculator_.setPreviousTrajectory(*traj_msg); auto runtime = (now() - start).seconds(); - RCLCPP_INFO(get_logger(), "Calculation time: %2.2f ms", runtime * 1e3); + RCLCPP_DEBUG(get_logger(), "Planning evaluation calculation time: %2.2f ms", runtime * 1e3); } void PlanningEvaluatorNode::onReferenceTrajectory(const Trajectory::ConstSharedPtr traj_msg) diff --git a/planning/planning_evaluator/test/test_planning_evaluator_node.cpp b/evaluator/planning_evaluator/test/test_planning_evaluator_node.cpp similarity index 100% rename from planning/planning_evaluator/test/test_planning_evaluator_node.cpp rename to evaluator/planning_evaluator/test/test_planning_evaluator_node.cpp diff --git a/launch/tier4_planning_launch/launch/planning.launch.xml b/launch/tier4_planning_launch/launch/planning.launch.xml index f0e9545250e5e..a64427b70ec44 100644 --- a/launch/tier4_planning_launch/launch/planning.launch.xml +++ b/launch/tier4_planning_launch/launch/planning.launch.xml @@ -86,5 +86,10 @@ + + + + + diff --git a/launch/tier4_simulator_launch/launch/simulator.launch.xml b/launch/tier4_simulator_launch/launch/simulator.launch.xml index aa1877be4f536..9769a6a36332f 100644 --- a/launch/tier4_simulator_launch/launch/simulator.launch.xml +++ b/launch/tier4_simulator_launch/launch/simulator.launch.xml @@ -6,6 +6,7 @@ + @@ -104,6 +105,13 @@ + + + + + + + diff --git a/planning/planning_evaluator/launch/planning_evaluator.launch.xml b/planning/planning_evaluator/launch/planning_evaluator.launch.xml deleted file mode 100644 index b3956359c1fd9..0000000000000 --- a/planning/planning_evaluator/launch/planning_evaluator.launch.xml +++ /dev/null @@ -1,12 +0,0 @@ - - - - - - - - - - - - From d8c826c82cdac1435fe626a06c309ea349e01a0a Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Fri, 10 Mar 2023 12:46:54 +0900 Subject: [PATCH 012/121] fix(avoidance): fix unexpected behavior in yield scenario (#3033) * fix(avoidance): canceling avoidance path even if it doesn't have to avoid Signed-off-by: satoshi-ota * fix(avoidance): stop in front of the object that should be avoid Signed-off-by: satoshi-ota * chore(avoidance): add comment Signed-off-by: satoshi-ota * fix: typo --------- Signed-off-by: satoshi-ota --- .../util/avoidance/avoidance_module_data.hpp | 3 ++ .../avoidance/avoidance_module.cpp | 44 +++++++++++++------ 2 files changed, 33 insertions(+), 14 deletions(-) diff --git a/planning/behavior_path_planner/include/behavior_path_planner/util/avoidance/avoidance_module_data.hpp b/planning/behavior_path_planner/include/behavior_path_planner/util/avoidance/avoidance_module_data.hpp index 8f44fdc3fedbf..f2417287620dc 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/util/avoidance/avoidance_module_data.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/util/avoidance/avoidance_module_data.hpp @@ -408,6 +408,9 @@ struct AvoidancePlanningData // the others ObjectDataArray other_objects; + // nearest object that should be avoid + boost::optional stop_target_object{boost::none}; + // raw shift point AvoidLineArray unapproved_raw_sl{}; diff --git a/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp b/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp index 28b032a2317b7..3928f7f9f2b15 100644 --- a/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp +++ b/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp @@ -743,12 +743,14 @@ void AvoidanceModule::fillShiftLine(AvoidancePlanningData & data, DebugData & de } /** - * Check whether the ego should avoid the front object. When the ego follows reference path, + * Find the nearest object that should be avoid. When the ego follows reference path, * if the lateral distance is smaller than minimum margin, the ego should avoid the object. */ - if (!data.target_objects.empty()) { - const auto o_front = data.target_objects.front(); - data.avoid_required = o_front.avoid_required; + for (const auto & o : data.target_objects) { + if (o.avoid_required) { + data.avoid_required = true; + data.stop_target_object = o; + } } /** @@ -762,6 +764,18 @@ void AvoidanceModule::fillShiftLine(AvoidancePlanningData & data, DebugData & de getLogger(), *clock_, 5000, "not found safe avoidance path. transit yield maneuver..."); } + /** + * Even if data.avoid_required is false, the module cancels registered shift point when the + * approved avoidance path is not safe. + */ + if (!data.safe && registered) { + data.yield_required = true; + data.candidate_path = toShiftedPath(data.reference_path); + RCLCPP_WARN_THROTTLE( + getLogger(), *clock_, 5000, + "found safe avoidance path, but it is not safe. canceling avoidance path..."); + } + /** * TODO(Satoshi OTA) Think yield maneuver in the middle of avoidance. * Even if it is determined that a yield is necessary, the yield maneuver is not executed @@ -784,7 +798,7 @@ void AvoidanceModule::fillDebugData(const AvoidancePlanningData & data, DebugDat debug.current_raw_shift = data.unapproved_raw_sl; debug.new_shift_lines = data.unapproved_new_sl; - if (data.target_objects.empty()) { + if (!data.stop_target_object) { return; } @@ -796,7 +810,7 @@ void AvoidanceModule::fillDebugData(const AvoidancePlanningData & data, DebugDat return; } - const auto o_front = data.target_objects.front(); + const auto o_front = data.stop_target_object.get(); const auto & base_link2front = planner_data_->parameters.base_link2front; const auto & vehicle_width = planner_data_->parameters.vehicle_width; @@ -821,6 +835,10 @@ void AvoidanceModule::fillDebugData(const AvoidancePlanningData & data, DebugDat AvoidanceState AvoidanceModule::updateEgoState(const AvoidancePlanningData & data) const { + if (data.yield_required && parameters_->enable_yield_maneuver) { + return AvoidanceState::YIELD; + } + if (!data.avoid_required) { return AvoidanceState::NOT_AVOID; } @@ -829,10 +847,6 @@ AvoidanceState AvoidanceModule::updateEgoState(const AvoidancePlanningData & dat return AvoidanceState::AVOID_PATH_NOT_READY; } - if (data.yield_required && parameters_->enable_yield_maneuver) { - return AvoidanceState::YIELD; - } - if (isWaitingApproval() && path_shifter_.getShiftLines().empty()) { return AvoidanceState::AVOID_PATH_READY; } @@ -3842,7 +3856,7 @@ void AvoidanceModule::insertWaitPoint( const auto & base_link2front = planner_data_->parameters.base_link2front; const auto & vehicle_width = planner_data_->parameters.vehicle_width; - if (data.target_objects.empty()) { + if (!data.stop_target_object) { return; } @@ -3865,7 +3879,7 @@ void AvoidanceModule::insertWaitPoint( // D4: o_front.longitudinal // D5: base_link2front - const auto o_front = data.target_objects.front(); + const auto o_front = data.stop_target_object.get(); const auto avoid_margin = p->lateral_collision_safety_buffer + p->lateral_collision_margin + 0.5 * vehicle_width; @@ -3918,8 +3932,10 @@ void AvoidanceModule::insertPrepareVelocity(const bool avoidable, ShiftedPath & return; } - if (data.target_objects.front().reason != AvoidanceDebugFactor::TOO_LARGE_JERK) { - return; + if (!!data.stop_target_object) { + if (data.stop_target_object.get().reason != AvoidanceDebugFactor::TOO_LARGE_JERK) { + return; + } } if (data.avoiding_now) { From def79f3c7786f4f03af0601809809c09202d286d Mon Sep 17 00:00:00 2001 From: Takamasa Horibe Date: Fri, 10 Mar 2023 14:43:28 +0900 Subject: [PATCH 013/121] fix(mpc): optimization failure due to steer limit (#3044) * fix(mpc): optimization failure due to steer limit Signed-off-by: Takamasa Horibe * add const Signed-off-by: Takamasa Horibe --------- Signed-off-by: Takamasa Horibe --- control/mpc_lateral_controller/src/mpc.cpp | 7 +++++-- 1 file changed, 5 insertions(+), 2 deletions(-) diff --git a/control/mpc_lateral_controller/src/mpc.cpp b/control/mpc_lateral_controller/src/mpc.cpp index f5da49b1d5a82..0771a406516dc 100644 --- a/control/mpc_lateral_controller/src/mpc.cpp +++ b/control/mpc_lateral_controller/src/mpc.cpp @@ -253,8 +253,11 @@ void MPC::setReferenceTrajectory( void MPC::resetPrevResult(const autoware_auto_vehicle_msgs::msg::SteeringReport & current_steer) { - m_raw_steer_cmd_prev = current_steer.steering_tire_angle; - m_raw_steer_cmd_pprev = current_steer.steering_tire_angle; + // Consider limit. The prev value larger than limiation brakes the optimization constraint and + // resluts in optimization failure. + const float steer_lim_f = static_cast(m_steer_lim); + m_raw_steer_cmd_prev = std::clamp(current_steer.steering_tire_angle, -steer_lim_f, steer_lim_f); + m_raw_steer_cmd_pprev = std::clamp(current_steer.steering_tire_angle, -steer_lim_f, steer_lim_f); } bool MPC::getData( From 1b35a6f6859c6bf28aa06031baeb3bcb3bc5e2aa Mon Sep 17 00:00:00 2001 From: Takamasa Horibe Date: Fri, 10 Mar 2023 15:23:14 +0900 Subject: [PATCH 014/121] refactor(mpc): clean up code (#3046) * refactor(mpc): remove unnecessary namespace Signed-off-by: Takamasa Horibe * refactor(mpc): remove unused code Signed-off-by: Takamasa Horibe * refactor(mpc): using namespace Signed-off-by: Takamasa Horibe --------- Signed-off-by: Takamasa Horibe --- .../include/mpc_lateral_controller/mpc.hpp | 67 ++++--- .../mpc_lateral_controller.hpp | 2 +- .../src/longitudinal_controller_utils.cpp | 179 ------------------ control/mpc_lateral_controller/src/mpc.cpp | 108 +++++------ .../src/mpc_lateral_controller.cpp | 20 +- .../mpc_lateral_controller/src/mpc_utils.cpp | 3 +- 6 files changed, 92 insertions(+), 287 deletions(-) delete mode 100644 control/mpc_lateral_controller/src/longitudinal_controller_utils.cpp diff --git a/control/mpc_lateral_controller/include/mpc_lateral_controller/mpc.hpp b/control/mpc_lateral_controller/include/mpc_lateral_controller/mpc.hpp index c18711d7a4ffa..226dd803e3945 100644 --- a/control/mpc_lateral_controller/include/mpc_lateral_controller/mpc.hpp +++ b/control/mpc_lateral_controller/include/mpc_lateral_controller/mpc.hpp @@ -46,6 +46,12 @@ namespace autoware::motion::control::mpc_lateral_controller { +using autoware_auto_control_msgs::msg::AckermannLateralCommand; +using autoware_auto_planning_msgs::msg::Trajectory; +using autoware_auto_vehicle_msgs::msg::SteeringReport; +using geometry_msgs::msg::Pose; +using tier4_debug_msgs::msg::Float32MultiArrayStamped; + struct MPCParam { //!< @brief prediction horizon step @@ -112,7 +118,7 @@ struct MPCData { int nearest_idx; double nearest_time; - geometry_msgs::msg::Pose nearest_pose; + Pose nearest_pose; double steer; double predicted_steer; double lateral_err; @@ -147,15 +153,15 @@ class MPC //!< @brief vehicle model type for MPC std::string m_vehicle_model_type; //!< @brief vehicle model for MPC - std::shared_ptr m_vehicle_model_ptr; + std::shared_ptr m_vehicle_model_ptr; //!< @brief qp solver for MPC - std::shared_ptr m_qpsolver_ptr; + std::shared_ptr m_qpsolver_ptr; //!< @brief lowpass filter for steering command - mpc_lateral_controller::Butterworth2dFilter m_lpf_steering_cmd; + Butterworth2dFilter m_lpf_steering_cmd; //!< @brief lowpass filter for lateral error - mpc_lateral_controller::Butterworth2dFilter m_lpf_lateral_error; + Butterworth2dFilter m_lpf_lateral_error; //!< @brief lowpass filter for heading error - mpc_lateral_controller::Butterworth2dFilter m_lpf_yaw_error; + Butterworth2dFilter m_lpf_yaw_error; //!< @brief raw output computed two iterations ago double m_raw_steer_cmd_pprev = 0.0; @@ -170,7 +176,7 @@ class MPC //!< @brief shift is forward or not. bool m_is_forward_shift = true; //!< @brief buffer of sent command - std::vector m_ctrl_cmd_vec; + std::vector m_ctrl_cmd_vec; //!< @brief minimum prediction distance double m_min_prediction_length = 5.0; @@ -178,9 +184,8 @@ class MPC * @brief get variables for mpc calculation */ bool getData( - const mpc_lateral_controller::MPCTrajectory & traj, - const autoware_auto_vehicle_msgs::msg::SteeringReport & current_steer, - const geometry_msgs::msg::Pose & current_pose, MPCData * data); + const MPCTrajectory & traj, const SteeringReport & current_steer, const Pose & current_pose, + MPCData * data); /** * @brief calculate predicted steering */ @@ -197,7 +202,7 @@ class MPC /** * @brief reset previous result of MPC */ - void resetPrevResult(const autoware_auto_vehicle_msgs::msg::SteeringReport & current_steer); + void resetPrevResult(const SteeringReport & current_steer); /** * @brief set initial condition for mpc * @param [in] data mpc data @@ -210,14 +215,13 @@ class MPC * @param [out] x updated state at delayed_time */ bool updateStateForDelayCompensation( - const mpc_lateral_controller::MPCTrajectory & traj, const double & start_time, - Eigen::VectorXd * x); + const MPCTrajectory & traj, const double & start_time, Eigen::VectorXd * x); /** * @brief generate MPC matrix with trajectory and vehicle model * @param [in] reference_trajectory used for linearization around reference trajectory */ MPCMatrix generateMPCMatrix( - const mpc_lateral_controller::MPCTrajectory & reference_trajectory, const double prediction_dt); + const MPCTrajectory & reference_trajectory, const double prediction_dt); /** * @brief generate MPC matrix with trajectory and vehicle model * @param [in] mpc_matrix parameters matrix to use for optimization @@ -232,22 +236,19 @@ class MPC * @brief resample trajectory with mpc resampling time */ bool resampleMPCTrajectoryByTime( - const double start_time, const double prediction_dt, - const mpc_lateral_controller::MPCTrajectory & input, - mpc_lateral_controller::MPCTrajectory * output) const; + const double start_time, const double prediction_dt, const MPCTrajectory & input, + MPCTrajectory * output) const; /** * @brief apply velocity dynamics filter with v0 from closest index */ - mpc_lateral_controller::MPCTrajectory applyVelocityDynamicsFilter( - const mpc_lateral_controller::MPCTrajectory & trajectory, - const geometry_msgs::msg::Pose & current_pose, const double v0) const; + MPCTrajectory applyVelocityDynamicsFilter( + const MPCTrajectory & trajectory, const Pose & current_pose, const double v0) const; /** * @brief get prediction delta time of mpc. * If trajectory length is shorter than min_prediction length, adjust delta time. */ double getPredictionDeltaTime( - const double start_time, const mpc_lateral_controller::MPCTrajectory & input, - const geometry_msgs::msg::Pose & current_pose) const; + const double start_time, const MPCTrajectory & input, const Pose & current_pose) const; /** * @brief add weights related to lateral_jerk, steering_rate, steering_acc into R */ @@ -342,7 +343,7 @@ class MPC public: //!< @brief reference trajectory to be followed - mpc_lateral_controller::MPCTrajectory m_ref_traj; + MPCTrajectory m_ref_traj; //!< @brief MPC design parameter MPCParam m_param; //!< @brief mpc_output buffer for delay time compensation @@ -381,24 +382,22 @@ class MPC * @param [out] diagnostic diagnostic msg to be filled-out */ bool calculateMPC( - const autoware_auto_vehicle_msgs::msg::SteeringReport & current_steer, - const double current_velocity, const geometry_msgs::msg::Pose & current_pose, - autoware_auto_control_msgs::msg::AckermannLateralCommand & ctrl_cmd, - autoware_auto_planning_msgs::msg::Trajectory & predicted_traj, - tier4_debug_msgs::msg::Float32MultiArrayStamped & diagnostic); + const SteeringReport & current_steer, const double current_velocity, const Pose & current_pose, + AckermannLateralCommand & ctrl_cmd, Trajectory & predicted_traj, + Float32MultiArrayStamped & diagnostic); /** * @brief set the reference trajectory to follow */ void setReferenceTrajectory( - const autoware_auto_planning_msgs::msg::Trajectory & trajectory_msg, - const double traj_resample_dist, const bool enable_path_smoothing, - const int path_filter_moving_ave_num, const int curvature_smoothing_num_traj, - const int curvature_smoothing_num_ref_steer, const bool extend_trajectory_for_end_yaw_control); + const Trajectory & trajectory_msg, const double traj_resample_dist, + const bool enable_path_smoothing, const int path_filter_moving_ave_num, + const int curvature_smoothing_num_traj, const int curvature_smoothing_num_ref_steer, + const bool extend_trajectory_for_end_yaw_control); /** * @brief set the vehicle model of this MPC */ inline void setVehicleModel( - std::shared_ptr vehicle_model_ptr, + std::shared_ptr vehicle_model_ptr, const std::string & vehicle_model_type) { m_vehicle_model_ptr = vehicle_model_ptr; @@ -407,7 +406,7 @@ class MPC /** * @brief set the QP solver of this MPC */ - inline void setQPSolver(std::shared_ptr qpsolver_ptr) + inline void setQPSolver(std::shared_ptr qpsolver_ptr) { m_qpsolver_ptr = qpsolver_ptr; } diff --git a/control/mpc_lateral_controller/include/mpc_lateral_controller/mpc_lateral_controller.hpp b/control/mpc_lateral_controller/include/mpc_lateral_controller/mpc_lateral_controller.hpp index 9ab555635a8a2..17d29d1542cde 100644 --- a/control/mpc_lateral_controller/include/mpc_lateral_controller/mpc_lateral_controller.hpp +++ b/control/mpc_lateral_controller/include/mpc_lateral_controller/mpc_lateral_controller.hpp @@ -107,7 +107,7 @@ class MpcLateralController : public trajectory_follower::LateralControllerBase std::deque m_trajectory_buffer; // MPC object - mpc_lateral_controller::MPC m_mpc; + MPC m_mpc; //!< @brief measured kinematic state nav_msgs::msg::Odometry m_current_kinematic_state; diff --git a/control/mpc_lateral_controller/src/longitudinal_controller_utils.cpp b/control/mpc_lateral_controller/src/longitudinal_controller_utils.cpp deleted file mode 100644 index 70c610433fa06..0000000000000 --- a/control/mpc_lateral_controller/src/longitudinal_controller_utils.cpp +++ /dev/null @@ -1,179 +0,0 @@ -// Copyright 2018-2021 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 "mpc_lateral_controller/longitudinal_controller_utils.hpp" - -#include "tf2/LinearMath/Matrix3x3.h" -#include "tf2/LinearMath/Quaternion.h" - -#include // NOLINT - -#ifdef ROS_DISTRO_GALACTIC -#include "tf2_geometry_msgs/tf2_geometry_msgs.h" -#else -#include "tf2_geometry_msgs/tf2_geometry_msgs.hpp" -#endif - -#include -#include - -namespace autoware::motion::control::mpc_lateral_controller -{ -namespace longitudinal_utils -{ - -bool isValidTrajectory(const Trajectory & traj) -{ - for (const auto & p : traj.points) { - if ( - !isfinite(p.pose.position.x) || !isfinite(p.pose.position.y) || - !isfinite(p.pose.position.z) || !isfinite(p.pose.orientation.w) || - !isfinite(p.pose.orientation.x) || !isfinite(p.pose.orientation.y) || - !isfinite(p.pose.orientation.z) || !isfinite(p.longitudinal_velocity_mps) || - !isfinite(p.lateral_velocity_mps) || !isfinite(p.acceleration_mps2) || - !isfinite(p.heading_rate_rps)) { - return false; - } - } - - // when trajectory is empty - if (traj.points.empty()) { - return false; - } - - return true; -} - -double calcStopDistance( - const Pose & current_pose, const Trajectory & traj, const double max_dist, const double max_yaw) -{ - const auto stop_idx_opt = motion_utils::searchZeroVelocityIndex(traj.points); - - const size_t end_idx = stop_idx_opt ? *stop_idx_opt : traj.points.size() - 1; - const size_t seg_idx = motion_utils::findFirstNearestSegmentIndexWithSoftConstraints( - traj.points, current_pose, max_dist, max_yaw); - const double signed_length_on_traj = motion_utils::calcSignedArcLength( - traj.points, current_pose.position, seg_idx, traj.points.at(end_idx).pose.position, - std::min(end_idx, traj.points.size() - 2)); - - if (std::isnan(signed_length_on_traj)) { - return 0.0; - } - return signed_length_on_traj; -} - -double getPitchByPose(const Quaternion & quaternion_msg) -{ - double roll, pitch, yaw; - tf2::Quaternion quaternion; - tf2::fromMsg(quaternion_msg, quaternion); - tf2::Matrix3x3{quaternion}.getRPY(roll, pitch, yaw); - - return pitch; -} - -double getPitchByTraj( - const Trajectory & trajectory, const size_t nearest_idx, const double wheel_base) -{ - using autoware::common::geometry::distance_2d; - // cannot calculate pitch - if (trajectory.points.size() <= 1) { - return 0.0; - } - - for (size_t i = nearest_idx + 1; i < trajectory.points.size(); ++i) { - const double dist = - distance_2d(trajectory.points.at(nearest_idx), trajectory.points.at(i)); - if (dist > wheel_base) { - // calculate pitch from trajectory between rear wheel (nearest) and front center (i) - return calcElevationAngle(trajectory.points.at(nearest_idx), trajectory.points.at(i)); - } - } - - // close to goal - for (size_t i = trajectory.points.size() - 1; i > 0; --i) { - const double dist = distance_2d(trajectory.points.back(), trajectory.points.at(i)); - - if (dist > wheel_base) { - // calculate pitch from trajectory - // between wheelbase behind the end of trajectory (i) and the end of trajectory (back) - return calcElevationAngle(trajectory.points.at(i), trajectory.points.back()); - } - } - - // calculate pitch from trajectory between the beginning and end of trajectory - return calcElevationAngle(trajectory.points.at(0), trajectory.points.back()); -} - -double calcElevationAngle(const TrajectoryPoint & p_from, const TrajectoryPoint & p_to) -{ - const double dx = p_from.pose.position.x - p_to.pose.position.x; - const double dy = p_from.pose.position.y - p_to.pose.position.y; - const double dz = p_from.pose.position.z - p_to.pose.position.z; - - const double dxy = std::max(std::hypot(dx, dy), std::numeric_limits::epsilon()); - const double pitch = std::atan2(dz, dxy); - - return pitch; -} - -Pose calcPoseAfterTimeDelay( - const Pose & current_pose, const double delay_time, const double current_vel) -{ - // simple linear prediction - const double yaw = tf2::getYaw(current_pose.orientation); - const double running_distance = delay_time * current_vel; - const double dx = running_distance * std::cos(yaw); - const double dy = running_distance * std::sin(yaw); - - auto pred_pose = current_pose; - pred_pose.position.x += dx; - pred_pose.position.y += dy; - return pred_pose; -} - -double lerp(const double v_from, const double v_to, const double ratio) -{ - return v_from + (v_to - v_from) * ratio; -} - -Quaternion lerpOrientation(const Quaternion & o_from, const Quaternion & o_to, const double ratio) -{ - tf2::Quaternion q_from, q_to; - tf2::fromMsg(o_from, q_from); - tf2::fromMsg(o_to, q_to); - - const auto q_interpolated = q_from.slerp(q_to, ratio); - return tf2::toMsg(q_interpolated); -} - -double applyDiffLimitFilter( - const double input_val, const double prev_val, const double dt, const double max_val, - const double min_val) -{ - const double diff_raw = (input_val - prev_val) / dt; - const double diff = std::min(std::max(diff_raw, min_val), max_val); - const double filtered_val = prev_val + diff * dt; - return filtered_val; -} - -double applyDiffLimitFilter( - const double input_val, const double prev_val, const double dt, const double lim_val) -{ - const double max_val = std::fabs(lim_val); - const double min_val = -max_val; - return applyDiffLimitFilter(input_val, prev_val, dt, max_val, min_val); -} -} // namespace longitudinal_utils -} // namespace autoware::motion::control::mpc_lateral_controller diff --git a/control/mpc_lateral_controller/src/mpc.cpp b/control/mpc_lateral_controller/src/mpc.cpp index 0771a406516dc..ceb5ac5b9c6bc 100644 --- a/control/mpc_lateral_controller/src/mpc.cpp +++ b/control/mpc_lateral_controller/src/mpc.cpp @@ -32,14 +32,12 @@ namespace autoware::motion::control::mpc_lateral_controller using namespace std::literals::chrono_literals; bool MPC::calculateMPC( - const autoware_auto_vehicle_msgs::msg::SteeringReport & current_steer, - const double current_velocity, const geometry_msgs::msg::Pose & current_pose, - autoware_auto_control_msgs::msg::AckermannLateralCommand & ctrl_cmd, - autoware_auto_planning_msgs::msg::Trajectory & predicted_traj, - tier4_debug_msgs::msg::Float32MultiArrayStamped & diagnostic) + const SteeringReport & current_steer, const double current_velocity, const Pose & current_pose, + AckermannLateralCommand & ctrl_cmd, Trajectory & predicted_traj, + Float32MultiArrayStamped & diagnostic) { /* recalculate velocity from ego-velocity with dynamics */ - mpc_lateral_controller::MPCTrajectory reference_trajectory = + MPCTrajectory reference_trajectory = applyVelocityDynamicsFilter(m_ref_traj, current_pose, current_velocity); MPCData mpc_data; @@ -60,7 +58,7 @@ bool MPC::calculateMPC( } /* resample ref_traj with mpc sampling time */ - mpc_lateral_controller::MPCTrajectory mpc_resampled_ref_traj; + MPCTrajectory mpc_resampled_ref_traj; const double mpc_start_time = mpc_data.nearest_time + m_param.input_delay; const double prediction_dt = getPredictionDeltaTime(mpc_start_time, reference_trajectory, current_pose); @@ -101,7 +99,7 @@ bool MPC::calculateMPC( /* calculate predicted trajectory */ Eigen::VectorXd Xex = mpc_matrix.Aex * x0 + mpc_matrix.Bex * Uex + mpc_matrix.Wex; - mpc_lateral_controller::MPCTrajectory mpc_predicted_traj; + MPCTrajectory mpc_predicted_traj; const auto & traj = mpc_resampled_ref_traj; for (size_t i = 0; i < static_cast(m_param.prediction_horizon); ++i) { const int DIM_X = m_vehicle_model_ptr->getDimX(); @@ -117,7 +115,7 @@ bool MPC::calculateMPC( const double relative_time = traj.relative_time[i]; mpc_predicted_traj.push_back(x, y, z, yaw, vx, k, smooth_k, relative_time); } - mpc_lateral_controller::MPCUtils::convertToAutowareTrajectory(mpc_predicted_traj, predicted_traj); + MPCUtils::convertToAutowareTrajectory(mpc_predicted_traj, predicted_traj); /* prepare diagnostic message */ const double nearest_k = reference_trajectory.k[static_cast(mpc_data.nearest_idx)]; @@ -171,18 +169,18 @@ bool MPC::calculateMPC( } void MPC::setReferenceTrajectory( - const autoware_auto_planning_msgs::msg::Trajectory & trajectory_msg, - const double traj_resample_dist, const bool enable_path_smoothing, - const int path_filter_moving_ave_num, const int curvature_smoothing_num_traj, - const int curvature_smoothing_num_ref_steer, const bool extend_trajectory_for_end_yaw_control) + const Trajectory & trajectory_msg, const double traj_resample_dist, + const bool enable_path_smoothing, const int path_filter_moving_ave_num, + const int curvature_smoothing_num_traj, const int curvature_smoothing_num_ref_steer, + const bool extend_trajectory_for_end_yaw_control) { - mpc_lateral_controller::MPCTrajectory mpc_traj_raw; // received raw trajectory - mpc_lateral_controller::MPCTrajectory mpc_traj_resampled; // resampled trajectory - mpc_lateral_controller::MPCTrajectory mpc_traj_smoothed; // smooth filtered trajectory + MPCTrajectory mpc_traj_raw; // received raw trajectory + MPCTrajectory mpc_traj_resampled; // resampled trajectory + MPCTrajectory mpc_traj_smoothed; // smooth filtered trajectory /* resampling */ - mpc_lateral_controller::MPCUtils::convertToMPCTrajectory(trajectory_msg, mpc_traj_raw); - if (!mpc_lateral_controller::MPCUtils::resampleMPCTrajectoryByDistance( + MPCUtils::convertToMPCTrajectory(trajectory_msg, mpc_traj_raw); + if (!MPCUtils::resampleMPCTrajectoryByDistance( mpc_traj_raw, traj_resample_dist, &mpc_traj_resampled)) { RCLCPP_WARN(m_logger, "[setReferenceTrajectory] spline error when resampling by distance"); return; @@ -197,15 +195,12 @@ void MPC::setReferenceTrajectory( mpc_traj_smoothed = mpc_traj_resampled; const int mpc_traj_resampled_size = static_cast(mpc_traj_resampled.size()); if (enable_path_smoothing && mpc_traj_resampled_size > 2 * path_filter_moving_ave_num) { + using MoveAverageFilter::filt_vector; if ( - !mpc_lateral_controller::MoveAverageFilter::filt_vector( - path_filter_moving_ave_num, mpc_traj_smoothed.x) || - !mpc_lateral_controller::MoveAverageFilter::filt_vector( - path_filter_moving_ave_num, mpc_traj_smoothed.y) || - !mpc_lateral_controller::MoveAverageFilter::filt_vector( - path_filter_moving_ave_num, mpc_traj_smoothed.yaw) || - !mpc_lateral_controller::MoveAverageFilter::filt_vector( - path_filter_moving_ave_num, mpc_traj_smoothed.vx)) { + !filt_vector(path_filter_moving_ave_num, mpc_traj_smoothed.x) || + !filt_vector(path_filter_moving_ave_num, mpc_traj_smoothed.y) || + !filt_vector(path_filter_moving_ave_num, mpc_traj_smoothed.yaw) || + !filt_vector(path_filter_moving_ave_num, mpc_traj_smoothed.vx)) { RCLCPP_DEBUG(m_logger, "path callback: filtering error. stop filtering."); mpc_traj_smoothed = mpc_traj_resampled; } @@ -218,16 +213,16 @@ void MPC::setReferenceTrajectory( * well-defined considering the end point attitude angle, this feature is not necessary. */ if (extend_trajectory_for_end_yaw_control) { - mpc_lateral_controller::MPCUtils::extendTrajectoryInYawDirection( + MPCUtils::extendTrajectoryInYawDirection( mpc_traj_raw.yaw.back(), traj_resample_dist, m_is_forward_shift, mpc_traj_smoothed); } /* calculate yaw angle */ - mpc_lateral_controller::MPCUtils::calcTrajectoryYawFromXY(&mpc_traj_smoothed, m_is_forward_shift); - mpc_lateral_controller::MPCUtils::convertEulerAngleToMonotonic(&mpc_traj_smoothed.yaw); + MPCUtils::calcTrajectoryYawFromXY(&mpc_traj_smoothed, m_is_forward_shift); + MPCUtils::convertEulerAngleToMonotonic(&mpc_traj_smoothed.yaw); /* calculate curvature */ - mpc_lateral_controller::MPCUtils::calcTrajectoryCurvature( + MPCUtils::calcTrajectoryCurvature( static_cast(curvature_smoothing_num_traj), static_cast(curvature_smoothing_num_ref_steer), &mpc_traj_smoothed); @@ -251,7 +246,7 @@ void MPC::setReferenceTrajectory( m_ref_traj = mpc_traj_smoothed; } -void MPC::resetPrevResult(const autoware_auto_vehicle_msgs::msg::SteeringReport & current_steer) +void MPC::resetPrevResult(const SteeringReport & current_steer) { // Consider limit. The prev value larger than limiation brakes the optimization constraint and // resluts in optimization failure. @@ -261,13 +256,12 @@ void MPC::resetPrevResult(const autoware_auto_vehicle_msgs::msg::SteeringReport } bool MPC::getData( - const mpc_lateral_controller::MPCTrajectory & traj, - const autoware_auto_vehicle_msgs::msg::SteeringReport & current_steer, - const geometry_msgs::msg::Pose & current_pose, MPCData * data) + const MPCTrajectory & traj, const SteeringReport & current_steer, const Pose & current_pose, + MPCData * data) { static constexpr auto duration = 5000 /*ms*/; size_t nearest_idx; - if (!mpc_lateral_controller::MPCUtils::calcNearestPoseInterp( + if (!MPCUtils::calcNearestPoseInterp( traj, current_pose, &(data->nearest_pose), &(nearest_idx), &(data->nearest_time), ego_nearest_dist_threshold, ego_nearest_yaw_threshold, m_logger, *m_clock)) { // reset previous MPC result @@ -284,8 +278,7 @@ bool MPC::getData( /* get data */ data->nearest_idx = static_cast(nearest_idx); data->steer = static_cast(current_steer.steering_tire_angle); - data->lateral_err = - mpc_lateral_controller::MPCUtils::calcLateralError(current_pose, data->nearest_pose); + data->lateral_err = MPCUtils::calcLateralError(current_pose, data->nearest_pose); data->yaw_err = autoware::common::helper_functions::wrap_angle( tf2::getYaw(current_pose.orientation) - tf2::getYaw(data->nearest_pose.orientation)); @@ -384,7 +377,7 @@ double MPC::getSteerCmdSum( void MPC::storeSteerCmd(const double steer) { const auto time_delayed = m_clock->now() + rclcpp::Duration::from_seconds(m_param.input_delay); - autoware_auto_control_msgs::msg::AckermannLateralCommand cmd; + AckermannLateralCommand cmd; cmd.stamp = time_delayed; cmd.steering_tire_angle = static_cast(steer); @@ -403,15 +396,14 @@ void MPC::storeSteerCmd(const double steer) } bool MPC::resampleMPCTrajectoryByTime( - const double ts, const double prediction_dt, const mpc_lateral_controller::MPCTrajectory & input, - mpc_lateral_controller::MPCTrajectory * output) const + const double ts, const double prediction_dt, const MPCTrajectory & input, + MPCTrajectory * output) const { std::vector mpc_time_v; for (double i = 0; i < static_cast(m_param.prediction_horizon); ++i) { mpc_time_v.push_back(ts + i * prediction_dt); } - if (!mpc_lateral_controller::MPCUtils::linearInterpMPCTrajectory( - input.relative_time, input, mpc_time_v, output)) { + if (!MPCUtils::linearInterpMPCTrajectory(input.relative_time, input, mpc_time_v, output)) { RCLCPP_WARN_SKIPFIRST_THROTTLE( m_logger, *m_clock, 1000 /*ms*/, "calculateMPC: mpc resample error. stop mpc calculation. check code!"); @@ -450,8 +442,7 @@ Eigen::VectorXd MPC::getInitialState(const MPCData & data) } bool MPC::updateStateForDelayCompensation( - const mpc_lateral_controller::MPCTrajectory & traj, const double & start_time, - Eigen::VectorXd * x) + const MPCTrajectory & traj, const double & start_time, Eigen::VectorXd * x) { const int DIM_X = m_vehicle_model_ptr->getDimX(); const int DIM_U = m_vehicle_model_ptr->getDimU(); @@ -468,8 +459,8 @@ bool MPC::updateStateForDelayCompensation( double k = 0.0; double v = 0.0; if ( - !mpc_lateral_controller::linearInterpolate(traj.relative_time, traj.k, mpc_curr_time, k) || - !mpc_lateral_controller::linearInterpolate(traj.relative_time, traj.vx, mpc_curr_time, v)) { + !linearInterpolate(traj.relative_time, traj.k, mpc_curr_time, k) || + !linearInterpolate(traj.relative_time, traj.vx, mpc_curr_time, v)) { RCLCPP_ERROR( m_logger, "mpc resample error at delay compensation, stop mpc calculation. check code!"); return false; @@ -488,13 +479,11 @@ bool MPC::updateStateForDelayCompensation( return true; } -mpc_lateral_controller::MPCTrajectory MPC::applyVelocityDynamicsFilter( - const mpc_lateral_controller::MPCTrajectory & input, - const geometry_msgs::msg::Pose & current_pose, const double v0) const +MPCTrajectory MPC::applyVelocityDynamicsFilter( + const MPCTrajectory & input, const Pose & current_pose, const double v0) const { - autoware_auto_planning_msgs::msg::Trajectory autoware_traj; - autoware::motion::control::mpc_lateral_controller::MPCUtils::convertToAutowareTrajectory( - input, autoware_traj); + Trajectory autoware_traj; + MPCUtils::convertToAutowareTrajectory(input, autoware_traj); if (autoware_traj.points.empty()) { return input; } @@ -505,9 +494,8 @@ mpc_lateral_controller::MPCTrajectory MPC::applyVelocityDynamicsFilter( const double acc_lim = m_param.acceleration_limit; const double tau = m_param.velocity_time_constant; - mpc_lateral_controller::MPCTrajectory output = input; - mpc_lateral_controller::MPCUtils::dynamicSmoothingVelocity( - static_cast(nearest_idx), v0, acc_lim, tau, output); + MPCTrajectory output = input; + MPCUtils::dynamicSmoothingVelocity(static_cast(nearest_idx), v0, acc_lim, tau, output); const double t_ext = 100.0; // extra time to prevent mpc calculation failure due to short time const double t_end = output.relative_time.back() + t_ext; const double v_end = 0.0; @@ -524,7 +512,7 @@ mpc_lateral_controller::MPCTrajectory MPC::applyVelocityDynamicsFilter( * Qex = diag([Q,Q,...]), R1ex = diag([R,R,...]) */ MPCMatrix MPC::generateMPCMatrix( - const mpc_lateral_controller::MPCTrajectory & reference_trajectory, const double prediction_dt) + const MPCTrajectory & reference_trajectory, const double prediction_dt) { using Eigen::MatrixXd; @@ -786,13 +774,11 @@ void MPC::addSteerWeightF(const double prediction_dt, Eigen::MatrixXd * f_ptr) c } double MPC::getPredictionDeltaTime( - const double start_time, const mpc_lateral_controller::MPCTrajectory & input, - const geometry_msgs::msg::Pose & current_pose) const + const double start_time, const MPCTrajectory & input, const Pose & current_pose) const { // Calculate the time min_prediction_length ahead from current_pose - autoware_auto_planning_msgs::msg::Trajectory autoware_traj; - autoware::motion::control::mpc_lateral_controller::MPCUtils::convertToAutowareTrajectory( - input, autoware_traj); + Trajectory autoware_traj; + MPCUtils::convertToAutowareTrajectory(input, autoware_traj); const size_t nearest_idx = motion_utils::findFirstNearestIndexWithSoftConstraints( autoware_traj.points, current_pose, ego_nearest_dist_threshold, ego_nearest_yaw_threshold); double sum_dist = 0; diff --git a/control/mpc_lateral_controller/src/mpc_lateral_controller.cpp b/control/mpc_lateral_controller/src/mpc_lateral_controller.cpp index a884b7f8b32e3..192694d48af72 100644 --- a/control/mpc_lateral_controller/src/mpc_lateral_controller.cpp +++ b/control/mpc_lateral_controller/src/mpc_lateral_controller.cpp @@ -81,13 +81,13 @@ MpcLateralController::MpcLateralController(rclcpp::Node & node) : node_{&node} /* vehicle model setup */ const std::string vehicle_model_type = node_->declare_parameter("vehicle_model_type"); - std::shared_ptr vehicle_model_ptr; + std::shared_ptr vehicle_model_ptr; if (vehicle_model_type == "kinematics") { - vehicle_model_ptr = std::make_shared( + vehicle_model_ptr = std::make_shared( wheelbase, m_mpc.m_steer_lim, m_mpc.m_param.steer_tau); } else if (vehicle_model_type == "kinematics_no_delay") { - vehicle_model_ptr = std::make_shared( - wheelbase, m_mpc.m_steer_lim); + vehicle_model_ptr = + std::make_shared(wheelbase, m_mpc.m_steer_lim); } else if (vehicle_model_type == "dynamics") { const double mass_fl = node_->declare_parameter("vehicle.mass_fl"); const double mass_fr = node_->declare_parameter("vehicle.mass_fr"); @@ -98,19 +98,19 @@ MpcLateralController::MpcLateralController(rclcpp::Node & node) : node_{&node} // vehicle_model_ptr is only assigned in ctor, so parameter value have to be passed at init time // // NOLINT - vehicle_model_ptr = std::make_shared( - wheelbase, mass_fl, mass_fr, mass_rl, mass_rr, cf, cr); + vehicle_model_ptr = + std::make_shared(wheelbase, mass_fl, mass_fr, mass_rl, mass_rr, cf, cr); } else { RCLCPP_ERROR(node_->get_logger(), "vehicle_model_type is undefined"); } /* QP solver setup */ const std::string qp_solver_type = node_->declare_parameter("qp_solver_type"); - std::shared_ptr qpsolver_ptr; + std::shared_ptr qpsolver_ptr; if (qp_solver_type == "unconstraint_fast") { - qpsolver_ptr = std::make_shared(); + qpsolver_ptr = std::make_shared(); } else if (qp_solver_type == "osqp") { - qpsolver_ptr = std::make_shared(node_->get_logger()); + qpsolver_ptr = std::make_shared(node_->get_logger()); } else { RCLCPP_ERROR(node_->get_logger(), "qp_solver_type is undefined"); } @@ -452,7 +452,7 @@ rcl_interfaces::msg::SetParametersResult MpcLateralController::paramCallback( result.reason = "success"; // strong exception safety wrt MPCParam - mpc_lateral_controller::MPCParam param = m_mpc.m_param; + MPCParam param = m_mpc.m_param; try { update_param(parameters, "mpc_prediction_horizon", param.prediction_horizon); update_param(parameters, "mpc_prediction_dt", param.prediction_dt); diff --git a/control/mpc_lateral_controller/src/mpc_utils.cpp b/control/mpc_lateral_controller/src/mpc_utils.cpp index f1af25167c240..41b15f17bf075 100644 --- a/control/mpc_lateral_controller/src/mpc_utils.cpp +++ b/control/mpc_lateral_controller/src/mpc_utils.cpp @@ -408,8 +408,7 @@ void extendTrajectoryInYawDirection( // get terminal pose autoware_auto_planning_msgs::msg::Trajectory autoware_traj; - autoware::motion::control::mpc_lateral_controller::MPCUtils::convertToAutowareTrajectory( - traj, autoware_traj); + MPCUtils::convertToAutowareTrajectory(traj, autoware_traj); auto extended_pose = autoware_traj.points.back().pose; constexpr double extend_dist = 10.0; From e4bcc868b09d6d465d0f4fa4fc62b30b2de36413 Mon Sep 17 00:00:00 2001 From: "Takagi, Isamu" <43976882+isamu-takagi@users.noreply.github.com> Date: Fri, 10 Mar 2023 18:05:15 +0900 Subject: [PATCH 015/121] feat: merge traffic signals from perception and V2X (#2903) * feat: add package Signed-off-by: Takagi, Isamu * feat: publish signals Signed-off-by: Takagi, Isamu * feat: add v2x input Signed-off-by: Takagi, Isamu * feat: merge traffic signals Signed-off-by: Takagi, Isamu * feat: ignore when no map Signed-off-by: Takagi, Isamu * feat: modify copyright Signed-off-by: Takagi, Isamu * feat: add converter Signed-off-by: Takagi, Isamu * feat: add selector Signed-off-by: Takagi, Isamu * feat: add readme Signed-off-by: Takagi, Isamu * docs: update readme Signed-off-by: Takagi, Isamu --------- Signed-off-by: Takagi, Isamu --- .../traffic_light_selector/CMakeLists.txt | 17 +++ perception/traffic_light_selector/README.md | 43 ++++++ .../launch/traffic_light_selector.launch.xml | 14 ++ perception/traffic_light_selector/package.xml | 28 ++++ .../src/traffic_light_converter.cpp | 117 ++++++++++++++++ .../src/traffic_light_converter.hpp | 36 +++++ .../src/traffic_light_selector.cpp | 129 ++++++++++++++++++ .../src/traffic_light_selector.hpp | 47 +++++++ 8 files changed, 431 insertions(+) create mode 100644 perception/traffic_light_selector/CMakeLists.txt create mode 100644 perception/traffic_light_selector/README.md create mode 100644 perception/traffic_light_selector/launch/traffic_light_selector.launch.xml create mode 100644 perception/traffic_light_selector/package.xml create mode 100644 perception/traffic_light_selector/src/traffic_light_converter.cpp create mode 100644 perception/traffic_light_selector/src/traffic_light_converter.hpp create mode 100644 perception/traffic_light_selector/src/traffic_light_selector.cpp create mode 100644 perception/traffic_light_selector/src/traffic_light_selector.hpp diff --git a/perception/traffic_light_selector/CMakeLists.txt b/perception/traffic_light_selector/CMakeLists.txt new file mode 100644 index 0000000000000..9a8555690beed --- /dev/null +++ b/perception/traffic_light_selector/CMakeLists.txt @@ -0,0 +1,17 @@ +cmake_minimum_required(VERSION 3.14) +project(traffic_light_selector) + +find_package(autoware_cmake REQUIRED) +autoware_package() + +ament_auto_add_library(${PROJECT_NAME} SHARED + src/traffic_light_converter.cpp + src/traffic_light_selector.cpp +) + +rclcpp_components_register_nodes(${PROJECT_NAME} + TrafficLightConverter + TrafficLightSelector +) + +ament_auto_package(INSTALL_TO_SHARE launch) diff --git a/perception/traffic_light_selector/README.md b/perception/traffic_light_selector/README.md new file mode 100644 index 0000000000000..9e38333c0e345 --- /dev/null +++ b/perception/traffic_light_selector/README.md @@ -0,0 +1,43 @@ +# traffic_light_selector + +## Purpose + +This package receives multiple traffic light/signal states and outputs a single traffic signal state for use by the planning component. + +## TrafficLightSelector + +A node that merges traffic light/signal state from image recognition and V2X to provide a planning component. +It's currently a provisional implementation. + +### Inputs / Outputs + +#### Input + +| Name | Type | Description | +| -------------------- | ---------------------------------------------- | ------------------------------------------------- | +| ~/sub/vector_map | autoware_auto_mapping_msgs/msg/HADMapBin | The vector map to get traffic light id relations. | +| ~/sub/traffic_lights | autoware_perception_msgs/msg/TrafficLightArray | The traffic light state from image recognition. | + +#### Output + +| Name | Type | Description | +| --------------------- | ----------------------------------------------- | -------------------------------- | +| ~/pub/traffic_signals | autoware_perception_msgs/msg/TrafficSignalArray | The merged traffic signal state. | + +## TrafficLightConverter + +A temporary node that converts old message type to new message type. + +### Inputs / Outputs + +#### Input + +| Name | Type | Description | +| -------------------- | ---------------------------------------------------- | ------------------------------ | +| ~/sub/traffic_lights | autoware_auto_perception_msgs/msg/TrafficSignalArray | The state in old message type. | + +#### Output + +| Name | Type | Description | +| -------------------- | ---------------------------------------------- | ------------------------------ | +| ~/pub/traffic_lights | autoware_perception_msgs/msg/TrafficLightArray | The state in new message type. | diff --git a/perception/traffic_light_selector/launch/traffic_light_selector.launch.xml b/perception/traffic_light_selector/launch/traffic_light_selector.launch.xml new file mode 100644 index 0000000000000..44eec5284c03c --- /dev/null +++ b/perception/traffic_light_selector/launch/traffic_light_selector.launch.xml @@ -0,0 +1,14 @@ + + + + + + + + + + + + + + diff --git a/perception/traffic_light_selector/package.xml b/perception/traffic_light_selector/package.xml new file mode 100644 index 0000000000000..62374ddb7c0bf --- /dev/null +++ b/perception/traffic_light_selector/package.xml @@ -0,0 +1,28 @@ + + + + traffic_light_selector + 0.1.0 + The traffic_light_selector package + Takagi, Isamu + Apache License 2.0 + + ament_cmake_auto + + autoware_cmake + + autoware_auto_mapping_msgs + autoware_auto_perception_msgs + autoware_perception_msgs + lanelet2_core + lanelet2_extension + rclcpp + rclcpp_components + + ament_lint_auto + autoware_lint_common + + + ament_cmake + + diff --git a/perception/traffic_light_selector/src/traffic_light_converter.cpp b/perception/traffic_light_selector/src/traffic_light_converter.cpp new file mode 100644 index 0000000000000..d67cfaa53de79 --- /dev/null +++ b/perception/traffic_light_selector/src/traffic_light_converter.cpp @@ -0,0 +1,117 @@ +// Copyright 2023 The Autoware Contributors +// +// 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 "traffic_light_converter.hpp" + +#include +#include + +namespace converter +{ + +using OldList = autoware_auto_perception_msgs::msg::TrafficSignalArray; +using OldData = autoware_auto_perception_msgs::msg::TrafficSignal; +using OldElem = autoware_auto_perception_msgs::msg::TrafficLight; +using NewList = autoware_perception_msgs::msg::TrafficLightArray; +using NewData = autoware_perception_msgs::msg::TrafficLight; +using NewElem = autoware_perception_msgs::msg::TrafficLightElement; + +NewList convert(const OldList & input); +NewData convert(const OldData & input); +NewElem convert(const OldElem & input); + +template +std::vector convert_vector(const L & input) +{ + std::vector output; + output.reserve(input.size()); + for (const auto & value : input) { + output.push_back(convert(value)); + } + return output; +} + +NewList convert(const OldList & input) +{ + NewList output; + output.stamp = input.header.stamp; + output.lights = convert_vector(input.signals); + return output; +} + +NewData convert(const OldData & input) +{ + NewData output; + output.traffic_light_id = input.map_primitive_id; + output.elements = convert_vector(input.lights); + return output; +} + +template +V at_or(const std::unordered_map & map, const K & key, const V & value) +{ + return map.count(key) ? map.at(key) : value; +} + +NewElem convert(const OldElem & input) +{ + // clang-format off + static const std::unordered_map color_map({ + {OldElem::RED, NewElem::RED}, + {OldElem::AMBER, NewElem::AMBER}, + {OldElem::GREEN, NewElem::GREEN}, + {OldElem::WHITE, NewElem::WHITE} + }); + static const std::unordered_map shape_map({ + {OldElem::CIRCLE, NewElem::CIRCLE}, + {OldElem::LEFT_ARROW, NewElem::LEFT_ARROW}, + {OldElem::RIGHT_ARROW, NewElem::RIGHT_ARROW}, + {OldElem::UP_ARROW, NewElem::UP_ARROW}, + {OldElem::DOWN_ARROW, NewElem::DOWN_ARROW}, + {OldElem::DOWN_LEFT_ARROW, NewElem::DOWN_LEFT_ARROW}, + {OldElem::DOWN_RIGHT_ARROW, NewElem::DOWN_RIGHT_ARROW}, + {OldElem::CROSS, NewElem::CROSS} + }); + static const std::unordered_map status_map({ + {OldElem::SOLID_OFF, NewElem::SOLID_OFF}, + {OldElem::SOLID_ON, NewElem::SOLID_ON}, + {OldElem::FLASHING, NewElem::FLASHING} + }); + // clang-format on + + NewElem output; + output.color = at_or(color_map, input.color, NewElem::UNKNOWN); + output.shape = at_or(shape_map, input.shape, NewElem::UNKNOWN); + output.status = at_or(status_map, input.status, NewElem::UNKNOWN); + output.confidence = input.confidence; + return output; +} + +} // namespace converter + +TrafficLightConverter::TrafficLightConverter(const rclcpp::NodeOptions & options) +: Node("traffic_light_converter", options) +{ + const auto callback = std::bind(&TrafficLightConverter::on_msg, this, std::placeholders::_1); + sub_ = create_subscription("~/sub/traffic_lights", rclcpp::QoS(1), callback); + pub_ = create_publisher("~/pub/traffic_lights", rclcpp::QoS(1)); +} + +void TrafficLightConverter::on_msg(const OldMessage::ConstSharedPtr msg) +{ + pub_->publish(converter::convert(*msg)); +} + +#include +RCLCPP_COMPONENTS_REGISTER_NODE(TrafficLightConverter) diff --git a/perception/traffic_light_selector/src/traffic_light_converter.hpp b/perception/traffic_light_selector/src/traffic_light_converter.hpp new file mode 100644 index 0000000000000..db6d0a76c9c52 --- /dev/null +++ b/perception/traffic_light_selector/src/traffic_light_converter.hpp @@ -0,0 +1,36 @@ +// Copyright 2023 The Autoware Contributors +// +// 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 TRAFFIC_LIGHT_CONVERTER_HPP_ +#define TRAFFIC_LIGHT_CONVERTER_HPP_ + +#include + +#include +#include + +class TrafficLightConverter : public rclcpp::Node +{ +public: + explicit TrafficLightConverter(const rclcpp::NodeOptions & options); + +private: + using OldMessage = autoware_auto_perception_msgs::msg::TrafficSignalArray; + using NewMessage = autoware_perception_msgs::msg::TrafficLightArray; + rclcpp::Subscription::SharedPtr sub_; + rclcpp::Publisher::SharedPtr pub_; + void on_msg(const OldMessage::ConstSharedPtr msg); +}; + +#endif // TRAFFIC_LIGHT_CONVERTER_HPP_ diff --git a/perception/traffic_light_selector/src/traffic_light_selector.cpp b/perception/traffic_light_selector/src/traffic_light_selector.cpp new file mode 100644 index 0000000000000..599bcc0f389f1 --- /dev/null +++ b/perception/traffic_light_selector/src/traffic_light_selector.cpp @@ -0,0 +1,129 @@ +// Copyright 2023 The Autoware Contributors +// +// 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 "traffic_light_selector.hpp" + +#include + +#include + +#include +#include +#include +#include + +namespace lanelet +{ + +using TrafficLightConstPtr = std::shared_ptr; + +std::vector filter_traffic_signals(const LaneletMapConstPtr map) +{ + std::vector signals; + for (const auto & element : map->regulatoryElementLayer) { + const auto signal = std::dynamic_pointer_cast(element); + if (signal) { + signals.push_back(signal); + } + } + return signals; +} + +} // namespace lanelet + +TrafficLightSelector::TrafficLightSelector(const rclcpp::NodeOptions & options) +: Node("traffic_light_selector", options) +{ + sub_map_ = create_subscription( + "~/sub/vector_map", rclcpp::QoS(1).transient_local(), + std::bind(&TrafficLightSelector::on_map, this, std::placeholders::_1)); + + sub_tlr_ = create_subscription( + "~/sub/traffic_lights", rclcpp::QoS(1), + std::bind(&TrafficLightSelector::on_msg, this, std::placeholders::_1)); + + pub_ = create_publisher("~/pub/traffic_signals", rclcpp::QoS(1)); +} + +void TrafficLightSelector::on_map(const LaneletMapBin::ConstSharedPtr msg) +{ + const auto map = std::make_shared(); + lanelet::utils::conversion::fromBinMsg(*msg, map); + + const auto signals = lanelet::filter_traffic_signals(map); + mapping_.clear(); + for (const auto & signal : signals) { + for (const auto & light : signal->trafficLights()) { + mapping_[light.id()] = signal->id(); + } + } +} + +void TrafficLightSelector::on_msg(const TrafficLightArray::ConstSharedPtr msg) +{ + using TrafficSignal = autoware_perception_msgs::msg::TrafficSignal; + using Element = autoware_perception_msgs::msg::TrafficLightElement; + std::unordered_map> intersections; + + // Use the most confident traffic light element in the same state. + const auto get_highest_confidence_elements = [](const std::vector & elements) { + using Key = std::tuple; + std::map highest_; + + for (const auto & element : elements) { + const auto key = std::make_tuple(element.color, element.shape, element.status); + auto [iter, success] = highest_.try_emplace(key, element); + if (!success && iter->second.confidence < element.confidence) { + iter->second = element; + } + } + + std::vector result; + result.reserve(highest_.size()); + for (const auto & [k, v] : highest_) { + result.push_back(v); + } + return result; + }; + + // Wait for vector map to create id mapping. + if (mapping_.empty()) { + return; + } + + // Merge traffic lights in the same group. + for (const auto & light : msg->lights) { + const auto id = light.traffic_light_id; + if (!mapping_.count(id)) { + continue; + } + auto & elements = intersections[mapping_[id]]; + for (const auto & element : light.elements) { + elements.push_back(element); + } + } + + TrafficSignalArray array; + array.stamp = msg->stamp; + for (const auto & [id, elements] : intersections) { + TrafficSignal signal; + signal.traffic_signal_id = id; + signal.elements = get_highest_confidence_elements(elements); + array.signals.push_back(signal); + } + pub_->publish(array); +} + +#include +RCLCPP_COMPONENTS_REGISTER_NODE(TrafficLightSelector) diff --git a/perception/traffic_light_selector/src/traffic_light_selector.hpp b/perception/traffic_light_selector/src/traffic_light_selector.hpp new file mode 100644 index 0000000000000..b21efaa2ec2e3 --- /dev/null +++ b/perception/traffic_light_selector/src/traffic_light_selector.hpp @@ -0,0 +1,47 @@ +// Copyright 2023 The Autoware Contributors +// +// 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 TRAFFIC_LIGHT_SELECTOR_HPP_ +#define TRAFFIC_LIGHT_SELECTOR_HPP_ + +#include + +#include +#include +#include + +#include + +#include + +class TrafficLightSelector : public rclcpp::Node +{ +public: + explicit TrafficLightSelector(const rclcpp::NodeOptions & options); + +private: + using LaneletMapBin = autoware_auto_mapping_msgs::msg::HADMapBin; + using TrafficLightArray = autoware_perception_msgs::msg::TrafficLightArray; + using TrafficSignalArray = autoware_perception_msgs::msg::TrafficSignalArray; + rclcpp::Subscription::SharedPtr sub_map_; + rclcpp::Subscription::SharedPtr sub_tlr_; + rclcpp::Publisher::SharedPtr pub_; + + void on_map(const LaneletMapBin::ConstSharedPtr msg); + void on_msg(const TrafficLightArray::ConstSharedPtr msg); + + std::unordered_map mapping_; +}; + +#endif // TRAFFIC_LIGHT_SELECTOR_HPP_ From 85821ea1e97c12e9bdb6b5aa98fa7809e5f821a9 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Fri, 10 Mar 2023 19:28:00 +0900 Subject: [PATCH 016/121] fix(tier4_planning_rviz_plugin): supress initial warning message (#2960) fix(tier4_planning_rviz_plugin): remove initial warning message Signed-off-by: Takayuki Murooka --- .../include/path/display.hpp | 35 ++++++++----------- 1 file changed, 15 insertions(+), 20 deletions(-) diff --git a/common/tier4_planning_rviz_plugin/include/path/display.hpp b/common/tier4_planning_rviz_plugin/include/path/display.hpp index 63788b8f7f9b3..d483cac062b04 100644 --- a/common/tier4_planning_rviz_plugin/include/path/display.hpp +++ b/common/tier4_planning_rviz_plugin/include/path/display.hpp @@ -84,19 +84,14 @@ class AutowarePathWithDrivableAreaDisplay : public AutowarePathBaseDisplay { public: AutowarePathWithDrivableAreaDisplay() + : property_drivable_area_view_{"View Drivable Area", true, "", this}, + property_drivable_area_alpha_{"Alpha", 0.999, "", &property_drivable_area_view_}, + property_drivable_area_color_{"Color", QColor(0, 148, 205), "", &property_drivable_area_view_}, + property_drivable_area_width_{"Width", 0.3f, "", &property_drivable_area_view_} { - property_drivable_area_view_ = new rviz_common::properties::BoolProperty( - "View Drivable Area", true, "", this, SLOT(updateVisualization())); - property_drivable_area_alpha_ = new rviz_common::properties::FloatProperty( - "Alpha", 0.999, "", property_drivable_area_view_, SLOT(updateVisualization()), this); - property_drivable_area_alpha_->setMin(0.0); - property_drivable_area_alpha_->setMax(1.0); - property_drivable_area_color_ = new rviz_common::properties::ColorProperty( - "Color", QColor(0, 148, 205), "", property_drivable_area_view_, SLOT(updateVisualization()), - this); - property_drivable_area_width_ = new rviz_common::properties::FloatProperty( - "Width", 0.3f, "", property_drivable_area_view_, SLOT(updateVisualization()), this); - property_drivable_area_width_->setMin(0.001); + property_drivable_area_alpha_.setMin(0.0); + property_drivable_area_alpha_.setMax(1.0); + property_drivable_area_width_.setMin(0.001); } ~AutowarePathWithDrivableAreaDisplay() @@ -137,11 +132,11 @@ class AutowarePathWithDrivableAreaDisplay : public AutowarePathBaseDisplay return; } - if (property_drivable_area_view_->getBool()) { + if (property_drivable_area_view_.getBool()) { Ogre::ColourValue color = - rviz_common::properties::qtToOgre(property_drivable_area_color_->getColor()); - color.a = property_drivable_area_alpha_->getFloat(); - const auto line_width = property_drivable_area_width_->getFloat(); + rviz_common::properties::qtToOgre(property_drivable_area_color_.getColor()); + color.a = property_drivable_area_alpha_.getFloat(); + const auto line_width = property_drivable_area_width_.getFloat(); visualizeBound(msg_ptr->left_bound, color, line_width, left_bound_object_); visualizeBound(msg_ptr->right_bound, color, line_width, right_bound_object_); } @@ -151,10 +146,10 @@ class AutowarePathWithDrivableAreaDisplay : public AutowarePathBaseDisplay Ogre::ManualObject * left_bound_object_{nullptr}; Ogre::ManualObject * right_bound_object_{nullptr}; - rviz_common::properties::BoolProperty * property_drivable_area_view_; - rviz_common::properties::ColorProperty * property_drivable_area_color_; - rviz_common::properties::FloatProperty * property_drivable_area_alpha_; - rviz_common::properties::FloatProperty * property_drivable_area_width_; + rviz_common::properties::BoolProperty property_drivable_area_view_; + rviz_common::properties::FloatProperty property_drivable_area_alpha_; + rviz_common::properties::ColorProperty property_drivable_area_color_; + rviz_common::properties::FloatProperty property_drivable_area_width_; }; class AutowarePathWithLaneIdDisplay From e92be64fee1ce30bd38cba141ab152660a9ae487 Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Fri, 10 Mar 2023 19:33:24 +0900 Subject: [PATCH 017/121] refactor(pull_over): move parameter declare pull over (#3048) * fix(pull_over): declaration parameters outside of scene module Signed-off-by: satoshi-ota * refactor(pull_over): remove default params Signed-off-by: satoshi-ota * change double to int Signed-off-by: kosuke55 --------- Signed-off-by: satoshi-ota Signed-off-by: kosuke55 Co-authored-by: kosuke55 --- .../config/pull_over/pull_over.param.yaml | 1 + .../util/pull_over/freespace_pull_over.hpp | 7 - .../util/pull_over/pull_over_parameters.hpp | 21 +- .../src/behavior_path_planner_node.cpp | 235 +++++++++++------- .../util/pull_over/freespace_pull_over.cpp | 91 +------ 5 files changed, 177 insertions(+), 178 deletions(-) diff --git a/planning/behavior_path_planner/config/pull_over/pull_over.param.yaml b/planning/behavior_path_planner/config/pull_over/pull_over.param.yaml index d3a452a0db4f1..56ab9130ed19e 100644 --- a/planning/behavior_path_planner/config/pull_over/pull_over.param.yaml +++ b/planning/behavior_path_planner/config/pull_over/pull_over.param.yaml @@ -87,6 +87,7 @@ min_stop_distance: 5.0 stop_time: 2.0 hysteresis_buffer_distance: 2.0 + prediction_time_resolution: 0.5 enable_collision_check_at_prepare_phase: false use_predicted_path_outside_lanelet: false use_all_predicted_path: false diff --git a/planning/behavior_path_planner/include/behavior_path_planner/util/pull_over/freespace_pull_over.hpp b/planning/behavior_path_planner/include/behavior_path_planner/util/pull_over/freespace_pull_over.hpp index c08afe5f7b97f..6f5acfd30ef2b 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/util/pull_over/freespace_pull_over.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/util/pull_over/freespace_pull_over.hpp @@ -29,11 +29,8 @@ namespace behavior_path_planner { using freespace_planning_algorithms::AbstractPlanningAlgorithm; -using freespace_planning_algorithms::AstarParam; using freespace_planning_algorithms::AstarSearch; -using freespace_planning_algorithms::PlannerCommonParam; using freespace_planning_algorithms::RRTStar; -using freespace_planning_algorithms::RRTStarParam; class FreespacePullOver : public PullOverPlannerBase { @@ -47,10 +44,6 @@ class FreespacePullOver : public PullOverPlannerBase boost::optional plan(const Pose & goal_pose) override; protected: - PlannerCommonParam getCommonParam(rclcpp::Node & node) const; - AstarParam getAstarParam(rclcpp::Node & node) const; - RRTStarParam getRRTStarParam(rclcpp::Node & node) const; - std::unique_ptr planner_; double velocity_; bool use_back_; diff --git a/planning/behavior_path_planner/include/behavior_path_planner/util/pull_over/pull_over_parameters.hpp b/planning/behavior_path_planner/include/behavior_path_planner/util/pull_over/pull_over_parameters.hpp index 6a78f2ed692d9..48baadc7d731b 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/util/pull_over/pull_over_parameters.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/util/pull_over/pull_over_parameters.hpp @@ -16,11 +16,20 @@ #ifndef BEHAVIOR_PATH_PLANNER__UTIL__PULL_OVER__PULL_OVER_PARAMETERS_HPP_ #define BEHAVIOR_PATH_PLANNER__UTIL__PULL_OVER__PULL_OVER_PARAMETERS_HPP_ +#include +#include +#include + #include #include namespace behavior_path_planner { + +using freespace_planning_algorithms::AstarParam; +using freespace_planning_algorithms::PlannerCommonParam; +using freespace_planning_algorithms::RRTStarParam; + struct PullOverParameters { double request_length; @@ -44,8 +53,8 @@ struct PullOverParameters bool use_occupancy_grid; bool use_occupancy_grid_for_longitudinal_margin; double occupancy_grid_collision_check_margin; - double theta_size; - double obstacle_threshold; + int theta_size; + int obstacle_threshold; // object recognition bool use_object_recognition; double object_recognition_collision_check_margin; @@ -90,6 +99,14 @@ struct PullOverParameters std::vector drivable_area_types_to_skip; // debug bool print_debug_info; + + // freespace pull over + std::string algorithm; + double freespace_parking_velocity; + double vehicle_shape_margin; + PlannerCommonParam common_parameters; + AstarParam astar_parameters; + RRTStarParam rrt_star_parameters; }; } // namespace behavior_path_planner diff --git a/planning/behavior_path_planner/src/behavior_path_planner_node.cpp b/planning/behavior_path_planner/src/behavior_path_planner_node.cpp index 3132a0c5fc45d..7fc12eb616da9 100644 --- a/planning/behavior_path_planner/src/behavior_path_planner_node.cpp +++ b/planning/behavior_path_planner/src/behavior_path_planner_node.cpp @@ -690,97 +690,156 @@ LaneChangeParameters BehaviorPathPlannerNode::getLaneChangeParam() PullOverParameters BehaviorPathPlannerNode::getPullOverParam() { - const auto dp = [this](const std::string & str, auto def_val) { - std::string name = "pull_over." + str; - return this->declare_parameter(name, def_val); - }; - PullOverParameters p; - p.request_length = dp("request_length", 200.0); - p.th_stopped_velocity = dp("th_stopped_velocity", 0.01); - p.th_arrived_distance = dp("th_arrived_distance", 0.3); - p.th_stopped_time = dp("th_stopped_time", 2.0); - p.margin_from_boundary = dp("margin_from_boundary", 0.3); - p.decide_path_distance = dp("decide_path_distance", 10.0); - p.maximum_deceleration = dp("maximum_deceleration", 1.0); - // goal research - p.enable_goal_research = dp("enable_goal_research", true); - p.search_priority = dp("search_priority", "efficient_path"); - p.forward_goal_search_length = dp("forward_goal_search_length", 20.0); - p.backward_goal_search_length = dp("backward_goal_search_length", 20.0); - p.goal_search_interval = dp("goal_search_interval", 5.0); - p.longitudinal_margin = dp("longitudinal_margin", 3.0); - p.max_lateral_offset = dp("max_lateral_offset", 1.0); - p.lateral_offset_interval = dp("lateral_offset_interval", 0.25); - p.ignore_distance_from_lane_start = dp("ignore_distance_from_lane_start", 15.0); - // occupancy grid map - p.use_occupancy_grid = dp("use_occupancy_grid", true); - p.use_occupancy_grid_for_longitudinal_margin = - dp("use_occupancy_grid_for_longitudinal_margin", false); - p.occupancy_grid_collision_check_margin = dp("occupancy_grid_collision_check_margin", 0.0); - p.theta_size = dp("theta_size", 360); - p.obstacle_threshold = dp("obstacle_threshold", 90); - // object recognition - p.use_object_recognition = dp("use_object_recognition", true); - p.object_recognition_collision_check_margin = - dp("object_recognition_collision_check_margin", 1.0); - // shift path - p.enable_shift_parking = dp("enable_shift_parking", true); - p.pull_over_sampling_num = dp("pull_over_sampling_num", 4); - p.maximum_lateral_jerk = dp("maximum_lateral_jerk", 3.0); - p.minimum_lateral_jerk = dp("minimum_lateral_jerk", 1.0); - p.deceleration_interval = dp("deceleration_interval", 10.0); - p.pull_over_velocity = dp("pull_over_velocity", 8.3); - p.pull_over_minimum_velocity = dp("pull_over_minimum_velocity", 0.3); - p.after_pull_over_straight_distance = dp("after_pull_over_straight_distance", 3.0); - // parallel parking - p.enable_arc_forward_parking = dp("enable_arc_forward_parking", true); - p.enable_arc_backward_parking = dp("enable_arc_backward_parking", true); - p.after_forward_parking_straight_distance = dp("after_forward_parking_straight_distance", 0.5); - p.after_backward_parking_straight_distance = dp("after_backward_parking_straight_distance", 0.5); - p.forward_parking_velocity = dp("forward_parking_velocity", 1.0); - p.backward_parking_velocity = dp("backward_parking_velocity", -0.5); - p.forward_parking_lane_departure_margin = dp("forward_parking_lane_departure_margin", 0.0); - p.backward_parking_lane_departure_margin = dp("backward_parking_lane_departure_margin", 0.0); - p.arc_path_interval = dp("arc_path_interval", 1.0); - p.pull_over_max_steer_angle = dp("pull_over_max_steer_angle", 0.35); // 20deg - // freespace parking - p.enable_freespace_parking = dp("enable_freespace_parking", true); - // hazard - p.hazard_on_threshold_distance = dp("hazard_on_threshold_distance", 1.0); - p.hazard_on_threshold_velocity = dp("hazard_on_threshold_velocity", 0.5); - // safety with dynamic objects. Not used now. - p.pull_over_duration = dp("pull_over_duration", 4.0); - p.pull_over_prepare_duration = dp("pull_over_prepare_duration", 2.0); - p.min_stop_distance = dp("min_stop_distance", 5.0); - p.stop_time = dp("stop_time", 2.0); - p.hysteresis_buffer_distance = dp("hysteresis_buffer_distance", 2.0); - p.prediction_time_resolution = dp("prediction_time_resolution", 0.5); - p.enable_collision_check_at_prepare_phase = dp("enable_collision_check_at_prepare_phase", true); - p.use_predicted_path_outside_lanelet = dp("use_predicted_path_outside_lanelet", true); - p.use_all_predicted_path = dp("use_all_predicted_path", false); - // drivable area - p.drivable_area_right_bound_offset = dp("drivable_area_right_bound_offset", 0.0); - p.drivable_area_left_bound_offset = dp("drivable_area_left_bound_offset", 0.0); - p.drivable_area_types_to_skip = - dp("drivable_area_types_to_skip", std::vector({"road_border"})); - // debug - p.print_debug_info = dp("print_debug_info", false); - // validation of parameters - if (p.pull_over_sampling_num < 1) { - RCLCPP_FATAL_STREAM( - get_logger(), "pull_over_sampling_num must be positive integer. Given parameter: " - << p.pull_over_sampling_num << std::endl - << "Terminating the program..."); - exit(EXIT_FAILURE); + { + std::string ns = "pull_over."; + p.request_length = declare_parameter(ns + "request_length"); + p.th_stopped_velocity = declare_parameter(ns + "th_stopped_velocity"); + p.th_arrived_distance = declare_parameter(ns + "th_arrived_distance"); + p.th_stopped_time = declare_parameter(ns + "th_stopped_time"); + p.margin_from_boundary = declare_parameter(ns + "margin_from_boundary"); + p.decide_path_distance = declare_parameter(ns + "decide_path_distance"); + p.maximum_deceleration = declare_parameter(ns + "maximum_deceleration"); + // goal research + p.enable_goal_research = declare_parameter(ns + "enable_goal_research"); + p.search_priority = declare_parameter(ns + "search_priority"); + p.forward_goal_search_length = declare_parameter(ns + "forward_goal_search_length"); + p.backward_goal_search_length = declare_parameter(ns + "backward_goal_search_length"); + p.goal_search_interval = declare_parameter(ns + "goal_search_interval"); + p.longitudinal_margin = declare_parameter(ns + "longitudinal_margin"); + p.max_lateral_offset = declare_parameter(ns + "max_lateral_offset"); + p.lateral_offset_interval = declare_parameter(ns + "lateral_offset_interval"); + p.ignore_distance_from_lane_start = + declare_parameter(ns + "ignore_distance_from_lane_start"); + // occupancy grid map + p.use_occupancy_grid = declare_parameter(ns + "use_occupancy_grid"); + p.use_occupancy_grid_for_longitudinal_margin = + declare_parameter(ns + "use_occupancy_grid_for_longitudinal_margin"); + p.occupancy_grid_collision_check_margin = + declare_parameter(ns + "occupancy_grid_collision_check_margin"); + p.theta_size = declare_parameter(ns + "theta_size"); + p.obstacle_threshold = declare_parameter(ns + "obstacle_threshold"); + // object recognition + p.use_object_recognition = declare_parameter(ns + "use_object_recognition"); + p.object_recognition_collision_check_margin = + declare_parameter(ns + "object_recognition_collision_check_margin"); + // shift path + p.enable_shift_parking = declare_parameter(ns + "enable_shift_parking"); + p.pull_over_sampling_num = declare_parameter(ns + "pull_over_sampling_num"); + p.maximum_lateral_jerk = declare_parameter(ns + "maximum_lateral_jerk"); + p.minimum_lateral_jerk = declare_parameter(ns + "minimum_lateral_jerk"); + p.deceleration_interval = declare_parameter(ns + "deceleration_interval"); + p.pull_over_velocity = declare_parameter(ns + "pull_over_velocity"); + p.pull_over_minimum_velocity = declare_parameter(ns + "pull_over_minimum_velocity"); + p.after_pull_over_straight_distance = + declare_parameter(ns + "after_pull_over_straight_distance"); + // parallel parking + p.enable_arc_forward_parking = declare_parameter(ns + "enable_arc_forward_parking"); + p.enable_arc_backward_parking = declare_parameter(ns + "enable_arc_backward_parking"); + p.after_forward_parking_straight_distance = + declare_parameter(ns + "after_forward_parking_straight_distance"); + p.after_backward_parking_straight_distance = + declare_parameter(ns + "after_backward_parking_straight_distance"); + p.forward_parking_velocity = declare_parameter(ns + "forward_parking_velocity"); + p.backward_parking_velocity = declare_parameter(ns + "backward_parking_velocity"); + p.forward_parking_lane_departure_margin = + declare_parameter(ns + "forward_parking_lane_departure_margin"); + p.backward_parking_lane_departure_margin = + declare_parameter(ns + "backward_parking_lane_departure_margin"); + p.arc_path_interval = declare_parameter(ns + "arc_path_interval"); + p.pull_over_max_steer_angle = + declare_parameter(ns + "pull_over_max_steer_angle"); // 20deg + // freespace parking + p.enable_freespace_parking = declare_parameter(ns + "enable_freespace_parking"); + // hazard + p.hazard_on_threshold_distance = declare_parameter(ns + "hazard_on_threshold_distance"); + p.hazard_on_threshold_velocity = declare_parameter(ns + "hazard_on_threshold_velocity"); + // safety with dynamic objects. Not used now. + p.pull_over_duration = declare_parameter(ns + "pull_over_duration"); + p.pull_over_prepare_duration = declare_parameter(ns + "pull_over_prepare_duration"); + p.min_stop_distance = declare_parameter(ns + "min_stop_distance"); + p.stop_time = declare_parameter(ns + "stop_time"); + p.hysteresis_buffer_distance = declare_parameter(ns + "hysteresis_buffer_distance"); + p.prediction_time_resolution = declare_parameter(ns + "prediction_time_resolution"); + p.enable_collision_check_at_prepare_phase = + declare_parameter(ns + "enable_collision_check_at_prepare_phase"); + p.use_predicted_path_outside_lanelet = + declare_parameter(ns + "use_predicted_path_outside_lanelet"); + p.use_all_predicted_path = declare_parameter(ns + "use_all_predicted_path"); + // drivable area + p.drivable_area_right_bound_offset = + declare_parameter(ns + "drivable_area_right_bound_offset"); + p.drivable_area_left_bound_offset = + declare_parameter(ns + "drivable_area_left_bound_offset"); + p.drivable_area_types_to_skip = + declare_parameter>(ns + "drivable_area_types_to_skip"); + // debug + p.print_debug_info = declare_parameter(ns + "print_debug_info"); + + // validation of parameters + if (p.pull_over_sampling_num < 1) { + RCLCPP_FATAL_STREAM( + get_logger(), "pull_over_sampling_num must be positive integer. Given parameter: " + << p.pull_over_sampling_num << std::endl + << "Terminating the program..."); + exit(EXIT_FAILURE); + } + if (p.maximum_deceleration < 0.0) { + RCLCPP_FATAL_STREAM( + get_logger(), "maximum_deceleration cannot be negative value. Given parameter: " + << p.maximum_deceleration << std::endl + << "Terminating the program..."); + exit(EXIT_FAILURE); + } } - if (p.maximum_deceleration < 0.0) { - RCLCPP_FATAL_STREAM( - get_logger(), "maximum_deceleration cannot be negative value. Given parameter: " - << p.maximum_deceleration << std::endl - << "Terminating the program..."); - exit(EXIT_FAILURE); + + { + std::string ns = "pull_over.freespace_parking."; + // search configs + p.algorithm = declare_parameter(ns + "planning_algorithm"); + p.freespace_parking_velocity = declare_parameter(ns + "velocity"); + p.vehicle_shape_margin = declare_parameter(ns + "vehicle_shape_margin"); + p.common_parameters.time_limit = declare_parameter(ns + "time_limit"); + p.common_parameters.minimum_turning_radius = + declare_parameter(ns + "minimum_turning_radius"); + p.common_parameters.maximum_turning_radius = + declare_parameter(ns + "maximum_turning_radius"); + p.common_parameters.turning_radius_size = declare_parameter(ns + "turning_radius_size"); + p.common_parameters.maximum_turning_radius = std::max( + p.common_parameters.maximum_turning_radius, p.common_parameters.minimum_turning_radius); + p.common_parameters.turning_radius_size = std::max(p.common_parameters.turning_radius_size, 1); + + p.common_parameters.theta_size = declare_parameter(ns + "theta_size"); + p.common_parameters.angle_goal_range = declare_parameter(ns + "angle_goal_range"); + + p.common_parameters.curve_weight = declare_parameter(ns + "curve_weight"); + p.common_parameters.reverse_weight = declare_parameter(ns + "reverse_weight"); + p.common_parameters.lateral_goal_range = declare_parameter(ns + "lateral_goal_range"); + p.common_parameters.longitudinal_goal_range = + declare_parameter(ns + "longitudinal_goal_range"); + + // costmap configs + p.common_parameters.obstacle_threshold = declare_parameter(ns + "obstacle_threshold"); + } + + { + std::string ns = "pull_over.freespace_parking.astar."; + p.astar_parameters.only_behind_solutions = + declare_parameter(ns + "only_behind_solutions"); + p.astar_parameters.use_back = declare_parameter(ns + "use_back"); + p.astar_parameters.distance_heuristic_weight = + declare_parameter(ns + "distance_heuristic_weight"); + } + + { + std::string ns = "pull_over.freespace_parking.rrtstar."; + p.rrt_star_parameters.enable_update = declare_parameter(ns + "enable_update"); + p.rrt_star_parameters.use_informed_sampling = + declare_parameter(ns + "use_informed_sampling"); + p.rrt_star_parameters.max_planning_time = declare_parameter(ns + "max_planning_time"); + p.rrt_star_parameters.neighbor_radius = declare_parameter(ns + "neighbor_radius"); + p.rrt_star_parameters.margin = declare_parameter(ns + "margin"); } return p; diff --git a/planning/behavior_path_planner/src/util/pull_over/freespace_pull_over.cpp b/planning/behavior_path_planner/src/util/pull_over/freespace_pull_over.cpp index fc433f9f63213..69e71a54d0b34 100644 --- a/planning/behavior_path_planner/src/util/pull_over/freespace_pull_over.cpp +++ b/planning/behavior_path_planner/src/util/pull_over/freespace_pull_over.cpp @@ -25,92 +25,21 @@ namespace behavior_path_planner FreespacePullOver::FreespacePullOver( rclcpp::Node & node, const PullOverParameters & parameters, const vehicle_info_util::VehicleInfo & vehicle_info) -: PullOverPlannerBase{node, parameters} +: PullOverPlannerBase{node, parameters}, velocity_{parameters.freespace_parking_velocity} { - velocity_ = node.declare_parameter("pull_over.freespace_parking.velocity", 1.0); - - const double vehicle_shape_margin = - node.declare_parameter("pull_over.freespace_parking.vehicle_shape_margin", 1.0); - freespace_planning_algorithms::VehicleShape vehicle_shape(vehicle_info, vehicle_shape_margin); - - const auto algorithm = - node.declare_parameter("pull_over.freespace_parking.planning_algorithm", "astar"); - if (algorithm == "astar") { - const auto astar_param = getAstarParam(node); - use_back_ = astar_param.use_back; - planner_ = std::make_unique(getCommonParam(node), vehicle_shape, astar_param); - } else if (algorithm == "rrtstar") { + freespace_planning_algorithms::VehicleShape vehicle_shape( + vehicle_info, parameters.vehicle_shape_margin); + if (parameters.algorithm == "astar") { + use_back_ = parameters.astar_parameters.use_back; + planner_ = std::make_unique( + parameters.common_parameters, vehicle_shape, parameters.astar_parameters); + } else if (parameters.algorithm == "rrtstar") { use_back_ = true; // no option for disabling back in rrtstar - planner_ = - std::make_unique(getCommonParam(node), vehicle_shape, getRRTStarParam(node)); + planner_ = std::make_unique( + parameters.common_parameters, vehicle_shape, parameters.rrt_star_parameters); } } -PlannerCommonParam FreespacePullOver::getCommonParam(rclcpp::Node & node) const -{ - const auto dp = [&node](const std::string & str, auto def_val) { - std::string name = "pull_over.freespace_parking." + str; - return node.declare_parameter(name, def_val); - }; - - PlannerCommonParam p{}; - - // search configs - p.time_limit = dp("time_limit", 5000.0); - p.minimum_turning_radius = dp("minimum_turning_radius", 0.5); - p.maximum_turning_radius = dp("maximum_turning_radius", 6.0); - p.turning_radius_size = dp("turning_radius_size", 11); - p.maximum_turning_radius = std::max(p.maximum_turning_radius, p.minimum_turning_radius); - p.turning_radius_size = std::max(p.turning_radius_size, 1); - - p.theta_size = dp("theta_size", 48); - p.angle_goal_range = dp("angle_goal_range", 6.0); - - p.curve_weight = dp("curve_weight", 1.2); - p.reverse_weight = dp("reverse_weight", 2.00); - p.lateral_goal_range = dp("lateral_goal_range", 0.5); - p.longitudinal_goal_range = dp("longitudinal_goal_range", 2.0); - - // costmap configs - p.obstacle_threshold = dp("obstacle_threshold", 100); - - return p; -} - -AstarParam FreespacePullOver::getAstarParam(rclcpp::Node & node) const -{ - const auto dp = [&node](const std::string & str, auto def_val) { - std::string name = "pull_over.freespace_parking.astar." + str; - return node.declare_parameter(name, def_val); - }; - - AstarParam p{}; - - p.only_behind_solutions = dp("only_behind_solutions", false); - p.use_back = dp("use_back", true); - p.distance_heuristic_weight = dp("distance_heuristic_weight", 1.0); - - return p; -} - -RRTStarParam FreespacePullOver::getRRTStarParam(rclcpp::Node & node) const -{ - const auto dp = [&node](const std::string & str, auto def_val) { - std::string name = "pull_over.freespace_parking.rrtstar." + str; - return node.declare_parameter(name, def_val); - }; - - RRTStarParam p; - - p.enable_update = dp("enable_update", true); - p.use_informed_sampling = dp("use_informed_sampling", true); - p.max_planning_time = dp("max_planning_time", 150.0); - p.neighbor_radius = dp("neighbor_radius", 8.0); - p.margin = dp("margin", 0.1); - - return p; -} - boost::optional FreespacePullOver::plan(const Pose & goal_pose) { const Pose & current_pose = planner_data_->self_odometry->pose.pose; From 0056a2aa88cdbc9e1a5971fb13fe26209360c50b Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Sat, 11 Mar 2023 13:45:09 +0900 Subject: [PATCH 018/121] fix(lane_change): use previous module output (#3042) * feat(utilities): add new util func Signed-off-by: satoshi-ota * fix(lane_change): use previous module output for get current lanelet Signed-off-by: satoshi-ota --------- Signed-off-by: satoshi-ota --- .../behavior_path_planner/utilities.hpp | 7 ++++ .../lane_change/lane_change_module.cpp | 38 ++++++++++++++++- .../behavior_path_planner/src/utilities.cpp | 42 +++++++++++++++++++ 3 files changed, 86 insertions(+), 1 deletion(-) diff --git a/planning/behavior_path_planner/include/behavior_path_planner/utilities.hpp b/planning/behavior_path_planner/include/behavior_path_planner/utilities.hpp index f55dfe08c2de0..c0598ed7f04d8 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/utilities.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/utilities.hpp @@ -416,6 +416,10 @@ std::vector getTargetLaneletPolygons( void shiftPose(Pose * pose, double shift_length); +PathWithLaneId getCenterLinePathFromRootLanelet( + const lanelet::ConstLanelet & root_lanelet, + const std::shared_ptr & planner_data); + // route handler PathWithLaneId getCenterLinePath( const RouteHandler & route_handler, const lanelet::ConstLanelets & lanelet_sequence, @@ -439,6 +443,9 @@ std::uint8_t getHighestProbLabel(const std::vector & class lanelet::ConstLanelets getCurrentLanes(const std::shared_ptr & planner_data); +lanelet::ConstLanelets getCurrentLanesFromPath( + const PathWithLaneId & path, const std::shared_ptr & planner_data); + lanelet::ConstLanelets extendLanes( const std::shared_ptr route_handler, const lanelet::ConstLanelets & lanes); diff --git a/planning/behavior_path_planner/src/scene_module/lane_change/lane_change_module.cpp b/planning/behavior_path_planner/src/scene_module/lane_change/lane_change_module.cpp index 93987eaf5a6cd..0554c5d298aa6 100644 --- a/planning/behavior_path_planner/src/scene_module/lane_change/lane_change_module.cpp +++ b/planning/behavior_path_planner/src/scene_module/lane_change/lane_change_module.cpp @@ -98,7 +98,12 @@ bool LaneChangeModule::isExecutionRequested() const return true; } +#ifdef USE_OLD_ARCHITECTURE const auto current_lanes = util::getCurrentLanes(planner_data_); +#else + const auto current_lanes = + util::getCurrentLanesFromPath(*getPreviousModuleOutput().reference_path, planner_data_); +#endif const auto lane_change_lanes = getLaneChangeLanes(current_lanes, lane_change_lane_length_); LaneChangePath selected_path; @@ -114,7 +119,12 @@ bool LaneChangeModule::isExecutionReady() const return true; } +#ifdef USE_OLD_ARCHITECTURE const auto current_lanes = util::getCurrentLanes(planner_data_); +#else + const auto current_lanes = + util::getCurrentLanesFromPath(*getPreviousModuleOutput().reference_path, planner_data_); +#endif const auto lane_change_lanes = getLaneChangeLanes(current_lanes, lane_change_lane_length_); LaneChangePath selected_path; @@ -160,6 +170,7 @@ ModuleStatus LaneChangeModule::updateState() BehaviorModuleOutput LaneChangeModule::plan() { resetPathCandidate(); + resetPathReference(); is_activated_ = isActivated(); PathWithLaneId path = status_.lane_change_path.path; @@ -185,10 +196,14 @@ BehaviorModuleOutput LaneChangeModule::plan() BehaviorModuleOutput output; output.path = std::make_shared(path); - path_reference_ = getPreviousModuleOutput().reference_path; #ifdef USE_OLD_ARCHITECTURE + path_reference_ = getPreviousModuleOutput().reference_path; prev_approved_path_ = path; #else + const auto reference_path = + util::getCenterLinePathFromRootLanelet(status_.lane_change_lanes.front(), planner_data_); + output.reference_path = std::make_shared(reference_path); + path_reference_ = std::make_shared(reference_path); prev_approved_path_ = *getPreviousModuleOutput().path; #endif updateOutputTurnSignal(output); @@ -233,7 +248,12 @@ CandidateOutput LaneChangeModule::planCandidate() const LaneChangePath selected_path; // Get lane change lanes +#ifdef USE_OLD_ARCHITECTURE const auto current_lanes = util::getCurrentLanes(planner_data_); +#else + const auto current_lanes = + util::getCurrentLanesFromPath(*getPreviousModuleOutput().reference_path, planner_data_); +#endif const auto lane_change_lanes = getLaneChangeLanes(current_lanes, lane_change_lane_length_); [[maybe_unused]] const auto [found_valid_path, found_safe_path] = @@ -272,6 +292,7 @@ BehaviorModuleOutput LaneChangeModule::planWaitingApproval() #endif BehaviorModuleOutput out; out.path = std::make_shared(prev_approved_path_); + out.reference_path = getPreviousModuleOutput().reference_path; const auto candidate = planCandidate(); path_candidate_ = std::make_shared(candidate.path_candidate); @@ -284,7 +305,12 @@ BehaviorModuleOutput LaneChangeModule::planWaitingApproval() void LaneChangeModule::updateLaneChangeStatus() { +#ifdef USE_OLD_ARCHITECTURE status_.current_lanes = util::getCurrentLanes(planner_data_); +#else + status_.current_lanes = + util::getCurrentLanesFromPath(*getPreviousModuleOutput().reference_path, planner_data_); +#endif status_.lane_change_lanes = getLaneChangeLanes(status_.current_lanes, lane_change_lane_length_); // Find lane change path @@ -315,7 +341,12 @@ PathWithLaneId LaneChangeModule::getReferencePath() const // Set header reference_path.header = getRouteHeader(); +#ifdef USE_OLD_ARCHITECTURE const auto current_lanes = util::getCurrentLanes(planner_data_); +#else + const auto current_lanes = + util::getCurrentLanesFromPath(*getPreviousModuleOutput().reference_path, planner_data_); +#endif if (current_lanes.empty()) { return reference_path; @@ -393,7 +424,12 @@ std::pair LaneChangeModule::getSafePath( const auto current_twist = getEgoTwist(); const auto & common_parameters = planner_data_->parameters; +#ifdef USE_OLD_ARCHITECTURE const auto current_lanes = util::getCurrentLanes(planner_data_); +#else + const auto current_lanes = + util::getCurrentLanesFromPath(*getPreviousModuleOutput().reference_path, planner_data_); +#endif if (lane_change_lanes.empty()) { return std::make_pair(false, false); diff --git a/planning/behavior_path_planner/src/utilities.cpp b/planning/behavior_path_planner/src/utilities.cpp index d5a34c8822ff4..9160e4aef11bc 100644 --- a/planning/behavior_path_planner/src/utilities.cpp +++ b/planning/behavior_path_planner/src/utilities.cpp @@ -1927,6 +1927,22 @@ void shiftPose(Pose * pose, double shift_length) pose->position.y += std::cos(yaw) * shift_length; } +PathWithLaneId getCenterLinePathFromRootLanelet( + const lanelet::ConstLanelet & root_lanelet, + const std::shared_ptr & planner_data) +{ + const auto & route_handler = planner_data->route_handler; + const auto & current_pose = planner_data->self_odometry->pose.pose; + const auto & p = planner_data->parameters; + + const auto reference_lanes = route_handler->getLaneletSequence( + root_lanelet, current_pose, p.backward_path_length, p.forward_path_length); + + return getCenterLinePath( + *route_handler, reference_lanes, current_pose, p.backward_path_length, p.forward_path_length, + p); +} + PathWithLaneId getCenterLinePath( const RouteHandler & route_handler, const lanelet::ConstLanelets & lanelet_sequence, const Pose & pose, const double backward_path_length, const double forward_path_length, @@ -2074,6 +2090,32 @@ lanelet::ConstLanelets getCurrentLanes(const std::shared_ptr common_parameters.forward_path_length); } +lanelet::ConstLanelets getCurrentLanesFromPath( + const PathWithLaneId & path, const std::shared_ptr & planner_data) +{ + const auto & route_handler = planner_data->route_handler; + const auto & current_pose = planner_data->self_odometry->pose.pose; + const auto & p = planner_data->parameters; + + std::set lane_ids; + for (const auto & p : path.points) { + for (const auto & id : p.lane_ids) { + lane_ids.insert(id); + } + } + + lanelet::ConstLanelets reference_lanes{}; + for (const auto & id : lane_ids) { + reference_lanes.push_back(planner_data->route_handler->getLaneletsFromId(id)); + } + + lanelet::ConstLanelet current_lane; + lanelet::utils::query::getClosestLanelet(reference_lanes, current_pose, ¤t_lane); + + return route_handler->getLaneletSequence( + current_lane, current_pose, p.backward_path_length, p.forward_path_length); +} + lanelet::ConstLanelets extendLanes( const std::shared_ptr route_handler, const lanelet::ConstLanelets & lanes) { From 0d4e4444fdb1ea039b26d7e87b3c4cd9b130c162 Mon Sep 17 00:00:00 2001 From: dmoszynski <121798334+dmoszynski@users.noreply.github.com> Date: Mon, 13 Mar 2023 00:56:27 +0100 Subject: [PATCH 019/121] feat(automatic_goal): add automatic goal rviz plugin (#3031) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit * add first version automatic_goal plugin Signed-off-by: Dawid MoszyÅ„ski * feat(automatic_goal): extract automatic_goal_sender, add logging achieved goals Signed-off-by: Dawid MoszyÅ„ski * doc(automatic_goal): append README Signed-off-by: Dawid MoszyÅ„ski * ref(automatic_goal): apply pre-commity, fix depend Signed-off-by: Dawid MoszyÅ„ski * fix(automatic_goal): fix warnings - treated as errors Signed-off-by: Dawid MoszyÅ„ski * ref(automatic_goal): add author, apply clang-tidy hints Signed-off-by: Dawid MoszyÅ„ski * ref(automatic_goal): add maintainer, change year Signed-off-by: Dawid MoszyÅ„ski * ref(automatic_goal): fix package.xml order Signed-off-by: Dawid MoszyÅ„ski * ref(automatic_goal): names, initializations, main except Signed-off-by: Dawid MoszyÅ„ski * fix(automatic_goal): change path home->tmp Signed-off-by: Dawid MoszyÅ„ski * fix(automatic_goal): fix bad string init, expand readme Signed-off-by: Dawid MoszyÅ„ski * fix(automatic_goal): fix name Signed-off-by: Dawid MoszyÅ„ski --------- Signed-off-by: Dawid MoszyÅ„ski --- .../CMakeLists.txt | 35 ++ .../README.md | 80 +++ .../classes/AutowareAutomaticGoalPanel.png | Bin 0 -> 18815 bytes .../classes/AutowareAutomaticGoalTool.png | Bin 0 -> 18815 bytes .../images/markers.png | Bin 0 -> 70189 bytes .../images/panel.png | Bin 0 -> 64902 bytes .../images/select_panels.png | Bin 0 -> 160720 bytes .../images/select_tool.png | Bin 0 -> 86410 bytes .../launch/automatic_goal_sender.launch.xml | 10 + .../package.xml | 35 ++ .../plugins/plugin_description.xml | 12 + .../src/automatic_goal_append_tool.cpp | 121 +++++ .../src/automatic_goal_append_tool.hpp | 91 ++++ .../src/automatic_goal_panel.cpp | 484 ++++++++++++++++++ .../src/automatic_goal_panel.hpp | 147 ++++++ .../src/automatic_goal_sender.cpp | 227 ++++++++ .../src/automatic_goal_sender.hpp | 174 +++++++ 17 files changed, 1416 insertions(+) create mode 100644 common/tier4_automatic_goal_rviz_plugin/CMakeLists.txt create mode 100644 common/tier4_automatic_goal_rviz_plugin/README.md create mode 100644 common/tier4_automatic_goal_rviz_plugin/icons/classes/AutowareAutomaticGoalPanel.png create mode 100644 common/tier4_automatic_goal_rviz_plugin/icons/classes/AutowareAutomaticGoalTool.png create mode 100644 common/tier4_automatic_goal_rviz_plugin/images/markers.png create mode 100644 common/tier4_automatic_goal_rviz_plugin/images/panel.png create mode 100644 common/tier4_automatic_goal_rviz_plugin/images/select_panels.png create mode 100644 common/tier4_automatic_goal_rviz_plugin/images/select_tool.png create mode 100644 common/tier4_automatic_goal_rviz_plugin/launch/automatic_goal_sender.launch.xml create mode 100644 common/tier4_automatic_goal_rviz_plugin/package.xml create mode 100644 common/tier4_automatic_goal_rviz_plugin/plugins/plugin_description.xml create mode 100644 common/tier4_automatic_goal_rviz_plugin/src/automatic_goal_append_tool.cpp create mode 100644 common/tier4_automatic_goal_rviz_plugin/src/automatic_goal_append_tool.hpp create mode 100644 common/tier4_automatic_goal_rviz_plugin/src/automatic_goal_panel.cpp create mode 100644 common/tier4_automatic_goal_rviz_plugin/src/automatic_goal_panel.hpp create mode 100644 common/tier4_automatic_goal_rviz_plugin/src/automatic_goal_sender.cpp create mode 100644 common/tier4_automatic_goal_rviz_plugin/src/automatic_goal_sender.hpp diff --git a/common/tier4_automatic_goal_rviz_plugin/CMakeLists.txt b/common/tier4_automatic_goal_rviz_plugin/CMakeLists.txt new file mode 100644 index 0000000000000..c6d4e30061626 --- /dev/null +++ b/common/tier4_automatic_goal_rviz_plugin/CMakeLists.txt @@ -0,0 +1,35 @@ +cmake_minimum_required(VERSION 3.14) +project(tier4_automatic_goal_rviz_plugin) + +find_package(autoware_cmake REQUIRED) +autoware_package() + +find_package(Qt5 REQUIRED Core Widgets) +set(QT_LIBRARIES Qt5::Widgets) +set(CMAKE_AUTOMOC ON) +set(CMAKE_INCLUDE_CURRENT_DIR ON) +add_definitions(-DQT_NO_KEYWORDS) + +ament_auto_add_library(${PROJECT_NAME} SHARED + src/automatic_goal_sender.cpp + src/automatic_goal_append_tool.cpp + src/automatic_goal_panel.cpp +) + +ament_auto_add_executable(automatic_goal_sender + src/automatic_goal_sender.cpp +) + +target_link_libraries(${PROJECT_NAME} + ${QT_LIBRARIES} +) + +# Export the plugin to be imported by rviz2 +pluginlib_export_plugin_description_file(rviz_common plugins/plugin_description.xml) + +ament_auto_package( + INSTALL_TO_SHARE + launch + icons + plugins +) diff --git a/common/tier4_automatic_goal_rviz_plugin/README.md b/common/tier4_automatic_goal_rviz_plugin/README.md new file mode 100644 index 0000000000000..48fb577375714 --- /dev/null +++ b/common/tier4_automatic_goal_rviz_plugin/README.md @@ -0,0 +1,80 @@ +# tier4_automatic_goal_rviz_plugin + +## Purpose + +1. Defining a `GoalsList` by adding goals using `RvizTool` (Pose on the map). + +2. Automatic execution of the created `GoalsList` from the selected goal - it can be stopped and restarted. + +3. Looping the current `GoalsList`. + +4. Saving achieved goals to a file. + +5. Plan the route to one (single) selected goal and starting that route - it can be stopped and restarted. + +6. Remove any goal from the list or clear the current route. + +7. Save the current `GoalsList` to a file and load the list from the file. + +8. The application enables/disables access to options depending on the current state. + +9. The saved `GoalsList` can be executed without using a plugin - using a node `automatic_goal_sender`. + +## Inputs / Outputs + +### Input + +| Name | Type | Description | +| ---------------------------- | ------------------------------------------------- | ------------------------------------------------ | +| `/api/operation_mode/state` | `autoware_adapi_v1_msgs::msg::OperationModeState` | The topic represents the state of operation mode | +| `/api/routing/state` | `autoware_adapi_v1_msgs::msg::RouteState` | The topic represents the state of route | +| `/rviz2/automatic_goal/goal` | `geometry_msgs::msgs::PoseStamped` | The topic for adding goals to GoalsList | + +### Output + +| Name | Type | Description | +| ------------------------------------------ | -------------------------------------------------- | -------------------------------------------------- | +| `/api/operation_mode/change_to_autonomous` | `autoware_adapi_v1_msgs::srv::ChangeOperationMode` | The service to change operation mode to autonomous | +| `/api/operation_mode/change_to_stop` | `autoware_adapi_v1_msgs::srv::ChangeOperationMode` | The service to change operation mode to stop | +| `/api/routing/set_route_points` | `autoware_adapi_v1_msgs::srv::SetRoutePoints` | The service to set route | +| `/api/routing/clear_route` | `autoware_adapi_v1_msgs::srv::ClearRoute` | The service to clear route state | +| `/rviz2/automatic_goal/markers` | `visualization_msgs::msg::MarkerArray` | The topic to visualize goals as rviz markers | + +## HowToUse + +1. Start rviz and select panels/Add new panel. + + ![select_panel](./images/select_panels.png) + +2. Select `tier4_automatic_goal_rviz_plugin/AutowareAutomaticGoalPanel` and press OK. + +3. Select Add a new tool. + + ![select_tool](./images/select_tool.png) + +4. Select `tier4_automatic_goal_rviz_plugin/AutowareAutomaticGoalTool` and press OK. + +5. Add goals visualization as markers to `Displays`. + + ![markers](./images/markers.png) + +6. Append goals to the `GoalsList` to be achieved using `2D Append Goal` - in such a way that routes can be planned. + +7. Start sequential planning and goal achievement by clicking `Send goals automatically` + + ![panel](./images/panel.png) + +8. You can save `GoalsList` by clicking `Save to file`. + +9. After saving, you can run the `GoalsList` without using a plugin also: + - example: `ros2 launch tier4_automatic_goal_rviz_plugin automatic_goal_sender.launch.xml goals_list_file_path:="/tmp/goals_list.yaml" goals_achieved_dir_path:="/tmp/"` + - `goals_list_file_path` - is the path to the saved `GoalsList` file to be loaded + - `goals_achieved_dir_path` - is the path to the directory where the file `goals_achieved.log` will be created and the achieved goals will be written to it + +### Hints + +If the application (Engagement) goes into `ERROR` mode (usually returns to `EDITING` later), it means that one of the services returned a calling error (`code!=0`). +In this situation, check the terminal output for more information. + +- Often it is enough to try again. +- Sometimes a clearing of the current route is required before retrying. diff --git a/common/tier4_automatic_goal_rviz_plugin/icons/classes/AutowareAutomaticGoalPanel.png 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+ autoware_cmake + autoware_adapi_v1_msgs + geometry_msgs + libqt5-core + libqt5-gui + libqt5-widgets + qtbase5-dev + rclcpp + rviz_common + rviz_default_plugins + tf2 + tf2_geometry_msgs + visualization_msgs + yaml-cpp + + ament_lint_auto + autoware_lint_common + + + ament_cmake + + + diff --git a/common/tier4_automatic_goal_rviz_plugin/plugins/plugin_description.xml b/common/tier4_automatic_goal_rviz_plugin/plugins/plugin_description.xml new file mode 100644 index 0000000000000..e7d5224550868 --- /dev/null +++ b/common/tier4_automatic_goal_rviz_plugin/plugins/plugin_description.xml @@ -0,0 +1,12 @@ + + + AutowareAutomaticGoalPanel + + + AutowareAutomaticGoalTool + + diff --git a/common/tier4_automatic_goal_rviz_plugin/src/automatic_goal_append_tool.cpp b/common/tier4_automatic_goal_rviz_plugin/src/automatic_goal_append_tool.cpp new file mode 100644 index 0000000000000..43fc0edcccf84 --- /dev/null +++ b/common/tier4_automatic_goal_rviz_plugin/src/automatic_goal_append_tool.cpp @@ -0,0 +1,121 @@ +// 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. +/* + * Software License Agreement (BSD License) + * + * Copyright (c) 2012, Willow Garage, Inc. + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/or other materials provided + * with the distribution. + * * Neither the name of Willow Garage, Inc. nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + */ + +#include "automatic_goal_append_tool.hpp" + +#ifdef ROS_DISTRO_GALACTIC +#include +#else +#include +#endif +#include + +#include + +namespace rviz_plugins +{ +AutowareAutomaticGoalTool::AutowareAutomaticGoalTool() +{ + shortcut_key_ = 'c'; + + pose_topic_property_ = new rviz_common::properties::StringProperty( + "Pose Topic", "~/automatic_goal/goal", "The topic on which to publish automatic_goal.", + getPropertyContainer(), SLOT(updateTopic()), this); + std_dev_x_ = new rviz_common::properties::FloatProperty( + "X std deviation", 0.5, "X standard deviation for checkpoint pose [m]", getPropertyContainer()); + std_dev_y_ = new rviz_common::properties::FloatProperty( + "Y std deviation", 0.5, "Y standard deviation for checkpoint pose [m]", getPropertyContainer()); + std_dev_theta_ = new rviz_common::properties::FloatProperty( + "Theta std deviation", M_PI / 12.0, "Theta standard deviation for checkpoint pose [rad]", + getPropertyContainer()); + position_z_ = new rviz_common::properties::FloatProperty( + "Z position", 0.0, "Z position for checkpoint pose [m]", getPropertyContainer()); + std_dev_x_->setMin(0); + std_dev_y_->setMin(0); + std_dev_theta_->setMin(0); + position_z_->setMin(0); +} + +void AutowareAutomaticGoalTool::onInitialize() +{ + PoseTool::onInitialize(); + setName("2D AppendGoal"); + updateTopic(); +} + +void AutowareAutomaticGoalTool::updateTopic() +{ + rclcpp::Node::SharedPtr raw_node = context_->getRosNodeAbstraction().lock()->get_raw_node(); + pose_pub_ = raw_node->create_publisher( + pose_topic_property_->getStdString(), 1); + clock_ = raw_node->get_clock(); +} + +void AutowareAutomaticGoalTool::onPoseSet(double x, double y, double theta) +{ + // pose + std::string fixed_frame = context_->getFixedFrame().toStdString(); + geometry_msgs::msg::PoseStamped pose; + pose.header.frame_id = fixed_frame; + pose.header.stamp = clock_->now(); + pose.pose.position.x = x; + pose.pose.position.y = y; + pose.pose.position.z = position_z_->getFloat(); + + tf2::Quaternion quat; + quat.setRPY(0.0, 0.0, theta); + pose.pose.orientation = tf2::toMsg(quat); + RCLCPP_INFO( + rclcpp::get_logger("AutowareAutomaticGoalTool"), "Setting pose: %.3f %.3f %.3f %.3f [frame=%s]", + x, y, position_z_->getFloat(), theta, fixed_frame.c_str()); + pose_pub_->publish(pose); +} + +} // end namespace rviz_plugins + +#include +PLUGINLIB_EXPORT_CLASS(rviz_plugins::AutowareAutomaticGoalTool, rviz_common::Tool) diff --git a/common/tier4_automatic_goal_rviz_plugin/src/automatic_goal_append_tool.hpp b/common/tier4_automatic_goal_rviz_plugin/src/automatic_goal_append_tool.hpp new file mode 100644 index 0000000000000..6fc98cee9afa1 --- /dev/null +++ b/common/tier4_automatic_goal_rviz_plugin/src/automatic_goal_append_tool.hpp @@ -0,0 +1,91 @@ +// 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. +/* + * Software License Agreement (BSD License) + * + * Copyright (c) 2012, Willow Garage, Inc. + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/or other materials provided + * with the distribution. + * * Neither the name of Willow Garage, Inc. nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef AUTOMATIC_GOAL_APPEND_TOOL_HPP_ +#define AUTOMATIC_GOAL_APPEND_TOOL_HPP_ + +#ifndef Q_MOC_RUN // See: https://bugreports.qt-project.org/browse/QTBUG-22829 +#include +#include +#include +#include +#include +#include +#endif + +#include + +namespace rviz_plugins +{ +class AutowareAutomaticGoalTool : public rviz_default_plugins::tools::PoseTool +{ + Q_OBJECT + +public: + AutowareAutomaticGoalTool(); + void onInitialize() override; + +protected: + void onPoseSet(double x, double y, double theta) override; + +private Q_SLOTS: + void updateTopic(); + +private: // NOLINT for Qt + rclcpp::Clock::SharedPtr clock_{nullptr}; + rclcpp::Publisher::SharedPtr pose_pub_{nullptr}; + + rviz_common::properties::StringProperty * pose_topic_property_{nullptr}; + rviz_common::properties::FloatProperty * std_dev_x_{nullptr}; + rviz_common::properties::FloatProperty * std_dev_y_{nullptr}; + rviz_common::properties::FloatProperty * std_dev_theta_{nullptr}; + rviz_common::properties::FloatProperty * position_z_{nullptr}; +}; + +} // namespace rviz_plugins + +#endif // AUTOMATIC_GOAL_APPEND_TOOL_HPP_ diff --git a/common/tier4_automatic_goal_rviz_plugin/src/automatic_goal_panel.cpp b/common/tier4_automatic_goal_rviz_plugin/src/automatic_goal_panel.cpp new file mode 100644 index 0000000000000..e04228a8f7b88 --- /dev/null +++ b/common/tier4_automatic_goal_rviz_plugin/src/automatic_goal_panel.cpp @@ -0,0 +1,484 @@ +// +// Copyright 2023 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 "automatic_goal_panel.hpp" + +namespace rviz_plugins +{ +AutowareAutomaticGoalPanel::AutowareAutomaticGoalPanel(QWidget * parent) +: rviz_common::Panel(parent) +{ + qt_timer_ = new QTimer(this); + connect( + qt_timer_, &QTimer::timeout, this, &AutowareAutomaticGoalPanel::updateAutoExecutionTimerTick); + + auto * h_layout = new QHBoxLayout(this); + auto * v_layout = new QVBoxLayout(this); + h_layout->addWidget(makeGoalsListGroup()); + v_layout->addWidget(makeEngagementGroup()); + v_layout->addWidget(makeRoutingGroup()); + h_layout->addLayout(v_layout); + setLayout(h_layout); +} + +// Layouts +QGroupBox * AutowareAutomaticGoalPanel::makeGoalsListGroup() +{ + auto * group = new QGroupBox("GoalsList", this); + auto * grid = new QGridLayout(group); + + load_file_btn_ptr_ = new QPushButton("Load from file", group); + connect(load_file_btn_ptr_, SIGNAL(clicked()), SLOT(onClickLoadListFromFile())); + grid->addWidget(load_file_btn_ptr_, 0, 0); + + save_file_btn_ptr_ = new QPushButton("Save to file", group); + connect(save_file_btn_ptr_, SIGNAL(clicked()), SLOT(onClickSaveListToFile())); + grid->addWidget(save_file_btn_ptr_, 1, 0); + + goals_list_widget_ptr_ = new QListWidget(group); + goals_list_widget_ptr_->setStyleSheet("border:1px solid black;"); + grid->addWidget(goals_list_widget_ptr_, 2, 0); + + remove_selected_goal_btn_ptr_ = new QPushButton("Remove selected", group); + connect(remove_selected_goal_btn_ptr_, SIGNAL(clicked()), SLOT(onClickRemove())); + grid->addWidget(remove_selected_goal_btn_ptr_, 3, 0); + + loop_list_btn_ptr_ = new QPushButton("Loop list", group); + loop_list_btn_ptr_->setCheckable(true); + connect(loop_list_btn_ptr_, SIGNAL(toggled(bool)), SLOT(onToggleLoopList(bool))); + grid->addWidget(loop_list_btn_ptr_, 4, 0); + + goals_achieved_btn_ptr_ = new QPushButton("Saving achieved goals to file", group); + goals_achieved_btn_ptr_->setCheckable(true); + connect(goals_achieved_btn_ptr_, SIGNAL(toggled(bool)), SLOT(onToggleSaveGoalsAchievement(bool))); + grid->addWidget(goals_achieved_btn_ptr_, 5, 0); + + group->setLayout(grid); + return group; +} + +QGroupBox * AutowareAutomaticGoalPanel::makeRoutingGroup() +{ + auto * group = new QGroupBox("Routing", this); + auto * grid = new QGridLayout(group); + + routing_label_ptr_ = new QLabel("INIT", group); + routing_label_ptr_->setMinimumSize(100, 25); + routing_label_ptr_->setAlignment(Qt::AlignCenter); + routing_label_ptr_->setStyleSheet("border:1px solid black;"); + grid->addWidget(routing_label_ptr_, 0, 0); + + clear_route_btn_ptr_ = new QPushButton("Clear planned route", group); + connect(clear_route_btn_ptr_, &QPushButton::clicked, [this]() { onClickClearRoute(); }); + grid->addWidget(clear_route_btn_ptr_, 1, 0); + group->setLayout(grid); + + group->setLayout(grid); + return group; +} + +QGroupBox * AutowareAutomaticGoalPanel::makeEngagementGroup() +{ + auto * group = new QGroupBox("Engagement", this); + auto * grid = new QGridLayout(group); + + engagement_label_ptr_ = new QLabel("INITIALIZING", group); + engagement_label_ptr_->setMinimumSize(100, 25); + engagement_label_ptr_->setAlignment(Qt::AlignCenter); + engagement_label_ptr_->setStyleSheet("border:1px solid black;"); + grid->addWidget(engagement_label_ptr_, 0, 0); + + automatic_mode_btn_ptr_ = new QPushButton("Send goals automatically", group); + automatic_mode_btn_ptr_->setCheckable(true); + + connect(automatic_mode_btn_ptr_, SIGNAL(toggled(bool)), SLOT(onToggleAutoMode(bool))); + grid->addWidget(automatic_mode_btn_ptr_, 1, 0); + + plan_btn_ptr_ = new QPushButton("Plan to selected goal", group); + connect(plan_btn_ptr_, &QPushButton::clicked, [this] { onClickPlan(); }); + grid->addWidget(plan_btn_ptr_, 2, 0); + + start_btn_ptr_ = new QPushButton("Start current plan", group); + connect(start_btn_ptr_, &QPushButton::clicked, [this] { onClickStart(); }); + grid->addWidget(start_btn_ptr_, 3, 0); + + stop_btn_ptr_ = new QPushButton("Stop current plan", group); + connect(stop_btn_ptr_, SIGNAL(clicked()), SLOT(onClickStop())); + grid->addWidget(stop_btn_ptr_, 4, 0); + group->setLayout(grid); + + group->setLayout(grid); + return group; +} + +void AutowareAutomaticGoalPanel::showMessageBox(const QString & string) +{ + QMessageBox msg_box(this); + msg_box.setText(string); + msg_box.exec(); +} + +// Slots +void AutowareAutomaticGoalPanel::onInitialize() +{ + raw_node_ = this->getDisplayContext()->getRosNodeAbstraction().lock()->get_raw_node(); + pub_marker_ = raw_node_->create_publisher("~/automatic_goal/markers", 0); + sub_append_goal_ = raw_node_->create_subscription( + "~/automatic_goal/goal", 5, + std::bind(&AutowareAutomaticGoalPanel::onAppendGoal, this, std::placeholders::_1)); + initCommunication(raw_node_.get()); +} + +void AutowareAutomaticGoalPanel::onToggleLoopList(bool checked) +{ + is_loop_list_on_ = checked; + updateGUI(); +} + +void AutowareAutomaticGoalPanel::onToggleSaveGoalsAchievement(bool checked) +{ + if (checked) { + QString file_name = QFileDialog::getSaveFileName( + this, tr("Save File with GoalsList"), "/tmp/goals_achieved.log", + tr("Achieved goals (*.log)")); + goals_achieved_file_path_ = file_name.toStdString(); + } else { + goals_achieved_file_path_ = ""; + } + updateGUI(); +} + +void AutowareAutomaticGoalPanel::onToggleAutoMode(bool checked) +{ + if (checked && goals_list_widget_ptr_->selectedItems().count() != 1) { + showMessageBox("Select the first goal in GoalsList"); + automatic_mode_btn_ptr_->setChecked(false); + } else { + if (checked) current_goal_ = goals_list_widget_ptr_->currentRow(); + is_automatic_mode_on_ = checked; + is_automatic_mode_on_ ? qt_timer_->start(1000) : qt_timer_->stop(); + onClickClearRoute(); // here will be set State::AUTO_NEXT or State::EDITING; + } +} + +void AutowareAutomaticGoalPanel::onClickPlan() +{ + if (goals_list_widget_ptr_->selectedItems().count() != 1) { + showMessageBox("Select a goal in GoalsList"); + return; + } + + if (callPlanToGoalIndex(cli_set_route_, goals_list_widget_ptr_->currentRow())) { + state_ = State::PLANNING; + updateGUI(); + } +} + +void AutowareAutomaticGoalPanel::onClickStart() +{ + if (callService(cli_change_to_autonomous_)) { + state_ = State::STARTING; + updateGUI(); + } +} + +void AutowareAutomaticGoalPanel::onClickStop() +{ + // if ERROR is set then the ego is already stopped + if (state_ == State::ERROR) { + state_ = State::STOPPED; + updateGUI(); + } else if (callService(cli_change_to_stop_)) { + state_ = State::STOPPING; + updateGUI(); + } +} + +void AutowareAutomaticGoalPanel::onClickClearRoute() +{ + if (callService(cli_clear_route_)) { + state_ = State::CLEARING; + updateGUI(); + } +} + +void AutowareAutomaticGoalPanel::onClickRemove() +{ + if (static_cast(goals_list_widget_ptr_->currentRow()) < goals_list_.size()) + goals_list_.erase(goals_list_.begin() + goals_list_widget_ptr_->currentRow()); + resetAchievedGoals(); + updateGUI(); + updateGoalsList(); +} + +void AutowareAutomaticGoalPanel::onClickLoadListFromFile() +{ + QString file_name = QFileDialog::getOpenFileName( + this, tr("Open File with GoalsList"), "/tmp", tr("Goal lists (*.yaml)")); + if (file_name.count() > 0) loadGoalsList(file_name.toStdString()); +} + +void AutowareAutomaticGoalPanel::onClickSaveListToFile() +{ + if (!goals_list_.empty()) { + QString file_name = QFileDialog::getSaveFileName( + this, tr("Save File with GoalsList"), "/tmp/goals_list.yaml", tr("Goal lists (*.yaml)")); + if (file_name.count() > 0) saveGoalsList(file_name.toStdString()); + } +} + +// Inputs +void AutowareAutomaticGoalPanel::onAppendGoal(const PoseStamped::ConstSharedPtr pose) +{ + if (state_ == State::EDITING) { + goals_list_.push_back(pose); + updateGoalsList(); + updateGUI(); + } +} + +// Override +void AutowareAutomaticGoalPanel::onCallResult() { updateGUI(); } +void AutowareAutomaticGoalPanel::onGoalListUpdated() +{ + goals_list_widget_ptr_->clear(); + for (auto const & goal : goals_achieved_) { + auto * item = + new QListWidgetItem(QString::fromStdString(goal.second.first), goals_list_widget_ptr_); + goals_list_widget_ptr_->addItem(item); + updateGoalIcon(goals_list_widget_ptr_->count() - 1, QColor("lightGray")); + } + publishMarkers(); +} +void AutowareAutomaticGoalPanel::onOperationModeUpdated(const OperationModeState::ConstSharedPtr) +{ + updateGUI(); +} +void AutowareAutomaticGoalPanel::onRouteUpdated(const RouteState::ConstSharedPtr msg) +{ + std::pair style; + if (msg->state == RouteState::UNSET) + style = std::make_pair("UNSET", "background-color: #FFFF00;"); // yellow + else if (msg->state == RouteState::SET) + style = std::make_pair("SET", "background-color: #00FF00;"); // green + else if (msg->state == RouteState::ARRIVED) + style = std::make_pair("ARRIVED", "background-color: #FFA500;"); // orange + else if (msg->state == RouteState::CHANGING) + style = std::make_pair("CHANGING", "background-color: #FFFF00;"); // yellow + else + style = std::make_pair("UNKNOWN", "background-color: #FF0000;"); // red + + updateLabel(routing_label_ptr_, style.first, style.second); + updateGUI(); +} + +void AutowareAutomaticGoalPanel::updateAutoExecutionTimerTick() +{ + if (is_automatic_mode_on_) { + if (state_ == State::AUTO_NEXT) { + // end if loop is off + if (current_goal_ >= goals_list_.size() && !is_loop_list_on_) { + disableAutomaticMode(); + return; + } + // plan to next goal + current_goal_ = current_goal_ % goals_list_.size(); + if (callPlanToGoalIndex(cli_set_route_, current_goal_)) { + state_ = State::PLANNING; + updateGUI(); + } + } else if (state_ == State::PLANNED) { + updateGoalIcon(current_goal_, QColor("yellow")); + onClickStart(); + } else if (state_ == State::ARRIVED) { + goals_achieved_[current_goal_].second++; + updateAchievedGoalsFile(current_goal_); + updateGoalIcon(current_goal_++, QColor("green")); + onClickClearRoute(); // will be set AUTO_NEXT as next state_ + } else if (state_ == State::STOPPED || state_ == State::ERROR) { + disableAutomaticMode(); + } + } +} + +// Visual updates +void AutowareAutomaticGoalPanel::updateGUI() +{ + deactivateButton(automatic_mode_btn_ptr_); + deactivateButton(remove_selected_goal_btn_ptr_); + deactivateButton(clear_route_btn_ptr_); + deactivateButton(plan_btn_ptr_); + deactivateButton(start_btn_ptr_); + deactivateButton(stop_btn_ptr_); + deactivateButton(load_file_btn_ptr_); + deactivateButton(save_file_btn_ptr_); + deactivateButton(loop_list_btn_ptr_); + deactivateButton(goals_achieved_btn_ptr_); + + std::pair style; + switch (state_) { + case State::EDITING: + activateButton(load_file_btn_ptr_); + if (!goals_list_.empty()) { + activateButton(goals_achieved_btn_ptr_); + activateButton(plan_btn_ptr_); + activateButton(remove_selected_goal_btn_ptr_); + activateButton(automatic_mode_btn_ptr_); + activateButton(save_file_btn_ptr_); + activateButton(loop_list_btn_ptr_); + } + style = std::make_pair("EDITING", "background-color: #FFFF00;"); + break; + case State::PLANNED: + activateButton(start_btn_ptr_); + activateButton(clear_route_btn_ptr_); + activateButton(save_file_btn_ptr_); + style = std::make_pair("PLANNED", "background-color: #00FF00;"); + break; + case State::STARTED: + activateButton(stop_btn_ptr_); + activateButton(save_file_btn_ptr_); + style = std::make_pair("STARTED", "background-color: #00FF00;"); + break; + case State::STOPPED: + activateButton(start_btn_ptr_); + activateButton(automatic_mode_btn_ptr_); + activateButton(clear_route_btn_ptr_); + activateButton(save_file_btn_ptr_); + style = std::make_pair("STOPPED", "background-color: #00FF00;"); + break; + case State::ARRIVED: + if (!is_automatic_mode_on_) onClickClearRoute(); // will be set EDITING as next state_ + break; + case State::CLEARED: + is_automatic_mode_on_ ? state_ = State::AUTO_NEXT : state_ = State::EDITING; + updateGUI(); + break; + case State::ERROR: + activateButton(stop_btn_ptr_); + if (!goals_list_.empty()) activateButton(save_file_btn_ptr_); + style = std::make_pair("ERROR", "background-color: #FF0000;"); + break; + case State::PLANNING: + activateButton(clear_route_btn_ptr_); + style = std::make_pair("PLANNING", "background-color: #FFA500;"); + break; + case State::STARTING: + style = std::make_pair("STARTING", "background-color: #FFA500;"); + break; + case State::STOPPING: + style = std::make_pair("STOPPING", "background-color: #FFA500;"); + break; + case State::CLEARING: + style = std::make_pair("CLEARING", "background-color: #FFA500;"); + break; + default: + break; + } + + automatic_mode_btn_ptr_->setStyleSheet(""); + loop_list_btn_ptr_->setStyleSheet(""); + goals_achieved_btn_ptr_->setStyleSheet(""); + if (is_automatic_mode_on_) automatic_mode_btn_ptr_->setStyleSheet("background-color: green"); + if (is_loop_list_on_) loop_list_btn_ptr_->setStyleSheet("background-color: green"); + if (!goals_achieved_file_path_.empty()) + goals_achieved_btn_ptr_->setStyleSheet("background-color: green"); + + updateLabel(engagement_label_ptr_, style.first, style.second); +} + +void AutowareAutomaticGoalPanel::updateGoalIcon(const unsigned goal_index, const QColor & color) +{ + QPixmap pixmap(24, 24); + pixmap.fill(color); + QPainter painter(&pixmap); + painter.setPen(QColor("black")); + painter.setFont(QFont("fixed-width", 10)); + QString text = QString::number(goals_achieved_[goal_index].second); + painter.drawText(QRect(0, 0, 24, 24), Qt::AlignCenter, text); + QIcon icon(pixmap); + goals_list_widget_ptr_->item(static_cast(goal_index))->setIcon(icon); +} + +void AutowareAutomaticGoalPanel::publishMarkers() +{ + MarkerArray text_array; + MarkerArray arrow_array; + // Clear existing + visualization_msgs::msg::Marker marker; + marker.header.stamp = rclcpp::Time(); + marker.ns = "names"; + marker.id = 0; + marker.action = visualization_msgs::msg::Marker::DELETEALL; + text_array.markers.push_back(marker); + marker.ns = "poses"; + arrow_array.markers.push_back(marker); + pub_marker_->publish(text_array); + pub_marker_->publish(arrow_array); + text_array.markers.clear(); + arrow_array.markers.clear(); + // Publish current + for (unsigned i = 0; i < goals_list_.size(); i++) { + visualization_msgs::msg::Marker marker; + marker.header.frame_id = "map"; + marker.header.stamp = rclcpp::Time(); + marker.ns = "names"; + marker.id = static_cast(i); + marker.type = visualization_msgs::msg::Marker::TEXT_VIEW_FACING; + marker.action = visualization_msgs::msg::Marker::ADD; + marker.pose = goals_list_[i]->pose; + marker.lifetime = rclcpp::Duration(0, 0); + marker.scale.x = 1.6; + marker.scale.y = 1.6; + marker.scale.z = 1.6; + marker.color.r = 1.0; + marker.color.g = 1.0; + marker.color.b = 1.0; + marker.color.a = 1.0; + marker.frame_locked = false; + marker.text = "G" + std::to_string(i); + text_array.markers.push_back(marker); + marker.ns = "poses"; + marker.scale.y = 0.2; + marker.scale.z = 0.2; + marker.type = visualization_msgs::msg::Marker::ARROW; + arrow_array.markers.push_back(marker); + } + pub_marker_->publish(text_array); + pub_marker_->publish(arrow_array); +} + +// File +void AutowareAutomaticGoalPanel::saveGoalsList(const std::string & file_path) +{ + YAML::Node node; + for (unsigned i = 0; i < goals_list_.size(); ++i) { + node[i]["position_x"] = goals_list_[i]->pose.position.x; + node[i]["position_y"] = goals_list_[i]->pose.position.y; + node[i]["position_z"] = goals_list_[i]->pose.position.z; + node[i]["orientation_x"] = goals_list_[i]->pose.orientation.x; + node[i]["orientation_y"] = goals_list_[i]->pose.orientation.y; + node[i]["orientation_z"] = goals_list_[i]->pose.orientation.z; + node[i]["orientation_w"] = goals_list_[i]->pose.orientation.w; + } + std::ofstream file_out(file_path); + file_out << node; + file_out.close(); +} + +} // namespace rviz_plugins +#include +PLUGINLIB_EXPORT_CLASS(rviz_plugins::AutowareAutomaticGoalPanel, rviz_common::Panel) diff --git a/common/tier4_automatic_goal_rviz_plugin/src/automatic_goal_panel.hpp b/common/tier4_automatic_goal_rviz_plugin/src/automatic_goal_panel.hpp new file mode 100644 index 0000000000000..0ec9ca530f074 --- /dev/null +++ b/common/tier4_automatic_goal_rviz_plugin/src/automatic_goal_panel.hpp @@ -0,0 +1,147 @@ +// +// Copyright 2023 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 AUTOMATIC_GOAL_PANEL_HPP_ +#define AUTOMATIC_GOAL_PANEL_HPP_ + +#include "automatic_goal_sender.hpp" + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include +#include + +#include +#include +#include +#include + +namespace rviz_plugins +{ +class AutowareAutomaticGoalPanel : public rviz_common::Panel, + public automatic_goal::AutowareAutomaticGoalSender +{ + using State = automatic_goal::AutomaticGoalState; + using PoseStamped = geometry_msgs::msg::PoseStamped; + using MarkerArray = visualization_msgs::msg::MarkerArray; + using OperationModeState = autoware_adapi_v1_msgs::msg::OperationModeState; + using ChangeOperationMode = autoware_adapi_v1_msgs::srv::ChangeOperationMode; + using RouteState = autoware_adapi_v1_msgs::msg::RouteState; + using SetRoutePoints = autoware_adapi_v1_msgs::srv::SetRoutePoints; + using ClearRoute = autoware_adapi_v1_msgs::srv::ClearRoute; + Q_OBJECT + +public: + explicit AutowareAutomaticGoalPanel(QWidget * parent = nullptr); + void onInitialize() override; + +public Q_SLOTS: // NOLINT for Qt + void onToggleLoopList(bool checked); + void onToggleAutoMode(bool checked); + void onToggleSaveGoalsAchievement(bool checked); + void onClickPlan(); + void onClickStart(); + void onClickStop(); + void onClickClearRoute(); + void onClickRemove(); + void onClickLoadListFromFile(); + void onClickSaveListToFile(); + +private: + // Override + void updateAutoExecutionTimerTick() override; + void onRouteUpdated(const RouteState::ConstSharedPtr msg) override; + void onOperationModeUpdated(const OperationModeState::ConstSharedPtr msg) override; + void onCallResult() override; + void onGoalListUpdated() override; + + // Inputs + void onAppendGoal(const PoseStamped::ConstSharedPtr pose); + + // Visual updates + void updateGUI(); + void updateGoalIcon(const unsigned goal_index, const QColor & color); + void publishMarkers(); + void showMessageBox(const QString & string); + void disableAutomaticMode() { automatic_mode_btn_ptr_->setChecked(false); } + static void activateButton(QAbstractButton * btn) { btn->setEnabled(true); } + static void deactivateButton(QAbstractButton * btn) { btn->setEnabled(false); } + static void updateLabel(QLabel * label, const QString & text, const QString & style_sheet) + { + label->setText(text); + label->setStyleSheet(style_sheet); + } + // File + void saveGoalsList(const std::string & file); + + // Pub/Sub + rclcpp::Publisher::SharedPtr pub_marker_{nullptr}; + rclcpp::Subscription::SharedPtr sub_append_goal_{nullptr}; + + // Containers + rclcpp::Node::SharedPtr raw_node_{nullptr}; + bool is_automatic_mode_on_{false}; + bool is_loop_list_on_{false}; + + // QT Containers + QGroupBox * makeGoalsListGroup(); + QGroupBox * makeRoutingGroup(); + QGroupBox * makeEngagementGroup(); + QTimer * qt_timer_{nullptr}; + QListWidget * goals_list_widget_ptr_{nullptr}; + QLabel * routing_label_ptr_{nullptr}; + QLabel * operation_mode_label_ptr_{nullptr}; + QLabel * engagement_label_ptr_{nullptr}; + QPushButton * loop_list_btn_ptr_{nullptr}; + QPushButton * goals_achieved_btn_ptr_{nullptr}; + QPushButton * load_file_btn_ptr_{nullptr}; + QPushButton * save_file_btn_ptr_{nullptr}; + QPushButton * automatic_mode_btn_ptr_{nullptr}; + QPushButton * remove_selected_goal_btn_ptr_{nullptr}; + QPushButton * clear_route_btn_ptr_{nullptr}; + QPushButton * plan_btn_ptr_{nullptr}; + QPushButton * start_btn_ptr_{nullptr}; + QPushButton * stop_btn_ptr_{nullptr}; +}; +} // namespace rviz_plugins + +#endif // AUTOMATIC_GOAL_PANEL_HPP_ diff --git a/common/tier4_automatic_goal_rviz_plugin/src/automatic_goal_sender.cpp b/common/tier4_automatic_goal_rviz_plugin/src/automatic_goal_sender.cpp new file mode 100644 index 0000000000000..51f7716863465 --- /dev/null +++ b/common/tier4_automatic_goal_rviz_plugin/src/automatic_goal_sender.cpp @@ -0,0 +1,227 @@ +// Copyright 2016 Open Source Robotics Foundation, 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 "automatic_goal_sender.hpp" + +namespace automatic_goal +{ +AutowareAutomaticGoalSender::AutowareAutomaticGoalSender() : Node("automatic_goal_sender") {} + +void AutowareAutomaticGoalSender::init() +{ + loadParams(this); + initCommunication(this); + loadGoalsList(goals_list_file_path_); + timer_ = this->create_wall_timer( + std::chrono::milliseconds(500), + std::bind(&AutowareAutomaticGoalSender::updateAutoExecutionTimerTick, this)); + + // Print info + RCLCPP_INFO_STREAM(get_logger(), "GoalsList has been loaded from: " << goals_list_file_path_); + for (auto const & goal : goals_achieved_) + RCLCPP_INFO_STREAM(get_logger(), "Loaded: " << goal.second.first); + RCLCPP_INFO_STREAM( + get_logger(), "Achieved goals will be saved in: " << goals_achieved_file_path_); +} + +void AutowareAutomaticGoalSender::loadParams(rclcpp::Node * node) +{ + namespace fs = std::filesystem; + node->declare_parameter("goals_list_file_path", ""); + node->declare_parameter("goals_achieved_dir_path", ""); + // goals_list + goals_list_file_path_ = node->get_parameter("goals_list_file_path").as_string(); + if (!fs::exists(goals_list_file_path_) || !fs::is_regular_file(goals_list_file_path_)) + throw std::invalid_argument( + "goals_list_file_path parameter - file path is invalid: " + goals_list_file_path_); + // goals_achieved + goals_achieved_file_path_ = node->get_parameter("goals_achieved_dir_path").as_string(); + if (!fs::exists(goals_achieved_file_path_) || fs::is_regular_file(goals_achieved_file_path_)) + throw std::invalid_argument( + "goals_achieved_dir_path - directory path is invalid: " + goals_achieved_file_path_); + goals_achieved_file_path_ += "goals_achieved.log"; +} + +void AutowareAutomaticGoalSender::initCommunication(rclcpp::Node * node) +{ + // Executing + sub_operation_mode_ = node->create_subscription( + "/api/operation_mode/state", rclcpp::QoS{1}.transient_local(), + std::bind(&AutowareAutomaticGoalSender::onOperationMode, this, std::placeholders::_1)); + + cli_change_to_autonomous_ = node->create_client( + "/api/operation_mode/change_to_autonomous", rmw_qos_profile_services_default); + + cli_change_to_stop_ = node->create_client( + "/api/operation_mode/change_to_stop", rmw_qos_profile_services_default); + + // Planning + sub_route_ = node->create_subscription( + "/api/routing/state", rclcpp::QoS{1}.transient_local(), + std::bind(&AutowareAutomaticGoalSender::onRoute, this, std::placeholders::_1)); + + cli_clear_route_ = + node->create_client("/api/routing/clear_route", rmw_qos_profile_services_default); + + cli_set_route_ = node->create_client( + "/api/routing/set_route_points", rmw_qos_profile_services_default); +} + +// Sub +void AutowareAutomaticGoalSender::onRoute(const RouteState::ConstSharedPtr msg) +{ + if (msg->state == RouteState::UNSET && state_ == State::CLEARING) + state_ = State::CLEARED; + else if (msg->state == RouteState::SET && state_ == State::PLANNING) + state_ = State::PLANNED; + else if (msg->state == RouteState::ARRIVED && state_ == State::STARTED) + state_ = State::ARRIVED; + onRouteUpdated(msg); +} + +void AutowareAutomaticGoalSender::onOperationMode(const OperationModeState::ConstSharedPtr msg) +{ + if (msg->mode == OperationModeState::STOP && state_ == State::INITIALIZING) + state_ = State::EDITING; + else if (msg->mode == OperationModeState::STOP && state_ == State::STOPPING) + state_ = State::STOPPED; + else if (msg->mode == OperationModeState::AUTONOMOUS && state_ == State::STARTING) + state_ = State::STARTED; + onOperationModeUpdated(msg); +} + +// Update +void AutowareAutomaticGoalSender::updateGoalsList() +{ + unsigned i = 0; + for (const auto & goal : goals_list_) { + std::stringstream ss; + ss << std::fixed << std::setprecision(2); + tf2::Quaternion tf2_quat; + tf2::convert(goal->pose.orientation, tf2_quat); + ss << "G" << i << " (" << goal->pose.position.x << ", "; + ss << goal->pose.position.y << ", " << tf2::getYaw(tf2_quat) << ")"; + goals_achieved_.insert({i++, std::make_pair(ss.str(), 0)}); + } + onGoalListUpdated(); +} + +void AutowareAutomaticGoalSender::updateAutoExecutionTimerTick() +{ + auto goal = goals_achieved_[current_goal_].first; + + if (state_ == State::INITIALIZING) { + RCLCPP_INFO_THROTTLE( + get_logger(), *get_clock(), 3000, "Initializing... waiting for OperationModeState::STOP"); + + } else if (state_ == State::EDITING) { // skip the editing step by default + state_ = State::AUTO_NEXT; + + } else if (state_ == State::AUTO_NEXT) { // plan to next goal + RCLCPP_INFO_STREAM(get_logger(), goal << ": Goal set as the next. Planning in progress..."); + if (callPlanToGoalIndex(cli_set_route_, current_goal_)) state_ = State::PLANNING; + + } else if (state_ == State::PLANNED) { // start plan to next goal + RCLCPP_INFO_STREAM(get_logger(), goal << ": Route has been planned. Route starting..."); + if (callService(cli_change_to_autonomous_)) state_ = State::STARTING; + + } else if (state_ == State::STARTED) { + RCLCPP_INFO_STREAM_THROTTLE(get_logger(), *get_clock(), 5000, goal << ": Driving to the goal."); + + } else if (state_ == State::ARRIVED) { // clear plan after achieving next goal, goal++ + RCLCPP_INFO_STREAM( + get_logger(), goal << ": Goal has been ACHIEVED " << ++goals_achieved_[current_goal_].second + << " times. Route clearing..."); + updateAchievedGoalsFile(current_goal_); + if (callService(cli_clear_route_)) state_ = State::CLEARING; + + } else if (state_ == State::CLEARED) { + RCLCPP_INFO_STREAM(get_logger(), goal << ": Route has been cleared."); + current_goal_++; + current_goal_ = current_goal_ % goals_list_.size(); + state_ = State::AUTO_NEXT; + + } else if (state_ == State::STOPPED) { + RCLCPP_WARN_STREAM( + get_logger(), goal << ": The execution has been stopped unexpectedly! Restarting..."); + if (callService(cli_change_to_autonomous_)) state_ = State::STARTING; + + } else if (state_ == State::ERROR) { + timer_->cancel(); + throw std::runtime_error(goal + ": Error encountered during execution!"); + } +} + +// File +void AutowareAutomaticGoalSender::loadGoalsList(const std::string & file_path) +{ + YAML::Node node = YAML::LoadFile(file_path); + goals_list_.clear(); + for (auto && goal : node) { + std::shared_ptr pose = std::make_shared(); + pose->header.frame_id = "map"; + pose->header.stamp = rclcpp::Time(); + pose->pose.position.x = goal["position_x"].as(); + pose->pose.position.y = goal["position_y"].as(); + pose->pose.position.z = goal["position_z"].as(); + pose->pose.orientation.x = goal["orientation_x"].as(); + pose->pose.orientation.y = goal["orientation_y"].as(); + pose->pose.orientation.z = goal["orientation_z"].as(); + pose->pose.orientation.w = goal["orientation_w"].as(); + goals_list_.push_back(pose); + } + resetAchievedGoals(); + updateGoalsList(); +} + +void AutowareAutomaticGoalSender::updateAchievedGoalsFile(const unsigned goal_index) +{ + if (!goals_achieved_file_path_.empty()) { + std::ofstream out(goals_achieved_file_path_, std::fstream::app); + std::stringstream ss; + ss << "[" << getTimestamp() << "] Achieved: " << goals_achieved_[goal_index].first; + ss << ", Current number of achievements: " << goals_achieved_[goal_index].second << "\n"; + out << ss.str(); + out.close(); + } +} + +void AutowareAutomaticGoalSender::resetAchievedGoals() +{ + goals_achieved_.clear(); + if (!goals_achieved_file_path_.empty()) { + std::ofstream out(goals_achieved_file_path_, std::fstream::app); + out << "[" << getTimestamp() + << "] GoalsList was loaded from a file or a goal was removed - counters have been reset\n"; + out.close(); + } +} +} // namespace automatic_goal + +int main(int argc, char * argv[]) +{ + rclcpp::init(argc, argv); + + std::shared_ptr node{nullptr}; + try { + node = std::make_shared(); + node->init(); + } catch (const std::exception & e) { + fprintf(stderr, "%s Exiting...\n", e.what()); + return 1; + } + + rclcpp::spin(node); + rclcpp::shutdown(); + return 0; +} diff --git a/common/tier4_automatic_goal_rviz_plugin/src/automatic_goal_sender.hpp b/common/tier4_automatic_goal_rviz_plugin/src/automatic_goal_sender.hpp new file mode 100644 index 0000000000000..aacdada352811 --- /dev/null +++ b/common/tier4_automatic_goal_rviz_plugin/src/automatic_goal_sender.hpp @@ -0,0 +1,174 @@ +// Copyright 2016 Open Source Robotics Foundation, 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 AUTOMATIC_GOAL_SENDER_HPP_ +#define AUTOMATIC_GOAL_SENDER_HPP_ +#include + +#include +#include +#include +#include +#include +#include +#include + +#include +#include + +#include +#include +#include +#include +#include +#include +#include +#include + +namespace automatic_goal +{ +enum class AutomaticGoalState { + INITIALIZING, + EDITING, + PLANNING, + PLANNED, + STARTING, + STARTED, + ARRIVED, + AUTO_NEXT, + STOPPING, + STOPPED, + CLEARING, + CLEARED, + ERROR, +}; + +class AutowareAutomaticGoalSender : public rclcpp::Node +{ + using State = AutomaticGoalState; + using PoseStamped = geometry_msgs::msg::PoseStamped; + using OperationModeState = autoware_adapi_v1_msgs::msg::OperationModeState; + using ChangeOperationMode = autoware_adapi_v1_msgs::srv::ChangeOperationMode; + using RouteState = autoware_adapi_v1_msgs::msg::RouteState; + using SetRoutePoints = autoware_adapi_v1_msgs::srv::SetRoutePoints; + using ClearRoute = autoware_adapi_v1_msgs::srv::ClearRoute; + +public: + AutowareAutomaticGoalSender(); + void init(); + +protected: + void initCommunication(rclcpp::Node * node); + // Calls + bool callPlanToGoalIndex( + const rclcpp::Client::SharedPtr client, const unsigned goal_index) + { + if (!client->service_is_ready()) { + RCLCPP_WARN(get_logger(), "SetRoutePoints client is unavailable"); + return false; + } + + auto req = std::make_shared(); + req->header = goals_list_.at(goal_index)->header; + req->goal = goals_list_.at(goal_index)->pose; + client->async_send_request( + req, [this](typename rclcpp::Client::SharedFuture result) { + if (result.get()->status.code != 0) state_ = State::ERROR; + printCallResult(result); + onCallResult(); + }); + return true; + } + template + bool callService(const typename rclcpp::Client::SharedPtr client) + { + if (!client->service_is_ready()) { + RCLCPP_WARN(get_logger(), "Client is unavailable"); + return false; + } + + auto req = std::make_shared(); + client->async_send_request(req, [this](typename rclcpp::Client::SharedFuture result) { + if (result.get()->status.code != 0) state_ = State::ERROR; + printCallResult(result); + onCallResult(); + }); + return true; + } + template + void printCallResult(typename rclcpp::Client::SharedFuture result) + { + if (result.get()->status.code != 0) { + RCLCPP_ERROR( + get_logger(), "Service type \"%s\" status: %d, %s", typeid(T).name(), + result.get()->status.code, result.get()->status.message.c_str()); + } else { + RCLCPP_DEBUG( + get_logger(), "Service type \"%s\" status: %d, %s", typeid(T).name(), + result.get()->status.code, result.get()->status.message.c_str()); + } + } + + // Update + void updateGoalsList(); + virtual void updateAutoExecutionTimerTick(); + + // File + void loadGoalsList(const std::string & file_path); + void updateAchievedGoalsFile(const unsigned goal_index); + void resetAchievedGoals(); + static std::string getTimestamp() + { + char buffer[128]; + std::time_t now = std::chrono::system_clock::to_time_t(std::chrono::system_clock::now()); + std::strftime(&buffer[0], sizeof(buffer), "%Y-%m-%d %H:%M:%S", std::localtime(&now)); + return std::string{buffer}; + } + + // Sub + void onRoute(const RouteState::ConstSharedPtr msg); + void onOperationMode(const OperationModeState::ConstSharedPtr msg); + + // Interface + virtual void onRouteUpdated(const RouteState::ConstSharedPtr) {} + virtual void onOperationModeUpdated(const OperationModeState::ConstSharedPtr) {} + virtual void onCallResult() {} + virtual void onGoalListUpdated() {} + + // Cli + rclcpp::Client::SharedPtr cli_change_to_autonomous_{nullptr}; + rclcpp::Client::SharedPtr cli_change_to_stop_{nullptr}; + rclcpp::Client::SharedPtr cli_clear_route_{nullptr}; + rclcpp::Client::SharedPtr cli_set_route_{nullptr}; + + // Containers + unsigned current_goal_{0}; + State state_{State::INITIALIZING}; + std::vector goals_list_{}; + std::map> goals_achieved_{}; + std::string goals_achieved_file_path_{}; + +private: + void loadParams(rclcpp::Node * node); + + // Sub + rclcpp::Subscription::SharedPtr sub_route_{nullptr}; + rclcpp::Subscription::SharedPtr sub_operation_mode_{nullptr}; + + // Containers + std::string goals_list_file_path_{}; + rclcpp::TimerBase::SharedPtr timer_{nullptr}; +}; +} // namespace automatic_goal +#endif // AUTOMATIC_GOAL_SENDER_HPP_ From 5ec247b87b2eabd866b57cf60f8bf6a4d0e26b20 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Mon, 13 Mar 2023 12:39:29 +0900 Subject: [PATCH 020/121] feat(behavior_path_planner): use akima spline for xy only first (#2800) * feat(behavior_path_planner): use akima spline for xy only first Signed-off-by: Takayuki Murooka * fix Signed-off-by: Takayuki Murooka --------- Signed-off-by: Takayuki Murooka --- .../include/behavior_path_planner/parameters.hpp | 4 +++- .../src/behavior_path_planner_node.cpp | 6 ++++-- planning/behavior_path_planner/src/utilities.cpp | 6 +++++- 3 files changed, 12 insertions(+), 4 deletions(-) diff --git a/planning/behavior_path_planner/include/behavior_path_planner/parameters.hpp b/planning/behavior_path_planner/include/behavior_path_planner/parameters.hpp index 164fb72887cd8..7df7c4c39fff0 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/parameters.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/parameters.hpp @@ -56,7 +56,9 @@ struct BehaviorPathPlannerParameters double turn_signal_shift_length_threshold; bool turn_signal_on_swerving; - double path_interval; + double enable_akima_spline_first; + double input_path_interval; + double output_path_interval; double ego_nearest_dist_threshold; double ego_nearest_yaw_threshold; diff --git a/planning/behavior_path_planner/src/behavior_path_planner_node.cpp b/planning/behavior_path_planner/src/behavior_path_planner_node.cpp index 7fc12eb616da9..5ff95f26fdcad 100644 --- a/planning/behavior_path_planner/src/behavior_path_planner_node.cpp +++ b/planning/behavior_path_planner/src/behavior_path_planner_node.cpp @@ -383,7 +383,9 @@ BehaviorPathPlannerParameters BehaviorPathPlannerNode::getCommonParam() declare_parameter("turn_signal_shift_length_threshold", 0.3); p.turn_signal_on_swerving = declare_parameter("turn_signal_on_swerving", true); - p.path_interval = declare_parameter("path_interval"); + p.enable_akima_spline_first = declare_parameter("enable_akima_spline_first"); + p.input_path_interval = declare_parameter("input_path_interval"); + p.output_path_interval = declare_parameter("output_path_interval"); p.visualize_maximum_drivable_area = declare_parameter("visualize_maximum_drivable_area", true); p.ego_nearest_dist_threshold = declare_parameter("ego_nearest_dist_threshold"); p.ego_nearest_yaw_threshold = declare_parameter("ego_nearest_yaw_threshold"); @@ -1270,7 +1272,7 @@ PathWithLaneId::SharedPtr BehaviorPathPlannerNode::getPath( } const auto resampled_path = util::resamplePathWithSpline( - connected_path, planner_data_->parameters.path_interval, + connected_path, planner_data_->parameters.output_path_interval, keepInputPoints(module_status_ptr_vec)); return std::make_shared(resampled_path); } diff --git a/planning/behavior_path_planner/src/utilities.cpp b/planning/behavior_path_planner/src/utilities.cpp index 9160e4aef11bc..2547a0e1cd681 100644 --- a/planning/behavior_path_planner/src/utilities.cpp +++ b/planning/behavior_path_planner/src/utilities.cpp @@ -1975,7 +1975,11 @@ PathWithLaneId getCenterLinePath( s_forward = std::min(s_forward, goal_arc_coordinates.length - lane_change_buffer); } - return route_handler.getCenterLinePath(lanelet_sequence, s_backward, s_forward, true); + const auto raw_path_with_lane_id = + route_handler.getCenterLinePath(lanelet_sequence, s_backward, s_forward, true); + const auto resampled_path_with_lane_id = motion_utils::resamplePath( + raw_path_with_lane_id, parameter.input_path_interval, parameter.enable_akima_spline_first); + return raw_path_with_lane_id; } // for lane following From e97ff9d572043193471285cec31295d6d1466021 Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Mon, 13 Mar 2023 13:01:45 +0900 Subject: [PATCH 021/121] fix(lane_change): lane change module changes output path intentionally without approval (#3051) fix(lane_change): wait approval in onEntry() Signed-off-by: satoshi-ota --- .../src/scene_module/lane_change/lane_change_module.cpp | 1 + 1 file changed, 1 insertion(+) diff --git a/planning/behavior_path_planner/src/scene_module/lane_change/lane_change_module.cpp b/planning/behavior_path_planner/src/scene_module/lane_change/lane_change_module.cpp index 0554c5d298aa6..9d7e1672b9213 100644 --- a/planning/behavior_path_planner/src/scene_module/lane_change/lane_change_module.cpp +++ b/planning/behavior_path_planner/src/scene_module/lane_change/lane_change_module.cpp @@ -80,6 +80,7 @@ void LaneChangeModule::onEntry() current_state_ = ModuleStatus::SUCCESS; #else current_state_ = ModuleStatus::IDLE; + waitApproval(); #endif current_lane_change_state_ = LaneChangeStates::Normal; updateLaneChangeStatus(); From d8ab5f1ebc9bc64f2366900fc8ae1ccffb9e52e9 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Mon, 13 Mar 2023 13:38:12 +0900 Subject: [PATCH 022/121] chore(system_error_monitor): supress initial warning (#3056) Signed-off-by: Takayuki Murooka --- system/system_error_monitor/src/system_error_monitor_core.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/system/system_error_monitor/src/system_error_monitor_core.cpp b/system/system_error_monitor/src/system_error_monitor_core.cpp index d6cc771e5dbd2..8a4cf3ecbb8d6 100644 --- a/system/system_error_monitor/src/system_error_monitor_core.cpp +++ b/system/system_error_monitor/src/system_error_monitor_core.cpp @@ -443,7 +443,7 @@ void AutowareErrorMonitor::onTimer() if (!isDataReady()) { if ((this->now() - initialized_time_).seconds() > params_.data_ready_timeout) { RCLCPP_WARN_THROTTLE( - get_logger(), *get_clock(), std::chrono::milliseconds(1000).count(), + get_logger(), *get_clock(), std::chrono::milliseconds(5000).count(), "input data is timeout"); updateTimeoutHazardStatus(); publishHazardStatus(hazard_status_); From 864d97d0a507810c3e65fe87d580fc18f5277a8a Mon Sep 17 00:00:00 2001 From: Takamasa Horibe Date: Mon, 13 Mar 2023 15:29:01 +0900 Subject: [PATCH 023/121] fix(mpc): reset prev value when mpc failed (#3062) * fix(mpc): reset prev value when mpc failed Signed-off-by: Takamasa Horibe * fix(mpc): typo Signed-off-by: Takamasa Horibe --------- Signed-off-by: Takamasa Horibe --- .../include/mpc_lateral_controller/mpc.hpp | 11 +++++++---- control/mpc_lateral_controller/src/mpc.cpp | 10 ++-------- .../src/mpc_lateral_controller.cpp | 9 +++++++++ 3 files changed, 18 insertions(+), 12 deletions(-) diff --git a/control/mpc_lateral_controller/include/mpc_lateral_controller/mpc.hpp b/control/mpc_lateral_controller/include/mpc_lateral_controller/mpc.hpp index 226dd803e3945..c6a920e347cab 100644 --- a/control/mpc_lateral_controller/include/mpc_lateral_controller/mpc.hpp +++ b/control/mpc_lateral_controller/include/mpc_lateral_controller/mpc.hpp @@ -199,10 +199,7 @@ class MPC * @brief set the reference trajectory to follow */ void storeSteerCmd(const double steer); - /** - * @brief reset previous result of MPC - */ - void resetPrevResult(const SteeringReport & current_steer); + /** * @brief set initial condition for mpc * @param [in] data mpc data @@ -393,6 +390,12 @@ class MPC const bool enable_path_smoothing, const int path_filter_moving_ave_num, const int curvature_smoothing_num_traj, const int curvature_smoothing_num_ref_steer, const bool extend_trajectory_for_end_yaw_control); + + /** + * @brief reset previous result of MPC + */ + void resetPrevResult(const SteeringReport & current_steer); + /** * @brief set the vehicle model of this MPC */ diff --git a/control/mpc_lateral_controller/src/mpc.cpp b/control/mpc_lateral_controller/src/mpc.cpp index ceb5ac5b9c6bc..fb4353d142ee0 100644 --- a/control/mpc_lateral_controller/src/mpc.cpp +++ b/control/mpc_lateral_controller/src/mpc.cpp @@ -248,8 +248,8 @@ void MPC::setReferenceTrajectory( void MPC::resetPrevResult(const SteeringReport & current_steer) { - // Consider limit. The prev value larger than limiation brakes the optimization constraint and - // resluts in optimization failure. + // Consider limit. The prev value larger than limitaion brakes the optimization constraint and + // results in optimization failure. const float steer_lim_f = static_cast(m_steer_lim); m_raw_steer_cmd_prev = std::clamp(current_steer.steering_tire_angle, -steer_lim_f, steer_lim_f); m_raw_steer_cmd_pprev = std::clamp(current_steer.steering_tire_angle, -steer_lim_f, steer_lim_f); @@ -264,12 +264,6 @@ bool MPC::getData( if (!MPCUtils::calcNearestPoseInterp( traj, current_pose, &(data->nearest_pose), &(nearest_idx), &(data->nearest_time), ego_nearest_dist_threshold, ego_nearest_yaw_threshold, m_logger, *m_clock)) { - // reset previous MPC result - // Note: When a large deviation from the trajectory occurs, the optimization stops and - // the vehicle will return to the path by re-planning the trajectory or external operation. - // After the recovery, the previous value of the optimization may deviate greatly from - // the actual steer angle, and it may make the optimization result unstable. - resetPrevResult(current_steer); RCLCPP_WARN_SKIPFIRST_THROTTLE( m_logger, *m_clock, duration, "calculateMPC: error in calculating nearest pose. stop mpc."); return false; diff --git a/control/mpc_lateral_controller/src/mpc_lateral_controller.cpp b/control/mpc_lateral_controller/src/mpc_lateral_controller.cpp index 192694d48af72..2a129d544587b 100644 --- a/control/mpc_lateral_controller/src/mpc_lateral_controller.cpp +++ b/control/mpc_lateral_controller/src/mpc_lateral_controller.cpp @@ -204,6 +204,15 @@ trajectory_follower::LateralOutput MpcLateralController::run( m_current_steering, m_current_kinematic_state.twist.twist.linear.x, m_current_kinematic_state.pose.pose, ctrl_cmd, predicted_traj, debug_values); + // reset previous MPC result + // Note: When a large deviation from the trajectory occurs, the optimization stops and + // the vehicle will return to the path by re-planning the trajectory or external operation. + // After the recovery, the previous value of the optimization may deviate greatly from + // the actual steer angle, and it may make the optimization result unstable. + if (!is_mpc_solved) { + m_mpc.resetPrevResult(m_current_steering); + } + if (enable_auto_steering_offset_removal_) { steering_offset_->updateOffset( m_current_kinematic_state.twist.twist, From 969dacf6386011bf08fca6963d3cdbf67fe8dddd Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Mon, 13 Mar 2023 15:38:48 +0900 Subject: [PATCH 024/121] fix(lane_change): use previous output (#3059) Signed-off-by: satoshi-ota --- .../util/lane_change/util.hpp | 13 ++++++ .../lane_change/lane_change_module.cpp | 7 ++++ .../src/util/lane_change/util.cpp | 40 ++++++++++++++++++- 3 files changed, 59 insertions(+), 1 deletion(-) diff --git a/planning/behavior_path_planner/include/behavior_path_planner/util/lane_change/util.hpp b/planning/behavior_path_planner/include/behavior_path_planner/util/lane_change/util.hpp index 443ce4d3aaa66..76b0e4b8abb83 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/util/lane_change/util.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/util/lane_change/util.hpp @@ -78,6 +78,14 @@ std::pair getLaneChangePaths( const double check_distance, LaneChangePaths * candidate_paths, std::unordered_map * debug_data); +std::pair getLaneChangePaths( + const PathWithLaneId & original_path, const RouteHandler & route_handler, + const lanelet::ConstLanelets & original_lanelets, const lanelet::ConstLanelets & target_lanelets, + const Pose & pose, const Twist & twist, const PredictedObjects::ConstSharedPtr dynamic_objects, + const BehaviorPathPlannerParameters & common_parameter, const LaneChangeParameters & parameter, + const double check_distance, LaneChangePaths * candidate_paths, + std::unordered_map * debug_data); + bool isLaneChangePathSafe( const LaneChangePath & lane_change_path, const PredictedObjects::ConstSharedPtr dynamic_objects, const LaneChangeTargetObjectIndices & dynamic_object_indices, const Pose & current_pose, @@ -108,6 +116,11 @@ PathWithLaneId getLaneChangePathPrepareSegment( const double arc_length_from_current, const double backward_path_length, const double prepare_distance, const double prepare_speed); +PathWithLaneId getLaneChangePathPrepareSegment( + const PathWithLaneId & original_path, const lanelet::ConstLanelets & original_lanelets, + const Pose & current_pose, const double backward_path_length, const double prepare_distance, + const double prepare_speed); + PathWithLaneId getLaneChangePathLaneChangingSegment( const RouteHandler & route_handler, const lanelet::ConstLanelets & target_lanelets, const double forward_path_length, const double arc_length_from_target, diff --git a/planning/behavior_path_planner/src/scene_module/lane_change/lane_change_module.cpp b/planning/behavior_path_planner/src/scene_module/lane_change/lane_change_module.cpp index 9d7e1672b9213..fbc3bc88f22a0 100644 --- a/planning/behavior_path_planner/src/scene_module/lane_change/lane_change_module.cpp +++ b/planning/behavior_path_planner/src/scene_module/lane_change/lane_change_module.cpp @@ -438,10 +438,17 @@ std::pair LaneChangeModule::getSafePath( // find candidate paths LaneChangePaths valid_paths; +#ifdef USE_OLD_ARCHITECTURE const auto [found_valid_path, found_safe_path] = lane_change_utils::getLaneChangePaths( *route_handler, current_lanes, lane_change_lanes, current_pose, current_twist, planner_data_->dynamic_object, common_parameters, *parameters_, check_distance, &valid_paths, &object_debug_); +#else + const auto [found_valid_path, found_safe_path] = lane_change_utils::getLaneChangePaths( + *getPreviousModuleOutput().path, *route_handler, current_lanes, lane_change_lanes, current_pose, + current_twist, planner_data_->dynamic_object, common_parameters, *parameters_, check_distance, + &valid_paths, &object_debug_); +#endif debug_valid_path_ = valid_paths; if (parameters_->publish_debug_marker) { diff --git a/planning/behavior_path_planner/src/util/lane_change/util.cpp b/planning/behavior_path_planner/src/util/lane_change/util.cpp index 4c48c16179586..14a54907e29b0 100644 --- a/planning/behavior_path_planner/src/util/lane_change/util.cpp +++ b/planning/behavior_path_planner/src/util/lane_change/util.cpp @@ -268,6 +268,7 @@ std::optional constructCandidatePath( return std::optional{candidate_path}; } +#ifdef USE_OLD_ARCHITECTURE std::pair getLaneChangePaths( const RouteHandler & route_handler, const lanelet::ConstLanelets & original_lanelets, const lanelet::ConstLanelets & target_lanelets, const Pose & pose, const Twist & twist, @@ -275,6 +276,15 @@ std::pair getLaneChangePaths( const BehaviorPathPlannerParameters & common_parameter, const LaneChangeParameters & parameter, const double check_distance, LaneChangePaths * candidate_paths, std::unordered_map * debug_data) +#else +std::pair getLaneChangePaths( + const PathWithLaneId & original_path, const RouteHandler & route_handler, + const lanelet::ConstLanelets & original_lanelets, const lanelet::ConstLanelets & target_lanelets, + const Pose & pose, const Twist & twist, const PredictedObjects::ConstSharedPtr dynamic_objects, + const BehaviorPathPlannerParameters & common_parameter, const LaneChangeParameters & parameter, + const double check_distance, LaneChangePaths * candidate_paths, + std::unordered_map * debug_data) +#endif { debug_data->clear(); if (original_lanelets.empty() || target_lanelets.empty()) { @@ -320,7 +330,8 @@ std::pair getLaneChangePaths( const auto required_total_min_distance = util::calcLaneChangeBuffer(common_parameter, num_to_preferred_lane); - const auto arc_position_from_current = lanelet::utils::getArcCoordinates(original_lanelets, pose); + [[maybe_unused]] const auto arc_position_from_current = + lanelet::utils::getArcCoordinates(original_lanelets, pose); const auto arc_position_from_target = lanelet::utils::getArcCoordinates(target_lanelets, pose); const auto target_lane_length = lanelet::utils::getLaneletLength2d(target_lanelets); @@ -352,9 +363,15 @@ std::pair getLaneChangePaths( continue; } +#ifdef USE_OLD_ARCHITECTURE const auto prepare_segment_reference = getLaneChangePathPrepareSegment( route_handler, original_lanelets, arc_position_from_current.length, backward_path_length, prepare_distance, std::max(prepare_speed, minimum_lane_change_velocity)); +#else + const auto prepare_segment_reference = getLaneChangePathPrepareSegment( + original_path, original_lanelets, pose, backward_path_length, prepare_distance, + std::max(prepare_speed, minimum_lane_change_velocity)); +#endif const auto estimated_shift_length = lanelet::utils::getArcCoordinates( target_lanelets, prepare_segment_reference.points.front().point.pose); @@ -667,6 +684,27 @@ PathWithLaneId getLaneChangePathPrepareSegment( return prepare_segment; } +PathWithLaneId getLaneChangePathPrepareSegment( + const PathWithLaneId & original_path, const lanelet::ConstLanelets & original_lanelets, + const Pose & current_pose, const double backward_path_length, const double prepare_distance, + const double prepare_speed) +{ + if (original_lanelets.empty()) { + return PathWithLaneId(); + } + + auto prepare_segment = original_path; + const size_t current_seg_idx = motion_utils::findFirstNearestSegmentIndexWithSoftConstraints( + prepare_segment.points, current_pose, 3.0, 1.0); + util::clipPathLength(prepare_segment, current_seg_idx, prepare_distance, backward_path_length); + + prepare_segment.points.back().point.longitudinal_velocity_mps = std::min( + prepare_segment.points.back().point.longitudinal_velocity_mps, + static_cast(prepare_speed)); + + return prepare_segment; +} + std::pair calcLaneChangingSpeedAndDistanceWhenDecelerate( const double velocity, const double shift_length, const double deceleration, const double min_total_lc_len, const BehaviorPathPlannerParameters & com_param, From 5ca8e689bf431413c1072fd8d9b523536beed129 Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Mon, 13 Mar 2023 15:42:47 +0900 Subject: [PATCH 025/121] fix(avoidance): use previous module output (#3043) fix(avoidance): use previous module output for get current lanelet Signed-off-by: satoshi-ota --- .../scene_module/avoidance/avoidance_module.cpp | 15 +++++++++++++++ 1 file changed, 15 insertions(+) diff --git a/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp b/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp index 3928f7f9f2b15..9dfed422d5ff9 100644 --- a/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp +++ b/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp @@ -114,7 +114,12 @@ bool AvoidanceModule::isExecutionRequested() const } // Check ego is in preferred lane +#ifdef USE_OLD_ARCHITECTURE const auto current_lanes = util::getCurrentLanes(planner_data_); +#else + const auto current_lanes = + util::getCurrentLanesFromPath(*getPreviousModuleOutput().reference_path, planner_data_); +#endif lanelet::ConstLanelet current_lane; lanelet::utils::query::getClosestLanelet( current_lanes, planner_data_->self_odometry->pose.pose, ¤t_lane); @@ -235,9 +240,14 @@ AvoidancePlanningData AvoidanceModule::calcAvoidancePlanningData(DebugData & deb calcSignedArcLength(data.reference_path.points, getEgoPosition(), 0)); // lanelet info +#ifdef USE_OLD_ARCHITECTURE data.current_lanelets = util::calcLaneAroundPose( planner_data_->route_handler, reference_pose, planner_data_->parameters.forward_path_length, planner_data_->parameters.backward_path_length); +#else + data.current_lanelets = + util::getCurrentLanesFromPath(*getPreviousModuleOutput().reference_path, planner_data_); +#endif // keep avoidance state data.state = avoidance_data_.state; @@ -2955,8 +2965,13 @@ PathWithLaneId AvoidanceModule::calcCenterLinePath( "p.backward_path_length = %f, longest_dist_to_shift_line = %f, backward_length = %f", p.backward_path_length, longest_dist_to_shift_line, backward_length); +#ifdef USE_OLD_ARCHITECTURE const lanelet::ConstLanelets current_lanes = util::calcLaneAroundPose(route_handler, pose, p.forward_path_length, backward_length); +#else + const lanelet::ConstLanelets current_lanes = + util::getCurrentLanesFromPath(*getPreviousModuleOutput().reference_path, planner_data_); +#endif centerline_path = util::getCenterLinePath( *route_handler, current_lanes, pose, backward_length, p.forward_path_length, p); From e6615b331cc443fc9e14618e2c51fffbf3f5a2a6 Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Mon, 13 Mar 2023 18:53:19 +0900 Subject: [PATCH 026/121] fix(lane_change): update lane change status in planWaitingApproval() (#3061) Signed-off-by: satoshi-ota --- .../src/scene_module/lane_change/lane_change_module.cpp | 9 +++++++++ 1 file changed, 9 insertions(+) diff --git a/planning/behavior_path_planner/src/scene_module/lane_change/lane_change_module.cpp b/planning/behavior_path_planner/src/scene_module/lane_change/lane_change_module.cpp index fbc3bc88f22a0..91fdc77369dd5 100644 --- a/planning/behavior_path_planner/src/scene_module/lane_change/lane_change_module.cpp +++ b/planning/behavior_path_planner/src/scene_module/lane_change/lane_change_module.cpp @@ -257,8 +257,13 @@ CandidateOutput LaneChangeModule::planCandidate() const #endif const auto lane_change_lanes = getLaneChangeLanes(current_lanes, lane_change_lane_length_); +#ifdef USE_OLD_ARCHITECTURE [[maybe_unused]] const auto [found_valid_path, found_safe_path] = getSafePath(lane_change_lanes, check_distance_, selected_path); +#else + selected_path = status_.lane_change_path; +#endif + selected_path.path.header = planner_data_->route_handler->getRouteHeader(); if (isAbortState()) { @@ -295,6 +300,10 @@ BehaviorModuleOutput LaneChangeModule::planWaitingApproval() out.path = std::make_shared(prev_approved_path_); out.reference_path = getPreviousModuleOutput().reference_path; +#ifndef USE_OLD_ARCHITECTURE + updateLaneChangeStatus(); +#endif + const auto candidate = planCandidate(); path_candidate_ = std::make_shared(candidate.path_candidate); path_reference_ = getPreviousModuleOutput().reference_path; From b2790e99d6b2428fbb11ef31e85fa14855a03e47 Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Mon, 13 Mar 2023 19:17:04 +0900 Subject: [PATCH 027/121] fix(avoidance): be able to execute lc + avoidance simlutaneously (#3066) fix(avoidance): be able to execute lc + avoidance Signed-off-by: satoshi-ota --- .../src/scene_module/avoidance/avoidance_module.cpp | 5 +---- 1 file changed, 1 insertion(+), 4 deletions(-) diff --git a/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp b/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp index 9dfed422d5ff9..b83b9a57f0934 100644 --- a/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp +++ b/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp @@ -116,10 +116,6 @@ bool AvoidanceModule::isExecutionRequested() const // Check ego is in preferred lane #ifdef USE_OLD_ARCHITECTURE const auto current_lanes = util::getCurrentLanes(planner_data_); -#else - const auto current_lanes = - util::getCurrentLanesFromPath(*getPreviousModuleOutput().reference_path, planner_data_); -#endif lanelet::ConstLanelet current_lane; lanelet::utils::query::getClosestLanelet( current_lanes, planner_data_->self_odometry->pose.pose, ¤t_lane); @@ -128,6 +124,7 @@ bool AvoidanceModule::isExecutionRequested() const if (num != 0) { return false; } +#endif // Check avoidance targets exist const auto avoid_data = calcAvoidancePlanningData(debug_data_); From be0929bd42b74b98d5a7fb238bc309c2ebb098ef Mon Sep 17 00:00:00 2001 From: Kotaro Uetake <60615504+ktro2828@users.noreply.github.com> Date: Mon, 13 Mar 2023 19:43:21 +0900 Subject: [PATCH 028/121] fix(tensorrt_yolox): resolve all output labels become unknown (#3064) Signed-off-by: ktro2828 --- perception/tensorrt_yolox/src/tensorrt_yolox_node.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/perception/tensorrt_yolox/src/tensorrt_yolox_node.cpp b/perception/tensorrt_yolox/src/tensorrt_yolox_node.cpp index a10e8e6332488..8d03bfaee1877 100644 --- a/perception/tensorrt_yolox/src/tensorrt_yolox_node.cpp +++ b/perception/tensorrt_yolox/src/tensorrt_yolox_node.cpp @@ -148,8 +148,8 @@ void TrtYoloXNode::replaceLabelMap() if (label == "PERSON") { label = "PEDESTRIAN"; } else if ( - label != "CAR" || label != "PEDESTRIAN" || label != "BUS" || label != "TRUCK" || - label != "BICYCLE" || label != "MOTORCYCLE") { + label != "CAR" && label != "PEDESTRIAN" && label != "BUS" && label != "TRUCK" && + label != "BICYCLE" && label != "MOTORCYCLE") { label = "UNKNOWN"; } } From ad413be319bad571296862979c0c1cb9be7cbb24 Mon Sep 17 00:00:00 2001 From: Yutaka Shimizu <43805014+purewater0901@users.noreply.github.com> Date: Tue, 14 Mar 2023 10:37:09 +0900 Subject: [PATCH 029/121] feat(behavior_path_planner): use efficient lateral distance calculation (#3041) --- .../include/behavior_path_planner/utilities.hpp | 3 +++ .../src/util/lane_change/util.cpp | 6 +++--- planning/behavior_path_planner/src/utilities.cpp | 12 ++++++++++++ 3 files changed, 18 insertions(+), 3 deletions(-) diff --git a/planning/behavior_path_planner/include/behavior_path_planner/utilities.hpp b/planning/behavior_path_planner/include/behavior_path_planner/utilities.hpp index c0598ed7f04d8..f374246c44b7d 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/utilities.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/utilities.hpp @@ -534,6 +534,9 @@ double calcLaneChangeBuffer( lanelet::ConstLanelets getLaneletsFromPath( const PathWithLaneId & path, const std::shared_ptr & route_handler); + +double calcLateralDistanceToLanelet( + const lanelet::ConstLanelets & lanelet_sequence, const geometry_msgs::msg::Pose & pose); } // namespace behavior_path_planner::util #endif // BEHAVIOR_PATH_PLANNER__UTILITIES_HPP_ diff --git a/planning/behavior_path_planner/src/util/lane_change/util.cpp b/planning/behavior_path_planner/src/util/lane_change/util.cpp index 14a54907e29b0..3bd7549bf3677 100644 --- a/planning/behavior_path_planner/src/util/lane_change/util.cpp +++ b/planning/behavior_path_planner/src/util/lane_change/util.cpp @@ -373,13 +373,13 @@ std::pair getLaneChangePaths( std::max(prepare_speed, minimum_lane_change_velocity)); #endif - const auto estimated_shift_length = lanelet::utils::getArcCoordinates( + const auto estimated_shift_length = util::calcLateralDistanceToLanelet( target_lanelets, prepare_segment_reference.points.front().point.pose); const auto [lane_changing_speed, lane_changing_distance] = calcLaneChangingSpeedAndDistanceWhenDecelerate( - prepare_speed, estimated_shift_length.distance, acceleration, end_of_lane_dist, - common_parameter, parameter); + prepare_speed, estimated_shift_length, acceleration, end_of_lane_dist, common_parameter, + parameter); const auto lc_dist = LaneChangePhaseInfo{prepare_distance, lane_changing_distance}; diff --git a/planning/behavior_path_planner/src/utilities.cpp b/planning/behavior_path_planner/src/utilities.cpp index 2547a0e1cd681..de43052b79662 100644 --- a/planning/behavior_path_planner/src/utilities.cpp +++ b/planning/behavior_path_planner/src/utilities.cpp @@ -2691,4 +2691,16 @@ lanelet::ConstLanelets getLaneletsFromPath( return lanelets; } + +double calcLateralDistanceToLanelet( + const lanelet::ConstLanelets & lanelet_sequence, const geometry_msgs::msg::Pose & pose) +{ + lanelet::ConstLanelet closest_lanelet; + lanelet::utils::query::getClosestLanelet(lanelet_sequence, pose, &closest_lanelet); + const auto & centerline_2d = lanelet::utils::to2D(closest_lanelet.centerline()); + + const auto lanelet_point = lanelet::utils::conversion::toLaneletPoint(pose.position); + return lanelet::geometry::signedDistance( + centerline_2d, lanelet::utils::to2D(lanelet_point).basicPoint()); +} } // namespace behavior_path_planner::util From 1b4fa2b287377cc372ef44c4f68d9f70c6e53591 Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Tue, 14 Mar 2023 10:43:37 +0900 Subject: [PATCH 030/121] fix(avoidance): fix shift line merging logic (#2882) fix(avoidance): fix bug in shift line generation logic Signed-off-by: satoshi-ota --- .../src/scene_module/avoidance/avoidance_module.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp b/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp index b83b9a57f0934..60811e5c4469f 100644 --- a/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp +++ b/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp @@ -1376,7 +1376,7 @@ void AvoidanceModule::generateTotalShiftLine( for (size_t i = 1; i < N; ++i) { bool has_object = false; for (const auto & al : avoid_lines) { - if (al.start_idx < i && i < al.end_idx) { + if (al.start_idx <= i && i <= al.end_idx) { has_object = true; break; } From 87e44224310d151738aac212056be1487a23147c Mon Sep 17 00:00:00 2001 From: David Wong <33114676+drwnz@users.noreply.github.com> Date: Tue, 14 Mar 2023 10:52:56 +0900 Subject: [PATCH 031/121] fix(velodyne_monitor): add fmt package to dependencies (#3069) Co-authored-by: ito-san <57388357+ito-san@users.noreply.github.com> --- system/velodyne_monitor/CMakeLists.txt | 1 + 1 file changed, 1 insertion(+) diff --git a/system/velodyne_monitor/CMakeLists.txt b/system/velodyne_monitor/CMakeLists.txt index d3238a0fd0d5b..c7511bf572f4a 100644 --- a/system/velodyne_monitor/CMakeLists.txt +++ b/system/velodyne_monitor/CMakeLists.txt @@ -2,6 +2,7 @@ cmake_minimum_required(VERSION 3.14) project(velodyne_monitor) find_package(autoware_cmake REQUIRED) +find_package(fmt) autoware_package() ### Target executable From 4342bdc27d7f5afb2ade97ca66bc4146c7e14325 Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Tue, 14 Mar 2023 13:07:38 +0900 Subject: [PATCH 032/121] fix(lane_change): use previous module turn signal in waiting approval (#3072) Signed-off-by: satoshi-ota --- .../src/scene_module/lane_change/lane_change_module.cpp | 1 + 1 file changed, 1 insertion(+) diff --git a/planning/behavior_path_planner/src/scene_module/lane_change/lane_change_module.cpp b/planning/behavior_path_planner/src/scene_module/lane_change/lane_change_module.cpp index 91fdc77369dd5..f9510ecd7e8e5 100644 --- a/planning/behavior_path_planner/src/scene_module/lane_change/lane_change_module.cpp +++ b/planning/behavior_path_planner/src/scene_module/lane_change/lane_change_module.cpp @@ -299,6 +299,7 @@ BehaviorModuleOutput LaneChangeModule::planWaitingApproval() BehaviorModuleOutput out; out.path = std::make_shared(prev_approved_path_); out.reference_path = getPreviousModuleOutput().reference_path; + out.turn_signal_info = getPreviousModuleOutput().turn_signal_info; #ifndef USE_OLD_ARCHITECTURE updateLaneChangeStatus(); From 38032f114d8d9023019526b6a7b517d8ff89416d Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Tue, 14 Mar 2023 13:32:52 +0900 Subject: [PATCH 033/121] feat(planning_evaluator): add modified goal deviation (#3053) * feat(planning_evaluator): add modified goal deviation Signed-off-by: kosuke55 * add abs Signed-off-by: kosuke55 * remove setModifiedGoal Signed-off-by: kosuke55 * use Point and rename func Signed-off-by: kosuke55 * fix func docs Signed-off-by: kosuke55 * fix and add tests Signed-off-by: kosuke55 --------- Signed-off-by: kosuke55 --- .../metrics/deviation_metrics.hpp | 26 ++++++ .../planning_evaluator/metrics/metric.hpp | 18 +++- .../planning_evaluator/metrics_calculator.hpp | 18 +++- .../planning_evaluator_node.hpp | 22 ++++- .../launch/planning_evaluator.launch.xml | 4 + evaluator/planning_evaluator/package.xml | 1 + .../param/planning_evaluator.defaults.yaml | 3 + .../src/metrics/deviation_metrics.cpp | 20 +++++ .../src/metrics_calculator.cpp | 27 ++++-- .../src/motion_evaluator_node.cpp | 4 +- .../src/planning_evaluator_node.cpp | 88 +++++++++++++----- .../test/test_planning_evaluator_node.cpp | 89 +++++++++++++++---- 12 files changed, 268 insertions(+), 52 deletions(-) diff --git a/evaluator/planning_evaluator/include/planning_evaluator/metrics/deviation_metrics.hpp b/evaluator/planning_evaluator/include/planning_evaluator/metrics/deviation_metrics.hpp index e71b887ff3a10..04a5b758d62e1 100644 --- a/evaluator/planning_evaluator/include/planning_evaluator/metrics/deviation_metrics.hpp +++ b/evaluator/planning_evaluator/include/planning_evaluator/metrics/deviation_metrics.hpp @@ -26,6 +26,8 @@ namespace metrics { using autoware_auto_planning_msgs::msg::Trajectory; using autoware_auto_planning_msgs::msg::TrajectoryPoint; +using geometry_msgs::msg::Point; +using geometry_msgs::msg::Pose; /** * @brief calculate lateral deviation of the given trajectory from the reference trajectory @@ -51,6 +53,30 @@ Stat calcYawDeviation(const Trajectory & ref, const Trajectory & traj); */ Stat calcVelocityDeviation(const Trajectory & ref, const Trajectory & traj); +/** + * @brief calculate longitudinal deviation of the given ego pose from the modified goal pose + * @param [in] base_pose base pose + * @param [in] target_point target point + * @return calculated statistics + */ +Stat calcLongitudinalDeviation(const Pose & base_pose, const Point & target_point); + +/** + * @brief calculate lateral deviation of the given ego pose from the modified goal pose + * @param [in] base_pose base pose + * @param [in] target_point target point + * @return calculated statistics + */ +Stat calcLateralDeviation(const Pose & base_pose, const Point & target_point); + +/** + * @brief calculate yaw deviation of the given ego pose from the modified goal pose + * @param [in] base_pose base pose + * @param [in] target_pose target pose + * @return calculated statistics + */ +Stat calcYawDeviation(const Pose & base_pose, const Pose & target_pose); + } // namespace metrics } // namespace planning_diagnostics diff --git a/evaluator/planning_evaluator/include/planning_evaluator/metrics/metric.hpp b/evaluator/planning_evaluator/include/planning_evaluator/metrics/metric.hpp index 16811f91b32b1..e1ec69dbaef5c 100644 --- a/evaluator/planning_evaluator/include/planning_evaluator/metrics/metric.hpp +++ b/evaluator/planning_evaluator/include/planning_evaluator/metrics/metric.hpp @@ -41,6 +41,9 @@ enum class Metric { stability_frechet, obstacle_distance, obstacle_ttc, + modified_goal_longitudinal_deviation, + modified_goal_lateral_deviation, + modified_goal_yaw_deviation, SIZE, }; @@ -63,7 +66,10 @@ static const std::unordered_map str_to_metric = { {"stability_frechet", Metric::stability_frechet}, {"obstacle_distance", Metric::obstacle_distance}, {"obstacle_ttc", Metric::obstacle_ttc}, -}; + {"modified_goal_longitudinal_deviation", Metric::modified_goal_longitudinal_deviation}, + {"modified_goal_lateral_deviation", Metric::modified_goal_lateral_deviation}, + {"modified_goal_yaw_deviation", Metric::modified_goal_yaw_deviation}}; + static const std::unordered_map metric_to_str = { {Metric::curvature, "curvature"}, {Metric::point_interval, "point_interval"}, @@ -79,7 +85,10 @@ static const std::unordered_map metric_to_str = { {Metric::stability, "stability"}, {Metric::stability_frechet, "stability_frechet"}, {Metric::obstacle_distance, "obstacle_distance"}, - {Metric::obstacle_ttc, "obstacle_ttc"}}; + {Metric::obstacle_ttc, "obstacle_ttc"}, + {Metric::modified_goal_longitudinal_deviation, "modified_goal_longitudinal_deviation"}, + {Metric::modified_goal_lateral_deviation, "modified_goal_lateral_deviation"}, + {Metric::modified_goal_yaw_deviation, "modified_goal_yaw_deviation"}}; // Metrics descriptions static const std::unordered_map metric_descriptions = { @@ -97,7 +106,10 @@ static const std::unordered_map metric_descriptions = { {Metric::stability, "Stability[m]"}, {Metric::stability_frechet, "StabilityFrechet[m]"}, {Metric::obstacle_distance, "Obstacle_distance[m]"}, - {Metric::obstacle_ttc, "Obstacle_time_to_collision[s]"}}; + {Metric::obstacle_ttc, "Obstacle_time_to_collision[s]"}, + {Metric::modified_goal_longitudinal_deviation, "Modified_goal_longitudinal_deviation[m]"}, + {Metric::modified_goal_lateral_deviation, "Modified_goal_lateral_deviation[m]"}, + {Metric::modified_goal_yaw_deviation, "Modified_goal_yaw_deviation[rad]"}}; namespace details { diff --git a/evaluator/planning_evaluator/include/planning_evaluator/metrics_calculator.hpp b/evaluator/planning_evaluator/include/planning_evaluator/metrics_calculator.hpp index 0ed2af7b3862e..851678e55d755 100644 --- a/evaluator/planning_evaluator/include/planning_evaluator/metrics_calculator.hpp +++ b/evaluator/planning_evaluator/include/planning_evaluator/metrics_calculator.hpp @@ -14,7 +14,6 @@ #ifndef PLANNING_EVALUATOR__METRICS_CALCULATOR_HPP_ #define PLANNING_EVALUATOR__METRICS_CALCULATOR_HPP_ - #include "planning_evaluator/metrics/metric.hpp" #include "planning_evaluator/parameters.hpp" #include "planning_evaluator/stat.hpp" @@ -22,13 +21,19 @@ #include "autoware_auto_perception_msgs/msg/predicted_objects.hpp" #include "autoware_auto_planning_msgs/msg/trajectory.hpp" #include "autoware_auto_planning_msgs/msg/trajectory_point.hpp" +#include "autoware_planning_msgs/msg/pose_with_uuid_stamped.hpp" #include "geometry_msgs/msg/pose.hpp" +#include + namespace planning_diagnostics { using autoware_auto_perception_msgs::msg::PredictedObjects; using autoware_auto_planning_msgs::msg::Trajectory; using autoware_auto_planning_msgs::msg::TrajectoryPoint; +using autoware_planning_msgs::msg::PoseWithUuidStamped; +using geometry_msgs::msg::Point; +using geometry_msgs::msg::Pose; class MetricsCalculator { @@ -42,7 +47,9 @@ class MetricsCalculator * @param [in] metric Metric enum value * @return string describing the requested metric */ - Stat calculate(const Metric metric, const Trajectory & traj) const; + std::optional> calculate(const Metric metric, const Trajectory & traj) const; + std::optional> calculate( + const Metric metric, const Pose & base_pose, const Pose & target_pose) const; /** * @brief set the reference trajectory used to calculate the deviation metrics @@ -68,6 +75,12 @@ class MetricsCalculator */ void setEgoPose(const geometry_msgs::msg::Pose & pose); + /** + * @brief get the ego pose + * @return ego pose + */ + Pose getEgoPose(); + private: /** * @brief trim a trajectory from the current ego pose to some fixed time or distance @@ -86,6 +99,7 @@ class MetricsCalculator Trajectory previous_trajectory_lookahead_; PredictedObjects dynamic_objects_; geometry_msgs::msg::Pose ego_pose_; + PoseWithUuidStamped modified_goal_; }; // class MetricsCalculator } // namespace planning_diagnostics diff --git a/evaluator/planning_evaluator/include/planning_evaluator/planning_evaluator_node.hpp b/evaluator/planning_evaluator/include/planning_evaluator/planning_evaluator_node.hpp index e9fd82c85cf7b..888eea855295c 100644 --- a/evaluator/planning_evaluator/include/planning_evaluator/planning_evaluator_node.hpp +++ b/evaluator/planning_evaluator/include/planning_evaluator/planning_evaluator_node.hpp @@ -24,7 +24,9 @@ #include "autoware_auto_perception_msgs/msg/predicted_objects.hpp" #include "autoware_auto_planning_msgs/msg/trajectory.hpp" #include "autoware_auto_planning_msgs/msg/trajectory_point.hpp" +#include "autoware_planning_msgs/msg/pose_with_uuid_stamped.hpp" #include "diagnostic_msgs/msg/diagnostic_array.hpp" +#include "nav_msgs/msg/odometry.hpp" #include #include @@ -37,8 +39,10 @@ namespace planning_diagnostics using autoware_auto_perception_msgs::msg::PredictedObjects; using autoware_auto_planning_msgs::msg::Trajectory; using autoware_auto_planning_msgs::msg::TrajectoryPoint; +using autoware_planning_msgs::msg::PoseWithUuidStamped; using diagnostic_msgs::msg::DiagnosticArray; using diagnostic_msgs::msg::DiagnosticStatus; +using nav_msgs::msg::Odometry; /** * @brief Node for planning evaluation @@ -49,6 +53,12 @@ class PlanningEvaluatorNode : public rclcpp::Node explicit PlanningEvaluatorNode(const rclcpp::NodeOptions & node_options); ~PlanningEvaluatorNode(); + /** + * @brief callback on receiving an odometry + * @param [in] odometry_msg received odometry message + */ + void onOdometry(const Odometry::ConstSharedPtr odometry_msg); + /** * @brief callback on receiving a trajectory * @param [in] traj_msg received trajectory message @@ -68,9 +78,10 @@ class PlanningEvaluatorNode : public rclcpp::Node void onObjects(const PredictedObjects::ConstSharedPtr objects_msg); /** - * @brief update the ego pose stored in the MetricsCalculator + * @brief callback on receiving a modified goal + * @param [in] modified_goal_msg received modified goal message */ - void updateCalculatorEgoPose(const std::string & target_frame); + void onModifiedGoal(const PoseWithUuidStamped::ConstSharedPtr modified_goal_msg); /** * @brief publish the given metric statistic @@ -80,11 +91,15 @@ class PlanningEvaluatorNode : public rclcpp::Node private: static bool isFinite(const TrajectoryPoint & p); + void publishModifiedGoalDeviationMetrics(); // ROS rclcpp::Subscription::SharedPtr traj_sub_; rclcpp::Subscription::SharedPtr ref_sub_; rclcpp::Subscription::SharedPtr objects_sub_; + rclcpp::Subscription::SharedPtr modified_goal_sub_; + rclcpp::Subscription::SharedPtr odom_sub_; + rclcpp::Publisher::SharedPtr metrics_pub_; std::shared_ptr transform_listener_{nullptr}; std::unique_ptr tf_buffer_; @@ -99,6 +114,9 @@ class PlanningEvaluatorNode : public rclcpp::Node std::vector metrics_; std::deque stamps_; std::array>, static_cast(Metric::SIZE)> metric_stats_; + + Odometry::ConstSharedPtr ego_state_ptr_; + PoseWithUuidStamped::ConstSharedPtr modified_goal_ptr_; }; } // namespace planning_diagnostics diff --git a/evaluator/planning_evaluator/launch/planning_evaluator.launch.xml b/evaluator/planning_evaluator/launch/planning_evaluator.launch.xml index af7c5369f7422..1b7510c2ced69 100644 --- a/evaluator/planning_evaluator/launch/planning_evaluator.launch.xml +++ b/evaluator/planning_evaluator/launch/planning_evaluator.launch.xml @@ -1,15 +1,19 @@ + + + + diff --git a/evaluator/planning_evaluator/package.xml b/evaluator/planning_evaluator/package.xml index 73186f6b20e88..ef2bca288c8b0 100644 --- a/evaluator/planning_evaluator/package.xml +++ b/evaluator/planning_evaluator/package.xml @@ -16,6 +16,7 @@ autoware_auto_perception_msgs autoware_auto_planning_msgs + autoware_planning_msgs diagnostic_msgs eigen geometry_msgs diff --git a/evaluator/planning_evaluator/param/planning_evaluator.defaults.yaml b/evaluator/planning_evaluator/param/planning_evaluator.defaults.yaml index bd47deedb282f..2e92a174ca79f 100644 --- a/evaluator/planning_evaluator/param/planning_evaluator.defaults.yaml +++ b/evaluator/planning_evaluator/param/planning_evaluator.defaults.yaml @@ -19,6 +19,9 @@ - stability_frechet - obstacle_distance - obstacle_ttc + - modified_goal_longitudinal_deviation + - modified_goal_lateral_deviation + - modified_goal_yaw_deviation trajectory: min_point_dist_m: 0.1 # [m] minimum distance between two successive points to use for angle calculation diff --git a/evaluator/planning_evaluator/src/metrics/deviation_metrics.cpp b/evaluator/planning_evaluator/src/metrics/deviation_metrics.cpp index d6d8aa661e5ea..5146fcd3ec0f2 100644 --- a/evaluator/planning_evaluator/src/metrics/deviation_metrics.cpp +++ b/evaluator/planning_evaluator/src/metrics/deviation_metrics.cpp @@ -77,5 +77,25 @@ Stat calcVelocityDeviation(const Trajectory & ref, const Trajectory & tr return stat; } +Stat calcLongitudinalDeviation(const Pose & base_pose, const Point & target_point) +{ + Stat stat; + stat.add(std::abs(tier4_autoware_utils::calcLongitudinalDeviation(base_pose, target_point))); + return stat; +} + +Stat calcLateralDeviation(const Pose & base_pose, const Point & target_point) +{ + Stat stat; + stat.add(std::abs(tier4_autoware_utils::calcLateralDeviation(base_pose, target_point))); + return stat; +} + +Stat calcYawDeviation(const Pose & base_pose, const Pose & target_pose) +{ + Stat stat; + stat.add(std::abs(tier4_autoware_utils::calcYawDeviation(base_pose, target_pose))); + return stat; +} } // namespace metrics } // namespace planning_diagnostics diff --git a/evaluator/planning_evaluator/src/metrics_calculator.cpp b/evaluator/planning_evaluator/src/metrics_calculator.cpp index 802e1dde94fd1..adfdddd7d2c5e 100644 --- a/evaluator/planning_evaluator/src/metrics_calculator.cpp +++ b/evaluator/planning_evaluator/src/metrics_calculator.cpp @@ -23,9 +23,10 @@ namespace planning_diagnostics { -Stat MetricsCalculator::calculate(const Metric metric, const Trajectory & traj) const +std::optional> MetricsCalculator::calculate( + const Metric metric, const Trajectory & traj) const { - // Functions to calculate metrics + // Functions to calculate trajectory metrics switch (metric) { case Metric::curvature: return metrics::calcTrajectoryCurvature(traj); @@ -70,9 +71,23 @@ Stat MetricsCalculator::calculate(const Metric metric, const Trajectory case Metric::obstacle_ttc: return metrics::calcTimeToCollision(dynamic_objects_, traj, parameters.obstacle.dist_thr_m); default: - throw std::runtime_error( - "[MetricsCalculator][calculate()] unknown Metric " + - std::to_string(static_cast(metric))); + return {}; + } +} + +std::optional> MetricsCalculator::calculate( + const Metric metric, const Pose & base_pose, const Pose & target_pose) const +{ + // Functions to calculate pose metrics + switch (metric) { + case Metric::modified_goal_longitudinal_deviation: + return metrics::calcLongitudinalDeviation(base_pose, target_pose.position); + case Metric::modified_goal_lateral_deviation: + return metrics::calcLateralDeviation(base_pose, target_pose.position); + case Metric::modified_goal_yaw_deviation: + return metrics::calcYawDeviation(base_pose, target_pose); + default: + return {}; } } @@ -93,6 +108,8 @@ void MetricsCalculator::setPredictedObjects(const PredictedObjects & objects) void MetricsCalculator::setEgoPose(const geometry_msgs::msg::Pose & pose) { ego_pose_ = pose; } +Pose MetricsCalculator::getEgoPose() { return ego_pose_; } + Trajectory MetricsCalculator::getLookaheadTrajectory( const Trajectory & traj, const double max_dist_m, const double max_time_s) const { diff --git a/evaluator/planning_evaluator/src/motion_evaluator_node.cpp b/evaluator/planning_evaluator/src/motion_evaluator_node.cpp index 56b08fca81f9f..9a103890d53ac 100644 --- a/evaluator/planning_evaluator/src/motion_evaluator_node.cpp +++ b/evaluator/planning_evaluator/src/motion_evaluator_node.cpp @@ -55,7 +55,9 @@ MotionEvaluatorNode::~MotionEvaluatorNode() f << std::endl; for (Metric metric : metrics_) { const auto & stat = metrics_calculator_.calculate(metric, accumulated_trajectory_); - f /* << std::setw(3 * column_width) */ << stat << " "; + if (stat) { + f /* << std::setw(3 * column_width) */ << *stat << " "; + } } f.close(); } diff --git a/evaluator/planning_evaluator/src/planning_evaluator_node.cpp b/evaluator/planning_evaluator/src/planning_evaluator_node.cpp index 663f0482cf77b..346b029922e3e 100644 --- a/evaluator/planning_evaluator/src/planning_evaluator_node.cpp +++ b/evaluator/planning_evaluator/src/planning_evaluator_node.cpp @@ -40,6 +40,13 @@ PlanningEvaluatorNode::PlanningEvaluatorNode(const rclcpp::NodeOptions & node_op objects_sub_ = create_subscription( "~/input/objects", 1, std::bind(&PlanningEvaluatorNode::onObjects, this, _1)); + + modified_goal_sub_ = create_subscription( + "~/input/modified_goal", 1, std::bind(&PlanningEvaluatorNode::onModifiedGoal, this, _1)); + + odom_sub_ = create_subscription( + "~/input/odometry", 1, std::bind(&PlanningEvaluatorNode::onOdometry, this, _1)); + tf_buffer_ = std::make_unique(this->get_clock()); transform_listener_ = std::make_shared(*tf_buffer_); @@ -98,24 +105,6 @@ PlanningEvaluatorNode::~PlanningEvaluatorNode() } } -void PlanningEvaluatorNode::updateCalculatorEgoPose(const std::string & target_frame) -{ - try { - const geometry_msgs::msg::TransformStamped transform = - tf_buffer_->lookupTransform(target_frame, ego_frame_str_, tf2::TimePointZero); - geometry_msgs::msg::Pose ego_pose; - ego_pose.position.x = transform.transform.translation.x; - ego_pose.position.y = transform.transform.translation.y; - ego_pose.position.z = transform.transform.translation.z; - ego_pose.orientation = transform.transform.rotation; - metrics_calculator_.setEgoPose(ego_pose); - } catch (tf2::TransformException & ex) { - RCLCPP_INFO( - this->get_logger(), "Cannot set ego pose: could not transform %s to %s: %s", - target_frame.c_str(), ego_frame_str_.c_str(), ex.what()); - } -} - DiagnosticStatus PlanningEvaluatorNode::generateDiagnosticStatus( const Metric & metric, const Stat & metric_stat) const { @@ -137,18 +126,24 @@ DiagnosticStatus PlanningEvaluatorNode::generateDiagnosticStatus( void PlanningEvaluatorNode::onTrajectory(const Trajectory::ConstSharedPtr traj_msg) { + if (!ego_state_ptr_) { + return; + } + auto start = now(); stamps_.push_back(traj_msg->header.stamp); - updateCalculatorEgoPose(traj_msg->header.frame_id); - DiagnosticArray metrics_msg; metrics_msg.header.stamp = now(); for (Metric metric : metrics_) { - const Stat metric_stat = metrics_calculator_.calculate(Metric(metric), *traj_msg); - metric_stats_[static_cast(metric)].push_back(metric_stat); - if (metric_stat.count() > 0) { - metrics_msg.status.push_back(generateDiagnosticStatus(metric, metric_stat)); + const auto metric_stat = metrics_calculator_.calculate(Metric(metric), *traj_msg); + if (!metric_stat) { + continue; + } + + metric_stats_[static_cast(metric)].push_back(*metric_stat); + if (metric_stat->count() > 0) { + metrics_msg.status.push_back(generateDiagnosticStatus(metric, *metric_stat)); } } if (!metrics_msg.status.empty()) { @@ -159,6 +154,51 @@ void PlanningEvaluatorNode::onTrajectory(const Trajectory::ConstSharedPtr traj_m RCLCPP_DEBUG(get_logger(), "Planning evaluation calculation time: %2.2f ms", runtime * 1e3); } +void PlanningEvaluatorNode::onModifiedGoal( + const PoseWithUuidStamped::ConstSharedPtr modified_goal_msg) +{ + modified_goal_ptr_ = modified_goal_msg; + if (ego_state_ptr_) { + publishModifiedGoalDeviationMetrics(); + } +} + +void PlanningEvaluatorNode::onOdometry(const Odometry::ConstSharedPtr odometry_msg) +{ + ego_state_ptr_ = odometry_msg; + metrics_calculator_.setEgoPose(odometry_msg->pose.pose); + + if (modified_goal_ptr_) { + publishModifiedGoalDeviationMetrics(); + } +} + +void PlanningEvaluatorNode::publishModifiedGoalDeviationMetrics() +{ + auto start = now(); + + DiagnosticArray metrics_msg; + metrics_msg.header.stamp = now(); + for (Metric metric : metrics_) { + const auto metric_stat = metrics_calculator_.calculate( + Metric(metric), modified_goal_ptr_->pose, ego_state_ptr_->pose.pose); + if (!metric_stat) { + continue; + } + metric_stats_[static_cast(metric)].push_back(*metric_stat); + if (metric_stat->count() > 0) { + metrics_msg.status.push_back(generateDiagnosticStatus(metric, *metric_stat)); + } + } + if (!metrics_msg.status.empty()) { + metrics_pub_->publish(metrics_msg); + } + auto runtime = (now() - start).seconds(); + RCLCPP_DEBUG( + get_logger(), "Planning evaluation modified goal deviation calculation time: %2.2f ms", + runtime * 1e3); +} + void PlanningEvaluatorNode::onReferenceTrajectory(const Trajectory::ConstSharedPtr traj_msg) { metrics_calculator_.setReferenceTrajectory(*traj_msg); diff --git a/evaluator/planning_evaluator/test/test_planning_evaluator_node.cpp b/evaluator/planning_evaluator/test/test_planning_evaluator_node.cpp index 8e9bcdd734222..4f2ab014a79d6 100644 --- a/evaluator/planning_evaluator/test/test_planning_evaluator_node.cpp +++ b/evaluator/planning_evaluator/test/test_planning_evaluator_node.cpp @@ -36,7 +36,11 @@ using EvalNode = planning_diagnostics::PlanningEvaluatorNode; using Trajectory = autoware_auto_planning_msgs::msg::Trajectory; using TrajectoryPoint = autoware_auto_planning_msgs::msg::TrajectoryPoint; using Objects = autoware_auto_perception_msgs::msg::PredictedObjects; +using autoware_planning_msgs::msg::PoseWithUuidStamped; using diagnostic_msgs::msg::DiagnosticArray; +using nav_msgs::msg::Odometry; + +constexpr double epsilon = 1e-6; class EvalTest : public ::testing::Test { @@ -70,6 +74,10 @@ class EvalTest : public ::testing::Test dummy_node, "/planning_evaluator/input/reference_trajectory", 1); objects_pub_ = rclcpp::create_publisher(dummy_node, "/planning_evaluator/input/objects", 1); + odom_pub_ = + rclcpp::create_publisher(dummy_node, "/planning_evaluator/input/odometry", 1); + modified_goal_pub_ = rclcpp::create_publisher( + dummy_node, "/planning_evaluator/input/modified_goal", 1); tf_broadcaster_ = std::make_unique(dummy_node); publishEgoPose(0.0, 0.0, 0.0); @@ -139,28 +147,51 @@ class EvalTest : public ::testing::Test return metric_value_; } - void publishEgoPose(const double x, const double y, const double yaw) + double publishModifiedGoalAndGetMetric(const double x, const double y, const double yaw) { - geometry_msgs::msg::TransformStamped t; + metric_updated_ = false; - // Read message content and assign it to - // corresponding tf variables - t.header.stamp = dummy_node->now(); - t.header.frame_id = "map"; - t.child_frame_id = "base_link"; + PoseWithUuidStamped goal; + goal.header.frame_id = "map"; + goal.header.stamp = dummy_node->now(); + goal.pose.position.x = x; + goal.pose.position.y = y; + goal.pose.position.z = 0.0; + tf2::Quaternion q; + q.setRPY(0.0, 0.0, yaw); + goal.pose.orientation.x = q.x(); + goal.pose.orientation.y = q.y(); + goal.pose.orientation.z = q.z(); + goal.pose.orientation.w = q.w(); + modified_goal_pub_->publish(goal); - t.transform.translation.x = x; - t.transform.translation.y = y; - t.transform.translation.z = 0.0; + while (!metric_updated_) { + rclcpp::spin_some(eval_node); + rclcpp::spin_some(dummy_node); + rclcpp::sleep_for(std::chrono::milliseconds(100)); + } + return metric_value_; + } + void publishEgoPose(const double x, const double y, const double yaw) + { + Odometry odom; + odom.header.frame_id = "map"; + odom.header.stamp = dummy_node->now(); + odom.pose.pose.position.x = x; + odom.pose.pose.position.y = y; + odom.pose.pose.position.z = 0.0; tf2::Quaternion q; q.setRPY(0.0, 0.0, yaw); - t.transform.rotation.x = q.x(); - t.transform.rotation.y = q.y(); - t.transform.rotation.z = q.z(); - t.transform.rotation.w = q.w(); + odom.pose.pose.orientation.x = q.x(); + odom.pose.pose.orientation.y = q.y(); + odom.pose.pose.orientation.z = q.z(); + odom.pose.pose.orientation.w = q.w(); - tf_broadcaster_->sendTransform(t); + odom_pub_->publish(odom); + rclcpp::spin_some(eval_node); + rclcpp::spin_some(dummy_node); + rclcpp::sleep_for(std::chrono::milliseconds(100)); } // Latest metric value @@ -173,6 +204,8 @@ class EvalTest : public ::testing::Test rclcpp::Publisher::SharedPtr traj_pub_; rclcpp::Publisher::SharedPtr ref_traj_pub_; rclcpp::Publisher::SharedPtr objects_pub_; + rclcpp::Publisher::SharedPtr modified_goal_pub_; + rclcpp::Publisher::SharedPtr odom_pub_; rclcpp::Subscription::SharedPtr metric_sub_; // TF broadcaster std::unique_ptr tf_broadcaster_; @@ -407,3 +440,29 @@ TEST_F(EvalTest, TestObstacleTTC) t.points[1].pose.position.x = 1.0; EXPECT_DOUBLE_EQ(publishTrajectoryAndGetMetric(t), 2.0); } + +TEST_F(EvalTest, TestModifiedGoalLongitudinalDeviation) +{ + setTargetMetric(planning_diagnostics::Metric::modified_goal_longitudinal_deviation); + EXPECT_NEAR(publishModifiedGoalAndGetMetric(1.0, 0.0, 0.0), 1.0, epsilon); + EXPECT_NEAR(publishModifiedGoalAndGetMetric(1.0, 0.0, M_PI_2), 0.0, epsilon); + EXPECT_NEAR(publishModifiedGoalAndGetMetric(0.0, 1.0, 0.0), 0.0, epsilon); + EXPECT_NEAR(publishModifiedGoalAndGetMetric(0.0, 1.0, M_PI_2), 1.0, epsilon); +} + +TEST_F(EvalTest, TestModifiedGoalLateralDeviation) +{ + setTargetMetric(planning_diagnostics::Metric::modified_goal_lateral_deviation); + EXPECT_NEAR(publishModifiedGoalAndGetMetric(1.0, 0.0, 0.0), 0.0, epsilon); + EXPECT_NEAR(publishModifiedGoalAndGetMetric(1.0, 0.0, M_PI_2), 1.0, epsilon); + EXPECT_NEAR(publishModifiedGoalAndGetMetric(0.0, 1.0, 0.0), 1.0, epsilon); + EXPECT_NEAR(publishModifiedGoalAndGetMetric(0.0, 1.0, M_PI_2), 0.0, epsilon); +} + +TEST_F(EvalTest, TestModifiedGoalYawDeviation) +{ + setTargetMetric(planning_diagnostics::Metric::modified_goal_yaw_deviation); + EXPECT_NEAR(publishModifiedGoalAndGetMetric(0.0, 0.0, M_PI_2), M_PI_2, epsilon); + EXPECT_NEAR(publishModifiedGoalAndGetMetric(1.0, 1.0, -M_PI_2), M_PI_2, epsilon); + EXPECT_NEAR(publishModifiedGoalAndGetMetric(1.0, 1.0, -M_PI_4), M_PI_4, epsilon); +} From d19c6c46f78d08ce49ee75e8a28c77c843f74fed Mon Sep 17 00:00:00 2001 From: David Wong <33114676+drwnz@users.noreply.github.com> Date: Tue, 14 Mar 2023 14:33:02 +0900 Subject: [PATCH 034/121] fix(pointcloud_preprocessor): pointcloud preprocessor pcl headers (#3073) fix(pointcloud_preprocessor): add missing header file for centroid Signed-off-by: David Wong --- .../vector_map_filter/lanelet2_map_filter_nodelet.hpp | 1 + 1 file changed, 1 insertion(+) diff --git a/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/vector_map_filter/lanelet2_map_filter_nodelet.hpp b/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/vector_map_filter/lanelet2_map_filter_nodelet.hpp index 568384509d4da..ed0d753a68ecc 100644 --- a/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/vector_map_filter/lanelet2_map_filter_nodelet.hpp +++ b/sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/vector_map_filter/lanelet2_map_filter_nodelet.hpp @@ -23,6 +23,7 @@ #include #include +#include #include #include From c1d28c9947207bd6f0a21ec12992e907603f1309 Mon Sep 17 00:00:00 2001 From: Yusuke Muramatsu Date: Tue, 14 Mar 2023 16:14:44 +0900 Subject: [PATCH 035/121] feat(lidar_centerpoint): add build only option for tensorrt engine (#2677) * feat(lidar_centerpoint): add build only option for tensorrt engine Signed-off-by: yukke42 * fix typo Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> * style(pre-commit): autofix * chore: add description Signed-off-by: yukke42 * chore: shutdown node Signed-off-by: yukke42 * feat: use tensorrt_commom Signed-off-by: yukke42 * fix: resolve the crash when shutting down the node Signed-off-by: yukke42 * chore: fix typo Co-authored-by: Kenzo Lobos Tsunekawa * style(pre-commit): autofix --------- Signed-off-by: yukke42 Signed-off-by: yukke42 Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenzo Lobos Tsunekawa --- perception/lidar_centerpoint/README.md | 1 + .../lidar_centerpoint/centerpoint_trt.hpp | 1 - .../lidar_centerpoint/network/network_trt.hpp | 4 +- .../network/tensorrt_wrapper.hpp | 44 +++------------ .../launch/lidar_centerpoint.launch.xml | 2 + .../lidar_centerpoint/lib/centerpoint_trt.cpp | 4 +- .../lib/network/network_trt.cpp | 5 +- .../lib/network/tensorrt_wrapper.cpp | 55 ++++++++++--------- perception/lidar_centerpoint/package.xml | 1 + perception/lidar_centerpoint/src/node.cpp | 5 ++ 10 files changed, 52 insertions(+), 70 deletions(-) diff --git a/perception/lidar_centerpoint/README.md b/perception/lidar_centerpoint/README.md index baaea06e59346..f03e5bb777299 100644 --- a/perception/lidar_centerpoint/README.md +++ b/perception/lidar_centerpoint/README.md @@ -43,6 +43,7 @@ We trained the models using . | `nms_iou_target_class_names` | list[string] | - | target classes for IoU-based Non Maximum Suppression | | `nms_iou_search_distance_2d` | double | - | If two objects are farther than the value, NMS isn't applied. | | `nms_iou_threshold` | double | - | IoU threshold for the IoU-based Non Maximum Suppression | +| `build_only` | bool | `false` | shutdown the node after TensorRT engine file is built | ## Assumptions / Known limits diff --git a/perception/lidar_centerpoint/include/lidar_centerpoint/centerpoint_trt.hpp b/perception/lidar_centerpoint/include/lidar_centerpoint/centerpoint_trt.hpp index 25891958f9194..fee17f1c0156a 100644 --- a/perception/lidar_centerpoint/include/lidar_centerpoint/centerpoint_trt.hpp +++ b/perception/lidar_centerpoint/include/lidar_centerpoint/centerpoint_trt.hpp @@ -81,7 +81,6 @@ class CenterPointTRT std::unique_ptr post_proc_ptr_{nullptr}; cudaStream_t stream_{nullptr}; - bool verbose_{false}; std::size_t class_size_{0}; CenterPointConfig config_; std::size_t num_voxels_{0}; diff --git a/perception/lidar_centerpoint/include/lidar_centerpoint/network/network_trt.hpp b/perception/lidar_centerpoint/include/lidar_centerpoint/network/network_trt.hpp index c2c2dbc179361..639aa0ba8bad3 100644 --- a/perception/lidar_centerpoint/include/lidar_centerpoint/network/network_trt.hpp +++ b/perception/lidar_centerpoint/include/lidar_centerpoint/network/network_trt.hpp @@ -38,9 +38,7 @@ class HeadTRT : public TensorRTWrapper public: using TensorRTWrapper::TensorRTWrapper; - HeadTRT( - const std::vector & out_channel_sizes, const CenterPointConfig & config, - const bool verbose); + HeadTRT(const std::vector & out_channel_sizes, const CenterPointConfig & config); protected: bool setProfile( diff --git a/perception/lidar_centerpoint/include/lidar_centerpoint/network/tensorrt_wrapper.hpp b/perception/lidar_centerpoint/include/lidar_centerpoint/network/tensorrt_wrapper.hpp index 2cd05400bc9af..7f55ab6f5e414 100644 --- a/perception/lidar_centerpoint/include/lidar_centerpoint/network/tensorrt_wrapper.hpp +++ b/perception/lidar_centerpoint/include/lidar_centerpoint/network/tensorrt_wrapper.hpp @@ -16,6 +16,7 @@ #define LIDAR_CENTERPOINT__NETWORK__TENSORRT_WRAPPER_HPP_ #include +#include #include @@ -25,45 +26,18 @@ namespace centerpoint { -struct Deleter -{ - template - void operator()(T * obj) const - { - if (obj) { - delete obj; - } - } -}; - -template -using unique_ptr = std::unique_ptr; - -class Logger : public nvinfer1::ILogger -{ -public: - explicit Logger(bool verbose) : verbose_(verbose) {} - - void log(Severity severity, const char * msg) noexcept override - { - if (verbose_ || ((severity != Severity::kINFO) && (severity != Severity::kVERBOSE))) { - std::cout << msg << std::endl; - } - } - -private: - bool verbose_{false}; -}; class TensorRTWrapper { public: - explicit TensorRTWrapper(const CenterPointConfig & config, const bool verbose); + explicit TensorRTWrapper(const CenterPointConfig & config); + + ~TensorRTWrapper(); bool init( const std::string & onnx_path, const std::string & engine_path, const std::string & precision); - unique_ptr context_ = nullptr; + tensorrt_common::TrtUniquePtr context_{nullptr}; protected: virtual bool setProfile( @@ -71,7 +45,7 @@ class TensorRTWrapper nvinfer1::IBuilderConfig & config) = 0; CenterPointConfig config_; - Logger logger_; + tensorrt_common::Logger logger_; private: bool parseONNX( @@ -84,9 +58,9 @@ class TensorRTWrapper bool createContext(); - unique_ptr runtime_ = nullptr; - unique_ptr plan_ = nullptr; - unique_ptr engine_ = nullptr; + tensorrt_common::TrtUniquePtr runtime_{nullptr}; + tensorrt_common::TrtUniquePtr plan_{nullptr}; + tensorrt_common::TrtUniquePtr engine_{nullptr}; }; } // namespace centerpoint diff --git a/perception/lidar_centerpoint/launch/lidar_centerpoint.launch.xml b/perception/lidar_centerpoint/launch/lidar_centerpoint.launch.xml index 522b488429c62..d552cb702b980 100644 --- a/perception/lidar_centerpoint/launch/lidar_centerpoint.launch.xml +++ b/perception/lidar_centerpoint/launch/lidar_centerpoint.launch.xml @@ -8,6 +8,7 @@ + @@ -21,6 +22,7 @@ + diff --git a/perception/lidar_centerpoint/lib/centerpoint_trt.cpp b/perception/lidar_centerpoint/lib/centerpoint_trt.cpp index a489be9e86538..9b01ea8f53675 100644 --- a/perception/lidar_centerpoint/lib/centerpoint_trt.cpp +++ b/perception/lidar_centerpoint/lib/centerpoint_trt.cpp @@ -35,7 +35,7 @@ CenterPointTRT::CenterPointTRT( post_proc_ptr_ = std::make_unique(config_); // encoder - encoder_trt_ptr_ = std::make_unique(config_, verbose_); + encoder_trt_ptr_ = std::make_unique(config_); encoder_trt_ptr_->init( encoder_param.onnx_path(), encoder_param.engine_path(), encoder_param.trt_precision()); encoder_trt_ptr_->context_->setBindingDimensions( @@ -47,7 +47,7 @@ CenterPointTRT::CenterPointTRT( std::vector out_channel_sizes = { config_.class_size_, config_.head_out_offset_size_, config_.head_out_z_size_, config_.head_out_dim_size_, config_.head_out_rot_size_, config_.head_out_vel_size_}; - head_trt_ptr_ = std::make_unique(out_channel_sizes, config_, verbose_); + head_trt_ptr_ = std::make_unique(out_channel_sizes, config_); head_trt_ptr_->init(head_param.onnx_path(), head_param.engine_path(), head_param.trt_precision()); head_trt_ptr_->context_->setBindingDimensions( 0, nvinfer1::Dims4( diff --git a/perception/lidar_centerpoint/lib/network/network_trt.cpp b/perception/lidar_centerpoint/lib/network/network_trt.cpp index ffc4ac4a2eef0..88319ff51fe35 100644 --- a/perception/lidar_centerpoint/lib/network/network_trt.cpp +++ b/perception/lidar_centerpoint/lib/network/network_trt.cpp @@ -39,9 +39,8 @@ bool VoxelEncoderTRT::setProfile( } HeadTRT::HeadTRT( - const std::vector & out_channel_sizes, const CenterPointConfig & config, - const bool verbose) -: TensorRTWrapper(config, verbose), out_channel_sizes_(out_channel_sizes) + const std::vector & out_channel_sizes, const CenterPointConfig & config) +: TensorRTWrapper(config), out_channel_sizes_(out_channel_sizes) { } diff --git a/perception/lidar_centerpoint/lib/network/tensorrt_wrapper.cpp b/perception/lidar_centerpoint/lib/network/tensorrt_wrapper.cpp index a175079ab0348..079c41d06c6e0 100644 --- a/perception/lidar_centerpoint/lib/network/tensorrt_wrapper.cpp +++ b/perception/lidar_centerpoint/lib/network/tensorrt_wrapper.cpp @@ -22,15 +22,21 @@ namespace centerpoint { -TensorRTWrapper::TensorRTWrapper(const CenterPointConfig & config, const bool verbose) -: config_(config), logger_(Logger(verbose)) +TensorRTWrapper::TensorRTWrapper(const CenterPointConfig & config) : config_(config) {} + +TensorRTWrapper::~TensorRTWrapper() { + context_.reset(); + runtime_.reset(); + plan_.reset(); + engine_.reset(); } bool TensorRTWrapper::init( const std::string & onnx_path, const std::string & engine_path, const std::string & precision) { - runtime_ = unique_ptr(nvinfer1::createInferRuntime(logger_)); + runtime_ = + tensorrt_common::TrtUniquePtr(nvinfer1::createInferRuntime(logger_)); if (!runtime_) { std::cout << "Fail to create runtime" << std::endl; return false; @@ -55,7 +61,8 @@ bool TensorRTWrapper::createContext() return false; } - context_ = unique_ptr(engine_->createExecutionContext()); + context_ = + tensorrt_common::TrtUniquePtr(engine_->createExecutionContext()); if (!context_) { std::cout << "Fail to create context" << std::endl; return false; @@ -68,13 +75,15 @@ bool TensorRTWrapper::parseONNX( const std::string & onnx_path, const std::string & engine_path, const std::string & precision, const size_t workspace_size) { - auto builder = unique_ptr(nvinfer1::createInferBuilder(logger_)); + auto builder = + tensorrt_common::TrtUniquePtr(nvinfer1::createInferBuilder(logger_)); if (!builder) { std::cout << "Fail to create builder" << std::endl; return false; } - auto config = unique_ptr(builder->createBuilderConfig()); + auto config = + tensorrt_common::TrtUniquePtr(builder->createBuilderConfig()); if (!config) { std::cout << "Fail to create config" << std::endl; return false; @@ -95,13 +104,15 @@ bool TensorRTWrapper::parseONNX( const auto flag = 1U << static_cast(nvinfer1::NetworkDefinitionCreationFlag::kEXPLICIT_BATCH); - auto network = unique_ptr(builder->createNetworkV2(flag)); + auto network = + tensorrt_common::TrtUniquePtr(builder->createNetworkV2(flag)); if (!network) { std::cout << "Fail to create network" << std::endl; return false; } - auto parser = unique_ptr(nvonnxparser::createParser(*network, logger_)); + auto parser = tensorrt_common::TrtUniquePtr( + nvonnxparser::createParser(*network, logger_)); parser->parseFromFile(onnx_path.c_str(), static_cast(nvinfer1::ILogger::Severity::kERROR)); if (!setProfile(*builder, *network, *config)) { @@ -111,12 +122,13 @@ bool TensorRTWrapper::parseONNX( std::cout << "Applying optimizations and building TRT CUDA engine (" << onnx_path << ") ..." << std::endl; - plan_ = unique_ptr(builder->buildSerializedNetwork(*network, *config)); + plan_ = tensorrt_common::TrtUniquePtr( + builder->buildSerializedNetwork(*network, *config)); if (!plan_) { std::cout << "Fail to create serialized network" << std::endl; return false; } - engine_ = unique_ptr( + engine_ = tensorrt_common::TrtUniquePtr( runtime_->deserializeCudaEngine(plan_->data(), plan_->size())); if (!engine_) { std::cout << "Fail to create engine" << std::endl; @@ -136,22 +148,13 @@ bool TensorRTWrapper::saveEngine(const std::string & engine_path) bool TensorRTWrapper::loadEngine(const std::string & engine_path) { - std::ifstream file(engine_path, std::ios::in | std::ios::binary); - file.seekg(0, std::ifstream::end); - const size_t size = file.tellg(); - file.seekg(0, std::ifstream::beg); - - std::unique_ptr buffer{new char[size]}; - file.read(buffer.get(), size); - file.close(); - - if (!runtime_) { - std::cout << "Fail to load engine: Runtime isn't created" << std::endl; - return false; - } - - std::cout << "Loading from " << engine_path << std::endl; - engine_ = unique_ptr(runtime_->deserializeCudaEngine(buffer.get(), size)); + std::ifstream engine_file(engine_path); + std::stringstream engine_buffer; + engine_buffer << engine_file.rdbuf(); + std::string engine_str = engine_buffer.str(); + engine_ = tensorrt_common::TrtUniquePtr(runtime_->deserializeCudaEngine( + reinterpret_cast(engine_str.data()), engine_str.size())); + std::cout << "Loaded engine from " << engine_path << std::endl; return true; } diff --git a/perception/lidar_centerpoint/package.xml b/perception/lidar_centerpoint/package.xml index 970f69921c6e2..879013189b246 100644 --- a/perception/lidar_centerpoint/package.xml +++ b/perception/lidar_centerpoint/package.xml @@ -19,6 +19,7 @@ python3-open3d rclcpp rclcpp_components + tensorrt_common tf2_eigen tf2_geometry_msgs tier4_autoware_utils diff --git a/perception/lidar_centerpoint/src/node.cpp b/perception/lidar_centerpoint/src/node.cpp index da4000b450858..39683755bcaf0 100644 --- a/perception/lidar_centerpoint/src/node.cpp +++ b/perception/lidar_centerpoint/src/node.cpp @@ -121,6 +121,11 @@ LidarCenterPointNode::LidarCenterPointNode(const rclcpp::NodeOptions & node_opti stop_watch_ptr_->tic("cyclic_time"); stop_watch_ptr_->tic("processing_time"); } + + if (this->declare_parameter("build_only", false)) { + RCLCPP_INFO(this->get_logger(), "TensorRT engine is built and shutdown node."); + rclcpp::shutdown(); + } } void LidarCenterPointNode::pointCloudCallback( From c9f6ba2f1d0b1db7da6fa3bcd5528f2246c44384 Mon Sep 17 00:00:00 2001 From: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> Date: Tue, 14 Mar 2023 16:15:26 +0900 Subject: [PATCH 036/121] refactor(lane change): lane change class rework (#3060) * refactor(lane change): lane change class rework Signed-off-by: Muhammad Zulfaqar * fix lane change module search Signed-off-by: Muhammad Zulfaqar Azmi * Update planning/route_handler/include/route_handler/route_handler.hpp Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> * Update planning/route_handler/include/route_handler/route_handler.hpp Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> * set the COMPILE_WITH_OLD_ARCHITECTURE to true Signed-off-by: Muhammad Zulfaqar Azmi --------- Signed-off-by: Muhammad Zulfaqar Signed-off-by: Muhammad Zulfaqar Azmi Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> --- .../behavior_path_planner/parameters.hpp | 5 +- .../lane_change/lane_change_module.hpp | 27 ++++--- .../scene_module/lane_change/manager.hpp | 9 ++- .../lane_change/lane_change_module_data.hpp | 5 ++ .../util/lane_change/util.hpp | 3 + .../src/behavior_path_planner_node.cpp | 38 ++++++++-- .../src/planner_manager.cpp | 2 +- .../lane_change/lane_change_module.cpp | 60 ++++++++++----- .../src/scene_module/lane_change/manager.cpp | 13 ++-- .../src/util/lane_change/util.cpp | 10 +++ .../include/route_handler/route_handler.hpp | 20 +++-- planning/route_handler/src/route_handler.cpp | 75 +++++++++++-------- 12 files changed, 181 insertions(+), 86 deletions(-) diff --git a/planning/behavior_path_planner/include/behavior_path_planner/parameters.hpp b/planning/behavior_path_planner/include/behavior_path_planner/parameters.hpp index 7df7c4c39fff0..8277ae102b312 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/parameters.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/parameters.hpp @@ -33,7 +33,10 @@ struct BehaviorPathPlannerParameters ModuleConfigParameters config_pull_out; ModuleConfigParameters config_pull_over; ModuleConfigParameters config_side_shift; - ModuleConfigParameters config_lane_change; + ModuleConfigParameters config_lane_change_left; + ModuleConfigParameters config_lane_change_right; + ModuleConfigParameters config_external_lane_change_left; + ModuleConfigParameters config_external_lane_change_right; double backward_path_length; double forward_path_length; diff --git a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/lane_change/lane_change_module.hpp b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/lane_change/lane_change_module.hpp index 489dbfd3b5764..bbdc7c14435d7 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/lane_change/lane_change_module.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/lane_change/lane_change_module.hpp @@ -45,6 +45,7 @@ using autoware_auto_planning_msgs::msg::PathWithLaneId; using geometry_msgs::msg::Pose; using geometry_msgs::msg::Twist; using marker_utils::CollisionCheckDebug; +using route_handler::Direction; using tier4_planning_msgs::msg::LaneChangeDebugMsg; using tier4_planning_msgs::msg::LaneChangeDebugMsgArray; @@ -59,8 +60,7 @@ class LaneChangeModule : public SceneModuleInterface LaneChangeModule( const std::string & name, rclcpp::Node & node, const std::shared_ptr & parameters, - const std::shared_ptr & rtc_interface_left, - const std::shared_ptr & rtc_interface_right); + const std::shared_ptr & rtc_interface, Direction direction); #endif bool isExecutionRequested() const override; bool isExecutionReady() const override; @@ -75,13 +75,7 @@ class LaneChangeModule : public SceneModuleInterface void acceptVisitor( [[maybe_unused]] const std::shared_ptr & visitor) const override; -#ifndef USE_OLD_ARCHITECTURE - void updateModuleParams(const std::shared_ptr & parameters) - { - parameters_ = parameters; - } -#endif - +#ifdef USE_OLD_ARCHITECTURE void publishRTCStatus() override { rtc_interface_left_->publishCooperateStatus(clock_->now()); @@ -110,6 +104,12 @@ class LaneChangeModule : public SceneModuleInterface rtc_interface_left_->unlockCommandUpdate(); rtc_interface_right_->unlockCommandUpdate(); } +#else + void updateModuleParams(const std::shared_ptr & parameters) + { + parameters_ = parameters; + } +#endif private: std::shared_ptr parameters_; @@ -125,16 +125,21 @@ class LaneChangeModule : public SceneModuleInterface bool is_abort_path_approved_{false}; bool is_abort_approval_requested_{false}; bool is_abort_condition_satisfied_{false}; - bool is_activated_ = false; + bool is_activated_{false}; +#ifdef USE_OLD_ARCHITECTURE std::shared_ptr rtc_interface_left_; std::shared_ptr rtc_interface_right_; UUID uuid_left_; UUID uuid_right_; UUID candidate_uuid_; +#else + Direction direction_{Direction::NONE}; +#endif void resetParameters(); +#ifdef USE_OLD_ARCHITECTURE void waitApprovalLeft(const double start_distance, const double finish_distance) { rtc_interface_left_->updateCooperateStatus( @@ -190,8 +195,8 @@ class LaneChangeModule : public SceneModuleInterface rtc_interface_right_->removeCooperateStatus(uuid_right_); } } +#endif - lanelet::ConstLanelets get_original_lanes() const; PathWithLaneId getReferencePath() const; lanelet::ConstLanelets getLaneChangeLanes( const lanelet::ConstLanelets & current_lanes, const double lane_change_lane_length) const; diff --git a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/lane_change/manager.hpp b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/lane_change/manager.hpp index 87e5d42688d06..ecb2164855bb0 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/lane_change/manager.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/lane_change/manager.hpp @@ -33,23 +33,24 @@ class LaneChangeModuleManager : public SceneModuleManagerInterface public: LaneChangeModuleManager( rclcpp::Node * node, const std::string & name, const ModuleConfigParameters & config, - std::shared_ptr parameters); + std::shared_ptr parameters, Direction direction); std::shared_ptr createNewSceneModuleInstance() override { return std::make_shared( - name_, *node_, parameters_, rtc_interface_left_, rtc_interface_right_); + name_, *node_, parameters_, rtc_interface_, direction_); } void updateModuleParams(const std::vector & parameters) override; private: - std::shared_ptr rtc_interface_left_; - std::shared_ptr rtc_interface_right_; + std::shared_ptr rtc_interface_; std::shared_ptr parameters_; std::vector> registered_modules_; + + Direction direction_; }; } // namespace behavior_path_planner diff --git a/planning/behavior_path_planner/include/behavior_path_planner/util/lane_change/lane_change_module_data.hpp b/planning/behavior_path_planner/include/behavior_path_planner/util/lane_change/lane_change_module_data.hpp index 1d16f1bd84046..7ef20d546327b 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/util/lane_change/lane_change_module_data.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/util/lane_change/lane_change_module_data.hpp @@ -79,6 +79,11 @@ struct LaneChangeTargetObjectIndices std::vector target_lane{}; std::vector other_lane{}; }; + +enum class LaneChangeType { + Normal = 0, + ExternalRequest = 1, +}; } // namespace behavior_path_planner #endif // BEHAVIOR_PATH_PLANNER__UTIL__LANE_CHANGE__LANE_CHANGE_MODULE_DATA_HPP_ diff --git a/planning/behavior_path_planner/include/behavior_path_planner/util/lane_change/util.hpp b/planning/behavior_path_planner/include/behavior_path_planner/util/lane_change/util.hpp index 76b0e4b8abb83..1efc82aca1ee8 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/util/lane_change/util.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/util/lane_change/util.hpp @@ -45,6 +45,7 @@ using autoware_auto_planning_msgs::msg::PathWithLaneId; using geometry_msgs::msg::Pose; using geometry_msgs::msg::Twist; using marker_utils::CollisionCheckDebug; +using route_handler::Direction; using tier4_autoware_utils::Polygon2d; PathWithLaneId combineReferencePath(const PathWithLaneId & path1, const PathWithLaneId & path2); @@ -162,5 +163,7 @@ LaneChangeTargetObjectIndices filterObjectIndices( double calcLateralBufferForFiltering(const double vehicle_width, const double lateral_buffer = 0.0); +std::string getStrDirection(const std::string name, const Direction direction); + } // namespace behavior_path_planner::lane_change_utils #endif // BEHAVIOR_PATH_PLANNER__UTIL__LANE_CHANGE__UTIL_HPP_ diff --git a/planning/behavior_path_planner/src/behavior_path_planner_node.cpp b/planning/behavior_path_planner/src/behavior_path_planner_node.cpp index 5ff95f26fdcad..be99d578e1856 100644 --- a/planning/behavior_path_planner/src/behavior_path_planner_node.cpp +++ b/planning/behavior_path_planner/src/behavior_path_planner_node.cpp @@ -234,10 +234,23 @@ BehaviorPathPlannerNode::BehaviorPathPlannerNode(const rclcpp::NodeOptions & nod "side_shift", create_publisher(path_reference_name_space + "side_shift", 1)); } - if (p.config_lane_change.enable_module) { - const std::string module_topic = "lane_change"; + if (p.config_lane_change_left.enable_module) { + const std::string module_topic = "lane_change_left"; auto manager = std::make_shared( - this, module_topic, p.config_lane_change, lane_change_param_ptr_); + this, module_topic, p.config_lane_change_left, lane_change_param_ptr_, + route_handler::Direction::LEFT); + planner_manager_->registerSceneModuleManager(manager); + path_candidate_publishers_.emplace( + module_topic, create_publisher(path_candidate_name_space + module_topic, 1)); + path_reference_publishers_.emplace( + module_topic, create_publisher(path_reference_name_space + module_topic, 1)); + } + + if (p.config_lane_change_right.enable_module) { + const std::string module_topic = "lane_change_right"; + auto manager = std::make_shared( + this, module_topic, p.config_lane_change_right, lane_change_param_ptr_, + route_handler::Direction::RIGHT); planner_manager_->registerSceneModuleManager(manager); path_candidate_publishers_.emplace( module_topic, create_publisher(path_candidate_name_space + module_topic, 1)); @@ -316,12 +329,21 @@ BehaviorPathPlannerParameters BehaviorPathPlannerNode::getCommonParam() } { - const std::string ns = "lane_change."; - p.config_lane_change.enable_module = declare_parameter(ns + "enable_module"); - p.config_lane_change.enable_simultaneous_execution = + const std::string ns = "lane_change_left."; + p.config_lane_change_left.enable_module = declare_parameter(ns + "enable_module"); + p.config_lane_change_left.enable_simultaneous_execution = + declare_parameter(ns + "enable_simultaneous_execution"); + p.config_lane_change_left.priority = declare_parameter(ns + "priority"); + p.config_lane_change_left.max_module_size = declare_parameter(ns + "max_module_size"); + } + + { + const std::string ns = "lane_change_right."; + p.config_lane_change_right.enable_module = declare_parameter(ns + "enable_module"); + p.config_lane_change_right.enable_simultaneous_execution = declare_parameter(ns + "enable_simultaneous_execution"); - p.config_lane_change.priority = declare_parameter(ns + "priority"); - p.config_lane_change.max_module_size = declare_parameter(ns + "max_module_size"); + p.config_lane_change_right.priority = declare_parameter(ns + "priority"); + p.config_lane_change_right.max_module_size = declare_parameter(ns + "max_module_size"); } { diff --git a/planning/behavior_path_planner/src/planner_manager.cpp b/planning/behavior_path_planner/src/planner_manager.cpp index a90e1cef71cf8..767369904a466 100644 --- a/planning/behavior_path_planner/src/planner_manager.cpp +++ b/planning/behavior_path_planner/src/planner_manager.cpp @@ -281,7 +281,7 @@ BehaviorModuleOutput PlannerManager::update(const std::shared_ptr & if ((*itr)->getCurrentStatus() != ModuleStatus::RUNNING) { if (itr == approved_module_ptrs_.begin()) { // update root lanelet when the lane change is done. - if (name == "lane_change") { + if (name.find("lane_change") != std::string::npos) { root_lanelet_ = updateRootLanelet(data); } diff --git a/planning/behavior_path_planner/src/scene_module/lane_change/lane_change_module.cpp b/planning/behavior_path_planner/src/scene_module/lane_change/lane_change_module.cpp index f9510ecd7e8e5..99c0ff5ddd467 100644 --- a/planning/behavior_path_planner/src/scene_module/lane_change/lane_change_module.cpp +++ b/planning/behavior_path_planner/src/scene_module/lane_change/lane_change_module.cpp @@ -31,15 +31,6 @@ #include #include -std::string to_string(const unique_identifier_msgs::msg::UUID & uuid) -{ - std::stringstream ss; - for (auto i = 0; i < 16; ++i) { - ss << std::hex << std::setfill('0') << std::setw(2) << +uuid.uuid[i]; - } - return ss.str(); -} - namespace behavior_path_planner { using autoware_auto_perception_msgs::msg::ObjectClassification; @@ -60,15 +51,10 @@ LaneChangeModule::LaneChangeModule( LaneChangeModule::LaneChangeModule( const std::string & name, rclcpp::Node & node, const std::shared_ptr & parameters, - const std::shared_ptr & rtc_interface_left, - const std::shared_ptr & rtc_interface_right) -: SceneModuleInterface{name, node}, - parameters_{parameters}, - rtc_interface_left_{rtc_interface_left}, - rtc_interface_right_{rtc_interface_right}, - uuid_left_{generateUUID()}, - uuid_right_{generateUUID()} + const std::shared_ptr & rtc_interface, Direction direction) +: SceneModuleInterface{name, node}, parameters_{parameters}, direction_{direction} { + rtc_interface_ptr_ = rtc_interface; steering_factor_interface_ptr_ = std::make_unique(&node, "lane_change"); } #endif @@ -107,6 +93,10 @@ bool LaneChangeModule::isExecutionRequested() const #endif const auto lane_change_lanes = getLaneChangeLanes(current_lanes, lane_change_lane_length_); + if (lane_change_lanes.empty()) { + return false; + } + LaneChangePath selected_path; const auto [found_valid_path, found_safe_path] = getSafePath(lane_change_lanes, check_distance_, selected_path); @@ -128,6 +118,10 @@ bool LaneChangeModule::isExecutionReady() const #endif const auto lane_change_lanes = getLaneChangeLanes(current_lanes, lane_change_lane_length_); + if (lane_change_lanes.empty()) { + return false; + } + LaneChangePath selected_path; const auto [found_valid_path, found_safe_path] = getSafePath(lane_change_lanes, check_distance_, selected_path); @@ -218,6 +212,7 @@ BehaviorModuleOutput LaneChangeModule::plan() void LaneChangeModule::resetPathIfAbort() { if (!is_abort_approval_requested_) { +#ifdef USE_OLD_ARCHITECTURE const auto lateral_shift = lane_change_utils::getLateralShift(*abort_path_); if (lateral_shift > 0.0) { removePreviousRTCStatusRight(); @@ -226,6 +221,9 @@ void LaneChangeModule::resetPathIfAbort() removePreviousRTCStatusLeft(); uuid_left_ = generateUUID(); } +#else + removeRTCStatus(); +#endif RCLCPP_DEBUG(getLogger(), "[abort] uuid is reset to request abort approval."); is_abort_approval_requested_ = true; is_abort_path_approved_ = false; @@ -257,6 +255,10 @@ CandidateOutput LaneChangeModule::planCandidate() const #endif const auto lane_change_lanes = getLaneChangeLanes(current_lanes, lane_change_lane_length_); + if (lane_change_lanes.empty()) { + return output; + } + #ifdef USE_OLD_ARCHITECTURE [[maybe_unused]] const auto [found_valid_path, found_safe_path] = getSafePath(lane_change_lanes, check_distance_, selected_path); @@ -308,9 +310,15 @@ BehaviorModuleOutput LaneChangeModule::planWaitingApproval() const auto candidate = planCandidate(); path_candidate_ = std::make_shared(candidate.path_candidate); path_reference_ = getPreviousModuleOutput().reference_path; +#ifdef USE_OLD_ARCHITECTURE updateRTCStatus(candidate); waitApproval(); +#else + updateRTCStatus( + candidate.start_distance_to_path_change, candidate.finish_distance_to_path_change); +#endif is_abort_path_approved_ = false; + return out; } @@ -416,7 +424,11 @@ lanelet::ConstLanelets LaneChangeModule::getLaneChangeLanes( lanelet::ConstLanelets current_check_lanes = route_handler->getLaneletSequence(current_lane, current_pose, 0.0, lane_change_prepare_length); lanelet::ConstLanelet lane_change_lane; +#ifdef USE_OLD_ARCHITECTURE if (route_handler->getLaneChangeTarget(current_check_lanes, &lane_change_lane)) { +#else + if (route_handler->getLaneChangeTarget(current_check_lanes, &lane_change_lane, direction_)) { +#endif lane_change_lanes = route_handler->getLaneletSequence( lane_change_lane, current_pose, lane_change_lane_length, lane_change_lane_length); } else { @@ -667,13 +679,14 @@ std::shared_ptr LaneChangeModule::get_debug_msg_array() void LaneChangeModule::updateSteeringFactorPtr(const BehaviorModuleOutput & output) { - const auto turn_signal_info = output.turn_signal_info; const auto current_pose = getEgoPose(); const double start_distance = motion_utils::calcSignedArcLength( output.path->points, current_pose.position, status_.lane_change_path.shift_line.start.position); const double finish_distance = motion_utils::calcSignedArcLength( output.path->points, current_pose.position, status_.lane_change_path.shift_line.end.position); +#ifdef USE_OLD_ARCHITECTURE + const auto turn_signal_info = output.turn_signal_info; const uint16_t steering_factor_direction = std::invoke([this, &start_distance, &finish_distance, &turn_signal_info]() { if (turn_signal_info.turn_signal.command == TurnIndicatorsCommand::ENABLE_LEFT) { @@ -686,6 +699,17 @@ void LaneChangeModule::updateSteeringFactorPtr(const BehaviorModuleOutput & outp } return SteeringFactor::UNKNOWN; }); +#else + const auto steering_factor_direction = std::invoke([&]() { + if (direction_ == Direction::LEFT) { + return SteeringFactor::LEFT; + } + if (direction_ == Direction::RIGHT) { + return SteeringFactor::RIGHT; + } + return SteeringFactor::UNKNOWN; + }); +#endif // TODO(tkhmy) add handle status TRYING steering_factor_interface_ptr_->updateSteeringFactor( diff --git a/planning/behavior_path_planner/src/scene_module/lane_change/manager.cpp b/planning/behavior_path_planner/src/scene_module/lane_change/manager.cpp index 79bc075de2ffe..13bb4c7db5b4c 100644 --- a/planning/behavior_path_planner/src/scene_module/lane_change/manager.cpp +++ b/planning/behavior_path_planner/src/scene_module/lane_change/manager.cpp @@ -23,14 +23,15 @@ namespace behavior_path_planner { - +using route_handler::Direction; LaneChangeModuleManager::LaneChangeModuleManager( rclcpp::Node * node, const std::string & name, const ModuleConfigParameters & config, - std::shared_ptr parameters) -: SceneModuleManagerInterface(node, name, config), parameters_{std::move(parameters)} + std::shared_ptr parameters, Direction direction) +: SceneModuleManagerInterface(node, name, config), + parameters_{std::move(parameters)}, + direction_{direction} { - rtc_interface_left_ = std::make_shared(node, name + "_left"); - rtc_interface_right_ = std::make_shared(node, name + "_right"); + rtc_interface_ = std::make_shared(node, name); } void LaneChangeModuleManager::updateModuleParams( @@ -40,7 +41,7 @@ void LaneChangeModuleManager::updateModuleParams( [[maybe_unused]] auto p = parameters_; - [[maybe_unused]] std::string ns = "lane_change."; + [[maybe_unused]] const std::string ns = name_ + "."; // updateParam(parameters, ns + ..., ...); std::for_each(registered_modules_.begin(), registered_modules_.end(), [&p](const auto & m) { diff --git a/planning/behavior_path_planner/src/util/lane_change/util.cpp b/planning/behavior_path_planner/src/util/lane_change/util.cpp index 3bd7549bf3677..550185992f1a5 100644 --- a/planning/behavior_path_planner/src/util/lane_change/util.cpp +++ b/planning/behavior_path_planner/src/util/lane_change/util.cpp @@ -1163,4 +1163,14 @@ double calcLateralBufferForFiltering(const double vehicle_width, const double la return lateral_buffer + 0.5 * vehicle_width; } +std::string getStrDirection(const std::string & name, const Direction direction) +{ + if (direction == Direction::LEFT) { + return name + "_left"; + } + if (direction == Direction::RIGHT) { + return name + "_right"; + } + return ""; +} } // namespace behavior_path_planner::lane_change_utils diff --git a/planning/route_handler/include/route_handler/route_handler.hpp b/planning/route_handler/include/route_handler/route_handler.hpp index 52f8082f125e4..89e052b439f78 100644 --- a/planning/route_handler/include/route_handler/route_handler.hpp +++ b/planning/route_handler/include/route_handler/route_handler.hpp @@ -54,7 +54,7 @@ using std_msgs::msg::Header; using unique_identifier_msgs::msg::UUID; using RouteSections = std::vector; -enum class LaneChangeDirection { NONE, LEFT, RIGHT }; +enum class Direction { NONE, LEFT, RIGHT }; enum class PullOverDirection { NONE, LEFT, RIGHT }; enum class PullOutDirection { NONE, LEFT, RIGHT }; @@ -259,9 +259,19 @@ class RouteHandler const lanelet::ConstLanelet & lanelet, const double length, const lanelet::ConstLanelets & exclude_lanelets = {}) const; - int getNumLaneToPreferredLane(const lanelet::ConstLanelet & lanelet) const; + /** + * Query input lanelet to see whether it exist in the preferred lane. If it doesn't exist, return + * the number of lane-changeable lane to the preferred lane. + * @param Desired lanelet to query + * @param lane change direction + * @return number of lanes from input to the preferred lane + */ + int getNumLaneToPreferredLane( + const lanelet::ConstLanelet & lanelet, const Direction direction = Direction::NONE) const; + bool getClosestLaneletWithinRoute( const Pose & search_pose, lanelet::ConstLanelet * closest_lanelet) const; + lanelet::ConstLanelet getLaneletsFromId(const lanelet::Id id) const; lanelet::ConstLanelets getLaneletsFromIds(const lanelet::Ids & ids) const; lanelet::ConstLanelets getLaneletSequence( @@ -287,7 +297,8 @@ class RouteHandler const lanelet::ConstLanelets & lanelet_sequence, const double s_start, const double s_end, bool use_exact = true) const; bool getLaneChangeTarget( - const lanelet::ConstLanelets & lanelets, lanelet::ConstLanelet * target_lanelet) const; + const lanelet::ConstLanelets & lanelets, lanelet::ConstLanelet * target_lanelet, + const Direction direction = Direction::NONE) const; bool getRightLaneChangeTargetExceptPreferredLane( const lanelet::ConstLanelets & lanelets, lanelet::ConstLanelet * target_lanelet) const; bool getLeftLaneChangeTargetExceptPreferredLane( @@ -298,8 +309,7 @@ class RouteHandler static bool getPullOutStartLane( const lanelet::ConstLanelets & lanelets, const Pose & pose, const double vehicle_width, lanelet::ConstLanelet * target_lanelet); - double getLaneChangeableDistance( - const Pose & current_pose, const LaneChangeDirection & direction) const; + double getLaneChangeableDistance(const Pose & current_pose, const Direction & direction) const; lanelet::ConstPolygon3d getIntersectionAreaById(const lanelet::Id id) const; private: diff --git a/planning/route_handler/src/route_handler.cpp b/planning/route_handler/src/route_handler.cpp index d2ea4c65adaa9..2fe8e3549b661 100644 --- a/planning/route_handler/src/route_handler.cpp +++ b/planning/route_handler/src/route_handler.cpp @@ -1106,30 +1106,33 @@ std::vector RouteHandler::getPrecedingLaneletSequence( } bool RouteHandler::getLaneChangeTarget( - const lanelet::ConstLanelets & lanelets, lanelet::ConstLanelet * target_lanelet) const + const lanelet::ConstLanelets & lanelets, lanelet::ConstLanelet * target_lanelet, + const Direction direction) const { for (const auto & lanelet : lanelets) { - const int num = getNumLaneToPreferredLane(lanelet); + const int num = getNumLaneToPreferredLane(lanelet, direction); if (num == 0) { continue; } - if (num < 0) { - if (!!routing_graph_ptr_->right(lanelet)) { - const auto right_lanelet = routing_graph_ptr_->right(lanelet); - *target_lanelet = right_lanelet.get(); - return true; + if (direction == Direction::NONE || direction == Direction::RIGHT) { + if (num < 0) { + if (!!routing_graph_ptr_->right(lanelet)) { + const auto right_lanelet = routing_graph_ptr_->right(lanelet); + *target_lanelet = right_lanelet.get(); + return true; + } } - continue; } - if (num > 0) { - if (!!routing_graph_ptr_->left(lanelet)) { - const auto left_lanelet = routing_graph_ptr_->left(lanelet); - *target_lanelet = left_lanelet.get(); - return true; + if (direction == Direction::NONE || direction == Direction::LEFT) { + if (num > 0) { + if (!!routing_graph_ptr_->left(lanelet)) { + const auto left_lanelet = routing_graph_ptr_->left(lanelet); + *target_lanelet = left_lanelet.get(); + return true; + } } - continue; } } @@ -1212,26 +1215,34 @@ lanelet::ConstLanelets RouteHandler::getClosestLaneletSequence(const Pose & pose return getLaneletSequence(lanelet); } -int RouteHandler::getNumLaneToPreferredLane(const lanelet::ConstLanelet & lanelet) const +int RouteHandler::getNumLaneToPreferredLane( + const lanelet::ConstLanelet & lanelet, const Direction direction) const { - int num = 0; if (exists(preferred_lanelets_, lanelet)) { - return num; + return 0; } - const auto & right_lanes = - lanelet::utils::query::getAllNeighborsRight(routing_graph_ptr_, lanelet); - for (const auto & right : right_lanes) { - num--; - if (exists(preferred_lanelets_, right)) { - return num; + + if ((direction == Direction::NONE) || (direction == Direction::RIGHT)) { + int num{0}; + const auto & right_lanes = + lanelet::utils::query::getAllNeighborsRight(routing_graph_ptr_, lanelet); + for (const auto & right : right_lanes) { + num--; + if (exists(preferred_lanelets_, right)) { + return num; + } } } - const auto & left_lanes = lanelet::utils::query::getAllNeighborsLeft(routing_graph_ptr_, lanelet); - num = 0; - for (const auto & left : left_lanes) { - num++; - if (exists(preferred_lanelets_, left)) { - return num; + + if ((direction == Direction::NONE) || (direction == Direction::LEFT)) { + const auto & left_lanes = + lanelet::utils::query::getAllNeighborsLeft(routing_graph_ptr_, lanelet); + int num = 0; + for (const auto & left : left_lanes) { + num++; + if (exists(preferred_lanelets_, left)) { + return num; + } } } @@ -1368,7 +1379,7 @@ lanelet::ConstLanelets RouteHandler::getLaneChangeTargetLanes(const Pose & pose) } double RouteHandler::getLaneChangeableDistance( - const Pose & current_pose, const LaneChangeDirection & direction) const + const Pose & current_pose, const Direction & direction) const { lanelet::ConstLanelet current_lane; if (!getClosestLaneletWithinRoute(current_pose, ¤t_lane)) { @@ -1382,12 +1393,12 @@ double RouteHandler::getLaneChangeableDistance( double accumulated_distance = 0; for (const auto & lane : lanelet_sequence) { lanelet::ConstLanelet target_lane; - if (direction == LaneChangeDirection::RIGHT) { + if (direction == Direction::RIGHT) { if (!getRightLaneletWithinRoute(lane, &target_lane)) { break; } } - if (direction == LaneChangeDirection::LEFT) { + if (direction == Direction::LEFT) { if (!getLeftLaneletWithinRoute(lane, &target_lane)) { break; } From b0ead6babde7c4cd6b47db9e80b7ef55b43a0eba Mon Sep 17 00:00:00 2001 From: NorahXiong <103234047+NorahXiong@users.noreply.github.com> Date: Tue, 14 Mar 2023 16:18:55 +0800 Subject: [PATCH 037/121] =?UTF-8?q?fix(freespace=5Fplanning=5Falgorithms):?= =?UTF-8?q?=20remove=20duplicate=20candidates=20in=20tr=E2=80=A6=20(#2355)?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit fix(freespace_planning_algorithms): remove duplicate candidates in transition table Signed-off-by: NorahXiong --- planning/freespace_planning_algorithms/src/astar_search.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/planning/freespace_planning_algorithms/src/astar_search.cpp b/planning/freespace_planning_algorithms/src/astar_search.cpp index 5686d7eee26e0..b2b2321adacd0 100644 --- a/planning/freespace_planning_algorithms/src/astar_search.cpp +++ b/planning/freespace_planning_algorithms/src/astar_search.cpp @@ -76,13 +76,13 @@ AstarSearch::TransitionTable createTransitionTable( const auto & R_min = minimum_turning_radius; const auto & R_max = maximum_turning_radius; const double step_min = R_min * dtheta; - const double dR = (R_max - R_min) / turning_radius_size; + const double dR = (R_max - R_min) / std::max(turning_radius_size - 1, 1); // NodeUpdate actions std::vector forward_node_candidates; const NodeUpdate forward_straight{step_min, 0.0, 0.0, step_min, false, false}; forward_node_candidates.push_back(forward_straight); - for (int i = 0; i < turning_radius_size + 1; ++i) { + for (int i = 0; i < turning_radius_size; ++i) { double R = R_min + i * dR; double step = R * dtheta; const NodeUpdate forward_left{ From 07b7837d42309376dc55bf576e9bcba1497c1799 Mon Sep 17 00:00:00 2001 From: kminoda <44218668+kminoda@users.noreply.github.com> Date: Tue, 14 Mar 2023 17:33:18 +0900 Subject: [PATCH 038/121] feat(pose_initializer): enable pose initialization while running (only for sim) (#3038) * feat(pose_initializer): enable pose initialization while running (only for sim) Signed-off-by: kminoda * both logsim and psim params Signed-off-by: kminoda * only one pose_initializer_param_path arg Signed-off-by: kminoda * use two param files for pose_initializer Signed-off-by: kminoda --------- Signed-off-by: kminoda --- .../launch/localization.launch.xml | 2 ++ .../launch/util/util.launch.xml | 6 ++-- .../launch/simulator.launch.xml | 8 +++--- .../launch/system.launch.xml | 3 +- .../config/pose_initializer.param.yaml | 26 +++-------------- .../config/pose_initializer_common.param.yaml | 26 +++++++++++++++++ .../launch/pose_initializer.launch.xml | 12 ++------ .../config/topics.yaml | 28 +++++++++---------- 8 files changed, 56 insertions(+), 55 deletions(-) create mode 100644 localization/pose_initializer/config/pose_initializer_common.param.yaml diff --git a/launch/tier4_localization_launch/launch/localization.launch.xml b/launch/tier4_localization_launch/launch/localization.launch.xml index 14fe9c55f7e5d..12ad512557cb1 100644 --- a/launch/tier4_localization_launch/launch/localization.launch.xml +++ b/launch/tier4_localization_launch/launch/localization.launch.xml @@ -6,6 +6,8 @@ + + diff --git a/launch/tier4_localization_launch/launch/util/util.launch.xml b/launch/tier4_localization_launch/launch/util/util.launch.xml index d820e06deb614..31a453c082522 100644 --- a/launch/tier4_localization_launch/launch/util/util.launch.xml +++ b/launch/tier4_localization_launch/launch/util/util.launch.xml @@ -14,10 +14,8 @@ - - - - + + diff --git a/launch/tier4_simulator_launch/launch/simulator.launch.xml b/launch/tier4_simulator_launch/launch/simulator.launch.xml index 9769a6a36332f..70b77eb60cb12 100644 --- a/launch/tier4_simulator_launch/launch/simulator.launch.xml +++ b/launch/tier4_simulator_launch/launch/simulator.launch.xml @@ -2,6 +2,8 @@ + + @@ -98,10 +100,8 @@ - - - - + + diff --git a/launch/tier4_system_launch/launch/system.launch.xml b/launch/tier4_system_launch/launch/system.launch.xml index 8e674b0435528..016d613cfa72d 100644 --- a/launch/tier4_system_launch/launch/system.launch.xml +++ b/launch/tier4_system_launch/launch/system.launch.xml @@ -21,7 +21,7 @@ - + @@ -66,6 +66,7 @@ + diff --git a/localization/pose_initializer/config/pose_initializer.param.yaml b/localization/pose_initializer/config/pose_initializer.param.yaml index e94f86c8d6c7e..c1486b71aae9c 100644 --- a/localization/pose_initializer/config/pose_initializer.param.yaml +++ b/localization/pose_initializer/config/pose_initializer.param.yaml @@ -1,24 +1,6 @@ /**: ros__parameters: - - # from gnss - gnss_particle_covariance: - [ - 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, - 0.0, 1.0, 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, 0.01, 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, 10.0, - ] - - # output - output_pose_covariance: - [ - 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, - 0.0, 1.0, 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, 0.01, 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, 0.2, - ] + gnss_enabled: true + ndt_enabled: true + ekf_enabled: true + stop_check_enabled: true diff --git a/localization/pose_initializer/config/pose_initializer_common.param.yaml b/localization/pose_initializer/config/pose_initializer_common.param.yaml new file mode 100644 index 0000000000000..a05cc7c35cb1a --- /dev/null +++ b/localization/pose_initializer/config/pose_initializer_common.param.yaml @@ -0,0 +1,26 @@ +/**: + ros__parameters: + gnss_pose_timeout: 3.0 # [sec] + stop_check_duration: 3.0 # [sec] + + # from gnss + gnss_particle_covariance: + [ + 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, + 0.0, 1.0, 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, 0.01, 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, 10.0, + ] + + # output + output_pose_covariance: + [ + 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, + 0.0, 1.0, 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, 0.01, 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, 0.2, + ] diff --git a/localization/pose_initializer/launch/pose_initializer.launch.xml b/localization/pose_initializer/launch/pose_initializer.launch.xml index 9483ff47bc093..6558b578e6386 100644 --- a/localization/pose_initializer/launch/pose_initializer.launch.xml +++ b/localization/pose_initializer/launch/pose_initializer.launch.xml @@ -1,20 +1,12 @@ + - - - - + - - - - - - diff --git a/system/component_state_monitor/config/topics.yaml b/system/component_state_monitor/config/topics.yaml index 5a5f2e880bcae..c00203dbb6073 100644 --- a/system/component_state_monitor/config/topics.yaml +++ b/system/component_state_monitor/config/topics.yaml @@ -1,5 +1,5 @@ - module: map - mode: [online, planning_simulation] + mode: [online, logging_simulation, planning_simulation] type: launch args: node_name_suffix: vector_map @@ -12,7 +12,7 @@ timeout: 0.0 - module: map - mode: [online] + mode: [online, logging_simulation] type: launch args: node_name_suffix: pointcloud_map @@ -25,7 +25,7 @@ timeout: 0.0 - module: localization - mode: [online, planning_simulation] + mode: [online, logging_simulation, planning_simulation] type: autonomous args: node_name_suffix: initialpose3d @@ -38,7 +38,7 @@ timeout: 0.0 - module: localization - mode: [online] + mode: [online, logging_simulation] type: autonomous args: node_name_suffix: pose_twist_fusion_filter_pose @@ -51,7 +51,7 @@ timeout: 1.0 - module: perception - mode: [online] + mode: [online, logging_simulation] type: launch args: node_name_suffix: obstacle_segmentation_pointcloud @@ -64,7 +64,7 @@ timeout: 1.0 - module: perception - mode: [online, planning_simulation] + mode: [online, logging_simulation, planning_simulation] type: autonomous args: node_name_suffix: object_recognition_objects @@ -77,7 +77,7 @@ timeout: 1.0 - module: planning - mode: [online, planning_simulation] + mode: [online, logging_simulation, planning_simulation] type: autonomous args: node_name_suffix: mission_planning_route @@ -90,7 +90,7 @@ timeout: 0.0 - module: planning - mode: [online, planning_simulation] + mode: [online, logging_simulation, planning_simulation] type: autonomous args: node_name_suffix: scenario_planning_trajectory @@ -103,7 +103,7 @@ timeout: 1.0 - module: control - mode: [online, planning_simulation] + mode: [online, logging_simulation, planning_simulation] type: autonomous args: node_name_suffix: trajectory_follower_control_cmd @@ -116,7 +116,7 @@ timeout: 1.0 - module: control - mode: [online, planning_simulation] + mode: [online, logging_simulation, planning_simulation] type: autonomous args: node_name_suffix: control_command_control_cmd @@ -129,7 +129,7 @@ timeout: 1.0 - module: vehicle - mode: [online, planning_simulation] + mode: [online, logging_simulation, planning_simulation] type: autonomous args: node_name_suffix: vehicle_status_velocity_status @@ -142,7 +142,7 @@ timeout: 1.0 - module: vehicle - mode: [online, planning_simulation] + mode: [online, logging_simulation, planning_simulation] type: autonomous args: node_name_suffix: vehicle_status_steering_status @@ -155,7 +155,7 @@ timeout: 1.0 - module: system - mode: [online, planning_simulation] + mode: [online, logging_simulation, planning_simulation] type: launch args: node_name_suffix: system_emergency_control_cmd @@ -168,7 +168,7 @@ timeout: 1.0 - module: localization - mode: [online, planning_simulation] + mode: [online, logging_simulation, planning_simulation] type: autonomous args: node_name_suffix: transform_map_to_base_link From 7a0f84ce6a03b7f7b0449dbd2dbcf2091f26aa68 Mon Sep 17 00:00:00 2001 From: Yoshi Ri Date: Tue, 14 Mar 2023 18:02:13 +0900 Subject: [PATCH 039/121] feat(probablisitic_occupancy_grid_map): add scan_frame option for gridmap generation (#3032) * add scan_frame and raytrace center Signed-off-by: yoshiri * add scan frame to laserscan based method Signed-off-by: yoshiri * update readme Signed-off-by: yoshiri * fix typo Signed-off-by: yoshiri * update laucher in perception_launch Signed-off-by: yoshiri * fix config and launch file Signed-off-by: yoshiri * fixed laserscan based launcher Signed-off-by: yoshiri --------- Signed-off-by: yoshiri --- ...serscan_based_occupancy_grid_map.launch.py | 64 ++++++++------- ...ntcloud_based_occupancy_grid_map.launch.py | 60 ++++++++------ .../launch/perception.launch.xml | 1 + .../CMakeLists.txt | 1 + .../README.md | 10 ++- ...erscan_based_occupancy_grid_map.param.yaml | 6 +- ...tcloud_based_occupancy_grid_map.param.yaml | 8 +- .../image/gridmap_frame_settings.drawio.svg | 80 +++++++++++++++++++ ...aserscan_based_occupancy_grid_map_node.hpp | 3 +- .../occupancy_grid_map.hpp | 2 +- ...intcloud_based_occupancy_grid_map_node.hpp | 3 +- ...serscan_based_occupancy_grid_map.launch.py | 79 +++++++++--------- ...ntcloud_based_occupancy_grid_map.launch.py | 64 +++++++-------- ...aserscan_based_occupancy_grid_map_node.cpp | 37 ++++++--- .../occupancy_grid_map.cpp | 57 ++++++++++--- ...intcloud_based_occupancy_grid_map_node.cpp | 24 ++++-- 16 files changed, 329 insertions(+), 170 deletions(-) create mode 100644 perception/probabilistic_occupancy_grid_map/image/gridmap_frame_settings.drawio.svg diff --git a/launch/tier4_perception_launch/launch/occupancy_grid_map/laserscan_based_occupancy_grid_map.launch.py b/launch/tier4_perception_launch/launch/occupancy_grid_map/laserscan_based_occupancy_grid_map.launch.py index d371fa43986ab..7ed97fe6c0ebd 100644 --- a/launch/tier4_perception_launch/launch/occupancy_grid_map/laserscan_based_occupancy_grid_map.launch.py +++ b/launch/tier4_perception_launch/launch/occupancy_grid_map/laserscan_based_occupancy_grid_map.launch.py @@ -14,6 +14,7 @@ from launch import LaunchDescription from launch.actions import DeclareLaunchArgument +from launch.actions import OpaqueFunction from launch.actions import SetLaunchConfiguration from launch.conditions import IfCondition from launch.conditions import UnlessCondition @@ -21,22 +22,19 @@ from launch_ros.actions import ComposableNodeContainer from launch_ros.actions import LoadComposableNodes from launch_ros.descriptions import ComposableNode +import yaml -def generate_launch_description(): - def add_launch_arg(name: str, default_value=None): - return DeclareLaunchArgument(name, default_value=default_value) - - set_container_executable = SetLaunchConfiguration( - "container_executable", - "component_container", - condition=UnlessCondition(LaunchConfiguration("use_multithread")), +def launch_setup(context, *args, **kwargs): + # load parameter files + param_file = LaunchConfiguration("param_file").perform(context) + with open(param_file, "r") as f: + laserscan_based_occupancy_grid_map_node_params = yaml.safe_load(f)["/**"]["ros__parameters"] + laserscan_based_occupancy_grid_map_node_params["input_obstacle_pointcloud"] = bool( + LaunchConfiguration("input_obstacle_pointcloud").perform(context) ) - - set_container_mt_executable = SetLaunchConfiguration( - "container_executable", - "component_container_mt", - condition=IfCondition(LaunchConfiguration("use_multithread")), + laserscan_based_occupancy_grid_map_node_params["input_obstacle_and_raw_pointcloud"] = bool( + LaunchConfiguration("input_obstacle_and_raw_pointcloud").perform(context) ) composable_nodes = [ @@ -53,7 +51,9 @@ def add_launch_arg(name: str, default_value=None): ], parameters=[ { - "target_frame": "base_link", # Leave disabled to output scan in pointcloud frame + "target_frame": laserscan_based_occupancy_grid_map_node_params[ + "scan_origin_frame" + ], # Leave disabled to output scan in pointcloud frame "transform_tolerance": 0.01, "min_height": 0.0, "max_height": 2.0, @@ -85,16 +85,7 @@ def add_launch_arg(name: str, default_value=None): ("~/input/raw_pointcloud", LaunchConfiguration("input/raw_pointcloud")), ("~/output/occupancy_grid_map", LaunchConfiguration("output")), ], - parameters=[ - { - "map_resolution": 0.5, - "use_height_filter": True, - "input_obstacle_pointcloud": LaunchConfiguration("input_obstacle_pointcloud"), - "input_obstacle_and_raw_pointcloud": LaunchConfiguration( - "input_obstacle_and_raw_pointcloud" - ), - } - ], + parameters=[laserscan_based_occupancy_grid_map_node_params], extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}], ), ] @@ -115,6 +106,25 @@ def add_launch_arg(name: str, default_value=None): condition=IfCondition(LaunchConfiguration("use_pointcloud_container")), ) + return [occupancy_grid_map_container, load_composable_nodes] + + +def generate_launch_description(): + def add_launch_arg(name: str, default_value=None): + return DeclareLaunchArgument(name, default_value=default_value) + + set_container_executable = SetLaunchConfiguration( + "container_executable", + "component_container", + condition=UnlessCondition(LaunchConfiguration("use_multithread")), + ) + + set_container_mt_executable = SetLaunchConfiguration( + "container_executable", + "component_container_mt", + condition=IfCondition(LaunchConfiguration("use_multithread")), + ) + return LaunchDescription( [ add_launch_arg("use_multithread", "false"), @@ -128,11 +138,11 @@ def add_launch_arg(name: str, default_value=None): add_launch_arg("output/stixel", "virtual_scan/stixel"), add_launch_arg("input_obstacle_pointcloud", "false"), add_launch_arg("input_obstacle_and_raw_pointcloud", "true"), - add_launch_arg("use_pointcloud_container", "False"), + add_launch_arg("param_file", "config/laserscan_based_occupancy_grid_map.param.yaml"), + add_launch_arg("use_pointcloud_container", "false"), add_launch_arg("container_name", "occupancy_grid_map_container"), set_container_executable, set_container_mt_executable, - occupancy_grid_map_container, - load_composable_nodes, ] + + [OpaqueFunction(function=launch_setup)] ) diff --git a/launch/tier4_perception_launch/launch/occupancy_grid_map/pointcloud_based_occupancy_grid_map.launch.py b/launch/tier4_perception_launch/launch/occupancy_grid_map/pointcloud_based_occupancy_grid_map.launch.py index 2feefdfb1053d..e8a9e173cfe0a 100644 --- a/launch/tier4_perception_launch/launch/occupancy_grid_map/pointcloud_based_occupancy_grid_map.launch.py +++ b/launch/tier4_perception_launch/launch/occupancy_grid_map/pointcloud_based_occupancy_grid_map.launch.py @@ -14,6 +14,7 @@ from launch import LaunchDescription from launch.actions import DeclareLaunchArgument +from launch.actions import OpaqueFunction from launch.actions import SetLaunchConfiguration from launch.conditions import IfCondition from launch.conditions import UnlessCondition @@ -21,23 +22,16 @@ from launch_ros.actions import ComposableNodeContainer from launch_ros.actions import LoadComposableNodes from launch_ros.descriptions import ComposableNode +import yaml -def generate_launch_description(): - def add_launch_arg(name: str, default_value=None): - return DeclareLaunchArgument(name, default_value=default_value) - - set_container_executable = SetLaunchConfiguration( - "container_executable", - "component_container", - condition=UnlessCondition(LaunchConfiguration("use_multithread")), - ) - - set_container_mt_executable = SetLaunchConfiguration( - "container_executable", - "component_container_mt", - condition=IfCondition(LaunchConfiguration("use_multithread")), - ) +def launch_setup(context, *args, **kwargs): + # load parameter files + param_file = LaunchConfiguration("param_file").perform(context) + with open(param_file, "r") as f: + pointcloud_based_occupancy_grid_map_node_params = yaml.safe_load(f)["/**"][ + "ros__parameters" + ] composable_nodes = [ ComposableNode( @@ -49,12 +43,7 @@ def add_launch_arg(name: str, default_value=None): ("~/input/raw_pointcloud", LaunchConfiguration("input/raw_pointcloud")), ("~/output/occupancy_grid_map", LaunchConfiguration("output")), ], - parameters=[ - { - "map_resolution": 0.5, - "use_height_filter": True, - } - ], + parameters=[pointcloud_based_occupancy_grid_map_node_params], extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}], ), ] @@ -75,18 +64,37 @@ def add_launch_arg(name: str, default_value=None): condition=IfCondition(LaunchConfiguration("use_pointcloud_container")), ) + return [occupancy_grid_map_container, load_composable_nodes] + + +def generate_launch_description(): + def add_launch_arg(name: str, default_value=None): + return DeclareLaunchArgument(name, default_value=default_value) + + set_container_executable = SetLaunchConfiguration( + "container_executable", + "component_container", + condition=UnlessCondition(LaunchConfiguration("use_multithread")), + ) + + set_container_mt_executable = SetLaunchConfiguration( + "container_executable", + "component_container_mt", + condition=IfCondition(LaunchConfiguration("use_multithread")), + ) + return LaunchDescription( [ - add_launch_arg("use_multithread", "False"), - add_launch_arg("use_intra_process", "True"), - add_launch_arg("use_pointcloud_container", "False"), + add_launch_arg("use_multithread", "false"), + add_launch_arg("use_intra_process", "true"), + add_launch_arg("use_pointcloud_container", "false"), add_launch_arg("container_name", "occupancy_grid_map_container"), add_launch_arg("input/obstacle_pointcloud", "no_ground/oneshot/pointcloud"), add_launch_arg("input/raw_pointcloud", "concatenated/pointcloud"), add_launch_arg("output", "occupancy_grid"), + add_launch_arg("param_file", "config/pointcloud_based_occupancy_grid_map.param.yaml"), set_container_executable, set_container_mt_executable, - occupancy_grid_map_container, - load_composable_nodes, ] + + [OpaqueFunction(function=launch_setup)] ) diff --git a/launch/tier4_perception_launch/launch/perception.launch.xml b/launch/tier4_perception_launch/launch/perception.launch.xml index ffc6f908983bb..b2a800c5b278d 100644 --- a/launch/tier4_perception_launch/launch/perception.launch.xml +++ b/launch/tier4_perception_launch/launch/perception.launch.xml @@ -76,6 +76,7 @@ + diff --git a/perception/probabilistic_occupancy_grid_map/CMakeLists.txt b/perception/probabilistic_occupancy_grid_map/CMakeLists.txt index 89906f86c5ce5..df0090d1b6cee 100644 --- a/perception/probabilistic_occupancy_grid_map/CMakeLists.txt +++ b/perception/probabilistic_occupancy_grid_map/CMakeLists.txt @@ -48,4 +48,5 @@ rclcpp_components_register_node(laserscan_based_occupancy_grid_map ament_auto_package( INSTALL_TO_SHARE launch + config ) diff --git a/perception/probabilistic_occupancy_grid_map/README.md b/perception/probabilistic_occupancy_grid_map/README.md index 655846f5cade1..d0fa909d58b40 100644 --- a/perception/probabilistic_occupancy_grid_map/README.md +++ b/perception/probabilistic_occupancy_grid_map/README.md @@ -9,7 +9,9 @@ This package outputs the probability of having an obstacle as occupancy grid map Occupancy grid map is generated on `map_frame`, and grid orientation is fixed. -You may need to choose `output_frame` which means grid map origin. Default is `base_link`, but your main LiDAR sensor frame (e.g. `velodyne_top` in sample_vehicle) would be the better choice. +You may need to choose `scan_origin_frame` and `gridmap_origin_frame` which means sensor origin and gridmap origin respectively. Especially, set your main LiDAR sensor frame (e.g. `velodyne_top` in sample_vehicle) as a `scan_origin_frame` would result in better performance. + +![image_for_frame_parameter_visualization](./image/gridmap_frame_settings.drawio.svg) ### Each config paramters @@ -21,7 +23,8 @@ Config parameters are managed in `config/*.yaml` and here shows its outline. | --------------------------------- | ------------- | | map_frame | "map" | | base_link_frame | "base_link" | -| output_frame | "base_link" | +| scan_origin_frame | "base_link" | +| gridmap_origin_frame | "base_link" | | use_height_filter | true | | enable_single_frame_mode | false | | map_length | 100.0 [m] | @@ -40,7 +43,8 @@ Config parameters are managed in `config/*.yaml` and here shows its outline. | enable_single_frame_mode | false | | map_frame | "map" | | base_link_frame | "base_link" | -| output_frame | "base_link" | +| scan_origin_frame | "base_link" | +| gridmap_origin_frame | "base_link" | ## References/External links diff --git a/perception/probabilistic_occupancy_grid_map/config/laserscan_based_occupancy_grid_map.param.yaml b/perception/probabilistic_occupancy_grid_map/config/laserscan_based_occupancy_grid_map.param.yaml index c3e498b3e3320..8c8f1857ce279 100644 --- a/perception/probabilistic_occupancy_grid_map/config/laserscan_based_occupancy_grid_map.param.yaml +++ b/perception/probabilistic_occupancy_grid_map/config/laserscan_based_occupancy_grid_map.param.yaml @@ -2,8 +2,10 @@ ros__parameters: map_frame: "map" base_link_frame: "base_link" - output_frame: "base_link" - # using top of the main lidar frame is appropriate. ex) velodyne_top + # center of the grid map + gridmap_origin_frame: "base_link" + # ray-tracing center: main sensor frame is preferable like: "velodyne_top" + scan_origin_frame: "base_link" use_height_filter: true enable_single_frame_mode: false diff --git a/perception/probabilistic_occupancy_grid_map/config/pointcloud_based_occupancy_grid_map.param.yaml b/perception/probabilistic_occupancy_grid_map/config/pointcloud_based_occupancy_grid_map.param.yaml index 3b84200d118af..49a1a7097d308 100644 --- a/perception/probabilistic_occupancy_grid_map/config/pointcloud_based_occupancy_grid_map.param.yaml +++ b/perception/probabilistic_occupancy_grid_map/config/pointcloud_based_occupancy_grid_map.param.yaml @@ -1,6 +1,6 @@ /**: ros__parameters: - map_length: 100 # [m] + map_length: 100.0 # [m] map_resolution: 0.5 # [m] use_height_filter: true @@ -9,5 +9,7 @@ # grid map coordinate map_frame: "map" base_link_frame: "base_link" - output_frame: "base_link" - # center of grid_map. Main LiDAR frame is preferable like: "velodyne_top" + # center of the grid map + gridmap_origin_frame: "base_link" + # ray-tracing center: main sensor frame is preferable like: "velodyne_top" + scan_origin_frame: "base_link" diff --git a/perception/probabilistic_occupancy_grid_map/image/gridmap_frame_settings.drawio.svg b/perception/probabilistic_occupancy_grid_map/image/gridmap_frame_settings.drawio.svg new file mode 100644 index 0000000000000..d1aaaa2c51176 --- /dev/null +++ b/perception/probabilistic_occupancy_grid_map/image/gridmap_frame_settings.drawio.svg @@ -0,0 +1,80 @@ + + + + + + + + + + + + + + + + + + + + + + + +
+
+
+ scan_origin_frame +
+
+
+ + scan_origin_frame + + + + + +
+
+
+ gridmap_origin_frame +
+
+
+ + gridmap_origin_frame + + + + + + +
+
+
+ gridmap_origin = center of the gridmap +
+
+
+ + gridmap_origin = center of the gridmap + + + + + + + Text is not SVG - cannot display + + + diff --git a/perception/probabilistic_occupancy_grid_map/include/laserscan_based_occupancy_grid_map/laserscan_based_occupancy_grid_map_node.hpp b/perception/probabilistic_occupancy_grid_map/include/laserscan_based_occupancy_grid_map/laserscan_based_occupancy_grid_map_node.hpp index 857d657618d20..fbef72e29e0f2 100644 --- a/perception/probabilistic_occupancy_grid_map/include/laserscan_based_occupancy_grid_map/laserscan_based_occupancy_grid_map_node.hpp +++ b/perception/probabilistic_occupancy_grid_map/include/laserscan_based_occupancy_grid_map/laserscan_based_occupancy_grid_map_node.hpp @@ -92,7 +92,8 @@ class LaserscanBasedOccupancyGridMapNode : public rclcpp::Node // ROS Parameters std::string map_frame_; std::string base_link_frame_; - std::string output_frame_; + std::string gridmap_origin_frame_; + std::string scan_origin_frame_; bool use_height_filter_; bool enable_single_frame_mode_; }; diff --git a/perception/probabilistic_occupancy_grid_map/include/pointcloud_based_occupancy_grid_map/occupancy_grid_map.hpp b/perception/probabilistic_occupancy_grid_map/include/pointcloud_based_occupancy_grid_map/occupancy_grid_map.hpp index a8def3560f86f..88f2cfbc146f3 100644 --- a/perception/probabilistic_occupancy_grid_map/include/pointcloud_based_occupancy_grid_map/occupancy_grid_map.hpp +++ b/perception/probabilistic_occupancy_grid_map/include/pointcloud_based_occupancy_grid_map/occupancy_grid_map.hpp @@ -72,7 +72,7 @@ class OccupancyGridMap : public nav2_costmap_2d::Costmap2D void updateWithPointCloud( const PointCloud2 & raw_pointcloud, const PointCloud2 & obstacle_pointcloud, - const Pose & robot_pose, const Pose & gridmap_origin); + const Pose & robot_pose, const Pose & scan_origin); void updateOrigin(double new_origin_x, double new_origin_y) override; diff --git a/perception/probabilistic_occupancy_grid_map/include/pointcloud_based_occupancy_grid_map/pointcloud_based_occupancy_grid_map_node.hpp b/perception/probabilistic_occupancy_grid_map/include/pointcloud_based_occupancy_grid_map/pointcloud_based_occupancy_grid_map_node.hpp index 68aed57677909..5b7571fa8abcc 100644 --- a/perception/probabilistic_occupancy_grid_map/include/pointcloud_based_occupancy_grid_map/pointcloud_based_occupancy_grid_map_node.hpp +++ b/perception/probabilistic_occupancy_grid_map/include/pointcloud_based_occupancy_grid_map/pointcloud_based_occupancy_grid_map_node.hpp @@ -82,7 +82,8 @@ class PointcloudBasedOccupancyGridMapNode : public rclcpp::Node // ROS Parameters std::string map_frame_; std::string base_link_frame_; - std::string output_frame_; + std::string gridmap_origin_frame_; + std::string scan_origin_frame_; bool use_height_filter_; bool enable_single_frame_mode_; }; diff --git a/perception/probabilistic_occupancy_grid_map/launch/laserscan_based_occupancy_grid_map.launch.py b/perception/probabilistic_occupancy_grid_map/launch/laserscan_based_occupancy_grid_map.launch.py index 1e7bbef48338c..7ed97fe6c0ebd 100644 --- a/perception/probabilistic_occupancy_grid_map/launch/laserscan_based_occupancy_grid_map.launch.py +++ b/perception/probabilistic_occupancy_grid_map/launch/laserscan_based_occupancy_grid_map.launch.py @@ -12,15 +12,11 @@ # See the License for the specific language governing permissions and # limitations under the License. -import os - -from ament_index_python.packages import get_package_share_directory from launch import LaunchDescription from launch.actions import DeclareLaunchArgument +from launch.actions import OpaqueFunction from launch.actions import SetLaunchConfiguration from launch.conditions import IfCondition -from launch.conditions import LaunchConfigurationEquals -from launch.conditions import LaunchConfigurationNotEquals from launch.conditions import UnlessCondition from launch.substitutions import LaunchConfiguration from launch_ros.actions import ComposableNodeContainer @@ -29,29 +25,17 @@ import yaml -def generate_launch_description(): - def add_launch_arg(name: str, default_value=None): - return DeclareLaunchArgument(name, default_value=default_value) - - set_container_executable = SetLaunchConfiguration( - "container_executable", - "component_container", - condition=UnlessCondition(LaunchConfiguration("use_multithread")), - ) - - set_container_mt_executable = SetLaunchConfiguration( - "container_executable", - "component_container_mt", - condition=IfCondition(LaunchConfiguration("use_multithread")), - ) - +def launch_setup(context, *args, **kwargs): # load parameter files - param_file = os.path.join( - get_package_share_directory("probablistic_occupancy_grid_map"), - "config/laserscan_based_occupancy_grid_map.param.yaml", - ) + param_file = LaunchConfiguration("param_file").perform(context) with open(param_file, "r") as f: laserscan_based_occupancy_grid_map_node_params = yaml.safe_load(f)["/**"]["ros__parameters"] + laserscan_based_occupancy_grid_map_node_params["input_obstacle_pointcloud"] = bool( + LaunchConfiguration("input_obstacle_pointcloud").perform(context) + ) + laserscan_based_occupancy_grid_map_node_params["input_obstacle_and_raw_pointcloud"] = bool( + LaunchConfiguration("input_obstacle_and_raw_pointcloud").perform(context) + ) composable_nodes = [ ComposableNode( @@ -68,7 +52,7 @@ def add_launch_arg(name: str, default_value=None): parameters=[ { "target_frame": laserscan_based_occupancy_grid_map_node_params[ - "output_frame" + "scan_origin_frame" ], # Leave disabled to output scan in pointcloud frame "transform_tolerance": 0.01, "min_height": 0.0, @@ -101,37 +85,48 @@ def add_launch_arg(name: str, default_value=None): ("~/input/raw_pointcloud", LaunchConfiguration("input/raw_pointcloud")), ("~/output/occupancy_grid_map", LaunchConfiguration("output")), ], - parameters=[ - { - "input_obstacle_pointcloud": LaunchConfiguration("input_obstacle_pointcloud"), - "input_obstacle_and_raw_pointcloud": LaunchConfiguration( - "input_obstacle_and_raw_pointcloud" - ), - }.update(laserscan_based_occupancy_grid_map_node_params) - ], + parameters=[laserscan_based_occupancy_grid_map_node_params], extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}], ), ] occupancy_grid_map_container = ComposableNodeContainer( - condition=LaunchConfigurationEquals("container", ""), - name="occupancy_grid_map_container", + name=LaunchConfiguration("container_name"), namespace="", package="rclcpp_components", executable=LaunchConfiguration("container_executable"), composable_node_descriptions=composable_nodes, + condition=UnlessCondition(LaunchConfiguration("use_pointcloud_container")), output="screen", ) load_composable_nodes = LoadComposableNodes( - condition=LaunchConfigurationNotEquals("container", ""), composable_node_descriptions=composable_nodes, - target_container=LaunchConfiguration("container"), + target_container=LaunchConfiguration("container_name"), + condition=IfCondition(LaunchConfiguration("use_pointcloud_container")), + ) + + return [occupancy_grid_map_container, load_composable_nodes] + + +def generate_launch_description(): + def add_launch_arg(name: str, default_value=None): + return DeclareLaunchArgument(name, default_value=default_value) + + set_container_executable = SetLaunchConfiguration( + "container_executable", + "component_container", + condition=UnlessCondition(LaunchConfiguration("use_multithread")), + ) + + set_container_mt_executable = SetLaunchConfiguration( + "container_executable", + "component_container_mt", + condition=IfCondition(LaunchConfiguration("use_multithread")), ) return LaunchDescription( [ - add_launch_arg("container", ""), add_launch_arg("use_multithread", "false"), add_launch_arg("use_intra_process", "false"), add_launch_arg("input/obstacle_pointcloud", "no_ground/oneshot/pointcloud"), @@ -143,9 +138,11 @@ def add_launch_arg(name: str, default_value=None): add_launch_arg("output/stixel", "virtual_scan/stixel"), add_launch_arg("input_obstacle_pointcloud", "false"), add_launch_arg("input_obstacle_and_raw_pointcloud", "true"), + add_launch_arg("param_file", "config/laserscan_based_occupancy_grid_map.param.yaml"), + add_launch_arg("use_pointcloud_container", "false"), + add_launch_arg("container_name", "occupancy_grid_map_container"), set_container_executable, set_container_mt_executable, - occupancy_grid_map_container, - load_composable_nodes, ] + + [OpaqueFunction(function=launch_setup)] ) diff --git a/perception/probabilistic_occupancy_grid_map/launch/pointcloud_based_occupancy_grid_map.launch.py b/perception/probabilistic_occupancy_grid_map/launch/pointcloud_based_occupancy_grid_map.launch.py index af5ecdfa02873..e8a9e173cfe0a 100644 --- a/perception/probabilistic_occupancy_grid_map/launch/pointcloud_based_occupancy_grid_map.launch.py +++ b/perception/probabilistic_occupancy_grid_map/launch/pointcloud_based_occupancy_grid_map.launch.py @@ -12,15 +12,11 @@ # See the License for the specific language governing permissions and # limitations under the License. -import os - -from ament_index_python.packages import get_package_share_directory from launch import LaunchDescription from launch.actions import DeclareLaunchArgument +from launch.actions import OpaqueFunction from launch.actions import SetLaunchConfiguration from launch.conditions import IfCondition -from launch.conditions import LaunchConfigurationEquals -from launch.conditions import LaunchConfigurationNotEquals from launch.conditions import UnlessCondition from launch.substitutions import LaunchConfiguration from launch_ros.actions import ComposableNodeContainer @@ -29,27 +25,9 @@ import yaml -def generate_launch_description(): - def add_launch_arg(name: str, default_value=None): - return DeclareLaunchArgument(name, default_value=default_value) - - set_container_executable = SetLaunchConfiguration( - "container_executable", - "component_container", - condition=UnlessCondition(LaunchConfiguration("use_multithread")), - ) - - set_container_mt_executable = SetLaunchConfiguration( - "container_executable", - "component_container_mt", - condition=IfCondition(LaunchConfiguration("use_multithread")), - ) - +def launch_setup(context, *args, **kwargs): # load parameter files - param_file = os.path.join( - get_package_share_directory("probablistic_occupancy_grid_map"), - "config/pointcloud_based_occupancy_grid_map.param.yaml", - ) + param_file = LaunchConfiguration("param_file").perform(context) with open(param_file, "r") as f: pointcloud_based_occupancy_grid_map_node_params = yaml.safe_load(f)["/**"][ "ros__parameters" @@ -71,32 +49,52 @@ def add_launch_arg(name: str, default_value=None): ] occupancy_grid_map_container = ComposableNodeContainer( - condition=LaunchConfigurationEquals("container", ""), - name="occupancy_grid_map_container", + name=LaunchConfiguration("container_name"), namespace="", package="rclcpp_components", executable=LaunchConfiguration("container_executable"), composable_node_descriptions=composable_nodes, + condition=UnlessCondition(LaunchConfiguration("use_pointcloud_container")), output="screen", ) load_composable_nodes = LoadComposableNodes( - condition=LaunchConfigurationNotEquals("container", ""), composable_node_descriptions=composable_nodes, - target_container=LaunchConfiguration("container"), + target_container=LaunchConfiguration("container_name"), + condition=IfCondition(LaunchConfiguration("use_pointcloud_container")), + ) + + return [occupancy_grid_map_container, load_composable_nodes] + + +def generate_launch_description(): + def add_launch_arg(name: str, default_value=None): + return DeclareLaunchArgument(name, default_value=default_value) + + set_container_executable = SetLaunchConfiguration( + "container_executable", + "component_container", + condition=UnlessCondition(LaunchConfiguration("use_multithread")), + ) + + set_container_mt_executable = SetLaunchConfiguration( + "container_executable", + "component_container_mt", + condition=IfCondition(LaunchConfiguration("use_multithread")), ) return LaunchDescription( [ - add_launch_arg("container", ""), add_launch_arg("use_multithread", "false"), - add_launch_arg("use_intra_process", "false"), + add_launch_arg("use_intra_process", "true"), + add_launch_arg("use_pointcloud_container", "false"), + add_launch_arg("container_name", "occupancy_grid_map_container"), add_launch_arg("input/obstacle_pointcloud", "no_ground/oneshot/pointcloud"), add_launch_arg("input/raw_pointcloud", "concatenated/pointcloud"), add_launch_arg("output", "occupancy_grid"), + add_launch_arg("param_file", "config/pointcloud_based_occupancy_grid_map.param.yaml"), set_container_executable, set_container_mt_executable, - occupancy_grid_map_container, - load_composable_nodes, ] + + [OpaqueFunction(function=launch_setup)] ) diff --git a/perception/probabilistic_occupancy_grid_map/src/laserscan_based_occupancy_grid_map/laserscan_based_occupancy_grid_map_node.cpp b/perception/probabilistic_occupancy_grid_map/src/laserscan_based_occupancy_grid_map/laserscan_based_occupancy_grid_map_node.cpp index b65dfb97e2f84..2ded71a0ec0b4 100644 --- a/perception/probabilistic_occupancy_grid_map/src/laserscan_based_occupancy_grid_map/laserscan_based_occupancy_grid_map_node.cpp +++ b/perception/probabilistic_occupancy_grid_map/src/laserscan_based_occupancy_grid_map/laserscan_based_occupancy_grid_map_node.cpp @@ -93,6 +93,18 @@ bool cropPointcloudByHeight( pose = tier4_autoware_utils::transform2pose(tf_stamped.transform); return pose; } + +geometry_msgs::msg::Pose getPose( + const builtin_interfaces::msg::Time & stamp, const tf2_ros::Buffer & tf2, + const std::string & source_frame, const std::string & target_frame) +{ + geometry_msgs::msg::Pose pose; + geometry_msgs::msg::TransformStamped tf_stamped; + tf_stamped = + tf2.lookupTransform(target_frame, source_frame, stamp, rclcpp::Duration::from_seconds(0.5)); + pose = tier4_autoware_utils::transform2pose(tf_stamped.transform); + return pose; +} } // namespace namespace occupancy_grid_map @@ -112,7 +124,8 @@ LaserscanBasedOccupancyGridMapNode::LaserscanBasedOccupancyGridMapNode( /* params */ map_frame_ = declare_parameter("map_frame", "map"); base_link_frame_ = declare_parameter("base_link_frame", "base_link"); - output_frame_ = declare_parameter("output_frame", "base_link"); + gridmap_origin_frame_ = declare_parameter("gridmap_origin_frame", "base_link"); + scan_origin_frame_ = declare_parameter("scan_origin_frame", "base_link"); use_height_filter_ = declare_parameter("use_height_filter", true); enable_single_frame_mode_ = declare_parameter("enable_single_frame_mode", false); const double map_length{declare_parameter("map_length", 100.0)}; @@ -209,17 +222,15 @@ void LaserscanBasedOccupancyGridMapNode::onLaserscanPointCloud2WithObstacleAndRa PointCloud2 trans_laserscan_pc{}; PointCloud2 trans_obstacle_pc{}; PointCloud2 trans_raw_pc{}; - Pose pose{}; + Pose gridmap_origin{}; + Pose scan_origin{}; try { transformPointcloud(*laserscan_pc_ptr, *tf2_, map_frame_, trans_laserscan_pc); transformPointcloud(filtered_obstacle_pc, *tf2_, map_frame_, trans_obstacle_pc); transformPointcloud(filtered_raw_pc, *tf2_, map_frame_, trans_raw_pc); - // pose = getPose(laserscan_pc_ptr->header, *tf2_, map_frame_); - geometry_msgs::msg::TransformStamped tf_stamped; - tf_stamped = tf2_->lookupTransform( - map_frame_, output_frame_, laserscan_pc_ptr->header.stamp, - rclcpp::Duration::from_seconds(0.5)); - pose = tier4_autoware_utils::transform2pose(tf_stamped.transform); + gridmap_origin = + getPose(laserscan_pc_ptr->header.stamp, *tf2_, gridmap_origin_frame_, map_frame_); + scan_origin = getPose(laserscan_pc_ptr->header.stamp, *tf2_, scan_origin_frame_, map_frame_); } catch (tf2::TransformException & ex) { RCLCPP_WARN_STREAM(get_logger(), ex.what()); return; @@ -231,16 +242,16 @@ void LaserscanBasedOccupancyGridMapNode::onLaserscanPointCloud2WithObstacleAndRa occupancy_grid_map_updater_ptr_->getSizeInCellsY(), occupancy_grid_map_updater_ptr_->getResolution()); single_frame_occupancy_grid_map.updateOrigin( - pose.position.x - single_frame_occupancy_grid_map.getSizeInMetersX() / 2, - pose.position.y - single_frame_occupancy_grid_map.getSizeInMetersY() / 2); + gridmap_origin.position.x - single_frame_occupancy_grid_map.getSizeInMetersX() / 2, + gridmap_origin.position.y - single_frame_occupancy_grid_map.getSizeInMetersY() / 2); single_frame_occupancy_grid_map.updateFreespaceCells(trans_raw_pc); - single_frame_occupancy_grid_map.raytrace2D(trans_laserscan_pc, pose); + single_frame_occupancy_grid_map.raytrace2D(trans_laserscan_pc, scan_origin); single_frame_occupancy_grid_map.updateOccupiedCells(trans_obstacle_pc); if (enable_single_frame_mode_) { // publish occupancy_grid_map_pub_->publish(OccupancyGridMapToMsgPtr( - map_frame_, laserscan_pc_ptr->header.stamp, pose.position.z, + map_frame_, laserscan_pc_ptr->header.stamp, gridmap_origin.position.z, single_frame_occupancy_grid_map)); } else { // Update with bayes filter @@ -248,7 +259,7 @@ void LaserscanBasedOccupancyGridMapNode::onLaserscanPointCloud2WithObstacleAndRa // publish occupancy_grid_map_pub_->publish(OccupancyGridMapToMsgPtr( - map_frame_, laserscan_pc_ptr->header.stamp, pose.position.z, + map_frame_, laserscan_pc_ptr->header.stamp, gridmap_origin.position.z, *occupancy_grid_map_updater_ptr_)); } } diff --git a/perception/probabilistic_occupancy_grid_map/src/pointcloud_based_occupancy_grid_map/occupancy_grid_map.cpp b/perception/probabilistic_occupancy_grid_map/src/pointcloud_based_occupancy_grid_map/occupancy_grid_map.cpp index 213db4330f850..b6b69ebf44391 100644 --- a/perception/probabilistic_occupancy_grid_map/src/pointcloud_based_occupancy_grid_map/occupancy_grid_map.cpp +++ b/perception/probabilistic_occupancy_grid_map/src/pointcloud_based_occupancy_grid_map/occupancy_grid_map.cpp @@ -81,6 +81,30 @@ void transformPointcloud( output.header.stamp = input.header.stamp; output.header.frame_id = ""; } + +/** + * @brief Get the Inverse Pose object + * + * @param input + * @return geometry_msgs::msg::Pose inverted pose + */ +geometry_msgs::msg::Pose getInversePose(const geometry_msgs::msg::Pose & pose) +{ + tf2::Vector3 position(pose.position.x, pose.position.y, pose.position.z); + tf2::Quaternion orientation( + pose.orientation.x, pose.orientation.y, pose.orientation.z, pose.orientation.w); + tf2::Transform tf(orientation, position); + const auto inv_tf = tf.inverse(); + geometry_msgs::msg::Pose inv_pose; + inv_pose.position.x = inv_tf.getOrigin().x(); + inv_pose.position.y = inv_tf.getOrigin().y(); + inv_pose.position.z = inv_tf.getOrigin().z(); + inv_pose.orientation.x = inv_tf.getRotation().x(); + inv_pose.orientation.y = inv_tf.getRotation().y(); + inv_pose.orientation.z = inv_tf.getRotation().z(); + inv_pose.orientation.w = inv_tf.getRotation().w(); + return inv_pose; +} } // namespace namespace costmap_2d @@ -165,22 +189,28 @@ void OccupancyGridMap::updateOrigin(double new_origin_x, double new_origin_y) * * @param raw_pointcloud raw point cloud on a certain frame (usually base_link) * @param obstacle_pointcloud raw point cloud on a certain frame (usually base_link) - * @param robot_pose frame of point cloud (usually base_link) - * @param gridmap_origin manually chosen grid map origin frame + * @param robot_pose frame of the input point cloud (usually base_link) + * @param scan_origin manually chosen grid map origin frame */ void OccupancyGridMap::updateWithPointCloud( const PointCloud2 & raw_pointcloud, const PointCloud2 & obstacle_pointcloud, - const Pose & robot_pose, const Pose & gridmap_origin) + const Pose & robot_pose, const Pose & scan_origin) { constexpr double min_angle = tier4_autoware_utils::deg2rad(-180.0); constexpr double max_angle = tier4_autoware_utils::deg2rad(180.0); constexpr double angle_increment = tier4_autoware_utils::deg2rad(0.1); const size_t angle_bin_size = ((max_angle - min_angle) / angle_increment) + size_t(1 /*margin*/); - // Transform to map frame - PointCloud2 trans_raw_pointcloud, trans_obstacle_pointcloud; - transformPointcloud(raw_pointcloud, robot_pose, trans_raw_pointcloud); - transformPointcloud(obstacle_pointcloud, robot_pose, trans_obstacle_pointcloud); + // Transform from base_link to map frame + PointCloud2 map_raw_pointcloud, map_obstacle_pointcloud; // point cloud in map frame + transformPointcloud(raw_pointcloud, robot_pose, map_raw_pointcloud); + transformPointcloud(obstacle_pointcloud, robot_pose, map_obstacle_pointcloud); + + // Transform from map frame to scan frame + PointCloud2 scan_raw_pointcloud, scan_obstacle_pointcloud; // point cloud in scan frame + const auto scan2map_pose = getInversePose(scan_origin); // scan -> map transform pose + transformPointcloud(map_raw_pointcloud, scan2map_pose, scan_raw_pointcloud); + transformPointcloud(map_obstacle_pointcloud, scan2map_pose, scan_obstacle_pointcloud); // Create angle bins struct BinInfo @@ -198,17 +228,18 @@ void OccupancyGridMap::updateWithPointCloud( std::vector> raw_pointcloud_angle_bins; obstacle_pointcloud_angle_bins.resize(angle_bin_size); raw_pointcloud_angle_bins.resize(angle_bin_size); - for (PointCloud2ConstIterator iter_x(raw_pointcloud, "x"), iter_y(raw_pointcloud, "y"), - iter_wx(trans_raw_pointcloud, "x"), iter_wy(trans_raw_pointcloud, "y"); + for (PointCloud2ConstIterator iter_x(scan_raw_pointcloud, "x"), + iter_y(scan_raw_pointcloud, "y"), iter_wx(map_raw_pointcloud, "x"), + iter_wy(map_raw_pointcloud, "y"); iter_x != iter_x.end(); ++iter_x, ++iter_y, ++iter_wx, ++iter_wy) { const double angle = atan2(*iter_y, *iter_x); const int angle_bin_index = (angle - min_angle) / angle_increment; raw_pointcloud_angle_bins.at(angle_bin_index) .push_back(BinInfo(std::hypot(*iter_y, *iter_x), *iter_wx, *iter_wy)); } - for (PointCloud2ConstIterator iter_x(obstacle_pointcloud, "x"), - iter_y(obstacle_pointcloud, "y"), iter_wx(trans_obstacle_pointcloud, "x"), - iter_wy(trans_obstacle_pointcloud, "y"); + for (PointCloud2ConstIterator iter_x(scan_obstacle_pointcloud, "x"), + iter_y(scan_obstacle_pointcloud, "y"), iter_wx(map_obstacle_pointcloud, "x"), + iter_wy(map_obstacle_pointcloud, "y"); iter_x != iter_x.end(); ++iter_x, ++iter_y, ++iter_wx, ++iter_wy) { const double angle = atan2(*iter_y, *iter_x); int angle_bin_index = (angle - min_angle) / angle_increment; @@ -248,7 +279,7 @@ void OccupancyGridMap::updateWithPointCloud( : obstacle_pointcloud_angle_bin.back(); } raytrace( - gridmap_origin.position.x, gridmap_origin.position.y, end_distance.wx, end_distance.wy, + scan_origin.position.x, scan_origin.position.y, end_distance.wx, end_distance.wy, occupancy_cost_value::FREE_SPACE); } diff --git a/perception/probabilistic_occupancy_grid_map/src/pointcloud_based_occupancy_grid_map/pointcloud_based_occupancy_grid_map_node.cpp b/perception/probabilistic_occupancy_grid_map/src/pointcloud_based_occupancy_grid_map/pointcloud_based_occupancy_grid_map_node.cpp index cbfcce22d1b61..c594a0be0703f 100644 --- a/perception/probabilistic_occupancy_grid_map/src/pointcloud_based_occupancy_grid_map/pointcloud_based_occupancy_grid_map_node.cpp +++ b/perception/probabilistic_occupancy_grid_map/src/pointcloud_based_occupancy_grid_map/pointcloud_based_occupancy_grid_map_node.cpp @@ -93,6 +93,18 @@ geometry_msgs::msg::Pose getPose( pose = tier4_autoware_utils::transform2pose(tf_stamped.transform); return pose; } + +geometry_msgs::msg::Pose getPose( + const builtin_interfaces::msg::Time & stamp, const tf2_ros::Buffer & tf2, + const std::string & source_frame, const std::string & target_frame) +{ + geometry_msgs::msg::Pose pose; + geometry_msgs::msg::TransformStamped tf_stamped; + tf_stamped = + tf2.lookupTransform(target_frame, source_frame, stamp, rclcpp::Duration::from_seconds(0.5)); + pose = tier4_autoware_utils::transform2pose(tf_stamped.transform); + return pose; +} } // namespace namespace occupancy_grid_map @@ -111,7 +123,8 @@ PointcloudBasedOccupancyGridMapNode::PointcloudBasedOccupancyGridMapNode( /* params */ map_frame_ = declare_parameter("map_frame", "map"); base_link_frame_ = declare_parameter("base_link_frame", "base_link"); - output_frame_ = declare_parameter("output_frame", "base_link"); + gridmap_origin_frame_ = declare_parameter("gridmap_origin_frame", "base_link"); + scan_origin_frame_ = declare_parameter("scan_origin_frame", "base_link"); use_height_filter_ = declare_parameter("use_height_filter", true); enable_single_frame_mode_ = declare_parameter("enable_single_frame_mode", false); const double map_length{declare_parameter("map_length", 100.0)}; @@ -174,12 +187,11 @@ void PointcloudBasedOccupancyGridMapNode::onPointcloudWithObstacleAndRaw( // Get from map to sensor frame pose Pose robot_pose{}; Pose gridmap_origin{}; + Pose scan_origin{}; try { robot_pose = getPose(input_raw_msg->header, *tf2_, map_frame_); - geometry_msgs::msg::TransformStamped tf_stamped; - tf_stamped = tf2_->lookupTransform( - map_frame_, output_frame_, input_raw_msg->header.stamp, rclcpp::Duration::from_seconds(0.5)); - gridmap_origin = tier4_autoware_utils::transform2pose(tf_stamped.transform); + gridmap_origin = getPose(input_raw_msg->header.stamp, *tf2_, gridmap_origin_frame_, map_frame_); + scan_origin = getPose(input_raw_msg->header.stamp, *tf2_, scan_origin_frame_, map_frame_); } catch (tf2::TransformException & ex) { RCLCPP_WARN_STREAM(get_logger(), ex.what()); return; @@ -194,7 +206,7 @@ void PointcloudBasedOccupancyGridMapNode::onPointcloudWithObstacleAndRaw( gridmap_origin.position.x - single_frame_occupancy_grid_map.getSizeInMetersX() / 2, gridmap_origin.position.y - single_frame_occupancy_grid_map.getSizeInMetersY() / 2); single_frame_occupancy_grid_map.updateWithPointCloud( - filtered_raw_pc, filtered_obstacle_pc, robot_pose, gridmap_origin); + filtered_raw_pc, filtered_obstacle_pc, robot_pose, scan_origin); if (enable_single_frame_mode_) { // publish From fc32b0fc826bafef0231c3b09fd9917e750ef2e2 Mon Sep 17 00:00:00 2001 From: Takamasa Horibe Date: Tue, 14 Mar 2023 20:47:11 +0900 Subject: [PATCH 040/121] refactor(trajectory_follower_node): remove unnecessary cmake code (#2769) Signed-off-by: Takamasa Horibe --- control/trajectory_follower_node/CMakeLists.txt | 4 ---- 1 file changed, 4 deletions(-) diff --git a/control/trajectory_follower_node/CMakeLists.txt b/control/trajectory_follower_node/CMakeLists.txt index a2316a6db30d2..4ba5bee16eb2d 100644 --- a/control/trajectory_follower_node/CMakeLists.txt +++ b/control/trajectory_follower_node/CMakeLists.txt @@ -10,7 +10,6 @@ ament_auto_add_library(${CONTROLLER_NODE} SHARED src/controller_node.cpp ) -target_compile_options(${CONTROLLER_NODE} PRIVATE -Wno-error=old-style-cast) rclcpp_components_register_node(${CONTROLLER_NODE} PLUGIN "autoware::motion::control::trajectory_follower_node::Controller" EXECUTABLE ${CONTROLLER_NODE}_exe @@ -23,9 +22,6 @@ ament_auto_add_library(${SIMPLE_TRAJECTORY_FOLLOWER_NODE} SHARED src/simple_trajectory_follower.cpp ) -# TODO(simple_trajectory_follower) : RCLCPP_ERROR_THROTTLE() has built-in old-style casts. -# TODO(simple_trajectory_follower) : Temporary workaround until this is fixed. -target_compile_options(${SIMPLE_TRAJECTORY_FOLLOWER_NODE} PRIVATE -Wno-error=old-style-cast) rclcpp_components_register_node(${SIMPLE_TRAJECTORY_FOLLOWER_NODE} PLUGIN "simple_trajectory_follower::SimpleTrajectoryFollower" EXECUTABLE ${SIMPLE_TRAJECTORY_FOLLOWER_NODE}_exe From 5e29ea07f1c1eeb2103df4c22372c0a9173ac20b Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Tue, 14 Mar 2023 22:00:34 +0900 Subject: [PATCH 041/121] fix(lane_departure_checker): use kinematic state for ego pose (#3057) Signed-off-by: Takayuki Murooka --- .../lane_departure_checker.hpp | 1 - .../lane_departure_checker_node.hpp | 3 --- .../lane_departure_checker.cpp | 2 +- .../lane_departure_checker_node.cpp | 15 ++------------- 4 files changed, 3 insertions(+), 18 deletions(-) diff --git a/control/lane_departure_checker/include/lane_departure_checker/lane_departure_checker.hpp b/control/lane_departure_checker/include/lane_departure_checker/lane_departure_checker.hpp index 9605f53cde1d3..244e75210cec3 100644 --- a/control/lane_departure_checker/include/lane_departure_checker/lane_departure_checker.hpp +++ b/control/lane_departure_checker/include/lane_departure_checker/lane_departure_checker.hpp @@ -66,7 +66,6 @@ struct Param struct Input { - geometry_msgs::msg::PoseStamped::ConstSharedPtr current_pose{}; nav_msgs::msg::Odometry::ConstSharedPtr current_odom{}; lanelet::LaneletMapPtr lanelet_map{}; LaneletRoute::ConstSharedPtr route{}; diff --git a/control/lane_departure_checker/include/lane_departure_checker/lane_departure_checker_node.hpp b/control/lane_departure_checker/include/lane_departure_checker/lane_departure_checker_node.hpp index 6d8f267384075..85fd73c63f544 100644 --- a/control/lane_departure_checker/include/lane_departure_checker/lane_departure_checker_node.hpp +++ b/control/lane_departure_checker/include/lane_departure_checker/lane_departure_checker_node.hpp @@ -23,7 +23,6 @@ #include #include #include -#include #include #include @@ -61,7 +60,6 @@ class LaneDepartureCheckerNode : public rclcpp::Node private: // Subscriber - tier4_autoware_utils::SelfPoseListener self_pose_listener_{this}; rclcpp::Subscription::SharedPtr sub_odom_; rclcpp::Subscription::SharedPtr sub_lanelet_map_bin_; rclcpp::Subscription::SharedPtr sub_route_; @@ -69,7 +67,6 @@ class LaneDepartureCheckerNode : public rclcpp::Node rclcpp::Subscription::SharedPtr sub_predicted_trajectory_; // Data Buffer - geometry_msgs::msg::PoseStamped::ConstSharedPtr current_pose_; nav_msgs::msg::Odometry::ConstSharedPtr current_odom_; lanelet::LaneletMapPtr lanelet_map_; lanelet::ConstLanelets shoulder_lanelets_; diff --git a/control/lane_departure_checker/src/lane_departure_checker_node/lane_departure_checker.cpp b/control/lane_departure_checker/src/lane_departure_checker_node/lane_departure_checker.cpp index 1d594180a638b..1a63fb3eb395b 100644 --- a/control/lane_departure_checker/src/lane_departure_checker_node/lane_departure_checker.cpp +++ b/control/lane_departure_checker/src/lane_departure_checker_node/lane_departure_checker.cpp @@ -100,7 +100,7 @@ Output LaneDepartureChecker::update(const Input & input) tier4_autoware_utils::StopWatch stop_watch; output.trajectory_deviation = calcTrajectoryDeviation( - *input.reference_trajectory, input.current_pose->pose, param_.ego_nearest_dist_threshold, + *input.reference_trajectory, input.current_odom->pose.pose, param_.ego_nearest_dist_threshold, param_.ego_nearest_yaw_threshold); output.processing_time_map["calcTrajectoryDeviation"] = stop_watch.toc(true); diff --git a/control/lane_departure_checker/src/lane_departure_checker_node/lane_departure_checker_node.cpp b/control/lane_departure_checker/src/lane_departure_checker_node/lane_departure_checker_node.cpp index c60cf59de2407..a3508018e0869 100644 --- a/control/lane_departure_checker/src/lane_departure_checker_node/lane_departure_checker_node.cpp +++ b/control/lane_departure_checker/src/lane_departure_checker_node/lane_departure_checker_node.cpp @@ -183,9 +183,6 @@ LaneDepartureCheckerNode::LaneDepartureCheckerNode(const rclcpp::NodeOptions & o updater_.add("trajectory_deviation", this, &LaneDepartureCheckerNode::checkTrajectoryDeviation); - // Wait for first self pose - self_pose_listener_.waitForFirstPose(); - // Timer const auto period_ns = rclcpp::Rate(node_param_.update_rate).period(); timer_ = rclcpp::create_timer( @@ -221,11 +218,6 @@ void LaneDepartureCheckerNode::onPredictedTrajectory(const Trajectory::ConstShar bool LaneDepartureCheckerNode::isDataReady() { - if (!current_pose_) { - RCLCPP_INFO_THROTTLE(get_logger(), *get_clock(), 5000, "waiting for current_pose..."); - return false; - } - if (!current_odom_) { RCLCPP_INFO_THROTTLE(get_logger(), *get_clock(), 5000, "waiting for current_twist msg..."); return false; @@ -261,7 +253,7 @@ bool LaneDepartureCheckerNode::isDataTimeout() const auto now = this->now(); constexpr double th_pose_timeout = 1.0; - const auto pose_time_diff = rclcpp::Time(current_pose_->header.stamp) - now; + const auto pose_time_diff = rclcpp::Time(current_odom_->header.stamp) - now; if (pose_time_diff.seconds() > th_pose_timeout) { RCLCPP_WARN_THROTTLE(get_logger(), *get_clock(), 5000, "pose is timeout..."); return true; @@ -293,8 +285,6 @@ void LaneDepartureCheckerNode::onTimer() tier4_autoware_utils::StopWatch stop_watch; stop_watch.tic("Total"); - current_pose_ = self_pose_listener_.getCurrentPose(); - if (!isDataReady()) { return; } @@ -337,7 +327,6 @@ void LaneDepartureCheckerNode::onTimer() processing_time_map["Node: getRouteLanelets"] = stop_watch.toc(true); input_.current_odom = current_odom_; - input_.current_pose = current_pose_; input_.lanelet_map = lanelet_map_; input_.route = route_; input_.route_lanelets = route_lanelets_; @@ -471,7 +460,7 @@ visualization_msgs::msg::MarkerArray LaneDepartureCheckerNode::createMarkerArray visualization_msgs::msg::MarkerArray marker_array; - const auto base_link_z = current_pose_->pose.position.z; + const auto base_link_z = current_odom_->pose.pose.position.z; if (node_param_.visualize_lanelet) { // Route Lanelets From 5a0d672a96a4bc9c307c966d8ad271d81a3d145e Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Tue, 14 Mar 2023 23:17:43 +0900 Subject: [PATCH 042/121] feat(tier4_autoware_utils): add expandPolygon function (#3052) * feat(tier4_autoware_utils): add expandPolygon function Signed-off-by: Takayuki Murooka * update comments Signed-off-by: Takayuki Murooka * add test Signed-off-by: Takayuki Murooka --------- Signed-off-by: Takayuki Murooka --- .../geometry/boost_polygon_utils.hpp | 2 +- .../src/geometry/boost_polygon_utils.cpp | 33 +++++++++++++++ .../src/geometry/test_boost_polygon_utils.cpp | 42 +++++++++++++++++++ .../src/util/avoidance/util.cpp | 38 ++--------------- 4 files changed, 80 insertions(+), 35 deletions(-) diff --git a/common/tier4_autoware_utils/include/tier4_autoware_utils/geometry/boost_polygon_utils.hpp b/common/tier4_autoware_utils/include/tier4_autoware_utils/geometry/boost_polygon_utils.hpp index 14026d47abdbb..99e3018962eb2 100644 --- a/common/tier4_autoware_utils/include/tier4_autoware_utils/geometry/boost_polygon_utils.hpp +++ b/common/tier4_autoware_utils/include/tier4_autoware_utils/geometry/boost_polygon_utils.hpp @@ -44,7 +44,7 @@ Polygon2d toPolygon2d(const autoware_auto_perception_msgs::msg::DetectedObject & Polygon2d toPolygon2d(const autoware_auto_perception_msgs::msg::TrackedObject & object); Polygon2d toPolygon2d(const autoware_auto_perception_msgs::msg::PredictedObject & object); double getArea(const autoware_auto_perception_msgs::msg::Shape & shape); - +Polygon2d expandPolygon(const Polygon2d & input_polygon, const double offset); } // namespace tier4_autoware_utils #endif // TIER4_AUTOWARE_UTILS__GEOMETRY__BOOST_POLYGON_UTILS_HPP_ diff --git a/common/tier4_autoware_utils/src/geometry/boost_polygon_utils.cpp b/common/tier4_autoware_utils/src/geometry/boost_polygon_utils.cpp index c08fd6c22c357..2cdb385d19ad6 100644 --- a/common/tier4_autoware_utils/src/geometry/boost_polygon_utils.cpp +++ b/common/tier4_autoware_utils/src/geometry/boost_polygon_utils.cpp @@ -210,4 +210,37 @@ double getArea(const autoware_auto_perception_msgs::msg::Shape & shape) throw std::logic_error("The shape type is not supported in tier4_autoware_utils."); } + +// NOTE: The number of vertices on the expanded polygon by boost::geometry::buffer +// is larger than the original one. +// This function fixes the issue. +Polygon2d expandPolygon(const Polygon2d & input_polygon, const double offset) +{ + // NOTE: input_polygon is supposed to have a duplicated point. + const size_t num_points = input_polygon.outer().size() - 1; + + Polygon2d expanded_polygon; + for (size_t i = 0; i < num_points; ++i) { + const auto & curr_p = input_polygon.outer().at(i); + const auto & next_p = input_polygon.outer().at(i + 1); + const auto & prev_p = + i == 0 ? input_polygon.outer().at(num_points - 1) : input_polygon.outer().at(i - 1); + + Eigen::Vector2d current_to_next(next_p.x() - curr_p.x(), next_p.y() - curr_p.y()); + Eigen::Vector2d current_to_prev(prev_p.x() - curr_p.x(), prev_p.y() - curr_p.y()); + current_to_next.normalize(); + current_to_prev.normalize(); + + const Eigen::Vector2d offset_vector = (-current_to_next - current_to_prev).normalized(); + const double theta = std::acos(offset_vector.dot(current_to_next)); + const double scaled_offset = offset / std::sin(theta); + const Eigen::Vector2d offset_point = + Eigen::Vector2d(curr_p.x(), curr_p.y()) + offset_vector * scaled_offset; + + expanded_polygon.outer().push_back(Point2d(offset_point.x(), offset_point.y())); + } + + boost::geometry::correct(expanded_polygon); + return expanded_polygon; +} } // namespace tier4_autoware_utils diff --git a/common/tier4_autoware_utils/test/src/geometry/test_boost_polygon_utils.cpp b/common/tier4_autoware_utils/test/src/geometry/test_boost_polygon_utils.cpp index 421e434c60e1e..3e028a481e380 100644 --- a/common/tier4_autoware_utils/test/src/geometry/test_boost_polygon_utils.cpp +++ b/common/tier4_autoware_utils/test/src/geometry/test_boost_polygon_utils.cpp @@ -259,3 +259,45 @@ TEST(boost_geometry, boost_getArea) EXPECT_DOUBLE_EQ(anti_clock_wise_area, x * y); } } + +TEST(boost_geometry, boost_expandPolygon) +{ + using tier4_autoware_utils::expandPolygon; + + { // box with a certain offset + Polygon2d box_poly{{{-1.0, -1.0}, {-1.0, 1.0}, {1.0, 1.0}, {1.0, -1.0}, {-1.0, -1.0}}}; + const auto expanded_poly = expandPolygon(box_poly, 1.0); + + EXPECT_DOUBLE_EQ(expanded_poly.outer().at(0).x(), -2.0); + EXPECT_DOUBLE_EQ(expanded_poly.outer().at(0).y(), -2.0); + EXPECT_DOUBLE_EQ(expanded_poly.outer().at(1).x(), -2.0); + EXPECT_DOUBLE_EQ(expanded_poly.outer().at(1).y(), 2.0); + EXPECT_DOUBLE_EQ(expanded_poly.outer().at(2).x(), 2.0); + EXPECT_DOUBLE_EQ(expanded_poly.outer().at(2).y(), 2.0); + EXPECT_DOUBLE_EQ(expanded_poly.outer().at(3).x(), 2.0); + EXPECT_DOUBLE_EQ(expanded_poly.outer().at(3).y(), -2.0); + EXPECT_DOUBLE_EQ(expanded_poly.outer().at(4).x(), -2.0); + EXPECT_DOUBLE_EQ(expanded_poly.outer().at(4).y(), -2.0); + } + + { // box with no offset + Polygon2d box_poly{{{-1.0, -1.0}, {-1.0, 1.0}, {1.0, 1.0}, {1.0, -1.0}, {-1.0, -1.0}}}; + const auto expanded_poly = expandPolygon(box_poly, 0.0); + + EXPECT_DOUBLE_EQ(expanded_poly.outer().at(0).x(), -1.0); + EXPECT_DOUBLE_EQ(expanded_poly.outer().at(0).y(), -1.0); + EXPECT_DOUBLE_EQ(expanded_poly.outer().at(1).x(), -1.0); + EXPECT_DOUBLE_EQ(expanded_poly.outer().at(1).y(), 1.0); + EXPECT_DOUBLE_EQ(expanded_poly.outer().at(2).x(), 1.0); + EXPECT_DOUBLE_EQ(expanded_poly.outer().at(2).y(), 1.0); + EXPECT_DOUBLE_EQ(expanded_poly.outer().at(3).x(), 1.0); + EXPECT_DOUBLE_EQ(expanded_poly.outer().at(3).y(), -1.0); + EXPECT_DOUBLE_EQ(expanded_poly.outer().at(4).x(), -1.0); + EXPECT_DOUBLE_EQ(expanded_poly.outer().at(4).y(), -1.0); + } + + { // empty polygon + Polygon2d empty_poly; + EXPECT_THROW(expandPolygon(empty_poly, 1.0), std::out_of_range); + } +} diff --git a/planning/behavior_path_planner/src/util/avoidance/util.cpp b/planning/behavior_path_planner/src/util/avoidance/util.cpp index b1d1c5d2017fe..6681fd19e7d00 100644 --- a/planning/behavior_path_planner/src/util/avoidance/util.cpp +++ b/planning/behavior_path_planner/src/util/avoidance/util.cpp @@ -230,38 +230,6 @@ double calcDecelDistPlanType3(const double v0, const double a0, const double ja) return x1; } -tier4_autoware_utils::Polygon2d expandPolygon( - const tier4_autoware_utils::Polygon2d & input_polygon, const double offset) -{ - // NOTE: There is a duplicated point. - const size_t num_points = input_polygon.outer().size() - 1; - - tier4_autoware_utils::Polygon2d expanded_polygon; - for (size_t i = 0; i < num_points; ++i) { - const auto & curr_p = input_polygon.outer().at(i); - const auto & next_p = input_polygon.outer().at(i + 1); - const auto & prev_p = - i == 0 ? input_polygon.outer().at(num_points - 1) : input_polygon.outer().at(i - 1); - - Eigen::Vector2d current_to_next(next_p.x() - curr_p.x(), next_p.y() - curr_p.y()); - Eigen::Vector2d current_to_prev(prev_p.x() - curr_p.x(), prev_p.y() - curr_p.y()); - current_to_next.normalize(); - current_to_prev.normalize(); - - const Eigen::Vector2d offset_vector = (-current_to_next - current_to_prev).normalized(); - const double theta = std::acos(offset_vector.dot(current_to_next)); - const double scaled_offset = offset / std::sin(theta); - const Eigen::Vector2d offset_point = - Eigen::Vector2d(curr_p.x(), curr_p.y()) + offset_vector * scaled_offset; - - expanded_polygon.outer().push_back( - tier4_autoware_utils::Point2d(offset_point.x(), offset_point.y())); - } - - boost::geometry::correct(expanded_polygon); - return expanded_polygon; -} - boost::optional intersect( const geometry_msgs::msg::Point & p1, const geometry_msgs::msg::Point & p2, const geometry_msgs::msg::Point & p3, const geometry_msgs::msg::Point & p4) @@ -834,7 +802,8 @@ Polygon2d createEnvelopePolygon( tf2::doTransform( toMsg(envelope_poly, closest_pose.position.z), envelope_ros_polygon, geometry_tf); - const auto expanded_polygon = expandPolygon(toPolygon2d(envelope_ros_polygon), envelope_buffer); + const auto expanded_polygon = + tier4_autoware_utils::expandPolygon(toPolygon2d(envelope_ros_polygon), envelope_buffer); return expanded_polygon; } @@ -869,7 +838,8 @@ void generateDrivableArea( const auto & obj_pose = object.object.kinematics.initial_pose_with_covariance.pose; const double diff_poly_buffer = object.avoid_margin.get() - original_object_buffer - planner_data->parameters.vehicle_width / 2.0; - const auto obj_poly = expandPolygon(object.envelope_poly, diff_poly_buffer); + const auto obj_poly = + tier4_autoware_utils::expandPolygon(object.envelope_poly, diff_poly_buffer); // get edge points of the object const size_t nearest_path_idx = motion_utils::findNearestIndex( From edafc462c3a33474d6059034254fb22388c17d41 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Wed, 15 Mar 2023 09:52:45 +0900 Subject: [PATCH 043/121] docs(obstacle avoidance planner): update the docs (#2963) * update doc for obstacle_avoidance_planner Signed-off-by: Takayuki Murooka * update Signed-off-by: Takayuki Murooka * update rviz config Signed-off-by: Takayuki Murooka * update Signed-off-by: Takayuki Murooka * update Signed-off-by: Takayuki Murooka --------- Signed-off-by: Takayuki Murooka --- .../obstacle_avoidance_planner/CMakeLists.txt | 7 +- planning/obstacle_avoidance_planner/README.md | 54 +- .../obstacle_avoidance_planner/docs/debug.md | 235 ++- .../obstacle_avoidance_planner/docs/eb.md | 45 +- .../obstacle_avoidance_planner/docs/mpt.md | 39 - .../launch/launch_visualization.launch.xml | 18 + .../media/area_with_objects.png | Bin 67477 -> 0 bytes .../media/behavior_path.png | Bin 14745 -> 0 bytes .../media/bounds.png | Bin 18960 -> 0 bytes .../media/bounds_line.png | Bin 113616 -> 0 bytes .../media/calculation_cost_plot.svg | 1257 -------------- .../media/clearance_map.png | Bin 101878 -> 0 bytes .../media/debug/bounds_visualization.png | Bin 0 -> 153970 bytes .../media/debug/calculation_time_plot.png | Bin 0 -> 48642 bytes .../debug/drivable_area_visualization.png | Bin 0 -> 151456 bytes .../debug/eb_fixed_traj_visualization.png | Bin 0 -> 152554 bytes .../media/debug/eb_traj_visualization.png | Bin 0 -> 184033 bytes .../debug/mpt_fixed_traj_visualization.png | Bin 0 -> 152291 bytes .../debug/mpt_ref_traj_visualization.png | Bin 0 -> 181075 bytes .../media/debug/mpt_traj_visualization.png | Bin 0 -> 184562 bytes .../debug/path_footprint_visualization.png | Bin 0 -> 188692 bytes .../media/debug/path_visualization.png | Bin 0 -> 151456 bytes .../debug/traj_footprint_visualization.png | Bin 0 -> 201639 bytes .../media/debug/traj_visualization.png | Bin 0 -> 151456 bytes .../debug/vehicle_circles_visualization.png | Bin 0 -> 127430 bytes .../vehicle_traj_circles_visualization.png | Bin 0 -> 212424 bytes .../media/drivable_area.png | Bin 14299 -> 0 bytes .../media/eb_traj.png | Bin 15264 -> 0 bytes .../media/interpolated_points_marker.png | Bin 82506 -> 0 bytes .../media/mpt_fixed_traj.png | Bin 13916 -> 0 bytes .../media/mpt_ref_traj.png | Bin 14982 -> 0 bytes .../media/mpt_traj.png | Bin 16265 -> 0 bytes .../media/object_clearance_map.png | Bin 329688 -> 0 bytes .../media/object_clearance_map_updates.png | Bin 166998 -> 0 bytes ...cle_avoidance_planner_flowchart.drawio.svg | 445 ----- .../media/obstacle_to_avoid.drawio.svg | 205 --- .../media/optimized_points_marker.png | Bin 127072 -> 0 bytes .../media/output_traj.png | Bin 17862 -> 0 bytes .../media/smoothed_points_text.png | Bin 113393 -> 0 bytes .../media/trajectory_with_footprint.png | Bin 129006 -> 0 bytes .../rviz/obstacle_avoidance_planner.rviz | 1467 +++++++++++++++++ .../scripts/calclation_time_plotter.py | 7 +- .../src/debug_marker.cpp | 6 +- 43 files changed, 1712 insertions(+), 2073 deletions(-) create mode 100644 planning/obstacle_avoidance_planner/launch/launch_visualization.launch.xml delete mode 100644 planning/obstacle_avoidance_planner/media/area_with_objects.png delete mode 100644 planning/obstacle_avoidance_planner/media/behavior_path.png delete mode 100644 planning/obstacle_avoidance_planner/media/bounds.png delete mode 100644 planning/obstacle_avoidance_planner/media/bounds_line.png delete mode 100644 planning/obstacle_avoidance_planner/media/calculation_cost_plot.svg delete mode 100644 planning/obstacle_avoidance_planner/media/clearance_map.png create mode 100644 planning/obstacle_avoidance_planner/media/debug/bounds_visualization.png create mode 100644 planning/obstacle_avoidance_planner/media/debug/calculation_time_plot.png create mode 100644 planning/obstacle_avoidance_planner/media/debug/drivable_area_visualization.png create mode 100644 planning/obstacle_avoidance_planner/media/debug/eb_fixed_traj_visualization.png create mode 100644 planning/obstacle_avoidance_planner/media/debug/eb_traj_visualization.png create mode 100644 planning/obstacle_avoidance_planner/media/debug/mpt_fixed_traj_visualization.png create mode 100644 planning/obstacle_avoidance_planner/media/debug/mpt_ref_traj_visualization.png create mode 100644 planning/obstacle_avoidance_planner/media/debug/mpt_traj_visualization.png create mode 100644 planning/obstacle_avoidance_planner/media/debug/path_footprint_visualization.png create mode 100644 planning/obstacle_avoidance_planner/media/debug/path_visualization.png create mode 100644 planning/obstacle_avoidance_planner/media/debug/traj_footprint_visualization.png create mode 100644 planning/obstacle_avoidance_planner/media/debug/traj_visualization.png create mode 100644 planning/obstacle_avoidance_planner/media/debug/vehicle_circles_visualization.png create mode 100644 planning/obstacle_avoidance_planner/media/debug/vehicle_traj_circles_visualization.png delete mode 100644 planning/obstacle_avoidance_planner/media/drivable_area.png delete mode 100644 planning/obstacle_avoidance_planner/media/eb_traj.png delete mode 100644 planning/obstacle_avoidance_planner/media/interpolated_points_marker.png delete mode 100644 planning/obstacle_avoidance_planner/media/mpt_fixed_traj.png delete mode 100644 planning/obstacle_avoidance_planner/media/mpt_ref_traj.png delete mode 100644 planning/obstacle_avoidance_planner/media/mpt_traj.png delete mode 100644 planning/obstacle_avoidance_planner/media/object_clearance_map.png delete mode 100644 planning/obstacle_avoidance_planner/media/object_clearance_map_updates.png delete mode 100644 planning/obstacle_avoidance_planner/media/obstacle_avoidance_planner_flowchart.drawio.svg delete mode 100644 planning/obstacle_avoidance_planner/media/obstacle_to_avoid.drawio.svg delete mode 100644 planning/obstacle_avoidance_planner/media/optimized_points_marker.png delete mode 100644 planning/obstacle_avoidance_planner/media/output_traj.png delete mode 100644 planning/obstacle_avoidance_planner/media/smoothed_points_text.png delete mode 100644 planning/obstacle_avoidance_planner/media/trajectory_with_footprint.png create mode 100644 planning/obstacle_avoidance_planner/rviz/obstacle_avoidance_planner.rviz mode change 100644 => 100755 planning/obstacle_avoidance_planner/scripts/calclation_time_plotter.py diff --git a/planning/obstacle_avoidance_planner/CMakeLists.txt b/planning/obstacle_avoidance_planner/CMakeLists.txt index 89fa09e23dce4..c851de40aa9ec 100644 --- a/planning/obstacle_avoidance_planner/CMakeLists.txt +++ b/planning/obstacle_avoidance_planner/CMakeLists.txt @@ -49,6 +49,11 @@ rclcpp_components_register_node(obstacle_avoidance_planner ament_auto_package( INSTALL_TO_SHARE launch - scripts config + rviz +) + +install(PROGRAMS + scripts/calclation_time_plotter.py + DESTINATION lib/${PROJECT_NAME} ) diff --git a/planning/obstacle_avoidance_planner/README.md b/planning/obstacle_avoidance_planner/README.md index 1a03b695aa699..200e1f9d26eb0 100644 --- a/planning/obstacle_avoidance_planner/README.md +++ b/planning/obstacle_avoidance_planner/README.md @@ -132,6 +132,11 @@ Some examples are shown in the following figure, and it is shown that the trajec More details can be seen [here](docs/mpt.md). +### applyInputVelocity + +Velocity is assigned in the optimized trajectory from the velocity in the behavior path. +The shapes of the optimized trajectory and the path are different, therefore the each nearest trajectory point to the path is searched and the velocity is interpolated with zero-order hold. + ### insertZeroVelocityOutsideDrivableArea Optimized trajectory is too short for velocity planning, therefore extend the trajectory by concatenating the optimized trajectory and the behavior path considering drivability. @@ -155,11 +160,6 @@ _Rationale_ In the current design, since there are some modelling errors, the constraints are considered to be soft constraints. Therefore, we have to make sure that the optimized trajectory is inside the drivable area or not after optimization. -### alignVelocity - -Velocity is assigned in the result trajectory from the velocity in the behavior path. -The shapes of the trajectory and the path are different, therefore the each nearest trajectory point to the path is searched and interpolated linearly. - ## Limitation - Computation cost is sometimes high. @@ -192,41 +192,21 @@ Although it has a cons to converge to the local minima, it can get a good soluti ### Drivability in narrow roads -- set `option.drivability_check.use_vehicle_circles` true - - use a set of circles as a shape of the vehicle when checking if the generated trajectory will be outside the drivable area. -- make `mpt.clearance.soft_clearance_from_road` smaller -- make `mpt.kinematics.optimization_center_offset` different +- modify `mpt.clearance.soft_clearance_from_road` + - This parameter describes how much margin to make between the trajectory and road boundaries. + - Due to the model error for optimization, the constraint such as collision-free is not fully met. + - By making this parameter larger, the is for narrow-road driving may be resolved. 12180 +- modify `mpt.kinematics.optimization_center_offset` - - The point on the vehicle, offset forward from the base link` tries to follow the reference path. + - The point on the vehicle, offset forward with this parameter from the base link` tries to follow the reference path. - - This may cause the a part of generated trajectory will be outside the drivable area. +- change or tune the method to approximate footprints with a set of circles. + - See [here](https://autowarefoundation.github.io/autoware.universe/main/planning/obstacle_avoidance_planner/docs/mpt/#collision-free) + - Tuning means changing the ratio of circle's radius. ### Computation time -- Loose EB optimization - - - 1. make `eb.common.delta_arc_length` large and `eb.common.num_points` small - - This makes the number of design variables smaller - - Be careful about the trajectory length between MPT and EB as shown in Assumptions. - - However, empirically this causes large turn at the corner (e.g. The vehicle turns a steering wheel to the opposite side (=left) a bit just before the corner turning to right) - - 2. make `eb.qp.eps_abs` and `eb.qp.eps_rel` small - - This causes very unstable reference path generation for MPT, or turning a steering wheel a little bit larger - -- Enable computation reduction flag - - - 1. set l_inf_norm true (by default) - - use L-inf norm optimization for MPT w.r.t. slack variables, resulting in lower number of design variables - - 2. set enable_warm_start true - - 3. set enable_manual_warm_start true (by default) - - 4. set steer_limit_constraint false - - This causes no assumption for trajectory generation where steering angle will not exceeds its hardware limitation - - 5. make the number of collision-free constraints small - - How to change parameters depend on the type of collision-free constraints - - If - - This may cause the trajectory generation where a part of ego vehicle is out of drivable area - -- Disable publishing debug visualization markers - - set `option.is_publishing_*` false +- under construction ### Robustness @@ -243,10 +223,6 @@ Although it has a cons to converge to the local minima, it can get a good soluti - EB is not required if the reference path for MPT is smooth enough and does not change its shape suddenly - `option.enable_calculation_time_info` enables showing each calculation time for functions and total calculation time on the terminal. - `option.enable_outside_drivable_area_stop` enables stopping just before the generated trajectory point will be outside the drivable area. -- `mpt.option.plan_from_ego` enables planning from the ego pose when the ego's velocity is zero. -- `mpt.option.max_plan_from_ego_length` maximum length threshold to plan from ego. it is enabled when the length of trajectory is shorter than this value. -- `mpt.option.two_step_soft_constraint` enables two step of soft constraints for collision free - - `mpt.option.soft_clearance_from_road` and `mpt.option.soft_second_clearance_from_road` are the weight. ## How To Debug diff --git a/planning/obstacle_avoidance_planner/docs/debug.md b/planning/obstacle_avoidance_planner/docs/debug.md index 4c8b6eb910bcc..9ee18b732d375 100644 --- a/planning/obstacle_avoidance_planner/docs/debug.md +++ b/planning/obstacle_avoidance_planner/docs/debug.md @@ -2,116 +2,189 @@ ## Debug visualization -Topics for debugging will be explained in this section. +The visualization markers of the planning flow (Input, Elastic Band, Model Predictive Trajectory, and Output) are explained here. -- **Drivable area** - - Drivable area to cover the road. Whether this area is continuous and covers the road can be checked. - - `/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/drivable_area`, whose type is `nav_msgs/msg/OccupancyGrid` +All the following markers can be visualized by -![drivable_area](../media/drivable_area.png) +```bash +ros2 launch obstacle_avoidance_planner launch_visualiation.launch.xml vehilce_model:=sample_vehicle +``` + +The `vehicle_model` must be specified to make footprints with vehicle's size. + +### Input + +- **Path** + - The path generated in the `behavior` planner. + - The semitransparent and thick, green and red band, that is visualized by default. + +![path](../media/debug/path_visualization.png) + +- **Path Footprint** + - The path generated in the `behavior` planner is converted to footprints. + - NOTE: + - Check if there is no high curvature. + - The path may be outside the drivable area in some cases, but it is okay to ignore it since the `behavior` planner does not support it. + +![path_footprint](../media/debug/path_footprint_visualization.png) + +- **Drivalbe Area** + - The Drivable area generated in the `behavior` planner. + - The skyblue left and right line strings, that is visualized by default. + - NOTE: + - Check if the path is almost inside the drivable area. + - Then, the `obstacle_avoidance_planner` will try to make the trajectory fully inside the drivable area. + - During avoidance or lane change by the `behavior` planner, please make sure that the drivable area is expanded correctly. + +![drivable_area](../media/debug/drivable_area_visualization.png) + +### Elastic Band (EB) + +- **EB Fixed Trajectory** + - The fixed trajectory points as a constraint of elastic band. + +![eb_fixed_traj](../media/debug/eb_fixed_traj_visualization.png) + +- **EB Trajectory** + - The optimized trajectory points by elastic band. + +![eb_traj](../media/debug/eb_traj_visualization.png) + +### Model Predictive Trajectory (MPT) + +- **MPT Reference Trajectory** + - The reference trajectory points of model predictive trajectory. + +![mpt_ref_traj](../media/debug/mpt_ref_traj_visualization.png) + +- **MPT Fixed Trajectory** + - The fixed trajectory points as a constraint of model predictive trajectory. -- **Path from behavior** - - The input path of obstacle_avoidance_planner. Whether this path is continuous and the curvature is not so high can be checked. - - `Path` or `PathFootprint` rviz plugin. +![mpt_fixed_traj](../media/debug/mpt_fixed_traj_visualization.png) -![behavior_path](../media/behavior_path.png) +- **Boundaries' Width** + - The boundaries' width is calculated from the drivable area line strings. -- **EB trajectory** - - The output trajectory of elastic band. Whether this trajectory is very smooth and a sampling width is constant can be checked. - - `Trajectory` or `TrajectoryFootprint` rviz plugin. +![bounds](../media/debug/bounds_visualization.png) -![eb_traj](../media/eb_traj.png) +- **Vehicle Circles** + - The vehicle's shape is represented by a set of circles. + - The `obstcle_avoidance_planner` will try to make the these circles inside the above boundaries' width. -- **MPT reference trajectory** - - The reference trajectory of model predictive trajectory. Whether this trajectory is very smooth and a sampling width is constant can be checked. - - `Trajectory` or `TrajectoryFootprint` rviz plugin. +![vehicle_circles](../media/debug/vehicle_circles_visualization.png) -![mpt_ref_traj](../media/mpt_ref_traj.png) +- **Vehicle Circles on Trajectory** + - The vehicle's circles on the MPT trajectory. + - Check if the circles are not so big compared to the road's width. -- **MPT fixed trajectory** - - The fixed trajectory around the ego of model predictive trajectory. - - `Trajectory` or `TrajectoryFootprint` rviz plugin. +![vehicle_traj_circles](../media/debug/vehicle_traj_circles_visualization.png) -![mpt_fixed_traj](../media/mpt_fixed_traj.png) +- **MPT Trajectory** + - The optimized trajectory points by model predictive trajectory. + - The footprints are supposed to be fully inside the drivable area. -- **bounds** - - Lateral Distance to the road or object boundaries to check collision in model predictive trajectory. - - Whether these lines' ends align the road or obstacle boundaries can be checked. - - `bounds*` of `/planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/debug/marker` whose type is `visualization_msgs/msg/MarkerArray` +![mpt_traj](../media/debug/mpt_traj_visualization.png) -![bounds](../media/bounds.png) +### Output -- **MPT trajectory** - - The output of model predictive trajectory. Whether this trajectory is smooth enough and inside the drivable area can be checked. - - `Trajectory` or `TrajectoryFootprint` rviz plugin. +- **Trajectory** + - The output trajectory. + - The dark and thin, green and red band, that is visualized by default. -![mpt_traj](../media/mpt_traj.png) +![traj](../media/debug/traj_visualization.png) -- **Output trajectory** - - The output of obstacle_avoidance_planner. Whether this trajectory is smooth enough can be checked. - - `Trajectory` or `TrajectoryFootprint` rviz plugin. +- **Trajectory Footprint** + - The output trajectory is converted to footprints. -![output_traj](../media/output_traj.png) +![traj_footprint](../media/debug/traj_footprint_visualization.png) -## Calculation cost +## Calculation time -Obstacle avoidance planner consists of many functions such as clearance map generation, boundary search, reference path smoothing, trajectory optimization, ... +The `obstacle_avoidance_planner` consists of many functions such as boundaries' width calculation, reference path smoothing, collision-free planning, etc. We can see the calculation time for each function as follows. ### Raw data +Enable `option.enable_calculation_time_info` or echo the topic as follows. + ```sh $ ros2 topic echo /planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/debug/calculation_time --field data - - getDrivableAreaInCV:= 0.21 [ms] - getClearanceMap:= 1.327 [ms] - drawObstaclesOnImage:= 0.436 [ms] - getAreaWithObjects:= 0.029 [ms] - getClearanceMap:= 2.186 [ms] - getMaps:= 4.213 [ms] - calculateTrajectory:= 2.417 [ms] - getOptimizedTrajectory:= 5.203 [ms] - getEBTrajectory:= 5.231 [ms] - calcBounds:= 0.821 [ms] - calcVehicleBounds:= 0.27 [ms] - getReferencePoints:= 2.866 [ms] - generateMPTMatrix:= 0.195 [ms] - generateValueMatrix:= 0.019 [ms] - getObjectiveMatrix:= 0.559 [ms] - getConstraintMatrix:= 1.776 [ms] - initOsqp:= 9.074 [ms] - solveOsqp:= 3.809 [ms] - executeOptimization:= 15.46 [ms] - getMPTPoints:= 0.049 [ms] - getModelPredictiveTrajectory:= 18.928 [ms] - optimizeTrajectory:= 24.234 [ms] - insertZeroVelocityOutsideDrivableArea:= 0.023 [ms] - getDebugVisualizationMarker:= 0.446 [ms] - publishDebugVisualizationMarker:= 2.146 [ms] - getDebugVisualizationWallMarker:= 0.001 [ms] - publishDebugVisualizationWallMarker:= 0.013 [ms] - publishDebugDataInOptimization:= 2.696 [ms] - getExtendedTrajectory:= 0.016 [ms] - generateFineTrajectoryPoints:= 0.118 [ms] - alignVelocity:= 1.227 [ms] - generatePostProcessedTrajectory:= 1.375 [ms] - makePrevTrajectories:= 1.411 [ms] - generateOptimizedTrajectory:= 33.284 [ms] - getExtendedTrajectory:= 0.018 [ms] - generateFineTrajectoryPoints:= 0.084 [ms] - alignVelocity:= 1.109 [ms] - generatePostProcessedTrajectory:= 1.217 [ms] - getDebugCostMap * 3:= 0 [ms] - publishDebugDataInMain:= 0.023 [ms] -pathCallback:= 34.614 [ms] +--- + insertFixedPoint:= 0.008 [ms] + getPaddedTrajectoryPoints:= 0.002 [ms] + updateConstraint:= 0.741 [ms] + optimizeTrajectory:= 0.101 [ms] + convertOptimizedPointsToTrajectory:= 0.014 [ms] + getEBTrajectory:= 0.991 [ms] + resampleReferencePoints:= 0.058 [ms] + updateFixedPoint:= 0.237 [ms] + updateBounds:= 0.22 [ms] + updateVehicleBounds:= 0.509 [ms] + calcReferencePoints:= 1.649 [ms] + calcMatrix:= 0.209 [ms] + calcValueMatrix:= 0.015 [ms] + calcObjectiveMatrix:= 0.305 [ms] + calcConstraintMatrix:= 0.641 [ms] + initOsqp:= 6.896 [ms] + solveOsqp:= 2.796 [ms] + calcOptimizedSteerAngles:= 9.856 [ms] + calcMPTPoints:= 0.04 [ms] + getModelPredictiveTrajectory:= 12.782 [ms] + optimizeTrajectory:= 12.981 [ms] + applyInputVelocity:= 0.577 [ms] + insertZeroVelocityOutsideDrivableArea:= 0.81 [ms] + getDebugMarker:= 0.684 [ms] + publishDebugMarker:= 4.354 [ms] + publishDebugMarkerOfOptimization:= 5.047 [ms] + generateOptimizedTrajectory:= 20.374 [ms] + extendTrajectory:= 0.326 [ms] + publishDebugData:= 0.008 [ms] +onPath:= 20.737 [ms] ``` ### Plot -With a script, we can plot some of above time as follows. +With the following script, any calculation time of the above functions can be plot. ```sh -python3 scripts/calclation_time_analyzer.py -f "solveOsqp,initOsqp,pathCallback" +ros2 run obstacle_avoidance_planner calclation_time_plotter.py ``` -![calculation_cost_plot](../media/calculation_cost_plot.svg) +![calculation_time_plot](../media/debug/calculation_time_plot.png) + +You can specify functions to plot with the `-f` option. + +```sh +ros2 run obstacle_avoidance_planner calclation_time_plotter.py -f "onPath, generateOptimizedTrajectory, calcReferencePoints" +``` + +## Q&A for Debug + +### The output frequency is low + +Check the function which is comparatively heavy according to [this information](.#calculation-time). + +For your information, the following functions for optimization and its initialization may be heavy in some complicated cases. + +- MPT + - `initOsqp` + - `solveOsqp` +- EB + - `optimizeTrajectory` + +### When a part of the trajectory has high curvature + +Some of the following may have an issue. +Please check if there is something weird by the visualization. + +- Input Path +- Drivable Area +- Boundaries' Width + +### When the trajectory's shape is zigzag + +Some of the following may have an issue. +Please check if there is something weird by the visualization. + +- EB Trajectory +- Vehicle Circles on Trajectory diff --git a/planning/obstacle_avoidance_planner/docs/eb.md b/planning/obstacle_avoidance_planner/docs/eb.md index 6becc8b03cc24..7efb1edaa62db 100644 --- a/planning/obstacle_avoidance_planner/docs/eb.md +++ b/planning/obstacle_avoidance_planner/docs/eb.md @@ -16,25 +16,64 @@ title getEBTrajectory start :crop trajectory; +note right +Forward length is eb.common.num_points * eb.common.delta_arc_length. +Backward length is common.output_backward_traj_length. +end note :insertFixedPoint; :resample trajectory; +note right +Resampling interval is eb.common.delta_arc_length. +end note -:getPaddedTrajectoryPoints +:getPaddedTrajectoryPoints; +note right +Pad the last optimization point so that the number will be always eb.common.num_points. +This is for enabling warm start. +end note :updateConstraint; :optimizeTrajectory; :convertOptimizedPointsToTrajectory; +note right +The validation function is contained. +When eb.option.enable_optimization_validation is true, the optimization result will be ignored if the validation fails. +end note stop @enduml ``` +### General parameters + +| Parameter | Type | Description | +| ---------------------------- | ------ | ---------------------------------------------- | +| `eb.common.num_points` | int | points for elastic band optimization | +| `eb.common.delta_arc_length` | double | delta arc length for elastic band optimization | + +### Parameters for optimization + +| Parameter | Type | Description | +| ----------------------------- | ------ | --------------------------------------- | +| `eb.option.enable_warm_start` | bool | flag to use warm start | +| `eb.weight.smooth_weight` | double | weight for smoothing | +| `eb.weight.lat_error_weight` | double | weight for minimizing the lateral error | + +### Parameters for validation + +| Parameter | Type | Description | +| ------------------------------------------ | ------ | --------------------------------- | +| `eb.option.enable_optimization_validation` | bool | flag to validate optimization | +| `eb.validation.max_error` | double | max lateral error by optimization | + ## Formulation +### Objective function + We formulate a quadratic problem minimizing the diagonal length of the rhombus on each point generated by the current point and its previous and next points, shown as the red vector's length. ![eb](../media/eb.svg){: style="width:600px"} @@ -102,7 +141,9 @@ $$ \end{align} $$ -Regarding the constraint, the distance that each point can move is limited so that the path will not changed a lot but will be smoother. +### Constraint + +The distance that each point can move is limited so that the path will not changed a lot but will be smoother. In detail, the longitudinal distance that each point can move is zero, and the lateral distance is parameterized as `eb.clearance.clearance_for_fix`, `eb.clearance.clearance_for_joint` and `eb.clearance.clearance_for_smooth`. The following figure describes how to constrain the lateral distance to move. diff --git a/planning/obstacle_avoidance_planner/docs/mpt.md b/planning/obstacle_avoidance_planner/docs/mpt.md index 6c07244bdb45e..f76115b8da1cb 100644 --- a/planning/obstacle_avoidance_planner/docs/mpt.md +++ b/planning/obstacle_avoidance_planner/docs/mpt.md @@ -443,42 +443,3 @@ $$ \in \boldsymbol{R}^{3N_{ref} \times D_v + N_{ref}} \end{align} $$ - -#### Two-step soft constraints - -$$ -\begin{align} -\boldsymbol{v}' = - \begin{pmatrix} - \boldsymbol{v} \\ - \boldsymbol{\lambda}^{soft_1} \\ - \boldsymbol{\lambda}^{soft_2} \\ - \end{pmatrix} - \in \boldsymbol{R}^{D_v + 2N_{slack}} -\end{align} -$$ - -$*$ depends on whether to use L2 norm or L-infinity optimization. - -$$ -\begin{align} - A_{blk} & = - \begin{pmatrix} - A^{soft_1}_{blk} \\ - A^{soft_2}_{blk} \\ - \end{pmatrix}\\ - & = - \begin{pmatrix} - C_1^{soft_1} B & & \\ - -C_1^{soft_1} B & \Huge{*} & \Huge{O} \\ - O & & \\ - C_1^{soft_2} B & & \\ - -C_1^{soft_2} B & \Huge{O} & \Huge{*} \\ - O & & - \end{pmatrix} - \in \boldsymbol{R}^{6 N_{ref} \times D_v + 2 N_{slack}} -\end{align} -$$ - -$N_{slack}$ is $N_{circle}$ when L2 optimization, or $1$ when L-infinity optimization. -$N_{circle}$ is the number of circles to check collision. diff --git a/planning/obstacle_avoidance_planner/launch/launch_visualization.launch.xml b/planning/obstacle_avoidance_planner/launch/launch_visualization.launch.xml new file mode 100644 index 0000000000000..d8320e09cc001 --- /dev/null +++ b/planning/obstacle_avoidance_planner/launch/launch_visualization.launch.xml @@ -0,0 +1,18 @@ + + + + + + + + + + + + + + + + + + diff --git a/planning/obstacle_avoidance_planner/media/area_with_objects.png b/planning/obstacle_avoidance_planner/media/area_with_objects.png deleted file mode 100644 index 41a950452c7832effb18bf5be0d94aa54c05c9fb..0000000000000000000000000000000000000000 GIT binary patch literal 0 HcmV?d00001 literal 67477 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- trajectory -
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- costmap -
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- Generate road boundary costmap -
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- - Generate road boundary... - - - - - - - -
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- dynamic objects -
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- - dynamic ob... - - - - - - - -
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z(043)U_zi*y*fgnOvs!2?%`Q|6nBNil61>1ygOwk<-TE!LVsVXfV~ZgeR6Fq1dwPE zfFu8}PzsYnK&*avt|SpZSNRGgmTAHBZp(7_AJ&JM>(Id@#v46Sf zh53;;-9$Rdnc|j4r8lQrK|6-2M7S$k2sNbNg-lx^|wHZ`H?bK2iAzaJe$ z7(#Pi(NP0Sys9n~=-+faHziqE(^;drTyDq-E*DFg1TQZTUQD@gZ-Cw3h1$$6cp%bg@qZ`Rs%J>`*$mNG1k2?V$Dla1643%~O?s@XK=-mJ{*5-74gu-OBb>Y+ zMd;$Nef=Arq=(Ilq^%%iLy`(Y6uIC`nPr@Zr{GFyv>l-2OtlhYZb7nOv0#j7zbeOV z{DFJwM9sA>mtuHjf3sh~7D7oYW1;*S>0beGva4hKU*i`46ouM9*q?E+SCkU9IK4$Q z&!Gz%iSwUW7QQ$2!X3Ig*>Q*LnocRZs8#=D&d z=Ek=HfIZ|`NJ?}-wsCR)1??L@Mcv2bmnS7Ty2nL$XTfnU<%@iz?+eron_bp6m^-)t34co_V zg{(Q{3T^CCUCzH@4!q!MI0YL$U*@Yy&dbZo|MbB_!uGfz!S+nJYMA0vXtQ0eAz$8} zUN#OJZ1CmpERT;@6UCXYxkaN%^sH^Pus*v{87FQ zy{Auw>npY}^z2-5^QWs8ES#JI9x<`RlL*=516pvky@}aIz#m^T3y*)TUa|Si%z~hH z`q+@feSuf4Nuk#y&j+bw!2gpo$>a=}j84CaKwP(L#8`3n6ckBs;qSCsLI(&>OSMZ0 lL}Icc_=lST<+zEzm!0Qgbvu=O!3iiPKu{{RC + Value: false + - Class: rviz_common/Group + Displays: + - Class: rviz_plugins/SteeringAngle + Enabled: true + Left: 64 + Length: 128 + Name: SteeringAngle + Scale: 17 + Text Color: 25; 255; 240 + Top: 64 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /vehicle/status/steering_status + Value: true + Value Scale: 0.14999249577522278 + Value height offset: 0 + - Class: rviz_plugins/ConsoleMeter + Enabled: true + Left: 256 + Length: 128 + Name: ConsoleMeter + Text Color: 25; 255; 240 + Top: 64 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /vehicle/status/velocity_status + Value: true + Value Scale: 0.14999249577522278 + Value height offset: 0 + - Alpha: 0.9990000128746033 + Class: rviz_plugins/VelocityHistory + Color Border Vel Max: 3 + Constant Color: + Color: 255; 255; 255 + Value: true + Enabled: true + Name: VelocityHistory + Scale: 0.30000001192092896 + Timeout: 10 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /vehicle/status/velocity_status + Value: true + - Alpha: 0.30000001192092896 + Class: rviz_default_plugins/RobotModel + Collision Enabled: false + Description File: "" + Description Source: Topic + Description Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /robot_description + Enabled: true + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + camera0/camera_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + camera0/camera_optical_link: + Alpha: 1 + Show Axes: false + Show Trail: false + camera1/camera_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + camera1/camera_optical_link: + Alpha: 1 + Show Axes: false + Show Trail: false + camera2/camera_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + camera2/camera_optical_link: + Alpha: 1 + Show Axes: false + Show Trail: false + camera3/camera_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + camera3/camera_optical_link: + Alpha: 1 + Show Axes: false + Show Trail: false + camera4/camera_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + camera4/camera_optical_link: + Alpha: 1 + Show Axes: false + Show Trail: false + camera5/camera_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + camera5/camera_optical_link: + Alpha: 1 + Show Axes: false + Show Trail: false + camera6/camera_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + camera6/camera_optical_link: + Alpha: 1 + Show Axes: false + Show Trail: false + camera7/camera_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + camera7/camera_optical_link: + Alpha: 1 + Show Axes: false + Show Trail: false + gnss_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + livox_front_left: + Alpha: 1 + Show Axes: false + Show Trail: false + livox_front_left_base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + livox_front_right: + Alpha: 1 + Show Axes: false + Show Trail: false + livox_front_right_base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + sensor_kit_base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + tamagawa/imu_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + traffic_light_left_camera/camera_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + traffic_light_left_camera/camera_optical_link: + Alpha: 1 + Show Axes: false + Show Trail: false + traffic_light_right_camera/camera_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + traffic_light_right_camera/camera_optical_link: + Alpha: 1 + Show Axes: false + Show Trail: false + velodyne_left: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + velodyne_left_base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + velodyne_rear: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + velodyne_rear_base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + velodyne_right: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + velodyne_right_base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + velodyne_top: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + velodyne_top_base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Mass Properties: + Inertia: false + Mass: false + Name: VehicleModel + TF Prefix: "" + Update Interval: 0 + Value: true + Visual Enabled: true + - Class: rviz_plugins/PolarGridDisplay + Color: 255; 255; 255 + Delta Range: 10 + Enabled: true + Max Alpha: 0.5 + Max Range: 100 + Max Wave Alpha: 0.5 + Min Alpha: 0.009999999776482582 + Min Wave Alpha: 0.009999999776482582 + Name: PolarGridDisplay + Reference Frame: base_link + Value: true + Wave Color: 255; 255; 255 + Wave Velocity: 40 + - Class: rviz_plugins/MaxVelocity + Enabled: true + Left: 298 + Length: 48 + Name: MaxVelocity + Text Color: 255; 255; 255 + Top: 140 + Topic: /planning/scenario_planning/current_max_velocity + Value: true + Value Scale: 0.25 + - Class: rviz_plugins/TurnSignal + Enabled: true + Height: 128 + Left: 98 + Name: TurnSignal + Top: 175 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /vehicle/status/turn_indicators_status + Value: true + Width: 256 + Enabled: true + Name: Vehicle + Enabled: true + Name: System + - Class: rviz_common/Group + Displays: + - Alpha: 0.20000000298023224 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 28.71826171875 + Min Value: -7.4224700927734375 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz_default_plugins/PointCloud2 + Color: 255; 255; 255 + Color Transformer: FlatColor + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 237 + Min Color: 211; 215; 207 + Min Intensity: 0 + Name: PointCloudMap + Position Transformer: XYZ + Selectable: false + Size (Pixels): 1 + Size (m): 0.019999999552965164 + Style: Points + Topic: + Depth: 5 + Durability Policy: Transient Local + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /map/pointcloud_map + Use Fixed Frame: true + Use rainbow: false + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: Lanelet2VectorMap + Namespaces: + center_lane_line: false + center_line_arrows: false + crosswalk_lanelets: true + lane_start_bound: false + lanelet direction: true + lanelet_id: false + left_lane_bound: true + parking_lots: true + parking_space: true + pedestrian_marking: true + right_lane_bound: true + road_lanelets: false + stop_lines: true + traffic_light: true + traffic_light_id: false + traffic_light_triangle: true + walkway_lanelets: true + Topic: + Depth: 5 + Durability Policy: Transient Local + History Policy: Keep Last + Reliability Policy: Reliable + Value: /map/vector_map_marker + Value: true + Enabled: true + Name: Map + - Class: rviz_common/Group + Displays: + - Class: rviz_common/Group + Displays: + - Alpha: 0.4000000059604645 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 5 + Min Value: -1 + Value: false + Axis: Z + Channel Name: intensity + Class: rviz_default_plugins/PointCloud2 + Color: 255; 255; 255 + Color Transformer: AxisColor + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: ConcatenatePointCloud + Position Transformer: XYZ + Selectable: false + Size (Pixels): 1 + Size (m): 0.019999999552965164 + Style: Points + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /sensing/lidar/concatenated/pointcloud + Use Fixed Frame: false + Use rainbow: true + Value: true + - Alpha: 0.9990000128746033 + Class: rviz_default_plugins/Polygon + Color: 25; 255; 0 + Enabled: false + Name: MeasurementRange + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /sensing/lidar/crop_box_filter/crop_box_polygon + Value: false + Enabled: true + Name: LiDAR + - Class: rviz_common/Group + Displays: + - Alpha: 0.9990000128746033 + Axes Length: 1 + Axes Radius: 0.10000000149011612 + Class: rviz_default_plugins/PoseWithCovariance + Color: 233; 185; 110 + Covariance: + Orientation: + Alpha: 0.5 + Color: 255; 255; 127 + Color Style: Unique + Frame: Local + Offset: 1 + Scale: 1 + Value: false + Position: + Alpha: 0.20000000298023224 + Color: 204; 51; 204 + Scale: 1 + Value: true + Value: true + Enabled: true + Head Length: 0.699999988079071 + Head Radius: 1.2000000476837158 + Name: PoseWithCovariance + Shaft Length: 1 + Shaft Radius: 0.5 + Shape: Arrow + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /sensing/gnss/pose_with_covariance + Value: true + Enabled: false + Name: GNSS + Enabled: true + Name: Sensing + - Class: rviz_common/Group + Displays: + - Class: rviz_common/Group + Displays: + - Alpha: 0.9990000128746033 + Axes Length: 1 + Axes Radius: 0.10000000149011612 + Class: rviz_default_plugins/PoseWithCovariance + Color: 0; 170; 255 + Covariance: + Orientation: + Alpha: 0.5 + Color: 255; 255; 127 + Color Style: Unique + Frame: Local + Offset: 1 + Scale: 1 + Value: true + Position: + Alpha: 0.30000001192092896 + Color: 204; 51; 204 + Scale: 1 + Value: true + Value: true + Enabled: false + Head Length: 0.4000000059604645 + Head Radius: 0.6000000238418579 + Name: PoseWithCovInitial + Shaft Length: 0.6000000238418579 + Shaft Radius: 0.30000001192092896 + Shape: Arrow + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /localization/pose_estimator/initial_pose_with_covariance + Value: false + - Alpha: 0.9990000128746033 + Axes Length: 1 + Axes Radius: 0.10000000149011612 + Class: rviz_default_plugins/PoseWithCovariance + Color: 0; 255; 0 + Covariance: + Orientation: + Alpha: 0.5 + Color: 255; 255; 127 + Color Style: Unique + Frame: Local + Offset: 1 + Scale: 1 + Value: true + Position: + Alpha: 0.30000001192092896 + Color: 204; 51; 204 + Scale: 1 + Value: true + Value: true + Enabled: false + Head Length: 0.4000000059604645 + Head Radius: 0.6000000238418579 + Name: PoseWithCovAligned + Shaft Length: 0.6000000238418579 + Shaft Radius: 0.30000001192092896 + Shape: Arrow + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /localization/pose_estimator/pose_with_covariance + Value: false + - Buffer Size: 200 + Class: rviz_plugins::PoseHistory + Enabled: false + Line: + Alpha: 0.9990000128746033 + Color: 170; 255; 127 + Value: true + Width: 0.10000000149011612 + Name: PoseHistory + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /localization/pose_estimator/pose + Value: false + - Alpha: 0.9990000128746033 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz_default_plugins/PointCloud2 + Color: 0; 255; 255 + Color Transformer: "" + Decay Time: 0 + Enabled: false + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: Initial + Position Transformer: XYZ + Selectable: false + Size (Pixels): 10 + Size (m): 0.5 + Style: Squares + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /localization/util/downsample/pointcloud + Use Fixed Frame: true + Use rainbow: true + Value: false + - Alpha: 0.9990000128746033 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz_default_plugins/PointCloud2 + Color: 85; 255; 0 + Color Transformer: FlatColor + Decay Time: 0 + Enabled: false + Invert Rainbow: false + Max Color: 85; 255; 127 + Max Intensity: 0 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: Aligned + Position Transformer: XYZ + Selectable: false + Size (Pixels): 10 + Size (m): 0.5 + Style: Squares + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /localization/pose_estimator/points_aligned + Use Fixed Frame: true + Use rainbow: true + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: MonteCarloInitialPose + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /localization/pose_estimator/monte_carlo_initial_pose_marker + Value: true + Enabled: true + Name: NDT + - Class: rviz_common/Group + Displays: + - Buffer Size: 1000 + Class: rviz_plugins::PoseHistory + Enabled: true + Line: + Alpha: 0.9990000128746033 + Color: 0; 255; 255 + Value: true + Width: 0.10000000149011612 + Name: PoseHistory + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /localization/pose_twist_fusion_filter/pose + Value: true + Enabled: true + Name: EKF + Enabled: true + Name: Localization + - Class: rviz_common/Group + Displays: + - Class: rviz_common/Group + Displays: + - Alpha: 0.9990000128746033 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 15 + Min Value: -2 + Value: false + Axis: Z + Channel Name: z + Class: rviz_default_plugins/PointCloud2 + Color: 200; 200; 200 + Color Transformer: FlatColor + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 15 + Min Color: 0; 0; 0 + Min Intensity: -5 + Name: NoGroundPointCloud + Position Transformer: XYZ + Selectable: false + Size (Pixels): 3 + Size (m): 0.019999999552965164 + Style: Points + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /perception/obstacle_segmentation/pointcloud + Use Fixed Frame: true + Use rainbow: true + Value: true + Enabled: true + Name: Segmentation + - Class: rviz_common/Group + Displays: + - Class: rviz_common/Group + Displays: + - BUS: + Alpha: 0.9990000128746033 + Color: 30; 144; 255 + CAR: + Alpha: 0.9990000128746033 + Color: 30; 144; 255 + CYCLIST: + Alpha: 0.9990000128746033 + Color: 119; 11; 32 + Class: autoware_auto_perception_rviz_plugin/DetectedObjects + Display Acceleration: true + Display Label: true + Display PoseWithCovariance: true + Display Predicted Path Confidence: true + Display Predicted Paths: true + Display Twist: true + Display UUID: true + Display Velocity: true + Enabled: true + Line Width: 0.029999999329447746 + MOTORCYCLE: + Alpha: 0.9990000128746033 + Color: 119; 11; 32 + Name: DetectedObjects + Namespaces: + {} + PEDESTRIAN: + Alpha: 0.9990000128746033 + Color: 255; 192; 203 + Polygon Type: 3d + TRAILER: + Alpha: 0.9990000128746033 + Color: 30; 144; 255 + TRUCK: + Alpha: 0.9990000128746033 + Color: 30; 144; 255 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /perception/object_recognition/detection/objects + UNKNOWN: + Alpha: 0.9990000128746033 + Color: 255; 255; 255 + Value: true + Visualization Type: Normal + Enabled: false + Name: Detection + - Class: rviz_common/Group + Displays: + - BUS: + Alpha: 0.9990000128746033 + Color: 30; 144; 255 + CAR: + Alpha: 0.9990000128746033 + Color: 30; 144; 255 + CYCLIST: + Alpha: 0.9990000128746033 + Color: 119; 11; 32 + Class: autoware_auto_perception_rviz_plugin/TrackedObjects + Display Acceleration: true + Display Label: true + Display PoseWithCovariance: true + Display Predicted Path Confidence: true + Display Predicted Paths: true + Display Twist: true + Display UUID: true + Display Velocity: true + Enabled: true + Line Width: 0.029999999329447746 + MOTORCYCLE: + Alpha: 0.9990000128746033 + Color: 119; 11; 32 + Name: TrackedObjects + Namespaces: + {} + PEDESTRIAN: + Alpha: 0.9990000128746033 + Color: 255; 192; 203 + Polygon Type: 3d + TRAILER: + Alpha: 0.9990000128746033 + Color: 30; 144; 255 + TRUCK: + Alpha: 0.9990000128746033 + Color: 30; 144; 255 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /perception/object_recognition/tracking/objects + UNKNOWN: + Alpha: 0.9990000128746033 + Color: 255; 255; 255 + Value: true + Visualization Type: Normal + Enabled: false + Name: Tracking + - Class: rviz_common/Group + Displays: + - BUS: + Alpha: 0.9990000128746033 + Color: 30; 144; 255 + CAR: + Alpha: 0.9990000128746033 + Color: 30; 144; 255 + CYCLIST: + Alpha: 0.9990000128746033 + Color: 119; 11; 32 + Class: autoware_auto_perception_rviz_plugin/PredictedObjects + Display Acceleration: true + Display Label: true + Display PoseWithCovariance: false + Display Predicted Path Confidence: true + Display Predicted Paths: true + Display Twist: true + Display UUID: true + Display Velocity: true + Enabled: true + Line Width: 0.029999999329447746 + MOTORCYCLE: + Alpha: 0.9990000128746033 + Color: 119; 11; 32 + Name: PredictedObjects + Namespaces: + {} + PEDESTRIAN: + Alpha: 0.9990000128746033 + Color: 255; 192; 203 + Polygon Type: 3d + TRAILER: + Alpha: 0.9990000128746033 + Color: 30; 144; 255 + TRUCK: + Alpha: 0.9990000128746033 + Color: 30; 144; 255 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /perception/object_recognition/objects + UNKNOWN: + Alpha: 0.9990000128746033 + Color: 255; 255; 255 + Value: true + Visualization Type: Normal + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: Maneuver + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /perception/object_recognition/prediction/maneuver + Value: false + Enabled: true + Name: Prediction + Enabled: true + Name: ObjectRecognition + - Class: rviz_common/Group + Displays: + - Class: rviz_default_plugins/Image + Enabled: false + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: RecognitionResultOnImage + Normalize Range: true + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /perception/traffic_light_recognition/debug/rois + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: MapBasedDetectionResult + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /perception/traffic_light_recognition/traffic_light_map_based_detector/debug/markers + Value: true + Enabled: true + Name: TrafficLight + - Class: rviz_common/Group + Displays: + - Alpha: 0.5 + Class: rviz_default_plugins/Map + Color Scheme: map + Draw Behind: false + Enabled: true + Name: Map + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /perception/occupancy_grid_map/map + Update Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /perception/occupancy_grid_map/map_updates + Use Timestamp: false + Value: true + Enabled: false + Name: OccupancyGrid + Enabled: true + Name: Perception + - Class: rviz_common/Group + Displays: + - Class: rviz_common/Group + Displays: + - Class: rviz_plugins/Path + Color Border Vel Max: 3 + Enabled: true + Name: Path + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/path + Value: true + View Drivable Area: + Alpha: 0.9990000128746033 + Color: 0; 148; 205 + Value: true + Width: 0.30000001192092896 + View Footprint: + Alpha: 1 + Color: 230; 230; 50 + Offset from BaseLink: 0 + Rear Overhang: 1.0299999713897705 + Value: false + Vehicle Length: 4.769999980926514 + Vehicle Width: 1.8300000429153442 + View Path: + Alpha: 0.5 + Color: 0; 0; 0 + Constant Color: false + Value: true + Width: 1.5 + View Point: + Alpha: 1 + Color: 0; 60; 255 + Offset: 0 + Radius: 0.10000000149011612 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false + View Velocity: + Alpha: 1 + Color: 0; 0; 0 + Constant Color: false + Scale: 0.30000001192092896 + Value: false + Enabled: true + Name: Input + - Class: rviz_common/Group + Displays: + - Class: rviz_plugins/Trajectory + Color Border Vel Max: 3 + Enabled: false + Name: eb fixed traj + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/debug/eb_fixed_traj + Value: false + View Footprint: + Alpha: 1 + Color: 255; 170; 255 + Offset from BaseLink: 0 + Rear Overhang: 1.0299999713897705 + Value: true + Vehicle Length: 4.769999980926514 + Vehicle Width: 1.8300000429153442 + View Path: + Alpha: 1 + Color: 0; 0; 0 + Constant Color: false + Value: false + Width: 2 + View Point: + Alpha: 1 + Color: 0; 60; 255 + Offset: 0 + Radius: 0.10000000149011612 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false + View Velocity: + Alpha: 1 + Color: 0; 0; 0 + Constant Color: false + Scale: 0.30000001192092896 + Value: false + - Class: rviz_plugins/Trajectory + Color Border Vel Max: 3 + Enabled: false + Name: eb traj + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/debug/eb_traj + Value: false + View Footprint: + Alpha: 1 + Color: 0; 255; 255 + Offset from BaseLink: 0 + Rear Overhang: 1.0299999713897705 + Value: true + Vehicle Length: 4.769999980926514 + Vehicle Width: 1.8300000429153442 + View Path: + Alpha: 1 + Color: 0; 0; 0 + Constant Color: false + Value: false + Width: 2 + View Point: + Alpha: 1 + Color: 0; 60; 255 + Offset: 0 + Radius: 0.10000000149011612 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false + View Velocity: + Alpha: 1 + Color: 0; 0; 0 + Constant Color: false + Scale: 0.30000001192092896 + Value: false + Enabled: true + Name: Elastic Band + - Class: rviz_common/Group + Displays: + - Class: rviz_plugins/Trajectory + Color Border Vel Max: 3 + Enabled: false + Name: mpt ref traj + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/debug/mpt_ref_traj + Value: false + View Footprint: + Alpha: 1 + Color: 0; 255; 0 + Offset from BaseLink: 0 + Rear Overhang: 1.0299999713897705 + Value: true + Vehicle Length: 4.769999980926514 + Vehicle Width: 1.8300000429153442 + View Path: + Alpha: 1 + Color: 0; 0; 0 + Constant Color: false + Value: false + Width: 2 + View Point: + Alpha: 1 + Color: 0; 60; 255 + Offset: 0 + Radius: 0.10000000149011612 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false + View Velocity: + Alpha: 1 + Color: 0; 0; 0 + Constant Color: false + Scale: 0.30000001192092896 + Value: false + - Class: rviz_plugins/Trajectory + Color Border Vel Max: 3 + Enabled: false + Name: mpt fixed traj + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/debug/mpt_fixed_traj + Value: false + View Footprint: + Alpha: 1 + Color: 255; 0; 0 + Offset from BaseLink: 0 + Rear Overhang: 1.0299999713897705 + Value: true + Vehicle Length: 4.769999980926514 + Vehicle Width: 1.8300000429153442 + View Path: + Alpha: 1 + Color: 0; 0; 0 + Constant Color: false + Value: false + Width: 2 + View Point: + Alpha: 1 + Color: 0; 60; 255 + Offset: 0 + Radius: 0.10000000149011612 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false + View Velocity: + Alpha: 1 + Color: 0; 0; 0 + Constant Color: false + Scale: 0.30000001192092896 + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: MarkerArray + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/debug/marker + Value: false + - Class: rviz_plugins/Trajectory + Color Border Vel Max: 3 + Enabled: false + Name: mpt traj + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/debug/mpt_traj + Value: false + View Footprint: + Alpha: 1 + Color: 255; 255; 0 + Offset from BaseLink: 0 + Rear Overhang: 1.0299999713897705 + Value: true + Vehicle Length: 4.769999980926514 + Vehicle Width: 1.8300000429153442 + View Path: + Alpha: 1 + Color: 0; 0; 0 + Constant Color: false + Value: false + Width: 2 + View Point: + Alpha: 1 + Color: 0; 60; 255 + Offset: 0 + Radius: 0.10000000149011612 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false + View Velocity: + Alpha: 1 + Color: 0; 0; 0 + Constant Color: false + Scale: 0.30000001192092896 + Value: false + Enabled: true + Name: Model Predictive Trajectory + - Class: rviz_common/Group + Displays: + - Class: rviz_plugins/Trajectory + Color Border Vel Max: 3 + Enabled: true + Name: Trajectory + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/trajectory + Value: true + View Footprint: + Alpha: 1 + Color: 230; 230; 50 + Offset from BaseLink: 0 + Rear Overhang: 1.0299999713897705 + Value: false + Vehicle Length: 4.769999980926514 + Vehicle Width: 1.8300000429153442 + View Path: + Alpha: 1 + Color: 0; 0; 0 + Constant Color: false + Value: true + Width: 0.4000000059604645 + View Point: + Alpha: 1 + Color: 0; 60; 255 + Offset: 0 + Radius: 0.10000000149011612 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false + View Velocity: + Alpha: 1 + Color: 0; 0; 0 + Constant Color: false + Scale: 0.30000001192092896 + Value: false + Enabled: true + Name: Output + Enabled: true + Name: Obstacle Avoidance Planner + Enabled: true + Global Options: + Background Color: 10; 10; 10 + Fixed Frame: map + Frame Rate: 30 + Name: root + Tools: + - Class: rviz_default_plugins/Interact + Hide Inactive Objects: true + - Class: rviz_default_plugins/MoveCamera + - Class: rviz_default_plugins/Select + - Class: rviz_default_plugins/FocusCamera + - Class: rviz_default_plugins/Measure + Line color: 128; 128; 0 + - Class: rviz_default_plugins/SetInitialPose + Covariance x: 0.25 + Covariance y: 0.25 + Covariance yaw: 0.06853891909122467 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /initialpose + - Class: rviz_default_plugins/SetGoal + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/mission_planning/goal + - Acceleration: 0 + Class: rviz_plugins/PedestrianInitialPoseTool + Interactive: false + Max velocity: 33.29999923706055 + Min velocity: -33.29999923706055 + Pose Topic: /simulation/dummy_perception_publisher/object_info + Target Frame: + Theta std deviation: 0.0872664600610733 + Velocity: 0 + X std deviation: 0.029999999329447746 + Y std deviation: 0.029999999329447746 + Z position: 1 + Z std deviation: 0.029999999329447746 + - Acceleration: 0 + Class: rviz_plugins/CarInitialPoseTool + H vehicle height: 2 + Interactive: false + L vehicle length: 4 + Max velocity: 33.29999923706055 + Min velocity: -33.29999923706055 + Pose Topic: /simulation/dummy_perception_publisher/object_info + Target Frame: + Theta std deviation: 0.0872664600610733 + Velocity: 3 + W vehicle width: 1.7999999523162842 + X std deviation: 0.029999999329447746 + Y std deviation: 0.029999999329447746 + Z position: 0 + Z std deviation: 0.029999999329447746 + - Acceleration: 0 + Class: rviz_plugins/BusInitialPoseTool + H vehicle height: 3.5 + Interactive: false + L vehicle length: 10.5 + Max velocity: 33.29999923706055 + Min velocity: -33.29999923706055 + Pose Topic: /simulation/dummy_perception_publisher/object_info + Target Frame: + Theta std deviation: 0.0872664600610733 + Velocity: 0 + W vehicle width: 2.5 + X std deviation: 0.029999999329447746 + Y std deviation: 0.029999999329447746 + Z position: 0 + Z std deviation: 0.029999999329447746 + - Class: rviz_plugins/MissionCheckpointTool + Pose Topic: /planning/mission_planning/checkpoint + Theta std deviation: 0.2617993950843811 + X std deviation: 0.5 + Y std deviation: 0.5 + Z position: 0 + - Class: rviz_plugins/DeleteAllObjectsTool + Pose Topic: /simulation/dummy_perception_publisher/object_info + Transformation: + Current: + Class: rviz_default_plugins/TF + Value: true + Views: + Current: + Angle: 0 + Class: rviz_default_plugins/TopDownOrtho + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Scale: 10 + Target Frame: viewer + Value: TopDownOrtho (rviz_default_plugins) + X: 0 + Y: 0 + Saved: + - Class: rviz_default_plugins/ThirdPersonFollower + Distance: 18 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 0 + Y: 0 + Z: 0 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: ThirdPersonFollower + Near Clip Distance: 0.009999999776482582 + Pitch: 0.20000000298023224 + Target Frame: base_link + Value: ThirdPersonFollower (rviz) + Yaw: 3.141592025756836 + - Angle: 0 + Class: rviz_default_plugins/TopDownOrtho + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Invert Z Axis: false + Name: TopDownOrtho + Near Clip Distance: 0.009999999776482582 + Scale: 10 + Target Frame: viewer + Value: TopDownOrtho (rviz) + X: 0 + Y: 0 +Window Geometry: + AutowareDateTimePanel: + collapsed: false + AutowareStatePanel: + collapsed: false + Displays: + collapsed: false + Height: 2032 + Hide Left Dock: false + Hide Right Dock: false + InitialPoseButtonPanel: + collapsed: false + QMainWindow State: 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+ RecognitionResultOnImage: + collapsed: false + Selection: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 3692 + X: 148 + Y: 54 diff --git a/planning/obstacle_avoidance_planner/scripts/calclation_time_plotter.py b/planning/obstacle_avoidance_planner/scripts/calclation_time_plotter.py old mode 100644 new mode 100755 index 275ae69ef177c..f0d32848adefe --- a/planning/obstacle_avoidance_planner/scripts/calclation_time_plotter.py +++ b/planning/obstacle_avoidance_planner/scripts/calclation_time_plotter.py @@ -99,7 +99,12 @@ def CallbackCalculationCost(self, msg): if __name__ == "__main__": parser = argparse.ArgumentParser() - parser.add_argument("-f", "--functions", type=str, default="solveOsqp") + parser.add_argument( + "-f", + "--functions", + type=str, + default="onPath, getModelPredictiveTrajectory, getEBTrajectory", + ) args = parser.parse_args() rclpy.init() diff --git a/planning/obstacle_avoidance_planner/src/debug_marker.cpp b/planning/obstacle_avoidance_planner/src/debug_marker.cpp index c517ade57c6c4..a8af96e7b49de 100644 --- a/planning/obstacle_avoidance_planner/src/debug_marker.cpp +++ b/planning/obstacle_avoidance_planner/src/debug_marker.cpp @@ -84,18 +84,18 @@ MarkerArray getBoundsLineMarkerArray( // create lower bound marker auto lb_marker = createDefaultMarker( "map", rclcpp::Clock().now(), "", 0, Marker::LINE_LIST, createMarkerScale(0.05, 0.0, 0.0), - createMarkerColor(0.99 + 0.5, 0.99, 0.2, 0.3)); + createMarkerColor(0.5, 0.99, 0.2, 0.8)); lb_marker.lifetime = rclcpp::Duration::from_seconds(1.5); // create upper bound marker auto ub_marker = createDefaultMarker( "map", rclcpp::Clock().now(), "", 1, Marker::LINE_LIST, createMarkerScale(0.05, 0.0, 0.0), - createMarkerColor(0.99, 0.99 + 0.5, 0.2, 0.3)); + createMarkerColor(0.99, 0.5, 0.2, 0.8)); ub_marker.lifetime = rclcpp::Duration::from_seconds(1.5); for (size_t bound_idx = 0; bound_idx < ref_points.at(0).bounds_on_constraints.size(); ++bound_idx) { - const std::string ns = "base_bounds_" + std::to_string(bound_idx); + const std::string ns = "bounds" + std::to_string(bound_idx); { // lower bound lb_marker.points.clear(); From b93dbc5c3dd5bd497555c5a12a9b2cdd679b5b56 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Wed, 15 Mar 2023 10:27:00 +0900 Subject: [PATCH 044/121] fix(tier4_perception_launch): fix config path (#3078) * fix(tier4_perception_launch): fix config path Signed-off-by: Takayuki Murooka * use pointcloud_based_occupancy_grid_map.launch.py in tier4_simulator_launch Signed-off-by: Takayuki Murooka --------- Signed-off-by: Takayuki Murooka --- .../laserscan_based_occupancy_grid_map.launch.py | 7 ++++++- .../launch/simulator.launch.xml | 12 ++++++++---- 2 files changed, 14 insertions(+), 5 deletions(-) diff --git a/launch/tier4_perception_launch/launch/occupancy_grid_map/laserscan_based_occupancy_grid_map.launch.py b/launch/tier4_perception_launch/launch/occupancy_grid_map/laserscan_based_occupancy_grid_map.launch.py index 7ed97fe6c0ebd..516821fb3b33b 100644 --- a/launch/tier4_perception_launch/launch/occupancy_grid_map/laserscan_based_occupancy_grid_map.launch.py +++ b/launch/tier4_perception_launch/launch/occupancy_grid_map/laserscan_based_occupancy_grid_map.launch.py @@ -12,6 +12,7 @@ # See the License for the specific language governing permissions and # limitations under the License. +from ament_index_python.packages import get_package_share_directory from launch import LaunchDescription from launch.actions import DeclareLaunchArgument from launch.actions import OpaqueFunction @@ -138,7 +139,11 @@ def add_launch_arg(name: str, default_value=None): add_launch_arg("output/stixel", "virtual_scan/stixel"), add_launch_arg("input_obstacle_pointcloud", "false"), add_launch_arg("input_obstacle_and_raw_pointcloud", "true"), - add_launch_arg("param_file", "config/laserscan_based_occupancy_grid_map.param.yaml"), + add_launch_arg( + "param_file", + get_package_share_directory("probabilistic_occupancy_grid_map") + + "/config/laserscan_based_occupancy_grid_map.param.yaml", + ), add_launch_arg("use_pointcloud_container", "false"), add_launch_arg("container_name", "occupancy_grid_map_container"), set_container_executable, diff --git a/launch/tier4_simulator_launch/launch/simulator.launch.xml b/launch/tier4_simulator_launch/launch/simulator.launch.xml index 70b77eb60cb12..35d8d0161fb33 100644 --- a/launch/tier4_simulator_launch/launch/simulator.launch.xml +++ b/launch/tier4_simulator_launch/launch/simulator.launch.xml @@ -39,11 +39,15 @@ - - - - + + + + + + + + From db23fd3bf50c14e37cfeac5968013c4eebac0810 Mon Sep 17 00:00:00 2001 From: David Wong <33114676+drwnz@users.noreply.github.com> Date: Wed, 15 Mar 2023 14:38:40 +0900 Subject: [PATCH 045/121] fix(perception): add dependencies to traffic light nodes (#3071) fix(perception): add autoware_planning_msgs dependencies to traffic light nodes --- perception/crosswalk_traffic_light_estimator/package.xml | 1 + perception/traffic_light_map_based_detector/package.xml | 1 + 2 files changed, 2 insertions(+) diff --git a/perception/crosswalk_traffic_light_estimator/package.xml b/perception/crosswalk_traffic_light_estimator/package.xml index 3f1bdb6880bd1..d4147643eb7bd 100644 --- a/perception/crosswalk_traffic_light_estimator/package.xml +++ b/perception/crosswalk_traffic_light_estimator/package.xml @@ -14,6 +14,7 @@ autoware_auto_mapping_msgs autoware_auto_perception_msgs autoware_auto_planning_msgs + autoware_planning_msgs lanelet2_extension rclcpp rclcpp_components diff --git a/perception/traffic_light_map_based_detector/package.xml b/perception/traffic_light_map_based_detector/package.xml index 4da85f41816e6..46220572ae9a3 100644 --- a/perception/traffic_light_map_based_detector/package.xml +++ b/perception/traffic_light_map_based_detector/package.xml @@ -14,6 +14,7 @@ autoware_auto_mapping_msgs autoware_auto_perception_msgs autoware_auto_planning_msgs + autoware_planning_msgs geometry_msgs image_geometry lanelet2_extension From 82f1184bde14854c3362936016b0847ceb5e6718 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Wed, 15 Mar 2023 15:55:08 +0900 Subject: [PATCH 046/121] chore(tier4_simulator_launch): add code owner (#3080) chore(tier4_simulator_launch): add code owners Signed-off-by: Takayuki Murooka --- launch/tier4_simulator_launch/package.xml | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/launch/tier4_simulator_launch/package.xml b/launch/tier4_simulator_launch/package.xml index 7964e7c499a11..8094f95d78b15 100644 --- a/launch/tier4_simulator_launch/package.xml +++ b/launch/tier4_simulator_launch/package.xml @@ -5,6 +5,10 @@ 0.1.0 The tier4_simulator_launch package Keisuke Shima + Takayuki Murooka + Takamasa Horibe + Tomoya Kimura + Taiki Tanaka Apache License 2.0 ament_cmake_auto From 5ec84e3834836363463fb1f064206ca54863c136 Mon Sep 17 00:00:00 2001 From: Yoshi Ri Date: Wed, 15 Mar 2023 16:59:59 +0900 Subject: [PATCH 047/121] bugfix(tier4_simulator_launch): fix occupancy grid map not appearing problem in psim (#3081) * fixed psim occupancy grid map problem Signed-off-by: yoshiri * fix parameter designation Signed-off-by: Takayuki Murooka --------- Signed-off-by: yoshiri Signed-off-by: Takayuki Murooka Co-authored-by: Takayuki Murooka --- ...serscan_based_occupancy_grid_map.launch.py | 16 +++++++------ .../launch/simulator.launch.xml | 13 ++++------- ...erscan_based_occupancy_grid_map.param.yaml | 2 -- ...serscan_based_occupancy_grid_map.launch.py | 23 ++++++++++++------- 4 files changed, 29 insertions(+), 25 deletions(-) diff --git a/launch/tier4_perception_launch/launch/occupancy_grid_map/laserscan_based_occupancy_grid_map.launch.py b/launch/tier4_perception_launch/launch/occupancy_grid_map/laserscan_based_occupancy_grid_map.launch.py index 516821fb3b33b..0a6b459d9f5f3 100644 --- a/launch/tier4_perception_launch/launch/occupancy_grid_map/laserscan_based_occupancy_grid_map.launch.py +++ b/launch/tier4_perception_launch/launch/occupancy_grid_map/laserscan_based_occupancy_grid_map.launch.py @@ -31,12 +31,6 @@ def launch_setup(context, *args, **kwargs): param_file = LaunchConfiguration("param_file").perform(context) with open(param_file, "r") as f: laserscan_based_occupancy_grid_map_node_params = yaml.safe_load(f)["/**"]["ros__parameters"] - laserscan_based_occupancy_grid_map_node_params["input_obstacle_pointcloud"] = bool( - LaunchConfiguration("input_obstacle_pointcloud").perform(context) - ) - laserscan_based_occupancy_grid_map_node_params["input_obstacle_and_raw_pointcloud"] = bool( - LaunchConfiguration("input_obstacle_and_raw_pointcloud").perform(context) - ) composable_nodes = [ ComposableNode( @@ -86,7 +80,15 @@ def launch_setup(context, *args, **kwargs): ("~/input/raw_pointcloud", LaunchConfiguration("input/raw_pointcloud")), ("~/output/occupancy_grid_map", LaunchConfiguration("output")), ], - parameters=[laserscan_based_occupancy_grid_map_node_params], + parameters=[ + laserscan_based_occupancy_grid_map_node_params, + { + "input_obstacle_pointcloud": LaunchConfiguration("input_obstacle_pointcloud"), + "input_obstacle_and_raw_pointcloud": LaunchConfiguration( + "input_obstacle_and_raw_pointcloud" + ), + }, + ], extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}], ), ] diff --git a/launch/tier4_simulator_launch/launch/simulator.launch.xml b/launch/tier4_simulator_launch/launch/simulator.launch.xml index 35d8d0161fb33..70b87921ecca5 100644 --- a/launch/tier4_simulator_launch/launch/simulator.launch.xml +++ b/launch/tier4_simulator_launch/launch/simulator.launch.xml @@ -39,15 +39,12 @@ - - - + + + + - - - - - + diff --git a/perception/probabilistic_occupancy_grid_map/config/laserscan_based_occupancy_grid_map.param.yaml b/perception/probabilistic_occupancy_grid_map/config/laserscan_based_occupancy_grid_map.param.yaml index 8c8f1857ce279..3568ac7ec47a0 100644 --- a/perception/probabilistic_occupancy_grid_map/config/laserscan_based_occupancy_grid_map.param.yaml +++ b/perception/probabilistic_occupancy_grid_map/config/laserscan_based_occupancy_grid_map.param.yaml @@ -12,5 +12,3 @@ map_length: 100.0 map_width: 100.0 map_resolution: 0.5 - input_obstacle_pointcloud: true - input_obstacle_and_raw_pointcloud: true diff --git a/perception/probabilistic_occupancy_grid_map/launch/laserscan_based_occupancy_grid_map.launch.py b/perception/probabilistic_occupancy_grid_map/launch/laserscan_based_occupancy_grid_map.launch.py index 7ed97fe6c0ebd..0a6b459d9f5f3 100644 --- a/perception/probabilistic_occupancy_grid_map/launch/laserscan_based_occupancy_grid_map.launch.py +++ b/perception/probabilistic_occupancy_grid_map/launch/laserscan_based_occupancy_grid_map.launch.py @@ -12,6 +12,7 @@ # See the License for the specific language governing permissions and # limitations under the License. +from ament_index_python.packages import get_package_share_directory from launch import LaunchDescription from launch.actions import DeclareLaunchArgument from launch.actions import OpaqueFunction @@ -30,12 +31,6 @@ def launch_setup(context, *args, **kwargs): param_file = LaunchConfiguration("param_file").perform(context) with open(param_file, "r") as f: laserscan_based_occupancy_grid_map_node_params = yaml.safe_load(f)["/**"]["ros__parameters"] - laserscan_based_occupancy_grid_map_node_params["input_obstacle_pointcloud"] = bool( - LaunchConfiguration("input_obstacle_pointcloud").perform(context) - ) - laserscan_based_occupancy_grid_map_node_params["input_obstacle_and_raw_pointcloud"] = bool( - LaunchConfiguration("input_obstacle_and_raw_pointcloud").perform(context) - ) composable_nodes = [ ComposableNode( @@ -85,7 +80,15 @@ def launch_setup(context, *args, **kwargs): ("~/input/raw_pointcloud", LaunchConfiguration("input/raw_pointcloud")), ("~/output/occupancy_grid_map", LaunchConfiguration("output")), ], - parameters=[laserscan_based_occupancy_grid_map_node_params], + parameters=[ + laserscan_based_occupancy_grid_map_node_params, + { + "input_obstacle_pointcloud": LaunchConfiguration("input_obstacle_pointcloud"), + "input_obstacle_and_raw_pointcloud": LaunchConfiguration( + "input_obstacle_and_raw_pointcloud" + ), + }, + ], extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}], ), ] @@ -138,7 +141,11 @@ def add_launch_arg(name: str, default_value=None): add_launch_arg("output/stixel", "virtual_scan/stixel"), add_launch_arg("input_obstacle_pointcloud", "false"), add_launch_arg("input_obstacle_and_raw_pointcloud", "true"), - add_launch_arg("param_file", "config/laserscan_based_occupancy_grid_map.param.yaml"), + add_launch_arg( + "param_file", + get_package_share_directory("probabilistic_occupancy_grid_map") + + "/config/laserscan_based_occupancy_grid_map.param.yaml", + ), add_launch_arg("use_pointcloud_container", "false"), add_launch_arg("container_name", "occupancy_grid_map_container"), set_container_executable, From f210e40ae12841b41d8c3e1a0ec84284a3beaed3 Mon Sep 17 00:00:00 2001 From: Yutaka Shimizu <43805014+purewater0901@users.noreply.github.com> Date: Thu, 16 Mar 2023 09:12:04 +0900 Subject: [PATCH 048/121] refactor(behavior_path_planner): change names in lane change module (#3083) * refactor(behavior_path_planner): change names in lane change module Signed-off-by: yutaka * Update planning/behavior_path_planner/src/util/lane_change/util.cpp Co-authored-by: Fumiya Watanabe * update Signed-off-by: yutaka --------- Signed-off-by: yutaka Co-authored-by: Fumiya Watanabe --- .../util/lane_change/util.hpp | 16 +-- .../src/util/lane_change/util.cpp | 111 +++++++----------- 2 files changed, 51 insertions(+), 76 deletions(-) diff --git a/planning/behavior_path_planner/include/behavior_path_planner/util/lane_change/util.hpp b/planning/behavior_path_planner/include/behavior_path_planner/util/lane_change/util.hpp index 1efc82aca1ee8..ca5575bb63b45 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/util/lane_change/util.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/util/lane_change/util.hpp @@ -54,11 +54,7 @@ bool isPathInLanelets( const PathWithLaneId & path, const lanelet::ConstLanelets & original_lanelets, const lanelet::ConstLanelets & target_lanelets); -double getExpectedVelocityWhenDecelerate( - const double & current_velocity, const double & expected_acceleration, - const double & lane_change_prepare_duration); - -std::pair calcLaneChangingSpeedAndDistanceWhenDecelerate( +std::pair calcLaneChangingSpeedAndDistance( const double velocity, const double shift_length, const double deceleration, const double min_total_lc_len, const BehaviorPathPlannerParameters & com_param, const LaneChangeParameters & lc_param); @@ -102,8 +98,8 @@ bool hasEnoughDistance( const lanelet::ConstLanelets & target_lanes, const Pose & current_pose, const Pose & goal_pose, const RouteHandler & route_handler, const double minimum_lane_change_length); -ShiftLine getLaneChangeShiftLine( - const PathWithLaneId & path1, const PathWithLaneId & path2, +ShiftLine getLaneChangingShiftLine( + const PathWithLaneId & prepare_segment, const PathWithLaneId & lane_changing_segment, const lanelet::ConstLanelets & target_lanes, const PathWithLaneId & reference_path); PathWithLaneId getReferencePathFromTargetLane( @@ -112,17 +108,17 @@ PathWithLaneId getReferencePathFromTargetLane( const LaneChangePhaseInfo dist_prepare_to_lc_end, const double min_total_lane_changing_distance, const double forward_path_length, const double resample_interval, const bool is_goal_in_route); -PathWithLaneId getLaneChangePathPrepareSegment( +PathWithLaneId getPrepareSegment( const RouteHandler & route_handler, const lanelet::ConstLanelets & original_lanelets, const double arc_length_from_current, const double backward_path_length, const double prepare_distance, const double prepare_speed); -PathWithLaneId getLaneChangePathPrepareSegment( +PathWithLaneId getPrepareSegment( const PathWithLaneId & original_path, const lanelet::ConstLanelets & original_lanelets, const Pose & current_pose, const double backward_path_length, const double prepare_distance, const double prepare_speed); -PathWithLaneId getLaneChangePathLaneChangingSegment( +PathWithLaneId getLaneChangingSegment( const RouteHandler & route_handler, const lanelet::ConstLanelets & target_lanelets, const double forward_path_length, const double arc_length_from_target, const double target_lane_length, const LaneChangePhaseInfo dist_prepare_to_lc_end, diff --git a/planning/behavior_path_planner/src/util/lane_change/util.cpp b/planning/behavior_path_planner/src/util/lane_change/util.cpp index 550185992f1a5..ef11466682bf9 100644 --- a/planning/behavior_path_planner/src/util/lane_change/util.cpp +++ b/planning/behavior_path_planner/src/util/lane_change/util.cpp @@ -115,7 +115,7 @@ using autoware_auto_planning_msgs::msg::PathPointWithLaneId; using lanelet::ArcCoordinates; using util::getHighestProbLabel; -inline double calcLaneChangeResamplingInterval( +inline double calcLaneChangeResampleInterval( const double lane_changing_distance, const double lane_changing_speed) { constexpr auto min_resampling_points{30.0}; @@ -159,20 +159,6 @@ bool isPathInLanelets( return true; } -double getExpectedVelocityWhenDecelerate( - const double & velocity, const double & expected_acceleration, const double & duration) -{ - return velocity + expected_acceleration * duration; -} - -double getDistanceWhenDecelerate( - const double & velocity, const double & expected_acceleration, const double & duration, - const double & minimum_distance) -{ - const auto distance = velocity * duration + 0.5 * expected_acceleration * std::pow(duration, 2); - return std::max(distance, minimum_distance); -} - std::optional constructCandidatePath( const PathWithLaneId & prepare_segment, const PathWithLaneId & lane_changing_segment, const PathWithLaneId & target_lane_reference_path, const ShiftLine & shift_line, @@ -231,10 +217,10 @@ std::optional constructCandidatePath( const PathPointWithLaneId & lane_changing_start_point = prepare_segment.points.back(); const PathPointWithLaneId & lane_changing_end_point = lane_changing_segment.points.front(); const Pose & lane_changing_end_pose = lane_changing_end_point.point.pose; - const auto lanechange_end_idx = + const auto lane_change_end_idx = motion_utils::findNearestIndex(shifted_path.path.points, lane_changing_end_pose); - if (!lanechange_end_idx) { + if (!lane_change_end_idx) { RCLCPP_ERROR_STREAM( rclcpp::get_logger("behavior_path_planner").get_child("lane_change").get_child("util"), "lane change end idx not found on target path."); @@ -243,7 +229,7 @@ std::optional constructCandidatePath( for (size_t i = 0; i < shifted_path.path.points.size(); ++i) { auto & point = shifted_path.path.points.at(i); - if (i < *lanechange_end_idx) { + if (i < *lane_change_end_idx) { point.lane_ids = replaceWithSortedIds(point.lane_ids, sorted_lane_ids); point.point.longitudinal_velocity_mps = std::min( point.point.longitudinal_velocity_mps, @@ -257,11 +243,11 @@ std::optional constructCandidatePath( point.lane_ids = lane_changing_segment.points.at(*nearest_idx).lane_ids; } + // check candidate path is in lanelet if (!isPathInLanelets(shifted_path.path, original_lanelets, target_lanelets)) { return std::nullopt; } - // check candidate path is in lanelet candidate_path.path = combineReferencePath(prepare_segment, shifted_path.path); candidate_path.shifted_path = shifted_path; @@ -296,9 +282,8 @@ std::pair getLaneChangePaths( // rename parameter const auto backward_path_length = common_parameter.backward_path_length; const auto forward_path_length = common_parameter.forward_path_length; - const auto lane_change_prepare_duration = parameter.lane_change_prepare_duration; - const auto minimum_lane_change_prepare_distance = - common_parameter.minimum_lane_change_prepare_distance; + const auto prepare_duration = parameter.lane_change_prepare_duration; + const auto minimum_prepare_distance = common_parameter.minimum_lane_change_prepare_distance; const auto minimum_lane_change_velocity = parameter.minimum_lane_change_velocity; const auto maximum_deceleration = parameter.maximum_deceleration; const auto lane_change_sampling_num = parameter.lane_change_sampling_num; @@ -330,8 +315,7 @@ std::pair getLaneChangePaths( const auto required_total_min_distance = util::calcLaneChangeBuffer(common_parameter, num_to_preferred_lane); - [[maybe_unused]] const auto arc_position_from_current = - lanelet::utils::getArcCoordinates(original_lanelets, pose); + const auto arc_position_from_current = lanelet::utils::getArcCoordinates(original_lanelets, pose); const auto arc_position_from_target = lanelet::utils::getArcCoordinates(target_lanelets, pose); const auto target_lane_length = lanelet::utils::getLaneletLength2d(target_lanelets); @@ -346,8 +330,7 @@ std::pair getLaneChangePaths( candidate_paths->reserve(lane_change_sampling_num); for (double acceleration = 0.0; acceleration >= -maximum_deceleration; acceleration -= acceleration_resolution) { - const auto prepare_speed = getExpectedVelocityWhenDecelerate( - current_velocity, acceleration, lane_change_prepare_duration); + const double prepare_speed = current_velocity + acceleration * prepare_duration; // skip if velocity becomes less than zero before starting lane change if (prepare_speed < 0.0) { @@ -355,50 +338,48 @@ std::pair getLaneChangePaths( } // get path on original lanes - const auto prepare_distance = getDistanceWhenDecelerate( - current_velocity, acceleration, lane_change_prepare_duration, - minimum_lane_change_prepare_distance); + const double prepare_distance = std::max( + current_velocity * prepare_duration + 0.5 * acceleration * std::pow(prepare_duration, 2), + minimum_prepare_distance); if (prepare_distance < target_distance) { continue; } #ifdef USE_OLD_ARCHITECTURE - const auto prepare_segment_reference = getLaneChangePathPrepareSegment( + const auto prepare_segment = getPrepareSegment( route_handler, original_lanelets, arc_position_from_current.length, backward_path_length, prepare_distance, std::max(prepare_speed, minimum_lane_change_velocity)); #else - const auto prepare_segment_reference = getLaneChangePathPrepareSegment( + const auto prepare_segment = getPrepareSegment( original_path, original_lanelets, pose, backward_path_length, prepare_distance, std::max(prepare_speed, minimum_lane_change_velocity)); #endif const auto estimated_shift_length = util::calcLateralDistanceToLanelet( - target_lanelets, prepare_segment_reference.points.front().point.pose); + target_lanelets, prepare_segment.points.front().point.pose); - const auto [lane_changing_speed, lane_changing_distance] = - calcLaneChangingSpeedAndDistanceWhenDecelerate( - prepare_speed, estimated_shift_length, acceleration, end_of_lane_dist, common_parameter, - parameter); + const auto [lane_changing_speed, lane_changing_distance] = calcLaneChangingSpeedAndDistance( + prepare_speed, estimated_shift_length, acceleration, end_of_lane_dist, common_parameter, + parameter); const auto lc_dist = LaneChangePhaseInfo{prepare_distance, lane_changing_distance}; - const auto lane_changing_segment_reference = getLaneChangePathLaneChangingSegment( + const auto lane_changing_segment = getLaneChangingSegment( route_handler, target_lanelets, forward_path_length, arc_position_from_target.length, target_lane_length, lc_dist, lane_changing_speed, required_total_min_distance); - if ( - prepare_segment_reference.points.empty() || lane_changing_segment_reference.points.empty()) { + if (prepare_segment.points.empty() || lane_changing_segment.points.empty()) { RCLCPP_ERROR_STREAM( rclcpp::get_logger("behavior_path_planner").get_child("lane_change").get_child("util"), "reference path is empty!! something wrong..."); continue; } - const auto & lane_changing_start_pose = prepare_segment_reference.points.back().point.pose; + const auto & lane_changing_start_pose = prepare_segment.points.back().point.pose; const auto resample_interval = - calcLaneChangeResamplingInterval(lane_changing_distance, lane_changing_speed); + calcLaneChangeResampleInterval(lane_changing_distance, lane_changing_speed); const auto target_lane_reference_path = getReferencePathFromTargetLane( route_handler, target_lanelets, lane_changing_start_pose, target_lane_length, lc_dist, @@ -408,16 +389,15 @@ std::pair getLaneChangePaths( continue; } - const auto shift_line = getLaneChangeShiftLine( - prepare_segment_reference, lane_changing_segment_reference, target_lanelets, - target_lane_reference_path); + const auto shift_line = getLaneChangingShiftLine( + prepare_segment, lane_changing_segment, target_lanelets, target_lane_reference_path); const auto lc_speed = LaneChangePhaseInfo{prepare_speed, lane_changing_speed}; const auto candidate_path = constructCandidatePath( - prepare_segment_reference, lane_changing_segment_reference, target_lane_reference_path, - shift_line, original_lanelets, target_lanelets, sorted_lane_ids, acceleration, lc_dist, - lc_speed, parameter); + prepare_segment, lane_changing_segment, target_lane_reference_path, shift_line, + original_lanelets, target_lanelets, sorted_lane_ids, acceleration, lc_dist, lc_speed, + parameter); if (!candidate_path) { continue; @@ -627,35 +607,34 @@ bool isLaneChangePathSafe( return true; } -ShiftLine getLaneChangeShiftLine( - const PathWithLaneId & path1, const PathWithLaneId & path2, +ShiftLine getLaneChangingShiftLine( + const PathWithLaneId & prepare_segment, const PathWithLaneId & lane_changing_segment, const lanelet::ConstLanelets & target_lanes, const PathWithLaneId & reference_path) { - const Pose & lane_change_start_on_self_lane = path1.points.back().point.pose; - const Pose & lane_change_end_on_target_lane = path2.points.front().point.pose; - const ArcCoordinates lane_change_start_on_self_lane_arc = - lanelet::utils::getArcCoordinates(target_lanes, lane_change_start_on_self_lane); + const Pose & lane_changing_start_pose = prepare_segment.points.back().point.pose; + const Pose & lane_changing_end_pose = lane_changing_segment.points.front().point.pose; ShiftLine shift_line; - shift_line.end_shift_length = lane_change_start_on_self_lane_arc.distance; - shift_line.start = lane_change_start_on_self_lane; - shift_line.end = lane_change_end_on_target_lane; + shift_line.end_shift_length = + util::calcLateralDistanceToLanelet(target_lanes, lane_changing_start_pose); + shift_line.start = lane_changing_start_pose; + shift_line.end = lane_changing_end_pose; shift_line.start_idx = - motion_utils::findNearestIndex(reference_path.points, lane_change_start_on_self_lane.position); + motion_utils::findNearestIndex(reference_path.points, lane_changing_start_pose.position); shift_line.end_idx = - motion_utils::findNearestIndex(reference_path.points, lane_change_end_on_target_lane.position); + motion_utils::findNearestIndex(reference_path.points, lane_changing_end_pose.position); RCLCPP_DEBUG( rclcpp::get_logger("behavior_path_planner") .get_child("lane_change") .get_child("util") - .get_child("getLaneChangeShiftLine"), + .get_child("getLaneChangingShiftLine"), "shift_line distance: %f", util::getSignedDistance(shift_line.start, shift_line.end, target_lanes)); return shift_line; } -PathWithLaneId getLaneChangePathPrepareSegment( +PathWithLaneId getPrepareSegment( const RouteHandler & route_handler, const lanelet::ConstLanelets & original_lanelets, const double arc_length_from_current, const double backward_path_length, const double prepare_distance, const double prepare_speed) @@ -671,7 +650,7 @@ PathWithLaneId getLaneChangePathPrepareSegment( rclcpp::get_logger("behavior_path_planner") .get_child("lane_change") .get_child("util") - .get_child("getLaneChangePathPrepareSegment"), + .get_child("getPrepareSegment"), "start: %f, end: %f", s_start, s_end); PathWithLaneId prepare_segment = @@ -684,7 +663,7 @@ PathWithLaneId getLaneChangePathPrepareSegment( return prepare_segment; } -PathWithLaneId getLaneChangePathPrepareSegment( +PathWithLaneId getPrepareSegment( const PathWithLaneId & original_path, const lanelet::ConstLanelets & original_lanelets, const Pose & current_pose, const double backward_path_length, const double prepare_distance, const double prepare_speed) @@ -705,7 +684,7 @@ PathWithLaneId getLaneChangePathPrepareSegment( return prepare_segment; } -std::pair calcLaneChangingSpeedAndDistanceWhenDecelerate( +std::pair calcLaneChangingSpeedAndDistance( const double velocity, const double shift_length, const double deceleration, const double min_total_lc_len, const BehaviorPathPlannerParameters & com_param, const LaneChangeParameters & lc_param) @@ -723,14 +702,14 @@ std::pair calcLaneChangingSpeedAndDistanceWhenDecelerate( rclcpp::get_logger("behavior_path_planner") .get_child("lane_change") .get_child("util") - .get_child("calcLaneChangingSpeedAndDistanceWhenDecelerate"), + .get_child("calcLaneChangingSpeedAndDistance"), "required_time: %f [s] average_speed: %f [m/s], lane_changing_distance : %f [m]", required_time, lane_changing_average_speed, lane_changing_distance); return {lane_changing_average_speed, lane_changing_distance}; } -PathWithLaneId getLaneChangePathLaneChangingSegment( +PathWithLaneId getLaneChangingSegment( const RouteHandler & route_handler, const lanelet::ConstLanelets & target_lanelets, const double forward_path_length, const double arc_length_from_target, const double target_lane_length, const LaneChangePhaseInfo dist_prepare_to_lc_end, @@ -755,7 +734,7 @@ PathWithLaneId getLaneChangePathLaneChangingSegment( rclcpp::get_logger("behavior_path_planner") .get_child("lane_change") .get_child("util") - .get_child("getLaneChangePathLaneChangingSegment"), + .get_child("getLaneChangingSegment"), "start: %f, end: %f", s_start, s_end); PathWithLaneId lane_changing_segment = From e36b079979e87cd6b74d21cc870a8a9ccecd34c3 Mon Sep 17 00:00:00 2001 From: Yutaka Shimizu <43805014+purewater0901@users.noreply.github.com> Date: Thu, 16 Mar 2023 13:25:29 +0900 Subject: [PATCH 049/121] fix(behavior_path_planner): fix lane changing segment s_end (#3074) --- .../util/lane_change/util.hpp | 2 +- .../src/util/lane_change/util.cpp | 14 +++++++------- 2 files changed, 8 insertions(+), 8 deletions(-) diff --git a/planning/behavior_path_planner/include/behavior_path_planner/util/lane_change/util.hpp b/planning/behavior_path_planner/include/behavior_path_planner/util/lane_change/util.hpp index ca5575bb63b45..679f1ae230f1c 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/util/lane_change/util.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/util/lane_change/util.hpp @@ -105,7 +105,7 @@ ShiftLine getLaneChangingShiftLine( PathWithLaneId getReferencePathFromTargetLane( const RouteHandler & route_handler, const lanelet::ConstLanelets & target_lanes, const Pose & lane_changing_start_pose, const double target_lane_length, - const LaneChangePhaseInfo dist_prepare_to_lc_end, const double min_total_lane_changing_distance, + const double lane_changing_distance, const double min_total_lane_changing_distance, const double forward_path_length, const double resample_interval, const bool is_goal_in_route); PathWithLaneId getPrepareSegment( diff --git a/planning/behavior_path_planner/src/util/lane_change/util.cpp b/planning/behavior_path_planner/src/util/lane_change/util.cpp index ef11466682bf9..9dcf4b11dcfdb 100644 --- a/planning/behavior_path_planner/src/util/lane_change/util.cpp +++ b/planning/behavior_path_planner/src/util/lane_change/util.cpp @@ -343,7 +343,7 @@ std::pair getLaneChangePaths( minimum_prepare_distance); if (prepare_distance < target_distance) { - continue; + break; } #ifdef USE_OLD_ARCHITECTURE @@ -382,8 +382,9 @@ std::pair getLaneChangePaths( calcLaneChangeResampleInterval(lane_changing_distance, lane_changing_speed); const auto target_lane_reference_path = getReferencePathFromTargetLane( - route_handler, target_lanelets, lane_changing_start_pose, target_lane_length, lc_dist, - required_total_min_distance, forward_path_length, resample_interval, is_goal_in_route); + route_handler, target_lanelets, lane_changing_start_pose, target_lane_length, + lc_dist.lane_changing, required_total_min_distance, forward_path_length, resample_interval, + is_goal_in_route); if (target_lane_reference_path.points.empty()) { continue; @@ -750,7 +751,7 @@ PathWithLaneId getLaneChangingSegment( PathWithLaneId getReferencePathFromTargetLane( const RouteHandler & route_handler, const lanelet::ConstLanelets & target_lanes, const Pose & lane_changing_start_pose, const double target_lane_length, - const LaneChangePhaseInfo dist_prepare_to_lc_end, const double min_total_lane_changing_distance, + const double lane_changing_distance, const double min_total_lane_changing_distance, const double forward_path_length, const double resample_interval, const bool is_goal_in_route) { const ArcCoordinates lane_change_start_arc_position = @@ -758,7 +759,7 @@ PathWithLaneId getReferencePathFromTargetLane( const double s_start = lane_change_start_arc_position.length; const double s_end = std::invoke([&]() { - const auto dist_from_lc_start = s_start + dist_prepare_to_lc_end.sum() + forward_path_length; + const auto dist_from_lc_start = s_start + lane_changing_distance + forward_path_length; if (is_goal_in_route) { const auto goal_arc_coordinates = lanelet::utils::getArcCoordinates(target_lanes, route_handler.getGoalPose()); @@ -780,8 +781,7 @@ PathWithLaneId getReferencePathFromTargetLane( route_handler.getCenterLinePath(target_lanes, s_start, s_end); return util::resamplePathWithSpline( - lane_changing_reference_path, resample_interval, true, - {0.0, dist_prepare_to_lc_end.lane_changing}); + lane_changing_reference_path, resample_interval, true, {0.0, lane_changing_distance}); } bool isEgoWithinOriginalLane( From abf46efda564ba8b06f6bf7e45304ba70808ba1c Mon Sep 17 00:00:00 2001 From: Yutaka Shimizu <43805014+purewater0901@users.noreply.github.com> Date: Thu, 16 Mar 2023 17:33:36 +0900 Subject: [PATCH 050/121] feat(behavior_path_planner): use lanelet utils for lateral calculation (#3089) feat(behavior_path_planner): use lanelet utils for lateral ccalculation Signed-off-by: yutaka --- .../include/behavior_path_planner/utilities.hpp | 3 --- .../src/util/lane_change/util.cpp | 4 ++-- planning/behavior_path_planner/src/utilities.cpp | 12 ------------ 3 files changed, 2 insertions(+), 17 deletions(-) diff --git a/planning/behavior_path_planner/include/behavior_path_planner/utilities.hpp b/planning/behavior_path_planner/include/behavior_path_planner/utilities.hpp index f374246c44b7d..c0598ed7f04d8 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/utilities.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/utilities.hpp @@ -534,9 +534,6 @@ double calcLaneChangeBuffer( lanelet::ConstLanelets getLaneletsFromPath( const PathWithLaneId & path, const std::shared_ptr & route_handler); - -double calcLateralDistanceToLanelet( - const lanelet::ConstLanelets & lanelet_sequence, const geometry_msgs::msg::Pose & pose); } // namespace behavior_path_planner::util #endif // BEHAVIOR_PATH_PLANNER__UTILITIES_HPP_ diff --git a/planning/behavior_path_planner/src/util/lane_change/util.cpp b/planning/behavior_path_planner/src/util/lane_change/util.cpp index 9dcf4b11dcfdb..a0cef4a4d3f86 100644 --- a/planning/behavior_path_planner/src/util/lane_change/util.cpp +++ b/planning/behavior_path_planner/src/util/lane_change/util.cpp @@ -356,7 +356,7 @@ std::pair getLaneChangePaths( std::max(prepare_speed, minimum_lane_change_velocity)); #endif - const auto estimated_shift_length = util::calcLateralDistanceToLanelet( + const auto estimated_shift_length = lanelet::utils::getLateralDistanceToClosestLanelet( target_lanelets, prepare_segment.points.front().point.pose); const auto [lane_changing_speed, lane_changing_distance] = calcLaneChangingSpeedAndDistance( @@ -617,7 +617,7 @@ ShiftLine getLaneChangingShiftLine( ShiftLine shift_line; shift_line.end_shift_length = - util::calcLateralDistanceToLanelet(target_lanes, lane_changing_start_pose); + lanelet::utils::getLateralDistanceToClosestLanelet(target_lanes, lane_changing_start_pose); shift_line.start = lane_changing_start_pose; shift_line.end = lane_changing_end_pose; shift_line.start_idx = diff --git a/planning/behavior_path_planner/src/utilities.cpp b/planning/behavior_path_planner/src/utilities.cpp index de43052b79662..2547a0e1cd681 100644 --- a/planning/behavior_path_planner/src/utilities.cpp +++ b/planning/behavior_path_planner/src/utilities.cpp @@ -2691,16 +2691,4 @@ lanelet::ConstLanelets getLaneletsFromPath( return lanelets; } - -double calcLateralDistanceToLanelet( - const lanelet::ConstLanelets & lanelet_sequence, const geometry_msgs::msg::Pose & pose) -{ - lanelet::ConstLanelet closest_lanelet; - lanelet::utils::query::getClosestLanelet(lanelet_sequence, pose, &closest_lanelet); - const auto & centerline_2d = lanelet::utils::to2D(closest_lanelet.centerline()); - - const auto lanelet_point = lanelet::utils::conversion::toLaneletPoint(pose.position); - return lanelet::geometry::signedDistance( - centerline_2d, lanelet::utils::to2D(lanelet_point).basicPoint()); -} } // namespace behavior_path_planner::util From 0bdc084fa5571dc8ab3e2efffd867a134a9e873b Mon Sep 17 00:00:00 2001 From: kminoda <44218668+kminoda@users.noreply.github.com> Date: Thu, 16 Mar 2023 19:15:56 +0900 Subject: [PATCH 051/121] fix(pose_initializer): fix launch file (#3092) Signed-off-by: kminoda --- .../pose_initializer/launch/pose_initializer.launch.xml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/localization/pose_initializer/launch/pose_initializer.launch.xml b/localization/pose_initializer/launch/pose_initializer.launch.xml index 6558b578e6386..86b20833ec4df 100644 --- a/localization/pose_initializer/launch/pose_initializer.launch.xml +++ b/localization/pose_initializer/launch/pose_initializer.launch.xml @@ -9,8 +9,8 @@ - - + + From fd090cb6f8db04e01dd391470b3afe3d6e2712fa Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Fri, 17 Mar 2023 01:06:02 +0900 Subject: [PATCH 052/121] fix(behavior_path_planner): reset modified goal id (#3095) Signed-off-by: kosuke55 --- .../src/scene_module/pull_over/pull_over_module.cpp | 1 + 1 file changed, 1 insertion(+) diff --git a/planning/behavior_path_planner/src/scene_module/pull_over/pull_over_module.cpp b/planning/behavior_path_planner/src/scene_module/pull_over/pull_over_module.cpp index 2efef897b203c..b2f5dfae39425 100644 --- a/planning/behavior_path_planner/src/scene_module/pull_over/pull_over_module.cpp +++ b/planning/behavior_path_planner/src/scene_module/pull_over/pull_over_module.cpp @@ -132,6 +132,7 @@ void PullOverModule::resetStatus() pull_over_path_candidates_.clear(); closest_start_pose_.reset(); goal_candidates_.clear(); + prev_goal_id_.reset(); } // This function is needed for waiting for planner_data_ From 2a23a4bf9c74fa321f1483bbabe566f1c6246db9 Mon Sep 17 00:00:00 2001 From: Yoshi Ri Date: Fri, 17 Mar 2023 01:11:09 +0900 Subject: [PATCH 053/121] feat(probabilistic_occupancy_grid_map): add pointcloud filter in gridmap generation (#3054) * add scan_frame and raytrace center Signed-off-by: yoshiri * add scan frame to laserscan based method Signed-off-by: yoshiri * update readme Signed-off-by: yoshiri * fix typo Signed-off-by: yoshiri * update laucher in perception_launch Signed-off-by: yoshiri * fix config and launch file Signed-off-by: yoshiri * fixed laserscan based launcher Signed-off-by: yoshiri * add filter func to extract obstacle pc in sensor Signed-off-by: yoshiri * refactor: wrap common function to utils Signed-off-by: yoshiri * style(pre-commit): autofix * Apply suggestions from code review fixed copyright name Co-authored-by: Yukihiro Saito --------- Signed-off-by: yoshiri Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Yukihiro Saito --- .../CMakeLists.txt | 2 + ...tcloud_based_occupancy_grid_map.param.yaml | 2 + ...intcloud_based_occupancy_grid_map_node.hpp | 1 + .../include/utils/utils.hpp | 120 ++++++++++++ ...aserscan_based_occupancy_grid_map_node.cpp | 88 +-------- .../occupancy_grid_map.cpp | 52 +----- ...intcloud_based_occupancy_grid_map_node.cpp | 101 +++------- .../src/utils/utils.cpp | 175 ++++++++++++++++++ 8 files changed, 339 insertions(+), 202 deletions(-) create mode 100644 perception/probabilistic_occupancy_grid_map/include/utils/utils.hpp create mode 100644 perception/probabilistic_occupancy_grid_map/src/utils/utils.cpp diff --git a/perception/probabilistic_occupancy_grid_map/CMakeLists.txt b/perception/probabilistic_occupancy_grid_map/CMakeLists.txt index df0090d1b6cee..777dda051b787 100644 --- a/perception/probabilistic_occupancy_grid_map/CMakeLists.txt +++ b/perception/probabilistic_occupancy_grid_map/CMakeLists.txt @@ -18,6 +18,7 @@ ament_auto_add_library(pointcloud_based_occupancy_grid_map SHARED src/pointcloud_based_occupancy_grid_map/pointcloud_based_occupancy_grid_map_node.cpp src/pointcloud_based_occupancy_grid_map/occupancy_grid_map.cpp src/updater/occupancy_grid_map_binary_bayes_filter_updater.cpp + src/utils/utils.cpp ) target_link_libraries(pointcloud_based_occupancy_grid_map @@ -34,6 +35,7 @@ ament_auto_add_library(laserscan_based_occupancy_grid_map SHARED src/laserscan_based_occupancy_grid_map/laserscan_based_occupancy_grid_map_node.cpp src/laserscan_based_occupancy_grid_map/occupancy_grid_map.cpp src/updater/occupancy_grid_map_binary_bayes_filter_updater.cpp + src/utils/utils.cpp ) target_link_libraries(laserscan_based_occupancy_grid_map diff --git a/perception/probabilistic_occupancy_grid_map/config/pointcloud_based_occupancy_grid_map.param.yaml b/perception/probabilistic_occupancy_grid_map/config/pointcloud_based_occupancy_grid_map.param.yaml index 49a1a7097d308..7a1a1b13ee335 100644 --- a/perception/probabilistic_occupancy_grid_map/config/pointcloud_based_occupancy_grid_map.param.yaml +++ b/perception/probabilistic_occupancy_grid_map/config/pointcloud_based_occupancy_grid_map.param.yaml @@ -5,6 +5,8 @@ use_height_filter: true enable_single_frame_mode: false + # use sensor pointcloud to filter obstacle pointcloud + filter_obstacle_pointcloud_by_raw_pointcloud: false # grid map coordinate map_frame: "map" diff --git a/perception/probabilistic_occupancy_grid_map/include/pointcloud_based_occupancy_grid_map/pointcloud_based_occupancy_grid_map_node.hpp b/perception/probabilistic_occupancy_grid_map/include/pointcloud_based_occupancy_grid_map/pointcloud_based_occupancy_grid_map_node.hpp index 5b7571fa8abcc..dc1b268123fcc 100644 --- a/perception/probabilistic_occupancy_grid_map/include/pointcloud_based_occupancy_grid_map/pointcloud_based_occupancy_grid_map_node.hpp +++ b/perception/probabilistic_occupancy_grid_map/include/pointcloud_based_occupancy_grid_map/pointcloud_based_occupancy_grid_map_node.hpp @@ -86,6 +86,7 @@ class PointcloudBasedOccupancyGridMapNode : public rclcpp::Node std::string scan_origin_frame_; bool use_height_filter_; bool enable_single_frame_mode_; + bool filter_obstacle_pointcloud_by_raw_pointcloud_; }; } // namespace occupancy_grid_map diff --git a/perception/probabilistic_occupancy_grid_map/include/utils/utils.hpp b/perception/probabilistic_occupancy_grid_map/include/utils/utils.hpp new file mode 100644 index 0000000000000..4af7ef950272d --- /dev/null +++ b/perception/probabilistic_occupancy_grid_map/include/utils/utils.hpp @@ -0,0 +1,120 @@ +// 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 UTILS__UTILS_HPP_ +#define UTILS__UTILS_HPP_ + +#include +#include +#include +#include + +#include +#include +#include +#include +#include + +#include +#include +#include +#include + +#ifdef ROS_DISTRO_GALACTIC +#include +#include +#else +#include + +#include +#endif + +#include +#include +#include + +namespace utils +{ + +/** + * @brief 3D point struct for sorting and searching + * + */ +struct MyPoint3d +{ + float x; + float y; + float z; + + // constructor + MyPoint3d(float x, float y, float z) : x(x), y(y), z(z) {} + + // calc squared norm + float norm2() const { return powf(x, 2) + powf(y, 2) + powf(z, 2); } + + // calc arctan2 + float arctan2() const { return atan2f(y, x); } + + // overload operator< + bool operator<(const MyPoint3d & other) const + { + const auto a = norm2(); + const auto b = other.norm2(); + if (a == b) { // escape when norm2 is same + return arctan2() < other.arctan2(); + } else { + return a < b; + } + } + + // overload operator== + bool operator==(const MyPoint3d & other) const + { + return fabsf(x - other.x) < FLT_EPSILON && fabsf(y - other.y) < FLT_EPSILON && + fabsf(z - other.z) < FLT_EPSILON; + } +}; + +bool transformPointcloud( + const sensor_msgs::msg::PointCloud2 & input, const tf2_ros::Buffer & tf2, + const std::string & target_frame, sensor_msgs::msg::PointCloud2 & output); + +void transformPointcloud( + const sensor_msgs::msg::PointCloud2 & input, const geometry_msgs::msg::Pose & pose, + sensor_msgs::msg::PointCloud2 & output); + +bool cropPointcloudByHeight( + const sensor_msgs::msg::PointCloud2 & input, const tf2_ros::Buffer & tf2, + const std::string & target_frame, const float min_height, const float max_height, + sensor_msgs::msg::PointCloud2 & output); + +// get pose from tf2 +geometry_msgs::msg::Pose getPose( + const std_msgs::msg::Header & source_header, const tf2_ros::Buffer & tf2, + const std::string & target_frame); + +geometry_msgs::msg::Pose getPose( + const builtin_interfaces::msg::Time & stamp, const tf2_ros::Buffer & tf2, + const std::string & source_frame, const std::string & target_frame); + +// get inverted pose +geometry_msgs::msg::Pose getInversePose(const geometry_msgs::msg::Pose & pose); + +bool extractCommonPointCloud( + const sensor_msgs::msg::PointCloud2 & obstacle_pc, const sensor_msgs::msg::PointCloud2 & raw_pc, + sensor_msgs::msg::PointCloud2 & output_obstacle_pc); + +} // namespace utils + +#endif // UTILS__UTILS_HPP_ diff --git a/perception/probabilistic_occupancy_grid_map/src/laserscan_based_occupancy_grid_map/laserscan_based_occupancy_grid_map_node.cpp b/perception/probabilistic_occupancy_grid_map/src/laserscan_based_occupancy_grid_map/laserscan_based_occupancy_grid_map_node.cpp index 2ded71a0ec0b4..248e436bd1732 100644 --- a/perception/probabilistic_occupancy_grid_map/src/laserscan_based_occupancy_grid_map/laserscan_based_occupancy_grid_map_node.cpp +++ b/perception/probabilistic_occupancy_grid_map/src/laserscan_based_occupancy_grid_map/laserscan_based_occupancy_grid_map_node.cpp @@ -15,6 +15,7 @@ #include "laserscan_based_occupancy_grid_map/laserscan_based_occupancy_grid_map_node.hpp" #include "cost_value.hpp" +#include "utils/utils.hpp" #include #include @@ -35,78 +36,6 @@ #include #include -namespace -{ -bool transformPointcloud( - const sensor_msgs::msg::PointCloud2 & input, const tf2_ros::Buffer & tf2, - const std::string & target_frame, sensor_msgs::msg::PointCloud2 & output) -{ - geometry_msgs::msg::TransformStamped tf_stamped; - tf_stamped = tf2.lookupTransform( - target_frame, input.header.frame_id, input.header.stamp, rclcpp::Duration::from_seconds(0.5)); - // transform pointcloud - Eigen::Matrix4f tf_matrix = tf2::transformToEigen(tf_stamped.transform).matrix().cast(); - pcl_ros::transformPointCloud(tf_matrix, input, output); - output.header.stamp = input.header.stamp; - output.header.frame_id = target_frame; - return true; -} - -bool cropPointcloudByHeight( - const sensor_msgs::msg::PointCloud2 & input, const tf2_ros::Buffer & tf2, - const std::string & target_frame, const float min_height, const float max_height, - sensor_msgs::msg::PointCloud2 & output) -{ - rclcpp::Clock clock{RCL_ROS_TIME}; - // Transformed pointcloud on target frame - sensor_msgs::msg::PointCloud2 trans_input_tmp; - const bool is_target_frame = (input.header.frame_id == target_frame); - if (!is_target_frame) { - if (!transformPointcloud(input, tf2, target_frame, trans_input_tmp)) return false; - } - const sensor_msgs::msg::PointCloud2 & trans_input = is_target_frame ? input : trans_input_tmp; - - // Apply height filter - pcl::PointCloud::Ptr pcl_output(new pcl::PointCloud); - for (sensor_msgs::PointCloud2ConstIterator iter_x(trans_input, "x"), - iter_y(trans_input, "y"), iter_z(trans_input, "z"); - iter_x != iter_x.end(); ++iter_x, ++iter_y, ++iter_z) { - if (min_height < *iter_z && *iter_z < max_height) { - pcl_output->push_back(pcl::PointXYZ(*iter_x, *iter_y, *iter_z)); - } - } - - // Convert to ros msg - pcl::toROSMsg(*pcl_output, output); - output.header = trans_input.header; - return true; -} - -[[maybe_unused]] geometry_msgs::msg::Pose getPose( - const std_msgs::msg::Header & source_header, const tf2_ros::Buffer & tf2, - const std::string & target_frame) -{ - geometry_msgs::msg::Pose pose; - geometry_msgs::msg::TransformStamped tf_stamped; - tf_stamped = tf2.lookupTransform( - target_frame, source_header.frame_id, source_header.stamp, rclcpp::Duration::from_seconds(0.5)); - pose = tier4_autoware_utils::transform2pose(tf_stamped.transform); - return pose; -} - -geometry_msgs::msg::Pose getPose( - const builtin_interfaces::msg::Time & stamp, const tf2_ros::Buffer & tf2, - const std::string & source_frame, const std::string & target_frame) -{ - geometry_msgs::msg::Pose pose; - geometry_msgs::msg::TransformStamped tf_stamped; - tf_stamped = - tf2.lookupTransform(target_frame, source_frame, stamp, rclcpp::Duration::from_seconds(0.5)); - pose = tier4_autoware_utils::transform2pose(tf_stamped.transform); - return pose; -} -} // namespace - namespace occupancy_grid_map { using costmap_2d::OccupancyGridMap; @@ -204,12 +133,12 @@ void LaserscanBasedOccupancyGridMapNode::onLaserscanPointCloud2WithObstacleAndRa PointCloud2 cropped_raw_pc{}; if (use_height_filter_) { constexpr float min_height = -1.0, max_height = 2.0; - if (!cropPointcloudByHeight( + if (!utils::cropPointcloudByHeight( *input_obstacle_msg, *tf2_, base_link_frame_, min_height, max_height, cropped_obstacle_pc)) { return; } - if (!cropPointcloudByHeight( + if (!utils::cropPointcloudByHeight( *input_raw_msg, *tf2_, base_link_frame_, min_height, max_height, cropped_raw_pc)) { return; } @@ -225,12 +154,13 @@ void LaserscanBasedOccupancyGridMapNode::onLaserscanPointCloud2WithObstacleAndRa Pose gridmap_origin{}; Pose scan_origin{}; try { - transformPointcloud(*laserscan_pc_ptr, *tf2_, map_frame_, trans_laserscan_pc); - transformPointcloud(filtered_obstacle_pc, *tf2_, map_frame_, trans_obstacle_pc); - transformPointcloud(filtered_raw_pc, *tf2_, map_frame_, trans_raw_pc); + utils::transformPointcloud(*laserscan_pc_ptr, *tf2_, map_frame_, trans_laserscan_pc); + utils::transformPointcloud(filtered_obstacle_pc, *tf2_, map_frame_, trans_obstacle_pc); + utils::transformPointcloud(filtered_raw_pc, *tf2_, map_frame_, trans_raw_pc); gridmap_origin = - getPose(laserscan_pc_ptr->header.stamp, *tf2_, gridmap_origin_frame_, map_frame_); - scan_origin = getPose(laserscan_pc_ptr->header.stamp, *tf2_, scan_origin_frame_, map_frame_); + utils::getPose(laserscan_pc_ptr->header.stamp, *tf2_, gridmap_origin_frame_, map_frame_); + scan_origin = + utils::getPose(laserscan_pc_ptr->header.stamp, *tf2_, scan_origin_frame_, map_frame_); } catch (tf2::TransformException & ex) { RCLCPP_WARN_STREAM(get_logger(), ex.what()); return; diff --git a/perception/probabilistic_occupancy_grid_map/src/pointcloud_based_occupancy_grid_map/occupancy_grid_map.cpp b/perception/probabilistic_occupancy_grid_map/src/pointcloud_based_occupancy_grid_map/occupancy_grid_map.cpp index b6b69ebf44391..b26e9a14a2b5e 100644 --- a/perception/probabilistic_occupancy_grid_map/src/pointcloud_based_occupancy_grid_map/occupancy_grid_map.cpp +++ b/perception/probabilistic_occupancy_grid_map/src/pointcloud_based_occupancy_grid_map/occupancy_grid_map.cpp @@ -52,6 +52,7 @@ #include "pointcloud_based_occupancy_grid_map/occupancy_grid_map.hpp" #include "cost_value.hpp" +#include "utils/utils.hpp" #include #include @@ -68,45 +69,6 @@ #endif #include -namespace -{ -void transformPointcloud( - const sensor_msgs::msg::PointCloud2 & input, const geometry_msgs::msg::Pose & pose, - sensor_msgs::msg::PointCloud2 & output) -{ - const auto transform = tier4_autoware_utils::pose2transform(pose); - Eigen::Matrix4f tf_matrix = tf2::transformToEigen(transform).matrix().cast(); - - pcl_ros::transformPointCloud(tf_matrix, input, output); - output.header.stamp = input.header.stamp; - output.header.frame_id = ""; -} - -/** - * @brief Get the Inverse Pose object - * - * @param input - * @return geometry_msgs::msg::Pose inverted pose - */ -geometry_msgs::msg::Pose getInversePose(const geometry_msgs::msg::Pose & pose) -{ - tf2::Vector3 position(pose.position.x, pose.position.y, pose.position.z); - tf2::Quaternion orientation( - pose.orientation.x, pose.orientation.y, pose.orientation.z, pose.orientation.w); - tf2::Transform tf(orientation, position); - const auto inv_tf = tf.inverse(); - geometry_msgs::msg::Pose inv_pose; - inv_pose.position.x = inv_tf.getOrigin().x(); - inv_pose.position.y = inv_tf.getOrigin().y(); - inv_pose.position.z = inv_tf.getOrigin().z(); - inv_pose.orientation.x = inv_tf.getRotation().x(); - inv_pose.orientation.y = inv_tf.getRotation().y(); - inv_pose.orientation.z = inv_tf.getRotation().z(); - inv_pose.orientation.w = inv_tf.getRotation().w(); - return inv_pose; -} -} // namespace - namespace costmap_2d { using sensor_msgs::PointCloud2ConstIterator; @@ -203,14 +165,14 @@ void OccupancyGridMap::updateWithPointCloud( // Transform from base_link to map frame PointCloud2 map_raw_pointcloud, map_obstacle_pointcloud; // point cloud in map frame - transformPointcloud(raw_pointcloud, robot_pose, map_raw_pointcloud); - transformPointcloud(obstacle_pointcloud, robot_pose, map_obstacle_pointcloud); + utils::transformPointcloud(raw_pointcloud, robot_pose, map_raw_pointcloud); + utils::transformPointcloud(obstacle_pointcloud, robot_pose, map_obstacle_pointcloud); // Transform from map frame to scan frame - PointCloud2 scan_raw_pointcloud, scan_obstacle_pointcloud; // point cloud in scan frame - const auto scan2map_pose = getInversePose(scan_origin); // scan -> map transform pose - transformPointcloud(map_raw_pointcloud, scan2map_pose, scan_raw_pointcloud); - transformPointcloud(map_obstacle_pointcloud, scan2map_pose, scan_obstacle_pointcloud); + PointCloud2 scan_raw_pointcloud, scan_obstacle_pointcloud; // point cloud in scan frame + const auto scan2map_pose = utils::getInversePose(scan_origin); // scan -> map transform pose + utils::transformPointcloud(map_raw_pointcloud, scan2map_pose, scan_raw_pointcloud); + utils::transformPointcloud(map_obstacle_pointcloud, scan2map_pose, scan_obstacle_pointcloud); // Create angle bins struct BinInfo diff --git a/perception/probabilistic_occupancy_grid_map/src/pointcloud_based_occupancy_grid_map/pointcloud_based_occupancy_grid_map_node.cpp b/perception/probabilistic_occupancy_grid_map/src/pointcloud_based_occupancy_grid_map/pointcloud_based_occupancy_grid_map_node.cpp index c594a0be0703f..bdf726ca8ccc6 100644 --- a/perception/probabilistic_occupancy_grid_map/src/pointcloud_based_occupancy_grid_map/pointcloud_based_occupancy_grid_map_node.cpp +++ b/perception/probabilistic_occupancy_grid_map/src/pointcloud_based_occupancy_grid_map/pointcloud_based_occupancy_grid_map_node.cpp @@ -15,6 +15,7 @@ #include "pointcloud_based_occupancy_grid_map/pointcloud_based_occupancy_grid_map_node.hpp" #include "cost_value.hpp" +#include "utils/utils.hpp" #include #include @@ -32,81 +33,10 @@ #include #endif +#include #include #include -namespace -{ -bool transformPointcloud( - const sensor_msgs::msg::PointCloud2 & input, const tf2_ros::Buffer & tf2, - const std::string & target_frame, sensor_msgs::msg::PointCloud2 & output) -{ - geometry_msgs::msg::TransformStamped tf_stamped; - tf_stamped = tf2.lookupTransform( - target_frame, input.header.frame_id, input.header.stamp, rclcpp::Duration::from_seconds(0.5)); - // transform pointcloud - Eigen::Matrix4f tf_matrix = tf2::transformToEigen(tf_stamped.transform).matrix().cast(); - pcl_ros::transformPointCloud(tf_matrix, input, output); - output.header.stamp = input.header.stamp; - output.header.frame_id = target_frame; - return true; -} - -bool cropPointcloudByHeight( - const sensor_msgs::msg::PointCloud2 & input, const tf2_ros::Buffer & tf2, - const std::string & target_frame, const float min_height, const float max_height, - sensor_msgs::msg::PointCloud2 & output) -{ - rclcpp::Clock clock{RCL_ROS_TIME}; - // Transformed pointcloud on target frame - sensor_msgs::msg::PointCloud2 trans_input_tmp; - const bool is_target_frame = (input.header.frame_id == target_frame); - if (!is_target_frame) { - if (!transformPointcloud(input, tf2, target_frame, trans_input_tmp)) return false; - } - const sensor_msgs::msg::PointCloud2 & trans_input = is_target_frame ? input : trans_input_tmp; - - // Apply height filter - pcl::PointCloud::Ptr pcl_output(new pcl::PointCloud); - for (sensor_msgs::PointCloud2ConstIterator iter_x(trans_input, "x"), - iter_y(trans_input, "y"), iter_z(trans_input, "z"); - iter_x != iter_x.end(); ++iter_x, ++iter_y, ++iter_z) { - if (min_height < *iter_z && *iter_z < max_height) { - pcl_output->push_back(pcl::PointXYZ(*iter_x, *iter_y, *iter_z)); - } - } - - // Convert to ros msg - pcl::toROSMsg(*pcl_output, output); - output.header = trans_input.header; - return true; -} - -geometry_msgs::msg::Pose getPose( - const std_msgs::msg::Header & source_header, const tf2_ros::Buffer & tf2, - const std::string & target_frame) -{ - geometry_msgs::msg::Pose pose; - geometry_msgs::msg::TransformStamped tf_stamped; - tf_stamped = tf2.lookupTransform( - target_frame, source_header.frame_id, source_header.stamp, rclcpp::Duration::from_seconds(0.5)); - pose = tier4_autoware_utils::transform2pose(tf_stamped.transform); - return pose; -} - -geometry_msgs::msg::Pose getPose( - const builtin_interfaces::msg::Time & stamp, const tf2_ros::Buffer & tf2, - const std::string & source_frame, const std::string & target_frame) -{ - geometry_msgs::msg::Pose pose; - geometry_msgs::msg::TransformStamped tf_stamped; - tf_stamped = - tf2.lookupTransform(target_frame, source_frame, stamp, rclcpp::Duration::from_seconds(0.5)); - pose = tier4_autoware_utils::transform2pose(tf_stamped.transform); - return pose; -} -} // namespace - namespace occupancy_grid_map { using costmap_2d::OccupancyGridMap; @@ -127,6 +57,8 @@ PointcloudBasedOccupancyGridMapNode::PointcloudBasedOccupancyGridMapNode( scan_origin_frame_ = declare_parameter("scan_origin_frame", "base_link"); use_height_filter_ = declare_parameter("use_height_filter", true); enable_single_frame_mode_ = declare_parameter("enable_single_frame_mode", false); + filter_obstacle_pointcloud_by_raw_pointcloud_ = + declare_parameter("filter_obstacle_pointcloud_by_raw_pointcloud", false); const double map_length{declare_parameter("map_length", 100.0)}; const double map_resolution{declare_parameter("map_resolution", 0.5)}; @@ -170,12 +102,12 @@ void PointcloudBasedOccupancyGridMapNode::onPointcloudWithObstacleAndRaw( PointCloud2 cropped_raw_pc{}; if (use_height_filter_) { constexpr float min_height = -1.0, max_height = 2.0; - if (!cropPointcloudByHeight( + if (!utils::cropPointcloudByHeight( *input_obstacle_msg, *tf2_, base_link_frame_, min_height, max_height, cropped_obstacle_pc)) { return; } - if (!cropPointcloudByHeight( + if (!utils::cropPointcloudByHeight( *input_raw_msg, *tf2_, base_link_frame_, min_height, max_height, cropped_raw_pc)) { return; } @@ -184,14 +116,27 @@ void PointcloudBasedOccupancyGridMapNode::onPointcloudWithObstacleAndRaw( use_height_filter_ ? cropped_obstacle_pc : *input_obstacle_msg; const PointCloud2 & filtered_raw_pc = use_height_filter_ ? cropped_raw_pc : *input_raw_msg; + // Filter obstacle pointcloud by raw pointcloud + PointCloud2 filtered_obstacle_pc_common{}; + if (filter_obstacle_pointcloud_by_raw_pointcloud_) { + if (!utils::extractCommonPointCloud( + filtered_obstacle_pc, filtered_raw_pc, filtered_obstacle_pc_common)) { + filtered_obstacle_pc_common = filtered_obstacle_pc; + } + } else { + filtered_obstacle_pc_common = filtered_obstacle_pc; + } + // Get from map to sensor frame pose Pose robot_pose{}; Pose gridmap_origin{}; Pose scan_origin{}; try { - robot_pose = getPose(input_raw_msg->header, *tf2_, map_frame_); - gridmap_origin = getPose(input_raw_msg->header.stamp, *tf2_, gridmap_origin_frame_, map_frame_); - scan_origin = getPose(input_raw_msg->header.stamp, *tf2_, scan_origin_frame_, map_frame_); + robot_pose = utils::getPose(input_raw_msg->header, *tf2_, map_frame_); + gridmap_origin = + utils::getPose(input_raw_msg->header.stamp, *tf2_, gridmap_origin_frame_, map_frame_); + scan_origin = + utils::getPose(input_raw_msg->header.stamp, *tf2_, scan_origin_frame_, map_frame_); } catch (tf2::TransformException & ex) { RCLCPP_WARN_STREAM(get_logger(), ex.what()); return; @@ -206,7 +151,7 @@ void PointcloudBasedOccupancyGridMapNode::onPointcloudWithObstacleAndRaw( gridmap_origin.position.x - single_frame_occupancy_grid_map.getSizeInMetersX() / 2, gridmap_origin.position.y - single_frame_occupancy_grid_map.getSizeInMetersY() / 2); single_frame_occupancy_grid_map.updateWithPointCloud( - filtered_raw_pc, filtered_obstacle_pc, robot_pose, scan_origin); + filtered_raw_pc, filtered_obstacle_pc_common, robot_pose, scan_origin); if (enable_single_frame_mode_) { // publish diff --git a/perception/probabilistic_occupancy_grid_map/src/utils/utils.cpp b/perception/probabilistic_occupancy_grid_map/src/utils/utils.cpp new file mode 100644 index 0000000000000..741d333142c9d --- /dev/null +++ b/perception/probabilistic_occupancy_grid_map/src/utils/utils.cpp @@ -0,0 +1,175 @@ +// 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 "utils/utils.hpp" + +#include + +namespace utils +{ + +// used in laserscan based occupancy grid map +bool transformPointcloud( + const sensor_msgs::msg::PointCloud2 & input, const tf2_ros::Buffer & tf2, + const std::string & target_frame, sensor_msgs::msg::PointCloud2 & output) +{ + geometry_msgs::msg::TransformStamped tf_stamped; + tf_stamped = tf2.lookupTransform( + target_frame, input.header.frame_id, input.header.stamp, rclcpp::Duration::from_seconds(0.5)); + // transform pointcloud + Eigen::Matrix4f tf_matrix = tf2::transformToEigen(tf_stamped.transform).matrix().cast(); + pcl_ros::transformPointCloud(tf_matrix, input, output); + output.header.stamp = input.header.stamp; + output.header.frame_id = target_frame; + return true; +} + +// used in pointcloud based occupancy grid map +void transformPointcloud( + const sensor_msgs::msg::PointCloud2 & input, const geometry_msgs::msg::Pose & pose, + sensor_msgs::msg::PointCloud2 & output) +{ + const auto transform = tier4_autoware_utils::pose2transform(pose); + Eigen::Matrix4f tf_matrix = tf2::transformToEigen(transform).matrix().cast(); + + pcl_ros::transformPointCloud(tf_matrix, input, output); + output.header.stamp = input.header.stamp; + output.header.frame_id = ""; +} + +bool cropPointcloudByHeight( + const sensor_msgs::msg::PointCloud2 & input, const tf2_ros::Buffer & tf2, + const std::string & target_frame, const float min_height, const float max_height, + sensor_msgs::msg::PointCloud2 & output) +{ + rclcpp::Clock clock{RCL_ROS_TIME}; + // Transformed pointcloud on target frame + sensor_msgs::msg::PointCloud2 trans_input_tmp; + const bool is_target_frame = (input.header.frame_id == target_frame); + if (!is_target_frame) { + if (!transformPointcloud(input, tf2, target_frame, trans_input_tmp)) return false; + } + const sensor_msgs::msg::PointCloud2 & trans_input = is_target_frame ? input : trans_input_tmp; + + // Apply height filter + pcl::PointCloud::Ptr pcl_output(new pcl::PointCloud); + for (sensor_msgs::PointCloud2ConstIterator iter_x(trans_input, "x"), + iter_y(trans_input, "y"), iter_z(trans_input, "z"); + iter_x != iter_x.end(); ++iter_x, ++iter_y, ++iter_z) { + if (min_height < *iter_z && *iter_z < max_height) { + pcl_output->push_back(pcl::PointXYZ(*iter_x, *iter_y, *iter_z)); + } + } + + // Convert to ros msg + pcl::toROSMsg(*pcl_output, output); + output.header = trans_input.header; + return true; +} + +geometry_msgs::msg::Pose getPose( + const std_msgs::msg::Header & source_header, const tf2_ros::Buffer & tf2, + const std::string & target_frame) +{ + geometry_msgs::msg::Pose pose; + geometry_msgs::msg::TransformStamped tf_stamped; + tf_stamped = tf2.lookupTransform( + target_frame, source_header.frame_id, source_header.stamp, rclcpp::Duration::from_seconds(0.5)); + pose = tier4_autoware_utils::transform2pose(tf_stamped.transform); + return pose; +} + +geometry_msgs::msg::Pose getPose( + const builtin_interfaces::msg::Time & stamp, const tf2_ros::Buffer & tf2, + const std::string & source_frame, const std::string & target_frame) +{ + geometry_msgs::msg::Pose pose; + geometry_msgs::msg::TransformStamped tf_stamped; + tf_stamped = + tf2.lookupTransform(target_frame, source_frame, stamp, rclcpp::Duration::from_seconds(0.5)); + pose = tier4_autoware_utils::transform2pose(tf_stamped.transform); + return pose; +} + +/** + * @brief Get the Inverse Pose object + * + * @param input + * @return geometry_msgs::msg::Pose inverted pose + */ +geometry_msgs::msg::Pose getInversePose(const geometry_msgs::msg::Pose & pose) +{ + tf2::Vector3 position(pose.position.x, pose.position.y, pose.position.z); + tf2::Quaternion orientation( + pose.orientation.x, pose.orientation.y, pose.orientation.z, pose.orientation.w); + tf2::Transform tf(orientation, position); + const auto inv_tf = tf.inverse(); + geometry_msgs::msg::Pose inv_pose; + inv_pose.position.x = inv_tf.getOrigin().x(); + inv_pose.position.y = inv_tf.getOrigin().y(); + inv_pose.position.z = inv_tf.getOrigin().z(); + inv_pose.orientation.x = inv_tf.getRotation().x(); + inv_pose.orientation.y = inv_tf.getRotation().y(); + inv_pose.orientation.z = inv_tf.getRotation().z(); + inv_pose.orientation.w = inv_tf.getRotation().w(); + return inv_pose; +} + +/** + * @brief extract Common Pointcloud between obstacle pc and raw pc + * @param obstacle_pc + * @param raw_pc + * @param output_obstacle_pc + */ +bool extractCommonPointCloud( + const sensor_msgs::msg::PointCloud2 & obstacle_pc, const sensor_msgs::msg::PointCloud2 & raw_pc, + sensor_msgs::msg::PointCloud2 & output_obstacle_pc) +{ + // Convert to vector of 3d points + std::vector v_obstacle_pc, v_raw_pc, v_output_obstacle_pc; + for (sensor_msgs::PointCloud2ConstIterator iter_x(obstacle_pc, "x"), + iter_y(obstacle_pc, "y"), iter_z(obstacle_pc, "z"); + iter_x != iter_x.end(); ++iter_x, ++iter_y, ++iter_z) { + v_obstacle_pc.push_back(MyPoint3d(*iter_x, *iter_y, *iter_z)); + } + for (sensor_msgs::PointCloud2ConstIterator iter_x(raw_pc, "x"), iter_y(raw_pc, "y"), + iter_z(raw_pc, "z"); + iter_x != iter_x.end(); ++iter_x, ++iter_y, ++iter_z) { + v_raw_pc.push_back(MyPoint3d(*iter_x, *iter_y, *iter_z)); + } + + // sort pointclouds for searching cross points: O(nlogn) + std::sort(v_obstacle_pc.begin(), v_obstacle_pc.end(), [](auto a, auto b) { return a < b; }); + std::sort(v_raw_pc.begin(), v_raw_pc.end(), [](auto a, auto b) { return a < b; }); + + // calc intersection points of two pointclouds: O(n) + std::set_intersection( + v_obstacle_pc.begin(), v_obstacle_pc.end(), v_raw_pc.begin(), v_raw_pc.end(), + std::back_inserter(v_output_obstacle_pc)); + if (v_output_obstacle_pc.size() == 0) { + return false; + } + + // Convert to ros msg + pcl::PointCloud::Ptr pcl_output(new pcl::PointCloud); + for (auto p : v_output_obstacle_pc) { + pcl_output->push_back(pcl::PointXYZ(p.x, p.y, p.z)); + } + pcl::toROSMsg(*pcl_output, output_obstacle_pc); + output_obstacle_pc.header = obstacle_pc.header; + + return true; +} + +} // namespace utils From c1b024e4772ba19304ff7fe944ff59d8f0b62692 Mon Sep 17 00:00:00 2001 From: Kenzo Lobos Tsunekawa Date: Fri, 17 Mar 2023 10:02:59 +0900 Subject: [PATCH 054/121] fix(lidar_centerpoint): updated the config file for the centerpoint tiny v2 (#3096) Fixed the cfg file regarding centerpoint tiny Signed-off-by: Kenzo Lobos-Tsunekawa --- .../lidar_centerpoint/config/centerpoint_tiny.param.yaml | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/perception/lidar_centerpoint/config/centerpoint_tiny.param.yaml b/perception/lidar_centerpoint/config/centerpoint_tiny.param.yaml index b7c2faf89c0b6..92db4cd0b853e 100644 --- a/perception/lidar_centerpoint/config/centerpoint_tiny.param.yaml +++ b/perception/lidar_centerpoint/config/centerpoint_tiny.param.yaml @@ -1,10 +1,10 @@ /**: ros__parameters: - class_names: ["CAR", "PEDESTRIAN", "BICYCLE"] + class_names: ["CAR", "TRUCK", "BUS", "BICYCLE", "PEDESTRIAN"] point_feature_size: 4 max_voxel_size: 40000 - point_cloud_range: [-89.6, -89.6, -3.0, 89.6, 89.6, 5.0] - voxel_size: [0.32, 0.32, 8.0] + point_cloud_range: [-76.8, -76.8, -2.0, 76.8, 76.8, 4.0] + voxel_size: [0.32, 0.32, 6.0] downsample_factor: 2 encoder_in_feature_size: 9 # post-process params @@ -12,4 +12,4 @@ iou_nms_target_class_names: ["CAR"] iou_nms_search_distance_2d: 10.0 iou_nms_threshold: 0.1 - yaw_norm_thresholds: [0.3, 0.0, 0.3] + yaw_norm_thresholds: [0.3, 0.3, 0.3, 0.3, 0.0] From b2524e4f38a2e46b3b9f4a63d1d13e71331f28e7 Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Fri, 17 Mar 2023 10:43:49 +0900 Subject: [PATCH 055/121] fix(lane_change): fix build error (#3100) fix(lane_change): fix build error: Signed-off-by: satoshi-ota --- planning/behavior_path_planner/src/util/lane_change/util.cpp | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/planning/behavior_path_planner/src/util/lane_change/util.cpp b/planning/behavior_path_planner/src/util/lane_change/util.cpp index a0cef4a4d3f86..fd9c31f3a617e 100644 --- a/planning/behavior_path_planner/src/util/lane_change/util.cpp +++ b/planning/behavior_path_planner/src/util/lane_change/util.cpp @@ -315,7 +315,8 @@ std::pair getLaneChangePaths( const auto required_total_min_distance = util::calcLaneChangeBuffer(common_parameter, num_to_preferred_lane); - const auto arc_position_from_current = lanelet::utils::getArcCoordinates(original_lanelets, pose); + [[maybe_unused]] const auto arc_position_from_current = + lanelet::utils::getArcCoordinates(original_lanelets, pose); const auto arc_position_from_target = lanelet::utils::getArcCoordinates(target_lanelets, pose); const auto target_lane_length = lanelet::utils::getLaneletLength2d(target_lanelets); From 948a1d53a01f9e2c4ae3f64e6710618ee6b2d22c Mon Sep 17 00:00:00 2001 From: Yutaka Shimizu <43805014+purewater0901@users.noreply.github.com> Date: Fri, 17 Mar 2023 11:08:49 +0900 Subject: [PATCH 056/121] feat(control): add autonomous emergency braking module (#2793) --- .../CMakeLists.txt | 26 + .../autonomous_emergency_braking.param.yaml | 16 + .../autonomous_emergency_braking/node.hpp | 150 ++++++ .../autonomous_emergency_braking.launch.xml | 19 + .../autonomous_emergency_braking/package.xml | 42 ++ .../autonomous_emergency_braking/src/node.cpp | 495 ++++++++++++++++++ .../launch/control.launch.py | 32 ++ .../diagnostic_aggregator/control.param.yaml | 14 + .../config/system_error_monitor.param.yaml | 2 + ...ror_monitor.planning_simulation.param.yaml | 2 + 10 files changed, 798 insertions(+) create mode 100644 control/autonomous_emergency_braking/CMakeLists.txt create mode 100644 control/autonomous_emergency_braking/config/autonomous_emergency_braking.param.yaml create mode 100644 control/autonomous_emergency_braking/include/autonomous_emergency_braking/node.hpp create mode 100644 control/autonomous_emergency_braking/launch/autonomous_emergency_braking.launch.xml create mode 100644 control/autonomous_emergency_braking/package.xml create mode 100644 control/autonomous_emergency_braking/src/node.cpp diff --git a/control/autonomous_emergency_braking/CMakeLists.txt b/control/autonomous_emergency_braking/CMakeLists.txt new file mode 100644 index 0000000000000..6027aeac76333 --- /dev/null +++ b/control/autonomous_emergency_braking/CMakeLists.txt @@ -0,0 +1,26 @@ +cmake_minimum_required(VERSION 3.14) +project(autonomous_emergency_braking) + +find_package(autoware_cmake REQUIRED) +autoware_package() + +set(AEB_NODE ${PROJECT_NAME}_node) +ament_auto_add_library(${AEB_NODE} SHARED + src/node.cpp +) + +rclcpp_components_register_node(${AEB_NODE} + PLUGIN "autoware::motion::control::autonomous_emergency_braking::AEB" + EXECUTABLE ${PROJECT_NAME} +) + +if(BUILD_TESTING) + find_package(ament_lint_auto REQUIRED) + ament_lint_auto_find_test_dependencies() +endif() + +ament_auto_package( + INSTALL_TO_SHARE + launch + config +) diff --git a/control/autonomous_emergency_braking/config/autonomous_emergency_braking.param.yaml b/control/autonomous_emergency_braking/config/autonomous_emergency_braking.param.yaml new file mode 100644 index 0000000000000..6019eaae503a0 --- /dev/null +++ b/control/autonomous_emergency_braking/config/autonomous_emergency_braking.param.yaml @@ -0,0 +1,16 @@ +/**: + ros__parameters: + use_predicted_trajectory: true + use_imu_path: true + voxel_grid_x: 0.05 + voxel_grid_y: 0.05 + voxel_grid_z: 100000.0 + min_generated_path_length: 0.5 + expand_width: 0.1 + longitudinal_offset: 2.0 + t_response: 1.0 + a_ego_min: -3.0 + a_obj_min: -1.0 + prediction_time_horizon: 1.5 + prediction_time_interval: 0.1 + aeb_hz: 10.0 diff --git a/control/autonomous_emergency_braking/include/autonomous_emergency_braking/node.hpp b/control/autonomous_emergency_braking/include/autonomous_emergency_braking/node.hpp new file mode 100644 index 0000000000000..64a3079df106a --- /dev/null +++ b/control/autonomous_emergency_braking/include/autonomous_emergency_braking/node.hpp @@ -0,0 +1,150 @@ +// 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 AUTONOMOUS_EMERGENCY_BRAKING__NODE_HPP_ +#define AUTONOMOUS_EMERGENCY_BRAKING__NODE_HPP_ + +#include +#include +#include +#include + +#include +#include +#include +#include +#include +#include +#include + +#include + +#include +#include +#include +#include +#include +#include + +#include +#include +#include +#include + +namespace autoware::motion::control::autonomous_emergency_braking +{ + +using autoware_auto_planning_msgs::msg::Trajectory; +using autoware_auto_system_msgs::msg::AutowareState; +using autoware_auto_vehicle_msgs::msg::VelocityReport; +using nav_msgs::msg::Odometry; +using sensor_msgs::msg::Imu; +using sensor_msgs::msg::PointCloud2; +using PointCloud = pcl::PointCloud; +using diagnostic_updater::DiagnosticStatusWrapper; +using diagnostic_updater::Updater; +using tier4_autoware_utils::Point2d; +using tier4_autoware_utils::Polygon2d; +using vehicle_info_util::VehicleInfo; +using visualization_msgs::msg::Marker; +using visualization_msgs::msg::MarkerArray; +using Path = std::vector; + +struct ObjectData +{ + geometry_msgs::msg::Point position; + double velocity; +}; + +class AEB : public rclcpp::Node +{ +public: + explicit AEB(const rclcpp::NodeOptions & node_options); + + // subscriber + rclcpp::Subscription::SharedPtr sub_point_cloud_; + rclcpp::Subscription::SharedPtr sub_velocity_; + rclcpp::Subscription::SharedPtr sub_imu_; + rclcpp::Subscription::SharedPtr sub_predicted_traj_; + rclcpp::Subscription::SharedPtr sub_autoware_state_; + + // publisher + rclcpp::Publisher::SharedPtr pub_obstacle_pointcloud_; + rclcpp::Publisher::SharedPtr debug_ego_path_publisher_; // debug + + // timer + rclcpp::TimerBase::SharedPtr timer_; + + // callback + void onPointCloud(const PointCloud2::ConstSharedPtr input_msg); + void onVelocity(const VelocityReport::ConstSharedPtr input_msg); + void onImu(const Imu::ConstSharedPtr input_msg); + void onTimer(); + void onPredictedTrajectory(const Trajectory::ConstSharedPtr input_msg); + void onAutowareState(const AutowareState::ConstSharedPtr input_msg); + + bool isDataReady(); + + // main function + void onCheckCollision(DiagnosticStatusWrapper & stat); + bool checkCollision(); + bool hasCollision( + const double current_v, const Path & ego_path, const std::vector & ego_polys); + + void generateEgoPath( + const double curr_v, const double curr_w, Path & path, std::vector & polygons); + void generateEgoPath( + const Trajectory & predicted_traj, Path & path, std::vector & polygons); + void createObjectData( + const Path & ego_path, const std::vector & ego_polys, + std::vector & objects); + + void addMarker( + const rclcpp::Time & current_time, const Path & path, const std::vector & polygons, + const double color_r, const double color_g, const double color_b, const double color_a, + const std::string & path_ns, const std::string & poly_ns, MarkerArray & debug_markers); + + PointCloud2::SharedPtr obstacle_ros_pointcloud_ptr_{nullptr}; + VelocityReport::ConstSharedPtr current_velocity_ptr_{nullptr}; + Imu::ConstSharedPtr imu_ptr_{nullptr}; + Trajectory::ConstSharedPtr predicted_traj_ptr_{nullptr}; + AutowareState::ConstSharedPtr autoware_state_{nullptr}; + + tf2_ros::Buffer tf_buffer_{get_clock()}; + tf2_ros::TransformListener tf_listener_{tf_buffer_}; + + // vehicle info + VehicleInfo vehicle_info_; + + // diag + Updater updater_{this}; + + // member variables + bool use_predicted_trajectory_; + bool use_imu_path_; + double voxel_grid_x_; + double voxel_grid_y_; + double voxel_grid_z_; + double min_generated_path_length_; + double expand_width_; + double longitudinal_offset_; + double t_response_; + double a_ego_min_; + double a_obj_min_; + double prediction_time_horizon_; + double prediction_time_interval_; +}; +} // namespace autoware::motion::control::autonomous_emergency_braking + +#endif // AUTONOMOUS_EMERGENCY_BRAKING__NODE_HPP_ diff --git a/control/autonomous_emergency_braking/launch/autonomous_emergency_braking.launch.xml b/control/autonomous_emergency_braking/launch/autonomous_emergency_braking.launch.xml new file mode 100644 index 0000000000000..cf6640ec6be52 --- /dev/null +++ b/control/autonomous_emergency_braking/launch/autonomous_emergency_braking.launch.xml @@ -0,0 +1,19 @@ + + + + + + + + + + + + + + + + + + + diff --git a/control/autonomous_emergency_braking/package.xml b/control/autonomous_emergency_braking/package.xml new file mode 100644 index 0000000000000..198afb1018e31 --- /dev/null +++ b/control/autonomous_emergency_braking/package.xml @@ -0,0 +1,42 @@ + + + + autonomous_emergency_braking + 0.1.0 + Autonomous Emergency Braking package as a ROS2 node + yutaka + Apache License 2.0 + + ament_cmake + + autoware_cmake + + autoware_auto_control_msgs + autoware_auto_system_msgs + autoware_auto_vehicle_msgs + diagnostic_updater + geometry_msgs + motion_utils + nav_msgs + pcl_conversions + pcl_ros + pointcloud_preprocessor + rclcpp + rclcpp_components + sensor_msgs + std_msgs + tf2 + tf2_eigen + tf2_geometry_msgs + tf2_ros + tier4_autoware_utils + vehicle_info_util + visualization_msgs + + ament_lint_auto + autoware_lint_common + + + ament_cmake + + diff --git a/control/autonomous_emergency_braking/src/node.cpp b/control/autonomous_emergency_braking/src/node.cpp new file mode 100644 index 0000000000000..77ea7e6318820 --- /dev/null +++ b/control/autonomous_emergency_braking/src/node.cpp @@ -0,0 +1,495 @@ +// Copyright 2022 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 "autonomous_emergency_braking/node.hpp" + +#include +#include + +#include +#include + +#ifdef ROS_DISTRO_GALACTIC +#include +#include +#else +#include + +#include +#endif + +namespace autoware::motion::control::autonomous_emergency_braking +{ +using diagnostic_msgs::msg::DiagnosticStatus; +namespace bg = boost::geometry; + +void appendPointToPolygon(Polygon2d & polygon, const geometry_msgs::msg::Point & geom_point) +{ + Point2d point; + point.x() = geom_point.x; + point.y() = geom_point.y; + + bg::append(polygon.outer(), point); +} + +Polygon2d createPolygon( + const geometry_msgs::msg::Pose & base_pose, const geometry_msgs::msg::Pose & next_pose, + const vehicle_info_util::VehicleInfo & vehicle_info, const double expand_width) +{ + Polygon2d polygon; + + const double longitudinal_offset = vehicle_info.max_longitudinal_offset_m; + const double width = vehicle_info.vehicle_width_m / 2.0 + expand_width; + const double rear_overhang = vehicle_info.rear_overhang_m; + + appendPointToPolygon( + polygon, + tier4_autoware_utils::calcOffsetPose(base_pose, longitudinal_offset, width, 0.0).position); + appendPointToPolygon( + polygon, + tier4_autoware_utils::calcOffsetPose(base_pose, longitudinal_offset, -width, 0.0).position); + appendPointToPolygon( + polygon, tier4_autoware_utils::calcOffsetPose(base_pose, -rear_overhang, -width, 0.0).position); + appendPointToPolygon( + polygon, tier4_autoware_utils::calcOffsetPose(base_pose, -rear_overhang, width, 0.0).position); + + appendPointToPolygon( + polygon, + tier4_autoware_utils::calcOffsetPose(next_pose, longitudinal_offset, width, 0.0).position); + appendPointToPolygon( + polygon, + tier4_autoware_utils::calcOffsetPose(next_pose, longitudinal_offset, -width, 0.0).position); + appendPointToPolygon( + polygon, tier4_autoware_utils::calcOffsetPose(next_pose, -rear_overhang, -width, 0.0).position); + appendPointToPolygon( + polygon, tier4_autoware_utils::calcOffsetPose(next_pose, -rear_overhang, width, 0.0).position); + + polygon = tier4_autoware_utils::isClockwise(polygon) + ? polygon + : tier4_autoware_utils::inverseClockwise(polygon); + + Polygon2d hull_polygon; + bg::convex_hull(polygon, hull_polygon); + + return hull_polygon; +} + +AEB::AEB(const rclcpp::NodeOptions & node_options) +: Node("AEB", node_options), + vehicle_info_(vehicle_info_util::VehicleInfoUtil(*this).getVehicleInfo()) +{ + // Subscribers + sub_point_cloud_ = this->create_subscription( + "~/input/pointcloud", rclcpp::SensorDataQoS(), + std::bind(&AEB::onPointCloud, this, std::placeholders::_1)); + + sub_velocity_ = this->create_subscription( + "~/input/velocity", rclcpp::QoS{1}, std::bind(&AEB::onVelocity, this, std::placeholders::_1)); + + sub_imu_ = this->create_subscription( + "~/input/imu", rclcpp::QoS{1}, std::bind(&AEB::onImu, this, std::placeholders::_1)); + + sub_predicted_traj_ = this->create_subscription( + "~/input/predicted_trajectory", rclcpp::QoS{1}, + std::bind(&AEB::onPredictedTrajectory, this, std::placeholders::_1)); + + sub_autoware_state_ = this->create_subscription( + "/autoware/state", rclcpp::QoS{1}, + std::bind(&AEB::onAutowareState, this, std::placeholders::_1)); + + // Publisher + pub_obstacle_pointcloud_ = + this->create_publisher("~/debug/obstacle_pointcloud", 1); + debug_ego_path_publisher_ = this->create_publisher("~/debug/markers", 1); + + // Diagnostics + updater_.setHardwareID("autonomous_emergency_braking"); + updater_.add("aeb_emergency_stop", this, &AEB::onCheckCollision); + + // parameter + use_predicted_trajectory_ = declare_parameter("use_predicted_trajectory"); + use_imu_path_ = declare_parameter("use_imu_path"); + voxel_grid_x_ = declare_parameter("voxel_grid_x"); + voxel_grid_y_ = declare_parameter("voxel_grid_y"); + voxel_grid_z_ = declare_parameter("voxel_grid_z"); + min_generated_path_length_ = declare_parameter("min_generated_path_length"); + expand_width_ = declare_parameter("expand_width"); + longitudinal_offset_ = declare_parameter("longitudinal_offset"); + t_response_ = declare_parameter("t_response"); + a_ego_min_ = declare_parameter("a_ego_min"); + a_obj_min_ = declare_parameter("a_obj_min"); + prediction_time_horizon_ = declare_parameter("prediction_time_horizon"); + prediction_time_interval_ = declare_parameter("prediction_time_interval"); + + // start time + const double aeb_hz = declare_parameter("aeb_hz"); + const auto period_ns = rclcpp::Rate(aeb_hz).period(); + timer_ = rclcpp::create_timer(this, get_clock(), period_ns, std::bind(&AEB::onTimer, this)); +} + +void AEB::onTimer() { updater_.force_update(); } + +void AEB::onVelocity(const VelocityReport::ConstSharedPtr input_msg) +{ + current_velocity_ptr_ = input_msg; +} + +void AEB::onImu(const Imu::ConstSharedPtr input_msg) { imu_ptr_ = input_msg; } + +void AEB::onPredictedTrajectory( + const autoware_auto_planning_msgs::msg::Trajectory::ConstSharedPtr input_msg) +{ + predicted_traj_ptr_ = input_msg; +} + +void AEB::onAutowareState(const AutowareState::ConstSharedPtr input_msg) +{ + autoware_state_ = input_msg; +} + +void AEB::onPointCloud(const PointCloud2::ConstSharedPtr input_msg) +{ + PointCloud::Ptr pointcloud_ptr(new PointCloud); + pcl::fromROSMsg(*input_msg, *pointcloud_ptr); + + if (input_msg->header.frame_id != "base_link") { + RCLCPP_ERROR_STREAM( + get_logger(), + "[AEB]: Input point cloud frame is not base_link and it is " << input_msg->header.frame_id); + // transform pointcloud + geometry_msgs::msg::TransformStamped transform_stamped{}; + try { + transform_stamped = tf_buffer_.lookupTransform( + "base_link", input_msg->header.frame_id, input_msg->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" << input_msg->header.frame_id); + return; + } + + // transform by using eigen matrix + PointCloud2 transformed_points{}; + const Eigen::Matrix4f affine_matrix = + tf2::transformToEigen(transform_stamped.transform).matrix().cast(); + pcl_ros::transformPointCloud(affine_matrix, *input_msg, transformed_points); + pcl::fromROSMsg(transformed_points, *pointcloud_ptr); + } + + pcl::VoxelGrid filter; + PointCloud::Ptr no_height_filtered_pointcloud_ptr(new PointCloud); + filter.setInputCloud(pointcloud_ptr); + filter.setLeafSize(voxel_grid_x_, voxel_grid_y_, voxel_grid_z_); + filter.filter(*no_height_filtered_pointcloud_ptr); + + obstacle_ros_pointcloud_ptr_ = std::make_shared(); + pcl::toROSMsg(*no_height_filtered_pointcloud_ptr, *obstacle_ros_pointcloud_ptr_); + obstacle_ros_pointcloud_ptr_->header = input_msg->header; + pub_obstacle_pointcloud_->publish(*obstacle_ros_pointcloud_ptr_); +} + +bool AEB::isDataReady() +{ + const auto missing = [this](const auto & name) { + RCLCPP_INFO_SKIPFIRST_THROTTLE(get_logger(), *get_clock(), 5000, "[AEB] waiting for %s", name); + return false; + }; + + if (!current_velocity_ptr_) { + return missing("ego velocity"); + } + + if (!obstacle_ros_pointcloud_ptr_) { + return missing("object pointcloud"); + } + + if (use_imu_path_ && !imu_ptr_) { + return missing("object pointcloud"); + } + + if (use_predicted_trajectory_ && !predicted_traj_ptr_) { + return missing("control predicted trajectory"); + } + + if (!autoware_state_) { + return missing("autoware_state"); + } + + return true; +} + +void AEB::onCheckCollision(DiagnosticStatusWrapper & stat) +{ + if (checkCollision()) { + const std::string error_msg = "[AEB]: Emergency Brake"; + const auto diag_level = DiagnosticStatus::ERROR; + stat.summary(diag_level, error_msg); + return; + } + + const std::string error_msg = "[AEB]: No Collision"; + const auto diag_level = DiagnosticStatus::OK; + stat.summary(diag_level, error_msg); +} + +bool AEB::checkCollision() +{ + // step1. check data + if (!isDataReady()) { + return false; + } + + // if not driving, disable aeb + if (autoware_state_->state != AutowareState::DRIVING) { + return false; + } + + // step2. create velocity data check if the vehicle stops or not + const double current_v = current_velocity_ptr_->longitudinal_velocity; + if (current_v < 0.1) { + return false; + } + + MarkerArray debug_markers; + + // step3. create ego path based on sensor data + Path ego_path; + std::vector ego_polys; + if (use_imu_path_) { + const double current_w = imu_ptr_->angular_velocity.z; + constexpr double color_r = 0.0 / 256.0; + constexpr double color_g = 148.0 / 256.0; + constexpr double color_b = 205.0 / 256.0; + constexpr double color_a = 0.999; + const auto current_time = get_clock()->now(); + generateEgoPath(current_v, current_w, ego_path, ego_polys); + addMarker( + current_time, ego_path, ego_polys, color_r, color_g, color_b, color_a, "ego_path", + "ego_polygons", debug_markers); + } + + // step4. transform predicted trajectory from control module + Path predicted_path; + std::vector predicted_polys; + if (use_predicted_trajectory_) { + const auto predicted_traj_ptr = predicted_traj_ptr_; + constexpr double color_r = 0.0; + constexpr double color_g = 100.0 / 256.0; + constexpr double color_b = 0.0; + constexpr double color_a = 0.999; + const auto current_time = predicted_traj_ptr->header.stamp; + generateEgoPath(*predicted_traj_ptr, predicted_path, predicted_polys); + addMarker( + current_time, predicted_path, predicted_polys, color_r, color_g, color_b, color_a, + "predicted_path", "predicted_polygons", debug_markers); + } + + // publish debug markers + debug_ego_path_publisher_->publish(debug_markers); + + return hasCollision(current_v, ego_path, ego_polys) || + hasCollision(current_v, predicted_path, predicted_polys); +} + +bool AEB::hasCollision( + const double current_v, const Path & ego_path, const std::vector & ego_polys) +{ + // check if the predicted path has valid number of points + if (ego_path.size() < 2 || ego_polys.empty()) { + return false; + } + + // step1. create object + std::vector objects; + createObjectData(ego_path, ego_polys, objects); + + // step2. calculate RSS + const auto current_p = tier4_autoware_utils::createPoint(0.0, 0.0, 0.0); + const double & t = t_response_; + for (const auto & obj : objects) { + const double & obj_v = obj.velocity; + const double rss_dist = current_v * t + (current_v * current_v) / (2 * std::fabs(a_ego_min_)) - + obj_v * obj_v / (2 * std::fabs(a_obj_min_)) + longitudinal_offset_; + const double dist_ego_to_object = + motion_utils::calcSignedArcLength(ego_path, current_p, obj.position) - + vehicle_info_.max_longitudinal_offset_m; + if (dist_ego_to_object < rss_dist) { + // collision happens + return true; + } + } + + return false; +} + +void AEB::generateEgoPath( + const double curr_v, const double curr_w, Path & path, std::vector & polygons) +{ + double curr_x = 0.0; + double curr_y = 0.0; + double curr_yaw = 0.0; + geometry_msgs::msg::Pose ini_pose; + ini_pose.position = tier4_autoware_utils::createPoint(curr_x, curr_y, 0.0); + ini_pose.orientation = tier4_autoware_utils::createQuaternionFromYaw(curr_yaw); + path.push_back(ini_pose); + + if (curr_v < 0.1) { + // if current velocity is too small, assume it stops at the same point + return; + } + + constexpr double epsilon = 1e-6; + const double & dt = prediction_time_interval_; + const double & horizon = prediction_time_horizon_; + for (double t = 0.0; t < horizon + epsilon; t += dt) { + curr_x = curr_x + curr_v * std::cos(curr_yaw) * dt; + curr_y = curr_y + curr_v * std::sin(curr_yaw) * dt; + curr_yaw = curr_yaw + curr_w * dt; + geometry_msgs::msg::Pose current_pose; + current_pose.position = tier4_autoware_utils::createPoint(curr_x, curr_y, 0.0); + current_pose.orientation = tier4_autoware_utils::createQuaternionFromYaw(curr_yaw); + if (tier4_autoware_utils::calcDistance2d(path.back(), current_pose) < 1e-3) { + continue; + } + path.push_back(current_pose); + } + + // If path is shorter than minimum path length + while (motion_utils::calcArcLength(path) < min_generated_path_length_) { + curr_x = curr_x + curr_v * std::cos(curr_yaw) * dt; + curr_y = curr_y + curr_v * std::sin(curr_yaw) * dt; + curr_yaw = curr_yaw + curr_w * dt; + geometry_msgs::msg::Pose current_pose; + current_pose.position = tier4_autoware_utils::createPoint(curr_x, curr_y, 0.0); + current_pose.orientation = tier4_autoware_utils::createQuaternionFromYaw(curr_yaw); + if (tier4_autoware_utils::calcDistance2d(path.back(), current_pose) < 1e-3) { + continue; + } + path.push_back(current_pose); + } + + // generate ego polygons + polygons.resize(path.size() - 1); + for (size_t i = 0; i < path.size() - 1; ++i) { + polygons.at(i) = createPolygon(path.at(i), path.at(i + 1), vehicle_info_, expand_width_); + } +} + +void AEB::generateEgoPath( + const Trajectory & predicted_traj, Path & path, + std::vector & polygons) +{ + 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"); + return; + } + + // create path + path.resize(predicted_traj.points.size()); + for (size_t i = 0; i < predicted_traj.points.size(); ++i) { + geometry_msgs::msg::Pose map_pose; + tf2::doTransform(predicted_traj.points.at(i).pose, map_pose, transform_stamped); + path.at(i) = map_pose; + } + + // create polygon + polygons.resize(path.size()); + for (size_t i = 0; i < path.size() - 1; ++i) { + polygons.at(i) = createPolygon(path.at(i), path.at(i + 1), vehicle_info_, expand_width_); + } +} + +void AEB::createObjectData( + const Path & ego_path, const std::vector & ego_polys, + std::vector & objects) +{ + PointCloud::Ptr obstacle_points_ptr(new PointCloud); + pcl::fromROSMsg(*obstacle_ros_pointcloud_ptr_, *obstacle_points_ptr); + for (const auto & point : obstacle_points_ptr->points) { + ObjectData obj; + obj.position = tier4_autoware_utils::createPoint(point.x, point.y, point.z); + obj.velocity = 0.0; + const Point2d obj_point(point.x, point.y); + const double lat_dist = motion_utils::calcLateralOffset(ego_path, obj.position); + if (lat_dist > 5.0) { + continue; + } + for (const auto & ego_poly : ego_polys) { + if (bg::within(obj_point, ego_poly)) { + objects.push_back(obj); + break; + } + } + } +} + +void AEB::addMarker( + const rclcpp::Time & current_time, const Path & path, const std::vector & polygons, + const double color_r, const double color_g, const double color_b, const double color_a, + const std::string & path_ns, const std::string & poly_ns, MarkerArray & debug_markers) +{ + // transform to map + geometry_msgs::msg::TransformStamped transform_stamped{}; + try { + transform_stamped = tf_buffer_.lookupTransform( + "map", "base_link", current_time, 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"); + return; + } + + auto path_marker = tier4_autoware_utils::createDefaultMarker( + "map", current_time, path_ns, 0L, Marker::LINE_STRIP, + tier4_autoware_utils::createMarkerScale(0.2, 0.2, 0.2), + tier4_autoware_utils::createMarkerColor(color_r, color_g, color_b, color_a)); + path_marker.points.resize(path.size()); + for (size_t i = 0; i < path.size(); ++i) { + const auto & pose = path.at(i); + geometry_msgs::msg::Pose map_pose; + tf2::doTransform(pose, map_pose, transform_stamped); + path_marker.points.at(i) = map_pose.position; + } + debug_markers.markers.push_back(path_marker); + + auto polygon_marker = tier4_autoware_utils::createDefaultMarker( + "map", current_time, poly_ns, 0, Marker::LINE_LIST, + tier4_autoware_utils::createMarkerScale(0.03, 0.0, 0.0), + tier4_autoware_utils::createMarkerColor(color_r, color_g, color_b, color_a)); + for (const auto & poly : polygons) { + for (size_t dp_idx = 0; dp_idx < poly.outer().size(); ++dp_idx) { + const auto & boost_cp = poly.outer().at(dp_idx); + const auto & boost_np = poly.outer().at((dp_idx + 1) % poly.outer().size()); + const auto curr_point = tier4_autoware_utils::createPoint(boost_cp.x(), boost_cp.y(), 0.0); + const auto next_point = tier4_autoware_utils::createPoint(boost_np.x(), boost_np.y(), 0.0); + + geometry_msgs::msg::Point map_curr_point; + geometry_msgs::msg::Point map_next_point; + tf2::doTransform(curr_point, map_curr_point, transform_stamped); + tf2::doTransform(next_point, map_next_point, transform_stamped); + polygon_marker.points.push_back(map_curr_point); + polygon_marker.points.push_back(map_next_point); + } + } + debug_markers.markers.push_back(polygon_marker); +} +} // namespace autoware::motion::control::autonomous_emergency_braking + +#include +RCLCPP_COMPONENTS_REGISTER_NODE(autoware::motion::control::autonomous_emergency_braking::AEB) diff --git a/launch/tier4_control_launch/launch/control.launch.py b/launch/tier4_control_launch/launch/control.launch.py index 593a79cd2b361..6821388e174d4 100644 --- a/launch/tier4_control_launch/launch/control.launch.py +++ b/launch/tier4_control_launch/launch/control.launch.py @@ -59,6 +59,8 @@ def launch_setup(context, *args, **kwargs): LaunchConfiguration("obstacle_collision_checker_param_path").perform(context), "r" ) as f: obstacle_collision_checker_param = yaml.safe_load(f)["/**"]["ros__parameters"] + with open(LaunchConfiguration("aeb_param_path").perform(context), "r") as f: + aeb_param = yaml.safe_load(f)["/**"]["ros__parameters"] controller_component = ComposableNode( package="trajectory_follower_node", @@ -126,6 +128,33 @@ def launch_setup(context, *args, **kwargs): extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}], ) + # autonomous emergency braking + autonomous_emergency_braking = ComposableNode( + package="autonomous_emergency_braking", + plugin="autoware::motion::control::autonomous_emergency_braking::AEB", + name="autonomous_emergency_braking", + remappings=[ + ("~/input/pointcloud", "/perception/obstacle_segmentation/pointcloud"), + ("~/input/velocity", "/vehicle/status/velocity_status"), + ("~/input/imu", "/sensing/imu/imu_data"), + ("~/input/odometry", "/localization/kinematic_state"), + ( + "~/input/predicted_trajectory", + "/control/trajectory_follower/lateral/predicted_trajectory", + ), + ], + parameters=[ + aeb_param, + ], + extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}], + ) + + autonomous_emergency_braking_loader = LoadComposableNodes( + condition=IfCondition(LaunchConfiguration("enable_autonomous_emergency_braking")), + composable_node_descriptions=[autonomous_emergency_braking], + target_container="/control/control_container", + ) + # vehicle cmd gate vehicle_cmd_gate_component = ComposableNode( package="vehicle_cmd_gate", @@ -274,6 +303,7 @@ def launch_setup(context, *args, **kwargs): external_cmd_selector_loader, external_cmd_converter_loader, obstacle_collision_checker_loader, + autonomous_emergency_braking_loader, ] ) @@ -306,6 +336,8 @@ def add_launch_arg(name: str, default_value=None, description=None): add_launch_arg("shift_decider_param_path") add_launch_arg("obstacle_collision_checker_param_path") add_launch_arg("external_cmd_selector_param_path") + add_launch_arg("aeb_param_path") + add_launch_arg("enable_autonomous_emergency_braking") # component add_launch_arg("use_intra_process", "false", "use ROS2 component container communication") diff --git a/system/system_error_monitor/config/diagnostic_aggregator/control.param.yaml b/system/system_error_monitor/config/diagnostic_aggregator/control.param.yaml index 360b15a9d7e45..86d84bba7c41c 100644 --- a/system/system_error_monitor/config/diagnostic_aggregator/control.param.yaml +++ b/system/system_error_monitor/config/diagnostic_aggregator/control.param.yaml @@ -4,6 +4,20 @@ type: diagnostic_aggregator/AnalyzerGroup path: control analyzers: + autonomous_emergency_braking: + type: diagnostic_aggregator/AnalyzerGroup + path: autonomous_emergency_braking + analyzers: + performance_monitoring: + type: diagnostic_aggregator/AnalyzerGroup + path: performance_monitoring + analyzers: + emergency_stop: + type: diagnostic_aggregator/GenericAnalyzer + path: emergency_stop + contains: [": aeb_emergency_stop"] + timeout: 1.0 + control_command_gate: type: diagnostic_aggregator/AnalyzerGroup path: control_command_gate diff --git a/system/system_error_monitor/config/system_error_monitor.param.yaml b/system/system_error_monitor/config/system_error_monitor.param.yaml index 71dc2ac600685..312a2e6186c42 100644 --- a/system/system_error_monitor/config/system_error_monitor.param.yaml +++ b/system/system_error_monitor/config/system_error_monitor.param.yaml @@ -20,6 +20,7 @@ /autoware/control/autonomous_driving/node_alive_monitoring: default /autoware/control/autonomous_driving/performance_monitoring/lane_departure: default /autoware/control/control_command_gate/node_alive_monitoring: default + /autoware/control/autonomous_emergency_braking/performance_monitoring/emergency_stop: { sf_at: "none", lf_at: "warn", spf_at: "error", auto_recovery: "false"} /autoware/localization/node_alive_monitoring: default /autoware/localization/performance_monitoring/matching_score: { sf_at: "warn", lf_at: "none", spf_at: "none" } @@ -43,6 +44,7 @@ external_control: /autoware/control/control_command_gate/node_alive_monitoring: default + /autoware/control/autonomous_emergency_braking/performance_monitoring/emergency_stop: { sf_at: "none", lf_at: "warn", spf_at: "error", auto_recovery: "false"} /autoware/control/external_control/external_command_selector/node_alive_monitoring: default /autoware/system/node_alive_monitoring: default diff --git a/system/system_error_monitor/config/system_error_monitor.planning_simulation.param.yaml b/system/system_error_monitor/config/system_error_monitor.planning_simulation.param.yaml index 9708456df4fe7..88431dc406fe3 100644 --- a/system/system_error_monitor/config/system_error_monitor.planning_simulation.param.yaml +++ b/system/system_error_monitor/config/system_error_monitor.planning_simulation.param.yaml @@ -20,6 +20,7 @@ /autoware/control/autonomous_driving/node_alive_monitoring: default /autoware/control/autonomous_driving/performance_monitoring/lane_departure: default /autoware/control/control_command_gate/node_alive_monitoring: default + /autoware/control/autonomous_emergency_braking/performance_monitoring/emergency_stop: { sf_at: "none", lf_at: "warn", spf_at: "error", auto_recovery: "false"} /autoware/localization/node_alive_monitoring: default # /autoware/localization/performance_monitoring/matching_score: { sf_at: "warn", lf_at: "none", spf_at: "none" } @@ -43,6 +44,7 @@ external_control: /autoware/control/control_command_gate/node_alive_monitoring: default + /autoware/control/autonomous_emergency_braking/performance_monitoring/emergency_stop: { sf_at: "none", lf_at: "warn", spf_at: "error", auto_recovery: "false"} /autoware/control/external_control/external_command_selector/node_alive_monitoring: default /autoware/system/node_alive_monitoring: default From 9971be354cf68eab9da5cc6bbb08b77076b35776 Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Fri, 17 Mar 2023 13:15:46 +0900 Subject: [PATCH 057/121] fix(avoidance): stop only when there is enough space to avoid (#3055) Signed-off-by: satoshi-ota --- .../src/scene_module/avoidance/avoidance_module.cpp | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp b/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp index 60811e5c4469f..741669f65fdcd 100644 --- a/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp +++ b/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp @@ -751,10 +751,12 @@ void AvoidanceModule::fillShiftLine(AvoidancePlanningData & data, DebugData & de /** * Find the nearest object that should be avoid. When the ego follows reference path, - * if the lateral distance is smaller than minimum margin, the ego should avoid the object. + * if the both of following two conditions are satisfied, the module surely avoid the object. + * Condition1: there is risk to collide with object without avoidance. + * Condition2: there is enough space to avoid. */ for (const auto & o : data.target_objects) { - if (o.avoid_required) { + if (o.avoid_required && o.is_avoidable) { data.avoid_required = true; data.stop_target_object = o; } From dd5c6eab84364ce611c9cb9911f626d4015e4e4e Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Fri, 17 Mar 2023 14:39:19 +0900 Subject: [PATCH 058/121] fix(system_error_monitor): fix dying node (#3103) Signed-off-by: Takayuki Murooka --- system/system_error_monitor/src/system_error_monitor_core.cpp | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/system/system_error_monitor/src/system_error_monitor_core.cpp b/system/system_error_monitor/src/system_error_monitor_core.cpp index 8a4cf3ecbb8d6..57f67a247d2b9 100644 --- a/system/system_error_monitor/src/system_error_monitor_core.cpp +++ b/system/system_error_monitor/src/system_error_monitor_core.cpp @@ -410,6 +410,10 @@ bool AutowareErrorMonitor::isDataReady() bool AutowareErrorMonitor::isDataHeartbeatTimeout() { auto isTimeout = [this](const rclcpp::Time & last_stamp, const double threshold) { + if (last_stamp.get_clock_type() != this->now().get_clock_type()) { + RCLCPP_ERROR_THROTTLE(get_logger(), *get_clock(), 5000, "clock type is different..."); + return false; + } const auto time_diff = this->now() - last_stamp; return time_diff.seconds() > threshold; }; From 104ebf73bb16ccf2da625ad59bce70656d4662a5 Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Fri, 17 Mar 2023 15:05:51 +0900 Subject: [PATCH 059/121] fix(AEB): suppress build error (-Werror=pedantic) (#3108) Signed-off-by: satoshi-ota --- control/autonomous_emergency_braking/CMakeLists.txt | 8 ++++++++ 1 file changed, 8 insertions(+) diff --git a/control/autonomous_emergency_braking/CMakeLists.txt b/control/autonomous_emergency_braking/CMakeLists.txt index 6027aeac76333..53a629fafa0cc 100644 --- a/control/autonomous_emergency_braking/CMakeLists.txt +++ b/control/autonomous_emergency_braking/CMakeLists.txt @@ -4,6 +4,14 @@ project(autonomous_emergency_braking) find_package(autoware_cmake REQUIRED) autoware_package() +find_package(PCL REQUIRED) + +include_directories( + include + SYSTEM + ${PCL_INCLUDE_DIRS} +) + set(AEB_NODE ${PROJECT_NAME}_node) ament_auto_add_library(${AEB_NODE} SHARED src/node.cpp From a98e9e8a1cb582186e9337d072cf3410d869e47f Mon Sep 17 00:00:00 2001 From: badai nguyen <94814556+badai-nguyen@users.noreply.github.com> Date: Sat, 18 Mar 2023 19:47:33 +0900 Subject: [PATCH 060/121] chore(ground_segmentation): add recheck ground cluster option param (#3106) Signed-off-by: badai-nguyen --- .../ground_segmentation/docs/scan-ground-filter.md | 1 + .../scan_ground_filter_nodelet.hpp | 1 + .../src/scan_ground_filter_nodelet.cpp | 11 +++++++++-- 3 files changed, 11 insertions(+), 2 deletions(-) diff --git a/perception/ground_segmentation/docs/scan-ground-filter.md b/perception/ground_segmentation/docs/scan-ground-filter.md index 6d044d6b47c3a..0c07ce600f625 100644 --- a/perception/ground_segmentation/docs/scan-ground-filter.md +++ b/perception/ground_segmentation/docs/scan-ground-filter.md @@ -47,6 +47,7 @@ This implementation inherits `pointcloud_preprocessor::Filter` class, please ref | `gnd_grid_buffer_size` | uint16 | 4 | Number of grids using to estimate local ground slope,
applied only for elevation_grid_mode | | `low_priority_region_x` | float | -20.0 | The non-zero x threshold in back side from which small objects detection is low priority [m] | | `elevation_grid_mode` | bool | true | Elevation grid scan mode option | +| `use_recheck_ground_cluster` | bool | true | Enable recheck ground cluster | ## Assumptions / Known limits diff --git a/perception/ground_segmentation/include/ground_segmentation/scan_ground_filter_nodelet.hpp b/perception/ground_segmentation/include/ground_segmentation/scan_ground_filter_nodelet.hpp index f6a8ba4c8a89a..11572772a0d0e 100644 --- a/perception/ground_segmentation/include/ground_segmentation/scan_ground_filter_nodelet.hpp +++ b/perception/ground_segmentation/include/ground_segmentation/scan_ground_filter_nodelet.hpp @@ -170,6 +170,7 @@ class ScanGroundFilterComponent : public pointcloud_preprocessor::Filter double // minimum height threshold regardless the slope, split_height_distance_; // useful for close points bool use_virtual_ground_point_; + bool use_recheck_ground_cluster_; // to enable recheck ground cluster size_t radial_dividers_num_; VehicleInfo vehicle_info_; diff --git a/perception/ground_segmentation/src/scan_ground_filter_nodelet.cpp b/perception/ground_segmentation/src/scan_ground_filter_nodelet.cpp index fa9d3d6d83665..953a9feb4d21e 100644 --- a/perception/ground_segmentation/src/scan_ground_filter_nodelet.cpp +++ b/perception/ground_segmentation/src/scan_ground_filter_nodelet.cpp @@ -54,6 +54,7 @@ ScanGroundFilterComponent::ScanGroundFilterComponent(const rclcpp::NodeOptions & split_points_distance_tolerance_ = declare_parameter("split_points_distance_tolerance", 0.2); split_height_distance_ = declare_parameter("split_height_distance", 0.2); use_virtual_ground_point_ = declare_parameter("use_virtual_ground_point", true); + use_recheck_ground_cluster_ = declare_parameter("use_recheck_ground_cluster", true); radial_dividers_num_ = std::ceil(2.0 * M_PI / radial_divider_angle_rad_); vehicle_info_ = VehicleInfoUtil(*this).getVehicleInfo(); @@ -356,7 +357,9 @@ void ScanGroundFilterComponent::classifyPointCloudGridScan( // move to new grid if (p->grid_id > prev_p->grid_id && ground_cluster.getAverageRadius() > 0.0) { // check if the prev grid have ground point cloud - recheckGroundCluster(ground_cluster, non_ground_height_threshold_, out_no_ground_indices); + if (use_recheck_ground_cluster_) { + recheckGroundCluster(ground_cluster, non_ground_height_threshold_, out_no_ground_indices); + } curr_gnd_grid.radius = ground_cluster.getAverageRadius(); curr_gnd_grid.avg_height = ground_cluster.getAverageHeight(); curr_gnd_grid.max_height = ground_cluster.getMaxHeight(); @@ -611,7 +614,11 @@ rcl_interfaces::msg::SetParametersResult ScanGroundFilterComponent::onParameter( get_logger(), "Setting use_virtual_ground_point to: " << std::boolalpha << use_virtual_ground_point_); } - + if (get_param(p, "use_recheck_ground_cluster", use_recheck_ground_cluster_)) { + RCLCPP_DEBUG_STREAM( + get_logger(), + "Setting use_recheck_ground_cluster to: " << std::boolalpha << use_recheck_ground_cluster_); + } rcl_interfaces::msg::SetParametersResult result; result.successful = true; result.reason = "success"; From 8501e1384d0c40afb509dbd8d26c3240088fca3e Mon Sep 17 00:00:00 2001 From: Takamasa Horibe Date: Sun, 19 Mar 2023 14:45:56 +0900 Subject: [PATCH 061/121] fix(surround_obstacle_checker): remove unused include (#3084) Signed-off-by: Takamasa Horibe --- .../include/surround_obstacle_checker/node.hpp | 3 --- 1 file changed, 3 deletions(-) diff --git a/planning/surround_obstacle_checker/include/surround_obstacle_checker/node.hpp b/planning/surround_obstacle_checker/include/surround_obstacle_checker/node.hpp index 74dd2f3924bec..89a91c6b6a675 100644 --- a/planning/surround_obstacle_checker/include/surround_obstacle_checker/node.hpp +++ b/planning/surround_obstacle_checker/include/surround_obstacle_checker/node.hpp @@ -23,7 +23,6 @@ #include #include -#include #include #include #include @@ -46,8 +45,6 @@ namespace surround_obstacle_checker using autoware_auto_perception_msgs::msg::PredictedObjects; using autoware_auto_perception_msgs::msg::Shape; -using autoware_auto_planning_msgs::msg::Trajectory; -using autoware_auto_planning_msgs::msg::TrajectoryPoint; using motion_utils::VehicleStopChecker; using tier4_planning_msgs::msg::VelocityLimit; using tier4_planning_msgs::msg::VelocityLimitClearCommand; From 4267add3ec861b333c8ccf8d1fe692d5dfb70d58 Mon Sep 17 00:00:00 2001 From: Esteve Fernandez Date: Mon, 20 Mar 2023 05:55:51 +0100 Subject: [PATCH 062/121] build(autoware_testing): add missing dependencies (#3093) Signed-off-by: Esteve Fernandez --- common/autoware_testing/package.xml | 2 ++ 1 file changed, 2 insertions(+) diff --git a/common/autoware_testing/package.xml b/common/autoware_testing/package.xml index d895d85122ae8..30a27bb9435b1 100644 --- a/common/autoware_testing/package.xml +++ b/common/autoware_testing/package.xml @@ -12,6 +12,8 @@ autoware_cmake + ros_testing + ament_cmake_core ament_copyright ament_flake8 From 446e749d83ade11e244c441fbbe426f03489cfb3 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Zeynep=20=20Akbal=C4=B1k?= <55089534+Zeysthingz@users.noreply.github.com> Date: Mon, 20 Mar 2023 12:33:28 +0300 Subject: [PATCH 063/121] feat(traffic_light_classifier): add parameters to launch file for using different tensorrt models (#2794) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit * feat(traffic_light_classifier): add params to launch file Signed-off-by: Zeynep Akbalık --------- Signed-off-by: Zeynep Akbalık Co-authored-by: Zeynep Akbalık Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- perception/traffic_light_classifier/README.md | 22 +++++++++++-------- .../cnn_classifier.hpp | 4 ++-- .../traffic_light_classifier.launch.xml | 5 +++++ .../src/cnn_classifier.cpp | 6 +++-- 4 files changed, 24 insertions(+), 13 deletions(-) diff --git a/perception/traffic_light_classifier/README.md b/perception/traffic_light_classifier/README.md index b598d877d5293..81381cd9506b7 100644 --- a/perception/traffic_light_classifier/README.md +++ b/perception/traffic_light_classifier/README.md @@ -54,15 +54,19 @@ These colors and shapes are assigned to the message as follows: #### cnn_classifier -| Name | Type | Description | -| ----------------- | ---- | ------------------------------------------------- | -| `model_file_path` | str | path to the model file | -| `label_file_path` | str | path to the label file | -| `precision` | str | TensorRT precision, `fp16` or `int8` | -| `input_c` | str | the channel size of an input image | -| `input_h` | str | the height of an input image | -| `input_w` | str | the width of an input image | -| `build_only` | bool | shutdown node after TensorRT engine file is built | +| Name | Type | Description | +| ----------------- | ------ | ------------------------------------------------- | +| `model_file_path` | str | path to the model file | +| `label_file_path` | str | path to the label file | +| `precision` | str | TensorRT precision, `fp16` or `int8` | +| `input_c` | str | the channel size of an input image | +| `input_h` | str | the height of an input image | +| `input_w` | str | the width of an input image | +| `input_name` | str | the name of neural network's input layer | +| `output_name` | str | the name of neural network's output name | +| `mean` | double | mean values for image normalization | +| `std` | double | std values for image normalization | +| `build_only` | bool | shutdown node after TensorRT engine file is built | #### hsv_classifier diff --git a/perception/traffic_light_classifier/include/traffic_light_classifier/cnn_classifier.hpp b/perception/traffic_light_classifier/include/traffic_light_classifier/cnn_classifier.hpp index 04914889f0756..a667d39248bba 100644 --- a/perception/traffic_light_classifier/include/traffic_light_classifier/cnn_classifier.hpp +++ b/perception/traffic_light_classifier/include/traffic_light_classifier/cnn_classifier.hpp @@ -101,8 +101,8 @@ class CNNClassifier : public ClassifierInterface std::shared_ptr trt_; image_transport::Publisher image_pub_; std::vector labels_; - std::vector mean_{0.242, 0.193, 0.201}; - std::vector std_{1.0, 1.0, 1.0}; + std::vector mean_; + std::vector std_; int input_c_; int input_h_; int input_w_; diff --git a/perception/traffic_light_classifier/launch/traffic_light_classifier.launch.xml b/perception/traffic_light_classifier/launch/traffic_light_classifier.launch.xml index 44288cb2b69f9..745629010cfe6 100644 --- a/perception/traffic_light_classifier/launch/traffic_light_classifier.launch.xml +++ b/perception/traffic_light_classifier/launch/traffic_light_classifier.launch.xml @@ -19,7 +19,12 @@ + + + + + diff --git a/perception/traffic_light_classifier/src/cnn_classifier.cpp b/perception/traffic_light_classifier/src/cnn_classifier.cpp index 63ce0fbb3f8bc..621466206ac01 100644 --- a/perception/traffic_light_classifier/src/cnn_classifier.cpp +++ b/perception/traffic_light_classifier/src/cnn_classifier.cpp @@ -39,8 +39,10 @@ CNNClassifier::CNNClassifier(rclcpp::Node * node_ptr) : node_ptr_(node_ptr) input_c_ = node_ptr_->declare_parameter("input_c", 3); input_h_ = node_ptr_->declare_parameter("input_h", 224); input_w_ = node_ptr_->declare_parameter("input_w", 224); - auto input_name = node_ptr_->declare_parameter("input_name", "input_0"); - auto output_name = node_ptr_->declare_parameter("output_name", "output_0"); + mean_ = node_ptr_->declare_parameter("mean", std::vector({0.242, 0.193, 0.201})); + std_ = node_ptr_->declare_parameter("std", std::vector({1.0, 1.0, 1.0})); + std::string input_name = node_ptr_->declare_parameter("input_name", std::string("input_0")); + std::string output_name = node_ptr_->declare_parameter("output_name", std::string("output_0")); apply_softmax_ = node_ptr_->declare_parameter("apply_softmax", true); readLabelfile(label_file_path, labels_); From 8b95d2a15a99c93806b1fe380e26698d9b95e109 Mon Sep 17 00:00:00 2001 From: Taiga TAKANO <53041471+TakanoTaiga@users.noreply.github.com> Date: Mon, 20 Mar 2023 19:03:21 +0900 Subject: [PATCH 064/121] perf(motion_utils): improve performance of findNearestIndex (#3082) Signed-off-by: Taiga Takano --- .../include/motion_utils/trajectory/trajectory.hpp | 6 +----- 1 file changed, 1 insertion(+), 5 deletions(-) diff --git a/common/motion_utils/include/motion_utils/trajectory/trajectory.hpp b/common/motion_utils/include/motion_utils/trajectory/trajectory.hpp index 821507ca9a6a8..29d12ab375a17 100644 --- a/common/motion_utils/include/motion_utils/trajectory/trajectory.hpp +++ b/common/motion_utils/include/motion_utils/trajectory/trajectory.hpp @@ -273,7 +273,7 @@ boost::optional findNearestIndex( for (size_t i = 0; i < points.size(); ++i) { const auto squared_dist = tier4_autoware_utils::calcSquaredDistance2d(points.at(i), pose); - if (squared_dist > max_squared_dist) { + if (squared_dist > max_squared_dist || squared_dist >= min_squared_dist) { continue; } @@ -283,10 +283,6 @@ boost::optional findNearestIndex( continue; } - if (squared_dist >= min_squared_dist) { - continue; - } - min_squared_dist = squared_dist; min_idx = i; is_nearest_found = true; From 14739a09d147e5784fc741efd2734352bc80ae01 Mon Sep 17 00:00:00 2001 From: Shunsuke Miura <37187849+miursh@users.noreply.github.com> Date: Wed, 22 Mar 2023 13:38:45 +0900 Subject: [PATCH 065/121] feat(elevation_map_loader): use polygon iterator to speed up (#2885) * use grid_map::PolygonIterator instead of grid_map::GridMapIterator Signed-off-by: Shunsuke Miura * formatting Signed-off-by: Shunsuke Miura * use use_lane_filter option Signed-off-by: Shunsuke Miura * delete unused use-lane-filter option Signed-off-by: Shunsuke Miura * change use_lane_filter to True, clarify the scope Signed-off-by: Shunsuke Miura * change to use grid_map_utils::PolygonIterator Signed-off-by: Shunsuke Miura * Add lane margin parameter Signed-off-by: Shunsuke Miura * use boost geometry buffer to expand lanes Signed-off-by: Shunsuke Miura * Change use_lane_filter param default to false Signed-off-by: Shunsuke Miura * update README Signed-off-by: Shunsuke Miura --------- Signed-off-by: Shunsuke Miura --- .../ground_segmentation.launch.py | 1 + perception/elevation_map_loader/README.md | 26 +-- .../elevation_map_loader_node.hpp | 18 +- .../launch/elevation_map_loader.launch.xml | 12 -- perception/elevation_map_loader/package.xml | 1 + .../src/elevation_map_loader_node.cpp | 198 ++++-------------- 6 files changed, 59 insertions(+), 197 deletions(-) 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 c072d4deb3059..105bcb0e76e93 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 @@ -327,6 +327,7 @@ def create_single_frame_outlier_filter_components(input_topic, output_topic, con "use_lane_filter": False, "use_inpaint": True, "inpaint_radius": 1.0, + "lane_margin": 2.0, "param_file_path": PathJoinSubstitution( [ LaunchConfiguration( diff --git a/perception/elevation_map_loader/README.md b/perception/elevation_map_loader/README.md index e9288c2f474a1..2cabc2803c8ec 100644 --- a/perception/elevation_map_loader/README.md +++ b/perception/elevation_map_loader/README.md @@ -36,21 +36,17 @@ Cells with No elevation value can be inpainted using the values of neighboring c ### Node parameters -| Name | Type | Description | Default value | -| :-------------------------------- | :---------- | :--------------------------------------------------------------------------------------------------------- | :------------ | -| map_layer_name | std::string | elevation_map layer name | elevation | -| param_file_path | std::string | GridMap parameters config | path_default | -| elevation_map_file_path | std::string | elevation_map file (bag2) | path_default | -| map_frame | std::string | map_frame when loading elevation_map file | map | -| use_inpaint | bool | Whether to inpaint empty cells | true | -| inpaint_radius | float | Radius of a circular neighborhood of each point inpainted that is considered by the algorithm [m] | 0.3 | -| use_elevation_map_cloud_publisher | bool | Whether to publish `output/elevation_map_cloud` | false | -| use_lane_filter | bool | Whether to filter elevation_map with vector_map | false | -| lane_margin | float | Value of how much to expand the range of vector_map [m] | 0.5 | -| lane_height_diff_thresh | float | Only point clouds in the height range of this value from vector_map are used to generate elevation_map [m] | 1.0 | -| lane_filter_voxel_size_x | float | Voxel size x for calculating point clouds in vector_map [m] | 0.04 | -| lane_filter_voxel_size_y | float | Voxel size y for calculating point clouds in vector_map [m] | 0.04 | -| lane_filter_voxel_size_z | float | Voxel size z for calculating point clouds in vector_map [m] | 0.04 | +| Name | Type | Description | Default value | +| :-------------------------------- | :---------- | :-------------------------------------------------------------------------------------------------------------------------------- | :------------ | +| map_layer_name | std::string | elevation_map layer name | elevation | +| param_file_path | std::string | GridMap parameters config | path_default | +| elevation_map_directory | std::string | elevation_map file (bag2) | path_default | +| map_frame | std::string | map_frame when loading elevation_map file | map | +| use_inpaint | bool | Whether to inpaint empty cells | true | +| inpaint_radius | float | Radius of a circular neighborhood of each point inpainted that is considered by the algorithm [m] | 0.3 | +| use_elevation_map_cloud_publisher | bool | Whether to publish `output/elevation_map_cloud` | false | +| use_lane_filter | bool | Whether to filter elevation_map with vector_map | false | +| lane_margin | float | Margin distance from the lane polygon of the area to be included in the inpainting mask [m]. Used only when use_lane_filter=True. | 0.0 | ### GridMap parameters diff --git a/perception/elevation_map_loader/include/elevation_map_loader/elevation_map_loader_node.hpp b/perception/elevation_map_loader/include/elevation_map_loader/elevation_map_loader_node.hpp index f5c294dd27207..1e45fde199f3c 100644 --- a/perception/elevation_map_loader/include/elevation_map_loader/elevation_map_loader_node.hpp +++ b/perception/elevation_map_loader/include/elevation_map_loader/elevation_map_loader_node.hpp @@ -75,21 +75,9 @@ class ElevationMapLoaderNode : public rclcpp::Node void setVerbosityLevelToDebugIfFlagSet(); void createElevationMapFromPointcloud( const pcl::shared_ptr & grid_map_pcl_loader); - tier4_autoware_utils::LinearRing2d getConvexHull( - const pcl::PointCloud::Ptr & input_cloud); - lanelet::ConstLanelets getIntersectedLanelets( - const tier4_autoware_utils::LinearRing2d & convex_hull, - const lanelet::ConstLanelets & road_lanelets_); - pcl::PointCloud::Ptr getLaneFilteredPointCloud( - const lanelet::ConstLanelets & joint_lanelets, - const pcl::PointCloud::Ptr & cloud); - bool checkPointWithinLanelets( - const pcl::PointXYZ & point, const lanelet::ConstLanelets & joint_lanelets); void inpaintElevationMap(const float radius); pcl::PointCloud::Ptr createPointcloudFromElevationMap(); void saveElevationMap(); - float calculateDistancePointFromPlane( - const pcl::PointXYZ & point, const lanelet::ConstLanelet & lanelet); grid_map::GridMap elevation_map_; std::string layer_name_; @@ -103,12 +91,8 @@ class ElevationMapLoaderNode : public rclcpp::Node DataManager data_manager_; struct LaneFilter { - float voxel_size_x_; - float voxel_size_y_; - float voxel_size_z_; - float lane_margin_; - float lane_height_diff_thresh_; lanelet::ConstLanelets road_lanelets_; + float lane_margin_; bool use_lane_filter_; }; LaneFilter lane_filter_; diff --git a/perception/elevation_map_loader/launch/elevation_map_loader.launch.xml b/perception/elevation_map_loader/launch/elevation_map_loader.launch.xml index ddb99f7ce9e1a..7b415f5b2e770 100644 --- a/perception/elevation_map_loader/launch/elevation_map_loader.launch.xml +++ b/perception/elevation_map_loader/launch/elevation_map_loader.launch.xml @@ -5,13 +5,6 @@ - - - - - - - @@ -20,10 +13,5 @@ - - - - - diff --git a/perception/elevation_map_loader/package.xml b/perception/elevation_map_loader/package.xml index 3b99d2c10d319..e809298e4c415 100644 --- a/perception/elevation_map_loader/package.xml +++ b/perception/elevation_map_loader/package.xml @@ -16,6 +16,7 @@ grid_map_cv grid_map_pcl grid_map_ros + grid_map_utils lanelet2_extension libpcl-all-dev pcl_conversions diff --git a/perception/elevation_map_loader/src/elevation_map_loader_node.cpp b/perception/elevation_map_loader/src/elevation_map_loader_node.cpp index 5434447a78c1f..c57934b960906 100644 --- a/perception/elevation_map_loader/src/elevation_map_loader_node.cpp +++ b/perception/elevation_map_loader/src/elevation_map_loader_node.cpp @@ -19,10 +19,12 @@ #include #include #include +#include #include #include +#include #include #include #include @@ -61,11 +63,7 @@ ElevationMapLoaderNode::ElevationMapLoaderNode(const rclcpp::NodeOptions & optio data_manager_.use_lane_filter_ = use_lane_filter; lane_filter_.use_lane_filter_ = use_lane_filter; - lane_filter_.lane_margin_ = this->declare_parameter("lane_margin", 0.5); - lane_filter_.lane_height_diff_thresh_ = this->declare_parameter("lane_height_diff_thresh", 1.0); - lane_filter_.voxel_size_x_ = declare_parameter("lane_filter_voxel_size_x", 0.04); - lane_filter_.voxel_size_y_ = declare_parameter("lane_filter_voxel_size_y", 0.04); - lane_filter_.voxel_size_z_ = declare_parameter("lane_filter_voxel_size_z", 0.04); + lane_filter_.lane_margin_ = this->declare_parameter("lane_margin", 0.0); rclcpp::QoS durable_qos{1}; durable_qos.transient_local(); @@ -176,21 +174,14 @@ void ElevationMapLoaderNode::createElevationMap() { auto grid_map_logger = rclcpp::get_logger("grid_map_logger"); grid_map_logger.set_level(rclcpp::Logger::Level::Error); - pcl::shared_ptr grid_map_pcl_loader = - pcl::make_shared(grid_map_logger); - grid_map_pcl_loader->loadParameters(param_file_path_); - if (lane_filter_.use_lane_filter_) { - const auto convex_hull = getConvexHull(data_manager_.map_pcl_ptr_); - lanelet::ConstLanelets intersected_lanelets = - getIntersectedLanelets(convex_hull, lane_filter_.road_lanelets_); - pcl::PointCloud::Ptr lane_filtered_map_pcl_ptr = - getLaneFilteredPointCloud(intersected_lanelets, data_manager_.map_pcl_ptr_); - grid_map_pcl_loader->setInputCloud(lane_filtered_map_pcl_ptr); - } else { + { + pcl::shared_ptr grid_map_pcl_loader = + pcl::make_shared(grid_map_logger); + grid_map_pcl_loader->loadParameters(param_file_path_); grid_map_pcl_loader->setInputCloud(data_manager_.map_pcl_ptr_); + createElevationMapFromPointcloud(grid_map_pcl_loader); + elevation_map_ = grid_map_pcl_loader->getGridMap(); } - createElevationMapFromPointcloud(grid_map_pcl_loader); - elevation_map_ = grid_map_pcl_loader->getGridMap(); if (use_inpaint_) { inpaintElevationMap(inpaint_radius_); } @@ -212,12 +203,45 @@ void ElevationMapLoaderNode::inpaintElevationMap(const float radius) { // Convert elevation layer to OpenCV image to fill in holes. // Get the inpaint mask (nonzero pixels indicate where values need to be filled in). + namespace bg = boost::geometry; + using tier4_autoware_utils::Point2d; + elevation_map_.add("inpaint_mask", 0.0); elevation_map_.setBasicLayers(std::vector()); - for (grid_map::GridMapIterator iterator(elevation_map_); !iterator.isPastEnd(); ++iterator) { - if (!elevation_map_.isValid(*iterator, layer_name_)) { - elevation_map_.at("inpaint_mask", *iterator) = 1.0; + if (lane_filter_.use_lane_filter_) { + for (const auto & lanelet : lane_filter_.road_lanelets_) { + auto lane_polygon = lanelet.polygon2d().basicPolygon(); + grid_map::Polygon polygon; + + if (lane_filter_.lane_margin_ > 0) { + lanelet::BasicPolygons2d out; + bg::strategy::buffer::distance_symmetric distance_strategy( + lane_filter_.lane_margin_); + bg::strategy::buffer::join_miter join_strategy; + bg::strategy::buffer::end_flat end_strategy; + bg::strategy::buffer::point_square point_strategy; + bg::strategy::buffer::side_straight side_strategy; + bg::buffer( + lane_polygon, out, distance_strategy, side_strategy, join_strategy, end_strategy, + point_strategy); + lane_polygon = out.front(); + } + for (const auto & p : lane_polygon) { + polygon.addVertex(grid_map::Position(p[0], p[1])); + } + for (grid_map_utils::PolygonIterator iterator(elevation_map_, polygon); !iterator.isPastEnd(); + ++iterator) { + if (!elevation_map_.isValid(*iterator, layer_name_)) { + elevation_map_.at("inpaint_mask", *iterator) = 1.0; + } + } + } + } else { + for (grid_map::GridMapIterator iterator(elevation_map_); !iterator.isPastEnd(); ++iterator) { + if (!elevation_map_.isValid(*iterator, layer_name_)) { + elevation_map_.at("inpaint_mask", *iterator) = 1.0; + } } } cv::Mat original_image; @@ -239,138 +263,6 @@ void ElevationMapLoaderNode::inpaintElevationMap(const float radius) elevation_map_.erase("inpaint_mask"); } -tier4_autoware_utils::LinearRing2d ElevationMapLoaderNode::getConvexHull( - const pcl::PointCloud::Ptr & input_cloud) -{ - // downsample pointcloud to reduce convex hull calculation cost - pcl::PointCloud::Ptr downsampled_cloud(new pcl::PointCloud); - downsampled_cloud->points.reserve(input_cloud->points.size()); - pcl::VoxelGrid filter; - filter.setInputCloud(input_cloud); - filter.setLeafSize(0.5, 0.5, 100.0); - filter.filter(*downsampled_cloud); - - tier4_autoware_utils::MultiPoint2d candidate_points; - for (const auto & p : downsampled_cloud->points) { - candidate_points.emplace_back(p.x, p.y); - } - - tier4_autoware_utils::LinearRing2d convex_hull; - boost::geometry::convex_hull(candidate_points, convex_hull); - - return convex_hull; -} - -lanelet::ConstLanelets ElevationMapLoaderNode::getIntersectedLanelets( - const tier4_autoware_utils::LinearRing2d & convex_hull, - const lanelet::ConstLanelets & road_lanelets) -{ - lanelet::ConstLanelets intersected_lanelets; - for (const auto & road_lanelet : road_lanelets) { - if (boost::geometry::intersects(convex_hull, road_lanelet.polygon2d().basicPolygon())) { - intersected_lanelets.push_back(road_lanelet); - } - } - return intersected_lanelets; -} - -bool ElevationMapLoaderNode::checkPointWithinLanelets( - const pcl::PointXYZ & point, const lanelet::ConstLanelets & intersected_lanelets) -{ - tier4_autoware_utils::Point2d point2d(point.x, point.y); - for (const auto & lanelet : intersected_lanelets) { - if (lane_filter_.lane_margin_ > 0) { - if ( - boost::geometry::distance(point2d, lanelet.polygon2d().basicPolygon()) > - lane_filter_.lane_margin_) { - continue; - } - } else { - if (!boost::geometry::within(point2d, lanelet.polygon2d().basicPolygon())) { - continue; - } - } - - if (lane_filter_.lane_height_diff_thresh_ > 0) { - float distance = calculateDistancePointFromPlane(point, lanelet); - if (distance < lane_filter_.lane_height_diff_thresh_) { - return true; - } - } else { - return true; - } - } - return false; -} - -float ElevationMapLoaderNode::calculateDistancePointFromPlane( - const pcl::PointXYZ & point, const lanelet::ConstLanelet & lanelet) -{ - const Eigen::Vector3d point_3d(point.x, point.y, point.z); - const Eigen::Vector2d point_2d(point.x, point.y); - - const float distance_3d = boost::geometry::distance(point_3d, lanelet.centerline3d()); - const float distance_2d = boost::geometry::distance(point_2d, lanelet.centerline2d()); - const float distance = std::sqrt(distance_3d * distance_3d - distance_2d * distance_2d); - - return distance; -} - -pcl::PointCloud::Ptr ElevationMapLoaderNode::getLaneFilteredPointCloud( - const lanelet::ConstLanelets & intersected_lanelets, - const pcl::PointCloud::Ptr & cloud) -{ - pcl::PointCloud filtered_cloud; - filtered_cloud.header = cloud->header; - - pcl::PointCloud::Ptr centralized_cloud(new pcl::PointCloud); - centralized_cloud->reserve(cloud->size()); - - // The coordinates of the point cloud are too large, resulting in calculation errors, - // so offset them to the center. - // https://github.com/PointCloudLibrary/pcl/issues/4895 - Eigen::Vector4f centroid; - pcl::compute3DCentroid(*cloud, centroid); - for (const auto & p : cloud->points) { - centralized_cloud->points.push_back( - pcl::PointXYZ(p.x - centroid[0], p.y - centroid[1], p.z - centroid[2])); - } - - pcl::PointCloud::Ptr downsampled_cloud(new pcl::PointCloud); - pcl::VoxelGrid voxel_grid; - voxel_grid.setLeafSize(lane_filter_.voxel_size_x_, lane_filter_.voxel_size_y_, 100000.0); - voxel_grid.setInputCloud(centralized_cloud); - voxel_grid.setSaveLeafLayout(true); - voxel_grid.filter(*downsampled_cloud); - - std::unordered_map> downsampled2original_map; - for (const auto & p : centralized_cloud->points) { - if (std::isnan(p.x) || std::isnan(p.y) || std::isnan(p.z)) { - continue; - } - const size_t index = voxel_grid.getCentroidIndex(p); - downsampled2original_map[index].points.push_back(p); - } - - for (auto & point : downsampled_cloud->points) { - if (checkPointWithinLanelets( - pcl::PointXYZ(point.x + centroid[0], point.y + centroid[1], point.z + centroid[2]), - intersected_lanelets)) { - const size_t index = voxel_grid.getCentroidIndex(point); - for (auto & original_point : downsampled2original_map[index].points) { - original_point.x += centroid[0]; - original_point.y += centroid[1]; - original_point.z += centroid[2]; - filtered_cloud.points.push_back(original_point); - } - } - } - - pcl::PointCloud::Ptr filtered_cloud_ptr; - filtered_cloud_ptr = pcl::make_shared>(filtered_cloud); - return filtered_cloud_ptr; -} - pcl::PointCloud::Ptr ElevationMapLoaderNode::createPointcloudFromElevationMap() { pcl::PointCloud output_cloud; From 3d7ec33098a3f00f529a2173b7fc6147613dded9 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Wed, 22 Mar 2023 13:42:11 +0900 Subject: [PATCH 066/121] feat(behavior_path_planner): visualize unavoidable target object (#3109) Signed-off-by: Takayuki Murooka --- .../marker_util/avoidance/debug.hpp | 6 ++- .../src/marker_util/avoidance/debug.cpp | 40 ++++++++++++++++++- .../avoidance/avoidance_module.cpp | 18 ++++++++- 3 files changed, 60 insertions(+), 4 deletions(-) diff --git a/planning/behavior_path_planner/include/behavior_path_planner/marker_util/avoidance/debug.hpp b/planning/behavior_path_planner/include/behavior_path_planner/marker_util/avoidance/debug.hpp index 04143fac29361..157098685aff3 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/marker_util/avoidance/debug.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/marker_util/avoidance/debug.hpp @@ -58,7 +58,11 @@ MarkerArray createAvoidLineMarkerArray( MarkerArray createPredictedVehiclePositions(const PathWithLaneId & path, std::string && ns); -MarkerArray createTargetObjectsMarkerArray(const ObjectDataArray & objects, std::string && ns); +MarkerArray createAvoidableTargetObjectsMarkerArray( + const ObjectDataArray & objects, std::string && ns); + +MarkerArray createUnavoidableTargetObjectsMarkerArray( + const ObjectDataArray & objects, std::string && ns); MarkerArray createOtherObjectsMarkerArray(const ObjectDataArray & objects, std::string && ns); diff --git a/planning/behavior_path_planner/src/marker_util/avoidance/debug.cpp b/planning/behavior_path_planner/src/marker_util/avoidance/debug.cpp index af0278a5d3f9d..2ba8ea276a782 100644 --- a/planning/behavior_path_planner/src/marker_util/avoidance/debug.cpp +++ b/planning/behavior_path_planner/src/marker_util/avoidance/debug.cpp @@ -337,7 +337,45 @@ MarkerArray createPredictedVehiclePositions(const PathWithLaneId & path, std::st return msg; } -MarkerArray createTargetObjectsMarkerArray( +MarkerArray createAvoidableTargetObjectsMarkerArray( + const behavior_path_planner::ObjectDataArray & objects, std::string && ns) +{ + MarkerArray msg; + msg.markers.reserve(objects.size() * 3); + + appendMarkerArray( + createObjectsCubeMarkerArray( + objects, ns + "_cube", createMarkerScale(3.0, 1.5, 1.5), + createMarkerColor(1.0, 1.0, 0.0, 0.8)), + &msg); + + appendMarkerArray(createObjectInfoMarkerArray(objects, ns + "_info"), &msg); + + { + for (const auto & object : objects) { + const auto pos = object.object.kinematics.initial_pose_with_covariance.pose.position; + + { + auto marker = createDefaultMarker( + "map", rclcpp::Clock{RCL_ROS_TIME}.now(), ns + "_envelope_polygon", 0L, + Marker::LINE_STRIP, createMarkerScale(0.1, 0.0, 0.0), + createMarkerColor(1.0, 1.0, 1.0, 0.999)); + + for (const auto & p : object.envelope_poly.outer()) { + marker.points.push_back(createPoint(p.x(), p.y(), pos.z)); + } + + marker.points.push_back(marker.points.front()); + marker.id = uuidToInt32(object.object.object_id); + msg.markers.push_back(marker); + } + } + } + + return msg; +} + +MarkerArray createUnavoidableTargetObjectsMarkerArray( const behavior_path_planner::ObjectDataArray & objects, std::string && ns) { MarkerArray msg; diff --git a/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp b/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp index 741669f65fdcd..d48e141fb55fe 100644 --- a/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp +++ b/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp @@ -3713,14 +3713,15 @@ void AvoidanceModule::setDebugData( using marker_utils::createPoseMarkerArray; using marker_utils::createShiftLengthMarkerArray; using marker_utils::createShiftLineMarkerArray; + using marker_utils::avoidance_marker::createAvoidableTargetObjectsMarkerArray; using marker_utils::avoidance_marker::createAvoidLineMarkerArray; using marker_utils::avoidance_marker::createEgoStatusMarkerArray; using marker_utils::avoidance_marker::createOtherObjectsMarkerArray; using marker_utils::avoidance_marker::createOverhangFurthestLineStringMarkerArray; using marker_utils::avoidance_marker::createPredictedVehiclePositions; using marker_utils::avoidance_marker::createSafetyCheckMarkerArray; - using marker_utils::avoidance_marker::createTargetObjectsMarkerArray; using marker_utils::avoidance_marker::createUnavoidableObjectsMarkerArray; + using marker_utils::avoidance_marker::createUnavoidableTargetObjectsMarkerArray; using marker_utils::avoidance_marker::createUnsafeObjectsMarkerArray; using marker_utils::avoidance_marker::makeOverhangToRoadShoulderMarkerArray; using motion_utils::createDeadLineVirtualWallMarker; @@ -3777,9 +3778,22 @@ void AvoidanceModule::setDebugData( add(createSafetyCheckMarkerArray(data.state, getEgoPose(), debug)); + std::vector avoidable_target_objects; + std::vector unavoidable_target_objects; + for (const auto & object : data.target_objects) { + if (object.is_avoidable) { + avoidable_target_objects.push_back(object); + } else { + unavoidable_target_objects.push_back(object); + } + } + add(createLaneletsAreaMarkerArray(*debug.current_lanelets, "current_lanelet", 0.0, 1.0, 0.0)); add(createLaneletsAreaMarkerArray(*debug.expanded_lanelets, "expanded_lanelet", 0.8, 0.8, 0.0)); - add(createTargetObjectsMarkerArray(data.target_objects, "target_objects")); + add( + createAvoidableTargetObjectsMarkerArray(avoidable_target_objects, "avoidable_target_objects")); + add(createUnavoidableTargetObjectsMarkerArray( + unavoidable_target_objects, "unavoidable_target_objects")); add(createOtherObjectsMarkerArray(data.other_objects, "other_objects")); add(makeOverhangToRoadShoulderMarkerArray(data.target_objects, "overhang")); add(createOverhangFurthestLineStringMarkerArray( From 36bdca4aa41ad910235cc465501b410a01b91f6f Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Wed, 22 Mar 2023 13:42:33 +0900 Subject: [PATCH 067/121] fix(planning_debug_tools): install perception_reproducer.py (#3105) Signed-off-by: Takayuki Murooka --- planning/planning_debug_tools/CMakeLists.txt | 1 + 1 file changed, 1 insertion(+) diff --git a/planning/planning_debug_tools/CMakeLists.txt b/planning/planning_debug_tools/CMakeLists.txt index 7d5722d791959..c2bee10f972f1 100644 --- a/planning/planning_debug_tools/CMakeLists.txt +++ b/planning/planning_debug_tools/CMakeLists.txt @@ -50,5 +50,6 @@ ament_auto_package( install(PROGRAMS scripts/trajectory_visualizer.py scripts/closest_velocity_checker.py + scripts/perception_reproducer.py DESTINATION lib/${PROJECT_NAME} ) From 61b9e1e2600677545ebd86c5413cd2b6cc8d6aaa Mon Sep 17 00:00:00 2001 From: Vincent Richard Date: Wed, 22 Mar 2023 15:47:25 +0900 Subject: [PATCH 068/121] chore(ekf_localizer): move parameters to its dedicated yaml file (#3039) * chores(ekf_localizer): move parameters to its dedicated yaml file Signed-off-by: Vincent Richard * style(pre-commit): autofix --------- Signed-off-by: Vincent Richard Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- .../launch/localization.launch.xml | 1 + .../pose_twist_fusion_filter.launch.xml | 6 +-- localization/ekf_localizer/CMakeLists.txt | 1 + .../config/ekf_localizer.param.yaml | 23 ++++++++++ .../launch/ekf_localizer.launch.xml | 44 ++----------------- 5 files changed, 30 insertions(+), 45 deletions(-) create mode 100644 localization/ekf_localizer/config/ekf_localizer.param.yaml diff --git a/launch/tier4_localization_launch/launch/localization.launch.xml b/launch/tier4_localization_launch/launch/localization.launch.xml index 12ad512557cb1..210e5d049727c 100644 --- a/launch/tier4_localization_launch/launch/localization.launch.xml +++ b/launch/tier4_localization_launch/launch/localization.launch.xml @@ -6,6 +6,7 @@ + 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 3c109769e13ba..59fd5174fa38c 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 @@ -2,9 +2,6 @@ - - - @@ -15,8 +12,7 @@ - - + diff --git a/localization/ekf_localizer/CMakeLists.txt b/localization/ekf_localizer/CMakeLists.txt index 6ae8cefc9088c..bd9d22523ea06 100644 --- a/localization/ekf_localizer/CMakeLists.txt +++ b/localization/ekf_localizer/CMakeLists.txt @@ -75,5 +75,6 @@ endif() ament_auto_package( INSTALL_TO_SHARE + config launch ) diff --git a/localization/ekf_localizer/config/ekf_localizer.param.yaml b/localization/ekf_localizer/config/ekf_localizer.param.yaml new file mode 100644 index 0000000000000..322325d239004 --- /dev/null +++ b/localization/ekf_localizer/config/ekf_localizer.param.yaml @@ -0,0 +1,23 @@ +/**: + ros__parameters: + show_debug_info: false + enable_yaw_bias_estimation: True + predict_frequency: 50.0 + tf_rate: 50.0 + extend_state_step: 50 + + # for Pose measurement + pose_additional_delay: 0.0 + pose_measure_uncertainty_time: 0.01 + pose_smoothing_steps: 5 + pose_gate_dist: 10000.0 + + # for twist measurement + twist_additional_delay: 0.0 + twist_smoothing_steps: 2 + twist_gate_dist: 10000.0 + + # for process model + proc_stddev_yaw_c: 0.005 + proc_stddev_vx_c: 10.0 + proc_stddev_wz_c: 5.0 diff --git a/localization/ekf_localizer/launch/ekf_localizer.launch.xml b/localization/ekf_localizer/launch/ekf_localizer.launch.xml index c716d58bfc00c..ee0504293602a 100644 --- a/localization/ekf_localizer/launch/ekf_localizer.launch.xml +++ b/localization/ekf_localizer/launch/ekf_localizer.launch.xml @@ -1,30 +1,12 @@ - - - - - + - + - - - - - - - - - - - - - - @@ -45,26 +27,6 @@ - - - - - - - - - - - - - - - - - - - - @@ -72,5 +34,7 @@ + + From 9a2769ebf0bd1d2d680d3b2e6defaece99646f1d Mon Sep 17 00:00:00 2001 From: Tomoya Kimura Date: Wed, 22 Mar 2023 16:49:53 +0900 Subject: [PATCH 069/121] fix(static_centerline_optimizer): avoid to call declear_parameter twice (#3131) * fix(static_centerline_optimizer): avoid to call declear_parameter twice Signed-off-by: tomoya.kimura * make variables private Signed-off-by: Takayuki Murooka --------- Signed-off-by: tomoya.kimura Signed-off-by: Takayuki Murooka Co-authored-by: Takayuki Murooka --- .../src/static_centerline_optimizer_node.cpp | 10 ++++++++-- 1 file changed, 8 insertions(+), 2 deletions(-) diff --git a/planning/static_centerline_optimizer/src/static_centerline_optimizer_node.cpp b/planning/static_centerline_optimizer/src/static_centerline_optimizer_node.cpp index 7187123c1dfd9..5199641a9f23f 100644 --- a/planning/static_centerline_optimizer/src/static_centerline_optimizer_node.cpp +++ b/planning/static_centerline_optimizer/src/static_centerline_optimizer_node.cpp @@ -374,8 +374,14 @@ std::vector StaticCenterlineOptimizerNode::plan_path( utils::get_center_pose(*route_handler_ptr_, route_lane_ids.front()); // ego nearest search parameters - const double ego_nearest_dist_threshold = declare_parameter("ego_nearest_dist_threshold"); - const double ego_nearest_yaw_threshold = declare_parameter("ego_nearest_yaw_threshold"); + const double ego_nearest_dist_threshold = + has_parameter("ego_nearest_dist_threshold") + ? get_parameter("ego_nearest_dist_threshold").as_double() + : declare_parameter("ego_nearest_dist_threshold"); + const double ego_nearest_yaw_threshold = + has_parameter("ego_nearest_yaw_threshold") + ? get_parameter("ego_nearest_yaw_threshold").as_double() + : declare_parameter("ego_nearest_yaw_threshold"); // extract path with lane id from lanelets const auto raw_path_with_lane_id = utils::get_path_with_lane_id( From 862b48a2180b65cb6bf88bd6afb57d1367b2aca1 Mon Sep 17 00:00:00 2001 From: Tomoya Kimura Date: Wed, 22 Mar 2023 16:59:40 +0900 Subject: [PATCH 070/121] feat(accel_brake_map_calibrator): add option to use actuation_cmd (#3113) * feat(accel_brake_map_calibrator): add option to use actuation_cmd Signed-off-by: tomoya.kimura * fix a stupid mistake Signed-off-by: tomoya.kimura * add readme Signed-off-by: tomoya.kimura --------- Signed-off-by: tomoya.kimura --- .../accel_brake_map_calibrator/README.md | 37 ++++++------- .../accel_brake_map_calibrator.param.yaml | 1 + .../accel_brake_map_calibrator_node.hpp | 12 +++++ .../accel_brake_map_calibrator.launch.xml | 1 + .../src/accel_brake_map_calibrator_node.cpp | 53 +++++++++++++++---- 5 files changed, 77 insertions(+), 27 deletions(-) diff --git a/vehicle/accel_brake_map_calibrator/accel_brake_map_calibrator/README.md b/vehicle/accel_brake_map_calibrator/accel_brake_map_calibrator/README.md index b594f389db34b..60d652c6140e4 100644 --- a/vehicle/accel_brake_map_calibrator/accel_brake_map_calibrator/README.md +++ b/vehicle/accel_brake_map_calibrator/accel_brake_map_calibrator/README.md @@ -146,21 +146,22 @@ You can also save accel and brake map in the default directory where Autoware re ## Algorithm Parameters -| Name | Type | Description | Default value | -| :---------------------- | :----- | :-------------------------------------------------------------------------------------------------------------------------------------------------- | :------------ | -| initial_covariance | double | Covariance of initial acceleration map (larger covariance makes the update speed faster) | 0.05 | -| velocity_min_threshold | double | Speeds smaller than this are not used for updating. | 0.1 | -| velocity_diff_threshold | double | When the velocity data is more than this threshold away from the grid reference speed (center value), the associated data is not used for updating. | 0.556 | -| max_steer_threshold | double | If the steer angle is greater than this value, the associated data is not used for updating. | 0.2 | -| max_pitch_threshold | double | If the pitch angle is greater than this value, the associated data is not used for updating. | 0.02 | -| max_jerk_threshold | double | If the ego jerk calculated from ego acceleration is greater than this value, the associated data is not used for updating. | 0.7 | -| pedal_velocity_thresh | double | If the pedal moving speed is greater than this value, the associated data is not used for updating. | 0.15 | -| pedal_diff_threshold | double | If the current pedal value is more then this threshold away from the previous value, the associated data is not used for updating. | 0.03 | -| max_accel | double | Maximum value of acceleration calculated from velocity source. | 5.0 | -| min_accel | double | Minimum value of acceleration calculated from velocity source. | -5.0 | -| pedal_to_accel_delay | double | The delay time between actuation_cmd to acceleration, considered in the update logic. | 0.3 | -| update_suggest_thresh | double | threshold of RMSE ratio that update suggest flag becomes true. ( RMSE ratio: [RMSE of new map] / [RMSE of original map] ) | 0.7 | -| max_data_count | int | For visualization. When the data num of each grid gets this value, the grid color gets red. | 100 | +| Name | Type | Description | Default value | +| :----------------------- | :----- | :-------------------------------------------------------------------------------------------------------------------------------------------------- | :------------ | +| initial_covariance | double | Covariance of initial acceleration map (larger covariance makes the update speed faster) | 0.05 | +| velocity_min_threshold | double | Speeds smaller than this are not used for updating. | 0.1 | +| velocity_diff_threshold | double | When the velocity data is more than this threshold away from the grid reference speed (center value), the associated data is not used for updating. | 0.556 | +| max_steer_threshold | double | If the steer angle is greater than this value, the associated data is not used for updating. | 0.2 | +| max_pitch_threshold | double | If the pitch angle is greater than this value, the associated data is not used for updating. | 0.02 | +| max_jerk_threshold | double | If the ego jerk calculated from ego acceleration is greater than this value, the associated data is not used for updating. | 0.7 | +| pedal_velocity_thresh | double | If the pedal moving speed is greater than this value, the associated data is not used for updating. | 0.15 | +| pedal_diff_threshold | double | If the current pedal value is more then this threshold away from the previous value, the associated data is not used for updating. | 0.03 | +| max_accel | double | Maximum value of acceleration calculated from velocity source. | 5.0 | +| min_accel | double | Minimum value of acceleration calculated from velocity source. | -5.0 | +| pedal_to_accel_delay | double | The delay time between actuation_cmd to acceleration, considered in the update logic. | 0.3 | +| update_suggest_thresh | double | threshold of RMSE ratio that update suggest flag becomes true. ( RMSE ratio: [RMSE of new map] / [RMSE of original map] ) | 0.7 | +| max_data_count | int | For visualization. When the data num of each grid gets this value, the grid color gets red. | 100 | +| accel_brake_value_source | string | Whether to use actuation_status or actuation_command as accel/brake sources. value | status | ## Test utility scripts @@ -212,9 +213,9 @@ Update by Recursive Least Squares(RLS) method using data close enough to each gr Data selection is determined by the following thresholds. | Name | Default Value | -| -------- | -------- | -|velocity_diff_threshold|0.556| -|pedal_diff_threshold|0.03| +| ----------------------- | ------------- | +| velocity_diff_threshold | 0.556 | +| pedal_diff_threshold | 0.03 | #### Update formula diff --git a/vehicle/accel_brake_map_calibrator/accel_brake_map_calibrator/config/accel_brake_map_calibrator.param.yaml b/vehicle/accel_brake_map_calibrator/accel_brake_map_calibrator/config/accel_brake_map_calibrator.param.yaml index 6cb118827e8b8..c7ee0a3a62330 100644 --- a/vehicle/accel_brake_map_calibrator/accel_brake_map_calibrator/config/accel_brake_map_calibrator.param.yaml +++ b/vehicle/accel_brake_map_calibrator/accel_brake_map_calibrator/config/accel_brake_map_calibrator.param.yaml @@ -17,3 +17,4 @@ update_method: "update_offset_four_cell_around" # or "update_offset_each_cell", "update_offset_total", "update_offset_four_cell_around" update_suggest_thresh: 0.7 # threshold of rmse rate that update suggest flag becomes true. ( rmse_rate: [rmse of update map] / [rmse of original map] ) progress_file_output: false # flag to output log file + accel_brake_value_source: "status" # "status" or "command" diff --git a/vehicle/accel_brake_map_calibrator/accel_brake_map_calibrator/include/accel_brake_map_calibrator/accel_brake_map_calibrator_node.hpp b/vehicle/accel_brake_map_calibrator/accel_brake_map_calibrator/include/accel_brake_map_calibrator/accel_brake_map_calibrator_node.hpp index e7d6be502285f..e2fc1b3a37362 100644 --- a/vehicle/accel_brake_map_calibrator/accel_brake_map_calibrator/include/accel_brake_map_calibrator/accel_brake_map_calibrator_node.hpp +++ b/vehicle/accel_brake_map_calibrator/accel_brake_map_calibrator/include/accel_brake_map_calibrator/accel_brake_map_calibrator_node.hpp @@ -41,6 +41,7 @@ #include "tier4_external_api_msgs/msg/calibration_status.hpp" #include "tier4_external_api_msgs/msg/calibration_status_array.hpp" #include "tier4_external_api_msgs/srv/get_accel_brake_map_calibration_data.hpp" +#include "tier4_vehicle_msgs/msg/actuation_command_stamped.hpp" #include "tier4_vehicle_msgs/msg/actuation_status_stamped.hpp" #include "tier4_vehicle_msgs/srv/update_accel_brake_map.hpp" @@ -64,6 +65,7 @@ using std_msgs::msg::Float32MultiArray; using tier4_debug_msgs::msg::Float32MultiArrayStamped; using tier4_debug_msgs::msg::Float32Stamped; using tier4_external_api_msgs::msg::CalibrationStatus; +using tier4_vehicle_msgs::msg::ActuationCommandStamped; using tier4_vehicle_msgs::msg::ActuationStatusStamped; using visualization_msgs::msg::MarkerArray; @@ -107,6 +109,7 @@ class AccelBrakeMapCalibrator : public rclcpp::Node rclcpp::Subscription::SharedPtr velocity_sub_; rclcpp::Subscription::SharedPtr steer_sub_; rclcpp::Subscription::SharedPtr actuation_status_sub_; + rclcpp::Subscription::SharedPtr actuation_cmd_sub_; // Service rclcpp::Service::SharedPtr update_map_dir_server_; @@ -132,6 +135,7 @@ class AccelBrakeMapCalibrator : public rclcpp::Node int get_pitch_method_; int update_method_; + int accel_brake_value_source_; double acceleration_ = 0.0; double acceleration_time_; double pre_acceleration_ = 0.0; @@ -239,6 +243,9 @@ class AccelBrakeMapCalibrator : public rclcpp::Node const int brake_pedal_index, const int brake_vel_index, const double measured_acc, const double map_acc); void updateTotalMapOffset(const double measured_acc, const double map_acc); + void callbackActuation( + const std_msgs::msg::Header header, const double accel, const double brake); + void callbackActuationCommand(const ActuationCommandStamped::ConstSharedPtr msg); void callbackActuationStatus(const ActuationStatusStamped::ConstSharedPtr msg); void callbackVelocity(const VelocityReport::ConstSharedPtr msg); void callbackSteer(const SteeringReport::ConstSharedPtr msg); @@ -357,6 +364,11 @@ class AccelBrakeMapCalibrator : public rclcpp::Node UPDATE_OFFSET_FOUR_CELL_AROUND = 2, }; + enum ACCEL_BRAKE_SOURCE { + STATUS = 0, + COMMAND = 1, + }; + public: explicit AccelBrakeMapCalibrator(const rclcpp::NodeOptions & node_options); }; diff --git a/vehicle/accel_brake_map_calibrator/accel_brake_map_calibrator/launch/accel_brake_map_calibrator.launch.xml b/vehicle/accel_brake_map_calibrator/accel_brake_map_calibrator/launch/accel_brake_map_calibrator.launch.xml index 69a65a8d540a2..c664158a471a7 100644 --- a/vehicle/accel_brake_map_calibrator/accel_brake_map_calibrator/launch/accel_brake_map_calibrator.launch.xml +++ b/vehicle/accel_brake_map_calibrator/accel_brake_map_calibrator/launch/accel_brake_map_calibrator.launch.xml @@ -16,6 +16,7 @@ + diff --git a/vehicle/accel_brake_map_calibrator/accel_brake_map_calibrator/src/accel_brake_map_calibrator_node.cpp b/vehicle/accel_brake_map_calibrator/accel_brake_map_calibrator/src/accel_brake_map_calibrator_node.cpp index e2707a51160b3..1910631b11e53 100644 --- a/vehicle/accel_brake_map_calibrator/accel_brake_map_calibrator/src/accel_brake_map_calibrator_node.cpp +++ b/vehicle/accel_brake_map_calibrator/accel_brake_map_calibrator/src/accel_brake_map_calibrator_node.cpp @@ -59,6 +59,18 @@ AccelBrakeMapCalibrator::AccelBrakeMapCalibrator(const rclcpp::NodeOptions & nod RCLCPP_ERROR_STREAM(get_logger(), "update_method_ is wrong. (available method: tf, file, none"); return; } + const auto accel_brake_value_source_str = + declare_parameter("accel_brake_value_source", std::string("status")); + if (accel_brake_value_source_str == std::string("status")) { + accel_brake_value_source_ = ACCEL_BRAKE_SOURCE::STATUS; + } else if (accel_brake_value_source_str == std::string("command")) { + accel_brake_value_source_ = ACCEL_BRAKE_SOURCE::COMMAND; + } else { + RCLCPP_ERROR_STREAM( + get_logger(), "accel_brake_value_source is wrong. (available source: status, command"); + return; + } + update_suggest_thresh_ = declare_parameter("update_suggest_thresh", 0.7); csv_calibrated_map_dir_ = declare_parameter("csv_calibrated_map_dir", std::string("")); output_accel_file_ = csv_calibrated_map_dir_ + "/accel_map.csv"; @@ -201,9 +213,16 @@ AccelBrakeMapCalibrator::AccelBrakeMapCalibrator(const rclcpp::NodeOptions & nod std::bind(&AccelBrakeMapCalibrator::callbackVelocity, this, _1)); steer_sub_ = create_subscription( "~/input/steer", queue_size, std::bind(&AccelBrakeMapCalibrator::callbackSteer, this, _1)); - actuation_status_sub_ = create_subscription( - "~/input/actuation_status", queue_size, - std::bind(&AccelBrakeMapCalibrator::callbackActuationStatus, this, _1)); + if (accel_brake_value_source_ == ACCEL_BRAKE_SOURCE::STATUS) { + actuation_status_sub_ = create_subscription( + "~/input/actuation_status", queue_size, + std::bind(&AccelBrakeMapCalibrator::callbackActuationStatus, this, _1)); + } + if (accel_brake_value_source_ == ACCEL_BRAKE_SOURCE::COMMAND) { + actuation_cmd_sub_ = create_subscription( + "~/input/actuation_cmd", queue_size, + std::bind(&AccelBrakeMapCalibrator::callbackActuationCommand, this, _1)); + } // Service update_map_dir_server_ = create_service( @@ -481,12 +500,11 @@ void AccelBrakeMapCalibrator::callbackSteer(const SteeringReport::ConstSharedPtr steer_ptr_ = msg; } -void AccelBrakeMapCalibrator::callbackActuationStatus( - const ActuationStatusStamped::ConstSharedPtr msg) +void AccelBrakeMapCalibrator::callbackActuation( + const std_msgs::msg::Header header, const double accel, const double brake) { // get accel data - accel_pedal_ptr_ = - std::make_shared(msg->status.accel_status, rclcpp::Time(msg->header.stamp)); + accel_pedal_ptr_ = std::make_shared(accel, rclcpp::Time(header.stamp)); if (!accel_pedal_vec_.empty()) { const auto past_accel_ptr = getNearestTimeDataFromVec(accel_pedal_ptr_, dif_pedal_time_, accel_pedal_vec_); @@ -502,8 +520,7 @@ void AccelBrakeMapCalibrator::callbackActuationStatus( getNearestTimeDataFromVec(accel_pedal_ptr_, pedal_to_accel_delay_, accel_pedal_vec_); // get brake data - brake_pedal_ptr_ = - std::make_shared(msg->status.brake_status, rclcpp::Time(msg->header.stamp)); + brake_pedal_ptr_ = std::make_shared(brake, rclcpp::Time(header.stamp)); if (!brake_pedal_vec_.empty()) { const auto past_brake_ptr = getNearestTimeDataFromVec(brake_pedal_ptr_, dif_pedal_time_, brake_pedal_vec_); @@ -519,6 +536,24 @@ void AccelBrakeMapCalibrator::callbackActuationStatus( getNearestTimeDataFromVec(brake_pedal_ptr_, pedal_to_accel_delay_, brake_pedal_vec_); } +void AccelBrakeMapCalibrator::callbackActuationCommand( + const ActuationCommandStamped::ConstSharedPtr msg) +{ + const auto header = msg->header; + const auto accel = msg->actuation.accel_cmd; + const auto brake = msg->actuation.brake_cmd; + callbackActuation(header, accel, brake); +} + +void AccelBrakeMapCalibrator::callbackActuationStatus( + const ActuationStatusStamped::ConstSharedPtr msg) +{ + const auto header = msg->header; + const auto accel = msg->status.accel_status; + const auto brake = msg->status.brake_status; + callbackActuation(header, accel, brake); +} + bool AccelBrakeMapCalibrator::callbackUpdateMapService( [[maybe_unused]] const std::shared_ptr request_header, UpdateAccelBrakeMap::Request::SharedPtr req, UpdateAccelBrakeMap::Response::SharedPtr res) From 6b436ded04a56c1eaee24a16c63390efac678aa3 Mon Sep 17 00:00:00 2001 From: kminoda <44218668+kminoda@users.noreply.github.com> Date: Wed, 22 Mar 2023 17:46:48 +0900 Subject: [PATCH 071/121] chore(tier4_localization_launch): add maintainer (#3133) Signed-off-by: kminoda --- launch/tier4_localization_launch/package.xml | 3 +++ 1 file changed, 3 insertions(+) diff --git a/launch/tier4_localization_launch/package.xml b/launch/tier4_localization_launch/package.xml index 13102ea5f9b70..7c15e1be21be8 100644 --- a/launch/tier4_localization_launch/package.xml +++ b/launch/tier4_localization_launch/package.xml @@ -5,6 +5,9 @@ 0.1.0 The tier4_localization_launch package Yamato Ando + Koji Minoda + Kento Yabuuchi + Ryu Yamamoto Apache License 2.0 Yamato Ando From 94073e963d6356178e1c64c0efd06c5510695bd9 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Wed, 22 Mar 2023 23:09:41 +0900 Subject: [PATCH 072/121] feat(obstacle_avoidance_planner): visualize bounds (#3094) Signed-off-by: Takayuki Murooka --- .../src/debug_marker.cpp | 44 +++++++++++++++++-- 1 file changed, 41 insertions(+), 3 deletions(-) diff --git a/planning/obstacle_avoidance_planner/src/debug_marker.cpp b/planning/obstacle_avoidance_planner/src/debug_marker.cpp index a8af96e7b49de..2b0ddbed8fbba 100644 --- a/planning/obstacle_avoidance_planner/src/debug_marker.cpp +++ b/planning/obstacle_avoidance_planner/src/debug_marker.cpp @@ -72,7 +72,7 @@ MarkerArray getFootprintsMarkerArray( return marker_array; } -MarkerArray getBoundsLineMarkerArray( +MarkerArray getBoundsWidthMarkerArray( const std::vector & ref_points, const double vehicle_width, const size_t sampling_num) { @@ -141,6 +141,40 @@ MarkerArray getBoundsLineMarkerArray( return marker_array; } +MarkerArray getBoundsLineMarkerArray( + const std::vector & ref_points, const double vehicle_width) +{ + MarkerArray marker_array; + + if (ref_points.empty()) return marker_array; + + auto ub_marker = createDefaultMarker( + "map", rclcpp::Clock().now(), "left_bounds", 0, Marker::LINE_STRIP, + createMarkerScale(0.05, 0.0, 0.0), createMarkerColor(0.0, 1.0, 1.0, 0.8)); + ub_marker.lifetime = rclcpp::Duration::from_seconds(1.5); + + auto lb_marker = createDefaultMarker( + "map", rclcpp::Clock().now(), "right_bounds", 0, Marker::LINE_STRIP, + createMarkerScale(0.05, 0.0, 0.0), createMarkerColor(0.0, 1.0, 1.0, 0.8)); + lb_marker.lifetime = rclcpp::Duration::from_seconds(1.5); + + for (size_t i = 0; i < ref_points.size(); i++) { + const geometry_msgs::msg::Pose & pose = ref_points.at(i).pose; + + const double ub_y = ref_points.at(i).bounds.upper_bound + vehicle_width / 2.0; + const auto ub = tier4_autoware_utils::calcOffsetPose(pose, 0.0, ub_y, 0.0).position; + ub_marker.points.push_back(ub); + + const double lb_y = ref_points.at(i).bounds.lower_bound - vehicle_width / 2.0; + const auto lb = tier4_autoware_utils::calcOffsetPose(pose, 0.0, lb_y, 0.0).position; + lb_marker.points.push_back(lb); + } + marker_array.markers.push_back(ub_marker); + marker_array.markers.push_back(lb_marker); + + return marker_array; +} + MarkerArray getVehicleCircleLinesMarkerArray( const std::vector & ref_points, const std::vector & vehicle_circle_longitudinal_offsets, const double vehicle_width, @@ -308,9 +342,13 @@ MarkerArray getDebugMarker( getFootprintsMarkerArray(optimized_points, vehicle_info, debug_data.mpt_visualize_sampling_num), &marker_array); - // bounds + // bounds lines + appendMarkerArray( + getBoundsLineMarkerArray(debug_data.ref_points, vehicle_info.vehicle_width_m), &marker_array); + + // bounds width appendMarkerArray( - getBoundsLineMarkerArray( + getBoundsWidthMarkerArray( debug_data.ref_points, vehicle_info.vehicle_width_m, debug_data.mpt_visualize_sampling_num), &marker_array); From fcbb3743ec9c5e3906bddeb762a3fcae4a5e6a22 Mon Sep 17 00:00:00 2001 From: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> Date: Thu, 23 Mar 2023 10:03:37 +0800 Subject: [PATCH 073/121] feat(lane change): support new framework external request (#3068) * feat(lane change): support new framework external request Signed-off-by: Muhammad Zulfaqar Azmi * include direction in some of the function. Signed-off-by: Muhammad Zulfaqar Azmi * Fix the left lane change not working Signed-off-by: Muhammad Zulfaqar Azmi * fix naming Signed-off-by: Muhammad Zulfaqar Azmi * common function Signed-off-by: Muhammad Zulfaqar * style(pre-commit): autofix --------- Signed-off-by: Muhammad Zulfaqar Azmi Signed-off-by: Muhammad Zulfaqar Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- planning/behavior_path_planner/CMakeLists.txt | 2 +- .../behavior_path_planner/parameters.hpp | 4 +- .../external_request_lane_change_module.hpp | 3 + .../lane_change/lane_change_module.hpp | 6 +- .../scene_module/lane_change/manager.hpp | 7 +- .../scene_module/scene_module_visitor.hpp | 7 ++ .../lane_change/lane_change_module_data.hpp | 5 +- .../util/lane_change/util.hpp | 16 ++++- .../src/behavior_path_planner_node.cpp | 63 +++++++++++++---- .../external_request_lane_change_module.cpp | 2 + .../lane_change/lane_change_module.cpp | 41 +++++++---- .../src/scene_module/lane_change/manager.cpp | 7 +- .../src/util/lane_change/util.cpp | 68 ++++++++++++++++++- .../include/route_handler/route_handler.hpp | 7 +- planning/route_handler/src/route_handler.cpp | 45 +++++++++--- 15 files changed, 226 insertions(+), 57 deletions(-) diff --git a/planning/behavior_path_planner/CMakeLists.txt b/planning/behavior_path_planner/CMakeLists.txt index f7b6c7150de50..8bd768affd3bc 100644 --- a/planning/behavior_path_planner/CMakeLists.txt +++ b/planning/behavior_path_planner/CMakeLists.txt @@ -20,6 +20,7 @@ set(common_src src/scene_module/pull_over/pull_over_module.cpp src/scene_module/side_shift/side_shift_module.cpp src/scene_module/lane_change/lane_change_module.cpp + src/scene_module/lane_change/external_request_lane_change_module.cpp src/turn_signal_decider.cpp src/util/avoidance/util.cpp src/util/lane_change/util.cpp @@ -49,7 +50,6 @@ if(COMPILE_WITH_OLD_ARCHITECTURE) src/behavior_tree_manager.cpp src/scene_module/scene_module_bt_node_interface.cpp src/scene_module/lane_following/lane_following_module.cpp - src/scene_module/lane_change/external_request_lane_change_module.cpp src/scene_module/pull_over/pull_over_module.cpp ${common_src} ) diff --git a/planning/behavior_path_planner/include/behavior_path_planner/parameters.hpp b/planning/behavior_path_planner/include/behavior_path_planner/parameters.hpp index 8277ae102b312..4630f2f324e84 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/parameters.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/parameters.hpp @@ -35,8 +35,8 @@ struct BehaviorPathPlannerParameters ModuleConfigParameters config_side_shift; ModuleConfigParameters config_lane_change_left; ModuleConfigParameters config_lane_change_right; - ModuleConfigParameters config_external_lane_change_left; - ModuleConfigParameters config_external_lane_change_right; + ModuleConfigParameters config_ext_request_lane_change_left; + ModuleConfigParameters config_ext_request_lane_change_right; double backward_path_length; double forward_path_length; diff --git a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/lane_change/external_request_lane_change_module.hpp b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/lane_change/external_request_lane_change_module.hpp index 6b239fd2bc675..77f5c8cd4dc79 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/lane_change/external_request_lane_change_module.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/lane_change/external_request_lane_change_module.hpp @@ -47,6 +47,8 @@ using marker_utils::CollisionCheckDebug; using tier4_planning_msgs::msg::LaneChangeDebugMsg; using tier4_planning_msgs::msg::LaneChangeDebugMsgArray; +#ifdef USE_OLD_ARCHITECTURE + class ExternalRequestLaneChangeModule : public SceneModuleInterface { public: @@ -151,6 +153,7 @@ class ExternalRequestLaneChangeLeftModule : public ExternalRequestLaneChangeModu const std::string & name, rclcpp::Node & node, std::shared_ptr parameters); }; +#endif } // namespace behavior_path_planner // clang-format off diff --git a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/lane_change/lane_change_module.hpp b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/lane_change/lane_change_module.hpp index bbdc7c14435d7..12f9c1155e423 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/lane_change/lane_change_module.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/lane_change/lane_change_module.hpp @@ -60,7 +60,8 @@ class LaneChangeModule : public SceneModuleInterface LaneChangeModule( const std::string & name, rclcpp::Node & node, const std::shared_ptr & parameters, - const std::shared_ptr & rtc_interface, Direction direction); + const std::shared_ptr & rtc_interface, Direction direction, + LaneChangeModuleType type); #endif bool isExecutionRequested() const override; bool isExecutionReady() const override; @@ -135,6 +136,7 @@ class LaneChangeModule : public SceneModuleInterface UUID candidate_uuid_; #else Direction direction_{Direction::NONE}; + LaneChangeModuleType type_{LaneChangeModuleType::NORMAL}; #endif void resetParameters(); @@ -198,8 +200,10 @@ class LaneChangeModule : public SceneModuleInterface #endif PathWithLaneId getReferencePath() const; +#ifdef USE_OLD_ARCHITECTURE lanelet::ConstLanelets getLaneChangeLanes( const lanelet::ConstLanelets & current_lanes, const double lane_change_lane_length) const; +#endif std::pair getSafePath( const lanelet::ConstLanelets & lane_change_lanes, const double check_distance, LaneChangePath & safe_path) const; diff --git a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/lane_change/manager.hpp b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/lane_change/manager.hpp index ecb2164855bb0..666a8c54ddd32 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/lane_change/manager.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/lane_change/manager.hpp @@ -33,12 +33,13 @@ class LaneChangeModuleManager : public SceneModuleManagerInterface public: LaneChangeModuleManager( rclcpp::Node * node, const std::string & name, const ModuleConfigParameters & config, - std::shared_ptr parameters, Direction direction); + std::shared_ptr parameters, const Direction direction, + const LaneChangeModuleType type); std::shared_ptr createNewSceneModuleInstance() override { return std::make_shared( - name_, *node_, parameters_, rtc_interface_, direction_); + name_, *node_, parameters_, rtc_interface_, direction_, type_); } void updateModuleParams(const std::vector & parameters) override; @@ -51,6 +52,8 @@ class LaneChangeModuleManager : public SceneModuleManagerInterface std::vector> registered_modules_; Direction direction_; + + LaneChangeModuleType type_; }; } // namespace behavior_path_planner diff --git a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/scene_module_visitor.hpp b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/scene_module_visitor.hpp index ee7789c4040af..a5f74529cc073 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/scene_module_visitor.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/scene_module_visitor.hpp @@ -28,7 +28,9 @@ namespace behavior_path_planner // Forward Declaration class AvoidanceModule; class LaneChangeModule; +#ifdef USE_OLD_ARCHITECTURE class ExternalRequestLaneChangeModule; +#endif class LaneFollowingModule; class PullOutModule; class PullOverModule; @@ -43,7 +45,9 @@ class SceneModuleVisitor { public: void visitLaneChangeModule(const LaneChangeModule * module) const; +#ifdef USE_OLD_ARCHITECTURE void visitExternalRequestLaneChangeModule(const ExternalRequestLaneChangeModule * module) const; +#endif void visitAvoidanceModule(const AvoidanceModule * module) const; std::shared_ptr getAvoidanceModuleDebugMsg() const; @@ -51,7 +55,10 @@ class SceneModuleVisitor protected: mutable std::shared_ptr lane_change_visitor_; + +#ifdef USE_OLD_ARCHITECTURE mutable std::shared_ptr ext_request_lane_change_visitor_; +#endif mutable std::shared_ptr avoidance_visitor_; }; } // namespace behavior_path_planner diff --git a/planning/behavior_path_planner/include/behavior_path_planner/util/lane_change/lane_change_module_data.hpp b/planning/behavior_path_planner/include/behavior_path_planner/util/lane_change/lane_change_module_data.hpp index 7ef20d546327b..cc5efbc835e84 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/util/lane_change/lane_change_module_data.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/util/lane_change/lane_change_module_data.hpp @@ -80,10 +80,7 @@ struct LaneChangeTargetObjectIndices std::vector other_lane{}; }; -enum class LaneChangeType { - Normal = 0, - ExternalRequest = 1, -}; +enum class LaneChangeModuleType { NORMAL = 0, EXTERNAL_REQUEST }; } // namespace behavior_path_planner #endif // BEHAVIOR_PATH_PLANNER__UTIL__LANE_CHANGE__LANE_CHANGE_MODULE_DATA_HPP_ diff --git a/planning/behavior_path_planner/include/behavior_path_planner/util/lane_change/util.hpp b/planning/behavior_path_planner/include/behavior_path_planner/util/lane_change/util.hpp index 679f1ae230f1c..91ce7293cda39 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/util/lane_change/util.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/util/lane_change/util.hpp @@ -80,7 +80,7 @@ std::pair getLaneChangePaths( const lanelet::ConstLanelets & original_lanelets, const lanelet::ConstLanelets & target_lanelets, const Pose & pose, const Twist & twist, const PredictedObjects::ConstSharedPtr dynamic_objects, const BehaviorPathPlannerParameters & common_parameter, const LaneChangeParameters & parameter, - const double check_distance, LaneChangePaths * candidate_paths, + const double check_distance, const Direction direction, LaneChangePaths * candidate_paths, std::unordered_map * debug_data); bool isLaneChangePathSafe( @@ -93,10 +93,18 @@ bool isLaneChangePathSafe( std::unordered_map & debug_data, const double acceleration = 0.0); +#ifdef USE_OLD_ARCHITECTURE bool hasEnoughDistance( const LaneChangePath & path, const lanelet::ConstLanelets & current_lanes, const lanelet::ConstLanelets & target_lanes, const Pose & current_pose, const Pose & goal_pose, const RouteHandler & route_handler, const double minimum_lane_change_length); +#else +bool hasEnoughDistance( + const LaneChangePath & path, const lanelet::ConstLanelets & current_lanes, + const lanelet::ConstLanelets & target_lanes, const Pose & current_pose, const Pose & goal_pose, + const RouteHandler & route_handler, const double minimum_lane_change_length, + const Direction direction); +#endif ShiftLine getLaneChangingShiftLine( const PathWithLaneId & prepare_segment, const PathWithLaneId & lane_changing_segment, @@ -159,7 +167,11 @@ LaneChangeTargetObjectIndices filterObjectIndices( double calcLateralBufferForFiltering(const double vehicle_width, const double lateral_buffer = 0.0); -std::string getStrDirection(const std::string name, const Direction direction); +std::string getStrDirection(const std::string & name, const Direction direction); +lanelet::ConstLanelets getLaneChangeLanes( + const std::shared_ptr & planner_data, + const lanelet::ConstLanelets & current_lanes, const double lane_change_lane_length, + const double prepare_duration, const Direction direction, const LaneChangeModuleType type); } // namespace behavior_path_planner::lane_change_utils #endif // BEHAVIOR_PATH_PLANNER__UTIL__LANE_CHANGE__UTIL_HPP_ diff --git a/planning/behavior_path_planner/src/behavior_path_planner_node.cpp b/planning/behavior_path_planner/src/behavior_path_planner_node.cpp index be99d578e1856..041bf25c86df8 100644 --- a/planning/behavior_path_planner/src/behavior_path_planner_node.cpp +++ b/planning/behavior_path_planner/src/behavior_path_planner_node.cpp @@ -204,6 +204,15 @@ BehaviorPathPlannerNode::BehaviorPathPlannerNode(const rclcpp::NodeOptions & nod planner_manager_ = std::make_shared(*this, lane_following_param_ptr_, p.verbose); + const auto register_and_create_publisher = [&](const auto & manager) { + const auto & module_name = manager->getModuleName(); + planner_manager_->registerSceneModuleManager(manager); + path_candidate_publishers_.emplace( + module_name, create_publisher(path_candidate_name_space + module_name, 1)); + path_reference_publishers_.emplace( + module_name, create_publisher(path_reference_name_space + module_name, 1)); + }; + if (p.config_pull_out.enable_module) { auto manager = std::make_shared( this, "pull_out", p.config_pull_out, pull_out_param_ptr_); @@ -238,24 +247,32 @@ BehaviorPathPlannerNode::BehaviorPathPlannerNode(const rclcpp::NodeOptions & nod const std::string module_topic = "lane_change_left"; auto manager = std::make_shared( this, module_topic, p.config_lane_change_left, lane_change_param_ptr_, - route_handler::Direction::LEFT); - planner_manager_->registerSceneModuleManager(manager); - path_candidate_publishers_.emplace( - module_topic, create_publisher(path_candidate_name_space + module_topic, 1)); - path_reference_publishers_.emplace( - module_topic, create_publisher(path_reference_name_space + module_topic, 1)); + route_handler::Direction::LEFT, LaneChangeModuleType::NORMAL); + register_and_create_publisher(manager); } if (p.config_lane_change_right.enable_module) { const std::string module_topic = "lane_change_right"; auto manager = std::make_shared( this, module_topic, p.config_lane_change_right, lane_change_param_ptr_, - route_handler::Direction::RIGHT); - planner_manager_->registerSceneModuleManager(manager); - path_candidate_publishers_.emplace( - module_topic, create_publisher(path_candidate_name_space + module_topic, 1)); - path_reference_publishers_.emplace( - module_topic, create_publisher(path_reference_name_space + module_topic, 1)); + route_handler::Direction::RIGHT, LaneChangeModuleType::NORMAL); + register_and_create_publisher(manager); + } + + if (p.config_ext_request_lane_change_right.enable_module) { + const std::string module_topic = "ext_request_lane_change_right"; + auto manager = std::make_shared( + this, module_topic, p.config_ext_request_lane_change_right, lane_change_param_ptr_, + route_handler::Direction::RIGHT, LaneChangeModuleType::EXTERNAL_REQUEST); + register_and_create_publisher(manager); + } + + if (p.config_ext_request_lane_change_left.enable_module) { + const std::string module_topic = "ext_request_lane_change_left"; + auto manager = std::make_shared( + this, module_topic, p.config_ext_request_lane_change_left, lane_change_param_ptr_, + route_handler::Direction::LEFT, LaneChangeModuleType::EXTERNAL_REQUEST); + register_and_create_publisher(manager); } if (p.config_avoidance.enable_module) { @@ -346,6 +363,28 @@ BehaviorPathPlannerParameters BehaviorPathPlannerNode::getCommonParam() p.config_lane_change_right.max_module_size = declare_parameter(ns + "max_module_size"); } + { + const std::string ns = "ext_request_lane_change_right."; + p.config_ext_request_lane_change_right.enable_module = + declare_parameter(ns + "enable_module"); + p.config_ext_request_lane_change_right.enable_simultaneous_execution = + declare_parameter(ns + "enable_simultaneous_execution"); + p.config_ext_request_lane_change_right.priority = declare_parameter(ns + "priority"); + p.config_ext_request_lane_change_right.max_module_size = + declare_parameter(ns + "max_module_size"); + } + + { + const std::string ns = "ext_request_lane_change_left."; + p.config_ext_request_lane_change_left.enable_module = + declare_parameter(ns + "enable_module"); + p.config_ext_request_lane_change_left.enable_simultaneous_execution = + declare_parameter(ns + "enable_simultaneous_execution"); + p.config_ext_request_lane_change_left.priority = declare_parameter(ns + "priority"); + p.config_ext_request_lane_change_left.max_module_size = + declare_parameter(ns + "max_module_size"); + } + { const std::string ns = "avoidance."; p.config_avoidance.enable_module = declare_parameter(ns + "enable_module"); diff --git a/planning/behavior_path_planner/src/scene_module/lane_change/external_request_lane_change_module.cpp b/planning/behavior_path_planner/src/scene_module/lane_change/external_request_lane_change_module.cpp index 3a55935b641e1..78bd5daa0bcd2 100644 --- a/planning/behavior_path_planner/src/scene_module/lane_change/external_request_lane_change_module.cpp +++ b/planning/behavior_path_planner/src/scene_module/lane_change/external_request_lane_change_module.cpp @@ -32,6 +32,7 @@ #include namespace behavior_path_planner { +#ifdef USE_OLD_ARCHITECTURE std::string getTopicName(const ExternalRequestLaneChangeModule::Direction & direction) { const std::string direction_name = @@ -771,5 +772,6 @@ ExternalRequestLaneChangeLeftModule::ExternalRequestLaneChangeLeftModule( : ExternalRequestLaneChangeModule{name, node, parameters, Direction::LEFT} { } +#endif } // namespace behavior_path_planner diff --git a/planning/behavior_path_planner/src/scene_module/lane_change/lane_change_module.cpp b/planning/behavior_path_planner/src/scene_module/lane_change/lane_change_module.cpp index 99c0ff5ddd467..3b931eb7f57af 100644 --- a/planning/behavior_path_planner/src/scene_module/lane_change/lane_change_module.cpp +++ b/planning/behavior_path_planner/src/scene_module/lane_change/lane_change_module.cpp @@ -51,11 +51,12 @@ LaneChangeModule::LaneChangeModule( LaneChangeModule::LaneChangeModule( const std::string & name, rclcpp::Node & node, const std::shared_ptr & parameters, - const std::shared_ptr & rtc_interface, Direction direction) -: SceneModuleInterface{name, node}, parameters_{parameters}, direction_{direction} + const std::shared_ptr & rtc_interface, Direction direction, + LaneChangeModuleType type) +: SceneModuleInterface{name, node}, parameters_{parameters}, direction_{direction}, type_{type} { rtc_interface_ptr_ = rtc_interface; - steering_factor_interface_ptr_ = std::make_unique(&node, "lane_change"); + steering_factor_interface_ptr_ = std::make_unique(&node, name); } #endif @@ -87,11 +88,14 @@ bool LaneChangeModule::isExecutionRequested() const #ifdef USE_OLD_ARCHITECTURE const auto current_lanes = util::getCurrentLanes(planner_data_); + const auto lane_change_lanes = getLaneChangeLanes(current_lanes, lane_change_lane_length_); #else const auto current_lanes = util::getCurrentLanesFromPath(*getPreviousModuleOutput().reference_path, planner_data_); + const auto lane_change_lanes = lane_change_utils::getLaneChangeLanes( + planner_data_, current_lanes, lane_change_lane_length_, + parameters_->lane_change_prepare_duration, direction_, type_); #endif - const auto lane_change_lanes = getLaneChangeLanes(current_lanes, lane_change_lane_length_); if (lane_change_lanes.empty()) { return false; @@ -112,11 +116,14 @@ bool LaneChangeModule::isExecutionReady() const #ifdef USE_OLD_ARCHITECTURE const auto current_lanes = util::getCurrentLanes(planner_data_); + const auto lane_change_lanes = getLaneChangeLanes(current_lanes, lane_change_lane_length_); #else const auto current_lanes = util::getCurrentLanesFromPath(*getPreviousModuleOutput().reference_path, planner_data_); + const auto lane_change_lanes = lane_change_utils::getLaneChangeLanes( + planner_data_, current_lanes, lane_change_lane_length_, + parameters_->lane_change_prepare_duration, direction_, type_); #endif - const auto lane_change_lanes = getLaneChangeLanes(current_lanes, lane_change_lane_length_); if (lane_change_lanes.empty()) { return false; @@ -249,11 +256,14 @@ CandidateOutput LaneChangeModule::planCandidate() const // Get lane change lanes #ifdef USE_OLD_ARCHITECTURE const auto current_lanes = util::getCurrentLanes(planner_data_); + const auto lane_change_lanes = getLaneChangeLanes(current_lanes, lane_change_lane_length_); #else const auto current_lanes = util::getCurrentLanesFromPath(*getPreviousModuleOutput().reference_path, planner_data_); + const auto lane_change_lanes = lane_change_utils::getLaneChangeLanes( + planner_data_, current_lanes, lane_change_lane_length_, + parameters_->lane_change_prepare_duration, direction_, type_); #endif - const auto lane_change_lanes = getLaneChangeLanes(current_lanes, lane_change_lane_length_); if (lane_change_lanes.empty()) { return output; @@ -326,11 +336,14 @@ void LaneChangeModule::updateLaneChangeStatus() { #ifdef USE_OLD_ARCHITECTURE status_.current_lanes = util::getCurrentLanes(planner_data_); + status_.lane_change_lanes = getLaneChangeLanes(status_.current_lanes, lane_change_lane_length_); #else status_.current_lanes = util::getCurrentLanesFromPath(*getPreviousModuleOutput().reference_path, planner_data_); + status_.lane_change_lanes = lane_change_utils::getLaneChangeLanes( + planner_data_, status_.current_lanes, lane_change_lane_length_, + parameters_->lane_change_prepare_duration, direction_, type_); #endif - status_.lane_change_lanes = getLaneChangeLanes(status_.current_lanes, lane_change_lane_length_); // Find lane change path LaneChangePath selected_path; @@ -402,6 +415,7 @@ PathWithLaneId LaneChangeModule::getReferencePath() const return reference_path; } +#ifdef USE_OLD_ARCHITECTURE lanelet::ConstLanelets LaneChangeModule::getLaneChangeLanes( const lanelet::ConstLanelets & current_lanes, const double lane_change_lane_length) const { @@ -423,20 +437,17 @@ lanelet::ConstLanelets LaneChangeModule::getLaneChangeLanes( std::max(current_twist.linear.x * lane_change_prepare_duration, minimum_lane_change_length); lanelet::ConstLanelets current_check_lanes = route_handler->getLaneletSequence(current_lane, current_pose, 0.0, lane_change_prepare_length); - lanelet::ConstLanelet lane_change_lane; -#ifdef USE_OLD_ARCHITECTURE - if (route_handler->getLaneChangeTarget(current_check_lanes, &lane_change_lane)) { -#else - if (route_handler->getLaneChangeTarget(current_check_lanes, &lane_change_lane, direction_)) { -#endif + const auto lane_change_lane = route_handler->getLaneChangeTarget(current_check_lanes); + if (lane_change_lane) { lane_change_lanes = route_handler->getLaneletSequence( - lane_change_lane, current_pose, lane_change_lane_length, lane_change_lane_length); + lane_change_lane.get(), current_pose, lane_change_lane_length, lane_change_lane_length); } else { lane_change_lanes.clear(); } return lane_change_lanes; } +#endif std::pair LaneChangeModule::getSafePath( const lanelet::ConstLanelets & lane_change_lanes, const double check_distance, @@ -469,7 +480,7 @@ std::pair LaneChangeModule::getSafePath( const auto [found_valid_path, found_safe_path] = lane_change_utils::getLaneChangePaths( *getPreviousModuleOutput().path, *route_handler, current_lanes, lane_change_lanes, current_pose, current_twist, planner_data_->dynamic_object, common_parameters, *parameters_, check_distance, - &valid_paths, &object_debug_); + direction_, &valid_paths, &object_debug_); #endif debug_valid_path_ = valid_paths; diff --git a/planning/behavior_path_planner/src/scene_module/lane_change/manager.cpp b/planning/behavior_path_planner/src/scene_module/lane_change/manager.cpp index 13bb4c7db5b4c..458ab20970e37 100644 --- a/planning/behavior_path_planner/src/scene_module/lane_change/manager.cpp +++ b/planning/behavior_path_planner/src/scene_module/lane_change/manager.cpp @@ -26,10 +26,13 @@ namespace behavior_path_planner using route_handler::Direction; LaneChangeModuleManager::LaneChangeModuleManager( rclcpp::Node * node, const std::string & name, const ModuleConfigParameters & config, - std::shared_ptr parameters, Direction direction) + std::shared_ptr parameters, const Direction direction, + const LaneChangeModuleType type) : SceneModuleManagerInterface(node, name, config), parameters_{std::move(parameters)}, - direction_{direction} + direction_{direction}, + type_{type} + { rtc_interface_ = std::make_shared(node, name); } diff --git a/planning/behavior_path_planner/src/util/lane_change/util.cpp b/planning/behavior_path_planner/src/util/lane_change/util.cpp index fd9c31f3a617e..5f9fd8dc8bb16 100644 --- a/planning/behavior_path_planner/src/util/lane_change/util.cpp +++ b/planning/behavior_path_planner/src/util/lane_change/util.cpp @@ -268,7 +268,7 @@ std::pair getLaneChangePaths( const lanelet::ConstLanelets & original_lanelets, const lanelet::ConstLanelets & target_lanelets, const Pose & pose, const Twist & twist, const PredictedObjects::ConstSharedPtr dynamic_objects, const BehaviorPathPlannerParameters & common_parameter, const LaneChangeParameters & parameter, - const double check_distance, LaneChangePaths * candidate_paths, + const double check_distance, const Direction direction, LaneChangePaths * candidate_paths, std::unordered_map * debug_data) #endif { @@ -296,9 +296,15 @@ std::pair getLaneChangePaths( const auto target_distance = util::getArcLengthToTargetLanelet(original_lanelets, target_lanelets.front(), pose); +#ifdef USE_OLD_ARCHITECTURE const auto num_to_preferred_lane = std::abs(route_handler.getNumLaneToPreferredLane(target_lanelets.back())); - +#else + const auto get_opposite_direction = + (direction == Direction::RIGHT) ? Direction::LEFT : Direction::RIGHT; + const auto num_to_preferred_lane = std::abs( + route_handler.getNumLaneToPreferredLane(target_lanelets.back(), get_opposite_direction)); +#endif const auto goal_pose = route_handler.getGoalPose(); const auto is_goal_in_route = route_handler.isInGoalRouteSection(target_lanelets.back()); @@ -405,9 +411,15 @@ std::pair getLaneChangePaths( continue; } +#ifdef USE_OLD_ARCHITECTURE const auto is_valid = hasEnoughDistance( *candidate_path, original_lanelets, target_lanelets, pose, goal_pose, route_handler, common_parameter.minimum_lane_change_length); +#else + const auto is_valid = hasEnoughDistance( + *candidate_path, original_lanelets, target_lanelets, pose, goal_pose, route_handler, + common_parameter.minimum_lane_change_length, direction); +#endif if (!is_valid) { continue; @@ -445,14 +457,26 @@ std::pair getLaneChangePaths( return {true, false}; } +#ifdef USE_OLD_ARCHITECTURE bool hasEnoughDistance( const LaneChangePath & path, const lanelet::ConstLanelets & current_lanes, [[maybe_unused]] const lanelet::ConstLanelets & target_lanes, const Pose & current_pose, const Pose & goal_pose, const RouteHandler & route_handler, const double minimum_lane_change_length) +#else +bool hasEnoughDistance( + const LaneChangePath & path, const lanelet::ConstLanelets & current_lanes, + [[maybe_unused]] const lanelet::ConstLanelets & target_lanes, const Pose & current_pose, + const Pose & goal_pose, const RouteHandler & route_handler, + const double minimum_lane_change_length, const Direction direction) +#endif { const double lane_change_total_distance = path.length.sum(); +#ifdef USE_OLD_ARCHITECTURE const int num = std::abs(route_handler.getNumLaneToPreferredLane(target_lanes.back())); +#else + const int num = std::abs(route_handler.getNumLaneToPreferredLane(target_lanes.back(), direction)); +#endif const auto overall_graphs = route_handler.getOverallGraphPtr(); const double lane_change_required_distance = @@ -1153,4 +1177,44 @@ std::string getStrDirection(const std::string & name, const Direction direction) } return ""; } + +lanelet::ConstLanelets getLaneChangeLanes( + const std::shared_ptr & planner_data, + const lanelet::ConstLanelets & current_lanes, const double lane_change_lane_length, + const double prepare_duration, const Direction direction, const LaneChangeModuleType type) +{ + const auto & route_handler = planner_data->route_handler; + const auto minimum_lane_change_length = planner_data->parameters.minimum_lane_change_length; + const auto current_pose = planner_data->self_odometry->pose.pose; + const auto current_speed = planner_data->self_odometry->twist.twist.linear.x; + + if (current_lanes.empty()) { + return {}; + } + + // Get lane change lanes + lanelet::ConstLanelet current_lane; + lanelet::utils::query::getClosestLanelet(current_lanes, current_pose, ¤t_lane); + + const auto lane_change_prepare_length = + std::max(current_speed * prepare_duration, minimum_lane_change_length); + + const auto current_check_lanes = + route_handler->getLaneletSequence(current_lane, current_pose, 0.0, lane_change_prepare_length); + + const auto lane_change_lane = std::invoke([&]() { + if (type == LaneChangeModuleType::NORMAL) { + return route_handler->getLaneChangeTarget(current_check_lanes, direction); + } + + return route_handler->getLaneChangeTargetExceptPreferredLane(current_check_lanes, direction); + }); + + if (lane_change_lane) { + return route_handler->getLaneletSequence( + lane_change_lane.get(), current_pose, lane_change_lane_length, lane_change_lane_length); + } + + return {}; +} } // namespace behavior_path_planner::lane_change_utils diff --git a/planning/route_handler/include/route_handler/route_handler.hpp b/planning/route_handler/include/route_handler/route_handler.hpp index 89e052b439f78..d72a11aa5ec98 100644 --- a/planning/route_handler/include/route_handler/route_handler.hpp +++ b/planning/route_handler/include/route_handler/route_handler.hpp @@ -296,9 +296,10 @@ class RouteHandler PathWithLaneId getCenterLinePath( const lanelet::ConstLanelets & lanelet_sequence, const double s_start, const double s_end, bool use_exact = true) const; - bool getLaneChangeTarget( - const lanelet::ConstLanelets & lanelets, lanelet::ConstLanelet * target_lanelet, - const Direction direction = Direction::NONE) const; + boost::optional getLaneChangeTarget( + const lanelet::ConstLanelets & lanelets, const Direction direction = Direction::NONE) const; + boost::optional getLaneChangeTargetExceptPreferredLane( + const lanelet::ConstLanelets & lanelets, const Direction direction) const; bool getRightLaneChangeTargetExceptPreferredLane( const lanelet::ConstLanelets & lanelets, lanelet::ConstLanelet * target_lanelet) const; bool getLeftLaneChangeTargetExceptPreferredLane( diff --git a/planning/route_handler/src/route_handler.cpp b/planning/route_handler/src/route_handler.cpp index 2fe8e3549b661..fc9cb719f9af5 100644 --- a/planning/route_handler/src/route_handler.cpp +++ b/planning/route_handler/src/route_handler.cpp @@ -1105,9 +1105,8 @@ std::vector RouteHandler::getPrecedingLaneletSequence( routing_graph_ptr_, lanelet, length, exclude_lanelets); } -bool RouteHandler::getLaneChangeTarget( - const lanelet::ConstLanelets & lanelets, lanelet::ConstLanelet * target_lanelet, - const Direction direction) const +boost::optional RouteHandler::getLaneChangeTarget( + const lanelet::ConstLanelets & lanelets, const Direction direction) const { for (const auto & lanelet : lanelets) { const int num = getNumLaneToPreferredLane(lanelet, direction); @@ -1118,9 +1117,7 @@ bool RouteHandler::getLaneChangeTarget( if (direction == Direction::NONE || direction == Direction::RIGHT) { if (num < 0) { if (!!routing_graph_ptr_->right(lanelet)) { - const auto right_lanelet = routing_graph_ptr_->right(lanelet); - *target_lanelet = right_lanelet.get(); - return true; + return routing_graph_ptr_->right(lanelet); } } } @@ -1128,16 +1125,42 @@ bool RouteHandler::getLaneChangeTarget( if (direction == Direction::NONE || direction == Direction::LEFT) { if (num > 0) { if (!!routing_graph_ptr_->left(lanelet)) { - const auto left_lanelet = routing_graph_ptr_->left(lanelet); - *target_lanelet = left_lanelet.get(); - return true; + return routing_graph_ptr_->left(lanelet); } } } } - *target_lanelet = lanelets.front(); - return false; + return boost::none; +} + +boost::optional RouteHandler::getLaneChangeTargetExceptPreferredLane( + const lanelet::ConstLanelets & lanelets, const Direction direction) const +{ + for (const auto & lanelet : lanelets) { + if (direction == Direction::RIGHT) { + // Get right lanelet if preferred lane is on the left + if (getNumLaneToPreferredLane(lanelet, direction) < 0) { + continue; + } + + if (!!routing_graph_ptr_->right(lanelet)) { + return routing_graph_ptr_->right(lanelet); + } + } + + if (direction == Direction::LEFT) { + // Get left lanelet if preferred lane is on the right + if (getNumLaneToPreferredLane(lanelet, direction) > 0) { + continue; + } + if (!!routing_graph_ptr_->left(lanelet)) { + return routing_graph_ptr_->left(lanelet); + } + } + } + + return boost::none; } bool RouteHandler::getRightLaneChangeTargetExceptPreferredLane( From de8cbdc82897db50e8e0cea4267aaf196d44a099 Mon Sep 17 00:00:00 2001 From: Kyoichi Sugahara Date: Thu, 23 Mar 2023 11:35:56 +0900 Subject: [PATCH 074/121] feat(planning_test_manager): add planning interface test manager for some obstacle modules (#3076) * add planning_interface_test_manager class Signed-off-by: kyoichi-sugahara * add counter function Signed-off-by: kyoichi-sugahara * temp Signed-off-by: kyoichi-sugahara * temp Signed-off-by: kyoichi-sugahara * add interface test for motion_velocity_smoother Signed-off-by: kyoichi-sugahara * add param in default_motion_velocity_smoother,param.yaml Signed-off-by: kyoichi-sugahara * successfully launch target node Signed-off-by: kyoichi-sugahara * successfully build the test Signed-off-by: kyoichi-sugahara * add test for test_motion_velocity_smoother Signed-off-by: kyoichi-sugahara * add abnormal trajectory test Signed-off-by: kyoichi-sugahara * delete unnecessary part Signed-off-by: kyoichi-sugahara * style(pre-commit): autofix * style(pre-commit): autofix * run pre-commit Signed-off-by: kyoichi-sugahara * add declaration Signed-off-by: kyoichi-sugahara * refactor Signed-off-by: kyoichi-sugahara * refactor Signed-off-by: kyoichi-sugahara * Refactor callback functions for standardization Signed-off-by: kyoichi-sugahara * refacotoring Signed-off-by: kyoichi-sugahara * refactored Signed-off-by: kyoichi-sugahara * Refactor functions into a single template function Signed-off-by: kyoichi-sugahara * Refactor Signed-off-by: kyoichi-sugahara * style(pre-commit): autofix * refactor Signed-off-by: kyoichi-sugahara * relete unnecessary definition Signed-off-by: kyoichi-sugahara * Revert "delete unnecessary definition" This reverts commit 6cd13f82868f34140fa1538d43f99d99b9648df3. Signed-off-by: kyoichi-sugahara * delete unnecessary definition Signed-off-by: kyoichi-sugahara * delete unnecessary definition Signed-off-by: kyoichi-sugahara * temp Signed-off-by: kyoichi-sugahara * delete module dependent part Signed-off-by: kyoichi-sugahara * temp Signed-off-by: kyoichi-sugahara * delete unnecessary arg Signed-off-by: kyoichi-sugahara * apply motion_velocity_smoother change Signed-off-by: kyoichi-sugahara * add interface test for obstacle stop planner Signed-off-by: kyoichi-sugahara * run pre-commit Signed-off-by: kyoichi-sugahara * add test fot obstacle_cruise_planner Signed-off-by: kyoichi-sugahara * remove test for surround_obstacle_checker Signed-off-by: kyoichi-sugahara * fix bug Signed-off-by: kyoichi-sugahara * skip interface test for motion_velocity_smoother Signed-off-by: kyoichi-sugahara * change package name Signed-off-by: kyoichi-sugahara * apply change of package name Signed-off-by: kyoichi-sugahara --------- Signed-off-by: kyoichi-sugahara Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- .../motion_velocity_smoother/CMakeLists.txt | 10 +- ...efault_motion_velocity_smoother.param.yaml | 6 + planning/motion_velocity_smoother/package.xml | 1 + ...otion_velocity_smoother_node_interface.cpp | 66 +++++++++ .../obstacle_cruise_planner/CMakeLists.txt | 6 + .../config/default_common.param.yaml | 15 +++ planning/obstacle_cruise_planner/package.xml | 2 + ...obstacle_cruise_planner_node_interface.cpp | 65 +++++++++ planning/obstacle_stop_planner/CMakeLists.txt | 9 ++ planning/obstacle_stop_planner/package.xml | 2 + ...t_obstacle_stop_planner_node_interface.cpp | 67 ++++++++++ planning/planning_test_utils/CMakeLists.txt | 12 ++ planning/planning_test_utils/README.md | 17 +++ .../planning_interface_test_manager.hpp | 112 ++++++++++++++++ .../planning_interface_test_manager_utils.hpp | 107 +++++++++++++++ planning/planning_test_utils/package.xml | 34 +++++ .../src/planning_interface_test_manager.cpp | 125 ++++++++++++++++++ 17 files changed, 654 insertions(+), 2 deletions(-) create mode 100644 planning/motion_velocity_smoother/test/test_motion_velocity_smoother_node_interface.cpp create mode 100644 planning/obstacle_cruise_planner/config/default_common.param.yaml create mode 100644 planning/obstacle_cruise_planner/test/test_obstacle_cruise_planner_node_interface.cpp create mode 100644 planning/obstacle_stop_planner/test/test_obstacle_stop_planner_node_interface.cpp create mode 100644 planning/planning_test_utils/CMakeLists.txt create mode 100644 planning/planning_test_utils/README.md create mode 100644 planning/planning_test_utils/include/planning_interface_test_manager/planning_interface_test_manager.hpp create mode 100644 planning/planning_test_utils/include/planning_interface_test_manager/planning_interface_test_manager_utils.hpp create mode 100644 planning/planning_test_utils/package.xml create mode 100644 planning/planning_test_utils/src/planning_interface_test_manager.cpp diff --git a/planning/motion_velocity_smoother/CMakeLists.txt b/planning/motion_velocity_smoother/CMakeLists.txt index 64778b4b7ffbe..b69cf0d660a66 100644 --- a/planning/motion_velocity_smoother/CMakeLists.txt +++ b/planning/motion_velocity_smoother/CMakeLists.txt @@ -47,11 +47,17 @@ rclcpp_components_register_node(motion_velocity_smoother_node if(BUILD_TESTING) ament_add_ros_isolated_gmock(test_smoother_functions - test/test_smoother_functions.cpp + test/test_smoother_functions.cpp ) target_link_libraries(test_smoother_functions - smoother + smoother ) + # ament_add_ros_isolated_gtest(test_${PROJECT_NAME} + # test/test_motion_velocity_smoother_node_interface.cpp + # ) + # target_link_libraries(test_${PROJECT_NAME} + # motion_velocity_smoother_node + # ) endif() diff --git a/planning/motion_velocity_smoother/config/default_motion_velocity_smoother.param.yaml b/planning/motion_velocity_smoother/config/default_motion_velocity_smoother.param.yaml index b2592316f658f..dd8e26a0f2d77 100644 --- a/planning/motion_velocity_smoother/config/default_motion_velocity_smoother.param.yaml +++ b/planning/motion_velocity_smoother/config/default_motion_velocity_smoother.param.yaml @@ -48,5 +48,11 @@ post_sparse_resample_dt: 0.1 # resample time interval for sparse sampling [s] post_sparse_min_interval_distance: 1.0 # minimum points-interval length for sparse sampling [m] + # steering angle rate limit parameters + max_steering_angle_rate: 40.0 # maximum steering angle rate [degree/s] + resample_ds: 0.1 # distance between trajectory points [m] + curvature_threshold: 0.02 # if curvature > curvature_threshold, steeringRateLimit is triggered [1/m] + curvature_calculation_distance: 1.0 # distance of points while curvature is calculating [m] + # system over_stop_velocity_warn_thr: 1.389 # used to check if the optimization exceeds the input velocity on the stop point diff --git a/planning/motion_velocity_smoother/package.xml b/planning/motion_velocity_smoother/package.xml index e5e25a55c4e19..dcbdbf8128b61 100644 --- a/planning/motion_velocity_smoother/package.xml +++ b/planning/motion_velocity_smoother/package.xml @@ -28,6 +28,7 @@ motion_utils nav_msgs osqp_interface + planning_test_utils rclcpp tf2 tf2_ros diff --git a/planning/motion_velocity_smoother/test/test_motion_velocity_smoother_node_interface.cpp b/planning/motion_velocity_smoother/test/test_motion_velocity_smoother_node_interface.cpp new file mode 100644 index 0000000000000..c5a120756b2f4 --- /dev/null +++ b/planning/motion_velocity_smoother/test/test_motion_velocity_smoother_node_interface.cpp @@ -0,0 +1,66 @@ +// 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 "ament_index_cpp/get_package_share_directory.hpp" +#include "motion_velocity_smoother/motion_velocity_smoother_node.hpp" +#include "planning_interface_test_manager/planning_interface_test_manager.hpp" +#include "planning_interface_test_manager/planning_interface_test_manager_utils.hpp" + +#include + +#include + +TEST(PlanningModuleInterfaceTest, testPlanningInterfaceWithVariousTrajectoryInput) +{ + rclcpp::init(0, nullptr); + + auto test_manager = std::make_shared(); + + auto node_options = rclcpp::NodeOptions{}; + + test_manager->declareVehicleInfoParams(node_options); + test_manager->declareNearestSearchDistanceParams(node_options); + node_options.append_parameter_override("algorithm_type", "JerkFiltered"); + node_options.append_parameter_override("publish_debug_trajs", false); + + const auto motion_velocity_smoother_dir = + ament_index_cpp::get_package_share_directory("motion_velocity_smoother"); + + node_options.arguments( + {"--ros-args", "--params-file", + motion_velocity_smoother_dir + "/config/default_motion_velocity_smoother.param.yaml", + "--params-file", motion_velocity_smoother_dir + "/config/default_common.param.yaml", + "--params-file", motion_velocity_smoother_dir + "/config/JerkFiltered.param.yaml"}); + + auto test_target_node = + std::make_shared(node_options); + + // publish necessary topics from test_manager + test_manager->publishOdometry(test_target_node, "/localization/kinematic_state"); + test_manager->publishMaxVelocity( + test_target_node, "motion_velocity_smoother/input/external_velocity_limit_mps"); + + // set subscriber for test_target_node + test_manager->setTrajectorySubscriber("motion_velocity_smoother/output/trajectory"); + + // setting topic name of subscribing topic + test_manager->setTrajectoryInputTopicName("motion_velocity_smoother/input/trajectory"); + + // test for normal trajectory + ASSERT_NO_THROW(test_manager->testWithNominalTrajectory(test_target_node)); + EXPECT_GE(test_manager->getReceivedTopicNum(), 1); + + // test for trajectory with empty/one point/overlapping point + test_manager->testWithAbnormalTrajectory(test_target_node); +} diff --git a/planning/obstacle_cruise_planner/CMakeLists.txt b/planning/obstacle_cruise_planner/CMakeLists.txt index c14330fcdb928..3686b7b648c9d 100644 --- a/planning/obstacle_cruise_planner/CMakeLists.txt +++ b/planning/obstacle_cruise_planner/CMakeLists.txt @@ -24,6 +24,12 @@ rclcpp_components_register_node(obstacle_cruise_planner_core if(BUILD_TESTING) find_package(ament_lint_auto REQUIRED) ament_lint_auto_find_test_dependencies() + ament_add_ros_isolated_gtest(test_${PROJECT_NAME} + test/test_${PROJECT_NAME}_node_interface.cpp + ) + target_link_libraries(test_${PROJECT_NAME} + obstacle_cruise_planner_core + ) endif() ament_auto_package( diff --git a/planning/obstacle_cruise_planner/config/default_common.param.yaml b/planning/obstacle_cruise_planner/config/default_common.param.yaml new file mode 100644 index 0000000000000..6bb130e8052b0 --- /dev/null +++ b/planning/obstacle_cruise_planner/config/default_common.param.yaml @@ -0,0 +1,15 @@ +/**: + ros__parameters: + # constraints param for normal driving + normal: + min_acc: -1.0 # min deceleration [m/ss] + max_acc: 1.0 # max acceleration [m/ss] + min_jerk: -1.0 # min jerk [m/sss] + max_jerk: 1.0 # max jerk [m/sss] + + # constraints to be observed + limit: + min_acc: -2.5 # min deceleration limit [m/ss] + max_acc: 1.0 # max acceleration limit [m/ss] + min_jerk: -1.5 # min jerk limit [m/sss] + max_jerk: 1.5 # max jerk limit [m/sss] diff --git a/planning/obstacle_cruise_planner/package.xml b/planning/obstacle_cruise_planner/package.xml index dd294674bb160..a9c914f1bb6d5 100644 --- a/planning/obstacle_cruise_planner/package.xml +++ b/planning/obstacle_cruise_planner/package.xml @@ -26,6 +26,7 @@ nav_msgs osqp_interface perception_utils + planning_test_utils rclcpp rclcpp_components signal_processing @@ -38,6 +39,7 @@ vehicle_info_util visualization_msgs + ament_cmake_ros ament_lint_auto autoware_lint_common diff --git a/planning/obstacle_cruise_planner/test/test_obstacle_cruise_planner_node_interface.cpp b/planning/obstacle_cruise_planner/test/test_obstacle_cruise_planner_node_interface.cpp new file mode 100644 index 0000000000000..d018d309831df --- /dev/null +++ b/planning/obstacle_cruise_planner/test/test_obstacle_cruise_planner_node_interface.cpp @@ -0,0 +1,65 @@ +// 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 "ament_index_cpp/get_package_share_directory.hpp" +#include "obstacle_cruise_planner/node.hpp" +#include "planning_interface_test_manager/planning_interface_test_manager.hpp" +#include "planning_interface_test_manager/planning_interface_test_manager_utils.hpp" + +#include + +#include + +TEST(PlanningModuleInterfaceTest, testPlanningInterfaceWithVariousTrajectoryInput) +{ + rclcpp::init(0, nullptr); + + auto test_manager = std::make_shared(); + + auto node_options = rclcpp::NodeOptions{}; + + test_manager->declareVehicleInfoParams(node_options); + test_manager->declareNearestSearchDistanceParams(node_options); + + const auto obstacle_cruise_planner_dir = + ament_index_cpp::get_package_share_directory("obstacle_cruise_planner"); + + node_options.arguments( + {"--ros-args", "--params-file", + obstacle_cruise_planner_dir + "/config/default_common.param.yaml", "--params-file", + obstacle_cruise_planner_dir + "/config/obstacle_cruise_planner.param.yaml"}); + + auto test_target_node = + std::make_shared(node_options); + + // publish necessary topics from test_manager + test_manager->publishOdometry(test_target_node, "obstacle_cruise_planner/input/odometry"); + test_manager->publishPointCloud(test_target_node, "obstacle_cruise_planner/input/vector_map"); + test_manager->publishPredictedObjects(test_target_node, "obstacle_cruise_planner/input/objects"); + test_manager->publishAcceleration(test_target_node, "obstacle_cruise_planner/input/acceleration"); + + // set subscriber for test_target_node + test_manager->setTrajectorySubscriber("obstacle_cruise_planner/output/trajectory"); + + // setting topic name of subscribing topic + test_manager->setTrajectoryInputTopicName("obstacle_cruise_planner/input/trajectory"); + + // test for normal trajectory + ASSERT_NO_THROW(test_manager->testWithNominalTrajectory(test_target_node)); + + EXPECT_GE(test_manager->getReceivedTopicNum(), 1); + + // test for trajectory with empty/one point/overlapping point + test_manager->testWithAbnormalTrajectory(test_target_node); +} diff --git a/planning/obstacle_stop_planner/CMakeLists.txt b/planning/obstacle_stop_planner/CMakeLists.txt index 94048c6cbea65..a842aabd665b7 100644 --- a/planning/obstacle_stop_planner/CMakeLists.txt +++ b/planning/obstacle_stop_planner/CMakeLists.txt @@ -32,6 +32,15 @@ rclcpp_components_register_node(obstacle_stop_planner EXECUTABLE obstacle_stop_planner_node ) +if(BUILD_TESTING) + ament_add_ros_isolated_gtest(test_${PROJECT_NAME} + test/test_${PROJECT_NAME}_node_interface.cpp + ) + target_link_libraries(test_${PROJECT_NAME} + ${PROJECT_NAME} + ) +endif() + ament_auto_package( INSTALL_TO_SHARE config diff --git a/planning/obstacle_stop_planner/package.xml b/planning/obstacle_stop_planner/package.xml index 93ea6661c374a..f3311521103e8 100644 --- a/planning/obstacle_stop_planner/package.xml +++ b/planning/obstacle_stop_planner/package.xml @@ -28,6 +28,7 @@ nav_msgs pcl_conversions pcl_ros + planning_test_utils rclcpp rclcpp_components sensor_msgs @@ -43,6 +44,7 @@ vehicle_info_util visualization_msgs + ament_cmake_ros ament_lint_auto autoware_lint_common diff --git a/planning/obstacle_stop_planner/test/test_obstacle_stop_planner_node_interface.cpp b/planning/obstacle_stop_planner/test/test_obstacle_stop_planner_node_interface.cpp new file mode 100644 index 0000000000000..fda70779d53f4 --- /dev/null +++ b/planning/obstacle_stop_planner/test/test_obstacle_stop_planner_node_interface.cpp @@ -0,0 +1,67 @@ +// 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 "ament_index_cpp/get_package_share_directory.hpp" +#include "obstacle_stop_planner/node.hpp" +#include "planning_interface_test_manager/planning_interface_test_manager.hpp" +#include "planning_interface_test_manager/planning_interface_test_manager_utils.hpp" + +#include + +#include + +TEST(PlanningModuleInterfaceTest, testPlanningInterfaceWithVariousTrajectoryInput) +{ + rclcpp::init(0, nullptr); + + auto test_manager = std::make_shared(); + + auto node_options = rclcpp::NodeOptions{}; + + test_manager->declareVehicleInfoParams(node_options); + test_manager->declareNearestSearchDistanceParams(node_options); + node_options.append_parameter_override("enable_slow_down", false); + + const auto obstacle_stop_planner_dir = + ament_index_cpp::get_package_share_directory("obstacle_stop_planner"); + + node_options.arguments( + {"--ros-args", "--params-file", obstacle_stop_planner_dir + "/config/common.param.yaml", + "--params-file", obstacle_stop_planner_dir + "/config/adaptive_cruise_control.param.yaml", + "--params-file", obstacle_stop_planner_dir + "/config/obstacle_stop_planner.param.yaml"}); + + auto test_target_node = std::make_shared(node_options); + + // publish necessary topics from test_manager + test_manager->publishOdometry(test_target_node, "obstacle_stop_planner/input/odometry"); + test_manager->publishPointCloud(test_target_node, "obstacle_stop_planner/input/pointcloud"); + test_manager->publishAcceleration(test_target_node, "obstacle_stop_planner/input/acceleration"); + test_manager->publishPredictedObjects(test_target_node, "obstacle_stop_planner/input/objects"); + test_manager->publishExpandStopRange( + test_target_node, "obstacle_stop_planner/input/expand_stop_range"); + + // set subscriber for test_target_node + test_manager->setTrajectorySubscriber("obstacle_stop_planner/output/trajectory"); + + // setting topic name of subscribing topic + test_manager->setTrajectoryInputTopicName("obstacle_stop_planner/input/trajectory"); + + // test for normal trajectory + ASSERT_NO_THROW(test_manager->testWithNominalTrajectory(test_target_node)); + + EXPECT_GE(test_manager->getReceivedTopicNum(), 1); + + // test for trajectory with empty/one point/overlapping point + test_manager->testWithAbnormalTrajectory(test_target_node); +} diff --git a/planning/planning_test_utils/CMakeLists.txt b/planning/planning_test_utils/CMakeLists.txt new file mode 100644 index 0000000000000..80bd5e5049ec4 --- /dev/null +++ b/planning/planning_test_utils/CMakeLists.txt @@ -0,0 +1,12 @@ +cmake_minimum_required(VERSION 3.14) +project(planning_test_utils) + +find_package(autoware_cmake REQUIRED) +autoware_package() + +ament_auto_add_library(planning_test_utils SHARED + src/planning_interface_test_manager.cpp +) + +ament_auto_package(INSTALL_TO_SHARE +) diff --git a/planning/planning_test_utils/README.md b/planning/planning_test_utils/README.md new file mode 100644 index 0000000000000..d8447fdbf1122 --- /dev/null +++ b/planning/planning_test_utils/README.md @@ -0,0 +1,17 @@ +# Planning Test Manager + +## Purpose + +## Inner-workings / Algorithms + +## Inputs / Outputs + +### Inputs + +### Outputs + +## Parameters + +## Assumptions / Known limits + +## Future extensions / Unimplemented parts diff --git a/planning/planning_test_utils/include/planning_interface_test_manager/planning_interface_test_manager.hpp b/planning/planning_test_utils/include/planning_interface_test_manager/planning_interface_test_manager.hpp new file mode 100644 index 0000000000000..2c8937d5bf907 --- /dev/null +++ b/planning/planning_test_utils/include/planning_interface_test_manager/planning_interface_test_manager.hpp @@ -0,0 +1,112 @@ +// 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 PLANNING_INTERFACE_TEST_MANAGER__PLANNING_INTERFACE_TEST_MANAGER_HPP_ +#define PLANNING_INTERFACE_TEST_MANAGER__PLANNING_INTERFACE_TEST_MANAGER_HPP_ + +#include + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include + +#include +#include +#include + +namespace planning_test_utils +{ +using autoware_auto_perception_msgs::msg::PredictedObjects; +using autoware_auto_planning_msgs::msg::Path; +using autoware_auto_planning_msgs::msg::Trajectory; +using autoware_auto_vehicle_msgs::msg::SteeringReport; +using geometry_msgs::msg::AccelWithCovarianceStamped; +using nav_msgs::msg::OccupancyGrid; +using nav_msgs::msg::Odometry; +using sensor_msgs::msg::PointCloud2; +using tf2_msgs::msg::TFMessage; +using tier4_planning_msgs::msg::ExpandStopRange; +using tier4_planning_msgs::msg::VelocityLimit; + +class PlanningIntefaceTestManager +{ +public: + PlanningIntefaceTestManager() {} + + void declareVehicleInfoParams(rclcpp::NodeOptions & node_options); + void declareNearestSearchDistanceParams(rclcpp::NodeOptions & node_options); + + void publishOdometry(rclcpp::Node::SharedPtr target_node, std::string topic_name); + void publishMaxVelocity(rclcpp::Node::SharedPtr target_node, std::string topic_name); + void publishPointCloud(rclcpp::Node::SharedPtr target_node, std::string topic_name); + void publishAcceleration(rclcpp::Node::SharedPtr target_node, std::string topic_name); + void publishPredictedObjects(rclcpp::Node::SharedPtr target_node, std::string topic_name); + void publishExpandStopRange(rclcpp::Node::SharedPtr target_node, std::string topic_name); + + void setTrajectoryInputTopicName(std::string topic_name); + + void setTrajectorySubscriber(std::string topic_name); + + void testWithNominalTrajectory(rclcpp::Node::SharedPtr target_node); + void testWithAbnormalTrajectory(rclcpp::Node::SharedPtr target_node); + + int getReceivedTopicNum(); + +private: + // Publisher + rclcpp::Publisher::SharedPtr odom_pub_; + rclcpp::Publisher::SharedPtr point_cloud_pub_; + rclcpp::Publisher::SharedPtr predicted_objects_pub_; + rclcpp::Publisher::SharedPtr TF_pub_; + rclcpp::Publisher::SharedPtr steering_pub_; + rclcpp::Publisher::SharedPtr path_pub_; + rclcpp::Publisher::SharedPtr occupancy_grid_pub_; + rclcpp::Publisher::SharedPtr max_velocity_pub_; + rclcpp::Publisher::SharedPtr expand_stop_range_pub_; + rclcpp::Publisher::SharedPtr acceleration_pub_; + + // Subscriber (necessary for node running) + rclcpp::Subscription::SharedPtr traj_sub_; + rclcpp::Subscription::SharedPtr max_velocity_sub_; + + // Publisher for testing + rclcpp::Publisher::SharedPtr normal_trajectory_pub_; + rclcpp::Publisher::SharedPtr abnormal_trajectory_pub_; + + std::string input_trajectory_name_; + + // Node + rclcpp::Node::SharedPtr test_node_ = + std::make_shared("planning_interface_test_node"); + size_t count_{0}; + + void publishNominalTrajectory(std::string topic_name); + void publishAbnormalTrajectory( + rclcpp::Node::SharedPtr target_node, const Trajectory & abnormal_trajectory); +}; // class PlanningIntefaceTestManager + +} // namespace planning_test_utils + +#endif // PLANNING_INTERFACE_TEST_MANAGER__PLANNING_INTERFACE_TEST_MANAGER_HPP_ diff --git a/planning/planning_test_utils/include/planning_interface_test_manager/planning_interface_test_manager_utils.hpp b/planning/planning_test_utils/include/planning_interface_test_manager/planning_interface_test_manager_utils.hpp new file mode 100644 index 0000000000000..342ad6516d61c --- /dev/null +++ b/planning/planning_test_utils/include/planning_interface_test_manager/planning_interface_test_manager_utils.hpp @@ -0,0 +1,107 @@ +// Copyright 2023 The Autoware Foundation +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#ifndef PLANNING_INTERFACE_TEST_MANAGER__PLANNING_INTERFACE_TEST_MANAGER_UTILS_HPP_ +#define PLANNING_INTERFACE_TEST_MANAGER__PLANNING_INTERFACE_TEST_MANAGER_UTILS_HPP_ + +#include + +#include +#include +#include + +namespace test_utils +{ +using tier4_autoware_utils::createPoint; +using tier4_autoware_utils::createQuaternionFromRPY; + +geometry_msgs::msg::Pose createPose( + double x, double y, double z, double roll, double pitch, double yaw) +{ + geometry_msgs::msg::Pose p; + p.position = createPoint(x, y, z); + p.orientation = createQuaternionFromRPY(roll, pitch, yaw); + return p; +} + +template +T generateTrajectory( + const size_t num_points, const double point_interval, const double velocity = 0.0, + const double init_theta = 0.0, const double delta_theta = 0.0, + const size_t overlapping_point_index = std::numeric_limits::max()) +{ + using Point = typename T::_points_type::value_type; + + T traj; + for (size_t i = 0; i < num_points; ++i) { + const double theta = init_theta + i * delta_theta; + const double x = i * point_interval * std::cos(theta); + const double y = i * point_interval * std::sin(theta); + + Point p; + p.pose = createPose(x, y, 0.0, 0.0, 0.0, theta); + p.longitudinal_velocity_mps = velocity; + traj.points.push_back(p); + + if (i == overlapping_point_index) { + Point value_to_insert = traj.points[overlapping_point_index]; + traj.points.insert(traj.points.begin() + overlapping_point_index + 1, value_to_insert); + } + } + + return traj; +} + +void spinSomeNodes( + rclcpp::Node::SharedPtr test_node, rclcpp::Node::SharedPtr target_node, + const int repeat_count = 1) +{ + for (int i = 0; i < repeat_count; i++) { + rclcpp::spin_some(test_node); + rclcpp::spin_some(target_node); + rclcpp::sleep_for(std::chrono::milliseconds(100)); + } +} + +template +void setPublisher( + rclcpp::Node::SharedPtr test_node, std::string topic_name, + std::shared_ptr> & publisher) +{ + publisher = rclcpp::create_publisher(test_node, topic_name, 1); +} + +template +void publishEmptyData( + rclcpp::Node::SharedPtr test_node, rclcpp::Node::SharedPtr target_node, std::string topic_name, + typename rclcpp::Publisher::SharedPtr publisher) +{ + setPublisher(test_node, topic_name, publisher); + publisher->publish(T{}); + spinSomeNodes(test_node, target_node); +} + +template +void setSubscriber( + rclcpp::Node::SharedPtr test_node, std::string topic_name, + std::shared_ptr> & subscriber, size_t & count) +{ + // Count the number of topic received. + subscriber = test_node->create_subscription( + topic_name, 10, [&count](const typename T::SharedPtr) { count++; }); +} + +} // namespace test_utils + +#endif // PLANNING_INTERFACE_TEST_MANAGER__PLANNING_INTERFACE_TEST_MANAGER_UTILS_HPP_ diff --git a/planning/planning_test_utils/package.xml b/planning/planning_test_utils/package.xml new file mode 100644 index 0000000000000..68ed495cd4372 --- /dev/null +++ b/planning/planning_test_utils/package.xml @@ -0,0 +1,34 @@ + + + + planning_test_utils + 0.1.0 + ROS2 node for testing interface of the nodes in planning module + Kyoichi Sugahara + Apache License 2.0 + + Kyoichi Sugahara + + ament_cmake_auto + + autoware_cmake + + autoware_auto_control_msgs + autoware_auto_perception_msgs + autoware_auto_planning_msgs + autoware_auto_vehicle_msgs + nav_msgs + rclcpp + tf2_msgs + tier4_autoware_utils + tier4_planning_msgs + + ament_cmake_gtest + ament_cmake_ros + ament_lint_auto + autoware_lint_common + + + ament_cmake + + diff --git a/planning/planning_test_utils/src/planning_interface_test_manager.cpp b/planning/planning_test_utils/src/planning_interface_test_manager.cpp new file mode 100644 index 0000000000000..35fe57d70698c --- /dev/null +++ b/planning/planning_test_utils/src/planning_interface_test_manager.cpp @@ -0,0 +1,125 @@ +// 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 +#include + +namespace planning_test_utils +{ +void PlanningIntefaceTestManager::declareVehicleInfoParams(rclcpp::NodeOptions & node_options) +{ + // for vehicle info + node_options.append_parameter_override("wheel_radius", 0.5); + node_options.append_parameter_override("wheel_width", 0.2); + node_options.append_parameter_override("wheel_base", 3.0); + node_options.append_parameter_override("wheel_tread", 2.0); + node_options.append_parameter_override("front_overhang", 1.0); + node_options.append_parameter_override("rear_overhang", 1.0); + node_options.append_parameter_override("left_overhang", 0.5); + node_options.append_parameter_override("right_overhang", 0.5); + node_options.append_parameter_override("vehicle_height", 1.5); + node_options.append_parameter_override("max_steer_angle", 0.7); +} + +void PlanningIntefaceTestManager::declareNearestSearchDistanceParams( + rclcpp::NodeOptions & node_options) +{ + node_options.append_parameter_override("ego_nearest_dist_threshold", 3.0); + node_options.append_parameter_override("ego_nearest_yaw_threshold", 1.046); +} + +void PlanningIntefaceTestManager::publishOdometry( + rclcpp::Node::SharedPtr target_node, std::string topic_name) +{ + test_utils::publishEmptyData(test_node_, target_node, topic_name, odom_pub_); +} + +void PlanningIntefaceTestManager::publishMaxVelocity( + rclcpp::Node::SharedPtr target_node, std::string topic_name) +{ + test_utils::publishEmptyData( + test_node_, target_node, topic_name, max_velocity_pub_); +} + +void PlanningIntefaceTestManager::publishPointCloud( + rclcpp::Node::SharedPtr target_node, std::string topic_name) +{ + test_utils::publishEmptyData(test_node_, target_node, topic_name, point_cloud_pub_); +} + +void PlanningIntefaceTestManager::publishAcceleration( + rclcpp::Node::SharedPtr target_node, std::string topic_name) +{ + test_utils::publishEmptyData( + test_node_, target_node, topic_name, acceleration_pub_); +} + +void PlanningIntefaceTestManager::publishPredictedObjects( + rclcpp::Node::SharedPtr target_node, std::string topic_name) +{ + test_utils::publishEmptyData( + test_node_, target_node, topic_name, predicted_objects_pub_); +} + +void PlanningIntefaceTestManager::publishExpandStopRange( + rclcpp::Node::SharedPtr target_node, std::string topic_name) +{ + test_utils::publishEmptyData( + test_node_, target_node, topic_name, expand_stop_range_pub_); +} + +void PlanningIntefaceTestManager::setTrajectoryInputTopicName(std::string topic_name) +{ + input_trajectory_name_ = topic_name; +} + +void PlanningIntefaceTestManager::publishNominalTrajectory(std::string topic_name) +{ + test_utils::setPublisher(test_node_, topic_name, normal_trajectory_pub_); + normal_trajectory_pub_->publish(test_utils::generateTrajectory(10, 1.0)); +} + +void PlanningIntefaceTestManager::setTrajectorySubscriber(std::string topic_name) +{ + test_utils::setSubscriber(test_node_, topic_name, traj_sub_, count_); +} + +// test for normal working +void PlanningIntefaceTestManager::testWithNominalTrajectory(rclcpp::Node::SharedPtr target_node) +{ + publishNominalTrajectory(input_trajectory_name_); + test_utils::spinSomeNodes(test_node_, target_node, 2); +} + +// check to see if target node is dead. +void PlanningIntefaceTestManager::testWithAbnormalTrajectory(rclcpp::Node::SharedPtr target_node) +{ + ASSERT_NO_THROW(publishAbnormalTrajectory(target_node, Trajectory{})); + ASSERT_NO_THROW( + publishAbnormalTrajectory(target_node, test_utils::generateTrajectory(1, 0.0))); + ASSERT_NO_THROW(publishAbnormalTrajectory( + target_node, test_utils::generateTrajectory(10, 0.0, 0.0, 0.0, 0.0, 1))); +} + +void PlanningIntefaceTestManager::publishAbnormalTrajectory( + rclcpp::Node::SharedPtr target_node, const Trajectory & abnormal_trajectory) +{ + test_utils::setPublisher(test_node_, input_trajectory_name_, abnormal_trajectory_pub_); + abnormal_trajectory_pub_->publish(abnormal_trajectory); + test_utils::spinSomeNodes(test_node_, target_node); +} + +int PlanningIntefaceTestManager::getReceivedTopicNum() { return count_; } + +} // namespace planning_test_utils From cf753f429648abb903cda7bbd796223b5d9fd41a Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Thu, 23 Mar 2023 12:04:37 +0900 Subject: [PATCH 075/121] feat(rtc_manager_rviz_plugin): add avoidance by lc (#3118) Signed-off-by: satoshi-ota --- .../src/rtc_manager_panel.cpp | 15 +++++++++++---- 1 file changed, 11 insertions(+), 4 deletions(-) diff --git a/common/rtc_manager_rviz_plugin/src/rtc_manager_panel.cpp b/common/rtc_manager_rviz_plugin/src/rtc_manager_panel.cpp index 2daa837ffd073..a08ba8874feb7 100644 --- a/common/rtc_manager_rviz_plugin/src/rtc_manager_panel.cpp +++ b/common/rtc_manager_rviz_plugin/src/rtc_manager_panel.cpp @@ -45,6 +45,12 @@ std::string getModuleName(const uint8_t module_type) case Module::EXT_REQUEST_LANE_CHANGE_RIGHT: { return "ext_request_lane_change_right"; } + case Module::AVOIDANCE_BY_LC_LEFT: { + return "avoidance_by_lane_change_left"; + } + case Module::AVOIDANCE_BY_LC_RIGHT: { + return "avoidance_by_lane_change_right"; + } case Module::AVOIDANCE_LEFT: { return "avoidance_left"; } @@ -87,9 +93,10 @@ bool isPathChangeModule(const uint8_t module_type) if ( module_type == Module::LANE_CHANGE_LEFT || module_type == Module::LANE_CHANGE_RIGHT || module_type == Module::EXT_REQUEST_LANE_CHANGE_LEFT || - module_type == Module::EXT_REQUEST_LANE_CHANGE_RIGHT || module_type == Module::AVOIDANCE_LEFT || - module_type == Module::AVOIDANCE_RIGHT || module_type == Module::PULL_OVER || - module_type == Module::PULL_OUT) { + module_type == Module::EXT_REQUEST_LANE_CHANGE_RIGHT || + module_type == Module::AVOIDANCE_BY_LC_LEFT || module_type == Module::AVOIDANCE_BY_LC_RIGHT || + module_type == Module::AVOIDANCE_LEFT || module_type == Module::AVOIDANCE_RIGHT || + module_type == Module::PULL_OVER || module_type == Module::PULL_OUT) { return true; } return false; @@ -98,7 +105,7 @@ bool isPathChangeModule(const uint8_t module_type) RTCManagerPanel::RTCManagerPanel(QWidget * parent) : rviz_common::Panel(parent) { // TODO(tanaka): replace this magic number to Module::SIZE - const size_t module_size = 14; + const size_t module_size = 18; auto_modes_.reserve(module_size); auto * v_layout = new QVBoxLayout; auto vertical_header = new QHeaderView(Qt::Vertical); From 731816b30438d9e7df1a81146bda3c67e57e6172 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Thu, 23 Mar 2023 14:55:04 +0900 Subject: [PATCH 076/121] feat(diagnostic_converter): apply regex for topic name (#3149) Signed-off-by: Takayuki Murooka --- .../src/converter_node.cpp | 21 +++++++++++++++++-- 1 file changed, 19 insertions(+), 2 deletions(-) diff --git a/evaluator/diagnostic_converter/src/converter_node.cpp b/evaluator/diagnostic_converter/src/converter_node.cpp index 798515b8667bd..a88bd186488ed 100644 --- a/evaluator/diagnostic_converter/src/converter_node.cpp +++ b/evaluator/diagnostic_converter/src/converter_node.cpp @@ -14,6 +14,23 @@ #include "converter_node.hpp" +#include + +namespace +{ +std::string removeInvalidTopicString(std::string input_string) +{ + std::regex pattern{R"([a-zA-Z0-9/_]+)"}; + + std::string result; + for (std::sregex_iterator itr(std::begin(input_string), std::end(input_string), pattern), end; + itr != end; ++itr) { + result += itr->str(); + } + return result; +} +} // namespace + namespace diagnostic_converter { DiagnosticConverter::DiagnosticConverter(const rclcpp::NodeOptions & node_options) @@ -41,8 +58,8 @@ void DiagnosticConverter::onDiagnostic( for (const auto & status : diag_msg->status) { std::string status_topic = base_topic + (status.name.empty() ? "" : "_" + status.name); for (const auto & key_value : status.values) { - getPublisher(status_topic + "_" + key_value.key, diag_idx) - ->publish(createUserDefinedValue(key_value)); + const auto valid_topic_name = removeInvalidTopicString(status_topic + "_" + key_value.key); + getPublisher(valid_topic_name, diag_idx)->publish(createUserDefinedValue(key_value)); } } } From 9a0a29dace80ce9c6d055e6d60d470c6fb6d0d28 Mon Sep 17 00:00:00 2001 From: Makoto Kurihara Date: Thu, 23 Mar 2023 15:00:51 +0900 Subject: [PATCH 077/121] fix(behavior_velocity_planner): fix detection area being ignored when the ego vehicle stops over the stop line (#3114) * feat(behavior_velocity_planner): add a parameter for judgeing over the stop line Signed-off-by: Makoto Kurihara * feat(behavior_velocity_planner): ignore pass judge when the velocity is zero Signed-off-by: Makoto Kurihara * style(pre-commit): autofix --------- Signed-off-by: Makoto Kurihara Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- .../config/detection_area.param.yaml | 1 + .../detection-area-design.md | 17 +++++++++-------- .../scene_module/detection_area/scene.hpp | 1 + .../src/scene_module/detection_area/manager.cpp | 2 ++ .../src/scene_module/detection_area/scene.cpp | 10 +++++++++- 5 files changed, 22 insertions(+), 9 deletions(-) diff --git a/planning/behavior_velocity_planner/config/detection_area.param.yaml b/planning/behavior_velocity_planner/config/detection_area.param.yaml index 63ca5fc7d96a2..ad4e32cb4e198 100644 --- a/planning/behavior_velocity_planner/config/detection_area.param.yaml +++ b/planning/behavior_velocity_planner/config/detection_area.param.yaml @@ -7,3 +7,4 @@ use_pass_judge_line: false state_clear_time: 2.0 hold_stop_margin_distance: 0.0 + distance_to_judge_over_stop_line: 0.5 diff --git a/planning/behavior_velocity_planner/detection-area-design.md b/planning/behavior_velocity_planner/detection-area-design.md index 20bfcce3204ac..0a3648ae72900 100644 --- a/planning/behavior_velocity_planner/detection-area-design.md +++ b/planning/behavior_velocity_planner/detection-area-design.md @@ -12,14 +12,15 @@ This module is activated when there is a detection area on the target lane. ### Module Parameters -| Parameter | Type | Description | -| --------------------------- | ------ | -------------------------------------------------------------------------------------------------- | -| `use_dead_line` | bool | [-] weather to use dead line or not | -| `use_pass_judge_line` | bool | [-] weather to use pass judge line or not | -| `state_clear_time` | double | [s] when the vehicle is stopping for certain time without incoming obstacle, move to STOPPED state | -| `stop_margin` | double | [m] a margin that the vehicle tries to stop before stop_line | -| `dead_line_margin` | double | [m] ignore threshold that vehicle behind is collide with ego vehicle or not | -| `hold_stop_margin_distance` | double | [m] parameter for restart prevention (See Algorithm section) | +| Parameter | Type | Description | +| ---------------------------------- | ------ | -------------------------------------------------------------------------------------------------- | +| `use_dead_line` | bool | [-] weather to use dead line or not | +| `use_pass_judge_line` | bool | [-] weather to use pass judge line or not | +| `state_clear_time` | double | [s] when the vehicle is stopping for certain time without incoming obstacle, move to STOPPED state | +| `stop_margin` | double | [m] a margin that the vehicle tries to stop before stop_line | +| `dead_line_margin` | double | [m] ignore threshold that vehicle behind is collide with ego vehicle or not | +| `hold_stop_margin_distance` | double | [m] parameter for restart prevention (See Algorithm section) | +| `distance_to_judge_over_stop_line` | double | [m] parameter for judging that the stop line has been crossed | ### Inner-workings / Algorithm diff --git a/planning/behavior_velocity_planner/include/scene_module/detection_area/scene.hpp b/planning/behavior_velocity_planner/include/scene_module/detection_area/scene.hpp index b6896f4b68eb9..687fa92e920fc 100644 --- a/planning/behavior_velocity_planner/include/scene_module/detection_area/scene.hpp +++ b/planning/behavior_velocity_planner/include/scene_module/detection_area/scene.hpp @@ -60,6 +60,7 @@ class DetectionAreaModule : public SceneModuleInterface bool use_pass_judge_line; double state_clear_time; double hold_stop_margin_distance; + double distance_to_judge_over_stop_line; }; public: diff --git a/planning/behavior_velocity_planner/src/scene_module/detection_area/manager.cpp b/planning/behavior_velocity_planner/src/scene_module/detection_area/manager.cpp index afaa3502c2b1b..d28d314d1df4b 100644 --- a/planning/behavior_velocity_planner/src/scene_module/detection_area/manager.cpp +++ b/planning/behavior_velocity_planner/src/scene_module/detection_area/manager.cpp @@ -39,6 +39,8 @@ DetectionAreaModuleManager::DetectionAreaModuleManager(rclcpp::Node & node) planner_param_.state_clear_time = node.declare_parameter(ns + ".state_clear_time", 2.0); planner_param_.hold_stop_margin_distance = node.declare_parameter(ns + ".hold_stop_margin_distance", 0.0); + planner_param_.distance_to_judge_over_stop_line = + node.declare_parameter(ns + ".distance_to_judge_over_stop_line", 0.5); } void DetectionAreaModuleManager::launchNewModules( diff --git a/planning/behavior_velocity_planner/src/scene_module/detection_area/scene.cpp b/planning/behavior_velocity_planner/src/scene_module/detection_area/scene.cpp index 3de7279aeb27c..ae9c39e3321a5 100644 --- a/planning/behavior_velocity_planner/src/scene_module/detection_area/scene.cpp +++ b/planning/behavior_velocity_planner/src/scene_module/detection_area/scene.cpp @@ -154,7 +154,9 @@ bool DetectionAreaModule::modifyPathVelocity(PathWithLaneId * path, StopReason * const double dist_from_ego_to_stop = calcSignedArcLength( original_path.points, self_pose.position, current_seg_idx, stop_pose.position, stop_line_seg_idx); - if (state_ != State::STOP && dist_from_ego_to_stop < 0.0) { + if ( + state_ != State::STOP && + dist_from_ego_to_stop < -planner_param_.distance_to_judge_over_stop_line) { setSafe(true); return true; } @@ -327,6 +329,12 @@ bool DetectionAreaModule::hasEnoughBrakingDistance( const double pass_judge_line_distance = planning_utils::calcJudgeLineDistWithAccLimit(current_velocity, max_acc, delay_response_time); + // prevent from being judged as not having enough distance when the current velocity is zero + // and the vehicle crosses the stop line + if (current_velocity < 1e-3) { + return true; + } + return arc_lane_utils::calcSignedDistance(self_pose, line_pose.position) > pass_judge_line_distance; } From aa2f265e1f3f99fecf599bf4e39c74c738e2eedf Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Thu, 23 Mar 2023 16:04:21 +0900 Subject: [PATCH 078/121] feat(diagnostic_converter): remove unit and blank in the value (#3151) * feat(diagnostic_converter): remove unit and blank in the value Signed-off-by: Takayuki Murooka * fix Signed-off-by: Takayuki Murooka --------- Signed-off-by: Takayuki Murooka --- .../src/converter_node.cpp | 18 ++++++++++++++++-- 1 file changed, 16 insertions(+), 2 deletions(-) diff --git a/evaluator/diagnostic_converter/src/converter_node.cpp b/evaluator/diagnostic_converter/src/converter_node.cpp index a88bd186488ed..e61b19833d2fe 100644 --- a/evaluator/diagnostic_converter/src/converter_node.cpp +++ b/evaluator/diagnostic_converter/src/converter_node.cpp @@ -18,7 +18,7 @@ namespace { -std::string removeInvalidTopicString(std::string input_string) +std::string removeInvalidTopicString(const std::string & input_string) { std::regex pattern{R"([a-zA-Z0-9/_]+)"}; @@ -29,6 +29,20 @@ std::string removeInvalidTopicString(std::string input_string) } return result; } + +std::string removeUnitString(const std::string & input_string) +{ + for (size_t i = 0; i < input_string.size(); ++i) { + if (input_string.at(i) == '[') { + if (i != 0 && input_string.at(i - 1) == ' ') { + // Blank is also removed + return std::string{input_string.begin(), input_string.begin() + i - 1}; + } + return std::string{input_string.begin(), input_string.begin() + i}; + } + } + return input_string; +} } // namespace namespace diagnostic_converter @@ -68,7 +82,7 @@ UserDefinedValue DiagnosticConverter::createUserDefinedValue(const KeyValue & ke { UserDefinedValue param_msg; param_msg.type.data = UserDefinedValueType::DOUBLE; - param_msg.value = key_value.value; + param_msg.value = removeUnitString(key_value.value); return param_msg; } From 9d8c061aef0a87b50d76d1b99dfb88ff2f911b97 Mon Sep 17 00:00:00 2001 From: "awf-autoware-bot[bot]" <94889083+awf-autoware-bot[bot]@users.noreply.github.com> Date: Thu, 23 Mar 2023 07:20:21 +0000 Subject: [PATCH 079/121] chore: update CODEOWNERS (#2976) Signed-off-by: GitHub Co-authored-by: takayuki5168 --- .github/CODEOWNERS | 17 +++++++++++------ 1 file changed, 11 insertions(+), 6 deletions(-) diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS index f7d0d06f9310b..c67e5cccbe32f 100644 --- a/.github/CODEOWNERS +++ b/.github/CODEOWNERS @@ -28,6 +28,7 @@ common/rtc_manager_rviz_plugin/** taiki.tanaka@tier4.jp tomoya.kimura@tier4.jp @ common/signal_processing/** ali.boyali@tier4.jp takayuki.murooka@tier4.jp @autowarefoundation/autoware-global-codeowners common/tensorrt_common/** daisuke.nishimatsu@tier4.jp manato.hirabayashi@tier4.jp @autowarefoundation/autoware-global-codeowners common/tier4_api_utils/** isamu.takagi@tier4.jp kahhooi.tan@tier4.jp kenji.miyake@tier4.jp makoto.yabuta@tier4.jp @autowarefoundation/autoware-global-codeowners +common/tier4_automatic_goal_rviz_plugin/** dawid.moszynski@robotec.ai shumpei.wakabayashi@tier4.jp @autowarefoundation/autoware-global-codeowners common/tier4_autoware_utils/** kenji.miyake@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp yutaka.shimizu@tier4.jp @autowarefoundation/autoware-global-codeowners common/tier4_calibration_rviz_plugin/** tomoya.kimura@tier4.jp @autowarefoundation/autoware-global-codeowners common/tier4_control_rviz_plugin/** taiki.tanaka@tier4.jp @autowarefoundation/autoware-global-codeowners @@ -36,7 +37,7 @@ common/tier4_debug_rviz_plugin/** takayuki.murooka@tier4.jp @autowarefoundation/ common/tier4_debug_tools/** kenji.miyake@tier4.jp @autowarefoundation/autoware-global-codeowners common/tier4_localization_rviz_plugin/** isamu.takagi@tier4.jp kahhooi.tan@tier4.jp makoto.yabuta@tier4.jp takamasa.horibe@tier4.jp @autowarefoundation/autoware-global-codeowners common/tier4_perception_rviz_plugin/** yukihiro.saito@tier4.jp @autowarefoundation/autoware-global-codeowners -common/tier4_planning_rviz_plugin/** takayuki.murooka@tier4.jp yukihiro.saito@tier4.jp @autowarefoundation/autoware-global-codeowners +common/tier4_planning_rviz_plugin/** takayuki.murooka@tier4.jp yukihiro.saito@tier4.jp yutaka.shimizu@tier4.jp @autowarefoundation/autoware-global-codeowners common/tier4_screen_capture_rviz_plugin/** taiki.tanaka@tier4.jp @autowarefoundation/autoware-global-codeowners common/tier4_simulated_clock_rviz_plugin/** maxime.clement@tier4.jp @autowarefoundation/autoware-global-codeowners common/tier4_state_rviz_plugin/** hiroki.ota@tier4.jp isamu.takagi@tier4.jp @autowarefoundation/autoware-global-codeowners @@ -45,6 +46,7 @@ common/tier4_vehicle_rviz_plugin/** yukihiro.saito@tier4.jp @autowarefoundation/ common/time_utils/** christopherj.ho@gmail.com @autowarefoundation/autoware-global-codeowners common/trtexec_vendor/** daisuke.nishimatsu@tier4.jp @autowarefoundation/autoware-global-codeowners common/tvm_utility/** ambroise.vincent@arm.com xinyu.wang@tier4.jp @autowarefoundation/autoware-global-codeowners +control/autonomous_emergency_braking/** yutaka.shimizu@tier4.jp @autowarefoundation/autoware-global-codeowners control/control_performance_analysis/** berkay@leodrive.ai fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp @autowarefoundation/autoware-global-codeowners control/external_cmd_selector/** fumiya.watanabe@tier4.jp kenji.miyake@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp @autowarefoundation/autoware-global-codeowners control/joy_controller/** fumiya.watanabe@tier4.jp kenji.miyake@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp @autowarefoundation/autoware-global-codeowners @@ -58,16 +60,18 @@ control/shift_decider/** takamasa.horibe@tier4.jp @autowarefoundation/autoware-g control/trajectory_follower_base/** takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp @autowarefoundation/autoware-global-codeowners control/trajectory_follower_node/** takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp @autowarefoundation/autoware-global-codeowners control/vehicle_cmd_gate/** takamasa.horibe@tier4.jp tomoya.kimura@tier4.jp @autowarefoundation/autoware-global-codeowners +evaluator/diagnostic_converter/** kyoichi.sugahara@tier4.jp maxime.clement@tier4.jp takamasa.horibe@tier4.jp @autowarefoundation/autoware-global-codeowners evaluator/kinematic_evaluator/** dominik.jargot@robotec.ai @autowarefoundation/autoware-global-codeowners evaluator/localization_evaluator/** dominik.jargot@robotec.ai @autowarefoundation/autoware-global-codeowners +evaluator/planning_evaluator/** kyoichi.sugahara@tier4.jp maxime.clement@tier4.jp @autowarefoundation/autoware-global-codeowners launch/tier4_autoware_api_launch/** isamu.takagi@tier4.jp kahhooi.tan@tier4.jp kenji.miyake@tier4.jp makoto.yabuta@tier4.jp ryohsuke.mitsudome@tier4.jp @autowarefoundation/autoware-global-codeowners launch/tier4_control_launch/** takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp @autowarefoundation/autoware-global-codeowners -launch/tier4_localization_launch/** yamato.ando@tier4.jp @autowarefoundation/autoware-global-codeowners +launch/tier4_localization_launch/** kento.yabuuchi.2@tier4.jp koji.minoda@tier4.jp ryu.yamamoto@tier4.jp yamato.ando@tier4.jp @autowarefoundation/autoware-global-codeowners launch/tier4_map_launch/** koji.minoda@tier4.jp ryohsuke.mitsudome@tier4.jp ryu.yamamoto@tier4.jp @autowarefoundation/autoware-global-codeowners launch/tier4_perception_launch/** shunsuke.miura@tier4.jp yukihiro.saito@tier4.jp @autowarefoundation/autoware-global-codeowners launch/tier4_planning_launch/** fumiya.watanabe@tier4.jp kosuke.takeuchi@tier4.jp kyoichi.sugahara@tier4.jp makoto.kurihara@tier4.jp mamoru.sobue@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp yutaka.shimizu@tier4.jp zulfaqar.azmi@tier4.jp @autowarefoundation/autoware-global-codeowners launch/tier4_sensing_launch/** yukihiro.saito@tier4.jp @autowarefoundation/autoware-global-codeowners -launch/tier4_simulator_launch/** keisuke.shima@tier4.jp @autowarefoundation/autoware-global-codeowners +launch/tier4_simulator_launch/** keisuke.shima@tier4.jp taiki.tanaka@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp @autowarefoundation/autoware-global-codeowners launch/tier4_system_launch/** akihiro.sakurai@tier4.jp fumihito.ito@tier4.jp kenji.miyake@tier4.jp @autowarefoundation/autoware-global-codeowners launch/tier4_vehicle_launch/** yukihiro.saito@tier4.jp @autowarefoundation/autoware-global-codeowners localization/ekf_localizer/** koji.minoda@tier4.jp takamasa.horibe@tier4.jp takeshi.ishita@tier4.jp yamato.ando@tier4.jp @autowarefoundation/autoware-global-codeowners @@ -112,9 +116,10 @@ perception/tensorrt_yolo/** daisuke.nishimatsu@tier4.jp @autowarefoundation/auto perception/tensorrt_yolox/** daisuke.nishimatsu@tier4.jp manato.hirabayashi@tier4.jp @autowarefoundation/autoware-global-codeowners perception/traffic_light_classifier/** yukihiro.saito@tier4.jp @autowarefoundation/autoware-global-codeowners perception/traffic_light_map_based_detector/** yukihiro.saito@tier4.jp @autowarefoundation/autoware-global-codeowners +perception/traffic_light_selector/** isamu.takagi@tier4.jp @autowarefoundation/autoware-global-codeowners perception/traffic_light_ssd_fine_detector/** daisuke.nishimatsu@tier4.jp @autowarefoundation/autoware-global-codeowners perception/traffic_light_visualization/** yukihiro.saito@tier4.jp @autowarefoundation/autoware-global-codeowners -planning/behavior_path_planner/** fumiya.watanabe@tier4.jp kosuke.takeuchi@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp yutaka.shimizu@tier4.jp zulfaqar.azmi@tier4.jp @autowarefoundation/autoware-global-codeowners +planning/behavior_path_planner/** fumiya.watanabe@tier4.jp kosuke.takeuchi@tier4.jp kyoichi.sugahara@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp yutaka.shimizu@tier4.jp zulfaqar.azmi@tier4.jp @autowarefoundation/autoware-global-codeowners planning/behavior_velocity_planner/** kosuke.takeuchi@tier4.jp kyoichi.sugahara@tier4.jp makoto.kurihara@tier4.jp mamoru.sobue@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp takayuki.murooka@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp yutaka.shimizu@tier4.jp @autowarefoundation/autoware-global-codeowners planning/costmap_generator/** kosuke.takeuchi@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp yutaka.shimizu@tier4.jp @autowarefoundation/autoware-global-codeowners planning/external_velocity_limit_selector/** satoshi.ota@tier4.jp shinnosuke.hirakawa@tier4.jp shumpei.wakabayashi@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp @autowarefoundation/autoware-global-codeowners @@ -122,12 +127,12 @@ planning/freespace_planner/** kosuke.takeuchi@tier4.jp takamasa.horibe@tier4.jp planning/freespace_planning_algorithms/** kosuke.takeuchi@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp yutaka.shimizu@tier4.jp @autowarefoundation/autoware-global-codeowners planning/mission_planner/** isamu.takagi@tier4.jp ryohsuke.mitsudome@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp @autowarefoundation/autoware-global-codeowners planning/motion_velocity_smoother/** fumiya.watanabe@tier4.jp makoto.kurihara@tier4.jp takamasa.horibe@tier4.jp yutaka.shimizu@tier4.jp @autowarefoundation/autoware-global-codeowners -planning/obstacle_avoidance_planner/** kosuke.takeuchi@tier4.jp takayuki.murooka@tier4.jp @autowarefoundation/autoware-global-codeowners +planning/obstacle_avoidance_planner/** takayuki.murooka@tier4.jp @autowarefoundation/autoware-global-codeowners planning/obstacle_cruise_planner/** takayuki.murooka@tier4.jp yutaka.shimizu@tier4.jp @autowarefoundation/autoware-global-codeowners planning/obstacle_stop_planner/** satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp tomoya.kimura@tier4.jp @autowarefoundation/autoware-global-codeowners planning/obstacle_velocity_limiter/** maxime.clement@tier4.jp @autowarefoundation/autoware-global-codeowners planning/planning_debug_tools/** taiki.tanaka@tier4.jp takamasa.horibe@tier4.jp @autowarefoundation/autoware-global-codeowners -planning/planning_evaluator/** maxime.clement@tier4.jp @autowarefoundation/autoware-global-codeowners +planning/planning_test_utils/** kyoichi.sugahara@tier4.jp @autowarefoundation/autoware-global-codeowners planning/planning_validator/** takamasa.horibe@tier4.jp yutaka.shimizu@tier4.jp @autowarefoundation/autoware-global-codeowners planning/route_handler/** fumiya.watanabe@tier4.jp kosuke.takeuchi@tier4.jp yutaka.shimizu@tier4.jp zulfaqar.azmi@tier4.jp @autowarefoundation/autoware-global-codeowners planning/rtc_auto_mode_manager/** fumiya.watanabe@tier4.jp taiki.tanaka@tier4.jp @autowarefoundation/autoware-global-codeowners From 1469f52c1a738e6512437317e2588561bc024c60 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Thu, 23 Mar 2023 17:52:52 +0900 Subject: [PATCH 080/121] fix(static_centerline_optimizer): remove unnecessary files (#3154) Signed-off-by: Takayuki Murooka --- .../collision_free_optimizer_node.hpp | 103 ---- .../src/collision_free_optimizer_node.cpp | 459 ------------------ 2 files changed, 562 deletions(-) delete mode 100644 planning/static_centerline_optimizer/include/static_centerline_optimizer/collision_free_optimizer_node.hpp delete mode 100644 planning/static_centerline_optimizer/src/collision_free_optimizer_node.cpp diff --git a/planning/static_centerline_optimizer/include/static_centerline_optimizer/collision_free_optimizer_node.hpp b/planning/static_centerline_optimizer/include/static_centerline_optimizer/collision_free_optimizer_node.hpp deleted file mode 100644 index 55f91bddbdab2..0000000000000 --- a/planning/static_centerline_optimizer/include/static_centerline_optimizer/collision_free_optimizer_node.hpp +++ /dev/null @@ -1,103 +0,0 @@ -// Copyright 2022 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. - -// NOTE: This file was copied from a part of implementation in -// https://github.com/autowarefoundation/autoware.universe/blob/main/planning/obstacle_avoidance_planner/include/obstacle_avoidance_planner/node.hpp - -#ifndef STATIC_CENTERLINE_OPTIMIZER__COLLISION_FREE_OPTIMIZER_NODE_HPP_ -#define STATIC_CENTERLINE_OPTIMIZER__COLLISION_FREE_OPTIMIZER_NODE_HPP_ - -#include "motion_utils/motion_utils.hpp" -#include "obstacle_avoidance_planner/common_structs.hpp" -#include "obstacle_avoidance_planner/eb_path_optimizer.hpp" -#include "obstacle_avoidance_planner/mpt_optimizer.hpp" -#include "rclcpp/clock.hpp" -#include "rclcpp/rclcpp.hpp" -#include "static_centerline_optimizer/type_alias.hpp" -#include "tier4_autoware_utils/tier4_autoware_utils.hpp" - -#include "boost/optional.hpp" - -#include -#include -#include -#include - -namespace static_centerline_optimizer -{ -class CollisionFreeOptimizerNode : public rclcpp::Node -{ -private: - rclcpp::Clock logger_ros_clock_; - int eb_solved_count_; - bool is_driving_forward_{true}; - - bool is_publishing_debug_visualization_marker_; - bool is_publishing_area_with_objects_; - bool is_publishing_object_clearance_map_; - bool is_publishing_clearance_map_; - bool is_showing_debug_info_; - bool is_showing_calculation_time_; - bool is_stopping_if_outside_drivable_area_; - bool enable_avoidance_; - bool enable_pre_smoothing_; - bool skip_optimization_; - bool reset_prev_optimization_; - - // vehicle circles info for for mpt constraints - std::string vehicle_circle_method_; - int vehicle_circle_num_for_calculation_; - std::vector vehicle_circle_radius_ratios_; - - // params for replan - double max_path_shape_change_dist_for_replan_; - double max_ego_moving_dist_for_replan_; - double max_delta_time_sec_for_replan_; - - // logic - std::unique_ptr eb_path_optimizer_ptr_; - std::unique_ptr mpt_optimizer_ptr_; - - // params - TrajectoryParam traj_param_; - EBParam eb_param_; - VehicleParam vehicle_param_; - MPTParam mpt_param_; - int mpt_visualize_sampling_num_; - - // debug - mutable DebugData debug_data_; - - geometry_msgs::msg::Pose current_ego_pose_; - std::unique_ptr prev_optimal_trajs_ptr_; - std::unique_ptr> prev_path_points_ptr_; - - std::unique_ptr latest_replanned_time_ptr_; - - // ROS - rclcpp::Subscription::SharedPtr path_sub_; - - // functions - void resetPlanning(); - void resetPrevOptimization(); - -public: - explicit CollisionFreeOptimizerNode(const rclcpp::NodeOptions & node_options); - - // subscriber callback functions - Trajectory pathCallback(const Path::ConstSharedPtr); -}; -} // namespace static_centerline_optimizer - -#endif // STATIC_CENTERLINE_OPTIMIZER__COLLISION_FREE_OPTIMIZER_NODE_HPP_ diff --git a/planning/static_centerline_optimizer/src/collision_free_optimizer_node.cpp b/planning/static_centerline_optimizer/src/collision_free_optimizer_node.cpp deleted file mode 100644 index 5dd83d6d4b310..0000000000000 --- a/planning/static_centerline_optimizer/src/collision_free_optimizer_node.cpp +++ /dev/null @@ -1,459 +0,0 @@ -// Copyright 2022 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. - -// NOTE: This file was copied from a part of implementation in -// https://github.com/autowarefoundation/autoware.universe/blob/main/planning/obstacle_avoidance_planner/src/node.cpp - -#include "static_centerline_optimizer/collision_free_optimizer_node.hpp" - -#include "interpolation/spline_interpolation_points_2d.hpp" -#include "motion_utils/motion_utils.hpp" -#include "rclcpp/time.hpp" -#include "tf2/utils.h" -#include "tier4_autoware_utils/tier4_autoware_utils.hpp" -#include "vehicle_info_util/vehicle_info_util.hpp" - -#include -#include -#include -#include -#include -#include - -// TODO(murooka) refactor -namespace static_centerline_optimizer -{ -namespace -{ -std::tuple, std::vector> calcVehicleCirclesInfo( - const VehicleParam & vehicle_param, const size_t circle_num, const double rear_radius_ratio, - const double front_radius_ratio) -{ - std::vector longitudinal_offsets; - std::vector radiuses; - - { // 1st circle (rear) - longitudinal_offsets.push_back(-vehicle_param.rear_overhang); - radiuses.push_back(vehicle_param.width / 2.0 * rear_radius_ratio); - } - - { // 2nd circle (front) - const double radius = std::hypot( - vehicle_param.length / static_cast(circle_num) / 2.0, vehicle_param.width / 2.0); - - const double unit_lon_length = vehicle_param.length / static_cast(circle_num); - const double longitudinal_offset = - unit_lon_length / 2.0 + unit_lon_length * (circle_num - 1) - vehicle_param.rear_overhang; - - longitudinal_offsets.push_back(longitudinal_offset); - radiuses.push_back(radius * front_radius_ratio); - } - - return {radiuses, longitudinal_offsets}; -} - -std::tuple, std::vector> calcVehicleCirclesInfo( - const VehicleParam & vehicle_param, const size_t circle_num, const double radius_ratio) -{ - std::vector longitudinal_offsets; - std::vector radiuses; - - const double radius = - std::hypot( - vehicle_param.length / static_cast(circle_num) / 2.0, vehicle_param.width / 2.0) * - radius_ratio; - const double unit_lon_length = vehicle_param.length / static_cast(circle_num); - - for (size_t i = 0; i < circle_num; ++i) { - longitudinal_offsets.push_back( - unit_lon_length / 2.0 + unit_lon_length * i - vehicle_param.rear_overhang); - radiuses.push_back(radius); - } - - return {radiuses, longitudinal_offsets}; -} - -template -TrajectoryPoint convertToTrajectoryPoint(const T & point) -{ - TrajectoryPoint traj_point; - traj_point.pose = tier4_autoware_utils::getPose(point); - traj_point.longitudinal_velocity_mps = point.longitudinal_velocity_mps; - traj_point.lateral_velocity_mps = point.lateral_velocity_mps; - traj_point.heading_rate_rps = point.heading_rate_rps; - return traj_point; -} - -template -std::vector convertToTrajectoryPoints(const std::vector & points) -{ - std::vector traj_points; - for (const auto & point : points) { - const auto traj_point = convertToTrajectoryPoint(point); - traj_points.push_back(traj_point); - } - return traj_points; -} -} // namespace - -CollisionFreeOptimizerNode::CollisionFreeOptimizerNode(const rclcpp::NodeOptions & node_options) -: Node("static_centerline_optimizer", node_options), logger_ros_clock_(RCL_ROS_TIME) -{ - rclcpp::Clock::SharedPtr clock = std::make_shared(RCL_ROS_TIME); - - // subscriber - path_sub_ = create_subscription( - "debug/raw_centerline", rclcpp::QoS{1}.transient_local(), - std::bind(&CollisionFreeOptimizerNode::pathCallback, this, std::placeholders::_1)); - - const auto vehicle_info = vehicle_info_util::VehicleInfoUtil(*this).getVehicleInfo(); - { // vehicle param - vehicle_param_ = VehicleParam{}; - vehicle_param_.width = vehicle_info.vehicle_width_m; - vehicle_param_.length = vehicle_info.vehicle_length_m; - vehicle_param_.wheelbase = vehicle_info.wheel_base_m; - vehicle_param_.rear_overhang = vehicle_info.rear_overhang_m; - vehicle_param_.front_overhang = vehicle_info.front_overhang_m; - } - - { // option parameter - is_publishing_debug_visualization_marker_ = - declare_parameter("option.is_publishing_debug_visualization_marker"); - is_publishing_clearance_map_ = declare_parameter("option.is_publishing_clearance_map"); - is_publishing_object_clearance_map_ = - declare_parameter("option.is_publishing_object_clearance_map"); - is_publishing_area_with_objects_ = - declare_parameter("option.is_publishing_area_with_objects"); - - is_showing_debug_info_ = declare_parameter("option.is_showing_debug_info"); - is_showing_calculation_time_ = declare_parameter("option.is_showing_calculation_time"); - is_stopping_if_outside_drivable_area_ = - declare_parameter("option.is_stopping_if_outside_drivable_area"); - - enable_avoidance_ = declare_parameter("option.enable_avoidance"); - enable_pre_smoothing_ = declare_parameter("option.enable_pre_smoothing"); - skip_optimization_ = declare_parameter("option.skip_optimization"); - reset_prev_optimization_ = declare_parameter("option.reset_prev_optimization"); - } - - { // trajectory parameter - traj_param_ = TrajectoryParam{}; - - // common - traj_param_.num_sampling_points = declare_parameter("common.num_sampling_points"); - traj_param_.trajectory_length = declare_parameter("common.trajectory_length"); - traj_param_.forward_fixing_min_distance = - declare_parameter("common.forward_fixing_min_distance"); - traj_param_.forward_fixing_min_time = - declare_parameter("common.forward_fixing_min_time"); - traj_param_.backward_fixing_distance = - declare_parameter("common.backward_fixing_distance"); - traj_param_.delta_arc_length_for_trajectory = - declare_parameter("common.delta_arc_length_for_trajectory"); - - traj_param_.delta_dist_threshold_for_closest_point = - declare_parameter("common.delta_dist_threshold_for_closest_point"); - traj_param_.delta_yaw_threshold_for_closest_point = - declare_parameter("common.delta_yaw_threshold_for_closest_point"); - traj_param_.delta_yaw_threshold_for_straight = - declare_parameter("common.delta_yaw_threshold_for_straight"); - - traj_param_.num_fix_points_for_extending = - declare_parameter("common.num_fix_points_for_extending"); - traj_param_.max_dist_for_extending_end_point = - declare_parameter("common.max_dist_for_extending_end_point"); - - // object - traj_param_.max_avoiding_ego_velocity_ms = - declare_parameter("object.max_avoiding_ego_velocity_ms"); - traj_param_.max_avoiding_objects_velocity_ms = - declare_parameter("object.max_avoiding_objects_velocity_ms"); - traj_param_.is_avoiding_unknown = - declare_parameter("object.avoiding_object_type.unknown", true); - traj_param_.is_avoiding_car = declare_parameter("object.avoiding_object_type.car", true); - traj_param_.is_avoiding_truck = - declare_parameter("object.avoiding_object_type.truck", true); - traj_param_.is_avoiding_bus = declare_parameter("object.avoiding_object_type.bus", true); - traj_param_.is_avoiding_bicycle = - declare_parameter("object.avoiding_object_type.bicycle", true); - traj_param_.is_avoiding_motorbike = - declare_parameter("object.avoiding_object_type.motorbike", true); - traj_param_.is_avoiding_pedestrian = - declare_parameter("object.avoiding_object_type.pedestrian", true); - traj_param_.is_avoiding_animal = - declare_parameter("object.avoiding_object_type.animal", true); - - // ego nearest search - traj_param_.ego_nearest_dist_threshold = - declare_parameter("ego_nearest_dist_threshold"); - traj_param_.ego_nearest_yaw_threshold = declare_parameter("ego_nearest_yaw_threshold"); - } - - { // elastic band parameter - eb_param_ = EBParam{}; - - // common - eb_param_.num_joint_buffer_points = - declare_parameter("advanced.eb.common.num_joint_buffer_points"); - eb_param_.num_offset_for_begin_idx = - declare_parameter("advanced.eb.common.num_offset_for_begin_idx"); - eb_param_.delta_arc_length_for_eb = - declare_parameter("advanced.eb.common.delta_arc_length_for_eb"); - eb_param_.num_sampling_points_for_eb = - declare_parameter("advanced.eb.common.num_sampling_points_for_eb"); - - // clearance - eb_param_.clearance_for_straight_line = - declare_parameter("advanced.eb.clearance.clearance_for_straight_line"); - eb_param_.clearance_for_joint = - declare_parameter("advanced.eb.clearance.clearance_for_joint"); - eb_param_.clearance_for_only_smoothing = - declare_parameter("advanced.eb.clearance.clearance_for_only_smoothing"); - - // qp - eb_param_.qp_param.max_iteration = declare_parameter("advanced.eb.qp.max_iteration"); - eb_param_.qp_param.eps_abs = declare_parameter("advanced.eb.qp.eps_abs"); - eb_param_.qp_param.eps_rel = declare_parameter("advanced.eb.qp.eps_rel"); - - // other - eb_param_.clearance_for_fixing = 0.0; - } - - { // mpt param - mpt_param_ = MPTParam{}; - - // option - // TODO(murooka) implement plan_from_ego - mpt_param_.plan_from_ego = declare_parameter("mpt.option.plan_from_ego"); - mpt_param_.max_plan_from_ego_length = - declare_parameter("mpt.option.max_plan_from_ego_length"); - mpt_param_.steer_limit_constraint = - declare_parameter("mpt.option.steer_limit_constraint"); - mpt_param_.fix_points_around_ego = declare_parameter("mpt.option.fix_points_around_ego"); - mpt_param_.enable_warm_start = declare_parameter("mpt.option.enable_warm_start"); - mpt_param_.enable_manual_warm_start = - declare_parameter("mpt.option.enable_manual_warm_start"); - mpt_visualize_sampling_num_ = declare_parameter("mpt.option.visualize_sampling_num"); - - // common - mpt_param_.num_curvature_sampling_points = - declare_parameter("mpt.common.num_curvature_sampling_points"); - - mpt_param_.delta_arc_length_for_mpt_points = - declare_parameter("mpt.common.delta_arc_length_for_mpt_points"); - - // kinematics - mpt_param_.max_steer_rad = vehicle_info.max_steer_angle_rad; - - // By default, optimization_center_offset will be vehicle_info.wheel_base * 0.8 - // The 0.8 scale is adopted as it performed the best. - constexpr double default_wheelbase_ratio = 0.8; - mpt_param_.optimization_center_offset = declare_parameter( - "mpt.kinematics.optimization_center_offset", - vehicle_param_.wheelbase * default_wheelbase_ratio); - - // bounds search - mpt_param_.bounds_search_widths = - declare_parameter>("advanced.mpt.bounds_search_widths"); - - // collision free constraints - mpt_param_.l_inf_norm = - declare_parameter("advanced.mpt.collision_free_constraints.option.l_inf_norm"); - mpt_param_.soft_constraint = - declare_parameter("advanced.mpt.collision_free_constraints.option.soft_constraint"); - mpt_param_.hard_constraint = - declare_parameter("advanced.mpt.collision_free_constraints.option.hard_constraint"); - // TODO(murooka) implement two-step soft constraint - mpt_param_.two_step_soft_constraint = false; - // mpt_param_.two_step_soft_constraint = - // declare_parameter("advanced.mpt.collision_free_constraints.option.two_step_soft_constraint"); - - { // vehicle_circles - // NOTE: Vehicle shape for collision free constraints is considered as a set of circles - vehicle_circle_method_ = declare_parameter( - "advanced.mpt.collision_free_constraints.vehicle_circles.method"); - - if (vehicle_circle_method_ == "uniform_circle") { - vehicle_circle_num_for_calculation_ = declare_parameter( - "advanced.mpt.collision_free_constraints.vehicle_circles.uniform_circle.num"); - vehicle_circle_radius_ratios_.push_back(declare_parameter( - "advanced.mpt.collision_free_constraints.vehicle_circles.uniform_circle.radius_ratio")); - - std::tie( - mpt_param_.vehicle_circle_radiuses, mpt_param_.vehicle_circle_longitudinal_offsets) = - calcVehicleCirclesInfo( - vehicle_param_, vehicle_circle_num_for_calculation_, - vehicle_circle_radius_ratios_.front()); - } else if (vehicle_circle_method_ == "rear_drive") { - vehicle_circle_num_for_calculation_ = declare_parameter( - "advanced.mpt.collision_free_constraints.vehicle_circles.rear_drive.num_for_calculation"); - - vehicle_circle_radius_ratios_.push_back(declare_parameter( - "advanced.mpt.collision_free_constraints.vehicle_circles.rear_drive.rear_radius_ratio")); - vehicle_circle_radius_ratios_.push_back(declare_parameter( - "advanced.mpt.collision_free_constraints.vehicle_circles.rear_drive.front_radius_ratio")); - - std::tie( - mpt_param_.vehicle_circle_radiuses, mpt_param_.vehicle_circle_longitudinal_offsets) = - calcVehicleCirclesInfo( - vehicle_param_, vehicle_circle_num_for_calculation_, - vehicle_circle_radius_ratios_.front(), vehicle_circle_radius_ratios_.back()); - } else { - throw std::invalid_argument( - "advanced.mpt.collision_free_constraints.vehicle_circles.num parameter is invalid."); - } - } - - // clearance - mpt_param_.hard_clearance_from_road = - declare_parameter("advanced.mpt.clearance.hard_clearance_from_road"); - mpt_param_.soft_clearance_from_road = - declare_parameter("advanced.mpt.clearance.soft_clearance_from_road"); - mpt_param_.soft_second_clearance_from_road = - declare_parameter("advanced.mpt.clearance.soft_second_clearance_from_road"); - mpt_param_.extra_desired_clearance_from_road = - declare_parameter("advanced.mpt.clearance.extra_desired_clearance_from_road"); - mpt_param_.clearance_from_object = - declare_parameter("advanced.mpt.clearance.clearance_from_object"); - - // weight - mpt_param_.soft_avoidance_weight = - declare_parameter("advanced.mpt.weight.soft_avoidance_weight"); - mpt_param_.soft_second_avoidance_weight = - declare_parameter("advanced.mpt.weight.soft_second_avoidance_weight"); - - mpt_param_.lat_error_weight = declare_parameter("advanced.mpt.weight.lat_error_weight"); - mpt_param_.yaw_error_weight = declare_parameter("advanced.mpt.weight.yaw_error_weight"); - mpt_param_.yaw_error_rate_weight = - declare_parameter("advanced.mpt.weight.yaw_error_rate_weight"); - mpt_param_.steer_input_weight = - declare_parameter("advanced.mpt.weight.steer_input_weight"); - mpt_param_.steer_rate_weight = - declare_parameter("advanced.mpt.weight.steer_rate_weight"); - - mpt_param_.obstacle_avoid_lat_error_weight = - declare_parameter("advanced.mpt.weight.obstacle_avoid_lat_error_weight"); - mpt_param_.obstacle_avoid_yaw_error_weight = - declare_parameter("advanced.mpt.weight.obstacle_avoid_yaw_error_weight"); - mpt_param_.obstacle_avoid_steer_input_weight = - declare_parameter("advanced.mpt.weight.obstacle_avoid_steer_input_weight"); - mpt_param_.near_objects_length = - declare_parameter("advanced.mpt.weight.near_objects_length"); - - mpt_param_.terminal_lat_error_weight = - declare_parameter("advanced.mpt.weight.terminal_lat_error_weight"); - mpt_param_.terminal_yaw_error_weight = - declare_parameter("advanced.mpt.weight.terminal_yaw_error_weight"); - mpt_param_.terminal_path_lat_error_weight = - declare_parameter("advanced.mpt.weight.terminal_path_lat_error_weight"); - mpt_param_.terminal_path_yaw_error_weight = - declare_parameter("advanced.mpt.weight.terminal_path_yaw_error_weight"); - } - - // TODO(murooka) tune this param when avoiding with static_centerline_optimizer - traj_param_.center_line_width = vehicle_param_.width; - - resetPlanning(); -} - -void CollisionFreeOptimizerNode::resetPlanning() -{ - RCLCPP_WARN(get_logger(), "[ObstacleAvoidancePlanner] Reset planning"); - - eb_path_optimizer_ptr_ = std::make_unique( - is_showing_debug_info_, traj_param_, eb_param_, vehicle_param_); - - mpt_optimizer_ptr_ = - std::make_unique(is_showing_debug_info_, traj_param_, vehicle_param_, mpt_param_); - - prev_path_points_ptr_ = nullptr; - resetPrevOptimization(); -} - -void CollisionFreeOptimizerNode::resetPrevOptimization() -{ - prev_optimal_trajs_ptr_ = nullptr; - eb_solved_count_ = 0; -} - -Trajectory CollisionFreeOptimizerNode::pathCallback(const Path::ConstSharedPtr path_ptr) -{ - if (path_ptr->points.empty()) { - return Trajectory{}; - } - - // initialize - debug_data_ = DebugData(); - resetPlanning(); - - // variables - const double resample_interval = 2.0; - const double valid_optimized_path_length = 30.0; - const double path_length = motion_utils::calcArcLength(path_ptr->points); - const size_t path_segment_num = static_cast(path_length / valid_optimized_path_length); - - const auto resampled_path = - motion_utils::resamplePath(*path_ptr, resample_interval); // TODO(murooka) - const auto resampled_traj_points = convertToTrajectoryPoints(resampled_path.points); - - // cv_maps - const auto predicted_objects = PredictedObjects{}.objects; - - const size_t initial_target_index = 3; - auto target_pose = resampled_path.points.at(initial_target_index).pose; // TODO(murooka) - std::vector whole_optimized_traj_points; - - for (size_t i = 0; i < path_segment_num; ++i) { - target_pose = resampled_path.points - .at(initial_target_index + valid_optimized_path_length / resample_interval * i) - .pose; - - const auto mpt_trajs = mpt_optimizer_ptr_->getModelPredictiveTrajectory( - false, resampled_traj_points, resampled_path.points, resampled_path.left_bound, - resampled_path.right_bound, prev_optimal_trajs_ptr_, target_pose, 0.0, debug_data_); - if (!mpt_trajs) { - break; - } - - Trajectories trajectories; - trajectories.mpt_ref_points = mpt_trajs->ref_points; - trajectories.model_predictive_trajectory = mpt_trajs->mpt; - prev_optimal_trajs_ptr_ = std::make_unique(trajectories); - - for (size_t j = 0; j < whole_optimized_traj_points.size(); ++j) { - const double dist = tier4_autoware_utils::calcDistance2d( - whole_optimized_traj_points.at(j), mpt_trajs->mpt.front()); - if (dist < 0.5) { - const std::vector extracted_whole_optimized_traj_points{ - whole_optimized_traj_points.begin(), whole_optimized_traj_points.begin() + j - 1}; - whole_optimized_traj_points = extracted_whole_optimized_traj_points; - } - } - - for (size_t j = 0; j < mpt_trajs->mpt.size(); ++j) { - whole_optimized_traj_points.push_back(mpt_trajs->mpt.at(j)); - } - } - - // resample - auto output_traj_msg = motion_utils::resampleTrajectory( - motion_utils::convertToTrajectory(whole_optimized_traj_points), 1.0); - output_traj_msg.header = path_ptr->header; - - return output_traj_msg; -} -} // namespace static_centerline_optimizer - -#include "rclcpp_components/register_node_macro.hpp" -RCLCPP_COMPONENTS_REGISTER_NODE(static_centerline_optimizer::CollisionFreeOptimizerNode) From 7a721162f660c049883257d2362a9aeec62621ff Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Thu, 23 Mar 2023 18:58:18 +0900 Subject: [PATCH 081/121] fix(behavior_path_planner): fix math formulation in doc (#3146) Signed-off-by: Takayuki Murooka --- .../behavior_path_planner_avoidance_design.md | 18 ++++++------ ...ior_path_planner_path_generation_design.md | 28 +++++++++---------- 2 files changed, 23 insertions(+), 23 deletions(-) diff --git a/planning/behavior_path_planner/behavior_path_planner_avoidance_design.md b/planning/behavior_path_planner/behavior_path_planner_avoidance_design.md index 7f6274925174b..b2b2f0651ffe1 100644 --- a/planning/behavior_path_planner/behavior_path_planner_avoidance_design.md +++ b/planning/behavior_path_planner/behavior_path_planner_avoidance_design.md @@ -191,10 +191,10 @@ The avoidance target should be limited to stationary objects (you should not avo Not only the length from the centerline, but also the length from the road shoulder is calculated and used for the filtering process. It calculates the ratio of _the actual length between the the object's center and the center line_ `shift_length` and _the maximum length the object can shift_ `shiftable_length`. -```math -l_D = l_a - \frac{width}{2} +$$ +l_D = l_a - \frac{width}{2} \\ ratio = \frac{l_d}{l_D} -``` +$$ - $l_d$ : actual shift length - $l_D$ : shiftable length @@ -485,9 +485,9 @@ After calculating the future position of Ego and object, the module calculates t The value of the longitudinal margin is calculated based on Responsibility-Sensitive Safety theory ([RSS](https://newsroom.intel.com/articles/rss-explained-five-rules-autonomous-vehicle-safety/#gs.ljzofv)). The `safety_check_idling_time` represents $T_{idle}$, and `safety_check_accel_for_rss` represents $a_{max}$. -```math +$$ D_{lon} = V_{ego}T_{idle} + \frac{1}{2}a_{max}T_{idle}^2 + \frac{(V_{ego} + a_{max}T_{idle})^2}{2a_{max}} - \frac{V_{obj}^2}{2a_{max}} -``` +$$ The lateral margin is changeable based on ego longitudinal velocity. If the vehicle is driving at a high speed, the lateral margin should be larger, and if the vehicle is driving at a low speed, the value of the lateral margin should be set to a smaller value. Thus, the lateral margin for each vehicle speed is set as a parameter, and the module determines the lateral margin from the current vehicle speed as shown in the following figure. @@ -534,9 +534,9 @@ The module determines that it is NOT passable without avoidance if the object ov lateral_passable_collision_margin: 0.5 # [-] ``` -```math +$$ L_{overhang} < \frac{W}{2} + L_{margin} (not passable) -``` +$$ The $W$ represents vehicle width, and $L_{margin}$ represents `lateral_passable_collision_margin`. @@ -550,9 +550,9 @@ The current behavior in unsafe condition is just slow down and it is so conserva The YIELD maneuver is executed **ONLY** when the vehicle has **NOT** initiated avoidance maneuver. The module has a threshold parameter (`avoidance_initiate_threshold`) for the amount of shifting and determines that the vehicle is initiating avoidance if the vehicle current shift exceeds the threshold. -```math +$$ SHIFT_{current} > L_{threshold} -``` +$$ ![fig1](./image/avoidance/yield_limitation.svg) diff --git a/planning/behavior_path_planner/behavior_path_planner_path_generation_design.md b/planning/behavior_path_planner/behavior_path_planner_path_generation_design.md index e73bb11a77ba5..9a42a44fc4900 100644 --- a/planning/behavior_path_planner/behavior_path_planner_path_generation_design.md +++ b/planning/behavior_path_planner/behavior_path_planner_path_generation_design.md @@ -18,7 +18,7 @@ Note that, due to the rarity of the $T_v$ in almost all cases of lane change and By applying simple integral operations, the following analytical equations can be derived to describe the shift distance $l(t)$ at each time under lateral jerk, acceleration, and velocity constraints. -```math +$$ \begin{align} l_1&= \frac{1}{6}jT_j^3\\[10pt] l_2&= \frac{1}{6}j T_j^3 + \frac{1}{2} j T_a T_j^2 + \frac{1}{2} j T_a^2 T_j\\[10pt] @@ -28,7 +28,7 @@ l_5&= \frac{11}{6} j T_j^3 + \frac{5}{2} j T_a T_j^2 + \frac{1}{2} j T_a^2 T_j + l_6&= \frac{11}{6} j T_j^3 + 3 j T_a T_j^2 + j T_a^2 T_j + j(T_a + T_j)T_j T_v\\[10pt] l_7&= 2 j T_j^3 + 3 j T_a T_j^2 + j T_a^2 T_j + j(T_a + T_j)T_j T_v \end{align} -``` +$$ These equations are used to determine the shape of a path. Additionally, by applying further mathematical operations to these basic equations, the expressions of the following subsections can be derived. @@ -36,40 +36,40 @@ These equations are used to determine the shape of a path. Additionally, by appl In the case where there are no limitations on lateral velocity and lateral acceleration, the maximum lateral acceleration during the shifting can be calculated as follows. The constant-jerk time is given by $T_j = T_{\rm total}/4$ because of its symmetric property. Since $T_a=T_v=0$, the final shift length $L=l_7=2jT_j^3$ can be determined using the above equation. The maximum lateral acceleration is then given by $a_{\rm max} =jT_j$. This results in the following expression for the maximum lateral acceleration: -```math +$$ \begin{align} a_{\rm max} = \frac{8L}{T_{\rm total}^2} \end{align} -``` +$$ ### Calculation of Ta, Tj and jerk from acceleration limit In the case where there are no limitations on lateral velocity, the constant-jerk and acceleration times, as well as the required jerk can be calculated from the acceleration limit, total time, and final shift length as follows. Since $T_v=0$, the final shift length is given by: -```math +$$ \begin{align} L = l_7 = 2 j T_j^3 + 3 j T_a T_j^2 + j T_a^2 T_j \end{align} -``` +$$ Additionally, the velocity profile reveals the following relations: -```math +$$ \begin{align} a_{\rm lim} &= j T_j\\ T_{\rm total} &= 4T_j + 2T_a \end{align} -``` +$$ By solving these three equations, the following can be obtained: -```math +$$ \begin{align} T_j&=\frac{T_{\rm total}}{2} - \frac{2L}{a_{\rm lim} T_{\rm total}}\\[10pt] T_a&=\frac{4L}{a_{\rm lim} T_{\rm total}} - \frac{T_{\rm total}}{2}\\[10pt] jerk&=\frac{2a_{\rm lim} ^2T_{\rm total}}{a_{\rm lim} T_{\rm total}^2-4L} \end{align} -``` +$$ where $T_j$ is the constant-jerk time, $T_a$ is the constant acceleration time, $j$ is the required jerk, $a_{\rm lim}$ is the acceleration limit, and $L$ is the final shift length. @@ -77,18 +77,18 @@ where $T_j$ is the constant-jerk time, $T_a$ is the constant acceleration time, In the case where there are no limitations on lateral velocity, the total time required for shifting can be calculated from the jerk and acceleration limits and the final shift length as follows. By solving the two equations given above: -```math +$$ L = l_7 = 2 j T_j^3 + 3 j T_a T_j^2 + j T_a^2 T_j,\quad a_{\rm lim} = j T_j -``` +$$ we obtain the following expressions: -```math +$$ \begin{align} T_j &= \frac{a_{\rm lim}}{j}\\[10pt] T_a &= \frac{1}{2}\sqrt{\frac{a_{\rm lim}}{j}^2 + \frac{4L}{a_{\rm lim}}} - \frac{3a_{\rm lim}}{2j} \end{align} -``` +$$ The total time required for shifting can then be calculated as $T_{\rm total}=4T_j+2T_a$. From 75f99c7d224b58e01e593b0b81b2fcc070466979 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Thu, 23 Mar 2023 20:25:37 +0900 Subject: [PATCH 082/121] feat(tier4_control_launch): add check_external_emergency_heartbeat option (#3079) Signed-off-by: Takayuki Murooka --- launch/tier4_control_launch/launch/control.launch.py | 6 ++++++ 1 file changed, 6 insertions(+) diff --git a/launch/tier4_control_launch/launch/control.launch.py b/launch/tier4_control_launch/launch/control.launch.py index 6821388e174d4..63f3523503219 100644 --- a/launch/tier4_control_launch/launch/control.launch.py +++ b/launch/tier4_control_launch/launch/control.launch.py @@ -199,6 +199,11 @@ def launch_setup(context, *args, **kwargs): parameters=[ vehicle_cmd_gate_param, vehicle_info_param, + { + "check_external_emergency_heartbeat": LaunchConfiguration( + "check_external_emergency_heartbeat" + ), + }, ], extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}], ) @@ -338,6 +343,7 @@ def add_launch_arg(name: str, default_value=None, description=None): add_launch_arg("external_cmd_selector_param_path") add_launch_arg("aeb_param_path") add_launch_arg("enable_autonomous_emergency_braking") + add_launch_arg("check_external_emergency_heartbeat") # component add_launch_arg("use_intra_process", "false", "use ROS2 component container communication") From 572f39e429dd0e7ff144b8563446094487aa6e81 Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Thu, 23 Mar 2023 20:31:15 +0900 Subject: [PATCH 083/121] feat(tier4_perception_rviz_plugin): add bicycle panel (#3157) select motorcycle or bicycle and publish Signed-off-by: Mamoru Sobue --- .../icons/classes/BikeInitialPoseTool.png | Bin 0 -> 18815 bytes .../plugins/plugin_description.xml | 4 + .../src/tools/car_pose.cpp | 96 ++++++++++++++++++ .../src/tools/car_pose.hpp | 11 ++ .../src/tools/interactive_object.hpp | 1 + 5 files changed, 112 insertions(+) create mode 100644 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a/common/tier4_perception_rviz_plugin/src/tools/car_pose.cpp b/common/tier4_perception_rviz_plugin/src/tools/car_pose.cpp index 654683ea925eb..cf07eeed99b3a 100644 --- a/common/tier4_perception_rviz_plugin/src/tools/car_pose.cpp +++ b/common/tier4_perception_rviz_plugin/src/tools/car_pose.cpp @@ -238,8 +238,104 @@ Object BusInitialPoseTool::createObjectMsg() const return object; } +BikeInitialPoseTool::BikeInitialPoseTool() +{ + // short cut below cyclist + shortcut_key_ = 'c'; + + enable_interactive_property_ = new rviz_common::properties::BoolProperty( + "Interactive", false, "Enable/Disable interactive action by manipulating mouse.", + getPropertyContainer()); + property_frame_ = new rviz_common::properties::TfFrameProperty( + "Target Frame", rviz_common::properties::TfFrameProperty::FIXED_FRAME_STRING, + "The TF frame where the point cloud is output.", getPropertyContainer(), nullptr, true); + topic_property_ = new rviz_common::properties::StringProperty( + "Pose Topic", "/simulation/dummy_perception_publisher/object_info", + "The topic on which to publish dummy object info.", getPropertyContainer(), SLOT(updateTopic()), + this); + std_dev_x_ = new rviz_common::properties::FloatProperty( + "X std deviation", 0.03, "X standard deviation for initial pose [m]", getPropertyContainer()); + std_dev_y_ = new rviz_common::properties::FloatProperty( + "Y std deviation", 0.03, "Y standard deviation for initial pose [m]", getPropertyContainer()); + std_dev_z_ = new rviz_common::properties::FloatProperty( + "Z std deviation", 0.03, "Z standard deviation for initial pose [m]", getPropertyContainer()); + std_dev_theta_ = new rviz_common::properties::FloatProperty( + "Theta std deviation", 5.0 * M_PI / 180.0, "Theta standard deviation for initial pose [rad]", + getPropertyContainer()); + length_ = new rviz_common::properties::FloatProperty( + "L vehicle length", 1.5, "L length for vehicle [m]", getPropertyContainer()); + width_ = new rviz_common::properties::FloatProperty( + "W vehicle width", 0.5, "W width for vehicle [m]", getPropertyContainer()); + height_ = new rviz_common::properties::FloatProperty( + "H vehicle height", 1.0, "H height for vehicle [m]", getPropertyContainer()); + position_z_ = new rviz_common::properties::FloatProperty( + "Z position", 0.0, "Z position for initial pose [m]", getPropertyContainer()); + velocity_ = new rviz_common::properties::FloatProperty( + "Velocity", 0.0, "velocity [m/s]", getPropertyContainer()); + accel_ = new rviz_common::properties::FloatProperty( + "Acceleration", 0.0, "acceleration [m/s^2]", getPropertyContainer()); + max_velocity_ = new rviz_common::properties::FloatProperty( + "Max velocity", 33.3, "Max velocity [m/s]", getPropertyContainer()); + min_velocity_ = new rviz_common::properties::FloatProperty( + "Min velocity", -33.3, "Min velocity [m/s]", getPropertyContainer()); + label_ = new rviz_common::properties::EnumProperty( + "Type", "BICYCLE", "BICYCLE or MOTORCYCLE", getPropertyContainer()); + std_dev_x_->setMin(0); + std_dev_y_->setMin(0); + std_dev_z_->setMin(0); + std_dev_theta_->setMin(0); + position_z_->setMin(0); + label_->addOption("BICYCLE", ObjectClassification::BICYCLE); + label_->addOption("MOTORCYCLE", ObjectClassification::MOTORCYCLE); +} + +void BikeInitialPoseTool::onInitialize() +{ + rviz_plugins::InteractiveObjectTool::onInitialize(); + setName("2D Dummy Bicycle"); + updateTopic(); +} + +Object BikeInitialPoseTool::createObjectMsg() const +{ + Object object{}; + std::string fixed_frame = context_->getFixedFrame().toStdString(); + + // header + object.header.frame_id = fixed_frame; + object.header.stamp = clock_->now(); + + // semantic + object.classification.label = label_->getOptionInt(); + object.classification.probability = 1.0; + + // shape + object.shape.type = Shape::BOUNDING_BOX; + object.shape.dimensions.x = length_->getFloat(); + object.shape.dimensions.y = width_->getFloat(); + object.shape.dimensions.z = height_->getFloat(); + + // initial state + object.initial_state.pose_covariance.pose.position.z = position_z_->getFloat(); + object.initial_state.pose_covariance.covariance[0] = + std_dev_x_->getFloat() * std_dev_x_->getFloat(); + object.initial_state.pose_covariance.covariance[7] = + std_dev_y_->getFloat() * std_dev_y_->getFloat(); + object.initial_state.pose_covariance.covariance[14] = + std_dev_z_->getFloat() * std_dev_z_->getFloat(); + object.initial_state.pose_covariance.covariance[35] = + std_dev_theta_->getFloat() * std_dev_theta_->getFloat(); + + std::mt19937 gen(std::random_device{}()); + std::independent_bits_engine bit_eng(gen); + std::generate(object.id.uuid.begin(), object.id.uuid.end(), bit_eng); + + return object; +} + } // end namespace rviz_plugins #include PLUGINLIB_EXPORT_CLASS(rviz_plugins::CarInitialPoseTool, rviz_common::Tool) PLUGINLIB_EXPORT_CLASS(rviz_plugins::BusInitialPoseTool, rviz_common::Tool) +PLUGINLIB_EXPORT_CLASS(rviz_plugins::BikeInitialPoseTool, rviz_common::Tool) diff --git a/common/tier4_perception_rviz_plugin/src/tools/car_pose.hpp b/common/tier4_perception_rviz_plugin/src/tools/car_pose.hpp index 43afe7db95dcd..4fc6aeb71771d 100644 --- a/common/tier4_perception_rviz_plugin/src/tools/car_pose.hpp +++ b/common/tier4_perception_rviz_plugin/src/tools/car_pose.hpp @@ -73,6 +73,17 @@ class BusInitialPoseTool : public InteractiveObjectTool [[nodiscard]] Object createObjectMsg() const override; }; +class BikeInitialPoseTool : public InteractiveObjectTool +{ +public: + BikeInitialPoseTool(); + void onInitialize() override; + [[nodiscard]] Object createObjectMsg() const override; + +private: + rviz_common::properties::EnumProperty * label_; +}; + } // namespace rviz_plugins #endif // TOOLS__CAR_POSE_HPP_ diff --git a/common/tier4_perception_rviz_plugin/src/tools/interactive_object.hpp b/common/tier4_perception_rviz_plugin/src/tools/interactive_object.hpp index 6f0b382eb0b58..fc40b08be822b 100644 --- a/common/tier4_perception_rviz_plugin/src/tools/interactive_object.hpp +++ b/common/tier4_perception_rviz_plugin/src/tools/interactive_object.hpp @@ -52,6 +52,7 @@ #include #include #include +#include #include #include #include From 9f5876180886b6c88788d5fe0394fce15f2d400f Mon Sep 17 00:00:00 2001 From: Yutaka Shimizu <43805014+purewater0901@users.noreply.github.com> Date: Fri, 24 Mar 2023 10:04:36 +0900 Subject: [PATCH 084/121] feat(behavior_path_planner): add distance explanation (#3158) * feat(behavior_path_planner): add distance explanation Signed-off-by: yutaka * Update planning/behavior_path_planner/behavior_path_planner_turn_signal_design.md Co-authored-by: Fumiya Watanabe --------- Signed-off-by: yutaka Co-authored-by: Fumiya Watanabe --- ...ehavior_path_planner_turn_signal_design.md | 4 + .../activation_distance.drawio.svg | 112 ++++++++++++++++++ 2 files changed, 116 insertions(+) create mode 100644 planning/behavior_path_planner/image/turn_signal_decider/activation_distance.drawio.svg diff --git a/planning/behavior_path_planner/behavior_path_planner_turn_signal_design.md b/planning/behavior_path_planner/behavior_path_planner_turn_signal_design.md index 8ee9a8f40a346..518df7f414627 100644 --- a/planning/behavior_path_planner/behavior_path_planner_turn_signal_design.md +++ b/planning/behavior_path_planner/behavior_path_planner_turn_signal_design.md @@ -49,6 +49,10 @@ These two sections have the following meanings. - In this section, ego vehicle must activate designated blinkers. However, if there are blinker conflicts, it must solve them based on the algorithm we mention later in this document. - Required section cannot be longer than desired section. +When turning on the blinker, it decides whether or not to turn on the specified blinker based on the distance from the front of the ego vehicle to the start point of each section. Conversely, when turning off the blinker, it calculates the distance from the base link of the ego vehicle to the end point of each section and decide whether or not to turn it off based on that. + +![activation_distance](./image/turn_signal_decider/activation_distance.drawio.svg) + For left turn, right turn, avoidance, lane change, pull over and pull out, we define these two sections, which are elaborated in the following part. #### 1. Left and Right turn diff --git a/planning/behavior_path_planner/image/turn_signal_decider/activation_distance.drawio.svg b/planning/behavior_path_planner/image/turn_signal_decider/activation_distance.drawio.svg new file mode 100644 index 0000000000000..8303e9502f7c4 --- /dev/null +++ b/planning/behavior_path_planner/image/turn_signal_decider/activation_distance.drawio.svg @@ -0,0 +1,112 @@ + + + + + + + + + + + + + + + + + + + + + +
+
+
+ start point +
+
+
+ + start point + + + + + + +
+
+
+ end point +
+
+
+ + end point + + + + + + + + + + + + + + + +
+
+
+ Front point to start point +
+
+
+ + Front point to start poi... + + + + + + +
+
+
+ End point to base link +
+
+
+ + End point to base link + + + + + + + Text is not SVG - cannot display + + + From 075b8f48f39621c01cf4460d1abbf013abc15bb4 Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Fri, 24 Mar 2023 11:02:53 +0900 Subject: [PATCH 085/121] feat(blind_spot): revert 2279 and tighten detection condition (#3153) Revert "feat(blind_spot): relax stop condition for predicted objects (#2279)" This reverts commit 6f17a7e0a16a2ffcc8c326dd7e0c9a9d4d569273. --- .../src/scene_module/blind_spot/scene.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/planning/behavior_velocity_planner/src/scene_module/blind_spot/scene.cpp b/planning/behavior_velocity_planner/src/scene_module/blind_spot/scene.cpp index 1c1bbd42b1115..cccfe3c623a6f 100644 --- a/planning/behavior_velocity_planner/src/scene_module/blind_spot/scene.cpp +++ b/planning/behavior_velocity_planner/src/scene_module/blind_spot/scene.cpp @@ -396,7 +396,7 @@ bool BlindSpotModule::checkObstacleInBlindSpot( lanelet::utils::to2D(areas_opt.get().detection_area)); bool exist_in_conflict_area = isPredictedPathInArea( object, areas_opt.get().conflict_area, planner_data_->current_odometry->pose); - if (exist_in_detection_area || exist_in_conflict_area) { + if (exist_in_detection_area && exist_in_conflict_area) { obstacle_detected = true; debug_data_.conflicting_targets.objects.push_back(object); } From e0e2a606381b05a17ca464c7589acda05f584779 Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Fri, 24 Mar 2023 11:13:20 +0900 Subject: [PATCH 086/121] chore(intersection): display intersection marker only when stopped (#3150) Signed-off-by: Mamoru Sobue --- .../scene_module/intersection/scene_intersection.hpp | 2 -- .../src/scene_module/intersection/debug.cpp | 10 ++++++---- .../scene_module/intersection/scene_intersection.cpp | 1 - 3 files changed, 6 insertions(+), 7 deletions(-) diff --git a/planning/behavior_velocity_planner/include/scene_module/intersection/scene_intersection.hpp b/planning/behavior_velocity_planner/include/scene_module/intersection/scene_intersection.hpp index a7ae4b496ef5d..7a4873c5dc66a 100644 --- a/planning/behavior_velocity_planner/include/scene_module/intersection/scene_intersection.hpp +++ b/planning/behavior_velocity_planner/include/scene_module/intersection/scene_intersection.hpp @@ -48,8 +48,6 @@ class IntersectionModule : public SceneModuleInterface public: struct DebugData { - bool stop_required; - geometry_msgs::msg::Pose stop_wall_pose; geometry_msgs::msg::Polygon stuck_vehicle_detect_area; geometry_msgs::msg::Polygon candidate_collision_ego_lane_polygon; diff --git a/planning/behavior_velocity_planner/src/scene_module/intersection/debug.cpp b/planning/behavior_velocity_planner/src/scene_module/intersection/debug.cpp index 861bcb05b726a..b2174e69512d8 100644 --- a/planning/behavior_velocity_planner/src/scene_module/intersection/debug.cpp +++ b/planning/behavior_velocity_planner/src/scene_module/intersection/debug.cpp @@ -176,10 +176,12 @@ visualization_msgs::msg::MarkerArray IntersectionModule::createVirtualWallMarker const auto now = this->clock_->now(); - appendMarkerArray( - virtual_wall_marker_creator_->createStopVirtualWallMarker( - {debug_data_.stop_wall_pose}, "intersection", now, module_id_), - &wall_marker, now); + if (state_machine_.getState() == StateMachine::State::STOP) { + appendMarkerArray( + virtual_wall_marker_creator_->createStopVirtualWallMarker( + {debug_data_.stop_wall_pose}, "intersection", now, module_id_), + &wall_marker, now); + } return wall_marker; } diff --git a/planning/behavior_velocity_planner/src/scene_module/intersection/scene_intersection.cpp b/planning/behavior_velocity_planner/src/scene_module/intersection/scene_intersection.cpp index 5872972678685..359f3eeaa4765 100644 --- a/planning/behavior_velocity_planner/src/scene_module/intersection/scene_intersection.cpp +++ b/planning/behavior_velocity_planner/src/scene_module/intersection/scene_intersection.cpp @@ -271,7 +271,6 @@ bool IntersectionModule::modifyPathVelocity(PathWithLaneId * path, StopReason * constexpr double v = 0.0; planning_utils::setVelocityFromIndex(stop_line_idx.value(), v, path); - debug_data_.stop_required = true; const double base_link2front = planner_data_->vehicle_info_.max_longitudinal_offset_m; debug_data_.stop_wall_pose = planning_utils::getAheadPose(stop_line_idx.value(), base_link2front, *path); From e6dfa181e87dd75cc70f5296cfb05caea6b8fbbd Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Fri, 24 Mar 2023 11:51:05 +0900 Subject: [PATCH 087/121] feat(obstacle_avoidance_planner): consider behavior's drivable area violation (#3086) * feat(obstacle_avoidance_planner): consider behavior's drivable area violation Signed-off-by: Takayuki Murooka * update param Signed-off-by: Takayuki Murooka * changed implementation Signed-off-by: Takayuki Murooka --------- Signed-off-by: Takayuki Murooka --- .../obstacle_avoidance_planner.param.yaml | 11 ++-- .../mpt_optimizer.hpp | 3 + .../src/mpt_optimizer.cpp | 55 +++++++++++++++++++ 3 files changed, 64 insertions(+), 5 deletions(-) diff --git a/planning/obstacle_avoidance_planner/config/obstacle_avoidance_planner.param.yaml b/planning/obstacle_avoidance_planner/config/obstacle_avoidance_planner.param.yaml index 334da22dc27c0..5586de985d8d7 100644 --- a/planning/obstacle_avoidance_planner/config/obstacle_avoidance_planner.param.yaml +++ b/planning/obstacle_avoidance_planner/config/obstacle_avoidance_planner.param.yaml @@ -61,7 +61,7 @@ mpt: option: # TODO(murooka) enable the following. Currently enabling the flag makes QP so heavy - steer_limit_constraint: false # true + steer_limit_constraint: false visualize_sampling_num: 1 enable_manual_warm_start: false enable_warm_start: true @@ -102,10 +102,11 @@ # avoidance avoidance: - max_avoidance_cost: 0.5 # [m] - avoidance_cost_margin: 0.0 # [m] - avoidance_cost_band_length: 5.0 # [m] - avoidance_cost_decrease_rate: 0.05 # decreased cost per point interval + max_longitudinal_margin_for_bound_violation: 1.0 # [m] + max_avoidance_cost: 0.5 # [m] + avoidance_cost_margin: 0.0 # [m] + avoidance_cost_band_length: 5.0 # [m] + avoidance_cost_decrease_rate: 0.05 # decreased cost per point interval weight: lat_error_weight: 0.0 # weight for lateral error diff --git a/planning/obstacle_avoidance_planner/include/obstacle_avoidance_planner/mpt_optimizer.hpp b/planning/obstacle_avoidance_planner/include/obstacle_avoidance_planner/mpt_optimizer.hpp index 4c70a02ce650b..eaffa77cb7826 100644 --- a/planning/obstacle_avoidance_planner/include/obstacle_avoidance_planner/mpt_optimizer.hpp +++ b/planning/obstacle_avoidance_planner/include/obstacle_avoidance_planner/mpt_optimizer.hpp @@ -178,6 +178,7 @@ class MPTOptimizer double steer_rate_weight; // avoidance + double max_longitudinal_margin_for_bound_violation; double max_avoidance_cost; double avoidance_cost_margin; double avoidance_cost_band_length; @@ -248,6 +249,8 @@ class MPTOptimizer std::vector & ref_points, const std::vector & left_bound, const std::vector & right_bound) const; + std::vector extendViolatedBounds( + const std::vector & ref_points) const; void updateVehicleBounds( std::vector & ref_points, const SplineInterpolationPoints2d & ref_points_spline) const; diff --git a/planning/obstacle_avoidance_planner/src/mpt_optimizer.cpp b/planning/obstacle_avoidance_planner/src/mpt_optimizer.cpp index dc95d7e1809a0..f5ec33cc84ccb 100644 --- a/planning/obstacle_avoidance_planner/src/mpt_optimizer.cpp +++ b/planning/obstacle_avoidance_planner/src/mpt_optimizer.cpp @@ -234,6 +234,8 @@ MPTOptimizer::MPTParam::MPTParam( } { // avoidance + max_longitudinal_margin_for_bound_violation = + node->declare_parameter("mpt.avoidance.max_longitudinal_margin_for_bound_violation"); max_avoidance_cost = node->declare_parameter("mpt.avoidance.max_avoidance_cost"); avoidance_cost_margin = node->declare_parameter("mpt.avoidance.avoidance_cost_margin"); avoidance_cost_band_length = @@ -374,6 +376,9 @@ void MPTOptimizer::MPTParam::onParam(const std::vector & para } { // avoidance + updateParam( + parameters, "mpt.avoidance.max_longitudinal_margin_for_bound_violation", + max_longitudinal_margin_for_bound_violation); updateParam(parameters, "mpt.avoidance.max_avoidance_cost", max_avoidance_cost); updateParam(parameters, "mpt.avoidance.avoidance_cost_margin", avoidance_cost_margin); updateParam( @@ -785,6 +790,9 @@ void MPTOptimizer::updateBounds( ref_point.bounds = Bounds{dist_to_right_bound, dist_to_left_bound}; } + // extend violated bounds, where the input path is outside the drivable area + ref_points = extendViolatedBounds(ref_points); + /* // TODO(murooka) deal with filling data between obstacles // fill between obstacles @@ -806,6 +814,53 @@ void MPTOptimizer::updateBounds( return; } +std::vector MPTOptimizer::extendViolatedBounds( + const std::vector & ref_points) const +{ + auto extended_ref_points = ref_points; + const int max_length_idx = std::floor( + mpt_param_.max_longitudinal_margin_for_bound_violation / mpt_param_.delta_arc_length); + for (int i = 0; i < static_cast(ref_points.size()) - 1; ++i) { + // before violation + if ( + ref_points.at(i).bounds.lower_bound <= 0.0 && + 0.0 <= ref_points.at(i + 1).bounds.lower_bound) { + for (int j = 0; j <= max_length_idx; ++j) { + const int k = std::clamp(i - j, 0, static_cast(ref_points.size()) - 1); + extended_ref_points.at(k).bounds.lower_bound = ref_points.at(i + 1).bounds.lower_bound; + } + } + + if ( + 0.0 <= ref_points.at(i).bounds.upper_bound && + ref_points.at(i + 1).bounds.upper_bound <= 0.0) { + for (int j = 0; j <= max_length_idx; ++j) { + const int k = std::clamp(i - j, 0, static_cast(ref_points.size()) - 1); + extended_ref_points.at(k).bounds.upper_bound = ref_points.at(i + 1).bounds.upper_bound; + } + } + + // after violation + if (0 <= ref_points.at(i).bounds.lower_bound && ref_points.at(i + 1).bounds.lower_bound <= 0) { + for (int j = 0; j <= max_length_idx; ++j) { + const int k = std::clamp(i + j, 0, static_cast(ref_points.size()) - 1); + extended_ref_points.at(k).bounds.lower_bound = ref_points.at(i).bounds.lower_bound; + } + } + + if ( + ref_points.at(i).bounds.upper_bound <= 0.0 && + 0.0 <= ref_points.at(i + 1).bounds.upper_bound) { + for (int j = 0; j <= max_length_idx; ++j) { + const int k = std::clamp(i + j, 0, static_cast(ref_points.size()) - 1); + extended_ref_points.at(k).bounds.upper_bound = ref_points.at(i).bounds.upper_bound; + } + } + } + + return extended_ref_points; +} + void MPTOptimizer::updateVehicleBounds( std::vector & ref_points, const SplineInterpolationPoints2d & ref_points_spline) const From 84c72cd4e4817186f6414ca1982a6ac1292e8b2a Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Fri, 24 Mar 2023 16:29:53 +0900 Subject: [PATCH 088/121] fix(avoidance): fix shift line generation logic (#3099) Signed-off-by: satoshi-ota --- .../src/scene_module/avoidance/avoidance_module.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp b/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp index d48e141fb55fe..282edb7a9ed79 100644 --- a/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp +++ b/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp @@ -1115,8 +1115,8 @@ AvoidLineArray AvoidanceModule::calcRawShiftLinesFromObjects( if (!data.avoiding_now) { o.reason = AvoidanceDebugFactor::REMAINING_DISTANCE_LESS_THAN_ZERO; debug.unavoidable_objects.push_back(o); + continue; } - continue; } // This is the case of exceeding the jerk limit. Use the sharp avoidance ego speed. @@ -1129,8 +1129,8 @@ AvoidLineArray AvoidanceModule::calcRawShiftLinesFromObjects( if (!data.avoiding_now) { o.reason = AvoidanceDebugFactor::TOO_LARGE_JERK; debug.unavoidable_objects.push_back(o); + continue; } - continue; } } const auto avoiding_distance = From 8cc9e277dcd382beb148c96ff4cb11f0a281a9ef Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Fri, 24 Mar 2023 17:09:37 +0900 Subject: [PATCH 089/121] feat(tier4_simulator_launch): convert /diagnostics_err (#3152) Signed-off-by: Takayuki Murooka --- launch/tier4_simulator_launch/launch/simulator.launch.xml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/launch/tier4_simulator_launch/launch/simulator.launch.xml b/launch/tier4_simulator_launch/launch/simulator.launch.xml index 70b87921ecca5..eb5fee271d662 100644 --- a/launch/tier4_simulator_launch/launch/simulator.launch.xml +++ b/launch/tier4_simulator_launch/launch/simulator.launch.xml @@ -109,7 +109,7 @@ - + From 319577a9caeac1ca899dbf3ec15490e97910f6a9 Mon Sep 17 00:00:00 2001 From: "awf-autoware-bot[bot]" <94889083+awf-autoware-bot[bot]@users.noreply.github.com> Date: Sun, 26 Mar 2023 13:19:53 +0900 Subject: [PATCH 090/121] chore: sync files (#2907) Signed-off-by: GitHub Co-authored-by: kenji-miyake --- .github/workflows/build-and-test-differential.yaml | 2 +- .pre-commit-config-optional.yaml | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/.github/workflows/build-and-test-differential.yaml b/.github/workflows/build-and-test-differential.yaml index c114dac59e325..3c0f0862c92ab 100644 --- a/.github/workflows/build-and-test-differential.yaml +++ b/.github/workflows/build-and-test-differential.yaml @@ -77,7 +77,7 @@ jobs: - name: Get modified files id: get-modified-files - uses: tj-actions/changed-files@v34 + uses: tj-actions/changed-files@v35 with: files: | **/*.cpp diff --git a/.pre-commit-config-optional.yaml b/.pre-commit-config-optional.yaml index e0019e10d5210..caa92d0812ab0 100644 --- a/.pre-commit-config-optional.yaml +++ b/.pre-commit-config-optional.yaml @@ -1,6 +1,6 @@ repos: - repo: https://github.com/tcort/markdown-link-check - rev: v3.10.3 + rev: v3.11.0 hooks: - id: markdown-link-check args: [--config=.markdown-link-check.json] From f5770cc3175f30a5758bc11949fa86d030b5aed3 Mon Sep 17 00:00:00 2001 From: "awf-autoware-bot[bot]" <94889083+awf-autoware-bot[bot]@users.noreply.github.com> Date: Mon, 27 Mar 2023 00:14:47 +0000 Subject: [PATCH 091/121] chore: sync files (#3163) Signed-off-by: GitHub Co-authored-by: kenji-miyake --- .pre-commit-config.yaml | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml index 5e57d3b6c0998..da14e953ba1c1 100644 --- a/.pre-commit-config.yaml +++ b/.pre-commit-config.yaml @@ -24,12 +24,12 @@ repos: args: [-c, .markdownlint.yaml, --fix] - repo: https://github.com/pre-commit/mirrors-prettier - rev: v3.0.0-alpha.4 + rev: v3.0.0-alpha.6 hooks: - id: prettier - repo: https://github.com/adrienverge/yamllint - rev: v1.29.0 + rev: v1.30.0 hooks: - id: yamllint @@ -49,7 +49,7 @@ repos: - id: shellcheck - repo: https://github.com/scop/pre-commit-shfmt - rev: v3.6.0-1 + rev: v3.6.0-2 hooks: - id: shfmt args: [-w, -s, -i=4] @@ -66,7 +66,7 @@ repos: args: [--line-length=100] - repo: https://github.com/pre-commit/mirrors-clang-format - rev: v15.0.7 + rev: v16.0.0 hooks: - id: clang-format types_or: [c++, c, cuda] From d5d14afdd7480d47bbb85ee852ad2df086fcd7bd Mon Sep 17 00:00:00 2001 From: Takamasa Horibe Date: Mon, 27 Mar 2023 12:02:24 +0900 Subject: [PATCH 092/121] refactor(mpc): remove unused file (#3164) Signed-off-by: Takamasa Horibe --- .../src/smooth_stop.cpp | 161 ------------------ 1 file changed, 161 deletions(-) delete mode 100644 control/mpc_lateral_controller/src/smooth_stop.cpp diff --git a/control/mpc_lateral_controller/src/smooth_stop.cpp b/control/mpc_lateral_controller/src/smooth_stop.cpp deleted file mode 100644 index 564acd62c0d82..0000000000000 --- a/control/mpc_lateral_controller/src/smooth_stop.cpp +++ /dev/null @@ -1,161 +0,0 @@ -// Copyright 2021 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 "mpc_lateral_controller/smooth_stop.hpp" - -#include // NOLINT - -#include -#include -#include -#include -#include - -namespace autoware::motion::control::mpc_lateral_controller -{ -void SmoothStop::init(const double pred_vel_in_target, const double pred_stop_dist) -{ - m_weak_acc_time = rclcpp::Clock{RCL_ROS_TIME}.now(); - - // when distance to stopline is near the car - if (pred_stop_dist < std::numeric_limits::epsilon()) { - m_strong_acc = m_params.min_strong_acc; - return; - } - - m_strong_acc = -std::pow(pred_vel_in_target, 2) / (2 * pred_stop_dist); - m_strong_acc = std::max(std::min(m_strong_acc, m_params.max_strong_acc), m_params.min_strong_acc); -} - -void SmoothStop::setParams( - double max_strong_acc, double min_strong_acc, double weak_acc, double weak_stop_acc, - double strong_stop_acc, double min_fast_vel, double min_running_vel, double min_running_acc, - double weak_stop_time, double weak_stop_dist, double strong_stop_dist) -{ - m_params.max_strong_acc = max_strong_acc; - m_params.min_strong_acc = min_strong_acc; - m_params.weak_acc = weak_acc; - m_params.weak_stop_acc = weak_stop_acc; - m_params.strong_stop_acc = strong_stop_acc; - - m_params.min_fast_vel = min_fast_vel; - m_params.min_running_vel = min_running_vel; - m_params.min_running_acc = min_running_acc; - m_params.weak_stop_time = weak_stop_time; - - m_params.weak_stop_dist = weak_stop_dist; - m_params.strong_stop_dist = strong_stop_dist; - - m_is_set_params = true; -} - -std::experimental::optional SmoothStop::calcTimeToStop( - const std::vector> & vel_hist) const -{ - if (!m_is_set_params) { - throw std::runtime_error("Trying to calculate uninitialized SmoothStop"); - } - - // return when vel_hist is empty - const double vel_hist_size = static_cast(vel_hist.size()); - if (vel_hist_size == 0.0) { - return {}; - } - - // calculate some variables for fitting - const rclcpp::Time current_ros_time = rclcpp::Clock{RCL_ROS_TIME}.now(); - double mean_t = 0.0; - double mean_v = 0.0; - double sum_tv = 0.0; - double sum_tt = 0.0; - for (const auto & vel : vel_hist) { - const double t = (vel.first - current_ros_time).seconds(); - const double v = vel.second; - - mean_t += t / vel_hist_size; - mean_v += v / vel_hist_size; - sum_tv += t * v; - sum_tt += t * t; - } - - // return when gradient a (of v = at + b) cannot be calculated. - // See the following calculation of a - if (std::abs(vel_hist_size * mean_t * mean_t - sum_tt) < std::numeric_limits::epsilon()) { - return {}; - } - - // calculate coefficients of linear function (v = at + b) - const double a = - (vel_hist_size * mean_t * mean_v - sum_tv) / (vel_hist_size * mean_t * mean_t - sum_tt); - const double b = mean_v - a * mean_t; - - // return when v is independent of time (v = b) - if (std::abs(a) < std::numeric_limits::epsilon()) { - return {}; - } - - // calculate time to stop by substituting v = 0 for v = at + b - const double time_to_stop = -b / a; - if (time_to_stop > 0) { - return time_to_stop; - } - - return {}; -} - -double SmoothStop::calculate( - const double stop_dist, const double current_vel, const double current_acc, - const std::vector> & vel_hist, const double delay_time) -{ - if (!m_is_set_params) { - throw std::runtime_error("Trying to calculate uninitialized SmoothStop"); - } - - // predict time to stop - const auto time_to_stop = calcTimeToStop(vel_hist); - - // calculate some flags - const bool is_fast_vel = std::abs(current_vel) > m_params.min_fast_vel; - const bool is_running = std::abs(current_vel) > m_params.min_running_vel || - std::abs(current_acc) > m_params.min_running_acc; - - // when exceeding the stopline (stop_dist is negative in these cases.) - if (stop_dist < m_params.strong_stop_dist) { // when exceeding the stopline much - return m_params.strong_stop_acc; - } else if (stop_dist < m_params.weak_stop_dist) { // when exceeding the stopline a bit - return m_params.weak_stop_acc; - } - - // when the car is running - if (is_running) { - // when the car will not stop in a certain time - if (time_to_stop && *time_to_stop > m_params.weak_stop_time + delay_time) { - return m_strong_acc; - } else if (!time_to_stop && is_fast_vel) { - return m_strong_acc; - } - - m_weak_acc_time = rclcpp::Clock{RCL_ROS_TIME}.now(); - return m_params.weak_acc; - } - - // for 0.5 seconds after the car stopped - if ((rclcpp::Clock{RCL_ROS_TIME}.now() - m_weak_acc_time).seconds() < 0.5) { - return m_params.weak_acc; - } - - // when the car is not running - return m_params.strong_stop_acc; -} -} // namespace autoware::motion::control::mpc_lateral_controller From 49722f906df8cb1bd2166ee06101848a447790cc Mon Sep 17 00:00:00 2001 From: Manato Hirabayashi <3022416+manato@users.noreply.github.com> Date: Mon, 27 Mar 2023 12:12:05 +0900 Subject: [PATCH 093/121] feat: add ByteTrack package (#3023) * feat(bytetrack): initial port * refactor(bytetrack): apply naming rule * feat(bytetrack): add a visualizer node * docs(bytetrack): add readme and clarify the license * style(pre-commit): autofix * chore(bytetrack): update/add lisence declaration * docs(bytetrack): specify commit hash to GitHub link * chore: remove unused file * style(bytetrack): rewrite function names to be lower snake case according to style rules * style: eliminate pre-commit error * fix(bytetrack): small bug correction and removing target specific condition * chore(bytetrack): re-order lisence statements * style(pre-commit): autofix * docs(bytetrack): Update README * build(bytetrack): use autoware_cmake to reduce boilerplate code * feat(bytetrack): add a flag to switch visualizer execution * fix(bytetrack): delete unused package from package.xml * fix(bytetrack): remove lint_cmake error * ci(bytetrack): Update package.xml Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> --- perception/bytetrack/CMakeLists.txt | 93 ++++ perception/bytetrack/README.md | 99 +++++ .../bytetrack/include/bytetrack/bytetrack.hpp | 62 +++ .../include/bytetrack/bytetrack_node.hpp | 59 +++ .../bytetrack/bytetrack_visualizer_node.hpp | 104 +++++ .../bytetrack/launch/bytetrack.launch.xml | 24 ++ .../bytetrack/lib/include/byte_tracker.h | 100 +++++ perception/bytetrack/lib/include/data_type.h | 76 ++++ .../bytetrack/lib/include/kalman_filter.h | 67 +++ perception/bytetrack/lib/include/lapjv.h | 110 +++++ perception/bytetrack/lib/include/strack.h | 94 +++++ perception/bytetrack/lib/src/byte_tracker.cpp | 243 +++++++++++ .../bytetrack/lib/src/kalman_filter.cpp | 175 ++++++++ perception/bytetrack/lib/src/lapjv.cpp | 362 ++++++++++++++++ perception/bytetrack/lib/src/strack.cpp | 222 ++++++++++ perception/bytetrack/lib/src/utils.cpp | 399 ++++++++++++++++++ perception/bytetrack/package.xml | 35 ++ perception/bytetrack/src/bytetrack.cpp | 68 +++ perception/bytetrack/src/bytetrack_node.cpp | 113 +++++ .../src/bytetrack_visualizer_node.cpp | 189 +++++++++ 20 files changed, 2694 insertions(+) create mode 100644 perception/bytetrack/CMakeLists.txt create mode 100644 perception/bytetrack/README.md create mode 100644 perception/bytetrack/include/bytetrack/bytetrack.hpp create mode 100644 perception/bytetrack/include/bytetrack/bytetrack_node.hpp create mode 100644 perception/bytetrack/include/bytetrack/bytetrack_visualizer_node.hpp create mode 100644 perception/bytetrack/launch/bytetrack.launch.xml create mode 100644 perception/bytetrack/lib/include/byte_tracker.h create mode 100644 perception/bytetrack/lib/include/data_type.h create mode 100644 perception/bytetrack/lib/include/kalman_filter.h create mode 100644 perception/bytetrack/lib/include/lapjv.h create mode 100644 perception/bytetrack/lib/include/strack.h create mode 100644 perception/bytetrack/lib/src/byte_tracker.cpp create mode 100644 perception/bytetrack/lib/src/kalman_filter.cpp create mode 100644 perception/bytetrack/lib/src/lapjv.cpp create mode 100644 perception/bytetrack/lib/src/strack.cpp create mode 100644 perception/bytetrack/lib/src/utils.cpp create mode 100644 perception/bytetrack/package.xml create mode 100644 perception/bytetrack/src/bytetrack.cpp create mode 100644 perception/bytetrack/src/bytetrack_node.cpp create mode 100644 perception/bytetrack/src/bytetrack_visualizer_node.cpp diff --git a/perception/bytetrack/CMakeLists.txt b/perception/bytetrack/CMakeLists.txt new file mode 100644 index 0000000000000..3e3d520eef14a --- /dev/null +++ b/perception/bytetrack/CMakeLists.txt @@ -0,0 +1,93 @@ +cmake_minimum_required(VERSION 3.5) +project(bytetrack) + +find_package(autoware_cmake REQUIRED) +autoware_package() + +find_package(OpenCV REQUIRED) +find_package(Eigen3 REQUIRED) +find_package(OpenMP REQUIRED) +if(OpenMP_FOUND) + set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${OpenMP_C_FLAGS}") + set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS}") +endif() +find_package(Boost REQUIRED) + +# +# Core library +# +file(GLOB bytetrack_lib_src + "lib/src/*.cpp" +) + +ament_auto_add_library(bytetrack_lib SHARED + ${bytetrack_lib_src} +) + +target_include_directories(bytetrack_lib + PUBLIC + $ + $ +) + +# +# ROS node +# +ament_auto_add_library(${PROJECT_NAME} SHARED + src/bytetrack.cpp +) + +ament_target_dependencies(${PROJECT_NAME} + OpenCV +) + +target_include_directories(${PROJECT_NAME} + PUBLIC + $ + $ +) + +target_compile_definitions(${PROJECT_NAME} PRIVATE + TENSORRT_VERSION_MAJOR=${TENSORRT_VERSION_MAJOR} +) + +ament_auto_add_library(${PROJECT_NAME}_node SHARED + src/bytetrack_node.cpp +) + +ament_target_dependencies(${PROJECT_NAME}_node + OpenCV +) + +target_link_libraries(${PROJECT_NAME}_node + ${PROJECT_NAME} +) + +target_compile_definitions(${PROJECT_NAME}_node PRIVATE + TENSORRT_VERSION_MAJOR=${TENSORRT_VERSION_MAJOR} +) + +rclcpp_components_register_node(${PROJECT_NAME}_node + PLUGIN "bytetrack::ByteTrackNode" + EXECUTABLE ${PROJECT_NAME}_node_exe +) + +# +# Visualizer +# +ament_auto_add_library(${PROJECT_NAME}_visualizer SHARED + src/bytetrack_visualizer_node.cpp +) + +ament_target_dependencies(${PROJECT_NAME}_visualizer + OpenCV +) + +rclcpp_components_register_node(${PROJECT_NAME}_visualizer + PLUGIN "bytetrack::ByteTrackVisualizerNode" + EXECUTABLE ${PROJECT_NAME}_visualizer_node_exe +) + +ament_auto_package(INSTALL_TO_SHARE + launch +) diff --git a/perception/bytetrack/README.md b/perception/bytetrack/README.md new file mode 100644 index 0000000000000..c71b62cada29f --- /dev/null +++ b/perception/bytetrack/README.md @@ -0,0 +1,99 @@ +# bytetrack + +## Purpose + +The core algorithm, named `ByteTrack`, mainly aims to perform multi-object tracking. +Because the algorithm associates almost every detection box including ones with low detection scores, +the number of false negatives is expected to decrease by using it. + +[demo video](https://user-images.githubusercontent.com/3022416/225920856-745a3bb7-6b35-403d-87b0-6e5085952d70.mp4) + +## Inner-workings / Algorithms + +### Cite + +- Yifu Zhang, Peize Sun, Yi Jiang, Dongdong Yu, Fucheng Weng, Zehuan Yuan, Ping Luo, Wenyu Liu, and Xinggang Wang, + "ByteTrack: Multi-Object Tracking by Associating Every Detection Box", in the proc. of the ECCV + 2022, [[ref](https://arxiv.org/abs/2110.06864)] +- This package is ported version toward Autoware from [this repository](https://github.com/ifzhang/ByteTrack/tree/main/deploy/TensorRT/cpp) + (The C++ implementation by the ByteTrack's authors) + +## Inputs / Outputs + +### bytetrack_node + +#### Input + +| Name | Type | Description | +| --------- | -------------------------------------------------- | ------------------------------------------- | +| `in/rect` | `tier4_perception_msgs/DetectedObjectsWithFeature` | The detected objects with 2D bounding boxes | + +#### Output + +| Name | Type | Description | +| ------------------------ | -------------------------------------------------- | --------------------------------------------------------- | +| `out/objects` | `tier4_perception_msgs/DetectedObjectsWithFeature` | The detected objects with 2D bounding boxes | +| `out/objects/debug/uuid` | `tier4_perception_msgs/DynamicObjectArray` | The universally unique identifiers (UUID) for each object | + +### bytetrack_visualizer + +#### Input + +| Name | Type | Description | +| ---------- | ---------------------------------------------------- | --------------------------------------------------------- | +| `in/image` | `sensor_msgs/Image` or `sensor_msgs/CompressedImage` | The input image on which object detection is performed | +| `in/rect` | `tier4_perception_msgs/DetectedObjectsWithFeature` | The detected objects with 2D bounding boxes | +| `in/uuid` | `tier4_perception_msgs/DynamicObjectArray` | The universally unique identifiers (UUID) for each object | + +#### Output + +| Name | Type | Description | +| ----------- | ------------------- | ----------------------------------------------------------------- | +| `out/image` | `sensor_msgs/Image` | The image that detection bounding boxes and their UUIDs are drawn | + +## Parameters + +### bytetrack_node + +| Name | Type | Default Value | Description | +| --------------------- | ---- | ------------- | -------------------------------------------------------- | +| `track_buffer_length` | int | 30 | The frame count that a tracklet is considered to be lost | + +### bytetrack_visualizer + +| Name | Type | Default Value | Description | +| --------- | ---- | ------------- | --------------------------------------------------------------------------------------------- | +| `use_raw` | bool | false | The flag for the node to switch `sensor_msgs/Image` or `sensor_msgs/CompressedImage` as input | + +## Assumptions/Known limits + +## Reference repositories + +- + +## License + +The codes under the `lib` directory are copied from [the original codes](https://github.com/ifzhang/ByteTrack/tree/72ca8b45d36caf5a39e949c6aa815d9abffd1ab5/deploy/TensorRT/cpp) and modified. +The original codes belong to the MIT license stated as follows, while this ported packages are provided with Apache License 2.0: + +> MIT License +> +> Copyright (c) 2021 Yifu Zhang +> +> Permission is hereby granted, free of charge, to any person obtaining a copy +> of this software and associated documentation files (the "Software"), to deal +> in the Software without restriction, including without limitation the rights +> to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +> copies of the Software, and to permit persons to whom the Software is +> furnished to do so, subject to the following conditions: +> +> The above copyright notice and this permission notice shall be included in all +> copies or substantial portions of the Software. +> +> THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +> IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +> FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +> AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +> LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +> OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +> SOFTWARE. diff --git a/perception/bytetrack/include/bytetrack/bytetrack.hpp b/perception/bytetrack/include/bytetrack/bytetrack.hpp new file mode 100644 index 0000000000000..549ecaac84567 --- /dev/null +++ b/perception/bytetrack/include/bytetrack/bytetrack.hpp @@ -0,0 +1,62 @@ +// 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 BYTETRACK__BYTETRACK_HPP_ +#define BYTETRACK__BYTETRACK_HPP_ + +#include "byte_tracker.h" +#include "strack.h" + +#include +#include + +#include + +#include +#include +#include +#include + +namespace bytetrack +{ +struct Object +{ + int32_t x_offset; + int32_t y_offset; + int32_t height; + int32_t width; + float score; + int32_t type; + int32_t track_id; + boost::uuids::uuid unique_id; +}; + +using ObjectArray = std::vector; + +class ByteTrack +{ +public: + explicit ByteTrack(const int track_buffer_length = 30); + + bool do_inference(ObjectArray & objects); + ObjectArray update_tracker(ObjectArray & input_objects); + +private: + std::unique_ptr tracker_; + ObjectArray latest_objects_; +}; + +} // namespace bytetrack + +#endif // BYTETRACK__BYTETRACK_HPP_ diff --git a/perception/bytetrack/include/bytetrack/bytetrack_node.hpp b/perception/bytetrack/include/bytetrack/bytetrack_node.hpp new file mode 100644 index 0000000000000..6b801ddf93268 --- /dev/null +++ b/perception/bytetrack/include/bytetrack/bytetrack_node.hpp @@ -0,0 +1,59 @@ +// 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 BYTETRACK__BYTETRACK_NODE_HPP_ +#define BYTETRACK__BYTETRACK_NODE_HPP_ + +#include +#include + +#include +#include + +#include + +#include +#include +#include +#include +#include +#include + +namespace bytetrack +{ +using LabelMap = std::map; + +class ByteTrackNode : public rclcpp::Node +{ +public: + explicit ByteTrackNode(const rclcpp::NodeOptions & node_options); + +private: + void on_connect(); + void on_rect(const tier4_perception_msgs::msg::DetectedObjectsWithFeature::ConstSharedPtr msg); + + rclcpp::Publisher::SharedPtr objects_pub_; + rclcpp::Publisher::SharedPtr objects_uuid_pub_; + + rclcpp::Subscription::SharedPtr + detection_rect_sub_; + + rclcpp::TimerBase::SharedPtr timer_; + + std::unique_ptr bytetrack_; +}; + +} // namespace bytetrack + +#endif // BYTETRACK__BYTETRACK_NODE_HPP_ diff --git a/perception/bytetrack/include/bytetrack/bytetrack_visualizer_node.hpp b/perception/bytetrack/include/bytetrack/bytetrack_visualizer_node.hpp new file mode 100644 index 0000000000000..56f060ecfa9d5 --- /dev/null +++ b/perception/bytetrack/include/bytetrack/bytetrack_visualizer_node.hpp @@ -0,0 +1,104 @@ +// 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 BYTETRACK__BYTETRACK_VISUALIZER_NODE_HPP_ +#define BYTETRACK__BYTETRACK_VISUALIZER_NODE_HPP_ + +#include +#include +#include +#include + +#include +#include + +#include + +#include +#include +#include + +#include +#include +#include +#include +#include + +namespace bytetrack +{ +// A helper class to generate bright color instance +class ColorMapper +{ +public: + const size_t kColorNum = 512; + ColorMapper() + { + // generate bright color map + cv::Mat src = cv::Mat::zeros(cv::Size(kColorNum, 1), CV_8UC1); + for (size_t i = 0; i < kColorNum; i++) { + src.at(0, i) = i; + } + cv::applyColorMap(src, color_table_, cv::COLORMAP_HSV); + } + + cv::Scalar operator()(size_t idx) + { + if (kColorNum <= idx) { + throw std::runtime_error("idx should be between [0, 255]"); + } + return color_table_.at(0, idx); + } + +protected: + cv::Mat color_table_; +}; + +class ByteTrackVisualizerNode : public rclcpp::Node +{ +public: + explicit ByteTrackVisualizerNode(const rclcpp::NodeOptions & node_options); + ~ByteTrackVisualizerNode(); + +protected: + void on_timer(); + bool get_topic_qos(const std::string & query_topic, rclcpp::QoS & qos); + + void callback( + const sensor_msgs::msg::Image::SharedPtr & image_msg, + const tier4_perception_msgs::msg::DetectedObjectsWithFeature::SharedPtr & rect_msg, + const tier4_perception_msgs::msg::DynamicObjectArray::SharedPtr & uuid_msg); + void draw( + cv::Mat & image, const std::vector & bboxes, + const std::vector & uuids); + + image_transport::SubscriberFilter image_sub_; + message_filters::Subscriber rect_sub_; + message_filters::Subscriber uuid_sub_; + + using ExactTimeSyncPolicy = message_filters::sync_policies::ExactTime< + sensor_msgs::msg::Image, tier4_perception_msgs::msg::DetectedObjectsWithFeature, + tier4_perception_msgs::msg::DynamicObjectArray>; + using ExactTimeSync = message_filters::Synchronizer; + std::shared_ptr sync_ptr_; + + image_transport::Publisher image_pub_; + + rclcpp::TimerBase::SharedPtr timer_; + + bool use_raw_; + ColorMapper color_map_; +}; +} // namespace bytetrack + +#endif // BYTETRACK__BYTETRACK_VISUALIZER_NODE_HPP_ diff --git a/perception/bytetrack/launch/bytetrack.launch.xml b/perception/bytetrack/launch/bytetrack.launch.xml new file mode 100644 index 0000000000000..25ed56b991c30 --- /dev/null +++ b/perception/bytetrack/launch/bytetrack.launch.xml @@ -0,0 +1,24 @@ + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/perception/bytetrack/lib/include/byte_tracker.h b/perception/bytetrack/lib/include/byte_tracker.h new file mode 100644 index 0000000000000..08394e6b0ccdf --- /dev/null +++ b/perception/bytetrack/lib/include/byte_tracker.h @@ -0,0 +1,100 @@ +/* + * MIT License + * + * Copyright (c) 2021 Yifu Zhang + * + * Permission is hereby granted, free of charge, to any person obtaining a copy + * of this software and associated documentation files (the "Software"), to deal + * in the Software without restriction, including without limitation the rights + * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + * copies of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE + * SOFTWARE. + */ + +// 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. + +#pragma once + +#include "strack.h" + +#include + +struct ByteTrackObject +{ + cv::Rect_ rect; + int label; + float prob; +}; + +class ByteTracker +{ +public: + ByteTracker( + int track_buffer = 30, float track_thresh = 0.5, float high_thresh = 0.6, + float match_thresh = 0.8); + ~ByteTracker(); + + std::vector update(const std::vector & objects); + cv::Scalar get_color(int idx); + +private: + std::vector joint_stracks(std::vector & tlista, std::vector & tlistb); + std::vector joint_stracks(std::vector & tlista, std::vector & tlistb); + + std::vector sub_stracks(std::vector & tlista, std::vector & tlistb); + void remove_duplicate_stracks( + std::vector & resa, std::vector & resb, std::vector & stracksa, + std::vector & stracksb); + + void linear_assignment( + std::vector> & cost_matrix, int cost_matrix_size, int cost_matrix_size_size, + float thresh, std::vector> & matches, std::vector & unmatched_a, + std::vector & unmatched_b); + std::vector> iou_distance( + std::vector & atracks, std::vector & btracks, int & dist_size, + int & dist_size_size); + std::vector> iou_distance( + std::vector & atracks, std::vector & btracks); + std::vector> ious( + std::vector> & atlbrs, std::vector> & btlbrs); + + double lapjv( + const std::vector> & cost, std::vector & rowsol, + std::vector & colsol, bool extend_cost = false, float cost_limit = LONG_MAX, + bool return_cost = true); + +private: + float track_thresh; + float high_thresh; + float match_thresh; + int frame_id; + int max_time_lost; + + std::vector tracked_stracks; + std::vector lost_stracks; + std::vector removed_stracks; + byte_kalman::KalmanFilter kalman_filter; +}; diff --git a/perception/bytetrack/lib/include/data_type.h b/perception/bytetrack/lib/include/data_type.h new file mode 100644 index 0000000000000..d76baa8945637 --- /dev/null +++ b/perception/bytetrack/lib/include/data_type.h @@ -0,0 +1,76 @@ +/* + * MIT License + * + * Copyright (c) 2021 Yifu Zhang + * + * Permission is hereby granted, free of charge, to any person obtaining a copy + * of this software and associated documentation files (the "Software"), to deal + * in the Software without restriction, including without limitation the rights + * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + * copies of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE + * SOFTWARE. + */ + +// 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. + +#pragma once + +#include +#include + +#include +#include +#include +typedef Eigen::Matrix DETECTBOX; +typedef Eigen::Matrix DETECTBOXSS; +typedef Eigen::Matrix FEATURE; +typedef Eigen::Matrix FEATURESS; +// typedef std::vector FEATURESS; + +// Kalmanfilter +// typedef Eigen::Matrix KAL_FILTER; +typedef Eigen::Matrix KAL_MEAN; +typedef Eigen::Matrix KAL_COVA; +typedef Eigen::Matrix KAL_HMEAN; +typedef Eigen::Matrix KAL_HCOVA; +using KAL_DATA = std::pair; +using KAL_HDATA = std::pair; + +// main +using RESULT_DATA = std::pair; + +// tracker: +using TRACKER_DATA = std::pair; +using MATCH_DATA = std::pair; +typedef struct t +{ + std::vector matches; + std::vector unmatched_tracks; + std::vector unmatched_detections; +} TRACHER_MATCHD; + +// linear_assignment: +typedef Eigen::Matrix DYNAMICM; diff --git a/perception/bytetrack/lib/include/kalman_filter.h b/perception/bytetrack/lib/include/kalman_filter.h new file mode 100644 index 0000000000000..f2b1e1c7817dd --- /dev/null +++ b/perception/bytetrack/lib/include/kalman_filter.h @@ -0,0 +1,67 @@ +/* + * MIT License + * + * Copyright (c) 2021 Yifu Zhang + * + * Permission is hereby granted, free of charge, to any person obtaining a copy + * of this software and associated documentation files (the "Software"), to deal + * in the Software without restriction, including without limitation the rights + * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + * copies of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE + * SOFTWARE. + */ + +// 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. + +#pragma once + +#include "data_type.h" + +#include +namespace byte_kalman +{ +class KalmanFilter +{ +public: + static const double chi2inv95[10]; + KalmanFilter(); + KAL_DATA initiate(const DETECTBOX & measurement); + void predict(KAL_MEAN & mean, KAL_COVA & covariance); + KAL_HDATA project(const KAL_MEAN & mean, const KAL_COVA & covariance); + KAL_DATA update( + const KAL_MEAN & mean, const KAL_COVA & covariance, const DETECTBOX & measurement); + + Eigen::Matrix gating_distance( + const KAL_MEAN & mean, const KAL_COVA & covariance, const std::vector & measurements, + bool only_position = false); + +private: + Eigen::Matrix _motion_mat; + Eigen::Matrix _update_mat; + float _std_weight_position; + float _std_weight_velocity; +}; +} // namespace byte_kalman diff --git a/perception/bytetrack/lib/include/lapjv.h b/perception/bytetrack/lib/include/lapjv.h new file mode 100644 index 0000000000000..d197b747e6f7d --- /dev/null +++ b/perception/bytetrack/lib/include/lapjv.h @@ -0,0 +1,110 @@ +/* + * MIT License + * + * Copyright (c) 2021 Yifu Zhang + * + * Permission is hereby granted, free of charge, to any person obtaining a copy + * of this software and associated documentation files (the "Software"), to deal + * in the Software without restriction, including without limitation the rights + * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + * copies of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE + * SOFTWARE. + */ + +// 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 LAPJV_H_ +#define LAPJV_H_ + +#define LARGE 1000000 + +#if !defined TRUE +#define TRUE 1 +#endif +#if !defined FALSE +#define FALSE 0 +#endif + +#define NEW(x, t, n) \ + if ((x = reinterpret_cast(malloc(sizeof(t) * (n)))) == 0) { \ + return -1; \ + } +#define FREE(x) \ + if (x != 0) { \ + free(x); \ + x = 0; \ + } +#define SWAP_INDICES(a, b) \ + { \ + int_t _temp_index = a; \ + a = b; \ + b = _temp_index; \ + } + +#if 0 +#include +#define ASSERT(cond) assert(cond) +#define PRINTF(fmt, ...) printf(fmt, ##__VA_ARGS__) +#define PRINT_COST_ARRAY(a, n) \ + while (1) { \ + printf(#a " = ["); \ + if ((n) > 0) { \ + printf("%f", (a)[0]); \ + for (uint_t j = 1; j < n; j++) { \ + printf(", %f", (a)[j]); \ + } \ + } \ + printf("]\n"); \ + break; \ + } +#define PRINT_INDEX_ARRAY(a, n) \ + while (1) { \ + printf(#a " = ["); \ + if ((n) > 0) { \ + printf("%d", (a)[0]); \ + for (uint_t j = 1; j < n; j++) { \ + printf(", %d", (a)[j]); \ + } \ + } \ + printf("]\n"); \ + break; \ + } +#else +#define ASSERT(cond) +#define PRINTF(fmt, ...) +#define PRINT_COST_ARRAY(a, n) +#define PRINT_INDEX_ARRAY(a, n) +#endif + +typedef signed int int_t; +typedef unsigned int uint_t; +typedef double cost_t; +typedef char boolean; +typedef enum fp_t { FP_1 = 1, FP_2 = 2, FP_DYNAMIC = 3 } fp_t; + +extern int_t lapjv_internal(const uint_t n, cost_t * cost[], int_t * x, int_t * y); + +#endif // LAPJV_H_ diff --git a/perception/bytetrack/lib/include/strack.h b/perception/bytetrack/lib/include/strack.h new file mode 100644 index 0000000000000..2110723e86c58 --- /dev/null +++ b/perception/bytetrack/lib/include/strack.h @@ -0,0 +1,94 @@ +/* + * MIT License + * + * Copyright (c) 2021 Yifu Zhang + * + * Permission is hereby granted, free of charge, to any person obtaining a copy + * of this software and associated documentation files (the "Software"), to deal + * in the Software without restriction, including without limitation the rights + * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + * copies of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE + * SOFTWARE. + */ + +// 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. + +#pragma once + +#include "kalman_filter.h" + +#include + +#include + +#include + +enum TrackState { New = 0, Tracked, Lost, Removed }; + +class STrack +{ +public: + STrack(std::vector tlwh_, float score, int label); + ~STrack(); + + std::vector static tlbr_to_tlwh(std::vector & tlbr); + static void multi_predict( + std::vector & stracks, byte_kalman::KalmanFilter & kalman_filter); + void static_tlwh(); + void static_tlbr(); + std::vector tlwh_to_xyah(std::vector tlwh_tmp); + std::vector to_xyah(); + void mark_lost(); + void mark_removed(); + int next_id(); + int end_frame(); + + void activate(byte_kalman::KalmanFilter & kalman_filter, int frame_id); + void re_activate(STrack & new_track, int frame_id, bool new_id = false); + void update(STrack & new_track, int frame_id); + +public: + bool is_activated; + int track_id; + boost::uuids::uuid unique_id; + int state; + + std::vector _tlwh; + std::vector tlwh; + std::vector tlbr; + int frame_id; + int tracklet_len; + int start_frame; + + KAL_MEAN mean; + KAL_COVA covariance; + float score; + + int label; + +private: + byte_kalman::KalmanFilter kalman_filter; +}; diff --git a/perception/bytetrack/lib/src/byte_tracker.cpp b/perception/bytetrack/lib/src/byte_tracker.cpp new file mode 100644 index 0000000000000..77daf8437ea02 --- /dev/null +++ b/perception/bytetrack/lib/src/byte_tracker.cpp @@ -0,0 +1,243 @@ +/* + * MIT License + * + * Copyright (c) 2021 Yifu Zhang + * + * Permission is hereby granted, free of charge, to any person obtaining a copy + * of this software and associated documentation files (the "Software"), to deal + * in the Software without restriction, including without limitation the rights + * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + * copies of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE + * SOFTWARE. + */ + +// 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 "byte_tracker.h" + +#include +#include + +ByteTracker::ByteTracker( + int track_buffer, float track_thresh, float high_thresh, float match_thresh) +: track_thresh(track_thresh), high_thresh(high_thresh), match_thresh(match_thresh) + +{ + frame_id = 0; + max_time_lost = track_buffer; + std::cout << "Init ByteTrack!" << std::endl; +} + +ByteTracker::~ByteTracker() {} + +std::vector ByteTracker::update(const std::vector & objects) +{ + ////////////////// Step 1: Get detections ////////////////// + this->frame_id++; + std::vector activated_stracks; + std::vector refind_stracks; + std::vector removed_stracks; + std::vector lost_stracks; + std::vector detections; + std::vector detections_low; + + std::vector detections_cp; + std::vector tracked_stracks_swap; + std::vector resa, resb; + std::vector output_stracks; + + std::vector unconfirmed; + std::vector tracked_stracks; + std::vector strack_pool; + std::vector r_tracked_stracks; + + if (objects.size() > 0) { + for (size_t i = 0; i < objects.size(); i++) { + std::vector tlbr_; + tlbr_.resize(4); + tlbr_[0] = objects[i].rect.x; + tlbr_[1] = objects[i].rect.y; + tlbr_[2] = objects[i].rect.x + objects[i].rect.width; + tlbr_[3] = objects[i].rect.y + objects[i].rect.height; + + float score = objects[i].prob; + + STrack strack(STrack::tlbr_to_tlwh(tlbr_), score, objects[i].label); + if (score >= track_thresh) { + detections.push_back(strack); + } else { + detections_low.push_back(strack); + } + } + } + + // Add newly detected tracklets to tracked_stracks + for (size_t i = 0; i < this->tracked_stracks.size(); i++) { + if (!this->tracked_stracks[i].is_activated) + unconfirmed.push_back(&this->tracked_stracks[i]); + else + tracked_stracks.push_back(&this->tracked_stracks[i]); + } + + ////////////////// Step 2: First association, with IoU ////////////////// + strack_pool = joint_stracks(tracked_stracks, this->lost_stracks); + STrack::multi_predict(strack_pool, this->kalman_filter); + + std::vector > dists; + int dist_size = 0, dist_size_size = 0; + dists = iou_distance(strack_pool, detections, dist_size, dist_size_size); + + std::vector > matches; + std::vector u_track, u_detection; + linear_assignment(dists, dist_size, dist_size_size, match_thresh, matches, u_track, u_detection); + + for (size_t i = 0; i < matches.size(); i++) { + STrack * track = strack_pool[matches[i][0]]; + STrack * det = &detections[matches[i][1]]; + if (track->state == TrackState::Tracked) { + track->update(*det, this->frame_id); + activated_stracks.push_back(*track); + } else { + track->re_activate(*det, this->frame_id, false); + refind_stracks.push_back(*track); + } + } + + ////////////////// Step 3: Second association, using low score dets ////////////////// + for (size_t i = 0; i < u_detection.size(); i++) { + detections_cp.push_back(detections[u_detection[i]]); + } + detections.clear(); + detections.assign(detections_low.begin(), detections_low.end()); + + for (size_t i = 0; i < u_track.size(); i++) { + if (strack_pool[u_track[i]]->state == TrackState::Tracked) { + r_tracked_stracks.push_back(strack_pool[u_track[i]]); + } + } + + dists.clear(); + dists = iou_distance(r_tracked_stracks, detections, dist_size, dist_size_size); + + matches.clear(); + u_track.clear(); + u_detection.clear(); + linear_assignment(dists, dist_size, dist_size_size, 0.5, matches, u_track, u_detection); + + for (size_t i = 0; i < matches.size(); i++) { + STrack * track = r_tracked_stracks[matches[i][0]]; + STrack * det = &detections[matches[i][1]]; + if (track->state == TrackState::Tracked) { + track->update(*det, this->frame_id); + activated_stracks.push_back(*track); + } else { + track->re_activate(*det, this->frame_id, false); + refind_stracks.push_back(*track); + } + } + + for (size_t i = 0; i < u_track.size(); i++) { + STrack * track = r_tracked_stracks[u_track[i]]; + if (track->state != TrackState::Lost) { + track->mark_lost(); + lost_stracks.push_back(*track); + } + } + + // Deal with unconfirmed tracks, usually tracks with only one beginning frame + detections.clear(); + detections.assign(detections_cp.begin(), detections_cp.end()); + + dists.clear(); + dists = iou_distance(unconfirmed, detections, dist_size, dist_size_size); + + matches.clear(); + std::vector u_unconfirmed; + u_detection.clear(); + linear_assignment(dists, dist_size, dist_size_size, 0.7, matches, u_unconfirmed, u_detection); + + for (size_t i = 0; i < matches.size(); i++) { + unconfirmed[matches[i][0]]->update(detections[matches[i][1]], this->frame_id); + activated_stracks.push_back(*unconfirmed[matches[i][0]]); + } + + for (size_t i = 0; i < u_unconfirmed.size(); i++) { + STrack * track = unconfirmed[u_unconfirmed[i]]; + track->mark_removed(); + removed_stracks.push_back(*track); + } + + ////////////////// Step 4: Init new stracks ////////////////// + for (size_t i = 0; i < u_detection.size(); i++) { + STrack * track = &detections[u_detection[i]]; + if (track->score < this->high_thresh) continue; + track->activate(this->kalman_filter, this->frame_id); + activated_stracks.push_back(*track); + } + + ////////////////// Step 5: Update state ////////////////// + for (size_t i = 0; i < this->lost_stracks.size(); i++) { + if (this->frame_id - this->lost_stracks[i].end_frame() > this->max_time_lost) { + this->lost_stracks[i].mark_removed(); + removed_stracks.push_back(this->lost_stracks[i]); + } + } + + for (size_t i = 0; i < this->tracked_stracks.size(); i++) { + if (this->tracked_stracks[i].state == TrackState::Tracked) { + tracked_stracks_swap.push_back(this->tracked_stracks[i]); + } + } + this->tracked_stracks.clear(); + this->tracked_stracks.assign(tracked_stracks_swap.begin(), tracked_stracks_swap.end()); + + this->tracked_stracks = joint_stracks(this->tracked_stracks, activated_stracks); + this->tracked_stracks = joint_stracks(this->tracked_stracks, refind_stracks); + + this->lost_stracks = sub_stracks(this->lost_stracks, this->tracked_stracks); + for (size_t i = 0; i < lost_stracks.size(); i++) { + this->lost_stracks.push_back(lost_stracks[i]); + } + + this->lost_stracks = sub_stracks(this->lost_stracks, this->removed_stracks); + for (size_t i = 0; i < removed_stracks.size(); i++) { + this->removed_stracks.push_back(removed_stracks[i]); + } + + remove_duplicate_stracks(resa, resb, this->tracked_stracks, this->lost_stracks); + + this->tracked_stracks.clear(); + this->tracked_stracks.assign(resa.begin(), resa.end()); + this->lost_stracks.clear(); + this->lost_stracks.assign(resb.begin(), resb.end()); + + for (size_t i = 0; i < this->tracked_stracks.size(); i++) { + if (this->tracked_stracks[i].is_activated) { + output_stracks.push_back(this->tracked_stracks[i]); + } + } + return output_stracks; +} diff --git a/perception/bytetrack/lib/src/kalman_filter.cpp b/perception/bytetrack/lib/src/kalman_filter.cpp new file mode 100644 index 0000000000000..bc1a88ff60b0e --- /dev/null +++ b/perception/bytetrack/lib/src/kalman_filter.cpp @@ -0,0 +1,175 @@ +/* + * MIT License + * + * Copyright (c) 2021 Yifu Zhang + * + * Permission is hereby granted, free of charge, to any person obtaining a copy + * of this software and associated documentation files (the "Software"), to deal + * in the Software without restriction, including without limitation the rights + * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + * copies of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE + * SOFTWARE. + */ + +// 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 "kalman_filter.h" + +#include + +namespace byte_kalman +{ +const double KalmanFilter::chi2inv95[10] = {0, 3.8415, 5.9915, 7.8147, 9.4877, + 11.070, 12.592, 14.067, 15.507, 16.919}; +KalmanFilter::KalmanFilter() +{ + int ndim = 4; + double dt = 1.; + + _motion_mat = Eigen::MatrixXf::Identity(8, 8); + for (int i = 0; i < ndim; i++) { + _motion_mat(i, ndim + i) = dt; + } + _update_mat = Eigen::MatrixXf::Identity(4, 8); + + this->_std_weight_position = 1. / 20; + this->_std_weight_velocity = 1. / 160; +} + +KAL_DATA KalmanFilter::initiate(const DETECTBOX & measurement) +{ + DETECTBOX mean_pos = measurement; + DETECTBOX mean_vel; + for (int i = 0; i < 4; i++) mean_vel(i) = 0; + + KAL_MEAN mean; + for (int i = 0; i < 8; i++) { + if (i < 4) + mean(i) = mean_pos(i); + else + mean(i) = mean_vel(i - 4); + } + + KAL_MEAN std; + std(0) = 2 * _std_weight_position * measurement[3]; + std(1) = 2 * _std_weight_position * measurement[3]; + std(2) = 1e-2; + std(3) = 2 * _std_weight_position * measurement[3]; + std(4) = 10 * _std_weight_velocity * measurement[3]; + std(5) = 10 * _std_weight_velocity * measurement[3]; + std(6) = 1e-5; + std(7) = 10 * _std_weight_velocity * measurement[3]; + + KAL_MEAN tmp = std.array().square(); + KAL_COVA var = tmp.asDiagonal(); + return std::make_pair(mean, var); +} + +void KalmanFilter::predict(KAL_MEAN & mean, KAL_COVA & covariance) +{ + // revise the data; + DETECTBOX std_pos; + std_pos << _std_weight_position * mean(3), _std_weight_position * mean(3), 1e-2, + _std_weight_position * mean(3); + DETECTBOX std_vel; + std_vel << _std_weight_velocity * mean(3), _std_weight_velocity * mean(3), 1e-5, + _std_weight_velocity * mean(3); + KAL_MEAN tmp; + tmp.block<1, 4>(0, 0) = std_pos; + tmp.block<1, 4>(0, 4) = std_vel; + tmp = tmp.array().square(); + KAL_COVA motion_cov = tmp.asDiagonal(); + KAL_MEAN mean1 = this->_motion_mat * mean.transpose(); + KAL_COVA covariance1 = this->_motion_mat * covariance * (_motion_mat.transpose()); + covariance1 += motion_cov; + + mean = mean1; + covariance = covariance1; +} + +KAL_HDATA KalmanFilter::project(const KAL_MEAN & mean, const KAL_COVA & covariance) +{ + DETECTBOX std; + std << _std_weight_position * mean(3), _std_weight_position * mean(3), 1e-1, + _std_weight_position * mean(3); + KAL_HMEAN mean1 = _update_mat * mean.transpose(); + KAL_HCOVA covariance1 = _update_mat * covariance * (_update_mat.transpose()); + Eigen::Matrix diag = std.asDiagonal(); + diag = diag.array().square().matrix(); + covariance1 += diag; + // covariance1.diagonal() << diag; + return std::make_pair(mean1, covariance1); +} + +KAL_DATA +KalmanFilter::update( + const KAL_MEAN & mean, const KAL_COVA & covariance, const DETECTBOX & measurement) +{ + KAL_HDATA pa = project(mean, covariance); + KAL_HMEAN projected_mean = pa.first; + KAL_HCOVA projected_cov = pa.second; + + // chol_factor, lower = + // scipy.linalg.cho_factor(projected_cov, lower=True, check_finite=False) + // kalmain_gain = + // scipy.linalg.cho_solve((cho_factor, lower), + // np.dot(covariance, self._upadte_mat.T).T, + // check_finite=False).T + Eigen::Matrix B = (covariance * (_update_mat.transpose())).transpose(); + Eigen::Matrix kalman_gain = (projected_cov.llt().solve(B)).transpose(); // eg.8x4 + Eigen::Matrix innovation = measurement - projected_mean; // eg.1x4 + auto tmp = innovation * (kalman_gain.transpose()); + KAL_MEAN new_mean = (mean.array() + tmp.array()).matrix(); + KAL_COVA new_covariance = covariance - kalman_gain * projected_cov * (kalman_gain.transpose()); + return std::make_pair(new_mean, new_covariance); +} + +Eigen::Matrix KalmanFilter::gating_distance( + const KAL_MEAN & mean, const KAL_COVA & covariance, const std::vector & measurements, + bool only_position) +{ + KAL_HDATA pa = this->project(mean, covariance); + if (only_position) { + printf("not implement!"); + exit(0); + } + KAL_HMEAN mean1 = pa.first; + KAL_HCOVA covariance1 = pa.second; + + // Eigen::Matrix d(size, 4); + DETECTBOXSS d(measurements.size(), 4); + int pos = 0; + for (DETECTBOX box : measurements) { + d.row(pos++) = box - mean1; + } + Eigen::Matrix factor = covariance1.llt().matrixL(); + Eigen::Matrix z = + factor.triangularView().solve(d).transpose(); + auto zz = ((z.array()) * (z.array())).matrix(); + auto square_maha = zz.colwise().sum(); + return square_maha; +} +} // namespace byte_kalman diff --git a/perception/bytetrack/lib/src/lapjv.cpp b/perception/bytetrack/lib/src/lapjv.cpp new file mode 100644 index 0000000000000..ecf4c31b81ff8 --- /dev/null +++ b/perception/bytetrack/lib/src/lapjv.cpp @@ -0,0 +1,362 @@ +/* + * MIT License + * + * Copyright (c) 2021 Yifu Zhang + * + * Permission is hereby granted, free of charge, to any person obtaining a copy + * of this software and associated documentation files (the "Software"), to deal + * in the Software without restriction, including without limitation the rights + * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + * copies of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE + * SOFTWARE. + */ + +// 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 "lapjv.h" + +#include +#include +#include + +/** Column-reduction and reduction transfer for a dense cost matrix. + */ +int_t _ccrrt_dense( + const uint_t n, cost_t * cost[], int_t * free_rows, int_t * x, int_t * y, cost_t * v) +{ + int_t n_free_rows; + boolean * unique; + + for (uint_t i = 0; i < n; i++) { + x[i] = -1; + v[i] = LARGE; + y[i] = 0; + } + for (uint_t i = 0; i < n; i++) { + for (uint_t j = 0; j < n; j++) { + const cost_t c = cost[i][j]; + if (c < v[j]) { + v[j] = c; + y[j] = i; + } + PRINTF("i=%d, j=%d, c[i,j]=%f, v[j]=%f y[j]=%d\n", i, j, c, v[j], y[j]); + } + } + PRINT_COST_ARRAY(v, n); + PRINT_INDEX_ARRAY(y, n); + NEW(unique, boolean, n); + memset(unique, TRUE, n); + { + int_t j = n; + do { + j--; + const int_t i = y[j]; + if (x[i] < 0) { + x[i] = j; + } else { + unique[i] = FALSE; + y[j] = -1; + } + } while (j > 0); + } + n_free_rows = 0; + for (uint_t i = 0; i < n; i++) { + if (x[i] < 0) { + free_rows[n_free_rows++] = i; + } else if (unique[i]) { + const int_t j = x[i]; + cost_t min = LARGE; + for (uint_t j2 = 0; j2 < n; j2++) { + if (j2 == (uint_t)j) { + continue; + } + const cost_t c = cost[i][j2] - v[j2]; + if (c < min) { + min = c; + } + } + PRINTF("v[%d] = %f - %f\n", j, v[j], min); + v[j] -= min; + } + } + FREE(unique); + return n_free_rows; +} + +/** Augmenting row reduction for a dense cost matrix. + */ +int_t _carr_dense( + const uint_t n, cost_t * cost[], const uint_t n_free_rows, int_t * free_rows, int_t * x, + int_t * y, cost_t * v) +{ + uint_t current = 0; + int_t new_free_rows = 0; + uint_t rr_cnt = 0; + PRINT_INDEX_ARRAY(x, n); + PRINT_INDEX_ARRAY(y, n); + PRINT_COST_ARRAY(v, n); + PRINT_INDEX_ARRAY(free_rows, n_free_rows); + while (current < n_free_rows) { + int_t i0; + int_t j1, j2; + cost_t v1, v2, v1_new; + boolean v1_lowers; + + rr_cnt++; + PRINTF("current = %d rr_cnt = %d\n", current, rr_cnt); + const int_t free_i = free_rows[current++]; + j1 = 0; + v1 = cost[free_i][0] - v[0]; + j2 = -1; + v2 = LARGE; + for (uint_t j = 1; j < n; j++) { + PRINTF("%d = %f %d = %f\n", j1, v1, j2, v2); + const cost_t c = cost[free_i][j] - v[j]; + if (c < v2) { + if (c >= v1) { + v2 = c; + j2 = j; + } else { + v2 = v1; + v1 = c; + j2 = j1; + j1 = j; + } + } + } + i0 = y[j1]; + v1_new = v[j1] - (v2 - v1); + v1_lowers = v1_new < v[j1]; + PRINTF( + "%d %d 1=%d,%f 2=%d,%f v1'=%f(%d,%g) \n", free_i, i0, j1, v1, j2, v2, v1_new, v1_lowers, + v[j1] - v1_new); + if (rr_cnt < current * n) { + if (v1_lowers) { + v[j1] = v1_new; + } else if (i0 >= 0 && j2 >= 0) { + j1 = j2; + i0 = y[j2]; + } + if (i0 >= 0) { + if (v1_lowers) { + free_rows[--current] = i0; + } else { + free_rows[new_free_rows++] = i0; + } + } + } else { + PRINTF("rr_cnt=%d >= %d (current=%d * n=%d)\n", rr_cnt, current * n, current, n); + if (i0 >= 0) { + free_rows[new_free_rows++] = i0; + } + } + x[free_i] = j1; + y[j1] = free_i; + } + return new_free_rows; +} + +/** Find columns with minimum d[j] and put them on the SCAN list. + */ +uint_t _find_dense(const uint_t n, uint_t lo, cost_t * d, int_t * cols, [[maybe_unused]] int_t * y) +{ + uint_t hi = lo + 1; + cost_t mind = d[cols[lo]]; + for (uint_t k = hi; k < n; k++) { + int_t j = cols[k]; + if (d[j] <= mind) { + if (d[j] < mind) { + hi = lo; + mind = d[j]; + } + cols[k] = cols[hi]; + cols[hi++] = j; + } + } + return hi; +} + +// Scan all columns in TODO starting from arbitrary column in SCAN +// and try to decrease d of the TODO columns using the SCAN column. +int_t _scan_dense( + const uint_t n, cost_t * cost[], uint_t * plo, uint_t * phi, cost_t * d, int_t * cols, + int_t * pred, int_t * y, cost_t * v) +{ + uint_t lo = *plo; + uint_t hi = *phi; + cost_t h, cred_ij; + + while (lo != hi) { + int_t j = cols[lo++]; + const int_t i = y[j]; + const cost_t mind = d[j]; + h = cost[i][j] - v[j] - mind; + PRINTF("i=%d j=%d h=%f\n", i, j, h); + // For all columns in TODO + for (uint_t k = hi; k < n; k++) { + j = cols[k]; + cred_ij = cost[i][j] - v[j] - h; + if (cred_ij < d[j]) { + d[j] = cred_ij; + pred[j] = i; + if (cred_ij == mind) { + if (y[j] < 0) { + return j; + } + cols[k] = cols[hi]; + cols[hi++] = j; + } + } + } + } + *plo = lo; + *phi = hi; + return -1; +} + +/** Single iteration of modified Dijkstra shortest path algorithm as explained in the JV paper. + * + * This is a dense matrix version. + * + * \return The closest free column index. + */ +int_t find_path_dense( + const uint_t n, cost_t * cost[], const int_t start_i, int_t * y, cost_t * v, int_t * pred) +{ + uint_t lo = 0, hi = 0; + int_t final_j = -1; + uint_t n_ready = 0; + int_t * cols; + cost_t * d; + + NEW(cols, int_t, n); + NEW(d, cost_t, n); + + for (uint_t i = 0; i < n; i++) { + cols[i] = i; + pred[i] = start_i; + d[i] = cost[start_i][i] - v[i]; + } + PRINT_COST_ARRAY(d, n); + while (final_j == -1) { + // No columns left on the SCAN list. + if (lo == hi) { + PRINTF("%d..%d -> find\n", lo, hi); + n_ready = lo; + hi = _find_dense(n, lo, d, cols, y); + PRINTF("check %d..%d\n", lo, hi); + PRINT_INDEX_ARRAY(cols, n); + for (uint_t k = lo; k < hi; k++) { + const int_t j = cols[k]; + if (y[j] < 0) { + final_j = j; + } + } + } + if (final_j == -1) { + PRINTF("%d..%d -> scan\n", lo, hi); + final_j = _scan_dense(n, cost, &lo, &hi, d, cols, pred, y, v); + PRINT_COST_ARRAY(d, n); + PRINT_INDEX_ARRAY(cols, n); + PRINT_INDEX_ARRAY(pred, n); + } + } + + PRINTF("found final_j=%d\n", final_j); + PRINT_INDEX_ARRAY(cols, n); + { + const cost_t mind = d[cols[lo]]; + for (uint_t k = 0; k < n_ready; k++) { + const int_t j = cols[k]; + v[j] += d[j] - mind; + } + } + + FREE(cols); + FREE(d); + + return final_j; +} + +/** Augment for a dense cost matrix. + */ +int_t _ca_dense( + const uint_t n, cost_t * cost[], const uint_t n_free_rows, int_t * free_rows, int_t * x, + int_t * y, cost_t * v) +{ + int_t * pred; + + NEW(pred, int_t, n); + + for (int_t * pfree_i = free_rows; pfree_i < free_rows + n_free_rows; pfree_i++) { + int_t i = -1, j; + uint_t k = 0; + + PRINTF("looking at free_i=%d\n", *pfree_i); + j = find_path_dense(n, cost, *pfree_i, y, v, pred); + ASSERT(j >= 0); + ASSERT(j < n); + while (i != *pfree_i) { + PRINTF("augment %d\n", j); + PRINT_INDEX_ARRAY(pred, n); + i = pred[j]; + PRINTF("y[%d]=%d -> %d\n", j, y[j], i); + y[j] = i; + PRINT_INDEX_ARRAY(x, n); + SWAP_INDICES(j, x[i]); + k++; + if (k >= n) { + ASSERT(FALSE); + } + } + } + FREE(pred); + return 0; +} + +/** Solve dense sparse LAP. + */ +int lapjv_internal(const uint_t n, cost_t * cost[], int_t * x, int_t * y) +{ + int ret; + int_t * free_rows; + cost_t * v; + + NEW(free_rows, int_t, n); + NEW(v, cost_t, n); + ret = _ccrrt_dense(n, cost, free_rows, x, y, v); + int i = 0; + while (ret > 0 && i < 2) { + ret = _carr_dense(n, cost, ret, free_rows, x, y, v); + i++; + } + if (ret > 0) { + ret = _ca_dense(n, cost, ret, free_rows, x, y, v); + } + FREE(v); + FREE(free_rows); + return ret; +} diff --git a/perception/bytetrack/lib/src/strack.cpp b/perception/bytetrack/lib/src/strack.cpp new file mode 100644 index 0000000000000..c57085fe8d248 --- /dev/null +++ b/perception/bytetrack/lib/src/strack.cpp @@ -0,0 +1,222 @@ +/* + * MIT License + * + * Copyright (c) 2021 Yifu Zhang + * + * Permission is hereby granted, free of charge, to any person obtaining a copy + * of this software and associated documentation files (the "Software"), to deal + * in the Software without restriction, including without limitation the rights + * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + * copies of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE + * SOFTWARE. + */ + +// 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 "strack.h" + +#include + +STrack::STrack(std::vector tlwh_, float score, int label) +{ + _tlwh.resize(4); + _tlwh.assign(tlwh_.begin(), tlwh_.end()); + + is_activated = false; + track_id = 0; + state = TrackState::New; + + tlwh.resize(4); + tlbr.resize(4); + + static_tlwh(); + static_tlbr(); + frame_id = 0; + tracklet_len = 0; + this->score = score; + start_frame = 0; + this->label = label; +} + +STrack::~STrack() {} + +void STrack::activate(byte_kalman::KalmanFilter & kalman_filter, int frame_id) +{ + this->kalman_filter = kalman_filter; + this->track_id = this->next_id(); + this->unique_id = boost::uuids::random_generator()(); + + std::vector _tlwh_tmp(4); + _tlwh_tmp[0] = this->_tlwh[0]; + _tlwh_tmp[1] = this->_tlwh[1]; + _tlwh_tmp[2] = this->_tlwh[2]; + _tlwh_tmp[3] = this->_tlwh[3]; + std::vector xyah = tlwh_to_xyah(_tlwh_tmp); + DETECTBOX xyah_box; + xyah_box[0] = xyah[0]; + xyah_box[1] = xyah[1]; + xyah_box[2] = xyah[2]; + xyah_box[3] = xyah[3]; + auto mc = this->kalman_filter.initiate(xyah_box); + this->mean = mc.first; + this->covariance = mc.second; + + static_tlwh(); + static_tlbr(); + + this->tracklet_len = 0; + this->state = TrackState::Tracked; + // if (frame_id == 1) + // { + // this->is_activated = true; + // } + this->is_activated = true; + this->frame_id = frame_id; + this->start_frame = frame_id; +} + +void STrack::re_activate(STrack & new_track, int frame_id, bool new_id) +{ + std::vector xyah = tlwh_to_xyah(new_track.tlwh); + DETECTBOX xyah_box; + xyah_box[0] = xyah[0]; + xyah_box[1] = xyah[1]; + xyah_box[2] = xyah[2]; + xyah_box[3] = xyah[3]; + auto mc = this->kalman_filter.update(this->mean, this->covariance, xyah_box); + this->mean = mc.first; + this->covariance = mc.second; + + static_tlwh(); + static_tlbr(); + + this->tracklet_len = 0; + this->state = TrackState::Tracked; + this->is_activated = true; + this->frame_id = frame_id; + this->score = new_track.score; + if (new_id) { + this->track_id = next_id(); + this->unique_id = boost::uuids::random_generator()(); + } +} + +void STrack::update(STrack & new_track, int frame_id) +{ + this->frame_id = frame_id; + this->tracklet_len++; + + std::vector xyah = tlwh_to_xyah(new_track.tlwh); + DETECTBOX xyah_box; + xyah_box[0] = xyah[0]; + xyah_box[1] = xyah[1]; + xyah_box[2] = xyah[2]; + xyah_box[3] = xyah[3]; + + auto mc = this->kalman_filter.update(this->mean, this->covariance, xyah_box); + this->mean = mc.first; + this->covariance = mc.second; + + static_tlwh(); + static_tlbr(); + + this->state = TrackState::Tracked; + this->is_activated = true; + + this->score = new_track.score; +} + +void STrack::static_tlwh() +{ + if (this->state == TrackState::New) { + tlwh[0] = _tlwh[0]; + tlwh[1] = _tlwh[1]; + tlwh[2] = _tlwh[2]; + tlwh[3] = _tlwh[3]; + return; + } + + tlwh[0] = mean[0]; + tlwh[1] = mean[1]; + tlwh[2] = mean[2]; + tlwh[3] = mean[3]; + + tlwh[2] *= tlwh[3]; + tlwh[0] -= tlwh[2] / 2; + tlwh[1] -= tlwh[3] / 2; +} + +void STrack::static_tlbr() +{ + tlbr.clear(); + tlbr.assign(tlwh.begin(), tlwh.end()); + tlbr[2] += tlbr[0]; + tlbr[3] += tlbr[1]; +} + +std::vector STrack::tlwh_to_xyah(std::vector tlwh_tmp) +{ + std::vector tlwh_output = tlwh_tmp; + tlwh_output[0] += tlwh_output[2] / 2; + tlwh_output[1] += tlwh_output[3] / 2; + tlwh_output[2] /= tlwh_output[3]; + return tlwh_output; +} + +std::vector STrack::to_xyah() { return tlwh_to_xyah(tlwh); } + +std::vector STrack::tlbr_to_tlwh(std::vector & tlbr) +{ + tlbr[2] -= tlbr[0]; + tlbr[3] -= tlbr[1]; + return tlbr; +} + +void STrack::mark_lost() { state = TrackState::Lost; } + +void STrack::mark_removed() { state = TrackState::Removed; } + +int STrack::next_id() +{ + static int _count = 0; + _count++; + return _count; +} + +int STrack::end_frame() { return this->frame_id; } + +void STrack::multi_predict( + std::vector & stracks, byte_kalman::KalmanFilter & kalman_filter) +{ + for (size_t i = 0; i < stracks.size(); i++) { + if (stracks[i]->state != TrackState::Tracked) { + stracks[i]->mean[7] = 0; + } + kalman_filter.predict(stracks[i]->mean, stracks[i]->covariance); + stracks[i]->static_tlwh(); + stracks[i]->static_tlbr(); + } +} diff --git a/perception/bytetrack/lib/src/utils.cpp b/perception/bytetrack/lib/src/utils.cpp new file mode 100644 index 0000000000000..64ad27cf36eba --- /dev/null +++ b/perception/bytetrack/lib/src/utils.cpp @@ -0,0 +1,399 @@ +/* + * MIT License + * + * Copyright (c) 2021 Yifu Zhang + * + * Permission is hereby granted, free of charge, to any person obtaining a copy + * of this software and associated documentation files (the "Software"), to deal + * in the Software without restriction, including without limitation the rights + * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + * copies of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE + * SOFTWARE. + */ + +// 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 "byte_tracker.h" +#include "lapjv.h" + +#include + +std::vector ByteTracker::joint_stracks( + std::vector & tlista, std::vector & tlistb) +{ + std::map exists; + std::vector res; + for (size_t i = 0; i < tlista.size(); i++) { + exists.insert(std::pair(tlista[i]->track_id, 1)); + res.push_back(tlista[i]); + } + for (size_t i = 0; i < tlistb.size(); i++) { + int tid = tlistb[i].track_id; + if (!exists[tid] || exists.count(tid) == 0) { + exists[tid] = 1; + res.push_back(&tlistb[i]); + } + } + return res; +} + +std::vector ByteTracker::joint_stracks( + std::vector & tlista, std::vector & tlistb) +{ + std::map exists; + std::vector res; + for (size_t i = 0; i < tlista.size(); i++) { + exists.insert(std::pair(tlista[i].track_id, 1)); + res.push_back(tlista[i]); + } + for (size_t i = 0; i < tlistb.size(); i++) { + int tid = tlistb[i].track_id; + if (!exists[tid] || exists.count(tid) == 0) { + exists[tid] = 1; + res.push_back(tlistb[i]); + } + } + return res; +} + +std::vector ByteTracker::sub_stracks( + std::vector & tlista, std::vector & tlistb) +{ + std::map stracks; + for (size_t i = 0; i < tlista.size(); i++) { + stracks.insert(std::pair(tlista[i].track_id, tlista[i])); + } + for (size_t i = 0; i < tlistb.size(); i++) { + int tid = tlistb[i].track_id; + if (stracks.count(tid) != 0) { + stracks.erase(tid); + } + } + + std::vector res; + std::map::iterator it; + for (it = stracks.begin(); it != stracks.end(); ++it) { + res.push_back(it->second); + } + + return res; +} + +void ByteTracker::remove_duplicate_stracks( + std::vector & resa, std::vector & resb, std::vector & stracksa, + std::vector & stracksb) +{ + std::vector> pdist = iou_distance(stracksa, stracksb); + std::vector> pairs; + for (size_t i = 0; i < pdist.size(); i++) { + for (size_t j = 0; j < pdist[i].size(); j++) { + if (pdist[i][j] < 0.15) { + pairs.push_back(std::pair(i, j)); + } + } + } + + std::vector dupa, dupb; + for (size_t i = 0; i < pairs.size(); i++) { + int timep = stracksa[pairs[i].first].frame_id - stracksa[pairs[i].first].start_frame; + int timeq = stracksb[pairs[i].second].frame_id - stracksb[pairs[i].second].start_frame; + if (timep > timeq) + dupb.push_back(pairs[i].second); + else + dupa.push_back(pairs[i].first); + } + + for (size_t i = 0; i < stracksa.size(); i++) { + std::vector::iterator iter = find(dupa.begin(), dupa.end(), i); + if (iter == dupa.end()) { + resa.push_back(stracksa[i]); + } + } + + for (size_t i = 0; i < stracksb.size(); i++) { + std::vector::iterator iter = find(dupb.begin(), dupb.end(), i); + if (iter == dupb.end()) { + resb.push_back(stracksb[i]); + } + } +} + +void ByteTracker::linear_assignment( + std::vector> & cost_matrix, int cost_matrix_size, int cost_matrix_size_size, + float thresh, std::vector> & matches, std::vector & unmatched_a, + std::vector & unmatched_b) +{ + if (cost_matrix.size() == 0) { + for (int i = 0; i < cost_matrix_size; i++) { + unmatched_a.push_back(i); + } + for (int i = 0; i < cost_matrix_size_size; i++) { + unmatched_b.push_back(i); + } + return; + } + + std::vector rowsol; + std::vector colsol; + [[maybe_unused]] float c = lapjv(cost_matrix, rowsol, colsol, true, thresh); + for (size_t i = 0; i < rowsol.size(); i++) { + if (rowsol[i] >= 0) { + std::vector match; + match.push_back(i); + match.push_back(rowsol[i]); + matches.push_back(match); + } else { + unmatched_a.push_back(i); + } + } + + for (size_t i = 0; i < colsol.size(); i++) { + if (colsol[i] < 0) { + unmatched_b.push_back(i); + } + } +} + +std::vector> ByteTracker::ious( + std::vector> & atlbrs, std::vector> & btlbrs) +{ + std::vector> ious; + if (atlbrs.size() * btlbrs.size() == 0) return ious; + + ious.resize(atlbrs.size()); + for (size_t i = 0; i < ious.size(); i++) { + ious[i].resize(btlbrs.size()); + } + + // bbox_ious + for (size_t k = 0; k < btlbrs.size(); k++) { + std::vector ious_tmp; + float box_area = (btlbrs[k][2] - btlbrs[k][0] + 1) * (btlbrs[k][3] - btlbrs[k][1] + 1); + for (size_t n = 0; n < atlbrs.size(); n++) { + float iw = std::min(atlbrs[n][2], btlbrs[k][2]) - std::max(atlbrs[n][0], btlbrs[k][0]) + 1; + if (iw > 0) { + float ih = std::min(atlbrs[n][3], btlbrs[k][3]) - std::max(atlbrs[n][1], btlbrs[k][1]) + 1; + if (ih > 0) { + float ua = (atlbrs[n][2] - atlbrs[n][0] + 1) * (atlbrs[n][3] - atlbrs[n][1] + 1) + + box_area - iw * ih; + ious[n][k] = iw * ih / ua; + } else { + ious[n][k] = 0.0; + } + } else { + ious[n][k] = 0.0; + } + } + } + + return ious; +} + +std::vector> ByteTracker::iou_distance( + std::vector & atracks, std::vector & btracks, int & dist_size, + int & dist_size_size) +{ + std::vector> cost_matrix; + if (atracks.size() * btracks.size() == 0) { + dist_size = atracks.size(); + dist_size_size = btracks.size(); + return cost_matrix; + } + std::vector> atlbrs, btlbrs; + for (size_t i = 0; i < atracks.size(); i++) { + atlbrs.push_back(atracks[i]->tlbr); + } + for (size_t i = 0; i < btracks.size(); i++) { + btlbrs.push_back(btracks[i].tlbr); + } + + dist_size = atracks.size(); + dist_size_size = btracks.size(); + + std::vector> _ious = ious(atlbrs, btlbrs); + + for (size_t i = 0; i < _ious.size(); i++) { + std::vector _iou; + for (size_t j = 0; j < _ious[i].size(); j++) { + _iou.push_back(1 - _ious[i][j]); + } + cost_matrix.push_back(_iou); + } + + return cost_matrix; +} + +std::vector> ByteTracker::iou_distance( + std::vector & atracks, std::vector & btracks) +{ + std::vector> atlbrs, btlbrs; + for (size_t i = 0; i < atracks.size(); i++) { + atlbrs.push_back(atracks[i].tlbr); + } + for (size_t i = 0; i < btracks.size(); i++) { + btlbrs.push_back(btracks[i].tlbr); + } + + std::vector> _ious = ious(atlbrs, btlbrs); + std::vector> cost_matrix; + for (size_t i = 0; i < _ious.size(); i++) { + std::vector _iou; + for (size_t j = 0; j < _ious[i].size(); j++) { + _iou.push_back(1 - _ious[i][j]); + } + cost_matrix.push_back(_iou); + } + + return cost_matrix; +} + +double ByteTracker::lapjv( + const std::vector> & cost, std::vector & rowsol, + std::vector & colsol, bool extend_cost, float cost_limit, bool return_cost) +{ + std::vector> cost_c; + cost_c.assign(cost.begin(), cost.end()); + + std::vector> cost_c_extended; + + int n_rows = cost.size(); + int n_cols = cost[0].size(); + rowsol.resize(n_rows); + colsol.resize(n_cols); + + int n = 0; + if (n_rows == n_cols) { + n = n_rows; + } else { + if (!extend_cost) { + std::cout << "set extend_cost=True" << std::endl; + // system("pause"); + exit(0); + } + } + + if (extend_cost || cost_limit < LONG_MAX) { + n = n_rows + n_cols; + cost_c_extended.resize(n); + for (size_t i = 0; i < cost_c_extended.size(); i++) cost_c_extended[i].resize(n); + + if (cost_limit < LONG_MAX) { + for (size_t i = 0; i < cost_c_extended.size(); i++) { + for (size_t j = 0; j < cost_c_extended[i].size(); j++) { + cost_c_extended[i][j] = cost_limit / 2.0; + } + } + } else { + float cost_max = -1; + for (size_t i = 0; i < cost_c.size(); i++) { + for (size_t j = 0; j < cost_c[i].size(); j++) { + if (cost_c[i][j] > cost_max) cost_max = cost_c[i][j]; + } + } + for (size_t i = 0; i < cost_c_extended.size(); i++) { + for (size_t j = 0; j < cost_c_extended[i].size(); j++) { + cost_c_extended[i][j] = cost_max + 1; + } + } + } + + for (size_t i = n_rows; i < cost_c_extended.size(); i++) { + for (size_t j = n_cols; j < cost_c_extended[i].size(); j++) { + cost_c_extended[i][j] = 0; + } + } + for (int i = 0; i < n_rows; i++) { + for (int j = 0; j < n_cols; j++) { + cost_c_extended[i][j] = cost_c[i][j]; + } + } + + cost_c.clear(); + cost_c.assign(cost_c_extended.begin(), cost_c_extended.end()); + } + + double ** cost_ptr; + cost_ptr = new double *[sizeof(double *) * n]; + for (int i = 0; i < n; i++) cost_ptr[i] = new double[sizeof(double) * n]; + + for (int i = 0; i < n; i++) { + for (int j = 0; j < n; j++) { + cost_ptr[i][j] = cost_c[i][j]; + } + } + + int * x_c = new int[sizeof(int) * n]; + int * y_c = new int[sizeof(int) * n]; + + int ret = lapjv_internal(n, cost_ptr, x_c, y_c); + if (ret != 0) { + std::cout << "Calculate Wrong!" << std::endl; + // system("pause"); + exit(0); + } + + double opt = 0.0; + + if (n != n_rows) { + for (int i = 0; i < n; i++) { + if (x_c[i] >= n_cols) x_c[i] = -1; + if (y_c[i] >= n_rows) y_c[i] = -1; + } + for (int i = 0; i < n_rows; i++) { + rowsol[i] = x_c[i]; + } + for (int i = 0; i < n_cols; i++) { + colsol[i] = y_c[i]; + } + + if (return_cost) { + for (size_t i = 0; i < rowsol.size(); i++) { + if (rowsol[i] != -1) { + opt += cost_ptr[i][rowsol[i]]; + } + } + } + } else if (return_cost) { + for (size_t i = 0; i < rowsol.size(); i++) { + opt += cost_ptr[i][rowsol[i]]; + } + } + + for (int i = 0; i < n; i++) { + delete[] cost_ptr[i]; + } + delete[] cost_ptr; + delete[] x_c; + delete[] y_c; + + return opt; +} + +cv::Scalar ByteTracker::get_color(int idx) +{ + idx += 3; + return cv::Scalar(37 * idx % 255, 17 * idx % 255, 29 * idx % 255); +} diff --git a/perception/bytetrack/package.xml b/perception/bytetrack/package.xml new file mode 100644 index 0000000000000..526ee210dabf9 --- /dev/null +++ b/perception/bytetrack/package.xml @@ -0,0 +1,35 @@ + + + + bytetrack + 0.0.1 + ByteTrack implementation ported toward Autoware + Manato HIRABAYASHI + Apache License 2.0 + + ament_cmake_auto + cudnn_cmake_module + + cudnn_cmake_module + tensorrt_cmake_module + + autoware_cmake + + autoware_auto_perception_msgs + cuda_utils + cv_bridge + image_transport + libopencv-dev + rclcpp + rclcpp_components + sensor_msgs + tensorrt_common + tier4_perception_msgs + + ament_lint_auto + autoware_lint_common + + + ament_cmake + + diff --git a/perception/bytetrack/src/bytetrack.cpp b/perception/bytetrack/src/bytetrack.cpp new file mode 100644 index 0000000000000..981bdb7f24afc --- /dev/null +++ b/perception/bytetrack/src/bytetrack.cpp @@ -0,0 +1,68 @@ +// 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 + +#include +#include +#include + +namespace bytetrack +{ +ByteTrack::ByteTrack(const int track_buffer_length) +{ + // Tracker initialization + tracker_ = std::make_unique(track_buffer_length); +} + +bool ByteTrack::do_inference(ObjectArray & objects) +{ + // Re-format data + std::vector bytetrack_objects; + for (auto & obj : objects) { + ByteTrackObject bytetrack_obj; + bytetrack_obj.rect = cv::Rect(obj.x_offset, obj.y_offset, obj.width, obj.height); + bytetrack_obj.prob = obj.score; + bytetrack_obj.label = obj.type; + bytetrack_objects.emplace_back(bytetrack_obj); + } + + // Update tracker + std::vector output_stracks = tracker_->update(bytetrack_objects); + + // Pack results + latest_objects_.clear(); + for (const auto & tracking_result : output_stracks) { + Object object{}; + std::vector tlwh = tracking_result.tlwh; + object.x_offset = tlwh[0]; + object.y_offset = tlwh[1]; + object.width = tlwh[2]; + object.height = tlwh[3]; + object.score = tracking_result.score; + object.type = tracking_result.label; + object.track_id = tracking_result.track_id; + object.unique_id = tracking_result.unique_id; + latest_objects_.emplace_back(object); + } + + return true; +} + +ObjectArray ByteTrack::update_tracker(ObjectArray & input_objects) +{ + do_inference(input_objects); + return latest_objects_; +} +} // namespace bytetrack diff --git a/perception/bytetrack/src/bytetrack_node.cpp b/perception/bytetrack/src/bytetrack_node.cpp new file mode 100644 index 0000000000000..358a5053b5d4a --- /dev/null +++ b/perception/bytetrack/src/bytetrack_node.cpp @@ -0,0 +1,113 @@ +// 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 "bytetrack/bytetrack.hpp" + +#include +#include + +#include "autoware_auto_perception_msgs/msg/object_classification.hpp" + +#include + +#include +#include + +namespace bytetrack +{ +ByteTrackNode::ByteTrackNode(const rclcpp::NodeOptions & node_options) +: Node("bytetrack", node_options) +{ + using std::placeholders::_1; + using std::chrono_literals::operator""ms; + + int track_buffer_length = declare_parameter("track_buffer_length", 30); + + this->bytetrack_ = std::make_unique(track_buffer_length); + + timer_ = + rclcpp::create_timer(this, get_clock(), 100ms, std::bind(&ByteTrackNode::on_connect, this)); + + objects_pub_ = this->create_publisher( + "~/out/objects", 1); + objects_uuid_pub_ = this->create_publisher( + "~/out/objects/debug/uuid", 1); +} + +void ByteTrackNode::on_connect() +{ + using std::placeholders::_1; + if ( + objects_pub_->get_subscription_count() == 0 && + objects_pub_->get_intra_process_subscription_count() == 0) { + detection_rect_sub_.reset(); + } else if (!detection_rect_sub_) { + detection_rect_sub_ = + this->create_subscription( + "~/in/rect", 1, std::bind(&ByteTrackNode::on_rect, this, _1)); + } +} + +void ByteTrackNode::on_rect( + const tier4_perception_msgs::msg::DetectedObjectsWithFeature::ConstSharedPtr msg) +{ + using Label = autoware_auto_perception_msgs::msg::ObjectClassification; + + tier4_perception_msgs::msg::DetectedObjectsWithFeature out_objects; + tier4_perception_msgs::msg::DynamicObjectArray out_objects_uuid; + + // Unpack detection results + ObjectArray object_array; + for (auto & feat_obj : msg->feature_objects) { + Object obj; + obj.x_offset = feat_obj.feature.roi.x_offset; + obj.y_offset = feat_obj.feature.roi.y_offset; + obj.height = feat_obj.feature.roi.height; + obj.width = feat_obj.feature.roi.width; + obj.score = feat_obj.object.existence_probability; + obj.type = feat_obj.object.classification.front().label; + object_array.emplace_back(obj); + } + + bytetrack::ObjectArray objects = bytetrack_->update_tracker(object_array); + for (const auto & tracked_object : objects) { + tier4_perception_msgs::msg::DetectedObjectWithFeature object; + object.feature.roi.x_offset = tracked_object.x_offset; + object.feature.roi.y_offset = tracked_object.y_offset; + object.feature.roi.width = tracked_object.width; + object.feature.roi.height = tracked_object.height; + object.object.existence_probability = tracked_object.score; + object.object.classification.emplace_back( + autoware_auto_perception_msgs::build