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refactor(motion_utils, obstacle_cruise_planner): add offset to virtual wall utils func #2078

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Oct 18, 2022
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refactor(motion_utils, obstacle_cruise_planner): add offset to virtual wall utils func #2078

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8 changes: 4 additions & 4 deletions common/motion_utils/include/motion_utils/marker/marker_helper.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -15,23 +15,23 @@
#ifndef MOTION_UTILS__MARKER__MARKER_HELPER_HPP_
#define MOTION_UTILS__MARKER__MARKER_HELPER_HPP_

#include "tier4_autoware_utils/ros/marker_helper.hpp"
#include "tier4_autoware_utils/tier4_autoware_utils.hpp"

#include <string>

namespace motion_utils
{
visualization_msgs::msg::MarkerArray createStopVirtualWallMarker(
const geometry_msgs::msg::Pose & pose, const std::string & module_name, const rclcpp::Time & now,
const int32_t id);
const int32_t id, const double longitudinal_offset = 0.0);

visualization_msgs::msg::MarkerArray createSlowDownVirtualWallMarker(
const geometry_msgs::msg::Pose & pose, const std::string & module_name, const rclcpp::Time & now,
const int32_t id);
const int32_t id, const double longitudinal_offset = 0.0);

visualization_msgs::msg::MarkerArray createDeadLineVirtualWallMarker(
const geometry_msgs::msg::Pose & pose, const std::string & module_name, const rclcpp::Time & now,
const int32_t id);
const int32_t id, const double longitudinal_offset = 0.0);

visualization_msgs::msg::MarkerArray createDeletedStopVirtualWallMarker(
const rclcpp::Time & now, const int32_t id);
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18 changes: 12 additions & 6 deletions common/motion_utils/src/marker/marker_helper.cpp
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Expand Up @@ -83,26 +83,32 @@ namespace motion_utils
{
visualization_msgs::msg::MarkerArray createStopVirtualWallMarker(
const geometry_msgs::msg::Pose & pose, const std::string & module_name, const rclcpp::Time & now,
const int32_t id)
const int32_t id, const double longitudinal_offset)
{
const auto pose_with_offset =
tier4_autoware_utils::calcOffsetPose(pose, longitudinal_offset, 0.0, 0.0);
return createVirtualWallMarkerArray(
pose, module_name, "stop_", now, id, createMarkerColor(1.0, 0.0, 0.0, 0.5));
pose_with_offset, module_name, "stop_", now, id, createMarkerColor(1.0, 0.0, 0.0, 0.5));
}

visualization_msgs::msg::MarkerArray createSlowDownVirtualWallMarker(
const geometry_msgs::msg::Pose & pose, const std::string & module_name, const rclcpp::Time & now,
const int32_t id)
const int32_t id, const double longitudinal_offset)
{
const auto pose_with_offset =
tier4_autoware_utils::calcOffsetPose(pose, longitudinal_offset, 0.0, 0.0);
return createVirtualWallMarkerArray(
pose, module_name, "slow_down_", now, id, createMarkerColor(1.0, 1.0, 0.0, 0.5));
pose_with_offset, module_name, "slow_down_", now, id, createMarkerColor(1.0, 1.0, 0.0, 0.5));
}

visualization_msgs::msg::MarkerArray createDeadLineVirtualWallMarker(
const geometry_msgs::msg::Pose & pose, const std::string & module_name, const rclcpp::Time & now,
const int32_t id)
const int32_t id, const double longitudinal_offset)
{
const auto pose_with_offset =
tier4_autoware_utils::calcOffsetPose(pose, longitudinal_offset, 0.0, 0.0);
return createVirtualWallMarkerArray(
pose, module_name, "dead_line_", now, id, createMarkerColor(0.0, 1.0, 0.0, 0.5));
pose_with_offset, module_name, "dead_line_", now, id, createMarkerColor(0.0, 1.0, 0.0, 0.5));
}

visualization_msgs::msg::MarkerArray createDeletedStopVirtualWallMarker(
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5 changes: 2 additions & 3 deletions planning/obstacle_cruise_planner/src/pid_based_planner/pid_based_planner.cpp
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Expand Up @@ -238,11 +238,10 @@ VelocityLimit PIDBasedPlanner::doCruise(
: std::abs(vehicle_info_.min_longitudinal_offset_m);
const double dist_to_rss_wall =
std::min(dist_to_cruise + abs_ego_offset, dist_to_obstacle + abs_ego_offset);
const size_t wall_idx = obstacle_cruise_utils::getIndexWithLongitudinalOffset(
planner_data.traj.points, dist_to_rss_wall, ego_idx);

const auto markers = motion_utils::createSlowDownVirtualWallMarker(
planner_data.traj.points.at(wall_idx).pose, "obstacle cruise", planner_data.current_time, 0);
planner_data.traj.points.at(ego_idx).pose, "obstacle cruise", planner_data.current_time, 0,
dist_to_rss_wall);
tier4_autoware_utils::appendMarkerArray(markers, &debug_wall_marker);

debug_obstacles_to_cruise.push_back(cruise_obstacle_info.obstacle);
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7 changes: 2 additions & 5 deletions planning/obstacle_cruise_planner/src/planner_interface.cpp
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Expand Up @@ -195,13 +195,10 @@ Trajectory PlannerInterface::generateStopTrajectory(
std::max(0.0, closest_obstacle_dist - abs_ego_offset - feasible_margin_from_obstacle);
const auto zero_vel_idx = motion_utils::insertStopPoint(0, zero_vel_dist, output_traj.points);
if (zero_vel_idx) {
const auto wall_idx = obstacle_cruise_utils::getIndexWithLongitudinalOffset(
output_traj.points, abs_ego_offset, *zero_vel_idx);

// virtual wall marker for stop obstacle
const auto marker_pose = output_traj.points.at(wall_idx).pose;
const auto markers = motion_utils::createStopVirtualWallMarker(
marker_pose, "obstacle stop", planner_data.current_time, 0);
output_traj.points.at(*zero_vel_idx).pose, "obstacle stop", planner_data.current_time, 0,
abs_ego_offset);
tier4_autoware_utils::appendMarkerArray(markers, &debug_data.stop_wall_marker);
debug_data.obstacles_to_stop.push_back(*closest_stop_obstacle);

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