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feat(tier4_control_launch): add obstacle_collision_checker in control.launch.py #2193

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Nov 8, 2022
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feat(tier4_control_launch): add obstacle_collision_checker in control.launch.py #2193

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11 changes: 11 additions & 0 deletions ...r4_control_launch/config/obstacle_collision_checker/obstacle_collision_checker.param.yaml
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Original file line number Diff line number Diff line change
@@ -0,0 +1,11 @@
/**:
ros__parameters:
# Node
update_rate: 10.0

# Core
delay_time: 0.03 # delay time of vehicle [s]
footprint_margin: 0.0 # margin for footprint [m]
max_deceleration: 1.5 # max deceleration [m/ss]
resample_interval: 0.3 # interval distance to resample point cloud [m]
search_radius: 5.0 # search distance from trajectory to point cloud [m]
42 changes: 42 additions & 0 deletions launch/tier4_control_launch/launch/control.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -25,6 +25,7 @@
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch.substitutions import LaunchConfiguration
from launch_ros.actions import ComposableNodeContainer
from launch_ros.actions import LoadComposableNodes
from launch_ros.actions import PushRosNamespace
from launch_ros.descriptions import ComposableNode
from launch_ros.substitutions import FindPackageShare
Expand Down Expand Up @@ -90,6 +91,15 @@ def launch_setup(context, *args, **kwargs):
with open(shift_decider_param_path, "r") as f:
shift_decider_param = yaml.safe_load(f)["/**"]["ros__parameters"]

obstacle_collision_checker_param_path = os.path.join(
LaunchConfiguration("tier4_control_launch_param_path").perform(context),
"obstacle_collision_checker",
"obstacle_collision_checker.param.yaml",
)

with open(obstacle_collision_checker_param_path, "r") as f:
obstacle_collision_checker_param = yaml.safe_load(f)["/**"]["ros__parameters"]

controller_component = ComposableNode(
package="trajectory_follower_nodes",
plugin="autoware::motion::control::trajectory_follower_nodes::Controller",
Expand Down Expand Up @@ -254,6 +264,34 @@ def launch_setup(context, *args, **kwargs):
],
)

# obstacle collision checker
obstacle_collision_checker_component = ComposableNode(
package="obstacle_collision_checker",
plugin="obstacle_collision_checker::ObstacleCollisionCheckerNode",
name="obstacle_collision_checker",
remappings=[
("input/lanelet_map_bin", "/map/vector_map"),
("input/obstacle_pointcloud", "/perception/obstacle_segmentation/pointcloud"),
("input/reference_trajectory", "/planning/scenario_planning/trajectory"),
(
"input/predicted_trajectory",
"/control/trajectory_follower/lateral/predicted_trajectory",
),
("input/odometry", "/localization/kinematic_state"),
],
parameters=[
obstacle_collision_checker_param,
vehicle_info_param,
],
extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
)

obstacle_collision_checker_loader = LoadComposableNodes(
condition=IfCondition(LaunchConfiguration("enable_obstacle_collision_checker")),
composable_node_descriptions=[obstacle_collision_checker_component],
target_container="/control/control_container",
)

# set container to run all required components in the same process
container = ComposableNodeContainer(
name="control_container",
Expand All @@ -275,6 +313,7 @@ def launch_setup(context, *args, **kwargs):
container,
external_cmd_selector_loader,
external_cmd_converter_loader,
obstacle_collision_checker_loader,
]
)

Expand Down Expand Up @@ -327,6 +366,9 @@ def add_launch_arg(name: str, default_value=None, description=None):
[FindPackageShare("lane_departure_checker"), "/config/lane_departure_checker.param.yaml"],
)

# obstacle collision checker
add_launch_arg("enable_obstacle_collision_checker", "false", "use obstacle collision checker")

# velocity controller
add_launch_arg("show_debug_info", "false", "show debug information")
add_launch_arg("enable_pub_debug", "true", "enable to publish debug information")
Expand Down