From 72a730bad078079d02b28483d8563838672627b3 Mon Sep 17 00:00:00 2001 From: Amadeusz Szymko Date: Mon, 22 May 2023 12:32:13 +0200 Subject: [PATCH] feat: init trajectory loader Signed-off-by: Amadeusz Szymko --- CMakeLists.txt | 43 + LICENSE | 201 + README.md | 40 + config/defaults.param.yaml | 9 + data/imola.csv | 4343 +++++++++++++++++ include/trajectory_loader/csv_loader.hpp | 47 + .../trajectory_loader/trajectory_loader.hpp | 62 + .../trajectory_loader_node.hpp | 55 + .../trajectory_loader/visibility_control.hpp | 37 + launch/trajectory_loader.launch.py | 71 + package.xml | 28 + src/csv_loader.cpp | 149 + src/trajectory_loader.cpp | 97 + src/trajectory_loader_node.cpp | 93 + 14 files changed, 5275 insertions(+) create mode 100644 CMakeLists.txt create mode 100644 LICENSE create mode 100644 README.md create mode 100644 config/defaults.param.yaml create mode 100644 data/imola.csv create mode 100644 include/trajectory_loader/csv_loader.hpp create mode 100644 include/trajectory_loader/trajectory_loader.hpp create mode 100644 include/trajectory_loader/trajectory_loader_node.hpp create mode 100644 include/trajectory_loader/visibility_control.hpp create mode 100755 launch/trajectory_loader.launch.py create mode 100644 package.xml create mode 100644 src/csv_loader.cpp create mode 100644 src/trajectory_loader.cpp create mode 100644 src/trajectory_loader_node.cpp diff --git a/CMakeLists.txt b/CMakeLists.txt new file mode 100644 index 0000000..24bdb82 --- /dev/null +++ b/CMakeLists.txt @@ -0,0 +1,43 @@ +cmake_minimum_required(VERSION 3.14) +project(trajectory_loader) + +find_package(autoware_cmake REQUIRED) +autoware_package() + +set(TRAJECTORY_LOADER_LIB_SRC + src/trajectory_loader.cpp +) + +set(TRAJECTORY_LOADER_LIB_HEADERS + include/trajectory_loader/trajectory_loader.hpp + include/trajectory_loader/visibility_control.hpp +) + +ament_auto_add_library(${PROJECT_NAME} SHARED + ${TRAJECTORY_LOADER_LIB_SRC} + ${TRAJECTORY_LOADER_LIB_HEADERS} +) + +set(TRAJECTORY_LOADER_NODE_SRC + src/trajectory_loader_node.cpp +) + +set(TRAJECTORY_LOADER_NODE_HEADERS + include/trajectory_loader/trajectory_loader_node.hpp +) + +ament_auto_add_library(${PROJECT_NAME}_node SHARED + ${TRAJECTORY_LOADER_NODE_SRC} + ${TRAJECTORY_LOADER_NODE_HEADERS} +) + +rclcpp_components_register_node(${PROJECT_NAME}_node + PLUGIN "trajectory_loader::TrajectoryLoaderNode" + EXECUTABLE ${PROJECT_NAME}_node_exe +) + +ament_auto_package(INSTALL_TO_SHARE + launch + config + data +) diff --git a/LICENSE b/LICENSE new file mode 100644 index 0000000..f49a4e1 --- /dev/null +++ b/LICENSE @@ -0,0 +1,201 @@ + Apache License + Version 2.0, January 2004 + http://www.apache.org/licenses/ + + TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION + + 1. 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5.0000000 + 36.7010943; 24.1648943; 1.3968143; 5.0000000 + 36.7097466; 24.2141384; 1.3969242; 5.0000000 + 36.7183934; 24.2633837; 1.3970411; 5.0000000 + 36.7270342; 24.3126299; 1.3971650; 5.0000000 + 36.7356688; 24.3618772; 1.3972958; 5.0000000 + 36.7442968; 24.4111257; 1.3974337; 5.0000000 + 36.7529177; 24.4603754; 1.3975786; 5.0000000 + 36.7615314; 24.5096264; 1.3977304; 5.0000000 + 36.7701375; 24.5588787; 1.3978890; 5.0000000 + 36.7787355; 24.6081325; 1.3980548; 5.0000000 + 36.7873252; 24.6573876; 1.3982282; 5.0000000 diff --git a/include/trajectory_loader/csv_loader.hpp b/include/trajectory_loader/csv_loader.hpp new file mode 100644 index 0000000..beabb5e --- /dev/null +++ b/include/trajectory_loader/csv_loader.hpp @@ -0,0 +1,47 @@ +// Copyright 2023 Amadeusz Szymko +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +//    http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#ifndef TRAJECTORY_LOADER__CSV_LOADER_HPP_ +#define TRAJECTORY_LOADER__CSV_LOADER_HPP_ + +#include +#include +#include +#include +#include + +namespace trajectory_loader +{ +using Table = std::vector>; +using Map = std::vector>; +class CSVLoader +{ +public: + explicit CSVLoader(const std::string & csv_path); + + bool readCSV(Table & result, const char delim = ','); + static bool validateData(const Table & table, const std::string & csv_path); + static bool validateMap(const Map & map, const bool is_col_decent); + static Map getMap(const Table & table); + static std::vector getRowIndex(const Table & table); + static std::vector getColumnIndex(const Table & table); + static double clampValue( + const double val, const std::vector & ranges, const std::string & name); + +private: + std::string csv_path_; +}; +} // namespace trajectory_loader + +#endif // TRAJECTORY_LOADER__CSV_LOADER_HPP_ diff --git a/include/trajectory_loader/trajectory_loader.hpp b/include/trajectory_loader/trajectory_loader.hpp new file mode 100644 index 0000000..03e09aa --- /dev/null +++ b/include/trajectory_loader/trajectory_loader.hpp @@ -0,0 +1,62 @@ +// Copyright 2023 Amadeusz Szymko +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +//    http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#ifndef TRAJECTORY_LOADER__TRAJECTORY_LOADER_HPP_ +#define TRAJECTORY_LOADER__TRAJECTORY_LOADER_HPP_ + +#include +#include +#include +#include +#include +#include + +#include +#include +#include + +#include "trajectory_loader/visibility_control.hpp" + + +namespace trajectory_loader +{ +using Table = std::vector>; +using Points = std::vector>; +using autoware_auto_planning_msgs::msg::Trajectory; +using autoware_auto_planning_msgs::msg::TrajectoryPoint; +using geometry_msgs::msg::Pose; +class TRAJECTORY_LOADER_PUBLIC TrajectoryLoader +{ +public: + TrajectoryLoader( + std::string csv_path, std::string delimiter, bool is_header, size_t col_x, size_t col_y, + size_t col_yaw, size_t col_vel + ); + bool readCSV(Table & result); + bool validateData(const Table & table, const std::string & csv_path); + Points getPoints(const Table & table); + +private: + std::string csv_path_; + char delimiter_ {';'}; + size_t idx_begin_ {0}; + size_t col_x_ {0}; + size_t col_y_ {1}; + size_t col_yaw_ {2}; + size_t col_vel_ {3}; +}; + +} // namespace trajectory_loader + +#endif // TRAJECTORY_LOADER__TRAJECTORY_LOADER_HPP_ diff --git a/include/trajectory_loader/trajectory_loader_node.hpp b/include/trajectory_loader/trajectory_loader_node.hpp new file mode 100644 index 0000000..4e552d6 --- /dev/null +++ b/include/trajectory_loader/trajectory_loader_node.hpp @@ -0,0 +1,55 @@ +// Copyright 2023 Amadeusz Szymko +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +//    http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#ifndef TRAJECTORY_LOADER__TRAJECTORY_LOADER_NODE_HPP_ +#define TRAJECTORY_LOADER__TRAJECTORY_LOADER_NODE_HPP_ + +#include + +#include +#include +#include +#include +#include +#include + +#include "trajectory_loader/trajectory_loader.hpp" + + +namespace trajectory_loader +{ +using TrajectoryLoaderPtr = std::unique_ptr; +using autoware_auto_planning_msgs::msg::Trajectory; +using autoware_auto_planning_msgs::msg::TrajectoryPoint; +using geometry_msgs::msg::Pose; +using geometry_msgs::msg::PoseStamped; +using nav_msgs::msg::Odometry; + +class TRAJECTORY_LOADER_PUBLIC TrajectoryLoaderNode : public rclcpp::Node +{ +public: + explicit TrajectoryLoaderNode(const rclcpp::NodeOptions & options); + +private: + rclcpp::Publisher::SharedPtr trajectory_pub_; + rclcpp::TimerBase::SharedPtr timer_; + TrajectoryLoaderPtr trajectory_loader_{nullptr}; + Trajectory trajectory_; + Odometry odom_; + void onTimer(); + Trajectory createTrajectory(const Points & points); +}; +} // namespace trajectory_loader + +#endif // TRAJECTORY_LOADER__TRAJECTORY_LOADER_NODE_HPP_ diff --git a/include/trajectory_loader/visibility_control.hpp b/include/trajectory_loader/visibility_control.hpp new file mode 100644 index 0000000..6598e6d --- /dev/null +++ b/include/trajectory_loader/visibility_control.hpp @@ -0,0 +1,37 @@ +// Copyright 2023 Amadeusz Szymko +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +//    http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#ifndef TRAJECTORY_LOADER__VISIBILITY_CONTROL_HPP_ +#define TRAJECTORY_LOADER__VISIBILITY_CONTROL_HPP_ + +//////////////////////////////////////////////////////////////////////////////// +#if defined(__WIN32) + #if defined(TRAJECTORY_LOADER_BUILDING_DLL) || defined(TRAJECTORY_LOADER_EXPORTS) + #define TRAJECTORY_LOADER_PUBLIC __declspec(dllexport) + #define TRAJECTORY_LOADER_LOCAL + #else // defined(TRAJECTORY_LOADER_BUILDING_DLL) || defined(TRAJECTORY_LOADER_EXPORTS) + #define TRAJECTORY_LOADER_PUBLIC __declspec(dllimport) + #define TRAJECTORY_LOADER_LOCAL + #endif // defined(TRAJECTORY_LOADER_BUILDING_DLL) || defined(TRAJECTORY_LOADER_EXPORTS) +#elif defined(__linux__) + #define TRAJECTORY_LOADER_PUBLIC __attribute__((visibility("default"))) + #define TRAJECTORY_LOADER_LOCAL __attribute__((visibility("hidden"))) +#elif defined(__APPLE__) + #define TRAJECTORY_LOADER_PUBLIC __attribute__((visibility("default"))) + #define TRAJECTORY_LOADER_LOCAL __attribute__((visibility("hidden"))) +#else + #error "Unsupported Build Configuration" +#endif + +#endif // TRAJECTORY_LOADER__VISIBILITY_CONTROL_HPP_ diff --git a/launch/trajectory_loader.launch.py b/launch/trajectory_loader.launch.py new file mode 100755 index 0000000..2993cc2 --- /dev/null +++ b/launch/trajectory_loader.launch.py @@ -0,0 +1,71 @@ +# Copyright 2023 Amadeusz Szymko +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +from launch import LaunchDescription +from launch.actions import DeclareLaunchArgument, OpaqueFunction +from launch.substitutions import LaunchConfiguration, PathJoinSubstitution +from launch_ros.actions import ComposableNodeContainer +from launch_ros.descriptions import ComposableNode +from launch_ros.substitutions import FindPackageShare + + +def launch_setup(context, *args, **kwargs): + + container = ComposableNodeContainer( + name='trajectory_loader_container', + namespace='', + package='rclcpp_components', + executable='component_container', + composable_node_descriptions=[ + ComposableNode( + package='trajectory_loader', + plugin='trajectory_loader::TrajectoryLoaderNode', + namespace='planning', + name='racing_planner', + parameters=[ + LaunchConfiguration('param_file'), + { + 'csv_path': LaunchConfiguration('csv_path') + } + ], + remappings=[ + ('~/output/trajectory', 'racing_planner/trajectory') + ] + ), + ], + output='screen', + arguments=['--ros-args', '--log-level', 'info', '--enable-stdout-logs'] + ) + + return [ + container + ] + + +def generate_launch_description(): + declared_arguments = [] + + def add_launch_arg(name: str, default_value: str = None): + declared_arguments.append( + DeclareLaunchArgument(name, default_value=default_value) + ) + + pkg_prefix = FindPackageShare('trajectory_loader') + add_launch_arg('param_file', PathJoinSubstitution([pkg_prefix, 'config/defaults.param.yaml'])) + add_launch_arg('csv_path', PathJoinSubstitution([pkg_prefix, 'data/imola.csv'])) + + return LaunchDescription([ + *declared_arguments, + OpaqueFunction(function=launch_setup) + ]) diff --git a/package.xml b/package.xml new file mode 100644 index 0000000..633f605 --- /dev/null +++ b/package.xml @@ -0,0 +1,28 @@ + + + + trajectory_loader + 1.0.0 + A package for reading and publishing trajectory from csv file. + Amadeusz Szymko + Apache License 2.0 + + ament_cmake_auto + autoware_cmake + + autoware_auto_planning_msgs + geometry_msgs + launch_ros + nav_msgs + rclcpp + rclcpp_components + tier4_autoware_utils + + ament_cmake_ros + ament_lint_auto + autoware_lint_common + + + ament_cmake + + diff --git a/src/csv_loader.cpp b/src/csv_loader.cpp new file mode 100644 index 0000000..4e7d5d7 --- /dev/null +++ b/src/csv_loader.cpp @@ -0,0 +1,149 @@ +// Copyright 2023 Amadeusz Szymko +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +//    http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "trajectory_loader/csv_loader.hpp" + +#include +#include +#include +#include + +namespace trajectory_loader +{ +CSVLoader::CSVLoader(const std::string & csv_path) +{ + csv_path_ = csv_path; +} + +bool CSVLoader::readCSV(Table & result, const char delim) +{ + std::ifstream ifs(csv_path_); + if (!ifs.is_open()) { + std::cerr << "Cannot open " << csv_path_.c_str() << std::endl; + return false; + } + + std::string buf; + while (std::getline(ifs, buf)) { + std::vector tokens; + + std::istringstream iss(buf); + std::string token; + while (std::getline(iss, token, delim)) { + tokens.push_back(token); + } + + if (tokens.size() != 0) { + result.push_back(tokens); + } + } + if (!validateData(result, csv_path_)) { + return false; + } + return true; +} + +bool CSVLoader::validateMap(const Map & map, const bool is_col_decent) +{ + std::pair invalid_index_pair; + bool is_invalid = false; + // validate interpolation + for (size_t i = 1; i < map.size(); i++) { + const auto & vec = map.at(i); + const auto & prev_vec = map.at(i - 1); + // validate row data + for (size_t j = 0; j < vec.size(); j++) { + // validate col + if (vec.at(j) <= prev_vec.at(j) && is_col_decent) { + invalid_index_pair = std::make_pair(i, j); + is_invalid = true; + } + if (vec.at(j) >= prev_vec.at(j) && !is_col_decent) { + invalid_index_pair = std::make_pair(i, j); + is_invalid = true; + } + } + } + if (is_invalid) { + std::cerr << "index around (i,j) is invalid ( " << invalid_index_pair.first << ", " + << invalid_index_pair.second << " )" << std::endl; + return false; + } + return true; +} + +bool CSVLoader::validateData(const Table & table, const std::string & csv_path) +{ + if (table[0].size() < 2) { + std::cerr << "Cannot read " << csv_path.c_str() << " CSV file should have at least 2 column" + << std::endl; + return false; + } + // validate map size + for (size_t i = 1; i < table.size(); i++) { + // validate row size + if (table[0].size() != table[i].size()) { + std::cerr << "Cannot read " << csv_path.c_str() + << ". Each row should have a same number of columns" << std::endl; + return false; + } + } + return true; +} + +Map CSVLoader::getMap(const Table & table) +{ + Map map = {}; + for (size_t i = 1; i < table.size(); i++) { + std::vector accelerations; + for (size_t j = 1; j < table[i].size(); j++) { + accelerations.push_back(std::stod(table[i][j])); + } + map.push_back(accelerations); + } + return map; +} + +std::vector CSVLoader::getRowIndex(const Table & table) +{ + std::vector index = {}; + for (size_t i = 1; i < table[0].size(); i++) { + index.push_back(std::stod(table[0][i])); + } + return index; +} + +std::vector CSVLoader::getColumnIndex(const Table & table) +{ + std::vector index = {}; + for (size_t i = 1; i < table.size(); i++) { + index.push_back(std::stod(table[i][0])); + } + return index; +} + +double CSVLoader::clampValue( + const double val, const std::vector & ranges, const std::string & name) +{ + const double max_value = *std::max_element(ranges.begin(), ranges.end()); + const double min_value = *std::min_element(ranges.begin(), ranges.end()); + if (val < min_value || max_value < val) { + std::cerr << "Input " << name << ": " << val << " is out of range. use closest value." + << std::endl; + return std::min(std::max(val, min_value), max_value); + } + return val; +} + +} // namespace trajectory_loader diff --git a/src/trajectory_loader.cpp b/src/trajectory_loader.cpp new file mode 100644 index 0000000..215f9a4 --- /dev/null +++ b/src/trajectory_loader.cpp @@ -0,0 +1,97 @@ +// Copyright 2023 Amadeusz Szymko +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +//    http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "trajectory_loader/trajectory_loader.hpp" + +#include + +namespace trajectory_loader +{ + +TrajectoryLoader::TrajectoryLoader( + std::string csv_path, std::string delimiter, bool is_header, + size_t col_x, size_t col_y, size_t col_yaw, size_t col_vel) +{ + csv_path_ = csv_path; + delimiter_ = delimiter.c_str()[0]; + idx_begin_ = is_header ? 1 : 0; + col_x_ = col_x; + col_y_ = col_y; + col_yaw_ = col_yaw; + col_vel_ = col_vel; +} + + +bool TrajectoryLoader::readCSV(Table & result) +{ + std::ifstream ifs(csv_path_); + if (!ifs.is_open()) { + std::cerr << "Cannot open " << csv_path_.c_str() << std::endl; + return false; + } + + std::string buf; + while (std::getline(ifs, buf)) { + std::vector tokens; + + std::istringstream iss(buf); + std::string token; + while (std::getline(iss, token, delimiter_)) { + tokens.push_back(token); + } + + if (tokens.size() != 0) { + result.push_back(tokens); + } + } + if (!validateData(result, csv_path_)) { + return false; + } + return true; +} + +bool TrajectoryLoader::validateData(const Table & table, const std::string & csv_path) +{ + if (table[0].size() < 3) { + std::cerr << "Cannot read " << csv_path.c_str() << " CSV file should have at least 3 column" + << std::endl; + return false; + } + // validate trajectory size + for (size_t i = idx_begin_; i < table.size(); i++) { + // validate row size + if (table[0].size() != table[i].size()) { + std::cerr << "Cannot read " << csv_path.c_str() + << ". Each row should have a same number of columns" << std::endl; + return false; + } + } + return true; +} + +Points TrajectoryLoader::getPoints(const Table & table) +{ + Points points = {}; + for (size_t i = idx_begin_; i < table.size(); i++) { + std::vector point; + point.push_back(std::stod(table[i][col_x_])); + point.push_back(std::stod(table[i][col_y_])); + point.push_back(std::stod(table[i][col_yaw_])); + point.push_back(std::stod(table[i][col_vel_])); + points.push_back(point); + } + return points; +} + +} // namespace trajectory_loader diff --git a/src/trajectory_loader_node.cpp b/src/trajectory_loader_node.cpp new file mode 100644 index 0000000..ca966ed --- /dev/null +++ b/src/trajectory_loader_node.cpp @@ -0,0 +1,93 @@ +// Copyright 2023 Amadeusz Szymko +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +//    http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "trajectory_loader/trajectory_loader_node.hpp" + +namespace trajectory_loader +{ +using namespace std::placeholders; + +TrajectoryLoaderNode::TrajectoryLoaderNode(const rclcpp::NodeOptions & options) +: Node("trajectory_loader", options) +{ + const double update_rate = this->declare_parameter("update_rate", 10.0); + const std::string csv_path = this->declare_parameter("csv_path", ""); + const std::string delimiter = this->declare_parameter("delimiter", ","); + const bool is_header = this->declare_parameter("is_header", false); + const size_t col_x = this->declare_parameter("col_x", 0); + const size_t col_y = this->declare_parameter("col_y", 1); + const size_t col_yaw = this->declare_parameter("col_yaw", 2); + const size_t col_vel = this->declare_parameter("col_vel", 3); + + trajectory_loader_ = std::make_unique( + csv_path, delimiter, is_header, col_x, col_y, col_yaw, col_vel); + + std::vector> table; + + if (!trajectory_loader_->readCSV(table)) { + RCLCPP_ERROR(get_logger(), "Cannot read trajectory. csv path = %s.", csv_path.c_str()); + throw std::runtime_error("Shutting down trajectory loader."); + } + + auto points = trajectory_loader_->getPoints(table); + trajectory_ = createTrajectory(points); + + rclcpp::QoS qos{1}; + qos.transient_local(); + trajectory_pub_ = create_publisher("~/output/trajectory", qos); + + std::cout << update_rate; + const auto period_ns = rclcpp::Rate(update_rate).period(); + timer_ = + rclcpp::create_timer( + this, get_clock(), period_ns, + std::bind(&TrajectoryLoaderNode::onTimer, this)); +} + +Trajectory TrajectoryLoaderNode::createTrajectory(const Points & points) +{ + Trajectory trajectory; + + trajectory.header.frame_id = "map"; + + for (auto & point : points) { + TrajectoryPoint trajectory_point; + Pose pose; + auto q = tier4_autoware_utils::createQuaternionFromYaw(point[2]); + pose.position.x = point[0]; + pose.position.y = point[1]; + pose.position.z = 0.0; + pose.orientation = q; + + trajectory_point.pose = pose; + + trajectory_point.longitudinal_velocity_mps = point[3]; + + trajectory.points.push_back(trajectory_point); + } + + return trajectory; +} + +void TrajectoryLoaderNode::onTimer() +{ + trajectory_.header.stamp = this->now(); + trajectory_pub_->publish(trajectory_); +} + +} // namespace trajectory_loader + +#include "rclcpp_components/register_node_macro.hpp" + +RCLCPP_COMPONENTS_REGISTER_NODE(trajectory_loader::TrajectoryLoaderNode)