diff --git a/common/motion_utils/src/resample/resample.cpp b/common/motion_utils/src/resample/resample.cpp index c49addeec1a01..5417da86f5359 100644 --- a/common/motion_utils/src/resample/resample.cpp +++ b/common/motion_utils/src/resample/resample.cpp @@ -260,7 +260,8 @@ autoware_auto_planning_msgs::msg::PathWithLaneId resamplePath( autoware_auto_planning_msgs::msg::PathWithLaneId resampled_path; resampled_path.header = input_path.header; - resampled_path.drivable_area = input_path.drivable_area; + resampled_path.left_bound = input_path.left_bound; + resampled_path.right_bound = input_path.right_bound; resampled_path.points.resize(interpolated_pose.size()); for (size_t i = 0; i < resampled_path.points.size(); ++i) { autoware_auto_planning_msgs::msg::PathPoint path_point; @@ -402,7 +403,8 @@ autoware_auto_planning_msgs::msg::Path resamplePath( autoware_auto_planning_msgs::msg::Path resampled_path; resampled_path.header = input_path.header; - resampled_path.drivable_area = input_path.drivable_area; + resampled_path.left_bound = input_path.left_bound; + resampled_path.right_bound = resampled_path.right_bound; resampled_path.points.resize(interpolated_pose.size()); for (size_t i = 0; i < resampled_path.points.size(); ++i) { autoware_auto_planning_msgs::msg::PathPoint path_point; diff --git a/common/tier4_planning_rviz_plugin/src/drivable_area/display.cpp b/common/tier4_planning_rviz_plugin/src/drivable_area/display.cpp index 26071d8eddf53..97a232fd9a549 100644 --- a/common/tier4_planning_rviz_plugin/src/drivable_area/display.cpp +++ b/common/tier4_planning_rviz_plugin/src/drivable_area/display.cpp @@ -308,9 +308,8 @@ bool validateFloats(const nav_msgs::msg::OccupancyGrid & msg) } void AutowareDrivableAreaDisplay::processMessage( - autoware_auto_planning_msgs::msg::Path::ConstSharedPtr msg) + [[maybe_unused]] autoware_auto_planning_msgs::msg::Path::ConstSharedPtr msg) { - current_map_ = msg->drivable_area; loaded_ = true; // updated via signal in case ros spinner is in a different thread Q_EMIT mapUpdated(); diff --git a/common/tier4_state_rviz_plugin/README.md b/common/tier4_state_rviz_plugin/README.md index ed96226f6bb75..ac1e188fb36cd 100644 --- a/common/tier4_state_rviz_plugin/README.md +++ b/common/tier4_state_rviz_plugin/README.md @@ -2,31 +2,47 @@ ## Purpose -This plugin displays the current status of autoware. +This plugin displays the current status of autoware. This plugin also can engage from the panel. ## Inputs / Outputs ### Input -| Name | Type | Description | -| ----------------------------- | ----------------------------------------------- | -------------------------------------------------- | -| `/control/current_gate_mode` | `tier4_control_msgs::msg::GateMode` | The topic represents the state of AUTO or EXTERNAL | -| `/autoware/state` | `autoware_auto_system_msgs::msg::AutowareState` | The topic represents the state of Autoware | -| `/vehicle/status/gear_status` | `autoware_auto_vehicle_msgs::msg::GearReport` | The topic represents the state of Gear | -| `/api/external/get/engage` | `tier4_external_api_msgs::msg::EngageStatus` | The topic represents the state of Engage | +| Name | Type | Description | +| ---------------------------------------- | -------------------------------------------------------------- | ------------------------------------------------------------- | +| `/api/operation_mode/state` | `autoware_adapi_v1_msgs::msg::OperationModeState` | The topic represents the state of operation mode | +| `/api/routing/state` | `autoware_adapi_v1_msgs::msg::RouteState` | The topic represents the state of route | +| `/api/localization/initialization_state` | `autoware_adapi_v1_msgs::msg::LocalizationInitializationState` | The topic represents the state of localization initialization | +| `/api/motion/state` | `autoware_adapi_v1_msgs::msg::MotionState` | The topic represents the state of motion | +| `/api/autoware/get/emergency` | `tier4_external_api_msgs::msg::Emergency` | The topic represents the state of external emergency | +| `/vehicle/status/gear_status` | `autoware_auto_vehicle_msgs::msg::GearReport` | The topic represents the state of gear | ### Output -| Name | Type | Description | -| -------------------------- | -------------------------------------- | ------------------------------ | -| `/api/external/set/engage` | `tier4_external_api_msgs::srv::Engage` | The service inputs engage true | +| Name | Type | Description | +| -------------------------------------------------- | -------------------------------------------------- | -------------------------------------------------- | +| `/api/operation_mode/change_to_autonomous` | `autoware_adapi_v1_msgs::srv::ChangeOperationMode` | The service to change operation mode to autonomous | +| `/api/operation_mode/change_to_stop` | `autoware_adapi_v1_msgs::srv::ChangeOperationMode` | The service to change operation mode to stop | +| `/api/operation_mode/change_to_local` | `autoware_adapi_v1_msgs::srv::ChangeOperationMode` | The service to change operation mode to local | +| `/api/operation_mode/change_to_remote` | `autoware_adapi_v1_msgs::srv::ChangeOperationMode` | The service to change operation mode to remote | +| `/api/operation_mode/enable_autoware_control` | `autoware_adapi_v1_msgs::srv::ChangeOperationMode` | The service to enable vehicle control by Autoware | +| `/api/operation_mode/disable_autoware_control` | `autoware_adapi_v1_msgs::srv::ChangeOperationMode` | The service to disable vehicle control by Autoware | +| `/api/routing/clear_route` | `autoware_adapi_v1_msgs::srv::ClearRoute` | The service to clear route state | +| `/api/motion/accept_start` | `autoware_adapi_v1_msgs::srv::AcceptStart` | The service to accept the vehicle to start | +| `/api/autoware/set/emergency` | `tier4_external_api_msgs::srv::SetEmergency` | The service to set external emergency | +| `/planning/scenario_planning/max_velocity_default` | `tier4_planning_msgs::msg::VelocityLimit` | The topic to set maximum speed of the vehicle | ## HowToUse 1. Start rviz and select panels/Add new panel. + ![select_panel](./images/select_panels.png) + 2. Select tier4_state_rviz_plugin/AutowareStatePanel and press OK. + ![select_state_plugin](./images/select_state_plugin.png) -3. If the AutowareState is WaitingForEngage, can engage by clicking the Engage button. - ![select_engage](./images/select_engage.png) + +3. If the auto button is activated, can engage by clicking it. + + ![select_auto](./images/select_auto.png) diff --git a/common/tier4_state_rviz_plugin/images/select_auto.png b/common/tier4_state_rviz_plugin/images/select_auto.png new file mode 100644 index 0000000000000..4772cfea3e48c Binary files /dev/null and b/common/tier4_state_rviz_plugin/images/select_auto.png differ diff --git a/common/tier4_state_rviz_plugin/images/select_engage.png b/common/tier4_state_rviz_plugin/images/select_engage.png deleted file mode 100644 index 9a842800a786c..0000000000000 Binary files a/common/tier4_state_rviz_plugin/images/select_engage.png and /dev/null differ diff --git a/control/trajectory_follower/src/mpc_lateral_controller.cpp b/control/trajectory_follower/src/mpc_lateral_controller.cpp index a90fa0fd61da6..aaefa696d6494 100644 --- a/control/trajectory_follower/src/mpc_lateral_controller.cpp +++ b/control/trajectory_follower/src/mpc_lateral_controller.cpp @@ -234,6 +234,7 @@ bool MpcLateralController::isSteerConverged( // wait for a while to propagate the trajectory shape to the output command when the trajectory // shape is changed. if (!m_has_received_first_trajectory || isTrajectoryShapeChanged()) { + RCLCPP_DEBUG(node_->get_logger(), "trajectory shaped is changed"); return false; } diff --git a/control/trajectory_follower/src/mpc_utils.cpp b/control/trajectory_follower/src/mpc_utils.cpp index aece2545c388e..e4270909cdf21 100644 --- a/control/trajectory_follower/src/mpc_utils.cpp +++ b/control/trajectory_follower/src/mpc_utils.cpp @@ -230,7 +230,7 @@ bool convertToMPCTrajectory( for (const autoware_auto_planning_msgs::msg::TrajectoryPoint & p : input.points) { const double x = p.pose.position.x; const double y = p.pose.position.y; - const double z = 0.0; + const double z = p.pose.position.z; const double yaw = tf2::getYaw(p.pose.orientation); const double vx = p.longitudinal_velocity_mps; const double k = 0.0; diff --git a/control/trajectory_follower_nodes/include/trajectory_follower_nodes/controller_node.hpp b/control/trajectory_follower_nodes/include/trajectory_follower_nodes/controller_node.hpp index 346fe9a92d56a..f8493c7a1cb28 100644 --- a/control/trajectory_follower_nodes/include/trajectory_follower_nodes/controller_node.hpp +++ b/control/trajectory_follower_nodes/include/trajectory_follower_nodes/controller_node.hpp @@ -83,6 +83,7 @@ class TRAJECTORY_FOLLOWER_PUBLIC Controller : public rclcpp::Node rclcpp::Subscription::SharedPtr sub_accel_; rclcpp::Publisher::SharedPtr control_cmd_pub_; + rclcpp::Publisher::SharedPtr debug_marker_pub_; enum class LateralControllerMode { INVALID = 0, @@ -106,6 +107,7 @@ class TRAJECTORY_FOLLOWER_PUBLIC Controller : public rclcpp::Node LateralControllerMode getLateralControllerMode(const std::string & algorithm_name) const; LongitudinalControllerMode getLongitudinalControllerMode( const std::string & algorithm_name) const; + void publishDebugMarker() const; }; } // namespace trajectory_follower_nodes } // namespace control diff --git a/control/trajectory_follower_nodes/src/controller_node.cpp b/control/trajectory_follower_nodes/src/controller_node.cpp index 0bd1a694f1bd7..8b168afc08416 100644 --- a/control/trajectory_follower_nodes/src/controller_node.cpp +++ b/control/trajectory_follower_nodes/src/controller_node.cpp @@ -77,6 +77,8 @@ Controller::Controller(const rclcpp::NodeOptions & node_options) : Node("control "~/input/current_accel", rclcpp::QoS{1}, std::bind(&Controller::onAccel, this, _1)); control_cmd_pub_ = create_publisher( "~/output/control_cmd", rclcpp::QoS{1}.transient_local()); + debug_marker_pub_ = + create_publisher("~/output/debug_marker", rclcpp::QoS{1}); // Timer { @@ -168,6 +170,34 @@ void Controller::callbackTimerControl() out.lateral = lateral_output_->control_cmd; out.longitudinal = longitudinal_output_->control_cmd; control_cmd_pub_->publish(out); + + publishDebugMarker(); +} + +void Controller::publishDebugMarker() const +{ + visualization_msgs::msg::MarkerArray debug_marker_array{}; + + // steer converged marker + { + auto marker = tier4_autoware_utils::createDefaultMarker( + "map", this->now(), "steer_converged", 0, visualization_msgs::msg::Marker::TEXT_VIEW_FACING, + tier4_autoware_utils::createMarkerScale(0.0, 0.0, 1.0), + tier4_autoware_utils::createMarkerColor(1.0, 1.0, 1.0, 0.99)); + marker.pose = input_data_.current_odometry_ptr->pose.pose; + + std::stringstream ss; + const double current = input_data_.current_steering_ptr->steering_tire_angle; + const double cmd = lateral_output_->control_cmd.steering_tire_angle; + const double diff = current - cmd; + ss << "current:" << current << " cmd:" << cmd << " diff:" << diff + << (lateral_output_->sync_data.is_steer_converged ? " (converged)" : " (not converged)"); + marker.text = ss.str(); + + debug_marker_array.markers.push_back(marker); + } + + debug_marker_pub_->publish(debug_marker_array); } } // namespace trajectory_follower_nodes diff --git a/control/vehicle_cmd_gate/README.md b/control/vehicle_cmd_gate/README.md index 62a774f7e5028..4bae58e22fa93 100644 --- a/control/vehicle_cmd_gate/README.md +++ b/control/vehicle_cmd_gate/README.md @@ -21,7 +21,6 @@ | `~/input/external/gear_cmd` | `autoware_auto_vehicle_msgs::msg::GearCommand` | gear command from external | | `~/input/external_emergency_stop_heartbeat` | `tier4_external_api_msgs::msg::Heartbeat` | heartbeat | | `~/input/gate_mode` | `tier4_control_msgs::msg::GateMode` | gate mode (AUTO or EXTERNAL) | -| `~/input/emergency_state` | `autoware_auto_system_msgs::msg::EmergencyState` | used to detect the emergency situation of the vehicle | | `~/input/emergency/control_cmd` | `autoware_auto_control_msgs::msg::AckermannControlCommand` | command for lateral and longitudinal velocity from emergency handler | | `~/input/emergency/hazard_lights_cmd` | `autoware_auto_vehicle_msgs::msg::HazardLightsCommand` | hazard lights command from emergency handler | | `~/input/emergency/gear_cmd` | `autoware_auto_vehicle_msgs::msg::GearCommand` | gear command from emergency handler | diff --git a/control/vehicle_cmd_gate/launch/vehicle_cmd_gate.launch.xml b/control/vehicle_cmd_gate/launch/vehicle_cmd_gate.launch.xml index 4ac592c1499f7..644e937e0718d 100644 --- a/control/vehicle_cmd_gate/launch/vehicle_cmd_gate.launch.xml +++ b/control/vehicle_cmd_gate/launch/vehicle_cmd_gate.launch.xml @@ -22,7 +22,6 @@ - diff --git a/control/vehicle_cmd_gate/src/vehicle_cmd_gate.hpp b/control/vehicle_cmd_gate/src/vehicle_cmd_gate.hpp index 291d320efddf4..756e8e122b13f 100644 --- a/control/vehicle_cmd_gate/src/vehicle_cmd_gate.hpp +++ b/control/vehicle_cmd_gate/src/vehicle_cmd_gate.hpp @@ -25,7 +25,6 @@ #include #include #include -#include #include #include #include diff --git a/launch/tier4_control_launch/launch/control.launch.py b/launch/tier4_control_launch/launch/control.launch.py index b02095623ae1d..4cb4c54dd5ddb 100644 --- a/launch/tier4_control_launch/launch/control.launch.py +++ b/launch/tier4_control_launch/launch/control.launch.py @@ -171,7 +171,6 @@ def launch_setup(context, *args, **kwargs): plugin="vehicle_cmd_gate::VehicleCmdGate", name="vehicle_cmd_gate", remappings=[ - ("input/emergency_state", "/system/emergency/emergency_state"), ("input/steering", "/vehicle/status/steering_status"), ("input/operation_mode", "/system/operation_mode/state"), ("input/auto/control_cmd", "/control/trajectory_follower/control_cmd"), diff --git a/launch/tier4_planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml b/launch/tier4_planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml index 153b879cd96ba..b4e992ab56916 100644 --- a/launch/tier4_planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml +++ b/launch/tier4_planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml @@ -50,6 +50,9 @@ min_avoidance_speed_for_acc_prevention: 3.0 # [m/s] max_avoidance_acceleration: 0.5 # [m/ss] + # bound clipping for objects + enable_bound_clipping: false + # for debug publish_debug_marker: false print_debug_info: false diff --git a/launch/tier4_system_launch/launch/system.launch.xml b/launch/tier4_system_launch/launch/system.launch.xml index 49682a9daba54..ff3ebae90e847 100644 --- a/launch/tier4_system_launch/launch/system.launch.xml +++ b/launch/tier4_system_launch/launch/system.launch.xml @@ -13,7 +13,7 @@ - + @@ -21,6 +21,7 @@ + diff --git a/launch/tier4_system_launch/system_launch.drawio.svg b/launch/tier4_system_launch/system_launch.drawio.svg index 334012a85b351..07a33aff8e30f 100644 --- a/launch/tier4_system_launch/system_launch.drawio.svg +++ b/launch/tier4_system_launch/system_launch.drawio.svg @@ -51,7 +51,7 @@ >
- system_monitor.launch.py + system_monitor.launch.xml

package: system_monitor
@@ -59,7 +59,7 @@
- system_monitor.launch.py... + system_monitor.launch.xml... diff --git a/localization/gyro_odometer/CMakeLists.txt b/localization/gyro_odometer/CMakeLists.txt index 4dc60ff2e785f..0d53b64f16e36 100644 --- a/localization/gyro_odometer/CMakeLists.txt +++ b/localization/gyro_odometer/CMakeLists.txt @@ -9,6 +9,8 @@ ament_auto_add_executable(${PROJECT_NAME} src/gyro_odometer_core.cpp ) +target_link_libraries(${PROJECT_NAME} fmt) + ament_auto_package(INSTALL_TO_SHARE launch ) diff --git a/localization/gyro_odometer/include/gyro_odometer/gyro_odometer_core.hpp b/localization/gyro_odometer/include/gyro_odometer/gyro_odometer_core.hpp index ce74644ad3586..c83447369855a 100644 --- a/localization/gyro_odometer/include/gyro_odometer/gyro_odometer_core.hpp +++ b/localization/gyro_odometer/include/gyro_odometer/gyro_odometer_core.hpp @@ -15,6 +15,9 @@ #ifndef GYRO_ODOMETER__GYRO_ODOMETER_CORE_HPP_ #define GYRO_ODOMETER__GYRO_ODOMETER_CORE_HPP_ +#include "tier4_autoware_utils/ros/transform_listener.hpp" +#include "tier4_autoware_utils/tier4_autoware_utils.hpp" + #include #include @@ -27,27 +30,28 @@ #else #include #endif -#include -#include +#include +#include #include class GyroOdometer : public rclcpp::Node { +private: + using COV_IDX = tier4_autoware_utils::xyz_covariance_index::XYZ_COV_IDX; + public: GyroOdometer(); ~GyroOdometer(); private: - void callbackTwistWithCovariance( - const geometry_msgs::msg::TwistWithCovarianceStamped::ConstSharedPtr twist_with_cov_msg_ptr); + void callbackVehicleTwist( + const geometry_msgs::msg::TwistWithCovarianceStamped::ConstSharedPtr vehicle_twist_msg_ptr); void callbackImu(const sensor_msgs::msg::Imu::ConstSharedPtr imu_msg_ptr); - bool getTransform( - const std::string & target_frame, const std::string & source_frame, - const geometry_msgs::msg::TransformStamped::SharedPtr transform_stamped_ptr); + void publishData(const geometry_msgs::msg::TwistWithCovarianceStamped & twist_with_cov_raw); rclcpp::Subscription::SharedPtr - vehicle_twist_with_cov_sub_; + vehicle_twist_sub_; rclcpp::Subscription::SharedPtr imu_sub_; rclcpp::Publisher::SharedPtr twist_raw_pub_; @@ -58,14 +62,15 @@ class GyroOdometer : public rclcpp::Node rclcpp::Publisher::SharedPtr twist_with_covariance_pub_; - tf2_ros::Buffer tf_buffer_; - tf2_ros::TransformListener tf_listener_; + std::shared_ptr transform_listener_; std::string output_frame_; double message_timeout_sec_; - geometry_msgs::msg::TwistWithCovarianceStamped::ConstSharedPtr twist_with_cov_msg_ptr_; - sensor_msgs::msg::Imu::ConstSharedPtr imu_msg_ptr_; + bool vehicle_twist_arrived_; + bool imu_arrived_; + std::deque vehicle_twist_queue_; + std::deque gyro_queue_; }; #endif // GYRO_ODOMETER__GYRO_ODOMETER_CORE_HPP_ diff --git a/localization/gyro_odometer/launch/gyro_odometer.launch.xml b/localization/gyro_odometer/launch/gyro_odometer.launch.xml index f9de1ac2086f2..aeb505270b2cc 100644 --- a/localization/gyro_odometer/launch/gyro_odometer.launch.xml +++ b/localization/gyro_odometer/launch/gyro_odometer.launch.xml @@ -1,5 +1,5 @@ - + diff --git a/localization/gyro_odometer/package.xml b/localization/gyro_odometer/package.xml index e96c6ef7dfc5c..43717dbd49352 100644 --- a/localization/gyro_odometer/package.xml +++ b/localization/gyro_odometer/package.xml @@ -12,12 +12,14 @@ autoware_cmake + fmt geometry_msgs sensor_msgs std_msgs tf2 tf2_geometry_msgs tf2_ros + tier4_autoware_utils rclcpp rclcpp_components diff --git a/localization/gyro_odometer/src/gyro_odometer_core.cpp b/localization/gyro_odometer/src/gyro_odometer_core.cpp index c03d0cf3a0027..b4a3c7118e051 100644 --- a/localization/gyro_odometer/src/gyro_odometer_core.cpp +++ b/localization/gyro_odometer/src/gyro_odometer_core.cpp @@ -19,21 +19,98 @@ #else #include #endif +#include #include #include #include +std::array transformCovariance(const std::array & cov) +{ + using COV_IDX = tier4_autoware_utils::xyz_covariance_index::XYZ_COV_IDX; + + double max_cov = std::max({cov[COV_IDX::X_X], cov[COV_IDX::Y_Y], cov[COV_IDX::Z_Z]}); + + std::array cov_transformed; + cov_transformed.fill(0.); + cov_transformed[COV_IDX::X_X] = max_cov; + cov_transformed[COV_IDX::Y_Y] = max_cov; + cov_transformed[COV_IDX::Z_Z] = max_cov; + return cov_transformed; +} + +geometry_msgs::msg::TwistWithCovarianceStamped concatGyroAndOdometer( + const std::deque & vehicle_twist_queue, + const std::deque & gyro_queue) +{ + using COV_IDX_XYZ = tier4_autoware_utils::xyz_covariance_index::XYZ_COV_IDX; + using COV_IDX_XYZRPY = tier4_autoware_utils::xyzrpy_covariance_index::XYZRPY_COV_IDX; + + double vx_mean = 0; + geometry_msgs::msg::Vector3 gyro_mean{}; + double vx_covariance_original = 0; + geometry_msgs::msg::Vector3 gyro_covariance_original{}; + for (const auto & vehicle_twist : vehicle_twist_queue) { + vx_mean += vehicle_twist.twist.twist.linear.x; + vx_covariance_original += vehicle_twist.twist.covariance[0 * 6 + 0]; + } + vx_mean /= vehicle_twist_queue.size(); + vx_covariance_original /= vehicle_twist_queue.size(); + + for (const auto & gyro : gyro_queue) { + gyro_mean.x += gyro.angular_velocity.x; + gyro_mean.y += gyro.angular_velocity.y; + gyro_mean.z += gyro.angular_velocity.z; + gyro_covariance_original.x += gyro.angular_velocity_covariance[COV_IDX_XYZ::X_X]; + gyro_covariance_original.y += gyro.angular_velocity_covariance[COV_IDX_XYZ::Y_Y]; + gyro_covariance_original.z += gyro.angular_velocity_covariance[COV_IDX_XYZ::Z_Z]; + } + gyro_mean.x /= gyro_queue.size(); + gyro_mean.y /= gyro_queue.size(); + gyro_mean.z /= gyro_queue.size(); + gyro_covariance_original.x /= gyro_queue.size(); + gyro_covariance_original.y /= gyro_queue.size(); + gyro_covariance_original.z /= gyro_queue.size(); + + geometry_msgs::msg::TwistWithCovarianceStamped twist_with_cov; + const auto latest_vehicle_twist_stamp = rclcpp::Time(vehicle_twist_queue.back().header.stamp); + const auto latest_imu_stamp = rclcpp::Time(gyro_queue.back().header.stamp); + if (latest_vehicle_twist_stamp < latest_imu_stamp) { + twist_with_cov.header.stamp = latest_imu_stamp; + } else { + twist_with_cov.header.stamp = latest_vehicle_twist_stamp; + } + twist_with_cov.twist.twist.linear.x = vx_mean; + twist_with_cov.twist.twist.angular = gyro_mean; + + // From a statistical point of view, here we reduce the covariances according to the number of + // observed data + twist_with_cov.twist.covariance[COV_IDX_XYZRPY::X_X] = + vx_covariance_original / vehicle_twist_queue.size(); + twist_with_cov.twist.covariance[COV_IDX_XYZRPY::Y_Y] = 100000.0; + twist_with_cov.twist.covariance[COV_IDX_XYZRPY::Z_Z] = 100000.0; + twist_with_cov.twist.covariance[COV_IDX_XYZRPY::ROLL_ROLL] = + gyro_covariance_original.x / gyro_queue.size(); + twist_with_cov.twist.covariance[COV_IDX_XYZRPY::PITCH_PITCH] = + gyro_covariance_original.y / gyro_queue.size(); + twist_with_cov.twist.covariance[COV_IDX_XYZRPY::YAW_YAW] = + gyro_covariance_original.z / gyro_queue.size(); + + return twist_with_cov; +} + GyroOdometer::GyroOdometer() : Node("gyro_odometer"), - tf_buffer_(this->get_clock()), - tf_listener_(tf_buffer_), output_frame_(declare_parameter("base_link", "base_link")), - message_timeout_sec_(declare_parameter("message_timeout_sec", 0.2)) + message_timeout_sec_(declare_parameter("message_timeout_sec", 0.2)), + vehicle_twist_arrived_(false), + imu_arrived_(false) { - vehicle_twist_with_cov_sub_ = create_subscription( + transform_listener_ = std::make_shared(this); + + vehicle_twist_sub_ = create_subscription( "vehicle/twist_with_covariance", rclcpp::QoS{100}, - std::bind(&GyroOdometer::callbackTwistWithCovariance, this, std::placeholders::_1)); + std::bind(&GyroOdometer::callbackVehicleTwist, this, std::placeholders::_1)); imu_sub_ = create_subscription( "imu", rclcpp::QoS{100}, std::bind(&GyroOdometer::callbackImu, this, std::placeholders::_1)); @@ -51,90 +128,131 @@ GyroOdometer::GyroOdometer() GyroOdometer::~GyroOdometer() {} -void GyroOdometer::callbackTwistWithCovariance( - const geometry_msgs::msg::TwistWithCovarianceStamped::ConstSharedPtr twist_with_cov_msg_ptr) +void GyroOdometer::callbackVehicleTwist( + const geometry_msgs::msg::TwistWithCovarianceStamped::ConstSharedPtr vehicle_twist_ptr) { - // TODO(YamatoAndo) trans from twist_with_cov_msg_ptr->header to base_frame - twist_with_cov_msg_ptr_ = twist_with_cov_msg_ptr; - - if (!imu_msg_ptr_) { + vehicle_twist_arrived_ = true; + if (!imu_arrived_) { RCLCPP_WARN_THROTTLE(this->get_logger(), *this->get_clock(), 1000, "Imu msg is not subscribed"); + vehicle_twist_queue_.clear(); + gyro_queue_.clear(); + return; + } + + const double twist_dt = std::abs((this->now() - vehicle_twist_ptr->header.stamp).seconds()); + if (twist_dt > message_timeout_sec_) { + const std::string error_msg = fmt::format( + "Twist msg is timeout. twist_dt: {}[sec], tolerance {}[sec]", twist_dt, message_timeout_sec_); + RCLCPP_ERROR_THROTTLE(this->get_logger(), *this->get_clock(), 1000, error_msg.c_str()); + vehicle_twist_queue_.clear(); + gyro_queue_.clear(); return; } - const double imu_dt = std::abs((this->now() - imu_msg_ptr_->header.stamp).seconds()); + + vehicle_twist_queue_.push_back(*vehicle_twist_ptr); + + if (gyro_queue_.empty()) return; + const double imu_dt = std::abs((this->now() - gyro_queue_.back().header.stamp).seconds()); if (imu_dt > message_timeout_sec_) { - RCLCPP_ERROR_THROTTLE( - this->get_logger(), *this->get_clock(), 1000, - "Imu msg is timeout. imu_dt: %lf[sec], tolerance %lf[sec]", imu_dt, message_timeout_sec_); + const std::string error_msg = fmt::format( + "Imu msg is timeout. twist_dt: {}[sec], tolerance {}[sec]", imu_dt, message_timeout_sec_); + RCLCPP_ERROR_THROTTLE(this->get_logger(), *this->get_clock(), 1000, error_msg.c_str()); + vehicle_twist_queue_.clear(); + gyro_queue_.clear(); return; } + + const geometry_msgs::msg::TwistWithCovarianceStamped twist_with_cov_raw = + concatGyroAndOdometer(vehicle_twist_queue_, gyro_queue_); + publishData(twist_with_cov_raw); + vehicle_twist_queue_.clear(); + gyro_queue_.clear(); } void GyroOdometer::callbackImu(const sensor_msgs::msg::Imu::ConstSharedPtr imu_msg_ptr) { - imu_msg_ptr_ = imu_msg_ptr; - - if (!twist_with_cov_msg_ptr_) { + imu_arrived_ = true; + if (!vehicle_twist_arrived_) { RCLCPP_WARN_THROTTLE( this->get_logger(), *this->get_clock(), 1000, "Twist msg is not subscribed"); + vehicle_twist_queue_.clear(); + gyro_queue_.clear(); return; } - const double twist_dt = std::abs((this->now() - twist_with_cov_msg_ptr_->header.stamp).seconds()); - if (twist_dt > message_timeout_sec_) { - RCLCPP_ERROR_THROTTLE( - this->get_logger(), *this->get_clock(), 1000, - "Twist msg is timeout. twist_dt: %lf[sec], tolerance %lf[sec]", twist_dt, - message_timeout_sec_); + const double imu_dt = std::abs((this->now() - imu_msg_ptr->header.stamp).seconds()); + if (imu_dt > message_timeout_sec_) { + const std::string error_msg = fmt::format( + "Imu msg is timeout. imu_dt: {}[sec], tolerance {}[sec]", imu_dt, message_timeout_sec_); + RCLCPP_ERROR_THROTTLE(this->get_logger(), *this->get_clock(), 1000, error_msg.c_str()); + vehicle_twist_queue_.clear(); + gyro_queue_.clear(); return; } - geometry_msgs::msg::TransformStamped::SharedPtr tf_imu2base_ptr = - std::make_shared(); - getTransform(output_frame_, imu_msg_ptr_->header.frame_id, tf_imu2base_ptr); + geometry_msgs::msg::TransformStamped::ConstSharedPtr tf_imu2base_ptr = + transform_listener_->getLatestTransform(imu_msg_ptr->header.frame_id, output_frame_); + if (!tf_imu2base_ptr) { + RCLCPP_ERROR( + this->get_logger(), "Please publish TF %s to %s", output_frame_.c_str(), + (imu_msg_ptr->header.frame_id).c_str()); + vehicle_twist_queue_.clear(); + gyro_queue_.clear(); + return; + } geometry_msgs::msg::Vector3Stamped angular_velocity; - angular_velocity.header = imu_msg_ptr_->header; - angular_velocity.vector = imu_msg_ptr_->angular_velocity; + angular_velocity.header = imu_msg_ptr->header; + angular_velocity.vector = imu_msg_ptr->angular_velocity; geometry_msgs::msg::Vector3Stamped transformed_angular_velocity; transformed_angular_velocity.header = tf_imu2base_ptr->header; tf2::doTransform(angular_velocity, transformed_angular_velocity, *tf_imu2base_ptr); - // TODO(YamatoAndo) move code - geometry_msgs::msg::TwistStamped twist; - twist.header.stamp = imu_msg_ptr_->header.stamp; - twist.header.frame_id = output_frame_; - twist.twist.linear = twist_with_cov_msg_ptr_->twist.twist.linear; - twist.twist.angular.x = transformed_angular_velocity.vector.x; - twist.twist.angular.y = transformed_angular_velocity.vector.y; - twist.twist.angular.z = transformed_angular_velocity.vector.z; - twist_raw_pub_->publish(twist); - - geometry_msgs::msg::TwistWithCovarianceStamped twist_with_covariance; - twist_with_covariance.header.stamp = imu_msg_ptr_->header.stamp; - twist_with_covariance.header.frame_id = output_frame_; - twist_with_covariance.twist.twist.linear = twist_with_cov_msg_ptr_->twist.twist.linear; - twist_with_covariance.twist.twist.angular.x = transformed_angular_velocity.vector.x; - twist_with_covariance.twist.twist.angular.y = transformed_angular_velocity.vector.y; - twist_with_covariance.twist.twist.angular.z = transformed_angular_velocity.vector.z; - - // NOTE - // linear.y and linear.z are not measured values. - // Therefore, they should be assigned large variance values. - twist_with_covariance.twist.covariance[0] = twist_with_cov_msg_ptr_->twist.covariance[0]; - twist_with_covariance.twist.covariance[7] = 10000.0; - twist_with_covariance.twist.covariance[14] = 10000.0; - twist_with_covariance.twist.covariance[21] = imu_msg_ptr_->angular_velocity_covariance[0]; - twist_with_covariance.twist.covariance[28] = imu_msg_ptr_->angular_velocity_covariance[4]; - twist_with_covariance.twist.covariance[35] = imu_msg_ptr_->angular_velocity_covariance[8]; - - twist_with_covariance_raw_pub_->publish(twist_with_covariance); + sensor_msgs::msg::Imu gyro_base_link; + gyro_base_link.header = imu_msg_ptr->header; + gyro_base_link.angular_velocity = transformed_angular_velocity.vector; + gyro_base_link.angular_velocity_covariance = + transformCovariance(imu_msg_ptr->angular_velocity_covariance); + + gyro_queue_.push_back(gyro_base_link); + + if (vehicle_twist_queue_.empty()) return; + const double twist_dt = + std::abs((this->now() - vehicle_twist_queue_.back().header.stamp).seconds()); + if (twist_dt > message_timeout_sec_) { + const std::string error_msg = fmt::format( + "Twist msg is timeout. twist_dt: {}[sec], tolerance {}[sec]", twist_dt, message_timeout_sec_); + RCLCPP_ERROR_THROTTLE(this->get_logger(), *this->get_clock(), 1000, error_msg.c_str()); + vehicle_twist_queue_.clear(); + gyro_queue_.clear(); + return; + } + + const geometry_msgs::msg::TwistWithCovarianceStamped twist_with_cov_raw = + concatGyroAndOdometer(vehicle_twist_queue_, gyro_queue_); + publishData(twist_with_cov_raw); + vehicle_twist_queue_.clear(); + gyro_queue_.clear(); +} + +void GyroOdometer::publishData( + const geometry_msgs::msg::TwistWithCovarianceStamped & twist_with_cov_raw) +{ + geometry_msgs::msg::TwistStamped twist_raw; + twist_raw.header = twist_with_cov_raw.header; + twist_raw.twist = twist_with_cov_raw.twist.twist; + + twist_raw_pub_->publish(twist_raw); + twist_with_covariance_raw_pub_->publish(twist_with_cov_raw); + + geometry_msgs::msg::TwistWithCovarianceStamped twist_with_covariance = twist_with_cov_raw; + geometry_msgs::msg::TwistStamped twist = twist_raw; // clear imu yaw bias if vehicle is stopped if ( - std::fabs(transformed_angular_velocity.vector.z) < 0.01 && - std::fabs(twist_with_cov_msg_ptr_->twist.twist.linear.x) < 0.01) { + std::fabs(twist_with_cov_raw.twist.twist.angular.z) < 0.01 && + std::fabs(twist_with_cov_raw.twist.twist.linear.x) < 0.01) { twist.twist.angular.x = 0.0; twist.twist.angular.y = 0.0; twist.twist.angular.z = 0.0; @@ -146,44 +264,3 @@ void GyroOdometer::callbackImu(const sensor_msgs::msg::Imu::ConstSharedPtr imu_m twist_pub_->publish(twist); twist_with_covariance_pub_->publish(twist_with_covariance); } - -bool GyroOdometer::getTransform( - const std::string & target_frame, const std::string & source_frame, - const geometry_msgs::msg::TransformStamped::SharedPtr transform_stamped_ptr) -{ - if (target_frame == source_frame) { - transform_stamped_ptr->header.stamp = this->get_clock()->now(); - transform_stamped_ptr->header.frame_id = target_frame; - transform_stamped_ptr->child_frame_id = source_frame; - transform_stamped_ptr->transform.translation.x = 0.0; - transform_stamped_ptr->transform.translation.y = 0.0; - transform_stamped_ptr->transform.translation.z = 0.0; - transform_stamped_ptr->transform.rotation.x = 0.0; - transform_stamped_ptr->transform.rotation.y = 0.0; - transform_stamped_ptr->transform.rotation.z = 0.0; - transform_stamped_ptr->transform.rotation.w = 1.0; - return true; - } - - try { - *transform_stamped_ptr = - tf_buffer_.lookupTransform(target_frame, source_frame, tf2::TimePointZero); - } catch (tf2::TransformException & ex) { - RCLCPP_WARN(this->get_logger(), "%s", ex.what()); - RCLCPP_ERROR( - this->get_logger(), "Please publish TF %s to %s", target_frame.c_str(), source_frame.c_str()); - - transform_stamped_ptr->header.stamp = this->get_clock()->now(); - transform_stamped_ptr->header.frame_id = target_frame; - transform_stamped_ptr->child_frame_id = source_frame; - transform_stamped_ptr->transform.translation.x = 0.0; - transform_stamped_ptr->transform.translation.y = 0.0; - transform_stamped_ptr->transform.translation.z = 0.0; - transform_stamped_ptr->transform.rotation.x = 0.0; - transform_stamped_ptr->transform.rotation.y = 0.0; - transform_stamped_ptr->transform.rotation.z = 0.0; - transform_stamped_ptr->transform.rotation.w = 1.0; - return false; - } - return true; -} diff --git a/localization/stop_filter/src/stop_filter.cpp b/localization/stop_filter/src/stop_filter.cpp index 12e0729cc268b..111d460be737e 100644 --- a/localization/stop_filter/src/stop_filter.cpp +++ b/localization/stop_filter/src/stop_filter.cpp @@ -22,12 +22,6 @@ #include #include -// clang-format off -#define PRINT_MAT(X) std::cout << #X << ":\n" << X << std::endl << std::endl -#define DEBUG_INFO(...) {if (show_debug_info_) {RCLCPP_INFO(__VA_ARGS__);}} -#define DEBUG_PRINT_MAT(X) {if (show_debug_info_) {std::cout << #X << ": " << X << std::endl;}} - -// clang-format on using std::placeholders::_1; StopFilter::StopFilter(const std::string & node_name, const rclcpp::NodeOptions & node_options) diff --git a/localization/twist2accel/src/twist2accel.cpp b/localization/twist2accel/src/twist2accel.cpp index 85427abce5ec7..a8a7d46f57056 100644 --- a/localization/twist2accel/src/twist2accel.cpp +++ b/localization/twist2accel/src/twist2accel.cpp @@ -22,12 +22,6 @@ #include #include -// clang-format off -#define PRINT_MAT(X) std::cout << #X << ":\n" << X << std::endl << std::endl -#define DEBUG_INFO(...) {if (show_debug_info_) {RCLCPP_INFO(__VA_ARGS__);}} -#define DEBUG_PRINT_MAT(X) {if (show_debug_info_) {std::cout << #X << ": " << X << std::endl;}} - -// clang-format on using std::placeholders::_1; Twist2Accel::Twist2Accel(const std::string & node_name, const rclcpp::NodeOptions & node_options) diff --git a/perception/ground_segmentation/include/ground_segmentation/scan_ground_filter_nodelet.hpp b/perception/ground_segmentation/include/ground_segmentation/scan_ground_filter_nodelet.hpp index fcf96f828fc9b..f6a8ba4c8a89a 100644 --- a/perception/ground_segmentation/include/ground_segmentation/scan_ground_filter_nodelet.hpp +++ b/perception/ground_segmentation/include/ground_segmentation/scan_ground_filter_nodelet.hpp @@ -86,8 +86,11 @@ class ScanGroundFilterComponent : public pointcloud_preprocessor::Filter float radius_avg; float height_avg; float height_max; + float height_min; uint32_t point_num; uint16_t grid_id; + pcl::PointIndices pcl_indices; + std::vector height_list; PointsCentroid() : radius_sum(0.0f), height_sum(0.0f), radius_avg(0.0f), height_avg(0.0f), point_num(0) @@ -101,8 +104,11 @@ class ScanGroundFilterComponent : public pointcloud_preprocessor::Filter radius_avg = 0.0f; height_avg = 0.0f; height_max = 0.0f; + height_min = 10.0f; point_num = 0; grid_id = 0; + pcl_indices.indices.clear(); + height_list.clear(); } void addPoint(const float radius, const float height) @@ -113,6 +119,13 @@ class ScanGroundFilterComponent : public pointcloud_preprocessor::Filter radius_avg = radius_sum / point_num; height_avg = height_sum / point_num; height_max = height_max < height ? height : height_max; + height_min = height_min > height ? height : height_min; + } + void addPoint(const float radius, const float height, const uint index) + { + pcl_indices.indices.push_back(index); + height_list.push_back(height); + addPoint(radius, height); } float getAverageSlope() { return std::atan2(height_avg, radius_avg); } @@ -123,7 +136,12 @@ class ScanGroundFilterComponent : public pointcloud_preprocessor::Filter float getMaxHeight() { return height_max; } + float getMinHeight() { return height_min; } + uint16_t getGridId() { return grid_id; } + + pcl::PointIndices getIndices() { return pcl_indices; } + std::vector getHeightList() { return height_list; } }; void filter( @@ -193,18 +211,24 @@ class ScanGroundFilterComponent : public pointcloud_preprocessor::Filter void initializeFirstGndGrids( const float h, const float r, const uint16_t id, std::vector & gnd_grids); - void checkContinuousGndGrid( - PointRef & p, const std::vector & gnd_grids_list, PointsCentroid & gnd_cluster); - void checkDiscontinuousGndGrid( - PointRef & p, const std::vector & gnd_grids_list, PointsCentroid & gnd_cluster); - void checkBreakGndGrid( - PointRef & p, const std::vector & gnd_grids_list, PointsCentroid & gnd_cluster); + void checkContinuousGndGrid(PointRef & p, const std::vector & gnd_grids_list); + void checkDiscontinuousGndGrid(PointRef & p, const std::vector & gnd_grids_list); + void checkBreakGndGrid(PointRef & p, const std::vector & gnd_grids_list); void classifyPointCloud( std::vector & in_radial_ordered_clouds, pcl::PointIndices & out_no_ground_indices); void classifyPointCloudGridScan( std::vector & in_radial_ordered_clouds, pcl::PointIndices & out_no_ground_indices); + /*! + * Re-classifies point of ground cluster based on their height + * @param gnd_cluster Input ground cluster for re-checking + * @param non_ground_threshold Height threshold for ground and non-ground points classification + * @param non_ground_indices Output non-ground PointCloud indices + */ + void recheckGroundCluster( + PointsCentroid & gnd_cluster, const float non_ground_threshold, + pcl::PointIndices & non_ground_indices); /*! * Returns the resulting complementary PointCloud, one with the points kept * and the other removed as indicated in the indices diff --git a/perception/ground_segmentation/src/scan_ground_filter_nodelet.cpp b/perception/ground_segmentation/src/scan_ground_filter_nodelet.cpp index 16a6859d09ad9..fa9d3d6d83665 100644 --- a/perception/ground_segmentation/src/scan_ground_filter_nodelet.cpp +++ b/perception/ground_segmentation/src/scan_ground_filter_nodelet.cpp @@ -178,7 +178,7 @@ void ScanGroundFilterComponent::initializeFirstGndGrids( const float h, const float r, const uint16_t id, std::vector & gnd_grids) { GridCenter curr_gnd_grid; - for (int ind_grid = id - 1 - gnd_grid_buffer_size_; ind_grid < id - 1; ind_grid++) { + for (int ind_grid = id - 1 - gnd_grid_buffer_size_; ind_grid < id - 1; ++ind_grid) { float ind_gnd_z = ind_grid - id + 1 + gnd_grid_buffer_size_; ind_gnd_z *= h / static_cast(gnd_grid_buffer_size_); @@ -194,7 +194,7 @@ void ScanGroundFilterComponent::initializeFirstGndGrids( } void ScanGroundFilterComponent::checkContinuousGndGrid( - PointRef & p, const std::vector & gnd_grids_list, PointsCentroid & gnd_cluster) + PointRef & p, const std::vector & gnd_grids_list) { float next_gnd_z = 0.0f; float curr_gnd_slope_rad = 0.0f; @@ -203,7 +203,7 @@ void ScanGroundFilterComponent::checkContinuousGndGrid( float gnd_buff_radius = 0.0f; for (auto it = gnd_grids_list.end() - gnd_grid_buffer_size_ - 1; it < gnd_grids_list.end() - 1; - it++) { + ++it) { gnd_buff_radius += it->radius; gnd_buff_z_mean += it->avg_height; gnd_buff_z_max += it->max_height; @@ -234,14 +234,13 @@ void ScanGroundFilterComponent::checkContinuousGndGrid( if ( abs(p.orig_point->z - next_gnd_z) <= non_ground_height_threshold_ + gnd_z_local_thresh || abs(local_slope) <= local_slope_max_angle_rad_) { - gnd_cluster.addPoint(p.radius, p.orig_point->z); p.point_state = PointLabel::GROUND; } else if (p.orig_point->z - next_gnd_z > non_ground_height_threshold_ + gnd_z_local_thresh) { p.point_state = PointLabel::NON_GROUND; } } void ScanGroundFilterComponent::checkDiscontinuousGndGrid( - PointRef & p, const std::vector & gnd_grids_list, PointsCentroid & gnd_cluster) + PointRef & p, const std::vector & gnd_grids_list) { float tmp_delta_max_z = p.orig_point->z - gnd_grids_list.back().max_height; float tmp_delta_avg_z = p.orig_point->z - gnd_grids_list.back().avg_height; @@ -252,7 +251,6 @@ void ScanGroundFilterComponent::checkDiscontinuousGndGrid( abs(local_slope) < local_slope_max_angle_rad_ || abs(tmp_delta_avg_z) < non_ground_height_threshold_ || abs(tmp_delta_max_z) < non_ground_height_threshold_) { - gnd_cluster.addPoint(p.radius, p.orig_point->z); p.point_state = PointLabel::GROUND; } else if (local_slope > global_slope_max_angle_rad_) { p.point_state = PointLabel::NON_GROUND; @@ -260,24 +258,36 @@ void ScanGroundFilterComponent::checkDiscontinuousGndGrid( } void ScanGroundFilterComponent::checkBreakGndGrid( - PointRef & p, const std::vector & gnd_grids_list, PointsCentroid & gnd_cluster) + PointRef & p, const std::vector & gnd_grids_list) { float tmp_delta_avg_z = p.orig_point->z - gnd_grids_list.back().avg_height; float tmp_delta_radius = p.radius - gnd_grids_list.back().radius; float local_slope = std::atan(tmp_delta_avg_z / tmp_delta_radius); if (abs(local_slope) < global_slope_max_angle_rad_) { - gnd_cluster.addPoint(p.radius, p.orig_point->z); p.point_state = PointLabel::GROUND; } else if (local_slope > global_slope_max_angle_rad_) { p.point_state = PointLabel::NON_GROUND; } } +void ScanGroundFilterComponent::recheckGroundCluster( + PointsCentroid & gnd_cluster, const float non_ground_threshold, + pcl::PointIndices & non_ground_indices) +{ + const float min_gnd_height = gnd_cluster.getMinHeight(); + pcl::PointIndices gnd_indices = gnd_cluster.getIndices(); + std::vector height_list = gnd_cluster.getHeightList(); + for (size_t i = 0; i < height_list.size(); ++i) { + if (height_list.at(i) >= min_gnd_height + non_ground_threshold) { + non_ground_indices.indices.push_back(gnd_indices.indices.at(i)); + } + } +} void ScanGroundFilterComponent::classifyPointCloudGridScan( std::vector & in_radial_ordered_clouds, pcl::PointIndices & out_no_ground_indices) { out_no_ground_indices.indices.clear(); - for (size_t i = 0; i < in_radial_ordered_clouds.size(); i++) { + for (size_t i = 0; i < in_radial_ordered_clouds.size(); ++i) { PointsCentroid ground_cluster; ground_cluster.initialize(); std::vector gnd_grids; @@ -296,7 +306,7 @@ void ScanGroundFilterComponent::classifyPointCloudGridScan( bool initialized_first_gnd_grid = false; bool prev_list_init = false; - for (size_t j = 0; j < in_radial_ordered_clouds[i].size(); j++) { + for (size_t j = 0; j < in_radial_ordered_clouds[i].size(); ++j) { p = &in_radial_ordered_clouds[i][j]; float global_slope_p = std::atan(p->orig_point->z / p->radius); float non_ground_height_threshold_local = non_ground_height_threshold_; @@ -317,7 +327,7 @@ void ScanGroundFilterComponent::classifyPointCloudGridScan( if ( !initialized_first_gnd_grid && abs(global_slope_p) < global_slope_max_angle_rad_ && abs(p->orig_point->z) < non_ground_height_threshold_local) { - ground_cluster.addPoint(p->radius, p->orig_point->z); + ground_cluster.addPoint(p->radius, p->orig_point->z, p->orig_index); p->point_state = PointLabel::GROUND; initialized_first_gnd_grid = static_cast(p->grid_id - prev_p->grid_id); prev_p = p; @@ -346,6 +356,7 @@ void ScanGroundFilterComponent::classifyPointCloudGridScan( // move to new grid if (p->grid_id > prev_p->grid_id && ground_cluster.getAverageRadius() > 0.0) { // check if the prev grid have ground point cloud + recheckGroundCluster(ground_cluster, non_ground_height_threshold_, out_no_ground_indices); curr_gnd_grid.radius = ground_cluster.getAverageRadius(); curr_gnd_grid.avg_height = ground_cluster.getAverageHeight(); curr_gnd_grid.max_height = ground_cluster.getMaxHeight(); @@ -382,17 +393,17 @@ void ScanGroundFilterComponent::classifyPointCloudGridScan( if ( p->grid_id < next_gnd_grid_id_thresh && p->radius - gnd_grids.back().radius < gnd_grid_continual_thresh_ * p->grid_size) { - checkContinuousGndGrid(*p, gnd_grids, ground_cluster); + checkContinuousGndGrid(*p, gnd_grids); - } else if ( - p->radius - gnd_grids.back().radius < gnd_grid_continual_thresh_ * p->grid_size || - p->radius < grid_mode_switch_radius_ * 2.0f) { - checkDiscontinuousGndGrid(*p, gnd_grids, ground_cluster); + } else if (p->radius - gnd_grids.back().radius < gnd_grid_continual_thresh_ * p->grid_size) { + checkDiscontinuousGndGrid(*p, gnd_grids); } else { - checkBreakGndGrid(*p, gnd_grids, ground_cluster); + checkBreakGndGrid(*p, gnd_grids); } if (p->point_state == PointLabel::NON_GROUND) { out_no_ground_indices.indices.push_back(p->orig_index); + } else if (p->point_state == PointLabel::GROUND) { + ground_cluster.addPoint(p->radius, p->orig_point->z, p->orig_index); } prev_p = p; } @@ -411,7 +422,7 @@ void ScanGroundFilterComponent::classifyPointCloud( // point classification algorithm // sweep through each radial division - for (size_t i = 0; i < in_radial_ordered_clouds.size(); i++) { + for (size_t i = 0; i < in_radial_ordered_clouds.size(); ++i) { float prev_gnd_radius = 0.0f; float prev_gnd_slope = 0.0f; float points_distance = 0.0f; @@ -420,7 +431,7 @@ void ScanGroundFilterComponent::classifyPointCloud( PointLabel prev_point_label = PointLabel::INIT; pcl::PointXYZ prev_gnd_point(0, 0, 0); // loop through each point in the radial div - for (size_t j = 0; j < in_radial_ordered_clouds[i].size(); j++) { + for (size_t j = 0; j < in_radial_ordered_clouds[i].size(); ++j) { const float global_slope_max_angle = global_slope_max_angle_rad_; const float local_slope_max_angle = local_slope_max_angle_rad_; auto * p = &in_radial_ordered_clouds[i][j]; diff --git a/planning/behavior_path_planner/config/avoidance/avoidance.param.yaml b/planning/behavior_path_planner/config/avoidance/avoidance.param.yaml index 43be10146c7ac..5e2e4673166da 100644 --- a/planning/behavior_path_planner/config/avoidance/avoidance.param.yaml +++ b/planning/behavior_path_planner/config/avoidance/avoidance.param.yaml @@ -50,6 +50,9 @@ min_avoidance_speed_for_acc_prevention: 3.0 # [m/s] max_avoidance_acceleration: 0.5 # [m/s2] + # bound clipping for objects + enable_bound_clipping: false + # for debug publish_debug_marker: false print_debug_info: false diff --git a/planning/behavior_path_planner/config/behavior_path_planner.param.yaml b/planning/behavior_path_planner/config/behavior_path_planner.param.yaml index 30dc2eb73489a..68cc14a8299a1 100644 --- a/planning/behavior_path_planner/config/behavior_path_planner.param.yaml +++ b/planning/behavior_path_planner/config/behavior_path_planner.param.yaml @@ -6,6 +6,7 @@ backward_length_buffer_for_end_of_pull_over: 5.0 backward_length_buffer_for_end_of_pull_out: 5.0 minimum_lane_change_length: 12.0 + minimum_lane_change_prepare_distance: 2.0 # [m] minimum_pull_over_length: 16.0 drivable_area_resolution: 0.1 diff --git a/planning/behavior_path_planner/include/behavior_path_planner/behavior_path_planner_node.hpp b/planning/behavior_path_planner/include/behavior_path_planner/behavior_path_planner_node.hpp index 366ecc095d0b9..84c36bd093d04 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/behavior_path_planner_node.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/behavior_path_planner_node.hpp @@ -43,6 +43,7 @@ #include #include #include +#include #include #include @@ -80,6 +81,7 @@ using tier4_planning_msgs::msg::AvoidanceDebugMsgArray; using tier4_planning_msgs::msg::LaneChangeDebugMsgArray; using tier4_planning_msgs::msg::PathChangeModule; using tier4_planning_msgs::msg::Scenario; +using visualization_msgs::msg::Marker; using visualization_msgs::msg::MarkerArray; class BehaviorPathPlannerNode : public rclcpp::Node @@ -99,6 +101,7 @@ class BehaviorPathPlannerNode : public rclcpp::Node rclcpp::Publisher::SharedPtr path_candidate_publisher_; rclcpp::Publisher::SharedPtr turn_signal_publisher_; rclcpp::Publisher::SharedPtr hazard_signal_publisher_; + rclcpp::Publisher::SharedPtr bound_publisher_; rclcpp::TimerBase::SharedPtr timer_; std::shared_ptr planner_data_; @@ -184,6 +187,11 @@ class BehaviorPathPlannerNode : public rclcpp::Node */ void publish_steering_factor(const TurnIndicatorsCommand & turn_signal); + /** + * @brief publish left and right bound + */ + void publish_bounds(const PathWithLaneId & path); + /** * @brief publish debug messages */ diff --git a/planning/behavior_path_planner/include/behavior_path_planner/data_manager.hpp b/planning/behavior_path_planner/include/behavior_path_planner/data_manager.hpp index 79039e606252d..0543c9319f47d 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/data_manager.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/data_manager.hpp @@ -24,6 +24,7 @@ #include #include #include +#include #include #include diff --git a/planning/behavior_path_planner/include/behavior_path_planner/parameters.hpp b/planning/behavior_path_planner/include/behavior_path_planner/parameters.hpp index f599deab7bb24..132e01f5d91d3 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/parameters.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/parameters.hpp @@ -25,6 +25,8 @@ struct BehaviorPathPlannerParameters double backward_length_buffer_for_end_of_pull_over; double backward_length_buffer_for_end_of_pull_out; double minimum_lane_change_length; + double minimum_lane_change_prepare_distance; + double minimum_pull_over_length; double minimum_pull_out_length; double drivable_area_resolution; diff --git a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/avoidance/avoidance_module.hpp b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/avoidance/avoidance_module.hpp index ddd20f09aa5d7..a4783a445b177 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/avoidance/avoidance_module.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/avoidance/avoidance_module.hpp @@ -275,7 +275,7 @@ class AvoidanceModule : public SceneModuleInterface // -- path generation -- ShiftedPath generateAvoidancePath(PathShifter & shifter) const; - void generateExtendedDrivableArea(ShiftedPath * shifted_path) const; + void generateExtendedDrivableArea(PathWithLaneId & path) const; // -- velocity planning -- std::shared_ptr ego_velocity_starting_avoidance_ptr_; diff --git a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/avoidance/avoidance_module_data.hpp b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/avoidance/avoidance_module_data.hpp index 91018cb619747..25b29352973c1 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/avoidance/avoidance_module_data.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/avoidance/avoidance_module_data.hpp @@ -179,6 +179,9 @@ struct AvoidanceParameters double drivable_area_right_bound_offset; double drivable_area_left_bound_offset; + // clip left and right bounds for objects + bool enable_bound_clipping{false}; + // debug bool publish_debug_marker = false; bool print_debug_info = false; diff --git a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/avoidance/avoidance_utils.hpp b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/avoidance/avoidance_utils.hpp index 530238eb0ae67..ce04323a775dc 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/avoidance/avoidance_utils.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/avoidance/avoidance_utils.hpp @@ -25,6 +25,14 @@ namespace behavior_path_planner { using behavior_path_planner::PlannerData; + +struct PolygonPoint +{ + geometry_msgs::msg::Point point; + double lat_dist_to_bound; + double lon_dist; +}; + bool isOnRight(const ObjectData & obj); double calcShiftLength( @@ -73,6 +81,26 @@ std::vector getUuidStr(const ObjectDataArray & objs); Polygon2d createEnvelopePolygon( const ObjectData & object_data, const Pose & closest_pose, const double envelope_buffer); + +void getEdgePoints( + const Polygon2d & object_polygon, const double threshold, std::vector & edge_points); + +void getEdgePoints( + const std::vector & bound, const std::vector & edge_points, + const double lat_dist_to_path, std::vector & edge_points_data, + size_t & start_segment_idx, size_t & end_segment_idx); + +void sortPolygonPoints( + const std::vector & points, std::vector & sorted_points); + +std::vector updateBoundary( + const std::vector & original_bound, const std::vector & points, + const size_t start_segment_idx, const size_t end_segment_idx); + +void generateDrivableArea( + PathWithLaneId & path, const std::vector & lanes, const double vehicle_length, + const std::shared_ptr planner_data, const ObjectDataArray & objects, + const bool enable_bound_clipping); } // namespace behavior_path_planner #endif // BEHAVIOR_PATH_PLANNER__SCENE_MODULE__AVOIDANCE__AVOIDANCE_UTILS_HPP_ diff --git a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/lane_change/lane_change_module_data.hpp b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/lane_change/lane_change_module_data.hpp index f9ce032760e45..be14bb120aa42 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/lane_change/lane_change_module_data.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/lane_change/lane_change_module_data.hpp @@ -27,7 +27,6 @@ struct LaneChangeParameters { double lane_change_prepare_duration{2.0}; double lane_changing_duration{4.0}; - double minimum_lane_change_prepare_distance{4.0}; double lane_change_finish_judge_buffer{3.0}; double minimum_lane_change_velocity{5.6}; double prediction_time_resolution{0.5}; diff --git a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/lane_change/util.hpp b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/lane_change/util.hpp index 9ce619c189146..1e15ee93a7d19 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/lane_change/util.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/lane_change/util.hpp @@ -110,8 +110,9 @@ ShiftLine getLaneChangeShiftLine( PathWithLaneId getReferencePathFromTargetLane( const RouteHandler & route_handler, const lanelet::ConstLanelets & target_lanes, - const Pose & lane_changing_start_pose, const double & prepare_distance, - const double & lane_changing_distance, const double & forward_path_length); + const Pose & lane_changing_start_pose, const double prepare_distance, + const double lane_changing_distance, const double forward_path_length, + const double lane_changing_speed); PathWithLaneId getReferencePathFromTargetLane( const RouteHandler & route_handler, const lanelet::ConstLanelets & target_lanes, diff --git a/planning/behavior_path_planner/include/behavior_path_planner/utilities.hpp b/planning/behavior_path_planner/include/behavior_path_planner/utilities.hpp index d244c039b7734..a6978c8e27d1a 100644 --- a/planning/behavior_path_planner/include/behavior_path_planner/utilities.hpp +++ b/planning/behavior_path_planner/include/behavior_path_planner/utilities.hpp @@ -66,7 +66,6 @@ using geometry_msgs::msg::PoseArray; using geometry_msgs::msg::PoseStamped; using geometry_msgs::msg::Twist; using geometry_msgs::msg::Vector3; -using nav_msgs::msg::OccupancyGrid; using route_handler::RouteHandler; using tier4_autoware_utils::LineString2d; using tier4_autoware_utils::Point2d; @@ -293,16 +292,9 @@ size_t getOverlappedLaneletId(const std::vector & lanes); std::vector cutOverlappedLanes( PathWithLaneId & path, const std::vector & lanes); -void occupancyGridToImage(const OccupancyGrid & occupancy_grid, cv::Mat * cv_image); - -void imageToOccupancyGrid(const cv::Mat & cv_image, OccupancyGrid * occupancy_grid); - -cv::Point toCVPoint( - const Point & geom_point, const double width_m, const double height_m, const double resolution); - -OccupancyGrid generateDrivableArea( - const PathWithLaneId & path, const std::vector & lanes, const double resolution, - const double vehicle_length, const std::shared_ptr planner_data); +void generateDrivableArea( + PathWithLaneId & path, const std::vector & lanes, const double vehicle_length, + const std::shared_ptr planner_data); lanelet::ConstLineStrings3d getDrivableAreaForAllSharedLinestringLanelets( const std::shared_ptr & planner_data); @@ -485,6 +477,12 @@ bool isSafeInFreeSpaceCollisionCheck( const double front_decel, const double rear_decel, CollisionCheckDebug & debug); bool checkPathRelativeAngle(const PathWithLaneId & path, const double angle_threshold); + +double calcTotalLaneChangeDistanceWithBuffer(const BehaviorPathPlannerParameters & common_param); + +double calcLaneChangeBuffer( + const BehaviorPathPlannerParameters & common_param, const int num_lane_change, + const double length_to_intersection); } // namespace behavior_path_planner::util #endif // BEHAVIOR_PATH_PLANNER__UTILITIES_HPP_ diff --git a/planning/behavior_path_planner/src/behavior_path_planner_node.cpp b/planning/behavior_path_planner/src/behavior_path_planner_node.cpp index ab9f506de00a7..b536689ed7b18 100644 --- a/planning/behavior_path_planner/src/behavior_path_planner_node.cpp +++ b/planning/behavior_path_planner/src/behavior_path_planner_node.cpp @@ -75,6 +75,8 @@ BehaviorPathPlannerNode::BehaviorPathPlannerNode(const rclcpp::NodeOptions & nod create_publisher("~/drivable_area_boundary", 1); } + bound_publisher_ = create_publisher("~/debug/bound", 1); + // subscriber velocity_subscriber_ = create_subscription( "~/input/odometry", 1, std::bind(&BehaviorPathPlannerNode::onVelocity, this, _1), @@ -205,6 +207,9 @@ BehaviorPathPlannerParameters BehaviorPathPlannerNode::getCommonParam() p.backward_length_buffer_for_end_of_pull_out = declare_parameter("backward_length_buffer_for_end_of_pull_out", 5.0); p.minimum_lane_change_length = declare_parameter("minimum_lane_change_length", 8.0); + p.minimum_lane_change_prepare_distance = + declare_parameter("minimum_lane_change_prepare_distance", 2.0); + p.minimum_pull_over_length = declare_parameter("minimum_pull_over_length", 15.0); p.drivable_area_resolution = declare_parameter("drivable_area_resolution"); p.drivable_lane_forward_length = declare_parameter("drivable_lane_forward_length"); @@ -332,6 +337,8 @@ AvoidanceParameters BehaviorPathPlannerNode::getAvoidanceParam() p.drivable_area_right_bound_offset = dp("drivable_area_right_bound_offset", 0.0); p.drivable_area_left_bound_offset = dp("drivable_area_left_bound_offset", 0.0); + p.enable_bound_clipping = dp("enable_bound_clipping", false); + p.avoidance_execution_lateral_threshold = dp("avoidance_execution_lateral_threshold", 0.499); return p; @@ -359,7 +366,6 @@ LaneChangeParameters BehaviorPathPlannerNode::getLaneChangeParam() LaneChangeParameters p{}; p.lane_change_prepare_duration = dp("lane_change_prepare_duration", 2.0); p.lane_changing_duration = dp("lane_changing_duration", 4.0); - p.minimum_lane_change_prepare_distance = dp("minimum_lane_change_prepare_distance", 4.0); p.lane_change_finish_judge_buffer = dp("lane_change_finish_judge_buffer", 3.0); p.minimum_lane_change_velocity = dp("minimum_lane_change_velocity", 5.6); p.prediction_time_resolution = dp("prediction_time_resolution", 0.5); @@ -623,6 +629,9 @@ void BehaviorPathPlannerNode::run() planner_data_->prev_output_path = path; mutex_pd_.unlock(); + // publish drivable bounds + publish_bounds(*path); + const size_t target_idx = findEgoIndex(path->points); util::clipPathLength(*path, target_idx, planner_data_->parameters); @@ -698,6 +707,39 @@ void BehaviorPathPlannerNode::publish_steering_factor(const TurnIndicatorsComman steering_factor_interface_ptr_->publishSteeringFactor(get_clock()->now()); } +void BehaviorPathPlannerNode::publish_bounds(const PathWithLaneId & path) +{ + constexpr double scale_x = 0.1; + constexpr double scale_y = 0.1; + constexpr double scale_z = 0.1; + constexpr double color_r = 0.0 / 256.0; + constexpr double color_g = 148.0 / 256.0; + constexpr double color_b = 205.0 / 256.0; + constexpr double color_a = 0.999; + + const auto current_time = path.header.stamp; + auto left_marker = tier4_autoware_utils::createDefaultMarker( + "map", current_time, "left_bound", 0L, Marker::LINE_STRIP, + tier4_autoware_utils::createMarkerScale(scale_x, scale_y, scale_z), + tier4_autoware_utils::createMarkerColor(color_r, color_g, color_b, color_a)); + for (const auto lb : path.left_bound) { + left_marker.points.push_back(lb); + } + + auto right_marker = tier4_autoware_utils::createDefaultMarker( + "map", current_time, "right_bound", 0L, Marker::LINE_STRIP, + tier4_autoware_utils::createMarkerScale(scale_x, scale_y, scale_z), + tier4_autoware_utils::createMarkerColor(color_r, color_g, color_b, color_a)); + for (const auto rb : path.right_bound) { + right_marker.points.push_back(rb); + } + + MarkerArray msg; + msg.markers.push_back(left_marker); + msg.markers.push_back(right_marker); + bound_publisher_->publish(msg); +} + void BehaviorPathPlannerNode::publishSceneModuleDebugMsg() { { @@ -886,8 +928,18 @@ PathWithLaneId BehaviorPathPlannerNode::modifyPathForSmoothGoalConnection( const auto goal = planner_data_->route_handler->getGoalPose(); const auto goal_lane_id = planner_data_->route_handler->getGoalLaneId(); + Pose refined_goal{}; + { + lanelet::ConstLanelet goal_lanelet; + if (planner_data_->route_handler->getGoalLanelet(&goal_lanelet)) { + refined_goal = util::refineGoal(goal, goal_lanelet); + } else { + refined_goal = goal; + } + } + auto refined_path = util::refinePathForGoal( - planner_data_->parameters.refine_goal_search_radius_range, M_PI * 0.5, path, goal, + planner_data_->parameters.refine_goal_search_radius_range, M_PI * 0.5, path, refined_goal, goal_lane_id); refined_path.header.frame_id = "map"; refined_path.header.stamp = this->now(); diff --git a/planning/behavior_path_planner/src/path_utilities.cpp b/planning/behavior_path_planner/src/path_utilities.cpp index 110df193abfde..20d9cfc0fc3b8 100644 --- a/planning/behavior_path_planner/src/path_utilities.cpp +++ b/planning/behavior_path_planner/src/path_utilities.cpp @@ -123,7 +123,8 @@ Path toPath(const PathWithLaneId & input) { Path output{}; output.header = input.header; - output.drivable_area = input.drivable_area; + output.left_bound = input.left_bound; + output.right_bound = input.right_bound; output.points.resize(input.points.size()); for (size_t i = 0; i < input.points.size(); ++i) { output.points.at(i) = input.points.at(i).point; diff --git a/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp b/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp index cd248af314fc1..77e6180f3eb82 100644 --- a/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp +++ b/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp @@ -1902,7 +1902,7 @@ double AvoidanceModule::getLeftShiftBound() const // TODO(murooka) freespace during turning in intersection where there is no neighbour lanes // NOTE: Assume that there is no situation where there is an object in the middle lane of more than // two lanes since which way to avoid is not obvious -void AvoidanceModule::generateExtendedDrivableArea(ShiftedPath * shifted_path) const +void AvoidanceModule::generateExtendedDrivableArea(PathWithLaneId & path) const { const auto has_same_lane = [](const lanelet::ConstLanelets lanes, const lanelet::ConstLanelet & lane) { @@ -2007,7 +2007,7 @@ void AvoidanceModule::generateExtendedDrivableArea(ShiftedPath * shifted_path) c drivable_lanes.push_back(current_drivable_lanes); } - const auto shorten_lanes = util::cutOverlappedLanes(shifted_path->path, drivable_lanes); + const auto shorten_lanes = util::cutOverlappedLanes(path, drivable_lanes); const auto extended_lanes = util::expandLanelets( shorten_lanes, parameters_->drivable_area_left_bound_offset, @@ -2015,9 +2015,9 @@ void AvoidanceModule::generateExtendedDrivableArea(ShiftedPath * shifted_path) c { const auto & p = planner_data_->parameters; - shifted_path->path.drivable_area = util::generateDrivableArea( - shifted_path->path, extended_lanes, p.drivable_area_resolution, p.vehicle_length, - planner_data_); + generateDrivableArea( + path, drivable_lanes, p.vehicle_length, planner_data_, avoidance_data_.target_objects, + parameters_->enable_bound_clipping); } } @@ -2261,9 +2261,6 @@ BehaviorModuleOutput AvoidanceModule::plan() auto avoidance_path = generateAvoidancePath(path_shifter_); debug_data_.output_shift = avoidance_path.shift_length; - // Drivable area generation. - generateExtendedDrivableArea(&avoidance_path); - // modify max speed to prevent acceleration in avoidance maneuver. modifyPathVelocityToPreventAccelerationOnAvoidance(avoidance_path); @@ -2293,6 +2290,9 @@ BehaviorModuleOutput AvoidanceModule::plan() const size_t ego_idx = findEgoIndex(output.path->points); util::clipPathLength(*output.path, ego_idx, planner_data_->parameters); + // Drivable area generation. + generateExtendedDrivableArea(*output.path); + DEBUG_PRINT("exit plan(): set prev output (back().lat = %f)", prev_output_.shift_length.back()); updateRegisteredRTCStatus(avoidance_path.path); diff --git a/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_utils.cpp b/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_utils.cpp index 31f3ce7fa32db..ffe2d0a4b83a2 100644 --- a/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_utils.cpp +++ b/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_utils.cpp @@ -342,4 +342,158 @@ Polygon2d createEnvelopePolygon( return offset_polygons.front(); } +void getEdgePoints( + const Polygon2d & object_polygon, const double threshold, std::vector & edge_points) +{ + if (object_polygon.outer().size() < 2) { + return; + } + + const size_t num_points = object_polygon.outer().size(); + for (size_t i = 0; i < num_points - 1; ++i) { + const auto & curr_p = object_polygon.outer().at(i); + const auto & next_p = object_polygon.outer().at(i + 1); + const auto & prev_p = + i == 0 ? object_polygon.outer().at(num_points - 2) : object_polygon.outer().at(i - 1); + const Eigen::Vector2d current_to_next(next_p.x() - curr_p.x(), next_p.y() - curr_p.y()); + const Eigen::Vector2d current_to_prev(prev_p.x() - curr_p.x(), prev_p.y() - curr_p.y()); + const double inner_val = current_to_next.dot(current_to_prev); + if (std::fabs(inner_val) > threshold) { + continue; + } + + const auto edge_point = tier4_autoware_utils::createPoint(curr_p.x(), curr_p.y(), 0.0); + edge_points.push_back(edge_point); + } +} + +void sortPolygonPoints( + const std::vector & points, std::vector & sorted_points) +{ + sorted_points = points; + if (points.size() <= 2) { + // sort data based on longitudinal distance to the boundary + std::sort( + sorted_points.begin(), sorted_points.end(), + [](const PolygonPoint & a, const PolygonPoint & b) { return a.lon_dist < b.lon_dist; }); + return; + } + + // sort data based on lateral distance to the boundary + std::sort( + sorted_points.begin(), sorted_points.end(), [](const PolygonPoint & a, const PolygonPoint & b) { + return std::fabs(a.lat_dist_to_bound) > std::fabs(b.lat_dist_to_bound); + }); + PolygonPoint first_point; + PolygonPoint second_point; + if (sorted_points.at(0).lon_dist < sorted_points.at(1).lon_dist) { + first_point = sorted_points.at(0); + second_point = sorted_points.at(1); + } else { + first_point = sorted_points.at(1); + second_point = sorted_points.at(0); + } + + for (size_t i = 2; i < sorted_points.size(); ++i) { + const auto & next_point = sorted_points.at(i); + if (next_point.lon_dist < first_point.lon_dist) { + sorted_points = {next_point, first_point, second_point}; + return; + } else if (second_point.lon_dist < next_point.lon_dist) { + sorted_points = {first_point, second_point, next_point}; + return; + } + } + + sorted_points = {first_point, second_point}; +} + +void getEdgePoints( + const std::vector & bound, const std::vector & edge_points, + const double lat_dist_to_path, std::vector & edge_points_data, + size_t & start_segment_idx, size_t & end_segment_idx) +{ + for (const auto & edge_point : edge_points) { + const size_t segment_idx = motion_utils::findNearestSegmentIndex(bound, edge_point); + start_segment_idx = std::min(start_segment_idx, segment_idx); + end_segment_idx = std::max(end_segment_idx, segment_idx); + + PolygonPoint edge_point_data; + edge_point_data.point = edge_point; + edge_point_data.lat_dist_to_bound = motion_utils::calcLateralOffset(bound, edge_point); + edge_point_data.lon_dist = motion_utils::calcSignedArcLength(bound, 0, edge_point); + if (lat_dist_to_path >= 0.0 && edge_point_data.lat_dist_to_bound > 0.0) { + continue; + } else if (lat_dist_to_path < 0.0 && edge_point_data.lat_dist_to_bound < 0.0) { + continue; + } + + edge_points_data.push_back(edge_point_data); + } +} + +std::vector updateBoundary( + const std::vector & original_bound, const std::vector & points, + const size_t start_segment_idx, const size_t end_segment_idx) +{ + if (start_segment_idx >= end_segment_idx) { + return original_bound; + } + + std::vector updated_bound; + std::copy( + original_bound.begin(), original_bound.begin() + start_segment_idx + 1, + std::back_inserter(updated_bound)); + for (size_t i = 0; i < points.size(); ++i) { + updated_bound.push_back(points.at(i).point); + } + std::copy( + original_bound.begin() + end_segment_idx + 1, original_bound.end(), + std::back_inserter(updated_bound)); + return updated_bound; +} + +void generateDrivableArea( + PathWithLaneId & path, const std::vector & lanes, const double vehicle_length, + const std::shared_ptr planner_data, const ObjectDataArray & objects, + const bool enable_bound_clipping) +{ + util::generateDrivableArea(path, lanes, vehicle_length, planner_data); + if (objects.empty() || !enable_bound_clipping) { + return; + } + + path.left_bound = motion_utils::resamplePointVector(path.left_bound, 1.0, true); + path.right_bound = motion_utils::resamplePointVector(path.right_bound, 1.0, true); + + for (const auto & object : objects) { + const auto & obj_pose = object.object.kinematics.initial_pose_with_covariance.pose; + const auto & obj_poly = object.envelope_poly; + constexpr double threshold = 0.01; + + // get edge points + std::vector edge_points; + getEdgePoints(obj_poly, threshold, edge_points); + + // get boundary + const double lat_dist_to_path = motion_utils::calcLateralOffset(path.points, obj_pose.position); + auto & bound = lat_dist_to_path < 0.0 ? path.right_bound : path.left_bound; + + size_t start_segment_idx = (bound.size() == 1 ? 0 : (bound.size() - 2)); + size_t end_segment_idx = 0; + + // get edge points data + std::vector edge_points_data; + getEdgePoints( + bound, edge_points, lat_dist_to_path, edge_points_data, start_segment_idx, end_segment_idx); + + // sort points + std::vector sorted_points; + sortPolygonPoints(edge_points_data, sorted_points); + + // update boundary + bound = updateBoundary(bound, sorted_points, start_segment_idx, end_segment_idx); + } +} + } // namespace behavior_path_planner diff --git a/planning/behavior_path_planner/src/scene_module/lane_change/lane_change_module.cpp b/planning/behavior_path_planner/src/scene_module/lane_change/lane_change_module.cpp index afb1997d01e74..dc9a19e4da7d4 100644 --- a/planning/behavior_path_planner/src/scene_module/lane_change/lane_change_module.cpp +++ b/planning/behavior_path_planner/src/scene_module/lane_change/lane_change_module.cpp @@ -143,8 +143,7 @@ BT::NodeStatus LaneChangeModule::updateState() BehaviorModuleOutput LaneChangeModule::plan() { - constexpr double resample_interval{1.0}; - auto path = util::resamplePathWithSpline(status_.lane_change_path.path, resample_interval); + auto path = status_.lane_change_path.path; if (!isValidPath(path)) { status_.is_safe = false; @@ -264,10 +263,9 @@ PathWithLaneId LaneChangeModule::getReferencePath() const *route_handler, current_lanes, current_pose, common_parameters.backward_path_length, common_parameters.forward_path_length, common_parameters, optional_lengths); } - const double & buffer = - common_parameters.backward_length_buffer_for_end_of_lane; // buffer for min_lane_change_length + const double lane_change_buffer = - num_lane_change * (common_parameters.minimum_lane_change_length + buffer) + optional_lengths; + util::calcLaneChangeBuffer(common_parameters, num_lane_change, optional_lengths); reference_path = util::setDecelerationVelocity( *route_handler, reference_path, current_lanes, parameters_->lane_change_prepare_duration, @@ -278,10 +276,8 @@ PathWithLaneId LaneChangeModule::getReferencePath() const const auto expanded_lanes = util::expandLanelets( shorten_lanes, parameters_->drivable_area_left_bound_offset, parameters_->drivable_area_right_bound_offset); - - reference_path.drivable_area = util::generateDrivableArea( - reference_path, expanded_lanes, common_parameters.drivable_area_resolution, - common_parameters.vehicle_length, planner_data_); + util::generateDrivableArea( + reference_path, expanded_lanes, common_parameters.vehicle_length, planner_data_); return reference_path; } @@ -416,9 +412,7 @@ bool LaneChangeModule::isValidPath(const PathWithLaneId & path) const bool LaneChangeModule::isNearEndOfLane() const { const auto & current_pose = getEgoPose(); - const auto minimum_lane_change_length = planner_data_->parameters.minimum_lane_change_length; - const auto end_of_lane_buffer = planner_data_->parameters.backward_length_buffer_for_end_of_lane; - const double threshold = end_of_lane_buffer + minimum_lane_change_length; + const double threshold = util::calcTotalLaneChangeDistanceWithBuffer(planner_data_->parameters); return std::max(0.0, util::getDistanceToEndOfLane(current_pose, status_.current_lanes)) < threshold; @@ -625,10 +619,7 @@ void LaneChangeModule::generateExtendedDrivableArea(PathWithLaneId & path) const auto expanded_lanes = util::expandLanelets( shorten_lanes, parameters_->drivable_area_left_bound_offset, parameters_->drivable_area_right_bound_offset); - - const double & resolution = common_parameters.drivable_area_resolution; - path.drivable_area = util::generateDrivableArea( - path, expanded_lanes, resolution, common_parameters.vehicle_length, planner_data_); + util::generateDrivableArea(path, expanded_lanes, common_parameters.vehicle_length, planner_data_); } void LaneChangeModule::updateOutputTurnSignal(BehaviorModuleOutput & output) diff --git a/planning/behavior_path_planner/src/scene_module/lane_change/util.cpp b/planning/behavior_path_planner/src/scene_module/lane_change/util.cpp index 9b3e65ec92a87..ffad3231eee05 100644 --- a/planning/behavior_path_planner/src/scene_module/lane_change/util.cpp +++ b/planning/behavior_path_planner/src/scene_module/lane_change/util.cpp @@ -14,6 +14,7 @@ #include "behavior_path_planner/scene_module/lane_change/util.hpp" +#include "behavior_path_planner/path_utilities.hpp" #include "behavior_path_planner/scene_module/utils/path_shifter.hpp" #include "behavior_path_planner/utilities.hpp" @@ -177,7 +178,7 @@ LaneChangePaths getLaneChangePaths( const auto & lane_change_prepare_duration = parameter.lane_change_prepare_duration; const auto & lane_changing_duration = parameter.lane_changing_duration; const auto & minimum_lane_change_prepare_distance = - parameter.minimum_lane_change_prepare_distance; + common_parameter.minimum_lane_change_prepare_distance; const auto & minimum_lane_change_length = common_parameter.minimum_lane_change_length; const auto & minimum_lane_change_velocity = parameter.minimum_lane_change_velocity; const auto & maximum_deceleration = parameter.maximum_deceleration; @@ -237,7 +238,7 @@ LaneChangePaths getLaneChangePaths( const PathWithLaneId target_lane_reference_path = getReferencePathFromTargetLane( route_handler, target_lanelets, lane_changing_start_pose, prepare_distance, - lane_changing_distance, forward_path_length); + lane_changing_distance, forward_path_length, lane_changing_speed); const ShiftLine shift_line = getLaneChangeShiftLine( prepare_segment_reference, lane_changing_segment_reference, target_lanelets, @@ -490,8 +491,9 @@ bool isLaneChangePathSafe( PathWithLaneId getReferencePathFromTargetLane( const RouteHandler & route_handler, const lanelet::ConstLanelets & target_lanes, - const Pose & lane_changing_start_pose, const double & prepare_distance, - const double & lane_changing_distance, const double & forward_path_length) + const Pose & lane_changing_start_pose, const double prepare_distance, + const double lane_changing_distance, const double forward_path_length, + const double lane_changing_speed) { const ArcCoordinates lane_change_start_arc_position = lanelet::utils::getArcCoordinates(target_lanes, lane_changing_start_pose); @@ -502,7 +504,14 @@ PathWithLaneId getReferencePathFromTargetLane( lanelet::utils::getArcCoordinates(target_lanes, route_handler.getGoalPose()); s_end = std::min(s_end, goal_arc_coordinates.length); } - return route_handler.getCenterLinePath(target_lanes, s_start, s_end); + const auto lane_changing_reference_path = + route_handler.getCenterLinePath(target_lanes, s_start, s_end); + + constexpr auto min_resampling_points{30.0}; + constexpr auto resampling_dt{0.2}; + const auto resample_interval = + std::max(lane_changing_distance / min_resampling_points, lane_changing_speed * resampling_dt); + return util::resamplePathWithSpline(lane_changing_reference_path, resample_interval); } PathWithLaneId getReferencePathFromTargetLane( diff --git a/planning/behavior_path_planner/src/scene_module/lane_following/lane_following_module.cpp b/planning/behavior_path_planner/src/scene_module/lane_following/lane_following_module.cpp index 4c9e3a7894201..6d958cfc9810c 100644 --- a/planning/behavior_path_planner/src/scene_module/lane_following/lane_following_module.cpp +++ b/planning/behavior_path_planner/src/scene_module/lane_following/lane_following_module.cpp @@ -128,9 +128,8 @@ PathWithLaneId LaneFollowingModule::getReferencePath() const p, optional_lengths); } - const double buffer = p.backward_length_buffer_for_end_of_lane; const double lane_change_buffer = - num_lane_change * (p.minimum_lane_change_length + buffer) + optional_lengths; + util::calcLaneChangeBuffer(p, num_lane_change, optional_lengths); reference_path = util::setDecelerationVelocity( *route_handler, reference_path, current_lanes, parameters_.lane_change_prepare_duration, @@ -143,8 +142,7 @@ PathWithLaneId LaneFollowingModule::getReferencePath() const shorten_lanes, parameters_.drivable_area_left_bound_offset, parameters_.drivable_area_right_bound_offset); - reference_path.drivable_area = util::generateDrivableArea( - reference_path, expanded_lanes, p.drivable_area_resolution, p.vehicle_length, planner_data_); + util::generateDrivableArea(reference_path, expanded_lanes, p.vehicle_length, planner_data_); return reference_path; } diff --git a/planning/behavior_path_planner/src/scene_module/pull_out/pull_out_module.cpp b/planning/behavior_path_planner/src/scene_module/pull_out/pull_out_module.cpp index 532d3173c3155..5ebbf2e415470 100644 --- a/planning/behavior_path_planner/src/scene_module/pull_out/pull_out_module.cpp +++ b/planning/behavior_path_planner/src/scene_module/pull_out/pull_out_module.cpp @@ -189,9 +189,8 @@ BehaviorModuleOutput PullOutModule::plan() const auto expanded_lanes = util::expandLanelets( shorten_lanes, parameters_.drivable_area_left_bound_offset, parameters_.drivable_area_right_bound_offset); - path.drivable_area = util::generateDrivableArea( - path, expanded_lanes, planner_data_->parameters.drivable_area_resolution, - planner_data_->parameters.vehicle_length, planner_data_); + util::generateDrivableArea( + path, expanded_lanes, planner_data_->parameters.vehicle_length, planner_data_); output.path = std::make_shared(path); output.turn_signal_info = calcTurnSignalInfo(); @@ -287,9 +286,8 @@ BehaviorModuleOutput PullOutModule::planWaitingApproval() parameters_.drivable_area_right_bound_offset); auto candidate_path = status_.back_finished ? getCurrentPath() : status_.backward_path; - candidate_path.drivable_area = util::generateDrivableArea( - candidate_path, expanded_lanes, planner_data_->parameters.drivable_area_resolution, - planner_data_->parameters.vehicle_length, planner_data_); + util::generateDrivableArea( + candidate_path, expanded_lanes, planner_data_->parameters.vehicle_length, planner_data_); auto stop_path = candidate_path; for (auto & p : stop_path.points) { p.point.longitudinal_velocity_mps = 0.0; diff --git a/planning/behavior_path_planner/src/scene_module/pull_out/shift_pull_out.cpp b/planning/behavior_path_planner/src/scene_module/pull_out/shift_pull_out.cpp index ab8e77ffe138c..b72558260ed75 100644 --- a/planning/behavior_path_planner/src/scene_module/pull_out/shift_pull_out.cpp +++ b/planning/behavior_path_planner/src/scene_module/pull_out/shift_pull_out.cpp @@ -91,10 +91,9 @@ boost::optional ShiftPullOut::plan(Pose start_pose, Pose goal_pose) } // Generate drivable area - const double resolution = common_parameters.drivable_area_resolution; const auto shorten_lanes = util::cutOverlappedLanes(shift_path, drivable_lanes); - shift_path.drivable_area = util::generateDrivableArea( - shift_path, shorten_lanes, resolution, common_parameters.vehicle_length, planner_data_); + util::generateDrivableArea( + shift_path, shorten_lanes, common_parameters.vehicle_length, planner_data_); shift_path.header = planner_data_->route_handler->getRouteHeader(); diff --git a/planning/behavior_path_planner/src/scene_module/pull_over/pull_over_module.cpp b/planning/behavior_path_planner/src/scene_module/pull_over/pull_over_module.cpp index faea572f97db6..29fcf8e12233c 100644 --- a/planning/behavior_path_planner/src/scene_module/pull_over/pull_over_module.cpp +++ b/planning/behavior_path_planner/src/scene_module/pull_over/pull_over_module.cpp @@ -442,8 +442,7 @@ BehaviorModuleOutput PullOverModule::plan() const auto lane = util::expandLanelets( shorten_lanes, parameters_.drivable_area_left_bound_offset, parameters_.drivable_area_right_bound_offset); - path.drivable_area = util::generateDrivableArea( - path, lane, p.drivable_area_resolution, p.vehicle_length, planner_data_); + util::generateDrivableArea(path, lane, p.vehicle_length, planner_data_); } BehaviorModuleOutput output; @@ -615,10 +614,8 @@ PathWithLaneId PullOverModule::getReferencePath() const const auto lanes = util::expandLanelets( shorten_lanes, parameters_.drivable_area_left_bound_offset, parameters_.drivable_area_right_bound_offset); - - reference_path.drivable_area = util::generateDrivableArea( - reference_path, lanes, common_parameters.drivable_area_resolution, - common_parameters.vehicle_length, planner_data_); + util::generateDrivableArea( + reference_path, lanes, common_parameters.vehicle_length, planner_data_); return reference_path; } @@ -666,9 +663,7 @@ PathWithLaneId PullOverModule::generateStopPath() const shorten_lanes, parameters_.drivable_area_left_bound_offset, parameters_.drivable_area_right_bound_offset); - stop_path.drivable_area = util::generateDrivableArea( - stop_path, lanes, common_parameters.drivable_area_resolution, common_parameters.vehicle_length, - planner_data_); + util::generateDrivableArea(stop_path, lanes, common_parameters.vehicle_length, planner_data_); return stop_path; } diff --git a/planning/behavior_path_planner/src/scene_module/side_shift/side_shift_module.cpp b/planning/behavior_path_planner/src/scene_module/side_shift/side_shift_module.cpp index fb87fadc476b3..8f07df3f5d57c 100644 --- a/planning/behavior_path_planner/src/scene_module/side_shift/side_shift_module.cpp +++ b/planning/behavior_path_planner/src/scene_module/side_shift/side_shift_module.cpp @@ -421,8 +421,7 @@ void SideShiftModule::adjustDrivableArea(ShiftedPath * path) const { const auto & p = planner_data_->parameters; - path->path.drivable_area = util::generateDrivableArea( - path->path, expanded_lanes, p.drivable_area_resolution, p.vehicle_length, planner_data_); + util::generateDrivableArea(path->path, expanded_lanes, p.vehicle_length, planner_data_); } } diff --git a/planning/behavior_path_planner/src/utilities.cpp b/planning/behavior_path_planner/src/utilities.cpp index 339965bdea493..b9289248465c0 100644 --- a/planning/behavior_path_planner/src/utilities.cpp +++ b/planning/behavior_path_planner/src/utilities.cpp @@ -963,7 +963,8 @@ PathWithLaneId removeOverlappingPoints(const PathWithLaneId & input_path) filtered_path.points.push_back(pt); } } - filtered_path.drivable_area = input_path.drivable_area; + filtered_path.left_bound = input_path.left_bound; + filtered_path.right_bound = input_path.right_bound; return filtered_path; } @@ -1086,7 +1087,8 @@ bool setGoal( output_ptr->points.back().lane_ids = input.points.back().lane_ids; } - output_ptr->drivable_area = input.drivable_area; + output_ptr->left_bound = input.left_bound; + output_ptr->right_bound = input.right_bound; return true; } catch (std::out_of_range & ex) { RCLCPP_ERROR_STREAM( @@ -1098,7 +1100,14 @@ bool setGoal( const Pose refineGoal(const Pose & goal, const lanelet::ConstLanelet & goal_lanelet) { + // return goal; const auto lanelet_point = lanelet::utils::conversion::toLaneletPoint(goal.position); + const double distance = boost::geometry::distance( + goal_lanelet.polygon2d().basicPolygon(), lanelet::utils::to2D(lanelet_point).basicPoint()); + if (distance < std::numeric_limits::epsilon()) { + return goal; + } + const auto segment = lanelet::utils::getClosestSegment( lanelet::utils::to2D(lanelet_point), goal_lanelet.centerline()); if (segment.empty()) { @@ -1335,148 +1344,170 @@ std::vector cutOverlappedLanes( return shorten_lanes; } -// input lanes must be in sequence -// NOTE: lanes in the path argument is used to calculate the size of the drivable area to cover -// designated forward and backward length by getPathScope function. -// lanes argument is used to determine (= draw) the drivable area. -// This is because lanes argument has multiple parallel lanes which makes hard to calculate -// the size of the drivable area -OccupancyGrid generateDrivableArea( - const PathWithLaneId & path, const std::vector & lanes, const double resolution, - const double vehicle_length, const std::shared_ptr planner_data) +size_t findNearestSegmentIndex( + const std::vector & points, const geometry_msgs::msg::Pose & pose, + const double dist_threshold, const double yaw_threshold) { - const auto transformed_lanes = util::transformToLanelets(lanes); - const auto & params = planner_data->parameters; - const auto route_handler = planner_data->route_handler; - const auto current_pose = planner_data->self_pose; - - // calculate min/max x and y from lanes in path argument (not from lanes argument) - const auto path_scope = drivable_area_utils::getPathScope( - path, route_handler, current_pose->pose, params.drivable_lane_forward_length, - params.drivable_lane_backward_length, params.drivable_lane_margin, - params.ego_nearest_dist_threshold, params.ego_nearest_yaw_threshold); - - const double min_x = - drivable_area_utils::quantize(path_scope.at(0) - params.drivable_area_margin, resolution); - const double min_y = - drivable_area_utils::quantize(path_scope.at(1) - params.drivable_area_margin, resolution); - const double max_x = - drivable_area_utils::quantize(path_scope.at(2) + params.drivable_area_margin, resolution); - const double max_y = - drivable_area_utils::quantize(path_scope.at(3) + params.drivable_area_margin, resolution); - - const double width = max_x - min_x; - const double height = max_y - min_y; - - lanelet::ConstLanelets drivable_lanes; - { // add lanes which covers initial and final footprints - // 1. add preceding lanes before current pose - const auto lanes_before_current_pose = route_handler->getLanesBeforePose( - current_pose->pose, params.drivable_lane_backward_length + params.drivable_lane_margin); - drivable_lanes.insert( - drivable_lanes.end(), lanes_before_current_pose.begin(), lanes_before_current_pose.end()); - - // 2. add lanes - drivable_lanes.insert(drivable_lanes.end(), transformed_lanes.begin(), transformed_lanes.end()); - - // 3. add succeeding lanes after goal - if (containsGoal(transformed_lanes, route_handler->getGoalLaneId())) { - const auto lanes_after_goal = route_handler->getLanesAfterGoal(vehicle_length); - drivable_lanes.insert(drivable_lanes.end(), lanes_after_goal.begin(), lanes_after_goal.end()); - } - } - - OccupancyGrid occupancy_grid; - PoseStamped grid_origin; + const auto nearest_idx = + motion_utils::findNearestSegmentIndex(points, pose, dist_threshold, yaw_threshold); + return nearest_idx ? nearest_idx.get() + : motion_utils::findNearestSegmentIndex(points, pose.position); +} - // calculate grid origin - { - grid_origin.header = current_pose->header; +geometry_msgs::msg::Pose calcLongitudinalOffsetStartPose( + const std::vector & points, const geometry_msgs::msg::Pose & pose, + const size_t nearest_segment_idx, const double offset) +{ + const double offset_length = + motion_utils::calcLongitudinalOffsetToSegment(points, nearest_segment_idx, pose.position); + const auto offset_pose = + motion_utils::calcLongitudinalOffsetPose(points, nearest_segment_idx, offset_length + offset); - grid_origin.pose.position.x = min_x; - grid_origin.pose.position.y = min_y; - grid_origin.pose.position.z = current_pose->pose.position.z; - } + return offset_pose ? offset_pose.get() : points.at(nearest_segment_idx); +} - // header - { - occupancy_grid.header.stamp = current_pose->header.stamp; - occupancy_grid.header.frame_id = "map"; - } +geometry_msgs::msg::Pose calcLongitudinalOffsetGoalPose( + const std::vector & points, const geometry_msgs::msg::Pose & pose, + const size_t nearest_segment_idx, const double offset) +{ + const double offset_length = + motion_utils::calcLongitudinalOffsetToSegment(points, nearest_segment_idx, pose.position); + const auto offset_pose = + motion_utils::calcLongitudinalOffsetPose(points, nearest_segment_idx, offset_length + offset); - // info - { - const int width_cell = std::round(width / resolution); - const int height_cell = std::round(height / resolution); + return offset_pose ? offset_pose.get() : points.at(nearest_segment_idx + 1); +} - occupancy_grid.info.map_load_time = occupancy_grid.header.stamp; - occupancy_grid.info.resolution = resolution; - occupancy_grid.info.width = width_cell; - occupancy_grid.info.height = height_cell; - occupancy_grid.info.origin = grid_origin.pose; - } +void generateDrivableArea( + PathWithLaneId & path, const std::vector & lanes, const double vehicle_length, + const std::shared_ptr planner_data) +{ + std::vector left_bound; + std::vector right_bound; - // occupancy_grid.data = image; - { - constexpr uint8_t free_space = 0; - constexpr uint8_t occupied_space = 100; - // get transform - tf2::Stamped tf_grid2map, tf_map2grid; - tf2::fromMsg(grid_origin, tf_grid2map); - tf_map2grid.setData(tf_grid2map.inverse()); - const auto geom_tf_map2grid = tf2::toMsg(tf_map2grid); - - // convert lane polygons into cv type - cv::Mat cv_image( - occupancy_grid.info.width, occupancy_grid.info.height, CV_8UC1, cv::Scalar(occupied_space)); - for (const auto & lane : drivable_lanes) { - lanelet::BasicPolygon2d lane_poly = lane.polygon2d().basicPolygon(); - - if (lane.hasAttribute("intersection_area")) { - const std::string area_id = lane.attributeOr("intersection_area", "none"); - const auto intersection_area = - route_handler->getIntersectionAreaById(atoi(area_id.c_str())); - const auto poly = lanelet::utils::to2D(intersection_area).basicPolygon(); - std::vector lane_polys{}; - if (boost::geometry::intersection(poly, lane_poly, lane_polys)) { - lane_poly = lane_polys.front(); - } + // extract data + const auto transformed_lanes = util::transformToLanelets(lanes); + const auto current_pose = planner_data->self_pose; + const auto route_handler = planner_data->route_handler; + const auto & param = planner_data->parameters; + const double dist_threshold = std::numeric_limits::max(); + const double yaw_threshold = param.ego_nearest_yaw_threshold; + constexpr double overlap_threshold = 0.01; + + auto addLeftBoundPoints = [&left_bound](const lanelet::ConstLanelet & lane) { + for (const auto & lp : lane.leftBound()) { + geometry_msgs::msg::Pose current_pose; + current_pose.position = lanelet::utils::conversion::toGeomMsgPt(lp); + if (left_bound.empty()) { + left_bound.push_back(current_pose); + } else if ( + tier4_autoware_utils::calcDistance2d(current_pose, left_bound.back()) > overlap_threshold) { + left_bound.push_back(current_pose); } + } + }; - // create drivable area using opencv - std::vector> cv_polygons; - std::vector cv_polygon; - cv_polygon.reserve(lane_poly.size()); - for (const auto & p : lane_poly) { - const double z = lane.polygon3d().basicPolygon().at(0).z(); - Point geom_pt = tier4_autoware_utils::createPoint(p.x(), p.y(), z); - Point transformed_geom_pt; - tf2::doTransform(geom_pt, transformed_geom_pt, geom_tf_map2grid); - cv_polygon.push_back(toCVPoint(transformed_geom_pt, width, height, resolution)); - } - if (!cv_polygon.empty()) { - cv_polygons.push_back(cv_polygon); - // fill in drivable area and copy to occupancy grid - cv::fillPoly(cv_image, cv_polygons, cv::Scalar(free_space)); + auto addRightBoundPoints = [&right_bound](const lanelet::ConstLanelet & lane) { + for (const auto & rp : lane.rightBound()) { + geometry_msgs::msg::Pose current_pose; + current_pose.position = lanelet::utils::conversion::toGeomMsgPt(rp); + if (right_bound.empty()) { + right_bound.push_back(current_pose); + } else if ( + tier4_autoware_utils::calcDistance2d(current_pose, right_bound.back()) > + overlap_threshold) { + right_bound.push_back(current_pose); } } + }; - // Closing - // NOTE: Because of the discretization error, there may be some discontinuity between two - // successive lanelets in the drivable area. This issue is dealt with by the erode/dilate - // process. - constexpr int num_iter = 1; - cv::Mat cv_erode, cv_dilate; - cv::erode(cv_image, cv_erode, cv::Mat(), cv::Point(-1, -1), num_iter); - cv::dilate(cv_erode, cv_dilate, cv::Mat(), cv::Point(-1, -1), num_iter); - - // const auto & cv_image_reshaped = cv_dilate.reshape(1, 1); - imageToOccupancyGrid(cv_dilate, &occupancy_grid); - occupancy_grid.data[0] = 0; - // cv_image_reshaped.copyTo(occupancy_grid.data); + // Insert Position + for (const auto & lane : lanes) { + addLeftBoundPoints(lane.left_lane); + addRightBoundPoints(lane.right_lane); + } + + // Insert points after goal + if (containsGoal(transformed_lanes, route_handler->getGoalLaneId())) { + const auto lanes_after_goal = route_handler->getLanesAfterGoal(vehicle_length); + for (const auto & lane : lanes_after_goal) { + addLeftBoundPoints(lane); + addRightBoundPoints(lane); + } + } + + // Give Orientation + motion_utils::insertOrientation(left_bound, true); + motion_utils::insertOrientation(right_bound, true); + + // Get Closest segment for the start point + constexpr double front_length = 0.5; + const auto front_pose = path.points.empty() ? current_pose->pose : path.points.front().point.pose; + const size_t front_left_start_idx = + findNearestSegmentIndex(left_bound, front_pose, dist_threshold, yaw_threshold); + const size_t front_right_start_idx = + findNearestSegmentIndex(right_bound, front_pose, dist_threshold, yaw_threshold); + const auto left_start_pose = + calcLongitudinalOffsetStartPose(left_bound, front_pose, front_left_start_idx, -front_length); + const auto right_start_pose = + calcLongitudinalOffsetStartPose(right_bound, front_pose, front_right_start_idx, -front_length); + const size_t left_start_idx = + findNearestSegmentIndex(left_bound, left_start_pose, dist_threshold, yaw_threshold); + const size_t right_start_idx = + findNearestSegmentIndex(right_bound, right_start_pose, dist_threshold, yaw_threshold); + + // Get Closest segment for the goal point + const auto goal_pose = path.points.empty() ? current_pose->pose : path.points.back().point.pose; + const size_t goal_left_start_idx = + findNearestSegmentIndex(left_bound, goal_pose, dist_threshold, yaw_threshold); + const size_t goal_right_start_idx = + findNearestSegmentIndex(right_bound, goal_pose, dist_threshold, yaw_threshold); + const auto left_goal_pose = + calcLongitudinalOffsetGoalPose(left_bound, goal_pose, goal_left_start_idx, vehicle_length); + const auto right_goal_pose = + calcLongitudinalOffsetGoalPose(right_bound, goal_pose, goal_right_start_idx, vehicle_length); + const size_t left_goal_idx = + findNearestSegmentIndex(left_bound, left_goal_pose, dist_threshold, yaw_threshold); + const size_t right_goal_idx = + findNearestSegmentIndex(right_bound, right_goal_pose, dist_threshold, yaw_threshold); + + // Store Data + path.left_bound.clear(); + path.right_bound.clear(); + path.left_bound.reserve(left_goal_idx - left_start_idx); + path.right_bound.reserve(right_goal_idx - right_start_idx); + + // Insert a start point + path.left_bound.push_back(left_start_pose.position); + path.right_bound.push_back(right_start_pose.position); + + // Insert middle points + for (size_t i = left_start_idx + 1; i <= left_goal_idx; ++i) { + const auto & next_point = left_bound.at(i).position; + const double dist = tier4_autoware_utils::calcDistance2d(path.left_bound.back(), next_point); + if (dist > overlap_threshold) { + path.left_bound.push_back(next_point); + } + } + for (size_t i = right_start_idx + 1; i <= right_goal_idx; ++i) { + const auto & next_point = right_bound.at(i).position; + const double dist = tier4_autoware_utils::calcDistance2d(path.right_bound.back(), next_point); + if (dist > overlap_threshold) { + path.right_bound.push_back(next_point); + } + } + + // Insert a goal point + if ( + tier4_autoware_utils::calcDistance2d(path.left_bound.back(), left_goal_pose.position) > + overlap_threshold) { + path.left_bound.push_back(left_goal_pose.position); + } + if ( + tier4_autoware_utils::calcDistance2d(path.right_bound.back(), right_goal_pose.position) > + overlap_threshold) { + path.right_bound.push_back(right_goal_pose.position); } - - return occupancy_grid; } double getDistanceToEndOfLane(const Pose & current_pose, const lanelet::ConstLanelets & lanelets) @@ -1635,7 +1666,8 @@ Path convertToPathFromPathWithLaneId(const PathWithLaneId & path_with_lane_id) { Path path; path.header = path_with_lane_id.header; - path.drivable_area = path_with_lane_id.drivable_area; + path.left_bound = path_with_lane_id.left_bound; + path.right_bound = path_with_lane_id.right_bound; path.points.reserve(path_with_lane_id.points.size()); for (const auto & pt_with_lane_id : path_with_lane_id.points) { path.points.push_back(pt_with_lane_id.point); @@ -1831,42 +1863,6 @@ std::vector getTargetLaneletPolygons( return polygons; } -void occupancyGridToImage(const OccupancyGrid & occupancy_grid, cv::Mat * cv_image) -{ - const int width = cv_image->cols; - const int height = cv_image->rows; - for (int x = width - 1; x >= 0; x--) { - for (int y = height - 1; y >= 0; y--) { - const int idx = (height - 1 - y) + (width - 1 - x) * height; - const unsigned char intensity = occupancy_grid.data.at(idx); - cv_image->at(y, x) = intensity; - } - } -} - -void imageToOccupancyGrid(const cv::Mat & cv_image, OccupancyGrid * occupancy_grid) -{ - const int width = cv_image.cols; - const int height = cv_image.rows; - occupancy_grid->data.clear(); - occupancy_grid->data.resize(width * height); - for (int x = width - 1; x >= 0; x--) { - for (int y = height - 1; y >= 0; y--) { - const int idx = (height - 1 - y) + (width - 1 - x) * height; - const unsigned char intensity = cv_image.at(y, x); - occupancy_grid->data.at(idx) = intensity; - } - } -} - -cv::Point toCVPoint( - const Point & geom_point, const double width_m, const double height_m, const double resolution) -{ - return { - static_cast((height_m - geom_point.y) / resolution), - static_cast((width_m - geom_point.x) / resolution)}; -} - // TODO(Horibe) There is a similar function in route_handler. std::shared_ptr generateCenterLinePath( const std::shared_ptr & planner_data) @@ -1901,8 +1897,7 @@ std::shared_ptr generateCenterLinePath( centerline_path->header = route_handler->getRouteHeader(); - centerline_path->drivable_area = util::generateDrivableArea( - *centerline_path, drivable_lanes, p.drivable_area_resolution, p.vehicle_length, planner_data); + util::generateDrivableArea(*centerline_path, drivable_lanes, p.vehicle_length, planner_data); return centerline_path; } @@ -2015,13 +2010,11 @@ PathWithLaneId getCenterLinePath( const double s_backward = std::max(0., s - backward_path_length); double s_forward = s + forward_path_length; - const double buffer = - parameter.backward_length_buffer_for_end_of_lane; // buffer for min_lane_change_length const int num_lane_change = std::abs(route_handler.getNumLaneToPreferredLane(lanelet_sequence.back())); const double lane_length = lanelet::utils::getLaneletLength2d(lanelet_sequence); const double lane_change_buffer = - std::fabs(num_lane_change * (parameter.minimum_lane_change_length + buffer) + optional_length); + calcLaneChangeBuffer(parameter, std::abs(num_lane_change), optional_length); if (route_handler.isDeadEndLanelet(lanelet_sequence.back())) { s_forward = std::min(s_forward, lane_length - lane_change_buffer); @@ -2161,7 +2154,7 @@ PathWithLaneId setDecelerationVelocity( const double lane_length = lanelet::utils::getLaneletLength2d(lanelet_sequence); const auto arclength = lanelet::utils::getArcCoordinates(lanelet_sequence, point.point.pose); const double distance_to_end = - std::max(0.0, lane_length - std::fabs(lane_change_buffer) - arclength.length); + std::max(0.0, lane_length - std::abs(lane_change_buffer) - arclength.length); point.point.longitudinal_velocity_mps = std::min( point.point.longitudinal_velocity_mps, static_cast(distance_to_end / lane_change_prepare_duration)); @@ -2769,4 +2762,19 @@ bool checkPathRelativeAngle(const PathWithLaneId & path, const double angle_thre return true; } +double calcTotalLaneChangeDistanceWithBuffer(const BehaviorPathPlannerParameters & common_param) +{ + const double minimum_lane_change_distance = + common_param.minimum_lane_change_prepare_distance + common_param.minimum_lane_change_length; + const double end_of_lane_buffer = common_param.backward_length_buffer_for_end_of_lane; + return minimum_lane_change_distance + end_of_lane_buffer; +} + +double calcLaneChangeBuffer( + const BehaviorPathPlannerParameters & common_param, const int num_lane_change, + const double length_to_intersection) +{ + return num_lane_change * calcTotalLaneChangeDistanceWithBuffer(common_param) + + length_to_intersection; +} } // namespace behavior_path_planner::util diff --git a/planning/behavior_velocity_planner/include/scene_module/scene_module_interface.hpp b/planning/behavior_velocity_planner/include/scene_module/scene_module_interface.hpp index 14e8271a19b5b..77fafdf7ddeea 100644 --- a/planning/behavior_velocity_planner/include/scene_module/scene_module_interface.hpp +++ b/planning/behavior_velocity_planner/include/scene_module/scene_module_interface.hpp @@ -16,12 +16,15 @@ #define SCENE_MODULE__SCENE_MODULE_INTERFACE_HPP_ #include "behavior_velocity_planner/planner_data.hpp" +#include "velocity_factor_interface.hpp" #include #include #include #include +#include +#include #include #include #include @@ -100,6 +103,9 @@ class SceneModuleInterface bool isSafe() const { return safe_; } double getDistance() const { return distance_; } + void resetVelocityFactor() { velocity_factor_.reset(); } + VelocityFactor getVelocityFactor() const { return velocity_factor_.get(); } + protected: const int64_t module_id_; bool activated_; @@ -110,6 +116,7 @@ class SceneModuleInterface std::shared_ptr planner_data_; boost::optional infrastructure_command_; boost::optional first_stop_path_point_index_; + VelocityFactorInterface velocity_factor_; void setSafe(const bool safe) { safe_ = safe; } void setDistance(const double distance) { distance_ = distance; } @@ -150,6 +157,8 @@ class SceneModuleManagerInterface } pub_virtual_wall_ = node.create_publisher( std::string("~/virtual_wall/") + module_name, 5); + pub_velocity_factor_ = node.create_publisher( + std::string("/planning/velocity_factors/") + module_name, 1); pub_stop_reason_ = node.create_publisher("~/output/stop_reasons", 1); pub_infrastructure_commands_ = @@ -188,8 +197,11 @@ class SceneModuleManagerInterface visualization_msgs::msg::MarkerArray debug_marker_array; visualization_msgs::msg::MarkerArray virtual_wall_marker_array; tier4_planning_msgs::msg::StopReasonArray stop_reason_array; + autoware_adapi_v1_msgs::msg::VelocityFactorArray velocity_factor_array; stop_reason_array.header.frame_id = "map"; stop_reason_array.header.stamp = clock_->now(); + velocity_factor_array.header.frame_id = "map"; + velocity_factor_array.header.stamp = clock_->now(); tier4_v2x_msgs::msg::InfrastructureCommandArray infrastructure_command_array; infrastructure_command_array.stamp = clock_->now(); @@ -197,9 +209,15 @@ class SceneModuleManagerInterface first_stop_path_point_index_ = static_cast(path->points.size()) - 1; for (const auto & scene_module : scene_modules_) { tier4_planning_msgs::msg::StopReason stop_reason; + scene_module->resetVelocityFactor(); scene_module->setPlannerData(planner_data_); scene_module->modifyPathVelocity(path, &stop_reason); + // The velocity factor must be called after modifyPathVelocity. + const auto velocity_factor = scene_module->getVelocityFactor(); + if (velocity_factor.type != VelocityFactor::UNKNOWN) { + velocity_factor_array.factors.emplace_back(velocity_factor); + } if (stop_reason.reason != "") { stop_reason_array.stop_reasons.emplace_back(stop_reason); } @@ -224,6 +242,7 @@ class SceneModuleManagerInterface if (!stop_reason_array.stop_reasons.empty()) { pub_stop_reason_->publish(stop_reason_array); } + pub_velocity_factor_->publish(velocity_factor_array); pub_infrastructure_commands_->publish(infrastructure_command_array); pub_debug_->publish(debug_marker_array); if (is_publish_debug_path_) { @@ -311,6 +330,8 @@ class SceneModuleManagerInterface rclcpp::Publisher::SharedPtr pub_debug_; rclcpp::Publisher::SharedPtr pub_debug_path_; rclcpp::Publisher::SharedPtr pub_stop_reason_; + rclcpp::Publisher::SharedPtr + pub_velocity_factor_; rclcpp::Publisher::SharedPtr pub_infrastructure_commands_; diff --git a/planning/behavior_velocity_planner/include/scene_module/velocity_factor_interface.hpp b/planning/behavior_velocity_planner/include/scene_module/velocity_factor_interface.hpp new file mode 100644 index 0000000000000..cff6e54b4f134 --- /dev/null +++ b/planning/behavior_velocity_planner/include/scene_module/velocity_factor_interface.hpp @@ -0,0 +1,68 @@ + +// Copyright 2022 TIER IV, Inc. +// +// 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 SCENE_MODULE__VELOCITY_FACTOR_INTERFACE_HPP_ +#define SCENE_MODULE__VELOCITY_FACTOR_INTERFACE_HPP_ + +#include + +#include +#include +#include + +#include +#include +#include + +namespace behavior_velocity_planner +{ + +using autoware_adapi_v1_msgs::msg::VelocityFactor; +using autoware_adapi_v1_msgs::msg::VelocityFactorArray; +using geometry_msgs::msg::Pose; +using VelocityFactorType = VelocityFactor::_type_type; +using VelocityFactorStatus = VelocityFactor::_status_type; + +class VelocityFactorInterface +{ +public: + VelocityFactorInterface() { type_ = VelocityFactor::UNKNOWN; } + + VelocityFactor get() const { return velocity_factor_; } + void init(const VelocityFactorType type) { type_ = type; } + void reset() { velocity_factor_.type = VelocityFactor::UNKNOWN; } + + template + void set( + const T & points, const Pose & curr_pose, const Pose & stop_pose, + const VelocityFactorStatus status, const std::string detail = "") + { + const auto & curr_point = curr_pose.position; + const auto & stop_point = stop_pose.position; + velocity_factor_.type = type_; + velocity_factor_.pose = stop_pose; + velocity_factor_.distance = motion_utils::calcSignedArcLength(points, curr_point, stop_point); + velocity_factor_.status = status; + velocity_factor_.detail = detail; + } + +private: + VelocityFactorType type_; + VelocityFactor velocity_factor_; +}; + +} // namespace behavior_velocity_planner + +#endif // SCENE_MODULE__VELOCITY_FACTOR_INTERFACE_HPP_ diff --git a/planning/behavior_velocity_planner/include/scene_module/virtual_traffic_light/scene.hpp b/planning/behavior_velocity_planner/include/scene_module/virtual_traffic_light/scene.hpp index 1d49c74afbd83..130e4a1715fde 100644 --- a/planning/behavior_velocity_planner/include/scene_module/virtual_traffic_light/scene.hpp +++ b/planning/behavior_velocity_planner/include/scene_module/virtual_traffic_light/scene.hpp @@ -99,6 +99,10 @@ class VirtualTrafficLightModule : public SceneModuleInterface void setStopReason(const Pose & stop_pose, StopReason * stop_reason); + void setVelocityFactor( + const geometry_msgs::msg::Pose & stop_pose, + autoware_adapi_v1_msgs::msg::VelocityFactor * velocity_factor); + boost::optional getPathIndexOfFirstEndLine(); bool isBeforeStartLine(const size_t end_line_idx); diff --git a/planning/behavior_velocity_planner/package.xml b/planning/behavior_velocity_planner/package.xml index c648e25a055d2..3995866f760c6 100644 --- a/planning/behavior_velocity_planner/package.xml +++ b/planning/behavior_velocity_planner/package.xml @@ -47,6 +47,7 @@ autoware_cmake + autoware_adapi_v1_msgs autoware_auto_mapping_msgs autoware_auto_perception_msgs autoware_auto_planning_msgs diff --git a/planning/behavior_velocity_planner/src/node.cpp b/planning/behavior_velocity_planner/src/node.cpp index 64a79e87bd762..5fea6f0a13e82 100644 --- a/planning/behavior_velocity_planner/src/node.cpp +++ b/planning/behavior_velocity_planner/src/node.cpp @@ -454,7 +454,8 @@ autoware_auto_planning_msgs::msg::Path BehaviorVelocityPlannerNode::generatePath output_path_msg = to_path(*input_path_msg); output_path_msg.header.frame_id = "map"; output_path_msg.header.stamp = this->now(); - output_path_msg.drivable_area = input_path_msg->drivable_area; + output_path_msg.left_bound = input_path_msg->left_bound; + output_path_msg.right_bound = input_path_msg->right_bound; return output_path_msg; } @@ -475,7 +476,8 @@ autoware_auto_planning_msgs::msg::Path BehaviorVelocityPlannerNode::generatePath output_path_msg.header.stamp = this->now(); // TODO(someone): This must be updated in each scene module, but copy from input message for now. - output_path_msg.drivable_area = input_path_msg->drivable_area; + output_path_msg.left_bound = input_path_msg->left_bound; + output_path_msg.right_bound = input_path_msg->right_bound; return output_path_msg; } diff --git a/planning/behavior_velocity_planner/src/scene_module/blind_spot/scene.cpp b/planning/behavior_velocity_planner/src/scene_module/blind_spot/scene.cpp index b831ec6ea2e84..1b64566611cfe 100644 --- a/planning/behavior_velocity_planner/src/scene_module/blind_spot/scene.cpp +++ b/planning/behavior_velocity_planner/src/scene_module/blind_spot/scene.cpp @@ -63,6 +63,7 @@ BlindSpotModule::BlindSpotModule( turn_direction_(TurnDirection::INVALID), is_over_pass_judge_line_(false) { + velocity_factor_.init(VelocityFactor::REAR_CHECK); planner_param_ = planner_param; const auto & assigned_lanelet = @@ -183,6 +184,8 @@ bool BlindSpotModule::modifyPathVelocity(PathWithLaneId * path, StopReason * sto stop_factor.stop_pose = debug_data_.stop_point_pose; stop_factor.stop_factor_points = planning_utils::toRosPoints(debug_data_.conflicting_targets); planning_utils::appendStopReason(stop_factor, stop_reason); + velocity_factor_.set( + path->points, planner_data_->current_pose.pose, stop_pose, VelocityFactor::UNKNOWN); } else { *path = input_path; // reset path } diff --git a/planning/behavior_velocity_planner/src/scene_module/crosswalk/scene_crosswalk.cpp b/planning/behavior_velocity_planner/src/scene_module/crosswalk/scene_crosswalk.cpp index eac948942f76c..9b40751449dd6 100644 --- a/planning/behavior_velocity_planner/src/scene_module/crosswalk/scene_crosswalk.cpp +++ b/planning/behavior_velocity_planner/src/scene_module/crosswalk/scene_crosswalk.cpp @@ -137,6 +137,7 @@ CrosswalkModule::CrosswalkModule( crosswalk_(std::move(crosswalk)), planner_param_(planner_param) { + velocity_factor_.init(VelocityFactor::CROSSWALK); passed_safety_slow_point_ = false; } @@ -218,9 +219,15 @@ bool CrosswalkModule::modifyPathVelocity(PathWithLaneId * path, StopReason * sto if (nearest_stop_point) { insertDecelPointWithDebugInfo(nearest_stop_point.get(), 0.0, *path); planning_utils::appendStopReason(stop_factor, stop_reason); + velocity_factor_.set( + path->points, planner_data_->current_pose.pose, stop_factor.stop_pose, + VelocityFactor::UNKNOWN); } else if (rtc_stop_point) { insertDecelPointWithDebugInfo(rtc_stop_point.get(), 0.0, *path); planning_utils::appendStopReason(stop_factor_rtc, stop_reason); + velocity_factor_.set( + path->points, planner_data_->current_pose.pose, stop_factor_rtc.stop_pose, + VelocityFactor::UNKNOWN); } RCLCPP_INFO_EXPRESSION( diff --git a/planning/behavior_velocity_planner/src/scene_module/crosswalk/scene_walkway.cpp b/planning/behavior_velocity_planner/src/scene_module/crosswalk/scene_walkway.cpp index 30efdc27c4197..c28c1ff461800 100644 --- a/planning/behavior_velocity_planner/src/scene_module/crosswalk/scene_walkway.cpp +++ b/planning/behavior_velocity_planner/src/scene_module/crosswalk/scene_walkway.cpp @@ -39,6 +39,7 @@ WalkwayModule::WalkwayModule( state_(State::APPROACH), planner_param_(planner_param) { + velocity_factor_.init(VelocityFactor::SIDEWALK); } boost::optional> WalkwayModule::getStopLine( @@ -121,6 +122,8 @@ bool WalkwayModule::modifyPathVelocity(PathWithLaneId * path, StopReason * stop_ stop_factor.stop_pose = stop_pose.get(); stop_factor.stop_factor_points.push_back(path_intersects_.front()); planning_utils::appendStopReason(stop_factor, stop_reason); + velocity_factor_.set( + path->points, planner_data_->current_pose.pose, stop_pose.get(), VelocityFactor::UNKNOWN); // use arc length to identify if ego vehicle is in front of walkway stop or not. const double signed_arc_dist_to_stop_point = @@ -149,7 +152,6 @@ bool WalkwayModule::modifyPathVelocity(PathWithLaneId * path, StopReason * stop_ if (planner_data_->isVehicleStopped()) { state_ = State::SURPASSED; } - } else if (state_ == State::SURPASSED) { } return true; diff --git a/planning/behavior_velocity_planner/src/scene_module/detection_area/scene.cpp b/planning/behavior_velocity_planner/src/scene_module/detection_area/scene.cpp index d89bb16b8b3ce..8f9bc0a6e92a3 100644 --- a/planning/behavior_velocity_planner/src/scene_module/detection_area/scene.cpp +++ b/planning/behavior_velocity_planner/src/scene_module/detection_area/scene.cpp @@ -46,6 +46,7 @@ DetectionAreaModule::DetectionAreaModule( state_(State::GO), planner_param_(planner_param) { + velocity_factor_.init(VelocityFactor::USER_DEFINED_DETECTION_AREA); } LineString2d DetectionAreaModule::getStopLineGeometry2d() const @@ -182,6 +183,8 @@ bool DetectionAreaModule::modifyPathVelocity(PathWithLaneId * path, StopReason * stop_factor.stop_pose = stop_point->second; stop_factor.stop_factor_points = obstacle_points; planning_utils::appendStopReason(stop_factor, stop_reason); + velocity_factor_.set( + path->points, planner_data_->current_pose.pose, stop_point->second, VelocityFactor::UNKNOWN); } // Create legacy StopReason diff --git a/planning/behavior_velocity_planner/src/scene_module/intersection/scene_intersection.cpp b/planning/behavior_velocity_planner/src/scene_module/intersection/scene_intersection.cpp index 25bc702d9d6df..d3c20427f118e 100644 --- a/planning/behavior_velocity_planner/src/scene_module/intersection/scene_intersection.cpp +++ b/planning/behavior_velocity_planner/src/scene_module/intersection/scene_intersection.cpp @@ -57,6 +57,7 @@ IntersectionModule::IntersectionModule( const rclcpp::Clock::SharedPtr clock) : SceneModuleInterface(module_id, logger, clock), lane_id_(lane_id), is_go_out_(false) { + velocity_factor_.init(VelocityFactor::INTERSECTION); planner_param_ = planner_param; const auto & assigned_lanelet = @@ -256,14 +257,21 @@ bool IntersectionModule::modifyPathVelocity(PathWithLaneId * path, StopReason * debug_data_.stop_point_pose = path->points.at(stop_line_idx_final).point.pose; debug_data_.judge_point_pose = path->points.at(pass_judge_line_idx_final).point.pose; - /* get stop point and stop factor */ - tier4_planning_msgs::msg::StopFactor stop_factor; - stop_factor.stop_pose = debug_data_.stop_point_pose; - const auto stop_factor_conflict = planning_utils::toRosPoints(debug_data_.conflicting_targets); - const auto stop_factor_stuck = planning_utils::toRosPoints(debug_data_.stuck_targets); - stop_factor.stop_factor_points = - planning_utils::concatVector(stop_factor_conflict, stop_factor_stuck); - planning_utils::appendStopReason(stop_factor, stop_reason); + // Get stop point and stop factor + { + tier4_planning_msgs::msg::StopFactor stop_factor; + stop_factor.stop_pose = debug_data_.stop_point_pose; + const auto stop_factor_conflict = + planning_utils::toRosPoints(debug_data_.conflicting_targets); + const auto stop_factor_stuck = planning_utils::toRosPoints(debug_data_.stuck_targets); + stop_factor.stop_factor_points = + planning_utils::concatVector(stop_factor_conflict, stop_factor_stuck); + planning_utils::appendStopReason(stop_factor, stop_reason); + + const auto & stop_pose = path->points.at(stop_line_idx_final).point.pose; + velocity_factor_.set( + path->points, planner_data_->current_pose.pose, stop_pose, VelocityFactor::UNKNOWN); + } RCLCPP_DEBUG(logger_, "not activated. stop at the line."); RCLCPP_DEBUG(logger_, "===== plan end ====="); diff --git a/planning/behavior_velocity_planner/src/scene_module/intersection/scene_merge_from_private_road.cpp b/planning/behavior_velocity_planner/src/scene_module/intersection/scene_merge_from_private_road.cpp index c76f6c4844a99..d880a6c76dc1f 100644 --- a/planning/behavior_velocity_planner/src/scene_module/intersection/scene_merge_from_private_road.cpp +++ b/planning/behavior_velocity_planner/src/scene_module/intersection/scene_merge_from_private_road.cpp @@ -39,6 +39,7 @@ MergeFromPrivateRoadModule::MergeFromPrivateRoadModule( const rclcpp::Clock::SharedPtr clock) : SceneModuleInterface(module_id, logger, clock), lane_id_(lane_id) { + velocity_factor_.init(VelocityFactor::MERGE); planner_param_ = planner_param; state_machine_.setState(StateMachine::State::STOP); } @@ -111,6 +112,9 @@ bool MergeFromPrivateRoadModule::modifyPathVelocity(PathWithLaneId * path, StopR stop_factor.stop_pose = debug_data_.stop_point_pose; stop_factor.stop_factor_points.emplace_back(debug_data_.first_collision_point); planning_utils::appendStopReason(stop_factor, stop_reason); + const auto & stop_pose = path->points.at(stop_line_idx).point.pose; + velocity_factor_.set( + path->points, planner_data_->current_pose.pose, stop_pose, VelocityFactor::UNKNOWN); const double signed_arc_dist_to_stop_point = motion_utils::calcSignedArcLength( path->points, current_pose.pose.position, path->points.at(stop_line_idx).point.pose.position); diff --git a/planning/behavior_velocity_planner/src/scene_module/no_stopping_area/scene_no_stopping_area.cpp b/planning/behavior_velocity_planner/src/scene_module/no_stopping_area/scene_no_stopping_area.cpp index 542652cdf604b..1789b6dc6ff3c 100644 --- a/planning/behavior_velocity_planner/src/scene_module/no_stopping_area/scene_no_stopping_area.cpp +++ b/planning/behavior_velocity_planner/src/scene_module/no_stopping_area/scene_no_stopping_area.cpp @@ -49,6 +49,7 @@ NoStoppingAreaModule::NoStoppingAreaModule( no_stopping_area_reg_elem_(no_stopping_area_reg_elem), planner_param_(planner_param) { + velocity_factor_.init(VelocityFactor::NO_STOPPING_AREA); state_machine_.setState(StateMachine::State::GO); state_machine_.setMarginTime(planner_param_.state_clear_time); } @@ -193,6 +194,9 @@ bool NoStoppingAreaModule::modifyPathVelocity(PathWithLaneId * path, StopReason stop_factor.stop_pose = stop_point->second; stop_factor.stop_factor_points = debug_data_.stuck_points; planning_utils::appendStopReason(stop_factor, stop_reason); + velocity_factor_.set( + path->points, planner_data_->current_pose.pose, stop_point->second, + VelocityFactor::UNKNOWN); } // Create legacy StopReason diff --git a/planning/behavior_velocity_planner/src/scene_module/occlusion_spot/scene_occlusion_spot.cpp b/planning/behavior_velocity_planner/src/scene_module/occlusion_spot/scene_occlusion_spot.cpp index 3ff3694762ae2..9bafd9e707741 100644 --- a/planning/behavior_velocity_planner/src/scene_module/occlusion_spot/scene_occlusion_spot.cpp +++ b/planning/behavior_velocity_planner/src/scene_module/occlusion_spot/scene_occlusion_spot.cpp @@ -63,6 +63,8 @@ OcclusionSpotModule::OcclusionSpotModule( const rclcpp::Clock::SharedPtr clock) : SceneModuleInterface(module_id, logger, clock), param_(planner_param) { + velocity_factor_.init(VelocityFactor::UNKNOWN); + if (param_.detection_method == utils::DETECTION_METHOD::OCCUPANCY_GRID) { debug_data_.detection_type = "occupancy"; //! occupancy grid limitation( 100 * 100 ) diff --git a/planning/behavior_velocity_planner/src/scene_module/run_out/scene.cpp b/planning/behavior_velocity_planner/src/scene_module/run_out/scene.cpp index 5bb27d1c0b24c..50334e356556b 100644 --- a/planning/behavior_velocity_planner/src/scene_module/run_out/scene.cpp +++ b/planning/behavior_velocity_planner/src/scene_module/run_out/scene.cpp @@ -33,6 +33,8 @@ RunOutModule::RunOutModule( debug_ptr_(debug_ptr), state_machine_(std::make_unique(planner_param.state_param)) { + velocity_factor_.init(VelocityFactor::UNKNOWN); + if (planner_param.run_out.use_partition_lanelet) { const lanelet::LaneletMapConstPtr & ll = planner_data->route_handler_->getLaneletMapPtr(); planning_utils::getAllPartitionLanelets(ll, partition_lanelets_); diff --git a/planning/behavior_velocity_planner/src/scene_module/run_out/utils.cpp b/planning/behavior_velocity_planner/src/scene_module/run_out/utils.cpp index 0f6921691025f..9c00a98394154 100644 --- a/planning/behavior_velocity_planner/src/scene_module/run_out/utils.cpp +++ b/planning/behavior_velocity_planner/src/scene_module/run_out/utils.cpp @@ -399,7 +399,8 @@ PathWithLaneId trimPathFromSelfPose( PathWithLaneId output{}; output.header = input.header; - output.drivable_area = input.drivable_area; + output.left_bound = input.left_bound; + output.right_bound = input.right_bound; double dist_sum = 0; for (size_t i = nearest_idx; i < input.points.size(); ++i) { output.points.push_back(input.points.at(i)); diff --git a/planning/behavior_velocity_planner/src/scene_module/stop_line/scene.cpp b/planning/behavior_velocity_planner/src/scene_module/stop_line/scene.cpp index 10c42ccd894a4..0210c716ac514 100644 --- a/planning/behavior_velocity_planner/src/scene_module/stop_line/scene.cpp +++ b/planning/behavior_velocity_planner/src/scene_module/stop_line/scene.cpp @@ -33,6 +33,7 @@ StopLineModule::StopLineModule( stop_line_(stop_line), state_(State::APPROACH) { + velocity_factor_.init(VelocityFactor::STOP_SIGN); planner_param_ = planner_param; } @@ -89,6 +90,8 @@ bool StopLineModule::modifyPathVelocity(PathWithLaneId * path, StopReason * stop stop_factor.stop_pose = stop_pose; stop_factor.stop_factor_points.push_back(getCenterOfStopLine(stop_line_)); planning_utils::appendStopReason(stop_factor, stop_reason); + velocity_factor_.set( + path->points, planner_data_->current_pose.pose, stop_pose, VelocityFactor::APPROACHING); } // Move to stopped state if stopped @@ -133,6 +136,8 @@ bool StopLineModule::modifyPathVelocity(PathWithLaneId * path, StopReason * stop stop_factor.stop_pose = ego_pos_on_path.pose; stop_factor.stop_factor_points.push_back(getCenterOfStopLine(stop_line_)); planning_utils::appendStopReason(stop_factor, stop_reason); + velocity_factor_.set( + path->points, planner_data_->current_pose.pose, stop_pose, VelocityFactor::STOPPED); } const auto elapsed_time = (clock_->now() - *stopped_time_).seconds(); diff --git a/planning/behavior_velocity_planner/src/scene_module/traffic_light/manager.cpp b/planning/behavior_velocity_planner/src/scene_module/traffic_light/manager.cpp index 7ac0d3797e545..523750c833889 100644 --- a/planning/behavior_velocity_planner/src/scene_module/traffic_light/manager.cpp +++ b/planning/behavior_velocity_planner/src/scene_module/traffic_light/manager.cpp @@ -50,6 +50,10 @@ void TrafficLightModuleManager::modifyPathVelocity( tl_state.header.stamp = path->header.stamp; tl_state.is_module_running = false; + autoware_adapi_v1_msgs::msg::VelocityFactorArray velocity_factor_array; + velocity_factor_array.header.frame_id = "map"; + velocity_factor_array.header.stamp = clock_->now(); + tier4_planning_msgs::msg::StopReasonArray stop_reason_array; stop_reason_array.header.frame_id = "map"; stop_reason_array.header.stamp = path->header.stamp; @@ -60,9 +64,15 @@ void TrafficLightModuleManager::modifyPathVelocity( tier4_planning_msgs::msg::StopReason stop_reason; std::shared_ptr traffic_light_scene_module( std::dynamic_pointer_cast(scene_module)); + traffic_light_scene_module->resetVelocityFactor(); traffic_light_scene_module->setPlannerData(planner_data_); traffic_light_scene_module->modifyPathVelocity(path, &stop_reason); + // The velocity factor must be called after modifyPathVelocity. + const auto velocity_factor = traffic_light_scene_module->getVelocityFactor(); + if (velocity_factor.type != VelocityFactor::UNKNOWN) { + velocity_factor_array.factors.emplace_back(velocity_factor); + } if (stop_reason.reason != "") { stop_reason_array.stop_reasons.emplace_back(stop_reason); } @@ -91,6 +101,7 @@ void TrafficLightModuleManager::modifyPathVelocity( if (!stop_reason_array.stop_reasons.empty()) { pub_stop_reason_->publish(stop_reason_array); } + pub_velocity_factor_->publish(velocity_factor_array); pub_debug_->publish(debug_marker_array); pub_virtual_wall_->publish(virtual_wall_marker_array); pub_tl_state_->publish(tl_state); diff --git a/planning/behavior_velocity_planner/src/scene_module/traffic_light/scene.cpp b/planning/behavior_velocity_planner/src/scene_module/traffic_light/scene.cpp index 8620ed5fe7d34..4f09f89a458d3 100644 --- a/planning/behavior_velocity_planner/src/scene_module/traffic_light/scene.cpp +++ b/planning/behavior_velocity_planner/src/scene_module/traffic_light/scene.cpp @@ -199,6 +199,7 @@ TrafficLightModule::TrafficLightModule( input_(Input::PERCEPTION), is_prev_state_stop_(false) { + velocity_factor_.init(VelocityFactor::TRAFFIC_SIGNAL); planner_param_ = planner_param; } @@ -487,6 +488,9 @@ autoware_auto_planning_msgs::msg::PathWithLaneId TrafficLightModule::insertStopP stop_factor.stop_factor_points = std::vector{ debug_data_.highest_confidence_traffic_light_point.value()}; } + velocity_factor_.set( + modified_path.points, planner_data_->current_pose.pose, target_point_with_lane_id.point.pose, + VelocityFactor::UNKNOWN); planning_utils::appendStopReason(stop_factor, stop_reason); return modified_path; diff --git a/planning/behavior_velocity_planner/src/scene_module/virtual_traffic_light/scene.cpp b/planning/behavior_velocity_planner/src/scene_module/virtual_traffic_light/scene.cpp index d365de58adcea..263daa9c169bc 100644 --- a/planning/behavior_velocity_planner/src/scene_module/virtual_traffic_light/scene.cpp +++ b/planning/behavior_velocity_planner/src/scene_module/virtual_traffic_light/scene.cpp @@ -194,6 +194,8 @@ VirtualTrafficLightModule::VirtualTrafficLightModule( lane_(lane), planner_param_(planner_param) { + velocity_factor_.init(VelocityFactor::V2I_GATE_CONTROL_ENTER); + // Get map data const auto instrument = reg_elem_.getVirtualTrafficLight(); const auto instrument_bottom_line = toAutowarePoints(instrument); @@ -249,6 +251,7 @@ bool VirtualTrafficLightModule::modifyPathVelocity(PathWithLaneId * path, StopRe // Initialize setInfrastructureCommand({}); *stop_reason = planning_utils::initializeStopReason(StopReason::VIRTUAL_TRAFFIC_LIGHT); + module_data_ = {}; // Copy data @@ -575,6 +578,9 @@ void VirtualTrafficLightModule::insertStopVelocityAtStopLine( // Set StopReason setStopReason(stop_pose, stop_reason); + velocity_factor_.set( + path->points, planner_data_->current_pose.pose, stop_pose, VelocityFactor::UNKNOWN, + command_.type); // Set data for visualization module_data_.stop_head_pose_at_stop_line = @@ -607,6 +613,8 @@ void VirtualTrafficLightModule::insertStopVelocityAtEndLine( // Set StopReason setStopReason(stop_pose, stop_reason); + velocity_factor_.set( + path->points, planner_data_->current_pose.pose, stop_pose, VelocityFactor::UNKNOWN); // Set data for visualization module_data_.stop_head_pose_at_end_line = diff --git a/planning/freespace_planning_algorithms/src/rrtstar.cpp b/planning/freespace_planning_algorithms/src/rrtstar.cpp index b954760406bdc..d710b74111b1a 100644 --- a/planning/freespace_planning_algorithms/src/rrtstar.cpp +++ b/planning/freespace_planning_algorithms/src/rrtstar.cpp @@ -150,14 +150,18 @@ void RRTStar::setRRTPath(const std::vector & waypoints) pose.pose = local2global(costmap_, pose_local); pose.header = header; PlannerWaypoint pw; - if (i == waypoints.size() - 1) { - pw.is_back = waypoints_.waypoints.at(i - 1).is_back; - } else { + if (0 == i) { const auto & pt_now = waypoints.at(i); const auto & pt_next = waypoints.at(i + 1); const double inpro = cos(pt_now.yaw) * (pt_next.x - pt_now.x) + sin(pt_now.yaw) * (pt_next.y - pt_now.y); pw.is_back = (inpro < 0.0); + } else { + const auto & pt_pre = waypoints.at(i - 1); + const auto & pt_now = waypoints.at(i); + const double inpro = + cos(pt_pre.yaw) * (pt_now.x - pt_pre.x) + sin(pt_pre.yaw) * (pt_now.y - pt_pre.y); + pw.is_back = !(inpro > 0.0); } pw.pose = pose; waypoints_.waypoints.push_back(pw); diff --git a/planning/freespace_planning_algorithms/test/src/test_freespace_planning_algorithms.cpp b/planning/freespace_planning_algorithms/test/src/test_freespace_planning_algorithms.cpp index 199202dd94318..5000b73843a75 100644 --- a/planning/freespace_planning_algorithms/test/src/test_freespace_planning_algorithms.cpp +++ b/planning/freespace_planning_algorithms/test/src/test_freespace_planning_algorithms.cpp @@ -40,12 +40,16 @@ const double width_lexas = 2.75; const fpa::VehicleShape vehicle_shape = fpa::VehicleShape{length_lexas, width_lexas, 1.5}; const double pi = 3.1415926; const std::array start_pose{5.5, 4., pi * 0.5}; -const std::array goal_pose1{8.0, 26.3, pi * 1.5}; // easiest -const std::array goal_pose2{15.0, 11.6, pi * 0.5}; // second easiest -const std::array goal_pose3{18.4, 26.3, pi * 1.5}; // third easiest -const std::array goal_pose4{25.0, 26.3, pi * 1.5}; // most difficult -const std::array, 4> goal_poses{ - goal_pose1, goal_pose2, goal_pose3, goal_pose4}; +const std::array goal_pose1{8.0, 26.3, pi * 1.5}; // easiest +const std::array, 1> goal_poses{goal_pose1}; + +// the tests for following goals randomly fail. needs to be fixed. +// https://github.com/autowarefoundation/autoware.universe/issues/2439 +// const std::array goal_pose2{15.0, 11.6, pi * 0.5}; // second easiest +// const std::array goal_pose3{18.4, 26.3, pi * 1.5}; // third easiest +// const std::array goal_pose4{25.0, 26.3, pi * 1.5}; // most difficult +// const std::array, 4> goal_poses{ +// goal_pose1, goal_pose2, goal_pose3, goal_pose4}; geometry_msgs::msg::Pose create_pose_msg(std::array pose3d) { @@ -350,10 +354,11 @@ bool test_algorithm(enum AlgorithmType algo_type) return success_all; } -TEST(AstarSearchTestSuite, SingleCurvature) -{ - EXPECT_TRUE(test_algorithm(AlgorithmType::ASTAR_SINGLE)); -} +// the following test fails https://github.com/autowarefoundation/autoware.universe/issues/2439 +// TEST(AstarSearchTestSuite, SingleCurvature) +// { +// EXPECT_TRUE(test_algorithm(AlgorithmType::ASTAR_SINGLE)); +// } TEST(AstarSearchTestSuite, MultiCurvature) { diff --git a/planning/obstacle_avoidance_planner/CMakeLists.txt b/planning/obstacle_avoidance_planner/CMakeLists.txt index a215e158fab04..b1b29a1a5f389 100644 --- a/planning/obstacle_avoidance_planner/CMakeLists.txt +++ b/planning/obstacle_avoidance_planner/CMakeLists.txt @@ -10,12 +10,10 @@ find_package(OpenCV REQUIRED) ament_auto_add_library(obstacle_avoidance_planner SHARED src/vehicle_model/vehicle_model_interface.cpp src/vehicle_model/vehicle_model_bicycle_kinematics.cpp - src/costmap_generator.cpp src/eb_path_optimizer.cpp src/mpt_optimizer.cpp src/utils/utils.cpp src/utils/debug_utils.cpp - src/utils/cv_utils.cpp src/node.cpp ) diff --git a/planning/obstacle_avoidance_planner/include/obstacle_avoidance_planner/common_structs.hpp b/planning/obstacle_avoidance_planner/include/obstacle_avoidance_planner/common_structs.hpp index 4fb800e4a8ead..2e1ce6502441b 100644 --- a/planning/obstacle_avoidance_planner/include/obstacle_avoidance_planner/common_structs.hpp +++ b/planning/obstacle_avoidance_planner/include/obstacle_avoidance_planner/common_structs.hpp @@ -36,16 +36,6 @@ using VehicleBounds = std::vector; using SequentialBounds = std::vector; using BoundsCandidates = std::vector; -using SequentialBoundsCandidates = std::vector; - -struct CVMaps -{ - cv::Mat drivable_area; - cv::Mat clearance_map; - cv::Mat only_objects_clearance_map; - cv::Mat area_with_objects_map; - nav_msgs::msg::MapMetaData map_info; -}; struct QPParam { @@ -171,7 +161,7 @@ struct DebugData std::vector extended_fixed_traj; std::vector extended_non_fixed_traj; - SequentialBoundsCandidates sequential_bounds_candidates; + BoundsCandidates bounds_candidates; }; struct Trajectories diff --git a/planning/obstacle_avoidance_planner/include/obstacle_avoidance_planner/costmap_generator.hpp b/planning/obstacle_avoidance_planner/include/obstacle_avoidance_planner/costmap_generator.hpp deleted file mode 100644 index cdff21bd71132..0000000000000 --- a/planning/obstacle_avoidance_planner/include/obstacle_avoidance_planner/costmap_generator.hpp +++ /dev/null @@ -1,63 +0,0 @@ -// Copyright 2021 Tier IV, Inc. -// -// 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 OBSTACLE_AVOIDANCE_PLANNER__COSTMAP_GENERATOR_HPP_ -#define OBSTACLE_AVOIDANCE_PLANNER__COSTMAP_GENERATOR_HPP_ - -#include "obstacle_avoidance_planner/common_structs.hpp" -#include "tier4_autoware_utils/system/stop_watch.hpp" - -#include "autoware_auto_perception_msgs/msg/predicted_object.hpp" -#include "autoware_auto_planning_msgs/msg/path.hpp" -#include "autoware_auto_planning_msgs/msg/path_point.hpp" -#include "nav_msgs/msg/occupancy_grid.hpp" - -#include "boost/optional.hpp" - -#include -#include -#include -#include - -class CostmapGenerator -{ -public: - CVMaps getMaps( - const bool enable_avoidance, const autoware_auto_planning_msgs::msg::Path & path, - const std::vector & objects, - const TrajectoryParam & traj_param, DebugData & debug_data); - -private: - mutable tier4_autoware_utils::StopWatch< - std::chrono::milliseconds, std::chrono::microseconds, std::chrono::steady_clock> - stop_watch_; - - cv::Mat getAreaWithObjects( - const cv::Mat & drivable_area, const cv::Mat & objects_image, DebugData & debug_data) const; - - cv::Mat getClearanceMap(const cv::Mat & drivable_area, DebugData & debug_data) const; - - cv::Mat drawObstaclesOnImage( - const bool enable_avoidance, - const std::vector & objects, - const std::vector & path_points, - const nav_msgs::msg::MapMetaData & map_info, [[maybe_unused]] const cv::Mat & drivable_area, - const cv::Mat & clearance_map, const TrajectoryParam & traj_param, - std::vector * debug_avoiding_objects, - DebugData & debug_data) const; - - cv::Mat getDrivableAreaInCV( - const nav_msgs::msg::OccupancyGrid & occupancy_grid, DebugData & debug_data) const; -}; -#endif // OBSTACLE_AVOIDANCE_PLANNER__COSTMAP_GENERATOR_HPP_ diff --git a/planning/obstacle_avoidance_planner/include/obstacle_avoidance_planner/mpt_optimizer.hpp b/planning/obstacle_avoidance_planner/include/obstacle_avoidance_planner/mpt_optimizer.hpp index 81453424d3a0b..d48f1f384ae52 100644 --- a/planning/obstacle_avoidance_planner/include/obstacle_avoidance_planner/mpt_optimizer.hpp +++ b/planning/obstacle_avoidance_planner/include/obstacle_avoidance_planner/mpt_optimizer.hpp @@ -201,8 +201,9 @@ class MPTOptimizer std::vector getReferencePoints( const std::vector & points, - const std::unique_ptr & prev_mpt_points, const bool enable_avoidance, - const CVMaps & maps, DebugData & debug_data) const; + const std::vector & left_bound, + const std::vector & right_bound, + const std::unique_ptr & prev_mpt_points, DebugData & debug_data) const; void calcPlanningFromEgo(std::vector & ref_points) const; @@ -218,12 +219,11 @@ class MPTOptimizer const std::unique_ptr & prev_trajs) const; void calcBounds( - std::vector & ref_points, const bool enable_avoidance, const CVMaps & maps, - const std::unique_ptr & prev_trajs, DebugData & debug_data) const; + std::vector & ref_points, + const std::vector & left_bound, + const std::vector & right_bound, DebugData & debug_data) const; - void calcVehicleBounds( - std::vector & ref_points, const CVMaps & maps, DebugData & debug_data, - const bool enable_avoidance) const; + void calcVehicleBounds(std::vector & ref_points, DebugData & debug_data) const; // void calcFixState( // std::vector & ref_points, @@ -269,19 +269,6 @@ class MPTOptimizer std::vector getMPTFixedPoints( const std::vector & ref_points) const; - BoundsCandidates getBoundsCandidates( - const bool enable_avoidance, const geometry_msgs::msg::Pose & avoiding_point, - const CVMaps & maps, DebugData & debug_data) const; - - CollisionType getCollisionType( - const CVMaps & maps, const bool enable_avoidance, - const geometry_msgs::msg::Pose & avoiding_point, const double traversed_dist, - const double bound_angle) const; - - boost::optional getClearance( - const cv::Mat & clearance_map, const geometry_msgs::msg::Point & map_point, - const nav_msgs::msg::MapMetaData & map_info) const; - ObjectiveMatrix getObjectiveMatrix( const MPTMatrix & mpt_mat, const ValueMatrix & obj_mat, [[maybe_unused]] const std::vector & ref_points, DebugData & debug_data) const; @@ -299,7 +286,9 @@ class MPTOptimizer const bool enable_avoidance, const std::vector & smoothed_points, const std::vector & path_points, - const std::unique_ptr & prev_trajs, const CVMaps & maps, + const std::vector & left_bound, + const std::vector & right_bound, + const std::unique_ptr & prev_trajs, const geometry_msgs::msg::Pose & current_ego_pose, const double current_ego_vel, DebugData & debug_data); }; diff --git a/planning/obstacle_avoidance_planner/include/obstacle_avoidance_planner/node.hpp b/planning/obstacle_avoidance_planner/include/obstacle_avoidance_planner/node.hpp index 4e57bac6a0848..6b9683fb24400 100644 --- a/planning/obstacle_avoidance_planner/include/obstacle_avoidance_planner/node.hpp +++ b/planning/obstacle_avoidance_planner/include/obstacle_avoidance_planner/node.hpp @@ -16,7 +16,6 @@ #include "motion_utils/trajectory/trajectory.hpp" #include "obstacle_avoidance_planner/common_structs.hpp" -#include "obstacle_avoidance_planner/costmap_generator.hpp" #include "obstacle_avoidance_planner/eb_path_optimizer.hpp" #include "obstacle_avoidance_planner/mpt_optimizer.hpp" #include "opencv2/core.hpp" @@ -191,7 +190,6 @@ class ObstacleAvoidancePlanner : public rclcpp::Node double max_delta_time_sec_for_replan_; // core algorithm - std::unique_ptr costmap_generator_ptr_; std::unique_ptr eb_path_optimizer_ptr_; std::unique_ptr mpt_optimizer_ptr_; @@ -266,7 +264,7 @@ class ObstacleAvoidancePlanner : public rclcpp::Node Trajectory generateTrajectory(const PlannerData & planner_data); - Trajectories optimizeTrajectory(const PlannerData & planner_data, const CVMaps & cv_maps); + Trajectories optimizeTrajectory(const PlannerData & planner_data); Trajectories getPrevTrajs(const std::vector & path_points) const; @@ -274,8 +272,7 @@ class ObstacleAvoidancePlanner : public rclcpp::Node const std::vector & path_points, std::vector & traj_points) const; void insertZeroVelocityOutsideDrivableArea( - const PlannerData & planner_data, std::vector & traj_points, - const CVMaps & cv_maps); + const PlannerData & planner_data, std::vector & traj_points); void publishDebugDataInOptimization( const PlannerData & planner_data, const std::vector & traj_points); diff --git a/planning/obstacle_avoidance_planner/include/obstacle_avoidance_planner/utils/cv_utils.hpp b/planning/obstacle_avoidance_planner/include/obstacle_avoidance_planner/utils/cv_utils.hpp deleted file mode 100644 index da5edace43536..0000000000000 --- a/planning/obstacle_avoidance_planner/include/obstacle_avoidance_planner/utils/cv_utils.hpp +++ /dev/null @@ -1,121 +0,0 @@ -// Copyright 2020 Tier IV, Inc. -// -// 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 OBSTACLE_AVOIDANCE_PLANNER__UTILS__CV_UTILS_HPP_ -#define OBSTACLE_AVOIDANCE_PLANNER__UTILS__CV_UTILS_HPP_ - -#include "obstacle_avoidance_planner/common_structs.hpp" -#include "obstacle_avoidance_planner/eb_path_optimizer.hpp" -#include "opencv2/core.hpp" -#include "opencv2/imgproc/imgproc_c.h" -#include "opencv2/opencv.hpp" - -#include "autoware_auto_perception_msgs/msg/predicted_object.hpp" -#include "autoware_auto_planning_msgs/msg/path.hpp" -#include "geometry_msgs/msg/point32.hpp" - -#include "boost/optional/optional_fwd.hpp" - -#include -#include - -namespace util -{ -struct Footprint; -} - -struct Edges -{ - int front_idx; - int back_idx; - geometry_msgs::msg::Point extended_front; - geometry_msgs::msg::Point extended_back; - geometry_msgs::msg::Point origin; -}; - -struct PolygonPoints -{ - std::vector points_in_image; - std::vector points_in_map; -}; - -namespace cv_utils -{ -void getOccupancyGridValue( - const nav_msgs::msg::OccupancyGrid & og, const int i, const int j, unsigned char & value); - -void putOccupancyGridValue( - nav_msgs::msg::OccupancyGrid & og, const int i, const int j, const unsigned char value); -} // namespace cv_utils - -namespace cv_polygon_utils -{ -PolygonPoints getPolygonPoints( - const std::vector & points, - const nav_msgs::msg::MapMetaData & map_info); - -PolygonPoints getPolygonPoints( - const autoware_auto_perception_msgs::msg::PredictedObject & object, - const nav_msgs::msg::MapMetaData & map_info); - -PolygonPoints getPolygonPointsFromBB( - const autoware_auto_perception_msgs::msg::PredictedObject & object, - const nav_msgs::msg::MapMetaData & map_info); - -PolygonPoints getPolygonPointsFromCircle( - const autoware_auto_perception_msgs::msg::PredictedObject & object, - const nav_msgs::msg::MapMetaData & map_info); - -PolygonPoints getPolygonPointsFromPolygon( - const autoware_auto_perception_msgs::msg::PredictedObject & object, - const nav_msgs::msg::MapMetaData & map_info); - -std::vector getCVPolygon( - const autoware_auto_perception_msgs::msg::PredictedObject & object, - const PolygonPoints & polygon_points, - const std::vector & path_points, - const cv::Mat & clearance_map, const nav_msgs::msg::MapMetaData & map_info); - -std::vector getDefaultCVPolygon( - const std::vector & points_in_image); - -std::vector getExtendedCVPolygon( - const std::vector & points_in_image, - const std::vector & points_in_map, - const geometry_msgs::msg::Pose & nearest_path_point_pose, - const autoware_auto_perception_msgs::msg::PredictedObject & object, const cv::Mat & clearance_map, - const nav_msgs::msg::MapMetaData & map_info); - -boost::optional getEdges( - const std::vector & points_in_image, - const std::vector & points_in_map, - const geometry_msgs::msg::Pose & nearest_path_point_pose, - const autoware_auto_perception_msgs::msg::PredictedObject & object, const cv::Mat & clearance_map, - const nav_msgs::msg::MapMetaData & map_info); -} // namespace cv_polygon_utils - -namespace cv_drivable_area_utils -{ -bool isOutsideDrivableAreaFromRectangleFootprint( - const autoware_auto_planning_msgs::msg::TrajectoryPoint & traj_point, - const cv::Mat & road_clearance_map, const nav_msgs::msg::MapMetaData & map_info, - const VehicleParam & vehicle_param); - -bool isOutsideDrivableAreaFromCirclesFootprint( - const autoware_auto_planning_msgs::msg::TrajectoryPoint & traj_point, - const cv::Mat & road_clearance_map, const nav_msgs::msg::MapMetaData & map_info, - const std::vector vehicle_circle_longitudinal_offsets, - const double vehicle_circle_radius); -} // namespace cv_drivable_area_utils - -#endif // OBSTACLE_AVOIDANCE_PLANNER__UTILS__CV_UTILS_HPP_ diff --git a/planning/obstacle_avoidance_planner/include/obstacle_avoidance_planner/utils/debug_utils.hpp b/planning/obstacle_avoidance_planner/include/obstacle_avoidance_planner/utils/debug_utils.hpp index 083b5dd00efec..506587f63f5e6 100644 --- a/planning/obstacle_avoidance_planner/include/obstacle_avoidance_planner/utils/debug_utils.hpp +++ b/planning/obstacle_avoidance_planner/include/obstacle_avoidance_planner/utils/debug_utils.hpp @@ -42,9 +42,6 @@ visualization_msgs::msg::MarkerArray getDebugVisualizationMarker( visualization_msgs::msg::MarkerArray getDebugVisualizationWallMarker( DebugData & debug_data, const VehicleParam & vehicle_param); - -nav_msgs::msg::OccupancyGrid getDebugCostmap( - const cv::Mat & clearance_map, const nav_msgs::msg::OccupancyGrid & occupancy_grid); } // namespace debug_utils #endif // OBSTACLE_AVOIDANCE_PLANNER__UTILS__DEBUG_UTILS_HPP_ diff --git a/planning/obstacle_avoidance_planner/include/obstacle_avoidance_planner/utils/utils.hpp b/planning/obstacle_avoidance_planner/include/obstacle_avoidance_planner/utils/utils.hpp index 03129dd1e4bd7..1f1b3dbdf9249 100644 --- a/planning/obstacle_avoidance_planner/include/obstacle_avoidance_planner/utils/utils.hpp +++ b/planning/obstacle_avoidance_planner/include/obstacle_avoidance_planner/utils/utils.hpp @@ -354,4 +354,12 @@ namespace utils void logOSQPSolutionStatus(const int solution_status, const std::string & msg); } // namespace utils +namespace drivable_area_utils +{ +bool isOutsideDrivableAreaFromRectangleFootprint( + const autoware_auto_planning_msgs::msg::TrajectoryPoint & traj_point, + const std::vector left_bound, + const std::vector right_bound, const VehicleParam & vehicle_param); +} + #endif // OBSTACLE_AVOIDANCE_PLANNER__UTILS__UTILS_HPP_ diff --git a/planning/obstacle_avoidance_planner/src/costmap_generator.cpp b/planning/obstacle_avoidance_planner/src/costmap_generator.cpp deleted file mode 100644 index 0936ccc9854c3..0000000000000 --- a/planning/obstacle_avoidance_planner/src/costmap_generator.cpp +++ /dev/null @@ -1,337 +0,0 @@ -// Copyright 2021 Tier IV, Inc. -// -// 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 "obstacle_avoidance_planner/costmap_generator.hpp" - -#include "obstacle_avoidance_planner/utils/cv_utils.hpp" -#include "obstacle_avoidance_planner/utils/utils.hpp" -#include "tier4_autoware_utils/tier4_autoware_utils.hpp" - -namespace -{ -cv::Point toCVPoint(const geometry_msgs::msg::Point & p) -{ - cv::Point cv_point; - cv_point.x = p.x; - cv_point.y = p.y; - return cv_point; -} - -bool isAvoidingObjectType( - const autoware_auto_perception_msgs::msg::PredictedObject & object, - const TrajectoryParam & traj_param) -{ - if ( - (object.classification.at(0).label == object.classification.at(0).UNKNOWN && - traj_param.is_avoiding_unknown) || - (object.classification.at(0).label == object.classification.at(0).CAR && - traj_param.is_avoiding_car) || - (object.classification.at(0).label == object.classification.at(0).TRUCK && - traj_param.is_avoiding_truck) || - (object.classification.at(0).label == object.classification.at(0).BUS && - traj_param.is_avoiding_bus) || - (object.classification.at(0).label == object.classification.at(0).BICYCLE && - traj_param.is_avoiding_bicycle) || - (object.classification.at(0).label == object.classification.at(0).MOTORCYCLE && - traj_param.is_avoiding_motorbike) || - (object.classification.at(0).label == object.classification.at(0).PEDESTRIAN && - traj_param.is_avoiding_pedestrian)) { - return true; - } - return false; -} - -bool arePointsInsideDriveableArea( - const std::vector & image_points, const cv::Mat & clearance_map) -{ - bool points_inside_area = false; - for (const auto & image_point : image_points) { - const float clearance = - clearance_map.ptr(static_cast(image_point.y))[static_cast(image_point.x)]; - if (clearance > 0) { - points_inside_area = true; - } - } - return points_inside_area; -} - -bool isAvoidingObject( - const PolygonPoints & polygon_points, - const autoware_auto_perception_msgs::msg::PredictedObject & object, const cv::Mat & clearance_map, - const nav_msgs::msg::MapMetaData & map_info, - const std::vector & path_points, - const TrajectoryParam & traj_param) -{ - if (path_points.empty()) { - return false; - } - if (!isAvoidingObjectType(object, traj_param)) { - return false; - } - const auto image_point = geometry_utils::transformMapToOptionalImage( - object.kinematics.initial_pose_with_covariance.pose.position, map_info); - if (!image_point) { - return false; - } - - // TODO(murooka) remove findNearestIndex without any constraints - const int nearest_idx = motion_utils::findNearestIndex( - path_points, object.kinematics.initial_pose_with_covariance.pose.position); - const auto nearest_path_point = path_points[nearest_idx]; - const auto rel_p = geometry_utils::transformToRelativeCoordinate2D( - object.kinematics.initial_pose_with_covariance.pose.position, nearest_path_point.pose); - // skip object located back the beginning of path points - if (nearest_idx == 0 && rel_p.x < 0) { - return false; - } - - /* - const float object_clearance_from_road = - clearance_map.ptr( - static_cast(image_point.get().y))[static_cast(image_point.get().x)] * - map_info.resolution; - */ - const geometry_msgs::msg::Vector3 twist = - object.kinematics.initial_twist_with_covariance.twist.linear; - const double vel = std::sqrt(twist.x * twist.x + twist.y * twist.y + twist.z * twist.z); - /* - const auto nearest_path_point_image = - geometry_utils::transformMapToOptionalImage(nearest_path_point.pose.position, map_info); - if (!nearest_path_point_image) { - return false; - } - const float nearest_path_point_clearance = - clearance_map.ptr(static_cast( - nearest_path_point_image.get().y))[static_cast(nearest_path_point_image.get().x)] * - map_info.resolution; - */ - const double lateral_offset_to_path = motion_utils::calcLateralOffset( - path_points, object.kinematics.initial_pose_with_covariance.pose.position); - if ( - // nearest_path_point_clearance - traj_param.center_line_width * 0.5 < - // object_clearance_from_road || - std::abs(lateral_offset_to_path) < traj_param.center_line_width * 0.5 || - vel > traj_param.max_avoiding_objects_velocity_ms || - !arePointsInsideDriveableArea(polygon_points.points_in_image, clearance_map)) { - return false; - } - return true; -} -} // namespace - -namespace tier4_autoware_utils -{ -template <> -geometry_msgs::msg::Point getPoint(const cv::Point & p) -{ - geometry_msgs::msg::Point geom_p; - geom_p.x = p.x; - geom_p.y = p.y; - - return geom_p; -} -} // namespace tier4_autoware_utils - -CVMaps CostmapGenerator::getMaps( - const bool enable_avoidance, const autoware_auto_planning_msgs::msg::Path & path, - const std::vector & objects, - const TrajectoryParam & traj_param, DebugData & debug_data) -{ - stop_watch_.tic(__func__); - - // make cv_maps - CVMaps cv_maps; - - cv_maps.drivable_area = getDrivableAreaInCV(path.drivable_area, debug_data); - cv_maps.clearance_map = getClearanceMap(cv_maps.drivable_area, debug_data); - - std::vector debug_avoiding_objects; - cv::Mat objects_image = drawObstaclesOnImage( - enable_avoidance, objects, path.points, path.drivable_area.info, cv_maps.drivable_area, - cv_maps.clearance_map, traj_param, &debug_avoiding_objects, debug_data); - - cv_maps.area_with_objects_map = - getAreaWithObjects(cv_maps.drivable_area, objects_image, debug_data); - cv_maps.only_objects_clearance_map = getClearanceMap(objects_image, debug_data); - cv_maps.map_info = path.drivable_area.info; - - // debug data - debug_data.clearance_map = cv_maps.clearance_map; - debug_data.only_object_clearance_map = cv_maps.only_objects_clearance_map; - debug_data.area_with_objects_map = cv_maps.area_with_objects_map; - debug_data.avoiding_objects = debug_avoiding_objects; - debug_data.msg_stream << " " << __func__ << ":= " << stop_watch_.toc(__func__) << " [ms]\n"; - return cv_maps; -} - -cv::Mat CostmapGenerator::getDrivableAreaInCV( - const nav_msgs::msg::OccupancyGrid & occupancy_grid, DebugData & debug_data) const -{ - stop_watch_.tic(__func__); - - cv::Mat drivable_area = cv::Mat(occupancy_grid.info.width, occupancy_grid.info.height, CV_8UC1); - - drivable_area.forEach([&](unsigned char & value, const int * position) -> void { - cv_utils::getOccupancyGridValue(occupancy_grid, position[0], position[1], value); - }); - - debug_data.msg_stream << " " << __func__ << ":= " << stop_watch_.toc(__func__) << " [ms]\n"; - return drivable_area; -} - -cv::Mat CostmapGenerator::getClearanceMap( - const cv::Mat & drivable_area, DebugData & debug_data) const -{ - stop_watch_.tic(__func__); - - cv::Mat clearance_map; - cv::distanceTransform(drivable_area, clearance_map, cv::DIST_L2, 5); - - debug_data.msg_stream << " " << __func__ << ":= " << stop_watch_.toc(__func__) << " [ms]\n"; - return clearance_map; -} - -cv::Mat CostmapGenerator::drawObstaclesOnImage( - const bool enable_avoidance, - const std::vector & objects, - const std::vector & path_points, - const nav_msgs::msg::MapMetaData & map_info, [[maybe_unused]] const cv::Mat & drivable_area, - const cv::Mat & clearance_map, const TrajectoryParam & traj_param, - std::vector * debug_avoiding_objects, - DebugData & debug_data) const -{ - stop_watch_.tic(__func__); - - std::vector path_points_inside_area; - for (const auto & point : path_points) { - std::vector points; - geometry_msgs::msg::Point image_point; - if (!geometry_utils::transformMapToImage(point.pose.position, map_info, image_point)) { - continue; - } - const float clearance = - clearance_map.ptr(static_cast(image_point.y))[static_cast(image_point.x)]; - if (clearance < 1e-5) { - continue; - } - path_points_inside_area.push_back(point); - } - - // NOTE: objects image is too sparse so that creating cost map is heavy. - // Then, objects image is created by filling dilated drivable area, - // instead of "cv::Mat objects_image = cv::Mat::ones(clearance_map.rows, clearance_map.cols, - // CV_8UC1) * 255;". - constexpr double dilate_margin = 1.0; - cv::Mat objects_image; - const int dilate_size = static_cast( - (1.8 + dilate_margin) / - (std::sqrt(2) * map_info.resolution)); // TODO(murooka) use clearance_from_object - cv::dilate(drivable_area, objects_image, cv::Mat(), cv::Point(-1, -1), dilate_size); - - if (!enable_avoidance) { - return objects_image; - } - - // fill object - std::vector> cv_polygons; - std::vector> obj_cog_info; - std::vector obj_positions; - for (const auto & object : objects) { - const PolygonPoints polygon_points = cv_polygon_utils::getPolygonPoints(object, map_info); - if (isAvoidingObject( - polygon_points, object, clearance_map, map_info, path_points_inside_area, traj_param)) { - const double lon_dist_to_path = motion_utils::calcSignedArcLength( - path_points, 0, object.kinematics.initial_pose_with_covariance.pose.position); - const double lat_dist_to_path = motion_utils::calcLateralOffset( - path_points, object.kinematics.initial_pose_with_covariance.pose.position); - obj_cog_info.push_back({lon_dist_to_path, lat_dist_to_path}); - obj_positions.push_back(object.kinematics.initial_pose_with_covariance.pose.position); - - cv_polygons.push_back(cv_polygon_utils::getCVPolygon( - object, polygon_points, path_points_inside_area, clearance_map, map_info)); - debug_avoiding_objects->push_back(object); - } - } - for (const auto & polygon : cv_polygons) { - cv::fillConvexPoly(objects_image, polygon, cv::Scalar(0)); - } - - // fill between objects in the same side - const auto get_closest_obj_point = [&](size_t idx) { - // TODO(murooka) remove findNearestIndex without any constraints - const auto & path_point = - path_points.at(motion_utils::findNearestIndex(path_points, obj_positions.at(idx))); - double min_dist = std::numeric_limits::min(); - size_t min_idx = 0; - for (size_t p_idx = 0; p_idx < cv_polygons.at(idx).size(); ++p_idx) { - const double dist = - tier4_autoware_utils::calcDistance2d(cv_polygons.at(idx).at(p_idx), path_point); - if (dist < min_dist) { - min_dist = dist; - min_idx = p_idx; - } - } - - geometry_msgs::msg::Point geom_point; - geom_point.x = cv_polygons.at(idx).at(min_idx).x; - geom_point.y = cv_polygons.at(idx).at(min_idx).y; - return geom_point; - }; - - std::vector> cv_between_polygons; - for (size_t i = 0; i < obj_positions.size(); ++i) { - for (size_t j = i + 1; j < obj_positions.size(); ++j) { - const auto & obj_info1 = obj_cog_info.at(i); - const auto & obj_info2 = obj_cog_info.at(j); - - // RCLCPP_ERROR_STREAM(rclcpp::get_logger("lat"), obj_info1.at(1) << " " << obj_info2.at(1)); - // RCLCPP_ERROR_STREAM(rclcpp::get_logger("lon"), obj_info1.at(0) << " " << obj_info2.at(0)); - - constexpr double max_lon_dist_to_convex_obstacles = 30.0; - if ( - obj_info1.at(1) * obj_info2.at(1) < 0 || - std::abs(obj_info1.at(0) - obj_info2.at(0)) > max_lon_dist_to_convex_obstacles) { - continue; - } - - std::vector cv_points; - cv_points.push_back(toCVPoint(obj_positions.at(i))); - cv_points.push_back(toCVPoint(get_closest_obj_point(i))); - cv_points.push_back(toCVPoint(get_closest_obj_point(j))); - cv_points.push_back(toCVPoint(obj_positions.at(j))); - - cv_between_polygons.push_back(cv_points); - } - } - /* - for (const auto & polygon : cv_between_polygons) { - cv::fillConvexPoly(objects_image, polygon, cv::Scalar(0)); - } - */ - - debug_data.msg_stream << " " << __func__ << ":= " << stop_watch_.toc(__func__) << " [ms]\n"; - - return objects_image; -} - -cv::Mat CostmapGenerator::getAreaWithObjects( - const cv::Mat & drivable_area, const cv::Mat & objects_image, DebugData & debug_data) const -{ - stop_watch_.tic(__func__); - - cv::Mat area_with_objects = cv::min(objects_image, drivable_area); - - debug_data.msg_stream << " " << __func__ << ":= " << stop_watch_.toc(__func__) << " [ms]\n"; - return area_with_objects; -} diff --git a/planning/obstacle_avoidance_planner/src/mpt_optimizer.cpp b/planning/obstacle_avoidance_planner/src/mpt_optimizer.cpp index 56d74c9eab4ef..acc5ab823ca59 100644 --- a/planning/obstacle_avoidance_planner/src/mpt_optimizer.cpp +++ b/planning/obstacle_avoidance_planner/src/mpt_optimizer.cpp @@ -18,9 +18,11 @@ #include "obstacle_avoidance_planner/utils/utils.hpp" #include "obstacle_avoidance_planner/vehicle_model/vehicle_model_bicycle_kinematics.hpp" #include "tf2/utils.h" +#include "tier4_autoware_utils/geometry/boost_geometry.hpp" #include "nav_msgs/msg/map_meta_data.hpp" +#include "boost/assign/list_of.hpp" #include "boost/optional.hpp" #include @@ -73,44 +75,6 @@ Bounds findWidestBounds(const BoundsCandidates & front_bounds_candidates) } */ -Bounds findNearestBounds( - const geometry_msgs::msg::Pose & bounds_pose, const BoundsCandidates & front_bounds_candidates, - const geometry_msgs::msg::Point & target_pos) -{ - double min_dist = std::numeric_limits::max(); - size_t min_dist_index = 0; - if (front_bounds_candidates.size() != 1) { - for (size_t candidate_idx = 0; candidate_idx < front_bounds_candidates.size(); - ++candidate_idx) { - const auto & front_bounds_candidate = front_bounds_candidates.at(candidate_idx); - - const double bound_center = - (front_bounds_candidate.upper_bound + front_bounds_candidate.lower_bound) / 2.0; - const auto center_pos = - tier4_autoware_utils::calcOffsetPose(bounds_pose, 0.0, bound_center, 0.0); - const double dist = tier4_autoware_utils::calcDistance2d(center_pos, target_pos); - - if (dist < min_dist) { - min_dist_index = candidate_idx; - min_dist = dist; - } - } - } - return front_bounds_candidates.at(min_dist_index); -} - -double calcOverlappedBoundsSignedLength( - const Bounds & prev_front_continuous_bounds, const Bounds & front_bounds_candidate) -{ - const double min_ub = - std::min(front_bounds_candidate.upper_bound, prev_front_continuous_bounds.upper_bound); - const double max_lb = - std::max(front_bounds_candidate.lower_bound, prev_front_continuous_bounds.lower_bound); - - const double overlapped_signed_length = min_ub - max_lb; - return overlapped_signed_length; -} - geometry_msgs::msg::Pose calcVehiclePose( const ReferencePoint & ref_point, const double lat_error, const double yaw_error, const double offset) @@ -202,6 +166,47 @@ size_t findNearestIndexWithSoftYawConstraints( return nearest_idx_optional ? *nearest_idx_optional : motion_utils::findNearestIndex(points_with_yaw, pose.position); } + +boost::optional intersection( + const Eigen::Vector2d & start_point1, const Eigen::Vector2d & end_point1, + const Eigen::Vector2d & start_point2, const Eigen::Vector2d & end_point2) +{ + using Point = boost::geometry::model::d2::point_xy; + using Line = boost::geometry::model::linestring; + + const Line line1 = + boost::assign::list_of(start_point1(0), start_point1(1))(end_point1(0), end_point1(1)); + const Line line2 = + boost::assign::list_of(start_point2(0), start_point2(1))(end_point2(0), end_point2(1)); + + std::vector output; + boost::geometry::intersection(line1, line2, output); + if (output.empty()) { + return {}; + } + + const Eigen::Vector2d output_point{output.front().x(), output.front().y()}; + return output_point; +} + +double calcLateralDistToBound( + const Eigen::Vector2d & current_point, const Eigen::Vector2d & edge_point, + const std::vector & bound, const bool is_right_bound = false) +{ + for (size_t i = 0; i < bound.size() - 1; ++i) { + const Eigen::Vector2d current_bound_point = {bound.at(i).x, bound.at(i).y}; + const Eigen::Vector2d next_bound_point = {bound.at(i + 1).x, bound.at(i + 1).y}; + + const auto intersects_point = + intersection(current_point, edge_point, current_bound_point, next_bound_point); + if (intersects_point) { + const double dist = (*intersects_point - current_point).norm(); + return is_right_bound ? -dist : dist; + } + } + + return is_right_bound ? -5.0 : 5.0; +} } // namespace MPTOptimizer::MPTOptimizer( @@ -221,7 +226,9 @@ boost::optional MPTOptimizer::getModelPredictiveTrajecto const bool enable_avoidance, const std::vector & smoothed_points, const std::vector & path_points, - const std::unique_ptr & prev_trajs, const CVMaps & maps, + const std::vector & left_bound, + const std::vector & right_bound, + const std::unique_ptr & prev_trajs, const geometry_msgs::msg::Pose & current_ego_pose, const double current_ego_vel, DebugData & debug_data) { @@ -238,7 +245,7 @@ boost::optional MPTOptimizer::getModelPredictiveTrajecto } std::vector full_ref_points = - getReferencePoints(smoothed_points, prev_trajs, enable_avoidance, maps, debug_data); + getReferencePoints(smoothed_points, left_bound, right_bound, prev_trajs, debug_data); if (full_ref_points.empty()) { RCLCPP_INFO_EXPRESSION( rclcpp::get_logger("mpt_optimizer"), is_showing_debug_info_, @@ -322,8 +329,9 @@ boost::optional MPTOptimizer::getModelPredictiveTrajecto std::vector MPTOptimizer::getReferencePoints( const std::vector & smoothed_points, - const std::unique_ptr & prev_trajs, const bool enable_avoidance, - const CVMaps & maps, DebugData & debug_data) const + const std::vector & left_bound, + const std::vector & right_bound, + const std::unique_ptr & prev_trajs, DebugData & debug_data) const { stop_watch_.tic(__func__); @@ -406,8 +414,8 @@ std::vector MPTOptimizer::getReferencePoints( } // set bounds information - calcBounds(ref_points, enable_avoidance, maps, prev_trajs, debug_data); - calcVehicleBounds(ref_points, maps, debug_data, enable_avoidance); + calcBounds(ref_points, left_bound, right_bound, debug_data); + calcVehicleBounds(ref_points, debug_data); // set extra information (alpha and has_object_collision) // NOTE: This must be after bounds calculation. @@ -1376,109 +1384,73 @@ void MPTOptimizer::addSteerWeightR( } void MPTOptimizer::calcBounds( - std::vector & ref_points, const bool enable_avoidance, const CVMaps & maps, - const std::unique_ptr & prev_trajs, DebugData & debug_data) const + std::vector & ref_points, + const std::vector & left_bound, + const std::vector & right_bound, DebugData & debug_data) const { stop_watch_.tic(__func__); - // search bounds candidate for each ref points - SequentialBoundsCandidates sequential_bounds_candidates; - for (const auto & ref_point : ref_points) { - const auto bounds_candidates = - getBoundsCandidates(enable_avoidance, convertRefPointsToPose(ref_point), maps, debug_data); - sequential_bounds_candidates.push_back(bounds_candidates); + if (left_bound.empty() || right_bound.empty()) { + std::cerr << "[ObstacleAvoidancePlanner]: Boundary is empty when calculating bounds" + << std::endl; + return; } - debug_data.sequential_bounds_candidates = sequential_bounds_candidates; - - // search continuous and widest bounds only for front point - for (size_t i = 0; i < sequential_bounds_candidates.size(); ++i) { - // NOTE: back() is the front avoiding circle - const auto & bounds_candidates = sequential_bounds_candidates.at(i); - - // extract only continuous bounds; - if (i == 0) { // TODO(murooka) use previous bounds, not widest bounds - const auto target_pos = [&]() { - if (prev_trajs && !prev_trajs->mpt_ref_points.empty()) { - return prev_trajs->mpt_ref_points.front().p; - } - return ref_points.at(i).p; - }(); - - geometry_msgs::msg::Pose ref_pose; - ref_pose.position = ref_points.at(i).p; - ref_pose.orientation = tier4_autoware_utils::createQuaternionFromYaw(ref_points.at(i).yaw); - - const auto & nearest_bounds = findNearestBounds(ref_pose, bounds_candidates, target_pos); - ref_points.at(i).bounds = nearest_bounds; - } else { - const auto & prev_ref_point = ref_points.at(i - 1); - const auto & prev_continuous_bounds = prev_ref_point.bounds; - - BoundsCandidates filtered_bounds_candidates; - for (const auto & bounds_candidate : bounds_candidates) { - // Step 1. Bounds is continuous to the previous one, - // and the overlapped signed length is longer than vehicle width - // overlapped_signed_length already considers vehicle width. - const double overlapped_signed_length = - calcOverlappedBoundsSignedLength(prev_continuous_bounds, bounds_candidate); - if (overlapped_signed_length < 0) { - RCLCPP_INFO_EXPRESSION( - rclcpp::get_logger("mpt_optimizer"), is_showing_debug_info_, - "non-overlapped length bounds is ignored."); - RCLCPP_INFO_EXPRESSION( - rclcpp::get_logger("mpt_optimizer"), is_showing_debug_info_, - "In detail, prev: lower=%f, upper=%f, candidate: lower=%f, upper=%f", - prev_continuous_bounds.lower_bound, prev_continuous_bounds.upper_bound, - bounds_candidate.lower_bound, bounds_candidate.upper_bound); - continue; - } - // Step 2. Bounds is longer than vehicle width. - // bounds_length already considers vehicle width. - const double bounds_length = bounds_candidate.upper_bound - bounds_candidate.lower_bound; - if (bounds_length < 0) { - RCLCPP_INFO_EXPRESSION( - rclcpp::get_logger("mpt_optimizer"), is_showing_debug_info_, - "negative length bounds is ignored."); - continue; - } - - filtered_bounds_candidates.push_back(bounds_candidate); - } - - // Step 3. Nearest bounds to trajectory - if (!filtered_bounds_candidates.empty()) { - const auto nearest_bounds = std::min_element( - filtered_bounds_candidates.begin(), filtered_bounds_candidates.end(), - [](const auto & a, const auto & b) { - return std::min(std::abs(a.lower_bound), std::abs(a.upper_bound)) < - std::min(std::abs(b.lower_bound), std::abs(b.upper_bound)); - }); - if ( - filtered_bounds_candidates.begin() <= nearest_bounds && - nearest_bounds < filtered_bounds_candidates.end()) { - ref_points.at(i).bounds = *nearest_bounds; - continue; - } - } + /* + const double min_soft_road_clearance = vehicle_param_.width / 2.0 + + mpt_param_.soft_clearance_from_road + + mpt_param_.extra_desired_clearance_from_road; + */ + const double min_soft_road_clearance = vehicle_param_.width / 2.0; - // invalid bounds - RCLCPP_WARN_EXPRESSION( - rclcpp::get_logger("getBounds: not front"), is_showing_debug_info_, "invalid bounds"); - const auto invalid_bounds = - Bounds{-5.0, 5.0, CollisionType::OUT_OF_ROAD, CollisionType::OUT_OF_ROAD}; - ref_points.at(i).bounds = invalid_bounds; - } + // search bounds candidate for each ref points + debug_data.bounds_candidates.clear(); + for (size_t i = 0; i < ref_points.size() - 1; ++i) { + const auto curr_ref_position = convertRefPointsToPose(ref_points.at(i)).position; + const auto next_ref_position = convertRefPointsToPose(ref_points.at(i + 1)).position; + const Eigen::Vector2d current_ref_point = {curr_ref_position.x, curr_ref_position.y}; + const Eigen::Vector2d next_ref_point = {next_ref_position.x, next_ref_position.y}; + const Eigen::Vector2d current_to_next_vec = next_ref_point - current_ref_point; + const Eigen::Vector2d left_vertical_vec = {-current_to_next_vec(1), current_to_next_vec(0)}; + const Eigen::Vector2d right_vertical_vec = {current_to_next_vec(1), -current_to_next_vec(0)}; + + const Eigen::Vector2d left_point = current_ref_point + left_vertical_vec.normalized() * 5.0; + const Eigen::Vector2d right_point = current_ref_point + right_vertical_vec.normalized() * 5.0; + const double lat_dist_to_left_bound = std::min( + calcLateralDistToBound(current_ref_point, left_point, left_bound) - min_soft_road_clearance, + 5.0); + const double lat_dist_to_right_bound = std::max( + calcLateralDistToBound(current_ref_point, right_point, right_bound, true) + + min_soft_road_clearance, + -5.0); + + ref_points.at(i).bounds = Bounds{ + lat_dist_to_right_bound, lat_dist_to_left_bound, CollisionType::NO_COLLISION, + CollisionType::NO_COLLISION}; + debug_data.bounds_candidates.push_back(ref_points.at(i).bounds); } + // Terminal Boundary + const double lat_dist_to_left_bound = + -motion_utils::calcLateralOffset( + left_bound, convertRefPointsToPose(ref_points.back()).position) - + min_soft_road_clearance; + const double lat_dist_to_right_bound = + -motion_utils::calcLateralOffset( + right_bound, convertRefPointsToPose(ref_points.back()).position) + + min_soft_road_clearance; + ref_points.back().bounds = Bounds{ + lat_dist_to_right_bound, lat_dist_to_left_bound, CollisionType::NO_COLLISION, + CollisionType::NO_COLLISION}; + debug_data.bounds_candidates.push_back(ref_points.back().bounds); + debug_data.msg_stream << " " << __func__ << ":= " << stop_watch_.toc(__func__) << " [ms]\n"; return; } void MPTOptimizer::calcVehicleBounds( - std::vector & ref_points, [[maybe_unused]] const CVMaps & maps, - DebugData & debug_data, [[maybe_unused]] const bool enable_avoidance) const + std::vector & ref_points, DebugData & debug_data) const { stop_watch_.tic(__func__); @@ -1558,168 +1530,3 @@ void MPTOptimizer::calcVehicleBounds( debug_data.msg_stream << " " << __func__ << ":= " << stop_watch_.toc(__func__) << " [ms]\n"; } - -BoundsCandidates MPTOptimizer::getBoundsCandidates( - const bool enable_avoidance, const geometry_msgs::msg::Pose & avoiding_point, const CVMaps & maps, - [[maybe_unused]] DebugData & debug_data) const -{ - BoundsCandidates bounds_candidate; - - constexpr double max_search_lane_width = 5.0; - const auto search_widths = mpt_param_.bounds_search_widths; - - // search right to left - const double bound_angle = - tier4_autoware_utils::normalizeRadian(tf2::getYaw(avoiding_point.orientation) + M_PI_2); - - double traversed_dist = -max_search_lane_width; - double current_right_bound = -max_search_lane_width; - - // calculate the initial position is empty or not - // 0.drivable, 1.out of map, 2.out of road, 3. object - CollisionType previous_collision_type = - getCollisionType(maps, enable_avoidance, avoiding_point, traversed_dist, bound_angle); - - const auto has_collision = [&](const CollisionType & collision_type) -> bool { - return collision_type == CollisionType::OUT_OF_ROAD || collision_type == CollisionType::OBJECT; - }; - CollisionType latest_right_bound_collision_type = previous_collision_type; - - while (traversed_dist < max_search_lane_width) { - for (size_t search_idx = 0; search_idx < search_widths.size(); ++search_idx) { - const double ds = search_widths.at(search_idx); - while (true) { - const CollisionType current_collision_type = - getCollisionType(maps, enable_avoidance, avoiding_point, traversed_dist, bound_angle); - - if (has_collision(current_collision_type)) { // currently collision - if (!has_collision(previous_collision_type)) { - // if target_position becomes collision from no collision or out_of_sight - if (search_idx == search_widths.size() - 1) { - const double left_bound = traversed_dist - ds / 2.0; - bounds_candidate.push_back(Bounds{ - current_right_bound, left_bound, latest_right_bound_collision_type, - current_collision_type}); - previous_collision_type = current_collision_type; - } - break; - } - } else if (current_collision_type == CollisionType::OUT_OF_SIGHT) { // currently - // out_of_sight - if (previous_collision_type == CollisionType::NO_COLLISION) { - // if target_position becomes out_of_sight from no collision - if (search_idx == search_widths.size() - 1) { - const double left_bound = max_search_lane_width; - bounds_candidate.push_back(Bounds{ - current_right_bound, left_bound, latest_right_bound_collision_type, - current_collision_type}); - previous_collision_type = current_collision_type; - } - break; - } - } else { // currently no collision - if (has_collision(previous_collision_type)) { - // if target_position becomes no collision from collision - if (search_idx == search_widths.size() - 1) { - current_right_bound = traversed_dist - ds / 2.0; - latest_right_bound_collision_type = previous_collision_type; - previous_collision_type = current_collision_type; - } - break; - } - } - - // if target_position is longer than max_search_lane_width - if (traversed_dist >= max_search_lane_width) { - if (!has_collision(previous_collision_type)) { - if (search_idx == search_widths.size() - 1) { - const double left_bound = traversed_dist - ds / 2.0; - bounds_candidate.push_back(Bounds{ - current_right_bound, left_bound, latest_right_bound_collision_type, - CollisionType::OUT_OF_ROAD}); - } - } - break; - } - - // go forward with ds - traversed_dist += ds; - previous_collision_type = current_collision_type; - } - - if (search_idx != search_widths.size() - 1) { - // go back with ds since target_position became empty or road/object - // NOTE: if ds is the last of search_widths, don't have to go back - traversed_dist -= ds; - } - } - } - - // if empty - // TODO(murooka) sometimes this condition realizes - if (bounds_candidate.empty()) { - RCLCPP_WARN_EXPRESSION( - rclcpp::get_logger("getBoundsCandidate"), is_showing_debug_info_, "empty bounds candidate"); - // NOTE: set invalid bounds so that MPT won't be solved - const auto invalid_bounds = - Bounds{-5.0, 5.0, CollisionType::OUT_OF_ROAD, CollisionType::OUT_OF_ROAD}; - bounds_candidate.push_back(invalid_bounds); - } - - return bounds_candidate; -} - -// 0.NO_COLLISION, 1.OUT_OF_SIGHT, 2.OUT_OF_ROAD, 3.OBJECT -CollisionType MPTOptimizer::getCollisionType( - const CVMaps & maps, const bool enable_avoidance, const geometry_msgs::msg::Pose & avoiding_point, - const double traversed_dist, const double bound_angle) const -{ - // calculate clearance - const double min_soft_road_clearance = vehicle_param_.width / 2.0 + - mpt_param_.soft_clearance_from_road + - mpt_param_.extra_desired_clearance_from_road; - const double min_obj_clearance = vehicle_param_.width / 2.0 + mpt_param_.clearance_from_object + - mpt_param_.soft_clearance_from_road; - - // calculate target position - const geometry_msgs::msg::Point target_pos = tier4_autoware_utils::createPoint( - avoiding_point.position.x + traversed_dist * std::cos(bound_angle), - avoiding_point.position.y + traversed_dist * std::sin(bound_angle), 0.0); - - const auto opt_road_clearance = getClearance(maps.clearance_map, target_pos, maps.map_info); - const auto opt_obj_clearance = - getClearance(maps.only_objects_clearance_map, target_pos, maps.map_info); - - // object has more priority than road, so its condition exists first - if (enable_avoidance && opt_obj_clearance) { - const bool is_obj = opt_obj_clearance.get() < min_obj_clearance; - if (is_obj) { - return CollisionType::OBJECT; - } - } - - if (opt_road_clearance) { - const bool out_of_road = opt_road_clearance.get() < min_soft_road_clearance; - if (out_of_road) { - return CollisionType::OUT_OF_ROAD; - } else { - return CollisionType::NO_COLLISION; - } - } - - return CollisionType::OUT_OF_SIGHT; -} - -boost::optional MPTOptimizer::getClearance( - const cv::Mat & clearance_map, const geometry_msgs::msg::Point & map_point, - const nav_msgs::msg::MapMetaData & map_info) const -{ - const auto image_point = geometry_utils::transformMapToOptionalImage(map_point, map_info); - if (!image_point) { - return boost::none; - } - const float clearance = clearance_map.ptr(static_cast( - image_point.get().y))[static_cast(image_point.get().x)] * - map_info.resolution; - return clearance; -} diff --git a/planning/obstacle_avoidance_planner/src/node.cpp b/planning/obstacle_avoidance_planner/src/node.cpp index 4120034db3744..2775089335128 100644 --- a/planning/obstacle_avoidance_planner/src/node.cpp +++ b/planning/obstacle_avoidance_planner/src/node.cpp @@ -16,7 +16,6 @@ #include "interpolation/spline_interpolation_points_2d.hpp" #include "motion_utils/motion_utils.hpp" -#include "obstacle_avoidance_planner/utils/cv_utils.hpp" #include "obstacle_avoidance_planner/utils/debug_utils.hpp" #include "obstacle_avoidance_planner/utils/utils.hpp" #include "rclcpp/time.hpp" @@ -847,8 +846,6 @@ void ObstacleAvoidancePlanner::resetPlanning() { RCLCPP_WARN(get_logger(), "[ObstacleAvoidancePlanner] Reset planning"); - costmap_generator_ptr_ = std::make_unique(); - eb_path_optimizer_ptr_ = std::make_unique( is_showing_debug_info_, traj_param_, eb_param_, vehicle_param_); @@ -869,12 +866,14 @@ void ObstacleAvoidancePlanner::onPath(const Path::SharedPtr path_ptr) { stop_watch_.tic(__func__); - if ( - path_ptr->points.empty() || path_ptr->drivable_area.data.empty() || !current_twist_ptr_ || - !objects_ptr_) { + if (path_ptr->points.empty() || !current_twist_ptr_ || !objects_ptr_) { return; } + if (path_ptr->left_bound.empty() || path_ptr->right_bound.empty()) { + std::cerr << "Right or left bound is empty" << std::endl; + } + // create planner data PlannerData planner_data; planner_data.path = *path_ptr; @@ -956,12 +955,8 @@ std::vector ObstacleAvoidancePlanner::generateOptimizedTrajecto } prev_replanned_time_ptr_ = std::make_unique(this->now()); - // create clearance maps - const CVMaps cv_maps = costmap_generator_ptr_->getMaps( - enable_avoidance_, path, planner_data.objects, traj_param_, debug_data_); - // calculate trajectory with EB and MPT - auto optimal_trajs = optimizeTrajectory(planner_data, cv_maps); + auto optimal_trajs = optimizeTrajectory(planner_data); // calculate velocity // NOTE: Velocity is not considered in optimization. @@ -969,8 +964,7 @@ std::vector ObstacleAvoidancePlanner::generateOptimizedTrajecto // insert 0 velocity when trajectory is over drivable area if (is_stopping_if_outside_drivable_area_) { - insertZeroVelocityOutsideDrivableArea( - planner_data, optimal_trajs.model_predictive_trajectory, cv_maps); + insertZeroVelocityOutsideDrivableArea(planner_data, optimal_trajs.model_predictive_trajectory); } publishDebugDataInOptimization(planner_data, optimal_trajs.model_predictive_trajectory); @@ -1122,8 +1116,7 @@ bool ObstacleAvoidancePlanner::isEgoNearToPrevTrajectory(const geometry_msgs::ms return true; } -Trajectories ObstacleAvoidancePlanner::optimizeTrajectory( - const PlannerData & planner_data, const CVMaps & cv_maps) +Trajectories ObstacleAvoidancePlanner::optimizeTrajectory(const PlannerData & planner_data) { stop_watch_.tic(__func__); @@ -1176,8 +1169,8 @@ Trajectories ObstacleAvoidancePlanner::optimizeTrajectory( // MPT: optimize trajectory to be kinematically feasible and collision free const auto mpt_trajs = mpt_optimizer_ptr_->getModelPredictiveTrajectory( - enable_avoidance_, eb_traj.get(), p.path.points, prev_optimal_trajs_ptr_, cv_maps, p.ego_pose, - p.ego_vel, debug_data_); + enable_avoidance_, eb_traj.get(), p.path.points, p.path.left_bound, p.path.right_bound, + prev_optimal_trajs_ptr_, p.ego_pose, p.ego_vel, debug_data_); if (!mpt_trajs) { return getPrevTrajs(p.path.points); } @@ -1231,8 +1224,7 @@ void ObstacleAvoidancePlanner::calcVelocity( } void ObstacleAvoidancePlanner::insertZeroVelocityOutsideDrivableArea( - const PlannerData & planner_data, std::vector & traj_points, - const CVMaps & cv_maps) + const PlannerData & planner_data, std::vector & traj_points) { if (traj_points.empty()) { return; @@ -1240,9 +1232,6 @@ void ObstacleAvoidancePlanner::insertZeroVelocityOutsideDrivableArea( stop_watch_.tic(__func__); - const auto & map_info = cv_maps.map_info; - const auto & road_clearance_map = cv_maps.clearance_map; - const size_t nearest_idx = findEgoNearestIndex(traj_points, planner_data.ego_pose); // NOTE: Some end trajectory points will be ignored to check if outside the drivable area @@ -1258,12 +1247,18 @@ void ObstacleAvoidancePlanner::insertZeroVelocityOutsideDrivableArea( return traj_points.size(); }(); + const auto left_bound = planner_data.path.left_bound; + const auto right_bound = planner_data.path.right_bound; + if (left_bound.empty() || right_bound.empty()) { + return; + } + for (size_t i = nearest_idx; i < end_idx; ++i) { const auto & traj_point = traj_points.at(i); // calculate the first point being outside drivable area - const bool is_outside = cv_drivable_area_utils::isOutsideDrivableAreaFromRectangleFootprint( - traj_point, road_clearance_map, map_info, vehicle_param_); + const bool is_outside = drivable_area_utils::isOutsideDrivableAreaFromRectangleFootprint( + traj_point, left_bound, right_bound, vehicle_param_); // only insert zero velocity to the first point outside drivable area if (is_outside) { @@ -1616,25 +1611,6 @@ void ObstacleAvoidancePlanner::publishDebugDataInMain(const Path & path) const debug_extended_non_fixed_traj_pub_->publish(debug_extended_non_fixed_traj); } - { // publish clearance map - stop_watch_.tic("publishClearanceMap"); - - if (is_publishing_area_with_objects_) { // false - debug_area_with_objects_pub_->publish( - debug_utils::getDebugCostmap(debug_data_.area_with_objects_map, path.drivable_area)); - } - if (is_publishing_object_clearance_map_) { // false - debug_object_clearance_map_pub_->publish( - debug_utils::getDebugCostmap(debug_data_.only_object_clearance_map, path.drivable_area)); - } - if (is_publishing_clearance_map_) { // true - debug_clearance_map_pub_->publish( - debug_utils::getDebugCostmap(debug_data_.clearance_map, path.drivable_area)); - } - debug_data_.msg_stream << " getDebugCostMap * 3:= " << stop_watch_.toc("publishClearanceMap") - << " [ms]\n"; - } - debug_data_.msg_stream << " " << __func__ << ":= " << stop_watch_.toc(__func__) << " [ms]\n"; } diff --git a/planning/obstacle_avoidance_planner/src/utils/cv_utils.cpp b/planning/obstacle_avoidance_planner/src/utils/cv_utils.cpp deleted file mode 100644 index a543df9d54a9d..0000000000000 --- a/planning/obstacle_avoidance_planner/src/utils/cv_utils.cpp +++ /dev/null @@ -1,470 +0,0 @@ -// Copyright 2020 Tier IV, Inc. -// -// 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 "obstacle_avoidance_planner/utils/cv_utils.hpp" - -#include "obstacle_avoidance_planner/utils/utils.hpp" -#include "tf2/utils.h" -#include "tier4_autoware_utils/system/stop_watch.hpp" - -#include "autoware_auto_perception_msgs/msg/predicted_object.hpp" -#include "nav_msgs/msg/occupancy_grid.hpp" - -#include "boost/optional.hpp" - -#include -#include -#include - -namespace -{ -boost::optional getDistance( - const cv::Mat & clearance_map, const geometry_msgs::msg::Point & map_point, - const nav_msgs::msg::MapMetaData & map_info) -{ - const auto image_point = geometry_utils::transformMapToOptionalImage(map_point, map_info); - if (!image_point) { - return boost::none; - } - const float clearance = clearance_map.ptr(static_cast( - image_point.get().y))[static_cast(image_point.get().x)] * - map_info.resolution; - return clearance; -} - -bool isOutsideDrivableArea( - const geometry_msgs::msg::Point & pos, const cv::Mat & road_clearance_map, - const nav_msgs::msg::MapMetaData & map_info, const double max_dist) -{ - const auto dist = getDistance(road_clearance_map, pos, map_info); - if (dist) { - return dist.get() < max_dist; - } - - return false; -} -} // namespace - -namespace cv_utils -{ -void getOccupancyGridValue( - const nav_msgs::msg::OccupancyGrid & og, const int i, const int j, unsigned char & value) -{ - int i_flip = og.info.width - i - 1; - int j_flip = og.info.height - j - 1; - if (og.data[i_flip + j_flip * og.info.width] > 0) { - value = 0; - } else { - value = 255; - } -} - -void putOccupancyGridValue( - nav_msgs::msg::OccupancyGrid & og, const int i, const int j, const unsigned char value) -{ - int i_flip = og.info.width - i - 1; - int j_flip = og.info.height - j - 1; - og.data[i_flip + j_flip * og.info.width] = value; -} -} // namespace cv_utils - -namespace cv_polygon_utils -{ -PolygonPoints getPolygonPoints( - const std::vector & points, - const nav_msgs::msg::MapMetaData & map_info) -{ - std::vector points_in_image; - std::vector points_in_map; - for (const auto & point : points) { - const auto image_point = geometry_utils::transformMapToOptionalImage(point, map_info); - if (image_point) { - points_in_image.push_back(image_point.get()); - points_in_map.push_back(point); - } - } - PolygonPoints polygon_points; - polygon_points.points_in_image = points_in_image; - polygon_points.points_in_map = points_in_map; - return polygon_points; -} - -PolygonPoints getPolygonPoints( - const autoware_auto_perception_msgs::msg::PredictedObject & object, - const nav_msgs::msg::MapMetaData & map_info) -{ - std::vector points_in_image; - std::vector points_in_map; - PolygonPoints polygon_points; - if (object.shape.type == object.shape.BOUNDING_BOX) { - polygon_points = getPolygonPointsFromBB(object, map_info); - } else if (object.shape.type == object.shape.CYLINDER) { - polygon_points = getPolygonPointsFromCircle(object, map_info); - } else if (object.shape.type == object.shape.POLYGON) { - polygon_points = getPolygonPointsFromPolygon(object, map_info); - } - return polygon_points; -} - -PolygonPoints getPolygonPointsFromBB( - const autoware_auto_perception_msgs::msg::PredictedObject & object, - const nav_msgs::msg::MapMetaData & map_info) -{ - std::vector points_in_image; - std::vector points_in_map; - const double dim_x = object.shape.dimensions.x; - const double dim_y = object.shape.dimensions.y; - const std::vector rel_x = {0.5 * dim_x, 0.5 * dim_x, -0.5 * dim_x, -0.5 * dim_x}; - const std::vector rel_y = {0.5 * dim_y, -0.5 * dim_y, -0.5 * dim_y, 0.5 * dim_y}; - const geometry_msgs::msg::Pose object_pose = object.kinematics.initial_pose_with_covariance.pose; - for (size_t i = 0; i < rel_x.size(); i++) { - geometry_msgs::msg::Point rel_point; - rel_point.x = rel_x[i]; - rel_point.y = rel_y[i]; - auto abs_point = geometry_utils::transformToAbsoluteCoordinate2D(rel_point, object_pose); - geometry_msgs::msg::Point image_point; - if (geometry_utils::transformMapToImage(abs_point, map_info, image_point)) { - points_in_image.push_back(image_point); - points_in_map.push_back(abs_point); - } - } - PolygonPoints polygon_points; - polygon_points.points_in_image = points_in_image; - polygon_points.points_in_map = points_in_map; - return polygon_points; -} - -PolygonPoints getPolygonPointsFromCircle( - const autoware_auto_perception_msgs::msg::PredictedObject & object, - const nav_msgs::msg::MapMetaData & map_info) -{ - std::vector points_in_image; - std::vector points_in_map; - const double radius = object.shape.dimensions.x; - const geometry_msgs::msg::Point center = - object.kinematics.initial_pose_with_covariance.pose.position; - constexpr int num_sampling_points = 5; - for (int i = 0; i < num_sampling_points; ++i) { - std::vector deltas = {0, 1.0}; - for (const auto & delta : deltas) { - geometry_msgs::msg::Point point; - point.x = std::cos( - ((i + delta) / static_cast(num_sampling_points)) * 2.0 * M_PI + - M_PI / static_cast(num_sampling_points)) * - (radius / 2.0) + - center.x; - point.y = std::sin( - ((i + delta) / static_cast(num_sampling_points)) * 2.0 * M_PI + - M_PI / static_cast(num_sampling_points)) * - (radius / 2.0) + - center.y; - point.z = center.z; - geometry_msgs::msg::Point image_point; - if (geometry_utils::transformMapToImage(point, map_info, image_point)) { - points_in_image.push_back(image_point); - points_in_map.push_back(point); - } - } - } - PolygonPoints polygon_points; - polygon_points.points_in_image = points_in_image; - polygon_points.points_in_map = points_in_map; - return polygon_points; -} - -PolygonPoints getPolygonPointsFromPolygon( - const autoware_auto_perception_msgs::msg::PredictedObject & object, - const nav_msgs::msg::MapMetaData & map_info) -{ - std::vector points_in_image; - std::vector points_in_map; - for (const auto & polygon_p : object.shape.footprint.points) { - geometry_msgs::msg::Point rel_point; - rel_point.x = polygon_p.x; - rel_point.y = polygon_p.y; - geometry_msgs::msg::Point point = geometry_utils::transformToAbsoluteCoordinate2D( - rel_point, object.kinematics.initial_pose_with_covariance.pose); - const auto image_point = geometry_utils::transformMapToOptionalImage(point, map_info); - if (image_point) { - points_in_image.push_back(image_point.get()); - points_in_map.push_back(point); - } - } - PolygonPoints polygon_points; - polygon_points.points_in_image = points_in_image; - polygon_points.points_in_map = points_in_map; - return polygon_points; -} - -std::vector getCVPolygon( - const autoware_auto_perception_msgs::msg::PredictedObject & object, - const PolygonPoints & polygon_points, - const std::vector & path_points, - const cv::Mat & clearance_map, const nav_msgs::msg::MapMetaData & map_info) -{ - // TODO(murooka) remove findNearestIndex without any constraints - const int nearest_idx = motion_utils::findNearestIndex( - path_points, object.kinematics.initial_pose_with_covariance.pose.position); - const auto nearest_path_point = path_points[nearest_idx]; - if (path_points.empty()) { - return getDefaultCVPolygon(polygon_points.points_in_image); - } - return getExtendedCVPolygon( - polygon_points.points_in_image, polygon_points.points_in_map, nearest_path_point.pose, object, - clearance_map, map_info); -} - -std::vector getDefaultCVPolygon( - const std::vector & points_in_image) -{ - std::vector cv_polygon; - for (const auto & point : points_in_image) { - cv::Point image_point = cv::Point(point.x, point.y); - cv_polygon.push_back(image_point); - } - return cv_polygon; -} - -std::vector getExtendedCVPolygon( - const std::vector & points_in_image, - const std::vector & points_in_map, - const geometry_msgs::msg::Pose & nearest_path_point_pose, - const autoware_auto_perception_msgs::msg::PredictedObject & object, const cv::Mat & clearance_map, - const nav_msgs::msg::MapMetaData & map_info) -{ - const boost::optional optional_edges = getEdges( - points_in_image, points_in_map, nearest_path_point_pose, object, clearance_map, map_info); - if (!optional_edges) { - return getDefaultCVPolygon(points_in_image); - } - const Edges edges = optional_edges.get(); - - // TODO(murooka) remove findNearestIndex without any constraints - const int nearest_polygon_idx = motion_utils::findNearestIndex(points_in_image, edges.origin); - std::vector cv_polygon; - if (edges.back_idx == nearest_polygon_idx || edges.front_idx == nearest_polygon_idx) { - // make polygon only with edges and extended edges - } else if (edges.back_idx < nearest_polygon_idx) { - // back_idx -> nearest_idx -> frond_idx - if (edges.back_idx < edges.front_idx && nearest_polygon_idx < edges.front_idx) { - for (int i = edges.back_idx + 1; i < edges.front_idx; i++) { - cv_polygon.push_back(cv::Point(points_in_image[i].x, points_in_image[i].y)); - } - // back_idx -> vector_front -> vector_back -> nearest_idx -> frond_idx - } else if (edges.back_idx < edges.front_idx && nearest_polygon_idx > edges.front_idx) { - for (int i = edges.back_idx - 1; i >= 0; i--) { - cv_polygon.push_back(cv::Point(points_in_image[i].x, points_in_image[i].y)); - } - for (int i = points_in_image.size() - 1; i > edges.front_idx; i--) { - cv_polygon.push_back(cv::Point(points_in_image[i].x, points_in_image[i].y)); - } - // back_idx -> vector_back -> vector_front -> nearest_idx -> front_idx - } else { - for (size_t i = edges.back_idx + 1; i < points_in_image.size(); i++) { - cv_polygon.push_back(cv::Point(points_in_image[i].x, points_in_image[i].y)); - } - for (int i = 0; i < edges.front_idx; i++) { - cv_polygon.push_back(cv::Point(points_in_image[i].x, points_in_image[i].y)); - } - } - } else { - // back_idx -> nearest_idx -> front_idx - if (edges.back_idx >= edges.front_idx && nearest_polygon_idx > edges.front_idx) { - for (int i = edges.back_idx - 1; i > edges.front_idx; i--) { - cv_polygon.push_back(cv::Point(points_in_image[i].x, points_in_image[i].y)); - } - // back_idx -> vector_back -> vector_front -> nearest_idx -> front_idx - } else { - if (edges.back_idx >= edges.front_idx && nearest_polygon_idx < edges.front_idx) { - for (size_t i = edges.back_idx + 1; i < points_in_image.size(); i++) { - cv_polygon.push_back(cv::Point(points_in_image[i].x, points_in_image[i].y)); - } - for (int i = 0; i < edges.front_idx; i++) { - cv_polygon.push_back(cv::Point(points_in_image[i].x, points_in_image[i].y)); - } - } else { // back_idx -> vector_front -> vector_back -> nearest_idx -> front_idx - for (int i = edges.back_idx - 1; i >= 0; i--) { - cv_polygon.push_back(cv::Point(points_in_image[i].x, points_in_image[i].y)); - } - for (int i = points_in_image.size() - 1; i > edges.front_idx; i--) { - cv_polygon.push_back(cv::Point(points_in_image[i].x, points_in_image[i].y)); - } - } - } - } - cv_polygon.push_back( - cv::Point(points_in_image[edges.front_idx].x, points_in_image[edges.front_idx].y)); - cv_polygon.push_back(cv::Point(edges.extended_front.x, edges.extended_front.y)); - cv_polygon.push_back(cv::Point(edges.extended_back.x, edges.extended_back.y)); - cv_polygon.push_back( - cv::Point(points_in_image[edges.back_idx].x, points_in_image[edges.back_idx].y)); - return cv_polygon; -} - -boost::optional getEdges( - const std::vector & points_in_image, - const std::vector & points_in_map, - const geometry_msgs::msg::Pose & nearest_path_point_pose, - const autoware_auto_perception_msgs::msg::PredictedObject & object, const cv::Mat & clearance_map, - const nav_msgs::msg::MapMetaData & map_info) -{ - // calculate perpendicular point to object along with path point orientation - const double yaw = tf2::getYaw(nearest_path_point_pose.orientation); - const Eigen::Vector2d rel_path_vec(std::cos(yaw), std::sin(yaw)); - const Eigen::Vector2d obj_vec( - object.kinematics.initial_pose_with_covariance.pose.position.x, - object.kinematics.initial_pose_with_covariance.pose.position.y); - const double inner_product = rel_path_vec[0] * (obj_vec[0] - nearest_path_point_pose.position.x) + - rel_path_vec[1] * (obj_vec[1] - nearest_path_point_pose.position.y); - geometry_msgs::msg::Point origin; - origin.x = nearest_path_point_pose.position.x + rel_path_vec[0] * inner_product; - origin.y = nearest_path_point_pose.position.y + rel_path_vec[1] * inner_product; - const Eigen::Vector2d obj2origin(origin.x - obj_vec[0], origin.y - obj_vec[1]); - - // calculate origin for casting ray to edges - const auto path_point_image = - geometry_utils::transformMapToImage(nearest_path_point_pose.position, map_info); - constexpr double ray_origin_dist_scale = 1.0; - const float clearance = clearance_map.ptr(static_cast( - path_point_image.y))[static_cast(path_point_image.x)] * - map_info.resolution * ray_origin_dist_scale; - const Eigen::Vector2d obj2ray_origin = obj2origin.normalized() * (obj2origin.norm() + clearance); - geometry_msgs::msg::Point ray_origin; - ray_origin.x = obj_vec[0] + obj2ray_origin[0]; - ray_origin.y = obj_vec[1] + obj2ray_origin[1]; - geometry_msgs::msg::Point ray_origin_image; - ray_origin_image = geometry_utils::transformMapToImage(ray_origin, map_info); - - double min_cos = std::numeric_limits::max(); - double max_cos = std::numeric_limits::lowest(); - const double path_yaw = tf2::getYaw(nearest_path_point_pose.orientation); - const double dx1 = std::cos(path_yaw); - const double dy1 = std::sin(path_yaw); - const Eigen::Vector2d path_point_vec(dx1, dy1); - const double path_point_vec_norm = path_point_vec.norm(); - Edges edges; - for (size_t i = 0; i < points_in_image.size(); i++) { - const double dx2 = points_in_map[i].x - ray_origin.x; - const double dy2 = points_in_map[i].y - ray_origin.y; - const Eigen::Vector2d path_point2point(dx2, dy2); - const double inner_product = path_point_vec.dot(path_point2point); - const double cos = inner_product / (path_point_vec_norm * path_point2point.norm()); - if (cos > max_cos) { - max_cos = cos; - edges.front_idx = i; - } - if (cos < min_cos) { - min_cos = cos; - edges.back_idx = i; - } - } - - const double max_sin = std::sqrt(1 - max_cos * max_cos); - const double min_sin = std::sqrt(1 - min_cos * min_cos); - const Eigen::Vector2d point2front_edge( - points_in_image[edges.front_idx].x - ray_origin_image.x, - points_in_image[edges.front_idx].y - ray_origin_image.y); - const Eigen::Vector2d point2back_edge( - points_in_image[edges.back_idx].x - ray_origin_image.x, - points_in_image[edges.back_idx].y - ray_origin_image.y); - const Eigen::Vector2d point2extended_front_edge = - point2front_edge.normalized() * (clearance * 2 / max_sin) * (1 / map_info.resolution); - const Eigen::Vector2d point2extended_back_edge = - point2back_edge.normalized() * (clearance * 2 / min_sin) * (1 / map_info.resolution); - - const double dist2extended_front_edge = point2extended_front_edge.norm() * map_info.resolution; - const double dist2front_edge = point2front_edge.norm() * map_info.resolution; - const double dist2extended_back_edge = point2extended_back_edge.norm() * map_info.resolution; - const double dist2back_edge = point2back_edge.norm() * map_info.resolution; - if ( - dist2extended_front_edge < clearance * 2 || dist2extended_back_edge < clearance * 2 || - dist2front_edge > dist2extended_front_edge || dist2back_edge > dist2extended_back_edge) { - return boost::none; - } - geometry_msgs::msg::Point extended_front; - geometry_msgs::msg::Point extended_back; - extended_front.x = point2extended_front_edge(0) + ray_origin_image.x; - extended_front.y = point2extended_front_edge(1) + ray_origin_image.y; - extended_back.x = point2extended_back_edge(0) + ray_origin_image.x; - extended_back.y = point2extended_back_edge(1) + ray_origin_image.y; - edges.extended_front = extended_front; - edges.extended_back = extended_back; - edges.origin = ray_origin_image; - return edges; -} -} // namespace cv_polygon_utils - -namespace cv_drivable_area_utils -{ -bool isOutsideDrivableAreaFromRectangleFootprint( - const autoware_auto_planning_msgs::msg::TrajectoryPoint & traj_point, - const cv::Mat & road_clearance_map, const nav_msgs::msg::MapMetaData & map_info, - const VehicleParam & vehicle_param) -{ - const double base_to_right = (vehicle_param.wheel_tread / 2.0) + vehicle_param.right_overhang; - const double base_to_left = (vehicle_param.wheel_tread / 2.0) + vehicle_param.left_overhang; - - const double base_to_front = vehicle_param.length - vehicle_param.rear_overhang; - const double base_to_rear = vehicle_param.rear_overhang; - - const auto top_left_pos = - tier4_autoware_utils::calcOffsetPose(traj_point.pose, base_to_front, -base_to_left, 0.0) - .position; - const auto top_right_pos = - tier4_autoware_utils::calcOffsetPose(traj_point.pose, base_to_front, base_to_right, 0.0) - .position; - const auto bottom_right_pos = - tier4_autoware_utils::calcOffsetPose(traj_point.pose, -base_to_rear, base_to_right, 0.0) - .position; - const auto bottom_left_pos = - tier4_autoware_utils::calcOffsetPose(traj_point.pose, -base_to_rear, -base_to_left, 0.0) - .position; - - constexpr double epsilon = 1e-8; - const bool out_top_left = - isOutsideDrivableArea(top_left_pos, road_clearance_map, map_info, epsilon); - const bool out_top_right = - isOutsideDrivableArea(top_right_pos, road_clearance_map, map_info, epsilon); - const bool out_bottom_left = - isOutsideDrivableArea(bottom_left_pos, road_clearance_map, map_info, epsilon); - const bool out_bottom_right = - isOutsideDrivableArea(bottom_right_pos, road_clearance_map, map_info, epsilon); - - if (out_top_left || out_top_right || out_bottom_left || out_bottom_right) { - return true; - } - - return false; -} - -[[maybe_unused]] bool isOutsideDrivableAreaFromCirclesFootprint( - const autoware_auto_planning_msgs::msg::TrajectoryPoint & traj_point, - const cv::Mat & road_clearance_map, const nav_msgs::msg::MapMetaData & map_info, - const std::vector vehicle_circle_longitudinal_offsets, const double vehicle_circle_radius) -{ - for (const double offset : vehicle_circle_longitudinal_offsets) { - const auto avoiding_pos = - tier4_autoware_utils::calcOffsetPose(traj_point.pose, offset, 0.0, 0.0).position; - - const bool outside_drivable_area = - isOutsideDrivableArea(avoiding_pos, road_clearance_map, map_info, vehicle_circle_radius); - if (outside_drivable_area) { - return true; - } - } - - return false; -} - -} // namespace cv_drivable_area_utils diff --git a/planning/obstacle_avoidance_planner/src/utils/debug_utils.cpp b/planning/obstacle_avoidance_planner/src/utils/debug_utils.cpp index f8f494684d7cc..7cab7cb64d202 100644 --- a/planning/obstacle_avoidance_planner/src/utils/debug_utils.cpp +++ b/planning/obstacle_avoidance_planner/src/utils/debug_utils.cpp @@ -15,7 +15,6 @@ #include "obstacle_avoidance_planner/utils/debug_utils.hpp" #include "obstacle_avoidance_planner/mpt_optimizer.hpp" -#include "obstacle_avoidance_planner/utils/cv_utils.hpp" #include "obstacle_avoidance_planner/utils/utils.hpp" #include "tf2/utils.h" @@ -438,9 +437,9 @@ visualization_msgs::msg::MarkerArray getRectanglesNumMarkerArray( } visualization_msgs::msg::MarkerArray getBoundsCandidatesLineMarkerArray( - const std::vector & ref_points, - std::vector> & bounds_candidates, const double r, const double g, - const double b, [[maybe_unused]] const double vehicle_width, const size_t sampling_num) + const std::vector & ref_points, std::vector & bounds_candidates, + const double r, const double g, const double b, [[maybe_unused]] const double vehicle_width, + const size_t sampling_num) { const auto current_time = rclcpp::Clock().now(); visualization_msgs::msg::MarkerArray msg; @@ -459,23 +458,19 @@ visualization_msgs::msg::MarkerArray getBoundsCandidatesLineMarkerArray( } const auto & bound_candidates = bounds_candidates.at(i); - for (size_t j = 0; j < bound_candidates.size(); ++j) { - geometry_msgs::msg::Pose pose; - pose.position = ref_points.at(i).p; - pose.orientation = tier4_autoware_utils::createQuaternionFromYaw(ref_points.at(i).yaw); - - // lower bound - const double lb_y = bound_candidates.at(j).lower_bound; - const auto lb = tier4_autoware_utils::calcOffsetPose(pose, 0.0, lb_y, 0.0).position; - marker.points.push_back(lb); - - // upper bound - const double ub_y = bound_candidates.at(j).upper_bound; - const auto ub = tier4_autoware_utils::calcOffsetPose(pose, 0.0, ub_y, 0.0).position; - marker.points.push_back(ub); - - msg.markers.push_back(marker); - } + geometry_msgs::msg::Pose pose; + pose.position = ref_points.at(i).p; + pose.orientation = tier4_autoware_utils::createQuaternionFromYaw(ref_points.at(i).yaw); + + // lower bound + const double lb_y = bound_candidates.lower_bound; + const auto lb = tier4_autoware_utils::calcOffsetPose(pose, 0.0, lb_y, 0.0).position; + marker.points.push_back(lb); + + // upper bound + const double ub_y = bound_candidates.upper_bound; + const auto ub = tier4_autoware_utils::calcOffsetPose(pose, 0.0, ub_y, 0.0).position; + marker.points.push_back(ub); } return msg; @@ -766,8 +761,8 @@ visualization_msgs::msg::MarkerArray getDebugVisualizationMarker( // bounds candidates appendMarkerArray( getBoundsCandidatesLineMarkerArray( - debug_data.ref_points, debug_data.sequential_bounds_candidates, 0.2, 0.99, 0.99, - vehicle_param.width, debug_data.mpt_visualize_sampling_num), + debug_data.ref_points, debug_data.bounds_candidates, 0.2, 0.99, 0.99, vehicle_param.width, + debug_data.mpt_visualize_sampling_num), &vis_marker_array); // vehicle circle line @@ -817,19 +812,4 @@ visualization_msgs::msg::MarkerArray getDebugVisualizationWallMarker( } return vis_marker_array; } - -nav_msgs::msg::OccupancyGrid getDebugCostmap( - const cv::Mat & clearance_map, const nav_msgs::msg::OccupancyGrid & occupancy_grid) -{ - if (clearance_map.empty()) return nav_msgs::msg::OccupancyGrid(); - - cv::Mat tmp; - clearance_map.copyTo(tmp); - cv::normalize(tmp, tmp, 0, 255, cv::NORM_MINMAX, CV_8UC1); - nav_msgs::msg::OccupancyGrid clearance_map_in_og = occupancy_grid; - tmp.forEach([&](const unsigned char & value, const int * position) -> void { - cv_utils::putOccupancyGridValue(clearance_map_in_og, position[0], position[1], value); - }); - return clearance_map_in_og; -} } // namespace debug_utils diff --git a/planning/obstacle_avoidance_planner/src/utils/utils.cpp b/planning/obstacle_avoidance_planner/src/utils/utils.cpp index cc3edd1c42223..66bd14c7c7fba 100644 --- a/planning/obstacle_avoidance_planner/src/utils/utils.cpp +++ b/planning/obstacle_avoidance_planner/src/utils/utils.cpp @@ -601,3 +601,108 @@ void logOSQPSolutionStatus(const int solution_status, const std::string & msg) } } } // namespace utils + +namespace +{ +geometry_msgs::msg::Point getStartPoint( + const std::vector & bound, const geometry_msgs::msg::Point & point) +{ + const size_t segment_idx = motion_utils::findNearestSegmentIndex(bound, point); + const auto & curr_seg_point = bound.at(segment_idx); + const auto & next_seg_point = bound.at(segment_idx); + const Eigen::Vector2d first_to_target{point.x - curr_seg_point.x, point.y - curr_seg_point.y}; + const Eigen::Vector2d first_to_second{ + next_seg_point.x - curr_seg_point.x, next_seg_point.y - curr_seg_point.y}; + const double length = first_to_target.dot(first_to_second.normalized()); + + if (length < 0.0) { + return bound.front(); + } + + const auto first_point = motion_utils::calcLongitudinalOffsetPoint(bound, segment_idx, length); + + if (first_point) { + return *first_point; + } + + return bound.front(); +} + +bool isOutsideDrivableArea( + const geometry_msgs::msg::Point & point, + const std::vector & left_bound, + const std::vector & right_bound) +{ + if (left_bound.empty() || right_bound.empty()) { + return false; + } + + constexpr double min_dist = 0.1; + const auto left_start_point = getStartPoint(left_bound, right_bound.front()); + const auto right_start_point = getStartPoint(right_bound, left_bound.front()); + + // ignore point in front of the front line + const std::vector front_bound = {left_start_point, right_start_point}; + const double lat_dist_to_front_bound = motion_utils::calcLateralOffset(front_bound, point); + if (lat_dist_to_front_bound > min_dist) { + return false; + } + + // left bound check + const double lat_dist_to_left_bound = motion_utils::calcLateralOffset(left_bound, point); + if (lat_dist_to_left_bound > min_dist) { + return true; + } + + // right bound check + const double lat_dist_to_right_bound = motion_utils::calcLateralOffset(right_bound, point); + if (lat_dist_to_right_bound < -min_dist) { + return true; + } + + return false; +} +} // namespace + +namespace drivable_area_utils +{ +bool isOutsideDrivableAreaFromRectangleFootprint( + const autoware_auto_planning_msgs::msg::TrajectoryPoint & traj_point, + const std::vector left_bound, + const std::vector right_bound, const VehicleParam & vehicle_param) +{ + if (left_bound.empty() || right_bound.empty()) { + return false; + } + + const double base_to_right = (vehicle_param.wheel_tread / 2.0) + vehicle_param.right_overhang; + const double base_to_left = (vehicle_param.wheel_tread / 2.0) + vehicle_param.left_overhang; + + const double base_to_front = vehicle_param.length - vehicle_param.rear_overhang; + const double base_to_rear = vehicle_param.rear_overhang; + + const auto top_left_pos = + tier4_autoware_utils::calcOffsetPose(traj_point.pose, base_to_front, -base_to_left, 0.0) + .position; + const auto top_right_pos = + tier4_autoware_utils::calcOffsetPose(traj_point.pose, base_to_front, base_to_right, 0.0) + .position; + const auto bottom_right_pos = + tier4_autoware_utils::calcOffsetPose(traj_point.pose, -base_to_rear, base_to_right, 0.0) + .position; + const auto bottom_left_pos = + tier4_autoware_utils::calcOffsetPose(traj_point.pose, -base_to_rear, -base_to_left, 0.0) + .position; + + const bool out_top_left = isOutsideDrivableArea(top_left_pos, left_bound, right_bound); + const bool out_top_right = isOutsideDrivableArea(top_right_pos, left_bound, right_bound); + const bool out_bottom_left = isOutsideDrivableArea(bottom_left_pos, left_bound, right_bound); + const bool out_bottom_right = isOutsideDrivableArea(bottom_right_pos, left_bound, right_bound); + + if (out_top_left || out_top_right || out_bottom_left || out_bottom_right) { + return true; + } + + return false; +} +} // namespace drivable_area_utils diff --git a/planning/obstacle_cruise_planner/include/obstacle_cruise_planner/planner_interface.hpp b/planning/obstacle_cruise_planner/include/obstacle_cruise_planner/planner_interface.hpp index a6ca4a7a91563..7fe64181ff420 100644 --- a/planning/obstacle_cruise_planner/include/obstacle_cruise_planner/planner_interface.hpp +++ b/planning/obstacle_cruise_planner/include/obstacle_cruise_planner/planner_interface.hpp @@ -21,6 +21,7 @@ #include "tier4_autoware_utils/tier4_autoware_utils.hpp" #include "vehicle_info_util/vehicle_info_util.hpp" +#include "autoware_adapi_v1_msgs/msg/velocity_factor_array.hpp" #include "autoware_auto_planning_msgs/msg/trajectory.hpp" #include "tier4_planning_msgs/msg/stop_reason_array.hpp" #include "tier4_planning_msgs/msg/stop_speed_exceeded.hpp" @@ -32,6 +33,8 @@ #include #include +using autoware_adapi_v1_msgs::msg::VelocityFactor; +using autoware_adapi_v1_msgs::msg::VelocityFactorArray; using autoware_auto_perception_msgs::msg::ObjectClassification; using autoware_auto_planning_msgs::msg::Trajectory; using autoware_auto_planning_msgs::msg::TrajectoryPoint; @@ -50,6 +53,8 @@ class PlannerInterface { stop_reasons_pub_ = node.create_publisher("~/output/stop_reasons", 1); + velocity_factors_pub_ = + node.create_publisher("/planning/velocity_factors/obstacle_cruise", 1); stop_speed_exceeded_pub_ = node.create_publisher("~/output/stop_speed_exceeded", 1); } @@ -110,6 +115,7 @@ class PlannerInterface // Publishers rclcpp::Publisher::SharedPtr stop_reasons_pub_; + rclcpp::Publisher::SharedPtr velocity_factors_pub_; rclcpp::Publisher::SharedPtr stop_speed_exceeded_pub_; // Vehicle Parameters diff --git a/planning/obstacle_cruise_planner/package.xml b/planning/obstacle_cruise_planner/package.xml index 399fe1a39608b..dd294674bb160 100644 --- a/planning/obstacle_cruise_planner/package.xml +++ b/planning/obstacle_cruise_planner/package.xml @@ -16,6 +16,7 @@ autoware_cmake + autoware_adapi_v1_msgs autoware_auto_perception_msgs autoware_auto_planning_msgs geometry_msgs diff --git a/planning/obstacle_cruise_planner/src/planner_interface.cpp b/planning/obstacle_cruise_planner/src/planner_interface.cpp index db2c9c4407ca6..45ed1d3f92d0e 100644 --- a/planning/obstacle_cruise_planner/src/planner_interface.cpp +++ b/planning/obstacle_cruise_planner/src/planner_interface.cpp @@ -72,6 +72,26 @@ tier4_planning_msgs::msg::StopReasonArray makeEmptyStopReasonArray( return stop_reason_array; } +VelocityFactorArray makeVelocityFactorArray( + const rclcpp::Time & time, const std::optional pose = std::nullopt) +{ + VelocityFactorArray velocity_factor_array; + velocity_factor_array.header.frame_id = "map"; + velocity_factor_array.header.stamp = time; + + if (pose) { + using distance_type = VelocityFactor::_distance_type; + VelocityFactor velocity_factor; + velocity_factor.type = VelocityFactor::ROUTE_OBSTACLE; + velocity_factor.pose = pose.value(); + velocity_factor.distance = std::numeric_limits::quiet_NaN(); + velocity_factor.status = VelocityFactor::UNKNOWN; + velocity_factor.detail = std::string(); + velocity_factor_array.factors.push_back(velocity_factor); + } + return velocity_factor_array; +} + double calcMinimumDistanceToStop( const double initial_vel, const double max_acc, const double min_acc) { @@ -92,6 +112,7 @@ Trajectory PlannerInterface::generateStopTrajectory( if (planner_data.target_obstacles.empty()) { stop_reasons_pub_->publish(makeEmptyStopReasonArray(planner_data.current_time)); + velocity_factors_pub_->publish(makeVelocityFactorArray(planner_data.current_time)); // delete marker const auto markers = @@ -207,6 +228,7 @@ Trajectory PlannerInterface::generateStopTrajectory( const auto stop_reasons_msg = makeStopReasonArray(planner_data.current_time, stop_pose, *closest_stop_obstacle); stop_reasons_pub_->publish(stop_reasons_msg); + velocity_factors_pub_->publish(makeVelocityFactorArray(planner_data.current_time, stop_pose)); // Publish if ego vehicle collides with the obstacle with a limit acceleration const auto stop_speed_exceeded_msg = diff --git a/planning/obstacle_stop_planner/include/obstacle_stop_planner/debug_marker.hpp b/planning/obstacle_stop_planner/include/obstacle_stop_planner/debug_marker.hpp index 2b34a92c4c747..2d3dc40914895 100644 --- a/planning/obstacle_stop_planner/include/obstacle_stop_planner/debug_marker.hpp +++ b/planning/obstacle_stop_planner/include/obstacle_stop_planner/debug_marker.hpp @@ -19,6 +19,7 @@ #include #include +#include #include #include #include @@ -43,6 +44,8 @@ using std_msgs::msg::Header; using visualization_msgs::msg::Marker; using visualization_msgs::msg::MarkerArray; +using autoware_adapi_v1_msgs::msg::VelocityFactor; +using autoware_adapi_v1_msgs::msg::VelocityFactorArray; using tier4_debug_msgs::msg::Float32MultiArrayStamped; using tier4_planning_msgs::msg::StopFactor; using tier4_planning_msgs::msg::StopReason; @@ -113,6 +116,7 @@ class ObstacleStopPlannerDebugNode MarkerArray makeVirtualWallMarker(); MarkerArray makeVisualizationMarker(); StopReasonArray makeStopReasonArray(); + VelocityFactorArray makeVelocityFactorArray(); void setDebugValues(const DebugValues::TYPE type, const double val) { @@ -124,6 +128,7 @@ class ObstacleStopPlannerDebugNode rclcpp::Publisher::SharedPtr virtual_wall_pub_; rclcpp::Publisher::SharedPtr debug_viz_pub_; rclcpp::Publisher::SharedPtr stop_reason_pub_; + rclcpp::Publisher::SharedPtr velocity_factor_pub_; rclcpp::Publisher::SharedPtr pub_debug_values_; rclcpp::Node * node_; double base_link2front_; diff --git a/planning/obstacle_stop_planner/package.xml b/planning/obstacle_stop_planner/package.xml index eb03e76b520ce..5b48e16a848d3 100644 --- a/planning/obstacle_stop_planner/package.xml +++ b/planning/obstacle_stop_planner/package.xml @@ -19,6 +19,7 @@ autoware_cmake + autoware_adapi_v1_msgs autoware_auto_perception_msgs autoware_auto_planning_msgs diagnostic_msgs diff --git a/planning/obstacle_stop_planner/src/debug_marker.cpp b/planning/obstacle_stop_planner/src/debug_marker.cpp index 813c4c3b9c7dc..683bbdf9e6113 100644 --- a/planning/obstacle_stop_planner/src/debug_marker.cpp +++ b/planning/obstacle_stop_planner/src/debug_marker.cpp @@ -46,6 +46,8 @@ ObstacleStopPlannerDebugNode::ObstacleStopPlannerDebugNode( virtual_wall_pub_ = node_->create_publisher("~/virtual_wall", 1); debug_viz_pub_ = node_->create_publisher("~/debug/marker", 1); stop_reason_pub_ = node_->create_publisher("~/output/stop_reasons", 1); + velocity_factor_pub_ = + node_->create_publisher("/planning/velocity_factors/obstacle_stop", 1); pub_debug_values_ = node_->create_publisher("~/obstacle_stop/debug_values", 1); } @@ -149,6 +151,8 @@ void ObstacleStopPlannerDebugNode::publish() /* publish stop reason for autoware api */ const auto stop_reason_msg = makeStopReasonArray(); stop_reason_pub_->publish(stop_reason_msg); + const auto velocity_factor_msg = makeVelocityFactorArray(); + velocity_factor_pub_->publish(velocity_factor_msg); // publish debug values Float32MultiArrayStamped debug_msg{}; @@ -389,4 +393,23 @@ StopReasonArray ObstacleStopPlannerDebugNode::makeStopReasonArray() return stop_reason_array; } +VelocityFactorArray ObstacleStopPlannerDebugNode::makeVelocityFactorArray() +{ + VelocityFactorArray velocity_factor_array; + velocity_factor_array.header.frame_id = "map"; + velocity_factor_array.header.stamp = node_->now(); + + if (stop_pose_ptr_) { + using distance_type = VelocityFactor::_distance_type; + VelocityFactor velocity_factor; + velocity_factor.type = VelocityFactor::ROUTE_OBSTACLE; + velocity_factor.pose = *stop_pose_ptr_; + velocity_factor.distance = std::numeric_limits::quiet_NaN(); + velocity_factor.status = VelocityFactor::UNKNOWN; + velocity_factor.detail = std::string(); + velocity_factor_array.factors.push_back(velocity_factor); + } + return velocity_factor_array; +} + } // namespace motion_planning diff --git a/planning/route_handler/src/route_handler.cpp b/planning/route_handler/src/route_handler.cpp index f3bce09fa8615..8fe5e350a5599 100644 --- a/planning/route_handler/src/route_handler.cpp +++ b/planning/route_handler/src/route_handler.cpp @@ -107,7 +107,8 @@ PathWithLaneId removeOverlappingPoints(const PathWithLaneId & input_path) filtered_path.points.push_back(pt); } } - filtered_path.drivable_area = input_path.drivable_area; + filtered_path.left_bound = input_path.left_bound; + filtered_path.right_bound = input_path.right_bound; return filtered_path; } diff --git a/planning/static_centerline_optimizer/include/static_centerline_optimizer/collision_free_optimizer_node.hpp b/planning/static_centerline_optimizer/include/static_centerline_optimizer/collision_free_optimizer_node.hpp index e76cd4b69365f..55f91bddbdab2 100644 --- a/planning/static_centerline_optimizer/include/static_centerline_optimizer/collision_free_optimizer_node.hpp +++ b/planning/static_centerline_optimizer/include/static_centerline_optimizer/collision_free_optimizer_node.hpp @@ -20,7 +20,6 @@ #include "motion_utils/motion_utils.hpp" #include "obstacle_avoidance_planner/common_structs.hpp" -#include "obstacle_avoidance_planner/costmap_generator.hpp" #include "obstacle_avoidance_planner/eb_path_optimizer.hpp" #include "obstacle_avoidance_planner/mpt_optimizer.hpp" #include "rclcpp/clock.hpp" @@ -67,7 +66,6 @@ class CollisionFreeOptimizerNode : public rclcpp::Node double max_delta_time_sec_for_replan_; // logic - std::unique_ptr costmap_generator_ptr_; std::unique_ptr eb_path_optimizer_ptr_; std::unique_ptr mpt_optimizer_ptr_; diff --git a/planning/static_centerline_optimizer/src/collision_free_optimizer_node.cpp b/planning/static_centerline_optimizer/src/collision_free_optimizer_node.cpp index f9d8439286473..5dd83d6d4b310 100644 --- a/planning/static_centerline_optimizer/src/collision_free_optimizer_node.cpp +++ b/planning/static_centerline_optimizer/src/collision_free_optimizer_node.cpp @@ -371,8 +371,6 @@ void CollisionFreeOptimizerNode::resetPlanning() { RCLCPP_WARN(get_logger(), "[ObstacleAvoidancePlanner] Reset planning"); - costmap_generator_ptr_ = std::make_unique(); - eb_path_optimizer_ptr_ = std::make_unique( is_showing_debug_info_, traj_param_, eb_param_, vehicle_param_); @@ -391,7 +389,7 @@ void CollisionFreeOptimizerNode::resetPrevOptimization() Trajectory CollisionFreeOptimizerNode::pathCallback(const Path::ConstSharedPtr path_ptr) { - if (path_ptr->points.empty() || path_ptr->drivable_area.data.empty()) { + if (path_ptr->points.empty()) { return Trajectory{}; } @@ -411,8 +409,6 @@ Trajectory CollisionFreeOptimizerNode::pathCallback(const Path::ConstSharedPtr p // cv_maps const auto predicted_objects = PredictedObjects{}.objects; - const CVMaps cv_maps = - costmap_generator_ptr_->getMaps(false, *path_ptr, predicted_objects, traj_param_, debug_data_); const size_t initial_target_index = 3; auto target_pose = resampled_path.points.at(initial_target_index).pose; // TODO(murooka) @@ -424,8 +420,8 @@ Trajectory CollisionFreeOptimizerNode::pathCallback(const Path::ConstSharedPtr p .pose; const auto mpt_trajs = mpt_optimizer_ptr_->getModelPredictiveTrajectory( - false, resampled_traj_points, resampled_path.points, prev_optimal_trajs_ptr_, cv_maps, - target_pose, 0.0, debug_data_); + false, resampled_traj_points, resampled_path.points, resampled_path.left_bound, + resampled_path.right_bound, prev_optimal_trajs_ptr_, target_pose, 0.0, debug_data_); if (!mpt_trajs) { break; } diff --git a/planning/static_centerline_optimizer/src/static_centerline_optimizer_node.cpp b/planning/static_centerline_optimizer/src/static_centerline_optimizer_node.cpp index a756309aefd60..df2e01cbcd31c 100644 --- a/planning/static_centerline_optimizer/src/static_centerline_optimizer_node.cpp +++ b/planning/static_centerline_optimizer/src/static_centerline_optimizer_node.cpp @@ -45,7 +45,8 @@ Path convert_to_path(const PathWithLaneId & path_with_lane_id) { Path path; path.header = path_with_lane_id.header; - path.drivable_area = path_with_lane_id.drivable_area; + path.left_bound = path_with_lane_id.left_bound; + path.right_bound = path_with_lane_id.right_bound; for (const auto & point : path_with_lane_id.points) { path.points.push_back(point.point); } diff --git a/planning/static_centerline_optimizer/src/utils.cpp b/planning/static_centerline_optimizer/src/utils.cpp index bd01977734019..f97d08b113e2a 100644 --- a/planning/static_centerline_optimizer/src/utils.cpp +++ b/planning/static_centerline_optimizer/src/utils.cpp @@ -92,11 +92,10 @@ PathWithLaneId get_path_with_lane_id( planner_data->parameters.ego_nearest_yaw_threshold = ego_nearest_yaw_threshold; // generate drivable area and store it in path with lane id - constexpr double drivable_area_resolution = 0.1; constexpr double vehicle_length = 0.0; const auto drivable_lanes = behavior_path_planner::util::generateDrivableLanes(lanelets); - path_with_lane_id.drivable_area = behavior_path_planner::util::generateDrivableArea( - path_with_lane_id, drivable_lanes, drivable_area_resolution, vehicle_length, planner_data); + behavior_path_planner::util::generateDrivableArea( + path_with_lane_id, drivable_lanes, vehicle_length, planner_data); return path_with_lane_id; } diff --git a/planning/surround_obstacle_checker/include/surround_obstacle_checker/debug_marker.hpp b/planning/surround_obstacle_checker/include/surround_obstacle_checker/debug_marker.hpp index 36e1e22f4aa23..bd0fe48bbda28 100644 --- a/planning/surround_obstacle_checker/include/surround_obstacle_checker/debug_marker.hpp +++ b/planning/surround_obstacle_checker/include/surround_obstacle_checker/debug_marker.hpp @@ -17,6 +17,7 @@ #include +#include #include #include #include @@ -31,6 +32,8 @@ namespace surround_obstacle_checker { +using autoware_adapi_v1_msgs::msg::VelocityFactor; +using autoware_adapi_v1_msgs::msg::VelocityFactorArray; using geometry_msgs::msg::PolygonStamped; using tier4_planning_msgs::msg::StopFactor; using tier4_planning_msgs::msg::StopReason; @@ -63,6 +66,7 @@ class SurroundObstacleCheckerDebugNode rclcpp::Publisher::SharedPtr debug_virtual_wall_pub_; rclcpp::Publisher::SharedPtr debug_viz_pub_; rclcpp::Publisher::SharedPtr stop_reason_pub_; + rclcpp::Publisher::SharedPtr velocity_factor_pub_; rclcpp::Publisher::SharedPtr vehicle_footprint_pub_; rclcpp::Publisher::SharedPtr vehicle_footprint_offset_pub_; @@ -77,6 +81,7 @@ class SurroundObstacleCheckerDebugNode MarkerArray makeVirtualWallMarker(); MarkerArray makeVisualizationMarker(); StopReasonArray makeStopReasonArray(); + VelocityFactorArray makeVelocityFactorArray(); Polygon2d createSelfPolygonWithOffset(const Polygon2d & base_polygon, const double & offset); PolygonStamped boostPolygonToPolygonStamped(const Polygon2d & boost_polygon, const double & z); diff --git a/planning/surround_obstacle_checker/package.xml b/planning/surround_obstacle_checker/package.xml index 243cf2cf3dfd1..e1d31acbaba1c 100644 --- a/planning/surround_obstacle_checker/package.xml +++ b/planning/surround_obstacle_checker/package.xml @@ -14,6 +14,7 @@ autoware_cmake + autoware_adapi_v1_msgs autoware_auto_perception_msgs autoware_auto_planning_msgs autoware_auto_tf2 diff --git a/planning/surround_obstacle_checker/src/debug_marker.cpp b/planning/surround_obstacle_checker/src/debug_marker.cpp index 1fe52d4273571..c30f778584fd7 100644 --- a/planning/surround_obstacle_checker/src/debug_marker.cpp +++ b/planning/surround_obstacle_checker/src/debug_marker.cpp @@ -51,6 +51,8 @@ SurroundObstacleCheckerDebugNode::SurroundObstacleCheckerDebugNode( node.create_publisher("~/virtual_wall", 1); debug_viz_pub_ = node.create_publisher("~/debug/marker", 1); stop_reason_pub_ = node.create_publisher("~/output/stop_reasons", 1); + velocity_factor_pub_ = + node.create_publisher("/planning/velocity_factors/surround_obstacle", 1); vehicle_footprint_pub_ = node.create_publisher("~/debug/footprint", 1); vehicle_footprint_offset_pub_ = node.create_publisher("~/debug/footprint_offset", 1); @@ -116,6 +118,8 @@ void SurroundObstacleCheckerDebugNode::publish() /* publish stop reason for autoware api */ const auto stop_reason_msg = makeStopReasonArray(); stop_reason_pub_->publish(stop_reason_msg); + const auto velocity_factor_msg = makeVelocityFactorArray(); + velocity_factor_pub_->publish(velocity_factor_msg); /* reset variables */ stop_pose_ptr_ = nullptr; @@ -183,6 +187,25 @@ StopReasonArray SurroundObstacleCheckerDebugNode::makeStopReasonArray() return stop_reason_array; } +VelocityFactorArray SurroundObstacleCheckerDebugNode::makeVelocityFactorArray() +{ + VelocityFactorArray velocity_factor_array; + velocity_factor_array.header.frame_id = "map"; + velocity_factor_array.header.stamp = clock_->now(); + + if (stop_pose_ptr_) { + using distance_type = VelocityFactor::_distance_type; + VelocityFactor velocity_factor; + velocity_factor.type = VelocityFactor::SURROUNDING_OBSTACLE; + velocity_factor.pose = *stop_pose_ptr_; + velocity_factor.distance = std::numeric_limits::quiet_NaN(); + velocity_factor.status = VelocityFactor::UNKNOWN; + velocity_factor.detail = std::string(); + velocity_factor_array.factors.push_back(velocity_factor); + } + return velocity_factor_array; +} + Polygon2d SurroundObstacleCheckerDebugNode::createSelfPolygonWithOffset( const Polygon2d & base_polygon, const double & offset) { diff --git a/system/default_ad_api/CMakeLists.txt b/system/default_ad_api/CMakeLists.txt index 12b6eef559fe4..e0656a15b82f3 100644 --- a/system/default_ad_api/CMakeLists.txt +++ b/system/default_ad_api/CMakeLists.txt @@ -34,4 +34,4 @@ install( DESTINATION lib/${PROJECT_NAME} ) -ament_auto_package(INSTALL_TO_SHARE launch test) +ament_auto_package(INSTALL_TO_SHARE config launch test) diff --git a/system/default_ad_api/README.md b/system/default_ad_api/README.md new file mode 100644 index 0000000000000..0b6cdf30778a2 --- /dev/null +++ b/system/default_ad_api/README.md @@ -0,0 +1,11 @@ +# default_ad_api + +This package is a default implementation AD API. + +- [autoware state (backward compatibility)](document/autoware-state.md) +- [fail-safe](document/fail-safe.md) +- [interface](document/interface.md) +- [localization](document/localization.md) +- [motion](document/motion.md) +- [operation mode](document/operation-mode.md) +- [routing](document/routing.md) diff --git a/system/default_ad_api/config/default_ad_api.param.yaml b/system/default_ad_api/config/default_ad_api.param.yaml new file mode 100644 index 0000000000000..a15abe091764c --- /dev/null +++ b/system/default_ad_api/config/default_ad_api.param.yaml @@ -0,0 +1,8 @@ +/default_ad_api/node/autoware_state: + ros__parameters: + update_rate: 10.0 + +/default_ad_api/node/motion: + ros__parameters: + require_accept_start: false + stop_check_duration: 1.0 diff --git a/system/default_ad_api/document/autoware-state.md b/system/default_ad_api/document/autoware-state.md new file mode 100644 index 0000000000000..e26756de1f4ba --- /dev/null +++ b/system/default_ad_api/document/autoware-state.md @@ -0,0 +1,16 @@ +# Autoware state compatibility + +## Overview + +Since `/autoware/state` was so widely used, default_ad_api creates it from the states of AD API for backwards compatibility. +The diagnostic checks that ad_service_state_monitor used to perform have been replaced by component_state_monitor. +The service `/autoware/shutdown` to change autoware state to finalizing is also supported for compatibility. + +![autoware-state-architecture](images/autoware-state-architecture.drawio.svg) + +## Conversion + +This is the correspondence between AD API states and autoware states. +The launch state is the data that default_ad_api node holds internally. + +![autoware-state-table](images/autoware-state-table.drawio.svg) diff --git a/system/default_ad_api/document/fail-safe.md b/system/default_ad_api/document/fail-safe.md new file mode 100644 index 0000000000000..b9967089c5e3a --- /dev/null +++ b/system/default_ad_api/document/fail-safe.md @@ -0,0 +1,5 @@ +# Fail-safe API + +## Overview + +The fail-safe API simply relays the MRM state. See the [autoware-documentation](https://autowarefoundation.github.io/autoware-documentation/main/design/autoware-interfaces/ad-api/list/api/fail_safe/) for AD API specifications. diff --git a/system/default_ad_api/document/images/autoware-state-architecture.drawio.svg b/system/default_ad_api/document/images/autoware-state-architecture.drawio.svg new file mode 100644 index 0000000000000..40aebd20ae43f --- /dev/null +++ b/system/default_ad_api/document/images/autoware-state-architecture.drawio.svg @@ -0,0 +1,332 @@ + + + + + + + + + + + +
+
+
+ component state monitor +
+
+
+ + component state monitor + + + + + + + + +
+
+
+ localization +
+ initialization state +
+
+
+ + localization... + + + + + + + + +
+
+
+ routing state +
+
+
+ + routing state + + + + + + + + +
+
+
+ operation mode +
+
+
+ + operation mode + + + + + + + + +
+
+
+ topic check status +
+ for startup +
+
+
+ + topic check status... + + + + + + + + +
+
+
+ topic check status +
+ for autonomous +
+
+
+ + topic check status... + + + + + + + + + + + + +
+
+
+ default_ad_api +
+ (localization, routing, operation mode) +
+
+
+ + default_ad_api... + + + + + + + + +
+
+
+ diagnostics +
+
+
+ + diagnostics + + + + + + + + +
+
+
+ topic state monitor +
+
+
+ + topic state monitor + + + + + + + + +
+
+
+ default_ad_api +
+ (autoware state) +
+
+
+ + default_ad_api... + + + + + + +
+
+
+ autoware +
+ state +
+
+
+ + autoware... + + + + + + + + +
+
+
+ autoware +
+ shutdown +
+
+
+ + autoware... + + + + + + + + +
+
+
+ topics that ad_service_state_monitor was checking before +
+
+
+ + topics that ad_service_state_monitor was checking before + + + + + + + +
+
+
+ node +
+
+
+ + node + + + + + + +
+
+
+ service +
+
+
+ + service + + + + + + +
+
+
+ topic +
+
+
+ + topic + + + + + + + Viewer does not support full SVG 1.1 + + + diff --git a/system/default_ad_api/document/images/autoware-state-table.drawio.svg b/system/default_ad_api/document/images/autoware-state-table.drawio.svg new file mode 100644 index 0000000000000..ab21c1b865407 --- /dev/null +++ b/system/default_ad_api/document/images/autoware-state-table.drawio.svg @@ -0,0 +1,457 @@ + + + + + + + + +
+
+
+ WaitingForRoute +
+
+
+ + WaitingForRoute + + + + + + +
+
+
+ localization state +
+
+
+ + localization state + + + + + + +
+
+
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+
+
+ + routing state + + + + + + +
+
+
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+
+ + operation mode + + + + + + +
+
+
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+
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+
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+
+ + Planning + + + + + + +
+
+
+ WaitingForEngage +
+
+
+ + WaitingForEngage + + + + + + +
+
+
+ Driving +
+
+
+ + Driving + + + + + + +
+
+
+ ArrivedGoal +
+
+
+ + ArrivedGoal + + + + + + +
+
+
+ Finalizing +
+
+
+ + Finalizing + + + + + + + + + + + + + + Viewer does not support full SVG 1.1 + + + diff --git a/system/default_ad_api/document/images/localization.drawio.svg b/system/default_ad_api/document/images/localization.drawio.svg new file mode 100644 index 0000000000000..3c1347e8b4a3c --- /dev/null +++ b/system/default_ad_api/document/images/localization.drawio.svg @@ -0,0 +1,553 @@ + + + + + + + + + + + + + +
+
+
+ Applications (FMS, etc.) +
+
+
+ + Applications (FMS, etc.) + + + + + + + + +
+
+
+ /api/localization/initialize +
+
+
+ + /api/localization/initialize + + + + + + + + +
+
+
+ AD API +
+ (default implementation) +
+
+
+ + AD API... + + + + + + + + + + +
+
+
+ /localization/initialize +
+
+
+ + /localization/initialize + + + + + + +
+
+
+ component_state_monitor +
+
+
+ + component_state_monitor + + + + + + + + +
+
+
+ initialpose3d +
+
+
+ + initialpose3d + + + + + + + + + + + +
+
+
+ simple_planning_simulator +
+
+
+ + simple_planning_simulator + + + + + + +
+
+
+ NDT +
+
+
+ + NDT + + + + + + + + + +
+
+
+ ndt_align_srv +
+
+
+ + ndt_align_srv + + + + + + +
+
+
+ common +
+
+
+ + common + + + + + + +
+
+
+ psim +
+
+
+ + psim + + + + + + +
+
+
+ lsim/real +
+
+
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+
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+
+ + node + + + + + + +
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+
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+
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+
+
+ topic +
+
+
+ + topic + + + + + + + + + + + + + +
+
+
+ + initial_pose_adaptor +
+ (Fix z position to fit map) + +
+
+
+ + initial_pose_adaptor... + + + + + + + + +
+
+
+ EKF +
+
+
+ + EKF + + + + + + + + +
+
+
+ gnss pose +
+
+
+ + gnss pose + + + + + + +
+
+
+ Module when using GNSS +
+ (Fix z position to fit map) +
+
+
+ + Module when using GNSS... + + + + + + + + +
+
+
+ automatic_pose_initializer +
+ (Call the API when state is uninitialized) +
+
+
+ + automatic_pose_initializer... + + + + + + + + +
+
+
+ initialpose (from rviz) +
+
+
+ + initialpose (from rviz) + + + + + + + + + + + + +
+
+
+ fit_map_height +
+
+
+ + fit_map_height + + + + + + +
+
+
+ map_height_fitter +
+
+
+ + map_height_fitter + + + + + + +
+
+
+ Module when using NDT +
+
+
+ + Module when using NDT + + + + + + + + +
+
+
+ /localization/initialization_state +
+
+
+ + /localization/initialization_state + + + + + + + + +
+
+
+ sensing twist +
+
+
+ + sensing twist + + + + + + +
+
+
+ pose_initializer +
+
+
+ + pose_initializer + + + + + + +
+
+
+ Module to check vehicle stops +
+
+
+ + Module to check vehicle stops + + + + + + + Viewer does not support full SVG 1.1 + + + diff --git a/system/default_ad_api/document/images/motion-architecture.drawio.svg b/system/default_ad_api/document/images/motion-architecture.drawio.svg new file mode 100644 index 0000000000000..24271b1c65643 --- /dev/null +++ b/system/default_ad_api/document/images/motion-architecture.drawio.svg @@ -0,0 +1,255 @@ + + + + + + + + + + + +
+
+
+ AD API +
+
+
+ + AD API + + + + + + + + +
+
+
+ Applications +
+
+
+ + Applications + + + + + + + + + + +
+
+
+ vehicle_cmd_gate +
+
+
+ + vehicle_cmd_gate + + + + + + + + +
+
+
+ /localization/kinematic_state +
+
+
+ + /localization/kinematic_state + + + + + + + + +
+
+
+ is_paused +
+
+
+ + is_paused + + + + + + + + +
+
+
+ is_start_requested +
+
+
+ + is_start_requested + + + + + + + + +
+
+
+ set_pause +
+
+
+ + set_pause + + + + + + + + +
+
+
+ localization +
+
+
+ + localization + + + + + + + + +
+
+
+ accept_start +
+
+
+ + accept_start + + + + + + + + +
+
+
+ motion_state +
+
+
+ + motion_state + + + + + + + +
+
+
+ node +
+
+
+ + node + + + + + + +
+
+
+ service +
+
+
+ + service + + + + + + +
+
+
+ topic +
+
+
+ + topic + + + + + + + Viewer does not support full SVG 1.1 + + + diff --git a/system/default_ad_api/document/motion.drawio.svg b/system/default_ad_api/document/images/motion-state.drawio.svg similarity index 74% rename from system/default_ad_api/document/motion.drawio.svg rename to system/default_ad_api/document/images/motion-state.drawio.svg index c6e2593ed0eb7..3387b8ed29bb7 100644 --- a/system/default_ad_api/document/motion.drawio.svg +++ b/system/default_ad_api/document/images/motion-state.drawio.svg @@ -3,13 +3,31 @@ xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" version="1.1" - width="342px" + width="521px" height="282px" - viewBox="-0.5 -0.5 342 282" - content="<mxfile><diagram id="Cz8Q8T6vesO4MC4sh1-d" name="Page-1">5VpNc5swEP01vmZAAhkf2zRpL5nJ1IeeZZCBqUCMkL/66ytAfIo4tgE7iXPIoGUl0Nu3T9LiGXyM9j85ToIX5hE6A4a3n8EfMwDmAMr/meFQGCwTFAafh15hMmvDMvxHlNFQ1k3okbTlKBijIkzaRpfFMXFFy4Y5Z7u225rR9lMT7BPNsHQx1a1/Qk8EymqiRX3jFwn9QD3aAfPiRoRLZzWTNMAe2zVM8GkGHzljoriK9o+EZtiVuBT9nt+4W70YJ7E4pQNUPVJxKCdHPDlX1WRcBMxnMaZPtfU7Z5vYI9kIhmwFIqLy0pSXqcBcfMsAlgaX4jQN3dL8HNLSrXhk9pw337p8LbbhrvJSFJFj+UR5wQoxyTTCIiL4QbpwQrEIt+3RsYq5X/nVsMgLhcwbKNmfGiVrIEx5V/nC+NBwSFgYi7Qx8mtmkA4qyYGhKK5yfNEh4lnu8qJ4fh2uaiInRVDBssV0o+b7ijepjE43rnXUshjsglCQZYJzdHdSy9qRXMtoPTLKeN4Xrh2XuEUoOftLGndWjm3ZRhXULeGC7I+HVY9X2QG1kTJLLdnVUuQoU9AQIcsYngjAOZoIMYvJEa6r202iGxcTHepEH8rzk+VAI9Nvkm6iMPZHpZNnE8ez+ujkgBVEaBw6QXBDOi0u0NUz2dWW4cu4ZulcQ7fQVNhJfYCOi+o7/oNVFcLJ1sVRtaInfvaVtMLq14qRV57bSEW1Zl9DKtCHWXlsnU3gSmyyNTZl25ixF57b7GOuySZoaIB9yIUHjS9co2zmwfy83XzHf/DCg7Q8eGHbz7n/0tLA0dOg4vzYeTDXcNTzIvY6RPdwGlSQNuA7leI6FI2p2j0zLW3ncVwjZRdoe/GA7EX9N28PWOShGuMI160u11EnMEX2agNdQHtHC1cqWCItecMQXJq78ZPMFF3xatJZBbXJfWXCNPRj2aRknY2QsTx0Mf2mzFHoebku9mVVn/gNSpNu8KzTFgswQpIsjqO+xjS9G9jR9WAvi713KU7mXIoTGkeQTGcyQTJNLUZJVle7R0kyr5kb4B3c70mUzJ4d01TAw+PH0A9T8YA9JY+hX0tGKVmZxnklq47/8JKVXpBZZoiPfoZer0H/GdpDK2RPdHjo2RVNdnaA+r4Iuy5JxASy40o8CL+58MD+j1RNuNFEwmPpHx10Jfqqu6HF4sGeDz+pVatCR1sm2BhZusy4kZfzj1aLtF6E+qIL9ImVvVHyRC+R5sAjHGVTjVdpksOTR6G0+iKf990E5IobJuuuSkxdhdFqQbeXKtmsf15UuNe/0YJP/wE=</diagram></mxfile>" + viewBox="-0.5 -0.5 521 282" + content="<mxfile><diagram id="Cz8Q8T6vesO4MC4sh1-d" name="Page-1">5Vpdc6IwFP01vnaAQMRHa223D906a2f3OUIEZoE4IWq7v36DhM+gxRq0rT44cEkgOffck5sLAzCJXh8oWvlPxMXhwNDc1wG4GxjGSDf4f2p4ywwW1DKDRwM3M+mlYR78w8KYN1sHLk5qDRkhIQtWdaND4hg7rGZDlJJtvdmShPWnrpCHJcPcQaFs/RO4zBdWHY7KCz9w4Pni0bYxzC5EKG8sZpL4yCXbiglMB2BCCWHZUfQ6wWGKXY5L1u9+z9ViYBTHrEsHU4x4g8K1mNycIYbTJjH/G9+lf7NHMVr2lkNAyTp2cXoXbQBut37A8HyFnPTqlvuc23wWhfxM54dLEjPhRe56cLvBlAUcznEYeDE3MpJ2ECPh1/Dr3unoBUicXJhEmNE33kR0ME2BqyCWLU63FS/l0PsVBxmaMCLBDK+4dQkePxD4tWMJdAkl7HLeiFNCmU88EqNwWlpv6zhWMEsYomyckpUbnBAlSeDk5vsgzJvtQYiPgqypI4Yhwo139bBoBTJTOsCDwFIcIhZs6sQ/CSXrK6FkqoZp15UPGL1VGqxIELOkcudZaihprdt1Wo8aQX1Uc36QPb90VzGRTh40JMmYoXXCvbNfI/QOGsG9NSEhobu+YGk72MlcSclfXLmysC3T0g45VZKQvXqhN/SiEIeKYNgtemEqkAvDPhgIMYnxAa6Ly1WiH8SkSnQgE105zzvLgUSmXzhZR0HsKaWTa2HbNdvoZBsLAKEaOgHtgnQafUBXj2RXXYY7cc2UuQY/haaCRugb8LCovtP+ZFUFoLd18RStaPGfdSmtMNu1QvHKcxmpKDLQc0gFvNTKY8lsMi7FJktiU5rGqF54LpPHnJNNQJMA+wwLDzyDcClJ5o3hcdl8o/3JCw+U4uCJbL5m/iWFQcv+v+C86jgYSjjKcRG7DaK7KPELSCvw7QXjXfJWpmq1zDS3HcdxiZRNoK3RDbRG5W9Yv2EWmOIeh5KsJtdhwzFZOEs3+gDtbcldSVqG4hl7eqIxys1N/3EasqZ4VeksnFrlvjAhUekK8ZK1FMCiwHV3utgWVR3Fr3uYNJ1ndlssDAVBIpcba6gvUZhcDezwfLDnhfOrFCd9yMUJqhGkYjFWL0i6LvloldbVrlGS9HPGhvEO7tckSnpLxtQX8ODwNvRSFQ/QUvJQ/rZESclK144rWTXan16ykgsy8xRx5Xvo5dJo30O7cAGtnjYPLVlRb3sHIOdFyHHwivUgOw6HCNOLC4/R/pKqCjfsSXhM+aWDrETfNRsajW6s4ek7tcI5DW3pITEyZZlxIndHtrBYpOUi1DddoDtW9pTEiVwi3QEPUZRONV4kqx08Oy/kVo/t5n01DjljwmReVYmpqTBSLegzSpVcVZq/jH+9PP58kDx1lozotK+prAZww5bPqbSeUqL82dW69PNv1UB2rksrBbJ4Z3IWIOW6wvzleTab3qmlZNcXXWopqfeHJD8tP8TMxKD8mhVM/wM=</diagram></mxfile>" > + + + + +
+
+
+ State in AD API +
+
+
+ + State in AD API + + @@ -265,6 +283,57 @@ + + + + +
+
+
+ STARTING +
+
+
+ + STARTING + + + + + + +
+
+
+ MOVING +
+
+
+ + MOVING + + + + + + +
+
+
+ STOPPED +
+
+
+ + STOPPED + + diff --git a/system/default_ad_api/document/images/operation-mode-architecture.drawio.svg b/system/default_ad_api/document/images/operation-mode-architecture.drawio.svg new file mode 100644 index 0000000000000..4a879e98ed09d --- /dev/null +++ b/system/default_ad_api/document/images/operation-mode-architecture.drawio.svg @@ -0,0 +1,323 @@ + + + + + + + + + +
+
+
+ external_cmd_selector +
+
+
+ + external_cmd_selector + + + + + + + + +
+
+
+ vehicle_cmd_gate +
+
+
+ + vehicle_cmd_gate + + + + + + + + + + + + +
+
+
+ vehicle_interface +
+
+
+ + vehicle_interface + + + + + + + + + + + + + + +
+
+
+ + operation mode +
+ transition manager + +
+
+
+ + operation mode... + + + + + + +
+
+
+ engage, gate_mode +
+
+
+ + engage, gate_mode + + + + + + +
+
+
+ control_mode +
+
+
+ + control_mode + + + + + + +
+
+
+ selector_mode +
+
+
+ + selector_mode + + + + + + +
+
+
+ AD API +
+
+
+ + AD API + + + + + + +
+
+
+ control command +
+ (joystick etc.) +
+
+
+ + control command... + + + + + + +
+
+
+ control command +
+ (remote) +
+
+
+ + control command... + + + + + + +
+
+
+ control command +
+ (autonomous) +
+
+
+ + control command... + + + + + + + + +
+
+
+ + component_state_monitor +
+ +
+
+
+ + component_state_monitor + + + + + + + + +
+
+
+ diagnostics +
+
+
+ + diagnostics + + + + + + + +
+
+
+ node +
+
+
+ + node + + + + + + +
+
+
+ service +
+
+
+ + service + + + + + + +
+
+
+ topic +
+
+
+ + topic + + + + + + + Viewer does not support full SVG 1.1 + + + diff --git a/system/default_ad_api/document/images/operation-mode-state.drawio.svg b/system/default_ad_api/document/images/operation-mode-state.drawio.svg new file mode 100644 index 0000000000000..3a008fd8a64f3 --- /dev/null +++ b/system/default_ad_api/document/images/operation-mode-state.drawio.svg @@ -0,0 +1,418 @@ + + + + + + + + + + + + + +
+
+
+ stop +
+ (autoware control is false) +
+
+
+ + stop... + + + + + + + + + + +
+
+
+ auto +
+ (autoware control is false) +
+
+
+ + auto... + + + + + + + + + + +
+
+
+ auto +
+ (autoware control is true) +
+
+
+ + auto... + + + + + + + + + + +
+
+
+ stop +
+ (autoware control is true) +
+
+
+ + stop... + + + + + + + + + + + + +
+
+
+ auto +
+ (in transition) +
+
+
+ + auto... + + + + + + + + + + + + +
+
+
+ stop +
+ (in transition) +
+
+
+ + stop... + + + + + + + + +
+
+
+ disable autoware control +
+
+
+ + disable autoware control + + + + + + + + +
+
+
+ enable autoware control +
+
+
+ + enable autoware control + + + + + + + + +
+
+
+ change operation mode +
+
+
+ + change operation mode + + + + + + + + +
+
+
+ mode change completed +
+
+
+ + mode change completed + + + + + + + + + + +
+
+
+ remote +
+ (autoware control is false) +
+
+
+ + remote... + + + + + + + + +
+
+
+ local +
+ (autoware control is false) +
+
+
+ + local... + + + + + + + + + + + + +
+
+
+ remote +
+ (in transition) +
+
+
+ + remote... + + + + + + + + + + + + +
+
+
+ local +
+ (in transition) +
+
+
+ + local... + + + + + + + + + + +
+
+
+ remote +
+ (autoware control is true) +
+
+
+ + remote... + + + + + + + + + + +
+
+
+ local +
+ (autoware control is true) +
+
+
+ + local... + + + + + + + +
+
+
+ mode change failed +
+
+
+ + mode change failed + + + + + + + + + + Viewer does not support full SVG 1.1 + + + diff --git a/system/default_ad_api/document/images/operation-mode-table.drawio.svg b/system/default_ad_api/document/images/operation-mode-table.drawio.svg new file mode 100644 index 0000000000000..19a3ea5bd1133 --- /dev/null +++ b/system/default_ad_api/document/images/operation-mode-table.drawio.svg @@ -0,0 +1,317 @@ + + + + + + + +
+
+
+ driver +
+
+
+ + driver + + + + + + +
+
+
+ autonomous +
+
+
+ + autonomous + + + + + + +
+
+
+ stop +
+
+
+ + stop + + + + + + +
+
+
+ remote +
+
+
+ + remote + + + + + + +
+
+
+ local +
+
+
+ + local + + + + + + +
+
+
+ control_mode +
+
+
+ + control_mode + + + + + + +
+
+
+ manual +
+
+
+ + manual + + + + + + +
+
+
+ autonomous +
+
+
+ + autonomous + + + + + + +
+
+
+ gate_mode +
+
+
+ + gate_mode + + + + + + + +
+
+
+ auto +
+
+
+ + auto + + + + + + +
+
+
+ external +
+
+
+ + external + + + + + + +
+
+
+ engage +
+
+
+ + engage + + + + + + + +
+
+
+ false +
+
+
+ + false + + + + + + +
+
+
+ true +
+
+
+ + true + + + + + + +
+
+
+ selector_mode +
+
+
+ + selector_mode + + + + + + + +
+
+
+ local +
+
+
+ + local + + + + + + +
+
+
+ remote +
+
+
+ + remote + + + + + + + Viewer does not support full SVG 1.1 + + + diff --git a/system/default_ad_api/document/images/routing.drawio.svg b/system/default_ad_api/document/images/routing.drawio.svg new file mode 100644 index 0000000000000..6742bfe4c12b0 --- /dev/null +++ b/system/default_ad_api/document/images/routing.drawio.svg @@ -0,0 +1,398 @@ + + + + + + + +
+
+
+ mission_planner +
+
+
+ + mission_planner + + + + + + + + +
+
+
+ planner plugin +
+
+
+ + planner plugin + + + + + + + + + + +
+
+
+ routing_adaptor +
+
+
+ + routing_adaptor + + + + + + +
+
+
+ set route +
+
+
+ + set route + + + + + + +
+
+
+ set route points +
+
+
+ + set route points + + + + + + +
+
+
+ pose topic +
+
+
+ + pose topic + + + + + + +
+
+
+ planning modules +
+
+
+ + planning modules + + + + + + +
+
+
+ lanelet route +
+
+
+ + lanelet route + + + + + + +
+
+
+ set route points +
+
+
+ + set route points + + + + + + + + + + + + +
+
+
+ App +
+
+
+ + App + + + + + + +
+
+
+ RViz +
+
+
+ + RViz + + + + + + + + + + + + +
+
+
+ AD +
+ API +
+
+
+ + AD... + + + + + + + + + + + + + + +
+
+
+ main module +
+
+
+ + main module + + + + + + +
+
+
+ set lanelet route +
+
+
+ + set lanelet route + + + + + + +
+
+
+ + route, route state + +
+
+
+ + route, route state + + + + + + +
+
+
+ set route points +
+
+
+ + set route points + + + + + + +
+
+
+ route state +
+
+
+ + route state + + + + + + +
+
+
+ + clear route + +
+
+
+ + clear route + + + + + + +
+
+
+ pose array +
+
+
+ + pose array + + + + + + +
+
+
+ lanelet route +
+
+
+ + lanelet route + + + + + + + Viewer does not support full SVG 1.1 + + + diff --git a/system/default_ad_api/document/interface.md b/system/default_ad_api/document/interface.md new file mode 100644 index 0000000000000..f3fc6a389c294 --- /dev/null +++ b/system/default_ad_api/document/interface.md @@ -0,0 +1,5 @@ +# Interface API + +## Overview + +The interface API simply returns a version number. See the [autoware-documentation](https://autowarefoundation.github.io/autoware-documentation/main/design/autoware-interfaces/ad-api/list/api/interface/) for AD API specifications. diff --git a/system/default_ad_api/document/localization.md b/system/default_ad_api/document/localization.md new file mode 100644 index 0000000000000..866322ed807cf --- /dev/null +++ b/system/default_ad_api/document/localization.md @@ -0,0 +1,7 @@ +# Localization API + +## Overview + +Unify the location initialization method to the service. The topic `/initialpose` from rviz is now only subscribed to by adapter node and converted to API call. This API call is forwarded to the pose initializer node so it can centralize the state of pose initialization. For other nodes that require initialpose, pose initializer node publishes as `/initialpose3d`. See the [autoware-documentation](https://autowarefoundation.github.io/autoware-documentation/main/design/autoware-interfaces/ad-api/list/api/localization/) for AD API specifications. + +![localization-architecture](images/localization.drawio.svg) diff --git a/system/default_ad_api/document/motion.md b/system/default_ad_api/document/motion.md new file mode 100644 index 0000000000000..fd01a8f56ed7f --- /dev/null +++ b/system/default_ad_api/document/motion.md @@ -0,0 +1,13 @@ +# Motion API + +## Overview + +Provides a hook for when the vehicle starts. It is typically used for announcements that call attention to the surroundings. Add a pause function to the vehicle_cmd_gate, and API will control it based on vehicle stopped and start requested. See the [autoware-documentation](https://autowarefoundation.github.io/autoware-documentation/main/design/autoware-interfaces/ad-api/list/api/motion/) for AD API specifications. + +![motion-architecture](images/motion-architecture.drawio.svg) + +## States + +The implementation has more detailed state transitions to manage pause state synchronization. The correspondence with the AD API state is as follows. + +![motion-state](images/motion-state.drawio.svg) diff --git a/system/default_ad_api/document/operation-mode.md b/system/default_ad_api/document/operation-mode.md new file mode 100644 index 0000000000000..703f6aa47b50d --- /dev/null +++ b/system/default_ad_api/document/operation-mode.md @@ -0,0 +1,24 @@ +# Operation mode API + +## Overview + +Introduce operation mode. It handles autoware engage, gate_mode, external_cmd_selector and control_mode abstractly. When the mode is changed, it will be in-transition state, and if the transition completion condition to that mode is not satisfied, it will be returned to the previous mode. Also, currently, the condition for mode change is only `WaitingForEngage` in `/autoware/state`, and the engage state is shared between modes. After introducing the operation mode, each mode will have a transition available flag. See the [autoware-documentation](https://autowarefoundation.github.io/autoware-documentation/main/design/autoware-interfaces/ad-api/list/api/operation_mode/) for AD API specifications. + +![operation-mode-architecture](images/operation-mode-architecture.drawio.svg) + +## States + +The operation mode has the following state transitions. Disabling autoware control and changing operation mode when autoware control is disabled can be done immediately. +Otherwise, enabling autoware control and changing operation mode when autoware control is enabled causes the state will be transition state. +If the mode change completion condition is not satisfied within the timeout in the transition state, it will return to the previous mode. + +![operation-mode-state](images/operation-mode-state.drawio.svg) + +## Compatibility + +Ideally, vehicle_cmd_gate and external_cmd_selector should be merged so that the operation mode can be handled directly. +However, currently the operation mode transition manager performs the following conversions to match the implementation. +The transition manager monitors each topic in the previous interface and synchronizes the operation mode when it changes. +When the operation mode is changed with the new interface, the transition manager disables synchronization and changes the operation mode using the previous interface. + +![operation-mode-table](images/operation-mode-table.drawio.svg) diff --git a/system/default_ad_api/document/routing.md b/system/default_ad_api/document/routing.md new file mode 100644 index 0000000000000..899136f2d9e50 --- /dev/null +++ b/system/default_ad_api/document/routing.md @@ -0,0 +1,7 @@ +# Routing API + +## Overview + +Unify the route setting method to the service. This API supports two waypoint formats, poses and lanelet segments. The goal and checkpoint topics from rviz is only subscribed to by adapter node and converted to API call. This API call is forwarded to the mission planner node so it can centralize the state of routing. For other nodes that require route, mission planner node publishes as `/planning/mission_planning/route`. See the [autoware-documentation](https://autowarefoundation.github.io/autoware-documentation/main/design/autoware-interfaces/ad-api/list/api/routing/) for AD API specifications. + +![routing-architecture](images/routing.drawio.svg) diff --git a/system/default_ad_api/launch/default_ad_api.launch.py b/system/default_ad_api/launch/default_ad_api.launch.py index eab13c67ef42c..d3182a9070c2a 100644 --- a/system/default_ad_api/launch/default_ad_api.launch.py +++ b/system/default_ad_api/launch/default_ad_api.launch.py @@ -13,9 +13,14 @@ # limitations under the License. import launch +from launch.actions import DeclareLaunchArgument +from launch.substitutions import LaunchConfiguration +from launch.substitutions import PathJoinSubstitution from launch_ros.actions import ComposableNodeContainer from launch_ros.actions import Node from launch_ros.descriptions import ComposableNode +from launch_ros.parameter_descriptions import ParameterFile +from launch_ros.substitutions import FindPackageShare def create_api_node(node_name, class_name, **kwargs): @@ -24,17 +29,23 @@ def create_api_node(node_name, class_name, **kwargs): name=node_name, package="default_ad_api", plugin="default_ad_api::" + class_name, - **kwargs, + parameters=[ParameterFile(LaunchConfiguration("config"))], ) +def get_default_config(): + path = FindPackageShare("default_ad_api") + path = PathJoinSubstitution([path, "config/default_ad_api.param.yaml"]) + return path + + def generate_launch_description(): components = [ create_api_node("autoware_state", "AutowareStateNode"), create_api_node("fail_safe", "FailSafeNode"), create_api_node("interface", "InterfaceNode"), create_api_node("localization", "LocalizationNode"), - create_api_node("motion", "MotionNode", parameters=[{"require_accept_start": False}]), + create_api_node("motion", "MotionNode"), create_api_node("operation_mode", "OperationModeNode"), create_api_node("routing", "RoutingNode"), ] @@ -51,4 +62,5 @@ def generate_launch_description(): name="web_server", executable="web_server.py", ) - return launch.LaunchDescription([container, web_server]) + argument = DeclareLaunchArgument("config", default_value=get_default_config()) + return launch.LaunchDescription([argument, container, web_server]) diff --git a/system/default_ad_api/src/compatibility/autoware_state.cpp b/system/default_ad_api/src/compatibility/autoware_state.cpp index 5778edf66559f..1aa49383aa48f 100644 --- a/system/default_ad_api/src/compatibility/autoware_state.cpp +++ b/system/default_ad_api/src/compatibility/autoware_state.cpp @@ -46,8 +46,7 @@ AutowareStateNode::AutowareStateNode(const rclcpp::NodeOptions & options) adaptor.init_sub(sub_routing_, this, &AutowareStateNode::on_routing); adaptor.init_sub(sub_operation_mode_, this, &AutowareStateNode::on_operation_mode); - // TODO(Takagi, Isamu): remove default value - const auto rate = rclcpp::Rate(declare_parameter("update_rate", 10.0)); + const auto rate = rclcpp::Rate(declare_parameter("update_rate")); timer_ = rclcpp::create_timer(this, get_clock(), rate.period(), [this]() { on_timer(); }); component_states_.resize(module_names.size()); diff --git a/system/default_ad_api/src/motion.cpp b/system/default_ad_api/src/motion.cpp index d99f72f437685..b02fd43e9be44 100644 --- a/system/default_ad_api/src/motion.cpp +++ b/system/default_ad_api/src/motion.cpp @@ -23,8 +23,8 @@ namespace default_ad_api MotionNode::MotionNode(const rclcpp::NodeOptions & options) : Node("motion", options), vehicle_stop_checker_(this) { - stop_check_duration_ = declare_parameter("stop_check_duration", 1.0); - require_accept_start_ = declare_parameter("require_accept_start", false); + stop_check_duration_ = declare_parameter("stop_check_duration"); + require_accept_start_ = declare_parameter("require_accept_start"); is_calling_set_pause_ = false; const auto adaptor = component_interface_utils::NodeAdaptor(this); diff --git a/system/emergency_handler/src/emergency_handler/emergency_handler_core.cpp b/system/emergency_handler/src/emergency_handler/emergency_handler_core.cpp index de8ca1cca88a2..405359e2020ff 100644 --- a/system/emergency_handler/src/emergency_handler/emergency_handler_core.cpp +++ b/system/emergency_handler/src/emergency_handler/emergency_handler_core.cpp @@ -224,6 +224,10 @@ void EmergencyHandler::callMrmBehavior( auto request = std::make_shared(); request->operate = true; + if (mrm_behavior == MrmState::NONE) { + RCLCPP_WARN(this->get_logger(), "MRM behavior is None. Do nothing."); + return; + } if (mrm_behavior == MrmState::COMFORTABLE_STOP) { auto result = client_mrm_comfortable_stop_->async_send_request(request).get(); if (result->response.success == true) { @@ -253,6 +257,10 @@ void EmergencyHandler::cancelMrmBehavior( auto request = std::make_shared(); request->operate = false; + if (mrm_behavior == MrmState::NONE) { + // Do nothing + return; + } if (mrm_behavior == MrmState::COMFORTABLE_STOP) { auto result = client_mrm_comfortable_stop_->async_send_request(request).get(); if (result->response.success == true) { diff --git a/system/system_monitor/launch/system_monitor.launch.py b/system/system_monitor/launch/system_monitor.launch.py deleted file mode 100644 index 8ec168c5992f6..0000000000000 --- a/system/system_monitor/launch/system_monitor.launch.py +++ /dev/null @@ -1,171 +0,0 @@ -# Copyright 2020 Tier IV, Inc. All rights reserved. -# -# 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. - -import os - -from ament_index_python.packages import get_package_share_directory -import launch -from launch.actions import DeclareLaunchArgument -from launch.actions import OpaqueFunction -from launch.substitutions import LaunchConfiguration -from launch_ros.actions import ComposableNodeContainer -from launch_ros.descriptions import ComposableNode -import yaml - - -def launch_setup(context, *args, **kwargs): - - with open(LaunchConfiguration("cpu_monitor_config_file").perform(context), "r") as f: - cpu_monitor_config = yaml.safe_load(f)["/**"]["ros__parameters"] - cpu_monitor = ComposableNode( - package="system_monitor", - plugin="CPUMonitor", - name="cpu_monitor", - parameters=[ - cpu_monitor_config, - ], - ) - with open(LaunchConfiguration("hdd_monitor_config_file").perform(context), "r") as f: - hdd_monitor_config = yaml.safe_load(f)["/**"]["ros__parameters"] - hdd_monitor = ComposableNode( - package="system_monitor", - plugin="HddMonitor", - name="hdd_monitor", - parameters=[ - hdd_monitor_config, - ], - ) - with open(LaunchConfiguration("mem_monitor_config_file").perform(context), "r") as f: - mem_monitor_config = yaml.safe_load(f)["/**"]["ros__parameters"] - mem_monitor = ComposableNode( - package="system_monitor", - plugin="MemMonitor", - name="mem_monitor", - parameters=[ - mem_monitor_config, - ], - ) - with open(LaunchConfiguration("net_monitor_config_file").perform(context), "r") as f: - net_monitor_config = yaml.safe_load(f)["/**"]["ros__parameters"] - net_monitor = ComposableNode( - package="system_monitor", - plugin="NetMonitor", - name="net_monitor", - parameters=[ - net_monitor_config, - ], - ) - with open(LaunchConfiguration("ntp_monitor_config_file").perform(context), "r") as f: - ntp_monitor_config = yaml.safe_load(f)["/**"]["ros__parameters"] - ntp_monitor = ComposableNode( - package="system_monitor", - plugin="NTPMonitor", - name="ntp_monitor", - parameters=[ - ntp_monitor_config, - ], - ) - with open(LaunchConfiguration("process_monitor_config_file").perform(context), "r") as f: - process_monitor_config = yaml.safe_load(f)["/**"]["ros__parameters"] - process_monitor = ComposableNode( - package="system_monitor", - plugin="ProcessMonitor", - name="process_monitor", - parameters=[ - process_monitor_config, - ], - ) - with open(LaunchConfiguration("gpu_monitor_config_file").perform(context), "r") as f: - gpu_monitor_config = yaml.safe_load(f)["/**"]["ros__parameters"] - gpu_monitor = ComposableNode( - package="system_monitor", - plugin="GPUMonitor", - name="gpu_monitor", - parameters=[ - gpu_monitor_config, - ], - ) - with open(LaunchConfiguration("voltage_monitor_config_file").perform(context), "r") as f: - voltage_monitor_config = yaml.safe_load(f)["/**"]["ros__parameters"] - voltage_monitor = ComposableNode( - package="system_monitor", - plugin="VoltageMonitor", - name="voltage_monitor", - parameters=[ - voltage_monitor_config, - ], - ) - - # set container to run all required components in the same process - container = ComposableNodeContainer( - name="system_monitor_container", - namespace="system_monitor", - package="rclcpp_components", - executable="component_container_mt", - composable_node_descriptions=[ - cpu_monitor, - hdd_monitor, - mem_monitor, - net_monitor, - ntp_monitor, - process_monitor, - gpu_monitor, - voltage_monitor, - ], - output="screen", - ) - return [container] - - -def generate_launch_description(): - system_monitor_path = os.path.join( - get_package_share_directory("tier4_system_launch"), "config", "system_monitor" - ) - return launch.LaunchDescription( - [ - DeclareLaunchArgument( - "cpu_monitor_config_file", - default_value=os.path.join(system_monitor_path, "cpu_monitor.param.yaml"), - ), - DeclareLaunchArgument( - "hdd_monitor_config_file", - default_value=os.path.join(system_monitor_path, "hdd_monitor.param.yaml"), - ), - DeclareLaunchArgument( - "mem_monitor_config_file", - default_value=os.path.join(system_monitor_path, "mem_monitor.param.yaml"), - ), - DeclareLaunchArgument( - "net_monitor_config_file", - default_value=os.path.join(system_monitor_path, "net_monitor.param.yaml"), - ), - DeclareLaunchArgument( - "ntp_monitor_config_file", - default_value=os.path.join(system_monitor_path, "ntp_monitor.param.yaml"), - ), - DeclareLaunchArgument( - "process_monitor_config_file", - default_value=os.path.join(system_monitor_path, "process_monitor.param.yaml"), - ), - DeclareLaunchArgument( - "gpu_monitor_config_file", - default_value=os.path.join(system_monitor_path, "gpu_monitor.param.yaml"), - ), - DeclareLaunchArgument( - "voltage_monitor_config_file", - default_value=os.path.join(system_monitor_path, "voltage_monitor.param.yaml"), - ), - OpaqueFunction(function=launch_setup), - ] - ) diff --git a/system/system_monitor/launch/system_monitor.launch.xml b/system/system_monitor/launch/system_monitor.launch.xml index e7c55c24c4c79..0d8a14981bd8a 100644 --- a/system/system_monitor/launch/system_monitor.launch.xml +++ b/system/system_monitor/launch/system_monitor.launch.xml @@ -1,37 +1,39 @@ - - - - - - - - + + + + + + + + - - - - - - - - - - - - - - - - - - - - - - - - + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/tools/simulator_test/simulator_compatibility_test/setup.py b/tools/simulator_test/simulator_compatibility_test/setup.py index e5b5f2346c39e..93ce1ab547e7b 100644 --- a/tools/simulator_test/simulator_compatibility_test/setup.py +++ b/tools/simulator_test/simulator_compatibility_test/setup.py @@ -1,5 +1,12 @@ +from warnings import simplefilter + +from pkg_resources import PkgResourcesDeprecationWarning +from setuptools import SetuptoolsDeprecationWarning from setuptools import setup +simplefilter("ignore", category=SetuptoolsDeprecationWarning) +simplefilter("ignore", category=PkgResourcesDeprecationWarning) + package_name = "simulator_compatibility_test" clients = "simulator_compatibility_test/clients/" publishers = "simulator_compatibility_test/publishers/"