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Publish without change in default of vmap #16

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Sep 3, 2015
Merged

Publish without change in default of vmap #16

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15 changes: 10 additions & 5 deletions ros/src/computing/planning/mission/packages/lane_planner/nodes/lane_navi/lane_navi.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -74,6 +74,11 @@ static void cache_left_lane()
}
}

static bool is_cached_vmap()
{
return (!vmap_all.lanes.empty() && !vmap_all.nodes.empty() && !vmap_all.points.empty());
}

static void cache_lane(const map_file::LaneArray& msg)
{
vmap_all.lanes = msg.lanes;
Expand Down Expand Up @@ -110,6 +115,11 @@ static void write_lane_waypoint(const geometry_msgs::Point& point, bool first)

static void create_lane_waypoint(const tablet_socket::route_cmd& msg)
{
if (!is_cached_vmap()) {
ROS_WARN("not cached vmap");
return;
}

geo_pos_conv geo;
geo.set_plane(7);
geo.llh_to_xyz(msg.point.front().lat, msg.point.front().lon, 0);
Expand Down Expand Up @@ -192,11 +202,6 @@ int main(int argc, char **argv)
ros::Subscriber sub_lane = n.subscribe("/vector_map_info/lane", sub_vmap_queue_size, cache_lane);
ros::Subscriber sub_node = n.subscribe("/vector_map_info/node", sub_vmap_queue_size, cache_node);
ros::Subscriber sub_point = n.subscribe("/vector_map_info/point_class", sub_vmap_queue_size, cache_point);
ros::Rate rate(1);
while (vmap_all.lanes.empty() || vmap_all.nodes.empty() || vmap_all.points.empty()) {
ros::spinOnce();
rate.sleep();
}
ros::Subscriber sub_route = n.subscribe("/route_cmd", sub_route_queue_size, create_lane_waypoint);

pub_waypoint = n.advertise<waypoint_follower::lane>("/lane_waypoint", pub_waypoint_queue_size,
Expand Down
59 changes: 38 additions & 21 deletions ros/src/computing/planning/mission/packages/lane_planner/nodes/lane_rule/lane_rule.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -81,6 +81,12 @@ static void cache_left_lane()
}
}

static bool is_cached_vmap()
{
return (!vmap_all.lanes.empty() && !vmap_all.nodes.empty() && !vmap_all.points.empty() &&
!vmap_all.stoplines.empty() && !vmap_all.dtlanes.empty());
}

static void cache_lane(const map_file::LaneArray& msg)
{
vmap_all.lanes = msg.lanes;
Expand Down Expand Up @@ -442,11 +448,43 @@ static waypoint_follower::lane rule_stopline(const waypoint_follower::lane& msg,
return computations;
}

static void publish_waypoint_without_change(const waypoint_follower::lane& msg, const std_msgs::Header& header)
{
waypoint_follower::lane traffic;
traffic.header = header;
traffic.increment = 1;
waypoint_follower::waypoint waypoint;
waypoint.pose.header = header;
waypoint.twist.header = header;

for (size_t i = 0; i < msg.waypoints.size(); ++i) {
waypoint.pose.pose = msg.waypoints[i].pose.pose;
waypoint.twist.twist = msg.waypoints[i].twist.twist;
traffic.waypoints.push_back(waypoint);
}

pub_traffic.publish(traffic);
}

static void create_traffic_waypoint(const waypoint_follower::lane& msg)
{
std_msgs::Header header;
header.stamp = ros::Time::now();
header.frame_id = "/map";

if (!is_cached_vmap()) {
ROS_WARN("not cached vmap");
publish_waypoint_without_change(msg, header);
return;
}

std::vector<map_file::DTLane> dtlanes = search_dtlane(msg);
if (dtlanes.size() != msg.waypoints.size()) {
ROS_WARN("not found dtlane");
publish_waypoint_without_change(msg, header);
return;
}

waypoint_follower::lane green;
green.header = header;
green.increment = 1;
Expand All @@ -457,21 +495,6 @@ static void create_traffic_waypoint(const waypoint_follower::lane& msg)
waypoint.pose.header = header;
waypoint.twist.header = header;

std::vector<map_file::DTLane> dtlanes = search_dtlane(msg);
if (dtlanes.size() != msg.waypoints.size()) {
ROS_WARN("not found dtlane");

// publish waypoints without change
for (size_t i = 0; i < msg.waypoints.size(); ++i) {
waypoint.pose.pose = msg.waypoints[i].pose.pose;
waypoint.twist.twist = msg.waypoints[i].twist.twist;
green.waypoints.push_back(waypoint);
}
pub_traffic.publish(green);

return;
}

for (size_t i = 0; i < msg.waypoints.size(); ++i) {
double reduction = dtlane_to_reduction(dtlanes, i);

Expand Down Expand Up @@ -523,12 +546,6 @@ int main(int argc, char **argv)
ros::Subscriber sub_point = n.subscribe("/vector_map_info/point_class", sub_vmap_queue_size, cache_point);
ros::Subscriber sub_stopline = n.subscribe("/vector_map_info/stop_line", sub_vmap_queue_size, cache_stopline);
ros::Subscriber sub_dtlane = n.subscribe("/vector_map_info/dtlane", sub_vmap_queue_size, cache_dtlane);
ros::Rate rate(1);
while (vmap_all.lanes.empty() || vmap_all.nodes.empty() || vmap_all.points.empty() ||
vmap_all.stoplines.empty() || vmap_all.dtlanes.empty()) {
ros::spinOnce();
rate.sleep();
}
ros::Subscriber sub_waypoint = n.subscribe("/lane_waypoint", sub_waypoint_queue_size, create_traffic_waypoint);
ros::Subscriber sub_config = n.subscribe("/config/lane_rule", sub_config_queue_size, config_rule);

Expand Down