feat(no_drivable_lane): reflecting refactoring changes of adding new …

…framework for virtual walls markers Signed-off-by: AhmedEbrahim <ahmed.a.d.ebrahim@gmail.com>
autowarefoundation · Jun 6, 2023 · 23372a5 · 23372a5
1 parent 207eee2
commit 23372a5
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Showing 2 changed files with 10 additions and 11 deletions.
diff --git a/planning/behavior_velocity_no_drivable_lane_module/src/debug.cpp b/planning/behavior_velocity_no_drivable_lane_module/src/debug.cpp
@@ -70,22 +70,24 @@ visualization_msgs::msg::MarkerArray createNoDrivableLaneMarkers(
 }
 }  // namespace
 
-visualization_msgs::msg::MarkerArray NoDrivableLaneModule::createVirtualWallMarkerArray()
+motion_utils::VirtualWalls NoDrivableLaneModule::createVirtualWalls()
 {
-  visualization_msgs::msg::MarkerArray wall_marker;
+  motion_utils::VirtualWalls virtual_walls;
 
   const auto now = this->clock_->now();
 
   if (
     (state_ == State::APPROACHING) || (state_ == State::INSIDE_NO_DRIVABLE_LANE) ||
     (state_ == State::STOPPED)) {
-    appendMarkerArray(
-      virtual_wall_marker_creator_->createStopVirtualWallMarker(
-        {debug_data_.stop_pose}, "no_drivable_lane", now),
-      &wall_marker, now);
+    motion_utils::VirtualWall wall;
+    wall.text = "no_drivable_lane";
+    wall.style = motion_utils::VirtualWallType::stop;
+    wall.ns = std::to_string(module_id_) + "_";
+    wall.pose = debug_data_.stop_pose;
+    virtual_walls.push_back(wall);
   }
 
-  return wall_marker;
+  return virtual_walls;
 }
 
 visualization_msgs::msg::MarkerArray NoDrivableLaneModule::createDebugMarkerArray()

diff --git a/planning/behavior_velocity_no_drivable_lane_module/src/scene.hpp b/planning/behavior_velocity_no_drivable_lane_module/src/scene.hpp
@@ -60,7 +60,7 @@ class NoDrivableLaneModule : public SceneModuleInterface
   bool modifyPathVelocity(PathWithLaneId * path, StopReason * stop_reason) override;
 
   visualization_msgs::msg::MarkerArray createDebugMarkerArray() override;
-  visualization_msgs::msg::MarkerArray createVirtualWallMarkerArray() override;
+  motion_utils::VirtualWalls createVirtualWalls() override;
 
 private:
   const int64_t lane_id_;
@@ -78,9 +78,6 @@ class NoDrivableLaneModule : public SceneModuleInterface
   geometry_msgs::msg::Point first_intersection_point;
   double distance_ego_first_intersection;
 
-  std::shared_ptr<motion_utils::VirtualWallMarkerCreator> virtual_wall_marker_creator_ =
-    std::make_shared<motion_utils::VirtualWallMarkerCreator>();
-
   void handle_init_state();
   void handle_approaching_state(PathWithLaneId * path, StopReason * stop_reason);
   void handle_inside_no_drivable_lane_state(PathWithLaneId * path, StopReason * stop_reason);