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fix(behavior_velocity): add mutex for points subscription #1125

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Jun 20, 2022
Merged

fix(behavior_velocity): add mutex for points subscription #1125

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11 changes: 7 additions & 4 deletions planning/behavior_velocity_planner/include/scene_module/run_out/dynamic_obstacle.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -96,7 +96,7 @@ class DynamicObstacleCreator
public:
explicit DynamicObstacleCreator(rclcpp::Node & node) : node_(node) {}
virtual ~DynamicObstacleCreator() = default;
virtual std::vector<DynamicObstacle> createDynamicObstacles() const = 0;
virtual std::vector<DynamicObstacle> createDynamicObstacles() = 0;
void setParam(const DynamicObstacleParam & param) { param_ = param; }
void setData(const PlannerData & planner_data, const PathWithLaneId & path)
{
Expand All @@ -118,7 +118,7 @@ class DynamicObstacleCreatorForObject : public DynamicObstacleCreator
{
public:
explicit DynamicObstacleCreatorForObject(rclcpp::Node & node);
std::vector<DynamicObstacle> createDynamicObstacles() const override;
std::vector<DynamicObstacle> createDynamicObstacles() override;
};

/**
Expand All @@ -129,7 +129,7 @@ class DynamicObstacleCreatorForObjectWithoutPath : public DynamicObstacleCreator
{
public:
explicit DynamicObstacleCreatorForObjectWithoutPath(rclcpp::Node & node);
std::vector<DynamicObstacle> createDynamicObstacles() const override;
std::vector<DynamicObstacle> createDynamicObstacles() override;
};

/**
Expand All @@ -140,7 +140,7 @@ class DynamicObstacleCreatorForPoints : public DynamicObstacleCreator
{
public:
explicit DynamicObstacleCreatorForPoints(rclcpp::Node & node);
std::vector<DynamicObstacle> createDynamicObstacles() const override;
std::vector<DynamicObstacle> createDynamicObstacles() override;

private:
void onCompareMapFilteredPointCloud(const sensor_msgs::msg::PointCloud2::ConstSharedPtr msg);
Expand All @@ -150,6 +150,9 @@ class DynamicObstacleCreatorForPoints : public DynamicObstacleCreator
// tf
tf2_ros::Buffer tf_buffer_;
tf2_ros::TransformListener tf_listener_;

// mutex for compare_map_filtered_pointcloud
std::mutex mutex_;
};

} // namespace behavior_velocity_planner
Expand Down
7 changes: 4 additions & 3 deletions planning/behavior_velocity_planner/src/scene_module/run_out/dynamic_obstacle.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -78,7 +78,7 @@ DynamicObstacleCreatorForObject::DynamicObstacleCreatorForObject(rclcpp::Node &
{
}

std::vector<DynamicObstacle> DynamicObstacleCreatorForObject::createDynamicObstacles() const
std::vector<DynamicObstacle> DynamicObstacleCreatorForObject::createDynamicObstacles()
{
// create dynamic obstacles from predicted objects
std::vector<DynamicObstacle> dynamic_obstacles;
Expand Down Expand Up @@ -115,7 +115,6 @@ DynamicObstacleCreatorForObjectWithoutPath::DynamicObstacleCreatorForObjectWitho
}

std::vector<DynamicObstacle> DynamicObstacleCreatorForObjectWithoutPath::createDynamicObstacles()
const
{
std::vector<DynamicObstacle> dynamic_obstacles;

Expand Down Expand Up @@ -154,8 +153,9 @@ DynamicObstacleCreatorForPoints::DynamicObstacleCreatorForPoints(rclcpp::Node &
std::bind(&DynamicObstacleCreatorForPoints::onCompareMapFilteredPointCloud, this, _1));
}

std::vector<DynamicObstacle> DynamicObstacleCreatorForPoints::createDynamicObstacles() const
std::vector<DynamicObstacle> DynamicObstacleCreatorForPoints::createDynamicObstacles()
{
std::lock_guard<std::mutex> lock(mutex_);
std::vector<DynamicObstacle> dynamic_obstacles;
for (const auto & point : dynamic_obstacle_data_.compare_map_filtered_pointcloud) {
DynamicObstacle dynamic_obstacle;
Expand Down Expand Up @@ -213,6 +213,7 @@ void DynamicObstacleCreatorForPoints::onCompareMapFilteredPointCloud(
pcl::PointCloud<pcl::PointXYZ>::Ptr pc_transformed(new pcl::PointCloud<pcl::PointXYZ>);
pcl::transformPointCloud(pc, *pc_transformed, affine);

std::lock_guard<std::mutex> lock(mutex_);
dynamic_obstacle_data_.compare_map_filtered_pointcloud = applyVoxelGridFilter(pc_transformed);
}
} // namespace behavior_velocity_planner